Performance information

• Imitation Learning Inputting Image Feature to Each Layer of Neural Network
  Koki Yamane; Sho Sakaino; Toshiaki Tsuji
  2024 IEEE 18th International Conference on Advanced Motion Control (AMC), Feb. 2024, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/amc58169.2024.10505687
  DOI ID：10.1109/amc58169.2024.10505687
• Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learning　　　　　　　　　　　　　　　
  Koki Yamane; Yuki Saigusa; Sho Sakaino; Toshiaki Tsuji
  IEEE ROBOTICS AND AUTOMATION LETTERS, Volume：9, Number：2, First page：1198, Last page：1205, Feb. 2024, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2023.3335768
  DOI ID：10.1109/LRA.2023.3335768, ISSN：2377-3766, Web of Science ID：WOS:001133510700004
• Development of an Easy-to-Cut Six-Axis Force Sensor　　　　　　　　　　　　　　　
  Takamasa Kawahara; Toshiaki Tsuji
  IEEE ROBOTICS AND AUTOMATION LETTERS, Volume：9, Number：1, First page：563, Last page：570, Jan. 2024, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2023.3335774
  DOI ID：10.1109/LRA.2023.3335774, ISSN：2377-3766, Web of Science ID：WOS:001123441400016
• Feedback Type May Change the EMG Pattern and Kinematics During Robot Supported Upper Limb Reaching Task　　　　　　　　　　　　　　　
  Yasuhiro Kato; Toshiaki Tsuji; Imre Cikajlo
  IEEE OPEN JOURNAL OF ENGINEERING IN MEDICINE AND BIOLOGY, Volume：5, First page：173, Last page：179, 2024, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/OJEMB.2024.3363137
  DOI ID：10.1109/OJEMB.2024.3363137, eISSN：2644-1276, Web of Science ID：WOS:001177111000005
• Estimation of Arm Stiffness Using Force Information of a Hand in Contact with a Highly Rigid Environment　　　　　　　　　　　　　　　
  Ryosuke Shibuya; Toshiaki Tsuji
  IEEJ JOURNAL OF INDUSTRY APPLICATIONS, Volume：13, Number：4, First page：357, Last page：363, 2024, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.23007663
  DOI ID：10.1541/ieejjia.23007663, ISSN：2187-1094, eISSN：2187-1108, Web of Science ID：WOS:001259935600001
• Knee Joint Torque Estimation in Femoral Prosthesis Users Using MMG and Low-Frequency Acceleration　　　　　　　　　　　　　　　
  Nobuhiro Hondo; Toshiaki Tsuji
  IEEE ACCESS, Volume：12, First page：174996, Last page：175005, 2024, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/ACCESS.2024.3502820
  DOI ID：10.1109/ACCESS.2024.3502820, ISSN：2169-3536, Web of Science ID：WOS:001367281200027
• Unsupervised Human Motion Segmentation Based on Characteristic Force Signals of Contact Events　　　　　　　　　　　　　　　
  Keito Sugawara; Sho Sakaino; Toshiaki Tsuji
  IEEE ROBOTICS AND AUTOMATION LETTERS, Volume：8, Number：10, First page：6203, Last page：6210, Oct. 2023, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2023.3303828
  DOI ID：10.1109/LRA.2023.3303828, ISSN：2377-3766, Web of Science ID：WOS:001127164900014
• Peg-in-Hole Using Transient Information of Force Response　　　　　　　　　　　　　　　
  Hikaru Unten; Sho Sakaino; Toshiaki Tsuji
  IEEE-ASME TRANSACTIONS ON MECHATRONICS, Volume：28, Number：3, First page：1674, Last page：1682, Jun. 2023, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TMECH.2022.3224907
  DOI ID：10.1109/TMECH.2022.3224907, ISSN：1083-4435, eISSN：1941-014X, Web of Science ID：WOS:000912788600001
• Development of High Dynamic Range Six-Axis Force Sensor with Simple Structure　　　　　　　　　　　　　　　
  Takamasa Kawahara; Toshiaki Tsuji
  JOURNAL OF ROBOTICS AND MECHATRONICS, Volume：35, Number：3, First page：771, Last page：779, Jun. 2023, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.20965/jrm.2023.p0771
  DOI ID：10.20965/jrm.2023.p0771, ISSN：0915-3942, eISSN：1883-8049, Web of Science ID：WOS:001021551800025
• Motion Planning for Cutting Flexible Objects Based on Contact State Recognition　　　　　　　　　　　　　　　
  Yasuhiro Kato; Sho Sakaino; Toshiaki Tsuji
  IEEJ JOURNAL OF INDUSTRY APPLICATIONS, Volume：12, Number：4, First page：786, Last page：792, 2023, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.22004392
  DOI ID：10.1541/ieejjia.22004392, ISSN：2187-1094, eISSN：2187-1108, Web of Science ID：WOS:001022654400001
• Motion Generation Based on Contact State Estimation Using Two-stage Clustering　　　　　　　　　　　　　　　
  Kazuki Takeuchi; Sho Sakaino; Toshiaki Tsuji
  IEEJ JOURNAL OF INDUSTRY APPLICATIONS, Volume：12, Number：5, First page：1000, Last page：1007, 2023, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.22012635
  DOI ID：10.1541/ieejjia.22012635, ISSN：2187-1094, eISSN：2187-1108, Web of Science ID：WOS:001062588100001
• A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration　　　　　　　　　　　　　　　
  Yasuhiro Kato; Pietro Balatti; Juan M. Gandarias; Mattia Leonori; Toshiaki Tsuji; Arash Ajoudani
  IEEE ROBOTICS AND AUTOMATION LETTERS, Volume：7, Number：4, First page：9461, Last page：9468, Oct. 2022, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2022.3190806
  DOI ID：10.1109/LRA.2022.3190806, ISSN：2377-3766, Web of Science ID：WOS:000831182500022
• Focused Section on the Third Edition of TMECH/AIM Emerging Topics　　　　　　　　　　　　　　　
  Xiang Chen; Toshiaki Tsuji; Raffaella Carloni; Xinkai Chen; Zheng Chen; Jongeun Choi; Garrett Clayton; Cedric Clevy; Markus Grebenstein; Mathieu Grossard; Kazuaki Ito; Soo Jeon; Chao-Chieh Lan; Guangjun Liu; Huaping Liu; Hugh H. Liu; Chris Manzie; Kenn Oldham; Ya-Jun Pan; Barys Shyrokau; Dawei Shi; Tomoyuki Shimono; Mahdi Tavakoli; Yan Wan; Dirk Wollherr; Jianyong Yao; Jingang Yi; Haoyong Yu; Guoming Zhu
  IEEE-ASME TRANSACTIONS ON MECHATRONICS, Volume：27, Number：4, First page：1817, Last page：1819, Aug. 2022
  English
  DOI：https://doi.org/10.1109/TMECH.2022.3184646
  DOI ID：10.1109/TMECH.2022.3184646, ISSN：1083-4435, eISSN：1941-014X, Web of Science ID：WOS:000842108200005
• Torque Estimation of Knee Flexion and Extension Movements From a Mechanomyogram of the Femoral Muscle　　　　　　　　　　　　　　　
  Nobuhiro Hondo; Toshiaki Tsuji
  IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, Volume：30, First page：1120, Last page：1126, 2022, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TNSRE.2022.3169225
  DOI ID：10.1109/TNSRE.2022.3169225, ISSN：1534-4320, eISSN：1558-0210, Web of Science ID：WOS:000790812300006
• Imitation Learning for Nonprehensile Manipulation Through Self-Supervised Learning Considering Motion Speed　　　　　　　　　　　　　　　
  Yuki Saigusa; Sho Sakaino; Toshiaki Tsuji
  IEEE ACCESS, Volume：10, First page：68291, Last page：68306, 2022, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/ACCESS.2022.3185651
  DOI ID：10.1109/ACCESS.2022.3185651, ISSN：2169-3536, Web of Science ID：WOS:000838375900001
• Selective Drive and Control of Index Finger Joint Using Multipoint Functional Electrical Stimulation　　　　　　　　　　　　　　　
  Tatsuhiro Hamana; Minami Kawashima; Sho Sakaino; Toshiaki Tsuji
  IEEE ACCESS, Volume：10, First page：112444, Last page：112459, 2022, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/ACCESS.2022.3215515
  DOI ID：10.1109/ACCESS.2022.3215515, ISSN：2169-3536, Web of Science ID：WOS:000878115700001
• Comparative Study of Foot Fixation Methods and Sensor Arrangements in Ankle Joint Torque Measurement Equipment　　　　　　　　　　　　　　　
  Kazuki Takeuchi; Keito Sugawara; Ippei Nojima; Toshiaki Tsuji
  IEEE ACCESS, Volume：10, First page：114040, Last page：114047, 2022, [Lead]
  English, Scientific journal
  DOI：https://doi.org/10.1109/ACCESS.2022.3218012
  DOI ID：10.1109/ACCESS.2022.3218012, ISSN：2169-3536, Web of Science ID：WOS:000880585300001
• Contact Force Detection of Grinding Process Using Frequency Information and Differential Feature on Force Signal　　　　　　　　　　　　　　　
  Yuya Nogi; Sho Sakaino; Toshiaki Tsuji
  IEEE ACCESS, Volume：10, First page：127140, Last page：127148, 2022, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/ACCESS.2022.3226260
  DOI ID：10.1109/ACCESS.2022.3226260, ISSN：2169-3536, Web of Science ID：WOS:000896623800001
• Probabilistic Approach to Online Stiffness Estimation for Robotic Tasks　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Tsukasa Kusakabe
  2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), First page：11196, Last page：11202, 2022, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IROS47612.2022.9981146
  DOI ID：10.1109/IROS47612.2022.9981146, ISSN：2153-0858, Web of Science ID：WOS:000909405303024
• Imitation learning for variable speed motion generation over multiple actions　　　　　　　　　　　　　　　
  Yuki Saigusa; Ayumu Sasagawa; Sho Sakaino; Toshiaki Tsuji
  IECON Proceedings (Industrial Electronics Conference), Volume：2021-, Oct. 2021, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON48115.2021.9589303
  DOI ID：10.1109/IECON48115.2021.9589303, ISSN：1553-572X, SCOPUS ID：85119522511, Web of Science ID：WOS:000767230601072
• High Dynamic Range 6-Axis Force Sensor Employing a Semiconductor-Metallic Foil Strain Gauge Combination　　　　　　　　　　　　　　　
  Ryuya Tamura; Tomoki Horikoshi; Sho Sakaino; Toshiaki Tsuji
  IEEE Robotics and Automation Letters, Volume：6, Number：4, First page：6243, Last page：6249, Oct. 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2021.3093008
  DOI ID：10.1109/LRA.2021.3093008, ISSN：2377-3766, SCOPUS ID：85110700567
• Contact State Recognition for Selective Cutting Task of Flexible Objects　　　　　　　　　　　　　　　
  Yasuhiro Kato; Sho Sakaino; Toshiaki Tsuji
  IEEE International Conference on Development and Learning, ICDL 2021, Aug. 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/ICDL49984.2021.9515680
  DOI ID：10.1109/ICDL49984.2021.9515680, SCOPUS ID：85114556470
• Contact Feature Recognition Based on MFCC of Force Signals　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Koyo Sato; Sho Sakaino
  IEEE Robotics and Automation Letters, Volume：6, Number：3, First page：5153, Last page：5158, Jul. 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2021.3072035
  DOI ID：10.1109/LRA.2021.3072035, ISSN：2377-3766, SCOPUS ID：85104174474
• Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation
  Tomoya Kitamura; Sho Sakaino; Masayuki Hara; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：10, Number：4, First page：443, Last page：456, Jul. 2021, [Reviewed]
  Institute of Electrical Engineers of Japan (IEE Japan), Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.20009551
  DOI ID：10.1541/ieejjia.20009551, ISSN：2187-1094, eISSN：2187-1108
• Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix　　　　　　　　　　　　　　　
  Masahide Oikawa; Tsukasa Kusakabe; Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  IEEE Robotics and Automation Letters, Volume：6, Number：2, First page：2737, Last page：2744, Apr. 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers ({IEEE}), Scientific journal
  DOI：https://doi.org/10.1109/lra.2021.3060389
  DOI ID：10.1109/lra.2021.3060389, ISSN：2377-3766, ORCID：98562557
• Force restrained control to extend flexibility of trajectory planning　　　　　　　　　　　　　　　
  Toshihiro Ueki; Sho Sakaino; Toshiaki Tsuji
  2021 IEEE International Conference on Mechatronics, ICM 2021, Mar. 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/ICM46511.2021.9385600
  DOI ID：10.1109/ICM46511.2021.9385600, SCOPUS ID：85104129678
• A new autoregressive neural network model with command compensation for imitation learning based on bilateral control　　　　　　　　　　　　　　　
  Kazuki Hayashi; Ayumu Sasagawa; Sho Sakaino; Toshiaki Tsuji
  2021 IEEE International Conference on Mechatronics, ICM 2021, Mar. 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/ICM46511.2021.9385691
  DOI ID：10.1109/ICM46511.2021.9385691, SCOPUS ID：85104119632
• High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder
  Sho Sakaino; Tomoya Kitamura; Naoto Mizukami; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：10, Number：2, First page：124, Last page：133, Mar. 2021, [Reviewed]
  Institute of Electrical Engineers of Japan (IEE Japan), Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.20004260
  DOI ID：10.1541/ieejjia.20004260, ISSN：2187-1094, eISSN：2187-1108
• High dynamic range uniaxial force/torque sensor using metal foil and semiconductor strain gauge　　　　　　　　　　　　　　　
  Ryuya Tamura; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：10, Number：5, First page：506, Last page：511, 2021, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.20007411
  DOI ID：10.1541/ieejjia.20007411, ISSN：2187-1108, SCOPUS ID：85110725921
• Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learning　　　　　　　　　　　　　　　
  Ayumu Sasagawa; Sho Sakaino; Toshiaki Tsuji
  IEEE Access, Volume：9, First page：20508, Last page：20520, 2021, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, Scientific journal
  DOI：https://doi.org/10.1109/ACCESS.2021.3054960
  DOI ID：10.1109/ACCESS.2021.3054960, ISSN：2169-3536, SCOPUS ID：85100691762
• Imitation Learning Based on Bilateral Control for Human–Robot Cooperation
  Ayumu Sasagawa; Kazuki Fujimoto; Sho Sakaino; Toshiaki Tsuji
  IEEE Robotics and Automation Letters, Volume：5, Number：4, First page：6169, Last page：6176, Oct. 2020, [Reviewed]
  Institute of Electrical and Electronics Engineers (IEEE), Scientific journal
  DOI：https://doi.org/10.1109/lra.2020.3011353
  DOI ID：10.1109/lra.2020.3011353, eISSN：2377-3774
• Simultaneous Estimation of Contact Position and Tool Shape using an Unscented Particle Filter　　　　　　　　　　　　　　　
  Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：9, Number：5, First page：505, Last page：514, Sep. 2020, [Reviewed]
  

  The robots used in our daily lives come in contact with the environment not only directly, but also through grasped objects and tools. In such cases, the shape of the grasped objects could be unknown or uncertain; thus, the shape must be estimated using information about the contact. However, previous studies could not estimate the shape of the grasped objects without knowledge about the contact environment. In this study, unscented particle filters were used to estimate the contact positions, contact forces, and shape of the tools, simultaneously. In addition, we verified that the proposed method can estimate these characteristics by measuring the force and torque in the robots.

