RI-MAN

Language：Others   Publishing type：Research paper (scientific journal)   Publisher：Informa UK Limited  

DOI： 10.1080/01691864.2023.2239880

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Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： https://doi.org/10.7210/jrsj.41.573

Language：English   Publishing type：Research paper (scientific journal)  

DOI： https://doi.org/10.1109/tro.2023.3286045

Authorship：Last author   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/TRO.2023.3286045

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Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>A Straight Twisted Polymeric Fiber Actuator (STPFA) has attracted attention as a new rotational actuator because it is soft, lightweight, silent, and inexpensive. It can rotate when heating, and be back when cooling. However, it is difficult to improve the response, especially in the cooling phase when using natural cooling. In order to improve the response in natural cooling, antagonistical actuation is one of the effective methods. However, the diactivated-side actuator generates a disturbance-like torque when the other-side actuator is activated due to its passive torsional spring-like characteristics. In order to realize the antagonistical actuating module using a pair of rotational-type STPFA, in this paper, the models are constructed that can estimate the torque generated at both ends of an antagonistically arranged rotational STPFA from the change in heater resistance. A sensorless output torque control method is proposed for the total torque obtained as the difference between the torques at the two ends using the proposed STPFA models. The effectiveness of the proposed method is demonstrated through fundamental experiments using a prototype module. </p>

DOI： 10.7210/jrsj.41.573

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Language：English   Publishing type：Research paper (scientific journal)  

To control a robot performing cooperative work between a human and robot, not only the position but also the force must be controlled from the viewpoint of human–robot contact. In addition, when a robot is used for fitting and handling, tasks that are conventionally performed by experienced humans, controlling the grasping force and the force exerted by the joints can produce motions similar to those of humans and contribute to improving the success rate of the work. In the field of force control, in addition to direct force control, admittance control and impedance control are modes based on the relationship between position and force, which are known to be robust and safe. However, admittance control often becomes unstable when the robot comes into contact with a rigid body, and the performance of impedance control is degraded by friction. In this study, we aim to realize safe and accurate force control in cooperative work with humans. As a precursor, we propose admittance and impedance control, which is a series connection of conventional admittance control and impedance control. We show that the proposed force control is more robust, stable, and accurate than impedance control and admittance controls alone, or at least as good as them, when in contact with an unknown environment. Its basic effectiveness and practical usefulness are demonstrated through numerical simulations and experimental results.

DOI： 10.1186/s40648-022-00237-5

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>This paper proposes a grasping stiffness control method using a multi-fingered robot hand. This method does not need any information of a grasped object, such as geometry and attitude. The grasping stiffness is derived from geometrical constraints including rolling contact between a multi-fingered robot hand and a grasped object. To estimate the grasping stiffness without the use of external sensors, a contact point position of each fingertip is estimated by a relative relationship between the initial contact position and a virtual object frame. The proposed method is designed so that the desired grasping stiffness optimally transforms into a joint stiffness, and the desired joint stiffness is realized through each joint angle control. Finally, the usefulness of the proposed method is demonstrated through several numerical simulation results. </p>

DOI： 10.7210/jrsj.40.928

CiNii Research

Authorship：Last author,　Corresponding author  

J-GLOBAL

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>In this paper, a new force controller that connects admittance and impedance controllers in series is verified experimentally. Until now, the serially combined admittance impedance controller has been proposed and its effectiveness has been demonstrated through only numerical simulations, whereas its practical use has not yet been shown. First, the control law of the proposed force controller is shown compared with the conventional force controllers. Next, to experiment with the proposed method in the simplest case, the 1DoF experimental setup is introduced, and conduct experiments to compare with the performance of the proposed method and present methods under several situations. Finally, Its practical usefulness is demonstrated through these experimental results. </p>

DOI： 10.7210/jrsj.40.355

CiNii Research

Language：English   Publishing type：Research paper (scientific journal)  

DOI： https://doi.org/10.1109/LRA.2021.3070247

Language：English   Publishing type：Research paper (international conference proceedings)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-020-00162-5

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/lra.2019.2901982

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/lra.2019.2908484

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.7210/jrsj.36.616

Language：English   Publishing type：Research paper (scientific journal)  

Feedforward control of twisted and coiled polymer actuator based on a macroscopic nonlinear model focusing on energy
© 2016 IEEE. This letter proposes a feedforward (FF) controller for the twisted and coiled polymer actuator (TCPA), the so-called fishing line/sewing thread artificial muscle, based on its macroscopic nonlinear model. TCPA is an artificial muscle, and it contracts up to 50&#37; in response to heating. Although several methods considering Joule heating as the input have been proposed to control the TCPA displacement, the FF controller based on the linear model shows the nonnegligible offset error. Therefore, the FF controller should be designed based on a nonlinear model, e.g., the model constructed by the authors. However, computing the inverse of the nonlinear model for the FF controller is difficult. Even if the inverse can be computed under static conditions, the problem of how to compensate the dynamics still remains. For this problem, we compensate the dynamics based on the idea of the Hammerstein model, namely we divide the inverse dynamics into the nonlinear transformation part and linear dynamics part. The former part consists of a converter from the displacement to temperature and a ratio adjuster for the squared voltage. Meanwhile, the latter is represented by the linear model of TCPA temperature. Through experiments, it is verified that the proposed FF controller can reduce the offset error of the displacement compared with the linear controller.

DOI： 10.1109/LRA.2018.2801884

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.7210/jrsj.36.306

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2018.1453375

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2018.1453375

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s10514-017-9643-z

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.sna.2017.10.016

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2017.1365011

Language：Japanese   Publishing type：Research paper (scientific journal)  

In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.

DOI： 10.7210/jrsj.34.143

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S0263574712000525

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper firstly derives and analyzes non-linear dynamics of pinch motions generated by a pair of robot fingers (1 D.O.F. and 2 D.O.F.) with soft tips and finds a feedback control signal for stable grasping and posture control of a rigid object based on passivity analysis. It is shown that measurements of rotation angle of the object by means of optical devices play a crucial role in construction of such feedback signals. Secondly, results of computer simulation by using the derived non-linear differencial equations with geometric constraints and results of experiments by using such robot fingers are presented. Then, usefulness of this control method is discussed from the practical viewpoint.

DOI： 10.7210/jrsj.21.763

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper firstly shows Lagrange's equation of a pair of robot fingers with hemishperical tips pinching a rigid object under four geometric constraints. In derivation of the equation, it is assumed that the rigid object has two parallel flat surfaces, motion of the overall system is confined to a horizontal plane and the effect of gravity is ignored. It is then shown that there exists a sensory feedback signal not only for secure pinching with the desired contact force but also for control the object orientation at a specified rotational angle. It is also shown that the method of computer simulation based on the non-linear differential equation with four geometric constraints is discussed together with presenting some computational results.

