Details of a Researcher - IWATA, Hiroyasu

写真a

IWATA, Hiroyasu

Scopus Paper Info

Paper Count: 207 Citation Count: 1702 h-index: 19

Click to view the Scopus page. The data was downloaded from Scopus API in December 03, 2023, via http://api.elsevier.com and http://www.scopus.com .

News & Topics

2023.10.16

進む、医理工研究交流（第３回日本医科大学・早稲田大学合同シンポジウム開催報告）

Affiliation

Faculty of Science and Engineering, School of Creative Science and Engineering

Job title

Professor

Degree

Dr. Engineering ( Waseda University )

Homepage URL

http://www.waseda.jp/wias/tenure_jp/researches/tnr_h_iwata.html

Research Experience

2010.02

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20日—現在エジプト・日本科学技術大学(E-JUST) 特任准教授
2007.10

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1日—現在早稲田大学高等研究所准教授
2006.04

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1日早稲田大学先端科学・健康医療融合研究機構生命医療工学研究所助教授（2007年9月30日退官）
2005.04

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1日早稲田大学先端科学・健康医療融合研究機構生命医療工学研究所講師（2006年3月31日退官）
2004.04

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1日早稲田大学大学院理工学研究科講師（2005年3月31日退官），
2001.04

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1日早稲田大学理工学部助手（機械工学科）（2004年3月31日退官），
2000.04

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1日早稲田医療専門学校非常勤講師（義肢装具学科）（2003年 3月31日退官），

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Education Background

　

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2002

Graduate School of Science and Engineering, Waseda University Graduate School, Division of Science and Engineering Intelligent Machine, System Integration, Medical Robotics, Rehabilitation Engineering

Committee Memberships

2011.04

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～，日本ロボット学会査読小委員会委員，日本ロボット学会
2011.03

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，第16回ロボティクスシンポジア，PC委員
2011.03

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，IEEE-RSJ Int. Conf. on Intelligent Robots and Systems (IROS2011)，Associate Editor
2011.03

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，第29回RSJ学術講演会，実行委員
2011.02

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，IEEE-ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2011)，Associate Editor
2011.02

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，IEEE-RSJ Int. Conf. on Humanoid Robots (Humanoids2011)，Publication Chair
2010.12

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2011.02

，テクノロジーWG委員，経済産業省NEDO
2010.12

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，SICE SI2010，実行委員・PC委員・OSオーガナイザ・座長，OS：実学としての医工融合研究と医工ものづくりシステム
2010.11

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，第19回日本コンピュータ外科学会大会，座長
2010.11

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，バイオメカニズム学会学術講演会2010，座長
2010.10

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，IEEE IROS2010)，Session Chair
2010.09

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，第28回RSJ学術講演会，プログラム委員・座長
2010.08

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-11年10月，IEEE IRoA-11, Program Committee
2010.07

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，第38回日本BF学会学術総会，座長
2010.06

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-11年8月，SICE2011，Finance Co-Chairs
2009.04

-

2010.03

，日本ロボット学会誌普及委員会委員長，日本ロボット学会
2009.03

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，第14回ロボティクスシンポジア，プログラム委員，座長
2007.11

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2009.03

，日本機械学会ロボティクス・メカトロニクス欧文誌編集委員，日本機械学会
2009

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バイオメカニズム学会幹事
2009

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Society Of Biomechnisms Japan Secretary
2008.12

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，SICE SI部門講演会SI2008，座長
2008.12

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，IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO09)，Conference Secretary
2008.09

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，日本機械学会福祉工学シンポジウム2008，認知・運動機能の計測・支援，オーガナイザ・座長
2008.09

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，第17回日本コンピュータ外科学会大会，実行委員，座長
2008.08

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，IEEE ICRA2009，E-media Chair，Session Chair
2008.08

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～，幹事，バイオメカニズム学会
2008.04

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～，日本ロボット学会会誌編集委員会委員，日本ロボット学会
2008.03

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，第13回ロボティクスシンポジア，プログラム委員
2008.03

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，IEEE-RSJ IROS2008，Technical Program Committee
2007.10

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，日本機械学会福祉工学シンポジウム2007，座長
2007.08

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，IEEE Int. Symp. on Robot and Human Interactive Communication (ROMAN’07)，プログラム委員
2007.04

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～，コーディネータ，医工連携コーディネータ協議会
2007.03

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，第12回ロボティクスシンポジア，座長
2007

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～(5年連続)，Robomec2007～Robomec2011，コーディネータ，プログラム委員
2006.05

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，Robomec2006，プログラム副委員長
2006.04

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～，医工融合システム部会幹事，計測自動制御学会システムインテグレーション部門
2005.12

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，日本ロボット学会ロボット工学セミナー第33回「未来医療を切り拓くRT ～基礎から臨床最前線～」，オーガナイザ，総合司会
2005.09

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，第23回RSJ学術講演会，座長，プログラム委員
2004.04

-

2005.03

，事業計画委員会委員，日本ロボット学会
2004.04

-

2005.03

，電子化委員会委員，日本ロボット学会
2004.12

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，第13回日本コンピュータ外科学会大会，会場委員長
2004.10

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，IEEE/RSJ IROS’04，座長
2004.10

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，早稲田大学21世紀COEプログラム（超高齢社会における人とロボット技術の共生）第2回国際シンポジウム「New Lifestyle Created by Intelligent Machines」，総合司会
2004.09

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，第4回福祉工学シンポジウム，座長，プログラム委員
2003.11

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，第3回福祉工学シンポジウム，会場委員長，座長
　

　

　

認知神経リハビリテーション学会会員
　

　

　

日本機械学会会員
　

　

　

日本ロボット学会会員
　

　

　

日本コンピュータ外科学会会員
　

　

　

計測自動制御学会会員
　

　

　

日本救急医学会会員
　

　

　

IEEE 会員
　

　

　

，日本ロボット学会査読小委員会委員，日本ロボット学会
　

　

　

The Japan Society of Neuro-Congnitive Rehabilitation Member
　

　

　

The Japan Society for Mechanical Engineers Member
　

　

　

The Robotics Society of Japan Member
　

　

　

Japan Society of Computer Aided Surgery Member
　

　

　

The Society of Instrument and Control Engineeres Member
　

　

　

Japanese Association for Acute Medicine Member
　

　

　

IEEE Member

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Professional Memberships

　

　

　

The Japan Society of Neuro-Congnitive Rehabilitation
　

　

　

Society Of Biomechnisms Japan
　

　

　

The Japan Society for Mechanical Engineers
　

　

　

The Robotics Society of Japan
　

　

　

Japan Society of Computer Aided Surgery
　

　

　

The Society of Instrument and Control Engineeres
　

　

　

Japanese Association for Acute Medicine
　

　

　

IEEE

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Research Areas

Mechanics and mechatronics / Robotics and intelligent system

Research Interests

Intelligent Machine/ Human Symbiotic Humanoid Robot/ Anthropomorphic Robotic Hand/ Human-Safe Manipulator/ Artificial Tactile Perception/ Human Coordinated Machine System/ Tele-operated Medical Robotics / Rehabilitation Assisting Machine System

Awards

論文賞，日本ロボット学会，亀崎允啓，岩田浩康，菅野重樹

2018.09
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SI2017，高田竜太，大西哲平，河田俊，相原伸平，岩田浩康，”スパイクレシーブにおけるスポーツビジョン向上を目的とした没入型 3D-VR 訓練システムの開発 -目と手の協応動作における効果検証-”

2017.12
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SI2017，竹内里奈，宮西将生，津村遼介，内藤雄貴，岩田浩康，“超音波検査支援ロボットを用いた自動妊婦健診サービスの研究-”

2017.12
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SI2017，隼田大輝, 岩瀬英治, 藤枝俊宣, 岩田浩康, “高分子超薄膜 RFID が生体表面密着時に受ける影響の分析と対策”

2017.12
最優秀賞，システムコントロールフェア2017実行委員会大学・高専テクニカルアカデミー研究発表コンテスト，日本電機工業会・日本電気制御機器工業会，早稲田大学岩田浩康研究室

2017.11
Best Paper Award，The 5th IIEEJ Int. Workshop on Image Electronics and Visual Computing (IEVC2017), 2017，G.ISHIKAWA, R.XU, J.OHYA and H.IWATA

2017.03
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SI2016，堀川俊太郎，安田和弘，岩田浩康

2017.02
論文賞，計測自動制御学会，M.KAMEZAKI, H.IWATA and S.SUGANO

2016.09
部門貢献表彰，日本機械学会ロボティクス・メカトロニクス部門，岩田浩康

2016.06
SI2009 Excellent Presentation Award (for two oral presentations), SICE System Integration Division

2010.08
Certificate of Merit for Best Presentation, Information, Intelligence and Precision Equipment Division, The Japan Society of Mechanical Engineers

2009.09
SI2008 Excellent Presentation Award (for two oral presentations), SICE System Integration Division

2009.08
The Young Scientists' Prize, The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology

2009.04
Best Paper Award, The 11th Symposium on Construction Robotics in Japan

2008.09
System Control Fair 2007 Executive Committee Award,JEMA

2007.11
Best Presentation Award,JSME

2007.05
Distinguished Achievement Award,ASMeW,Waseda University

2007.02
Best Session Paper Award,SICE SI2004

2004.12
Outstanding Research Award,SICE SI2003

2003.12
Young Investigation Excellence Awards, RSJ

2001.09

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Papers

Measurement of conformability and adhesion energy of polymeric ultrathin film to skin model

Junki Sugano, Toshinori Fujie, Hiroyasu Iwata, Eiji Iwase

Japanese Journal of Applied Physics 57 ( 6 ) 2018.06 [Refereed]

　View Summary

We measured the conformability and adhesion energy of a polymeric ultrathin film "nanosheet" with hundreds of nanometer thickness to a skin model with epidermal depressions. To compare the confirmability of the nanosheets with different thicknesses and/or under different attaching conditions, we proposed a measurement method using skin models with the same surface profile and defined the surface strain ϵS as the quantified value of the conformability. Then, we measured the adhesion energy of the nanosheet at each conformability through a vertical tensile test. Experimental results indicate that the adhesion energy does not depend on the liquid used in wetting the nanosheet before attaching to the skin model and increases monotonously as the surface strain ϵS increases.

DOI

Scopus

5

Citation

(Scopus)
Haptic-based perception-empathy biofeedback system for balance rehabilitation in patients with chronic stroke: Concepts and initial feasibility study

Kazuhiro Yasuda, Kenta Saichi, Naomi Kaibuki, Hiroaki Harashima, Hiroyasu Iwata

Gait and Posture 62 ( no.62 ) 484 - 489 2018.05 [Refereed]

　View Summary

Background: Most individuals have sensory disturbances post stroke, and these deficits contribute to post-stroke balance impairment. The haptic-based biofeedback (BF) system appears to be one of the promising tools for balance rehabilitation in patients with stroke, and the BF system can increase the objectivity of feedback and encouragement than that provided by a therapist. Research question: Studies in skill science indicated that feedback or encouragement from a coach or trainer enhances motor learning effect. Nevertheless, the optimal BF system (or its concept) which would refine the interpersonal feedback between patients and therapist has not been proposed. Thus, the purpose of this study was to propose a haptic-based perception-empathy BF system which provides information regarding the patient's center-of-foot pressure (CoP) pattern to the patient and the physical therapist to enhance the motor learning effect and validate the feasibility of this balance-training regimen in patients with chronic stroke. Methods: This study used a pre-post design without control group. Nine chronic stroke patients (mean age: 64.4 ± 9.2 years) received a balance-training regimen using this BF system twice a week for 4 weeks. Testing comprised quantitative measures (i.e., CoP) and clinical balance scale (Berg Balance Scale, BBS
Functional Reach Test, FRT
and Timed-Up and Go test, TUG). Results and significance: Post training, patients demonstrated marginally reduced postural spatial variability (i.e., 95% confidence elliptical area), and clinical balance performance significantly improved at post-training. Although the changes in FRT and TUG exceeded the minimal detectable change (MDC), changes in BBS did not reach clinical significance (i.e., smaller than MDC). These results may provide initial knowledge (i.e., beneficial effects, utility and its limitation) of the proposed BF system in designing effective motor learning strategies for stroke rehabilitation. More studies are required addressing limitations due to research design and training method for future clinical use.

DOI

Scopus

7

Citation

(Scopus)
Development of a rhythmic auditory biofeedback system to assist improving the kinetic chain for bat swing performance

T.ONISHI, K.YASUDA, S.KAWATA, H.IWATA

ROBOMECH Journal vol.5 ( no.12 ) 2018.05 [Refereed]
Clinical Effectivenes of a haptic-based perception-empathy biofeedback system for balance rehabilitation in patients with chronic stroke

K.YASUDA, K.SAICHI, N.KAIBUKI, H.HARASHIMA, H. IWATA

10th World Congress for NeuroRehabilitation (WCNR) accepted 2018.02 [Refereed]
Structure design of electronic nanosheet for shortening skin-adhesive process

N.SHINODA, S.MIYABAYASHI, E.IWASE, T.FUJIE, H.IWATA

Proc. of the 9th Int, Conf. on Flexible and Printed Electronics (ICFPE2018) accepted 2018 [Refereed]
Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multi-layered Tissues

R.TSUMURA, J. S.Kim, H.IWATA, I.Iordachita

2018 IEEE International Conference of Robotics and Automation (ICRA2018) paper no.TuA@A.1, 2018 2018 [Refereed]
Experimental Evaluation of Cooperativeness and Collision Safety of a Wearable Robot Arm

K.NAKABAYASHI, Y.IWASAKI, S.TAKAHASHI, H.IWATA

Proc. of 27the Int. Symp. on Robot and Human Interactive Communication (RO-MAN2018) 1026 - 1031 2018 [Refereed]
A Face Vector - the point instruction type interface for manipulation of an extended body in dual-task situations

Y.IWASAKI, H.IWATA

Proc. of 2018 IEEE Int. Conf. on Cyborg and Bionic Systems (CBS2018) in press 2018 [Refereed]
Design and initial validity study of perception-empathy biofeedback system for gait training in older adults

K.YASUDA, K.SAICHI, H.IWATA

Proc. of The 2018 IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC2018) in press 2018 [Refereed]
Development of a visual cueing system using immersive virtual reality for object-centered neglect in stroke patients

A.HAGIWARA, K.YASUDA, K.SAICHI, D.MUROI, S.KAWAGUCHI, M.OHIRA, T.MATSUDA, H.IWATA

Proc. of the 2018 IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC2018) in press 2018 [Refereed]
Development of High-Dorsiflexion Assistive Robotic Technology for Gait Rehabilitation

J-C.HONG, S.SUZUKI, Y.FUKUSHIMA, K.YASUDA, H.OHASHI, H.IWATA

Proc. of the 2018 IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC2018) in press 2018 [Refereed]
Differing effects of an immersive virtual reality programme on unilateral spatial neglect on activities of daily living

Kazuhiro Yasuda, Daisuke Muroi, Mizuki Hirano, Kenta Saichi, Hiroyasu Iwata

BMJ Case Reports 2018 2018 [Refereed]

　View Summary

In clinical practice, therapists often encounter cases of unilateral spatial neglect (USN) observed in far and near space. In this case report, immersive virtual reality (VR) technology was adopted as a therapy tool in a patient with stroke with severe near and far space neglect. Neuropsychological tests in near and far space as well as the Catherine Bergego Scale (CBS), as an index of neglect in daily living, were measured preintervention and postintervention. Improvement of neuropsychological tests, particularly in far space, was clearly demonstrated postintervention. However, CBS score did not change postintervention. This may be because the patient unsuccessfully translated these visual search task skills used in far space to activities of daily living. Our findings suggest the potential use of immersive VR technology in patients with USN and highlight the VR programme's limited ability to fully recover a patient's disability in natural settings.

DOI

Scopus

15

Citation

(Scopus)
Haptic-based perception-empathy biofeedback enhances postural motor learning during high-cognitive load task in healthy older adults

K.YASUDA, K.SAICHI, H.IWATA

Frontiers in Medicine vol.5 ( no.149 ) 2018 [Refereed]

DOI

Scopus

7

Citation

(Scopus)
Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered Tissues

R.TSUMURA, S.J. KIM, H.IWATA, I.IORDACHITA

IEEE Robotics and Automation Letters vol.3 ( no. 3 ) 2129 - 2136 2018 [Refereed] [International journal]

　View Summary

Fine needle deflection is a problem encountered during insertion into a soft tissue. Although an axial rotational insertion is an effective approach for minimizing this problem, needle deflection still depends on the insertion angle with respect to the tissue boundary. Since the human body consists of multi-layered tissues of various shapes and mechanical properties, preoperative planning of an optimal path is a key factor for achieving a successful insertion. In this paper, we propose an optimization-based preoperative path planning model that minimizes needle deflection during multi-layered tissue insertion. This model can determine the optimal path based on the sum of insertion angles with respect to each tissue boundary that the needle passes through. To increase the accuracy of the model, we incorporated the effect of distances from tissue boundaries and the probability that the deflection is acceptable by incorporating weighting factors into the model. To validate the model, we performed experiments involving four scenarios of two- and three-layered tissues. The results showed that the proposed model is capable of determining the optimal insertion path in all scenarios.

DOI PubMed

Scopus

20

Citation

(Scopus)
物体中心無視に対する没入型仮想現実による手がかり刺激呈示システムの使用経験

萩原晨功, 安田和弘, 大平雅弘, 冨山美咲, 齋地健太, 岩田浩康

脳科学とリハビリテーション vol.18 25 - 30 2018 [Refereed]
Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage

R.TSUMURA, Y.TAKISHITA, H.IWATA

Journal of Medical Robotics Research online ready 1 - 10 2018 [Refereed]
脳卒中片麻痺歩行に対するばねと人工筋肉を用いた背屈支援装置の開発－踵接地時の膝折れ挙動に対する影響の検証－

福嶋勇太, 安田和弘, 鈴木慈, 大橋洋輝, 岩田浩康

ライフサポート学会誌，2018 in press 2018 [Refereed]
腰椎すべり症による下肢運動麻痺に対する人工筋肉型背屈支援装置の適応

福嶋勇太, 安田和弘, 鈴木慈, 大橋洋輝, 岩田浩康

バイオメカニズム学会誌，2018 in press 2018 [Refereed]
An Accurate and Robust Fetal Head Detection Algorithm Integrating a Voting Scheme and an Improved IRHT Method

G.ISHIKAWA, R.XU, J.OHYA, H.IWATA

The Journal of the Institute of Image Electronics Engineers of Japan, 2018 in press 2018 [Refereed]
Measurement of Conformability and Adhesion Energy of Ultrathin Film to Skin Model

J.SUGANO, T.FUJIE, H.IWATA, E.IWASE

Proc. of Int. Microprocesses and Nanotechnology Conf. (MNC 2017) paper no. 8P-7-108 2017.11 [Refereed]
A pre-offering view system for teleoperators of heavy machines to acquire cognitive maps

Ryuya Sato, Mitsuhiro Kamezaki, Satoshi Niuchi, Shigeki Sugano, Hiroyasu Iwata

SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference 61 - 66 2017.10 [Refereed]

　View Summary

In teleoperation of heavy machines, work efficiency will be 50% lower than manned operation because operators cannot obtain effective information about work sites due to the limitation of current monitoring systems. Operators would have opportunities to obtain such information before work (about a week required to introduce teleoperation systems) and during work. As a fundamental study to support operator's spatial cognition, we developed views to provide spatial information of work sites before work. Humans have cognitive maps which are created based on knowledge acquired from survey and route perspectives. To make operators acquire the above two knowledge, we provide a bird's-eye view that can be changed by operators to acquire a knowledge from survey perspective, and a view from operator's viewpoint that can be changed by operator's intention to acquire a knowledge from route perspective. To evaluate two pre-offering views, we preformed experiments using a virtual reality simulator. The results indicated that a view to acquire a knowledge from survey perspective could help operators plan totally and one to acquire a knowledge from route perspective could help operators plan locally, and could increase work efficiency.

DOI

Scopus

1

Citation

(Scopus)
Automatic fetal body and amniotic fluid segmentation from fetal ultrasound images by encoder-decoder network with inner layers

Yan Li, Rong Xu, Jun Ohya, Hiroyasu Iwata

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 1485 - 1488 2017.09 [Refereed]

　View Summary

This paper explores the effectiveness of applying a deep learning based method to segment the amniotic fluid and fetal tissues in fetal ultrasound (US) images. The deeply learned model firstly encodes the input image into down scaled feature maps by convolution and pooling structures, then up-scale the feature maps to confidence maps by corresponded un-pooling and convolution layers. Additional convolution layers with 1×1 sized kernels are adopted to enhance the feature representations, which could be used to further improve the discriminative learning of our model. We effectively update the weights of the network by fine-tuning on part of the layers from a pre-trained model. By conducting experiments using clinical data, the feasibility of our proposed approach is compared and discussed. The result proves that this work achieves satisfied results for segmentation of specific anatomical structures from US images.

