黄 健(コウ ケン)

工学部 ロボティクス学科教授

Last Updated :2024/06/18

■教員コメント

コメント

ハプティックインタフェースを用いた人間の力感覚認知のメカニズムの解明を行っており、冗長マニピュレータの運動制御および人間の上肢運動を冗長ロボットで実現するアルゴリズムを研究している。

■研究者基本情報

学位

  • 博士(医学)(1996年03月 東京医科歯科大学)
  • 博士(工学)(2004年03月 横浜国立大学)

研究キーワード

  • 知能機械システム   制御   機械力学   Bio-Medical Engineering   Intelligent Mechanics and Machine System   Mechanics and Control Engineering   

現在の研究分野(キーワード)

ハプティックインタフェースを用いた人間の力感覚認知のメカニズムの解明を行っており、冗長マニピュレータの運動制御および人間の上肢運動を冗長ロボットで実現するアルゴリズムを研究している。

研究分野

  • 情報通信 / 機械力学、メカトロニクス / ロボット工学・マシンインテリジェンス
  • 情報通信 / ロボティクス、知能機械システム / ロボット工学・マシンインテリジェンス

■研究活動情報

受賞

  • 1995年 Finalist of the IEEE/EMBS Whitaker Foundation Student Paper Competition at 17th Annul Int'l Conference IEEE/EMBS

論文

  • Jian Huang; Noriho Koyachi
    Journal of Robotics and Mechatronics 34 6 1329 - 1337 2022年12月 [査読有り]
     
    In recent years, a rapid increase in bedridden elderly, due to cerebral strokes and other diseases, has become a social problem due to soaring medical costs and heavy burden of long term care support. Therefore, development of walk rehabilitation devices for the elderly, suffered from cerebral strokes, is strongly expected. In the research so far, the authors have developed a rollator with a chest support pad that can rotate freely with one degree of freedom, and the effectiveness of its walk assistance was evaluated. In this study, a novel rollator using a motor-driven chest support pad was developed. A compact system to combine data collect system and motor control was configured. Walk measurements for six subjects were conducted using the developed rollator. The relationship between the movements of the lower limbs and rotation of the motor driven chest support pad was investigated. Time series and power spectrum results were analyzed, and the effectiveness of the motor-driven chest support pad on movement of the lower limb during walking was discussed.
  • Koyachi Noriho; Huang Jian; Tatsuno Junya; Shirai Atsushi; Shibata Mizuho; Tomokuni Nobuyasu; Tagami Masaharu; Matsutani Yuki
    Journal of Robotics and Mechatronics 34 1 6 - 9 富士技術出版株式会社 2022年02月 

    An outline of the Advanced Robotic Technology Research Center, Kindai University Fundamental Technology for Next Generation Research Institute is given. The research activities of the Advanced Robotic Technology Research Center are classified into the following five fields, field robotics, medical and welfare robot, dynamics controlled robot, soft-robotics, and parallel link robot.

  • Huang, J; Ashida, H; He, Y; Koyachi, N; Harada, T
    Journal of Robotics and Mechatronics 34 1 18 - 27 2022年02月 [査読有り]
  • 友國 伸保; 黄 健; 岡 正人; 小谷内 範穂; 柴田 瑞穂; 田上 将治
    ロボティクス・メカトロニクス講演会講演概要集 2019 1P2 - I06 一般社団法人 日本機械学会 2019年 

    In this paper, a line-trace robot is described. This robot is applied for robot contest in the practicum class of creative challenge of robotics in department of robotics. Rules of the robot contest and lecture contents are confirmed by making this robot.

  • Jian Huang, Yoshinori Sano, Ryota Hori, Takayuki Hori and Tetsuro Yabuta
    International Journal of Advanced Robotic System 12 115 2015年08月 [査読有り]
     
