Kyushu University Academic Staff Educational and Research Activities Database
List of Presentations
Kazuo Kiguchi Last modified date:2021.06.13

Professor / Systems and Control / Department of Mechanical Engineering / Faculty of Engineering


Presentations
1. Kazuo Kiguchi, Robot-assisted Medical Examination Training, IEEE IROS2021, 2021.06.
2. Kazuo Kiguchi, Takeru Kai, Wenbin Liu, A Fundamental Study on Tonic Vibration Reflex in Forearm Pronation/Supination to Suppress Essential Tremor Movements, IEEE International Conference on Systems, Man, and Cybernetics, 2020.10, Essential tremor (ET) is one of the most common movement disorders. Undesired involuntary periodic movements are generated in ET patients. Some devices have been developed to suppress ET movements up to the present. In this paper, Tonic Vibration Reflex (TVR) is studied to investigate the possibility to suppress ET movements. The TVR is a phenomenon of human reflex which is induced by applying mechanical vibration stimulation to a human muscle. If a counter-phase movement of the ET movement of the patient is artificially generated by the TVR, the ET movement would be canceled. In order to investigate its possibility, fundamental study on the TVR is carried out in this study. In order to confirm the possibility of generating the TVR in forearm pronation/supination, the effect of the amplitude and the range of frequency of vibration stimulation on the TVR in forearm pronation/supination is studied in this paper. The effect of forearm posture is also studied. Furthermore, the effect of the on-and-off vibration stimulation on the TVR in forearm pronation/supination is investigated. The experimental results show the possibility of tremor movement suppression with the TVR..
3. Thilina Dulantha Lalitharatne, Yoshiaki Hayashi, Kenbu Teramoto, Kazuo Kiguchi, A Study on Effects of Muscle Fatigue on EMG-Based Control for Human Upper-Limb Power-Assist, Proceedings of International Conference on Information and Automation for Sustainability (ICIAfS 2012).
4. Guang Yu, Nobuhiro Okada, Kazuo Kiguchi, Safety Protection Control for a Wind-Hydrogen Autonomous System Based on the Switching Control, Proceedings of IEEE/SICE International Symposium on System Integration (SII2012).
5. Kohei Noguchi, Nobuhiro Okada, Kazuo Kiguchi, Speed-Up of Range Finder System with Electronically Maskable Photo Detecting Device Array, Proceedings of IEEE/SICE International Symposium on System Integration (SII2012).
6. Kazuo Kiguchi, Thilina Dulantha Lalitharatne, Akihiro Yoshino, Yoshiaki Hayashi, Control of Forearm Supination/Pronation Motion of an Artificial Arm Based on EEG Signals, Proceedings of 2012 ASME-ISPS / JSME-IIP Joint International Conference on Micromechatronics for Information and Precision Equipment (MIPE2012).
7. Kazuo Kiguchi, Thilina Dulantha Lalitharatne, Yoshiaki Hayashi, Control of Lower-Limb Power-Assist Robot Based on EEG signals, Proceedings of The 2nd IFToMM Asian Conference on Mechanism and Machine Science (Asian-MMS2012).
8. Thilina Dulantha Lalitharatne, Akihiro Yoshino, Yoshiaki Hayashi, Kenbu Teramoto, Kazuo Kiguchi, Toward EEG control of Upper limb power-assist exoekeletons: A preliminary study of decoding elbow joint velocites using EEG signals, Proceedings of 23rd 2012 International Symposium on Micro-NanoMechatronics and Human Science, (From Micro & Nano Scale Systems to Robotics & Mechatronics Systems) (MHS2012), 2012.11.
9. Yosuke Ono, Kazuo Kiguchi, Nobuhiro Okada, Measurement and analysis of upper-limb essential tremor motion for tremor suppression with an exoskeleton robot, Proceedings of the 18th International Symposium on Artificial Life and Robotics (AROB 2013), 2013.01.
10. Yuui Kikuchi, Nobuhiro Okada, Yasutaka Tsuji, Kazuo Kiguchi, An estimating method for missing values by using multiple SOMs, Proceedings of the 18th International Symposium on Artificial Life and Robotics (AROB 2013), 2013.01.
11. Takafumi Soeda, Nobuhiro Okada, Kazuo Kiguchi, A simple wall-climbing mechanism for a window cleaning robot, Proceedings of the 18th International Symposium on Artificial Life and Robotics (AROB 2013), 2013.01.
