2022/05/19 更新

写真a

イシイ ヒロユキ
石井 裕之
所属
理工学術院 創造理工学部
職名
教授

兼担

  • 理工学術院   大学院創造理工学研究科

  • 附属機関・学校   グローバルエデュケーションセンター

学内研究所等

  • 2020年
    -
    2022年

    理工学術院総合研究所   兼任研究員

学歴

  • 2004年04月
    -
    2007年03月

    早稲田大学   大学院理工学研究科博士後期課程   生命理工学専攻  

学位

  • 早稲田大学   博士(工学)

経歴

  • 2016年03月
    -
     

    早稲田大学   創造理工学部   准教授

  • 2012年04月
    -
    2016年02月

    早稲田大学   理工学研究所   次席研究員

  • 2009年04月
    -
    2012年03月

    早稲田大学   グローバル・ロボット・アカデミア

  • 2007年06月
    -
    2009年03月

    早稲田大学   先端科学健康・医療融合研究機構

  • 2007年06月
    -
    2009年03月

    早稲田大学   先端科学健康・医療融合研究機構

 

研究分野

  • 制御、システム工学

研究キーワード

  • ロボティクス

  • 知能機械学・機械システム

研究シーズ

論文

  • Pitch-Up Motion Mechanism With Heat Welding by Soft Inflatable Growing Robot

    Yuki Satake, Hiroyuki Ishii

    IEEE ROBOTICS AND AUTOMATION LETTERS   7 ( 2 ) 5071 - 5078  2022年04月  [査読有り]

    担当区分:最終著者, 責任著者

     概要を見る

    Soft growing robots have recently attracted considerable interest. They are expected to operate in complicated environments leveraging their flexibility and adaptability. However, some of them are unable to maintain their bending shape without contact with an object, and some of their mechanisms are complex. In this article, we propose a novel heat welding mechanism for pitch-up motion without any support. The proposed robot uses a gusset folded tube and welds its gusset parts. The welded tube is bent, and the robot performs a pitch-up motion. In addition, we experimentally investigate the characteristics of welded bending tubes and develop a stiffness model and bending angle model. The results demonstrate that they depend on the tube diameter, weld shape, and inner pressure. We conducted experiments to evaluate the performance of the robot and confirmed that the maximum bending moment based on which the robot can maintain its bending shape increases under a higher inner pressure, and a large bending angle is obtained by continuous bending. Further, we confirmed that proposed models can adequately simulate the pitch-up motion of the robot. The proposed mechanism enables the robot to perform novel pitch-up motion and expands the application of growing robots.

    DOI

  • A proposed decentralized formation control algorithm for robot swarm based on an optimized potential field method

    Basma Gh Elkilany, A. A. Abouelsoud, Ahmed M. R. Fathelbab, Hiroyuki Ishii

    NEURAL COMPUTING & APPLICATIONS   33 ( 1 ) 487 - 499  2021年01月  [査読有り]

     概要を見る

    Lately, robot swarm has widely employed in many applications like search and rescue missions, fire forest detection and navigation in hazard environments. Each robot in a swarm is supposed to move without collision and avoid obstacles while performing the assigned job. Therefore, a formation control is required to achieve the robot swarm three tasks. In this article, we introduce a decentralized formation control algorithm based on the potential field method for robot swarm. Our formation control algorithm is proposed to achieve the three tasks: avoid obstacles in the environment, keep a fixed distance among robots to maintain a formation and perform an assigned task. An artificial neural network is engaged in the online optimization of the parameters of the potential force. Then, real-time experiments are conducted to confirm the reliability and applicability of our proposed decentralized formation control algorithm. The real-time experiment results prove that the proposed decentralized formation control algorithm enables the swarm to avoid obstacles and maintain formation while performing a certain task. The swarm manages to reach a certain goal and tracks a given trajectory. Moreover, the proposed decentralized formation control algorithm enables the swarm to escape from local minima, to pass through two narrow placed obstacles without oscillation near them. From a comparison between the proposed decentralized formation control algorithm and the traditional PFM, we obtained that NN-swarm successes to reach its goal with average accuracy 0.14 m compared to 0.22 m for the T-swarm. The NN-swarm also keeps a fixed distance between robots with a higher swarming error reaches 34.83%, while the T-swarm reaches 23.59%. Also, the NN-swarm is more accurate in tracking a trajectory with a higher tracking error reaches 0.0086 m compared to min. error of T-swarm equals to 0.01 m. Besides, the NN-swarm maintains formation much longer than T-swarm while tracking trajectory reaches 94.31% while the T-swarm reaches 81.07% from the execution time, in environments with different numbers of obstacles.

    DOI

  • Development of Robot Simulator for Interactive Training of Neonatal Cardio-Pulmonary Resuscitation.

    Y. Takebe, K. Imamura, Yurina Sugamiya, Yusuke Nakae, T. Katayama, T. Otani, H. Ishii, Atsuo Takanishi

    30th IEEE International Conference on Robot & Human Interactive Communication(RO-MAN)     1230 - 1235  2021年

    DOI

  • Development of automatic teeth cleaning robot with maltipule motion of brushes.

    Gen Sakaeda, Atsuo Takanishi, Hiroyuki Ishii

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM)     81 - 85  2021年

    DOI

  • Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints.

    Qing Shi, Zihang Gao, Guanglu Jia, Chang Li, Qiang Huang 0002, Hiroyuki Ishii, Atsuo Takanishi, Toshio Fukuda

    IEEE Trans. Robotics   37 ( 3 ) 747 - 762  2021年

    DOI

  • Novel Growing Robot With Inflatable Structure and Heat-Welding Rotation Mechanism

    Yuki Satake, Atsuo Takanishi, Hiroyuki Ishii

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   25 ( 4 ) 1869 - 1877  2020年08月  [査読有り]

    担当区分:最終著者, 責任著者

     概要を見る

    Soft robotics has recently become a popular topic owing to its advantages over conventional rigid robotics. In this article, we introduce a soft robot that can grow with its own structure; its main components include an inflatable tube for its body and a tip with an expansion mechanism. The tube is made of conventional laminated film. It leads the robot to improved applicability. The robot can grow along the horizontal and vertical directions, and it can bend around yaw and pitch axis. To achieve this, a mechanism feeds air into the inflatable tube for growing the structure, and another heat welding mechanism allows producing bending points where necessary. The experimental results confirm that the proposed robot can grow in mid-air and bend around the yaw axis with varying bending radii. Further, the robot can climb a wall and displace an upper surface by pitch-axis bending. The designed bending structures are very stable because of heat welding; the growing and climbing capabilities depend on the inner pressure of the tube, and these capabilities allow the robot to select various shapes and move seamlessly in various environments.

    DOI

  • Potential Field Method Parameters Tuning Using Fuzzy Inference System for Adaptive Formation Control of Multi-Mobile Robots

    Basma Gh Elkilany, A. A. Abouelsoud, Ahmed M. R. Fathelbab, Hiroyuki Ishii

    ROBOTICS   9 ( 1 )  2020年03月  [査読有り]

     概要を見る

    Nowadays, employing more than one single robot in complex tasks or dangerous environments is highly required. Thus, the formation of multi-mobile robots is an active field. One famous method for formation control is the Potential Field Method due to its simplicity and efficiency in dynamic environments. Therefore, we propose a Fuzzy Inference tuning of the potential field parameters to overcome its limitations. We implement the modified method with tuned parameters on MATLAB and apply it to three TurtleBot3 burger model robots. Then, several real-time experiments are carried out to confirm the applicability and validity of the modified potential filed method to achieve the robots' tasks. The results assert that the TurtleBot3 robots can escape from a local minimum, pass through a narrow passage, and pass between two closely placed obstacles.

    DOI

  • Development and Stability Analysis of an Imitation Learning-Based Pose Planning Approach for Multi-Section Continuum Robot

    Ibrahim A. Seleem, Haitham El-Hussieny, Samy F. M. Assal, Hiroyuki Ishii

    IEEE ACCESS   8   99366 - 99379  2020年  [査読有り]

     概要を見る

    Recently, continuum flexible robots have been designed for the use in diverse applications; including the exploration of confined static and dynamic environments. One of the challenging tasks for those robots is planning optimal trajectories due to, not only the redundant Degrees of Freedom (DOF) they own but also their compliant behaviour. In this paper, an Imitation-based Pose Planning (IbPP) approach is proposed to teach a two-section continuum robot the motion primitives that will facilitate achieving and generalizing for spatial point-to-point motion which involves both position and orientation goals encoded in a dual quaternion form. Two novel approaches are proposed in this research to intuitively generate the motion demonstrations that will be used in the proposed IbPP. Namely, a flexible input interface, acting as a twin robot, is designed to allow a human to demonstrate different motions for the robot end-effector. Alternatively, as a second approach, the Microsoft Kinect sensor is used to provide motion demonstrations faster via human arm movements. Based on the kinematic model of the two-section continuum robot, a Model Reference Adaptive Control (MRAC) algorithm is developed to achieve tracking the generated trajectory from the IbPP and to guarantee the robustness against the model uncertainties and external disturbances. Moreover, controller stability analysis is developed based on Lyapunov criteria. Finally, simulations are conducted for the two-section continuum robot to prove the ability of the proposed IbPP with the two proposed inputs to learn and generalize for spatial motions, which in future could be easily accommodated for robots with multiple sections. In addition, the proposed MRAC shows a significant performance towards following the required trajectory and rejecting the external disturbance.

    DOI

  • Demonstration-Guided Pose Planning and Tracking for Multi-Section Continuum Robots Considering Robot Dynamics

    Ibrahim A. Seleem, Samy F. M. Assal, Hiroyuki Ishii, Haitham El-Hussieny

    IEEE ACCESS   7   166690 - 166703  2019年  [査読有り]

     概要を見る

    Recently, there has been an increased interest in the deployment of continuum robots in unstructured and challenging environments. However, the application of the state-of-the-art motion planning strategies, that have been developed for rigid robots, could be challenging in continuum robots. This, in fact, is due to the compliance that continuum robots possess besides their increased number of degrees of freedom. In this paper, a Demonstration Guided Pose Planning (DGPP) technique is proposed to learn and subsequently plan for spatial point-to-point motions for multi-section continuum robots. Motion demonstrations, including position and orientation, are collected from a human via a flexible input interface that is developed to command the continuum robot intuitively via teleoperation. A dynamic model based on Euler-Lagrange formalism is derived for a two-section continuum robot to be considered while planning for the robot motions. Meanwhile, a Proportional-Derivative (PD) computed torque controller with a Model Reference Adaptive Kinematic Control (MRAKC) scheme are developed to ensure the tracking performance against system uncertainties and disturbances. Also, the system stability analysis based on Lyapunov quadratic equation is proven. Simulation results prove that the proposed DGPP approach, along with the developed control scheme, have the ability to learn, generalize and reproduce spatial motions for a two-section continuum robot while avoiding both static and dynamic obstacles that could exist in the environments.

    DOI

  • Development of Shape Memory Alloy Driven Small Legged Robot Capable of Walking on a Flat Ground and Climbing a Leaning Tree.

    Keitaro Ishibashi, Atsuo Takanishi, Hiroyuki Ishii

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM)     352 - 357  2019年

    DOI

  • Identification of Rat Ultrasonic Vocalizations from Mix Sounds of a Robotic Rat in a Noisy Environment.

    Chang Li, Qing Shi, Zihang Gao, Hiroyuki Ishii, Atsuo Takanishi, Qiang Huang 0002, Toshio Fukuda

    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)     7294 - 7299  2019年

    DOI

  • Erratum: A receptionist robot for brazilian people: Study on interaction involving illiterates (Paladyn, Journal of Behavioral Robotics (2017) 8:1 (1-17) DOI: 10.1515/pjbr-2017-0001)

    Gabriele Trovato, Josue G. Ramos, Helio Azevedo, Artemis Moroni, Silvia Magossi, Reid Simmons, Hiroyuki Ishii, Atsuo Takanishi

    Paladyn   10 ( 1 ) 436 - 437  2019年01月

     概要を見る

    Following a request by a colleague,wewould like to report the revised results below. These corrections also contain more detailed data, in their proper APA notation, and do not substantively change the results and the discussion. In Section 3.3 (“Results”) of the original article one could read: 1. “being human does not seem to be significantly preferred to machine (p = 0.35 according to Mann- Whitney U-test, and p = 0.45 according to the Chisquared goodness of fit test, confirming the null hypothesis of equal distribution).” which should be replaced by: “being human does not seem to be significantly preferred to machine (X2(1, N = 48) = 0.45, p = 0.502 according to the Chi-square goodness of fit test, confirming the null hypothesis of equal distribution).“ 2. “No significant preference is either found in the category Voice (p = 0.11) through Kruskal-Wallis test, just that high pitch voice is less preferred (p = 0.03) through Chi-squared.” which should be replaced by: “No significant preference is either found in the category Voice (3x2 contingency table Chi-square analysis: X2(2, N = 48) = 1.94, p = 0.38), just that high pitch voice is less preferred (4x2 contingency table Chi-square analysis: X2(3, N = 48) = 11.84, p = 0.008).” 3. “In the category Behaviour, Polite is significantly higher than all the other characteristics (p < 0.001). On the other hand, no preference is found for Direct answer against Detailed neither through Mann-Whitney (p = 0.29) or Chi-squared (p = 0.27)).” which should be replaced by: “In the category Behaviour, Polite is significantly higher than all the other characteristics (X2(3, N = 48) = 59.69, p < 0.0001). On the other hand, no preference is found for Direct answer against Detailed (X2(1, N = 48) = 1.21, p = 0.271).” In Section 4.3.1 (“Semantic scales”) of the original article one can read: 1. “Gathered data were analysed using the Kruskal- Wallis test [43] in case of multiple groups of data and Mann-Whitney U-test [44] in case of two groups of data.” which should be replaced by: “Gathered datawere analysed usingWilcoxon test [43] or Mann-Whitney U-test [44].” 2. “Differential semantic scales were validated calculating Cronbach’s alpha, a coefficient of internal consistency used to estimate the reliability of a psychometric test. Results were: 0.848 for Anthropomorpism; 0.904 for Animacy; 0.835 for Likeability; 0.883 for Perceived intelligence and 0.854 for Familiarity. We conclude that all scales are consistent.” which should be replaced by: “Differential semantic scales were validated calculating Cronbach’s alpha, a coefficient of internal consistency used to estimate the reliability of a psychometric test. Results were, respectively for Ana and Kobiana: 0.82 and 0.85 for Anthropomorphism; 0.89 and 0.92 for Animacy; 0.86 and 0.81 for Likeability; 0.87 and 0.91 Familiarity. We conclude that all scales are consistent.” 3. “Comparing Ana with Kobiana, significant differences are found for Group EV in categories Anthropomorphism (p = 0.003); Likeability (p = 0.021); Familiarity (p = 0.002); Good as receptionist (p = 0.001); and Appropriate voice (p = 0.005), all in favour of Ana. Conversely, for Group CL only category Anthropomorphism is significant (p < 0.0001).” which should be replaced by: “Comparing Ana with Kobiana withWilcoxon test, significant differences are found for Group EV in categories Anthropomorphism (Z = 2.59, p = 0.01); Likeability (p = 0.021); Animacy (Z = 2.01, p = 0.044); Likeability (Z = 2.98, p = 0.003); Familiarity (Z = 4.05, p < 0.001); Good as receptionist (Z = 2.76, p = 0.006); and Appropriate voice (Z = 3.09, p = 0.002), all in favour of Ana. Conversely, for Group CL only category Anthropomorphism is significant (p < 0.0001).” 4. “Apparently, Group CL perceived significantly higher than EV the categories Likeability, Perceived intelligence, Familiarity and Good as receptionist for both robots (p < 0.001 in all cases). Instead, Anthropomorphismwas a different case, as Kobiana was judged significantly (p < 0.001) less anthropomorphic by Group CL compared to group EV.” which should be replaced by: “Apparently, Group CL perceived significantly higher than EV the categories Likeability, Perceived intelligence, Familiarity and Good as receptionist for both robots. Through Mann-Whitney test for Ana: Likeability: U = 82.5, p < 0.0001; Perceived intelligence: U = 176.5, p = 0.0004; Familiarity: U = 133.5, p < 0.0001. For Kobiana: Likeability: U = 81, p < 0.0001; Perceived intelligence: U = 90, p < 0.0001; Familiarity: U = 98, p < 0.0001. Instead, Anthropomorphismwas a different case, as Kobiana was judged significantly (U = 40, p < 0.0001) less anthropomorphic by Group CL compared to group EV.” In Section 4.3.3 (“Voice”) of the original article one can read: 1. “Human voice was rated significantly higher (p < 0.001) than the robotic one. However, it was judged less appropriate for the appearance of Kobiana (p = 0.03), while appropriate for Ana (p = 0.001).” “Human voice was rated significantly higher (Ana: U = 98.5, p = 0.004; Kobiana: U = 124, p = 0.031) than the robotic one. However, it was judged less appropriate for the appearance of Kobiana (U = 117.5, p = 0.021), while appropriate for Ana (U = 80, p = 0.001).” 2. “The second analysis consists in crossing results regarding voice with results on explicit preference. Calculations of Spearman’s Rho reveal a significant (r = 0.46; p = 0.002) correlation between the ratings of explicit preference with the differences of the ratings of the voices of the two receptionists. Finally, another correlation was found between Familiarity and Good voice: Spearman’s test highlighted a significant correlation (r = 0.29; p = 0.007). This means that any of the two receptionists, whenever associated with a bad voice, were rated more uncanny. This correlation is stronger in case of Kobiana (r = 0.52; p = 0.006)” which should be replaced by: “The second analysis consists in crossing results regarding voice with results on explicit preference. Calculations of Spearman’s Rho reveal a significant (r(38) = 0.46, p = 0.0028) correlation between the ratings of explicit preference with the differences of the ratings of the voices of the two receptionists. Finally, another positive correlation was found between Good Voice and Familiarity: This means that a receptionist, whenever associated with a bad voice, was rated more uncanny. This correlation is strong in case of Kobiana (r(38) = 0.52, p = 0.0006).” Finally, in Section “References” of the original article there is the following Ref. [43]: [43] W. H. Kruskal and W. A. Wallis, Use of Ranks in One- Criterion Variance Analysis, Journal of the American Statistical Association, 47, 260 (1952) 583–621, 1952. which should be replaced by: [43] F.Wilcoxon, Individual comparisons by ranking methods, Biometrics Bulletin, 1945, 1(6), 80–83.