    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.
  • 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
    Jounal of Precision Instrument and Mechanology 2 85 - 93 2013年02月 [査読有り]
  • Admittance Control of a Multi-Finger Arm Based on Manipulability of Fingers
    黄 健
    International Journal of Advanced Robotic System 8 4 18 - 27 2011年11月 [査読有り]
  • 堀貴之; 佐野嘉則; 黄健; 豊田希; 藪田哲郎
    日本機械学会論文集(C) 77 776 196 - 207 2011年04月 [査読有り]
  • Hara, M; Kawabe, N; Huang, J; Yabuta, T
    Journal of Robotics and Mechatronics 23 1 126 - 136 2011年03月 [査読有り]
  • 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 7 4 83 - 92 2010年12月 [査読有り]
  • 堀貴之; 山田大輔; 黄健; 杉内肇; 藪田哲郎
    日本機械学会論文集(C) 76 763 655 - 664 2010年03月 [査読有り]
     
    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.
  • Huang, J; Yamada, D; Nakamura, Y; Hara, M; Yabuta, T
    JSME Journal of System Design and Dynamics 3 5 756 - 767 2009年11月 [査読有り]
  • 芦髙直哉; 原正之; 反保紀昭; 黄 健; 藪田哲郎
    日本機械学会論文集(C) 75 752 1000 - 1008 2009年04月 [査読有り]
     
    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.
  • 小坂 翔; 原 正之; 黄 健; 藪田 哲郎
    計測自動制御学会論文集 45 1 69 - 71 2009年01月 [査読有り]
  • 鄭英美; 井上将志; 原正之; 黄健; 藪田哲郎
    日本機械学会論文集C編 75 749 122 - 131 2009年01月 [査読有り]
  • 黄 健; 中村裕介; 山田大輔; 原正之; 藪田哲郎
    計測自動制御学会論文集(特集号) 44 12 1012 - 1014 2008年12月 [査読有り]
  • 山田大輔; 中村裕介; 原正之; 黄 健; 藪田哲郎
    日本機械学会論文集(C) 74 748 2994 - 3003 2008年12月 [査読有り]
  • 許仁; 松木洋介; 友国伸保; 黄 健; 藪田哲郎
    日本機械学会論文集(C) 74 740 912 - 921 2008年04月 [査読有り]
  • クワンB.T; 原田実; 黄 健; 藪田哲郎
    日本機械学会論文集(C) 73 733 2551 - 2560 2007年09月 [査読有り]
  • 松木洋介; 許仁; 友國伸保; 黄 健; 藪田哲郎
    日本機械学会論文集(C) 73 732 2295 - 2304 2007年08月 [査読有り]
  • 大竹理香; 原正之; 黄 健; 藪田哲郎
    計測自動制御学会論文集 43 8 699 - 701 2007年08月 [査読有り]
  • 本山 晴寿; 山科 亮太; 原 正之; 黄 健; 藪田 哲郎
    日本機械学会論文集(C編) 72 723 3525 - 3532 2006年11月 [査読有り]
  • Bui Trong Quan; Jian Huang; Minoru Harada; Tetsuro Yabuta
    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 49 3 897 - 904 2006年09月 [査読有り]
     
    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.
  • Hara, M; Higuchi, T; Ohtake, A; Huang, J; Yabuta, T
    Journal of Robotics and Mechatronics 18 4 476 - 488 2006年08月 [査読有り]
  • 山科 亮太; 本山 晴寿; 浦川 真理子; 黄 健; 藪田 哲郎
    日本機械学会論文集(C) 72 717 1574 - 1581 2006年05月 [査読有り]
  • 雑賀優; 友國伸保; 黄 健; 藪田哲郎
    計測自動制御学会論文集 41 11 939 - 941 2005年11月 [査読有り]
  • Jian Huang; Isao Todo
    Systems and Human Science - For Safety, Security and Dependability 425 - 437 2005年 [査読有り]
     
    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.
  • 黄 健,藤堂 勇雄
    日本機械学会論文集(C編) 70 691 751 - 758 2004年03月 [査読有り]
  • 黄 健; 藤堂 勇雄; 村松 勇夫
    日本機械学会論文集(C編) 69 684 2085 - 2092 2003年08月 [査読有り]
  • 黄 健; 藤堂 勇雄; 松浦 稔
    日本機械学会論文集(C編) 68 674 2999 - 3006 2002年10月 [査読有り]
  • 黄 健; 藤堂 勇雄
    日本機械学会論文集(C編) 67 660 2616 - 2623 2001年08月 [査読有り]
     
    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.
  • 黄 健; 藤堂 勇雄; 常盤 孝徳
    日本機械学会論文集(C編) 66 648 2669 - 2676 2000年08月 [査読有り]
     