DOI

Scopus

28

Citation

(Scopus)
Effect of Living Body on Performance of RF Identifier Antenna Printed on Ultrathin Polymer Film

H.HAYATA, M.OKAMOTO, S.TAKEOKA, E.IWASE, T.FUJIE, H.IWATA

International Conference on Flexible and Printed Electronics (ICFPE 2017) paper no. P083 2017.09 [Refereed]
Epidermal pH-sensor capable of operating only with NFC energy harvesting

S.MIYABAYASHI, H.HAYATA, E.IWASE, T.FUJIE, H.IWATA

International Conference on Flexible and Printed Electronics (ICFPE 2017) paper no. P082 2017.09 [Refereed]
Research on the Third Arm: Proposal of a Face Vector Interface for Voluntary and Intuitive Control of a Wearable Robot Arm

Y.IWASAKI, H.IWATA

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’17) 2017.09 [Refereed]
Condition-Based Less-Error Data Selection for Robust and Accurate Mass Measurement in Large-Scale Hydraulic Manipulators

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 66 ( 7 ) 1820 - 1830 2017.07 [Refereed]

　View Summary

This paper proposes a practical scheme for measuring the mass of an object grasped by the end-effector of a large-scale hydraulic manipulator. Such a measurement system requires high accuracy and robustness considering the nonlinearity and uncertainty in hydraulic pressure-based force measurement during rigorous outdoor work. It is thus difficult to precisely model system behaviors and completely remove error force components (white-box modeling) under such conditions, so our scheme adopts a less-error data selection approach to relatively improving the accuracy and reliability of the measurand (gray-box modeling). It first removes dominant error forces, i.e., gravity and dynamic friction forces, then defines the on-load state by evaluating measurement conditions to omit data in indeterminate conditions, then extracts data during the object-grasp state identified by a grasp motion model and removes high-frequency components by a simple low-pass filter, and finally integrates data from multiple sensors using the posture-based priority and averages all selected data. Evaluation experiments were conducted using an instrumented hydraulic arm. Results indicate that our scheme can precisely measures the mass of the grasped object under various detection conditions with fewer errors.

DOI

Scopus

11

Citation

(Scopus)
Effects of Vibrotactile-biofeedback Device on Postural Stability Without Visual Information in Healthy Young Adults

Y.SATO, K.YASUDA, N.IIMURA, H.IWATA

Proc. of the 17th Annual Meeting of the Association for the Scientific Study of Consciousness (ASSC17) paper no.P1-79 2017.07 [Refereed]
Pre-offering Work-site Views to Acquire Spatial Knowledge from Survey and Route Perspective for Advanced Teleoperation of Construction Machines

R.SATO, M.KAMEZAKI, S.NIUCHI, S.SUGANO, H.IWATA

The 34th Int. Symp. on Automation and Robotics in Construction (ISARC’17) paper no. P05 2017.07 [Refereed]
Investigation on Effect of Angular Deviation from Perpendicular Line to Lateral View Camera on Work Efficiency for Teleoperated Construction Machines

S.NIUCHI, M.KAMEZAKI, R.SATO, S.SUGANO, H.IWATA

The 34th Int. Symp. on Automation and Robotics in Construction (ISARC’17) paper no. P06 2017.07 [Refereed]
Sandwich fixation of electronic elements using free-standing elastomeric nanosheets for low-temperature device processes

Marin Okamoto, Mizuho Kurotobi, Shinji Takeoka, Junki Sugano, Eiji Iwase, Hiroyasu Iwata, Toshinori Fujie

JOURNAL OF MATERIALS CHEMISTRY C 5 ( 6 ) 1321 - 1327 2017.02 [Refereed]

　View Summary

We fabricated free-standing, flexible and physically adhesive ultrathin elastomeric films (nanosheets) for application as electronic substrates and packaging films. In this work, electronic elements such as a chip resistor and a chip LED were sandwiched between elastomeric nanosheets of less than 1 mu m thickness to obtain electrical conduction in silver lines that were inkjet-printed on the nanosheet. This sandwich-fixation process contributed to the development of an electronic device showing conformable adhesion and operation on the skin surface.

DOI

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13

Citation

(Scopus)
An Accurate and Robust Fetal Head Detection Algorithm Integrating a Voting Scheme and an Improved IRHT Method

G.ISHIKAWA, R.XU, J.OHYA, H.IWATA

The 5th IIEEJ Int. Workshop on Image Electronics and Visual Computing (IEVC2017) paper no.5C-3 2017 [Refereed]
Development of Registration Marker for CT-guided Needle Insertion Robot

S.INOUE, R.TSUMURA, H.IWATA

Proc. of the 2017 IEEE Int. Conf. on Advanced Intelligent Mechatronics (AIM 2017) 755 - 760 2017 [Refereed]
Development of Evaluation Indexes for Human-Centered Design of a Wearable Robot Arm

K.NAKABAYASHI, Y.IWASAKI, H.IWATA

Proc. of the 5th Int. Conf. on Human-Agent Interaction (HAI’17) 305 - 310 2017 [Refereed]
Estimation of Ankle Dorsiflexion Ankle during Loading Response Phase for Spring Coefficient Identification

J-C.HONG, Y.FUKUSHIMA, S.SUZUKI, K.YASUDA, H.OHASHI, H.IWATA

Proc. of the IEEE Int. Conf. on Robotics and Biomimetics 2017 paper id:881-ROBIO-2017-410(6pages) 2017 [Refereed]
Insertion Method for Minimizing Fine Needle Deflection in Bowel Insertion Based on Experimental Analysis

R.TSUMURA, K.SHITASHIMA, H.IWATA

Proc. of the 2017 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’17) 187 - 192 2017 [Refereed]

　View Summary

Accurate insertion of fine needles is difficult due to needle deflection. Needle deflection in the lower abdomen is particularly complex, as the needle has to pass through various tissues. As the area of the bowel is dominant in lower abdominal insertion, it is important to analyze the deflection during bowel insertion and to control the needle to minimize deflection. Few studies have focused on bowel insertion. We performed a fundamental deflection analysis of needle insertion in the bowel. Moreover, we have proposed an insertion method for minimizing the needle deflection based on our analysis. First, we performed needle insertion at various insertion positions and insertion angles into the hollow-shaped bowel, and determined the trend of the needle deflection during bowel insertion. The results revealed that the needle deflection was increased due to an increase in insertion angle, and therefore insertion angle should be minimized as much as possible. However, during actual bowel needle insertion, there are many situations in which the ideal path cannot be selected due to the arrangement of the bowel loops. We proposed an insertion method that can eliminate the total needle deflections during bowel insertion by controlling the needle tip direction at the breaching of each bowel wall. The results suggest that the needle deflection can be minimized by selecting the insertion path in which the sum of each insertion angle is zero. We verified the results of this insertion method in multiple bowels in in vivo experiments, and showed that it has the potential to be used in clinical practice.
Printed High-Frequency RFID Antenna on Ultrathin Polymer Film by Simple Production Process for Soft-Surface Adhesive Device

H.HAYATA, M.OKAMOTO, S.TAKEOKA, E.IWASE, T.FUJIE, H.IWATA

Journal of Japan Applied Physics vol.56 05EC01(7pages) 2017 [Refereed]
Trajectory Planning for Abdominal Fine Needle Insertion Based on Insertion Angles

R.TSUMURA, H.IWATA

IEEE Robotics and Automation Letters vol.2 ( no.2 ) 1226 - 1231 2017 [Refereed]

　View Summary

Fine needles can easily be deflected, making accurate needle insertion into a tumor difficult. In particular, it is difficult to insert the needle into a tumor in the lower abdomen because the needle has to pass through various tissues. Therefore, for lower abdominal needle insertion, we intend to develop a planning method for the optimal insertion path to minimize the deflection based on computed tomography images. In this letter, we analyze the deflection while performing needle insertion with axial rotation under conditions of various insertion angles into individual tissues composing the lower abdomen (pork loin and porcine small bowel) and develop a basic planning procedure to determine the optimal insertion path based on the analysis. From the results, we confirmed that the insertion angle should be minimized as much as possible. We then develop a planning method based on insertion angles into individual tissues the needle needs to pass through. We assumed that it is possible to determine the optimal insertion path by providing a weighting factor to the effect of the insertion angle depending on the depth of insertion, considering that the effect of the insertion angle on deflection in deep places of the body is smaller than the effect around the body surface. To verify the concept of the proposed planning procedure, we perform experiments with a simple model composed of two tissues. From the results, we show that the optimal insertion path can be planned by setting the optimal ratio of individual weighting factors.

DOI

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13

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(Scopus)
The effect of a haptic biofeedback system on postural control in patients with stroke: An experimental pilot study

Kazuhiro Yasuda, Naomi Kaibuki, Hiroaki Harashima, Hiroyasu Iwata

SOMATOSENSORY AND MOTOR RESEARCH 34 ( 2 ) 65 - 71 2017 [Refereed]

　View Summary

Background: Impaired balance in patients with hemiparesis caused by stroke is frequently related to deficits in the central integration of afferent inputs, and traditional rehabilitation reinforces excessive visual reliance by focusing on visual compensation.Objective: The present study investigated whether a balance task involving a haptic biofeedback (BF) system, which provided supplementary vibrotactile sensory cues associated with center-of-foot-pressure displacement, improved postural control in patients with stroke.Methods: Seventeen stroke patients were assigned to two groups: the Vibrotactile BF and Control groups. During the balance task (i.e., standing on a foam mat), participants in the Vibrotactile BF group tried to stabilize their postural sway while wearing the BF system around the pelvic girdle. In the Control group, participants performed an identical postural task without the BF system.Results: Pre- and post-test measurements of postural control using a force plate revealed that the stability of bipedal posture in the Vibrotactile BF group was markedly improved compared with that in the Control group.Conclusions: A balance task involving a vibrotactile BF system improved postural stability in patients with stroke immediately. This confirms the potential of a haptic-based BF system for balance training, both in routine clinical practice and in everyday life.

DOI

Scopus

9

Citation

(Scopus)
Printed high-frequency RF identification antenna on ultrathin polymer film by simple production process for soft-surface adhesive device

H.HAYATA, M.OKAMOTO, S.TAKEOKA, E.IWASE, T.FUJIE, H.IWATA

Japanese Journal of Applied Physics vol.56 ( no.5S2 ) 05EC01 2017 [Refereed]
フリースロー初心者のためのBF型セット・フォーム習得支援RTの開発

河田俊, 安田和弘, 岩田浩康

日本機械学会論文集 Vol.83 ( No.851 ) 16-00515 - 16-00515 2017 [Refereed]
Methods of control for minimizing extra-fine needle deflection with a combination of vibration and rotation in the lower abdomen

Ryosuke Tsumura, Hiroyasu Iwata

Journal of Biomechanical Science and Engineering 12 ( 3 ) 2017 [Refereed]

　View Summary

Cancer vaccine therapy is a novel treatment method which uses an extra-fine (0.53 mm in diameter (25 G)) needle to deliver a tumor-specific vaccine directly into a tumor. This method is expected to deliver an effective treatment with few side effects. However, the procedure is very difficult to perform because of needle deflection. We intend to develop a needle insertion robot to combat this deflection and deliver the vaccine successfully. The key features of the robot were developed to minimize needle tip deflection while traversing complex tissues which is composed of various tissues. In this paper, as targeted to lower abdomen, we propose a control method for minimizing needle tip deflection during insertion through vibration and axial rotation. The effectiveness of the proposed method was evaluated in artificial and biomaterial tissues found in the lower abdomen (muscle, bowel, and skin). Results demonstrated that the effectiveness of vibration and rotation was changed depending on the kind of the tissues. The rotation was effective to the thick tissues (muscle and skin) and the vibration was effective to membranous tissues (bowel). Based on the results, our method used vibration and rotation when the needle is inserted into the skin and muscle and only vibration when traversing through soft tissue such as the bowel. In conclusion, the proposed method can minimize needle tip deflection robustly in a lower abdomen phantom.

DOI

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7

Citation

(Scopus)
Validation of an immersive virtual reality system for training near and far space neglect in individuals with stroke: a pilot study

Kazuhiro Yasuda, Daisuke Muroi, Masahiro Ohira, Hiroyasu Iwata

TOPICS IN STROKE REHABILITATION 24 ( 7 ) 533 - 538 2017 [Refereed]

　View Summary

Background: Unilateral spatial neglect (USN) is defined as impaired ability to attend and see on one side, and when present, it interferes seriously with daily life. These symptoms can exist for near and far spaces combined or independently, and it is important to provide effective intervention for near and far space neglect.
Objective: The purpose of this pilot study was to propose an immersive virtual reality (VR) rehabilitation program using a head-mounted display that is able to train both near and far space neglect, and to validate the immediate effect of the VR program in both near and far space neglect.
Methods: Ten USN patients underwent the VR program with a pre-post design and no control. In the virtual environment, we developed visual searching and reaching tasks using an immersive VR system. Behavioral inattention test (BIT) scores obtained pre- and immediate post-VR program were compared.
Results: BIT scores obtained pre-and post-VR program revealed that far space neglect but not near space neglect improved promptly after the VR program. This effect for far space neglect was observed in the cancelation task, but not in the line bisection task.
Conclusions: Positive effects of the immersive VR program for far space neglect are suggested by the results of the present pilot study. However, further studies with rigorous designs are needed to validate its clinical effectiveness.

DOI

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36

Citation

(Scopus)
Development of an Implicit Method for Directing Weight Shifting to the Affected Side in Patients with Stroke: A Proof of Concept Study

K.YASUDA, K.SAICHI, Y.KITAJI, H.HARASHIMA, H.IWATA

ROBOMECH Journal vol.4 ( no.26 ) 1 - 7 2017 [Refereed]
Mechanical-based Model for Extra-fine Needle Tip Deflection until Breaching of Tissue Surface

R.TSUMURA, H.IWATA

Journal of Medical and Biological Engineering 1 - 10 2017 [Refereed]
Construction of a cooperative operation avatar robot system to enhance collective efficacy

T.SEKIDO, R.SAKAMOTO, T.ONISHI, H.IWATA

Springer (2017 International Workshop on Human-Friendly Robotics) paper number 11 2017 [Refereed]

DOI
人工筋肉駆動型背屈支援RTの開発および臨床試験における背屈支援の評価

保科智啓, 安田和弘, 鈴木慈, 大橋洋輝, 岩田浩康

ライフサポート学会誌 vol.28 ( no.3 ) 90 - 96 2016 [Refereed]

CiNii
注意の解放と移動を促すUSN治療支援システムの開発－注意誘導スリットによる即時的効果の検証－

竹内貴哉, 安田和弘, 姫野好美, 黒木洋美, 岩田浩康

ライフサポート学会誌 vol.28 ( no.4 ) 133 - 138 2016 [Refereed]

CiNii
両側下腿切断者の立位姿勢に対する体性感覚バイオフィードバックによる感覚代行効果

安田和弘, 堀川峻太郎, 室井大佑, 岩田浩康

バイオメカニズム学会誌 vol.40 ( no.3 ) 213 - 219 2016 [Refereed]

　View Summary

We investigated whether a biofeedback system that provided supplementary vibrotactile sensory cues associated with the center of foot pressure displacement contributes to postural control in a patient with transtibial amputation. Postural stability using a force plate revealed improved stability of the bipedal posture only in the eyes-closed condition, but not in the eyes-open condition, and this effect had a brief carry-over effect. We found that this patient achieved postural control mainly using visual information, and since the vibrotactile biofeedback improved postural stability in the eyes-closed condition, there seems to exist sensory substitution for postural control. This confirms the potential of a haptic-based BF system for balance training, both in routine clinical practice and in everyday life.

DOI CiNii
Experimental Analysis of Needle Tip Deflection Until Breaching Tissue Surface,

R.TSUMURA, H.IWATA

Proceeding of the 38th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society paper no.FrCT16.25 2016 [Refereed]
Histological Evaluation of Tissue Damage Caused by Rotational Needle Insertion,

R.TSUMURA, Y.TAKISHITA, Y.FUKUSHIMA, H.IWATA

Proceeding of the IEEE/EMBS Int. Conf. on Eng. in Med. Biological Systems (EMBC2016) paper no.ThCT15.27 2016 [Refereed]
Development and pilot clinical evaluation of a haptic-based perception-empathy biofeedback device for gait rehabilitation

Kenta Saichi, Kazuhiro Yasuda, Yu Kitaji, Naomi Kaibuki, Hiroyasu Iwata

2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) no.1754 6158 - 6161 2016 [Refereed]

　View Summary

Recent studies have shown that haptic feedback on the body, either at or away from the desired gait parameter to be changed, can improve gait performance. Here we introduced a haptic-based biofeedback device to supplement the foot pressure information of a paretic foot with a wearable vibrotactile biofeedback device attached to the back. This system provides information regarding a patient's foot pressure pattern to the patient and physical therapist. Therefore, the biofeedback system can share information regarding abnormal gait patterns between patients and therapists. This pilot study showed that the device immediately improved the stride length during walking, but not walking speed. Furthermore, subjective reports indicated that synchronizing foot pressure pattern information between the patient and therapist induced higher patient motivation for gait rehabilitation.
Development of Inexpensive Skin Adhesive Electronic Device - RFID Tag Implementation on Ultrathin Polymer Film -

H.HAYATA, M.OKAMOTO, S.TAKEOKA, E.IWASE, T.FUJIE, H.IWATA

Int. Conf. on Flexible and Printed Electronics O5-4 2016 [Refereed]
Gaze Pattern Analysis in Multi-Display Systems for Teleoperated Disaster Response Robots

R.SATO, M.KAMEZAKI, S.SUGANO, H.IWATA

A Satellite Conf. of 2016 IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC JUNIOR 2016) no.2017 2016 [Refereed]
A Practical Load Detection Framework Considering Uncertainty in Hydraulic Pressure-Based Force Measurement for Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’11) in press 288 - 293 2011.05
早稲田の倫理審査から工学系研究者が学んだこと

岩田浩康

日本ロボット学会誌 vol.29 ( no.3 ) 257 - 258 2011.04
Development of 4-DOF Anthropomorphic Tactile Interaction Manipulator with Passive Joint

H.IWATA, S.KOBASHI, T.AONO, T.KOBAYASHI, S.SUGANO

Journal of Robotics and Mechatronics Accepted 2011
Hydraulic Pressure-Based Dominant Error Force Component Identification for Detecting External Force Applied to Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of Int. Conf. on Advanced Mechatronics 2010 (ICAM2010) 313 - 318 2010.10
Wearable Echography Robot for Trauma Patient

K.ITO, S.SUGANO, H.IWATA

Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS’10) 4794 - 4799 2010.10
A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.22 ( no.6 ) 447 - 455 2010.08

　View Summary

The state identification framework we propose supports complex construction machinery operations using a dual arm. Such support requires compatibility with different types of support and commonality among various operator skill levels. Our framework is organized into (i) real-time task phase identification defined using joint load applied based on environment constraints and (ii) time-series attentional condition identification defined as an internal work-state condition classified by the operational support necessity level and dependent on the vectorial or time-series data selected by the identified task phase. Experiments are conducted using the instrumented hydraulic dual arm system for transport and removal tasks, including complex dual-arm operations. Results show that the number of erroneous contacts, internal force applied, and mental workload decreased without any increase in time, confirming that operational support based on our framework greatly improves individual operator work performance.

DOI

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6

Citation

(Scopus)
Development of Attachable Tele-Echography Robot by a Bystander at Injury Scene

K.ITO, S.SUGANO, H.IWATA

Proc. of 2010 IEEE/ASME International Conference on Mechatronics and Automation (ICMA’10) 1270 - 1275 2010.08
Pressure Control on Whole Surface of Human-mimetic Multi-fingered Hand with Tactile Sensing

T.SUGAIWA, K.IWAMOTO, H.IWATA, S.SUGANO

Proc. of the SICE Annual Conference 2010 436 - 438 2010.08
A Practical Approach to Detecting External Force Applied to Hydraulic Cylinder for Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of the SICE Annual Conference 2010 1255 - 1256 2010.08
Development of a Dual Robotic Arm System to Evaluate Intelligent System for Advanced Construction Machinery

M.KAMEZAKI, S. HASHIMOTO, H.IWATA, S.SUGANO

Proc. of 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’10) 1299 - 1304 2010.07
A Framework of State Identification for Operational Support based on Task-Phase and Attentional-Condition Identification

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’10) 1267 - 1272 2010.05
Portable and Attachable Tele-Echography Robot system: FASTele

Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 487 - 490 2010

　View Summary

The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography (FAST) robot system that can be used by a paramedic easily for shock patient in ambulance or at injury scene. To develop the system, portability and usability (for paramedic) are significant issues. We developed a tele-echography robot system which has 4-DOF. The robot is attached to each roughly FAST areas of patient body (body-based set up) and remotely fine-tuned position by a specialist in a hospital. The robot can control the posture of probe by curvature rails. The mechanism that maintains passively the contact force between the probe and patient's body surface by using springs enables the robot small and lightweight. Feasibility experiments of FAST are reported.
Motion-planning Method with Active Body-Environment Contact for a Hand-Arm System including Passive Joints

Taisuke Sugaiwa, Masanori Nezumiya, Hiroyasu Iwata, Shigeki Sugano

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) paper no. TuBT2.5 69 - 74 2010

　View Summary

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places as the average age of the population increases. To improve the task performance of human-symbiotic humanoid robots, a motion-planning method with active body-environment contact was developed. Taking into account the positive and negative effect of mechanical passive elements implemented in joints, this motion-planning method can enables the hand-arm system to establish the active BE contact at the appropriate body-site and to select the joints that perform the movement for executing the given task. Control algorithms for the tool operation, namely, writing with a pen, were also constructed. The motion-planning method was validated through actual experiments on a prototype human-symbiotic humanoid robot.
A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness

Taisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano

2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 288 - 293 2010

　View Summary

A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology. ©2010 IEEE.