  
  Institute of Electrical Engineers of Japan (IEE Japan), English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.9.505
  DOI ID：10.1541/ieejjia.9.505, ISSN：2187-1094, eISSN：2187-1108, CiNii Articles ID：130007895437
• Development of a Low-friction Motor using Bearings as Gear Teeth
  Masahiro Kawazawa; Sho Sakaino; Toshiaki Tsuji
  2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul. 2020, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/aim43001.2020.9158793
  DOI ID：10.1109/aim43001.2020.9158793
• Movement strategy and EMG activities of the upper extremity at assisted reaching exercise with a 7 DOF collaborative robot
  Yasuhiro Kato; Andrej Olensek; Matjaz Zadravec; Zlatko Matjacic; Toshiaki Tsuji; Imre Cikajlo
  2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Jul. 2020, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/embc44109.2020.9176181
  DOI ID：10.1109/embc44109.2020.9176181
• Haptic Coupling in Dyads Improves Motor Learning in a Simple Force Field
  Josiah P. Batson; Yasuhiro Kato; Kathleen Shuster; James L. Patton; Kyle B. Reed; Toshiaki Tsuji; Domen Novak
  2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Jul. 2020, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/embc44109.2020.9176261
  DOI ID：10.1109/embc44109.2020.9176261
• Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Humans and Robots
  Yuu Hasegawa; Tomoya Kitamura; Sho Sakaino; Toshiaki Tsuji
  IEEE Access, Volume：8, First page：15792, Last page：15799, 2020, [Reviewed]
  Institute of Electrical and Electronics Engineers (IEEE), Scientific journal
  DOI：https://doi.org/10.1109/access.2020.2967466
  DOI ID：10.1109/access.2020.2967466, eISSN：2169-3536
• Motion Planning With Success Judgement Model Based on Learning From Demonstration
  Daichi Furuta; Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  IEEE Access, Volume：8, First page：73142, Last page：73150, 2020, [Reviewed]
  Institute of Electrical and Electronics Engineers (IEEE), Scientific journal
  DOI：https://doi.org/10.1109/access.2020.2987604
  DOI ID：10.1109/access.2020.2987604, eISSN：2169-3536
• Trajectory adjustment for nonprehensile manipulation using latent space of trained sequence-to-sequence model
  K. Kutsuzawa; S. Sakaino; T. Tsuji
  Advanced Robotics, Volume：33, Number：21, First page：1144, Last page：1154, Nov. 2019, [Reviewed]
  Informa UK Limited, Scientific journal
  DOI：https://doi.org/10.1080/01691864.2019.1673204
  DOI ID：10.1080/01691864.2019.1673204, ISSN：0169-1864, eISSN：1568-5535
• Time Series Motion Generation Considering Long Short-Term Motion
  Kazuki Fujimoto; Sho Sakaino; Toshiaki Tsuji
  2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov. 2019, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iros40897.2019.8968587
  DOI ID：10.1109/iros40897.2019.8968587
• Admittance Control Based on Stiffness Ellipse for Collision Force Control of Object Manipulation　　　　　　　　　　　　　　　
  M. Oikawa, K. Kutsuzawa, S. Sakaino, T. Tsuj
  Nov. 2019, [Reviewed]
• Success/Failure Identification of Skill Movement by Neural Network Using Force Information　　　　　　　　　　　　　　　
  Koyo Sato; Masahide Oikawa; Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, First page：3641, Last page：3646, Oct. 2019, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2019.8927708
  DOI ID：10.1109/iecon.2019.8927708, DBLP ID：conf/iecon/SatoOKST19
• Development of compact high dynamic range six-axis force sensor with cross-arch structure
  Ryuya Tamura; Sho Sakaino; Toshiaki Tsuji
  IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, Oct. 2019, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2019.8926830
  DOI ID：10.1109/iecon.2019.8926830
• Control Using High-carrier Frequency PWM in Functional Electrical Stimulation
  Tomoya Kitamura; Yuu Hasegawa; Toshiaki Tsuji; Sho Sakaino
  IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, Oct. 2019, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2019.8926818
  DOI ID：10.1109/iecon.2019.8926818
• Hysteresis Compensation in Force/Torque Sensors Using Time Series Information
  Ryuichiro Koike; Sho Sakaino; Toshiaki Tsuji
  Sensors, Volume：19, Number：19, First page：4259, Last page：4259, Sep. 2019, [Reviewed]
  The purpose of this study is to compensate for the hysteresis in a six-axis force sensor using signal processing, thereby achieving high-precision force sensing. Although mathematical models of hysteresis exist, many of these are one-axis models and the modeling is difficult if they are expanded to multiple axes. Therefore, this study attempts to resolve this problem through machine learning. Since hysteresis is dependent on the previous history, this study investigates the effect of using time series information in machine learning. Experimental results indicate that the performance is improved by including time series information in the linear regression process generally utilized to calibrate six-axis force sensors.
  MDPI AG, Scientific journal
  DOI：https://doi.org/10.3390/s19194259
  DOI ID：10.3390/s19194259, eISSN：1424-8220
• Design of resonance ratio control with relative position information for two-inertia system　　　　　　　　　　　　　　　
  Kenta Araake; Sho Sakaino; Toshiaki Tsuji
  IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Volume：2019-, First page：648, Last page：653, Jul. 2019
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/AIM.2019.8868863
  DOI ID：10.1109/AIM.2019.8868863, SCOPUS ID：85074283342
• Visual biofeedback of force information for eccentric training of hemiplegic patients　　　　　　　　　　　　　　　
  Kazuya Morito; Yuri Hasegawa; Keisuke Kubota; Toshiaki Tsuji
  IEEE International Conference on Rehabilitation Robotics, Volume：2019-, First page：524, Last page：529, Jun. 2019
  IEEE Computer Society, English, International conference proceedings
  DOI：https://doi.org/10.1109/ICORR.2019.8779383
  DOI ID：10.1109/ICORR.2019.8779383, ISSN：1945-7901, PubMed ID：31374683, SCOPUS ID：85071186416
• Miniaturization of multistage high dynamic range six-axis force sensor composed of resin material
  Daisuke Okumura; Sho Sakaino; Toshiaki Tsuji
  2019 International Conference on Robotics and Automation (ICRA), May 2019, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/icra.2019.8793929
  DOI ID：10.1109/icra.2019.8793929
• Robot-Assisted Eccentric Contraction Training of the Tibialis Anterior Muscle Based on Position and Force Sensing
  Keisuke Kubota; Masashi Sekiya; Toshiaki Tsuji
  Sensors, Volume：19, Number：6, First page：1288, Last page：1288, Mar. 2019, [Reviewed]
  The purpose of this study was to determine the clinical effects of a training robot that induced eccentric tibialis anterior muscle contraction by controlling the strength and speed. The speed and the strength are controlled simultaneously by introducing robot training with two different feedbacks: velocity feedback in the robot controller and force bio-feedback based on force visualization. By performing quantitative eccentric contraction training, it is expected that the fall risk reduces owing to the improved muscle function. Evaluation of 11 elderly participants with months training period was conducted through a cross-over comparison test. The results of timed up and go (TUG) tests and 5 m walking tests were compared. The intergroup comparison was done using the Kruskal-Wallis test. The results of cross-over test indicated no significant difference between the 5-m walking time measured after the training and control phases. However, there was a trend toward improvement, and a significant difference was observed between the training and control phases in all subjects.
  MDPI AG, Scientific journal
  DOI：https://doi.org/10.3390/s19061288
  DOI ID：10.3390/s19061288, eISSN：1424-8220
• A Control Strategy for Electro-hydrostatic Actuator Considering Static Friction, Resonance, and Oil Leakage
  Sho Sakaino; Tomoki Sakuma; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：8, Number：2, First page：279, Last page：286, Mar. 2019, [Reviewed]
  Institute of Electrical Engineers of Japan (IEE Japan), Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.8.279
  DOI ID：10.1541/ieejjia.8.279, ISSN：2187-1094, eISSN：2187-1108
• Development of an Angle Measurement System Using Monocular Camera and Moiré Patterns
  Junya Tsunoda; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：8, Number：2, First page：200, Last page：206, Mar. 2019, [Reviewed]
  Institute of Electrical Engineers of Japan (IEE Japan), Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.8.200
  DOI ID：10.1541/ieejjia.8.200, ISSN：2187-1094, eISSN：2187-1108
• Linear Logistic Regression for Estimation of Lower Limb Muscle Activations　　　　　　　　　　　　　　　
  Masashi, Sekiya; Sho, Sakaino; Toshiaki, Tsuji
  IEEE Transactions on Neural Systems and Rehabilitation Engineering, Volume：27, Number：3, First page：523, Last page：532, Mar. 2019
  Japanese, Scientific journal
  DOI：https://doi.org/10.1109/TNSRE.2019.2898207
  DOI ID：10.1109/TNSRE.2019.2898207
• Angle Measurement Using Monocular Camera and Moire Pattern Enlarging the Rotation in the Linear Motion　　　　　　　　　　　　　　　
  Tsunoda, Junya; Sakaino, Sho; Tsuji, Toshiaki
  Proceedings of the 2019 IEEE International Conference on Mechatronics, First page：150, Last page：160, Mar. 2019, [Reviewed]
  English, International conference proceedings
• Estimation of Relationship between Stimulating Current and Exerted Force Considering Muscle Length　　　　　　　　　　　　　　　
  Kitamura, Tomoya; Sakaino, Sho; Tsuji, Toshiaki
  Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, and Motion Control, Mar. 2019, [Reviewed]
  English, International conference proceedings
• Simultaneous Estimation of Contact Position and Tool Shape using Particle Filter　　　　　　　　　　　　　　　
  Kutsuzawa, Kyo; Sakaino, Sho; Tsuji, Toshiaki
  Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, and Motion Control, Mar. 2019, [Reviewed]
  English, International conference proceedings
• Driving Support System with Using Haptic Bio Feedback through Steering Wheel　　　　　　　　　　　　　　　
  Kato, Yasuhiro; Sho, Sakaino; Toshiaki, Tsuji
  5th IEEJ International Workshop on Sensing, Actuation, and Motion Control, Mar. 2019
  English, International conference proceedings
• Desktop upper limb rehabilitation robot using omnidirectional drive gear　　　　　　　　　　　　　　　
  Yuki Okubo; Junya Tsunoda; Sho Sakaino; Toshiaki Tsuji
  Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018, First page：338, Last page：341, Oct. 2018
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/MECATRONICS.2018.8495678
  DOI ID：10.1109/MECATRONICS.2018.8495678, SCOPUS ID：85057189259
• LSTM Learning of Inverse Dynamics with Contact in Various Environments　　　　　　　　　　　　　　　
  Daichi Furuta; Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  Proceedings - 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Mecatronics 2018, First page：149, Last page：154, Oct. 2018
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/MECATRONICS.2018.8495698
  DOI ID：10.1109/MECATRONICS.2018.8495698, SCOPUS ID：85057186097
• Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation
  Yuu Hasegawa; Tomova Kitamura; Sho Sakaino; Toshiaki Tsuji
  IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Oct. 2018
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2018.8592929
  DOI ID：10.1109/iecon.2018.8592929
• High Backdrivability Control Based on Estimation of Shaft Torsion Using Load Side Angle Sensor
  Masahiro Kawazawa; Sho Sakaino; Toshiaki Tsuji
  IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Oct. 2018, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2018.8591268
  DOI ID：10.1109/iecon.2018.8591268
• Hysteresis Compensation in Force/Torque Sensor based on Machine Learning
  Ryuichiro Koike; Sho Sakaino; Toshiaki Tsuji
  IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Oct. 2018, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2018.8591599
  DOI ID：10.1109/iecon.2018.8591599
• Estimation of Relationship Between Stimulation Current and Force Exerted During Isometric Contraction
  Tomoya Kitamura; Sho Sakaino; Yuu Hasegawa; Toshiaki Tsuji
  IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Oct. 2018, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/iecon.2018.8591190
  DOI ID：10.1109/iecon.2018.8591190
• Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Control　　　　　　　　　　　　　　　
  Adachi, Tsuyoshi; Fujimoto, Kazuki; Sakaino, Sho; Tsuji, Toshiaki
  Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, First page：3648, Last page：3653, Oct. 2018, [Reviewed]
  English, International conference proceedings
• 力可視化バイオフィードバック機能を有する前脛骨筋の遠心性収縮トレーニングシステム　　　　　　　　　　　　　　　
  森戸,一弥; 角田,潤也; 長谷川,由理; 境野,翔; 辻,俊明
  電気学会研究会資料. MEC = The papers of Technical Meeting on "Mechatronics Control", IEE Japan, Volume：2018, Number：15, First page：1, Last page：6, Sep. 2018
  電気学会, Japanese, Symposium
• 多段型ハイダイナミックレンジ6軸力覚センサの小型化　　　　　　　　　　　　　　　
  奥村, 大輔; 辻, 俊明; 境野, 翔
  日本ロボット学会学術講演会予稿集, Sep. 2018
  Japanese, Symposium
• 訓練済み軌道生成モデルを用いた新たな動作目標への軌道最適化　　　　　　　　　　　　　　　
  沓澤, 京; 境野, 翔; 辻, 俊明
  日本ロボット学会学術講演会予稿集, Sep. 2018
  Japanese, Symposium
• 人間の物体操作の模倣学習に適したロボットの制御座標の評価　　　　　　　　　　　　　　　
  藤本和樹; 足立, 強; 境野, 翔; 辻, 俊明
  日本ロボット学会学術講演会予稿集, Sep. 2018
  Japanese, Symposium
• Control of Two Links Between the Shoulder and Elbow using Noninvasive Functional Electrical Stimulation　　　　　　　　　　　　　　　
  Kitamura, Tomoya; Mizoguchi, Hiroto; Sakaino, Sho; Tsuji, Toshiaki
  SICE ライフエンジニアリング部門シンポジウム予稿集, Sep. 2018
  English, Symposium
• Control with Adjusted Pulse Frequency and Amplitude in Functional Electrical Stimulation
  Tomoya Kitamura; Naoto Mizukami; Hiroto Mizoguchi; Sho Sakaino; Toshiaki Tsuji
  2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Jul. 2018
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/embc.2018.8512716
  DOI ID：10.1109/embc.2018.8512716
• Reaction force observer using load dependent friction model　　　　　　　　　　　　　　　
  Kazuya Morito; Junya Tsunoda; Sho Sakaino; Toshiaki Tsuji
  Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, First page：423, Last page：428, Jun. 2018, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/AMC.2019.8371130
  DOI ID：10.1109/AMC.2019.8371130, SCOPUS ID：85048775810
• Force control of electro-hydrostatic actuator using pressure control considering torque efficiency　　　　　　　　　　　　　　　
  I. Kota; Kodai Umeda; Kenta Tsuda; Sho Sakaino; Toshiaki Tsuji
  Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, First page：385, Last page：390, Jun. 2018, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/AMC.2019.8371123
  DOI ID：10.1109/AMC.2019.8371123, SCOPUS ID：85048772358
• Trajectory planning by variable length chunk of sequence-to-sequence using hierarchical decoder　　　　　　　　　　　　　　　
  Tetsugaku Okamoto; Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018, First page：209, Last page：214, Jun. 2018, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/AMC.2019.8371089
  DOI ID：10.1109/AMC.2019.8371089, SCOPUS ID：85048753940
• High Dynamic Range Sensing by a Multistage Six-Axis Force Sensor with Stopper Mechanism
  Daisuke Okumura; Sho Sakaino; Toshiaki Tsuji
  2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018, [Reviewed]
  IEEE, International conference proceedings
  DOI：https://doi.org/10.1109/icra.2018.8460571
  DOI ID：10.1109/icra.2018.8460571
• Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model　　　　　　　　　　　　　　　
  Kutsuzawa, Kyo; Sakaino, Sho; Tsuji, Toshiaki
  Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Mar. 2018, [Reviewed]
  English, International conference proceedings
• Reaction force estimation of Electro-hydrostatic actuator using reaction force observer　　　　　　　　　　　　　　　
  Kodai Umeda; Tomoki Sakuma; Kenta Tsuda; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：7, Number：3, First page：250, Last page：258, 2018, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.7.250
  DOI ID：10.1541/ieejjia.7.250, ISSN：2187-1108, SCOPUS ID：85046301656
• Optimized trajectory generation based on model predictive control for turning over pancakes　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kyo Kutsuzawa; Sho Sakaino
  IEEJ Journal of Industry Applications, Volume：7, Number：1, First page：22, Last page：28, 2018, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.7.22
  DOI ID：10.1541/ieejjia.7.22, ISSN：2187-1108, SCOPUS ID：85041957480
• A cooking support system with force visualization using force sensors and an RGB-D camera　　　　　　　　　　　　　　　
  Nobuhiro Totsu; Sho Sakaino; Toshiaki Tsuji
  Lecture Notes in Electrical Engineering, Volume：432, First page：297, Last page：299, 2018, [Reviewed]
  Springer Verlag, English, International conference proceedings
  DOI：https://doi.org/10.1007/978-981-10-4157-0_50
  DOI ID：10.1007/978-981-10-4157-0_50, ISSN：1876-1119, SCOPUS ID：85026351262
• Frontal posture control of jumping biped robot using stiffness bias control　　　　　　　　　　　　　　　
  Kohei Sekino; Sho Sakaino; Toshiaki Tsuji
  Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, Volume：2017-, First page：6727, Last page：6732, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2017.8217175
  DOI ID：10.1109/IECON.2017.8217175, SCOPUS ID：85046777873
• Sequence-To-sequence models for trajectory deformation of dynamic manipulation　　　　　　　　　　　　　　　
  Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, Volume：2017-, First page：5227, Last page：5232, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2017.8216904
  DOI ID：10.1109/IECON.2017.8216904, SCOPUS ID：85046693753
• Model predictive control based deep neural network for dynamic manipulation　　　　　　　　　　　　　　　
  Daichi Furuta; Kyo Kutsuzawa; Tetsugaku Okamoto; Sho Sakaino; Toshiaki Tsuji
  Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, Volume：2017-, First page：5215, Last page：5220, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2017.8216902
  DOI ID：10.1109/IECON.2017.8216902, SCOPUS ID：85046668391
• Contact point estimation in tactile interface using particle filter　　　　　　　　　　　　　　　
  Ryuichiro Koike; Sho Sakaino; Toshiaki Tsuji
  Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, Volume：2017-, First page：8267, Last page：8272, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2017.8217451
  DOI ID：10.1109/IECON.2017.8217451, SCOPUS ID：85046654190
• Analysis on rigidity of hydraulic hoses for electro-hydrostatic actuators　　　　　　　　　　　　　　　
  Kenta Tsuda; Kodai Umeda; I. Kota; Sho Sakaino; Toshiaki Tsuji
  Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, Volume：2017-, First page：2828, Last page：2833, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2017.8216477
  DOI ID：10.1109/IECON.2017.8216477, SCOPUS ID：85046629049
• Chattering reduction of functional electrical stimulation with the smith compensator　　　　　　　　　　　　　　　
  Tomoya Kitamura; Hiroto Mizoguchi; Naoto Mizukami; Sho Sakaino; Toshiaki Tsuji
  Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, Volume：2017-, First page：7577, Last page：7582, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2017.8217328
  DOI ID：10.1109/IECON.2017.8217328, SCOPUS ID：85046624981
• Home rehabilitation assist robot to facilitate isolated movements for hemiplegia patients　　　　　　　　　　　　　　　
  Kunihiro Ogata; Yuto Hirabayashi; Keisuke Kubota; Toshiaki Tsuji
  IEEE International Conference on Intelligent Robots and Systems, Volume：2017-, First page：527, Last page：532, Dec. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IROS.2017.8202203
  DOI ID：10.1109/IROS.2017.8202203, ISSN：2153-0866, DBLP ID：conf/iros/OgataHKT17, SCOPUS ID：85041959102
• Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer
  Sho Sakaino; Toshiaki Tsuji
  ROBOMECH Journal, Volume：4, Number：1, Dec. 2017, [Reviewed]
  Springer International Publishing, English, Scientific journal
  DOI：https://doi.org/10.1186/s40648-016-0070-2
  DOI ID：10.1186/s40648-016-0070-2, ISSN：2197-4225, ORCID：30925991, SCOPUS ID：85042655221
• Modeling and resonance suppression control for electro-hydrostatic actuator as a two-mass resonant system　　　　　　　　　　　　　　　
  Tomoki, Sakuma; Kenta, Tsuda; Koudai, Umeda; Sho, Sakaino; Toshiaki, Tsuji
  Advanced Robotics, Volume：32, Number：1, First page：1, Last page：11, Oct. 2017
  Japanese, Scientific journal
  DOI：https://doi.org/10.1080/01691864.2017.1392343a
  DOI ID：10.1080/01691864.2017.1392343a
• Acceleration Control for Dynamic Manipulation of a Robot Turning Over Objects　　　　　　　　　　　　　　　
  Toshiaki, Tsuji; Kyo, Kutsuzawa; Sho, Sakaino
  IEEE Robotics and Automation Letters, Volume：2, Number：4, First page：2328, Last page：2335, Oct. 2017
  Japanese, Scientific journal
  DOI：https://doi.org/10.1109/LRA.2017.2720848
  DOI ID：10.1109/LRA.2017.2720848
• Intrinsic Contact Sensing for Touch Interface With Movable Structure　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Tatsuki Seki; Sho Sakaino
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：64, Number：9, First page：7342, Last page：7349, Sep. 2017, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2016.2633232
  DOI ID：10.1109/TIE.2016.2633232, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000407208000054
• Verification of Pressure Dissipation for Force Control Using Electro-Hydrostatic Actuator　　　　　　　　　　　　　　　
  Umeda,Kodai; I,Kota; Tsuda,Kenta; Sakaino,Sho; Tsuji,Toshiaki
  電気学会研究会資料. MEC = The papers of Technical Meeting on "Mechatronics Control", IEE Japan, Volume：2017, Number：1, First page：17, Last page：22, Sep. 2017
  電気学会, English, Symposium
• Study of Shoulder Control Using Noninvasive Functional Electrical Stimulation　　　　　　　　　　　　　　　
  Mizoguchi,Hiroto; Kitamura,Tomoya; Sakaino,Sho; Tsuji,Toshiaki
  電気学会研究会資料. MEC = The papers of Technical Meeting on "Mechatronics Control", IEE Japan, Volume：2017, Number：1, First page：23, Last page：28, Sep. 2017
  電気学会, English, Symposium
• Rehabilitation for hemiplegia using an upper limb training system based on a force direction　　　　　　　　　　　　　　　
  Kunihiro Ogata; Yuto Hirabayashi; Keisuke Kubota; Yuri Hasegawa; Toshiaki Tsuji
  IEEE International Conference on Rehabilitation Robotics, Volume：2017, First page：533, Last page：538, Aug. 2017, [Reviewed]
  IEEE Computer Society, English, International conference proceedings
  DOI：https://doi.org/10.1109/ICORR.2017.8009303
  DOI ID：10.1109/ICORR.2017.8009303, ISSN：1945-7901, DBLP ID：conf/icorr/OgataHKHT17, PubMed ID：28813875, SCOPUS ID：85034845389
• Development of a multistage six-axis force sensor with a high dynamic range　　　　　　　　　　　　　　　
  Daisuke Okumura; Sho Sakaino; Toshiaki Tsuji
  IEEE International Symposium on Industrial Electronics, First page：1386, Last page：1391, Aug. 2017, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/ISIE.2017.8001448
  DOI ID：10.1109/ISIE.2017.8001448, SCOPUS ID：85029908319
• Resonance Suppression of Electro-hydrostatic Actuator by Full State Feedback Controller Using Load-side Information and Relative Velocity　　　　　　　　　　　　　　　
  Sho Sakaino; Toshiaki Tsuji
  IFAC-PapersOnLine, Volume：50, Number：1, First page：12065, Last page：12070, Jul. 2017, [Reviewed]
  Elsevier B.V., English, Scientific journal
  DOI：https://doi.org/10.1016/j.ifacol.2017.08.2130
  DOI ID：10.1016/j.ifacol.2017.08.2130, ISSN：2405-8963, SCOPUS ID：85044851831
• Bilateral Control Between Electric and Hydraulic Actuators Using Linearization of Hydraulic Actuators　　　　　　　　　　　　　　　
  Sho Sakaino; Takayuki Furuya; Toshiaki Tsuji
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：64, Number：6, First page：4631, Last page：4641, Jun. 2017, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2017.2674631
  DOI ID：10.1109/TIE.2017.2674631, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000401328500030
• Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm　　　　　　　　　　　　　　　
  Yamazaki, Takahiro; Sakaino, Sho; Tsuji, Toshiaki
  Electrical Engineering in Japan, Volume：64, Number：9, First page：7342, Last page：7349, May 2017
  English, Scientific journal
• Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm　　　　　　　　　　　　　　　
  Takahiro Yamazaki; Sho Sakaino; Toshiaki Tsuji
  ELECTRICAL ENGINEERING IN JAPAN, Volume：199, Number：3, First page：57, Last page：67, May 2017, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1002/eej.22956
  DOI ID：10.1002/eej.22956, ISSN：0424-7760, eISSN：1520-6416, ORCID：32844890, SCOPUS ID：85009775884, Web of Science ID：WOS:000394174900006
• 電気静油圧アクチュエータの共振抑制制御　　　　　　　　　　　　　　　
  境野, 翔; 辻, 俊明
  電気学会全国大会, Mar. 2017
  Japanese, Symposium
• Estimation of Antagonistic Output Ratios Based on Force Distribution at End Effector of Limb　　　　　　　　　　　　　　　
  Naoya Tojo; Tomoyuki Shimono; Takeshi Kaneko; Toshiaki Tsuji; Takahiro Mizoguchi
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：64, Number：2, First page：1783, Last page：1792, Feb. 2017, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2016.2607161
  DOI ID：10.1109/TIE.2016.2607161, ISSN：0278-0046, eISSN：1557-9948, ORCID：32844881, SCOPUS ID：85014858456, Web of Science ID：WOS:000395826100095
• Non-linear modeling of human muscle in functional electrical stimulation with machine learning　　　　　　　　　　　　　　　
  ADACHI Tsuyoshi; KITAMURA Tomoya; MIZUKAMI Naoto; MIZOGUCHI Hiroto; SAKAINO Sho; TSUJI Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2017, First page：2A2, Last page：J02, 2017
  

