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Yusuke Tamura

Section

Graduate School of Engineering

Job title

Associate Professor

Degree

博士（工学）（東京大学）
修士（工学）（東京大学）

researchmap

https://researchmap.jp/tamura_yusuke

J-GLOBAL ID

200901001789268244

e-Rad No.

40515798

ORCID

https://orcid.org/0000-0003-2981-7578

Researcher ID

N-4679-2019

Research History 6

2020/04 - Present

Tohoku University　Graduate School of Engineering Department of Robotics　Associate Professor
2015/04 - 2020/03

The University of Tokyo　Graduate School of Engineering　Project Associate Professor
2012/04 - 2015/03

Chuo University　Faculty of Science and Engineering　Assistant Professor
2009/12 - 2012/03

The University of Tokyo　Graduate School of Engineering　Project Researcher
2008/04 - 2009/11

The University of Tokyo　RACE　Project Researcher
2006/04 - 2008/03

日本学術振興会　特別研究員（DC2）

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Education 3

The University of Tokyo　Graduate School of Engineering　Department of Precision Engineering

2003/04 - 2008/03
The University of Tokyo　The Faculty of Engineering　Department of Systems Innovation

1999/04 - 2003/03
麻布高等学校

- 1999

Committee Memberships 12

日本ロボット学会　代議員

2025/02 - Present
日本ロボット学会　廃炉に向けたロボットの調査研究と社会貢献に関する研究会委員

2019/06 - Present
日本ロボット学会　会誌編集委員会委員長

2024/03 - 2025/03
日本ロボット学会　理事

2023/03 - 2025/03
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

2022/04 - 2025/03
日本ロボット学会　査読小委員会副委員長

2023/03 - 2024/03
日本ロボット学会　代議員

2017/03 - 2021/02
産業競争力懇談会（COCN）「人共存ロボティクス普及基盤形成」　プロジェクトメンバー

2019/05 - 2020/03
日本機械学会　学術誌編修部会委員

2018/04 - 2020/03
技術研究組合国際廃炉研究開発機構　共通基盤技術レビューワーキングメンバー

2017/11 - 2018/03
日本ロボット学会　論文査読小委員会委員

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出版委員会幹事

2013/04 - 2014/03

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Professional Memberships 3

日本ロボット学会
Institute of Electrical and Electronics Engineers (IEEE)
日本機械学会

Research Interests 2

移動ロボット
ヒューマンロボットインタラクション

Research Areas 4

Informatics / Robotics and intelligent systems /
Life sciences / Sports science /
Informatics / Intelligent robotics /
Informatics / Perceptual information processing /

Awards 17

特別賞, おおさき産業フェア2024

2024/10　一般社団法人おおさき産業推進機構
SI2023優秀講演賞

2023/12　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　Estimation of people's gaze targets by the mobile robot equipped with a 360 degree camera
SI2023優秀講演賞

2023/12　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　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
2020年度廃炉貢献賞（優秀賞）

2021/05　日本原子力学会福島第一原子力発電所廃炉検討委員会　福島第一原子力発電所廃止措置のための俯瞰的人材育成
精密工学会髙城賞

2021/03　精密工学会　スペクトル画像を用いた土質パラメータの推定に基づく建設機械の走破性判定
SI2018優秀講演賞

2018/12　第19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　遠隔操作ロボット走行時における機体の姿勢変化による転倒回避
SI2016優秀講演賞, 第17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 (3)

2016/12　第17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　複数台のカメラとレーザ測域センサによる人工物の幾何情報を考慮した任意視点映像生成
SI2016優秀講演賞, 第17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 (2)

2016/12　第17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　ロボット遠隔操作のための3次元測距センサを用いた俯瞰映像上での障害物提示
SI2016優秀講演賞, 第17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 (1)

2016/12　第17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　車線変更推定法および人工ポテンシャル法を用いた他車の走行軌道予測
Best Poster Award, 2016 International Symposium on Micro-NanoMechatronics and Human Science

2016/12　MHS2016
SI2015優秀講演賞, 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2015

2015/12　第16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　ロボットシステム内電装系のための分散協調型故障診断システム
Best Poster Award, 2015 International Symposium on Micro-NanoMechatronics and Human Science

2015/12　MHS2015　Evaluating Effect of Sense of Ownership and Sense of Agency on Body Representation Change of Human Upper Limb
中央大学学術研究奨励賞

2014/03　学校法人中央大学
2012年度日本機械学会奨励賞（研究）

2013/04　日本機械学会
Outstanding Paper Award

2009/10　The 6th International Conference on Ubiquitous Robots and Ambient Intelligence　Identification of Types of Obstacles and Obstacle Map Building for Mobile Robots
IEEE Robotics and Automation Society Japan Chapter Young Award

2005/08　IEEE Robotics and Automation Society Japan Chapter
Best Paper Award, IEEE RO-MAN 2004

2005/08　IEEE International Workshop on Robot and Human Interactive Communication 2004　Deskwork Support System Based on the Estimation of Human Intentions

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Papers 173

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

Jialin Tu, Yusuke Tamura, Yasuhisa Hirata

ROBOMECH Journal　12　(5)　2025/03/08
Publisher: Springer Science and Business Media LLC
DOI： 10.1186/s40648-025-00291-9 　

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Abstract 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.
Robotic Shopping Guidance System for the Visually Impaired Users Using Servo Brakes* Peer-reviewed

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 　
Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging Peer-reviewed

Atsushi Mukai, Minato Kanda, Kenji Shimazoe, Fumihiko Ishida, Eiji Takada, Yusuke Tamura, Hanwool Woo, Hiroyuki Takahashi, Mizuki Uenomachi, Hajime Asama, Jun Kawarabayashi, Kosuke Tanabe, Ken’ichi Tsuchiya, Kei Kamada, Hideki Tomita

Journal of Robotics and Mechatronics　36　(1)　79-87　2024/02/20
Publisher: Fuji Technology Press Ltd.
DOI： 10.20965/jrm.2024.p0079 　

ISSN： 0915-3942

eISSN： 1883-8049

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A prototype system based on a combination of 4π sensitive gamma imaging and simultaneous localization and mapping (SLAM) was developed to find unknown radiation source(s) rapidly. The system consisted of a spherical visible camera, a three-dimensional light detection and ranging, a CdTe pixel array detector for 4π gamma imaging, a portable battery, and a control laptop personal computer; these were mounted on an unmanned vehicle. In a search area of 16 × 16 m² with a height of 3 m, the prototype system successfully demonstrated the finding of a ¹³⁷Cs point source with an activity of 0.67 MBq in the surrounding thin walls.
Radiation Source Localization Considering Shielding Effect of Structures Using 3D Object Recognition Peer-reviewed

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 　
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
Analysis of Muscle Activity in the Sit-to-Stand Motion When Knee Movability is Disturbed Peer-reviewed

Yoshida Kazunori, An Qi, Hamada Hiroyuki, Yamakawa Hiroshi, Tamura Yusuke, Yamashita Atsushi, Asama Hajime

Journal of Robotics and Mechatronics　34　(4)　767-776　2022/08/20
Publisher: Fuji Technology Press Ltd.
DOI： 10.20965/jrm.2022.p0767 　

ISSN： 0915-3942

eISSN： 1883-8049

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Sit-to-stand motion is an important daily activity, and disability of motion can significantly reduce quality of life. Therefore, it is important to understand the mechanism of sit-to-stand motion in order to prevent such scenarios. The sit-to-stand motion was found to be generated by four muscle groups, through muscle synergy. However, it is unclear how muscle synergy can be controlled. Human sit-to-stand motion may be planned based on body condition before motion. In this study, we aimed to clarify the relationship between body condition and muscle activity during the sit-to-stand motion. Accordingly, we measured the muscle activity when knee movability was disturbed as a condition of body change. We also measured the muscle activity during normal sit-to-stand motion and sit-to-stand motion with disturbed knee movability using surface electromyography. Subsequently, we extracted the muscle synergy from the measured muscle activity and compared the activity levels of muscle synergy. The results revealed that muscle activity contributing to forward bending increased and that contributing to the rise of the hip and stabilization decreased when knee movability was disturbed. These results suggest that humans compensate for disturbed knee movability with forward momentum and bending motion. Moreover, this implies that humans adjust their motion to various environments or body conditions by adjusting the level of forward bending activity.
Path-Planning System for Radioisotope Identification Devices Using 4π Gamma Imaging Based on Random Forest Analysis Peer-reviewed

Hideki Tomita, Shintaro Hara, Atsushi Mukai, Keita Yamagishi, Hidetake Ebi, Kenji Shimazoe, Yusuke Tamura, Hanwool Woo, Hiroyuki Takahashi, Hajime Asama, Fumihiko Ishida, Eiji Takada, Jun Kawarabayashi, Kosuke Tanabe, Kei Kamada

Sensors　22　(12)　4325-4325　2022/06/07
Publisher: {MDPI} {AG}
DOI： 10.3390/s22124325 　

ISSN： 1424-8220
Radiation distribution estimation with a non-directional detector using a plane source model* Peer-reviewed

Ziheng Chao, Ren Komatsu, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Advanced Robotics　36　(4)　182-191　2022/02/16
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2021.2016482 　

ISSN： 0169-1864

eISSN： 1568-5535
Development of Construction Technology for Intelligent Construction System

Shota Chikushi, Jun Younes Louhi Kasahara, Ren Komatsu, Hiroshi Yamakawa, Ryosuke Yajima, Shunsuke Hamasaki, Keiji Nagatani, Sarthak Pathak, Hiromitsu Fujii, Yusuke Tamura, Takumi Chiba, Shingo Yamamoto, Kazuhiro Chayama, Atsushi Yamashita, Hajime Asama

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2022　1P1-B09　2022
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2022.1p1-b09 　

eISSN： 2424-3124
Study on SiPM GFAG scintillator for high time resolution Compton camera

Agus Nur Rachman, Zhong Zhihong, Kim Donghwan, Mizuki Uenomachi, Kenji Shimazoe, Hiroyuki Takahashi, Takuya Kishimoto, Hiroki Kogami, Atsushi Mukai, Shintaro Hara, Keita Yamagishi, Hideki Tomita, Yusuke Tamura, Hanwool Woo, Kei Kamada, Hidetake Ebi, Fumihiko Ishida, Eiji Takada, Hajime Asama, Jun Kawarabayashi, Kosuke Tanabe, Kenichi Tsuchiya

THE 4TH INTERNATIONAL CONFERENCE ON NUCLEAR ENERGY TECHNOLOGIES AND SCIENCES (ICoNETS) 2021　2022
Publisher: AIP Publishing
DOI： 10.1063/5.0095596 　

ISSN： 0094-243X
Viewpoint Selection without Subject Experiments for Teleoperation of Robot Arm in Reaching Task Using Reinforcement Learning

Haoxiang Liu, Ren Komatsu, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2022 IEEE/SICE International Symposium on System Integration, SII 2022　1015-1020　2022

DOI： 10.1109/SII52469.2022.9708809 　
Optimization of Detector Movement Algorithm Using Decision Trees Analysis for Radiation Source Identification Based on 4π Gamma Imaging

Atsushi Mukai, Shintaro Hara, Keita Yamagishi, Ryohei Terabayashi, Kenji Shimazoe, Yusuke Tamura, Hanwool Woo, Takuya Kishimoto, Hiroki Kogami, Zhong Zhihong, Mizuki Uenomachi, Agus Nurrachman, Hiroyuki Takahashi, Hajime Asama, Fumihiko Ishida, Hidetake Ebi, Eiji Takada, Jun Kawarabayashi, Kosuke Tanabe, Kei Kamada, Hideki Tomita

2022 IEEE/SICE International Symposium on System Integration, SII 2022　1026-1029　2022

DOI： 10.1109/SII52469.2022.9708756 　
Estimation of Radiation Source Distribution Using Structure Information for Fukushima Daiichi Nuclear Power Plant Reactor

Ziheng Chao, Ren Komatsu, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2022 IEEE/SICE International Symposium on System Integration, SII 2022　1030-1035　2022

DOI： 10.1109/SII52469.2022.9708811 　
Effect of Tilted Ground on Muscle Activity in Human Sit-to-Stand Motion: Preliminary Result

Kazunori Yoshida, Qi An, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Lecture Notes in Networks and Systems　412 LNNS　341-350　2022

DOI： 10.1007/978-3-030-95892-3_26 　

ISSN： 2367-3370

eISSN： 2367-3389
Analysis of muscle synergy and kinematics in sit-to-stand motion of hemiplegic patients in subacute period Peer-reviewed

Hiroki Kogami, Qi An, Ningjia Yang, Ruoxi Wang, Kazunori Yoshida, Hiroyuki Hamada, Hiroshi Yamakawa, Yusuke Tamura, Shingo Shimoda, Hiroshi Yamasaki, Moeka Yokoyama, Fady Alnajjar, Noriaki Hattori, Koji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Atsushi Yamashita, Hajime Asama

Advanced Robotics　35　(13-14)　1-11　2021/05/25
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2021.1928547 　

ISSN： 0169-1864

eISSN： 1568-5535
Path Planning for Localization of Radiation Sources Based on Principal Component Analysis Peer-reviewed

Takuya Kishimoto, Hanwool Woo, Ren Komatsu, Yusuke Tamura, Hideki Tomita, Kenji Shimazoe, Atsushi Yamashita, Hajime Asama

Applied Sciences　11　(10)　4707-4707　2021/05/20
Publisher: MDPI AG
DOI： 10.3390/app11104707 　

eISSN： 2076-3417
Artificial neural network that modifies muscle activity in sit-to-stand motion using sensory input Peer-reviewed

Kazunori Yoshida, Qi An, Hiroyuki Hamada, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Advanced Robotics　35　(13-14)　1-9　2021/04/30
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2021.1917452 　

ISSN： 0169-1864

eISSN： 1568-5535
Development of gamma source identification using 4π Compton camera (7) Demonstration of source identification by sequential measurements using moving γ-camera

Mukai Atsushi, Hara Shintaro, Yamagishi Keita, Terabayashi Ryohei, Shimazoe Kenji, Tamura Yusuke, Woo Hanwool, Kishimoto Takuya, Kogami Hiroki, Zhihong Zhong, Uenomachi Mizuki, Nurrachman Agus, Takahashi Hiroyuki, Asama Hajime, Ebi Hidetake, Ishida Fumihiko, Takada Eiji, Kawarabayashi Jun, Tanabe Kosuke, Kamata Kei, Tomita Hideki

JSAP Annual Meetings Extended Abstracts　2021.1　417-417　2021/02/26
Publisher: The Japan Society of Applied Physics
DOI： 10.11470/jsapmeeting.2021.1.0_417 　

eISSN： 2436-7613
Modified sensory feedback enhances the sense of agency during continuous body movements in virtual reality Peer-reviewed

Kei Aoyagi, Wen Wen, Qi An, Shunsuke Hamasaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Scientific Reports　11　(1)　2021
Publisher: Springer Science and Business Media LLC
DOI： 10.1038/s41598-021-82154-y 　

eISSN： 2045-2322

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<title>Abstract</title>The sense of agency refers to the feeling of control over one’s own actions, and through them, the external events. This study examined the effect of modified visual feedback on the sense of agency over one’s body movements using virtual reality in healthy individuals whose motor control was disturbed. Participants moved a virtual object using their right hand to trace a trajectory (Experiment 1) or a leading target (Experiment 2). Their motor control was disturbed by a delay in visual feedback (Experiment 1) or a 1-kg weight attached to their wrist (Experiment 2). In the offset conditions, the virtual object was presented at the median point between the desired position and the participants’ actual hand position. In both experiments, participants reported improved sense of agency in the offset condition compared to the aligned condition where the visual feedback reflected their actual body movements, despite their motion being less precise in the offset condition. The results show that sense of agency can be enhanced by modifying feedback to motor tasks according to the goal of the task, even when visual feedback is discrepant from the actual body movements. The present study sheds light on the possibility of artificially enhancing body agency to improve voluntary motor control.
Gamma-ray Image Noise Generation Using Energy-Image Converter Based on Image Histogram Peer-reviewed

