Updated on 2024/05/09

写真a

 
SHIRAFUJI,Shohei
 
Organization
Faculty of Engineering Science Associate Professor
Title
Associate Professor
External link

Degree

  • PhD (Information Science) ( 2014.9   Osaka University )

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Design engineering  / Mechanism Theory

  • Informatics / Robotics and intelligent system  / Robotics

  • Informatics / Intelligent robotics  / Robotics

  • Life Science / Biomedical engineering  / Biomechanics

Education

  • Osaka University   Graduate School of Information Science and Technology   Department of Multimedia Engineering

    2012.4 - 2014.9

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    Country: Japan

    Notes: PhD (Information Science)

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  • Osaka University   Graduate School of Engineering   Department of Adaptive Machine Systems

    2010.4 - 2012.3

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    Country: Japan

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  • Osaka University   School of Engineering   Department of Adaptive Machine Systems

    2007.4 - 2010.3

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    Country: Japan

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Research History

  • Kansai University   Faculty of Engineering Science Department of Mechanical Engineering   Assistant Professor

    2023.4

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    Country:Japan

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  • The University of Tokyo   The Graduate School of Engineering, The Research into Artifacts, Center for Engineering   Assistant Professor

    2019.4 - 2023.3

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    Country:Japan

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  • The University of Tokyo   Research into Artifacts, Center for Engineering   Project Assistant Professor

    2018.7 - 2019.3

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    Country:Japan

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  • The University of Tokyo   Research into Artifacts, Center for Engineering   Project Researcher

    2015.4 - 2018.6

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    Country:Japan

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  • Osaka University   Graduate School of Engineering Science   Research Fellowships for Young Scientists (PD)

    2014.10 - 2015.3

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    Country:Japan

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Professional Memberships

  • The Robotics Society of Japan

    2021.8 - Present

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  • The Society of Instrument and Control Engineers

    2021.3 - Present

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  • IEEE Engineering in Medicine and Biology Society

    2018.10 - Present

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  • The Japan Society of Mechanical Engineers

    2018.6 - Present

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  • IEEE

    2016.4 - Present

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Committee Memberships

  • The Robotics Society of Japan   Committee on Annual Conference  

    2020.4 - Present   

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    Committee type:Academic society

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  • The Society of Instrument and Control Engineers   Committee on Publishing  

    2020.4 - Present   

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    Committee type:Academic society

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  • The Robotics Society of Japan   Business Planning Committee  

    2018.4 - 2020.3   

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    Committee type:Academic society

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Papers

  • Development of a Robotic Finger with a Branching Tendon Mechanism and Sensing based on the Moment-Equivalent Point Reviewed

    Shouhei Shirafuji, Jun Ota

    Robotics and Autonomous Systems   129   103538 - 103538   2020.7

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.robot.2020.103538

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  • Kinematic Synthesis of a Serial Robotic Manipulator by Using Generalized Differential Inverse Kinematics Reviewed

    Shouhei Shirafuji, Jun Ota

    IEEE Transactions on Robotics   35 ( 4 )   1047 - 1054   2019.8

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tro.2019.2907810

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  • Mechanism Allowing Large-Force Application by a Mobile Robot, and Development of ARODA Reviewed

    Shouhei Shirafuji, Yuri Terada, Tatsuma Ito, Jun Ota

    Robotics and Autonomous Systems   110   92 - 101   2018.12

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.robot.2018.09.005

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  • Study of Design Factors for Transfer-Aid Equipment Based on Caregivers’ Feelings Reviewed

    Shouhei Shirafuji, Taiki Ogata, Zhifeng Huang, Naotaka Matsui, Takeji Ueda, Jukai Maeda, Yasuko Kitajima, Masako Kanai-Pak, Yasushi Umeda, Hideyoshi Yanagisawa, Jun Ota

    Journal of Advanced Mechanical Design, Systems, and Manufacturing   12 ( 1 )   JAMDSM0013 - JAMDSM0013   2018.1

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Japan Society of Mechanical Engineers  

    To avoid back injuries, caregivers are advised to use transfer-aid equipment while transferring a patient from a bed to a wheelchair. Although the usage of such equipment has been recommended for several decades, it remains unpopular in several countries, including Japan. The current study investigates the feelings of caregivers regarding the usage of transfer-aid equipment, the cause of their feelings, and the measures that can be considered in order to increase the acceptance of transfer-aid equipment by the extensive caregiver community. The relations among the movements of users (caregivers and patients) and impressions of the caregivers regarding the equipment, while monitoring the usage of the equipment, were analyzed using Kansei engineering. The relations revealed six distinct feelings that are related to users' movements while using the equipment.

    DOI: 10.1299/jamdsm.2018jamdsm0013

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  • Novel Frictional-Locking-Mechanism for a Flat Belt: Theory, Mechanism, and Validation Reviewed

    Shouhei Shirafuji, Naotaka Matsui, Jun Ota

    Mechanism and Machine Theory   116   371 - 382   2017.10

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.mechmachtheory.2017.06.012

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  • Designing Noncircular Pulleys to Realize Target Motion Between Two Joints Reviewed

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    IEEE/ASME Transactions on Mechatronics   22 ( 1 )   487 - 497   2017.2

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmech.2016.2614961

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  • Development of a Tendon-Driven Robotic Finger for an Anthropomorphic Robotic Hand Reviewed

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    The International Journal of Robotics Research   33 ( 5 )   677 - 693   2014.4

