Details of a Researcher - KAMEZAKI, Mitsuhiro

写真a

KAMEZAKI, Mitsuhiro

Scopus Paper Info

Paper Count: 150 Citation Count: 1268 h-index: 19

Click to view the Scopus page. The data was downloaded from Scopus API in October 03, 2026, via http://api.elsevier.com and http://www.scopus.com .

Affiliation

Affiliated organization, Waseda University Mission-oriented Research and Education Center

Job title

Professor

Degree

Doctor of Engineering ( 2010.03 Waseda Univerisity )

Homepage URL

https://sites.google.com/view/mitsuhirokamezaki/

Research Experience

2026.10

-

Now

The University of Tokyo The Graduate School of Engineering Department of Electrical Engineering and Information Systems Visiting Researcher
2026.10

-

Now

Waseda University Department of Modern Mechanical Engineering, Graduate School of Creative Science and Engineering Professor
2026.10

-

Now

Waseda University Waseda University Mission-oriented Research and Education Center Professor
2023.10

-

2026.09

Waseda University Future Robotics Organization Guest Senior Researcher (Guest Professor)
2023.04

-

2026.09

The University of Tokyo Research Institute for an Inclusive Society through Engineering Project Professor
2023.04

-

2026.09

The University of Tokyo The Graduate School of Engineering Department of Electrical Engineering and Information Systems Project Professor
2018.04

-

2023.03

Waseda University Research Institute for Science and Engineering Associate Professor
2017.10

-

2021.09

JST PREST Researcher
2015.04

-

2019.03

Shibaura Institute of Technology Department of Engineering Science and Machines, College of Engineering Part-time Lecturer
2013.04

-

2018.03

Waseda University Research Institute for Science and Engineering Assistant Professor
2010.04

-

2013.03

Waseda University Department of Modern Mechanical Engineering, School of Creative Science and Engineering Research Associate
2008.04

-

2010.03

Waseda University Faculty of Science and Engineering Research Associate (Global COE)

▼display all

Education Background

2007.04

-

2010.03

Waseda University Graduate School of Creative Science and Engineering Major in Modern Mechanical Engineering
2005.04

-

2007.03

Waseda University Graduate School of Science and Engineering Major in Mechanical Engineering
2001.04

-

2005.03

Waseda University School of Science and Engineering Department of Mechanical Engineering

Committee Memberships

2025.04

-

2027.03

The Robotics Society of Japan (RSJ) Director (Academic Activities)
2025.04

-

2027.03

The Society of Instrument and Control Engineers (SICE) Director (Transactions)
2021.04

-

2024.03

IFToMM World Congress 2023 Organizing Committee Member
2022.04

-

2023.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2022) Associate Editor
2022.04

-

2023.03

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2022) Associate Editor
2021.04

-

2023.03

日本機械学会ロボメカ部門部門代議員(第0地区)
2020.03

-

2023.02

計測自動制御学会論文集 Associate Editor
2021.04

-

2022.03

Workshop on 2021 IEEE Intelligent Vehicle Symposium (IV 2021) Organizer
2018.04

-

2019.03

第18回建設ロボットシンポジウム副実行委員長
2014.04

-

2015.03

日本ロボット学会会誌編集委員会委員
2013.11

　

　

2013 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2013) Secretariat (Organization)
2021.04

-

2027.03

機能性流体工学研究会，日本機械学会運営委員
2025.04

-

2026.03

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2025) Associate Editor
2025.04

-

2026.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2025) Associate Editor
2025.04

-

2026.03

Annual Conference of the Robotics Society of Japan Organizing Committee Member
2024.04

-

2025.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2024), Associate Editor
2024.04

-

2025.03

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2024), Associate Editor
2023.04

-

2024.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2023), Associate Editor
2023.04

-

2024.03

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2023), Associate Editor
2022.04

-

2023.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2022) Organizing Committee Member
2021.04

-

2023.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2022) Organizing Committee Member
2020.03

-

2023.02

Transactions of the Society of Instrument and Control Engineers Associate Editor
2019.10

-

2022.09

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2020) Associate Editor
2019.07

-

2022.09

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2020) Associate Editor
2021.04

-

2022.03

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2021) Associate Editor
2021.04

-

2022.03

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2021) Associate Editor
2020.04

-

2021.03

Workshop on 2020 IEEE Intelligent Vehicle Symposium (IV 2020) Organizer
2019.10

-

2020.11

Int. Symp. Automation and Robotics in Construction (ISARC 2020) Organizing Committee Member/Co-Chair of Program Committee
2019.03

-

2020.04

2019 IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2019) Program Committee Member
2019.04

-

2020.03

第19回建設ロボットシンポジウムプログラム副委員長
2019.01

-

2019.10

The 37th annual conference of the Robotics Society of Japan (RSJ) Organizing Committee Member
2019.01

-

2019.10

第37回日本ロボット学会学術講演会（RSJ2019）実行委員
2018.10

-

2019.09

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2019) Associate Editor
2018.07

-

2019.09

IEEE/ASME Int. Conf. Adv. Intelligent Mechatronics (AIM 2019) Associate Editor,
2018.04

-

2019.03

IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR 2018) Technical Program Committee (TPC)
2018.04

-

2019.03

2018 IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2018) Program Committee Member
2017.10

-

2018.09

IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2018) Associate Editor
2017.04

-

2018.03

IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2017) Program Committee Member
2017.04

-

2018.03

IEEE Int. Symp. Robot and Human Interactive Communication (RO-MAN 2017) Program Committee Member
2017.04

-

2018.03

IEEE Int. Symposium on Safety, Security, and Rescue Robotics (SSRR 2017) Technical Program Committee
2017.04

-

2018.03

第17回ロボットシンポジウムプログラム副委員長
2017.10

-

　

建設ロボット研究連絡協議会（CCRR）委員
2016.04

-

2017.03

IEEE Int. Conf. Robotics and Biomimetics (ROBIO 2016) Program Committee Member
2016.04

-

2017.03

Symposium on Construction Robots (SCR 2016) Program co-chair
2016.04

-

2017.03

第16回建設ロボットシンポジウムプログラム副委員長
2016.09

　

　

第5回サステナブル／ロボティック・システムデザイン研究会．実行委員
2016.07

　

　

日本ロボット学会学会誌特集号「大型機械のためのヒューマンインタフェースデザイン」編集者
2015.04

-

2016.03

日本機械学会ロボティクス･メカトロニクス講演会プログラム委員
2015.04

-

2016.03

日本ロボット学会学術講演会プログラム委員
2015.04

-

2016.03

日本ロボット学会会誌編集委員会編集委員
2015.04

-

2016.03

IEEE Int. Symp. Robot and Human Interactive Communication (RO-MAN 2015) Program Committee Member
2015.12

　

　

JSME International Conference on Advanced Mechatronics (ICAM2015) Local Arrangement Chair
2013.11

　

　

2013 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2013) Secretariat (Organization)
2013.03

-

2013.09

IEEE Int. Conf. Robotics and Automation (ICRA) Program Committee Member
2013.05

　

　

日本機械学会ロボティクス・メカトロニクス講演会プログラム委員

▼display all

Professional Memberships

2023.04

-

Now

The Japan Society of Applied Electromagnetics and Machines (JSAEM)
2022.04

-

Now

IEEE Industrial Electronics Society (IEEE IES)
2017.10

-

Now

建設ロボット研究連絡協議会（CCRR）
2017.04

-

Now

Society of Automotive Engineers of Japan (JSAE)
2016.04

-

Now

The Society of Instrument and Control Engineers
2014.04

-

Now

The Japan Society of Mechanical Engineers
2011.04

-

Now

Society of Biomechanisms(SOBIM) Japan
2009.04

-

Now

IEEE Robotics and Automation Society (IEEE RAS)
2008.04

-

Now

Robotics Society in Japan (RSJ)

▼display all

Research Areas

Intelligent robotics / Robotics and intelligent system / Mechanics and mechatronics / Control and system engineering / Structural materials and functional materials

Research Interests

AI Robotics
Soft Robotics
Functional Mechatronics
Smart Actuator
Smart Mobility
Autonomous Mobile Robot
Human Monitoring
Human-machine system
Intelligent Human-Machine Interface
Field Robots
Disaster Response Robot
Infrastructure Maintenance Robot

▼display all

Awards

分野融合研究優秀表彰

2026.06 日本機械学会ロボティクス・メカトロニクス部門動的タスク割り振りと協働者の意図推定に基づく譲り合いを考慮した協働ロボットの行動決定システム

Winner：大石雄暉, 山口皓大, 三宅太文, 今西優登, 菅野重樹, 亀﨑允啓
IEEE Robotics and Automation Letters Best Paper Award

2026.06 IEEE Joint-repositionable Inner-wireless Planar Snake Robot

Winner： Ayato Kanada, Ryo Takahashi, Keito Hayashi, Ryusuke Hosaka, Wakako Yukita, Yasutaka Nakashima, Tomoyuki Yokota, Takao Someya, Mitsuhiro Kamezaki, Yoshihiro Kawahara, Motoji Yamamoto
設立５０周年記念特別賞（交通事故・各種災害の防止等分野）

2025.11 三井住友海上福祉財団

Winner：亀﨑允啓
第5回日本ロボット学会優秀研究・技術賞

2024.09 日本ロボット学会 PME膜ジャミンググリッパを用いた変形開始点検出による繊細な物体把持

Winner：榎本朋, 石毛真修, 梅舘拓也, 亀﨑允啓, 川原圭博
第3回日本ロボット学会優秀研究・技術賞

2022.09 日本ロボット学会人共存型自律移動ロボットの統合的軌道計画システムの構築と実環境での長期間走行評価

Winner：斎藤喬介, 亀﨑允啓, 濱田太郎, 金田太智, 平山三千昭, オンライアン, 菅野重樹
Outstanding Mechanisms and Design Paper Award - Finalist

2022.05 2022 IEEE International Conference on Robotics and Automation (ICRA2022) A Wearable Fingertip Cutaneous Haptic Device with Continuous Omnidirectional Motion Feedback

Winner： Peizhi Zhang, Mitsuhiro Kamezaki, Yutaro Hattori, Shigeki Sugano
IEEE Robotics and Automation Letters Best Paper Award

2022.05 IEEE EPM–MRE: Electropermanent Magnet–Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping

Winner： Peizhi Zhang, Mitsuhiro Kamezaki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano
令和4年度科学技術分野の文部科学大臣表彰・若手科学者賞

2022.04 文部科学省建設災害インフラ分野におけるスマートメカノシステムの研究

Winner：亀﨑允啓
優秀講演奨励賞

2021.03 日本機械学会情報・知能・精密機器部門賞 Iterative Dynamic Waypoint Navigationによる複数移動障害物の回避軌道計画とその計算効率化

Winner：平山三千昭, 亀﨑允啓, 河野遼介, 菅野重樹
Certificate of Merit for ROBOMECH Outstanding Research Activity

2020.05 Robotics and Mechatronics Division, The Japan Society of Mechanical Engineers
論文賞

2018.09 日本ロボット学会操作入力量ヒストグラムの波形整形に基づく基本入出力ゲインの自動調整システム

Winner：亀﨑允啓
Best Paper Award

2016.09 The Society of Instrument and Control Engineers A Pragmatic Approach to Modeling Object Grasp Motion Using Operation and Pressure Signals for Demolition Machines

Winner： Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano
Best Paper Award

2016.07 IEEE/ASME International Conference on Advanced Mechatronics A Haptic Feedback Driver-Vehicle Interface for Controlling Lateral and Longitudinal Motion of Autonomous Vehicles

Winner： Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano
Young Investigator Excellence Award

2015.09 The Robotics Society of Japan

Winner： Mitsuhiro Kamezaki
Best Application Paper Award Finalist

2011.09 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems Relative Accuracy Enhancement System Based on Internal Error Range Estimation for External Force Measurement in Construction Manipulator

Winner： Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano
Best Paper Award

2008.09 11st Symposium on Construction Robotics in Japan Research on Intelligent Double-Front Construction Machinery-Development of an Operator Support System by Primitive Static States-
ポスター部門入賞

2026.01 2025年度スポーツデータサイエンスコンペティション Expected Looseballの提案

Winner：美濃伊沙良,大西諒,亀﨑允啓
サッカー部門入賞

2026.01 2025年度スポーツデータサイエンスコンペティションアクティブマター物理学を用いたハイプレスの連動性の定量化

Winner：水上徳啓, 王方成, 染谷大河, 亀﨑允啓
SI2025 優秀講演賞

2026.01 第26回計測自動制御学会システムインテグレーション部門講演会複線化連通流路機構を有する広域逆可動性MRFベーンアクチュエータの開発

Winner：磯部清介, 伊藤勇河, 王語詩, 菅野重樹, 亀﨑允啓
優秀論⽂賞

2025.11 情報処理学会UBI研究会第88回UBI研究発表会刺繍の縫い方の違いによる触覚特性の変化

Winner：篠田和宏 ,マラクリヤシルバン,亀﨑允啓,矢谷浩司
インタラクティブ発表賞（一般投票）

2025.03 インタラクション2025 刺繍の縫い方の違いによる外観に依存しない触覚のデザイン

Winner：篠田和宏, 亀﨑允啓, 矢谷浩司
SI2024 優秀講演賞

2025.02 第25回計測自動制御学会システムインテグレーション部門講演会(SI2024) 無限自然歩行装置における床加速・紐牽引のタイミングが歩行に与える影響分析

Winner：平野貴大, 中島康貴, 菅野重樹, 亀﨑允啓
SI2024優秀講演賞

2025.02 第25回計測自動制御学会システムインテグレーション部門講演会自己修復時間の短縮化に向けた高流動性を有する永久磁石Puttyの最適組成調査

Winner：趙若彤, 亀﨑允啓, 土橋諒介, 岩本悠宏, 川原圭博
SI2021優秀講演賞

2022.12 第22回計測自動制御学会システムインテグレーション部門講演会力覚・振動提示および握り入力機構を統合した相互作用型多機能ジョイスティックの開発

Winner：亀﨑允啓,関口宣人,宮田雅博,菅野重樹
Good Practice Award, e-Teaching Award

2022.03 SHIP Research Planning and Skill A

Winner： Mitsuhiro Kamezaki
SI2021優秀講演賞

2021.12 第22回計測自動制御学会システムインテグレーション部門講演会並進・回転を含む拡張エネルギー安定余裕に基づく重機の転倒予測

Winner：國土雄也, 飯田達仁, 板野峻也, 亀﨑允啓, 菅野重樹
SI2021優秀講演賞

2021.12 第22回計測自動制御学会システムインテグレーション部門講演会タスク内容と人・環境との相互作用の予測に基づく自律移動ロボットの適応的ゴール位置探索手法に関する研究

Winner：櫻井絵梨子, 亀﨑允啓, 斎藤恭介, 濱田太郎, 金田太智, 菅野重樹
Educational Video Competition

2021.08 TMI (Transdisciplinary Mobility Innovation) Watch Out! Your Car is Watching – Part 1: Classifiers for Driver Monitoring Systems

Winner： Catherine Lollet, Mitsuhiro Kamezaki
Good Practice Award, e-Teching Award

2021.03

Winner： Mitsuhiro Kamezaki
SI2020 優秀講演賞

2020.12 第21回計測自動制御学会システムインテグレーション部門異なるコンテキスト下での自律移動ロボットの行動に対する人の行動・心象分析

Winner：斎藤喬介, 亀﨑允啓, 柳川勇人, 大西智也, 小林彩乃, シュレスタムーンディプ, 菅野重樹
SI2020 優秀講演賞

2020.12 第21回計測自動制御学会システムインテグレーション部門深層強化学習シミュレータを用いた人混み環境における移動ロボットの能動的働きかけ効果の検証

Winner：濱田太郎, 亀﨑允啓, 李羽晗, 菅野重樹
SI2019 優秀講演賞

2019.12 第20回計測自動制御学会システムインテグレーション部門講演会論文集２重課題を用いた無人化施工におけるCognitive Tunnelingを低減可能な視覚提示手法における認知負荷改善検証

Winner：佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康
SI2019 優秀講演賞

2019.12 第20回計測自動制御学会システムインテグレーション部門講演会操作型作業機械の知能化に関する研究～第13報：重回帰分析を用いた操作支援～

Winner：板野峻也, 亀﨑允啓, 森島洋忠, 岩田浩康, 菅野重樹
バリアフリーシステム開発財団奨励賞

2019.09 2019年度ライフサポート学会大会操作特徴量のみを用いた機械学習に基づく電動車いす操作者の基本操作技能レベル判定手法の提案

Winner：森大河, 亀﨑允啓, 黄逸凡, マナワドゥウダーラ, 石原達也, 中野将尚, 越地弘順, 肥後直樹, 椿俊光, 菅野重樹
SI2018 優秀講演賞

2018.12 第19回計測自動制御学会システムインテグレーション部門講演会パーソナルモビリティの運転評価手法に関する研究～操作入力と動作出力に係る調和性指標の提案～

Winner：森大河, 亀﨑允啓, 佐藤淳平, 河野陽大, 菅野重樹, 石原達也, 中野将尚, 矢野祐季, 越地弘順, 肥後直樹, 椿俊光
9 Finalist Teams (Autonomous Vehicle)

2018.06 VALEO Innovation Challenge 2018 A project for a system that can detect the need to switch from automatic to manual driving mode and facilitate this shift for the driver

Winner： Mitsuhiro Kamezaki
SI2017 優秀講演賞

2017.12 第18回計測自動制御学会システムインテグレーション部門講演会小径ガス管内検査ロボットのための管内無線通信減衰の計測と分析

Winner：亀﨑允啓, 吉田健人, 趙聞, 今野実, 鳥海良一, 菅野重樹
SI2017 優秀講演賞

2017.12 第18回計測自動制御学会システムインテグレーション部門講演会タスク入力の即時性に着目した車両制御用エンボディドインタフェースの開発

Winner：河野陽大, 亀﨑允啓, 江馬敬明, 石川雅晃, マナワドゥウダーラ, 菅野重樹
SI2016 優秀講演賞

2016.12 第17回計測自動制御学会システムインテグレーション部門講演会人とロボットの協調移動におけるロボットの行動と人の印象の関連性評価

Winner：小林彩乃, 横山悠太, 柳川勇人, 亀﨑允啓, 菅野重樹
Honorable Mention

2015.12 The 6th International Conference on Advanced Mechatronics (ICAM2015) A Novel Toroidal Design for Magnetorheological Dampers

Winner： Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shan He, Shigeki Sugano
Finalists of Best Paper Awards

2015.06 IEEE-CYBER 2015 A 3D Sensing Model and Practical Sensor Placement Based on Coverage and Cost Evaluation

Winner： Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano
Finalists of the SICE Annual Conference Young Author's Award

2013.09 SICE Annual Conference 2013 An Object Grasp Motion Model using Control Signal and Cylinder Pressure in Demolition Machines for Disaster Response Work

Winner： Mitsuhiro Kamezaki

▼display all

Media Coverage

ロボ関節、磁場で流体操り制御、早大など、出力下げず劣化抑制。

Newspaper, magazine

日本経済新聞

2020.04
磁気粘弾性流体開発制振機・機械制御向け

Newspaper, magazine

日刊工業新聞

2020.04
2020建設産業とICT

Newspaper, magazine

日刊建設工業新聞

2020.03
長期貯蔵でも沈降しない高い安定性を持つ磁気粘弾性流体（MR流体）を開発

Internet

ＮＥＤＯニュースリリース

2020.03
奇才の早稲田軍団、登竜門の「発明コン」で決勝進出自動運転切り替え技術

Internet

自動運転LAB（インターネットニュース）

2018.06
災害ロボ最前線（上）「手足」８本、縦横無尽

Newspaper, magazine

日本経済新聞

2015.08

▼display all

Papers

危険場面の自動検知と深度カメラを用いた足行動評価システムの開発

林弘昭, 洲﨑一眞, 菅野重樹, 一色聡, 亀﨑允啓

自動車技術会論文集 57 ( 3 ) 679 - 685 2026.05 [Refereed]

Authorship：Last author

DOI
HeadGaze: Natural Gaze Estimation While Walking From a Single IMU on Earbuds

Ken Takaki, Mitsuhiro Kamezaki, Takuya Sasatani, Hiroaki Murakami, Yoshihiro Kawahara

IEEE Sensors Journal 26 ( 6 ) 8849 - 8863 2026.03 [Refereed]

DOI
Virtual-to-Real Motion Adaptation Using Genetic Algorithm for Multi-DOF Disaster Response Robots

Mitsuhiro Kamezaki, Takahiro Katano, Shigeki Sugano

IEEE Access 14 23971 - 23982 2026.02 [Refereed]

Authorship：Lead author, Corresponding author

DOI
WAIBO: A Prototype of Water-Pipeline Inspection Robot in Murky Water, Fast Flow, and Small Obstacles

Wenbo Zheng, Shota Miyake, Chuanxin Feng, Tamon Miyake, Toshitaka Koike, Yasuo Nakatsuka, Xiaomeng Liu, Mitsuhiro Kamezaki, Shigeki Sugano

IEEE/ASME Transactions on Mechatronics 1 - 13 2026.01 [Refereed]

Authorship：Corresponding author

DOI
Fuzzy-Adaptive Force-Compliant Control and Sensorless Estimation of a Hybrid Aerial Manipulator for Contact-Based Pipeline Repair

Ezeldin N. Moustafa, Mitsuhiro Kamezaki, Shota Miyake, Shigeki Sugano

2026 IEEE/SICE International Symposium on System Integration (SII) 756 - 763 2026.01 [Refereed]

DOI
Estimation of Ankle Joint Impedance Based on Mechanical Response During Treadmill Belt Deceleration

Yuto Oishi, Ayato Kanada, Motoji Yamamoto, Mitsuhiro Kamezaki, Keisuke Yagi, Yasutaka Nakashima

2026 IEEE/SICE International Symposium on System Integration (SII) 1695 - 1700 2026.01 [Refereed]

DOI
A Self‐Healing Permanent Magnet Putty for Soft Robot Skins With Force Sensing and Functional Recovery

Ruotong Zhao, Mitsuhiro Kamezaki, Ryosuke Dobashi, Yuhiro Iwamoto, Yasushi Ido, Yoshihiro Kawahara

Advanced Robotics Research 2025.11 [Refereed]

Authorship：Corresponding author

　View Summary

Soft robotic skins require multifunctional materials that combine wireless sensing, adaptability, and autonomous self‐healing—capabilities not yet achieved by existing magnetorheological fluids, elastomers, or commercial magnetic putties. Here, permanent magnet putty (PMP) is presented, a dynamic polyborosiloxane–Ecoflex composite reinforced with high‐coercivity NdFeB microparticles. The effect of component ratios on PMP's properties is systematically investigated, and optimize the balance between fluidity and structural stability. PMP demonstrates self‐healing in both mechanical and magnetic domains. PMP restores up to 90% of its mechanical strength within 10 s after complete cutting, achieves 70% structural recovery from small deformations within 20 min, and recovers 80% of magnetic amplitude and magnetic response within 20 min. As a soft robotic skin, PMP enables precise force detection in the range of 5–30 N and exhibits up to twice the magnetic sensitivity ( B = 7.9 G) compared with commercial putties. Notably, PMP shows distinct magnetic recovery profiles that preliminarily validate its ability to discriminate pressing from cutting actions—an essential safety function in medical and industrial robotic applications. Beyond robotics, its combined wireless sensing, adaptability, and autonomous self‐healing open pathways toward wearable electronics and adaptive human–machine interfaces.

DOI
A Quadrotor With a New 3-DOF Hybrid Manipulator for Pipeline Maintenance: Design, Modeling, and Task-Space Control

Ezeldin N. Moustafa, Mitsuhiro Kamezaki, Shota Miyake, Shigeki Sugano

IEEE Access 13 198102 - 198124 2025.11 [Refereed]

DOI
Development of a Driving Posture Assessment System for Posture Standardization Using a Single In-Cabin Camera

Shiyan Cui, Hiroaki Hayashi, Mitsuhiro Kamezaki

Proceedings of 2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC 2025) 1 - 8 2025.11 [Refereed]

Authorship：Last author
SPIRA: Small Gas Pipeline Inspection Robot With Spiral Leg-Wheel Mechanism and Single Bending Joint

Mitsuhiro Kamezaki, Kaoru Yamaguchi, Wen Zhao, Kento Yoshida, Toshitaka Koike, Shota Miyake, Shigeki Sugano

IEEE Robotics and Automation Letters 10 ( 12 ) 12676 - 12683 2025.10 [Refereed]

Authorship：Lead author, Corresponding author

DOI
A Lightweight 3-axis Permanent Magnetic Sponge-based Self-Adapting Tactile Sensor

Yushi Wang, Devesh Abhyankar, Yuhiro Iwamoto, Zhengxue Cheng, Ruotong Zhao, Shigeki Sugano, Mitsuhiro Kamezaki

Proceedings of 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2025) 1 - 8 2025.10 [Refereed]

Authorship：Last author
Adhesion and Detachment of Spherical Particles on Microstructures of Permanent Magnet Elastomers

Sota Suzuki, Rikima Kuwada, Mikihiro Hayashi, Yasushi Ido, Daisuke Ishii, Mitsuhiro Kmezaki, Yuhiro Iwamoto

Proceedings of 19th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2025) 1 - 4 2025.07 [Refereed]
Development of a Rotating Light-Based Defect Detection System for Small Gas Pipelines

Wenbo Zheng, Mitsuhiro Kamezaki, Shota Miyake, Shigeki Sugano

Proceedings of 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2025) 1 - 8 2025.07 [Refereed]
Development of a Two-DoF Three-Parallelogram Aerial Manipulator for Pipeline Crack Repair Using a Two-Tool End-Effector and Onboard Sensor-Based Localization

Ezeldin Nehad, Ahmed Moustafa, Mitsuhiro Kamezaki, Ahmed Khalifa, Shota Miyake, Tamon Miyake, Shigeki Sugano

Proceedings of 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2025) 1 - 8 2025.07 [Refereed]
Joint-Repositionable Inner-Wireless Planar Snake Robot.

Ayato Kanada, Ryo Takahashi, Keito Hayashi, Ryusuke Hosaka, Wakako Yukita, Yasutaka Nakashima, Tomoyuki Yokota, Takao Someya, Mitsuhiro Kamezaki, Yoshihiro Kawahara, Motoji Yamamoto

IEEE Robotics Autom. Lett. 10 ( 5 ) 4994 - 5001 2025.05

DOI

Scopus

7

Citation

(Scopus)
Predictive Energy Stability Margin: Prediction of Heavy Machine Overturning Considering Rotation and Translation

Mitsuhiro Kamezaki, Yuya Kokudo, Yusuke Uehara, Shunya Itano, Tatsuhito Iida, Shigeki Sugano

IEEE Robotics and Automation Letters 10 ( 4 ) 3286 - 3293 2025.02 [Refereed]

Authorship：Lead author, Corresponding author

DOI
Appearance-Independent Tactile Design Using Different Embroidery Stitches.

Kazuhiro Shinoda, Sylvain Malacria, Mitsuhiro Kamezaki, Koji Yatani

CHI Extended Abstracts 700 - 4 2025

DOI

Scopus
TUN-DAS: Time-Series Analysis and Unsupervised Learning Based Driving Behavior Assessment System.

Hiroaki Hayashi, Naoki Oka, Shigeki Sugano, Mitsuhiro Kamezaki

IEEE Trans. Intell. Transp. Syst. 26 ( 1 ) 604 - 619 2025.01 [Refereed]

Authorship：Last author

DOI

Scopus

5

Citation

(Scopus)
Preliminary design and evaluation of a ducted-fan type pipeline robot

Shota Miyake, Kento Yoshida, Shigeki Sugano, Mitsuhiro Kamezaki

ROBOMECH Journal 11 ( 1 ) 2024.12 [Refereed]

Authorship：Last author

　View Summary

Abstract

Pipelines are crucial infrastructure supporting human life, yet their maintenance costs are substantial, necessitating the development of time-efficient robotic systems. Therefore, this study proposes an in-pipe mobile robot powered by wind generated using a ducted fan rotor, enabling faster movement within pipelines than conventional methods, e.g., inchworm. Deriving the propulsion force from wind requires analyzing airflow within the pipeline, which is challenging due to the confined space and complexity, especially when considering the presence of robots. Hence, we developed a prototype of a ducted-fan type pipeline robot (DPR) and experimentally investigated duct shapes that enhance the propulsion of the DPR within pipelines. As a result, we identified duct shapes that amplify the propulsion force generated by the ducted fan within pipelines. Additionally, we also experimentally elucidated the relationship between the distance from the pipe’s end and the propulsion force of the robot. Furthermore, we demonstrated the capabilities of the DPR by traversing a pipeline with a diameter of 110 mm, achieving speeds of 1500 mm/s in horizontal pipes and 700 mm/s while ascending vertical pipes. The results show that DRP has the potential for in-pipe inspection.

DOI

Scopus

8

Citation

(Scopus)
Estimating Lower Limb Impedance during Gait Using Treadmill-Induced Perturbations*

Yuto Oishi, Yuki Kurike, Natsuki Matsunaga, Ayato Kanada, Motoji Yamamoto, Mitsuhiro Kamezaki, Yasutaka Nakashima

2024 IEEE International Conference on Robotics and Biomimetics (ROBIO) 494 - 498 2024.12 [Refereed]

DOI
H‐PME: Development of a Robot Skin Using Halbach Array Permanent Magnet Elastomer

Qichen Wang, Devesh Abhyankar, Yushi Wang, Peizhi Zhang, Tito Pradhono Tomo, Shigeki Sugano, Mitsuhiro Kamezaki

Advanced Intelligent Systems 2024.10 [Refereed]

Authorship：Last author, Corresponding author

　View Summary

This article presents a novel 3‐axis Halbach permanent magnet elastomer (H‐PME) sensor for the robotic application, which effectively reduces crosstalk along when two sensors are used simultaneously in close proximity, for example, during grasping of thin and delicate objects, needle threading, etc. This sensor integrates a Halbach‐array magnetic elastomer, a 3×3 Hall sensor matrix, and a silicone layer. The magnetic elastomer is produced by combining NdFeB powders with a diameter of 5 μm into silicone, following a weight ratio of 50%, and then magnetized using 2D Halbach‐array magnets. Simulation results reveal the capability to adjust magnetic field strength and distribution by altering the magnet's orientation. The sensor's efficacy in 3‐axis sensing is validated through calibration with a linear model, achieving a good root‐mean‐square error below 0.7 N in force measurement. The H‐PME sensor, with a thickness of merely 4.5 mm, can detect forces up to 50 N. It's simple 3‐layer design allows the thickness to be reduced to as low as 2 mm, while also offering ease of replacement. Crucially, crosstalk evaluation experiments show that the proposed H‐PME sensor can dramatically mitigate crosstalk interference.

