VRによる身体化と視覚効果を用いたリーチングシステムの開発
中村 昂平; 菅田 陽怜; 三木 将仁; 原 正之
Volume：25, Number：Suppl.1, First page：62, Last page：62, Jan. 2023
Japanese
eISSN：2436-6382, 医中誌Web ID：2023161155
MEG環境下で使用可能なハプティックデバイスの開発
祖父江 祐太; 大鶴 直史; 菅田 陽怜; 三木 将仁; 大西 秀明; 原 正之
Volume：25, Number：Suppl.1, First page：21, Last page：21, Jan. 2023
Japanese
eISSN：2436-6382, 医中誌Web ID：2023161073
身体化錯覚が生じた部位に対する視覚刺激が疼痛感覚に及ぼす影響
竹尾雄飛; 竹尾雄飛; 原正之; 大平岳; 菅田陽怜; 菅田陽怜
Volume：50, Number：5, 2022
ISSN：2188-031X, J-Global ID：202302251208063535
Design of MEG-Compatible Thermal Display for Experimental Induction Thermal Grill Illusion
祖父江祐太; 大鶴直史; 菅田陽怜; 三木将仁; 大西秀明; 原正之
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), Volume：23rd, 2022
J-Global ID：202302249346641617
触覚刺激に起因する情動反応に感性的および物理的要因が与える影響
金山範明; 原正之; 山脇成人
日本心理学会大会発表論文集, Volume：83rd, First page：503, Aug. 2019
Japanese
J-Global ID：201902262363131834
α-tACSは視覚運動学習時の誤差修正を促進する
原田 太樹; 原 正之; 松下 光次郎; 川上 健二; 兒玉 雅明; 河上 敬介; 菅田 陽怜
Volume：46, Number：Suppl.1, First page：P3, Last page：2, Aug. 2019
Japanese
ISSN：0289-3770, eISSN：2189-602X, 医中誌Web ID：T906481778
ぼかした身体イメージを注視することによる身体所有感
長谷川輝; 岡本正吾; RAJAEI Nader; 原正之; 金山範明; 秋山靖博; 山田陽滋
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), Volume：19th, First page：ROMBUNNO.1B2‐09, 13 Dec. 2018
Japanese
J-Global ID：201902235461890582
視線操作による周辺視の度合いがラバーハンド錯覚に及ぼす影響
國松勇希; 原正之; 岡本正吾; 金山範明; 三木将仁; 高崎正也; 水野毅
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), Volume：19th, First page：ROMBUNNO.1B3‐02, 13 Dec. 2018
Japanese
J-Global ID：201902267226536367
摂食・嚥下処理モデルの先行期における個人の食物嗜好性が脳律動に与える影響
田代 尚千恵; 菅田 陽怜; 池田 尊司; 松下 光次郎; 原 正之; 藤木 稔; 河上 敬介
臨床神経生理学, Volume：46, Number：5, Oct. 2018
(一社)日本臨床神経生理学会, Japanese
ISSN：1345-7101, 医中誌Web ID：SB01480306
鏡を用いた曖昧な自己認識がラバーハンドイリュージョンを促進する
伊藤謙; 岡本正吾; 原正之; 金山範明; 山田陽滋
日本ロボット学会学術講演会予稿集(CD-ROM), Volume：36th, First page：ROMBUNNO.2J1‐01, 04 Sep. 2018
Japanese
J-Global ID：201802235953312642
Pressurization test of polyimide air chamber aimed at lunar landing airbag Yamaguchi Daisuke; Takahashi Yosuke; Sato Ryo; Ishino Yuji; Otsuki Masatsugu; Yoshimitsu Tetsuo; Yoshikawa Kento; Hara Masayuki; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting,
Volume：2017A,
First page：743,
Last page：744, 2017
NASAのロケットシステムSLSに相乗りするCubeSatの一つとして，超小型月面技術実証機OMOTENASHIの開発が進められている．OMOTENASHIではソフトランディングが行えないため，月面との衝突緩和を目的としてエアバッグの使用が提案されている．本発表では，エアバッグへの使用を検討しているポリイミドフィルム製空気室の構造と基礎特性について述べる．
The Japan Society for Precision Engineering, Japanese
DOI：https://doi.org/10.11522/pscjspe.2017a.0_743DOI ID：10.11522/pscjspe.2017a.0_743,
CiNii Articles ID：130006434599 443 Development of 3-component Force Measurement Apparatus Using Zero-compliance mechanism : 1st report: Basic Concepts and Fabrication of Measurement Device
IIDA Keisuke; MIZUNO Takeshi; TAKASAKI Masaya; ISHINO Yuji; YAMAGUCHI Daisuke; HARA Masayuki
Dynamics and Design Conference : D & D, Volume：2015, First page："443, Last page：1"-"443-7", 25 Aug. 2015
Zero-compliance mechanism is applied to micro-force measurement. The system makes it possible to estimate the force from the displacement of a detection point without displacing the point of force. The efficacy was proved by an experimental apparatus uses a parallel springs and a voice coil motor as an actuator. However, the accuracy of measurement was limited because of independent four single-axis measurement units. To solve such a problem, a structurally-integrated measurement unit to is developed. In this work, an apparatus for 3-component force measurement is designed and fabricated.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110010054212, CiNii Books ID：AA11901770
214 Study on AC Magnetic Suspension Using Magnetic Resonant Coupling : 4th report: Evaluation of Suspension Characteristics
KORIKAWA Tomoyuki; MIZUNO Takeshi; TAKASAKI Masaya; ISHINO Yuji; HARA Masayuki; YAMAGUCHI Daisuke
Dynamics and Design Conference : D & D, Volume：2015, First page："214, Last page：1"-"214-6", 25 Aug. 2015
The characteristics of the AC magnetic suspension system using magnetic resonant coupling are studied experimentally. The treated suspension system has self-stabilization characteristics so that noncontact suspension can be achieved without any active control. An experimental apparatus has been fabricated which has three pairs of primary and secondary electromagnets for three-axis suspension; the three primary electromagnets are fixed to the stator, and the three secondary electromagnets are fixed to the floator. Stable noncontact suspension has been achieved by supporting the stator through springs and dampers from the base. The characteristics of the achieved suspension system are studied experimentally.
The Japan Society of Mechanical Engineers, Japanese
ISSN：1348-0235, CiNii Articles ID：110010051810, CiNii Books ID：AA11901770
1P2-U03 Prototyping of soft actuator for space environment
YAMAGUCHI Daisuke; HANAKI Tatsuya; ISHINO Yuji; HARA Masayuki; TAKASAKI Masaya; MIZUNO Takeshi
Volume：2015, First page："1P2, Last page：U03(1)"-"1P2-U03(2)", 17 May 2015
In this paper, we tried to fabricate a soft film actuator that have a large size and lightweight. The length, width and weight of the actuator are 6.41m, 0.51m, and 564g, respectively. The actuator has an air chamber with pleated sheet structure. The actuator could not expand enough to drive when air pressure was applied to it. An upper and lower film was drawn by air flow and a flow channel on the actuator was closed. This problem caused by increasing in size of film structure. Previous soft film actuator was small-size and elastic force of films were larger than a force generated by an air flow. To develop a large soft film actuator, we need a new inlet for film structure.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110010055096, CiNii Books ID：AA11902933
1P2-J02 Relationship between the Senses of Agency and Body Ownership
HARA Masayuki; YAMAGUCHI Daisuke; ISHINO Yuji; TAKASAKI Masaya; MIZUNO Takeshi
Volume：2015, First page："1P2, Last page：J02(1)"-"1P2-J02(3)", 17 May 2015
The rubber hand illusion (RHI) is one of the most famous bodily illusions, which has been often used to discuss the sense of body ownership. In the present study, the RHI was induced under active and passive self-touches by using a robotic master-slave system, and we examined the effect of voluntary action on the RHI. Based on the results, the present paper discusses the relationship between voluntary action and the sense of body ownership.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110010054989, CiNii Books ID：AA11902933
1A1-A05 Prototyping and Evaluation of Soft Actuator using Polyimide Films for Low Temperature Environment
HANAKI Tatsuya; YAMAGUCHI Daisuke; ISHINO Yuji; HARA Masayuki; TAKASAKI Masaya; MIZUNO Takeshi
Volume：2015, First page："1A1, Last page：A05(1)"-"1A1-A05(3)", 17 May 2015
Liquid nitrogen temperature is an important environment in biological and medical scientific areas. An actuator which has a high safety in a low-temperature environment is required. In this study, we fabricated and evaluated a soft film actuator for a liquid nitrogen temperature environment. The actuator was made by using polyimide films. The fabricated actuator generates a bending motion by applying positive pressure. A bending angle and generated torque of the actuator were formulated. Additionally, these characteristics were evaluated at room temperature and liquid nitrogen temperature. A bending deformation of the actuator was generated when a deferential pressure was about 3 kPa. Compared with a driving performance at room temperature, the performance at liquid nitrogen temperature was decreased. We have succeeded in driving the actuator at 78K.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110010052872, CiNii Books ID：AA11902933
1A1-B06 Effect of Decelerators in Haptic Devices on Human Sensation
TAMBO Noriaki; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2009, First page："1A1, Last page：B06(1)"-"1A1-B06(3)", 25 May 2009
Recently, the advancement of virtual reality technologies can provide various force sensations to users. With regard to studies on the haptic interface, most researchers have focused on the development of the haptic interfaces. So, these devices are constructed by using several decelerators. it is supposed that various types of decelerators individually cause the different effects on in the force/position display performance; it may also affect human force sensation. Then, this study tries to evaluate impressions given by the devices, are displayed virtual stiffness. SD method and factor analysis have been applied to evaluate the impression. As a result, decelerators and control methods affect impressions like activity and smoothness.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008697563, CiNii Books ID：AA11902933
Integration of Impedance Control and Manipulability Regulation for a Finger-Arm Robot
Jian Huang; Daisuke Yamada; Takayuki Hori; Masayuki Hara; Tetsuro Yabuta
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, First page：891, Last page：+, 2009, [Reviewed]
Motion control algorithms were proposed for a 9-DOF finger-arm robot by using the finger manipulability obtained in a previous study. However, in the previous study, only methods for achieving unconstrained movement of the finger-arm robot were discussed. In this paper, the authors propose a novel method for having a finger-arm robot complete a constrained task by integrating impedance control with manipulability control of the finger. First, methods of applying the previous heuristic method to the passive impedance control and the active impedance control were developed; and experiments were performed to demonstrate the features. Then, an impedance control combined with the steepest ascent method to modulate the manipulability of the finger was proposed. The proposed method demonstrates a strong performance even when a dynamic external force is applied to the finger. By using the proposed method, the arm actively moves along a direction to effectively maintain the moving potential of the finger during both the unconstrained and the constrained tasks.
