MF研究者総覧

研究者データベース

詳細
近野　敦(コンノ　アツシ)
情報科学研究院　システム情報科学部門　システム融合学分野
教授
researchmap個人ページ
Last Updated :2024/05/12

基本情報

所属

  • 情報科学研究院　システム情報科学部門　システム融合学分野

職名

  • 教授

学位

  • 博士(工学)（東北大学）

ホームページURL

J-Global ID

研究分野

  • 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
  • 情報通信 / 知能ロボティクス
  • 情報通信 / 知覚情報処理

担当教育組織

職歴

  • 2024年04月 - 現在 北海道大学 大学院情報科学研究院 研究院長
  • 2012年04月 - 現在 北海道大学 大学院情報科学研究院 教授
  • 2022年04月 - 2024年03月 北海道大学大学院情報科学研究院 副研究院長（総務・研究担当）
  • 2020年04月 - 2022年03月 北海道大学大学院情報科学研究院 副研究院長（教育担当）
  • 2007年04月 - 2012年03月 東北大学 大学院工学研究科 准教授
  • 1998年04月 - 2007年03月 東北大学 大学院工学研究科 助教授
  • 1995年04月 - 1998年03月 東京大学 大学院工学系研究科 助手
  • 1993年04月 - 1995年03月 東北大学 工学部 助手

学歴

  • 1988年04月 - 1993年03月   東北大学   大学院工学研究科   精密工学専攻
  •         - 1993年   東北大学
  • 1984年04月 - 1988年03月   東北大学   工学部   精密工学科
  •         - 1988年   東北大学

所属学協会

  • 日本IFToMM会議   日本コンピュータ外科学会   日本機械学会   計測自動制御学会   日本ロボット学会   IEEE   

研究活動情報

論文

  • 藤原朋之, 小水内俊介, 近野敦
    日本ロボット学会誌 41 4 2023年05月 [査読有り][招待有り]
  • Sayaka Shibuya, Noriyuki Shido, Ryosuke Shirai, Kazuya Sase, Koki Ebina, XiaoShuai Chen, Teppei Tsujita, Shunsuke Komizunai, Taku Senoo, Atsushi Konno
    International Journal of Automation Technology 17 3 262 - 276 2023年05月 [査読有り]
  • Colley Noriyo, Komizunai Shunsuke, Kanai Satoshi, Konno Atsushi, Inoue Sozo, Nakamura Misuzu, Ninomiya Shinji
    Journal of International Nursing Research 2 1 e2021-0016 - e2021-0016 2023年02月17日 [査読有り]
     
    Objective: We developed a suctioning catheter control sensing device given the increasing demand for skilled home-based healthcare techniques, such as tracheal suctioning. This study evaluated the proficiency of the entire tracheal suctioning process between expert and novice groups via the suctioning catheter control sensing device and a motion capture system. Our hypothesis is that motion capture can measure the proficiency of tracheal suctioning despite the biological reactions of the simulator and the characteristics of participants. Methods: Nine expert nurses, each with more than three years of clinical experience in tracheal suctioning, and 13 nursing students from an urban university nursing department participated. The performance time, pelvic forward bending angle, travel distance, posing time, posing frequency of bilateral dorsum manus, and suctioning catheter control between the two groups with/without simulated biological reactions were analyzed. Results: The two-way analysis of variance demonstrated that the biological reactions (or lack thereof) and the proficiency level did not interact. The main effect of performance time, posing time, and posing frequency was statistically significant; experts performed tracheal suctioning more expeditiously and skillfully. The sensing device could detect hesitance or rough catheter control. Conclusions: Our results indicated that performance time, posing time, and posing frequency could serve as proficiency criteria with/out biological reactions. Additional studies are required to establish a quantitative education evaluation method to determine clinically reliable proficiency levels of tracheal suctioning.
  • Taku Senoo, Atsushi Konno, Hayato Otsubo, Idaku Ishii
    ROBIO 1 - 6 2023年
  • Taku Senoo, Atsushi Konno
    RO-MAN 1872 - 1877 2023年 [査読有り]
  • Taku Senoo, Atsushi Konno, Norimasa Kishi
    IECON 1 - 6 2023年 [査読有り]
  • Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Nobuo Shinohara, Atsushi Konno
    IEEE/SICE International Symposium on System Integration(SII) 1 - 6 2023年 [査読有り]
  • Masanobu Suzuki, Kou Miyaji, Kotaro Matoba, Takashige Abe, Yuji Nakamaru, Ryosuke Watanabe, Takayoshi Suzuki, Akira Nakazono, Atsushi Konno, Dominik Hinder, A J Psaltis, P J Wormald, Akihiro Homma
    Frontiers in medicine 10 1090743 - 1090743 2023年 [査読有り]
     