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17

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双腕作業機の知能化インタフェースに関する研究〜環境の複雑性および操作者の多様性に非依存な基底作業状態〜

亀﨑允啓, 岩田浩康, 菅野重樹

計測自動制御学会論文集 vol. 45, no. 12 646 - 653 2009.12
A Motion Control for Dexterous Manipulation with Human Mimetic Hand-Arm System

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2009) 653 - 659 2009.12
Design of Anthropomorphic Dexterous Hand with Passive Joints and Sensitive Soft Skins

H.IWATA, S.SUGANO

Pro. of 2009 IEEE/SICE Int. Symp. on System Integration (SI International 2009) 129 - 134 2009.11
Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2009) 653 - 659 2009.11
Dexterous Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS’09) paper no. WelT6.2 4168 - 4173 2009.10
Operator Support System based on Primitive Static States in Intelligent Operated-Work Machines

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Advanced Robotics vol.23. no.10 1281 - 1297 2009.08
Work State Identification using Primitive Static States –Implementation to Demolition Work in Double-Front Work Machines-

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of 2009 Int. Symposium on Automation and Robotics in Construction (ISARC’09) 278 - 287 2009.06
Design of Primitive Static States for Intelligent Operated-Work Machines

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’09) 2009.05
Design of Human Symbiotic Robot TWENDY-ONE

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’09) 2009.05
Operation Skill Analysis using Primitive Static States in Human-Operated Work Machine

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of The 3rd Int. Conf. on Construction Engineering and Management (ICCEM’09) 230 - 236 2009.05
Development of Operator Support System with Primitive Static States for Intelligent Construction Machinery

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Mechatronics (ICM’09) Th1C-1 2009.04
Shock Absorbing Skin Design for Human Symbiotic Robot at the Worst Case Collision

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2008) ( WP1-28 ) 2008.12
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery (Training Effect for a House Demolition Work)

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.20, no.4 602 - 609 2008.12
Development of an Operation Skill-Training Simulator for Double-Front Work Machine –Training Effect for House Demolition Work-

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.20 ( no.4 ) 602 - 609 2008.09
Whole-body Coordinated Control for Task Execution and Human Following

H.IWATA, S.SUGANO

Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY’08) 209 - 216 2008.08
Development of an Operation Skill-Training Simulator for Double-Front Work Machine

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics 170 - 175 2008.07
New Visco-Elastic Mechanism Design for Flexible Joint Manipulator

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics 235 - 240 2008.07
屈曲型広圧排面リトラクタの開発と評価

岩田浩康, 遠藤嘉将, 菅野重樹

日本コンピュータ外科学会誌特集号 vol.9, no.3 316 - 317 2007.12 [Refereed]
Development of –Patient Robot-; Training Robot based on Quantitative Analysis of Surgical Technique

Y.K.PARK, Y.MITA, E.OKI, H.IWATA, A.TAKANISHI, M.UMEZU, Y.SHIRAISHI, H.TAKEMURA

Proc. of IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRobo 2006) 318 - 322 2006.02
Human-Robot-Contact-State Identification Based on Tactile Recognition

H.IWATA, S.SUGANO

IEEE Transactions on Industrial Electronics vol.52, no.6 1468 - 1477 2005.12
Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

H Iwata, S Kobashi, T Aono, S Sugano

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1941 - 1946 2005

　View Summary

In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement, during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.
Human Robot Interference Adapting Control Coordinating Human Following and Task Execution

H.IWATA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’04) 2879 - 2885 2004.10
A System Design for Tactile Recognition of Human-Robot Contact State

H.IWATA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’03) 7 - 12 2003.10
Quantification of Human-Robot Physical Contact States based on Tactile Sensing

H.IWATA, K.TOMITA, S.SUGANO

Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM’03) 610 - 615 2003.07
作業性と人間追従性を両立する動作制御手法

岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

日本ロボット学会誌 vol.21,no.1 118 - 125 2003.01
Human Symbiotic Humanoid Robot with Whole-body Compliance

H.IWATA, T.MORITA, S.SUGANO

Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY’02) 537 - 548 2002.07
人間共存ロボットのための全身触覚インタフェース

岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

日本ロボット学会誌 vol.20,no.5 543 - 549 2002.07
Whole-body Covering Tactile Interface for Human Robot Coordination

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’02) vol.3 3818 - 3824 2002.05
Humanoid robots in Waseda University - Hadaly-2 and WABIAN

S Hashimoto, S Narita, H Kasahara, K Shirai, T Kobayashi, A Takanishi, S Sugano, J Yamaguchi, H Sawada, H Takanobu, K Shibuya, T Morita, T Kurata, N Onoe, K Ouchi, T Noguchi, Y Niwa, S Nagayama, H Tabayashi, Matsui, I, M Obata, H Matsuzaki, A Murasugi, T Kobayashi, S Haruyama, T Okada, Y Hidaki, Y Taguchi, K Hoashi, E Morikawa, Y Iwano, D Araki, J Suzuki, M Yokoyama, Dawa, I, D Nishino, S Inoue, T Hirano, E Soga, S Gen, T Yanada, K Kato, S Sakamoto, Y Ishii, S Matsuo, Y Yamamoto, K Sato, T Hagiwara, T Ueda, N Honda, K Hashimoto, T Hanamoto, S Kayaba, T Kojima, H Iwata, H Kubodera, R Matsuki, T Nakajima, K Nitto, D Yamamoto, Y Kamizaki, S Nagaike, Y Kunitake, S Morita

AUTONOMOUS ROBOTS 12 ( 1 ) 25 - 38 2002.01

　View Summary

This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and carrying things as with humans. Furthermore, it has functions for information interactions suite for uses at home.
Force detectable surface covers for humanoid robots

H Iwata, H Hoshino, T Morita, S Sugano

2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II 1205 - 1210 2001

　View Summary

In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application experiment, where some humans actually occur physical interference with an actual humanoid robot overlaid with the covers, it was confirmed that the capability of the covers' sensing even several contacts on several parts of robots' body is effective for realizing high level human-robot symbiosis.
Development of a Whole-Sensitive Robot Arm Cover

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Control, Automation, Robotics and Vision (ICARCV’00) ( paper no.376 ) 2000.12
Design Strategies of Human Symbiotic Robot WENDY

T.MORITA, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.12, no.3 224 - 230 2000.09
Human Robot Physical Interaction Utilizing Force Detectable Tactile Covers

H.IWATA, T.MORITA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2000) ( paper no.87 ) 2000.09
Human Symbiotic Robot Design based on Division and Unification of Functional Requirements

T.MORITA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’00) vol.2 2229 - 2234 2000.04
Human-humanoid physical interaction realizing force following and task fulfillment

H Iwata, H Hoshino, T Morita, S Sugano

2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS vol.1 522 - 527 2000

　View Summary

In this paper. Ire herein describe the control methods used for a humanoid's compliant behavior following human force and motions while fulfilling given tasks under various constraint conditions during physical Interference (PIF) with a human. PIF is a form of physical interaction viewed from the robots point of view.
in cases of PIF occurrence, PIF Adapting Behaviors for attenuating physical influences caused by PIF on both a human body and a robots' task are required First a base control method for compliantly following PIF by coordinating multiple joints of the arms and trunk is presented By utilizing this method PIF force produced on several areas of the robot's entire body is efficiently reduced Next, the control methods for fulfilling git en tasks, as well as following PIF at the same time, are proposed rn these methods, the idea is incorporated that if the utilization of redundancy is needed for task fulfillment or constraint conditions and attributes of the given task are changed, the role of each joint needs to change as well. Adapting to the diversity of task attributes and also the necessity of utilizing redundancy, the proposed control methods enable the robots to realize both force following and task fulfillment at the same time. Finally from the evaluation of the experiments, it vas confirmed that the proposed methods realize a humanoid's capability of compliantly adapting to human motions while fulfilling tasks by efficiently utilizing redundancy.
Total Design of Body Mechanism for Realizing Human-Robot Symbiosis

T.MORITA, H.IWATA, S.SUGANO

Proc. of Int. Symp. on Humanoid Robots (HURO’99) 181 - 186 1999.10
A Physical Interference Adapting Hardware System Using MIA Arm and Surface Covers

H.IWATA, H.HOSHINO, T.MORITA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’99) vol.2 1216 - 1221 1999.10
Robot Arm Surface Covers for Physical Interference Adapting Motion

H.IWATA, H.HOSHINO, Y.ADACHI, S.SUGANO

Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM’99) 671 - 676 1999.09
A Mechanism Design and Control Strategy of Human Symbiotic Robot

T.MORITA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Recent Advances in Mechatronics (ICRAM'99) 94 - 99 1999.05
Development of human symbiotic robot: WENDY

T Morita, H Iwata, S Sugano

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS vol.3 3183 - 3188 1999

　View Summary

An objective of this study is to find out design requirements for developing human symbiotic robots, which share working space with human, and have the ability of carrying out physical, informational, and psychological interaction. This paper mainly describes design strategies of the human symbiotic robots, through the development of a test model of the robots, WENDY (Waseda ENgineering Designed sYmbiont).
In order to develop WENDY, mobility and dexterity of a humanoid robot Hadaly-2, which was developed in 1997, are improved on. The performances of WENDY are evaluated by experiments of object transport and egg breaking, which requires high revel integration of whole body system.
Design of Humanoid Surface Sensor for Tactile Interference with Human

H.IWATA, S.KAYABA, T.MORITA, S.SUGANO

Proc. of IEEE 7th Int. Workshop on Robot and Human Communication (Roman’98) vol.2 549 - 554 1998.09

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Books and Other Publications

“[岩田研究室]岩田浩康教授”, 一目で分かる！科研費で選ぶ研究力が高い大学

岩田浩康

株式会社アネスタ 2016.07
“遠隔操作での妊婦検査を可能にするロボット”, 『AI IoT ロボット』特集, AERA

岩田浩康

朝日新聞出版 2016.07
“まひした足の感覚を背中で感じるロボット技術を活用した歩行リハビリを実現”, (特集) 早稲田の研究最前線！～研究者の挑戦～,早稲田学報2016年8月号

岩田浩康

早稲田大学校友会 2016.07
ROBOCON Magazine, no.64

岩田浩康

オーム社 2009.06
建設の施工企画 (No.706)

岩田浩康, 亀崎允啓, 菅野重樹

日本建設機械化協会 2008.12
福祉介護機器Techno+

菅野重樹, 岩田浩康, 菅岩泰亮

日本工業出版 2008.09

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Presentations

片麻痺患者のリハビリテーション

岩田浩康 [Invited]

東京大学医学系研究科健康科学・看護学専攻老年看護学特論／創傷看護学特論 (東京大学本郷キャンパス)

Presentation date： 2018.11
救急医工学

岩田浩康 [Invited]

東京大学医学系研究科健康科学・看護学専攻老年看護学特論／創傷看護学特論 (東京大学本郷キャンパス)

Presentation date： 2018.11
Ideal Robots for the Elderly

H.IWATA [Invited]

Panelist with two other ones, Prof.Cecilia Laschi (Italy Scuola Superior Sant’Anna) and Prof. Massimilliano Zecca (UK Loughborough University), EU-JAPAN Conference on Smart Society and beyond for Super Aging Era, (Belgian Royal Academy Brussels, Belgium)

Presentation date： 2018.10
身体感覚から見たリハビリテーションとスポーツ技能ーメカトロ技術からのアプローチー

岩田浩康 [Invited]

早稲田心理学会教育講座 (早稲田大学文学部キャンパス)

Presentation date： 2018.10
人体組織に安全かつしなやかに適応可能な次世代診断・治療ロボット

岩田浩康 [Invited]

特別講演，第86回日本医科大学医学会総会 (日本医科大学)

Presentation date： 2018.09
ライフ・サポート・ロボティクスの社会実装に向けて

岩田浩康 [Invited]

早稲田大学グローバルロボットアカデミア研究所―マテリアル合同ワークショップ (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2018.09
直感的な随意操作が可能な【第三の腕】に関する研究―第7報：搭載動作機能の照合に要する認知的負荷分析

岩﨑悠希子, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
直感的な随意操作が可能な【第三の腕】に関する研究－第6報：低認知負荷制御を実現するモダリティの検証－

高橋翔太, 岩﨑悠希子, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
ロボットレクリエーションを用いた高齢者のコミュニケーションを促進する認知症予防システムの提案

関戸郁文, 坂本凌佑, 大西哲平, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
下肢運動支援デバイスとVRによる一人称歩行映像を併用した急性期リハにおける仰臥位訓練システムの開発

岩木将一郎, 田郷岡凌, 安田和弘, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
妊婦超音波検査支援ロボットの開発―接触安全性を考慮したプローブ走査機構の官能評価―

津村遼介, 内藤雄貴, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
子宮内連続超音波画像の確率的部位同定に基づく胎児長軸推定手法の構築

内藤雄貴, 津村遼介, 竹内里奈, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
触覚バイオフィードバックに基づく歩行リハビリ支援システムー第15報：片麻痺を対象としたパイロットスタディー

林勇希, 安田和弘, 北地雄, 原島宏明, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
没入型仮想現実による半側空間無視評価システムの構築

加藤遼一, 萩原晨功, 安田和弘, 川口俊太郎, 大平雅弘, 岩田浩康

日本生活支援工学会(LIFE2018)

Presentation date： 2018.09
医学と工学の共同事業―遠隔エコー診断支援ロボットの開発研究―

岩田浩康 [Invited]

模擬講義, さくらサイエンスプラン，日本・アジア科学技術青少年交流事業，日本科学技術振興機構(JST) (早稲田大学 TWIns)

Presentation date： 2018.08
皮膚電飾技術のエンタメ応用

岩田浩康 [Invited]

早稲田大学グローバルロボットアカデミア研究所―NTT Communications合同ワークショップ (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2018.08
Life Supportive Robotics

岩田浩康 [Invited]

模擬講義, 中国中欧商学院訪日団プログラム (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2018.08
皮膚貼付型エレクトロニクス

岩田浩康 [Invited]

早稲田大学グローバルロボットアカデミア研究所―JTB合同ワークショップ (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2018.08
救急医工学―遠隔エコー診断支援ロボットの開発研究―

岩田浩康 [Invited]

先端ロボティクスと医療，早稲田大学・奈良県立医科大学連携講座 (早稲田大学 TWIns)

Presentation date： 2018.08
心身覚醒RT

岩田浩康 [Invited]

早稲田大学グローバルロボットアカデミア研究所―日経BP合同ワークショップ (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2018.07
Human Assistive Robot Technology towards Human Augmentation

H.IWATA [Invited]

Keynote Lecutre, Eurohaptics2018 conference (Pisa, Italy)

Presentation date： 2018.06
妊婦超音波検査支援ロボットの開発 ―プローブ走査機構の受動的な位置調整が可能なハイブリッド型高重量補償アームの提案―

津村遼介, 熊切淳太郎, 内藤雄貴, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
心エコー診断ロボットのビジュアルサーボ技術

山野元, 渡辺貴文, 津村遼介, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
急性期リハビリにおける麻痺足随意性拡張を目指したアシストシステムの開発

田郷岡凌, 岩木将一郎, 安田和弘, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
随意操作が可能な【第三の腕】に関する研究 ―第五報：取得方向に依存せず非拘束物体を把持可能なグリッパの開発―

天野浩平, 高橋翔太, 中林幸輝, 岩﨑悠希子, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
皮膚貼付工程短縮化のための電子化ナノシート構造設計

篠田直樹, 宮林駿, 隼田大輝, 岩瀬英治, 藤枝俊宣, 武岡真司, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
マスタ・スレーブシステムにおける提示映像スケーリングの有効性検証

江藤孝紘, 亀﨑允啓, 佐藤隆哉, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
災害対応作業の複雑・連続・時限性を考慮したマスタ・スレーブシステムのスケール・ゲイン調整手法の開発

亀﨑允啓, 江藤孝紘, 佐藤隆哉, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2018 (Robomec’18)

Presentation date： 2018.06
遠隔診断・治療を支援する先端ロボット技術

岩田浩康 [Invited]

シンポジウム：呼吸器内視鏡における新技術，第41回呼吸器内視鏡学会学術集会 (京王プラザホテル)

Presentation date： 2018.05
高分子超薄膜を用いた皮膚貼付型RFIDタグの開発

岩田浩康 [Invited]

2017年度三菱マテリアル研究助成報告会 (早稲田大学西早稲田キャンパス62号館大会議室)

Presentation date： 2018.05
ライフ・サポート・ロボティクス

岩田浩康 [Invited]

模擬講義, 日本ロボット工業会 (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2018.05
知覚支援RTの効果機序分析に基づく歩行能力質的評価手法の構築

齋地健太, 安田和弘, 岩田浩康

第27回ライフサポート学会フロンティア講演会

Presentation date： 2018.03
重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究－第一報パン・チルト角による作業性への影響の検証－

仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

第23回ロボティクスシンポジア

Presentation date： 2018.03
ライフ・サポート・ロボティクスの新展開

岩田浩康 [Invited]

文部科学省私立大学研究ブランディング事業「医理工社連携による社会のデザイン」シンポジウム (早稲田大学西早稲田キャンパス63号館会議室)

Presentation date： 2018.02
Clinical Effectivenes of a haptic-based perception-empathy biofeedback system for balance rehabilitation in patients with chronic stroke

K.YASUDA, K.SAICHI, N.KAIBUKI, H.HARASHIMA, H.IWATA

10th World Congress for NeuroRehabilitation (WCNR)

Presentation date： 2018.02
高分子超薄膜RFIDが生体表面密着時に受ける影響の分析と対策

隼田大輝, 岩瀬英治, 藤枝俊宣, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
遠隔操作導入前の映像提示システムによる直接描画法を用いた操作者の認知地図への影響分析

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
多層組織における穿刺パスプランニングの構築

津村遼介, Iulian Iordachita, Kim Jin Seob, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
たわみと組織損傷の低減を両立する穿刺制御手法の構築

瀧下雄介, 津村遼介, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
下腹部を対象とした CT ガイド下穿刺制御戦略

澤田将太, 津村遼介, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
超音波検査支援ロボットを用いた自動妊婦健診サービスの研究～プローブ走査範囲自動決定手法の提案～

竹内里奈, 宮西将生, 津村遼介, 内藤雄貴, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
スパイクレシーブにおけるスポーツビジョン向上を目的とした没入型3D-VR訓練システムの開発

高田竜太, 大西哲平, 河田俊, 相原伸平, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
認知症患者の記憶能力向上を目的とした低強度運動と手指運動を促進するレクリエーションロボットの開発

関戸郁文, 坂本凌佑, 大西哲平, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
触覚バイオフィードバックに基づく歩行リハビリ支援システム -第14報：知覚共感ウェアによる中期介入効果検証-

齋地健太, 安田和弘, 北地雄, 原島宏明, 岩田浩康

第18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（SI2017）

Presentation date： 2017.12
近位・遠位空間無視を統合的に治療可能な没入型VRシステムにおける中期介入効果の事例検討

平野瑞樹, 室井大佑, 安田和弘, 齋地健太, 萩原晨功, 岩田浩康

第41回日本高次脳機能障害学会学術総会

Presentation date： 2017.12
片麻痺患者のリハビリテーション

岩田浩康 [Invited]

東京大学医学系研究科健康科学・看護学専攻老年看護学特論／創傷看護学特論 (東京大学本郷キャンパス)

Presentation date： 2017.11
救急医工学

岩田浩康 [Invited]

東京大学医学系研究科健康科学・看護学専攻老年看護学特論／創傷看護学特論 (東京大学本郷キャンパス)

Presentation date： 2017.11
生体への高適応性を追求する早稲田流医療ロボティクス

岩田浩康 [Invited]

東京医科歯科大学／早稲田大学第2回連携ワークショップ (東京医科歯科大学M&Dタワー26階会議室)

Presentation date： 2017.11
Human Assistive Robot Technology

H.IWATA [Invited]

Waseda Univ. and Imperial College London Joint Mini-Workshop 2017 (Imperial College London)

Presentation date： 2017.11
バットスイング時の運動連鎖における体幹動作を支援する振動型BFデバイスの開発

大西哲平, 相原伸平, 安田和弘, 岩田浩康

第38回バイオメカニズム学術講演会

Presentation date： 2017.11
片麻痺歩行リハビリにおける運動支援及び感覚支援を両立する運動・知覚統合支援装置の開発

齋地健太, 鈴木慈, 安田和弘, 福嶋勇太, 岩田浩康

第38回バイオメカニズム学術講演会

Presentation date： 2017.11
Construction of a cooperative operation avatar robot system to enhance collective efficacy

T.SEKIDO, R.SAKAMOTO, T.ONISHI, H.IWATA

The 10th International Workshop on Human-Friendly Robotics 2017

Presentation date： 2017.11
Measurement of Conformability and Adhesion Energy of Ultrathin Film to Skin Model

J.SUGANO, T.FUJIE, H.IWATA, E.IWASE

International Microprocesses and Nanotechnology Conference (MNC 2017)

Presentation date： 2017.11
組織損傷とたわみの低減を両立する穿刺制御手法の構築

津村遼介, 瀧下雄介, 岩田浩康

第26回日本コンピュータ外科学会

Presentation date： 2017.10
触覚バイオフィードバックに基づく歩行リハビリ支援システム-第13報：歩行訓練と加重移動訓練を実施可能な統合的知覚支援システムの提案-

