KINDAI UNIVERSITY


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HUANG Jian

Profile

FacultyDepartment of Robotics / Research Institute of Fundamental Technology for Next Generation / Graduate School of System Enginnering
PositionProfessor
Degree
Commentator Guidehttps://www.kindai.ac.jp/meikan/390-kou-ken.html
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Last Updated :2020/09/03

Research Activities

Research Areas

  • Informatics, Mechanics and mechatronics, Robotics, Machine Intelligence
  • Informatics, Robotics and intelligent systems, Robotics, Machine Intelligence

Research Interests

  • Bio-Medical Engineering, Intelligent Mechanics and Machine System, Mechanics and Control Engineering

Published Papers

  • Comparison Between Admittance and Impedance Control of a Multi-Finger-Arm Robot using the Guaranteed Manipulability Method Robotic System, Yamada, D, Huang, J, Yabuta T, J. Precision Instrument and Mechanology, J. Precision Instrument and Mechanology, (2), 85 - 93, Feb. 2013 , Refereed
  • Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers, HUANG Jian, International Journal of Advanced Robotic System, International Journal of Advanced Robotic System, 8(4), 18 - 27, Nov. 2011 , Refereed
  • Acquisition of a Gymnast-Like Robotic Giant-Swing Motion by Q-Learning and Improvement of the Repeatability, Hara, M, Kawabe, N, Huang, J, Yabuta, T, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 23(1), 126 - 136, Mar. 2011 , Refereed
  • Characterization of Motion Forms of Mobile Robot Generated in Q-Learning Process, M. Hara, J. Huang, T. Yabuta, Advances in Reinforcement Learning, Advances in Reinforcement Learning, 209 - 224, Jan. 2011 , Refereed
  • Indirect Manipulation of a Sphere on a Flat Disk Using Force Information, M. Hara, Y. Tanaka, J. Huang, T. Yabuta, International Journal of Advanced Robotic Systems, International Journal of Advanced Robotic Systems, 7(4), 83 - 92, Dec. 2010 , Refereed
  • Controlling a Finger-arm Robot to Emulate the Motion of the Human Upper Limb by Regulating Finger Manipulability, J. Huang, M.Hara, T. Yabuta, Motion Control, Motion Control, 297 - 314, Jan. 2010 , Refereed
  • Admittance control of multi-finger-arm robot with manipulability control of fingers under arm compensatory movement, Takayuki Hori, Daisuke Yamada, Jian Huang, Hajime Sugiuchi, Tetsuro Yabuta, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 76(763), 655 - 664, 2010 , Refereed
    Summary:Our previous studies proposed an admittance and an impedance control method of a finger-arm robot with a 3DOF finger and 6DOF arm robot to guarantee the finger manipulability under arm compensatory movement, whose results show that satiny movement of the finger-arm robot was realized in constrained space. Although these results were applied for one finger system, it is necessary to extend these methods for a multi-finger system. This paper shows an admittance control method and its results of multi-finger-arm robot to guarantee its finger's manipulability. Both averaging method and mini-max method are examined to evaluate its manipulability of multi-finger. Both results are discussed in the viewpoint of both stiffness and viscosity and finger's manipulability.
  • Cooperative Impedance Control of a Finger-Arm Robot by Regulating Finger’s Manipulability, Huang, J, Yamada, D, Nakamura, Y, Hara, M, Yabuta, T, JSME Journal of System Design and Dynamics, JSME Journal of System Design and Dynamics, 3(5), 756 - 767, Nov. 2009 , Refereed
  • Movement Change of Human Upper Limb by Effects of M?ller-Lyer Illusion, S. Kosaka, M. Hara, J. Huang, T. Yabuta, Transactions of the Society of Instrument and Control Engineers, Transactions of the Society of Instrument and Control Engineers, 45(1), 69 - 71, Jan. 2009 , Refereed
  • Learned Motion Form of a Two-Dimensional Mobile Robot by Using Reinforcement Learning and Its Learning Method Manipulation, Y. Jung, M. Inoue, M. Hara, J. Huang, T. Yabuta, Transactions of the Japan Society of Mechanical Engineers Series C, Transactions of the Japan Society of Mechanical Engineers Series C, 75(749), 122 - 131, Jan. 2009 , Refereed
  • Study on basic issues for interactive force telecommunication from human sensory aspect, Naoya Ashitaka, Masayuki Hara, Noriaki Tambo, Jian Huang, Tetsuro Yabuta, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 75(752), 1000 - 1008, 2009 , Refereed