DOI： 10.5687/iscie.16.253

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

<p>State estimation is one of the key techniques to control soft robots, which is difficult to use sensors like traditional robots. Though modeling is an important process to achieve this, that of soft robots is challenging because of their highly nonlinear and uncertain behaviors. Many models were proposed, and we also proposed the one which contained stochastic distributed parameters for their uncertainty. In this study, we propose the state estimation method of a soft finger by using Kalman Filter framework. Stochastic parameters are suitable for constructing an appropriate estimator. Through an experimental validation, the performance of proposed estimator is discussed. </p>

DOI： 10.7210/jrsj.42.402

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Publisher：2024 IEEE 7th International Conference on Soft Robotics, RoboSoft 2024  

Pyshical flexibility is one of the good aspects of soft robotic hands when grasping an unknown-shaped object stably or interacting with around environment safely. On the other hand, considering controlling them dexterously, their flexibility can cause nonlinear and uncertain behaviors and this will be the barrier to accurate control. Furthermore, they deform continuously and entirely, which makes it difficult to use some sensors and to control by direct sensor feedback. For such a soft robot system, state estimation is the key to realizing accurate control. It is necessary to improve the accuracy of a model for good state estimation. Recently, probabilistic models have been proposed to represent uncertainties in soft robots, and this method can overcome traditional deterministic models that sometimes exhibit good but sometimes undesirable behaviors in terms of soft robots. We also have proposed the dynamic model of a soft finger with stochastic parameters. Because this model is the extension of the traditional dynamics, it is easy to apply the traditional state estimation method. In this paper, the state estimation method that uses the stochastic characteristics of the model is proposed. Through experiments, the efficiency of the proposed estimation is investigated.

DOI： 10.1109/ROBOSOFT60065.2024.10522025

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Publisher：Advanced Robotics  

DOI： 10.1080/01691864.2023.2292318

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Language：Others   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

<p>Muscles in the musculoskeletal system can only transmit forces in the tensile direction, thereby resulting in redundant actuation. This redundancy creates an internal force among the muscles. The musculoskeletal potential method uses a potential field generated by the internal force among muscles and performs a step input of the muscle tension balanced at the desired posture to achieve the point-to-point (PTP) position. This method is extremely simple and does not require any sensory feedback or complex real-time calculations, as long as the target muscle tension is achieved. However, it is known that convergence to a desired posture is strongly influenced by muscular arrangement. In a previous study, we limited our analysis to a specific structure with two joints and six muscles and explained the conditions for convergence to a desired posture. However, when the structure of the target system, number of joints, and number of muscles are different, the convergence conditions cannot be clarified using the previous method. In this study, we extend the previous method to a musculoskeletal system with multiple one degrees-of-freedom (DOF) joints driven by monoarticular and biarticular muscles. In this study, we clarify the conditions that must be satisfied by the muscular arrangement to converge to a desired posture in the musculoskeletal potential method and verify the results through simulation.</p>

DOI： 10.20965/jrm.2023.p0751

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This paper describes the use of a high-speed streaming camera combined with in-house image processing for real-time particle tracking velocimetry (PTV) above 1 kHz. The proposed system is evaluated by measuring the diameter and velocity of multiple free-falling droplets in a simultaneous manner. Two existing particle tracking methods are examined: median flow (MF) and four-frame best estimate (4BE). Area-limiting processing is newly added to MF and 4BE to reduce the region of interest (ROI) in which particles are detected in the next image, resulting in area-limiting MF (AMF) and area-limiting 4BE (A4BE). Except for MF, the rest three methods of AMF, 4BE, and A4BE are capable of 1-kHz real-time PTV for 1246 pixel × 600 pixel images, with 4BE and A4BE achieving even at 10 kHz for 1246 pixel × 100 pixel images. The processing times for tracking and image preparation are measured, and the bottleneck is found to be the image acquisition and preparation, rather than the tracking. AMF achieves faster processing times than MF in all conditions, showing the effectiveness of the limited ROI, while 4BE and A4BE exhibit comparable performance. The measurement error is confirmed to be approximately 1% for droplet velocity and diameter, demonstrating the high accuracy of the first in-situ real-time PTV exceeding 1 kHz.

DOI： 10.1016/j.flowmeasinst.2023.102361

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-023-00242-2

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>The authors have previously proposed an admittance control that uses the output of a proximity sensor as a virtual force as an impact force reduction control method for realizing safe robot contact and demonstrated its effectiveness through experiments. In this study, we discuss the parameter determination method and its effectiveness under various conditions of this control by modeling sensor output and analyzing the motion equarion of virtual object. As a result, we were able to formulate the position and velocity after convergence under the assumption that the velocity converges to a constant solution. By using this result, it is possible to determine the gain of the virtual force from the speed and position at the time of the collision. It is also possible to confirm the velocity and position at the time of the collision in advance.</p>

DOI： 10.1299/jsmermd.2023.2p1-e02

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper proposes a novel method to control contact transitions. The proposed method uses an optical reflective proximity sensor and reduces impact forces during a collision. The smooth contact transition achieved by the proposed method will be helpful for many robot tasks, such as grasping a fragile object, soft landing, and human interaction. There exist three fundamental points underlying our approach. The first is to utilize the proximity sensor as a virtual force sensor. The second pertains the regulation of the virtual elastic force magnitude to gevern the contact state. The third is to use the virtual force as an input for our serial-combined impedance controller. We confirmed the usefulness of the proposed method through an experiment.</p>

DOI： 10.1299/jsmermd.2023.2p2-e02

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Until now, we have proposed a new force controller that connects admittance and impedance controller in series. In this paper, we experimentally verify the collision force reduction effect of the series admittance impedance control. By experiment with the proposed controller or conventional impedance control and a 1DOF linear mechanical system, it was found that the proposed method can reduce the collision force while keeping the same trajectory tracking performance as the conventional impedance control.</p>

DOI： 10.1299/jsmermd.2023.2a2-e02

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper proposes a soft and silent robotic finger driven by the Twisted and Coiled Polymeric Fiber Actuator (TCPFA), which is one of the flexible and silent polymeric actuators. In order to overcome the narrow movable area and slow responsiveness, which are the typical drawback of the TCPFA, the proposed finger configures that a pair of TCPA is arranged to imitate intrinsic and extrinsic muscles of a human finger, and an oil-cooling system is introduced. Several fundamental experiments are conducted and through these results, the increase in the range of motion and the improvement in responsiveness are verified.</p>

DOI： 10.1299/jsmermd.2023.2a2-e07

CiNii Research

Publisher：2023 IEEE/SICE International Symposium on System Integration, SII 2023  

This paper proposes a data-driven-based stable object grasping method to grasp and realize object force/torque equilibrium for a triple-fingered under-actuated robotic system. Controlling the fingertip force of an under-actuated hand for precision grasp has been a challenging task in the robotic field due to the high nonlinearity of the under-actuated system as well as the inaccuracy in model-based controllers. By attaching a force sensor to the suitable location inside the robotic hand, necessary information for stable grasping, which is the detection of contact between fingertip and object and the magnitude of the fingertip force, is obtained using the proposed data-driven methods on internal sensor data in real-time. The obtained information is then used as feedback for the stable grasp controller to realize grasped object force/torque equilibrium.