12. Kazuo Kiguchi, Kodai Yoshino, Yoshiaki Hayashi, Munenori Uemura, Morimasa Tomikawa, Makoto Hashizume, Difference Between Experienced Surgeons and Beginners in Suturing Skills in Laparoscopic Surgery, Proceedings of the 10th IASTED International Conference on Biomedical Engineering (BioMed 2013),, 2013.02.
13. Kazuo Kiguchi, Kaori Tamura, Yoshiaki Hayashi, Estimation of Joint Force/Torque Based on EMG signals, Proceedings of the SSCI 2013 (Proc. of 2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space (RiiSS 2013), 2013.04.
14. Thilina Dulantha Lalitharatne, Yoshiaki Hayashi, Kenbu Teramoto, Kazuo Kiguchi, Compensation of the Effects of Muscle Fatigue on EMG Based Control using Fuzzy Rules Based Scheme, Proceedings of 35th Annual International Conference on the IEEE Engineering in Medicine and Biology Society (EMBC2013), 2013.07.
15. Kazuo Kiguchi, Yoshiaki Hayashi, Upper-Limb Tremor Suppression with a 7DOF Exoskeleton Power-Assist Robot, Proceedings of 35th Annual International Conference on the IEEE Engineering in Medicine and Biology Society (EMBC2013), 2013.07.
16. Kazuo Kiguchi, Yoshiaki Hayashi, Estimation of User’s Motion Intention of Hand based on both EMG and EEG Signals
, ICINCO2013, 2013.07.
17. Yoshiaki Hayashi, Kazuo Kiguchi, Motion Estimation based on EMG and EEG Signals to Control Wearable Robots , SMC2013, 2013.10.
18. Asuka Takai, Nouf Alanizi, Kazuo Kiguchi, Thrishantha Nanayakkara, Prototyping the Flexible Solenoid-Coil Artificial Muscle, for Exoskeletal Robots, ICCAS2013, 2013.10.
19. Kazuo Kiguchi, Control of Human Assist Robots Based On User’s Motion Intention, 14th International Symposium on Advanced Intelligent Systems (ISIS2013), 2013.11, Human assist robots are expected to play an important role to enrich human daily life in these days. Especially, power-assist robots or robotic limbs are used to assist daily activities of physically weak persons or disabled persons. Although those robotic systems must be activated based on the user’s motion intention, it is not easy to estimate that in real-time. Therefore, many studies have been carried out to control the human assist robot based on the user’s motion intention. User’s biological signals such as EMG (Electromyogram) and EEG (Electroencephalogram) are important signals to understand the user’s motion intention. The motion intention can be directly estimated with the EMG in real time since the EMG directly reflects the muscle activity level. However, it is sometimes difficult to obtain the EMG from paralyzed persons or amputees. On the other hand, EEG can be obtained even from the paralyzed persons or amputees, although it does not correlate with the motion intention directly. Soft computing such as fuzzy reasoning, artificial neural networks, or genetic algorithm is one of the key technologies to extract the user’s motion intention from the EMG or EEG of the user.
In the presentation, several soft computing methods, which are used to extract the user’s motion intention from the EMG or EEG of the user to activate the power-assist robots or the robotic limbs in real-time, are explained. The flexibility of the soft computing effectively works in those methods. Control methods for the power-assist robots and the robotic limbs are also explained. Furthermore, the latest studies on the human assist robots are discussed..
20. Kazuo Kiguchi, Design and Control of Human Assistive Robots, 招待講演, 2013.11.
21. Kazuo Kiguchi, Yutaka Yokomine, Nobuhiro Okada, Yoshiaki Hayashi, Control of Foot Trajectory in Perception‐Assist with a Power‐Assist Robot, Second International Conference on Robot, Vision and Signal Processing (RVSP-2013), 2013.12.
22. Takahiro Tsuji, Kazuo Kiguchi, Nobuhiro Okada, Yasutaka Tsuji, Munenori Uemura, Makoto Hashizume, A Study on Mechanical Properties of Pig’s Organ for an Organ’s Model in Surgery Simulator, Nineteenth International Symposium on Artificial Life and Robotics 2014 (AROB 19th 2014), 2014.01.
23. Kazuo Kiguchi, Control of motion assist robots based on EMG and EEG signals, Workshop on Artificial Intelligence in Rehabilitation Robotics at the 2014 IEEE International Conference on Robotics and Automation(ICRA2014), 2014.05.
24. Kazuo Kiguchi, Yoshiaki Hayashi, Task Estimation of Upper-Limb Using EEG and EMG Signals, AIM2014, 2014.07.
25. Thilina Lalitharatne, Kenbu Teramoto, Yoshiaki Hayashi, Kaori Tamura, Kazuo Kiguchi, EEG-based evaluation for perception-assist in upper-limb power-assist exoskeletons, WAC2014, 2014.08.