    INTRODUCTION: Surgeons' mental workload during endoscopic sinus surgery (ESS) has not been fully evaluated. The assessment was challenging due to the great diversity of each patient's anatomy and the consequence variety of surgical difficulties. In this study, we examined the mental workload of surgeons with various surgical skill levels during ESS under the standardized condition provided by novel-designed 3D sinus models. MATERIALS AND METHODS: Forty-seven participants performed a high-fidelity ESS simulation with 3D-printed sinus models. Surgeons' mental workload was assessed with the national aeronautics and space administration-task load index (NASA-TLX). Associations between the total and subscales score of NASA-TLX and surgical skill index, including the board certification status, the number of experienced ESS cases, and the objective structured assessment of technical skills (OSATS), were analyzed. In addition, 10 registrars repeated the simulation surgery, and their NASA-TLX score was compared before and after the repetitive training. RESULTS: The total NASA-TLX score was significantly associated with OSATS score (p = 0.0001). Primary component analysis classified the surgeons' mental burden into three different categories: (1) the skill-level-dependent factors (temporal demand, effort, and performance), (2) the skill-level-independent factors (mental and physical demand), and (3) frustration. After the repetitive training, the skill-level-dependent factors were alleviated (temporal demand; z = -2.3664, p = 0.0091, effort; z = -2.1704, p = 0.0346, and performance; z = -2.5992, p = 0.0017), the independent factors were increased (mental demand; z = -2.5992, p = 0.0023 and physical demand; z = -2.2509, p = 0.0213), and frustration did not change (p = 0.3625). CONCLUSION: Some of the mental workload during ESS is associated with surgical skill level and alleviated with repetitive training. However, other aspects remain a burden or could worsen even when surgeons have gained surgical experience. Routine assessment of registrars' mental burdens would be necessary during surgical training to sustain their mental health.
  • Xiaoshuai Chen, Daisuke Sakai, Hiroaki Fukuoka, Ryosuke Shirai, Koki Ebina, Sayaka Shibuya, Kazuya Sase, Teppei Tsujita, Takashige Abe, Kazuhiko Oka, Atsushi Konno
    Journal of Robotics and Mechatronics 34 6 1253 - 1267 2022年12月20日 [査読有り]
     
    Laparoscopic surgery is a minimally invasive procedure that is performed by viewing endoscopic camera images. However, the limited field of view of endoscopic cameras makes laparoscopic surgery difficult. To provide more visual information during laparoscopic surgeries, augmented reality (AR) surgical navigation systems have been developed to visualize the positional relationship between the surgical field and organs based on preoperative medical images of a patient. However, since earlier studies used preoperative medical images, the navigation became inaccurate as the surgery progressed because the organs were displaced and deformed during surgery. To solve this problem, we propose a mixed reality (MR) surgery navigation system in which surgical instruments are tracked by a motion capture (Mocap) system; we also evaluated the contact between the instruments and organs and simulated and visualized the deformation of the organ caused by the contact. This paper describes a method for the numerical calculation of the deformation of a soft body. Then, the basic technology of MR and projection mapping is presented for MR surgical navigation. The accuracy of the simulated and visualized deformations is evaluated through basic experiments using a soft rectangular cuboid object.
  • Akito Ema, Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Journal of Robotics and Mechatronics 34 6 1306 - 1317 2022年12月20日 [査読有り]
     
    Neuronavigation is a computer-assisted technique for presenting three-dimensional images of a patient’s brain to facilitate immediate and precise lesion localization by surgeons. Neuronavigation systems use preoperative medical images of patients. In neurosurgery, when the dura mater and arachnoid membrane are incised and the cerebrospinal fluid (CSF) drains out, the brain loses the CSF buoyancy and deforms in the direction of gravity, which is referred to as brain shift. This brain shift yields inaccurate neuronavigation. To reduce this inaccuracy, an intraoperative brain shift should be estimated. This paper proposes a dynamic simulation method for brain-shift estimation combining the moving-particle semi-implicit (MPS) method and the finite element method (FEM). The CSF was modeled using fluid particles, whereas the brain parenchyma was modeled using finite elements (FEs). Node particles were attached to the surface nodes of the brain parenchyma in the FE model. The interaction between the CSF and brain parenchyma was simulated using the repulsive force between the fluid particles and node particles. Validation experiments were performed using a gelatin block. The gelatin block was dipped into silicone oil, which was then gradually removed; the block deformation owing to the buoyancy loss was measured. The experimental deformation data were compared with the results of the MPS-FEM coupled analysis. The mean absolute error (MAE) between the simulated deformation and the average across the four experiments was 0.26 mm, while the mean absolute percentage error (MAPE) was 27.7%. Brain-shift simulations were performed using the MPS-FEM coupled analysis, and the computational cost was evaluated.
  • Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko, Xin Jiang, Atsuhiro Nakagawa, Masaru Uchiyama
    Journal of Robotics and Mechatronics 34 6 1284 - 1296 2022年12月20日 [査読有り]
     
