研究者情報

マスター

アカウント（マスター）

• 氏名

  田中　孝之(タナカ　タカユキ), タナカ　タカユキ

所属（マスター）

• 情報科学研究院　システム情報科学部門　システム創成学分野

所属（マスター）

• 情報科学研究院　システム情報科学部門　システム創成学分野

独自項目

syllabus

• 2021, ヒューマンセントリックシステム特論, Human-centric Systems, 修士課程, 情報科学研究科, 人間機械系，人間ロボット工学，パワーアシスト，インピーダンス制御，ヒューマンセンシング，ヒューマンモデリング
• 2021, ヒューマンセントリックシステム特論, Human-centric Systems, 修士課程, 情報科学院, 人間機械系，人間ロボット工学，パワーアシスト，インピーダンス制御，ヒューマンセンシング，ヒューマンモデリング
• 2021, システム創成学特論, Frontiers of System Creation Technologies, 修士課程, 情報科学研究科, H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
• 2021, システム創成学特論, Frontiers of System Creation Technologies, 修士課程, 情報科学院, H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
• 2021, ヒューマンセントリックシステム特論, Human-centric Systems, 博士後期課程, 情報科学研究科, 人間機械系，人間ロボット工学，パワーアシスト，インピーダンス制御，ヒューマンセンシング，ヒューマンモデリング
• 2021, ヒューマンセントリックシステム特論, Human-centric Systems, 博士後期課程, 情報科学院, 人間機械系，人間ロボット工学，パワーアシスト，インピーダンス制御，ヒューマンセンシング，ヒューマンモデリング
• 2021, システム創成学特論, Frontiers of System Creation Technologies, 博士後期課程, 情報科学研究科, H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
• 2021, システム創成学特論, Frontiers of System Creation Technologies, 博士後期課程, 情報科学院, H∞制御，人間センシング，ディジタル幾何処理，サイバーフィールド
• 2021, ロボティクス, Robotics, 学士課程, 工学部, ロボット，運動学，動力学，制御，アクチュエータ，センサ
• 2021, 一般教育演習(ﾌﾚｯｼｭﾏﾝｾﾐﾅｰ), Freshman Seminar, 学士課程, 全学教育, ロボット，マイコン，制御，モータ，センサ
• 2021, 画像計測工学, Image-based Instrumentation Engineering, 学士課程, 工学部, 計測工学，データの処理，画像計測，計測システム

researchmap

プロフィール情報

学位

• 博士（工学）（電気通信大学）

プロフィール情報

• プロフィール

  ロボット工学，人間工学を基盤として，人間中心のものづくりができる人材育成を目指しています．人の手による作業の負担軽減を目的とした「軽労化®技術」の研究開発では，軽労化スーツ「スマートスーツ®」を開発し，実際に農業や介護の現場で使っていただける技術を，メーカー，ユーザーと一緒に創り上げています．役に立つ，夢のある技術を一緒に作りませんか？

• 姓

  田中, タナカ

• 名

  孝之, タカユキ

• ID各種

  200901070423113274

対象リソース

https://hce-lab.net/

業績リスト

研究キーワード

• パワーアシスト   筋骨格モデル   筋活動センシング   ペットロボット   生物型ロボット   視覚情報   画像計測   生体計測システム   移動ロボット   ウェアラブルロボット   人間機械システム   Mobile Robot   Wearable Robot   Human-Machine System   

研究分野

• 情報通信 / ヒューマンインタフェース、インタラクション
• 情報通信 / データベース
• ものづくり技術（機械・電気電子・化学工学） / 計測工学
• 情報通信 / 知能ロボティクス
• 情報通信 / 知覚情報処理
• 情報通信 / 機械力学、メカトロニクス
• 情報通信 / ロボティクス、知能機械システム

経歴

• 2023年05月 - 現在 北海道大学 数理・データサイエンス教育研究センター 副センター長
• 2023年04月 - 現在 産業医科大学 産業生態科学研究所 非常勤講師
• 2022年04月 - 現在 北海道大学 大学院情報科学研究院 研究院長補佐
• 2021年01月 - 現在 北海道大学 大学院情報科学研究院 教授
• 2019年04月 - 2020年12月 北海道大学 大学院情報科学研究院 准教授
• 2007年04月 - 2019年03月 北海道大学 大学院情報科学研究科 准教授
• 2004年04月 - 2007年03月 北海道大学 大学院情報科学研究科 助教授
• 2003年04月 - 2004年03月 電気通信大学 知能機械工学科 助教授
• 1996年04月 - 2003年03月 電気通信大学 知能機械工学科 助手

学歴

•         - 1996年   電気通信大学   電気通信学研究科   機械制御工学専攻
•         - 1994年   電気通信大学   電気通信学部   機械制御工学科

委員歴

• 2024年04月 - 現在   日本機械学会ロボティクス・メカトロニクス部門   副部門長
• 2022年10月 - 現在   HCMIコンソーシアム北海道拠点   拠点長
• 2020年04月 - 現在   ロボティクスシンポジア運営委員会   運営委員長
• 2014年01月 - 現在   Journal of Robotics and Mechatronics   Deputy Chief Editor
• 2017年02月 - 2020年02月   計測自動制御学会   理事，監事
• 2013年09月 - 2017年12月   計測自動制御学会 システムインテグレーション部門   運営委員
• 2015年04月 - 2016年03月   日本機械学会ロボティクスメカトロニクス部門   運営委員
• 2016年   第17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   実行委員長
• 2013年01月 - 2014年12月   計測自動制御学会   評議員
• 2011年04月 - 2013年03月   日本ロボット学会   理事   日本ロボット学会
• 2008年 - 2011年   計測自動制御学会   北海道支部 幹事   計測自動制御学会
• 2008年 - 2009年   精密工学会   北海道支部 幹事   精密工学会
• 2007年 - 2008年   日本機械学会   機素潤滑部門運営委員   日本機械学会
• 2006年 - 2007年   計測自動制御学会   論文集委員   計測自動制御学会
• 2007年   日本ロボット学会   北海道ロボット技術研究専門委員会 幹事   日本ロボット学会
• 2004年 - 2006年   計測自動制御学会   システムインテグレーション部門運営委員   計測自動制御学会
• 2004年 - 2006年   日本ロボット学会   評議員   日本ロボット学会
• 2004年   日本機械学会   ロボティクスメカトロニクス部門欧文編集委員   日本機械学会
• 1999年 - 2002年   日本機械学会   ロボティクスメカトロニクス部門技術員会 委員   日本機械学会
• 計測自動制御学会   システムインテグレーション部門 運営委員   計測自動制御学会
• 日本機械学会   ロボティクスメカトロニクス部門 運営委員   日本機械学会

受賞

• 2024年05月 日本機械学会ロボティクス・メカトロニクス部門 ROBOMECH表彰（産業・実用分野）
   外壁タイル非破壊検査のための電磁波多層走査法による空隙深さとサイズの同時推定 

  受賞者: 田中孝之;アッサリム・ホセイン;本田匠;大野湧人;内田茂
• 2023年02月 産業応用工学会 論文賞
   残存機能を活用した立ち座り動作支援機器における適正アシスト力の選定と評価 

  受賞者: 三上 隼人;土谷 圭央;田中 孝之;和田 親宗
• 2022年09月 計測自動制御学会 フェロー称号
   

  受賞者: 田中孝之
• 2022年06月 日本水産工学会 水産工学論文賞
   近海かつお一本釣漁業の漁獲物搬出作業における軽労化支援スーツの効果 

  受賞者: 髙橋秀行;安田健二;田中孝之
• 2021年11月 日本再生医療とリハビリテーション学会 第3回日本再生医療とリハビリテーション学会学術大会
   最優秀賞 

  受賞者: 吉田道拓;田中孝之;土谷圭央
• 2020年12月 計測自動制御学会システムインテグレーション部門 部門研究奨励賞
   X線画像解析に基づく腰部締付力による人体腰部の関節剛性変化のモデル化 

  受賞者: 吉田道拓;田中孝之;金子勇斗;土谷圭央;神島保
• 2019年03月 計測自動制御学会システムインテグレーション部門 SI2018優秀講演賞
   杖型立ち座り支援器具 

  受賞者: 田中孝之;勝長達平;橋元裕紀;平石聖;土谷圭央
• 2018年 日本ロボット学会 フェロー
   

  受賞者: 田中 孝之
• 2017年12月 計測自動制御学会システムインテグレーション部門 部門貢献賞
   

  受賞者: 田中 孝之
• 2017年01月 北海道大学 北海道大学研究総長賞
   

  受賞者: 田中 孝之
• 2016年02月 北海道 北海道科学技術奨励賞
   軽労化技術スマートスーツの研究開発と普及活動 

  受賞者: 田中 孝之
• 2014年01月 日本機械学会 フェロー
   

  受賞者: 田中 孝之
• 2012年 第24回中小企業優秀新技術・新製品賞 産学官連携特別賞
  
• 2011年 2011年度精密工学会北海道支部優秀プレゼンテーション賞
  
• 2011年 ヒューマンインタフェース学会論文賞
  
• 2010年 日本機械学会ロボティクス・メカトロニクス部門貢献表彰
  
• 2009年 計測自動制御学会システムインテグレーション部門貢献賞
  
• 2009年 日本機械学会北海道支部賞（研究技術賞）
  
• 2008年 SI2008優秀講演賞
  
• 2008年 （社）精密工学会2008年度北海道支部学術講演会技術賞
  
• 2008年 計測自動制御学会論文賞
  
• 2007年 ICROS ICCAS2007 Student Paper Award
  
• 2007年 SPIE ISOT2007 Best Paper Award
  
• 2007年 画像センシングシンポジウム優秀論文賞
  
• 2007年 ICROS ICCAS2007 Student Paper Award
  
• 2007年 SPIE ISOT2007 Best Paper Award
  
• 2006年 SI2006優秀講演賞
  
• 2006年 (社)精密工学会2006年度北海道支部学術講演会技術賞
  
• 2005年 SPIE ISOT2005 Best Student Paper Award
  
• 2005年 SPIE ISOT2005 Best Student Paper Award
  
• 2004年 SI2004ベストセッション賞
  
• 2003年 SI2003優秀講演賞
  

論文

• Pseudo-Normalization via Integer Fast Inverse Square Root and Its Application to Fast Computation without Division

  Takashi Kusaka, Takayuki Tanaka

  Electronics 13 15 2955 - 2955 2024年07月26日 [査読有り][招待有り]
   

  Vector normalization is an important process in several algorithms. It is used in classical physical calculations, mathematical techniques, and machine learning, which has witnessed significant advancements in recent years. Normalization and regularization ensure the stability of solutions and play an important role in algorithm convergence. Normalization typically refers to the division of elements by their norm. Division should not be used in algorithmic implementations because its computational cost is considerably higher than that of multiply–add operations. Based on this, there is a well-known method referred to as the fast inverse square root (FISR) algorithm in floating-point calculations (IEEE754). In deeper-level embedded systems that require fast responses or power efficiency, integer instead of real number arithmetic (floating-point number arithmetic) should be used to increase speed. Conversely, in deeper-level embedded systems that require fast responses or power efficiency, integer arithmetic should be used instead of real number arithmetic (floating-point number arithmetic) to increase speed. Therefore, embedded engineers encounter problems in instances in which they use integer arithmetic for implementation, but real number arithmetic is required to compute vectors and other higher-dimensional algebra. There is no conventional normalization algorithm similar to the FISR algorithm for integer arithmetic; however, the proposed pseudo-normalization achieves vector normalization within a restricted domain using only multiply–add operations and bit shifts. This allows for fast and robust operations, even for low-performance MCUs that do not have power-efficient FPUs. As an example, this study demonstrates the computation of the arctangent (Arctan2 function; atan2(y, x)) with high precision using only integer multiply–add operations. In this study, we proposed a method of vector normalization using only integer arithmetic for embedded systems and confirmed its effectiveness by simulation using Verilog. The research results can contribute to various fields such as signal processing of IMU sensor data, faster artificial intelligence training, and efficient rendering of computer graphics.
• 動力学シミュレーションに基づくねじりばねを用いた歩行アシスト装置のねじりばね定数の最適化

  亀井 佐以蔵, 土谷 圭央, 田中 孝之, 北川 雅基

  産業応用工学会論文誌 12 1 92 - 100 2024年03月15日 [査読有り][通常論文]
  
• パワーアシストシステムにおける操作対象物の操作方向を考慮した軌道上への誘導力場による手先誘導効果の検証

  松田潤樹, 田中孝之

  日本ロボット学会誌 41 9 789 - 796 2023年11月 [査読有り]
   

  This research aims to improve maneuverability for power assist system based on guidance force field. This paper describes a method of improving maneuverability using guidance force field of toward the desired trajectory considering approachability on the impedance-controlled manipulator. The approachability in this study means the direction where to approach target work piece. The guidance force field generated toward planned trajectory considering approachability based on Minimum-Jerk Model. It was designed to be easy to apply operator's mind, because the guidance force was designed to decrease when the difference between the desired trajectory and the end-effector position was increased using spreading parameter of guidance force field. Moreover, we defined evaluation function to evaluate maneuverability for guidance force field. As a result of study, we confirmed that the proposed method can improve maneuverability through experiments.
• Reconstructive Approach for Detection and Analysis of Hemiplegia in Human Walking Motion Based on Musculoskeletal Model

  Daniel Tunmise Fatunmbi, Takayuki Tanaka

  2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC) 2023年10月 [査読有り]
  
• Fundamental Knowledge Acquisition by Using Wearable Sensor for “KEIROKA” of Construction Industry

  Yoshio TSUCHIYA, Yoshifumi TANAKA, Takayuki TANAKA

  IFAC-PapersOnLine 56 2 9709 - 9714 2023年07月 [査読有り]
  
• Musculoskeletal Model Capable of Reproducing Lumbar Extension Motion Strategy Based on the Equilibrium Point Hypothesis

  Masahiro Sato, Michihiro Yoshida, Takashi Kusaka, Yusuke Suzuki, Takayuki Tanaka

  Journal of Robotics and Mechatronics 35 3 762 - 770 2023年06月20日 [査読有り]
   

  We considered the change in joint stiffness as a motion strategy in human lumbar extension movement. We developed a musculoskeletal model that can reproduce this motion strategy and attempted to clarify the individual characteristics and differences in motion strategy. This model reproduces changes in lumbar joint stiffness during movement by appropriately adjusting parameters such that they represent the motion strategy. Using this model, we identified parameters in lumbar extension exercises for six participants with differences in lumbar joint stiffness and examined changes in lumbar joint stiffness and motion strategies. The results showed that participants with similar changes in joint stiffness had commonalities in their motion strategies.
• A Correction Method for Muscle Stiffness Sensors to Measure Transversus Abdominis Activity

  Shunsuke Nakamae, Takayuki Tanaka, Koji Shimatani

  Journal of Robotics and Mechatronics 35 3 810 - 822 2023年06月20日 [査読有り]
   

  The transversus abdominis muscle is important for various human functions, including the prevention of back pain and the use of muscle activity values as an indicator for the treatment of urinary incontinence. Measuring muscle activity is an effective means of evaluating whether correct training has been performed. The transversus abdominis muscle stiffness sensor developed in a previous study used a method in which a belt with a sensor attached was wrapped around the lower back, which made measurement simple but also caused problems owing to the influence of phenomena other than muscle activity on the measurement data. Therefore, we propose a novel correction method to calculate the muscle activity of this sensor accurately, which can be used for simple measurements. We propose a formula to compensate for effects other than muscle activity based on a model equation that includes contact conditions and belt tension, which affect the muscle stiffness sensor value. We evaluated the validity of the correction equation from simulations and the change in similarity owing to the correction by simultaneously measuring the muscle action potentials and muscle stiffness sensor values during breathing movements with muscle activity. The proposed correction method improved the muscle stiffness data during respiration and contraction. It is possible to improve the measurement accuracy by improving the calibration method and hardware.
• Optimizing the number of scan layers in multi-layered scanning methods for detecting void sizes in concrete building tiles using electromagnetic waves

  Hussain Alsalem, Takayuki Tanaka, Takumi Honda, Shigeru Uchida, Wakuto Ono

  2023 IEEE/SICE International Symposium on System Integration (SII) 1 - 5 2023年01月17日 [査読有り][通常論文]
   

  Electromagnetic waves have proven to be efficient in detecting voids in concreted building tiles. However, obstacles, such as the difficulty of data analysis and the need to use relatively large equipment on-site, lead to increased costs. The multilayer survey method (MLS) provides a qualitative and fundamental solution to this dilemma. Because it is based on multiple scans, it still has the potential to improve the quantity and location of the required scanning layers, which will increase the accuracy and speed of the results. MLS was conducted on actual tiled concrete, which includes voids of several sizes. A comparison of the simulation and experimental results showed that there was a possibility of optimizing the number of scan layers. The ability to optimize scanning layers was demonstrated both theoretically and empirically.
• Lumbar mechanical model capable of reproducing joint stiffness changes during lumbar extension motion

  Masahiro Sato, Takayuki Tanaka, Michihiro Yoshida, Yusuke Suzuki

  2023 IEEE/SICE International Symposium on System Integration (SII) 1 - 6 2023年01月17日 [査読有り]
   

  In this study, we developed a lumbar mechanical model that can reproduce the changes in joint stiffness during lumbar extension motion in humans. Earlier reports suggest that during lumbar extension motion joint stiffness varies from person to person. The individual differences in the way joint stiffness changes during lumbar extension motion are caused by individual differences in motion strategy, developed with reference to the equilibrium-point hypothesis, which is one of the clues to the elucidation of the human motor control law. We herein describe the development process of the model and examine the possibility of verifying individual differences in movement strategies by reproducing joint stiffness changes.
• Measurement of the Void Size Between Wall Tiles and Concrete Through Nondestructive Inspection Using Electromagnetic Waves

  Hussain Alsalem, Takayuki Tanaka, Takumi Honda, Satoru Doi, Shigeru Uchida, Wakuto Ono

  IEEJ Transactions on Electrical and Electronic Engineering 2022年12月30日 [査読有り][通常論文]
   

  The separation of tiles from buildings degrades the aesthetic appeal of buildings and may result in structural failure. Therefore, tiles should be inspected periodically. However, manual inspections are expensive and require qualified experts. In this study, voids corresponding to tile separation were detected in a concrete specimen using nondestructive inspection based on electromagnetic wave detection. Furthermore, wave reflection models of healthy and defective tiles were created, and the effects of the void plane size on the reflection of defective tiles were considered. The correlation between the void plane size and the reflection intensity difference integral value was verified through multilayer scanning using these models.
• Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation

  Takashi Kusaka, Takayuki Tanaka

  Robotics 11 6 149 - 149 2022年12月09日 [査読有り][通常論文]
   

  In the fields of control engineering and robotics, either the Lagrange or Newton–Euler method is generally used to analyze and design systems using equations of motion. Although the Lagrange method can obtain analytical solutions, it is difficult to handle in multi-degree-of-freedom systems because the computational complexity increases explosively as the number of degrees of freedom increases. Conversely, the Newton–Euler method requires less computation even for multi-degree-of-freedom systems, but it cannot obtain an analytical solution. Therefore, we propose a partial Lagrange method that can handle the Lagrange equation efficiently even for multi-degree-of-freedom systems by using a divide-and-conquer approach. The proposed method can easily handle system extensions and system reconstructions, such as changes to intermediate links, for multi-degree-of-freedom serial link manipulators. In addition, the proposed method facilitates the derivation of the equations of motion-by-hand calculations, and when combined with an analysis algorithm using automatic differentiation, it can easily realize motion analysis and control the simulation of multi-degree-of-freedom models. Using multiple pendulums as examples, we confirm the effectiveness of system expansion and system reconstruction with the partial Lagrangians. The derivation of their equations of motion and the results of motion analysis by simulation and motion control experiments are presented. The system extensions and reconstructions proposed herein can be used simultaneously with conventional analytical methods, allowing manual derivations of equations of motion and numerical computer simulations to be performed more efficiently.
• ウェアラブル・エンベデッドセンサを用いた作業姿勢分類と作業検知への応用

  迎田 隆幸, 島田 悠之介, 田中 孝之, 野口 宏明, 阿部 敏久

  計測自動制御学会論文集 58 12 558 - 567 2022年12月 [査読有り]
   

  To evaluate the work contents of a care worker, this paper proposes a novel lower limb posture estimation method, and a motion recognition method for the automation of care records. In our approach, wearable-embedded sensors consisting of inertial sensors and insole-type plantar pressure sensors were used to recognize the posture of the whole body during care tasks. The upper body posture was calculated from triaxial accelerations, and posture classification of lower limbs can be reached with characteristics extracted from plantar pressure distribution. To achieve accurate posture recognition considering unexpected posture in training phase and compound postures combining multiple postures, a new posture estimation method combining normal and complementary Gaussian mixture network (NACGMN) and posture-fitness function was developed. Using the time-series data of posture information, our proposed work estimation manner utilizing hidden semi-Markov models can recognize performed care works based on the frequency distribution of state transitions. In experiments, we measured and recognized transfer assistance works between a bed and a wheelchair in our laboratory and an actual care facility, and the results demonstrated the effectiveness of the proposed system.
• Stateful Rotor for Continuity of Quaternion and Fast Sensor Fusion Algorithm Using 9-Axis Sensors

  Takashi Kusaka, Takayuki Tanaka

  Sensors 22 20 7989 - 7989 2022年10月19日 [査読有り]
   

  Advances in micro-electro-mechanical systems technology have led to the emergence of compact attitude measurement sensor products that integrate acceleration, magnetometer, and gyroscope sensors on a single chip, making them important devices in the field of three-dimensional (3D) attitude measurement for unmanned aerial vehicles, smartphones, and other devices. Sensor fusion algorithms for posture measurement have become an indispensable technology in cutting-edge research, such as human posture measurement using wearable sensors, and stabilization problems in robot position and posture measurement. We have also developed wearable sensors and powered suits in our previous research. We needed a technology for the real-time measurement of a 3D human body motion. It is known that quaternions can be used to algebraically handle 3D rotations; however, sensor fusion algorithms for three sensors are presently complex. This is because these algorithms deal with the post-rotation attitude (pure quaternions) rather than rotation information (the rotor) to avoid a double covering problem involving the rotor. If we are dealing with rotation, it may be possible to make the algorithm simpler and faster by dealing directly with the rotor. In this study, to solve the double covering problem involving the rotor, we propose a stateful rotor and develop a technique for uniquely determining the time-varying states of the rotor. The proposed stateful rotor guarantees the continuity of the rotor parameters with respect to angular changes, and this paper confirms its effectiveness by simulating two rotations around an arbitrary axis. In addition, we verify experimentally that a fast sensor fusion method using stateful rotor can be used for attitude calculation. Experiments also confirm that the calculated results converge to the desired rotation angle for two spatial rotations around an arbitrary axis. Since the proposed stateful rotor extends and stabilizes the definition of the rotor, it is applicable to any algorithm that deals with time-varying quaternionic rotors. In this research, an algorithm based on a multiply–add operation is designed to reduce computational complexity as a high-speed calculation for embedded systems. This method is theoretically equivalent to other methods, while contributing to power saving and the cost reduction of products.
• Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model

  Masaki Kitagawa, Takayuki Tanaka, Akihiko Murai

  2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 5249 - 5256 2022年10月 [査読有り]
   

  This study aims to construct a running simulator based on a motion generation and control system that enables the description of motion strategies using the spring-loaded inverted pendulum (SLIP) model. The problems of stability and robustness encountered in the running simulation with the SLIP model are elucidated, and stable running is achieved by controlling the stiffness and the attitude angle dynamically at touchdown, as well as human energy adjustment that is introduced to consider the active motion strategy. As a result, passive and active control by humans can be expressed, and a framework that can express the changes in running due to motion strategies is constructed. Finally, we discuss the possibility of describing and elucidating the motion strategies.
• 残存機能を活用した立ち座り動作支援機器における適正アシスト力の選定と評価

  三上 隼人, 土谷 圭央, 田中 孝之, 和田 親宗

  産業応用工学会論文誌 10 2 82 - 89 一般社団法人 産業応用工学会 2022年09月 [査読有り]
   

  Supporting the elderly by utilizing their remaining functions will lead to the extension of their healthy life span. In this study, we developed a portable cane-type standing and sitting positional mobility support device. In this study, we developed a cane-type mobility support device, and selected a suitable support direction for elderly people by dynamic analysis simulation. In addition, the necessary assisting force for the elderly was examined and the assisting force was set. The effectiveness of the device was evaluated by measuring the surface electromyogram of healthy subjects. As a result, it was found that the specifications of this device were effective when the assist direction was 30 degrees and the assist force was 110 N. From the measurement of the surface electromyogram, it was found that the device was effective for both standing and sitting motions. It also helps to ensure the safety of the sitting motion of elderly people.
• 論理和型および信頼区間型の探索領域拡張による複数関心パタンの順序探索

  浅野 裕一, 高氏 秀則, 田中 孝之, 金子 俊一

  電気学会論文誌Ｃ 142 8 971 - 981 電気学会 2022年08月01日 [査読有り][通常論文]
   

  Two novel strategies for incremental searching of interest patterns are proposed in context of sequential search of multiple patterns in the scene. One is based on a scheme based on union operation to extend search regions depending on all of the proceeding searches, which can possibly adapt the search to some local distortion in the scene or the objects. Another strategy utilizes incremental setting of confidence intervals to the search regions depending on their statistics in position errors of respective patterns. In addition to them, a new scheme of repetitive trials for realizing reliability in the search. By using a set of real objects, many experiments show the effectivity and the efficiency of the proposed strategies.
• Fast and Accurate Approximation Methods for Trigonometric and Arctangent Calculations for Low-Performance Computers

  Takashi Kusaka, Takayuki Tanaka

  Electronics 11 15 2285 - 2285 2022年07月22日 [査読有り]
   

  In modern computers, complicated signal processing is highly optimized with the use of compilers and high-speed processing using floating-point units (FPUs); therefore, programmers have little opportunity to care about each process. However, a highly accurate approximation can be processed in a small number of computation cycles, which may be useful when embedded in a field-programmable gate array (FPGA) or micro controller unit (MCU), or when performing many large-scale operations on a graphics processing unit (GPU). It is necessary to devise algorithms to obtain the desired calculated values without an accelerator or compiler assistance. The residual correction method (RCM) developed here can produce simple and accurate approximations of certain nonlinear functions with minimal multiply–add operations. In this study, we designed an algorithm for the approximate computation of trigonometric and inverse trigonometric functions, which are nonlinear elementary functions, to achieve their fast and accurate computation. A fast first approximation and a more accurate second approximation of each function were created using RCM with a less than 0.001 error using multiply–add operations only. This achievement is particularly useful for MCUs, which have a low power consumption but limited computational power, and the proposed approximations are candidate algorithms that can be used to stabilize the attitude control of robots and drones, which require real-time processing.
• Modeling of changes in lumbar joint stiffness by pelvic tightening based on physique and pelvic alignment

  Michihiro Yoshida, Tanaka Takayuki, Yoshio Tsuchiya

  Physical Ergonomics and Human Factors 205 - 213 2022年07月 [査読有り]
   

  We have been elucidated the mechanism by which pelvic belt reduces lumbar burden. Pelvic tightening increases the lumbar joint stiffness and inhibits the flexion of the lumbar spine in the forward bending. Flexion of the lumbar joint is substituted by the hip joint, which corrects the posture during forward bending and reduces the lumbar burden (lumbar joint torque). The level of the assisting effect of the tightening force has the individual difference, but at present, it is not clear what factors cause it. In this study, we develop a model that represents the assistance effect based on the physique such as height and weight, and the posture and shape of the pelvis and lumbar spine (pelvic alignment).This study developed a regression model that expresses the amount of change in joint stiffness due to tightening force, using the individual physique and pelvic alignment characteristics as input. The joint stiffness was estimated from motion measurement using optical motion capture and obtained from the equation of motion of the link model representing the human body. Pelvic alignment was measured by X-ray images, and five features were obtained: sacral inclination angle (SS angle), pelvic inclination angle (PT angle), inclination angle of the sacrum relative to the pelvis (PI angle), curvature of the lumbar lordosis, and pelvic aperture angle. Among these, the SS angle, PT angle, and PI angle were measured under two conditions: standing and 45 degrees forward bending and obtained a total of eight pelvic alignment features. In addition, height, weight, BMI, and back muscle strength were added as physique characteristics expressing body size and muscle strength, for a total of 12 variable measured. These features were measured on 15 subjects. Among the 12 features, three to four variables were input to the model by excluding those that were strongly correlated with each other and less capable of explaining changes in the target value, joint stiffness.From the proposed model, changes in joint stiffness could be estimated from pelvic alignment and physique characteristics. At large forward bending angles, we found that to obtain a high assistance effect, tilting of the sacrum anteriorly relative to the pelvis and forward tilting of pelvis is necessary. On the other hand, in the mild forward bending, the person who is higher body weight in addition to the forward tilt of the PT and PI angles tend to obtain higher assistive effect.
• A Proposal of Individualization of Guidance Force Field to Improve Maneuverability of Power Assist Systems

  Junki Matsuda, Takayuki Tanaka

  2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 1231 - 1236 2022年07月 [査読有り][通常論文]
   

  This study aims to improve the maneuverability of power assist systems based on guidance force field. We have proposed an artificial potential method to generate a guidance force field on an arbitrary work trajectory to guide the operator and manipulator to reduce the workload of the operator when using a position-controllable industrial manipulator as a PAS. Experiments showed that the proposed guidance force field contributed to a reduction in the workload of the operator. Individual differences were observed in the maneuverability of the operator under the guidance force field. In this paper, we propose a mathematical model of the maneuverability of the guidance force field and a method to obtain the optimum spread of the guidance force field for each operator.
• Modeling Joint Stiffness Change by Pelvic Tightening Based on Pelvic Alignment

  Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya

  Biomechanics 2 2 264 - 280 2022年05月22日 [査読有り]
   

  This paper aims to develop a regression model that explains the relationship between changes in lumbar joint stiffness and pelvic alignment (posture or shape of the bones of the pelvis and lumbar spine) due to pelvic tightening. The proposed model is based on the hypothesis that lumbar joint stiffness increases with changes in pelvic alignment. The proposed model is based on experimentally measured stiffness values and pelvic alignment data sets. The stiffness of the lumbar joint was estimated by motion analysis using a motion-capture system. Ninety-six volunteers participated in the experiment to estimate stiffness values, and the validity of using lumbar joint stiffness as the output of the model was examined. The pelvic alignment was measured through X-ray images. Pelvic alignment was measured using radiographic images, and 25 volunteers participated. The Results section states that the amount of change in the posture of the sacrum relative to the pelvis and the curvature of the lumbar spine contributes to the change in lumbar joint stiffness. Future work will include FEM analysis to validate the overall hypothesis and the validity of applying the model to a group other than those who participated in the development of the model.
• アクティブコルセットの可変締付力制御則の個人適合による腰部負担軽減効果の向上と腰部関節剛性への影響

  吉田道拓, 田中孝之, 土谷圭央, 金子勇斗

  計測自動制御学会論文集 57 12 2021年12月 [査読有り]
  
• A Proposal of Diagnostic System for Assistance Effect of Pelvic Belt Based on CoP Measurement

  Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya

  2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) 1 - 5 2021年06月20日 [査読有り]
   

  This study aims to develop a diagnostic system that estimates the assistance effect of pelvic tightening in advance for the introduction of the pelvic belt to the field of work or clinical use. This study explains the hypothesis of lumbar burden reduction by pelvic belt and shows that pelvic tightening reduces lumbar joint flexion. The posture correction degree is proportional to the amount of reduction in the lumbar burden. By conducting a motion measurement, the posture correction index indicates the assistance effect. From the measurement using motion capture and force platform for 86 people, we developed a mathematical model that estimates the posture correction index from CoP change.
• Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit

  Hongyuan Ren, Takayuki Tanaka, Akihiko Murai

  2021 IEEE International Conference on Robotics and Automation (ICRA) 1263 - 1268 2021年05月30日 [査読有り]
   

  Human running motion is a complex motion that not only based on the movement of legs but also needs the entire body to participate in. Therefore, we focused on the upper body, designed a trunk and pelvic rotation assist suit to apply an external force on the chest and pelvis for assisting the running motion, changing the energy flow between the upper and lower body to improve the running efficiency. However, human motion is very complicated and difficult to analyze, it is hard to explore the specific effect of the external force which is provided by the rotation assist suit on human motion. In this paper, we proposed an advanced spring-loaded inverted pendulum model for simulating the human running motion in natural running status and expanded running status in which the motion is expanded by wearing the trunk and pelvic rotation assist suit, parametrically represent the changes of human due to the intervention of the external force, and discuss the effect of the external assistant force on the human running motion.
• 近海かつお一本釣漁業の漁獲物搬出作業における軽労化支援スーツの効果

  髙橋 秀行, 安田 健二, 田中 孝之

  日本水産工学会誌 57 3 83 - 89 2021年02月 [査読有り]
   

  The main function of work assistive suits is to reduce the burden on the muscles around the waist during stooping, thought to be the one of the causes of low back pain. Since fishermen frequently stoop, the introduction of work assistive suits is highly anticipated. In this study, the effect of a work assistive suit on the fish unloading task in a skipjack tuna pole and line fishing boat on offshore waters was experimentally investigated. A prototype work assistive suit, using carbon fiber-reinforced plastic plates as the elastic body of the suit, was manufactured and provided for the experiment. We measured the activity of the elector spine of four subjects using surface electromyography. The results showed that the muscle activities of the elector spine adjacent to the fourth lumbar vertebrate were significantly reduced in two subjects (the other two did not have successful experiments) and the rate of reduction ranged from 11% to 25%. The muscle activity in the elector spine adjacent to the first lumbar vertebrate was slightly increased in a subject, however, no significant changes were seen in other three subjects. It is expected that the work assistive suit considering actual work of fishermen is developed and disseminated.
• Pose Identification for Task Recognition in Care Work

  Shinnosuke Kato, Mihoko Niitsuma, Takayuki Tanaka

  2021 IEEE/SICE International Symposium on System Integration (SII) 315 - 319 2021年01月11日 [査読有り]
  
• Hierarchical probabilistic task recognition based on spatial memory for care support

  Tappei Katsunaga, Takayuki Tanaka, Mihoko Niitsuma, Saburo Takahashi, Toshihisa Abe

  2021 IEEE/SICE International Symposium on System Integration (SII) 310 - 314 2021年01月11日 [査読有り]
  
• The Effect of Passive Lower Limb Assist Device on Muscle Synergy in Standing-Up Motion

  Shunsuke Torigai, Takayuki Tanaka

  2021 IEEE/SICE International Symposium on System Integration (SII) 566 - 571 2021年01月11日 [査読有り]
  
• Subjective evaluation of lumbar load and tightening force using a pelvic belt

  Yoshio Tsuchiya, Takayuki Tanaka, Michihiro Yoshida

  2021 IEEE/SICE International Symposium on System Integration (SII) 2020 0 548 - 553 一般社団法人 日本機械学会 2021年01月11日 [査読有り]
   

  Lumbar load, which causes chronic low back pain, varies depending on posture and external load. However, the timing to feel the lumbar burden varies from person to person. It is also known that tightening the pelvic belt against the lumbar burden improves posture and reduces the lumbar burden. For this reason, the tightening force of the pelvic belt is measured for the posture and the lumbar load, and the relationship between the sensation and the load is evaluated.

• 超人スポーツ・グランドチャレンジ 2020

  持丸 正明, 村井 昭彦, 田中 孝之, 栗田 雄一, 南澤 孝太, 稲見 昌彦

  バイオメカニズム学会誌 45 2 80 - 83 バイオメカニズム学会 2021年 [査読無し]
   

  超人スポーツとは，人間の身体能力を補綴・拡張する人間拡張工学に基づき，人の身体能力を超える力を身につけ「人を超える」，あるいは年齢や障碍などの身体差により生じる「人と人のバリアを超える」ことによって生み出される新しいスポーツ競技である．拡張された超人同士がテクノロジーを自在に乗りこなし，競い合う「人機一体」の新たなスポーツを創造することを目指している．さらなる「人機一体」の技術の開発に向け，競技者同士が同一の技術（道具）を用い，その使いこなし方や身体能力，戦略で競い合う超人スポーツ競技ではなく，最先端の人間拡張工学と身体能力を競技者同士が自在に開発，適用して，独自技術と身体能力で競い合い，記録に挑戦するかたちの競技を新たに創り出すという目的で，3 つのグランドチャレンジを設定し，2020 年度の第 1 回グランドチャレンジを実施した．
• Measuring Adhesion Strength of Wall Tile to Concrete by Non-Contact Inspection Using Electromagnetic Waves

  Hussain Alsalem, Takayuki Tanaka, Takumi Honda, Satoru Doi, Shigeru Uchida

  Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC) 633 - 638 2020年10月14日 [査読有り][通常論文]
   

  The separation of exterior tiles from buildings diminishes the visual appeal of cities and can injure pedestrians when they are struck by falling tiles. Therefore, tiles should be inspected periodically. However, completion of the inspection process has hurdles, including high cost and the need for qualified human inspectors. This study describes a non-destructive inspection method for detecting voids that match those seen in tile separation in a concrete specimen using electromagnetic waves, specifically microwaves. The method can be performed using devices that are simpler, smaller, and easier to use than those required by conventional methods. In addition, this method can be used to measure the adhesion strength of tiles.
• Analysis of Running Expansion with Trunk and Pelvic Rotation Assist Suit by Using SLIP Model

  Hongyuan Ren, Takayuki Tanaka, Kotaro Hashimoto, Akihiko Murai

  ROMANSY 23 - Robot Design, Dynamics and Control 458 - 466 2020年09月 [査読有り][通常論文]
   

  In this paper, we evaluated the effect of the trunk and pelvic rotation assist suit in assisting human running motion. During running motion, when the angular momentum of the upper body and the lower body is closer to balance, the running efficiency will be improved. According to this fact, we developed the trunk and pelvic rotation assist suit to apply external forces in the upper body to balance the angular momentum and improve the running efficiency. To evaluate the assist efficiency of our assist suit, we used the spring-loaded inverted pendulum model (SLIP model) and conducted a running expansion experiment. We combined the results of SLIP model and experimental data to evaluate the effect of the assist suit by comparing the energy and athletic performance between natural and expanded running motion. Finally, we confirmed the trunk and pelvic rotation assist suit does have an assisting effect on the human running motion.
• Relationship between Upper Body Posture Angle and Vertebral Body Posture Angle in Lateral Flexion and Rotation Posture

  Yoshio TSUCHIYA, Takayuki TANAKA, Tamotsu KAMISHIMA

  Advanced Biomedical Engineering 9 181 - 188 2020年09月 [査読有り][通常論文]
   

  Lumbar loading causes increased intervertebral pressure and is an important factor in low back pain. However, it is difficult to quantitatively judge the actions that affect lumbar load and the magnitude of lumbar load increase. Low back pain occurs not only in the workplace but also during activities of daily living. Therefore, it is necessary to investigate the factors inducing low back pain by measuring movements in various planes and determining the magnitude of the lumbar load. Accordingly, the lumbar spine should be examined during various movements. Several studies have examined vertebral bodies in the anteflexion posture. However, the relationship between body flexion angle and vertebral body angle during lateral flexion and rotation remains unknown. In this study, we proposed an estimation method for changes in vertebral body angle during lateral flexion and rotation in the lumbosacral region using a wearable sensor system we previously developed. The accuracy of the proposed estimation method was evaluated and demonstrated using X-ray images.
• Modeling the Joint Stiffness Change by Pelvic Tightening Based on Alignment of Lumbar and Pelvis

  Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya, Yuto Kaneko

  Advances in Intelligent Systems and Computing 168 - 176 2020年07月 [査読有り][通常論文]
  
• 個人適合した筋骨格モデルを用いた骨盤底筋強化のための最適姿勢導出

  若生知宏, 田中孝之, 島谷康司, 栗田雄一, 杉山好美

  バイオメカニズム 25 113 - 124 2020年07月 [査読有り][通常論文]
   

  腹圧性尿失禁は女性の典型的なQuality of Life（QOL）疾患で，咳やくしゃみをした際に腹圧が上昇することで予期しない尿漏れが生じるものである．主に肥満や加齢，出産による骨盤底筋（PFM）の弛緩や損傷が原因とされており，予防するためにはPFM強化が有効とされている．既存のトレーニング方法として，Kegel体操などが提案されているが，トレーニング効果に個人差が存在するなどの問題がある．これを解決するために本研究では日常生活でとり得る11姿勢を定義し，個人適合した筋骨格モデルを用いて各姿勢のPFM活動量計算を行うことで，各個人に適したトレーニング姿勢を導出する方法を提案した．また各姿勢におけるPFM活動量の実測値と比較することで提案手法の評価を行った結果，6名中3名の被験者で計算結果との正の相関が確認され，本手法の妥当性が示唆された．
• Visualization of Voids in Tile Concrete by Non-contact Inspection using Electromagnetic Waves

  Takumi Honda, Takayuki Tanaka, Satoru Doi, Shigeru Uchida

  The International Workshop on Frontiers of Computer Vision 2020 2020年02月 [査読有り][通常論文]
  
• Development of an anomaly detection method with a novel hidden semi-Markov model incorporating unlearned states.

  Takayuki Mukaeda, Keisuke Shima, Saori Miyajima, Yuki Hashimoto, Takayuki Tanaka, Naomichi Tani, Hiroyuki Izumi

  2020 IEEE/SICE International Symposium on System Integration(SII) 1270 - 1275 2020年 [査読有り][通常論文]
  
• Task recognition based on task history considering estimation error of localization in care support with autonomous mobile wheelchairs.

  Tappei Katsunaga, Takayuki Tanaka, Mihoko Niitsuma, Saburo Takahashi, Toshihisa Abe

  2020 IEEE/SICE International Symposium on System Integration(SII) 1265 - 1269 2020年 [査読有り][通常論文]
  
• Task Activity Recognition and Workspace Extraction for Nursing Care Assistance in Intelligent Space.

  Kouji Sakotani, Shinnosuke Kato, Mihoko Niitsuma, Takayuki Tanaka

  2020 IEEE/SICE International Symposium on System Integration (SII) 1259 - 1264 2020年 [査読有り][通常論文]
  
• Visualization of Voids Between Tile and Concrete by Multi-Layered Scanning Method with Electromagnetic Waves

  Takumi Honda, Takayuki Tanaka, Satoru Doi, Shigeru Uchida, Maria Q. Feng

  Journal of Robotics and Mechatronics 31 6 863 - 870 2019年12月 [査読有り][通常論文]
   

  The tiles that are used to protect the exterior of a building may separate from the concrete substrate and fall off as they age. To prevent accidents, a tiled wall can be inspected using various methods. In this study, nondestructive inspection (NDI) with microwave electromagnetic waves (EMWs) is used for detecting tile separation, and the chance of detecting the separation by this method is discussed in this paper. Here, the inspection apparatus is used to detect voids in concrete, including voids that simulate tile separation. An antenna attached to the apparatus transmits and receives microwaves to obtain a reflected intensity from the concrete. In addition, the distribution of reflected intensity is obtained using a proposed scanning method, multi-layered scanning. This involves several scans along the concrete surface at different antenna-to-surface distances. Typically, EMWs have to be analyzed with an expensive network analyzer in the time or frequency domain. However, we demonstrate that voids are detected from the obtained distribution of the reflected intensity of EMWs measured by a simple device without a network analyzer. The proposed method of NDI with EMWs is cheaper and simpler than conventional inspection methods.
• Relationships between Quantitative and Subjective Evaluations of Assistive Effect on Standing Function of the Smart Suit

  Hijiri Hiraishi, Takayuki Tanaka, Mami Sakata, Dai Kawahara, Keisuke Shima

  The Fourth International Conference on Informatics and Assistive Technologies for Health-Care, Medical Support and Wellbeing 2019年11月 [査読有り][通常論文]
  
• Minimal Inertial Sensor Placement for Work Recognition and Working Posture Assessment*

  Saori Miyajima, Yuki Hashimoto, Takayuki Tanaka, Natsuki Miyata, Mitsunori Tada, Masaaki Mochimaru

  2019 IEEE/SICE International Symposium on System Integration (SII) 2019年01月 [査読有り][通常論文]
  
• Biofeedback for Training Pelvic Floor Muscles with EMG Signals of Synergistic Muscles

  Hikaru Hasegawa, Takayuki Tanaka, Tomohiro Wakaiki, Koji Shimatani, Yuichi Kurita

  Advances in Intelligent Systems and Computing 789 403 - 410 2019年 [査読有り][通常論文]
   

  © 2019, Springer International Publishing AG, part of Springer Nature. Pelvic floor muscle (PFM) training is important in the treatment of stress urinary incontinence. In this study, biofeedback training was performed using electromyographic signals obtained in real time by a surface electrometer attached to the transverse abdominal muscles working in conjunction with the PFM. The low activity of the perineal muscles before training increased by an average of 20% points within 10 min after the start of training. This finding suggests that training of muscles indirectly involved in continence of urine may improve the functioning of the PFM.
• アクティブコルセットの動的締付力が関節剛性と腰部補助効果に及ぼす影響

  吉田 道拓, 田中 孝之, 金子 勇斗, 土谷 圭央

  計測自動制御学会論文集 55 11 683 - 691 公益社団法人 計測自動制御学会 2019年 [査読有り][通常論文]
   

  In this paper, we experimentally verify the relationship between the change in the stiffness of joints around the lumbar due to dynamic tightening control of the Active Corset and the reduction of the lumbar load. The bending angle of joints around the lumbar in lifting movement were measured, and the elasticity of the joints were calculated. As the result of the measurement on 21 subjects, tightening of Active Corset reduced the lumbar load with substituting the lumbar joint flexion by the hip joint flexion in all subjects. In addition, the we confirmed that the ratio of the lumbar elasticity to the hip joint elasticity increase with tightening around the pelvis on the four subjects. We conclude that the decrease of the lumbar load with tightening caused by increasing the ratio of the lumbar joint elasticity to the hip joint elasticity.

