KINDAI UNIVERSITY


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IKEDA Atsutoshi

Profile

FacultyDepartment of Mechanical Engineering / Research Institute for Science and Technology
PositionLecturer
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/1371-ikeda-atsutoshi.html
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Last Updated :2020/09/30

Education and Career

Academic & Professional Experience

  •   2015 04 ,  - 現在, Lecturer, Faculty of Science and Engineering, Department of Mechanical Engineering, KINDAI University
  •   2011 04 ,  - 2015 03 , Graduate School of Information Science, Nara Institute of Science and Technology

Research Activities

Research Areas

  • Life sciences, Rehabilitation science
  • Informatics, Biological, health, and medical informatics

Published Papers

  • Virtual Time-response Based Iterative Gain Evaluation and Redesign, KOSAKA Mato, KOSAKA Ayato, IKEDA Atsutoshi, KOSAKA Manabu, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 56(4), 227 - 235, 2020 , Refereed
    Summary:

    Fictitious Reference Iterative Tuning (FRIT) have been reported for many applications, in which the control gain can be optimized so that the closed loop system corresponds with the reference model based on only one experiment data. However, when the reference model is not appropriate, there is a problem that not only the control performance is deteriorated but also the control system may become unstable. Instead of using model matching to the closed-loop reference model, we thought that this problem could be solved by optimizing the settling time and overshoot. To measure settling time and overshoot, the time response is required. The time response can be predicted using Kaneko's method [Takahashi, 2019], but this method requires the order of the closed loop transfer function. In this paper, the method [Takahashi, 2019] is reconsidered as a frequency response based method so that the order is not required. Furthermore, as another approach of FRIT, this paper proposes a method called 'Virtual Time-response based Iterative Gain Evaluation and Redesign' (V-Tiger) which iterates to measure the overshoot and settling time from the virtual time responses, and to evaluate and redesign the controller gain.

  • QUANTITATIVE EVALUATION OF ANEMOMETER MOTION COMPENSATION METHOD USING MULTIPLE IMU SENSORS, TANIGUCHI Hiroto, SUZUKI Naoya, GARCIA Gustavo, IKEDA Atsutoshi, Journal of Japan Society of Civil Engineers, Ser. B2 (Coastal Engineering), Journal of Japan Society of Civil Engineers, Ser. B2 (Coastal Engineering), 75(2), I_1303 - I_1308, 2019
    Summary:

     Accurate measurement and evaluation of air-sea momentum is one of the basic technologies for the prediction of climate change. Although calculation of sea surface stress requires high-speed measurement of wind speed at sea, the influence of anemometer fluctuation on measurement accuracy has not been sufficiently evaluated. In this research, we propose a method to perform high-precision motion correction by attaching multiple IMU sensors to an anemometer, and perform quantitative evaluation of the motion correction effect in indoor experiments using a robot arm. In the proposed method, we assume that the instantaneous motion of the anemometer is on a spherical surface to reduce the numerical integration error of the acceleration data. In addition, the effects of measurement errors are reduced by integrating measurement values using two IMU sensors. Experiments are conducted in a windless room, and the proposed method shows that the influence of motion falls within the nominal accuracy of the anemometer.

