Updated on 2024/12/21

写真a

 
HOMMA, Keiko
 
Affiliation
Faculty of Science and Engineering, Graduate School of Fundamental Science and Engineering
Job title
Professor(non-tenure-track)
Degree
Ph.D.

Research Experience

  • 2023.04
    -
    Now

    Waseda University   Graduate School of Fundamental Science and Engineering   Professor (non-tenure-track)

  • 2018.11
    -
    2023.03

    National Institute of Advanced Industrial Science and Technology   Human Augmentation Research Center, Assistive Robotics Research Team   Senior Researcher

Professional Memberships

  • 　
    　
    　

    IEEE

  • 　
    　
    　

    THE SOCIETY FOR NURSING SCIENCE AND ENGINEERING

  • 　
    　
    　

    THE JAPANESE SOCIETY FOR WELLBEING SCIENCE AND ASSISTIVE TECHNOLOGY

  • 　
    　
    　

    SOCIETY OF BIOMECHANISMS JAPAN

  • 　
    　
    　

    ライフサポート学会

  • 　
    　
    　

    計測自動制御学会

  • 　
    　
    　

    日本ロボット学会

  • 　
    　
    　

    The Japan Society for Precision Engineering

▼display all

Research Areas

  • Mechanics and mechatronics / Robotics and intelligent system / Rehabilitation science

Research Interests

  • 安全

  • ロボティクス

  • 福祉工学

  • Rehabilitation Engineering

  • Health Care Engineering

 

Papers

  • Not that Uncanny After All? An Ethnographic Study on Android Robots Perception of Older Adults in Germany and Japan.

    Felix Carros, Berenike Bürvenich, Ryan Browne, Yoshio Matsumoto, Gabriele Trovato, Mehrbod Manavi, Keiko Homma, Toshimi Ogawa, Rainer Wieching, Volker Wulf

    ICSR (2)     574 - 586  2022

    DOI

    Scopus

    3
    Citation
    (Scopus)

  • Hazard Identification for a Virtual Coaching System for Active Healthy Ageing

    Homma, K., Matsumoto, Y.

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   13331 LNCS   243 - 254  2022

    DOI

    Scopus

  • Integration and Interaction of Trustworthy AI in a Virtual Coach - An Overview of EU-Japan Collaboration on Eldercare.

    Kristiina Jokinen, Keiko Homma, Yoshio Matsumoto, Ken Fukuda

    Advances in Artificial Intelligence - Selected Papers from the Annual Conference of Japanese Society of Artificial Intelligence(JSAI)     190 - 200  2021

    DOI

  • Developing a Framework for Evaluating Robotic Care Devices in the Introduction Phase.

    Keiko Homma, Mika Yasuoka, Yasuko Akutsu, Yoshio Matsumoto

    IEEE International Conference on Intelligence and Safety for Robotics(ISR)     77 - 80  2021

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Investigation of IoT on ankle-foot orthosis by introducing an existing life-activity measurement system

    Mamoru Sekiyama, Keiko Homma, Yujin Wakita, Isamu Kajitani, Ikue Mori, Yoshio Matsumoto

    2021 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)     246 - 253  2021

    　View Summary

    There is a strong demand from stakeholders in clinical practice to determine the usage status of orthotics among patients discharged after treatment. Considering that such patients will be using the orthoses at home or workplace, we proposed to integrate an activity meter that is already commercially available as a medical device into an existing orthosis to convert it to an IoT-enabled orthosis. The scope includes developing a method to attach the activity meter to the ankle-foot orthosis using a jig devised by us, and an algorithm to determine the operation status of the orthosis using the data obtained from the activity meter by application of IoT. To confirm the effectiveness of the IoT-enabled ankle-foot orthosis in meeting the requirements, we conducted several short-term and long-term experiments to judge the status of the subject while putting-on/removal of the orthosis, during normal routine activities at home and workplace, and at rest. We evaluated the results of the experiments to verify the quality of the data, reliability of the IoT/cloud network, and the effectiveness of the algorithm to interpret the data to actionable information.

    DOI

    Scopus

    3
    Citation
    (Scopus)

  • Key Practices for Welfare Robots provision: Assessment Framework and Participation

    Mika Yasuoka, Keiko Homma, Yasuko Akutsu, Yoshio Matsumoto

    2021 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)     29 - 34  2021

    　View Summary

    As aging population grows, robots used in welfare and healthcare domain such as social robots, assistive robots and service robots (hereafter Welfare Robots, WR) has been attracted more attentions as one of the solutions to the welfare resource shortages. However, at present, WR have not necessarily implemented or embedded widely in society. Reasons for hindering WR provision to our society include the absence of clear assessment criteria and social implementation process models. While some care institutions and private homes promoted and integrated WR successfully, large part of our society have struggled to identify ways of appropriating the WR provision. Based on the investigation on seven successful organizations on evaluation and implementation practices, the research extracted key aspects for WR provision in society. The extracted three key categories with seven aspects highlights importance of standard assessment framework which includes stakeholder involvements and concepts of care recipients' autonomy. These critical aspects of WR provision contribute to better WR design, development and implementation in society under the new normal.

    DOI

    Scopus

  • Development of Contact Safety Test Procedure for Defecation Assistance Devices.

    Keiko Homma, Kiyoshi Fujiwara, Takuya Ogure, Isamu Kajitani

    2nd IEEE Global Conference on Life Sciences and Technologies(LifeTech)     153 - 156  2020

    DOI

    Scopus

  • Verifying the Usefulness of Monitoring Sensors Used by Caregivers in Nursing Homes

    Yasuko Kitajima, Isamu Kajitani, Mitsuhiro Nakamura, Keiko Homma, Yoshio Matsumoto, Jukai Maeda

    Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Posture, Motion and Health     531 - 546  2020

    DOI

    Scopus

  • Investigations on Monitoring Sensor Usage and Decision-Making: A Case Study in an Elderly Care Facility

    Isamu Kajitani, Keiko Homma, Yoshio Matsumoto

    Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Posture, Motion and Health     521 - 530  2020

    DOI

    Scopus

  • Development of IoT Robotic Devices for Elderly Care to Measure Daily Activities.

    Yoshio Matsumoto, Kunihiro Ogata, Isamu Kajitani, Keiko Homma, Yujin Wakita

    Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Healthcare Applications - 10th International Conference, DHM 2019, Held as Part of the 21st HCI International Conference, HCII 2019, Orlando, FL, USA, July 26-31, 2     248 - 263  2019  [Refereed]

    DOI

    Scopus

    2
    Citation
    (Scopus)

  • Development of Safety Testing Technologies of Defecation Assist Devices

    Homma Keiko, Fujiwara Kiyoshi, Kajitani Isamu, Ogure Takuya

    DIGITAL HUMAN MODELING: APPLICATIONS IN HEALTH, SAFETY, ERGONOMICS, AND RISK MANAGEMENT   10917   419 - 428  2018  [Refereed]

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Whole-Body Robotic Simulator of the Elderly for Evaluating Robotic Devices for Nursing Care.

    Kunihiro Ogata, Yoshio Matsumoto, Isamu Kajitani, Keiko Homma, Yujin Wakita

    Digital Human Modeling. Applications in Health, Safety, Ergonomics, and Risk Management - 9th International Conference, DHM 2018, Held as Part of HCI International 2018, Las Vegas, NV, USA, July 15-20, 2018, Proceedings   10917   478 - 487  2018  [Refereed]

    　View Summary

    This paper describes the development of whole-body robotic simulator of elderly person for evaluating robotics devices for nursing care. To improve the quality of life of the elderly persons, physical assistance, such as transfer assistance, movement assistance, toileting assistance is important. It is also important to reduce the workload of the care givers in the aging society. In recent years, assistive robotic devices for nursing care have been developed and commercialized for such purposes. However, such assistive robotic devices have not become popular in the care facilities yet. One of the reason is that it is still difficult to evaluate the effects of the devices on the care receivers and care givers. Especially it is necessary to quantitatively evaluate the effect of the devices on the human body in the viewpoint of safety and comfort. We have been developing a whole-body robotic system to simulate the pose and motion of elderly person. The purpose of the system is to realize quantitative physical evaluation of robotics devices for nursing care on the human body. Experimental results of preliminary evaluation of assistive robotic devices are also indicated.

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Development of Safety Testing Technologies of Defecation Assist Devices - Bibliographic Survey and Development of a Rectum Model Sheet.

    Keiko Homma, Kiyoshi Fujiwara, Isamu Kajitani, Takuya Ogure

    Digital Human Modeling. Applications in Health, Safety, Ergonomics, and Risk Management - 9th International Conference, DHM 2018, Held as Part of HCI International 2018, Las Vegas, NV, USA, July 15-20, 2018, Proceedings     419 - 428  2018  [Refereed]

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Safety Evaluation Technologies for Defecation Assistance Devices.

    Keiko Homma, Kiyoshi Fujiwara, Isamu Kajitani, Takuya Ogure

    IEEE International Conference on Intelligence and Safety for Robotics(ISR)     446 - 451  2018

    DOI

    Scopus

    2
    Citation
    (Scopus)

  • Evaluating Robotic Devices of Non-Wearable Transferring Aids Using Whole-Body Robotic Simulator of the Elderly.

    Yoshio Matsumoto, Kunihiro Ogata, Isamu Kajitani, Keiko Homma, Yujin Wakita

    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018     1 - 9  2018  [Refereed]

    　View Summary

    This paper describes the development of a whole-body robotic simulator of an elderly person for evaluating robotics devices for nursing care. To improve the quality of life of the elderly persons, physical assistance such as transfer, movement, and bathroom assistance is important. It is also important to reduce the workload of caregivers in an aging society. In recent years, assistive robotic devices for nursing care have been developed and commercialized for such purposes. However, such devices have not become popular in the care facilities yet. One of the reasons is that it is still difficult to evaluate the effects of the devices on the care receivers and caregivers. In particular, it is necessary to quantitatively evaluate the effect of the devices on the human body from the viewpoint of safety and comfort. We have developed a whole-body robotic system to simulate the pose and motion of the elderly persons. The purpose of this system is to realize quantitative physical evaluation of robotics devices for nursing care of the human body. The experimental results of the preliminary evaluation of assistive robotic devices are also presented.