    Summary:Multimedia services such as an audio and visual media have been advanced rapidly. And now we can employ several multimedia services via the Internet in which audio and visual information is exchanged. In addition to them, physical force information is expected as the next multimedia service. However, there are several fundamental issues for interactive force telecommunication, which do not appear in the conventional teleportation. We study on basic issues of force telecommunication from human sensory aspect by using two haptic interfaces with 3' DOF that have an orthodox parallel linkage, and propose a hybrid control of Master/Slave system for force telecommunication between Human beings, which has position/force feedback loop directly. Results show that both hybrid and compliance control of Master/Slave System are suitable candidates for the force telecommunication system because both force and position serve functions are essential for the system. Moreover, recognition of an operator coordinate system is clarified to be important because of force communication strong interaction, which is discussed from human sensory aspect.
  • Analysis of Human Weight Perception for Sudden Weight Changes during Lifting Task Using a Force Dysplay Device, Hara M, Higuchi T, Yamagishi, Ashitaka N, Huang J, Yabuta T, 2007 IEEE Intl Conf Robotics Automation (ICRA'07), 2007 IEEE Intl Conf Robotics Automation (ICRA'07), 1808 - 1813, Apr. 2007 , Refereed
  • Advance Motion Acquisition of an Actual Robot by Reinforcement Learning using Reward Change, 山科 亮太, 本山 晴寿, 浦川 真理子, 黄 健, 藪田 哲郎, Transaction of the Japan Society of Mechanical Engineers (C), Transaction of the Japan Society of Mechanical Engineers (C), 72(717), 1574 - 1581, 2006 , Refereed
  • Study on Obtained Advance Motion Forms of a Caterpillar Robot by using Reinforcement Learning" Transaction of the Japan Society of Mechanical Engineers, Haruhisa MOTOYAMA, Ryota YAMASHINA, Masayuki HARA, Jian HUANG, Tetsuro YABUTA, Transaction of the Japan Society of Mechanical Engineers (C), Transaction of the Japan Society of Mechanical Engineers (C), 72(723), 3525 - 3532, 2006 , Refereed
  • Verification of Haptic Illusion Using a Haptic Interface and Consideration on Its Mechanism, Hara, M, Higuchi, T, Ohtake, A, Huang, J, Yabuta, T, Journal of Robotics and Mechatronics, Journal of Robotics and Mechatronics, 18(4), 476 - 488, 2006 , Refereed
  • Position and Force Hybrid Control of a Flexible Tool held by a Manipulator Hand, Jian HUANG, Isao TODO, Transactions of Japan Society of Mechanical Engineers, Serial C, Transactions of Japan Society of Mechanical Engineers, Serial C, 70(691), 751 - 758, 2004 , Refereed
  • Huang, J. and Todo, I. Muramatsu, I.,Neuro-Control of a Robot Using Visual and Force/Torque Sensor Information (Manipulation of a Flexible Beam Object), Jian HUANG, Isao TODO, Isao MURAMATSU, Transactions of Japan Society of Mechanical Engineers, Serial C, Transactions of Japan Society of Mechanical Engineers, Serial C, 69(684), 2085 - 2092, 2003 , Refereed
  • Control of a Redundant Robot Using Visual Information(Avoidance Control of a Moving Obstacle), Jian HUANG, Isao TODO, Minoru MATSUURA, Transactions of Japan Society of Mechanical Engineers, Serial C, Transactions of Japan Society of Mechanical Engineers, Serial C, 68(674), 2999 - 3006, 2002 , Refereed
  • Control of a Robot Based on Fusion of Visual and Force/Torque Sensor Information (Manipulation of a Deformable Object)), Jian Huang, Isao Todo, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 67(660), 2616 - 2623, 2001 , Refereed
    Summary:Since there exist a lot of deformable objects in our daily life, method of manipulation of a deformable object for a robot is expected not only in industrial manufacturing but also in life support. Generally, a force/torque sensor is used in playing a contact task for a rigid object by a robot. However, only a force/torque sensor is not enough in handling of a deformable object by a robot. In this paper, a fusion algorithm by integrating data from both a force/torque sensor and a visual sensor is proposed for a robot to play a contact task in which an aluminum peg fixed on the robot hand is inserted into a hole installed on a deformable plate. To complete the task, a high-speed camera is used and a real time processing algorithm is developed to detect deformation of the central line of the hole. Then, the results of visual processing are integrated with data of the force/torque sensor using the proposed compliance control algorithm for a robot in playing the task. The effectiveness of the proposed method has been demonstrated through experiments. © 2001, The Japan Society of Mechanical Engineers. All rights reserved.
  • Real Time Trajectory Generation Method and Control of a Sealing Robot: Prediction of Desired Position of a Visual Sensor Using Off-Line Learning, Jian Huang, Isao Todo, Takanori Tokiwa, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 66(648), 2669 - 2676, 2000 , Refereed
