A5033054087- Robot Manipulation and Learning
- Muscle activation and electromyography studies
- Modular Robots and Swarm Intelligence
- Robotic Path Planning Algorithms
- Robotic Mechanisms and Dynamics
- Robotic Locomotion and Control
- Soft Robotics and Applications
- Manufacturing Process and Optimization
- Advanced Sensor and Energy Harvesting Materials
- Robotics and Sensor-Based Localization
- Flexible and Reconfigurable Manufacturing Systems
- EEG and Brain-Computer Interfaces
- Advanced Vision and Imaging
- Balance, Gait, and Falls Prevention
- Digital Transformation in Industry
- Motor Control and Adaptation
- Prosthetics and Rehabilitation Robotics
- Optical measurement and interference techniques
- Neuroscience and Neural Engineering
- Advanced Image and Video Retrieval Techniques
- AI-based Problem Solving and Planning
- Human Motion and Animation
- Control and Dynamics of Mobile Robots
- Robotics and Automated Systems
- Stroke Rehabilitation and Recovery
Kansai University
2023-2025
The University of Tokyo
2015-2023
National Center of Neurology and Psychiatry
2020
Osaka University
2010-2015
The Fugl-Meyer Assessment is widely used to test motor function in stroke survivors. In the Assessment, survivors perform several movement tasks and clinicians subjectively rate performance of each task item. individual items are selected on basis clinical experience, their physiological relevance has not yet been evaluated. present study, we aimed objectively by measuring muscle activity 41 muscles from upper body while healthy participants performed 37 extremity items. We synergy analysis...
Our paper proposes a tendon-driven robotic finger based on an anatomical model of human and suitable method for its analysis. study aims to realize anthropomorphic hand that has the same characteristics dexterity as hand, it also identify advantages musculoskeletal structure application design control robot manipulators. When designing several devices are required apply finger. Reasons this include one muscles, namely, lumbrical muscle, is situated between tendons, which unfavorable...
In the Industry 4.0 era, cyber physical manufacturing systems (CPPS) has started to change activities of system engineers into CPS based ones. typical Japanese factories, are always stationed at shop floor and continuously improve with workers. For supporting such engineers' activities, we developing concept 'Digital Triplet' as an extension Digital Twin. Triplet consists intelligent activity world in addition supports engineering processes worlds. Based on this, education program. this...
Abstract Reading recognition for pointer-type pressure gauges based on computer vision is significant realizing unmanned monitoring and automatic calibration. Typical methods significantly rely identifying the scale ring pointer because they primarily obtain reading from angular displacement of pointer. For widely used economical gauges, errors can be caused by certain inherent defects, such as misalignment pointer’s rotation center center, which are insensitive to human eyes but fatal...
For supporting kaizen (continuous improvement) activities typically observed in Japanese manufacturing companies, we are developing the concept of 'Digital Triple' as an extension Digital Twin. Triplet contains intelligent activity world addition to cyber and physical emphasizes ability knowledge-based support for system engineers. At same time, education program based on Triplet. This exercise which students execute with a prototype CPS learning factory. paper reports contents this relation...
In this paper, we propose an optimization method to determine the design parameters comprising joint displacement in a serial manipulator having small degrees of freedom realizing approximated target trajectory. Using generalized differential kinematics, can achieve efficient without solving inner-loop required obtain reachable points.
We present a highly accurate and efficient, yet simple, two-stage voting scheme for distinguishing inlier 3D correspondences by densely assessing ranking their local global geometric consistencies. The strength of the proposed method stems from both novel idea post-validated set, as well single-point superimposition transforms, which are computationally cheap avoid rotational ambiguities. Using well-known dataset consisting various models numerous scenes that include different occlusion...
In dexterous robotic manipulation it is essential to control the force exerted by robot hands while grasping. This paper describes a method which can be controlled on basis of previous experience slippage objects held hand. We developed an anthropomorphic human scale hand equipped with elastic skin in two types sensors are randomly embedded. One these piezoelectric polyvinylidenefluoride (PVDF) film used for detection pressure changes. The other strain gauge measure static pressure. our...
