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Last Updated :2024/08/04

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Master

Affiliation (Master)

  • Faculty of Information Science and Technology　Systems Science and Informatics　Informatics for System Creation

Affiliation (Master)

  • Faculty of Information Science and Technology　Systems Science and Informatics　Informatics for System Creation

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Profile and Settings

Affiliation

  • Hokkaido University

Profile and Settings

  • Name (Japanese)

    KUSAKA

  • Name (Kana)

    Takashi

  • Name

    201301037235476918

Affiliation

  • Hokkaido University

Achievement

Research Interests

  • Power assist   Robotics   Signal processing   Sensor fusion   Imege sensing   Communication technology   Wavelet analysis   Embedded system   Biometric system   Man-machine system   

Research Areas

  • Informatics / Human interfaces and interactions
  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering
  • Informatics / Robotics and intelligent systems

Research Experience

  • 2023/04 - Today Hokkaido University
  • 2021/04 - 2023/03 Hokkaido Research Organization
  • 2018/04 - 2021/03 Honda R&D Co.,Ltd. Innovation Lab. Tokyo,
  • 2014/04 - 2018/03 Hokkaido University Project Assistant Proffessor
  • 2011/04 - 2014/03 JSPS Research Fellow(DC1)

Education

  • 2009/04 - 2014/03  Hokkaido University  Graduate School of Information Science & Technology
  • 2007/04 - 2009/03  Hokkaido University  School of Engineering
  • 2002/04 - 2007/03  Kushiro National College of Technology  Department of Electronics

Awards

  • 2017/11 日本機械学会 第27回インテリジェントシステムシンポジウム(FAN2017) ベストプレゼンテーション賞(和田賞)
     動作予測に基づく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の応用
  • 2017/03 電気学会 電子・情報・システム部門 技術委員会奨励賞
     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
  • 2014/03 北海道大学 平成25年度 大学院情報科学研究科 システム情報科学 専攻長賞
     エネルギ制御によるパワーアシストとスキルアシストの同時実現とセミアクティブアシスト機構への応用
  • 2009/03 北海道大学工学部 学業優秀賞
  • 2009/03 北海道大学GP 優秀賞
  • 2007/12 サッポロバレーバレー Extream Technology プロジェクト コンテスト2007 優勝

Published Papers

  • Takashi Kusaka, Takayuki Tanaka
    Electronics 13 (15) 2955 - 2955 2024/07/26 
    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.
  • Masahiro Sato, Michihiro Yoshida, Takashi Kusaka, Yusuke Suzuki, Takayuki Tanaka
    Journal of Robotics and Mechatronics 35 (3) 762 - 770 0915-3942 2023/06/20 [Refereed]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka
    Robotics 11 (6) 149 - 149 2022/12/09 [Refereed]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka
    Sensors 22 (20) 7989 - 7989 2022/10 [Refereed]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka
    Electronics 11 (15) 2285  2022/07/22 [Refereed]
     
    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.
  • Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya, Takashi Kusaka
    Journal of Robotics and Mechatronics 30 (5) 740 - 751 0915-3942 2018/10 [Refereed][Not invited]
     
    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.
  • Yoshio Tsuchiya, Yumeko Imamura, Takayuki Tanaka, Takashi Kusaka
    J. Robot. Mechatron. 30 (5) 696 - 705 2018/10 [Refereed][Not invited]
  • 橋本光太郎, 田中孝之, 日下聖
    日本機械学会論文集(Web) 一般社団法人 日本機械学会 84 (864) ROMBUNNO.18‐00064(J‐STAGE) - 18-00064 2187-9761 2018 [Not refereed][Not invited]
     
    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.
  • 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 公益社団法人 計測自動制御学会 54 (3) 373‐382(J‐STAGE) - 382 0453-4654 2018 [Refereed][Not invited]
     
    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.
  • Saori MIYAJIMA, Takayuki TANAKA, Takashi KUSAKA
    Transactions of the Society of Instrument and Control Engineers 計測自動制御学会 ; [1965]- 53 (5) 299 - 307 0453-4654 2017/05 [Refereed][Not invited]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka, Hidekazu Kajiwara
    ROBOMECH Journal 4 (2) 1 - 11 2017/01 [Refereed][Not invited]
  • 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(Web) 一般社団法人 日本機械学会 82 (843) ROMBUNNO.16‐00072(J‐STAGE) - 00072-16-00072 2187-9761 2016 [Refereed][Not invited]
     