• Walking Assistance and Resistance of Walking Motion by Trunk and Pelvis Motion Assist

  Kotaro Hashimoto, Takayuki Tanaka, Takashi Kusaka

  2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018年10月 [査読有り][通常論文]
  
• Reducing Lumbar Load with Active Corset

  Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya, Takashi Kusaka

  Journal of Robotics and Mechatronics 30 5 740 - 751 2018年10月 [査読有り][通常論文]
   

  This study describes the effect of Active Corset on the lumbar spine. Active Corset is assist tools used to prevent low back pain. It tightens the waist optimally according to the lumbar load during work. This study aimed to clarify the mechanical effect of tightening of the pelvis on lumbar joints and determine the mechanism leading to reduction of the lumbar load. Moreover, this study examined the phenomena commonly occurring among the subjects with reduced lumbar load by tightening of the pelvis. First, we will present some examples of currently used assist tools and demine the utility of the Active Corset among the various tools used. Next, the mechanism of the Active Corset will be described. Further, we will present a hypothesis about reducing the lumbar load by tightening the pelvis. After describing the change in the joint bending angle on tightening, we will describe reduction of burden from the antigravity torque around the lumbar joint. Finally, we will compare active tightening using Active Corset with tightening using a constant force and describe the advantage of active tightening.
• Estimating Lumbar Load During Motion with an Unknown External Load Based on Back Muscle Activity Measured with a Muscle Stiffness Sensor

  Yoshio Tsuchiya, Yumeko Imamura, Takayuki Tanaka, Takashi Kusaka

  Journal of Robotics and Mechatronics 30 5 696 - 705 2018年10月 [査読有り][通常論文]
   

  A forward bending motion is essential in everyday tasks, such as carrying objects, shoveling snow, and performing farm work. However, many people suffer from lumbar pain resulting from forward bending motion, which causes a lumbar disc load owing to the changing of the lumbar shape. We have developed a wearable lumbar load estimation system, which measures the skin shape on the back using a curvature sensor. Because the lumbar load varies with the external load, the lumbar load should be estimated based on the external load. Therefore, we have developed a method for estimating an unknown external force using a muscle stiffness sensor. Muscle strength can be estimated by measuring the muscle hardness from the surface, and the relationship between the external force and the muscle force can be modeled. Using this method, we estimate the dependence of the lumbar load on external forces in real time. In addition, we simplify the calculation by converting the external load into a load resulting from a person’s own weight. We incorporate the proposed method into our wearable sensor system, estimate the lumbar load, and compare this with the results of a musculoskeletal dynamics simulation.
• Evaluation framework for passive assistive device based on humanoid experiments

  Yumeko Imamura, Ko Ayusawa, Eiichi Yoshida, Takayuki Tanaka

  International Journal of Humanoid Robotics 15 3 2018年06月01日 [査読有り][通常論文]
   

  This study presents an enhanced framework for evaluating an assistive effect generated by a passive assistive device using a humanoid robot. The humanoid robotic experiments can evaluate wearable devices by measuring the joint torque, which cannot be measured directly from the human body. In this paper, we introduce an "assistive torque estimation map" as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot. This map aims to estimate the supportive torques for complex motions without conducting humanoid experiments or human-subject experiments with these motions. We generated an estimation map for an actual assistive suit that decreases the load on the lumbar region and we verified the validity of the proposed method by experimentation. In addition, the geometric simulation model of the assistive suit was validated based on the proposed experiments by using the humanoid robot HRP-4. The proposed framework is expected to lead to an efficient design of such assistive devices so that fewer human-subject experiments need to be conducted.
• Design of a simple three-dimensional musculoskeletal model for a wearable sensor system, and optimization of link joint position using finite element analysis

  Haruma Akimoto, Yoshio Tsutiya, Yumeko Imamura, Takashi Kusaka, Takayuki Tanaka

  2017 IEEE Life Sciences Conference, LSC 2017 2018- LSC 234 - 237 2018年01月23日 [査読有り][通常論文]
   

  We describe a simple musculoskeletal model of the lumbosacral spine that is in development for the evaluation of embedded systems in lumbar assist suits. The model is a multiple-link model, reflecting lumbosacral alignment. We also propose a method for optimizing link joint position and evaluate the effect of changing the position.
• Estimation of the optimal spread of a guidance force field for a power assist system

  Junki Matsuda, Takayuki Tanaka, Takashi Kusaka

  Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017 2018- IRIS 249 - 254 2018年01月08日 [査読有り][通常論文]
   

  We developed a power assist system based on a method with considering the operator's trajectory and dynamics prediction by using approachability. In order to realize the assist system, we proposed a concept of guidance force field. Our guidance force field method helped to improve maneuverability for operator. In this paper, we propose a method to improve maneuverability based on guidance force field and approachability of traditional impedance-controlled power assist system. We propose an estimation method of the optimal spread of the guidance force field from the experimental evaluation value when it take minimum value. As the experimental results, we showed that the guidance force contributed to improving maneuverability by defining the estimated function, and we obtained a best value of spread for the guidance force field.
• Wearable sensor system for lumbosacral load estimation by considering the effect of external load

  Yoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo

  Advances in Intelligent Systems and Computing 608 160 - 168 2018年 [査読有り][通常論文]
   

  Anteflexion of the spine is a crucial motion in performing many tasks during work and daily life. It is particularly important in tasks such as providing care to others and carrying objects. To devise measures for preventing back pain, it is necessary to determine the postures associated with high risk of low back pain. Postures that increase lumbosacral load should be identified to reduce the risk of low back pain. In previous work, the relationship between posture and intervertebral loading was clarified, and the centers of gravity in the upper body and the waist shape were estimated. Moreover, individual differences were considered to improve the accuracy of the estimation. This method can estimate the lumbosacral load with sufficient accuracy. However, lumbosacral loading was examined in relation to posture and increases with external load. Therefore, the external load should be included in lumbosacral load estimation. In this study, we developed a back muscle exertion estimation method by using stiffness sensors to measure back muscle exertion, because the back muscle exertion changes with the external load. We conducted experiments in which participants wore the sensor system and the lumbosacral load was estimated from the external load. Estimation using the muscle stiffness sensors was better than previous estimation methods.
• 歩行アシスト・レジストのための周期入力制御を用いた体幹回旋補助装置

  日下聖, 相津琢磨, 橋本光太郎, 田中孝之

  計測自動制御学会論文集 54 3 373‐382(J‐STAGE) - 382 公益社団法人 計測自動制御学会 2018年 [査読有り][通常論文]
   

  This paper proposed a walking assistance method by using trunk rotation based on the spinal engine theory. According to the spinal engine theory, our walking is realized by cooperation between upper body and legs through the energy exchange. Therefore, we developed an assistance device for trunk rotation and its control method. We adopted the periodic input control as the control method and modified it to be suitable for human assistance. According to experimental results, the proposed method realized walking assist by supporting trunk rotation movement. Moreover, it also realized training effect as the walking resist, by controlling a parameter of the controller. In this article, their effects were confirmed by theoretical analysis and experiments.
• Individualization of Musculoskeletal Model for Analyzing Pelvic Floor Muscles Activity Based on Gait Motion Features.

  Tomohiro Wakaiki, Takayuki Tanaka, Koji Shimatani, Yuichi Kurita, Tadayuki Iida

  J. Robotics Mechatronics 30 6 991 - 1003 2018年 [査読有り][通常論文]
   

  Stress urinary incontinence (SUI) is a typical quality of life disease in women. The strengthening of the pelvic floor muscle (PFM) is considered effective to prevent this. Specifically, PFM activity is affected by individual pelvic shape and posture. Therefore, it is necessary to analyze muscle activity by considering the individual differences. In this study, individual pelvic alignment was estimated from the feature values of natural gait via multiple regression analysis. In addition, individual pelvic feature points were derived from X-ray images and used to deform the standard model to obtain individual pelvic shapes. Results indicate that the residual averages of the estimated feature angles were less than 2° in most cases. Subsequently, measurements of the pelvis were obtained via MRI to evaluate the estimated pelvis shape. The results indicate that individual adaptation leads to muscle attachment positions, which are important in the muscle activity analysis, and closer to the true MRI value when compared to that of the standard pelvic model.
• 歩容改善のための体幹・骨盤運動補助による歩行アシスト

  橋本光太郎, 田中孝之, 日下聖

  日本機械学会論文集(Web) 84 864 ROMBUNNO.18‐00064(J‐STAGE) - 18-00064 一般社団法人 日本機械学会 2018年 [査読無し][通常論文]
   

  The purpose of this study is to develop a walking assist device by controlling trunk and pelvis motion. Human gait motion consists of whole body exercise including lower body motion and upper one. As all exercises are performed normally, walking with less energy loss is performed. If any exercises are incomplete, compensatory motion is performed and it is considered that there is energy loss. Therefore, this study aims at developing the walking assist device to make normal exercises and reduces energy loss by applying external forces, focusing on the trunk rotation and the pelvic rotation that involved in stride length and walking speed.
• Feature selection for work recognition and working motion measurement

  Miyajima, S., Tanaka, T., Miyata, N., Tada, M., Mochimaru, M., Izumi, H.

  Journal of Robotics and Mechatronics 30 5 706 - 716 2018年 [査読有り][通常論文]
   

  As the demand for nursing care services is growing, the physical burden involved in caregiving has drawn widespread attention. To mitigate the physical burden in caregiving, we have to recognize what kind of work and problems are involved in each caregiving task. To identify the problems involved in caregiving, we need to recognize the work and analyze its workload. Aiming to reduce the burden on the waist during caregiving tasks, we are developing inertial sensor suits for measuring the working motions. With the developed method, the burden on the waist is estimated from the waist posture. Considering its use in practical caregiving sites, the number of inertial sensors should be the minimum necessary, which depends on the number of body parts where to measure the posture. In this study, we select the body parts to achieve the two above-mentioned goals: to recognize the work involved in caregiving and capture the waist posture. A support vector machine (SVM) is used to recognize the work. Its conventional method of selecting the features on which to recognize the work only considers the recognition accuracy and does not sufficiently meet the needs for measuring the postures. Therefore, we propose a new feature-selection method, which can evaluate the waist-posture measuring accuracy and can make forward feature selections in the same manner as the conventional wrapper method. We have verified the effectiveness of the proposed method by measuring simple simulated work motions.
• Unpowered Sensorimotor-Enhancing Suit Reduces Muscle Activation and Improves Force Perception

  Yuichi Kurita, Jumpei Sato, Takayuki Tanaka, Minoru Shinohara, Toshio Tsuji

  IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS 47 6 1158 - 1163 2017年12月 [査読有り][通常論文]
   

  Studies suggest that the level of muscle activation may influence force reproduction. The purpose of this study was to develop a sensorimotor-enhancing suit (SEnS)-unpowered assistive clothing without actuators or electrical devices-and to examine its efficacy for reducing voluntary muscle activation and improving force reproduction in the upper limb in healthy young adults. The SEnS was made of elastic fabric and designed to produce assistive shoulder flexion moment that can partially mitigate the required activation of the user's shoulder flexor muscles. A series of human experiments were then conducted in healthy young adults. As a proof of concept, reduction in force reproduction performance of the shoulder moment was confirmed with mitigation of the shoulder moment by using an external string. To examine the efficacy of the SEnS, voluntary muscle activation and force reproduction performance was examined with and without using the SEnS, by comparing the amount of activation in the shoulder flexor muscles and the error in force reproduction in the upper limb. The results showed that wearing SEnS reduced muscle activation and force reproduction error. These results suggest that the accuracy of force reproduction can be improved substantially by partially mitigating the shoulder moment and associated voluntary muscle activation, using the SEnS.
• Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

  Takashi Kusaka, Takayuki Tanaka, Hidekazu Kajiwara

  ROBOMECH Journal 4 1 1 - 11 2017年12月01日 [査読有り][通常論文]
   

  This paper describes a skill assist method for sinusoidal motions using a semi-active assist mechanism through an energy control method. In a previous study, we had developed and verified the effectiveness of a power assist device with a semi-active assist mechanism and a control method for reducing loads during periodic motion. Here, we have developed a skill assist method as an extension of our power assist device for periodic motion. The skill of performing sinusoidal motions is defined in this study as an operator’s ability to track such motions. Therefore, our skill assist method attempts to improve the operator’s tracking ability. The proposed skill assist method is implemented using our previous power assist device therefore, the device provides not only a power assist effect but also a skill assist effect to correct the motion. Hence, an operator obtains both the power and the skill assist effects simultaneously.
• Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments

  Yumeko Imamura, Ko Ayusawa, Eiichi Yoshida, Takayuki Tanaka

  International Journal of Humanoid Robotics 15 3 1750026-1 - 1750026-25 2017年10月 [査読有り][通常論文]
   

  This study presents an enhanced framework for evaluating an assistive effect generated by a passive assistive device using a humanoid robot. The humanoid robotic experiments can evaluate wearable devices by measuring the joint torque, which cannot be measured directly from the human body. In this paper, we introduce an “assistive torque estimation map” as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot. This map aims to estimate the supportive torques for complex motions without conducting humanoid experiments or human-subject experiments with these motions. We generated an estimation map for an actual assistive suit that decreases the load on the lumbar region and we verified the validity of the proposed method by experimentation. In addition, the geometric simulation model of the assistive suit was validated based on the proposed experiments by using the humanoid robot HRP-4. The proposed framework is expected to lead to an efficient design of such assistive devices so that fewer human-subject experiments need to be conducted.
• 人間の動作計測精度向上を目的とした変動相補フィルタ

  宮島 沙織, 田中 孝之, 日下 聖

  計測自動制御学会論文集 53 5 299 - 307 計測自動制御学会 ; [1965]- 2017年05月 [査読有り][通常論文]
   

  These days, inertial sensors are often used to capture human movements. A complimentary filter is the one method of sensor fusion, which several sensors data are combined to set off each sensor's disadvantages. It is often used for wearable devices because of its high measurement accuracy at low calculation cost. Human motion contains various speeds and frequency. However, in a complementary filter, combined frequency range is fixed and the filter can not cope with motion out of the range. Thus, a coefficient of the complimentary filter is replaced with sigmoid function in order to fluctuate along with motion speed of subjects. This fluctuating coefficient enables measuring irregular motions of human. Experiment shows that using this method rises accuracy of motion measurement.
• Unpowered sensorimotor-enhancing suit reduces muscle activation and improves force perception

  Yuichi Kurita, Jumpei Sato, Takayuki Tanaka, Minoru Shinohara, Toshio Tsuji

  IEEE Transactions on Human-Machine Systems 99 1 - 6 2017年05月 [査読有り][通常論文]
  
• Field Testing of the Influence of Assistive Wear on the Physical Fitness of Nursing-Care Workers

  Yumeko Imamura, Takayuki Tanaka, Kazuki Takizawa

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 10652 137 - 146 2017年 [査読有り][通常論文]
   

  There are several problems involved with introducing assistive technologies, which amplify human physical strength or reduce fatigue, to actual environment. One of the problem is that there is the possibility that the muscular strength of the user decline due to the reduction of the physical burden associated with the work. Therefore, the changes in physical performance due to the use of the assistive devices need to be quantitatively evaluated. In this study, a four-week monitoring test (including a two-week trial period) was performed with a total of 30 nursing-care workers in a nursing home. The participants wore an assistive wear “Smart Suit Lite” for two weeks and their subjective fatigue and physical strength were evaluated over the course of the study. The results show that the feeling of fatigue was decreased in each of the subjects by an average of 16% as a result of using the assistive wear. However, there was no significant difference in the subjects’ physical fitness (back-muscle strength, grip strength, sitting–standing capability, standing long-jump ability, or one-legged standing ability), indicating that there was no decrease in physical strength due to the use of the Smart Suit Lite during normal work over two weeks.
• Individualization of Musculoskeletal Model to Analyze Pelvic Floor Muscles Activity

  Tomohiro Wakaiki, Takayuki Tanaka, Koji Shimatani, Tadayuki Iida, Yoshio Tsuchiya, Kazuya Sugihara, Yoshimi Sugiyama

  DIGITAL HUMAN MODELING SYMPOSIUM DHM-013FP  2017年 [査読有り][通常論文]
  
• Nondestructive Inspection of Voids in Concrete by Multi-layered Scanning Method with Electromagnetic Waves

  Shotaro Kawataki, Takayuki Tanaka, Satoru Doi, Shigeru Uchida, Maria Q. Feng

  2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM) 336 - 341 2017年 [査読有り][通常論文]
   

  The tiles that are used to protect the exterior of a building may separate from the concrete substrate and fall off as they age. To prevent accidents, a tiled wall can be inspected using various methods. In this paper, nondestructive inspection (NDI) with microwave electromagnetic waves (EMWs) is used for detecting tile separation, and the chance of detecting separation by this method is discussed. Here, the inspection apparatus is used to detect voids in concrete including voids that simulates tile separation. An antenna attached to the apparatus transmits and receives microwaves to obtain a reflection intensity from the concrete. In addition, the distribution of reflection intensity is obtained using a proposed scanning method, multi-layered scanning. This involves several scans along the concrete surface at different antenna-to-surface distances. Typically, EMWs have to be analyzed with an expensive network analyzer in the time or frequency domain. However, we demonstrate that voids are detected from the obtained distribution of reflected intensity of EMWs measured by a simple device without a network analyzer. The proposed method of NDI with EMWs is cheaper and simpler than conventional inspection methods.
• X線画像に基づく腰部負荷ウェアラブルセンサの提案と腰仙椎アライメント推定

  土谷 圭央, 日下 聖, 田中 孝之, 松尾 祥和, 小田 まこと, 笹木 工, 神島 保, 山中 正紀

  日本機械学会論文集 82 843 16 - 00072-16-00072 一般社団法人 日本機械学会 2016年10月 [査読有り][通常論文]
   

  Anteflexion of the spine is essential for many physical activities of daily living. However, this motion places the lumbar disks because it generats heavy load due to changes in the shape of the lumbar spine and can lead to low back pain. In older to reduce low back pain, here we proposed a wearable sensor system configuration that can estimate lumbosacral alignment and lumbar load by measuring the shape of the lumbar skin when the lumbosacral alignment changes. The shape of the lumbar skin and posture angle are measured by using curvature sensors and accelerometers. In addition, the system must be constructed in consideration of the physique, in order to absorb in a variety of human. We proposed this system by measuring the body parameters of anteflexion and studied the change in dimensions of the lumbar spine from changes in posture. By extracting the dimensions of the lumbosacral spine in X-ray images, the attitude angle, body surface area and the dimensions of the lumbosacral spine have relevance. The lumbosacral dimensions calibration method was developed by using that relation. Lumbosacral alignment estimation considering the difference in physiques is developed, and lumbosacral spine alignment was to improve the estimation accuracy. The proposed method could improve accuracy lumbosacral alignment estimation.
• New evaluation framework for human-assistive devices based on humanoid robotics

  Ko Ayusawa, Eiichi Yoshida, Yumeko Imamura, Takayuki Tanaka

  ADVANCED ROBOTICS 30 8 519 - 534 2016年04月 [査読有り][通常論文]
   

  This paper presents the new application of a humanoid robot as an evaluator of human-assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot's mechanical properties. We also show two approaches to estimate supporting torques from the sensor data, which can be used properly according to the situations. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. We evaluate a passive assistive wear 'Smart Suit Lite (SSL)' as an example of device, and use HRP-4 as the humanoid platform.
• Prototype of a Trunk Rotation Assist System for Passive Dynamic Walking and Fundamental Experiments

  Kotara Hashimoto, Takayuki Tanaka, Takuma Aizu, Takashi Kusaka

  2016 WORLD AUTOMATION CONGRESS (WAC) 2016年 [査読有り][通常論文]
   

  We developed a new system to assist the elderly with walking. Previous walking assist systems directly control the hips or legs. The proposed system provides walking assistance using passive dynamic walking by controlling trunk rotation. We verify the relation between trunk rotation and walking by fixing trunk rotation. Gait analysis was performed using a motion-capture system and electromyography. We propose an assistive device for a new form of walking assistance. We also developed a prototype of the assistive device and verify its effectiveness.
• A Fundamental Design of Controller of Trunk Rotation Assist Device for Passive Dynamic Walkl

  Takuma Aizu, Takayuki Tanaka, Kotara Hashimoto, Takashi Kusaka

  2016 WORLD AUTOMATION CONGRESS (WAC) 2016年 [査読有り][通常論文]
   

  Passive walking suppose to depend on trunk rotation, and system is proposed trunk rotation assist by walking periodical. We aim to develop a waking assist suit for a long period of walking. In this study, we analyze walking motion, and got important subject. As the result, we confirmed almost all joints have the same representative frequency, and this system need to control energy. We think state of walking changes with increasing velocity, and human cannot do passive walking in the case of above a certain speed. Therefore, it is important to do assist insufficient energy in the passive walking. There is periodic input control as a method that enables it. Actuator is selected with enough torque and angular velocity for assist trunk rotation from the walking analysis result. We confirmed three nonlinear oscillator characteristic applying periodic input control. As the result, Rayleigh model is most efficient and approximately equal to energy of trunk rotation. We evaluate torque assist ratio of trunk rotation in this system and actuator. As the result, we confirmed that van der Pol is better torque assist ratio average than others, but Hybrid can be cetain of assist.
• 1F3-4 Workload Estimation Using Physical Burden and Heart Rate Variation

  Saori MIYAJIMA, Takayuki TANAKA, Hiroyuki IZUMI, Natsuki MIYATA, Mitsunori TADA, Masaaki MOCHIMARU

  The Japanese Journal of Ergonomics 52 Supplement S234 - S235 2016年 [査読有り][通常論文]
  
• A Calibration Method for Interbody Distance in Lumbosacral Alignment Estimation

  Yoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo, Makoto Oda, Tsukasa Sasaki, Tamotsu Kamishima, Masanori Yamanaka

  INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT II 9835 200 - 210 2016年 [査読有り][通常論文]
   

  Anteflexion of the spine is essential for many physical activities of daily living. However, this motion places the lumbar discs under heavy loading because of changes in the shape of the lumbar spine, possibly leading to low back pain. With the aim of reducing low back pain, here we developed a wearable sensor system that can estimate lumbosacral alignment and lumbar load by measuring the shape of the lumbar skin as the lumbosacral alignment changes. The shape of the lumbar skin and posture angle are measured by using curvature sensors and accelerometers. In addition, the wearers physique must be considered for the system to be usable by a variety of people. We developed this system by measuring the body parameters associated with anteflexion and studied the changes in the dimensions of the lumbar spine with changes in posture. By measuring the dimensions of the lumbosacral spine on X-ray images, the posture angle, body surface area, and the dimensions of the lumbosacral spine have relevance. A calibration method for lumbosacral dimensions was developed using this relation. However, the estimation method for lumbosacral alignment could not maintain good calibration of interbody distance. Therefore, we further developed the estimation to include a calibration method for interbody distance, thereby improving the estimation accuracy.
• Optimal Arrangement of Inertial Sensors for Workload Estimation Using Digital Human Model Based on Body Surface Deformation Analysis

  Miyajima, S., Miyata, N., Tada, M., Tanaka, T., Mochimaru, M.

  Advances in Physical Ergonomics and Human Factors 489 483 - 494 2016年 [査読有り][通常論文]
  
• パワーアシストのメカトロニクス(解説 介護・介助のメカトロニクス,<特集>リハビリ・介護とメカトロニクス)

  田中 孝之, 武居 直行

  日本機械学会誌 119 1166 40 - 41 一般社団法人 日本機械学会 2016年 [査読無し][通常論文]
  
• 介護作業用アシスト装具による軽労化効果と体力変化に関するフィールド試験結果

  今村由芽子, 田中孝之, 瀧澤一騎

  看護理工学会誌 2 3 142 - 149 看護理工学会 2015年08月25日 [査読無し][通常論文]
  
• Residual Correction Method for Fast Calculation of Arctangent in Embedded Systems

  Takashi Kusaka, Takayuki Tanaka, Hidekazu Kajiwara

  2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 42 - 47 2015年 [査読有り][通常論文]
   

  This study proposes a technique for approximating high-cost calculations at low cost in embedded systems. Fast calculation of arctangent (as given by atan2) was developed by the proposed technique. Relative to the atan2 standard library function, the resulting approximation is 20 times as fast and requires only one-third the memory.
• Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion

  Yumeko Imamura, Takayuki Tanaka, Ko Ayusawa, Eiichi Yoshida

  2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) 1149 - 1154 2015年 [査読有り][通常論文]
   

  A passive power-assist supporter, called Smart Suit Lite, aims at reducing the lumbar load utilizing the tension of elastic belts. Its design method is based on a digital human model and motion measurements. This paper presents basic experiments using humanoid robot HRP-4 for verifying the design model of the suit. In the experiment, the joint torques of the robot and the elastic force of Smart Suit Lite were measured. We found that the decrease of the chest pitch torque during slow forward bending motion on the sagittal plane was consistent with simulation results. In addition, the effects for three-dimensional motion including chest pitching and yawing also indicated a similar tendency to the simulation. Because we performed quantitative evaluation of the effects by each part of the suit, these results are considered to provide useful information to the optimization of Smart Suit Lite.
• Lumbar Load Estimation using a Musculoskeletal Model in Consideration of Vertebral Body Displacement: Lumbar Load Simulation under Static Conditions

  Yumeko Imamura, Takayuki Tanaka, Takashi Kusaka, Yoshio Tsuchiya

  2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2015 3905 - 3908 2015年 [査読有り][通常論文]
   

  In this study, we propose an estimation model of lumbar load, which is a factor in lumbar disorders. Our proposed method uses a musculoskeletal model with elastic elements between the vertebral bodies, and simulates the inter vertebral disk pressure and the displacement of the vertebral bodies simultaneously.
• Calibration method for lumbosacral dimensions in wearable sensor system of lumbar alignment

  Yoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo, Makoto Oda, Tsukasa Sasaki, Tamotsu Kamishima, Masanori Yamanaka

  2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2015 3909 - 3912 2015年 [査読有り][通常論文]
   

  Anteflexion of the spine is essential for many physical activities in everyday life. However, this motion places the lumbar disks under heavy load due to changes in the shape of the lumbar spine and can lead to low back pain. With the aim of reducing low back pain, here we developed a wearable sensor system that can estimate lumbosacral alignment and lumbar load by measuring the shape of the lumbar skin when the lumbosacral alignment changes. In addition, we used this system to measure the parameters of anteflexion and studied the change in dimensions of the lumbar spine from changes in posture. By determining the dimensions of the lumbosacral spine on an X-ray image, a lumbosacral dimensions calibration method based on body surface area and height was developed. By using this method, lumbosacral alignment and lumbar load could be accurately estimated using the wearable sensor system.
• Lumbar Joint Torque Estimation Based on Simplified Motion Measurement Using Multiple Inertial Sensors

  Saori Miyajima, Takayuki Tanaka, Yumeko Imamura, Takashi Kusaka

  2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2015 6716 - 6719 2015年 [査読有り][通常論文]
   

  We estimate lumbar torque based on motion measurement using only three inertial sensors. First, human motion is measured by a 6-axis motion tracking device that combines a 3-axis accelerometer and a 3-axis gyroscope placed on the shank, thigh, and back. Next, the lumbar joint torque during the motion is estimated by kinematic musculoskeletal simulation. The conventional method for estimating joint torque uses full body motion data measured by an optical motion capture system. However, in this research, joint torque is estimated by using only three link angles of the body, thigh, and shank. The utility of our method was verified by experiments. We measured motion of bendung knee and waist simultaneously. As the result, we were able to estimate the lumbar joint torque from measured motion.
• Analysis of Trunk Stabilization Effect by Passive Power-Assist Device

  Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, Masanori Yamanaka

  Journal of Robotics and Mechatronics 26 6 791 - 798 Fuji Technology Press 2014年12月20日 [査読有り][通常論文]
  
• Control Method for Power Assisted Cart Using Walking Effect Prediction Aimed at Improvement of Load Reduction Ratio

  Norihiro Kobayashi, Takayuki Tanaka

  Journal of Robotics and Mechatronics 26 6 780 - 789 Fuji Technology Press 2014年12月20日 [査読有り][通常論文]
  
• Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components

  Takuto Yoshifuji, Takayuki Tanaka, Takashi Kusaka

  Journal of Robotics and Mechatronics 26 6 692 - 703 Fuji Technology Press 2014年12月20日 [査読有り][通常論文]
  
• 超高齢社会とVR 高齢社会での社会参加支援のため軽労化技術の研究開発と評価システムの構築

  田中孝之, 奈良博之

  日本バーチャルリアリティ学会誌 19 3 148-151,123(1)  2014年09月30日 [査読無し][通常論文]
  
• 任意点操作可能なパワーアシストシステムの操作性改善のための操作点インピーダンス制御

  渋川文哉, 田中孝之

  日本機械学会論文集 80 816 1 - 13 2014年08月 [査読有り][通常論文]
   

  Multi-portal Human Interface (M-HI) as an innovative human interface for power assist systems has been researched and developed. The M-HI allows users to apply the operational force anywhere on the power assist system. When users control the PAS on its arbitrary point, The operational point motion is different from the end-effecter motion, even if the end-effecter move as ideal motion for users. The phenomenon affects user's maneuverability decrease. In this paper, impedance paremeters on the operational point are forcused. The relationsihp between the operational point motion and maneuverability are analyzed in terms of the impedance parameters. To evaluate the maneuverability of PAS applied M-HI, The impedance parameters of each operational point is calculated. Furthermore, modification of impedance parameters on the operational point is proposed. However, the method raise end-effecter motion error, the modification amount optimization is required. In this paper, the optimization method and results of fundamental maneuverability evaluations are shown.
• 周期運動追従スキル向上のためのセミアクティブアシスト機構の補助力位相差制限法によるスキルアシスト効率制御

  日下聖, 田中孝之, 梶原秀一

  日本ロボット学会誌 32 2 108 - 116 日本ロボット学会 2014年03月 [査読有り][通常論文]
   

  This paper describes a method of skill assist efficiency control by using semi-active assist mechanisms based on phase difference limitation method. The skill assist in this study means the motion correction effect in periodical motions. The semi-active assist mechanisms can make the assist force with the phase difference, because the mechanism uses elastic materials as the source of the assist force. This force is controlled by adjusting the fixed point of the elastic materials by using the connected actuator as a series-elastic actuator. We confirmed the motion correction effect of our skill assist based on the phase difference control in previous study. Our proposed method in this study can control the skill assist efficiency to arbitrary value by limitation of the phase difference. Moreover, we confirmed that the proposed method can control its effect through experiments with several value of the efficiency. As a result of this study, we confirmed the fundamental ability of our developed method to control the motion correction ratio depending on types of task or personal differences in periodical motions.
• Simultaneous Realization of Power Assist and Skill Assist for Sinusoidal Motions by using Semi-active Assist Mechanism

  Takashi Kusaka, Takayuki Tanaka

  2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE) 1762 - + 2014年 [査読有り][通常論文]
   

  In recent years, workers decline has become a major problem in the field such as nursing care, welfare and heavy transport work in a factory with hard work. The authors have developed semi-active assist mechanisms and their control methods as wearable power assist devices for fatigue reduction. The mechanisms have elastic material as the source of assist force, and actuators for controlling the elastic force. Elastic materials such as springs retain equilibrium because their material generates the restoring force toward a natural length. This characteristic is effective in assisting movement that requires a restoration of posture, such as bending and stretching of human limbs. We have optimized its controls for various forms of target work, and confirmed its effectiveness regarding work with a bending motion that requires a postural restoring force. Then the purpose of this study is to develop a control method of the semi-active assist mechanisms. Moreover, this study aims the simultaneous realization of power assist and skill assist based on energy control and its application to semi-active assist mechanism. The proposed skill assist method is implemented using our previous power assist device, so the device provides not only a power assist effect but also a skill assist effect to correct motion. Hence, an operator obtains both power and skill assist effects simultaneously. In order to realize power assist and skill assist simultaneously, we develop efficiency control methods between the power assist and the skill assist in this study. Moreover, to apply the semi-active assist mechanism to real-world tasks like rehabilitation, we aim to develop a control method which has effects of both motion correction and fatigue reduction.
• Power-Assisted cart Control Method with Motor Torque Limiter based on Prediction and its reliability

  Norihiro Kobayashi, Takayuki Tanaka

  2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 632 - 637 2014年 [査読有り][通常論文]
   

  In our previous work, we proposed a method to control power-assisted carts with motor torque limiter that achieves the desired load-reduction ratio even if torque saturation occurs. However, load-reduction ratio was not controlled correctly when there is a large error in prediction. To improve this problem, we propose the method that considers the reliability of prediction. Our proposed method predicts the needs of the operator and delivers the desired load-reduction ratio by predicting operation considering reliability. The results show that the target load-reduction ratio can be obtained with our proposed control method and indicate that the load-reduction ratio is improved by considering reliability of prediction.
• Unloading muscle activation enhances force perception

  Yuichi Kurita, Jumpei Sato, Takayuki Tanaka, Minoru Shinohara, Toshio Tsuji

  ACM International Conference Proceeding Series 2014年 [査読有り][通常論文]
   

  In this study, we examined (1) weight discrimination capability of human subjects with different body postures, and (2) sensorimotor capability of human subjects when using a muscle assistive equipment. According to previous studies, humans can sense the intensity of external stimulus more accurately when voluntary muscle activation is less. We developed a three-dimensional musculoskeletal model based on an upper extremity model, and calculated the muscle activity required to keep a posture. We also conducted human experiments and revealed that the weight discrimination capability improves as voluntary muscle activation is less. Based on the experimental results, we developed a muscle assistive equipment that unloads the weight of one's upper limb and evaluated the improvement in the sensorimotor capability when using the equipment. The results show that assisting the muscle load is effective to improve the sensorimotor performance.
• Evaluation of Assistive Devices Using Humanoid Robot with Mechanical Parameters Identification

  Ko Ayusawa, Shin'ichiro Nakaoka, Eiichi Yoshida, Yumeko Imamura, Takayuki Tanaka

  2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids) 205 - 211 2014年 [査読有り][通常論文]
   

  This paper presents the application of a humanoid robot as an evaluator of assistive devices; we propose a framework of the evaluation by utilizing identification of the mechanical properties of a humanoid robot. The accurate estimation of joint torque with the identification can enhance the performance to estimate the supporting effect of the devices. We evaluate a passive assistive wear "Smart Suit Lite (SSL)" as an example of device, and use HRP-4C as the humanoid platform. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. The identification of the stiffness of SSL is performed an example of the evaluation with HRP-4C, and the result is compared to the ground truth value.
• Verification of Assistive Effect Generated by Passive Power-Assist Device Using Humanoid Robot

  Yumeko Imamura, Takayuki Tanaka, Ko Ayusawa, Eiichi Yoshida

  2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 761 - 766 2014年 [査読有り][通常論文]
   

  We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite is a compact and lightweight power assist device that utilizes the elastic force of elastic belts, and its purpose is reduction of lumbar load. We have proposed the design method of Smart Suit Lite based on a digital human model and motion measurements. This paper presents the basic experiment using humanoid robot HRP-4C for verifying the design model of the elastic force and its assistive effect. In the experiment, the joint torques of the robot and the elastic force of Smart Suit Lite were measured. We observed the decrease of the chest torque by the assistive force during forward bending motion. Furthermore, the comparison between the simulation results and the experimental result is described.
• Estimation of lumbar load by 2D reconstruction of spine line using wearable sensor system

  Yoshio Tsuchiya, Yoshikazu Matsuo, Takayuki Tanaka

  Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics 2014- January 3669 - 3674 2014年 [査読有り][通常論文]
   

  Anteflexion is essential for many physical activities ranging from carrying objects through snow shoveling to farm work. However, lumbago is a common cause of anteflexion, in which lumbar disks are under a heavy load due to changes in lumbar spine shape. With the aim to reduce lumbago risk, in this study we developed a motion sensor system that can estimate the shape, posture and load on the lumbar spine from measuring the lumbar in the lumbar region when the lumbar spine shape changes and the pelvis posture angle changes. We present a wearable version of this sensor system, and propose an estimation method of the lumbar shape using the pelvis posture angle and lumbar region skin curvature from this system. In addition, we measure the anteflexion using this system and study the change in load of the lumbar spine caused by changes in posture.
• Parallel bicycles and their applications

  Maria Q. Feng, Takashi Kawamura, Takayuki Tanaka

  Journal of Robotics and Mechatronics 26 1 9 - 14 2014年 [査読無し][通常論文]
   

  This paper describes the successful research and development (R& D) of parallel bicycles (PB robots) including six prototypes created by the authors and their applications to personal vehicles. The first, developed in 1986, consists of a pair of coaxial wheels and an inverted pendulum on the wheel axis. Since then, the authors have carried out fundamental and practical studies on static/dynamic posture stabilization control, dynamic movement, and slope and stair ascent/ descent. The PB robot control mechanism has recently been applied to educational robots, mobile humanoid robots, and personal vehicles. This paper also discusses personal vehicles commercialized as an application of the PB robots.
• Pneumatically Driven Prehension Orthosis with Force Control Function

  Shunji Moromugi, Takayuki Tanaka, Toshio Higashi, Maria Q. Feng, Takakazu Ishimatsu

  Journal of Robotics and Mechatronics 25 6 973 - 982 2013年12月20日 [査読有り][通常論文]
   

  A prehension orthosis with a pneumatic actuator has been developed to compensate for the disability of cervical cord injury patients and support their daily activities. One major feature of this orthosis is that the user can continually pinch or hold a target object using a finely adjusted finger force. The movement and force applied to the fingers can be controlled by continuous instructional signals from the user through the activity of a command muscle, which is selected from among the muscles without functional impairment in the user's body. The level of muscle activity can be obtained by using an original sensor that detects the hardness of the target muscle through contact with the skin. The level of muscle activity can be estimated by the hardness information of the muscle. This sensor is easily fixed to a user's body by using an elastic belt and even works over clothing. Therefore, the user can wear the system very easily. This feature allows the system to be very user friendly. Users can handle fragile objects such as an egg or sculpted-glass by using this prehension orthosis because of its finger force control function. Excellent dexterity in the finger force control has been demonstrated through evaluation tests conducted with various subjects, including a spinal cord injury patient.
• 介護作業従事者の日常業務が疲労感と体力に及ぼす影響

  苫米地伸泰, 瀧澤一騎, 田中孝之, 鈴木善人

  体力科学 62 6 653 - 654 2013年12月01日 [査読無し][通常論文]
  
• 任意点で操作可能な多リンクパワーアシストシステムの操作点運動協調化制御

  渋川文哉, 田中孝之

  日本ロボット学会誌 31 9 108 - 943 The Robotics Society of Japan 2013年11月 [査読有り][通常論文]
   

  We have proposed a Multi-portal Human Interface (M-HI) as an innovative human interface for power assist systems (PAS). The M-HI allows users to apply the operational force anywhere on the power assist system. Because of that, the effective workspace of the PAS is extended as their end-effecter can be controlled as a user desires. However, when users control the PAS on its intermediate joint, the control point motion is different from the end-effecter motion. This motion affects maneuverability of the PAS. In this paper, we consider the number of links and degrees of freedom on a multi-link manipulator. The relation between the control point motion and maneuverability is analyzed. The operational point motion harmonization (OPMH) is based on this relation. This method enables users to control the PAS with M-HI more accurately.
• 障害者のリハや介護に役立つテクニカルエイドと環境整備 Assisted Products―スマートスーツ・ライト

  田中孝之

  J Clin Rehabil 22 9 893 - 899 2013年09月 [査読無し][招待有り]
  
• ロボットマニピュレータのコンプライアント接触による葡萄樹根元位置の検出

  井川久, 田中孝之, 金子俊一, 多田達実, 鈴木慎一, 大村功

  精密工学会誌 79 7 651 - 658 公益社団法人 精密工学会 2013年07月 [査読有り][通常論文]
   

  To remove weeds around a grape vine without damaging the stem, we propose a contact recognition technology in this paper. The developed technique can reliably determine the position of the vine's lower stem, which may be deformed under sufficient force and may be buried in the weeds. We have developed a new method to detect the position of grape stems as objects in which its deformation is considered. By calculating the deformation from the relations between the geometry and mechanics of manipulator's link postures before and after contact point detection, the position of the object can be determined with high accuracy. Because stem position detection commences after tactile recognition has been performed, any deformation of the object has already occurred. The effect of this initial deformation on the detection accuracy cannot be ignored. Therefore, position detection of object is divided into two operations : reducing the object deformation and detecting the object position. In this way, highly accurate recognition of its position is achieved. The paper continues by giving a detailed explanation of the proposed method.
• 形状の異なるスコップを使用した6週間の雪かき作業は体力テスト結果に影響を及ぼすのか?

  瀧澤一騎, 田中孝之, 吉成哲, 奈良博之, 柴田啓介, 山中正紀, 鈴木善人

  日本生理人類学会誌 18 2 27 - 32 2013年05月25日 [査読無し][通常論文]
  
• A Modeling of Cerebral Blood Flow Changes due to Head Motion for fNIRS

  Kosuke Takahashi, Takayuki Tanaka, Hiroyuki Nara, Shun'ichi Kaneko, Masao Inoue, Shunji Shimizu, Satoru Kojima

  INTERNATIONAL JOURNAL OF OPTOMECHATRONICS 7 2 83 - 95 2013年04月 

  A method is proposed for measuring brain activity during exercises involving head motion by using functional near-infrared spectroscopy (fNIRS), which investigates cerebral hemodynamics. Obtaining measurements during exercise is difficult because cerebral blood flow changes due to the head motion component (HMC), in addition to neural activity. HMC is an undesirable artifact in the measurement of hemodynamic response caused by neural activity, and as such, it must be estimated and eliminated. In our experiments, cerebral blood flow and head motion were measured during repeated passive forward bending of the subjects. Head motion was measured by 3-D motion capture, and HMC was estimated by deriving a relation between head motion and cerebral blood flow, where the pitch angle was found to be suitable for estimating HMC. In this research, an assumption was made that cerebral blood flow caused by neural activity and that caused by postural change were additive, and thus HMC was eliminated by subtraction.
• Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles

  Motoki Nakano, Takayuki Tanaka, Shun'ichi Kaneko

  Journal of Robotics and Mechatronics 25 1 145 - 152 2013年02月 [査読有り][通常論文]
  
• Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles

  Motoki Nakano, Takayuki Tanaka, Shun'ichi Kaneko

  Journal of Robotics and Mechatronics 25 1 145 - 152 2013年02月 [査読有り][通常論文]
  
• KI‐VPAモデルに基づくVibration Alert Interfaceの順応による振動感覚変化の補正方法

  森友揮, 田中孝之, 金子俊一, 片桐祥雅

  ヒューマンインタフェース学会論文誌(CD-ROM) 15 1/4 305 - 312 ヒューマンインタフェース学会 2013年02月 [査読有り][通常論文]
  
• Vision-based displacement sensor for monitoring dynamic response using robust object search algorithm

  Yoshio Fukuda, Maria Q. Feng, Yuto Narita, Shun'Ichi Kaneko, Takayuki Tanaka

  IEEE Sensors Journal 13 12 4725 - 4732 2013年 [査読無し][通常論文]
   

  This paper develops a vision-based displacement measurement system for remote monitoring of vibration of large-size structures such as bridges and buildings. The system consists of one or multiple video cameras and a notebook computer. With a telescopic lens, the camera placed at a stationary point away from a structure captures images of an object on the structure. The structural displacement is computed in real time through processing the captured images. A robust object search algorithm developed in this paper enables accurate measurement of the displacement by tracking existing features on the structure without requiring a conventional target panel to be installed on the structure. A sub-pixel technique is also proposed to further reduce measurement errors cost-effectively. The efficacy of the vision system in remote measurement of dynamic displacements was demonstrated through a shaking table test and a field experiment on a long-span bridge. © 2013 IEEE.
• A proposal for a model of change of maximum isometric muscle force in step-changeworkload

  Shota Ando, Takayuki Tanaka, Hiroyuki Nara, Kazuki Takizawa

  Journal of Robotics and Mechatronics 25 6 1050 - 1059 2013年 [査読有り][通常論文]
   

  In this study, we modeled the change in maximum muscle force when a skeletal muscle is subjected to a periodic workload. The model represents an increase or decrease in the maximum muscle force exerted. It was created to evaluate the effects of our power-assist technologies on skeletal muscle strength, and we think that it can be applied to sports science. The model equation is constituted by a formula of step responses of a first-order delay system. The model input has the following four constants: the target muscle impulse when exerting force during a day in daily life, the force impulse exerted in 1 day during a period in which the target muscle was under study, the target musclemaximal strength, and the subject-specific time constant that represents the ease of change in muscle force. The output is the change in maximal strength. We confirmed the validity of the model by fitting the model to measurements obtained from experimental subjects. For this, we applied a special filter to remove noise from muscle force measurements.
• A proposal for a model of change of maximum isometric muscle force in step-changeworkload

  Shota Ando, Takayuki Tanaka, Hiroyuki Nara, Kazuki Takizawa

  Journal of Robotics and Mechatronics 25 6 1050 - 1059 2013年 [査読有り][通常論文]
   

  In this study, we modeled the change in maximum muscle force when a skeletal muscle is subjected to a periodic workload. The model represents an increase or decrease in the maximum muscle force exerted. It was created to evaluate the effects of our power-assist technologies on skeletal muscle strength, and we think that it can be applied to sports science. The model equation is constituted by a formula of step responses of a first-order delay system. The model input has the following four constants: the target muscle impulse when exerting force during a day in daily life, the force impulse exerted in 1 day during a period in which the target muscle was under study, the target musclemaximal strength, and the subject-specific time constant that represents the ease of change in muscle force. The output is the change in maximal strength. We confirmed the validity of the model by fitting the model to measurements obtained from experimental subjects. For this, we applied a special filter to remove noise from muscle force measurements.
• Improvement of sensory stabilization and repeatability of vibration interface for distance presentation

  Yuki Sampei, Takayuki Tanaka, Yuki Mori, Shun'Ichi Kaneko

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8027 734 - 743 2013年 [査読有り][通常論文]
   

  We have developed a vibration alert interface (VAI) that provides information through various vibration patterns. In our previous studies, we designed the VAI and its vibration patterns to provide analog-like information to users such as distance to obstacles. Precise information recognition requires correct perception of vibration patterns. However, various disturbances can affect perception of vibrations, causing users to perceive similar vibrations as being different. We therefore proposed the relative vibration sense presentation method to avoid disruption of the vibration sense. In this paper, we experimentally show that this method improves the repeatability of vibration sensation. We also propose a vibration presentation model for drivers to correct perception gaps due to the application and surroundings of VAI. We evaluate the proposed model through experimentation. © 2013 Springer-Verlag Berlin Heidelberg.
• Editorial: Assistive Technology Based on ICT/IRT for Aged Society.

  Takayuki Tanaka, Yasuhisa Hasegawa, Takanori Miyoshi, Shunji Shimizu, Tohru Ifukube

  J. Robotics Mechatronics 25 6 887 - 887 2013年
• Correction method based on KI-VPA model for changes in vibratory perception caused by adaptation

  Yuki Mori, Takayuki Tanaka, Shun'Ichi Kaneko

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 8016 1 107 - 116 2013年 [査読有り][通常論文]
   

  This paper describes a method for correcting differences in human vibratory perception caused by sensory adaptation. Humans feel a vibrational strength when a vibrating device is held in the hand. However when the vibrational frequency is changed, human perception of the new frequency is affected by the vibrational frequency experienced before the change. This is called sensory adaptation. The Katagiri-Aida model-based vibratory perception adaptation (KI-VPA) mode can estimate changes in vibratory perception caused bt adaptation. We have developed a correction method on basis of the KI-VPA model and tested the method on ten human subjects. The results indicate that the proposed correction method reduced the effects of adaptive changes to vibratory perception. © 2013 Springer-Verlag Berlin Heidelberg.
• Development on Smart Suit for Dairy Work Assistance

  Hiroyuki Nara, Takashi Kusaka, Takayuki Tanaka, Takayuki Yamagishi, Shotaroh Ogura

  2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2840 - 2843 2013年 [査読有り][通常論文]
   

  Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit".
• 形状の異なるスコップを使用した6週間の雪かき作業は体力テスト結果に影響を及ぼすのか?