  • Analysis of sound propagation in an ankle using active bone-conducted sound sensing system, 39, 247 - 251, Oct. 2018 , Refereed
  • Development of a position and posture estimation system for an artificial ankle joint based on database matching of two-view X-ray images, 池田篤俊, 椛島基嵩, 飯田賢一, 上田悦子, 小杉真一, 田中康仁, 臨床バイオメカニクス, 臨床バイオメカニクス, 38, 299 - 305, Oct. 2017 , Refereed
  • Development of Educational Materials for Mechatronics, Ioi, Yoshikazu Ohtsubo, Manabu Kosaka, Atsutoshi Ikeda, Shima Okada, Transactions on Advances in Engineering, Transactions on Advances in Engineering, 14, 2017
  • A measurement setup for the 3D validation of fingertip deformation models, Felix Von Drigalski, Atsutoshi Ikeda, Tsukasa Ogasawara, Tamim Asfour, International Journal of Human Factors Modelling and Simulation, International Journal of Human Factors Modelling and Simulation, 5(3), 230 - 237, Feb. 2016 , Refereed
  • Graduate Curriculum of Robot Education Centered on Project based Learning, Yamaguchi Akihiko, Takamatsu Jun, Ikeda Atsutoshi, Yoshikawa Masahiro, Matsubara Takamitsu, Kanbara Masayuki, Ogasawara Tsukasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 34(9), 615 - 622, 2016
    Summary:We present an advanced robot education curriculum, “IT Triadic—RT (robot technology) course” for graduate students of NAIST. The goal of RT course is to educate students so that they acquire an ability to solve challenging and novel problems, such as “Create a robot helpful in the real world.” For this purpose, we design a curriculum centered on project based learning (PBL) where the students propose their own project, apply to get fund, proceed the project, and evaluate the results. Since such a task is very hard to many students, we provide several levels of PBL so that the students can gradually learn how to propose a project; for example, we have brainstorming sessions, and we teach how to write a proposal. In this paper, we describe the curriculum of RT course, its features including the PBL classes and the on-line text system, and the lessons obtained through actually conducting the courses.
  • Producing Softness Sensation by the Pinching Type Haptic Device Vibration, Suzuki Takahiro, Ikeda Atsutoshi, Takamatsu Jun, Ogasawara Tsukasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 30(7), 718 - 726, 2012
    Summary:In this research, we propose a producing method of softness sensation using a pinching type tactile device. The producing method of softness sensation which is significant information during the pinching motion by a human is proposed. The basically idea is apply a vibration to fingertip by the pinching type tactile device to increase receptor activity. A white noise and database which is made from experimental result in this paper, are used to generate the vibration. First, we conduct a basic experiment to decide the appropriate waveform of vibration. Finally, we conduct the evaluation experiment of softness perception. The subjective experimental result indicates that the proposed method can be used to produce softness sensation.
  • Weight and Friction Display by Controlling Slip Condition at the Fingertip, Kurita Yuichi, Yonezawa Satoshi, Ikeda Atsutoshi, Ogasawara Tsukasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 30(2), 205 - 212, 2012
    Summary:In this paper, a novel haptic device is proposed that gives weight and friction illusions. Sensing a slip condition at the fignertip plays an important role to estimate the weight and friction of an object. This fact suggests that controlling the contact condition could yield weight and friction illusions. Based on this idea, a prototype device was developed that controls the contact condition between a fingertip and a rigid plate based on a camera-based eccentricity control. The desired eccentricity profile is given from an analytical relationship among the amount of the slip, the deformation of the contact area, and the investigation of human's force control strategy. The performance of the developed device was evaluated through human experiments. The experimental results show statistically significant difference among presented weight and friction conditions.
  • Water Volume Estimation by a Flicking Motion based on the Glass Harp Acoustics, KURITA Yuichi, SOBUE Atsushi, IKEDA Atsutoshi, OGASAWARA Tsukasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 29(4), 361 - 368, May 15 2011
    Summary:In this paper, we present a water volume estimation method in various cups using the glass harp acoustics. When a rigid probe flicks a glass, sounds arise. Since the sounds alter depending on the water volume in the glass, we can utilize the sound information to estimate the water volume. In order to model the acoustics characteristics of various glasses, we propose the relational expression between the water volume and the vibration frequency that improves Oku's expression. By using the proposed relational expressions and a flicking motion by a robotic finger with a microphone, we confirm the proposed method can estimate the water volume with the accuracy of 1–3%.
  • Biomechanical Analysis of Subjective Pinching Effort Using the Tendon Skeletal Model, Ikeda Atsutoshi, Kurita Yuichi, Ogasawara Tsukasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 28(2), 191 - 199, 2010
    Summary:In this paper, we analyze a human pinching motion based on biomechanics for the quantification system of a product usability. We compare three experimental results to analyze the relationship between the deep sensation and subjective pinching effort. First, the surface EMG and the pinching force were measured during the pinching motion by a human. Questionnaire results show that subjects feel easy to pinch a cylinder of 60[mm] length. Experimental results show the profile of the surface EMGs reflects the human subjective pinching effort. Second, the pinching motion was simulated using the tendon skeletal model that mimics the variation of human joint moment arm. Simulation results show that the profile of the tendon forces has similar characteristics to that of the human muscle activity. These result suggest the finger posture influences the subjective pinching effort. Furthermore, a tendon-driven robot hand was developed as a sensing hand prototype. The motor torques and the human muscle activity were compared in a pinching experiment using the tendon-driven robot hand. Experimental results show the profile of the motor torques mirrors the human muscle activity. These results show that the tendon force is a useful index for the evaluation of the subjective pinching effort, and it can be used for the quantitative evaluation instead of EMGs.
  • Grip Force Control of the Elastic Body based on Contact Surface Eccentricity During the Incipient Slip, IKEDA Atsutoshi, KURITA Yuichi, UEDA Jun, MATSUMOTO Yoshio, OGASAWARA Tsukasa, Journal of the Robotics Society of Japan, Journal of the Robotics Society of Japan, 23(3), 337 - 343, Apr. 15 2005
    Summary:In this research, the slip margin between an elastic object and a rigid plate is estimated based on the analysis of Hertz contact model. A method of the grip force control using the slip margin is proposed. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called“incipient slip”occurs on the contact surface. The slip margin can be estimated based on tribology from the deformation of the elastic object, the tangential force and the radius on the contact surface. The deformation and the displacement of the elastic object are measured by the camera. In addition, the load force can be measured by the force sensor. In this research, a measuring device consists of a camera and a force sensor is developed.“Eccentricity”is defined to estimate the displacement of the elastic object from the shift of the contact area. The grip force is controlled based on the estimated slip margin without knowing the friction coefficient. The proof of the contact stability is obtained. The validity of the proposed method is confirmed by the experiment.
  • Development of a Compact Pointing Device Utilizing the Fingerprint Deformation during the Incipient Slip(User Interfaces and Interactive Systems), IKEDA ATSUTOSHI, KURITA YUICHI, UEDA JUN, OGASAWARA TSUKASA, IPSJ Journal, IPSJ Journal, 45(7), 1769 - 1778, Jul. 15 2004
    Summary:In this research, a novel compact pointing device is proposed which utilizes the deformation of the fingerprint. When the fingertip is pressed and slid slightly on a rigid plate, a partial slip, called "incipient slip" occurs on the contact surface. In this research, we define a deformation of contact area as "eccentricity". A pointer is operated by measuring the incipient slip that occurs between a fingertip and a fingerprint sensor. The relationship between the eccentricity and the fingertip displacement, and the eccentricity and force applied on the contact surface are investigated. It is shown that this eccentricity is almost linear to the fingertip displacement. Since the deformation around the center of the contact surface is small, the center of the fingerprint can be detected during the incipient slip. The Group Delay Spectrum tracking is utilized to track the center of the fingerprint. The velocity of the pointer is determined based on the eccentricity of the contact area. An experimental pointing device is developed to examine the operationality of the proposed method. The experimental results show that subjects can operate the pointer with sufficient accuracy.
  • Grip force control of the elastic body based on contact surface eccentricity during the incipient slip, Ikeda A, Kurita Y, Ueda J, Matsumoto Y, Ogasawara T, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2004(0), 18 - 18, 2004
  • Development on Conveyance Module with New Power Drive Mechanism for Thin Wire Production System., Hidenori Ishihara, Atsutoshi Ikeda, Minoru Suzuki, Kimihito Yukawa, JRM, JRM, 15(2), 178 - 184, 2003 , Refereed
  • Ability to categorize end-feel joint movement according to years of clinical experience: an experiment with an end-feel simulator., Hiroyuki Kawamura, Shimon Tasaka, Atsutoshi Ikeda, Takashi Harada, Yuji Higashimoto, Kanji Fukuda, Journal of physical therapy science, Journal of physical therapy science, 32(4), 297 - 302, Apr. 2020 , Refereed
    Summary:[Purpose] Discrimination between end-feel types is difficult, and years of clinical experience is considered a factor for improving the accuracy of the discrimination. The present study investigated whether the accuracy of classification of end-feel types improves with the increase in years of clinical experience. [Participants and Methods] In total, 44 therapists (range of years of clinical experience: 1-26 years) and 13 students were included. The participants identified the type of end feel simulated by our newly developed simulator. The proportion of correct answers of the therapists was compared with that of the students. For the therapists, years of clinical experience and their awareness of end feel were examined, and their relationships with the ability to classify end-feel types were analyzed. [Results] The therapists showed a higher ability to identify end-feel type than the students. The ability of the therapists improved according to their years of clinical experience. The cutoff values for years of clinical experience to improve the ability for identifying bone-to-bone, muscular, and tissue approximations were 15, 6, and 15, respectively. The therapists who were always conscious about end feel were associated with a higher ability to classify end-feel types. [Conclusion] Our present study demonstrated that the ability to classify end feel improves with the increase in years of clinical experience.
  • Analysis of Haptic Perception of Physical Therapists using End-Feel Training Robot, Shimon Tasaka, Takashi Harada, Hiroyuki Kawamura, Kanji Fukuda, Atsutoshi Ikeda, 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct. 2019 , Refereed
  • Robotic finger perturbation training improves finger postural steadiness and hand dexterity., Yasuhide Yoshitake, Atsutoshi Ikeda, Minoru Shinohara, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology, 38, 208 - 214, Feb. 2018 , Refereed
    Summary:The purpose of the study was to understand the effect of robotic finger perturbation training on steadiness in finger posture and hand dexterity in healthy young adults. A mobile robotic finger training system was designed to have the functions of high-speed mechanical response, two degrees of freedom, and adjustable loading amplitude and direction. Healthy young adults were assigned to one of the three groups: random perturbation training (RPT), constant force training (CFT), and control. Subjects in RPT and CFT performed steady posture training with their index finger using the robot in different modes: random force in RPT and constant force in CFT. After the 2-week intervention period, fluctuations of the index finger posture decreased only in RPT during steady position-matching tasks with an inertial load. Purdue pegboard test score improved also in RPT only. The relative change in finger postural fluctuations was negatively correlated with the relative change in the number of completed pegs in the pegboard test in RPT. The results indicate that finger posture training with random mechanical perturbations of varying amplitudes and directions of force is effective in improving finger postural steadiness and hand dexterity in healthy young adults.
  • Undergraduate-student teaching materials for mechatronics, Yoshikazu Ohtsubo, Atsutoshi Ikeda, Kiyoshi Ioi, Manabu Kosaka, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 29(6), 1005 - 1013, Dec. 01 2017 , Refereed
    Summary:This study develops teaching materials for mechatronics in higher education. Industrial societies require numerous mechatronics engineers, and most technical universities provide mechatronics exercises in their curriculums. However, it is difficult for teachers and students to modify and improve the mechatronic teaching materials because the provided materials are finished products. Therefore, a simple and inexpensive educational system is developed to overcome the disadvantages of the finished products. In this paper, an experimental apparatus is proposed for mechatronics education, and a practical example is presented that involves learning control methods, sensors, actuators, and mechanics.
  • Low-cost and Highly Reliable MIMAMORI Device for Patient Monitoring, Atsutoshi Ikeda, Yasuyuki Otoda, Etsuko Ueda, Takayuki Nakamura, Tsukasa Ogasawara, 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 1697 - 1702, 2014 , Refereed
    Summary:In an aging society, it is important to closely monitor elderly people, especially those with cognitive disorders, because they can easily fall down and sustain serious injuries. Therefore, the demand of the monitoring system which can detect dangerous situation automatically is increased. In this paper, we propose a low-cost and highly reliable monitoring device which is called the MIMAMORI device for a monitoring system at a medical institute. The MIMAMORI device can detect dangerous situations, such as when a patient is at risk of rolling out of bed. Our MIMAMORI device has the following advantages: 1) open-source software and hardware, 2) component-based software, and 3) built from cheap products. We detail the device integration and the patient state classification algorithm of the MIMAMORI device, and verify its practical applicability with a preliminary experiment. We found that the MIMAMORI device can identify dangerous situations with an accuracy of 93%. This result shows that the MIMAMORI device is effective in monitoring patients.
  • Remote Control System for Multiple Mobile Robots using Touch Panel Interface and Autonomous Mobility, Yuya Ochiai, Kentaro Takemura, Atsutoshi Ikeda, Jun Takamatsu, Tsukasa Ogasawara, 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014), 3272 - 3277, 2014 , Refereed
    Summary:Moving to the location designated by the user is the most fundamental task for a mobile robot. Remote control is one of the effective solutions to navigate the robot to the target location, but the user suffers from the burden to continuously concentrate on the remote control. As the result, several users are required in accordance with the number of robots to operate. In this paper, we propose the remote control system that uses touch panel interface, simultaneous localization and mapping (SLAM), and motion planning to achieve autonomy of mobile robots. To navigate the robot in the proposed system, the user only designates the destination and via-points by touching on the map estimated by the SLAM. After receiving the user's input, the Rapidly-exploring Random Tree (RRT) generates the feasible path to the destination using the estimated map. The effectiveness of the proposed system is verified through experiments where multiple mobile robots are remotely controlled.
  • COMPARISON OF ULTRASOUND MUSCLE STIFFNESS MEASUREMENT AND ELECTROMYOGRAPHY TOWARDS VALIDATION OF AN ALGORITHM FOR INDIVIDUAL MUSCLE CONTROL, Ellenor Brown, Kazuya Aomoto, Atsutoshi Ikeda, Tsukasa Ogasawara, Yasuhide Yoshitake, Minoru Shinohara, Jun Ueda, ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL 2, ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL 2, 2013 , Refereed
    Summary:The ability to control individual muscle activity is widely applicable in clinical diagnostics, training, and rehabilitation. Inducing muscle patterns that amplify abnormal muscle coordination can assist with early diagnosis of neuromuscular disorders. Individual muscle control also allows for targeted exercise of muscles weakened by disease, injury, or disuse. The goals of this research are to test a system for individual muscle control and introduce the use of muscle ultrasound as an alternative to electromyography (EMG). The system integrates a computational model of the right upper extremity with a robotic manipulator to predict and control muscle activity. To test the system, subjects gripped the manipulator and isometrically resisted loads applied to the hand. Muscle activity was measured via EMG and ultrasound. The system was able to induce the desired direction of muscle activity change but with limited precision. EMG measurement appeared susceptible to error due to crosstalk in the forearm.
  • Producing method of softness sensation by device vibration, Atsutoshi Ikeda, Takahiro Suzuki, Jun Takamatsu, Tsukasa Ogasawara, Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013, Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013, 3384 - 3389, 2013 , Refereed
    Summary:In this paper, we propose a producing method of softness sensation using device vibration. The basic idea of the softness producing method is to provide a softness illusion of stimulating cutaneous mechanoreceptor by vibration. A prototype device is developed to verify effect of parameters of the vibration: frequency, amplitude and wave shape, on softness sensation. We create a database which indicates relationship between softness sensation and the vibration parameters to control the prototype device. Then subjective experiment is conducted for validation of the softness producing method. Experimental result shows that the proposing method can be used for softness sensation producing with valid resolution. © 2013 IEEE.
