業績情報

• 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), 2024年02月
  IEEE, 研究論文（国際会議プロシーディングス）
  DOI：https://doi.org/10.1109/amc58169.2024.10505687
  DOI ID：10.1109/amc58169.2024.10505687
• Imitation learning for variable speed motion generation over multiple actions　　　　　　　　　　　　　　　
  Yuki Saigusa; Ayumu Sasagawa; Sho Sakaino; Toshiaki Tsuji
  IECON Proceedings (Industrial Electronics Conference), 巻：2021-, 2021年10月
  Robotic motion generation methods using machine learning have been studied. Bilateral control-based imitation learning can imitate human motions using force information. Using this method, variable speed motion generation that con-siders physical phenomena such as the inertia and friction can be achieved. However, the previous study focused on a simple reciprocating motion. To learn the complex relationship between the force and speed more accurately, it is necessary to learn multiple actions using many joints. In this paper, we propose a variable speed motion generation method for multiple motions. We considered four types of neural network models for the motion generation and determined the best model for multiple motions at variable speeds. Subsequently, we used the best model to evaluate the reproducibility of the task completion time for the input completion time command. The results revealed that the proposed method could change the task completion time according to the specified completion time command in multiple motions.
  IEEE Computer Society, 英語, 研究論文（国際会議プロシーディングス）
  DOI：https://doi.org/10.1109/IECON48115.2021.9589303
  DOI ID：10.1109/IECON48115.2021.9589303, SCOPUS ID：85119522511
• 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, 巻：6, 号：4, 開始ページ：6243, 終了ページ：6249, 2021年10月
  This letter proposes a force sensor that combines semiconductor strain gauges and metallic foil strain gauges to present force information of a higher dynamic range to robots. The strain gauges have different sensitivities, with semiconductor strain gauge sensitivity being approximately 90-fold than that of the metallic foil strain gauges. Using this difference in sensitivity, large forces and small forces are both detected through the two types of strain gauges and high dynamic range force detection is achieved by combining the output signals of these two. It was confirmed from the SN ratio test that the proposed sensor has a measurement range from 0.005 N to 1000 N, the maximum load. The dynamic range is 2times 10-5, extending the dynamic range of the 6-axis force sensor with the highest range in previous studies two-fold.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（学術雑誌）
  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, 2021年08月
  Robotic machining is typically performed on homogeneous materials. However, achieving autonomous machining of heterogeneous materials could broaden the scope of application of robotic technology. To selectively process only a part of tissues without damaging other tissues, it is necessary to recognize the deformation of heterogeneous objects appropriately. In this study, we developed a method that can recognize materials and deformation types (i.e., elastic/plastic) of flexible objects. Since the features depending on materials and deformation types were observed in time-series response, the proposed identification method is based on a time-delay neural network (TDNN) which exhibits excellent performance in processing and extracting the features of time-series data for discrimination. We verified the usefulness of the TDNN model experimentally by means of (1) identifying flexible objects (i.e., distinguishing between tofu and agar), (2) identifying the elastic and plastic deformations of tofu and agar, and (3) identifying objects, deformation types, and free motion (straight-line) of the robot during the cutting task. The experimental results confirmed that the TDNN model can identify flexible objects and their deformation types with 90% accuracy by learning time-series information of the force and position.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：6, 号：3, 開始ページ：5153, 終了ページ：5158, 2021年07月
  Contact-based tasks such as assembly and grinding often require the information on contact states. This letter therefore proposes a recognition method based on the Mel Frequency Cepstrum Coefficient (MFCC) of force signals. It demonstrates that the combination of MFCCs and time delayed neural networks is effective for learning features of contact events. This method is able to recognize instantaneous responses that do not generate repetitive waveforms. As a result, the recognition rate of the click response during a pen cap closing task increased from 75% to 96% following the proposed method. It is confirmed that this method is applicable not only to the data obtained by the robot's highly reproducible motions but also to the data whose parameters are scattered due to human interference.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（学術雑誌）
  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, 巻：10, 号：4, 開始ページ：443, 終了ページ：456, 2021年07月
  Institute of Electrical Engineers of Japan (IEE Japan), 研究論文（学術雑誌）
  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, 巻：6, 号：2, 開始ページ：2737, 終了ページ：2744, 2021年04月, ［査読有り］
  Institute of Electrical and Electronics Engineers ({IEEE}), 研究論文（学術雑誌）
  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, 2021年03月
  Force restraint in contact-rich tasks with robots is vital in order to avoid breaking objects. Impedance/admittance controls are effective for achieving the restraint
  however, they require adjustment of the kinematic impedance, which may induce instability. We proposed a force restrain method while PD controller is used for avoiding unstable robot behavior. This method alters position command in case the robot may give extreme force which leads to damaging objects. This method expands the trajectory planning and motion generation area practically because it can be executed under the condition that the controller autonomously restrains excessive force. To examine the effectiveness of the proposed method, we experimented with contact and detach motion in 1- and 2- DoF translational directions.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 2021年03月
  In the near future, robots are expected to work with humans or operate alone and may replace human workers in various fields such as homes and factories. In a previous study, we proposed bilateral control-based imitation learning that enables robots to utilize force information and operate almost simultaneously with an expert's demonstration. In addition, we recently proposed an autoregressive neural network model (SM2SM) for bilateral control-based imitation learning to obtain long-term inferences. In the SM2SM model, both master and slave states must be input, but the master states are obtained from the previous outputs of the SM2SM model, resulting in destabilized estimation under large environmental variations. Hence, a new autoregressive neural network model (S2SM) is proposed in this study. This model requires only the slave state as input and its outputs are the next slave and master states, thereby improving the task success rates. In addition, a new feedback controller that utilizes the error between the responses and estimates of the slave is proposed, which shows better reproducibility.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：10, 号：2, 開始ページ：124, 終了ページ：133, 2021年03月
  Institute of Electrical Engineers of Japan (IEE Japan), 研究論文（学術雑誌）
  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, 巻：10, 号：5, 開始ページ：506, 終了ページ：511, 2021年
  A force/torque sensor is often requird to delect small while its maximum load is also often large. In other words, the dynamic range of force/torque sensors should be higher. In order to extend the dynamic range of the force/torque sensor, a high dynamic range force/torque sensor that uses both semiconductor strain gauges and general strain gauges was developed. Experimental results show that the dynamic range can be extended without complicating the structure of the strain body.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 巻：9, 開始ページ：20508, 終了ページ：20520, 2021年
  Imitation learning has been studied as an efficient and high-performance method to generate robot motion. Specifically, bilateral control-based imitation learning has been proposed as a method of realizing fast motion. However, the learning approach of this method leads to the accumulation of prediction errors during the prediction process and may not generate desirable long-term behavior. Therefore, in this paper, we propose a method of autoregressive learning for bilateral control-based imitation learning to reduce the accumulation of prediction errors. A new neural network model for implementing autoregressive learning is also proposed. Three types of experiments are conducted to verify the effectiveness of the proposed method, where the method is shown to have improved performance over those of conventional approaches. Due to the structure and method of autoregressive learning employed by the developed model, the proposed method can generate desirable long-term motion for successful tasks and has a high generalization ability for environmental changes based on the human demonstrations of tasks.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（学術雑誌）
  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, 巻：5, 号：4, 開始ページ：6169, 終了ページ：6176, 2020年10月, ［査読有り］
  Institute of Electrical and Electronics Engineers (IEEE), 研究論文（学術雑誌）
  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　　　　　　　　　　　　　　　
  Kutsuzawa Kyo; Sakaino Sho; Tsuji Toshiaki
  IEEJ Journal of Industry Applications, 巻：9, 号：5, 開始ページ：505, 終了ページ：514, 2020年09月, ［査読有り］
  

  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.