26. Kazuo Kiguchi, Kaori Tamura, Yoshiaki Hayashi, Estimation of User's Hand Motion based on EMG and EEG Signals, WAC2014, 2014.08.
27. Kazuo Kiguchi, Design and Control of Human Assist Robots, WAC2014, 2014.08.
28. Kazuo Kiguchi, Yoshiaki Hayashi, A Study on Effect of Muscle Tension on Artificial Hip Joint Dislocation, The 15th IUMRS-International Conference in Asia (IUMRS-ICA 2014), 2014.08.
29. Shunji Hirokawa, Teruo Murakami, Kazuo Kiguchi, Michihiko Fukunaga, Kinematics and Kinetics of the Knee Joint in High Flexion, The 15th IUMRS-International Conference in Asia (IUMRS-ICA 2014), 2014.08.
30. Kazuo Kiguchi, Yutaka Yokomine, Walking Assist for a Stroke Survivor with a Power-Assist
Exoskeleton, SMC2014, 2014.10.
31. Kazuo Kiguchi, Human Assist Robot Systems, The Seventh Kyushu University-KAIST Joint Workshop on Frontiers in Mechanical Engineering, 2014.09, Human assist robots are expected to play an important role to enrich human daily life in
these days. Especially, power-assist robots or robotic limbs are used to assist daily
activities of physically weak persons or disabled persons. User’s biological signals such
as EMG (Electromyogram) and EEG (Electroencephalogram) are important signals to
understand the user’s motion intention. The motion intention can be directly estimated
with the EMG in real time since the EMG directly reflects the muscle activity level.
However, it is sometimes difficult to obtain the EMG from paralyzed persons or
amputees. On the other hand, EEG can be obtained even from the paralyzed persons or
amputees, although it does not correlate with the motion intention directly. In the
presentation, the EMG-based power-assist and the EEG-based power-assist are
explained. In the case of power-assist, not only motor ability of the user, but also
sensory ability of the user must be assisted sometimes. The concept of perception-assist
is introduced to assist the sensory ability of the user as well as the motor ability of the
user in the presentation. A method of tremor suppression is also explained for the
power-assist..
32. Kazuo Kiguchi, Atsushi Komori, Taiki Kouno, A Study on Motion Modification Force in
Perception-Assist for a Lower-Limb Power-Assist
Exoskeleton
, SCIS & ISIS 2014, 2014.12.
33. Kouki Arima, Nobuhiro Okada, Yasutaka Tsuji, Kazuo Kiguchi, Evaluations of a Multiple SOMs Method for Estimating Missing Values, 2014 IEEE/SICE International Symposium on System Integration(SII2014), 2014.12.
34. Kazuo Kiguchi, Yoshiaki Hayashi, A Study of Features of EEG Signals During Upper-Limb Motion (I), AIM2015 , 2015.07.
35. Kazuo Kiguchi, Jumpei Arata, Hattori, Masashi, Sakaguchi, Masamichi, Ryu Nakadate, Makoto Hashizume, Operability Study on the Multisensory Illusion Inducible in Microsurgical Robotic Systems, The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.09.
36. Kazuo Kiguchi, Jumpei Arata, Yuki Kamura, Ryu Nakadate, Susumu Oguri, Makoto Hashizume, Multi-DOF Robotic Forceps for Laparoscopy using in-frame spring mechanism, The 6th International Conference on Advanced Mechatronics (ICAM2015) , 2015.12.
37. Kazuo Kiguchi, Jumpei Arata, Sanjaya Bandara, Detecting the Motion Intention of the Humans with EEG Signals, The 6th International Conference on Advanced Mechatronics (ICAM2015), 2015.12.
38. Kazuo Kiguchi, Futoshi Kobayashi, Hiroyuki Nakamoto, Assistive Technology and Intelligent Robotics , The Third International Conference on Computing Measurement Control and Sensor Network - 2016, 2016.05.
39. Sanjaya Bandara, 荒田 純平, 木口 量夫, 「EEG based motion intention prediction with neural networks」, ロボティクス・メカトロニクス講演会2016, 2016.06.
40. Kazuo Kiguchi, Tremor Suppression with an Upper-Limb Power-Assist Robot (I), The 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’16), 2016.08.
41. Kazuo Kiguchi, Fusaomi Nagata, Shingo Yoshimoto, Keigo Watanabe, Maki Habib, Design of 3D Printer-Like Data Interface for a Robotic Removable Machining, ICIRA 2016 , 2016.08.