  瀧澤 一騎, 田中 孝之, 吉成 哲, 奈良 博之, 柴田 啓介, 山中 正紀, 鈴木 善人

  日本生理人類学会誌 18 2 87 - 92 日本生理人類学会 2013年 [査読無し][通常論文]
   

  We examined physical fitness adaptation after six weeks of snow shovelling using different types of shovels. Thirty-three subjects participated in this study and were divided two groups: normal shovel group and less-workload shovel (UD-shovel) group. Grip strength, vertical jump, 10 m obstacle walking, chair rising test, lactate threshold and body mass were measured before and after six weeks of snow shovelling. All measurements showed no significant differences between the groups. The chair rising test and ten meter obstacle walking were significantly at main effects. These values were higher in the after period than in the before period. But there were no significant differences at main effects in grip strength, vertical jump, lactate threshold and body mass. These results suggest that six weeks of snow shovelling may not affect upper body strength and aerobic capacity, but may affect lower body and muscle of trunk strength, power, agility, balance and coordination. These effects were not different if using normal shovels or UD-shovels.
• Postural Stabilization by Trunk Tightening Force Generated by Passive Power-Assist Device

  Yumeko Imamura, Takayuki Tanaka, Hiroyuki Nara, Yoshihito Suzuki, Kazuki Takizawa, Masanori Yamanaka

  2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2836 - 2839 2013年 [査読有り][通常論文]
   

  We are developing a passive power-assist supporter called Smart Suit Lite, which is a compact and lightweight power-assist device that utilizes the restoring force of elastic belts. Smart Suit Lite is designed not only to support muscles but also to stabilize the torso similarly to a corset. However, because a corset is always tight around the waist, negative effects caused by long-term use has been pointed out. In contrast, the tightening force generated by Smart Suit Lite increases only when the wearer adopts a posture corresponding to higher load on the low back. In this research, we performed two basic experiments to evaluate the static balance ability of wearers. As a result, the standard deviation of the lumbar angle decreased by 32.1% on average in wearers with low stability.
• Humanoid Robot as an Evaluator of Assistive Devices

  Kanako Miura, Eiichi Yoshida, Yoshiyuki Kobayashi, Yui Endo, Fumio Kanehioro, Keiko Homma, Isamu Kajitani, Yoshio Matsumoto, Takayuki Tanaka

  2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2013 Vol.1 679 - 685 2013年 [査読無し][通常論文]
   

  This paper presents a basic study on feasibility of usage of humanoid robots as an evaluator of assistive devices, by taking advantage of its anthropomorphic shape. In this new application humanoid are expected to help evaluation through quantitative measures, which is difficult with human subjects, and also to reduce the burden coming from ethical concerns with costly tests by human subjects. Taking a passive supportive wear "Smart Suit Lite" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. The motion to be performed by the humanoid is obtained through retargeting technique from measured human lifting motion. The supportive effect is first estimated by simulation taking into account the mechanism of the supportive device. The experimentation of humanoid hardware brought us encouraging results on the basic feasibility of this application, as we observed a clear decrease of the torque for lifting when wearing the device as expected by the simulation.
• 雪かき作業時における筋力補助スーツ着用による軽労化効果の評価

  瀧澤一騎, 田中孝之, 吉成哲, 柴田啓介, 鈴木善人

  体力科学 61 6 684 - 684 (一社)日本体力医学会 2012年12月01日 [査読無し][通常論文]
  
• Power-Assisted cart Control Method with Motor Torque Limiter based on Prediction of Torque Saturation

  Norihiro Kobayashi, Takayuki Tanaka, Shun'ichi Kankeo

  Journal of Energy & Power Engineering 6 8 1349  2012年10月 [査読有り][通常論文]
  
• モーションステレオ計測におけるカメラ振動に伴う対象物位置の信頼性

  岡崎 伸哉, 田中 孝之, 金子 俊一, 高氏 秀則, 高地 伸夫, 山田 光晴

  電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 132 10 942 - 950 一般社団法人 電気学会 2012年10月01日 [査読無し][通常論文]
   

  This study is aimed at developing a high-reliability motion stereo system through the consideration of camera vibration. In stereo measurement, we can approximate the distribution of measurement the error in images as a uniform distribution, and the distribution of the disparity error as a triangular distribution. Therefore, the parameters of the distributions are the mean value µ and the standard deviation σ, while the amplitude A and the frequency F are regarded as parameters of camera vibration. In our previous work, we constructed a model of the measurement error resulting from camera vibration. In this study, we define the existing probability of objects by using the measurement error model, and the reliability of object position. In addition, we verify the validity of the existing probability and reliability.
• Vibration Alert Interface における振動周波数に対する振動感覚順応とそのモデル化

  森 友揮, 田中 孝之, 金子 俊一, 片桐 祥雅

  ヒューマンインタフェース学会論文誌 14 3 293 - 301 ヒューマンインタフェース学会 2012年08月25日 [査読無し][通常論文]
   

  This paper describes a method to model the change in vibratory perception due to the adaptation. In the vibration alert interface, user has to perceive the vibratory frequency correctly, however when the frequency was the same, the vibration perception was different if the frequency before change was different. Experimental results showed that the higher vibration frequency before the change is, the weaker vibration strength user perceives. In order to correct this difference of vibratory perception, we create a model to calculate the perception adaptation. Simulation result shows accuracy of this model.

• Power-Assisted cart Control Method with Motor Torque Limiter based on Prediction of Torque Saturation

  Norihiro Kobayashi, Takayuki Tanaka, Shun'ichi Kankeo

  Journal of Energy & Power Engineering 6 8 1349  2012年08月 [査読有り][通常論文]
  
• ファジィ回帰分析による視空間認識の分解能を考慮したパワーアシストシステムの操作力安定化

  渋川 文哉, 田中 孝之, 金子 俊一

  日本ロボット学会誌 30 4 420 - 427 日本ロボット学会 2012年05月15日 [査読無し][通常論文]
  
• A Yank-based Variable Coefficient Method for a Low-Powered Semi-Active Power Assist System

  Andre Rosendo, Takayuki Tanaka, Shun'ichi Kaneko

  Journal of Robotics and Mechatronics 24 2 291 - 297 2012年04月 [査読有り][通常論文]
  
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮したロバスト触覚認識

  井川 久, 田中 孝之, 金子 俊一

  精密工学会誌 78 2 160 - 167 精密工学会 2012年02月 [査読無し][通常論文]
  
• Vibration Alert Interfaceにおける振動周波数に対する振動感覚順応とそのモデル化

  森友揮, 田中孝之, 金子俊一, 片桐祥雅

  ヒューマンインタフェース学会論文誌(CD-ROM) 14 1/4 293 - 301 2012年02月 [査読有り][通常論文]
  
• A Modeling of Cerebral Blood Flow Changes due to Head Motion for fNIRS

  Kosuke Takahashi, Takayuki Tanaka, Hiroyuki Nara, Shun'ichi Kaneko, Masao Inoue, Shunji Shimizu, Satoru Kojima

  2012 INTERNATIONAL SYMPOSIUM ON OPTOMECHATRONIC TECHNOLOGIES (ISOT) 7 1/2 83 - 95 2012年 [査読有り][通常論文]
   

  A method is proposed for measuring brain activity during exercises involving head motion by using functional near-infrared spectroscopy (tNIRS), which investigates cerebral hemodynamics. Obtaining measurements during exercise is difficult because cerebral blood flow changes due to the head motion component (HMC) in addition to neural activity. HMC is an undesirable artifact in the measurement of hemodynamic response caused by neural activity, and as such it must be estimated and eliminated. In our experiments, cerebral blood flow and head motion were measured during repeated passive forward bending of the subjects. Head motion was measured by 3D motion capture, and HMC was estimated by deriving a relation between head motion and cerebral blood flow, where the pitch angle was found to be suitable for estimating HMC. In this research, an assumption was made that cerebral blood flow caused by neural activity and that caused by postural change were additive, and thus HMC was eliminated by subtraction.
• Vibration Alert Interfaceにおける振動周波数に対する振動感覚順応とそのモデル化

  森 友揮, 田中 孝之, 金子 俊一

  ヒューマンインタフェース学会論文誌 The transactions of Human Interface Society 14 1 293 - 301 ヒューマンインタフェース学会 2012年 [査読有り][通常論文]
  
• 調教騎手用筋力補助装具スマートスーツ・ライトの開発 : 騎乗装具との一体化による装着感の向上と負担軽減効果の検証

  日下 聖, 田中 孝之, 今村 由芽子

  Hippophile 0 47 27 - 33 日本ウマ科学会 2012年01月 [査読無し][通常論文]
  
• A yank-based variable coefficient method for a low-powered semi-active power assist system

  Andre Rosendo, Takayuki Tanaka, Shun'ichi Kaneko

  Journal of Robotics and Mechatronics 24 2 291 - 297 2012年 [査読有り][通常論文]
   

  In this paper, we developed a power assist system to help users on carrying heavy loads. This system uses the user input force and position to generate an aiding force, reducing the burden on carrying heavy loads. We adopted a semi-active methodology, combining an active with a passive element, aiming to match the best traits from both, and also considering a lighter motor, which makes the system reach its limit force. To control this lightly actuated semi-active system we proposed a proportional controller which has its gain tuned accordingly to the yank value this is calculated by the derivative of the force. The controller method herein amplifies the system response whenever the user intends to change his movement, producing a better handling of the system and saving actuator power for either periodical or non-periodical movements. Future applications may involve creating a light assist system for portable applications or assist in heavy industrial environments.
• Analysis of Power Assist Effect during Skill Assist for Periodic Motions Under Use of Semi-active Assist Mechanisms

  Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara

  2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 758 - 763 2012年 [査読有り][通常論文]
   

  This paper describes an analysis of the power assist and the skill assist effects of a semi-active assist mechanism based on an energy control. For this mechanism, we have developed a soft and flexible power assist device that consists of an elastic material and a small direct current motor. The assist force is then the elastic force, which is controlled by adjusting the length of the elastic material by means of the motor. The skill assist is based on a motion correction method of periodic motions that was developed in a previous study. The control method can provide both power assist and skill assist affects. In this study, we analyze the adequacy of the power assist when simultaneously applying the skill assist.
• Improving the Maneuverability of Power Assist Valves by Compensation Considering of Posture

  Motoki Nakano, Takayuki Tanaka, Shun'ichi Kaneko

  2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 1111 - 1116 2012年 [査読有り][通常論文]
   

  Recently, a number of studies have focused on the musculoskeletal systems of the human arm and foot with the aid of human-machine systems. The studies aim to evaluate the spec of manipulators or analyze the characteristic of the human. We focus on the fact that some postures reduce the effort necessary for the application of force from the musculoskeletal systems. In this research, we aim to apply the systems to the power assist system. Using a musculoskeletal model, we propose the Compensation Considering Posture (CCP) method, which adjusts the assist ratio, and consequently the applied force, in accordance with the arm position of the operator. Then we applied it to a standard valve used in fire fighting operations as the one link manipulator. In this regard, operation responsiveness changes when the output force is reduced with a correct arm position. CCP improves valve maneuverability by providing additional assistance in such cases, and ensures that operation responsiveness is uniform regardless on arm position. In conducting an experimental verification of the proposed method, first we measured the arm position of the operator in real time by using a musculoskeletal simulator. Next, we quantitatively defined the reduction of the output force according to the arm position as an output force level. Finally, we determined the appropriate amount of compensation by normalizing the applied force with the maximum output force level. The effectiveness of this method was experimentally confirmed using visual tracking.
• Base Position Detection of Grape Stem Considering Its Displacement for Weeding Robot in Vineyards

  Hisashi Igawa, Takayuki Tanaka, Shun'ichi Kaneko, Tatsumi Tada, Shin'ichi Suzuki, Isao Ohmura

  38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012) 2567 - 2572 2012年 [査読有り][通常論文]
   

  The vastness of vineyards in Hokkaido makes it hard for workers to eradicate weeds. To solve this problem, the aim of the current research has been to develop a weeding robot with a multi-link manipulator that uses a stereo camera system as a visual sensing tool for recognizing grape stems. However, the accuracy of this technique is lacking due to unavoidable measurement errors from the stereo camera system. In consideration of this problem, a method that defines the grape stem area has been devised. Additionally, to compensate for errors in the visual sensing technique, a tactile sensing technique has been employed that can haptically recognize a grape stem by means of a multi-link manipulator. In this paper, a robust sensing system is reported that analyzes the displacement of a grape stem to detect it base position such that weeding can be performed.
• Motion-based design of elastic belts for passive assistive device using musculoskeletal model

  Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, Masanori Yamanaka

  2011 IEEE International Conference on Robotics and Biomimetics 2011年12月
• 形状の違うスコップによる6週間の雪かき作業が体力に及ぼす影響

  瀧澤一騎, 田中孝之, 吉成哲, 奈良博之, 柴田啓介, 鈴木善人

  体力科学 60 6 797 - 797 (一社)日本体力医学会 2011年12月01日 [査読無し][通常論文]
  
• 雪かき運動による漸増負荷試験は全身持久力テストとして妥当か?

  柴田啓介, 田中孝之, 瀧澤一騎, 吉成哲, 鈴木善人

  体力科学 60 6 765 - 765 (一社)日本体力医学会 2011年12月01日 [査読無し][通常論文]
  
• 雪かき運動におけるLT強度測定を目的とした漸増負荷運動プロトコルの作成

  瀧澤一騎, 吉成哲, 奈良博之, 鈴木善人, 田中孝之

  体力科学 60 4 468 - 469 2011年08月01日 [査読無し][通常論文]
  
• カメラ振動を考慮したステレオ計測誤差モデル

  岡崎 伸哉, 田中 孝之, 金子 俊一, 高氏 秀則, 高地 伸夫, 山田 光晴

  電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society 131 4 522 - 530 一般社団法人 電気学会 2011年04月01日 [査読無し][通常論文]
   

  This study aims to establish an error model for a stereo measurement system by considering camera vibration. In stereo measurements, we can approximate the measurement error distribution in images as a uniform distribution. Therefore, the parameters of the measurement error distribution are the mean value µ and the standard deviation σ, while the amplitude A and the frequency F are regarded as the parameters of the camera vibration. In order to verify the relationships between the parameters of the measurement error distribution and those of the camera vibration, we performed an experiment using a vibration-testing system. The results of the experiment showed that the vibration did not affect µ. Moreover, we found a positive correlation between σ and A as well as a negative correlation betweenσ and F. Using these relationships, we estimated the parameters of the measurement error from the parameters of the camera vibration.
• Motion-based-design of elastic material for passive assistive device using musculoskeletal model

  Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, Masanori Yamanaka

  Journal of Robotics and Mechatronics 23 6 978 - 990 2011年 [査読有り][通常論文]
   

  We are developing a passive power assist device, "Smart Suit Lite." Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a "motion-based assist method" in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has "Skin segments" that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.
• Design of vibration alert interface based on tactile adaptation model to vibration stimulation

  Yuki Mori, Takayuki Tanaka, Shun'ichi Kaneko

  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 6771 1 462 - 469 2011年 [査読有り][通常論文]
   

  In this paper, we describe the influence of vibratory adaptation on vibration perception and its correction method. Vibration strength after change depends on the vibration frequency before change even if the vibration frequency itself does not change. We found that the higher the vibration frequency before change, the weaker the perceived vibration strength. To correct this perception gap, the frequency before change is fed back to the KI model that expresses the vibratory adaptation. We performed a simulation to show that output of the KI model is able to express changes in vibration caused by adaptation. © 2011 Springer-Verlag.
• Skill assist and power assist for periodic motions by using semi-active assist mechanism with energy control

  Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara

  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 2187 - 2192 2011年 [査読有り][通常論文]
   

  This paper describes a skill assist method based on an energy control that employs a semi-active assist mechanism. For this mechanism, we have developed a soft and flexible power assist device that consists of elastic materials and a small DC motor. The assist force is the elastic force of the elastic materials, and this force is controlled by adjusting the length of the elastic materials by means of the DC motor. In our previous study, we confirmed that this mechanism has high power assist effectiveness. In this study, we consider correction of user motion correction by the semi-active assist mechanism in order to provide skill assist. We consider the motion to be an energy state and control the motion through energy control. © 2011 IEEE.
• Fundamental study on evaluation of KEIROKA(fatigue-reduction) technology in using UD shovel for removing snow by musculo-skeletal dynamics simulator

  Hiroyuki Nara, Takayuki Tanaka, Yumeko Imamura, Satoshi Yoshinari, Yasuhiro Nakajima, Shun'ichi Kaneko

  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 1579 - 1584 2011年 [査読有り][通常論文]
   

  Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA (fatigue-reduction) Technology which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. Along the way, various assistant technologies for work and task supports have been suggested. However, they are used for evaluation of short-term effects and their design and assessment in a long-term standpoint are not performed. Therefore, final purpose in this research is to examine the possibility to evaluate KEIROKA(fatigue-reduction) Technology using Musculo-Skeletal Dynamics Simulator. So, experiments were performed to measure movements of subject using a conventional shovel with straight-line hilt and a UD shovel with flexural hilt by using three-dimensional motion analysis system and analyzed the physical strain caused by differences of shovels using Musculo-Skeletal Dynamics Simulator. © 2011 IEEE.
• A design of the multi-portal human interface considering user's line of sight and controlling stability

  Fumiya Shibukawa, Takayuki Tanaka, Shun'ichi Kaneko

  2010 IEEE International Conference on Robotics and Biomimetics 2010年12月 [査読有り][通常論文]
  
• High-speed impedance matching based on muscle characteristic and its application for improving maneuverability of power assist valve

  Motoki Nakano, Shunichi Kaneko, Takayuki Tanaka, Koichi Yamano

  2010 IEEE International Conference on Systems, Man and Cybernetics 2010年10月 [査読有り][通常論文]
  
• Self-localization of a mobile robot on irregular ground using a laser range finder

  Naohito Takasuka, Takayuki Tanaka, Shun'ichi Kaneko, Tatsumi Tada, Shin'ichi Suzuki

  2010 World Automation Congress 1 - 6 2010年09月 [査読有り][通常論文]
  
• A method of trajectory generation to vehicle robot under unknown environment

  D. Nagahara, S. Takahashi, T. Tanaka, S. Kaneko

  Proceedings of World Automation Congress 2010年09月 [査読有り][通常論文]
  
• 動きを“視る”動作解析 動作計測に基づいた筋力補助装置・装具の設計

  田中孝之

  映像情報Industrial 42 8 41 - 47 2010年08月 [査読無し][招待有り]
  
• 把持力による皮膚変形を考慮した Vibration Alert Interface の振動強度設計

  森 友揮, 田中 孝之, 金子 俊一

  ヒューマンインタフェース学会論文誌 12 2 103 - 111 ヒューマンインタフェース学会 2010年05月25日 [査読無し][通常論文]
  
• A novel semi-active assist system considering low-powered actuator limitations

  Andre Rosendo, Takayuki Tanaka, Shuńichi Kaneko

  2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 1104 - 1109 2010年 [査読有り][通常論文]
   

  Power Assisting Systems are developed to directly aid human beings. They can predict user intention and produce assistive force to aid the user in tasks, such as lifting and handling of heavy loads. In this paper, a Semi-Active Assist System that considers force limitations is proposed. Physical simulations, such as Active and Passive, and the actuator limitation is discussed. Lastly the Low-powered controller is compared with the normal controller, and the results are obtained. The Low-powered actuator can successfully assist the user and can be used as remote assisting systems in future applications. © 2010 IEEE.
• Modeling stereo measurement error by considering camera vibration

  Shin'ya Okazaki, Takayuki Tanaka, Shun'ichi Kaneko, Hidenori Takauji, Nobuo Kochi, Mitsuharu Yamada

  2010 International Symposium on Optomechatronic Technologies, ISOT 2010 2010年 [査読有り][通常論文]
   

  Camera vibration in recorded video is a problem with both handheld and stationary devices that vibrate due to wind and other external forces. To facilitate the development of a robust stereo system that is immune to such camera vibration, this study aims to study establishes an error model for a stereo measurement system by considering camera vibration. In stereo measurements, we approximate the distribution of measurement error in images as a uniform distribution. Given this approximation, parameters of the distribution of measurement error are mean value μ and standard deviation σ, whereas amplitude A and frequency F are parameters of camera vibration. To verify the relationship between these parameters, we performed experiments using a vibration testing system. Results indicated that the vibration did not affect the mean value μ. We also found a positive correlation between standard deviation σ and amplitude A as well as a negative correlation between standard deviation σ and frequency F. Based on these findings, we estimate the parameters of measurement error by the camera vibration parameters and establish our proposed error model. © 2010 IEEE.
• Control method for power-assist systems with energy regeneration system based on predicting operation

  Norihiro Kobayashi, Takayuki Tanaka, Shun'ichi Kaneko

  IECON 2010 - 36TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY 2010年 [査読有り][通常論文]
   

  The purpose of this study is to develop a method to control power-assist systems with an energy regeneration system that achieves the desired load-reduction ratio even if torque saturation occurs. In this article, we use the ratio of the assist-force impulse to the operator-force impulse as an indicator to evaluate the control method. The proposed method predicts the needs of the operator and delives the desired load-reduction ratio by anticipating deficient impulses via the reliability of predicted power requirements.
• Vision-Based Displacement Sensor for Monitoring Dynamic Response Using Robust Object Search Algorithm

  Yoshio Fukuda, Maria Feng, Yuto Narita, Shun'ichi Kaneko, Takayuki Tanaka

  2010 IEEE SENSORS 1928 - 1931 2010年 [査読有り][通常論文]
   

  This study develops a vision-based displacement measurement system for remote monitoring of vibration of large-size structures such as bridges and buildings. The system consists of one or multiple video cameras and a notebook computer. With a telescopic lens, the camera placed at a stationary point away from a structure captures images of an object on the structure. The structural displacement is computed in real time through processing the captured images. A robust object search algorithm developed in this study enables accurate measurement of the displacement by tracking existing features on the structure without requiring a conventional target panel to be installed on the structure. The efficacy of the system in remote measurement of dynamic displacements was demonstrated through a shaking table test and a field experiment on a long-span bridge.
• Assist Force Control of Smart Suit for Horse Trainers Considering Motion Synchronization

  T. Kusaka, T. Tanaka, S. Kaneko, Y. Suzuki, M. Saito, H. Kajiwara

  International Journal of Automation Technology 3 6 723 - 730 2009年12月 [査読有り][通常論文]
  
• Visual and tactual recognition of trunk of grape for weeding robot in vineyards

  Hisashi Igawa, Takayuki Tanaka, Shun'ichi Kaneko, Tatsumi Tada, Shin'ichi Suzuki

  2009 35th Annual Conference of IEEE Industrial Electronics 2009年11月 [査読有り][通常論文]
  
• Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Time

  Motoki Nakano, Takayuki Tanaka, Shun’ichi Kaneko, Koichi Yamano, Yoichiro Tsutsui

  Journal of Robotics and Mechatronics 21 5 628 - 634 2009年10月 [査読有り][通常論文]
  
• Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier

  Yoichiro Tsutsui, Takayuki Tanaka, Shun’ichi Kaneko, Yukinobu Sakata, Maria Q. Feng

  Journal of Robotics and Mechatronics 21 5 597 - 606 2009年10月 [査読有り][通常論文]
  
• 競走馬調教軽労化のための騎手用筋力補助装置の開発

  田中 孝之, 齊藤 宗信, 鈴木 善人

  デサントスポ-ツ科学 30 163 - 171 石本記念デサントスポ-ツ科学振興財団事務局 2009年06月 [査読無し][通常論文]
  
• 方向符号照合に基づくロバスト合焦法

  LI Yuan, 高氏秀則, 大村功, 金子俊一, 田中孝之

  精密工学会誌(CD-ROM) 75 5 650 - 656 2009年05月05日 [査読無し][通常論文]
  
• 欠陥種を考慮に入れた局所一貫性に基づく欠陥パタン照合法

  浦野 貴裕, 金子 俊一, 高氏 秀則, 田中 孝之, 前田 俊二, 渋谷 久恵, 吉田 実

  電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 129 5 778 - 785 一般社団法人 電気学会 2009年05月01日 [査読無し][通常論文]
   

  A novel algorithm for rotational registration of dot-cloud data based on Local Consistency of Point Dispersion considering defect types (color LCPD) is proposed. In this approach, a new measurement of the local consistency of the distribution of the dot clouds in both data sets is developed, which can then be combined into a weighted-metric based on the importance of the defect types. This method is expected to be effective and robust in the registration of randomly distributed, inconsistent observations. It has been shown to converge to the true solution in a variety of cases involving both real and simulated data.
• Robust Focusing using Orientation Code Matching

  Yuan Li, Isao Ohmura, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

  Electronic Letters on Computer Vision and Image Analysis 7 3 101 - 114 2009年 [査読有り][通常論文]
  
• Assist force control of smart suit for horse trainer considering motion synchronization and postural stabilization

  Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Yoshihito Suzuki, Munenobu Saito, Shuji Seki, Naohisa Sakamoto, Hidekazu Kajiwara

  ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings 770 - 775 2009年 

  This paper describes the assist force control of semi-active assist system "Smart Suit" for horse trainer. We developed a soft and flexible power assist device named "Smart Suit" for reducing horse trainers' physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. In order to gain the suitable assist force for periodical horse trainers' motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP)which is the dynamic stable point. © 2009 SICE.
• Multi-portal Human Interface

  Fumiya Shibukawa, Takayuki Tanaka, Shun'ichi Kaneko

  IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6 35th Vol.6 4010 - 4015 2009年 [査読無し][通常論文]
   

  In this study, we propose a multi-portal human interface (M-HI) as an innovative human interlace for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the maneuverable workspace of power assist systems containing multi-DOF manipulators.
• 方向符号照合による農作業機のためのロバスト速度計測

  中原 和哉, 高氏 秀則, 金子 俊一, 田中 孝之, 清水 将志, 宮下 行雄, 大村 功

  電子情報通信学会論文誌. D, 情報・システム = The IEICE transactions on information and systems (Japanese edition) 91 3 793 - 802 一般社団法人電子情報通信学会 2008年03月01日 [査読無し][通常論文]
   

  圃場での大きなスリップなどが避けられないスプレイヤ(散布機)やハーベスタ(収穫機)などの農作業機の実速度をロバストに計測するためのシステムを開発することを目的とする.従来のタコメータ形式の計測ではなく,地面の移動量を画像照合により間接的に測定する.その際,方向符号照合法に基づくことにより,天候不良,圃場の状態変動などの影響を排除したロバスト計測を実現した.試作システムを農耕用トラクタに搭載し,雨天や作業内容が異なる実圃場において速度計測実験を行うことにより有効性を検証した.
• 重み付き投票処理によるテスト特徴法の性能改良

  坂田 幸辰, 金子 俊一, 田中 孝之

  電子情報通信学会論文誌. D, 情報・システム = The IEICE transactions on information and systems (Japanese edition) 91 1 89 - 100 一般社団法人電子情報通信学会 2008年01月01日 [査読無し][通常論文]
   

  本論文では,ノンパラメトリックなパターン分類器として提案されたテスト特徴分類器(TFC)の識別性能の改良と,その実応用における可能性を検証することを目的とする.TFCでは,分類に有効な特徴量の組合せであるプライムテスト特徴(PTF)に投影された入力未知パターンに対して同時に最近傍法による識別を行い,それらの認識結果に基づく投票処理の集票スコアにより入力パターンを識別する.本手法では,PTFの特性に基づいた重み係数による重み付き投票処理を行う.これにより,各PTFの機能がより効果的に発揮され分類器の性能向上が期待できる.更に提案手法を逐次学習アルゴリズムへ拡張する.実データによる実験結果により本手法の有効性を確認した.
• Robust self-matching based focus measure

  Li Yuan, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka, Isao Ohmura

  Proceedings of SPIE - The International Society for Optical Engineering 7266 2008年 [査読有り][通常論文]
   

  This paper proposes a novel scheme for image focusing by introducing a new focus measure based on self-matching methods. A unique pencil-shaped profile is identified by comparing the similarity between all patterns extracted around the same position in each scene. Based on this profile, a new criterion function called Complementary Pencil Volume (CPV) is defined to evaluate focused or defocused scenes based on similarity rate of self-matching, which visually represents the volume of a pencil-shaped profile. Among matching methods, Orientation Code Matching (OCM) is recommended due to its invariance with regards to illumination and contrasts. Several experiments using a telecentric lens are implemented to demonstrate the efficiency of proposed measures. Outstandingly, comparing OCM-based focus measure with conventional focus measures shows that OCM-based focus measure is robust against changes of brightness or illuminations and contrast. Using this method, pan-focused images are composed and depth information is represented by comparing the focused and defocused region in the scenes both under high and low contrast or illumination conditions. © 2008 SPIE.
• Object recognition based on relationship between camera vibration and measurement error on stereo measurement

  Shin'ya Okazaki, Takayuki Tanaka, Syun'ichi Kaneko, Hidenori Takauji

  Proceedings of SPIE - The International Society for Optical Engineering 7266 2008年 [査読有り][通常論文]
   

  This study aims to establish an error model of the stereo measurement system considering a camera vibration. In the stereo measurement, we can approximate a distribution of measurement error in image by a normal distribution. Therefore, a parameters of the distribution of measurement error are average μ and standard deviation σ. A parameters of the camera vibration are considered amplitude A and frequency F. In order to verify relationships during the parameters of the distribution of measurement error and the parameters of the camera vibration, we experiment using vibration testing system. We imposed simple harmonic motion to the camera. As the result of experiment, the camera vibration didn't affect averageμ/. We found positively correlation between standard deviation σ and amplitude A. And, we found negatively correlation between standard deviation σ and frequency F. We consider about these correlation theoretically. And, we establish error model to estimate the parameter of the measurement error from the parameter of the camera vibration. Moreover, we define existing probability of object using the parameter of the measurement error. © 2008 SPIE.
• A blowing-based method of detecting trunk and estimating root position for weeding mobile robots

  Fan Zhang, Akihiko Matsushita, Shun'ichi Kaneko, Takayuki Tanaka

  Proceedings of SPIE - The International Society for Optical Engineering 7266 2008年 [査読有り][通常論文]
   

  Due to the area of the vineyard in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also attempt to measure the root of trunk accurately. And a new method to measure the blocked trunk of grapes in vineyards has also been developed in this paper. © 2008 SPIE.
• Smart Suit: Soft Power Suit with Semi-active Assist Mechanism - Prototype for Supporting Waist and Knee Joint

  Takayuki Tanaka, Yuta Satoh, Shun'ichi Kaneko, Yoshihito Suzuki, Naohisa Sakamoto, Shuji Seki

  2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4 1707 - + 2008年 [査読有り][通常論文]
   

  We have been developing "Smart Suit" as a soft and light-weight wearable power assist system. A prototype for preventing low-back injury in agricultural works and its semi-active assist mechanism have been developed in the previous study. The previous prototype succeeded to reduce about 14% of average muscle fatigues of body trunk in waist extension/flexion motion. In this paper, we describe a prototype of smart suit for supporting waist and knee joint, and its control method for preventing the displacement of the adjustable assist force mechanism in order to keep the assist efficiency.
• 超音波エコーを用いた肘関節トルク・角度の同時推定

  筒井洋一郎, 早瀬一彦, 田中孝之, 金子俊一, FENG Maria Q

  精密工学会誌(CD-ROM) 73 11 1273 - 1278 2007年11月05日 [査読無し][通常論文]
  
• 局所一貫性による点群の回転照合法と欠陥パターン照合への応用

  浦野 貴裕, 金子 俊一, 高氏 秀則, 田中 孝之, 前田 俊二, 渋谷 久恵, 吉田 実

  電子情報通信学会論文誌. D, 情報・システム = The IEICE transactions on information and systems (Japanese edition) 90 10 2798 - 2806 一般社団法人電子情報通信学会 2007年10月01日 [査読無し][通常論文]
   

  照合指標のない光学・磁気ディスクメディアのような回転媒体における新しいロバスト回転照合アルゴリズムLocal Consistency of Point Dispersion (LCPD)法を提案する.これは個々の点データ周りの局所的範囲における他点群データとの分布の一貫性を評価し,その局所的評価値は重みを設定して累積するアプローチに基づいている.提案手法の例外値に対するロバスト性について,点群データの分類に基づく定性的な考察を行っている.提案手法が例外値データの含有に対して,高いロバスト性を有し,しかも良好な収束性能を実現していることを,シミュレーション,及び実データに基づく実験によって示す.
• 生体を透過した超音波による関節トルク・角度推定

  筒井洋一郎, 田中孝之, 金子俊一, FENG Maria Q

  精密工学会誌(CD-ROM) 73 9 1062 - 1067 2007年09月05日 [査読無し][通常論文]
  
• 方向符号差分ヒストグラムに基づくロバスト回転不変照合法

  浦野 貴裕, 金子 俊一, 高氏 秀則, 田中 孝之

  画像電子学会誌 = Imaging & Visual Computing The Journal of the Institute of Image Electronics Engineers of Japan 36 4 417 - 425 一般社団法人 画像電子学会 2007年07月25日 [査読無し][通常論文]
   

  方向符号差分ヒストグラム（OCDH）に基づき回転不変かつ計算コストの低いロバストな画像照合法を提案する．画素近傍の明度変化の勾配から得られる方向符号は，ハイライトや陰影などの明度変動対して強いロバスト性を有する．画像上の2点から得られる方向符号の差分は，回転不変特徴を持ち，本手法では，そのヒストグラム（OCDH）を照合に利用する．高速な回転不変照合実現のため，照合の候補位置をOCDHにより推定し，推定された候補位置に対して画像間の回転角度推定，ならびに方向符号を用いた確認処理を行う．
• Mono‐MoCapに基づく2眼ステレオ視の計測範囲の拡張

  高橋秀典, 田中孝之, 金子俊一

  精密工学会誌(CD-ROM) 73 6 671 - 676 2007年06月05日 [査読無し][通常論文]
  
• Human joint movement recognition by using ultrasound echo based on test feature classifier

  Yoichiro Tsutsui, Yukinobu Sakata, Takayuki Tanaka, Shun'ichi Kaneko, Maria Q. Feng

  2007 IEEE SENSORS, VOLS 1-3 1205 - 1208 2007年 [査読有り][通常論文]
   

  We propose a new method for simultaneous joint torque and angle recognition in dynamic motion by using ultrasound echo. Test Feature Classifier has been employed as a classifier. Ultrasound is emitted from the surface of skin and it is reflected inside of living body. Feature values for the recognition are extracted from the reflected wave. The feature value changes as the movement of the muscle relating to the target joint motion. Therefore the joint movement can be recognized based on the feature value. We carried out a experiment of the recognition of the movement of human elbow joint. The task was to classify the test data set into its correct torque class and angle class based on the feature values. The feature value was the rectified integration value on each 6 blocks cut out from the ultrasound echoes. The rate of correctly classified data was 0.74 in the result of the torque recognition. That of in the angle recognition was 0.82. Some data were classified into incorrect classes, however, these data were classified into classes near the correct class. This results shows that the recognition by the proposed method were successful.
• Visual guide power assist system to adapt operators' motion - art. no. 6719OH

  Shunsuke Kawaai, Takayuki Tanaka, Shunichi Kaneko

  OPTOMECHATRONIC SYSTEMS CONTROL III 6719 OH719 - OH719 2007年 [査読有り][通常論文]
   

  In a conventional power assist system, an operation direction and power of a manipulator were adjusted when operator looked at a state and position of an operation object. So, position of an object is acquired by a visual sensor, and not only follows operation of human, but sets up a work route between an operation object and a manipulator. And an end-effector is guided to an object so that an operator can operate manipulator smoothly to an object. In this paper, the work path creation using the potential that suits an operator is proposed. A near work path is set up according to an end-effector orbit that an operator draws, and by guiding to an object aims at the improvement in maneuverability of a power assist.
• Vision based environment recognition for mobile robot in irregular ground

  Shin'ya Okazaki, Takayuki Tanaka, Syun'ichi Kaneko, Akihiko Matsushita

  2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6 1860 - 1864 2007年 [査読有り][通常論文]
   

  This study aims to develop an environment recognition method for a mobile robot using visual information in irregular ground. A mobile robot can. autonomous movement, an environment recognition and object tracking by using visual information. But researches using visual information do riot consider irregular ground. Visual information have errors in irregular ground. There are handling method by image processing technology, but that have limitations. So, We realize an environment recognition using visual information in irregular ground. We describe a relationship desparity errors between measurement errors of stereo method. Next, we measure distribution of disparity errors and propose correction method by disparity errors. We experiment moving on. flat surface and irregular ground and. verified effectiveness correction method by disparity errors.
• Robust focusing by Orientation Code Matching

  Yuan Li, Isao Ohmura, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

  PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 749 - + 2007年 [査読有り][通常論文]
   

  This paper has proposed a novel and robust scheme of image focusing by introducing a new measure of focusing based on Orientation Code Matching. (hereinafter,OCM) A unique pencil-shape profile has been found through comparing the similarity between any patterns extracted at the same position within their own scenes. Based on this profile, a new evaluation function, named Complemental Pencil Volume, (hereinafter, CPV), is defined and calculated to represent local sharpness of images, either in or out of focus. Then through a designed local-scope searching algorithm, the maximum of CPV, which corresponds to the just focused image, is searching in this schema. The proposed method of focusing can be applied to cases of ill-condition with low contrast observations. Experiment results show that the OCM-based focusing is very robust to change of brightness and even more irregularities in the real imaging system, like dark condition and so on.
• 3D measurement of flexible objects by robust motion stereo

  Y. Domae, H. Takauji, S. Kaneko, T. Tanaka, H. Okuda, M. Hashimoto

  PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 737 - + 2007年 [査読有り][通常論文]
   

  We propose a novel three-dimentional measurement approach of flexible cables for factory automation appliations, such as cable handling, connecter insertion without conflicts with cables by using robotic arms. The approach is based on motion stereo with a vision sensor. To solve stereo correspondence problem efficiently, feature point extraction from cables and a robust texture matching based feature tracking is applied. Additionally, by using stability analysis of the feature point tracking, defective feature points can be rejected and stable 3-D shape reconstruction is achieved. In our experiments, shapes of arch-like cables have been measured to an accuracy of 5mm. It is enough to find connecters without conflicts with the cables.
• 3-dimensional measurement of cable configuration being based on feature tracking motion stereo

  Yukiyasu Domae, Haruhisa Okuda, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

  OPTOMECHATRONIC SYSTEMS CONTROL III 6719 2007年 [査読有り][通常論文]
   

  We propose a novel three-Dimensional measurement approach of flexible cables for factory automation applications, such as cable handling, connecter insertion without conflicts with cables by using robotic arms. The approach is based on motion stereo with a vision sensor. Laser slit beams are irradiated and make landmalks on the cables to solve stereo correspondence problem efficiently. These landmark points and interpolated points having rich texture are tracked in a image sequence, and reconstructed as the cable shape. For stable feature point tracking, a robust texture matching method which is Orientation Code Matching 5 and tracking stability analysis are applied. In our experiments, arch-like cables have been reconstructed with an uncertainty of 1.5 % by this method.
• Robust focusing by orientation code matching and its application to depth reconstruction

  Yuan Li, Isao Ohmura, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

  EIGHT INTERNATIONAL CONFERENCE ON QUALITY CONTROL BY ARTIFICIAL VISION 6356 2007年 [査読有り][通常論文]
   

  This paper has mainly discussed about two problems, object focusing and depth measurement. First, we propose a novel and robust scheme of image focusing by introducing a new measure of focusing based on Orientation code matching. A new evaluation function, named Complemental pencil volume, CPV, is defined and calculated to represent local sharpness of images, either in or out of focus, by comparing the similarity between any patterns extracted at the same position within their own scenes. An identified and unique maximum or peek, which means exact match, is searched during the scheme. The proposed method of focusing can be applied to the cases of ill-condition scenes with low contrast observations. Experiments show that the OCM-based focusing is very robust to change in brightness, and to even more irregularities in the real imaging system, like dark condition. Second, based on this robust focusing technique, we applied it to an image sequence of an object surface to measure the depth of profile. A simple plane object surface has been implemented to demonstrate the basic approach. The results showed the successful and precision depth measurement of this object.
• Distortion and scale estimation for robust tag registration - art. no. 671804

  Io Nakayama, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

  OPTOMECHATRONIC COMPUTER-VISION SYSTEMS II 6718 71804 - 71804 2007年 [査読有り][通常論文]
   

  This paper proposes a new method to estimate distortion for template matching. Matching object images from scenes to pre-obtained reference images is necessary for robot mobility, but matching error due to distortion of object images remains a problem. There are two measures of distortion: "scale" which represents the distortion of distance from an object to the robot determined using a camera, and "directional distortion" which represents the distortion of direction that is due to the relative postures and positions of objects to the mobile robot. The latter is considered to involve rotation around the vertical axis, the y-axis, of the image plane. The paper proposes the Orthogonal Projection Distortion method (OPD) to estimate directional distortion and uses it with the image correction method to improve similarity. We demonstrate the effectiveness of the approach experimentally using actual images.
• Robot contest competition, an approach to venture mind education

  Takashi Kawamura, Takayuki Tanaka

  2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS 83 - + 2007年 [査読有り][通常論文]
   

  The Robot contest competition was started 7years ago. It is expected that this competition will encourage undergraduate students to head venture business and/or to keep venture mind. This paper reports the concept and scheme of the competition.
• Matching-based focusing by Orientation Code Matching and depth reconstruction

  Yuan Li, Hidenori Takauji, Shunichi Kaneko, Takayuki Tanaka, Isao Ohmura

  OPTOMECHATRONIC COMPUTER-VISION SYSTEMS II 6718 2007年 [査読有り][通常論文]
   

  This paper has proposed a novel and robust scheme of image focusing by introducing a new measure of focusing based on Orientation Code Matching. (hereinafter, OCM) A unique pencil-shape profile has been found through comparing the similarity between any patterns extracted at the same position within their own scenes. Based on this profile, a new evaluation function, named Complemental Pencil Volume, (hereinafter, CPV), is defined and calculated to represent local sharpness of images, either in or out of focus. Then through a designed local-scope searching algorithm, the maximum of CPV, which corresponds to the just focused image, is searching in this schema. The proposed method of focusing can be applied to cases of ill-condition with low contrast observations. Experiment results show that the OCM-based focusing is very robust to change of brightness and even more irregularities in the real imaging system, like dark condition and so on.
• EMGセンサスーツのためのロバスト関節トルク推定と高速較正

  鈴木 洋輔, 田中 孝之, フェン マリア Q., 諸麦 俊司

  計測自動制御学会論文集 42 8 982 - 990 計測自動制御学会 2006年08月31日 [査読無し][通常論文]
  
• 周期入力制御を用いた準受動的歩行ロボットの斜度・外乱に対するロバスト性

  梅枝 真守, 梶原 秀一, 田中 孝之, 金子 俊一

  計測自動制御学会論文集 42 8 974 - 981 計測自動制御学会 2006年08月31日 [査読無し][通常論文]
  
• 多角形マーカを用いたカメラ1台でのモーションキャプチャと人間の3次元動作計測

  高橋 秀典, 田中 孝之, 金子 俊一

  計測自動制御学会論文集 42 7 719 - 726 計測自動制御学会 2006年07月31日 [査読無し][通常論文]
  
• 方向符号化密度に基づいたスケーラブル画像探索

  高氏 秀則, 金子 俊一, 田中 孝之

  精密工学会誌論文集 = Journal of the Japan Society for Precision Engineering Contributed Papers 72 4 487 - 493 公益社団法人精密工学会 2006年04月05日 [査読無し][通常論文]
   

  This paper aims to propose a fast image searching method from environmental observation images even in the presence of scale changes. A new scheme has been proposed for extracting feature areas based on a robust image registration algorithm called Orientation code matching. Extracted areas are stored as template images and utilized in image searching. As the number of template images grows, the searching cost becomes a serious problem. Additionally, changes of viewing positions cause scale change of an image and matching failure. In our scheme, richness in features is important for feature area generation and the entropy is used to evaluate the variety of edge directions which are stable to scale change of the image. This characteristic contributes to limitation of searching area and reduction in calculation costs. Scaling factors are estimated by orientation code density which means the percentage of effective codes in fixed size areas. An estimated scaling factor is applied to matching a scale of template images to one of observation images. Some experiments are performed in order to compare computation time and verify effectiveness of estimated scaling factor using real scenes.
• 走査型上限推定を用いた高効率2値テンプレートマッチングアルゴリズム

  前孝宏, 金子俊一, 田中孝之

  精密工学会誌(CD-ROM) 72 4 481 - 486 2006年04月05日 [査読無し][通常論文]
  
• 方向符号化密度に基づいたスケーラブル画像探索

  高氏秀則, 金子俊一, 田中孝之

  精密工学会誌(CD-ROM) 72 4 487 - 493 2006年04月05日 [査読無し][通常論文]
  
• 走査型上限推定を用いた高効率2値テンプレートマッチングアルゴリズム

  前 孝宏, 金子 俊一, 田中 孝之

  精密工学会誌論文集 = Journal of the Japan Society for Precision Engineering Contributed Papers 72 4 481 - 486 公益社団法人精密工学会 2006年04月05日 [査読無し][通常論文]
   

  An efficient algorithm for binary template matching is proposed. For efficient search, object images to be checked is divided into two regions: R-region and P-region. In R-region, an upper limit of correlation coefficients can be derived as an interval estimation based on mathematical analysis of correlations of the object image and a pivot image. In P-region, another interval estimation is formalized based on the number of white and black pixels in a template and the object image. By use of these interval estimations, a scanning-type upper limit estimation of correlation coefficients can be formalized for the efficient search algorithm. Experiments show the effectiveness and efficiency of the proposed search algorithm.
• Autonomous and robust structuring of real environment by searching complex regions

  Hidenori Takauji, Io Nakayama, Shunichi Kaneko, Takayuki Tanaka

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 36 2006年 

  This paper aims to propose a fast image searching method from environmental observation images even in the presence of scale changes. A new scheme has been proposed for extracting feature areas as tags based on a robust image registration algorithm called Orientation code matching. Extracted tags are stored as reference images and utilized in tag searching. As the number of tags grows, the searching cost becomes a serious problem. Additionally, change in viewing positions cause scale change of an image and matching failure. In our scheme, richness in features is important for tag generation and the entropy is used to evaluate the diversity of edge directions which are stable to scale change of the image. This characteristic contributes to limitation of searching area and reduction in calculation costs. Scaling factors are estimated by orientation code density which means the percentage of effective codes in fixed size tag areas. An estimated scaling factor is applied to matching a scale of reference images to one of observation images. Some experiments are performed in order to compare computation time and verify effectiveness of estimated scaling factor using real scenes.
• Extraction and tracking of orientation coded features being robust against illumination changes

  Yukiyasu Domae, Hidenori Takauji, Henrik Stier, Shunichi Kaneko, Takayuki Tanaka

  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 36 2006年 

  We present a feature extraction and tracking method which is based on pure rich texture analysis and has robustness under irregular conditions, such as illumination change, deformation of objects and so on. The method is composed mainly of two algorithms: Entropy Filtering and Orientation Code Matching (OCM). Entropy filter points up areas of images being messy distribution of orientation codes. The orientation code is determined by detecting the orientation of maximum intensity change around neighboring eight pixels. The areas being extracted by the entropy filter doesn't depend on edges and gradations of images and has robustness against illumination change and motion of objects. Therefore, we can say the areas have”pure rich texture” and are suitable for tracking based on visual information. And then, OCM, a template matching method using the orientation code, is applied to track templates being centered on the features and updates the templates each frame. OCM is speeded up by using the information of texture richness and motion of objects. Because of their large robustness, we can track the templates robustly under irregular conditions.
• A sensor to measure hardness of human tissue

  Shunji Moromugi, Shinichi Kumano, Mitsuaki Ueda, Takakazu Ishimatsu, Maria Q. Feng, Takayuki Tanaka