IEEE, English
ISSN：1050-4729, Web of Science ID：WOS:000276080400145
1P1-H18 Quantitative Evaluations of Human Force Sensations Generated by Various Actuator Architectures Embedded in Haptic Interface
TAMBO Noriaki; HARA Masayuki; ASHITAKA Naoya; HUANG Jian; YABUTA Tetsuro
Volume：2008, First page："1P1, Last page：H18(1)"-"1P1-H18(4)", 06 Jun. 2008
Recently, the advancement of virtual reality technologies can provide various force sensations to users. With regard to studies on the haptic interface, most researchers have focused on the development of the haptic interfaces. So, these devices are constructed by using several decelerators. It is supposed that various types of decelerators individually cause the different effects on in the force/position display performance ; it may also affect human force sensation. Then, in this study, we developed haptic devices with four types of decelerators and compared their force/position display performances. Further, this paper attempts to how the decelerators affect human force sensations when employing haptic devices.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008696169, CiNii Books ID：AA11902933
1A1-I07 Measurement of Movement of the Human Upper Limb and Influence of Vision
NOSAKA Hironori; KOSAKA Syo; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2008, First page："1A1, Last page：I07(1)"-"1A1-I07(4)", 06 Jun. 2008
In late years the study that is going to realize human good movement to a robot by the development of the robot technology becomes popular, and the concrete application is enabled if we can analyze human movement mechanism. However, the movement generation mechanism is affected by various factors, and analysis / the consideration that considered all of them is difficult. Therefore at first, in this study, I paid my attention to connection of sight with the movement generation mechanism. How do acquire and handle given sight information? And what kind of influence does the sight information have on movement generation and the precision? I performed the orbit flattery experiment of the human being arms which I used an ocular movement experiment and a motion capture system for and tried analysis.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008695980, CiNii Books ID：AA11902933
1A1-I05 Effects of Muller-Lyer Illusion on Movement of human upper limb
KOSAKA Sho; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2008, First page："1A1, Last page：I05(1)"-"1A1-I05(3)", 06 Jun. 2008
It is generally thought that human beings have high-performance system in body movement. However, the mechanisms of body movement have not been clarified completely. It is believed that human beings unconsciously estimate the spatial depth from the two-dimensional figure projected on the retina to understand the three-dimensional space. This paper focuses on relations between human motion and vision in order to reveal mechanisms between human motion and cognition. In this study, we attempt to examine the effect of Miiller-Lyer illusion, which is a typical optical illusion, on human cognition and motion by using motion capture system. Based on the examination, this paper discusses an interaction between human motion and human cognition.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008695978, CiNii Books ID：AA11902933
1A1-F18 Relationship between Human Senses and Servomechanism in Force Telecommunication
ASHITAKA Naoya; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2008, First page："1A1, Last page：F18(1)"-"1A1-F18(4)", 06 Jun. 2008
There are many methodology of telecommunication, for example cellar phone, e-mail, and video chat, etc. And the configuration has changed dramatically with the advancement of multimedia technology. The current configuration features audio and visual display technology. In addition, it is expected that a force display would further expand application fields of multimedia services and ground the configuration of telecommunication more in reality. This paper proposes a hybrid Master/Slave system and compliance control system for interactive force telecommunication between Human beings. And we consider questions about difference between hybrid system and compliance control from viewpoint of human feelings. Furthermore this study tries to consider about relationship between human recognition and force feelings.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008695922, CiNii Books ID：AA11902933
2A1-H22 Impedance Control of a Finger-Arm Robot by controlling Finger's Manipulability
YAMADA Daisuke; NAKAMURA Yusuke; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2008, First page："2A1, Last page：H22(1)"-"2A1-H22(4)", 06 Jun. 2008
This paper describes control method for a finger-arm robot to achieve the manipulability control and the impedance control in a three-dimensional space at the same time. Firstly, the control loop of the passive impedance using the previous heuristic method is proposed, and the experiments are completed with the proposed method. Secondly, the algorithm of the steepest ascent method to control the manipulability of the finger robot is also proposed for the impedance control. The effectiveness was shown in the optimization process of the manipulability. The proposed method gives advantages of enlarging the impedance space, singularity avoidance and avoidance of unexpected obstacles.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008696389, CiNii Books ID：AA11902933
Control of a finger-arm robot by employing the steepest ascent method to modulate the finger's manipulability Jian Huang; Minoru Harada; Daisuke Yamada; Masayuki Hara; Tetsuro Yabuta
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008,
[Reviewed]Human beings usually locate their hand at the position with a higher moving potential in order to easily deal with various situations. Inspired by the human hand-arm movement, this study proposes a motion control issue for a serial-linkage finger-arm robot according to Wf By using the proposed SAM, the finger robot primarily moves, whereas the arm moves to augment the working space of the finger when the finger manipulability reduces below a given reference. The performance of the proposed SAM with regard to regulating the finger's manipulability is more efficient than that of the previous HA in both the free motion and the stiffness control.
English
DOI：https://doi.org/10.1109/IROS.2008.4651247DOI ID：10.1109/IROS.2008.4651247,
SCOPUS ID：69549124153 1A2-F04 Approach for Basic Property of Force Telecommunication System from Human Sensory Aspect
ASHITAKA Naoya; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2007, First page："1A2, Last page：F04(1)"-"1A2-F04(4)", 11 May 2007
Recently, advancement of virtual reality technologies can provide various force sensations to users. In addition to current visual and audio display technologies, it is expected that a force display would further expand application fields of multimedia services. This study develops two haptic interfaces with 3'DOF for force telecommunication that have an orthodox parallel linkage using two kinds of actuators, this paper details the fundamental property of these devices. Further, this paper tries to reveal the relationships between human sensations and system architecture such as servomechanism in order to realize force telecommunication with reality.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008695091, CiNii Books ID：AA11902933
1A2-F03 Examination of Human Weight Perception Using a Force Display Device
HARA Masayui; YAMAGISHI Takeo; ASHITAKA Naoya; HUANG Jian; YABUTA Tetsuro
Volume：2007, First page："1A2, Last page：F03(1)"-"1A2-F03(4)", 11 May 2007
This paper demonstrates human weight perception for sudden weight changes during a lifting process. It is well known that human motion has an unimodal velocity profile including the acceleration and deceleration zones in a reaching task, which has a start and the goal points. This study attempts to reveal the difference of human weight perceptions between two zones by giving some magnitudes of weight changes with a force display device; especially, we investigate the difference threshold (DL: Differenz Limen) in the weight perception. The results show that human weigh perception tends to become more sensitive in the deceleration zone. Further, this paper shows the effectiveness of virtual reality technologies for physical experiments.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008695090, CiNii Books ID：AA11902933
Basic study on sensory aspects of a master/slave system for force telecommunication
Masayuki Hara; Jian Huang; Young-Mi Jung; Tetsuro Yabuta
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, First page：1706, Last page：1711, 2006, [Reviewed]
The advancement of multimedia services including audio/visual media has been rapid. The applications of cellular phones, in particular, have increased by using these technologies. In addition, if force telecommunication were realized, force information would become a next leading factor in the multimedia service. In this field, a robotic master/slave system is a leading candidate. This system has been studied as a teleoperation system between an operator and an environment; the operator controls only the master device whereas the slave device is never controlled. For multimedia applications, such systems require flexibility and bidirectionatity because force telecommunication must consider the interactions between users.