齋地健太, 安田和弘, 岩田浩康

日本機械学会2017年度年次大会

Presentation date： 2017.09
急性期片麻痺患者の下肢リハビリにおける随意機能の誘発を目的としたマスタスレーブ式両足協調デバイスの開発

岩木将一朗, 齋地健太, 安田和弘, 岩田浩康

第35回日本ロボット学会学術講演会(RSJ’17)

Presentation date： 2017.09
半側空間無視の注意誘導を促す3D-VR型可動スリットの動的環境への適応

齋地健太, 安田和弘, 岩本晃, 室井大佑, 岩田浩康

第33回ライフサポート学会大会

Presentation date： 2017.09
半側空間無視の物体中心無視に対する3D-VR型cueingシステムの開発

萩原晨功, 安田和弘, 室井大佑, 大平雅弘, 齋地健太, 岩田浩康

第33回ライフサポート学会大会

Presentation date： 2017.09
没入型VRによる下肢運動錯覚がミラーニューロンシステムに与える影響

平井大智, 福嶋勇太, 安田和弘, 大橋洋輝, 岩田浩康

第33回ライフサポート学会大会

Presentation date： 2017.09
Effect of Living Body on Performance of RF Identifier Antenna Printed on Ultrathin Polymer Film

H.HAYATA, M.OKAMOTO, S.TAKEOKA, E.IWASE, T.FUJIE, H.IWATA

International Conference on Flexible and Printed Electronics (ICFPE 2017)

Presentation date： 2017.09
Epidermal pH-sensor capable of operating only with NFC energy harvesting

S.MIYABAYASHI, H.HAYATA, E.IWASE, T.FUJIE, H.IWATA

International Conference on Flexible and Printed Electronics (ICFPE 2017)

Presentation date： 2017.09
Research on the Third Arm: Proposal of a Face Vector Interface for Voluntary and Intuitive Control of a Wearable Robot Arm

Y.IWASAKI, H.IWATA

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’17)

Presentation date： 2017.09
側面カメラ映像における撮影対象との垂直度が遠隔操作者の奥行き感把握に与える影響の調査

仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

第17回建設ロボットシンポジウム論文集(SCR’17)

Presentation date： 2017.08
ヒトの認知構造に基づいた事前の環境把握映像提示による災害対応遠隔重機作業の効率化に関する研究

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

第17回建設ロボットシンポジウム(SCR’17)

Presentation date： 2017.08
Pre-offering Work-site Views to Acquire Spatial Knowledge from Survey and Route Perspective for Advanced Teleoperation of Construction Machines

R.SATO, M.KAMEZAKI, S.NIUCHI, S.SUGANO, H.IWATA

The 34th Int. Symp. on Automation and Robotics in Construction (ISARC’17)

Presentation date： 2017.07
Investigation on Effect of Angular Deviation from Perpendicular Line to Lateral View Camera on Work Efficiency for Teleoperated Construction Machines

S.NIUCHI, M.KAMEZAKI, R.SATO, S.SUGANO, H.IWATA

The 34th Int. Symp. on Automation and Robotics in Construction (ISARC’17)

Presentation date： 2017.07
随意操作が可能な【第三の腕】に関する研究～第二報：デュアルタスク状態における顔面ベクトルを用いた目標物支持性の検証～

岩﨑悠希子, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
スパイクレシーブにおけるスポーツビジョン向上を目的とした没入型3D-VR訓練システムの開発

高田竜太, 大西哲平, 河田俊, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
随意操作が可能な【第三の腕】に関する研究 ―第四報：目標物指示のための顔面ベクトル取得アイグラスの開発―

高橋翔太, 岩﨑悠希子, 中林幸輝, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
随意操作が可能な【第三の腕】に関する研究 ―第三報:作業性と低侵襲性を両立した装着型ロボットアームの設計手法―

中林幸輝, 岩﨑悠希子, 高橋翔太, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
NFC給電のみで動作可能なpH計測デバイスの提案

宮林駿, 隼田大輝, 岩瀬英治, 藤枝俊宣, 武岡真司, 大橋啓之, 佐藤慎, 黒岩繁樹, 門間聰之, 逢坂哲彌, 多和田雅師, 戸川望, 片岡孝介, 朝日透, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
脚ロボットにおける連続的な移動・手先動作遷移に対応可能な遠隔操作インタフェースの開発

江藤孝紘, 佐藤隆哉, 仁内智志, 中村早紀, 亀﨑允啓, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
災害対応重機の遠隔操作における操作者視点映像の事前提供による環境把握性効果の検証

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
妊婦超音波検査支援ロボットの開発~体表面へのプローブの垂直接触性と接触安全性を両立する受動機構の提案~

内藤雄貴, 津村遼介, 宮西将生, 竹内里奈, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
CTガイド下穿刺支援ロボットのためのレジストレーションシステム -四方斜立角柱構造を有したマーカーのデザイン-

井上峻, 津村遼介, 岩田浩康

日本機械学会ロボティクス・メカトロニクス講演会2017 (Robomech'17)

Presentation date： 2017.05
高分子ナノシートの湿潤・乾燥による凹凸形状への追従性の評価

関口雄斗大, 藤枝俊宣, 岩田浩康, 岩瀬英治

日本機械学会関東学生会第56回学生員卒業研究発表講演会

Presentation date： 2017.03
身体の気づきを高める知覚支援RTと臨床効果

岩田浩康 [Invited]

第3回再生医療とリハビリテーション研究会 (東京工業大学大岡山キャンパス)

Presentation date： 2016.12
非明示的加重誘導手法の案出および荷重移動課題への適用 -荷重移動課題におけるウェーバー比の導出および検証実験-

安田和弘, 堀川峻太郎, 岩田浩康

第2回支援工学理学療法学会

Presentation date： 2016.12
組織表面穿刺における極細針のたわみ推定モデル

津村遼介, 岩田浩康

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(SI2016)

Presentation date： 2016.12
極細針を用いた腸管穿刺におけるたわみの実験分析

下島海, 津村遼介, 岩田浩康

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(SI2016)

Presentation date： 2016.12
高背屈支援RTのための荷重応答期における背屈モーメント決定因子の分析と検討

鈴木慈, 福嶋勇太, 安田和弘, 大橋洋輝, 岩田浩康

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(SI2016)

Presentation date： 2016.12
セットフォーム習得支援RTがフリースロー技能に与える影響の検証

河田俊, 安田和弘, 岩田浩康

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(SI2016)

Presentation date： 2016.12
ウォード法を用いた複数映像提供型遠隔操作における視線パターンのクラスタリング

佐藤隆哉, 亀崎允啓, 菅野重樹, 岩田浩康

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(SI2016)

Presentation date： 2016.12
操作型作業機械の知能化に関する研究～第11報：操作量ヒストグラムを用いた操作者の技能分析～

亀崎允啓, 佐藤淳平, 小坂拓未, 岩田浩康, 菅野重樹

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(SI2016)

Presentation date： 2016.12
妊婦超音波健診における胎児の三次元画像データベース生成手法の提案

竹内里奈, 津村遼介, 岩田浩康

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(SI2016)

Presentation date： 2016.12
片麻痺荷重訓練における不安低減及び運動学習のための非明示的加重誘導手法～前後加重を非明示的に実現するウェーバー比の導出実験～

堀川峻太郎, 安田和弘, 岩田浩康

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(SI2016)

Presentation date： 2016.12
世界初のロボットをどう生み出すか？

岩田浩康 [Invited]

模擬講義, 前橋高等学校 (早稲田大学西早稲田キャンパス)

Presentation date： 2016.11
ロボット技術による人間支援

岩田浩康 [Invited]

高齢社会デザイン研究会, 情報処理学会（IPSJ） (東京大学本郷キャンパス)

Presentation date： 2016.11
ヒトの技能や心身機能を拡張する人間支援RT

岩田浩康 [Invited]

EWE三月会 (日比谷市政会館)

Presentation date： 2016.11
バットスイングにおける運動連鎖を支援する音声リズムBFデバイスの開発-上半身に着目したデバイス有効性の検証-

大西哲平, 河田俊, 安田和弘, 岩田浩康

スポーツ工学・ヒューマンダイナミクス2016

Presentation date： 2016.11
パーキンソン病の歩行異常に対する牽引力錯覚を用いた矛盾性運動誘発デバイスの開発

保科智啓, 福嶋勇太, 森崎寿文, 安田和弘, 大橋洋輝, 岩田浩康

第37回バイオメカニズム学術講演会

Presentation date： 2016.11
片麻痺患者のリハビリテーション

岩田浩康 [Invited]

東京大学医学系研究科健康科学・看護学専攻老年看護学特論／創傷看護学特論, (東京大学本郷キャンパス)

Presentation date： 2016.10
救急医工学

岩田浩康 [Invited]

東京大学医学系研究科健康科学・看護学専攻老年看護学特論／創傷看護学特論 (東京大学本郷キャンパス)

Presentation date： 2016.10
最先端研究：リハビリ支援ロボット～知覚の支援から運動の誘発まで～

岩田浩康 [Invited]

早稲田大学オープンカレッジ「最新！早稲田のロボット学」 (早稲田大学エクステンションセンター早稲田校)

Presentation date： 2016.09
最先端研究：医療支援ロボット～妊婦検診／次世代がん治療の支援～

岩田浩康 [Invited]

早稲田大学オープンカレッジ「最新！早稲田のロボット学」 (早稲田大学エクステンションセンター早稲田校)

Presentation date： 2016.09
新展開：第3の腕，スポーツ支援RT，ナノシートを用いたウェアラブルデバイス

岩田浩康 [Invited]

早稲田大学オープンカレッジ「最新！早稲田のロボット学」 (早稲田大学エクステンションセンター早稲田校)

Presentation date： 2016.09
背屈・外反動作を独立に支援可能な内反尖足患者のための下腿フィッティング型足関節支援RTの開発

田中元基, 福嶋勇太, 安田和弘, 保科智啓, 鈴木慈, 大橋洋輝, 岩田浩康

LIFE2016

Presentation date： 2016.09
半側空間無視の近位・遠位空間無視を統合的に治療可能な没入型VR治療システムの開発

安田和弘, 室井大祐, 大平雅弘, 岩田浩康

LIFE2016

Presentation date： 2016.09
触覚バイオフィードバックに基づく歩行リハビリ支援システム -第12報：足接地パターンの背部への振動付与に対する歩行適応過程の検証-

齋地健太, 安田和弘, 北地雄, 貝吹奈緒美, 原島宏明, 岩田浩康

LIFE2016

Presentation date： 2016.09
脳神経系の活性化とリハビリ支援ロボット

岩田浩康 [Invited]

早稲田大学オープンカレッジ「最新！早稲田のロボット学」 (早稲田大学エクステンションセンター早稲田校)

Presentation date： 2016.08
がん免疫細胞療法を支援する腫瘍内穿刺ロボットの開発研究

岩田浩康 [Invited]

早稲田大学・がん研究会研究交流会 (がん研究会有明病院レセプションルーム)

Presentation date： 2016.07
高分子超薄膜を用いた皮膚接着型生体計測デバイスの技術開発と応用

岩田浩康 [Invited]

次世代ISFET研究会 (早稲田大学120号館1階会議室)

Presentation date： 2016.07
急性期脳卒中患者の半側空間無視に対して「視覚注意誘導刺激(スリットスクリーン法)」の治療検討

黒木洋美, 竹内貴哉, 安田和弘, 姫野好美, 帖佐悦男, 岩田浩康

第53回日本リハビリテーション医学会学術集会

Presentation date： 2016.06
高分子超薄膜上配線と電子素子の直接接合による電気的接続の評価, Evaluation of Electrical Connection by Direct Bonding an Electronic Component

菅野純貴, 藤枝俊宣, 武岡真司, 岩田浩康, 岩瀬英治

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
高分子超薄膜に廉価に実装可能なRFIDの設計

隼田大輝, 岩瀬英治, 藤枝俊宣, 武岡真司, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
バットスイングにおける運動連鎖を支援する音声リズムBFデバイスの開発

岩﨑悠希子, 渡邊貴文, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
妊婦エコー画像取得のための二走行画像の統合処理手法の開発

竹内里奈, 津村遼介, 石川牧子, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
回転・振動を付与した穿刺による組織損傷の組織学的分析

瀧下雄介, 津村遼介, 福嶋勇太, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
バットスイングにおける運動連鎖を支援する音声リズムBFデバイスの開発

岩﨑悠希子, 渡邊貴文, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
歩行時の背屈・外反動作を独立に支援可能な下腿フィッティング型足関節支援RTの開発

田中元基, 福嶋勇太, 安田和弘, 保科智啓, 鈴木慈, 大橋洋輝, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
触覚バイオフィードバックに基づく歩行リハビリ支援システム-第11報：知覚共感ウェアによる片麻痺者への歩行介入-

齋地健太, 安田和弘, 北地雄, 貝吹奈緒美, 原島宏明, 岩田浩康

日本機械学会ロボティクス・メカトロニクス部門講演会

Presentation date： 2016.06
バネラー, 産学官協働に向けた課題に関するパネルディスカッション

岩田浩康 [Invited]

早稲田が目指すイノベーションエコシステム～連携を超えた産学“官”協働の姿～, 早稲田大学教務部／文部科学省科学技術・学術政策局 (早稲田大学西早稲田キャンパス62号館大会議室)

Presentation date： 2016.04
人の技能と心身機能を拡張する人間支援ロボットテクノロジー

岩田浩康 [Invited]

早稲田が目指すイノベーションエコシステム～連携を超えた産学“官”協働の姿～, 早稲田大学／文部科学省ジョイントシンポジウム (早稲田大学西早稲田キャンパス62号館大会議室)

Presentation date： 2016.04
高分子超薄膜を用いた皮膚接着型生体計測デバイスの基盤技術の構築～日常生活・スポーツ使用時に違和感のないRFID搭載ナノシートの開発～

岩田浩康 [Invited]

早稲田大学AAA研究所2015年度成果報告会 (早稲田大学西早稲田キャンパス63号館会議室)

Presentation date： 2016.03
人工皮膚モデルを用いた高分子ナノ薄膜の貼付性評価

鈴木智, 藤枝俊宣, 武岡真司, 岩田浩康, 岩瀬英治

第55回学生員卒業研究発表講演会

Presentation date： 2016.03
人の技能や心身機能を拡張する人間支援ロボットテクノロジーの新展開

岩田浩康 [Invited]

スマート社会を拓くグリーン・コンピューティングー産学連携による社会実装に向けてー，早稲田大学グリーン・コンピューティング・システム研究機構 (早稲田大学グリーン・コンピューティング・システム研究開発センター(40号館))

Presentation date： 2016.02
移動体下における体幹装着型遠隔操作エコーデバイス：FASTele-1のFAST診断性能の検証

第50回日本生体医工学会大会(JSMBE 2011)

Presentation date： 2011.05
認知神経リハを支援する知覚支援RT

第50回日本生体医工学会大会(JSMBE 2011)

Presentation date： 2011.05
救急救命のための遠隔エコー診断・治療支援RTの開発

第50回日本生体医工学会大会(JSMBE 2011)

Presentation date： 2011.05
血流量測定のための変動血管対応型ビジュアルサーボシステムの開発

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(Robomec’11)

Presentation date： 2011.05
オートグラスピングが可能な車椅子搭載型ロボットハンドの開発

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(Robomec’11)

Presentation date： 2011.05
建機マニピュレータの手先外力ベクトル計測〜内在誤差範囲推定に基づく相対的計測精度向上〜

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(Robomec’11)

Presentation date： 2011.05
体性感覚バイオフィードバックに基づくリハビリ支援システム〜第3報：健側の能動探索による対側位置覚同定手法〜

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(Robomec’11)

Presentation date： 2011.05
体性感覚バイオフィードバックに基づくリハビリ支援システム〜第4報：誤差覚知RTによる学習再誘引時の脳賦活評価〜

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(Robomec’11)

Presentation date： 2011.05
救急医工学の創成に向けて

第50回日本生体医工学会大会(JSMBE 2011)

Presentation date： 2011.04
家事・介助を支援する人間共存ロボットのデザイン

第286回塑性加工シンポジウム

Presentation date： 2010.12
人間とロボットとの協調移動制御〜優先関係と働きかけの導入〜

計測自動制御学会システムインテグレーション部門学術講演会SI2010

Presentation date： 2010.12
油圧情報に基づく負荷計測の不確かさを考慮した建機マニピュレータの荷重有無検出

計測自動制御学会システムインテグレーション部門学術講演会SI2010

Presentation date： 2010.12
出血源位置推定システムのための体幹適応型RTエコーデバイスBASIS-1の開発〜フリージョイント機構を用いた体幹左右駆動の性能評価〜

計測自動制御学会システムインテグレーション部門学術講演会SI2010

Presentation date： 2010.12
早期治療戦略立案のための非侵襲的出血源推定手法の提案

計測自動制御学会システムインテグレーション部門学術講演会SI2010

Presentation date： 2010.12
緊張性気胸の遠隔穿刺治療を支援する前胸部装着型RT 〜第2報：車両の走行振動下における穿刺可能性に関する検討〜

第19回日本コンピュータ外科学会大会

Presentation date： 2010.11
片麻痺リハにおける誤学習抑制のための誤差覚知RTの効能検証

第31回バイオメカニズム学術講演会

Presentation date： 2010.11
人間共存ロボットの主体的判断による知能移動

第28回日本ロボット学会学術講演会

Presentation date： 2010.09
油圧センサ情報を用いた建機マニピュレータの外力負荷有無検出システムの開発

第12回建設ロボットシンポジウム

Presentation date： 2010.09
BF型知覚支援RTを用いた認知神経リハ〜第1報：麻痺側足底圧の対側肢体へのバイパス呈示とその効能検証〜

第37回日本バイオフィードバック学会学術講演会

Presentation date： 2010.07
BF型知覚支援RTを用いた認知神経リハ〜第2報：BFによる麻痺側加重時の不安解消手法〜

第37回日本バイオフィードバック学会学術講演会

Presentation date： 2010.07
耳鳴に対する統合治療の有用性に関する研究〜第1報：認知行動療法とBF療法による心的介入〜

第37回日本バイオフィードバック学会学術講演会

Presentation date： 2010.07
人間形ハンド・アームによる道具の微細操作に関する研究 —受動柔軟性を活用した動作計画及び把持・作用力・軌道制御—

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(Robomec’10)

Presentation date： 2010.06
未知重量・摩擦・剛性対象物に対する把持力設定手法 —受動柔軟性を利用した持ち上げ前特性計測の活用—

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(Robomec’10)

Presentation date： 2010.06
バイオフィードバックを用いた自己受容感覚リハビリ支援システム〜第1報：異種運動速度を取り入れた知覚・運動モデル再構築手法〜

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(Robomec’10)

Presentation date： 2010.06
バイオフィードバックを用いた自己受容感覚リハビリ支援システム〜第2報：体勢感覚回復訓練における視覚依存回避手法の提案〜

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(Robomec’10)

Presentation date： 2010.06
マニピュレータの運動状態に応じた負荷要因同定に基づく油圧シリンダの外力負荷有無検出手法の提案

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(Robomec’10)

Presentation date： 2010.06
救急搬送時における出血源位置抽出のための体幹適応型RTエコーデバイスBASIS-1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講演論文集(Robomec’10)

Presentation date： 2010.06
遠隔救急治療のための体幹装着型ポータブル超音波診断ロボットFASTele の操作インタフェースに関する検討

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(Robomec’10)

Presentation date： 2010.06
Development of Wearable Robot for Emergency Tele-Echography Guided Diagnosis

第49回日本生体医工学会大会

Presentation date： 2010.06
搬送時における緊張性気胸患者救命のための真空圧力装着型自動穿刺ロボットAIDEDの試作

日本医工学治療学会第26回学術大会

Presentation date： 2010.04
外傷患者のための体幹装着型超音波診断ロボット：FASTele-1の開発

日本医工学治療学会第26回学術大会

Presentation date： 2010.04
円柱形対象物の重量による転がりを利用した握り込み制御

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
操作型作業機械の知能化に関する研究〜第5報：簡易化基底作業状態を用いた大局的状態遷移の分析〜

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
救急移動体における緊張性気胸の遠隔穿刺治療支援RT の開発

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
遠隔救急超音波診断のための体幹装着型ロボットFASTele-1の開発

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
麻痺側足底圧を対側肢体にバイパス呈示するBF型知覚支援RT

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
麻痺手の自己受容感覚を健側へバイパス呈示する知覚支援RT の手指リハへの応用

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
脳卒中片麻痺リハビリにおける両肢角度誤差BFシステムの試作と評価