42. Kazuo Kiguchi, Koki Honda, A fundamental study on the effect of vibration stimulation for motion modification in perceptionassist, The 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016), 2016.10.
43. Kazuo Kiguchi, Koki Honda, A Fundamental Study on the Effect of Vibration Stimulation on Triceps Brachii during Elbow Flexion motion for Perception-Assist, 27th IEEE International Symposium on Micro-NanoMechatronics and Human Science (MHS2016), 2016.11.
44. Kazuo Kiguchi, Kota Ikegami, Effective Virtual Tunnel Shape for Motion Modification in Upper-Limb Perception-Assist with a Power-Assist Robot, ICARSE 2016 : 18th International Conference on Automation, Robotics and Software Engineering, 2016.12.
45. Kazuo Kiguchi, Jumpei Arata, Sanjaya Bandara, Task Based Motion Intention Prediction with EEG Signals, IRIS2016, 2016.12.
46. Koki Honda, Kazuo Kiguchi, A Study On The Motion Change Under Loaded Condition Induced By Vibration Stimulation On Biceps Brachii, Fourth International Conference on Cybernetics & Informatics (CYBI 2017), 2017.03.
47. Kazuo Kiguchi, Takahiro Hora, A Virtual Wall for Perception‐Assist with A Lower‐Limb Power‐Assist Robot, The Third International Conference on Computing Measurement Control and Sensor Network - 2016(CMCSN-2016), 2016.05.
48. Kazuo Kiguchi, Chamika Janith Perera, Thilina Dulantha Lalitharatne, EEG-Controlled Meal Assistance Robot with Camera-Based Automatic Mouth Position Tracking and Mouth Open Detection, The 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017.05.
49. Koki Honda, Kazuo Kiguchi, A Study of Motion Change During Lower-Limb Knee Joint Extension Motion Induced by Vibration Stimulation for Perception-Assist, The 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017), 2017.07, Both motor ability and sensory ability are important to generate human daily motion. However, owing to ageing and/or physical handicap, these abilities sometimes decline. In order to assist motor ability and sensory ability, lower-limb/upper-limb power-assist robots with the perception-assist function have been proposed. By using the perception-assist function, the user’s motion is automatically modified when the user makes inappropriate motion or there is a possibility of accidents. On the other hand, in previous studies, the possibility of another effective upper-limb perception-assist method by using vibration stimulation with kinesthetic illusion and/or tonic vibration reflex have been proposed as a new concept of perception-assist method. In this study, to investigate the possibility of lower-limb knee joint motion change with vibration stimulation, vibration stimulation is added to the tendon of biceps femoris muscle and semitendinosus muscle during knee joint extension motion in the experiment. The effective vibration stimulation method for the knee joint motion change is found out in this study. The experimental results show that the lower-limb motion change can be generated with vibration stimulation during continuous knee joint extension motion..
50. Koki Honda, Kazuo Kiguchi, A Study on the Effect of Vibration Stimulation Phase to Knee Joint Extension Motion Change for Perception-assist, 28th IEEE International Symposium on Micro-NanoMechatronics and Human Science (MHS2017), 2017.12.
51. Yosuke Fujisawa, Kazuo Kiguchi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume, Jumpei Arata, Compact 4DOF Robotic Forceps with 3.5 mm in Diameter for Neurosurgery based on a Synthetic Elastic Structure, 28th IEEE International Symposium on Micro-NanoMechatronics and Human Science (MHS2017), 2017.12.
52. Sanjaya Bandara, Jumpei Arata, Kazuo Kiguchi, EEG based motion intention prediztion with neural networks, ロボティクス・メカトロニクス講演会2016, 2016.06.
53. Jogseung Lee, Nobutaka Mukae, Jumpei Arata, Hiroyuki Iwata, Keiji Iramina, Kazuo Kiguchi, Koji Iihara, Makoto Hasizume, Cortically triggered hand rehabilitation robot using NIRS, 第34回日本ロボット学会学術講演会(RSJ2016), 2016.09.
54. Yoshiteru Kobayashi, Ryu Nakadate, Shinya Onogi, Kazuo Kiguchi, Makoto Hashizume, Jumpei Arata, A novel 2-DOF Rotational Parallel Mechanism with a Remote Center of Motion for Microsurgical, The 13th Asian Conference on Computer Aided Surgery (ACCAS2017), 2017.11.
55. E.Kobayashi, D.Kim, K.Saito, K.Hara, Jumpei Arata, Kazuo Kiguchi, Makoto Hashizume, I.Sakuma, Forceps for Measuring Forces Intraoperatively to Acquire Biological and Treatment Information during Laparoscopic Surgery, CARS 2017 31st International Congress and Exhibition, 2017.06.