  There are severe paralyzed people by accidents who have difficulty to move paralyzed parts of bodies. Function electrical stimulation (FES) assists motion of body because electrical stimulation contracts muscles. FES has been studied for a long time. However, an accurate dynamic model of body does not exist. In this paper, the dynamic model is given by a neural network trained the relationship between human's joint acceralation and ampulitude voltage.

  
  The Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/jsmermd.2017.2A2-J02
  DOI ID：10.1299/jsmermd.2017.2A2-J02, CiNii Articles ID：130006220999
• Sensorless Reaction Force Estimation in R/C Servo Motor　　　　　　　　　　　　　　　
  TSUNODA Junya; MORITO Kazuya; TSUJI Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2017, First page：1P1, Last page：I11, 2017
  

  This paper proposes a method for reaction force estimation in R/C Servo Motors. External force measurement is an essential technique in robotics and there are demands on sensorless force sensing. Reaction force observer using a voltage control driver is introduced for sensorless reaction force estimation. In the system that adopts a voltage control PWM drivers, it is necessary to consider the influence of the skin effect. This method can be implemented without changing the setup of the existing R/C Servo Motor. The performance of this method is evaluated by the experiment applying force to the portable ankle training robot.

  
  The Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/jsmermd.2017.1P1-I11
  DOI ID：10.1299/jsmermd.2017.1P1-I11, CiNii Articles ID：130006220572
• Deep Neural Network Learning of Model Predictive Control Considering Dynamic Constraint　　　　　　　　　　　　　　　
  FURUTA Daichi; KUTSUZAWA Kyo; OKAMOTO Tetsugaku; SAKAINO Sho; TSUJI Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2017, First page：1P1, Last page：I12, 2017
  

  This paper proposes a trajectory planning method with deep neural network (DNN) which is trained by model predictive control (MPC) for dynamic manipulation. The novelty of this method is that trained DNN can receive target positions and environmental parameters to generate trajectories. The proposed method solves dynamic manipulation using dynamic constraint of the object with low calculation cost. This paper shows the effectiveness of the proposed method by demonstrations that a robot turns over pancakes under various parameters.

  
  The Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/jsmermd.2017.1P1-I12
  DOI ID：10.1299/jsmermd.2017.1P1-I12, CiNii Articles ID：130006220573
• Modeling Torque Efficiency and Internal Leakage Flow of Electro Hydrostatic Actuator　　　　　　　　　　　　　　　
  I Kota; SAKUMA Tomoki; UMEDA Kodai; TSUDA Kenta; SAKAINO Sho; TSUJI Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2017, First page：2P1, Last page：E04, 2017
  

  Recently, robots working in cooperation with humans are required. From the viewpoint of safety, it is necessary to perform flexible operation and accurate detection of external force. Electro hydrostatic actuators (EHAs) have mechanisms of high backdrivability. Therefore, by applying reaction force observers (RFOBs) to EHAs, it is possible to obtain force sensitivity and flexibility. Moreover, by considering nonlinear elements in EHAs, it is possible to estimate reaction force more accurately. In addition, experimental results showed an improvement of the reaction force estimation accuracy.