DOI

Scopus

3

Citation

(Scopus)
Micro-Gesture Recognition of Mouth via Bone Conduction Sound

Shogo Tomaru, Ken Takaki, Hiroaki Murakami, Damyon Kim, Koya Narumi, Mitsuhiro Kamezaki, Yoshihiro Kawahara

Proceedings of The ACM Symposium on User Interface Software and Technology (UIST) Posters 2024.10 [Refereed]
Development of Adjustable Compliance and Sensitivity Permanent Magnetic Elastomer-based Tactile Sensor

Devesh Abhyankar, Yushi Wang, Yuhiro Iwamoto, Shigeki Sugano, Mitsuhiro Kamezaki

Proceedings of 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2024) 2024.09 [Refereed]

Authorship：Last author, Corresponding author
Development and Evaluation of a Treadmill-based Video-see-through and Optical-see-through Mixed Reality Systems for Obstacle Negotiation Training.

Tamon Miyake, Mohammed Al-Sada, Abdullah Iskandar, Shunya Itano, Mitsuhiro Kamezaki, Tatsuo Nakajima, Shigeki Sugano

IEEE transactions on visualization and computer graphics PP 2024.07 [Refereed] [International journal]

　View Summary

Mixed reality (MR) technologies have a high potential to enhance obstacle negotiation training beyond the capabilities of existing physical systems. Despite such potential, the feasibility of using MR for obstacle negotiation on typical training treadmill systems and its effects on obstacle negotiation performance remains largely unknown. This research bridges this gap by developing an MR obstacle negotiation training system deployed on a treadmill, and implementing two MR systems with a video see-through (VST) and an optical see-through (OST) Head Mounted Displays (HMDs). We investigated the obstacle negotiation performance with virtual and real obstacles. The main outcomes show that the VST MR system significantly changed the parameters of the leading foot in cases of Box obstacle (approximately 22 cm to 30 cm for stepping over 7cm-box), which we believe was mainly attributed to the latency difference between the HMDs. In the condition of OST MR HMD, users tended to not lift their trailing foot for virtual obstacles (approximately 30 cm to 25 cm for stepping over 7cm-box). Our findings indicate that the low-latency visual contact with the world and the user's body is a critical factor for visuo-motor integration to elicit obstacle negotiation.

DOI PubMed

Scopus

5

Citation

(Scopus)
Human Velocity Estimation Using Kalman Filter and Least Squares with Adjustable Window Sizes for Mobile Robots

Mitsuhiro Kamezaki, Michiaki Hirayama, Ryosuke Kono, Yusuke Tsuburaya, Shigeki Sugano

IEEE Access 1 - 11 2024.07 [Refereed]

Authorship：Lead author, Corresponding author

DOI
Dynamic Collaborative Workspace Based on Human Interference Estimation for Safe and Productive Human-Robot Collaboration.

Mitsuhiro Kamezaki, Tomohiro Wada, Shigeki Sugano

IEEE Robotics Autom. Lett. 9 ( 7 ) 6568 - 6575 2024.07 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

15

Citation

(Scopus)
Pipeline of Modeling, Simulation, and Data Analysis of Soft Snake Robots Considering Friction Information

Yuanhui Xia, Ta Duc Tung, Mitsuhiro Kamezaki, Yoshihiro Kawahara

Workshop on Robot Software Architectures, 2024 IEEE International Conference on Robotics and Automation (ICRA2024) 2024.05 [Refereed]
Overcoming Hand and Arm Occlusion in Human-To-Robot Handovers: Predicting Safe Poses with a Multimodal DNN Regression Model

Catherine Lolle, Advaith Sriram, Mitsuhiro Kamezaki, Shigeki Sugano

13390 - 13396 2024.05 [Refereed]
Video presentation based on multiple-flying camera to provide continuous and complementary images for teleoperation

Mitsuhiro Kamezaki, Masahiro Miyata, Shigeki Sugano

Automation in Construction 159 105285 - 105285 2024.03 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

12

Citation

(Scopus)
Delicate Jamming Grasp: Detecting Deformation of Fragile Objects Using Permanent Magnet Elastomer Membrane.

Ho Enomoto, Matthew Ishige, Takuya Umedachi, Mitsuhiro Kamezaki, Yoshihiro Kawahara

IEEE Robotics Autom. Lett. 9 ( 2 ) 979 - 986 2024.02 [Refereed]

DOI

Scopus

11

Citation

(Scopus)
Prototype Design of a Multi-Mode Switching Module with Locking Mechanism for Water-Proof Pipeline Inspection Robots

Wenbo Zheng, Xinheng Jiang, Mitsuhiro Kamezaki, Chenyu Tai, Peizhi Zhang, Tamon Miyake, Shota Miyake, Xiaomeng Liu, Yasuo Nakatsuka, Shigeki Sugano

Proceedings of IEEE/SICE International Symposium on System Integration (SII 2024) 741 - 746 2024.01 [Refereed]

DOI
Preliminary Investigation of Cooperative-Movement Parameter Adjustment Based on Experiencing Prediction-Reality Differences for Autonomous Mobile Robots

HAYASAKI Soichiro, KAMEZAKI Mitsuhiro, IMAHARU Satoshi, SAITO Kyosuke, IMANISHI Yuto, SAKURAI Erio, MIAKE Tamon, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2024 2P1-L04 2024

　View Summary

Autonomous mobile robots must be able to move smoothly in environments where humans coexist. Various trajectory planning methods have been developed for practical use of autonomous robots, but it is difficult for the current system to respond to the environment and changes in the environment. In this study, We propose a system that generates trajectories suitable for the environment by making the parameters used for trajectory planning closer to those used by the robot for actual avoidance. Results of experiments using a virtual reality simulator show that the proposed adjustment system allows the robot to select parameters that are appropriate to the current environment.

DOI
Development of an Adaptive Goal-Location Finder Considering Manipulation Tasks and Arm-Trajectory Planner for Collaborative Robots

OISHI Yuki, YAMAGUCHI Kota, KAMEZAKI Mitsuhiro, HAMADA Taro, Miyake Tamon, SAKURAI Eriko, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2024 2P1-C08 2024

　View Summary

For service execution in collaborative robots, many goal positioning methods have been proposed, but their suitability for service execution is rarely considered, which may hinder the performance of actual service tasks. Therefore, we propose an adaptive goal location and trajectory planning method that simultaneously considers movement and manipulation by extending Adaptive Goal Finder (AGF). In addition to the conventional AGF, manipulation-aware trajectory planning is realized by considering the cost of each arm movement. Experimental results show that the proposed method can reduce the task execution time compared to the conventional method, and also improves the human evaluation of the proposed method.

DOI
Joint-repositionable Inner-wireless Planar Snake Robot.

Ayato Kanada, Ryo Takahashi, Keito Hayashi, Ryusuke Hosaka, Wakako Yukita, Yasutaka Nakashima, Tomoyuki Yokota, Takao Someya, Mitsuhiro Kamezaki, Yoshihiro Kawahara, Motoji Yamamoto

CoRR abs/2411.13916 2024

DOI
Preliminary Study on the Feasibility of Using Permanent Magnetic Elastomer as a Stretchable Skin Sensor.

Devesh Abhyankar, Yushi Wang, Mitsuhiro Kamezaki, Qichen Wang 0004, Shigeki Sugano

Proceedings of IEEE/SICE International Symposium on System Integration (SII 2024) 526 - 531 2024.01 [Refereed]

DOI

Scopus

4

Citation

(Scopus)
Driver Pose Estimation from Steering-wheel Occluded Image by Using Image Inpainting

Iwasaki Haruma, Hayashi Hiroaki, Kamezaki Mitsuhiro, Sugano Shigeki

Transactions of Society of Automotive Engineers of Japan 54 ( 3 ) 528 - 533 2023.03 [Refereed]

　View Summary

The camera that monitors bus drivers’ glance behavior and pose must be placed behind the steering-wheel to avoid obstructing driver’s view. The problem is that the steering-wheel occludes part of driver’s body, which would reduce the accuracy of driver’s pose estimation. In this study, we propose an approach to estimate the steering-wheel area by using semantic segmentation and remove this area from the image by using Image Inpainting. Our experimental results showed that the accuracy of pose estimation could be improved and using Pluralistic Image Completion (PIC) for removing the steering wheel had the best results. In addition, the experimental results showed that adjusting the variable z of PIC before driving can detect posture with higher accuracy.

DOI
Acquisition of Inducing Policy in Collaborative Robot Navigation Based on Multiagent Deep Reinforcement Learning.

Mitsuhiro Kamezaki, Ryan Ong, Shigeki Sugano

IEEE Access 11 23946 - 23955 2023.03 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

5

Citation

(Scopus)
Preliminary Study of Tactical-Level Interaction for Highly-Automated Vehicles: Its Application to Touchscreen Interface.

Mitsuhiro Kamezaki, Udara Eshan Manawadu, Masaaki Ishikawa, Shigeki Sugano

IEEE Trans. Intell. Veh. 8 ( 2 ) 1944 - 1956 2023.02 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

5

Citation

(Scopus)
Toward Error-Tolerant Robot Navigation: Sequential Inducement Based on Intent Conveyance from Robot to Human and Its Achievement.

Mitsuhiro Kamezaki, Ryosuke Kono, Ayano Kobayashi, Hayato Yanagawa, Tomoya Onishi, Yusuke Tsuburaya, Moondeep C. Shrestha, Shigeki Sugano

Int. J. Soc. Robotics 15 ( 2 ) 297 - 316 2023.02 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

4

Citation

(Scopus)
Normalized Facial Features-Based DNN for a Driver's Gaze Zone Classifier Using a Single Camera Robust to Various Highly Challenging Driving Scenarios.

Catherine Lollett, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2023 IEEE Intelligent Vehicles Symposium (IV 2023) 1 - 8 2023 [Refereed]

DOI

Scopus

2

Citation

(Scopus)
Position-based Treadmill Drive with Wire Traction for Experience of Level Ground Walking from Gait Acceleration State to Steady State

Tamon Miyake, Shunya Itano, Mitsuhiro Kamezaki, Shigeki Sugano

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 3687 - 3693 2022.10 [Refereed]

DOI
JointFlow: A Foot Motion Tracking Model Combining Pose Estimation Model with Optical Flow.

Hiroaki Hayashi, Hirofumi Aoki, Mitsuhiro Kamezaki, Kan Shimazaki, Kunitomo Aoki, Shigeki Sugano

Proceedings of 2022 IEEE Intelligent Transportation Systems Conference (ITSC 2022) 2875 - 2881 2022.10 [Refereed]

DOI

Scopus

1

Citation

(Scopus)
Single Camera Face Position-Invariant Driver's Gaze Zone Classifier Based on Frame-Sequence Recognition Using 3D Convolutional Neural Networks.

Catherine Lollett, Mitsuhiro Kamezaki, Shigeki Sugano

Sensors 22 ( 15 ) 5857 - 5857 2022.08 [Refereed]

DOI

Scopus

7

Citation

(Scopus)
Development of a 'Calf Muscle Pump' Inspired Reconfigurable Soft Pump Module Using Permanent Magnetic Elastomer.

Peizhi Zhang, Qichen Wang 0004, Mitsuhiro Kamezaki, Zhuoyi He, Yuhiro Iwamoto, Yasushi Ido, Hiroyuki Sakamoto, Shigeki Sugano

Proceedings of 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022) 1115 - 1120 2022.07 [Refereed]

DOI

Scopus

5

Citation

(Scopus)
Proposal of a Control Strategy Using Fuzzy Logic and Support Vector Classifier for MR Fluid Actuator with Variable Impedance Mechanism.

Yushi Wang, Mitsuhiro Kamezaki, Shan He, Ryuichiro Tsunoda, Peizhi Zhang, Shigeki Sugano

Proceedings of 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022) 528 - 533 2022.07 [Refereed]

DOI

Scopus
3-Axis Force Estimation of a Soft Skin Sensor using Permanent Magnetic Elastomer (PME) Sheet with Strong Remanence.

Yushi Wang, Mitsuhiro Kamezaki, Qichen Wang 0004, Hiroyuki Sakamoto, Shigeki Sugano

Proceedings of 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2022) 302 - 307 2022.07 [Refereed]

DOI

Scopus

12

Citation

(Scopus)
Dynamic Waypoint Navigation: Model-Based Adaptive Trajectory Planner for Human-Symbiotic Mobile Robots.

Mitsuhiro Kamezaki, Ayano Kobayashi, Ryosuke Kono, Michiaki Hirayama, Shigeki Sugano

IEEE Access 10 81546 - 81555 2022.07 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

19

Citation

(Scopus)
Driver's Drowsiness Classifier using a Single-Camera Robust to Mask-wearing Situations using an Eyelid, Lower-Face Contour, and Chest Movement Feature Vector GRU-based Model.

Catherine Lollett, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of IEEE Intelligent Vehicles Symposium (IV 2022) 519 - 526 2022.05 [Refereed]

DOI

Scopus

7

Citation

(Scopus)
A Wearable Fingertip Cutaneous Haptic Device with Continuous Omnidirectional Motion Feedback.

Peizhi Zhang, Mitsuhiro Kamezaki, Yutaro Hattori, Shigeki Sugano

Proceedings of 2022 IEEE International Conference on Robotics and Automation (ICRA2022) 8869 - 8875 2022.05 [Refereed]

DOI

Scopus

6

Citation

(Scopus)
Development and Evaluation of a Backdrivable Vane-Type Rotary Actuator Using Magnetorheological Fluids

Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Shan He, Zhuoyi He, Gonzalo Aguirre Dominguez, Shigeki Sugano

IEEE-ASME TRANSACTIONS ON MECHATRONICS 4863 - 4873 2022.05 [Refereed]

DOI

Scopus

8

Citation

(Scopus)
Reactive, Proactive, and Inducible Proximal Crowd Robot Navigation Method Based on Inducible Social Force Model.

Mitsuhiro Kamezaki, Yusuke Tsuburaya, Taichi Kanada, Michiaki Hirayama, Shigeki Sugano

IEEE Robotics and Automation Letters 7 ( 2 ) 3922 - 3929 2022.02 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

31

Citation

(Scopus)
Preliminary Investigation of Collision Risk Assessment with Vision for Selecting Targets Paid Attention to by Mobile Robot.

Masaaki Hayashi, Tamon Miyake, Mitsuhiro Kamezaki, Junji Yamato, Kyosuke Saito, Taro Hamada, Eriko Sakurai, Shigeki Sugano, Jun Ohya

Proceedings of IEEE/RSJ IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022) 624 - 629 2022 [Refereed]

DOI

Scopus

2

Citation

(Scopus)
Basic Input-Output Gain Tuning System Based on Control Input Histogram Leveling for Human-Operated Machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

IEEE-ASME TRANSACTIONS ON MECHATRONICS 26 ( 6 ) 2857 - 2869 2021.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

3

Citation

(Scopus)
Bayesian Estimation of Model Parameters of Equivalent Circuit Model for Detecting Degradation Parts of Lithium-Ion Battery.

Tamon Miyake, Tomoyuki Suzuki, Satoshi Funabashi, Namiko Saito, Mitsuhiro Kamezaki, Takahiro Shoda, Tsutomu Saigo, Shigeki Sugano

IEEE Access 9 159699 - 159713 2021.11 [Refereed]

DOI

Scopus

4

Citation

(Scopus)
A situational understanding enhancer based on augmented visual prompts for teleoperation using a multi-monitor system

Mitsuhiro Kamezaki, Junjie Yang, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

AUTOMATION IN CONSTRUCTION 131 2021.11 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

15

Citation

(Scopus)
A framework of physically interactive parameter estimation based on active environmental groping for safe disaster response work

Mitsuhiro Kamezaki, Yusuke Uehara, Kohga Azuma, Shigeki Sugano

ROBOMECH JOURNAL 8 ( 22 ) 1 - 15 2021.10 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

2

Citation

(Scopus)
Development of a Permanent Magnet Elastomer (PME) Infused Soft Robot Skin for Tactile Sensing.

Sahil Shembekar, Mitsuhiro Kamezaki, Peizhi Zhang, Zhuoyi He, Yuhiro Iwamoto, Yasushi Ido, Hiroyuki Sakamoto, Shigeki Sugano

Proceedings of 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2021) 6039 - 6046 2021.09 [Refereed]

DOI

Scopus

9

Citation

(Scopus)
Toward Health-Related Accident Prevention: Symptom Detection and Intervention Based on Driver Monitoring and Verbal Interaction

Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

IEEE OPEN JOURNAL OF INTELLIGENT TRANSPORTATION SYSTEMS 2 240 - 253 2021.08 [Refereed]

DOI

Scopus

16

Citation

(Scopus)
Towards a Driver's Gaze Zone Classifier using a Single Camera Robust to Temporal and Permanent Face Occlusions.

Catherine Lollett, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2021 IEEE Intelligent Vehicles Symposium (IV 2021) 578 - 585 2021.07 [Refereed]

DOI

Scopus

5

Citation

(Scopus)
EEG-based System Using Deep Learning and Attention Mechanism for Driver Drowsiness Detection.

Miankuan Zhu, Haobo Li, Jiangfan Chen, Mitsuhiro Kamezaki, Zutao Zhang, Zexi Hua, Shigeki Sugano

Proceedings of 2021 IEEE Intelligent Vehicles Symposium (IV 2021) 280 - 286 2021.07 [Refereed]

DOI

Scopus

19

Citation

(Scopus)
EPM-MRE: Electropermanent Magnet-Magnetorheological Elastomer for Soft Actuation System and Its Application to Robotic Grasping.

Peizhi Zhang, Mitsuhiro Kamezaki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

IEEE Robotics Autom. Lett. 6 ( 4 ) 8181 - 8188 2021.07 [Refereed]

DOI

Scopus

30

Citation

(Scopus)
Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter.

Michiaki Hirayama, Alicja Wasik, Mitsuhiro Kamezaki, Alcherio Martinoli

Proceedings of International Symposium on Distributed Autonomous Robotic Systems (DARS 2021) 148 - 162 2021.06 [Refereed]

DOI

Scopus
鉱山ショベルの掘削効率化に関する研究 : 掘削抵抗解析に基づく個別要素法パラメータ同定システムの設計

水嶋済也, 山村真司, 佐藤隆哉, 水越勇一, 加藤史洋, 亀﨑允啓, 岩田浩康

建設機械 57 ( 6 ) 38 - 43 2021.06 [Refereed]

CiNii J-GLOBAL
A Wheeled Robot Chain Control System for Underground Facilities Inspection using Visible Light Communication and Solar Panel Receivers

Zhao, W., Kamezaki, M., Yamaguchi, K., Konno, M., Onuki, A., Sugano, S.

IEEE/ASME Transactions on Mechatronics 27 ( 1 ) 180 - 189 2021.02 [Refereed]

DOI

Scopus

31

Citation

(Scopus)
Investigation on image signal receiving performance of photodiodes and solar panel detectors in an underground facility visible light communication system

Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

OPTICS EXPRESS 29 ( 2 ) 692 - 705 2021.01 [Refereed]

DOI

Scopus

14

Citation

(Scopus)
A Robust Driver's Gaze Zone Classification using a Single Camera for Self-occlusions and Non-aligned Head and Eyes Direction Driving Situations

Lollett, C., Hayashi, H., Kamezaki, M., Sugano, S.

IEEE Transactions on Systems, Man, and Cybernetics: Systems 4302 - 4308 2020.10 [Refereed]

DOI

Scopus

8

Citation

(Scopus)
Preliminary Development of a Powerful and Backdrivable Robot Gripper Using Magnetorheological Fluids

Sahil Shembekar, Peizhi Zhang, Zhuoyi He, Ryuichiro Tsunoda, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2020 International Symposium on Automation and Robotics in Construction (ISARC2020) 1458 - 1463 2020.10 [Refereed]
A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch

Zhuoyi He, Mitsuhiro Kamezaki, Peizhi Zhang, Sahil Shembekar, Ryuichiro Tsunoda, Shigeki Sugano

Proceedings of 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2020) 2020-October 3702 - 3707 2020.10 [Refereed]

　View Summary

Transmission systems that enable speed, torque, and direction conversion with high responsiveness and backdrivability are strongly required for higher performance robotic systems. Engagement states can be changed by clutches, but traditional clutches cannot change the direction and provide sufficient backdrivability. On the other hand, direction conversion can be realized by gear box such as bevel gears, but its backdrivability is poor. Thus, we newly develop a prototype transmission system with backdrivablity and responsiveness integrating clutch and direction converter using magnetorheological fluid (MRF). MRF is a functional fluid consisted of magnetic particles and carrier fluids which can change its viscosity rapidly and continuously according to the strength of magnetic field. MRF clutch consists of driving and driven shaft connected by vanes and coils for controlling MRF. MRF direction converter consists of bevel gears, brake, and MRF for reversing the output direction. In addition to traditional functions, such as speed and torque conversion, the proposed power transmission system provides five working modes: forward direction, reverse direction, and three kinds of free, according to states of the MRF clutch, MRF direction converter, and brake. Preliminary experiments revealed that the proposed transmission system could adequately realize implemented functions.

DOI

Scopus

4

Citation

(Scopus)
Development of a Situational Awareness Estimation Model Considering Traffic Environment for Unscheduled Takeover Situations

Horyaki Hayashi, Naoki Oka, Mitsuhiro Kamezaki, Shigeki Sugano

International Journal of Intelligent Transportation Systems Research (IJIT) 19 ( 1 ) 1 - 15 2020.10 [Refereed]

　View Summary

In semi-autonomous vehicles (SAE level 3) that requires drivers to takeover (TO) the control in critical situations, a system needs to judge if the driver have enough situational awareness (SA) for manual driving. We previously developed a SA estimation system that only used driver's glance data. For deeper understanding of driver's SA, the system needs to evaluate the relevancy between driver's glance and surrounding vehicle and obstacles. In this study, we thus developed a new SA estimation model considering driving-relevant objects and investigated the relationship between parameters. We performed TO experiments in a driving simulator to observe driver's behavior in different position of surrounding vehicles and TO performance such as the smoothness of steering control. We adopted support vector machine to classify obtained dataset into safe and dangerous TO, and the result showed 83% accuracy in leave-one-out cross validation. We found that unscheduled TO led to maneuver error and glance behavior differed from individuals.

DOI

Scopus

9

Citation

(Scopus)
Development of an Abnormal Sign Detection System Based on Driver Monitoring and Voice Interaction for Preventing Medical-Condition-Caused Car Accidents

Hiroaki Hayashi, Mitsuhiro Kamezaki, Naoki, Oka, Shigeki Sugano

Proceedings of 2020 IEEE Intelligent Transportation Systems Conference (ITSC 2020) 779 - 786 2020.09 [Refereed]

　View Summary

The number of medical-condition-caused car accidents (MCCCAs) in transport industry (bus, truck, and taxi) recently increases. MCCCAs including cerebrovascular and cardiovascular disease lead to loss of consciousness, thus result in injury and loss of life, and heavy compensation payment. Toward this problem, conventional systems detect closing of eyes, and fallen down state as to prevent car collisions. However, the support is taken after driver losing consciousness. To prevent MCCCAs, it is important to find out abnormal signs before driver losing consciousness. It is challenging to detect abnormal signs not only early but also with high confidence level (CL). This paper proposes a novel method that multi-modally monitors driver to detect abnormal signs which can be cues for estimating a driving-disable state in future and performs voice interaction based on the result of monitoring to clarify the internal state of the driver. Considering no data of abnormal signs, this study developed the system using normal data and pseudo abnormal data, and method of outlier detection was used for abnormal signs detection. As results of experiment, we found the relationship between cue signs and CL, and the proposed system can detect 'sleepiness' state with accuracy of 80%. Voice interaction system did not increase driver's mental demand.

DOI

Scopus

5

Citation

(Scopus)
Development of a Vacuum Suction Cup by Applying Magnetorheological Elastomers for Objects with Flat Surfaces

Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

Proceedings of 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020) 777 - 782 2020.07 [Refereed]

　View Summary

In this paper, we present a suction cup by applying magnetorheological elastomers (MREs) that can be used for the wall climbing robot and picking application. MRE is a smart material in which the ferromagnetic particles are dispersed in the elastomer. In conventional research, MREs are often used as a vibration absorber, since the physical or mechanical properties can be altered upon the application of a magnetic field. In this paper, we focus on the expansion of the use of MRE material. When the magnetic field is added, the MRE will be attracted to the magnetic generator due to the ferromagnetic particles inside. The basic mathematical model between magnetic force and elasticity is discussed by us, which supports the working principle of building MRE suction cup. The MRE suction cup contains a permanent magnetic field generator unit and a MRE membrane unit. A servo motor is used to control the ON/OFF of the magnetic generator, so that the MRE membrane can be activated and deactivated. In this prototype, we focus on picking objects with flat surfaces as the first attempt. The proposed suction cup can achieve appropriate suction force, low noise, energy-saving. In this paper, the operation method of MREs, the design of the suction cup, and the evaluation of the prototype are conducted.

DOI

Scopus

13

Citation

(Scopus)
An Experimental Analysis of Pipe Inspection using Solar Panel Receiver for Visible Light Communication and Energy Harvesting

Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Proceedings of 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020) 1848 - 1853 2020.07 [Refereed]

　View Summary

The maintenance of water pipelines is quite essential since the leakage, deformation, and damage can bring fatal problems to the stable supply and safe use of water resource. In our former study, the transmission approach of information (image, sensor data, etc.) from water pipe based on visible light relay communication technology has been proposed since the visible light has less signal attenuation, stronger anti-electromagnetic interference capability, and smaller bit error ratio (BER) than traditional wireless solutions in the water pipe. However, each inspection sensor in the pipe is still powered by the battery, and thus, the operation time of the sensor is severely restricted by the battery consumption. Solar panel has been introduced in the visible light communication (VLC) technology due to its large signal receiving area and higher efficiency than traditional photodiode (PD) receivers. In this study, the performance of the solar panel receiver for VLC and energy harvesting (EH) has been analyzed. Since the LED owns low irradiation energy for energy harvesting, the received power of solar panel is low. To solve these problems, a solution by using sunlight for EH and LED light for VLC was proposed. We performed several experiments to evaluate the energy harvesting based on current and voltage, and VLC quality based on waveform and BER. The results indicated that the hybrid transmission method could increase the receiving current of solar panel with less influence on the VLC quality.

DOI

Scopus

4

Citation

(Scopus)
A Basic Framework of View Systems Allowing Teleoperators to Pre-Acquire Spatial Knowledge from Survey and Route Perspectives

Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwat

Presence: Teleoperators and Virtual Environments 27 ( 3 ) 309 - 332 2020.07 [Refereed]

　View Summary

One of the most important problems in teleoperation of heavy machinery is that the work efficiency of teleoperation is lower than half that of a typical boarding operation. This difference is primarily caused by operators' difficulty in creating mental representations (i.e., cognitive maps) of work sites. Operators have two opportunities to acquire information, namely before work and during work, because the introduction of teleoperation requires about one week. Therefore, we have developed a view system to be used before work to provide environmental information concerning work sites on the basis of human spatial cognition. Cognitive maps can be built by acquiring knowledge from two perspectives-the survey perspective and the route perspective. We display an external view from any viewpoint to acquire knowledge from a survey perspective and a view from an operator's viewpoint, which can be modified by the operator's intention to acquire knowledge from the route perspective. Experimental results using a simulator suggested that a proposed view system could help operators acquire cognitive maps, which may lead to a decrease in task time, the number of stops, and the moving distance and an increase in speed during grasping.

DOI
Environmental camera placements for skilled operators in unmanned construction

Ryuya Sato, Mitsuhiro Kamezaki, Mitsuru Yamada, Takeshi Hashimoto, Shigeki Sugano, Hiroyasu Iwata

Automation in Construction 119 ( 103294 ) 1 - 11 2020.06 [Refereed]

　View Summary

Work efficiency of unmanned construction is 40% lower than that of on-board operation because of lack of visual information. Despite previous researches to acquire external views using drones and image processing, finding out optimum and allowable camera placements on actual construction machinery for chosen scenario and machine has been difficult. This work therefore documents the derivation of optimum and allowable camera placements with skilled subjects and using an actual construction machinery for digging and releasing tasks. The experimental results indicate an optimum pan angle of 90 degrees, allowable pan angles of 60 degrees-90 degrees and allowable tilt angles of > 45 degrees during digging, and allowable pan angles of 45 degrees-135 degrees, an optimum tilt angle of 90 degrees, and al-lowable tilt angles of 60 degrees-90 degrees during releasing. These results can be referred to the camera placements for unmanned construction sites to improve work efficiency. We will derive the camera placements for other scenarios.

DOI

Scopus

11

Citation

(Scopus)
Preliminary Study of a Separative Shared Control Scheme Focusing on Control-Authority and Attention Allocation for Multi-Limb Disaster Response Robots

Mitsuhiro Kamezaki, Takahiro Katano, Kui Chen, Tatsuzo Ishida, Shigeki Sugano

Advanced Robotics 34 ( 9 ) 575 - 591 2020.03 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

7

Citation

(Scopus)
Autonomous Mobile Robot Moving Through Static Crowd: Arm with One DOF and Hand with Involute Shape to Maneuver Human Position

Noriaki Imaoka, Kazuma Kitazawa, Mitsuhiro Kamezaki, Shigeki Sugano, Takeshi Ando

Journal of Robotics and Mechatronics 32 ( 1 ) 59 - 67 2020.02 [Refereed]

　View Summary

Owing to manpower shortages, robots are expected to be increasingly integrated into society in the future. Moreover, robots will be required to navigate through crowded environments. Thus, we proposed a new method of autonomous movement compatible with physical contact signaling used by humans. The method of contact was investigated before using an arm with six degrees of freedom (DoF), which increases the cost of the robot. In this paper, we propose a novel method of navigating through a human crowd by using a conventional driving system for autonomous mobile robots and an involute-shaped hand with an one-DoF arm. Finally, the effectiveness of the method was confirmed experimentally.

DOI

Scopus

4

Citation

(Scopus)
A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD.

Yuichi Mizukoshi, Kenji Hashimoto, Atsuo Takanishi, Hiroyasu Iwata, Ryuya Sato, Takahiro Eto, Mitsuhiro Kamezaki, Ayaka Matsuzaka, Liu Yang, Akio Namiki, Asaki Imai, Takashi Matsuzawa

2020 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 28 - 33 2020 [Refereed]

　View Summary

Teleoperation of humanoid robots for disaster response tasks, controlled by a master slave system using a head-mounted display, requires a detailed frame of view for precise operation. We previously investigated an automatic zoom method, and images zoomed when the robot arm entered the work area could improve teleoperation performance. However, automatic zooming failed to consider the operator's intentions, including zoom levels and timing, causing high mental workload and motion sickness for operators. Therefore, this study proposes a zoom method with a low mental workload and reduced level of motion sickness. Motion sickness is less likely to be induced under active conditions, wherein the operator can manually control the image. Moreover, upper limbs should not be used to operate the zoom feature because such use can disturb the master slave operation. Furthermore, a zoom method should reflect the operator's intentions, including zoom levels and timing. Thus, we develop a zoom method based on head movement, which can be regarded as typical gaze movement. The results of experiments using a real robot system indicated that the proposed method could reduce the mental workload and work time without inducing motion sickness, compared with zoom operation using a foot pedal interface.