    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.
  • 黄 健; 藤堂 勇雄; 牧 謙一郎
    日本機械学会論文集(C編) 64 624 3047 - 3054 1998年08月 [査読有り]
  • Measurement of thermal inertia of the skin by successive thermograms taken at a transient change of ambient radiation temperature
    Jian Huang; Tatuso Togawa
    Physiological Measurements 16 4 213 - 235 1995年11月 [査読有り]
  • Jian Huang,Tatuso Togawa
    Physiological Measurement 16 4 295 - 301 1995年11月 [査読有り]
     
    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.
  • Imaging of skin thermal properties from thermograms at a stepwise change in ambient radiation temperature
    Huang, J; Ishiwada, T; Seshimo, H; Kimura, Y; Saito, H; Togawa, T
    Thermology 15 2 104 - 108 1995年07月 [査読有り]
  • Snowfall prediction based on grey system theory
    Huang, J; Wakamatsu, H; Gau J.F
    3 141 - 152 1991年12月 [査読有り]

MISC

書籍等出版物

  • 力感覚の認知メカニズムとその解明VR/AR技術の開発動向と最新応用事例
    黄 健 (担当:共著範囲:力感覚の認知メカニズムの解明(第3章 第2節))技術情報協会 2018年01月
  • Reinforcement Learning
    Hara, M; Huang, J; Yabuta, T (担当:分担執筆範囲:)IN-TECH 2011年
  • Motion Control
    Huang, J; Hara, M; T. Yabuta, T IN-TECH, 2010年
  • A Human-safe control for collision avoidance by a redundant robot using visual information
    Huang, J; Todo, I (担当:共著範囲:)Elsevier 2005年
  • Cutting Edge Robotics
    Huang. J; Todo, I; Yabuta, T (担当:分担執筆範囲:)plV pro literatur Verlag 2005年

講演・口頭発表等

  • トレッドミル型歩行訓練機に利用する駆動型回転支持パッドの試作
    大屋樹輝; 菅井莉人; 黄健; 小谷内範穂
    日本機械学会中国四国支部第53回学生員卒業研究発表講演会 2023年03月 口頭発表(一般)
  • 駆動型胸部支持パッドを有する歩行車を用いた歩行測定  [通常講演]
    蒋暁珂; 多田 尚生; 宗紹喆,黄健; 小谷内範穂
    日本機械学会中国四国支部第53回学生員卒業研究発表講演会 2023年03月 口頭発表(一般)
  • 日本機械学会ロボットメカトロニクス部門講演会'22
    宗紹喆; 黄健; 小谷内範穗
    第23回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(SI2022) 2022年12月 口頭発表(一般)
  • 回転可能な胸部支持パッドを備えた歩行訓練トレッドミルシステムの開発  [通常講演]
    黄 健; 寺戸友哉; 大橋勇介; 向井敬太; 小谷内範穗
    日本機械学会ロボットメカトロニクス部門講演会'22 2022年06月 口頭発表(一般)
  • 回転型胸部支持パッドを有する歩行訓練トレッドミルシステムの試作
    寺戸友哉; 向井敬太; 黄 健; 小谷内 範穗
    第22回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 2021年12月 口頭発表(一般)
  • 駆動型支持パッドを有する歩行車の計測制御系の構築  [通常講演]
    向井敬太; 宮本空; 阿部凌輔; 黄健; 小谷内範穂
    日本機械学会ロボットメカトロニクス部門講演会'21 2021年06月 口頭発表(一般)
  • 阿部凌輔; 小谷内範穗; 黄健; 向井敬太; 宮本空
    第21回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 2020年12月 口頭発表(一般)
  • 向井敬太; 前田敦史; 阿部凌輔; 宮本空,黄健; 小谷内範穂
    第29回計測自動制御学会中国支部学術講演会 2020年11月 口頭発表(一般)
  • 阿部凌輔; 渡部亮; 小谷内範穗; 黄健
    日本機械学会ロボットメカトロニクス部門講演会'20 2020年05月 口頭発表(一般)
  • 蘆田宏明; 阿部凌輔; 黄健; 小谷内範穗
    日本機械学会ロボットメカトロニクス部門講演会'20 2020年05月 口頭発表(一般)
  • Jian Huang; Hiroaki Ashida; Ryosuke Abe; Noriho Koyachi; Takashi Harada
    The 17th International Conference on Biomedical Engineering (ICBME2019) 2019年12月 口頭発表(一般)
  • 蘆田 宏明; 阿部 凌輔; 黄 健; 小谷内範穗; 原田 孝
    第37回日本ロボット学会学術講演会(RSJ2019) 2019年09月 口頭発表(一般)
  • ロボット創成実習のための ライントレースロボットの試作  [通常講演]
    友國伸保; 黄健; 岡正人; 小谷内範穂; 柴田瑞穂; 田上将治
    日本機械学会ロボットメカトロニクス部門講演会'19, 2019年06月 口頭発表(一般)
  • 蘆田宏明; 黄健; 小谷内範穂; 原田孝
    日本機械学会ロボットメカトロニクス部門講演会'19 2019年06月 口頭発表(一般)
  • Jian Huang; Hiroaki Ashida; Noriho Koyachi; Takashi Harada
    2019 IEEE the 5th International Conference on Mechatronics System and Robots (ICMSR 2019) 2019年05月 口頭発表(一般)
  • 友國 伸保; 黄 健; 岡 正人; 小谷内 範穂; 柴田 瑞穂; 田上 将治
    ロボティクス・メカトロニクス講演会講演概要集 2019年 一般社団法人 日本機械学会
     