    Introduction of surgical simulators, which enable repeated learning of new surgical techniques, is advancing and they are desired in the field of neurosurgery. This study aims to make a two-fold contribution. First is the development of a haptic interface, which can be used while changing the operative tools necessary for training the cerebral fissure opening technique while using both the hands. Second is to develop a module for the haptic interface, which can display the cutting force when using micro scissors. To realize the operation with both the hands, the haptic interfaces for the right and left hands are designed so that they do not interfere. In addition, surgical tools, such as retractors, micro dissectors, and micro scissors, can be exchanged. In the cutting experiment carried out prior to the development of the haptic interface, it was clarified that the force when the dura mater was cut using micro scissors was 0.5 N. For comparison, the cutting forces required to cut two and three sheets of paper were measured to be 0.4 N and 0.6 N, respectively. The developed micro scissors module was designed using one motor and planetary gear mechanism. The gear mechanism is designed such that the right and left handles rotate in reverse directions around the rotation axis of the micro scissors using only one motor. This mechanism enables the micro scissors to cut the virtual tissues in the middle of the blade. The developed module could display a force of 0.4 N.
  • Teppei Tsujita, Takuya Kameyama, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama
    Advanced Robotics 36 24 1327 - 1338 2022年12月17日 [査読有り]
  • Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
    Journal of Robotics and Mechatronics 34 5 1033 - 1042 2022年10月20日 [査読有り]
     
    In this study, we propose a method for measuring the distance and velocity of overlapping vehicles using high-speed stereo vision. The method is based on the correlation filter called MOSSE and is improved by balancing the computation cost and accuracy using the features of high-frame-rate images. To achieve stable tracking, the tracking window was adjusted for each vehicle according to the vehicle distance and the overlapping state. Experiments on the images acquired by the cameras mounted on an actual vehicle were performed to validate the proposed method.
  • Masanobu Suzuki, Kou Miyaji, Ryosuke Watanabe, Takayoshi Suzuki, Kotaro Matoba, Akira Nakazono, Yuji Nakamaru, Atsushi Konno, Alkis James Psaltis, Takashige Abe, Akihiro Homma, Peter-John Wormald
    Laryngoscope investigative otolaryngology 7 4 943 - 954 2022年08月 [査読有り]
     
    Background: The purpose of this study was to find a utility of a newly developed 3D-printed sinus model and to evaluate the educational benefit of simulation training with the models for functional endoscopic sinus surgery (FESS). Material and methods: Forty-seven otolaryngologists were categorized as experts (board-certified physicians with ≥200 experiences of FESS, n = 9), intermediates (board-certified physicians with <200 experiences of FESS, n = 19), and novices (registrars, n = 19). They performed FESS simulation training on 3D-printed models manufactured from DICOM images of computed tomography (CT) scan of real patients. Their surgical performance was assessed with the objective structured assessment of technical skills (OSATS) score and dissection quality evaluated radiologically with a postdissection CT scan. First we evaluated the face, content, and constructive values. Second we evaluated the educational benefit of the training. Ten novices underwent training (training group) and their outcomes were compared to the remaining novices without training (control group). The training group performed cadaveric FESS surgeries before and after the repetitive training. Results: The feedback from experts revealed high face and content value of the 3D-printed models. Experts, intermediates, and novices demonstrated statistical differences in their OSATS scores (74.7 ± 3.6, 58.3 ± 10.1, and 43.1 ± 11.1, respectively, p < .001), and dissection quality (81.1 ± 13.1, 93.7 ± 15.1, and 126.4 ± 25.2, respectively, p < .001). The training group improved their OSATS score (41.1 ± 8.0 to 61.1 ± 6.9, p < .001) and dissection quality (122.1 ± 22.2 to 90.9 ± 10.3, p = .013), while the control group not. After training, 80% of novices with no prior FESS experiences completed surgeries on cadaver sinuses. Conclusion: Repeated training using the models revealed an initial learning curve in novices, which was confirmed in cadaveric mock FESS surgeries. Level of evidence: N/A.
  • Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kou Miyaji, Sayaka Shibuya, Yan Lingbo, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
    Langenbeck's Archives of Surgery 407 5 2123 - 2132 2022年08月 [査読有り]
     
    Background: Our aim was to build a skill assessment system, providing objective feedback to trainees based on the motion metrics of laparoscopic surgical instruments. Methods: Participants performed tissue dissection around the aorta (tissue dissection task) and renal parenchymal closure (parenchymal-suturing task), using swine organs in a box trainer under a motion capture (Mocap) system. Two experts assessed the recorded movies, according to the formula of global operative assessment of laparoscopic skills (GOALS: score range, 5–25), and the mean scores were utilized as objective variables in the regression analyses. The correlations between mean GOALS scores and Mocap metrics were evaluated, and potential Mocap metrics with a Spearman’s rank correlation coefficient value exceeding 0.4 were selected for each GOALS item estimation. Four regression algorithms, support vector regression (SVR), principal component analysis (PCA)-SVR, ridge regression, and partial least squares regression, were utilized for automatic GOALS estimation. Model validation was conducted by nested and repeated k-fold cross validation, and the mean absolute error (MAE) was calculated to evaluate the accuracy of each regression model. Results: Forty-five urologic, 9 gastroenterological, and 3 gynecologic surgeons, 4 junior residents, and 9 medical students participated in the training. In both tasks, a positive correlation was observed between the speed-related parameters (e.g., velocity, velocity range, acceleration, jerk) and mean GOALS scores, with a negative correlation between the efficiency-related parameters (e.g., task time, path length, number of opening/closing operations) and mean GOALS scores. Among the 4 algorithms, SVR showed the highest accuracy in the tissue dissection task (MAE median= 2.2352), and PCA-SVR in the parenchymal-suturing task (MAE median= 1.2714), based on 100 iterations of the validation process of automatic GOALS estimation. Conclusion: We developed a machine learning–based GOALS scoring system in wet lab training, with an error of approximately 1–2 points for the total score, and motion metrics that were explainable to trainees. Our future challenges are the further improvement of onsite GOALS feedback, exploring the educational benefit of our model and building an efficient training program.
  • Xiaoshuai Chen, Ryosuke Shirai, Ken Masamune, Manabu Tamura, Yoshihiro Muragaki, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    IEEE Transactions on Medical Robotics and Bionics 4 2 368 - 380 2022年05月 [査読有り]
  • コリー 紀代, 小水内 俊介, 金井 理, 近野 敦, 井上 創造, 中村 美鈴, 二宮 伸治
    高等教育ジャーナル : 高等教育と生涯学習 29 61 - 67 北海道大学高等教育推進機構高等教育研究部 2022年03月 [査読有り]
  • Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kou Miyaji, Sayaka Shibuya, Yan Lingbo, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
    PloS one 17 11 e0277105  2022年 [査読有り]
     
