Updated on 2023/10/02

写真a

 
OSAWA, Keisuke
 
Affiliation
Faculty of Science and Engineering, Information, Production, and Systems Center
Job title
Assistant Professor(without tenure)
Degree
Ph.D. ( Kyushu University )

Research Experience

  • 2022.04
    -
    Now

    Waseda University   Graduate School of Information Production and Systems   Assistant Professor

  • 2021.10
    -
    2022.03

    Kyushu University   Support for Pioneering Research Initiated by the Next Generation   "Future-Creation (MIRAI)" Course Student

  • 2019.06
    -
    2022.03

    Kyushu University   Faculty of Engineering   Research Assistant

Education Background

  • 2019.04
    -
    2022.03

    Kyushu University   Department of Mechanical Engineering, Faculty of Engineering   Doctoral Program  

  • 2017.04
    -
    2019.03

    Kyushu University   Graduate School of Medical Sciences, Faculty of Medical Sciences   Master's Program  

  • 2013.04
    -
    2017.03

    Kanazawa University   School of Mechanical Engineering, College of Science and Engineering   Undergraduate Program  

Professional Memberships

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    The Japanese Council of International Federation for the Promotion of Mechanism and Machine Science

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    The Society of Instrument and Control Engineers

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    The Institute of Electrical and Electronic Engineers

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    The Japan Society of Mechanical Engineers

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    The Robotics Society of Japan

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    The Japan Society of Computer Aided Surgery

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Research Areas

  • Robotics and intelligent system / Mechanics and mechatronics / Machine elements and tribology / Design engineering / Rehabilitation science / Biomedical engineering / Medical systems / Medical assistive technology

Research Interests

  • Robotics

  • Medical Robot

  • Compliant Mechanism

Awards

  • Young Investigator Fund Best Paper Award

    2023.05   The 6th Jc-IFToMM International Symposium   3D Human Motion Acquisition and Evaluation System Based on OpenPose and 3D Reconstruction for Remote Rehabilitation and Exercise

    Winner： Keisuke Osawa

  • 最優秀賞

    2022.09   第4回日本再生医療とリハビリテーション学会学術大会   リアルタイム感情・疲労評価に基づく自動歩行補助システムの開発

    Winner： 大澤啓介, 李雲帆, 徐銘陽, 中川慧, 李羲頡, 弓削類, 田中英一郎

  • 特に優れた業績による返還免除(全額免除)

    2022.06   日本学生支援機構  

    Winner： 大澤啓介

  • Young Investigation Excellence Award

    2021.09   The Robotics Society of Japan   Development of a Self-Propelled Colonoscopy Robot with a Worm Gear Mechanism

    Winner： Keisuke Osawa

  • Excellent Presentation Award

    2021.09   The 11th Engineering Research Planning Seminar at Kyushu University   Multi-DOF Endoluminal Forceps with Compliant Mechanism

    Winner： Keisuke Osawa

  • Excellent Student Award

    2021.02   The IEEE Fukuoka Section   Self-Propelled Colonoscopy Robot using Flexible Paddles

    Winner： Keisuke Osawa

  • Best Paper Award (Medical Award)

    2020.11   The Japan Society of Computer Aided Surgery   Development of a Self-Propelled Colonoscope Robot with a Conical Worm Gear Mechanism

    Winner： Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Shinya Onogi, Tomohiko Akahoshi, Yuji Soejima, Makoto Hashizume

  • 優秀講演賞

    2020.01   日本ロボット学会ヒューマンセントリックロボティクス研究専門委員会第十二回若手研究会   柔軟メカニズムを用いた内視鏡ロボットの開発

    Winner： 大澤啓介

  • Excellent Paper Award

    2019.11   The 15th Asian Conference on Computer Aided Surgery   Self-Propelled Colonoscope Robot by Elastic Wall Fitting Mechanism

    Winner： Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

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Media Coverage

  • 九大、内視鏡鉗子の可動域広げる3Dプリンターで製作

    Newspaper, magazine

    日刊工業新聞  

    2021.06

 

Papers

  • Telerehabilitation System Based on OpenPose and 3D Reconstruction with Monocular Camera

    Keisuke Osawa, Yu You, Yi Sun, Tai-Qi Wang, Shun Zhang, Megumi Shimodozono, Eiichiro Tanaka

    Journal of Robotics and Mechatronics   35 ( 3 ) 586 - 600  2023  [Refereed]

