Updated on 2025/05/08

写真a

 
WANG, Yushi
 
Affiliation
Research Council (Research Organization), Future Robotics Organization
Job title
Junior Researcher(Assistant Professor)
Degree
博士

Research Experience

  • 2021.09
    -
    Now

    Waseda University   Future Robotics Organization   junior researcher

  • 2018.09
    -
    2021.09

    Waseda University   Faculty of Science and Engineering

  • 2018.04
    -
    2018.09

    Waseda University   Faculty of Science and Engineering

Education Background

  • 2015.09
    -
    2018.09

    Waseda University   Faculty of Science and Engineering  

  • 2013.09
    -
    2015.09

    Waseda University   Faculty of Science and Engineering  

Professional Memberships

  • 　
    　
    　

    IEEE membership

  • 　
    　
    　

    日本ロボット学会

  • 　
    　
    　

    IEEE WIE membership

Research Areas

  • Mechanics and mechatronics   協働ロボット / Robotics and intelligent system   協働ロボット

Research Interests

  • humanoids

  • tactile sensing

  • Series Clutch Actuators

  • Force/torque control

 

Papers

  • Developing a Framework for Natural Human Movement Mimicry of Low-Dynamic Motions in Mobile-Based Humanoids

    Simon Gormuzov, Yushi Wang, Pinchu Yang, Tamon Miyake, Tetsuya Ogata, Shigeki Sugano

    2025 IEEE/SICE International Symposium on System Integration (SII)     942 - 948  2025.01  [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：Lead 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

  • Development of Adjustable Compliance and Sensitivity Permanent Magnetic Elastomer-based Tactile Sensor.

    Proceedings of IEEE/RSJ International Conference on Intelligent Robots Systems (IROS2024)    2024.10  [Refereed]

    Authorship：Lead author

  • 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

       2024.05

  • ''Towards robots that coexist and coevolve alongside human beings'' Proposal of a home robot system that encourages its user based on the user state estimation

       2024.05

  • Development of Permanent Magnet Elastomer-based Tactile Sensor with Adjustable Compliance and Sensitivity.

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

    IROS     11434 - 11441  2024

    DOI

    Scopus

  • 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

    SII     526 - 531  2024.01  [Refereed]

    Authorship：Corresponding author

    DOI

    Scopus

    2
    Citation
    (Scopus)

  • Feasibility Study on Parameter Adjustment for a Humanoid Using LLM Tailoring Physical Care.

    Tamon Miyake, Yushi Wang, Pin-Chu Yang, Shigeki Sugano

    ICSR (1)     230 - 243  2023  [Refereed]

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Skeleton recognition-based motion generation and user emotion evaluation with in-home rehabilitation assistive humanoid robot

    Tamon Miyake, Yushi Wang, Gang Yan, Shigeki Sugano

    2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)    2022.11  [Refereed]

    DOI

  • 永久磁石エラストマーシートを用いたロボットスキンセンサの試製

    王啓臣, 王語詩, 亀崎允啓, 坂本裕之, 菅野重樹

    日本ロボット学会学術講演会   40 ( ROMBUNNO.3B1-05 )  2022.09

    J-GLOBAL

  • 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

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

    DOI

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

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

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

    Authorship：Lead author

    DOI

  • A Study on the Elongation Behaviour of Synthetic Fibre Ropes under Cyclic Loading

    Deoraj Asane, Alexander Schmitz, Yushi Wang, Shigeki Sugano

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)    2020.10  [Refereed]

    DOI

  • Evaluation of Series Clutch Actuators With a High Torque-to-Weight Ratio for Open-Loop Torque Control and Collision Safety.

    Yushi Wang, Alexander Schmitz, Kento Kobayashi, Javier Alejandro Alvarez Lopez,Wei Wang, Yuki Matsuo, Yoshihiro Sakamoto, Shigeki Sugano

    IEEE Robotics and Automation Letters   3 ( 1 ) 297 - 304  2018  [Refereed]

    Authorship：Lead author

    DOI

    Scopus

    12
    Citation
    (Scopus)

  • Exploiting the slip behavior of friction based clutches for safer adjustable torque limiters

    Yushi Wang, Alexander Schmitz, Kento Kobayashi, Javier Alejandro Alvarez Lopez, Wei Wang, Yuki Matsuo, Yoshihiro Sakamoto, Shigeki Sugano

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     1346 - 1351  2017.08  [Refereed]