  • Haptic augmentation utilizing the reaction force of a base object, Yuichi Kurita, Atsutoshi Ikeda, Kazuyuki Nagata, Tsukasa Ogasawara, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 25(1), 72 - 79, 2013 , Refereed
    Summary:A haptic device is one of the interfaces promising as a human-computer interaction tool that provides users with information in a virtual reality environment. The proposed haptic augmentation presents the force response of an object by combining the force generated from a haptic device against the force response generated from the base object, which has material properties similar to those of the target object. In this paper, the concept of a haptic augmentation technique is described and the prototype of a haptic augmentation system is developed. Frequency characteristics and experiments by human participants show that the proposed method has better performance than a traditional device-only method.
  • 把持型触覚提示デバイスを用いた振動による柔らかさ提示, 鈴木 隆裕, 池田 篤俊, 高松 淳, 小笠原 司, 日本ロボット学会論文誌, 日本ロボット学会論文誌, 30(7), 56 - 64, Sep. 15 2012 , Refereed
  • 指先接触面の滑り量制御による重量・摩擦呈示デバイス, 栗田 雄一, 米澤 智, 池田 篤俊, 小笠原 司, 日本ロボット学会論文誌, 日本ロボット学会論文誌, 30(2), 89 - 96, Mar. 2012 , Refereed
  • Evaluation of grasp efficiency based on muscle activity estimation by anthropomorphic robot fingers, Yuichi Kurita, Atsutoshi Ikeda, Tadashi Matsumoto, Tsukasa Ogasawara, 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation", 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation", 466 - 468, 2012 , Refereed
    Summary:This study aims to quantitatively evaluate product usability in terms of the efficiency of muscle activity. A musculoskeletal finger model that considers anatomical features of fingers is built and the muscle activity when the fingers move is estimated. In this paper, new robot fingers which have human mimetic structure are also presented. The proposed fingers mimic the size, degree of freedom and fingertip structure of humans. The muscle activity when an object is grasped by human fingers can be estimated by using the developed anthropomorphic robot fingers. © 2011 IEEE.
  • Evaluation System for Product Usability using Human Mimetic Robot Hand, Tadashi Matsumoto, Atsutoshi Ikeda, Jun Takamatsu, Tsukasa Ogasawara, PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2115 - 2120, 2012 , Refereed
    Summary:The quantitative evaluation of product usability is important for product design. In this paper, we propose an evaluation system for product usability using a human mimetic robot hand with a tendon skeletal model. The proposed system enables us to evaluate product usability of a physical object, such as a prototype. To realize the system, we developed a robot hand which has a human mimetic structure. The design concepts of the robot hand are to imitate the human finger size, degree of freedom and fingertip structure. Ease of control is also characteristic of the robot hand. We propose to use tendon forces to evaluate the product usability. The joint torques during manipulation of the product are obtained from sensors on the robot hand. The tendon forces are calculated from the joint torques using the tendon skeletal model. Precise imitation of human finger structure makes the sensed joint torques similar to those of humans. The obtained joint torques are expected to be similar to those of humans. To evaluate the effectiveness of the proposed system, we conduct the experiments where the robot finger pushes cell phone button to evaluate its usability. The experimental result is verified by comparing with the existing questionnaire results from Ikeda [1]. The calculation score of the proposed system reflects the questionnaire result. These results indicate that the proposed system can quantitatively evaluate the actual product usability.
  • Weight and Friction Display Device by Controlling the Slip Condition of a Fingertip, Yuichi Kurita, Satoshi Yonezawa, Atsutoshi Ikeda, Tsukasa Ogasawara, 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2011 , Refereed
    Summary:In this paper, we propose a novel haptic device that gives weight and friction illusions. Sensing a slip condition at a fingertip plays an important role to estimate the weight and friction properties of an object. This fact suggests that controlling the contact condition could yield weight and friction illusions. Based on this idea, a prototype device was developed that controls the contact surface between a fingertip and a rigid plate based on a camera-based eccentricity control. The desired eccentricity profile was given from the mathematical relationship between the eccentricity and the surface deformation, which is obtained by known material parameters, vertical/lateral forces applied on the contact area, and static friction coefficient. The performance of the developed device was evaluated through human experiments. The experimental results show the statistically significant difference between presented weight and friction conditions.
  • Human-sized anthropomorphic robot hand with detachable mechanism at the wrist, Yuichi Kurita, Yasuhiro Ono, Atsutoshi Ikeda, Tsukasa Ogasawara, MECHANISM AND MACHINE THEORY, MECHANISM AND MACHINE THEORY, 46(1), 53 - 66, Jan. 2011 , Refereed
    Summary:In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The fingers are tendon-driven by wires and the actuators are embedded in the arm part. The driving forces from the arm part are transmitted to the hand part by a gear mechanism at the wrist. The gear mechanism makes the hand part and the arm part splittable. The detachable mechanism enables separate maintenance of the hand and arm parts. To avoid undesired joint mutual interferences due to the tendon-driven mechanism, a joint motion correction control is implemented in that counteracting motions are ordered to actuators. The correction coefficient can be calculated based on the mechanical configuration. The developed robot hand has the size of 200[mm](length) x 78[mm](width) x 24.6[mm] ( thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment. (C) 2010 Elsevier Ltd. All rights reserved.
  • Product usability estimation using musculoskeletal model, Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, 307 - 312, 2010 , Refereed
    Summary:This paper proposes an estimation method of product usability using a musculoskeletal model. The aim of this study is to estimate product usability based on tendon forces during an object manipulation. First, we explain the estimation method of product usability. The product usability is estimated quantitatively from the tendon forces. The mulculoskeletal model of the index finger and the thumb is constructed to calculate the tendon forces. We call this model the tendon skeletal model. The tendon forces are calculated based on grasping information using a tendon skeletal model. Next, the cylinder pinching simulation using the proposed method is shown. The simulation result is compared with the human experimental result to evaluate the effectiveness of the proposed method. The sensory evaluation of the subjective grasp effort was conducted with five subjects. The calculated score of the simulation reflects the questionnaire survey result by the subjects. As an application, we show the evaluation results of the cell-phone button pushing. The calculated score by the simulation is also compared with the human questionnaire score. These results indicate that the proposed method can be used for the quantitative evaluation of the product usability. © 2010 IEEE.
  • Grasp effort evaluation based on muscle activity, Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara, ASME 2010 Dynamic Systems and Control Conference, DSCC2010, ASME 2010 Dynamic Systems and Control Conference, DSCC2010, 1, 349 - 356, 2010 , Refereed
    Summary:This paper proposes an estimation method of product usability based on tendon forces. The aim of this study is estimation of product usability using the tendon force during an object manipulation. Proposed method focuses on the forces of the tendons which are connected to the muscles. First, we explain the estimation method of product usability. The product usability is estimated quantitatively from the tendon forces. The tendon skeletal model of the index finger and the thumb is constructed to calculate the tendon forces. The tendon forces are calculated based on grasping information using a tendon skeletal model. Next, the cylinder pinching simulation using the proposed method is shown. The simulation result is compared with the human experimental result to evaluate the effectiveness of the proposed method. The sensory evaluation of the subjective grasp effort was conducted with five subjects. The calculated score of the simulation reflects the questionnaire survey result by the subjects. As an application, we show the evaluation results of the cell-phone button pushing. The calculated score by the simulation is also compared with the human questionnaire score. These results indicate that the proposed method can be used for the quantitative evaluation of the product usability. Copyright © 2010 by ASME.
  • Haptic augmented reality interface using the real force response of an object, Yuichi Kurita, Atsutoshi Ikeda, Takeshi Tamaki, Tsukasa Ogasawara, Nagata Kazuyuki, Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST, Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST, 83 - 86, 2009 , Refereed
    Summary:This paper presents the haptic interface system that consists of a base object and a haptic device. The desired force response is achieved by the combination of the real force response of the base object and the virtual force exerted by the haptic device. The proposed haptic augmented reality (AR) system can easily generate the force response of a visco-elastic object with a cheap haptic device and a base object that has the similar visco-elastic property to the target object. In the demonstration, the force response of the target object was generated by using a haptic device only (VR) and using both a haptic device and a base object (AR), respectively. The evaluation experiments by participants show that the AR method has better performance than the VR method. This result indicates the potential of the proposed haptic AR interface. Copyright © 2009 by the Association for Computing Machinery, Inc.
  • A Tendon Skeletal Finger Model for Evaluation of Pinching Effort, Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 3691 - 3696, 2009 , Refereed
    Summary:In this paper, we propose a tendon skeletal finger model and discuss which finger postures the human feels easy to pinch based on the tendon forces and the human experimental results. The finger model mimics a human tendon skeletal structure. The tendon forces during the pinching motion were simulated using the finger model. Simulation results show that the tendon forces closely mirror the human muscle activity. Sensory evaluation of subjective pinching effort was conducted with five subjects. The subject pinched five kinds of cylinders, from 20 [mm] to 100 [mm]. The pinching force and the surface EMGs were simultaneously measured in the experiment. Based on the human questionnaire tests, we investigated which finger postures the human feels easy to pinch a cylinder. The results show that the pattern of the EMGs measured by the experiment is very similar to that of the tendon forces calculated by the finger model simulation. This indicates that the tendon force is a useful index of the subjective pinching effort and it can be used for the quantitative evaluation instead of EMGs.
  • NAIST Hand 2: Human-sized Anthropomorphic Robot Hand with Detachable Mechanism at the Wrist, Yuichi Kurita, Yasuhiro Ono, Atsutoshi Ikeda, Tsukasa Ogasawara, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2271 - 2276, 2009 , Refereed
    Summary:Humanoid robots and robotic manipulators with good dexterity are promising to enhance the factory productivity in next generation. Dexterity of robotic manipulators can be achieved by equipping an anthropomorphic robot hand with multiple fingers. Additionally, in order to manipulate various tools that humans are using in daily life, the size and the exerting force of the robot hand should be similar to that humans are. In this paper, we proposed a human-sized multi-fingered robot hand with detachable mechanism at the wrist. The robot hand can be split at the wrist into the hand part and the actuator part. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand has the size of 200[mm](length) x 78[mm](width) x 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the developed robot hand was shown by a motion control experiment.
  • Evaluation of Pinching Effort by a Tendon-Driven Robot Hand, Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara, ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 1299 - 1304, 2009 , Refereed
    Summary:In this paper, we focus on the hand posture when a human subject pinches an object, and the correlation between the results of sensory evaluation by the subject and the tendon force of the subject's fingers are investigated. Surface electromyogram (surface EMG) and pinching force are measured during the pinching motion of human subjects. Experimental results show that subjects feel comfortable pinching a 60 [mm] cylinder. The surface EMGs are lower in the vicinity of 60 [mm]. Furthermore, a tendon-driven robot hand is developed as a sensing hand prototype. The surface EMGs and the motor torque are compared in a pinching experiment using the tendon-driven robot hand. Experimental results show that the tendon-driven robot hand is effective for quantitatively evaluating pinching effort. Simulation of the pinching motion is conducted using a simple finger model. The simulation results show the importance of finger posture and the moment arm in estimating tendon force. Taken together, these results demonstrate the possibility of conducting quantitative evaluation using the tendon-driven robot hand.
  • Grip-force control of an elastic object by vision-based slip-margin feedback during the incipient slip, J Ueda, A Ikeda, T Ogasawara, IEEE TRANSACTIONS ON ROBOTICS, IEEE TRANSACTIONS ON ROBOTICS, 21(6), 1139 - 1147, Dec. 2005 , Refereed
    Summary:In this paper, a grip-force control of an elastic object is proposed based on a visual slip-margin feedback. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called "incipient slip," occurs on the contact surface. The slip margin between an elastic object and a rigid plate is estimated based on the analytic solution of a Hertzian contact model. A one-degree-of-freedom gripper consisting of a camera and a force sensor is developed. The slip margin can be estimated from the tangential force measured by a force sensor, the deformation of the elastic object and the radius on the contact area both measured by a camera. In the proposed method, the friction coefficient is not explicitly needed. The "eccentricity" is used to estimate the displacement of the elastic object at the contact area with high accuracy. The grip force is controlled by a direct feedback of the estimated slip margin. The proof of the contact stability by the proposed control is analytically given. As a result, the slip margin is maintained at a desired value, without occurring the gross slip against a disturbance traction force to the object. The validity of the proposed method is confirmed by experiments.
  • A fingerprint pointing device utilizing the deformation of the fingertip during the incipient slip, Y Kurita, A Ikeda, J Ueda, T Ogasawara, IEEE TRANSACTIONS ON ROBOTICS, IEEE TRANSACTIONS ON ROBOTICS, 21(5), 801 - 811, Oct. 2005 , Refereed
    Summary:In this paper, a novel pointing device is proposed that utilizes the deformation of the fingertip. When a fingertip is pressed and slightly slid on a rigid plate, a partial slip, called an "incipient slip," occurs on the contact surface. While the deformation around the center of the contact area is small during the incipient slip, the boundary region moves to the sliding direction of the fingertip. The deformation changes depending on the sliding distance of the fingertip and the exerted force on the contact surface. The velocity of the pointer can be determined by the estimated distance and force based on the measurement of the deformation. In this study, the correlation between the sliding distance of the fingertip and the deformation and between the exerted force and the deformation are investigated. The degree of the deformation due to the sliding motion can be estimated based on the detected fingerprint center. The group delay spectrum tracking method is proposed for the detection of the fingerprint center. A prototype pointing device is developed to evaluate the operationality of the proposed device. Comparative experiments with conventional pointing devices are conducted. The validity of the proposed device is confirmed by the experiments.
  • 初期滑り時の接触面偏心度に基づく弾性体の把持力制御, 池田 篤俊, 栗田 雄一, 上田 淳, 松本 吉央, 小笠原 司, 日本ロボット学会誌, 日本ロボット学会誌, Vol.23(No.3), 65 - 71, Apr. 2005 , Refereed
  • Grip force control for an elastic finger using vision-based incipient slip feedback, Atsutoshi Ikeda, Yuichi Kurita, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1, 810 - 815, 2004 , Refereed
    Summary:In this paper, a grip-force control of an elastic object is proposed based on a visual slip margin feedback. When an elastic object is pressed and slid slightly on a rigid plate, a partial slip, called "incipient slip" occurs on the contact surface. The slip margin between an elastic object and a rigid plate is estimated based on the analytic solution of Hertzian contact model. A 1 DOF gripper consists of a camera and a force sensor is developed. The slip margin can be estimated from the tangential force measured by a force sensor, the deformation of the elastic object and the radius on the contact area both measured by a camera. In the proposed method, the friction coefficient is not explicitly needed. The grip force is controlled by a direct feedback of the estimated slip margin, whose stability is analytically guaranteed. As a result, the slip margin is maintained to a desired value without occurring the gross slip against a disturbance load force to the object. Grip Force Control, Elastic Object, Hertzian Contact, Incipient Slip, Visual Feedback.
  • A novel pointing device utilizing the deformation of the fingertip, Y Kurita, A Ikeda, J Ueda, Y Matsumoto, T Ogasawara, IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 13 - 18, 2003 , Refereed
    Summary:In this paper, a novel pointing device is proposed which utilizes the deformation of the fingerprint. When the fingertip is pressed and slid slightly on a rigid plate, a partial slip, called 'Incipient slip", occurs on the contact surface. Since the deformation around the center of the contact surface is small, the center of the fingerprint can be detected during the incipient slip. The Group Delay Spectrum (GDS) tracking is utilized to detect the center of the fingerprint. The velocity of the pointer is controlled by the changes of the contact area on the basis of the tracked center. A prototype pointing device is developed to examine the operationality of the proposed method. The experimental results show that an operator can control the pointer with high accuracy.

