コセンティノ サラ (コセンティノ サラ)



理工学術院 国際理工学センター(理工学術院)




Sarah is a hands-on engineer and academic researcher. She started working as a freelance collaborator in an Electronics company during high-school, until earning her M.Sc. in Electronic engineering. Straight after her graduation she moved to Japan for a prestigious 1-year industrial internship program, which was extended to a full employee contract by the company for another 2 years. After 3 years in Japan, working for challenging projects in Electronics R&D, she decided it was time to change, applied and was selected for a scholarship program, and enrolled in a Ph.D. course in one of the top Japanese Universities. During her studies she collaborated with several other researchers across the globe, spending months in leading universities in U.S. and Europe. Her main interests are human physiology, human sensing, human communication, affective computing and human-machine interaction. She has hands-on experience in electronic design and assembly, and a wide researching experience in developing sensor systems for applications mostly related to human sensing, and human-robot interaction, authoring several publications on her specific work.

学内研究所等 【 表示 / 非表示

  • 2020年

    理工学術院総合研究所   兼任研究員

学位 【 表示 / 非表示

  • Waseda University   Ph.D. in Robotics


研究分野 【 表示 / 非表示

  • 機械力学、メカトロニクス

  • ロボティクス、知能機械システム

  • 知能ロボティクス

  • ヒューマンインタフェース、インタラクション

論文 【 表示 / 非表示

  • Group Emotion Recognition Strategies for Entertainment Robots

    Sarah Cosentino, Estelle I. S. Randria, Jia-Yeu Lin, Thomas Pellegrini, Salvatore Sessa, Atsuo Takanishi

    Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems     813 - 818  2018年10月  [査読有り]

  • A Synchronization Feedback System to Improve Interaction Correlation in Subjects With Autism Spectrum Disorder

    Yi-Hsiang, M. A, Han, Y, Lin, J. Y, Cosentino, S, Nishio, Y, Oshiyama, C, Takanishi, A

    International Conference on Awareness Science and Technology (iCAST)IEEE     285 - 290  2018年09月  [査読有り]

  • Evaluation of a Sensor System for Detecting Humans Trapped under Rubble: A Pilot Study.

    Array,Array,Ritaro Kasai, Sarah Cosentino, Cimarelli Giacomo, Yasuaki Mochida, Hiroya Yamada, Michele Guarnieri, Atsuo Takanishi

    Sensors   18 ( 3 ) 852  2018年  [査読有り]

  • Development of a low-cost smart home system using wireless environmental monitoring sensors for functionally independent elderly people.

    Di Zhang, Weisheng Kong, Ritaro Kasai, Z. Gu, Yukitoshi Minami Shiguematsu, Sarah Cosentino, Salvatore Sessa, Atsuo Takanishi

    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017     153 - 158  2017年  [査読有り]


  • Development of a Humorous Humanoid Robot Capable of Quick-and-Wide Arm Motion

    T. Kishi, S. Shimomura, H. Futaki, H. Yanagino, M. Yahara, S. Cosentino, T. Nozawa, K. Hashimoto, A. Takanishi

    IEEE Robotics and Automation Letters   1 ( 2 ) 1081 - 1088  2016年07月  [査読有り]


    This letter describes the development of a humanoid arm with quick-and-wide motion capability for making humans laugh. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh will clarify the mechanism how humans experience humor from stimuli. Nonverbal funny expressions have the potential to make humans laugh across cultural and linguistic differences. In particular, we focused on the exaggerated arm motion widely used in slapsticks and silent comedy films. In order to develop a humanoid robot that can perform this type of movement, the required specification was calculated from slapstick skits performed by human comedians. To meet the required specifications, new arms for the humanoid robot were developed with a novel mechanism that includes lightweight joints driven by a flexible shaft and joints with high output power driven by a twin-motor mechanism. The results of experimental evaluation show that the quick-and-wide motion performed by the developed hardware is effective at making humans laugh.