    Authorship：Lead author

    　View Summary

    Owing to aging populations, the number of elderly people with limb dysfunction affecting their daily lives will continue to increase. These populations have a great need for rehabilitation training to restore limb functions. However, the current numbers of rehabilitation hospitals and doctors are limited. Moreover, people often cannot go to a hospital owing to external conditions (e.g., the impacts of COVID-19). Thus, an urgent need exists for telerehabilitation system for allowing patients to have training at home. The purpose of this study is to develop an easy-to-use system for allowing target users to experience rehabilitation training at home and to remotely receive real-time guidance from doctors. The proposed system only needs a monocular camera to capture 3D motions. First, the 2D key joints of the human body are detected; then, a simple baseline network is used to reconstruct 3D key joints from the 2D key joints. The 2D detection only has an average angle error of 1.7% compared to that of a professional motion capture system. In addition, the 3D reconstruction has a mean per-joint position error of only 67.9 mm compared to the real coordinates. After acquiring the user’s 3D motions, the system synchronizes the 3D motions to a virtual human model in Unity, providing the user with a more intuitive and interactive experience. Generally, many telerehabilitation systems require professional motion capture cameras and wearable equipment, and the training target is a single body part. In contrast, the proposed system is low-cost and easier to use and only requires a monocular camera and computer to achieve real-time and intuitive telerehabilitation (even though the training target is the entire body). Furthermore, the system provides a similarity evaluation of the motions based on the dynamic time warping; this can provide more accurate and direct feedback to users. In addition, a series of evaluation experiments verify the system’s usability, convenience, feasibility, and accuracy, with the ultimate conclusion that the system can be used in practical rehabilitation applications.

    DOI

    Scopus

  • 2.5-mm articulated endoluminal forceps using a compliant mechanism

    Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    International Journal of Computer Assisted Radiology and Surgery   18 ( 1 ) 1 - 8  2023  [Refereed]

    Authorship：Lead author

    DOI

    Scopus

  • Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

    Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    Applied Sciences   12 ( 5 ) 2480  2022  [Refereed]

    Authorship：Lead author

    　View Summary

    Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.

    DOI

    Scopus

    3
    Citation
    (Scopus)

  • Self-Propelled Colonoscopy Robot Using Flexible Paddles

    Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

    IEEE Robotics and Automation Letters   5 ( 4 ) 6710 - 6716  2020  [Refereed]

    Authorship：Lead author

    DOI

  • Development of a Self-Propelled Colonoscope Robot with a Conical Worm Gear Mechanism

    Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Shinya Onogi, Tomohiko Akahoshi, Yuji Soejima, Makoto Hashizume

    Journal of Japan Society of Computer Aided Surgery   21 ( 1 ) 5 - 11  2019  [Refereed]

    Authorship：Lead author

    DOI

  • Development of a motorless walking assistive device for foot flexions with instant torque output in gait cycle

    Xiuyuan WU, Asagi IDE, Keisuke OSAWA, Kei NAKAGAWA, Louis YUGE, Eiichiro TANAKA

    Journal of Advanced Mechanical Design, Systems, and Manufacturing   17 ( 4 ) JAMDSM0053 - JAMDSM0053  2023.08  [Refereed]

    DOI

    Scopus

  • Development of an Ankle Assistive Robot with Instantly Gait-Adaptive Method

    Ming-Yang Xu, Yi-Fan Hua, Yun-Fan Li, Jyun-Rong Zhuang, Keisuke Osawa, Kei Nakagawa, Hee-Hyol Lee, Louis Yuge, Eiichiro Tanaka

    Journal of Robotics and Mechatronics   35 ( 3 ) 669 - 683  2023  [Refereed]

    　View Summary

    As the population ages, the number of elderly people suffering from systemic diseases such as stroke increases. To address this problem, various wearable walking assistive robots have been developed to promote physical exercise for stroke prevention. Wearable assistive robots have shown the ability to improve human mobility. However, most of these robots are heavy, bulky, and impractical. In this study, we developed a compact ankle assistive robot for elderly users to promote walking exercise. By informing the user of correct motion and timing, the robot can guide the user to achieve a healthy gait by only assisting their ankle joint. The robot provides faster-than-ankle motion to allow the user to feel supported while walking. Users can adjust the robot’s assistance parameters through a graphical user interface (GUI) according to their needs. Furthermore, we proposed a gait-adaptive method for ankle assistive robots to adapt to the user’s changing gait. Hence, the robot can automatically adjust the parameters to provide more accurate walking assistance. Finally, the results of an evaluation experiment demonstrated the feasibility of human gait adaptation. The proposed methods have the advantages of low cost and easy implementation.