    The purpose of this study was to characterize the motion features of surgical devices associated with laparoscopic surgical competency and build an automatic skill-credential system in porcine cadaver organ simulation training. Participants performed tissue dissection around the aorta, dividing vascular pedicles after applying Hem-o-lok (tissue dissection task) and parenchymal closure of the kidney (suturing task). Movements of surgical devices were tracked by a motion capture (Mocap) system, and Mocap-metrics were compared according to the level of surgical experience (experts: ≥50 laparoscopic surgeries, intermediates: 10-49, novices: 0-9), using the Kruskal-Wallis test and principal component analysis (PCA). Three machine-learning algorithms: support vector machine (SVM), PCA-SVM, and gradient boosting decision tree (GBDT), were utilized for discrimination of the surgical experience level. The accuracy of each model was evaluated by nested and repeated k-fold cross-validation. A total of 32 experts, 18 intermediates, and 20 novices participated in the present study. PCA revealed that efficiency-related metrics (e.g., path length) significantly contributed to PC 1 in both tasks. Regarding PC 2, speed-related metrics (e.g., velocity, acceleration, jerk) of right-hand devices largely contributed to the tissue dissection task, while those of left-hand devices did in the suturing task. Regarding the three-group discrimination, in the tissue dissection task, the GBDT method was superior to the other methods (median accuracy: 68.6%). In the suturing task, SVM and PCA-SVM methods were superior to the GBDT method (57.4 and 58.4%, respectively). Regarding the two-group discrimination (experts vs. intermediates/novices), the GBDT method resulted in a median accuracy of 72.9% in the tissue dissection task, and, in the suturing task, the PCA-SVM method resulted in a median accuracy of 69.2%. Overall, the mocap-based credential system using machine-learning classifiers provides a correct judgment rate of around 70% (two-group discrimination). Together with motion analysis and wet-lab training, simulation training could be a practical method for objectively assessing the surgical competence of trainees.
  • Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
    ICSTCC 613 - 618 2022年 [査読有り]
  • Alireza Bilesan, Shunsuke Komizunai, Teppei Tsujita, Atsushi Konno
    Journal of Robotics and Mechatronics 33 6 1408 - 1422 2021年12月 [査読有り]
     
    Kinect has been utilized as a cost-effective, easy-to- use motion capture sensor using the Kinect skeleton algorithm. However, a limited number of landmarks and inaccuracies in tracking the landmarks’ positions restrict Kinect’s capability. In order to increase the accuracy of motion capturing using Kinect, joint use of the Kinect skeleton algorithm and Kinect-based marker tracking was applied to track the 3D coordi¬nates of multiple landmarks on human. The motion’s kinematic parameters were calculated using the land¬marks’ positions by applying the joint constraints and inverse kinematics techniques. The accuracy of the proposed method and OptiTrack (NaturalPoint, Inc., USA) was evaluated in capturing the joint angles of a humanoid (as ground truth) in a walking test. In or¬der to evaluate the accuracy of the proposed method in capturing the kinematic parameters of a human, lower body joint angles of five healthy subjects were extracted using a Kinect, and the results were com¬pared to Perception Neuron (Noitom Ltd., China) and OptiTrack data during ten gait trials. The absolute agreement and consistency between each optical sys¬tem and the robot data in the robot test and between each motion capture system and OptiTrack data in the human gait test were determined using intraclass cor¬relations coefficients (ICC3). The reproducibility be¬tween systems was evaluated using Lin’s concordance correlation coefficient (CCC). The correlation coeffi¬cients with 95% confidence intervals (95%CI) were interpreted substantial for both OptiTrack and pro¬posed method (ICC > 0.75 and CCC > 0.95) in hu¬manoid test. The results of the human gait exper¬iments demonstrated the advantage of the proposed method (ICC > 0.75 and RMSE = 1.1460°) over the Kinect skeleton model (ICC < 0.4 and RMSE = 6.5843°).
  • コリー 紀代, 小水内 俊介, 金井 理, 井上 創造, 近野 敦, 中村 美鈴, 二宮 伸治
    人工呼吸 38 2 162 - 168 一般社団法人 日本呼吸療法医学会 2021年11月 [査読有り]
     