  2006 IEEE SENSORS, VOLS 1-3 388 - + 2006年 [査読有り][通常論文]
   

  An innovative sensor is developed to evaluate hardness of human soft tissue. This sensor provides easy and accurate hardness measurements based on a unique sensing mechanism. Hardness of soft materials is often evaluated by using international standards of hardness such as IRHD (International Rubber Hardness Degree) and durometer hardness. However the conventional scales based on these standards requires a stable pressuring condition to the target. Therefore, these scales cannot be used for targets that are in motion or targets that require quick measurement such as human muscles during exercises and a liver exposed at a surgery. The prototyped sensor has a compact body and allows continuous hardness measurement with an arbitrary pressing force. This sensor always monitors the force exerted on the sensor and automatically eliminates the unintended effect from the fluctuation of the pressing force. Therefore, continuous time series of the hardness data is real-timely available. This paper reports results of a test as well as the detail of the mechanism and data processing technique of the latest version of the sensor.
• Using orientation code matching for robustly sensing real velocity of agrimotors

  Kazuya Nakahara, Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka, Masashi Shimizu, Yukio Miyashita

  OPTOMECHATRONIC SENSORS, INSTRUMENTATION, AND COMPUTER-VISION SYSTEMS 6375 2006年 [査読有り][通常論文]
   

  Instead of tachometer-type velocity sensors, an effective method of estimating real-time velocities based on a robust image matching algorithm is proposed to measure real-time velocities of agrimotors or working machines, such as sprayers and harvesters, driven by them in real farm fields. It should be precise even they have any slipping, and stable and robust to many ill-conditions occurred in the real world farm fields, where the robust and fast algorithm for image matching, Orientation code matching is effectively utilized. A prototype system has been designed for real-time estimation of velocities of the agrimotors and then the effectiveness has been verified through many frames obtained from the real fields in various weather and ground conditions.
• Local retouching of degraded images by histogram-based similarity evaluation

  Lin Fu, Shun'ichi Kaneko, Takayuki Tanaka

  OPTOMECHATRONIC SENSORS, INSTRUMENTATION, AND COMPUTER-VISION SYSTEMS 6375 2006年 [査読有り][通常論文]
   

  Quality of local regions in the scene could be deteriorated by the effects of ill-conditioned lighting effects and reflection. We develop a method to improve the quality of local regions. The local region of the image is firstly selected by an algorithm that is based on similarity evaluation of the region. Then the histogram of brightness and saturation of the local region are expanded using the histogram equalization, both the brightness and saturation are improved. In the next step, based on the distance from the point selected by user, the improved data are combined with the original image. The local part of the image is naturally merged with the surrounding scenes.
• Expansion of Measuring Range of Binocular Stereovision System Based On Mono-MoCap

  Hidenori Takahashi, Takayuki Tanaka, Shun'ichi Kaneko

  OPTOMECHATRONIC SENSORS, INSTRUMENTATION, AND COMPUTER-VISION SYSTEMS 6375 2006年 [査読有り][通常論文]
   

  This study aims to expand a measuring range of stereovision system. In the previous paper,(1) the authors achieved a 3D motion capture system by using one camera with triangle markers, named as Mono-MoCap (MMC). MMC has two features. One is that MMC can measure 3D positions of subjects by using one camera on the basis of the perspective n point (PnP) problem. Another is that MMC does not need to recalibrate the camera parameters. In this paper, the authors apply MMC to binocular stereovision system for expanding its measurement range. MMC will solve the problem that stereovision system can not measure 3D positions of objects when even one camera does not capture the objects. In this study, 3D positions of three points where a geometrical relation each other is already-known will be measured by a stereovision. 3D position measurement by the stereovision is enabled by secondarily using MMC when a part of the object is hidden with one camera of the stereovision. Simulation and experimental results will show the effectiveness of the proposed method for expanding the measuring range of stereovision system.
• Integral Ultrasonic Muscle Activity Sensor for Detecting Human Motion

  T. Koyama, T. Tanaka, S. Kaneko, S. Moromugi, M.Q. Feng

  2005 IEEE International Conference on Systems, Man and Cybernetics 2 1669 - 1674 2005年10月 [査読有り][通常論文]
   

  We have designed the Ultrasonic Muscle Activity Sensor as a small sensor device, and the sensor can be built in the Sensor Suit for human machine systems. Measuring a change of the ultrasonic in muscles with this sensor, we have shown it's possible to estimate muscle force. In this study, we aim to design the algorithm that estimates the joint torque of knee with ultrasonic muscle activity sensor. Beside, in order to attain the generality of sensor suit, we also aim to examine the influence of constitutional differences, such as a physique index and a rate of body fat. Furthermore, we tried to obtain the basic data in order to the construction of system which can adjust individual difference. © 2005 IEEE.
• Soft Sensor Suits as Man-Machine Interface for Wearable Power Amplifier

  Y. Suzuki, S. Moromugi, T. Tanaka, S. Kaneko, M.Q. Feng

  2005 IEEE International Conference on Systems, Man and Cybernetics 2 1680 - 1685 2005年10月 [査読有り][通常論文]
   

  The authors have developed innovative soft sensor suits embedded with electromyogram (EMG) and a variety of sensors for measuring human muscle activities. The sensor suits serve as a man-machine interface for human power amplification. This paper focuses on the EMG part of the sensor suits to study the fundamental issue of torque estimation based on the sensor readings. An innovative auto-calibration system is developed in this study based on multi-regression analysis and neural networks, where an universal database, rather than individual database for each operator, is proposed and as a result, the calibration time is dramatically decreased. The calibration system can also compensate for sensor positioning errors. In the end, the sensor suits are applied as a man-machine interface for a soft power amplifier composed of artificial muscles. The artificial muscles are successfully controlled using the torque information estimated by the EMG sensor suits. The relation between torque estimation errors on sensor suits and maneuverability of power amplifier is experimentally verified. ©2005 IEEE.
• 未知環境におけるロバストタギング

  高氏 秀則, 金子 俊一, 田中 孝之

  電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society 125 6 926 - 934 一般社団法人 電気学会 2005年06月01日 [査読無し][通常論文]
   

  This paper aims to propose a new scheme for robust tagging for landmark definition in unknown circumstance using some qualitative evaluations based on Orientation code representation and matching which has been proposed for robust image registration even in the presence of change in illumination and occlusion. Necessary characteristics for effective tags: richness, similarity, and uniqueness, are considered in order to design an algorithm for tag detection. These qualitative considerations can be utilized to design simple and robust algorithm for tag definition in combination with the robust image registration algorithm.
• Duplex ultrasonic muscle activity sensor

  Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Maria Q. Feng

  Proceedings of IEEE Sensors 2005 310 - 313 2005年 [査読有り][通常論文]
   

  For ultrasonic muscle activity sensor(UMS), a new signal processing method was proposed. The proposed method improved correlation coefficient between estimated joint torque and actual torque from 0.987 to 0.999 in an experiment. UMS is a brand-new noninvasive sensor for muscle activity. In this sensor, ultrasound is emitted and detected by transducers, though electrical change is detected in electromyogram(EMG) which is a common sensing method for muscle activity. In previous study, we measured only one ultrasound from transmitter on opposite side. In this study, we made a transmitter switching circuit and measured ultrasound coming from another transducer. Knee joint torque was estimated with neural networks in experiment. Correlation coefficient between actual torque and estimated torque was calculated as the index of the accuracy. New method(Duplex UMS) showed higher correlation than existing method. The proposed method is effective to improve the accuracy of the torque estimation. © 2005 IEEE.
• Efficient template matching algorithm based on interval estimations on correlation

  Takahiro Mae, Shun'ichi Kaneko, Takayuki Tanaka

  Proceedings of SPIE - The International Society for Optical Engineering 6051 2005年 [査読有り][通常論文]
   

  We propose an efficient template matching algorithm for binary image search. When we use template matching techniques, the computation cost depends on size of images. If we have large size images, we spend a lot of time for searching similar objects in scene image to template image. We design a scanning-type upper limit estimation that can be useful for neglect correlation calculation. For calculating the scanning-type upper limits, template and scene images are divided into two regions: P-region and P-region. In R-region, an upper limit of correlation coefficients can be derived as an interval estimation based on mathematical analysis of correlations of the object image and a pivot image. In P-region, another upper limit is formalized based on the number of white and black pixels in a template and the object image. By use of these upper limits, the scanning-type upper limit estimation of correlation coefficients can be formalized for the efficient matching algorithm. This upper limits estimation isn't over true values of correlation, so the accuracy of search by conventional search is the same as one by conventional search. The experiments with document images show the effectiveness and efficiency of the proposed matching algorithm. In these experiments, computation time by the proposed algorithm is between 5 and 20% compare of the conventional search.
• Application of successive test feature classifier to dynamic recognition problems

  Yukinobu Sakata, Shun'ichi Kaneko, Takayuki Tanaka

  Proceedings of SPIE - The International Society for Optical Engineering 6051 2005年 [査読有り][通常論文]
   

  A novel successive learning algorithm is proposed for efficiently handling sequentially provided training data based on Test Feature Classifier (TFC), which is non-parametric and effective even for small data. We have proposed a novel classifier TFC utilizing prime test features (PTF) which is combination feature subsets for getting excellent performance. TFC has characteristics as follows: non-parametric learning, no mis-classification of training data. And then, in some real-world problems, the effectiveness of TFC is confirmed through way applications. However, TFC has a problem that it must be reconstructed even when any sub-set of data is changed. In the successive learning, after recognition of a set of unknown objects, they are fed into the classifier in order to obtain a modified classifier. We propose an efficient algorithm for reconstruction of PTFs, which is formalized in cases of addition and deletion of training data. In the verification experiment, using the successive learning algorithm, we can save about 70% on the total computational cost in comparison with a batch learning. We applied the proposed successive TFC to dynamic recognition problems from which the characteristic of training data changes with progress of time, and examine the characteristic by the fundamental experiments. Support Vector Machine (SVM) which is well established in algorithm and on practical application, was compared with the proposed successive TFC. And successive TFC indicated high performance compared with SVM.
• Joint torque and angle estimation by using ultrasonic muscle activity sensor

  Yoichiro Tsutsui, Takayuki Tanaka, Shun'ichi Kaneko, Maria Q. Feng

  Proceedings of SPIE - The International Society for Optical Engineering 6049 2005年 [査読有り][通常論文]
   

  We have proposed a brand-new noninvasive ultrasonic sensor for measuring muscle activities named as Ultrasonic Muscle Activity Sensor (UMS). In the previous paper, the authors achieved to accurately estimate joint torque by using UMS and electromyogram (EMG) which is one of the most popular sensors. This paper aims to realize to measure not only joint torque also joint angle by using UMS and EMG. In order to estimate torque and angle of a knee joint, muscle activities of quadriceps femoris and biceps femoris were measured by both UMS and EMG. These targeted muscles are related to contraction and extension of knee joint. Simultaneously, actual torque on the knee joint caused by these muscles was measured by using torque sensor. The knee joint angle was fixed by torque sensor in the experiment, therefore the measurement was in isometric state. In the result, we found that the estimated torque and angle have high correlation coefficient to actual torque and angle. This means that the sensor can be used for angle estimation as well torque estimation. Therefore, it is shown that the combined use of UMS and EMG is effective to torque and angle estimation.
• Self maintenance robot system using physical information learning for mobile robot with visual sensors

  Naohiro Sekiguchi, Takayuki Tanaka, Shun'ichi Kaneko

  Proceedings of SPIE - The International Society for Optical Engineering 6052 2005年 [査読有り][通常論文]
   

  We propose self-maintenance robot system as a method which realizes work for a long time without maintenance by the human workers. This system absorbs the change which occurs in robot's hardware by learning, and maintains working ability. We propose the two methods of learning changes in the physical information of the robot as methods which realizes the maintenance-free robot system. One is a method to learn robot's physical information based on the input and output information in the task practice from the no physical information of the robot by using a neural network which has a task common layer and a task independence layer. Other is a method to learn robot's physical information based on the difference in hoping action and actual action. In this report, we verify of these learning system by the computer simulation.
• Robust tracking based on orientation code matching under irregular conditions

  Yukiyasu Domae, Shun'ichi Kaneko, Takayuki Tanaka

  Proceedings of SPIE - The International Society for Optical Engineering 6051 2005年 [査読有り][通常論文]
   

  Feature extraction and tracking are widely applied in the industrial world of today. It is still an important topic in Machine Vision. In this paper, we present a new feature extraction and tracking method which is robust against illumination change such as shading and highlighting, scaling and rotation of objects. The method is composed mainly of two algorithms: Entropy Filter and Orientation Code Matching (OCM). The Entropy Filter points up areas of images being messy distribution of orientation codes. The orientation code is determined by detecting the orientation of maximum intensity change around neighboring 8 pixels. It is defined as simply integral values. We can extract good features to track from the images by using the Entropy Filter. And then, the OCM, a template matching method using the orientation code, is applied to track the features each frame. We can track the features robustly against the illumination change by using the OCM. Moreover, updating these features (templates) each frame allows complicated motions of tracked objects such as scaling, rotation and so on. In this paper, we report the details of our algorithms and the evaluations of comparison with other well-known feature extraction and tracking methods. As an application example, planer landmarks and face tracking is tried. The results of them are also reported in context.
• A fast tag searching method based on orientation code entropy and density

  Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka

  Proceedings of SPIE - The International Society for Optical Engineering 6051 2005年 [査読有り][通常論文]
   

  This paper aims to propose a fast image searching method from environmental observation images even in the presence of scale changes. A new scheme has been proposed for extracting feature areas as tags based on a robust image registration algorithm called Orientation code matching. Extracted tags are stored as template images and utilized in tag searching. As the number of tags grows, the searching cost becomes a serious problem. Additionally, change in viewing positions cause scale change of an image and matching failure. In our scheme, richness in features is important for tag generation and the entropy is used to evaluate the diversity of edge directions which are stable to scale change of the image. This characteristic contributes to limitation of searching area and reduction in calculation costs. Scaling factors are estimated by orientation code density which means the percentage of effective codes in fixed size tag areas. An estimated scaling factor is applied to matching a scale of template images to one of observation images. Some experiments are performed in order to compare computation time and verify effectiveness of estimated scaling factor using real scenes.
• Fast and robust rotation-invariant search by using orientation code difference histogram

  Takahiro Urano, Shun'ichi Kaneko, Takayuki Tanaka

  Proceedings of SPIE - The International Society for Optical Engineering 6051 2005年 [査読有り][通常論文]
   

  A rotation-invariant template matching scheme using Orientation Code Difference Histogram (OCDH) is proposed. Orientation code features based on local distributions of pixel brightness are substantively robust against furious change in illumination plays a main role in designing the rotation-invariant matching algorithm. Since every difference between any pair of orientation codes is invariant in rotation of an image, we can elaborate a histogram feature by use of the differences, which can aggregate effective clues for searching rotated images through simple procedures. With gray scale images as targets, rotation angles of an image can be accurately estimated by the proposed method. It is fast and robust even in presence of some irregularities as brightness change by shading or highlighting. We propose a two-stage framework for realizing the rotation-invariant template matching based on OCDH. In the first stage, candidate positions are selected through evaluation of OCDH at every position, and then in the second stage, they are tested by use of a verification also based on orientation code features. The effectiveness of the proposed matching method has been shown through many kinds of experiments designed with real world images.
• Motion capture for human motion measuring by using single camera with triangle markers

  Hidenori Takahashi, Takayuki Tanaka, Shun'ichi Kaneko

  Proceedings of SPIE - The International Society for Optical Engineering 6049 2005年 [査読有り][通常論文]
   

  This study aims to realize a motion capture for measuring 3D human motions by using Single camera. Although motion capture by using multiple cameras is widely used in sports field, medical field, engineering field and so on, optical motion capture method with one camera is not established. In this paper, the authors achieved a 3D motion capture by using one camera, named as Mono-MoCap (MMC), on the basis of two calibration methods and triangle markers which each length of side is given. The camera calibration methods made 3D coordinates transformation parameter and a lens distortion parameter with Modified DLT method. The triangle markers enabled to calculate a coordinate value of a depth direction on a camera coordinate. Experiments of 3D position measurement by using the MMC on a measurement space of cubic 2 m on each side show an average error of measurement of a center of gravity of a triangle marker was less than 2 mm. As compared with conventional motion capture method by using multiple cameras, the MMC has enough accuracy for 3D measurement. Also, by putting a triangle marker on each human joint, the MMC was able to capture a walking motion, a standingup motion and a bending and stretching motion. In addition, a method using a triangle marker together with conventional spherical markers was proposed. Finally, a method to estimate a position of a marker by measuring the velocity of the marker was proposed in order to improve the accuracy of MMC.
• Auto-calibration system, of EMG sensor suit

  Yousuke Suzuki, Takayuki Tanaka, Maria Q. Feng

  Proceedings of SPIE - The International Society for Optical Engineering 6049 2005年 [査読有り][通常論文]
   

  Biogenic measurement has been studied as a robot's interface. We have studied the wearable sensor suit as a robot's interface. Some kinds of sensor disks are embedded the sensor suit to the wet suit-like material. The sensor suit measures a wearing person's joint, and muscular activity. In this report, we aim to establish an auto-calibration system for measuring joint torques by using EMG sensors based on neural network and sensor disks of a lattice. The Torque presumption was performed using the share neural network, which learned the data that formed the whole subject's teacher data. Additional training of the share neural network was carried out using the individual teaching data. As a result, that was able to do the neural network training in short time, high probability and high accuracy to training of initial neural network. Moreover, high-presumed accuracy was able to be acquired by this method Next, Sensor disks of a lattice was developed. EMG is measurable, checking the state of an electrode by that can measure biogenic impedance. That was able to measure EMG by sensor disks which has low impedance We measured EMG and joint torque by trial production sensor suit and torque measuring instrument. The predominancy of the torque presumption using the share neural network was check. We proposed Measurement system, which consists sensor disk of lattice. Experimental results show the proposed method is effective for the auto-calibration.
• MEMS and fiber optics sensor-based wearable interface for medical applications

  Y Fukuda, T Tanaka, MQ Feng, T Ishimatsu

  2005 IEEE SENSORS, VOLS 1 AND 2 814 - 817 2005年 [査読有り][通常論文]
   

  In recent years, information technology has made remarkable advancement and found increasing, applications in various fields. In the medical field, computer is playing a more important role in assisting the disabled. However, the interface between the disabled and a computer is usually composed of push button and touch sensors that are difficult of use. This research aims to develop a more user-friendly wearable interface using a MEMS (Micro Electro Mechanical System) accelerometer and an optical fiber shape sensor that enable the disabled to use a computer more effectively. To demonstrate the application of this wearable interface, we developed several systems including a communication device for the disabled to control computer keyboards and appliances, and a rehabilitation device referred to as a data glove. The effectiveness of the interface is demonstrated through several field tests.
• Learning of body sense and body image for mobile robot with visual sensors

  N Sekiguchi, T Tanaka, S Kaneko

  2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2 2005 Vol.2 1269 - 1274 2005年 [査読無し][通常論文]
   

  We propose self-maintenance robot system as a method which realizes work for a long time without maintenance by the human workers. This system absorbs the change which occurs in robot's hardware by learning, and maintains working ability. We use a neural network which has a task common layer and a task independence layer to learning. In this report, we verify of this learning system by the computer simulation and the experiment in the real field.
• Muscle Stiffness Sensor to Control Assisting Device for the Disabled

  Shunji Moromugi, Yasuhiro Koujina, Seigo Ariki, Akira Okamoto, Takayuki Tanaka, Maria Q. Feng, Takakazu Ishimatsu

  Journal of Artificial Life and Robotics 8 1 42 - 45 2004年01月 [査読有り][通常論文]
  
• Torque Estimation Using Ultrasonic Muscle Activity Sensor(Power Assist and Nursing 2,Session: TP1-C)

  Tsutsui Yoichiro, Tanaka Takayuki, Suzuki Yosuke, Feng Maria Q.

  The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2004 48 - 48 一般社団法人日本機械学会 2004年
• Smart power suit with variable stiffness mechanism

  T Hayashi, T Tanaka, MQ Feng

  RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS 637 - 642 2004年 [査読有り][通常論文]
   

  Wearable robots, especially power suits to enhance human activity are one of most interesting topics. This study aims to develop a power suit installing a variable stiffness mechanism. In a previous study, we showed the relation between impedance parameters of power suits and human performance, and verified the effectiveness of self impedance matching method using soft computings. In this paper, we conduct fundamental experiments in order to design a variable stiffness mechanism which can tune the stiffness of joint mechanically. Experimental results show the effectiveness of variable stiffness for improving human performance and reducting muscle fatigue. Moreover, we try to design the variable stiffness mechanism, and to verify the effectiveness by simulation.
• Using orientation code matching for robust landmark definition and verification

  H Takauji, S Kaneko, T Tanaka

  MACHINE VISION AND ITS OPTOMECHATRONIC APPLICATIONS 5603 71 - 80 2004年 [査読有り][通常論文]
   

  This paper aims to propose a new scheme for robust tagging for landmark definition in unknown circumstance using some qualitative evaluations based on Orientation Code representation and matching which has been proposed for robust image registration even in the presence of change in illumination and occlusion. Necessary characteristics for effective tags: richness, similarity, and uniqueness, are considered in order to design an algorithm for tag extraction. These qualitative considerations can be utilized to design simple and robust algorithm for tag definition in combination with the robust image registration algorithm.
• 介護用装着型ヒューマンアシストロボットの開発とアシスト効果向上のための制御系設計 (特集「ウェアラブル・フルードアクチュエータの実現性」)

  小山 猛, 田中 孝之

  フルードパワーシステム 34 5 128 - 133 日本フルードパワーシステム学会 2003年09月 [査読無し][通常論文]
  
• Fibrous Optical Actuator Containing Photochromic Molecules

  Takayuki Tanaka, Naoto Yamagishi, Ryujiro Mitsui, Takashi Kawamura

  Journal of Robotics and Mechatronics 15 2 172 - 177 2003年04月 [査読有り][通常論文]
  
• Soft Power Suit for Knee Motion Assistance

  S. Moromugi, Y. Koujina, S. Ariki, T. Tanaka, M. Q. Feng, T.Ishimatsu

  International Journal of Human-friendly Welfare Robotic Systems 4 4 13 - 19 2003年 [査読有り][通常論文]
  
• Interaction among human, machine and patient with work state transition

  T Koyama, T Tanaka, K Tanaka, MQ Feng

  2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 2362 - 2367 2003年 [査読有り][通常論文]
   

  In order to provide quality care for aged and disabled people without causing physical and mental burden to patients and nurses, we have been developing a prototype of a wearable typed robotic system named HARO (Human-Assisting RObot) that is operated by a nurse to amplify his or her physical power. This paper proposes a design method of force control system with consideration of transition of interaction force to a patient during certain nursing motion.
• Ultrasonic sensor disk for detecting muscular force

  T Tanaka, S Hori, R Yamaguchi, MQ Feng, S Moromugi

  RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS 291 - 295 2003年 [査読有り][通常論文]
   

  Recently, many researchers are studying and developing various kinds of man-machine systems. Especially, a wearable robot, such as an exoskeleton power suit, is one of the most remarkable fields. In this field, more accurate and reliable sensing system for detecting human motion intention is strongly required. In most of conventional man-machine systems, torque sensors, tactile pressure sensors and EMG sensors are utilized in a man-machine interface to detect human motion intention. These sensors, however, have some limitations. For example, it is hard to install and secure torque sensors on the joints of a human body. It is not easy to correlate the data from a tactile pressure sensor to the human motion intention. Although the EMG sensor can detect human motion intention, the sensor system is complex and expensive, and suffers from electric noise. We have been developing an innovative sensor suit which, just like a wet suit, can. be conveniently put on by an, operator to detect his or her motion intention by noninvasively monitoring his or her muscle conditions such as the shape, the stiffness and the density. This sensor suit is made of soft and elastic fabrics embedded with arrays of AEMS sensors such as strain gauges, ultrasonic sensors and optical fiber sensors, to measure different kinds of human muscle conditions. In the previous paper, the muscle stiffness sensor for detecting musclar force was developed according to the fact that the muscle gains its stiffness as it is activated Its sperior performance was reported through experiments in which the sensor was applied for the assisting device for the disable. In this paper, the ultrasonic sensor disk is proposed as one of the sensor disks embedding the sensor suit. This sensor is based on an original principle and noninvasively detects activity of specific muscle. It is clear that the square of ultrasonic transmission speed is in proportion to the, elasticity of the object and in inverse proportion to the density. It is estimated that the elasticity and density of the muscle increase or decrease as the muscle is energized. Then, it is hereby expected that the muscular activity is measured by the ultrasonic sensor. In this study, the feasibility of an ultrasonic sensor for detecting muscular force is shown through experiments.
• 力触覚インタフェースにおける操作感の主観評価

  金森 直希, 田中 孝之, 田中 一男

  日本機械学会論文集. C編 68 669 1467 - 1473 一般社団法人日本機械学会 2002年05月25日 [査読無し][通常論文]
   

  This paper addresses subjective evaluation for operating feeling in a haptic interface. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three-pattern classification is also investigated by the semantic differential method and factor analysis.
• Principle of Stable Running of An Unicycle Robot, Journal of Robotics and Mechatronics

  Takayuki Tanaka, Hisanobu Suzuki, Kazuo Tanaka

  Journal of Robotics and Mechatronics 14 1 37 - 45 2002年02月 [査読有り][通常論文]
  
• Evaluation method of man-machine system based on muscular characteristic

  Takeshi Koyama, Takayuki Tanaka, Kazuo Tanaka, Maria Q. Feng

  Proceedings - IEEE International Workshop on Robot and Human Interactive Communication 71 - 76 2002年 [査読有り][通常論文]
   

  In order to provide quality nursing care for bed-bound and disabled people without causing physical and mental stress to both patients and nurses, we have been developing a prototype of a human-assisting robotic system, referred to as HARO (Human-Assisting RObot), which is worn by an operator to amplify his or her power. This paper focuses on the suggestion of new evaluating method about assisting ability of a man-machine system based on muscular character, body mechanics and operator's link model. © 2002 IEEE.
• Rights to Intellectual Property on R&D Results Conducted at University

  Kazuo Yamafuji, Takayuki Tanaka

  Journal of Robotics and Mechatronics 13 1 101 - 106 2001年 [査読有り][通常論文]
  
• New Biological Real-time Pattern Extraction Emulating Fly's Behavior

  Takayuki Tanaka, Kazuo Yamafuji, Yasunori Yamazaki

  Journal of Robotics and Mechatronics 13 1 68 - 73 2001年 [査読有り][通常論文]
  
• Mechanical modeling and control of wearable nursing care robot

  T Koyama, MQ Feng, T Tanaka

  INTEGRATION OF ASSISTIVE TECHNOLOGY IN THE INFORMATION AGE 9 227 - 234 2001年 [査読有り][通常論文]
   

  To provide quality nursing care for bedridden and disabled people without charging physical and mental stress to both patients and helpers, we have developed a prototype of a human-assisting robotic system, referred to as HARO (Human-Assisting RObot), which is worn by a helper to amplify his or her power. This paper suggests how to model and control the mechanical system of HARO that contacts with both an operator and a patient to realize certain care motions by the human-HARO system more safely.
• Principle of Cat-Turn Motion and Realization of Cat-Turning by a Robot with Vertebrate-Type Backbones Driven by Rubber Actuators

  International Journal of Mechanics and Control 1 1 19 - 34 2001年 [査読無し][通常論文]
  
• 介護用装着型ヒューマン・アシスト装置に関する研究(第1報,コンセプト,システム設計と実機の開発)

  小山 猛, 山藤 和男, 田中 孝之

  日本機械学会論文集. C編 66 651 3679 - 3684 一般社団法人日本機械学会 2000年11月25日 [査読無し][通常論文]
   

  In order to care bed-bound and disabled people without charging both patients and nurses with physical and mental stress, we have developed a robotic prototype of a human-assisting system, called the Human-Assisting RObot (HARO). It is requested that patients enjoy their daily life and cares without giving physical and mental burdens to nursing people. There are two ways to care the patients. One is to conduct the cares by an intelligent robot autonomously, another is to be performed by a human-assisting system. Since we believe it is necessary to combine humman's cognitive capability and robot's power, we have developed a robotic prototype of a human-assisting system as a wearable power assisting system including human's intention, skill and cognition. In this paper, the concepts based on the practical experiences of care, system design, developed robot and the exprimental results are described.
• Wearable Human Assisting Robot for Nursing Use

  Takeshi Koyama, Maria Q. Feng, Takayuki Tanaka

  Machine Intelligence and Robotic Control 2 4 163 - 168 2000年 [査読有り][通常論文]
  
• Development of a Robotic System Which Assists Unmanned Production Based on Cooperation between Off-line Robots and On-line Robots (3rd Report: Development of an off-line robot, autonomous navigation and detection of faulty workpieces in a vibrating par・・・

  H.Z. Yang, K. Yamafuji, T. Tanaka, S. Moromugi

  International Journal of Advanced Manufacturing Technology 16 8 582 - 590 2000年 [査読有り][通常論文]
   

  Development of a Robotic System Which Assists Unmanned Production Based on Cooperation between Off-line Robots and On-line Robots (3rd Report: Development of an off-line robot, autonomous navigation and detection of faulty workpieces in a vibrating parts feeder)
• New biological real-time pattern extraction method emulating fly's behavior

  Takayuki Tanaka, Kazuo Yamafuji

  IECON Proceedings (Industrial Electronics Conference) 1 1237 - 1242 2000年 [査読有り][通常論文]
   

  Wc propose new biological real-time pattern extraction method. In order to extract objects from a frame image taken by a camera, many Virtual Flies (VFs) scattered in the CRT display are utilized. An individual VF composed of 3x3 pixels can freely fly in the display. Fundamental object extraction method is to detect objects just like flies sensing foods and swarming around them. Methodology realized by the softcomputing technology and experimental results are described in detail.
• Improvement of Maneuverability of the Man-Machine System for Wearable Nursing Robots

  Satoki Morishita, Takayuki Tanaka, Kazuo Yamafuji, Naoki Kanamori

  Journal of Robotics and Mechatronics 11 6 461 - 467 1999年12月 [査読有り][通常論文]
  
• サービス用知能移動ロボットの開発(第3報, ハエの行動に倣った生物的実時間画像抽出法とハンドアイシステムへの応用)

  田中 孝之, 大井 純司, 山藤 和男

  日本機械学会論文集. C編 65 629 146 - 153 一般社団法人日本機械学会 1999年01月25日 [査読無し][通常論文]
   

  We have developing an intelligent mobile robot for service use which can be utilized as a "secretary or helper robot" during the day and "security guard or maintenance including floor-cleaning robot" at night in office buildings. When the service robot works or moves autonomously in an enviromnent including human beings, it should be able to recognize its environment on real time. In this paper, new biological object extraction method is developed. In order to extract objects from a frame image taken by a camera, many Virtual Flies (VFs) scattered in the CRT display are utilized. An individual VF composed of 3×3 pixels can freely fly in the display. Fundamental object extraction method is to detect objects just like flies sensing foods and swarming around them. Methodology and experimental results together with its application of Hand-Eye system using a robot manipulator are described in detail.
• サービス用知能移動ロボットの開発 (第2報, 視覚センサを用いた自己位置認識システム)

  田中 孝之, 山藤 和男, 渡邊 浩樹, 片江 毅

  日本機械学会論文集. C編 64 628 4702 - 4709 一般社団法人日本機械学会 1998年12月 [査読無し][通常論文]
   

  We have developing an intelligent mobile robot for service use which can be utilized as a "secretary or helper robot" in day time and "security guard or maintenance including floor-cleaning robot" in night in office buildings. Since the service robot works or moves autonomously living together with human being in office environments, it must be able to recognize its absolute position and environment. In this paper, we proposed two types of self positioning method based on a visual sensor. One is the global self positioning (GSP) which is realized by recognition of a room number plate. The another is Iocal self positioning (LSP) in which the position is calculated by the relation between the robot and three lighting landmarks, such as two exit lamps and a fire hydrant lamp in corridors. Experimental results show that proposed methods are very effective in self positioning for the autonomous mobile robot.
• Unattended Production Based on Cooperation between Offline and Online Robot

  Journal of Robotics and Mechatronics 10 6 538 - 541 1998年 [査読無し][通常論文]
  
• Soft computing algorithms for intelligent control of a mobile robot, Part 2: Path planning, navigation and technology operations

  T. Tanaka, J. Ohwi, L.V. Litvintseva, K. Yamafuji, S.V. Ulyanov

  Soft Computing 1 2 99 - 106 1997年06月 [査読有り][通常論文]
  
• Soft computing algorithms for intelligent control of a mobile robot, Part 1: Direct human-robot communications and managing system for cooperative control

  T. Tanaka, J. Ohwi, L.V. Litvintseva, K. Yamafuji, S.V. Ulyanov

  Soft Computing 1 2 88 - 98 1997年06月 [査読有り][通常論文]
  
• サービス用知能移動ロボットの開発 (第1報,環境適応型自筆移動制御システム)

  田中 孝之, 山藤 和男, 高橋 秀典

  日本機械学会論文集. C編 63 605 211 - 218 一般社団法人日本機械学会 1997年01月25日 [査読無し][通常論文]
   

  We have developed an intelligent mobile robot for service use, which can be utilized as a "secretary-or helper-robot" by daytime and "robot for security guard or maintenance including floor cleaning" by night in office buildings. An autonomous locomotion control system of this service robot is organized by four functions, i.e., path planning, recognition of absolute position, locomotion control and learning navigation controller. In this paper, in order to move more appropriately and smoothly in environments including human beings and obstacles, we have examined the learning function by means of fuzzy neural network which tunes up membership functions for fuzzy locomotion control. By this method, the intelligent robot can learn the moving area autonomously. Results obtained by computer simulation show that the proposed method is very useful for autonomous locomotion control of the intelligent robot.
• Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms

  Takayuki Tanaka, Junji Ohwi, Ludmila V. Litvintseva, Kazuo Yamafuji, Sergei V. Ulyanov

  Journal of Robotics and Mechatronics 8 6 538 - 554 1996年12月 [査読有り][通常論文]
  
• A mobile robot for service use: Behaviour simulation system and intelligent control.

  T Tanaka, J Ohwi, LV Litvintseva, K Yamafuji, SV Ulyanov, Kurawaki, I

  IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 366 - 371 1996年 [査読有り][通常論文]
   

  The structure of hardware and software of Al control system of a mobile robot for service use are described. Hardware of a mobile robot for service use include an autonomous wheel vehicle and a five degree of freedom manipulator. Software of AI control system of a mobile service robot is based on soft computing including fuzzy control rules, fuzzy neural network and genetic algorithms. Intelligent control of cooperative motion between of an autonomous vehicle and a manipulator realize the flexible operations as navigation of a mobile robot in presence of static and dynamic obstacles, the processes Of Opening door in rooms and push button of elevator. New hierarchical structure of AI control system includes direct human-robot communication line based on natural language and cognitive graphics, and generator of virtual reality for simulation of artificial life conditions for mobile service robot. Simulation results and experimental results of navigation and technological operations with manipulator for mobile robot of service use in office building are described.
• Intelligent control of technology operations robot of service use with manipulator

  T Tanaka, Y Kojima, J Ohwi, K Yamafuji, SV Ulyanov

  RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS 170 - 176 1996年 [査読有り][通常論文]
   

  Since 1992, we have been developing the intelligent mobile robot for service use mainly utilized in office building. It is a Power Wheeled Steering type robot with a 5 degree of freedom (DOF) manipulator. It can move autonomously from one room to the others through different floors and buildings using elevators. In order to achive such operations, the robot must conduct cooperative motions using the locomotive mechanisms and the manipulator. Then it is necessary to develop an intelligent position control system for the cooperative control. In this paper, we explain an intelligent navigation control for by using fuzzy classifier system (FCS), GA and GA in continuous space (GAGS). Simulation and experimental results show that the proposed method is effective for technology operatins of the service robot, as opening door, closing door and pushing elevator button.
• Intelligent Control of Mobile Robot for Service Use

  International Journal of Software and Systems 3 35 - 43 1996年 [査読無し][通常論文]
  
• Intelligent fuzzy motion control of mobile robot for service use

  S.V. Ulyanov, K. Yamafuji, K. Miyagawa, T. Tanaka, T. Fukuda

  Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots 1995年08月 [査読有り][通常論文]
  

MISC

• ネックバンド型センサユニットを用いた作業計測の一提案

  日下聖, 田中孝之, 菱川祐也, 田中吉史, 白倉尚樹, 山野辺夏樹, RAMIREZ-ALPIZAR Ixchel Georgina, CORONADO Enrique, 堂前幸康 産業衛生学雑誌 66 (1) 2024年
• 「軽労化」の深耕 : 作業員の身体能力評価と安全意識改革、および労災リスク調査

  田中 吉史, 田中 孝之, 土谷 圭央 建設機械 / 建設機械編集委員会 編 59 (6) 51 -60 2023年06月
• 残存機能を活用した新たな立ち座り動作支援機器の有効性検証

  土谷圭央, 三上隼人, 田中孝之, 和田親宗 日本ロボット学会学術講演会予稿集(CD-ROM) 40th 2022年
• 腰部負担可視化ウェアラブルシステムの開発と介護業界への活用

  土谷圭央, 岸村厚志, 日下聖, 田中孝之 地域ケアリング 24 (9) 2022年
• 建設労働者の腰痛症に着目した身体能力と腰部負担の調査

  土谷圭央, 早坂将太郎, 田中吉史, 田中孝之 産業衛生学雑誌 64 (1) 2022年
• FEMを用いたL5-L4椎間板形状による椎間板内圧力変化解析

  藤田亘, 土谷圭央, 吉田道拓, 田中孝之 ロボティクスシンポジア予稿集 27th 2022年
• 3D SLIPモデルに基づく走行拡張のモデリング

  北川雅基, 田中孝之, 村井昭彦, REN H. 計測自動制御学会北海道支部学術講演会論文集 53rd 2021年
• SLIPモデルを用いた走行拡張シミュレータ構築のための基礎研究

  北川雅基, 田中孝之, 村井昭彦, 村井昭彦 バイオメカニズム学術講演会予稿集 42nd (CD-ROM) 2021年
• アクティブコルセットの可変締付力制御則の個人適合による腰部負担軽減効果の向上と考察

  吉田道拓, 田中孝之, 土谷圭央, 金子勇斗 ロボティクスシンポジア予稿集 26th (CD-ROM) 2021年
• 骨盤底筋群活動と運動イメージの関係

  板橋陽子, 島谷康司, 田中孝之 母性衛生 62 (3) 2021年
• 拡張SLIPモデルに基づく体幹・骨盤回旋運動補助による走行アシストの評価

  橋本光太郎, 田中孝之, REN Hongyuan, 村井昭彦, 村井昭彦 ロボティクスシンポジア予稿集 25th 2020年
• グランドチャレンジ3競技

  村井昭彦, 田中孝之, 栗田雄一, 南澤孝太, 持丸正明 バイオメカニズム学術講演会予稿集 41st 2020年
• 腰部物理モデル開発のための前後屈姿勢X線画像による負担解析

  藤田 亘, 土谷 圭央, 田中 孝之, 吉田 道拓 ロボティクス・メカトロニクス講演会講演概要集 2020 (0) 1P2 -F14 2020年 

  Low back pain is a serious problem in Japan, so analysis of lumber load is needed. The conventional analysis method is an invasive analysis, and a non-invasive and safe analysis method is required. The purpose of this study is to make a physical model of L4-L5 vertebral body from radiographs and to estimate the lumbar load from the model. Five X-ray images of the upper body angle, standing postures, and backward bending were taken for each subject, and a three-dimensional model of the L4-L5 vertebral body was created. FEM analysis was performed using the model created, and the load acting on the intervertebral disc during the photographed postures ware measured. The results were evaluated for each of the four subjects to measure individual differences. Based on these results, we approached the lumbar load analysis using a physical model, which is the goal of this study.

• 腰部負担軽減のためのアクティブコルセット

  田中 孝之, 吉田 道拓, 金子 勇斗, 土谷 圭央 産業衛生学雑誌 61 (5) 243 -243 2019年09月 [査読有り][通常論文]
  
• スライディングボードを活用したchair sitting positionによる移乗介助方法の検討

  岸村 厚志, 土谷 圭央, 田中 孝之, 佐伯 大輔, 飛田 伊都子 日本作業療法学会抄録集 53回 PL -1D06 2019年09月 [査読有り][通常論文]
  
• 自己位置推定誤差を考慮した作業履歴に基づく作業認識

  勝長達平, 田中孝之, 新妻実保子 知能メカトロニクスワークショップ講演論文集(CD-ROM) 24th 2019年
• 作業改善と軽労化のための身体負担の可視化技術

  田中 孝之, 日下 聖, 土谷 圭央, 宮島 沙織, 泉 博之 産業衛生学雑誌 60 (3) 82 -83 2018年05月 [査読有り][通常論文]
  
• アクティブコルセットの締め付け力による関節剛性への影響

  吉田 道拓, 田中 孝之, 日下 聖, 土谷 圭央 ロボティクス・メカトロニクス講演会講演概要集 2018 2P1-L18 2018年 [査読無し]
   

  This research developed assist equipment that changes the tightening force depending on low back burden. The final aim of this research is to develop the control system to tighten optimally. This paper aims to reveal the response of the human body to the tightening. The low back burden is defined as the compression force on the intervertebrae disk. The first half of this paper verifies the effect of the tightening on pelvis. In the verification about the posture of anteflexion, the low back burden decreased in two subjects among three. Also about the motion of lifting up, all of three subjects was reduced the low back burden. In the second half, the influence on joint stiffness by tighteing was shown for four subjects. By the experiment to identify the inpedance, the increase of elasticity on joints was shown about the one of the subjects.
• 腰部負担の見える化技術

  土谷 圭央, 日下 聖, 田中 孝之, 吉田 道拓 ロボティクス・メカトロニクス講演会講演概要集 2018 2P2-M14 2018年 [査読無し]
   

  Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. Because it can be expected to explore the cause of low back pain, it is necessary to measure the lumbar load noninvasively taking lumbosacral alignment and external load into consideration. In this research, we develop a wearable sensor system for estimating the lumbar load.
• 骨盤底筋活動解析のための筋骨格モデルの形状個別適合

  若生 知宏, 田中 孝之, 島谷 康司, 栗田 雄一, 飯田 忠行 精密工学会学術講演会講演論文集 2018 (0) 688 -689 2018年 [査読無し][通常論文]
   

  腹圧性尿失禁は女性の典型的なQOL疾患である．予防には骨盤底筋（PFM）の強化が有効であるが，筋活動に個人差が大きく，それを考慮したトレーニングが望まれる．骨盤アライメントはこの個人差の一因となるため，計測する必要がある．現在はレントゲン計測が主流だが，被爆などの問題がある．本研究では，これを解決するため，歩行動作から骨盤アライメントを推定する方法を提案する．推定の結果，残差を2[deg]程度に抑えることができた．

• 巻頭言：特集号「分野横断化・社会実装を促進するシステムインテグレーション」について

  川端 邦明, 田中 孝之, 栗田 雄一, 島 圭介, 和田 一義 計測自動制御学会論文集 54 (1) 1 -1 2018年 [査読無し][通常論文]
  
• 歩行動作分析に基づく体幹・骨盤運動補助による歩行アシスト装置の開発

  橋本光太郎, 田中孝之, 日下聖 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.3D2‐10 2017年12月20日 [査読無し][通常論文]
  
• 姿勢コードを用いた作業認識支援手法

  宮島沙織, 下山慧, 田中孝之, 泉博之, 宮田なつき 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.3D2‐09 2017年12月20日 [査読無し][通常論文]
  
• FEM解析による腰部負担推定のための腰部簡易筋骨格モデルの最適化

  秋本 晴馬, 土谷 圭央, 田中 孝之, 日下 聖, 今村 由芽子 バイオメカニズム学術講演会予稿集 38回 85 -88 2017年11月 [査読無し][通常論文]
  
• アシストウェア制御のためのウェーブレット分散特徴量を用いた動作・負担予測

  日下聖, 岡本仁志, 吉田道拓, 田中孝之 日本ロボット学会学術講演会予稿集(CD-ROM) 35th ROMBUNNO.3G1‐01 2017年09月11日 [査読無し][通常論文]
  
• 日常生活動作での個別筋力トレーニングのための骨盤筋骨格モデルの設計

  若生知宏, 田中孝之, 島谷康司, 土谷圭央 日本ロボット学会学術講演会予稿集(CD-ROM) 35th ROMBUNNO.1D2‐03 2017年09月11日 [査読無し][通常論文]
  
• 作業中における負担感と作業動作の同時計測

  宮島沙織, 田中孝之, 泉博之, 宮田なつき, 多田充徳, 持丸正明 産業保健人間工学研究 19 (Supplement) 39‐42 2017年09月04日 [査読無し][通常論文]
  
• マイクロ波多層走査法によるコンクリート内空隙検出

  田中孝之, 川瀧翔太郎, 土井暁, 内田茂, FENG Maria Q 建設ロボットシンポジウム論文集(CD-ROM) 17th ROMBUNNO.O4‐5 2017年08月28日 [査読無し][通常論文]
  
• 着脱性の向上をはかった漁業用軽労化支援スーツの試作

  高橋秀行, 田丸修, 土谷圭央, 田中孝之 日本水産工学会学術講演会講演論文集 2017 172‐175 2017年05月27日 [査読無し][通常論文]
  
• 身体負担計測を目的とする簡易インソール型足底反力センサの試作

  吉田道拓, 土谷圭央, 田中孝之, 日下聖 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 ROMBUNNO.2P2‐K02 -K02 2017年05月09日 [査読無し][通常論文]
   

  In recent years, the necessity of measuring the physical stress is increasing. The reaction force that the legs receive from the floor is useful information for estimating the physical stress. But measurement equipment for reaction force cannot be carried in most cases. It is difficult to measure at the environment that human act. Furthermore, that equipment is expensive, and measurement involves several constraints. We prototype a sensor which is low cost and can measure the reaction force even in any environment.

• 歩行時体幹回旋補助装置のための拡張型Hybrid振動子を用いた歩行アシストの一提案

  相津琢磨, 橋本光太郎, 日下聖, 田中孝之 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 ROMBUNNO.1P1‐L11 -L11 2017年05月09日 [査読無し][通常論文]
   

  In recently years, aging society with fewer children are major problem, and it is required that the elderly are independent in order to enhance the quality of life. There are many researches on walking assist suit from this background. Walking is exercise including not only lower body but also upper body movement, but most of these are suits to assist the lower body. Therefore, the purpose of study is to develop walking assist suit focusing on trunk rotation. The control method adopted periodic input control which is effective for periodic motion. And, the Hybrid oscillator is extended,it is possible to change the motion in case of rotating direction switching. In this paper, we describe the design method of the trunk rotation assist device, confirm system effect from experiment. As the result, this system need to consider left and right legs.

• X線画像解析に基づく腰部3次元動作と腰仙椎アライメントとの関係

  土谷圭央, 日下聖, 田中孝之, 松尾祥和, 小田まこと, 笹木工, 神島保, 山中正紀 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 ROMBUNNO.2P2‐J06 -J06 2017年05月09日 [査読無し][通常論文]
   

  Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. This study aims to develop of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Lumbar motion have anteflexion,rotation motion and lateral bending. However, it thing don't know that relationship between the upper body attitude angle and the attitude angle of the vertebral body in rotation motion and lateral bending. We construct that estimation method of rotation angle and lateral bending angle in the vertebral body.