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:SAGE Publications  

    Our paper proposes a tendon-driven robotic finger based on an anatomical model of a human finger and a suitable method for its analysis. Our study aims to realize an anthropomorphic robotic hand that has the same characteristics and dexterity as that of a human hand, and it also aims to identify the advantages of the human musculoskeletal structure for application to the design and control of robot manipulators. When designing an anthropomorphic robotic hand, several devices are required to apply the human finger structure to a tendon-driven robotic finger. Reasons for this include that one of the human finger muscles, namely, the lumbrical muscle, is situated between tendons, which is an unfavorable configuration for the tendon-driven mechanism. Second, unlike a standard pulley used in a tendon-driven mechanism, some moment arms of the human finger change nonlinearly according to the joint angle. In our robotic finger design, we address these difficulties by rearranging its tendons and develop a mechanism to change the moment arm. We also propose a method to analyze and control this robotic fingers coordinating joints using non-stretch branching tendons based on the human extensor mechanism with a virtual tendon Jacobian matrix and the advantage is that this constraint virtually reduces the degrees-of-freedom (DOF) of the mechanism. Further, we build a prototype to confirm its motion using this method. In addition, we show that the state with the reduced DOF can be lost by external forces acting on the mechanism, and this condition can be changed manually by adjusting the tendon forces. This makes it possible to control the virtual DOFs to satisfy the requirements of the task. Finally, we discuss the benefits from anthropomorphic structures including the tendon arrangement, which mimic the human lumbrical muscle, and the above mentioned mechanism with non-linear moment arms from the perspective that there are two states of DOFs. These insights may provide new perspectives in the design of robotic hands.

    DOI: 10.1177/0278364913518357

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    Other Link: http://journals.sagepub.com/doi/full-xml/10.1177/0278364913518357

  • Detection and Prevention of Slip Using Sensors with Different Properties Embedded in Elastic Artificial Skin on the Basis of Previous Experience Reviewed

    Shouhei Shirafuji, Koh Hosoda

    Robotics and Autonomous Systems   62 ( 1 )   46 - 52   2014.1

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.robot.2012.07.016

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  • Evaluation of the Giving-Way-Prevention Function of a Soft Exosuit Incorporating the Multi-articular Muscle Mechanism

    Tomu Makino, Tetsuya Hasegawa, Shouhei Shirafuji, Jun Ota, Arito Yozu

    2023 International Symposium on Micro-NanoMehatronics and Human Science (MHS)   2023.11

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    Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/mhs59931.2023.10510021

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  • Development of a Three-Mobile-Robot System for Cooperative Transportation Reviewed

    Changxiang Fan, Fan Zeng, Shouhei Shirafuji, Jun Ota

    Journal of Mechanisms and Robotics   16 ( 2 )   2023.3

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ASME International  

    Abstract

    The transportation of large-scale objects in a narrow space is a challenging, but useful application for mobile robots. We have developed a three-mobile-robot system to cooperatively lift, support, and transport a large object on a mobile robot system. To facilitate the manipulation involved with loading an object onto the robots, where the robots must maintain firm contact with the object and anchor at its location, we designed an adaptable mechanism for the object-loading platform and a liftable brake to ensure that the robot remains stationary when necessary. Furthermore, each robot is designed to act as an omnidirectional wheel; therefore, all three robots can work as an omnidirectional block when collectively loading an object. The kinematic constraints of the object–robot system and forward kinematics of the robots’ cooperative motion are proposed, and experiments are conducted to confirm the designed mechanisms and confirm that the robots can load an object and cooperatively transport it along the expected trajectory.

    DOI: 10.1115/1.4056771

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  • Estimating Finger Joint Motions Based on the Relative Sliding of Layered Belts Reviewed

    Shouhei Shirafuji, Masafumi Kobayashi, Jun Ota

    IEEE Sensors Journal   22 ( 19 )   18366 - 18375   2022.10

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

    DOI: 10.1109/jsen.2022.3200017

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  • Muscle synergy analysis yields an efficient and physiologically relevant method of assessing stroke Reviewed

    Tetsuro Funato, Noriaki Hattori, Arito Yozu, Qi An, Tomomichi Oya, Shouhei Shirafuji, Akihiro Jino, Kyoichi Miura, Giovanni Martino, Denise Berger, Ichiro Miyai, Jun Ota, Yury Ivanenko, Andrea d’Avella, Kazuhiko Seki

    Brain Communications   4 ( 4 )   2022.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Oxford University Press (OUP)  

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    The Fugl-Meyer Assessment is widely used to test motor function in stroke survivors. In the Fugl-Meyer Assessment, stroke survivors perform several movement tasks and clinicians subjectively rate the performance of each task item. The individual task items in the Fugl-Meyer Assessment are selected on the basis of clinical experience, and their physiological relevance has not yet been evaluated. In the present study, we aimed to objectively rate the performance of task items by measuring the muscle activity of 41 muscles from the upper body while stroke survivors and healthy participants performed 37 Fugl-Meyer Assessment upper extremity task items. We used muscle synergy analysis to compare muscle activity between subjects and found that 13 muscle synergies in the healthy participants (which we defined as standard synergies) were able to reconstruct all of the muscle activity in the Fugl-Meyer Assessment. Among the standard synergies, synergies involving the upper arms, forearms and fingers were activated to varying degrees during different task items. In contrast, synergies involving posterior trunk muscles were activated during all tasks, which suggests the importance of posterior trunk muscle synergies throughout all sequences. Furthermore, we noted the inactivation of posterior trunk muscle synergies in stroke survivors with severe but not mild impairments, suggesting that lower trunk stability and the underlying activity of posterior trunk muscle synergies may have a strong influence on stroke severity and recovery. By comparing the synergies of stroke survivors with standard synergies, we also revealed that some synergies in stroke survivors corresponded to merged standard synergies; the merging rate increased with the impairment of stroke survivors. Moreover, the degrees of severity-dependent changes in the merging rate (the merging rate–severity relationship) were different among different task items. This relationship was significant for 26 task items only and not for the other 11 task items. Because muscle synergy analysis evaluates coordinated muscle activities, this different dependency suggests that these 26 task items are appropriate for evaluating muscle coordination and the extent of its impairment in stroke survivors. Overall, we conclude that the Fugl-Meyer Assessment reflects physiological function and muscle coordination impairment and suggest that it could be performed using a subset of the 37 task items.