    【目的】本研究では、①プロジェクションマッピング映像による仮想生体反応の呈示の有無や実施者の属性にかかわらず、視線計測結果が習熟度評価指標となりうるかを検証し、②生体反応を呈するシミュレータを用いた際の作業負担感を初学者と熟練者において比較することを目的とする。 【方法】看護師群と学生群の気管吸引の所要時間、視線の停留時間・停留回数を測定した。タスク終了後に日本語版NASA-TLXを用い、両群の作業負担感を比較した。 【結果】生体反応呈示の有無と属性による交互作用は認められず、所要時間と視線停留時間において看護師群－学生群間の主効果が認められた。作業負担感は26項目中5項目に有意差が認められた。 【結論】看護師群の視線停留時間が統計学的有意に短く、習熟度評価に有用な指標と考えられた。作業負担感は生体反応の呈示により学生群・看護師群ともに高まり、先行研究よりも有意差のある項目数が減少した。
  • 萬谷 麗奈, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 萬井 太規, 二宮 伸治
    医工学治療 33 1 21 - 29 (NPO)日本医工学治療学会 2021年03月 [査読有り]
     
    気管内吸引は侵襲を伴うため、医学生・看護学生を含め、免許取得前の医療系学生が実施する機会は限られている。そのため、患者や療養者のケアを行う家族ケア提供者も含め、より多くの人間が気管内吸引手技を獲得する一助となるよう、Two Dimensional(2D)動画とThree Dimensional Computer Graphics(3DCG)動画を開発した。本研究の目的は、一般的な気管内吸引の2D動画と、2D動画をもとに製作した3DCGアニメーション動画を看護師と看護学生に視覚呈示し、視線の停留点移動速度と観察結果を問うアンケートを実施により、停留点移動速度の学習効果評価項目指標としての適用可能性を検討することを目的とした。動画視聴中の看護師と学生の視線を両眼構成の視線計測システムにて記録・分析した結果、看護師群と学生群ともに2D/3Dいずれの動画視聴においても停留点移動速度頻度分析における両群間の統計学的有意差は認められなかったものの、共通して二峰性のグラフを示した。アンケート結果からは両群ともに動画視聴による学習効果について肯定的な意見が大部分を占めた。今後は、操作方法や3D動画中の説明の追加などの意見を踏まえて動画を改良した上で、停留点移動速度頻度分析による学習効果への影響を測定することが課題である。(著者抄録)
  • Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
    CISM International Centre for Mechanical Sciences, Courses and Lectures 601 76 - 83 2021年 [査読有り]
     
    This paper presents a surgical skill analysis based on the way of grasping organs with forceps in dissection procedure in a wet lab training for laparoscopic surgery. Forty-four medical doctors and students conducted lymphadenectomy training using laparoscopic surgical instruments and porcine cadaver organs. During the training, movement of surgical instrument, grasping frequency/force/position, path length, completion time and other indices were measured. Among the indices, this paper focuses on analyzing the relationship between surgical skill level and the way of grasping organs with forceps such as grasping frequency, force, and position. The subjects are classified into three groups (novice, intermediate and expert) by the number of experienced surgeries. The indices between the three groups are compared by the Kruskal–Wallis and Mann–Whitney U test. The results of analysis show that the ratio of non-grasping period to the total task time of novice surgeons is larger than that of experts, and the total number of grasping of novices is greater than that of experts. From the results, it is found that the novices frequently re-grasp organs during the dissection operation. There is a possibility that novices frequently fail to grasp the organ at an optimal point and hence repeat re-grasping.
  • Takaaki Yoshimura, Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Satoshi Kanai, Atsushi Konno, Koichi Yasuda, Hiroshi Taguchi, Takayuki Hashimoto, Shinichi Shimizu
    PloS one 16 3 e0249010  2021年 [査読有り]
     
    Tracheal suctioning is an important procedure to maintain airway patency by removing secretions. Today, suctioning operators include not only medical staff, but also family caregivers. The use of a simulation system has been noted to be the most effective way to learn the tracheal suctioning technique for operators. While the size of the trachea varies across different age groups, the artificial trachea model in the simulation system has only one fixed model. Thus, this study aimed to construct multiple removable trachea models according to different age groups. We enrolled 20 patients who had previously received proton beam therapy in our institution and acquired the treatment planning computed tomography (CT) image data. To construct the artificial trachea model for three age groups (children, adolescents and young adults, and adults), we analyzed the three-dimensional coordinates of the entire trachea, tracheal carina, and the end of the main bronchus. We also analyzed the diameter of the trachea and main bronchus. Finally, we evaluated the accuracy of the model by analyzing the difference between the constructed model and actual measurements. The trachea model was 8 cm long for children and 12 cm for adolescents and young adults, and for adults. The angle between the trachea and bed was about 20 degrees, regardless of age. The mean model accuracy was less than 0.4 cm. We constructed detachable artificial trachea models for three age groups for implementation in the endotracheal suctioning training environment simulator (ESTE-SIM) based on the treatment planning CT image. Our constructed artificial trachea models will be able to provide a simulation environment for various age groups in the ESTE-SIM.
  • Koki Ebina, Takashige Abe, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kiyohiko Hotta, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
    Surgical endoscopy 35 8 4399 - 4416 2020年09月09日 [査読有り][通常論文]
     