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
把持安定性と引裂耐性を考慮した指先柔軟肉設計

計測自動制御学会システムインテグレーション部門学術講演会SI2009

Presentation date： 2009.12
救急搬送下遠隔FASTを可能とする体幹装着型ポータブルデバイスの開発

第37回日本救急医学会学術集会

Presentation date： 2009.10
緊張性気胸の遠隔穿刺治療を支援する前胸部装着型RT

第18回日本コンピュータ外科学会大会

Presentation date： 2009.10
能動的な身体環境接触を利用した手指協調制御

第27回日本ロボット学会学術講演会予稿集

Presentation date： 2009.09
なじみを備えた多指ロボットハンドにおける手指姿態・触覚情報の汎化学習に基づく操り動作の安定化

第27回日本ロボット学会学術講演会予稿集

Presentation date： 2009.09
片麻痺リハビリにおける両肢角度誤差BFリハビリ支援システムの試作と評価

日本機械学会福祉工学シンポジウム2009

Presentation date： 2009.09
運動感覚伝達装置を活用した麻痺指伸展リハビリプログラムの開発及び検証

日本機械学会福祉工学シンポジウム2009

Presentation date： 2009.09
身体感覚への注意を促すBF型知覚支援RTの片麻痺リハ応用

計測自動制御学会第24回生体・生理工学シンポジウム

Presentation date： 2009.08
触覚バイオフィードバックに基づく歩行リハビリ支援システム〜第8報：麻痺側加重余裕のBFに基づく筋活動調整手法の提案〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
触覚バイオフィードバックに基づく歩行リハビリ支援システム〜第9報：誤学習抑制のための運動イメージ・知覚誤差BFシステムの試作と評価〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
体性感覚バイオフィードバックに基づく手指リハビリ支援システム〜第2報：運動感覚BFシステムによる麻痺指可動限界向上の検証〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
操作型作業機械の知能化に関する研究〜第5 報：操作支援に着目した作業特性および操作支援フラグの識別〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
油圧駆動型双腕ロボットアームシステムの開発〜次世代知能化建機の研究・開発用プラットフォーム〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
緊張性気胸患者救命のための自動穿刺治療ロボットAIDED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

Presentation date： 2009.05
遠隔救急超音波診断ロボット：FASTele-1の評価〜通信遅れが及ぼす診断性能への影響〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
人間共存ロボットの觝触適応行動〜第26報：作業拘束の段階的解除による人間追従性と作業性の両立手法〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
全面柔軟被覆を備えた人間形ハンドのための接触頻度・寄与度に基づく触覚センサ設計

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
受動柔軟性を活用したハンド持ち替え制御と安定化手法

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2009.05
倣い作業における触覚センサ情報の統合による手腕協調制御手法

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
電動車いす搭載用コンパクトロボットアームの改良設計〜紙や小物を容易に拾えるシンプルなロボットハンドの設計および性能検証〜

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
操作型作業機械の知能化に関する研究〜第4報：基底作業状態識別に基づく操作者支援システムの開発

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
人間共存ロボットの觝触適応行動〜第25報：人間追従下における二次的被害防止のための作業拘束解除手法〜

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
広範な把持形態でのなじみ効果発現を考慮した関節ばね弾性設計手法

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
手指手掌全面に柔軟肉を搭載した多指ロボットハンドの触覚センサ設計〜人による対象物把持における接触頻度・寄与度の高い部位の導出〜

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
受動柔軟関節を活用した多指ロボットハンドの柔軟対象物把持手法

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
被介助者の主体性を引き出す移動型介助ロボットシステムの開発

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
TWENDY-ONEハンドのヒューマンミメティックデザイン

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
TWENDY-ONEにおけるシステムインテグレーション

計測自動制御学会システムインテグレーション部門学術講演会

Presentation date： 2008.12
遠隔救命支援のためのポータブル超音波診断ロボットの開発

日本コンピュータ外科学会大会

Presentation date： 2008.11
生体安全性と易圧排性を両立する術野確保リトラクタの圧排面設計

日本コンピュータ外科学会大会

Presentation date： 2008.11
ヒトの手指手掌に備わる受動柔軟性と隆起構造に着目したヒューマン・ミメティック・ロボットハンドの設計

日本バイオメカニズム学会学術講演会

Presentation date： 2008.10
触覚バイオフィードバックにより片麻痺患者の認知運動治療を支援する知覚支援RTの開発と臨床評価

日本バイオメカニズム学会学術講演会

Presentation date： 2008.10
双腕建機における操作技能訓練用シミュレータの開発〜訓練効果の検証および操作補助手法の検討〜

第11回建設ロボットシンポジウム

Presentation date： 2008.09
双腕建機における知能化インタフェース〜基底作業状態識別に基づく操作者支援システムの開発〜

第11回建設ロボットシンポジウム

Presentation date： 2008.09
操作型作業機械の知能化に関する研究〜第3 報：基底作業状態を用いた操作者のスキル解析と操作トレーニングへの応用〜

第26回日本ロボット学会学術講演会

Presentation date： 2008.09
人間共存ロボットTWENDY-ONEの開発

第26回日本ロボット学会学術講演会

Presentation date： 2008.09
受動柔軟性を利用した安定把持・操り制御手法の提案〜把持位置と大きさが未知な円形断面物体の把持と操り〜

第26回日本ロボット学会学術講演会

Presentation date： 2008.09
受動柔軟性を備えたTWENDY-ONEハンドの基本制御手法〜把持形態間移行による多彩な把持・操りの実現〜

第26回日本ロボット学会学術講演会

Presentation date： 2008.09
能動的環境接触を考慮した柔軟マニピュレータの肘関節設計

第26回日本ロボット学会学術講演会

Presentation date： 2008.09
遠隔救急エコー診断のための体幹装着型4自由度ロボット：FASTele-1の開発

第6回生活支援工学系学会連合大会

Presentation date： 2008.09
片麻痺患者のための知覚支援RTの開発と光脳機能イメージングによる効能評価

日本機械学会福祉工学シンポジウム2008

Presentation date： 2008.09
脳梁交連線維と両側性支配に着目したBypass刺激呈示部位の検討

日本機械学会福祉工学シンポジウム2008

Presentation date： 2008.09
麻痺手の運動感覚を非麻痺手で感知させる手指リハビリ支援装置

日本機械学会福祉工学シンポジウム2008

Presentation date： 2008.09
手指手掌全体で面接触を可能とするヒューマンミメティックハンドの構造設計

日本機械学会2008年度年次大会

Presentation date： 2008.08
ポータブル型遠隔エコー診断支援ロボットの開発

日本機械学会2008年度年次大会

Presentation date： 2008.08
片麻痺患者の認知運動治療を促進するバイオフィードバック型知覚支援RTの開発

日本機械学会2008年度年次大会

Presentation date： 2008.08
小型・軽量な柔軟関節マニピュレータのための新粘弾性機構の設計

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
リスクカーブに基づく衝突安全被覆設計手法の提案

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
人間共存ロボットTWENDY-ONEのデザイン

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
操作型作業機械の知能化に関する研究〜第2報：環境・操作者の多様性に非依存な基底作業状態の提案〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
高設栽培いちごの夜間自動収穫システムの提案〜果柄把持型収穫マニピュレータおよびユニット交換型果実搬送ロボットの開発〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
生活支援を目的とした車椅子搭載型ロボットアームの開発〜自重補償機構による軽量・コンパクト性の実現を目指したシリアルリンク型ロボットアーム〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
遠隔救急治療のための体幹装着型ポータブル超音波診断ロボットFASTele-1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

Presentation date： 2008.06
体性感覚バイオフィードバックに基づく手指リハビリ支援システム〜第1報：麻痺指の姿態・運動状態を非麻痺指で体感可能な自立リハビリ支援装置の試作〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
触覚バイオフィードバックに基づく歩行リハビリ支援システム〜第7報：近赤外分光を用いた脳機能計測(fNIRS)による麻痺側への注意力向上効果の検証〜

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
触覚バイオフィードバックに基づく歩行リハビリ支援システム〜第6報：脳賦活促進のための脳梁交連性を考慮した足底圧呈示Unit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

Presentation date： 2008.06
全方向移動台車を用いた安全走行制御システムの開発

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
手指手掌に受動柔軟性を備えた高巧緻多指ハンドの構造設計

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06
TWENDY-ONEハンドの触覚センサ設計とセンサフュージョン

日本機械学会ロボティクス・メカトロニクス講演会

Presentation date： 2008.06

▼display all

Research Seeds

モバイル端末操作型エコー遠隔診断ロボット

ライフサイエンス
非侵襲的内出血抽出アルゴリズム

ライフサイエンス
Ultrasonic Diagnosis Support Robot for Prenatal Care

Social Infrastructure
Electronic devices composed of polymer nanosheets

Nanotechnology / Materials
Chemical Health Monitor Kind to Skin

Life sciences
Skin-adhesive battery-less device communicating by hand touch

Nanotechnology / Materials
Biofeedback-type perception support robot technology for cognitive-neuro rehabilitation

Life sciences, Manufacturing Technology

▼display all

Research Projects

Perception-motor reconstruction with perception assistive robot technologies and validation of bain facilitation

Project Year :

2014.04

-

2017.03

　View Summary

At the stage of the acual clinical trial of rehabilitation robot devices and trainig protcol developed so far, it has been difficult to adapt to hemiplegic patients sufferring from serious motor paralysis. In order to resolve this problem, this research has established a methodology to facilitate motor learning with perception assistive robot technologies in conjuntion with motor assistive robotic device. This outcome shall become a fundamental theory for next generation of neuro-rehabilitation with robot technologies based on brain scientific evidence applicable to actual clinical trials, then which will expect to giving high impacts to the aged society
誤差覚知RTによる知覚と運動の再組織化と脳賦活化効果の検証

科学研究費助成事業(早稲田大学) 科学研究費助成事業(基盤研究(B))

Project Year :

2014

-

2016
認知神経リハを支援する誤差覚知RTによる誤学習抑制と脳神経学的効能検証

科学研究費助成事業(早稲田大学) 科学研究費助成事業(若手研究(A))

Project Year :

2011

　

　
認知神経リハを支援する誤差覚知RTによる誤学習抑制と脳神経学的効能検証

科学研究費助成事業(早稲田大学) 科学研究費助成事業(若手研究(A))

Project Year :

2011

　

　
Neurological Assessment of Biofeedback Efficacy of PARTY that Enhances Perception of Paralytic-side Foot Contact States

Project Year :

2009

-

2010

　View Summary

We propose a new locomotion rehabilitation RT device, PARTY(Perception Assisting Robotics TechnologY) that enables the paralyzed to get a perception-bypassed communication root via a non-paralyzed-part body for recognizing foot contact pressures of the paralyzed-side. This study indicates an optimal body part used for the bypassing from the viewpoint of neuron communication theory, especially focusing on the bilateral innervations and the commissural fiber where communications between both brain sides are reinforced. In addition, a remarkable rehabilitation outcome through validation with Functional Near-infrared Spectroscopy demonstrating reinforced attentiveness to the paralytic-side body was achieved thanks to a leg-PARTY.
Neurological Assessment of Biofeedback Efficacy of PARTY that Enhances Perception of Paralytic-side Foot Contact States

Project Year :

2009

-

2010

　View Summary

We propose a new locomotion rehabilitation RT device, PARTY(Perception Assisting Robotics TechnologY) that enables the paralyzed to get a perception-bypassed communication root via a non-paralyzed-part body for recognizing foot contact pressures of the paralyzed-side. This study indicates an optimal body part used for the bypassing from the viewpoint of neuron communication theory, especially focusing on the bilateral innervations and the commissural fiber where communications between both brain sides are reinforced. In addition, a remarkable rehabilitation outcome through validation with Functional Near-infrared Spectroscopy demonstrating reinforced attentiveness to the paralytic-side body was achieved thanks to a leg-PARTY.
Research on the Following Motion Control Method for Human Symbiotic Robots

Project Year :

2007

-

2010

　View Summary

We constructed the robot system to follow the human contact with low contact force, which was a combination of passive mechanisms (collision safety skin and passive joint), quantification module of contact state and whole-body motion control.
Research on Attendant Assistive Robotics Technology

Project Year :

2009

-

　
Development of Wearable Robot for Emergency Tele-Echo Guided Diagnosis

Project Year :

2007

-

　
Research on Intelligence for Operated-Construction Machinery

Project Year :

2007

-

　
Development of Robot Arm-mounted Wheel Chair

Project Year :

2006

-

　
Perception-Assisting Rehabilitation Technology for Hemipaletic Patients

Project Year :

2005

-

　
Impact Safety Design and Control Method for Human Symbiotic Robots

Project Year :

1999

-

2001

　View Summary

Novel design strategies and behavior control criterions for ensuring impact safety of human symbiotic robots are obtained with improvement of both components and system integration technologies. Validity of this project is substantiated from several experimental tasks that requires impact safety and cooperation ability with human. Three main results are summarized as follows.
Design and Control Strategy :
An enormous amount of parameters for design and control of human symbiotic robots are systematized from an aspect of impact safety and human-cooperate ability. In order to obtain this strategy, a safety technology map that diagrams collision situations, standardized environment conditions, and behaviors of robots and humans is devised and utilized.
Behavior Control Criterion :
A behavior control criterion that consists of safety measures in three levels, such as the actuator level, joint level, and whole body level are constructed. This criterion generates several physical interactive behaviors of human symbiotic robots based on the situation models and information from sensors. This internal model is a kind of finite state machine, and each transition path represents safety and human-cooperative behaviors of robots that are adapted to interactive situations.
System integration and Evaluation :
A double safety measure by design and control, and a haptic cover sensor are designed and integrated into the WENDY system. The system consists of eighty actuators and one hundred sensors, and decide its behavior by using the developed haptic cover sensors. For evaluation of the project, experiments are widely conducted from basic motions to practical and difficult tasks. From these experiments, it is confirmed that the integrated system can carry out human-cooperative tasks while ensuring impact safety.
Research on Technology for Human Symbiotic Robots

Project Year :

2000

-

　
人間共存ロボットのための人工触覚認知に関する基礎的研究

　View Summary

本年度は,触れられ側の人間(受け手)が撫でられたり,叩かれたり,引掻かれたりする際に身体に及ぼされる触覚刺激の特徴をロボットに学習させることで,触覚刺激から触れあい状況を受け手とほぼ同等の曖昧さで推測・識別可能なシステムの整備,ならびに人工触覚認知の基礎理論を確立した.具体的にはまず,触覚刺激から抽出される特徴量と触れあい状態(表現語で記号化)の関係をNNで学習させた上で,触れあい状態相互の混同しやすさを混同行列で整理する方法を考案した.さらに,触覚情報の質や学習条件の設定に応じて変容する認知の混同度合いを定量化するために,混同行列を基に認知の混同しやすさを数値化する評価指標を案出した.この指標に基づき,状態識別を容易にする特徴量の組み合わせの選出ならびに触覚センサ空間分解能を設定する方法を導出した.また,これらの手法を用いて決定した空間分解能を有する圧力分布センサを最外殻に配し,かつ人体の肩・上腕・前腕の体格・外形状を模した触覚インタフェースの設計・開発を行った.次に,取得された触覚刺激の特徴を表現語ごとに自己組織的に汎化処理させることで,表現語ごとの特徴量を多次元空間内で分類するだけでなく,新たな触覚刺激入力に対し最近似ニューロンを特定し各表現語への帰属度を確率的に自動判別できる実時間識別システムを構築した.ここでは,競合層の階層化を図ることで,同一の触覚刺激に対し触れあい状況・痛み・圧迫感認知を並列的に出力できるように情報処理機構の設計を進めた.最後に,受け手の認知を学習させたロボットに対し新たに触覚刺激を入力する総合実験を行った.その結果,上記三つの認知を並列的に,かつ各表現語への帰属度を確率的に出力でき,また,受け手の認知との一致率90%を達成できることが確認され,人間と全身で触れあうロボットの人工触覚認知を構築する上で本手法が有効であることが示された
Neurosurgeon' Arm Supporting Robot for Microneurosurgery

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Misc

A Practical Load Detection Framework Considering Uncertainty in Hydraulic Pressure-Based Force Measurement for Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’11) in press 288 - 293 2011.05 [Refereed]
A Practical Load Detection Framework Considering Uncertainty in Hydraulic Pressure-Based Force Measurement for Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’11) in press 288 - 293 2011.05 [Refereed]
Development of 4-DOF Anthropomorphic Tactile Interaction Manipulator with Passive Joint

H.IWATA, S.KOBASHI, T.AONO, T.KOBAYASHI, S.SUGANO

Journal of Robotics and Mechatronics Accepted 2011
How Should Engineering Researcher Regard Research Ethics Review?

IWATA Hiroyasu

JRSJ 29 ( 3 ) 259 - 260 2011

DOI CiNii
Development of 4-DOF Anthropomorphic Tactile Interaction Manipulator with Passive Joint

H.IWATA, S.KOBASHI, T.AONO, T.KOBAYASHI, S.SUGANO

Journal of Robotics and Mechatronics Accepted 2011
Hydraulic Pressure-Based Dominant Error Force Component Identification for Detecting External Force Applied to Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of Int. Conf. on Advanced Mechatronics 2010 (ICAM2010) 2010 313 - 318 2010.10

　View Summary

The purpose of this paper is to develop a fundamental external force detection framework for construction manipulator. Such industrial application demands practicality that satisfies detection requirements such as accuracy and robustness while ensuring (i) low cost, (ii) wide applicability, and (iii) simple detection algorithm. To satisfy (i) and (ii), our framework adopts hydraulic sensors as force sensor. Hydraulic sensor essentially detects error force components that generate depending on joint kinetic state and differ in identification- difficulty due to nonlinear and uncertain hydromechanical system. To satisfy (ii) and (iii), theoretical, experimental, and conditional identification methods without complex modeling are applied in static, uniform motion, and accelerated motion states for identifying self-weight, driving, inertial forces defined as dominant error components. Experiments were conducted using our instrumented hydraulic arm system. Result of no-load task indicates that our framework lowers a threshold to determine the on-off state of external force application, independent of joint kinetic states. Result of on-load task confirms that our framework robustly identifies off states in which external force is not applied to hydraulic cylinder.

DOI CiNii
Wearable Echography Robot for Trauma Patient

K.ITO, S.SUGANO, H.IWATA

Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS’10) 4794 - 4799 2010.10 [Refereed]

DOI
Hydraulic Pressure-Based Dominant Error Force Component Identification for Detecting External Force Applied to Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of Int. Conf. on Advanced Mechatronics 2010 (ICAM2010) 2010 313 - 318 2010.10

　View Summary

The purpose of this paper is to develop a fundamental external force detection framework for construction manipulator. Such industrial application demands practicality that satisfies detection requirements such as accuracy and robustness while ensuring (i) low cost, (ii) wide applicability, and (iii) simple detection algorithm. To satisfy (i) and (ii), our framework adopts hydraulic sensors as force sensor. Hydraulic sensor essentially detects error force components that generate depending on joint kinetic state and differ in identification- difficulty due to nonlinear and uncertain hydromechanical system. To satisfy (ii) and (iii), theoretical, experimental, and conditional identification methods without complex modeling are applied in static, uniform motion, and accelerated motion states for identifying self-weight, driving, inertial forces defined as dominant error components. Experiments were conducted using our instrumented hydraulic arm system. Result of no-load task indicates that our framework lowers a threshold to determine the on-off state of external force application, independent of joint kinetic states. Result of on-load task confirms that our framework robustly identifies off states in which external force is not applied to hydraulic cylinder.

DOI CiNii
Wearable Echography Robot for Trauma Patient

K.ITO, S.SUGANO, H.IWATA

Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS’10) 4794 - 4799 2010.10 [Refereed]

DOI
A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.22 ( no.6 ) 447 - 455 2010.08 [Refereed]

DOI
Pressure Control on Whole Surface of Human-mimetic Multi-fingered Hand with Tactile Sensing

T.SUGAIWA, K.IWAMOTO, H.IWATA, S.SUGANO

Proc. of the SICE Annual Conference 2010 436 - 438 2010.08
A Practical Approach to Detecting External Force Applied to Hydraulic Cylinder for Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of the SICE Annual Conference 2010 1255 - 1256 2010.08 [Refereed]
A Framework to Identify Task-Phase and Attentional-Condition for Supporting Complicated Dual-Arm Operations

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.22 ( no.6 ) 447 - 455 2010.08

DOI
Pressure Control on Whole Surface of Human-mimetic Multi-fingered Hand with Tactile Sensing

T.SUGAIWA, K.IWAMOTO, H.IWATA, S.SUGANO

Proc. of the SICE Annual Conference 2010 436 - 438 2010.08
A Practical Approach to Detecting External Force Applied to Hydraulic Cylinder for Construction Manipulator

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of the SICE Annual Conference 2010 1255 - 1256 2010.08
Development of a Dual Robotic Arm System to Evaluate Intelligent System for Advanced Construction Machinery

M.KAMEZAKI, S. HASHIMOTO, H.IWATA, S.SUGANO

Proc. of 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’10) 1299 - 1304 2010.07 [Refereed]

DOI
Development of a Dual Robotic Arm System to Evaluate Intelligent System for Advanced Construction Machinery

M.KAMEZAKI, S. HASHIMOTO, H.IWATA, S.SUGANO

Proc. of 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM’10) 1299 - 1304 2010.07 [Refereed]

DOI
A Framework of State Identification for Operational Support based on Task-Phase and Attentional-Condition Identification

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 1267 - 1272 2010 [Refereed]

　View Summary

This paper proposes a state identification framework to support the complicated dual-arm operations in construction work. The operational support in construction machinery filed requires the compatibility with different types of support and the commonality among various operator skill levels. The proposed framework is therefore organized into two functions: real-time task phase identification and time-series attentional condition identification. The task phase is defined by utilizing the joint load applied according to the environment constraint condition. The attentional condition is defined as one of the internal work-state condition classified by the necessity level of operational support, and is dependent on the vectorial or time-series date selected by the identified task phase. Experiments are conducted using the hydraulic dual arm system to perform transporting and removing tasks. Results show that the number of error contacts, internal force applied, and mental workload is decreased without time-consumption increase. The result confirmed that the proposed framework greatly contribute to improving each operator's work performance.