DOI： 10.1109/SII55687.2023.10039475

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Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-023-00242-2

Authorship：Last author   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

A twisted and coiled polymer fiber (TCPF) is a soft thermal actuator increasingly used in current robotics applications. When implementing TCPF in robotics applications, amplifying the TCPF strain and force is necessary to obtain the desired performance. Therefore, this study proposes a mechanism to amplify the strain and force of a TCPF. Considering the TCPF as a wire, the fixed and movable pulley mechanisms are available to amplify the TCPF strain and force, respectively. However, the amplification mechanism becomes bulky when the fixed pulleys are installed separately from the movable pulleys; thus, the TCPF utility reduces. This study focuses on two characteristics of the pantograph to design a compact amplification mechanism. The first characteristic is that the pulleys on the pantograph diagonal axes can be used as a movable pulley mechanism. The other characteristic is that the pantograph circumference can be a fixed pulley mechanism, as the circumference is always invariant. Based on these characteristics, the proposed mechanism can amplify both the TCPF strain and force. The experiments show that the force is amplified based on the number of loops around the diagonal axes. Although the load and temperature affect the strain amplification, the experiments confirm that the strain is amplified. In particular, depending on the loop number, the strain becomes 5.8 times the TCPF strain while maintaining the force level. Furthermore, changing the loop number, the strain and force are amplified 2.8 times and 2 times, respectively.

DOI： 10.1109/LRA.2022.3197268

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： https://doi.org/10.1109/LRA.2022.3197268

Language：Japanese   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1117/12.2612843

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Until now, many types of bipedal leg-wheeled mobile robots have been proposed. However, a compound locomotion, which combines wheeled locomotion and walking simultaneously, have not yet been studied enough. In this paper, the compound locomotion method is proposed in 2D sagittal plane using an optimization technique based on quadratic programming and the effectiveness is demonstrated through numerical simulation results.</p>

DOI： 10.1299/jsmermd.2022.2a1-p12

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>The soft gripper is possible to fit in the shape of grasped objects and realize safe handling due to its softness. On the other hand, modeling and control of the grasping force by the soft gripper has not been focused yet on so far even though it is also important for not injuring them. In this study, a sensorless tip force estimation of the cable-driven soft gripper is proposed because of the difficulty of implementing sensors to the soft body generally. The model to estimate the tip force is derived from the dynamics of the soft gripper based on the lumped parameterized system. Its effectiveness and limitation are demonstrated through numerical simulation results.</p>

DOI： 10.1299/jsmermd.2022.2a1-r06

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>In order to achieve high positional accuracy with force control, To use admittance control is one of the possible candidates. However, there is a trade-off between positional accuracy and responsiveness and stability due to contact, and especially the viscosity of the virtual object contributes significantly to the stability. In this paper, we propose to expand the stability region of the above force control using series admittance impedance control through experiments.</p>

DOI： 10.1299/jsmermd.2022.2a2-k10

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Conventional industrial manipulators use additional sensors to ensure the safety for collaborating workers and environment. However, if an error occurs in the sensors or the power is not turned on, it is dangerous for the environment, so a manipulator which has structural back-drivability is desirable. As one of the candidates, Tahara et al. developed a high back-drivable parallel-link manipulator with continuously variable transmission(CVT). The high back-drivable shaft motor has a small output force compared with the motor which used conventional gear reducer, so the output force that resists a large external force makes it saturated. In this paper, we propose a method to expand the range in which reaction force can be output against external force by constructing the algorithm to change reduction ratio. The performance of the proposed method is evaluated by simulation.</p>

DOI： 10.1299/jsmermd.2022.2p1-l06

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Twisted and Coiled Polymer Fiber (TCPF) actuators can generate relatively large force, however, they have a disadvantage of slow response due to their thermal actuation. This paper proposes a method to drive TCPF at high speed by using the resonance phenomenon of an elastic beam. Experimental results show that a TCPF with a slow thermal response of approximately 0.04 Hz can even excite vibration of approximately 7 Hz by using the resonance mechanism.</p>

DOI： 10.1299/jsmermd.2022.2a2-m02

CiNii Research

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>This paper proposes a pantograph mechanism that amplifies both the strain and force of the twisted and coiled polymer fiber (TCPF). In the proposed mechanism, the TCPF is stored in the pantograph and forms several loops around the circumference and inside of pantograph. The outer loop works as the fixed pulley that amplify the TCPF strain. On the other hand, the inner loop amplifies the TCPF force by working as the movable pulley Through experiments when setting the number of outer and inner loops to 1, it was validated that the force by the proposed mechanism can output approximately double of the TCPF force. Furthermore, it was demonstrated that the strain can be amplified simultaneously.</p>

DOI： 10.1299/jsmermd.2022.2a1-m04

CiNii Research

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Fiber Science and Technology, Japan  

DOI： 10.2115/fiber.78.192

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Language：Japanese   Publisher：The Robotics Society of Japan  

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DOI： 10.7210/jrsj.40.414

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Language：English   Publisher：The Japan Society of Mechanical Engineers  

<p>Detecting the contact of Multi-fingered robotic hand’s fingertip and an object plays an important role in grasping the object stably. However, there remained considerable difficulties due to non-ideal external factors, in which for an under-actuated finger with force sensor located at the link far from the fingertip, each contact position cannot be determined using only the kinematic model and tactile information. In this paper, the Density-based clustering method to the force sensor and position encoder data is introduced to realize real-time contact detection. In our approach, data of the finger’s joint sensor during operation when not in contact with object is collected and analyzed using Density-based clustering algorithm. Learned information and collected data are then used to perform real-time contact detection.</p>

DOI： 10.1299/jsmermd.2022.2a1-n01

CiNii Research

Publisher：IEEE International Conference on Intelligent Robots and Systems  

This study focuses on replicating the muscu-loskeletal system of human arms for mimicking its movement. Muscle redundancy is critical for regulating the mechanical impedance of arms and legs. However, when implementing muscle redundancy on robots, making an ill-posed problem that cannot determine the muscle forces uniquely. In this paper, first, a method for controlling end-point stiffness in the muscle space for the joint and muscle redundant system is described. Next, the muscle model imitating the nonlinear viscosity characteristic of human muscles is introduced. Then, a method to control the joint viscosity by adjusting the internal forces of muscles adequately without affecting the stiffness control directly is proposed. Finally, numerical simulations are performed to investigate the effectiveness of the proposed method.