DOI

Scopus

5

Citation

(Scopus)
Cognitive Untunneling Multi-View System for Teleoperators of Heavy Machines Based on Visual Momentum and Saliency

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

Automation in Construction 110 1 - 9 2019.12 [Refereed]

　View Summary

Work efficiency in unmanned construction is about 40% less than that in boarding operation owing to a lack of visual information. Thus, previous studies have developed methods to display rich visual information by adding multiple views. However, providing excess visual information can cause 'cognitive tunneling' in operators, which makes operators subconsciously attend to a limited view and ignore others. Therefore, we developed a cognitive untunneling multi-view system that enables operators to voluntarily select appropriate views depending on situations. The experimental results using a scale model indicate that the proposed view system could decrease work time, stoppage time and help operators switch views frequently and release their attention from a cab view compared with a conventional view system. These results suggest that the proposed view system can increase work efficiency and help operators avoid cognitive tunneling. In the future, we will develop a system to identify situations and change views automatically.

DOI

Scopus

23

Citation

(Scopus)
Human-Centered Intervention Based on Tactical-Level Input in Unscheduled Takeover Scenarios for Highly-Automated Vehicles

Mitsuhiro Kamezaki, Horyaki Hayashi, Udara Eshen Manawadu, Shigeki Sugano

International Journal of Intelligent Transportatin Systems Research (IJIT) 18 ( 3 ) 1 - 10 2019.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

13

Citation

(Scopus)
A Visible Light Relay Image Transmission System for Water Pipe Inspection

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Proceeding of 1st Workshop on Optical Wireless Communication for Smart City 57 - 59 2019.12 [Refereed]
A Preliminary Experimental Analysis of In-Pipe Image Transmission Based on Visible Light Relay Communication

Wen Zhao, Mitsuhiro Kamezaki, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Sensors 19 ( 21 ) 1 - 20 2019.11 [Refereed]

　View Summary

The regular inspection of underground facilities such as pipelines is absolutely essential. Pipeline leakage caused by corrosion and deformation must be detected in time, otherwise, it may cause fatal disasters for human beings. In our previous research, a robot chain system (RCS) based on visible light relay communication (VLRC) for pipe inspection has been developed. This system can basically realize the light-based transmission of control command signals and illuminance-based coordinated movement, whereas the collection and transmission approach of the pipe leakage image have not been studied. Compared with former in-pipe wireless communication techniques, VLRC can not only overcome the instability and inefficiency of in-pipe data transmission but also extend the communication range with high transmission rates. The most important feature is that it can provide a stable illumination and high-quality communication for pipe inspection robot and finally improve the energy efficiency. Hence, the aim of this article is to analyze the performance of VLRC-based image transmission in the pipe and in the future provide a high-quality, long-range, and high-efficiency image transmission for complex infrastructure inspection with RCS. The transmission systems based on two signal transmission modes analog image signal relay transmission (AISRT) and digital image frame relay transmission (DIFRT) have been proposed. Multiple experiments including the waveform test, the test of transmission features with different bit error rate (BER), and in the different mediums were conducted between these two systems. The experiment revealed that DIFRT was superior to the AISRT in terms of the relatively high-quality image transmission and reconstruction quality. It could better overcome the attenuation brought by the absorption and scattering effects and finally increased the transmission range than former communication methods. The DIFRT system could also operate at 50 kbps with relatively low BER whether in the air or water. The technique in this research could potentially provide a new strategy for implementations in the stable, effective, high-speed, and long-range image transmission of the robots in some other special environments such as tunnel, mine, and underwater, etc.

DOI

Scopus

8

Citation

(Scopus)
無人化施工における奥行感の把握が必要な手先作業時における外部カメラの最適・好適配置の実験的導出

佐藤隆哉, 亀﨑允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

第19回建設ロボットシンポジウム論文集(SCR2019) 19th 1 - 2 2019.10 [Refereed]

J-GLOBAL
Experimental derivation of the optimum and suitable range in sideways views for digging and releasing in unmanned construction

佐藤隆哉, 亀崎允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

日本機械学会論文集(Web) 85 ( 876 ) 1 - 12 2019.08 [Refereed]

　View Summary

Unmanned construction which includes teleoperation of construction machinery has been introduced after disasters in terms of operators’ safety. One of the most crucial problems in unmanned construction is that work efficiency is less than half compared with usual boarding operation owing mainly to lack of visual information. Environmental views from cameras installed at disaster sites are necessary for precise manipulation even if operators can watch a wide and three-dimensional cab view. Thus, we have investigated optimum and suitable pan and tilt angle of environmental views for precise manipulation including grasping and releasing by using a 1/20 scale model. Experimental analysis using an actual construction machinery is indispensable to apply results acquired by using a scale model for unmanned construction. Therefore, in the present work, we investigate optimum and suitable range of environmental views for precise operation by using an actual construction machinery. We focus on digging and releasing because construction machineries are usually used for digging gravel or sand, and release it to designated area including bed sections of dump trucks. The task of experiments using ZAXIS 35U was determined based on the model task of unmanned construction, including digging modeled to hook a target object and releasing it in the designated area. The results indicate that the optimum pan angle for digging is 60°, and suitable range of pan angle for digging is from 45° to 90°. Furthermore, the results suggest that the optimum tilt angle is 60°, and tilt angle between 45° and 90° affects a little on work efficiency.

DOI CiNii J-GLOBAL
低疲労空間内で人型ロボットの精密遠隔作業を可能とするマスタスレーブ相対手先位置調整手法の提案

佐藤隆哉, 亀﨑允啓, 江藤孝鉱, 並木明夫, 岩田浩康

第26回バイオメカニズム・シンポジウム論文集(SOBIM2019) 72 - 79 2019.07 [Refereed]
A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-by Scenario

Mitsuhiro Kamezaki, Ayano Kobayashi, Yuta Yokoyama, Hayato Yanagawa, Moondeep Shrestha, Shigeki Sugano

International Journal of Social Robotics 12 ( 2 ) 1 - 22 2019.07 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

25

Citation

(Scopus)
Development of Anti-Sedimentation Magnetorheological Fluids and Its Implementation to MRF Damper

Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2019) 400 - 405 2019.07 [Refereed]

　View Summary

Magnetorheological Fluid (MRF) is a functional fluid in which apparent viscosity changes quickly, continuously and reversibly according to the strength of the magnetic field applied. On the basis of the peculiar features of MRFs various studies have been conducted mainly on functional fluids in the power fluid field. MRF consists of magnetic substances of the size 1-10 mu m which are dispersed in lubrication oil having low viscosity and specific gravity. There is no MRF which can be used in robots for precise control because it cannot guarantee the reliability. We here aim to acquire advanced robot mechanism by fusing material-mechanical technology and crossing hypothesis-experiment cycle. As a result, we found that anti-sedimentation of MRF can be regarded as the most important features for implementation in robotic mechanisms. In this paper, the anti-sedimentation MRF is manufactured and tested in a MRF damper. We first obtained a common method to manufacture the anti-sedimentation MR fluid, by designing the medium, the magnetic substance, and the additive. In the sedimentation test, the proposed MR fluid had the minimum separation compared to the commercial product. Secondly, in experiment using the MR damper, the anti-sedimentation MRF had superior stability compared to the commercial product.

DOI

Scopus

11

Citation

(Scopus)
A Driver Situational Awareness Estimation System Based on Standard Glance Model for Unscheduled Takeover Situations

Hiroaki Hayashi, Mitsuhiro Kamezaki, Udara E. Manawadu, Takahiro Kawano, Takaaki Ema, Tomoya Tomita, Lollett Catherine, Shigeki Sugano

Proceedings of 2019 IEEE Intelligent Vehicles Symposium (IV 2019) 718 - 723 2019.06 [Refereed]

　View Summary

Highly-automated vehicles operating in level 3 issue a takeover request (TOR) to transfer the control authority from the autonomated driving (AD) system to a human driver when they encounter system limitations. In such 'unscheduled' situations, the driver is required to immediately re-engage in the driving task both physically and cognitively, and perform suitable action, e.g. lane change. Thus, evaluating driver engagement by the AD system would lead to safe takeover. Physical engagement is easily estimated but there are few studies on evaluating cognitive engagement. In this study, we thus developed a driver situational awareness estimation system based on glance information. We first defined seven standard glance areas and driver glance classification model using a convolutional neural network. We then obtained a large amount of glance data when both safe and dangerous takeover situations (lane change) by using a driving simulator, and we derived the standard glance model including the glance area and time, in order to estimate whether driver gained enough cognitive re-engagement in real-time. To evaluate the effectiveness of the proposed model, we created a situational awareness assist system to visually indicate regions with insufficient glance. As a result, we found that the assist system drastically improved driving performance and reduced the number of accidents during takeover.

DOI

Scopus

19

Citation

(Scopus)
A Coordinated Wheeled Gas Pipeline Robot Chain System Based on Visible Light Communication and Illuminace Assessment

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Sensors 19 ( 10 ) 1 - 20 2019.05 [Refereed]

　View Summary

The gas pipeline requires regular inspection since the leakage brings damage to the stable gas supply. Compared to current detection methods such as destructive inspection, using pipeline robots has advantages including low cost and high efficiency. However, they have a limited inspection range in the complex pipe owing to restrictions by the cable friction or wireless signal attenuation. In our former study, to extend the inspection range, we proposed a robot chain system based on wireless relay communication (WRC). However, some drawbacks still remain such as imprecision of evaluation based on received signal strength indication (RSSI), large data error ratio, and loss of signals. In this article, we thus propose a new approach based on visible light relay communication (VLRC) and illuminance assessment. This method enables robots to communicate by the light signal relay', which has advantages in good communication quality, less attenuation, and high precision in the pipe. To ensure the stability of VLRC, the illuminance-based evaluation method is adopted due to higher stability than the wireless-based approach. As a preliminary evaluation, several tests about signal waveform, communication quality, and coordinated movement were conducted. The results indicate that the proposed system can extend the inspection range with less data error ratio and more stable communication.

DOI

Scopus

15

Citation

(Scopus)
Development of Anti-Sedimentation Magnetorheological Fluids and Preliminary Evaluation

Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, Shigeki Sugano

Proceedings of 2019 IEEE-RAS International Conference on Soft Robotics (Robosoft2019) 1 - 2 2019.04 [Refereed]
重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究－第二報掘削・配置作業におけるパン・チルト角が及ぼす作業効率への影響の実験的検証－

佐藤隆哉, 亀﨑允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

第24回ロボティクスシンポジア予稿集 14 - 17 2019.03 [Refereed]

J-GLOBAL
Experimental Investigation of Optimum and Allowable Range of Side Views for Teleoperated Digging and Release Works by Using Actual Construction Machinery

Ryuya Sato, Mitsuhiro Kamezaki, Mitsuru Yamada, Takeshi Hashimoto, Shigeki Sugano, Hiroyasu Iwata

Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019) 794 - 798 2019.01 [Refereed]

　View Summary

One of the most crucial problems associated with unmanned construction is low work efficiency due mainly to lack of visual information. External side views are necessary for efficient manipulation, but the optimum and allowable pan and tilt angles of side views have not been investigated. We thus conducted experiments using a scale model. However, experiments using actual construction machinery are necessary to confirm that these experimental results using a scale model can be applied to actual machines. Thus, the purpose of the present study is to investigate the optimum and allowable ranges of pan and tilt angles by using actual construction machinery. We focus on digging and releasing because these manipulation tasks require external views considering that precise operation is necessary. We conduct experiments based on a model task, including digging, which involves hook a target object, and releasing it in a designated area. The results suggest that the optimum pan angle for digging is 60 degrees, and the allowable range is 45 degrees-90 degrees. Moreover, the results indicate that the optimum tilt angle is 60 degrees, and the allowable range is 45 degrees-90 degrees.

DOI

Scopus

8

Citation

(Scopus)
Derivation of an Optimum and Allowable Range of Pan and Tilt Angles in External Sideway Views for Grasping and Placing Tasks in Unmanned Construction Based on Human Object Recognition

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

Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019) 776 - 781 2019.01 [Refereed]

　View Summary

Herein, unmanned construction technology that allows remote control of construction machinery has been introduced for post-disaster recovery efforts. One of the most significant problems in unmanned construction is that work efficiency is less than half of that in manned operations owing to the lack of visual information. Thus, deriving optimum and allowable external sideway views can lead to higher efficiencies. In this study, we investigate optimum and allowable pan and tilt angles of external views for grasping and placing tasks as these tasks are required in disaster sites. Humans primarily recognize objects from canonical views with the least amount of occlusions, and with an allowable rotation of 30 degrees. Thus, we hypothesize that external views with pan and tilt angles of 90 degrees could be canonical views for grasping and placing; the allowable range of both pan and tilt angles was +/- 30 degrees. We conducted experiments using a 1/20 scale model to derive an optimum and allowable range of pan and tilt angles. The experimental results suggest that the optimum pan angle is 90 degrees, and the allowable range for grasping is +/- 30 degrees; the range for placing was from 30 degrees to 135 degrees. In addition, the results indicate that the optimum tilt angle is 60 degrees, and the allowable range is +/- 30 degrees.

DOI

Scopus

5

Citation

(Scopus)
A Preliminary Experimental Study on Control Technology of Pipeline Robots based on Visible Light Communication

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Kaoru Yamaguchi, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Proceedings of 2019 IEEE/SICE International Conference on System Integration (SII 2019) 22 - 27 2019.01 [Refereed]

　View Summary

Pipeline inspection robots are recently expected to be deployed to pipelines with longer distance and more complex configuration. These robots require high performance in wireless communication among robots and outside. The radio frequency or infrared radiation frequency can be one of the promising wireless communication method, but they would have drawbacks in pipeline environments, such as electromagnetic interference and low energy efficiency. In this study, we focus on visible light communication (VLC), which has a high transmission rate, strong anti-interference capability, and large bandwidth, compared with the above methods. VLC also has an interesting feature that can simultaneously realize data communication and illuminating dark pipeline environment for pipe robot. As a preliminary study of VLC application, we developed a control system based on VLC for a wheeled robot, which includes a VLC transmitter and receiver. The transmitter and receiver can encode and decode the light signals. Finally, we tested the signal waveform of transmitter and receiver, and evaluate the performance of this system in real pipeline robot. The experimental results revealed that the proposed VLC system could achieve a reliable signal transmission and provide well control and illumination for the robot in the pipe.

DOI

Scopus

8

Citation

(Scopus)
Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

ROBOMECH Journal 5 ( 1 ) 2018.12 [Refereed]

DOI

Scopus

14

Citation

(Scopus)
An Automatic Tracked Robot Chain System for Gas Pipeline Inspection and Maintenance Based on Wireless Relay Communication

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018) 3978 - 3983 2018.10 [Refereed]

　View Summary

Gas pipeline requires to be inspected regularly for leakages caused by natural disaster. Robots are widely used for pipeline inspection since they are more convenient than manual inspection. Several problems, however, exist due to the restriction by complex pipe networks. The most significant one is limited inspection range caused by restriction of cable length or wireless signal attenuation. In this paper, we proposed a concept of wireless relay communication to assist robot to extend the inspection range, and we newly developed a tracked robot chain system. In this system, each robot serves as a relay communication node. Leakage information of pipes are transmitted via these relay nodes. To ensure the stability of relay communication between adjacent robots, we adopted RSSI (received signal strength indication)-based evaluation method for cooperative and coordinated movement of robot chain system. Moreover, wireless application layer communication protocol (WALCP) was used to increase the stable performance of wireless relay communication. Each robot can self-navigate based on distance measurement module, which enables robots to pass through an elbow junction. Multiple experiments to evaluate relay transmission efficiency, RSSI-based cooperative movement, and comprehensive performance were conducted. Results revealed that our proposed system could realize relatively accurate relay transmission and RSSI-based coordinated movement.

DOI

Scopus

10

Citation

(Scopus)
Machine Learning Based Skill-level Classification for Personal Mobility Devices Using Only Operational Characteristics

Yifan Huang, Mitsuhiro Kamezaki, Taiga Mori, Udara E. Manawadu, Tatsuya Ishihara, Masahiro Nakano, Kohjun Koshiji, Naoki Higo, Toshimitsu Tubaki, Shigeki Sugano

Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 5469 - 5476 2018.10 [Refereed]

　View Summary

Some electric-powered wheelchairs are recently redefined as personal mobility devices. Their users are not only elderly or handicapped people, but also passengers with large baggage or pedestrians going from station to destination, i.e., last-mile transport. Consequently, people with different operation skills and expectations on personal mobility would become new users of this kind of devices. Safe and comfort travel in human co-existing environment such as sidewalks and airports is a social expectation for personal mobility. In order to realize this, understanding the operation skill of each user by a practical and simple method is essential. This paper thus introduced a skill level classification method by machine learning using only joystick data as input. In order to determine the number of skill level clusters, basic 26 features of joystick operation data are used for unsupervised clustering (single-linkage). We then made evaluation indexes by using speed, speed control, and direction control. For a five-level classification by using gradient boosting as supervised learning, we achieved a 67% accuracy (tolerance: 0) and a 98% accuracy (tolerance: 1). Further analysis of the feature importance of gradient boosting revealed key features to a good operation. Results also show that skill level differed among people with different driving experiences.

DOI

Scopus

1

Citation

(Scopus)
A Preliminary Investigation into Human Motion Reaction Against a Robot’s Forearm Contact

Moondeep C. Shrestha, Mitsuhiro Kamezaki, Yusuke Tsuburaya, Ryosuke Kono, Shigeki Sugano

Workshop on From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018) 1 - 2 2018.10 [Refereed]
Utilizing Robot’s Forearm Contact for Handling Space Constraints in Congested Environment

Mitsuhiro Kamezaki, Moondeep C. Shrestha, Yusuke Tsuburaya, Ryosuke Kono, Shigeki Sugano

Workshop on From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018) 1 - 2 2018.10 [Refereed]

Authorship：Lead author, Corresponding author
ダンプトラックの燃費向上・長寿命化に向けた状態抽出に関する基礎検討

山下真司, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

第18回建設ロボットシンポジウム論文集(SCR2018) 18th 1 - 6 2018.09 [Refereed]

J-GLOBAL
A Preliminary Study of a Control Framework for Forearm Contact During Robot Navigation

Moondeep Shrestha, Mitsuhiro Kamezaki, Yusuke Tsuburaya, Tomoya Onishi, Ayano Kobayashi, Ryuosuke Kono, Shigeki Sugano

Proceedings of 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018) 410 - 415 2018.08 [Refereed]

　View Summary

Efficient navigation in a congested environment is immensely difficult for the current state-of-the-art mobile robots owing to the challenges related to both sensing and actuation. Consequently, conventional approaches in mobile robotics research prioritize safety by slowing down or stopping robot's movement under challenging circumstances. This paper considers an alternative approach in which the robot utilizes forearm contact to create space for itself and to act as a safety buffer, during very close or congested navigation interactions. First, two categories of contact methods are defined based on different navigation scenarios. These contact methods are analyzed through different contact positions and force directions in a set of comparative experiments. The results of the comparative experiments are then incorporated into a contact-based framework that outputs the necessity, and the appropriate form of forearm contact. Finally, a set of evaluation experiments are performed to test the usability and effectiveness of the constructed framework. The results indicate that the proposed framework effectively outputs appropriate contact according to the situation, and aids the robot while navigating through space-constrained scenarios.

DOI

Scopus

3

Citation

(Scopus)
A Communicating Directional Intent in Robot Navigation using Projection Indicators

Moondeep Shrestha, Tomoya Onishi, Ayano Kobayashi, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2018 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2018) 746 - 751 2018.08 [Refereed]

　View Summary

Smooth and efficient robot navigation among humans is a crucial requirement for successful integration of robots in human society. Towards this end, an indispensable characteristic of robot action is legibility while communicating its intention. However, unlike humans, present robots cannot convey its intention through human-like non-verbal communication. This paper explores the use of projection indicators for communicating directional intent of a robot across three different 'crossing scenarios' as a means of overcoming the shortcomings of the robot's non-verbal communication abilities. The results of the study show statistically significant improvement in perceived feelings of the measured attributes when using the auxiliary communication method. The studied method also improves cooperation from the participants. Nevertheless, the improvement in perceived feeling does not necessarily replicate in terms of smoothness across all the scenarios.

DOI

Scopus

35

Citation

(Scopus)
Tactical-Level Input with Multimodal Feedback for Unscheduled Takeover Situations in Human-Centered Automated Vehicles

Udara E. Manawadu, Takaaki Ema, Hiroaki Hayashi, Takahiro Kawano, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018) 1 - 6 2018.07 [Refereed]

　View Summary

Automated vehicles operating in level 3 may request the human driver to intervene in certain situations due to system limitations. Unscheduled transferring of control to manual driving will create safety issues as consequences of inadequate situational awareness and sudden increase of driver workload. In this study, we propose and evaluate tactical-level input (TLI) method with a multimodal human-machine interface (HMI) for driver intervention in short-term system limitations. The HMI system consists of touchscreen, gesture, and haptic interfaces enabling bilateral driver-vehicle interaction. TLI along with the HMI capable of multimodal feedback can provide situation-adaptive spatial information which enhance the driver situational awareness in a short time. To evaluate the proposed system we conducted driving experiments involving unscheduled takeover situations in urban environment using a driving simulator. We analyzed driver reaction times, physiological responses including heart rate, skin conductance and subjective workload as well as qualitative feedback comparing with manual takeover. The results show that TLI can reduce driver workload, reaction times, and improve driver behavior. Moreover, 90% of drivers preferred to use TLI method over manual takeover.

DOI

Scopus

15

Citation

(Scopus)
Modeling and Simulation of FLC-based Navigation Algorithm for Small Gas Pipeline Inspection Robot

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Akihiko Onuki, Shigeki Sugano

Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018) 1 - 6 2018.07 [Refereed]

　View Summary

Pipeline robot are widely used since pipelines require to be inspected regularly for leakages caused by natural disaster, etc. Most robots which rely heavily on manual operation are incapable of self-navigation in pipe. Moreover incorrect operations would degrade the efficiency, and sometimes damage the robots especially when they pass through elbows or junctions. Some robots can realize navigation based on multi-sensor such as position sensitive detector and laser sensor, but navigation performance for such robots will be greatly influenced by the performance of these sensors, and space to install large number of sensors is limited. In this study, we propose an approach of pipeline robot's navigation based on fuzzy logic control (FLC) algorithm for passing through elbows or T-junctions. A CCD camera installed on the robot is used for locating region of interest (ROI) in elbow or junction. Moreover, ROIs formed by reflection of robot's LED light and edge of pipe's dark hole are considered as input variables in the FLC system. By analyzing system outputs, we can control the robot's speed and yaw angle in real time. Compared with conventional studies on pipeline robot's navigation method, the proposed method can be more precise and faster by using FLC algorithm and analyzing ROI with fewer sensors. Finally, we conducted a simulation validation, and the results showed that the robot was capable of adapting to known pipe environments and realizing navigation in straight part, elbow, and junction of pipe.

DOI

Scopus

10

Citation

(Scopus)
Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy

Peizhi Zhang, Mitsuhiro Kamezaki, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, Shigeki Sugano

Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018) 2019 1 - 6 2018.07 [Refereed]

DOI CiNii J-GLOBAL

Scopus

3

Citation

(Scopus)
An interactive haptic force feedback interface for semi-automatic control in highly-automated vehicles

亀崎允啓, MANAWADU Udara E., 河野陽大, 石川雅晃, 菅野重樹

日本機械学会論文集(Web) 84 ( 864 ) 1 - 13 2018.07 [Refereed]

Authorship：Lead author, Corresponding author

　View Summary

Autonomous driving systems (ADSs) could reduce the degrees of human control, and which would result in lack of flexibility of controlling the vehicle. In this study, we proposed a method to allow the driver to control its lateral and longitudinal motions with a time lag, in order to increase the flexibility. We first derived a set of vehicle movements, such as lane changing, overtaking, merging, turning, speed changing, and parking, and related them to a set of control functions that the driver can input. We then developed a joystick-type interfaces with kinesthetic (force) and tactile (vibration) feedback for vehicle control, called haptic force feedback interface (HIF). This interface enables bidirectional interaction between the driver and the ADS, which allows the system to deny inputs from the driver due to collision danger as well as to inform environmental and vehicle states. We performed comparison experiments with a driving simulator among HIF and a previously developed hand-gesture interface (GIF), in addition to manual driving with steering wheel and pedal and autonomous driving with touchscreen interface to designate the destination. The results of experiments showed that the proposed HIF significantly reduced the average input time and input error compared with GIF, and drivers preferred the HIF due to its ability to provide immediate, active, and passive feedback, compared with manual and autonomous driving.

DOI CiNii J-GLOBAL
Multiclass Classification of Driver Perceived Workload Using Long Short-Term Memory based Recurrent Neural Network

Udara E. Manawadu, Takahiro Kawano, Shingo Murata, Mitsuhiro Kamezaki, Junya Muramatsu, Shigeki Sugano

Proceedings of 2018 IEEE Intelligent Vehicles Symposium (IV 2018), 2009 - 2014 2018.06 [Refereed]

　View Summary

Human sensing enables intelligent vehicles to provide driver-adaptive support by classifying perceived workload into multiple levels. Objective of this study is to classify driver workload associated with traffic complexity into five levels. We conducted driving experiments in systematically varied traffic complexity levels in a simulator. We recorded driver physiological signals including electrocardiography, electrodermal activity, and electroencephalography. In addition, we integrated driver performance and subjective workload measures. Deep learning based models outperform statistical machine learning methods when dealing with dynamic time-series data with variable sequence lengths. We show that our long short-term memory based recurrent neural network model can classify driver perceived-workload into five classes with an accuracy of 74.5%. Since perceived workload differ between individual drivers for the same traffic situation, our results further highlight the significance of including driver characteristics such as driving style and workload sensitivity to achieve higher classification accuracy.

DOI

Scopus

40

Citation

(Scopus)
Human-Agent Collaborative Control in Automated Vehicles for Takeover Situations in Dynamic Unstructured Urban Environments

Udara E. Manawadu, Mitsuhiro Kamezaki, Shigeki Sugano

Workshop on Robot Teammates Operating in Dynamic, Unstructured Environments (RT-DUNE), 2018 IEEE International Conference on Robotics and Automation (ICRA2018) 1 - 2 2018.05 [Refereed]
重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究－第一報パン・チルト角による作業性への影響の検証－

仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

第23回ロボティクスシンポジア予稿集 23rd 1 - 6 2018.03 [Refereed]

J-GLOBAL
Usability test in different types of control-authority allocations for multi-operator single-robot system OCTOPUS

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Masatoshi Seki, Ken Ichiryu, Tatsuzo Ishida, Shigeki Sugano

Advances in Intelligent Systems and Computing 607 675 - 685 2018.01 [Refereed]

DOI

Scopus

2

Citation

(Scopus)
Estimating driver workload with systematically varying traffic complexity using machine learning: Experimental design

Udara E. Manawadu, Takahiro Kawano, Shingo Murata, Mitsuhiro Kamezaki, Shigeki Sugano

Advances in Intelligent Systems and Computing 722 106 - 111 2018.01 [Refereed]

DOI

Scopus

16

Citation

(Scopus)
A prototype of a small tracked robot for gas pipeline inspection and maintenance

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

Advances in Intelligent Systems and Computing 722 137 - 142 2018.01 [Refereed]

DOI

Scopus

1

Citation

(Scopus)
A semi-autonomous compound motion pattern using multi-flipper and multi-arm for unstructured terrain traversal

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

IEEE International Conference on Intelligent Robots and Systems 2704 - 2709 2017.12 [Refereed]

DOI

Scopus

3

Citation

(Scopus)
A Reliable Communication and Localization Method for Gas Pipeline Robot Chain based on RSSI Theory,

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Minoru Konno, Ryoichi Toriumi, Shigeki Sugano

Proceedings of 2017 IEEE/SICE International Conference on System Integration (SII 2017) 1 - 6 2017.12 [Refereed]

　View Summary

Due to the huge microwave attenuation in small steel gas pipelines, the wireless in-pipe robots are unable to complete the inspection and maintenance in long distance. In this research, an approach of a reliable communication and localization method based on Received Signal Strength Indication (RSSI) theory and ultrasonic measurement for gas pipeline robot chain is proposed. Without any GPS modules in the pipe, the robots are able to measure and calculate a certain distance from the adjacent one by detecting and estimating the received wireless signal strength. Such approach enables the all members among the robot chain to cooperate and coordinate, and finally complete the pipeline inspection and maintenance. In addition, this paper describes a "leader-follower" control approach in pipe to support the RSSI-based communication. The leader robot is responsible for the task of whole pipe inspection with wireless remote control by operator, and the follower robots act as the wireless "signal relay station" for communication. Finally, such pipe robot chain cooperate and coordinate together, so that they are able to complete the inspection successfully. We evaluate the performance of the proposed method by using virtual reality simulation. The simulation result indicated that the proposed method could realize the reliable wireless communication and localization for the pipeline robots.

DOI

Scopus

6

Citation

(Scopus)
Compound Manipulation Mode for Improving Task-Ability of Multi-Arm Multi-Flipper Crawler Robot

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

Proceedings of 2017 IEEE/SICE International Conference on System Integration (SII 2017) 1 - 6 2017.12 [Refereed]

　View Summary

This paper presents a new manipulation mode for multi-arm and multi-flipper robots to improve the manipulation ability of them. Multi-arm and multi-flipper crawler robots designed for disaster response or other uses are naturally divided into two function parts from the design stage. There are the crawlers and the flippers for robot locomotion tasks, and the arms for manipulation tasks. In this design concept, the flippers and arms are hardly to systematically and actively cooperate with each other, and these control systems cannot fully play the structural features of this kind of robot. To solve this problem, we proposed a compound manipulation mode (CMM) for multi -arm multi-flipper robot. In this control mode, the flippers and arms are controlled as a whole in manipulation tasks, the flippers will support the arms to own bigger manipulation space, to have better manipulation posture and to optimize the position of robot center of gravity (COG) to make sure robot in good stable state. Four arm and four flipper robot OCTOPUS was used as the test platform, and the verification experiments were carried out. The results indicated that CMM control mode can achieve all the proposals, therefore the concept of CMM control mode is successful and useful.