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • A Stepper Motor-Powered Lower Limb Exoskeleton with Multiple Assistance Functions for Daily Use by the Elderly

    Yifan Fang, Bingkai Hou, Xiuyuan Wu, Yuntian Wang, Keisuke Osawa, Eiichiro Tanaka

    Journal of Robotics and Mechatronics   35 ( 3 ) 601 - 611  2023  [Refereed]

    　View Summary

    With the increase in the aging population, the demand for healthcare devices has increased. Among the aging population, many experience joint pain, muscle weakness, or poor balance. Without external help, such persons may have difficulty walking, fall easily, or experience poor quality of life. To provide this category of the population with the opportunity to exercise and walk safely and take care of themselves in daily activities, a stepper motor-powered walking assistive device is proposed and built. The device enables users with different heights to walk in suitable gaits; assists users to stand up, sit down, and step up or down stairs; automatically detects user’s intention using pressure sensors and potentiometers; and can be used outdoors for long periods. In this study, the effectiveness of the device is verified using muscle-activity measurements.

    DOI

    Scopus

  • Minimally Invasive Flexible Endoscopic Device with Compliant Mechanism

    Keisuke Osawa

    Kyushu University    2022  [Refereed]

    Authorship：Lead author

  • Development of a Three-Layer Fabric Mechanism for a Passive-Type Assistive Suit

    Chi Lok Wan, Toshifumi Ishioka, Chiaki Kanda, Keisuke Osawa, Kenji Kodama, Eiichiro Tanaka

    Journal of Robotics and Mechatronics   34 ( 6 ) 1348 - 1360  2022  [Refereed]

    　View Summary

    This paper proposes a three-layer elastic cloth fabric mechanism for an assistive suit with adjustable structure (based on a two-layer non-adjustable structure) to achieve different assistive force profiles. This increases the assistive force on the lower-back muscle group and alleviates the undesired pre-tension that acts on a user when the rubber belt located on the back is pulled to provide a higher assistive force. With the lower pre-tension, users would not encounter body fatigue as rapidly as in the past. The adjustable feature enables the structure to provide a force that increases gradually to a high level over a short distance without pre-tension. An experiment involving the measurement of muscle activities is conducted to evaluate the variation in assistive force in the lower back by comparing the three-layer suit to the two-layer non-adjustable suit. The experimental results show that the new three-layer structure successfully assists without pre-tension in the lower-back muscle group similar to the two-layer structure with pre-tension. A simple questionnaire is also administered to collect feedback from participants on the differences between the three-layer suit and two-layer suit in terms of wearing perception. Over half of the participants reported that the perception of pre-tension in the three-layer suit is lower than that in the two-layer suit.

    DOI

    Scopus

  • A Remote Rehabilitation and Evaluation System Based on Azure Kinect

    Tai-Qi Wang, Yu You, Keisuke Osawa, Megumi Shimodozono, Eiichiro Tanaka

    Journal of Robotics and Mechatronics   34 ( 6 ) 1371 - 1382  2022  [Refereed]

    　View Summary

    In response to the shortage, uneven distribution, and high cost of rehabilitation resources in the context of the COVID-19 pandemic, we developed a low-cost, easy-to-use remote rehabilitation system that allows patients to perform rehabilitation training and receive real-time guidance from doctors at home. The proposed system uses Azure Kinect to capture motions with an error of just 3% compared to professional motion capture systems. In addition, the system provides an automatic evaluation function of rehabilitation training, including evaluation of motion angles and trajectories. After acquiring the user’s 3D motions, the system synchronizes the 3D motions to the virtual human body model in Unity with an average error of less than 1%, which gives the user a more intuitive and interactive experience. After a series of evaluation experiments, we verified the usability, convenience, and high accuracy of the system, finally concluding that the system can be used in practical rehabilitation applications.