DOI： 10.1109/IROS47612.2022.9981712

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>Direct Drive (DD) motors have high back drivability because no reduction gears are used, and are possible to improve the flexibility if used at robotic joint. Accordingly, on the other hand, the output joint becomes easily influenced by disturbances and thus high gain feedback control is needed for accurate position control. However, there is a limitation of the value of velocity gain (D gain) because D gain is increased, a high-frequency mechanical vibration would occur due to the amplification of a discretization noise. In this study, we focus on the viscoelasticity of polymers and propose a new viscoelastic module using polymers to add adequate mechanical viscoelasticity to the DD motor. The prototype mechanism of the module is proposed and its effectiveness is shown through basic experiments.</p>

DOI： 10.1299/jsmermd.2022.2a1-m03

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Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.3389/frobt.2021.699792

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1109/LRA.2021.3070247

Language：Others   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.snb.2021.130262

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2021.p0619

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1088/1361-665X/abfc1a

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM43001.2020.9158848

Language：Others   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2557783

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1186/s40648-020-00164-3

Language：Others   Publishing type：Research paper (scientific journal)  

Experiment verification and stability analysis of iterative learning control for shape memory alloy wire
© 2019, Fuji Technology Press. All rights reserved. To achieve the control of a small-sized robot manipulator, we focus on an actuator using a shape memory alloy (SMA). By providing an adjusted voltage, an SMA wire can itself generate heat, contract, and control its length. However, a strong hysteresis is generally known to be present in a given heat and deformation volume. Most of the control methods developed thus far have applied detailed modeling and model-based control. However, there are many cases in which it is difficult to determine the parameter settings required for modeling. By contrast, iterative learning control is a method that does not require detailed information on the dynamics and realizes the desired motion through iterative trials. Despite pioneering studies on the iterative learning control of SMA, convergence has yet to be proven in detail. This paper therefore describes a stability analysis of an iterative learning control to mathematically prove convergence at the desired length. This paper also details an experimental verification of the effect of convergence depending on the variation in gain.

DOI： 10.20965/jrm.2019.p0583

Language：Others   Publishing type：Research paper (scientific journal)  

Set-point control of a musculoskeletal system under gravity by a combination of feed-forward and feedback manners considering output limitation of muscular forces
© 2019, Fuji Technology Press. All rights reserved. This paper proposes a new control method for musculoskeletal systems, which combines a feed-forward input with a feedback input, while considering an output limit. Our previous research proposed a set-point control that used a complementary combination of feedback using a time delay and a muscular internal force feed-forward; it achieved robust and rapid positioning with relatively low muscular contraction forces. However, in that control method, the range of motion of the musculoskeletal system was limited within a horizontal plane. In other words, that system did not consider the effect of gravity. The controller proposed in this paper can achieve the reaching movement of the musculoskeletal system without requiring accurate physical parameters under gravity. Moreover, the input of the proposed method can be prevented from becoming saturated with the output limit. This paper describes the design of the proposed controller and demonstrates the effectiveness of the proposed method based on the results of numerical simulations.

DOI： 10.20965/jrm.2019.p0603

Language：Japanese  

Language：Japanese  

Language：Others   Publishing type：Research paper (scientific journal)  

Choice of muscular forces for motion control of a robot arm with biarticular muscles
© 2019, Fuji Technology Press. All rights reserved. The contribution of biarticular muscles to the control of robotic arms and legs has recently attracted great interest in the field of robotics. The advantages of using biarticular muscles under kinetic interaction with the external environment have been well studied; however, the contribution of the muscles to the motion control of articulated robot arms under no kinetic interaction appears to remain an unclear issue, especially for robot arms of which the muscles are directly anchored to their links, which induces a change in the moment arms to allow the muscles to generate joint torques and permit point-to-point motion control to their desired postures in a feedforward manner with constant muscular forces. This paper presents a case study in which the role of biarticular muscles in the motion control of an articulated robot arm was investigated, focusing on the feature of its redundancy actuation, which allows an arbitrary choice from infinite combinations of muscular forces, realizing motion control to a desired posture. The numerical analysis in this paper addresses three typical combination choices. Mappings from muscular forces to desired postures are calculated in the analysis of the three choices. The simulation results of motion control executed according to the three mappings are also analyzed. The analysis indicates the interesting results that biarticular muscles do not contribute to the desired postures and that a very weak dependence property of monoarticular muscles on the desired postures exists for a particular choice. The simulation results also demonstrate that the implementation of one choice results in a degraded motion control performance as compared with that of the two other choices.

DOI： 10.20965/JRM.2019.P0143

Language：English   Publishing type：Research paper (scientific journal)  

3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control
© 2018, © 2018 Taylor & Francis and The Robotics Society of Japan. This paper has proposed a parallel-wire driven robot (PWDR) with an active balancer, which is notably useful for such applications as ceiling maintenance and object conveyance near a ceiling in a factory. Because this robot is an under-actuated system, the uncertainty of the inertial parameters of the load strongly affects the resultant motion and reduces the control accuracy because of the dynamics interference. However, to date, the dynamics of this robot has not been thoroughly elucidated. Thus, this study analyzes the dynamics of a PWDR that controls three degree-of-freedom using two wires and an active balancer. Moreover, based on the dynamic analysis, a model-based adaptive controller for the parameter uncertainty of a load is proposed, and its effectiveness is demonstrated through simulation.

DOI： 10.1080/01691864.2018.1493397

Language：English   Publishing type：Research paper (other academic)  

Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators

DOI： 10.1109/AIM.2018.8452275

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBOSOFT.2018.8405370

Language：English  

DOI： 10.1016/B978-0-12-813385-9.00009-1

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2295899

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S0263574717000303

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2295899

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/HUMANOIDS.2017.8246877

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2017.1372212

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM.2017.8014112

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2017.1372212

Language：Japanese  

Fishing-line artificial muscle is one of the soft actuators attracting a lot of attention. It is made of commercially available polymer fiber. It is heat-driven actuator, so that its efficiency and responsiveness are low. However it is a low-cost, light-weight, large-force, large-stroke, quiet actuator and can be easily made. It is roughly divided into the contract type actuator and the torsional type actuator. In this study, we focus on the torsional type actuator and aim at black-box modeling and controlling it. Torsional type fishing-line actuator generates torsional torque and limited rotation angle. In this paper, we assume first-order transfer function as the model of the torque from the electrical power applied the actuator. In the experiment, we measure the torque and identify the system. Then we control the torque of it with PI control, and validate the model and design of control system.

DOI： 10.1299/jsmermd.2017.2A1-A04

Language：Japanese  

An actuator unit consisting of multiple twisted and coiled polymer actuators (TCPA) with the feedforward controller is proposed. TCPA is made by two methods: 1) overtwisting the fiber and 2) winding the twisted fiber around the mandrel. The former output the larger force than the latter, while the former shows the smaller stroke. In order to realize the coexistence of large stroke and large output force, we combine multiple TCPAs fabricated by the latter method. The performance of the actuator unit is investigated through the experiment. Additionally, it is verified that the feedforward controller based on the authors' nonlinear displacement model can reduce the offset error compared with that based on the linear model.

DOI： 10.1299/jsmermd.2017.2A1-A02

Language：Japanese  

Recently, soft actuators have been paid attention to make robots lighter and more flexible than especially present industrial robots. Above all, the dielectric elastomer actuator is useful for the robot because of its relatively high output force and voltage driving. However, the dielectric elastomer actuator has several drawbacks that its stroke is small, and a characteristic that is extended when inputting a voltage. In this paper, by combining a joint system driven by antagonistic dielectric elastomer actuators and four-bar linkage, a 1 DOF manipulator which a has large range of motion is developed. In addition, the joint angle and force controllers of this manipulator are introduced, and those performance is verified experimentally.

DOI： 10.1299/jsmermd.2017.2A1-B06

Language：Japanese  

A fishing line actuator is one of the soft actuators made by coiling a twisted polymer fiber. In this paper, we propose 2 DOF manipulator driven by the multiple fishing line actuators to realize a joint angle control and a variable stiffness independently. The effectiveness of the proposed mechanism is evaluated experimentally.