  
  The Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/jsmermd.2017.2P1-E04
  DOI ID：10.1299/jsmermd.2017.2P1-E04, CiNii Articles ID：130006221238
• Resonance-suppression control for Electro-hydrostatic actuator As two-inertia system　　　　　　　　　　　　　　　
  Kenta Tsuda; Tomoki Sakuma; Kodai Umeda; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：6, Number：5, First page：320, Last page：327, 2017, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.6.320
  DOI ID：10.1541/ieejjia.6.320, ISSN：2187-1108, SCOPUS ID：85046299103
• Gait training assist system of a lower limb prosthetic visualizing muscle activation pattern using a color-depth sensor.　　　　　　　　　　　　　　　
  Kunihiro Ogata; Tomoki Mita; Toshiaki Tsuji; Yoshio Matsumoto
  International Conference on Rehabilitation Robotics, ICORR 2017, London, United Kingdom, July 17-20, 2017, First page：216, Last page：221, 2017, [Reviewed]
  IEEE
  DOI：https://doi.org/10.1109/ICORR.2017.8009249
  DOI ID：10.1109/ICORR.2017.8009249, DBLP ID：conf/icorr/OgataMTM17
• Determination of torque distribution ratio for electric bicycle with independently driven front and rear wheels
  Sho Sakaino; Hiroyuki Kawajiri; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：6, Number：3, First page：223, Last page：230, 2017, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.6.223
  DOI ID：10.1541/ieejjia.6.223, ISSN：2187-1108, ORCID：32844889, SCOPUS ID：85018454307
• Contact point calculation on a haptic interface utilizing differentiated force
  Hiroyuki Kitamura; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：6, Number：2, First page：151, Last page：159, 2017, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.6.151
  DOI ID：10.1541/ieejjia.6.151, ISSN：2187-1108, ORCID：32844827, SCOPUS ID：85018417826
• Dummy humanoid robot simulating several trunk postures and abdominal shapes - Report of element technologies　　　　　　　　　　　　　　　
  Kunihiro Ogata; Tokio Umino; Tsuyoshi Nakayama; Eiichi Ono; Toshiaki Tsuji
  ADVANCED ROBOTICS, Volume：31, Number：6, First page：303, Last page：310, 2017, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1080/01691864.2016.1269671
  DOI ID：10.1080/01691864.2016.1269671, ISSN：0169-1864, eISSN：1568-5535, ORCID：30925984, Web of Science ID：WOS:000399577800002
• Contact point calculation on a haptic interface utilizing differentiated force
  Hiroyuki Kitamura; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：6, Number：2, First page：151, Last page：159, 2017, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.6.151
  DOI ID：10.1541/ieejjia.6.151, ISSN：2187-1108, ORCID：30926410, SCOPUS ID：85018417826
• FESを用いた拮抗筋刺激による2関節バイラテラル制御の検証　　　　　　　　　　　　　　　
  北村知也; 水上, 直人; 境野, 翔; 辻, 俊明
  メカトロニクス制御研究会・モーションコントロール, Dec. 2016
  Japanese, Symposium
• Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes　　　　　　　　　　　　　　　
  Tsuji,Toshiaki; Kutsuzawa,Kyo; Sakaino,Sho
  電気学会研究会資料. MEC = The papers of Technical Meeting on "Mechatronics Control", IEE Japan, Volume：2016, Number：2, First page：73, Last page：78, Sep. 2016
  電気学会, Japanese, Symposium
• 電気静油圧アクチュエータの2慣性共振モデルとその制御　　　　　　　　　　　　　　　
  境野, 翔; 佐久間智輝; 津田賢汰; 梅田, 滉大; 辻, 俊明
  日本ロボット学会学術講演梗概集, Sep. 2016
  Japanese, Symposium
• Dynamic Object Manipulation Considering Contact Condition of Robot With Tool　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Jun Ohkuma; Sho Sakaino
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：63, Number：3, First page：1972, Last page：1980, Mar. 2016, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2015.2508929
  DOI ID：10.1109/TIE.2015.2508929, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000370875300063
• Motion Matching in Rehabilitation Databases With Force and Position Information　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Takeshi Kaneko; Sho Sakaino
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：63, Number：3, First page：1935, Last page：1942, Mar. 2016, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2015.2508927
  DOI ID：10.1109/TIE.2015.2508927, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000370875300059
• Exercise system for eccentric tibialis anterior contraction to improve ambulatory function　　　　　　　　　　　　　　　
  Shota Itoh; Keisuke Kubota; Kunihiro Ogata; Toshiaki Tsuji
  2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), Volume：2016, First page：5845, Last page：5848, 2016, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/EMBC.2016.7592057
  DOI ID：10.1109/EMBC.2016.7592057, ISSN：1557-170X, DBLP ID：conf/embc/ItohKOT16, PubMed ID：28269583, Web of Science ID：WOS:000399823506048
• Bilateral control in the vertical direction using functional electrical stimulation　　　　　　　　　　　　　　　
  Tomoya Kitamura; Naoto Mizukami; Hiroto Mizoguchi; Sho Sakaino; Toshiaki Tsuji
  IEEJ Journal of Industry Applications, Volume：5, Number：5, First page：398, Last page：404, 2016, [Reviewed]
  Institute of Electrical Engineers of Japan, English, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.5.398
  DOI ID：10.1541/ieejjia.5.398, ISSN：2187-1108, SCOPUS ID：85018416237
• Estimation and kinetic modeling of human arm using wearable robot arm　　　　　　　　　　　　　　　
  Takahiro Yamazaki; Sho Sakaino; Toshiaki Tsuji
  IEEJ Transactions on Industry Applications, Volume：136, Number：4, First page：254, Last page：262, 2016, [Reviewed]
  Institute of Electrical Engineers of Japan, Japanese, Scientific journal
  DOI：https://doi.org/10.1541/ieejias.136.254
  DOI ID：10.1541/ieejias.136.254, ISSN：1348-8163, SCOPUS ID：84962859006
• Bilateral Control of a Velocity Control System Using Electric and Hydraulic Actuators　　　　　　　　　　　　　　　
  Daiki Takahashi; Sho Sakaino; Toshiaki Tsuji; Yasuyoshi Kaneko
  ELECTRICAL ENGINEERING IN JAPAN, Volume：194, Number：1, First page：27, Last page：36, Jan. 2016, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1002/eej.22672
  DOI ID：10.1002/eej.22672, ISSN：0424-7760, eISSN：1520-6416, Web of Science ID：WOS:000363274800004
• Consideration of Force Visualization for Hemiplegia Based on a Force Direction Teaching System　　　　　　　　　　　　　　　
  Yuto Hirabayashi; Kunihiro Ogata; Yuri Hasegawa; Toshiaki Tsuji
  2016 IEEE 14TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), First page：394, Last page：399, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1943-6572, Web of Science ID：WOS:000390947100063
• Bilateral Control between Electric and Electro-hydrostatic Actuators Using Feedback Modulator　　　　　　　　　　　　　　　
  Kenta Tsuda; Sho Sakaino; Toshiaki Tsuji
  PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：506, Last page：511, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000399031200085
• Bilateral Control Using Functional Electrical Stimulation with Reaction Torque Observer　　　　　　　　　　　　　　　
  Tomoya Kitamura; Naoto Mizukami; Sho Sakaino; Toshiaki Tsuji
  2016 IEEE 14TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), First page：160, Last page：166, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1943-6572, Web of Science ID：WOS:000390947100025
• Recognition of Contact Conditions by Robots Using Tools　　　　　　　　　　　　　　　
  Jun Ohkuma; Ryohei Matsuzaki; Sho Sakaino; Toshiaki Tsuji
  PROCEEDINGS 2016 IEEE 25TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE), First page：1144, Last page：1149, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：2163-5137, Web of Science ID：WOS:000390697400170
• Force control of a jumping musculoskeletal robot with pneumatic artificial muscles　　　　　　　　　　　　　　　
  Takeshi Kaneko; Masashi Sekiya; Kunihiro Ogata; Sho Sakaino; Toshiaki Tsuji
  2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), First page：5813, Last page：5818, 2016, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000391921705126
• Estimation of Individual Force at Three Contact Points on an End-effector by a Six-axis Force/Torque Sensor　　　　　　　　　　　　　　　
  Kyo Kutsuzawa; Sho Sakaino; Toshiaki Tsuji
  PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：6409, Last page：6414, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000399031206115
• Development of a Desk-type Tactile Interface Using Force Sensors and an Acceleration Sensor　　　　　　　　　　　　　　　
  Nobuhiro Totsu; Sho Sakaino; Toshiaki Tsuji
  PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：6397, Last page：6402, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000399031206113
• Oil Leakage and Friction Compensation for Electro-hydrostatic Actuator Using Drive-side and Load-side Encoders　　　　　　　　　　　　　　　
  Sho Sakaino; Toshiaki Tsuji
  PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：5088, Last page：5093, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000399031205058
• Estimation of Lower-Extremity Muscle Forces by Using Task-Space Information　　　　　　　　　　　　　　　
  Masashi Sekiya; Shota Itoh; Kunihiro Ogata; Toshiaki Tsuji
  2016 IEEE 14TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), First page：382, Last page：387, 2016, [Reviewed]
  English, International conference proceedings
  ISSN：1943-6572, Web of Science ID：WOS:000390947100061
• フィードバック変調器と外乱オブザーバによる油圧閉回路の摩擦補償　　　　　　　　　　　　　　　
  境野, 翔; 佐久間, 智輝; 辻, 俊明
  日本ロボット学会学術講演集, Sep. 2015
  Japanese, Symposium
• Bilateral control using functional electrical stimulation　　　　　　　　　　　　　　　
  Tomoya Kitamura; Sho Sakaino; Toshiaki Tsuji
  IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, First page：2336, Last page：2341, 2015, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2015.7392451
  DOI ID：10.1109/IECON.2015.7392451, SCOPUS ID：84973141727
• Specular reflection removal with high-speed camera for video imaging　　　　　　　　　　　　　　　
  Shuhei Iwata; Kunihiro Ogata; Sho Sakaino; Toshiaki Tsuji
  IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, First page：1735, Last page：1740, 2015, [Reviewed]
  Institute of Electrical and Electronics Engineers Inc., English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2015.7392352
  DOI ID：10.1109/IECON.2015.7392352, SCOPUS ID：84973111519
• A mounting foot-type force-sensing device for a desk with haptic sensing capability　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Tatsuki Seki; Sho Sakaino
  Lecture Notes in Electrical Engineering, Volume：277, First page：191, Last page：195, 2015, [Reviewed]
  Springer Verlag, English, International conference proceedings
  DOI：https://doi.org/10.1007/978-4-431-55690-9_37
  DOI ID：10.1007/978-4-431-55690-9_37, ISSN：1876-1119, SCOPUS ID：84947221584
• Ankle Training Robot Force Visualization for Eccentric Contraction Training　　　　　　　　　　　　　　　
  Shota Itoh; Masashi Sekiya; Kunihiro Ogata; Toshiaki Tsuji
  PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015), First page：741, Last page：746, 2015, [Reviewed]
  English, International conference proceedings
  ISSN：1945-7898, Web of Science ID：WOS:000376086400125
• Impact Force Control Based on Stiffness Ellipse Method Using Biped Robot Equipped with Biarticular Muscles　　　　　　　　　　　　　　　
  Takeshi Kaneko; Kunihiro Ogata; Sho Sakaino; Toshiaki Tsuji
  2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), First page：2246, Last page：2251, 2015, [Reviewed]
  English, International conference proceedings
  ISSN：2153-0858, Web of Science ID：WOS:000371885402062
• A Method for Converting End Effectors of Various Forms into Tactile Interfaces　　　　　　　　　　　　　　　
  Tatsuki Seki; Sho Sakaino; Toshiaki Tsuji
  IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：1759, Last page：1764, 2015, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000382950701140
• Sensorless Pedaling Torque Estimation by Front and Rear Wheels Independently Driven Power Assist Bicycle　　　　　　　　　　　　　　　
  Hiroyuki Kawajiri; Hiroto Mizoguchi; Sho Sakaino; Toshiaki Tsuji
  2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), First page：364, Last page：369, 2015, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000380412600053
• Development of an Upper Limb Rehabilitation Robot with Guidance Control by Pneumatic Artificial Muscles　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Shota Itoh; Sho Sakaino; Yuri Hasegawa
  2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), First page：426, Last page：431, 2015, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000380412600062
• Bilateral Control between Electric and Hydraulic Actuators Using Servo Pump.　　　　　　　　　　　　　　　
  SAKUMA,Tomoki; FURUYA,Takayuki; SAKAINO,Sho; TSUJI,Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2015, First page：_2P1, Last page：K07_1-_2P1-K07_4, 2015
  Bilateral control is a teleoperation system enables to transmit the information about force sense. And, hydraulic actuators of high power weight ratio are often used in ultimate environments. Open loop hydraulic circuits, which are generally used, contains servo valves in the structure. But using servo valves are the cause of the low backdrivability. However, the robot can have high backdrivability using close loop hydraulic circuits with servo pumps. In this research, we use an electric actuator as a master robot and a hydraulic actuator made up of a close loop hydraulic circuit as a slave robot and bilateral control is realized.
  The Japan Society of Mechanical Engineers, Japanese, Symposium
  DOI：https://doi.org/10.1299/jsmermd.2015._2P1-K07_1
  DOI ID：10.1299/jsmermd.2015._2P1-K07_1
• A Control System to Actualize Drawing a Circle with a Compass　　　　　　　　　　　　　　　
  KUTSUZAWA,Kyo; OHKUMA,Jun; SAKAINO,Sho; TSUJI,Yoshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2015, First page：_2P1, Last page：F07_1-_2P1-F07_4, 2015
  Robotic tool use is one of the approaches for actualizing versatility of robots. There needs to be a controller design method of utilizing characteristic functions of a tool. In this paper, the authors selected a task of drawing a circle with a compass, which is a concrete example of utilizing constraint of contact. The authors designed a coordinate system for using a compass based on a principle. The coordinate system is composed of variables of keeping constraint and creating a circular orbit and variables of moving along the circular orbit. In addition, a method of separating each contact force partially when two point contact exists is proposed.
  The Japan Society of Mechanical Engineers, Japanese, Symposium
  DOI：https://doi.org/10.1299/jsmermd.2015._2P1-F07_1
  DOI ID：10.1299/jsmermd.2015._2P1-F07_1
• Estimation of Individual Contact Force when Two Contact Points Exist during Robotic Tool Use　　　　　　　　　　　　　　　
  Kutsuzawa,Kyo; Sakaino,Sho; Tsuji,Toshiaki
  The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, Volume：2015, First page：46, Last page：47, 2015
  Some tools such as a compass or a lever contact at multiple points with environment. In the case of a robot using such tools, the individual contact force has to be estimated for dexterous control. This paper proposes a method for estimating individual contact force when two contact points exist. The validity of the method is confirmed by a simulation that a manipulator draws a circle with a compass.
  The Japan Society of Mechanical Engineers, English, International conference proceedings
  DOI：https://doi.org/10.1299/jsmeicam.2015.6.46
  DOI ID：10.1299/jsmeicam.2015.6.46, ISSN：1348-8961, CiNii Articles ID：110010043551, CiNii Books ID：AA1208830X
• Development of a Haptic Cutting Board with a Force Visualization System　　　　　　　　　　　　　　　
  Totsu,Nobuhiro; Okumura,Daisuke; Sakaino,Sho; Tsuji,Toshiaki
  The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, Volume：2015, First page：211, Last page：211, 2015
  This paper describes the development of a visualization system so-called haptic cutting board. The board can detect the external force vector and the position of the exerted force by utilizing the force/torque information from the 6-axis force sensor. The cutting board is supposed to be utilized to visualize force information during cooking.
  The Japan Society of Mechanical Engineers, English, International conference proceedings
  DOI：https://doi.org/10.1299/jsmeicam.2015.6.211
  DOI ID：10.1299/jsmeicam.2015.6.211, ISSN：1348-8961, CiNii Articles ID：110010043638, CiNii Books ID：AA1208830X
• 身の回りの物をインタフェース化する力覚検知デバイスの開発　　　　　　　　　　　　　　　
  境野, 翔; 関, 樹; 辻, 俊明
  日本ロボット学会学術講演集, Sep. 2014
  Japanese, Symposium
• 油の圧縮性を考慮した電気-油圧アクチュエータ間のバイラテラル制御　　　　　　　　　　　　　　　
  古谷, 峻千; 境野, 翔; 辻, 俊明
  日本ロボット学会学術講演集, Sep. 2014
  Japanese, Symposium
• Whole-body tactile sensing through a force sensor using soft materials in contact areas　　　　　　　　　　　　　　　
  Toshiaki, Tsuji; Naoyuki, Kurita; Sho, Sakaino
  ROBOMECH Journal, Volume：1:11, Sep. 2014
  Japanese, Scientific journal
• 道具使用ロボットのための接触状態認識　　　　　　　　　　　　　　　
  大熊隼; 松崎, 亮平; 境野, 翔; 辻, 俊明
  電気学会産業応用部門大会講演論文集, Aug. 2014
  Japanese, Symposium
• M 系列信号を用いた装着型ロボットアームによる人の腕の同定法　　　　　　　　　　　　　　　
  山崎, 貴大; 境野, 翔; 辻, 俊明
  電気学会産業応用部門大会講演論文集, Aug. 2014
  Japanese, Symposium
• New Emerging Technologies in Motion Control Systems-Part II　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Asif Sabanovic; Kiyoshi Ohishi; Makoto Iwasaki
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：61, Number：7, First page：3607, Last page：3609, Jul. 2014, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2013.2293698
  DOI ID：10.1109/TIE.2013.2293698, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000331296000047
• Whole-Body Haptics of Non-Convex-Shaped End-Effector Based on Variation in External Force Vector during Contact　　　　　　　　　　　　　　　
  栗田,直幸; 境野,翔; 辻,俊明
  電気学会論文誌. D, 産業応用部門誌 = IEEJ transactions on industry applications, Volume：134, Number：5, First page：517, Last page：525, May 2014
  電気学会, Japanese, Scientific journal
  ISSN：0913-6339, CiNii Articles ID：40020097650, CiNii Books ID：AN10012320
• Human Motion Teaching for Robots and Trainees by Using Exoskeletal Robot Arm　　　　　　　　　　　　　　　
  山崎,貴大; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, Volume：2014, Number：99, First page：133, Last page：138, Mar. 2014
  電気学会, Japanese, Symposium
• Development of motion teaching system using functional electrical stimulation and visual guide　　　　　　　　　　　　　　　
  川尻,皓之; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, Volume：2014, Number：99, First page：67, Last page：72, Mar. 2014
  電気学会, Japanese, Symposium
• Stabilization Control for Electric Motorcycle by Independent Front and Rear Wheel Drive　　　　　　　　　　　　　　　
  石川,国康; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, Volume：2014, Number：78, First page：43, Last page：48, Mar. 2014
  電気学会, Japanese, Symposium
• 触覚情報に基づく複数材料を内包した物体の切断　　　　　　　　　　　　　　　
  岩田, 修平; 寺田, 朋央; 大熊, 隼; 松崎, 亮平; 境野, 翔; 辻俊明
  年産業計測制御/メカトロニクス制御合同研究会予稿集, Mar. 2014
  Japanese, Symposium
• Development and Evaluation of an Operation Interface for Physical Therapy Devices based on Rehabilitation Database　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Chinami Momiki; Sho Sakaino
  2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), First page：3543, Last page：3548, 2014, [Reviewed]
  English, International conference proceedings
  ISSN：2153-0858, Web of Science ID：WOS:000349834603097
• Development of a Desk-type Tactile Interface Using Force Sensors　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Naoyuki Kurita; Sho Sakaino
  IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：5248, Last page：5253, 2014, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000389471605001
• Position/Force Decoupled Bilateral Communication without Force Controller in Slave Side by Using Multirate Control　　　　　　　　　　　　　　　
  Sho Sakaino; Toshiaki Tsuji
  2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2014, [Reviewed]
  English, International conference proceedings
  ISSN：1943-6572, Web of Science ID：WOS:000356041600120
• Contact State Recognition Based on Haptic Signal Processing for Robotic Tool Use　　　　　　　　　　　　　　　
  Ryohei Matsuzaki; Jun Okuma; Sho Sakaino; Toshiaki Tsuji
  2014 INTERNATIONAL POWER ELECTRONICS CONFERENCE (IPEC-HIROSHIMA 2014 - ECCE-ASIA), First page：1978, Last page：1983, 2014, [Reviewed]
  English, International conference proceedings
  ISSN：2150-6078, Web of Science ID：WOS:000347109201139
• Integration of Disturbance Observer and Feedback Modulator for Dead Zone Compensation of Hydraulic Actuator　　　　　　　　　　　　　　　
  Sho Sakaino; Toshiaki Tsuji
  IECON 2014 - 40TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, First page：2786, Last page：2791, 2014, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000389471602101
• Haptic Data Compression for Rehabilitation Databases　　　　　　　　　　　　　　　
  Takeshi Kaneko; Shota Ito; Sho Sakaino; Toshiaki Tsuji
  2014 IEEE 13TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC), 2014, [Reviewed]
  English, International conference proceedings
  ISSN：1943-6572, Web of Science ID：WOS:000356041600110
• Bilateral Control of a Velocity Control System using Electric and Hydraulic Actuators　　　　　　　　　　　　　　　
  高橋,大樹; 境野,翔; 辻,俊明
  電気学会論文誌. D, 産業応用部門誌 = IEEJ transactions on industry applications, Volume：133, Number：11, First page：1065, Last page：1072, Nov. 2013
  電気学会, Japanese, Scientific journal
  ISSN：0913-6339, CiNii Articles ID：40019859122, CiNii Books ID：AN10012320
• 電気-油圧駆動ロボットアーム間のバイラテラル制御におけるスケーリングゲインを用いた重量物操作　　　　　　　　　　　　　　　
  古谷, 峻千; 境野, 翔; 辻, 俊明
  日本ロボット学会学術講演集, Sep. 2013
  Japanese, Symposium
• On special issue "Actuators for Robots in Human Environment"　　　　　　　　　　　　　　　
  TSUJI Toshiaki; HARA Masayuki
  JRSJ, Volume：31, Number：6, First page：547, Last page：547, Jul. 2013
  The Robotics Society of Japan, Japanese
  DOI：https://doi.org/10.7210/jrsj.31.547
  DOI ID：10.7210/jrsj.31.547, ISSN：0289-1824, CiNii Articles ID：10031183135, CiNii Books ID：AN00141189
• Haptic Sensing System for End-effectors of Various Forms　　　　　　　　　　　　　　　
  HASUNUMA,Hiroki; KURITA,Naoyuki; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：135, First page：61, Last page：66, Mar. 2013
  電気学会, Japanese, Symposium
• Fail-safe System Based on Force Signal Processing for Operation Support　　　　　　　　　　　　　　　
  TERATA,Tomohisa; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：135, First page：55, Last page：60, Mar. 2013
  電気学会, Japanese, Symposium
• Abstract and Analysis of Dynamic Characteristics in Contacting Motion of Human　　　　　　　　　　　　　　　
  YAMAZAKI,Takahiro; SAKAINO,Sho; TSUJI,Toshiaki; HASHIMOTO,Takuya
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：65, First page：13, Last page：18, Mar. 2013
  電気学会, Japanese, Symposium
• Development of an Operation Interfacec for Physical Therapy Devices　　　　　　　　　　　　　　　
  MOMIKI,Chinami; YOKOO,Tomonori; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：65, First page：7, Last page：12, Mar. 2013
  電気学会, Japanese, Symposium
• A High-Speed Stroboscope for Specular Reflection Removal of Road Surfice　　　　　　　　　　　　　　　
  MORITO,Satoshi; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：49, First page：15, Last page：20, Mar. 2013
  電気学会, Japanese, Symposium
• Identification of Contact Conditions for Robots Using Tools　　　　　　　　　　　　　　　
  OHKUMA,Jun; MATSUZAKI,Ryohei; KAMIBAYASHI,Makoto; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：33, First page：79, Last page：84, Mar. 2013
  電気学会, Japanese, Symposium
• An Identification Method of Dynamic Parameters of Multi-link Manipulators under Joint Angle Constraints　　　　　　　　　　　　　　　
  SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：33, First page：7, Last page：12, Mar. 2013
  電気学会, Japanese, Symposium
• Multiple Degrees of Dreedom Bilateral Control between Electric and Hydraulic Actuators　　　　　　　　　　　　　　　
  FURUYA,Takayuki; TAKAHASHI,Daiki; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2013, Number：33, First page：73, Last page：78, Mar. 2013
  電気学会, Japanese, Symposium
• Simplified whole-body tactile sensing system using soft material at contact areas　　　　　　　　　　　　　　　
  Naoyuki Kurita; Hiroki Hasunuma; Sho Sakaino; Toshiaki Tsuji
  IECON Proceedings (Industrial Electronics Conference), First page：4264, Last page：4269, 2013, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2013.6699820
  DOI ID：10.1109/IECON.2013.6699820, SCOPUS ID：84893634127
• Rehabilitation database based on haptic signal processing　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Naoyuki Kurita; Mitsuyuki Yamada; Sho Sakaino; Yasuyoshi Kaneko
  2013 IEEE Region 10 Humanitarian Technology Conference, R10-HTC 2013, First page：13, Last page：18, 2013, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/R10-HTC.2013.6669006
  DOI ID：10.1109/R10-HTC.2013.6669006, SCOPUS ID：84893370528
• A robot measuring upper limb range of motion for rehabilitation database　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Mitsuyuki Yamada; Yasuyoshi Kaneko