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Development of Automatic Controlled Walking Assistive Device Based on Fatigue and Emotion Detection

    Yunfan Li, Yukai Gong, Jyun-Rong Zhuang, Junyan Yang, Keisuke Osawa, Kei Nakagawa, Hee-hyol Lee, Louis Yuge, Eiichiro Tanaka

    Journal of Robotics and Mechatronics   34 ( 6 ) 1383 - 1397  2022  [Refereed]

    　View Summary

    The world’s aging population is increasing. The number of elderly individuals having walking impairments is also increasing. Adequate exercise is becoming necessary for them. Therefore, several walking assistive devices have been developed or are under development. However, elderly individuals may have low motivation for exercising, or they may experience physical damage by excessive fatigue. This study proposed a method to enable elderly individuals to exercise with a positive emotion and prevent damage such as muscle fatigue. We proposed a 3D human condition model to control the walking assistive device. It includes the arousal, pleasure, and fatigue dimensions. With regard to the arousal and pleasure dimensions, we used heartbeat and electromyography (EEG) signals to train a deep neural network (DNN) model to identify human emotions. For fatigue detection, we proposed a method based on near-infrared spectroscopy (NIRS) to detect muscle fatigue. All the sensors are portable. This implies that it can be used for outdoor activities. Then, we proposed a walking strategy based on a 3D human condition model to control the walking assistive device. Finally, we tested the effectiveness of the automatic control system. The wearing of the walking assistive device and implementation of the walking strategy can delay the fatigue time by approximately 24% and increase the walking distance by approximately 16%. In addition, we succeeded in visualizing the distribution of emotion during each walking method variation. It was verified that the walking strategy can improve the mental condition of a user to a certain extent. These results showed the effectiveness of the proposed system. It could help elderlies maintain higher levels of motivation and prevent muscle damage by walking exercise, using the walking assistive device.

    DOI

    Scopus

    3
    Citation
    (Scopus)

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Presentations

  • Validation of Joint Range of Motion Measurement Based on MediaPipe

    Keisuke Osawa, Shun Zhang, Yuyao Li, Megumi Shimodozono, Eiichiro Tanaka

    RehabWeek 2023 

    Presentation date： 2023.09

  • A Compact Walking Assistive Robot using a Gait-Adaptive Control Method

    Keisuke Osawa, Yifan Hua, Kaiwen Duan, Kei Nakagawa, Eiichiro Tanaka

    RehabWeek 2023 

    Presentation date： 2023.09

  • ステッピングモータを用いた下肢動作補助機の開発

    田中英一郎, 方一帆, 侯昺锴, 王雲天, 呉修遠, 大澤啓介

    第41回日本ロボット学会学術講演会 (RSJ2023) 

    Presentation date： 2023.09

  • 消化管内自走ロボットのための可食グミ歯車の開発

    大澤啓介, 段凱文, 田中英一郎

    第41回日本ロボット学会学術講演会 (RSJ2023) 

    Presentation date： 2023.09

  • Development of Monolithic-Structured Multi-DOF Pediatric Prosthetic Hand using a Compliant Mechanism

    Keisuke Osawa, Kaiwen Duan, Xiuyuan Wu, Eiichiro Tanaka

    JSME Annual Conference 2023 

    Presentation date： 2023.09

  • Quality & Error Tendencies of Gears Printed by Stereolithography Three-Dimensional Printer

    Kaiwen Duan, Keisuke Osawa, Eiichiro Tanaka

    The ASME 2023 International Design Engineering Technical Conference and Computers and Information in Engineering Conference (IDETC/CIE2023) 

    Presentation date： 2023.08

  • Development of a Comprehensive Motorless Walking Assistance and Evaluation of Muscle Activity

    Xiuyuan Wu, Yuntian Wang, Keisuke Osawa, Eiichiro Tanaka

    The ASME 2023 International Design Engineering Technical Conference and Computers and Information in Engineering Conference (IDETC/CIE2023) 

    Presentation date： 2023.08

  • 柔軟メカニズムを用いたロボットの開発とその医療応用

    大澤啓介

    令和5年度北九州ロボットフォーラム定期総会記念セミナー 

    Presentation date： 2023.07

  • Gait-adaptive Method of an Ankle-assist Robot for Walking Promotion

    Yi-Fan Hua, Ming-Yang Xu, Keisuke Osawa, Eiichiro Tanaka

    The Robotics and Mechatronics Conference 2023 (Robomech2023) 

    Presentation date： 2023.06

  • A Motorless Walking Assistance Powered by Integrated Dual Slider-Lever Mechanism