DOI： 10.1299/jsmermd.2017.2A1-A03

Language：Japanese  

A novel displacement model of the twisted and coiled polymer actuator (TCPA) is proposed. In order to explicitly deal with the effect of the convective heat transfer on the displacement behavior, we focus on the temperature and velocity dependence of the convective heat transfer and regard the convective heat transfer as one of the dissipation function. Through some experiments for three TCPAs, it is verified that the proposed model is more plausible than the conventional linear model.

DOI： 10.1299/jsmermd.2017.2A1-A01

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2259766

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s10015-016-0322-5

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DOI： 10.1117/12.2259766

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DOI： 10.1109/IECON.2016.7793411

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IECON.2016.7793411

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2218850

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper focuses on the feedforward position control for a musculoskeletal system which has two links, two joints and six muscles. This feedforward control method utilizes resultant torque generated by inputting the internal force among muscles balancing at a desired posture. The motion convergence of this control method is extremely sensitive to the muscular arrangement. Using the approximation of Taylor expansion, the previous study clarified the sufficient condition of the muscular lengths for converging at a desired posture. This paper expands this discussion to clarify the geometric conditions of the muscular arrangement.

DOI： 10.7210/jrsj.34.133

Language：Japanese  

Language：Japanese  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IECON.2015.7392655

Language：English   Publishing type：Research paper (other academic)  

An Experimental Study on Effect of Biarticular Muscles in an Antagonistically Actuated Robot Arm

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IECON.2015.7392248

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper focuses on the feedforward position control for a musculoskeletal system which has two links, two joints and six muscles. This feedforward control method utilizes resultant torque generated by inputting the internal force among muscles balancing at a desired posture. The motion convergence of this control method is extremely sensitive to the muscular arrangement. Using the approximation of Taylor expansion, the previous study clarified the sufficient condition of the muscular lengths for converging at a desired posture. This paper expands this discussion to clarify the geometric conditions of the muscular arrangement.

DOI： 10.7210/jrsj.34.133

Language：Japanese   Publishing type：Research paper (scientific journal)  

In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method.

DOI： 10.7210/jrsj.34.143

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1117/12.2218850

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DOI： 10.1109/IROS.2015.7353688

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Determination Method of Tendon Arrangement Using Genetic Algorithm for Feedforward Positioning of Musculoskeletal System

DOI： 10.1109/IECON.2015.7392248

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2015.7353688

Language：Japanese  

This paper proposes a set-point control method for a musculoskeletal system considering maximum muscular force. In our previous work, the set-point control method for a musculoskeletal system was proposed which combines a feedforward control with a sensory feedback control including a considerable time-delay. However, the maximum output force of each muscle have not been considered though it sometimes induces a wind-up phenomenon because of the saturation of the muscular force. The ratio function to determine the ratio of feedforward and feedback control inputs is newly introduced in this paper to prevent such a wind-up phenomenon without the saturation of muscular force, and generate more sophisticated reaction motion even if disturbances are added on the end-point during movement. Numerical simulation results are shown to demonstrate the effectiveness of the proposed method.

Language：Japanese  

This paper proposes a wearable walking assist device using a linear actuator for people who feel that walking is slightly painful in everyday life, and numerical walking simulation is conducted to evaluate the effectiveness of proposed devices, and construct an effective control method. The linear actuator intrinsically owns enough back driverbility because there is no reduction gear. Namely, it is possible to prevent tumble of a people who wears this device even if the device suddenly makes unexpected motion. This is because the people can easily resist against an output force of the actuator due to high backdrivability. A joint torque controller to assist a swing leg which is designed, and a numerical walking simulation is conducted to verify the effectiveness of assistance of the proposed device. From these simulation results, an effective feedback controller in terms of energy consumption is designed.

Language：Japanese  

This paper proposes a new object manipulation method by means of a multi-fingered hand using a particle filter to estimate a position and attitude of an object. In our previous work [1], the object virtual frame has been presented instead of an actual frame to manipulate an object without any external sensing information. A desired position and attitude of the object, however, has not been necessarily realized using the method because of no external sensing information. In order to cope with that, a new virtual frame is proposed based on a 3D laser range sensor data including considerable noise and time-delay in this paper. Firstly a particle filter is designed to estimate the position and attitude of the object from the sensing information. Then the new virtual frame is designed based on estimations of the particle filter.

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IECON.2015.7392655

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IECON.2015.7392248

Language：Japanese   Publishing type：Research paper (scientific journal)  

The purpose of this paper is to present solution to an ill-posed problem for a muscular internal force feedforward positioning method of a musculoskeletal system. In our previous research, the muscular internal force feedforward positioning method of the musculoskeletal system has been proposed. In the method, the position regulation of the system can be accomplished by inputting a desired internal force balancing at a desired position. However, this control method has the ill-posed problem that the muscular internal force balancing at the desired position cannot be uniquely determined because the musculoskeletal system has muscular redundancy. A determination method of the muscular internal force is an important problem because a convergence and responsiveness of the system are influenced by the muscular internal force. Therefore, this study proposes a new determination method of the muscular internal force using reinforcement learning technique in order to determine the muscular internal force uniquely by considering control performance of the system. The proposed method numerically determines the muscular internal force that can converge at a desired position smaller than a conventional method. Its effectiveness is shown through numerical simulations for reaching movements of the musculoskeletal system.

DOI： 10.1299/transjsme.14-00313

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBIO.2014.7090746

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/SII.2014.7028081

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM.2014.6878147

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DOI： 10.1109/ICRA.2014.6907861

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICRA.2014.6907729

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper focuses on the feedforward position control for a musculoskeletal system which has two links, two joints and six muscles. This feedforward control method utilizes the resultant torque generated by inputting the internal force among muscles balancing at a desired posture. Therefore, any sensory feedback is not necessary for positioning. The motion convergence is extremely sensitive, namely it strongly depends on muscular arrangement of a musculoskeletal system. Focusing on the potential filed generated by the input of internal force, this paper analyzes the motion convergence from the quasistatic viewpoint. In this analysis, the muscular lengths along with the joint angles are approximated by Taylor expansion. After demonstration of the reliability of the approximation, Hessian matrix of the potential field is assessed to clarify the quasistatic condition of the motion convergence at a desired posture.