DOI

Scopus

2

Citation

(Scopus)
A pre-offering view system for teleoperators of heavy machines to acquire cognitive maps

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

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

　View Summary

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

DOI

Scopus

3

Citation

(Scopus)
A preliminary study on a groping framework without external sensors to recognize near-environmental situation for risk-tolerance disaster response robots

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Yusuke Uehara, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

SSRR 2017 - 15th IEEE International Symposium on Safety, Security and Rescue Robotics, Conference 181 - 186 2017.10 [Refereed]

DOI

Scopus

2

Citation

(Scopus)
Experimental Characterization of a Magnetorheological Damper with Multiple Cylindrical Passages and Toroidal Magnetic Field Generator

Mitsuhiro Kamezaki, Peizhi Zhang, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, Shigeki Sugano

Proceedings of the 10th JFPS International Symposiums on Fluid Power (JFPS2017) 1 - 6 2017.10 [Refereed]

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

仁内智志, 亀崎允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

第17回建設ロボットシンポジウム論文集(SCR2017) 1 - 6 2017.08 [Refereed]

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

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

第17回建設ロボットシンポジウム論文集(SCR2017) 17th 1 - 6 2017.08 [Refereed]

J-GLOBAL
Development of a Prototype Electrically-Driven Four-Arm Four-Flipper Disaster Response Robot OCTOPUS

Mitsuhiro Kamezaki, Kui Chen, Kohga Azuma, Takahiro Katano, Taisei Kaneko, Tatsuzo Ishida, Masayuki Nakayama, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

Proceedings of 2017 IEEE Conference on Control Technology and Applications (CCTA 2017) 1019 - 1024 2017.08 [Refereed]

　View Summary

In a previous study, we have developed a four-arm four-crawler disaster response robot called 'OCTOPUS'. Advanced disaster response robots are expected to be capable of both mobility, such as entering narrow spaces over unstructured ground, and workability, such as preforming complex debris-removal work. We have confirmed experimentally that the four arms could make the robot perform complex tasks while ensuring stabilization when climbing steps while the four flippers could make it traverse rough terrain while avoiding toppling over when conducting manipulation task. OCTOPUS, renamed as H-OCTOPUS, is oil-hydraulically driven to perform outdoor demolition of heavy debris, and is teleoperated by two operators. In this study, we develop a prototype electrically-driven OCTOPUS, called E-OCTOPUS, to manipulate various light-objects mainly indoors such as valve operations in nuclear power plants. For reducing the size and weight while maximizing task performance, we introduced a mutual complementary strategy between its arms and flippers. To validate the capability of E-OCTOPUS, we performed preliminary experiments involving climbing high steps and manipulating and cutting wires by cooperating the four arms and four flippers. The results indicated that E-OCTOPUS could complete the tasks by coordinating its four arms and four flippers.

DOI

Scopus

5

Citation

(Scopus)
A multimodal human-machine interface enabling situation-Adaptive control inputs for highly automated vehicles

Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

IEEE Intelligent Vehicles Symposium, Proceedings 1195 - 1200 2017.07 [Refereed]

DOI

Scopus

35

Citation

(Scopus)
Investigation on Effect of Angular Deviation from Perpendicular Line to Lateral View Camera on Work Efficiency for Teleoperated Construction Machines

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

Proceedings of 2017 International Symposium on Automation and Robotics in Construction (ISARC2017) 1 - 2 2017.07 [Refereed]
Pre-offering Work-Site Views to Acquire Spatial Knowledge from Survey and Route Perspective for Advanced Teleoperation of Construction Machines

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

Proceedings of 2017 International Symposium on Automation and Robotics in Construction (ISARC2017), 1 - 2 2017.07 [Refereed]
Condition-Based Less-Error Data Selection for Robust and Accurate Mass Measurement in Large-Scale Hydraulic Manipulators

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

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

　View Summary

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

DOI

Scopus

14

Citation

(Scopus)
Proposal and Preliminary Feasibility Study of a Novel Toroidal Magnetorheological Piston

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shigeki Sugano

IEEE-ASME TRANSACTIONS ON MECHATRONICS 22 ( 2 ) 657 - 668 2017.04 [Refereed]

　View Summary

A new magnetorheological piston head design inspired by toroidal electromagnets was proposed in previouswork as an alternative to conventional annular dampers. A prototype with a circular valve array integrated inside the piston head was built and tested to measure its passive performance. The mechanical, electromagnetic, and hydraulic models used in the new design were explained, and the relevant parameters of the actuator were analyzed to construct a mathematical model to estimate its performance. These works showed the feasibility of the concept and its potential as an alternative to current damper technology, but lacked a baseline for comparison. This paper reviews and widens this groundwork. It adds a magnetic finite element method study to address the previously found leakage, and a new set of experiments, including a force controller, to compare its performance against a conventional annular piston head. The new findings show how the current force limitations can be overcome by striking a balance between the coil space and the size of electromagnet cores to achieve the performance of current dampers. They also highlight its potential in force control applications to provide a wider range of customization options, such as number and size of holes, electromagnets, and coils, and a better use of the active area of the gap.

DOI

Scopus

18

Citation

(Scopus)
Preliminary Measurement and Analysis of Microwave Transmission Attenuation in Small Gas Pipeline

Wen Zhao, Mitsuhiro Kamezaki, Kento Yoshida, Shigeki Sugano, Minoru Konno, Ryoichi Toriumi

2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM) 342 - 347 2017.02 [Refereed]

DOI

Scopus

3

Citation

(Scopus)
Performance Evaluation of a Compliant Magnetorheological Piston Actuator

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, He Shan, Shigeki Sugano

2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 254 - 259 2016.12 [Refereed]

DOI

Scopus
Analysis of Operation Strategy in a Multi-Operator Control System for Four-Arm Disaster Response Robot OCTOPUS

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 514 - 519 2016.12 [Refereed]

DOI

Scopus

4

Citation

(Scopus)
Design Optimisation and Performance Evaluation of a Toroidal Magnetorheological Hydraulic Piston Head

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Shan He, Somlor Sophon, Alexander Schmitz, Shigeki Sugano

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) 350 - 355 2016.10 [Refereed]

DOI

Scopus

2

Citation

(Scopus)
A Hand Gesture based Driver-Vehicle Interface to Control Lateral and Longitudinal Motions of an Autonomous Vehicle

Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 1785 - 1790 2016.10 [Refereed]

DOI

Scopus

31

Citation

(Scopus)
Gaze Pattern Analysis in Multi-Display Systems for Teleoperated Disaster Response Robots

Ryuya Sato, Mitsuhiro Kamezaki, Shigeki Sugano, Hiroyasu Iwata

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) 3534 - 3539 2016.10 [Refereed]

DOI

Scopus

13

Citation

(Scopus)
Visibility Enhancement using Autonomous Multicamera Controls with Situational Role Assignment for Teleoperated Work Machines

Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

JOURNAL OF FIELD ROBOTICS 33 ( 6 ) 802 - 824 2016.09 [Refereed]

　View Summary

The aim of this study is to provide a machine operator with enhanced visibility and more adaptive visual information suited to the work situation, particularly advanced unmanned construction. Toward that end, we propose a method for autonomously controlling multiple environmental cameras. Situations in which the yaw, pitch, and zoom of cameras should be controlled are analyzed. Additionally, we define imaging objects, including the machine, manipulators, and end points; and imaging modes, including tracking, zoom, posture, and trajectory modes. To control each camera simply and effectively, four practical camera roles with different combinations of the imaging objects and modes were defined: overview machine, enlarge end point, posture-manipulator, and trajectory-manipulator. A real-time role assignment system is described for assigning the four camera roles to four out of six cameras suitable for the work situation (e.g., reaching, grasping, transport, and releasing) on the basis of the assignment-priority rules. To test this system, debris-removal tasks were performed in a virtual reality simulation to compare performance among fixed camera, manual control camera, and autonomous control camera systems. The results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and erroneous contacts and simultaneously increasing the subjective usability and time efficiency.

DOI

Scopus

30

Citation

(Scopus)
Communicating Directional Intent in Robot Navigation using Projection and Display Indicators

Moondeep Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2016 IEEE International Symposium on Robot and Human Interactive Communication, (RO-MAN2016) 415 - 416 2016.08 [Refereed]
Non-verbal Cues and Expressiveness; Motion Planning and Navigation in Human-Centered Environments

Moondeep Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

Proceedings of 2016 IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2016) 2016.08 [Refereed]
A Haptic Feedback Driver-Vehicle Interface for Controlling Lateral and Longitudinal Motions of Autonomous Vehicles

Udara E. Manawadu, Mitsuhiro Kamezaki, Masaaki Ishikawa, Takahiro Kawano, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 119 - 124 2016.07 [Refereed]

DOI

Scopus

15

Citation

(Scopus)
An Iterative Design Methodology for the Performance Optimisation of Magnetorheological Piston Head Configurations

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 228 - 233 2016.07 [Refereed]

DOI

Scopus

3

Citation

(Scopus)
Fundamental Development of a Virtual Reality Simulator for Four-Arm Disaster Rescue Robot OCTOPUS

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Junjie Yang, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 721 - 726 2016.07 [Refereed]

DOI

Scopus

11

Citation

(Scopus)
Exploring the Use of Light and Display Indicators for Communicating Directional Intent

Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Hayato Yanagawa, Yuta Yokoyama, Erika Uno, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 1651 - 1656 2016.07 [Refereed]

DOI

Scopus

18

Citation

(Scopus)
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 2016.05 [Refereed]

DOI

Scopus

29

Citation

(Scopus)
遠隔操作オペレータの環境把握性を高める非映像化情報の可視化と推奨注視映像への誘導

亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

第21回ロボティクスシンポジア予稿集 21st 1 - 6 2016.03 [Refereed]

J-GLOBAL
Intent Communication in Navigation through the Use of Light and Screen Indicators

Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

ELEVENTH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN ROBOT INTERACTION (HRI'16) 523 - 524 2016.03 [Refereed]

DOI

Scopus

25

Citation

(Scopus)
An Automatic Basic I/O Gain Tuning System Based on Shaping Control Input Histogram for Human-Machine Systems

Kamezaki Mitsuhiro, Iwata Hiroyasu, Sugano Shigeki

Journal of the Robotics Society of Japan 34 ( 1 ) 56 - 64 2016.01

　View Summary

In this study, a fundamental method to tune a basic input/output gain (BIOG) according to usage conditions is proposed for improving work performance in human-machine systems. For improving operability and workability, an I/O gain tuning is effective, but frequent and drastic changes degrade the operability by confusing the machine dynamics. The proposed tuning system adjusts a BIOG at long intervals on the basis of comprehensive features in operator and work content obtained from histogram of control lever input. The target value is set to the normal distribution, meaning that all ranges of the control lever are evenly used in a spring-type lever, as leveling histogram independent of an operator and work content provides the consistent operational feeling, which leads to comfortable operability. To meet practicality and effectiveness, a BIOG curve is set to a polygonal line involving a break point and a saturation point that are tuned by equivalent transform of area differences between the obtained histogram and normal distribution curves. Results of experiments conducted by using a hydraulic arm system showed that the proposed BIOG tuning system improves time efficiency by reducing the area difference while increasing the subjective usability compared with a conventional fixed BIOG system.

DOI CiNii J-GLOBAL
Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator

Udara Eshan Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

Journal of Robotics and Mechatronics 27 ( 6 ) 660 - 670 2015.12 [Refereed]

　View Summary

Intelligent passenger vehicles with autonomous capabilities will be commonplace on our roads in the near future. These vehicles will reshape the existing relationship between the driver and vehicle. Therefore, to create a new type of rewarding relationship, it is important to analyze when drivers prefer autonomous vehicles to manually-driven (conventional) vehicles. This paper documents a driving simulator-based study conducted to identify the preferences and individual driving experiences of novice and experienced drivers of autonomous and conventional vehicles under different traffic and road conditions. We first developed a simplified driving simulator that could connect to different driver-vehicle interfaces (DVI). We then created virtual environments consisting of scenarios and events that drivers encounter in real-world driving, and we implemented fully autonomous driving. We then conducted experiments to clarify how the autonomous driving experience differed for the two groups. The results showed that experienced drivers opt for conventional driving overall, mainly due to the flexibility and driving pleasure it offers, while novices tend to prefer autonomous driving due to its inherent ease and safety. A further analysis indicated that drivers preferred to use both autonomous and conventional driving methods interchangeably, depending on the road and traffic conditions.

DOI

Scopus

12

Citation

(Scopus)
Analysis of Spatial Perception Ability Based on Human Eyesight for Teleoperators

Chen Kui, Yang Junjie, Katano Takahiro, Kamezaki Mitsuhiro, Sugano Shigeki

Proceedings of 6th International Conference on Advanced Mechatronics 2015 (ICAM2015) 2015 ( 6 ) 351 - 352 2015.12 [Refereed]

　View Summary

In this paper, we analyzed spatial perception ability based on human eyesight for teleoperation. Recognizing the space relationship between different objects by human eyesight from a two dimensional monitor quickly and correctly is a hard task. On the basis of the analysis about visual perception error, we make some assumptions about the alignment of multi monitors. The reasons which cause visual perception error were then investigated using our virtual reality simulator,and experiments were implemented to verify our assumptions. Results show when objects were fixed, continuously moving the viewpoint around the fixed objects, the position of viewpoint obviously affected spatial perception accuracy of human subjects. We also found that subjects tend to estimate object position deeper than its real position.

DOI CiNii
A Novel Toroidal Design for Magnetorheological Dampers

Dominguez Gonzalo Aguirre, Kamezaki Mitsuhiro, He Shan, Sugano Shigeki

Proceedings of 6th International Conference on Advanced Mechatronics 2015 (ICAM2015) 113 - 114 2015.12 [Refereed]

　View Summary

In recent years there has been interest in the development of magnetorheological actuators for robotic applications with adjustable compliance. In this paper we explore the conceptualization, design and test of a new kind magnetorheological piston head design. Inside the head of this new damper a circular assembly of magnetorheological valves is used to control the damping force of the piston. The results show the feasibility of the new design, and its potential for compliant robotic applications.

DOI CiNii
Scenario Authoring for a Driving Simulator to Evaluate Driver Experience in Intelligent Autonomous Vehicles

Manawadu Udara, Ishikawa Masaaki, Kamezaki Mitsuhiro, Sugano Shigeki

Proceedings of 6th International Conference on Advanced Mechatronics 2015 (ICAM2015) 94 - 95 2015.12 [Refereed]

　View Summary

In this study, we focused on creating different scenarios and traffic conditions in a driving simulator to evaluate the differences in driving experience in conventional and autonomous vehicles. We conducted experiments using two groups of drivers and evaluated their subjective workload and preference for each driving method for different traffic conditions and scenarios.

DOI CiNii
Visual Attention to Appropriate Monitors and Parts Using Augmented Reality for Decreasing Cognitive Load in Unmanned Construction

Sato Ryuya, Kamezaki Mitsuhiro, Yang Junjie, Sugano Shigeki, Iwata Hiroyasu

Proceedings of 6th International Conference on Advanced Mechatronics 2015 (ICAM2015) 2015 ( 6 ) 45 - 45 2015.12 [Refereed]

　View Summary

In unmanned construction, operators watch multi views to know situations at a disaster site. However, such a vision system requires much cognitive load of the operators to determine monitors and its parts which they should watch according to situation. In order to decrease cognitive load, we developed a system to provide appropriate monitors and its parts by inducing visual attention using augmented reality.

DOI CiNii
An Investigation into the Social Acceptance of Using Contact for Inducing an Obstructing Human

Moondeep C. Shrestha, Ayano Kobayashi, Tomoya Onishi, Erika Uno, Hayato Yanagawa, Yuta Yokoyama, Mitsuhiro Kamezaki, Alexander Schmitz, Shigeki Sugano

2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) 2015-December 941 - 946 2015.12 [Refereed]

DOI

Scopus

3

Citation

(Scopus)
Analysis of Preference for Autonomous Driving Under Different Traffic Conditions Using a Driving Simulator

Udara Eshan Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

Journal of Robotics and Mechatronics 27 ( 6 ) 660 - 670 2015.12 [Refereed]

DOI

Scopus

12

Citation

(Scopus)
Modelling and Simulation of a New Magnetorheological Linear Device

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

Proceedings of 2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS2015) 235 - 240 2015.10 [Refereed]

DOI
無人化施工における視覚情報の強化に関する研究－作業状況に応じた環境カメラの自動制御と拡張現実技術を用いた注視支援－

亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

第15回建設ロボットシンポジウム論文集(SCR2015) 15th 1 - 6 2015.09 [Refereed]

Authorship：Lead author, Corresponding author

J-GLOBAL
Development of a Backdrivable Magnetorheological Hydraulic Piston for Passive and Active Linear Actuation

Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Morgan French, Shigeki Sugano

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 6551 - 6556 2015.09 [Refereed]

DOI

Scopus

7

Citation

(Scopus)
Inducement of Visual Attention Using Augmented Reality for Multi-Display Systems in Advanced Tele-operation

Junjie Yang, Mitsuhiro Kamezaki, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 5364 - 5369 2015.09 [Refereed]

DOI

Scopus

15

Citation

(Scopus)
Analysis of Individual Driving Experience in Autonomous and Human-Driven Vehicles Using a Driving Simulator

Udara Manawadu, Masaaki Ishikawa, Mitsuhiro Kamezaki, Shigeki Sugano

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 299 - 304 2015.07 [Refereed]

DOI

Scopus

38

Citation

(Scopus)
A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety

Alexander Schmitz, Soumya Bhavaraju, Sophon Somlor, Gonzalo Aguirre Dominguez, Mitsuhiro Kamezaki, Wei Wang, Shigeki Sugano

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 1322 - 1327 2015.07 [Refereed]

DOI

Scopus

12

Citation

(Scopus)
A Haptic Interface with Adjustable Stiffness Using MR Fluid

Sophon Somlor, Gonzalo Aguirre Dominguez, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 1132 - 1137 2015.07 [Refereed]

DOI

Scopus

7

Citation

(Scopus)
無人化施工の効率・安全性を高める映像の注視・解釈支援に関する調査研究

亀﨑允啓, 岩田浩康, 菅野重樹

建設機械施工 67 ( 3 ) 64 - 73 2015.03 [Refereed]

Authorship：Lead author, Corresponding author

　View Summary

コレクション : 国立国会図書館デジタルコレクション > デジタル化資料 > 雑誌

CiNii J-GLOBAL
無人化施工における環境カメラのための半自動制御システムの基礎研究

亀﨑允啓, 岩田浩康, 菅野重樹

建設機械施工 67 ( 2 ) 92 - 100 2015.02 [Refereed]

Authorship：Lead author, Corresponding author

J-GLOBAL
A 3D Sensing Model and Practical Sensor Placement Based on Coverage and Cost Evaluation

Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) 1 - 6 2015 [Refereed]

　View Summary

This paper proposes a sensor model in three dimensional (3D) space, where the height of sensor above ground is variable and the position of sensor on the ground is limited. Traditional sensor models treat the sensor placement area as a film and there is no placement limits as well. As a consequence, the number of sensors is very large and the performance is not such ideal as simulation. In this paper, we develop a novel model for sensor placement, which makes sensors possible to be set at different height above ground, so that the coverage rate can be analyzed in 3D space and the simulation result can be more dependable. We also propose a corresponding 3D coverage rate evaluation method to be used for our proposed 3D model. In order to test our proposed model and evaluation method, the system is designed and numerical and graphical simulators are developed. Experiments are conducted to quantify trade-off relationship between coverage rate and cost, i.e., the number of sensors, which can make sensor placement strategy more practical. From the experimental results, we confirmed that the proposed 3D model and evaluation method is effective in a 3D space.

DOI

Scopus

9

Citation

(Scopus)
Performance Analysis in Advanced Tele-operation System Based on Introduction of Danger-Avoidance View

Junjie Yang, Mitsuhiro Kamezaki, Ryuya Sato, Hiroyasu Iwata, Shigeki Sugano

INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT III 9246 401 - 412 2015 [Refereed]

　View Summary

Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. We have developed an autonomous camera control system to supply appropriate visual information. In order to let operator easy to avoid unexpected collision, we first introduce the frame for each viewport according to its contents. And then, we exchange the danger view with an overlook view. The purpose of this study is to attract operators' attention to the danger area when there is a probable collision if operator won't stop or change their action. Besides, we also want to reveal the relationship between gaze habit and performance. The experimental results conducted using our virtual reality simulator confirms that operator tends to watch danger view when it appears. In addition, work strategy may influence the danger avoidance and work time efficiency in opposite way.

DOI

Scopus
A practical operator support scheme and its application to safety-ensured object break using dual-arm machinery

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

ADVANCED ROBOTICS 28 ( 23 ) 1599 - 1615 2014.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

6

Citation

(Scopus)
Robust Object-Mass Measurement Using Condition-Based Less-Error Data Selection for Large-Scale Hydraulic Manipulators

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014) 1679 - 1684 2014.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

1

Citation

(Scopus)
A Pragmatic Approach to Modeling Object Grasp Motion Using Operation and Pressure Signals for Demolition Machines

KAMEZAKI Mitsuhiro, IWATA Hiroyasu, SUGANO Shigeki

SICE JCMSI 7 ( 6 ) 356 - 363 2014.11 [Refereed]

Authorship：Lead author, Corresponding author

　View Summary

In this paper, an object grasp motion, which is a requisite condition to make a demolition machine grasp an object, is pragmatically modeled, considering accurate and robust identification. Grasping an object is a highly difficult task that requires safe and precise operations, particularly in disaster response work. Identifying a grasp or non-grasp state is essential for providing operational support. These types of outdoor machines lack visual and tactile sensors, so pragmatically available lever operation and cylinder pressure sensors are adopted as parameters for modeling. The grasp motion is simply defined by using sequential transitions of the on-off state of the operation signal and cylinder pressure data for the grapple and the manipulator. The results of experiments conducted to transport objects using an instrumented hydraulic arm indicated that the modeled grasp motion model effectively identifies a grasp or non-grasp state with high accuracy, independently of operators and work environments.

DOI CiNii
Time-series primitive static states for detailing work state and flow of human-operated work machine

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

ADVANCED ROBOTICS 28 ( 20 ) 1357 - 1374 2014.10 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus
An Adaptive Basic I/O Gain Tuning Method Based on Leveling Control Input Histogram for Human-Machine Systems

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2014) 1926 - 1931 2014.09 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

3

Citation

(Scopus)
A Basic Framework of Virtual Reality Simulator for Advancing Disaster Response Work Using Tele-Operated Work Machines

Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

Journal of Robotics and Mechatronics 26 ( 4 ) 939 - 948 2014.08 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

21

Citation

(Scopus)
Analysis of Effective Environmental-Camera Images Using Virtual Environment for Advanced Unmanned Construction

Junjie Yang, Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014) 664 - 669 2014.07 [Refereed]

DOI

Scopus

4

Citation

(Scopus)
An Autonomous Multi-Camera Control System Using Situation-Based Role Assignment for Tele-Operated Work Machines

Mitsuhiro Kamezaki, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2014 IEEE International Conference on Robotics and Automation (ICRA2014) 5971 - 5976 2014.05 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

9

Citation

(Scopus)
Development of a Tele-Operation Simulator Based on Virtual Reality Environment for Advanced Unmanned Construction

Mitsuhiro Kamezaki, Gonzalo Aguirre Dominguez, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2013 IEEE/SICE International Symposium on System Integration (SII2013) 855 - 860 2013.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI
Practical Object-Grasp Estimation without Visual or Tactile Information for Heavy-Duty Work Machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013) 3210 - 3215 2013.11 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

1

Citation

(Scopus)
An Object Grasp Motion Model using Control Signal and Cylinder Pressure in Demolition Machines for Disaster Response Work

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of SICE Annual Conference 2013 (SICE2013) 307 - 312 2013.09 [Refereed]

Authorship：Lead author, Corresponding author

DOI
Visualization of comprehensive work tendency using end-point frequency map for human-operated work machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2013 IEEE International Conference on Robotics and Automation (ICRA2013) 760 - 765 2013.05 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

2

Citation

(Scopus)
A Symbolic Construction Work Flow Based on State Transition Analysis Using Simplified Primitive Static States

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Journal of Robotics and Mechatronics 24 ( 6 ) 939 - 948 2012.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus
A Pragmatic Load Detecting System Based on Uncertainty Evaluation for Construction Manipulator

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

SICE Journal of Control, Measurement, and System Integration (JCMSI) 5 ( 6 ) 366 - 373 2012.11 [Refereed]

Authorship：Lead author, Corresponding author

　View Summary

A pragmatic framework for detecting (identifying the on-off state of) the external force applied to a construction manipulator (front load) by using a hydraulic sensor is proposed. Such a load detecting system requires high accuracy and robustness considering the uncertainty in pressure-based force measurement. The proposed framework first identifies the dominant error force component, including self-weight and driving force, using theoretical and experimental estimation and binarizes the analog cylinder external force. It then evaluates detection conditions to address indeterminate conditions such as stroke-end, singular posture, and impulsive or oscillatory force and redefines three-valued outputs such as on, off, or not determinate (ND). It finally outputs the front load decision by combining all the cylinder decisions to improve robustness through priority analysis. Experiments were conducted using an instrumented hydraulic arm. Results indicate that the proposed framework detects on, off, and ND outputs of the front load more accurately, robustly, and stably in various detection conditions.

DOI CiNii
Quantification of Comprehensive Work Flow Using Time-Series Primitive Static States for Human-Operated Work Machine

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA2012) 4487 - 4492 2012.05 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus
Identification of Dominant Error Force Component in Hydraulic Pressure Reading for External Force Detection in Construction Manipulator

Mitsuhiro Kamezaki, Yosuke Shimada, Hiroyasu Iwata, Shigeki Sugano

Journal of Robotics and Mechatronics 24 ( 6 ) 95 - 104 2012.02 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

3

Citation

(Scopus)
Operational Support for Ensuring Safety Object-Removal Using Dual-Arm Construction Machinery

Mitsuhiro Kamezaki, Yosuke Shimada, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2012 First International Conference on Innovative Engineering Systems (ICIES 2012) 237 - 242 2012 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus
Comprehensive state transition analysis using simplified primitive static states in construction machinery

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011) 2908 - 2913 2011.12 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus
Development of a Load Detecting System with Three-Valued Output for Construction Manipulator

Mitsuhiro Kamezaki, Kosuke Nakamura, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

Proceedings of SICE Annual Conference 2011 (SICE2011) 2194 - 2199 2011.09
Relative Accuracy Enhancement System Based on Internal Error Range Estimation for External Force Measurement in Construction Manipulator

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011) 3734 - 3739 2011.09 [Refereed]

Authorship：Lead author, Corresponding author

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

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011) 5869 - 5874 2011.05 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

1

Citation

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

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of International Conference on Advanced Mechatronics 2010 (ICAM2010) 313 - 318 2010.10 [Refereed]

Authorship：Lead author, Corresponding author
油圧センサを用いた建機マニピュレータの外力手先負荷有無システムの開発

亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

第12回建設ロボットシンポジウム論文集(SCR2010) 12th 323 - 328 2010.09 [Refereed]

Authorship：Lead author, Corresponding author

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

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Journal of Robotics and Mechatronics 22 ( 4 ) 447 - 455 2010.08 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

6

Citation

(Scopus)
A Practical Approach to Detecting External Force Applied to Hydraulic Cylinder for Construction Manipulator

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of SICE Annual Conference 2010 (SICE2010) 1255 - 1256 2010.08 [Refereed]

Authorship：Lead author, Corresponding author
Development of a dual robotic arm system to evaluate intelligent system for advanced construction machinery

Mitsuhiro Kamezaki, Satoshi Hashimoto, Hiroyasu Iwata, Shigeki Sugano

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 1299 - 1304 2010.07 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

22

Citation

(Scopus)
A framework of state identification for operational support based on task-phase and attentional-condition identification

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of IEEE International Conference on Robotics and Automation (ICRA) 1267 - 1272 2010.05 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

6

Citation

(Scopus)
Research on Intelligent Interface in Double-front Work Machines : Primitive Static States with Full Independence of Work Environmental Conditions and Operator Skill Levels

KAMEZAKI Mitsuhiro, IWATA Hiroyasu, SUGANO Shigeki

計測自動制御学会論文集 45 ( 12 ) 646 - 653 2009.12 [Refereed]

Authorship：Lead author, Corresponding author

　View Summary

This paper proposes a work state identification method with full independent of work environmental conditions and operator skill levels for construction machinery. Advanced operated-work machines, which have been designed for complicated tasks, require intelligent systems that can provide the quantitative work analysis needed to determine effective work procedures and that can provide operational and cognitive support for operators. Construction work environments are extremely complicated, however, and this makes state identification, which is a key technology for an intelligent system, difficult. We therefore defined primitive static states (PSS) that are determined using on-off information for the lever inputs and manipulator loads for each part of the grapple and front and that are completely independent of the various environmental conditions and variation in operator skill level that can cause an incorrect work state identification. To confirm the usefulness of PSS, we performed experiments with a demolition task by using our virtual reality simulator. We confirmed that PSS could robustly and accurately identify the work states and that untrained skills could be easily inferred from the results of PSS-based work analysis. We also confirmed in skill-training experiments that advice information based on PSS-based skill analysis greatly improved operator's work performance. We thus confirmed that PSS can adequately identify work states and are useful for work analysis and skill improvement.