  
  一般社団法人 電気学会, 英語, 研究論文（学術雑誌）
  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), 2020年07月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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), 2020年07月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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), 2020年07月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 巻：8, 開始ページ：15792, 終了ページ：15799, 2020年, ［査読有り］
  Institute of Electrical and Electronics Engineers (IEEE), 研究論文（学術雑誌）
  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, 巻：8, 開始ページ：73142, 終了ページ：73150, 2020年, ［査読有り］
  Institute of Electrical and Electronics Engineers (IEEE), 研究論文（学術雑誌）
  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, 巻：33, 号：21, 開始ページ：1144, 終了ページ：1154, 2019年11月, ［査読有り］
  Informa UK Limited, 研究論文（学術雑誌）
  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), 2019年11月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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
  2019年11月, ［査読有り］
• 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, 開始ページ：3641, 終了ページ：3646, 2019年10月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 2019年10月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 2019年10月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 巻：19, 号：19, 開始ページ：4259, 終了ページ：4259, 2019年09月, ［査読有り］
  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, 研究論文（学術雑誌）
  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, 巻：2019-, 開始ページ：648, 終了ページ：653, 2019年07月
  Two-inertia systems are prone to resonance vibrations that degrade their control performances. These unwanted vibrations can be effectively suppressed by control methods based on a disturbance observer (DOB). Vibration suppression control methods using the information of both the motor and load sides have been widely researched in recent years. Methods that exploit the spring deflection or torsional force of two-inertia systems have delivered promising performances. However, few conventional methods have exploited the relative position information, and the discussion of position control is currently insufficient. Focusing on the relative position, this study proposes a new resonance ratio control (RRC) based on the relative acceleration and state feedback. The structure of the proposed RRC is derived theoretically and the proposed method is experimentally validated.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2019-, 開始ページ：524, 終了ページ：529, 2019年06月
  Motor learning issues for hemiplegics not only include motor impairments such as spastic paralysis, but reportedly also an inability to appropriately recognize somatic sensations. In this regard, biofeedback of movement information through visual information and auditory information has been found effective as a method for drawing attention to appropriate somatic sensations. In this context, here, we propose a novel eccentric training system utilizing visual biofeedback of force information. We first develop a compact and highly portable rehabilitation robot for home use. The robot estimates the force on the tiptoe without the use of a force sensor, and a display connected to the robot presents the force information to the trainee. Clinical trials with two chronic hemiplegics have been conducted. The results show that the timed up and go tests of both trainees are shortened after training twice a week for three weeks (six times in total). Simultaneously, the co-contraction index scores of the tibialis anterior and gastrocnemius muscles decrease. These findings in conjunction with previous results suggest that training with visual biofeedback of force information may enhance reciprocal inhibition of the tibialis anterior muscle and reduces co-contraction.
  IEEE Computer Society, 英語, 研究論文（国際会議プロシーディングス）
  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), 2019年05月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 巻：19, 号：6, 開始ページ：1288, 終了ページ：1288, 2019年03月, ［査読有り］
  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, 研究論文（学術雑誌）
  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, 巻：8, 号：2, 開始ページ：279, 終了ページ：286, 2019年03月, ［査読有り］
  Institute of Electrical Engineers of Japan (IEE Japan), 研究論文（学術雑誌）
  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, 巻：8, 号：2, 開始ページ：200, 終了ページ：206, 2019年03月, ［査読有り］
  Institute of Electrical Engineers of Japan (IEE Japan), 研究論文（学術雑誌）
  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, 巻：27, 号：3, 開始ページ：523, 終了ページ：532, 2019年03月
  日本語, 研究論文（学術雑誌）
  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, 開始ページ：150, 終了ページ：160, 2019年03月, ［査読有り］
  英語, 研究論文（国際会議プロシーディングス）
• 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, 2019年03月, ［査読有り］
  英語, 研究論文（国際会議プロシーディングス）
• 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, 2019年03月, ［査読有り］
  英語, 研究論文（国際会議プロシーディングス）
• 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, 2019年03月
  英語, 研究論文（国際会議プロシーディングス）
• 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, 開始ページ：338, 終了ページ：341, 2018年10月
  Research and development efforts into small upper limb rehabilitation robots for home-based rehabilitation have been made in order to reduce the patient burden associated with making visits to the hospital. However, currently, there are only a few small upper limb rehabilitation robots capable of providing training that is tailored to account for the differences in individual patients. This is because many robots use omni wheels for their movement mechanism, thus causing problems when measuring patient motor function because it is not possible to accurately estimate the position. To solve this problem, in this study, we propose a new small upper limb rehabilitation robot that switches the driving unit from an omni wheel to an omnidirectional drive gear mechanism, as a mechanism that does not cause slips. Although an omnidirectional drive gear poses problems in terms of machining difficulty and weight, these problems can be solved by using a 3D printer. We show that position errors in small upper limb rehabilitation robots are greatly reduced by introducing a gear mechanism.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：149, 終了ページ：154, 2018年10月
  A machine learning method has been introduced to solve the problem of inverse dynamics with contact in various environments. Conventional methods need multiple contact models to switch according to situations, while such methods have a difficulty in dealing with different environments. We propose a machine learning method that can handle various environments with a single learning model. We use long short-term memory as a learning model with high expression ability. From the verification, the proposed method showed higher performance than Gaussian processes. In addition, the performance of the model was improved by using training data collected under various environmental conditions.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 2018年10月
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 2018年10月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 2018年10月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 2018年10月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：3648, 終了ページ：3653, 2018年10月, ［査読有り］
  英語, 研究論文（国際会議プロシーディングス）
• 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, 巻：2018, 号：15, 開始ページ：1, 終了ページ：6, 2018年09月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2018年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2018年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2018年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2018年09月
  英語, 研究論文（研究会，シンポジウム資料等）
• 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), 2018年07月
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：423, 終了ページ：428, 2018年06月, ［査読有り］
  This paper proposes a reaction force observer (RFOB) using a load dependent friction model. In recent years, robots that can estimate reaction force for the use of force control are attracting attention. In the proposed method, reaction force estimation that didn't require a force sensor is performed. Generally, the friction model is only dependent on velocity, whereas the proposed method can further improve the estimation accuracy by considering the load dependence. Moreover, this method can be implemented without changing setup of the existing geared servo motor.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：385, 終了ページ：390, 2018年06月, ［査読有り］
  To develop a robot system for collaboration with humans, robots are required to perform accurate external force detection and flexible motion from the prespective of safety. Electro-hydrostatic actuators (EHAs) can achieve high backdrivability mechanically. However, in a hydraulic system, torque efficiency decreases due to nonlinear elements, including friction and the internal leakage of hydraulic fluid, which results in lower backdrivability. In other words, in EHAs that can achieve high backdrivability mechanically, further improvement of backdrivability can be achieved by performing force control through nonlinear element compensation. Therefore, herein, we modeled the torque efficiency and attempted to improve the force control performance by model-based pressure control.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：209, 終了ページ：214, 2018年06月, ［査読有り］
  Object manipulation is one of the most important issues for robots supporting humans. However, trajectory planning for dynamic manipulation is a difficult issue due to dynamic constraints. This paper deals with trajectory planning for dynamic manipulation using sequence-to-sequence (seq2seq) models. In a conventional method, multiple samples are chunked in order to reduce the length of the time series. However, as the chunk size is fixed, accuracy may be reduced and trajectories are truncated. Therefore, we verified the effects of these. We solved these problems by a seq2seq model using a hierarchical decoder. As a result, proposed model was able to generate a trajectory more accurate than the conventional method.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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), 2018年05月, ［査読有り］
  IEEE, 研究論文（国際会議プロシーディングス）
  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, 2018年03月, ［査読有り］
  英語, 研究論文（国際会議プロシーディングス）
• 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, 巻：7, 号：3, 開始ページ：250, 終了ページ：258, 2018年, ［査読有り］
  Electro-hydrostatic actuators (EHAs) are hydraulic actuators that are flexible and exhibit high backdrivability. Flexible operation and accurate detection of reaction forces are required for robots to be able to perform in environments in which they will be cohabiting with humans. However, nonlinear elements that degrade detection accuracy, such as static friction, backlash, and oil leakage, are present in hydraulic systems. In addition, pressure sensors in hydraulic systems are not very accurate at estimating reaction forces, because they cannot estimate internal forces and viscous friction. In this study, we propose a combination of control algorithms for accurately estimating reaction forces. Static friction is compensated by using feedback modulators. In addition, we use a backlash and oil leakage compensator, which do not require any models, to suppress the relative velocity between the motor-side and load-side. Then, the use of a reaction force observer (RFOB) that exploits both pressure sensors and encoders is proposed. The RFOB can be implemented because disturbances are linearized by the compensators. Experimental results show that reaction forces can be estimated with very high accuracy using the proposed RFOB. In addition, we implemented force control using the RFOB and evaluate the force tracking performances by improving the estimation accuracy.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 巻：7, 号：1, 開始ページ：22, 終了ページ：28, 2018年, ［査読有り］
  This study investigates kinodynamic object manipulation by a robot using a tool. Based on the conditions for maintaining contact between a held spatula and a manipulated object, a variety of movements satisfying such conditions are planned. Model predictive control is introduced to plan an optimal trajectory. Simulation results show that the proposed method plans a variety of turning over motions with different setups of cost functions. Experimental results demonstrate that the trajectory optimization method accomplishes turning over motion, which is a typical example of motion with kinodynamic constraints.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 巻：432, 開始ページ：297, 終了ページ：299, 2018年, ［査読有り］
  This paper describes the development of a cooking support system using force sensors and an RGB-D camera. The knife and the cutting board with 6-axis force sensors can detect the external force vector and the position of the exerted force. The proposed force visualization system is supposed to be utilized during cooking.
  Springer Verlag, 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：6727, 終了ページ：6732, 2017年12月, ［査読有り］
  This paper introduces a method of posture control for jumping robot on the frontal plane. Human beings can perform the dynamic motion (e.g. running, jumping) by taking an advantage of muscle elasticity. Biped robots with this feature, therefore, have been studied, recently. Especially among them, many robots implemented pneumatic artificial muscles to adopt this feature. These robots have achieved the jumping motion or running motion. Although, a stable dynamic motion has not been achieved yet. Therefore, a control for the stable motion is desired. In the jumping motion, many researches have verified the stabilization on the sagittal plane. Nevertheless, these robots have fallen down after some jumps. One reason is that they cannot deal with the disturbance on the frontal plane. In this paper, a frontal posture control of a jumping biped robot is proposed. This control makes difference between the stiffness of both legs depending on an inclination and an angular velocity of the robot. To verify the effectiveness of the proposed method, we propose a model using this method. Then, this model is examined by a jumping simulation with various disturbances. The results show that this model with the proposed method improves the robustness against the large disturbance.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：5227, 終了ページ：5232, 2017年12月, ［査読有り］
  In dynamic manipulation, robots can manipulate objects without grasping by utilizing inertia effect. However, the trajectory planning for dynamic manipulation is a difficult issue due to dynamic constraint. Trajectory deformation considering dynamic constraint after original trajectories are generated is necessary for the issue. To realize such deformation methods, we introduce on sequence-To-sequence (seq2seq) models, which can convert a time series to another time series. This paper proposes a trajectory deformation method with seq2seq models deforming trajectories to satisfy dynamic constraint. Users can obtain trajectories for dynamic manipulation by designing outlines of motion and inputting them to the proposed seq2seq model. In addition, this paper proposes a learning curriculum that does not need labeled dataset. Only mathematical representation of constraint and unlabeled trajectories are necessary. We implement a seq2seq model by the proposed method to a robot turning over pancakes and confirm the validity by a simulation and an experiment.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：5215, 終了ページ：5220, 2017年12月, ［査読有り］
  This paper proposes a trajectory planning method with neural networks that learn model predictive control for dynamic manipulation. The novelty of this method is that target positions and model parameters are added to the input of the neural network. The proposed method solves the dynamic trajectory planning issues with low calculation cost. This paper shows the effectiveness of the proposed method through demonstrations of a robot turning a pancake over under various parameters. In addition, we verify a performance change with respect to the number of training data.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：8267, 終了ページ：8272, 2017年12月, ［査読有り］
  This paper proposes intrinsic contact sensing using a particle filter. Intrinsic contact sensing is a method, which detects the contact position without any sensors on the outer shell. Force sensors are attached on the supporting point of outer shell instead. This method has been expanded to estimate contact information even without shape information. However, previous methods assume that contact points are stationary. Therefore, in this paper, we consider contact points with movements. When contact points move, it may be nonlinear. The particle filter is used to correspond to nonlinear motion. Experimental results show that the proposed method can follow the sharp movement compared with the conventional method.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：2828, 終了ページ：2833, 2017年12月, ［査読有り］
  Electro-hydrostatic actuators (EHAs) are said to have potential as actuators for robotic systems because they have high power-To-weight ratio, compact, and energy saving systems compared to general hydraulic systems. However, modeling approaches and analyses on dynamic characteristics have not been quite concrete yet. In order to expand EHAs' potential to be used for robots, further studies of their characteristics are necessary. The previous research has shown two-inertia resonance would occur in EHAs and EHAs can be modeled as two-inertia systems. Nevertheless, how the rigidity of hydraulic hoses relates to resonance frequency and efficiency of EHAs has not been discussed. The rigidity of hydraulic hoses has been said to have an impact on resonance characteristics of general hydraulic systems. However, dynamic characteristics of EHAs and analyses on the rigidity of hydraulic hoses have not been clearly examined. Thus, this study investigates the effect of the rigidity of hydraulic hoses by applying different type of hoses in an EHA.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：7577, 終了ページ：7582, 2017年12月, ［査読有り］
  This paper describes the reduction of chattering in functional electrical stimulation (FES) with Smith compensator. We proposed a bilateral controller using FES. In the bilateral controller, in addition to normal remote control, the reaction forces of the distant location are transmitted back to the operator. Therefore, the operator feels like being in the distant location. In controlling of the human body using FES, a dead time occurs. As a result, high-frequency vibration (called chattering) occurs. In this paper, we propose a control method suppressing chattering in FES. In the experiment, the performance of the proposed method was verified by target value control and bilateral control. In the target value control, chattering was suppressed by the proposed method. However, in the bilateral control, chattering was not be suppressed by the interference of the time delay of the two subjects.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2017-, 開始ページ：527, 終了ページ：532, 2017年12月, ［査読有り］
  Some stroke patients are affected by hemiplegia, which is the complete paralysis of half of the body, and need to train in upper limb motions with high frequency to improve their quality of life. Therefore, the authors developed a portable robot with a main processor, actuators, motor drivers, a force sensor, and a touch display to assist such high-frequency training at home. To recover the motor function of the upper limbs by voluntary movement, this robot instructs the joint motion based on the force input. Therefore, this study proposes a force control algorithm for the omni-wheel mechanism and a method that estimates the odometry of the omni-wheel mechanism based on the circuit equation of the DC motor without rotary encoders. Moreover, a method that estimates integrated electromyograph patterns based on the force and movement of the robot using a multiple linear regression model is proposed for the evaluation of co-operative movement. The effectiveness of these proposed methods were confirmed by evaluation experiments.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：4, 号：1, 2017年12月, ［査読有り］
  Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this study considered the integration of feedback modulators (with minimum control inputs exceeding static frictional forces) with disturbance observers. In the proposed controller, nonlinear static frictional forces are suppressed by the feedback modulators and linear disturbances are suppressed by the disturbance observers. The validity was experimentally verified in this study.
  Springer International Publishing, 英語, 研究論文（学術雑誌）
  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, 巻：32, 号：1, 開始ページ：1, 終了ページ：11, 2017年10月
  日本語, 研究論文（学術雑誌）
  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, 巻：2, 号：4, 開始ページ：2328, 終了ページ：2335, 2017年10月
  日本語, 研究論文（学術雑誌）
  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, 巻：64, 号：9, 開始ページ：7342, 終了ページ：7349, 2017年09月, ［査読有り］
  Intrinsic contact sensing is a method of using force sensors for separate tactile sensing without sensors arranged on the outer shell. Although the method is effective in some applications, the method has been limited to a fixed geometric shape. This study therefore proposes a method for movable structures. The contact position is estimated without geometric shape information by utilizing force/torque change over time. Additionally, this paper has proposed a method of eliminating the gravity term, which is a problem when using a structure-variable end effector as an interface. Calibration to decrease the calculation error was also introduced. Experimental evaluation using a wagon with drawers as the structure-variable object was done to verify the effectiveness of the proposed method.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, 研究論文（学術雑誌）
  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, 巻：2017, 号：1, 開始ページ：17, 終了ページ：22, 2017年09月
  電気学会, 英語, 研究論文（研究会，シンポジウム資料等）
• 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, 巻：2017, 号：1, 開始ページ：23, 終了ページ：28, 2017年09月
  電気学会, 英語, 研究論文（研究会，シンポジウム資料等）
• 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, 巻：2017, 開始ページ：533, 終了ページ：538, 2017年08月, ［査読有り］
  Hemiplegia patients have complete paralysis of half their body, and encounter many challenges in living an independent life. Rehabilitation of the lower body is more important than that of the upper body for independent living
  thus, recovering upper body functions of their paralyzed side is not enough. Rehabilitation robots may be used to assist training without therapists. In this study, a small portable rehabilitation robot was developed for use at home, and a new training method was proposed. This robot consists on an omni wheel mechanism and a force sensor, and is capable of deciding the motion based on the force value. Voluntary movement of a hemiplegia patient is recovered by the rehabilitation robot and proposed training method. Thus, verification experiments were performed using participants with hemiplegia. The CCI (Co-Contraction Index) from after training were smaller than ones of before training, thus the movement skills of the participants improved with respect to controlling force direction and magnitude. Moreover, manual function test (MFT) scores increased as reflected by improvements in the motor function of the upper limb using the proposed training method.
  IEEE Computer Society, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：1386, 終了ページ：1391, 2017年08月, ［査読有り］
  This study proposes a high dynamic range measurement method for a six-axis force sensor. The sensor used in this method is composed of high-rigidity and low-rigidity flexure elements. The low-rigidity flexure element is combined with an overload protection mechanism to prevent an overload in the measurement range of the high-rigidity flexure element. A high dynamic range measurement is achieved by switching the output of the two flexure elements such that the low-rigidity flexure element measures a small force and the high-rigidity flexure element measures a large force. A loading test for the designed sensor is performed, and the results indicate that it is possible to use an overload protection mechanism to prevent an overload with respect to the low-rigidity flexure element. Furthermore, the findings confirm that the sensor measures force with a high dynamic range.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：50, 号：1, 開始ページ：12065, 終了ページ：12070, 2017年07月, ［査読有り］
  Hydraulic actuators have good power/weight ratio, and electro-hydrostatic actuators (EHAs), which is a way to control oil flow, are recently keeping attention. EHAs are directly driven by servomotors resulting in high power efficiency, low cost, and small systems. However, owing to inertia of servomotors, the control performance of EHAs has been believed to be lower than that of usual hydraulic systems, in which oil flow is controlled by servo valves. The target issue of this work is to improve the only one drawback of EHAs, control performance. In this research, we firstly show resonance generated by inertia of servomotors. Then, a full state feedback controller is proposed to suppress the resonance. Usually, a full state of resonant systems can be measured by two angular sensors, which measure angle responses of servomotors (motor-side) and hydraulic motors (load-side). However, there is oil leakage in hydraulic systems making full state feedback control unstable. To solve the problem, a new state equation using relative velocity between motor-sides and load-sides is proposed. The validity of the proposed method is experimentally verified.
  Elsevier B.V., 英語, 研究論文（学術雑誌）
  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, 巻：64, 号：6, 開始ページ：4631, 終了ページ：4641, 2017年06月, ［査読有り］
  In this study, bilateral control between electric and hydraulic actuators is investigated. Bilateral control realizes telemanipulation of remote robots with the sense of touch. We focus on the system of local (master) robots, manipulated by operators that are driven by electric actuators, and slave robots, which work in remote places that are driven by hydraulic actuators. To obtain bilateral control in this situation, we find that combination of three key techniques is necessary. The first key is oblique coordinate control, which can decouple position and force controllers of bilateral control. The second key is linearization of hydraulic actuators as third-order systems including oil compression by using disturbance observers. In the absence of linearization, the design becomes practically impossible because of the need to apply complicated models. Since the master robots are second-order systems, and the slave robots are linearized as third-order systems, oblique coordinate control cannot be implemented. Then, the last key is the agreement of system order of electric and hydraulic actuators by using a pseudodifferentiator. Two conventional controllers and the proposed method are experimentally and analytically compared. The proposed method shows the best tracking performance and is the most stable in contact control among the three controllers.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, 研究論文（学術雑誌）
  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, 巻：64, 号：9, 開始ページ：7342, 終了ページ：7349, 2017年05月
  英語, 研究論文（学術雑誌）
• Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm　　　　　　　　　　　　　　　
  Takahiro Yamazaki; Sho Sakaino; Toshiaki Tsuji
  ELECTRICAL ENGINEERING IN JAPAN, 巻：199, 号：3, 開始ページ：57, 終了ページ：67, 2017年05月, ［査読有り］
  This paper describes an estimation method for the physical parameters of human arms. The parameters are used in the medical and kinematic analysis fields. Personal differences are important, but some of the conventional methods do not consider personal differences pertaining to inertia in viscoelasticity muscular strength measurements. The remaining conventional methods that consider personal differences require precise measurement devices. The proposed method realizes kinetics modeling and identification of the friction and inertia including the off-diagonal parameters of human arms by using wearable robots. First, wearable robots are multi-input devices. In addition, the actuators of wearable robots can be located near human joints and can input M-sequence torque. Therefore, wearable robots can input signals having a high signal-to-noise ratio and ensuring persistently exciting characteristics in each human joint. By employing multi-input characteristics, the proposed method can reduce patients' burden by shortening the amount of time for estimation. In addition, we verify the accuracy of the estimated parameters by comparing the responses of the actual machine with those obtained by simulation.
  WILEY-BLACKWELL, 英語, 研究論文（学術雑誌）
  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, 2017年03月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 巻：64, 号：2, 開始ページ：1783, 終了ページ：1792, 2017年02月, ［査読有り］
  In this paper, a method is proposed to estimate the detailed muscular strength of a human limb. The detailed muscular strength discussed in this paper is not the strength produced by coordinated muscle actions but the joint torque generated by each muscle group classified according to its function. It is assumed that a human limb is modeled as a two-link manipulator actuated by three pairs of six muscle groups. Although the model theoretically derives the output force distribution at an end effector from the joint torques, the joint torques are not calculated directly from the distribution. The antagonistic ratios of the output forces at the end effector are introduced to solve this problem. However, the estimation results cannot be compared with actual values in a real environment because it is impossible to measure the output of only a certain muscle in a noninvasive way. Instead, simulations and experiments using a robotic arm demonstrate that the proposed method estimates the output ratios of muscle groups with a satisfactory accuracy.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, 研究論文（学術雑誌）
  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
• 機械学習を用いた機能的電気刺激における筋肉の非線形モデリング　　　　　　　　　　　　　　　
  足立 強; 北村 知也; 水上 直人; 溝口 寛人; 境野 翔; 辻 俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2017, 開始ページ：2A2, 終了ページ：J02, 2017年
  

  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.

  
  一般社団法人 日本機械学会, 日本語
  DOI：https://doi.org/10.1299/jsmermd.2017.2A2-J02
  DOI ID：10.1299/jsmermd.2017.2A2-J02, CiNii Articles ID：130006220999
• R/Cサーボモータでのセンサレス反力推定　　　　　　　　　　　　　　　
  角田 潤也; 森戸 一弥; 辻 俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2017, 開始ページ：1P1, 終了ページ：I11, 2017年
  

  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.

  
  一般社団法人 日本機械学会, 日本語
  DOI：https://doi.org/10.1299/jsmermd.2017.1P1-I11
  DOI ID：10.1299/jsmermd.2017.1P1-I11, CiNii Articles ID：130006220572
• 動力学的拘束を考慮したモデル予測制御のディープニューラルネットワーク学習　　　　　　　　　　　　　　　
  古田 大地; 沓澤 京; 岡本 哲学; 境野 翔; 辻 俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2017, 開始ページ：1P1, 終了ページ：I12, 2017年
  

  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.

  
  一般社団法人 日本機械学会, 日本語
  DOI：https://doi.org/10.1299/jsmermd.2017.1P1-I12
  DOI ID：10.1299/jsmermd.2017.1P1-I12, CiNii Articles ID：130006220573
• 電気静油圧アクチュエータのトルク効率と内部漏れ流量のモデリング　　　　　　　　　　　　　　　
  井 航太; 佐久間 智輝; 梅田 滉大; 津田 賢汰; 境野 翔; 辻 俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2017, 開始ページ：2P1, 終了ページ：E04, 2017年
  

  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.

