Updated on 2025/09/25

写真a

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

    2024.4

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

    2023.4 - 2024.3

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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

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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

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    <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

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    <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

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    <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

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    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

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    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

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    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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