    Summary:In the previous papers, a sealing nozzle and a visual sensor were mounted on the end-effector of a manipulator, but control of nozzle position was only considered. As the results, the visual sensor would possibly lost the seam target at curved part of a sealing line during tracking. In order to improve tracking property of the sealing robot, both a visual sensor and a nozzle of a sealing robot must be real time controlled. In this paper, a fuzzy model based method for generating desired trajectory of the visual sensor is proposed. The fuzzy rules are obtained by applying neural network learning. Generated desired positions of nozzle are equivalently converted to rotation angles considered in the visual sensor coordinate. Then, a visual feedback algorithm for simultaneously controlling the nozzle and the visual sensor is also developed. Using the proposed method, positions of the sealing nozzle and the visual sensor can be controlled at every sampling instant in the robot control system. Therefore, both the nozzle and the visual sensor can move along a sealing line without losing the target during tracking. Tracking experiments for sealing objects with different type of sealing lines are carried out, and the effectiveness of proposed method has been demonstrated. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.
  • Real Time Trajectory-Generation Method and Control Using Visual Information Processing for a Sealing Robot, Jian HUANG, Isao TODO, Ken-ichiro MAKI, Transactions of Japan Society of Mechanical Engineers, Serial C, Transactions of Japan Society of Mechanical Engineers, Serial C, 64(624), 3047 - 3054, 1998 , Refereed
  • Measurement of thermal inertia of the skin by successive thermograms taken at a transient change of ambient radiation temperature, Huang, J, Togawa, T, Physiological Measurements, Physiological Measurements, 16(4), 213 - 235, 1995 , Refereed
  • Walk Measurements Using a Novel Rollator with a Free Rotating Chest Pad and an Analysis of its Effectiveness in Walk Assistance, Jian Huang, Noriho Koyachi, Hiroaki Ashida, Takashi Harada, 2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), 2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), May 2019 , Refereed
  • Evaluating the Assistance Effectiveness of a Newly Developed Rollator Mounted with a Freely Rotating Chest Support Pad, Jian Huang, Noriho Koyachi, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 1185 - 1190, 2016 , Refereed
    Summary:In recent years, wearable assistance robots and gait trainers with weight bearing facility have been developed to enable elderly people to walk autonomously. However, the effectiveness of these devices in walking assistance has not been investigated. In this study, the effectiveness of a newly developed rollator having a chest pad equipped with a one-degree-of-freedom rotational mechanism, was evaluated. A rotary sensor was mounted on the back of the chest pad to measure its angle of rotation. A motion capture system with six CCD cameras was used to record movements of the legs during walking tests with the new rollator for five young healthy subjects. The results are analyzed and the relationship between the pad rotation and other factors, such as waist rotation, extension of the knee, distance between feet and heel height, are investigated to evaluate the effectiveness.
  • Method of Grasping Control by Computing Internal and External Impedances for Two Robot Fingers, and Its Application to Admittance Control of a Robot Hand-arm System, Jian Huang, Yoshinori Sano, Ryota Hori, Takayuki Hori, Tetsuro Yabuta, INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 12, Aug. 2015 , Refereed
    Summary:Impedance control is an important technology used in the grasping control of a robot hand. Numerous studies related to grasping algorithms have been reported in recent years, with the contact force between robot fingers and the object to be grasped being primarily discussed in most cases. Generally, a coupling effect occurs between the internal loop of the grasping operation and the external loop of the interaction with the environment when a multi-fingered robot hand is used to complete a contact task. Therefore, a robot hand cannot hold an object using a large external force to complete a wide range of tasks by applying the conventional method. In this paper, the coupling of the internal/external forces occurring in grasping operations using multiple fingers is analysed. Then, improved impedance control based on the previous method is proposed as an effective tool to solve the problem of grasping failure caused by single-finger contact. Furthermore, a method for applying the improved grasping algorithm to the admittance control of a robot hand-arm system is also proposed. The proposed method divides the impedance effect into the grasping control of the hand and the cooperative control of the arm, so that expanding the task space and increasing the flexibility of impedance adjustment can be achieved. Experiments were conducted to demonstrate the effectiveness of the proposed method.
  • Dynamic Movement by Admittance Control of a Multi-Finger-Arm Robot with Manipulability Control of Fingers, D. Yamada, Y. Sano, R. Hori, J. Huang, T. Yabuta, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 521 - 526, 2013 , Refereed