    Xiuyuan Wu, Keisuke Osawa, Eiichiro Tanaka

    The Robotics and Mechatronics Conference 2023 (Robomech2023) 

    Presentation date： 2023.06

  • Development of 2-DOF Wrist Joint for Pediatric Hand using a Compliant Mechanism

    Keisuke Osawa, Kaiwen Duan, Xiuyuan Wu, Eiichiro Tanaka

    The Robotics and Mechatronics Conference 2023 (Robomech2023) 

    Presentation date： 2023.06

  • 3D Human Motion Acquisition and Evaluation System Based on OpenPose and 3D Reconstruction for Remote Rehabilitation and Exercise

    Keisuke Osawa, Yu You, Yi Sun, Shun Zhang, Megumi Shimodozono, Eiichiro Tanaka

    The 6th Jc-IFToMM International Symposium 

    Presentation date： 2023.05

  • Development of Remote Rehabilitation and Evaluation System Based on OpenPose and 3D Reconstruction with Single RGB Camera

    Keisuke Osawa, Yu You, Yi Sun, Tai-Qi Wang, Shun Zhang, Megumi Shimodozono, Eiichiro Tanaka

    The 9th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2023) 

    Presentation date： 2023.03

  • Door Recognition and Opening Assist System Based on YOLO and Kinect for Wheel Chair User

    Funian Kang, Yi Sun, Keisuke Osawa, Eiichiro Tanaka

    The 9th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2023) 

    Presentation date： 2023.03

  • Development of a Wearable Upper Limb Assistive Device with Remote Center of Motion Mechanism

    Yi Sun, Shun Zhang, Keisuke Osawa, Eiichiro Tanaka

    The 9th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2023) 

    Presentation date： 2023.03

  • Development of a Passive Assistive Suit that Interlocks the Knees, Back, and Arms with a Belt

    Zixiang Zhou, Keisuke Osawa, Toshifumi Ishioka, Chiaki Kanda, Kenji Kodama, Eiichiro Tanaka

    The 9th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2023) 

    Presentation date： 2023.03

  • Development of a Motor-Less Walking Assistive Device Using Spring Element and Link Mechanism

    Xiuyuan Wu, Yuntian Wang, Keisuke Osawa, Eiichiro Tanaka

    The 9th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2023) 

    Presentation date： 2023.03

  • Development of a 3-DOF Kinematic-Biological Matched Hip Joint Structure for Lower Limb

    Yuntian Wang, Yifan Fang, Xiuyuan Wu, Keisuke Osawa, Eiichiro Tanaka

    The 9th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2023) 

    Presentation date： 2023.03

  • A Real-Time and Two-Dimensional Emotion Recognition System Based on EEG and HRV Using Machine Learning

    Yongxin Wei, Yunfan Li, Mingyang Xu, Yifan Hua, Yukai Gong, Keisuke Osawa, Eiichiro Tanaka

    2023 IEEE/SICE International Symposium on System Integrations (SII2023) 

    Presentation date： 2023.01

  • Development of Multi-DOF Robotic Endoluminal Forceps using a Compliant Mechanism

    Keisuke Osawa, D.S.V. Bandara, Ryu Nakadate, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    SICE System Integration Division Annual Conference (SI2022) 

    Presentation date： 2022.12

  • Development of a Wearable Chair

    Eiichiro Tanaka, Yuanhui Sun, Tianci Jiang, Keisuke Osawa

    The 21th Machine Design and Tribology Division Meeting in JSME (MDT2022) 

    Presentation date： 2022.12

  • Development of Self-Propelled Colonoscopy Robot using a Compliant Mechanism

    Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

    Frontiers of CAS Symposium 2022 

    Presentation date： 2022.11

  • 医工・産学連携によるライフサポート機器の開発

    田中英一郎, 大澤啓介

    早稲田祭2022 機械サイエンス from 北九州キャンパス 

    Presentation date： 2022.11

  • Three Dimensional Human Condition Model during Walking Based on Emotion Estimation and Muscle Fatigue Evaluation

    Eiichiro Tanaka, Yu Kai Gong, Yun Fan Li, Jun Yan Yang, Jyun Rong Zhuang, Keisuke Osawa