  
  一般社団法人 日本機械学会, 日本語
  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, 巻：6, 号：5, 開始ページ：320, 終了ページ：327, 2017年, ［査読有り］
  Electro-hydrostatic actuators (EHAs) are hydraulic actuators with high power-to-weight ratios that exhibit low energy loss. Thus far, methods for determining the characteristics and parameters of EHAs have not been fully established. Therefore, modeling methods for EHA are in demand. EHAs are driven by servomotors on the motor-side and hydraulic motors on the load-side, and therefore, the actuators are expected to experience sympathetic vibrations. Thus, EHAs can be considered as systems in which two rigid objects are connected to one another with a low-rigidity shaft such as a spring. The occurrence of resonance in EHAs has not yet been discussed because of difficulties with hydraulic systems. One major problem is the large friction in hydraulic motors. We apply a feedback modulator for friction compensation to enable the experimental identification of characteristics. Assuming that EHAs experience two-inertia resonance, the parameters of the motors can be calculated. In addition, vibration-suppression techniques for two-inertia systems can be applied to EHAs. This study proposes the application of a two-inertia model to suppress vibrations in EHAs and verify their dynamic characteristics.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 開始ページ：216, 終了ページ：221, 2017年, ［査読有り］
  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, 巻：6, 号：3, 開始ページ：223, 終了ページ：230, 2017年, ［査読有り］
  Determining the torque distribution ratio for electric bicycles with independently driven front and rear wheels is important. Both wheels should be driven properly to ensure the safety of riders, and the slip ratio, which indicates the slip state, should be the same for both wheels. In this paper, a method to determine the torque distribution by making the slip ratios of both wheels equal is proposed. The validity of the proposed method is verified by simulations and experiments.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 巻：6, 号：2, 開始ページ：151, 終了ページ：159, 2017年, ［査読有り］
  In recent years, studies on haptic interfaces have progressed. This study deals with the development of the "Haptic Desk", which can detect force information and contact position information using a simple mechanism with force sensors. However this technique has low contact point accuracy when the external force is small. Hence, this paper proposes the use of differentiated force information to calculate an accurate contact point. In the experiment, the accuracy of the contact point calculation using the differentiated force information was higher than the one using the force information when the external force was small. Therefore, the error of the contact point decreased regardless of the magnitude of the force when the force information and differentiated force information were used properly.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 巻：31, 号：6, 開始ページ：303, 終了ページ：310, 2017年, ［査読有り］
  Development of clothing in consideration of the shape and body function of a person with spinal cord injury is an important task. Then, a dummy robot with a deformation mechanism was developed in this study for evaluating the comfortable level of clothings. Specifically, a trunk joint mechanism and an abdominal mechanism that can realize various deformations of the abdominal area and various trunk poses were developed. The trunk joint mechanism was implemented in order to simulate the seated posture of persons with spinal cord injury. The abdominal deformation mechanism was implemented using linear actuators and rotating servomotors in order to simulate abdominal obesity of persons with spinal cord injury. Further, a tactile sensor system was developed for measuring the clothing pressure on the abdominal area and evaluating the comfort or discomfort of clothing.
  TAYLOR & FRANCIS LTD, 英語, 研究論文（学術雑誌）
  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, 巻：6, 号：2, 開始ページ：151, 終了ページ：159, 2017年, ［査読有り］
  In recent years, studies on haptic interfaces have progressed. This study deals with the development of the "Haptic Desk", which can detect force information and contact position information using a simple mechanism with force sensors. However this technique has low contact point accuracy when the external force is small. Hence, this paper proposes the use of differentiated force information to calculate an accurate contact point. In the experiment, the accuracy of the contact point calculation using the differentiated force information was higher than the one using the force information when the external force was small. Therefore, the error of the contact point decreased regardless of the magnitude of the force when the force information and differentiated force information were used properly.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 2016年12月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 巻：2016, 号：2, 開始ページ：73, 終了ページ：78, 2016年09月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2016年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• Dynamic Object Manipulation Considering Contact Condition of Robot With Tool　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Jun Ohkuma; Sho Sakaino
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 巻：63, 号：3, 開始ページ：1972, 終了ページ：1980, 2016年03月, ［査読有り］
  This study considered the dynamic object manipulation by a spatula fixed to a robot. An analysis on the principles of dynamic movement revealed that the main issue is to satisfy conditions expressed in terms of gravitational, frictional, and inertial forces. This paper clarifies the conditions for achieving dynamic movements and presents a unified algorithm for generating a variety of movements from planning trajectories that satisfy such conditions. The conditions of the dynamic movements are given in the acceleration dimension. The trajectory planned by the proposed method was given to a robot as command values, and a spatula was mounted to a robot arm with 6 degrees of freedom. The experimental results demonstrated that the proposed method based on such principles enables multiple dynamic movements in a unified manner.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, 研究論文（学術雑誌）
  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, 巻：63, 号：3, 開始ページ：1935, 終了ページ：1942, 2016年03月, ［査読有り］
  This paper deals with a motion matching method for rehabilitation database. To improve identification performance, force information was utilized in addition to position information. Using dynamic programming (DP), matching that features force and position information recorded by a rehabilitation robot enables similar motion data to be searched. Several experimental evaluations validate that identification performance is improved with force information.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, 研究論文（学術雑誌）
  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), 巻：2016, 開始ページ：5845, 終了ページ：5848, 2016年, ［査読有り］
  This study has developed a device and system for the exercise of eccentric contraction of the tibialis anterior, with the objective of maintaining ambulatory function. A system was built that allows for exercises of appropriate load and speed, by providing the trainee with force data in the form of visual feedback. An experimental verification with two healthy participants shows small variation in the Myoelectric data during the repetitive exercise. The result suggest the possibility of higher reproducibility of the proposed exercise in comparison with manual exercise. As a clinical test, elderly ambulatory participants who frequented a day care facility performed exercises for one month (twice weekly) using the proposed device and exercise system. To verify the exercise results, a TUG test was performed, which is an assessment index for functional mobilization capacity. Shorter TUG in the majority of the participants suggests a possible beneficial effect in ambulatory function.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：5, 号：5, 開始ページ：398, 終了ページ：404, 2016年, ［査読有り］
  In this study, we investigated bilateral control in the vertical direction using functional electrical stimulation (FES). Bilateral control is a remote operation technique that incorporates force feedback. This technology has potential applications in everyday life, including allowing medical doctors to make diagnoses or friends to communicate using tactile sensations when far apart. However, current iterations of this technology require robot arms to be worn. This is undesirable as such arms are heavy, and arms with multi degree-of-freedom are difficult to produce. To address these problems, we investigated bilateral control using FES. However, in previous studies, which applied FES to bilateral control, control in the vertical direction and the effect of reaction forces were not investigated. In this study, we verified that vertical control is achievable. First, the movements of a human operator were shown to follow those of another operator in the vertical direction, demonstrating that vertical bilateral control using FES is effective. We next investigated whether an operator could recognize when the partner was holding a weight. This experiment demonstrated that the operator was able to recognize the presence or absence of the weight in the hand of the partner. However, shaking was observed in the arms of the master and slave. We believe that this problem can be eliminated by estimating the reaction forces of arms.
  Institute of Electrical Engineers of Japan, 英語, 研究論文（学術雑誌）
  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, 巻：136, 号：4, 開始ページ：254, 終了ページ：262, 2016年, ［査読有り］
  This paper describes an estimation method for the physical parameters of human arms. The parameters are used in the medical and kinematic analysis fields. Personal differences are important, but some of the conventional methods do not consider personal differences pertaining to inertia in viscoelasticity muscular strength measurements. The remaining conventional methods that consider personal differences require precise measurement devices. The proposed method realizes kinetics modeling and identification of the friction and inertia including the off-diagonal parameters of human arms by using wearable robots. First, wearable robots are multi-input devices. In addition, the actuators of wearable robots can be located near human joints and can input M-sequence torque. Therefore, wearable robots can input signals having a high signal-to-noise ratio and ensuring persistently exciting characteristics in each human joint. By employing multi-input characteristics, the proposed method can reduce patients' burden by shortening the amount of time for estimation. In addition, we verify the accuracy of the estimated parameters by comparing the responses of the actual machine with those obtained by simulation.
  Institute of Electrical Engineers of Japan, 日本語, 研究論文（学術雑誌）
  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, 巻：194, 号：1, 開始ページ：27, 終了ページ：36, 2016年01月, ［査読有り］
  Working in extreme environments (e.g., at disaster sites) is dangerous for humans. Hence, it is important to use teleoperated robots in such extreme environments. Because heavy lifting work is involved, hydraulic actuators with high output are more commonly used than electric actuators. Therefore, it is necessary to operate remotely controlled robots driven by hydraulic actuators. Bilateral control is remote control with a sense of force. Because most bilateral control systems have been studied mainly using electric actuators, bilateral control using hydraulic actuators is still a challenge. In this study, we propose placing a bilateral controller between an electric actuator on the master side and a hydraulic actuator on the slave side using position and velocity. The controller exhibits the dynamics of bilateral control systems using position and velocity. In addition, the control performance of conventional methods and that of the proposed method are compared and experimentally verified. (C) 2015 Wiley Periodicals, Inc.
  WILEY-BLACKWELL, 英語, 研究論文（学術雑誌）
  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), 開始ページ：394, 終了ページ：399, 2016年, ［査読有り］
  Hemiplegia is the lingering effect after a stroke and causes varying impairments. The ability to generate and modulate force is frequently impaired. This study focuses on a rehabilitation technique that encourages force generation in an arbitrary direction. The authors introduced a physiotherapy technique into a rehabilitation robot. Force visualization was provided as a feedback strategy to facilitate motor learning. The technique was verified with a patient clinically diagnosed with hemiplegia. The results suggested significant improvements in the motor function in a short period of time. It was concluded that the recovery of force modulation and improved motor control in the performance of a reaching task correlated with the training. This paper discusses the contribution of force visualization to motor function.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：506, 終了ページ：511, 2016年, ［査読有り］
  This study investigates bilateral control between electric and electro-hydrostatic actuators (EHAs) using a feedback modulator (FM). In bilateral control, we apply a local robot as a master driven by an electric actuator and a remote robot as a slave driven by an EHA. EHAs exhibit a high power-to-weight ratio with low energy loss. However, there would be difficulties when it comes to control designs because of non-linear characteristics such as friction. In order to exhibit high control performance of bilateral control, the effect of static friction which occurs in the hydraulic actuator of the slave has to be eliminated. An FM is applied to reduce the effect of static friction of the hydraulic systems and to enhance responses of actuators. We apply the FM to an oblique-coordinate-bilateral-control system and investigate the control performance. The experimental results indicate that the FM reduced the effect of static friction and the position control performance was improved. Besides, the conventional method is not able to transmit the reaction force because of the large static friction in the low-speed domain. However, the proposed method stabilizes the contact motion by applying the FM.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：160, 終了ページ：166, 2016年, ［査読有り］
  This paper describes bilateral control using functional electrical stimulation (FES) with reaction torque observers (RTOB). Bilateral control provides force feedback in teleoperation systems. This technology has many potentials in daily activities. For example, it could allow medical doctors to deliver first aid in remote locations or allow humans to communicate using tactile sensation. However, when controlling bodies, operators generally must wear robot arms. However, wearing robot arm has several disadvantages; for instance operators feel restrained, and it is difficult to create the robot arms with multi degree-of-freedom. To solve these problems, bilateral control using FES has been studied. FES can control human bodies using small pads. However, in conventional studies of bilateral control using FES, the reaction force of the operated subject is not transmitted successfully to the operator. Therefore, we propose a method in which the reaction force of the operated subject is estimated using RTOB. We conducted experiments in which, the elbow joints of five healthy subjects were controlled by a bilateral controller. A force controller controlled the operators, and a position controller controlled the operated humans. The experimental results show that the reaction force of the operated subjects was successfully transmitted to the operators. The operators were able to recognize the position of an obstacle on operated subjects' side. In addition, tracking error was reduced compared to that obtained in past studies using conventional methods.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：1144, 終了ページ：1149, 2016年, ［査読有り］
  This paper deals with identification of the contact conditions of a robot during tool use. This paper proposes a method for the identification of the contact conditions considering slide between the tool and the work object. The validity of the method is shown through simulation and experimental results.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：5813, 終了ページ：5818, 2016年, ［査読有り］
  This paper introduces a method of force control for a jumping biped robot to correctly control the ground reaction force during continuous jumping. Assuming dynamic motion, such as jumping and running, the attitude of the robot depends on the dynamics in response to the ground reaction force. Therefore, controlling the ground reaction force is necessary for stabilizing the robot's motion. However, control of the ground reaction force involves a fundamental problem: feedback control does not work properly against the impact force owing to limitations in the control bandwidth. This study introduces a method for stiffness ellipse control that utilizes three antagonist pairs of six pneumatic artificial muscles. When the tip of the robot makes contact with the ground, an external force is induced in the direction of lower stiffness. By utilizing this property of the stiffness ellipse, it is possible to control the ground reaction force by feedforward control, which is not dependent on the control bandwidth. Based on this idea, impact force control at landing and jumping force control at takeoff were proposed to correctly control the ground reaction force during the continuous jumping of the robot. The results of several experiments conducted convince us that the relationship between the ground reaction force and the stiffness ellipse is almost linear, and that the ground reaction force can be controlled with high reproducibility by adjusting the stiffness ellipse.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：6409, 終了ページ：6414, 2016年, ［査読有り］
  When robots interact with the environment, it is necessary for them to detect and control contact forces. In many cases, force/torque sensors or tactile sensors on robots do not contact the environment directly, but instead contact through end-effectors or grasped objects. Thus, robots have to estimate actual contact forces through insensitive objects. However, estimating multiple contact forces through insensitive objects is an ill-posed problem. This paper proposes a method of estimating contact forces on three points separately with a six axis force/torque sensor on an end-effector. We discovered that the components of contact forces normal to the plane defined by the three contact points can be found uniquely by applying static equilibrium of force and moment. The tangential components of contact forces can also be determined by the use of an additional algorithm. The validity of the proposed method is confirmed by experimental results.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：6397, 終了ページ：6402, 2016年, ［査読有り］
  This paper deals with a tactile interface using force sensors. Touch panel, which uses contact position information for input, is spreading as a good candidate of intuitive man machine interfaces. In addition to contact position information, using contact force information realizes intuitive and versatile input. "Haptic Desk" is a desk-type tactile interface that force sensors are attached to the legs of the desk. This technology can estimate contact force and contact position on the desk. Moreover, this technology can convert not only a desk but also other products, such as consumer electronics and furniture, into tactile interface. However, if the products are vibrated, the errors of the estimated external force and contact point occur. Because the inertia force of the product is not considered, the errors occur. For reduction of the errors, this paper expands the method of Haptic Desk by using an acceleration sensor. The usefulness of the proposed method is shown by experiments.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：5088, 終了ページ：5093, 2016年, ［査読有り］
  Servo valves are unnecessary in electro-hydrostatic actuators (EHAs) because they are directly controlled by servomotors. Owing to the above characteristics, the control frequency and power efficiency improve, and the site of a hydraulic system reduces. However, oil leakage and static friction tend to he significant in EHAs. In addition, the nonlinear characteristics of oil leakage make compensation difficult. In this study, we propose an EHA model that reflects oil leakage and static friction. To eliminate the necessity for complicated leak identification, oil leakage is estimated using two encoders. Then, the effect of static friction is suppressed using feedback modulators (FMs). Finally, disturbance observers (DOBs) are integrated into the model to eliminate disturbances in the EHAs and the validity of the proposed method is verified experimentally.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：382, 終了ページ：387, 2016年, ［査読有り］
  This paper proposes a new method of muscle force estimation based on the relationship between the muscle space and the task space using a general lower extremity model in the sagittal plane. In addition, we report a verification experiment using several active motion patterns with a training robot for the lower extremities. The results show that the muscle forces estimated by the proposed method exhibit good correlation with surface electromyograms. Moreover, it is confirmed that the proposed method can capture some muscle activities undetectable by conventional methods.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 2015年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• Bilateral control using functional electrical stimulation　　　　　　　　　　　　　　　
  Tomoya Kitamura; Sho Sakaino; Toshiaki Tsuji
  IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 開始ページ：2336, 終了ページ：2341, 2015年, ［査読有り］
  This paper describes bilateral control using functional electrical stimulation (FES). Bilateral control is a teleoperation system using force feedback. If we can use it in everyday life, it could allow remote diagnosis by doctors and communication of tactile information. However, in conventional studies of bilateral control, operators must wear robot arms. Using them in everyday life is not desirable, because they are restrained and make human feel uncomfortable. Therefor, we propose the use of FES in the transmission of force information. An experiment on bilateral control of elbow joints with five healthy male participants was conducted. Biceps brachii muscles and triceps brachii muscles were stimulated using adhesive electrical pads. Position symmetrical bilateral control was implemented so that the deviation of the position of each other is 0. The angles of the elbows were measured by encoders, and a proportional-integral-derivative (PID) controller was implemented as a position controller. The experimental results show that the proposed method showed good performance in the practical viewpoint. However, the elbows of some subjects could not be successfully controlled because interference current occurred between their muscles.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：1735, 終了ページ：1740, 2015年, ［査読有り］
  Computer vision plays an important role in various applications. However, the accuracy of computer vision is often degraded by specular reflection. To solve this problem, a system utilizing a high-speed camera and a strobe for removing specular reflection has been shown to be effective. This method utilizes a principle of estimation using images with luminances varied by the flickering of a strobe. However, the method generates noise due to the difference in position of specular reflection among images in video imaging. In this paper, the authors propose a method combining optical flow with the above-mentioned method. The proposed method enables the removal of specular reflection for video imaging without generating noise. Experimental results and comparison with other methods of specular reflection removal show the effectiveness of the proposed method.
  Institute of Electrical and Electronics Engineers Inc., 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：277, 開始ページ：191, 終了ページ：195, 2015年, ［査読有り］
  This study deals with the development of a force-sensing device for converting a desk into an interface by mounting the device on the supports or legs of these objects. The system is composed of four force sensors with clamps, and a PC. Contact force and its position on a regular desk can be estimated from the response of the four force sensors fixed on the legs of the desk. Some application programs using this interface are introduced.
  Springer Verlag, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：741, 終了ページ：746, 2015年, ［査読有り］
  This paper describes the development of an ankle training robot force visualization for eccentric contraction training. In the mechanism of walking, the eccentric contraction of the tibialis anterior muscle plays an important part in the phase between heel-strike and foot-flat as a shock absorber. However, the eccentric contraction has not been reported in previous research on ankle rehabilitation robots, despite its importance. In addition, traditional training methods both unaided and with tubing have difficulty making the training load constant. Hence, this study proposes a system that uses visual feedback of the forces to help the patient keep the training load constant. We present an estimation method for the lower extremity posture and torques.
  We also experimentally subject compared output force with and without the use of visual feedback. The results show that the system is able to make the training load constant. Furthermore, frequency analysis using the fast Fourier transfer (FFT) of the force information measured during training and passive motion shows that the robot is capable of detecting unwanted vibrations.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：2246, 終了ページ：2251, 2015年, ［査読有り］