DOI
Development of attachable tele-echography robot by a bystander at injury scene

Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010 1270 - 1275 2010 [Refereed]

　View Summary

This paper reports a wearable tele-echography robot that a bystander could attach to a patient at injury scene. Quick diagnosis and treatment are important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However, a shock patient has little time, and transportation to a hospital may take too long. Therefore, a system which enables FAST at injury scene by assistance of bystander is important. First, we constructed a medical treatment scenario from the victim's discovery to FAST and treatment at the injury scene. Then, we developed a remote-controlled FAST robot that a bystander could attach to a patient. This robot is attached to each roughly FAST areas of patient body by a bystander and remotely fine-tuned position by a doctor in a hospital. In this way, a bystander may not do an exact positioning. In addition, the robot has two springs to generate contact force between echo probe and patient body surface. This mechanism not only fit in patient body motion but also downsizing based on reducing the number of controlled axis. To confirm the effectiveness of the robot, we performed experiments with some examinees and doctors. We confirmed effectiveness of the mechanism and that a bystander could attach the robot to each roughly FAST areas of patient body. We also confirmed that a doctor could do FAST with the robot by remote-controlled on the roughly FAST areas in approximately three minutes. These results show that the robot would enable FAST at injury scene by assistance of bystander, and FAST would be faster than the time required transporting the patient to the hospital with the robot. This is effective in improving the survival rate for traumatic shock patients. © 2010 IEEE.

DOI
Portable and Attachable Tele-Echography Robot system: FASTele

Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 487 - 490 2010 [Refereed]

　View Summary

The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography (FAST) robot system that can be used by a paramedic easily for shock patient in ambulance or at injury scene. To develop the system, portability and usability (for paramedic) are significant issues. We developed a tele-echography robot system which has 4-DOF. The robot is attached to each roughly FAST areas of patient body (body-based set up) and remotely fine-tuned position by a specialist in a hospital. The robot can control the posture of probe by curvature rails. The mechanism that maintains passively the contact force between the probe and patient's body surface by using springs enables the robot small and lightweight. Feasibility experiments of FAST are reported.

DOI
Motion-planning Method with Active Body-Environment Contact for a Hand-Arm System including Passive Joints

Taisuke Sugaiwa, Masanori Nezumiya, Hiroyasu Iwata, Shigeki Sugano

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) paper no. TuBT2.5 69 - 74 2010 [Refereed]

　View Summary

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places as the average age of the population increases. To improve the task performance of human-symbiotic humanoid robots, a motion-planning method with active body-environment contact was developed. Taking into account the positive and negative effect of mechanical passive elements implemented in joints, this motion-planning method can enables the hand-arm system to establish the active BE contact at the appropriate body-site and to select the joints that perform the movement for executing the given task. Control algorithms for the tool operation, namely, writing with a pen, were also constructed. The motion-planning method was validated through actual experiments on a prototype human-symbiotic humanoid robot.

DOI
A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness

Taisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano

2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 288 - 293 2010 [Refereed]

　View Summary

A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology. ©2010 IEEE.

DOI
A Framework of State Identification for Operational Support based on Task-Phase and Attentional-Condition Identification

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 1267 - 1272 2010 [Refereed]

　View Summary

This paper proposes a state identification framework to support the complicated dual-arm operations in construction work. The operational support in construction machinery filed requires the compatibility with different types of support and the commonality among various operator skill levels. The proposed framework is therefore organized into two functions: real-time task phase identification and time-series attentional condition identification. The task phase is defined by utilizing the joint load applied according to the environment constraint condition. The attentional condition is defined as one of the internal work-state condition classified by the necessity level of operational support, and is dependent on the vectorial or time-series date selected by the identified task phase. Experiments are conducted using the hydraulic dual arm system to perform transporting and removing tasks. Results show that the number of error contacts, internal force applied, and mental workload is decreased without time-consumption increase. The result confirmed that the proposed framework greatly contribute to improving each operator's work performance.

DOI
Development of attachable tele-echography robot by a bystander at injury scene

Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010 1270 - 1275 2010

　View Summary

This paper reports a wearable tele-echography robot that a bystander could attach to a patient at injury scene. Quick diagnosis and treatment are important for patients who have shock by internal bleeding. Therefore, focused assessment with sonography for trauma (FAST), which is a simple and quick diagnostic method, was developed as a first lifesaving step in a hospital. However, a shock patient has little time, and transportation to a hospital may take too long. Therefore, a system which enables FAST at injury scene by assistance of bystander is important. First, we constructed a medical treatment scenario from the victim's discovery to FAST and treatment at the injury scene. Then, we developed a remote-controlled FAST robot that a bystander could attach to a patient. This robot is attached to each roughly FAST areas of patient body by a bystander and remotely fine-tuned position by a doctor in a hospital. In this way, a bystander may not do an exact positioning. In addition, the robot has two springs to generate contact force between echo probe and patient body surface. This mechanism not only fit in patient body motion but also downsizing based on reducing the number of controlled axis. To confirm the effectiveness of the robot, we performed experiments with some examinees and doctors. We confirmed effectiveness of the mechanism and that a bystander could attach the robot to each roughly FAST areas of patient body. We also confirmed that a doctor could do FAST with the robot by remote-controlled on the roughly FAST areas in approximately three minutes. These results show that the robot would enable FAST at injury scene by assistance of bystander, and FAST would be faster than the time required transporting the patient to the hospital with the robot. This is effective in improving the survival rate for traumatic shock patients. © 2010 IEEE.

DOI
Portable and attachable tele-echography robot system: FASTele

Keiichiro Ito, Shigeki Sugano, Hiroyasu Iwata

2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 487 - 490 2010

　View Summary

The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography (FAST) robot system that can be used by a paramedic easily for shock patient in ambulance or at injury scene. To develop the system, portability and usability (for paramedic) are significant issues. We developed a tele-echography robot system which has 4-DOF. The robot is attached to each roughly FAST areas of patient body (body-based set up) and remotely fine-tuned position by a specialist in a hospital. The robot can control the posture of probe by curvature rails. The mechanism that maintains passively the contact force between the probe and patient's body surface by using springs enables the robot small and lightweight. Feasibility experiments of FAST are reported. © 2010 IEEE.

DOI PubMed
Motion-planning Method with Active Body-Environment Contact for a Hand-Arm System including Passive Joints

Taisuke Sugaiwa, Masanori Nezumiya, Hiroyasu Iwata, Shigeki Sugano

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) paper no. TuBT2.5 69 - 74 2010 [Refereed]

　View Summary

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places as the average age of the population increases. To improve the task performance of human-symbiotic humanoid robots, a motion-planning method with active body-environment contact was developed. Taking into account the positive and negative effect of mechanical passive elements implemented in joints, this motion-planning method can enables the hand-arm system to establish the active BE contact at the appropriate body-site and to select the joints that perform the movement for executing the given task. Control algorithms for the tool operation, namely, writing with a pen, were also constructed. The motion-planning method was validated through actual experiments on a prototype human-symbiotic humanoid robot.

DOI
A methodology for setting grasping force for picking up an object with unknown weight, friction, and stiffness

Taisuke Sugaiwa, Genki Fujii, Hiroyasu Iwata, Shigeki Sugano

2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 288 - 293 2010

　View Summary

A methodology for setting the reference value of a grasping force when a multi-finger robotic hand grasps and lifts up an object without knowing its characteristic weight, coefficient of static friction, and stiffness was devised. The grasping force must be set to avoid dropping or deforming the object. To fulfill this requirement, the methodology measures object characteristics by detecting the moment of deformation or slipping according to the deflection of a mechanical passive element. The reference value of grasping force is set according to an upper limit to avoid crushing and a lower limit for lifting up the object calculated from the object's above-mentioned characteristics. The degree of the accuracy of object characteristic measurements was evaluated through experiments using an actual human-mimetic hand-arm system. Finally we validated that the system can pick up objects with the grasping force set by our methodology. ©2010 IEEE.

DOI
双腕作業機の知能化インタフェースに関する研究〜環境の複雑性および操作者の多様性に非依存な基底作業状態〜

亀﨑允啓, 岩田浩康, 菅野重樹

計測自動制御学会論文集 vol. 45, no. 12 ( 12 ) 646 - 653 2009.12 [Refereed]

DOI CiNii
Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2009) 653 - 659 2009.11
Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2009) 653 - 659 2009.11
Dexterous Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS’09) paper no. WelT6.2 4168 - 4173 2009.10 [Refereed]

DOI
Dexterous Hand-Arm Coordinated Manipulation using Active Body-Environment Contact

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Intelligent Robots and Systems (IROS’09) paper no. WelT6.2 4168 - 4173 2009.10 [Refereed]

DOI
Work State Identification using Primitive Static States –Implementation to Demolition Work in Double-Front Work Machines-

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of 2009 Int. Symposium on Automation and Robotics in Construction (ISARC’09) 278 - 287 2009.06
Work State Identification using Primitive Static States –Implementation to Demolition Work in Double-Front Work Machines-

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of 2009 Int. Symposium on Automation and Robotics in Construction (ISARC’09) 278 - 287 2009.06
Design of Primitive Static States for Intelligent Operated-Work Machines

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’09) 2009.05

DOI
Design of Human Symbiotic Robot TWENDY-ONE

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’09) 2009.05 [Refereed]

DOI
Operation Skill Analysis using Primitive Static States in Human-Operated Work Machine

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of The 3rd Int. Conf. on Construction Engineering and Management (ICCEM’09) 230 - 236 2009.05
Design of Primitive Static States for Intelligent Operated-Work Machines

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’09) 2009.05 [Refereed]

DOI
Design of Human Symbiotic Robot TWENDY-ONE

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’09) 2009.05 [Refereed]

DOI
Operation Skill Analysis using Primitive Static States in Human-Operated Work Machine

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of The 3rd Int. Conf. on Construction Engineering and Management (ICCEM’09) 230 - 236 2009.05
Development of Operator Support System with Primitive Static States for Intelligent Construction Machinery

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Mechatronics (ICM’09) Th1C-1 2009.04 [Refereed]

DOI
Development of Operator Support System with Primitive Static States for Intelligent Construction Machinery

M.KAMEZAKI, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Mechatronics (ICM’09) Th1C-1 2009.04 [Refereed]

DOI
Operator Support System Based on Primitive Static States in Intelligent Operated Work Machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

ADVANCED ROBOTICS 23 ( 10 ) 1281 - 1297 2009 [Refereed]

　View Summary

Intelligent functions that can autonomously identify the current work states and also provide informational or operational support to their operators are inevitably required for double-front construction machinery (DFCM), which has been developed for complicated tasks. In this study, which focuses on DFCM, we address the need for a new conceptual design of an operator support system. In particular, a state identification method strongly requires high reliability and robustness to address the complexity of the construction work environment and the variety of the operator's skill level. We, therefore, define primitive static states (PSS) that are determined using on-off information for the]ever inputs and manipulator loads for each part of the grapple and front. We develop an intelligent system that provides a reduction of operational gain to make precise work easier and an indication of an enlarged image of the end-effector from a different viewpoint to assist depth perception based on PSS identification, and evaluate it using our newly developed simulator. Our experimental results show that the operator support system improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators and the number of error operations. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009

DOI CiNii
Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins

Hiroyasu Iwata, Shigeki Sugano

2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration 129 - 134 2009

　View Summary

Installation of passive elements on the skin (whole-part covered soft skin) and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of object handling and manipulation and adaptability to external forces. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented. In addition, we present a design method of tactile sensors for highly dexterous robotic hand, whish are necessary for recognition of volume and softness of objects grasped as well as improvement of handling and manipulation more stably. Evaluation experiments focusing on kitchen supports using TWENDY-ONE hands indicate that this new robot has high dexterity due to the hand and will be extremely useful to enhance the quality of life for the elderly in the near future where human and robot co-exist. ©2009 IEEE.

DOI
A motion control for dexterous manipulation with human mimetic hand-arm system

Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 653 - 659 2009

　View Summary

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot. ©2009 IEEE.

DOI
Operator support system based on primitive static states in intelligent operated work machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Advanced Robotics 23 ( 10 ) 1281 - 1297 2009

　View Summary

Intelligent functions that can autonomously identify the current work states and also provide informational or operational support to their operators are inevitably required for double-front construction machinery (DFCM), which has been developed for complicated tasks. In this study, which focuses on DFCM, we address the need for a new conceptual design of an operator support system. In particular, a state identification method strongly requires high reliability and robustness to address the complexity of the construction work environment and the variety of the operator's skill level. We, therefore, define primitive static states (PSS) that are determined using on–off information for the lever inputs and manipulator loads for each part of the grapple and front. We develop an intelligent system that provides a reduction of operational gain to make precise work easier and an indication of an enlarged image of the end-effector from a different viewpoint to assist depth perception based on PSS identification, and evaluate it using our newly developed simulator. Our experimental results show that the operator support system improves the work performance, including decreasing the operational time for completing a task, reducing the mental workload on the operators and the number of error operations. © 2009 Taylor &amp
Francis Group, LLC.

DOI CiNii
Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins

Hiroyasu Iwata, Shigeki Sugano

2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration 129 - 134 2009 [Refereed]

　View Summary

Installation of passive elements on the skin (whole-part covered soft skin) and inside joints of the robotic hand becomes a key-technology to remarkably enhance the stability of object handling and manipulation and adaptability to external forces. Based on this idea, in this paper a sophisticated mechanism design of TWENDY-ONE hands with mechanical springs in DIP and MP joints and whole-part covered soft skins is presented. In addition, we present a design method of tactile sensors for highly dexterous robotic hand, whish are necessary for recognition of volume and softness of objects grasped as well as improvement of handling and manipulation more stably. Evaluation experiments focusing on kitchen supports using TWENDY-ONE hands indicate that this new robot has high dexterity due to the hand and will be extremely useful to enhance the quality of life for the elderly in the near future where human and robot co-exist. ©2009 IEEE.

DOI
A motion control for dexterous manipulation with human mimetic hand-arm system

Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 653 - 659 2009 [Refereed]

　View Summary

Human-symbiotic humanoid robots that can perform tasks dexterously using their hands are needed in our homes, welfare facilities, and other places. To improve their task performance, we propose a motion control scheme aimed at appropriately coordinated hand and arm motions. By observing human manual tasks, we identified active body-environment contact as a kind of human manual skill and devised a motion control scheme based on it. We also analyzed the effectiveness of active body-environment contact in glass-placing and drawer-opening tasks. We validated our motion control scheme through actual tests on a prototype human-symbiotic humanoid robot. ©2009 IEEE.

DOI
Shock Absorbing Skin Design for Human Symbiotic Robot at the Worst Case Collision

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2008) ( WP1-28 ) 2008.12 [Refereed]

DOI
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery (Training Effect for a House Demolition Work)

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.20, no.4 602 - 609 2008.12 [Refereed]
Shock Absorbing Skin Design for Human Symbiotic Robot at the Worst Case Collision

T.SUGAIWA, H.IWATA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2008) ( WP1-28 ) 2008.12 [Refereed]

DOI
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery (Training Effect for a House Demolition Work)

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.20, no.4 ( 4 ) 602 - 609 2008.12

DOI
Development of an Operation Skill-Training Simulator for Double-Front Work Machine –Training Effect for House Demolition Work-

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.20 ( no.4 ) 602 - 609 2008.09
Development of an Operation Skill-Training Simulator for Double-Front Work Machine –Training Effect for House Demolition Work-

M.KAMEZAKI, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.20 ( no.4 ) 602 - 609 2008.09
Whole-body Coordinated Control for Task Execution and Human Following

H.IWATA, S.SUGANO

Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY’08) 209 - 216 2008.08
Whole-body Coordinated Control for Task Execution and Human Following

H.IWATA, S.SUGANO

Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY’08) 209 - 216 2008.08
Development of an Operation Skill-Training Simulator for Double-Front Work Machine

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 170 - 175 2008 [Refereed]

　View Summary

This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling for recycling and reusing resources, rescue and recovery work in disaster areas, and building construction. In addition, we developed an operation skill-training simulator that enables novice operators to repeatedly train with the high level of operation skills needed to easily and safely handle the DFCM in even more complicated works. This simulator system has two joysticks (set in front of a monitor) to dependently control the two fronts of the animated DFCM on the monitor. Several modes involving basic construction tasks are provided and the effects of improvement in operability achieved by the training simulator can be verified. Evaluation experiments indicated that repeated training using the simulator successfully decreased the operation time to complete a task and enhanced positioning accuracy in cooperative transportation with the two fronts. The results confirm the effectiveness of the developed simulator.

DOI
New Visco-Elastic Mechanism Design for Flexible Joint Manipulator

Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 235 - 240 2008 [Refereed]

　View Summary

We describe a space-efficient visco-elastic mechanism design for a small lightweight flexible joint of a human-symbiotic robot arm. Human-symbiotic robots that can provide daily life support will be required in houses, offices, facilities, and other places. Since they will often make physical contact with humans, their arms should have mechanical flexible joints to absorb the contact force and follow the human's motion. Our design has two coaxial rotary elements: a torsion bar made from GUMMETAL and a rotary disk damper with the output hole at its center. These two elements are combined in parallel and coaxially, making our design highly space-efficient. This paper presents the specifications of the shear elastic characteristics of GUMMETAL measured in experiments using 1DOF (degree-of-freedom) test equipment. The results confirm that its shear elastic modulus is linear and has a small elastic hysteresis loop and our mechanism can provide the advantage for the robot servo control. Compared with the conventional design, our design can make a smaller lighter flexible joint.

DOI
Development of an Operation Skill-Training Simulator for Double-Front Work Machine

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 170 - 175 2008 [Refereed]

　View Summary

This paper reports a newly developed simulator for operation skill training in Double-Front Construction Machinery (DFCM) that allows novices to virtually experience tough operations repeatedly using DFCM under various conditions, including dangerous congestion. First, we selected several situations targeted where the DFCM needs to be used to provide a high level of operation skills: sorted dismantling for recycling and reusing resources, rescue and recovery work in disaster areas, and building construction. In addition, we developed an operation skill-training simulator that enables novice operators to repeatedly train with the high level of operation skills needed to easily and safely handle the DFCM in even more complicated works. This simulator system has two joysticks (set in front of a monitor) to dependently control the two fronts of the animated DFCM on the monitor. Several modes involving basic construction tasks are provided and the effects of improvement in operability achieved by the training simulator can be verified. Evaluation experiments indicated that repeated training using the simulator successfully decreased the operation time to complete a task and enhanced positioning accuracy in cooperative transportation with the two fronts. The results confirm the effectiveness of the developed simulator.

DOI
New Visco-Elastic Mechanism Design for Flexible Joint Manipulator

Taisuke Sugaiwa, Hiroyasu Iwata, Shigeki Sugano

2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 235 - 240 2008 [Refereed]

　View Summary

We describe a space-efficient visco-elastic mechanism design for a small lightweight flexible joint of a human-symbiotic robot arm. Human-symbiotic robots that can provide daily life support will be required in houses, offices, facilities, and other places. Since they will often make physical contact with humans, their arms should have mechanical flexible joints to absorb the contact force and follow the human's motion. Our design has two coaxial rotary elements: a torsion bar made from GUMMETAL and a rotary disk damper with the output hole at its center. These two elements are combined in parallel and coaxially, making our design highly space-efficient. This paper presents the specifications of the shear elastic characteristics of GUMMETAL measured in experiments using 1DOF (degree-of-freedom) test equipment. The results confirm that its shear elastic modulus is linear and has a small elastic hysteresis loop and our mechanism can provide the advantage for the robot servo control. Compared with the conventional design, our design can make a smaller lighter flexible joint.

DOI
屈曲型広圧排面リトラクタの開発と評価

岩田浩康, 遠藤嘉将, 菅野重樹

日本コンピュータ外科学会誌特集号 vol.9, no.3 316 - 317 2007.12
Development of –Patient Robot-; Training Robot based on Quantitative Analysis of Surgical Technique

Y.K.PARK, Y.MITA, E.OKI, H.IWATA, A.TAKANISHI, M.UMEZU, Y.SHIRAISHI, H.TAKEMURA

Proc. of IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRobo 2006) 318 - 322 2006.02 [Refereed]

DOI
Development of –Patient Robot-; Training Robot based on Quantitative Analysis of Surgical Technique

Y.K.PARK, Y.MITA, E.OKI, H.IWATA, A.TAKANISHI, M.UMEZU, Y.SHIRAISHI, H.TAKEMURA

Proc. of IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRobo 2006) 318 - 322 2006.02 [Refereed]

DOI
Human-robot-contact-state identification based on tactile recognition

H Iwata, S Sugano

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 52 ( 6 ) 1468 - 1477 2005.12 [Refereed]

　View Summary

In this paper, we propose a method for designing an identification system for human-robot contact states based on tactile recognition. The following ideas are incorporated: experimentation for human-robot contact, verbalization of contact states, extraction of characteristic parameters from acquired tactile information, quantification of the recipient's tactile recognition incorporating its redundancy (identification confusability among contact states), evaluation of the identification confusability with a new criterion, and identification of contact states based on the received tactile stimulation.
The proposed method allows a robot to quantify tactile recognition of a human (recipient) touched by other people (touch initiator), in which the verbal response by the recipient is matched with tactile stimulation acquired during physical contact utilizing a tactile interface. In addition, the method enables a robot that comes into contact with a human to identify contact states nearly similar to that of the recipient, based on the features of the received tactile stimulation. At this point, the reproduction of the identification confusability of the recipient's tactile recognition is also accomplished by using a neural network called modified counterpropagation (MCP). Once a tactile stimulation is induced on the robot body, the probability of corresponding contact states is calculated and outputted by the system, based on the degree of similarity of the characteristics between the newly received and previously stored tactile stimulation. Experimental results indicate that the constructed system allows a successful quantification, of the recipient's contact-state recognition incorporating the identification confusability and the accomplishment of a high level of accuracy in contact-state identification. These results confirm that the proposed method ' is useful for identifying human-robot contact states based on tactile recognition.