Conference Activities & Talks

  • 学部生のためのメカトロニクス教育教材の開発, 大坪義一, 池田篤俊, 五百井清, 小坂学, 日本ロボット学会学術講演会予稿集(CD-ROM),   2017 09 11
  • ロボティックアームトレーニングシステムを用いた上肢トレーニング, 北村勇希, 吉武康栄, SHINOHARA Minoru, 池田篤俊, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2017 05 09
  • 2視点X画像を入力としたデータベースマッチングに基づく人工足関節位置姿勢推定システムの開発, 椛島基嵩, 飯田賢一, 上田悦子, 池田篤俊, 小杉真一, 田中康仁, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM),   2016 12 15
  • 上肢動作の安定性向上を目的としたトレーニング装置の開発, 北村勇希, 吉武康栄, SHINOHARA Minoru, 池田篤俊, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM),   2016 12 15
  • 理学療法士の訓練のためのエンドフィール提示ロボット, 有元公平, 原田孝, 河村廣幸, 福田寛二, 池田篤俊, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM),   2016 12 15
  • 深度センサを用いた転倒転落防止システムの実態調査, 中原千里, 飯田めぐみ, 米崎麻純, 小杉真一, 池田篤俊, 上田悦子, 中村恭之, 医療の質・安全学会誌,   2016 10 31
  • 理学療法士のトレーニングのためのハプティックAR技術を用いたエンドフィール提示装置, 池田篤俊, 原田孝, 河村廣幸, 福田寛二, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2016 06 08
  • 計測制御システムの教材開発, 大櫛怜, 五百井清, 大坪義一, 岡田志麻, 小坂学, 池田篤俊, 計測自動制御学会制御部門マルチシンポジウム(CD-ROM),   2016 03 07
  • バイオメカニクスから考えるスポーツ医科学 スポーツリハビリテーションのバイオメカニクス ロボット技術のスポーツ領域での応用, 高松淳, 池田篤俊, 臨床スポーツ医学,   2016 01 01
  • パラレルリンク型足関節リハビリテーション装置装着時の足底プレートと距骨および踵骨の三次元姿勢の相関に関する研究, 米澤 輝, 小杉 真一, 田中 康仁, 野村 健太, 竹村 裕, 溝口 裕, 池田 篤俊, 日本整形外科学会雑誌,   2015 09
  • 2A2-U05 Development of Low-cost Patient "MIMAMORT" Device : Classification of patient's state based on a depth image using a deep neural network, MAEGAWA Hiroaki, Nakamura Takayuki, UEDA Etsuko, IKEDA Atsutoshi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2015 05 17
    Summary:Recently, we have proposed a low-cost and highly reliable monitoring device which is called the MIMAMORI device for a monitoring system at a medical institute. The MIMAMORI device can detect dangerous situations, such as when a patient is at risk of rolling out of bed. In this paper, we detail the patient state classification algorithm using a deep neural network of the MIMAMORI device, and verify its practical applicability with a preliminary experiment.
  • 2P1-E02 Recording Hand-Object Relationship During Tasks Using First-Person RGB-D Vision, SHIMADA Takeshi, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2015 05 17
    Summary:Recording manipulation tasks are very useful for teaching-by-demonstration and digital archiving of manipulation skills. In this paper, we propose a method for recording hand-object relationship during tasks using first-person RGB-D vision. First-person vision expands the recording area even though only one camera is used. Detection of changes from 3D information relieves complicated recognition by an RGB image. By detecting appearance/disappearance of an object under the region occluded by a hand, we estimate action of release/grasp and appearance of the target object. We verify the effectiveness of the proposed method through an experiment of a simple pick-and-place task.
  • 2P1-E03 Floor Cleaning Robot with Trash Picking Arm, HIRATA Takashi, YAMAZAKI Wataru, CAYAO Christian Deus, YOSHIKAWA Masahiro, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2015 05 17
    Summary:Recently, cleaning robots are becoming widely used. However, even if commercially-available cleaning robots can collect dust and small debris on the floor, they can not pick up trash such as PET bottles, cans, etc. We developed a cleaning robot intended for picking trash while dust collecting. This paper describes the architecture of the cleaning robot consisting of hardware such as an RGB-D sensor, a robot arm and a commercially-available cleaning robot, and also software for trash picking such as searching trash from RGB-D image, picking the trash via the robot arm and controlling the cleaning robot. We used commercially-available hardware and open source software such as Robot Operating System (ROS), Point Cloud Libraly (PCL) and so on.
  • 2P1-E09 Development of a Wearable Device for Recording Hand Motions during Housework from First-Person Perspective, YAMAZAKI Wataru, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2015 05 17
    Summary:Recently, there is growing interest on recording human motions from first-person perspective in a domestic environment. RGB-D cameras have been widely used in the field of robotics and also in analysis of egocentric vision, and such devices are still unproved. It is highly probable that the improvement of sensors will enhance the precision of previous systems. In this paper, we develop a wearable device using Kinect for Windows v2 in order to record hand motions during housework. We devote on reducing its weight by designing a novel casing, heat sink and head-mount. We evaluate the reliability of the system by measuring the time of continuous work without interruption.
  • 新しい院内転倒転落防止システムの開発, 小杉 真一, 池田 篤俊, 小笠原 司, 音田 恭宏, 上田 悦子, 中村 恭之, 奈良県西和医療センター医学雑誌,   2015 03
    Summary:近年、超高齢者社会の到来とともに、入院患者の高齢化が進んでおり、院内での転倒・転落による、骨折、脳神経損傷をともなう有害事例が発生し、医療安全管理上、重要な課題の一つとなっている。当院でも、院内の医療安全委員会の指導の下、転倒転落リスクの高い患者に対して、種々の防止ツールを使用している。しかし、脱落や誤作動などの問題も多く、必ずしも満足のできる成果は得られていない。そこで我々は、体感ゲーム用に開発され、医療分野にも応用され、実用化が図られている深度センサを用い、患者のベッド上での動作をモニタリングすることにより、より正確な警告を医療者に伝えるシステムを考案したので報告する。(著者抄録)
  • 深度センサを用いた転倒転落防止システムの開発, 小杉 真一, 池田 篤俊, 小笠原 司, 音田 恭宏, 上田 悦子, 田中 康仁, The Japanese Journal of Rehabilitation Medicine,   2015 02
  • 高速度カメラを用いた足底皮膚変位測定による歩行時足部アーチ機構の評価の可能性, 小杉真一, 田中康仁, 竹村裕, 椎名崇之, 山腰健, 池田篤俊, 小笠原司, 日本足の外科学会雑誌,   2014 10 14
  • 一人称視点を用いた調理作業記録システムの構築―調理者の頭部位置姿勢推定,動体検出,調理環境の3次元形状生成―, 島田健史, 池田篤俊, 竹村憲太郎, 高松淳, 小笠原司, 日本ロボット学会学術講演会予稿集(CD-ROM),   2014 09 04
  • 低価格患者見守りシステムの開発 第1報:オープンソースハードウェアとソフトウェアを用いたシステム構築, 音田恭宏, 池田篤俊, 上田悦子, 日本ロボット学会学術講演会予稿集(CD-ROM),   2014 09 04
  • 光学式モーションキャプチャを用いた足部アーチの三次元動態解析, 池田篤俊, 春日照之, 高松淳, 小笠原司, 小杉真一, 田中康仁, 日本整形外科学会雑誌,   2014 08 29
  • 2視点X線画像を用いた人工関節の姿勢推定手法, 池田篤俊, 青木友作, 上田悦子, 小笠原司, 小杉真一, 山口智志, 田中康仁, 日本整形外科学会雑誌,   2014 08 29
  • 高速度カメラを用いた足底皮膚変位測定および透視撮影による歩行時足部アーチ機構の評価, 小杉真一, 田中康仁, 竹村裕, 椎名崇之, 山腰健, 池田篤俊, 小笠原司, 日本整形外科学会雑誌,   2014 08 29
  • 3P1-W04 Utilization of "Flexibility" with Manipulation Task(Flexible Robot/Mechanism and its Control), SUGIGAKI Akinori, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2014 05 24
    Summary:In this paper, we propose the prototype of the flexible robot finger to be able to output high power with a small actuator, which can charge up the elastic energy. Human can also employ flexibility to charge up the power in the muscle and momentarily release the high power to use the charged energy. For example, human snap a finger to charge up the power in the muscle of the finger, and can release the high power. We evaluate the performance of the prototype of the flexible robot finger, compared it with the robot finger not to use the elastic energy.
  • 3A1-P06 Construction Method of Object Manipulation Database from Grasping Demonstrations of Human(Sense, Motion and Measurement (1)), SHIMADA Takeshi, SUGIGAKI Akinori, YAMAGUCHI Akihiko, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2014 05 24
    Summary:We aim to construct an object manipulation database from grasping demonstrations of human. We consider that when a human grasps an object, there are several grasping motion patterns that are unique to the object. This variation of grasping patterns comes from their manipulation purposes. However, traditional researches do not consider such purposes but consider the physical or the geometrical stability of the object. In this paper, we develop a method to construct an object manipulation database by observing grasping motions performed by humans under a certain manipulation purpose. For this purpose, we developed a sensor grove that can measure the pose of human's hand, the force of each fingertip, and the relative position and orientation from a grasping object. We also measure the 3D information of the object.
  • 3P1-S03 Realizing String Figures by Robot and Human Pair(Robot Hand Mechanism and Grasping Strategy (1)), YOSHIMOTO Masanori, SATO Ryo, ISHIHARA Yuya, YAMAGUCHI Akihiko, YOSHIKAWA Masahiro, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2014 05 24
    Summary:It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a human. Concretely, we develop a description method that can represent a variety of procedures of string figures to be played by a robot and a human pair. In order to implement this framework on a dual-arm robot, we also develop a method to decide centers of loops to be picked up using camera images. This paper demonstrates the experimental results with a dual-arm robot Hiro-NX.
  • Low-cost and highly reliable MIMAMORI device for patient monitoring., Atsutoshi Ikeda, Yasuyuki Otoda, Etsuko Ueda, Takayuki Nakamura, Tsukasa Ogasawara, 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014, Bali, Indonesia, December 5-10, 2014,   2014
  • Remote control system for multiple mobile robots using touch panel interface and autonomous mobility., Yuya Ochiai, Kentaro Takemura, Atsutoshi Ikeda, Jun Takamatsu, Tsukasa Ogasawara, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014,   2014
  • 足底皮膚変位・床反力同時計測装置を用いた歩行時足部アーチ機構の評価, 小杉真一, 田中康仁, 竹村裕, 小原晃, 椎名崇之, 池田篤俊, 小笠原司, 日本整形外科学会雑誌,   2013 08 30
  • 楕円近似による足部アーチの動作解析, 春日照之, 池田篤俊, 高松淳, 小笠原司, 竹村裕, 小杉真一, 田中康仁, 日本整形外科学会雑誌,   2013 08 30
  • 1A2-K06 Three-Dimensional Analysis of Arches Deformation of the Foot using Geometric Approximation(Digital Human), KASUGA Teruyuki, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, TAKEMURA Hiroshi, KOSUGI Shinichi, TANAKA Yasuhito, ロボティクス・メカトロニクス講演会講演概要集,   2013 05 22
    Summary:In this paper, we propose the three-dimensional analysis method of arches deformation of the foot using geometric approximation. In previous studies, the longitudinal arch of the foot was analyzed by connecting the markers measured by optical motion capture with the straight lines. We analyzed arches deformation of the foot using the ellipse and ellipsoid approximation because the arch of foot is a curve. The change of each axial length of the ellipse and ellipsoid corresponds to the change of the arch length and the arch height before and after the load. Then we compared the analysis results with the previous knowledge.
  • 1A2-B14 Artificial ankle joint pose estimation using X-ray images from two different viewpoints(Medical Robotics and Mechatronics (2)), AOKI Yusaku, UEDA Etsuko, IKEDA Atsutoshi, KOSUGI Shinichi, TANAKA Yasuhito, ロボティクス・メカトロニクス講演会講演概要集,   2013 05 22
    Summary:In this study, we propose a method to estimate the posture of the ankle prosthesis based on X-ray images of two different viewpoints. To improve the estimate accuracy, we use the multiple X-ray images. After we generate a image database from the three-dimensional CAD model of the ankle prosthesis using original simulator, we calculate the candidate pose from each X-ray image by pattern matching. Estimation is performed with high accuracy by integrating these candidate pose.
  • Producing Method of Softness Sensation by Device Vibration., Atsutoshi Ikeda, Takahiro Suzuki, Jun Takamatsu, Tsukasa Ogasawara, IEEE International Conference on Systems, Man, and Cybernetics, Manchester, SMC 2013, United Kingdom, October 13-16, 2013,   2013
  • 自然環境を使った屋外移動ロボットによるSLAM, 吉本公則, 上田悦子, 池田篤俊, 小笠原司, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2012 05 27
  • オープンソースRTCの再利用による双腕サービスロボットシステムの構築, 池田篤俊, 高松淳, 小笠原司, 大原賢一, 前泰志, 新井健生, 竹村裕, 溝口博, 相山康道, 阪口健, 松本吉央, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2012 05 27
  • 筋骨格モデルと筋電計測に基づく上肢運動の運動評価, 栗田雄一, 伊藤隆洋, 池田篤俊, 上田淳, 高松淳, 小笠原司, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2012 05 27
  • 初期滑り分布計測に基づく把握動作の解析, 池田篤俊, 武藤誠, 高松淳, 小笠原司, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2012 05 27
  • 2A2-H06 SLAM with the outdoor mobile robot using natural environments(Localization and Mapping(2)), YOSHIMOTO Masanori, UEDA Etsuko, IKEDA Atsutoshi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2012 05 27
    Summary:In order to perform navigation, robots need a map that shows locations of obstacles and walls in unknown environment. Localization and mapping are generally called SLAM. In the recent studies, SLAM is stable even in an environment with a lot of people such as the station yard or a shopping mall. However, in the future, robots that play an active role in natural environments such as mountain paths will increase. Therefore we aim at the development of stable method for localization and mapping in natural environments. Our study conducted based on RT middleware and the development efficiency was improved by using RT middleware. At current stage, we implemented a robot system to collect outdoors environmental information. This system was developed by OpenRTM-aist. In this paper, we discuss our result of the map generation in the natural environment.
  • 2A2-D03 Evaluation of Arm Movements based on a Musuloskeletal model and sEMG measurements(Musculoskeletal Modeling), Kurita Yuichi, Ito Takahiro, Ikeda Atsutoshi, Ueda Jun, Takamatsu Jun, Ogasawara Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2012 05 27