Ren Komatsu, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2021 IEEE/SICE International Symposium on System Integration　93-99　2021/01
Publisher: IEEE
DOI： 10.1109/IEEECONF49454.2021.9382733 　
Judgement of Trafficability of Construction Machinery Based on Estimation of Soil Parameters from Spectral Images Peer-reviewed

Shota CHIKUSHI, Norihiro YAMAUCHI, Yusuke TAMURA, Hiroshi YAMAKAWA, Keiji NAGATANI, Hiromitsu FUJII, Takumi CHIBA, Shingo YAMAMOTO, Kazuhiro CHAYAMA, Atsushi YAMASHITA, Hajime ASAMA

Journal of the Japan Society for Precision Engineering　86　(12)　1057-1063　2020/12/05
Publisher: Japan Society for Precision Engineering
DOI： 10.2493/jjspe.86.1057 　

ISSN： 0912-0289

eISSN： 1882-675X
Action Recognition of Construction Machinery from Simulated Training Data Using Video Filters Peer-reviewed

Jinhyeok Sim, Jun Younes Louhi Kasahara, Shota Chikushi, Hiroshi Yamakawa, Yusuke Tamura, Keiji Nagatani, Takumi Chiba, Shingo Yamamoto, Kazuhiro Chayama, Atsushi Yamashita, Hajime Asama

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)　595-599　2020/10/14
Publisher: International Association for Automation and Robotics in Construction (IAARC)
DOI： 10.22260/isarc2020/0083 　
Research and Development of Construction Technology in Social Cooperation Program "Intelligent Construction System" Peer-reviewed

Shota Chikushi, Jun Younes Louhi Kasahara, Hiromitsu Fujii, Yusuke Tamura, Angela Faragasso, Hiroshi Yamakawa, Keiji Nagatani, Yonghoon Ji, Shinya Aoki, Takumi Chiba, Shingo Yamamoto, Kazuhiro Chayama, Atsushi Yamashita, Hajime Asama

Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC)　1536-1540　2020/10/14
Publisher: International Association for Automation and Robotics in Construction (IAARC)
DOI： 10.22260/isarc2020/0213 　
Planar AnP: A Solution to Acoustic-n-Point Problem on Planar Target Peer-reviewed

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, Hajime Asama

Global OCEANS 2020 Online Proceedings　2020/10
360° Depth Estimation from Multiple Fisheye Images with Origami Crown Representation of Icosahedron Peer-reviewed

Ren Komatsu, Hiromitsu Fujii, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems　10092-10099　2020/10
Publisher: IEEE
DOI： 10.1109/IROS45743.2020.9340981 　
ACMarker: Acoustic Camera-Based Fiducial Marker System in Underwater Environment Peer-reviewed

Yusheng Wang, Yonghoon Ji, Dingyu Liu, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, Hajime Asama

IEEE Robotics and Automation Letters　5　(4)　5018-5025　2020/10
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/LRA.2020.3005375 　
Goal Estimation of Mandatory Lane Changes Based on Interaction between Drivers Peer-reviewed

Hanwool Woo, Mizuki Sugimoto, Hirokazu Madokoro, Kazuhito Sato, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Applied Sciences　10　(9)　3289-3289　2020/05
Publisher: {MDPI} {AG}
DOI： 10.3390/app10093289 　

eISSN： 2076-3417

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In this paper, we propose a novel method to estimate a goal of surround vehicles to perform a lane change at a merging section. Recently, autonomous driving and advance driver-assistance systems are attracting great attention as a solution to substitute human drivers and to decrease accident rates. For example, a warning system to alert a lane change performed by surrounding vehicles to the front space of the host vehicle can be considered. If it is possible to forecast the intention of the interrupting vehicle in advance, the host driver can easily respond to the lane change with sufficient reaction time. This paper assumes a mandatory situation where two lanes are merged. The proposed method assesses the interaction between the lane-changing vehicle and the host vehicle on the mainstream lane. Then, the lane-change goal is estimated based on the interaction under the assumption that the lane-changing driver decides to minimize the collision risk. The proposed method applies the dynamic potential field method, which changes the distribution according to the relative speed and distance between two subject vehicles, to assess the interaction. The performance of goal estimation is evaluated using real traffic data, and it is demonstrated that the estimation can be successfully performed by the proposed method.
Smartphone Zombie Detection From LiDAR Point Cloud for Mobile Robot Safety Peer-reviewed

Jiaxu Wu, Yusuke Tamura, Yusheng Wang, Hanwool Woo, Alessandro Moro, Atsushi Yamashita, Hajime Asama

IEEE Robotics and Automation Letters　5　(2)　2256-2263　2020/04
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/LRA.2020.2970570 　
Temporal Muscle Synergy Features Estimate Effects of Short-Term Rehabilitation in Sit-to-Stand of Post-Stroke Patients Peer-reviewed

Ningjia Yang, Qi An, Hiroki Kogami, Kazunori Yoshida, Hiroshi Yamakawa, Yusuke Tamura, Shingo Shimoda, Hiroshi Yamasaki, Moeka Sonoo, Matti Itkonen, Fady Shibata-Alnajjar, Noriaki Hattori, Makoto Kinomoto, Kouji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Atsushi Yamashita, Hajime Asama

IEEE Robotics and Automation Letters　5　(2)　1796-1802　2020/04
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/LRA.2020.2969942 　
Radioactive source recognition with moving Compton camera imaging robot using Geant4 Peer-reviewed

Feiyun Cong, Yusuke Tamura, Kenji Shimazoe, Hiroyuki Takahashi, Jun Ota, Shuiguang Tong

Nuclear Instruments and Methods in Physics Research, Section A: Accelerators, Spectrometers, Detectors and Associated Equipment　953　2020/02/11

DOI： 10.1016/j.nima.2019.163108 　

ISSN： 0168-9002
Automatic Video Presentation for Backhoe Embankment Construction Based on Remote Operator's Requirements Peer-reviewed

Shota CHIKUSHI, Yushi MORIYAMA, Hiromitsu FUJII, Yusuke TAMURA, Hiroshi YAMAKAWA, Keiji NAGATANI, Yuya SAKAI, Takumi CHIBA, Shingo YAMAMOTO, Kazuhiro CHAYAMA, Atsushi YAMASHITA, Hajime ASAMA

Journal of the Japan Society for Precision Engineering　86　(2)　164-170　2020/02/05
Publisher: Japan Society for Precision Engineering
DOI： 10.2493/jjspe.86.164 　

ISSN： 0912-0289

eISSN： 1882-675X
先行車追従モデルに基づいた追従運転者の操作特性の推定 Peer-reviewed

Yusuke Tamura

自動車技術会論文集　51　(2)　304-309　2020/02

DOI： 10.11351/jsaeronbun.51.304 　
Acoustic Camera-Based Pose Graph SLAM for Dense 3-D Mapping in Underwater Environments Peer-reviewed

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, Hajime Asama

IEEE Journal of Oceanic Engineering　46　(3)　1-19　2020
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/joe.2020.3033036 　

ISSN： 0364-9059

eISSN： 2373-7786
Free viewpoint image generation system using fisheye cameras and a laser rangefinder for indoor robot teleoperation Peer-reviewed

Ren Komatsu, Hiromitsu Fujii, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

ROBOMECH Journal　7　(1)　2020
Publisher: Springer Science and Business Media LLC
DOI： 10.1186/s40648-020-00163-4 　

eISSN： 2197-4225
Prediction of Following Vehicle Trajectory Considering Operation Characteristics of a Human Driver Peer-reviewed

Hanwool Woo, Hirokazu Madokoro, Kazuhito Sato, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII)　712-717　2020/01
Publisher: IEEE
DOI： 10.1109/sii46433.2020.9026243 　
Automated Image Presentation for Backhoe Embankment Construction in Unmanned Construction Site Peer-reviewed

Shota Chikushi, Yushi Moriyama, Hiromitsu Fujii, Yusuke Tamura, Hiroshi Yamakawa, Keiji Nagatani, Yuya Sakai, Takumi Chiba, Shingo Yamamoto, Kazuhiro Chayama, Atsushi Yamashita, Hajime Asama

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII)　22-27　2020/01
Publisher: IEEE
DOI： 10.1109/sii46433.2020.9026298 　
Gamma-ray Source Identification by a Vehicle-mounted 4π Compton Imager Peer-reviewed

Hideki Tomita, Atsushi Mukai, Kotaro Kanamori, Kenji Shimazoe, Hanwool Woo, Yusuke Tamura, Shintaro Hara, Ryohei Terabayashi, Mizuki Uenomachi, Agus Nurrachman, Hiroyuki Takahashi, Hidetake Ebi, Fumihiko Ishida, Eiji Takada, Jun Kawarabayashi, Ken'ichi Tsuchiya, Tetsuo Iguchi

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII)　18-21　2020/01

DOI： 10.1109/sii46433.2020.9025865 　

ISSN： 2474-2317
Advanced Adaptive Cruise Control Based on Operation Characteristic Estimation and Trajectory Prediction Peer-reviewed

Hanwool Woo, Hirokazu Madokoro, Kazuhito Sato, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Applied Sciences　9　(22)　4875-4875　2019/11

DOI： 10.3390/app9224875 　

eISSN： 2076-3417
Lane-change detection based on individual driving style Peer-reviewed

Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

Advanced Robotics　33　(20)　1087-1098　2019/10/18
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2019.1659179 　

ISSN： 0169-1864

eISSN： 1568-5535
Estimation of Cone Index from Water Content and Soil Types Obtained from Hyperspectral Images Peer-reviewed

Norihiro Yamauchi, Shota Chikushi, Yusuke Tamura, Hiroshi Yamakawa, Keiji Nagatani, Hiromitsu Fujii, Yuya Sakai, Takumi Chiba, Shingo Yamamoto, Kazuhiro Chayama, Atsushi Yamashita, Hajime Asama

Proceedings of the 2019 IEEE 8th Global Conference on Consumer Electronics (GCCE)　999-1002　2019/10
Publisher: IEEE
DOI： 10.1109/gcce46687.2019.9015564 　
Advanced Adaptive Cruise Control Considering Reaction Time of Following Driver Peer-reviewed

Hanwool Woo, Hirokazu Madokoro, Kazuhito Sato, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2019 IEEE 8th Global Conference on Consumer Electronics (GCCE)　995-996　2019/10
Publisher: IEEE
DOI： 10.1109/gcce46687.2019.9015420 　
Temporal Features of Muscle Synergies in Sit-to-Stand Motion Reflect the Motor Impairment of Post-Stroke Patients International-journal Peer-reviewed

Ningjia Yang, Qi An, Hiroki Kogami, Hiroshi Yamakawa, Yusuke Tamura, Kouji Takahashi, Makoto Kinomoto, Hiroshi Yamasaki, Matti Itkonen, Fady Shibata-Alnajjar, Shingo Shimoda, Noriaki Hattori, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Atsushi Yamashita, Hajime Asama

IEEE Transactions on Neural Systems and Rehabilitation Engineering　27　(10)　2118-2127　2019/10
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/TNSRE.2019.2939193 　

ISSN： 1534-4320

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Sit-to-stand (STS) motion is an important daily activity, and many post-stroke patients have difficulty performing STS motion. Previous studies found that there are four muscle synergies (synchronized muscle activations) in the STS motion of healthy adults. However, for post-stroke patients, it is unclear whether muscle synergies change and which features primarily reflect motor impairment. Here, we use a machine learning method to demonstrate that temporal features in two muscle synergies that contribute to hip rising and balance maintenance motion reflect the motor impairment of post-stroke patients. Analyzing the muscle synergies of age-matched healthy elderly people ( n = 12 ) and post-stroke patients ( n = 33 ), we found that the same four muscle synergies could account for the muscle activity of post-stroke patients. Also, we were able to distinguish post-stroke patients from healthy people on the basis of the temporal features of these muscle synergies. Furthermore, these temporal features were found to correlate with motor impairment of post-stroke patients. We conclude that post-stroke patients can still utilize the same number of muscle synergies as healthy people, but the temporal structure of muscle synergies changes as a result of motor impairment. This could lead to a new rehabilitation strategy for post-stroke patients that focuses on activation timing of muscle synergies.
Assistive Chair to Support Hip Rising of Elderly People Improves Body Movement of Sit-to-Stand Motion Peer-reviewed

Hiroki Kogami, Qi An, Hiroshi Yamakawa, Ningjia Yang, Yusuke Tamura, Hiroshi Yamasaki, Fady S. Alnajjar, Shingo Shimoda, Makoto Kinomoto, Noriaki Hattori, Kouji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Shu Ishiguro, Takashi Saigusa, Yoshikazu Nozaki, Haruhisa Maruyama, Atsushi Yamashita, Hajime Asama

Preprints of the 1st IFAC Workshop on Robot Control　480-483　2019/09
Efficient Motion Planning for Mobile Robots Dealing with Changes in Rough Terrain Peer-reviewed

Shinya Katsuma, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

IFAC-PapersOnLine　52　(22)　83-86　2019/09
Publisher: Elsevier BV
DOI： 10.1016/j.ifacol.2019.11.052 　

ISSN： 2405-8963
Rotation Estimation of Acoustic Camera Based on Illuminated Area in Acoustic Image Peer-reviewed

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Hiroshi Tsuchiya, Atsushi Yamashita, Hajime Asama

Preprints of the 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles　52　(21)　217-222　2019/09
Publisher: Elsevier BV
DOI： 10.1016/j.ifacol.2019.12.301 　

ISSN： 2405-8963
Improvement of Sense of Agency During Upper-Limb Movement for Motor Rehabilitation Using Virtual Reality Peer-reviewed

Kei Aoyagi, Wen Wen, Qi An, Shunsuke Hamasaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)　118-121　2019/07
Publisher: IEEE
DOI： 10.1109/embc.2019.8856796 　
Pedestrian Trajectory Prediction Using BiRNN Encoder-Decoder Framework Peer-reviewed

Jiaxu Wu, Hanwool Woo, Yusuke Tamura, Alessandro Moro, Stefano Massaroli, Atsushi Yamashita, Hajime Asama

Advanced Robotics　33　(18)　956-969　2019/07
Publisher: Informa UK Limited
DOI： 10.1080/01691864.2019.1635910 　

ISSN： 0169-1864

eISSN： 1568-5535
Organization of Functional Modularity in Sitting Balance Response and Gait Performance after Stroke Peer-reviewed

Hiroshi R. Yamasaki, Qi An, Makoto Kinomoto, Koji Takahashi, Takanori Fujii, Hiroki Kogami, Ningjia Yang, Hiroshi Yamakawa, Yusuke Tamura, Matti Itkonen, Moeka Sonoo, Fady S.K. Alnajjar, Atsushi Yamashita, Hironori Otomune, Noriaki Hattori, Hajime Asama, Ichiro Miyai, Shingo Shimoda