    <p>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.</p>
  • Takuto Yoshifuji, Takayuki Tanaka, Takashi Kusaka
    Journal of Robotics and Mechatronics Fuji Technology Press 26 (6) 692 - 703 0915-3942 2014/12/20 [Refereed][Not invited]
  • 土谷圭央, 田中孝之, 日下聖, 松尾祥和
    産業保健人間工学研究 産業保健人間工学会 16 (Supplement (Nov)) 68 - 71 1345-1731 2014/11/15 [Not refereed][Not invited]
  • 日下 聖, 田中 孝之, 梶原 秀一
    日本ロボット学会誌 = Journal of the Robotics Society of Japan 日本ロボット学会 ; 1983- 32 (2) 198 - 206 0289-1824 2014/03 [Refereed][Not invited]
  • 日下 聖, 田中 孝之, 今村 由芽子
    Hippophile 日本ウマ科学会 0 (47) 27 - 33 1883-6062 2012/01 [Refereed][Not invited]
  • 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 2009/12 [Refereed][Not invited]

MISC

  • 宮崎俊之, 日下聖, 新井浩成, 堤大祐  北海道立総合研究機構工業試験場成果発表会発表要旨(Web)  2023-  2023
  • Lightweight retroreflective structures as SAR satellite targets
    Toshiyuki Miyazaki, Takashi Kusaka, Fumihiro Takahashi, Takashi Hosokawa  The 15th Pan Ocean Remote Sensing Conference (PORSEC2022)  2022/12  [Refereed]
  • Evaluation of Luneberg Lens Focusing Performance in a Finite Size Anechoic Chamber
    Toshiyuki Miyazaki, Takashi Kusaka, Fumihiro Takahashi, Takashi Hosokawa  The 2022 International Symposium on Antennas and Propagation (ISAP2022)  119  -120  2022/10  [Refereed]
  • 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  [Refereed]
  • Kotaro Hashimoto, Takayuki Tanaka, Takashi Kusaka  2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  2018/10
  • 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  2018/05  [Refereed][Not invited]
  • Wearable Sensor System for Lumbosacral Load Estimation by Considering the Effect of External Load
    Yoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo  International Conference on Applied Human Factors and Ergonomics.  160  -168  2017  [Refereed][Not invited]
  • Akimoto Haruma, Tsutiya Yoshio, Imamura Yumeko, Kusaka Takashi, Tanaka Takayuki  IEEE Conference Proceedings  2017-  (LSC)  234‐237  2017  [Refereed][Not invited]
  • Matsuda Junki, Tanaka Takayuki, Kusaka Takashi  IEEE Conference Proceedings  2017-  (IRIS)  249‐254  2017  [Refereed][Not invited]
  • Kotara Hashimoto, Takayuki Tanaka, Takuma Aizu, Takashi Kusaka  2016 WORLD AUTOMATION CONGRESS (WAC)  2016  [Refereed][Not invited]
     
    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.
  • Takuma Aizu, Takayuki Tanaka, Kotara Hashimoto, Takashi Kusaka  2016 WORLD AUTOMATION CONGRESS (WAC)  2016  [Refereed][Not invited]
     
    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.
  • 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  [Refereed][Not invited]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka, Hidekazu Kajiwara  2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)  42  -47  2015  [Refereed][Not invited]
     
    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.
  • 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  [Refereed][Not invited]
     
    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.
  • 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  [Refereed][Not invited]
     
    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.
  • 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  [Refereed][Not invited]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka  2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE)  1762  -+  2014  [Refereed][Not invited]
     
    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.
  • KUSAKA Takashi, TANAKA Takayuki, SAITO Munenobu, SUZUKI Yoshihito  The Proceedings of the Symposium on sports and human dynamics  2013-  (0)  _140  -1_-_140-6_  2013  [Not refereed][Not invited]
     
    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.
  • 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  [Refereed][Not invited]
     
    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".
  • Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara  2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)  758  -763  2012  [Refereed][Not invited]
     
    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.
  • Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011  2187  -2192  2011  [Refereed][Not invited]
     
    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.

Books etc

Presentations

  • 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, Ixchel Georgina Ramirez-Alpizar, Enrique Coronado, 堂前幸康
    日本産業衛生学会 作業関連性運動器障害研究会 第29回定例会  2023/09
  • TSUCHIYA Yoshio, KUSAKA Takashi, TANAKA Takayuki, YOSHIDA Michihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers
     
    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.
  • YOSHIDA Michihiro, TANAKA Takayuki, KUSAKA Takashi, TSUCHIYA Yoshio
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers
     
    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.
  • 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)  2017/12
  • 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  2017/11
  • 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)  2017/09
  • 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)  2017/05  The Japan Society of Mechanical Engineers
     
    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.
  • 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)  2017/05  The Japan Society of Mechanical Engineers
     
    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.
  • 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)  2017/05  The Japan Society of Mechanical Engineers
     