    In this paper, a line-trace robot is described. This robot is applied for robot contest in the practicum class of creative challenge of robotics in department of robotics. Rules of the robot contest and lecture contents are confirmed by making this robot.

  • 蘆田宏明; 黄健; 小谷内範穂; 原田孝
    2018年日本ロボット学会学術講演会 2018年09月
  • 回転機構付き胸部支持パッドを有する歩行車の歩行促進効果の評価  [通常講演]
    黄 健; 小谷内 範穗
    2018年日本機械学会ロボットメカトロニクス部門講演会 2018年06月 口頭発表(一般)
  • センサを有する1軸フリー回転機構つき歩行車を用いた歩行計測  [通常講演]
    黄健; 小谷内範穂
    日本機械学会ロボティクスメカトロニクス部門講演会2017 2017年05月 口頭発表(一般)
  • Evaluating the Assistance Effectiveness of a Newly Developed Rollator Mounted with a Freely Rotating Chest Support Pad  [通常講演]
    Jian Huang; Noriho, Koyachi
    The 2016 IEEE International Conference on Robotics and Biomimetics 2016 2016年12月 口頭発表(一般)
  • ウェアラブル3軸⼒感覚提⽰装置のトルク制御  [通常講演]
    小川大夢; 黄健
    第25回計測自動制御学会中国支部学術講演会論文集 2016年11月
  • 1軸フリー回転可能な胸部支持パッドを有するリフト型歩行車の設計と試作  [通常講演]
    黄健; 小谷内範穗
    第34回日本ロボット学会学術講演会 2016年09月 口頭発表(一般)
  • 回転機構付き胸部支持パッドを有する歩行車の歩行促進効果の評価  [通常講演]
    黄健; 小谷内範穂
    日本機械学会ロボティクス・メカトロニクス部門講演会 2016年06月 ポスター発表
  • Evaluating the Assistant Effectiveness of a Walking Rollator Equipped with a Free Rotating Chest Support Mechanism  [通常講演]
    Jian Huang; Noriho Koyachi; Naoki Miyano
    u-Healthcare 2015 2015年12月 口頭発表(一般)
  • 胸部回転機構付き介護リフト型歩行アシストによる歩行効果の評価  [通常講演]
    黄健; 宮野直樹; 小谷内範穂
    日本機械学会ロボティクス・メカトロニクス部門講演会 2015年05月 ポスター発表
  • Dynamic Movement by Admittance Control of a Multi-Finger-Arm Robot with Munipulability Control of Fingers  [通常講演]
    Yamada, D; Sano,Y; Hori, R; Huang, J; Yabuta, T
    IEEE/SICE International Symposium on System Integration 2013年12月 口頭発表(一般)
  • 持ち上げ運動中に力刺激を変更させる手法を用いた重さ知覚実験  [通常講演]
    松木優太; 和田一記; 友國伸保; 黄健
    日本機械学会ロボティクス・メカトロニクス部門講演会 2013年05月 口頭発表(一般)
  • Dynamic Movement by Admittance Control of a Multi-Finger-Arm Robot with Manipulability Control of Fingers  [通常講演]
    D. Yamada; Y. Sano; R. Hori; J. Huang; T. Yabuta
    2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2013年 IEEE
     