    2022 World Automation Congress (WAC2022) 

    Presentation date： 2022.10

  • リアルタイム感情・疲労評価に基づく自動歩行補助システムの開発

    大澤啓介, 李雲帆, 徐銘陽, 中川慧, 李 羲頡, 弓削類, 田中英一郎

    第4回日本再生医療とリハビリテーション学会学術大会 (JSRMR2022) 

    Presentation date： 2022.09

  • Speech Recognition Control of Remote Rehabilitation Simulation for Upper Limb Based on Neural Network and Unity3D

    Zhonghao Wang, Taiqi Wang, Keisuke Osawa, Eiichiro Tanaka

    2022 JSME-IIP/ASME-ISPS Joint Conference on Micromechatronics for Information and Precision Equipment (MIPE2022) 

    Presentation date： 2022.08

  • A Control Method for Walking Assistance Robot Considering Emotion and Body Condition

    Yunfan Li, Mingyang Xu, Keisuke Osawa, Eiichiro Tanaka

    2022 JSME-IIP/ASME-ISPS Joint Conference on Micromechatronics for Information and Precision Equipment (MIPE2022) 

    Presentation date： 2022.08

  • Full Mechanical Walking Assistive Device aims to Offer Normal Gait Postures due to Unhealthy Gait

    Xiuyuan Wu, Asagi Ide, Keisuke Osawa, Eiichiro Tanaka

    2022 JSME-IIP/ASME-ISPS Joint Conference on Micromechatronics for Information and Precision Equipment (MIPE2022) 

    Presentation date： 2022.08

  • Parametric Optimization of Continuum Compliant Structure for Multi-DOF Endoluminal Forceps

    Keisuke Osawa, D.S.V. Bandara, Ryu Nakadate, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    18th Asian Conference on Computer Aided Surgery and Medicine 2022 (ACCAS2022) 

    Presentation date： 2022.08

  • Development of a Walking Promoter Using Vibration Speaker

    Eiichiro Tanaka, Hui-Yuan Duan, Keisuke Osawa, Kei Nakagawa, Hee-hyol Lee, Louis Yuge

    LIFE2022 

    Presentation date： 2022.08

  • Development of a 3-layer mechanism passive-type assistive suit for lower back and upper arm

    Chi Lok Wan, Toshifumi Ishioka, Chiaki Kanda, Keisuke Osawa, Kenji Kodama, Eiichiro Tanaka

    2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2022) 

    Presentation date： 2022.07

  • Kinect-based 3D Human Motion Acquisition and Evaluation System for Remote Rehabilitation and Exercise

    Yu You, Tai-Qi Wang, Keisuke Osawa, Megumi Shimodozono, Eiichiro Tanaka

    2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2022) 

    Presentation date： 2022.07

  • Performance Evaluation of Multi-DOF Endoluminal Forceps using a 3D Printer

    Keisuke Osawa, D.S.V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    The 34th Bioengineering Conference 2022 Annual Meeting of BED/JSME 

    Presentation date： 2022.06

  • Compliant Multi-DOF Endoluminal Forceps with 2.5 mm in diameter

    Keisuke Osawa, D.S.V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    Computer Assisted Radiology and Surgery - 36th International Congress and Exhibition (CARS2022) 

    Presentation date： 2022.06

  • Development of motor-less and small type of a walking assistive device

    Eiichiro Tanaka, Asagi Ide, Jia-Qi Zhou, Jyun-Rong Zhuang, Keisuke Osawa

    The Robotics and Mechatronics Conference 2022 (Robomech2022) 

    Presentation date： 2022.06

  • Fiber Sensor - embedded Compliant Surgical Forceps using a 3D Printer

    Masahiro Nakamura, Keisuke Osawa, Hirofumi Nogami, D.S.V. Bandara, Jumpei Arata

    The Robotics and Mechatronics Conference 2022 (Robomech2022) 

    Presentation date： 2022.06

  • Development of Handheld Multi-DOF Endoluminal Forceps using Compliant Mechanism

    Keisuke Osawa, D.S.V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    The Robotics and Mechatronics Conference 2022 (Robomech2022) 

    Presentation date： 2022.06

  • Mechanical Design toward a Disposable Compliant Multi-degree-of-freedom Robotic Forceps

    Akari Minami, Keisuke Osawa, D.S.V. Bandara, Jumpei Arata

    The 17th Asian Conference on Computer Aided Surgery (ACCAS2021) 