    Summary:Humans control the stiffness of joints depending on type of the target task. This implies that profiles of the stiffness includes fruitful information about skillfulness of the human performing. The purpose of this research is to analyze motions by estimating the stiffness and equilibrium points of joints based on sEMG measurements and musculoskeletal model. In this paper, the proficiency evaluation method is proposed based on the calculation of the stiffness ellipse and the trajectory of the equilibrium points of joints.
  • 1P1-Q04 Dual-arm Servise Robot System Reusing Open Source RTC(RT Middleware and Open System), IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, Ohara Kenichi, MAE Yasushi, ARAI Tatsuo, TAKEMURA Hiroshi, MIZOGUCHI Hiroshi, AIYAMA Yasumichi, SAKAGUCHI Takeshi, MATSUMOTO Yoshio, ロボティクス・メカトロニクス講演会講演概要集,   2012 05 27
    Summary:In this paper, we present a dual-arm service robot system reusing open source RT components. The service robot system has four functions which are user detection, user interface, ordered object recognition and ordered object manipulation. Each function is developed by several groups as an open source RT module. We demonstrate over-the-counter sales of Japanese-style confection in IREX2011.
  • 1A2-B02 Power grasp analysis by incipient slip distribution(Tactile and Force Sensing(2)), IKEDA Atsutoshi, MUTOU Makoto, TAKAMATSU Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2012 05 27
    Summary:In this paper, a measurement method of incipient slip is proposed for human grasping motion analysis. A measurement system which has a built-in camera and a built-in omnidirectional mirror, is used to capture palm images during grasping motion. The incipient slip distribution is analyzed in some experimental conditions which are different weight and different cylinder size. Experimental results show that the incipient slip distribution has a bias. We discuss about the relationship between the bias of the incipient slip distribution and the somatic characteristics.
  • Evaluation system for product usability using human mimetic robot hand., Tadashi Matsumoto, Atsutoshi Ikeda, Jun Takamatsu, Tsukasa Ogasawara, Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012, Seoul, Korea (South), October 14-17, 2012,   2012
  • 把持型デバイスを用いた振動による柔らかさ提示, 鈴木隆裕, 池田篤俊, 高松淳, 小笠原司, 日本ロボット学会学術講演会予稿集(CD-ROM),   2011 09 07
  • 2B2-1 Haptic Augmented Reality to Present Force Response of Biological Tissue, Kurita Yuichi, Otsuka Hiroyuki, Nagata Kazuyuki, Ikeda Atsutoshi, Ogasawara Tsukasa, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies,   2011 09 01
    Summary:Haptic devices are one of promising interfaces as human-computer interaction tools that provides users further information in virtual reality environment. The proposed haptic augmented reality (haptic AR) can present the force response of a visco-elastic object by combining the force generated from a haptic device against the force response generated from the base object, which has similar visco-elastic property to that of the target object. In this paper, the concept of the haptic AR device is described. The frequency characteristics are analyzed by the system identification and human experiments show the proposed method has a better performance than a device-only method.
  • 2B2-2 Novel Robot Hand Resembling Human Finger Structure for a Product Usability Evaluation System, IKEDA Atsutoshi, MATSUMOTO Tadashi, KURITA Yuichi, OGASAWARA Tsukasa, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies,   2011 09 01
    Summary:The quantitative evaluation of product usability is important for product design. We has presented the concept of the usability evaluation system using a tendon skeletal finger model. In this paper, we propose the novel robot hand which resembles human fingertip structure for the usability evaluation system. The usability evaluation system using the robot hand can evaluate a existing product. The design concept and specification of the robot hand are described.
  • 2P2-O01 Development of a novel robot finger for an evaluation system of the product usability(Sense, Motion and Measurement), MATSUMOTO Tadashi, IKEDA Atsutoshi, KURITA Yuichi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2011 05 26
    Summary:In this paper, we present a new robot finger which has human mimetic structure for the product usability evaluation system. The design concept is to mimic the human finger size, degree of freedom and fingertip structure. The basic performance of the joint angle control is shown in the experiment.
  • 指先接触面の滑り量制御による重量・摩擦提示デバイス, 米澤智, 池田篤俊, 栗田雄一, 小笠原司, ロボティクスシンポジア予稿集,   2011 03 14
  • 力覚の拡張現実感提示手法の周波数応答特性による評価, 五十嵐勇太, 池田篤俊, 栗田雄一, 永田和之, 小笠原司, 情報処理学会全国大会講演論文集,   2011 03 02
  • 運動指令依存ノイズに着目した確率的Broadcast Feedback制御の到達運動への適用, 寺岡宏敏, 池田篤俊, 栗田雄一, 上田淳, 小笠原司, 情報処理学会全国大会講演論文集,   2011 03 02
  • Evaluation of grasp efficiency based on muscle activity estimation by anthropomorphic robot fingers., Yuichi Kurita, Atsutoshi Ikeda, Tadashi Matsumoto, Tsukasa Ogasawara, International Symposium on Micro-NanoMechatronics and Human Science, MHS 2011, Nagoya, Japan, November 6-9, 2011,   2011
  • Weight and friction display device by controlling the slip condition of a fingertip., Yuichi Kurita, Satoshi Yonezawa, Atsutoshi Ikeda, Tsukasa Ogasawara, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011,   2011
  • 液体に対する力覚重畳による特性変化と水流提示法の提案, 五十嵐勇太, 玉置健, 池田篤俊, 栗田雄一, 永田和之, 小笠原司, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM),   2010 06 13
  • Creating Virtual Stiffness by Modifying Force Profile of Base Object., Atsutoshi Ikeda, Yuichi Kurita, Takeshi Tamaki, Kazuyuki Nagata, Tsukasa Ogasawara, Haptics: Generating and Perceiving Tangible Sensations, International Conference, EuroHaptics 2010, Amsterdam, July 8-10, 2010. Proceedings, Part I,   2010
  • 1A1-B29 Development of Weight Illusion Device Based on Contact Area Control, YONEZAWA Satoshi, IKEDA Atsutoshi, KURITA Yuichi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2010
    Summary:In this paper, we propose a novel haptic device for giving weight and friction illusions. Humans sense weight and friction through the contact sensation between the skin and the object. This fact suggests controlling the contact information can give weight and friction illusions. We developed a prototype device that can control the contact surface between the fingertip and the rigid plate based on the camera-based eccentricity control, and the performance was evaluated through the experiments.
  • 1A1-B28 Virtual liquid and water current presentation method by haptic augmentation on liquid, IGARASHI Yuta, TAMAKI Takeshi, IKEDA Atsutoshi, KURITA Yuichi, NAGATA Kazuyuki, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2010
    Summary:In this paper, we provide the illusion of water current force and variety of viscosity using the haptic augmented reality (AR) system. We analyzed frequency of water current and measured water viscosity so that we make a water current model of the AR method and the VR method. The questionnaire results show that human feels water current force and fluid viscosity more natural by the AR method than the VR method.
  • 2P1-E06 Rheology-based posture control of a multi-link robot, TAMAKI Takeshi, IKEDA Atsutoshi, KURITA Yuichi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2009 05 25
    Summary:In this paper, we propose the rheology-based posture control method of a multi-link robot for obstacle avoidance. Viscoelastic model is used for the calculation of the robot posture control. The performance of the obstacle avoidance between the proposed method and the conventional control method is compared in the simulation. The experimental results show that the proposed method can determine the efficient posture that avoids the multiple obstacles.
  • 2A2-B11 Development of a Human-sized Multifingered Hand with Detachable Wrist, KURITA Yuichi, ONO Yasuhiro, IKEDA Atsutoshi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2009 05 25
    Summary:In this paper, we proposed a human-sized multifingered robot hand with detachable mechanism at the wrist. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The robot hand can be split into the hand part and the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand is the size of 200(length) x 78(width) x 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the robot hand is shown by a motion control experiment.
  • 1A1-M02 Influence of the finger posture on the subjective of pinching effort, IKEDA Atsutoshi, ONOUE Takehiro, KURITA Yuichi, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2009 05 25
    Summary:In this paper, the influence of the finger posture on the subjective effort during pinching motion is discussed. Experimental results show that subjective effort human feels is strongly affected by the size of the object he/she pinches, and the subjective effort correlates with the index finger and thumb length. This results suggest that the reason why subjective pinching effort is influenced by the finger posture is the difference in the efficiency of the force transmission from the muscles.
  • Haptic augmented reality interface using the real force response of an object., Yuichi Kurita, Atsutoshi Ikeda, Takeshi Tamaki, Tsukasa Ogasawara, Kazuyuki Nagata, Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST 2009, Kyoto, Japan, November 18-20, 2009,   2009
  • A tendon skeletal finger model for evaluation of pinching effort., Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA,   2009
  • NAIST hand 2: Human-sized anthropomorphic robot hand with detachable mechanism at the wrist., Yuichi Kurita, Yasuhiro Ono, Atsutoshi Ikeda, Tsukasa Ogasawara, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA,   2009
  • Evaluation of pinching effort by a tendon-driven robot hand., Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara, 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009,   2009
  • Biomechanical analysis of subjective pinching effort based on tendon-skeletal model., Kurita Y, Onoue T, Ikeda A, Ogasawara T, Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference,   2009
  • 1P1-A11 Measurement of pinching motion for the quantification of pinching facility, IKEDA Atsutoshi, KURITA Yuichi, UEDA Jun, OGASAWARA Tsukasa, ロボティクス・メカトロニクス講演会講演概要集,   2008 06 06
    Summary:In this research, the surface electromyogram (surface EMG) and the pinching force when pinching an object were simultaneously measured for quantification of sensory evaluation. Cylinders with the length of 20, 40, 60, 80 and 100 [mm] and weight of 300 and 600 [g] were used for the experiment. Experimental results show that subjects feel comfortable to pinch the cylinder when the length of cylinder was 60 [mm]. The pinching force became the smallest and both of EMGs of adductor pollicis muscle and flexor digitorum superficialis muscle became small.
  • Grip force control of the elastic body based on contact surface eccentricity during the incipient slip, Ikeda A, Kurita Y, Ueda J, Matsumoto Y, Ogasawara T, ロボティクス・メカトロニクス講演会講演概要集,   2004 06 18
  • Grip force control for an elastic finger using vision-based incipient slip feedback., Atsutoshi Ikeda, Yuichi Kurita, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004,   2004
  • Analysis of human walking and motion using lateral rotational moment of hip joints, Ueda Jun, Ikeda Atsutoshi, Shirae Kenji, Takemura Hiroshi, Ogasawara Tsukasa, Oda Shingo, The JSME Symposium on Welfare Engineering,   2003 11 07
    Summary:It is said that the motions of top athletes and experts of Bushido have in common in the sense of using hip joints. In this paper, a trunk-twistless walking, named 'namiashi' is measured and investigated. It is estimated that external rotational moment of hip joints is effectively used for compensation of the twisting moment of the body. We identifed that the multiple-peak pattern of the acceleration is one of the characteristics of this walking motion. It can be considered that dispersing acceleration by using the external rotational moment leads to reducing muscle fatigue.
  • A novel pointing device utilizing the deformation of the fingertip., Yuichi Kurita, Atsutoshi Ikeda, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27 - November 1, 2003,   2003
  • Development on conveyance module with new power drive mechanism for thin wire production system., Hidenori Ishihara, Kimihito Yukawa, Atsutoshi Ikeda, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan,   2003
  • Development of a New Pointing Device Utilizing Deformation of Fingerprint Images, Ikeda A, Kurita Y, Ueda J, Ogasawara T, ロボティクス・メカトロニクス講演会講演概要集,   2003
    Summary:本研究では指紋変形を利用した新たなポインティングデバイスを提案する。このデバイスは指を平面に押付けたまま任意の方向に微小移動させた際に生じる指紋紋様の変形を検出し, ユーザからの入力とする。
  • Development of Wire Transportation System for Thin Wire Process, Ishihara Hidenori, Ikeda Atsutoshi, Suzuki Minoru, ロボティクス・メカトロニクス講演会講演概要集,   2002
    Summary:ロボット用ケーブルなど極細線のニーズが高まる中, 高いシールド効果を有する極細線ケーブルの加工のためのワイヤー搬送装置を試作したので, その構造ならびに基本的な特性を報告する

