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

DOI： 10.1177/0278364913518357

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

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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Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.jmsy.2025.03.006

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Publishing type：Research paper (scientific journal)   Publisher：IOP Publishing  

Abstract

Reading recognition for pointer-type pressure gauges based on computer vision (CV) is significant for realizing unmanned monitoring and automatic calibration. Typical recognition methods significantly rely on identifying the scale ring and the pointer because they primarily obtain the reading from the angular displacement of the pointer. For widely used economical pressure gauges, significant recognition errors can be caused by certain inherent defects, such as the misalignment of the pointer’s rotation center (RC) and scale center, which are insensitive to human eyes but fatal to CV. Additionally, dial stains may lead to the misidentification of scale marks. This paper proposed a novel reading recognition method for pointer-type pressure gauges that founded the scale system on a unified point for the scale center and the pointer RC. The scale center is identified utilizing the geometrical morphology and distribution characteristics of certain scale marks, and then it is taken as the basis to recognize the remaining scale marks and build the scale system. With the pointer identified from the interfering background, its RC is fitted to the scale center by generating its indicating vector based on the position of the pointer tip and the identified scale center. The implementation results proved the validity of the recognition method, and the reading accuracy met the requirement for an automatic calibration system.

DOI： 10.1088/1361-6501/adbf39

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Other Link： https://iopscience.iop.org/article/10.1088/1361-6501/adbf39/pdf

Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE Robotics and Automation Letters  

DOI： 10.1109/LRA.2023.3331900

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Journal of Mechanisms and Robotics  

DOI： 10.1115/1.4062801

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

DOI： 10.1109/mhs59931.2023.10510021

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

Abstract

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

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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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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PubMed

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

DOI： 10.1109/biorob49111.2020.9224321

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

DOI： 10.1109/iros45743.2020.9341694

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

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

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

DOI： 10.1080/01691864.2020.1747537

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

DOI： 10.3390/s20030724

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PubMed

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

DOI： 10.1109/embc.2019.8856616

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

DOI： 10.3390/app9030462

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

DOI： 10.3390/s19020291

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PubMed

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

DOI： 10.1016/j.promfg.2019.03.057

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

DOI： 10.1109/mhs.2018.8887058

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

DOI： 10.20965/jrm.2018.p0613

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

DOI： 10.1109/robio.2017.8324413

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

DOI： 10.20965/jrm.2017.p0419

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CiNii Books

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

DOI： 10.1109/robio.2016.7866365

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

DOI： 10.1109/robio.2015.7418962

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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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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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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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Authorship：Lead author,　Corresponding author   Language：English  

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

DOI： 10.1109/icar.2011.6088598

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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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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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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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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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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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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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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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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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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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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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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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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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