This paper details the fundamental issues of force communication from a viewpoint of human perception. With regard to the control system, this study uses an integrated hybrid control master/slave system that helps to find a key factor of equal bilateral force telecommunication in the sensory aspect. The employed system has a function to change the proportion of force display to position display by varying a weight parameter. We discuss the basic control performance of a force telecommunication system and evaluate qualitative feelings of users by using a psychological evaluation method.
IEEE, English
Web of Science ID：WOS:000245452401118
Study on motion forms of a two-dimensional mobile robot by using reinforcement learning
Youngmi Jung; Masashi Inoue; Masayuki Hara; Jian Huang; Tetsuro Yabuta
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, First page：1110, Last page：+, 2006, [Reviewed]
The main advantage of Reinforcement Learning is that it provides unexpected solutions for a designer. This study shows how a mobile robot can obtain unexpected motion forms by using Reinforcement Learning. Results show the the mobile robot with two-dimensional mobile ability can obtain unexpected motion forms for both advance motion and rotation motion. The mechanisms for these motions were investigated in order to understand how to obtain these motions. Moreover, since this system has a two-dimensional factor, this study examines the learning characteristic for the oblivion of the learning knowledge. In addition, this study examines the learning of the knowledge manipulation method to obtain new learning results with respect to the two-dimensional factor.
IEEE, English
Web of Science ID：WOS:000246237601034
2A1-E17 Two-dimensional Motion Acquisition of a Mobile Robot by Reinforcement Learning Method
INOUE Masashi; SAO Masataka; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2006, First page："2A1, Last page：E17(1)"-"2A1-E17(4)", 2006
Until now, several studies on the action of the robot with Reinforcement Learning method have already been reported. However, most of these studies are concerned with only 1-dimensional action. This paper shows how the robot with Q-Learning, which is one of Reinforcement Learning methods, acquires 2-dimensional motions. In addition, this paper attempts to analyse how the articulated robot obtain the advance actions. These results also imply that the robot can obtain unexpected motion without a teacher, which is most important advantage of the Reinforcement Learning. Finally, this paper shows the interaction effect of reward between in direction of x and in direction of y.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008694071, CiNii Books ID：AA11902933
2A1-E09 Design of Gecko-shaped Robot and Its Application for Learning Control
SATOU Yoshikazu; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2006, First page："2A1, Last page：E09(1)"-"2A1-E09(4)", 2006
In our previous studies, we tried to acquire the motion of a caterpillar robot and a starfish robot by use of reinforcement learning. The results demonstrated that the robots started very attractive and unexpected motions. However, these robots could use only the few motion patterns because of lack of degree of freedom. Then, this study designed a new gecko-shaped robot with 12 DOF in order to acquire the complex motions with the learning algorithm. The robot performed very smooth walking by heuristic method Therefore, the designed robot has the potential to acquire the unexpected and reasonable walking motion by the learning algorithm.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008694063, CiNii Books ID：AA11902933
2P2-C18 Basic Study on Application of Master/Slave System for Force Telecommunication
JUNG Youngmi; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2006, First page："2P2, Last page：C18(1)"-"2P2-C18(4)", 2006
This study approached the master/salve system from a viewpoint of force telecommunication between human beings. In the process of the approach, we noticed some technical issues in the force communication. In this study, we focused on the parallel control master/slave system that is considered as a leading candidate of bilateral force communication. We propose the unique parallel control master/slave system with both position and force servomechanisms based on conventional master/slave system. By using proposed control method, we considered the basic control problems for the force telecommunication system and examined the effect to human perception by servomechanisms.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008694346, CiNii Books ID：AA11902933
2P1-A16 Visual Effect of Spatial Depth Clue on Size-Weight Illusion
HARA Masayuki; HIGUCHI Takahiro; HUANG Jian; YABUTA Tetsuro
Volume：2006, First page："2P1, Last page：A16(1)"-"2P1-A16(4)", 2006
In general, human beings unconsciously estimate the spatial depth from the two-dimensional figure projected on the retina to understand the three-dimensional space. It is thought that such estimation based on the previous experiences produces various visual illusions like Muller-Lyer visual illusion, Ponzo visual illusion, etc. This paper attempts to examine an effect of a spatial depth clue on the weight perception by using a virtual reality technology. Then, this study focused on the size-weight illusion in which human beings surely perceive the object with large volume being light when comparing the weights of two objects with same weight and different volume. The results imply the possibility to reveal an attractive brain function of human beings.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008694101, CiNii Books ID：AA11902933
1P1-D05 An analysis on Size-Weight Illusion Using Haptic Interface
OHTAKE Ayaka; YABISAKI Hitoshi; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
Volume：2006, First page："1P1, Last page：D05(1)"-"1P1-D05(3)", 2006
In this paper, we tried to reexamine Size-Weight Illusion on Virtual environment using Haptic Interface. However we can't confirm the Size-Weight illusion. Therefore we reexamined the Size-Weight Illusion not only with vision, but also without vision on Real environment. These results imply that there exists the relationship between the illusion and people's awareness of an object's size.
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110008693851, CiNii Books ID：AA11902933
1P1-N-037 A study on Size-Weight Illusion Using Haptic Interface : Relationship between Human Kinesthesia and Weight Perception(Haptic Interface 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
OHTAKE AYAKA; HARA MASAYUKI; HUANG JIAN; YABUTA TETSURO
Volume：2005, First page：55, Last page：55, 09 Jun. 2005
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110006210020, CiNii Books ID：AA11902933
1P1-N-073 Analysis of Weight Perceptual Mechanism Using Virtual Reality and Its Application(Bio-mechatronics/Sense, Motion and Measurement 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
HARA MASAYUKI; HIGUCHI TAKAHIRO; OHTAKE AYAKA; HUANG JIAN; YABUTA TETSURO
Volume：2005, First page：62, Last page：62, 09 Jun. 2005
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110006210049, CiNii Books ID：AA11902933
Dynamic Manipulation of Sphere on the Flat Plate using Force Information
Hara M; Tanaka Y; Yabuta T
Volume：2004, First page：110, Last page：110, 18 Jun. 2004
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110004069797, CiNii Books ID：AA11902933
Force Display Method from Virtual Objects using Haptic Interface
Hara M.; Yamaguchi T.; Honma J.; Higuchi T.; Yabuta T.
Volume：2003, First page：21, Last page：21, 2003
位置サーボ系と力サーボ系で構成したハプティックインターフェイスの力提示能力の違いについて明らかにした。また, 立方体等の簡単な仮想対象物を構築し, それに仮想的な質量を与え, 摩擦面上で操作した場合の特性について検討する。
The Japan Society of Mechanical Engineers, Japanese
CiNii Articles ID：110002506019, CiNii Books ID：AA11902933
視覚誤差課題を用いた仮想環境における運動学習と実環境における運動学習の転移
竹尾 雄飛; 原 正之; 安元 優衣; 菅田 陽怜
Jan. 2024
Jan. 2024 - Jan. 2024, Japanese
ペルチェ素子を用いた温感提示がMEG計測に及ぼす影響
祖父江 祐太; 大鶴 直史; 菅田 陽怜; 三木 将仁; 大西 秀明; 原 正之
Jan. 2024
Jan. 2024 - Jan. 2024, Japanese
Test of independence model between body ownership and agency in a virtual reality environment
Asaki Kawaguchi; Shogo Okamoto; Masayuki Hara
2023 IEEE 12th Global Conference on Consumer Electronics (GCCE), Oct. 2023, IEEE
Oct. 2023 - Oct. 2023
Virtual realityによる人工的な身体所有感の変調がもたらす体性感覚への影響
白川 優奈; 原 正之; 池永 瑞保; 竹尾 雄飛; 菅田 陽怜
Dec. 2021
Dec. 2021 - Dec. 2021, Japanese
安静時脳機能結合のcross-network interactionを用いた運動学習能力の予測
菅田 陽怜; 八木 和広; 矢澤 省吾; 長瀬 泰範; 鶴田 和仁; 池田 尊司; 野嶌 一平; 松下 光次郎; 原 正之
Dec. 2021
Dec. 2021 - Dec. 2021, Japanese
実環境での運動学習が仮想環境での運動学習に与える影響
竹尾 雄飛; 原 正之; 白川 優奈; 菅田 陽怜
Dec. 2021
Dec. 2021 - Dec. 2021, Japanese
Realization of Vibration Absorption at Multiple Frequencies on Vacuum Chamber with Cryopump
Takeshi Mizuno; Takahito Iida; Yuji Ishino; Masaya Takasaki; Daisuke Yamaguchi; Masayuki Hara
2019 12th Asian Control Conference, ASCC 2019, Jun. 2019, Institute of Electrical and Electronics Engineers Inc.