    BACKGROUND: Our aim was to characterize the motions of multiple laparoscopic surgical instruments among participants with different levels of surgical experience in a series of wet-lab training drills, in which participants need to perform a range of surgical procedures including grasping tissue, tissue traction and dissection, applying a Hem-o-lok clip, and suturing/knotting, and digitize the level of surgical competency. METHODS: Participants performed tissue dissection around the aorta, dividing encountered vessels after applying a Hem-o-lok (Task 1), and renal parenchymal closure (Task 2: suturing, Task 3: suturing and knot-tying), using swine cadaveric organs placed in a box trainer under a motion capture (Mocap) system. Motion-related metrics were compared according to participants' level of surgical experience (experts: 50 ≤ laparoscopic surgeries, intermediates: 10-49, novices: 0-9), using the Kruskal-Wallis test, and significant metrics were subjected to principal component analysis (PCA). RESULTS: A total of 15 experts, 12 intermediates, and 18 novices participated in the training. In Task 1, a shorter path length and faster velocity/acceleration/jerk were observed using both scissors and a Hem-o-lok applier in the experts, and Hem-o-lok-related metrics markedly contributed to the 1st principal component on PCA analysis, followed by scissors-related metrics. Higher-level skills including a shorter path length and faster velocity were observed in both hands of the experts also in tasks 2 and 3. Sub-analysis showed that, in experts with 100 ≤  cases, scissors moved more frequently in the "close zone (0  ≤ to < 2.0 cm from aorta)" than those with 50-99 cases. CONCLUSION: Our novel Mocap system recognized significant differences in several metrics in multiple instruments according to the level of surgical experience. "Applying a Hem-o-lok clip on a pedicle" strongly reflected the level of surgical experience, and zone-metrics may be a promising tool to assess surgical expertise. Our next challenge is to give completely objective feedback to trainees on-site in the wet-lab.
  • Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    IEEE Transactions on Medical Robotics and Bionics 2 3 356 - 363 2020年08月 [査読有り][招待有り]
  • Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
    SICE Journal of Control, Measurement, and System Integration 13 4 191 - 200 2020年07月 [査読有り][招待有り]
  • 可変ピッチプロペラクアッドチルトロータドローンの開発と推力応答評価
    小水内俊介, 浦岡雅史, 近野敦
    計測自動制御学会論文集 56 5 310 - 316 2020年05月 [査読有り][通常論文]
  • Shunsuke Komizunai, Noriyo Colley, Atsushi Konno
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 311 - 316 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. With the spread of home medical care, it is important to increase the number of care providers who received a standard nursing education, including person except doctors and nurses. This paper describes the development of an experience-based nursing education system that supports proficiency in procedures, taking as examples endotracheal suctioning. Whole-body motion and gaze of practitioners during suctioning are measured. By reflecting measured data in a humanoid model in a virtual reality (VR) space, it is possible to reproduce and observe the procedure. By using this system, learners can re-experience exemplary procedures from first person viewpoint, and instructors can observe the learner's technique from a free viewpoint and quantitatively analyze/evaluate it. By substituting the attentive guidance with the imitation of users, it can be assisted the transmission of the tips and skill that are difficult to verbalize.
  • Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Tadayoshi Asaka, Hiroki Mani, Hana Takizawa, Sarina Umesawa, Yuya Taira, Eri Murata, Misuzu Nakamura, Sozo Inoue, Satoshi Kanai, Atsushi Konno
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 500 - 503 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. Endotracheal suctioning is a life-threatening technique which requires correct decision-making and immediate reaction to maintain airway clearance. To avoid risks of suctioning, the Closed Suction System (CSS) have been developed. However, there is no consensus regarding the priority use of the CSS compared to the Open Suction System (OSS); the usage of the OSS is still common for long-term ventilator users for economical reason. Education is a key factor to prevent secondary infection by suctioning. Therefore, this paper aims to focus on the prevention of secondary infection by the OSS, and to develop a quantitative evaluation system for aseptic technique using bilateral dorsum manus total travel distance.
  • Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 1388 - 1393 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. Presenting correct reaction force is an important functional element of a haptic surgical simulator which is used to practice surgical techniques by novice surgeons. Particularly, in neurosurgeries, novice surgeons rely on the force felt at their hands in many situations. However, it is difficult to accurately calculate the deformation and reaction force of brain tissues in real-time because of the nonlinearity of the brain tissues. In this study, a simple numerical calculation method for nonlinear brain tissues is proposed. The simulation is constructed based on the finite element method, and the nonlinear characteristics of brain tissues are reproduced. When a force is applied to the brain parenchyma, the reaction force nonlinearly increases as the deformation proceeds. The phenomenon is reproduced by increasing a scale factor of the stiffness matrix as the von Mises stress of the element increases. To validate the proposed calculation method, experiments were performed using porcine brains. In experiments, the longitudinal cerebral fissure of the brain was retracted at 1 mm/s and 10 mm/s. Necessary parameters for the proposed calculation method were identified by using experimental data of 1 mm/s. By comparing the simulation results and experimental data of 10 mm/s with the same parameters, the validity and accuracy of the proposed nonlinear calculation method of brain tissue were proved.
  • Atsushi Konno, Noriyuki Shido, Kazuya Sase, Xiaoshuai Chen, Teppei Tsujita
    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 39 - 44 2020年01月12日 [査読有り][通常論文]
     