    DOI: 10.1093/braincomms/fcac200

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    Other Link: https://academic.oup.com/braincomms/article-pdf/4/4/fcac200/45407952/fcac200.pdf

  • New educational development of artifactology Reviewed

    Tatsunori HARA, Bach Q HO, Shohei SHIRAFUJI, Taira OKITA, Yukihisa KURIYAMA, Seiichi KOSHIZUKA

    Synthesiology   2021 ( 2 )   1 - 13   2021.12

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Editorial Committee of Synthesiology  

    DOI: 10.5571/synth.2021.2_1

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  • An Accurate and Efficient Voting Scheme for a Maximally All-Inlier 3D Correspondence Set Reviewed

    Hamdi Sahloul, Shouhei Shirafuji, Jun Ota

    IEEE Transactions on Pattern Analysis and Machine Intelligence   43 ( 7 )   2287 - 2298   2021.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tpami.2020.2963980

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  • Developing a Digital Twin Learning Factory of Automated Assembly Based on ‘digital Triplet’ Concept Reviewed

    Yasushi Umeda, Junpei Goto, Yuki Hongo, Shouhei Shirafuji, Hiroshi Yamakawa, Dongsik Kim, Jun Ota, Hiroki Matsuzawa, Takuji Sukekawa, Fumio Kojima, Masahiro Saito

    SSRN Electronic Journal   2021

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

    DOI: 10.2139/ssrn.3859019

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  • Muscle Activation Patterns Estimation during Repeated Wrist Movements from MRI and sEMG* Reviewed

    Enrico Piovanelli, Davide Piovesan, Shouhei Shirafuji, Natsue Yoshimura, Yousuke Ogata, Jun Ota

    2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)   2020.11

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

    DOI: 10.1109/biorob49111.2020.9224321

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  • Objective Functions of Principal Contact Estimation from Motion Based on the Geometrical Singular Condition Reviewed

    Seiya Ishikawa, Shouhei Shirafuji, Jun Ota

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   2020.10

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    DOI: 10.1109/iros45743.2020.9341694

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  • Human Position and Head Direction Tracking in Fisheye Camera Using Randomized Ferns and Fisheye Histograms of Oriented Gradients Reviewed

    Veerachart Srisamosorn, Noriaki Kuwahara, Atsushi Yamashita, Taiki Ogata, Shouhei Shirafuji, Jun Ota

    The Visual Computer   36 ( 7 )   1443 - 1456   2020.7

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Springer Science and Business Media LLC  

    This paper proposes a system for tracking human position and head direction using fisheye camera mounted to the ceiling. This is believed to be the first system to estimate head direction from ceiling-mounted fisheye camera. Fisheye histograms of oriented gradients descriptor is developed as a substitute to the histograms of oriented gradients descriptor which has been widely used for human detection in perspective camera. Human body and head are detected by the proposed descriptor and tracked to extract head area for direction estimation. Direction estimation using randomized ferns is adapted to work with fisheye images by using the proposed descriptor, guided by the direction of movement. With experiments on available dataset and new dataset with ground truth, the direction can be estimated with average error below 40 circle, with head position error half of the head size.

    DOI: 10.1007/s00371-019-01749-9

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    Other Link: http://link.springer.com/article/10.1007/s00371-019-01749-9/fulltext.html

  • Indoor Human Face Following with Environmental Fisheye Cameras and Blimp Reviewed

    Veerachart Srisamosorn, Noriaki Kuwahara, Atsushi Yamashita, Taiki Ogata, Shouhei Shirafuji, Jun Ota

    Advanced Robotics   34 ( 9 )   621 - 636   2020.5

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

    A combination of fixed fisheye camera system and a blimp performed the task of human following in an indoor environment in this paper, focusing on tracking the subject's face. Hierarchical control algorithm is used to combine information from fisheye cameras and blimp's camera to track the face to handle common human's translation and rotation movements. In this way, even when the face is not visible in the blimp's camera, the relative position between the blimp and the person is still available from fisheye cameras. The blimp can be controlled to move closer to the face, where it should be detectable. If the face can be detected and matched with the position of the person, the blimp can use it to adjust its position for a better track of the face. An experiment was conducted inside an office environment to demonstrate human following behavior of the blimp. With the face invisible to the blimp's camera 34.6 % of the experiment time, it could still move to recover the track of the face, using information from the fisheye cameras.

    DOI: 10.1080/01691864.2020.1747537

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  • Towards a Simplified Estimation of Muscle Activation Pattern from MRI and EMG Using Electrical Network and Graph Theory Reviewed International journal

    Enrico Piovanelli, Davide Piovesan, Shouhei Shirafuji, Becky Su, Natsue Yoshimura, Yousuke Ogata, Jun Ota

    Sensors   20 ( 3 )   724 - 724   2020.1

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:MDPI AG  

    Muscle functional MRI (mfMRI) is an imaging technique that assess muscles’ activity, exploiting a shift in the T2-relaxation time between resting and active state on muscles. It is accompanied by the use of electromyography (EMG) to have a better understanding of the muscle electrophysiology; however, a technique merging MRI and EMG information has not been defined yet. In this paper, we present an anatomical and quantitative evaluation of a method our group recently introduced to quantify its validity in terms of muscle pattern estimation for four subjects during four isometric tasks. Muscle activation pattern are estimated using a resistive network to model the morphology in the MRI. An inverse problem is solved from sEMG data to assess muscle activation. The results have been validated with a comparison with physiological information and with the fitting on the electrodes space. On average, over 90% of the input sEMG information was able to be explained with the estimated muscle patterns. There is a match with anatomical information, even if a strong subjectivity is observed among subjects. With this paper we want to proof the method’s validity showing its potential in diagnostic and rehabilitation fields.