Clinical Biomechanics　67　61-69　2019/05

DOI： 10.1016/j.clinbiomech.2019.04.022 　

ISSN： 1879-1271 0268-0033
Skill Abstraction of Physical Therapist in Hemiplegia Patients Rehabilitation Using A Walking Assist Robot Peer-reviewed

Qi An, Yuki Ishikawa, Wen Wen, Shu Ishiguro, Koji Ohata, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

International Journal of Automation Technology　13　(2)　271-278　2019/03
Publisher: Fuji Technology Press Ltd.
DOI： 10.20965/ijat.2019.p0271 　

ISSN： 1881-7629

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Improving the walking functions of hemiplegia patients after a stroke or brain injury is an important rehabilitation challenge. Recently, walking assist robots have been introduced in advanced rehabilitation facilities as a way to improve the efficiency of patient rehabilitation and restore their walking functions. Expert therapists can apply this device on different patients; however, such application mainly depends on the therapist's tacit knowledge. Thus, it is often harder for novice therapists to apply such devices on different types of patients. Consequently, effective use of a walking assist robot has become a new patient rehabilitation skill. Taking rehabilitation as a service provided by medical doctors or therapists to their patients, this study aims to improve the quality of the rehabilitation service. In particular, the objective of this study is to abstract the rehabilitation skill of expert therapists in using a walking assist robot by applying a service science methodology known as skill education. Skill abstraction was performed by interviewing an expert therapist. From this interview, it was found that the expert therapist classified hemiplegia patients into four different classes. Using videos of patients walking, further analysis revealed the expert's tacit knowledge, which was indicated by differences observed among these four groups in particular phases of the patients' walking patterns. This study shows that by successfully obtaining explicit knowledge of part of a rehabilitation skill by using a walking assist robot (which until now was a tacit knowledge of experts), and then organizing the acquired explicit knowledge, even non-experts can easily reproduce the skill of experts in new patient rehabilitation.
Changes in the Body Representation of Human Upper Limb as a Function of the Movement and Visual Hand Position Peer-reviewed

Shunsuke Hamasaki, Qi An, Wen Wen, Yusuke Tamura, Hiroshi Yamakawa, Atsushi Yamashita, Hajime Asama, Satoshi Unenaka, Satoshi Shibuya, Yukari Ohki

Journal of Advanced Computational Intelligence and Intelligent Informatics　23　(2)　196-208　2019/03
Publisher: Fuji Technology Press Ltd.
DOI： 10.20965/jaciii.2019.p0196 　

ISSN： 1343-0130

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Several disease presentations are linked to a mismatch between the real body and the body's internal representation of itself. In order to develop effective rehabilitation therapies, it is necessary to understand the mechanisms underlying changes in body representation. In this study, we focused on changes in body representation of the upper limb as a large part of the body and investigated the conditions under which such changes occur. Participants were presented four conditions which differentially affected their sense of ownership and agency, including a movement condition related to their sense of agency, and a visual hand information condition related to the sense of ownership. In the experiment, participants were asked to move their upper limb forward and backward on a manipulandum. Results of the study showed that visual hand position affected changes in body representation relevant to both conscious and unconscious body parts. In addition, changes in the representation of the unconscious body part occurred with, and were dependent on, active movement.
Robust path planning against pose errors for mobile robots in rough terrain

Yuki Doi, Yonghoon Ji, Yusuke Tamura, Yuki Ikeda, Atsushi Umemura, Yoshiharu Kaneshima, Hiroki Murakami, Atsushi Yamashita, Hajime Asama

Advances in Intelligent Systems and Computing　867　27-39　2019
Publisher: Springer Verlag
DOI： 10.1007/978-3-030-01370-7_3 　

ISSN： 2194-5357
Three-dimensional Underwater Environment Reconstruction with Graph Optimization Using Acoustic Camera.

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

IEEE/SICE International Symposium on System Integration(SII)　28-33　2019
Publisher: IEEE
DOI： 10.1109/SII.2019.8700464 　
Octave Deep Plane-Sweeping Network: Reducing Spatial Redundancy for Learning-Based Plane-Sweeping Stereo Peer-reviewed

Ren Komatsu, Hiromitsu Fujii, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

IEEE Access　7　150306-150317　2019
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/access.2019.2947195 　

eISSN： 2169-3536
Graph Optimization-based 3D Mapping of Underwater Environment Using Acoustic Camera Peer-reviewed

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration　28-33　2019/01
Visual and Vestibular Inputs Affect Muscle Synergies Responsible for Body Extension and Stabilization in Sit-to-Stand Motion Peer-reviewed

Kazunori Yoshida, Qi An, Arito Yozu, Ryosuke Chiba, Kaoru Takakusaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Frontiers in Neuroscience　12　(1042)　2019/01

DOI： 10.3389/fnins.2018.01042 　

ISSN： 1662-4548

eISSN： 1662-453X
Adaptive Motion Planning Based on Vehicle Characteristics and Regulations for Off-Road UGVs Peer-reviewed

Yonghoon Ji, Yusuke Tanaka, Yusuke Tamura, Mai Kimura, Atsushi Umemura, Yoshiharu Kaneshima, Hiroki Murakami, Atsushi Yamashita, Hajime Asama

IEEE Transactions on Industrial Informatics　15　(1)　599-611　2019/01
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/TII.2018.2870662 　
Improvement of Sense of Agency via Visual Intervention in Virtual Reality Peer-reviewed

Kei Aoyagi, Wen Wen, Qi An, Shunsuke Hamasaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2nd International Symposium on Embodied-Brain Systems Science　P73　2018/12
Investigating the Relationship between Assisted Driver’s Sense of Agency and EEG Alpha Power Peer-reviewed

Sonmin Yun, Wen Wen, Qi An, Shunsuke Hamasaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2nd International Symposium on Embodied-Brain Systems Science　P66　2018/12
Effect of Physical Therapy on Joint Angle of Hemiplegic Patients during Standing-up Motion Peer-reviewed

Hiroki Kogami, Qi An, Ningjia Yang, Hiroshi Yamakawa, Yusuke Tamura, Hiroshi Yamasaki, Matti Itkonen, Fady Shibata-Alnajjar, Shingo Shimoda, Makoto Kinomoto, Noriaki Hattori, Kouji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Atsushi Yamashita, Hajime Asama

2nd International Symposium on Embodied-Brain Systems Science　P51　2018/12
Clarification of Altered Muscle Synergies during Sit-to-stand Motion in Stroke Patients, Peer-reviewed

Ningjia Yang, Qi An, Hiroshi Yamakawa, Yusuke Tamura, Kouji Takahashi, Makoto Kinomoto, Hiroshi Yamasaki, Matti Itkonen, Fady Shibata-Alnajjar, Shingo Shimoda, Noriaki Hattori, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Atsushi Yamashita, Hajime Asama

2nd International Symposium on Embodied-Brain Systems Science　P50　2018/12
Rehabilitation Intervention of Physical Therapists Improves Muscle Synergy during Standing-up Motion of Stroke Patients Peer-reviewed

Qi An, Hiroki Kogami, Ningjia Yang, Hiroshi Yamakawa, Yusuke Tamura, Hiroshi Yamasaki, Matti Itkonen, Fady Shibata-Alnajjar, Shingo Shimoda, Noriaki Hattori, Makoto Kinomoto, Kouji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai, Atsushi Yamashita, Hajime Asama

2nd International Symposium on Embodied-Brain Systems Science　P49　2018/12
Trajectory Prediction of Surrounding Vehicles Considering Individual Driving Characteristics Peer-reviewed

Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

International Journal of Automotive Engineering　9　(4)　282-288　2018/12

DOI： 10.20485/jsaeijae.9.4_282 　
The Readiness Potential Reflects the Reliability of Action Consequence Peer-reviewed

Wen Wen, Rin Minohara, Shunsuke Hamasaki, Takaki Maeda, Qi An, Yusuke Tamura, Hiroshi Yamakawa, Atsushi Yamashita, Hajime Asama

Scientific Reports　8　(1)　2018/12
Publisher: Springer Science and Business Media {LLC}
DOI： 10.1038/s41598-018-30410-z 　

eISSN： 2045-2322
Advanced Adaptive Cruise Control Based on Collision Risk Assessment Peer-reviewed

Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

Proceedings of the IEEE 21st International Conference on Intelligent Transportation Systems　939-944　2018/11
Investigating the Relationship between Assisted Driver’s SoA and EEG Peer-reviewed

Sonmin Yun, Wen Wen, Qi An, Shunsuke Hamasaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 5th International Conference on Neurorehabilitation　21　1039-1043　2018/10

DOI： 10.1007/978-3-030-01845-0_208 　

ISSN： 2195-3562

eISSN： 2195-3570
Human Resource Development for Decommissioning of Fukushima Daiichi Nuclear Power Plant Invited

Yusuke Tamura

Journal of the Robotics Society of Japan　36　(7)　456-459　2018/09

DOI： 10.7210/jrsj.36.456 　
3D Occupancy Mapping Framework Based on Acoustic Camera in Underwater Environment Peer-reviewed

Yusheng Wang, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Preprints of the 12th IFAC Symposium on Robot Control　324-330　2018/08
Publisher: International Federation of Automatic Control
DOI： 10.1016/j.ifacol.2018.11.562 　
Acoustic Image Simulator Based on Active Sonar Model in Underwater Environment Peer-reviewed

Ngoc Trung Mai, Yonghoon Ji, Hanwool Woo, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 15th International Conference on Ubiquitous Robots　781-786　2018/07
Analysis of Usability of Information on Worker’s Hands in Animated Assembly Manuals Peer-reviewed

Masao Sugi, Ippei Matsumura, Yusuke Tamura, Tamio Arai, Jun Ota

International Journal of Automation Technology　12　(4)　524-532　2018/07

DOI： 10.20965/ijat.2018.p0524 　

ISSN： 1883-8022 1881-7629
Development of Fluffy Screen System and Field Trial at a Shopping Mall Peer-reviewed

Yusuke Tamura, Soichiro Morishita, Hajime Asama

International Journal of Automation Technology　12　(4)　492-498　2018/07

DOI： 10.20965/ijat.2018.p0492 　

ISSN： 1883-8022 1881-7629
Effect of Physical Therapy on Muscle Synergy Structure During Standing-Up Motion of Hemiplegic Patients Peer-reviewed

Hiroki Kogami, Qi An, Ningjia Yang, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama, Shingo Shimoda, Hiroshi Yamasaki, Matti Itkonen, Fady Shibata-Alnajjar, Noriaki Hattori, Makoto Kinomoto, Kouji Takahashi, Takanori Fujii, Hironori Otomune, Ichiro Miyai

IEEE Robotics and Automation Letters　3　(3)　2229-2236　2018/07
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/LRA.2018.2811050 　

eISSN： 2377-3766
Driver classification in vehicle following behavior by using dynamic potential field method Peer-reviewed

Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC　2018-　1-6　2018/03/14
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/ITSC.2017.8317774 　
Dynamic State Estimation of Driving Style Based on Driving Risk Feature Peer-reviewed

Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

International Journal of Automotive Engineering　9　(1)　31-38　2018

DOI： 10.20485/jsaeijae.9.1_31 　
3D reconstruction of line features using multi-view acoustic images in underwater environment Peer-reviewed

Ngoc Trung Mai, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems　2017-　312-317　2017/12/07
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/MFI.2017.8170447 　
Investigating the Relationship between Driver's Sense of Agency and EEG: Mu-Rhythm is More Suppressed in Higher SoA Case Peer-reviewed

Sonmin Yun, Wen Wen, Qi An, Shunsuke Hamasaki, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2017 International Symposium on Micro-NanoMechatronics and Human Science　2018-January　1-6　2017/12

DOI： 10.1109/MHS.2017.8305264 　
Visualization of Obstacles on Bird's-eye View by Omnidirectional 3D Ranging Using LiDAR for Remote Controlled Robot Peer-reviewed

Yasuyuki Awashima, Ren Komatsu, Hiromitsu Fujii, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Journal of the Japan Society for Precision Engineering　83　(12)　1216-1223　2017/12

DOI： 10.2493/jjspe.83.1216 　

ISSN： 0912-0289
3D Radiation Imaging Using Mobile Robot Equipped with Radiation Detector Peer-reviewed

Doyeon Kim, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2017 IEEE/SICE International Symposium on System Integration　444-449　2017/12

DOI： 10.1109/SII.2017.8279253 　
Safeness Visualization of Terrain for Teleoperation of Mobile Robot Using 3D Environment Map and Dynamic Simulator Peer-reviewed

Yasuyuki Awashima, Hiromitsu Fujii, Yusuke Tamura, Keiji Nagatani, Atsushi Yamashita, Hajime Asama

Proceedings of the 2017 IEEE/SICE International Symposium on System Integration　194-200　2017/12
Publisher: IEEE
DOI： 10.1109/SII.2017.8279211 　
Evaluation of the effect of prime stimulus on sense of agency in stop operation of the object in circular motion Peer-reviewed

Shunsuke Hamasaki, Qi An, Masataka Murabayashi, Yusuke Tamura, Hiroshi Yamakawa, Atsushi Yamashita, Hajime Asama

Journal of Advanced Computational Intelligence and Intelligent Informatics　21　(7)　1161-1171　2017/11/01
Publisher: Fuji Technology Press
DOI： 10.20965/jaciii.2017.p1161 　

ISSN： 1883-8014 1343-0130

eISSN： 1883-8014
Clarification of muscle synergy structure during standing-up motion of healthy young, elderly and post-stroke patients Peer-reviewed

N. Yang, Q. An, H. Yamakawa, Y. Tamura, A. Yamashita, K. Takahashi, M. Kinomoto, H. Yamasaki, M. Itkonen, F. S. Alnajjar, S. Shimoda, H. Asama, N. Hattori, I. Miyai

IEEE International Conference on Rehabilitation Robotics　19-24　2017/08/11
Publisher: IEEE Computer Society
DOI： 10.1109/ICORR.2017.8009215 　

ISSN： 1945-7901 1945-7898

eISSN： 1945-7901
Effect of Detector Pose Uncertainty in Radiation Sources Localization Peer-reviewed

Doyeon Kim, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

E-Journal of Advanced Maintenance　9　(2)　2017/08
Recovery Motion Learning for Arm Mounted Mobile Crawler Robot in Drive System's Failure Peer-reviewed

Tasuku Ito, Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

IFAC-PapersOnLine　50　(1)　2329-2334　2017/07/01
Publisher: Elsevier B.V.
DOI： 10.1016/j.ifacol.2017.08.475 　

ISSN： 2405-8963
3-D Reconstruction of Underwater Object Based on Extended Kalman Filter by Using Acoustic Camera Images Peer-reviewed

Ngoc Trung Mai, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

IFAC-PapersOnLine　50　(1)　1043-1049　2017/07/01
Publisher: Elsevier B.V.
DOI： 10.1016/j.ifacol.2017.08.215 　

ISSN： 2405-8963
Estimation of Tension and Concentration Scenes during Crane Operation Using Physiological Indices for Skill Improvement Support Peer-reviewed

Takao Sugimoto, Hiroshi Yamakawa, Qi An, Wen Wen, Yusuke Tamura, Koichi Ohtomi, Takayuki Kosaka, Hiromasa Suzuki, Atsushi Yamashita, Hajime Asama

Proceedings of the 5th International Conference on Serviceology　153-160　2017/07
Recovery Motion Learning for Arm Mounted Mobile Crawler Robot in Drive System's Failure Peer-reviewed