    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.
  • Measurement of the Relationship between Weight Perception and Upper Limb Movement  [通常講演]
    Huang, J; Tanino, T; Wada, K; Tomokuni, N
    The 2012 IEEE International Conference on Robotics and Biomimetics 2012 2012年12月 口頭発表(一般)
  • Analysis of Eye Movement during Generation of a Trajectory using Human Upper Limb  [通常講演]
    Toyoda; N; Yamamoto, R; Huang, J; Yabuta. T
    The 2010 IEEE International Conference on Robotics and Biomimetics 2010年12月 口頭発表(一般)
  • Jian Huang; Sho Kosaka; Yuuki Imamura; Tetsuro Yabuta
    Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings 2007年 
    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.
  • Emulating the Motion of a Human Upper Limb: Controlling a Finger-arm Robot by using the Manipulability of its Finger  [通常講演]
    Huang, J; Quan, B.T; Harada, M; Yabuta, T
    The 2006 IEEE International Conference on Robotics and Biomimetics (ROBIO 2006) 2006年12月 口頭発表(一般)
  • Study on Motion Forms of Mobile Robots Generated by Q-Learning Process Based on Reward Databases  [通常講演]
    Hara, M; Inoue, M; Motoyama, H; Huang, J; Yabuta, T
    The 2006 IEEE International Conference on Systems, Man and Cybernetics 2006年10月 口頭発表(一般)
  • Basic Study on Sensory Aspects of a Master/Slave System for Force Telecommunication  [通常講演]
    Hara, M; Jung, Y; Huang, J; Yabuta, T
    The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems 2006年08月 口頭発表(一般)
  • Study on Motion Forms of a Two-dimensional Mobile Robot by Using Reinforcement Learning  [通常講演]
    Jung, Y; Inoue, M; Hara, M; Huang, J; Yabuta, T
    The SICE-ICCAS International Joint Conference 2006 (Busan) 2006年08月 口頭発表(一般)
  • Study on motion forms of mobile robots generated by Q-Learning process based on reward databases  [通常講演]
    Masayuki Hara; Masashi Inoue; Haruhisa Motoyama; Jian Huang; Tetsuro Yabuta
    2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS 2006年 IEEE
     
    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  [通常講演]
    Masayuki Hara; Jian Huang; Young-Mi Jung; Tetsuro Yabuta
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12 2006年 IEEE
     
    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  [通常講演]
    Youngmi Jung; Masashi Inoue; Masayuki Hara; Jian Huang; Tetsuro Yabuta
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13 2006年 IEEE
     
    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.
  • Analysis of Weight Perceptual Mechanism Based on Muscular Using Virtual Reality  [通常講演]
    Hara, M; Higuchi,T; Ohtake, A; Huang, J; Yabuta, T
    The 2005 IEEE International Conference on Systems, Man and Cybernetics 2005年10月 口頭発表(一般)

担当経験のある科目_授業

  • ロボット制御システム特論近畿大学大学院
  • ロボット工学近畿大学工学部
  • プログラミングⅠ・Ⅱ近畿大学工学部
  • 生体工学近畿大学工学部
  • メカトロニクス近畿大学工学部
  • 制御工学近畿大学工学部
  • 基礎制御工学近畿大学工学部

所属学協会

  • IEEE Engineering in Medicine and Biology Society   IEEE Robotics and Automation Society   日本生体医工学会   計測自動制御学会   日本ロボット学会   日本機械学会   

共同研究・競争的資金等の研究課題

  • 回転可能な胸部支持パッドを有するトレッドミル型歩行リハビリテーション機器の開発
    日本学術振興会:科学研究費助成事業 基盤研究(C)
    研究期間 : 2021年04月 -2024年03月 
    代表者 : 黄 健; 小谷内 範穗
     