Jun. 2019 - Jun. 2019, English
A vibration isolation device with an active dynamic vibration absorber is developed to remove vibration induced by a cryopump. Cryopump is used to make high-vacuum and low-temperature environments for precise measurement. However, it induces vibrations with multiple frequencies, which may deteriorate measurement accuracy. This study focuses on removing low-frequency vibration because conventional vibration isolation devices for cryopump can hardly remove such vibration. In the developed vibration isolation device, an active vibration absorber is used to remove the vibration efficiently at low frequencies. In this report, the design concept and structure of the fabricated apparatus are described.
Towards Novel Micromanipulations of Submillimeter-Scale Particles in a Laterally-Oscillated Rectangular Container
Masayuki Hara; Takahiro Funabashi; Hiroyuki Nabae; Masahito Miki
2019 12th Asian Control Conference, ASCC 2019, Jun. 2019, Institute of Electrical and Electronics Engineers Inc.
Jun. 2019 - Jun. 2019, English
Our previous study discovered that small particles scattered at the bottom of a water-filled rectangular container align at specific positions when the particles are subject to standing wave induced by laterally oscillating the container at specific frequencies. Also, we identified a method to theoretically estimate the oscillation frequency for aligning the small particles and the positions where several particle lines appear. As the next step, we are currently developing novel micromanipulation methods with this unique phenomenon targeting submillimeter-scale particles. In the present study, this alignment phenomenon is further studied to reveal the potential, especially focusing on the distribution of lateral fluid velocity in vertical direction, the amplitude of lateral oscillation, and the liquid height which have never been discussed in our previous study. This paper examines their relationships with the alignment condition and discusses the applicability of these findings obtained in the present study to develop novel micromanipulation methods of small particles.
How Can We Apply Our Haptic Technologies to Scientific Studies?,
Hara Masayuki
The 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018), Mar. 2018, [Invited], [International conference]
English, Invited oral presentation
Realization of zero-power control in a two-degree-of-freedom double parallel magnetic suspension system
Y. Narisawa; T. Mizuno; M. Takasaki; Y. Ishino; M. Hara; D. Yamaguchi
2017 Asian Control Conference, ASCC 2017, Feb. 2018, Institute of Electrical and Electronics Engineers Inc.
Feb. 2018 - Feb. 2018, English
A basic single-degree-of-freedom magnetic suspension system consists of one floator, one electromagnet and one amplifier. For multi-degree-of-freedom control, multiple electromagnets and multiple amplifiers are necessary, which increases the cost of total system. As a means of overcoming this problem, parallel magnetic suspension has been proposed which controls multiple floators or multi-degree-of-freedom motions with a single power amplifier. This paper focuses on the zero-power control in a two-degree-of-freedom double parallel magnetic suspension system. The steady-state characteristics of this system are clarified by theoretical analysis. When the disturbance acts on one of the suspended points, a steady displacement appears only in the corresponding suspended point. The direction of the steady displacement is opposite to the direction of the disturbance. In addition, the direction of the transient response depends on the point that the disturbance acts on. In experimental apparatus, step response and frequency response are measured to verify the predictions.
Resonance frequency tracking control of ultrasonic transducer for diminished haptics
Masaya Takasaki; Daisuke Yamaguchi; Masayuki Hara; Yuji Ishino; Takeshi Mizuno
2017 Asian Control Conference, ASCC 2017, Feb. 2018, Institute of Electrical and Electronics Engineers Inc.
Feb. 2018 - Feb. 2018, English
Previously, 'diminished haptics' in which real surface texture can be transformed was proposed. Strong intensity ultrasonic vibration was applied to realize demonstration of the concept. To enjoy the demonstration, the intensity of the ultrasonic vibration on solid surface should be maintained. The ultrasonic transducer fabricated for this purpose consisted of a Langevin type ultrasonic transducer and a horn whose end was shaped in square. Large vibration amplitude can be acquired at resonance of the whole transducer as longitudinal vibration mode. On the other hand, resonant frequency easily changes due to operating conditions. To keep the amplitude, the resonant frequency should be tracked by real time. Tracking control with phase detection was applied with a newly developed control system. Step responses of oscillating frequency as results of tracking control are reported. The results show successful tracking control.
Zero-power control of flux-path control magnetic suspension system with flux-interrupting plates
T. Mizuno; M. Takasaki; M. Hara; D. Yamaguchi; Y. Ishino
LDIA 2017 - 11th International Symposium on Linear Drives for Industry Applications, Nov. 2017, Institute of Electrical and Electronics Engineers Inc.
Nov. 2017 - Nov. 2017, English
The feasibility of zero-power control in flux-path control magnetic suspension is discussed. In the flux-path control magnetic suspension system, ferromagnetic control plates are inserted between a permanent magnet (magnetic source) and a floator and moved to vary the flux from the magnetic source to the floator. The zero-power control has been applied in active magnetic suspension with a DC electromagnet. In the zero-power controlled system, the control current was kept virtually zero in the steady states. The applicability of the zero-power control to the flux-path control magnetic suspension is discussed in this paper. The conditions required to achieve the zero-power control is presented in an analytical form. Experiments are carried in a fabricated apparatus to certify the theoretical predictions.
コグネティクス研究の推進-工学面からのアプローチ-(コグネティクス：工学研究者とのコラボによる新しい心理学・脳科学の可能性)
原 正之
Sep. 2017, [Invited], [Domestic conference]
Japanese, Invited oral presentation
コグネティクス：工学と認知神経科学のインタラクション
原 正之
May 2017, [Invited], [Domestic conference]
Japanese, Invited oral presentation
Evaluation of Polyimide Film Welding for Improving Performance of Pneumatic Film Actuator
Kamimura Ryotaro; Yamaguchi Daisuke; Hanaki Tatsuya; Hara Masayuki; Ishino Yuji; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting, 2016, The Japan Society for Precision Engineering
2016 - 2016, Japanese
低温脆性を持つ試料等を低温環境下で操作するアクチュエータの需要が高まっている．これまでに，液体窒素温度環境下で駆動する空圧アクチュエータの試作を行った．このアクチュエータはポリイミドフィルム同士の溶着により製作され，アクチュエータの耐久性や性能には溶着部の状態が大きく影響する．そこで本研究では，ポリイミドフィルム溶着部の評価を行い，アクチュエータに適した溶着条件の選定を行った．
Development of pump using ultrasonic transducer and opposing surface
Nagatani Yoko; Shinada Hiroaki; Isino Yuji; Hara Masayuki; Yamaguchi Daisuke; Takasaki Masaya; Mizuno Takesi
Proceedings of JSPE Semestrial Meeting, 2016, The Japan Society for Precision Engineering
2016 - 2016, Japanese
内部配管を備えた超音波振動子及びテーパ加工を施した対向子によってポンプ効果が発現することが確認されている．第一報では，対向子の外周にテーパ加工を施すと管内の流体を吐出し，中央に施すと管内に流体を吸引できることが報告された．本報では，対向子の表面形状を多様化するために超音波振動子を大型化した．さらに対向面の表面形状の違いによっても流れ方向が変化する事を確認した．その詳細を報告する．
A Simple Action of Right Index Finger Induces Rubber Hand Illusion to Static Left Hand
Masayuki Hara; Noariaki Kanayama; Daisuke Yamaguchi; Yuji Ishino; Masaya Takasaki; Takeshi Mizuno
2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2016, IEEE
2016 - 2016, English
The rubber hand illusion (RHI) is a bodily illusion that a fake rubber hand is felt as if it was one's own hand when both the hands are synchronously stimulated. Also, it is well-known that people can experience the RHI when the movements of the visible fake and invisible real hands are synchronized. However, underlying mechanism of the RHI and relationship between action and body ownership are still open questions. Based on the RHI paradigm, the present paper discusses how the agency of a body part affects the sense of body ownership at the other body part. In this study, we examined if a simple up-and-down action of right index finger induces the RHI to left hand which was kept still by using virtual reality and robotics technologies. Our experimental results indicated that the action of the right index finger allowed the embodiment of the virtual hands at both the right and left hands. This implies that only a simple action of a body part increases the sense of body ownership at the other body part.