Tasuku Ito, Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 20th World Congress of the International Federation of Automatic Control　2365-2370　2017/07
3-D Reconstruction of Underwater Object based on Extended Kalman Filter by Using Acoustic Camera Images Peer-reviewed

Ngoc Trung Mai, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 20th World Congress of the International Federation of Automatic Control　1066-1072　2017/07
Where Robot Looks Is Not Where Person Thinks Robot Looks Peer-reviewed

Yusuke Tamura, Takafumi Akashi, Hisashi Osumi

Journal of Advanced Computational Intelligence and Intelligent Informatics　21　(4)　660-666　2017/07
Publisher: Fuji Technology Press
DOI： 10.20965/jaciii.2017.p0660 　

ISSN： 1343-0130
A Continuous Estimation of Stress using Physiological Signals during a Real Car Race Peer-reviewed

Wen Wen, Daisuke Tomoi, Hiroshi Yamakawa, Shunsuke Hamasaki, Kaoru Takakusaki, Qi An, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Psychology　8　(7)　978-986　2017/04
Distributed Cooperative Fault Diagnosis Method for Internal Components of Robot Systems Peer-reviewed

Hitoshi Kono, Musab Obaid Alhammadi, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

International Journal of Intelligent Systems and Applications in Robotics　8　(1)　1-11　2017/04
Radiation Source Localization Using SLAM for Compton Camera Mounted on Mobile Robot

KIM Doyeon, WOO Hanwool, JI Yonghoon, TAMURA Yusuke, YAMASHITA Atsushi, ASAMA Hajime

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　2P1-R06　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P1-R06 　

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For taking out the melted down nuclear fuel debris in Fukushima nuclear power plant, localization of the debris inside plant is required. Because of high radioactive in Fukushima nuclear power plant, a mobile robot mounting the Compton camera is used in order to investigate the power plant instead of human. However, the mobile robot has uncertainties of its pose. We propose a method to localize radiation source and the robot using extended Kalman Filter (EKF)- based simultaneous localization and mapping (SLAM) with Compton camera. We evaluated the performance of proposed method in a simulated environment.
Lane-Change Detection Based on Vehicle-Trajectory Prediction Peer-reviewed

Hanwool Woo, Yonghoon JI, Hitoshi Kono, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

IEEE Robotics and Automation Letters　2　(2)　1-1　2017
Publisher: Institute of Electrical and Electronics Engineers ({IEEE})
DOI： 10.1109/LRA.2017.2660543 　
Visualization of Obstacles on Bird’s-eye View Using Depth Sensor for Remote Controlled Robot Peer-reviewed

Yasuyuki Awashima, Ren Komatsu, Hiromitsu Fujii, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the International Workshop on Advanced Image Technology 2017　2017/01
Gait analysis of patients with knee osteoarthritis by using elevation angle: confirmation of the planar law and analysis of angular difference in the approximate plane Peer-reviewed

Ishikawa, Y., An, Q., Nakagawa, J., Oka, H., Yasui, T., Tojima, M., Inokuchi, H., Haga, N., Yamakawa, H., Tamura, Y., Yamashita, A., Asama, H.

Advanced Robotics　31　(1-2)　68-79　2017

DOI： 10.1080/01691864.2016.1229217 　

ISSN： 0169-1864

eISSN： 1568-5535
Muscle synergy structure using different strategies in human standing-up motion Peer-reviewed

Yang, N., An, Q., Yamakawa, H., Tamura, Y., Yamashita, A., Asama, H.

Advanced Robotics　31　(1-2)　40-54　2017

DOI： 10.1080/01691864.2016.1238781 　

ISSN： 0169-1864

eISSN： 1568-5535
Localization of Radiation Sources using Gamma-ray Detector in Simulated Environments Peer-reviewed

Doyeon Kim, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 2016 International Conference on Maintenance Science and Technology　FC-2-4　2016/11
Overview of the Fundamental Research and Human Resource Development for the Decommissioning of Fukushima Daiichi Nuclear Power Station in Japan Peer-reviewed

Yutaka Watanabe, Takayuki Aoki, Yuichi Niibori, Toru Obara, Isamu Sato, Saishun Yamazaki, Koji Okamoto, Shunichi Suzuki, Yusuke Tamura

Proceedings of the 206 International Conference on Maintenance Science and Technology　FC1-1　2016/11
Auxiliary System to Classify Patterns of Patients with Hemiplegia for Transferring Skill of Rehabilitation with Walking Assist Robot Peer-reviewed

Yuki Ishikawa, Qi An, Wen Wen, Shu Ishiguro, Koji Ohata, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 4th International Conference on Serviceology　154-157　2016/09
Muscle Synergy Analysis in Human Standing-up Motion Using Different Strategies Peer-reviewed

Ningjia Yang, Qi An, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 1st International Symposium on Embodied-Brain Systems Science　32　2016/05
Influence of Sense of Ownership and Sense of Agency on Body Representation Change of Human Upper Limb Peer-reviewed

Shunsuke Hamasaki, Qi An, Wen Wen, Yusuke Tamura, Hiroshi Yamakawa, Atsushi Yamashita, Hajime Asama, Satoshi Unenaka, Satoshi Shibuya, Yukari Ohki

Proceedings of the 1st International Symposium on Embodied-Brain Systems Science　26　2016/05
Evaluating effect of sense of ownership and sense of agency on body representation change of human upper limb Peer-reviewed

Shunsuke Hamasaki, Qi An, Wen Wen, Yusuke Tamura, Hiroshi Yamakawa, Atsushi Yamashita, Hajime Asama, Satoshi Shibuya, Yukari Ohki

2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015　254-257　2016/03/21
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/MHS.2015.7438328 　
Estimation of stress during car race with factor analysis Peer-reviewed

Daisuke Tomoi, Wen Wen, Hiroshi Yamakawa, Shunsuke Hamasaki, Kaoru Takakusaki, Qi An, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015　213-216　2016/03/21
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/MHS.2015.7438258 　
Lane-changing feature extraction using multisensor integration Peer-reviewed

Hanwool Woo, Yonghoon Ji, Hitoshi Kono, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

International Conference on Control, Automation and Systems　1633-1636　2016/01/24
Publisher: IEEE Computer Society
DOI： 10.1109/ICCAS.2016.7832518 　

ISSN： 1598-7833
Automatic Convergence Estimation by Utilizing Fractal Dimensional Analysis for Reinforcement Learning Peer-reviewed

Hitoshi Kono, Tsuyoshi Suzuki, Akiya Kamimura, Kohji Tomita, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Journal of Instrumentation, Automation and Systems　3　(3)　58-70　2016
How Anticipation for the Sense of Agency Affects Readiness Potential Peer-reviewed

Rin Minohara, Wen Wen, Shunsuke Hamasaki, Takaki Maeda, Qi An, Yusuke Tamura, Hiroshi Yamakawa, Atsushi Yamashita, Hajime Asama

2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)　166-168　2016

DOI： 10.1109/MHS.2016.7824228 　

ISSN： 2474-378X

eISSN： 2474-3798
Lane-Changing Feature Extraction Using Multisensor Integration Peer-reviewed

Hanwool Woo, Yonghoon Ji, Hitoshi Kono, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

2016 16TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)　1633-1636　2016

DOI： 10.1109/ICCAS.2016.7832518 　

ISSN： 2093-7121
Dynamic Potential-Model-Based Feature for Lane Change Prediction Peer-reviewed

Hanwool Woo, Yonghoon Ji, Hitoshi Kono, Yusuke Tamura, Yasuhide Kuroda, Takashi Sugano, Yasunori Yamamoto, Atsushi Yamashita, Hajime Asama

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　838-843　2016

DOI： 10.1109/SMC.2016.7844344 　

ISSN： 1062-922X
Automatic detection method of lane-changing intentions based on relationship with adjacent vehicles using artificial potential fields Peer-reviewed

Woo, H., Ji, Y., Kono, H., Tamura, Y., Kuroda, Y., Sugano, T., Yamamoto, Y., Yamashita, A., Asama, H.

International Journal of Automotive Engineering　7　(4)　127-134　2016
Publisher: Society of Automotive Engineers of Japan, INC
DOI： 10.20485/jsaeijae.7.4_127 　
Goal-directed movement enhances body representation updating Peer-reviewed

Wen, W., Muramatsu, K., Hamasaki, S., An, Q., Yamakawa, H., Tamura, Y., Yamashita, A., Asama, H.

Frontiers in Human Neuroscience　10　(329)　2016

DOI： 10.3389/fnhum.2016.00329 　

ISSN： 1662-5161
Human Visual Attention Model Based on Analysis of Magic for Smooth Human–Robot Interaction Peer-reviewed

Tamura, Y., Akashi, T., Yano, S., Osumi, H.

International Journal of Social Robotics　8　(5)　685-694　2016

DOI： 10.1007/s12369-016-0354-y 　

ISSN： 1875-4791

eISSN： 1875-4805
A Human-friendly Robot Navigation Algorithm using the Risk-RRT approach Peer-reviewed

Wenzheng Chi, Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama, Max Q. -H. Meng

2016 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE RCAR)　227-232　2016

DOI： 10.1109/RCAR.2016.7784030 　
Detection Method of Lane Change Intentions in Other Drivers Using Hidden Markov Models Peer-reviewed

Hanwool Woo, Yonghoon Ji, Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 6th International Conference on Advanced Mechatronics　2015　253-254　2015/12
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.253 　

ISSN： 1348-8961

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Previous researches reported that a lane change is the main cause of vehicle accidents. Therefore, inferring behaviors in other drivers and alarming to a driver are crucial tasks for safety. In this paper we propose a method to estimate lane change intentions in other drivers using Hidden Markov Models (HMMs). Comparing the proposed method with previous researches, we confirmed this method has higher accuracy to detect a lane change in other vehicles. And the method can recognize a slow lane change which is remained as a problem.
Course Detection from Integrated 3D Environment Measurement by Multiple Mobile Robots Peer-reviewed

Yusuke Tanaka, Yonghoon Ji, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 6th International Conference on Advanced Mechatronics　2015　237-238　2015/12
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.237 　

ISSN： 1348-8961

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This paper describes a novel selection method of course direction for a mobile robot. We focus on the scene when a mobile robot cannot select an appropriate course direction by its own sensor information. The proposed method enables appropriate selection of course direction for a mobile robot by integrating measured data acquired by multiple mobile robots. Experimental result shows that the proposed method can decide appropriate course direction for a mobile robot.
Distributed Cooperative Fault Diagnosis Method for Internal Electric Component of Robot System Peer-reviewed

Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 6th International Conference on Advanced Mechatronics　2015　235-236　2015/12
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.235 　

ISSN： 1348-8961

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Robot systems have recently been studied for real-world situations such as space exploration, under water inspection, and disaster response. In extreme environments, a robot system has a probability of fault. Therefore, considering fault tolerance is important for success of missions. In prior research, we proposed a distributed cooperative fault diagnosis method for internal components of robot system. This method consists of some diagnosis devices called diagnosers' which observe the state of a electrical component. Some diagnosers execute the diagnosis independently and in parallel, and we assume that they are connected using wireless communication. In this paper, we propose a technique which involves gathering the diagnosis results. Further we confirmed that this method can detect the faults of components in simplified fault situations by conducting computer simulations.
Bird's-eye View Image Generation with Camera Malfunction in Irradiation Environment Peer-reviewed

Ren Komatsu, Hiromitsu Fujii, Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Proceedings of the 6th International Conference on Advanced Mechatronics　2015.6　(0)　177-178　2015/12
Publisher: Japan Society of Mechanical Engineers
DOI： 10.1299/jsmeicam.2015.6.177 　

eISSN： 2424-3116
Estimation of Handgrip Position Based on Force Measurement During Steady Cycling Peer-reviewed

Yusuke Tamura, Kojiro Matsushita, Hisashi Osumi

Journal of Science and Cycling　4　(2)　71-72　2015
Modeling of human attention based on analysis of magic Peer-reviewed

Yusuke Tamura, Shiro Yano, Hisashi Osumi

ACM/IEEE International Conference on Human-Robot Interaction　302-303　2014
Publisher: IEEE Computer Society
DOI： 10.1145/2559636.2559819 　

ISSN： 2167-2148
Visual Attention Model for Manipulating Human Attention by a Robot Peer-reviewed

Yusuke Tamura, Shiro Yano, Hisashi Osumi

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　5307-5312　2014

DOI： 10.1109/ICRA.2014.6907639 　

ISSN： 1050-4729
Optimal Grasping Poses of Manipulators for Cooperative Manipulation with Passive Joints Peer-reviewed

Ryo Ohta, Hisashi Osumi, Yusuke Tamura

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　447-452　2014

DOI： 10.1109/SII.2014.7028080 　
動的環境下における歩行者流を利用した移動ロボットナビゲーション Peer-reviewed

Yusuke Tamura

計測自動制御学会論文集　50　(1)　58-67　2014/01

DOI： 10.9746/sicetr.50.58 　
Effective Improved Artificial Potential Field Based Regression Search Method for Autonomous Mobile Robot Path Planning Peer-reviewed

Guanghui Li, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

International Journal of Mechatronics and Automation　3　(3)　141-170　2013/08
Mobile Robot Navigation Based on Local Route Information and Pedestrians' Flow Peer-reviewed

79　(4)　349-355　2013/04
Publisher:
DOI： 10.2493/jjspe.79.349 　

ISSN： 0912-0289
Mobile robot navigation based on local route information and pedestrians' flow Peer-reviewed

Kumahara, W., Masuyama, G., Tamura, Y., Yamashita, A., Asama, H.

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering　79　(4)　2013
Effect of mediolateral knee displacement on ligaments and muscles around knee joint: Quantitative analysis with three-dimensional musculoskeletal ligament knee model Peer-reviewed

Ishikawa, Y., An, Q., Tamura, Y., Yamashita, A., Oka, H., Asama, H.

Advances in Intelligent Systems and Computing　194 AISC　(VOL. 2)　447-+　2013

DOI： 10.1007/978-3-642-33932-5_41 　

ISSN： 2194-5357
Development of Crane Tele-operation System using Laser Pointer Interface Peer-reviewed

Masaki Negishi, Hisasi Osumi, Keiichirou Saito, Hikaru Masuda, Yusuke Tamura

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　5457-5462　2013

DOI： 10.1109/IROS.2013.6697146 　

ISSN： 2153-0858
Analysis of Manipulating Other's Attention for Smooth Interaction between Human and Robot Peer-reviewed

Takafumi Akashi, Yusuke Tamura, Shiro Yano, Hisashi Osumi

2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　340-345　2013
Development of open platform humanoid robot DARwIn-OP Peer-reviewed

Ha, I., Tamura, Y., Asama, H.

Advanced Robotics　27　(3)　223-232　2013

DOI： 10.1080/01691864.2012.754079 　

ISSN： 0169-1864

eISSN： 1568-5535
Collision avoidance of mobile robot based on prediction of human movement according to environments Peer-reviewed

Tamura, Y., Hamasaki, S., Yamashita, A., Asama, H.

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　79　(799)　617-628　2013

DOI： 10.1299/kikaic.79.617 　

ISSN： 0387-5024
Activeness improves cognitive performance in human-machine interaction Peer-reviewed

Tamura, Y., Egawa, M., Yano, S., Maeda, T., Kato, M., Asama, H.

Journal of Advanced Computational Intelligence and Intelligent Informatics　17　(3)　425-432　2013
Publisher: Fuji Technology Press
DOI： 10.20965/jaciii.2013.p0425 　

ISSN： 1883-8014 1343-0130
Modelling behaviour patterns of pedestrians for mobile robot trajectory generation Peer-reviewed

Tamura, Y., Terada, Y., Yamashita, A., Asama, H.