• 体幹回旋補助装置を用いた波形変形による歩行アシストの一提案

  相津琢磨, 日下聖, 田中孝之 ロボティクスシンポジア予稿集 22nd 271‐272 2017年03月15日 [査読無し][通常論文]
  
• ロボットとその周辺技術 軽労化スーツ スマートスーツ

  田中孝之 日本AEM学会誌 25 (1) 17‐23 2017年03月10日 [査読無し][通常論文]
  
• Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control

  KUSAKA Takashi, TANAKA Takayuki, KAJIWARA Hidekazu ROBOMECH Journal (Web) 4 (Jan) 4:2 (WEB ONLY) 2017年01月 [査読無し][通常論文]
  
• 四元数相補フィルタを用いた複数種センサによる腰部表皮形状の3次元計測

  日下 聖, 土谷 圭央, 田中 孝之 バイオメカニズム学術講演会予稿集 37回 157 -160 2016年11月 [査読有り][通常論文]
  
• 装着型アシストツールのアシスト力に関する考察 (産業保健人間工学会第21回大会 Practice and its theory : 回帰と進化)

  泉 博之, 田中 孝之 産業保健人間工学研究 = Journal of ergonomics in occupational safety and health 18 22 -24 2016年09月
• スマートスーツによる作業の軽労化支援

  田中孝之 配管技術 58 (6) 72 -76 2016年05月01日 [査読無し][通常論文]
  
• 受動歩行アシストを考慮した体幹回旋補助装置

  橋本光太郎, 田中孝之, 相津琢磨, 日下聖 ロボティクスシンポジア予稿集 21st 117 -122 2016年03月17日 [査読無し][通常論文]
  
• 体幹回旋補助装置のための基礎的研究

  相津琢磨, 田中孝之, 橋本光太郎, 日下聖 ロボティクスシンポジア予稿集 21st 476 -481 2016年03月17日 [査読無し][通常論文]
  
• デジタルヒューマンモデルを用いた作業負担推定のための体表面形状解析に基づく慣性センサ最適配置

  宮島沙織, 田中孝之, 宮田なつき, 多田充徳, 持丸正明 ロボティクスシンポジア予稿集 21st 350 -355 2016年03月17日 [査読無し][通常論文]
  
• 作業改善を目的としたウェアラブル作業負担記録システム

  田中孝之, 宮島沙織, 泉博之 電気学会制御研究会資料 CT-16 (6-16) 23 -24 2016年01月23日 [査読無し][通常論文]
  
• ウェアラブル腰部負荷センサの開発と介護施設作業管理への応用

  日下聖, 土谷圭央, 田中孝之, 松尾祥和 電気学会制御研究会資料 CT-16 (6-16) 33 -34 2016年01月23日 [査読無し][通常論文]
  
• 筋硬さセンサを用いた前屈動作における手先荷重推定法

  土谷 圭央, 日下 聖, 田中 孝之, 松尾 祥和 ロボティクス・メカトロニクス講演会講演概要集 2016 1P1-12b2 2016年 [査読無し]
   

  This study aims to develop of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Need to use the hand load for lumbar load estimation. Therefore, the hand load estimation method is developed by using muscle hardness sensor. By using this method, the hand load can be estimated with enough accuracy.
• 感覚運動機能を向上させるアシストスーツ:SEnS:－第四報：腹腔鏡外科医師向けスーツの試作－

  栗田 雄一, 小池 祐輝, 田中 孝之, 辻 敏夫 ロボティクス・メカトロニクス講演会講演概要集 2016 (0) 1A1 -02b4 2016年 [査読無し][通常論文]
   

  We have developed the Sensorimotor Enhancing Suit (SEnS) and revealed that the SEnS can unload the load of one's upper limb and then improve the force perception capability. In this study, we develop a new version of SEnS for a laparoscopic surgery. The SEnS for the laparoscopic surgery was designed to unload the muscle effort around one's shoulder, and it also helps to maintain the appropriate posture for the surgery. We measured smoothness of motions during forceps manipulations when wearing the SEnS. The experimental results show that the SEnS can improve the smoothness of motions.

• 頭部形状と骨格構造を考慮した上向き作業軽労化ネックサポータの評価

  青山慎一郎, 田中孝之 計測自動制御学会北海道支部学術講演会論文集 48th 53 -56 2016年 [査読無し][通常論文]
  
• マイクロ波非破壊検査によるコンクリート内空隙検出の基礎研究

  川瀧翔太郎, 田中孝之, 土井暁, 内田茂, FENG Maria Q 計測自動制御学会北海道支部学術講演会論文集 48th 79 -80 2016年 [査読無し][通常論文]
  
• セミアクティブ筋力トレーニングスーツの負荷制御系設計

  中野直樹, 田中孝之, 野村英史, 神山慶人, 渡部靖之 計測自動制御学会北海道支部学術講演会論文集 48th 57 -60 2016年 [査読無し][通常論文]
  
• ウェアラブルセンサシステムを用いた腰部負荷推定のための腰仙部寸法校正法

  土谷圭央, 日下聖, 田中孝之, 松尾祥和, 小田まこと, 笹木工, 神島保, 山中正紀 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2015 ROMBUNNO.SS18-5(O1-2) 2015年11月18日 [査読無し][通常論文]
  
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第三報:関節位置覚に対する影響―

  栗田雄一, 佐藤純平, 辻敏夫, 田中孝之, 篠原稔 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2015 ROMBUNNO.SS13-1 2015年11月18日 [査読無し][通常論文]
  
• パワーアシストは労働力不足の救世主になるか 動力なしで,ゴムの力を利用した軽労化スーツ「スマートスーツ」

  田中孝之 建設機械 51 (10) 17 -20 2015年10月01日 [査読無し][通常論文]
  
• 簡易動作計測に基づくスマートスーツの軽労化効果の見積もり

  田中孝之, 宮島沙織, 今村由芽子 建設ロボットシンポジウム論文集(CD-ROM) 15th ROMBUNNO.P2-15 2015年09月07日 [査読無し][通常論文]
  
• セミアクティブ負荷制御機構をもつ微小重力下筋力トレーニングスーツ

  田中孝之, 中野直樹, 野村英史, 神山慶人 日本ロボット学会学術講演会予稿集(CD-ROM) 33rd ROMBUNNO.2C1-04 2015年09月03日 [査読無し][通常論文]
  
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第二報:両腕の補助が可能なスーツの開発―

  栗田雄一, 小池祐輝, 田中孝之, 辻敏夫 日本ロボット学会学術講演会予稿集(CD-ROM) 33rd ROMBUNNO.2A2-04 2015年09月03日 [査読無し][通常論文]
  
• 引き込みを利用した振動周波数推定とパラメータ最適化による適応的周期入力制御

  日下聖, 田中孝之 日本ロボット学会学術講演会予稿集(CD-ROM) 33rd ROMBUNNO.1I3-08 2015年09月03日 [査読無し][通常論文]
  
• 装着型作業支援装置の現状と課題 軽労化を実現するスマートスーツ

  田中孝之 福祉介護テクノプラス 8 (6) 10 -13 2015年06月01日 [査読無し][通常論文]
  
• 漁業用軽労化支援スーツの改良―2 改良型スーツの評価試験

  高橋秀行, 田中孝之, 今村由芽子, 前田大輔, 吉成哲, 江森浩司, 鈴木善人 日本水産工学会学術講演会講演論文集 2015 117 -118 2015年05月29日 [査読無し][通常論文]
  
• 漁業用軽労化支援スーツの改良―1 新たな腰部支持機構を搭載したスーツの試作

  高橋秀行, 田中孝之, 今村由芽子, 前田大輔, 吉成哲, 江森浩司, 鈴木善人 日本水産工学会学術講演会講演論文集 2015 113 -116 2015年05月29日 [査読無し][通常論文]
  
• 2A1-N06 ロボコンプロデュース2014

  田中 孝之, 河村 隆, 大竹 博, 小山 猛, 村上 弘記 ロボティクス・メカトロニクス講演会講演概要集 2015 "2A1 -N06(1)"-"2A1-N06(3)" 2015年05月17日 

  This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2014 is also reported as an embodiment.
• 1A1-K02 組み込みシステムのための残差補正法による逆正接関数の高速計算

  日下 聖, 田中 孝之, 梶原 秀一 ロボティクス・メカトロニクス講演会講演概要集 2015 "1A1 -K02(1)"-"1A1-K02(4)" 2015年05月17日 

  The paper proposes a technique to create a low-cost approximate function for calculation of a large-cost functions in embedded systems. The fast-calculations of arctangent(atan2), sine and cosine functions were developed as its application. The developed atan2 function is 20x faster and 1/3 RAM usage than the standard math library.
• 1P1-X05 椎体変位を考慮した筋骨格モデルによる腰椎負荷推定 : 立位静止時における椎体重心間距離の解析

  今村 由芽子, 田中 孝之, 日下 聖, 土谷 圭央 ロボティクス・メカトロニクス講演会講演概要集 2015 "1P1 -X05(1)"-"1P1-X05(2)" 2015年05月17日 

  In this study, we propose an estimation model of the lumbar load which is a factor of lumbar disorders. Proposed method uses musculoskeletal model that has elastic elements between the vertebral bodies, and simulates the intervertebral disk pressure and the displacement of the vertebral bodies simultaneously. This paper reports on the comparison with the experimental value of the displacement of the vertebral body in static conditions.
• 1P1-W05 慣性センサを用いた動作計測に基づくアシスト器具の補助効果シミュレーション

  宮島 沙織, 田中 孝之, 今村 由芽子, 日下 聖 ロボティクス・メカトロニクス講演会講演概要集 2015 "1P1 -W05(1)"-"1P1-W05(3)" 2015年05月17日 

  This research aims to estimate effect of assist device in real work field. First, Human motion is measured by 6-axis motion tracking devise that combines a 3-axis accelerometer and a 3-axis gyroscope placed on shank, thigh and back. Next, lumbar joint torque and assisting effect of Smart Suit Lite in the motion are estimated by interactive musculoskeletal simulation. Conventional method to estimate joint torque is using full body motion data measured by optical motion capturing system. But in this research, joint torque can be estimated by only 3 angles of links which is body, thigh and lower leg. Usability of proposal method is verified by the field experiment. As the result of the experiment, workload was evaluated and assistive effect of Smart Suit Lite was estimated by measured motion.
• 1P1-X04 ウェアラブル腰部負荷推定システムのための腰仙部寸法校正法

  土谷 圭央, 日下 聖, 田中 孝之, 松尾 祥和, 小田 まこと, 笹木 工, 神島 保, 山中 正紀 ロボティクス・メカトロニクス講演会講演概要集 2015 "1P1 -X04(1)"-"1P1-X04(4)" 2015年05月17日 

  This study is aimed to developed of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Obtains the lumbosacral size from the X-ray image, the lumbosacral size calibration method is developed using the body surface area and height. Using these method, and confirm lumbosacral alignment estimation accuracy and the lumbar load estimation accuracy.
• 動作解析に基づく人-ロボットの機能の対応付けによる生産ライン設計支援手法の一提案

  若杉素秋, 田中孝之, 堂前幸康 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) 2015 2015年
• F113002 軽労化ツール : スマートスーツ

  田中 孝之 年次大会 2015 (0) _F113002 -1-_F113002-5 2015年 [査読無し][通常論文]
   

  KEIROKA[○!R] assistive system is assistive technology which can reduce fatigue or load of human workers and also can keep their physical performance. In this paper, the author describes the concept of KEIROKA assistive system and Smart Suit [○!R] as a concrete example of KEIROKA system. The assistive mechanism of Smart Suit and its design based on information and robot technology (IRT), biomechanics and ergonomics will be mentioned. Usage examples of Smart Suit will be also shown. The application of IRT on KEIROKA assistive system and its future prospects will be remarked.
• G1500303 頭部形状と骨格構造を考慮した上向き作業軽労化ネックサポータの評価

  青山 慎一郎, 田中 孝之 年次大会 2015 (0) _G1500303 --_G1500303- 2015年 [査読無し][通常論文]
   

  Today in construction work, some workers have to do looking-upward works. Looking-upward work for many hours and many times make fatigue on their neck. In addition, the fatigue also affects the daily life as well as work. Therefore we develop neck-supporter for looking-upward work to reduce fatigue. In the conventional research, the fatigue on neck is reduces 40% by wearing neck-supporter. Current research issue is that assist effect is different from the physique of the neck-supporter's wearer. To solve this problem, we design 4 links statics model to assist their neck ideally considering wearer's physique. As a result of verification of position validity, this model was able to correctly estimate back of the head position. We simulated the assist ratio by using 3-pattern initial attitude degrees. The result was that initial attitude degrees greatly affect assist ratio. Future tasks are looking-upward work experiment to wear neck-supporter and compare the result of experiment to the simulation.
• G1500302 筋力トレーニング用スマートスーツにおけるセミアクティブ型負荷制御の安定化

  中野 直樹, 田中 孝之, 今村 由芽子, 野村 英史, 今井 茂, 神山 慶人, 早稲田 真平 年次大会 2015 (0) _G1500302 --_G1500302- 2015年 [査読無し][通常論文]
   

  Astronauts are using huge special machines in order to maintain physical function under the zero-gravity. This research aims to develop the wearable training device to do muscle training under the zero-gravity instead of them. First, we designed motor-unit system and its sensing device to control. Next, we developed Semi-Active Load Control Mechanism to use a PD feedback control method with this device at a constant force. We made an experiment to evaluate the control method, that the force point was moved by hand at a constant speed. But the output force had an unstable vibration component because of discontinuous law and human control. So we designed FIR digital filter and new control method to reduce unstable vibration. By using these methods, we showed the effectiveness through the evaluation experiment.
• 微小重力下におけるセミアクティブトレーニングシステムの研究開発

  野村英史, 神山慶人, 田中孝之, 中野直樹 宇宙科学技術連合講演会講演集(CD-ROM) 59th ROMBUNNO.2E14 2015年 [査読無し][通常論文]
  
• 複数慣性センサを用いた動作計測に基づく作業負担評価手法のフィールド実験

  宮島沙織, 田中孝之, 今村由芽子, 日下聖, 若杉素秋 計測自動制御学会北海道支部学術講演会論文集 47th 1 -2 2015年 [査読無し][通常論文]
  
• 動作解析に基づく人‐ロボットの機能の対応付けによる生産ライン設計支援手法の一提案

  若杉素秋, 田中孝之, 堂前幸康 計測自動制御学会北海道支部学術講演会論文集 47th 11 -14 2015年 [査読無し][通常論文]
   

  In this research, the way to support to design automated production line by making a correlation between human working and robot's based on analyzing of human motion was developed. It was seen assembling works as the combination of simple motions of work. The motion of work was became segmented by measuring acceleration and angular speed data and acknowledging motions of simple works and transient states them by using Support Vector Machine(SVM).The working within segmented motions was extracted by using Self-Organizing Maps (SOM) and made correlation between human workings and robot's functions. By the medium of them, the basis of the system to derive robot's features for automated production line was developed.
• 作業負担評価のためのウェアラブル腰部負荷推定システム (産業保健人間工学会 第19回大会 産業保健を推進するための力 : 超高齢社会日本を支えるために何が必要か?) -- (一般口演)

  土谷 圭央, 田中 孝之, 日下 聖 産業保健人間工学研究 = Journal of ergonomics in occupational safety and health 16 (0) 68 -71 2014年11月 [査読無し][通常論文]
  
• 労働支援のための軽労化アシスト技術「スマートスーツ」とその評価 (産業保健人間工学会 第19回大会 産業保健を推進するための力 : 超高齢社会日本を支えるために何が必要か?) -- (シンポジウム)

  田中 孝之, 今村 由芽子, 宮島 沙織 産業保健人間工学研究 = Journal of ergonomics in occupational safety and health 16 (0) 15 -18 2014年11月 [査読無し][通常論文]
  
• 感覚運動機能を向上させるウェアラブルスーツSEnSの評価

  佐藤純平, 田中孝之, 篠原稔, 辻敏夫, 栗田雄一 日本バーチャルリアリティ学会大会論文集(CD-ROM) 19th ROMBUNNO.12D-3 2014年09月17日 [査読無し][通常論文]
  
• Effect of Joint Parameters Identification of Humanoid Robot on Evaluation of Assistive Devices

  AYUSAWA Ko, YOSHIDA Eiichi, IMAMURA Yumeko, TANAKA Takayuki 日本ロボット学会学術講演会予稿集(CD-ROM) 32nd ROMBUNNO.1A3-03 2014年09月04日 [査読無し][通常論文]
  
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS

  栗田雄一, 佐藤純平, 田中孝之, 篠原稔, 辻敏夫 日本ロボット学会学術講演会予稿集(CD-ROM) 32nd ROMBUNNO.2Q2-04 2014年09月04日 [査読無し][通常論文]
  
• 上向き作業軽労化のためのネックサポータの開発

  青山慎一郎, 田中孝之 建設ロボットシンポジウム論文集(CD-ROM) 14th 287 -292 2014年08月28日 [査読無し][通常論文]
  
• かつお釣漁業の漁獲物陸揚げ作業における軽労化支援スーツの効果について―1.漁業用軽労化支援スーツの試作

  高橋秀行, 渡辺一俊, 田中孝之, 中島康成, 鈴木善人 日本水産工学会学術講演会講演論文集 2014 165 -166 2014年05月31日 [査読無し][通常論文]
  
• かつお釣漁業の漁獲物陸揚げ作業における軽労化支援スーツの効果について―2.漁業用軽労化支援スーツの評価試験

  高橋秀行, 田中孝之, 中島康成, 鈴木善人 日本水産工学会学術講演会講演論文集 2014 167 -168 2014年05月31日 [査読無し][通常論文]
  
• 2A2-F08 作業姿勢に適応した酪農作業用スマートスーツの開発(ユニバーサルデザインとロボメカ)

  奈良 博之, 田中 孝之, 日下 聖, 玉井 伸幸, 若杉 素秋, 山岸 孝幸, 小倉 庄太郎 ロボティクス・メカトロニクス講演会講演概要集 2014 "2A2 -F08(1)"-"2A2-F08(3)" 2014年05月24日 

  Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit".
• 3A1-S05 ヒューマノイドロボットによるパッシブ筋力補助装置スマートスーツ・ライトの効果検証(ウェアラブルロボティクス)

  今村 由芽子, 田中 孝之, 吉田 英一 ロボティクス・メカトロニクス講演会講演概要集 2014 "3A1 -S05(1)"-"3A1-S05(2)" 2014年05月24日 

  We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite reduces lumbar load by utilizing the elastic force of elastic belts. In this research, we performed basic experiment that evaluates effect of reduction in joint torque by using humanoid robot HRP-4C. The humanoid robot has high reproducibility of the motion, and its joint torques are able to be measured easily. In the result of the experiment, we observed a clear decrease of the lumbar torque when wearing the device during lifting motion. Furthermore, because the correlation were found between the decrement of torque, assist force and joint angle, it was confirmed that the assist mechanism of Smart Suit Lite are realized as designed in terms of joint torques.
• 3A1-S03 複数加速度・曲率センサを用いた腰椎2 次元形状推定のためのセンサシステム(ウェアラブルロボティクス)

  土谷 圭央, 松尾 祥和, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2014 "3A1 -S03(1)"-"3A1-S03(4)" 2014年05月24日 

  Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. However, many people have lumbar pain because of anteflexion motion that causes a lumbar disk burden due to changing lumbar shape. For this reason, purpose of this study is make a motion measuring system that can estimate lumbar shape from measuring lumbar skin shape which is change when lumbar shape is change.
• 3A1-S02 宇宙空間での筋力トレーニング用スマートスーツのためのセミアクティブ型負荷制御機構設計(ウェアラブルロボティクス)

  中野 直樹, 田中 孝之, 今村 由芽子, 川田 憲一, 今井 茂, 野村 英史, 山村 侑平 ロボティクス・メカトロニクス講演会講演概要集 2014 "3A1 -S02(1)"-"3A1-S02(3)" 2014年05月24日 

  Astronauts are struggling against decrease of physical function, such as muscle atrophy because of long space flight and its weightlessness. Thus today, they are using huge special machines in order to maintain physical function.This research aims to develop wearable training device to do muscle training under the zero-gravity. First, we measured Electromyograph and analysed the muscle activities during conventional barbell training.Next, we developed a simulation model to estimate the muscle activity level which varies with both motion position and and weight load. Using this model, we propose Semi-Active Load Control Mechanism, that enables to give similar training effect to conventional barbell training.
• 3P2-E06 Velocity calibration by analog information presentation using vibration alert interface(Haptic Interface)

  LAI Zhantao, TANAKA Takayuki, SAMPEI Yuki ロボティクス・メカトロニクス講演会講演概要集 2014 "3P2 -E06(1)"-"3P2-E06(3)" 2014年05月24日 

  This paper introduces a handy haptic device which informs users about analog information by different vibration. Human's subjective recognition to same stimulus varies from different external condition, so vibration alert interface is effective for information calibration by pulsing different vibration signals. Above all, the author explains the main function, internal components and working environment of Vibration Alert Interface. After, the author supposes a mathematical model to describe relationship between vibrotactile perception and interval period according to associated equations. Then author conducts a series of experiments and verify those assumptions and discover some other property of effective elements of interval period.
• 1P1-R06 ロボコンプロデュース2013(ロボカップ・ロボットコンテスト)

  田中 孝之, 河村 隆, 大竹 博 ロボティクス・メカトロニクス講演会講演概要集 2014 "1P1 -R06(1)"-"1P1-R06(3)" 2014年05月24日 

  This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2013 is also reported as an embodiment.
• パワーアシストシステムの任意点操作におけるインピーダンス修正量の最適化

  渋川文哉, 田中孝之, 金子俊一 ロボティクスシンポジア予稿集 19th 245 -250 2014年03月13日 [査読無し][通常論文]
  
• スマートスーツ・ライトの締付力による体幹安定化効果の動作解析とモデル化

  今村由芽子, 田中孝之, 鈴木善人, 瀧澤一騎, 山中正紀 ロボティクスシンポジア予稿集 19th 134 -139 2014年03月13日 [査読無し][通常論文]
  
• 筋負担軽減と動作矯正を考慮したセミアクティブアシスト機構の制御パラメータ設計

  日下聖, 田中孝之, 金子俊一, 梶原秀一 ロボティクスシンポジア予稿集 19th 239 -244 2014年03月13日 [査読無し][通常論文]
  
• NEDOの助成で実用化された最新福祉用具紹介 第13回 介護労働の負担と疲労を軽減する「軽労化スーツ」の実用化開発

  田中孝之 地域ケアリング 16 (1) 52 -55 2014年01月12日 [査読無し][通常論文]
  
• 3A1-S04 複合弾性材S-FRPを用いた軽労化スーツ(ウェアラブルロボティクス)

  田中 孝之, 今村 由芽子, 吉成 哲, 高橋 秀行 ロボティクス・メカトロニクス講演会講演概要集 2014 (0) _3A1 -S04_1-_3A1-S04_3 2014年 [査読無し][通常論文]
   

  This paper describes an innovative passive element for assistive device and its application. S-FRP is an elastic composite consisting of FRP and rubber. S-FRP provides restoring force in 3 dimension. A prototype of S-FRP and its basic characteristics are shown. Moreover, a prototype of KEIROKA-assistive suit using S-FRP for supporting back bend motion is developed. The authors show experimental results that the prototype suit can reduce 20% of muscular activations in back bending and stretching motions.
• 3P1-H05 力知覚機能を向上させるウェアラブルスーツ(筋骨格モデリング)

  佐藤 純平, 田中 孝之, 篠原 稔, 辻 敏夫, 栗田 雄一 ロボティクス・メカトロニクス講演会講演概要集 2014 (0) _3P1 -H05_1-_3P1-H05_3 2014年 [査読無し][通常論文]
   

  In this study, we examined (1) weight discrimination capability of human subjects with different muscle load, and (2) sensorimotor capability of human subjects when using a muscle assistive equipment. According to previous studies, humans can sense the intensity of external stimulus more accurately when voluntary muscle activation is less. We developed a three-dimensional musculoskeletal model based on an upper extremity model, and calculated the muscle activity required to keep a posture. We also conducted human experiments and revealed that the weight discrimination capability improves as voluntary muscle activation is less. Based on the experimental results, we developed a muscle assistive equipment that unloads the weight of one's upper limb and evaluated the improvement in the sensorimotor capability when using the equipment. The results show that assisting the muscle load is effective to improve the sensorimotor performance.
• 複数周波数成分を有する周期運動のスキルアシストのための拡張型周期入力制御の開発

  吉藤拓土, 田中孝之, 日下聖 計測自動制御学会北海道支部学術講演会論文集 46th 147 -151 2014年 [査読無し][通常論文]
  
• Vibration Alert Interfaceを用いた運転支援のための距離感覚アシスト

  三瓶佑希, 田中孝之, 森友揮 計測自動制御学会北海道支部学術講演会論文集 46th 87 -90 2014年 [査読無し][通常論文]
  
• 上向き作業軽労化のためのネックサポータの開発

  青山慎一郎, 田中孝之 計測自動制御学会北海道支部学術講演会論文集 46th 41 -44 2014年 [査読無し][通常論文]
  
• 醸造用ぶどう園向け除草作業支援ロボットの開発

  鈴木慎一, 多田達実, 三田村智行, 浦池隆文, 大村功, 白旗雅樹, 内田哲嗣, 金子俊一, 田中孝之, 桑原純一, 高松正志 北海道立総合研究機構工業試験場報告 (313) 1 -11 2014年 [査読無し][通常論文]
  
• ステレオビジョンセンサを用いたぶどう園向け除草ロボットの開発

  大村功, 三田村智行, 浦池隆文, 鈴木慎一, 多田達実, 金子俊一, 田中孝之 計測自動制御学会北海道支部学術講演会論文集 46th 109 -110 2014年 [査読無し][通常論文]
  
• 任意点操作可能なパワーアシストシステムの操作点インピーダンス修正による操作性向上

  渋川文哉, 田中孝之 計測自動制御学会北海道支部学術講演会論文集 46th 133 -136 2014年 [査読無し][通常論文]
  
• アシスト技術評価のための腰部作業負担感覚モデルの作成

  高橋紘介, 田中孝之, 奈良博之, 今村由芽子, 金子俊一, 吉田英一 計測自動制御学会北海道支部学術講演会論文集 46th 29 -32 2014年 [査読無し][通常論文]
  
• 介護作業用スマートスーツ・ライトによる体幹安定化効果の動作解析 (福祉情報工学)

  今村 由芽子, 田中 孝之, 鈴木 善人, 瀧澤 一騎, 山中 正紀 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 113 (195) 11 -14 2013年08月29日 [査読無し][通常論文]
   

  我々は弾性材を用いた小型軽量なパワーアシスト装具"スマートスーツ・ライト"を開発している.スマートスーツ・ライトは弾性力を姿勢復元力として利用する筋力補助効果と,コルセットのような体幹安定化効果の2つの補助効果を持つ.コルセット等の骨盤周りへ圧力をかける装具は体幹の剛性を増加させ腰部負荷を軽減すると言われているが,その効果の直接計測は困難でありパワーアシスト装置への積極的な活用はなされていない.本研究では体幹安定化効果の力学モデル構築と補助装具設計への応用を目標とする.本報では力学モデル構築のための基礎実験として腰部締付力による姿勢安定性向上の評価実験について報告する.
• エネルギ制御による複数周波数成分を持つ周期運動に対するスキルアシスト (福祉情報工学)

  吉藤 拓土, 田中 孝之, 日下 聖 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 113 (195) 21 -26 2013年08月29日 [査読無し][通常論文]
   

  我々は弾性材とアクチュエータによって構成されるセミアクティブアシスト機構を開発し,この機構と周期入力制御を用いたエネルギ制御を行うことで,人間の行う単一周波数による周期運動に対して追従性の向上を行うスキルアシスト効果を確認してきた.本研究では複数の周波数成分を有する運動に対して,周波数に着目した引きこみを行うことで運動補助を可能とする拡張型周期入力制御を提案する.また,セミアクティブアシスト機構を搭載した実験装置を用いて,拡張型周期入力制御を用いたスキルアシストによる運動改善効果を検証する.
• 特別講演 軽労化アシストシステムと情報ロボット技術のチャレンジ (福祉情報工学)

  田中 孝之 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 113 (195) 37 -39 2013年08月29日 [査読無し][通常論文]
   

  軽労化[○!R]アシストシステムとは,人が主体の作業において,人の作業形態を可能な限り維持し,短期的にはその労力や疲労を軽減し,長期的には人の身体能力を持続させるアシスト技術である.本講演では,軽労化アシストシステムの具体例としてスマートスーツ[○!R]を紹介する.さらに,情報ロボット技術の活用術と,アシスト技術の設計,開発,評価におけるその展望について講演する.
• スマートスーツの補助力最適化のための動作計測と認識 (福祉情報工学)

  若杉 素秋, 田中 孝之, 奈良 博之, 日下 聖, 金子 俊一 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 113 (195) 77 -81 2013年08月29日 [査読無し][通常論文]
   

  本研究は,スマートスーツの補助力最適化を行うための,動作計測と認識を目的とするものである.今までのスマートスーツでは,フレキシブルゴニオメータを用いて計測された腰部の曲げ角度のみをもとに補助力を出力していた.しかし,この手法では装着者の動作を正確に把握することができない.そこで,複数の加速度・角速度センサを用い腰・膝・足首の三か所の曲げ角を計測することで,より正確な動作計測・認識を行う.さらに今回,背骨の関節を考慮した新たな身体リンクモデルを用いた動作計測を提案する.
• 動作認識を用いた酪農作業用スマートスーツの補助力制御

  奈良 博之, 田中 孝之, 日下 聖, 若杉 素秋, 山岸 孝幸, 小倉 庄太郎 電子情報通信学会技術研究報告. WIT, 福祉情報工学 113 (195) 83 -84 2013年08月22日 

  我々は,高齢者の過度の負担や疲労を取り除くことで作業や仕事の質を高めることが可能である「軽労化技術」を高齢者に適用することで,自立生活と社会参加を実現することを目指している.本研究においては,軽労化を目的として新たに開発した「スマートスーツ」を用い,酪農作業補助を目的とした評価実験を実施するために酪農作業者に協力して頂き,作業者の表面筋電位を計測した.そして,スマートスーツの着用時と非着用時の表面筋電位を比較することで効果を評価した。
• 2P1-C07 姿勢推定による酪農作業用スマートスーツのための補助力最適化と実フィールド試験(福祉ロボティクス・メカトロニクス(3))

  奈良 博之, 田中 孝之, 日下 聖, 山岸 孝幸, 小倉 庄太郎 ロボティクス・メカトロニクス講演会講演概要集 2013 "2P1 -C07(1)"-"2P1-C07(2)" 2013年05月22日 

  Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit".
• 1P1-R12 Investigations of impressions and needs for "KEIROKA technology" in Denmark(Wearable Robotics)

  Shibukawa Fumiya, Takai Hisamitsu, Matumoto Tokuko, Imamura Yumeko, Tanaka Takayuki, Suzuki Yoshito ロボティクス・メカトロニクス講演会講演概要集 2013 "1P1 -R12(1)"-"1P1-R12(3)" 2013年05月22日 

  KEIROKA technology to reduce workers fatigues have been proposed. Denmark is one of the best welfare countries. The investigations were conducted to obtain the impressions to "Smart Suit Lite for care givers" from the worker in Denmark. This report shows the results of interviews and questionnaires at hospital, research institute and welfare center. In this investigation, existence of care workers who has back pain in Denmark is confirmed. The needs of prevention to the back pain and KEIROKA technology are also found in Denmark care work field.
• 広域徐草に向けた自律型除草ロボットの軌道生成法

  野田祥希, 高橋悟, 田中孝之, 川端邦明 電気学会次世代産業システム研究会資料 IIS-13 (7-22) 27 -32 2013年03月08日 [査読無し][通常論文]
  
• 2P1-A05 ヒューマノイドを用いたアシスト機器支援効果の定量的評価(ヒューマノイド)

  吉田 英一, 三浦 郁奈子, 小林 吉之, 遠藤 維, 金広 文男, 本間 敬子, 梶谷 勇, 松本 吉央, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2013 (0) _2P1 -A05_1-_2P1-A05_4 2013年 [査読無し][通常論文]
   

  We presented a new application of humanoid robots as an evaluator of assistive devices, to reduce the burden of tests with human subjects. Taking the supportive wear "Smart Suit" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. We showed the basic feasibility of this application as we observed a clear decrease of the torque at the torso joint with the wear.
• 1P1-G02 筋力補助スーツを用いた長期農作業が身体機能に及ぼす影響(ユニバーサルデザインとロボメカ)

  吉成 哲, 田中 孝之, 瀧澤 一騎, 奈良 博之, 鈴木 善人, 前田 大輔, 中島 康博, 桑野 晃希 ロボティクス・メカトロニクス講演会講演概要集 2013 (0) _1P1 -G02_1-_1P1-G02_2 2013年 [査読無し][通常論文]
   

  Many assistive technologies to reduce work load have been proposed. However, the effects of these technologies are not sufficiently verified from a long-term standpoint. In this study, we tried to evaluate the influence of long-term farm work using a passive power assist suit on the physical function by daily measurement of physical fitness.
• 1A2-E03 Vibration Alert Interfaceの振動感覚と距離感覚に及ぼすオプティカルフローの影響(ハプティックインタフェース(2))

  三瓶 佑希, 田中 孝之, 森 友揮, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2013 (0) _1A2 -E03_1-_1A2-E03_3 2013年 [査読無し][通常論文]
   

  We've developed a vibration alert interface (VAI), provides some information through changing its vibration pattern. In our previous studies, we designed the VAI and its vibration pattern to provide analog-like information to users such as distance to obstacles. To recognize the precise information, users need to perceive the vibration pattern correctly. However, various disturbances often impede it. We thought that the change of movement speed would have affected the recognition of the depth perception via the vibratory stimulation. In this paper, we experimentally show the relationship between the vibration sense and the depth perception. Further, we'll propose a vibration presentation model for mainly drivers in order to correct the perception gap due to the application and the surroundings of the VAI. We'll evaluate the proposed model through carrying out the experiments.
• 2A1-H05 持ち上げ動作におけるスマートスーツ・ライトの効果と腰部負担感覚のモデル化(感覚・運動・計測(1))

  高橋 紘介, 田中 孝之, 奈良 博之, 金子 俊一, 吉田 英一 ロボティクス・メカトロニクス講演会講演概要集 2013 (0) _2A1 -H05_1-_2A1-H05_4 2013年 [査読無し][通常論文]
   

  In Japan which low birthrate and aging goes ahead through, technology is needed for facilitating the activities of elderly persons as well as their caregivers. Wearable assist devices, such as the Smart Suit Lite (SSL), are effective for this purpose. It is important to evaluate such devices from not only physical, but also from psychophysical perspectives. Experiments involving lifting a heavy object with and without SSL were conducted, and SSL was evaluated psychophysically. The muscle activity was measured by surface electromyography. The psychophysiological evaluation was conducted by using the Visual Analogue Scale. The reductions in load of 22.01% for muscles and 19.74% for the sense of lumbar load were confirmed. This report proposes the human load sense model based on the sense of weight and the amount of muscular activation. This model is expected to find application in humanoid robots for robust evaluation of power assist devices.
• 2P1-C03 スマートスーツ・ライトの締付力による体幹安定化効果の評価(福祉ロボティクス・メカトロニクス(3))

  今村 由芽子, 田中 孝之, 奈良 博之, 鈴木 善人, 瀧澤 一騎, 山中 正紀 ロボティクス・メカトロニクス講演会講演概要集 2013 (0) _2P1 -C03_1-_2P1-C03_4 2013年 [査読無し][通常論文]
   

  A passive power-assist supporter called Smart Suit Lite, which is a compact and lightweight power-assist device that utilizes the restoring force of elastic belts, has been developed. The design method to optimize the Smart Suit Lite for particular motions has been constructed. It uses the musculoskeletal dynamics simulator and an extended musculoskeletal model which has skin segments for analyzing assist force. In this paper, two basic experiments were performed to evaluate the postural stabilities for constructing a mechanical model of the trunk stabilization effect of the Smart Suit Lite. As a result of the experiments, it is confirmed that the standard deviation of the lumbar angle decreased by 32.1% on average in wearers with low stability.
• 2A1-F08 セミアクティブアシスト機構による周期運動のスキルアシストとパワーアシスト : 補助力位相差制御によるインピーダンス調整効果の解析(人間機械協調)

  日下 聖, 田中 孝之, 金子 俊一, 梶原 秀一 ロボティクス・メカトロニクス講演会講演概要集 2013 (0) _2A1 -F08_1-_2A1-F08_4 2013年 [査読無し][通常論文]
   

  We have developed semi-active assist mechanisms and their control method. The semi-active assist mechanism uses the restoring force of elastic materials as an assist force, and the mechanism can control the restoring force by adjusting the equilibrium point of the elastic materials by using an actuator. The control method for sinusoidal motions were developed for power assist and skill assist in previous study. The power assist means to decrease operator's load, and the skill assist means to correct operator's motion. The method was realized both assist by only using the phase difference of forces between the operator and the assist device. In this paper, we analysed the effects of the phase difference for the power assist and the skill assist from viewpoint of impedance control.
• 高齢社会での社会参加支援のための軽労化技術の研究開発と評価システムの構築

  田中孝之, 山岸孝幸, 奈良博之, 吉成哲, 瀧澤一騎, 山中正紀, 鈴木善人, 清水俊治 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2013 ROMBUNNO.SP2-1-5 -4 2013年 [査読無し][通常論文]
  
• 大型構造物の無標識振動解析のためのロバスト画像計測法に関する研究

  王天航, 松下昭彦, 田中孝之, 金子俊一, 福田芳雄, FENG M. Q 画像センシングシンポジウム講演論文集(CD-ROM) 19th ROMBUNNO.IS3-17 2013年 [査読無し][通常論文]
  
• ロバスト画像照合に基づく大型建造物の同時多点振動計測

  王天航, 福田芳雄, 田中孝之, 金子俊一, 松下昭彦, FENG M.Q ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM) 2013 ROMBUNNO.IS2-D8 2013年 [査読無し][通常論文]
  
• 140 スマートスーツおよびスマートスーツライトによる競走馬調教騎手の筋負担軽減(生体負荷の変化と軽減)

  日下 聖, 田中 孝之, 齊藤 宗信, 鈴木 善人 シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2013 (0) _140 -1_-_140-6_ 2013年 [査読無し][通常論文]
   

  The authors have developed the smart suit and the smart suit lite as an assist suit for fatigue reduction. The smart suit has elastic materials and actuators. The elastic materials are sources of assisting force and the actuator can control the assist force by adjusting the length of the elastic materials. On the other hand, the smart suit lite has only elastic materials like supporters. In this study, we apply the smart suit and the smart suit lite to racehorse trainers because their work accompanied by a large burden. In the results, we confirmed large effect of fatigue reduction through field experiments.
• 日本ロボット学会第30回記念学術講演会

  田中 孝之 日本ロボット学会誌 30 (10) 1048 -1049 2012年12月15日
• 上腕挙上作業用アシストスーツのためのストレッチFRPアクチュエータの開発

  松本浩輔, 田中孝之, 金子俊一, 奈良博之, 吉成哲, 前田大輔, 鈴木善人 計測自動制御学会北海道支部学術講演会論文集 44th 102 -103 2012年 [査読無し][通常論文]
  
• 1A1-E02 Vibration Alert Interface利用時における感覚再現性向上のための相対振動感覚提示法(ハプティックインタフェース)

  三瓶 佑希, 田中 孝之, 森 友揮, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2012 (0) _1A1 -E02_1-_1A1-E02_4 2012年 [査読無し][通常論文]
   

  This research has developed the User Interface, called Vibration Alert Interface (VAI), which presents information by the difference in the frequencies of vibration. Much of conventional vibration presentation equipment warned the user by on and off change of vibration, however, VAI is to change a frequency of shown vibration, and its degree as well as warning of just danger can be even shown. But actually, it's studied that the vibration sensing ability isn't fixed because of disturbance, for example, the user's state. To reduce these influence, a system with reproducibility is requested, therefore it has been studied variously so far. Accordingly, this paper contrived the method to suppress dispersion of vibration sensation from the different angle, presentation method of vibration. It's stated that the experiment, which investigates reproducibility of vibration sensation, was made using the Relative Vibration Sense Presentation Method, and that this presentation method improved repeatability.
• 1A1-M05 振動感覚順応を考慮したVibration Alert Interfaceの振動呈示方法(ユニバーサルデザインとロボメカ)

  森 友揮, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2012 (0) _1A1 -M05_1-_1A1-M05_3 2012年 [査読無し][通常論文]
   

  This paper describes change in vibratory perception due to an adaptation, its modeling and correction method. Vibration alert interface is a vibration display device which conveys information such as distance and degree of risk using difference of vibration frequency and temporal pattern. In the vibration alert interface, user needs to perceive the vibratory frequency correctly, however vibration perception after the change was changed by the frequency before the change when the vibration frequency changes. To correct this change in vibratory perception, vibration perception model was constructed. It was able to correct the change in vibratory perception due to the adaptation using correction frequency calculated by proposed adaptation model.
• 2A2-C05 fNIRSデータにおける頭部姿勢変化による脳血流変化の推定(感覚・運動・計測(2))

  高橋 紘介, 田中 孝之, 奈良 博之, 金子 俊一, 小島 悟, 井上 正雄 ロボティクス・メカトロニクス講演会講演概要集 2012 (0) _2A2 -C05_1-_2A2-C05_4 2012年 [査読無し][通常論文]
   

  To evaluate KEIROKA technology by the brain activity, investigation of cerebral blood flow due to brain activity is conducted by using functional near-infrared spectroscopy (fNIRS). However, it is difficult to measure the brain activity using fNIRS during exercise because cerebral blood flow changes due to head motion not to neural activity. The head motion component is an obstacle to measure the brain activity. This research tried to estimate the head motion component by using 3D Motion Capture. And the head motion component was estimated by the pitch angle. The author also tried to subtract the head motion component from fNIRS data during exercise. The way to remove will be shown.
• 葡萄園除草に向けた車両型移動ロボットの軌道制御手法

  野田祥希, 髙橋悟, 田中孝之, 金子俊一 数理科学会論文集 2011年10月 [査読有り][通常論文]
  
• 葡萄園雑草除去のための車両型ロボット制御手法

  野田祥希, 髙橋悟, 田中孝之, 金子俊一 平成23年度電気学会産業応用部門大会講演論文集 2011年09月 [査読無し][通常論文]
  
• 車両型除草ロボットのためのナビゲーション手法

  野田祥希, 髙橋悟, 田中孝之, 金子俊一 第30回数理科学講演会講演論文集 pp. 81-82 2011年08月 [査読無し][通常論文]
  
• 高所腕上げ作業用スマートスーツのためのストレッチFRPアクチュエータの開発

  松本浩輔, 田中孝之, 金子俊一, 奈良博之, 吉成哲, 前田大輔, 鈴木善人 計測自動制御学会北海道支部学術講演会論文集 43rd 63 -64 2011年 [査読無し][通常論文]
  
• 3Sアシスト:軽労化技術のコンセプト

  田中孝之, 吉成哲, 瀧澤一騎, 奈良博之, 鈴木善人 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011 ROMBUNNO.162 2011年 [査読無し][通常論文]
  
• 筋骨格動力学シミュレーターを用いた除雪作業用UDスコップ使用時の身体的負担評価

  奈良博之, 田中孝之, 今村由芽子, 吉成哲, 中島康博, 金子俊一 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011 ROMBUNNO.219 2011年 [査読無し][通常論文]
  
• 2A1-E07 筋骨格モデルに基づく介護用スマートスーツ・ライトの開発と実フィールド評価(ウェアラブルロボティクス)

  今村 由芽子, 田中 孝之, 金子 俊一, 山中 正紀, 瀧澤 一騎, 堀田 大介 ロボティクス・メカトロニクス講演会講演概要集 2011 (0) _2A1 -E07_1-_2A1-E07_4 2011年 [査読無し][通常論文]
   

  We are developing a passive power assist supporter "Smart Suit Light". The smart suit light is a compact and lightweight power assist device utilizing elastomeric force of elastic materials. We constructed Motion-based-assist method to design the smart suit light for particular motions. Moreover, we developed an extended musculoskeletal model which has skin segments for analyzing assist force. In this paper, we deal with care motions as target movement. From three-dimensional motion data and the extended musculoskeletal model, we analyzed human muscle forces and assist forces. Then we designed arrangement and property of the elastic materials based on Motion-based-assist method. Furthermore, its assist effect was verified by basic experiments.
• 2P2-O05 腰部形状と上半身重心位置計測に基づく腰部負荷推定センサスーツ(感覚・運動・計測)

  保科 大樹, 田中 孝之, 金子 俊一, 奈良 博之 ロボティクス・メカトロニクス講演会講演概要集 2011 (0) _2P2 -O05_1-_2P2-O05_4 2011年 [査読無し][通常論文]
   

  A lot of person has lumbar pain, and in addition to that, a lot of operation that have heavy burden with bend forward exists when daily life and specifically working. Then, we pay attention to lumbar burden when various work was done, and made the system that estimate lumbar burden in present study.
• J102053 軽労化スコップを用いた長期除雪作業による身体機能への影響評価([J10205]ライフサポート(5))

  吉成 哲, 田中 孝之, 瀧澤 一騎, 奈良 博之, 鈴木 善人, 中島 康博 年次大会 2011 (0) _J102053 -1-_J102053-2 2011年 [査読無し][通常論文]
   

  Snow shoveling is generally considered to be undesirable type of exercise from the reasons of requirement of higher cardiovascular function. The upper body takes the deep flexion posture by the snow-lifting work, and load concentrates on a spinal column and the back. To overcome the posture load, a modified handle was designed. This handle has S-shape curvature to allow a person to assume an upright standing posture while snow shoveling. In this way, various techniques for labor assistance are suggested, but the evaluation is not performed very much when they use it continuously. The purpose of the study is to evaluate the relationships between change of the stamina and physical strength such as muscular strength or the power from the comparison of shovel handle shape. The physical strength of the subjects was measured before and after intervention of the 6-week daily snow-shoveling work and performed a multiple regression analysis, but the handle shape did not affect the result.
• 葡萄畑除草ロボットのための軌道生成手法

  石上大祐, 髙橋悟, 高須賀直一, 田中孝之 第53回自動制御連合講演会論文集 pp. 1073-1074 2010年11月 [査読無し][通常論文]
  
• 進化するモーションキャプチャ 動作計測に基づいた筋力補助装置・装具の設計

  田中孝之 映像情報Medical 42 (8) 734-739,674 -733 2010年07月 [査読無し][招待有り]
  
• うちの製品に使いたい,有ればいいな?と思えるマテリアル スマートスーツ,軽労化技術に有ればいいなと思える,マテリアルとは?