    DOI

  • Pattern and Frontier-based, Efficient and Effective Exploration of Autonomous Mobile Robots in Unknown Environments

    Hiroyuki FUJIMOTO, Junya MORIMOTO, Takuya HAYASHI, Junji YAMATO, Hiroyuki ISHII, Jun OHYA, Atsuo TAKANISHI

    IS&T International Symposium on Electronic Imaging 2019, Autonomous Vehicles and Machines Conference 2019     039-1 - 039-6  2019年01月  [査読有り]

  • A Modified Robotic Rat to Study Rat-like Pitch and Yaw Movements

    Qing Shi, Chang Li, Kang Li, Qiang Huang, Hiroyuki Ishii, Takanishi Atsuo, Toshio Fukuda

    IEEE/ASME Transactions on Mechatronics    2018年08月  [査読有り]

  • A proposed Formation Control Algorithm for Robot Swarm based on Adaptive Fuzzy Potential Field Method

    Basma Gh Elkilany, A. A. Ali, Ahmed M. R. Fathelbab, Hiroyuki Ishii

    IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY     2189 - 2194  2018年

     概要を見る

    The main goal of robot swarm is to maintain formation among their members while avoiding obstacles and tracking a target in the surrounding environment. One popular approach for achieving this goal is the Potential Field Method (PFM). Thus, in this paper, we propose a formation control algorithm based on the PFM and Fuzzy Inference System (FIS). The Proposed PFM is intended to maintain formation, avoid obstacles and track a moving target as well. We add an interaction potential force to maintain formation beside the attractive and repulsive potential forces. Also, we use the FIS to adapt the change of the relative distances among robots in the swam and other entities int he environment. To test the scalability and reliability of the proposed formation control algorithm, simulations of robot swarms using MATLAB software with a different number of robots following different target trajectories in different environment setups are recorded. Results confirm the efficiency and the applicability the proposed formation control algorithm in achieving the three tasks of the robot swarm.

  • Motion evaluation of a modified multi-link robotic rat

    Chang Li, Qing Shi, Kang Li, Mingjie Zou, Hiroyuki Ishii, Atsuo Takanishi, Qiang Huang, Toshio Fukuda

    IEEE International Conference on Intelligent Robots and Systems   2017-   2397 - 2402  2017年12月

     概要を見る

    The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.

    DOI

  • Development of in-pipe robot with extension hose and balloons

    Koki Nomura, Mamoru Sato, Hiromi Takeuchi, Konno Minoru, Toriumi Ryoichi, Hiroyuki Ishii, Atsuo Takanishi

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017     1481 - 1486  2017年08月

     概要を見る

    In recent years, the importance of inspection technologies for old gas pipes has been advocated. In this study, we developed a robot that moves in gas pipes and acquires pictures of interior of pipes in order to easily identify problems, such as cracks in the walls or water leakages. The robot consists of two balloons and an extension hose, which can be extended or shrunk by means of changing the internal pressure. This mechanism allows the robot to move like an inchworm in gas pipes. The robot also has an active-bending module, driven by air pressure that allows it to pass curved pipe sections. Therefore, the robot can move horizontally and vertically in pipes having an inner diameter of both 28 mm and 53 mm.

    DOI

  • Development of automatic teeth cleaning robot driven by cam mechanism

    Gen Sakaeda, Takanobu Matsubara, Hiroyuki Ishii, Atsuo Takanishi

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017     536 - 540  2017年08月

     概要を見る

    Tooth brushing plays an important role in one's health, and particularly, in the prevention of oral diseases. It is a fundamental oral care technique in daily life
    however, many elderly or handicapped people cannot brush their teeth without assistance from helpers. The purpose of this study is to develop an automatic teeth cleaning mouthpiece robot. One of the most common methods of brushing teeth is to move the toothbrush along the row of teeth. Hence, a mechanism to wipe teeth using sponges is designed and it consists of an eccentric cam, a wiper with sponges, and a rounded guide rail. This mechanism generates rounded wiper motions along the row of teeth. Furthermore, a safety system is designed to prevent aspiration. Brushing stops automatically when the user lifts his/her jaw up from the jaw supporter.

    DOI

  • A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors

    Katsuaki Tanaka, Di Zhang, Sho Inoue, Ritaro Kasai, Hiroya Yokoyama, Koki Shindo, Ko Matsuhiro, Shigeaki Marumoto, Hiroyuki Ishii, Atsuo Takanishi

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017     1503 - 1508  2017年08月

     概要を見る

    We developed a small mobile robot in response to the demands in the disaster area. A hybrid locomotion mechanism of wheels and multi-rotors are proposed to realize both high locomotion performance and long-term operation. The wheels allow to highly maneuverable move in a narrow space, and the multi-rotors allow to move to a higher position. The objective of this study is to design the locomotion mechanism and develop a platform for confirming the basic locomotion performance. We attached a wheel mechanism into the assembled hobby drone and embedded an electrical system to operate the robot. The wheels also contribute to protect the multi-rotors from obstacles such as rubble. A stabilizer was proposed to stabilize the robot during running with wheels and designed to allow recover from flipping state. The significant of this work is not only improving the locomotion performance of the drone, but also increase the operating time, this leads various uses at disaster sites. In this paper, the details of the locomotion mechanism and some experimental results using the developed platform are shown.

    DOI

  • Hardware and control design considerations for a monitoring system of autonomous mobile robots in extreme environment

    Katsuaki Tanaka, Yuya Okamoto, Hiroyuki Ishii, Daisuke Kuroiwa, Junko Mitsuzuka, Hiroya Yokoyama, Sho Inoue, Qing Shi, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     1412 - 1417  2017年08月

     概要を見る

    We are designing an unmanned ground vehicle (UGV) for use in a large-scale and long-Term environmental monitoring system. Existing high-performance UGVs cannot cope with unexpected events because their design concept, like that of almost all previous mobile robots, is based on the development of a single high-performance robot capable of performing every task. To overcome this limitation, we propose using multiple inexpensive robots and operating them such that each compensates for the shortcomings of the others. The objective of this study is to design a robot that could be used to realize a multiple autonomous mobile robot system for long-Term outdoor operation. These robots use only two motors for movement and rely on internal sensors for the control of the robot, thus minimizing the cost. The developed robot is capable of handling unexpected events such that could traverse extreme environments such as forests. The design concept will contribute to the configuration of a multiple robot system and also to increasing the robustness of the overall system. In addition to proposing a robotic system for long-Term operation, this study also proposes a novel idea whereby parts of a robot may be sacrificed to attain the overall objective. In this paper, we describe the details of the wheel and the control design of the robot, and also present the results of some experiments using the developed robot.

    DOI

  • A receptionist robot for Brazilian people: Study on interaction involving illiterates

    Gabriele Trovato, Josue G. Ramos, Helio Azevedo, Artemis Moroni, Silvia Magossi, Reid Simmons, Hiroyuki Ishii, Atsuo Takanishi

    Paladyn   8 ( 1 ) 1 - 17  2017年04月

     概要を見る

    The receptionist job, consisting in providing useful indications to visitors in a public office, is one possible employment of social robots. The design and the behaviour of robots expected to be integrated in human societies are crucial issues, and they are dependent on the culture and society in which the robot should be deployed. We study the factors that could be used in the design of a receptionist robot in Brazil, a country with a mix of races and considerable gaps in economic and educational level. This inequality results in the presence of functional illiterate people, unable to use reading, writing and numeracy skills. We invited Brazilian people, including a group of functionally illiterate subjects, to interact with two types of receptionists differing in physical appearance (agent v mechanical robot) and in the sound of the voice (human like v mechanical). Results gathered during the interactions point out a preference for the agent, for the human-like voice and a more intense reaction to stimuli by illiterates. These results provide useful indications that should be considered when designing a receptionist robot, as well as insights on the effect of illiteracy in the interaction.

    DOI

  • Mechanical Design of a Jumping and Rolling Spherical Robot for Children with Developmental Disorders

    Yujiro Mizumura, Keitaro Ishibashi, Soichi Yamada, Atsuo Takanishi, Hiroyuki Ishii

    2017 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (IEEE ROBIO 2017)     1062 - 1067  2017年

     概要を見る

    We present a robot designed for children with developmental disorders. These disorders are categorized into autism spectrum disorder (ASD), attention deficit hyperactivity disorder (ADHD), and learning disability (LD). While growing, children generally learn through play activities. However, those with developmental disorders require external supports during play because they have difficulties in some aspects. For instance, children with ASD tend not to communicate, those with ADHD find it difficult to concentrate, and those with LD have difficulties in talking, reading, writing, and performing calculations. Thus, some researchers propose robots as solutions to enhance the effects of children's play. In this paper, we present a new type of spherical robot that can jump and roll on the floor. The purpose of this research was to develop a spherical robot that engages with children using its motion capabilities. Specifically, here we present the mechanical design and performance of the robot. The robot has two types of outer spheres with a diameter of 170 mm and made from varied materials. One is a soft sphere made of paper, and the other is a plastic hard sphere. As a result, the jumping height of the internal mechanism reaches 110 mm, that of the soft sphere reaches 65 mm, and that of the hard sphere goes up to 10 mm The robot speed using the hard sphere is 0.65 m/s. In contrast, the robot with the soft sphere exhibits an unstable rolling motion, a seemingly dancing pace, which is difficult to control. Overall, we consider that the proposed jumping and rolling spherical robot can be a suitable tool to aid children with developmental disorders.

  • Design of Four-Arm Four-Crawler Disaster Response Robot OCTOPUS

    Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2016-June   2840 - 2845  2016年  [査読有り]

     概要を見る

    We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

    DOI

  • A Novel Approach to Increase the Locomotion Performance of Mobile Robots in Fields With Tall Grasses

    Katsuaki Tanaka, Hiroyuki Ishii, Daisuke Kuroiwa, Yuya Okamoto, Eric Mossor, Hikaru Sugita, Qing Shi, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

    IEEE Robotics and Automation Letters   1 ( 1 ) 122 - 129  2016年01月  [査読有り]

     概要を見る

    One of the main problems faced by land-based mobile robots is their locomotion performance on rough outdoor terrain. We focused on the navigation of grassy areas such as riversides and forests. These have many types of obstacles, which make robot locomotion difficult. Several studies have been conducted on locomotive mechanisms for rough terrains that have performed well. However, most of these mechanisms cannot pass through grass taller than their own height while using a small number of actuators. We designed a novel mechanism that uses only two motors to ensure a high locomotive ability over a field with tall grasses. We also designed "Grassbreaker" by attaching an outer covering to a tiny mobile robot shaped like an icebreaker. We found that the robot's shape greatly influences its mobility in a tall grass field and that the robot continued to move forward while bending tall grasses such as reeds. The significant difference (p &lt
    0.05) between the average speeds of Grassbreaker and the robot without the outer covering was confirmed in an experiment. The robot's new shape is significant not only because it fills a gap in previous research work but also because this method does not require any additional actuators such as conventional cutting and bending methods.

    DOI

  • A Novel Approach to Increase the Locomotion Performance of Mobile Robots in Fields With Tall Grasses

    Katsuaki Tanaka, Hiroyuki Ishii, Daisuke Kuroiwa, Yuya Okamoto, Eric Mossor, Hikaru Sugita, Qing Shi, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

    IEEE Robotics and Automation Letters   1 ( 1 ) 122 - 129  2016年01月

     概要を見る

    One of the main problems faced by land-based mobile robots is their locomotion performance on rough outdoor terrain. We focused on the navigation of grassy areas such as riversides and forests. These have many types of obstacles, which make robot locomotion difficult. Several studies have been conducted on locomotive mechanisms for rough terrains that have performed well. However, most of these mechanisms cannot pass through grass taller than their own height while using a small number of actuators. We designed a novel mechanism that uses only two motors to ensure a high locomotive ability over a field with tall grasses. We also designed "Grassbreaker" by attaching an outer covering to a tiny mobile robot shaped like an icebreaker. We found that the robot's shape greatly influences its mobility in a tall grass field and that the robot continued to move forward while bending tall grasses such as reeds. The significant difference (p &lt
    0.05) between the average speeds of Grassbreaker and the robot without the outer covering was confirmed in an experiment. The robot's new shape is significant not only because it fills a gap in previous research work but also because this method does not require any additional actuators such as conventional cutting and bending methods.

    DOI

  • Design of Four-Arm Four-Crawler Disaster Response Robot OCTOPUS

    Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)   2016-June   2840 - 2845  2016年  [査読有り]

     概要を見る

    We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.

    DOI

  • Is hugging a robot weird? Investigating the influence of robot appearance on users' perception of hugging

    Gabriele Trovato, Martin Do, Oemer Terlemez, Christian Mandery, Hiroyuki Ishii, Nadia Bianchi-Berthouze, Tamim Asfour, Atsuo Takanishi

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)     318 - 323  2016年  [査読有り]

     概要を見る

    Humanoid robots are expected to be able to communicate with humans using physical interaction, including hug, which is a common gesture of affection. In order to achieve that, their physical embodiment has to be carefully planned, as a user-friendly design will facilitate interaction and minimise repulsion. In this paper, we investigate the effect of manipulating the visual/tactile appearance of a robot, covering wires and metallic parts with clothes, and the auditory effect by enabling or disabling the connector of the hand. The experiment consists in a hugging interaction between the participants and the humanoid robot ARMAR-IIIb. Results after participation of 24 subjects confirm the positive effect from using clothes to modify the appearance and the negative effect of noise and vibration.

    DOI

  • Novel Extendable Arm Structure Using Convex Tapes for Improving Strength of Pipe on Tiny Mobile Robots

    K. Tanaka, H. Yokoyama, H. Ishii, S. Inoue, Q. Shi, S. Okabayashi, Y. Sugahara, A. Takanishi

    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)     637 - 642  2016年  [査読有り]

     概要を見る

    The demand for monitoring from high points is increasing to support remote control and accurate monitoring. Unmanned ground vehicles with long arms are used to achieve long-term and accurate monitoring. The use of convex steel tapes is effective for achieving both high strength and lightness of the arm, which prevents the robot from collapsing or the arm from falling off. However, the previously proposed methods could not be used under tough environmental conditions such as strong winds as well as when the posture of the robot is changed. The objective of the present study is to design a novel extendable arm structure using convex tapes for outdoor usage. We designed an arm with a novel combination of convex tapes that can endure outdoor interferences. We manufactured the arm using a new method such that there is no need to separate the convex tapes. Our results indicated that the robot could extend its arm up to 4 m at a wind speed of 10 m/s and its posture can be changed to 15 degrees in all directions without the use of additional supports such as an outrigger. This novel arm is useful for supporting remote-controlled aerial work platform outdoors such as in a disaster struck area where only tiny mobile robots can enter. This novel combination method is significant not only because it fills the gap in previous sutures but also because it does not require complex mechanisms such as the outrigger method.