Proposal of lateral vibration control based on force detection in magnetic suspension system
Asief Javed; Takeshi Mizuno; Masaya Takasaki; Yuji Ishino; Masayuki Hara; Daisuke Yamaguchi
INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 2016, IOS PRESS
2016 - 2016, English
A method of suppressing vibration in lateral directions is investigated based on varying stiffness strategy. A vertically controlled magnetic suspension system is often subjected to vibration in lightly damped lateral directions. In this paper, a novel approach is proposed to detect the lateral displacement of such magnetic suspension system, and how this displacement can be used to reduce vibration by varying stiffness control is presented. The principle of edge effect is applied to detect the lateral displacement in a magnetic suspension system operated in differential mode. A switching stiffness control and a modified control strategies are used to vary the stiffness of the system in order to reduce lateral vibration. Several experiments are carried out to validate the efficiency of the proposed method.
Prototyping of Soft Film Actuator for Liquid Nitrogen Temperature by Antagonistic Driving Method
Yamaguchi Daisuke; Hanaki Tatsuya; Kamimura Ryotaro; Hara Masayuki; Ishino Yuji; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting, 2015, The Japan Society for Precision Engineering
2015 - 2015, Japanese
本研究ではこれまでに，ポリイミドフィルム同士の接合技術を確立することで，液体窒素温度において低温脆性を生じないソフトアクチュエータを実現している．片面にプリーツを持つ空気室に窒素ガスを印加する事で．アクチュエータは湾曲動作を行う．本稿では，プリーツを有する空気室を対向に配置した構造とすることで，ガス圧による拮抗駆動を実現するアクチュエータを試作した．
Hypotheses and Classification of Restoring Force Principle in Ultrasonic Suspension
Miyake Ken; Yamaguchi Daisuke; Hara Masayuki; Ishino Yuji; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting, 2015, The Japan Society for Precision Engineering
2015 - 2015, Japanese
超音波振動子の振動面近傍で物体が鉛直下向きで非接触支持される．その現象は超音波支持と呼ばれ，その際，振動面に対し水平方向に力が発生することが確認されている．本報では力の発生原理を明らかにするため，仮説の詳細な設定及び分類を行った．また，その仮説の検証に要する判別方法を提案した．
Design of Bolt-clamped Langevin-type transducer for haptic device in high magnetic field
Yamaguchi Daisuke; Hara Masayuki; Ishino Yuji; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting, 2015, The Japan Society for Precision Engineering
2015 - 2015, Japanese
本研究ではこれまでに，スクイーズ膜効果を利用した触覚呈示装置に関して研究を行っている．MRIなど強磁場環境下に本触覚呈示装置を適用することができれば，触覚と脳活動の関係にまで議論を進めることができるものと考える．そこで本稿では，触覚呈示装置の駆動源であるボルト締めランジュバン型振動子について，強磁場環境下における使用を目的とした試作設計を行った．
Efficiency evaluation method for vibration energy harvesting by piezoelectric transducer
Sato Fumiki; Zhang Shuo; Ishino Yuji; Hara Masayuki; Yamaguchi Daisuke; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting, 2015, The Japan Society for Precision Engineering
2015 - 2015, Japanese
圧電振動子を組み込んだ発電機構での圧電振動子の発電効率を評価する方法を提案する．発電機構の圧電振動子に負荷抵抗を接続した時を発電状態，接続していない時を非発電状態とする．発電機構に振動を与えた時，その２つの状態で圧電振動子の変形量を等しくすることで各状態での発電機構に与えたエネルギの差を入力エネルギとして同定する．出力エネルギは負荷抵抗で消費される電気エネルギとすることで発電効率を測定した．
Development of pump using ultrasonic transducer and opposing surface (1st Report)
Shinada Hiroaki; Ishino Yuji; Hara Masayuki; Yamaguchi Daisuke; Takasaki Masaya; Mizuno Takeshi
Proceedings of JSPE Semestrial Meeting, 2015, The Japan Society for Precision Engineering
2015 - 2015, Japanese
超音波振動する面にテーパ加工を施した面を対向させると，ポンプ効果が発現することを見出した．内部配管を備えた超音波振動子及びテーパ加工を施した対向子を製作し，それを用いた超音波ポンプによりゲージ圧測定を行った．その結果より対向子の外周にテーパ加工を施すと管内の流体を吐出し，中央に施すと管内に流体を吸引できることを確認した．本報ではそのポンプ効果の観測結果を報告する．
Precise Positioning Characteristics of Multi-Mode Ultrasonic Motor
Masaya Tkasaki; Zhang Shuo; Masayuki Hara; Daisuke Yamaguchi; Yuji Ishino; Takeshi Mizuno
2015 IEEE INTERNATIONAL ULTRASONICS SYMPOSIUM (IUS), 2015, IEEE
2015 - 2015, English
Previously developed multi-mode ultrasonic motor has three driving modes, which are fast driving mode with figure-of-eight locus resonant vibration, impact driving with saw tooth wave form and DC voltage driving mode. The impact driving mode can be divided into two categories. One utilized resonant vibration (fast) and the other uses individual off resonance vibration (slow). For precise positioning, characteristics of stable driving of the slow impact driving mode and stroke of the DC mode are important. This paper reports the characteristics obtained through experiments.
Comparison of Zero-Power Controllers in Double Parallel Magnetic Suspension System With Parallel Connected Coils
Yoshinori Narisawa; Daisuke Yamaguchi; Masayuki Hara; Masaya Takasaki; Takeshi Mizuno; Yuji Ishino
2015 10TH ASIAN CONTROL CONFERENCE (ASCC), 2015, IEEE
2015 - 2015, English
A basic single-degree-of-freedom magnetic suspension system consists of one floator, one electromagnet and one amplifier. For multi-degrees-of-freedom control, multiple electromagnets and multiple amplifiers are necessary, which increases the cost of total system. As a means of overcoming this problem, parallel magnetic suspension has been proposed where multiple floators are controlled with a single power amplifier. Parallel magnetic suspension systems are classified into two types according to the output of the power amplifier: current-controlled and voltage-controlled. Voltage-controlled parallel magnetic suspension systems are classified into two types: series connected and parallel connected. The feasibilities of these systems have been already demonstrated in the previous work. This paper focuses on the voltage-controlled parallel magnetic suspension system with parallel-connected coils. Three approaches to zero-power control are applicable in such a system. This paper compares these approaches in a viewpoint of pole assignment. In addition, a relationship in the feedback gains between the three approaches are presented numerically.
Development of Non-contact Carrier System using Solar Magnetic Suspension (3ed report: Continuous 5-day and installation of sloping propulsion mechanism)
Yuji Ishino; Takeshi Mizuno; Masaya Takasaki; Masayuki Hara; Daisuke Yamaguchi
2015 10TH ASIAN CONTROL CONFERENCE (ASCC), 2015, IEEE
2015 - 2015, English
A solar-powered magnetic suspension carrier system is developed in which the carrier is powered without contact. There are two conventional methods of powering the coils of the magnetic suspension carrier: (i) through wire, (ii) onboard battery (wireless) power supply. The contactless is lost in the former while stations for charging the battery are necessary in the latter. These problems are overcome by the proposed carrier system using solar magnetic suspension that can attain continuous levitation. The magnetic suspension carrier is assumed to operate inside rooms like inside a factory building. Because the generation power by solar cells is small, power saving us acritical requirement. Therefore, the zero power control is applied for suspension. In addition, low-power peripheral devices are fabricated. The developed carrier system achieved a five-day levitation without external power supply in a bright environment. In addition, a sloping propulsion mechanism was introduced. The mechanism consists of a track rail and two pillars with actuators to move up and down the track rail. The carrier slides and moves to the lower direction due to gravity below a sloped rail.