DOI CiNii J-GLOBAL
Operator Support System Based on Primitive Static States in Intelligent Operated Work Machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

ADVANCED ROBOTICS 23 ( 10 ) 1281 - 1297 2009.08 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

23

Citation

(Scopus)
Work State Identification using Primitive Static States -Implementation to Demolition Work in Double-Front Work Machines-

Mitsuhiro KAMEZAKI, Hiroyasu IWATA, Shigeki SUGANO

Proceedings of 2009 International Symposium on Automation and Robotics in Construction (ISARC2009) 278 - 287 2009.06 [Refereed]

Authorship：Lead author, Corresponding author
Primitive Static States for Intelligent Operated-Work Machines

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA2009) 4224 - 4229 2009.05 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

24

Citation

(Scopus)
Operation Skill Analysis using Primitive Static States in Human-Operated Work Machine

Mitsuhiro KAMEZAKI, Hiroyasu IWATA, Shigeki SUGANO

Proceedings of The 3rd International Conference on Construction Engineering and Management (ICCEM2009) 230 - 236 2009.05 [Refereed]

Authorship：Lead author, Corresponding author
Development of operator support system with primitive static states for intelligent construction machinery

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

Proceedings of 5th IEEE International Conference on Mechatronics (ICM2009) ThC1-1 345 - 350 2009.04

Authorship：Lead author, Corresponding author

DOI

Scopus

2

Citation

(Scopus)
双腕建機のための操作者支援システムの開発設計

岩田浩康, 亀﨑允啓, 菅野重樹

建設の施工企画 706 ( 706 ) 60 - 66 2008.12 [Refereed] [Invited]

　View Summary

コレクション : 国立国会図書館デジタルコレクション > デジタル化資料 > 雑誌

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

亀﨑允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

第11回建設ロボットシンポジウム論文集(SCR2008) 11th 329 - 334 2008.09 [Refereed]

Authorship：Lead author, Corresponding author

J-GLOBAL
双腕建機における知能化インタフェースに関する研究〜基底作業状態識別に基づく操作者支援システムの開発〜

亀﨑允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

第11回建設ロボットシンポジウム論文集(SCR2008) 11th 335 - 340 2008.09 [Refereed]

Authorship：Lead author, Corresponding author

J-GLOBAL
Development of an Operation Skill-Training Simulator for Double-Front Construction Machinery -Training Effect for a House Demolition Work-

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

JOURNAL OF ROBOTICS AND MECHATRONICS 20 ( 4 ) 602 - 609 2008.08 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

17

Citation

(Scopus)
Development of an operation skill-training simulator for double-front work machine

Mitsuhiro Kamezaki, Hiroyasu Iwata, Shigeki Sugano

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 170 - 175 2008.07 [Refereed]

Authorship：Lead author, Corresponding author

DOI

Scopus

10

Citation

(Scopus)

▼display all

Books and Other Publications

eモビリティ・テクノロジー : 研究開発・社会実装・将来戦略の最新動向

堀, 洋一, 畑, 勝裕, 横井, 行雄( Part： Contributor, 第1章・第7節：ラストワンマイルをつなぐインフレータブルモビリティ)

エヌ・ティー・エス 2025.12 ISBN: 9784860439903
４腕式極限作業ロボット「オクトパス」

亀﨑允啓( Part： Sole author)

油空圧技術 2024.11
パーソナルインフレータブルモビリティpoimo

山村亮介, 佐藤宏樹, ソンヨンア, 新山龍馬, 亀﨑允啓, 川原圭博( Part： Joint author)

電子情報通信学会誌 2024.11
MR流体を用いたロータリーアクチュエータ

亀﨑允啓( Part： Sole author)

日本フルードパワーシステム学会（特集号：電動フルードパワー技術） 2024.09
協働作業者の行動推定に基づく協働作業ロボットの依頼・支援行動システム—An Adaptive Request and Support System Based on Estimating Behavior of Collaborative Workers for Collaborative Robots

亀﨑允啓, 濱田太郎, 山口皓大, 三宅太文, 櫻井絵梨子, 菅野重樹

東京 : シーエムシー出版 2024.02
Personal Inflatable Mobility poimo

山村亮介, 佐藤宏樹, SEONG Young ah, 新山龍馬, 亀崎允啓, 川原圭博

2024
An Adaptive Request and Support System Based on Estimating Behavior of Collaborative Workers for Collaborative Robots

亀﨑允啓, 濱田太郎, 山口皓大, 三宅太文, 櫻井絵梨子, 菅野重樹

2024
機能性材料と測定・分析技術沈降抑制で高い安定性を持つMR流体の特性と適用

坂本裕之, 川島裕司, 亀崎允啓

2022
沈降抑制で高い安定性を持つMR流体の特性と適用 : 日本ペイントコーポレートソリューションズ(株) Technology Shared Service COE SP and MCIA Management 坂本裕之氏日本ペイントコーポレートソリューションズ(株) Technology Shared Service COE Open Innovation Management 川島裕司氏早稲田大学理工学術院理工学術院総合研究所主任研究員(研究員准教授) 亀﨑允啓氏に聞く—特集機能性材料と測定・分析技術

坂本裕之, 川島裕司, 亀﨑允啓

東京 : メカニカル・テック社 2022
Applications of Magnetic Functional Fluids to Soft Actuators

KAMEZAKI Mitsuhiro

The Japan Society of Applied Electromagnetics and Mechanics 2021.12

　View Summary

Magnetorheological fluid (MRF) which is one kind of magnetic functional fluids has a great potential to improve components in robotic systems, including actuators, dampers, clutches, and so on, by enhancing existing functions and adding new functions. The application of the MRF could bring the intrinsic backdrivablity and high responsiveness to those robot components. Therefore, this paper introduces several examples of application of the MRF to robot components by focusing on powerfulness, backdrivability, and responsiveness.

DOI
Applications of Magnetic Functional Fluids to Soft Actuators

亀崎允啓

The Japan Society of Applied Electromagnetics and Mechanics 2021

　View Summary

Magnetorheological fluid (MRF) which is one kind of magnetic functional fluids has a great potential to improve components in robotic systems, including actuators, dampers, clutches, and so on, by enhancing existing functions and adding new functions. The application of the MRF could bring the intrinsic backdrivablity and high responsiveness to those robot components. Therefore, this paper introduces several examples of application of the MRF to robot components by focusing on powerfulness, backdrivability, and responsiveness.

DOI
Optimal Dispersed MR Fluid with Suppressing Separation of Magnetic Materials and Its Implementation to Robotic Device

坂本裕之, 亀崎允啓

2021
Innovative Magnetorheological Fluids and Actuation Mechanism for Smart Soft Robots for Advanced Industry (SRAI)

亀崎允啓, 坂本裕之

The Robotics Society of Japan 2021

DOI
粘弾性流体とロボット機構の融合デザイン

亀﨑允啓, 坂本裕之

日本ロボット工業会 2020.11
早稲田理工 by AERA 2020 科学が拓く未来

( Part： Joint author)

朝日新聞出版 2020.02 ISBN: 4022792485
新産業創出のための機能性材料とメカトロニクスの融合デザイン～磁気応答性材料を用いたロボットアクチュエータ～

亀﨑允啓

2020.01
Interactive Proximal Navigation for Human-Symbiotic Mobility

亀崎允啓

The Robotics Society of Japan 2019.12

DOI
材料×機構の融合デザイン：逆可動性を有する磁気粘性流体アクチュエータユニット

亀﨑允啓

日本工業出版 2019.10
ドライバー・コンピテンシー・アセスメント・システム(D-CAS)の実現に向けて : ドライバーの状況認識推定システムの開発

亀﨑允啓, 菅野重樹

三井住友海上福祉財団 2019
スマートモビリティ社会に向けて : 電動車いすのための個人適応型操作感覚の実現

亀﨑允啓

日揮・実吉奨学会 2018
視線計測カメラを用いた遠隔ロボットオペレータの映像注視分析: トクシュウヒカリ × ロボット

カメザキミツヒロ

2016.12
災害対応ロボット「オクトパス」

亀﨑允啓, 石井裕之, 石田健蔵, 関雅俊, 一柳健

2016.03
人になじむ人間操作型機械~入出力ゲインの自動適応に関する基礎研究~

亀崎允啓

2016
JCMA報告平成24年度研究開発助成成果報告(その2)無人化施工の効率・安全性を高める映像の注視・解釈支援に関する調査研究

亀﨑允啓, 岩田浩康, 菅野重樹

日本建設機械施工協会 2015.03
JCMA報告無人化施工における環境カメラのための半自動制御システムの基礎研究

亀﨑允啓, 岩田浩康, 菅野重樹

日本建設機械施工協会 2015.02

　View Summary

コレクション : 国立国会図書館デジタルコレクション > デジタル化資料 > 雑誌
On special issue "Design of Human-Machine Interfaces for Large-Scale Robots"

Kamezaki Mitsuhiro

The Robotics Society of Japan 2015

DOI
An Adaptive Basic I/O Gain Tuning System

Kamezaki Mitsuhiro

The Robotics Society of Japan 2015

DOI
早稲田理工PLUS 2014 Break the impossible! 前人未到の“その先へ”

亀﨑允啓

朝日新聞出版 2014.04

▼display all

Presentations

Application of Magnetorheological Fluids to Robotics

Mitsuhiro Kamezaki [Invited]

Japan-Taiwan International Conference on Magnetic Fluids 2026 (JT-ICMF 2026)

Presentation date： 2026.03
内部粒子状態に着目した音響センシングに基づくジャミンググリッパーの把持成否予測

都丸将吾, 高木健, 川原圭博, 亀﨑允啓

情報処理学会第88回全国大会（IPSJ2026）

Presentation date： 2026.03
遮蔽環境下における円滑な歩行者-パーソナルモビリティインタラクションのためのインフラ媒介型eHMIの提案と評価

佐野辰之, 速見玲雄, 並川あずみ, 亀﨑允啓, 大山雄己

情報処理学会第88回全国大会（IPSJ2026）

Presentation date： 2026.03
予測誤差分散分解を用いたチーム間の構造的優位の定量化

白石雄太郎, 大西諒, 亀﨑允啓

日本統計学会スポーツデータサイエンスコンペティション研究報告集(SDSC2025)

Presentation date： 2026.01
統計物理学的手法によるサッカーの集団的振る舞いの分類

杉山弘樹, 王方成, 染谷大河, 亀﨑允啓

日本統計学会スポーツデータサイエンスコンペティション研究報告集(SDSC2025)

Presentation date： 2026.01
Expected Looseballの提案

美濃伊沙良, 大西諒, 亀﨑允啓

日本統計学会スポーツデータサイエンスコンペティション研究報告集(SDSC2025)

Presentation date： 2026.01
隠れマルコフモデルを用いた試合パターンの分類と分析

前山工, 王方成, 染谷大河, 亀﨑允啓

日本統計学会スポーツデータサイエンスコンペティション研究報告集(SDSC2025)

Presentation date： 2026.01
アクティブマター物理学を用いたハイプレスの連動性の定量化

水上徳啓, 王方成, 染谷大河, 亀﨑允啓

日本統計学会スポーツデータサイエンスコンペティション研究報告集(SDSC2025)

Presentation date： 2026.01
作業者の心理的負荷を考慮した協働ロボットの作業ペース誘導のための基礎的検討

大和田一志, 薄井里緒菜, 相澤海瑛, 亀﨑允啓, 若林勇太, 衣川潤

第26回計測自動制御学会システムインテグレーション部門講演会(SI2025)

Presentation date： 2025.12
複線化連通流路機構を有する広域逆可動性MRFベーンアクチュエータの開発

磯部清介, 伊藤勇河, 王語詩, 菅野重樹, 亀﨑允啓

第26回計測自動制御学会システムインテグレーション部門講演会(SI2025)

Presentation date： 2025.12
人共存型スマートモビリティの協調移動技術

亀﨑允啓 [Invited]

第163回ロボット工学セミナー「ロボット自律移動の理論と実践」

Presentation date： 2025.12
刺繍の縫い方の違いによる触覚特性の変化

篠田和宏, マラクリヤシルバン, 亀﨑允啓, 矢谷浩司

第88回情報処理学会UBI研究会

Presentation date： 2025.11
危険場面の自動検知と深度カメラを用いた足行動評価システムの開発

洲﨑一眞, 林弘昭, 菅野重樹, 一色聡, 亀﨑允啓

自動車技術会2025年秋季大会

Presentation date： 2025.10
永久磁石エラストマーを用いた表面微細構造による撥水制御

秋田紘伸, 岩本悠宏, 井門康司, 亀﨑允啓, 石井大佑, 林幹大, 桑田力真

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
自己修復磁性スライムを用いた外力計測および厚み調整可能なソフトロボットスキンセンサの開発

趙若彤, 亀﨑允啓, 王語詩, 川原圭博

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
ハルバッハ配列永久磁石エラストマー（H-PME）の開発とロボットスキンセンサへの応用

王啓臣, アビヤンカルデベーシュ, 王語詩, 张裴之, 菅野重樹, 亀﨑允啓

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
グリッドマップレイヤー生成による重機の転倒リスク可視化手法の検討

王泰然, 菅野重樹, 亀﨑允啓

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
トレッドミルのベルト減速時の力学応答に基づく足関節インピーダンスの推定方法の検討

大石裕斗, 金田礼人, 山本元司, 亀﨑允啓, 矢木啓介, 中島康貴

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
複数歩行者の将来的な位置を考慮したスマートモビリティのための仮想レーン型局所軌道計画手法の開発

速見玲雄, 葛西優介, 倉林岳, 林弘昭, 菅野重樹, 亀﨑允啓

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
基盤モデルの常識的知識と状況理解能力を活用したロボットの自発的行動生成に関する研究

西山太智, 今西優登, 三宅太文, 菅野重樹, 亀﨑允啓

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
エポキシパテ圧着機能を有する小径ガス管孔食部補修ロボットの開発

三宅章太, 鄭文博, 馮伝鑫, 菅野重樹, 亀﨑允啓

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
CLIPを用いた力覚時系列データのアライメントに関する検討

髙橋和希, 石毛真修, 佐久間亮太, 津村拓鋭, 朴来炫, 劉順, 村上弘晃, 亀﨑允啓, 川原圭博

第43回日本ロボット学会学術講演会論文集(RSJ2025)

Presentation date： 2025.09
特殊形状スイベルジョイントを有する４指油圧ロボットハンドの開発

中島悠翔, 壹岐勇河, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
シールレス化・エンコーダ内蔵化による高効率小型油圧ベーンアクチュエータの開発

磯部清介, 有川実利, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
空気圧を用いて感度と柔軟性を調整可能な永久磁石エラストマー触覚センサの開発

王語詩, アブヤンカルデベシュ, 岩本悠宏, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
領域分類と物体検知を用いたパーソナルモビリティの通行容易性推定および情報支援システムの開発

林弘昭, 植田歴, 速見玲雄, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
移動関節ヘビ型ロボット：任意の体幹位置を能動屈曲可能なヘビ型ロボットによるセンサレス狭路推進制御の検討

保坂琉介, 金田礼人, 林渓人, 中島康貴, 高橋亮, 雪田和歌子, 横田知之, 染谷隆夫, 亀﨑允啓, 川原圭博, 佐藤峻, 来見田淳也, 岩瀬英治, 山本元司

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
動的タスク割り振りと協働者の意図推定に基づく譲り合いを考慮した協働ロボットの行動決定システム

大石雄暉, 山口皓大, 三宅太文, 今西優登, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
低沸点液体の相変化を利用したポンプレスジャミンググリッパの基礎検討

都丸将吾, 佐久間亮太, 川原圭博, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
作業者に心理的負担を与えない協働ロボットの動作生成のための基礎的検討

大和田一志, 今野輝, 亀﨑允啓, 若林勇太, 衣川潤

日本機械学会ロボティクス･メカトロニクス講演会2025論文集(Robomech’25)

Presentation date： 2025.06
磁性エラストマー硬化過程におけるレオロジー特性

伊藤新悟, 林幹大, 石井大佑, 井門康司, 亀﨑允啓, 岩本悠宏

第37回「電磁力関連のダイナミクス」シンポジウム（SEAD37）

Presentation date： 2025.05
LLMによる触覚解釈に基づくロボットマニピュレーションの行動選択

津村拓鋭, 亀﨑允啓, 石毛真修, 村上弘晃, 佐久間亮太, 川原圭博

情報処理学会第87回全国大会（IPSJ2025）

Presentation date： 2025.03
強化学習による移動関節ヘビ型ロボットの移動パターン獲得

黒田楓馬, 金田礼人, 高橋亮, 亀﨑允啓, 川原圭博

情報処理学会第87回全国大会（IPSJ2025）

Presentation date： 2025.03
刺繍の縫い方の違いによる外観に依存しない触覚のデザイン

篠田和宏, 亀﨑允啓, 矢谷浩司

インタラクション2025

Presentation date： 2025.03
自己修復時間の短縮化に向けた高流動性を有する永久磁石Puttyの最適組成調査

趙若彤, 亀﨑允啓, 土橋諒介, 岩本悠宏, 川原圭博

第25回計測自動制御学会システムインテグレーション部門講演会(SI2024)

Presentation date： 2024.12
視触覚情報を用いた相互作用パラメータ推定に基づく災害対応ロボットの走行可能性判断に関する研究

亀﨑允啓, 上原悠嗣, 王泰然, 菅野重樹

無限自然歩行装置における床加速・紐牽引のタイミングが歩行に与える影響分析

Presentation date： 2024.12
無限自然歩行装置における床加速・紐牽引のタイミングが歩行に与える影響分析

平野貴大, 中島康貴, 菅野重樹, 亀﨑允啓

第25回計測自動制御学会システムインテグレーション部門講演会(SI2024)

Presentation date： 2024.12
Position and Orientation Tracking of Permanent Magnets Using Physics-Guided Neural Networks with a Magnetic Field Sensor Array

Shuchen Liu, Mitsuhiro Kamezaki, Yoshihiro Kawahara

Presentation date： 2024.12
スマートパーソナルモビリティの周辺技術と将来展望

亀﨑允啓 [Invited]

ロボティクス・メカトロニクス部門第1地区技術委員会・特別講演会

Presentation date： 2024.12
Sensors and Actuators Using Magnetic Responsive Fluids and Elastomers

Mitsuhiro Kamezaki [Invited]

Vietnamese Academic Network in Japan Conference (VANJ2024)

Presentation date： 2024.12
Soft Sensors and Actuators Using Magnetic Responsive Elastomers

Mitsuhiro Kamezaki [Invited]

35th 2024 International Symposium on Micro-NanoMechatronics and Human Science (MHS2024)

Presentation date： 2024.11
永久磁石Puttyを用いたセンサー開発とそのメカニズム

岩本悠宏, 土橋諒介, 井門康司, 林幹大, 亀﨑允啓

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
自在関節索状ロボットのインナーワイヤレス化に向けた無線給電ソフトロボットスキンの検討

黒田楓馬, 高橋亮, 金田礼人, 佐藤峻, 亀﨑允啓, 川原圭博

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
ポテンシャルエネルギーの蓄積・放出機構を内部に搭載したキューブ型跳躍ロボットの設計と試作

吉田安紀彦, 亀﨑允啓, 川原圭博

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
進入角度によらないパーソナルモビリティの屋内段差乗り越え支援システム

速見玲雄, 林弘昭, 植田歴, 菅野重樹, 亀﨑允啓

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
スイベルジョイント内蔵アクチュエータを用いた３指油圧ロボットハンドの開発

中島悠翔, 磯部清介, 亀ケ谷友宏, 関口宣人, 伊藤勇河, 王語詩, 菅野重樹, 亀﨑允啓

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
小型油圧ベーンモータにおける摺動抵抗の分析と出力特性評価に基づくシール手法の検討

磯部清介, 中島悠翔, 亀ケ谷友宏, 関口宣人, 伊藤勇河, 王語詩, 菅野重樹, 亀﨑允啓

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
ケーブル送りと配管内固定機能を有するケーブル伝動ロボットの開発

小池俊宇, 三宅章太, ムスタファエゼルディン, 鄭文搏, 三宅太文, 菅野重樹, 亀﨑允啓

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
水流・小段差・濁水を有する管水路内を自律走行可能な管内移動ロボットの開発

鄭文搏, 三宅章太, 馮伝鑫, 三宅太文, 小池俊宇, 中塚康夫, 八幡修平, 亀﨑允啓, 菅野重樹

第42回日本ロボット学会学術講演会論文集(RSJ2024)

Event date：
2024.09

　

　
永久磁石Puttyを用いた力計測・自己修復可能なソフトロボットスキンの試作

趙若彤, 亀﨑允啓, 土橋諒介, 岩本悠宏, 王語詩, 川原圭博

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
予測と実測の差の蓄積に基づく自律移動ロボットの協調移動パラメータ調整手法の検討

早崎宗一郎, 亀﨑允啓, 今治諭志, 斎藤喬介, 今西優登, 櫻井絵梨子, 三宅太文, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
マニュピレーションを考慮した協働作業ロボットの適応的ゴール位置探索とアーム軌道計画手法の開発

大石雄暉, 山口皓大, 亀﨑允啓, 濱田太郎, 三宅太文, 櫻井絵梨子, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
シームレスで柔軟な屋内外走行を実現する人共存型パーソナルモビリティの半自律制御システム

林弘昭, 川合勇輝, 葛西優介, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
狭隘空間におけるパーソナルモビリティの半自動扉通過支援システム

速見玲雄, 林弘昭, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
トレッドミルの急停止を用いた下肢インピーダンスの推定

大石裕斗, 栗家悠樹, 松永夏己, 金田礼人, 山本元司, 亀﨑允啓, 中島康貴

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
無限自然歩行装置における効果的かつ違和感のない牽引力作用のための体幹装具

仲野克磨, 平野貴大, 中島康貴, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
画像処理と深度情報を用いた滑車位置推定に基づく天井クレーン地切り前位置補正システムの開発

平野貴大, 飯田達仁, 菅野重樹, 亀﨑允啓

日本機械学会ロボティクス･メカトロニクス講演会2024論文集(Robomech’24)

Event date：
2024.05

-

2024.06
永久磁石エラストマーリッジの動的粘弾性測定

小路敏輝, 桑田力真, 岩本悠宏, 石井大佑, 亀崎允啓, 井門康司

日本レオロジー学会第51年会

Event date：
2024.05

　

　
永久磁石エラストマーの伸長レオロジー

森田篤史, 岩本悠宏, 井門康司, 亀﨑允啓

日本レオロジー学会第51年会

Event date：
2024.05

　

　
Pipeline for the modeling of soft snake robots considering complex friction information

夏遠輝, デゥックトゥンタ, 亀﨑允啓, 川原圭博

情報処理学会第86回全国大会（IPSJ2024）

Event date：
2024.03

　

　
重機の転倒防止を目的としたエネルギー安定余裕に基づく操作支援システムの開発

國土雄也, 亀﨑允啓, 飯田達仁, 菅野重樹

第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)

Event date：
2023.12

　

　
可視光通信と太陽光パネルを用いた地下施設検査用ロボットチェインシステム

鄭文博, 亀﨑允啓, 趙聞, 山口薫, 菅野重樹

第24回計測自動制御学会システムインテグレーション部門講演会(SI2023)

Event date：
2023.12

　

　
Study on the Characteristics of Permanent Magnet Elastomers as Stretch Sensors and Soft Actuators

ABHYANKAR Devesh, WANG Yushi, 亀崎允啓, 岩本悠宏, 菅野重樹

MAGDAコンファレンス講演論文集(CD-ROM)

Presentation date： 2023

Event date：
2023.11

　

　
Effect of Permanent Magnetic Elastomer Thickness on Rheology in Stretch Deformation

森田篤史, 岩本悠宏, 井門康司, 亀崎允啓

MAGDAコンファレンス講演論文集(CD-ROM)

Presentation date： 2023

Event date：
2023.11

　

　
Magnetic Field Variation of Permanent Magnetic Putty by Deformation

土橋諒介, 岩本悠宏, 井門康司, 亀崎允啓, 林幹大, 福西遥佳

MAGDAコンファレンス講演論文集(CD-ROM)

Presentation date： 2023

Event date：
2023.11

　

　
建設・災害・インフラ分野におけるスマートメカノシステム

亀﨑允啓 [Invited]

計測自動制御学会中部支部・電機計測制御技術ワーキングセミナー

Presentation date： 2023.11
同調と主張に基づく人とロボットの相互譲り合い技術

亀﨑允啓 [Invited]

福島大学共生システム理工学類・日本機械学会東北学生会

Presentation date： 2023.09
科研費の獲得に向けて

亀﨑允啓 [Invited]

研究紹介＆科研費獲得セミナー@東京保健医療専門職大学

Presentation date： 2023.07
多次元LSTMとGMMを用いた教師無し学習による特徴量間の関係を考慮した運転行動評価システム

岩崎陽馬, 亀崎允啓, 亀崎允啓, 林弘昭, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2023

Event date：
2023

　

　
永久磁石エラストマー表面微細構造のレオロジー測定

小路敏輝, 桑田力真, 岩本悠宏, 石井大佑, 亀崎允啓, 井門康司

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2023

Event date：
2023

　

　
二重反転ロータを有するダクテッドファン型管内走行ロボットの設計と試作

三宅章太, 亀崎允啓, 亀崎允啓, 吉田健人, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2023

Event date：
2023

　

　
解析解と数値解を用いたDynamic Waypoint Navigationの軌道計画高速化に関する研究

今西優登, 亀崎允啓, 亀崎允啓, 櫻井絵梨子, 三宅太文, 山口皓大, 今治諭志, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2023

Event date：
2023

　

　
永久磁石エラストマーのソフトロボット応用に向けたトルク発生機構の調査

大西一輝, 岩本悠宏, 亀崎允啓, 井門康司

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2023

Event date：
2023

　

　
PME膜ジャミンググリッパを用いた変形開始点検出による繊細な物体把持

榎本朋, 石毛真修, 梅舘拓也, 亀崎允啓, 川原圭博

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2023

Event date：
2023

　

　
Development of a Driver Support System Based on Passability Index Using 3D Point Cloud Data for Personal Mobility

IMANAKA Koki, KANDA Koki, KAMEZAKI Mitsuhiro, SEO Chanjin, YAMATO Junji, KASAI Yusuke, Ohya Jun

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2023

Event date：
2023

　

　

　View Summary

In order to promote the widespread use of personal mobility (PM) in society, it is necessary to develop a driver support system that can accurately recognize the environment and improve the sense of security, safety, and comfort. This paper proposes a method for supporting the driver by recognizing obstacles and estimating the width of traffic from 3D point cloud obtained by the 3D lidar attached to the PM. To verify the effectiveness of the proposed method, we created a driving course with obstacles and conducted a driving test with 20 subjects. The results of this test show that the proposed method is effective in improving safety and comfort indices.
Development of a Wire Angle and Slackness Estimation System Using Depth Camera for Trolly-Position Correction Before Lift-Off of Overhead Cranes

HIRANO Takahiro, KAMEZAKI Mitsuhiro, FUJITA Kakeru, IIDA Tatsuhito, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2023

Event date：
2023

　

　

　View Summary

While the automation of overhead cranes is progressing, the ‘lift-off’ process is still manually operated. In this paper, we developed a system for estimating the angle and slackness of lifting wire using point cloud data obtained by a depth camera that can be easily installed on actual equipment. We then developed a lift-off operation support system where subjects only monitor the estimated wire angle and slackness. The experimental results using a scale-model crane show that the support system suppressed the swing of the suspended load, compared to a lift-off operation with the subject’s vision.
永久磁石Puttyの変形に対する磁場変化

土橋諒介, 岩本悠宏, 井門康司, 亀崎允啓, 坂本裕之

磁性流体連合講演会講演論文集

Presentation date： 2022

Event date：
2022.12

　

　
薄膜永久磁石エラストマーの伸長レオロジー特性

美奈川拓真, 岩本悠宏, 井門康司, 亀﨑允啓

磁性流体連合講演会講演論文集

Event date：
2022.12

　

　
Virtual Co-Driverの実現に向けて：マルチモーダルな観察と働きかけ

亀﨑允啓 [Invited]

自動車技術会ドライバ評価手法検討部門委員会

Presentation date： 2022.03
Treadmill System for Providing Sensation of Overground Walking-String Traction for Walking during Treadmill Driving-

ITANO Shunya, MIYAKE Tamon, KAMEZAKI Mitsuhiro, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2022

Event date：
2022

　

　

　View Summary

A treadmill has a potential to enable humans to have a walking experience in remote place without a spatial limitation for telepresence. In this study, we present a treadmill system with a string traction, which enables a human to walk in the similar way to a level ground gait during the transition phase to a steady state from an acceleration state. As a result of an experiment with six users, the proposed treadmill system enabled the users to walk in an acceleration state with the same head acceleration pattern as with level ground walking while canceling the inertial effect by the string traction, which means that the users was able to experience walking in the transition to a steady state from an acceleration state on the treadmill.
Driver Workload Estimation Using Driver Physiological-Performance-Subjective Reaction– Improvement of Discriminative Model by Semi-Supervised Learning–

IWASAKI Haruma, KAMEZAKI Mitsuhiro, EMA Takaaki, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2022

Event date：
2022

　

　

　View Summary

It has been reported that the driver workload is a cause of drowsiness, fatigue, and accidents of the driver, and a system for estimating the driver workload is required. In the conventional study, we have developed a system that estimates the current and future driver workload by using LSTM (Long Short-Term Memory). However, this system used an ambiguous subjective evaluation index for the teacher label, which had the problem of adversely affecting the discrimination accuracy. Therefore, in this study, we propose a system that can estimate the current and future driver workload with high accuracy by removing the ambiguity of subjective evaluation using semi-supervised learning and logistic regression. The experimental results show that the proposed system is superior in discrimination accuracy to the conventional study.
Development of a Trolly-Position Control System Using Wire Tension in Dynamic Lift Off for Overhead Travelling Cranes

IIDA Tatsuhito, KAMEZAKI Mitsuhiro, ITANO Shunya, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2022

Event date：
2022

　

　

　View Summary

While the automation of overhead travelling cranes is progressing, the ‘dynamic lift off’ process is still manually operated. In this paper, we thus developed an automatic ‘dynamic lift off ’system based on a trolly-position control system using wire tension. The system suppresses swaying of the suspended load after the dynamic lift off by correcting the suspension position so that the combined direction of the tension of each suspension wire matches the gravity direction of the suspended load. As a result of the experiment using the physical simulation using Unity and the developed scale model, we confirmed that the sway of the suspended load can be suppressed by using the automatic trolly-position control system than the manual operation.
Trajectory Planning in Narrow Spaces Considering Motion Model for Differential-Wheeled Mobility– Usage of Backward, Switchback and Swelling Trajectory –

Kasai Yusuke, KAMEZAKI Mitsuhiro, MATSUSHIGE Ryo, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2022

Event date：
2022

　

　

　View Summary

It is important for autonomous personal mobility(PM) to be able to move in narrow spaces. In this study, we develop a trajectory planning method that takes into account the unique motion model of differtenial-wheeled PMs, e.g., longitudinal body size, inability to move sideways, and inner wheel difference. It inlcudes the use of forward and backward movement, lateral movement by switchback, and sweling movement before turning at a corner. We compared the proposed method with a general path planning method (dynamic window approach) and confirmed that the proposed method does not get stuck.
Development of a Coupled Small-Diameter Gas Pipeline Inspection Robot and an Automated Control System for Multiple-Robot Inspection

亀崎允啓, TAI Chen Yu, 山口薫, ZHAO Wen, 三宅太文, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2022

Event date：
2022

　

　
人共存型自律移動ロボットにおけるステレオカメラと機械学習を用いた周辺人物の状態認識および行動予測

林正晃, 大谷淳, 大和淳司, 亀崎允啓, 斎藤恭介, 濱田太郎, 櫻井絵梨子, 菅野重樹

電子情報通信学会技術研究報告(Web)

Presentation date： 2022

Event date：
2022

　

　
人共存型パーソナルモビリティに搭載されたカメラにより獲得される動画像からの深層学習に基づく屋外路面の通行容易性推定

中山瑛介, 大谷淳, 大和淳司, 亀崎允啓, 葛西優介, 菅野重樹

電子情報通信学会技術研究報告(Web)

