2025/02/26 更新

お知らせ

 

写真a

ニシカワ サトシ
西川 鋭
NISHIKAWA SATOSHI
所属
工学研究院 機械工学部門 准教授
工学部 機械工学科(併任)
工学府 機械工学専攻(併任)
職名
准教授
連絡先
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外部リンク

研究分野

  • 情報通信 / 知能ロボティクス

  • 情報通信 / 機械力学、メカトロニクス

  • 情報通信 / ロボティクス、知能機械システム

  • ライフサイエンス / スポーツ科学

学位

  • 博士(情報理工学)

経歴

  • 九州大学 大学院工学研究院 准教授 

    2021年4月 - 現在

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  • 東京大学 大学院情報理工学系研究科知能機械情報学専攻 助教 

    2015年10月 - 現在

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  • 東京大学(特任助教、助教)   

研究テーマ・研究キーワード

  • 研究テーマ: 筋骨格ロボット

    研究キーワード: 筋骨格ロボット

    研究期間: 2024年

  • 研究テーマ: 生物規範型ロボット

    研究キーワード: 生物規範型ロボット

    研究期間: 2024年

  • 研究テーマ: ソフトロボット

    研究キーワード: ソフトロボット

    研究期間: 2024年

  • 研究テーマ: スポーツロボット

    研究キーワード: スポーツロボット

    研究期間: 2024年

  • 研究テーマ: スポーツロボット、筋骨格ロボット、ソフトロボット

    研究キーワード: スポーツ、生物規範、空気圧駆動

    研究期間: 2021年4月

受賞

  • 分野融合研究優秀表彰

    2024年5月   日本機械学会 ロボティクス・メカトロニクス部門   吸着機構を備えた空気圧駆動の人型ロボットによるバドミントンの踏み出し動作の実現

    吉田龍史, 木口量夫, 西川鋭

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  • 第31回研究奨励賞

    2016年9月   日本ロボット学会   ポール局所曲げ動作により跳躍方向を調節する双腕棒高跳びロボット

論文

  • Wearable Device to Inhibit Wrist Dorsiflexion for Improving Movement Form in Table Tennis Backhand 査読 国際誌

    Shirota K., Kashiwagi A., Kiguchi K., Nishikawa S.

    2024 IEEE/SICE International Symposium on System Integration, SII 2024   429 - 434   2024年1月   ISBN:9798350312072

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:2024 IEEE/SICE International Symposium on System Integration, SII 2024  

    Proper movement form is crucial in sports. However, novices often struggle to achieve it without proper guidance. While current engineering research has introduced devices to facilitate necessary movements, our research explores the potential of a device that eliminates unnecessary movement. We developed a wearable device to restrict wrist dorsiflexion during table tennis backhand motion. In this study, experiments were conducted to investigate the effect of the device and compare the teaching of movements by the device with verbal instruction. Novice table tennis players were divided into three groups for our experiments: the experimental group used the device, the oral group received verbal instructions to minimize wrist movement, and the control group received neither the device nor verbal guidance. Each group consisted of four participants. Comparative analysis among the groups revealed that three out of four participants in the experimental group tended to suppress their wrist motion and utilize their elbows while using the device. Furthermore, upon removing the device, these three participants also tended to suppress wrist motion and utilize their elbows, indicating enhanced movement form. In contrast, the oral group demonstrated suppressed wrist movement during instruction, yet tended to underutilize elbow movement. Based on these findings, it can be concluded that the use of our device contributed to a proper movement form.

    DOI: 10.1109/SII58957.2024.10417593

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    リポジトリ公開URL: https://hdl.handle.net/2324/7178571

  • 軽量なアシストスーツを用いた卓球のバックスイング補助による練習効果の検証

    川原 駿, 代田 和輝, 木口 量夫, 西川 鋭

    ロボティクス・メカトロニクス講演会講演概要集   2024 ( 0 )   2P1-J04   2024年   eISSN:24243124

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    記述言語:日本語   出版者・発行元:一般社団法人 日本機械学会  

    <p>In this research, we developed an assistive suit for table tennis beginners to assist their backswing motion with pneumatic artificial muscles. We designed this suit to assist with hip flexion and external rotation during backswing movements. To validate the effect of this device on the practice of table tennis beginners, we selected 6 participants of close ability from 10 participants and conducted a 3-day evaluation experiment with 3 participants in experimental group and 3 participants in control group. From the results of the experiment, we verified the effectiveness of the device in correcting movement form and reducing the number of processing tasks during exercise movements. As a result, continuous practice with the assistive suit showed a stable improvement effect with respect to hip flexion compared to the control group. However, a trade-off relationship was observed between racket speed, a physical ability, and ball return rate, a cognitive ability, in both the experimental and control groups, and no task reduction effect could be confirmed.</p>

    DOI: 10.1299/jsmermd.2024.2p1-j04

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  • 空気圧人型ロボットの俊敏性向上のための足裏吸着による姿勢固定時の事前駆動力付加の活用

    瀬戸口 泰征, 吉田 龍史, 木口 量夫, 西川 鋭

    ロボティクス・メカトロニクス講演会講演概要集   2024 ( 0 )   1A1-D08   2024年   eISSN:24243124

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    記述言語:日本語   出版者・発行元:一般社団法人 日本機械学会  

    <p>When practicing an opponent sport such as badminton, using a humanoid robot as a training partner requires the robot to be agile. To improve agility, we have used a robot operated by lightweight pneumatic actuators and equipped with suction cups to improve tipping stability. One of the challenges in quick motion of the robot is the delay in pressure response when the pneumatic actuators operate. In this study, we propose a method to apply driving force to the joints of the robot in advance, while maintaining the posture of the robot using the adsorption mechanism. As a result, the effect of the delay in pressure response was reduced and the robot achieved an increase in speed due to improved stepping out movement.</p>

    DOI: 10.1299/jsmermd.2024.1a1-d08

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  • クラゲ型ソフトロボットにおける駆動可能なフラップの提案

    山内 優太, 木口 量夫, 西川 鋭

    ロボティクス・メカトロニクス講演会講演概要集   2024 ( 0 )   2P1-H06   2024年   eISSN:24243124

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    記述言語:日本語   出版者・発行元:一般社団法人 日本機械学会  

    <p>In recent years, ocean research has become increasingly important, and many underwater robots have been developed. In this study, we focus on jellyfish swimming because of its high mobility efficiency and developed a jellyfish-like soft robot that can operate underwater. Jellyfish's flexible bell margin is critical for its efficient swimming. Thus, the purpose of this study was to attach an actively drivable flap to the tip of the robot and assess the effect of the flap. As a result, we confirmed that the robot was benefiting from PER. We also obtained data suggesting that driving the flap enhanced the passive energy recapture (PER). However, there was also data indicating that the flap was inhibiting the propulsive force at the latter phase of the cycle.</p>

    DOI: 10.1299/jsmermd.2024.2p1-h06

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  • Stabilization of Walking Motion with Light Touch Using a Mobile Robot

    Kiguchi K., Nawama R., Tokunaga D., Nishikawa S.

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics   4568 - 4573   2024年   ISSN:1062922X ISBN:9781665410205

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    出版者・発行元:Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics  

    Stabilizing walking motion is important to avoid unexpected falling for physically weak persons such as elderly. It is known that light touch makes human posture stable. This paper presents the way to realize the effect of light touch to make human walking stable using an omnidirectional mobile robot. The mobile robot has been developed to keep light touch contact to the lower back of the user during walking. In this study, the proper amount of light touch force for lower back and its contact location are investigated at first. Then it is realized by the mobile robot while the user is walking. The effectiveness of the proposed robotic light touch method was evaluated by performing the experiment.

    DOI: 10.1109/SMC54092.2024.10831971

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  • Real-time Classification of Diverse Reaching Motions Using RMS and Discrete Wavelet Transform Energy Values from EMG Signals for Human Assistive Robots

    Hou Y., Nishikawa S., Kiguchi K.

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2024年   ISSN:1557170X ISBN:9798350371499

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    出版者・発行元:Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS  

    With advancing technology, human assistive robots have been developed to enhance daily efficiency for users. Focusing on the reaching motions of the upper limb, this study aims to propose a motion classification method based on electromyographic (EMG) signals that can accurately and promptly differentiate among three distinct types of reaching motion - regular reaching, extended reaching, and weighted reaching - regardless of the motion direction. In the proposed method, the EMG signals of upper limb and torso muscles relevant to these reaching motions are used to identify pivotal features capable of clearly classifying these different reaching motions. A Gated Recurrent Unit (GRU) network is employed to train the model and infer user intentions based on the signal features. The results confirmed the efficiency in motion classification, which laid the foundation for the future application of human assist robots, enabling them to provide users with timely and precise responses.

    DOI: 10.1109/EMBC53108.2024.10782746

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  • Pneumatic Humanoid Robot with Adsorption Mechanisms on the Sole to Realize a Stepping Motion in Badminton 査読 国際誌

    Yoshida, R; Kiguchi, K; Nishikawa, S

    2023 IEEE-RAS 22ND INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, HUMANOIDS   1 - 6   2023年12月   ISSN:2164-0572 ISBN:979-8-3503-0327-8 eISSN:2164-0580

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE-RAS International Conference on Humanoid Robots  

    Using robots as badminton training partners, the robots preferred to be humanoid in shape. However, existing humanoid robots lack the tipping stability required to perform badminton footwork. In this research, to improve the tipping stability of humanoid robots, we proposed to install adsorption mechanisms on the sole. The robot with three degrees of freedom (DOFs) on one leg was developed as a preliminary step for the evaluation of the mechanisms. First, the basic characteristics of the adsorption mechanisms were evaluated. The evaluation showed that the tipping stability of the robot was improved. In addition, three motions were performed with the developed robot: maintaining a standing posture, stepping forward, and stepping backward. These motions were realized by using a combination of feedforward control and proportional-integral-differential (PID) control. In the forward stepping motion, the robot achieved a quick approach speed of 1.56 m/s. Also, the estimation of the zero moment point (ZMP) during the motion showed that the robot could be prevented from tipping by the adsorption mechanisms.

    DOI: 10.1109/Humanoids57100.2023.10375201

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    その他リンク: https://dblp.uni-trier.de/db/conf/humanoids/humanoids2023.html#YoshidaKN23

    リポジトリ公開URL: https://hdl.handle.net/2324/7178574

  • Generation of Hand Reaching Motion Illusion Using Vibration Stimulation

    Abe M., Nishikawa S., Kiguchi K.

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics   1641 - 1646   2023年10月   ISSN:1062-922X ISBN:9798350337020

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)   出版者・発行元:Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics  

    Artificial motion sensation can be used for virtual reality, rehabilitation, etc. It is known that joint motion illusion is induced by giving certain vibration stimulation on human muscles even though the joint is not actually moved. In this paper, a method to generate motion illusion of arbitrary hand reaching motion, which is one of the most important daily living movements, by giving multiple vibration stimulations on shoulder and elbow muscles is proposed. In order to generate hand reaching motion illusion, frequency of vibration stimulation is controlled on each muscle at the same time considering the spatial hand movement in the proposed method. The experimental of generating hand reaching motion illusion is carried out to evaluate the effectiveness of the proposed method.

    DOI: 10.1109/SMC53992.2023.10394114

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    その他リンク: https://dblp.uni-trier.de/db/conf/smc/smc2023.html#AbeNK23

  • Pneumatic Assist Suit to Facilitate Lower-Body Twisting for the Training of Forehand in Table Tennis 査読 国際誌

    Kashiwagi A., Kiguchi K., Nishikawa S.

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics   1090 - 1095   2023年10月   ISSN:1062-922X ISBN:9798350337020

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics  

    Engineering support for sports has the potential to improve training performance. Most research on sports training support has focused on support in areas that directly affect the point of force action. On the other hand, even if sports with hand-held tools, the importance of lower body motor function has been indicated. This suggests that supporting areas away from the point of force action can improve the performance of novice players. Therefore, in this study, we developed an assist suit that facilitates lower body twisting for table tennis beginners during forehand swing. U sing this assistive suit, experiments were conducted for the experimental group under the following four conditions (1) 'No wear (before),' (2) 'Without assist,' (3) 'With assist,' and (4) 'No wear (after)' to clarify the effect of wearing, assist, and training. In addition, a control group in which participants hit the ball without the assist suit was set up to examine the training effect of repetition. The results showed that both the amount of waist rotation and racket velocity increased significantly in the experimental group compared to the control group, which indicates the effect of the assist suit on training.

    DOI: 10.1109/SMC53992.2023.10393870

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    その他リンク: https://dblp.uni-trier.de/db/conf/smc/smc2023.html#KashiwagiKN23

    リポジトリ公開URL: https://hdl.handle.net/2324/7178580

  • Estimating Deficient Muscle Activity Using LSTM With Integrated Damping Neurons for EMG-Based Control of Robotic Prosthetic Fingers

    Tokunaga, D; Nishikawa, S; Kiguchi, K

    IEEE ACCESS   11   97408 - 97415   2023年9月   ISSN:2169-3536 eISSN:2169-3536

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    記述言語:その他   掲載種別:研究論文(学術雑誌)   出版者・発行元:IEEE Access  

    Robotic prosthetic hands can help perform the intended sophisticated movements of the upper limb, which can assist amputees to perform their daily activities. Although a robotic prosthetic hand can be controlled in real-time using the user's electromyography (EMG), which directly reflects the user's motion intention, some important EMG signals are usually lost owing to muscle deficiency. This study proposes a muscle activity estimator that is inspired by the muscle synergy across subjects to estimate the activity of the missing muscles in amputees in real-time. The proposed estimator learns muscle synergy from the EMG balance, finger joint angles, and the grasping force of healthy persons. The proposed estimator is developed as an artificial neural network (ANN) with a novel cell structure that combines long-short-term memory and damping neurons to analyze muscle dynamics. Furthermore, to improve the accuracy of learning muscle synergy, the muscles to be input to the estimator are selected by focusing on the enslavement of muscles and anatomical relationships. The effectiveness of the proposed estimator is evaluated by experiments. The results showed that the proposed estimator can contribute well to the realization of the intended sophisticated motions of the user.