    Summary:Cooperative control algorithms for a redundant finger-arm robot were proposed in a previous study, based on the movement of the human hand-arm system. With these algorithms, the finger-arm robot arm was able to complete a constrained task by integrating admittance control and impedance control with the manipulability control of the fingers. The manipulability of the fingers was controlled using both an approximate global search (i.e., the top search method) and a local optimization method. However, the dynamic characteristics of these methods have not yet been studied. In this study, the conventional cooperative control algorithms were developed further by extending them to dynamic movement in the admittance control of a redundant multi-finger-arm robot with manipulability control of the fingers. We clarified the relationship between the feasibility of the virtual dynamics and the motion speed, as well as the range of the achievable virtual dynamics. This paper evaluates and discusses the proposed methods in terms of the finger manipulability control. The experimental results show that the algorithms responded to more dynamic movement, and a broader range of virtual dynamics was achievable.
  • Indirect Manipulation of a Sphere on a Flat Disk Using Force Information, Masayuki Hara, Yoshinori Tanaka, Jian Huang, Tetsuro Yabuta, INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 6(4), 267 - 276, Dec. 2009 , Refereed
    Summary:The objective of this study is to verify if only the use of robotic force feedback enables indirect and dynamic manipulations which are difficult for human beings to perform. Human beings usually control the trajectory of an object using visual feedback; force/tactile information are secondarily employed because they are further qualitative in comparison with visual information. However, it is supposed that robots have the potential to perform such the tasks without visual information because force/tactile information can be also used quantitatively in the control system. This paper especially focuses on an indirect manipulation of a sphere on a flat plate realized by employing only force information. In this paper, we propose a very simple method to estimate the position of the sphere on the plate which is put on a multi-fingered robot and try to control the trajectory by changing the fingertip heights based on the error between the desired and estimated positions. We also analyze the stability of the proposed control system with an approximate Lyapunov's stability criterion. Finally, this paper shows very attractive robotic demonstrations based on the proposed method.
  • Integration of Impedance Control and Manipulability Regulation for a Finger-Arm Robot, Jian Huang, Daisuke Yamada, Takayuki Hori, Masayuki Hara, Tetsuro Yabuta, ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 891 - +, 2009 , Refereed
    Summary:Motion control algorithms were proposed for a 9-DOF finger-arm robot by using the finger manipulability obtained in a previous study. However, in the previous study, only methods for achieving unconstrained movement of the finger-arm robot were discussed. In this paper, the authors propose a novel method for having a finger-arm robot complete a constrained task by integrating impedance control with manipulability control of the finger. First, methods of applying the previous heuristic method to the passive impedance control and the active impedance control were developed; and experiments were performed to demonstrate the features. Then, an impedance control combined with the steepest ascent method to modulate the manipulability of the finger was proposed. The proposed method demonstrates a strong performance even when a dynamic external force is applied to the finger. By using the proposed method, the arm actively moves along a direction to effectively maintain the moving potential of the finger during both the unconstrained and the constrained tasks.
  • Consideration on Robotic Giant-swing Motion Generated by Reinforcement Learning, M. Hara, N. Kawabe, N. Sakai, J. Huang, Hannes Bleuler, T. Yabuta, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 4206 - +, 2009 , Refereed
    Summary:This study attempts to make a compact humanoid robot acquire a giant-swing motion without any robotic models by using reinforcement learning; only the interaction with environment is available. Generally, it is widely said that this type of learning method is not appropriated to obtain dynamic motions because Markov property is not necessarily guaranteed during the dynamic task. However, in this study, we try to avoid this problem by embedding the dynamic information in the robotic state space; the applicability of the proposed method is considered using both the real robot and dynamic simulator. This paper, in particular, discusses how the robot with 5-DOF, in which the Q-Learning algorithm is implemented, acquires a giant-swing motion. Further, we describe the reward effects on the Q-Learning. Finally, this paper demonstrates that the application of the Q-Learning enable the robot to perform a very attractive giant-swing motion.