    © 2020 IEEE. This paper presents a way to make a hepatobiliary pancreatic FE (Finite Element) model from medical images preserving the structural topology for dynamic surgery simulation. Medical images are generally composed of a sequence of sliced images, and they can be transformed into a 3D geometric model by using any image analyzing software. However, because of incompleteness of the geometric model transformed from the sliced images, volume meshing (FE model generation) is not very easy. In order to cope with the incompleteness of the geometric model, embedding is used, in which the geometric model is embedded into hexahedral meshes. If multiple parts of different segments are included in a hexahedral element, the element is replicated for each segment using SLPs: Separation Label Pairs to preserve structural topology. Haptic simulation was performed using the generated hepato-biliary-pancreatic FE model.
  • 近野敦
    日本ロボット学会誌 38 10 2020年
  • Noriyo Colley, Shunsuke Komizunai, Atsushi Konno, Satoshi Kanai, Shinji Ninomiya
    SAGE Open Nursing 6 2020年 [査読有り]
     
    Background: To provide safe tracheal suctioning, the American Association of Respiratory Care guideline discusses the length of suctioning catheter, but the most effective tracheal suctioning catheter technique is still unknown. Objective: The aim of this study is to compare the amount of simulated secretion produced by five different handlings of a catheter at two different viscosities and in two different models to discover the most effective suctioning maneuver in the various mucus conditions. Design: In vitro experimental design. Methods: The amount of secretion aspirated by our researcher's manipulation of a suctioning catheter was measured. The tip of the catheter was recorded using a high-speed video camera to visualize the secretion motion. Results: The most effective suctioning technique differed depending on the viscosity of the secretion. There were no significant differences between five suctioning methods applied to high-viscosity phlegm in a tracheal membrane model, but the flexion technique was the most efficient for low-viscosity secretion. Conclusions: Our results imply that the flexion technique was reasonably safe and the most effective of these five methods for low-viscosity secretion.
  • 佐瀬一弥, Chen XiaoShuai, 辻田哲平, 近野敦
    日本バーチャルリアリティ学会論文誌(Web) 25 4 2020年 [査読有り]
  • 長内 真理乃, コリー 紀代, 小水内 俊介, 二宮 伸治, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦
    日本小児呼吸器学会雑誌 30 2 172 - 180 日本小児呼吸器学会 2020年01月 [査読有り][通常論文]
     
    気管内吸引は、気管や気管支粘膜などの損傷や損傷に伴う大量出血、低酸素症、嘔吐、疼痛といったリスクがあり侵襲度が高い技術であるとされる。より実践的な指導により免許取得後の安全な吸引を実施するためにも、客観的な数値や尺度による評価が必要になるが、気管内吸引技術の習熟度を示す指標を検討している先行研究は多くはない。そこで本研究はモーションキャプチャを用い、気管内吸引シミュレーション中の看護師群と看護学生群の習熟度の評価指標や教育項目を検討した。また、NASA-TLXを用いて精神的負担感を調査した。動作解析より、所要時間、左手背総移動距離、左右の手背の停留回数・停留時間について群間に有意差が認められ、NASA-TLXの結果からは学生群の方が時間の余裕のなさや作業結果への不満足というストレスが大きいことが示された。従って、これらが気管内吸引の習熟度の客観的評価項目として有用である可能性が示唆された。(著者抄録)
  • 竹内 由佳, コリー 紀代, 二宮 伸治, 小水内 俊介, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦
    医工学治療 31 3 171 - 180 (NPO)日本医工学治療学会 2019年11月 [査読有り][通常論文]
     
