2024/05/09 更新

写真a

シラフジ ショウヘイ
白藤 翔平
SHIRAFUJI,Shohei
所属
システム理工学部 准教授
職名
准教授
外部リンク

学位

  • 博士(情報科学) ( 2014年9月   大阪大学 )

研究分野

  • ものづくり技術(機械・電気電子・化学工学) / 設計工学  / 機構学

  • 情報通信 / ロボティクス、知能機械システム  / ロボット工学

  • 情報通信 / 知能ロボティクス  / ロボット工学

  • ライフサイエンス / 生体医工学  / バイオメカニクス

学歴

  • 大阪大学   大学院情報科学研究科   マルチメディア工学専攻

    2012年4月 - 2014年9月

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    国名: 日本国

    備考: 博士(情報科学)

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  • 大阪大学   大学院工学研究科   知能・機能創成工学専攻

    2010年4月 - 2012年3月

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    国名: 日本国

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  • 大阪大学   工学部   応用理工学科

    2007年4月 - 2010年3月

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    国名: 日本国

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経歴

  • 関西大学   システム理工学部 機械工学科   助教

    2023年4月 - 現在

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    国名:日本国

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  • 東京大学   大学院工学系研究科 人工物工学研究センター   助教

    2019年4月 - 2023年3月

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    国名:日本国

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  • 東京大学   人工物工学研究センター   特任助教

    2018年7月 - 2019年3月

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    国名:日本国

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  • 東京大学   人工物工学研究センター   特任研究員

    2015年4月 - 2018年6月

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    国名:日本国

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  • 大阪大学   大学院基礎工学研究科   日本学術振興会特別研究員(PD)

    2014年10月 - 2015年3月

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    国名:日本国

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所属学協会

  • 日本ロボット学会

    2021年8月 - 現在

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  • 計測自動制御学会

    2021年3月 - 現在

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  • IEEE Engineering in Medicine and Biology Society

    2018年10月 - 現在

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  • 日本機械学会

    2018年6月 - 現在

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  • IEEE

    2016年4月 - 現在

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委員歴

  • 日本ロボット学会   学術講演会実行委員  

    2020年4月 - 現在   

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    団体区分:学協会

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  • 計測自動制御学会   会誌出版委員  

    2020年4月 - 現在   

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    団体区分:学協会

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  • 日本ロボット学会   事業計画委員  

    2018年4月 - 2020年3月   

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    団体区分:学協会

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論文

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

    Shouhei Shirafuji, Jun Ota

    Robotics and Autonomous Systems   129   103538 - 103538   2020年7月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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 査読

    Shouhei Shirafuji, Jun Ota

    IEEE Transactions on Robotics   35 ( 4 )   1047 - 1054   2019年8月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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 査読

    Shouhei Shirafuji, Yuri Terada, Tatsuma Ito, Jun Ota

    Robotics and Autonomous Systems   110   92 - 101   2018年12月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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 査読

    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年1月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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 査読

    Shouhei Shirafuji, Naotaka Matsui, Jun Ota

    Mechanism and Machine Theory   116   371 - 382   2017年10月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Elsevier BV  

    DOI: 10.1016/j.mechmachtheory.2017.06.012

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

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    IEEE/ASME Transactions on Mechatronics   22 ( 1 )   487 - 497   2017年2月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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 査読

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    The International Journal of Robotics Research   33 ( 5 )   677 - 693   2014年4月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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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    その他リンク: 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 査読

    Shouhei Shirafuji, Koh Hosoda

    Robotics and Autonomous Systems   62 ( 1 )   46 - 52   2014年1月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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年11月

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    掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    DOI: 10.1109/mhs59931.2023.10510021

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

    Changxiang Fan, Fan Zeng, Shouhei Shirafuji, Jun Ota

    Journal of Mechanisms and Robotics   16 ( 2 )   2023年3月

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

    Shouhei Shirafuji, Masafumi Kobayashi, Jun Ota

    IEEE Sensors Journal   22 ( 19 )   18366 - 18375   2022年10月

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    担当区分:筆頭著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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 査読

    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年7月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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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    その他リンク: https://academic.oup.com/braincomms/article-pdf/4/4/fcac200/45407952/fcac200.pdf