International Journal of Advanced Robotic Systems　10　(310)　1-11　2013

DOI： 10.5772/56668 　

ISSN： 1729-8806
Service Robot : Behavior of Service Robot in Human-Robot Coexisting Environment Invited

Journal of the Japan Society for Precision Engineering　78　(8)　666-669　2012/08
Publisher: The Japan Society for Precision Engineering
DOI： 10.2493/jjspe.78.666 　

ISSN： 0912-0289
Service robot: Behavior of service robot in human-robot coexisting environment Peer-reviewed

Tamura, Y., Asama, H.

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering　78　(8)　2012
Relationship between sense of agency and task performance in target search task Peer-reviewed

Yusuke Tamura, Mami Egawa, Shiro Yano, Yoshinori Kumita, Takaki Maeda, Motoichiro Kato, Hajime Asama

2012 ICME International Conference on Complex Medical Engineering, CME 2012 Proceedings　392-396　2012

DOI： 10.1109/ICCME.2012.6275710 　
Hybrid Dynamic Mobile Task Allocation and Reallocation Methodology for Distributed Multi-robot Coordination Peer-reviewed

Guanghui Li, Yusuke Tamura, Min Wu, Atsushi Yamashita, Hajime Asama

2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　190-195　2012

DOI： 10.1109/AIM.2012.6265938 　
An efficient improved artificial potential field based regression search method for robot path planning Peer-reviewed

Guanghui Li, Atsushi Yamashita, Hajime Asama, Yusuke Tamura

2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012　1227-1232　2012

DOI： 10.1109/ICMA.2012.6283526 　
Development of Pedestrian Behavior Model Taking Account of Intention Peer-reviewed

Yusuke Tamura, Phuoc Dai Le, Kentarou Hitomi, Naiwala P. Chandrasiri, Takashi Bando, Atsushi Yamashita, Hajime Asama

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　382-387　2012

DOI： 10.1109/IROS.2012.6385599 　

ISSN： 2153-0858
Moving task allocation and reallocation method based on body expansion behaviour for distributed multi-robot coordination Peer-reviewed

Guanghui Li, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

International Journal of Mechatronics and Automation　2　(4)　240-240　2012
Publisher: Inderscience Publishers
DOI： 10.1504/ijma.2012.050495 　

ISSN： 2045-1067 2045-1059
Development of Open Humanoid Platform DARwIn-OP Peer-reviewed

Inyong Ha, Yusuke Tamura, Hajime Asama, Jeakweon Han, Dennis W. Hong

Proceedings of SICE Annual Conference 2011　2178-2181　2011/09
Dynamical task allocation and reallocation based on body expansion behavior for multi-robot coordination system Peer-reviewed

Guanghui Li, Yusuke Tamura, Hajime Asama

2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011　537-542　2011

DOI： 10.1109/ICMA.2011.5985718 　
Gait Pattern Generation and Stabilization for Humanoid Robot Based on Coupled Oscillators Peer-reviewed

Inyong Ha, Yusuke Tamura, Hajime Asama

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3207-3212　2011

DOI： 10.1109/IROS.2011.6048790 　

ISSN： 2153-0858
A comparative study of dynamical sequential and global optimal task reallocation methodology for distributed multi-robot system Peer-reviewed

Guanghui Li, Yusuke Tamura, Hajime Asama

URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence　307-312　2011

DOI： 10.1109/URAI.2011.6145982 　
Influence analysis of setting thresholds on dynamical sequential task allocation and reallocation methodology Peer-reviewed

Guanghui Li, Yusuke Tamura, Hajime Asama

2011 IEEE/SICE International Symposium on System Integration, SII 2011　1165-1170　2011

DOI： 10.1109/SII.2011.6147614 　
Prediction of human's movement for collision avoidance of mobile robot Peer-reviewed

Shunsuke Hamasaki, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　1633-1638　2011

DOI： 10.1109/ROBIO.2011.6181523 　
Identification of types of obstacles for mobile robots Peer-reviewed

Tamura, Y., Murai, Y., Murakami, H., Asama, H.

Intelligent Service Robotics　4　(2)　99-105　2011

DOI： 10.1007/s11370-010-0073-4 　

ISSN： 1861-2776 1861-2784
Calibration-Free Wireless-LAN Location Estimation System Using Polar Coordinates Filter Peer-reviewed

Jun Ishii, Yusuke Tamura, Hajime Asama

Proceedings of the 7th International Conference on Ubiquitous Robots and Ambient Intelligence　437-440　2010/11
Development of Deskwork Support System using Pointing Gesture Interface Peer-reviewed

Masao Sugi, Yuto Nakanishi, Masataka Nishino, Yusuke Tamura, Tamio Arai, Jun Ota

Journal of Robotics and Mechatronics　22　(4)　430-438　2010/08

DOI： 10.20965/jrm.2010.p0430 　

ISSN： 1883-8049 0915-3942
Development of Mobile Robot Passing People Smoothly in Human-Robot Coexisting Environment

Fukuzawa Tomohiro, Tamura Yusuke, Asama Hajime

Proceedings of JSPE Semestrial Meeting　2010　967-968　2010
Publisher: The Japan Society for Precision Engineering
DOI： 10.11522/pscjspe.2010S.0.967.0 　
Smooth collision avoidance in human-robot coexisting environment Peer-reviewed

Yusuke Tamura, Tomohiro Fukuzawa, Hajime Asama

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　3887-3892　2010

DOI： 10.1109/IROS.2010.5649673 　

ISSN： 2153-0858
Attentive deskwork support system Peer-reviewed

Tamura, Y., Sugi, M., Arai, T., Ota, J.

Journal of Advanced Computational Intelligence and Intelligent Informatics　14　(7)　758-769　2010
Publisher: Fuji Technology Press
DOI： 10.20965/jaciii.2010.p0758 　

ISSN： 1883-8014 1343-0130
Identification of Types of Obstacles and Obstacle Map Building for Mobile Robots Peer-reviewed

Yusuke Tamura, Yu Murai, Hiroki Murakami, Hajime Asama

Proceedings of the 6th International Conference on Ubiquitous Robots and Ambient Intelligence　340-344　2009/10
Quantitative Evaluation of Automatic Parts Delivery in Human Supporting Cell Production System "Attentive Workbench" Peer-reviewed

Masao Sugi, Ippei Matsumura, Yusuke Tamura, Makoto Nikaido, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Hiromasa Suzuki, Akio Yamamoto, Yoichi Sato, Seiichi Shin, Fumihiko Kimura

Journal of Robotics and Mechatronics　21　(1)　135-145　2009/02

DOI： 10.20965/jrm.2009.p0135 　
Filter Design by Using Map Information on Wireless-LAN Location Awareness System Peer-reviewed

Jun Ishii, Yusuke Tamura, Hajime Asama

2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS　2967-2972　2009

DOI： 10.1109/ICMA.2009.5246005 　
Design of Location Management Module and Environment Server for Constructing of Intelligent Environment Space Peer-reviewed

Inyong Ha, Yusuke Tamura, Soichiro Morishita, Hajime Asama, Itsuki Noda, Yasushi Hada, Hiroyuki Okamoto

Proceedings of the 5th International Conference on Ubiquitous Robots and Ambient Intelligence　485-488　2008/11
Target Identification Through Human Pointing Gesture Based on Human-Adaptive Approach Peer-reviewed

Yusuke Tamura, Masao Sugi, Tamio Arai, Jun Ota

Journal of Robotics and Mechatronics　20　(4)　515-525　2008/08

DOI： 10.20965/jrm.2008.p0515 　

ISSN： 1883-8049 0915-3942
Quantitative evaluation of physical assembly support in human supporting production system "attentive workbench" Peer-reviewed

Masao Sugi, Ippei Matsumura, Yusuke Tamura, Jun Ota, Tamio Arai

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　3624-+　2008

DOI： 10.1109/ROBOT.2008.4543766 　

ISSN： 1050-4729
Attentive Object Feeding for Supporting Deskwork Peer-reviewed

Yusuke Tamura, Masao Sugi, Jun Ota, Tarnio Arai

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　2840-2845　2008

DOI： 10.1109/IROS.2008.4650868 　
Attentive workbench: An intelligent production cell supporting human workers Peer-reviewed

Masao Sugi, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Takamasu, Kiyoshi Kotani, Hiromasa Suzuki, Yoichi Sato

DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 6　465-+　2007
Quantitative evaluation of human supporting production system "Attentive Workbench" Peer-reviewed

Masao Sugi, Ippei Matsumura, Yusuke Tamura, Jun Ota, Tamio Arai

2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1-3　1070-1074　2007

DOI： 10.1109/COASE.2007.4341845 　

ISSN： 2161-8070
Estimation of user's intention inherent in the movements of hand and eyes for the deskwork support system Peer-reviewed

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　3715-+　2007

DOI： 10.1109/IROS.2007.4399618 　
Motion and Arrangement Planning for Self-Moving Trays in Human Supporting Production Cell "Attentive Workbench" Peer-reviewed

SUGI Masao, NIKAIDO Makoto, TAMURA Yusuke, OTA Jun, ARAI Tamio

Journal of the Japan Society for Precision Engineering. Supplement. Contributed papers　72　(11)　1380-1385　2006/11
Publisher: The Japan Society for Precision Engineering
DOI： 10.2493/jspe.72.1380 　

ISSN： 1348-8724

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We have proposed "Attentive Workbench (AWB)," a new cell production system in which an intelligent system supports human workers. Recognizing worker's condition and intention, the system supports workers from both physical and information aspects. This paper deals with physical assembly support using self-moving parts trays. The system delivers necessary assembly parts to workers and clears finished products quickly. On transporting large products, multiple trays are subjected to form a rigid body working as a large single tray. In order to realize these movement of trays in real-time, a planning method based on the priority scheme and heuristic rule is proposed. The present method is evaluated through simulations.
Handing-Over between Human and Self-Moving Tray Peer-reviewed

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

Proceedings of the IMEKO XVIII World Congress　TC18-08　2006/09
Human Supporting Production Cell "Attentive Workbench" Peer-reviewed

Masao Sugi, Yusuke Tamura, Makoto Nikaido, Jun Ota, Tamio Arai, Kiyoshi Takamasu, Kiyoshi Kotani, Akio Yamamoto, Hiromasa Suzuki, Yoichi Sato, Fumihiko Kimura, Seiichi Shin

INTELLIGENT AUTONOMOUS SYSTEMS 9　740-747　2006
Prediction of target object based on human hand movement for handing-over between human and self-moving trays Peer-reviewed

Yusuke Tamura, Masao Sugi, Jun Ota, Tamio Arai

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication　189-194　2006

DOI： 10.1109/ROMAN.2006.314416 　
Implementation of human supporting production system "Attentive workbench" Peer-reviewed

Masao Sugi, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Takamasu, Hiromasa Suzuki

2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13　5632-+　2006

DOI： 10.1109/SICE.2006.315436 　
Development of gesture-based interface for deskwork support system Peer-reviewed

Masao Sugi, Makoto Nikaido, Yusuke Tamura, Jun Ota, Tamio Arai

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　5171-+　2006

DOI： 10.1109/IROS.2006.281653 　
Estimation of Worker's Intentions for Deskwork Support System Peer-reviewed

TAMURA Yusuke, SUGI Masao, OTA Jun, ARAI Tamio

Transactions of the Society of Instrument and Control Engineers　41　(7)　612-618　2005/07
Publisher: The Society of Instrument and Control Engineers
DOI： 10.9746/sicetr1965.41.612 　

ISSN： 0453-4654

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We have proposed a system called Attentive Workbench (AWB) that is designed to support desktop work. AWB is the system which estimates a worker's condition using some sensors and assists a worker using movable trays and projectors from both physical and informational viewpoints. A method for estimating an AWB user's intention is proposed and presented herein. An AWB user expresses his/her intention by pointing a finger at a necessary tray. For estimating which tray a user needs, we take two approaches. One is to consider user's subjective pointing direction, and the other is to integrate the sensor data and user's past action sequences using Dynamic Bayesian Network. A description of the experimental results will demonstrate the usefulness of the method proposed here.
Motion control of self-moving trays for human supporting production cell "attentive workbench" Peer-reviewed

Masao Sugi, Makoto Nikaido, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Seiichi Shin, Hiromasa Suzuki, Yoichi Sato

Proceedings - IEEE International Conference on Robotics and Automation　2005　4080-4085　2005

DOI： 10.1109/ROBOT.2005.1570746 　

ISSN： 1050-4729
Placement of self-moving trays for the deskwork support system Peer-reviewed

Y Tamura, J Ota, T Arai, M Sugi

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　3886-3891　2005

DOI： 10.1109/IROS.2005.1545575 　
Arrangement planning for multiple self-moving trays in human supporting production cell "attentive workbench Peer-reviewed

Makoto Nikaido, Masao Sugi, Yusuke Tamura, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Akio Yamamoto, Seiichi Shin, Hiromasa Suzuki, Yoichi Sato

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS　3880-3885　2005

DOI： 10.1109/IROS.2005.1545574 　
Handling of Multiple Heterogeneous Objects with Marks by a Robot Peer-reviewed

KATSUKI Rie, OTA Jun, TAMURA Yusuke, MIZUTA Takahisa, KITO Tomomi, ARAI Tamio, UEYAMA Tsuyoshi, NISHIYAMA Tsuyoshi

Transactions of the Japan Society of Mechanical Engineers. Series C.　70　(691)　766-773　2004/03
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/kikaic.70.766 　

ISSN： 0387-5024

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This paper presents a robot system for handling various objects in home or office environments. A fixed manipulator utilizes marks on objects. A mark consists of two parts. One is the outer part, which indicates its 3 D pose, and the other is a QR code, which is stored information of an object (e.g. its size). A QR code is a kind of 2D barcode. A user attaches several marks on objects. The manipulator accesses the information using a camera on its hand. The manipulator estimates pose of objects measuring marks and using least-squares method. Then, the robot can handle and convey the objects through planning a sequence of conveyance and a pose for grasp that is based on the pose of objects, candidates for grasp pose informed by the mark, and signals from proximity sensors. Experiments are conducted to verify the whole system.
Distributed control of multiple self-moviing trays for an intelligent cell production system Peer-reviewed

M Sugi, Y Tamura, J Ota, T Arai, K Kotani, H Suzuki, K Takamasu, Y Sato

SICE 2004 ANNUAL CONFERENCE, VOLS 1-3　2506-2511　2004
Deskwork support system based on the estimation of human intentions Peer-reviewed

Y Tamura, M Sugi, J Ota, T Arai

RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS　413-418　2004
A Research on Knowledge-Centered System for Ship Basic Design - Semantic Web Approach - Peer-reviewed

Hideyuki Ando, Hiroyuki Yamato, Masahiro Sato, Takeo Karasawa, Yusuke Tamura, Susumu Shirayama, Hiroshi Masuda

Proceedings of the 8th International Marine Design Conference　168-179　2003/05
An Application of Semantic Web for Ship Design System Peer-reviewed

Yamato Hiroyuki, Ando Hideyuki, Masuda Hiroshi, Shirayama Hajime, Sato Masahiro, Karasawa Takeo, Tamura Yusuke, Kenyoshi Yuzuru

Journal of the Japan Society of Naval Architects and Ocean Engineers　(192)　387-396　2002/12
Publisher: The Japan Society of Naval Architects and Ocean Engineers
DOI： 10.2534/jjasnaoe1968.2002.387 　

ISSN： 0514-8499

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This paper presents a design support system for basic design of ships. The system aims at supporting designers by presenting documents needed for each task according to design processes. In order to construct our system, several approaches were adopted. At first, an analysis of basic design process using UML was made. Authors understood its workflow and extracted a data list to make documents for each step of the workflow. Secondly, Semantic Web architecture was introduced to structuralise ship design documents. By applying Semantic Web technology, users can query to collections of documents as if using relational databases. Authors implemented the system and evaluated it through an example of basic design. The system shows its efficiency in the evaluation.