  田中孝之 月刊Material Stage 10 (4) 11 -15 2010年07月 [査読無し][招待有り]
  
• 1A1-F25 Design of controller for a Semi-Active Assist Mechanism considering Low-Powered Actuator Limitation

  Rosendo Andre, Nakano Motoki, Tanaka Takayuki, Kaneko Shun'ichi ロボティクス・メカトロニクス講演会講演概要集 2010 "1A1 -F25(1)"-"1A1-F25(4)" 2010年 

  The purpose of this work is to design a system capable of easily lifting heavy weights through a direct interface between the user and the system itself, receiving signals from the user and using a low-powered actuator connected to a spring to amplify its power, defining the so called Semi-active system. Varying the system weight from 5 to 15 kg it's possible to observe the system's behavior during the Visual Tracking Experiment through different assisting ratios. Simulations are performed using as input a sinusoidal force from the user and results are obtained, effectively reducing the user's fatigue and respecting the actuators limitation using the proposed control method. In the future, this kind of Power Assisting System can be remotely implanted in suits to effectively aid nurses, firefighters, industrial workers and also space missions.
• 1A1-B03 葡萄園除草ロボットのための葡萄樹の視触覚認識能力の向上

  井川 久, 田中 孝之, 金子 俊一, 多田 達実, 鈴木 慎一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A1 -B03_1-_1A1-B03_4 2010年 [査読無し][通常論文]
   

  Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot.
• 1A1-C08 放水角度とノズル曲げ角に対する放水負担解析および床反力推定

  菊地 隆志, 田中 孝之, 金子 俊一, 山野 光一, 安田 康晴 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A1 -C08_1-_1A1-C08_4 2010年 [査読無し][通常論文]
   

  In this research, we aim at reducing physical strain from nozzle reaction force and making the fire fighting activity more smoothly. We measured reaction forces as water is projected from a nozzle. We also conducted an analysis of physical strain for water projection angle and nozzle bending angle.
• 1A1-G12 筋特性に基づく高速インピーダンスマッチングによるパワーアシストバルブの操作性向上

  中野 基輝, 田中 孝之, 金子 俊一, 山野 光一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A1 -G12_1-_1A1-G12_4 2010年 [査読無し][通常論文]
   

  The purpose of this research is to develope the powered valve for fire engine which according to person's intention based on impedance control. We establish the method to predict valve's opening time period by initial value of operation torque. In addition, we establish the method to predict it real time baced on minimum jerk model. It made the evaluation more improved to half.
• 1A1-G28 作業者の操作予測とその信頼性に基づいたエネルギー回生システムを有するパワーアシスト装置の制御方法

  小林 憲弘, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A1 -G28_1-_1A1-G28_4 2010年 [査読無し][通常論文]
   

  The purpose of this study is to develop the control method for power assist system that has energy regeneration system, by recovering desired load reduction ratio even if torque saturation happens. This paper considers using the ratio of impluse of assist force to impluse of operator's force as an evaluation indicator. Proposed method predicts the operation of an operator and gets desired load reduction ratio by dealing deficient impluse, based on reliability of predicted values.
• 1A2-D19 振動を利用した情報提示装置における慣れが振動感覚に及ぼす影響

  森 友揮, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A2 -D19_1-_1A2-D19_3 2010年 [査読無し][通常論文]
   

  This paper describes influence of adaptation on vibration perception for information presentation device using vibration. Information presentation using vibration is an effective method to convey the information to the user. Vibration conveys the information to the user by change in vibration frequency. However, vibration perception was changed due to the adaptation even when vibration frequency was constant. Perception of vibration strength was changed by vibration duration and how to change in vibration. We aim to find a cause of adaptaion and make a mathematical model of adaptation to vibration.
• 1A2-E30 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識

  高須賀 直一, 田中 孝之, 金子 俊一, 多田 達実, 鈴木 慎一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A2 -E30_1-_1A2-E30_4 2010年 [査読無し][通常論文]
   

  Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use two poles for the landmark in our experiment. We confirm the effectiveness and accuracy of our proposed technique by both simulations and experiments.
• 1A2-G13 マルチポータルヒューマンインタフェース : 操作安定性を考慮した操作力ファジィ推定

  渋川 文哉, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _1A2 -G13_1-_1A2-G13_4 2010年 [査読無し][通常論文]
   

  In this study, we propose a multi-portal human interface (M-HI)as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the operableworkspace of power assist systems containing multi-DOF manipulators.
• 2A1-C25 調教騎手用スマートスーツの開発 : エネルギー制御に基づくパワーアシストとスキルアシスト

  日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 梶原 秀一 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _2A1 -C25_1-_2A1-C25_4 2010年 [査読無し][通常論文]
   

  We have developed a soft and flexible power assist device named "smart suit". The assist force is basically gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse training to prevent their injuries. Moreover we aim developing an assist force control method based on the energy control for considering not only the power assist but the skill assit. In this paper, we confirm the energy control has the effectiveness of the power assist and the skill assist.
• 2P1-F18 カメラ振動に伴う対象物位置の信頼性を考慮したロバストステレオシステム

  岡崎 伸哉, 田中 孝之, 金子 俊一, 高氏 秀則, 高地 伸夫, 山出 光晴 ロボティクス・メカトロニクス講演会講演概要集 2010 (0) _2P1 -F18_1-_2P1-F18_4 2010年 [査読無し][通常論文]
   

  This study aims to establish a Robust sensor system by considering a camera vibration. In stereo measurement, we cam approximate the distribution of the measurement error in image by using uniform distribution. Therefore, the parameters of the distribution of the measurement error are the mean value μ and the standard deviation σ, while the amplitude A and the frequency F are regarded as the parameters of the camera vibration. In order to verify relationships between the parameters with regard to the distribution of the measurement error and the parameters of the camera vibration, we performed an experiment using a vibration testing system. By the result, we can establish the measurement error model. Moreover, we defined the existing probability of the object by using the parameters of the measurement error. Additionally, in order to be minimized the errors, we proposed a variable baseline method. We verified effect of the variable baseline method.
• 動作計測と筋骨格動力学モデルに基づく筋力補助装具の設計(若葉研究者の集い4,サマーセミナー(若葉研究者の集い))

  今村 由芽子, 田中 孝之, 金子 俊一, 山中 正紀, 堀田 大介 映像情報メディア学会技術報告 34 (0) 73 -76 2010年 [査読無し][通常論文]
   

  本研究では身体疲労を軽減させるための筋力補助装具"スマートスーツ・ライト"を開発している.スマートスーツ・ライトは弾性材(ゴムベルト)の張力を利用した,小型軽量のアシスト装置である.本報では,スマートスーツ・ライトの補助効果を特定の動作に最適化するための設計手法について述べる.対象動作として介護動作を扱い,モーションキャプチャにより介護動作の3次元計測を行った,取得した動作データにより,動作中の筋発揮力,弾性材の伸びについて解析した.それらの結果に基づき,弾性材の配置について検討する.
• 把持力による皮膚変形を考慮したVibration Alert Interfaceの振動設計

  ヒューマンインタフェース学会論文誌 12 (2) 103 -111 2010年 [査読無し][通常論文]
  
• ランダム振動を考慮したステレオ計測誤差モデルの構築

  岡崎 伸哉, 田中 孝之, 金子 俊一, 高氏 秀則, 高地 伸夫, 山田 光晴 電気学会研究会資料. GID, 一般産業研究会 2009 (1) 41 -46 2009年12月11日 [査読無し][通常論文]
  
• 葡萄園除草ロボットのための葡萄樹位置の触覚認識

  井川久, 田中孝之, 金子俊一, 多田達美, 鈴木慎一 日本ロボット学会学術講演会予稿集(CD-ROM) 27th 4061 -+ 2009年11月 [査読有り][通常論文]
   

  Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot.
• ホース床反力を用いた放水反力軽減方法の提案

  菊地隆志, 田中孝之, 金子俊一, 山野光一, 安田康晴 知能メカトロニクスワークショップ講演論文集 14th 170 -173 2009年09月26日 [査読無し][通常論文]
  
• 高速インピーダンスマッチングによる消防車用パワーアシストバルブの操作性向上 (第14回 知能メカトロニクスワークショップ講演論文集)

  中野 基輝, 田中 孝之, 金子 俊一 知能メカトロニクスワークショップ講演論文集 14 46 -51 2009年09月26日 [査読無し][通常論文]
  
• ホース床反力を用いた放水反力軽減方法の提案 (第14回 知能メカトロニクスワークショップ講演論文集)

  菊地 隆志, 田中 孝之, 金子 俊一 知能メカトロニクスワークショップ講演論文集 14 170 -173 2009年09月26日 [査読無し][通常論文]
  
• 体幹安定化補助を考慮したパッシブ筋力補助装置

  田中孝之, 今村由芽子, 山中正紀, 鈴木善人, 齊藤宗信 日本機械学会福祉工学シンポジウム講演論文集 2009 116 -117 2009年09月23日 [査読無し][通常論文]
   

  We are developing "Smart Suit Light" as a passive power assist supporter. The smart suit light is designed in consideration of not only supporting back muscles but also stabilizing torso as same as lumber corset. This paper will describe the concept and the basic design of the smart suit light. The assist efficiency which is the performance to reduce muscle activities, and also the relation between the tightening force around waist and the waist joint angle, as fundamental experimental results of a prototype will be shown.
• マルチポータルヒューマンインタフェース

  渋川文哉, 田中孝之, 金子俊一 日本ロボット学会学術講演会予稿集(CD-ROM) 27th ROMBUNNO.3C3-07 2009年09月15日 [査読無し][通常論文]
  
• モーション・ベースド・アシスト法による除雪作業用スマートスーツの設計

  今村由芽子, 田中孝之, 金子俊一, 山中正紀, 鈴木善人, 齊藤宗信 日本機械学会年次大会講演論文集 2009 (Vol.7) 287 -288 2009年09月12日 [査読無し][通常論文]
   

  In this research, we developed a wearable power assist system Smart Suit for snow shoveling, and constructed Motion Based Assist Method. The Smart Suit is controlled by semi-active assist system with elastic materials and adjustable assist mechanisms. Motion Based Assist Method is an technique to design control rule by measuring the motion. We propose the control rule that used joint angle and joint angular velocity, and performed an experiment to verify its assist effect. As a result of experiment, it was effective especially to the legs. It was confirmed that about 20% physical load were reduced on average.
• 画像照合に基づく建造物の遠隔振動計測

  成田悠人, 高氏秀則, 田中孝之, 金子俊一, FENG Maria Q 映像情報メディア学会技術報告 33 (34(ME2009 120-152)) 57 -60 2009年08月27日 [査読無し][通常論文]
  
• ロバスト画像計測・ロボティックセンシングとその実産業応用

  金子 俊一, 田中 孝之, 佐藤 雄隆, 高氏 秀則 電子情報通信学会技術研究報告. PRMU, パターン認識・メディア理解 109 (88) 61 -69 2009年06月11日 [査読無し][通常論文]
   

  著者らの研究開発事例を中心として,明度変化,局所陰影,遮蔽,飽和などの従来扱えなかった不良条件に対して強いロバスト性をもつ幾つかの画像照合アルゴリズム:増分符号相関,方向符号照合法,放射リーチ相関などの基礎について,設計指針なども交えて解説した.加えて,それらアルゴリズムの実産業界における最新の先端的な実応用事例について述べた.人間支援ロボット技術の中における画像計測技術について触れた.
• ロバストな振動警告装置

  田中 孝之, 森 友揮, 金子 俊一 電子情報通信学会技術研究報告. HIP, ヒューマン情報処理 109 (83) 63 -66 2009年06月08日 [査読無し][通常論文]
   

  In recent years, we see walking people while using e-mail service and looking at screen of mobile phone with an increase in mobile phone user. We have developed a distance sense interface interface for detecting something denger for users. In designing the warning of device, we focus the difference of grip force each user. We propose the warning without recourse to grip force on the basis of Fechner's law.
• 騎手用スマートスーツの開発―姿勢安定化と周期的動作への調和を考慮した補助力制御―

  日下聖, 田中孝之, 金子俊一, 鈴木善人, 齊藤宗信, 関修二, 坂本直久, 梶原秀一 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) 2009 ROMBUNNO.1P1-F06 2009年05月24日 [査読無し][通常論文]
  
• 視覚誘導型パワーアシストシステムのための三次元形状と操作方向認識

  松田潤樹, 田中孝之, 金子俊一, 高氏秀則, 高橋悟 ロボティクスシンポジア予稿集 14th 411 -416 2009年03月16日 [査読無し][通常論文]
  
• ステレオ計測におけるカメラ振動を考慮した計測誤差モデルの構築

  岡崎伸哉, 田中孝之, 金子俊一, 高氏秀則, 高地伸夫, 佐藤宏一, 山田光晴 ロボティクスシンポジア予稿集 14th 89 -94 2009年03月16日 [査読無し][通常論文]
  
• 100周年を担う若手育成 : 北海道支部の取り組み(5.2 支部の活動,5.精密工学の輪,<特集>創立75周年記念)

  金子 俊一, 田中 孝之 精密工学会誌 75 (1) 176 -177 2009年01月05日 [査読無し][通常論文]
  
• 無反動ノズル開発のためのホース床反力を用いた放水反力軽減方法の提案

  菊地隆志, 田中孝之, 金子俊一, 山野光一, 筒井洋一郎 計測自動制御学会北海道支部学術講演会論文集 41st 7 -8 2009年 [査読無し][通常論文]
  
• 自転車漕ぎ補助用スマートスーツのエネルギー制御

  内藤葉月, 田中孝之, 金子俊一, 梶原秀一 計測自動制御学会北海道支部学術講演会論文集 41st 5 -6 2009年 [査読無し][通常論文]
  
• 1P1-F06 騎手用スマートスーツの開発 : 姿勢安定化と周期的動作への調和を考慮した補助力制御

  日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 関 修二, 坂本 直久, 梶原 秀一 ロボティクス・メカトロニクス講演会講演概要集 2009 (0) _1P1 -F06_1-_1P1-F06_4 2009年 [査読無し][通常論文]
   

  This paper describes the assist force control of semi-active assist system "Smart Suit" for horse trainer. We developed a soft and flexible power assist device named "Smart Suit" for reducing horse trainers' physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. The assist force is basically gained by the elastic force of rubber belt, and it is controlled by turning the length of the rubber belt by using DC motor. In order to gain the suitable assist force for periodical horse trainers' motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP) which is the dynamic stable point.
• 画像照合に基づく建造物の遠隔振動計測(セッション4,サマーセミナー(若葉研究者の集い))

  成田 悠人, 高氏 秀則, 田中 孝之, 金子 俊一, Feng Maria Q. 映像情報メディア学会技術報告 33 (0) 57 -60 2009年 [査読無し][通常論文]
   

  本研究ではデジタル画像処理技術を用いた可とう性を有する橋梁の遠隔振動計測手法を提案する.この手法は費用対効果に優れ,実装が容易であり,高分解能な動的計測の利点を併せ持つ.橋梁に直接接触しない遠隔計測は橋梁の維持管理に有効であり,また高精度構造同定は橋梁の構造劣化の程度を認識するために必要不可欠である.本論文では,構造物の健康監視方法の一つである振動計測の重要性,いくつかの代表的な計測手法,および本提案手法の有効性の検証試験結果について述べる.
• J1102-4-1 モーション・ベースド・アシスト法による除雪作業用スマートスーツの設計(ライフサポート4:パワーアシスト・作業支援)

  今村 由芽子, 田中 孝之, 金子 俊一, 山中 正紀, 鈴木 善人, 齊藤 宗信 年次大会講演論文集 2009 (0) 287 -288 2009年 [査読無し][通常論文]
   

  In this research, we developed a wearable power assist system Smart Suit for snow shoveling, and constructed Motion Based Assist Method. The Smart Suit is controlled by semi-active assist system with elastic materials and adjustable assist mechanisms. Motion Based Assist Method is an technique to design control rule by measuring the motion. We propose the control rule that used joint angle and joint angular velocity, and performed an experiment to verify its assist effect. As a result of experiment, it was effective especially to the legs. It was confirmed that about 20% physical load were reduced on average.
• 1G3-2 体幹安定化補助を考慮したパッシブ筋力補助装置(OS1-2:ウェアラブルアシストシステムII,オーガナイズドセッション)

  田中 孝之, 今村 由芽子, 山中 正紀, 鈴木 善人, 齊藤 宗信 福祉工学シンポジウム講演論文集 2009 (0) 116 -117 2009年 [査読無し][通常論文]
   

  We are developing "Smart Suit Light" as a passive power assist supporter. The smart suit light is designed in consideration of not only supporting back muscles but also stabilizing torso as same as lumber corset. This paper will describe the concept and the basic design of the smart suit light. The assist efficiency which is the performance to reduce muscle activities, and also the relation between the tightening force around waist and the waist joint angle, as fundamental experimental results of a prototype will be shown.
• 競走馬調教軽労化のための騎手用筋力補助装置の開発

  デサントスポーツ科学 30 163 -171 2009年 [査読無し][通常論文]
  
• 欠陥種を考慮に入れた局所一貫性に基づく欠陥パタン照合法

  浦野 貴裕, 金子 俊一, 高氏 秀則, 田中 孝之, 前田 俊二, 渋谷 久恵, 吉田 実 電気学会論文誌C 129 (5) 778 -785 2009年 [査読無し][通常論文]
  
• 方向符号照合に基づくロバスト合焦法

  李 媛, 高氏 秀則, 大村 功, 金子 俊一, 田中 孝之 精密工学会誌 75 (5) 650 -656 2009年 [査読無し][通常論文]
   

  This paper proposes a novel scheme for image focusing by introducing a new focus measure based on self-matching methods. A unique pencil-shaped profile is identified by comparing the similarity between all patterns extracted around the same position in each scene. Based on this profile, a new criterion function called Complementary Pencil Volume (CPV) is defined to evaluate focus or defocus scenes based on similarity rate of self-matching, which visually represents the volume of a pencil-shape profile. Among matching methods, Orientation Code Matching (OCM) is recommended due to its invariant with regards to illuminations and contrasts. Several experiments using a Telecentric lens are implemented to demonstrate the efficiency of proposed measures. Outstandingly, comparing conventional focus measures, shows that the proposed method, focus measure based on OCM is robust against changes of brightness or illumination. Using this method, pan-focused images are composed and depth informations are represented by comparing the focus and defocus region in the scenes both under low and high illumination conditions.
• メディア分野における多次元センシング技術の現状と動向 : MDS委員会2008年度調査報告

  長田 英子, 大城 英裕, 加藤 邦人, 輿水 大和, 藤原 孝幸, 佐川 立昌, 田中 孝之, 奥田 晴久, 羽下 哲司, 橋本 学 電気学会研究会資料. GID, 一般産業研究会 2008 (13) 1 -6 2008年11月28日 [査読無し][通常論文]
  
• 皮膚変形と触圧覚との関係に基づいた距離感覚提示装置の設計

  森友揮, 田中孝之, 金子俊一 インテリジェント・システム・シンポジウム講演論文集 18th (CD-ROM) ROMBUNNO.A5-4 2008年10月23日 [査読無し][通常論文]
  
• Semi-active Power Assist Device for Supporting Waist and Knee Joint

  TANAKA Takayuki, SUZUKI Yoshihito, SAKAMOTO Naohisa, SEKI Shuji 日本機械学会福祉工学シンポジウム講演論文集 2008 156 -157 2008年09月17日 [査読無し][通常論文]
  
• 周期入力制御に基づいた調教騎手用セミアクティブ筋力補助装置の補助力制御

  田中孝之, 河村泰幸, 金子俊一, 梶原秀一 日本ロボット学会学術講演会予稿集(CD-ROM) 26th ROMBUNNO.3K1-02 2008年09月09日 [査読無し][通常論文]
  
• 葡萄園除草ロボットのための葡萄樹領域認識

  井川久, 田中孝之, 金子俊一, 松下昭彦, 高氏秀則, 多田達美 日本ロボット学会学術講演会予稿集(CD-ROM) 26th ROMBUNNO.1L3-10 2008年09月09日 [査読無し][通常論文]
  
• 視覚誘導型パワーアシストシステム―対象物位置の計測誤差と操作性の関係

  松田潤樹, 田中孝之, 金子俊一, 高氏秀則, 高橋悟 知能メカトロニクスワークショップ講演論文集 13th 69 -74 2008年09月08日 [査読無し][通常論文]
  
• 視覚誘導型パワーアシストシステム--対象物位置の計測誤差と操作性の関係 (第13回 知能メカトロニクスワークショップ講演論文集)

  松田 潤樹, 田中 孝之, 金子 俊一 知能メカトロニクスワークショップ講演論文集 13 69 -74 2008年09月08日 [査読無し][通常論文]
  
• 創造性教育におけるロボコンプロデュースコンペティションの役割

  田中孝之 日本機械学会年次大会講演論文集 2008 (Vol.5) 171 -172 2008年08月02日 [査読無し][通常論文]
  
• コック開閉時間予測に基づく消防車用パワーアシストコックの操作性向上

  中野基輝, 田中孝之, 金子俊一, 山野光一, 小山秀人, 関修治, 坂本直久 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) 2008 ROMBUNNO.1A1-G12 2008年06月05日 [査読無し][通常論文]
  
• レーザ溶接ロボットの位置・姿勢制御のための画像計測法

  山中将裕, 松下昭彦, 金子俊一, 田中孝之, 大藤仁志, 福田薫 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) 2008 ROMBUNNO.2P2-B09 2008年06月05日 [査読無し][通常論文]
  
• ステレオ計測におけるカメラ振動と視差誤差との関係に基づいた対象物認識

  岡崎伸哉, 田中孝之, 金子俊一, 松下昭彦, 高氏秀則, 多田達美, 大村功, 鈴木慎一 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) 2008 ROMBUNNO.2A1-E03 2008年06月05日 [査読無し][通常論文]
  
• 触圧覚の順応性を考慮した携帯型障害物認知補助装置の警告設計

  森友揮, 田中孝之, 金子俊一 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) 2008 ROMBUNNO.2P1-D02 2008年06月05日 [査読無し][通常論文]
  
• ロボコンプロデュースコンペティション

  田中孝之, 大竹博, 河村隆 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) 2008 ROMBUNNO.2A1-I18 2008年06月05日 [査読無し][通常論文]
  
• 福祉活動を啓蒙するロボットコンテストの一手法

  日下聖, 中野基輝, 渋川文哉, 近藤香織, 小林範行, 佐野竜一, 田中孝之, 金子俊一 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) 2008 ROMBUNNO.2A1-I21 2008年06月05日 [査読無し][通常論文]
  
• 手先軌道学習機能を有する視覚誘導型パワーアシストシステム

  河合俊輔, 田中孝之, 金子俊一 ロボティクスシンポジア予稿集 13th 81 -86 2008年03月16日 [査読無し][通常論文]
  
• 変形パタン画像照合のための回転角度およびスケール推定

  高氏秀則, 中山伊央, 金子俊一, 田中孝之 ロボティクスシンポジア予稿集 13th 147 -152 2008年03月16日 [査読無し][通常論文]
  
• 方向符号ヒストグラムに基づく変形パタン画像の回転角度推定

  高氏 秀則, 中山 伊央, 金子 俊一, 田中 孝之 電気学会研究会資料. IIC, 産業計測制御研究会 2008 (86) 51 -56 2008年03月11日 [査読無し][通常論文]
  
• 欠陥種を考慮に入れた局所一貫性に基づく欠陥パタン照合法とその応用

  浦野 貴裕, 金子 俊一, 高氏 秀則, 田中 孝之, 前田 俊二, 渋谷 久恵, 吉田 実 電気学会研究会資料. IP, 情報処理研究会 2008 (1) 39 -44 2008年02月22日 [査読無し][通常論文]
  
• 2A1-I18 ロボコンプロデュースコンペティション(ものづくり教育・メカトロニクスで遊ぶ)

  田中 孝之, 大竹 博, 河村 隆 ロボティクス・メカトロニクス講演会講演概要集 2008 (0) _2A1 -I18_1-_2A1-I18_2 2008年 [査読無し][通常論文]
   

  This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2007 is also reported as an embodiment.
• 1A1-G12 コック開閉時間予測に基づく消防車用パワーアシストコックの操作性向上(作業をするロボット)

  中野 基輝, 田中 孝之, 金子 俊一, 山野 光一, 小山 秀人, 関 修治, 坂本 直久 ロボティクス・メカトロニクス講演会講演概要集 2008 (0) _1A1 -G12_1-_1A1-G12_2 2008年 [査読無し][通常論文]
   

  This research has been making the powered cock for fire engine. Recently the number of Japanese firemen decreases. They need device with a little load but it is forbidden to automate completely by fire defense law. So this research's purpose is to make the powered cock according to person's intention based on impedance control. First, we have confirmed relation of impedance parameter and cock's opening time period. In addition, we establish the method to predict cock's opening time period by initial value of controlling torque. By this method, evaluation consists of operation torque average and visual tracking error average has improved to the half. Second, we have confirmed to make responsiveness speedier based on friction control.The cock has strong static friction so there is longtime lag from giving the operation torque to opening of the cock. This friction control makes time lag shorter from 0.2sec to 0.03sec.
• 2A1-E03 ステレオ計測におけるカメラ振動と視差誤差との関係に基づいた対象物認識(移動ロボットのための視覚)

  岡崎 仲哉, 田中 孝之, 金子 俊一, 松下 昭彦, 高氏 秀則, 多田 達美, 大村 功, 鈴木 慎一 ロボティクス・メカトロニクス講演会講演概要集 2008 (0) _2A1 -E03_1-_2A1-E03_4 2008年 [査読無し][通常論文]
   

  This study aims to obtain exact visual information in irregular ground. We use visual information obtained by stereo measurement. We can approximate disparity error distribution by normal distribution. At first, we examine relationship between parameter of disparity error and parameter of camera vibration. Next, we define existing probability using parameter of disparity error, and we use existing probability for position estimate. Specifically, we obtain visual information of without vibration or near offer in irregular ground through the use of relationship between parameter of camera vibration and parameter of error.
• 2A1-I21 福祉活動を啓蒙するロボットコンテストの一手法(ものづくり教育・メカトロニクスで遊ぶ)

  日下 聖, 中野 基輝, 渋川 文哉, 近藤 香織, 小林 範行, 佐野 竜一, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2008 (0) _2A1 -I21_1-_2A1-I21_2 2008年 [査読無し][通常論文]
   

  This paper aims to propose a method of robot contest that enlightens welfare activity for children. Recently, many children have few chance to meet and communicate the grandparents, because numbers of two-generation family increased. A lot of current robot contests for children have given priority to the education of creativity. Then, we give the chance that children think about the welfare activity by adding a moralistic theme to the robot contest. We designed "Grandpa Mission" as a robot contest to rise awareness for welfare activity and propose how to execute it.
• 2P1-D02 触圧覚の順応性を考慮した携帯型障害物認知補助装置の警告設計(ユニバーサルデザイン)

  森 友揮, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2008 (0) _2P1 -D02_1-_2P1-D02_2 2008年 [査読無し][通常論文]
   

  We have been researching a portable obstacle recognition support device to avoid danger for users and surrounding people. We have confirmed that perception of vibration is changed by user's grip force, the stronger grip force, the stronger user feel vibration. In addition, experimental result showed that the vibrations strength users feel changes with the vibration strength which is applied earlier to users. It's thought that this result is a phenomenon which is based on adaptability of sense of touch and pressure. We aim at warning design without recourse to adaptability.
• 2P2-B09 レーザ溶接ロボットの位置・姿勢制御のための画像計測法(ロボットビジョン)

  山中 将裕, 松下 昭彦, 金子 俊一, 田中 孝之, 大藤 仁志, 福田 薫 ロボティクス・メカトロニクス講演会講演概要集 2008 (0) _2P2 -B09_1-_2P2-B09_4 2008年 [査読無し][通常論文]
   

  Laser robot can weld more accurate than Arc welding. However, the accuracy of positional match is demanded. Then, the system the welding robot is equipped with the camera and slit beam irradiating to the welding object is assumed. And, the irradiated appearance is photographed. By giving geometrical analysis to the obtained beam image, laser robot is controlled. Here, as the preparation stage, about linear regression of beam for geometrical analysis is described.
• 1G1-3 腰・膝関節補助のためのセミアクティブ筋力補助装置(パワーアシスト,一般講演)

  田中 孝之, 鈴木 善人, 坂本 直久, 関 修治 福祉工学シンポジウム講演論文集 2008 (0) 156 -157 2008年 [査読無し][通常論文]
   

  We have been developing "Smart Suit" as a soft and light-weight wearable power assist system. A prototype for preventing low-back injury in agricultural works and its semi-active assist mechanism have been developed. In this paper, we describe a prototype of smart suit for supporting waist and knee joint, and its control method for preventing the displacement of the adjustable assist force mechanism in order to keep the assist efficiency.
• 重み付き投票処理によるテスト特徴法の性能改良

  電子情報通信学会論文誌 91-D (1) 89 -100 2008年 [査読無し][通常論文]
  
• Robust Focusing using Orientation Code Matching and its applications

  LI Yuan, OHMURA Isao, TAKAUJI Hidenori, KANEKO Shun’ichi, TANAKA Takayuki ViEWビジョン技術の実利用ワークショップ講演論文集 2007 365 -370 2007年12月06日 [査読無し][通常論文]
  
• 細線形状を持つケーブルに対するロバストモーションステレオ

  堂前幸康, 奥田晴久, 高氏秀則, 木村雄太, 金子俊一, 田中孝之 ViEWビジョン技術の実利用ワークショップ講演論文集 2007 265 -270 2007年12月06日 [査読無し][通常論文]
  
• Color LCPDに基づく欠陥点群照合法

  浦野貴裕, 金子俊一, 高氏秀則, 田中孝之, 前田俊二, 渋谷久恵, 吉田実 ViEWビジョン技術の実利用ワークショップ講演論文集 2007 167 -172 2007年12月06日 [査読無し][通常論文]
  
• 論文特集号「人と関わるシステムインテグレーション」について

  鈴木 昭二, 鈴木 高宏, 吉留 忠史, 田中 孝之, 倉爪 亮 計測自動制御学会論文集 43 (11) 945 -945 2007年11月30日 [査読無し][通常論文]
  
• 超音波エコーを用いた肘関節トルク・角度の同時推定

  筒井 洋一郎, 早瀬 一彦, 田中 孝之, 金子 俊一, フェン マリア Q. 精密工学会誌 = Journal of the Japan Society of Precision Engineering 73 (11) 1273 -1278 2007年11月05日 [査読無し][通常論文]
   

  We propose a new method for joint angle and torque estimation by using ultrasound. The ultrasound is emitted from the surface of skin. The estimation is carried out based on the feature value extracted from the reflected wave from inside of living body. The feature value changes as the movement of the muscle relating to the joint. We conducted an examination of simultaneous joint torque and angle estimation in dynamic motion of human elbow joint. Neural network and Multiple linear regression was employed as the estimator. Correlation coefficients and Mean absolute error between estimated data and measured data were calculated. The results show that the estimation was successful, though the error increased with time course.
• 生体を透過した超音波による関節トルク・角度推定

  筒井 洋一郎, 田中 孝之, 金子 俊一, フェン マリア Q. 精密工学会誌 = Journal of the Japan Society of Precision Engineering 73 (9) 1062 -1067 2007年09月05日 [査読無し][通常論文]
   

  We have proposed a brand-new noninvasive method of joint torque and joint angle estimation by using ultrasound sensor for detecting muscle movement. In this study, the movement of biceps muscle and triceps muscle of human arm are detected with the ultrasound sensors. These muscles have a relation to contraction and extension of elbow joint. We conducted an examination of joint torque estimation under constant joint angles. We also conducted an examination of joint angle estimation under constant joint torques. In these examinations, torque or angle on the elbow joint was measured by using a torque sensor or an 1-Link Arm. The estimations were carried out with Nonlinear regression equations. Correlation coefficients between measured torque/angle and estimated one were calculated. The results show that these estimations by using ultrasound were successful.
• 変形パタン画像の環境認識システムへの応用

  高氏秀則, 中山伊央, 金子俊一, 田中孝之 電気学会電子・情報・システム部門大会講演論文集(CD-ROM) 2007 TC3-7 2007年09月04日 [査読無し][通常論文]
  
• カラーグラデーションタグを用いた3次元位置計測

  崔冬梅, 松下昭彦, 金子俊一, 高橋秀典, 田中孝之 映像情報メディア学会技術報告 31 (39(ME2007 121-151)) 103 -104 2007年08月28日 [査読無し][通常論文]
  
• センサフュージョンによるヒト関節運動の推定手法

  筒井 洋一郎, 田中 孝之, 金子 俊一, FENG Maria Q., 諸麦 俊司 電気学会研究会資料. GID, 一般産業研究会 2007 (1) 23 -28 2007年08月27日 [査読無し][通常論文]
  
• カラー方向符号照合法に基づく半導体ウェハの欠陥検出

  本田 匠, 金子 俊一, 田中 孝之 電気学会研究会資料. IP, 情報処理研究会 2007 (22) 31 -34 2007年08月12日 [査読無し][通常論文]
  
• 欠陥種を考慮に入れた局所整合性に基づく点群照合法

  浦野貴裕, 金子俊一, 高氏秀則, 田中孝之, 前田俊二, 渋谷久恵, 吉田実 画像センシングシンポジウム講演論文集(CD-ROM) 13th IN2-02 2007年06月06日 [査読無し][通常論文]
  
• 方向符号テクスチャ解析を利用したひも状柔軟物の特徴追跡と構造復元

  堂前幸康, 奥田晴久, 高氏秀則, 金子俊一, 田中孝之, 橋本学 画像センシングシンポジウム講演論文集(CD-ROM) 13th IN1-05 2007年06月06日 [査読無し][通常論文]
  
• Mono-MoCap に基づく2眼ステレオ視の計測範囲の拡張

  高橋 秀典, 田中 孝之, 金子 俊一 精密工学会誌 = Journal of the Japan Society of Precision Engineering 73 (6) 671 -676 2007年06月05日 [査読無し][通常論文]
   

  In the previous paper, the authors achieved a 3D motion capture system by using one camera with triangle markers, named as Mono-MoCap (MMC). MMC has two features. One is that MMC can measure 3D positions of subjects by using one camera on the basis of the perspective n point (PnP) problem. Another is that MMC does not need to recalibrate the camera parameters. In this paper, the authors apply MMC to binocular stereovision system for expanding its measurement range. Stereovision system can not measure 3D positions of objects when even one camera does not capture the objects. Experimental results show that the proposed method is effective for expanding of the measurement range of the parallel binocular stereovision system.
• 電磁石とバネを用いた可変弾性機構の基礎研究

  内藤葉月, 田中孝之, 金子俊一 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) 2007 1A2-C01 2007年05月10日 [査読無し][通常論文]
  
• 視覚を有する移動ロボットの振動を考慮した速度推定および環境認識

  岡崎伸哉, 田中孝之, 金子俊一 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) 2007 2A2-E07 2007年05月10日 [査読無し][通常論文]
  
• 農作業用スマートスーツ―第4報,補助力調整機構の高性能化―

  関修治, 佐藤悠太, 田中孝之, 金子俊一, 鈴木善人, 坂本直久 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) 2007 1A1-G01 2007年05月10日 [査読無し][通常論文]
  
• 作業強度と障害物認知性の関係を考慮した障害物認知補助装置

  鷲尾太一, 田中孝之, 金子俊一 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) 2007 1A2-M05 2007年05月10日 [査読無し][通常論文]
  
• 分布類似性評価に基づく劣化画像の局所画質改善の研究

  傅 琳, 金子 俊一, 田中 孝之 電気学会研究会資料. IP, 情報処理研究会 2007 (1) 25 -30 2007年02月24日 [査読無し][通常論文]
  
• ブローイング静動分離法による幹草判別

  FAN Zhang, 田中孝之, 金子俊一 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) 2007 1855 -1859 2007年 [査読無し][通常論文]
   

  Due to the area of the vineyards in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also attempt to measure the root of trunk accurately. Due to techniques so far cannot suffice today's applications; a new method to measure the blocked trunk of grape in vineyards has also been developed in this paper.
• 1A1-G01 農作業用スマートスーツ : 第4報,補助力調整機構の高性能化(農業用ロボット・メカトロニクス)

  関 修治, 佐藤 悠太, 田中 孝之, 金子 俊一, 鈴木 善人, 坂本 直久 ロボティクス・メカトロニクス講演会講演概要集 2007 (0) _1A1 -G01_1-_1A1-G01_2 2007年 [査読無し][通常論文]
   

  In this study, we aim to develop a light-weight wearable power assist system "Smart Suit" for agricultural work. The smart suit mainly consists of elastic materials and adjustable assist mechanisms. In this report, we installed the motor unit that made the adjustable assist mechanism more efficient in the "Smart Suit", and we did the experiment that measured the potential differences between muscles when there was the adjustable assist mechanism and was not.
• 1A1-H04 ブローイング静動分離法による幹草判別(農業用ロボット・メカトロニクス)

  張 帆, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2007 (0) _1A1 -H04_1-_1A1-H04_3 2007年 [査読無し][通常論文]
   

  Due to the area of the wainari-vineyard in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique which can be applied to the weeding robot in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. In this technique, we took advantage of the difference of the hardness between the weeds and the trunk. The basic principle of this research is that after blowing wind to the target objects, the computer analyzes the response of the objects by using reduplicate difference. Based on the dynamic-static response, robot could distingish the weeds and trunk.
• 1A2-C01 電磁石とバネを用いた可変弾性機構の基礎研究(アクチュエータの機構と制御)

  内藤 葉月, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2007 (0) _1A2 -C01_1-_1A2-C01_2 2007年 [査読無し][通常論文]
   

  This research is a fundamental study on variable stiffness mechanism using electromagnet and spring. In this study, we develop an unit that can change the stiffness to the combination of the electromagnet with the spring. And, it's basic characteristic was examined. Next, the mechanism was modeled, and the control method of the stiffness. In addition, we examined whether it can control. As a result, it has been understood that stiffness is changed from 0.12kgf/mm to 0.165kgf/mm, and stiffness can be controlled but it takes time.
• 1A2-M05 作業強度と障害物認知性の関係を考慮した障害物認知補助装置(ユニバーサルデザイン)

  鷲尾 太一, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2007 (0) _1A2 -M05_1-_1A2-M05_3 2007年 [査読無し][通常論文]
   

  Recently, we see many portable device users walking, using eniail service and internet contents. Such an activity is dangerous because it makes users less alert to surrounding obstacles. Therefore we set out to develop a. portable Obstacle-Recognition-Support-Device that widely secures the walking safety of the users. We proposed. the estimation method of obstacle recognizability while using portable device based on the body characteristics and the concentration rate t.o the work. We showed the experimental results of an attention power of testees to the obstacles when the intensity of given warning was changed according to the working strength and obstacle recognizability.
• 2A2-E07 視覚を有する移動ロボットの振動を考慮した速度推定および環境認識(移動ロボットのための視覚)

  岡崎 伸哉, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2007 (0) _2A2 -E07_1-_2A2-E07_3 2007年 [査読無し][通常論文]
   

  This study aims to develop a velocity estimation and an envirnment recognition method for a mobile robot in an undulating environment. By evaluating the measuring errors of stereo method, we aim to remove those errors and get accurate velocity and environment information. We calculate velocity of mobile robot by dividing the difference of stereo data by sampling time. We used moving average and reliability of landmark to remove errors and we remove errors 70%〜90%. An undulating environment is obtained by comparing the measuring stereo errors with the theoretical stereo errors.
• 局所一貫性による点群の回転照合法と欠陥パタン照合への応用

  電子情報通信学会論文誌 90D (10) 2798 -2806 2007年 [査読無し][通常論文]
  
• 方向符号照合による農作業機のためのロバスト速度計測

  電子情報通信学会論文誌 in printing 2007年 [査読無し][通常論文]
  
• 方向符号差分ヒストグラムに基づくロバスト回転不変照合法

  浦野貴裕, 金子俊一, 高氏秀則, 田中孝之 画像電子学会誌 36 (4) 417 -425 2007年 [査読無し][通常論文]
  
• 農作業用スマートスーツ(第1報,弾性材と補助力調整機構からなるスマートスーツの試作と基礎実験)

  佐藤悠太, 田中孝之, 金子俊一, 鈴木善人, 坂本直久 日本ロボット学会学術講演会予稿集(CD-ROM) 24th 3G24 2006年09月14日 [査読無し][通常論文]
  
• 超音波筋活動センサを用いた上肢運動推定 (第11回知能メカトロニクスワークショップ講演論文集) -- (センシング技術)

  早瀬 一彦, 田中 孝之, 金子 俊一 知能メカトロニクスワークショップ講演論文集 11 128 -131 2006年09月07日 [査読無し][通常論文]
  
• 超音波筋活動センサを用いた上肢運動推定

  早瀬一彦, 田中孝之, 金子俊一, FENG Maria Q 知能メカトロニクスワークショップ講演論文集 11th 128 -131 2006年09月07日 [査読無し][通常論文]
  
• 方向符号照合法に基づく農作業機制御用速度センサの開発

  中原和哉, 高氏秀則, 金子俊一, 田中孝之, 清水将志, 宮下行雄, 大村功 知能メカトロニクスワークショップ講演論文集 11th 132 -137 2006年09月07日 [査読無し][通常論文]
  
• ロバストタグ抽出のためのスケーリングなどを考慮した信頼度設計

  中山伊央, 高氏秀則, 金子俊一, 田中孝之 知能メカトロニクスワークショップ講演論文集 11th 36 -41 2006年09月07日 [査読無し][通常論文]
  
• Robust tagging in strange circumstance

  Hidenori Takauji, Shun'ichi Kaneko, Takayuki Tanaka ELECTRICAL ENGINEERING IN JAPAN 156 (4) 22 -32 2006年09月 [査読無し][通常論文]
   

  This paper aims to propose a new scheme for robust tagging for landmark definition in unknown circumstance using some qualitative evaluations based on orientation code representation and matching, which has been proposed for robust image registration even in the presence of changes in illumination and occlusion. The necessary characteristics for effective tags include richness, similarity, and uniqueness, and are considered in order to design an algorithm for tag detection. These qualitative considerations can be utilized to design a simple and robust algorithm for tag definitions in combination with the robust image registration algorithm. (C) 2006 Wiley Periodicals, Inc.
• スケーリング・変形を考慮したタグの信頼度設計 : ロバストタグ抽出法

  中山 伊央, 高氏 秀則, 金子 俊一, 田中 孝之 映像情報メディア学会技術報告 30 (42) 71 -74 2006年08月31日 [査読無し][通常論文]
  
• 柔軟な画像分類のための色・形状特徴の設計

  李 媛, 金子 俊一, 田中 孝之 映像情報メディア学会技術報告 30 (42) 67 -70 2006年08月31日 [査読無し][通常論文]
  
• 近傍整合性の累積評価に基づく回転照合法と欠陥点群分布照合への応用

  浦野 貴裕, 金子 俊一, 田中 孝之, 前田 俊二, 渋谷 久恵, 吉田 実 電気学会研究会資料. IP, 情報処理研究会 2006 (20) 41 -44 2006年08月12日 [査読無し][通常論文]
  
• テスト特徴法に基づく逐次パタン学習とその時系列認識問題への応用

  坂田 幸辰, 金子 俊一, 田中 孝之 電気学会研究会資料. IP, 情報処理研究会 2006 (11) 1 -6 2006年08月11日 [査読無し][通常論文]
  
• 柔軟な画像分類のための色・形状特徴の設計

  李 媛, 金子 俊一, 田中 孝之 電気学会研究会資料. IP, 情報処理研究会 2006 (11) 7 -12 2006年08月11日 [査読無し][通常論文]
  
• 高ユニバーサリティ設計支援システム

  鷲尾太一, 田中孝之, 金子俊一 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) 2006 2P2-A23 2006年05月26日 [査読無し][通常論文]
  
• 超音波筋活動センサを用いた関節運動推定における電気的ノイズの影響

  小山剛史, 田中孝之, 筒井洋一郎, 金子俊一, FENG Maria Q 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) 2006 2P1-A06 2006年05月26日 [査読無し][通常論文]
  
• 筋疲労軽減のための増力装置制御法の開発

  後藤良介, 田中孝之, 金子俊一 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) 2006 2P2-A36 2006年05月26日 [査読無し][通常論文]
  
• 反射型超音波筋活動センサによる2自由度肩関節トルク推定

  早瀬一彦, 田中孝之, 金子俊一, FENG Maria. Q ロボティクスシンポジア予稿集 11th 204 -209 2006年03月16日 [査読無し][通常論文]
  
• テスト特徴による逐次パタン分類法とその時系列認識問題への応用

  坂田幸辰, 金子俊一, 田中孝之 画像センシングシンポジウム予稿集(CD-ROM) 12th L-14 2006年 [査読無し][通常論文]
  
• 方向符号特徴を利用した明度変化に強ロバストな特徴点抽出及びそのトラッキング

  堂前幸康, 金子俊一, 田中孝之 画像センシングシンポジウム予稿集(CD-ROM) 12th B-5 2006年 [査読無し][通常論文]
  
• 方向符号差分ヒストグラムに基づく高効率回転不変画像照合

  浦野貴裕, 金子俊一, 田中孝之 画像センシングシンポジウム予稿集(CD-ROM) 12th L-13 2006年 [査読無し][通常論文]
  
• 2P1-A06 超音波筋活動センサを用いた関節運動推定における電気的ノイズの影響

  小山 剛史, 田中 孝之, 筒井 洋一郎, 金子 俊一, フェン マリア.Q. ロボティクス・メカトロニクス講演会講演概要集 2006 (0) _2P1 -A06_1-_2P1-A06_4 2006年 [査読無し][通常論文]
   

  We have developed the Ultrasonic Muscle activity Sensor (UMS) that measures muscle activities by the change of ultrasonic wave in muscles. We have shown that it is possible to estimate joint motion by using UMS. In this paper, we examine the influence of electrical noise on joint motion estimation using UMS and compare the influence when using EMG.
• 2P2-A23 高ユニバーサリティ設計支援システム

  鷲尾 太一, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2006 (0) _2P2 -A23_1-_2P2-A23_2 2006年 [査読無し][通常論文]
   

  This study aims to develop a design support system which enables to improve the common-usability from the physical features of small numbers of testees and to develop an obstacle detector which is accessible to everyone. We proposed "universality" as an evaluation index of universal design. In this paper, we propose a safety universality estimation method which can estimates safety universality from the physical descriptions of the testees.
• 2P2-A36 筋疲労軽減のための増力装置制御法の開発

  後藤 良介, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2006 (0) _2P2 -A36_1-_2P2-A36_4 2006年 [査読無し][通常論文]
   

  In this study, the authors aimed to develope a control method of power amplifier for reducing muscular fatigue. First of all, we defined the operating environment of the power amplifier, and we designed a controller which gives suitable impedance to the manipulator of the device and realizes natural contact condition for the operator in the environment. Based on the designed controller, we developed a one-link power amplifier as a minimum model of power suits. Also, we discussed how to quantify muscular fatigue with electromyograph in order to grasp human's characteristic of muscular fatigue when an operator do a task, and we defined an evaluation function of muscular fatigue. Based on these approach, we estimated optimal impedance that the manipulator should have to reduce muscular fatigue during visual tracking task. Besides, we proposed Automatic Optimal Impedance Matching Control which adjusts impedance of the controller automatically in order to minimize energy into the system, and we established effects of the control method for reducing muscular fatigue.
• 内挿型絶対差分照合法を用いたLSIウェハ欠陥抽出

  竹田健祐, 金子俊一, 田中孝之, 酒井薫, 前田俊二, 中川泰夫 ViEWビジョン技術の実利用ワークショップ講演論文集 2005 20 -25 2005年12月08日 [査読無し][通常論文]
  
• ロバスト画像照合に基づく農作業機用速度センサの開発

  中原和哉, 金子俊一, 田中孝之, 清水将志, 宮下行雄 ViEWビジョン技術の実利用ワークショップ講演論文集 2005 234 -239 2005年12月08日 [査読無し][通常論文]
  
• 方向符号照合のトラッキングへの応用 (第10回知能メカトロニクスワークショップ講演論文集)

  堂前 幸康, 金子 俊一, 田中 孝之 知能メカトロニクスワークショップ講演論文集 10 85 -90 2005年09月01日 [査読無し][通常論文]
  