    DOI: 10.1109/ACCESS.2023.3312575

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  • A study on a method for detecting a sense of assist mismatch using EEG during ankle joint movement

    Kiguchi, K; Yokomizo, Y; Nishikawa, S

    2023 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION, SII   1 - 6   2023年1月   ISSN:2474-2317 ISBN:979-8-3503-9868-7

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)   出版者・発行元:2023 IEEE/SICE International Symposium on System Integration, SII 2023  

    In recent years, research and development of human assist robots have been actively carried out in order to support the independent lives of persons with impaired motor function. Although assisting the user's activity according to the user's motion intention is important for the human assist robots, it is difficult to objectively determine in real time whether the assisted motion by the robot is exactly same as the intended motion by the user. In this paper, a method to objectively detect a user's sense of assist mismatch using EEG signals is investigated. Experiments were conducted to analyze the user's brain activities during the ankle joint movement with the assist of intended and unintended motion. The experimental results show that there are differences in the theta wave activities around the central area of the head and alpha wave activities around the central sulcus when assist mismatch occurs. These results suggest that a user's sense of mismatch can be detected with the proposed method.

    DOI: 10.1109/SII55687.2023.10039324

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    その他リンク: https://dblp.uni-trier.de/db/conf/sii/sii2023.html#KiguchiYN23

  • A study on the generation of kinesthetic illusion, tonic vibration reflex, and antagonist vibratory response in the shoulder joint extension direction by vibration stimulation to the origin and insertion in the biceps brachii muscle

    Teranishi, T; Nishikawa, S; Kiguchi, K

    2023 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION, SII   1 - 6   2023年1月   ISSN:2474-2317 ISBN:979-8-3503-9868-7

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)   出版者・発行元:2023 IEEE/SICE International Symposium on System Integration, SII 2023  

    It is known that vibratory stimulation of muscle tendons induces kinesthetic illusions, tonic vibration reflex (TVR) and antagonist vibratory response (AVR). In order to utilize kinesthetic illusion, TVR, and AVR in a wide range of fields, it is necessary to investigate the characteristics of the three phenomena in various joints. In particular, the shoulder joint plays an important role in upper limb motion, and vibration stimulation characteristics in the shoulder joint extension direction have not yet been quantitatively evaluated. In this study, by applying vibration stimulation to the tendon of origin in biceps brachii long head and tendon of insertion in biceps brachii muscle, a multi-articular muscle, the amount of kinesthetic illusion, TVR and AVR in the shoulder joint extension direction are compared in each frequency. The experimental results shows that the kinesthetic illusion is generated not only in the tendon of origin but also in the tendon of insertion by the vibration stimulus. Also, the stimulation to the tendon of origin induces TVR at 100-120 Hz, but the vibration stimulation to the tendon of insertion does not at any used frequency range. Finally, it was found that vibratory stimulation to the tendon of insertion produced more AVR than vibratory stimulation to the tendon of origin. The results of this study provide the necessary knowledge to control artificial sensation and motion compensation in the shoulder joint extension direction.

    DOI: 10.1109/SII55687.2023.10039145

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    その他リンク: https://dblp.uni-trier.de/db/conf/sii/sii2023.html#TeranishiNK23

  • 上腕二頭筋起始部への振動刺激による肩関節伸展動作変化における前腕回内・回外および刺激振動振幅変化の影響に関する研究

    寺西 泰貴, 西川 鋭, 木口 量夫

    バイオメカニズム学術講演会予稿集   43回   [A7 - 3]   2022年11月

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    記述言語:日本語   出版者・発行元:バイオメカニズム学会  

  • Active pole bending effect in pole support phase 国際誌

    Fukushima, T; Nishikawa, S; Kuniyoshi, Y

    SPORTS BIOMECHANICS   1 - 17   2022年10月   ISSN:1476-3141 eISSN:1752-6116

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Sports Biomechanics  

    In pole vaulting, model analysis is one of the key methods to increase vaulting height. To date, the effects of athletes' motions during 'pole support phase' have been measured and modelled to improve and set new world records. The motions were extracted based on the context of pole bending interaction and parameters to improve vaulting height were investigated. However, due to experimental, mechanical, and sensing restrictions, ranges and interactions of the parameters were poorly addressed. To investigate further, a parameter space must be globally explored. Here, we show parameter sensitivities and interactive effects between initial velocity, pole length, bending amplitude and switching time. From the simulation studies, we found that active pole bending enabled successful pole vaulting with lower initial velocity and longer poles. Vaulting height had a local maximum point at a specific initial velocity and positive bending could control conditions to deliver the local maximum height. Positive bending controls the rising-up speed of the pole and contributes to the verticalisation of the vaulting angle. Negative bending increases the vaulting speed and contributes to the robustness of the vaulting angle. Our results demonstrate how these parameters affect the vaulting performances and suggest how athletes should activate their bodies.

    DOI: 10.1080/14763141.2022.2129087

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  • Training with a Pneumatic Assist Suit to Generate Lower-Body Twisting during the Forehand Swing in Table Tennis 査読 国際誌

    Kashiwagi A., Nakamura H., Nishikawa S., Kiguchi K.

    International Conference on Sport Sciences Research and Technology Support, icSPORTS - Proceedings   2022-October   61 - 67   2022年10月   ISSN:2184-3201 ISBN:9789897586101

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:International Conference on Sport Sciences Research and Technology Support, icSPORTS - Proceedings  

    Movement form is important in sports. However, self-learning of the form has a possibility that people will acquire a form which puts a burden on one part of the body or a form which cannot exert sufficient power. Although there is also a way to have an instructor, people do not always receive the instruction of the form. Therefore, it is useful for sports training to develop a device which allows participants to acquire a form suited for each sport. Existing research about support in sports with a racket does not pay much attention to the lower body. In this research, we developed an assist suit that assists the lower body in executing a forehand swing in table tennis with lower-body twisting. Using this suit for beginners of table tennis, we conducted experiments under four conditions:(1) "No wear (before)", (2) "Without assist", (3) "With assist", and (4) "No wear (after)". As a result of Tukey analysis within each participant, the range of movement of the lower body is statistically increased by the assist suit and there are individual differences in whether to acquire a swing with twisting the lower body.

    DOI: 10.5220/0011557000003321

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    その他リンク: https://dblp.uni-trier.de/db/conf/icsports/icsports2022.html#KashiwagiNNK22

    リポジトリ公開URL: https://hdl.handle.net/2324/7178577

  • Generation of Two-Dimensional Kinesthetic Illusion in Ankle Joint with Vibration Stimulation

    Yamasaki T., Nishikawa S., Kiguchi K.

    World Automation Congress Proceedings   2022-October   324 - 329   2022年10月   ISSN:2154-4824 ISBN:9798888314449 eISSN:2154-4832

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)   出版者・発行元:World Automation Congress Proceedings  

    The artificial sensation of walking can be applied to enhancing the self-efficacy and self-agency of persons whose motions are assisted by human assist-robots. When mechanical vibratory stimulation is applied to muscle tendons, a phenomenon called "Kinesthetic Illusion (KI)"is induced. The stimulated muscle feels as if it is being extended, even though it is not moving when KI is induced. If this phenomenon can be generated and controlled at the ankle joint, an artificial gait sensation can be generated. It is known that a variety of muscles such as Gastrocnemius (GA), Tibialis Anterior (TA), Peroneus Longus (PL), and Tibialis Posterior (TP) act on gait. Therefore, it would be possible to enhance gait sensation and generate two-dimensional gait sensations, such as in the sagittal and anterior forehead planes if KI is generated for those muscles. This paper investigates a basic study of KI characteristics in the two-dimensional direction at GA, TA, PL, and TP. The experiment results revealed the possibility of KI generation in the two-dimensional direction. Moreover, it is found that vibration stimulation at 30Hz-40Hz is adequate for generating KI in all muscles. The results of this study demonstrate the possibility of generating a two-dimensional gait sensation.

    DOI: 10.23919/WAC55640.2022.9934478

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    その他リンク: https://dblp.uni-trier.de/db/conf/wac2/wac2022.html#YamasakiNK22

  • Estimation of human intended motion and its phase for human-assist systems

    Hayashida K., Nishikawa S., Kiguchi K.

    Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics   2022-October   1531 - 1536   2022年10月   ISSN:1062-922X ISBN:9781665452588

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)   出版者・発行元:Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics  

    Human-assist robots are designed to reduce the burden on the body when lifting objects and assist the elderly, disabled, and other people with muscle weakness in their daily activities. They also avoid accidents and assist motions by recognizing what kind of motion the user is about to make. Therefore, human-assist systems need to estimate the motion intention of a user in real time. The sooner the assist robot can accurately recognize the user's motion, the sooner the assist robot can plan which motion to assist and how to assist it to guarantee success. If the user's intended motion and its phase are estimated in the early stage of the motion, the assist robot can Figure out how the user is moving by comparing with standard motion models to assist the motion as necessary. This paper proposes a method to estimate the user's intended motion and its phase simultaneously in real time based on integrated information consisting of the user's posture, motion, EMG signals, and the surrounding environment. Two kinds of artificial neural networks are applied in the proposed method. Damping neurons are used in the artificial neural network to estimate the motion phase effectively. The intended lower-limb motions and their phases in daily living motion are estimated in real-time. The effectiveness of the proposed method was evaluated by performing experiments of lower-limb motion.

    DOI: 10.1109/SMC53654.2022.9945330

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  • Adjustable Lever Mechanism with Double Parallel Link Platforms for Robotic Limbs 査読 国際誌

    Nishikawa, S; Tokunaga, D; Kiguchi, K

    2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2022-October   1950 - 1956   2022年10月   ISSN:2153-0858 ISBN:978-1-6654-7927-1 eISSN:2153-0866

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE International Conference on Intelligent Robots and Systems  

    For universal robotic limbs, having a large workspace with high stiffness and adjustable output properties is important to adapt to various situations. A combination of parallel mechanisms that can change output characteristics is promising to meet these demands. As such, we propose a lever mechanism with double parallel link platforms. This mechanism is composed of a lever mechanism with the effort point and the pivot point; each is supported by a parallel link mechanism. First, we calculated the differential kinematics of this mechanism. Next, we investigated the workspace of the mechanism. The proposed mechanism can reach nearer positions than the posture with the most shrinking actuators thanks to the three-dimensional movable effort point. Then, we confirmed that this mechanism could change the output force profile at the end-effector by changing the lever ratio. The main change is the directional change of the maximum output force. The change range is larger when the squatting depth is larger. The changing tendency of the shape of the maximum output force profile by the position of the pivot plate depends on the force balance of the actuators. These analytical results show the potential of the proposed mechanism and would aid in the design of this mechanism for robotic limbs.

    DOI: 10.1109/IROS47612.2022.9981521

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    リポジトリ公開URL: https://hdl.handle.net/2324/7178581

  • Motor power distribution mechanism for simultaneous independent control of multiple cable tensions for humanoid robot hand 査読

    Daigo Tokunaga, Satoshi Nishikawa, Kazuo Kiguchi

    JSME-IIP/ASME-ISPS Joint International Conference on Micromechatronics for Information and Precision Equipment (MIPE)   A1-2-01   2022年8月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Motor power distribution mechanism for simultaneous independent control of multiple cable tensions for humanoid robot hand

  • A Study on Artificial Kinesthesia Generation by Simultaneous Stimulation of Mechanical Vibration and Mechanical Skin Stretch 国際誌

    Maemura, K; Nishikawa, S; Kiguchi, K

    2022 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR)   2022-July   1 - 6   2022年7月   ISSN:1945-7898 ISBN:978-1-6654-8829-7 eISSN:1945-7901

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE International Conference on Rehabilitation Robotics  

    Artificially controlled kinesthesia can be applied to many situations because kinesthesia is essential to recognizing body movements. It could be used to generate artificial kinesthesia in rehabilitation or daily motion assist to improve self-efficacy of the robot user. Moreover, the controlled artificial kinesthesia could make people feel as if they are performing the actions of the robotic limbs with their own limbs. Mechanical vibration stimulation is one of the candidates to artificially control kinesthesia. It is known that mechanical vibration stimulation on human muscles or tendons from skin surface evokes an illusion of movement as if the stimulated muscles are extended. That effect of artificial kinesthesia is called Kinesthetic Illusion (KI). In this paper, a method to increase the amount of KI without changing the frequency of the vibration stimulation is investigated by applying mechanical skin stretch stimulation at the same time with the mechanical vibration stimulation. The experiment was conducted by generating KI for flexion motion of the elbow joint on a horizontal plane to evaluate the proposed approach. In the experiments, three out of five subjects showed obvious increase in the amount of KI when skin stretch stimulation was applied at the same time with the mechanical vibration stimulation. The results of this study provide a first step toward artificial kinesthesia control using a wearable robotic device using the mechanical vibration stimulation.