  Journal of Robotics and Mechatronics, Volume：25, Number：3, First page：515, Last page：520, 2013, [Reviewed]
  Fuji Technology Press, English, Scientific journal
  DOI：https://doi.org/10.20965/jrm.2013.p0515
  DOI ID：10.20965/jrm.2013.p0515, ISSN：1883-8049, SCOPUS ID：84879179688
• Development of a whole-body haptic sensor with multiple supporting points and its application to a manipulator　　　　　　　　　　　　　　　
  Ryosuke Hanyu; Toshiaki Tsuji
  ELECTRICAL ENGINEERING IN JAPAN, Volume：182, Number：1, First page：48, Last page：56, Jan. 2013, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1002/eej.22310
  DOI ID：10.1002/eej.22310, ISSN：0424-7760, eISSN：1520-6416, Web of Science ID：WOS:000309181300006
• Development of a Haptic Bilateral Interface for Arm Self-Rehabilitation　　　　　　　　　　　　　　　
  Chikara Morito; Tomoyuki Shimono; Naoki Motoi; Yasutaka Fujimoto; Toshiaki Tsuji; Yuri Hasegawa; Keiichiro Abe; Yoshimi Sakurai; Shinichiro Ishii
  2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING, First page：804, Last page：809, 2013, [Reviewed]
  English, International conference proceedings
  ISSN：2159-6255, Web of Science ID：WOS:000328705300134
• Stiffness Control of a Pneumatic Rehabilitation Robot for Exercise Therapy with Multiple Stages　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Chinami Momiki; Sho Sakaino
  2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), First page：1480, Last page：1485, 2013, [Reviewed]
  English, International conference proceedings
  ISSN：2153-0858, Web of Science ID：WOS:000331367401086
• Experimental Evaluation of Bilateral Control of Velocity Control System Using Electric and Hydraulic Actuators　　　　　　　　　　　　　　　
  Daiki Takahashi; Takayuki Furuya; Sho Sakaino; Toshiaki Tsuji; Yasuyoshi Kaneko
  39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), First page：4120, Last page：4125, 2013, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000331149504002
• Classification of a Hybrid Control System for Robotic Tool Use　　　　　　　　　　　　　　　
  Ryohei Matsuzaki; Makoto Kamibayashi; Sho Sakaino; Toshiaki Tsuji
  2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 2013, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000324299300111
• Control Based on Extended Embodiment Haptic for Robotic Tool Use　　　　　　　　　　　　　　　
  MATSUZAKI,Ryohei; KAMIBAYASHI,Makoto; SAKAINO,Sho; TSUJI,Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2013, First page：_2P1, Last page：K04_1-_2P1-K04_4, 2013
  Although there have been attempts for tool using robot, its universal control strategy is still not established well. Therefore this study implements a haptic signal processing method to a robot and propose a control method for enabling the use of various kind of tools. Experimental verification of using spatula shows the effectiveness of the proposed method.
  The Japan Society of Mechanical Engineers, Japanese, Symposium
  DOI：https://doi.org/10.1299/jsmermd.2013._2P1-K04_1
  DOI ID：10.1299/jsmermd.2013._2P1-K04_1
• Whole-body Tactile Sensing by a Force Sensor Using Soft Material at Contact Areas : Haptic Armor Using Soft Material　　　　　　　　　　　　　　　
  KURITA,Naoyuki; HASUNUMA,Hiroki; SAKAINO,Sho; TSUJI,Toshiaki
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), Volume：2013, First page：_2A1, Last page：A09_1-_2A1-A09_4, 2013
  This paper proposes whole-body tactile sensing by a force sensor using soft material at contact areas. The previous method proposed by authors has used rigid materials at contact areas. In term of safe assurance, the material should have character to absorb a shock. Hence we use urethane sponge at contact areas and in the case of whole-body tactile sensing using the soft material, calculate the contact point. First, the relationship between external force and displacement of the urethane sponge is measured. Second, whole-body tactile sensing using soft material at contact areas is verified. Finally, this paper presents compensation for transformation of the soft material and verified its validity.
  The Japan Society of Mechanical Engineers, Japanese, Symposium
  DOI：https://doi.org/10.1299/jsmermd.2013._2A1-A09_1
  DOI ID：10.1299/jsmermd.2013._2A1-A09_1
• Evaluation Indices of Stiffness Control for Its Performance Comparison　　　　　　　　　　　　　　　
  Kamibayashi,Makoto; Sakaino,Sho; Tsuji,Toshiaki
  IEEJ Journal of Industry Applications, Volume：2, Number：1, First page：61, Last page：66, 2013
  Stiffness is an important factor for robots in a human environment. Therefore, many methods for stiffness control, which enable robots to setup stiffness, have been developed. Although the performance of stiffness control is quite an important factor, no methods for quantitative comparison of these methods exist. Thus, the characteristics and advantages of a stiffness control method are quantitatively investigated and compared, and certain evaluation criteria that can assist in guiding the design process of stiffness control systems are proposed. The experimental results show the quantitative comparison among three types of robot arms and investigate their property.
  The Institute of Electrical Engineers of Japan, Japanese, Scientific journal
  DOI：https://doi.org/10.1541/ieejjia.2.61
  DOI ID：10.1541/ieejjia.2.61, ISSN：2187-1094, CiNii Articles ID：130003379493
• Motion Control Based on Musculoskeletal Actuators　　　　　　　　　　　　　　　
  TSUJI Toshiaki; OHNISHI Kouhei
  IEEJ Transactions on Sensors and Micromachines, Volume：132, Number：9, First page：606, Last page：609, Sep. 2012
  This article has no abstract.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejjournal.132.606
  DOI ID：10.1541/ieejjournal.132.606, ISSN：1340-5551, CiNii Articles ID：10031018841, CiNii Books ID：AN10432927
• ひずみゲージを用いた電気-油圧アクチュエータ間のバイラテラル制御の実験による実証　　　　　　　　　　　　　　　
  高橋, 大樹; 境野, 翔; 辻, 俊明
  電気学会産業応用部門大会講演論文集, First page：89, Last page：94, Aug. 2012
  Japanese, Symposium
• Evaluation index for physical therapy robots based on velocity information　　　　　　　　　　　　　　　
  YAMADA,Mitsuyuki; YOKOO,Tomonori; SAKAINO,Sho; KANEKO,Yasuyoshi; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2012, Number：156, First page：7, Last page：12, Mar. 2012
  電気学会, Japanese, Symposium
• Hybrid Control for Versatile Tool-using Robot　　　　　　　　　　　　　　　
  MATSUZAKI,Ryohei; KAMIBAYASHI,Makoto; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2012, Number：86, First page：39, Last page：44, Mar. 2012
  電気学会, Japanese, Symposium
• Bilateral control between electric and hydraulic actuators　　　　　　　　　　　　　　　
  TAKAHASHI,Daiki; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2012, Number：25, First page：55, Last page：60, Mar. 2012
  電気学会, Japanese, Symposium
• Whole-body Force Sensation by Force Sensor with Non-convex Shaped End-effector　　　　　　　　　　　　　　　
  KURITA,Naoyuki; SAKAINO,Sho; TSUJI,Toshiaki
  電気学会研究会資料. IIC, 産業計測制御研究会, Volume：2012, Number：25, First page：31, Last page：36, Mar. 2012
  電気学会, Japanese, Symposium
• An extended Jacobian matrix and multirate control for bilateral control between different time resolution systems　　　　　　　　　　　　　　　
  Sho Sakaino; Toshiaki Tsuji
  IECON Proceedings (Industrial Electronics Conference), First page：2656, Last page：2661, 2012, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2012.6389157
  DOI ID：10.1109/IECON.2012.6389157, SCOPUS ID：84872971333
• Development of a physical therapy robot for rehabilitation databases　　　　　　　　　　　　　　　
  Tomonori Yokoo; Mitsuyuki Yamada; Sho Sakaino; Shigeru Abe; Toshiaki Tsuji
  International Workshop on Advanced Motion Control, AMC, 2012, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/AMC.2012.6197123
  DOI ID：10.1109/AMC.2012.6197123, SCOPUS ID：84861607326
• High Bandwidth Attitude Control Based on Musculoskeletal System with Biarticular Muscles　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Tomonori Yokoo; Sho Sakaino
  38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), First page：5428, Last page：5433, 2012, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000316962905057
• Whole-body Force Sensation by Force Sensor with End-effector of Arbitrary Shape　　　　　　　　　　　　　　　
  Naoyuki Kurita; Sho Sakaino; Toshiaki Tsuji
  2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), First page：5428, Last page：5433, 2012, [Reviewed]
  English, International conference proceedings
  ISSN：2153-0858, Web of Science ID：WOS:000317042706002
• Development of a Whole-Body Haptic Sensor with Multiple Supporting Points and Its Application to a Manipulator　　　　　　　　　　　　　　　
  HANYU Ryosuke; TSUJI Toshiaki
  IEEJ Transactions on Industry Applications, Volume：131, Number：9, First page：1128, Last page：1134, Sep. 2011
  This paper proposes a whole-body haptic sensing system that has multiple supporting points between the body frame and the end-effector. The system consists of an end-effector and multiple force sensors. Using this mechanism, the position of a contact force on the surface can be calculated without any sensor array. A haptic sensing system with a single supporting point structure has previously been developed by the present authors. However, the system has drawbacks such as low stiffness and low strength. Therefore, in this study, a mechanism with multiple supporting points was proposed and its performance was verified. In this paper, the basic concept of the mechanism is first introduced. Next, an evaluation of the proposed method, performed by conducting some experiments, is presented.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.131.1128
  DOI ID：10.1541/ieejias.131.1128, ISSN：0913-6339, CiNii Articles ID：10030530999, CiNii Books ID：AN10012320
• 二関節筋を持つ空気圧人工筋駆動リハビリ支援ロボットによる抵抗運動のための力制御　　　　　　　　　　　　　　　
  辻俊明; 横尾知典; 境野, 翔; 阿部茂
  電気学会産業応用部門大会講演論文集, First page：571, Last page：576, Sep. 2011
  Japanese, Symposium
• ツインドライブシステムを用いたロボットの合成制御とその動特性評価指標　　　　　　　　　　　　　　　
  上林誠; 辻俊明; 境野, 翔; 阿部茂
  電気学会産業応用部門大会講演論文集, First page：359, Last page：364, Sep. 2011
  Japanese, Symposium
• Command Recognition of Robots Based on Feature Quantity Extraction from Haptic Information　　　　　　　　　　　　　　　
  TSUJI Toshiaki; ITO Tatsuya
  JRSJ, Volume：28, Number：3, First page：319, Last page：326, Apr. 2010
  In view of safety issues, haptic sensing is inevitable for human support robots. Furthermore, haptic communication based on haptic sensing technology has high potential as a part of multi-modal communication. This paper therefore proposes a method of command recognition based on haptic interfaces. When an operator runs a finger across the haptic interface, the command is recognized based on some feature quantities derived from the contact trajectory. The command recognition method accomplishes a reliable emergency stop function by utilizing force information. Some experimental results show that the efficiency of robot operation is enhanced since multi-dimensional information can be transmitted by a single intuitive motion.
  The Robotics Society of Japan, Japanese
  DOI：https://doi.org/10.7210/jrsj.28.319
  DOI ID：10.7210/jrsj.28.319, ISSN：0289-1824, CiNii Articles ID：10026090771, CiNii Books ID：AN00141189
• Removal of Specular Reflection Based on High-Speed Camera Images　　　　　　　　　　　　　　　
  TSUJI Toshiaki; INODA Ryosuke
  IEEJ Transactions on Industry Applications, Volume：130, Number：3, First page：261, Last page：267, Mar. 2010
  High speed cameras have the ability to detect luminance variation due to the alternating current of illuminations. On the basis of the luminance variation, this paper proposes a method to estimate an image of when one of the illuminations is nonluminous. If the nonluminous illumination is the source of specular reflection, the estimated image only includes diffuse reflection components of other illuminations. Experimental results in various conditions show that specular reflection components are eliminated without the displacement of a camera or an illumination.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.130.261
  DOI ID：10.1541/ieejias.130.261, ISSN：0913-6339, CiNii Articles ID：10026229863, CiNii Books ID：AN10012320
• Command Recognition of Robot with Low Dimension Whole-Body Haptic Sensor　　　　　　　　　　　　　　　
  ITO Tatsuya; TSUJI Toshiaki
  IEEJ Transactions on Sensors and Micromachines, Volume：130, Number：3, First page：293, Last page：299, Mar. 2010
  The authors have developed "haptic armor", a whole-body haptic sensor that has an ability to estimate contact position. Although it is developed for safety assurance of robots in human environment, it can also be used as an interface. This paper proposes a command recognition method based on finger trace information. This paper also discusses some technical issues for improving recognition accuracy of this system.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.130.293
  DOI ID：10.1541/ieejias.130.293, ISSN：0913-6339, CiNii Articles ID：10026229921, CiNii Books ID：AN10012320
• Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay　　　　　　　　　　　　　　　
  Kenji Natori; Toshiaki Tsuji; Kouhei Ohnishi; Ales Hace; Karel Jezernik
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：57, Number：3, First page：1050, Last page：1062, Mar. 2010, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2009.2028337
  DOI ID：10.1109/TIE.2009.2028337, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000274391300031
• A method for counting people at elevator lobby focusing on top of moving objects　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Hiroki Tashiro; Shigeru Abe
  IEEJ Transactions on Industry Applications, Volume：130, Number：3, First page：10, Last page：340, 2010, [Reviewed]
  Japanese, Scientific journal
  DOI：https://doi.org/10.1541/ieejias.130.334
  DOI ID：10.1541/ieejias.130.334, ISSN：0913-6339, SCOPUS ID：77951030275
• Command Recognition Based on Haptic Information for a Robot Arm　　　　　　　　　　　　　　　
  Ryosuke Hanyu; Toshiaki Tsuji; Shigeru Abe
  IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), First page：4662, Last page：4667, 2010, [Reviewed]
  English, International conference proceedings
  ISSN：2153-0858, Web of Science ID：WOS:000287672003063
• Counting People and Recognizing Wheelchairs at Elevator Lobby by Real-Time Image Processing　　　　　　　　　　　　　　　
  UCHIDATE Hikaru; INODA Ryosuke; TSUJI Toshiaki; ABE Shigeru
  IEEJ Transactions on Sensors and Micromachines, Volume：129, Number：6, First page：578, Last page：584, Jun. 2009
  This paper proposes a real-time image processing system for wheelchair recognition at elevator lobby. This system extracts objects with frame difference method. From the image of extracted objects, heads of people are detected by the Hough transform. Vertical shooting from ceiling improves the performance of people counting since the detected head has high roundness and occlusion of people is prevented. Two feature quantities are introduced to recognize wheelchairs. They are the area value and the ratio of traveling length to vertical length. Since these quantities require a method for drawing the contour line. This paper proposes a new simple method to draw a contour line. The effectiveness of this system is confirmed through experiments.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.129.578
  DOI ID：10.1541/ieejias.129.578, ISSN：0913-6339, CiNii Articles ID：10024776441, CiNii Books ID：AN10012320
• Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Yasuyoshi Kaneko; Shigeru Abe
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：56, Number：5, First page：1375, Last page：1382, May 2009, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1109/TIE.2009.2014748
  DOI ID：10.1109/TIE.2009.2014748, ISSN：0278-0046, eISSN：1557-9948, Web of Science ID：WOS:000265886700006
• Controller Design for Human-Assist Robots with Force Filtering Process　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  ELECTRONICS AND COMMUNICATIONS IN JAPAN, Volume：91, Number：12, First page：46, Last page：55, Dec. 2008, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1002/ecj.10186
  DOI ID：10.1002/ecj.10186, ISSN：1942-9533, eISSN：1942-9541, Web of Science ID：WOS:000266717300007
• Realization of acceleration control using multirate sampling method　　　　　　　　　　　　　　　
  Mariko Mizuochi; Toshiaki Tsuji; Hiroaki Nishi; Kouhei Ohnishi
  ELECTRICAL ENGINEERING IN JAPAN, Volume：162, Number：4, First page：72, Last page：81, Mar. 2008, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1002/eej.20507
  DOI ID：10.1002/eej.20507, ISSN：0424-7760, eISSN：1520-6416, Web of Science ID：WOS:000252264800009
• Development of pneumatic artificial muscle manipulator with feedforward and feedback control　　　　　　　　　　　　　　　
  Syunsuke Miyata; Toshiaki Tsuji; Takuya Hashimoto; Hiroshi Kobayashi
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：74, Number：12, First page：3004, Last page：3011, 2008
  Japan Society of Mechanical Engineers, Japanese, Scientific journal
  DOI：https://doi.org/10.1299/kikaic.74.3004
  DOI ID：10.1299/kikaic.74.3004, ISSN：0387-5024, SCOPUS ID：62649150766
• ZMP reference trajectory generation for biped robot with inverted pendulum model by using virtual supporting point　　　　　　　　　　　　　　　
  Tomoyuki Suzuki; Toshiaki Tsuji; Maki Shibuya; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：128, Number：6, First page：1, Last page：693, 2008, [Reviewed]
  Japanese, Scientific journal
  DOI：https://doi.org/10.1541/ieejias.128.687
  DOI ID：10.1541/ieejias.128.687, ISSN：0913-6339, SCOPUS ID：67651192125
• Controller design for human-assist robots with force filtering process　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  Electronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi), Volume：91, Number：12, First page：46, Last page：55, 2008, [Reviewed]
  English, Scientific journal
  DOI：https://doi.org/10.1002/ecj.10186
  DOI ID：10.1002/ecj.10186, ISSN：8756-663X, SCOPUS ID：62249179238
• Development of the face robot SAYA for rich facial expressions　　　　　　　　　　　　　　　
  Takuya Hashimoto; Sachio Hitramatsu; Toshiaki Tsuji; Hiroshi Kobayashi
  2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, First page：3558, Last page：+, 2006, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000246237603138
• A controller design method based on functionality　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi; Asif Sabanovic
  9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, First page：171, Last page：+, 2006, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000238144700032
• Improvement of disturbance suppression based on disturbance observer　　　　　　　　　　　　　　　
  Mariko Mizuochi; Toshiaki Tsuji; Kouhei Ohnishi
  9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, First page：229, Last page：+, 2006, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000238144700042
• Technical issues on velocity measurement for motion control　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Matiko Mizuochi; Kouhei Ohnishi
  2006 12TH INTERNATIONAL POWER ELECTRONICS AND MOTION CONTROL CONFERENCE, VOLS 1-4, First page：1669, Last page：+, 2006, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000246286103011
• Time delay compensation by communication disturbance observer in bilateral teleoperation systems　　　　　　　　　　　　　　　
  Kenji Natori; Toshiaki Tsuji; Kouhei Ohnishi
  9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, First page：218, Last page：+, 2006, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000238144700040
• Controller design for robot with pneumatic artificial muscles　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Shunsuke Miyata; Takuya Hashimoto; Hiroshi Kobayashi
  2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, First page：3554, Last page：+, 2006, [Reviewed]
  English, International conference proceedings
  Web of Science ID：WOS:000246237603137
• Analysis of bilateral systems with time delay　　　　　　　　　　　　　　　
  Kenji Natori; Seiichiro Katsura; Toshiaki Tsuji; Kouhei Ohnishi
  IEEE International Symposium on Industrial Electronics, Volume：IV, First page：1511, Last page：1516, 2005, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/ISIE.2005.1529156
  DOI ID：10.1109/ISIE.2005.1529156, SCOPUS ID：33748373181
• A velocity measurement method for acceleration control　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Mariko Mizuochi; Hiroaki Nishi; Kouhei Ohnishi
  IECON Proceedings (Industrial Electronics Conference), Volume：2005, First page：1943, Last page：1948, 2005, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2005.1569202
  Scopus：https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=33749684705&origin=inward
  Scopus Citedby：https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=33749684705&origin=inward
  DOI ID：10.1109/IECON.2005.1569202, SCOPUS ID：33749684705
• Force sensing and force control using multirate sampling method　　　　　　　　　　　　　　　
  Mariko Mizuochi; Toshiaki Tsuji; Kouhei Ohnishi
  IECON Proceedings (Industrial Electronics Conference), Volume：2005, First page：1919, Last page：1924, 2005, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2005.1569198
  DOI ID：10.1109/IECON.2005.1569198, SCOPUS ID：33749683591
• Trajectory planning of biped robot for running motion　　　　　　　　　　　　　　　
  Tomoyuki Suzuki; Toshiaki Tsuji; Kouhei Ohnishi
  IECON Proceedings (Industrial Electronics Conference), Volume：2005, First page：1815, Last page：1820, 2005, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2005.1569181
  DOI ID：10.1109/IECON.2005.1569181, SCOPUS ID：33749657272
• A design method for decentralized control system applying system connection　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  IEEE International Symposium on Industrial Electronics, Volume：IV, First page：1769, Last page：1774, 2005, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/ISIE.2005.1529200
  DOI ID：10.1109/ISIE.2005.1529200, SCOPUS ID：33748359498
• Collision avoidance method of humanoid robot with arm force　　　　　　　　　　　　　　　
  Eijiro Ohashi; Takahiro Aiko; Toshiaki Tsuji; Kouhei Ohnishi
  Proceedings of the IEEE International Conference on Industrial Technology, Volume：2, First page：1057, Last page：1062, 2004
  English, International conference proceedings
  SCOPUS ID：27944489052
• Position/force scaling of function-based bilateral control system　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  Proceedings of the IEEE International Conference on Industrial Technology, Volume：1, First page：96, Last page：101, 2004
  English, International conference proceedings
  SCOPUS ID：27944483258
• Safety control of teleoperation system under time varying communication delay　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Atsushi Kato; Kouhei Ohnishi; Aleš Hace; Karel Jezernik
  International Workshop on Advanced Motion Control, AMC, First page：463, Last page：468, 2004
  English, International conference proceedings
  SCOPUS ID：3042543903
• Robust Bilateral Control with Internet Communication　　　　　　　　　　　　　　　
  Kenji Natori; Toshiaki Tsuji; Kouhei Ohnishi; Ales Hace; Karel Jezernik
  IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 3, First page：2321, Last page：2326, 2004, [Reviewed]
  English, International conference proceedings
  ISSN：1553-572X, Web of Science ID：WOS:000299171300064
• Mechanism of attitude control device for floating object　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  Proceedings of the IEEE International Conference on Industrial Technology, Volume：1, First page：250, Last page：255, 2003
  English, International conference proceedings
  SCOPUS ID：19844371488
• Contact Motion in Unknown Environment　　　　　　　　　　　　　　　
  Mitsuharu Morisawa; Toshiaki Tsuji; Yoshio Nishioka; Ken Akuzawa; Hiromasa Takahashi; Kouhei Ohnishi
  IECON Proceedings (Industrial Electronics Conference), Volume：1, First page：992, Last page：996, 2003, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2003.1280116
  DOI ID：10.1109/IECON.2003.1280116, SCOPUS ID：1442304713
• Global step planning of dynamic biped locomotion considering obstacles　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  IECON Proceedings (Industrial Electronics Conference), Volume：3, First page：2445, Last page：2450, 2002, [Reviewed]
  English, International conference proceedings
  DOI：https://doi.org/10.1109/IECON.2002.1185356
  DOI ID：10.1109/IECON.2002.1185356, SCOPUS ID：0036948955
• A Control System for a Tool Use Robot: Drawing a Circle by Bringing Out Functions of a Compass
  [Reviewed]
  DOI：https://doi.org/0
  DOI ID：0, ORCID：30926271