  This paper introduces the control method for the impact force based on feed-forward control considering the stiffness ellipse of a biped robot. Assuming dynamic motion, such as jumping and running, the jumping direction depends on the dynamics in response to the ground reaction force. Therefore, it is necessary to control the ground reaction force in order to stabilize the system. However, control of the ground reaction force involves a fundamental problem: feedback control does not work properly against the impact force owing to the control bandwidth limitation. This study introduces a method for the stiffness ellipse control utilizing three antagonist pairs of six pneumatic artificial muscles. When the tip of the biped robot makes contact with the ground, an external force is induced in the direction that has lower stiffness. By utilizing this property of the stiffness ellipse, it is possible to control the ground reaction force by feed-forward control, which is not dependent on the control bandwidth. The results of several experiments convince us that the relationship between the ground reaction force and the stiffness ellipse is almost linear, and the ground reaction force can be controlled with high reproducibility by adjusting the stiffness ellipse. It is possible to stabilize the system during dynamic movements because this method can control the impact force.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：1759, 終了ページ：1764, 2015年, ［査読有り］
  This paper focuses on extending a previously reported technique to convert a desk into a tactile interface. The original technique, based on the so-called "Haptic Desk" enables the detection of an applied force and its contact point by force sensors at the desk's supporting points. Consumer electronics and furniture can be converted into tactile interfaces with the use of this technique. However, this method has the restriction that an object should be composed of planes. The authors introduce a method of modeling the object as a set of points and estimating the contact point based on the distance between a point and the force representative line. Since there is a possibility that an incorrect contact point is estimated, the standard deviation of the distance is used to prevent incorrect estimations. The results of experiments show that the error is reduced by introducing the standard deviation.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：364, 終了ページ：369, 2015年, ［査読有り］
  It is important to decrease cost of power assist bicycles for their wide spread. Because force sensors for pedaling torque estimation are expensive, torque sensorless pedaling torque estimation is a good way to reduce cost. Therehire, in this paper, a pedaling torque estimation method for power assist bicycles is proposed. It can be implemented only in front and rear wheel independently driven type power assist bicycles, which were also proposed by the authors. In the proposed method, front and rear wheels are controlled to be the same velocity. Owing to this, a friction coefficient between a front wheel and the ground is equal to a friction coefficient between a rear wheel and the ground. Hence, we can eliminate one unknown parameter, a friction coefficient, from motion equations. In addition, because the proposed power assist bicycles have two motors, both external torques of front and rear wheels can be estimated. Together with data from acceleration sensor and the two estimated external torques, pedaling torque, normal forces on each wheel, and running resistance, can be estimated in real-thne by using an iterative least square method. The validity of the proposed method is verified by simulations and experiments.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：426, 終了ページ：431, 2015年, ［査読有り］
  In recent years, the population of elderly people is increasing rapidly. Rehabilitation training systems using robotics and virtual reality technologies, therefore, attracts attention. This paper introduces the development of an upper limb rehabilitation robot with guidance control. This study investigates how the motor learning effect improves with low stiffness guidance control based on pneumatic artificial muscles.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  Web of Science ID：WOS:000380412600062
• サーボポンプを用いた油圧閉回路による電気-油圧アクチュエータ間のバイラテラル制御　　　　　　　　　　　　　　　
  佐久間,智輝; 古谷,峻千; 境野,翔; 辻,俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2015, 開始ページ：_2P1, 終了ページ：K07_1-_2P1-K07_4, 2015年
  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.
  一般社団法人 日本機械学会, 日本語, 研究論文（研究会，シンポジウム資料等）
  DOI：https://doi.org/10.1299/jsmermd.2015._2P1-K07_1
  DOI ID：10.1299/jsmermd.2015._2P1-K07_1
• コンパスで円を描く動作を実現する制御　　　　　　　　　　　　　　　
  沓澤,京; 大熊,隼; 境野,翔; 辻,俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2015, 開始ページ：_2P1, 終了ページ：F07_1-_2P1-F07_4, 2015年
  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.
  一般社団法人 日本機械学会, 日本語, 研究論文（研究会，シンポジウム資料等）
  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, 巻：2015, 開始ページ：46, 終了ページ：47, 2015年
  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.
  一般社団法人 日本機械学会, 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2015, 開始ページ：211, 終了ページ：211, 2015年
  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.
  一般社団法人 日本機械学会, 英語, 研究論文（国際会議プロシーディングス）
  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, 2014年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2014年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• Whole-body tactile sensing through a force sensor using soft materials in contact areas　　　　　　　　　　　　　　　
  Toshiaki, Tsuji; Naoyuki, Kurita; Sho, Sakaino
  ROBOMECH Journal, 巻：1:11, 2014年09月
  日本語, 研究論文（学術雑誌）
• 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, 2014年08月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2014年08月
  日本語, 研究論文（研究会，シンポジウム資料等）
• New Emerging Technologies in Motion Control Systems-Part II　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Asif Sabanovic; Kiyoshi Ohishi; Makoto Iwasaki
  IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 巻：61, 号：7, 開始ページ：3607, 終了ページ：3609, 2014年07月, ［査読有り］
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 英語, 研究論文（学術雑誌）
  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
• 接触時における外力ベクトルの変化を用いた非凸包型エンドエフェクタでの全身触覚　　　　　　　　　　　　　　　
  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, 巻：134, 号：5, 開始ページ：517, 終了ページ：525, 2014年05月
  電気学会, 日本語, 研究論文（学術雑誌）
  ISSN：0913-6339, CiNii Articles ID：40020097650, CiNii Books ID：AN10012320
• 外骨格ロボットアームを用いた人のモーションのロボットへの転写及び人への教示　　　　　　　　　　　　　　　
  山崎,貴大; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 巻：2014, 号：99, 開始ページ：133, 終了ページ：138, 2014年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 画像と機能的電気刺激を組み合わせた運動技能教示システムの開発　　　　　　　　　　　　　　　
  川尻,皓之; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 巻：2014, 号：99, 開始ページ：67, 終了ページ：72, 2014年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 電動二輪車の前後輪独立駆動による安定化制御　　　　　　　　　　　　　　　
  石川,国康; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 巻：2014, 号：78, 開始ページ：43, 終了ページ：48, 2014年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 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, 2014年03月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 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), 開始ページ：3543, 終了ページ：3548, 2014年, ［査読有り］
  As a rehabilitation support system is a digital device, it has an ability to automatically record and store data. In this study, we utilized this feature to develop an operation interface. Operation interfaces can be compared on the basis of the recorded data. In the case of the stick-type operation interface, the operator can freely control the device by recognizing the direction and magnitude of the applied force. During the stick operation, an appropriate degree of rigidity for the stick is necessary to enable operations involving both fine and large movements.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：5248, 終了ページ：5253, 2014年, ［査読有り］
  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 tactile interface by utilizing the advantage. Some examples of application using the desk with computer graphics are introduced.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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年, ［査読有り］
  Bilateral communication is remote control and composed of position/force tracking between a master (local) robot and a slave (remote) robot. Therefore, conventionally, hydraulic actuators, which have low force control performance, are not good candidates for bilateral communication. However, we found that the lack of force control of the hydraulic actuators can be compensated by helps of electric actuators. If multirate controllers are implemented in bilateral communication; sampling periods of electric actuators are shorter than those of the hydraulic actuators, position and force controllers of bilateral controllers are decoupled without force control of hydraulic actuators. Here, the master robot is driven by an electric actuator and the slave robot is driven by a hydraulic actuator. The proposed method is given by a couple of two sampling points. In the first sampling point, the master and slave robots cooperate to establish position tracking. The force task is given by a mean master's output of the first and second sampling points. Therefore, the sampling period of the slave robot is twice longer than that of the master robot. The effectiveness of the proposed method is verified by simulations, and is experimentally shown by using hydraulic actuators with a proportional fluid valve.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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), 開始ページ：1978, 終了ページ：1983, 2014年, ［査読有り］
  Robotic tool use is a challenging issue, which can be a key for extending the ability of robots in human environment. This study deals with a technique for contact state recognition of robotic tool use. A contact model and a method to calculate the parameters of the model from the haptic information are proposed. Some kinetic information is estimated from the model parameters and utilized for the tool use.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：2786, 終了ページ：2791, 2014年, ［査読有り］
  Hydraulic actuators are superior to electric motors in term of power/weight ratio. In addition, recent technical progress of electro-hydraulic valves provides fast tracking performance. However, there is a problem of steady state errors because hydraulic actuators have dead zones around zero outputs. Disturbance observers are powerful tools to eliminate disturbances on robot systems. However, if there is a dead zone, disturbance observers generate residual oscillation. Feed back modulators cancel Coulomb friction by quantizing inputs. However, viscous friction, gravitational force, modeling errors, and the other disturbances cannot be compensated by feedback modulators. Therefore, in this paper, the dead zone is compensated by integrating disturbance observers and feedback modulators. The validity of the proposed method is experimentally confirmed.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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年, ［査読有り］
  A rehabilitation database is a concept that utilizes the quantitative data acquired from rehabilitation robots. By applying database techniques to rehabilitation robot data, many applications will become possible. As one example, this paper discusses how to match rehabilitation data based on a dynamic programming method. It is to be anticipated that large amounts of data and long calculation times for searching will be two serious issues for rehabilitation databases. Therefore, this paper proposes a method based on two techniques: feature extraction and nonlinear quantization. Both techniques have the combined features of data compression and good recognition performance. Hence, the matching of compressed data has a high recognition rate, even if the compression ratio is very high. The performance of the proposed method is evaluated through experimental data of 500 trials.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  ISSN：1943-6572, Web of Science ID：WOS:000356041600110
• 電気-油圧アクチュエータを用いた速度指令方式によるバイラテラル制御　　　　　　　　　　　　　　　
  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, 巻：133, 号：11, 開始ページ：1065, 終了ページ：1072, 2013年11月
  電気学会, 日本語, 研究論文（学術雑誌）
  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, 2013年09月
  日本語, 研究論文（研究会，シンポジウム資料等）
• 「人間環境と親和性の高いロボットのためのアクチュエータ」特集について　　　　　　　　　　　　　　　
  辻 俊明; 原 正之
  日本ロボット学会誌, 巻：31, 号：6, 開始ページ：547, 終了ページ：547, 2013年07月
  The Robotics Society of Japan, 日本語
  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
• 多様な形状に応用可能な力覚センサを用いた触覚技術の開発　　　　　　　　　　　　　　　
  蓮沼,裕喜; 栗田,直幸; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：135, 開始ページ：61, 終了ページ：66, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 手術支援のための力覚信号処理に基づくフェールセーフシステム　　　　　　　　　　　　　　　
  寺田,朋央; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：135, 開始ページ：55, 終了ページ：60, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 人の接触動作時の動特性の抽出と解析　　　　　　　　　　　　　　　
  山崎,貴大; 境野,翔; 辻,俊明; 橋本,卓弥
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：65, 開始ページ：13, 終了ページ：18, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• リハビリ支援装置のための操作インタフェースの開発　　　　　　　　　　　　　　　
  籾木,千菜美; 横尾,知典; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：65, 開始ページ：7, 終了ページ：12, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 路面の鏡面反射を除去するための高速ストロボカメラ　　　　　　　　　　　　　　　
  森戸,賢; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：49, 開始ページ：15, 終了ページ：20, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• ロボットの道具使用時における接触状態の認識　　　　　　　　　　　　　　　
  大熊,隼; 松崎,亮平; 上林,誠; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：33, 開始ページ：79, 終了ページ：84, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 可動範囲の制限された多自由度マニピュレータの外乱積分値を用いた動特性同定　　　　　　　　　　　　　　　
  境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：33, 開始ページ：7, 終了ページ：12, 2013年03月
  電気学会, 日本語, 研究論文（研究会，シンポジウム資料等）
• 多自由度ロボットアームを用いた電気-油圧アクチュエータ間のバイラテラル制御　　　　　　　　　　　　　　　
  古谷,峻千; 高橋,大樹; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2013, 号：33, 開始ページ：73, 終了ページ：78, 2013年03月
  電気学会
• 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), 開始ページ：4264, 終了ページ：4269, 2013年, ［］
  A whole-body tactile sensing system using a force sensor with soft material at contact areas is proposed. The previous method proposed by the authors used rigid materials at contact areas. In terms of safety assurance, the material should have shock-absorbing characteristics. Hence, in this study, we investigate the use of an urethane sponge at contact areas and evaluate the performance of the contact point calculation. First, the relationship between the external force and the displacement of the urethane sponge is measured. Second, a compensation method for deformation of the soft material is proposed. Finally, the performance of our whole-body tactile sensing system is verified. © 2013 IEEE.
  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, 開始ページ：13, 終了ページ：18, 2013年, ［］
  The growth of the internet brings up new keywords for the information technology, such as cloud computing and big data. The increasing data in the information society has a potential to offer new insight into the real world. On the other hand, the increasing demand for rehabilitation of aged people has resulted in increased demand for physical therapy robots. Therefore, this paper proposes the construction of rehabilitation database extending the concept of medical cloud technologies. We discuss the possibility of establishing a new validation methodology by generating database created using the data collected with rehabilitation equipment. Statistical processing was applied to the data collected using the rehabilitation equipment, for investigating an example of a validation method. The results show that a new knowledge for physical therapy can be extracted through a statistical evaluation with database compiled from quantitative sensor information. © 2013 IEEE.
  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, 巻：25, 号：3, 開始ページ：515, 終了ページ：520, 2013年, ［］
  The Range of Motion (ROM) is an important index of physical and occupational therapy, although getting quantitative results requires much time and effort. This paper proposes a method for measuring the ROM on a 2-dimensional plane by introducing a rehabilitation robot. One advantage is that quantitative measurement is easily done. This paper also proposes the concept of resistancemovementROM, which indicates the extent of movement under load and resistance. This method makes it possible to observe the distribution of strength within the ROM. In other words, the proposed method evaluates upper limb mobility and the ability to produce force. The feasibility of the method is evaluated through experimental results. © 2011 by the American Institute of Aeronautics and Astronautics, Inc.
  Fuji Technology Press
  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, 巻：182, 号：1, 開始ページ：48, 終了ページ：56, 2013年01月, ［］
  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. (c) 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 182(1): 48-56, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22310
  WILEY-BLACKWELL
  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, 開始ページ：804, 終了ページ：809, 2013年, ［］
  This paper presents a newly-developed haptic interface for arm self-rehabilitation based on bilateral control. The purpose of this research is the improvement of the physical function of patients' arm with hemiplegia. In order to acquire enough motion range for the rehabilitation, the X-Y tables with two degrees-of-freedom are utilized as the haptic system. The developed interface realizes the rehabilitation environment on the basis of the integration of the bilateral control system for haptic transmission between arms and the virtual reality for visual guidance. This integration can provide the self-rehabilitation suitable for the patients with hemiplegia. In this paper, the results of bilateral control in the presented haptic system and the results of basic evaluation for the physicality of the human arm in the reaching task are presented. From these experimental results, the utility of the developed interface is verified.
  IEEE
  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), 開始ページ：1480, 終了ページ：1485, 2013年, ［］
  In exercise therapy, the training program will differ depending on the degree of disability. In order to gradually transition from passive exercise to exercises with more voluntary movements, it is important to reduce the assistance provided by the therapist in stages. Since stiffness control is the key factor of assistance adjustment in robotic movement rehabilitation, this paper focuses on stiffness control as a tool to adjust the assistance in stages. It is necessary to set a proper stiffness ellipse to perform assistance with directivity, especially in the case of active-assistive exercise. The performance of the proposed stiffness control for exercise therapy is validated through experimental results.
  IEEE
  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), 開始ページ：4120, 終了ページ：4125, 2013年, ［］
  Working in ultimate environments (e.g. working at the disaster sites) is dangerous for humans. Hence it is important to introduce teleoperated robots at the extreme environments. Since there are many heavy works, hydraulic actuators of high output power are used more than electric actuators. Therefore, it is necessary to operate remote control robots driven by hydraulic actuators. Bilateral control is remote control with the sense of force. Because most of bilateral control systems have been studied mainly using electric actuators, bilateral control using hydraulic actuators is still a challenging issue. In this research, we show the interference of position and force controllers and degradation of control performance by scaling gain in the conventional method. The control performance of the conventional research is analyzed and is experimentally verified. In addition, in this research, we show the effect of modeling error of the previously proposed bilateral controller.
  IEEE
  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年, ［］
  Most of existing robots in industry are specialized for a single work. This paper aims at developing a versatile robotic system with the ability to use many tools. The tools are classified into groups and the most part of the programs for the classified tools are unified. Experimental verification shows that the robot is able to handle multiple tools by the unified controller.
  IEEE
  Web of Science ID：WOS:000324299300111
• 身体性を拡張する触覚信号処理に基づく道具の制御　　　　　　　　　　　　　　　
  松崎,亮平; 上林,誠; 境野,翔; 辻,俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2013, 開始ページ：_2P1, 終了ページ：K04_1-_2P1-K04_4, 2013年
  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.
  一般社団法人 日本機械学会
  DOI：https://doi.org/10.1299/jsmermd.2013._2P1-K04_1
  DOI ID：10.1299/jsmermd.2013._2P1-K04_1
• 接触部分に柔軟素材を用いた力覚センサによる全身触覚 : 柔軟素材を用いたハプティックアーマ　　　　　　　　　　　　　　　
  栗田,直幸; 蓮沼,裕喜; 境野,翔; 辻,俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2013, 開始ページ：_2A1, 終了ページ：A09_1-_2A1-A09_4, 2013年
  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.
  一般社団法人 日本機械学会
  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, 巻：2, 号：1, 開始ページ：61, 終了ページ：66, 2013年
  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.
  一般社団法人 電気学会
  DOI：https://doi.org/10.1541/ieejjia.2.61
  DOI ID：10.1541/ieejjia.2.61, ISSN：2187-1094, CiNii Articles ID：130003379493
• 筋骨格アクチュエータに基づくモーションコントロール　　　　　　　　　　　　　　　
  辻 俊明; 大西 公平
  電気学会誌 = The journal of the Institute of Electrical Engineers of Japan, 巻：132, 号：9, 開始ページ：606, 終了ページ：609, 2012年09月
  本記事に「抄録」はありません。
  The Institute of Electrical Engineers of Japan
  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, 開始ページ：89, 終了ページ：94, 2012年08月
• 速度情報に基づくリハビリ支援ロボットの評価指標　　　　　　　　　　　　　　　
  山田,充之; 横尾,知典; 境野,翔; 金子,裕良; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2012, 号：156, 開始ページ：7, 終了ページ：12, 2012年03月
  電気学会
• 道具使用により汎用性を目指したロボットのハイブリッド制御　　　　　　　　　　　　　　　
  松崎,亮平; 上林,誠; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2012, 号：86, 開始ページ：39, 終了ページ：44, 2012年03月
  電気学会
• 電気-油圧アクチュエータ間のバイラテラル制御　　　　　　　　　　　　　　　
  高橋,大樹; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2012, 号：25, 開始ページ：55, 終了ページ：60, 2012年03月
  電気学会
• 力覚センサを用いた非凸包型エンドエフェクタでの全身触覚　　　　　　　　　　　　　　　
  栗田,直幸; 境野,翔; 辻,俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2012, 号：25, 開始ページ：31, 終了ページ：36, 2012年03月
  電気学会
• An extended Jacobian matrix and multirate control for bilateral control between different time resolution systems　　　　　　　　　　　　　　　
  Sho Sakaino; Toshiaki Tsuji
  IECON Proceedings (Industrial Electronics Conference), 開始ページ：2656, 終了ページ：2661, 2012年, ［］
  In this paper, a way to obtain bilateral control between different time resolution systems is proposed. Bilateral control enables communication of information regarding our tactile sense. A master (local) robot is manipulated by an operator and a slave (remote) robot tracks the position of the master while the reaction force of the slave is fed back to the master. Conventionally, there have been few studies about the difference of time resolution and feedback gains between master and slave systems. First, an extended Jacobian matrix is proposed to describe the dynamics of bilateral control taking time resolution difference into account. The fast (master) and slow (slave) systems are transformed to other fast and slow systems in modal space, which the dynamics of the position accordance and force regulation are described in. Then, a multirate controller is designed to couple the fast system with high feedback gain and the slow system with low feedback gain. The validity of the proposed method is confirmed by simulations and experiments. © 2012 IEEE.
  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年, ［］
  With increasing demands for rehabilitation, the need for physical therapy robots is also increasing. This paper proposes the construction of a rehabilitation database inspired with medical cloud technologies. We discuss the possibility of establishing a new validation methodology by generating a database based on the data collected using rehabilitation equipment. In this research, data was obtained by rehabilitation equipment and statistical processing was applied to the data to investigate an example of a validation method. The experimental results suggest that improvement of tracking property of subjects is much larger than improvement of maneuverability. © 2012 IEEE.
  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), 開始ページ：5428, 終了ページ：5433, 2012年, ［］
  It is a quite wondering fact that all land animals and humans have biarticular muscles although the extra biarticular mechanism seems unnecessary in engineering view. This research investigates the contribution of biarticular muscles in living organisms to the attitude control. A method of angular stiffness calculation is proposed and the maximum angular stiffness of each musculoskeletal model is estimated based on the method. It is shown that the model with biarticular muscles can set higher angular stiffness without increasing the total mass of actuators. Furtheremore, experimental results show that control bandwidth is extended due to the high stiffness property.
  IEEE
  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), 開始ページ：5428, 終了ページ：5433, 2012年, ［］
  Whole-body force sensation with a simple configuration is desirable for robots in human environment. This paper deals with a force sensor-based whole-body force sensing technique of robots and expand it to arbitrary shape end-effectors. Previous techniques could not deal with a non-convex-shaped end-effector since multiple candidates of contact points exist for contact position identification. The problem was solved by explicitly using the property of an external force vector whose direction changes with respect to time. It was found that inertial force degraded the detection rate in cases in which vibration occurred in the end-effector, but it was possible to improve the rate by acquiring data over a longer period of time. It was empirically confirmed that accurate whole-body force sensation is feasible using a non-convex-shaped end-effector.
  IEEE
  ISSN：2153-0858, Web of Science ID：WOS:000317042706002
• 複数の支持点を有する甲殻型触覚センサの開発とマニピュレータへの応用　　　　　　　　　　　　　　　
  羽生 良輔; 辻 俊明
  電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society, 巻：131, 号：9, 開始ページ：1128, 終了ページ：1134, 2011年09月
  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.
  一般社団法人 電気学会
  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, 開始ページ：571, 終了ページ：576, 2011年09月