    DOI: 10.3390/s20030724

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  • Exercise of digital kaizen activities based on ‘digital triplet’ concept

    Yasushi Umeda, Jun Ota, Shouhei Shirafuji, Fumio Kojima, Masahiro Saito, Hiroki Matsuzawa, Takuji Sukekawa

    Procedia Manufacturing   45   325 - 330   2020

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

    DOI: 10.1016/j.promfg.2020.04.025

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  • A Simple Method to Estimate Muscle Currents from HD-sEMG and MRI using Electrical Network and Graph Theory * Reviewed

    E. Piovanelli, D. Piovesan, S. Shirafuji, J. Ota

    2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)   2019.7

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

    DOI: 10.1109/embc.2019.8856616

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  • Estimating Deep Muscles Activation from High Density Surface EMG Using Graph Theory Reviewed

    Enrico Piovanelli, David Piovesan, Shouhei Shirafuji, Jun Ota

    2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)   2019.6

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

    DOI: 10.1109/icorr.2019.8779462

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  • Modal Planning for Cooperative Non-Prehensile Manipulation by Mobile Robots Reviewed

    Changxiang Fan, Shouhei Shirafuji, Jun Ota

    Applied Sciences   9 ( 3 )   462 - 462   2019.1

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:MDPI AG  

    If we define a mode as a set of specific configurations that hold the same constraint, and if we investigate their transitions beforehand, we can efficiently probe the configuration space by using a manipulation planner. However, when multiple mobile robots together manipulate an object by using the non-prehensile method, the candidates for the modes and their transitions become enormous because of the numerous contacts among the object, the environment, and the robots. In some cases, the constraints on the object, which include a combination of robot contacts and environmental contacts, are incapable of guaranteeing the object’s stability. Furthermore, some transitions cannot appear because of geometrical and functional restrictions of the robots. Therefore, in this paper, we propose a method to narrow down the possible modes and transitions between modes by excluding the impossible modes and transitions from the viewpoint of statics, kinematics, and geometry. We first generated modes that described an object’s contact set from the robots and the environment while ignoring their exact configurations. Each multi-contact set exerted by the robots and the environment satisfied the condition necessary for the force closure on the object along with gravity. Second, we listed every possible transition between the modes by determining whether or not the given robot could actively change the contacts with geometrical feasibility. Finally, we performed two simulations to validate our method on specific manipulation tasks. Our method can be used in various cases of non-prehensile manipulations by using mobile robots. The mode transition graph generated by our method was used to efficiently sequence the manipulation actions before deciding the detailed configuration planning.

    DOI: 10.3390/app9030462

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  • 3D Affine: An Embedding of Local Image Features for Viewpoint Invariance Using RGB-D Sensor Data Reviewed

    Hamdi Sahloul, Shouhei Shirafuji, Jun Ota

    Sensors   19 ( 2 )   291 - 291   2019.1

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:MDPI AG  

    Local image features are invariant to in-plane rotations and robust to minor viewpoint changes. However, the current detectors and descriptors for local image features fail to accommodate out-of-plane rotations larger than 25°–30°. Invariance to such viewpoint changes is essential for numerous applications, including wide baseline matching, 6D pose estimation, and object reconstruction. In this study, we present a general embedding that wraps a detector/descriptor pair in order to increase viewpoint invariance by exploiting input depth maps. The proposed embedding locates smooth surfaces within the input RGB-D images and projects them into a viewpoint invariant representation, enabling the detection and description of more viewpoint invariant features. Our embedding can be utilized with different combinations of descriptor/detector pairs, according to the desired application. Using synthetic and real-world objects, we evaluated the viewpoint invariance of various detectors and descriptors, for both standalone and embedded approaches. While standalone local image features fail to accommodate average viewpoint changes beyond 33.3°, our proposed embedding boosted the viewpoint invariance to different levels, depending on the scene geometry. Objects with distinct surface discontinuities were on average invariant up to 52.8°, and the overall average for all evaluated datasets was 45.4°. Similarly, out of a total of 140 combinations involving 20 local image features and various objects with distinct surface discontinuities, only a single standalone local image feature exceeded the goal of 60° viewpoint difference in just two combinations, as compared with 19 different local image features succeeding in 73 combinations when wrapped in the proposed embedding. Furthermore, the proposed approach operates robustly in the presence of input depth noise, even that of low-cost commodity depth sensors, and well beyond.

    DOI: 10.3390/s19020291

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  • Development of an Education Program for Digital Manufacturing System Engineers Based on ‘Digital Triplet’ Concept Reviewed

    Yasushi Umeda, Jun Ota, Fumio Kojima, Masahiro Saito, Hiroki Matsuzawa, Takuji Sukekawa, Akihide Takeuchi, Kazuya Makida, Shouhei Shirafuji

    Procedia Manufacturing   31   363 - 369   2019

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

    DOI: 10.1016/j.promfg.2019.03.057

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  • Force Sensing for Multi-point Contact Using a Constrained, Passive Joint Based on the Moment-Equivalent Point Reviewed

    Shouhei Shirafuji, Jun Ota

    Intelligent Autonomous Systems 15   388 - 400   2019

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:Springer International Publishing  

    DOI: 10.1007/978-3-030-01370-7_31

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  • Least Action Sequence Determination in the Planning of Non-prehensile Manipulation with Multiple Mobile Robots

    Changxiang Fan, Shouhei Shirafuji, Jun Ota

    Intelligent Autonomous Systems 15   174 - 185   2019

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

    DOI: 10.1007/978-3-030-01370-7_14

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  • Analysis of Rockers during the Stance Phase of Gait for Feature Extraction Reviewed

    Kaito Tsunetomo, Shouhei Shirafuji, Jun Ota

    2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS)   2018.12

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

    DOI: 10.1109/mhs.2018.8887058

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  • Development of a Mobile Robot Capable of Tilting Heavy Objects and its Safe Placement with Respect to Target Objects Reviewed

    Tatsuma Ito, Shouhei Shirafuji, Jun Ota

    2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2018.12

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

    DOI: 10.1109/robio.2018.8665241

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  • Refining Two Robots Task Execution Through Tuning Behavior Trajectory and Balancing the Communication Reviewed

    Jorge David Figueroa Heredia, Shouhei Shirafuji, Hamdi M. Sahloul, Jose Ildefonso U. Rubrico, Taiki Ogata, Tatsunori Hara, Jun Ota