• 1P1-V02 Contact Point Calculation on a Desk-type Haptic Interface Utilizing Information of Differentiated Force　　　　　　　　　　　　　　　
  KITAMURA Hiroyuki; SAKAINO Sho; TSUJI Toshiaki
  Volume：2015, First page："1P1, Last page：V02(1)"-"1P1-V02(4)", 17 May 2015
  In recent years, the studies on haptic interfaces have progressed. Currently, we have developed "Haptic Desk," which can detect information of force and information of contact position by a simple mechanism with force sensors. However, there is a problem that calculation accuracy of a contact position is low when force exerted on the desk is small. So, this paper proposes usage of information of differentiated force to calculate a correct contact point. If differential value of force is large when force is small, calculation accuracy of a contact position becomes high by using information of differentiated force instead of information of force. The experiment results showed validity of the proposed method.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110010053295, CiNii Books ID：AA11902933
• 1P2-K03 A Force Direction Teaching System Visualizing Upper-limb Force of a Hemiplegic Patient　　　　　　　　　　　　　　　
  HIRABAYASHI Yuto; OGATA Kunihiro; HASEGAWA Yuri; TSUJI Toshiaki
  Volume：2015, First page："1P2, Last page：K03(1)"-"1P2-K03(4)", 17 May 2015
  Hemiplesia is one of late effects after stroke and causes different impairments. For example, the ability to generate and modulate force is impaired. This study focused on the technique that encourages force generation in an arbitrary direction. We introduced the technique of physiotherapy into rehabilitation robot and visualized force direction. The technique was verified with a patient with hemiplesia. The results suggested functional improvement and correlation between the recovery of force modulation and motor control. We considered the contribution of visualizing force to motor function.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110010055000, CiNii Books ID：AA11902933
• Rehabilitation systems based on visualization techniques: A review　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kunihiro Ogata
  Journal of Robotics and Mechatronics, Volume：27, Number：2, First page：122, Last page：125, 2015
  Fuji Technology Press, English, Book review
  DOI：https://doi.org/10.20965/jrm.2015.p0122
  DOI ID：10.20965/jrm.2015.p0122, ISSN：1883-8049, SCOPUS ID：84927930889
• 1P1-X05 Development of an Interface with Haptic Technology Using a Force Sensor : Haptic Desk: a Technique to Provide Tactile Sense to a Desk(Tactile and Force Sensing (1))　　　　　　　　　　　　　　　
  TSUJI Toshiaki; KURITA Naoyuki
  Volume：2014, First page："1P1, Last page：X05(1)"-"1P1-X05(4)", 24 May 2014
  This paper describes a technique to provide tactile sense to a desk by a simple mechanism. The tactile sense is provided to the whole body of the desk by fixing a force sensor on each leg. One of the advantages of this technique is that the contact point can be estimated without any sensor device on the surface of the desk. The desk can be used as a kind of a haptic interface by utilizing the advantage. Some examples of application using the desk with computer graphics are introduced.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110009966760, CiNii Books ID：AA11902933
• Introduction to the Special Section on New Emerging Technologies in Motion Control Systems-Part I　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Asif Sabanovic; Kiyoshi Ohishi; Makoto Iwasaki
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：61, Number：2, First page：982, Last page：984, Feb. 2014
  English, Others
  DOI：https://doi.org/10.1109/TIE.2013.2273857
  DOI ID：10.1109/TIE.2013.2273857, ISSN：0278-0046, Web of Science ID：WOS:000323492000035
• Establishment of new tulip varieties　　　　　　　　　　　　　　　
  TSUJI Toshiaki
  Volume：1, Number：11, First page：25, Last page：28, 01 Nov. 2013
  Japanese
  ISSN：2187-4948, CiNii Articles ID：10031196881, CiNii Books ID：AA12598816
• JST PRESTO "Information Environment and Humans" Research Area Project "A Rehabilitation Network System Based on Force Signal Processing"　　　　　　　　　　　　　　　
  TSUJI Toshiaki
  Volume：52, Number：8, First page：755, Last page：756, 10 Aug. 2013
  Japanese
  ISSN：0453-4662, CiNii Articles ID：10031193230, CiNii Books ID：AN00072406
• 2A1-K04 Development of a High Speed Stroboscope for Real-time Specular Reflection Removal(Robot Vision (1))　　　　　　　　　　　　　　　
  TSUJI Toshiaki; ARAKAWA Junichi
  Volume：2013, First page："2A1, Last page：K04(1)"-"2A1-K04(4)", 22 May 2013
  Separating specular reflection components from diffuse reflection components is an important subject in computer vision. Hence, the author's group has developed a method to separate a diffuse image from a high-speed-video image with specular reflection components. The method uses an estimation technique based on luminance variation owing to flicker of a strobe. This study extends the abovementioned method to a real-time system. Although this method needs a high speed camera with a short sampling time, it is possible to show a specular reflection free image in real-time since the algorithm requires small calculation amount.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110009963884, CiNii Books ID：AA11902933
• 1A2-N09 Compilation of Joint Motion Database using Upper Limb Rehabilitation Robot(Rehabilitation Robotics and Mechatronics(2))　　　　　　　　　　　　　　　
  TSUJI Toshiaki; YOKOO Tomonori
  Volume：2012, First page："1A2, Last page：N09(1)"-"1A2-N09(2)", 27 May 2012
  Joint motion range is an important index for physical therapy while it is quite difficult to acquire quantitative results. This paper proposes a method for measuring a joint motion range of upper limb. Quantitative measurement is easily achieved by introducing a rehabilitation robot. The validity of the method is evaluated through experimental results.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110009907564, CiNii Books ID：AA11902933
• A tip stiffness control method for robot arm with pneumatic artificial muscles including bi-articular muscles　　　　　　　　　　　　　　　
  YOKOO Tomonori; TSUJI Toshiaki
  Volume：2011, Number：1, First page：89, Last page：94, 08 Mar. 2011
  Japanese
  CiNii Articles ID：10027976256, CiNii Books ID：AN10074226
• Stiffness control of robot with twin drive system and its evaluation indices　　　　　　　　　　　　　　　
  KAMIBAYASHI Makoto; TSUJI Toshiaki
  Volume：2011, Number：134, First page：93, Last page：98, 08 Mar. 2011
  Japanese
  CiNii Articles ID：10027977598, CiNii Books ID：AN10074226
• Motion Control and Musculo-skeletal Model of a Lancelet Robot　　　　　　　　　　　　　　　
  TSUJI Toshiaki
  Journal of the Robotics Society of Japan, Volume：28, Number：6, First page：695, Last page：698, 15 Jul. 2010
  Japanese
  ISSN：0289-1824, CiNii Articles ID：10026495946, CiNii Books ID：AN00141189
• A Method of Force Control of Robot Arm with Biomimetic Muscular Arrangement　　　　　　　　　　　　　　　
  MINAMI Ryohei; TSUJI Toshiaki
  Volume：2010, Number：128, First page：7, Last page：12, 09 Mar. 2010
  Japanese
  CiNii Articles ID：10026070745, CiNii Books ID：AN10074226
• Personal Identification of Robot with Whole-body Haptic Sensor　　　　　　　　　　　　　　　
  ARAKAWA Junichi; TSUJI Toshiaki
  Volume：2010, Number：79, First page：11, Last page：16, 08 Mar. 2010
  Japanese
  CiNii Articles ID：10026070276, CiNii Books ID：AN10074226
• 1P1-F08 Development of a Physical Rehabilitation Machine with Muscle Arrangement of Human Upper Limb　　　　　　　　　　　　　　　
  TSUJI Yoshiaki; MINAMI Ryohei; ITO Tatsuya; HASHIMOTO Takuya
  Volume：2010, First page："1P1, Last page：F08(1)"-"1P1-F08(3)", 2010
  The motoric features of human being have been often searched to apply them to robots for human assist, which strongly requires adaptability to human. This paper describes development of a physical rehabilitation machine, one of the typical examples of human assist systems. The proposal of the mechanism is the actuator arrangement simulating that of human. The mechanism accomplishes high adaptability to human due to some specific characteristics of muscle arrangement with antagonistic pairs of mono-articular and bi-articular muscles.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110008741602, CiNii Books ID：AA11902933
• 1A1-C21 Development of a 6-axis Force/torque Sensor with Fault Tolerance based on Redundancy : Avoiding Runaway due to Crash or Disconnection of a Force Sensor　　　　　　　　　　　　　　　
  Tsuji Toshiaki; Hanyu Ryosuke
  Volume：2010, First page："1A1, Last page：C21(1)"-"1A1-C21(4)", 2010
  Force sensors are a useful tool for robot adapting to human environments. However, these sensors are rarely used for commercial machines requiring safety since it is difficult to eliminate the possibility of failure. Although fault tolerance is an important issue, no critical method for general force measurement is proposed in the past. Hence, this paper proposes a fault tolerance measurement method using sensing devices with redundancy. The proposed method accomplishes both: fault detection without additional sensors; and force estimation during fault period. Furthermore, the fault detection handles many kinds of faults such as disconnection of wires, peeling of strain gauge, and so on. The validity of the proposed method is verified through some simulations.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110008741151, CiNii Books ID：AA11902933
• 2P1-J14 Feature Extraction from Contact Trajectory on Haptic Interface and Its Application to Command Recognition　　　　　　　　　　　　　　　
  TSUJI Toshiaki; ITO Tatsuya
  Volume：2009, First page："2P1, Last page：J14(1)"-"2P1-J14(4)", 25 May 2009
  Haptic communication based on haptic sensing technology has high potential as a part of multi-modal communication. This paper therefore proposes a method of command recognition based on haptic interfaces. When an operator runs a finger across the haptic interface, the command is recognized based on some feature quantities derived from the contact trajectory. This paper shows the validity of the method through experimental verification.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110008698559, CiNii Books ID：AA11902933
• Command Recognition of Robot with Whole-body Haptic Sensor　　　　　　　　　　　　　　　
  ITO Tatsuya; TSUJI Toshiaki
  Volume：2009, Number：43, First page：59, Last page：64, 09 Mar. 2009
  Japanese
  CiNii Articles ID：10026068363, CiNii Books ID：AN10074226
• A Wide-Range Velocity Measurement Method for Motion Control　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Takuya Hashimoto; Hiroshi Kobayashi; Mariko Mizuochi; Kouhei Ohnishi
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：56, Number：2, First page：510, Last page：519, Feb. 2009
  English
  DOI：https://doi.org/10.1109/TIE.2008.2003208
  DOI ID：10.1109/TIE.2008.2003208, ISSN：0278-0046, eISSN：1557-9948, CiNii Articles ID：80020159020, Web of Science ID：WOS:000263224900023
• 移動オブジェクトの更新に適した領域分割形木構造：kdm-tree　　　　　　　　　　　　　　　
  西川嘉人; 辻俊明; 金子裕良; 阿部茂
  Volume：J92-D, Number：1, First page：1, Last page：11, 2009
• Dynamic display of facial expressions on the face robot with a life mask　　　　　　　　　　　　　　　
  Takuya Hashimoto; Sachio Hiramatsu; Toshiaki Tsuji; Hiroshi Kobayashi
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：75, Number：749, First page：113, Last page：121, 2009
  Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/kikaic.75.113
  DOI ID：10.1299/kikaic.75.113, ISSN：0387-5024, SCOPUS ID：63849090321
• 移動オブジェクトの更新に適した領域分割形木構造：kdm-tree　　　　　　　　　　　　　　　
  西川嘉人; 辻俊明; 金子裕良; 阿部茂
  電子情報通信学会論文誌D, Volume：J92-D, Number：1, First page：1, Last page：11, 2009
• Dynamic display of facial expressions on the face robot with a life mask　　　　　　　　　　　　　　　
  Takuya Hashimoto; Sachio Hiramatsu; Toshiaki Tsuji; Hiroshi Kobayashi
  Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Volume：75, Number：749, First page：113, Last page：121, 2009
  Japan Society of Mechanical Engineers, Japanese
  DOI：https://doi.org/10.1299/kikaic.75.113
  DOI ID：10.1299/kikaic.75.113, ISSN：0387-5024, SCOPUS ID：63849090321
• 2A1-A23 Collision Relaxation Control of Robot Arm for Unknown Object　　　　　　　　　　　　　　　
  HANYU Ryosuke; TSUJI Toshiaki; KANEKO Yasuyoshi; ABE Shigeru
  Volume：2008, First page："2A1, Last page：A23(1)"-"2A1-A23(4)", 06 Jun. 2008
  This paper shows a collision relaxation control of a robot arm. The arm needs to keep touching to a moving object during collision relaxation control. Current robots do not have enough control performance to deal with a changing environment. So, robot cannot contact to a moving object and a person safely. This is one of the reasons that robot is considered to be danger. To secure safety in a changing environment, a robot control system with high collision relaxation performance was developed. As the first step of the study, the authors had experiments with the situation that a handcart comes to the robot arm and the robot arm stops the cart.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110008696232, CiNii Books ID：AA11902933
• 1A1-G18 Implementation of Exception Handling Based on Componentized Control System　　　　　　　　　　　　　　　
  TSUJI Toshiaki; HANYU Ryousuke; KANEKO Yasuyoshi; ABE Shigeru
  Volume：2008, First page："1A1, Last page：G18(1)"-"1A1-G18(4)", 06 Jun. 2008
  The authors have studied a controller design method based on functionality. The method is to design a large-scale control system as a combination of small detachable components. This paper extends the method to exception handling. The main issue in the study is that discrete inputs due to variation of control structure degrade the control performance. Hence the study discusses how to solve the issue.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110008695944, CiNii Books ID：AA11902933
• 1A1-D11 Development of Shell-Shaped Force Sensor and Application to Touch Panel　　　　　　　　　　　　　　　
  TSUJI Toshiaki; KANEKO Yasuyoshi; ABE Shigeru
  Volume：2008, First page："1A1, Last page：D11(1)"-"1A1-D11(4)", 06 Jun. 2008
  This paper deals with a force sensing mechanism composed of a force sensor device and an end-effector of shell-shape. Since the end-effector plays a role of an outer shell, force can be sensed at any positions on whole body. The sensor has an ability to calculate the position of a contact point without any sensor array. Based on the ability, this study applies the force sensing mechanism as a haptic interface similar to a touch panel. Experimental results show the validity of the proposed method.
  The Japan Society of Mechanical Engineers, Japanese
  CiNii Articles ID：110008695870, CiNii Books ID：AA11902933
• Charge and Discharge Efficiency of Electric Double Layer Capacitors with RC-ladder Equivalent Circuit　　　　　　　　　　　　　　　
  MINEMURA Akitoshi; YASHIRO Masahiro; TSUJI Toshiaki; KANEKO Yasuyoshi; ABE Shigeru
  Volume：2008, Number：21, First page：7, Last page：12, 26 Jan. 2008
  Japanese
  CiNii Articles ID：10025671449, CiNii Books ID：AN00346647
• フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発　　　　　　　　　　　　　　　
  鈴木智之; 辻俊明; 渋谷麻木; 大西公平
  Volume：128-D, Number：6, First page：687, Last page：693, 2008
• 仮想支点を用いた倒立振子モデルによる2足歩行ロボットのZMP参照軌道生成　　　　　　　　　　　　　　　
  宮田俊介; 辻俊明; 橋本卓弥; 小林宏
  Volume：74, Number：748, First page：3004, Last page：3011, 2008
• Development of the Breast Pump with a Baby-Like Peristaltic Motion　　　　　　　　　　　　　　　
  H. Kobayashi; T. Tsuji; Y. Awano; K. Mizuno; H. Kawamura; Z. Onuki; A. Ishimaru
  Volume：20, Number：3, First page：456, Last page：465, 2008
• フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発　　　　　　　　　　　　　　　
  鈴木智之; 辻俊明; 渋谷麻木; 大西公平
  日本機械学会論文集C編, Volume：128-D, Number：6, First page：687, Last page：693, 2008
• 仮想支点を用いた倒立振子モデルによる2足歩行ロボットのZMP参照軌道生成　　　　　　　　　　　　　　　
  宮田俊介; 辻俊明; 橋本卓弥; 小林宏
  電気学会論文誌産業応用部門誌, Volume：74, Number：748, First page：3004, Last page：3011, 2008
• Whole-body force sensation by robot with outer shell　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Yasuyoshi Kaneko; Shigeru Abe
  AMC '08: 10TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, First page：365, Last page：370, 2008
  English
  DOI：https://doi.org/10.1109/AMC.2008.4516094
  DOI ID：10.1109/AMC.2008.4516094, Web of Science ID：WOS:000256389700063
• An approach to estimate velocity for acceleration control　　　　　　　　　　　　　　　
  Noriko Iiyama; Kouhei Ohnishi; Toshiaki Tsuji
  AMC '08: 10TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, First page：687, Last page：+, 2008
  English
  DOI：https://doi.org/10.1109/AMC.2008.4516150
  DOI ID：10.1109/AMC.2008.4516150, Web of Science ID：WOS:000256389700119
• Development of the Breast Pump with a Baby-Like Peristaltic Motion　　　　　　　　　　　　　　　
  H. Kobayashi; T. Tsuji; Y. Awano; K. Mizuno; H. Kawamura; Z. Onuki; A. Ishimaru
  Journal of Robotics and Mechatronics, Volume：20, Number：3, First page：456, Last page：465, 2008
• A controller design method based on functionality　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi; Asif Sabanovic
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：54, Number：6, First page：3335, Last page：3343, Dec. 2007
  English
  DOI：https://doi.org/10.1109/TIE.2007.906175
  DOI ID：10.1109/TIE.2007.906175, ISSN：0278-0046, eISSN：1557-9948, CiNii Articles ID：120001370563, Web of Science ID：WOS:000251457600043
• Multirate sampling method for acceleration control system　　　　　　　　　　　　　　　
  Mariko Mizuochi; Toshiaki Tsuji; Kouhei Ohnishi
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：54, Number：3, First page：1462, Last page：1471, Jun. 2007
  English
  DOI：https://doi.org/10.1109/TIE.2007.893002
  DOI ID：10.1109/TIE.2007.893002, ISSN：0278-0046, CiNii Articles ID：10021134597, Web of Science ID：WOS:000247203000020
• Collision avoidance method of humanoid robot with arm force　　　　　　　　　　　　　　　
  Eijiro Ohashi; Takahiro Aiko; Toshiaki Tsuji; Hiroaki Nishi; Kouhei Ohnishi
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Volume：54, Number：3, First page：1632, Last page：1641, Jun. 2007
  English
  DOI：https://doi.org/10.1109/TIE.2007.894728
  DOI ID：10.1109/TIE.2007.894728, ISSN：0278-0046, eISSN：1557-9948, CiNii Articles ID：120001370692, Web of Science ID：WOS:000247203000036
• Multirate Sampling Control for Reducing Time/Space Quantization Error　　　　　　　　　　　　　　　
  TSUJI Toshiaki; KOBAYASHI Hiroshi; MIZUOCHI Mariko; OHNISHI Kouhei
  Volume：2007, Number：85, First page：37, Last page：42, 07 Mar. 2007
  Japanese
  CiNii Articles ID：10018899238, CiNii Books ID：AN10074226
• ZMP Reference Trajectory Generation for Biped Robot based on Virutual Supporting Point　　　　　　　　　　　　　　　
  SUZUKI Tomoyuki; SHIBUYA Maki; OHNISHI Kouhei; TSUJI Toshiaki
  Volume：2007, Number：100, First page：87, Last page：92, 07 Mar. 2007
  Japanese
  CiNii Articles ID：10018899168, CiNii Books ID：AN10074226
• A Controller Design Method for Human-Assist Robot with Force Filtering Process　　　　　　　　　　　　　　　
  TSUJI Toshiaki; OHNISHI Kouhei
  IEEJ Transactions on Industry Applications, Volume：127, Number：9, First page：1000, Last page：1008, 2007
  This paper describes a controller design method for robots supporting human in real environment. Such robots have to cope with various interactions between robots and human environment. Furthermore, they also have to autonomously classify the interaction from sensor information and select their action according to tasks and situations. This study introduces an idea of spatial filter, a filter in space domain, to construct such a control system. The method decomposes sensor information into function modes, spatial information essential for control. The force filtering process based on function modes makes the controller design simple and explicit. Some experimental results are shown to verify the validity of the proposed method.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.127.1000
  DOI ID：10.1541/ieejias.127.1000, ISSN：0913-6339, CiNii Articles ID：10019521202, CiNii Books ID：AN10012320
• ロボティクスのための高精度速度計測法　　　　　　　　　　　　　　　
  辻俊明; 橋本卓弥; 小林宏
  First page：1P1-J02, 2007
• 新機構アクティブ歩行器の開発　　　　　　　　　　　　　　　
  中山総; 小林宏; 辻俊明; 尾形正明; 唐渡健夫; 入江和隆