Misc

  • 不随意運動の定量評価に向けた口元画像の解析, 来海公哉, 西郷和真, 池田篤俊, 岡田志麻, 小坂学, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 18th, ROMBUNNO.2B4‐10,   2017 12 20 , https://jglobal.jst.go.jp/detail?JGLOBAL_ID=201802287287040179
  • Robotic Arm Training System for Mitigation of Upper Limb Tremor, Kitamura Yuki, Yoshitake Yasuhide, Shinohara Minoru, Ikeda Atsutoshi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017, 0, 2A2, D03,   2017 , 10.1299/jsmermd.2017.2A2-D03
    Summary:

    In this paper, a robotic arm training system (RATS) that can provide artificial training load, e.g. random force, is proposed. We describe the components of RATS and show performance evaluation test results. Then preliminary training test with 1 healthy subject is demonstrated.

  • End-Feel Display Device using Haptic Augmented Reality for Physical Therapist Training, Ikeda A., Harada T., Kawamura H., Fukuda K., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2016, 0, 2A2, 03a7,   2016 , 10.1299/jsmermd.2016.2A2-03a7
    Summary:

    This paper, we propose a training device for physical therapists to improve a diagnosis skill of end-feel. Haptic Augmented Reality (AR) technique is employed to design a training device prototype. We use a coil spring and a DC motor to duplicate reaction force of human end-feel. The design detail of the training device prototype is explained.