  • 人工物工学の新たな教育展開 —創出のための理解と振り返りを重視したプロジェクト型演習— 査読

    原辰徳, ホーバック, 白藤翔平, 沖田泰良, 栗山幸久, 越塚誠一

    2021 ( 2 )   1 - 13   2021年12月

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    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 査読

    Hamdi Sahloul, Shouhei Shirafuji, Jun Ota

    IEEE Transactions on Pattern Analysis and Machine Intelligence   43 ( 7 )   2287 - 2298   2021年7月

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

    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年

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:Elsevier BV  

    DOI: 10.2139/ssrn.3859019

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

    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年11月

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

    Seiya Ishikawa, Shouhei Shirafuji, Jun Ota

    2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)   2020年10月

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

    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 査読

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

    The Visual Computer   36 ( 7 )   1443 - 1456   2020年7月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元: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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    その他リンク: http://link.springer.com/article/10.1007/s00371-019-01749-9/fulltext.html

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

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

    Advanced Robotics   34 ( 9 )   621 - 636   2020年5月

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

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

    Sensors   20 ( 3 )   724 - 724   2020年1月

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

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    記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元: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 * 査読

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

    2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)   2019年7月

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

    DOI: 10.1109/embc.2019.8856616

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

    Enrico Piovanelli, David Piovesan, Shouhei Shirafuji, Jun Ota

    2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)   2019年6月

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

    DOI: 10.1109/icorr.2019.8779462

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

    Changxiang Fan, Shouhei Shirafuji, Jun Ota

    Applied Sciences   9 ( 3 )   462 - 462   2019年1月

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

    Hamdi Sahloul, Shouhei Shirafuji, Jun Ota

    Sensors   19 ( 2 )   291 - 291   2019年1月

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

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

    Procedia Manufacturing   31   363 - 369   2019年

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

    Shouhei Shirafuji, Jun Ota

    Intelligent Autonomous Systems 15   388 - 400   2019年

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元: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年

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

    Kaito Tsunetomo, Shouhei Shirafuji, Jun Ota

    2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS)   2018年12月

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

    Tatsuma Ito, Shouhei Shirafuji, Jun Ota

    2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2018年12月

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

    DOI: 10.1109/robio.2018.8665241

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

    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年8月

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

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

    2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS)   2017年12月

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

    DOI: 10.1109/mhs.2017.8305265

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

    Yalcin Akin, Shouhei Shirafuji, Jun Ota

    2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2017年12月

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

    DOI: 10.1109/robio.2017.8324413

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

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

    Journal of robotics and mechatronics   29 ( 2 )   419 - 433   2017年4月

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

    DOI: 10.20965/jrm.2017.p0419

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

    Shouhei Shirafuji, Yuri Terada, Jun Ota

    Intelligent Autonomous Systems 14   795 - 808   2017年

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    担当区分:筆頭著者, 責任著者   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元: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 査読

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

    Intelligent Autonomous Systems 14   39 - 51   2017年

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

    Naotaka Matsui, Shouhei Shirafuji, Jun Ota

    2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2016年12月

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

    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年11月

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

    DOI: 10.1109/mhs.2016.7824149

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  • Anthropomorphic Finger Mechanism with a Nonelastic Branching Tendon 査読

    Kazuya Yanagisawa, Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    Intelligent Autonomous Systems 13   1159 - 1171   2016年

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

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

    2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2015年12月

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

    DOI: 10.1109/robio.2015.7418962

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  • Tendon Routing Resolving Inverse Kinematics for Variable Stiffness Joint 査読

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    2014 IEEE/RSJ International Conference on Intelligent Robots and Systems   2014年9月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    DOI: 10.1109/iros.2014.6943108

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  • Trajectory Control Strategy for Anthropomorphic Robotic Finger 査読

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    Biomimetic and Biohybrid Systems   284 - 295   2014年

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:論文集(書籍)内論文   出版者・発行元:Springer International Publishing  

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

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  • Design of an Anthropomorphic Tendon-Driven Robotic Finger 査読

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)   2012年12月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    DOI: 10.1109/robio.2012.6490995

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

    Shouhei Shirafuji, Shuhei Ikemoto, Koh Hosoda

    Proceedings of The 5th International Symposium on Adaptive Motion of Animal and Machines   2011年10月