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Misc. 40

Development of gamma source identification by 4π Compton gamma imaging (6) Experimental demonstration of intense gamma source identification

神田皆人, 向篤志, 島添健次, 田村雄介, WOO Hanwool, NURRACHMAN Agus, 高橋浩之, 淺間一, 上ノ町水紀, 石田文彦, 高田英治, 河原林順, 土屋兼一, 田辺鴻典, 鎌田圭, 富田英生

日本原子力学会秋の大会予稿集(CD-ROM)　2023　2023
Development of gamma source identification by 4π Compton gamma imaging (4) Experimental verification of gamma source identification using LiDAR SLAM

山岸恵大, 向篤志, 原真太朗, 海老秀虎, 寺林稜平, 島添健次, 田村雄介, WOO Hanwool, 岸本卓也, 湖上碩樹, ZHONG Zhihong, 上ノ町水紀, NURRACHMAN Agus, 高橋浩之, 淺間一, 石田文彦, 高田英治, 河原林順, 田辺鴻典, 鎌田圭, 富田英生

日本原子力学会秋の大会予稿集(CD-ROM)　2021　2021
ガンマ線検出器を搭載した移動ロボットによる空間中の構造物を考慮した放射線源分布の3次元再構成

岸本卓也, WOO Hanwool, WOO Hanwool, 田村雄介, 島添健次, 高橋浩之, 山下淳, 淺間一

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)　2019　ROMBUNNO.2A1‐B10　2019/06/05
ガンマ線検出器を搭載した移動ロボットによる複数放射線源の分布推定

岸本卓也, WOO Hanwool, 田村雄介, 大島佑介, 島添健次, 高橋浩之, 山下淳, 淺間一

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.1C2‐06　2018/12/13
片麻痺患者の起立動作のリハビリテーションにおける理学療法士の技能と筋シナジーに与える影響の調査

AN Qi, 湖上碩樹, 楊濘嘉, 山川博司, 田村雄介, 山崎弘嗣, ITKONEN Matti, SHIBATA-ALNAJJAR Fady, 下田真吾, 服部憲明, 木野本誠, 高橋幸治, 藤井崇典, 乙宗宏範, 宮井一郎, 山下淳, 淺間一

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2018　2018
理学療法士の膝と臀部に対する介入が片麻痺患者の起立動作の身体軌道に与える影響の調査

湖上碩樹, AN Qi, 楊濘嘉, 山川博司, 田村雄介, 山崎弘嗣, ITKONEN Matti, SHIBATA-ALNAJJAR Fady, 下田真吾, 服部憲明, 木野本誠, 高橋幸治, 藤井崇典, 乙宗宏範, 宮井一郎, 山下淳, 淺間一

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2018　2018
片麻痺患者の起立動作のリハビリテーションにおける理学療法士の技能の解析

湖上碩樹, AN Qi, 楊濘嘉, 山川博司, 田村雄介, 山下淳, 淺間一, 山崎弘嗣, ITKONEN Matti, SHIBATA-ALNAJJAR Fady, 下田真吾, 服部憲明, 木野本誠, 高橋幸治, 藤井崇典, 乙宗宏範, 宮井一郎

計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)　2017　2017
カロリックテストを用いた前庭感覚が起立動作の筋シナジーに与える影響の解明

吉田和憲, AN Qi, 四津有人, 千葉龍介, 高草木薫, 山川博司, 田村雄介, 山下淳, 淺間一

ロボティクスシンポジア予稿集　22nd　2017

ISSN： 1881-7300
Remote Control Technology and Human Resource Development for Decommissioning of Fukushima Daiichi Nuclear Power Station

TAMURA Yusuke, OHNO Kazunori, MATSUNO Fumitoshi, TAKAHASHI Takayuki, NARUSE Keitaro, SUZUKI Shigekazu, YOKOKOHJI Yasuyoshi, OKAMOTO Koji, SUZUKI Shunichi, ASAMA Hajime, OTA Jun, YAMAMOTO Akio, YAMASHITA Atsushi, FUKUI Rui, KONYO Masashi

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2P1-R01　2017
Publisher: The Japan Society of Mechanical Engineers
DOI： 10.1299/jsmermd.2017.2P1-R01 　

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Since the decommissioning of Fukushima Daiichi Nuclear Power Station requires a very long time, development of human resource is indispensable. The radiation dose in the nuclear power plant is very high, therefore remote control technologies are necessary for the decommissioning work. We have been conducting a project "HRD for Fukushima Daiichi Decommissioning based on Robotics and Nuclide Analysis". This paper reports on robotics and human resource development among the intermediate results of the project.
英知を結集した原子力科学技術・人材育成推進事業廃止措置研究・人材育成等強化プログラムにおける人材育成活動(3)-東京大学「遠隔操作技術及び核種分析技術を基盤とする俯瞰的廃止措置人材育成」実施状況-

鈴木俊一, 岡本孝司, 淺間一, 高橋浩之, 田村雄介, 高橋隆行, 横小路泰義

日本原子力学会秋の大会予稿集(CD-ROM)　2016　2016
The Influence of Goals on Body Representation

Muramatsu Katsutoshi, Wen Wen, Hamasaki Shunsuke, Yamakawa Hiroshi, An Qi, Tamura Yusuke, Yamashita Atsushi, Asama Hajime

Proceedings of JSPE Semestrial Meeting　2016　(0)　573-574　2016
Publisher: The Japan Society for Precision Engineering
DOI： 10.11522/pscjspe.2016S.0_573 　

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Body representation refers to perception and memory in brain about status of one&prime;s body, such as position, posture, and appearance. In the present study, we examined the influence of an instructed goal on modification of body representation. Specifically, we asked participants to move their left hands back and forward, while their left hand was hidden from vision, and a virtual left hand was presented 33 cm vertically above the real hand. The virtual hand moved synchronously with the real hand. After moving their hands for serval minutes, participants would feel that the virtual hand seems like their own, and their perceived position of the real left hand would shift to the position of the virtual hand. According to the results, we found that when the participants moved their hands upon an instructed goal, the perceived position of their real hand shifted more to the virtual hand than that when they moved their hands without a goal and received feedback of goal attainment. The results showed that of body representation was modified more by the synchronous visual motion when there was an instructed goal for the motion.
2P1-V02 Cooperative transportation control of three omni-directional mobile manipulators using passive joint mechanism

OTA Ryo, MORITA Kazuki, TAMURA Yusuke, OSUMI Hisashi

2015　"2P1-V02(1)"-"2P1-V02(2)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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In this study, a passive joint mechanism is attached to the hand of each manipulator to prevent the generation of the internal forces during cooperative transportation by multiple mobile manipulators. The mechanism enables cooperative transportation by position control. However the loads for each manipulator changes according to the grasping pose by the characteristics of the mechanism. In this paper, first, we propose a method of transportation considering the characteristics of the mechanism. Then, we verify the effectiveness of the proposed method by experiments.
1P1-H05 Development of loads and moments measurement system for analysis of riding posture during pedaling

MOTOYA Hideaki, TAMURA Yusuke, OSUMI Hisashi

2015　"1P1-H05(1)"-"1P1-H05(2)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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To observe one's own motion is very important in improving one's skills of bicycle riding. Though there are many elements about riding states of a bicycle, especially in this paper, we focus on the loads and moments applied to a handle and a saddle. Then, we propose a system that measures forces and moments of a handle and a saddle to analyze one's skill. We visualize the important elements; forces and moments by proposed measurement system in this paper.
2A1-Q06 Path Planning of an Overhead Crane in Consideration of Moving Obstacles

NEGISHI Masaki, NAKAMURA Ryutaro, TAMURA Yusuke, OSUMI Hisashi

2015　"2A1-Q06(1)"-"2A1-Q06(2)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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We developed a tele-operation system for a crane. The crane consists of a large actuator that transports suspended objects and a small actuator that is used as a regulator and feedback-controlled by a wire angle sensor. The operation system can convey the suspended objects safely and efficiently by moving a crane with input signals from screen click interface. However, the suspended object collides with obstacles when dynamic obstacles exist on a conveyance course. Therefore, we propose an algorithm to generate the conveyance course that can avoid dynamic obstacles automatically. The algorithm enables the suspended objects to avoid an obstacle by changing the moving velocity of the suspended objects in the two-dimensional direction that is perpendicular to the gravity direction. We verified the effectiveness of the algorithm through a conveyance experiment.
2A1-I07 Development of a mechanism for riding over a step for a walker for an aged person

TSUNODA Fumiya, TANADA Mizuki, ONO Manabu, TAMURA Yusuke, OSUMI Hisashi

2015　"2A1-I07(1)"-"2A1-I07(2)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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In aging society, there is a growing importance of a walker for an aged person helping with the walk. However, it is hard for a walker to ascend a step. In this paper, we developed a new mechanism using a sled-like shape for riding over a step. We regarded the angle against a step as an important parameter and focused attention on it. Based on a simulation of riding over a step and the theoretical value of the impact force, an optimal angle of the sled was obtained. We will take this result into account and develop the actual machine.
2A2-O09 Design of Fast Walk Trajectory for Quadruped Robots during State Transition between Two Arbitrary States

IWATA Masafumi, SUZUKI Yuhei, TAMURA Yusuke, OSUMI Hisashi

2015　"2A2-O09(1)"-"2A2-O09(2)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. The fastest trot walk and the trajectory of swing legs have already been obtained by our previous study. In this study, we designed velocity trajectories of the body and swing legs. Then, the design method of velocity trajectory that can accelerate to maximum speed in the shortest time and can decelerate to stop in the shortest time is established by combining velocity trajectory of the acceleration part and deceleration part of the body. Finally, we verified the simulation results.
1A1-S01 Visual Attention Model of Effect of Robot's Posture on Area of Human's Attention

AKASHI Takafumi, TAMURA Yusuke, OSUMI Hisashi

2015　"1A1-S01(1)"-"1A1-S01(4)"　2015/05/17
Publisher: The Japan Society of Mechanical Engineers

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Smooth interaction between human and robot is necessary for coexistence of human and robot. Humans usually interact with each other smoothly by using gestures, thus we focused on them. We conducted two experiments in order to investigate a relationship between human attention and robot's posture. According to the result, there is a difference between robot's point of gaze and position of human's attention. Then we proposed a computational model of robot's posture that provides appropriate rotation angles of motors of arms and head to draw human's attention considering the difference. At last, from the experiments, we showed relationships between the rotation angles of motors and position/size of human's attention. The relationships contribute to develop a computational model of robot's posture that enables robot to smoothly interact with humans.
B-8 Estimation of Hand Grip Position Based on Measurement of Load During Cycling

TAMURA Yusuke, MATSUSHITA Kojiro, OSUMI Hisashi

Symposium on sports and human dynamics　2014　"B-8-1"-"B-8-6"　2014/10/29
Publisher: The Japan Society of Mechanical Engineers

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Riding posture as well as leg motion is very important for cycling. To improve riding skills, it is very useful for riders to show their riding posture during cycling. In this study, we aim for developing a method to estimate a rider's posture only using sensors attached to a bicycle or the rider. For the first step, we propose a method to estimate hand grip position. The method uses Support Vector Machine based on the observed data from a 6-axis force/torque sensor installed at an ahead stem. Through the experiments, our estimation method achieved both high precision and high recall.
2A1-W01 A proposal that an algorithm of searching for grasping points considering the pose of grasping object at transportation(Cooperation Control of Multi Robots)

MORITA Kazuki, OTA Ryo, OSUMI Hisashi, TAMURA Yusuke

2014　"2A1-W01(1)"-"2A1-W01(4)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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A transportation system by cooperation of several manipulators has been developed until now. In this report, a practical method of determining grasping points of manipulators is proposed so that the maximum loads for each manipulator shouldn't exceed the payload capacity of the manipulators. First, we propose a searching scheme for grasping points so as not to exceed the load capacity for arbitrary trajectories of position and orientation of the transported object. Then, we verify the effectiveness and efficiency of the scheme by simulations.
3A1-N03 Development of load measurement system for bicycle(Sense, Motion and Measurement (1))

MOTOYA Hideaki, TAMURA Yusuke, OSUMI Hisashi

2014　"3A1-N03(1)"-"3A1-N03(2)"　2014/05/24
Publisher: The Japan Society of Mechanical Engineers

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To observe one's own motion in real time is very important in improving one's sports skills. A growing number of people are enjoying cycling as a sport. Their riding skill has to be improved for keeping their safety. Then, we propose a system that presents riding states to a bicycle rider for improving his riding skill. Though there are many elements about riding states, especially in this paper, we focus on the balance of the load applied to some points of a bicycle; a handlebar and a saddle. Finally, we verified that the proposed system is effective through an experiment.
1A1-P01 Design of Swing Legs at Time Optimal Control for Quadruped Robots(Walking Robot (1))

IWATA Masafumi, NAKAMURA Ryosuke, OSUMI Hisashi, TAMURA Yusuke

2013　"1A1-P01(1)"-"1A1-P01(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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Time optimal control method for quadruped walking robots has been developed and installed into a practical robot system. Support legs are modeled as five-link manipulators and swinging legs are modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, the path of swing legs was designed as a horizontal line for simplicity, so the tips of the swing legs were dragged and robot could not walk at theoretical velocity. A new trajectory of the leg tips is designed to avoid the dragging.
1A2-A01 Cooperative Transportation by Omni Directional Mobile Manipulators Considering Suspension Characteristics of Platforms(Cooperation Control of Multi Robots)

NISHIMURA Masumi, OTA Ryo, OSUMI Hisashi, TAMURA Yusuke

2013　"1A2-A01(1)"-"1A2-A01(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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Cooperative transportation by multiple mobile manipulators is required for transporting large and heavy objects. However the internal forces generated in transporting object caused by positioning errors of platforms are the problem. The problem can be solved if robots have a compliance mechanism. In this paper, a method of using suspensions installed in mobile platform as a compliance mechanism is proposed.
1A1-P02 Curved Walking for Quadruped Robots(Walking Robot (1))

FUJIOKA Toru, OSUMI Hisashi, NAKAMURA Ryosuke, TAMURA Yusuke

2013　"1A1-P02(1)"-"1A1-P02(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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A time optimal control method for quadruped walking robots is developed and installed into a practical robot system. The fastest straight walking has already been obtained by our previous study. Though that is only straight walking, moving range is restricted. Therefore, the purpose of this study is theory construction of curved walking for quadruped robots because of increasing moving range and earlier arriving at target. By means of deriving curved path stroke of robot body, placing position of legs, and dynamic equation of robot body, we obtain it.
1A2-P18 Motion Control of a Wire Suspended Hand(Mechanism and Control for Wire Actuation System)