Proposal of Pump Using Ultrasonic Transducer and Opposing Surface
H. Shinada; Y. Ishino; M. Hara; D. Yamaguchi; M. Takasaki; T. Mizuno
Proceedings of the 2015 ICU International Congress on Ultrasonics, 2015, ELSEVIER SCIENCE BV
2015 - 2015, English
Conventional pumps include sliding parts and there is a limit of life time due to friction and wear. To solve this problem, a number of pumps using ultrasonic vibration have been proposed. In the present study, we found an occurrence of pump effect when an opposing block faces ultrasonically vibrating surface with small gap. According to the measurement results of gauge pressure, when circumference of the opposing block is tapered, fluid was discharged from the gap of two surfaces. On the other hand, when center of the block is tapered, fluid was sucked in the gap. This paper reports experimental results of the pump effect. (C) 2015 The Authors. Published by Elsevier B.V.
Effect of Force Feedback on Rubber Hand Illusion
Masayuki Hara; Hiroyuki Nabae; Akio Yamamoto; Toshiro Higuchi
2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013), 2013, IEEE
2013 - 2013, English
Our previous study has proposed a novel approach with a robotic/haptic technology to tactile rubber hand illusion (TRHI) paradigm in order to open new discussions about the manipulation of human body-parts ownership. The results demonstrated that the use of master-slave system can cause the TRHI, enabling a unique condition-active self-touch. As an advanced approach, this study examines the effect of force feedback on the TRHI under the active self-touch. We hypothesize that appropriate force feedback plays an important role to determine our body-parts ownership; people would not experience the TRHI if the force feedback from a fake hand largely differs from the contact force on a real hand. This paper, in particular, discusses how the force feedback affects the TRHI under the active self-touch by variously changing force rendering on the master device.
MANIPULATION OF PARTICLES IN LIQUID USING THE STANDING WAVES GENERATED BY OSCILLATION
Hiroshi Mitsuda; Hiroyuki Nabae; Masayuki Hara; Toshiro Higuchi
PROCEEDINGS OF THE ASME 5TH ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND JSME 11TH MOTION AND VIBRATION CONFERENCE, DSCC 2012, VOL 3, 2013, AMER SOC MECHANICAL ENGINEERS
2013 - 2013, English
This paper introduces a novel technique of trapping or gathering particles sinking under a liquid using the standing wave generated by oscillating the container In this study, a prototype oscillation system based on a respective control is developed to generate various standing wave fields in water First, the gathering positions of particles are attempted to be predicted by analyzing the wavelength of standing wave, considering the oscillation frequency of container as a key parameter Based on the analysis, the oscillation system was driven in several wavelengths (modes) and the distribution of particles was compared with the predicted positions by using an image processing. Through this experiment, we present how the oscillation of container produces the transitions of particles in the water and examine the mechanism.
Virtual Environment to Evaluate Multimodal Feedback Strategies for Augmented Navigation of the Visually Impaired
Masayuki Hara; Solaiman Shokur; Akio Yamamoto; Toshiro Higuchi; Roger Gassert; Hannes Bleuler
2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2010, IEEE
2010 - 2010, English
This paper proposes a novel experimental environment to evaluate multimodal feedback strategies for augmented navigation of the visually impaired. The environment consists of virtual obstacles and walls, an optical tracking system and a simple device with audio and vibrotactile feedback that interacts with the virtual environment, and presents many advantages in terms of safety, flexibility, control over experimental parameters and cost. The subject can freely move in an empty room, while the position of head and arm are tracked in real time. A virtual environment (walls, obstacles) is randomly generated, and audio and vibrotactile feedback are given according to the distance from the subjects arm to the virtual walls/objects. We investigate the applicability of our environment using a simple, commercially available feedback device. Experiments with unimpaired subjects show that it is possible to use the setup to "blindly" navigate in an unpredictable virtual environment. This validates the environment as a test platform to investigate navigation and exploration strategies of the visually impaired, and to evaluate novel technologies for augmented navigation.
Estimation of Human Operational Feeling Level for a Lever Manipulation Task Using Shoulder Angle and Manipulability
Subrata Kumar Kundu; Akio Yamamoto; Masayuki Hara; Toshiro Higuchi
IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC 2010), 2010, IEEE
2010 - 2010, English
Currently, the concept of ergonomically designed workplace using 3D graphic mannequins is gaining wide acceptance among the design engineers. However, predicting the human operational feeling level (i.e., comfort or discomfort level) during an ergonomic analysis of a virtual work situation is still in immature level. The current study is an attempt in that direction. This paper presents an approach that estimates the degree of comfort or discomfort felt by an operator during a lever manipulation task by using limb anthropometric and kinematic data. In this study, a haptic lever has been developed that emulates a lock-ball type lever action. Experiments were carried out with healthy male subjects under two different torque characteristics of the haptic lever. Using multiple regression analysis it has been found that the subjects operational feeling level can be estimated by means of shoulder flexion-extension angle and manipulability measure.
Development of a 2-DOF Electrostatic Haptic Joystick for MRI/fMRI Applications
Masayuki Hara; Gaetan Matthey; Akio Yamamoto; Dominique Chapuis; Roger Gassert; Hannes Bleuler; Toshiro Higuchi
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, IEEE
2009 - 2009, English
This paper describes the development of a 2-DOF electrostatic haptic joystick designed for neuroscience studies in an MRI/fMRI. The joystick is fabricated using non-magnetic materials and actuated by two high-power electrostatic motor units which produce various force fields in the horizontal plane. The electrostatic motor is a synchronous drive and thus the positioning of the joystick is achieved in an open-loop control. As for force sensing, a 2-DOF force sensor is developed using non-magnetic materials and optical fibers so as to measure interaction force with a user; hence, the haptic rendering is based on the admittance control scheme that respects the rule of force-in and position-out. The operation of both the actuators and force sensor respects non-magnetic principles. Thus, the haptic joystick into which these components are integrated is expected to have high MR compatibility, although the evaluation of the MR compatibility is beyond the scope of this paper. In this paper, the device performance is evaluated in the normal environment, which verifies the operation of the unique electrostatic haptic device.
Consideration on Robotic Giant-swing Motion Generated by Reinforcement Learning
M. Hara; N. Kawabe; N. Sakai; J. Huang; Hannes Bleuler; T. Yabuta
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, IEEE
2009 - 2009, English
This study attempts to make a compact humanoid robot acquire a giant-swing motion without any robotic models by using reinforcement learning; only the interaction with environment is available. Generally, it is widely said that this type of learning method is not appropriated to obtain dynamic motions because Markov property is not necessarily guaranteed during the dynamic task. However, in this study, we try to avoid this problem by embedding the dynamic information in the robotic state space; the applicability of the proposed method is considered using both the real robot and dynamic simulator. This paper, in particular, discusses how the robot with 5-DOF, in which the Q-Learning algorithm is implemented, acquires a giant-swing motion. Further, we describe the reward effects on the Q-Learning. Finally, this paper demonstrates that the application of the Q-Learning enable the robot to perform a very attractive giant-swing motion.
Muller-Lyer Illusion Effect on a Reaching Movement in Simultaneous Presentation of Visual and Haptic/Kinesthetic Cues
Masayuki Hara; Sho Kosaka; Jian Huang; Hannes Bleuler; Tetsuro Yabuta
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, IEEE
2009 - 2009, English
This paper describes the effect of Muller-Lyer illusion on a reaching movement just after the visual and haptic/kinesthetic cues are simultaneously presented. First, a standard experiment on this visual illusion is conducted by means of the most typical way so as to make sure that participants can experience this illusion; the result shows that all the subjects are deceived by the illusion figure as in many previous results. As the next step, the subjects are asked to physically trace one of three lines-normal line and lines with feathers of an arrow-with the same length displayed on an LCD. After a few traces, the line suddenly vanishes, and then the subjects retrace the invisible line based on only their memory and somatic sensations. During this task, we measure the trajectory of fingertip from a start to the goal using a motion capture system. The result indicates that the Muller-Lyer illusion dominantly affects the reaching task although the haptic/kinesthetic cue was also given just before the task. Thus, this result implies that the visual illusion affects the motion planning, which partly supports a planning-motion model.