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    担当区分:筆頭著者, 責任著者   記述言語:英語  

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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 査読

    Shouhei Shirafuji, Koh Hosoda

    2011 15th International Conference on Advanced Robotics (ICAR)   459 - 464   2011年6月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(国際会議プロシーディングス)   出版者・発行元:IEEE  

    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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▼全件表示

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年

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講演・口頭発表等

  • 糸の相対変位に基づく手指の3関節角度推定

    小林 雅史, 白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2020年  一般社団法人 日本機械学会

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    開催年月日: 2020年

    記述言語:日本語  

    <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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  • 最適化による運動情報からの物体の接触位置推定

    石川 誠也, 白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2020年  一般社団法人 日本機械学会

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    開催年月日: 2020年

    記述言語:日本語  

    <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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  • プロジェクト型演習と振り返りを取り入れた構成型工学の教育:東大大学院 集中講義「人工物を創出するための理解」での取り組みから

    原 辰徳, ホー バック, 白藤 翔平, 沖田 泰良, 栗山 幸久, 越塚 誠一

    横幹連合コンファレンス予稿集  2019年  横断型基幹科学技術研究団体連合(横幹連合)

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    開催年月日: 2019年

    記述言語:日本語  

    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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  • 教示における接触状態推定に向けた運動学解析

    石川 誠也, 白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2019年  一般社団法人 日本機械学会

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    開催年月日: 2019年

    記述言語:日本語  

    <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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  • 重量物の傾け操作が可能な移動口ボットの配置領域

    伊藤 達真, 白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2018年  一般社団法人 日本機械学会

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    開催年月日: 2018年

    記述言語:日本語  

    <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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  • ゴルフスイングの動作分解に基づくクラブ特性影響評価

    畑中 崚志, 鈴木 克幸, 白藤 翔平, 下野 智史, 松原 華栄

    シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集  2018年  一般社団法人 日本機械学会

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    開催年月日: 2018年

    記述言語:日本語  

    <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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  • 微分逆運動学を用いたマニピュレータの機構設計

    白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2018年  一般社団法人 日本機械学会

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    開催年月日: 2018年

    記述言語:日本語  

    <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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  • 非円形プーリとワイヤを用いたロボット脚機構の設計

    白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2017年  一般社団法人 日本機械学会

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    開催年月日: 2017年

    記述言語:日本語  

    <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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  • 協調による重量物操作をおこなうための小型移動ロボットの開発

    伊藤 達真, 白藤 翔平, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2017年  一般社団法人 日本機械学会

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    開催年月日: 2017年

    記述言語:日本語  

    <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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  • 摩擦を利用した平ベルトロック機構の開発

    白藤 翔平, 松井 尚孝, 太田 順

    ロボティクス・メカトロニクス講演会講演概要集  2017年  一般社団法人 日本機械学会

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    開催年月日: 2017年

    記述言語:日本語  

    <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年  公益社団法人 精密工学会

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    開催年月日: 2016年

    記述言語:日本語  

    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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  • 非伸縮分岐腱により把持形態が適応的に変化する3指ロボットハンドの開発

    柳沢 和哉, 白藤 翔平, 池本 周平, 細田 耕

    ロボティクス・メカトロニクス講演会講演概要集  2016年  一般社団法人 日本機械学会

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    開催年月日: 2016年

    記述言語:日本語  

    <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 腱駆動における腱逆機構を用いた剛性の独立制御(ワイヤ駆動系の機構と制御)

    白藤 翔平, 池本 周平, 細田 耕

    ロボティクス・メカトロニクス講演会講演概要集  2014年  一般社団法人 日本機械学会

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    開催年月日: 2014年

    記述言語:日本語  

    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 非伸縮分岐腱をもつ2関節ロボットフィンガの開発(筋骨格モデリング)

    柳沢 和哉, 白藤 翔平, 池本 周平, 細田 耕

    ロボティクス・メカトロニクス講演会講演概要集  2014年  一般社団法人 日本機械学会

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    開催年月日: 2014年

    記述言語:日本語  

    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 虫様筋を模した機構を有するロボットフィンガの開発(ロボットハンドの機構と把持戦略(2))