WAKI Masahiro, TAMURA Yusuke, OSUMI Hisashi

2013　"1A2-P18(1)"-"1A2-P18(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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A wire suspended manipulator is proposed for extending its working space. A manipulator is fixed on a base plate suspended by four wires. In this study, we propose a motion trajectory for a wire suspended manipulator to reach as quickly as possible to the target position. The effectiveness of the obtained trajectory is verified by simulations and experiments.
1A2-P19 Evaluation of overhead crane trajectory(Mechanism and Control for Wire Actuation System)

NEGISHI Masaki, MASUDA Hikaru, OSUMI Hisashi, TAMURA Yusuke

2013　"1A2-P19(1)"-"1A2-P19(4)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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A tele-operation system for a crane is developed. The crane consists of a small actuator and a large actuator in x and y direction respectively. The large actuators are controlled by input signals from screen click interface and transports suspended objects. The small actuators are used as a regulator and feedback controlled by a wire angle sensor. If the operator plots some points, the transportation time is longer in proportion to a number of plots. Therefor we generate the trajectory to shorten the transportation time. We make possible to derive the route error caused by superposing the trajectory. In the area with obstacle the possible transportation area considering the route error is derived.
2A2-B11 Development of a mechanism for step-climbing of a walker for an aged person(Welfare Robotics and Mechatronics (2))

OYANAGI Toru, TANADA Mizuki, ONO Manabu, OSUMI Hisashi, TAMURA Yusuke

2013　"2A2-B11(1)"-"2A2-B11(2)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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There is a growing demand for a walker for an aged person. It is a serious challenge to climb a step by the walker. A mechanism for step-climbing of the walker have been commercialized. However, a considerable amount of force is necessary to climb the step by using it. It is also expensive and has a complex mechanism. Therefore, we work on the development of a new mechanism for step-climbing of the walker. In this paper, we propose a new mechanism that focuses on a front wheel of the walker to climb a step. We verify the effectiveness of it by simulation.
2P1-P14 Analysis of Controlling Other's Attention for Smooth Interaction between Human and Robot(Communication Robot)

AKASHI Takafumi, TAMURA Yusuke, YANO Shiro, OSUMI Hisashi

2013　"2P1-P14(1)"-"2P1-P14(2)"　2013/05/22
Publisher: The Japan Society of Mechanical Engineers

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Understanding and predicting human's behavior by robot is necessary for smooth interaction between human and robot. Human achieve them by guidance of other's behavior, especially controlling attention. Positional relationship between magician's face, hand and the magician's intended area affects controlling attention and we deal it as hypothesis. To test the hypothesis, we carried out the experiment of measuring of point of gaze with magic videos and analyzed the result of the experiment. As the result, we confirmed the positional relationship between magician's hand and face (gaze) affects controlling of attention. It makes the robot be able to leading other's behavior.
1P1-A07 Development of the Evacuation Method for a Fire in a Building Taking Account of the Risk of Smoke(Intelligent Robotics Space)

KATO Toshiya, TAMURA Yusuke, YAMASHITA Atsushi, ASAMA Hajime

ロボティクス・メカトロニクス講演会講演概要集　2012　"1P1-A07(1)"-"1P1-A07(3)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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In the situation of a fire, an evacuation system, which guided pedestrians in a building to exist safely, is supposed in this research. Moreover, we proposed the evacuation method that minimized the risk of pedestrians, and the method was evaluated by cellular automata. The experiments showed that our proposed method enabled pedestrians to be suffered by less risk of smoke than the method, which only made pedestrians avoid places that fire would exist.
2P1-I02 The Method of Diagnosis for the Knee Joint Disease with Individual Modeling : To Clarify the Mechanism of Knee Osteoarthritis(Mobiligence)

ISHIKAWA Yuki, AN Qi, TAMURA Yusuke, YAMASHITA Atsushi, OKA Hiroyuki, ASAMA Hajime

ロボティクス・メカトロニクス講演会講演概要集　2012　"2P1-I02(1)"-"2P1-I02(2)"　2012/05/27
Publisher: The Japan Society of Mechanical Engineers

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Knee osteoarthritis (OA) becomes a major public issue, but a strategy to prevent the disease has not established yet due to lack of an accurate method to measure an internal motion of the knee of individual patients. Therefore mechanical engineering model and a standard of evaluation of the disease is needed to improve the situation. Thus this study shows a present situation about diagnostic tool for knee OA. We propose the method to establish diagnostic tool for knee OA from gait pattern and models.
Navigation of Mobile Robot Following Pedestrians

Yamaguchi Yuki, Tamura Yusuke, Terada Yoshitaka, Kumahara Wataru, Yamashita Atsushi, Asama Hajime

Proceedings of JSPE Semestrial Meeting　2012　(0)　647-648　2012
Publisher: The Japan Society for Precision Engineering
DOI： 10.11522/pscjspe.2012S.0.647.0 　

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混雑した環境下で移動ロボットをナビゲーションすることは困難である．そこで本研究では混雑した環境下で目的地まで移動するサービスロボットの実現を目指した．そこで，ロボットが目的地まで歩行者を追従しながら移動するという手法を提案した．ロボットは追従する歩行者を条件によって適宜変更していくことで目的地に到達する．この提案手法の有用性をシミュレーションと実機での実験によって検証した．
三次元筋骨格靭帯膝モデルの妥当性検証方法の提案

石川雄己, 安ち, 田村雄介, 山下淳, 岡敬之, 淺間一

精密工学会学術講演会講演論文集　2012　(0)　945-946　2012
Publisher: 公益社団法人精密工学会
DOI： 10.11522/pscjspe.2012S.0.945.0 　

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膝関節において疾患予防につながる評価システムは確立していない．膝関節は骨性の運動制限が少ないため，関節の遊びを考慮し，妥当性を精密に検証したモデルの構築が不可欠である．本研究では，関節の遊びを考慮した三次元筋骨格靭帯膝モデルを作成し，順動力学を用いてモデルの検証を行う方法を提案する．順動力学計算の結果を過去の屍体実験結果と比較することにより，モデルの妥当性検証方法の有効性を確認した．
生理指標を用いたサービスに対する不満状態の評価 (第32回バイオメカニズム学術講演会 SOBIM2011 予稿集)

成アンナ, 田村雄介, 淺間一

バイオメカニズム学術講演会予稿集　32　233-236　2011/11/26
Publisher: バイオメカニズム学会
2C1-2 Development of Fluffy Display

TAMURA Yusuke, MORISHITA Soichiro, ASAMA Hajime

FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies　2011　(21)　229-230　2011/09/01
Publisher: The Japan Society of Mechanical Engineers

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It is necessary for interactive digital signages to have attraction affordances. In this study, we develop a fluffy display and propose a method to detect human touch input. In the proposed method, we apply the Lucas-Kanade optical flow method to detect a touch, and a novel clustering method to recognize multiple touches. Based on the experimental results, we discuss ways to interact with the proposed screen.
2A1-D18 Implicit Guidance of Human Movement by Movement of a Mobile Robot

TAMURA Yusuke, ASAMA Hajime

2010　"2A1-D18(1)"-"2A1-D18(2)"　2010
Publisher: The Japan Society of Mechanical Engineers

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In human-robot coexisting environment, both humans and robots are required to estimate each other's intention and act based on the estimation. In such an environment, it is not efficient to passively estimate the human intention. The objective of this study is to develop a robot that implicitly guides a human movement by its movement. We apply the social force model to prediction of human movements. Based on the prediction, the robot selects the appropriate motion to realize a desired movement of human.
1A2-D16 Estimation of Pedestrian Intention by a Robot in Human-Robot Coexisting Environment

TAMURA Yusuke, ASAMA Hajime

2009　"1A2-D16(1)"-"1A2-D16(2)"　2009/05/25
Publisher: The Japan Society of Mechanical Engineers

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In human-robot coexisting environment, both human and robot are required to estimate each other's intention and act based on the estimation. In this study, we aim at realization of active estimation by a robot. In this paper, we propose a method to estimate pedestrian intention based on the social force model. In the model, a pedestrian moves according to resultant force of four forces, attraction of a goal, repulsion from others, repulsion from barriers, and attraction of interested objects. A robot measures own / pedestrian's position and applies them to the social force model to estimate the direction of goal.
Quantitative Evaluation of Automatic Parts Delivery in “AttentiveWorkbench” Supporting Workers in Cell Production

Masao Sugi, Ippei Matsumura, Yusuke Tamura, Makoto Nikaido, Jun Ota, Tamio Arai, Kiyoshi Kotani, Kiyoshi Takamasu, Hiromasa Suzuki, Akio Yamamoto, Yoichi Sato, Seiichi Shin, Fumihiko Kimura

Journal of Robotics and Mechatronics　21　(1)　135/145-145　2009

DOI： 10.20965/jrm.2009.p0135 　
Estimation of Human Prehension Movements Using Gaze Information for Deskwork Support System

TAMURA Yusuke, SUGI Masao, OTA Jun, ARAI Tamio

19　257-260　2007/01/29
Detection of the Reaching Movement and Prediction of the Target Object Based on Human Hand Movement

TAMURA Yusuke, SUGI Masao, OTA Jun, ARAI Tamio

18　149-152　2006/01/26
Use of Marks on Objects for Handling by a Robot

Katsuki R., Ota J., Tamura Y., Mizuta T., Kito T., Arai T., Ueyama T., Nishiyama T.

2003　67-67　2003
Publisher: The Japan Society of Mechanical Engineers
(42) セマンティックウェブの造船設計システムへの応用(平成14年秋季講演論文概要)

大和裕幸, 安藤英幸, 増田宏, 白山晋, 佐藤昌弘, 唐澤武郎, 田村雄介, 釼吉譲

Techno marine : bulletin of the Society of Naval Architects of Japan : 日本造船学会誌　(869)　542-542　2002/09/10
Publisher: 公益社団法人日本船舶海洋工学会
ISSN： 0916-8699

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Books and Other Publications 2

ロボット工学ハンドブック（第3版）

コロナ社　2023/02

ISBN: 9784339046793
Cutting Edge Robotics 2010

IN-TECH　2010/09

Presentations 79

Towards safe and smooth coexistence of mobile robots and inattentive humans Invited

Yusuke Tamura

PNARUDE Workshop, IROS2022　2022/10/27
Development of Radioactive Source Identification by 4π Compton Gamma Imaging using Origin Ensemble Algorithm

Hideki Tomita, Kotaro Kanamori, Atsushi Mukai, Yusuke Oshima, Yuri Yoshihara, Kenji Shimazoe, Hiroyuki Takahashi, Hanwool Woo, Yusuke Tamura, Hidetake Ebi, Fumihiko Ishida, Eiji Takada, Jun Kawarabayashi, Ken’ichi Tsuchiya, Tetsuo Iguchi

2019 IEEE Nuclear Science Symposium and Medical Imaging Conference　2019/10
自転車走行時の自転車各部にかかる荷重計測システムの開発

日本機械学会ロボティクス・メカトロニクス講演会2014講演論文集　2014
搬送時の把持物体姿勢を考慮した把持点探索アルゴリズムの提案

日本機械学会ロボティクス・メカトロニクス講演会2014講演論文集　2014
レーザーポインタ型インタフェースによるクレーンの遠隔操作システムの開発

第14回建設ロボットシンポジウム　2014
ロボットの姿勢が人間の注意に与える影響の解析

第32回日本ロボット学会学術講演会予稿集　2014
シルバーカーの衝撃軽減のための機構の解析

第32回日本ロボット学会学術講演会予稿集　2014
荷重計測に基づいた自転車乗車時のハンドル把持位置の推定

シンポジウム：スポーツ・アンド・ヒューマン・ダイナミクス2014　2014
協調ハンドリング時における物体の把持点探索手法

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2014講演論文集　2014
局所経路情報と歩行者流情報に基づく未知動的環境下における移動ロボットナビゲーション

第18回ロボティクスシンポジア予稿集　2013
レーザーポインタ型インターフェースによるクレーンの遠隔操縦システムの開発

第18回ロボティクスシンポジア予稿集　2013
人間とロボットのインタラクション円滑化に向けた注意誘導の解析

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
シルバーカーにおける段差乗り越え機構の開発

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
レーザーポインタ型インタフェースによるクレーンの遠隔操作システムの開発

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
ワイヤ懸垂型ハンドの移動制御

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
台車部のサスペンション特性を利用した複数の全方向移動マニピュレータによる協調搬送

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
四脚ロボットの曲線歩行運動

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
4脚歩行ロボットの最短時間制御における遊脚軌道の設計

日本機械学会ロボティクス・メカトロニクス講演会2013講演論文集　2013
シルバーカーの衝撃軽減のための機構の開発

第31回日本ロボット学会学術講演会　2013
クランク機構を応用した3リンク受動歩行の提案

第31回日本ロボット学会学術講演会　2013
複数のマニピュレータを用いた協調把持における負荷均等化把持点探索

第31回日本ロボット学会学術講演会　2013
注意誘導のための視覚的注意のモデル化と手品鑑賞時の注視点計測に基づくモデルの評価

第31回日本ロボット学会学術講演会　2013
自転車ペダリング技術向上のためのタイミング情報提示システム

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2013講演論文集　2013
移動ロボットの軌道生成のためのすれ違いにおける歩行者の行動パターンのモデル化

第24回自律分散システム・シンポジウム資料　2012
トポロジカルな地図情報と歩行者流情報を用いた移動ロボットナビゲーション手法の提案

第17回ロボティクスシンポジア予稿集　2012
三次元筋骨格靱帯膝モデルの妥当性検証方法の提案

2012年度精密工学会春季大会学術講演会講演論文集　2012
人追従を利用した移動ロボットのナビゲーション

2012年度精密工学会春季大会学術講演会講演論文集　2012
個体別モデリングを用いた膝疾患診断手法の構築への提案

日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集　2012
屋内火災における煙のリスクを考慮した避難誘導方法の開発

日本機械学会ロボティクス・メカトロニクス講演会2012講演論文集　2012
張力楕円を考慮したワイヤ懸垂型マニピュレータの張力制御

第30回日本ロボット学会学術講演会予稿集　2012
ワイヤ巻き上げによる障害物回避を考慮した天井クレーンの遠隔操縦システムの開発

第30回日本ロボット学会学術講演会予稿集　2012
注意誘導動作のモデル化のための手品鑑賞時の視線計測

第30回日本ロボット学会学術講演会予稿集　2012
局所経路情報と歩行者流情報を活用した動的環境下での移動ロボットナビゲーション

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2012講演論文集　2012
手と視線の関係が注意誘導に与える影響

HAIシンポジウム2012　2012
非線形振動子に基づくヒューマノイドDARwIn-OPの実時間歩行パターン生成と安定化

第23回自律分散システム・シンポジウム資料　2011
人ごみで移動可能な移動ロボットの開発

第23回自律分散システム・シンポジウム資料　2011
不完全に情報化された環境におけるサービスロボットのためのオブジェクト位置管理

2011年度精密工学会春季大会学術講演会講演論文集　2011
知能化環境におけるオブジェクトの位置データ解釈とロボットへの安全情報の提供

第29回日本ロボット学会学術講演会予稿集　2011
施設内生活支援ロボット知能の研究開発 — 作業知能モジュール群の有効性検証（第3報） —

第29回日本ロボット学会学術講演会予稿集　2011
ふわふわディスプレイの開発

第21回インテリジェント・システム・シンポジウム　2011
生理指標を用いたサービスに対する不満状態の評価

第32回バイオメカニズム学術講演会講演論文集　2011
関節の遊びを有する三次元筋骨格靱帯膝モデルの開発

第32回バイオメカニズム学術講演会講演論文集　2011
他者誘導のための人間の行動モデルについての基礎的検討

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2011講演論文集　2011
人—ロボット共存環境において人とスムーズにすれ違う移動ロボットの開発