3605 Acquisition and Analysis of Robotic Giant Swing Motion by using Reinforcement Learning
KAWABE Naoto; HARA Masayuki; HUANG Jian; YABUTA Tetsuro
The proceedings of the JSME annual meeting, 2008, The Japan Society of Mechanical Engineers
2008 - 2008, Japanese
In this paper, we attempt to make a compact humanoid robot acquire the giant swing motion without any robotic models by using reinforcement learning; in particular, this paper applies Q-learning algorithm. The reinforcement learning method is said to be not suitable for dynamic tasks because Markov property is not necessarily guaranteed. However, we tried to avoid this problem by considering angular velocity in state definition and averaging Q-value at every step to reduce the dynamic noise. The ODE-based simulator is also used to find the best reward for acquiring the giant motion. Further, learning process is divided into two stages, and finally they enable attractive giant swing motion like gymnast.
3601 Acquisition of Gait Pattern in a Gecko-shaped Robot by Q-Learning
HARA Masayuki; SATOU Yoshikazu; HUANG Jian; YABUTA Tetsuro
The proceedings of the JSME annual meeting, 2008, The Japan Society of Mechanical Engineers
2008 - 2008, Japanese
This paper attempts to make gecko-shaped robot voluntarily acquire the advance motion only by the interaction with environment; the desired trajectory, such as action patterns, is not preliminary given to the robot. In this paper, Q-learning algorithm, one of reinforcement learning algorithms, is applied to the gecko-shaped robot in order to learn the robotic gait patterns. This study, in particular, attempts to reveal the evolutionary process by observing the transition of motion forms appeared in the learning. The results show how a gecko-shaped robot, in which Q-Learning algorithm is implemented, acquires the advance motion. Furthermore, this paper deliberates the effect of robotic functions, such as a kinematic constraint and actuating performances, on the learned gait patterns.
Consideration of Weight Discriminative Powers for Various Weight Changes Using a Haptic Device
M. Hara; N. Ashitaka; N. Tambo; J. Huang; T. Yabuta
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008, IEEE
2008 - 2008, English
This paper discusses human weight perception using a haptic device. The objective of this study is to reveal the characteristics in human force sensations, which are difficult to examine in a real environment Further, we aim to apply the perceptual mechanisms to multimedia applications as the final target. In this study, we particularly examine the weight discriminative powers for various weight changes. Expanding our previous study, we compare the difference thresholds for the weight addition and removal during a goal-directed lifting. A statistical analysis implies that our weight discriminative power for the weight addition tends to improve in the deceleration process. As for the weight removal, the weight discriminative power declines in the deceleration process due to the inertia effect in the vicinity of the target height In addition, this study tries to reveal the weight perception when the load force is gradually changed. The result implies that the time variation in the load force holds the tremendous potential to enable us to experience attractive force sensations and haptic illusions.
Analysis of human weight perception for sudden weight changes during lifting task using a force display device
Masayuki Hara; Takahiro Higuchi; Takeo Yamagishi; Naoya Ashitaka; Jian Huang; Tetsuro Yabuta
Proceedings - IEEE International Conference on Robotics and Automation, 2007
2007 - 2007, English
The main purpose of this study is to apply the mechanism of human weight perception to multimedia applications. When a start and the goal points are given in the human motion, the velocity profile has an unimodal profile including the acceleration and deceleration zones. In such case, it is widely said that the motion control becomes more accurate in the deceleration zone for the final approach. Hence, it is assumed that the sensing ability also improves. This study challenges to confirm the hypothesis with weight stimuli generated by a force display device. As a preliminary experiment, this study confirms that our device enables the evaluation of human perception by tracing Weber's experiment in virtual reality
the obtained difference threshold (DL: Differenz Limen) almost agrees with the previous results. The difference threshold is a very important factor, which means perceptual threshold for weight changes. We further attempt to clarify the mechanism of the human weight perception for sudden weight changes during the lifting process. Based on individual lifting profiles, this study suddenly changes the load force in the two zones, and examines the difference thresholds of each subject. The results demonstrate that the human weight perception tends to become more sensitive in the deceleration zone during the lifting process. These results also imply the effectiveness of force display devices for physical experiments. © 2007 IEEE.
Study on motion forms of mobile robots generated by Q-Learning process based on reward databases
Masayuki Hara; Masashi Inoue; Haruhisa Motoyama; Jian Huang; Tetsuro Yabuta
2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS, 2006, IEEE
2006 - 2006, English
This paper investigates the motion forms of robots generated by the Q-Learning algorithm during the learning process. We analyzed the manner in which a caterpillar robot, which performs looping motions using two actuators, acquires advance actions by focusing on the process. By observing a series of processes, we confirmed that various motion forms appeared or disappeared as a result of their interactions with the learning process and approach an optimum motion form. In most algorithms, such motion forms cannot appear in the learning process because its framework is almost predetermined by the teacher data, and the cost functions for learning cannot be usually considered as a continuous process. The characteristics of reinforcement learning are very interesting from the viewpoint of biological evolution. This paper describes the effects of the interaction between the robot kinematics and the environment as a direct result of changing the environment. In addition, this study challenged the acquisition of two-dimensional motions with a starfish robot having four actuators. The result demonstrates that the robot can obtain a reasonable motion from the complicated relationships with the environment by skillfully employing its structure. Moreover, this paper implies that the reward manipulation may give a new insight for the learning process by the investigations performed in this study. This paper examines the possibility of the reward combinations for generating arbitrary motions.
Dynamic manipulation of a sphere on a disk by inclination control of the disk
M Hara; Y Tanaka; T Yabuta
2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, 2005, IEEE
2005 - 2005, English
Human beings cannot control a position of sphere on the disk without seeing it. Because under such a condition, as we determine the position and estimate the motion of sphere by use of visual information, it is very difficult for human beings to control it using only tactile or force information of a hand. This is why the tactile and the force information are less quantitative for human beings than the visual information. On the other hand, a robot can deal with this qualitative information as quantitative values. Therefore, the robot seems to have the possibility that it carries out such difficult tasks for human beings using only force information.
In this paper, we propose the estimation method of the position of sphere (made of crystal) on the disk from the force information measured with three - directional force sensors. Then, we tried to examine whether the robot fingers can control the motion of sphere on the disk using only these force information. Actually, the position and the velocity information estimated from force information enable the robot fingers to control the sphere by applying a simple PD control algorithm. Moreover, this paper adds Lyanpunov's stability analysis of the proposed control algorithm. Finally, this results show new robot task which human beings cannot realize, whose demonstration is very interesting.
Analysis of weight perceptual mechanism based on muscular motion using virtual reality
M Hara; T Higuchi
INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOL 1-4, PROCEEDINGS, 2005, IEEE
2005 - 2005, English
dIn this paper, by focusing on weight perception, we attempted to clarify a perceptual mechanism using functions of the haptic interface. We especially examined the weight perceptual mechanism when the weight of an object suddenly changed, which does not take place in our natural life. This experimental condition can only be realized by using the advantage of the haptic interface. The results show the difference in the perceptual threshold due to addition and reduction of the weight. Moreover, the results indicate that subjects can also correct the supporting force corresponding to the sudden change in the weight when they could not sense the change. Namely, it implies that subjects adjust the supporting force under an imperceptible state, which may indicate an interesting muscular motion tinder a state of unconsciousness.
Perceptual illusion in virtual reality using haptic interface.
Hara, M; Asada, C; Higuchi, T; Yabuta, T
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,, Sep. 2004
Sep. 2004 - Sep. 2004, English
Force display system of virtual objects using haptic interface
T Yabuta; M Hara; T Yamaguchi; T Higuchi
MHS2003: PROCEEDINGS OF 2003 INTERNATIONAL SYMPOSIUM ON MICROMECHATRONICS AND HUMAN SCIENCE, 2003, IEEE
2003 - 2003, English
Multi-media services such as audio and visual media have been advanced rapidly. In addition to them, physical force information is expected as the next multi-media service. As for these services, Haptic Interface is the most promising service as the force display system. Although the Haptic Interface has been studied vigorously, many researches are only concentrating on its mechanism and control system, which means that these researches are not studied systematically. This paper describes the overall force display procedure using the Haptic Interface in order to grasp this problem systematically. This paper shows a composition of hardware systems, control methods, geometrical models of the virtual object, evaluation of force feeling, and manipulation of the virtual object.