If we define a mode as set of specific configurations that hold the same constraint, and if investigate their transitions beforehand, can efficiently probe configuration space by using manipulation planner. However, when multiple mobile robots together manipulate an object non-prehensile method, candidates for modes become enormous because numerous contacts among object, environment, robots. In some cases, constraints on which include combination robot environmental contacts, are incapable...
A combination of fixed fisheye camera system and a blimp performed the task human following in an indoor environment this paper, focusing on tracking subject's face. Hierarchical control algorithm is used to combine information from cameras blimp's track face handle common human's translation rotation movements. In way, even when not visible camera, relative position between person still available cameras. The can be controlled move closer face, where it should detectable. If detected...
Many mechanisms reduce the number of inputs for their target motions by restricting pairs joints. This study designs a novel constraint mechanism using pair noncircular pulleys and wire. The wire restricts motion joints to while enabling compact structure. We analytically derive shape desired relation between lengths moment arms. usability proposed is evaluated on robotic leg, which maintains height posture its upper body under constraints.
For supporting manufacturing system engineers, we are proposing 'Digital Triple,' which consists of physical world, cyber and the intelligent activity world where engineers execute various engineering activities by using systems.For verifying concept Digital Triple, objective this research is to develop a learning factory implementing Triplet. This paper describes named 'D3LF@RACE' focusing on its digital twin functionality. After clarifying requirements for D3LF@RACE, architecture...
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 accompanied by use of electromyography (EMG) to have better understanding muscle electrophysiology; however, merging EMG information has not been defined yet. In this paper, we present anatomical quantitative evaluation method our group recently introduced quantify its validity terms pattern estimation for four...
Abstract The transportation of large-scale objects in a narrow space is challenging, but useful application for mobile robots. We have developed three-mobile-robot system to cooperatively lift, support, and transport large object on robot system. To facilitate the manipulation involved with loading an onto robots, where robots must maintain firm contact anchor at its location, we designed adaptable mechanism object-loading platform liftable brake ensure that remains stationary when...
This study proposes a framework for inferring the causes of failures occurring in manufacturing systems from past Failure Mode and Effect Analyses (FMEAs) conducted on other to assist inspecting maintaining systems. Among various systems, search FMEAs corresponding failure requires solving following problems. First, difference products, equipment, wording represent them make it difficult similar phenomenon FMEAs. Secondly, highly depend process flow system until occurs. Therefore, is also...
This paper presents a novel stepwise multi-agent task planning method that incorporates neighborhood search to address large-scale problems, thereby reducing computation time. With an increasing number of agents, the space for expands exponentially. Hence, conventional methods aiming find globally optimal solutions, especially some incur extremely high computational costs and may even fail. In this paper, proposed easily achieves goals by solving initial problem using minimal agents....
[abstFig src='/00290002/14.jpg' width='300' text='Two robots performing the task of opening folding chair lying on floor' ] In this study, we present a novel framework to address problem teaching manipulation tasks performed by single human set multiple small in short period. First, focused classifying style used during human-performed task. An allocator process is proposed determine type and number be taught based capabilities available robots. Then, according detected requirements, robot...
To avoid back injuries, caregivers are advised to use transfer-aid equipment while transferring a patient from bed wheelchair. Although the usage of such has been recommended for several decades, it remains unpopular in countries, including Japan. The current study investigates feelings regarding equipment, cause their feelings, and measures that can be considered order increase acceptance by extensive caregiver community. relations among movements users (caregivers patients) impressions...
Local image features are invariant to in-plane rotations and robust minor viewpoint changes. However, the current detectors descriptors for local fail accommodate out-of-plane larger than 25°–30°. Invariance such changes is essential numerous applications, including wide baseline matching, 6D pose estimation, object reconstruction. In this study, we present a general embedding that wraps detector/descriptor pair in order increase invariance by exploiting input depth maps. The proposed...