    DOI

  • Development of a 5-DoF Arm Robot for Neurological Examination Training

    Sakaeda Gen, Kawasaki Shintaro, Ishii Hiroyuki, Shibusawa Ryota, Matsuoka Noriyuki, Nakae Yusuke, Katayama Tamotsu, Takanishi Atsuo

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 219 - 220  2015年12月

     概要を見る

    Neurological examination takes an important role in the clinical examination, and requires both deep medical knowledge and high clinical skills. Until now, several education methods for neurological examination have been proposed, such as lectures using videos, and skill trainings with manikins or simulated patients (SPs). However, complex physical skills, such as examination of the upper limbs, are difficult to obtain for inexperienced physicians both in lectures and in skill trainings. In this paper, we propose an arm robot named WKE-3(Waseda Kyotokagaku Elbow Robot No.3) for skill trainings of neurological examination, as a part of the whole body patient robot named WKP (Waseda Kyotokagaku Patient). A novel mechanism, which can simulate both active and passive movement, is implemented in the elbow joint to simulate various symptoms.

    CiNii

  • A Study on Effects of Outer Shape of Mobile Robot on Locomotive Performance in Grass Field

    Kuroiwa Daisuke, Ishii Hiroyuki, Tanaka Katsuaki, Okamoto Yuya, Shi Qing, Sugita Hikaru, Mossor Eric, Okabayashi Satoshi, Sugahara Yusuke, Takanishi Atsuo

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 161 - 162  2015年12月

     概要を見る

    Locomotive performance is one of the most important issues for land-based mobile robots, which is designed to be used in natural environment, such as grass fields or forests. We propose a novel method to change outer shape of the robot to increase locomotive performance in natural environment. The robots, which are designed using this method, does not require additional actuators, while conventional mobile robots obtain higher locomotive performance in natural environment using multiple actuators. The objective of this study is to propose a novel design method of outer shape of mobile robots, which is inspired from "icebreakers". Through experiments, we confirmed that locomotive performance is greatly affected by outer shape of mobile robots.

    CiNii

  • Development of Battery Charging System Using Wireless Power Transmission for Outdoor Mobile Robots

    Okamoto Yuya, Ishii Hiroyuki, Tanaka Katsuaki, Kuroiwa Daisuke, Shi Qing, Sugita Hikaru, Mossor Eric, Okabayashi Satoshi, Sugahara Yusuke, Takanishi Atsuo

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 110 - 111  2015年12月

     概要を見る

    In recent years, demands for outdoor mobile robots, such as those for agriculture or environmental monitoring, are increasing. Power supply is one of the most important considerations for these robots, and autonomous battery charging system can be one solution. The objective of this study is to develop a prototype battery charging system for outdoor mobile robots, using wireless power transmission technology. We developed a battery charging station and a power receiver for a mobile robot. The receiver coil was implemented in WAMOT-2, which had been developed for the monitoring. Operation of the system was verified through an experiment.

    CiNii

  • Development of a Self-Propelled Actively Bendable Colonoscope Robot with a "Party Horn" Propulsion Mechanism

    Nomura Koki, Takeuchi Hiromi, Sato Mamoru, Ishii Hiroyuki, Uemura Munenori, Akaboshi Tomohiko, Tomikawa Morimasa, Hashizume Makoto, Takanishi Atsuo

    The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts   2015 ( 6 ) 68 - 69  2015年12月

     概要を見る

    Drawbacks of conventional colonoscopy include the risk of accidental injury and a dependence on the operator's skill. This study presents a novel minimally invasive self-propelled colonoscope robot. We developed an active-bending module, made with pneumatic parallel links with three degrees of freedom, and assembled in a robot (WQE-5) propelled by a "party horn" mechanism with a thrust generator. We confirm the increase in the passing speed in the curved section of a colon model, achieved by the winding of WQE-5.

    CiNii

  • Development of subliminal persuasion system to improve the upper limb posture in laparoscopic training: a preliminary study

    Di Zhang, Salvatore Sessa, Weisheng Kong, Sarah Cosentino, Daniele Magistro, Hiroyuki Ishii, Massimiliano Zecca, Atsuo Takanishi

    International Journal of Computer Assisted Radiology and Surgery   10 ( 11 ) 1863 - 1871  2015年11月  [査読有り]

     概要を見る

    Purpose: Current training for laparoscopy focuses only on the enhancement of manual skill and does not give advice on improving trainees’ posture. However, a poor posture can result in increased static muscle loading, faster fatigue, and impaired psychomotor task performance. In this paper, the authors propose a method, named subliminal persuasion, which gives the trainee real-time advice for correcting the upper limb posture during laparoscopic training like the expert but leads to a lower increment in the workload. Methods: A 9-axis inertial measurement unit was used to compute the upper limb posture, and a Detection Reaction Time device was developed and used to measure the workload. A monitor displayed not only images from laparoscope, but also a visual stimulus, a transparent red cross superimposed to the laparoscopic images, when the trainee had incorrect upper limb posture. One group was exposed, when their posture was not correct during training, to a short (about 33 ms) subliminal visual stimulus. The control group instead was exposed to longer (about 660 ms) supraliminal visual stimuli. Results: We found that subliminal visual stimulation is a valid method to improve trainees’ upper limb posture during laparoscopic training. Moreover, the additional workload required for subconscious processing of subliminal visual stimuli is less than the one required for supraliminal visual stimuli, which is processed instead at the conscious level. Conclusions: We propose subliminal persuasion as a method to give subconscious real-time stimuli to improve upper limb posture during laparoscopic training. Its effectiveness and efficiency were confirmed against supraliminal stimuli transmitted at the conscious level: Subliminal persuasion improved upper limb posture of trainees, with a smaller increase on the overall workload.

    DOI PubMed

  • Behavior modulation of rats to a robotic rat in multi-rat interaction

    Qing Shi, Hiroyuki Ishii, Katsuaki Tanaka, Yusuke Sugahara, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda

    BIOINSPIRATION & BIOMIMETICS   10 ( 5 )  2015年10月  [査読有り]

     概要を見る

    In this paper, we study the behavioral response of rats to a robotic rat during multi-rat interaction. Experiments are conducted in an open-field where a robotic rat called WR-5 is put together with three laboratory rats. WR-5 is following one rat (target), while avoiding the other two rats (outside observers) during interaction. The behavioral characteristics of each target rat is evaluated by scoring its locomotor activity and frequencies of performing rearing, body grooming and mounting actions. Additionally, the frequency of being mounted by other rats is also measured. Experimental results show that the target becomes more active after interaction. The rat species, with more active behavioral characteristics, is more susceptible to being adjusted by the robot. The increased time spent by the outside observers in the vicinity of the robot indicates that a biomimetic robot has the promise for modulating rat behavior even without direct interaction. Thus, this study provide a novel approach to shaping the sociality of animals living in groups.

    DOI

  • "Olá, my name is Ana": A study on Brazilians interacting with a receptionist robot

    Trovato, Gabriele, Ramos, Josué G, Azevedo, Helio, Moroni, Artemis, Magossi, Silvia, Ishii, Hiroyuki, Simmons, Reid, Takanishi, Atsuo

    Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015     66 - 71  2015年10月  [査読有り]

     概要を見る

    © 2015 IEEE. In the near future, robots are expected to perform assistive tasks and do different kind of jobs. In particular, humanoid robots are possible candidates for being used as helpers in activities of daily living. One possible employment is working as a receptionist, providing useful indications to visitors in a public office. The design of how robots could look like is a matter of growing importance, as it is important to create a look that poses no uncanny valley effects on the human user and that is appropriate to potentially serve in different job areas in human society. In this paper we want to describe the study on anthropomorphism of a receptionist robot. We invited Brazilian people with different education levels to interact with two variations of a receptionist robot, different in physical appearance as well as in the sound of the voice. In one case, the appearance was a conversational agent made with computer graphics, in the other, a real humanoid robot. Results gathered from surveys and comments of the participants provide useful directions to design a receptionist robot and insights on the effect of digital divide on anthropomorphism.

    DOI

  • Design and Control of a Biomimetic Robotic Rat for Interaction With Laboratory Rats

    Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Atsuo Takanishi, Qiang Huang, Toshio Fukuda

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   20 ( 4 ) 1832 - 1842  2015年08月  [査読有り]

     概要を見る

    In this paper, we describe the system design and control of a miniature robotic rat, WR-5, which is intended to interact with laboratory rats. WR-5 can perform rearing, mounting, rotating, and body-grooming actions as naturally as live mature rats because of its multilink structure. Experimental results confirm that WR-5 can stimulate stressing fear in rats by performing a mounting action, which shows remarkable progress when compared with the previous generation of these robots. Additionally, a virtual impedance model-based control method is used to generate both posture and trajectory for WR-5. The results of simulations and following tests with real rats show that WR-5 can adjust its head and body positioning to follow a target rat in real time. The control system simultaneously allows real-time avoidance of moving outside observers during the following test. Additionally, based on interaction with multiple rats, we conclude that the robotic rat shows great promise for manipulation of the sociality of rats.

    DOI

  • Angular Sway Propagation in One Leg Stance and Quiet Stance with Inertial Measurement Units for Older Adults

    W. Kong, S. Sessa, D. Zhang, M. Zecca, S. Cosentino, H. Ishii, D. Magistro, H. Takeuchi, R. Kawashima, A. Takanishi

    2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     6955 - 6958  2015年  [査読有り]

     概要を見る

    Postural stability degrades with age, threating the health and life quality of the older adults. One Leg Stance (OLS) is one of the standard and commonly adopted assessments for postural stability, and the postural sway in OLS has been demonstrated to be related with age. The propagation of postural sway between body segments could be a hint to the underlying mechanism of balance control. However, it is not yet fully understood. Therefore, the aim of this paper was to study the angular sways and their propagation of the head, trunk, and lower limb in healthy older adults. A cross-correlation of the normalized angular speeds was performed and the experiment with 68 older adults was conducted. The results showed that the head, hip and ankle joints affected the transfer of angular sway with a relatively lower correlation and longer latency.

    DOI PubMed

  • Designing a receptionist robot: effect of voice and appearance on anthropomorphism

    G. Trovato, J. G. Ramos, H. Azevedo, A. Moroni, S. Magossi, H. Ishii, R. Simmons, A. Takanishi

    2015 24TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN)   2015-November   235 - 240  2015年  [査読有り]

     概要を見る

    Robots are possible candidates for performing tasks as helpers in activities of daily living in the future: working as a receptionist is one possible employment. However, the way the receptionist robot should appear, sound and behave needs to be investigated carefully, in order to design a robot which is accepted and perceived in a positive way by common users. This paper describes a study on anthropomorphism of a receptionist robot made for Brazilian people depending on the appearance and on the voice of the receptionist. This experiment was preceded by a preliminary survey about expectation of people regarding receptionists. The main experiment consisted in having Brazilian people interacting with a conversational agent and with a humanoid robot through a video conference. The two receptionists are not only different in physical appearance, but in the sound of the voice, too, which can be either human-like or robotic sound. The two receptionists gave indications to the participants to reach rooms where they could evaluate the receptionists through questionnaires concerning anthropomorphism and uncanniness among other concepts. The results gathered from both experiments provide useful hints to design a receptionist robot.

    DOI

  • Novel Method of Estimating Surface Condition for Tiny Mobile Robot to Improve Locomotion Performance

    Katsuaki Tanaka, Hiroyuki Ishii, Yuya Okamoto, Daisuke Kuroiwa, Yusaku Miura, Daiki Endo, Junko Mitsuzuka, Qing Shi, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2015-December   6515 - 6520  2015年  [査読有り]

     概要を見る

    Environment recognition is an effective way for a mobile robot to move across rough terrain. In particular, this makes it possible to prevent a tiny mobile robot from getting stuck or turning over. Several studies have been conducted on environment recognition using a laser range finder or camera. However, almost all of these studies focused on obstacle detection or shape recognition, which cannot be used to recognize the surface condition such as slipperiness. The purpose of this work is to design a model for estimating the surface condition using a tiny mobile robot. We set slipperiness as one of the parameters for recognizing the surface condition, which is already used by terramechanics, along with two additional parameters, the hardness and unevenness. We find that a robot can roughly estimate the ground hardness by measuring the current peak of a motor and the unevenness from measuring the robot posture. By recognizing the surface condition, the robot can change the parameters of the controlling motor based on the ground characteristics. This new method for recognizing the surface condition is significant, not only because it fills gaps in the previous research, but also because it does not require any special sensors such as a laser range finder and does not consume a large quantity of energy. Therefore, it achieves a core objective of our environmental monitoring system using multiple mobile robot.

    DOI

  • A comparison of the effects of different equipment used for venipuncture to aid in promoting more effective simulation education

    C.Fujii, H.Ishii, A.Takanishi

    Journal of Blood Disorders & Transfusion   5 ( 8 )  2014年  [査読有り]

    DOI

  • Development of new muscle contraction sensor to replace sEMG for using in muscles analysis fields

    D. Zhang, Y. Matsuoka, W. Kong, U. Imtiaz, L. Bartolomeo, S. Cosentino, M. Zecca, S. Sessa, H. Ishii, A. Takanishi

    2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     6945 - 6948  2014年  [査読有り]

     概要を見る

    Nowadays, the technologies for detecting, processing and interpreting bioelectrical signals have improved tremendously. In particular, surface electromyography (sEMG) has gained momentum in a wide range of applications in various fields. However, sEMG sensing has several shortcomings, the most important being: measurements are heavily sensible to individual differences, sensors are difficult to position and very expensive. In this paper, the authors will present an innovative muscle contraction sensing device (MC sensor), aiming to replace sEMG sensing in the field of muscle movement analysis. Compared with sEMG, this sensor is easier to position, setup and use, less dependent from individual differences, and less expensive. Preliminary experiments, described in this paper, confirm that MC sensing is suitable for muscle contraction analysis, and compare the results of sEMG and MC sensor for the measurement of forearm muscle contraction.

    DOI

  • Application of wireless inertial measurement units and EMG sensors for studying deglutition — Preliminary results

    U. Imtiaz, K. Yamamura, W. Kong, S. Sessa, Z. Lin, L. Bartolomeo, H. Ishii, M. Zecca, Y. Yamada, A. Takanishi

    Proceedings of 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2014)     5381 - 5384  2014年  [査読有り]

    DOI PubMed

  • Development of State Transition Model and Speech Recognition Module for Training of Neurological Examination

    Y. Sugamiya, K. Matsunaga, C. Wang, S. Tokunaga, S. Kawasaki, H. Ishii, Y. Nakae, T. Katayama, A. Takanishi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1124 - 1129  2014年  [査読有り]

     概要を見る

    This study aims to develop a state transition model and speech recognition module for application to a whole-body patient simulator for scenario based training (SBT) of neurological examination procedures. These procedures are very important for the early identification of neurological system disorders. In neurological examinations, the doctor selects procedures by situation of patients, interacts with the patient and performs a series of medical procedures to judge the site of nerve disorders and lesions. SBT is one type of training that doctor performs to be based on scenario. Scenario is patient situation and examination procedure. SBT is used for the training of such examinations. SBT is often performed using simulated patients (SPs); however, the number of SPs is not sufficient and SPs cannot adequately reproduce diseases. Therefore, we integrated a state transition model with a commercial speech recognition software and developed a dialogue system for SBT. First, we customized the grammatical rules and the different words that the software can recognize. By doing so, the recognition rate improved to about 90%. Second, we developed a probability model for the state transition model. In neurological examinations, patient pause is limited and an order of procedures is generally decided. We developed a state transition model including probability model with the customized speech recognition module.

    DOI

  • Control of Posture and Trajectory for a Rat-like Robot Interacting with Multiple Real Rats

    Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     975 - 980  2014年  [査読有り]

     概要を見る

    In the past we achieved to use a rat-like robot and a single rat to develop Animal Models of Mental Disorder (AMMDs) through stress exposure. However, to simulate the real social environment, we use a rat-like robot composed of multiple links to chase a specific rat (target) in a group of rats (outside observers). In this paper, we aim to develop a real-time control system for a multi-link robot surrounded by multiple rats. A virtual impedance model was adopted to generate posture and trajectory for a multi-link robot named WR-5. With the analysis of virtual forces/moments acting on WR-5 based on the model, corresponding dynamic equations can be obtained to control the motion of WR-5. Simulation results show that the head of WR-5 can accurately direct a target object in the following test. After conducting experiments with three rat subjects (a target rat, two outside observers), the output results suggest that the head and body gesture of WR-5 achieves to follow the target in real-time. Meanwhile, the control system allows real-time avoidance of the moving outside observers during interaction.