• 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, 開始ページ：359, 終了ページ：364, 2011年09月
• 触覚情報の特徴量抽出に基づくロボットの命令認識　　　　　　　　　　　　　　　
  辻 俊明; 伊藤 達也
  日本ロボット学会誌, 巻：28, 号：3, 開始ページ：319, 終了ページ：326, 2010年04月
  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
  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
• 高速度カメラ画像に基づく鏡面反射光の除去　　　　　　　　　　　　　　　
  辻 俊明; 猪田 良介
  電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society, 巻：130, 号：3, 開始ページ：261, 終了ページ：267, 2010年03月
  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.
  一般社団法人 電気学会
  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
• 低次元化された全身触覚センサを用いたロボットの命令認識　　　　　　　　　　　　　　　
  伊藤 達也; 辻 俊明
  電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society, 巻：130, 号：3, 開始ページ：293, 終了ページ：299, 2010年03月
  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
  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, 巻：57, 号：3, 開始ページ：1050, 終了ページ：1062, 2010年03月, ［］
  This paper presents the effectiveness of a time-delay compensation method based on the concept of network disturbance and communication disturbance observer for bilateral tele-operation systems under time-varying delay. The most efficient feature of the compensation method is that it works without time-delay models (model-based time-delay compensation approaches like Smith predictor usually need time-delay models). Therefore, the method is expected to be widely applied to network-based control systems, in which time delay is usually unknown and time varying. In this paper, the validity of the time-delay compensation method in the cases of both constant delay and time-varying delay is verified by experimental results compared with Smith predictor.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
  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, 巻：130, 号：3, 開始ページ：10, 終了ページ：340, 2010年, ［］
  This paper proposes an image processing system for counting people at an elevator lobby viewed from an upper oblique angle. The method is based on two assumptions: heads of people exist around the upper edge of the images of moving objects
  and shape of the head is circular. This paper shows that the method based on these assumptions acquires high recognition rate and high reliability in an elevator lobby with many overlapped images of people. © 2010 The Institute of Electrical Engineers of Japan.
  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), 開始ページ：4662, 終了ページ：4667, 2010年, ［］
  Recent development of motion control technology brings robots to our daily life. In the daily life, physical distance between humans and robots get very closer. This closed distance leads new issues in human robot interaction, such as safety issue and communication issue. The authors developed haptic sensing system called haptic armor. The sensory system can detect any contact on the robot surface and also it can distinguish the haptic command using contact information. The haptic command is the command which is delivered by physical contact to the robot. The present paper proposes the haptic commands for human robot interfaces. Furthermore, the design algorism of the haptic command is established in the paper.
  IEEE
  ISSN：2153-0858, Web of Science ID：WOS:000287672003063
• 実時間画像処理によるエレベータ乗場の人数計測と車椅子の識別　　　　　　　　　　　　　　　
  内舘 光; 猪田 良介; 辻 俊明; 阿部 茂
  電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society, 巻：129, 号：6, 開始ページ：578, 終了ページ：584, 2009年06月
  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
  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, 巻：56, 号：5, 開始ページ：1375, 終了ページ：1382, 2009年05月, ［］
  This paper proposes a tactile-sensing mechanism for a robot. The mechanism is composed of a force-sensor device and an end-effector of shell shape. Since the end-effector plays the role of an outer shell, a force can be sensed at any position on the body. Due to the aspect of its intrinsic contact sensing, position of the single contact point is calculable without any sensor array. Another ad vantage is that the six-axis resultant force is measurable. This paper shows that the mechanism is also available for the end-effector with an angulated shape. The only condition for the shape is to be a convex hull. Some experimental results evaluate sources of error in practical measurement and show the validity of the proposed mechanism.
  IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
  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, 巻：91, 号：12, 開始ページ：46, 終了ページ：55, 2008年12月, ［］
  This paper describes a controller design method for robots supporting humans in real environments. Such robots must deal with various interactions between robots and the human environment. Furthermore, they also must autonomously classify the interactions from sensor information and select their actions according to the tasks and situations. This study introduces the idea of a spatial filter, a filter in the spatial 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 presented in order to verify the validity of the proposed method. (C) 2009 Wiley Periodicals, Inc. Electron Comm Jpn, 91(12): 46-55, 2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecj.10186
  WILEY-BLACKWELL
  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, 巻：162, 号：4, 開始ページ：72, 終了ページ：81, 2008年03月, ［］
  This paper focuses on the realization of high-performance motion control based on acceleration control. The characteristics of acceleration control are investigated and the relationship between the performance and sampling frequency of the system is discussed. This paper then describes that a higher sampling frequency is required for acquisition of output information than for updating the input value. Based on this idea, a new multirate sampling method for an acceleration control system is proposed. A disturbance observer for the multirate system is designed by adopting a new definition of disturbance torque. A bilateral system is introduced as a preeminent example of a system that requires robust acceleration control. Both simulations and experiments are performed on the system, and the validity of the proposition is verified by the results. (c) 2007 Wiley Periodicals, Inc.
  SCRIPTA TECHNICA-JOHN WILEY & SONS
  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, 巻：74, 号：12, 開始ページ：3004, 終了ページ：3011, 2008年
  A McKibben artificial muscle is a good candidate as an actuator of man- machine systems although it has quite slow response. This study proposes a control method, which integrates feedforward control and feedback control, to achieve rapid response. The feedforward input is given from a database acquired by global identification since a robot arm with McKibben artificial muscles has a complicated model. An identification error is mainly caused by mechanical hysteresis on the McKibben artificial muscle. Therefore, a technical solution to reduce the effect of mechanical hysteresis is introduced. Experimental results show that the convergence performance is much improved by the proposed method. Input shaping by a sin curve reduces oscillation and further improves the convergence performance. The main issue of the method is that it takes much effort for the global identification on many sample points. Hence, experimental results with reduced number of identification points are shown and their control performances are compared.
  Japan Society of Mechanical Engineers
  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, 巻：128, 号：6, 開始ページ：1, 終了ページ：693, 2008年, ［］
  Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle. © 2008 The Institute of Electrical Engineers of Japan.
  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), 巻：91, 号：12, 開始ページ：46, 終了ページ：55, 2008年, ［］
  This paper describes a controller design method for robots supporting humans in real environments. Such robots must deal with various interactions between robots and the human environment. Furthermore, they also must autonomously classify the interactions from sensor information and select their actions according to the tasks and situations. This study introduces the idea of a spatial filter, a filter in the spatial 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 presented in order to verify the validity of the proposed method. © 2009 Wiley Periodicals, Inc.
  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, 開始ページ：3558, 終了ページ：+, 2006年, ［］
  The purpose of this study is to develop an interactive communication, system that communicates with human beings emotionally. Since the face and its expressions are the most important role for natural communication, we have been developing a face robot that can express facial expressions similar to human beings.
  In this study, we show a new type face robot SAYA. All McKibben pneumatic actuators are distributed to the surface of the face like a human muscle in order to improve the structure of the face robot and facial muscle movement (Action unit) for natural facial expressions. Since the bending manner of coil spring might be similar to human cervical vertebra, we developed the new head motion mechanism by using coil spring for realizing human like head motion. In this paper, we describe the structure of face robot SAYA and the way of constructing new neck mechanism. We have confirmed that SAYA has ability to express fine facial expressions.
  IEEE
  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, 開始ページ：171, 終了ページ：+, 2006年, ［］
  Robots in human environment need some redundancy for adaptation. It is therefore necessary to solve a complicated design issue of large-scale systems with hyper-DOF. The authors have proposed a design framework of functionality to solve the issue. Although the framework deals with task shifts and exception handling in a unified manner, it was limited to a multi-robot system in one-dimensional space. This study expands the framework to multi-DOF robots in three-dimensional space and shows a developed form. Cooperative Jacobian matrix is introduced for coordinate transformation. A new problem of interactions among function-based systems occurs along with the expansion. Disturbance observer is applied on each actuator to eliminate the interactions. The simplicity and explicitness of function-based controller design carry on despite the expansion since function-based systems are decoupled with disturbance observer.
  IEEE
  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, 開始ページ：229, 終了ページ：+, 2006年, ［］
  This research focuses on improvement of disturbance suppression even under existence of observation noise. Disturbance observer is an effective tool to estimate and compensate disturbance. There is a problem, however, that it cannot accomplish desired disturbance suppression when a large observation noise exists. In this research, a method with which influence of disturbance can be suppressed greatly even with a large observation noise is proposed. The authors focus on an LPF used in velocity calculation. The method is proposed based on the analysis on the characteristics and mechanism of disturbance suppression in disturbance observer with a focus on its cut-off frequencies. In the method, the cut-off frequency of disturbance observer is set higher than that for velocity calculation. Validity of the proposal was confirmed in theoretical analysis, simulation, and experiments.
  IEEE
  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, 開始ページ：1669, 終了ページ：+, 2006年, ［］
  Robust motion control requires accurate velocity information. The authors have proposed "synchronous-measurement method (S method)" that measures the velocity synchronous with alteration of pulse numbers. Accurate velocity measurement is achieved in all speed ranges with this method. The method, however, has several technical issues for application in practice: accuracy often deteriorates with nonideality of interpulse angles in optical encoders; and disturbance observer needs modification to deal with nonregular velocity measurement. This paper proposes some solutions for the issues in S method. Experimental results verify the validity of the solutions.
  IEEE
  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, 開始ページ：218, 終了ページ：+, 2006年, ［］
  In a research area of bilateral teleoperation systems, time delay generated in communication line is one of very serious problems. Time delay in control systems induces severe phase delay. Then the phase delay possibly destabilizes the system and deteriorates performance of the system. Therefore many studies about time delay in bilateral teleoperation systems have been conducted so far. Some researches have accomplished stabilization method or compensation method of constant time delay. However compensation of time-varying or fluctuant time delay has not been completed.
  This paper introduces a novel compensation method of time delay. The method is based on the concept of network disturbance (ND) and communication disturbance observer (CDOB). CDOB estimates ND and estimated value is utilized for the compensation of time delay. In addition, because it does not need delay time model, it can be applied to systems with time-varying or fluctuant time delay. Furthermore the method is very simple and it is very easy to implement. The effectiveness of the proposed method is verified by simulation and experimental results.
  IEEE
  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, 開始ページ：3554, 終了ページ：+, 2006年, ［］
  This paper addresses a control issue of a robot with antagonistic McKibben artificial muscle. It is already shown that antagonized arrangement cancels some disadvantages of McKibben muscles. It also realizes control of both joint stiffness and joint torque. This study proposes a novel method to improve control bandwidth by adjusting joint stiffness. Joint stiffness is manipulated according to requested specification such as control bandwidth and compatibility to human. Experimental results verify the validity of the proposed method.
  IEEE
  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, 巻：IV, 開始ページ：1511, 終了ページ：1516, 2005年, ［］
  Bilateral control is an effective method for reproduction of tactile sense. Therefore many researches have been conducted so far. That is about not only stability but also performance. In this paper, one of evaluation indices of bilateral systems, "Transparency" is applied to the case with time delay. Both master and slave site of the system used in this research come with acceleration control system by disturbance observer. Therefore the system is very robust to disturbance and parameter variation. The relation of force and position information of both master and slave is formulated using hybrid matrix. Then frequency responses of the elements of hybrid matrix are analyzed taking band-width of disturbance observer and reaction force observer, time delay into account. From those frequency responses, it is found out that there exists unfamiliar phenomenon (an infinite number of resonances) induced by the dimensionless characteristic of time delay. Therefore the relation of time delay and the phenomenon is discussed and clarified using Pade approximation. Then using the result, new stabilization method is proposed. It is based on phase-lead compensation. © 2005 IEEE.
  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), 巻：2005, 開始ページ：1943, 終了ページ：1948, 2005年, ［］
  This paper proposes a novel method of velocity measurement for motor drives with optical encoders. Acceleration control is indispensable for advanced motion control while it requires accurate velocity information. Although many methods on velocity measurement have been proposed, accurate measurement was not achieved in a high-speed range. We therefore propose " synchronousmeasurement method (S method)" that measures the velocity synchronized with alteration of pulse numbers. Accurate velocity measurement is achieved in all speed ranges with this method. Furthermore, other estimation methods are applicable in addition since the method does not require any model of a control object. Simulation and experimental results verify the validity of the proposed method. © 2005 IEEE.
  英語
  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), 巻：2005, 開始ページ：1919, 終了ページ：1924, 2005年, ［］
  This paper focuses on a bandwidth and a delay of force sensing. High bandwidth force sensing is important for motion control systems to cope with unknown environments. Reaction torque observer is utilized instead of force sensors to detect external force in this paper. The bandwidth of force sensing is limited by the sampling period and data noise. The delay in force information may deteriorate the performance of force control since force information is fed back. According to these considerations, this paper proposes application of a multirate sampling method to the force control system. Reaction torque observer is modified for the multirate system. The bandwidth of force sensing can be improved and the delay in force information can be decreased with the proposed method. The validity of the proposal is verified by stability analysis, simulation and experimental results. ©2005 IEEE.
  英語
  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), 巻：2005, 開始ページ：1815, 終了ページ：1820, 2005年, ［査読有り］
  In recent years, studies of biped locomotion have been developed rapidly. Biped robots are able to walk smoothly. In addition, there came some robots which were able to run. Walking and running will be basic performances of biped robots in future. In this paper, we propose a new trajectory planning method, applicable to plan both walking and running motions. The two kinds of motions are treated as a unified trajectory. The trajectory consists of two phases
  sinusoidal trajectory and parabolic trajectory. With this method, we plan walking and running motions for a biped robot in a unified manner, and switch between walking state and running state by parameter modification. We simulated and experimented with the proposed trajectory planning method. © 2005 IEEE.
  英語, 研究論文（国際会議プロシーディングス）
  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, 巻：IV, 開始ページ：1769, 終了ページ：1774, 2005年, ［査読有り］
  Decentralized control is a promising method for large scale systems. A critical design method for decentralized control systems is desirable for solving the complicated design problem. Simple and explicit controller design becomes available with the idea of "function." However, the hierarchy based on the network structure may impose restrictions on controller design. At the same time, various kinds of exceptions such as faults, performance limits and so on may also impose restrictions. This paper proposes a method of the controller design under these restrictions. The concept of system connection is applied to derive the hierarchy. An exception is treated the same as a communication blackout. The hierarchy structure is intentionally manipulated to decide the priority order of the functions. The unified design for the system with the hierarchical structure and exceptions can be realized through this method. © 2005 IEEE.
  英語, 研究論文（国際会議プロシーディングス）
  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, 巻：2, 開始ページ：1057, 終了ページ：1062, 2004年
  This paper describes a collision avoidance method of the biped robot with the upper body. We propose the method that the robot stops in front of an obstacle by generating arm force. When the robot detects the obstacle by the arm tip, it should stop short of the obstacle in order to avoid crush. Hence, in this paper, we propose the method of trajectory planning with the arm force. The arm force is generated as a function of the distance from the robot body to the obstacle. The closer the robot approaches to the obstacle, the larger the arm force becomes. When the obstacle is unmovable, the robot can stop with exerting arm force. If it is movable, the robot continues walking with pushing motion. Linear inverted pendulum mode (LIPM) and orbital energy are introduced. We add the dynamics of the arm force to LIPM and orbital energy. The index of orbital energy implies the limit to recognize whether the robot can stop or not at the moment of contact. © 2004 IEEE.
  英語, 研究論文（国際会議プロシーディングス）
  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, 巻：1, 開始ページ：96, 終了ページ：101, 2004年
  This paper describes the method of a scaling control for bilateral control systems. We have already suggested the concept of function so that a controller design of decentralized control systems becomes simple and explicit. Our suggestion in this paper is about a position/force scaling control on a function-based bilateral control system. A conventional coordinate transformation is expanded and the idea of scaling matrix is introduced. Independent position and force scaling controls are achieved applying this scaling matrix. We develop the dynamics of manipulators to show that the dynamics in scaled function coordinates are independent to each other. Experimental results show the high transparency bilateral control with the function-based controller on scaled function coordinates. © 2004 IEEE.
  英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：463, 終了ページ：468, 2004年
  This paper describes the safe control method on bilateral control system. The control stability in bilateral control under time variance communication delay does not always stand for operation safety. Local controller is needed to secure the safety when communication delay becomes large. A novel method to change over the local controller and global bilateral controller due to communication delay is suggested. At the same time, the stability of global bilateral control is also assured with the conventional stability assurance method. Experimental system that joints manipulators in Slovenia and Japan is constructed. The validity of the suggested method is shown with this experimental system.
  英語, 研究論文（国際会議プロシーディングス）
  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, 開始ページ：2321, 終了ページ：2326, 2004年, ［査読有り］
  Smith Predictor is a well-known method for compensating time delay in control systems. Therefore, it has been applied to many systems with time delay so far. However, delay time should be estimated precisely in this method. So, if time delay is fluctuant and unpredictable, like the communication delay over the Internet, performance of Smith Predictor deteriorates.
  This paper proposes "Communication Disturbance Observer". It regards the error caused by time delay as disturbance torque (or acceleration), then it can observe and compensate the error. Furthermore, it doesn't need to estimate the value of delay time; therefore it can be applied to control systems with fluctuant and unpredictable time delay. It can be said that control system with "Communication Disturbance Observer" is robust to time delay and fluctuation of that.
  Effectiveness and robustness of proposed method is shown by result of simulation and experiment. In experiment, master-slave manipulator was used over the Internet. We were able to get the sense of touch from the environment of remote site.
  IEEE, 英語, 研究論文（国際会議プロシーディングス）
  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, 巻：1, 開始ページ：250, 終了ページ：255, 2003年
  This paper describes the new mechanism on attitude control device for unfixed objects. Flywheel is a common attitude control device on spacecraft that provides precise control at an easy rate. However, rapid response is hardly achieved since low reaction torque is available applying flywheel. The purpose in this paper is to improve the response of attitude control device with flywheel. Brake equipment is mounted on the flywheel in order to raise the maximum torque. Maximum torque is raised dramatically utilizing the braking torque to the attitude control. Twin drive system is applied to this attitude control device so that the braking torque works in both rotation directions. It also made possible to charge the momentum without any interference to attitude control. The prototype of the attitude control device is constructed in order to examine the performance of the proposed mechanism. Experimental results show that its response improved applying the suggested mechanism. The two actuators, an electric DC motor and a powder brake, were compared in detail. It was shown that powder brake can apply high torque without large power supply in any frequency. ©2003 IEEE.
  英語, 研究論文（国際会議プロシーディングス）
  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), 巻：1, 開始ページ：992, 終了ページ：996, 2003年, ［査読有り］
  This paper describes a contact motion in unknown environment. It is required to take in a kinematic and a dynamic information of unknown environment in order to utilize for control of contact motion. However, an environmental information is obtained only after the robot contacts with environment. Hence, it is difficult to enhance the robustness of the force for contact motion. The design method with the clear characteristic of a contact motion will be required. In this paper, two examples of typical contact motion control are shown. One is a bilateral control and the other is a control of a paddle foot for biped walking. Both controllers are based on acceleration control and the characteristic of systems are clarified by using Hadamard matrix. In order to improve the propect of the system, the information of environmental mode is quarried by using Hadamard matrix. Modal transmission from environment to the final posture should change adaptively according to the situation. The viability of these approaches for contact motion is shown in numerical simulations.
  英語, 研究論文（国際会議プロシーディングス）
  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), 巻：3, 開始ページ：2445, 終了ページ：2450, 2002年, ［査読有り］
  This paper concerns on footstep planning of a biped robot in an environment having some obstacles. Biped robot has an advantage to work in human surroundings. This is accomplished by its capability to walk over the obstacles. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex inter-action system between CoG trajectory and stepping point. This complex system is solved by the term control method applying LIPM. It is able to adjust the walking stride and speed independently with this method. The collision detection can be achieved easily through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. A simulation result is shown to approve the validity of the proposed methods.
  英語, 研究論文（国際会議プロシーディングス）
  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
  ［査読有り］
  DOI：https://doi.org/0
  DOI ID：0, ORCID：30926271