    DOI

    Scopus

    7
    Citation
    (Scopus)

  • Sensing device simulating human buttock for the validation of robotic devices for nursing care

    Kunihiro Ogata, Isamu Kajitani, Keiko Homma, Yoshio Matsumoto

    IEEE-RAS International Conference on Humanoid Robots     777 - 782  2017.12  [Refereed]

    　View Summary

    Robotic devices for nursing care are expected to help caregivers work with the elderly. Some robotic devices assist in the physical transfer of the elderly, and these robots come in contact with large surfaces of the human body. The regions of the buttock and the back may be uncomfortable due to these robotic devices. Therefore, sensing devices simulating a human buttock were developed to quantify and evaluate the load of a human body objectively. This buttock dummy consists of simulated bone and soft tissues, which include muscle, fat and skin. These regions have multi-Axis force sensors to enable the quantification of the load due to the robotic devices used for nursing care. On measuring the soft exterior, it was found that the stiffness of the buttock dummy was similar to the human buttock. The comfort of a robotic bed was measured using the buttock dummy, and it was found that the shear force increased due to the deformation of the robotic bed. Thus, it was proven that the buttock dummy was capable of measuring the load of the human body when being used with robotic devices for nursing care.

    DOI

    Scopus

    2
    Citation
    (Scopus)

  • Development of a Risk Assessment Assistance Tool for Robotic Care Devices

    Keiko Homma, Osamu Matsumoto

    Studies in Health Technology and Informatics   242   551 - 557  2017  [Refereed]

    　View Summary

    Aiming to eliminate a labor shortage caused by the aging of society, many kinds of service robots are under development. Nursing care for the elderly is considered as a typical application of service robots, especially in Japan. Elderly care robots or robotic care device must be designed with safety, but not a few manufacturers are inexperienced in designing and manufacturing them on the basis of safety. In this paper, we introduce a risk assessment assistance tool for robotic care device targeted for inexperienced manufacturers of risk assessment.

    DOI PubMed

    Scopus

    3
    Citation
    (Scopus)

  • A Motion Tracker Using High-accuracy AR Markers for On-site Motion Analysis

    Hideyuki Tanaka, Isamu Kajitani, Keiko Homma, Yujin Wakita, Yoshio Matsumoto

    2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS     1427 - 1432  2015  [Refereed]

    　View Summary

    Motion analysis of human body is indispensable for design and evaluation of assistive technologies. Especially, on-site analyses, which are conducted not in experimental environments but in life circumstances, are important to develop truly beneficial assistive technologies. We developed a portable motion tracking system using high-accuracy AR markers. It enables easy measurement of 6-DOF (six degrees of freedom) motion of multiple tracking points by a single camera. The pose estimation errors are about 5 [mm] in location (depth) and about 2 [deg] in orientation. We applied the prototype of the motion tracker to the on-site motion analysis tasks, and demonstrated its availability in the evaluation of assistive technologies.

    DOI

    Scopus

    1
    Citation
    (Scopus)

  • Safety-Function Design for the Control System of a Human-Cooperative Robot Based on Functional Safety of Hardware and Software

    Suwoong Lee, Yoji Yamada, Kazuhiro Ichikawa, Osamu Matsumoto, Keiko Homma, Eiichi Ono

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   19 ( 2 ) 719 - 729  2014.04  [Refereed]

    　View Summary

    Human-cooperative robots (HCRs) are expected to benefit various fields. Safety functions are essential to the control system of HCRs because their hazardous movements after a system failure may cause serious injuries to operators. Therefore, their reliability must be sufficiently high relative to the estimated risk, and it is important to design a suitable safety function for the control system to match the safety level required for an HCR. We propose a methodology of safety-function design for the control system of an HCR and attempt to effectively combine design approaches for hardware and software of safety-related systems (SRSs) on the basis of the concept of functional safety. This study describes the details of the methodology for an HCR that we adopted as a platform system. First, SRS hardware with a dual-channel voting architecture was designed, and then, functional safety analysis was performed to verify whether the hardware satisfied the required safety integrity level (SIL). Next, SRS software with diverse programming, which is recommended for the required SIL, was designed by utilizing a disturbance observer. Finally, experiments were conducted on the SRS for representative failures and the safety function was verified for the control system, as set by the proposed methodology.

    DOI

    Scopus

    13
    Citation
    (Scopus)

  • Humanoid Robot as an Evaluator of Assistive Devices

    Kanako Miura, Eiichi Yoshida, Yoshiyuki Kobayashi, Yui Endo, Fumio Kanehioro, Keiko Homma, Isamu Kajitani, Yoshio Matsumoto, Takayuki Tanaka

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)     679 - 685  2013  [Refereed]

    　View Summary

    This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear "Smart Suit Lite" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.

    DOI

    Scopus

    34
    Citation
    (Scopus)

  • RT-component based integration for IEC61508 ready system using SysML and IEC61499 function blocks

    Ryo Hanai, Hajime Saito, Yoshihiro Nakabo, Kiyoshi Fujiwara, Takuya Ogure, Daichi Mizuguchi, Keiko Homma, Kohtaro Ohba

    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)     105 - 110  2012  [Refereed]

    　View Summary

    Robots need to be dependable to work closely with humans. Further they must be accountable for the system design and development process. This makes some of the safety related standards such as IEC61508 adopt module based architecture and model driven engineering process. On the other hand, module-based architectures using middlewares are popular in the integration phase, when developing robot systems. To elaborate the behaviors of realtime control modules, IEC61499 function blocks derived from PLC languages is useful. Therefore, in this paper, we combine them and present a development process consisting of system design in SysML, elaboration in function blocks and integration using RTMSafety, which is an implementation of RT-middleware for the use of safety-related systems. We also show an example system for a dual-arm robot intended to work with human workers.

    DOI

    Scopus

    3
    Citation
    (Scopus)

  • Proposal of Architecture and Implementation Process for IEC61508 Compliant, Dependable Robot Systems

    Ryo Hanai, Hajime Saito, Yoshihiro Nakabo, Kiyoshi Fujiwara, Takuya Ogure, Daichi Mizuguchi, Keiko Homma, Kohtaro Ohba

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)     1218 - 1223  2012  [Refereed]

    　View Summary

    Recent years have seen an increase in demand for robots that work closely with humans, or operate at disaster sites. These robots need to have high dependability. At the same time, the idea of system development based on standards is becoming important especially in the field of embedded systems including robots. IEC61508, which is a standard of functional safety requires the V-model of the engineering process and keeping the documents and programs of each phase consistent.
    However, this process costs a lot and freedom still remains about the choice of tools to support the development, the way of describing specifications/programs in each phase and so on. This makes consideration of the concrete development process and the tools used there before starting an actual development important. Accordingly, the purpose of this paper is to present a concrete architecture and a development process that is IEC61508 ready. We especially focus on the software aspect and mention related standards as well.

    DOI

    Scopus

    2
    Citation
    (Scopus)

  • 2A1-A01 Survey on the Awareness of Safety Certification of Personal Care Robots with Comparison between Japan, USA and Germany(Robotics with Safety and Reliability)

    NAKABO Yoshihiro, OHBA Kohtaro, HOMMA Keiko, MIZUGUCHI Daichi, OGURE Takuya, KUSHIYAMA Tetsuro, MIWA Akira, UCHIDA Hitoshi, NOMURA Hiromi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2011   _2A1-A01_1 - _2A1-A01_4  2011

    　View Summary

    We have surveyed how consumer accept the risks of future coming personal care robots and how aware of the safety certification of such robots. Compared to some other products which are used in daily lives, personal care robots are acknowledged to be with middle range of benefits and middle range of risks so that their safety are preferred to be verified by independent public agencies. Indeed, we have also found Japanese consumers do not aware of the existing safety certification bodies or their schema of certification compared to USA or German consumers. The reasons of these gaps are from the difference of choice behavior of products.

    DOI CiNii

  • Effects of passive motion using mechatronic system on improvement of peripheral circulation

    Keiko Homma, Mariko Usuba

    2011 IEEE/SICE International Symposium on System Integration, SII 2011     543 - 548  2011

    　View Summary

    We have been developing a passive motion exercise system for ankle dorsiflexion/plantarflexion that can be applied to patients with complicated ankle joint deformity. The developed system is expected to reduce edema in lower limbs, and currently we are aiming to find objective indicators for volume of edema by the use of our system. In this paper, the effects of passive motion provided with an ankle dorsiflexion/plantarflexion exercise system on peripheral circulation are examined. The result indicated that skin blood flow and surface skin temperature of the elderly subjects changed associated with passive motion, which suggests that decreased peripheral circulation can be improved with passive motion. © 2011 IEEE.

    DOI

    Scopus

    5
    Citation
    (Scopus)

  • Ethical Review Process and Subject Protection in Demonstration Experiments of Assistive Robots for Care-Giving : Case Report of the Excretion Care Robot "Toilet-Assist"

    HOMMA Keiko, YAMADA Yoji, MATSUMOTO Osamu, LEE Suwoong, ONO Eiichi

    Journal of the Robotics Society of Japan   28 ( 2 ) 181 - 190  2010.03

    　View Summary

    As technology advances in robotics, studies of assistive robots and service robots are actively conducted, aiming at practical use of them. Occasions for demonstration experiments increases accordingly, however, awareness of protection of subjects is not enough. This may bring risks to the subjects. Therefore, ethical reviews by Institutional Review Board become more and more important. In this paper, framework of ethical review process and subject protection in developing assistive robots for care-giving is described with an example of the study of the excretion care robot "Toilet-Assist," where the subjects in the demonstration experiment were different from the people involved from the ethical viewpoint.

    DOI CiNii

  • A Proposal of a Method to Reduce Burden of Excretion Care Using Robot Technology

    Keiko Homma, Yoji Yamada, Osamu Matsumoto, Eiichi Ono, Suwoong Lee, Mikio Horimoto, Takahiro Suzuki, Noriyuki Kanehira, Toshiaki Suzuki, Shinichiro Shiozawa

    2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2     723 - +  2009  [Refereed]

    　View Summary

    This paper proposes a new method for excretion care by use of robot technology. Excretion care is one of the most burdensome tasks in care, along with bathing care. Among the problems related to excretion care, transfer of the care recipient between a wheelchair and a toilet is the most acute problem.
    Therefore, we proposed a new transfer method for getting rid of twisting the coupled bodies of both a caregiver and a care recipient by replacing a wheelchair and a toilet automatically while the care recipient is keeping his/her standing position. Experimental results showed that the proposed method was expected to reduce the physical burden of the caregiver during excretion care.