  First page：1A2-M01, 2007
• 乳児と同じ蠕動様運動を有する搾乳器の研究開発　　　　　　　　　　　　　　　
  小林宏; 辻俊明; 粟野之也; 河村洋; 水野克己; 大貫善市
  First page：1A1-L03, 2007
• Development of the Breast Pump with a Baby-like Peristaltic Motion　　　　　　　　　　　　　　　
  KOBAYASHI Hiroshi; TSUJI Toshiaki; AWANO Yukinari; MIZUNO Katsumi; KAWAMURA Hiroshi; ONUKI Zenichi; ISHIMARU Aki
  Transactions of the Japan Society of Mechanical Engineers C, Volume：73, Number：730, First page：1817, Last page：1826, 2007
  Because of change in woman's social status, the number of working women is growing and the demand of the breast pump is increasing as well. Commercial products of the breast pump are applying only negative pressure for sucking and many users feel a pain for a long term use. Whereas a baby is using peristaltic motion as the result of tongue and jaw action in addition to suction. In this research, therefore the breast pump with a baby-like motion is developed. In order to realize baby-like peristaltic motion, a cam mechanism is applied. Also, for producing negative pressure, a crank mechanism is utilized. As the result, it turns out that the breast pump developed is realized the same peristaltic motion and suction pattern as a baby.
  The Japan Society of Mechanical Engineers, Japanese
  DOI ID：10.1299/kikaic.73.1817, ISSN：0387-5024, CiNii Articles ID：110006317504, CiNii Books ID：AN00187463
• ロボット受付嬢SAYAによるリアルな”話し手うなづき”の実現　　　　　　　　　　　　　　　
  橋本卓弥; 平松幸男; 辻俊明; 小林宏
  First page：1A2-N09, 2007
• ロボット受付嬢SAYAを用いた”話し手のうなづき”の対人コミュニケーションへの影響評価　　　　　　　　　　　　　　　
  橋本卓弥; 平松幸男; 小林宏; 辻俊明
  First page：2C3-2, 2007
• Research on Realistic Nod with Receptionist Robot SAYA That Has Human-like Appearance　　　　　　　　　　　　　　　
  HASHIMOTO Takuya; HIRAMATSU Sachio; TSUJI Toshiaki; KOBAYASHI Hiroshi
  Transactions of the Japan Society of Mechanical Engineers C, Volume：73, Number：735, First page：3046, Last page：3054, 2007
  In face-to-face communication, the speaker as well as the listener nods during conversation. We refer to such behavior as "Speaker's nod". In this paper, a "Speaker's nod" is realized as a natural interpersonal behavior in the receptionist robot SAYA, which has human-like appearance. First, we investigated the timing, angle and angular velocity of the human "Speaker's nod". Based on the results, we developed a "Speaker's nod" function for SAYA. As a result, we found that "Speaker's nod" appears at the end of utterance frequently and appropriate nod-angle and angular velocity improve the humanness of SAYA. We then confirmed the effectiveness of "Speaker's nod" by a subjective experiment. The results indicate that appropriate nod timing, angle and angular velocity improve not only the humanness but also communicative effectiveness of SAYA in face-to-face communication with humans.
  The Japan Society of Mechanical Engineers, Japanese
  DOI ID：10.1299/kikaic.73.3046, ISSN：0387-5024, CiNii Articles ID：110006453882, CiNii Books ID：AN00187463
• フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発　　　　　　　　　　　　　　　
  宮田俊介; 橋本卓弥; 小林宏; 辻俊明
  First page：1E1-6, 2007
• A Structure of Bilateral Control Systems Based on Grasping/Manipulating Control Scheme　　　　　　　　　　　　　　　
  Kubo Ryogo; Kato Atsushi; Tsuji Toshiaki; Ohnishi Kouhei
  IEEJ Transactions on Sensors and Micromachines, Volume：127, Number：6, First page：563, Last page：570, 2007
  In this paper, we present a control scheme of grasping and manipulation using mode transformation and a four-channel grasping/manipulating controller based on the control scheme. A second-order discrete Fourier transform (DFT) matrix is utilized as a mode transformation matrix. By means of the control scheme, a grasping controller and a manipulating controller can be designed independently in a grasping mode and a manipulating mode, respectively. In addition, we also propose a novel control method that combines the four-channel bilateral controller and the four-channel grasping/manipulating controller. This proposed controller makes it possible to select a proper mode depending on each situation, for example, bilateral grasping control. In the bilateral grasping control system, the manipulating mode is position-controlled locally in each side (master side and slave side), and the grasping mode is controlled bilaterally between master side and slave side. The validity of the proposed methods is shown by the experimental results.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.127.563
  DOI ID：10.1541/ieejias.127.563, ISSN：0913-6339, CiNii Articles ID：130000082652, CiNii Books ID：AN10012320
• Realization and evaluation of realistic nod with receptionist robot SAYA　　　　　　　　　　　　　　　
  Takuya Hashimoto; Sachio Hiramatsu; Toshiaki Tsuji; Hiroshi Kobayashi
  2007 RO-MAN: 16TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1-3, First page：325, Last page：330, 2007
  English
  Web of Science ID：WOS:000255993700059
• Development of power assist system for caregiver by muscle suit　　　　　　　　　　　　　　　
  Hiroshi Kobayashi; Hirokazu Nozaki; Toshiaki Tsuji
  2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, First page：180, Last page：185, 2007
  English
  DOI：https://doi.org/10.1109/ICMA.2007.4303537
  DOI ID：10.1109/ICMA.2007.4303537, Web of Science ID：WOS:000251178100031
• Development of power assist system for manual worker by muscle suit　　　　　　　　　　　　　　　
  Hiroshi Kobayashi; H. Suzuki; H. Nozaki; Toshiaki Tsuji
  2007 RO-MAN: 16TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1-3, First page：331, Last page：336, 2007
  English
  Web of Science ID：WOS:000255993700060
• 力覚情報を選別する人間支援型ロボットの制御器設計法　　　　　　　　　　　　　　　
  辻俊明; 大西公平
  電気学会論文誌産業応用部門誌, Volume：127, Number：9, First page：1000, Last page：1008, 2007
  This paper describes a controller design method for robots supporting human in real environment. Such robots have to cope with various interactions between robots and human environment. Furthermore, they also have to autonomously classify the interaction from sensor information and select their action according to tasks and situations. This study introduces an idea of spatial filter, a filter in space domain, to construct such a control system. The method decomposes sensor information into function modes, spatial information essential for control. The force filtering process based on function modes makes the controller design simple and explicit. Some experimental results are shown to verify the validity of the proposed method.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.127.1000
  DOI ID：10.1541/ieejias.127.1000, ISSN：0913-6339, CiNii Articles ID：10019521202, CiNii Books ID：AN10012320
• ロボティクスのための高精度速度計測法　　　　　　　　　　　　　　　
  辻俊明; 橋本卓弥; 小林宏
  ロボティクス・メカトロニクス講演会'07, First page：1P1-J02, 2007
• 新機構アクティブ歩行器の開発　　　　　　　　　　　　　　　
  中山総; 小林宏; 辻俊明; 尾形正明; 唐渡健夫; 入江和隆
  ロボティクス・メカトロニクス講演会'07, First page：1A2-M01, 2007
• 乳児と同じ蠕動様運動を有する搾乳器の研究開発　　　　　　　　　　　　　　　
  小林宏; 辻俊明; 粟野之也; 河村洋; 水野克己; 大貫善市
  ロボティクス・メカトロニクス講演会'07, First page：1A1-L03, 2007
• 乳児と同じ舌の蠕動様運動を有する搾乳器の研究開発　　　　　　　　　　　　　　　
  小林宏; 辻俊明; 粟野之也; 水野克巳; 河村洋; 大貫善一; 石丸あき
  日本機械学会論文集C編, Volume：73, Number：730, First page：1817, Last page：1826, 2007
  Because of change in woman's social status, the number of working women is growing and the demand of the breast pump is increasing as well. Commercial products of the breast pump are applying only negative pressure for sucking and many users feel a pain for a long term use. Whereas a baby is using peristaltic motion as the result of tongue and jaw action in addition to suction. In this research, therefore the breast pump with a baby-like motion is developed. In order to realize baby-like peristaltic motion, a cam mechanism is applied. Also, for producing negative pressure, a crank mechanism is utilized. As the result, it turns out that the breast pump developed is realized the same peristaltic motion and suction pattern as a baby.
  The Japan Society of Mechanical Engineers, Japanese
  DOI ID：10.1299/kikaic.73.1817, ISSN：0387-5024, CiNii Articles ID：110006317504, CiNii Books ID：AN00187463
• ロボット受付嬢SAYAによるリアルな”話し手うなづき”の実現　　　　　　　　　　　　　　　
  橋本卓弥; 平松幸男; 辻俊明; 小林宏
  ロボティクス・メカトロニクス講演会'07, First page：1A2-N09, 2007
• ロボット受付嬢SAYAを用いた”話し手のうなづき”の対人コミュニケーションへの影響評価　　　　　　　　　　　　　　　
  橋本卓弥; 平松幸男; 小林宏; 辻俊明
  第8回計測自動制御学会SI部門大会, First page：2C3-2, 2007
• ロボット受付嬢SAYAを用いたリアルなうなづきに関する研究　　　　　　　　　　　　　　　
  橋本卓弥; 平松幸男; 辻俊明; 小林宏
  日本機械学会論文集C編, Volume：73, Number：735, First page：3046, Last page：3054, 2007
  In face-to-face communication, the speaker as well as the listener nods during conversation. We refer to such behavior as "Speaker's nod". In this paper, a "Speaker's nod" is realized as a natural interpersonal behavior in the receptionist robot SAYA, which has human-like appearance. First, we investigated the timing, angle and angular velocity of the human "Speaker's nod". Based on the results, we developed a "Speaker's nod" function for SAYA. As a result, we found that "Speaker's nod" appears at the end of utterance frequently and appropriate nod-angle and angular velocity improve the humanness of SAYA. We then confirmed the effectiveness of "Speaker's nod" by a subjective experiment. The results indicate that appropriate nod timing, angle and angular velocity improve not only the humanness but also communicative effectiveness of SAYA in face-to-face communication with humans.
  The Japan Society of Mechanical Engineers, Japanese
  DOI ID：10.1299/kikaic.73.3046, ISSN：0387-5024, CiNii Articles ID：110006453882, CiNii Books ID：AN00187463
• フィードフォワード制御とフィードバック制御を併用した空気圧人工筋マニピュレータの開発　　　　　　　　　　　　　　　
  宮田俊介; 橋本卓弥; 小林宏; 辻俊明
  第8回計測自動制御学会SI部門大会, First page：1E1-6, 2007
• 把持・操り理論に基づくバイラテラル制御系の一構成法　　　　　　　　　　　　　　　
  久保亮吾; 加藤敦; 辻俊明; 大西公平
  電気学会論文誌産業応用部門誌, Volume：127, Number：6, First page：563, Last page：570, 2007
  In this paper, we present a control scheme of grasping and manipulation using mode transformation and a four-channel grasping/manipulating controller based on the control scheme. A second-order discrete Fourier transform (DFT) matrix is utilized as a mode transformation matrix. By means of the control scheme, a grasping controller and a manipulating controller can be designed independently in a grasping mode and a manipulating mode, respectively. In addition, we also propose a novel control method that combines the four-channel bilateral controller and the four-channel grasping/manipulating controller. This proposed controller makes it possible to select a proper mode depending on each situation, for example, bilateral grasping control. In the bilateral grasping control system, the manipulating mode is position-controlled locally in each side (master side and slave side), and the grasping mode is controlled bilaterally between master side and slave side. The validity of the proposed methods is shown by the experimental results.
  The Institute of Electrical Engineers of Japan, Japanese
  DOI：https://doi.org/10.1541/ieejias.127.563
  DOI ID：10.1541/ieejias.127.563, ISSN：0913-6339, CiNii Articles ID：130000082652, CiNii Books ID：AN10012320
• Robust acceleration control based on acceleration measurement using optical encoder　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Hiroshi Kobayashi
  2007 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, PROCEEDINGS, VOLS 1-8, First page：3108, Last page：3113, 2007
  English
  DOI：https://doi.org/10.1109/ISIE.2007.4375112
  DOI ID：10.1109/ISIE.2007.4375112, Web of Science ID：WOS:000252265107018
• Development of an active walker as a new orthosis　　　　　　　　　　　　　　　
  Hiroshi Kobayashi; Takeo Karato; Toshiaki Tsuji
  2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, First page：186, Last page：191, 2007
  English
  DOI：https://doi.org/10.1109/ICMA.2007.4303538
  DOI ID：10.1109/ICMA.2007.4303538, Web of Science ID：WOS:000251178100032
• A controller design method of bilateral control system　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kenji Natori; Hiroaki Nishi; Kouhei Ohnishi
  EPE JOURNAL, Volume：16, Number：2, First page：22, Last page：28, Apr. 2006
  English
  DOI：https://doi.org/10.1080/09398368.2006.11463616
  DOI ID：10.1080/09398368.2006.11463616, ISSN：0939-8368, eISSN：2376-9319, Web of Science ID：WOS:000238830300005
• Bilateral Control Based on Theory of Grasping and Manipulation　　　　　　　　　　　　　　　
  KUBO Ryogo; KATO Atsushi; TSUJI Toshiaki; OHNISHI Kouhei
  Volume：2006, Number：45, First page：1, Last page：6, 09 Mar. 2006
  Japanese
  CiNii Articles ID：10019202787, CiNii Books ID：AN10074226
• A Construction of Decentralized Control System Based on Functionality　　　　　　　　　　　　　　　
  TSUJI Toshiaki; OHNISHI Kouhei
  Volume：2006, Number：45, First page：75, Last page：80, 09 Mar. 2006
  Japanese
  CiNii Articles ID：10019202910, CiNii Books ID：AN10074226
• High-accuracy Motion Control based on Accurate Velocity Measurement　　　　　　　　　　　　　　　
  MIZUOCHI Mariko; TSUJI Toshiaki; OHNISHI Kouhei
  Volume：2006, Number：1, First page：59, Last page：64, 08 Mar. 2006
  Japanese
  CiNii Articles ID：10019203279, CiNii Books ID：AN10074226
• Bilateral teleoperation through networks　　　　　　　　　　　　　　　
  Kenji Natori; Toshiaki Tsuji; Takahiro Yakoh; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：126, Number：2, First page：161, Last page：167, 2006
  Japanese, Book review
  DOI：https://doi.org/10.1541/ieejias.126.161
  DOI ID：10.1541/ieejias.126.161, ISSN：0913-6339, CiNii Articles ID：10017256508, SCOPUS ID：32144448497
• Sensorless oscillation control of a suspended load with flywheels　　　　　　　　　　　　　　　
  Koichi Nishimura; Toshiaki Tsuji; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：126, Number：8, First page：1119, Last page：1125, 2006
  Japanese
  DOI：https://doi.org/10.1541/ieejias.126.1119
  DOI ID：10.1541/ieejias.126.1119, ISSN：0913-6339, CiNii Articles ID：10018182080, SCOPUS ID：33746889781
• マルチレートサンプリング手法を用いた加速度制御系の実現　　　　　　　　　　　　　　　
  水落麻里子; 辻俊明; 大西公平
  Volume：126, Number：3, First page：261, Last page：268, 2006
  DOI：https://doi.org/10.1541/ieejias.126.261
  DOI ID：10.1541/ieejias.126.261, ISSN：0913-6339, CiNii Articles ID：10017276486
• A controller design method of decentralized control system　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Hiroaki Nishi; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：126, Number：5, First page：630, Last page：638, 2006
  DOI：https://doi.org/10.1541/ieejias.126.630
  Scopus：https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=33646364577&origin=inward
  Scopus Citedby：https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=33646364577&origin=inward
  DOI ID：10.1541/ieejias.126.630, ISSN：0913-6339, eISSN：1348-8163, SCOPUS ID：33646364577
• Bilateral teleoperation through networks　　　　　　　　　　　　　　　
  Kenji Natori; Toshiaki Tsuji; Takahiro Yakoh; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：126, Number：2, First page：161, Last page：167, 2006
  Japanese, Book review
  DOI：https://doi.org/10.1541/ieejias.126.161
  DOI ID：10.1541/ieejias.126.161, ISSN：0913-6339, CiNii Articles ID：10017256508, SCOPUS ID：32144448497
• Sensorless oscillation control of a suspended load with flywheels　　　　　　　　　　　　　　　
  Koichi Nishimura; Toshiaki Tsuji; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：126, Number：8, First page：1119, Last page：1125, 2006
  Japanese
  DOI：https://doi.org/10.1541/ieejias.126.1119
  DOI ID：10.1541/ieejias.126.1119, ISSN：0913-6339, CiNii Articles ID：10018182080, SCOPUS ID：33746889781
• マルチレートサンプリング手法を用いた加速度制御系の実現　　　　　　　　　　　　　　　
  水落麻里子; 辻俊明; 大西公平
  電気学会産業応用部門誌, Volume：126, Number：3, First page：261, Last page：268, 2006
  DOI：https://doi.org/10.1541/ieejias.126.261
  DOI ID：10.1541/ieejias.126.261, ISSN：0913-6339, CiNii Articles ID：10017276486
• A Controller Design Method of Decentralized Control System　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Hiroaki Nishi; Kouhei Ohnishi
  IEEJ Trans. on Industry Applications, Volume：126, Number：5, First page：630, Last page：638, 2006
  DOI：https://doi.org/10.1541/ieejias.126.630
  DOI ID：10.1541/ieejias.126.630, ISSN：0913-6339
• Oscillation Control of Suspended Load with Flywheels　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：125, Number：6, First page：548, Last page：553, 01 Sep. 2005
  English
  DOI：https://doi.org/10.1541/ieejias.125.548
  DOI ID：10.1541/ieejias.125.548, ISSN：1348-8163, CiNii Articles ID：10015671780, SCOPUS ID：85006593628
• Performance Assessment of Attitude Control Device with Flywheels　　　　　　　　　　　　　　　
  TSUJI Toshiaki; NISHIMURA Kouichi; OHNISHI Kouhei
  Volume：2005, Number：58, First page：111, Last page：116, 10 Mar. 2005
  Japanese
  CiNii Articles ID：10015555318, CiNii Books ID：AN10074226
• Realization of Acceleration Control Using Multirate Sampling Method　　　　　　　　　　　　　　　
  MIZUOCHI Mariko; TSUJI Toshiaki; OHNISHI Kouhei
  Volume：2005, Number：1, First page：49, Last page：54, 09 Mar. 2005
  Japanese
  CiNii Articles ID：10015554793, CiNii Books ID：AN10074226
• Bilateral Teleoperation through Networks　　　　　　　　　　　　　　　
  NATORI Kenji; TSUJI Toshiaki; YAKOH Takahiro; OHNISHI Kouhei
  Volume：2005, Number：16, First page：41, Last page：46, 09 Mar. 2005
  Japanese
  CiNii Articles ID：10015554888, CiNii Books ID：AN10074226
• 機能モードに基づくバイラテラル制御による力伝達について　　　　　　　　　　　　　　　
  大西 公平; 辻 俊明
  Volume：2005, First page：15, Last page：20, 01 Mar. 2005
  Japanese
  CiNii Articles ID：10014005272, CiNii Books ID：AA11137068
• フライホイールによる吊り荷の振動制御　　　　　　　　　　　　　　　
  辻俊明; 大西公平
  電気学会産業応用部門誌, Volume：125, Number：6, First page：548, Last page：553, 2005
  DOI：https://doi.org/10.1541/ieejias.125.548
  DOI ID：10.1541/ieejias.125.548, ISSN：0913-6339, CiNii Articles ID：10015671780
• A Global Step Planning Method for Biped Robot Considering Obstacles　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：124, Number：6, First page：549, Last page：555, 01 Sep. 2004
  English
  DOI：https://doi.org/10.1541/ieejias.124.549
  DOI ID：10.1541/ieejias.124.549, ISSN：1348-8163, CiNii Articles ID：10013069975, SCOPUS ID：51349091188
• Construction of Bilateral Tele-manipulation System Considering Time Varying Communication Delay　　　　　　　　　　　　　　　
  TSUJI Toshiaki; KATO Atsushi; OHNISHI Kouhei; ALES Hace; KAREL Jezernik
  Volume：2004, Number：24, First page：111, Last page：116, 11 Mar. 2004
  Japanese
  CiNii Articles ID：10014507320, CiNii Books ID：AN10074226
• 障害物を考慮した2足歩行ロボットの着地点制御　　　　　　　　　　　　　　　
  辻俊明; 大西公平
  電気学会産業応用部門誌, Volume：124, Number：6, First page：549, Last page：555, 2004
  DOI：https://doi.org/10.1541/ieejias.124.549
  DOI ID：10.1541/ieejias.124.549, ISSN：0913-6339, CiNii Articles ID：10013069975
• A Design of Decentralized Control System in Unstrnctured Environment　　　　　　　　　　　　　　　
  Daiki Ito; Takashi Kageyama; Jun Suzuki; Toshiaki Tsuji; Mitsuharu Morisawa; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：123, Number：10, First page：1219, Last page：1226, 01 Sep. 2003
  English
  DOI：https://doi.org/10.1541/ieejias.123.1219
  DOI ID：10.1541/ieejias.123.1219, ISSN：1348-8163, CiNii Articles ID：10011752021, SCOPUS ID：34250002711
• A Design of Decentralized Control System in Unstrnctured Environment　　　　　　　　　　　　　　　
  Daiki Ito; Takashi Kageyama; Jun Suzuki; Toshiaki Tsuji; Mitsuharu Morisawa; Kouhei Ohnishi
  IEEJ Transactions on Industry Applications, Volume：123, Number：10, First page：1219, Last page：1226, 01 Sep. 2003
  English
  DOI：https://doi.org/10.1541/ieejias.123.1219
  DOI ID：10.1541/ieejias.123.1219, ISSN：1348-8163, CiNii Articles ID：10011752021, SCOPUS ID：34250002711
• A Control of Biped Robot with Linear Inverted Pendulum Mode which Applies Virtual Supporting Point　　　　　　　　　　　　　　　
  TSUJI Toshiaki; OHNISHI Kohei
  Volume：2002, Number：15, First page：19, Last page：24, 11 Mar. 2002
  Japanese
  CiNii Articles ID：10024604364, CiNii Books ID：AN10074226
• 2足歩行ロボットの環境に応じた軌道計画法　　　　　　　　　　　　　　　
  辻俊明; 大西公平
  Volume：122-D, Number：11, First page：1076, Last page：1081, 2002
  DOI：https://doi.org/10.1541/ieejias.122.1076
  DOI ID：10.1541/ieejias.122.1076
• 2足歩行ロボットの環境に応じた軌道計画法　　　　　　　　　　　　　　　
  辻俊明; 大西公平
  電気学会産業応用部門誌, Volume：122-D, Number：11, First page：1076, Last page：1081, 2002
  DOI：https://doi.org/10.1541/ieejias.122.1076
  DOI ID：10.1541/ieejias.122.1076