    DOI: 10.1109/ICORR55369.2022.9896609

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    その他リンク: https://dblp.uni-trier.de/db/conf/icorr/icorr2022.html#MaemuraNK22

  • 卓球のフォアハンドスイングの際の下半身の捻り運動を補助する空気圧アシストスーツの開発

    柏木 昭彦, 中村 隼, 西川 鋭, 木口 量夫

    ロボティクス・メカトロニクス講演会講演概要集   2022 ( 0 )   1A1-Q07   2022年   ISSN:2424-3124 eISSN:24243124

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    記述言語:日本語   出版者・発行元:一般社団法人 日本機械学会  

    <p>Typical sports support methods have a possibility that people will acquire a form which puts a burden on one part of the body or a form which cannot exert sufficient power and a problem that an instructor who gives guidance is essential. Therefore, it is necessary to develop a device which allow one person to acquire a form which could exert sufficient power. In this research, we developed an assist suit that assists the lower body during a forehand swing of table tennis for acquiring a forehand swing with twist of the lower body. And we conducted experiments using this suit for beginners of table tennis. As a result, the range of movement of the lower body increased by the assist suit and there are individual differences in whether to acquire a swing with twisting the lower body.</p>

    DOI: 10.1299/jsmermd.2022.1a1-q07

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  • Real-time Estimation of Human Reaching Motion for Human Assist Robots

    Yue Hou, Satoshi Nishikawa, Kazuo Kiguchi

    32nd 2021 International Symposium on Micro-NanoMechatronics and Human Science (From Micro & Nano Scale Systems to Robotics & Mechatronics Systems) (MHS2021)   2021年12月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

  • Control of ankle joint motion change induced by vibration stimulation on the Gastrocnemius muscle during continuous joint motion 査読

    Danwen Li, Satoshi Nishikawa, Kazuo Kiguchi

    International Conference on Control, Automation and Systems   2021-October   1766 - 1771   2021年10月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    It has been shown that changes in movement caused by reflex phenomena and kinesthetic illusion can be induced by giving vibratory stimulation on specific muscles during limb movements. By using this phenomenon, there is a possibility that the lower-limb perception-assist, in which inappropriate motion is automatically modified, is realized. In this study, change of ankle joint motion by giving the vibration stimulation on the gastrocnemius muscle in the lower-limb is studied by performing the experiment of adding vibration stimulation to the gastrocnemius muscle during the movement of ankle joint dorsiflexion and plantar flexion under several frequency ranges. The results indicate that the amount of motion change varies depending on the frequency of the vibration stimulation. Based on the characteristics of motion change with respect to vibration stimulation, a method to control the change of the user's ankle joint dorsiflexion motion by adjusting the frequency of the vibration stimulation to achieve the target motion, which is different from the user's intended motion, is evaluated. It is confirmed that there is a possibility that the vibration stimulation can be applicable to modify the human ankle joint motion for the perception-assist using frequency change.

    DOI: 10.23919/ICCAS52745.2021.9649798

  • Wireless Powered Dielectric Elastomer Actuator

    Lai Chen, Takuya Sasatani, Keung Or, Satoshi Nishikawa, Yoshihiro Kawahara, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE Robotics and Automation Letters   6 ( 4 )   7278 - 7284   2021年10月

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    記述言語:その他   掲載種別:研究論文(学術雑誌)  

    The need for cable connection with soft robotic systems suppresses the benefits granted by their softness and flexibility. Such systems can be untethered by equipping batteries or by relying on non-electrical actuation mechanisms. However, these approaches cannot simultaneously support long-term and intelligent operations. This research examines a proposed wireless soft actuator based on wireless power transfer (WPT) and dielectric elastomer actuator (DEA) technology, thereby realizing soft robots more diversified application and long-term locomotion. A compact conical DEA fabrication process is presented with 6~mm periodic linear output and design of a lightweight WPT receiver that weighs only 13 g integrated with a driver circuit. Evaluation results show that this system remotely powers the DEA and the intelligent peripheral circuits for system control. Furthermore, our design bridges the WPT system seamlessly. It is power-efficient in low-voltage output conditions. The DEA, which requires high-voltage input (kV) for deformation, leverages high-voltage boost-converters. Experimentally obtained results demonstrate untethered DEA operation at 170 mm from the transmitter. Also, an untethered DEA application to a pump is assessed.

    DOI: 10.1109/LRA.2021.3097271

  • Competitive physical interaction by reinforcement learning agents using intention estimation

    Hiroki Noda, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021   649 - 656   2021年8月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    The physical human-robot interaction (pHRI) research field is expected to contribute to competitive and cooperative human-robot tasks that involve force interactions. However, compared with human-human interactions, current pHRI approaches lack tactical considerations. Current approaches do not estimate intentions from human behavior and do not select policies that are appropriate for the opponent's changing policy. For this reason, we propose a reinforcement learning model that estimates the opponent's changing policy using time-series observations and expresses the agent's policy in a common latent space, referring to descriptions of tactics in open-skill sports. We verify the performance of the reinforcement learning agent using two novel physical and competitive environments, push-hand game and air-hockey. From this, we confirm that the latent space works properly for policy information because each latent variable that represents the machine agent's own policy and that of the opponent affects the behavior of the agent. Two latent variables can clearly express how the agent estimates the opponent's policy and decides its own policy.

    DOI: 10.1109/RO-MAN50785.2021.9515411

  • Physical reservoir computing in a soft swimming robot 査読

    Yuta Horii, Katsuma Inoue, Satoshi Nishikawa, Kohei Nakajima, Ryuma Niiyama, Yasuo Kuniyoshi

    The 2021 Conference on Artificial Life   2021年7月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    DOI: 10.1162/isal_a_00426

  • New Approach to Estimating Mental Health Score Using a Communication Agent 査読

    Satoshi Nakagawa, Shogo Yonekura, Hoshinori Kanazawa, Satoshi Nishikawa, Yasuo Kuniyoshi

    Advances in Intelligent Systems and Computing   1357   239 - 247   2021年7月

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    記述言語:英語  

    DOI: 10.1007/978-3-030-73113-7_24

  • ThermoCaress: A Wearable Haptic Device with Illusory Moving Thermal Stimulation.

    Yuhu Liu, Satoshi Nishikawa, Young Ah Seong, Ryuma Niiyama, Yasuo Kuniyoshi

    Conference on Human Factors in Computing Systems - Proceedings   214 - 12   2021年5月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    We propose ThermoCaress, a haptic device to create a stroking sensation on the forearm using pressure force and present thermal feedback simultaneously. In our method, based on the phenomenon of thermal referral, by overlapping a stroke of pressure force, users feel as if the thermal stimulation moves although the position of temperature source is static. We designed the device to be compact and soft, using microblowers and infatable pouches for presenting pressure force and water for presenting thermal feedback. Our user study showed that the device succeeded in generating thermal referrals and creating a moving thermal illusion. The results also suggested that cold temperature enhance the pleasantness of stroking. Our fndings contribute to expanding the potential of thermal haptic devices.

    DOI: 10.1145/3411764.3445777

  • Immediate generation of jump-and-hit motions by a pneumatic humanoid robot using a lookup table of learned dynamics

    Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE Robotics and Automation Letters   2021年4月

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    記述言語:その他   掲載種別:研究論文(学術雑誌)  

    This paper focuses on the jump-and-hit motion of a humanoid robot, wherein a robot instantaneously jumps forward and hits a flying ball in the air, similar to how human players behave in volleyball games. We propose a novel immediate motion generation method that uses a lookup table of learned dynamics (IMoLo) for generating the motions of a pneumatic humanoid robot. To test this method, we developed a humanoid robot called &#x2018;`Liberobot&#x2019;' with eight joints applying structure-integrated pneumatic cable cylinders. Using simulations, the prediction errors of the robot hand positions during the jump-and-hit motions measured via nonlinear interpolation when using IMoLo was smaller than without it in cases having a small number of training trials. In the experiments, the robot jumped and hit the flying ball 16~times out of 20~trials using the proposed motion generation method. The results indicate that a pneumatic humanoid robot using IMoLo can instantaneously perform dynamic whole-body motions, such as jump-and-hit motions, with a changing target within a specified time. Our humanoid robot is the first pneumatic humanoid robot capable of executing such dynamic motions.

    DOI: 10.1109/LRA.2021.3076959

  • Model-free reinforcement learning with ensemble for a soft continuum robot arm

    Ryota Morimoto, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021   141 - 148   2021年4月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    Soft robots have more passive degrees of freedom (DoFs) than rigid-body robots, which makes controller design difficult. Model-free reinforcement learning (RL) is a promising tool to resolve control problems in soft robotics alongside detailed and elaborate modeling. However, the adaptation of RL to soft robots requires consideration of the unique nature of soft bodies. In this work, a continuum robot arm is used as an example of a soft robot, and we propose an Ensembled Light-weight model-Free reinforcement learning Network (ELFNet), which is an RL framework with a computationally light ensemble. We demonstrated that the proposed system could learn control policies for a continuum robot arm to reach target positions using its tip not only in simulations but also in the real world. We used a pneumatically controlled continuum robot arm that operates with nine flexible rubber artificial muscles. Each artificial muscle can be controlled independently by pressure control valves, demonstrating that the policy can be learned using a real robot alone. We found that our method is more suitable for compliant robots than other RL methods because the sample efficiency is better than that of the other methods, and there is a significant difference in the performance when the number of passive DoFs is large. This study is expected to lead to the development of model-free RL in future soft robot control.

    DOI: 10.1109/RoboSoft51838.2021.9479340

  • Estimation of Mental Health Quality of Life using Visual Information during Interaction with a Communication Agent

    Satoshi Nakagawa, Shogo Yonekura, Hoshinori Kanazawa, Satoshi Nishikawa, Yasuo Kuniyoshi

    29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020   1321 - 1327   2020年8月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    It is essential for a monitoring system or a communication robot that interacts with an elderly person to accurately understand the user's state and generate actions based on their condition. To ensure elderly welfare, quality of life (QOL) is a useful indicator for determining human physical suffering and mental and social activities in a comprehensive manner. In this study, we hypothesize that visual information is useful for extracting high-dimensional information on QOL from data collected by an agent while interacting with a person. We propose a QOL estimation method to integrate facial expressions, head fluctuations, and eye movements that can be extracted as visual information during the interaction with the communication agent. Our goal is to implement a multiple feature vectors learning estimator that incorporates convolutional 3D to learn spatiotemporal features. However, there is no database required for QOL estimation. Therefore, we implement a free communication agent and construct our database based on information collected through interpersonal experiments using the agent. To verify the proposed method, we focus on the estimation of the mental health QOL scale, which is the most difficult to estimate among the eight scales that compose QOL based on a previous study. We compare the four estimation accuracies: single-modal learning using each of the three features, i.e., facial expressions, head fluctuations, and eye movements and multiple feature vectors learning integrating all the three features. The experimental results show that multiple feature vectors learning has fewer estimation errors than all the other single-modal learning, which uses each feature separately. The experimental results for evaluating the difference between the estimated QOL score by the proposed method and the actual QOL score calculated by the conventional method also show that the average error is less than 10 points and, thus, the proposed system can estimate the QOL score. Thus, it is clear that the proposed new approach for estimating human conditions can improve the quality of human-robot interactions and personalized monitoring.

    DOI: 10.1109/RO-MAN47096.2020.9223606

  • High-speed flexible arm to reduce the effect of spinning ball in table tennis

    Mitsuru Takeda, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science   1 - 6   2019年12月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    Table-tennis robots struggle to return a spinning ball to the opponent' s court because the direction of bound depends on the direction and magnitude of the spin. We aim to solve this problem using a swing motion that is robust over a large range of spin patterns without accurate recognition of the spin. Specifically, we examine the relation between the swing speed and direction of return. When the racket speed is 7 m/s, the difference in the return direction is only 20 &#37; of that when the racket is not swung for the ball spinning in the range from -20 to 20 rev/s. In addition, we investigate the increase in swing speed of the racket due to flexibility of the swinging arm. We find that a flexible arm swings more rapidly than a rigid arm throughout the range of motion when exploiting the joint angle limit.

    DOI: 10.1109/MHS48134.2019.9249276

  • Ready posture for rapid reaction of badminton robot arm 査読

    Satoshi Nishikawa, Fumiya Iida, Yasuo Kuniyoshi

    IEEE International Conference on Robotics and Biomimetics, ROBIO 2019   570 - 575   2019年12月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    For immediate motion, taking a ready posture is a promising way because it can reduce enormous possible patterns of movement. For the selection of an appropriate ready posture, it is essential to know the structure of the task that includes the physical characteristics of a robot. We investigated our previous-built badminton robot arm to decide an appropriate ready posture as a case study. We first examined the kinematic characteristics to extract possible ready postures. In this analysis, we found that postures for hitting shuttles are limited to approximately one-tenth of all possible postures. Besides, these postures could be spatially divided into two clusters, one is for forehand shots, and the other is for backhand shots. Then, we calculated reaching time from various postures and confirmed that possible ready postures by kinematics analysis shortened averaged reaching time. We also found that there are more effective ready postures if considering the dynamics of the robot. These ready postures did not resemble those calculated by kinematics analysis.