    DOI

    Scopus

    13
    Citation
    (Scopus)

  • Development of ankle dorsiflexion/plantarflexion exercise device with passive mechanical joint

    Keiko Homma, Mariko Usuba

    2007 IEEE 10TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2     292 - +  2007  [Refereed]

    　View Summary

    We have been developing a passive motion exercise device for ankle dorsiflexion/plantarflexion that can be applied to patients with complicated ankle joint deformity. In conventional ankle motion exercise devices, a footplate remains parallel to the axis of ankle dorsiflexion/plantarflexion. This may cause pain by forcing the ankle position to fit in the device and may also cause uneven contact of the sole to the footplate during the exercise. Therefore, we proposed to make a device which enables passive dorsiflexion/plantarflexion movements of ankle with adjustable inversion/eversion.
    In this study, the effect of passive joint of inversion/eversion is examined using pressure distribution on the footplate.

    DOI

    Scopus

    25
    Citation
    (Scopus)

  • Motion Assist Devices for Rehabilitation using Parallel Wire Mechanisms

    Keiko Homma

    INTELLIGENT AUTONOMOUS SYSTEMS 9     981 - 990  2006  [Refereed]

    　View Summary

    In Japan, robotic systems for rehabilitation or assistance of the elderly and the disabled people are actively studied recently. In developing rehabilitation/assistive robots, safety is one of the most important issues, since the robots work very closely to the users or worn by the users. Parallel wire mechanisms have Prospects of giving Solutions to safety issues on rehabilitation robots. In this paper, the author takes a look back on her studies on motion assist devices using parallel wire mechanisms and discusses advantages and disadvantages of the motion assist devices using parallel wire mechanisms.

  • Study of a wire-driven leg rehabilitation system.

    Keiko Homma, Osamu Fukuda, Yoshihiko Nagata, Mariko Usuba

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004     1668 - 1673  2004  [Refereed]

    DOI

  • Study of a Wire-driven Leg Rehabilitation System : Development of a 2-dof system and extension to a 4-dof system

    HOMMA Keiko, FUKUDA Osamu, SUGAWARA Jun, NAGATA Yoshihiko, USUBA Mariko

    Journal of Life Support Engineering   15 ( 4 ) 151 - 158  2003.12

    　View Summary

    We proposed and have been studying a multiple-dof leg rehabilitation system which employs a wire-driven mechanism. Using a parallel wire mechanism, multiple-dof motion can be achieved with relatively low powered actuators compared with the mechanisms that use conventional rigid links. Also, since wire-driven mechanisms are light and flexible, it makes the system human-friendly. Our eventual goal is to develop a rehabilitation system that carries out 6-dof motions of hip, knee and ankle joint. In order to achieve this goal, we are taking a gradual approach. In this paper, we describe a 2-dof experimental system which we designed and built. Target motions of the 2-dof system are flexion/extension of both hip and knee joints. We also mention a 4-dof experimental system which was built by extending degrees of freedom of the system. Target motions of the system are hip joint flexion/extension, hip joint abduction/adduction. hip joint external/internal rotation, and knee joint flexion/extension. Experiments showed that the multiple-dof joint exercise can be carried out using the proposed system.

    DOI CiNii J-GLOBAL

  • A wire-driven leg rehabilitation system: Development of a 4-DOF experimental system

    K Homma, O Fukuda, J Sugawara, Y Nagata, M Usuba

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2   2   908 - 913  2003

    　View Summary

    We proposed and have been studying a multiple-DOF leg rehabilitation system which employs a wire-driven mechanism. Using a parallel wire mechanism, multiple-DOF motion can be achieved with relatively low powered actuators compared with the mechanisms that use conventional rigid links. Also, since wire-driven mechanisms are light and flexible, it makes the system human-friendly. Our eventual goal is to develop a rehabilitation system that carries out 6-DOF motions of hip, knee and ankle joint. In order to achieve this goal, we are taking a gradual approach. In earlier studies, we built and tested a single-DOF experimental system and a 2-DOF experimental system. Currently, we have built and are testing a 4-DOF experimental system. Target motions of the system are hip joint flexion/extension, hip joint abduction/adduction, hip joint external/internal rotation, and knee joint flexion/extension. In this paper, we describe an overview of the 4-DOF experimental system. We also mention experiments using the experimental system.

    DOI

    Scopus

    82
    Citation
    (Scopus)

  • Study of a wire-driven leg rehabilitation system

    K Homma, O Fukuda, Y Nagata

    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS     1451 - 1456  2002  [Refereed]

    　View Summary

    We propose here a new type of leg rehabilitation system. The aim of the system is to realize multiple-degree-of-freedom (DOF) training of a leg by manipulating the patients leg by wires. A single-DOF experimental system was built and tested, and the experimental results showed the feasibility of a wire-driven leg rehabilitation system. Next, a 2-DOF experimental system was designed, with a target motion of flexion/extension of both the hip and knee joints. Experiments of single-DOF motion on a test dummy and a male subject showed that the system generates enough accurate motion to support range of motion exercise. In addition, the results showed that the wire-driven mechanism would be a human-friendly system.

    DOI

  • Modeling Heart Rate Variability with a HMM-based Neural Network.

    Osamu Fukuda, Yoshihiko Nagata, Keiko Homma, Toshio Tsuji

    Journal of Robotics and Mechatronics   14 ( 6 ) 625 - 632  2002

    DOI

    Scopus

  • Development of Leg Rehabilitation Assistance

    Journal of Robotics and Mechatronics   Vol.14 No.6, pp.589-596  2002

  • Evaluation of heart rate variability by using wavelet transform and a recurrent neural network

    Osamu Fukuda, Yoshihiko Nagata, Keiko Homma, Toshio Tsuji

    Annual International Conference of the IEEE Engineering in Medicine and Biology-Proceedings   2   1769 - 1772  2001

    　View Summary

    The purpose of this paper is to evaluate the physical and mental stress based on the physiological index, and a new evaluation method of heart rate variability is proposed. This method combines the wavelet transform with a recurrent neural network. The features of the proposed method are as follows: 1. The wavelet transform is utilized for the feature extraction so that the local change of heart rate variability in the time-frequency domain can be extracted. 2. In order to learn and evaluate the different patterns of heart rate variability caused by individual variations, body conditions, circadian rhythms and so on, a new recurrent neural network which incorporates a hidden Markov Model is used. In the experiments, a mental workload was given to five subjects, and the subjective rating scores of their mental stress were evaluated using heart rate variability. It was confirmed from the experiments that the proposed method could achieve high learning/evaluating performances.

    DOI

    Scopus

    13
    Citation
    (Scopus)

  • Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space

    ADACHI Hironori, KOYACHI Nohiro, ARAI Tatsuo, HOMMA Keiko, SHINOHARA Yoshihiro, NISHIMURA Ken-ichiro

    Journal of the Robotics Society of Japan   16 ( 3 ) 329 - 336  1998.04

    　View Summary

    This paper describes a walking control scheme for a quadruped robot. In conventional walking control scheme, the leg motion is generated from the robot moving trajectory beforehand, and it is difficult to control in real time. The proposed control scheme employs a real time command from a human operator. The operator gives a current planar moving velocity command to the robot. Since the command in the future cannot be predicted, the scheme does not generate a periodic gait. Body propulsive action is basically continued according to the command unless a problem arises. When a foot reaches the border of the work space of the leg, the body propulsive action is interrupted, and a supporting foot pattern is changed according to the leg transition rule. That is, a foot arrival at the border is considered as an event to trigger an recovery action for the body propulsion. The actions are decided to converge to the intermittent crawl gait when straight walking command is continued. The proposed control scheme is evaluated using actual walking robot.

    DOI CiNii

  • An upper limb motion assist system: Experiments with arm models

    K Homma, S Hashino, T Arai

    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3     758 - 763  1998  [Refereed]

    　View Summary

    In developing service robots, safety should be considered carefully since robots share the space with people who do not have technical background on operation of robots. Powered orthosis is one of the most severe examples.
    We have been studying an upper limb motion assist system. The aim of the system is to help a disabled person move his/her arm by his/her own will by hanging the arm with strings and changing the length of each string. We have built an experimental system to examine the motion obtained with this system.

    DOI

  • Integration of parallel arm and leg mechanism

    T ARAI, H ADACHI, K HOMMA, N KOYACHI

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3     285 - 290  1995  [Refereed]

    DOI

  • Design of an upper limb motion assist system with parallel mechanism

    K HOMMA, T ARAI

    PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3     1302 - 1307  1995  [Refereed]

    DOI

  • Integrated arm and leg mechanism and its kinematic analysis

    T ARAI, N KOYACHI, H ADACHI, K HOMMA

    PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3     994 - 999  1995  [Refereed]

    DOI

  • Six degrees of freedom position and posture control for a quadruped robot

    H Adachi, T Arai, N Koyachi, K Homma

    INTELLIGENT AUTONOMOUS VEHICLES 1995     133 - 138  1995  [Refereed]

  • A Soil Model for Excavation Robot

    HOMMA Keiko, ARAI Tatsuo, ADACHI Hironori, NAKAMURA Tatsuya

    Journal of the Robotics Society of Japan   12 ( 4 ) 115 - 123  1994.05

    　View Summary

    This paper describes the measuring method of the soil and soil model for automated excavation. The measuring method of the soil uses reactive force data which is detected when the manipulator touches the surface of the soil and position data of end effector. From these data, the shape and the hardness of the soil are estimated. The soil model predicts the reactive force of cutting. The cutting process is devided into two stages ; the initial state and the steady state. Different models are adapted to these stages. Experiments are made to show the effectiveness of the model.

    DOI CiNii

  • SOIL MODEL FOR AUTOMATED EXCAVATION USING TOUCH-SENSED DATA

    HOMMA, K, ARAI, T, ADACHI, H, NAKAMURA, T, SOC INSTRUMENT &amp, CONTROL ENGINEERS JAPAN

    Ismcr 92 : Proceedings of the Second International Symposium on Measurement and Control in Robots    1992

  • Spatial image model for manipulation of shape variable objects and application to excavation.

    Keiko Homma, Tatsuya Nakamura, Tatsuo Arai, Hironori Adachi

    IEEE International Workshop on Intelligent Robots and Systems '90, Towards a New Frontier of Applications, Proceedings. IROS 1990, July 3-6, 1990, Ibaraki, Japan     645 - 650  1990  [Refereed]

    DOI CiNii

    Scopus

    3
    Citation
    (Scopus)

  • Design, analysis and construction of a prototype parallel link manipulator.