    DOI

  • Objective skill evaluation of endotracheal intubation using muscle contraction sensor

    A. Niibori, Y. Matsuoka, L. Bartolomeo, S. Cosentino, W. Kong, U. Imtiaz, D. Zhang, Y. Kasuya, M. Nagai, M. Ozaki, S. Sessa, H. Ishii, M. Zecca, A. Takanishi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1862 - 1867  2014年  [査読有り]

     概要を見る

    Endotracheal intubation (ETI) is a difficult technique and requires a great deal of practice to master. Research on the difference in movements between experts and novices performing the procedure has shown that experts perform movements more precisely than novices. Experts keep a fixed posture and use the upper arm muscles and wrist joints more effectively. These studies were conducted using optical motion capture systems and surface electromyography (sEMG), which are measurement systems that require a long setup time and expensive equipment. In this paper, we propose a novel method to measure the biomechanical performance of doctors during ETI using an innovative muscle contraction sensing device (MC sensor) and inertial measurement units (IMUs). We performed several experiments to measure the movements of both experts and novices performing ETI and then analysed and compared the obtained data. The results clearly showed that our system, comprising an MC sensor and IMUs, allows for an objective evaluation of ETI skills and highlighted the major differences between the movements of novices and experts.

    DOI

  • Design of Operating Software and Electrical System of Mobile Robot for Environmental Monitoring

    Katsuaki Tanaka, Hiroyuki Ishii, Shinichi Kinoshita, Qing Shi, Hikaru Sugita, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014     1763 - 1768  2014年  [査読有り]

     概要を見る

    Environmental monitoring robot is a new method for approaching environmental monitoring. The main issue with the development of this is to develop accessible its system. Several studies have been conducted on the autonomous monitoring system and they performed well, however, almost they are costly and complex therefore be not considered well to be accessible design. The purpose of our work was to develop an accessible system and implement to root for other field's researchers. The objectives of the work were to design operating software and electrical system that could be easily used to operate the robot and monitor the environment as a monitoring system. The middle sections of the article introduce and describe specific information about these objectives. We also explain the results of its experimental implementations to an autonomous environmental monitoring robot named Waseda Animal Monitoring robot (WAMOT). An operating software and electrical system were successfully designed by using the existing infrastructure and product, especially, smartphone and public cloud server were used for making the robot easy to use. The developed method is significant, not only because it fills a gap in the mobile robot, but also because it makes possible to adapt to the conventional monitoring method such as monitoring post. Therefore, achieves the core concept of accessibility.

    DOI

  • Modulation of rat behaviour by using a rat-like robot

    Qing Shi, Hiroyuki Ishii, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Shigenobu Shibata

    Bioinspiration and Biomimetics   8 ( 4 )  2013年12月  [査読有り]

     概要を見る

    In this paper, we study the response of a rat to a rat-like robot capable of generating different types of behaviour (stressful, friendly, neutral). Experiments are conducted in an open-field where a rat-like robot called WR-4 is put together with live rats. The activity level of each rat subject is evaluated by scoring its locomotor activity and frequencies of performing rearing (rising up on its hind limbs) and body grooming (body cuddling and head curling) actions, whereas the degree of preference of that is indicated by the robot-rat distance and the frequency of contacting WR-4. The moving speed and behaviour of WR-4 are controlled in real-time based on the feedback from rat motion. The activity level and degree of preference of rats for each experimental condition are analysed and compared to understand the influence of robot behaviour. The results of this study show that the activity level and degree of preference of the rat decrease when exposed to a stressful robot, and increase when the robot exhibit friendly behaviour, suggesting that a rat-like robot can modulate rat behaviour in a controllable, predictable way. © 2013 IOP Publishing Ltd.

    DOI PubMed

  • A rat-like robot for interacting with real rats

    Qing Shi, Hiroyuki Ishii, Shinichi Kinoshita, Shinichiro Konno, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura

    ROBOTICA   31   1337 - 1350  2013年12月  [査読有り]

     概要を見る

    We developed a novel small rat-like robot called Waseda Rat No. 4 (WR-4) to interact with real rats. WR-4 can perform both rearing (rising up on its hind limbs) and rotating (body bending during movement) actions faster than live mature rats. After robot-rat interaction involving rearing and body grooming (body cuddling and head curling) actions of WR-4, real rats showed more activity and greater interest in the robot. Similar results evident from rat-rat interaction suggest that a rat-like robot is able to interact with rats in the same way as real rats. Furthermore, lower variances between the rat subjects in robot-rat interaction reveals that a rat-like robot can more effectively impact rat's behavior in a controllable, predictable way.

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  • Safe venepuncture techniques using a vacuum tube system

    Chieko Fujii, Hiroyuki Ishii, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF NURSING PRACTICE   19   11 - 19  2013年09月  [査読有り]

     概要を見る

    The purpose of this study was to determine safe techniques of performing blood collection using an evacuated tube system, particularly with regard to manipulation of the equipment and at the puncture site. Careful observation of the procedure was used to collect data for evaluating the various venepuncture techniques. Nurses were digitally videotaped performing simulated venepuncture. A self-administered questionnaire and unstructured observation of a videotaped recording were evaluated, and valid responses were analyzed from participants who performed venepuncture using various techniques. The participants who changed hands during the procedure were older than those who did not change hands. Needle movements during puncture and insertion, including rotation and insertion in a wave-like trajectory, were observed. Appropriate training, including recommendations for maintaining the stability of the needle tip, is important to ensure safety when performing venepuncture. Movement of the needle should not place too much pressure on the puncture site.

    DOI

  • A Methodology for the Performance Evaluation of Inertial Measurement Units

    Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Hiroyuki Ishii, Atsuo Takanishi

    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS   71 ( 2 ) 143 - 157  2013年08月  [査読有り]

     概要を見る

    This paper presents a methodology for a reliable comparison among Inertial Measurement Units or attitude estimation devices in a Vicon environment. The misalignment among the reference systems and the lack of synchronization among the devices are the main problems for the correct performance evaluation using Vicon as reference measurement system. We propose a genetic algorithm coupled with Dynamic Time Warping (DTW) to solve these issues. To validate the efficacy of the methodology, a performance comparison is implemented between the WB-3 ultra-miniaturized Inertial Measurement Unit (IMU), developed by our group, with the commercial IMU InertiaCube3 (TM) by InterSense.

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  • Development of an objective endoscopic surgical skill assessment system for pediatric surgeons: Suture ligature model of the crura of the diaphragm in infant fundoplication

    Satoshi Ieiri, Hiroyuki Ishii, Ryota Souzaki, Munenori Uemura, Morimasa Tomikawa, Noriyuki Matsuoka, Atsuo Takanishi, Makoto Hashizume, Tomoaki Taguchi

    Pediatric Surgery International   29 ( 5 ) 501 - 504  2013年05月  [査読有り]

     概要を見る

    Background and aim The Japanese Society of Pediatric Endoscopic Surgeons developed an endoscopic surgical skill qualification (ESSQ) system. However, this is a subjective system we developed and validated an objective skill evaluation system for pediatric surgeons. Methods In the ESSQ system, the task operation is laparoscopic fundoplication. Therefore, we set up a suture ligature model of the crura of the diaphragm for infant fundoplication. Examinees were divided into 2 groups, 10 experts and 16 trainees. They had to perform two suture ligatures of the crura using an intracorporeal knot in the box. Evaluation points were time, force on the tissue, suture tension, stitch spacing, equidistance, mean score, and total score. Statistical analysis was performed and p&lt
    0.05 was considered statistically significant. Results Experts showed better score than trainees in the time score (p&lt
    0.0001), the score for force on the tissue (p&lt
    0.0001), the stitch spacing score (p&lt
    0.05), the equidistance score (p\\0.005), the mean score (p&lt
    0.0001), and the total score (p&lt
    0.0005), respectively. Conclusion The results revealed that the expert group possessed gentle and speedy skills compared with that of the novices. Using this validation study, our established model could be used to objectively evaluate the endoscopic surgical skills of pediatric surgeons. © Springer-Verlag Berlin Heidelberg 2013.

    DOI PubMed

  • Objective Skill Evaluation for Laparoscopic Training Based on Motion Analysis

    Zhuohua Lin, Munenori Uemura, Massimiliano Zecca, Salvatore Sessa, Hiroyuki Ishii, Morimasa Tomikawa, Makoto Hashizume, Atsuo Takanishi

    IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING   60 ( 4 ) 977 - 985  2013年04月  [査読有り]

     概要を見る

    Performing laparoscopic surgery requires several skills, which have never been required for conventional open surgery. Surgeons experience difficulties in learning and mastering these techniques. Various training methods and metrics have been developed to assess and improve surgeon's operative abilities. While these training metrics are currently widely being used, skill evaluation methods are still far from being objective in the regular laparoscopic skill education. This study proposes a methodology of defining a processing model that objectively evaluates surgical movement performance in the routine laparoscopic training course. Our approach is based on the analysis of kinematic data describing the movements of surgeon's upper limbs. An ultraminiaturized wearable motion capture system (Waseda Bioinstrumentation system WB-3), therefore, has been developed to measure and analyze these movements. The data processing model was trained by using the subjects' motion features acquired from the WB-3 system and further validated to classify the expertise levels of the subjects with different laparoscopic experience. Experimental results show that the proposed methodology can be efficiently used both for quantitative assessment of surgical movement performance, and for the discrimination between expert surgeons and novices.

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  • A novel method to develop an animal model of depression using a small mobile robot

    Hiroyuki Ishii, Qing Shi, Shogo Fumino, Shinichiro Konno, Shinichi Kinoshita, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Shigenobu Shibata, Atsuo Takanishi

    ADVANCED ROBOTICS   27 ( 1 ) 61 - 69  2013年01月  [査読有り]

     概要を見る

    Robotics is contributing to studies on animal behavior. Mobile robots are actually used as devices to give external stimulus to animals in several experiments. We consider that this approach can be applied to studies in psychic medicine. In psychic medicine, all new drugs are evaluated in experiments using animal models of mental disorder before using it in clinical practice. However, conventional animal models have some problems in the construct validity. The animal models should be developed through the method which is consistently associated with the theory of the mental disorders while many of conventional models had been developed by genetic manipulations or surgical operations on nerve system. We considered that a novel animal model could be developed by stress exposure using a small mobile robot. We then implemented this method to the experimental system which had been developed in our past study. An experiment was conducted using the system, and the method was then verified. Therefore, we conclude that the animal model of depression developed by proposed method, exposing continuous attack by the robot in immature period and interactive attack in mature period, can be a novel animal model of depression.

    DOI

  • Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit

    Luca Bartolomeo, Zhuohua Lin, Salvatore Sessa, Massimiliano Zecca, Hiroyuki Ishii, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS   39 ( 1-4 ) 779 - 785  2012年  [査読有り]

     概要を見る

    In the last years there has been increasing interest on Inertial Measurement Units (IMUs) in several fields, because they can provide a measurement of the orientation, velocity, and acceleration at low cost with high performance. The main reason of the low cost is the possibility to find inertial sensors, as accelerometers, gyroscopes and magnetometers, based on Micro-Electro-Mechanical Systems (MEMS) made by silicon, with further advantages of small dimensions and mass production from the main semiconductor suppliers. In this paper, we present the development of the ultra miniaturized wireless IMU, WB-4 (Waseda Bioinstrumentation number 4), with a 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer. Additionally, we illustrate, together with results, the algorithms used for the data filtering and calibration, with particular emphasis on a new methodology for the online calibration of the digital magnetometer.

    DOI

  • Image Processing and Behavior Planning for Robot-rat Interaction

    Qing Shi, Hiroyuki Ishii, Shinichiro Konno, Shinichi Kinoshita, Atsuo Takanishi

    2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)     967 - 973  2012年  [査読有り]

     概要を見る

    In this paper, we proposed an automated video processing system to replace the traditional manual annotation, and to improve the adaptivity of the rat-like robot to autonomously interact with rats. The feature parameters of rats, such as body length, body area, circularity, body bend angle, locomotion speed, etc., are extracted based on image processing. These parameters are integrated as the input feature vector of Artificial Neural Network (ANN) and Support Vector Machine (SVM) classification methods respectively. Preliminary experiments reveal that the rearing, grooming and rotating actions could be recognized with extremely high rate (more than 90% by SVM and more than 80% by ANN). Furthermore, SVM needs less training computational cost than ANN. Therefore, SVM is superior to ANN for the behavior recognition of rats. By using the SVM-based recognition system, the behavior of the robot is generated adaptive to the rat behavior for different interactions.

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  • 気道管理訓練用ヒューマノイドWKA-4の開発 : 気道確保困難症例再現機能を有するハードウェアの設計・製作

    石井 裕之, 海老原 一樹, 瀬川 正尚, ノ ヨハン, 佐藤 圭, 高西 淳夫, 庄司 聡, 畠 和幸

    日本ロボット学会誌   30 ( 1 ) 91 - 98  2012年01月  [査読有り]

     概要を見る

    The purpose of this study is to develop novel training system for medical skills using robot technology. We have developed Waseda Kyotokagaku Airway No.4 (WKA-4) as a novel training simulator for airway management. This robot reproduces several different patients with actuators. For instance, this robot has a unique mechanism in its temporomandibular joint that consists of a set of warm gears and force sensors, hence reproduces a patient with TMJ disorder. This robot also has the tongue that is able to change its shape using air pressure, hence reproduces the difficulty of airway management. We then asked the medical doctors to evaluate the robot using a questionnaire and confirmed that WKA-4 had enough property to use in the training of anesthesiologists.

    CiNii

  • Stress exposure using small mobile robot both in immature and mature period induces mental disorder in rat

    Hiroyuki Ishii, Qing Shi, Syunsuke Miyagishima, Shogo Fumino, Shinichiro Konno, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Shigenobu Shibata, Atsuo Takanishi

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics     587 - 592  2012年  [査読有り]

     概要を見る

    The number of patients with mental disorders is increasing in advanced countries, hence more effective psychotropic drugs are recently desired. In process of development of psychotropic drugs, animal experiments have been playing a very important role. Mental disorder model animals which exhibit behavior disorder like patients with mental disorders are used in these experiments. These animals are normally developed by genetic manipulation, surgical operation in their brain or drug administration. A candidate for a new drug is administrated in these animals to evaluate its effect. However, we have some doubts about conventional mental disorder model animals because they are induced these disorders by using methods which are quite different from causes of mental disorder of human beings. Therefore, the purpose of this study is to develop an novel methodology to create mental disorder model animals. We then developed a small mobile robot and a control system for it. Using them, we have performed some experiments to create a mental disorder model rat. We had then succeeded in developing a mental disorder model rat by exposing stress using the robot during immature period. This rat exhibits low activity in some behavior tests during mature period. For better understanding of how stress exposure induces mental disorder in a rat, we conducted another experiment based on stress vulnerability hypothesis. In this experiment, stress was exposed during both immature and mature period while that had been exposed only during immature period. We prepared several conditions of stress exposure by changing robot behavior pattern to find the one to induce much stress in a rat. From a result of experiment, we found that a rat which received gentle chase by the robot during immature period was induced much stress when it received robot attack during mature period. Thus, we consider that this rat is more appropriate to the mental disorder model than that was developed in our past experiment. © 2012 IEEE.

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  • Synthesis of a New [6]-Gingerol Analogue and Its Protective Effect with Respect to the Development of Metabolic Syndrome in Mice Fed a High-Fat Diet

    Mayumi Okamoto, Hiroyuki Irii, Yu Tahara, Hiroyuki Ishii, Akiko Hirao, Haruhide Udagawa, Masaki Hiramoto, Kazuki Yasuda, Atsuo Takanishi, Shigenobu Shibata, Isao Shimizu

    JOURNAL OF MEDICINAL CHEMISTRY   54 ( 18 ) 6295 - 6304  2011年09月  [査読有り]

     概要を見る

    To determine the effects of a [6]-gingerol analogue (6G), a major chemical component of the ginger rhizome, and its stable analogue after digestion in simulated gastric fluid, aza-[6]-gingerol (A6G), on diet-induced body fat accumulation, we synthesized 6G and A6G. Mice were fed either a control regular rodent chow, a high-fat diet (HFD), or a HFD supplemented with 6G and A6G. Magnetic resonance imaging adiposity parameters of the 6G- and A6G-treated mice were compared with those of control mice. Supplementation with 6G and A6G significantly reduced body weight gain, fat accumulation, and circulating levels of insulin and leptin. The mRNA levels of sterol regulatory element-binding protein 1c (SREBP-1c) and acetyl-CoA carboxylase 1 in the liver were significantly lower in mice fed A6G than in HFD control mice. Our findings indicate that A6G, rather than 6G, enhances energy metabolism and reduces the extent of lipogenesis by downregulating SREBP-1c and its related molecules, which leads to the suppression of body fat accumulation.

    DOI

  • Development of the wireless ultra-miniaturized inertial measurement unit WB-4: preliminary performance evaluation.