    Journal of Robotics and Mechatronics   30 ( 4 )   613 - 623   2018.8

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

    A method for modifying robot behaviors is introduced to improve robot performance during the execution of object manipulation tasks. The purpose of this method is to minimize the execution time of tasks and prevent collision with obstacles, including objects to be manipulated and the robot itself, by considering two approaches. The first is to use the potential that robots can provide, considering that the programs are based on events that are subject to the response of sensors. The second is to determine the maximum rate at which commands can be sent, without affecting the responses from the sensors, and, based on that, to accelerate or decelerate the execution of the task. The proposed method focuses on the refinement of two approaches: (a) modifying the trajectory of some behaviors, so that they are not executed step by step, but are executed in parallel, and (b) increasing the rate of sending robotic commands. To validate the proposed method, four real-world tasks are presented, including the flipping of a briefcase, the flipping of a weighing scale, the lifting of a weighing scale, and the opening of a folding chair, performed by a set of small robots. The reduction in execution time of the tasks varied between 54.2% and 73.6%; the implications of the improvement are discussed based on experimental results.

    DOI: 10.20965/jrm.2018.p0613

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  • Estimation of Fingertip Forces Using High-Density Surface Electromyography Reviewed

    Kaori Fujikawa, Shouhei Shirafuji, Becky Su, Enrico Piovanelli, Jun Ota

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS)   2017.12

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

    DOI: 10.1109/mhs.2017.8305265

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  • Non-Invasive Estimation Method for Lumbar Spinal Motion using Flat Belts and Wires Reviewed

    Yalcin Akin, Shouhei Shirafuji, Jun Ota

    2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2017.12

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    DOI: 10.1109/robio.2017.8324413

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  • Teaching Tasks to Multiple Small Robots by Classifying and Splitting a Human Example Reviewed

    Jorge David Figueroa Heredia, Jose Ildefonso U. Rubrico, Shouhei Shirafuji, Jun Ota

    Journal of Robotics and Mechatronics   29 ( 2 )   419 - 433   2017.4

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

    [abstFig src='/00290002/14.jpg' width='300' text='Two robots performing the task of opening the folding chair lying on the floor' ] In this study, we present a novel framework to address the problem of teaching manipulation tasks performed by a single human to a set of multiple small robots in a short period. First, we focused on classifying the manipulation style used during a human-performed task. An allocator process is proposed to determine the type and number of robots to be taught based on the capabilities of available robots. Then, according to the detected task requirements, robot behaviors are generated to create robot programs by splitting human demonstration data. Small robots were used to evaluate our approach in four defined tasks that were taught by a single human. Experiments demonstrated the efficiency of the method to classify and judge whether the division of a task is necessary or not. Moreover, robot programs were generated for manipulating selected objects either individually or in a cooperative manner.

    DOI: 10.20965/jrm.2017.p0419

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  • Mechanism Allowing a Mobile Robot to Apply a Large Force to the Environment Reviewed

    Shouhei Shirafuji, Yuri Terada, Jun Ota

    Intelligent Autonomous Systems 14   795 - 808   2017

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    Authorship:Lead author, Corresponding author   Publishing type:Research paper (international conference proceedings)   Publisher:Springer International Publishing  

    DOI: 10.1007/978-3-319-48036-7_58

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  • Proposal of a Stance Postural Control Model with Vestibular and Proprioceptive Somatosensory Sensory Input Reviewed

    Ping Jiang, Shouhei Shirafuji, Ryosuke Chiba, Kaoru Takakusaki, Jun Ota

    Intelligent Autonomous Systems 14   39 - 51   2017

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

    DOI: 10.1007/978-3-319-48036-7_4

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  • Locking Mechanism Based on Flat, Overlapping Belt, and Ultrasonic Vibration Reviewed

    Naotaka Matsui, Shouhei Shirafuji, Jun Ota

    2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2016.12

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

    DOI: 10.1109/robio.2016.7866365

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  • Source Separation and Localization of Individual Superficial Forearm Extensor Muscles Using High-Density Surface Electromyography Reviewed

    Becky Su, Shouhei Shirafuji, Tomomichi Oya, Yousuke Ogata, Tetsuro Funato, Natsue Yoshimura, Luca Pion-Tonachini, Scott Makeig, Kazuhiko Seki, Jun Ota

    2016 International Symposium on Micro-NanoMechatronics and Human Science (MHS)   2016.11

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

    DOI: 10.1109/mhs.2016.7824149

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  • Anthropomorphic Finger Mechanism with a Nonelastic Branching Tendon Reviewed

    Kazuya Yanagisawa, Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    Intelligent Autonomous Systems 13   1159 - 1171   2016

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

    DOI: 10.1007/978-3-319-08338-4_84

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  • Foreground Segmentation with Efficient Selection from ICP Outliers in 3D Scene Reviewed

    Hamdi M. Sahloul, H. Jorge D. Figueroa, Shouhei Shirafuji, Jun Ota

    2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2015.12

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

    DOI: 10.1109/robio.2015.7418962

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  • Tendon Routing Resolving Inverse Kinematics for Variable Stiffness Joint Reviewed

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    2014 IEEE/RSJ International Conference on Intelligent Robots and Systems   2014.9

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/iros.2014.6943108

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  • Trajectory Control Strategy for Anthropomorphic Robotic Finger Reviewed

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    Biomimetic and Biohybrid Systems   284 - 295   2014

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Part of collection (book)   Publisher:Springer International Publishing  

    DOI: 10.1007/978-3-319-09435-9_25

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  • Design of an Anthropomorphic Tendon-Driven Robotic Finger Reviewed

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2012.12

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    DOI: 10.1109/robio.2012.6490995

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  • Tactile Sensitivity Modulation of Elastic Skin by Change of Grasping Force Reviewed

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    Proceedings of The 5th International Symposium on Adaptive Motion of Animal and Machines   2011.10

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  • Detection and Prevention of Slip Using Sensors with Different Properties Embedded in Elastic Artificial Skin on the Basis of Previous Experience Reviewed

    Shouhei Shirafuji, Koh Hosoda

    2011 15th International Conference on Advanced Robotics (ICAR)   459 - 464   2011.6

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IEEE  

    In dexterous robotic manipulation it is essential to control the force exerted by the robot hands while grasping. This paper describes a method by which robot hands can be controlled on the basis of previous experience of slippage of objects held by the hand. We developed an anthropomorphic human scale robot hand equipped with an elastic skin in which two types of sensors are randomly embedded. One of these sensors is a piezoelectric polyvinylidenefluoride (PVDF) film which can be used for the detection of pressure changes. The other is a strain gauge which can measure static pressure. In our system, PDVF films are used to detect slipping, and strain gauges to measure stresses which are caused by normal and shear forces. The stress measured by the strain gauges are used as input data to the neural network which controls the actuators of the robot. Once a slip is detected, the neural network is updated. We show that this system can control the grasp force of the robot hand and adapt it to the weight of the held object. By using this method, it wa shown that robots can hold grasped objects safely. © 2011 IEEE.