    DOI: 10.1109/ROBIO49542.2019.8961788

  • Acoustic Length Sensor for Soft Extensible Pneumatic Actuators with a Frequency Characteristics Model

    Ken Takaki, Yoshitaka Taguchi, Satoshi Nishikawa, Ryuma Niiyama, Yoshihiro Kawahara

    IEEE Robotics and Automation Letters   4 ( 4 )   4292 - 4297   2019年10月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    In this study, we present a length sensor that can be used for extensible soft pneumatic actuators. Conventional length sensors detect the changes in electrical resistance and capacitance owing to the deformation of the actuator; hence, deterioration and destruction occur when they are used with an actuator that has a large expansion ratio. In addition, their low resolution and linearity makes them unsuitable for use in actuator control. Our proposed sensor comprises only a speaker and a microphone installed at one end of the actuator. We propose a method to deterministically measure the length of a tube by generating a broadband acoustic signal in a tube and measuring the resonance characteristics determined by the shape of the tube. Our experimental results demonstrate that the error in the measurement with our sensor is not more than 4% with a strain up to 200%. Unlike conventional acoustic sensing methods that measure the time of flight by using ultrasound, our proposed method yields accurate results even when the tube is bent. Therefore, the proposed method can be applied to various types of pneumatic actuators.

    DOI: 10.1109/LRA.2019.2931273

  • High-Speed Humanoid Robot Arm for Badminton Using Pneumatic-Electric Hybrid Actuators

    Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE Robotics and Automation Letters   4 ( 4 )   3601 - 3608   2019年10月

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    記述言語:その他   掲載種別:研究論文(学術雑誌)  

    We describe the development of a robot configured to play badminton, a dynamic sport that requires high accuracy. We used pneumatic-electric hybrid actuators, each combining a pneumatic actuator, with high-speed and lightweight attributes, and an electric motor with good controllability. Our first objective was to develop hybrid actuators that are lightweight and compact and with integrated sections. Using parts made of lightweight materials such as plastics and aluminum coils, and using wire for power transmission, we made actuators much lighter and smaller than previous ones. In addition, for high accuracy and power, tension sensor units and a heat countermeasure mechanism were also incorporated. As practice partners, we consider badminton robots to be more useful if they were humanoid in appearance and have a variety of shots. We, therefore, developed a humanoid robot arm. By incorporating actuators as link structures, the overall weight was reduced, and both complex degrees of freedom (DoFs) and a large range of motion were realized. Subsequently, we developed a robot with seven DoFs, three DoFs for the shoulder, two for the elbow, and two for the wrist, similar to the configuration of human arms. The robot, therefore, roughly reproduces human movements. At 19 m/s, the maximum speed of the racket was quite fast. The hybrid control reduced the motion variance, allowing improvements in accuracy of more than three times that of motions with only pneumatic control. In addition, performing path planning and tracking control with high precision was possible, tasks that are difficult for conventional pneumatic dynamic robots.

    DOI: 10.1109/LRA.2019.2928778

  • CONTROL OF PNEUMATIC CYLINDERS USING ITERATIVE LINEAR QUADRATIC REGULATOR WITH DEEP LOCAL LINEAR DYNAMICS FOR EXPLOSIVE MOTIONS 査読

    YUKI NAKAMURA, IZUMI KARINO, SHOTARO MORI, KAZUTOSHI TANAKA, SATOSHI NISHIKAWA, RYUMA NIIYAMA, YASUO KUNIYOSHI

    The 22nd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines   2019年8月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    CONTROL OF PNEUMATIC CYLINDERS USING ITERATIVE LINEAR QUADRATIC REGULATOR WITH DEEP LOCAL LINEAR DYNAMICS FOR EXPLOSIVE MOTIONS

  • Dynamic locomotion of quadruped with laterally parallel leaf spring spine 査読

    Haruki Cho, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    CLAWAR 2019: 22nd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines   91 - 98   2019年8月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    DOI: 10.13180/clawar.2019.26-28.08.12

  • A Simulation Study of Light Propagation in the Spinal Cord for Optogenetic Surface Stimulation 査読 国際誌

    Shih Yin Chang, Satoshi Nishikawa, Masaki Sekino, Hiroshi Onodera, Yasuo Kuniyoshi

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2019   6872 - 6875   2019年7月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)  

    For utilizing optogenetics in neuroscience research, a proper setup is necessary, which delivers sufficient light to target cells and minimizes unexpected side effects caused by light exposure. In this study, we were interested in the area of influence of optical surface stimulation on a spinal cord tissue. We built a 3D spinal cord structure of rat and utilized the Monte-Carlo methods to simulate the light transport in it. We first evaluated light propagation in homogeneous nervous tissue models. For a 10-mW, 470-nm light source, light intensity of 1 mW=mm was detected at depths of 1:14 and 1:77 mm in white and grey matter, respectively. This indicated a narrower spreading pattern of light in the white matter than in the grey matter. Since the grey matter, which contains the somatosensory pathways, is an important target of spinal cord stimulation, we focused on investigating how much light could reach this area in a multi-layered structure. The results showed that when an optical fiber was positioned in the center line of the spinal cord dorsal surface, most of the light energy was absorbed before reaching the grey matter. In contrast, when we put the fiber on a lateral position, 0:8mm away from the central line, relatively sufficient light intensity could be detected deep into the lamina 5 area. The experimental results obtained herein suggest that tissue type and the position of stimulation could greatly affect the area of influence of light stimulation in a 3D spinal cord. It is important to consider the location of the interested neural pathways and plan a proper stimulation site before conducting optogenetic surface stimulation of the spinal cord. 2

    DOI: 10.1109/EMBC.2019.8856874

  • Development of a Musculoskeletal Humanoid Robot as a Platform for Biomechanical Research on the Underwater Dolphin Kick 査読

    Yasuaki Ishii, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE International Conference on Intelligent Robots and Systems   3285 - 3291   2018年12月

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    記述言語:その他   掲載種別:研究論文(その他学術会議資料等)  

    The dolphin kick is a swimming style characterized by undulation of the body. As a platform for swimming research, we have developed a musculoskeletal humanoid robot called Triton. Triton has a flexible spine with erector spinae muscles and a stiffness adjustment system for lumbar joints. The musculoskeletal body includes biarticular and polyarticular muscles, providing multi-joint coordination. The robot is actuated by pneumatic muscles, yielding lightweight and inherently waterproof properties. The compliance of the joints allows interactions between body and fluid similar to those of human swimming. This study presents the design concept of Triton and experimental results from a water tank test. We compare the results with simulation and human movements reported in literature. The results show that the musculoskeletal swimming robot has similar cycle trends in joint angle and thrust force.

    DOI: 10.1109/IROS.2018.8593912

  • Ceiling continuum arm with extensible pneumatic actuators for desktop workspace 査読

    Taigo Yukisawa, Satoshi Nishikawa, Ryuma Niiyama, Yoshihiro Kawahara, Yasuo Kuniyoshi

    2018 IEEE International Conference on Soft Robotics, RoboSoft 2018   196 - 201   2018年7月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    We propose an extensible pneumatic continuum arm that elongates to perform reaching movements and object grasping, and is suspended on the ceiling to prevent interference with human workers in a desktop workspace. The selected actuators with bellows aim to enhance the arm motion capabilities. A single actuator can provide a maximum tension force of 150 N, and the proposed arm has a three-segment structure with a bundle of three actuators per segment. We measured the three-dimensional motion at the arm tip by using an optical motion-capture system. The corresponding results show that the arm can grasp objects with approximate radius of 80 mm and reach any point on the desktop. Furthermore, the maximum elongation ratio is 180%, with length varying between 0.75 m and 2.1 m. Experiments verified that the arm can grasp objects of various sizes and shapes. Moreover, we demonstrate the vertical transportation of objects taking advantage of the arm extensibility. We expect to apply the proposed arm for tasks such as grasping objects, illuminating desktops, and physically interacting with users.

    DOI: 10.1109/ROBOSOFT.2018.8404919

  • Sequential Jumping-Stepping Motion on Musculoskeletal Humanoid Robot for Agile Locomotion 査読

    Dwindra Sulistyoutomo, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018   2328 - 2333   2018年7月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Combination of various dynamic motions may lead to better performance of dynamic motion tasks by utilizing the energy transfer between the motions. We have developed a robot capable of doing sequential jumping-stepping motion for agile locomotion. The robot is a musculoskeletal humanoid robot that mimics human skeletal system and muscular system with pneumatic artificial muscles as the actuators. For realizing the motion, we decide muscle control command for each motion referring to the muscle activation pattern of a human. We have conducted experiments for the sequential jumping-stepping motion with our motion strategy on the developed musculoskeletal robot. The results show that the musculoskeletal robot performs faster stepping by performing pre-jumping before a stepping than stepping without pre-jumping. We have also found that proper timing of landing command became crucial for the stepping motion performance.

    DOI: 10.1109/ROBIO.2018.8664787

  • High-Speed and Lightweight Humanoid Robot Arm for a Skillful Badminton Robot 査読

    Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE Robotics and Automation Letters   3 ( 3 )   1727 - 1734   2018年7月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    Sports, especially badminton, require participants to perform dynamic and skillful motions. Previous robots have had difficulty in performing like a human because of their severe limitations of low operating speed, heavy bodies, and simplistic mechanisms. In this letter, we propose a new robot design that consists of a structure integrated with pneumatic actuators and noninterfering many-degree-of-freedom joints, for the realization of a high-speed and lightweight humanoid robot. We made a four-degree-of-freedom robot arm for badminton, which is an especially dynamic sport, aiming for maximum speed while meeting geometric requirements. The robot swung with a racket-head speed of 21 m/s, which is a value higher than speeds achieved by previous robotic arms. The robot also realized a skillful shot, namely the spin net shot, which cannot be performed by previous badminton robots having simple mechanisms. A pneumatic robot is considered difficult to control, especially in terms of feedback control. We found that the reproducibility of the robot was as fine as 10-40 mm at the racket head for four kinds of strong swings. Using feedforward control, we also conducted an experiment in which the robot hits a flying shuttle, and achieved a high hitting rate of 69.7% for powerful swings. We believe that this research expands the possibilities of the pneumatic robot and is the first step toward developing a skillful humanoid badminton robot.

    DOI: 10.1109/LRA.2018.2803207

  • Coordinated Use of Structure-Integrated Bistable Actuation Modules for Agile Locomotion 査読

    Satoshi Nishikawa, Yusuke Arai, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE Robotics and Automation Letters   3 ( 2 )   1018 - 1024   2018年4月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    It is difficult to design agile soft-bodied robots owing to their inherent softness. To overcome this problem, we propose a structure-integrated bistable module that uses snap-through buckling for agile motions. First, we confirmed that a 0.05-m-long module was able to jump to 0.13 m high. Through investigation, we found a range of command parameters within which the module jumps consistently. Moreover, we showed that jumping performance had strong relation to the bending amplitude. Next, we induced a robot with two serially connected modules to roll forward and jump over an obstacle. In rolling, the robot became round for quick locomotion. In jumping, we found that buckling in one module induced buckling in the other module. The difference in buckling time between the two modules was shortened from the order of 0.1 s to the order of 0.01 s. This might be effective for error correction or useful for coordinated motions. These results show the effectiveness of the proposed structure-integrated bistable modules for making agile soft-bodied robots, and suggest ways of exploiting them.

    DOI: 10.1109/LRA.2018.2794617

  • Physical Reservoir Computing in Tensegrity with Structural Softness and Ground Collision Dynamics 査読

    Kenichi Fujita, Shogo Yonekura, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    Journal of the Institute of Industrial Applications Engineers   6 ( 2 )   92 - 99   2018年4月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.12792/jiiae.6.92

  • Bilateral teleoperation system for a musculoskeletal robot arm using a musculoskeletal exoskeleton 査読

    Xi Chen, Satoshi Nishikawa, Kazutoshi Tanaka, Ryuma Niiyama, Yasuo Kuniyoshi

    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017   2018-January   2734 - 2739   2018年3月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Musculoskeletal robots have several advantages in physical interactions. However, a method of teaching motion with physical interaction to a robot without the robot's model remains unavailable. Thus, we propose a bilateral teleoperation system for control of a musculoskeletal robot in this paper. This system enables an operator to operate the robot without the robot's model. The system includes a pneumatic musculoskeletal robot and pneumatic musculoskeletal exoskeleton with same joint and muscle composition. The operator wears the exoskeleton, feels the force that is exerted on the robot via the exoskeleton, and controls the robot by giving force to the exoskeleton. In the experiments, we found that the delay of this system is approximately 200 ms. Our system was able to give feedback force to the operator and change the magnitude of this force according to that of the external force. We showed that the operator can make the musculoskeletal robot perform a task with physical interaction with an environment using our systems. Thus, our system allows the operator to teach motion to a musculoskeletal robot with this interaction.

    DOI: 10.1109/ROBIO.2017.8324833

  • Modeling of extensible pneumatic actuator with bellows (EPAB) for continuum arm 査読

    Taigo Yukisawa, Yasuaki Ishii, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017   2018-January   2303 - 2308   2018年3月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    The ability of a continuum arm is influenced by the performance of an actuator. Although several extensible pneumatic actuators have been proposed in previous research, balancing strength with large strain is still a challenge. We propose an extensible pneumatic actuator with bellows (EPAB) that consists of a rubber tube and a highly packed bellows sleeve. We propose a parametric model of the EPAB that can comprise various bellows and rubber tubes. We measured the basic properties of four actuators with different parameters to verify the proposed model. We conducted evaluation experiments under two conditions: constant length with variable pressure and constant pressure with variable length. The experimental results indicate that the proposed model can roughly predict the measured data. The proposed extensible actuator has an unloaded strain of up to 350% at a pressure of 0.6 MPa.

    DOI: 10.1109/ROBIO.2017.8324762

  • Humanoid robot performing jump-And-hit motions using structure-integrated pneumatic cable cylinders 査読

    Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE-RAS International Conference on Humanoid Robots   696 - 702   2017年12月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-And-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-And-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force-torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force-torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-And-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.