    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.
  • 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  2017/03
  • 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  [Not invited]
    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  2016/11  バイオメカニズム学会
  • 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  2016/03
  • 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  2016/03
  • 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  2016/01
  • TSUCHIYA Yoshio, KUSAKA Takashi, TANAKA Takayuki, MATSUO Yoshikazu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2016  The Japan Society of Mechanical Engineers
     
    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.
  • 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)  2015/11
  • 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)  2015/09
  • MIYAJIMA SAORI, TANAKA TAKAYUKI, IMAMURA YUMEKO, KUSAKA TAKASHI, WAKASUGI MOTOAKI
    計測自動制御学会北海道支部学術講演会論文集  2015
  • Tsuchiya Yoshio, KUSAKA Takashi, TANAKA Takayuki, MATSUO Yoshikazu, ODA Makoto, SASAKI Tsukasa, KAMISIMA Tamotsu, YAMANAKA Masanori
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015  The Japan Society of Mechanical Engineers
     
    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.
  • MIYAJIMA Saori, TANAKA Takayuki, IMAMURA Yumeko, KUSAKA Takashi
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015  The Japan Society of Mechanical Engineers
     
    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.
  • IMAMURA Yumeko, TANAKA Takayuki, KUSAKA Takashi, TSUCHIYA Yoshio
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015  The Japan Society of Mechanical Engineers
     
    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.
  • KUSAKA Takashi, TANAKA Takayuki, KAJIWARA Hidekazu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015  The Japan Society of Mechanical Engineers
     
    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.
  • NARA Hiroyuki, Tanaka Takayuki, Kusaka Takashi, Tamai Nobuyuki, Wakasugi Motoaki, Yamagishi Takayuki, OGURA Shotaro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014/05  The Japan Society of Mechanical Engineers
     
    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".
  • KUSAKA TAKASHI, TANAKA TAKAYUKI, KANEKO SHUN'ICHI, KAJIWARA HIDEKAZU
    ロボティクスシンポジア予稿集  2014/03
  • 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  2014
  • YOSHIFUJI Takuto, TANAKA Takayuki, KUSAKA Takashi
    IEICE technical report. Welfare Information technology  2013/08  The Institute of Electronics, Information and Communication Engineers
     
    This paper describes a skill assist effect for motion of Multi Frequency Component by using an energy control method and semi-active assist mechanism. We have developed the semi-active assist mechanism as a soft and flexible power assist device. This mechanism is constituted by an elastomer and actuator. The assist force is controlled by actuator. Previous study, skill assist by using periodical input control has motion correction effect for motion by a single frequency. In this study, we propose a method that extends the periodical input control for periodic motion with multiple frequency components. We verified the effect of Skill-Assist considering the multiple frequency components of human motion.
  • WAKASUGI MOTOAKI, TANAKA TAKAYUKI, NARA HIROYUKI, KUSAKA TAKASHI, KANEKO SHUN'ICHI
    電子情報通信学会技術研究報告  2013/08  一般社団法人電子情報通信学会
     
    Optimizing assistive force of Smart Suit has depended on waist joint angle measured by exibl electrogoniometer. But, this measuring method can not know exactly how human works with Smart Suit. Then, a measurement of human motion by measuring waist, knee and ankle joint angle with use of acceleration and gyro sensor is suggested. In addition, a measurement of human motion with new link model of human's joint is suggested based on spinal joint.
  • NARA HIROYUKI, TANAKA TAKAYUKI, KUSAKA TAKASHI, WAKASUGI MOTOAKI, YAMAGISHI TAKAYUKI, OGURA SHOTARO
    電子情報通信学会技術研究報告  2013/08  一般社団法人電子情報通信学会
     
    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".
  • YOSHIFUJI TAKUTO, TANAKA TAKAYUKI, KUSAKA TAKASHI
    電子情報通信学会技術研究報告  2013/08
  • NARA Hiroyuki, Tanaka Takayuki, Kusaka Takashi, Yamagishi Takayuki, OGURA Shotaro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2013/05  The Japan Society of Mechanical Engineers
     
    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".
  • 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  2013/03
  • 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  2013/03
  • 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
  • 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
  • KUSAKA TAKASHI, TANAKA TAKAYUKI, SAITO MUNENOBU, SUZUKI YOSHIHITO
    日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス(CD-ROM)  2013  The Japan Society of Mechanical Engineers
     
    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.
  • KUSAKA Takashi, TANAKA Takayuki, KANEKO Shun'ichi, KAJIWARA Hidekazu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2013  The Japan Society of Mechanical Engineers
     
    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.
  • 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)  2012/09
  • 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)  2012/09
  • 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
  • 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)  2011/09
  • 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  2011/03
  • 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
  • KUSAKA Takashi, TANAKA Takayuki, KANEKO Shun'ichi, SUZUKI Yoshihito, SAITOH Munenobu, KAJIWARA Hidekazu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers
     