• 反射型超音波筋活動センサによる動的な肘関節トルク推定 (第10回知能メカトロニクスワークショップ講演論文集)

  早瀬 一彦, 田中 孝之, 金子 俊一 知能メカトロニクスワークショップ講演論文集 10 107 -110 2005年09月01日 [査読無し][通常論文]
  
• 方向符号差分ヒストグラム(OCDH)に基づく回転不変画像照合 (第10回知能メカトロニクスワークショップ講演論文集)

  浦野 貴裕, 金子 俊一, 田中 孝之 知能メカトロニクスワークショップ講演論文集 10 161 -166 2005年09月01日 [査読無し][通常論文]
  
• 方向符号照合のトラッキングへの応用

  堂前幸康, 金子俊一, 田中孝之, 高橋悟 知能メカトロニクスワークショップ講演論文集 10th 85 -90 2005年09月01日 [査読無し][通常論文]
  
• 方向符号差分ヒストグラム(OCDH)に基づく回転不変画像照合

  浦野貴裕, 金子俊一, 田中孝之 知能メカトロニクスワークショップ講演論文集 10th 161 -166 2005年09月01日 [査読無し][通常論文]
  
• 反射型超音波筋活動センサによる動的な肘関節トルク推定

  早瀬一彦, 田中孝之, 金子俊一, FENG Maria 知能メカトロニクスワークショップ講演論文集 10th 107 -110 2005年09月01日 [査読無し][通常論文]
  
• 疲労を軽減するための増力装置制御法の開発

  後藤良介, 田中孝之, 金子俊一 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 43 -46 2005年08月30日 [査読無し][通常論文]
  
• 足関節障害者のための装着型歩行補助装置―(歩行障害と歩行補助方法についての考察)―

  浦野しょう, 田中孝之, 金子俊一 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 47 -48 2005年08月30日 [査読無し][通常論文]
  
• 反射型超音波筋活動センサによる肘関節トルク推定

  早瀬一彦, 田中孝之, 金子俊一 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 39 -42 2005年08月30日 [査読無し][通常論文]
  
• 内挿型絶対差分照合に基づくロバストなサブピクセル画像照合法

  竹田健祐, 金子俊一, 田中孝之, 酒井薫, 前田俊二, 中川泰夫 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 31 -34 2005年08月30日 [査読無し][通常論文]
  
• 高ユニバーサリティ障害物検出装置の設計支援システム

  鷲尾太一, 田中孝之, 金子俊一 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 29 -30 2005年08月30日 [査読無し][通常論文]
  
• 超音波筋活動センサによるトルク推定

  小山剛史, 田中孝之, 金子俊一 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 35 -38 2005年08月30日 [査読無し][通常論文]
  
• 農作業機制御のためのロバスト実速度センシング

  中原和哉, 金子俊一, 田中孝之, 清水将志, 名取誠 映像情報メディア学会技術報告 29 (47(ME2005 125-139)) 25 -28 2005年08月30日 [査読無し][通常論文]
  
• HSI空間を用いた色特徴量を分析する手法の応用

  伝琳, 金子俊一, 田中孝之 映像情報メディア学会技術報告 29 (46(ME2005 105-124)) 25 -28 2005年08月29日 [査読無し][通常論文]
  
• 方向符号差分ヒストグラムによるロバスト回転不変画像照合法

  浦野貴裕, 金子俊一, 田中孝之 映像情報メディア学会技術報告 29 (46(ME2005 105-124)) 17 -20 2005年08月29日 [査読無し][通常論文]
  
• 方向符号差分ヒストグラムによるロバスト回転不変画像照合法 (サマーセミナー(若葉研究者の発表会))

  浦野 貴裕, 金子 俊一, 田中 孝之 映像情報メディア学会技術報告 29 (46) 17 -20 2005年08月 [査読無し][通常論文]
  
• HSI空間を用いた色特徴量を分析する手法の応用 (サマーセミナー(若葉研究者の発表会))

  傅 琳, 金子 俊一, 田中 孝之 映像情報メディア学会技術報告 29 (46) 25 -28 2005年08月 [査読無し][通常論文]
  
• 農作業機制御のためのロバスト実速度センシング (サマーセミナー(若葉研究者の発表会))

  中原 和哉, 金子 俊一, 田中 孝之 映像情報メディア学会技術報告 29 (47) 25 -28 2005年08月 [査読無し][通常論文]
  
• 内挿型絶対差分照合に基づくロバストなサブピクセル画像照合法 (サマーセミナー(若葉研究者の発表会))

  竹田 健祐, 金子 俊一, 田中 孝之 映像情報メディア学会技術報告 29 (47) 31 -34 2005年08月 [査読無し][通常論文]
  
• 超音波筋活動センサによるトルク推定 (サマーセミナー(若葉研究者の発表会))

  小山 剛史, 田中 孝之, 金子 俊一 映像情報メディア学会技術報告 29 (47) 35 -38 2005年08月 [査読無し][通常論文]
  
• 反射型超音波筋活動センサによる肘関節トルク推定 (サマーセミナー(若葉研究者の発表会))

  早瀬 一彦, 田中 孝之, 金子 俊一 映像情報メディア学会技術報告 29 (47) 39 -42 2005年08月 [査読無し][通常論文]
  
• 疲労を軽減するための増力装置制御法の開発 (サマーセミナー(若葉研究者の発表会))

  後藤 良介, 田中 孝之, 金子 俊一 映像情報メディア学会技術報告 29 (47) 43 -46 2005年08月 [査読無し][通常論文]
  
• テスト特徴法に基づく逐次パタン学習とその時系列認識問題への応用

  坂田幸辰, 金子俊一, 田中孝之 情報処理学会シンポジウム論文集 2005 IS2-77 2005年07月18日 [査読無し][通常論文]
  
• 走査型区間推定を用いた高効率テンプレートマッチングアルゴリズム

  前孝宏, 金子俊一, 田中孝之 情報処理学会シンポジウム論文集 2005 IS2-53 2005年07月18日 [査読無し][通常論文]
  
• 未知環境におけるロバストタギング

  高氏秀則, 金子俊一, 田中孝之 情報処理学会シンポジウム論文集 2005 OS3-8 2005年07月18日 [査読無し][通常論文]
  
• ステレオ視覚フィードバックによる3次元トラッキング

  堂前幸康, 金子俊一, 田中孝之 情報処理学会シンポジウム論文集 2005 IS4-166 2005年07月18日 [査読無し][通常論文]
  
• 魔法のほうきをイメージした新しい乗り物SWEEPER(第3報,機構安定性を有するSWEEPERの開発)

  石川ふくろう, 蛭子由章, 田中孝之, 金子俊一, 山藤和男 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) 2005 1P2-S-016 2005年06月09日 [査読無し][通常論文]
  
• ユニバーサリティの評価方法と高ユニバーサリティ障害物検出装置

  鷲尾太一, 田中孝之, 金子俊一 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) 2005 1A1-N-032 2005年06月09日 [査読無し][通常論文]
  
• 農耕用トラクタのためのロバスト実速度センシング

  中原和哉, 金子俊一, 田中孝之, 清水将志, 名取誠 画像センシングシンポジウム講演論文集 11th 153 -156 2005年06月 [査読無し][通常論文]
  
• 高ユニバーサリティ障害物検出装置

  鷲尾太一, 田中孝之, 金子俊一 画像センシングシンポジウム講演論文集 11th 449 -452 2005年06月 [査読無し][通常論文]
  
• 周期入力による準受動的歩行ロボットの運動制御

  梅枝真守, 梶原秀一, 田中孝之, 金子俊一 ロボティクスシンポジア予稿集 10th 133 -138 2005年03月14日 [査読無し][通常論文]
  
• 1A1-N-032 ユニバーサリティの評価方法と高ユニバーサリティ障害物検出装置(ユニバーサルデザイン,生活を支援するロボメカ技術のメガインテグレーション)

  鷲尾 太一, 田中 孝之, 金子 俊一 ロボティクス・メカトロニクス講演会講演概要集 2005 (0) 12 -12 2005年 [査読無し][通常論文]
  
• 1P2-S-016 魔法のほうきをイメージした新しい乗り物SWEEPER : 第3報,機構安定性を有するSWEEPERの開発(車輪移動ロボット2,生活を支援するロボメカ技術のメガインテグレーション)

  石川 ふくろう, 蛭子 由章, 田中 孝之, 金子 俊一, 山藤 和男 ロボティクス・メカトロニクス講演会講演概要集 2005 (0) 122 -122 2005年 [査読無し][通常論文]
  
• Test Feature Classifier による逐次パタン分類とその時系列認識問題への応用

  坂田 幸辰, 金子 俊一, 田中 孝之, 高木 裕治 電子情報通信学会技術研究報告. PRMU, パターン認識・メディア理解 104 (524) 25 -30 2004年12月17日 [査読無し][通常論文]
   

  ノンパラメトリックなパタン分類法として考案されたテスト特徴分類器の逐次学習に関する特性について検討する.逐次的に与えられる未知パタン群を識別した後,その結果を訓練パタンとして識別器に追加して次のより高い性能の識別器を構成しようとする場合を考える.逐次学習に伴う非重複条件を満たす冗長性の無い組み合わせ特徴量(PTF)の更新アルゴリズムを提案した.逐次学習型テスト特徴分類器を時間経過と共にデータ特性が変化する時系列認識問題へ適応し,その特性をシミュレーションデータを用いた実験によって検証した.
• 方向符号差分ヒストグラム(OCDH)による高速回転画像照合

  浦野 貴裕, 金子 俊一, 田中 孝之, 今田 宗利 電子情報通信学会技術研究報告. PRMU, パターン認識・メディア理解 104 (523) 37 -42 2004年12月16日 [査読無し][通常論文]
   

  方向符号差分ヒストグラム(OCDH)に基づく画像照合法は,高速かつ,回転不変で明度変化などに強い頑強性(ロバスト性)を発揮する画像照合法である.本手法は,方向符号に基づいた画像照合法(OCM[1],[2],0H[3])を基礎として設計されている.高い精度の回転角度の検出を行う際にも方向符号数の増加に影響されずに高速な照合を行う事が可能となった.
• 走査形区間推定を用いた高効率画像照合法

  前 孝宏, 金子 俊一, 田中 孝之 電子情報通信学会技術研究報告. PRMU, パターン認識・メディア理解 104 (523) 43 -47 2004年12月16日 [査読無し][通常論文]
   

  登録画像群の相関構造及び画素情報を用いて,テンプレートマッチングの探索課程をスキップし効率的に全探索と同一解を求める方法について提案する.画像間の相関構造と画素情報に基づいた未知の相関係数値を推定する2つの区間推定を導出し,この区間推定を用いてシーンとテンプレートの相関係数値の持ちうる上限値を導いた.この上限値を用いた高効率探索アルゴリズムを設計して実験を行い提案手法の有効性を確認した.
• 走査形区間推定を用いた高効率画像照合法

  前孝宏, 金子俊一, 田中孝之 電子情報通信学会技術研究報告 104 (523(PRMU2004 123-133)) 43 -47 2004年12月09日 [査読無し][通常論文]
  
• 内挿型増分符号相関に基づくロバストなサブピクセル画像照合法

  竹田健祐, 金子俊一, 田中孝之, 酒井薫, 前田俊二, 中川泰夫 ViEWビジョン技術の実利用ワークショップ講演論文集 2004 16 -21 2004年12月02日 [査読無し][通常論文]
  
• 方向符号差分ヒストグラムに基づくロバスト回転画像照合

  浦野貴裕, 金子俊一, 田中孝之, 今田宗利 ViEWビジョン技術の実利用ワークショップ講演論文集 2004 22 -27 2004年12月02日 [査読無し][通常論文]
  
• 未知環境におけるロバストタギング

  高氏 秀則, 金子 俊一, 田中 孝之 知能メカトロニクスワークショップ講演論文集 9 17 -22 2004年08月05日 [査読無し][通常論文]
  
• 超音波筋活動センサにおける体格差の影響

  小山 剛史, 田中 孝之, 筒井 洋一郎 知能メカトロニクスワークショップ講演論文集 9 127 -130 2004年08月05日 [査読無し][通常論文]
  
• ロバスト画像処理研究における創造性教育

  金子 俊一, 田中 孝之 知能メカトロニクスワークショップ講演論文集 9 291 -295 2004年08月05日 [査読無し][通常論文]
  
• ステレオ測距とカルマンフィルタに基づく3次元状態センシング

  堂前幸康, 高氏秀則, 金子俊一, 田中孝之 知能メカトロニクスワークショップ講演論文集 9th 65 -70 2004年08月05日 [査読無し][通常論文]
  
• 触覚センサを用いた視覚障害者誘導用ブロックの認識率の推定

  山岸尚登, 黒井恒志, 田中孝之 ロボティクスシンポジア予稿集 9th 567 -572 2004年03月08日 [査読無し][通常論文]
  
• 超音波筋活動センサの開発

  筒井洋一郎, 鈴木洋輔, 田中孝之, FENG M Q ロボティクスシンポジア予稿集 9th 168 -173 2004年03月08日 [査読無し][通常論文]
  
• 魔法のほうきをイメージした新しい乗り物SWEEPER : 第1報,コンセプトと試作機の開発(OS.17 人間と関わるロボット)

  川口 加織, 田中 孝之, 山藤 和男, 上原 猛司, 前田 隆正 日本機械学会関東支部総会講演会講演論文集 2004 (0) 411 -412 2004年 [査読無し][通常論文]
   

  We develop a new vehicle to improve human mobility. It is modeled on the magic broom, and is named SWEEPWE. SWEEPER is lightweight and smart size, so it has high portability. SWEEPER is deigned in consideration of multipurpose use, for example, a substance of bicycle, avehicle for entertaiment. In this paper, we descride design concepts of SWEEPER, deveropment of a prototype, the questionnaire evaluation by trial ride and future works based on the evaluation.
• 可変弾性機構を有する装置型増力装置(OS.17 人間と関わるロボット)

  林 俊映, 田中 孝之 日本機械学会関東支部総会講演会講演論文集 2004 (0) 413 -414 2004年 [査読無し][通常論文]
   

  Wearable robots, especially power suits to enhance human activity are one of most interesting topics. This study aims to develop a power suit installing a variable stiffness mechanism. In a previous study, we showed the relation between impedance parameters of power suits and human performance, and verified the effectiveness of self impedance matching method using soft computings. In this paper, we conduct fundamental experiments in order to design a variable stiffness mechanism which can tune the stiffness of joint mechanically. Experimental results show the effectiveness of variable stiffness for improving human performance and reducting muscle fatigue.
• ユニバーサルデザインの新しい評価方法 : 加齢を考慮した視覚障害者誘導用ブロックの認識率の推定(ユニバーサルデザイン)

  山岸 尚登, 田中 孝之, 黒井 恒志 ロボティクス・メカトロニクス講演会講演概要集 2004 (0) 24 -24 2004年 [査読無し][通常論文]
  
• 失敗を恐れないロボット・メカトロ教育のための教材開発と教育法の提案(もの作りとメカトロニクス1)

  後藤 太郎, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2004 (0) 120 -121 2004年 [査読無し][通常論文]
  
• 魔法のほうきをイメージした新しい乗り物SWEEPER : 第2報,直感的操作が可能なヒューマンインタフェース(アミューズメントロボット・エンタテイナーロボット)

  川口 加織, 田中 孝之, 山藤 和男, 上原 猛司, 前田 隆正 ロボティクス・メカトロニクス講演会講演概要集 2004 (0) 175 -175 2004年 [査読無し][通常論文]
  
• ウェアラブルセンサスーツ : 第3報,表面筋電位を用いた関節トルク測定のための自動較正法(ウェアラブルロボット)

  鈴木 洋輔, 田中 孝之, 筒井 洋一郎 ロボティクス・メカトロニクス講演会講演概要集 2004 (0) 178 -179 2004年 [査読無し][通常論文]
  
• 無人化生産支援ロボットによるトラブル復旧作業

  関口尚大, 清水茂則, 田中孝之 日本ロボット学会学術講演会予稿集(CD-ROM) 21st 1F18 2003年09月20日 [査読無し][通常論文]
  
• β-caroteneを内含する繊維型光駆動アクチュエータ

  三井隆二郎, 田中孝之, 河村隆 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) 2003 1A1.3F.F6(1)-1A1.3F.F6(2) 2003年05月23日 [査読無し][通常論文]
  
• 1A1-3F-F6 β-carotene を内含する繊維型光駆動アクチュエータ

  三井 隆二郎, 田中 孝之, 河村 隆 ロボティクス・メカトロニクス講演会講演概要集 2003 (0) 31 -31 2003年 [査読無し][通常論文]
   

  新しいアクチュエータとして動物の視覚などの生体における光受容機構に存在するフォトクロミック分子を動力源とするアクチュエータの開発を行っている。力学モデルを構築し, 動作実験結果との比較を行った。
• (1)ロボット・メカトロニクスに対する創造性教育と社会貢献の実践(教育)(日本機械学会賞〔2002年度(平成14年度)審査経過報告〕)

  石川 晴雄, 前川 博, 明 愛国, 金森 哉吏, 田中 孝之 日本機械学会誌 106 (1014) 354 -354 2003年 [査読無し][通常論文]
  
• 18.6.ものづくり教育とメカトロニクス(18.ロボティクス・メカトロニクス)(<特集>機械工学年鑑)

  田中 孝之, 生田 幸士 日本機械学会誌 106 (1017) 640 -640 2003年 [査読無し][通常論文]
  
• 1A1-2F-D1 触覚センサを用いた視覚障害者誘導用ブロックの認識

  山岸 尚登, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2003 (0) 18 -18 2003年 [査読無し][通常論文]
   

  本研究では, ユニバーサルデザインの新しい評価方法の構築のために, 視覚障害者誘導用ブロック上を歩行したときの足裏の圧力分布を感圧導電性ゴムを用いた触覚センサによって測定し, 人間の認識結果との関連性を検証する。
• 2A1-3F-D5 ウェアラブル・センサスーツ : 第 2 報超音波筋力センサの高性能化

  山口 龍介, 田中 孝之, 堀 滋樹, 諸麦 俊司, フェン マリア ロボティクス・メカトロニクス講演会講演概要集 2003 (0) 84 -84 2003年 [査読無し][通常論文]
   

  人間の全身に渡る動作を計測する為に, センサを内蔵した着衣方のセンサスーツを開発し最適なセンシングアルゴリズムを構築する研究である。本稿では筋肉の状態を測る超音波センサの高性能化を報告する。
• 2A1-3F-D6 介護用ヒューマン・アシスト・システム : 第 12 報アシスト効果向上のための制御系設計

  小山 猛, 田中 孝之, 田中 一男, フェン マリア ロボティクス・メカトロニクス講演会講演概要集 2003 (0) 84 -84 2003年 [査読無し][通常論文]
   

  本報では, 生体情報である表面筋電位を用いてロボット装着時と未装着時の介護者の筋力を比較し, 全てのマンマシン系で利用可能なアシスト効果評価手法を提案する。
• 介護用装着型ヒューマンアシストロボットの開発とアシスト効果向上のための制御系設計

  フルードパワーシステム Vol.34 (No.5) 128 -133 2003年 [査読無し][通常論文]
  
• 無人化生産支援ロボットのトラブル認識

  清水茂則, 関口尚大, 田中孝之, 田中一男, 荒島謙治 日本ロボット学会学術講演会予稿集(CD-ROM) 20th 1A37 2002年10月12日 [査読無し][通常論文]
  
• ウェアラブル・センサスーツ(第1報,コンセプトと超音波センサディスク)

  田中孝之, 山口龍介, 諸麦俊司, FENG M Q 日本ロボット学会学術講演会予稿集(CD-ROM) 20th 1F24 2002年10月12日 [査読無し][通常論文]
  
• 地域と連携した物づくり教育

  田中孝之 日本機械学会年次大会講演論文集 2002 (Vol.8) 507 -508 2002年09月20日 [査読無し][通常論文]
  
• 装着型ロボットの操作感と制御系設計への応用

  金森 直希, 田中 孝之, 田中 一男 情報処理学会研究報告. DBS,データベースシステム研究会報告 126 (3) 31 -33 2002年01月21日 [査読無し][通常論文]
   

  This paper addresses subjective evaluation for operating feeling in a wearable robot. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three pattern classification is also investigated by the semantic differential method and factor analysis.
• 感覚シミュレータを用いたユニバーサルデザインの知的評価方法

  山岸尚登, 田中孝之 自動制御連合講演会講演論文集 45th 399 -400 2002年 [査読無し][通常論文]
  
• P01-(6) 地域と連携した物づくり教育

  田中 孝之 年次大会講演資料集 2 (0) 507 -508 2002年 [査読無し][通常論文]
  
• 1P1-F08 介護用ヒューマン・アシスト・システム : 第 11 報介護者の意図推定

  小山 猛, 田中 孝之, 田中 一男, マリア Q. フェン ロボティクス・メカトロニクス講演会講演概要集 2002 (0) 48 -48 2002年 [査読無し][通常論文]
   

  我々は介護者の肉体的・精神的負担を軽減するため, 介護者が装着しその腕力を増力することを目的とした, 介護用ヒューマン・アシスト・システムHAROの開発を進めている。本報では, HAROの操作性を向上させるために, HARO装着部に内蔵された操作力センサによって検出される操作力と介護者の筋電との相関をバイオメカニクスの観点から明確にし, その相関と操作力から介護者の意図を推定する。これにより, 介護者の筋骨格系に則した挙動やアシストが可能となる。
• 1P1-F09 介護用ヒューマン・アシスト・システム : 第 10 報作業状態遷移に対応した制御系設計

  吉川 広祐, 小山 猛, 田中 孝之, 田中 一男 ロボティクス・メカトロニクス講演会講演概要集 2002 (0) 48 -49 2002年 [査読無し][通常論文]
   

  われわれは介護用ヒューマン・アシスト・システムを開発し, 操作力センサと外力センサを統合した制御系の設計をおこなってきた。本研究では被介護者への抱き上げ作業の過程において, 被介護者との非接触である自由状態と接触している負荷状態, さらに自由状態と負荷状態との間の不連続な変化に対して過渡状態を設け, それぞれに対応した制御系を設計する。擬似被介護者 (約30kgのおもり) の持ち上げ実験をおこない, 提案する制御系が操作者の円滑な作業に有効であることを示す。
• 2P2-H08 フォトクロミック分子を用いた繊維型光アクチュエータ

  山岸 尚登, 田中 孝之, 河村 隆, 田中 一男 ロボティクス・メカトロニクス講演会講演概要集 2002 (0) 117 -117 2002年 [査読無し][通常論文]
   

  本研究では光エネルギによって構造が可逆的に変化するフォトクロミック分子に注目し, その動作をアクチュエータの動力として利用することを目的とする。フォトクロミック分子をナイロン6フィラメントの結晶組織中に拡散させ, 同分子の構造変化を利用した柔軟で静粛な繊維型アクチュエータを試作した。本アクチュエータは光によるエネルギ供給と制御が可能であり, 全体としてのシステムの小型・軽量化が期待できる。実験によりアクチュエータとしての利用を前提とした特性評価を行う。
• 力触覚インタフェースにおける操作感の主観評価

  金森直希, 田中孝之, 田中一男 日本機械学会論文集 68 (669) 1467 -1473 2002年 [査読無し][通常論文]
  
• 一本足ロボットの動作特性と制御

  堀滋樹, 田中孝之, 田中一男, 宮島晃 日本ロボット学会学術講演会予稿集 19th 128 2001年09月18日 [査読無し][通常論文]
  
• 一輪車ロボットの安定走行原理

  田中孝之, 堀滋樹, 田中一男, 鈴木久延 日本ロボット学会学術講演会予稿集 19th 229 -230 2001年09月18日 [査読無し][通常論文]
  
• 操作アームの操作感分析

  金森直希, 田中孝之, 田中一男 日本ロボット学会学術講演会予稿集 19th 205 2001年09月18日 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第9報 実用的な介護動作のための制御システムの設計

  吉川広祐, 小山猛, 田中孝之, 田中一男 日本ロボット学会学術講演会予稿集 19th 295 2001年09月18日 [査読無し][通常論文]
  
• 知能ロボットが創る未来社会

  田中 孝之 オムニマネジメント 10 (8) 2 -6 2001年08月 [査読無し][通常論文]
  
• 装着型増力装置のための超音波を用いた筋情報計測

  櫛田拓也, 田中孝之, FENG M Q, 諸麦俊司 日本機械学会関東支部総会講演会講演論文集 7th 289 -290 2001年03月09日 [査読無し][通常論文]
  
• 806 装着型増力装置のための超音波を用いた筋情報計測(感覚・計測とロボティクス・メカトロニクスI)(OS.12 感覚・計測とロボティクス・メカトロニクス)

  櫛田 拓也, 田中 孝之, フェン マリア, 諸麦 俊司 日本機械学会関東支部総会講演会講演論文集 2001 (0) 289 -290 2001年 [査読無し][通常論文]
   

  We have been developing the wearable human poweramplifying device. In order to correctly control the amplifying system, innovative sensors to recognize human motion are required to fubricated. In this paper, we propose the ultrasonic muscle power sensor by which human muscle power is directly measured. Trial manufacturing, experimental results and effectiveness of the proposed sensor are reported.
• F12-(1) アミューズメントロボットの研究開発と社会貢献(アミューズメント/エンターテイメント/ペットロボット)(機素潤滑設計部門,ロボティックス・メカトロニクス部門企画)

  田中 孝之 年次大会講演資料集 1 (0) 181 -182 2001年 [査読無し][通常論文]
  
• ロボットによる連続なわ跳びの実現まで

  田中 孝之, 山藤 和男 Bit 32 (12) 48 -53 2000年12月 [査読無し][通常論文]
  
• 人間機械系の操作者による主観評価

  金森直希, 田中孝之, 田中一男 日本ロボット学会学術講演会予稿集 18th 1085 -1086 2000年09月12日 [査読無し][通常論文]
  
• ペット動物と遊ぶロボットの開発 第2報 ロボットの試作とペット動物との相互対話

  田中英里香, 田中孝之, 山藤和男, 岩本哲也 日本ロボット学会学術講演会予稿集 18th 1431 -1432 2000年09月12日 [査読無し][通常論文]
  
• ノンホロノミック・ロボットの研究 第6報 一輪車の安定走行

  SHENG Z, 田中孝之, 山藤和男 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 2000 (Pt.5) 2P2.57.083(1)-2P2.57.083(2) 2000年05月11日 [査読無し][通常論文]
  
• ノンホロノミック・ロボットに関する研究 第5報 床運動ロボット

  鈴木久延, 中久喜一雄, 山藤和男, 田中孝之 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 2000 (Pt.5) 2P2.57.084(1)-2P2.57.084(2) 2000年05月11日 [査読無し][通常論文]
  
• ノンホロノミック・ロボットに関する研究 第4報 一本足移動ロボット

  宮島晃, 竹村嘉人, 山藤和男, 田中孝之 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 2000 (Pt.4) 2P1.57.091(1)-2P1.57.091(2) 2000年05月11日 [査読無し][通常論文]
  
• ノンホロノミック・ロボットの研究 第1報 猫ひねりによる3次元姿勢変換とホバーリング

  小林剛, 村山昇, 田中孝之, 山藤和男 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 2000 (Pt.4) 2P1.57.089(1)-2P1.57.089(2) 2000年05月11日 [査読無し][通常論文]
  
• ノンホロノミックロボットに関する研究 第7報 空中におけるフリーフライングロボットの姿勢制御

  田中孝之, 本多幸太郎, 山藤和男 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 2000 (Pt.5) 2P2.57.081(1)-2P2.57.081(2) 2000年05月11日 [査読無し][通常論文]
  
• ノンホロミック・ロボットの研究 第2報 ロボットによる猫ひねり

  河村隆, 山藤和男, 田中孝之 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 2000 (Pt.4) 2P1.57.090(1)-2P1.57.090(2) 2000年05月11日 [査読無し][通常論文]
  
• ノンホロノミックロボットに関する研究 第3報 励振を利用した雲梯わたりロボット

  田中孝之, 前川桂一郎, 山藤和男 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 2000 (Pt.4) 2P1.57.092(1)-2P1.57.092(2) 2000年05月11日 [査読無し][通常論文]
  
• 2P1-57-089 ノンホロノミック・ロボットに関する研究 : 第 1 報猫ひねりによる 3 次元姿勢変換とホバーリング

  小林 剛, 村上 昇, 田中 孝之, 山藤 和男 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 87 -87 2000年 [査読無し][通常論文]
   

  本研究は, 2次元猫ひねりロボットを2組, 組み合わせることにより, すなわち直交する2つの軸のまわりにそれぞれ1回ずつ猫ひねりを行うことにより3次元空間内で, 任意の姿勢をとることができることを示とともに, 3D猫ひねりロボットの開発を行った結果を報告する。
• 2P1-57-090 ノンホロノミック・ロボットに関する研究 : 第 2 報ロボットによる猫ひねり

  河村 隆, 山藤 和男, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 87 -87 2000年 [査読無し][通常論文]
   

  われわれは1991年に世界で初めて猫ひねり動作の解明に成功し, この原理を応用してロボットに猫ひねりを行わせることに成功した。本研究は, ゴム人工筋を用いた猫の尻振り動作, 背骨の曲げ角の制御およびロボット猫の自由落下時の尻振り動作と猫ひねりの関係を明らかにした。
• 2P1-57-091 ノンホロノミック・ロボットに関する研究 : 第 4 報一本足ロボット

  宮島 晃, 竹村 嘉人, 山藤 和男, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 87 -88 2000年 [査読無し][通常論文]
   

  竹馬の動歩行をモデルとして, 一点接地で安定に立つことのできる一本足移動ロボットを開発した。本ロボットは定常的な足踏みにより動的に安定姿勢を保ち, さらに移動もおこなう。本研究では, 一本足ロボットをノンホロノミックシステムの見地から3次元でモデル化し, 各リンクの角度や各モータのトルク, ZMPの軌跡等をシミュレーションと実機の実験により解析, 動歩行について考察する。
• 2P1-57-092 ノンホロノミック・ロボットに関する研究 : 第 3 報励振を利用した雲梯わたりロボット

  田中 孝之, 前川 桂一郎, 山藤 和男 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 88 -88 2000年 [査読無し][通常論文]
   

  1989年に発表した筆者らの2リンクで1モータ駆動の雲梯わたりボットは典型的なノンホロノミックシステムである。その後, 2リンクで2モータというホロノミックシステムなどが研究されているが, われわれはあくまでもノンホロノミックシステムの励振によってもたらされる少ないアクチュエータによる優れた運動の実現にこだわり, 新提案したトルク制御法により効率よく雲梯わたりが実現できることを報告する。
• 2P2-57-081 ノンホロノミック・ロボットに関する研究

  田中 孝之, 本多 幸太郎, 山藤 和男 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 103 -103 2000年 [査読無し][通常論文]
   

  犬は訓練により, 空中に投げられたフリスビーや物体の落下する近くまで駆けて行って口で受けとめることができる。本研究はそのような犬の動作をロボットで実現するため, 多関節の二足をもつロボットを開発した。空中に放り投げられたこのロボットが空中でオイラー角を検出し, 足を常に地面に向けて軟着陸するようにゴム人工筋を制御することにより, ロボット犬の足からの軟着地実験に成功した。
• 2P2-57-082 ノンホロノミック・ロボットに関する研究

  和田 一義, 山藤 和男, 田中 孝之, 五閑 学 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 103 -103 2000年 [査読無し][通常論文]
   

  跳躍と同時に作業を行うロボットの一つとして, なわ跳びロボットに着目した。これまで, ロボットの開発と実機を用いた定点での連続なわ跳び動作の実現に成功したが, 動特性や制御特性に関してまだ解明されない部分がある。本研究では, シミュレーションによりなわ跳びロボットの運動特性の検討, なわ跳びと移動の同時動作を実現するための方法論を開発する。
• 2P2-57-083 ノンホロノミック・ロボットに関する研究

  盛 再権, 田中 孝之, 山藤 和男 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 103 -104 2000年 [査読無し][通常論文]
   

  本研究は, 横行クレーンの吊り荷の振動制御に関する基礎的研究として, サーボモータで水平に駆動されるスライダに取り付けた単振子型ローダーアームの制御を行った。この系は1入力, 2出力のノンホロノミックシステムであり, 具体的にはローダーアームの先端を高速・精密に位置決めする場合の残留振動防止に関するソフトウエアサーボ制御の研究である。
• 2P2-57-084 ノンホロノミック・ロボットに関する研究

  鈴木 久延, 中久喜 一雄, 山藤 和男, 田中 孝之 ロボティクス・メカトロニクス講演会講演概要集 2000 (0) 104 -104 2000年 [査読無し][通常論文]
   

  曲率をもつ3つのリンクと2つのアクチュエータから構成され, 倒立や蠕動運動などにより床面を移動することができる床運動ロボットを開発した。本研究では, ノンホロノミックシステムの見地からロボットの運動特性を調べるとともに, 感性工学的なアプローチをおこない, より生物的な動作を実現する方法について検討する。
• (14)生物の本能的行動に倣った新実時間画像抽出法の研究

  田中 孝之 日本機械学会誌 103 (978) 297 -297 2000年 [査読無し][通常論文]
  
• 脳波認識に基づく意思伝達システムに関する基礎的研究

  田中一男, 須貝明文, 田中孝之 日本ファジィ学会関東支部ワークショップ論文集 13th 13 -17 1999年10月22日 [査読無し][通常論文]
  
• 実時間画像抽出技術

  田中孝之, 山藤和男, 田中一男 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 1999 (Pt.1) 1P1.01.002(1)-1P1.01.002(2) 1999年06月12日 [査読無し][通常論文]
  
• 介護用ヒューマンアシスト・システム 第5報 操作性と心理的安全性

  金森直希, 田中孝之, 山藤和男 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 1999 (Pt.1) 1P1.09.021(1)-1P1.09.021(2) 1999年06月12日 [査読無し][通常論文]
  
• 介護用ヒューマンアシスト・システム 第6報 負荷時の操作性

  村野直康, 山藤和男, 田中孝之 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 1999 (Pt.1) 1P1.09.019(1)-1P1.09.019(2) 1999年06月12日 [査読無し][通常論文]
  
• 無人化生産支援ロボットの研究 (第4報 知識形式と行動計画)

  関口尚大, 田中孝之, 山藤和男 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 1999 (Pt.2) 1P2.20.020(1)-1P2.20.020(2) 1999年06月12日 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第7報 ヒューマンアシスト用エンドエフェクタ(HAND)の開発

  平田菜穂子, 山藤和男, 田中孝之 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 1999 (Pt.1) 1P1.09.023(1)-1P1.09.023(2) 1999年06月12日 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第8報 実機装着による介護動作の実現

  小山猛, 山藤和男, 田中孝之 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 1999 (Pt.1) 1P1.09.022(1)-1P1.09.022(2) -2 1999年06月12日 [査読無し][通常論文]
  
• オフラインロボットとオンラインロボットの協調に基づいた無人化生産 第3報, 昆虫型画像抽出法による両眼視

  佐藤大資, 田中孝之, 山藤和男 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 1999 (Pt.2) 2A1.66.067(1)-2A1.66.067(2) 1999年06月12日 [査読無し][通常論文]
  
• 対話型ペットロボットにおける自己学習アルゴリズムの開発

  甲斐万智子, 田中孝之, 田島年浩, 工藤敏巳, 山藤和男 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 1999 (Pt.3) 2P2.22.015(1)-2P2.22.015(2) 1999年06月12日 [査読無し][通常論文]
  
• ハエの行動にならった生物的実時間画像抽出法

  山藤 和男, 田中 孝之, 大井 純司 自動化技術 30 (11) 43 -48 1998年11月 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第4報 装着型ヒューマンアシスト装置のコンセプトと開発

  小山猛, 小原直己, 山藤和男, 田中孝之 日本ロボット学会学術講演会予稿集 16th 619 -620 1998年09月 [査読無し][通常論文]
  
• 人間・機械系の操作性に関する研究 (第2報 セルフ・インピーダンス・マッチング法の提案)

  森下吏規, 田中孝之, 倉脇一郎, 山藤和男 日本ロボット学会学術講演会予稿集 16th 1145 -1146 1998年09月 [査読無し][通常論文]
  
• 対話型ペットロボット

  田中孝之, 山藤和男 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 1998 (Pt.1) 1CVI1.5(1) 1998年06月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの自律移動制御技術

  田中孝之, 山藤和男 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 1998 (Pt.1) 2AVI1.3(1) 1998年06月 [査読無し][通常論文]
  
• 自立型一輪車ロボットの開発と走行制御

  大倉健, 山藤和男, 田中孝之 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 1998 (Pt.2) 1AI3.7(1)-1AI3.7(2) 1998年06月 [査読無し][通常論文]
  
• 地震後災害に対応した人命救助システムの研究 第3報 災害救助用知能ロボットシステムの開発

  蒲沢優, 田中孝之, 山藤和男 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 1998 (Pt.4) 1CI4.7(1)-1CI4.7(2) 1998年06月 [査読無し][通常論文]
  
• 対話型ペットロボットの研究開発 : 感情・意思表出動作発生機構のモデル化

  甲斐 万智子, 田中 孝之, 山藤 和男 インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence 7 681 -684 1997年11月10日 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第3報 人間・機械系の操作性に関する研究

  森下吏規, 小原直己, 田中孝之, 山藤和男 日本ロボット学会学術講演会予稿集 15th 343 -344 1997年09月 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第1報 ヒューマン・アシスト・システムのコンセプトと仕様

  金森直希, 倉脇一郎, 田中孝之, 山藤和男, 田口幹 日本ロボット学会学術講演会予稿集 15th 339 -340 1997年09月 [査読無し][通常論文]
  
• ハエの行動にならった生物的画像抽出法

  田中孝之, 大井純司, 山藤和男 日本ロボット学会学術講演会予稿集 15th 1097 -1098 1997年09月 [査読無し][通常論文]
  
• 介護用ヒューマン・アシスト・システム 第2報 パワーアシスト用2リンク腕の開発とその力制御

  村野直康, 佐藤方俊, 山藤和男, 田中孝之 日本ロボット学会学術講演会予稿集 15th 341 -342 1997年09月 [査読無し][通常論文]
  
• 地震後災害に対応した人命救助システムの研究 第2報 倒壊した木造家屋からの人命救助について

  田中孝之, 山藤和男, FENG M JSMEロボメカ・シンポジア講演論文集 2nd 71 -74 1997年07月 [査読無し][通常論文]
  
• ハエの行動にならった生物的画像抽出法(Active Multi‐Eye System)の提案

  大井純司, 田中孝之, 山藤和男 ロボティクスシンポジア予稿集 2nd 157 -162 1997年07月 [査読無し][通常論文]
  
• 新コロンブスの卵と昆虫の動きにならうロボット

  田口幹, 山藤和男, 田中孝之 JSMEロボメカ・シンポジア講演論文集 2nd 25 -26 1997年07月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発研究 第23報 ジェスチャー認識による人間とロボットの直接対話

  植田行紀, 田中孝之, 山藤和男, 佐伯講介 ロボティクスシンポジア予稿集 2nd 49 -52 1997年07月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発研究 第20報 複数台コンピュータを用いた知能移動ロボットシステム

  関口尚大, 田中孝之, 山藤和男, 平林友一 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 1997 (Vol.B) 1105 -1106 1997年06月 [査読無し][通常論文]
  
• 人工生命のための感情発生機構のモデル化

  高梨進治, 田中順平, LITVINTSEVA L V, 田中孝之, 山藤和男 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 1997 (Vol.B) 1161 -1164 1997年06月 [査読無し][通常論文]
  
• 感情表出ロボットの試作と表出結果の人間による評価

  甲斐万智子, 片上大輔, 高梨進治, 田中孝之, 山藤和男 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 1997 (Vol.B) 671 -672 1997年06月 [査読無し][通常論文]
  
• ハエの行動にならった生物的画像抽出法(Active Multi-Eye)とロボットマニピュレータを用いた距離測定への応用

  大井純司, 田中孝之, 山藤和男, 倉脇一郎 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 1997 (Vol.B) 1083 -1086 1997年06月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの研究開発 第21報 作業内容に基づいた二腕ロボットの軌道計画

  渋谷充宏, 田中孝之, 山藤和男, 荻野和光 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 1997 (Vol.B) 645 -646 1997年06月 [査読無し][通常論文]
  
• 新画像認識技術のコンセプトとシミュレーション

  荻野洋平, 田中孝之, 山藤和男 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 1997 (Vol.B) 1069 -1070 1997年06月 [査読無し][通常論文]
  
• 消火活動用昆虫型ロボットの開発

  松本慶吾, 山藤和男, 田中孝之 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 1997 (Vol.A) 373 -374 1997年06月 [査読無し][通常論文]
  
• CCDカメラを用いた測距システム

  田口幹, 田中孝之, 江間賢一, 山藤和男 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 1997 (Vol.B) 775 -776 1997年06月 [査読無し][通常論文]
  
• ゴミ搬送ロボットの開発 第3報 自動給電および清掃機能の開発

  氏家智親, 佐藤大資, 田中孝之, 山藤和男, 豊島功 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 1997 (Vol.B) 647 -650 1997年06月 [査読無し][通常論文]
  
• 真剣白刃取りロボットの開発

  松本慶吾, 橋村政和, 荻野洋平, 山藤和男, ULYANOV S V, 田中孝之 日本ロボット学会学術講演会予稿集 14th (2) 453 -454 1996年11月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発研究 第17報 階層型環境地図を用いた適応型移動制御

  関口尚大, 田中孝之, 山藤和男, ULYANOV S V 日本ロボット学会学術講演会予稿集 14th (2) 499 -500 1996年11月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発研究 第16報 Active Multi‐Eyeシステムの提案とロボットへの応用

  大井純司, 蒲沢優, 山藤和男, 田中孝之, ULYANOV S V 日本ロボット学会学術講演会予稿集 14th (1) 295 -296 1996年11月 [査読無し][通常論文]
  
• 人間が乗るタイプの一輪車の走行安定化とインテリジェント制御

  渡辺晋, 大倉健, 山藤和男, ULYANOV S V, 田中孝之 JSMEロボメカ・シンポジア講演論文集 1st 105 -110 1996年07月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発研究 第13報 ジャイロセンサと超音波センサを用いた移動ロボットの自律ナビゲーションに関する研究

  片上大輔, 田中孝之, 山藤和男, ULYANOV S V, 豊島功 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 1996 (Vol A) 690 -693 1996年06月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発研究 第10報 階層型環境地図情報に基づいた自律移動制御

  田中孝之, 山藤和男, ULYANOV S V, 平林友一 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 1996 (Vol B) 959 -962 1996年06月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発 第9報 行動予測による動的障害物の回避方法

  田中孝之, 関口尚大, 山藤和男 日本ロボット学会学術講演会予稿集 13th (3) 887 -888 1995年11月 [査読無し][通常論文]
  
• GAによるサービス用知能移動ロボットの作業計画

  田中孝之, 山藤和男 日本機械学会関東支部・精密工学会山梨講演会講演論文集 1994 194 -195 1994年09月 [査読無し][通常論文]
  
• サービス用知能移動ロボットの開発 第2報 自律移動制御

  石川敦雄, 宮川公彦, 田中孝之, 山藤和男 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 1994-A (940) 353 -358 1994年06月 [査読無し][通常論文]
  

書籍等出版物

• ロボット工学ハンドブック

  日本ロボット学会 (担当:分担執筆)
  コロナ社 2023年03月 (ISBN: 9784339046793) ix, 1072p
• Humanoid Robotics: A Reference

  Eiichi Yoshida, Ko Ayusawa, Yumeko Imamura, Takayuki Tanaka (担当:分担執筆範囲:Toward New Humanoid Applications: Wearable Device Evaluation Through Human Motion Reproduction)
  Springer 2018年08月 (ISBN: 9400760450) 

  This chapter addresses a new application of humanoid robot for evaluation of wearable assistive devices. One of the issues for diffusion of assistive devices that has been developed recently is its objective and qualitative evaluation to validate its assistive effects. Human subject experiments that have frequently been used have several drawbacks such as heavy ethical procedures, repeatability, and subjectivity coming from tests with questionnaires. A humanoid robot with humanlike structure and shape has potential to be used as an “active mannequin.” By reproducing human motions based on a technique called retargeting, a humanoid robot can test wearable devices instead of a human. It has advantages as it can repeat the same motions to test the product under the same conditions, and it has no ethical risks. The largest advantage is its capacity of quantitative evaluation by measuring joint torques, which allows direct validation of supportive torque generated by the device. By taking an example of a supportive wear “Smart Suit Lite” supporting the user’s lower back by elastic bands, we will overview the evaluation framework of humanoid-based assistive device evaluation, including human motion retargeting, experimental device evaluation with humanoid HRP-4C, and validation of the accuracy of the results using an identification method.
• ロボット制御学ハンドブック

  田中孝之, 諸麦俊司, 松野 文俊, 大須賀 公一, 松原 仁, 野田 五十樹, 稲見 昌彦 (担当:分担執筆範囲:センサ・アクチュエータとモデリング)
  近代科学社 2017年12月 (ISBN: 476490473X) 1024

  
• 人工知能学大事典

  田中孝之, 人工知能学会, JSAI (担当:分担執筆範囲:パワーアシストスーツ)
  共立出版 2017年07月 (ISBN: 4320124200) 1579 1024-1025

  
• 生体データ活用の最前線～スマートセンシングによる生体情報計測とその応用～

  田中孝之, 日下 聖, 土谷圭央, 板生 清 (担当:分担執筆範囲:作業者の腰への負担計測と軽減に向けたセンサ内蔵ウェアの開発)
  サイエンス＆テクノロジー株式会社 2017年04月 (ISBN: 4864281513) 519

  
• 福祉技術ハンドブック: 健康な暮らしを支えるために

  産業技術研究所ヒューマンライフテクノロジー研究部門 (担当:分担執筆範囲:パワードスーツ)
  朝倉書店 2013年10月 (ISBN: 4254201524) 506

  
• 東日本大震災合同調査報告

  東日本大震災合同調査報告書編集委員会 
  日本機械学会, 丸善出版 (発売) 2013年 (ISBN: 9784888982320) 178-180
• 独創的ロボットの研究開発 : 夢のあるロボットと役に立つロボット

  山藤 和男, 田中 孝之 
  養賢堂 2002年 (ISBN: 4842503319)

講演・口頭発表等

• 腰部物理モデル開発のための前後屈姿勢X線画像による負担解析

  藤田 亘, 土谷 圭央, 田中 孝之, 吉田 道拓

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

  Low back pain is a serious problem in Japan, so analysis of lumber load is needed. The conventional analysis method is an invasive analysis, and a non-invasive and safe analysis method is required. The purpose of this study is to make a physical model of L4-L5 vertebral body from radiographs and to estimate the lumbar load from the model. Five X-ray images of the upper body angle, standing postures, and backward bending were taken for each subject, and a three-dimensional model of the L4-L5 vertebral body was created. FEM analysis was performed using the model created, and the load acting on the intervertebral disc during the photographed postures ware measured. The results were evaluated for each of the four subjects to measure individual differences. Based on these results, we approached the lumbar load analysis using a physical model, which is the goal of this study.