    DOI: 10.1109/HUMANOIDS.2017.8246948

  • Environmental and Structural Effects on Physical Reservoir Computing with Tensegrity

    Kenichi Fujita, Syogo Yonekura, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    5th IIAE International Conference on Intelligent Systems and Image Processing (ICISIP)   2017年9月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Environmental and Structural Effects on Physical Reservoir Computing with Tensegrity

  • Musculoskeletal quadruped robot with Torque-Angle Relationship Control System 査読

    Satoshi Nishikawa, Kazuya Shida, Yasuo Kuniyoshi

    Proceedings - IEEE International Conference on Robotics and Automation   2016-June   4044 - 4050   2016年6月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Systems with changeable mechanical properties show promise for expanding the applications of dynamic robots. We proposed the Torque-Angle Relationship Control System (TARCS) for musculoskeletal robots with changeable output properties. First, we formulated TARCS and examined its static properties. Next, we used TARCS to change the properties and investigated the effect of the same on the jumping ability through simulations. We found that TARCS in a biarticular muscle determined the general shape of the jumpable range. Furthermore, TARCS in a monoarticular muscle could change the amplitude of the jumpable range. Both TARCS also changed the directional property of the reaction to the disturbance. Finally, we developed a musculoskeletal quadruped robot in which TARCS was implemented. This robot could change its jumping direction using TARCS, and it jumped to a height of 0.254 m at the lowest point of its body.

    DOI: 10.1109/ICRA.2016.7487595

  • Pole vaulting robot with dual articulated arms that can change reaching position using active bending motion

    Satoshi Nishikawa, Tomohiro Kobayashi, Toshihiko Fukushima, Yasuo Kuniyoshi

    IEEE-RAS International Conference on Humanoid Robots   2015-December   395 - 400   2015年12月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Elasticity is an important factor in enhancing the physical capabilities of robots. Pole vaulting is an interesting task because a large elastic pole changes the trajectory of the robot drastically. Moreover, the robot can change its behavior by manipulating the flexible pole during a long pole-support phase. In this study, we investigated how the reaching point of pole vaulting was changed by an active bending motion because it is important for robots to move to the desired place. To examine the effect of motion, we used a multiple pendulum model and a robot having dual articulated arms with grippers. Simulation results showed that reaching positions were changed by the switching time of the active bending motion. A relatively late switching time allowed robots to vault to a farther position. However, a very late switching time had the opposite effect. Then, we developed a pole vaulting robot having dual articulated arms with grippers for the application of humanoid robots. Pole vaulting experiments using this robot showed the same tendency in the simulation. These results indicated that the reaching position of pole vaulting could be controlled by the switching time of active bending. Further, the robot reached a height of 1.67 m by releasing the pole.

    DOI: 10.1109/HUMANOIDS.2015.7363564

  • Design of small-size pouch motors for rat gait rehabilitation device 国際誌

    Shih Yin Chang, Kenta Takashima, Satoshi Nishikawa, Ryuma Niiyama, Takao Someya, Hiroshi Onodera, Yasuo Kuniyoshi

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS   2015-November   4578 - 4581   2015年11月

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)  

    Recent studies have demonstrated that active gait training can recover voluntary locomotive ability of paralyzed rats. Rehabilitation devices used for studying spinal cord injury to date are usually fixed on a treadmill, but they have been used only slightly for active training. To process active rehabilitation, a wearable, lightweight device with adequate output is needed. Pouch motors, soft pneumatic actuators, are extremely light and have other benefits such as low cost, easy fabrication, and highly customizable design. They can be used to develop active gait rehabilitation devices. However, performance details of different motor designs have not been examined. As described herein, to build a wearable gait assistive device for rat study, we specifically examine how to design small pouch motors with a good contraction ratio and force output. Results show that pouch performance decreases dramatically with size, but better output is obtainable by separation into small 0.8 length-to-width ratio rooms. We used this knowledge to produce an assistive robot suit for gait rehabilitation and to test it with paralyzed rats. Results show that these small pouches can produce sufficient power to control hip joint movements during gait training. They can reveal the potential for new pouch motor applications for spinal cord injury studies.

    DOI: 10.1109/EMBC.2015.7319413

  • Active bending motion of pole vault robot to improve reachable height 査読

    Toshihiko Fukushima, Satoshi Nishikawa, Yasuo Kuniyoshi

    Proceedings - IEEE International Conference on Robotics and Automation   4208 - 4214   2014年9月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    For robots using elastic devices, pole vault is a particularly interesting task because poles have large differences from previously studied elastic elements in terms of their elastic capacity. The active actuation of the agent in 'pole support phase' plays important roles in improving vaulting performance. Investigating this actuation can contribute to the design of novel control strategies during the time when the agent contacts with environment through the elastic device. In this study, we specifically examined an active bending effect performed in the 'pole support phase.' We analyzed the active bending effect on reachable height (vaulting height) using the 'Transitional Buckling Model.' We applied this active bending theory to a robot and verified the active bending effect to improve vaulting height. Results show that active bending motion in the 'pole support phase' improves the pole vault performance and that the timing of the bending direction change is an important factor for defining the vaulting performance. These results will facilitate the application of robots using large elasticity.

    DOI: 10.1109/ICRA.2014.6907471

  • Adjustment of pressure in antagonistic joints with pneumatic artificial muscles for rapid reacting motions

    Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi

    Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines   183 - 190   2014年7月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Rapid reacting motions are important for robots to adjust to changes in the real world, which is constantly changing drastically. Pneumatic artificial muscles (PAMs) have been used as actuators of fast-moving robots. Robots equipped with PAMs can move adaptively and dynamically using passive properties of PAMs. In this study, we considered preparation for fast reacting motions by robots equipped with joints driven by competing PAMs (antagonistic PAMdriven joints) as using active properties of PAMs. Specifically, we investigated a method of adjusting initial pressures in PAM-driven joints increasing the maximum joint velocity generated in a short time. We found the optimal initial pressure in PAM-driven joints considering a mechanical delay of PAMs in simulations. Additionally, we verified the validity of results in the simulations using an actual robotic arm.

    DOI: 10.1142/9789814623353_0022

  • A musculoskeletal bipedal robot designed with angle-dependent moment arm for dynamic motion from multiple states 査読

    Satoshi Nishikawa, Kazutoshi Tanaka, Kazuya Shida, Toshihiko Fukushima, Ryuma Niiyama, Yasuo Kuniyoshi

    Advanced Robotics   28 ( 7 )   487 - 496   2014年4月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    When robots make smooth transitions in dynamic motions, they must exert large force over widely various postures. To expand the range of postures that robots can take during dynamic motions, we propose that robots be designed with an Angle-Dependent Moment Arm (ADMA) with biased pivot, for which torque characteristics of actuators attached to joints are adjustable. From jumping simulations of robotic legs designed with ADMA, we demonstrate that ADMA improves robustness to postural and motion timing changes by shifts of the optimal posture, which are also observed in jumping experiments using a full-sized, bipedal robot. © 2014 Taylor & Francis and The Robotics Society of Japan.

    DOI: 10.1080/01691864.2013.876936

  • Effect of preliminary motions on agile motions

    Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi

    2013 16th International Conference on Advanced Robotics, ICAR 2013   1 - 6   2013年11月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Robots must complete motions in a short time in uncertain and variable real world environments. However, uncertainty in the real world has only rarely been considered in studies of agile motions by robots. Consequently, methods for agile motions incorporating uncertainty must be proposed. Preceding agile motions, human preparatory motions (preliminary motions) are often observed. For insight, we specifically addressed human preliminary motions as preparation for agile motion. The effect of preliminary motions on human agile motions has been studied in sports biomechanics. However, no general model of preliminary motion has been proposed. Consequently, findings related to human preliminary motions are difficult to apply to robots. Therefore, we proposed a numerical model of preliminary motions to verify the effect of preliminary motions on robots' agile motions in numerical simulations. Using simulations, we investigated the completion time for reaching motions by simple robot arms. Results showed that robots can prepare and move quickly to an uncertain target using our proposed method of preliminary motions. © 2013 IEEE.

    DOI: 10.1109/ICAR.2013.6766534

  • Effective timing of swing-up motion by a pole-vaulting robot

    Satoshi Nishikawa, Toshihiko Fukushima, Yasuo Kuniyoshi

    2013 16th International Conference on Advanced Robotics, ICAR 2013   1 - 6   2013年11月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Elasticity has been used in many dynamic robots because it can regenerate energy or absorb collision shock. However, the role of elasticity has remained only supplementary. Its potential usefulness in dynamic motion is largely unquantified. Therefore, we specifically examine a task with an extremely large elastic element: pole vaulting. In pole-vaulting research, active operations by an agent are known to improve vaulting performance. Previously, we investigated an active bending effect while hanging from a pole in a simulation. These active operations are generated from the body motion. In this study, we specifically examine the effect of inertial force resulting from motion of the body. We hypothesize that swing-up motion performed closer to the pole planting point (i.e. later in timing) improves vaulting performance. We developed a robot that can exert a large inertial force, and conducted pole-vaulting experiments to verify the hypothesis. Results showed that energy loss is less when swing-up motion occurs later. Our results support the hypothesis and indicate that the timing of swing-up motion is an important factor contributing to vaulting performance. © 2013 IEEE.

    DOI: 10.1109/ICAR.2013.6766528

  • Angle-Dependent Moment Arm with Biased Pivot for Jumping from Various Squatting Positions

    Satoshi Nishikawa, Kazutoshi Tanaka, Kazuya Shida, Ryuma Niiyama, Yasuo Kuniyoshi

    6th International Symposium on Adaptive Motion of Animals and Machines (AMAM)   2013年3月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Angle-Dependent Moment Arm with Biased Pivot for Jumping from Various Squatting Positions

  • Transitional Buckling Model for Active Bending Effect in Pole Vault

    Toshihiko Fukushima, Satoshi Nishikawa, Kazutoshi Tanaka, Yasuo Kuniyoshi

    6th International Symposium on Adaptive Motion of Animals and Machines (AMAM)   2013年3月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Transitional Buckling Model for Active Bending Effect in Pole Vault

  • Design and Test of Torque-Angle Relationship Control System

    Kazuya Shida, Satoshi Nishikawa, Yasuo Kuniyoshi

    6th International Symposium on Adaptive Motion of Animals and Machines (AMAM)   2013年3月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Design and Test of Torque-Angle Relationship Control System

  • Improvement of energy consumption by movement of center of rotation of joint

    Kazutoshi Tanaka, Satoshi Nishikawa, Yasuo Kuniyoshi

    Nature-Inspired Mobile Robotics   273 - 280   2013年1月

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    記述言語:英語  

    Robots mimicking the structure of the musculoskeletal systems have been de- veloped in order to realize high physical performance or to reveal the con- tribution of the musculoskeletal systems to body movements. The movement of center of rotation (CoR) of biological joints have been focused on in var- ious research fields. However, to date, the isolated contribution of the joint displaceable center of rotation (JDCR) on physical performance has not yet been analyzed. Revealing this contribution is expected to provide guidelines for the design methodology of robots. In this paper, we compared two mod- els in order to investigate the effect of JDCR on physical performance. The first model has two virtual links to represent the joint including the JDCR (JDCR model). The second model represents the joint with fixed CoR (JFCR model). We evaluated the two models by analyzing energy consumption during reaching motions. In addition, we examined energy consumption while the end effector traced a circular trajectory using extended models (eJDCR model and eJFCR model). The results showed that the energy consumption of models which include JDCR lower than models which does not under all tested con- ditions. This study suggested that a joint including JDCR can improve energy consumption.

    DOI: 10.1142/9789814525534_0036

  • Biomechanical approach to open-loop bipedal running with a musculoskeletal athlete robot 査読

    Ryuma Niiyama, Satoshi Nishikawa, Yasuo Kuniyoshi

    Advanced Robotics   26 ( 3-4 )   383 - 398   2012年4月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)  

    In this study, a musculoskeletal robot is used as a tool to investigate how animals control their complex body. Sprinting is a challenging task that requires maximizing the potential resources of a musculoskeletal structure. Our approach to robotic sprinting is the Athlete Robot - a musculoskeletal robot with elastic blade feet controlled by feedforward motor command. We use a catapult launcher to provide a stable start to a sprint, and then examine the relation between the initial velocity imparted by the launcher and the change in orientation of the robot. We also investigate the influence of the change in elasticity of the blade foot. The results show that acceleration causes anterior inclination after the first step. The elasticity of the foot dominates the duration of the support phase. The musculoskeletal system of the Athlete Robot is modified to suit catapulted running. Based on the results from real robot experiments, we can provide a consistent propelling force using the catapult launcher. We demonstrate the Athlete Robot running for five steps after a catapult launch, using only feedforward command. © 2012 Koninklijke Brill NV, Leiden and The Robotics Society of Japan.