  • 2A2-U05 Development of Low-cost Patient "MIMAMORT" Device : Classification of patient's state based on a depth image using a deep neural network, MAEGAWA Hiroaki, Nakamura Takayuki, UEDA Etsuko, IKEDA Atsutoshi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, 0, _2A2, U05_1-_2A2-U05_3,   2015 , 10.1299/jsmermd.2015._2A2-U05_1
    Summary:Recently, we have proposed a low-cost and highly reliable monitoring device which is called the MIMAMORI device for a monitoring system at a medical institute. The MIMAMORI device can detect dangerous situations, such as when a patient is at risk of rolling out of bed. In this paper, we detail the patient state classification algorithm using a deep neural network of the MIMAMORI device, and verify its practical applicability with a preliminary experiment.
  • 2P1-E02 Recording Hand-Object Relationship During Tasks Using First-Person RGB-D Vision, SHIMADA Takeshi, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, 0, _2P1, E02_1-_2P1-E02_4,   2015 , 10.1299/jsmermd.2015._2P1-E02_1, http://ci.nii.ac.jp/naid/110010055727
    Summary:Recording manipulation tasks are very useful for teaching-by-demonstration and digital archiving of manipulation skills. In this paper, we propose a method for recording hand-object relationship during tasks using first-person RGB-D vision. First-person vision expands the recording area even though only one camera is used. Detection of changes from 3D information relieves complicated recognition by an RGB image. By detecting appearance/disappearance of an object under the region occluded by a hand, we estimate action of release/grasp and appearance of the target object. We verify the effectiveness of the proposed method through an experiment of a simple pick-and-place task.
  • 2P1-E03 Floor Cleaning Robot with Trash Picking Arm, HIRATA Takashi, YAMAZAKI Wataru, CAYAO Christian Deus, YOSHIKAWA Masahiro, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, 0, _2P1, E03_1-_2P1-E03_3,   2015 , 10.1299/jsmermd.2015._2P1-E03_1, http://ci.nii.ac.jp/naid/110010055728
    Summary:Recently, cleaning robots are becoming widely used. However, even if commercially-available cleaning robots can collect dust and small debris on the floor, they can not pick up trash such as PET bottles, cans, etc. We developed a cleaning robot intended for picking trash while dust collecting. This paper describes the architecture of the cleaning robot consisting of hardware such as an RGB-D sensor, a robot arm and a commercially-available cleaning robot, and also software for trash picking such as searching trash from RGB-D image, picking the trash via the robot arm and controlling the cleaning robot. We used commercially-available hardware and open source software such as Robot Operating System (ROS), Point Cloud Libraly (PCL) and so on.
  • 2P1-E09 Development of a Wearable Device for Recording Hand Motions during Housework from First-Person Perspective, YAMAZAKI Wataru, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, 0, _2P1, E09_1-_2P1-E09_2,   2015 , 10.1299/jsmermd.2015._2P1-E09_1, http://ci.nii.ac.jp/naid/110010055734
    Summary:Recently, there is growing interest on recording human motions from first-person perspective in a domestic environment. RGB-D cameras have been widely used in the field of robotics and also in analysis of egocentric vision, and such devices are still unproved. It is highly probable that the improvement of sensors will enhance the precision of previous systems. In this paper, we develop a wearable device using Kinect for Windows v2 in order to record hand motions during housework. We devote on reducing its weight by designing a novel casing, heat sink and head-mount. We evaluate the reliability of the system by measuring the time of continuous work without interruption.
  • 3P1-S03 Realizing String Figures by Robot and Human Pair(Robot Hand Mechanism and Grasping Strategy (1)), YOSHIMOTO Masanori, SATO Ryo, ISHIHARA Yuya, YAMAGUCHI Akihiko, YOSHIKAWA Masahiro, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014, 0, _3P1, S03_1-_3P1-S03_4,   2014 , 10.1299/jsmermd.2014._3P1-S03_1, http://ci.nii.ac.jp/naid/110009967291
    Summary:It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a human. Concretely, we develop a description method that can represent a variety of procedures of string figures to be played by a robot and a human pair. In order to implement this framework on a dual-arm robot, we also develop a method to decide centers of loops to be picked up using camera images. This paper demonstrates the experimental results with a dual-arm robot Hiro-NX.
  • 3A1-P06 Construction Method of Object Manipulation Database from Grasping Demonstrations of Human(Sense, Motion and Measurement (1)), SHIMADA Takeshi, SUGIGAKI Akinori, YAMAGUCHI Akihiko, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014, 0, _3A1, P06_1-_3A1-P06_3,   2014 , 10.1299/jsmermd.2014._3A1-P06_1, http://ci.nii.ac.jp/naid/110009968985
    Summary:We aim to construct an object manipulation database from grasping demonstrations of human. We consider that when a human grasps an object, there are several grasping motion patterns that are unique to the object. This variation of grasping patterns comes from their manipulation purposes. However, traditional researches do not consider such purposes but consider the physical or the geometrical stability of the object. In this paper, we develop a method to construct an object manipulation database by observing grasping motions performed by humans under a certain manipulation purpose. For this purpose, we developed a sensor grove that can measure the pose of human's hand, the force of each fingertip, and the relative position and orientation from a grasping object. We also measure the 3D information of the object.
  • 3P1-W04 Utilization of "Flexibility" with Manipulation Task(Flexible Robot/Mechanism and its Control), SUGIGAKI Akinori, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014, 0, _3P1, W04_1-_3P1-W04_2,   2014 , 10.1299/jsmermd.2014._3P1-W04_1, http://ci.nii.ac.jp/naid/110009969003
    Summary:In this paper, we propose the prototype of the flexible robot finger to be able to output high power with a small actuator, which can charge up the elastic energy. Human can also employ flexibility to charge up the power in the muscle and momentarily release the high power to use the charged energy. For example, human snap a finger to charge up the power in the muscle of the finger, and can release the high power. We evaluate the performance of the prototype of the flexible robot finger, compared it with the robot finger not to use the elastic energy.
  • 1A2-B14 Artificial ankle joint pose estimation using X-ray images from two different viewpoints(Medical Robotics and Mechatronics (2)), AOKI Yusaku, UEDA Etsuko, IKEDA Atsutoshi, KOSUGI Shinichi, TANAKA Yasuhito, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _1A2, B14_1-_1A2-B14_2,   2013 , 10.1299/jsmermd.2013._1A2-B14_1
    Summary:In this study, we propose a method to estimate the posture of the ankle prosthesis based on X-ray images of two different viewpoints. To improve the estimate accuracy, we use the multiple X-ray images. After we generate a image database from the three-dimensional CAD model of the ankle prosthesis using original simulator, we calculate the candidate pose from each X-ray image by pattern matching. Estimation is performed with high accuracy by integrating these candidate pose.
  • 1A2-K06 Three-Dimensional Analysis of Arches Deformation of the Foot using Geometric Approximation(Digital Human), KASUGA Teruyuki, IKEDA Atsutoshi, TAKAMATSU Jun, OGASAWARA Tsukasa, TAKEMURA Hiroshi, KOSUGI Shinichi, TANAKA Yasuhito, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _1A2, K06_1-_1A2-K06_2,   2013 , 10.1299/jsmermd.2013._1A2-K06_1, http://ci.nii.ac.jp/naid/110009963827
    Summary:In this paper, we propose the three-dimensional analysis method of arches deformation of the foot using geometric approximation. In previous studies, the longitudinal arch of the foot was analyzed by connecting the markers measured by optical motion capture with the straight lines. We analyzed arches deformation of the foot using the ellipse and ellipsoid approximation because the arch of foot is a curve. The change of each axial length of the ellipse and ellipsoid corresponds to the change of the arch length and the arch height before and after the load. Then we compared the analysis results with the previous knowledge.
  • 1A2-B02 Power grasp analysis by incipient slip distribution(Tactile and Force Sensing(2)), IKEDA Atsutoshi, MUTOU Makoto, TAKAMATSU Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _1A2, B02_1-_1A2-B02_2,   2012 , 10.1299/jsmermd.2012._1A2-B02_1
    Summary:In this paper, a measurement method of incipient slip is proposed for human grasping motion analysis. A measurement system which has a built-in camera and a built-in omnidirectional mirror, is used to capture palm images during grasping motion. The incipient slip distribution is analyzed in some experimental conditions which are different weight and different cylinder size. Experimental results show that the incipient slip distribution has a bias. We discuss about the relationship between the bias of the incipient slip distribution and the somatic characteristics.
  • 2A2-H06 SLAM with the outdoor mobile robot using natural environments(Localization and Mapping(2)), YOSHIMOTO Masanori, UEDA Etsuko, IKEDA Atsutoshi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _2A2, H06_1-_2A2-H06_2,   2012 , 10.1299/jsmermd.2012._2A2-H06_1
    Summary:In order to perform navigation, robots need a map that shows locations of obstacles and walls in unknown environment. Localization and mapping are generally called SLAM. In the recent studies, SLAM is stable even in an environment with a lot of people such as the station yard or a shopping mall. However, in the future, robots that play an active role in natural environments such as mountain paths will increase. Therefore we aim at the development of stable method for localization and mapping in natural environments. Our study conducted based on RT middleware and the development efficiency was improved by using RT middleware. At current stage, we implemented a robot system to collect outdoors environmental information. This system was developed by OpenRTM-aist. In this paper, we discuss our result of the map generation in the natural environment.
  • 1P1-Q04 Dual-arm Servise Robot System Reusing Open Source RTC(RT Middleware and Open System), IKEDA Atsutoshi, SAKAGUCHI Takeshi, MATSUMOTO Yoshio, TAKAMATSU Jun, OGASAWARA Tsukasa, Ohara Kenichi, MAE Yasushi, ARAI Tatsuo, TAKEMURA Hiroshi, MIZOGUCHI Hiroshi, AIYAMA Yasumichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _1P1, Q04_1-_1P1-Q04_2,   2012 , 10.1299/jsmermd.2012._1P1-Q04_1, http://ci.nii.ac.jp/naid/110009908472
    Summary:In this paper, we present a dual-arm service robot system reusing open source RT components. The service robot system has four functions which are user detection, user interface, ordered object recognition and ordered object manipulation. Each function is developed by several groups as an open source RT module. We demonstrate over-the-counter sales of Japanese-style confection in IREX2011.
  • 2A2-D03 Evaluation of Arm Movements based on a Musuloskeletal model and sEMG measurements(Musculoskeletal Modeling), Kurita Yuichi, Ito Takahiro, Ikeda Atsutoshi, Ueda Jun, Takamatsu Jun, Ogasawara Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _2A2, D03_1-_2A2-D03_4,   2012 , 10.1299/jsmermd.2012._2A2-D03_1, http://ci.nii.ac.jp/naid/110009908787
    Summary:Humans control the stiffness of joints depending on type of the target task. This implies that profiles of the stiffness includes fruitful information about skillfulness of the human performing. The purpose of this research is to analyze motions by estimating the stiffness and equilibrium points of joints based on sEMG measurements and musculoskeletal model. In this paper, the proficiency evaluation method is proposed based on the calculation of the stiffness ellipse and the trajectory of the equilibrium points of joints.