    Tatsuo Arai, Kevin Cleary, Tatsuya Nakamura, Hironori Adachi, Keiko Homma

    IEEE International Workshop on Intelligent Robots and Systems '90, Towards a New Frontier of Applications, Proceedings. IROS 1990, July 3-6, 1990, Ibaraki, Japan     205 - 212  1990  [Refereed]

    DOI CiNii

    Scopus

    37
    Citation
    (Scopus)

▼display all

Presentations

  • Process of the Safety Design of Physical Assist Robots-Safety Guidebook and Further Investigation-

    秋山靖博, 中坊嘉宏, 勝田智也, 本間敬子, 板東哲郎, 三浦敏道

    LIFE講演概要集(CD-ROM) 

    Presentation date： 2022

    Event date：
    2022
    　
    　

  • Awareness survey on the safety criteria for the robotic care devices

    本間敬子, 秋山靖博, 勝田智也, 板東哲郎, 三浦敏道, 藤原清司, 梶谷勇, 中坊嘉宏

    LIFE講演概要集(CD-ROM) 

    Presentation date： 2022

    Event date：
    2022
    　
    　

  • 介護保険レセプトを利用した福祉用具の利用状況の分析 要介護度・年齢による利用機器の違い

    二瓶 美里, 松本 吉央, 梶谷 勇, 本間 敬子, 植嶋 大晃, 田宮 菜奈子

    生活生命支援医療福祉工学系学会連合大会講演要旨集  (一社)ライフサポート学会

    Presentation date： 2018.09

    Event date：
    2018.09
    　
    　

  • ロボット介護機器における快適性を定量化する高齢者ダミー

    尾形邦裕, 梶谷勇, 本間敬子, 松本吉央

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2017.09

    Event date：
    2017.09
    　
    　

  • Evaluation Method of the Performance of the Robotic Devices for Transfer Assist using Robotic Simulator of Elderly Person

    尾形邦裕, 松本吉央, 本間敬子, 梶谷勇, 脇田優仁

    LIFE講演概要集(CD-ROM)  (一社)ライフサポート学会

    Presentation date： 2017.09

    Event date：
    2017.09
    　
    　

  • 倫理審査申請の準備のためのガイドラインについて

    梶谷勇, 宮腰清一, 三輪洋靖, 脇田優仁, 本間敬子, 角保志, 松本治, 松本光司, 諏訪基, 山内繁

    LIFE講演概要集(CD-ROM)  (一社)ライフサポート学会

    Presentation date： 2017.09

    Event date：
    2017.09
    　
    　

  • Preliminary survey on the risk of damage to rectum wall caused by mechanical contact of a defecation assist device : Bibliographic survey for developing safety testing technologies of defecation assist devices

    本間 敬子, 藤原 清司, 梶谷 勇, 尾暮 拓也

    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報  電子情報通信学会

    Presentation date： 2017.05

    Event date：
    2017.05
    　
    　

  • 行動変容データベースの開発

    梶谷勇, 児島宏明, 鍛冶良作, 小島一浩, 細野美奈子, 本間敬子, 松本吉央, 関山守

    日本行動分析学会年次大会発表論文集 

    Presentation date： 2017

    Event date：
    2017
    　
    　

  • ロボット介護機器のための本質安全設計支援ツールの開発(第2報)

    本間敬子, 松本治

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2016.09

    Event date：
    2016.09
    　
    　

  • 「ロボット技術を用いた活動機能回復装置開発ガイドライン2015」について

    本間 敬子, 梶谷 勇, 小関 義彦, 鎮西 清行

    生活生命支援医療福祉工学系学会連合大会講演要旨集  (一社)ライフサポート学会

    Presentation date： 2016.09

    Event date：
    2016.09
    　
    　

  • 入浴介護機器の感電リスクに関する考察

    風間智, 岡部康平, 浅野陽一, 本間敬子, 池田博康

    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： 2016.06

    Event date：
    2016.06
    　
    　

    　View Summary

    Recently care robots and care equipment with a charging battery are used in bath. Risks of electric shock while bathing by the charging battery are high, because water is conductive material. We considered these risks quantitatively with a simple electrical equivalent circuit method and a 3D electric simulation method. These consideration results will be verified to use risk assessment for an actual care robot or equipment used in bath.

  • 情報通信技術を用いた行動変容フレームワーク

    関山守, 児島宏明, 鍛冶良作, 小島一浩, 細野美奈子, 本間敬子, 松本吉央, 梶谷勇

    日本行動分析学会年次大会発表論文集 

    Presentation date： 2016

    Event date：
    2016
    　
    　

  • オープンソースによる自発的動画プロンプターの開発

    梶谷勇, 児島宏明, 鍛冶良作, 小島一浩, 細野美奈子, 本間敬子, 松本吉央, 関山守

    日本行動分析学会年次大会発表論文集 

    Presentation date： 2016

    Event date：
    2016
    　
    　

  • Risk considerations of electric shock while bathing about a care equipment.

    KAZAMA Satoshi, OKABE Kohei, ASANO Yoich, HONMA Keiko, IKEDA Hiroyasu

    Robomech  The Japan Society of Mechanical Engineers

    Presentation date： 2016

    Event date：
    2016
    　
    　

    　View Summary

    <p>Recently care robots and care equipment with a charging battery are used in bath. Risks of electric shock while bathing by the charging battery are high, because water is conductive material. We considered these risks quantitatively with a simple electrical equivalent circuit method and a 3D electric simulation method. These consideration results will be verified to use risk assessment for an actual care robot or equipment used in bath.</p>

  • ImPACTプログラム『重介護ゼロ社会を実現する革新的サイバニックシステム』における産総研の取り組み

    藤原清司, 本間敬子, 比留川博久

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2015.09

    Event date：
    2015.09
    　
    　

  • 1S2-2 Assistive Robots for the Elderly People

    HOMMA Keiko

    JES Ergonomics  Japan Ergonomics Society

    Presentation date： 2015

    Event date：
    2015
    　
    　

  • ロボット介護機器の力学的効果評価―デジタルヒューマンとヒューマノイドを用いた定量的評価―

    吉田英一, 遠藤維, 多田充徳, 吉安祐介, 鮎澤光, 松本吉央, 本間敬子, 梶谷勇

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2014.09

    Event date：
    2014.09
    　
    　

  • ロボット介護機器のための本質安全設計支援ツールの開発

    本間敬子, 松本治

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2014.09

    Event date：
    2014.09
    　
    　

  • ロボット介護機器評価のための高齢者動作模擬装置(高齢者アクティブダミー人形)の開発

    松本吉央, 脇田優仁, 本間敬子, 梶谷勇, 吉田英一

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2014.09

    Event date：
    2014.09
    　
    　

  • ロボット介護機器開発・導入促進事業―効果・性能評価―

    松本吉央, 本間敬子, 吉田英一, 西村拓一, 高橋裕信, 大川弥生

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2013.09

    Event date：
    2013.09
    　
    　

  • ロボット介護機器開発・導入促進事業―全体概要

    比留川博久, 松本吉央, 本間敬子, 中坊嘉宏, 梶谷勇

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2013.09

    Event date：
    2013.09
    　
    　

  • ロボット介護機器の安全と高信頼化

    中坊嘉宏, 本間敬子, 尾暮拓也, 藤原清司, 安藤慶昭, 原功, BIGGS Geoffrey, 松本治, 池田博康, 山田陽滋, 小口誠, 藤川達夫, 伊藤健三, 鈴木寿郎, 長瀬雅之, 草間康利

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2013.09

    Event date：
    2013.09
    　
    　

  • ヒューマノイドを用いたアシスト機器支援効果の定量的評価

    吉田英一, 三浦郁奈子, 小林吉之, 遠藤維, 金広文男, 本間敬子, 梶谷勇, 松本吉央, 田中孝之

    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： 2013.05

    Event date：
    2013.05
    　
    　

    　View Summary

    We presented a new application of humanoid robots as an evaluator of assistive devices, to reduce the burden of tests with human subjects. Taking the supportive wear "Smart Suit" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. We showed the basic feasibility of this application as we observed a clear decrease of the torque at the torso joint with the wear.

  • 高信頼双腕作業ロボットのためのシステム実装手法の提案

    花井亮, 齋藤元, 中坊嘉宏, 藤原清司, 尾暮拓也, 水口大知, 本間敬子, 大場光太郎

    ロボティクスシンポジア予稿集 

    Presentation date： 2013.03

    Event date：
    2013.03
    　
    　

  • 麻痺側足部における長時間下垂に伴う浮腫状態の変化

    本間敬子, 薄葉眞理子, 立花淳二

    日本臨床医療福祉学会プログラム・抄録集 

    Presentation date： 2013

    Event date：
    2013
    　
    　

  • 装着型ロボットの安全性評価試験方法の開発

    山田陽滋, 本間敬子, 秋山靖博, 岡本正吾, 原進

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2011.09

    Event date：
    2011.09
    　
    　

  • 2A1-A01 Survey on the Awareness of Safety Certification of Personal Care Robots with Comparison between Japan, USA and Germany(Robotics with Safety and Reliability)

    NAKABO Yoshihiro, OHBA Kohtaro, HOMMA Keiko, MIZUGUCHI Daichi, OGURE Takuya, KUSHIYAMA Tetsuro, MIWA Akira, UCHIDA Hitoshi, NOMURA Hiromi

    Robomech  The Japan Society of Mechanical Engineers

    Presentation date： 2011

    Event date：
    2011
    　
    　

    　View Summary

    We have surveyed how consumer accept the risks of future coming personal care robots and how aware of the safety certification of such robots. Compared to some other products which are used in daily lives, personal care robots are acknowledged to be with middle range of benefits and middle range of risks so that their safety are preferred to be verified by independent public agencies. Indeed, we have also found Japanese consumers do not aware of the existing safety certification bodies or their schema of certification compared to USA or German consumers. The reasons of these gaps are from the difference of choice behavior of products.