    DOI: 10.1163/156855311X614635

  • Running Motion in a Musculoskeletal Bipedal Robot using Muscle Activation Pattern Control Based on a Human Electromyogram

    Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    5th International Symposium on Adaptive Motion of Animals and Machines (AMAM)   2011年10月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    Running Motion in a Musculoskeletal Bipedal Robot using Muscle Activation Pattern Control Based on a Human Electromyogram

  • Neural-body coupling for emergent locomotion: A musculoskeletal quadruped robot with spinobulbar model

    Yasunori Yamada, Satoshi Nishikawa, Kazuya Shida, Ryuma Niiyama, Yasuo Kuniyoshi

    IEEE International Conference on Intelligent Robots and Systems   1499 - 1506   2011年9月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    To gain a synthetic understanding of how the body and nervous system co-create animal locomotion, we propose an investigation into a quadruped musculoskeletal robot with biologically realistic morphology and a nervous system. The muscle configuration and sensory feedback of our robot are compatible with the mono- and bi-articular muscles of a quadruped animal and with its muscle spindles and Golgi tendon organs. The nervous system is designed with a biologically plausible model of the spinobulbar system with no pre-defined gait patterns such that mutual entrainment is dynamically created by exploiting the physics of the body. In computer simulations, we found that designing the body and the nervous system of the robot with the characteristics of biological systems increases information regularities in sensorimotor flows by generating complex and coordinated motor patterns. Furthermore, we found similar results in robot experiments with the generation of various coordinated locomotion patterns created in a self-organized manner. Our results demonstrate that the dynamical interaction between the physics of the body with the neural dynamics can shape behavioral patterns for adaptive locomotion in an autonomous fashion. © 2011 IEEE.

    DOI: 10.1109/IROS.2011.6048360

  • Athlete robot with applied human muscle activation patterns for bipedal running 査読

    Ryuma Niiyama, Satoshi Nishikawa, Yasuo Kuniyoshi

    2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010   498 - 503   2010年12月

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    記述言語:英語   掲載種別:研究論文(その他学術会議資料等)  

    The essential component of legged locomotion is control of the ground reaction force. To understand the role of the musculoskeletal body in dynamic locomotion, we investigate bipedal running using a musculoskeletal "Athlete Robot". The configuration of the muscles in the robot is compatible with the human. The spring-like property of the human lower leg during running is modeled as an elastic blade foot based on findings from biomechanics. The motor command of the robot is represented by time series data of muscle activation. The muscle activation patterns are determined from numerical calculation using a model of the musculoskeletal leg based on the measurement of muscle activity and kinetic data of the human movements. In the simulation results, the robot runs 8 steps with a speed of 3 m/s. We also demonstrate that the real bipedal robot is able to run for several steps. ©2010 IEEE.

    DOI: 10.1109/ICHR.2010.5686316

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  • 慣性を利用した床からの立ち上がり動作のロボットによる支援に関する調査

    大神直也, 木口量夫, 西川鋭

    情報·知能·精密機器部門(IIP部門)講演会  2024年3月 

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    記述言語:日本語  

    国名:日本国  

  • 立位での巧緻動作における支持腕の肩外転角度が手先の停止安定性に与える影響

    西川鋭, 田中一敏, 國吉康夫

    日本バイオメカニクス学会大会  2014年9月 

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    記述言語:日本語  

    国名:日本国  

  • ポール局所曲げ動作により跳躍方向を調節する双腕棒高跳びロボット

    西川鋭, 小林智裕, 福島俊彦, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2015年9月 

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    国名:日本国  

  • 筋骨格ロボットの運動学習のためのHuman-in-the-Loop教師あり学習システム

    CHEN Xi, 田中一敏, 西川鋭, 新山龍馬, 國吉康夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016年12月 

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    記述言語:日本語  

    国名:日本国  

  • Bistable構造を用いた変形モジュールロボットによるダイナミックな運動の生成

    新井悠介, 西川鋭, 新山龍馬, 國吉康夫

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016年12月 

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    記述言語:その他  

    国名:日本国  

  • Compliant Jumping Mechanism with Bi-stable Structure

    Yusuke Arai, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    the International Conference on Robotics and Automation (ICRA 2017) Workshop on Advanced Fabrication and Morphological Computation for Soft Robotics  2017年5月 

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    記述言語:英語  

    国名:シンガポール共和国  

    Compliant Jumping Mechanism with Bi-stable Structure

  • 身体構造のダイナミクスを利用したReservoir Computingに関する研究

    藤田健一, 米倉将吾, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017年5月 

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    記述言語:日本語  

    国名:日本国  

    <p>Some actual creatures calculate not only on their brain but also on their body itself. This is called morphological computation. Physical reservoir computing, which uses body itself as a neural network like system, is one approach of the way of morphological computation. The purpose of this research is to understand the effect of body structure and environment around it by the experiments with Tensegrity structures. When spring constant was large, structures were hard to move and dropped its ability. When input amplitude was large, input could counteract the effect of past input and dropped its ability. In addition, the environment around the body especially how to contact with ground (coefficient of restitution) gave large effect on calculation. With ground, the convergence oscillation's period and amplitude changed.</p>

  • 跳躍打撃動作を行う構造一体型空気圧ケーブルシリンダロボットの開発

    田中一敏, 西川鋭, CHEN Xi, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017年5月 

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    記述言語:日本語  

    国名:日本国  

    <p>Humanoid robots must execute situation-adaptive whole-body dynamic movements to protect humans. However, design of such robots have been unclear. Thus, our aim is to clarifying a design method of a robot executing a jump-hit motion representing these movements. For such a robot, we developed a light, high power and large stroke pneumatic actuation system equipped with a cable cylinder integrated in a link structure and made of custom-made plastic parts. We developed an arm robot, a leg robot, and an arm-equipped legged robot with this system and evaluated their physical performance. In experiments, the developed robot executed different jump-hit motions against a ball flying from the different directions.</p>

  • 回転跳躍ロコモーションを行なうハンドスプリングロボットの制御

    長晴紀, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017年5月 

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    記述言語:日本語  

    国名:日本国  

    <p>The continuous motion composed of rolling and jumping such as continuous handspring is useful as the locomotion of robots. In order to realize the continuous handspring, we propose a multi-link robot model composed of two limbs and a body and the control law for the model. We verified the controller using the combination of attack angle control and the control based on the angular momentum of the robot in the simulation. In the verification, the robot model realized 100,000 steps in the continuous handspring in the certain environment. In addition, it realized 20 steps after the temporary change of coefficient of static friction of the floor from infinity to four and over in the verification of the robustness against the temporary disturbance.</p>

  • バドミントンのための高加速・高速な手首を有する人型ロボットアームの開発

    森翔太郎, 田中一敏, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017年5月 

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    記述言語:日本語  

    国名:日本国  

    <p>Badminton needs dynamic and high speed motion, so previous humanoid robots were difficult to perform like human. For entertaining or training humanoid badminton robot in the future, we propose new robot arm which consists of structure integrated pneumatic cable cylinder and noninterfering many DoFs joints. We made a real robot arm with high acceleration and high speed wrist and conducted some performance evaluation test. Pronation joint achieved 32.4rad/s in 90 deg, which surpasses human wrist speed in badminton smash. It has also good reproducibility for dynamic feed-forward control or learning control. We also make it hit actual shuttle, and shuttle's initial velocity achieved 28m/s by full swing. And it succeeded skillful shot, spin hairpin, by utilizing the humanlike wrist. This research is the first step toward humanoid badminton robot.</p>

  • Compliant Jumping Mechanism with Bi-stable Structure 国際会議

    Yusuke Arai, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi

    the International Conference on Robotics and Automation (ICRA 2017) Workshop on Advanced Fabrication and Morphological Computation for Soft Robotics  2017年5月 

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    記述言語:英語  

    国名:その他  

    Compliant Jumping Mechanism with Bi-stable Structure

  • 空気圧ヒト型ロボットによる生成モデルを用いた即応的な跳躍打撃動作の生成法

    田中一敏, 西川鋭, 新山龍馬, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017年9月 

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    記述言語:日本語  

    国名:日本国  

  • ドルフィンキック研究のための空気圧駆動筋骨格ヒューマノイドの開発

    石井康彬, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018年6月 

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    記述言語:日本語  

    国名:日本国  

    <p>The dolphin kick is the swimming style with an undulation of a body conducted after start and turn. Practicing dolphin kick is one of the effective way for improving swimmers' record. It has been researched using real swimmers, simulation and robots. Dolphin kick research requires a combination of these methods. However, existing robots have inadequate points including their body size and lack of a flexible spine. Thus, we developed human-scale pneumatically actuated musculoskeletal humanoid called Triton. It has flexible spine and adjustment system for lumbar joint stiffness. We conducted preliminary experiments that compare time-series of thrust force and joint angle between Triton and experimental results with simulations and human data.</p>

  • しなりを活用した高速な卓球スイングアームによるボールの回転の影響の低減

    竹田恭, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019年6月 

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    記述言語:日本語  

    国名:日本国  

    <p>In table tennis robots, a spinning ball is difficult to be returned to the opponent court because its direction of bound is dependent on the spinning direction and amount. We aimed to solve this problem by swing motion that is robust over a large range of spinning pattern without accurate recognition of spinning. Specifically, we examined the relation between swing speed and returning direction. When the racket speed was 7 m/s, the difference of returning direction reduced to 20 % compared to no swing against the spinning ball in the range from -20 rev/s to 20 rev/s. In addition, we focused on the flexibility of swinging arm to increase the swing speed. We found that a flexible arm swung faster than a rigid arm in the whole range of motion when exploiting the joint angle limit.</p>

  • ダイナミックな脚式ロボットのための吸着機構活用法の検討

    西川鋭, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019年9月 

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    国名:日本国  

  • 運動プリミティブを用いた強化学習による空気圧連続アームの投擲運動

    森本亮太, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020年5月 

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    記述言語:日本語  

    国名:日本国  

    <p>Previous research on reinforcement learning for continuum robot arms have been dealt with a relatively small number of active degrees of freedom and made experiments of simple tasks such as reaching. We aimed to learn to throw a ball by reinforcement learning in a pneumatically-controlled continuum robot arm that has nine actuators. We adopt Cost-regularized Kernel Regression (CrKR) which uses dynamic movement primitives (DMPs) which is one of the movement primitives. In the simulation, the continuum arm was able to learn how to throw a ball forward. We made the same experiment for our real continuum robot arm and found that the learning progressed in the experiment.</p>

  • 予測を利用した強化学習エージェントによる競技型接触インタラクション

    野田裕貴, 西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020年5月 

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    記述言語:日本語  

    国名:日本国  

    <p>Though there are a lot of researches about Physical Human-robot Interaction (pHRI) using prediction, few researches work on inducing the opponent's action or outwitting the opponent. We made the push-hand game environment in order to focus on generating strategic actions and tried to make reinforcement learning agents to learn these actions by adding rewards which are directly proportional to the degree of inducement (induction reward) or the degree of outwitting (outwitting reward), defined in this research. As a result, we demonstrated that the induction reward decreases the agent's predictive error and the outwitting reward increases the opponent's predictive error, and both of them didn't contribute to the winning percentage.</p>

  • エージェントとのインタラクションの過程におけるマルチモーダル学習に基づくQOL推定

    中川 聡, 米倉 将吾, 金沢 星慶, 西川 鋭, 國吉 康夫

    人工知能学会全国大会論文集  2020年6月 

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    記述言語:日本語  

    国名:日本国  

    <p>高齢者見守りシステムやコミュニケーションロボットが人とインタラクションを行う際には,ユーザの状態推定および状態理解に基づく行動生成が重要である.高齢者福祉の現場において生活の質(QOL)は人の状態を総括的に扱った重要な指標である.本研究では,対話エージェントとのインタラクションの過程において,表情・頭の揺動・視線を統合してQOL推定手法を提案する.そこで対話エージェントを実装し,それを用いた対人実験を通して収集した情報に基づくデータベースを構築した.さらに,それらを入力とする,3次元畳み込みであるC3Dを組み込んだマルチモーダル学習推定器を実装した.表情はQOL推定に有効であることが示されたが,更なる推定性能の向上を目的として,頭部揺動や視線の特徴抽出による学習について検証した.その結果,表情・頭部揺動・視線の全てを統合したマルチモーダル学習が,各特徴量を個別に用いたシングルモーダル学習に比べて誤差を抑えて推定することを実現させた.実験結果から,提案システムがQOL推定器として十分活用可能であることを結論づけたと同時に,マルチモーダル学習のシングルモーダル学習に対する優位性も示された.</p>

  • AdaBoostを用いた心の健康スコア推定システムの構築

    中川聡, 米倉将吾, 金沢星慶, 西川鋭, 國吉康夫

    情報科学技術フォーラム講演論文集  2020年9月 

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    記述言語:その他  

    国名:日本国  

    Mental Health Score Estimation System Based on AdaBoost

  • 運動錯覚を用いた肘関節の伸展・屈曲運動感覚生成に関する研究

    前村 貫太, 西川 鋭, 木口 量夫

    バイオメカニズム学術講演会  2021年11月 

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    記述言語:日本語  

    国名:日本国  

  • Physical Reservoir Computingを用いたやわらかいシート状遊泳ロボットの動作生成

    堀井 雄太, 井上 克馬, 西川 鋭, 中嶋 浩平, 新山 龍馬, 國吉 康夫

    ロボティクス・メカトロニクス講演会講演概要集  2021年6月 

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    記述言語:日本語  

    国名:日本国  

    Motion generation of a soft sheet-like swimming robot using physical reservoir computing In recent years, swimming robots have been developed to achieve efficient propulsion and high maneuverability. Previous researches have tried to achieve fish-like swimming by control based on physical models and top-down architectures, but have encountered problems due to high complexity of the underwater environment. Other researches have tried to overcome these problems by mimicking the physical properties of fish. To achieve more intelligent swimming, we argue that a control architecture that uses physical dynamics as a computational resource is needed. In this study, a soft sheet-like swimming robot achieves motion emulation and environment estimation through a control architecture based on physical reservoir computing.