    Lin Zhuohua, Zecca Massimiliano, Sessa Salvatore, Bartolomeo Luca, Ishii Hiroyuki, Takanishi Atsuo

    33rd Annual International Conference of the IEEE EMBS   2011  2011年  [査読有り]

     概要を見る

    :This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.

    DOI PubMed

  • Development of a Hybrid Wheel-Legged Mobile Robot WR-3 Designed for the Behavior Analysis of Rats

    Qing Shi, Hiroyuki Ishii, Shunsuke Miyagishima, Shinichiro Konno, Shogo Fumino, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura

    ADVANCED ROBOTICS   25 ( 18 ) 2255 - 2272  2011年  [査読有り]

     概要を見る

    This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat no. 3). The purpose of the robot is to work as an experimental tool to study social interaction between rats and robots. According to the results of the analysis of the motion of rats, their behavior can be divided into two phases: movement and interaction. Therefore, a novel hybrid mechanism that uses wheels during the movement phase and legs while interacting has been designed to actuate WR-3. Consequently, the robot can move at a high speed using its wheels, and reproduce the rat&apos;s interaction behavior using its legs and other parts. Based on body structure of a mature rat, WR-3 has been designed with similar dimensions and shape as a mature rat, and the quality of the shape imitation has been verified by the experiments of a rat&apos;s interestingness to the robot and stuffed rat. Evaluation experiments show that WR-3 is capable of reproducing a rat&apos;s actions such as chasing, rearing, grooming, mounting, etc., similar to a real rat. Furthermore, preliminary social interaction tests with living rats reveal that WR-3 is to some extent able to evoke natural reactions form a real rat and is therefore able to perform a certain level of realistic interaction. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

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  • Development of a 3D simulation which can provide better understanding of trainee's performance of the task using airway management training system WKA-1RII

    Chunbao Wang, Yohan Noh, Hiroyuki Ishii, Go Kikuta, Kazuki Ebihara, Mitsuhiro Tokumoto, Isamu Okuyama, Matsuoka Yusuke, Chihara Terunaga, Atsuo Takanishi, Kazuyuki Hatake

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     2635 - 2640  2011年  [査読有り]

     概要を見る

    In the development of medical skill training systems, the efficiency of the system and the provision of quantitative feedback information to the trainee are very important. Furthermore, usage of the simulated operation platform should be as realistic as possible. In order to satisfy these requirements, we developed a robot to be used for airway management training: Waseda KyotoKagaku Airway No.1 Refined RII (WKA-1RII) (Fig. 1). In addition to realistically shaped hardware and various sensory equipments inside the robot, the new training system also uses a binocular vision system, an inertial measurement unit and a 3D simulation software component to track the movements of the trainee. For fully estimating the skills of the trainee and providing richer feedback, it is not enough to only use information about the tool's movements from the inside of the robot. Therefore, we propose a system to fuse the sensory information from inside the robot with data from 3d vision and from the inertial measurement unit. This accurate information about the movements of the trainee is used to model the progress of the training with a 3d computer graphics simulator. The trainee can use this visualization during or after the training procedure to verify his training status. Using this system he has the possibility to easily compare his performance with a guideline performance provided by an experienced surgeon. In this paper we show a first conceptual application of this approach. The experimental results lead to the consideration that the approach is worth following in further research. © 2011 IEEE.

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  • Surface EMG and heartbeat analysis preliminary results in surgical training: dry boxes and live tissue.

    Bartolomeo Luca, Lin Zhuohua, Zecca Massimiliano, Sessa Salvatore, Ishii Hiroyuki, Xu Hao, Uemura Munenori, Tomikawa Morimasa, Hashizume Makoto, Takanishi Atsuo

    Surface EMG and heartbeat analysis preliminary results in surgical training: dry boxes and live tissue.   2011  2011年  [査読有り]

     概要を見る

    :The training in the surgical practice is of paramount importance to prepare the residents in performing surgical procedures on human subject and to provide exercise on new techniques for experienced surgeons. Usually, these trainings are carried out on live animals or in virtual environments and dry boxes; the complexity of the exercises is identical in both of the case, but the pressure in operating with a living subject could change the attitude and the movements of the trainee. Until now, it has not been possible to analyze this stress in details together in the surgical animal training and dry boxes. In this work we propose an innovative portable system that can measure two physiological parameters, the heartbeat and the surface electromyography, during a session of training in both of the environment. The preliminary results, for one subject, show a bigger average power in the shoulder muscles during the living operation together with a higher but stable heartbeat rate.

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  • Development of a robot which can simulate swallowing of food boluses with various properties for the study of rehabilitation of swallowing disorders

    Noh, Y, Segawa, M, Sato, K, Wang, C, Ishii, H, Solis, J, Takanishi, A, Katsumata, A, Iida, Y

    Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011)     4676 - 4681  2011年  [査読有り]

    DOI

  • Simulation model which can visualize the shape of the colonoscope using orientation sensor network

    Jaewoo Lee, Genya Ukawa, Shuna Doho, Zuohua Lin, Hiroyuki Ishii, Atsuo Takanishi

    Proceedings of the 6th IASTED International Conference on Biomechanics, BioMech 2011     29 - 36  2011年

     概要を見る

    The Simulation Model which can visualize the shape of commercial colonoscope is proposed. This model uses kinematic chain which approximates the shape of colonoscope by serially connected multiple joint-link pairs. As the input to the model, orientation information is used. Orientation information is extracted from the Sensor Network. The sensor network consists of connecting a number of sensor units with CAN bus. Each sensor unit also has two kinds of sensor: triad of accelerometer and triad of magnetometer. Roll and pitch angle are estimated based on the accelerometer signals. Yaw angle is estimated based on the magnetometer signals. By using kinematic chain model and orientation as input, we estimate the key points which are positions of sensor units on the colonoscope. Then, we implement spline interpolation to find the intermediate points which constitutes the shape of colonoscope. We made experiment in order to check whether model has enough accuracy. Firstly, we compared estimated curve with sine curve which is used as a ground truth. Secondly, we investigated the effect of number of sensor on the accuracy. Final result says that it has enough estimation ability.

    DOI

  • Analysis of the colon by the biodynamic model and application to the colonoscope robot design

    Jaewoo Lee, Ukawa Kenya, Shuno Doho, Hiroyuki Ishii, Atsuo Takanishi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     1844 - 1849  2011年

     概要を見る

    The general characteristics of the colon are proposed in the mechanical point of view. This is prerequisite information when we want to develop endoscopic robot which can move well in the human colon. Friction property which comprise static and dynamic friction coefficient is investigated. The elastic property of colon is also investigated: the radial tensile force is measured in the elastic range. The effect on the robot is revealed by using experimental method. The design parameters of the robot are then investigated: one is for the moving mechanism which has to be selected in view of mobility compared to the above knowledge. The other is for selection problem on the fin type and size in the inverse screw type. Several apparatus for friction property measurements were made and carefully made experiments. The resulting data were analyzed. Final results show that inverse screw type of robot has more mobility compared to the rotational inertia type. © 2011 IEEE.

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  • Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

    Jaewoo Lee, Genya Ukawa, Shuna Doho, Zhuohua Lin, Hyroyuki Ishii, Massimiliano Zecca, Atsuo Takanishi

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     577 - 582  2011年

     概要を見る

    In this paper, the shape of the medical robot which can move in the colon is suggested for its gate control. In this system, the current shape information plays a sensing role in order to control the gate of robot in the colon. In order to find current shape of robot, we construct sensor network system which composed of several electronic compass units. This unit makes use of chip which includes pair of 3 axis accelerometer and 3 axis magnetometer. From this signals, orientation is evaluated after filtering noise. Then, based on the kinematic chain model, the shape of the flexible robot is calculated using orientation information. The resulting trajectory shows that this method cans percept shape of flexible robot well. © 2011 IEEE.

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  • Shape Visualization Method of Flexible Colonoscopy Using non Visual Sensor Network for Monitoring of Operation

    Jaewoo Lee, Hyroyuki Ishii, Atsuo Takanishi

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)     524 - 527  2011年  [査読有り]

     概要を見る

    3D Visualization method of shape of flexible colonoscopy in simulated computing environment is proposed. Signals from sensor network are used to calculate the orientation of the body of each sensor. Position of each sensor is estimated from the orientation using assumption of forward kinematics in robotics. This data are then interpolated with curve fitting method to give natural impression of shape to surgeon who are watching monitor. The resulting simulated curve shows that motion of shape of colonoscopy can be simulated at it is.

    DOI

  • A robot-rat interaction experimental system based on the rat-inspired mobile robot WR-4

    Qing Shi, Hiroyuki Ishii, Shogo Fumino, Shinichiro Konno, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011     402 - 407  2011年  [査読有り]

     概要を見る

    This research proposes to design and develop a novel robot involved in the general and famous animal experimental method called Social Interaction Test (SIT). Aiming at increased movement range of the waist and improved interoperability, we have developed a novel small animaroid robot WR-4 (Waseda Rat No.4). The waist of WR-4 endowed with a multi-bendable 6-bar linkage mechanism makes the robot able to rotate around ±130° horizontally, meeting required movement range. Integrating with a 4-bar linkage mechanism in the neck, this 6-bar linkage mechanism achieves the bending posture as living rats, allowing the imitation of behavior such as rotating. Furthermore, ultrasonic motors (USM) used to drive forelegs greatly reduce the weight of upper body, resulting in quicker acting of rearing behavior. WR-4 consists of 10 active DOFs (two 1-DOF wheels for locomotion, two 2-DOF forelegs for interaction, one 1-DOF neck for swing, one 2-DOF waist for rearing and body grooming and one 1-DOF reserved for tail) and 2 passive DOFs in the paws. The evaluation tests on motion performance show that WR-4 could act both rearing (reaching 60°) and rotating (reaching ±100° respectively) behaviors approximately 0.1s quicker than mature rats. Preliminary SIT between WR-4 and mature rats have been conducted strictly following psychological rules. Experimental results reveal that the frequencies of rearing behavior in rats were increased significantly when WR-4 reared periodically, and the activities of rats were decreased after WR-4 reared. © 2011 IEEE.

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  • 咬合採得用付加型シリコーン印象材の咬合接触検査への応用と留意点

    佐久間 重光, 森 隆司, 石井 裕之, 安藤 清文, 浅野 惇太, 石黒 とも子, 尾関 万里奈, 大塚 文与, 池田 大恵, 服部 豪之, 高西 淳夫, 伊藤 裕

    愛知学院大学歯学会誌 = The Aichi-Gakuin journal of dental science   48 ( 4 ) 383 - 388  2010年12月

    CiNii

  • Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

    G. Trovato, M. Shikanai, G. Ukawa, J. Kinoshita, N. Murai, J. W. Lee, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, M. Hashizume

    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY   5 ( 4 ) 317 - 325  2010年07月  [査読有り]

     概要を見る

    Purpose Fibre optic colonoscopy is usually performed with manual introduction and advancement of the endoscope, but there is potential for a robot capable of locomoting autonomously from the rectum to the caecum. A prototype robot was designed and tested.
    Methods The robot colonic endoscope consists in a front body with clockwise helical fin and a rear body with anticlockwise one, both connected via a DC motor. Input voltage is adjusted automatically by the robot, through the use of reinforcement learning, determining speed and direction (forward or backward).
    Results Experiments were performed both in-vitro and in-vivo, showing the feasibility of the robot. The device is capable of moving in a slippery environment, and reinforcement learning algorithms such as Q-learning and SARSA can obtain better results than simply applying full tension to the robot.
    Conclusions This self-propelled robotic endoscope has potential as an alternative to current fibre optic colonoscopy examination methods, especially with the addition of new sensors under development.

    DOI PubMed

  • Development of Experimental Setup to Create Novel Mental Disorder Model Rats using Small Mobile Robot

    Hiroyuki Ishii, Qing Shi, Yuichi Masuda, Syunsuke Miyagishima, Syogo Fumino, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Akiko Hirao, Shigenobu Shibata

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     3905 - 3910  2010年  [査読有り]

     概要を見る

    The number of patients with mental disorders is increasing in advanced countries. Many researchers are working to develop mental disorder model animals that contribute to development of new psychotropic drugs. However, we have some doubts about conventional mental disorder models. Therefore, the purpose of this study is to develop an experimental setup to create novel mental disorder model animals. We then developed a small mobile robot and a control system for the robot. Using them, we performed an experiment to develop a mental disorder model rat. In the experiment, we succeeded in developing a new depression model rat and also high activity model rat. These disorder models must be useful in the screening of new psychotropic drugs. In addition, the methodology we developed in this research will contribute to clarifying mechanisms of mental disorders.

    DOI

  • Development of an ultra-miniaturized inertial measurement unit for jaw movement analysis during free chewing

    Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Hiroyuki Ishii, Atsuo Takanishi

    Journal of Computer Science   6 ( 8 ) 896 - 903  2010年  [査読有り]

     概要を見る

    Problem statement: Jaw movement analysis, as a clinical aid, can provide an objective basis for understanding and diagnosing jaw musculoskeletal disorders. Therefore, the use and development of devices for quantitatively measuring and analyzing jaw movement have become more common and popular in the clinic. Many types of jaw tracking devices have been developed, but most of them are still not handy and easy to be used. Approach: To improve the handiness and utility of the jaw movement analysis devices, we developed a simple to be used jaw tracking prototype by using a new ultra-miniaturized Inertial Measurement Unit (IMU) named WB-3. The WB-3 IMU was composed by 3-axis gyroscope, 3-axis accelerometer and 3-aixs magnetometer, which can not only measure the acceleration and angular speed of jaw movement, but also can measure mouth opening angle. The IMU's extremely reduced weight and size allowed it to be easily adhered to mandible during normal tests without physical restriction to the subjects. A preliminary experiment for jaw movement analysis during free chewing of three types of food with different shapes and hardness was evaluated. A group of 15 healthy subjects aged from 21-36 years old kindly participated in the experiment. Results: The parameters of chewing time, chewing frequency, power spectrum density of jaw's angular speed and acceleration, cumulative distribution function of jaw's acceleration and mouth opening angle were presented. The experimental results clearly showed that the subjects used less chewing time, less chewing frequency, less acceleration cumulative distribution and energy to eat soft food
    higher values were found in the case of hard food and there was no significant difference in mouth opening angle while eating these three foods. Conclusion: Our jaw movement analysis prototype using IMU WB-3 was proved to be a valid and handy method for jaw movement and pattern analysis which may be used clinically as an assistant system for dental therapy. © 2010 Science Publications.

    DOI

  • Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking

    Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, Kazuko Itoh, Atsuo Takanishi

    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings     414 - 419  2010年  [査読有り]

     概要を見る

    Real-time tracking of human body motion is an important technology in synthetic environments, robotics, and other human-computer interaction applications. This paper presents an ultra-miniaturized inertial measurement unit (IMU) named WB-3 for real-time attitude estimation of human limb segments. The WB-3 IMU is provided with a 32-bit microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer). The quaternion-based Extended Kalman Filter (EKF) was implemented for the sensor fusion to retrieve the attitude of the human segment. An upper body motion capture system with 12 WB-3 IMUs was elaborated for tracking human movements in real time scenarios. ©2010 IEEE.

    DOI

  • Development of the miniaturized wireless inertial measurement unit WB-4: Pilot test for mastication analysis

    Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, Kazuko Itoh, Atsuo Takanishi

    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings     420 - 425  2010年  [査読有り]

     概要を見る

    Mastication analysis can provide an objective basis for studying and diagnosing jaw musculoskeletal disorders. Therefore, the use and development of devices for quantitatively measuring and analyzing jaw movement have become very popular in the consulting room. This paper proposes a simple to be used jaw tracking prototype by using the new miniaturized wireless Inertial Measurement Unit (IMU) named WB-4. The WB-4 IMU primarily contains a mother board, a Bluetooth module and a Li-Polymer battery. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure the jaw motion. The data transmission between WB-4 and PC is based on the Bluetooth module to realize the wireless communication. The IMU's extremely reduced weight and size allows it to be easily attached to mandible during normal mastication tests without physical restriction to the subjects. Three pilot experiments for mastication analysis of chewing gum were elaborated. A group of 9 healthy subjects kindly participated in the experiment. The preliminary results show that WB-4 IMU can efficiently evaluate the jaw movement and mastication pattern of different subjects, which could provide quantitative information to the doctors for the diagnosing and clinical treatment of different jaw diseases. ©2010 IEEE.