• 2007
• 2008

• Jan. 2019 - Present, IPSJ
• SICE
• RSJ
• IEEE
• IEEJ

• Construction of a motion analysis system with less interference with skillful movements　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), 01 Apr. 2021 - 31 Mar. 2024
  Saitama University
  Grant amount(Total)：17420000, Direct funding：13400000, Indirect funding：4020000
  Grant number：21H01280
• 職人の動作を学習・再現する研磨ロボットのための教示システム の開発　　　　　　　　　　　　　　　
  Jul. 2020 - Mar. 2021
  Principal investigator
• HDR運動解析技術に基づく組立てロボットの研究開発　　　　　　　　　　　　　　　
  Jul. 2018 - Mar. 2020
  Principal investigator
• 空気圧人工筋を有する筋骨格ロボットによる連続跳躍の実現　　　　　　　　　　　　　　　
  Apr. 2018 - Mar. 2019
  Principal investigator
• 触覚情報利活用のための運動データ圧縮技術　　　　　　　　　　　　　　　
  Apr. 2018 - Mar. 2019
  Principal investigator
• Skill Reproduction and Motion Feature Extraction Based on Haptic Information　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Grant-in-Aid for Scientific Research (B), Apr. 2016 - Mar. 2019
  TSUJI Toshiaki; Kubota Keisuke; Okawara Hiroshi, Saitama University
  Grant amount(Total)：15470000, Direct funding：11900000, Indirect funding：3570000
  This project aimed at develping a motion control technique for dexterous manipulation. Since dexterous manipulation needs to solve the trajectory planning under physical constraints, a neural network system learning from database generated by simulation based on model predictive control was developed. The experimental demonstration of a pancake flapping motion shows that the proposed method solves the trajectory planning issue under kinodynamic constraints. It was also shown that the proposed method shows a high generalization performance. An algorithm to identify success/failure of the motion was added to improve the learning performance of the system.
  Grant number：16H04311
• 触覚バイオフィードバックに基づく追突防止補助システムの開発　　　　　　　　　　　　　　　
  Feb. 2018 - Jan. 2019
  Principal investigator
• リハビリ支援ロボット　　　　　　　　　　　　　　　
  Apr. 2016 - Mar. 2017
  Principal investigator
• Environment Recognition for Human Support Robot Based on Haptic Sensation　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Grant-in-Aid for Scientific Research (C), Apr. 2012 - Mar. 2015
  TSUJI Toshiaki, Saitama University
  Grant amount(Total)：5330000, Direct funding：4100000, Indirect funding：1230000
  This project proposed a signal processing technique for human-support systems based on force sensors. The technique enables the extraction of the contact information between human and machines. As an example of application, a desk with tactile sensation has been developed and used as a prototype for examining the performance of signal processing. Through the examination, it has been shown that the technique extracts many kinds of information from a limited number of force sensing device.
  Grant number：24560539
• Research and Development on Platform of Science andEngineering for Human Support Based on Real-World Haptics　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (S), 2008 - 2012
  OHNISHI Kouhei; MORIKAWA Yasuhide; OZAWA Souji; OHISHI Kiyoshi; UCHIMURA Yutaka; TSUJI Toshiaki; SHIMOJIMA Naoki; ATSUTA Koji; KATSURA Seiichiro, Keio University
  Grant amount(Total)：148590000, Direct funding：114300000, Indirect funding：34290000
  By propelling collaborative research between medicine and engineering,“Platform of Science and Engineering for Human Support” was created on the basis of “Real-WorldHaptics”. The research realized extraction, reproduction of individual skill, and enhancem
  Grant number：20226007
• Human Support Robotics Based on Haptic Recognition　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), 2010 - 2011
  TSUJI Toshiaki, Saitama University
  Grant amount(Total)：4160000, Direct funding：3200000, Indirect funding：960000
  Haptic modality is one of the most important considerations in man-machine communication. Therefore, this project developed a technique to recognize commands based on the signals from tactile sensors.
  Firstly, the command recognition technique so-calledhaptic gesturewas developed for efficient operation of a human support robot. Since the tactile sensor has drawbacks of low stiffness and low strength, a mechanism with multiple supporting points was developed. It was shown that the recognition rate improves with the multiple supporting point mechanism.
  Secondly, a whole-body force sensation algorithm for a non-convex shaped end-effector was developed. The limitation on the shape of the tactile sensor was eliminated with this algorithm.
  Thirdly, this project introduced a personal identification technique based on force information of finger tracing. Compared to other biometric methods, the proposed method has the advantage of high security due to the non-visible nature of force information.
  Grant number：22760312
• Realization of Robust Acceleration Control Based on Optical Encoder　　　　　　　　　　　　　　　
  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), 2007 - 2008
  TSUJI Toshiaki, Saitama University
  Grant amount(Total)：3560000, Direct funding：3200000, Indirect funding：360000
  Grant number：19760291