  • 足関節動作時における脳波を用いた違和感判別に関する研究

    横溝 雄貴, 西川 鋭, 木口 量夫

    計測自動制御学会システムインテグレーション部門講演会  2021年12月 

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    記述言語:日本語  

    国名:日本国  

    A study on mismatch feeling discrimination using EEG during ankle joint movement

  • Balance Analysis of Slope Walking for Fall Prevention of a Lower-limb Power-assist Robot

    Chen Juntong, Nishikawa Satoshi, Kiguchi Kazuo

    計測自動制御学会システムインテグレーション部門講演会  2021年12月 

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    記述言語:英語  

    国名:日本国  

    Balance Analysis of Slope Walking for Fall Prevention of a Lower-limb Power-assist Robot

  • スポーツ応用を目指す軽量・俊敏な空気圧ロボット

    西川 鋭

    日本ロボット学会 ヒューマンセントリックスロボティクス研究専門委員会 第十三回若手研究会  2022年1月 

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    国名:その他  

  • 距離情報を用いた下肢外骨格型パワーアシストロボットの認知アシストにおけるリアルタイム危険推定に関する研究

    呂 佳昊, 木口 量夫, 西川 鋭

    情報・知能・精密機器部門(IIP部門)講演会  2022年3月 

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    記述言語:日本語  

    国名:日本国  

    A Study on Real-Time Accident Prediction using Depth Information for Perception-Assist in Lower-Limb Power-Assist Robot

  • 機械的振動刺激による肘関節リハビリテーションを目的とした運動錯覚増大手法に関する研究

    前村貫太, 西川鋭, 木口量夫

    日本生体医工学会大会プログラム・抄録集(Web)  2022年6月 

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    国名:日本国  

  • 振動刺激を用いた肩関節屈曲錯覚生起に適する肩伸展筋および振動条件に関する研究

    坂本 龍我, 西川 鋭, 木口 量夫

    ロボティクス・メカトロニクス講演会講演概要集  2022年6月 

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    記述言語:日本語  

    国名:日本国  

    A study of shoulder extensor muscles and vibration conditions suitable for generating the illusion of shoulder joint flexion using vibration stimulation

  • 卓球のフォアハンドスイングの際の下半身の捻りを補助する空気圧アシストスーツの開発

    柏木 昭彦, 中村 隼, 西川 鋭, 木口 量夫

    ロボティクス・メカトロニクス講演会講演概要集  2022年6月 

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    記述言語:日本語  

    国名:日本国  

    Development of a pneumatic assist suit that assists the twisting movement of the lower body during the forehand swing of table tennis

  • ロボットによる運動誘導に向けた前後方向への介入動作タイミングと人の姿勢反応の関係の調査

    大神 直也, 西川 鋭, 木口 量夫

    ロボティクス・メカトロニクス講演会講演概要集  2022年6月 

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    記述言語:日本語  

    国名:日本国  

    A Study of the Relationship between the Timing of Intervention Movement in the Anterior-Posterior Direction and Human Postural Response for Motion Guidance by Robots

  • 振動刺激による肩関節屈曲運動錯覚⽣起での筋⻑変化の影響

    坂本龍我, 西川鋭, 木口量夫

    第4回日本再生医療とリハビリテーション学会学術大会  2022年9月 

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    記述言語:その他  

    国名:日本国  

  • Kinesthetic illusion of knee joint motion induced by vibration stimulation on the quadriceps femoris muscle during continuous motion

    Danwen Li, Satoshi Nishikawa, Kazuo Kiguchi

    日本ロボット学会学術講演会予稿集  2022年9月 

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    記述言語:英語  

    国名:日本国  

    Kinesthetic illusion of knee joint motion induced by vibration stimulation on the quadriceps femoris muscle during continuous motion

  • Design and optimization of lower limb robot structure

    Yuqing Zou, Satoshi Nishikawa, Kazuo Kiguchi

    日本ロボット学会学術講演会予稿集  2022年9月 

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    記述言語:英語  

    国名:日本国  

    Design and optimization of lower limb robot structure

  • Balance assistance of a lower-limb power-assist robot using virtual tunnels of human parameters

    Juntong Chen, Satoshi Nishikawa, Kazuo Kiguchi

    第30回インテリジェント・システム・シンポジウム(FAN)  2022年9月 

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    記述言語:英語  

    国名:日本国  

    Balance assistance of a lower-limb power-assist robot using virtual tunnels of human parameters

  • 足関節複数筋肉同時刺激による二次元運動錯覚生成に関する研究

    山﨑大輝, 西川鋭, 木口量夫

    第23回 公益社団法人 計測自動制御学会システムインテグレーション部門講演会  2022年12月 

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    記述言語:日本語  

    国名:日本国  

    A study on the generation of two-dimensional kinesthetic illusion with simultaneous stimulation of multiple ankle joint muscles

  • ロボット関連技術のスポーツへの活用

    西川鋭

    九州大学大学院工学研究院機械工学部門 2022年度 公開講座  2023年1月 

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    記述言語:その他  

    国名:その他  

  • 下肢パワーアシストロボットを用いた方向転換時の転倒防止手法に関する研究

    中島亮太, 西川鋭, 木口量夫

    情報·知能·精密機器部門(IIP部門)講演会  2023年3月 

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    記述言語:日本語  

    国名:日本国  

    A study on fall prevention assist during turning with a lower-limb power-assist robot

  • Generation of shoulder internal and external rotation motion illusion with simultaneous stimulation of skin stretch and vibration

    Yuqi Zhong, Satoshi Nishikawa, Kazuo Kiguchi

    情報·知能·精密機器部門(IIP部門)講演会  2023年3月 

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    記述言語:英語  

    国名:日本国  

    Generation of shoulder internal and external rotation motion illusion with simultaneous stimulation of skin stretch and vibration

  • 吸着機構を備えた空気圧駆動の人型ロボットによるバドミントンの踏み出し動作の実現

    吉田 龍史, 木口 量夫, 西川 鋭

    ロボティクス・メカトロニクス講演会講演概要集  2023年6月 

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    記述言語:日本語  

    国名:日本国  

    Pneumatic humanoid robot with adsorption mechanism for badminton stepping motion In this research, we developed a humanoid robot with suction mechanisms to realize footwork in badminton. First, the investigation of the suction force of suckers showed that the stability of the robot had improved. By improving the stability, the robot was able to perform a large and quick-stepping motion that was not possible with existing robots. The width of the step was about 0.9m, and the horizontal velocity of the hip of the robot was about 1.1m/s. Compared to the human stepping motion, the speed of the robot’s stepping motion was inferior, but the width of the step was no inferior. In addition, the estimated ZMP during the stepping motion showed the effectiveness of suction mechanisms in the realization of badminton footwork.

  • 卓球のバックハンドにおけるフォーム改善のための手首背屈を抑制するウェアラブル装置

    代田 和輝, 柏木 昭彦, 木口 量夫, 西川 鋭

    ロボティクス・メカトロニクス講演会講演概要集  2023年6月 

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    記述言語:日本語  

    国名:日本国  

    Wearable device to inhibit wrist dorsiflexion for movement form improvement in table tennis backhand In this research, we developed a device that suppresses dorsiflexion of the wrist in the backhand action of table tennis and verified that the device improves the movement form of the player. To test the device, an evaluation experiment was conducted with four subjects in the experimental group and four subjects in the control group. Comparison with the control group revealed that all but one of the three subjects in the experimental group tended to suppress wrist motion when wearing the device and to swing while utilizing their elbows. When the device was removed, the three subjects tended to move their wrists less than before and to swing with their elbows, indicating an improvement in their form.

  • 上腕関連筋への振動刺激による前方リーチング動作錯覚の生成

    坂本 龍我, 西川 鋭, 木口 量夫

    ロボティクス・メカトロニクス講演会講演概要集  2023年6月 

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    記述言語:日本語  

    国名:日本国  

    Generation of the illusion of forward reaching motion by vibratory stimulation of upper arm-related muscles In this study, we proposed a method to generate the illusion of arbitrary hand motions in daily life by generating vibration frequency patterns proportional to the angular velocity and angular acceleration of the shoulder and elbow joints associated with the target hand motion. To verify the effectiveness of the proposed method, the verification experiment to generate motion illusions of reaching forward and returning to the initial posture at a constant speed by integrating motion illusions of the shoulder and elbow joints was conducted. And the oscillation frequency pattern proportional to the angular acceleration is effective in generating the illusion of arbitrary hand motion was concluded.

  • Effect of Skin Temperature on Kinesthetic Illusion Induced by Vibration Stimulation to Quadriceps Femoris Muscle

    Danwen Li, Satoshi Nishikawa, Kazuo Kiguchi

    45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)  2023年7月 

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    記述言語:英語  

    国名:オーストラリア連邦  

  • 高齢者の下肢動作意図推定に関する研究-リアルタイム動作意図及びフェーズ推定-

    久貝さつき, 西川鋭, 木口量夫

    インテリジェント・システム・シンポジウム(CD-ROM)  2023年9月 

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    記述言語:その他  

    国名:日本国  

    A Study on Intended Lower-Limb Motion of Elderly Persons-Realtime intended motion and phase estimation-

  • Real-time Early Handwriting Character Prediction with EMG for Upper Limb Exoskeleton Perception Assist

    Suparat Gaysornkaew, Satoshi Nishikawa, Kazuo Kiguchi

    第41回日本ロボット学会学術講演会  2023年9月 

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    記述言語:英語  

    国名:日本国  

    Real-time Early Handwriting Character Prediction with EMG for Upper Limb Exoskeleton Perception Assist

  • Evaluation of normal walking with hip joint trajectory for lower- limb perception-assist

    Juntong Chen, Satoshi Nishikawa, Kazuo Kiguchi

    第41回日本ロボット学会学術講演会  2023年9月 

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    記述言語:英語  

    国名:日本国  

    Evaluation of normal walking with hip joint trajectory for lower- limb perception-assist

  • Foldable base plate mechanism for parallel link robots

    Daigo Tokunaga, Satoshi Nishikawa, Kazuo Kiguchi

    The 16th IFToMM World Congress  2023年11月 

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    記述言語:英語  

    国名:日本国  

  • ダブルパラレルリンクてこ機構を用いた立ち上がり動作を支援する四脚型ロボットの機構評価

    中条萌々子, 徳永大悟, 西川鋭, 木口 量夫

    計測自動制御学会システムインテグレーション部門講演会  2023年12月 

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    記述言語:日本語  

    国名:日本国  

  • 複数の仮想トンネルを用いた下肢パワーアシストロボットによる歩行転倒防止

    陳俊彤, 西川鋭, 木口量夫

    日本ロボット学会 ヒューマンセントリックスロボティクス研究専門委員会 第十五回若手研究会  2024年1月 

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    記述言語:その他  

    国名:その他  

  • 準備局面の拮抗的筋活動が踏み出しリーチングに与える効果

    田中一敏, 西川鋭, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014年9月 

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    記述言語:日本語  

    国名:日本国  

  • 筋骨格ロボットによる走行実現のための筋賦活パタン制御

    西川鋭, 新山龍馬, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2010年6月 

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    記述言語:日本語  

    国名:日本国  

    Despite the considerable complexity of the human musculoskeletal system, human beings are capable to move with great dexterity and ease even under instable conditions as during running. In order to understand the control mechanisms underlying the generation of such skill-full behaviors, we propose to study running, a highly dynamic motion, using an anthropomorphic bipedal robot. To do so, we propose a method called Muscle Activation Pattern Control based on physiological observations of athlete runners that we apply in a simulation of our running robot. Using this method, we show that the robot can autonomously acquire patterns of running motion over 3m/s.

  • 床反力制御による筋骨格ヒト型ロボットの走行

    新山龍馬, 西川鋭, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2010年9月 

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    記述言語:日本語  

    国名:日本国  

    床反力制御による筋骨格ヒト型ロボットの走行

  • Emergent Locomotion Patterns from a Quadruped Pneumatic Musculoskeletal Robot with Spinobulbar Model 国際会議

    Yasunori Yamada, Satoshi Nishikawa, Kazuya Shida, Yasuo Kuniyoshi

    International workshop on bio-inspired robots  2011年4月 

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    記述言語:英語  

    開催地:Nantes, France   国名:その他  

    Emergent Locomotion Patterns from a Quadruped Pneumatic Musculoskeletal Robot with Spinobulbar Model

  • Dynamic Motions by a Quadruped Musculoskeletal Robot with Angle-Dependent Moment Arms 国際会議

    Satoshi Nishikawa, Yasunori Yamada, Kazuya Shida, Yasuo Kuniyoshi

    International workshop on bio-inspired robots  2011年4月 

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    記述言語:英語  

    開催地:Nantes, France   国名:その他  

    Dynamic Motions by a Quadruped Musculoskeletal Robot with Angle-Dependent Moment Arms

  • 少数筋群からなるフェーズ分けによる運動学習

    西川鋭, 新山龍馬, 國吉康夫

    第6回 Motor Control 研究会  2012年6月 

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    記述言語:日本語  

    開催地:愛知   国名:その他  

    Motor Learning by Phase Division with Sparse Coding of Muscle Activation

  • 筋骨格系駆動のヒト規範足部を備えたロボットによる跳躍

    西川鋭, 西川鋭, 志田和也, 新山龍馬, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2012年9月 

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    記述言語:日本語  

    国名:日本国  

    筋骨格系駆動のヒト規範足部を備えたロボットによる跳躍

  • 可変な関節トルク分配比を備えた筋骨格四脚ロボット

    西川鋭, 志田和也, 國吉康夫

    第19回 創発システムシンポジウム  2013年8月 

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    記述言語:日本語  

    開催地:大阪   国名:その他  

    Musculoskeletal Quadrupedal Robot with Variable Distribution Ratio of Joint Torque