    脳卒中患者のリハビリテーションとしてトレッドミルによる歩行訓練を行うという手法は臨床的に広く用いられてきたが、現行の歩行訓練機器のほとんどは利用者下肢部に注目し、下肢部の反復強制運動を行うものである。一方、申請者らはこれまでに1自由度回転機構付きの胸部支持パッドを有する歩行車を試作し、歩行運動の特徴を定量的に評価した。利用者は提案の歩行車で歩行する際に、胸部支持パッドの回転により利用者腰部のスイングが自然に引き出され、ベルトを介して足が引っ張られることによって利用者の歩行意欲の向上を図りながら、歩行のリズム感をつかめやすいという特徴がある。そこで本研究は、これまでの研究成果を活かして、回転型胸部支持パッドを有するトレッドミル型歩行訓練機の開発を行い、その効果を評価することを目的とする。 本年度は研究計画の初年度であり、まずハードウェアの設計製作を含めたシステムの開発に取り組む。従来の研究成果を参考しながら、身長180cm、体重100kgまでの人が利用可能な回転型胸部支持パッドとその周辺支持機構を設計・試作したのち、市販品のトレッドミルに取り付けることによって回転型支持パッドを有するトレッドミル歩行訓練機器のハードウェアを製作した。また、歩行中利用者の運動情報を測定するため、支持パッドへの圧力を測る力センサと、歩行者下肢部の運動を測定するゴニオメータなどのセンサを用いており、これらのセンサ情報を集計するための計測系を構築した。本年度の研究内容に係わる研究発表については、学術講演会で2件の発表実績があった。
  • 日本学術振興会:科学研究費助成事業 基盤研究(C)
    研究期間 : 2018年04月 -2021年03月 
    代表者 : 黄 健; 小谷内 範穗
     
    本研究では、利用者の歩行意欲を能動的に促進できる駆動型胸部支持パッドを有する歩行車の開発を行った。試作した歩行車では、身長180cm、体重100kgまでの利用者を想定して設計されており、支持パッドに力センサ4個を取り付けることで体重による圧力を計測できる。また、駆動モータの制御系とセンサ計測系を連動するためのシステム構築を行い、さらに外部電源のコードレス化を実現した。歩行車補助効果の評価としては、膝伸展角および足首回転角度の変動が胸部支持パッドの回転と連動していることがパワースペクトル解析によって明らかになっており、相関係数の結果から下肢部の運動が支持パッドの回転と強く関連したことが示された。
  • 歩行促進機能を有するリフト型歩行アシストの開発支援
    国立研究開発法人 科学技術振興機構:マッチングプランナープログラム
    研究期間 : 2015年10月 -2016年09月 
    代表者 : 黄 健

産業財産権

  • 特願2021-89038:切替式腹腔鏡手術用鉗子  2021年07月05日
    黄健, 脇本哲汰  近畿大学
  • 特許第6846799号:歩行車  
    黄健  小谷内範穗(近畿大学工学部), 宮野直樹(㈱ミハマ)
  • 特許6758644:切替式腹腔鏡手術用鉗子    2020年09月04日
    黄健  大江泰法(近畿大学工学部), 今本治彦(近畿大学医学部)

その他

  • 2018年04月 - 2020年03月  アクティブドライビング胸部支持パッドを有する歩行車の試作と歩行促進効果の評価 
    近畿大学学内研究助成金 21世紀研究開発奨励金(共同研究助成金) 【課題番号】KD201805 【研究内容】 下肢部の弱い高齢者の自立歩行を支援するため、様々な歩行支援機器が商品化されているが、利用者の歩行意欲の向上を積極的に図るものはない。申請者らは、これまでに1自由度フリー回転機構付きの胸部支持パッドを有する歩行車を試作し、歩行運動の特徴を定量的に評価した。利用者が歩行する際に、胸部支持パッドの回転により利用者腰部のスイングが自然に引き出され、ベルトを介して足が引っ張られることによって利用者の歩行意欲を促す。しかしながら、従来の胸部支持パッドの回転は受動的な機構であり、病気で足が踏み出せない高齢者には利用できない。そこで本研究は、利用者の歩行意欲を能動的に促進できる駆動型胸部支持パッドを有する歩行車を開発すると同時に、歩行バイオメカニクスの観点から歩行車補助効果の新しい評価手法を提案することを目的とする。

その他のリンク