Details of a Researcher

写真a

WANG, Yushi

Scopus Paper Info

Paper Count: 18 Citation Count: 72 h-index: 6

Click to view the Scopus page. The data was downloaded from Scopus API in April 28, 2026, via http://api.elsevier.com and http://www.scopus.com .

Affiliation

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
　

　

　

日本機械学会
　

　

　

IEEE Robotics and Automation Society 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

Close-Fitting Dressing Assistance Based on State Estimation of Feet and Garments With Semantic-Based Visual Attention

Takuma Tsukakoshi, Tamon Miyake, Tetsuya Ogata, Yushi Wang, Takumi Akaishi, Shigeki Sugano

IEEE Robotics and Automation Letters 11 ( 4 ) 3923 - 3930 2026.04

DOI
Integrating a 3-Axis Tactile Sensor Array on AIREC Robot for Human-like Radial Pulse Measuring

Reem Almheiri, Yushi Wang, Tito Pradhono Tomo, Tamon Miyake, Simon Gormuzov, Shigeki Sugano

2026 IEEE/SICE International Symposium on System Integration (SII) 293 - 299 2026.01

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

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 13024 - 13031 2025.10

DOI
Deep Predictive Learning with Proprioceptive and Visual Attention for Humanoid Robot Repositioning Assistance

Tamon Miyake, Namiko Saito, Tetsuya Ogata, Yushi Wang, Shigeki Sugano

2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 8019 - 8026 2025.10

DOI
TriForce Band: Leveraging Triaxial Tactile Sensing for Wrist Force-Myography Gesture Recognition

Tai Inui, Tamon Miyake, Yushi Wang, Shigeki Sugano

Adjunct Proceedings of the 38th Annual ACM Symposium on User Interface Software and Technology 1 - 3 2025.09

DOI

Scopus
Collision Safety and Post-Collision Response of Series Clutch Actuator Robots in Human-Robot Interaction

Han Guo, Yuchen Yang, Yuta Kage, Alexander Schmitz, Simiao Chen, Yushi Wang, Shigeki Sugano

2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 1 - 7 2025.07

DOI
Close-Fitting Dressing Assistance Based on State Estimation of Feet and Garments with Semantic-based Visual Attention.

Takuma Tsukakoshi, Tamon Miyake, Tetsuya Ogata, Yushi Wang, Takumi Akaishi, Shigeki Sugano

CoRR abs/2505.03400 2025.05

DOI
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

2

Citation

(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
''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
Dual-arm Motion Generation for Repositioning Care based on Deep Predictive Learning with Somatosensory Attention Mechanism.

Tamon Miyake, Namiko Saito, Tetsuya Ogata, Yushi Wang, Shigeki Sugano

CoRR abs/2407.13376 2024

DOI
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

3

Citation

(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

3

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

8

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

15

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

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Research Projects

若手研究

Project Year :

2021

-

2024

Misc

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) 2025.12
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（RSJ2025） 2025.09
ハルバッハ配列永久磁石エラストマー（H-PME）を用いたロボットスキンセンサの開発

王啓臣, デべーシュアビヤンカル, 王語詩, 張斐之, 菅野重樹, 亀﨑允啓

第43回日本ロボット学会学術講演会（RSJ2025） 2025.09
ヒューマノイドロボットによる起立介助のための被介助者の動作予測に基づいたリーチング手法の構築

赤石拓海, 三宅太文 ,王語詩 ,菅野重樹

ロボティクス・メカトロニクス講演会 2025 2025.06
人間と衣服の状態推定に基づく密接着衣支援についての研究

塚越巧真, 三宅太文, 尾形哲也, 王語詩, 赤石拓海, 菅野重樹

ロボティクス・メカトロニクス講演会 2025 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,デべシュアブヤンカル,岩本悠宏, 菅野重樹, 亀﨑允啓

ロボティクス・メカトロニクス講演会2025 2025.06
起立介助支援のための被介助者の動作予測

赤石拓海, 三宅太文, 王語詩, 菅野重樹

第42回日本ロボット学会学術講演会（RSJ2024） 2024.09
深層予測学習に基づく体位変換介助動作生成に関する研究

三宅太文, 斎藤菜美子, 尾形哲也, 王語詩, 菅野重樹

第42回日本ロボット学会学術講演会（RSJ2024） 2024.09
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
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) 2024.05
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

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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.