    DOI: 10.1109/icar.2011.6088598

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MISC

  • 軽量で着脱容易な歩行支援装具の開発

    牧野冬武, 長谷川哲也, 白藤翔平, 太田順, 四津有人

    日本ロボット学会学術講演会予稿集(CD-ROM)   40th   2022

Presentations

  • Estimation of Three Finger Joint Angle based on Relative Slide of Strings

    KOBAYASHI Masafumi, SHIRAFUJI Shohei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020

    Language:Japanese  

    <p>This paper presents the method for estimating three finger joints angle at the same time using four strings and three flexible layered belts. The method applied the difference of slide displacement of strings during finger flexion. The belt keeps the relative distance from the rotational center, and the relative displacement of strings is in proportion to the joints angle. Moreover, fixing the strings and belts step by step on the finger joint enables to estimate each joints angle simultaneously. The developed device realized the measurement of finger motion, although most of the similar devices require the calibration to identify the individual finger shape. We experimented on the device with the finger model to evaluate the accuracy of the estimation of finger movement. We validated that this system estimates each finger joints angle by about 5 degree on root-mean-square error (RMSE).</p>

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  • Estimation of cotact geometry from motion by optimization

    ISHIKAWA Seiya, SHIRAFUJI Shouhei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020

    Language:Japanese  

    <p>In this paper we estimate the principal contact between an unknown manipulation-target object and its unknown environment, when the object is moved while keeping contact with the environment. We derived objective functions for two types of principal contacts, by focusing on the constraints caused by the contact. By minimizing the proposed objective functions, the geometric information of a contact (a point of vertex, a line of edge, a plane of face) can be estimated. We verified the two objective functions by an experiment. We were able to estimate the geometric information of the contact.</p>

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  • Education on Synthesis-oriented Engineering incorporating Project-based Learning and Reflection:Intensive course on “Engineering Foundation for Synthesis of Artifacts” at Graduate School of Engineering, The University of Tokyo

    Hara T., Ho B. Q., Shirafuji S., Okita T., Kuriyama Y., Koshizuka S.

    Proceedings of the Conference of Transdisciplinary Federation of Science and Technology  2019  Transdisciplinary Federation of Science and Technology

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    Event date: 2019

    Language:Japanese  

    In this intensive course, which has been held for three years since 2016, students began withlearning social technology, use / maintenance, measurement, manufacturing, design, function, and service.These are viewpoints of synthesis-oriented engineering. Next, they worked on problem-solving projectbasedexercises using these points of view. Each section in the exercise was devised so that they can investigateunintentional problems that artifacts can cause in interaction with other artifacts, humans, and society.After the exercises, students deepened their understanding of synthesis-oriented engineering throughreview of general discussion and self-evaluation. Questionnaire results showed learning effect and degreeof understanding about each viewpoint.

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  • Kinematics Analysis for Estimation of Contact Conditions in Teaching

    ISHIKAWA Seiya, SHIRAFUJI Shouhei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    Event date: 2019

    Language:Japanese  

    <p>In this research, we aimed to estimate the contact condition between an object and the environment using the information on motion, when a person manipulates an object while making contact with the environment. The shape of the object was assumed to be unknown. We classified the contact conditions according to the restriction of their motion and proposed a method to estimate the contact condition using the information on the position and orientation of the object. In the experiment, we measured the motion of an object for some contact conditions and compared the measured value with the theoretical value calculated by our method. As a result, we verified part of our method.</p>

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  • Placeable Region of Mobile Robot to Tilt Heavy Objects

    ITO Tatsuma, SHIRAFUJI Shouhei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    <p>In this paper, we dealt with the problem to tilt a heavy object in a target direction by a mobile robot. In this kind of manipulation, the reactive force easily topples the robot. We have proposed the mechanism to avoid the falling of the robot. The placement of the robot with the proposed device is crucial to tilt a heavy object because it determines the force direction. Therefore, we derived the restrictions of the manipulation of the robot as the constraints on the displacement of the robot analytically.</p>

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  • Influence of club characteristics change on golf swing

    HATANAKA Ryoji, SUZUKI Katsuyuki, SHIRAHUJI Syouhei, SHIMONO Satoshi, MATSUBARA Kae

    The Proceedings of the Symposium on sports and human dynamics  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    <p>Techniques called "Fitting", which considers the individual swing characteristics and suggests a golf club optimal for the player, have attracted attention. In the system developed by the authors so far, we can find optimally designed the golf clubs for the individual swing by swinging nine clubs of different characteristics. In this study, for researching relationship with golf swings and club characteristic, we measured four golfer's swings by motion capture system. Subjects swung two clubs that differ the shaft kick point, and we composed observance matrix from positional data. We conducted SVD to this observance matrix, and conducted Three-way ANOVA to each club motion. As a result, we can decompose golf swing into simple motion combination, and clarify the timing to be affected by the difference in shaft kick point.</p>

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  • Design Method of Manipulator by Using Differential Inverse Kinematics

    SHIRAFUJI Shouhei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date: 2018

    Language:Japanese  

    <p>In this paper, we dealt with the problem of designing of a serial manipulator which realize the given trajectory of its end-effector approximately with a small number of joints. Most of the cases, there is no analytical solution for this kind of problems. We proposed the methodology to solve this problem using the optimization with generalized inverse kinematics.</p>