  • Muller-Lyer Illusion Effect on a Reaching Movement in Simultaneous Presentation of Visual and Haptic/Kinesthetic Cues, Masayuki Hara, Sho Kosaka, Jian Huang, Hannes Bleuler, Tetsuro Yabuta, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 1253 - 1258, 2009 , Refereed
    Summary:This paper describes the effect of Muller-Lyer illusion on a reaching movement just after the visual and haptic/kinesthetic cues are simultaneously presented. First, a standard experiment on this visual illusion is conducted by means of the most typical way so as to make sure that participants can experience this illusion; the result shows that all the subjects are deceived by the illusion figure as in many previous results. As the next step, the subjects are asked to physically trace one of three lines-normal line and lines with feathers of an arrow-with the same length displayed on an LCD. After a few traces, the line suddenly vanishes, and then the subjects retrace the invisible line based on only their memory and somatic sensations. During this task, we measure the trajectory of fingertip from a start to the goal using a motion capture system. The result indicates that the Muller-Lyer illusion dominantly affects the reaching task although the haptic/kinesthetic cue was also given just before the task. Thus, this result implies that the visual illusion affects the motion planning, which partly supports a planning-motion model.
  • Control of a finger-arm robot by employing the steepest ascent method to modulate the finger's manipulability, Jian Huang, Minoru Harada, Daisuke Yamada, Masayuki Hara, Tetsuro Yabuta, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2008 , Refereed
    Summary:Human beings usually locate their hand at the position with a higher moving potential in order to easily deal with various situations. Inspired by the human hand-arm movement, this study proposes a motion control issue for a serial-linkage finger-arm robot according to Wf By using the proposed SAM, the finger robot primarily moves, whereas the arm moves to augment the working space of the finger when the finger manipulability reduces below a given reference. The performance of the proposed SAM with regard to regulating the finger's manipulability is more efficient than that of the previous HA in both the free motion and the stiffness control.
  • Consideration of Weight Discriminative Powers for Various Weight Changes Using a Haptic Device, M. Hara, N. Ashitaka, N. Tambo, J. Huang, T. Yabuta, 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 3971 - +, 2008 , Refereed
    Summary:This paper discusses human weight perception using a haptic device. The objective of this study is to reveal the characteristics in human force sensations, which are difficult to examine in a real environment Further, we aim to apply the perceptual mechanisms to multimedia applications as the final target. In this study, we particularly examine the weight discriminative powers for various weight changes. Expanding our previous study, we compare the difference thresholds for the weight addition and removal during a goal-directed lifting. A statistical analysis implies that our weight discriminative power for the weight addition tends to improve in the deceleration process. As for the weight removal, the weight discriminative power declines in the deceleration process due to the inertia effect in the vicinity of the target height In addition, this study tries to reveal the weight perception when the load force is gradually changed. The result implies that the time variation in the load force holds the tremendous potential to enable us to experience attractive force sensations and haptic illusions.
  • Measurement of distance error in reaching movement of the human hand without using vision, Jian Huang, Sho Kosaka, Yuuki Imamura, Tetsuro Yabuta, Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 4866 - 4869, 2007 , Refereed
    Summary:This paper deliberates the spatial cognitive ability of the moving distance of the human hand, which is measured by using motion capture. Before the movement begins, the subject is shown a standard length. Then, both horizontal and vertical blindfold hand movements were measured using the proposed protocol for six right handed subjects in order to investigate the cognitive ability of the moving distance of the human hand. The experimental results show that the average moving distances obtained in both directions were quite smaller than the standard length an inverse "V" pattern in percentage result was observed only in the horizontal movement. The experimental result also demonstrated an interesting relationship between the hand moving distance and manipulability of the upper limb. © 2007 IEEE.
  • Control of a macro-micro robot system using manipulability of the micro robot, Bui Trong Quan, Jian Huang, Minoru Harada, Tetsuro Yabuta, JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 49(3), 897 - 904, Sep. 2006 , Refereed