心地よさを生む社会的触覚の仕組みとその個人差：認知科学的理解の深化
Apr. 2025 - Mar. 2030
Coinvestigator
Grant amount(Total)：46540000, Direct funding：35800000, Indirect funding：10740000
Grant number：25H00581
脳深部構造をターゲットとした運動学習能力の制御と新規神経リハビリテーションの構築
Apr. 2025 - Mar. 2029
Coinvestigator
Grant amount(Total)：18720000, Direct funding：14400000, Indirect funding：4320000
Grant number：25K02965
Manipulation and Visualization of Hallucination Spectrum
Japan Science and Technology Agency, JST Strategic Basic Research Programs (CREST), Oct. 2022 - Mar. 2028
Science Tokyo, Coinvestigator
Grant number：JPMJCR22P3
Induction of body-attached and body-detached phenomena by modification of motor sensation toward novel rehabilitation
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Pioneering), Jun. 2022 - Mar. 2026
Hiroshima University, Coinvestigator
Grant amount(Total)：25740000, Direct funding：19800000, Indirect funding：5940000
Grant number：22K18418
Natural "Embodiment/Disembodiment" of External Objects Using Interoception
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (A), Apr. 2022 - Mar. 2026
Saitama University, Principal investigator
Grant amount(Total)：42510000, Direct funding：32700000, Indirect funding：9810000
Grant number：22H00526
Quantitative Evaluation of Eating and Swallowing Functions by Interactions of Engineering, Fundamental Physical Therapy, and Cognitive Science
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Exploratory), Jun. 2022 - Mar. 2025
Saitama University, Principal investigator
Grant amount(Total)：6370000, Direct funding：4900000, Indirect funding：1470000
Grant number：22K19746
Estimation model of tactile-induced emotional response based on physiological and neurological properties
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Apr. 2021 - Mar. 2025
National Institute of Advanced Industrial Science and Technology, Coinvestigator
Grant amount(Total)：16120000, Direct funding：12400000, Indirect funding：3720000
Grant number：23K21714
脳内ネットワークモジュールの相互作用を標的とした新たな神経リハビリテーション戦略
Apr. 2021 - Mar. 2025
Coinvestigator
Grant amount(Total)：17550000, Direct funding：13500000, Indirect funding：4050000
Grant number：23K21590
The relationship between touch and social cognition in autism spectrum disorder
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Fund for the Promotion of Joint International Research (Home-Returning Researcher Development Research), Mar. 2021 - Mar. 2025
Kobe University, Coinvestigator
Grant amount(Total)：47450000, Direct funding：36500000, Indirect funding：10950000
Grant number：20K23372
Development of a New Motor Learning System Utilizing Real-Time Feedback of Interoception
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Exploratory), Jul. 2021 - Mar. 2024
Sugata Hisato, Oita University, Coinvestigator
Grant amount(Total)：6370000, Direct funding：4900000, Indirect funding：1470000
Grant number：21K19798
Bilateral Control Using Functional Electrical Stimulation for Teaching Object Manipulation Skills to Robot with Five Fingers
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Apr. 2021 - Mar. 2024
Sakaino Sho, University of Tsukuba, Coinvestigator
Grant amount(Total)：17420000, Direct funding：13400000, Indirect funding：4020000
Grant number：21H01347
Visualization of sharpened senses through structure, function and network analysis of the cerebellum
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Pioneering), Jul. 2020 - Mar. 2024
Niigata University of Health and Welfare, Coinvestigator
Grant amount(Total)：25740000, Direct funding：19800000, Indirect funding：5940000
Grant number：20K20621
In touch with non-humanoid self: The influence of self-touch on embodied anthropomorphism
Japan Society for the Promotion of Science, FY2023 JSPS Postdoctoral Fellowship for Research in Japan (Short-term), JSPS Postdoctoral Fellowship for Research in Japan (Short-term), Apr. 2023 - Jul. 2023
Saitama University, Principal investigator
Grant number：PE23013
Design of MEG-Compatible Haptic Technology for Novel Neurorehabilitation
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Exploratory), Jul. 2020 - Mar. 2023
Hara Masayuki, Saitama University, Principal investigator
Grant amount(Total)：6370000, Direct funding：4900000, Indirect funding：1470000
Grant number：20K21746
Creation of Novel Technology for Manipulation of Self-Other Recognition Built on Robotics and Haptics
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Apr. 2019 - Mar. 2023
Hara Masayuki, Saitama University, Coinvestigator
Grant amount(Total)：17290000, Direct funding：13300000, Indirect funding：3990000
Grant number：19H04187
Effect of Haptic Manipulation on Induction of FoP
CASIO Science Promotion Foundation, The 38th Research Grant, Dec. 2020 - Nov. 2021
HARA Masayuki, Principal investigator
Grant amount(Total)：3000000
Competitive research funding
Development of Fundamental Technology for Experimental Induction of "Feeling of a Presence" through Cooperative Movements
Tateishi Science and Technology Foundation, Research Grant (A), Apr. 2020 - Mar. 2021
HARA Masayuki, Principal investigator
Grant amount(Total)：2500000
Application of virtual reality and robotics to change body size perception
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Exploratory), Jun. 2018 - Mar. 2021
Naofumi Otsuru, Niigata University of Health and Welfare, Coinvestigator
Grant amount(Total)：6240000, Direct funding：4800000, Indirect funding：1440000
Grant number：18K19760
Progressive neurorehabilitative strategies for stroke patients by externally controlling the brain system related to motor learnin
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Apr. 2018 - Mar. 2021
Sugata Hisato, Oita University, Coinvestigator
Grant amount(Total)：17290000, Direct funding：13300000, Indirect funding：3990000
Grant number：18H03132
Cognetics Studies: Manipulation of Human Body Ownership Using Robotics and Haptics Technologies
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Fund for the Promotion of Joint International Research (Fostering Joint International Research), 2018 - 2021
Hara Masayuki, Saitama University, Principal investigator
Grant amount(Total)：14820000, Direct funding：11400000, Indirect funding：3420000
Grant number：17KK0003
Manipulation of Self Body Recognition by Robotic Interface and its Neurological Basis
Niigata University of Health and Welfare, 2019 SHAIN Project, Jul. 2019 - Mar. 2020
Naofumi Otsuru; Masayuki Hara, Coinvestigator
Grant amount(Total)：250000
Industry academia cooperation
Manipulation of Self Body Recognition by Robotic Interface and its Neurological Basis
Niigata University of Health and Welfare, 2018 SHAIN Project, Jul. 2018 - Mar. 2019
Naofumi Otsuru, Coinvestigator
Grant amount(Total)：250000
Industry academia cooperation
Computational modeling of embodiment and maintenance of bodily self consciousness
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (A), Apr. 2016 - Mar. 2019
KANAYAMA NORIAKI; Hara Masayuki; Katahira Kentaro; Hiramoto Ryosuke; Kashihara Shiho; Hiromitsu Kentaro, Coinvestigator not use grants
Grant amount(Total)：25480000, Direct funding：19600000, Indirect funding：5880000
Grant number：16H05958
Tactile stimulation device to control emotional response in psychological and neuroscience research
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Exploratory Research, Apr. 2016 - Mar. 2019
KANAYAMA NORIAKI; Hara Masayuki; Watanabe Junji; Kitada Ryo, Coinvestigator not use grants
Grant amount(Total)：3250000, Direct funding：2500000, Indirect funding：750000
Grant number：16K13507
Development of solar magnetic suspension carrier with self-propelled mechanism under outdoor environment
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), Apr. 2016 - Mar. 2019
Ishino Yuji; MIZUNO Takeshi; TAKASAKI Masaya; HARA Masayuki; YAMAGUCHI Daisuke, Saitama University, Coinvestigator not use grants
Grant amount(Total)：4550000, Direct funding：3500000, Indirect funding：1050000
Grant number：16K06146
Effect of Obscuration of an Artificial Body due to Peripheral Vision on Human Body Ownership
Kayamori Foundation of Informational Science Advancement, The 21st Research Grant, Jan. 2017 - Dec. 2018
HARA Masayuki, Principal investigator
Grant amount(Total)：1000000
Competitive research funding
Study on Manipulation of Small Particles in Liquid by Lateral Oscillaiton of Rectangular Container
Mitutoyo Association for Science and Technology, 2016 Research Grant, Oct. 2016 - Sep. 2018
HARA Masayuki, Principal investigator
Grant amount(Total)：2000000
Competitive research funding
Manipulation of Human Body Ownership toward Applications for Treatment of Hemiplegia
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (A), Apr. 2014 - Mar. 2018
HARA Masayuki, Saitama University, Principal investigator
Grant amount(Total)：22490000, Direct funding：17300000, Indirect funding：5190000
Grant number：26700027
Manipulation of human bodily self-consciousness using haptic interface and its application
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), 2011 - 2013
HARA Masayuki, The University of Tokyo, Principal investigator
Grant amount(Total)：3640000, Direct funding：2800000, Indirect funding：840000
Grant number：23700246
バーチャルリアリティの観点からの知覚メカニズムの解明とその応用
2005 - 2007
Principal investigator
Grant amount(Total)：2700000, Direct funding：2700000
Grant number：05J05438