  • 敏捷動作生成に先立つ構え生成手法の検証

    田中一敏, 西川鋭, 國吉康夫

    創発システムシンポジウム  2013年8月 

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    記述言語:日本語  

    国名:日本国  

  • 棒高跳びロボットのポール曲げ動作による跳躍高さ向上

    福島俊彦, 西川鋭, 西川鋭, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2013年9月 

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    記述言語:その他  

    国名:日本国  

  • 棒高跳びにおけるスイング動作タイミングがポールの挙動に与える効果のロボットによる検討

    西川鋭, 西川鋭, 福島俊彦, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2013年9月 

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    記述言語:その他  

    国名:日本国  

  • 敏捷動作に先立つ構えの効果検討

    田中一敏, 西川鋭, 西川鋭, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2013年9月 

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    記述言語:日本語  

    国名:日本国  

  • CPGの調整により故障時の身体の物理的変化に即応する四足歩行ロボットの開発

    三浦拳, 西川鋭, 西川鋭, 國吉康夫

    日本ロボット学会学術講演会予稿集(CD-ROM)  2013年9月 

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    記述言語:その他  

    国名:日本国  

  • 棒高跳びにおける跳躍パフォーマンス向上のための溜め動作

    西川鋭, 福島俊彦, 國吉康夫

    第7回 Motor Control 研究会  2013年9月 

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    記述言語:日本語  

    開催地:東京   国名:その他  

    Resisting motion to improve vaulting performance in pole vault

  • ポール曲げ効果から観る棒高跳びにおける身体-ポール協調動作

    福島俊彦, 西川鋭, 國吉康夫

    第7回 Motor Control 研究会  2013年9月 

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    記述言語:日本語  

    開催地:東京   国名:その他  

    Body-Pole Coordinated Motion from the Pole Bending Perspective in Pole Vault

  • 若手研究者によるブレインストーミングと実践から垣間見る表面筋電信号計測・解析システムの応用可能性~第19回 創発システムシンポジウムワークショップにおける成果~

    松下光次郎, 成岡健一, 西川鋭, 築地原里樹, 安部祐一, AN Qi, 大脇大

    計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM)  2013年11月 

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    記述言語:その他  

    国名:日本国  

  • 確率的目標状態への遷移時間を最小化する準備動作

    田中一敏, 西川鋭, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014年5月 

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    記述言語:日本語  

    国名:日本国  

    Rapid reacting motions should be needed for robots working in human environments. Preliminary motions are expected to improve speed of such motions. Thus, we investigated preliminary motions in such complex environments. In this investigation, we calculated expected value of minimum time for state transition of a simple robotic arm model. In addition, we compared the value of cyclic motions with stopping as preliminary motions. As a result, we found that stopping states make speed of reacting motions more fast when target states can be predicted enough and cyclic motions may make the speed more fast when it is difficult to predict target states.

  • 二関節バネダンパ機構が外乱下の棒高跳びに与える効果

    西川鋭, 西川鋭, 福島俊彦, 國吉康夫

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014年5月 

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    記述言語:日本語  

    国名:日本国  

    Pole vault is an interesting task because of its high performance using a large elastic element. Although previously we showed that active bending motion is effective to improve pole vault height, it was sensitive to disturbance. In order to stabilize pole vaulting performance, physical feedback is important because of its quick response. Therefore, we focused on musculoskeletal system, especially its bi-articular spring-damper system, and investigated its contribution to stabilization of pole vaulting. We compared pole vaulting performance of a non spring-damper model, a mono-articular spring-damper model and a bi-articular spring-damper model in simulation on the disturbed condition. As a result, we found that the mono-articular spring-damper model and the bi-articular spring-damper model tended to be reduce negative effect of large disturbance at early timing of pole bending motion. In addition, bi-articular spring-damper model had intermediate response characteristics to disturbance between other two models. These results implicate that musculoskeletal system contributes to stabilize pole vault.

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所属学協会

  • 計測自動制御学会

    2024年3月 - 現在

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  • IEEE

  • 日本バイオメカニクス学会

  • 日本ロボット学会

  • 日本機械学会

  • 日本再生医療とリハビリテーション学会

  • 計測自動制御学会

  • 日本機械学会

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  • 日本ロボット学会

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  • 日本バイオメカニクス学会

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  • IEEE

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委員歴

  • 日本機械学会   情報・知能・精密機器部門 広報委員会幹事   国内

    2024年4月 - 2025年3月   

  • 計測自動制御学会   会誌出版委員   国内

    2024年4月 - 2025年3月   

  • 計測自動制御学会   会誌出版委員  

    2024年4月 - 2025年3月   

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    団体区分:学協会

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  • 日本機械学会   情報・知能・精密機器部門 広報委員会幹事  

    2024年4月 - 2025年3月   

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    団体区分:学協会

    researchmap

  • 日本機械学会   情報・知能・精密機器部門 学術委員会幹事   国内

    2023年4月 - 2024年3月   

  • 日本機械学会   情報・知能・精密機器部門 学術委員会幹事  

    2023年4月 - 2024年3月   

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    団体区分:学協会

    researchmap

  • 日本ロボット学会   事業計画委員   国内

    2020年4月 - 2022年3月   

  • 日本ロボット学会   事業計画委員  

    2020年4月 - 2022年3月   

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  • 日本機械学会   第24,25期東京ブロック商議員   国内

    2017年3月 - 2019年2月   

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学術貢献活動

  • 学術委員会幹事

    情報・知能・精密機器部門講演会(IIP2024)  ( 岡山 ) 2024年3月

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    種別:大会・シンポジウム等 

  • Associate Editor (Contributed Papers) 国際学術貢献

    The 16th IEEE/SICE International Symposium on System Integration (SII2024)  ( Ha Long Vietnam ) 2024年1月

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    種別:大会・シンポジウム等 

  • プログラム委員長

    第31回インテリジェント・システム・シンポジウム(FAN 2023)  ( 九州大学(福岡市) ) 2023年9月

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    種別:大会・シンポジウム等 

  • OS(ウェアラブルロボティクス)オーガナイザー

    ロボティクス・メカトロニクス講演会2023(Robomech2023)  ( 名古屋 ) 2023年6月 - 2023年7月

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    種別:大会・シンポジウム等 

  • 幹事

    第4回日本再生医療とリハビリテーション学会学術大会(JSRMR2022)  ( 九州大学(福岡市) ) 2022年9月

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    種別:大会・シンポジウム等 

  • プログラム副委員長

    第30回インテリジェント・システム・シンポジウム(FAN 2022)  ( 神戸大学(神戸市) ) 2022年9月

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    種別:大会・シンポジウム等 

  • OS (Robotics) Organizer 国際学術貢献

    JSME-IIP/ASME-ISPS Joint Conference on Micromechatronics for Information and Precision Equipment (MIPE2022)  ( Nagoya Japan ) 2022年8月

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    種別:大会・シンポジウム等 

  • OS(ウェアラブルロボティクス)オーガナイザー

    ロボティクス・メカトロニクス講演会2022(Robomech2022)  ( 札幌 ) 2022年6月

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    種別:大会・シンポジウム等 

  • OS (Human Related Robotics) Organizer 国際学術貢献

    21st International Conference on Control, Automation and Systems (ICCAS2021)  ( Jeju Korea ) 2021年10月

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    種別:大会・シンポジウム等 

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共同研究・競争的資金等の研究課題

  • 対人物理的インタラクションロボットによる人誘導スキルの研究

    研究課題/領域番号:21K17830  2021年 - 2024年

    日本学術振興会  科学研究費助成事業  若手研究

    西川 鋭

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    担当区分:研究代表者  資金種別:科研費

    ロボットと人が触れ合う物理的インタラクションの際には物理的効果と安全性を両立させる必要がある。そのためには相手の性質を利用してうまく誘導することで目標を達成することが重要と考えられる。本研究では、人と物理的に関わる状況で、人の性質を利用してうまく誘導することでタスクを実現するロボットの構成法を明らかにすることを目的とする。人の運動計測を通じてタスク成功条件の抽出や人の運動予測について調査し、シミュレーション等も併用してインタラクションの運動生成に取り組み、ロボットによる対人インタラクションのシステム構築を目指す。

    CiNii Research

  • 人の予測機能を引き出す球技スポーツの練習パートナーロボットに関する研究

    研究課題/領域番号:18K18087  2018年 - 2020年

    日本学術振興会  科学研究費助成事業  若手研究

    西川 鋭

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    担当区分:研究代表者  資金種別:科研費

    本研究では人の練習相手として競技に介入できる人型の球技スポーツロボットの実現を目指して研究を行った。ハードウェアとしては、空電ハイブリッドアクチュエータを構築し、構造一体型にして組み込んだ球技スポーツロボットとして肩から先7自由度のバドミントンロボットアームを開発した。ソフトウェアとしては、対戦型の対人インタラクションの実現に向けて動力学シミュレータ上で強化学習を用いて2体のエージェントにより対戦型インタラクションの運動を生成した。

    CiNii Research

  • 俊敏に動作する柔軟軽量な筋骨格ロボットによる対人接触インタラクションの研究

    研究課題/領域番号:17H05856  2017年 - 2018年

    日本学術振興会・文部科学省  科学研究費助成事業  新学術領域研究

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    担当区分:研究代表者  資金種別:科研費

  • 連続俊敏動作ロボットのための多連軽量弾性体を活用した高出力アクチュエータの開発

    研究課題/領域番号:15H06140  2015年 - 2016年

    日本学術振興会  科学研究費助成事業  研究活動スタート支援

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    担当区分:研究代表者  資金種別:科研費

  • 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分野)道具の操りと身体性の相互作用/柔軟ロボットによる身体環境相互作用に基づく道具使用

    2015年 - 2016年

    委託研究費

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    担当区分:研究代表者  資金種別:受託研究

  • 筋空間における類似性を活かした道具使用ダイナミック運動のロボットによる実現

    2012年 - 2014年

    日本学術振興会  特別研究員

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    資金種別:共同研究

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担当授業科目

  • 数値解析基礎(A)

    2024年4月 - 2024年6月   春学期

  • 数値解析基礎(B)

    2024年4月 - 2024年6月   春学期

  • システム工学

    2023年12月 - 2024年2月   冬学期

  • 知的システム工学

    2023年10月 - 2024年3月   後期

  • データサイエンス応用

    2023年10月 - 2024年3月   後期

  • 数値解析基礎(B)

    2023年4月 - 2023年6月   春学期

  • 数値解析基礎(A)

    2023年4月 - 2023年6月   春学期

  • 知的システム工学

    2022年10月 - 2023年3月   後期

  • 数値解析応用

    2022年10月 - 2022年12月   秋学期

  • システム工学

    2022年6月 - 2022年8月   夏学期

  • 創造設計

    2022年4月 - 2022年9月   前期

  • 数値解析基礎(B)

    2022年4月 - 2022年6月   春学期

  • 数値解析基礎(A)

    2022年4月 - 2022年6月   春学期

  • 知的システム工学

    2021年10月 - 2022年3月   後期

  • 課題協学科目

    2021年10月 - 2022年3月   後期

  • 数値解析応用

    2021年10月 - 2021年12月   秋学期

  • システム工学

    2021年6月 - 2021年8月   夏学期

  • 数値解析基礎

    2021年4月 - 2021年6月   春学期

  • システム工学

    2024年12月 - 2025年2月   冬学期

  • データサイエンス応用

    2024年10月 - 2025年3月   後期

  • 数値解析基礎(A)

    2024年4月 - 2024年6月   春学期

▼全件表示

FD参加状況

  • 2024年1月   役割:参加   名称:2023年度第2回機械工学部門FD

    主催組織:学科

  • 2023年11月   役割:参加   名称:2023年度第1回機械工学部門FD

    主催組織:学科

  • 2023年1月   役割:参加   名称:【シス情FD】若手教員による研究紹介⑦

    主催組織:部局

  • 2023年1月   役割:参加   名称:2022年度 第2回機械工学部門FD

    主催組織:学科

  • 2022年11月   役割:参加   名称:2022年度第1回機械工学部門FD

    主催組織:学科

  • 2022年3月   役割:参加   名称:機械系FDセミナー

    主催組織:学科

  • 2021年9月   役割:参加   名称:JST 次世代研究者挑戦的研究プログラム 説明会

    主催組織:全学

  • 2021年9月   役割:参加   名称:JST 次世代研究者挑戦的研究プログラム 説明会

    主催組織:全学

  • 2021年9月   役割:参加   名称:R3 課題協学科目 第2回FD

  • 2021年8月   役割:参加   名称:部門FD(科研費関連)

    主催組織:学科

  • 2021年5月   役割:参加   名称:R3 課題協学科目FD

  • 2021年4月   役割:参加   名称:2021年度新任教員教育セミナー

    主催組織:全学

  • 2021年4月   役割:参加   名称:オンライン授業実施の"いろは"

    主催組織:全学

  • 2021年4月   役割:参加   名称:令和3年度 第1回全学FD(新任教員の研修)

    主催組織:全学

▼全件表示

その他教育活動及び特記事項

  • 2023年  クラス担任  学部

  • 2022年  クラス担任  学部

  • 2021年  クラス担任  学部

社会貢献活動

  • 機械のつくり方 「ロボット関連技術のスポーツへの活用」

    九州大学大学院工学研究院機械工学部門  オンライン  2023年1月

     詳細を見る

    対象:社会人・一般, 学術団体, 企業, 市民団体, 行政機関

    種別:講演会