    Summary:A 3'DOF robot finger is fixed to the end-effector of a 6'DOF robot arm to construct a redundant macro-micro robot system that is able to emulate the finger-arm system of a human being. However, determining joint angles and velocities of a redundant robot system in a natural way remains a difficult issue. This paper describes a method to control the system so as to generate common motions emulating the hand-arm movement of a human. To achieve this purpose, the finger is primarily supposed to complete delicate local motions while the arm moves to assist the finger when the manipulability of the finger is too low and the system is about to miss the desired target. The effectiveness on motion generation and the relation between kinetic energy and manipulability by using the proposed method has been experimentally demonstrated and discussed.
  • Study on motion forms of mobile robots generated by Q-Learning process based on reward databases, Masayuki Hara, Masashi Inoue, Haruhisa Motoyama, Jian Huang, Tetsuro Yabuta, 2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS, 2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS, 5112 - +, 2006 , Refereed
    Summary:This paper investigates the motion forms of robots generated by the Q-Learning algorithm during the learning process. We analyzed the manner in which a caterpillar robot, which performs looping motions using two actuators, acquires advance actions by focusing on the process. By observing a series of processes, we confirmed that various motion forms appeared or disappeared as a result of their interactions with the learning process and approach an optimum motion form. In most algorithms, such motion forms cannot appear in the learning process because its framework is almost predetermined by the teacher data, and the cost functions for learning cannot be usually considered as a continuous process. The characteristics of reinforcement learning are very interesting from the viewpoint of biological evolution. This paper describes the effects of the interaction between the robot kinematics and the environment as a direct result of changing the environment. In addition, this study challenged the acquisition of two-dimensional motions with a starfish robot having four actuators. The result demonstrates that the robot can obtain a reasonable motion from the complicated relationships with the environment by skillfully employing its structure. Moreover, this paper implies that the reward manipulation may give a new insight for the learning process by the investigations performed in this study. This paper examines the possibility of the reward combinations for generating arbitrary motions.
  • Basic study on sensory aspects of a master/slave system for force telecommunication, Masayuki Hara, Jian Huang, Young-Mi Jung, Tetsuro Yabuta, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, 1706 - 1711, 2006 , Refereed
    Summary:The advancement of multimedia services including audio/visual media has been rapid. The applications of cellular phones, in particular, have increased by using these technologies. In addition, if force telecommunication were realized, force information would become a next leading factor in the multimedia service. In this field, a robotic master/slave system is a leading candidate. This system has been studied as a teleoperation system between an operator and an environment; the operator controls only the master device whereas the slave device is never controlled. For multimedia applications, such systems require flexibility and bidirectionatity because force telecommunication must consider the interactions between users. This paper details the fundamental issues of force communication from a viewpoint of human perception. With regard to the control system, this study uses an integrated hybrid control master/slave system that helps to find a key factor of equal bilateral force telecommunication in the sensory aspect. The employed system has a function to change the proportion of force display to position display by varying a weight parameter. We discuss the basic control performance of a force telecommunication system and evaluate qualitative feelings of users by using a psychological evaluation method.
  • Study on motion forms of a two-dimensional mobile robot by using reinforcement learning, Youngmi Jung, Masashi Inoue, Masayuki Hara, Jian Huang, Tetsuro Yabuta, 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 1110 - +, 2006 , Refereed
    Summary:The main advantage of Reinforcement Learning is that it provides unexpected solutions for a designer. This study shows how a mobile robot can obtain unexpected motion forms by using Reinforcement Learning. Results show the the mobile robot with two-dimensional mobile ability can obtain unexpected motion forms for both advance motion and rotation motion. The mechanisms for these motions were investigated in order to understand how to obtain these motions. Moreover, since this system has a two-dimensional factor, this study examines the learning characteristic for the oblivion of the learning knowledge. In addition, this study examines the learning of the knowledge manipulation method to obtain new learning results with respect to the two-dimensional factor.