    DOI

  • Path generator control system and virtual compliance calculator for maxillofacial massage robots

    Hiroyuki Ishii, Hiroki Koga, Yuichi Obokawa, Jorge Solis, Atsuo Takanishi, Akitoshi Katsumata

    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY   5 ( 1 ) 77 - 84  2010年01月  [査読有り]

     概要を見る

    Purpose Oral disorders such as temporomandibular joint disorders (TMD) and dry mouth are common and often require treatment. Maxillofacial massage is used as a complementary and alternative therapy for these disorders. We developed an oral rehabilitation robot that massages the maxillofacial tissues for this purpose. In this paper, we propose a control system for oral rehabilitation robots.
    Method The control system consists of a massage path generator, virtual compliance calculator, and inverse kinematics calculator. The massage path generator computes a target massage path based on a human head model obtained from a reference MRI image of an adult male. The head model includes the shape and elastic modulus of each component, all of which were obtained experimentally. Virtual compliance control is used to control manipulators with position servo actuators. The manipulators, which have a force sensor at their end-effectors, move actively in the direction of the external force applied to their sensors via virtual compliance control. We implemented this control in WAO-1, our first prototype oral rehabilitation robot.
    Results WAO-1 provided massage to three adult male subjects with and without virtual compliance control. One of the subjects was the adult male whose MRI image was used to synthesize the head model in the massage path generator. Without virtual compliance control, the actual massage force was greater than the target massage force, while that with virtual compliance control was less than the target massage force. Furthermore, with virtual compliance control, the massage paths conformed to the head shape of each patient.
    Conclusion Implementation of virtual compliance control in the WAO-1 massage robot is feasible and useful for implementation of safe and potentially effective maxillofacial massage therapy.

    DOI

  • Development of Experimental Setup to Create Novel Mental Disorder Model Rats using Small Mobile Robot

    Hiroyuki Ishii, Qing Shi, Yuichi Masuda, Syunsuke Miyagishima, Syogo Fumino, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Akiko Hirao, Shigenobu Shibata

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     3905 - 3910  2010年  [査読有り]

     概要を見る

    The number of patients with mental disorders is increasing in advanced countries. Many researchers are working to develop mental disorder model animals that contribute to development of new psychotropic drugs. However, we have some doubts about conventional mental disorder models. Therefore, the purpose of this study is to develop an experimental setup to create novel mental disorder model animals. We then developed a small mobile robot and a control system for the robot. Using them, we performed an experiment to develop a mental disorder model rat. In the experiment, we succeeded in developing a new depression model rat and also high activity model rat. These disorder models must be useful in the screening of new psychotropic drugs. In addition, the methodology we developed in this research will contribute to clarifying mechanisms of mental disorders.

    DOI

  • Development of a cognition system for analyzing rat's behaviors

    Qing Shi, Shunsyuke Miyagishima, Shogo Fumino, Shinichiro Konno, Hiroyuki Ishii, Atsuo Takanishi

    2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010     1399 - 1404  2010年  [査読有り]

     概要を見る

    The interaction experiment, between a robot and a rat, will benefit significantly when the rat's actions can be recognized automatically in real time. Regarding quantitative behavior analysis, the number and duration of a rat's actions should be measured efficiently and accurately. Therefore, aiming at the above-mentioned objectives, a novel cognition system capable of detecting rats' actions has been proposed in this paper. The main function of this cognition system lies on the real-time recognition and offline analysis of rats' behaviors. Basic image processing algorithm as Labeling and Contour Finding were employed to extract feature parameters (body length, body area, body radius, rotational angle, and ellipticity) of rat's actions. These parameters are integrated as the input feature vector of NN (Neural Network) and SVM (Support Vector Machine) training system respectively. Preliminary experiments reveal that the grooming, rotating and rearing actions could be recognized with extremely high rate (more than 90%) by both NN and SVM. Compared to NN, SVM provides better recognition rate and less computational cost. © 2010 IEEE.

    DOI

  • Development of the Hybrid Wheel-legged Mobile Robot WR-3 Designed to Interact with Rats

    Qing Shi, Shunsyuke Miyagishima, Shinichiro Konno, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanishi, Cecilia Laschi, Barbara Mazzolai, Virgilio Mattoli, Paolo Dario

    2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS     887 - 892  2010年  [査読有り]

     概要を見る

    This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat No. 3), as an experimental tool to study social interaction between rats and robots. According to the motion analysis of rats, their motion can be divided into two phases: moving and interaction. Therefore, a novel hybrid mechanism in which wheels are used for moving and legs are used for interaction has been designed to actuate the WR-3. Consequently, the robot can move at a high speed using its wheels and reproduce the rats' interaction using its legs and other parts. Based on the dimension and body structure of a mature rat, WR-3 has been designed with dimensions of 240x70x90[mm] and is the same shape as a rat. It consists of 18 DOFs in total: two 1-DOF wheels, four 3-DOF legs (including passive DOFs), a 2-DOF waist, and a 2-DOF neck. Preliminary interaction experiments with rats demonstrate that WR-3 is capable of reproducing interactions such as following, rearing, grooming, mounting, etc. similar to a real rat.

    DOI

  • Development of a Novel Quadruped Mobile Robot for Behavior Analysis of Rats

    Qing Shi, Shunsyuke Miyagishima, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanishi, Cecilia Laschi, Barbara Mazzolai, Virgilio Mattoli, Paolo Dario

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)     3073 - 3078  2010年  [査読有り]

     概要を見る

    In the domain of psychology and medical science, many experiments have been conducted referring to research on animal behaviors, to study the mechanism of mental disorders and to develop psychotropic drugs to treat them. Rodents such as rats are often chosen as experimental subjects in these experiments. However, according to some researchers, the experiments on social interactions using animals are poorly-reproducible. Therefore, we consider that the reproducibility of these experiments can be improved by using a robotic agent that interacts with an animal subject. We have developed a novel quadruped rat-inspired robot, the WR-2 (Waseda Rat No. 2), based on the dimension and body structure of a mature rat. It is capable of reproducing the behaviors such as walking, mounting, rearing and grooming of the rat.

    DOI

  • Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

    Hiroyuki Ishii, Hiroki Koga, Yuichi Obokawa, Jorge Solis, Atsuo Takanishi, Akitoshi Katsumata

    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH   28 ( 9 ) 1228 - 1239  2009年09月  [査読有り]

     概要を見る

    We have developed an oral-rehabilitation robot WAO-1 (Waseda Asahi Oral-rehabilitation robot No. 1) for use in cases of oral disorders such as temperomandibular joint (TMJ) disorder and dry mouth. WAO-1 is the first robot designed to provide massage to the facial tissues of a patient with oral disorders. This robot provides massage to the masseter and temporal muscles and to the parotid gland and duct with simple operation. It consists of two six-degree-of-freedom arms with plungers, a body with headrest, a control box, a PC, and an automatic massage trajectory generation system with virtual compliance control. Two evaluation experiments were performed to verify the effectiveness of the oral massages of WAO-1 compared with the massages given by doctors. In the experiments, the massage to the parotid gland and duct by WAO-1 increased the amount of saliva in the subjects, and the massage to the masseter muscle by WAO-1 increased facial skin temperature and width of the masseter muscle in the subjects. We consider that these results indicate that massage by WAO-1 can be effective for patients with oral disorders.

    DOI

  • An oral rehabilitation robot for massaging the masseter and temporal muscles: a preliminary report

    Yoshiko Ariji, Akitoshi Katsumata, Nobumi Ogi, Masahiro Izumi, Shigemitsu Sakuma, Yukihiro Iida, Yuichiro Hiraiwa, Kenichi Kurita, Chinami Igarashi, Kaoru Kobayashi, Hiroyuki Ishii, Atsuo Takanishi, Eiichiro Ariji

    ORAL RADIOLOGY   25 ( 1 ) 53 - 59  2009年06月  [査読有り]

     概要を見る

    This study determined suitable conditions for masseter and temporal muscle massage using a specially fabricated robot and evaluated its effects on patients with TMJ dysfunction associated with myofascial pain.
    The robot was designed with two arms with six degrees-of-freedom, and equipped with plungers. A phase-1 trial examined 22 healthy volunteers to determine its safety and suitable massage pressure, examining three different pressures. The volunteers evaluated their comfort, warmth, and ease of mouth opening by use of a visual analogue scale (VAS). A phase-2 trial examined the safety, suitable dose regimen, and efficacy in 12 patients. Maximal mouth opening was measured, and muscle pain and massage were evaluated subjectively.
    The robot was safe in the phase-1 trial, except for two massages in which the pressure was excessive. Massages at 6-10 N were given the highest VAS scores. In phase 2, the massage pressure was arbitrary and each muscle was massaged seven times for 1 min, three times every two weeks. After evaluating the efficacy, additional treatments were performed at a greater pressure or for longer. The massage treatment was very effective for most patients.
    The massage treatment was safe and effective for most patients when administered at a pressure of 6-10 N seven times for 1 min per muscle every two weeks. The robot may constitute a useful tool for treating TMJ dysfunction associated with myofascial pain.

    DOI

  • Design and development of biomimetic quadruped robot for behavior studies of rats and mice

    Ishii, H, Masuda, Y, Miyagishima, S, Fumino, S, Takanishi, A, Laschi, C, Mazzolai, B, Mattoli, V, Dario, P

    Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine(EMBC 2009)     7192 - 7195  2009年  [査読有り]

    DOI

  • WKA-1R Robot assisted quantitative assessment of airway management

    Yohan Noh, Masanao Segawa, Akihiro Shimomura, Hiroyuki Ishii, Jorge Solis, Kazuyuki Hatake, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY   3 ( 6 ) 543 - 550  2008年12月  [査読有り]

     概要を見る

    Object The emerging field of medical robotics aims to introduce intelligent tools for physician support. The main challenges for developing efficient medical robotic training systems are simulating real-world conditions of the task and assuring training effectiveness. High anatomic fidelity has been achieved in current systems, but they are limited to provide merely subjective assessments of the training progress. We simulated airway intubation using a unique medical robot and developed objective performance criteria to assess task performance.
    Materials and methods A patient simulation robot was designed to mimic real-world task conditions and provide objective assessments of training progress. The Waseda-Kyotokagaku Airway No. 1R (WKA-1R) includes a human patient model with embedded sensors. An evaluation function was developed for the WKA-1R to quantitatively assess task performance. The evaluation includes performance indices and coefficient weighting. The performance indices were defined based on experiments carried out with medical doctors and from information found in the medical literature. The performance indices are: intubation time, jaw opening, incisor teeth force, cuff pressure, tongue force and tube position. To determine the weighting of coefficients, we used discriminant analysis.
    Results Experiments were carried out with volunteers to determine the effectiveness of the WKA-1R to quantitatively evaluate their performance while performing airway management. We asked subjects from different levels of expertise (from anesthetists to unskilled) to perform the task. From the experimental results, we determined operator effectiveness using the proposed performance indices. We found a significant difference between the experimental groups by evaluating their performances using the proposed evaluation function (P &lt; 0.05).
    Conclusions The WKA-1R robot was designed to quantitatively acquire information on the performances of trainees during intubation procedures. From the experimental results, we could objectively determine operator effectiveness while providing quantitative task assessments.

    DOI

  • Towards understanding the suture/ligature skills during the training process using WKS-2RII

    Jorge Solis, Nobuki Oshima, Hiroyuki Ishii, Noriyuki Matsuoka, Kazuyuki Hatake, Atsuo Takanishi

    INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY   3 ( 3-4 ) 231 - 239  2008年09月  [査読有り]

     概要を見る

    Object Nowadays, most of the surgical training programs follow a duration-based format that focuses on improving technical skills of trainees for a fixed amount of time before declaring their proficiency. More recently, different approaches have been proposed for the skills assessment; such as the objective structured clinical examination (OSCE). The OSCE consists of different stations in which trainees are required to perform practical exams while their performance is evaluated by examiners. However, their performance cannot be easily assessed by the simple observation of the task. As a result, no standard evaluation criteria can be conceived.
    Methods Thanks to the recent advances in Robot Technology (RT); more efficient training systems can be conceived. In particular, authors believe in the importance of developing automated training devices designed to provide training progress quantitative information of trainees. For this reason, at Waseda University, since 2004, we have proposed as a long-term research goal, the development of a Patient Robot which nearly reproduces the human body anatomy and physiology by embedding sensors and actuators into a human model. Due to the complexity of patient robot development, as a first approach, we have proposed the development of a Suture/Ligature Training System. In this paper, the details of Waseda-Kyotokagaku Suture No. 2 Refined II (WKS-2RII) are presented. The WKS-2RII has been designed to reproduce the task conditions of the suture and ligature as well as to provide quantitative information of artificial skin movement, and the physical properties of the suture. From such collected data, we have proposed an Evaluation Function that integrates all the proposed evaluation parameters.
    Results In order to verify the effectiveness of the WKS-2RII, a set of experiments were proposed to analyze the performance of subjects while performing the task with the WKS-2RII. The experiments were designed to determine if the proposed system may provide more detailed information of the task in a quantitative way. From the experimental results, we have confirmed that the WKS-2RII is capable of providing quantitative assessment of the task. In contrast to the conventional training methods (i.e., OSCE, etc.), the WKS-2RII can provide more detailed information of the task performance, so that the proposed system can detect the differences among different level of expertise (five surgeons, five medical students and five unskilled persons) as well as detect improvements of trainees by plotting the learning curve.
    Conclusions In this paper, we have presented the improvements on the WKS-2RII and a unique evaluation function has been proposed. Regarding the weighting coefficients, the discriminant analysis method was used to determine the optimal values of the weighting coefficients.

    DOI

  • Development of the evaluation system for the airway management training system WKA-1R

    Noh, Y, Segawa, M, Shimomura, A, Ishii, H, Solis, J, Hatake, K, Takanishi, A

    Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics(BioRob 2008)     574 - 579  2008年  [査読有り]

    DOI

  • Development of autonomous experimental setup for behavior analysis of rats

    Hiroyuki Ishii, Motonori Ogura, Shunji Kurisu, Atsushi Komura, Atsuo Takanishi, Naritoshi Iida, Hiroshi Kimura

    Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)     4152 - 4157  2007年  [査読有り]

    DOI

  • Experimental study on task teaching to real rats through interaction with a robotic rat

    Ishii, H, Ogura, M, Kurisu, S, Komura, A, Takanishi, A, Iida, N, Kimura, H

    Lecture Notes in Computer Science   4095   643 - 654  2006年  [査読有り]

▼全件表示

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    J-GLOBAL

  • Made in Japanの小児外科手術支援システムの臨床応用を目指して―九大早稲田ジョイントチームの取り組み―

    家入里志, 宗崎良太, 小林洋, 石井裕之, 植村宗則, 富川盛雅, 高西淳夫, 藤江正克, 橋爪誠, 田口智章

    日本小児外科学会雑誌   49 ( 3 ) 568  2013年05月

    J-GLOBAL

  • 超音波診断装置による肝臓領域の自動走査制御系構築のための肋間認識と肋間走査

    菅宮友莉奈, 中楯龍, 石井裕之, アマル サフワン, 斎藤明子, 菅原基晃, 仁木清美, 高西淳夫, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   31st  2013年

    J-GLOBAL

  • インテリジェント腹腔鏡手術トレーニングシステムの開発 : (第2報)-臓器モデルの動作がタスクの難易度に及ぼす影響の検討-

    石井 裕之, 木下 新一, 家入 里志, 植村 宗則, 富川 盛雅, 橋爪 誠, 高西 淳夫

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   14 ( 3 ) 200 - 201  2012年10月

    CiNii

  • 小児内視鏡外科手術における客観的技術評価システム開発の試み(第2報) : 噴門形成術における呼吸性移動モデル

    家入 里志, 石井 裕之, 宗崎 良太, 富川 盛雅, 松岡 紀之, 高西 淳夫, 橋爪 誠, 田口 智章

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   14 ( 3 ) 274 - 275  2012年10月

    CiNii

  • 腸管短縮支援のための大腸内視鏡装着型マニピュレータの開発

    道法萩那, 鵜川源也, 木下純一, LEE Jaewoo, 菊池大輔, 石井裕之, 植村宗則, 神代竜一, 長尾吉泰, 赤星朋比古, 家入里志, 富川盛雅, 橋爪誠, 高西淳夫

    日本ロボット学会学術講演会予稿集(CD-ROM)   30th   ROMBUNNO.2L2-2  2012年09月

    J-GLOBAL

  • 効果的な内視鏡外科手術トレーニングのためのメタ認知の重要性と定量的縫合技術シミュレータの開発

    富川 盛雅, 植村 宗則, 石井 裕之, 松岡 紀之, 長尾 吉泰, 大内田 研宙, 赤星 朋比古, 家入 里志, 大平 猛, 高西 淳夫, 橋爪 誠

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   13 ( 3 ) 214 - 215  2011年11月

    CiNii

  • 単孔式手術における3Dドームモニターの有用性の検討

    長尾 吉泰, 植村 宗則, 剣持 一, 吉田 正樹, 堀 淳一, 石井 裕之, 家入 里志, 大内田 研宙, 富川 盛雅, 橋爪 誠

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   13 ( 3 ) 244 - 245  2011年11月