    Authorship：Lead author

    　View Summary

    Torque limiters are a proven way to enhance the safety in robots. To further increase the safety, adjustable torque limits depending on the task and the joint configuration (joint angles, velocity, acceleration) would be preferable. Friction clutches can be used as adjustable torque limiters (ATL). In contact free motion the ATL can be set with torque limits higher than the required torque, thereby not influencing the position tracking performance. At an impact, the torque is intrinsically limited, enhancing the safety. Furthermore, depending on the implementation, friction clutches have another relevant property. They can have different torque limits for static and kinetic friction: When the static torque limit is exceeded (as it would be the case in an incidental contact situation), the clutch starts slipping, and the torque output automatically decreases, thereby reducing the forces in a quasi-static contact, as defined in ISO/TS 15066:2016. The current paper implements and profiles an ATL, which exhibits a kinetic torque limit of only 50.4% of the static torque limit at 10rpm. This ensures both an adjustable torque limit fitting to the task requirement and a lower but not zero torque after impact for enhanced safety. Impact experiments validate the safety benefits outlined above.

    DOI

    Scopus

    7
    Citation
    (Scopus)

  • Design & implementation of an emergency stop function for on-power clutch based adjustable torque limiters.

    Yushi Wang, Alexander Schmitz,Javier Alejandro Alvarez Lopez, Kento Kobayashi, Shigeki Sugano

    IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, December 11-14, 2017     463 - 468  2017  [Refereed]

    Authorship：Lead author

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Control characteristics of a friction clutch for variable damping actuators

    K. Kobayashi, A. Schmitz, Y. Wang, A. Schmitz, S. Sugano

       2016.12

  • Development of 6 DoF Spherical Haptic Interface for Manipulation

    Y. Wang, T. Nakasawa, T. Kubota, S. Wesugi

       2015.09

▼display all

Research Projects

  • 若手研究

    Project Year :

    2021
    -
    2023
     

Misc

  • ヒューマノイドアニメーションデータ構造を考慮した人型ロボット

    陽 品駒 王 語詩 ゴンサロ・アギーレ・ドミンゲス 周 承緯 林 晟斌 CHIA-HSUAN LIN 劉 智誠 菅野 重樹 尾形 哲也

    第42回日本ロボット学会学術講演会論文集(RSJ2024)    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)    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)    2024.09

  • 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)   32nd  2023

    J-GLOBAL

Industrial Property Rights

  • 機械装置の動力伝達システム

    Patent

  • 可変トルクリミッタ

    Patent

 

Teaching Experience

  • 理工学基礎実験

    2018.04
    -
    2021.03
     

  • メカニカルエンジニアリングラボA

    2018.04
    -
    2021.03
     

 

Internal Special Research Projects

  • Proposal of a 6‐axis instantaneous force rendering device with intrinsic safety property

    2020  

    　View Summary

    The proposed device consists of a gravity compensation mechanism to hold its own weight and a force limit element which is developed by ourselves that can ensure the safe interaction between it and the human operator. Since this developed element can be used to control force/torque, and the gravity compensation mechanism enables easy movement of the device, a force rendering device is built.Traditional force rendering devices usually use a force/torque sensor to measure interaction force/torque which increases the cost also introduces a delay caused by the control loop, the proposed device has intrinsic safety property due to its working principle and mechanical safety does not require a control loop to check if the interaction force exceeds the limit.The gravity compensation mechanism employs a spring and a rope to balance the weight according to different configurations of the device adaptively. A strong spring is required to hold the weight and this caused the rope to get stretched and the gravity compensation function can be degraded. To avoid this, a new type of rope that consists of Dyneema rope and another rope was made, experiments show that it can endure high tension while maintaining its length.In the end, the gravity compensation mechanism and the force/torque limit element together can achieve the force rendering device with safety property.

  • Development of a Haptic Rendering Device Based on Series Clutch Actuators for Instantaneous Feedback

    2018   Shigeki Sugano

    　View Summary

    This research aims to achieve wide range force/torque feedback in 6 DoF for haptic rendering device in a virtual reality environment using previously developed Series Clutch Actuator as force/torque setting element. The actuators are embedded in the joints of a 6 DoF robot arm with gravity compensation mechanism to cancel the influence of the weight of the arm itself. Algorithms to control the force/torque output of each clutch actuator by the controller duty cycle is developed as well as the algorithm to map end-effector force/torque (which is the user side haptic feedback) to each joint torque. Virtual reality environment is built and fed to the user as the visual feedback, adding the force/torque feedback from the physical robot arm, the haptic rendering system is achieved. This system can also facilitate as a master-slave remote control system when the virtual reality environment is replaced by a remote slave device, and this can be beneficial in devastating environments.