  • A Human-Safe Control for Collision Avoidance by a Redundant Robot Using Visual Information, Jian Huang, Isao Todo, Systems and Human Science - For Safety, Security and Dependability, Systems and Human Science - For Safety, Security and Dependability, 425 - 437, 2005 , Refereed
    Summary:With the rapid development of service robots, avoiding collisions with human beings is a most important requirement of robot control. This chapter proposes a control method by establishing a virtual potential field around a robot to avoid collisions between a human being and the robot by the redundant joints of the robot. The greatest advantage of the proposed method is that a possible collision can be avoided automatically without requiring any action by nearby human beings. A control method is also proposed for a redundant robot to simultaneously carry out a contact task with its hand and perform collision avoidance with its redundant joints. The effectiveness of the proposed method has been demonstrated by experiments. © 2005 Elsevier B.V. All rights reserved.
  • MEASUREMENT OF THE THERMAL INERTIA OF THE SKIN USING SUCCESSIVE THERMOGRAMS TAKEN AT A STEPWISE CHANGE IN AMBIENT RADIATION TEMPERATURE, J HUANG, T TOGAWA, PHYSIOLOGICAL MEASUREMENT, PHYSIOLOGICAL MEASUREMENT, 16(4), 213 - 225, Nov. 1995 , Refereed
    Summary:Skin thermal properties are difficult to measure in vivo in the steady state because there is a constant temperature gradient across the skin surface. However, measurement of skin thermal properties is postulated in quantitative evaluation for thermographic observation. In this study, imaging of the thermal inertia of the skin was attempted by thermographic measurements at a stepwise change in ambient radiation temperature achieved by quickly switching two hoods maintained at different temperatures. Using this technique, a total of 65 thermograms were sequentially recorded at intervals of 0.5 s beginning 2 s before the stepwise change. The image of skin thermal inertia was estimated by applying statistical curve fitting at each pixel of the thermograms. In addition, the emissivity and true temperature of the skin were also determined, together with thermal inertia, in a single measurement. Measurements were made at different sites on 10 subjects. The average values of thermal inertia of normal skin were scattered throughout a range from 1.4 x 10(3) to 2.1 x 10(3) W s(1/2) m(-2) K-1. Investigations of the relationship between skin blood flow and thermal inertia were also made by imaging thermal inertia when skin blood flow was changed by applying a vasodilator or vasoconstrictor on the skin surface. In a comparison with the data measured by laser Doppler flowmetry, the average slope of skin blood flow versus thermal inertia was 2.88 x 10(-4) V per W s(1/2) m(-2) K-1, and the thermal inertia of the skin with no blood how was 1.03 x 10(3) W s(1/2) m(-2) K-1. The results also show an almost linear correlation between skin blood flow and thermal inertia in each individual, but inter-individual differences were also observed. The results suggest that skin blood flow distribution can be estimated by non-contact imaging of thermal inertia.
  • IMPROVEMENT OF IMAGING OF SKIN THERMAL-PROPERTIES BY SUCCESSIVE THERMOGRAPHIC MEASUREMENTS AT A STEPWISE CHANGE IN AMBIENT RADIATION TEMPERATURE, J HUANG, T TOGAWA, PHYSIOLOGICAL MEASUREMENT, PHYSIOLOGICAL MEASUREMENT, 16(4), 295 - 301, Nov. 1995
    Summary:Imaging of skin thermal properties was attempted by successive thermographic measurements of the skin surface with a stepwise change in ambient radiation temperature. In order to produce the stepwise change in ambient radiation temperature, two hoods maintained at different temperatures, 20 degrees C and 60 degrees C, were mechanically switched. A total of 65 thermograms were taken from 2 s before to 32 s seconds after the hood switching. Images of skin emissivity, emissivity-corrected skin temperature and thermal inertia were obtained by least-squares fitting at each pixel of 64 thermograms. Measurements were performed on the forehead, cheek, forearm, palm and back of the hand of 10 healthy male subjects. Differences in emissivity between sites and subjects were insignificant. Significant differences were observed in thermal inertia values between sites. Great improvements in the imaging of thermal inertia have been achieved by applying least-squares fitting to 64 thermograms instead of by computations from only two thermograms as in the previous study. Non-contact measurement and visualization of skin thermal properties are significant advantages of this method.