DOI： 10.7210/jrsj.32.372

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBIO.2014.7090746

Language：Japanese  

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DOI： 10.1109/SII.2014.7028081

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/AIM.2014.6878147

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2013.824133

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2013.p0125

Language：English   Publishing type：Research paper (other academic)  

Linear Combination of Feedforward and Feedback Manners to a Musculoskeletal System for Robust Set-Point Control

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1080/01691864.2013.824133

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S0263574712000525

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.7210/jrsj.31.564

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DOI： 10.1109/ARSO.2013.6705497

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1007/978-94-007-6996-0-86

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.7210/jrsj.31.364

Language：Japanese  

Language：Japanese  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.20965/jrm.2013.p0125

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ARSO.2013.6705498

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ARSO.2013.6705498

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ARSO.2013.6705497

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1007/978-94-007-6996-0-86

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DOI： 10.1109/MHS.2011.6102234

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DOI： 10.1109/IROS.2012.6385628

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2012.6385589

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Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICRA.2012.6224681

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper proposes a novel control method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. This method is based on a task space sensory-feedback control using real time information of an object attitude. A unified control signal is designed for a whole hand-arm system. Firstly, nonholonomic rolling constraints between a multi-fingered hand-arm system and a grasped object are formulated. Secondly, a novel control signal to accomplish stable grasping and attitude regulation of the grasped object is proposed. To design the control signal, it is assumed that sensory information of the attitude of the grasped object is available in real time through some external sensors, such as vision, force, tactile sensors, and so on. Next, stability of the overall closed-loop dynamics and convergence of the object attitude to a desired attitude are given based on the passivity theory. Finally, several numerical simulations are conducted, and it is demonstrated that an arbitrary polyhedral object can be grasped, and its attitude converges to the desired one stably using proposed method.

DOI： 10.7210/jrsj.30.72

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper proposes a novel control method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. This method is based on a task space sensory-feedback control using real time information of an object attitude. A unified control signal is designed for a whole hand-arm system. Firstly, nonholonomic rolling constraints between a multi-fingered hand-arm system and a grasped object are formulated. Secondly, a novel control signal to accomplish stable grasping and attitude regulation of the grasped object is proposed. To design the control signal, it is assumed that sensory information of the attitude of the grasped object is available in real time through some external sensors, such as vision, force, tactile sensors, and so on. Next, stability of the overall closed-loop dynamics and convergence of the object attitude to a desired attitude are given based on the passivity theory. Finally, several numerical simulations are conducted, and it is demonstrated that an arbitrary polyhedral object can be grasped, and its attitude converges to the desired one stably using proposed method.

DOI： 10.7210/jrsj.30.72

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICRA.2012.6224681

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper proposes a novel high-backdrivable parallel-link manipulator with Continuously Variable Transmission (CVT) mechanism using several shaft actuators. The backdrivability is quite important and necessary for robots working around our living space to ensure the safety of us and environment. As for such robots, using a rotational actuator with a high reduction ratio reducer which has been commonly used is not adequate to realize the high backdrivability from the viewpoint of mechanical configuration. In this study, several high-backdrivable linear shaft actuators are utilized instead of it. Furthermore, the CVT mechanism which is provided by a novel configuration of the parallel mechanism is employed effectively. Using multiple linear shaft actuators and the CVT mechanism is able to surmount a drawback of the linear shaft actuator whose output force is relatively small compared with that of commonly used geared motors. As the first step of the study, a simple 1 DOF manipulator is proposed, and its kinematic and dynamic models are given. Next, a PD type feedback control signal to regulate both the arm's angle and its force/velocity ratio simultaneously is designed. A statical relation between the end-point output force of the manipulator and the CVT mechanism is illustrated. Finally, several fundamental experiments are performed using a prototype to demonstrate the effectiveness of proposed mechanism.

DOI： 10.7210/jrsj.30.99

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/MHS.2011.6102234

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DOI： 10.1109/IROS.2012.6385589

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DOI： 10.1109/IROS.2012.6385628

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DOI： 10.1163/016918610X538543

Language：Japanese  

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper proposes a novel object manipulation method to regulate the position and attitude of a rigid object of parallelepiped with maintaining stable grasping by a triple soft-fingered hand without use of any external sensing. In the authors' previous works, "the Blind Grasping" control scheme was proposed for a pair of soft-fingered hand to accomplish dynamic object grasping without use of any external sensing. However, it has just achieved a stable object grasping, and a simultaneous object position and attitude control has not yet been treated, so far. To this end, a ternary finger in addition to a pair of fingers is introduced in order to enhance the Blind Grasping manner to "the Blind Manipulation" manner. Since the Blind Grasping control input has been designed for a pair of fingers, in this paper it is renewed to install it into the triple-fingered robotic hand. Moreover, both the virtual object position and attitude are utilized by defining a virtual frame instead of real information of the object position and attitude in order to achieve the Blind Manipulation. First, the overall dynamics, which considers rolling contact constraints between each fingertip and object surface, is derived. Second, a control signal to regulate the virtual object position and attitude without use of any external sensing, "the Blind Manipulation", is designed. Next, the stability of the system is discussed briefly, and finally the usefulness of our proposed manipulation method is demonstrated through a numerical simulation.

DOI： 10.7210/jrsj.29.89

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ICAR.2011.6088574

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DOI： 10.1109/IROS.2011.6048102

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DOI： 10.1109/ICRA.2011.5979700

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DOI： 10.1109/IROS.2011.6048069

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DOI： 10.7210/jrsj.28.682

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DOI： 10.1163/016918610X493615

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DOI： 10.1155/2010/217867

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DOI： 10.1109/IROS.2010.5649899

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DOI： 10.1109/ROBIO.2010.5723559

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DOI： 10.1109/BWCCA.2010.168

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DOI： 10.1109/IROS.2010.5650071

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DOI： 10.1109/ROBOT.2010.5509816

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DOI： 10.1109/ROBOT.2010.5509372

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DOI： 10.1109/BWCCA.2010.163

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DOI： 10.1109/IROS.2009.5354563

Language：English  

Manipulation of 2D object with arbitrary shape by robot finger under rolling constraint
Contact of two contours of a pinched object and a robot finger tip, with arbitrary shape, is expressed in terms of differential geometry. The overall finger-object dynamics with rolling and contact constraints is derived as Euler-Lagrange&#039; equation of motion and the first differential equation with curvatures of the contours is derived for updating the length parameters. Despite the complicated mathematical structure, a control input signal is proposed, which can be constructed without using object geometrical information or external sensing, and it is shown that it is effective to stabilize rotation of the object. Consequently, numerical simulations are carried out in order to demonstrate the practicality of the proposed model and control signal. © 2009 SICE.

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2009.5354069

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DOI： 10.1109/IROS.2009.5354836

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DOI： 10.1109/IROS.2009.5354174

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DOI： 10.1109/TRO.2009.2013495

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DOI： 10.1155/2009/892801

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DOI： 10.1080/11762320902789848

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DOI： 10.1109/ROBOT.2009.5152414

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DOI： 10.3182/20090909-4-JP-2010.00066

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DOI： 10.1109/ROBOT.2009.5152196

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DOI： 10.9746/ve.sicetr1965.44.532

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DOI： 10.7210/jrsj.26.247

Language：Japanese   Publishing type：Research paper (scientific journal)  

The final goal of this research is to clarify and obtain the fundamental control strategy of human's pinching movements by using a redundant musculo-skeletal dual finger model. First, a mathematical model of a 3 D.O.F. musclo-skeletal dual finger in which each finger is actuated by six nonlinear redundant muscles is formulated. Next, the kinematics and dynamics considering geometrical constraints for the finger-object system are described, and a sensory-motor coordinated feedback control law is designed to realize stable pinching simultaneously with posture and position regulation. Then, some numerical simulations are performed and the results suggest that the co-contraction of the digitorum muscles makes it possible to realize human-like pinching movements. Also the convergence of the closed-loop dynamics is proved by using a concept of "Stability theory on a manifold."