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Misc 【 表示 / 非表示

  • Musical Articulation System on Humanoid Saxophonist Robot

    Jia Yeu Lin, Mao Kawai, Kei Matsuki, Sarah Cosentino, Salvatore Sessa, Atsuo Takanishi, Atsuo Takanishi

    CISM International Centre for Mechanical Sciences, Courses and Lectures   584   392 - 399  2019年01月


    © 2019, CISM International Centre for Mechanical Sciences. In this paper, a musical articulation system for the Waseda Anthropomorphic Saxophonist robot is proposed. First, the specifications to produce musical articulation with a saxophone are determined. Then, a tonguing mechanism and a fast air flow control valve are implemented on the robot along with an integrated feedback control system to perform articulation by synchronously stopping reed vibration and reducing the air flow. The effectiveness of the system is verified by conducting a performance comparison experiment between the robot and a professional musician. Results are briefly discussed and future works in the same direction are considered.


  • Development of a low-cost smart home system using wireless environmental monitoring sensors for functionally independent elderly people

    D. Zhang, W. Kong, R. Kasai, Z. Gu, Y. Minami Shiguematsu, S. Cosentino, S. Sessa, A. Takanishi

    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017   2018-January   153 - 158  2018年03月


    © 2017 IEEE. The number of older adults is increasing much faster than the other age groups in the world. Especially in Japan, more and more older adult are becoming functionally independent. The smart home are appearing which provides comfort and monitors the life of the residents. However, when thinking about healthy older adults, there are two important points to take into account for the smart home: providing comfort and monitoring the position inside the house of the older adults on their daily life. This can also help their families giving them peace of mind. In this study, we designed a smart home system which includes low-cost sensor parts and a finger robot. This system can be used to control home appliances, such as air conditioners to keep the residents in a comfortable environment. Without the need of additional sensors only by using CO2 sensors, this system can provide information such as the room the resident is in, or if he/she is at home or not. As a result, we show a working system and the CO2 sensor is able to judge the position of the resident, and we are even able to understand the movement path of the resident.


  • Evaluation of a sensor system for detecting humans trapped under rubble: A pilot study

    Di Zhang, Salvatore Sessa, Ritaro Kasai, Sarah Cosentino, Cimarelli Giacomo, Yasuaki Mochida, Hiroya Yamada, Michele Guarnieri, Atsuo Takanishi

    Sensors (Switzerland)   18 ( 3 )  2018年03月


    Rapid localization of injured survivors by rescue teams to prevent death is a major issue. In this paper, a sensor system for human rescue including three different types of sensors, a CO2 sensor, a thermal camera, and a microphone, is proposed. The performance of this system in detecting living victims under the rubble has been tested in a high-fidelity simulated disaster area. Results show that the CO2 sensor is useful to effectively reduce the possible concerned area, while the thermal camera can confirm the correct position of the victim. Moreover, it is believed that the use of microphones in connection with other sensors would be of great benefit for the detection of casualties. In this work, an algorithm to recognize voices or suspected human noise under rubble has also been developed and tested.

    DOI PubMed

  • Audience mood estimation for the Waseda Anthropomorphic Saxophonist 5 (WAS-5) using cloud cognitive services

    RANDRIA Estelle I. S, COSENTINO Sarah, LIN Jia‐Yeu, PELLEGRINI Thomas, SESSA Salvatore, TAKANISHI Atsuo

    日本ロボット学会学術講演会予稿集(CD-ROM)   35th   ROMBUNNO.1C1‐04  2017年09月


  • Reliability of stride length estimation in self-pace and brisk walking with an inertial measurement unit on shank