Presentation date： 2022

Event date：
2022

　

　
Prediction of Heavy Machinery Overturning Based on Extended Energy Stability Margin Including Translation and Rotation

國土雄也, 亀崎允啓, 上原悠嗣, 板野峻也, 飯田達仁, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
Multi-Arm Cooperative Control Based on Estimation of Preparatory Work by Observation and Groping for Disaster Response Robots

亀崎允啓, 飯田達仁, 東宏河, 上原悠嗣, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
Adaptive Goal Finder Based on Task Content and Prediction of Interaction with Human and Environment for Autonomous Mobile Robots

櫻井絵梨子, 亀崎允啓, 亀崎允啓, 濱田太郎, 斎藤喬介, 金田太智, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
接触力と連続的な剪断力を指先に提示可能な3軸ウェアラブルハプティックデバイスの開発

服部悠太郎, 亀崎允啓, 張裴之, 何卓頤, 角田龍一朗, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
人パラメータ推定に基づく移動ロボットの動作パラメータ学習に関する研究

平山三千昭, 亀崎允啓, 亀崎允啓, 濱田太郎, 斎藤喬介, 金田太智, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
永電磁石とMRエラストマーを用いたソフト吸盤機構の開発とグリッパーへの応用

張裴之, 亀崎允啓, 何卓頤, 坂本裕之, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
近接移動と譲り合い機能を備えた自律移動ロボットにおける移動効率性と社会受容性

濱田太郎, 亀崎允啓, 亀崎允啓, 斎藤喬介, 金田太智, 平山三千昭, オンライアン, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
目的地周辺状況とタスク内容に応じた移動ロボットの動的ゴール位置探索手法の開発

櫻井絵梨子, 亀崎允啓, 亀崎允啓, 平山三千昭, 斎藤喬介, 濱田太郎, 金田太智, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
永久磁石エラストマーを用いた触覚センサを一体化させたソフトロボットスキンの開発

シェムベカールサヒル, 王啓臣, 亀崎允啓, 張裴之, 何卓頤, 岩本悠宏, 井門康司, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
人共存型自律移動ロボットの統合的軌道計画システムの構築と実環境での長期間走行評価

斎藤喬介, 亀崎允啓, 亀崎允啓, 濱田太郎, 金田太智, 平山三千昭, オンライアン, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2021

Event date：
2021

　

　
An Abnormal Sign Detection System using Multi-Modal Driver Monitoring and Voice Interaction

林弘昭, 亀崎允啓, 岡直樹, 菅野重樹

自動車技術会大会学術講演会講演予稿集(Web)

Presentation date： 2021

Event date：
2021

　

　
Environmental Adaptability for Multi-Arm Multi-Flipper Disaster Response Robots–Efficient Motion Learning Based Task Classification and Reuse of Learned Control Laws–

KAMEZAKI Mitsuhiro, IIDA Tatsuhito, OKUBO Satoko, UEHARA Yusuke, AZUMA Kohga, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2021

Event date：
2021

　

　

　View Summary

The multi-degree-of-freedom disaster response robot ‘OCTOPUS’ requires an ‘environment-adaptive motion generation function’ to fully utilize its advanced ‘body.’ The disaster site is unknown and complex, so there is a limit to the amount of control rules that can be described in advance by humans. To address this issue, we have developed a basic framework for an adaptive reinforcement system that learns behaviors in a virtual space generated based on environmental information acquired in a real space. In this study, we develop a motion learning system based on task classification and reuse of learned control rules. As a result of experiments on rough terrain, we confirmed that the proposed system could accomplish a moving task on any unknown terrain in a shorter time than the conventional system by the task classification and reusing control laws.
Investigation of Impact Response for Developing a Sensor using Permanent Magnet Elastomer

美奈川拓真, 岩本悠宏, 井門康司, ZHANG Peizhi, 菅野重樹, 亀崎允啓

MAGDAコンファレンス講演論文集

Presentation date： 2021

Event date：
2021

　

　
Prototype of a Basic Control System for MRF Robot Arms to Enhance Mechanical and Geometric Adaptability

TSUNODA Ryuichiro, KAMEZAKI Mitsuhiro, ZHANG Peizhi, SHEMBEKAR Sahil, He Zhuoyi, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2021

Event date：
2021

　

　

　View Summary

The purpose of this study is to develop a basic control system that enhances mechanical and geometric adaptability for magnetorheological fluid (MRF) robot arms with high backdrivability and high output power, which we have developed in a previous study. A prototype control system was developed to control the force of the endpoint by controlling pressure in the actuator. The results of gravity compensation and surface copying motion experiments were conducted. The experimental results showed that proposed controller could effectively control the MRF robot arm.
Development of an Automatic Velocity Control System Based on Passability Index Considering Pedestrians for Personal Mobility

Kasai Yusuke, KAMEZAKI Mitsuhiro, MORI Taiga, MATSUSHIGE Ryo, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2021

Event date：
2021

　

　

　View Summary

For personal mobility(PM) operators, it is difficult to move through a crowd and it is important to estimate collision risks and to control driving velocity properly. In this study, we propose an automatic velocity control system for PM based on “Passability Index (PI),” which indicates difficulty of driving while pedestrians are passing. The system uses an RGB-D camera and LRFs to estimate a pedestrian’s position and velocity. To calculate PI, the system calculates width of passage during passing considering pedestrian’s movement. Then, PM adopts a proper passing velocity depending on PI. Experimental results show that the proposed system helped operators to drive safer compared to manual (non-supported) driving.
操作入力と動作出力の差分に着目したパーソナルモビリティの不整地運転支援システムの開発と評価

松繁怜, 亀﨑允啓, 葛西優介, 菅野重樹

第21回計測自動制御学会システムインテグレーション部門講演会論文集(SI2020)

Presentation date： 2020.12
異なるコンテキスト下での自律移動ロボットの行動に対する人の行動・心象分析

亀﨑允啓, 斎藤喬介, 柳川勇人, 大西智也, 小林彩乃, シュレスタムーンディプ, 菅野重樹

第21回計測自動制御学会システムインテグレーション部門講演会論文集(SI2020)

Presentation date： 2020.12
深層強化学習シミュレータを用いた人混み環境における移動ロボットの能動的働きかけ効果の検証

亀﨑允啓, 濱田太郎, 李羽晗, 菅野重樹

第21回計測自動制御学会システムインテグレーション部門講演会論文集(SI2020)

Presentation date： 2020.12
タクティカルレベル入力を用いた自動運転時の予定外権限移譲における制御介入手法の提案

林弘昭, 亀﨑允啓, 岡直樹, ウダーラマナワドゥ, 菅野重樹

第18回ITSシンポジウム2020

Presentation date： 2020.12
Human Sensing and Interaction in Automated Vehicles

Mitsuhiro Kamezaki [Invited]

The Future of In-Cabin Human-Sensing in Intelligent Mobility: Challenges and Opportunities (HSIM), 2020 IEEE Intelligent Vehicle Symposium (IV 2020)

Presentation date： 2020.11
安全性と生産性の両立を目的とした人移動予測に基づくロボットアームの軌道調整手法

和田智博, 亀﨑允啓, 坂本義弘, 菅野重樹, 佐藤葉介, 金天海, 寧霄光, 赤木哲也, 出澤純一, 菅原志門

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
自律移動ロボットのサービスタスク運用のための先導・追従行動計画フレームワークの提案

濱田太郎, 斎藤喬介, 金田太智, 平山三千昭, 亀﨑允啓, 菅野重樹

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
移動ロボット軌道計画のロバスト化に関する研究～人の速度ベクトルの保持可能性および測定誤差の推定～

斎藤喬介, 河野遼介, 平山三千昭, 亀﨑允啓, 菅野重樹

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
Inducible Social Force Modelに基づく混雑環境下での自律移動ロボットの被接近時回避手法の開発

金田太智, 亀﨑允啓, 円谷優佑, 平山三千昭, 菅野重樹

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
螺旋型脚車輪機構と単屈曲関節を有する小径ガス管路網移動ロボットの試作

山口薫, 亀﨑允啓, 趙聞, 吉田健人, 今野実, 大貫彰彦, 菅野重樹

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
次世代産業用ソフトロボットの実現に向けた革新的MR材料×駆動機構の融合研究開発

亀﨑允啓, 坂本裕之

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
ギア・クラッチ・ブレーキを組み合わせた逆可動性と高応答性を有する動力伝達機構の試作

何卓頤, 亀﨑允啓, 張裴之, シェンベカルサヒル, 角田龍一朗, 菅野重樹

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
磁気粘性流体を作動流体とした逆可動性と高出力性を有するロボットアームの開発

角田龍一朗, 亀﨑允啓, 張裴之, シェンベカルサヒル, 何卓頤, 菅野重樹

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
鉱山ショベルの掘削効率化に関する研究（第一報）－掘削抵抗解析に基づく個別要素法パラメータ同定システムの設計－

水嶋済也, 山村真司, 佐藤隆哉, 水越勇一, 加藤史洋, 亀﨑允啓, 岩田浩康

第38回日本ロボット学会学術講演会論文集(RSJ2020)

Presentation date： 2020.10
Iterative Dynamic Waypoint Navigationによる複数移動障害物の回避軌道計画とその計算効率化

平山三千昭, 亀﨑允啓, 河野遼介, 菅野重樹

日本機械学会 2020年度年次大会

Presentation date： 2020.09
Inducible Social Force Modelを用いた複数人移動予測に基づく混雑環境下でのロボットの接近・接触移動

金田太智, 亀﨑允啓, 円谷優佑, 平山三千昭, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2020論文集(Robomech’20)

Presentation date： 2020.05
パーソナルモビリティのためのPassability Indexに基づくプロアクティブ操作支援の提案

松繁怜, 亀﨑允啓, ランドンウォン, 森大河, 中野将尚, 矢野裕季, 瀬古俊一, 倉橋孝雄, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2020論文集(Robomech’20)

Presentation date： 2020.05
遠隔ロボット操作者個人に適した映像タイプを診断する基本フレームワークの開発

板野峻也, 亀﨑允啓, 宮田雅博, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2020論文集(Robomech’20)

Presentation date： 2020.05
認知行動の基準モデルに基づくテイクオーバー時の状況認識不足推定手法の開発

岡直樹, 林弘昭, マナワドゥウダーラ, 江馬敬明, 亀﨑允啓, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2020論文集(Robomech’20) 20200528

Presentation date： 2020.05
人との協調を考慮した自律移動ロボットの制御および時系列データ分析

亀﨑允啓 [Invited]

日本機械学会ロボティクス･メカトロニクス講演会2020論文集(Robomech’20)，ワークショップ「自律ロボットシステム開発に向けた MATLAB，Simulink 活用」

Presentation date： 2020.05
Proposal of a Proactive Operation Support System Based on Passability Index for Personal Mobility

松繁怜, 亀崎允啓, 亀崎允啓, LAN Dongwon, 森大河, 瀬古俊一, 倉橋孝雄, 菅野重樹

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

Presentation date： 2020

Event date：
2020

　

　

　View Summary

Personal mobility (PM) taking parts in society is a challenge due to two major problems as follows. The one is difficulty in estimating passability precisely and proactively. The other is difficulty in controlling PM in a narrow space. Human operators are essentially not good at dealing with the problems, so we propose a proactive operation support system based on estimating passability index related to the height and width of passages. For height, the system detects steps taller than 5 cm, visualizes them on monitor, and provides emergency stop if collision is estimated. For width, the system extracts labelled clusters of walls and calculates distance for adjacent walls, visuals passages on monitor, and decrease the speed based on the width. The experimental results indicated that the proposed system enhanced the efficiency and safer operation, compared with no-support.
移動ロボット軌道計画のロバスト化に関する研究~人の速度ベクトルの保持可能性および測定誤差の推定~

斎藤喬介, 河野遼介, 平山三千昭, 亀崎允啓, 亀崎允啓, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2020

Event date：
2020

　

　
Preliminary Study on a Basic Framework to Diagnose Video Presentation Type Suitable for Individual Teleoperator

板野峻也, 亀崎允啓, 宮田雅博, 菅野重樹

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

Presentation date： 2020

Event date：
2020

　

　

　View Summary

In this study, we designed a basic framework for diagnosing a video presentation system suitable for individual operator engaging robot teleoperation. The individual suitability of video presentation systems can be only evaluated through the result of work and there are no evaluation frameworks. We first created 16 video types based on the conventional video presentation system and six diagnosis tasks, and then assigned the operators to a video type according to the work performance. The results of diagnosis revealed that the video type that maximizes work performance differed in the individuals, and the individual-suitable video type obtained by diagnosis provided better work performance, even in an unknown environment.
Fuzzy PID and Classification-based Control Method for MRF Actuator with Variable Inertia and Viscoelasticity Mechanism

角田龍一朗, 亀崎允啓, HE Shan, ZHANG Peizhi, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2020

Event date：
2020

　

　
A Driver Support System Focused on Difference Between Input and Output on Rough Terrain for Personal Mobility Vehicles

松繁怜, 亀崎允啓, 亀崎允啓, 葛西優介, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2020

Event date：
2020

　

　
タクティカルレベル入力を用いた自動運転時の予定外権限移譲における制御介入手法の提案

亀﨑允啓, 林弘昭, ウダーラマナワドゥ, 菅野重樹

第17回ITSシンポジウム2019

Presentation date： 2019.12
２重課題を用いた無人化施工におけるCognitive Tunnelingを低減可能な視覚提示手法における認知負荷改善検証～

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

第20回計測自動制御学会システムインテグレーション部門講演会論文集(SI2019)

Presentation date： 2019.12
多自由度災害対応ロボットにおける人と自動化機能との協調に関する研究～人の動作目的入力に着目した操作権限の動的配分手法～

上原悠嗣, 亀﨑允啓, 東宏河, 片野貴裕, 金子大靖, 石田健蔵, 菅野重樹

第20回計測自動制御学会システムインテグレーション部門講演会論文集(SI2019)

Presentation date： 2019.12
交通負荷情報と運転者の生体・行動・主観指標を用いた再帰型深層学習による運転負担推定に関する研究

岡直樹, 亀﨑允啓, 河野陽大, 江馬敬明, マナワドゥウダーラ, 菅野重樹

第20回計測自動制御学会システムインテグレーション部門講演会論文集(SI2019)

Presentation date： 2019.12
リチウムイオン電池の等価回路モデル解析による劣化箇所推定に関する研究

三宅太文, 鈴木智幸, 船橋賢, 亀﨑允啓, 荘田隆博, 石居真, 菅野重樹

第20回計測自動制御学会システムインテグレーション部門講演会論文集(SI2019)

Presentation date： 2019.12
操作型作業機械の知能化に関する研究～第13報：重回帰分析を用いた操作支援～

板野峻也, 亀﨑允啓, 森島洋忠, 岩田浩康, 菅野重樹

第20回計測自動制御学会システムインテグレーション部門講演会論文集(SI2019)

Presentation date： 2019.12
主観評価を取り入れた基本入出力ゲイン調整に関する研究～使いやすさと作業効率性の関連性分析～

松繁怜, 亀﨑允啓, 小坂拓未, 岩田浩康, 菅野重樹

第20回計測自動制御学会システムインテグレーション部門講演会論文集(SI2019)

Presentation date： 2019.12
材料と機構の融合デザイン～磁気機能材を応用したロボットデバイス～

亀﨑允啓 [Invited]

2019年度磁性流体連合講演会

Presentation date： 2019.12
新産業創出に向けた機能性材料とメカトロニクスの融合デザイン

亀﨑允啓 [Invited]

ナノ・マイクロ技術支援講座・ナノ茶論第7回セミナー

Presentation date： 2019.11
インボリュート形状を有する1自由度アームによる接触働きかけを行う人ごみ内自律移動ロボットの開発

今岡紀章, 北澤一磨, 亀﨑允啓, 菅野重樹, 安藤健

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究－第三報搭乗操作熟練者における掘削・配置作業でのパン・チルト角が及ぼす作業効率への影響の実験的検証ー

佐藤隆哉, 亀﨑允啓, 山下雄輝, 菅野重樹, 岩田浩康

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
災害対応人型ロボット遠隔マニピュレーション作業における操作者の疲労軽減および精度向上可能なスケール・ゲイン調整手法の実機適応性検証

佐藤隆哉, 亀﨑允啓, 江藤孝紘, 水越勇一, 劉楊, 並木明夫, 今井朝輝, 松澤貴司, 橋本健二, 高西淳夫, 岩田浩康

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
磁気粘性流体を用いた低摺動ベーン形ロータリアクチュエータの開発

大槻健史朗, 亀﨑允啓, 張裴之, 何卓頤, 菅野重樹

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
MRエラストマーを利用したサクションカップユニットの開発

張裴之, 亀﨑允啓, 大槻健史郎, 何卓頤, 菅野重樹

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
2D CNN Driver’s Gaze Direction Classification in Non-Aligned Head and Eyes Direction Situations

Catherine Lollet, Hiroaki Hayashi, Mitsuhiro Kamezaki, Shigeki Sugano

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
作業傾向に基づく支援提供のための適応的作業状態分類～目的特徴量の変動幅を最大化する特徴量空間の抽出～

亀﨑允啓, 板野峻也, 峰田健司, 森島洋忠, 岩田浩康, 菅野重樹

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
反復的行動探索の効率化による複数移動障害物の回避軌道計画

亀﨑允啓, 金田太智, 平山三千昭, 小林彩乃, 河野遼介, 菅野重樹

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
パーソナルモビリティの不整地移動に関する研究～操作主体感を考慮した半自律制御システムの提案～

松繁怜, 亀﨑允啓, 森大河, ランドンウォン, 石原達也, 倉橋孝雄, 中野将尚, 矢野裕貴, 椿俊光, 越地弘順, 肥後直樹, 菅野重樹

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
人・ロボット系における相互の譲り合いを考慮した主張・同調的軌道計画手法

亀﨑允啓, 小林彩乃, 河野遼介, 菅野重樹

第37回日本ロボット学会学術講演会論文集(RSJ2019)

Presentation date： 2019.09
操作特徴量のみを用いた機械学習に基づく電動車いす操作者の基本操作技能レベル判定手法の提案

森大河, 亀﨑允啓, 黄逸凡, ナワドゥウダーラ, 石原達也, 中野将尚, 越地弘順, 肥後直樹, 椿俊光, 菅野重樹

日本機械学会福祉工学シンポジウム2019 (LIFE2019)

Presentation date： 2019.09
いろいろなロボットアプリケーションにおけるマニピュレーション

亀﨑允啓 [Invited]

ロボティクス・メカトロニクス部門第1地区技術委員会・特別講演会

Presentation date： 2019.09
重機の遠隔操作における作業状態の変化に適応可能な拡張現実技術を用いた低認知負荷リマインド手法の構築

佐藤隆哉, 亀﨑允啓, 山下雄輝, 菅野重樹, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
巧緻作業を伴う遠隔作業における低認知負荷Zooming手法の提案

水越勇一, 亀﨑允啓, 佐藤隆哉, 江藤孝紘, 岩田浩康

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
テイクオーバー時の認知的関与度の推定に関する研究～基準視線パターンの導出と視線誘導支援システムの評価～

林弘昭, マナワドゥウダーラ, 河野陽大, 江馬敬明, 富田智哉, 亀﨑允啓, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
リスク・ベネフィットの推定と調整に基づく接近・接触移動フレームワークに関する研究

亀﨑允啓, 金田太智, 大西智也, 円谷優佑, 小林彩乃, 河野遼介, シュレスタムーンディプ, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
多自由度災害対応ロボットの環境適応性に関する研究～実空間での能動的情報探索と仮想空間での高効率動作探索～

亀﨑允啓, 上原悠嗣, 片野貴裕, 大久保覚子, 東宏河, 石田健蔵, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
平面可動型力覚グリップと入出力状態提示モニタを用いた車両制御インタフェース

亀﨑允啓, 岡直樹, 石川雅晃, マナワドゥウダーラ, 河野陽大, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
運動エネルギーの双方向充放機構による擬似慣性可変システムの提案

張裴之, 亀﨑允啓, 大槻健史郎, 何卓頤, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
ファジィ論理を用いた小径管内移動ロボットの経路計画モデリングとシミュレーション

亀﨑允啓, 山口薫, 趙聞, 吉田健人, 今野実, 大貫彰彦, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
操作型作業機械の知能化に関する研究～重回帰分析を用いた作業効率に係る要因解析～”

亀﨑允啓, 板野峻也, 森島洋忠, 岩田浩康, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)

Presentation date： 2019.06
材料×機構の融合デザイン：逆可動性を有する磁気粘性流体アクチュエータユニット

亀﨑允啓

JST新技術説明会

Presentation date： 2019.06
A Proximal Navigation Framework based on Estimation and Adjustment of Risk and Benefit

KAMEZAKI Mitsuhiro, KANADA Taichi, ONISHI Tomoya, TSUBURAYA Yusuke, KOBAYASHI Ayano, KONO Ryosuke, SHRESTHA Moondeep, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2019

Event date：
2019

　

　

　View Summary

Autonomous mobile robots are expected to work in a human-robot coexistence environment, and they require to have a proximal navigation framework considering approach and contact with humans. Such a framework requires a function to select a path based on estimating “the risk of approach” and comparing it with “the benefit of efficient movement by approach”. To move even in the proximal state, we develop a proximal navigation planning considering the distance between the human and robot (time to interference). The control framework estimates risks and benefits, and adjusts the risks as necessary, while performing proximal movement. The results of the experiment showed that the proposed navigation system could estimate the risk and benefit of approach, adjust it through inducement, and select a path that is natural and safe for the robot and human.
Investigation of Effects on Low Cognitive Load Zoom Method Based on Typical Movements during Gazing to Reduce Motion Sickness in Teleoperation of Legged Robots with HMD

MIZUKOSHI Yuichi, SATO Ryuya, ETO Takahiro, KAMEZAKI Mitsuhiro, MATSUZAKA Ayaka, NAMIKI Akio, IMAI Asaki, MATSUZAWA Takashi, HASHIMOTO Kenji, TAKANISHI Atsuo, IWATA Hiroyasu

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2019

Event date：
2019

　

　

　View Summary

Detailed views are necessary for precise manipulation in teleoperation of humanoid robots controlled by the master slave system with head mounted display. Thus, we have proposed an autonomous zoom method based on the positions of the hands, which could increase work efficiency. However, it caused motion sickness and high cognitive load owing to little reflection of operators’ intention. In this study, we thus propose a low cognitive-load zooming interface with little motion sickness. Motion sickness can be reduced by active conditions with manual control rather than passive conditions. Moreover, the interface should let operators reflect their intention to realize a low cognitive load zoom. Furthermore, the interface should be without upper limbs because operators control robots by their upper limbs. Thus, we developed the zoom interface with head movements which are typical movements during gazing. The experimental results suggest that the proposed interface can reduce sickness and cognitive load.
パーソナルモビリティの不整地移動に関する研究~操作主体感を考慮した半自律制御システムの提案~

松繁怜, 亀崎允啓, 森大河, ランドンウォン, 石原達也, 倉橋孝雄, 中野将尚, 矢野裕貴, 椿俊光, 越地弘順, 肥後直樹, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
重機の遠隔操作性向上のためのマルチカメラ最適配置に関する研究-第三報搭乗操作熟練者における掘削・配置作業でのパン・チルト角が及ぼす作業効率への影響の実験的検証-

佐藤隆哉, 亀崎允啓, 山田充, 橋本毅, 菅野重樹, 岩田浩康

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
災害対応人型ロボット遠隔マニピュレーション作業における操作者の疲労軽減および精度向上可能なスケール・ゲイン調整手法の実機適応性検証

佐藤隆哉, 亀崎允啓, 江藤孝紘, 水越勇一, 劉楊, 並木明夫, 今井朝輝, 松澤貴司, 橋本健二, 高西淳夫, 岩田浩康

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
MRエラストマーを用いたサクションカップユニットの開発

張裴之, 亀崎允啓, 何卓頤, 角田龍一朗, シェンベカルサヒル, 坂本裕之, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
作業傾向に基づく支援提供のための適応的作業状態分類~目的特徴量の変動幅を最大化する特徴量空間の抽出~

亀崎允啓, 板野峻也, 峰田健司, 森島洋忠, 岩田浩康, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
操作型作業機械の知能化に関する研究~第13報:重回帰分析を用いた作業分析に基づく操作支援~

板野峻也, 亀崎允啓, 森島洋忠, 岩田浩康, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
二重課題を用いた無人化施工におけるCognitive Tunnelingを低減可能な視覚提示手法における認知負荷改善検証

佐藤隆哉, 亀崎允啓, 仁内智志, 菅野重樹, 岩田浩康

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
多自由度災害対応ロボットにおける人と自動化機能との協調に関する研究~人の動作目的入力に着目した操作権限の動的配分手法~

上原悠嗣, 亀崎允啓, 東宏河, 片野貴裕, CHEN Kui, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
Environmental Adaptability for Multi-Arm Multi-Flipper Disaster Response Robots-Active Information Search in Real Space and Efficient Motion Search in Virtual Space-

KAMEZAKI Mitsuhiro, UEHARA Usuke, OKUBO Satoko, KATANO Takahiro, AZUMA Kohga, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2019

Event date：
2019

　

　

　View Summary

In this study, we develop an environment adaptability enhancement system with active information search in real space and high efficiency motion search in virtual space for multi-degree of freedom disaster response robot. For such robots to work safely, estimating the work achievability before executing it is important. However, in disaster sites, failed motions such as falls increase the risk of secondary disasters, so it is difficult to learn motions by trial and error. Thus, the robot obtains the environment information in real space and reproduces them in virtual space, and then performs motion search efficiently in virtual space. Due to the limitation of the reproduction accuracy, for finer adjustment, the robot performs active touches to acquire ground properties such as friction and hardness in real space. The experimental results showed that the proposed system could judge work availability by trying robot motions and provide the robot with efficient motions.
Research on Intelligent Operated-Work Machines-Derivation of Factors related to Work Efficiency Using Multiple Regression Analysis-

KAMEZAKI Mitsuhiro, ITANO Shunya, MORISHIMA Hirotada, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2019

Event date：
2019

　

　

　View Summary

In this study, we designed a framework to evaluate quantitatively the operation status of human-operated work machines represented by work efficiency. The framework requires to reveal the sensor data affecting the operating conditions, the system consists of (a) formulating between explanatory variables (sensor data) and the purpose variable (operational status) and (b) extracting explanatory variables contributing to the objective variable. As a result of the experiments, the proposed system could grasp and evaluate the operating situation in a pluralistic and quantitative manner.
Estimation of Cognitive Engagement Level in Takeover Situations-Derivation of Standard Glance Model and Evaluation of a Glance Guidance System-

HAYASHI Hiroaki, MANAWADU Udara Eshan, KAWANO Takahiro, EMA Takaaki, Tomita Tomoya, KAMEZAKI Mitsuhiro, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2019

Event date：
2019

　

　

　View Summary

When highly-automated vehicles operating in level 3 encounter system limitations, they issue a takeover request (TOR) to transfer the control authority from the automated driving (AD) system to a human driver. In such ‘unscheduled’ situations, the driver needs immediately re-engage in the driving task both physically and cognitively. In this study, we developed a driver situational awareness estimation system based on glance information. We collected a lot of glance data when both safe and dangerous takeover situations by using a driving simulator, and we derived the standard glance model including the glance area and time. To evaluate the effectiveness of the model, we created a glance guidance system to visually indicate regions with insufficient glance. We found that the guidance system improved driving performance and reduced the number of accidents.
A Control Interface with Planar-Movable Haptic Device and Input-Output State Indicator for Highly-Automated Vehicles

KAMEZAKI Mitsuhiro, OKA Naoki, ISHIKAWA Masaaki, MANAWADU Udara Eshan, KAWANO Takahiro, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2019

Event date：
2019

　

　

　View Summary

To make full use of the advantages of automatic driving while retaining the enjoyment and freedom of the manual driving, we have proposed a tactical-level input (TLI) that allows the driver to input dynamic driving tasks such as parking and turning. In the future state input using touch interface, eye movement between the interface and front is troublesome and it takes time to operate the screen. In the command input using haptic interface, it cannot reserve input to a distant place and the amount of information is small. To solve these problems, we develop a visual-haptic interface by integrating them, which has a planar-movable haptic device and an input/output state indicator using transparent screen. The results of experiments using a driving simulator indicate that the proposed interface solve the above disadvantages while remaining the advantages.
主観評価を取り入れた基本入出力ゲイン調整に関する研究~使いやすさと作業効率性の関連性分析~

松繁怜, 亀崎允啓, 小坂拓未, 岩田浩康, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2019

Event date：
2019

　

　
災害対応ロボットの能動的環境接触による相互作用パラメータの推定

上原悠嗣, 亀﨑允啓, 東宏河, 石田健蔵, 菅野重樹

第19回計測自動制御学会システムインテグレーション部門講演会論文集(SI2018)

Presentation date： 2018.12
無人化施工における認知的視野狭窄を低減する映像提示手法の構築

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

第19回計測自動制御学会システムインテグレーション部門講演会論文集(SI2018)

Presentation date： 2018.12
運転者の負荷に応じて伝達モダリティを調整する注意喚起システムの開発

富田智哉, 亀﨑允啓, マナワドゥウダーラ, 河野陽大, 江馬敬明, 林弘昭, 菅野重樹

第19回計測自動制御学会システムインテグレーション部門講演会論文集(SI2018)

Presentation date： 2018.12
パーソナルモビリティの運転評価手法に関する研究～操作入力と動作出力に係る調和性指標の提案～

森大河, 亀﨑允啓, 佐藤淳平, 河野陽大, 菅野重樹, 石原達也, 中野将尚, 矢野祐季, 越地弘順, 肥後直樹, 椿俊光

第19回計測自動制御学会システムインテグレーション部門講演会論文集(SI2018)

Presentation date： 2018.12
カルマンフィルタの誤差分散および近似式窓長の調整に基づく推定精度と実時間性を両立する歩行者の速度ベクトル推定

平山三千昭, 河野遼介, 円谷優佑, 亀﨑允啓, 菅野重樹

第19回計測自動制御学会システムインテグレーション部門講演会論文集(SI2018)

Presentation date： 2018.12
Dynamic Waypoint Navigation による移動障害物の実時間回避軌道探索手法の提案

小林彩乃, 河野遼介, 平山三千昭, 亀﨑允啓, 菅野重樹

第19回計測自動制御学会システムインテグレーション部門講演会論文集(SI2018)

Presentation date： 2018.12
機械学習を用いたパーソナルモビリティの運転技能判別～操作量のみに基づく運転技能分類モデルの構築と評価～

森大河, 亀﨑允啓, 黄逸凡, マナワドゥウダーラ, 菅野重樹, 石原達也, 中野将尚, 越地弘順, 肥後直樹, 椿俊光

第36回日本ロボット学会学術講演会論文集(RSJ2018)