    CiNii J-GLOBAL

  • インテリジェント腹腔鏡手術トレーニングシステムの開発 : 第一報 : 臓器の動作を再現可能なマニピュレータの設計・製作

    石井 裕之, 植村 宗則, 松岡 優典, 千原 照永, 木下 新一, 徳本 光弘, 追塩 拓也, 富川 盛雅, 橋爪 誠, 高西 淳夫

    Journal of Japan Society of Computer Aided Surgery : J.JSCAS   13 ( 3 ) 376 - 377  2011年11月

    CiNii J-GLOBAL

▼全件表示

産業財産権

  • 触診シミュレータ

    岩城 直登, 高西 淳夫, 石井 裕之, 川崎 智佑喜, 日塔 和宏, 武部 康隆

    特許権

  • 管路補修装置

    石井 裕之, 柴田 尚樹

    特許権

  • 自己伸展型推進装置

    石井 裕之, 佐竹 祐紀

    特許権

  • 管内移動システム及び移動体のスタック検出用プログラム

    高西 淳夫, 石井 裕之, 竹内 弘美, 佐藤 衛, 李 駿騁, 野村 幸暉, 吉本 昂平

    特許権

  • 対話型問診訓練システム、対話型処理装置及びそのプログラム

    高西 淳夫, 石井 裕之, 松永 健太朗

    特許権

  • 形状記憶合金を用いたアクチュエータ及びアクチュエータユニット

    松永 健太朗, 山北 高之, 追塩 拓也, 高西 淳夫, 石井 裕之

    特許権

  • 軟素材の弾性変形機構

    高西 淳夫, 石井 裕之, 王 春宝, 海老原 一樹, 松岡 優典, 千原 照永

    特許権

  • 流体検出装置

    5923813

    高西 淳夫, 石井 裕之, ノヨハン, 石 青, 王 春宝

    特許権

  • 力センサ及び力センシングシステム

    5212944

    高西 淳夫, ノヨハン, 石井 裕之, ソリス ホルヘ

    特許権

  • 位置検出装置、そのプログラム、モニタリングシステム、及び気管挿管訓練装置

    5038276

    佐藤 圭, 高西 淳夫, 菊田 剛, ノヨハン, 石井 裕之, 下村 彰宏, 瀬川 正尚, ソリス ホルヘ

    特許権

  • 体部位自動判別システム

    5234458

    高西 淳夫, 勝又 明敏, 古賀 裕樹, 石井 裕之, ソリス ホルヘ, 小保川 祐一, 江口 晃一

    特許権

  • マッサージロボット及びその制御プログラム

    5119473

    高西 淳夫, 勝又 明敏, 古賀 裕樹, 石井 裕之, ソリス ホルヘ, 小保川 祐一

    特許権

  • 光学式力センサ

    高西 淳夫, ノヨハン, ソリス ホルヘ, 石井 裕之, 瀬川 正尚, 下村 彰宏

    特許権

  • 気管挿管訓練装置

    4932768

    高西 淳夫, ノヨハン, ソリス ホルヘ, 石井 裕之, 小椋 優, 長弘 考司, 瀬川 正尚, 下村 彰宏

    特許権

  • 医療用手技評価システム、手技評価装置及び手技評価プログラム

    5083776

    高西 淳夫, ムハマド アイズディン, 大島 信希, 翠川 龍, ソリス ホルヘ, 小椋 優, 石井 裕之

    特許権

  • マッサージロボット及びその制御プログラム並びに体部位特定用ロボット

    5097907

    石井 裕之, 高西 淳夫, ソリス ホルヘ, 勝又 明敏, 臼田 雄一, 古賀 裕樹, 松野 昌生, 小椋 優

    特許権

  • 歩行パターン作成装置、2足歩行ロボット装置、歩行パターン作成方法、2足歩行ロボット装置の制御方法、プログラムおよび記録媒体

    高西 淳夫, 石井 裕之, 小柳津 研一, 菅原 雄介, 小鹿 健一郎, 川北 泉, 田中 智明

    特許権

▼全件表示

受賞

  • 平成30年度文部科学大臣表彰若手科学者賞

    2018年04月   文部科学省  

  • Advanced Robotics Best Paper Award

    2015年09月   日本ロボット学会   A novel method to develop an animal model of depression using a small mobile robot  

    受賞者: Hiroyuki Ishii, Qing Shi, Shogo Fumino, Shinichiro Konno, Shinichi Kinoshita, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Shigenobu Shibata, Atsuo Takanishi

     概要を見る

    日本ロボット学会が発行する英文誌の論文賞

  • ICRA2014, Best Cognitive Robotics Paper Award, Finalist

    2014年06月   IEEE Robotics and Automation Society   Control of posture and trajectory for a rat-like robot interacting with multiple real rats  

    受賞者: Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda

  • Best research abstracts

    2013年06月   Society in Europe for Simulation Applied to Medicine   Novel airway management simulator providing quantitative feedback to trainees  

    受賞者: Ishii H, Noh Y, Shoji S, Matsuoka N, Nakae Y, Katayama T, Takanishi A

  • 日本ロボット学会研究奨励賞

    2012年09月   日本ロボット学会   小型移動ロボットを用いた精神疾患モデル動物の開発  

    受賞者: 石井裕之

  • CME2012, Best Conference Paper Award

    2012年07月   ICME   Development of Airway Management training system WKA-4: Provide useful feedback of trainee performance to trainee during Airway Management  

    受賞者: Yohan Noh, Chunbao Wang, Mitsuhiro Tokumoto, Solis Jorge, Hiroyuki Ishii, Atsuo Takanishi, Hatake Kazuyuki, Satoru Shoji

  • 第18回日本コンピュータ外科学会大会講演論文賞

    2009年11月   日本コンピュータ外科学会   時間経過による患者の状態変化が再現できる気管挿管訓練用頭部モデルWKA-3の開発  

    受賞者: 佐藤圭,ノヨハン, 下村彰宏, 瀬川正尚, 石井裕之, ソリスホルヘ, 高西淳夫, 畠和幸

  • 2008年度優秀業績賞

    2008年03月   早稲田大学先端科学・健康医療融合研究機構  

    受賞者: 石井裕之

  • RoBio2007, Best Paper Award

    2007年12月   IEEE   Biomechatronic Design and Development of a Legged Rat Robot  

    受賞者: F. Patane, V. Mattoli, C. Laschi, B. Mazzolai, P. Dario, H. Ishii, S. Kurisu, A. Koumura, A. Takanishi

▼全件表示

共同研究・競争的資金等の研究課題

  • 観察と洞察に基づく人間ロボット協調制御の創出

    研究期間:

    2019年04月
    -
    2024年03月
     

     概要を見る

    高齢者介助やリハビリ等の場面で介助者と被介助者との間で求められる信頼関係が,人とその人を支援するロボットとの間にも必要である。そのためには互いに行動を予測しつつ適応的に反応できる「相互誘導」が有効である。本研究では、人間の運動ダイナミクスと動機付けの心理ダイナミクスの変化に基づく予測制御、学習による行動のコンテキスト生成とロボットの人間適応制御を開発し、人とロボットとの相互誘導実現を目指す

  • ヒューマノイドの全身協調による瞬発的な高出力運動の実現に関する研究

    研究期間:

    2017年04月
    -
    2020年03月
     

  • ロボット技術を用いた動物の「遊び」行動のモデル化

    研究期間:

    2015年04月
    -
    2018年03月
     

     概要を見る

    ラットの「遊び行動」を研究するための実験系の構築に取り組んだ.まず,ラットと遊び行動を行う新たな小型移動ロボットを開発した.ラットとロボットの遊び行動をリアルタイムで計測するシステムと,その計測結果にもとづいてロボットの行動を制御するシステムについても構築した.これらを用いて,機械学習によって,ロボットがラットとのインタラクションを通して,適応的に遊び行動を獲得することを試みた.その結果,学習が比較的短時間で収束することが確認された.学習結果にもとづいてロボットが行動する場合,ラットの活動性を高めるなど,ラットとの間に遊び行動が成立することが確認できた

  • ロボット技術を応用した全自動歯ブラシの事業化検証のための歯垢除去機構の開発

    JST  大学発新産業創出プログラム:社会還元加速プログラム

    研究期間:

    2017年10月
    -
    2018年03月
     

  • 人間共存型ロボットの能動的な働きかけによる人間協調技術の研究

    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(S))

    研究期間:

    2013年05月
    -
    2018年03月
     

     概要を見る

    (A)接近~弱い接触による協調的な意図伝達人間とロボットが互いに移動軌道を調整しあうための協調的な意図伝達手法をより現実に近い動的な環境に適用した。これまでは、相対速度が比較的小さいすれ違いを想定していたが、実際の人間環境下における流れのある環境でのすれ違いや複数人とのすれ違いに対応するための協調移動行動戦略に関する検討を行った。また、27年度までの成果を踏まえて、ロボットの行動が人間に与える心理の変化、移動効率の変化、ロボット自身の移動効率の変化をそれぞれ定量化し、環境状況に応じてロボットが行動選択を取れるような行動戦略の基盤技術を開発した。(B)人間-ロボットの接触ダイナミクスモデル実環境下での2足歩行ロボットの安定した歩行を実現する手段として、路面状況の認識にもとづく歩容生成について研究を行った。具体的には、ハイブリッド型A*アルゴリズムによって、最適な歩容を生成するアルゴリズムを開発した。これにより、実環境下のさまざまな場面で、2足歩行ロボットがより高効率にかつ人間らしく歩行することが可能となる。他方、人間-ロボット協調系のモデルとして、ラットと小型移動ロボットによるインタラクション実験を行い、両者の協調に必要な要素の抽出を試みた。具体的には、小型移動ロボットがラットに対して適度な速度と軌道で接近を行うことで、ラットに興味およびそれにともなう快情動を生起させる可能性が示された。(C)強い接触による協調的な人間運動の誘発触診ロボットを用いて、ロボットによる強い接触をともなう運動によってもたらされる人間の心理状態変化の推定を行った。さらに、心理的な負荷が高いと考えられる強い接触、具体的には歩行リハビリテーションにおけるロボットの歩行への介入方法の研究を行った。介入によって心理的な負担を与えずに人間の運動誘発がもたらされることを被験者実験から確認した。本研究課題は、接近~接触の極近距離における人間協調技術のための基盤技術として、3課題を設定して取り組んでいる。28年度は、27年度までに開発してきた個々の技術群を体系化し、基盤的な技術までブラッシュアップさせるとともに、人間協調技術としての統合化に向けたモジュール化を図った。具体的には、心理面と物理面を考慮した協調移動行動戦略の基本フレームワーク、接触におけるダイナミクスモデルを開発した。また、強い接触時やロボットのアプローチに対する生理的指標に基づく不快感などの定量化を行った。これらをもとに、接近~弱い接触による協調的な意図伝達をしながら、人間-ロボットの接触ダイナミクスモデルに基づく、強い接触による協調的な人間運動の誘発を行う一連の協調移動制御のフレームワークの統合モデルを開発した。これらを人間共存ロボットに実装し、より現実に近い通路を模擬した動的なすれ違い環境に導入し、統合実証実験(D)を行った。ロボットからの適切な働きかけと制御に基づき確実に安全に通路を通り抜けられること、さらに、適切な意図推定とインタラクションを行うことで、移動の効率性だけでなく、心理的側面に関してもより効果が得られることが分かった。実際の人間環境下における流れのある環境でのすれ違いや、複数人とのすれ違いを行う29年度実施予定の統合実証実験(D)を行うことを想定し、上記のシナリオにおける人とロボットの協調移動行動の構築を行った。開発した技術は、力学的なモデルをベースとした接近時および接触時の人間反応(行動)モデルおよびロボットの行動モデルを形成するための基盤技術群であり、上述のような実シナリオでの人間協調技術への統合・接続性を考慮して開発されている。以上のことから、29年度において、ロボットからの能動的な働きかけに基づく人間協調技術を構築していくことがスムーズかつ効果的にできると考えている。実環境には、病院や駅、ショッピングモール、スポーツ競技場など、多種多様な場所が存在する。さらに、すれ違う人には、老人、子供、運搬中の人、急いでいる人など多岐に渡る。この場合、上記の条件に応じた働きかけ戦略をあらかじめ記述しておくことは難しい。これまでに得られた基本的な働きかけ戦略モデル(グランドルール)を初期値として実装し、経験(移動)によって得られた知識(センサ情報)を適切に分析して、ロボットの行動スキーマとして獲得していく機能を取り込んでいくことも考えている。また、IoT (Internet of Things)と関連して、インフラやその他のロボットなどさまざまものと通信できることで、協調移動行動戦略は新たな方向へ展開も模索していく。技術的な難しさとサービスへの連結性を鑑み、それらのベンチマークとして、オフィスや病院などの比較的人の少ない環境での、人の意図推定に基づく経路決定や安全でスムーズな協調移動、展示会場などのかなり混雑しているが移動量は小さい環境での、能動的な接触や声掛けをうまく利用した協調移動実験を実施することを考えている。また、安全・安心な移動に不可欠なハードウェアに関しては、高精度トルクセンサを有する高応答性マニピュレータをはじめとする申請者らが開発してきた独自技術を洗練させ、ソフトウェアと統合する。28年度に開発した技術は、力学的なモデルをベースとした接近時および接触時の人間反応(行動)モデルおよびロボットの行動モデルを形成するための基盤技術群であり、上述のような実シナリオでの人間協調技術への統合・接続性を考慮して開発されているため、ロボットからの能動的な働きかけに基づく人間協調技術を構築していくことかスムーズかつ効果的にできると考えている

  • 人間共存型ロボットの能動的な働きかけによる人間協調技術の研究

    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(S))

    研究期間:

    2013年05月
    -
    2018年03月
     

     概要を見る

    (A)接近~弱い接触による協調的な意図伝達人間とロボットが互いに移動軌道を調整しあうための協調的な意図伝達手法をより現実に近い動的な環境に適用した。これまでは、相対速度が比較的小さいすれ違いを想定していたが、実際の人間環境下における流れのある環境でのすれ違いや複数人とのすれ違いに対応するための協調移動行動戦略に関する検討を行った。また、27年度までの成果を踏まえて、ロボットの行動が人間に与える心理の変化、移動効率の変化、ロボット自身の移動効率の変化をそれぞれ定量化し、環境状況に応じてロボットが行動選択を取れるような行動戦略の基盤技術を開発した。(B)人間-ロボットの接触ダイナミクスモデル実環境下での2足歩行ロボットの安定した歩行を実現する手段として、路面状況の認識にもとづく歩容生成について研究を行った。具体的には、ハイブリッド型A*アルゴリズムによって、最適な歩容を生成するアルゴリズムを開発した。これにより、実環境下のさまざまな場面で、2足歩行ロボットがより高効率にかつ人間らしく歩行することが可能となる。他方、人間-ロボット協調系のモデルとして、ラットと小型移動ロボットによるインタラクション実験を行い、両者の協調に必要な要素の抽出を試みた。具体的には、小型移動ロボットがラットに対して適度な速度と軌道で接近を行うことで、ラットに興味およびそれにともなう快情動を生起させる可能性が示された。(C)強い接触による協調的な人間運動の誘発触診ロボットを用いて、ロボットによる強い接触をともなう運動によってもたらされる人間の心理状態変化の推定を行った。さらに、心理的な負荷が高いと考えられる強い接触、具体的には歩行リハビリテーションにおけるロボットの歩行への介入方法の研究を行った。介入によって心理的な負担を与えずに人間の運動誘発がもたらされることを被験者実験から確認した。本研究課題は、接近~接触の極近距離における人間協調技術のための基盤技術として、3課題を設定して取り組んでいる。28年度は、27年度までに開発してきた個々の技術群を体系化し、基盤的な技術までブラッシュアップさせるとともに、人間協調技術としての統合化に向けたモジュール化を図った。具体的には、心理面と物理面を考慮した協調移動行動戦略の基本フレームワーク、接触におけるダイナミクスモデルを開発した。また、強い接触時やロボットのアプローチに対する生理的指標に基づく不快感などの定量化を行った。これらをもとに、接近~弱い接触による協調的な意図伝達をしながら、人間-ロボットの接触ダイナミクスモデルに基づく、強い接触による協調的な人間運動の誘発を行う一連の協調移動制御のフレームワークの統合モデルを開発した。これらを人間共存ロボットに実装し、より現実に近い通路を模擬した動的なすれ違い環境に導入し、統合実証実験(D)を行った。ロボットからの適切な働きかけと制御に基づき確実に安全に通路を通り抜けられること、さらに、適切な意図推定とインタラクションを行うことで、移動の効率性だけでなく、心理的側面に関してもより効果が得られることが分かった。実際の人間環境下における流れのある環境でのすれ違いや、複数人とのすれ違いを行う29年度実施予定の統合実証実験(D)を行うことを想定し、上記のシナリオにおける人とロボットの協調移動行動の構築を行った。開発した技術は、力学的なモデルをベースとした接近時および接触時の人間反応(行動)モデルおよびロボットの行動モデルを形成するための基盤技術群であり、上述のような実シナリオでの人間協調技術への統合・接続性を考慮して開発されている。以上のことから、29年度において、ロボットからの能動的な働きかけに基づく人間協調技術を構築していくことがスムーズかつ効果的にできると考えている。実環境には、病院や駅、ショッピングモール、スポーツ競技場など、多種多様な場所が存在する。さらに、すれ違う人には、老人、子供、運搬中の人、急いでいる人など多岐に渡る。この場合、上記の条件に応じた働きかけ戦略をあらかじめ記述しておくことは難しい。これまでに得られた基本的な働きかけ戦略モデル(グランドルール)を初期値として実装し、経験(移動)によって得られた知識(センサ情報)を適切に分析して、ロボットの行動スキーマとして獲得していく機能を取り込んでいくことも考えている。また、IoT (Internet of Things)と関連して、インフラやその他のロボットなどさまざまものと通信できることで、協調移動行動戦略は新たな方向へ展開も模索していく。技術的な難しさとサービスへの連結性を鑑み、それらのベンチマークとして、オフィスや病院などの比較的人の少ない環境での、人の意図推定に基づく経路決定や安全でスムーズな協調移動、展示会場などのかなり混雑しているが移動量は小さい環境での、能動的な接触や声掛けをうまく利用した協調移動実験を実施することを考えている。また、安全・安心な移動に不可欠なハードウェアに関しては、高精度トルクセンサを有する高応答性マニピュレータをはじめとする申請者らが開発してきた独自技術を洗練させ、ソフトウェアと統合する。28年度に開発した技術は、力学的なモデルをベースとした接近時および接触時の人間反応(行動)モデルおよびロボットの行動モデルを形成するための基盤技術群であり、上述のような実シナリオでの人間協調技術への統合・接続性を考慮して開発されているため、ロボットからの能動的な働きかけに基づく人間協調技術を構築していくことかスムーズかつ効果的にできると考えている