    R. Kasai, T. Kodama, Z. Gu, D. Zhang, W. Kong, S. Cosentino, S. Sessa, Y. Kawakami, A. Takanishi

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017     671 - 676  2017年08月


    The use of Inertial Measurement Unit (IMU) for gait analysis is gaining popularity because of its advantages of low cost and non-limited workspace. In this context, researchers are focusing on methods for automated data analysis. For example, many algorithms for stride length estimation have been developed. These algorithms rely on event detection to compute gait parameters during walking and on orientation estimation for a more precise double integration of acceleration. However, at the present, there is not comparison between existing algorithms, and the applicability of each algorithm for different walking patterns is not clear. In this paper, we studied the effect on the stride length estimation using three different techniques of event detection and two techniques of orientation estimation, by using an IMU on the lateral side of shank above the ankle. In total 6 patterns of stride estimation algorithms were compared on different walking patterns of normal and brisk walking. We evaluated the techniques in terms of precision, accuracy, and shape of the histogram of the stride estimation error.


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共同研究・競争的資金等の研究課題 【 表示 / 非表示

  • Robot music therapy for effective social training of ASD children

    Grant-in-Aid for Young Scientists (B)




    担当区分: 研究代表者

特定課題研究 【 表示 / 非表示

  • SMART – System for Multitask Analysis、 Rating and Trending

    2020年   Jia-Yeu LIN, Zixi GU, Mauricio MENDEZ, Shengxu LIU, Shi FENG


    This project follows the idea presented in the rejected kakenhi project Kiban B, and serves as a base for starting research and acquire preliminary data on unobtrusive and ecological methods to continuously analyze Multi-Task (MT) mobility and assess cognitive activities in activities of daily living (ADL). The core idea is to create a sensorized environment which can monitor the users and automatic assess theirbehavior and vital parameters, detecting possible anomalies and triggering safety responses when needed, while respecting the user privacy at all times. Such system will prove very useful in ensuring safety and independence to senior citizens during ADL, drastically improving the users' Quality of Life (QoL). Due to the pandemic, the system development was severely delayed and experiments in real environment with external users were not possible. For this reason, we acquired all the necessary material and we are planning to continue the development in the next year. In particular, we will add a module for anonimized data upload to the cloud, and start monitoring experiments in the laboratory, to refine the sensor system and AI behavior data analysis module.

  • Development of gesture recognition system for therapy applications



    This project stemmed from the selected kakenhi project Wakate B 17K18178, and served as a base for continuing research on robotic platforms for cognitive and social therapy applications. We developed two systems: a gesture recognition system to analyze human movement via real-time video data analysis, a system for movement input recognition, and a system for real-time video gaze direction recognition. These systems were integrated in two therapy session protocols for ASD children, for social training interaction robotic therapy using our WAS Waseda Anthropomorphic Saxophonist robot.From the analysis of body movement and gaze direction, as well as, if present, facial expression, the robot can recognize basic interactive behaviors and emotional patterns of the child, and adapt its performance consequently, following the suitable therapeutic protocol. In this way, also the effects of both active and receptive music therapy can be combined, as the robot can choose appropriate melodies and music tunes according to the current needs of the child under therapy.This supporting grant was useful in running more experiments and refining the prototype systems developed during Wakate B 17K18178.

  • Iconic facial expressions able robotic face for direct signaling in human-robot dynamic musical interaction

    2016年   Salvatore Sessa


    After an extensive evaluation and recalibration of the needed hardware for the implementation of the proposed solution, we decided to move the focus of the facial interaction from action to recognition. We implemented a system that allows the robot, using the cloud computing and the Microsoft APIs, to recognize facial expression and emotional cues, and adapt its performance accordingly.This system would allow the robot not only to recognize specific facial expression cues from partner human players during a joint performance, but also and especially to recognize emotional expressions from the audience and respond in a tailored way.To do so, we had to implement the facial recognition software system, but also to improve the musical expressivity of the robot, by refining the hardware. We then redesigned the robot control system to produce better and more diverse sounds, allowing the robot to add specific emotional connotation to the performed piece.In the future, we are planning to redesign the entire robot hands, to be able to extend the register range of the performance and extend the possible musical emotional connotations.


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