2010年度精密工学会春季大会学術講演会講演論文集　2010
移動ロボットの動作による人間動作の誘導

日本機械学会ロボティクス・メカトロニクス講演会'10講演論文集　2010
移動ロボットの衝突回避のための人間の移動予測アルゴリズム

日本機械学会ロボティクス・メカトロニクス講演会'10講演論文集　2010
サーチライト課題において操作者の能動性と受動性が与える影響

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2010講演論文集　2010
人間共存環境におけるロボットからの歩行者意図の推定

日本機械学会ロボティクス・メカトロニクス講演会'09講演論文集　2009
位置管理モジュール及び環境サーバ実装のためのシステム設計

第27回日本ロボット学会学術講演会予稿集　2009
移動型サービスロボット向けの安全度評価モジュールの基本構成

第27回日本ロボット学会学術講演会予稿集　2009
作業者の手情報を取り入れた動画組立マニュアルの評価

第27回日本ロボット学会学術講演会予稿集　2009
ロボットの位置及び動作が歩行者動作に与える影響

第27回日本ロボット学会学術講演会予稿集　2009
知能化環境構築のための位置管理モジュール及び環境サーバの設計

第26回日本ロボット学会学術講演会予稿集　2008
卓上作業支援システムのための視線情報を用いた到達把持運動の推定

第19回自律分散システム・シンポジウム資料　2007
卓上作業支援システムにおける視線情報の利用

2007年度精密工学会春季大会学術講演会講演論文集　2007
動画を用いた組み立て作業マニュアルにおける作業者の手の表示

2007年度精密工学会春季大会学術講演会講演論文集　2007
連続製品組立作業によるAttentive Workbenchの有効性評価

2007年度精密工学会春季大会学術講演会講演論文集　2007
手情報を取り入れた動画組立マニュアルの効果 — 作業時間に対する影響 —

第25回日本ロボット学会学術講演会予稿集　2007
作業者支援型セル生産システムの定量的有効性評価

第25回日本ロボット学会学術講演会予稿集　2007
人間の手先運動に基づくリーチング検出と把持対象物体の予測

第18回自律分散システム・シンポジウム資料　2006
卓上作業支援システムのための人間—自走式トレイ間の物体受け渡し

2006年度精密工学会春季大会学術講演会講演論文集　2006
人間支援型生産システムの実装と評価

2006年度精密工学会春季大会学術講演会講演論文集　2006
作業者支援型セル生産システムの生産性評価

2006年度精密工学会秋季大会学術講演会講演論文集　2006
卓上作業支援環境における自走式トレイ群の形態生成

2005年度精密工学会春季大会学術講演会講演論文集　2005
卓上作業支援システムにおける自走式トレイの配置

2005年度精密工学会春季大会学術講演会講演論文集　2005
Attentive Workbench — 手を差し伸べる生産システム第3報：指差しに基づくユーザインタフェース

第23回日本ロボット学会学術講演会予稿集　2005
卓上作業支援システムにおける指差しインタフェースの実装

2005年度精密工学会秋季大会学術講演会講演論文集　2005
人間の主観的指差し方向推定のためのモデル化

第23回日本ロボット学会学術講演会予稿集　2005
Attentive Workbenchを用いた卓上作業の支援

第16回自律分散システム・シンポジウム資料　2004
人間支援型生産システムのための自走式トレイ群の運動制御

2004年度精密工学会春季大会学術講演会講演論文集　2004
作業者意図の理解に基づいた卓上作業支援システム

2004年度精密工学会春季大会学術講演会講演論文集　2004
主観的指差し方向と行為系列を考慮した卓上作業者の意図推定

第22回日本ロボット学会学術講演会予稿集　2004
Attentive Workbench — 手を差し伸べる生産システム第2報：自走式トレイの協調動作

第22回日本ロボット学会学術講演会予稿集　2004
人間支援型生産システムのための自走式トレイ群の運動制御 — 第2報：複数トレイの協調動作

2004年度精密工学会秋季大会学術講演会講演論文集　2004
Attentive Workbenchのための自走式トレイの適応的配置

ヒューマンインタフェースシンポジウム2004論文集　2004
マークを用いたロボットの物体ハンドリング

日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集　2003
Attentive Workbench — 手を差し伸べる生産システム第1報：自走式トレイ群の制御システム

第21回日本ロボット学会学術講演会予稿集　2003
作業者配慮型生産システム — 第5報モーショントレイとエンハンストデスクを用いたシステムの実装

2003年度精密工学会秋季大会学術講演会講演論文集　2003
二次元バーコード付マークを用いた複数物体のハンドリング

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2002講演論文集　2002

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Research Projects 12

燃料デブリ取り出しに向けた遠隔ロボット-計測技術の統合のための研究教育人材育成

斉藤拓巳, 山下淳, 鈴木俊一, 島添健次, 福井類, 中島慎介, 横山諒, 戸田賀奈子, 川端邦明, 谷藤祐太, 今渕貴志, 羽成敏秀, 高橋隆行, 衣川潤, 横小路泰義, 田崎勇一, 禹ハンウル, 田村雄介, 山田竜平, 鈴木茂和, 赤尾尚洋, 高田英治

System: 英知を結集した原子力科学技術・人材育成推進事業（研究人材育成型廃炉研究プログラム）

2024/09 - 2029/03
ユーザの意図推定に基づく運動主体感を考慮したパーソナルモビリティの操作支援

田村雄介

Offer Organization: 日本学術振興会

System: 科学研究費助成事業基盤研究(C)

Category: 基盤研究(C)

Institution: 東北大学

2023/04/01 - 2026/03/31
注意を考慮したリスクの高い歩行者の移動予測手法の開発

田村雄介

Offer Organization: 公益財団法人スズキ財団

System: 課題提案型研究助成

2022/08 - 2024/05
連携計測による線源探査ロボットシステムの開発研究

人見啓太朗, 野上光博, 高田英治, 金子慎一郎, 田村雄介, 北山佳治, 鳥居建男

Offer Organization: 文部科学省

System: 国家課題対応型研究開発推進事業（英知を結集した原子力科学技術・人材育成推進事業）

2021/10 - 2024/03
全方位3次元測距とガンマイメージングを融合した俯瞰画像下線源可視化・定量法の開発

島添健次, 高田英治, 石田文彦, 富田英生, 田村雄介, 鎌田圭, 禹ハンウル

Offer Organization: 日本学術振興会

System: 科学研究費助成事業基盤研究(A)

Category: 基盤研究(A)

Institution: 東京大学

2019/04/01 - 2023/03/31

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本研究の目的は、医用診断、環境モニリング、宇宙ガンマ線、核セキュリティなどの幅広い領域で必要とされるガンマ線定量可視化技術の理論的、実験的な手法の確立である。本目的達成のため新たな 3次元等方TOF (Time Of Flight)構造を有する球型カメラGRASPを開発し、本手法の実験的理論的検証を行う。3次元全方向に等方的感度を有する自己位置推定型のTOFガンマ線カメラの開発を行い、線量の定量化イメージングを目指す。具体的には、全方向に感度を有する新高速シンチレータを用いたガンマカメラの開発を行い、カメラの自己位置推定可能なロボット技術を用いて、配置された線源の定量イメージング実証試験を実施する。また4π方向からの撮像試験を行うことで理論的な定量手法論を構築し可視光ガンマ線融合画像を作成する。本年度は4π方向に等法感度を有するコンプトンガンマカメラを用いた、移動体ロボットをもちいた線源撮像試験を実施し、点線源にたいして線量定量化イメージを得た。また多チャンネル信号処理を実現するための50psの応答速度を持つASICの開発をおこなうとともに、高速のシンチレーターアレイの製作をおこなった。加えて可視光画像およびガンマカメラ画像を融合する手法の検証および画像再構成手法の検討、シミュレーションでの実証を実施した。
Rapid Exploration of Concealed Radiation Sources

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Research (Exploratory)

Category: Grant-in-Aid for Challenging Research (Exploratory)

Institution: Tohoku University

2021/07 - 2023/03
燃料デブリ取り出し時における炉内状況把握のための遠隔技術に関する研究人材育成 Competitive

淺間一, 鈴木俊一, 福井類, 高橋隆行, 山下淳, 田村雄介, 横小路泰義, 高橋浩之, 島添健次, 川端邦明, 羽成敏秀, 成瀬継太郎, 中村啓太

System: 英知を結集した原子力科学技術・人材育成推進事業研究人材育成型廃炉研究プログラム

2019/10 - 2023/03
Development of Pedestrian Model Considering Human Visual Attention Competitive

TAMURA Yusuke

Offer Organization: JSPS

System: Grant-in-Aid for Scientific Research (C)

Category: Grant-in-Aid for Scientific Research (C)

2018/04/01 - 2021/03/31

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In order for robots to avoid collisions safely and smoothly in human-robot coexisting environments, it is necessary to predict the movement of surrounding pedestrians. In this study, we focused on the attention of pedestrians and firstly developed a method for predicting pedestrian movement based on their relationship with surrounding neighbors. In addition, we focused on "smartphone zombies," who have a particularly high risk of collision among pedestrians and have become a social problem, and developed a method for detecting smartphone zombies based on information obtained only from sensors mounted on the robot.
Estimation of Bike Riding Posture Based on Force Measurement Competitive

Tamura Yusuke

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: The University of Tokyo

2015/04/01 - 2018/03/31

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It is very important to grasp the self-posture for improvement of skills in sports. In this study, we develop a method to estimate bike riding posture only from sensors that can be mounted on a bicycle. At first, we developed force measurement systems by using two 6-axis force/torque sensors and strain gauges. Based on the measurement system, we developed a method to estimate handgrip position and a method to estimate upper body posture. Experimental results proved the usefulness of the proposed method.
自転車競技スキル向上のための情報提示に必要な身体動作及び荷重バランス計測システムの開発 Competitive

田村雄介

Offer Organization: 精密測定技術振興財団

System: 研究助成

2014/04 - 2015/03
Modeling of Attention Drawing for Human-Robot Interaction Competitive

TAMURA Yusuke

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B)

Category: Grant-in-Aid for Young Scientists (B)

Institution: Chuo University

2012/04/01 - 2014/03/31

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In order for robots to smoothly interact with humans, it is desirable that robots can manipulate human attention and behaviors. In this study, we developed a model of human visual attention for the manipulation of human attention based on an analysis of magic. We measured human gaze points while watching magic videos and compared them with the area where the magician intended to draw spectators' attention. The analysis showed that the relationship among the positions of the magician's face and hands and his gaze direction plays an important role in manipulating spectators' attention. On the basis of the analysis, we integrated a saliency map and a manipulation map that describes the relationship to develop a novel human attention model. The evaluation using the observed gaze points demonstrated that the proposed model can better explain human visual attention than the original saliency map.
人間との相互適応に基づいた卓上作業支援システム

田村雄介

Offer Organization: 日本学術振興会

System: 科学研究費助成事業特別研究員奨励費

Category: 特別研究員奨励費

Institution: 東京大学

2006 - 2007

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本研究では,家庭やオフィスにおいて卓上作業を行う作業者に対して,個々の作業者の適応過程を考慮した上で,作業者に対して能動的に手を差し伸べる卓上作業支援システムの実現を目的としている. 従来,作業者が知的システムから何らかの支援を受けるためには,作業者がシステムに対して明示的に支援要求を伝達する必要があった.しかしながら,支援を必要とするたびに,明示的な指示という付加的な行為を行うことを要求するようなシステムでは,作業者に対して手を差し伸べているとは言えない.そこで本研究では,明示的な指示無しで,迅速かつ正確に作業者の支援要求を推定し,その支援要求に応じて適切な支援を行うシステムの実現を目指している. 平成19年度は,複数のセンサから得られる空間情報に加えて,過去の物体使用履歴という時間情報を確率モデルによって統合することで,作業者の支援要求を推定する手法を提案した.また,支援要求の推定に基づいて,卓上作業支援システムの要素である複数の自走式トレイを用いた物体搬送支援を実現し,被験者実験により,提案手法の有用性を確認した. 1.空間情報と時問情報の統合による支援要求の推定カラーCCDカメラから得られる作業者の手先運動と,非接触の頭部・眼球運動計測装置から得られる作業者の注視点の運動を基にして,作業者の身体運動が物体に対するリーチング動作であることの確からしさを計算する,これと,作業者毎の物体使用履歴に基づく確からしさを確率モデルて統合することで,作業者が物体を取ろうとして手を伸ばしている状態を迅速に検出するとともに,複数のターゲット候補から正しいターゲットを迅速に予測することができた. 2.自走式トレイを用いた卓上作業支援の実現支援要求の推定結果および,躍度最小モデルを用いた手先到達点予測に基づき,作業者が必要としている物体を自走式トレイによって搬送する.提案手法を用いて支援を行った場合と,支援を行わない場合,明示的な指示により支援を行った場合について,被験者実験を行うことで作業遂行時間および,作業者にかかる物理的負荷を比較した.その結果,作業遂行時間に関しては,提案手法は明示的な指示方法を用いる場合に比べて有意に短くなった,また,物理的負荷に関しては,比較2手法に比べて小さいものとなった.また,自走式トレイの動作制御に単純なバンバン制御を用いることで,作業者が自走式トレイの動作を予測することが容易になり,結果として,システムへの適応速度が高くなることが示唆された.

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Teaching Experience 13

アドバンスドロボティクス　東北大学大学院
創造工学研修　東北大学
System Control Engineering II　Tohoku University
Advanced Robotics
物理学A　東北大学
Design & Drawing I　Tohoku University
廃止措置特論E　東京大学大学院
プログラミング基礎II　東京大学
プログラミング基礎I　東京大学
福島学　東京大学大学院
ロボット工学　東京都市大学
精密機械工学概論　中央大学
精密機械工学実験　中央大学

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Works 3

自転車競技スキル向上のための情報提示に必要な身体動作及び荷重バランス計測システムの開発

2014/04 -
ヒューマンロボットインタラクションのための注意誘導のモデル化

2012/04 -
人間との相互適応に基づいた卓上作業支援システム

2006/04 -

Academic Activities 18

Senior Program Committee

2024 - 2025

Activity type: Academic society, research group, etc.
Associate Editor

2024 -

Activity type: Academic society, research group, etc.
プログラム副委員長

2024 -

Activity type: Academic society, research group, etc.
プログラム副委員長

2024 -

Activity type: Academic society, research group, etc.
Secretary

2024 -

Activity type: Academic society, research group, etc.
Associate Editor

2024 -

Activity type: Academic society, research group, etc.
会場副委員長

2023 -

Activity type: Academic society, research group, etc.
実行副委員長

2023 -

Activity type: Academic society, research group, etc.
Associate Editor

2023 -

Activity type: Academic society, research group, etc.
プログラム副委員長

2020 -

Activity type: Academic society, research group, etc.
スポンサーシップ委員長

2019 -

Activity type: Academic society, research group, etc.
Publication Chair

2015 -
プログラム副委員長

2014 -

Activity type: Academic society, research group, etc.
実行委員会幹事

2014 -

Activity type: Academic society, research group, etc.
PaperPlaza Chair

2013 -

Activity type: Academic society, research group, etc.
Publication Co-Chair

2013 -

Activity type: Academic society, research group, etc.
Webmaster

2010 -

Activity type: Academic society, research group, etc.
Secretariat

2009 -

Activity type: Academic society, research group, etc.

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