    白藤 翔平, 池本 周平, 細田 耕

    ロボティクス・メカトロニクス講演会講演概要集  2012年  一般社団法人 日本機械学会

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    開催年月日: 2012年

    記述言語:日本語  

    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 多様な受容器をもつ柔軟なロボットハンドによる滑らない把持の学習

    白藤 翔平, 岩瀬 智紀, 細田 耕

    ロボティクス・メカトロニクス講演会講演概要集  2010年  一般社団法人 日本機械学会

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    開催年月日: 2010年

    記述言語:日本語  

    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 リカレントニューラルネットワークを用いたロボットハンドによる動的センシング

    岩瀬 智紀, 細田 耕, 白藤 翔平

    ロボティクス・メカトロニクス講演会講演概要集  2010年  一般社団法人 日本機械学会

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    開催年月日: 2010年

    記述言語:日本語  

    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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▼全件表示

共同研究・競争的資金等の研究課題

  • 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

    研究課題/領域番号:22K14217  2022年4月 - 2025年3月

    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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    担当区分:研究代表者 

    配分額:4550000円 ( 直接経費:3500000円 、 間接経費:1050000円 )

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  • 腱構造を用いた内骨格型力覚提示システムに関する研究

    研究課題/領域番号:18K13724  2018年4月 - 2022年3月

    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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    配分額:4290000円 ( 直接経費:3300000円 、 間接経費:990000円 )

    本研究では、人の指の上に腱状の構造を配置し、装着者の骨格をリンク系として直接駆動ことで、従来のリンク機構を用いた装置に比べ、非常にコンパクトな装置の開発を目指している。これを実現するため、(A)手の各関節に力を提示るには、腱をどのように手の表面に配置するか、(B)個人ごとに異なる手のパラメータをどのように同定するか、(C)同定されたパラメータをもとにどのように制御をおこなうかという問題に取り組んでいる。本年度は、昨年度に引き続き(B)の問題に取り組んだ。関節と腱の変位との間の関係を記述するヤコビ行列は、腱(ワイヤ)と関節軸の間の距離(モーメントアーム)によって構成される。モーメントアームを同定するには、装着者の手が動いた際の関節角変化と腱の移動を同時に計測すればよいが、関節角は、装着者の関節軸の位置が不明な状況で推定しなければならない。しかし、従来の方法では正確な関節角を計測するのは困難である。そこで、昨年度には、指の関節上に一定の厚みをもった薄いベルト状の柔軟材料を重ね、指の屈曲にともなう、ベルトの上下面での相対的な位置変化を計測することで、正確な関節角度を推定する方法を提案した。本年度には、この方法に基づく指関節角度の計測装置の開発を進め、提案手法におけるベルトの配置と構造を工夫することで、示指の矢状面内の3関節の角度をの誤差5度以下での計測を実現した。来年度には、上述の(A)に対応する装置の開発をおこない、本年度に開発した装置と合わせることで、力覚を提示する際に必要となる、関節角度と腱の移動距離との間の関係の導出を装着者ごとにおこなう手法を提案する。また、これと同時に(C)の制御則についても検討をおこなう。

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  • 巧みなワイヤの配置による拘束を利用した2足歩行ロボットの革新的脚部機構の開発

    研究課題/領域番号:16H06682  2016年8月 - 2018年3月

    日本学術振興会  科学研究費助成事業 研究活動スタート支援  研究活動スタート支援

    白藤 翔平

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    配分額:2990000円 ( 直接経費:2300000円 、 間接経費:690000円 )

    本研究では、ワイヤを用いてロボット脚の複数関節の運動を拘束することで、所望の脚軌道を実現し、ロボットの重量を機械的に支えながら歩行をおこなう、エネルギ効率の良いロボット脚構造の実現を目指した。そのなかで、ワイヤ拘束で複数関節の運動に任意の連動を生じさせるための、ワイヤの経路の導出手法を提案した。これを用いて、上記のようなロボットを実現するためのワイヤの経路を導出するとともに、歩行のフェーズに合わせて拘束の切り替えをおこなうために必要なワイヤのロック機構を提案した。

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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

    研究課題/領域番号:12J03541  2012年4月 - 2015年3月

    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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    配分額:2700000円 ( 直接経費:2700000円 )

    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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