  • 受動自由度を有する足関節底背屈訓練装置の開発(第5報)

    本間敬子, 薄葉眞理子

    生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 

    Presentation date： 2010.09

    Event date：
    2010.09
    　
    　

  • 操作介入を伴う安全装置を搭載した電動車いすの臨床評価

    硯川潤, 井上剛伸, 加茂光広, 鈴木雄介, 本間敬子, 松本治, 佐藤雄隆

    リハ工学カンファレンス講演論文集  (一社)日本リハビリテーション工学協会

    Presentation date： 2010.08

    Event date：
    2010.08
    　
    　

  • 多種センサ技術を活用した安全で安心なインテリジェント電動車いすの開発

    佐藤雄隆, 松本治, 本間敬子, 坂上勝彦, 加茂光広, 井上剛伸, 硯川潤, 鈴木雄介

    リハ工学カンファレンス講演論文集  (一社)日本リハビリテーション工学協会

    Presentation date： 2010.08

    Event date：
    2010.08
    　
    　

  • 装置を用いた足関節他動的底背屈運動による皮膚血流の変化

    薄葉眞理子, 本間敬子

    理学療法学  (公社)日本理学療法士協会

    Presentation date： 2010.03

    Event date：
    2010.03
    　
    　

  • 受動自由度を有する足関節底背屈訓練装置の開発(第4報)

    本間敬子, 薄葉眞理子

    生活支援工学系学会連合大会講演予稿集  (一社)ライフサポート学会

    Presentation date： 2009.09

    Event date：
    2009.09
    　
    　

  • Construction of triplicate system of dead reckoning on a motorized wheelchair with autonomous traveling ability

    大内雄介, 松本治, 本間敬子, 山田陽滋, 足立吉隆

    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： 2009.05

    Event date：
    2009.05
    　
    　

    　View Summary

    We study on a motorized wheelchair with autonomous traveling ability assuming the use in welfare facilities. In this study, in order to improve reliability of the wheelchair, we aim to construct the triplicate system of dead reckoning which is necessary for localization. In this paper, the failure diagnosis algorithm of rotary encoders attached to motors driving wheels using the triplicate system of dead reckoning is proposed and the experimental results are reported.

  • 排泄介護総合支援ロボット「トイレアシスト」

    松本治, 本間敬子, LEE Suwoong, 小野栄一, 山田陽滋, 鈴木貴弘, 堀本幹夫, 鈴木利明, 金平徳之

    日本生活支援工学会誌  (一社)日本生活支援工学会

    Presentation date： 2008.11

    Event date：
    2008.11
    　
    　

  • 排泄介護総合支援ロボット「トイレアシスト」

    山田陽滋, 松本治, 小野栄一, LEE Suwoong, 本間敬子, 堀本幹夫, 鈴木貴弘, 金平徳之, 鈴木利明

    日本機械学会福祉工学シンポジウム講演論文集  The Society of Life Support Engineering

    Presentation date： 2008.09

    Event date：
    2008.09
    　
    　

  • 排泄介護総合支援ロボット「トイレアシスト」

    山田陽滋, 松本治, 小野栄一, LEE Suwoong, 本間敬子, 堀本幹夫, 鈴木貴弘, 金平徳之, 鈴木利明

    生活支援工学系学会連合大会講演予稿集  The Society of Life Support Engineering

    Presentation date： 2008.09

    Event date：
    2008.09
    　
    　

  • Development of shuttle platform for a wheelchair in the excretion care assist system "Toilet Assist"

    松本治, 山田陽滋, 大内雄介, LEE Suwoong, 本間敬子, 小野栄一, 足立吉隆

    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： 2008.06

    Event date：
    2008.06
    　
    　

    　View Summary

    TOTO, Kawada Industries Inc. and AIST have developed the "Toilet Assist" which assist excretion cares in nursing care homes as part of the "Human Support Robot and Practical Technologies for Nursing Care Activities" project of the New Energy and Industrial Technology Development Organization (NEDO). In this project, AIST has developed the shuttle platform for a wheelchair which is a part of "Toilet Assist". In this paper, its hardware structure, the autonomous traveling method and the experimental results of trajectory following are reported.

  • Total support robots for excretion care "Toilet-Assists"

    YAMADA Yoji, MATSUMOTO Osamu, ONO Eiichi, LEE Suwoong, HOMMA Keiko, HORIMOTO Mikio, SUZUKI Takahiro, KANEHIRA Noriyuki, SUZUKI Toshiaki

    The Proceedings of the JSME Symposium on Welfare Engineering  The Japan Society of Mechanical Engineers

    Presentation date： 2008

    Event date：
    2008
    　
    　

  • 2P1-E19 Development of shuttle platform for a wheelchair in the excretion care assist system "Toilet Assist"

    Matsumoto Osamu, Yamada Yoji, Ouchi Yusuke, Lee Suwoong, Homma Keiko, Ono Eiichi, Adachi Yoshitaka

    Robomech  The Japan Society of Mechanical Engineers

    Presentation date： 2008

    Event date：
    2008
    　
    　

    　View Summary

    TOTO, Kawada Industries Inc. and AIST have developed the "Toilet Assist" which assist excretion cares in nursing care homes as part of the "Human Support Robot and Practical Technologies for Nursing Care Activities" project of the New Energy and Industrial Technology Development Organization (NEDO). In this project, AIST has developed the shuttle platform for a wheelchair which is a part of "Toilet Assist". In this paper, its hardware structure, the autonomous traveling method and the experimental results of trajectory following are reported.

  • Development of ankle flexion/extension exercise system with passive joint (3rd Report)

    本間敬子, 薄葉眞理子

    日本機械学会福祉工学シンポジウム講演論文集  The Japan Society of Mechanical Engineers

    Presentation date： 2007.09

    Event date：
    2007.09
    　
    　

    　View Summary

    We have been developing a passive motion exercise device for ankle dorsiflexion/plantarflexion that can be applied to patients with joint contracture. In conventional ankle motion exercise devices, a footplate remains parallel to the axis of ankle dorsiflexion/plantarflexion. This may cause pain by forcing the ankle position to fit in the device and may also cause uneven contact of the sole to the footplate during the exercise. Therefore, we proposed to make a device which enables passive dorsiflexion/plantarflexion movements of ankle with adjustable eversion/inversion. In this paper, experiments were carried out and biosignals such as cutaneous blood flow and surface/deep-tissue temperature were measured during motion exercise as well as before and after exercise, to find indicators that represent effects of the passive motion.

  • Women in Robotics: Robotics towards Joint Participation Society

    大武美保子, 瀬戸文美, 本間敬子

    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： 2007.05

    Event date：
    2007.05
    　
    　

    　View Summary

    "Women in Robotics" is the international community whose scope includes but not be limited to: students, engineers and researchers in robotics, human science and technology; who are interested in research and development activities conducted by women in these fields; who would like to explore technical and social needs of women for marketing; and who have interests in our activities. Our mission is to provide a venue for discussion and collaboration for technical development that creates enjoyable and efficient style of work and life. In this paper, we introduce our activities, and discuss aims and scope of the technical session at Robotics and Mechatronics Conference in 2007.

  • 実用的なパワーアシスト機器のための2 out of 2論理に基づく自己診断機能の提案

    市川和宏, 山田陽滋, LEE Suwoong, 松本治, 小野栄一, 本間敬子, 尾崎功一

    ロボティクスシンポジア予稿集 

    Presentation date： 2007.03

    Event date：
    2007.03
    　
    　

  • Risk Evaluation of a Human-Support Robot Based on Risk Comparison-Targeting a Prototype of Toilet-Assist-

    齋藤剛, 池田博康, 山田陽滋, 小野栄一, 松本治, 本間敬子, 李英雄, 市川和宏, 金平徳之, 鈴木利明, 小林千尋

    日本機械学会関東支部総会講演会講演論文集  The Japan Society of Mechanical Engineers

    Presentation date： 2007.03

    Event date：
    2007.03
    　
    　

    　View Summary

    A risk assessment for "Toilet-Assist", which is an excretion care support robot, is necessary to its design, but it is difficult to evaluate new risks of this machine. This risk assessment is attempted to compare this machine with an electric toilet seat lift and an automated guided vehicle based on the hazards list of the risk assessment standard. As a result, structural characteristics of protective measures for this machine are clarified.

  • 2A2-I07 Women in Robotics : Robotics towards Joint Participation Society

    Otake Mihoko, Seto Fumi, Homma Keiko

    Robomech  The Japan Society of Mechanical Engineers

    Presentation date： 2007

    Event date：
    2007
    　
    　

    　View Summary

    "Women in Robotics" is the international community whose scope includes but not be limited to: students, engineers and researchers in robotics, human science and technology; who are interested in research and development activities conducted by women in these fields; who would like to explore technical and social needs of women for marketing; and who have interests in our activities. Our mission is to provide a venue for discussion and collaboration for technical development that creates enjoyable and efficient style of work and life. In this paper, we introduce our activities, and discuss aims and scope of the technical session at Robotics and Mechatronics Conference in 2007.

  • 11609 Risk Evaluation of a Human-Support Robot Based on Risk Comparison : Targeting a Prototype of Toilet-Assist

    SAITO Tsuyoshi, SUZUKI Toshiaki, KOBAYASHI Chihiro, IKEDA Hiroyasu, YAMADA Yoji, ONO Eiichi, MATSUMOTO Osamu, HONMA Keiko, Ri HIDEO, ICHIKAWA Kazuhiro, KANEHIRA Noriyuki

    The Proceedings of Conference of Kanto Branch  一般社団法人 日本機械学会

    Presentation date： 2007

    Event date：
    2007
    　
    　

    　View Summary

    A risk assessment for "Toilet-Assist", which is an excretion care support robot, is necessary to its design, but it is difficult to evaluate new risks of this machine. This risk assessment is attempted to compare this machine with an electric toilet seat lift and an automated guided vehicle based on the hazards list of the risk assessment standard. As a result, structural characteristics of protective measures for this machine are clarified.

  • MG224 Development of ankle flexion/extension exercise system with passive joint (3rd Report)

    HOMMA Keiko, USUBA Mariko

    The Proceedings of the JSME Symposium on Welfare Engineering  The Japan Society of Mechanical Engineers

    Presentation date： 2007

    Event date：
    2007
    　
    　

    　View Summary

    We have been developing a passive motion exercise device for ankle dorsiflexion/plantarflexion that can be applied to patients with joint contracture. In conventional ankle motion exercise devices, a footplate remains parallel to the axis of ankle dorsiflexion/plantarflexion. This may cause pain by forcing the ankle position to fit in the device and may also cause uneven contact of the sole to the footplate during the exercise. Therefore, we proposed to make a device which enables passive dorsiflexion/plantarflexion movements of ankle with adjustable eversion/inversion. In this paper, experiments were carried out and biosignals such as cutaneous blood flow and surface/deep-tissue temperature were measured during motion exercise as well as before and after exercise, to find indicators that represent effects of the passive motion.