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  • Design of Robotic Leg Using Wires and Non-circular Pulleys

    SHIRAFUJI Shouhei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    <p>Non-circular pulleys and a wire can be used to constrain the motion between two rotational joints in order to generate a given coordinated motion of the joints. In this paper, the methodology to derive the shapes of non-circular pulleys for a given coordinated motion of the joints is introduced. Furthermore, the shapes of non-circular pulleys to move the robotic leg with four joints using the wire constraints are derived by this methodology for both of the stance and swing phase. The designed robotic leg can be used to develop a new passive dynamic walker.</p>

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  • Development of Small Mobile Robot to Manipulate Heavy Objects by the Cooperation

    ITO Tatsuma, SHIRAFUJI Shouhei, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    <p>Manipulation of heavy objects using traditional mobile robots is very difficult because they often fall by reactive forces when they apply a large force to an object. In this study, small mobile robots with a linear actuator and a passive joint at the foot of it are developed not to fall by these reactive forces. The robots can variously manipulate heavy objects by cooperating with one another. As an example, inclination of a heavy object, which is important to realize transportation, is demonstrated by the cooperation of the two developed robots. They succeeded to incline an object more than 40kg.</p>

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  • Development of Frictional Locking Mechanism for a Flat Belt

    SHIRAFUJI Shouhei, MATSUI Naotaka, OTA Jun

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers

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    Event date: 2017

    Language:Japanese  

    <p>A flat belt is widely used in various mechanical devices to transmit a force. In this paper, a new locking mechanism to lock a flat belt using frictional forces between the flat belt and the curved surface is proposed based on the novel way to analyze the statics of an overlapping flat belt. The unlocking mechanism which changes the contact region of the flat belt with a small force is also proposed. Using this mechanism, the flat belt can be switched between being locked and unlocked.</p>

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  • 小型移動ロボットによる大型物体のマニピュレーションのための機構開発

    寺田 悠理, 白藤 翔平, 太田 順

    精密工学会学術講演会講演論文集  2016  公益社団法人 精密工学会

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    Event date: 2016

    Language:Japanese  

    小型移動ロボットにより大型物体のマニピュレーションをするには,作業反力によるロボットの転倒,すべりという問題を解決する必要がある.本研究では,傾け作業におけるロボットの転倒の条件の整理,ロボットと床面,作業対象物間での摩擦の解析により,ロボットが転倒,すべりを起こさずに可能な限り力を発揮できる機構を提案した.また,実際に機構を制作し,ロボットが自律的にマニピュレーションを行うシステムを構築した.

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  • Development of three-finger robot hand for adaptive gripping with non-elastic branching tendons

    YANAGISAWA Kazuya, SHIRAFUJI Shouhei, IKEMOTO Shuhei, HOSODA Koh

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2016  The Japan Society of Mechanical Engineers

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    Event date: 2016

    Language:Japanese  

    <p>Human can pinch and grasp an object using his finger or fingertip with multiple contact points. The multiple-point contact increases stability while the object is grasped and controlled. We developed the anthropomorphic robotic finger with non-elastic branching tendon mechanism in order to realise the reaching motion with less actuators in our previous work. However, it was difficult to accomplish the grasping with multipoint contact. Thus, we develop a new robot hand system equipped branching tendons which realizes multiple-point contact while it grasps the object using with the whole fingers or finger-tips. In this paper, we introduce the developed robotic hand and show the reason why the robotic hand can realize the multiple-point contact.</p>

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  • 1A1-B07 Independent Joint Stiffness Control with Tendon Inverse Kinematics(Mechanism and Control for Wire Actuation System)

    SHIRAFUJI Shouhei, IKEMOTO Shuhei, HOSODA Koh

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014  The Japan Society of Mechanical Engineers

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    Event date: 2014

    Language:Japanese  

    In tendon-driven mechanism, the relation between the motion of each actuator and each joint is complex because of its dependency on its tendon routing and moment arms. We propose the mechanism to solve this complexity composed of step pulleys and moving pulleys, and we call it as tendon inverse mechanism. Furthermore, we can control the joint stiffness independently by using non-lenear elastic components because of this mechanism. In this paper, we introduce the methodology to construct this mechanism and validate it through some experiments.

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  • 3P1-H06 Development of the two degrees of freedom robotic finger with nonstretch branching tendon(Musculoskeletal modeling)

    YANAGISAWA Kazuya, SHIRAFUJI Shouhei, IKEMOTO Shuhei, HOSODA Koh

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014  The Japan Society of Mechanical Engineers

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    Event date: 2014

    Language:Japanese  

    The most important goal for developing robotic hands is realizing stability of the grasping and dexterous manipulation with a simple control law. To achieve them, we focus on a branching tendon mechanism in a human finger. Links connected with a nonstretch branching tendon are coupled by a geometric restriction. The coupling disappears when one of branching tendon slacks. By utilizing these features, the hand may be able to grasp with a simple control and manipulate the grasped object. We developed the robotic finger with two degrees of freedom and two tendons. We proposed a joint angular position control for this finger. We derived the condition for a branching tendon to slack, and validated it by an experiment. Experimental results demonstrated that the hand can be position-controlled when it moved freely, and that the coordination between joints changed when the condition is satisfied.

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  • 1A2-H01 Development of A Robot Finger with A Mechanism Which Replicates the Function of the Human Lumbrical Muscle(Robot Hand Mechanism and Grasping Strategy(2))

    SHIRAFUJI Shouhei, IKEMOTO Shuhei, HOSODA Koh

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2012  The Japan Society of Mechanical Engineers

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    Event date: 2012

    Language:Japanese  

    This paper presents the design of an anthropomorphic artificial finger. The robot finger features an underactuated mechanism which replicates three muscles and its tendons in human: flexor digitorum profundus, extensor digitorum, lumbrical. We analyze the motion of the robot finger from a quasi-static perspective. The simulated motion shows it is easy to change the motion by adjusting only one mechanical parameter. It achieves the preshaping with a self-adaptive robot finger. Finally, a prototype of a robot finger is built and tested to compare its motion with the simulated one.