• 1P1-V02 力の微分情報を利用した机型触覚インタフェースによる接触点位置算出　　　　　　　　　　　　　　　
  北村 滉之; 境野 翔; 辻 俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2015, 開始ページ："1P1, 終了ページ：V02(1)"-"1P1-V02(4)", 2015年05月17日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110010053295, CiNii Books ID：AA11902933
• 1P2-K03 片麻痺患者の上肢の力を可視化する力方向教示訓練システム　　　　　　　　　　　　　　　
  平林 優斗; 尾形 邦裕; 長谷川 由理; 辻 俊明
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2015, 開始ページ："1P2, 終了ページ：K03(1)"-"1P2-K03(4)", 2015年05月17日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110010055000, CiNii Books ID：AA11902933
• Rehabilitation systems based on visualization techniques: A review　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kunihiro Ogata
  巻：27, 号：2, 開始ページ：122, 終了ページ：125, 2015年
  Many efforts are being undertaken in rehabilitation care to improve functions by introducing assist devices. Many such devices make learning more effective by providing the user with augmented feedback on sensor information. Of the several modalities used to achieve this effect, this paper focuses on technological trends in rehabilitation assist devices that use visual feedback. Specifically, the paper deals mainly with devices that use visualization technology to process and display sensor device information.
  英語, 書評論文,書評,文献紹介等
  DOI：https://doi.org/10.20965/jrm.2015.p0122
  DOI ID：10.20965/jrm.2015.p0122, ISSN：1883-8049, SCOPUS ID：84927930889
• 1P1-X05 力覚センサによる触覚技術を用いたインタフェースの開発 : Haptic Desk:机に触覚を持たせる技術(触覚と力覚(1))　　　　　　　　　　　　　　　
  辻 俊明; 栗田 直幸
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2014, 開始ページ："1P1, 終了ページ：X05(1)"-"1P1-X05(4)", 2014年05月24日
  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.
  一般社団法人日本機械学会, 日本語
  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
  巻：61, 号：2, 開始ページ：982, 終了ページ：984, 2014年02月
  英語, その他
  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
• チューリップの新品種育成　　　　　　　　　　　　　　　
  辻 俊明
  JATAFFジャーナル = JATAFF journal, 巻：1, 号：11, 開始ページ：25, 終了ページ：28, 2013年11月01日
  農林水産・食品産業技術振興協会, 日本語
  ISSN：2187-4948, CiNii Articles ID：10031196881, CiNii Books ID：AA12598816
• さきがけ「情報環境と人」領域プロジェクト力覚信号処理に基づくリハビリ支援ネットワーク　　　　　　　　　　　　　　　
  辻 俊明
  計測と制御 = Journal of the Society of Instrument and Control Engineers, 巻：52, 号：8, 開始ページ：755, 終了ページ：756, 2013年08月10日
  日本語
  ISSN：0453-4662, CiNii Articles ID：10031193230, CiNii Books ID：AN00072406
• 2A1-K04 実時間鏡面反射除去を実現する高速ストロボカメラの開発(ロボットビジョン(1))　　　　　　　　　　　　　　　
  辻 俊明; 荒川 淳一
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2013, 開始ページ："2A1, 終了ページ：K04(1)"-"2A1-K04(4)", 2013年05月22日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009963884, CiNii Books ID：AA11902933
• 1A2-N09 上肢リハビリ支援ロボットによる関節可動域のデータベース化(リハビリテーションロボティクス・メカトロニクス(2))　　　　　　　　　　　　　　　
  辻 俊明; 横尾 知典
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2012, 開始ページ："1A2, 終了ページ：N09(1)"-"1A2-N09(2)", 2012年05月27日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110009907564, CiNii Books ID：AA11902933
• 二関節筋を持つ空気圧人工筋駆動ロボットアームにおける先端剛性制御法　　　　　　　　　　　　　　　
  横尾 知典; 辻 俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2011, 号：1, 開始ページ：89, 終了ページ：94, 2011年03月08日
  電気学会, 日本語
  CiNii Articles ID：10027976256, CiNii Books ID：AN10074226
• ツインドライブシステムを用いたロボットの剛性制御とその評価指標　　　　　　　　　　　　　　　
  上林 誠; 辻 俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2011, 号：134, 開始ページ：93, 終了ページ：98, 2011年03月08日
  電気学会, 日本語
  CiNii Articles ID：10027977598, CiNii Books ID：AN10074226
• ナメクジウオロボットの筋骨格と運動制御 : 進化史に学ぶロボティクス　　　　　　　　　　　　　　　
  辻 俊明
  日本ロボット学会誌, 巻：28, 号：6, 開始ページ：695, 終了ページ：698, 2010年07月15日
  日本ロボット学会, 日本語
  ISSN：0289-1824, CiNii Articles ID：10026495946, CiNii Books ID：AN00141189
• 人間の筋配列を模擬したロボットアームの力制御の一方策　　　　　　　　　　　　　　　
  南 良平; 辻 俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2010, 号：128, 開始ページ：7, 終了ページ：12, 2010年03月09日
  電気学会, 日本語
  CiNii Articles ID：10026070745, CiNii Books ID：AN10074226
• 全身触覚インタフェースを有するロボットの個人認証　　　　　　　　　　　　　　　
  荒川 淳一; 辻 俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2010, 号：79, 開始ページ：11, 終了ページ：16, 2010年03月08日
  電気学会, 日本語
  CiNii Articles ID：10026070276, CiNii Books ID：AN10074226
• 1P1-F08 上肢の筋配列を模擬した人間親和型リハビリ支援装置の開発　　　　　　　　　　　　　　　
  辻 俊明; 南 良平; 伊藤 達也; 橋本 卓弥
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2010, 開始ページ："1P1, 終了ページ：F08(1)"-"1P1-F08(3)", 2010年
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008741602, CiNii Books ID：AA11902933
• 1A1-C21 冗長自由度に基づき耐故障力計測を実現する6軸力覚センサの開発 : 衝突や断線でロボットを暴走させない力覚センサ　　　　　　　　　　　　　　　
  辻 俊明; 羽生 良輔
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2010, 開始ページ："1A1, 終了ページ：C21(1)"-"1A1-C21(4)", 2010年
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008741151, CiNii Books ID：AA11902933
• 2P1-J14 触覚インタフェースに基づく接触点軌道の特徴量抽出と命令認識への応用　　　　　　　　　　　　　　　
  辻 俊明; 伊藤 達也
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2009, 開始ページ："2P1, 終了ページ：J14(1)"-"2P1-J14(4)", 2009年05月25日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008698559, CiNii Books ID：AA11902933
• 全身触覚センサを用いたロボットの命令認識　　　　　　　　　　　　　　　
  伊藤 達也; 辻 俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2009, 号：43, 開始ページ：59, 終了ページ：64, 2009年03月09日
  電気学会, 日本語
  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
  巻：56, 号：2, 開始ページ：510, 終了ページ：519, 2009年02月
  This paper discusses velocity measurement for motor drives with optical encoders. Although many methods on velocity measurement have been proposed, accurate measurement was not achieved in a high-speed range. This paper therefore proposes synchronous-measurement method (S method) that measures the velocity synchronized with the alteration of pulse numbers in each sampling period. Accurate velocity measurement is achieved in all speed ranges with this method. Furthermore, other velocity prediction methods are applicable in addition to the method. Simulation and experimental results verify the validity of the proposed method.
  英語
  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
  電子情報通信学会論文誌D, 巻：J92-D, 号：1, 開始ページ：1, 終了ページ：11, 2009年
• ライフマスクを用いた顔ロボットによる動的表情表出　　　　　　　　　　　　　　　
  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, 巻：75, 号：749, 開始ページ：113, 終了ページ：121, 2009年
  In face-to-face communication, we use not only verbal medium but also non-verbal medium for communication. In particular facial expressions are very imortant for emotional communication because they show emotions and feelings effectively. Therefore it is thought that facial expressions are necessary in order to make human-robot communication more naturally. In this paper, "Face Robot" that has humanlike appearance and can display facial expressions similar to human being is developed. In order to improve the humanity, the skin of the face robot is taken from the cast of female's face (i.e. life-mask). We then add and improve control points of the face robot according to features of her face. Moreover we analyze her facial expressions in order to mimic her real-time facial expressions with the face robot. We then confirm that mimicking of her real-time facial expressions and face features with the face robot are reproduced successfully. Finally, we compare their facial expressions by comparison of facial characteristics points and sensory evaluations.
  日本語
  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
  巻：J92-D, 号：1, 開始ページ：1, 終了ページ：11, 2009年
• Dynamic display of facial expressions on the face robot with a life mask　　　　　　　　　　　　　　　
  Takuya Hashimoto; Sachio Hiramatsu; Toshiaki Tsuji; Hiroshi Kobayashi
  巻：75, 号：749, 開始ページ：113, 終了ページ：121, 2009年
  In face-to-face communication, we use not only verbal medium but also non-verbal medium for communication. In particular facial expressions are very imortant for emotional communication because they show emotions and feelings effectively. Therefore it is thought that facial expressions are necessary in order to make human-robot communication more naturally. In this paper, "Face Robot" that has humanlike appearance and can display facial expressions similar to human being is developed. In order to improve the humanity, the skin of the face robot is taken from the cast of female's face (i.e. life-mask). We then add and improve control points of the face robot according to features of her face. Moreover we analyze her facial expressions in order to mimic her real-time facial expressions with the face robot. We then confirm that mimicking of her real-time facial expressions and face features with the face robot are reproduced successfully. Finally, we compare their facial expressions by comparison of facial characteristics points and sensory evaluations.
  日本語
  DOI：https://doi.org/10.1299/kikaic.75.113
  DOI ID：10.1299/kikaic.75.113, ISSN：0387-5024, SCOPUS ID：63849090321
• 2A1-A23 ロボットアームの未知オブジェクトに対する衝突緩和制御(安全・安心なロボットを目指して)　　　　　　　　　　　　　　　
  羽生 良輔; 辻 俊明; 金子 裕良; 阿部 茂
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2008, 開始ページ："2A1, 終了ページ：A23(1)"-"2A1-A23(4)", 2008年06月06日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008696232, CiNii Books ID：AA11902933
• 1A1-G18 制御器のコンポネント化理論に基づく例外処理の実装(作業をするロボット)　　　　　　　　　　　　　　　
  辻 俊明; 羽生 良輔; 金子 裕良; 阿部 茂
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2008, 開始ページ："1A1, 終了ページ：G18(1)"-"1A1-G18(4)", 2008年06月06日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008695944, CiNii Books ID：AA11902933
• 1A1-D11 全身力覚を実現する甲殻型センサの開発とそのタッチパネル化(人間機械協調)　　　　　　　　　　　　　　　
  辻 俊明; 金子 裕良; 阿部 茂
  ロボティクス・メカトロニクス講演会講演概要集, 巻：2008, 開始ページ："1A1, 終了ページ：D11(1)"-"1A1-D11(4)", 2008年06月06日
  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.
  一般社団法人日本機械学会, 日本語
  CiNii Articles ID：110008695870, CiNii Books ID：AA11902933
• 電気二重層キャパシタのRC多段等価回路による充放電効率　　　　　　　　　　　　　　　
  峯村 明憲; 八代 昌大; 辻 俊明; 金子 裕良; 阿部 茂
  電気学会研究会資料. SPC, 半導体電力変換研究会, 巻：2008, 号：21, 開始ページ：7, 終了ページ：12, 2008年01月26日
  日本語
  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
  日本機械学会論文集C編, 巻：128-D, 号：6, 開始ページ：687, 終了ページ：693, 2008年
• 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, 巻：74, 号：748, 開始ページ：3004, 終了ページ：3011, 2008年
• 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, 巻：20, 号：3, 開始ページ：456, 終了ページ：465, 2008年
• 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
  巻：128-D, 号：6, 開始ページ：687, 終了ページ：693, 2008年
• 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
  巻：74, 号：748, 開始ページ：3004, 終了ページ：3011, 2008年
• Whole-body force sensation by robot with outer shell　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Yasuyoshi Kaneko; Shigeru Abe
  開始ページ：365, 終了ページ：370, 2008年
  This paper proposes a force-sensing mechanism for a robot. The mechanism is 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. In other word, whole-body force sensation is realized. It is possible to calculate the position of a contact point without any sensor array. Hence costs and wirings are reduced. Another merit is that 6-axis resultant force is measurable in contrast with conventional tactile sensors. Experimental results of a mobile robot are shown to verify the validity of the proposed mechanism.
  英語
  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
  開始ページ：687, 終了ページ：+, 2008年
  For acceleration control with high performance, accurate velocity measurements assume a key role. In this paper, an approach to estimate velocity utilizing an encoder is proposed. Fundamental calculation method of the proposed method is M method with averaging. Though the resolution of M method is improved by averaging, detection of velocity changes delays and the system becomes insensitive to the disturbance. However, unlike simple M method with averaging, sensitivity to changes of velocity and disturbance is maintained in the proposed method. Simulation and experimental results are shown to verify the validity of the proposed approach.
  英語
  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
  巻：20, 号：3, 開始ページ：456, 終了ページ：465, 2008年
• A controller design method based on functionality　　　　　　　　　　　　　　　
  Toshiaki Tsuji; Kouhei Ohnishi; Asif Sabanovic
  巻：54, 号：6, 開始ページ：3335, 終了ページ：3343, 2007年12月
  Robots are expected to expand their range of activities to human environment. Robots in human environment need redundancy for environmental adaptation. Furthermore, they have to automatically modify their controllers in response to varying conditions of the environment. Therefore, the authors have proposed a method to design a hyper-degrees-of-freedom (DOF) control system efficiently. The method decouples a large control system into small independent components called "function." Motion of the entire control system is expressed as superposition of multiple functions. Combination of some functions realizes many patterns of motion. Hence, various motions are realized with much smaller efforts on controller design. Additionally, the controller design is explicit since a controller and a function correspond directly. This paper expands the method to multi-DOF robots in 3-D space, since the conventional method was limited to a multirobot system in 1-D space. A new problem of interference among function-based systems occurs along with the expansion. A disturbance observer is applied on each actuator to eliminate the interference. Procedures of controller design under varying conditions are also shown. The proposed method is applied to a grasping manipulator with 18 DOE Its experimental results show the validity of the method.
  英語
  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
  巻：54, 号：3, 開始ページ：1462, 終了ページ：1471, 2007年06月
  This paper focuses on the realization of high-performance motion control based on acceleration control. A disturbance observer is used to construct an acceleration control system. A high sampling frequency is known to be effective for improving the performance. Characteristics of acceleration control are investigated to discuss the relationship between the performance and a sampling frequency of the system. The needs for a high sampling frequency for an output are then described. Based on these considerations, a novel multirate sampling method for the acceleration control system is proposed. An output sampling period is set shorter than an input sampling period, and control calculation is executed at each output sampling period in the method. The disturbance observer is redesigned for application to the multirate system. Stability analysis is performed to verify the validity of the proposal. Feasibility of the proposed method and its influence on the performance are also verified by experimental results.
  英語
  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
  巻：54, 号：3, 開始ページ：1632, 終了ページ：1641, 2007年06月
  This paper describes a collision avoidance method for a biped robot with an upper body. We propose a method wherein the robot stops in front of an obstacle by generating arm force. When the robot detects the obstacle by the arm tip, it should stop short of the obstacle to avoid crash. Hence, we propose trajectory planning in consideration of the pushing force of the arm. The arm force is controlled to be generated as a function of the distance from the robot body to the obstacle. The closer the robot approaches the obstacle, the larger the arm force becomes. As a result, the robot can stop by utilizing the arm force. In case the obstacle is unmovable, the robot can stop by exerting arm force. If it is movable, the robot can continue walking by pushing it. In this paper, the linear inverted pendulum mode (LIPM) and the idea of orbital energy are introduced, and then, we extend LIPM and orbital energy in consideration of the dynamics of the arm force. The extended orbital energy is utilized to discriminate whether the robot can stop or not and to modify the trajectory of the robot to avoid collision.
  英語
  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
• 時間・空間の量子化誤差を抑制するためのマルチレートサンプリング制御　　　　　　　　　　　　　　　
  辻 俊明; 小林 宏; 水落 麻里子; 大西 公平
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2007, 号：85, 開始ページ：37, 終了ページ：42, 2007年03月07日
  電気学会, 日本語
  CiNii Articles ID：10018899238, CiNii Books ID：AN10074226
• 仮想支点に基づく2足歩行ロボットのZMP参照軌道生成　　　　　　　　　　　　　　　
  鈴木 智之; 渋谷 麻木; 大西 公平; 辻 俊明
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2007, 号：100, 開始ページ：87, 終了ページ：92, 2007年03月07日
  電気学会, 日本語
  CiNii Articles ID：10018899168, CiNii Books ID：AN10074226
• 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, 巻：127, 号：9, 開始ページ：1000, 終了ページ：1008, 2007年
  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.
  一般社団法人 電気学会, 日本語
  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, 開始ページ：1P1-J02, 2007年
• 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, 開始ページ：1A2-M01, 2007年
• 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, 開始ページ：1A1-L03, 2007年
• 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, 巻：73, 号：730, 開始ページ：1817, 終了ページ：1826, 2007年
  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.
  一般社団法人日本機械学会, 日本語
  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, 開始ページ：1A2-N09, 2007年
• 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, 開始ページ：2C3-2, 2007年
• 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, 巻：73, 号：735, 開始ページ：3046, 終了ページ：3054, 2007年
  rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf: http://ci.nii.ac.jp/naid/110006453882/
  社団法人日本機械学会, 日本語
  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, 開始ページ：1E1-6, 2007年
• 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, 巻：127, 号：6, 開始ページ：563, 終了ページ：570, 2007年
  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, 日本語
  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
  開始ページ：325, 終了ページ：330, 2007年