Books etc

  • Reforcement Learning, Hara, M, Huang, J, Yabuta, T, Joint author, IN-TECH,   2011
  • Motion Control, Huang, J, Hara, M, T. Yabuta, T, IN-TECH,,   2010
  • A Human-safe control for collision avoidance by a redundant robot using visual information, Huang, J, d Tod, Joint author, Elsevier,   2005
  • Cutting Edge Robotics, Huang. J, Todo, I, Yabuta, T,   2005
  • Position/Force Hybrid Control of a Manipulator with a Flexible Tool Using Visual and Force Information, Cutting Edge Robotics,International Journal of Advanced Robotic Systems,   2005

Conference Activities & Talks

  • Walk Measurements Using a Novel Rollator with a Free Rotating Chest Pad and an Analysis of its Effectiveness in Walk Assistance, Jian Huang, Hiroaki Ashida, Noriho Koyachi, Takashi Harada, 2019 IEEE the 5th International Conference on Mechatronics System and Robots (ICMSR 2019),   2019 05 05
  • Measurements of Walk Using a Rollator Having a Free Rotating Chest Pad, HUANG Jian, KOYACHI Noriho,   2018 06 02
  • Measurements of Walking Using a Newly Developed Rollator Having an Free Rotating Chest Pad Integrated with Multiple Sensors, Huang, Jian, Koyachi Noriho,   2017 05 10
  • Evaluating the Assistance Effectiveness of a Newly Developed Rollator Mounted with a Freely Rotating Chest Support Pad, Jian Huang, Noriho, Koyachi, The 2016 IEEE International Conference on Robotics and Biomimetics 2016,   2016 12
  • Evaluating the Assistant Effectiveness of a Walking Rollator Equipped with a Free Rotating Chest Support Mechanism, Jian Huang, Noriho Koyachi, Naoki Miyano, u-Healthcare 2015,   2015 12 01
  • Dynamic Movement by Admittance Control of a Multi-Finger-Arm Robot with Munipulability Control of Fingers, Yamada, D, Sano,Y, Hori, R, Huang, J, Yabuta, T, IEEE/SICE International Symposium on System Integration,   2013 12
  • Measurement of the Relationship between Weight Perception and Upper Limb Movement, Huang, J, Tanino, T, Wada, K, Tomokuni, N, The 2012 IEEE International Conference on Robotics and Biomimetics 2012,   2012 12
  • Analysis of Eye Movement during Generation of a Trajectory using Human Upper Limb, Toyoda, N, Yamamoto, R, Huang, J, Yabuta. T, The 2010 IEEE International Conference on Robotics and Biomimetics,   2010 12
  • Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by using the Manipulability of its Finger, Huang, J, Quan, B.T, Harada, M, Yabuta, T, The 2006 IEEE International Conference on Robotics and Biomimetics (ROBIO 2006),   2006 12
  • Study on Motion Forms of Mobile Robots Generated by Q-Learning Process Based on Reward Databases, Hara, M, Inoue, M, Motoyama, H, Huang, J, Yabuta, T, The 2006 IEEE International Conference on Systems, Man and Cybernetics,   2006 10
  • Basic Study on Sensory Aspects of a Master/Slave System for Force Telecommunication, Hara, M, Jung, Y, Huang, J, Yabuta, T, The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,   2006 08
  • Study on Motion Forms of a Two-dimensional Mobile Robot by Using Reinforcement Learning, Jung, Y, Inoue, M, Hara, M, Huang, J, Yabuta, T, The SICE-ICCAS International Joint Conference 2006 (Busan),   2006 08
  • Analysis of Weight Perceptual Mechanism Based on Muscular Using Virtual Reality, Hara, M, Higuchi,T, Ohtake, A, Huang, J, Yabuta, T, The 2005 IEEE International Conference on Systems, Man and Cybernetics,   2005 10
  • Development of a Novel Rollator with an Active Driving Chest Pad to Achieve the Effectiveness of Walk Assitance,, Jian Huang, Hiroaki Ashida, Ryosuke Abe, Noriho Koyachi, Takashi Harada, The 17th International Conference on Biomedical Engineering (ICBME2019),   2019 12

Misc

  • Analysis of Jumping Performance for a Compact Humanoid with Compliance Control Function, Transaction of the Society of Instrument and Control Engineering, 41, 11, 939, 941,   2005 , 10.9746/sicetr1965.41.939
  • Control of a Robot Based on Fusion of Visual and Force/Torque sensor Information (Manipulation of a Deformable Object), Transactions of Japan Society of Mechanical Engineers, Serial C., 66, 648, 2669, 2676,   2000

Others

  •   2018 04 , Development of Novel Rollator with an Active Driving Chest Pad and Evaluation of its Effectiveness on Walking Assistance