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  • 1A1-F09 Non-slip grasp learning by an elastic robot hand with various receptors

    SHIRAFUJI Shouhei, IWASE Tomoki, HOSODA Koh

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers

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    Event date: 2010

    Language:Japanese  

    The human can handle objects dexterously by feeding back the signals from tactile receptors. We made a prototype robot hand that has an anthropomorphic elastic skin which contains strain gauges and PVDF films as tactile receptors. This robot hand can detect slip between fingers and the grasped object using PVDF film information. In this paper, we make this robot hand learn outputs of own strain gauges when a slip occured by Neural Network. After learning, robot hand can adapt the grasp force to increasing load force of the grasped object and can prevent slip.

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  • 1A1-C20 Dynamic Shape discrimination by Anthropomorphic Robot Hand with Recurrent Neural Network

    IWASE Tomoki, HOSODA Koh, SHIRAFUJI Shouhei

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers

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    Event date: 2010

    Language:Japanese  

    This paper describes learning of robust haptic recognition by Bionic Hand, a human-like robot hand, through dynamic interaction with the object. Bionic hand is a human-like hand that has soft skin with distributed receptors and is driven by artificial pneumatic muscles. At the beginning of learning, it utilizes the result of physical interaction with the object: thanks to the hand compliance, regrasping will leads object's posture to stable one in the hand. This result can be successively used as object classification for learning dynamic interaction beetween the hand and the object by a recurrent neural network. We conduct experiments and show that the proposed method is effective for robust and fast object recognition.

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Research Projects

  • 複数の小型ロボットによる荷物の積み下ろしのためのキネマティックシンセシス

    Grant number:22K14217  2022.4 - 2025.3

    日本学術振興会  科学研究費助成事業 若手研究  若手研究

    白藤 翔平

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    Authorship:Principal investigator 

    Grant amount:\4550000 ( Direct Cost: \3500000 、 Indirect Cost:\1050000 )

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  • Endoskeletal Force Feedback System Using Tendon Structure

    Grant number:18K13724  2018.4 - 2022.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Early-Career Scientists

    Shirafuji Shouhei

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    Grant amount:\4290000 ( Direct Cost: \3300000 、 Indirect Cost:\990000 )

    In this study, we proposed a method of presenting a force perception by directly driving the user's skeleton as a link system by placing a tendon-like structure on the human finger and driving it. First, we proposed a method to measure the relative position changes of multiple tendons on the upper and lower surfaces of a finger to estimate accurate joint angles regardless of the shape of the user's skeleton. Next, we proposed a structure through analysis to make it possible to independently apply a force to each joint by using multiple tendon-like belts branched to the left and right at different positions. By proposing the above techniques, we have completed the basic technology to realize a device that is much more compact than the conventional device using a link mechanism.

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  • Development of Novel Leg Mechanism for Biped Robot using Wire-Constraints

    Grant number:16H06682  2016.8 - 2018.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Research Activity Start-up  Grant-in-Aid for Research Activity Start-up

    Shirafuji Shouhei

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    Grant amount:\2990000 ( Direct Cost: \2300000 、 Indirect Cost:\690000 )

    The objective of this research was the development the leg mechanism to realize the efficient biped walk of a robot by constraining several joint pairs using wires to follow the target trajectory and supporting the weight of robot mechanically. We proposed the design methodology of the route of wires to realize the target coordinated motion of pairs of joints by the mechanical constraints of wires. Furthermore, we determined the paths of wires to achieve the robotic leg mentioned above using the proposed method and developed the new locking mechanism to switch the wire-constrains according to the phase of walking.

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  • 複数の感覚と構造を利用した適応的で巧みな物体操作の自律的な獲得に関する研究

    Grant number:12J03541  2012.4 - 2015.3

    日本学術振興会  科学研究費助成事業 特別研究員奨励費  特別研究員奨励費

    白藤 翔平

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    Grant amount:\2700000 ( Direct Cost: \2700000 )

    本年度は前年度に開発したヒトの筋腱構造を忠実に再現した腱駆動ロボットハンドの制御手法の提案,実験に主に取り組んだ.
    その中での取り組みの一つが,ヒトが身体のもつ特性を制御に有効に利用している典型的な例でもある.関節剛性調整の腱駆動ロボットでの実現である.腱の非対称さや腱の配置の方法によって生じる腱の変位と関節角度との関係の複雑さを解消する機構を提案し,容易で関節ごとに独立な剛性調整を実現した.
    可変な関節剛性はロボットハンドが実環境で活動するうえで重要な能力である.このように位置制御とは独立に関節剛性が容易に制御できるようになったことで,これまでに行われてこなかったような剛性調整を含むロボットマニピュレータを用いた実験が可能になった.
    また,もう一つの取り組みとして,ヒトの指の筋腱構造における筋ごとの関節トルクベクトルと運動との関係を調べることで,開発したロボットフィンガの運動軌道を容易に計画する手法について提案した.提案した軌道制御手法は典型的な軌道を生成するモータの駆動パターンをあらかじめ設定しておき,ヒトの内在筋にあたるモータの駆動量を変化させることで目標の軌道を生成するという手法である.腱を通して複数の関節へと単一のアクチュエータの作用が伝達されることを有効に利用した制御によって,常に多くのアクチュエータに対して運動計画をおこなう必要をなくした.
    本年度に得られた結果は,研究課題である「複数の感覚と構造を利用した適応的で巧みな物体操作の自律的な獲得に関する研究」において,ロボットハンドが自身の構造を利用し,適応的な物体操作を獲得するうえで重要な進展である.最終的に前年度までの研究と統合するまでには至らなかったが,ロボットハンドの感覚を用いた自律的なマニピュレーションの学習手法と統合することで,適応的で巧みな物体操作の自律的な獲得を実現するまでの基礎を確立できたと考える.

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