  • Development of ankle flexion/extension exercise system with passive joint (2nd Report)

    本間敬子, 薄葉真理子, 大城靖彦, 永田可彦, 山田陽滋

    日本ロボット学会学術講演会予稿集(CD-ROM) 

    Presentation date： 2005.09

    Event date：
    2005.09
    　
    　

▼display all

Research Projects

  • Development of an Information Shareing Model for Evaluation of Assistive Devices in Development

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

    Project Year :

    2021.04
    -
    2024.03
     

  • Study on the effectiveness of the passive motion exercise device on lower extremity edema

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

    Project Year :

    2011
    -
    2013
     

    HOMMA Keiko, USUBA Mariko

    　View Summary

    In order to clarify the effectiveness of the passive motion exercise device on lower extremity edema using biomedical signals as parameters, we evaluated the effect of body motion or environmental parameter on those biomedical signals. The biomedical signals such as blood flow and skin temperature of the subject with hemiplegia were measured in his daily living situation. The obtained data of body motion and room temperature as well as relation between biomedical signals and clinical data such as foot volume and ankle circumference were analyzed.

  • Study on effects of the passive motion exercise device for ankle on circulatory status of peripheral tissue

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

    Project Year :

    2008
    -
    2010
     

    HOMMA Keiko, USUBA Mariko

    　View Summary

    This study was carried out aiming to clarify the effects of the ankle passive motion exercise device on circulatory status of peripheral tissue. In the experiments, passive motion exercise of ankle joint was conducted and biomedical signals were measured. Also, circulatory status of the subject who recovered from cerebrovascular disease was examined in his living environment. The results suggest that cutaneous blood flow can be increased by the use of the ankle passive motion exercise device.

  • Study on effectiveness of a passive mechanical joint introduced to a passive motion exercise device of ankle dorsiflexion/plantarflexion

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

    Project Year :

    2006
    -
    2007
     

    HOMMA Keiko, USUBA Mariko

    　View Summary

    We proposed and have been developing a passive motion exercise device which enables passive dorsiflexion/plantarfrexion movements of ankle with adjustable inversion/eversion. This research project aimed to examine the effects of dampers attached to the passive mechanical joint around inversion/eversion axis of the device. The project also aimed to find indicators of the effect of exercise motion through experiments with healthy subjects.
    We have conducted preliminary experiment on the effect of the dampers employed on the inversion/eversion axis. In the experiment, small pneumatic dampers were attached to the footplate of the prototype device. The results show that the dampers attached to the passive mechanical joint will avoid the rapid motion of the footplate that may cause undesirable reaction of the patients. In order to find indicators that represent effects of the exercise motion, we conducted experiments with healthy subjects and biosignals were obtained during exercise motion as well as before and after exercise motion. Among measured biosignals, skin blood flow and surface/deep tissue temperature showed patterns of variation which may be related to exercise motion. We also modified the prototype device to make it more adjustable to the users.

  • Rehabilitation System for lower limbs

Misc

  • Safety Handbook for Development of Robotic Devices for Nursing Care Second Edition

    中坊嘉宏, 勝田智也, 本間敬子, 秋山靖博

    人間生活工学   23 ( 1 )  2022

    J-GLOBAL

  • Close-up ロボット 生活機能支援ロボット-現状と展望

    本間 敬子, 梶谷 勇, 松本 吉央

    理学療法ジャーナル   55 ( 4 ) 443 - 447  2021.04

    DOI

  • The Past and Future of Care Robots

    KAJITANI Isamu, HOMMA Keiko, MATSUMOTO Yoshio

    The Journal of The Institute of Electrical Engineers of Japan   140 ( 6 ) 372 - 375  2020.06

    DOI CiNii

  • 福祉・介護現場の近未来—特集 働きやすい福祉・介護の職場 : 福祉・介護現場の働き方改革

    梶谷 勇, 本間 敬子, 松本 吉央, 比留川 博久

    介護福祉 : 介護専門職情報誌   ( 119 ) 23 - 30  2020

    CiNii

  • ロボット介護機器開発のための基準策定

      47 ( 3 ) 211 - 218  2019.03

    DOI CiNii

  • From research and development to practical usage of robot technology in an elderly care region.

    Iryou kikigaku (The Japanese journal of medical instrumentation)   89 ( 4 ) 378 - 382  2019

    DOI CiNii

  • 直腸壁への接触による損傷リスクの基礎的検討 : 排泄支援安全試験技術実現のための安全要件策定にかかる先行研究調査—Preliminary survey on the risk of damage to rectum wall caused by mechanical contact of a defecation assist device : Bibliographic survey for developing safety testing technologies of defecation assist devices—福祉情報工学

    本間 敬子, 藤原 清司, 梶谷 勇, 尾暮 拓也

    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報   117 ( 66 ) 11 - 14  2017.05

    CiNii

  • 介護支援ロボットの開発・導入と展望 (特集 高齢者の自立と介護現場を支えるロボット)

    本間 敬子

    エイジングアンドヘルス   26 ( 1 ) 6 - 10  2017.04

    CiNii

  • 「ロボット技術を用いた活動機能回復装置開発ガイドライン2015」について

    本間 敬子, 梶谷 勇, 小関 義彦, 鎮西 清行

    生活生命支援医療福祉工学系学会連合大会講演要旨集   2016   405 - 406  2016.09

  • 2P1-A05 Qualitative Evaluation of Effect of Assistive Device by a Humanoid(Humanoid)

    Yoshida Eiichi, Miura Kanako, Kobayashi Yoshiyuki, Endo Yui, Kanehiro Fumio, Homma Keiko, Kajitani Isamu, Matsumoto Yoshio, Tanaka Takayuki

    Robomech   2013 ( 0 ) _2P1 - A05_1-_2P1-A05_4  2013

    　View Summary

    We presented a new application of humanoid robots as an evaluator of assistive devices, to reduce the burden of tests with human subjects. Taking the supportive wear "Smart Suit" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. We showed the basic feasibility of this application as we observed a clear decrease of the torque at the torso joint with the wear.

    CiNii

  • On special issue "Considering Robotics Research Involving Humans"

    MOURI Tetsuya, MUKAI Toshiharu, HOMMA Keiko

    JRSJ   29 ( 3 ) 223 - 223  2011.04

    CiNii

  • Demonstration Tests for Next-Generation Robots Focusing on Safety Consideration

    YAMADA Yoji, HOMMA Keiko

    JRSJ   29 ( 3 ) 250 - 254  2011.04

    DOI CiNii

  • 人間支援型ロボット実用化プロジェクト及び次世代ロボット共通基盤開発プロジェクトの成果報告 介護動作支援ロボット及び実用化技術の開発(排泄介護総合支援ロボット「トイレアシスト」の開発)

    本間敬子, 山田陽滋, 松本治, 小野栄一, 李秀雄, 堀本幹夫, 鈴木貴弘, 金平徳之, 鈴木利明, 塩澤伸一郎

    ロボット   ( 185 ) 33 - 39  2008.11

    CiNii J-GLOBAL

  • Development of Toilet-Assist

    YAMADA Yoji, MATSUMOTO Osamu, HOMMA Keiko, ONO Eiichi, LEE Suwoong, HORIMOTO Mikio, SUZUKI Takahiro, KANEHIRA Noriyuki, SUZUKI Toshiaki

    JRSJ   26 ( 8 ) 883 - 884  2008.11

    DOI CiNii

  • Excretion care total assist robot "toilet assist"

    松本 治, 本間 敬子, 李 秀雄

    日本生活支援工学会誌   8 ( 2 ) 30 - 35  2008.11

    CiNii

  • 排泄介護総合支援ロボット「トイレアシスト」の研究開発

    本間 敬子, 松本 治, 小野 栄一, 李 秀雄, 山田 陽滋, 堀本 幹夫, 鈴木 貴弘, 金平 徳之, 鈴木 利明, 塩澤 伸一郎

    バイオメカニズム学会誌 = Journal of the Society of Biomechanisms   32 ( 4 ) 195 - 201  2008.11

    　View Summary

    NEDO人間支援型ロボット実用化基盤技術開発事業の下で，高齢者や障害者の排泄介護作業を対象として，トイレ技術とロボット技術とを融合することにより，排泄介護負担を軽減するための総合的な支援ロボット「トイレアシストシステム」（以下，トイレアシスト）の研究開発を行った．<BR>トイレアシストは，被介護者のトイレへのアプローチ支援機能，被介護者の着座支援機能，被介護者の姿勢保持支援機能，介護者の行う洗浄・清拭動作支援機能などを併せ持ち，排泄介護動作を総合的に支援するシステムである．機能を発揮するための各要素について，ニーズや課題を把握し，設計と評価を安全性およびカスタマイズ性の向上を図りながら進め，さらには統合した実証機を開発し，実証試験を通じてその有効性を評価した．

    DOI CiNii

  • "「あたり前」を思うこと"を思い出す("あたり前"について考えたこと-福祉工学シンポジウム2007実行委員寄稿集-,あたり前のことを知る)

    本間 敬子

    福祉工学シンポ   2007 ( 0 ) 274 - 274  2007

    CiNii

  • IAS‐9における人間社会・技術・社会を目指すロボティクスの女性研究者

    大武美保子, 本間敬子, 横井浩史, 淺間一, 新井民夫

    日本ロボット学会誌   24 ( 5 ) 564 - 569  2006.07

    DOI CiNii J-GLOBAL

  • On special issue "Women in Robotics"

    OTAKE Mihoko, HOMMA Keiko

    JRSJ   24 ( 5 ) 563 - 603  2006.07

    CiNii

  • Women in Robotics towards Human Science, Technology and Society at IAS-9

    OTAKE Mihoko, HOMMA Keiko, YOKOI Hiroshi, ASAMA Hajime, ARAI Tamio

    JRSJ   24 ( 5 ) 564 - 569  2006.07

    DOI CiNii

  • On special issue "Opening the Way to the Future"

    HOMMA Keiko

    JRSJ   23 ( 8 ) 919 - 919  2005.11

    DOI CiNii

  • "Mechanical engineering yearly book". 18. Robotics and mechatronics.

    大築康生, 平田泰久, 小菅一弘, 松野文俊, 鎮西清行, 本間敬子, 新井健生, 横井浩史, 千葉龍介, 原田研介, 安藤吉伸

    日本機械学会誌   108 ( 1041 ) 663 - 666  2005.08

    J-GLOBAL

  • Technologies and Devices for Supporting Elders' Activities in Daily Life

    本間敬子

    日本機械学会誌   108 ( 1038 ) 383 - 387  2005.05

    CiNii J-GLOBAL

  • 18・4 医療・福祉ロボティクス・メカトロニクス(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)

    鎮西 清行, 本間 敬子

    日本機械学会誌   108 ( 1041 ) 664 - 664  2005

    CiNii

  • Study of a wire-driven leg rehabilitation system - Human subject experiments using a 4-DOF experimental system

    Keiko Homma, Osamu Fukuda, Yoshihiko Nagata, Manko Usuba

    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   2   1668 - 1673  2004.12

    　View Summary

    In this paper, we describe human subject experiments of a multiple-degree-of-freedom (DOF) leg rehabilitation system that we have proposed. The characteristic of the proposed system is employment of a parallel wire mechanism. The rehabilitation devices using a parallel wire mechanism are expected to have the advantages such as system safety and human-friendliness. We have built and are testing a 4-DOF experimental system. The target motions of the experimental system are hip joint flexion/extension, hip joint abduction/adduction, hip joint external/internal rotation, and knee joint flexion/extension. The experimental results showed that the experimental system can carry out 4-DOF motions with different patient postures. Also the results of subjective evaluation showed that the proposed system makes the subjects feel less constrained.