DOI： 10.7210/jrsj.26.57

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2008.4650702

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DOI： 10.1109/ROBOT.2008.4543606

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DOI： 10.1109/ROBOT.2007.363950

Language：Japanese  

The ultimate goal of this research is to develop a robot that is able to perform physical tasks such as nursing care skillfully and safely in complex environment of our home and/or hospitals. In order to realize such a robot, the design criteria and approach should be different from that of traditional industrial robots. Specifically, considering the physical interactions between the robot and human subjects, the safety, ease and affinity are more important in addition to the robot's high power, speed and accuracy. Towards this objective, "RI-MAN" is developed in RIKEN BMC which demonstrated the high ability to carry up and hold a doll softly and safely. This paper first discusses the problems on the design of a human-interactive robot, and proposes original key technologies and system integration to solve the problems including the soft and whole body interaction. The details and basic performance of RI-MAN are then introduced together with some experimental results. The further research subjects are also pointed.

DOI： 10.7210/jrsj.25.554

Language：Japanese  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBOT.2007.363051

Language：Japanese   Publishing type：Research paper (scientific journal)  

This paper studies a sensory-motor control mechanism of human's reaching movements from the perspective of robotics aspect. By formulating the musculo-skeletal redundant system which takes into account a nonlinear muscle property obtained by some physiological understandings, we suggest that the human-like reaching movements can be realized by using only simple task-space feedback scheme together with the internal force effect which comes from mechanical property of muscles without any complex mathematical computation such as an inverse dynamics or some optimal trajectory derivation. Firstly, we introduce both kinematics and dynamics of a three-link serial manipulator with six single-joint muscles and three double-joint muscles model whose movements are confined within a horizontal plane. Secondly, the nonlinear muscle property, which comes from several physiological understandings based on Hill's muscle model, is taken into consideration and illustrated by some numerical simulations that the end-point of the manipulator can converge to the desired point smoothly using only simple task-space feedback scheme by considering the muscle property and internal forces induced by the redundancy of muscles, which makes it possible to modulate the damping factors in joint-space, even if the system owns both kinematic and dynamic redundancies. Then we discuss the effectiveness of our control scheme, and suggest it as one direction to study brain-motor control mechanism of human movements.

DOI： 10.5687/iscie.19.301

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2006.281931

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DOI： 10.1007/978-3-540-37347-6_11

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DOI： 10.1002/rob.20089

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DOI： 10.1002/rob.20089

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DOI： 10.1117/12.599503

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/IROS.2005.1545411

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBOT.2005.1570123

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (other academic)  

Language：English   Publishing type：Research paper (other academic)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/rob.10102

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S026357470200468X

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S026357470200468X

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/S1474-6670(17)33417-1

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/CIRA.2003.1222161

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1002/rob.10102

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/CIRA.2003.1222171

Language：English   Publishing type：Research paper (scientific journal)  

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S0263574700002939

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1017/S0263574700002939

Language：English   Publishing type：Research paper (other academic)  

Language：English   Publishing type：Research paper (other academic)  

DOI： 10.1109/ROBOT.2001.932536

Language：English   Book type：Scholarly book

Language：Others  

Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 2nd Ed.

Language：Others  

Human Inspired Dexterity in Robotic Manipulation, 1st Ed.

Language：Others  

Language：Japanese   Book type：Scholarly book

Language：Others  

Language：Others  

Language：Japanese   Book type：Scholarly book

Responsible for pages：総ページ数：vi, 193p   Language：Japanese  

Language：Others  

Language：Others  

Advances in Robot Control: From Everyday Physics to Human-Like Movements

Language：Others  

Human Friendly Mechatronics: Selected Papers of the International Conference on Machine Automation

Language：English   Book type：Scholarly book

Event date： 2023.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：仙台市   Country：Japan  

Event date： 2023.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋   Country：Japan  

Event date： 2023.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋   Country：Japan  

Event date： 2023.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋   Country：Japan  

Event date： 2023.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：名古屋   Country：Japan  

Event date： 2023.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：南紀白浜   Country：Japan  

Event date： 2023.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：南紀白浜   Country：Japan  

Event date： 2023.1

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：千葉   Country：Japan  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：千葉   Country：Japan  

Event date： 2022.10

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2022.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京   Country：Japan  

Event date： 2022.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.6

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2021.12

Language：Japanese  

Venue：鹿児島（オンライン）   Country：Japan  

Event date： 2021.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：長野（オンライン）   Country：Japan  

Event date： 2021.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：長野（オンライン）   Country：Japan  

Event date： 2021.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪（オンライン）   Country：Japan  

Event date： 2021.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪（オンライン）   Country：Japan  

Event date： 2021.6

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2020.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福岡（オンライン）   Country：Japan  

In order to realize effective mobility for robots that are expected to work around human’s living space, a bipedal robot that has hemispheric feet as one of the wheeled-leg robots has been developed. Up to now, the gait generation with wheels movement method on the sagittal plane, which does not consider the transition between wheel movement and walking movement, has already been proposed. On the other hand, the movement transition control is important in order for this kind of dual mobility robot to be useful in a real situation. In this paper, a control method for the transition between the wheel and the walking movement of the wheeled-leg mobile robot with hemispherical feet is proposed. The effectiveness of the proposed method is demonstrated through numerical simulation results using a 7-link dynamics model on the sagittal plane.

Event date： 2020.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福岡（オンライン）   Country：Japan  

Impedance control and admittance control are known as force control methods that use the relationship　between force and velocity. Up to now, we have proposed a force control method that combines the advantages　of impedance and admittance controllers. This study demonstrates the usefulness of the proposed method in the　case of a two-dimensional plane and the superiority of mechanical property design by stiffness ellipses.

Event date： 2020.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福岡（オンライン）   Country：Japan  

This paper proposes a method for controlling the position and orientation of a grasping object by a multi-fingered robotic hand without using external sensing information such as a visual camera and force sensor. In our previous study, a sensorless orientation control method for a grasped object has already been proposed so far. However, there remained considerable orientation error due to only the use of virtual object information which does not use any external sensing information. In this paper, the contact position with each fingertip and the grasped object using each fingertip orientation information and the virtual object frame is estimated. By using the estimated information, the control accuracy is improved. Its usefulness is demonstrated through numerical simulation results using a three multi-fingered robotic hand model.

Event date： 2020.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：金沢   Country：Japan  

Event date： 2020.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：金沢   Country：Japan  

Event date： 2020.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：金沢   Country：Japan  

A Twisted Polymeric Fiber Actuator (TPFA) has been attracting attention as a new actuator　that is silent, inexpensive, and can directly extract a rotational motion. Until now, we have proposed a　sensorless rotational angle controller using estimated temperature feedback in order to take advantage　of the low cost of TPFA. In order to construct a sensorless torque control method as an expansion of　the utility of the TPFA, the relationship between output torque and change in temperature is modeled　and the sensorless torque controller is designed. The proposed method is eventually verified through　experiments.