  • 2B2-1 Haptic Augmented Reality to Present Force Response of Biological Tissue, Kurita Yuichi, Otsuka Hiroyuki, Nagata Kazuyuki, Ikeda Atsutoshi, Ogasawara Tsukasa, インテリジェントシステム・シンポジウム講演論文集, 2011, 21, 263, 266,   2011 , http://dl.ndl.go.jp/info:ndljp/pid/11134320
    Summary:Haptic devices are one of promising interfaces as human-computer interaction tools that provides users further information in virtual reality environment. The proposed haptic augmented reality (haptic AR) can present the force response of a visco-elastic object by combining the force generated from a haptic device against the force response generated from the base object, which has similar visco-elastic property to that of the target object. In this paper, the concept of the haptic AR device is described. The frequency characteristics are analyzed by the system identification and human experiments show the proposed method has a better performance than a device-only method.
  • 2B2-2 Novel Robot Hand Resembling Human Finger Structure for a Product Usability Evaluation System, IKEDA Atsutoshi, MATSUMOTO Tadashi, KURITA Yuichi, OGASAWARA Tsukasa, インテリジェントシステム・シンポジウム講演論文集, 2011, 21, 267, 268,   2011 , http://dl.ndl.go.jp/info:ndljp/pid/11134321
    Summary:The quantitative evaluation of product usability is important for product design. We has presented the concept of the usability evaluation system using a tendon skeletal finger model. In this paper, we propose the novel robot hand which resembles human fingertip structure for the usability evaluation system. The usability evaluation system using the robot hand can evaluate a existing product. The design concept and specification of the robot hand are described.
  • 2P2-O01 Development of a novel robot finger for an evaluation system of the product usability(Sense, Motion and Measurement), MATSUMOTO Tadashi, IKEDA Atsutoshi, KURITA Yuichi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2011, 0, _2P2, O01_1-_2P2-O01_2,   2011 , 10.1299/jsmermd.2011._2P2-O01_1, http://ci.nii.ac.jp/naid/110009711719
    Summary:In this paper, we present a new robot finger which has human mimetic structure for the product usability evaluation system. The design concept is to mimic the human finger size, degree of freedom and fingertip structure. The basic performance of the joint angle control is shown in the experiment.
  • 1A1-B28 Virtual liquid and water current presentation method by haptic augmentation on liquid, IGARASHI Yuta, TAMAKI Takeshi, IKEDA Atsutoshi, KURITA Yuichi, NAGATA Kazuyuki, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A1, B28_1-_1A1-B28_3,   2010 , 10.1299/jsmermd.2010._1A1-B28_1, http://ci.nii.ac.jp/naid/110008741132
    Summary:In this paper, we provide the illusion of water current force and variety of viscosity using the haptic augmented reality (AR) system. We analyzed frequency of water current and measured water viscosity so that we make a water current model of the AR method and the VR method. The questionnaire results show that human feels water current force and fluid viscosity more natural by the AR method than the VR method.
  • 1A1-B29 Development of Weight Illusion Device Based on Contact Area Control, YONEZAWA Satoshi, IKEDA Atsutoshi, KURITA Yuichi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A1, B29_1-_1A1-B29_2,   2010 , 10.1299/jsmermd.2010._1A1-B29_1, http://ci.nii.ac.jp/naid/110008741133
    Summary:In this paper, we propose a novel haptic device for giving weight and friction illusions. Humans sense weight and friction through the contact sensation between the skin and the object. This fact suggests controlling the contact information can give weight and friction illusions. We developed a prototype device that can control the contact surface between the fingertip and the rigid plate based on the camera-based eccentricity control, and the performance was evaluated through the experiments.
  • 1A1-M02 Influence of the finger posture on the subjective of pinching effort, IKEDA Atsutoshi, ONOUE Takehiro, KURITA Yuichi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2009, 0, _1A1, M02_1-_1A1-M02_2,   2009 , 10.1299/jsmermd.2009._1A1-M02_1, http://ci.nii.ac.jp/naid/110008697925
    Summary:In this paper, the influence of the finger posture on the subjective effort during pinching motion is discussed. Experimental results show that subjective effort human feels is strongly affected by the size of the object he/she pinches, and the subjective effort correlates with the index finger and thumb length. This results suggest that the reason why subjective pinching effort is influenced by the finger posture is the difference in the efficiency of the force transmission from the muscles.
  • 2A2-B11 Development of a Human-sized Multifingered Hand with Detachable Wrist, KURITA Yuichi, ONO Yasuhiro, IKEDA Atsutoshi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2009, 0, _2A2, B11_1-_2A2-B11_2,   2009 , 10.1299/jsmermd.2009._2A2-B11_1, http://ci.nii.ac.jp/naid/110008698256
    Summary:In this paper, we proposed a human-sized multifingered robot hand with detachable mechanism at the wrist. The fingers are driven by wires and are controlled by actuators embedded in the arm part. The robot hand can be split into the hand part and the arm part. The driving force from the arm part is transmitted to the hand part by gear mechanism at the wrist. The developed robot hand is the size of 200(length) x 78(width) x 24.6[mm](thickness) and can exert 10[N] at the fingertip. The performance of the robot hand is shown by a motion control experiment.
  • 2P1-E06 Rheology-based posture control of a multi-link robot, TAMAKI Takeshi, IKEDA Atsutoshi, KURITA Yuichi, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2009, 0, _2P1, E06_1-_2P1-E06_2,   2009 , 10.1299/jsmermd.2009._2P1-E06_1, http://ci.nii.ac.jp/naid/110008698493
    Summary:In this paper, we propose the rheology-based posture control method of a multi-link robot for obstacle avoidance. Viscoelastic model is used for the calculation of the robot posture control. The performance of the obstacle avoidance between the proposed method and the conventional control method is compared in the simulation. The experimental results show that the proposed method can determine the efficient posture that avoids the multiple obstacles.
  • 1P1-A11 Measurement of pinching motion for the quantification of pinching facility, IKEDA Atsutoshi, KURITA Yuichi, UEDA Jun, OGASAWARA Tsukasa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, 0, _1P1, A11_1-_1P1-A11_2,   2008 , 10.1299/jsmermd.2008._1P1-A11_1, http://ci.nii.ac.jp/naid/110008696008
    Summary:In this research, the surface electromyogram (surface EMG) and the pinching force when pinching an object were simultaneously measured for quantification of sensory evaluation. Cylinders with the length of 20, 40, 60, 80 and 100 [mm] and weight of 300 and 600 [g] were used for the experiment. Experimental results show that subjects feel comfortable to pinch the cylinder when the length of cylinder was 60 [mm]. The pinching force became the smallest and both of EMGs of adductor pollicis muscle and flexor digitorum superficialis muscle became small.
  • Development of a Compact Pointing Device Utilizing the Fingerprint Deformation during the Incipient Slip, IKEDA ATSUTOSHI, KURITA YUICHI, UEDA JUN, OGASAWARA TSUKASA, IPSJ journal, 45, 7, 1769, 1778,   2004 07 15 , http://id.ndl.go.jp/bib/7031858
    Summary:In this research, a novel compact pointing device is proposed which utilizes the deformation of the fingerprint. When the fingertip is pressed and slid slightly on a rigid plate, a partial slip, called "incipient slip" occurs on the contact surface. In this research, we define a deformation of contact area as "eccentricity". A pointer is operated by measuring the incipient slip that occurs between a fingertip and a fingerprint sensor. The relationship between the eccentricity and the fingertip displacement, and the eccentricity and force applied on the contact surface are investigated. It is shown that this eccentricity is almost linear to the fingertip displacement. Since the deformation around the center of the contact surface is small, the center of the fingerprint can be detected during the incipient slip. The Group Delay Spectrum tracking is utilized to track the center of the fingerprint. The velocity of the pointer is determined based on the eccentricity of the contact area. An experimental pointing device is developed to examine the operationality of the proposed method. The experimental results show that subjects can operate the pointer with sufficient accuracy.
  • Analysis of human walking and motion using lateral rotational moment of hip joints, Ueda Jun, Ikeda Atsutoshi, Shirae Kenji, Takemura Hiroshi, Ogasawara Tsukasa, Oda Shingo, The Proceedings of the JSME Symposium on Welfare Engineering, 2003, 0, 85, 88,   2003 , 10.1299/jsmewes.2003.3.85
    Summary:It is said that the motions of top athletes and experts of Bushido have in common in the sense of using hip joints. In this paper, a trunk-twistless walking, named 'namiashi' is measured and investigated. It is estimated that external rotational moment of hip joints is effectively used for compensation of the twisting moment of the body. We identifed that the multiple-peak pattern of the acceleration is one of the characteristics of this walking motion. It can be considered that dispersing acceleration by using the external rotational moment leads to reducing muscle fatigue.
  • Development of a New Pointing Device Utilizing Deformation of Fingerprint Images, Ikeda A., Kurita Y., Ueda J., Ogasawara T., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2003, 0, 25, 26,   2003 , 10.1299/jsmermd.2003.25_6, http://ci.nii.ac.jp/naid/110002506042
    Summary:本研究では指紋変形を利用した新たなポインティングデバイスを提案する。このデバイスは指を平面に押付けたまま任意の方向に微小移動させた際に生じる指紋紋様の変形を検出し, ユーザからの入力とする。
  • Development of Wire Transportation System for Thin Wire Process, Ishihara Hidenori, Ikeda Atsutoshi, Suzuki Minoru, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 76, 76,   2002 , 10.1299/jsmermd.2002.76_1
  • Creating Virtual Stiffness by Modifying Force Profile of Base Object, Atsutoshi Ikeda, Yuichi Kurita, Takeshi Tamaki, Kazuyuki Nagata, Tsukasa Ogasawara, HAPTICS: GENERATING AND PERCEIVING TANGIBLE SENSATIONS, PT I, PROCEEDINGS, 6191, 111, +,   2010 , Refereed, 10.1007/978-3-642-14064-8_17
    Summary:This paper presents a haptic augmented reality (AR) system that consists of a real object and a haptic device. The desired force response is achieved by the combination of the real force response of a base object and the virtual force exerted by a haptic device. The proposed haptic AR system can easily generate the force response of an object with a cheap haptic device and a base object. In the haptic AR method, how we select the base object is very important because virtual stiffness provided to users is created by modifying the reaction force profile of the base object. We compare the three method: VR method AR method with a soft object and AR method with a hard object in the questionnaire experiment. These results show that the AR method with a soft object has better performance than the other methods.
  • Biomechanical Analysis of Subjective Pinching Effort Based on Tendon-Skeletal Model, Yuichi Kurita, Takehiro Onoue, Atsutoshi Ikeda, Tsukasa Ogasawara, 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, 2009, 5231, 5234,   2009 , Refereed, 10.1109/IEMBS.2009.5334290
    Summary:In this paper, the influence of the finger posture on the subjective effort during pinching motion is investigated by using a tendon-skeletal finger model. The experimental results show that the subjective effort human feels is affected by the size of the object he/she pinches, and the subjective effort correlates with the finger length. The simulation results show that the pattern of the tendon forces is similar to that of the EMG activity measured in the experiment, and the positive correlation was observed between the finger length and the object size where the summation of the tendon forces becomes the minimum. These results suggest that the reason why subjective pinching effort is influenced by the finger posture is the difference in the efficiency of the force transmission from the muscles.