  Android robots that have a human-like appearance have been developed recently. The purpose of android robots is to realize realistic communication between human and robot by implementation of human-like behaviors. Then knowledge and techniques for generating human-like natural motions and behaviors with android robot are required. In face-to-face communication, we can observe that the speaker nods during his utterance, and we call this behavior "Speaker's nod". Thus, in this study, we tried to realize realistic "Speaker's nod" as a natural interpersonal behavior with receptionist robot SAYA that has human-like appearance. Therefore we experimentally investigated expression-timing, angle and angular velocity of the human "Speaker's nod", and we implemented "Speaker's nod" to SAYA based on the investigation results. Then we have verified that "Speaker's nod" at appropriate timing affected the humanity of SAYA, and it greatly enhanced emotional impression of human by subjective experiment.
  英語
  Web of Science ID：WOS:000255993700059
• Development of power assist system for caregiver by muscle suit　　　　　　　　　　　　　　　
  Hiroshi Kobayashi; Hirokazu Nozaki; Toshiaki Tsuji
  開始ページ：180, 終了ページ：185, 2007年
  A "muscle suit" that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The muscle suit consists of a mechanical armor-type frame and McKibben artificial muscle. Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of each link, all motion for the upper limb has been realized. Applying the muscle suit to non-healthy people such as elderly people and/or disable one requires very high-level safety and usability, from the practical point of view. We then in the first place for the practical use, apply the muscle suit to the manual worker. In this paper, we introduce how we can apply the muscle suit for the manual worker.
  英語
  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
  開始ページ：331, 終了ページ：336, 2007年
  A "muscle suit" that will provide muscular support for the paralyzed or those otherwise unable to move unaided is being developed as a wearable robot. The muscle suit consists of a mechanical armor-type frame and McKibben artificial muscle. Using a new link mechanism for the shoulder joint which consists of two half-circle links with four universal joints in total mounted at both ends of each link, all motion for the upper limb has been realized. Applying the muscle suit to non-healthy people such as elderly people and/or disable one requires very high-level safety and usability, from the practical point of view. We then in the first place for the practical use, apply the muscle suit to the manual worker. In this paper, we introduce how we can apply the muscle suit for the manual worker.
  英語
  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. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society, 巻：127, 号：9, 開始ページ：1000, 終了ページ：1008, 2007年
  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.
  一般社団法人 電気学会, 日本語
  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
  開始ページ：1P1-J02, 2007年
• 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
  開始ページ：1A2-M01, 2007年
• 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
  開始ページ：1A1-L03, 2007年
• 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, 巻：73, 号：730, 開始ページ：1817, 終了ページ：1826, 2007年
  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.
  一般社団法人日本機械学会, 日本語
  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
  開始ページ：1A2-N09, 2007年
• 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
  開始ページ：2C3-2, 2007年
• 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, 巻：73, 号：735, 開始ページ：3046, 終了ページ：3054, 2007年
  rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf: http://ci.nii.ac.jp/naid/110006453882/
  社団法人日本機械学会, 日本語
  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
  開始ページ：1E1-6, 2007年
• 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Ｄ（産業応用部門誌）, 巻：127, 号：6, 開始ページ：563, 終了ページ：570, 2007年
  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, 日本語
  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
  開始ページ：3108, 終了ページ：3113, 2007年
  The purpose of this study is to realize robust acceleration control using optical encoders. A quantization error of an optical encoder limits performance of the acceleration control. Hence, the study extends the premise of the S method, a high performance velocity measurement method, to acceleration measurement. The proposed method was shown to considerably improve the accuracy of acceleration measurements. High performance of acceleration control is realized due to the accurate measurement. Experimental results verify the validity of the proposed method.
  英語
  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
  開始ページ：186, 終了ページ：191, 2007年
  More than one million people have difficulty in walking at least in Japan. Many kinds of walker have been developing so far for gait training though, they are used by grasping the front and/or the back part of them in order to hold trunk. It makes forward tilting or backward tilting of the upper half of the body and comes to difficult to keep right posture for walking. Moreover there are few examples of an active walker which is used if people have no muscular force for walking. In order to solve these issues, we have been developing the active walker by using the Hart Walker (HW) which consists of double upright knee ankle foot orthosis and 4-wheeled, carriage with a stem located in the cent er of the carriage. Since waist part of the orthosis is attached to the top of the stem, there is no risk for falling, it is possible to keep the right posture, and both hands becomes completely be free. McKibben artificial muscles are attached to HW in order to control walking motion as an active walker. By walking experiment using child-size doll with the same kind of joints human has and weight, it is confirmed that human-like gait is realized by the active walker developed.
  英語
  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
  巻：16, 号：2, 開始ページ：22, 終了ページ：28, 2006年04月
  Haptic sense is indispensable for skillful operation in a telerobotic system. Bilateral control attracts considerable interest because it transfers the haptic sense to a remote place. Although it is simply composed of two manipulators, its design is complicated. This study proposes an idea that provides a new framework on design of a bilateral control system. The idea is to design the bilateral control system based on a 'function", a minimum component of a system role. It enables simple and explicit design for various tasks. The features of the proposed method provide away to design an adjustable system. Experimental results show the validity of the proposed method.
  英語
  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
• 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
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2006, 号：45, 開始ページ：1, 終了ページ：6, 2006年03月09日
  日本語
  CiNii Articles ID：10019202787, CiNii Books ID：AN10074226
• 機能性に基づいた分散制御システムの一構成法　　　　　　　　　　　　　　　
  辻 俊明; 大西 公平
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2006, 号：45, 開始ページ：75, 終了ページ：80, 2006年03月09日
  日本語
  CiNii Articles ID：10019202910, CiNii Books ID：AN10074226
• 速度計測に着目した高精度モーションコントロールの構成法　　　　　　　　　　　　　　　
  水落 麻里子; 辻 俊明; 大西 公平
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2006, 号：1, 開始ページ：59, 終了ページ：64, 2006年03月08日
  日本語
  CiNii Articles ID：10019203279, CiNii Books ID：AN10074226
• ネットワークを介したバイラテラル遠隔操作　　　　　　　　　　　　　　　
  名取賢二; 辻俊明; 矢向高弘; 大西公平
  電気学会産業応用部門誌, 巻：126, 号：2, 開始ページ：161, 終了ページ：167, 2006年
  Nowadays haptics (tactile sensation) is receiving much attentions. To transmit a vivid tactile sensation, real-time processing is necessary. In these circumstances, time delay caused in networks or some devices is a very serious problem. Therefore in this paper, influence of time delay on bilateral systems for haptics is examined. At first, the influence is verified by the analysis based on an evaluation index "Transparency". Characteristic behavior of time delay can be found out. Then experimental results via the network between Shinanomachi and Yagami campus (Keio University) are shown. Transmission of vivid tactile sensation of remote environment is realized.
  日本語, 書評論文,書評,文献紹介等
  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
• フライホイールによる吊り荷のセンサレス振動制御　　　　　　　　　　　　　　　
  西村公一; 辻俊明; 大西公平
  電気学会産業応用部門誌, 巻：126, 号：8, 開始ページ：1119, 終了ページ：1125, 2006年
  This study proposes a method of sensorless oscillation control of a suspended load. To suppress oscillation of a suspended load, we use flywheels as a control device. Reaction torque of flywheels is applied for the oscillation control. An angular velocity value of a suspended load must be acquired for the oscillation control. Therefore, a method to estimate the angular velocity value is indispensable. By conventional methods, the estimation and the oscillation control cannot be realized simultaneously in case of one flywheel. Hence, inertia torque observer is proposed. Inertia torque appears as a disturbance torque on flywheels when a suspended load is oscillating. The angular velocity value is calculated based on this inertia toque. By using inertia torque observer, estimation of the angular velocity value and oscillation control of a suspended load are achieved at the same time.
  日本語
  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, 巻：126, 号：3, 開始ページ：261, 終了ページ：268, 2006年
  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, 巻：126, 号：5, 開始ページ：630, 終了ページ：638, 2006年
  Decentralized control is a promising method with many advantages while an effective design method for it is desired. Design in conventional methods is complicated because the correspondence between a system role and its controllers is unclear. To solve this problem, we have proposed the idea of "functionality" for a bilateral control system. The idea is to divide the system role into minimum components. The design method based on this idea is clear since controllers correspond to respective functions. Furthermore, the design method is simple since each function is a minimum component. This study expands the idea of the functionality to design of decentralized control systems. Subsystems are constructed based on functions. Functions for normal operation and for exception handling are treated in a unified manner. The system can automatically sustain important functions by a priority order of functions. This method realizes simple and explicit controller design for a decentralized control system with exception handling. Simulation and experimental results show the flexibility, fault tolerance and expandability of the decentralized system.
  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
  巻：126, 号：2, 開始ページ：161, 終了ページ：167, 2006年
  Nowadays haptics (tactile sensation) is receiving much attentions. To transmit a vivid tactile sensation, real-time processing is necessary. In these circumstances, time delay caused in networks or some devices is a very serious problem. Therefore in this paper, influence of time delay on bilateral systems for haptics is examined. At first, the influence is verified by the analysis based on an evaluation index "Transparency". Characteristic behavior of time delay can be found out. Then experimental results via the network between Shinanomachi and Yagami campus (Keio University) are shown. Transmission of vivid tactile sensation of remote environment is realized.
  日本語, 書評論文,書評,文献紹介等
  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
  巻：126, 号：8, 開始ページ：1119, 終了ページ：1125, 2006年
  This study proposes a method of sensorless oscillation control of a suspended load. To suppress oscillation of a suspended load, we use flywheels as a control device. Reaction torque of flywheels is applied for the oscillation control. An angular velocity value of a suspended load must be acquired for the oscillation control. Therefore, a method to estimate the angular velocity value is indispensable. By conventional methods, the estimation and the oscillation control cannot be realized simultaneously in case of one flywheel. Hence, inertia torque observer is proposed. Inertia torque appears as a disturbance torque on flywheels when a suspended load is oscillating. The angular velocity value is calculated based on this inertia toque. By using inertia torque observer, estimation of the angular velocity value and oscillation control of a suspended load are achieved at the same time.
  日本語
  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
  巻：126, 号：3, 開始ページ：261, 終了ページ：268, 2006年
  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
  巻：126, 号：5, 開始ページ：630, 終了ページ：638, 2006年
  DOI：https://doi.org/10.1541/ieejias.126.630
  DOI ID：10.1541/ieejias.126.630, ISSN：0913-6339
• 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, 巻：125, 号：6, 開始ページ：548, 終了ページ：553, 2005年09月01日
  This study is about an attitude control device applying flywheels. Reaction torque of a flywheel is applied for oscillation suppression of a suspended load. We suggest a sensorless estimation method of the attitude angular velocity. The band pass filter extracts the component of oscillation velocity from flywheel rotation velocity that contains various kinds of errors. A disturbance observer eliminates the steady state error on the wheel. Since the disturbance observer is for low frequency range, it does not interfere to angle velocity estimation. This attitude control device is convenient because it needs least calibrations when it is remounted on various suspended loads. The experimental result shows the validity of angle velocity estimation and the validity of oscillation suppression.© 2005, The Institute of Electrical Engineers of Japan. All rights reserved.
  英語
  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
• フライホイールを用いた姿勢制御装置の性能評価　　　　　　　　　　　　　　　
  辻 俊明; 西村 公一; 大西 公平
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2005, 号：58, 開始ページ：111, 終了ページ：116, 2005年03月10日
  日本語
  CiNii Articles ID：10015555318, CiNii Books ID：AN10074226
• 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
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2005, 号：1, 開始ページ：49, 終了ページ：54, 2005年03月09日
  日本語
  CiNii Articles ID：10015554793, CiNii Books ID：AN10074226
• ネットワークを介したバイラテラル遠隔操作　　　　　　　　　　　　　　　
  名取 賢二; 辻 俊明; 矢向 高弘; 大西 公平
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2005, 号：16, 開始ページ：41, 終了ページ：46, 2005年03月09日
  日本語
  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
  精密工学会春季大会. シンポジウム資料, 巻：2005, 開始ページ：15, 終了ページ：20, 2005年03月01日
  日本語
  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
  巻：125, 号：6, 開始ページ：548, 終了ページ：553, 2005年
  DOI：https://doi.org/10.1541/ieejias.125.548
  DOI ID：10.1541/ieejias.125.548, ISSN：0913-6339, CiNii Articles ID：10015671780
• 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, 巻：124, 号：6, 開始ページ：549, 終了ページ：555, 2004年09月01日
  This paper discusses about step planning of a biped robot in an environment with obstacles. Biped robot has a mechanical advantage to work in human surroundings. This is accomplished by its capability to select the discrete contact point with the ground. Though its foot placement should be discussed to step over obstacles, it is difficult because dynamic biped locomotion is a complex interaction system between upper body motion and stepping point. Applying the idea of virtual supporting point, this complex interaction is solved. The collision detection is easily achieved through modeling the obstacles to an off-limits on the horizontal plane. A stamp area is set in order to avoid the extreme stride alteration. Through these methods, the robot can prepare for the obstacle beforehand and select a series of footsteps that provides stable locomotion. Experimental results are shown to confirm the validity of the proposed methods.© 2004, The Institute of Electrical Engineers of Japan. All rights reserved.
  英語
  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
• 変動する時間遅れを考慮したバイラテラル遠隔操作システムの構築　　　　　　　　　　　　　　　
  辻 俊明; 加藤 篤; 大西 公平; アレシュ ハツェ; カレル イェゼルニク
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2004, 号：24, 開始ページ：111, 終了ページ：116, 2004年03月11日
  日本語
  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
  巻：124, 号：6, 開始ページ：549, 終了ページ：555, 2004年
  DOI：https://doi.org/10.1541/ieejias.124.549
  DOI ID：10.1541/ieejias.124.549, ISSN：0913-6339, CiNii Articles ID：10013069975
• 環境適応のための分散制御設計　　　　　　　　　　　　　　　
  伊藤大樹; 影山貴史; 鈴木純; 辻俊明; 森澤光晴; 大西公平
  電気学会産業応用部門誌, 巻：123, 号：10, 開始ページ：1219, 終了ページ：1226, 2003年09月01日
  Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results. © 2003, The Institute of Electrical Engineers of Japan. All rights reserved.
  英語
  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
  巻：123, 号：10, 開始ページ：1219, 終了ページ：1226, 2003年09月01日
  Motion control is developed in control of industrial machines. However, some kind of machines working in an open environment are required in our future society. Then it is necessary to design general methodology for motion controller in open environment. In this paper, decentralized control system is applied as a motion controller for this purpose. This paper is constructed from two parts roughly: the first is a method to abstract environmental mode from environmental information, and the second is a method to design the motion controller with the environmental information. This paper applied this method to biped robot as a model case. The effectiveness of proposed method is confirmed by several simulation and experimental results. © 2003, The Institute of Electrical Engineers of Japan. All rights reserved.
  英語
  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
• 仮想支点を利用した線形倒立振子モードによる2足歩行ロボットの制御　　　　　　　　　　　　　　　
  辻 俊明; 大西 公平
  電気学会研究会資料. IIC, 産業計測制御研究会, 巻：2002, 号：15, 開始ページ：19, 終了ページ：24, 2002年03月11日
  日本語
  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
  電気学会産業応用部門誌, 巻：122-D, 号：11, 開始ページ：1076, 終了ページ：1081, 2002年
  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
  巻：122-D, 号：11, 開始ページ：1076, 終了ページ：1081, 2002年
  DOI：https://doi.org/10.1541/ieejias.122.1076
  DOI ID：10.1541/ieejias.122.1076