  • Development of ankle flexion/extension exercise system with passive joint

    本間敬子, 薄葉真理子

    日本機械学会福祉工学シンポジウム講演論文集   2004   5 - 8  2004.09

    　View Summary

    We propose a passive motion exercise device for ankle flexion and extension that can be applied to those who suffer from ankle joint deformity caused by prolonged immobility after onset of cerebrovascular disease. In case of existing ankle motion exercise devices, a footplate keeps parallel to the axis of ankle flexion and extension. This may jeopardize the joint cartilage and cause pain during passive motion exercise, since a patient must force the ankle position to fit in the device. Also, the footplate of the existing device does not exert enough force on the patient's sole since contact area between them is limited. To provide passive motion exercises for these patients, we propose a device which enables passive dorsiflexion/plantar flexion movements of ankle with adjustable eversion and inversion. Preliminary experiments and evaluation by physical therapists are carried out using a prototype.

    CiNii J-GLOBAL

  • Development of A Leg Rehabilitation System-2nd Report-

    HOMMA Keiko, FUKUDA Osamu, NAGATA Yoshihiko, KODA Toshio, USUBA Mariko

    学際研究 = Journal of multidisciplinary research   15 ( 2 ) 1765 - 1769  2002.11

    CiNii

  • Study on the Pulse Wave acquisition-ness of the Mimic Sensor embedded in the Receiver

    NAGATA Yoshihiko, FUKUDA Osamu, HOMMA Keiko, KODA Toshiko

    学際研究 = Journal of multidisciplinary research   15 ( 2 ) 1770 - 1772  2002.11

    CiNii

  • Evaluation of Heart Rate Variability by Using a Recurrent Neural Network

    FUKUDA Osamu, NAGATA Yoshihiko, HOMMA Keiko, TSUJI Toshio

    学際研究 = Journal of multidisciplinary research   15 ( 2 ) 1773 - 1774  2002.11

    CiNii

  • 下肢関節訓練装置の多自由度化のための機構の提案

    本間敬子, 福田修, 永田可彦

    リハ工学カンファレンス講演論文集   17th   261 - 264  2002.08

    J-GLOBAL

  • Study of Mimic Sensing System for Transmission of Bio-information

    NAGATA Yoshihiko, SUGAWARA Jun, FUKUDA Osamu, HOMMA Keiko

    SICE Division Conference Program and Abstracts   2002 ( 0 ) 210 - 210  2002

    　View Summary

    There is the much research using the bio-information to estimate the body condition and control various machineries. This research has the important problem how to acquire the bio-information in usual condition and reduce the influence of measuring device on the human. We propose Mimic Sensing System that the biomedical sensor is embedded to hide in the utensils.

    DOI CiNii

  • Development of a Leg Rehabilitation System&mdash;3rd report&mdash;

    HOMMA Keiko, FUKUDA Osamu, SUGAWARA Jun, NAGATA Yoshihiko, USUBA Mariko

    SICE Division Conference Program and Abstracts   2002 ( 0 ) 14 - 14  2002

    　View Summary

    This paper describes a study of a multi-dof leg rehabilitation system. The aim of the study is to develop a leg rehabilitation system, in order to offer the opportunity of rehabilitation to the elderly people at home. A characteristics of our proposed system is to use wire parallel mechanism. In this paper, a 3-dof experimental system is reported.

    DOI CiNii

  • MODELING HEART RATE VARIABILITY WITH A HMM-BASED NEURAL NETWORK

    JOURNAL OF ROBOTICS AND MECHATRONICS   14 ( 6 ) 625 - 632  2002

  • A Study of a Multi-dof Leg Rehabilitation System. Flexion/Extension Mechanism for hip and knee joint.

    本間敬子, 福田修, 永田可彦, 甲田寿男, 薄葉真理子

    日本ロボット学会学術講演会予稿集   19th   425 - 426  2001.09

    J-GLOBAL

  • W108 Study on the Pulse Wave acquisition-ness of the Mimic Sensor embedded in the Receiver

    NAGATA Yoshihiko, FUKUDA Osamu, HOMMA Keiko, KODA Toshiko

    Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D   2001 ( 0 ) 278 - 278  2001.08

    　View Summary

    This paper reports the technology which enables the health care in staying home of old people and physically handicapped person. It is large burden to continue their body condition measurement and health care work every day to person and nursing person with the take. We proposed the mimic sensing system which continually measured their body condition automatically. Blood flow sensor embedded as a mimic sensor in the receiver of the telephone detects the pulse wave with information of blood vessel dynamic phase of the fingertip. The blood flow changes in the force which holds the receiver, since blood vessel is transformed. The blood flow became a maximum when the load on the sensor surface of the 10mm diameter was 100g, and the amplitude of pulse wave became 33ml/min/100g.

    CiNii

  • W114 Development of A Leg Rehabilitation System : 2nd Report

    HOMMA Keiko, FUKUDA Osamu, NAGATA Yoshihiko, KODA Toshio, USUBA Mariko

    Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D   2001 ( 0 ) 284 - 284  2001.08

    　View Summary

    This paper describes a concept of a leg rehabilitation system. Not a few elders suffer from physical dysfunction because sufficient long-term rehabilitation is not supplied after their recovery from diseases or accidents. Therefore rehabilitation systems which can be used not only hospitals but also at home are required. We propose a leg rehabilitation system using wire parallel mechanism. In this paper our concept of the rehabilitation system and an experimental system for 2-dof range of motion exercise are described. Target motion of the experimental system is flexion/extension of hip and knee joints. The experimental system is designed based on physical therapist&#039;s motion.

    CiNii

  • マッサージ器が生体に与える影響の解析と制御への応用

    福田修, 甲田寿男, 永田可彦, 本間敬子

    日本ME学会大会論文集   40th   633  2001.05

    CiNii J-GLOBAL

  • Development of A Leg Rehabilitation System. 2nd Report.

    本間敬子, 福田修, 永田可彦, 甲田寿男, 薄葉真理子

    日本機械学会機械力学・計測制御部門講演会論文集   2001 ( Pt.3 ) 528 - 532  2001

    CiNii J-GLOBAL

  • Study on the Pulse Wave acquisition-ness of the Mimic Sensor embedded in the Receiver.

    永田可彦, 福田修, 本間敬子, 甲田寿男

    日本機械学会機械力学・計測制御部門講演会論文集   2001 ( Pt.3 ) 499 - 501  2001

    J-GLOBAL

  • 生理情報に基づく車椅子運動時の筋疲労評価

    福田修, 甲田寿男, 永田可彦, 本間敬子

    バイオメカニズム学術講演会予稿集   21st   497 - 500  2000.11

    　View Summary

    車椅子運動時の局所筋疲労を無侵襲で簡便に評価することを目的として基礎実験を行った.実験の結果以下のことが分かった.1)運動により心肺機能は活性化したが,局所筋においては血中の酸素化率が低下する傾向がみられた.この傾向は筋活動量が大きくなるほど顕著であった.2)運動の負荷やテンポを変化させた際の,筋活動量の変化には各筋ごとに偏りがあり,特定の局所筋に対する負担が大きくなる可能性が示唆された.3)筋活動量を示す積分筋電値,活動筋における血中の酸素化率,筋電位信号の中間周波数について,互いの変化に強い関連が見られた

    J-GLOBAL

  • 下肢リハビリ支援システムの開発 第1報

    本間敬子, 福田修, 甲田寿男, 永田可彦, 橋野賢, 薄葉真理子

    バイオメカニズム学術講演会予稿集   21st   203 - 204  2000.11

    CiNii J-GLOBAL

  • 生体情報を利用した車椅子運動時の局所筋疲労評価

    福田修, 甲田寿男, 永田可彦, 本間敬子

    機械技術研究所研究発表概要     23  2000

    J-GLOBAL

  • Soft Robotics. Soft Supprot.

    本間敬子, 荒井健生

    日本ロボット学会誌   17 ( 6 ) 774 - 777  1999.09

    DOI CiNii J-GLOBAL

  • Soft Support

    HOMMA Keiko, ARAI Tatsuo

    Journal of the Robotics Society of Japan   17 ( 6 ) 774 - 777  1999.09

    DOI CiNii

  • Development of an at-home supporting robot - arm motion assisting equipment

    本間敬子

    日本産業技術振興協会技術資料   ( 280 ) 97 - 103  1998.10

    J-GLOBAL

  • Arm Motion Support Device Based on Parallel Mechanism.

    本間敬子, 橋野賢, 新井健生

    計測自動制御学会関西支部シンポジウム講演論文集   1998   139 - 142  1998.10

    J-GLOBAL

  • Development of Upper Limb Motion Assist System with Parallel Mechanism. (4th Report).

    本間敬子, 橋野賢, 新井健生

    日本ロボット学会学術講演会予稿集   16th   613 - 614  1998.09

    J-GLOBAL

  • 上肢動作補助機構に関する検討

    本間 敬子, 橋野 賢, 新井 健生

    精密工学会大会学術講演会講演論文集   1998 ( 1 ) 606 - 606  1998.03

    CiNii

  • Examination on arm movement support mechanisms.

    本間敬子, 橋野賢, 新井健生

    精密工学会大会学術講演会講演論文集   1998   606  1998.03

    J-GLOBAL

  • An upper limb motion assist system: Experiments with arm models

    K Homma, S Hashino, T Arai

    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3   2   758 - 763  1998

    　View Summary

    In developing service robots, safety should be considered carefully since robots share the space with people who do not have technical background on operation of robots. Powered orthosis is one of the most severe examples.
    We have been studying an upper limb motion assist system. The aim of the system is to help a disabled person move his/her arm by his/her own will by hanging the arm with strings and changing the length of each string. We have built an experimental system to examine the motion obtained with this system.