56. Koki Honda, Kazuo Kiguchi, A Study on the Motion Change under Loaded Condition Induced by Vibration Stimulation for Perception-Assist, The 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2017), 2017.10.
57. Takahiro Hora, Kazuo Kiguchi, Application of Redundant-DOF for Perception-Assist of a Lower-Limb Exoskeleton Robot, CBS 2017- IEEE International Conference on Cyborgs & Bionic Systems, 2017.10.
58. Sanjaya Vipula Bandara, Kazuo Kiguchi, Towards controlling of an upper-limb exoskeleton for motion assist with EEG signals – motion prediction, ICCAS2017 17th International Conference on Control, Automation, and Systems, 2017.10.
59. Koki Honda, Kazuo Kiguchi, A Study on the Effect of Vibration Stimulation during Continuous Knee Joint Flexion/Extension Motion for Lower-limb Perception-assist, ICCAS2017 17th International Conference on Control, Automation, and Systems, 2017.10.
60. Takuto Fujita, Kazuo Kiguchi, Sho Yabunaka, Yusaku Takeda, Toshihiro Hara, Design and Control of a Power-Assist System for Pedal Operation, 2018 International Conference on Mechanical Engineering and Design (ICMED2018), 2018.03.
61. Kazuo Kiguchi,Thilina Lalitharatne,Achala Pallegedara,Palitha Dassanayake, Human assisting robots, MERCon2018, 2018.05.
62. Kazuo Kiguchi,Anjula De Silva,Thilina Lalitharatne, Hack your Thoughts; Key Aspects of Brain-Computer-Interfacing, MERCon2018, 2018.05.
63. Koki Honda,Kazuo Kiguchi, The Motion Change of Forearm Pronation/Supination with Vibration Stimulation for Upper-limb Perception-Assist, World Automation Congress 2018, 2018.06.
64. Kazuo Kiguchi, Future Directions of Human Assist Robot Systems, MERCon2018, 2018.05.
65. Rashidov Oybek, Kazuo Kiguchi, Autonomous control of a lower-limb exoskeleton based on user’ ZMP, 第30回日本機械学会ロボティクス・メカトロニクス講演会, 2018.06.
66. Kazuo Kiguchi, Robotic Technology to Assist Human Activities of Daily Living, HTC2018, 2018.12.
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68. J. Arata,Y. Fujisawa,R. Nakadate, K. Harada, M. Mitsuishi, K. Kiguchi, M. Hashizume, Synthetic elastic mechanism for miniaturized neurosurgical robotic forceps, CARS 2018 , 2018.06.
69. Arata Jumpei, Fujisawa Yosuke, Nakadate Ryu, Kiguchi Kazuo, Harada Kanako, Mitsuishi Mamoru, Hashizume Makoto , Compliant Four Degree-Of-Freedom Manipulator with Locally Deformable Elastic Elements for Minimally Invasive Surgery, ICRA2019, 2019.05.
70. J. Arata, S. V. Bandara, W. Kajihara, R. Nakadate, K. Harada, M. Mitsuishi, K. Kiguchi, M. Hashizume, 2mm surgical manipulator with four degrees-of-freedom for transnasal endoscopy
comprising elastic mechanical elements, CARS2019, 2019.06.
71. Wenbin Liu, Takeru Kai, Kazuo Kiguchi, Fundamental study on forearm tremor suppression with vibration stimulation to forearm muscles, ICMLC2019, 2019.07.
72. Hou Yue, Kazuo Kiguchi, Fuzzy Q-Learning for Perception-Assist of an Upper-Limb Power-Assist Robot, ICMLC2019, 2019.07.
73. Masaki Eto, Hroshi Tsukihara, Etsuko Kobayashi, Kazuo Kiguchi, Ichiro Sakuma, and Makoto Hashizume, In-vivo and in-vitro mechanical properties of pig liver during needle puncture for needle insertion, 2019 IEEE 1st Global Conference on Life Sciences and Technologies, 2019.03.
74. Koki Honda and Kazuo Kiguchi, The Effect of Frequency Change on Elbow Joint Motion Change Under Loaded Conditions for Upper-Limb Perception-Assist, IEEE International Conference on Systems, Man, and Cybernetics (SMC2019), 2019.10.
75. Wenbin Liu, Takeru Kai, and Kazuo Kiguchi, Fundamental Study on Tremor Suppression with Tonic Vibration Reflex During Upper Limb Movement, the 30th International Symposium on Micro-Nano Mechatronics and Human Science (MHS2019), 2019.12.