Event date： 2020.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：神戸市産業振興センター, 兵庫   Country：Japan  

Event date： 2020.5 - 2020.7

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2020.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：湯の川温泉, 函館   Country：Japan  

Event date： 2020.1

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：サンポート高松, 香川   Country：Japan  

Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：サンポート高松, 香川   Country：Japan  

Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：サンポート高松, 香川   Country：Japan  

Event date： 2017.11

Language：English  

Country：United Kingdom  

Event date： 2017.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：川越   Country：Japan  

Event date： 2017.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：川越   Country：Japan  

Event date： 2017.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：川越   Country：Japan  

Event date： 2017.7

Language：English   Presentation type：Oral presentation (general)  

Country：Germany  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福島   Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福島   Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福島   Country：Japan  

Event date： 2017.5

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福島   Country：Japan  

Event date： 2016.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2016.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2016.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2016.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2016.10

Language：English   Presentation type：Oral presentation (general)  

Country：Italy  

Event date： 2016.3

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2015.11

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2015.11

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2015.9 - 2015.10

Language：English   Presentation type：Oral presentation (general)  

Country：Germany  

Event date： 2014.7

Language：English   Presentation type：Oral presentation (general)  

Country：France  

Event date： 2014.5 - 2014.6

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2014.5 - 2014.6

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2012.10

Language：English   Presentation type：Oral presentation (general)  

Country：Portugal  

Event date： 2012.6

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2011.9

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2011.9

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2011.5

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2010.10

Language：English   Presentation type：Oral presentation (general)  

Country：Taiwan, Province of China  

Event date： 2010.10

Language：English   Presentation type：Oral presentation (general)  

Country：Taiwan, Province of China  

Event date： 2010.5

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2010.5

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2009.10

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2009.10

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2009.10

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2009.10

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2009.5

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2009.5

Language：English   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2009.5

Language：English   Presentation type：Oral presentation (general)  

Venue：Kobe   Country：Japan  

Event date： 2008.9

Language：English   Presentation type：Oral presentation (general)  

Country：France  

Event date： 2008.5

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2007.4

Language：English   Presentation type：Oral presentation (general)  

Country：Italy  

Event date： 2007.4

Language：English   Presentation type：Oral presentation (general)  

Country：Italy  

Event date： 2006.10

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2006.10

Language：English   Presentation type：Oral presentation (general)  

Country：China  

Event date： 2006.5

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2005.8

Language：English   Presentation type：Oral presentation (general)  

Country：Canada  

Event date： 2005.4

Language：English   Presentation type：Oral presentation (general)  

Country：Spain  

Event date： 2023.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：新潟市   Country：Japan  

Event date： 2023.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：新潟市   Country：Japan  

Event date： 2023.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：仙台市   Country：Japan  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：千葉   Country：Japan  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：千葉   Country：Japan  

Event date： 2022.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：千葉   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：札幌   Country：Japan  

Event date： 2022.4

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：鹿児島（オンライン）   Country：Japan  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：鹿児島（オンライン）   Country：Japan  

Event date： 2021.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：鹿児島（オンライン）   Country：Japan  

Event date： 2021.10

Language：Japanese   Presentation type：Oral presentation (general)  

Country：Japan  

Event date： 2021.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪（オンライン）   Country：Japan  

Event date： 2021.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪（オンライン）   Country：Japan  

Event date： 2020.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：福岡（オンライン）   Country：Japan  

Twisted (and coiled) polymer fiber (T(C)PF) is a class of heat-responsive polymer actuators reported by Haines et al. in 2014. The authors discovered the temperature dependent hysteresis of TCPFs; this kind of actuators has the property that the equilibrium point changes depending on the relationship between temperature and load. Due to this property, it is difficult to capture the behavior of a TCPF accurately when it is modeled as a mere viscoelastic material. In this study, for modeling TCPF considering hysteresis, we measured the tension creep response to the step displacement input at high temperature as well as at high temperature. We investigates that the viscoelasticity parameter changes depending on the temperature.

Event date： 2020.7

Language：English   Presentation type：Oral presentation (general)  

Country：United States  

Event date： 2020.4 - 2020.5

Language：English  

Country：United States  

Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：サンポート高松, 香川   Country：Japan  

Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：サンポート高松, 香川   Country：Japan  

Event date： 2019.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：サンポート高松, 香川   Country：Japan  

Event date： 2019.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：早稲田大学, 東京   Country：Japan  

Event date： 2019.8 - 2020.8

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：金沢   Country：Japan  

間の運動知能は未だロボットのそれと比較して圧倒的に洗練されており，その乖離はまだ大きい．その理由は数多く考えらえるが，その一つに制御構造が挙げられる．例えば視覚から得た情報を元にフィードバックを行い，自身の運動に反映させる場合，人の視覚フィードバックにおいては，鍛え上げられたアスリートでさえ150～200[ms]の時間的な遅れがあると言われている．ロボットのフィードバック制御において人と同様の運動を実現する事を目標とした場合，200[ms]の遅れは致命的であり，遅れがあるフィードバックのみで人と同様の運動を実現する事はほぼ不可能に近い．すなわち，感覚情報からのフィードバックの遅れを感じさせない運動生成能力は，フィードバックだけでなく，体性感覚や学習などによって獲得したフィードフォワード系が大きく寄与していると言われている．工学的に言い換えれば，時間遅れに対して非常に頑健な制御構造を有していると言える．これまで，フィードバックとフィードフォワードを組み合わせた制御構造は，運動生理学やロボティクスなどの分野でいくつか提案されているが，決定打はまだない．
本講演では，人間の特徴的な身体構造である筋骨格構造に注目し，講演者がこれまで行ってきた筋骨格構造特有の制御手法により，簡便な手法でありながらセンサ情報の遅れに対して頑健なフィードバックとフィードフォワードの組み合わせによる制御構造について紹介する．本手法では，動力学の逆モデルを必要としない筋内力フィードフォワードと，むだ時間を含む手先フィードバックを線形結合することで，センサ情報に遅れがある場合でもロバストに手先を目標値へ収束させることが可能となる．いくつかの数値シミュレーション結果を元に提案手法の有効性を示す．

Event date： 2019.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：広島   Country：Japan  

Event date： 2019.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：広島   Country：Japan  

Event date： 2019.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：広島   Country：Japan  

Event date： 2019.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：広島   Country：Japan  

Event date： 2019.6

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：広島   Country：Japan  

Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：宇奈月   Country：Japan  

Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：宇奈月   Country：Japan  

Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：宇奈月   Country：Japan  

Event date： 2019.3

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：宇奈月   Country：Japan  

Event date： 2019.3

Language：English  

Country：United States  

Event date： 2018.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪   Country：Japan  

Event date： 2018.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪   Country：Japan  

Event date： 2018.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪   Country：Japan  

Event date： 2018.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪   Country：Japan  

Event date： 2018.12

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪   Country：Japan  

Event date： 2018.9

Language：English  

Country：Japan  

Event date： 2018.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：春日井   Country：Japan  

Event date： 2018.9

Language：Japanese   Presentation type：Oral presentation (general)  

Venue：春日井   Country：Japan