  • 生体に適用可能な超音波ビジュアルサーボの開発とその集束超音波治療への応用

    研究期間:

    2013年04月
    -
    2016年03月
     

     概要を見る

    本研究課題は一般の医療機関に普及している超音波診断装置のプローブをロボットに持たせ、その画像情報をコンピュータで処理することにより、呼吸等で移動する人間の臓器の特定断面を常に自動で捉え続けるシステムの開発を目的とし、専用のロボットを開発しさらに追従性能の高精度化に取り組んだ。患者の呼吸情報と画像情報とのセンサフュージョンにより、フィードバックのみの制御に比べ格段に追従誤差を減少させることに成功した

  • ロボットを用いたラットのストレスレベルの推測および操作が可能な実験系の開発

    研究期間:

    2013年04月
    -
    2015年03月
     

     概要を見る

    本研究では、動物心理学、ロボット工学の融合により、ロボット技術を用いてラットのストレスレベルを定量的に推測、操作可能な実験系の開発を目指す。そのため(1)ロボットの行動、ラットの行動、ラットのストレスレベルの関係モデル(2)ラットのストレスレベルを操作する為のロボットの動作アルゴリズムを明らかにした。また、相互作用の評価実験を行うことで、ラットのストレスレベルを変更させることを確認できた

  • ロボティクスとベクトル解析を融合させた新たな向精神薬スクリーニング系の構築

    研究期間:

    2012年04月
    -
    2014年03月
     

     概要を見る

    本研究では,申請者らが開発した精神疾患モデル作成技術をベースに,ロボット技術とデータマイニング技術を融合させた新たな向精神薬スクリーニング系の開発に取りんだ.まず,小型移動ロボットを用いてうつ病モデル・ラット を作成する手法の開発に成功した.次に,作成したうつ病モデル・ラットの行動を多次元的に解析し,データベースを作成した.次に,データベースに対してベクトル解析を行い,向精神薬の効果の固有ベクトルについて検討を行った

  • 気管チューブカフ管理を提言できる新規システムの構築

    科学研究費助成事業(東京女子医科大学)  科学研究費助成事業(挑戦的萌芽研究)

    研究期間:

    2011年
    -
    2012年
     

     概要を見る

    オリジナル円筒気管モデルを製作し、気管モデルの内側面にシート状の薄型圧力センサをとりつけ数 cmH_2O から数 10cmH_2O の範囲の微小な圧力を測定することのできる新規システムを構築した。円筒気管モデルに異なる形状の気管チューブを挿管しカフを膨張させると、気管モデル内壁に作用する圧力は同じカフ内圧であってもカフの形状により異なることが示された。

  • 精神疾患研究のためのロボットを用いた疾患モデル実験系の開発

    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(B))

    研究期間:

    2009年
    -
    2010年
     

     概要を見る

    本研究では,小型移動ロボットを用いてラットにストレスを暴露することで,新たな精神疾患モデル動物を作成することを目的としている.まず,ラットと同等の大きさと運動性能を有する小型移動ロボットを開発した.そのロボットを用いてラットに対してストレス暴露を行ったところ,ストレスを暴露されたラットは,活動性が有意に低下することが確認された.これを新たな精神疾患モデル動物として提案する.

  • ラットとの共生を目指したロボットの行動モデルの開発

     概要を見る

    平成19年度は,新たに4足歩行が可能な小型移動ロボットの開発と,ラットに精神疾患様の行動を発症させる実験プロトコルの開発を行った.本研究では,これまで車輪駆動型の小型移動ロポットの開発を行ってきたが,ラットとロボットの間により多様なインタラクションを生起させるためには,より多様な動作が可能なロボットが必要であるとの考えに達した.そこで,新たに四肢を有し,4足歩行とラットの動作を再現可能なロボットの開発を行った.開発に際しては,独自に開発したラットの歩行解析実験装置を用いてラットの歩行解析を行い,その結果にもとづき,ロボットの仕様と自由度配置を決定した.また,同ロボット用の歩行パターンジェネレータを開発し,動物的な歩行を実現した.また,インタラクション実験においては,ロボットとのインタラクションがラットにどのような心理的変化をもたらせるかについて調査を行った.まず,ロボットの運動パターンをさまざまに変化させ,その際のラットの反応について観察した.その結果,ロボットがある特定のパターンで動作した際に,ラットに精神疾患様の行動を発現させる可能性があることが示唆された.そこで,ロボットの動作パターンと精神疾患様の行動の間の関連性を調査するために,さまざまな実験を行った.実験の結果,ある特定の条件がそろった際に,ラットに精神疾患様の行動が発現することが示唆された.これは,ラットとロボットによるインタラクション実験系が,精神疾患に関する基礎実験系に応用可能であることを示唆するものであり,大変興味深い

  • 小型姿勢センサモジュールの開発と手術手技訓練システムの構築

     概要を見る

    本研究では,超小型姿勢センサの開発と,そのセンサの手術手技訓練システムへの応用を目的とした.3年間の研究において,無線通信が可能な超小型姿勢センサを開発した.また,それらのセンサを用いて実験を行い,姿勢センサの計測値から内視鏡手術手技を評価する方法を考案した

▼全件表示

講演・口頭発表等

  • ロボットを用いたラットの行動研究と薬剤開発への応用

    石井裕之  [招待有り]

    第72回NPO法人日本口腔科学会学術集会シンポジウム  

    発表年月: 2018年05月

  • 評価型シミュレータによる学習・教育支援ソフトウェアの開発

    石井裕之  [招待有り]

    第46 回日本医学教育学会大会産学連携セミナー   (和歌山)  日本医学教育学会  

    発表年月: 2014年07月

  • Innovation in Skills Evaluation and Development: "physical" simulators with quantitative evaluation

    Hiroyuki Ishii  [招待有り]

    Annual Meeting of SESAM 2014   (Poznan)  Society in Europe for Simulation Applied to Medicine  

    発表年月: 2014年06月

  • Challenge to Sensor Technology: Can Sensors Verify Trainee's Skill?

    Hiroyuki Ishii  [招待有り]

    2014 Annual Meeting of Society of Simulation in Healthcare   (San Francisco)  Society of Simulation in Healthcare  

    発表年月: 2014年01月

  • 自己学習から試験まで幅広い手技教育場面に対応した気道管理シミュレータ

    石井裕之  [招待有り]

    第45 回日本医学教育学会大会産学連携セミナー   (千葉)  日本医学教育学会  

    発表年月: 2013年07月

  • Airway Management Simulator with Quantitative Feedback

    Hiroyuki Ishii  [招待有り]

    Annual Meeting of SESAM 2013   (Paris)  Society in Europe for Simulation Applied to Medicine  

    発表年月: 2013年06月

  • 手技評価と挿管困難症例の再現が可能な気道管理シミュレータ

    石井裕之  [招待有り]

    第44 回日本医学教育学会大会ランチョンセミナー   (神奈川)  日本医学教育学会  

    発表年月: 2012年07月

  • 手技評価機能を備えた医学教育シミュレータに関する研究

    石井裕之  [招待有り]

    第42 回日本医学教育学会大会ランチョンセミナー   (東京)  日本医学教育学会  

    発表年月: 2010年07月

  • 手技評価が可能な医学教育シミュレータの開発

    石井裕之  [招待有り]

    第41 回日本医学教育学会大会ランチョンセミナー   (大阪)  日本医学教育学会  

    発表年月: 2009年07月

  • ラットと小型移動ロボットのインタラクションに関する研究

    石井裕之  [招待有り]

    第24回日本疾患モデル学会総会   (茨城)  日本疾患モデル学会  

    発表年月: 2007年09月

  • ラットとラット形ロボットを用いた生物とロボットの共生に関する研究

    石井裕之  [招待有り]

    関西実験動物研究会第92回研究会   (京都)  関西実験動物研究会  

    発表年月: 2006年12月

▼全件表示

特定課題研究

  • 腱駆動昆虫形ロボットの開発を通した生物規範型ロボットの設計論の深化

    2020年   石橋啓太郎

     概要を見る

    生物規範型ロボットに関する先行研究において,ミリスケール以下のサイズで昆虫の運動と機能を精緻に再現できているロボットはほとんどない.特に,実際の昆虫の脚が,極めて合理的な構造を有する腱によってさまざまな物体の表面に強力にとりつくことを実現しているのに対して,この動作を再現可能な昆虫形ロボットはまだ実現されていない.そこで本研究では,カブトムシ程度の大きさの腱駆動昆虫形ロボットの開発に取り組んだ.具体的には,昆虫の脚の腱の機能を力学的に解析し,その結果にもとづいて新たなミリスケール脚を設計し,試作した.

  • 自ら形状をつくりだす展開構造物に関する基礎理論の構築とその実証試験機の開発

    2020年   佐竹祐紀

     概要を見る

    本研究は,申請者の提案する全く新しい方法によって任意の形状を作りだすことが可能な展開構造物に関する基礎理論の構築と,その可能性を示す実証試験機の開発を目的としている.この展開構造物の特徴は,長尺のインフレータブル(空気圧展開)構造と熱溶着の組み合わせにより,展開前の平板状のインフレータブルチューブに対して部分的に熱溶着を行うことで,展開後に任意の形状を形成することが可能な点にある.この原理にもとづいて試作機を開発した.また,新たに各種センサと探索アルゴリズムを用いて,この展開構造物の展開を自動制御するシステムの構築を行った.

  • 人間に行動変容を促す機械システムの設計論の構築

    2018年  

     概要を見る

    本研究では,人間に行動変容を促すロボットシステムとして,児童とインタラクションを行うボール型ロボットの開発に取り組んだ.開発したボール型ロボットは直径が約20cmで,内蔵された機構によって跳躍することが可能となっている.跳躍機構は,モータの回転によってばねにエネルギを蓄積し,それを瞬間的に開放することで跳躍力を得る.また跳躍の方向を変化させる機構も備えており,任意の方向へ跳躍することが可能となっている.加えて,形状記憶合金と布で製作された柔軟な外装を有しており,児童がボールに接触する場面での安全性を確保している.

  • 小型脚式ロボットとマイクロファブリケーション技術の融合による壁面登攀の実現

    2018年   石橋啓太郎

     概要を見る

    本研究では,先端に爪のようや鋭利な構造を有する脚を駆動して,樹木等の凹凸のある表面上を移動する小型移動ロボットの開発に取り組んだ.研究期間内に,ばね鋼線材によって製作された超軽量の脚を,形状記憶合金アクチュエータによって駆動する小型の6足ロボットを開発した.開発したロボットについて評価実験を実施したところ,不整地での歩行が可能であることが確認された.また30度までの傾斜の登攀が可能であることも確認された.加えて,形状記憶合金アクチュエータの使用により,全く駆動音を発生させずに移動することが可能であることを確認した.

  • 自律移動型ロボットによる環境モニタリング・システムの高度化に関する研究

    2018年   高西淳夫

     概要を見る

    研究代表者は多年にわたり,屋外環境下で自律的に移動し,環境情報の収集を行う環境モニタリングの開発に取り組んでいる.今回,湖沼内においてカミツキガメ等の害獣の生態調査を行う新たなロボットを開発した.このロボットはアルキメディアンスクリューによって,従来の移動ロボットでは進入や移動が困難であった泥濘地の地表および地中で移動することが可能となっている.具体的には,2個のアルキメディアンスクリューを,回転モータを介して直列に接続し,前部と後部を逆向きに回転させることで,路面や周囲の流体からの反力を推力に変換する.今後,ロボット先端にカメラや触覚センサを搭載し,泥濘地に潜むカミツキガメの探索に用いる.

  • ボール形ロボットの開発を通したインタラクション指向型人工物の身体デザインの研究

    2017年   水村優治郎, 石橋啓太郎, 山田壮一

     概要を見る

    本研究では,発達障害児などとインタラクションを行うボール形ロボットの設計と製作を行った.具体的には,跳躍する機能を備え,弾性体で構成される外殻に覆われたボール形ロボットを製作した.跳躍機構は,ばね,円筒カム,ラチェット,DCモータによって構成されており,DCモータが発生する力をばねに蓄え,それを一気に解放することで跳躍動作を生成する.またロボットには,マイクロコントローラ,無線通信モジュール,バッテリーが実装されており,外部から給電ケーブルなどによる拘束を受けることなく運動を行うことが可能となっている.実験の結果,ボール形ロボットは想定された程度の跳躍力を発揮できる事が確認された.

  • 自律移動型ロボットを用いたログデータ回収システムの開発

    2017年   高西淳夫

     概要を見る

    本研究では,野生動物の体内やその生息環境に埋め込まれた計測デバイスからデータを回収するための自律移動型ロボット・システムの開発に取り組んだ.具体的には,湖沼や泥濘地など従来型の移動ロボットでは移動が難しかった環境下でも移動が可能な小型移動ロボットの設計と製作を行った.このロボットは,独自に開発された駆動機構によって湖沼や泥濘地でも推力を得ることが可能で,野生動物が生息する深部領域へ進入することが可能となっている.製作されたロボットの実験室における評価実験の結果,想定された移動能力を有することが確認された.今後は,行政組織などと連携の上,実証実験に取り組む.

  • 『ラットと小型ロボットによるインスタラクション実験を通した人間-機械協調系の基礎モデルの構築』

    2016年  

     概要を見る

    小型移動ロボットとラットの遊びに注目して研究を行った.まず,ラットとロボットによる遊びの新たな形態として,壁のぼり行動に注目し,新たに壁のぼりが可能な小型移動ロボットを開発した.つづいてラット同士のインタラクションの観察にもとづき,ラットとの間に遊びを生起させるためのロボットの行動アリゴリズムの構築を行った.そして,このアルゴリズムによって制御されるロボットとラットによるインタラクション実験を行った.実験には,有色ラットの一種で,社会性が高くインタラクション実験に適したLong Evansを用いた.この実験では,ロボットがラットに対して遊び行動を働きかけ,その際のラットの行動の変化を観察した.

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委員歴

  • 2015年10月
    -
    2017年09月

    日本コンピュータ外科学会  評議員

  • 2017年03月
    -
     

    日本ロボット学会  代議員

  • 2015年04月
    -
    2015年12月

    ICAM2015  Social Event Chair

  • 2015年04月
    -
    2015年12月

    ICAM2015  Social Event Chair

  • 2013年02月
    -
    2013年11月

    IROS2013  Associate Editor

  • 2013年02月
    -
    2013年11月

    IROS2013  Associate Editor

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