    Presentation date： 2021.12

  • Development of Multi-DOF Endoluminal Forceps with Compliant Mechanism

    Keisuke Osawa, DSV. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    The 30th Annual Congress of Japan Society of Computer Aided Surgery (JSCAS2021) 

    Presentation date： 2021.11

  • Resectoscope Equipped with Micro Manipulators

    Ryu Nakadate, Jun Mutaguchi, Satoshi Kobayashi, Jumpei Arata, Keisuke Osawa, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto

    The 30th Annual Congress of Japan Society of Computer Aided Surgery (JSCAS2021) 

    Presentation date： 2021.11

  • 擬似剛体モデルを用いた消化菅内治療鉗子のモデルベース設計手法

    大澤啓介, D.S.V. Bandara, 中楯龍, 長尾吉泰, 赤星朋比古, 江藤正俊, 荒田純平

    第39回日本ロボット学会学術講演会 (RSJ2021) 

    Presentation date： 2021.09

  • Multi-DOF Endoluminal Forceps with Compliant Mechanism

    Keisuke Osawa

    11th Engineering Research Planning Seminar at Kyushu University 

    Presentation date： 2021.08

  • Development of Multi-DOF Forceps Comprised of a Monolithic Compliant Structure for Endoluminal Surgery

    Keisuke Osawa, Sanjaya V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    The 7th International Conference on Advanced Mechatronics (ICAM2021) 

    Presentation date： 2021.07

  • Development of Monolithic-Structured Multi-DOF Forceps for Endoluminal Therapy

    Keisuke Osawa, Sanjaya V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

    The Robotics and Mechatronics Conference 2021 (Robomech2021) 

    Presentation date： 2021.06

  • Optical Force Sensor embedded Compliant Forceps for Minimally Invasive Surgery

    Masahiro Nakamura, Keisuke Osawa, Hirofumi Nogami, Sanjaya V. Bandara, Jumpei Arata

    The Robotics and Mechatronics Conference 2021 (Robomech2021) 

    Presentation date： 2021.06

  • Mechanism Study for Disposable Multi-DOF Robotic Forceps

    Akari Minami, Keisuke Osawa, Sanjaya V. Bandara, Jumpei Arata

    The Robotics and Mechatronics Conference 2021 (Robomech2021) 

    Presentation date： 2021.06

  • Preliminary Evaluation of a Surgical Robot Equipped with Two Miniature Hands and a Stereo Endoscope

    Ryu Nakadate, Keisuke Osawa, Jumpei Arata, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

    The 16th Asian Conference on Computer Aided Surgery (ACCAS2020) 

    Presentation date： 2020.11

  • Robotic Scissors for a Remote Dissection System in Microgravity Environment

    Hayato Yoshida, Keisuke Osawa, Nao Hiroe, Kanako Harada, Mamoru Mitsuishi, Jumpei Arata

    The 16th Asian Conference on Computer Aided Surgery (ACCAS2020) 

    Presentation date： 2020.11

  • Self-Propelled Colonoscopy Robot using Flexible Paddles

    Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020) 

    Presentation date： 2020.10

  • 柔軟メカニズムを用いた内視鏡ロボットの開発

    大澤啓介

    日本ロボット学会ヒューマンセントリックロボティクス研究専門委員会第十二回若手研究会 

    Presentation date： 2020.01

  • Development of Single Action Needle Driver for Deep Narrow Cavity

    Ryu Nakadate, Susumu Oguri, Jumpei Arata, Keisuke Osawa, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

    The 28th Annual Congress of Japan Society of Computer Aided Surgery (JSCAS2019) 

    Presentation date： 2019.11

  • Self-Propelled Colonoscope Robot by Elastic Wall Fitting Mechanisim

    Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

    The 15th Asian Conference on Computer Aided Surgery (ACCAS2019) 

    Presentation date： 2019.11

  • 2本の腕とステレオカメラを備えた腹腔鏡手術用ミニチュアハンドの開発

    中楯龍, 大澤啓介, 荒田純平, 大内田研宙, 赤星朋比古, 江藤正俊, 橋爪誠

    第37回日本ロボット学会学術講演会 (RSJ2019) 

    Presentation date： 2019.09

  • 柔軟パドルを用いた腸管自走ロボットの開発

    大澤啓介, 中楯龍, 荒田純平, 赤星朋比古, 江藤正俊, 橋爪誠

    第37回日本ロボット学会学術講演会 (RSJ2019) 