• 高齢労働者を支える軽労化技術  [通常講演]

  田中孝之

  産業衛生学雑誌 2018年05月
• 軽労化技術で創り出す軽労化社会  [通常講演]

  田中孝之

  電子情報通信学会大会講演論文集(CD-ROM) 2018年03月
• 腰部負担の見える化技術

  土谷 圭央, 日下 聖, 田中 孝之, 吉田 道拓

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

  Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. Because it can be expected to explore the cause of low back pain, it is necessary to measure the lumbar load noninvasively taking lumbosacral alignment and external load into consideration. In this research, we develop a wearable sensor system for estimating the lumbar load.
• アクティブコルセットの締め付け力による関節剛性への影響

  吉田 道拓, 田中 孝之, 日下 聖, 土谷 圭央

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

  This research developed assist equipment that changes the tightening force depending on low back burden. The final aim of this research is to develop the control system to tighten optimally. This paper aims to reveal the response of the human body to the tightening. The low back burden is defined as the compression force on the intervertebrae disk. The first half of this paper verifies the effect of the tightening on pelvis. In the verification about the posture of anteflexion, the low back burden decreased in two subjects among three. Also about the motion of lifting up, all of three subjects was reduced the low back burden. In the second half, the influence on joint stiffness by tighteing was shown for four subjects. By the experiment to identify the inpedance, the increase of elasticity on joints was shown about the one of the subjects.
• ウェアラブル腰部負荷センサの開発と介護施設作業管理への応用  [通常講演]

  日下聖, 土谷圭央, 田中孝之, 松尾祥和

  電気学会制御研究会資料 2016年01月
• 作業改善を目的としたウェアラブル作業負担記録システム  [通常講演]

  田中孝之, 宮島沙織, 泉博之

  電気学会制御研究会資料 2016年01月
• 筋硬さセンサを用いた前屈動作における手先荷重推定法

  土谷 圭央, 日下 聖, 田中 孝之, 松尾 祥和

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

  This study aims to develop of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Need to use the hand load for lumbar load estimation. Therefore, the hand load estimation method is developed by using muscle hardness sensor. By using this method, the hand load can be estimated with enough accuracy.
• マイクロ波非破壊検査によるコンクリート内空隙検出の基礎研究  [通常講演]

  川瀧翔太郎, 田中孝之, 土井暁, 内田茂, FENG Maria Q

  計測自動制御学会北海道支部学術講演会論文集 2016年
• セミアクティブ筋力トレーニングスーツの負荷制御系設計  [通常講演]

  中野直樹, 田中孝之, 野村英史, 神山慶人, 渡部靖之

  計測自動制御学会北海道支部学術講演会論文集 2016年
• ウェアラブルセンサシステムを用いた腰部負荷推定のための腰仙部寸法校正法  [通常講演]

  土谷圭央, 日下聖, 田中孝之, 松尾祥和, 小田まこと, 笹木工, 神島保, 山中正紀

  計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2015年11月
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第三報:関節位置覚に対する影響―  [通常講演]

  栗田雄一, 佐藤純平, 辻敏夫, 田中孝之, 篠原稔

  計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2015年11月
• 軽労化ツール:スマートスーツ  [通常講演]

  田中孝之

  日本機械学会年次大会講演論文集(CD-ROM) 2015年09月
• 簡易動作計測に基づくスマートスーツの軽労化効果の見積もり  [通常講演]

  田中孝之, 宮島沙織, 今村由芽子

  建設ロボットシンポジウム論文集(CD-ROM) 2015年09月
• セミアクティブ負荷制御機構をもつ微小重力下筋力トレーニングスーツ  [通常講演]

  田中孝之, 中野直樹, 野村英史, 神山慶人

  日本ロボット学会学術講演会予稿集(CD-ROM) 2015年09月
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第二報:両腕の補助が可能なスーツの開発―  [通常講演]

  栗田雄一, 小池祐輝, 田中孝之, 辻敏夫

  日本ロボット学会学術講演会予稿集(CD-ROM) 2015年09月
• 引き込みを利用した振動周波数推定とパラメータ最適化による適応的周期入力制御  [通常講演]

  日下聖, 田中孝之

  日本ロボット学会学術講演会予稿集(CD-ROM) 2015年09月
• 漁業用軽労化支援スーツの改良―2 改良型スーツの評価試験  [通常講演]

  高橋秀行, 田中孝之, 今村由芽子, 前田大輔, 吉成哲, 江森浩司, 鈴木善人

  日本水産工学会学術講演会講演論文集 2015年05月
• Relative Speed Feeling Presenting Method using Vibration Alert Interface  [通常講演]

  LAI Zhantao, SAMPEI Yuki, TANAKA Takayuki

  ヒューマンインタフェースシンポジウム論文集(CD-ROM) 2013年09月
• 任意点操作可能な多リンクパワーアシストシステムの操作点インピーダンス修正のための一手法  [通常講演]

  渋川文哉, 田中孝之, 金子俊一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2013年09月
• ロバストでかつ収束性能の高い点群照合アルゴリズム  [通常講演]

  近藤正一, 金子俊一, 田中孝之, 高氏秀則, 前田俊二

  電気学会電子・情報・システム部門大会講演論文集(CD-ROM) 2013年09月
• スマートスーツの補助力最適化のための動作計測と認識  [通常講演]

  若杉素秋, 田中孝之, 奈良博之, 日下聖, 金子俊一

  電子情報通信学会技術研究報告 2013年08月
• 介護作業用スマートスーツ・ライトによる体幹安定化効果の動作解析  [通常講演]

  今村由芽子, 田中孝之, 鈴木善人, 瀧澤一騎, 山中正紀

  電子情報通信学会技術研究報告 2013年08月
• 動作認識を用いた酪農作業用スマートスーツの補助力制御  [通常講演]

  奈良博之, 田中孝之, 日下聖, 若杉素秋, 山岸孝幸, 小倉庄太郎

  電子情報通信学会技術研究報告 2013年08月
• エネルギ制御による複数周波数成分を持つ周期運動に対するスキルアシスト  [通常講演]

  吉藤拓土, 田中孝之, 日下聖

  電子情報通信学会技術研究報告 2013年08月
• 軽労化アシストシステムと情報ロボット技術のチャレンジ  [招待講演]

  田中孝之

  電子情報通信学会技術研究報告 2013年08月
• 拡張型周期入力制御による複数周波数成分を持つ周期運動に対するスキルアシスト  [通常講演]

  吉藤拓士, 田中孝之, 日下聖, 金子俊一, 梶原秀一

  ロボティクスシンポジア予稿集 2013年03月
• 広域徐草に向けた自律型除草ロボットの軌道生成法  [通常講演]

  野田祥希, 高橋悟, 田中孝之, 川端邦明

  電気学会次世代産業システム研究会資料 2013年03月
• 介護作業用スマートスーツ・ライトによる前屈姿勢保持時の筋力補助と姿勢安定化  [招待講演]

  今村由芽子, 田中孝之, 金子俊一, 鈴木善人, 瀧澤一騎, 山中正紀

  ロボティクスシンポジア予稿集 2013年03月
• セミアクティブアシスト機構による周期運動のスキルアシストとパワーアシスト―スキルアシスト適用時のパワーアシスト率制御―  [通常講演]

  日下聖, 田中孝之, 金子俊一, 梶原秀一

  ロボティクスシンポジア予稿集 2013年03月
• Postural stabilization by trunk tightening force generated by passive power-assist device.  [通常講演]

  Imamura Y, Tanaka T, Nara H, Suzuki Y, Takizawa K, Yamanaka M

  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 2013年
• Development on smart suit for dairy work assistance.  [通常講演]

  Nara H, Kusaka T, Tanaka T, Yamagishi T, Ogura S

  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 2013年
• Humanoid robot as an evaluator of assistive devices.  [通常講演]

  Kanako Miura, Eiichi Yoshida, Yoshiyuki Kobayashi, Yui Endo, Fumio Kanehiro, Keiko Homma, Isamu Kajitani, Yoshio Matsumoto, Takayuki Tanaka

  2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013 2013年
• Improvement of Sensory Stabilization and Repeatability of Vibration Interface for Distance Presentation.  [通常講演]

  Yuki Sampei, Takayuki Tanaka, Yuki Mori, Shun'ichi Kaneko

  Foundations of Augmented Cognition - 7th International Conference, AC 2013, Held as Part of HCI International 2013, Las Vegas, NV, USA, July 21-26, 2013. Proceedings 2013年
• Correction Method Based on KI-VPA Model for Changes in Vibratory Perception Caused by Adaptation.  [通常講演]

  Yuki Mori, Takayuki Tanaka, Shun'ichi Kaneko

  Human Interface and the Management of Information. Information and Interaction Design - 15th International Conference, HCI International 2013, Las Vegas, NV, USA, July 21-26, 2013, Proceedings, Part I 2013年
• ステップ状作業負荷変動における等尺性最大筋力変化モデル  [通常講演]

  安藤翔太, 田中孝之, 奈良博之, 瀧澤一騎, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 持ち上げ動作におけるスマートスーツ・ライトの物理的心理的評価  [通常講演]

  高橋紘介, 田中孝之, 奈良博之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 葡萄園除草ロボットのための葡萄樹の触覚認識  [通常講演]

  井川久, 田中孝之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 腰部表皮形状と上体前屈角度計測に基づく腰部負荷推定法  [通常講演]

  保科大樹, 田中孝之, 奈良博之, 金子俊一, 山中正紀, 關之山勝博

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 上向き作業用軽労化スーツによる筋負担軽減効果の検証  [通常講演]

  松本浩輔, 田中孝之, 奈良博之, 金子俊一, 矢田和也, 柏原一樹

  計測自動制御学会北海道支部学術講演会論文集 2013年
• スマートスーツの補助力最適化のための動作計測と認識  [通常講演]

  若杉素秋, 田中孝之, 奈良博之, 日下聖, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 姿勢推定による酪農作業用スマートスーツの補助力最適化と実フィールド試験  [通常講演]

  奈良博之, 田中孝之, 日下聖, 山岸孝幸, 小倉庄太郎

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 操作性向上のための上腕筋骨格モデルを用いたパワーアシスト  [通常講演]

  中野基輝, 田中孝之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2013年
• 雪かき作業時における筋力補助スーツ着用による軽労化効果の評価  [通常講演]

  瀧澤一騎, 田中孝之, 吉成哲, 柴田啓介, 鈴木善人

  体力科学 2012年12月
• 建設作業における上向き作業時の頸部筋負担の解析  [通常講演]

  松本浩輔, 田中孝之, 矢田和也

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 腰部負荷推定のための腰部表皮形状と上体角度計測に基づく腰椎形状推定  [通常講演]

  保科大樹, 田中孝之, 奈良博之, 金子俊一, 山中正紀, 關之山勝博

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 持ち上げ動作におけるスマートスーツ・ライトの筋負担補助効果と感覚量の検証  [通常講演]

  高橋紘介, 田中孝之, 奈良博之, 金子俊一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• フィードフォワードを付加したサーボ制御を用いた葡萄園除草ロボットWeeRoの移動制御  [通常講演]

  木村龍史, 松下昭彦, 金子俊一, 田中孝之

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• マニピュレータの姿勢を利用した変形対象物の位置検出誤差と初期変形量の関係  [通常講演]

  井川久, 田中孝之, 金子俊一, 多田達実, 鈴木慎一, 大村功

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 介護作業用スマートスーツ・ライトの体幹安定化効果による静的姿勢バランス能力の向上  [通常講演]

  今村由芽子, 田中孝之, 鈴木善人, 瀧澤一騎, 山中正紀

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 複数周波数成分を持つ周期運動におけるスキルアシストのためのエネルギー制御  [通常講演]

  吉藤拓土, 田中孝之, 日下聖, 金子俊一, 梶原秀一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 三対六筋を有した筋骨格モデルに基づく姿勢考慮補償での筋出力差による手先応答性への影響  [通常講演]

  中野基輝, 田中孝之, 金子俊一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 作業負荷の変動が骨格筋に及ぼす影響と筋力モデル  [通常講演]

  安藤翔太, 田中孝之, 奈良博之, 瀧澤一騎, 金子俊一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• セミアクティブアシスト機構によるスキルアシスト時の位相差リミッタによるスキルアシスト率制御の一考察  [通常講演]

  日下聖, 田中孝之, 金子俊一, 梶原秀一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• ガス工事の現場を想定したスマートスーツ・ライトの疲労軽減効果に関する実験的検討  [通常講演]

  田村健, 田中孝之

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 多リンクパワーアシストシステムの任意点操作における操作点インピーダンスの解析  [通常講演]

  渋川文哉, 田中孝之, 金子俊一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• Humanoid Robot as an Evaluator of Assistive Devices  [通常講演]

  YOSHIDA Eiichi, MIURA Kanako, KOBAYASHI Yoshiyuki, ENDO Yui, HOMMA Keiko, KAJITANI Isamu, MATSUMOTO Yoshio, TANAKA Takayuki

  日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
• 振動感覚順応を考慮したVibration Alert Interfaceの振動呈示方法  [通常講演]

  森友揮, 田中孝之, 金子俊一

  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年05月
• fNIRSデータにおける頭部姿勢変化による脳血流変化の推定  [通常講演]

  高橋紘介, 田中孝之, 奈良博之, 金子俊一, 小島悟, 井上正雄

  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年05月
• Vibration Alert Interface利用時における感覚再現性向上のための相対振動感覚提示法  [通常講演]

  三瓶佑希, 田中孝之, 森友揮, 金子俊一

  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年05月
• 体幹安定化のためのスマートスーツ・ライトの姿勢変化に伴う体幹締め付け力によるバランス能力向上  [通常講演]

  今村由芽子, 田中孝之, 鈴木善人, 瀧澤一騎, 山中正紀

  ロボティクスシンポジア予稿集 2012年03月
• 上腕挙上作業用アシストスーツのためのストレッチFRPアクチュエータの開発  [通常講演]

  松本浩輔, 田中孝之, 金子俊一, 奈良博之, 吉成哲, 前田大輔, 鈴木善人

  計測自動制御学会北海道支部学術講演会論文集 2012年
• 介護作業用スマートスーツ・ライトによる体幹安定化効果の検証  [通常講演]

  今村由芽子, 田中孝之, 鈴木善人, 瀧澤一騎, 山中正紀

  計測自動制御学会北海道支部学術講演会論文集 2012年
• セミアクティブ・アシスト機構による周期運動における負担軽減と動作矯正  [通常講演]

  日下聖, 田中孝之, 金子俊一, 梶原秀一

  計測自動制御学会北海道支部学術講演会論文集 2012年
• 二関節筋を有する筋骨格モデルに基づく上腕姿勢を考慮したパワーアシスト  [通常講演]

  中野基輝, 田中孝之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2012年
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮したロバスト触覚認識技術の評価  [通常講演]

  井川久, 田中孝之, 金子俊一, 多田達実, 鈴木慎一, 大村功

  計測自動制御学会北海道支部学術講演会論文集 2012年
• 腰部負荷推定のための腰部表皮形状と上体角度計測に基づく上体姿勢推定  [通常講演]

  保科大樹, 田中孝之, 奈良博之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2012年
• 任意点操作可能な多リンクパワーアシストシステムの操作点作用力を考慮した操作性向上  [通常講演]

  渋川文哉, 田中孝之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2012年
• Base Position Detection of Grape Stem Considering Its Displacement for Weeding Robot in Vineyards  [通常講演]

  IGAWA Hisashi, TANAKA Takayuki, KANEKO Shun’ichi, TADA Tatsumi, SUZUKI Shin’ichi, OHMURA Isao

  Annu Conf IEEE Ind Electron Soc 2012年
• 雪かき運動による漸増負荷試験は全身持久力テストとして妥当か?  [通常講演]

  柴田啓介, 田中孝之, 瀧澤一騎, 吉成哲, 鈴木善人

  体力科学 2011年12月
• 形状の違うスコップによる6週間の雪かき作業が体力に及ぼす影響  [通常講演]

  瀧澤一騎, 田中孝之, 吉成哲, 奈良博之, 柴田啓介, 鈴木善人

  体力科学 2011年12月
• 多リンクパワーアシストシステムにおける任意点操作手法 操作力の干渉を軽減する操作点協調化制御  [通常講演]

  渋川文哉, 田中孝之, 金子俊一

  自動制御連合講演会(CD-ROM) 2011年11月
• フィードフォワードを付加したサーボ制御を用いた葡萄園除草ロボットWeeRoの移動制御  [通常講演]

  木村龍史, 松下昭彦, 金子俊一, 田中孝之

  自動制御連合講演会(CD-ROM) 2011年11月
• VAIの感覚再現性を向上する相対振動感覚提示法  [通常講演]

  三瓶佑希, 田中孝之, 森友輝, 金子俊一

  ヒューマンインタフェースシンポジウム論文集(CD-ROM) 2011年09月
• Vibration Alert Interfaceにおける順応による振動感覚変化のモデル化  [通常講演]

  森友揮, 田中孝之, 金子俊一, 片桐祥雅

  ヒューマンインタフェースシンポジウム論文集(CD-ROM) 2011年09月
• 軽労化スコップを用いた長期除雪作業による身体機能への影響評価  [通常講演]

  吉成哲, 田中孝之, 瀧澤一騎, 奈良博之, 鈴木善人, 中島康博

  日本機械学会年次大会講演論文集 2011年09月
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮したロバスト触覚認識の評価  [通常講演]

  井川久, 田中孝之, 金子俊一, 多田達実, 鈴木慎一, 大村功

  日本ロボット学会学術講演会予稿集(CD-ROM) 2011年09月
• セミアクティブアシスト機構とエネルギ制御によるパワーアシストとスキルアシスト―スキルアシスト制御則の開発と視覚追従実験による効果検証―  [通常講演]

  日下聖, 田中孝之, 金子俊一, 梶原秀一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2011年09月
• 葡萄園雑草除去のための車両型ロボット制御手法  [通常講演]

  野田祥希, 高橋悟, 田中孝之, 金子俊一

  電気学会産業応用部門大会(CD-ROM) 2011年09月
• 雪かき運動におけるLT強度測定を目的とした漸増負荷運動プロトコルの作成  [通常講演]

  瀧澤一騎, 吉成哲, 奈良博之, 鈴木善人, 田中孝之

  体力科学 2011年08月
• 上腕二関節筋特性に基づくパワーアシストバルブの操作性向上  [通常講演]

  中野基輝, 田中孝之, 金子俊一, 山野光一

  ロボティクスシンポジア予稿集 2011年03月
• セミアクティブアシスト機構とエネルギー制御によるスキルアシスト―視覚追従実験による動作矯正効果の検証―  [通常講演]

  日下聖, 田中孝之, 金子俊一, 梶原秀一

  ロボティクスシンポジア予稿集 2011年03月
• 多リンクパワーアシストシステムの任意操作点からの直感的操作手法―多リンク多自由度マニピュレータの操作点での運動拘束に関する考察―  [通常講演]

  渋川文哉, 田中孝之, 金子俊一, 梶原秀一, 吉藤拓土

  ロボティクスシンポジア予稿集 2011年03月
• Skill assist and power assist for periodic motions by using semi-active assist mechanism with energy control.  [通常講演]

  Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara

  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011 2011年
• Fundamental study on evaluation of KEIROKA(fatigue-reduction) technology in using UD shovel for removing snow by Musculo-Skeletal Dynamics Simulator.  [通常講演]

  Hiroyuki Nara, Takayuki Tanaka, Yumeko Imamura, Satoshi Yoshinari, Yasuhiro Nakajima, Shun'ichi Kaneko

  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011 2011年
• Motion-based design of elastic belts for passive assistive device using musculoskeletal model.  [通常講演]

  Yumeko Imamura, Takayuki Tanaka, Yoshihito Suzuki, Kazuki Takizawa, Masanori Yamanaka

  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011 2011年
• Design of Vibration Alert Interface Based on Tactile Adaptation Model to Vibration Stimulation.  [通常講演]

  Yuki Mori, Takayuki Tanaka, Shun'ichi Kaneko

  Human Interface and the Management of Information. Interacting with Information - Symposium on Human Interface 2011, Held as Part of HCI International 2011, Orlando, FL, USA, July 9-14, 2011, Proceedings, Part I 2011年
• 筋骨格動力学シミュレーターを用いた除雪作業用UDスコップ使用時の身体的負担評価  [通常講演]

  奈良博之, 田中孝之, 今村由芽子, 吉成哲, 中島康博, 金子俊一

  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011年
• パワーアシストと基礎体力維持に関する基礎研究  [通常講演]

  安藤翔太, 田中孝之, 奈良博之, 瀧澤一騎, 金子俊一

  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011年
• 介護作業用スマートスーツ・ライトの軽労化効果検証  [通常講演]

  今村由芽子, 田中孝之, 鈴木善人, 瀧澤一騎, 山中正紀

  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011年
• 軽労化技術によって遅発性筋痛が抑制できればいいのにな  [通常講演]

  瀧澤一騎, 安藤翔太, 奈良博之, 田中孝之

  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011年
• 3Sアシスト:軽労化技術のコンセプト  [通常講演]

  田中孝之, 吉成哲, 瀧澤一騎, 奈良博之, 鈴木善人

  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2011年
• 多リンクパワーアシストシステムの任意操作点における操作干渉力を考慮した直感的制御手法  [通常講演]

  渋川文哉, 田中孝之, 金子俊一, 吉藤拓土, 梶原秀一

  知能メカトロニクスワークショップ講演論文集(CD-ROM) 2011年
• 筋骨格モデルによる上腕姿勢を考慮したインピーダンス制御に基づくパワーアシストシステム  [通常講演]

  中野基輝, 田中孝之, 金子俊一

  知能メカトロニクスワークショップ講演論文集(CD-ROM) 2011年
• モーション・ベースト・アシスト法に基づく介護用スマートスーツ・ライトのための弾性材設計と評価  [通常講演]

  今村由芽子, 田中孝之, 金子俊一, 山中正紀, 瀧澤一騎, 堀田大介

  計測自動制御学会北海道支部学術講演会論文集 2011年
• 多リンクパワーアシストシステムの多点操作入力における操作点での干渉力の軽減  [通常講演]

  渋川文哉, 田中孝之, 金子俊一, 吉藤拓土, 梶原秀一

  計測自動制御学会北海道支部学術講演会論文集 2011年
• 高所腕上げ作業用スマートスーツのためのストレッチFRPアクチュエータの開発  [通常講演]

  松本浩輔, 田中孝之, 金子俊一, 奈良博之, 吉成哲, 前田大輔, 鈴木善人

  計測自動制御学会北海道支部学術講演会論文集 2011年
• 腰部形状及び上半身重心位置計測に基づいた腰部負荷推定結果による危険作業姿勢評価  [通常講演]

  保科大樹, 田中孝之, 金子俊一, 奈良博之

  計測自動制御学会北海道支部学術講演会論文集 2011年
• セミアクティブアシスト機構を用いたエネルギー制御による周期運動の動作矯正  [通常講演]

  日下聖, 田中孝之, 金子俊一, 梶原秀一

  計測自動制御学会北海道支部学術講演会論文集 2011年
• 負荷変動と姿勢を考慮した床反力変化モデルを用いた人間の筋負担解析  [通常講演]

  菊地隆志, 田中孝之, 金子俊一, 山野光一

  バイオメカニズム学術講演会予稿集 2010年11月
• 葡萄畑除草ロボットのための軌道生成手法  [通常講演]

  石上大祐, 石上陽一, 高橋悟, 高須賀直一, 田中孝之

  自動制御連合講演会(CD-ROM) 2010年11月
• 動作計測と筋骨格動力学モデルに基づく筋力補助装具の設計  [通常講演]

  今村由芽子, 田中孝之, 金子俊一, 山中正紀, 堀田大介

  映像情報メディア学会技術報告 2010年08月
• 葡萄園除草ロボットのための葡萄樹の視触覚認識能力の向上  [通常講演]

  井川久, 田中孝之, 金子俊一, 多田達実, 鈴木慎一

  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年06月
• 作業者の操作予測とその信頼性に基づいたエネルギー回生システムを有するパワーアシスト装置の制御方法  [通常講演]

  小林憲弘, 田中孝之, 金子俊一

  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年06月
• 振動を利用した情報提示装置における慣れが振動感覚に及ぼす影響  [通常講演]

  森友揮, 田中孝之, 金子俊一

  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年06月
• 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識  [通常講演]

  高須賀直一, 田中孝之, 金子俊一, 多田達実, 鈴木慎一

  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年06月
• 筋特性に基づく高速インピーダンスマッチングによるパワーアシストバルブの操作性向上  [通常講演]

  中野基輝, 田中孝之, 金子俊一, 山野光一

  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年06月
• 放水角度とノズル曲げ角に対する放水負担解析および床反力推定  [通常講演]

  菊地隆志, 田中孝之, 金子俊一, 山野光一, 安田康晴

  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年06月
• 調教騎手用スマートスーツの開発―エネルギー制御に基づくパワーアシストとスキルアシスト―  [通常講演]

  日下聖, 田中孝之, 金子俊一, 鈴木善人, 齊藤宗信, 梶原秀一

  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年06月
• カメラ振動に伴う対象物位置の信頼性を考慮したロバストステレオシステム  [通常講演]

  岡崎伸哉, 田中孝之, 金子俊一, 高氏秀則, 高地伸夫, 山田光晴

  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年06月
• マルチポータルヒューマンインタフェース―操作安定性を考慮した操作力ファジィ推定柚―  [通常講演]

  渋川文哉, 田中孝之, 金子俊一

  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年06月
• Design of controller for a Semi-Active Assist Mechanism considering Low-Powered Actuator Limitation  [通常講演]

  ROSENDO Andre, NAKANO Motoki, TANAKA Takayuki, KANEKO Shun’ichi

  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年06月
• 振動環境下における対象物位置情報の信頼性を考慮したロバストステレオビジョンシステム  [通常講演]

  岡崎伸哉, 田中孝之, 金子俊一, 高氏秀則, 高地伸夫, 山田光晴

  ロボティクスシンポジア予稿集 2010年03月
• High-speed impedance matching based on muscle characteristic and its application for improving maneuverability of power assist valve.  [通常講演]

  Motoki Nakano, Shun'ichi Kaneko, Takayuki Tanaka, Koichi Yamano

  Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Istanbul, Turkey, 10-13 October 2010 2010年
• 2P1-F18 カメラ振動に伴う対象物位置の信頼性を考慮したロバストステレオシステム  [通常講演]

  岡崎 伸哉, 田中 孝之, 金子 俊一, 高氏 秀則, 高地 伸夫, 山出 光晴

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  This study aims to establish a Robust sensor system by considering a camera vibration. In stereo measurement, we cam approximate the distribution of the measurement error in image by using uniform distribution. Therefore, the parameters of the distribution of the measurement error are the mean value μ and the standard deviation σ, while the amplitude A and the frequency F are regarded as the parameters of the camera vibration. In order to verify relationships between the parameters with regard to the distribution of the measurement error and the parameters of the camera vibration, we performed an experiment using a vibration testing system. By the result, we can establish the measurement error model. Moreover, we defined the existing probability of the object by using the parameters of the measurement error. Additionally, in order to be minimized the errors, we proposed a variable baseline method. We verified effect of the variable baseline method.
• 2A1-C25 調教騎手用スマートスーツの開発 : エネルギー制御に基づくパワーアシストとスキルアシスト  [通常講演]

  日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 梶原 秀一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  We have developed a soft and flexible power assist device named "smart suit". The assist force is basically gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse training to prevent their injuries. Moreover we aim developing an assist force control method based on the energy control for considering not only the power assist but the skill assit. In this paper, we confirm the energy control has the effectiveness of the power assist and the skill assist.
• 1A2-G13 マルチポータルヒューマンインタフェース : 操作安定性を考慮した操作力ファジィ推定  [通常講演]

  渋川 文哉, 田中 孝之, 金子 俊一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  In this study, we propose a multi-portal human interface (M-HI)as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the operableworkspace of power assist systems containing multi-DOF manipulators.
• 1A2-E30 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識  [通常講演]

  高須賀 直一, 田中 孝之, 金子 俊一, 多田 達実, 鈴木 慎一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use two poles for the landmark in our experiment. We confirm the effectiveness and accuracy of our proposed technique by both simulations and experiments.
• 1A2-D19 振動を利用した情報提示装置における慣れが振動感覚に及ぼす影響  [通常講演]

  森 友揮, 田中 孝之, 金子 俊一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  This paper describes influence of adaptation on vibration perception for information presentation device using vibration. Information presentation using vibration is an effective method to convey the information to the user. Vibration conveys the information to the user by change in vibration frequency. However, vibration perception was changed due to the adaptation even when vibration frequency was constant. Perception of vibration strength was changed by vibration duration and how to change in vibration. We aim to find a cause of adaptaion and make a mathematical model of adaptation to vibration.
• 1A1-G28 作業者の操作予測とその信頼性に基づいたエネルギー回生システムを有するパワーアシスト装置の制御方法  [通常講演]

  小林 憲弘, 田中 孝之, 金子 俊一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  The purpose of this study is to develop the control method for power assist system that has energy regeneration system, by recovering desired load reduction ratio even if torque saturation happens. This paper considers using the ratio of impluse of assist force to impluse of operator's force as an evaluation indicator. Proposed method predicts the operation of an operator and gets desired load reduction ratio by dealing deficient impluse, based on reliability of predicted values.
• 1A1-G12 筋特性に基づく高速インピーダンスマッチングによるパワーアシストバルブの操作性向上  [通常講演]

  中野 基輝, 田中 孝之, 金子 俊一, 山野 光一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  The purpose of this research is to develope the powered valve for fire engine which according to person's intention based on impedance control. We establish the method to predict valve's opening time period by initial value of operation torque. In addition, we establish the method to predict it real time baced on minimum jerk model. It made the evaluation more improved to half.
• 1A1-C08 放水角度とノズル曲げ角に対する放水負担解析および床反力推定  [通常講演]

  菊地 隆志, 田中 孝之, 金子 俊一, 山野 光一, 安田 康晴

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  In this research, we aim at reducing physical strain from nozzle reaction force and making the fire fighting activity more smoothly. We measured reaction forces as water is projected from a nozzle. We also conducted an analysis of physical strain for water projection angle and nozzle bending angle.
• 1A1-B03 葡萄園除草ロボットのための葡萄樹の視触覚認識能力の向上  [通常講演]

  井川 久, 田中 孝之, 金子 俊一, 多田 達実, 鈴木 慎一

  ロボティクス・メカトロニクス講演会講演概要集 2010年 

  Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot.
• カメラ振動を考慮したステレオ計測誤差モデル  [通常講演]

  岡崎伸哉, 田中孝之, 金子俊一, 高氏秀則, 高地伸夫, 山田光晴

  ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM) 2010年
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮した触覚認識技術  [通常講演]

  井川久, 田中孝之, 金子俊一, 多田達実, 鈴木慎一

  知能メカトロニクスワークショップ講演論文集(CD-ROM) 2010年
• 可近接性を考慮した手先軌道生成機能を有する視覚誘導型パワーアシストシステム  [通常講演]

  松田潤樹, 田中孝之, 金子俊一

  知能メカトロニクスワークショップ講演論文集(CD-ROM) 2010年
• 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識  [通常講演]

  高須賀直一, 田中孝之, 金子俊一, 多田達実, 鈴木慎一, 高橋悟

  知能メカトロニクスワークショップ講演論文集(CD-ROM) 2010年
• パッシブ筋力補助装置の設計と評価  [通常講演]

  今村由芽子, 田中孝之, 山中正紀, 鈴木善人, 齊藤宗信

  計測自動制御学会北海道支部学術講演会論文集 2010年
• 調教騎手用スマートスーツの開発―周期運動におけるエネルギー変化を考慮した補助力制御―  [通常講演]

  日下聖, 田中孝之, 金子俊一, 鈴木善人, 斎藤宗信, 梶原秀一

  計測自動制御学会北海道支部学術講演会論文集 2010年
• 高速インピーダンスマッチングによるパワーアシストバルブの操作性向上  [通常講演]

  中野基輝, 田中孝之, 金子俊一, 山野光一

  日本ロボット学会学術講演会予稿集(CD-ROM) 2010年
• 慣れを考慮した振動による情報提示装置  [通常講演]

  森友揮, 田中孝之, 金子俊一

  計測自動制御学会北海道支部学術講演会論文集 2010年
• 筋特性に基づく高速インピーダンスマッチングによるパワーアシストバルブの操作性向上  [通常講演]

  中野基輝, 田中孝之, 金子俊一, 山野光一

  計測自動制御学会北海道支部学術講演会論文集 2010年
• Control method for power-assist systems with energy regeneration system based on predicting operation  [通常講演]

  KOBAYASHI Norihiro, TANAKA Takayuki, KANEKO Shun’ichi

  Annu Conf IEEE Ind Electron Soc 2010年
• High-speed Impedance Matching Based on Muscle Characteristic and Its Application for Improving Maneuverability of Power Assist Valve  [通常講演]

  NAKANO Motoki, TANAKA Takayuki, NANEKO Shunichi, YAMANO Koichi

  Proc IEEE Int Conf Syst Man Cybern 2010年
• スマートスーツの研究開発と応用展開  [招待講演]

  田中孝之

  建築の自動化技術シンポジウム予稿集 2010年01月
• ランダム振動を考慮したステレオ計測誤差モデルの構築  [通常講演]

  岡崎伸哉, 田中孝之, 金子俊一, 高氏秀則, 高地伸夫, 山田光晴

  電気学会一般産業研究会資料 2009年12月
• 高速インピーダンスマッチングによる消防車用パワーアシストバルブの操作性向上  [通常講演]

  中野基輝, 田中孝之, 金子俊一, 山野光一

  知能メカトロニクスワークショップ講演論文集 2009年09月

担当経験のある科目（授業）

電気制御システム実験北海道大学
電気制御システム演習北海道大学
ヒューマンセントリックシステム特論北海道大学
一般教育演習北海道大学
システム制御情報学特論北海道大学
計測工学電気通信大学
物理学電気通信大学，東京農工大学
ロボティクス北海道大学

所属学協会

• IEEE   精密工学会   計測自動制御学会   日本機械学会   日本ロボット学会   IEEE   Japan Society of Precision Engineering   The Society of Instrument and Control Engineering   Japan Society of Mechanical Engineering   Robotics Society of Japan   

Works（作品等）

• スマートスーツ研究会

  2007年 -2011年
• 軽労化研究会

  2011年

共同研究・競争的資金等の研究課題

• ウェアラブル運動拡張デバイスによる運動獲得過程の可視化と最適化

  日本学術振興会：科学研究費助成事業

  研究期間 : 2022年04月 -2025年03月 

  代表者 : 田中 孝之, 村井 昭彦
• 身体機能を向上させるソフトエグゾスケルトンの開発とスポーツの拡張

  日本学術振興会：科学研究費助成事業 基盤研究(B)

  研究期間 : 2018年04月 -2021年03月 

  代表者 : 栗田 雄一, 田中 孝之, 三木 則尚

   

  2018年度は，（1）身体負荷計測，努力感計測，心理負荷計測を含む身体・心理負荷のリアルタイム計測技術の開発，ならびに（2）負担規範のアシスト力の設計，ソフトアクチュエータを利用した運動アシストスーツの開発を含むソフトエグゾスケルトンスーツの開発を主に実施した．（１）については，筋電計測を活用した腰部身体負荷計測のプレ実験を行った．また，電極を用いた心理負荷計測を行うためのウェアラブルセンサ技術の開発を行った．これら開発は，研究分担者と連携して実施している．また運動アシストにおける運動主体感の変化を調べるために，空気圧人工筋による運動アシストのタイミングを早めたり遅らせたりしたときに，着用者が自分自身で体を動かしたかように感じるか（すなわち，運動主体感）がどのように変化するかを調査した．これらの結果は，運動支援デバイスのアシストタイミングを制御する際の設計指針に利用可能な知見である．（２）については，空気圧人工筋を利用したソフトなエグゾスケルトン・スーツのプロトタイプを開発した．これは，複数本の人工筋を両面テープつきのサポーターを利用することで人体の幅広い範囲に取り付けることが可能である．また，マイクロコンピュータ，小型空気圧源，小型電磁弁，バッテリーの組み合わせにより，比較的小型・軽量な構成で着用可能である．開発したスーツを利用して，スポーツ体験を拡張することを目的とした実験を実施した．レーザータグゲームにおける力フィードバックに応用したところ，着用者が激しく動く環境でも利用可能であることを確認した．
• 深層筋肉の運動機能・感覚機能トレーニングのための運動知覚統合アシストシステム

  日本学術振興会：科学研究費助成事業 基盤研究(B)

  研究期間 : 2017年04月 -2020年03月 

  代表者 : 田中 孝之, 島谷 康司, 栗田 雄一

   

  ウェアラブル運動知覚統合システムを開発し，運動機能，感覚機能の向上に対して，その効果を評価することを目的として，次の課題に取り組み，それぞれ成果を上げた． (1) 筋シナジーに基づく間接的運動教示インタフェース：骨盤底筋群と腹横筋の筋シナジー関係に基づいて，腹横筋の収縮活動をモニターに表示し，骨盤底筋群の活動として知覚させて，指示した筋収縮量に随意的に骨盤底筋群を収縮させる間接的運動教示インタフェースを構築し，実験的に有効性を確認した．本手法によるトレーニングにより，骨盤底筋群の運動知覚が容易になると共に，骨盤底筋群と腹横筋との筋シナジー関係が強化される新たな知見が得られた．本成果を国際会議，国内講演会にて発表した． (2) 力触覚刺激によるウェアラブル運動知覚インタフェース：上記(1)の視覚によるバイオフィードバックトレーニングの簡略化を目指し，腹横筋に突起物を押し付け，筋収縮に伴う筋硬さ変化を力触覚により知覚するウェアラブル間接的運動教示インタフェースを開発した． (3) 運動教示を取り入れたトレーニングプログラム設計：骨盤形状を2方向のレントゲン画像から計測し，骨盤姿勢を歩容から推定する，骨盤形状・姿勢の個人同定法を構築した．男女被験者の骨盤をMRI撮像して，提案手法の有効性を確認した．この成果を英文学術誌に掲載している．さらに，姿勢変化時の骨盤底筋群の活動を男女被験者で計測し，骨盤形状を個人同定した筋骨格動力学モデルで算出した筋活動と比較し，骨盤底筋群トレーニングのための最適姿勢の算出が可能であることを示し，個別のトレーニングプログラム設計の基礎構築を行った．
• 自動車運転手危険回避支援用振動警告インタフェースのための振動・距離感覚モデル

  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 : 2012年04月 -2015年03月 

  代表者 : 田中 孝之

   

  自動車運転手の危険回避支援を目的として，振動刺激によって前方車両や障害物との距離情報を提示する振動インタフェースのための基盤技術を研究開発した． まず，振動感覚による適切な距離感覚提示を実現するために，走行速度を考慮した距離感覚と振動感覚をモデル化した．視覚情報では錯覚が生じるような環境においても，振動刺激によって，正確な距離感覚を提供できることを確認した．つぎに，前方車両への接近等，相対移動物体との距離感覚提示のための振動感覚ダイナミクスモデルを構築した．さらに，距離感覚と相対速度感覚の感覚順応モデルの構築と補正手法を構築し，より的確な情報伝達を可能にした．
• 可変構造システムと筋活動センシングによる高アシスト効率装着型増力装置の開発

  日本学術振興会：科学研究費助成事業 若手研究(A)

  研究期間 : 2006年 -2007年 

  代表者 : 田中 孝之

   

  装着者にあわせて増力装置の構造を最適化することでアシスト力を効率良く装着者に伝達し,アシスト効率を向上するためのアクチュエーション技術を開発する.2種類の可変構造システムを開発し,装着者の体格に対する増力装置のサイズの不適切さ,および動作中の増力装置のずれに起因するアシスト効率悪化の問題を解消した.また生体センサを用いて増力装置のずれを検出するセンサシステムを開発した. まず,アクチュエータユニットをスーツ要所に配置したジグに取り付けることで固定し,ジグとスーツを介して装着者にアシスト力を伝達する.各ジグ間のアクチュエータユニットのワイヤ長を手動調整することで,装着者の体格に増力装置を合わせる静的な可変構造システムを開発した. アレイ状EMGセンサを用いて,神経支配帯とセンサ情報との関係よりスーツのずれを計測するセンサシステムを開発した.ここで増力装置のずれがアシスト効率に大きく影響する.そこで,アクチュエータユニット取り付け部に装着者の体表面に密着するようにEMGセンサをアレイ状に取り付け,ホルダのずれを実時間で計測することができた.また,超音波による筋活動センシングによる動作計測システムを開発した.テスト特徴分類器に基づいて動作認識法を開発し,生体を透過した超音波から関節角度・トルクを認識する手法を確立した. 最後に,腰と膝を同時アシスト可能な増力装置を開発した.ここでは,アクチュエータユニットを腰部に2つ取り付け,腰と肩および腰と膝とをアクチュエータユニットで結び,腰と膝に補助力が得られるようにした.アクチュエータユニットのずれによってアシスト効率が低下することをシミュレーションと実験により確認した.さらに,2つのアクチュエータユニット間の位置を動的に制御することで,ずれを抑制する制御系を開発し,実験によってその効果を示した.
• 葡萄園除草ロボットの研究開発

  研究期間 : 2006年
• ダイナミック可変構造機械系の制御法の開発と可変生物型ロボットへの応用

  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 : 2003年 -2005年 

  代表者 : 田中 一男, 田中 孝之

   

  1 可変構造機械系のシステム記述法の開発 可変構造を有する機械系システムの記述方法を開発した。モデル作成には、sector nonlinearityの概念を利用して構造に応じた複数の非線形モデルを作成し、構造特性などを考慮してこれらの非線形モデルをスイッチングする手法を提案した。 2 可変構造機械系に対する制御手法の開発 1で開発した可変構造システムに対して有効な制御手法を開発した。開発した制御手法では、 (1)構造の切り替えにおいてエネルギーが保存されるシステム (2)構造の切り替えにおいて状態変数の値が保存されるシステム に対する安定化制御器の設計条件を導出した。 3 鳥ロボットの開発 鳥ロボットを開発し、視覚センサを搭載した。しかし、羽ばたきの振動のため、実際の飛行時には搭載した視覚センサからの画像情報にかなりの乱れが生じてしまった。そこで、一点支持の状態で、移動目標物に追従するような方向制御実験を行い、その有効性を示した。 4 可変構造機械系設計法の高度化 2の手法を鳥ロボット飛行制御へ適用するために、可変構造機械系のサブシステム切り替えの前後において、自由度や拘束条件が変化した場合にも対応可能な制御系設計条件を導いた。さらに、この成果をもとに、より実用的な可変構造機械系の設計法を開発した。 5 鳥ロボットの揚力安定化実験 鳥ロボットの揚力ダイナミクスモデルを同定し、制御系設計を行った。振り下げ時に速度を大きくしなるべく大きい上昇力を得るように、しかも、振り上げ時にゆっくりと振り上げて下降力をなるべく小さく抑えるような翼の目標軌道を生成し、それに追従させるような制御系設計を行った。揚力安定化実験によりその有効性を示した。
• セミアクティブアシストに基づく筋力補助装置スマートスーツ

  共同研究

  研究期間 : 2004年
• Smart Suit: Power Assist Device based on Semi-active Assist

  Cooperative Research

  研究期間 : 2004年
• ユニバーサルデザインに基づく携帯型障害物検出デバイス

  研究期間 : 2003年
• Portable Obstacle Detector based on Universal Design

  研究期間 : 2003年
• 簡易装着型ヒューマンインタフェース「センサスーツ」

  研究期間 : 2002年
• Wearable Human Interface "Sensor Suit"

  研究期間 : 2002年
• 対話型ペットロボットの開発

  日本学術振興会：科学研究費助成事業 奨励研究(A)

  研究期間 : 1998年 -1999年 

  代表者 : 田中 孝之

   

  開発する対話型ペットロボットのシステムは,センサ系,認識系,処理系及び表出系に大別される.このうち,平成10年度は本ペットロボットの表出系となるぬいぐるみ型ハードウェアと処理系となる生物の神経回路ネットワークを模した対話型アルゴリズムの開発を行った. 平成11年度は,まずロボットシステムに視覚センサとしてCCDカメラを搭載し,対話の相手との相対関係および周辺情報を視覚情報により獲得するセンサ系・認識系を開発し,前年度の成果とあわせて統合的なプロトタイプシステムを開発した. 次に,人間の処理が本能と理性によるもので,その表出から内部心理状態を推測することが困難であるため,比較的本能的な処理・表出が行われているペット動物を対話の相手として用いることとした.具体的な対話としてペット動物との「遊び」を行うこととし,開発した対話型アルゴリズムによって人間とペット動物が遊ぶことに近い遊びができることを確認した. 以上の成果から,目的とした対話型ロボットのプロトタイプを開発し,生物との対話によりアルゴリズムの有効性を実証した.今後の課題として,人間の表出のように複雑な情報から,相手の内部心理状態を推測できるようなシステムの開発が望まれる.

産業財産権

• 特許6586700:負荷検出装置、情報処理装置、負荷検出方法、および負荷検出プログラム  

  田中 孝之, 日下 聖, 土谷 圭央, 安田 雅彦, 根岸 易世, 古川 治, 根岸 恭子, 根橋 秀文, 安東 繁宏
• 特開2019-023368:ウェアラブル装置、情報管理システム、駆動方法、およびアプリケーションプログラム  2019年02月14日

  田中 孝之, 岡本 仁志, 日下 聖, 伊藤 隆太郎
• 特開2019-017878:計測装置、計測システム、計測方法、プログラムおよび携帯型端末  2019年02月07日

  田中 孝之, 金子 俊一, 日下 聖, 和田 恭坪, 山本 雅也
• 特許6617519:補助スーツ  

  田中 孝之, 栗田 雄一
• 特開2017-064203:保護装置並びに保護装置の制御方法及び制御プログラム  2017年04月06日

  田中 孝之, 酒井 裕司, 熊倉 祐一郎, 鈴木 善人
• 特開2015-221178:トレーニング装置、トレーニング装置の制御方法及び制御プログラム  2015年12月10日

  野村 英史, 今井 茂, 山村 侑平, 中野 直樹, 田中 孝之, 今村 由芽子
• 特許5505631:腰部筋力補助具  2014年03月28日

  田中 孝之, 鈴木 善人  国立大学法人北海道大学, 株式会社スマートサポート  201103039765473966
• 特許5505625:筋力補助具  2014年03月28日

  田中 孝之, 鈴木 善人, 吉成 哲, 前田 大輔, 山岸 暢  国立大学法人北海道大学, 株式会社スマートサポート  201103095200169365
• 特許5959058:上向き作業のサポート装置  

  矢田 和也, 椎名 肖一, 上田 尚輝, 田中 孝之, 松本 浩輔  株式会社大林組, 国立大学法人北海道大学  201403009871663389
• 特許第5234410号:アクチュエータ装置及び電動機の制御方法  2013年04月05日

  田中 孝之, 中野 基輝, 山野 光一, 近藤 伸一, 関 修治, 坂本 直久  国立大学法人北海道大学, 株式会社モリタホールディングス  200903051596480607
• 特開2010-094147:筋力補助装置の設定装置  2010年04月30日

  田中 孝之, 鈴木 善人  株式会社リープス  201003067142771377
• 特許第4496398号:腰部筋力補助具  2010年04月23日

  田中 孝之, 鈴木 善人  国立大学法人北海道大学, 株式会社スマートサポート  201103052766950470
• 特許第4345025号:筋力補助装置  2009年07月24日

  田中 孝之, 佐藤 悠太, 鈴木 善人, 坂本 直久, 関 修治  国立大学法人 北海道大学, 株式会社リープス, 株式会社モリタホールディングス  200903071513356544