• 2007, 学士課程, 指導学生数計：1
• 2008, 学士課程, 指導学生数計：1

• 2019年01月 - 現在, 情報処理学会
• 計測自動制御学会
• 日本ロボット学会
• IEEE
• 電気学会

• 人の技能動作に干渉しない運動解析基盤の構築　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 基盤研究(B), 2021年04月01日 - 2024年03月31日
  辻 俊明; 本道 伸弘, 埼玉大学
  配分額（総額）：17420000, 配分額（直接経費）：13400000, 配分額（間接経費）：4020000
  一年目である昨年度は、道具を把持する手先に実装可能な小型力覚センサを開発した。そして、そのセンサを使用した技能動作の解析装置を構築した。モーションキャプチャの位置応答と同期して保存することによって道具使用中の力と位置を共に取得するシステムとした。組立てタスクの際には部品に生じる力を検出できるようにする必要があるため、部品を把持するグリッパに力覚センサを埋め込む構成とした。ハンドの振動によって生じる慣性力の誤差がなくなるため、このような構成を採用することで力の計測誤差を従来比10分の1程度まで減らすことが可能になる。それに伴い、これまでの運動解析装置で得られなかった細かい特徴量を検出できるようになった。
  併せて力応答と位置応答の相関からロボットの手先の接触状態を認識する手法を開発した。音声処理に利用されるメル周波数ケプストラム係数変換の技術を力覚センサに転用することにより、小さな高周波応答と大きな低周波応答の特徴量を同時に扱うスケーラブルな接触状態の認識を可能にした。クリックなどの細かい力の特徴量が精度高く検出できるようになることを実験的に示したほか、外力計測のための回帰分析にこのアルゴリズムを応用することによって力の計測精度が向上されることを示した。提案法は起歪体のヒステリシスに起因する誤差の影響を受けないため、特に起歪体のヒステリシスよりも小さい力を検出する際に顕著な改善が得られる。
  課題番号：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　　　　　　　　　　　　　　　
  埼玉県, ＡＩを活用した機器等開発・実証補助金, 2020年07月 - 2021年03月
  埼玉大学, 研究代表者
• HDR運動解析技術に基づく組立てロボットの研究開発　　　　　　　　　　　　　　　
  NEDO, 次世代人工知能・ロボット中核技術開発/次世代人工知能技術 の日米共同研究開発, 2018年07月 - 2020年03月
  埼玉大学, 研究代表者
• 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　　　　　　　　　　　　　　　
  油空圧機器技術振興財団, 研究助成金, 2018年04月 - 2019年03月
  埼玉大学, 研究代表者
• 触覚情報利活用のための運動データ圧縮技術　　　　　　　　　　　　　　　
  電気通信普及財団, 調査研究助成, 2018年04月 - 2019年03月
  埼玉大学, 研究代表者
• 触覚情報に基づく人の運動の特徴量抽出と技能再現　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業 基盤研究(B), 基盤研究(B), 2016年04月 - 2019年03月
  辻 俊明; 久保田 圭祐; 大河原 寛, 埼玉大学
  配分額（総額）：15470000, 配分額（直接経費）：11900000, 配分額（間接経費）：3570000
  ロボットが高度な技能運動を実現するための運動制御技術の確立を目指した。技能運動中の力学的な制約を満たした軌道を自律的に生成するため、モデル予測制御で生成した軌道をニューラルネットワークで学習するシステムを開発した。お好み焼きのひっくり返し動作のデモンストレーションから、提案のシステムが動力学的な強い制約を伴う系の軌道計画に適していることが確認された。また、モデル予測制御に基づくシミュレーション結果から学習したシステムが高い汎化性能を持つことが示された。実行された動作の成否を判定するアルゴリズムを追加することにより、自律的にタスクの成功度合いを評価しながら学習効果を高められることを示した。
  課題番号：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　　　　　　　　　　　　　　　
  NEXCO東日本, 技術研究助成, 2018年02月 - 2019年01月
  埼玉大学, 研究代表者
• リハビリ支援ロボット　　　　　　　　　　　　　　　
  埼玉県, 先端産業創造プロジェクト, 2016年04月 - 2017年03月
  埼玉大学, 研究代表者
• 人間支援ロボットのための触覚に基づく環境認識　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業 基盤研究(C), 基盤研究(C), 2012年04月 - 2015年03月
  辻 俊明, 埼玉大学
  配分額（総額）：5330000, 配分額（直接経費）：4100000, 配分額（間接経費）：1230000
  本研究課題ではロボットをはじめとする人間支援機器の触覚信号を処理する技術を提案した。力覚センサを支持部にのみ設置した簡易な機構で人間および環境の接触情報を抽出する触覚信号処理技術を開発した。その応用例として触覚を持たせた机の試作機を開発し、多種多様な条件において触覚信号処理技術が適用できることを確認した。本研究課題で開発された技術によって、限られた数のセンサデバイスで機器が多種多様な情報を操作者から取得できることが示された。
  課題番号：24560539
• 実世界ハプティクスに基づく人間支援理工学基盤技術の開発研究　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 基盤研究(S), 2008年 - 2012年
  大西 公平; 森川 康英; 小澤 壯治; 大石 潔; 内村 裕; 辻 俊明; 下島 直樹; 熱田 幸司; 桂 誠一郎, 慶應義塾大学
  配分額（総額）：148590000, 配分額（直接経費）：114300000, 配分額（間接経費）：34290000
  本研究では有機的な医工連携研究を通じて「実世界ハプティクス技術」を発展させ、人間個人の身体性に基づくスキルの抽出や転写、身体機能の延伸拡張が実現可能な「人間支援理工学基盤技術」を構築した。さらに、構築した基盤技術を学術的に体系化すると共に、人間の知覚に基づく身体支援を実現する科学的方法論を外科手術へと援用しその有用性を実証した。
  課題番号：20226007
• 触覚認識技術に基づく人間支援ロボティクス　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 若手研究(B), 2010年 - 2011年
  辻 俊明, 埼玉大学
  配分額（総額）：4160000, 配分額（直接経費）：3200000, 配分額（間接経費）：960000
  触覚センサを指でなぞった軌跡をDPマッチング法に基づき認識する入力方式「ハプティックジェスチャ」とその応用技術を開発した。以下の3点を実験的に実証し, 直感的でありながら短時間でより多くの情報を伝達する触覚コミュニケーションが実現されることを示した。
  支持点の数を増やした新たなメカニズムを開発し,センシング帯域を向上
  任意形状でのロボットのジェスチャ認識を可能とする信号処理技術を開発
  バイオメトリクス認証へと拡張
  課題番号：22760312
• 光学エンコーダに基づくロバスト加速度制御の実現　　　　　　　　　　　　　　　
  日本学術振興会, 科学研究費助成事業, 若手研究(B), 2007年 - 2008年
  辻 俊明, 埼玉大学
  配分額（総額）：3560000, 配分額（直接経費）：3200000, 配分額（間接経費）：360000
  光学エンコーダはモーション制御機器の位置を計測するセンサであるが、速度計測・加速度計測に応用した場合にノイズを発生することがモーション制御分野の極めて広範に亘る領域での課題となっている。そこで光学エンコーダの情報に基づく高精度加速度計測技術を確立し、加速度制御の性能を向上することを目的とし、研究を遂行した。同期計数法と呼ばれる高精度速度計測技術を開発し、加速度計測へと拡張した。本研究の成果は以下の3点に要約される。(1)同期計数法の実装による高精度加速度制御の実現と計測精度の定量的評価(2)エンコーダのスリット間隔誤差など理論上現れない技術的課題の解決(3)本技術を実装した多自由度ロボットによる高精度モーション制御の実現
  まず、同期計数法の理論的検証を実施した後に一自由度のフライホイール制御系にこれを実装し、加速度制御の性能が従来のものよりも向上されることを確認した。また、加速度制御手法の拡張であるセンサレス力計測に本技術を応用し、力センサとの比較により、その計測性能を評価した(成果(1))。当初はエンコーダのスリット間隔の不均一性に起因して所望の性能が得られなかったが、スリット間隔の不均一性を無効化する手法を提案し、実装することによって理論に近い性能が得られることが確認された(成果(2))。3 次元多自由度ロボットおよび自律移動台車に本技術を実装し、衝撃緩和動作をはじめとする高度な運動が実現されることを実験的に示した(成果(3))。また、本研究の副次的な効果として(a)光学エンコーダに基づく広帯域躍度計測が可能となること、および(b)マルチレートサンプリング制御との組み合わせにより更なる性能向上が図られること、が明らかになった。
  課題番号：19760291