  • リハビリテーション支援システム 上肢動作補助用機構の研究

    本間 敬子, 橋野 賢, 新井 健生

    バイオメカニズム学術講演会予稿集   18回   291 - 292  1997.11

  • Development of upper limb motion assist system with parallel mechanism. 3rd Report.

    本間敬子, 橋野賢, 新井健生

    日本ロボット学会学術講演会予稿集   15th   351 - 352  1997.09

    J-GLOBAL

  • Upper Limb Motion Assist System with Parallel Mechanism

    HOMMA Keiko, ARAI Tatsuo

    Journal of the Robotics Society of Japan   15 ( 1 ) 90 - 96  1997.01

    　View Summary

    Parallel mechanisms have advantages such as good force/torque output, high speed, and high accuracy. They can also manipulate the objects with soft links such as strings. Their limited workspace gives safety when the mechanism is used closely to human. Parallel mechanisms are suitable for robotic system for rehabilitation or assistance of the elderly people or the disabled people. Therefore, an upper limb motion assist system is proposed and being developed. This system aims at assisting people with upper limb disability to move the arm by his/her own will.&lt;br&gt;Design strategy of the system is discussed at the first stage of the development, because it effects the motion range. In this paper, firstly a concept of the upper limb motion assist system is illustrated. Then, statics of the forearm motion with the proposed system is considered. An experiment is also carried out in order to determine a parameter included in statics. Finally, statics of the forearm and upper arm is considered and the relation between the design parameters of the system and the motion range of the arm is estimated using simulations.

    DOI CiNii

  • Research of a mechanism for arm operation supplementary use.

    本間敬子, 橋野賢, 新井健生

    バイオメカニズム学術講演会予稿集   18th   291 - 292  1997

    J-GLOBAL

  • Hyvaa Paivaa! : フィンランド留学記(2)(<特集>若い会員の見るバイオメカニズムの将来)

    本間 敬子

    バイオメカニズム学会誌   20 ( 1 ) 2 - 3  1996

    DOI CiNii

  • Hyvaa Paivaa! : フィンランド留学記(3)(<特集>飛ぶ・跳ぶ)

    本間 敬子

    バイオメカニズム学会誌   20 ( 2 ) 56 - 56  1996

    DOI CiNii

  • Hyvaa Paivaa! : フィンランド留学記(4)(<特集>東洋医学)

    本間 敬子

    バイオメカニズム学会誌   20 ( 3 ) 108 - 109  1996

    DOI CiNii

  • Hyvaa Paivaa! : フィンランド留学記(5)(<特集>コミュニケーション)

    本間 敬子

    バイオメカニズム学会誌   20 ( 4 ) 156 - 156  1996

    DOI CiNii

  • Upper Limb Motion Assist System. Discussion on Mechanism.

    本間敬子, 新井健生

    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   1995-A   641 - 644  1995.06

    J-GLOBAL

  • Integration of parallel arm and leg mechanism

    T ARAI, H ADACHI, K HOMMA, N KOYACHI

    IROS '95 - 1995 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS: HUMAN ROBOT INTERACTION AND COOPERATIVE ROBOTS, PROCEEDINGS, VOL 3   3   285 - 290  1995

    　View Summary

    An excavation robot is required to build a large scale underground dome. The excavation robot is developed which is composed of a parallel manipulator and four leg locomotion machine. Although the parallel manipulator has a nice feature of producing large force required for the excavation, cooperative control should be considered to achieve effective excavation. This paper discusses integrated kinematics for r legs and parallel arm mechanism for analysis of the mechanism and its control. Based on the derived kinematics, evaluation criteria are introduced in order to design mechanism itself as well as motion controller. Numerical examples show how the proposed methods work effectively to analyze motion of the integrated mechanism.

  • Integrated arm and leg mechanism and its kinematic analysis

    T ARAI, N KOYACHI, H ADACHI, K HOMMA

    PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3   1   994 - 999  1995

    　View Summary

    The concept of &#039;limb mechanism&#039; is proposed, consisting of several common link mechanisms which can be used for either arm or leg, selectively. Integrated kinematics is introduced for r legs and one arm mechanism. Based on the derived kinematics evaluation criteria are introduced in order to design mechanism itself as well as motion controller. Simulation results show how the proposed methods work effectively to analyze motion of integrated mechanism.

  • Hyvaa Paivaa!

    本間 敬子

    Journal of the Society of Biomechanisms   19 ( 4 ) 200 - 200  1995

    DOI CiNii

  • Integrated Kinematics for a Parallel Manipulator and a Leg Mechanism.

    新井健生, 小谷内範穂, 安達弘典, 本間敬子

    日本ロボット学会学術講演会予稿集   12th ( 3 ) 841 - 842  1994.11

    J-GLOBAL

  • Development of upper limb motion assist system with parallel mechanism. 2nd Report: Design of the experimental system.

    本間敬子, 新井健生

    日本ロボット学会学術講演会予稿集   12th ( 3 ) 785 - 786  1994.11

    J-GLOBAL

  • Development of Excavation Robot for Underground Space. Motion Control for Four Legged Vehicle and Integration of Manipulation and Locomotion.

    新井健生, 安達弘典, 本間敬子, 小谷内範穂, 中村達也

    建設ロボットシンポジウム論文集   4th   23 - 30  1994.07

    J-GLOBAL

  • CONTROL OF A QUADRUPED WALKING ROBOT USING PARALLEL PROGRAMMING

    ADACHI, H, HOMMA, K, ARAI, T, Noguchi, S, Ishizuka, M, Ota, M

    Transputer/occam Japan 6   39 ( 2 ) 639 - 640  1994

    J-GLOBAL

  • Development of upper limb motion assist system with parallel mechanism. 1st Report. Basic Design.

    本間敬子, 新井健生

    日本ロボット学会学術講演会予稿集   11th ( 3 ) 881 - 882  1993.11

    J-GLOBAL

  • Development of Underground Excavation Robot. (4).

    本間敬子, 新井健生, 安達弘典, 中村達也

    建設ロボットシンポジウム論文集   3rd   191 - 196  1993.07

    J-GLOBAL

  • Soil Modeling Using Touch-sensed Data.

    本間敬子, 新井健生, 安達弘典, 大山尚武, 中村達也

    日本ロボット学会学術講演会予稿集   10th ( 3 ) 973 - 974  1992.10

    J-GLOBAL

  • Compliance Control for Parallel Arm Using Joystick Command.

    新井健生, STOUGHTON R, 安達弘典, 本間敬子

    日本ロボット学会学術講演会予稿集   10th ( 2 ) 767 - 768  1992.10

    J-GLOBAL

  • Bilateral Master Slave Control for Parallel Link Manipulators.

    新井健生, 安達弘典, 本間敬子, 大山尚武

    日本ロボット学会学術講演会予稿集   10th ( 2 ) 775 - 776  1992.10

    J-GLOBAL

  • Development of a Hybrid Locomotion Mechanism Using Legs and Crawlers.

    安達弘典, 新井健生, 本間敬子, 中村達也, 吉灘裕

    日本ロボット学会学術講演会予稿集   10th ( 1 ) 115 - 116  1992.10

    CiNii J-GLOBAL

  • Development of Parallel Link Manipulator. (3rd report).

    新井健生, 中村達也, 本間敬子, 安達弘典, 中嶋勝巳, STOUGHTON R

    日本ロボット学会学術講演会予稿集   9th ( 1 ) 71 - 72  1991.11

    CiNii J-GLOBAL

  • Non-contact Manipulation of Microhands using Magnetism.

    中村達也, 本間敬子, 小谷内範穂, 松井義民

    日本ロボット学会学術講演会予稿集   9th ( 2 ) 409 - 410  1991.11

    J-GLOBAL

  • Robotic system for underground space development.

    中村達也, 新井健生, 安達弘典, 本間敬子

    インテリジェントFAシンポジウム講演論文集   3rd   105 - 108  1991.07

    J-GLOBAL

  • Excavation Robot for Underground Space Development.

    新井健生, 安達弘典, 本間敬子, 中村達也

    建設ロボットシンポジウム論文集   2nd   337 - 342  1991.07

    J-GLOBAL

  • Non-contact Manipulation of Objects Using Noncontact Hands by Magnetic Levitation Technique.

    中村達也, 本間敬子, 安達弘典, 小谷内範穂, 堀田尚広, 松井義民

    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   1991-A   237 - 240  1991.05

    J-GLOBAL

  • Noncontact Hand Based on Magnetic Levitation.

    中村達也, 本間敬子, 安達弘典, 小谷内範穂, 新井健生, 松井義民

    計測自動制御学会学術講演会予稿集   30th ( Domestic Session ) 595 - 596  1991

    J-GLOBAL

  • Development of parallel link manipulator.

    新井健生, 中村達也, 安達弘典, 本間敬子, CLEARY K

    日本ロボット学会学術講演会予稿集   8th ( 2 ) 685 - 686  1990.11

    J-GLOBAL

  • Development of a quadruped walking machine with free gait. 3rd report: Gait adaptive for the position of the center of gravity.

    安達弘典, 小谷内範穂, 中村達也, 新井健生, 本間敬子, 中野栄二

    日本ロボット学会学術講演会予稿集   8th ( 1 ) 289 - 290  1990.11

    J-GLOBAL

  • Development of soil model for excavation.

    本間敬子, 中村達也, 新井健生, 安達弘典

    日本ロボット学会学術講演会予稿集   8th ( 2 ) 649 - 650  1990.11

    J-GLOBAL

  • Planning of excavation based on soil model and its preliminary experiment.

    中村達也, 新井健生, 安達弘典, 本間敬子, 増田敏浩

    建設ロボットシンポジウム論文集   1st   303 - 308  1990.06

    J-GLOBAL

  • Development of parallel link manipulator.

    新井健生, 中村達也, 安達弘典, 本間敬子, CLEARY K

    計測自動制御学会学術講演会予稿集   29th ( Vol 1 ) 431 - 432  1990

    J-GLOBAL

  • Sediment model for excavation by robot.

    本間敬子

    機械研News   ( 5 ) 6 - 7  1990

    J-GLOBAL

  • Shape estimation from force data in manipulation of shape variable object. Case study of digging task.

    中村達也, 本間敬子, 増田敏浩

    自動制御連合講演会前刷   32nd   227 - 228  1989

    J-GLOBAL

▼display all

Industrial Property Rights

▼display all

 

Syllabus

▼display all

 

Research Institute

  • 2023
    -
    2024

    Waseda Research Institute for Science and Engineering   Concurrent Researcher