    Presentation date： 2019.09

  • Development of Single Action Needle Driver for Deep Narrow Cavity

    Ryu Nakadate, Susumu Oguri, Jumpei Arata, Keisuke Osawa, Tomohiko Akahoshi, Yuji Soejima, Masatoshi Eto, Makoto Hashizume

    The 27th Annual Congress of Japan Society of Computer Aided Surgery (JSCAS2018) 

    Presentation date： 2018.11

  • Development of a Self-Propelled Colonoscope Robot with a Pinion Gear Mechanism

    Keisuke Osawa, Ryu Nakadate, Susumu Oguri, Jumpei Arata, Shinya Onogi, Tomohiko Akahoshi, Tetsuo Ikeda, Makoto Hashizume

    The 26th Annual Congress of Japan Society of Computer Aided Surgery (JSCAS2017) 

    Presentation date： 2017.10

▼display all

Research Projects

  • Self-Propelled Colonoscopy Robot using a Soft Gear Mechanism, which Fits Flexibly inside the Colon

    Japan Society for the Promotion of Science  Grant-in-Aid for Early-Career Scientists

    Project Year :

    2023.04
    -
    2026.03
     

  • 遠隔・在宅での利用を目指した手指リハビリ支援デバイス

    Japan Science and Technology Agency  ACT-X, Strategic Basic Research Programs

    Project Year :

    2022.10
    -
    2025.03
     

    Keisuke Osawa

  • 感情・疲労のリアルタイム自動的推定に基づく歩行困難者向け運動促進リハ補助システム

    Japan Society for the Promotion of Science  Grant-in-Aid for Scientific Research (B)

    Project Year :

    2022.04
    -
    2025.03
     

    Eiichiro Tanaka, Louis Yuge, Kei Nakagawa, Hee-Hyol Lee, Keisuke Osawa

  • 連続体マニピュレータと電磁式位置計測技術の統合による新たな経腸栄養チューブ挿入法の開発

    The Precise Measurement Technology Promotion Foundation 

    Project Year :

    2023.01
    -
    2024.03
     

    Keisuke Osawa

  • 柔軟メカニズムを用いた超小型ロボットハンドの開発とその医療応用

    Kitakyushu Foundation for the Advancement of Industry Science and Technology 

    Project Year :

    2023.04
    -
    2024.02
     

    Keisuke Osawa

  • 消化器がん克服のためのロボット軟性鏡診断・治療エコシステム

    Japan Society for the Promotion of Science  Grant-in-Aid for Scientific Research (B)

    Project Year :

    2020.04
    -
    2023.03
     

    Ryu Nakadate, Jumpei Arata, Yoshihiro Nagao, Masatoshi Eto, Keisuke Osawa

  • 柔軟メカニズムを応用した2自由度手首関節機構の開発と小児筋電義手への応用

    Kitakyushu Foundation for the Advancement of Industry Science and Technology 

    Project Year :

    2022.04
    -
    2023.02
     

    Keisuke Osawa

▼display all

Industrial Property Rights

  • 歩行補助装置, 制御装置, 及び制御プログラム

    田中英一郎, 徐銘陽, 華一凡, 大澤啓介

    Patent

  • 歩行補助装置

    田中英一郎, 呉修遠, 井出浅樹, 大澤啓介

    Patent

  • 動作補助作業着

    田中英一郎, 周子翔, 張順, 大澤啓介, 児玉賢士, 石岡利文, 神田千秋, 葛丸泰之

    Patent

 

Internal Special Research Projects

  • 柔軟関節を用いた内視鏡治療用ロボット鉗子の開発

    2022  

    　View Summary

    内視鏡的粘膜下層剥離術、通称ESDは治療デバイスの自由度が限られているため、高度な技術が必要とされる。この問題を解決するために、手首を持つ多自由度ロボット鉗子があれば、粘膜を持ち上げながら固定することが可能となり、良好な視野が得られる。多自由度ロボット鉗子の大きな課題として、市販の軟性内視鏡の鉗子口(内径2.8 mm)から挿入するため、サイズの制限がある。一方で、部品点数が多くなるとコストが高くなるため、できるため簡素な機構が好ましい。そこで、本研究では市販の軟性内視鏡の鉗子口から挿入できるサイズで柔軟メカニズムを用いた簡素な機構の多自由度ロボット鉗子を提案し、その基礎的な駆動特性を評価した。