Presentation date： 2018.09
分離沈降抑制型磁気粘弾性流体の試製とMRダンパー機構への実装および評価

大槻健史郎, 亀﨑允啓, 張裴之, 何卓頤, 菅野重樹, 坂本裕之

第36回日本ロボット学会学術講演会論文集(RSJ2018)

Presentation date： 2018.09
多自由度災害対応ロボットのための移動機構を利用した複合マニピュレーション手法の提案

上原悠嗣, 亀﨑允啓, 陳奎, 東宏河, 石田健蔵, 菅野重樹

第36回日本ロボット学会学術講演会論文集(RSJ2018)

Presentation date： 2018.09
小径ガス管検査のためのRSSIを用いたロボットチェインシステムの提案

吉田健人, 亀﨑允啓, 趙聞, 今野実, 大貫彰彦, 菅野重樹

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

Presentation date： 2018.06
自動運転システムとの多感覚相互作用を提供する円環型インタフェースの開発

江馬敬明, 亀﨑允啓, 河野陽大, 石川雅晃, マナワドゥウダーラ, 菅野重樹

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

Presentation date： 2018.06
グローピング動作に基づく災害対応ロボットの近接環境理解に関する基礎検討

上原悠嗣, 亀﨑允啓, 陳奎, 片野貴裕, 金子大靖, 東宏河, 石田健蔵, 菅野重樹

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

Presentation date： 2018.06
アームとフリッパの協調制御に基づく多自由度災害対応ロボットの半自律不整地移動手法の提案

東宏河, 亀﨑允啓, 陳奎, 片野貴裕, 金子大靖, 上原悠嗣, 石田健蔵, 菅野重樹

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

Presentation date： 2018.06
人の移動性指標に基づく自律移動ロボットの軽接触移動制御手法の提案

円谷優佑, 亀﨑允啓, 大西智也, 柳川勇人, 小林彩乃, 河野遼介, シュレスタムーンディプ, 菅野重樹

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

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

亀﨑允啓, 江藤孝紘, 佐藤隆哉, 岩田浩康

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

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

江藤孝紘, 亀﨑允啓, 佐藤隆哉, 岩田浩康

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

Presentation date： 2018.06
さきがけ研究者からのアドバイス

亀﨑允啓 [Invited]

アーリーバード・さきがけ研究者（先輩研究者）講演・交流会

Presentation date： 2018.01
重機遠隔操作者の視線を作業状態に応じた映像に誘導可能な映像提示手法の構築

佐藤隆哉, 亀崎允啓, 仁内智志, 菅野重樹, 岩田浩康

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2018

Event date：
2018

　

　
パーソナルモビリティの運転評価手法に関する研究~操作入力と動作出力に係る調和性指標の提案~

森大河, 亀崎允啓, 佐藤淳平, 河野陽大, 菅野重樹, 石原達也, 中野将尚, 矢野裕季, 越地弘順, 肥後直樹, 椿俊光

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2018

Event date：
2018

　

　
Dynamic Waypoint Navigationによる移動障害物の実時間回避軌道探索手法の提案

小林彩乃, 河野遼介, 平山三千昭, 亀崎允啓, 亀崎允啓, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2018

Event date：
2018

　

　
A Preliminary Study on Proximate Environment Understanding Based on Groping Actions for Risk-Tolerance Disaster Response Robots

UEHARA Yusuke, KAMEZAKI Mitsuhiro, CHEN Kui, KATANO Takahiro, KANEKO Taisei, AZUMA Kohga, ISHIDA Tatsuzo, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2018

Event date：
2018

　

　

　View Summary

In extreme disaster sites, external sensors such as laser range finders do not work properly, and such sensors may be broken in accident. Risk-tolerance robots should continue to perform tasks, even if the external sensors cannot work. In this preliminary study, for proximate environment understanding without using external sensors, we developed a groping method, in which the robot actively touches the environment using the end-point of the arm, and then reconstructs a three-dimensional local map around the robot based on the recorded contact information. The results of the experiments conducted by using four-arm four-flipper robot OCTOPUS indicated that the proposed groping actions could recognize step and pit, and calculate the position and size of object, and confirm that the robot successfully removed the object.
多自由度災害対応ロボットにおける操作権限分配とユーザビリティの関連性評価

金子大靖, 亀﨑允啓, 片野貴裕, 東宏河, 上原悠嗣, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

Presentation date： 2017.12
タスク入力の即時性に着目した車両制御用エンボディドインタフェースの開発

河野陽大, 亀﨑允啓, 江馬敬明, 石川雅晃, マナワドゥウダーラ, 菅野重樹

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

Presentation date： 2017.12
マルチ飛行カメラを用いた遠隔操作用映像提示システム～映像の連続性と映像間の相補性を考慮したカメラの動的配置～

宮田雅博, 亀﨑允啓, 菅野重樹

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

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

佐藤隆哉, 亀﨑允啓, 仁内智志, 菅野重樹, 岩田浩康

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

Presentation date： 2017.12
小径ガス管内検査ロボットのための管内無線通信減衰の計測と分析

亀﨑允啓, 吉田健人, 趙聞, 今野実, 鳥海良一, 菅野重樹

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

Presentation date： 2017.12
連続的な働きかけによる協調移動手法の提案～ロボットから人への意図伝達度に着目した人状態推定技術～

河野遼介, 亀﨑允啓, 小林彩乃, 柳川勇人, 大西智也, 円谷優佑, シュレスタムーンディプ, 菅野重樹

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

Presentation date： 2017.12
深層強化学習を用いた自律移動ロボットの人ごみ対応行動シミュレータ(第一報：シミュレータの基本設計と動作検証)

難波孝彰, 安藤健, 今岡紀章, 北澤一磨, 亀﨑允啓, 菅野重樹

第18回計測自動制御学会システムインテグレーション部門講演会論文集(SI2017)

Presentation date： 2017.12
電動型４腕式極限作業ロボットE-OCTOPUSの開発

亀﨑允啓, 東宏河, 陳奎, 片野貴裕, 金子大靖, 石田健蔵, 中山正之, 関雅俊, 一柳健, 菅野重樹

第35回日本ロボット学会学術講演会論文集(RSJ2017)

Presentation date： 2017.09
多自由度災害対応ロボットにおける人と自動化機能との分散型共有操作システムの提案

片野貴裕, 亀﨑允啓, 金子大靖, 東宏河, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

第35回日本ロボット学会学術講演会論文集(RSJ2017)

Presentation date： 2017.09
高度自動運転システムとの協調運転のためのタクティカルレベル入力型マルチモーダルインタフェース

江馬敬明, 亀﨑允啓, マナワドゥウダラ, 河野陽大, 石川雅晃, 菅野重樹

第35回日本ロボット学会学術講演会論文集(RSJ2017)

Presentation date： 2017.09
自律移動ロボットにおける軽接触を用いた人の移動誘導～人の向き・接触部位・方向に応じた人の移動性評価～

円谷優佑, 亀﨑允啓, 大西智也, 柳川勇人, 小林彩乃, 河野遼介, シュレスタムーンディプ, 菅野重樹

第35回日本ロボット学会学術講演会論文集(RSJ2017)

Presentation date： 2017.09
ハンドリング重機の遠隔操作における奥行き感把握のための側面映像の臨界角調査

仁内智志, 亀﨑允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

第17回建設ロボットシンポジウム論文集(SCR2017)

Presentation date： 2017.08
重機ロボットのための操作インタフェース

亀﨑允啓 [Invited]

ROBOMECH2017 ImPACTプログラム合同ワークショップ「ロボットイノベーションのためのヒューマン・インタフェース」

Presentation date： 2017.05
磁性流体を利用した能受動型直動デバイスの開発と基本コントローラの設計

何山, 亀﨑允啓, 大槻健史郎, 張裴之, アギーレ・ドミンゲス・ゴンサロ, 菅野重樹

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

Presentation date： 2017.05
磁性流体を用いた逆可動性を有するベーン形ロータリアクチュエータの開発

亀﨑允啓, 大槻健史郎, 張裴之, 何山, アギーレ・ドミンゲス・ゴンサロ, 菅野重樹

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

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

江藤孝紘, 佐藤隆哉, 仁内智志, 中村早紀, 亀﨑允啓, 岩田浩康

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

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

佐藤隆哉, 亀﨑允啓, 仁内智史, 菅野重樹, 岩田浩康

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

Presentation date： 2017.05
機械操作者のプランニング技能の定量化に関する研究～操作手順と操作意識に着目した特徴量の抽出～

亀﨑允啓, 佐藤淳平, 三矢隆史, 岩田浩康, 菅野重樹

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

Presentation date： 2017.05
監視対象からの信号および現象の検知により自己発電するIoTセンサデバイスの試作

長濱峻介, 亀﨑允啓, 菅野重樹

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

Presentation date： 2017.05
多自由度災害対応ロボットにおける人と自動化システムの協調制御のための操作権限分配の調査

片野貴裕, 亀﨑允啓, 金子大靖, 東宏河, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

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

Presentation date： 2017.05
人の感情と印象に基づく協調移動時のロボットの行動評価と関連性分析

亀﨑允啓, 小林彩乃, 横山悠太, 柳川勇人, シュレスタ・ムンディプ, 菅野重樹

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

Presentation date： 2017.05
タクティカルレベル入力に基づく自動運転システムとの協調運転～タッチパネルインタフェースを用いた位置変化入力～

亀﨑允啓, 江馬敬明, 石川雅晃, 河野陽大, マナワドゥ・ウダーラ, 菅野重樹

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

Presentation date： 2017.05
Analysis of Driver Preference for Different Levels of Automation in Heterogeneous Traffic Scenarios

Udara Manawadu, Mitsuhiro Kamezaki, Masaaki, Ishikawa, Shigeki Sugano

Proceedings of 2017 JSAE Annual Congress (Spring) (JSAE2017S)

Presentation date： 2017.05
Collaborative Driving with Automated System Based on Tactical-Level Input- Future-Location Input Using a Touch Screen Interface -

KAMEZAKI Mitsuhiro, EMA Takaaki, ISHIKAWA Masaaki, KAWANO Takahiro, MANAWADU Udara Eshan, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2017

Event date：
2017

　

　

　View Summary

This study develops a touchscreen-based human-machine interface prototype that allows the driver to use simple touch gestures to input vehicle control commands specifically in levels 2 and 3. The driver can instantly command a set of lateral inputs by location-based TLI, e.g., lane changing, by designating a desired location on the map, e.g., lane, by double tapping and swiping. Situational awareness is enhanced, for e.g., when approaching an intersection, by using visual and auditory prompts. We conducted experiments using a simulator to evaluate TLI method compared with the operational- (OLI, level 0) and strategic-level input (SLI, level 4) methods. The results show that TLI method offers both the flexibility of OLI as well as comfort of SLI, and drivers prefer to use all three methods depending on the driving environment.
Research on Quantification of Planning Skill for Machine Operators-Feature Extraction by focusing on Operational Procedure and Attention-

KAMEZAKI Mitsuhiro, SATO Junpei, MITSUYA Takafumi, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2017

Event date：
2017

　

　

　View Summary

In order to maneuver a human-operated work machine efficiently and safely, the operator is required to have not only operational skill to control the machine as intended, but also planning skill to determine operational strategy such as safe operation and efficient procedure. However, there are few studies on quantifying planning skill. In this paper, planning skill for machine operators is tried to quantify by focusing on operational procedure and attention. We create two experiments to derive feature value for operational procedure and attention. The results showed that shorter travel distance of the end-point of the manipulator for procedure and larger number of cooperated joints for attention leads to improving work efficiency.
マルチ飛行カメラを用いた遠隔ロボット操作用映像提示システム~映像の連続性と映像間の相補性を考慮したカメラの動的配置~

宮田雅博, 亀崎允啓, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2017

Event date：
2017

　

　
連続的な働きかけによる協調移動手法の提案~ロボットから人への意図伝達度に着目した人状態推定技術~

河野遼介, 亀崎允啓, 小林彩乃, 柳川勇人, 大西智也, 円谷優佑, SHRESTHA Moondeep, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2017

Event date：
2017

　

　
自律移動ロボットにおける軽接触を用いた人の移動誘導~人の向き・接触部位・方向に応じた人の移動性評価~

円谷優佑, 亀崎允啓, 大西智也, 柳川勇人, 小林彩乃, 河野遼介, シュレスタムーンディプ, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2017

Event date：
2017

　

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

仁内智志, 亀崎允啓, 佐藤隆哉, 菅野重樹, 岩田浩康

建設ロボットシンポジウム論文集(CD-ROM)

Presentation date： 2017

Event date：
2017

　

　
自動運転車両のためのハンドジェスチャーを用いた車両制御用HMIの開発

亀﨑允啓, 石川雅晃, マナワドゥウダーラ, 河野陽大, 菅野重樹

第17回計測自動制御学会システムインテグレーション部門講演会論文集

Presentation date： 2016.12
双方向力覚インタラクションのための力覚フィードバック型自動運転車両用HMIの開発

河野陽大, 石川雅晃, マナワドゥウダーラ, 亀﨑允啓, 菅野重樹

第17回計測自動制御学会システムインテグレーション部門講演会論文集(SI2016)

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

亀﨑允啓, 佐藤淳平, 小坂拓未, 岩田浩康, 菅野重樹

第17回計測自動制御学会システムインテグレーション部門講演会論文集(SI2016)

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

佐藤隆哉, 亀﨑允啓, 菅野重樹, 岩田浩康

第17回計測自動制御学会システムインテグレーション部門講演会論文集(SI2016)

Presentation date： 2016.12
電磁流体力学解析に基づくMRピストンヘッドの構成パラメータとパフォーマンスの関連性評価

亀﨑允啓, 何山, アギーレドミンゲスゴンサロ, 菅野重樹

第17回計測自動制御学会システムインテグレーション部門講演会論文集(SI2016)

Presentation date： 2016.12
人とロボットの協調移動におけるロボットの行動と人の印象の関連性評価

小林彩乃, 横山悠太, 柳川勇人, 亀﨑允啓, 菅野重樹

第17回計測自動制御学会システムインテグレーション部門講演会論文集(SI2016)

Presentation date： 2016.12
ロボットの移動方向表出システムが人間の移動に及ぼす影響に関する調査

大西智也, Moondeep Chandra Shrestha, 宇野絵莉香, 柳川勇人, Alexander Schmitz, 亀﨑允啓, 菅野重樹

第34回日本ロボット学会学術講演会日本ロボット学会

Presentation date： 2016.09
人とロボットの協調移動におけるロボットの行動と人の感情の関連性評価

小林彩乃, 横山悠太, 柳川勇人, 亀﨑允啓, 菅野重樹

第34回日本ロボット学会学術講演会日本ロボット学会

Presentation date： 2016.09
ロボットの移動効率と人の心理面に配慮した人-ロボット協調移動フレームワークの提案

横山悠太, 柳川勇人, 小林彩乃, Alexander Schmitz, 亀﨑允啓, 菅野重樹

第34回日本ロボット学会学術講演会日本ロボット学会

Presentation date： 2016.09
4腕式極限作業ロボットOCTOPUSの開発

亀﨑允啓, 石井裕之, 石田健蔵, 関雅俊, 一柳健

日本機械学会ロボティクス･メカトロニクス講演会2016 日本機械学会

Presentation date： 2016.06
4腕式極限作業ロボットOCTOPUSのための遠隔操作シミュレータの開発

亀﨑允啓, 片野貴裕, 陳奎, 石田健蔵, 関雅俊, 一柳健, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2016 日本機械学会

Presentation date： 2016.06
磁気粘性流体ダンパのためのトロイダル型ピストンヘッドの開発

亀﨑允啓, 何山, アギーレ・ドミンゲス・ゴンサロ, フレンチ・モルガン, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2016 日本機械学会

Presentation date： 2016.06
手先位置頻度マップを用いた作業傾向の分析と操作技能の推定

亀﨑允啓, 峰田健司, 橋本諭, 岩田浩康, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2016 日本機械学会

Presentation date： 2016.06
Design of Intelligent Human-Machine Systems focusing on Human-Machin Interfaces

Mitsuhiro Kamezaki [Invited]

Invited Lecture in University of Moratuwa

Presentation date： 2016.05
次世代ロボットのための知的ヒューマンマシンインタフェース

亀﨑允啓 [Invited]

次世代ロボットとRT技術の未来～次世代ロボット開発の最前線～早稲田大学次世代ロボット研究機構

Presentation date： 2016.03
磁場解析に基づくMRピストンヘッドの構成パラメータとパフォーマンスの関連性評価

亀崎允啓, HE Shan, DOMINGUEZ Gonzalo Aguirre, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2016

Event date：
2016

　

　
双方向インタラクションのための自動運転車両制御用力覚インタフェースの開発

河野陽大, MANAWADU Udara E., 石川雅晃, 亀崎允啓, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2016

Event date：
2016

　

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

亀崎允啓, 佐藤淳平, 小坂拓未, 岩田浩康, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2016

Event date：
2016

　

　
ハンドジェスチャーを用いた自動運転車両制御用インタフェースの開発

亀崎允啓, 石川雅晃, MANAWADU Udara E., 河野陽大, 菅野重樹

計測自動制御学会システムインテグレーション部門講演会(CD-ROM)

Presentation date： 2016

Event date：
2016

　

　
複数画面を使った遠隔操作における注視映像と作業パフォーマンスの関連性分析

亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

第16回計測自動制御学会システムインテグレーション部門講演会計測自動制御学会

Presentation date： 2015.12
拡張現実感を利用した複数の視線誘導手法による遠隔操作者の認知負荷軽減に関する研究

佐藤隆哉, 亀﨑允啓, 楊俊傑, 菅野重樹, 岩田浩康

第16回計測自動制御学会システムインテグレーション部門講演会計測自動制御学会

Presentation date： 2015.12
識別性能の粒度を高める操作・運動・負荷情報を用いた拡張基底作業状態の提案

亀﨑允啓, 三矢隆史, 森島洋忠, 峰田健司, 岩田浩康, 菅野重樹

第16回計測自動制御学会システムインテグレーション部門講演会測自動制御学会

Presentation date： 2015.12
無人化施工における視覚情報の強化に関する研究－作業状況に応じた環境カメラの自動制御と拡張現実技術を用いた注視支援－

亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

第15回建設ロボットシンポジウム論文集建設ロボットシンポジウム

Presentation date： 2015.09
被覆率とコスト評価に基づく3次元異方性センサ群の実用的配置手法の提案

亀﨑允啓, 楊俊傑, 岩田浩康, 菅野重樹

第33回日本ロボット学会学術講演会論文集日本ロボット学会

Presentation date： 2015.09
人になじむ人間操作型機械～入出力ゲインの自動適応～

亀﨑允啓 [Invited]

第4回サステナブル／ロボティック・システムデザイン研究会

Presentation date： 2015.09
BIOG調整システムにおける入出力情報を用いた作業および操作者の特性分析

亀﨑允啓, 小坂拓未, 岩田浩康, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2015 日本機械学会

Presentation date： 2015.05
遠隔重機作業の高度化に関する研究～拡張現実感を利用した映像の注視・解釈支援手法の開発～

亀﨑允啓, 佐藤隆哉, 楊俊傑, 岩田浩康, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2015 日本機械学会

Presentation date： 2015.05
次世代知能化車両におけるユーザエクスペリエンス評価のためのドライビングシミュレータの開発

亀﨑允啓, マナワドゥ・ウダーラ, 石川雅晃, 菅野重樹

日本機械学会ロボティクス･メカトロニクス講演会2015 日本機械学会

Presentation date： 2015.05
2P1-P04 Research on Advanced Unmanned Construction Systems : Development of a Selective Visual Attention and Situational Awareness Support System Using Augmented Reality

KAMEZAKI Mitsuhiro, SATO Ryuya, YANG Junjie, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2015

Event date：
2015

　

　

　View Summary

An autonomous environmental camera control system we previously developed can provide operators with various and variable visual information suited to the work situation for unmanned construction. However, cognitive load of operators may increase, so we propose a selective visual attention and situational awareness support system using augmented reality (AR) to enhance the ability of visual attention. The components include (i) monitor frame, (ii) obscuration, (iii) distance arrow, and (iv) end-point vertical arrow, with variable color and flashing effect to facilitate understanding the situation. Moreover, the system adaptively draws visual attention by changing types and parameters of AR components according to situations. Debris removal tasks were conducted using a VR simulator to compare without and with AR support. Results showed that the AR support reduced the frequent changes of point of gaze and provided the sense of depth and attention to potential collisions.
測定条件に応じたデータ選定によるロバストな把持物体重量計測システムの開発

亀﨑允啓, 三矢隆史, 岩田浩康, 菅野重樹

第15回計測自動制御学会システムインテグレーション部門講演会論文集(SI2014)

Presentation date： 2014.12
無人化施工の効率・安全を高める映像注目支援に関する調査研究

亀﨑允啓 [Invited]

平成26年度建設施工と建設機械シンポジウム

Presentation date： 2014.11
Design of Human-Robot Interface Systems-Toward Applications to Advanced Active Aging Research-

Mitsuhiro Kamezaki [Invited]

The 2nd Institute of Advanced Active Aging Research Symposium-Paradigm shifts in a super-aged society-

Presentation date： 2014.10
操作量ヒストグラムを用いたBIOG 自動調整手法〜操作頻度の平準化による操作感の統一〜

亀﨑允啓, 小坂拓未, 谷川雄介, 岩田浩康, 菅野重樹

第32回日本ロボット学会学術講演会論文集(RSJ2014)

Presentation date： 2014.09
知的ヒューマンマシンインタフェースと事例紹介

亀﨑允啓 [Invited]

第3回サステナブル／ロボティック・システムデザイン研究会

Presentation date： 2014.08
遠隔重機作業の高度化に関する研究—作業状況に応じたロールアサインメントに基づく環境カメラの向き・画角調整—

亀﨑允啓, 楊俊傑, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2014論文集(Robomec’1４)

Presentation date： 2014.05
操作量ヒストグラムを用いたBIOG自動調整手法~操作頻度の平準化による操作感の統一~

亀崎允啓, 小坂拓未, 谷川雄介, 岩田浩康, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2014

Event date：
2014

　

　
1P1-K02 Research on Advanced Unmanned Construction System : Orientation and Angle of View Adjustment Based on Camera Role Assignment for Environmental Cameras(Robotics and Mechatronics in Construction and Demolition)

KAMEZAKI Mitsuhiro, YANG Junjie, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2014

Event date：
2014

　

　

　View Summary

A method to autonomously control multiple environmental cameras for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects and imaging modes were defined. To control each camera simply and effectively, four practical camera roles combined with the imaging objects and modes were defined. A role assignment system was then developed to assign the four camera roles to four out of six cameras suitable for the work situation, on the basis of the assignment priority rules. Debris removal tasks were performed by using a VR simulator to compare fixed, manual control, and autonomous systems. Results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and increasing the subjective usability while improving the time efficiency.
遠隔操作シミュレータを用いた無人化重機作業の時間効率性に関する基礎分析

亀﨑允啓, 楊俊傑, 岩田浩康, 菅野重樹

第1４回計測自動制御学会システムインテグレーション部門講演会論文集(SI2013)

Presentation date： 2013.12
複雑作業への適応を目的とした無人化施工における車載・環境カメラの可動性効果の検証とその半自動化コントロール手法に関する基礎的研究

亀﨑允啓 [Invited]

平成25年度建設施工と建設機械シンポジウム

Presentation date： 2013.11
負荷変化率を用いた操作入力の無効化による双腕引き剥がし作業の安全性向上

亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

第31回日本ロボット学会学術講演会論文集(RSJ2013)

Presentation date： 2013.09
科研費・若手研究Bの獲得に向けて

学内若手研究者向け勉強会 [Invited]

研究推進部，早稲田大学

Presentation date： 2013.07
作業状態推定に基づく次世代重機の操作者支援システム

亀﨑允啓 [Invited]

情報・機械系融合ワークショップ

Presentation date： 2013.07
操作型作業機械の知能化に関する研究〜第10 報：手先の外力・移動方向を用いた物体把持推定の高精度化〜

亀﨑允啓, 石井孝洋, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2013論文集(Robomec’13)

Presentation date： 2013.05
1A1-Q10 Research on Intelligent Operated-Work Machines : Accuracy Improvement of Grasp-Estimation Using Force and Movement Vectors(Robotics and Mechatronics in Construction and Demolition)

KAMEZAKI Mitsuhiro, ISHII Takahiro, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2013

Event date：
2013

　

　

　View Summary

In this paper, a method to accurately estimate whether a grapple grasps an object or not for construction machinery is proposed on the basis of extending the requisite condition for grasp, considering robustness and practicality. Accurate grasp estimation requires confirmation that the hand and arm loads continue to be observed during arbitrary manipulator movements. Enhancement conditions are thus defined by using force and movement at the end-point, including (i) vertical downward force, (ii) longer direction movement, and (iii) horizontal direction reciprocating movement. In transport experiments conducted by using an instrumented hydraulic arm, results indicated that the ratio of error estimation decreases as formed conditions increase, and confirmed that the proposed method estimates grasp/non-grasp accurately and robustly.
複雑作業への適応を目的とした無人化重機の遠隔操作シミュレータ〜操縦・映像提示系コンポーネントの基礎開発〜

亀﨑允啓, 楊俊傑, 小坂拓未, 岩田浩康, 菅野重樹

第13回計測自動制御学会システムインテグレーション部門講演会論文集(SI2012)

Presentation date： 2012.12
操作型作業機械の知能化に関する研究〜第9報：操作・負荷フラグの時系列遷移を利用した物体把持・非把持推定〜

亀﨑允啓, 石井孝洋, 岩田浩康, 菅野重樹

第13回計測自動制御学会システムインテグレーション部門講演会論文集(SI2012)

Presentation date： 2012.12
Operational Support for Disaster Response Work Using Dual-Arm Construction Machinery

Mitsuhiro Kamezaki [Invited]

Italy-Japan Workshop 2012

Presentation date： 2012.12
操作型作業機械の知能化に関する研究〜第8報：手先位置頻度マップを用いた大局的作業傾向の可視化〜

亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

第30回日本ロボット学会学術講演会論文集(RSJ2012)

Presentation date： 2012.09
操作型作業機械の知能化に関する研究〜第7報：時系列遷移情報の利用による基底作業状態の識別性能向上〜

亀﨑允啓, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2012論文集(Robomec’12)

Presentation date： 2012.05
1A2-F02 Research on Intelligent Operated-Work Machines : Improvement of Identification Performance of Primitive Static States Based on State Transition Analysis(Robotics and Mechatronics in Construction and Demolition)

KAMEZAKI Mitsuhiro, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2012

Event date：
2012

　

　

　View Summary

In this paper, state transitions of primitive static states (PSS), which consist of 16 symbolic work states defined by using on-off state of the lever operations and joint loads for the manipulator and end-effector, are analyzed for describing work states in more detail. From a transition-condition analysis, practical state transitions (PST), which are frequent transitions in arbitrary construction work, are defined. PST can be classified into essential (EST) or nonessential state transitions (NST). EST extracts common phases of work progress and estimates positional relations between a manipulator and an object. NST reveals wasted movements that degrade the efficiency and quality of work. Work-analysis experiments using our instrumented setup were conducted. Results indicate that all the PSS definitely changes on the basis of PST under various work conditions, and EST and NST easily reveals work characteristics and untrained tasks related to wasted movements.
操作型作業機械の知能化に関する研究~第8報:手先位置頻度マップを用いた大局的作業傾向の可視化~

亀崎允啓, 橋本諭, 岩田浩康, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2012

Event date：
2012

　

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

亀﨑允啓, 中村晧祐, 橋本諭, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2011論文集(Robomec’11)

Presentation date： 2011.05
1A1-C03 External Force Vector Measurement Applied to Construction Manipulator : Relative Measurement Accuracy Improvement Based on Internal Error Range Estimation(Robotics and Mechatronics in Construction and Demolition)

KAMEZAKI Mitsuhiro, NAKAMURA Kosuke, HASHIMOTO Satoshi, IWATA Hiroyasu, SUGANO Shigeki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) The Japan Society of Mechanical Engineers

Presentation date： 2011

Event date：
2011

　

　

　View Summary

This paper reports a practical framework for measuring the external force vector applied to a construction manipulator using hydraulic sensors. Such a measuring system inevitably includes measuring errors owing to difficult-to-reduce modeling errors, so our framework introduces relative measuring accuracy improvement. It is organized into (i) quantifying internal error range (IER) using the summation of the maximum measuring error of static and dynamic friction forces, (ii) calculating error force vectors using IER to select cylinders with less errors, and (iii) outputting the external force vector using the selected cylinders. Experiments were conducted using an instrumented hydraulic arm. Results indicate that our framework enables to improve the relative measuring accuracy, independently of various postural and kinematic conditions.
油圧情報に基づく負荷計測の不確かさを考慮した建機マニピュレータの荷重有無検出

亀﨑允啓, 橋本諭, 中村皓佑, 岩田浩康, 菅野重樹

第11回計測自動制御学会システムインテグレーション部門講演会論文集(SI2010)

Presentation date： 2010.12
マニピュレータの運動状態に応じた負荷要因同定に基づく油圧シリンダの外力負荷有無検出手法の提案

亀﨑允啓, 橋本諭, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2010論文集(Robomec’10)

Presentation date： 2010.06
操作型作業機械の知能化に関する研究〜第6報：簡易化基底作業状態を用いた大局的状態遷移の分析〜

亀﨑允啓, 岩田浩康, 菅野重樹

第10回計測自動制御学会システムインテグレーション部門講演会論文集(SI2009)

Presentation date： 2009.12
油圧駆動型双腕ロボットアームシステムの開発〜次世代知能化建機の研究・開発用プラットフォーム〜

亀﨑允啓, 橋本諭, 島田陽介, 中島義統, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2009論文集(Robomec’09)

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

亀﨑允啓, 島田陽介, 中島義統, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2009論文集(Robomec’09)

Presentation date： 2009.05
Research on Intelligent Operated-Work Machines-Work Property and Support Flag Identification focused on Operational Support-

亀崎允啓, 島田陽介, 中島義統, 岩田浩康, 岩田浩康, 菅野重樹

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

Presentation date： 2009

Event date：
2009

　

　

　View Summary

We understand that primitive static states (PSS), which we have defined, are useful for work or skill analysis, but PSS are not useful for operational support because PSS determine with using only on-off information. In this study, we propose a work state identification for operational support, which includes an identification of the most basic construction work property by modifying PSS and an extraction of operational support providing flag by applying modified-PSS to time-series data. Experiments in transporting and removing tasks using our hydraulic dual arm system indicated that operator supports based on the proposed identification method improves work performance, including decreasing the time taken to complete a task, and the number of error operation, and reducing the moving distance of end-effector after breaking an object.
Development of Hydraulic Dual Robotic Arm System-A Platform for Research and Development on Advanced Intelligent Construction Machinery-