DOI CiNii
Human-robot-contact-state identification based on tactile recognition

H Iwata, S Sugano

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 52 ( 6 ) 1468 - 1477 2005.12 [Refereed]

　View Summary

In this paper, we propose a method for designing an identification system for human-robot contact states based on tactile recognition. The following ideas are incorporated: experimentation for human-robot contact, verbalization of contact states, extraction of characteristic parameters from acquired tactile information, quantification of the recipient's tactile recognition incorporating its redundancy (identification confusability among contact states), evaluation of the identification confusability with a new criterion, and identification of contact states based on the received tactile stimulation.
The proposed method allows a robot to quantify tactile recognition of a human (recipient) touched by other people (touch initiator), in which the verbal response by the recipient is matched with tactile stimulation acquired during physical contact utilizing a tactile interface. In addition, the method enables a robot that comes into contact with a human to identify contact states nearly similar to that of the recipient, based on the features of the received tactile stimulation. At this point, the reproduction of the identification confusability of the recipient's tactile recognition is also accomplished by using a neural network called modified counterpropagation (MCP). Once a tactile stimulation is induced on the robot body, the probability of corresponding contact states is calculated and outputted by the system, based on the degree of similarity of the characteristics between the newly received and previously stored tactile stimulation. Experimental results indicate that the constructed system allows a successful quantification, of the recipient's contact-state recognition incorporating the identification confusability and the accomplishment of a high level of accuracy in contact-state identification. These results confirm that the proposed method ' is useful for identifying human-robot contact states based on tactile recognition.

DOI CiNii
Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

H Iwata, S Kobashi, T Aono, S Sugano

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1941 - 1946 2005 [Refereed]

　View Summary

In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement, during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.

DOI
Design of anthropomorphic 4-DOF tactile interaction manipulator with passive joints

H Iwata, S Kobashi, T Aono, S Sugano

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1941 - 1946 2005 [Refereed]

　View Summary

In this paper, we describe the design method of an anthropomorphic 4-DOF tactile interaction manipulator with mechanically passive joints giving robots to accomplish high performance force-following and tactile-based contact state recognition despite physical interference and contact with humans occurring at links and at joints. The shape and appearance of this manipulator was based on statistical data on the Japanese male physique to allow for human-like contact interaction recognition. Joint are passively compliant, consisting of a mechanical leaf spring and rotary damper giving the manipulator high passivity. Cylindrical or spherical surfaces of the body including the elbow and wrist are overlaid with distributed tactile sensors acquiring accurate contact information. Evaluation experiments indicate that the manipulator provides high performance of force-following and tactile stimulation measurement, during physical interference and contact with humans and confirmed its effectiveness in improving human/robot symbiosis.

DOI
Human Robot Interference Adapting Control Coordinating Human Following and Task Execution

H.IWATA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’04) 2879 - 2885 2004.10
Human Robot Interference Adapting Control Coordinating Human Following and Task Execution

H.IWATA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’04) 2879 - 2885 2004.10
作業性と人間追従性を両立する動作制御手法

岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

日本ロボット学会誌 vol.21,no.1 ( 1 ) 118 - 125 2003.01 [Refereed]

　View Summary

This paper proposes a flexible adapting system for human symbiotic robots that stably performs given tasks as preplanned even if physical contacts and interferences with humans occur during movement. In order to accomplish tasks stably while compliantly adapting to human motion keeping contacts, task constraints state transition and four types of motion phases (Preset motion, Human following motion, Task continuing motion, Posture recovering motion) which are switched according to contact situations are incorporated in this system. As a result of evaluation experiments, it was confirmed that the proposed system is effective for human-robot coordination to realize both high task performance and adaptability to humans.

DOI CiNii
Quantification of human-robot physical contact states based on tactile sensing

H Iwata, K Tomita, S Sugano

PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 610 - 615 2003 [Refereed]

　View Summary

In this paper, we propose a method for quantfying human-robot physical contact states based on tactile sensory data as a first step to realize real-tune contact state identification systems Artificial tactile cognition for robots constructed by this metW which performance, is herein nears, copies human's tactile cognition per presented First, we have made robots learn the relationship between characteristics of tactile stimuli sensed and expressions to the stimuli verbalized by a human (receiver) when he/she is touched by other people As a result of learning by a neural network called MCP (Modified Counter Propagation), Self ftanxing Maps that contain the quantitative relationship are formed Next, in order to quantify the performance of receiver's tactile cognition, confusion matrix that numerically explains confision probability among contact states is proposed Connection weights in the neural network are applied to calculate it matrix enables robots that come into contact with a human to recognize and infer the aspect of contact states almost the saw as the receiver represents, based on only tactile sensing Finally, from experiments, we confirmed that the proposed method is useful for quantifying human-robot contact states.

DOI
A system design for tactile recognition of human-robot contact state

H Iwata, S Sugano

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 7 - 12 2003 [Refereed]

　View Summary

In this paper, we propose a method for designing an identification system of human-robot contact states based on tactile recognition. First, a method of quantifying tactile cognition of a human (receiver) touched by other people (toucher) using a neural network called MCP (Modified CounterPropagation) is presented, which matches the verbal response by the receiver with tactile stimulation detected during physical interference and contact utilizing tactile interface. It is incorporated that the probablitity of corresponding contact state is determined, based on the degree of similarity of the characteristics between new input data and reference data patterns stored in advance. Referring to the SOM (Self-Organizing Maps) formed through learning, which contains the relationship between contact states and tactile stimulation detected, a robot that comes into contact with a human can recognize and infer contact states from tactile stimulation like the receiver. Next, in order to accomplish high-performance of contact state identification by improving the learning performance, an evaluation criterion to quantify the discriminatability of contact states is proposed. Finally, the experimental results confirm that the proposed method is useful for identifying contact states, based on only tactile sensing, as represented by the receiver.
Quantification of human-robot physical contact states based on tactile sensing

H Iwata, K Tomita, S Sugano

PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2 610 - 615 2003 [Refereed]

　View Summary

In this paper, we propose a method for quantfying human-robot physical contact states based on tactile sensory data as a first step to realize real-tune contact state identification systems Artificial tactile cognition for robots constructed by this metW which performance, is herein nears, copies human's tactile cognition per presented First, we have made robots learn the relationship between characteristics of tactile stimuli sensed and expressions to the stimuli verbalized by a human (receiver) when he/she is touched by other people As a result of learning by a neural network called MCP (Modified Counter Propagation), Self ftanxing Maps that contain the quantitative relationship are formed Next, in order to quantify the performance of receiver's tactile cognition, confusion matrix that numerically explains confision probability among contact states is proposed Connection weights in the neural network are applied to calculate it matrix enables robots that come into contact with a human to recognize and infer the aspect of contact states almost the saw as the receiver represents, based on only tactile sensing Finally, from experiments, we confirmed that the proposed method is useful for quantifying human-robot contact states.

DOI
A system design for tactile recognition of human-robot contact state

H Iwata, S Sugano

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 7 - 12 2003 [Refereed]

　View Summary

In this paper, we propose a method for designing an identification system of human-robot contact states based on tactile recognition. First, a method of quantifying tactile cognition of a human (receiver) touched by other people (toucher) using a neural network called MCP (Modified CounterPropagation) is presented, which matches the verbal response by the receiver with tactile stimulation detected during physical interference and contact utilizing tactile interface. It is incorporated that the probablitity of corresponding contact state is determined, based on the degree of similarity of the characteristics between new input data and reference data patterns stored in advance. Referring to the SOM (Self-Organizing Maps) formed through learning, which contains the relationship between contact states and tactile stimulation detected, a robot that comes into contact with a human can recognize and infer contact states from tactile stimulation like the receiver. Next, in order to accomplish high-performance of contact state identification by improving the learning performance, an evaluation criterion to quantify the discriminatability of contact states is proposed. Finally, the experimental results confirm that the proposed method is useful for identifying contact states, based on only tactile sensing, as represented by the receiver.
Human Symbiotic Humanoid Robot with Whole-body Compliance

H.IWATA, T.MORITA, S.SUGANO

Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY’02) 537 - 548 2002.07 [Refereed]
人間共存ロボットのための全身触覚インタフェース

岩田浩康, 星野勇人, 森田寿郎, 菅野重樹

日本ロボット学会誌 vol.20,no.5 ( 5 ) 543 - 549 2002.07 [Refereed]

　View Summary

In this paper, we propose a whole-body haptic interface for human symbiotic robots. First, tactile and force information are specified to accurately detect physical interferences with humans, on the entire surface of human symbiotic robots. Next, a design method of whole-body surface cover sensors which enables robots to detect accurate force vectors applied on various surfaces of the body is described. The basic structure of the cover sensor utilizes a force-torque sensor and is surrounded with several touch sensors. The cover structure was implemented on a humanoid robot, WENDY. Finally, experiments were carried out to verify the effectiveness of the proposed method as human-robot haptic interface. The results show high capabilities of locus tracking on the surface and arm motion-processing based on the detected tactile and force information, and indicate that the proposed design method for realizing whole-body haptic interface is capable of enhancing human-robot symbiosis.

DOI CiNii
Human Symbiotic Humanoid Robot with Whole-body Compliance

H.IWATA, T.MORITA, S.SUGANO

Proc. of CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (ROMANSY’02) 537 - 548 2002.07 [Refereed]
Humanoid robots in Waseda University - Hadaly-2 and WABIAN

S Hashimoto, S Narita, H Kasahara, K Shirai, T Kobayashi, A Takanishi, S Sugano, J Yamaguchi, H Sawada, H Takanobu, K Shibuya, T Morita, T Kurata, N Onoe, K Ouchi, T Noguchi, Y Niwa, S Nagayama, H Tabayashi, Matsui, I, M Obata, H Matsuzaki, A Murasugi, T Kobayashi, S Haruyama, T Okada, Y Hidaki, Y Taguchi, K Hoashi, E Morikawa, Y Iwano, D Araki, J Suzuki, M Yokoyama, Dawa, I, D Nishino, S Inoue, T Hirano, E Soga, S Gen, T Yanada, K Kato, S Sakamoto, Y Ishii, S Matsuo, Y Yamamoto, K Sato, T Hagiwara, T Ueda, N Honda, K Hashimoto, T Hanamoto, S Kayaba, T Kojima, H Iwata, H Kubodera, R Matsuki, T Nakajima, K Nitto, D Yamamoto, Y Kamizaki, S Nagaike, Y Kunitake, S Morita

AUTONOMOUS ROBOTS 12 ( 1 ) 25 - 38 2002.01 [Refereed]

　View Summary

This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and carrying things as with humans. Furthermore, it has functions for information interactions suite for uses at home.

DOI
Whole-body covering tactile interface for human robot coordination

H Iwata, S Sugano

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS vol.3 3818 - 3824 2002 [Refereed]

　View Summary

In this paper, we propose a design method of whole-body tactile interface for elevating human-robot coordination. The proposed surface cover sensor as the tactile interface enables robots to detect accurate 3-D force vector applied on various parts of the body during physical interaction with humans.
First, after analysis of a variety of contact situations between humans and robots, tactile and force information needed are specified, and the specifications are decided based on knowledge of human engineering. Next, a design method of a cover sensor that can detect accurate force vector and contact position is described. The cover sensor utilizes a force-torque sensor and is surrounded with several touch sensors. The mechanism was implemented on a humanoid robot, WENDY. Finally, evaluation experiments of locus tracking on the surface and force-following to humans were carried out. The experimental results demonstrate the high capabilities of the proposed cover sensor as human-robot interface, and indicate that the proposed design method of whole-body tactile interface is capable of enhancing human-robot coordination.
Humanoid robots in Waseda University - Hadaly-2 and WABIAN

S Hashimoto, S Narita, H Kasahara, K Shirai, T Kobayashi, A Takanishi, S Sugano, J Yamaguchi, H Sawada, H Takanobu, K Shibuya, T Morita, T Kurata, N Onoe, K Ouchi, T Noguchi, Y Niwa, S Nagayama, H Tabayashi, Matsui, I, M Obata, H Matsuzaki, A Murasugi, T Kobayashi, S Haruyama, T Okada, Y Hidaki, Y Taguchi, K Hoashi, E Morikawa, Y Iwano, D Araki, J Suzuki, M Yokoyama, Dawa, I, D Nishino, S Inoue, T Hirano, E Soga, S Gen, T Yanada, K Kato, S Sakamoto, Y Ishii, S Matsuo, Y Yamamoto, K Sato, T Hagiwara, T Ueda, N Honda, K Hashimoto, T Hanamoto, S Kayaba, T Kojima, H Iwata, H Kubodera, R Matsuki, T Nakajima, K Nitto, D Yamamoto, Y Kamizaki, S Nagaike, Y Kunitake, S Morita

AUTONOMOUS ROBOTS 12 ( 1 ) 25 - 38 2002.01 [Refereed]

　View Summary

This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and carrying things as with humans. Furthermore, it has functions for information interactions suite for uses at home.

DOI
Whole-body covering tactile interface for human robot coordination

H Iwata, S Sugano

2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS vol.3 3818 - 3824 2002 [Refereed]

　View Summary

In this paper, we propose a design method of whole-body tactile interface for elevating human-robot coordination. The proposed surface cover sensor as the tactile interface enables robots to detect accurate 3-D force vector applied on various parts of the body during physical interaction with humans.
First, after analysis of a variety of contact situations between humans and robots, tactile and force information needed are specified, and the specifications are decided based on knowledge of human engineering. Next, a design method of a cover sensor that can detect accurate force vector and contact position is described. The cover sensor utilizes a force-torque sensor and is surrounded with several touch sensors. The mechanism was implemented on a humanoid robot, WENDY. Finally, evaluation experiments of locus tracking on the surface and force-following to humans were carried out. The experimental results demonstrate the high capabilities of the proposed cover sensor as human-robot interface, and indicate that the proposed design method of whole-body tactile interface is capable of enhancing human-robot coordination.
Force detectable surface covers for humanoid robots

H Iwata, H Hoshino, T Morita, S Sugano

2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II 1205 - 1210 2001 [Refereed]

　View Summary

In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application experiment, where some humans actually occur physical interference with an actual humanoid robot overlaid with the covers, it was confirmed that the capability of the covers' sensing even several contacts on several parts of robots' body is effective for realizing high level human-robot symbiosis.
Force detectable surface covers for humanoid robots

H Iwata, H Hoshino, T Morita, S Sugano

2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II 1205 - 1210 2001 [Refereed]

　View Summary

In this paper, we herein describe force detectable surface covers for humanoid robots to realize naturally physical interaction with humans. The covers can detect various tactile and force information, such as accurate external force vector and contact positions, from a widely range of the robot body surface. First a basic surface cover structure composed of a force-torque sensor and several touch sensors is proposed. Next, we present a design method to implement such a cover structure onto dual arms of an actual humanoid robot. Finally, from basic experiments for verifying the characteristics of the proposed force-detectable surface cover systems, it was confirmed that high measurement accuracy of a contact position and force vector is accomplished. In addition, from an application experiment, where some humans actually occur physical interference with an actual humanoid robot overlaid with the covers, it was confirmed that the capability of the covers' sensing even several contacts on several parts of robots' body is effective for realizing high level human-robot symbiosis.
Development of a Whole-Sensitive Robot Arm Cover

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Control, Automation, Robotics and Vision (ICARCV’00) ( paper no.376 ) 2000.12
Development of a Whole-Sensitive Robot Arm Cover

H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Control, Automation, Robotics and Vision (ICARCV’00) ( paper no.376 ) 2000.12
Design Strategies of Human Symbiotic Robot WENDY

T.MORITA, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.12, no.3 224 - 230 2000.09
Human Robot Physical Interaction Utilizing Force Detectable Tactile Covers

H.IWATA, T.MORITA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2000) ( paper no.87 ) 2000.09
Design Strategies of Human Symbiotic Robot WENDY

T.MORITA, H.IWATA, S.SUGANO

Journal of Robotics and Mechatronics vol.12, no.3 224 - 230 2000.09 [Refereed]
Human Robot Physical Interaction Utilizing Force Detectable Tactile Covers

H.IWATA, T.MORITA, S.SUGANO

Proc. of IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids2000) ( paper no.87 ) 2000.09
Human Symbiotic Robot Design based on Division and Unification of Functional Requirements

T.MORITA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’00) vol.2 2229 - 2234 2000.04
Human Symbiotic Robot Design based on Division and Unification of Functional Requirements

T.MORITA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA’00) vol.2 2229 - 2234 2000.04

CiNii
Human-humanoid physical interaction realizing force following and task fulfillment

H Iwata, H Hoshino, T Morita, S Sugano

2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS vol.1 522 - 527 2000 [Refereed]

　View Summary

In this paper. Ire herein describe the control methods used for a humanoid's compliant behavior following human force and motions while fulfilling given tasks under various constraint conditions during physical Interference (PIF) with a human. PIF is a form of physical interaction viewed from the robots point of view.
in cases of PIF occurrence, PIF Adapting Behaviors for attenuating physical influences caused by PIF on both a human body and a robots' task are required First a base control method for compliantly following PIF by coordinating multiple joints of the arms and trunk is presented By utilizing this method PIF force produced on several areas of the robot's entire body is efficiently reduced Next, the control methods for fulfilling git en tasks, as well as following PIF at the same time, are proposed rn these methods, the idea is incorporated that if the utilization of redundancy is needed for task fulfillment or constraint conditions and attributes of the given task are changed, the role of each joint needs to change as well. Adapting to the diversity of task attributes and also the necessity of utilizing redundancy, the proposed control methods enable the robots to realize both force following and task fulfillment at the same time. Finally from the evaluation of the experiments, it vas confirmed that the proposed methods realize a humanoid's capability of compliantly adapting to human motions while fulfilling tasks by efficiently utilizing redundancy.
Human-humanoid physical interaction realizing force following and task fulfillment

H Iwata, H Hoshino, T Morita, S Sugano

2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS vol.1 522 - 527 2000 [Refereed]

　View Summary

In this paper. Ire herein describe the control methods used for a humanoid's compliant behavior following human force and motions while fulfilling given tasks under various constraint conditions during physical Interference (PIF) with a human. PIF is a form of physical interaction viewed from the robots point of view.
in cases of PIF occurrence, PIF Adapting Behaviors for attenuating physical influences caused by PIF on both a human body and a robots' task are required First a base control method for compliantly following PIF by coordinating multiple joints of the arms and trunk is presented By utilizing this method PIF force produced on several areas of the robot's entire body is efficiently reduced Next, the control methods for fulfilling git en tasks, as well as following PIF at the same time, are proposed rn these methods, the idea is incorporated that if the utilization of redundancy is needed for task fulfillment or constraint conditions and attributes of the given task are changed, the role of each joint needs to change as well. Adapting to the diversity of task attributes and also the necessity of utilizing redundancy, the proposed control methods enable the robots to realize both force following and task fulfillment at the same time. Finally from the evaluation of the experiments, it vas confirmed that the proposed methods realize a humanoid's capability of compliantly adapting to human motions while fulfilling tasks by efficiently utilizing redundancy.
Total Design of Body Mechanism for Realizing Human-Robot Symbiosis

T.MORITA, H.IWATA, S.SUGANO

Proc. of Int. Symp. on Humanoid Robots (HURO’99) 181 - 186 1999.10 [Refereed]
A Physical Interference Adapting Hardware System Using MIA Arm and Surface Covers

H.IWATA, H.HOSHINO, T.MORITA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’99) vol.2 1216 - 1221 1999.10
Total Design of Body Mechanism for Realizing Human-Robot Symbiosis

T.MORITA, H.IWATA, S.SUGANO

Proc. of Int. Symp. on Humanoid Robots (HURO’99) 181 - 186 1999.10
A Physical Interference Adapting Hardware System Using MIA Arm and Surface Covers

H.IWATA, H.HOSHINO, T.MORITA, S.SUGANO

Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’99) vol.2 1216 - 1221 1999.10
Robot Arm Surface Covers for Physical Interference Adapting Motion

H.IWATA, H.HOSHINO, Y.ADACHI, S.SUGANO

Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM’99) 671 - 676 1999.09

CiNii
Robot Arm Surface Covers for Physical Interference Adapting Motion

H.IWATA, H.HOSHINO, Y.ADACHI, S.SUGANO

Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM’99) 671 - 676 1999.09
A Mechanism Design and Control Strategy of Human Symbiotic Robot

T.MORITA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Recent Advances in Mechatronics (ICRAM'99) 94 - 99 1999.05
A Mechanism Design and Control Strategy of Human Symbiotic Robot

T.MORITA, H.IWATA, S.SUGANO

Proc. of IEEE Int. Conf. on Recent Advances in Mechatronics (ICRAM'99) 94 - 99 1999.05 [Refereed]
Development of human symbiotic robot: WENDY

T Morita, H Iwata, S Sugano

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS vol.3 3183 - 3188 1999 [Refereed]

　View Summary

An objective of this study is to find out design requirements for developing human symbiotic robots, which share working space with human, and have the ability of carrying out physical, informational, and psychological interaction. This paper mainly describes design strategies of the human symbiotic robots, through the development of a test model of the robots, WENDY (Waseda ENgineering Designed sYmbiont).
In order to develop WENDY, mobility and dexterity of a humanoid robot Hadaly-2, which was developed in 1997, are improved on. The performances of WENDY are evaluated by experiments of object transport and egg breaking, which requires high revel integration of whole body system.
Development of human symbiotic robot: WENDY

T Morita, H Iwata, S Sugano

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS vol.3 3183 - 3188 1999 [Refereed]

　View Summary

An objective of this study is to find out design requirements for developing human symbiotic robots, which share working space with human, and have the ability of carrying out physical, informational, and psychological interaction. This paper mainly describes design strategies of the human symbiotic robots, through the development of a test model of the robots, WENDY (Waseda ENgineering Designed sYmbiont).
In order to develop WENDY, mobility and dexterity of a humanoid robot Hadaly-2, which was developed in 1997, are improved on. The performances of WENDY are evaluated by experiments of object transport and egg breaking, which requires high revel integration of whole body system.
Design of Humanoid Surface Sensor for Tactile Interference with Human

H.IWATA, S.KAYABA, T.MORITA, S.SUGANO

Proc. of IEEE 7th Int. Workshop on Robot and Human Communication (Roman’98) vol.2 549 - 554 1998.09 [Refereed]

CiNii
Design of Humanoid Surface Sensor for Tactile Interference with Human

H.IWATA, S.KAYABA, T.MORITA, S.SUGANO

Proc. of IEEE 7th Int. Workshop on Robot and Human Communication (Roman’98) vol.2 549 - 554 1998.09

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Other

2008年7月，サマ...