    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.
  • 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
  • Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Yoshihito Suzuki, Munenobu Saito, Hidekazu Kajiwara
    2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)  2010  IEEE
     
    This paper describes semi-active assist control in the form of a smart suit for horse trainers. We have developed a soft and flexible power assist device named "smart suit" for reducing user's physical fatigue. The smart suit is a semi-active and flexible power assist devices. The semi-active assist mechanism consisting of elastic materials and a small DC motor is our original technology. The assist force is 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 in the situation without the skill assist.
  • KUSAKA Takashi, TANAKA Takayuki, KANEKO Shun'ichi, SUZUKI Yoshihito, SAITOH Munenobu, SEKI Shuji, SAKAMOTO Naohisa, KAJIWARA Hidekazu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    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.
  • KUSAKA Takashi, TANAKA Takayuki, KANEKO Shun'ichi, SUZUKI Yoshihito, SAITOH Munenobu, SEKI Shuji, SAKAMOTO Naohisa, KAJIWARA Hidekazu
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    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.
  • KUSAKA Takashi, NAKANO Motoki, SHIBUKAWA Fumiya, KONDO Kaori, KOBAYASHI Noriyuki, SANO Ryuichi, TANAKA Takayuki, KANEKO Shun'ichi
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    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.
  • KUSAKA Takashi, NAKANO Motoki, SHIBUKAWA Fumiya, KONDO Kaori, KOBAYASHI Noriyuki, SANO Ryuichi, TANAKA Takayuki, KANEKO Shun'ichi
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    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.

Association Memberships

  • IEEE   日本ロボット学会   計測制御自動学会   日本機械学会   

Research Projects

  • 作業動作認識と経験共有プラットフォームによる労働作業DX
    公益財団法人 北海道科学技術総合振興センター：若手研究人材・ネットワーク育成補助金（タレント補助金）
    Date (from‐to) : 2023/04 -2024/03
  • 多重信号分類（MUSIC）を用いた電磁波による外界センシング手法に関する研究
    地方独立行政法人北海道立総合研究機構：令和４年度職員研究奨励事業
    Date (from‐to) : 2022/04 -2023/03
  • 再帰反射構造を有しSAR衛星で観測可能な海上浮力体の研究開発
    総務省：SCOPE
    Date (from‐to) : 2019 -2023
  • アシストロボットにおける⼈間⼯学的動作解析の研究に関する共同研究
    共同研究：株式会社ニコン：
    Date (from‐to) : 2012/12 -2019/03
  • 日本学術振興会：科学研究費助成事業 特別研究員奨励費
    Date (from‐to) : 2011 -2013 
    Author : 日下 聖
     
    本研究は弾性材とアクチュエータから成るセミアクティブアシスト機構による周期運動のアシストを研究対象とし, これまで行ってきたパワーアシストを実現する制御法の拡張として, 負担軽減だけでなく動作矯正を行うスキルアシスト制御法に関して研究を行っている. 本年度は研究計画の通り, 大目的であるセミアクティブアシスト機構によるパワーアシストとスキルアシストの同時実現に取り組み, これまで開発してきた技術を拡張することでそれを実現した. まず, 我々の扱うセミアクティブアシスト機構において, 補助エネルギをパワーアシストに使うのか, スキルアシストに使うのかは, 人間とアシスト装置のダイナミクスの両方を解析からトレードオフの関係になることがわかっている. 同時実現として我々の研究で解決すべき課題は, この補助エネルギをいかに効率的にパワーアシストとスキルアシストに配分するかである. これまでの研究でパラメータ設計によるパワーアシスト効率制御法, 人間の運動のばらつきを統計的に組み込んだ補助力位相差制限法に基づくスキルアシスト効率制御法を開発してきた. しかしながら, それら双方のトレードオフを考慮した同時最適化は行っていなかった. そのため, 本年度はセミアクティブアシスト機構のパワーアシストとスキルアシストの研究の総まとめとして, トレードオフの関係にあるそれぞれのアシスト効率いかにすれば最適化可能であるかについて研究を行った. この同時最適化という課題を解決するために, 我々は周期運動のアシストの動作点という概念を新たに導入した. トレードオフの関係を用いて円上を動く動作点を考えると, 本システムは半径方向が補助エネルギを示すこととなる. 動作点の概念はその関係を用いて設計しこの概念を用いて同時最適化のためのパラメータ設計を行い, 実験的に検証を行った. その結果, スキルアシストの適用による追従誤差の低下と, その上で目標値通りの最大化されたパワーアシスト効果を得ることができた. これにより, 本研究課題である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及びスキルアシストの同時実現を達成した.

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