亀崎允啓, 橋本諭, 島田陽介, 中島義統, 岩田浩康, 岩田浩康, 菅野重樹

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

Presentation date： 2009

Event date：
2009

　

　

　View Summary

This paper reports a newly developed hydraulic dual robotic arm system for research and development on advanced intelligent construction machinery that has two joysticks to control the two manipulators with twelve degrees of freedom, control valves with load-sensing system, and sensors for detecting lever operation, cylinder oil pressure, and cylinder stroke information. To clarify important points at addressing an intelligent system, we evaluated basic characteristics of hydraulic machine system. Experimental results showed that hydraulic machine system has measurable time delay from lever input to cylinder actuation, which makes a cooperative operation with two arms difficult. We also found that magnitude of cylinder load greatly changes by lever operation and joint angle, which requires a sophisticated external load detecting method.
操作型作業機械の知能化に関する研究〜第4報：基底作業状態を用いた操作者支援システムの開発〜

亀﨑允啓, 岩田浩康, 菅野重樹

第9回計測自動制御学会システムインテグレーション部門講演会論文集(SI2008)

Presentation date： 2008.12
操作型作業機械の知能化に関する研究〜第3報：基底作業状態を利用した操作者のスキル解析と操作トレーニングへの応用〜

亀﨑允啓, 河合雄一郎, 島田陽介, 岩田浩康, 菅野重樹

第26回日本ロボット学会学術講演会論文集(RSJ2008)

Presentation date： 2008.09
操作型作業機械の知能化に関する研究〜第2報：環境・操作者に非依存な基底作業状態の提案〜

亀﨑允啓, 島田陽介, 河合雄一郎, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2008論文集(Robomec’08)

Presentation date： 2008.06
Research on Intelligent Operated-Work Machines-Application of Primitive Static States to Operation-Skill Analysis for Efficient Skill Training-

亀崎允啓, 河合雄一郎, 島田陽介, 岩田浩康, 菅野重樹

日本ロボット学会学術講演会予稿集(CD-ROM)

Presentation date： 2008

Event date：
2008

　

　
Research on Intelligent Operated-Work Machines-Design of Primitive Static States in Total Independence of Varieties of Environmental Condition and Operator’s Skill Level-

亀崎允啓, 島田陽介, 河合雄一郎, 岩田浩康, 岩田浩康, 菅野重樹

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

Presentation date： 2008

Event date：
2008

　

　

　View Summary

In complicated work machines represented by Double-Front Construction Machinery, an intelligent system to which can provide operational and cognitive supports for an operator is essential. In construction work, a) work objects change consistently, b) environment is complicated, and c) operation methods are different by operators. We understand that there are so many unknown parameters that state identification technique to cover all is very difficult. Therefore, we think that the state unit in total independence of varieties of environmental condition and operator's skill level condition is important. We designed the state unit - PSS (Primitive Static States) with ON / OFF information of lever input and manipulator load divided into "end-effecter" and "except end-effecter". PSS classified working states in 256 (double front) ways every sampling period. As a result of having experimented with between different operators and between different environments with PSS, we confirmed that PSS have properties "in total independence of varieties of environmental condition and operator's skill".
操作型作業機械の知能化に関する研究〜第1報：操作者支援システムの設計と双腕建機シミュレータによる有用性の検証〜

亀﨑允啓, 岩田浩康, 菅野重樹

第8回計測自動制御学会システムインテグレーション部門講演会論文集(SI2007)

Presentation date： 2007.12
Development of Operation Skill-Training Simulator for Double-Front Construction Machinery

Mitsuhiro Kamezaki

The 4th COE-CIR Joint Workshop -Future Collaborations on Robot Technologies between Korea and Japan-

Presentation date： 2007.09
Development of Double-Front Construction Machinery Simulator for Operation-Skill Training

Mitsuhiro Kamezaki

The 1st WSK Summer School –Fundamentals on Biorobotics-

Presentation date： 2007.09
双腕建機における操作技能トレーニング用シミュレータの開発

亀﨑允啓, 岩田浩康, 菅野重樹

日本機械学会ロボティクス・メカトロニクス講演会2007論文集

Presentation date： 2007.05
起立動作介助における膝関節負荷を軽減可能な手先誘導軌道〜移動型力介助マニピュレータによる高齢者の自立支援の促進〜

岩田浩康, 亀﨑允啓, 相子文孝, 金子真, 菅野重樹

日本機械学会福祉工学シンポジウム2006論文集

Presentation date： 2006.09
2E1-02 Hand-Guiding Movement for Decreasing Knee Joint Torques of the Elderly in Standing-up Motion Support : Towards Facilitating Self-Care Support with Mobile Manipulator

IWATA Hiroyasu, KAMEZAKI Mitsuhiro, AIKO Fumitaka, KANEKO Makoto, SUGANO Shigeki

The Proceedings of the JSME Symposium on Welfare Engineering The Japan Society of Mechanical Engineers

Presentation date： 2006

Event date：
2006

　

　

　View Summary

We propose a method for designing the hand-guiding movement that enables to lessen knee joint torques of the elderly in standing-up motion support. The movement was derived based on the geometric analysis of transitional postures during a standing-up motion for an assisted person expressed with four link models comprising of a shoulder, waist, knee and feet. The postures satisfying the derived movement in which the center of gravity goes in a place near the toe in the foot contact area allows the elderly to reduce knee joint torques during the standing-up motion even if the burden grows most. Simulations and experiments using an actual robot for evaluation indicating the derived trajectory successfully lessens knee joint torques of the elderly confirm the validity of the proposed method.

▼display all

Research Projects

Autonomous Behavior Generation for Real-World Robots Using Foundation Models and Active Inference

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2026.04

-

2030.03
無限自然歩行のためのピンアレイ型3次元移動床の原理実証

日本学術振興会科学研究費助成事業

Project Year :

2026.06

-

2029.03

亀崎允啓
Foundations of Indoor Acoustic NLOS Imaging with Multiple Image Sources

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2026.04

-

2029.03
Research on human collaborative robots that induce intrinsic motivation based on the perception of internal dynamics through physical contact

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2024.04

-

2029.03
任意形状に変形できる自律駆動型インフレータブルユニットの基礎的研究

日本学術振興会科学研究費助成事業

Project Year :

2026.06

-

2028.03

笹谷拓也, 亀崎允啓
Research on evaluation of slip risk based on forward dynamics simulation that simulated avoidance movement

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2025.04

-

2028.03
言語を媒介とした触覚の理解と探索に基づくロボット操作の高度化

日本学術振興会科学研究費助成事業

Project Year :

2025.04

-

2028.03

川原圭博, 石毛真修, 亀崎允啓, 村上弘晃
情報・通信・ロボット技術を用いた商店街におけるソーシャル・インクルーシブネスの可視化と促進

（公財）鹿島学術振興財団特定テーマ研究助成

Project Year :

2025.04

-

2027.03

亀﨑允啓
ロボティクスを活用した管内保全のスマート化

NEDO 官民による若手研究者発掘支援事業・共同研究フェーズ

Project Year :

2021.07

-

2026.06

亀﨑允啓
Research on Infinity Natural Walk

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2023.04

-

2026.03
Research on Infinity Natural Walk

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2024.04

-

2026.03
Experimental studies on acquisition mechanism and effect of selective body schema

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2023.06

-

2026.03
Creation of Human-Robot Coordination Control based on Observation and Insight

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2019.04

-

2024.03

Sugano Shigeki

　View Summary

Considering that observations based on body sensing and insights based on psychological sensing are essential for mutual guidance between humans and robots, we proposed predictive control based on human motion and psychological dynamics, and proposed a method for generating behavioral context through learning and human-adaptive control of robots based on it. Specifically, we proposed a basic framework for (I) understanding human behavior to estimate the intrinsic intention toward the robot, (II) determining the robot's behavior considering the inducement effect (cognitive, psychological, and physical) toward the human, and (III) iteratively evaluating and adapting the human (robot) reactive behavior to the robot (human) behavior in an appropriate manner. The usefulness of these techniques was confirmed by several experiments using a real robot in human coexistence environments, e.g., in the office and at home.
同調と主張に基づく接近・接触状態での人共存型モビリティの協調移動技術

JST 戦略的創造研究推進事業さきがけ

Project Year :

2017.10

-

2022.09

亀﨑允啓

　View Summary

人と共有した空間を自由に動けるモビリティ「Human Symbiotic Mobility」のための社会システムデザインを目的とする。移動ロボットには,駅構内や空港など人が密集した場所でも制約を受けずに移動することが求められる。本提案では,人への接近・接触の許容を核に据え、同調と主張に基づく人との譲り合いを実現するロボットの観察・洞察・実体制御技術の導入による、安全・安心な協調移動技術を開発する。
人混みでも安全に移動できる自律移動サービスロボットの事業化検証

JST 研究成果展開事業社会還元加速プログラム（SCORE）

Project Year :

2020.11

-

2021.09
Adaptability-Enhancement Scheme Based on Active Information-Exploration in Real Space and Efficient Motion-Exploration in Virtual Space

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2018.07

-

2021.03

KAMEZAKI MITSUHIRO

　View Summary

Autonomous robots that can work flexibly and robustly even in unknown environments needs to be able to judge the success or failure of a given task and to seek alternative solutions when the task is judged to be unsuccessful. In addition, failure is not allowed in disaster response tasks, so it would be effective to acquire behaviors based on trial and error in a virtual space, rather than in a real space, where risks exist and time is required. In this study, we developed a system to enhance the adaptability of autonomous robots in environments where trial and error in a real environment is difficult and the physical properties of the target are unknown, on the basis of active information exploration in real space and motion exploration in virtual space.
社会に調和した人ロボット協調のための価値観認識・適応AIの研究開発

科学技術振興機構産学が連携した研究開発成果の展開研究成果展開事業大学発新産業創出プログラム(START) SBIRフェーズ1支援

Project Year :

2021

　

　

亀﨑允啓

　View Summary

人ロボットの相互譲り合い技術を発展させ、当該環境の人(々)の意思決定様式(価値観)を認識する価値観認識AIとそれに基づく価値観適応AIを開発する。社会に調和した人ロボット協調技術を特長とする自律移動サービスロボットのための「協調移動AI」の開発・販売・運用を行うベンチャー企業の設立を目指す。
同調と主張に基づく接近・接触状態での人共存型モビリティの協調移動技術

科学技術振興機構

Project Year :

2017

-

2021

亀﨑允啓

　View Summary

人と共有した空間を自由に動けるモビリティ「Human Symbiotic Mobility」のための社会システムデザインを目的とする。移動ロボットには,駅構内や空港など人が密集した場所でも制約を受けずに移動することが求められる。本提案では,人への接近・接触の許容を核に据え、同調と主張に基づく人との譲り合いを実現するロボットの観察・洞察・実体制御技術の導入による、安全・安心な協調移動技術を開発する。
次世代産業用ソフトロボットの実現に向けた革新的MR材料×駆動機構の融合研究開発

NEDO 新産業創出新技術先導研究プログラム

Project Year :

2018.06

-

2020.11

亀﨑允啓
健康起因事故の未然防止を主目的とした「Virtual Co-Driver」の事業化検証

科学技術振興機構大学発新産業創出プログラム(START) ビジネスモデル検証支援

Project Year :

2019.09

-

2020.03

亀崎允啓

　View Summary

事業ドライバーの健康起因事故は全体の約4割を占め、一度起こるとその被害は甚大であり、経済的、社会的リスクが大きいため、「兆候を予見」して「適切に介入」できる支援技術が切望されている。本課題では、バス、タクシー会社を対象に新技術「Virtual Co-Driver」の事業化検証を行う。
An Auto-Tuning System of Basic Input-Output Gain for Human-Operated Machines

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2016.04

-

2019.03

Kamezaki Mitsuhiro

　View Summary

Operational gain to define the actuation output of a machine to the operation input of a human will be important factors to largely affect the performance of human-machine systems. The operational gain should be adapted by operators and work contents where the suitable operational gains might be different among them, but it is essentially difficult for human-machine systems to be optimized the operational gain beforehand and change it frequently. In this study, an automatic tuning system of basic input-output gain (BIOG), which is gradually tuned based on characteristics extracted from long-term work data, was therefore developed. The experimental results using human-operated manipulators indicated that the proposed tuning system could improve work performance and usability, and this study can be regarded as a big step to contribute to construct a fundamental design of fitting technology for human-machine systems
慣性質量を含むインピーダンス可変機構を有するスマートアクチュエータ

NEDO 次世代ロボット中核技術開発

Project Year :

2015.04

-

2017.03

菅野重樹, 亀﨑允啓
Research on Vision Systems to Enhance Teleoperator's Visibility

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2014.04

-

2016.03

Kamezaki Mitsuhiro

　View Summary

In this study, a vision system to enhance operator's visibility for teleoperetad work machines, called a visibility enhancement system, was developed. First, images which should be provided to operators were modeled with relation to work situatins, and a method of setting of environmental cameras and monitors that can provide defined images was developed. Second, camera roles which are assigned to cameras were defined, and a role assignment system that assigns camera roles to cameras depeding on work situations was developed in order to provide adaptive images suitble for situations considering constraints in actual environments. Experiments using a virtual reality simulator were conducted. The results indicates that the proposed visibility enhancement system could improve visibiliy and lead to improving work performance. A fundamental design method of vision system for teleoeration was derived by developing practical management method based on theoretical consideration
Efficiency and Safety Improvement Based on Semi-Autonomous Operation Support for Dual-Arm Construction Work

Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research

Project Year :

2012.04

-

2014.03

KAMEZAKI Mitsuhiro

　View Summary

In this study, an operator support system, which provides an operator with cognitive and operational support for achieving more complex tasks such as disaster rescue and recovery work using construction machinery, was developed. In particular, this study focuses on cooperative transport and object removal task using two manipulators with a grapple. This study aims at enabling any operators to work more safely and efficiently. The propose operator support system provides suitable support (gain switching, in this study) to an operator, according to the needs of support, which are determined by using the task phase and specific condition identification methods. The results of experiments conducted using a instrumented actual machine system indicate that the number of error contacts, internal force applied, and mental workload decreased without increasing time consumption. This result confirmed that the proposed framework greatly improves the work performance of individual operators
操作型双腕建機の知能化に関する基礎的研究―操作者支援システム設計手法の構築―

日本学術振興会科学研究費助成事業

Project Year :

2008

　

　

亀崎允啓

▼display all

Industrial Property Rights

移動体、制御装置及びそのプログラム

特許7683878

亀﨑允啓, 森大河, 松繁怜, 葛西優介, 菅野重樹

Patent
触覚提示装置

特許7677603

亀﨑允啓, 服部悠太郎, 張裴之, 菅野重樹

Patent
ロボット、最適ゴール探索装置及びそのプログラム

特許7652389

亀﨑允啓, 平山三千昭, 櫻井絵梨子, 斎藤喬介, 濱田太郎, 菅野重樹

Patent
ロボット及びその制御装置、並びに、移動範囲推定装置及びそのプログラム

特許7525854

亀﨑允啓, 河野遼介, 菅野重樹

Patent

J-GLOBAL
ロボット、移動経路生成装置及びそのプログラム、並びに、移動予測装置

特許7490193

亀﨑允啓, 円谷優佑, 金田太智, 菅野重樹

Patent

J-GLOBAL
自律移動ロボット、並びに、その制御装置及び制御プログラム

特許7478393

亀崎允啓, 斎藤喬介, 濱田太郎, 菅野重樹

Patent

J-GLOBAL
ロボット、軌道計画装置及びプログラム

亀﨑允啓, 金田太智, 櫻井絵梨子, 斎藤喬介, 濱田太郎, 菅野重樹

Patent

J-GLOBAL
状況認識推定システム及び運転支援システム

特許7432198

亀﨑允啓, 林弘昭, 岡直樹, マナワドゥウダーラ, 菅野重樹

Patent

J-GLOBAL
ロボット、最適ゴール探索装置及びそのプログラム

亀﨑允啓, 平山三千昭, 櫻井絵梨子, 斎藤喬介, 濱田太郎, 菅野重樹

Patent

J-GLOBAL
アクチュエータシステム

特許7203379

亀﨑允啓, 大槻健史郎, ▲張▼ 裴之, 菅野重樹

Patent

J-GLOBAL
移動物体の速度検出システム、速度検出装置及びそのプログラム

特許7186414

亀﨑允啓, 河野遼介, 平山三千昭, 菅野重樹

Patent

J-GLOBAL
ロボット、並びに、その行動計画装置及び行動計画用プログラム

特許7178066

亀﨑允啓, 大西智也, 円谷優佑, 菅野重樹

Patent

J-GLOBAL
ポンプ

坂本裕之, 亀﨑允啓, 張▼ 裴之

Patent

J-GLOBAL
開閉弁

坂本裕之, 亀﨑允啓, 張▼ 裴之

Patent

J-GLOBAL
ロボット、並びに、その行動計画装置及び行動計画用プログラム

特許7125744

亀﨑允啓, 小林彩乃, 平山三千昭, 菅野重樹

Patent

J-GLOBAL
ロボット、並びに、その行動計画装置及び行動計画用プログラム

特許7125743

亀﨑允啓, 小林彩乃, 河野遼介, 菅野重樹

Patent

J-GLOBAL
自律型作業支援ロボットの環境適応性強化システム、動作シミュレーション装置及びそのプログラム

特許7125745

亀﨑允啓, 片野貴裕, 菅野重樹, 石田健蔵

Patent

J-GLOBAL
自律移動ロボット、並びに、その制御装置及び動作制御プログラム

特許7036399

亀崎允啓, 河野遼介, 小林彩乃, 菅野重樹

Patent

J-GLOBAL
方向変換装置及び動力伝達システム

亀﨑允啓, 何卓颐, 裴之, 菅野重樹

Patent

J-GLOBAL
移動体の追従画像提示システム

特許7023492

亀﨑允啓, 宮田雅博, 菅野重樹

Patent

J-GLOBAL
管内移動体

亀﨑允啓, 山口薫, 吉田健人, 趙聞, 菅野重樹

Patent

J-GLOBAL
回転型コンプライアント駆動装置

特許6863562

亀﨑允啓, アギーレゴンサロ, 大槻健史郎, ▲張▼ 裴之, 菅野重樹

Patent

J-GLOBAL
移動体、並びに、これを用いた遠隔検査システム及び配管内の遠隔検査方法

特許6779499

亀﨑允啓, 菅野重樹, 趙聞, 吉田健人, 今野実

Patent

J-GLOBAL
アクチュエータシステム

亀﨑允啓, 大槻健史郎, 張▼ 裴之, 菅野重樹

Patent

J-GLOBAL
情報提示システム、情報提示処理装置及びそのプログラム

亀﨑允啓, 富田智哉, 河野陽大, マナワドゥウダーラ, 菅野重樹

Patent

J-GLOBAL
複腕移動ロボット

特許6635331

亀﨑允啓, 石田健蔵, 橋本健二, 関雅俊, 一柳健

Patent

J-GLOBAL
複腕移動ロボット及びロボットの協調制御システム

亀﨑允啓, 東宏河, 片野貴裕, 菅野重樹

Patent

J-GLOBAL
コンプライアントアクチュエータ

特許6493962

菅野重樹, 亀﨑允啓, アギーレゴンザロ

Patent

J-GLOBAL

▼display all

Other

ティーチング・フェロ...

2015.04

　

　

　View Summary

ティーチング・フェロー(TF)，リーディング大学院「実体情報学」，早稲田大学．

Syllabus

Methodical Robotics

Graduate School of Creative Science and Engineering

2026 fall semester
Methodical Robotics

Graduate School of Advanced Science and Engineering

2026 fall semester
Control Systems

School of Creative Science and Engineering

2026 fall semester
Fundamentals of Robotics A

School of Creative Science and Engineering

2026 fall semester
Mechatronics Laboratory Adv.

School of Creative Science and Engineering

2026 fall semester
Mechanical Engineering Laboratory Adv. [S Grade]

School of Creative Science and Engineering

2026 fall semester
Mechanical Engineering Laboratory Adv.

School of Creative Science and Engineering

2026 fall semester
Mechatronics Laboratory B

School of Creative Science and Engineering

2026 fall semester
Mechatronics Laboratory Advanced

School of Creative Science and Engineering

2026 fall semester
Mechanical Engineering Laboratory Advanced

School of Creative Science and Engineering

2026 fall semester
Control Systems

School of Creative Science and Engineering

2026 fall semester
Mechatronics [S Grade]

School of Creative Science and Engineering

2026 fall semester
Mechatronics

School of Creative Science and Engineering

2026 fall semester
Mechanical Engineering Laboratory Advanced [S Grade]

School of Creative Science and Engineering

2026 fall semester

▼display all

Teaching Experience

機械システム工学特論

Nagoya University
2025.04

-

Now
センサ技術とAIを使ったスポーツアナリティクスについて考えてみよう

The University of Tokyo
2024.04

-

Now
Computational Fabrication

The University of Tokyo
2024.04

-

Now
Sports Coaching using Wearable Devices and AI

The University of Tokyo
2023.04

-

2024.03
Mechanical Engineering Frontiers A

Waseda University
2020.04

-

2023.03
Biomechatronics

Waseda University
2020.04

-

2023.03
SHIP Collaborative Workshop

Waseda University
2018.04

-

2023.03
SHIP Research Planning and Skill B

Waseda University
2018.04

-

2023.03
Introduction to Mechanical Engineering

Waseda University
2018.04

-

2023.03
SHIP Research Planning and Skill A

Waseda University
2018.04

-

2023.03
Science and Engineering Laboratory 1B

Waseda University
2018.04

-

2023.03
Mechatronics A

Waseda University
2012.04

-

2023.03
Mechatronics F

Waseda University
2012.04

-

2023.03
Mechanical Engineering Lab A

Waseda University
2010.04

-

2023.03
SHIP Field Practice B

Waseda University
2018.04

-

2021.03
Mechanics 3

Shibaura Institute of Technology
2015.04

-

2018.03
Mechanics 2

Shibaura Institute of Technology
2015.04

-

2016.03
加工自習Ｆ

Waseda University
2010.04

-

2011.03
生命電気・情報生命工学実験B

Waseda University
2010.04

-

2011.03

▼display all

Social Activities

ロボットづくりにチャレンジ

葛飾区男女平等推進センター
2014

-

　
E-JUST設立プロジェクト

JICA
2012

-

　
早稲田イノベーションフォーラム2021(WOI2021)出展

Academic Activities

IEEE Robotics and Automation Letters (RA-L)

Peer review
IEEE/RSJ International Conference on Robots and Systems (IROS)
IEEE Internaional Conference on Robotics and Automation (ICRA)

Academic society, research group, etc.

Sub-affiliation

Faculty of Science and Engineering School of Creative Science and Engineering
Faculty of Science and Engineering Graduate School of Creative Science and Engineering

Internal Special Research Projects

災害対応作業を目的とした建設作業機のための手先荷重計測手法の開発

2012

　View Summary

　これまでに，災害救助や復旧作業への適応を目的とした次世代建設作業機のための操作者支援システムの開発を行っている．本研究課題では，この支援システムに不可欠となる負荷計測技術を対象としており，これまでに開発してきた負荷計測技術をベースとした研究である．具体的には，作業機マニピュレータの手先にかかる外力負荷(フロント負荷)をロバストかつ高精度に計測する手先荷重計測システムの開発を行った．災害現場など過酷な環境下で作業を行う災害対応作業機は，力センサなどを手先に搭載することが難しいため，搭載性・汎用性の観点から油圧センサを負荷計測センサとして用いている．よりロバストで高精度な計測を行う際には，外力以外の負荷要因(マニピュレータ自重力，シリンダ駆動摩擦力，慣性力による大きな振動成分など)を高精度に除去するアプローチが必要となる一方，完全に取り除き切れない不確定な負荷要因が存在することが問題となる，そこで本課題では，上述の不確実性を内包した実用性の高い荷重計測システムの開発を行った．　はじめに，これまで開発してきた負荷要因同定手法を利用して，上述の主要な負荷要因を計測値から取り除いた．本手法は，実装性が容易な同定モデルを用いているため誤差を含むことが前提となる．次に，負荷計測の信頼性を高めるため，負荷有無が正しく判定できない状態を計測シリンダから除外した．この出力結果を複数シリンダで統合し，手先の負荷有無検出を行った．この負荷有無結果をベースとして手先にかかる荷重の計測を行った．負荷あり判定が2つ以上ある場合には，各荷重値の平均値を出力する方法も考えられるが，いずれかに大きな誤差が生じていれば出力値の信頼性が低下する可能性が高い．そこで相対的に誤差が小さいと考えられるシリンダを以下のルールを利用して1つ選出した：誤差の出やすさから動作状態よりも静止状態のシリンダを優先すること，誤差感度の小ささから，ブーム，アーム，バケットシリンダの順に利用すること．各種計測センサを備えた油圧マニピュレータにて評価実験を行った結果，提案した荷重計測システムを用いることで，マニピュレータの姿勢や運動状態などの計測条件によらず，適切にフロント負荷計測を行えることが示された．本年度の開発を踏まえた実装技術の開発を検討している．
次世代建設作業機のための準自律型操作者支援システムの開発と実証

2011

　View Summary

　本研究では，次世代建設作業機のための準自律型操作者支援システムに不可欠となる負荷計測技術に関する開発を行った．建設作業機は，屋外の過酷な環境下で作業を行うため，搭載性・汎用性の観点から油圧センサを負荷計測センサとして用いることとした．本課題では，負荷計測技術の基盤技術開発として，建機マニピュレータの手先外力負荷(フロント負荷)の有無検出を行う汎用的フレームワークを提案した．油圧センサを用いて負荷計測を行う場合，計測されたデータには，外力だけでなくマニピュレータ自重力，シリンダ駆動摩擦力，慣性力による大きな振動成分などの負荷要因が発生してしまう．これらの主要負荷要因はマニピュレータの運動状態に応じて発生し，さらに油圧－機械システムの不確定性と非線形性に起因して同定の難易度が異なることが問題となる．そこで本課題では，上述の不確実性に対するロバスト性に着目して負荷有無判定のフレームワークの開発を行った．　はじめに，上述の主要負荷要因を汎用的かつ簡易的に取り除くために，静止状態では理論的なモデルに基づく自重力計算，運動状態では実測値に基づく駆動摩擦力同定を行った．次に，特異姿勢やストロークエンドなどの負荷有無の判定が物理的にできない状態および，マニピュレータ振動や始動圧などの振動的かつ突発的な負荷要因の影響を回避するため，単純なフラグのみを用いたシリンダ状態評価手法を構築し，シリンダ負荷有無検出の信頼性向上を図った．最後に，複数シリンダ（本課題では3つのシリンダが対象）の負荷有無結果を利用優先度に基づき評価および統合し，よりロバストな手先負荷有無検出結果を出力する枠組みを提案した．各種計測センサを備えた油圧マニピュレータにて評価実験を行った結果，提案した外力負荷有無検出システムを用いることで，マニピュレータの姿勢や運動状態などの検出条件によらず，適切にフロント有無検出を行えることが示された．本年度の基礎開発をベースに，手先負荷計測技術の拡張を進めていく予定である．
建機作業の作業評価システムの開発と実証～作業実施結果の改善ポイントの導出～

2011

　View Summary

　建設機械を使った重作業の分野では，ロボット技術(Robot Technology: RT)を利用した高機能作業機の開発や情報通信技術(Information-Communication Technology: ICT)を用いた情報化施工技術の開発をはじめとする「高度化」への取り組みが始まりつつある．これら新しい取り組みを適切に評価するためには，作業実施結果を定量化しその結果が示す貢献度や問題点などを数値化する包括的な評価システムが不可欠となる．しかしながら，操作者の多様性および環境の複雑性を有する建機作業の分野においては，作業結果を体系的に評価する枠組みについて論じた研究例は見当たらない．本研究では，これまでに開発を進めてきた作業状態識別技術を利用して作業実施結果の改善点を導出する基礎検討を行った．　作業状態識別手法には，環境や操作者の多様性に依存しないロバストな識別手法である基底作業状態（Primitive Static States: PSS）を用いた．PSSは作業状態を実時間に16通りに分類することが特徴である．はじめに，PSSの2状態間遷移の分析から基本状態遷移(Practical State Transition: PST)を定義した．次に，PSTを作業特性や作業フェーズを明らかにする本質的状態遷移(Essential State Transition: EST)と作業の効率や質を低下させる動作を明らかにする非本質的状態遷移(Nonessential State Transition: NST)とに分類した．実験機を用いた作業評価実験の結果，ESTにより適切に作業内容の把握できること，NSTにより無駄な操作や操作者の不得意作業を導出できることが確認された．本年度の基礎検討をベースに状態識別手法の拡張を行うことで，作業評価技術の基盤技術形成の構築を進めていく予定である．
作業状態分類に基づく作業実施結果の定量化手法に関する基礎的研究～双腕建設作業機を用いた連続・複雑タスクへの適用～

2010

　View Summary

　ロボット技術(Robot Technology: RT)を利用した高機能作業機の開発や情報通信技術(Information-Communication Technology: ICT)を用いた情報化施工技術の開発をはじめとする「建機作業の高度化」への取り組みが始まりつつある．これら新しい取り組みを適切に評価するためには，作業実施結果を定量化しその結果が示す貢献度や問題点などを数値化する包括的な評価システムが不可欠となる．しかしながら，建機作業が目的や性質の異なる複数のタスク群の連続により構成されていることから，建機作業の分野においては作業結果を体系的に評価する枠組みについて論じた研究例は見当たらない．そこで本研究では，作業状態分類に基づく作業実施結果の定量化手法に関する基礎検討を行った．　これまでに開発している基底作業状態（Primitive Static States: PSS）をベースに分析を行った．本研究では，より簡潔に作業実施結果を定量化するために，PSSパラメータである「アーム操作有無・アーム負荷有無・ハンド操作有無・ハンド負荷有無」のうち，部位による分類を除外した「操作有無および負荷有無」で構成されるs-PSS（Simplified Primitive Static States）を定義した．s-PSSを用いた作業状態分類により，作業内容や作業環境の多様性に依存せずに共通の枠組みで作業実施結果の定量化を行うことが可能となる．VRシミュレータを用いて廃材運搬作業を模擬した実験タスクを行い，作業実施結果の定量化および評価を行った．その結果，s-PSSの遷移フローや各状態の継続時間などを比較することで，おおまかな作業内容の把握や操作者ごとの得意・不得意作業などを定量的に把握できることが分かった．本年度の基礎検討をベースにさらに発展させていくことにより，作業実施結果の評価手法の構築へ展開していく予定である．