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2008年7月，サマーサイエンスキャンプ2008，講師，ロボット・アナトミー〜ロボットの身体・脳を五感で感じる〜，日本科学技術振興財団
2008年4月，中学生による職業インタビュー，ロボットと介護，盛岡市立上田中学校
2008年3月，スプリングサイエンスキャンプ2008，オーガナイザ＆講師，ロボット・アナトミー〜ロボットの身体・脳を五感で感じる〜，日本科学技術振興財団
2007年12月，中学生による職業インタビュー，先端技術と医療，大分大学教育福祉科学部付属中学校
2007年11月，システムコントロールフェア2007，ブース出展，片麻痺患者のための触覚バイオフィードバックに基づく歩行リハビリ支援システム，日本電機工業会・日本電気制御機器工業会
2007年8月，『21COEロボティクス・ブートキャンプ』，2テーマ(外科訓練装置，知覚支援リハビリ装置)でブース出展，早稲田大学21世紀COEプログラム『超高齢社会における人とロボット技術の共生』
2007年6月，第13回神奈川大腸肛門手術セミナー，ブース出展「剥離手技訓練装置」，神奈川大腸肛門手術研究会
2007年3月，スプリングサイエンスキャンプ2007，講師，ロボット・アナトミー〜ロボットの身体・脳を五感で感じる〜，日本科学技術振興財団
2007年3月，第8回神奈川大腸疾患腹腔鏡下手術セミナー，ブース出展「剥離手技訓練装置」，神奈川大腸疾患研究会
2007年1月，第3回ASMeW公開シンポジウム，講演，早稲田大学先端科学・健康医療融合研究機構
2006年12月，「関東・関西１０私大産学連携フォーラム」，ブース出展，「医療用リトラクタ及び棒状具」に係る特許技術，関東・関西10私大
2006年9月，イノベーションジャパン2006，ブース出展および新技術説明会にて講演，脳麻痺患者のためのウェアラブル歩行リハビリ支援装置
2005月12月，日本ロボット学会ロボット工学セミナー，オーガナイザー・司会，『未来医療を切り拓くＲＴ〜基礎から臨床最前線〜』，日本ロボット学会
2005年7月，第4回ASP（ASMeW Science Program)，講師，安全で巧みな人間支援ロボット，早稲田大学先端科学・健康医療融合研究機構
2005月3月，日本ロボット学会ロボット工学セミナー，司会，『ヒューマノイド・インタラクション・テクノロジー』，日本ロボット学会

Syllabus

Exercise for Co-Creation workshop

School of Creative Science and Engineering

2023 spring quarter
Mechatronics Laboratory Fund. [S Grade]

School of Creative Science and Engineering

2023 spring semester
Mechatronics Laboratory Fund.

School of Creative Science and Engineering

2023 spring semester
Engineering Mechanics [S Grade]

School of Creative Science and Engineering

2023 spring semester
Engineering Mechanics

School of Creative Science and Engineering

2023 spring semester
SHIP Collaborative Workshop

School of Creative Science and Engineering

2023 fall quarter
SHIP Collaborative Workshop [S Grade]

School of Creative Science and Engineering

2023 fall quarter
Basic Experiments in Science and Engineering 2A Sougoukikai

School of Creative Science and Engineering

2023 spring semester
Control Engineering

School of Creative Science and Engineering

2023 spring semester
Engineering Practice B

School of Creative Science and Engineering

2023 fall semester
Engineering Practice A

School of Creative Science and Engineering

2023 spring semester
Seminar B

School of Creative Science and Engineering

2023 fall semester
Mechatronics Laboratory A

School of Creative Science and Engineering

2023 spring semester
Seminar A

School of Creative Science and Engineering

2023 spring semester
Engineering Practice C

School of Creative Science and Engineering

2023 spring semester
Seminar C

School of Creative Science and Engineering

2023 spring semester
Mechatronics Laboratory B

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis B [S Grade]

School of Creative Science and Engineering

2023 spring semester
Fundamentals of Robotics A

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis A

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis B

School of Creative Science and Engineering

2023 spring semester
Graduation Thesis B

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis A [S Grade]

School of Creative Science and Engineering

2023 fall semester
Bioengineering

School of Creative Science and Engineering

2023 fall semester
Mechatronics Laboratory Adv.

School of Creative Science and Engineering

2023 fall semester
Mechanical Drawing and Design Fund. [S Grade]

School of Creative Science and Engineering

2023 fall semester
Mechanical Drawing and Design Fund.

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis [S Grade]

School of Creative Science and Engineering

2023 full year
Graduation Thesis

School of Creative Science and Engineering

2023 full year
Mechanical Drawing and Design Adv. [S Grade]

School of Creative Science and Engineering

2023 spring semester
Engineering Practice [S Grade]

School of Creative Science and Engineering

2023 full year
Engineering Practice

School of Creative Science and Engineering

2023 full year
Seminar [S Grade]

School of Creative Science and Engineering

2023 full year
Mechanical Engineering Laboratory Adv. [S Grade]

School of Creative Science and Engineering

2023 fall semester
Seminar

School of Creative Science and Engineering

2023 full year
Mechanical Drawing and Design Adv.

School of Creative Science and Engineering

2023 spring semester
Mechanical Engineering Laboratory Adv.

School of Creative Science and Engineering

2023 fall semester
Mechanical Engineering Laboratory Fund. [S Grade]

School of Creative Science and Engineering

2023 spring semester
Mechanical Engineering Laboratory Fund.

School of Creative Science and Engineering

2023 spring semester
Project Based Learning Fund. [S Grade]

School of Creative Science and Engineering

2023 fall semester
Control Engineering [S Grade]

School of Creative Science and Engineering

2023 spring semester
Project Based Learning Fund.

School of Creative Science and Engineering

2023 fall semester
Mechanical Engineering Laboratory A

School of Creative Science and Engineering

2023 spring semester
Mechanical Engineering Laboratory B

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis Fall [S Grade]

School of Creative Science and Engineering

2023 fall semester
Mechatronics

School of Creative Science and Engineering

2023 fall semester
Seminar B

School of Creative Science and Engineering

2023 fall semester
Mechanical Engineering Laboratory Advanced (Japanese)

School of Creative Science and Engineering

2023 fall semester
Mechanical Engineering Laboratory Fundamentals (Japanese)

School of Creative Science and Engineering

2023 spring semester
Mechanical Drawing and Design Advanced (Japanese)

School of Creative Science and Engineering

2023 spring semester
Graduation Thesis Fall

School of Creative Science and Engineering

2023 fall semester
Graduation Thesis Spring [S Grade]

School of Creative Science and Engineering

2023 spring semester
Graduation Thesis Spring

School of Creative Science and Engineering

2023 spring semester
Engineering Practice B [S Grade]

School of Creative Science and Engineering

2023 fall semester
Engineering Practice B

School of Creative Science and Engineering

2023 fall semester
Seminar B [S Grade]

School of Creative Science and Engineering

2023 fall semester
Mechanical Drawing and Design Fundamentals (Japanese)

School of Creative Science and Engineering

2023 fall semester
Mechatronics Laboratory Advanced

School of Creative Science and Engineering

2023 fall semester
Engineering Practice C [S Grade]

School of Creative Science and Engineering

2023 spring semester
Engineering Practice C

School of Creative Science and Engineering

2023 spring semester
Seminar C [S Grade]

School of Creative Science and Engineering

2023 spring semester
Seminar C

School of Creative Science and Engineering

2023 spring semester
Mechatronics Laboratory Fundamentals

School of Creative Science and Engineering

2023 spring semester
Engineering Practice A [S Grade]

School of Creative Science and Engineering

2023 spring semester
Engineering Practice A

School of Creative Science and Engineering

2023 spring semester
Seminar A [S Grade]

School of Creative Science and Engineering

2023 spring semester
Seminar A

School of Creative Science and Engineering

2023 spring semester
Mechatronics [S Grade]

School of Creative Science and Engineering

2023 fall semester
Master's Thesis (Department of Modern Mechanical Engineering)

Graduate School of Creative Science and Engineering

2023 full year
Master's Thesis (Department of Modern Mechanical Engineering)

Graduate School of Creative Science and Engineering

2023 full year
Seminar on Neuro Robotics D

Graduate School of Creative Science and Engineering

2023 fall semester
Seminar on Neuro Robotics C

Graduate School of Creative Science and Engineering

2023 spring semester
Seminar on Neuro Robotics B

Graduate School of Creative Science and Engineering

2023 fall semester
Seminar on Neuro Robotics A

Graduate School of Creative Science and Engineering

2023 spring semester
Analysis and Discussion of Papers on Advanced Robotics

Graduate School of Creative Science and Engineering

2023 spring semester@fall semester
Research on Neuro Robotics

Graduate School of Creative Science and Engineering

2023 full year
Seminar on Neuro Robotics D

Graduate School of Creative Science and Engineering

2023 fall semester
Seminar on Neuro Robotics C

Graduate School of Creative Science and Engineering

2023 spring semester
Seminar on Neuro Robotics B

Graduate School of Creative Science and Engineering

2023 fall semester
Seminar on Neuro Robotics A

Graduate School of Creative Science and Engineering

2023 spring semester
Analysis and Discussion of Papers on Advanced Robotics

Graduate School of Creative Science and Engineering

2023 spring semester@fall semester
Research on Human-Robot Interface

Graduate School of Creative Science and Engineering

2023 full year
Research on Neuro Robotics

Graduate School of Creative Science and Engineering

2023 full year
Methodical Robotics

Graduate School of Creative Science and Engineering

2023 fall semester
Analysis and Discussion of Papers on Advanced Robotics

Graduate School of Creative Science and Engineering

2023 spring semester@fall semester
Advanced Seminar on Methodical Robotics

Graduate School of Creative Science and Engineering

2023 fall semester
Research on Human-Robot Interface

Graduate School of Creative Science and Engineering

2023 full year
Research on Neuro Robotics

Graduate School of Creative Science and Engineering

2023 full year
Master's Thesis (Department of Integrative Bioscience and Biomedical Engineering)

Graduate School of Advanced Science and Engineering

2023 full year
Master's Thesis (Department of Integrative Bioscience and Biomedical Engineering)

Graduate School of Advanced Science and Engineering

2023 full year
Seminar on Biomedical Robotics Engineering D

Graduate School of Advanced Science and Engineering

2023 fall semester
Seminar on Bio-electronic Measurements and Control D

Graduate School of Advanced Science and Engineering

2023 fall semester
Seminar on Bio-electronic Measurements and Control C

Graduate School of Advanced Science and Engineering

2023 spring semester
Seminar on Bio-electronic Measurements and Control B

Graduate School of Advanced Science and Engineering

2023 fall semester
Seminar on Bio-electronic Measurements and Control A

Graduate School of Advanced Science and Engineering

2023 spring semester
Research on Biomedical Robotics Engineering and its Application

Graduate School of Advanced Science and Engineering

2023 full year
Research on Bio-electronic Measurements and Control

Graduate School of Advanced Science and Engineering

2023 full year
Research on Biomedical Robotics Engineering and its Application

Graduate School of Advanced Science and Engineering

2023 full year
Research on Bio-electronic Measurements and Control

Graduate School of Advanced Science and Engineering

2023 full year
Seminar on Biomedical Robotics Engineering C

Graduate School of Advanced Science and Engineering

2023 spring semester
Seminar on Biomedical Robotics Engineering B

Graduate School of Advanced Science and Engineering

2023 fall semester
Seminar on Biomedical Robotics Engineering A

Graduate School of Advanced Science and Engineering

2023 spring semester
Research on Biomedical Robotics Engineering and its Application

Graduate School of Advanced Science and Engineering

2023 full year
Seminar on Biomedical Robotics Engineering D

Graduate School of Advanced Science and Engineering

2023 fall semester
Seminar on Biomedical Robotics Engineering C

Graduate School of Advanced Science and Engineering

2023 spring semester
Seminar on Biomedical Robotics Engineering B

Graduate School of Advanced Science and Engineering

2023 fall semester
Seminar on Biomedical Robotics Engineering A

Graduate School of Advanced Science and Engineering

2023 spring semester
Methodical Robotics

Graduate School of Advanced Science and Engineering

2023 fall semester

▼display all

Social Activities

日刊工業新聞社のロボナブル(Web版)

日刊工業新聞社のロボナブル(Web版)
2011.01

-

　

　View Summary

早大とトヨタ，人とロボが対等な関係で円滑にすれ違うための基本技術を開発，
人とロボットとの関係性を考えるうえでも新たな技術として注目されると紹介．
http://www.robonable.jp/news/2011/01/31sugano.html
http://www.nikkan.co.jp/news/nkx0720110131aaaf.html
国際画像機器展2010特集

国際画像機器展2010特集
2010.12

-

　

　View Summary

『早稲田大学高等研究所が横浜—東京間の遠隔超音波診断に挑戦』というタイトルで，岩田の出展内容を動画付きで紹介，モバイル通信網を使った遠隔超音波診断システムのデモンストレーションを公開（http://www.j-imaging.com/ite/sp/waseda.html）
JSTサイエンスニュース（インターネット動画ニュース），科学技術政策ニュースコーナー「ライフイノベーション・介護ロボットの可能性」

JSTサイエンスニュース（インターネット動画ニュース），科学技術政策ニュースコーナー「ライフイノベーション・介護ロボットの可能性」
2010.10

-

　

　View Summary

高齢者の自立支援を目指した新しい介助支援の在り方ならびに，『新・成長戦略』を踏まえた科学技術政策に対する若手研究者からの提言に関して岩田がインタビューに答える（http://sc-smn.jst.go.jp/sciencenews/policy.html）
神奈川新聞21面

神奈川新聞21面
2010.09

-

　

　View Summary

岩田のプロデュースで遠隔エコー診断支援RTを出展した早稲田ブースの紹介，「将来の進路熱心に相談横浜で進学フェスタ」
TBS系全国ネットCBC発「カラダのキモチ」

TBS系全国ネットCBC発「カラダのキモチ」
2010.08

-

　

　View Summary

介護や家事手伝いができるTWENDY-ONEについて岩田が紹介
インタビュアー：パックンマックン
朝日新聞

朝日新聞
2010.05

-

　

　View Summary

TWENDY-ONEのプレスリリースにおいて岩田が安全機能に関して説明している写真が掲載(早稲田大学の研究力を読者に伝えるイメージ画像として活用)，早稲田大学広報室が朝日新聞社と協力制作している大学ランキング，「大学力」広告記事企画
NHK教育テレビ「テストの花道」

NHK教育テレビ「テストの花道」
2010.05

-

　

　View Summary

MCを務める城島茂氏(TOKIO)から，番組中にロボット開発の動機に関するインタビューを岩田が受け，機械が人を進化させる過程に興味があると回答，第6回『キャンパスツアー〜大学とは？〜』
オーム社ロボコンマガジン（4月号）コラム

オーム社ロボコンマガジン（4月号）コラム
2010.04

-

　

　View Summary

健側に麻痺側の自己受容感覚をバイパス呈示するBF型知覚支援RTの写真が紹介
日経産業新聞（12面（先端技術・医療））

日経産業新聞（12面（先端技術・医療））
2009.12

-

　

　View Summary

対側に麻痺側の足底圧をバイパス呈示するバイオフィードバック型知覚支援RTの紹介(岩田が装置を装着している写真も掲載)，「歩行リハビリ支援システム」
日経産業新聞（12面（先端技術・医療））

日経産業新聞（12面（先端技術・医療））
2009.12

-

　

　View Summary

対側に麻痺側の足底圧をバイパス呈示するバイオフィードバック型知覚支援RTの紹介(岩田が装置を装着している写真も掲載)，「歩行リハビリ支援システム」
読売新聞Online

読売新聞Online
2009.11

-

　

　View Summary

ヒューマノイドを超えたヒューマンミメティックを追究する，研究力：知の共創—研究者プロファイル—
（子ども時代から研究を志した大学生の回想，TWENDY-ONE開発を通じたシステムインテグレーション工学の確立に向けた取り組み，次世代リハビリテーションを変革する知覚支援RTの思想と臨床応用の現状について紹介 (http://www.yomiuri.co.jp/adv/wol/research/kyoso_091110.htm)）
CNN.com

CNN.com
2009.11

-

　

　View Summary

家事や介助が行っているTWENDY-ONEの様子と巧みなハンドでストローを操るシーンが放映，「Edge of Discovery」(サイエンステクノロジーの開発や研究をとりあげるニュースレポート（http://edition.cnn.com/video/#/video/tech/2009/11/18/eod.lah.robo.nurse.cnn）
日経産業新聞（12面（先端技術・医療））

日経産業新聞（12面（先端技術・医療））
2009.11

-

　

　View Summary

遠隔FASTを可能とする診断支援RT開発研究の紹介，「早大が装置開発遠隔操作で超音波診断，救急車内の利用想定」
フジテレビ目覚ましテレビ『ココ調』コーナー

フジテレビ目覚ましテレビ『ココ調』コーナー
2008.05

-

　

　View Summary

介護や家事手伝いができる「TWENDY-ONE」の紹介とロボットが支援してくれる未来像に関するインタビュー
フジテレビ，驚きハイテク最前線！人間を超えたロボット，ザ・ベストハウス123 春の3時間スペシャル

フジテレビ，驚きハイテク最前線！人間を超えたロボット，ザ・ベストハウス123 春の3時間スペシャル
2008.04

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　View Summary

ベスト3を見に行こう芸能人プレゼンバトル”，最先端ロボットのNo.2として紹介されたTWENDY-ONEの説明
NHK総合，首都圏放送センター，こんにちはいっと６けん

NHK総合，首都圏放送センター，こんにちはいっと６けん
2008.04

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　View Summary

世界一の指さばきが可能なお手伝いロボットとしてTWENDY-ONEを紹介
NHK-BS1，BSディベート

NHK-BS1，BSディベート
2008.03

-

　

　View Summary

『科学技術立国ニッポンを救え』のディベーダーとして参加．21世紀は知恵の時代であることを論説

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Sub-affiliation

Faculty of Science and Engineering Graduate School of Creative Science and Engineering
Affiliated organization Global Education Center

Research Institute

2022

-

2024

Waseda Research Institute for Science and Engineering Concurrent Researcher
2022

-

2024

Waseda Center for a Carbon Neutral Society Concurrent Researcher

Internal Special Research Projects

認知神経リハを支援する誤差覚知RTによる誤学習抑制と臨床応用

2012

　View Summary

　誤差覚知RTとして，足関節を対象とした両肢角度誤差覚知システムを開発した．これは，両肢同姿態再現中に，対称であるべき麻痺肢と非麻痺肢に認知され得ない関節角度差が生じた場合，振動刺激(2値)により誤差発生に気づかせ，運動学習に向けた知覚探索を誘引させる仕組みである．評価のため，慢性期・感覚重度鈍麻患者2名を対象に1日40分間，誤差覚知RTを用いて身体スキーマ(関節覚)の修正訓練をさせた結果，両患者において，訓練前後で有意な角度差の減少が認められた(p<0.01)．特に，患者Zでは，2週目には，訓練前の計測にも拘わらず角度差が健常者水準(2[deg]以下)となったことから，訓練効果が維持される効果も認められた．