    本研究では視線計測に基づく教育評価項目や評価指標の抽出を目的とし、気管内吸引シミュレーション中の看護師と看護学生を対象に両眼構成視線計測装置(Pupil、Pupil Labs社)を用いた視線計測により手技の所要時間、視線の停留回数・停留時間、停留点移動速度を比較した。視線計測後には、NASA-TLXを用いて作業負担度を調査した。その結果、所要時間、視線の停留時間、視線の停留回数・停留時間に有意差が認められた。作業負担度には有意差が見られなかったことから、両群とも模擬環境において同等のストレスがあったと推測される。不慣れな環境においてもパフォーマンスに差が現れることから、手技の所要時間や視線の停留回数・停留時間は習熟度を評価する客観的な指標となりうることが示された。(著者抄録)
  • Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS2019) Paper 006-1 - 6 2019年09月 [査読有り][通常論文]
  • 小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治, コリー 紀代
    日本シミュレーション医療教育学会雑誌 7 89 - 93 日本シミュレーション医療教育学会 2019年08月 
    【背景】在宅医療の浸透に伴い、医師や看護師ではない範囲も含め、一定水準の看護教育を受けたケア提供者を増やすことは重要な課題となる。【目的】気管内吸引を例に、手技の習熟を支援する体験型の看護教育システムを開発する。【方法】気管内吸引中の実施者の全身動作および視線を計測する。仮想現実(Virtual reality:VR)空間で人型モデルに計測データを反映することで手技の再現・観察を可能とする。【結果】学習者が模範手技を一人称視点で追体験することが可能であるとともに、指導者が学習者の手技を自由な視点から観察し定量的に分析・評価するための手段にもなる。【考察】手取り足取りの指導を使用者自身の模倣で代替することにより、言語化しにくいコツや巧みさの伝達を支援しうる。(著者抄録)
  • Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 118 - 123 2019年04月 [査読有り][通常論文]
     
    © 2019 IEEE. Splitting brain fissure is an important operative procedure in neurosurgeries. Arachnoid membrane that covers brain parenchyma is generally opened with sharp dissection using microscissors, while connective tissues such as arachnoid trabeculae are fractured by blunt dissection to split a brain fissure. However, most earlier studies about neurosurgery simulation have not given enough detailed model of connective tissues because consideration of connective tissues in simulation requires high computational cost. The objective of this paper is to conduct a brain fissure splitting simulation considering damage of connective tissues. Assuming that connective tissues are homogeneously distributed in a brain fissure, a damage model of connective tissue is proposed. To verify the splitting brain fissure simulation, longitudinal fissure splitting experiments were performed by using porcine brains with different splitting velocities. By comparing the experimental data and the simulation results, simulations can reproduce the reaction force of the brain fissure splitting with connective tissues.
  • XiaoShuai Chen, Ryosuke Shirai, Ken Masamune, Manabu Tamura, Yoshihiro Muragaki, Atsushi Konno
    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019 112 - 117 2019年 [査読有り][通常論文]
  • Alireza Bilesan, Saeed Behzadipour, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, June 9-12, 2019 504 - 509 IEEE 2019年 [査読有り][通常論文]
  • JaeSung Yang, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, June 9-12, 2019 498 - 503 IEEE 2019年 [査読有り][通常論文]
  • Shunsuke Komizunai, Shinji Ninomiya, Atsushi Konno, Satoshi Kanai, Tadayoshi Asaka, Eri Murata, Hiroki Mani, Nozomi Takahashi, Noriyo Colley
    International Journal of Automation Technology 13 4 490 - 498 2019年 [査読有り][通常論文]
  • Ryosuke Shirai, XiaoShuai Chen, Kazuya Sase, Shunsuke Komizunai, Teppei Tsujita, Atsushi Konno
    58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Hiroshima, Japan, September 10-13, 2019 1113 - 1118 2019年 [査読有り][通常論文]
  • Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
    58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Hiroshima, Japan, September 10-13, 2019 1099 - 1106 2019年 [査読有り][通常論文]
  • 二宮 伸治, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 高橋 望, 浅賀 忠義
    日本シミュレーション医療教育学会雑誌 6 128 - 129 日本シミュレーション医療教育学会 2018年09月
  • Alireza Bilesan, Mohammadhasan Owlia, Saeed Behzadipour, Shuhei Ogawa, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    Proceedings of the IFAC symposium on Robot Control (SYROCO) 2018年08月 [査読有り][通常論文]
  • JaeSung Yang, Shuhei Ogawa, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
    Proceedings of the IFAC symposium on Robot Control (SYROCO) 2018年08月 [査読有り][通常論文]
  • Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
    ROBOMECH Journal 5 19 2018年08月 [査読有り][通常論文]
  • Xiaoshuai Chen, Kazuya Sase, Akito Ema, Atsushi Konno, Teppei Tsujita
    日本コンピュータ外科学会誌 20 1 22 - 32 2018年02月 [査読有り][通常論文]
  • Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Masashige Tomita, Atsushi Konno, Masano Nakayama, Atsuhiro Nakagawa, Koyu Abe, Masaru Uchiyama
    IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, December 12-15, 2018 898 - 903 IEEE 2018年 [査読有り][通常論文]
  • コリー 紀代, 清水 弘美, 高橋 望, 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治, 大塚 健, 浅賀 忠義
    医学教育 49 2 117 - 125 日本医学教育学会 2018年 [査読有り][通常論文]
     

    背景 : 在宅医療の高度化により, 気管内吸引等の高度ケアを担う人材の育成が喫緊の課題である.方法 : 気管内吸引を行う看護師と看護学生の眼球運動を測定し, 気管内吸引中の認知・判断面を含めた多重タスク構造を気管内吸引オントロジーとして可視化した.結果 : 構築された気管内吸引オントロジーの階層構造からは, 手順という手続き的知識のみならず, 医療機器に関する知識, 気管内吸引が無効であった際の選択肢に関する知識など, 多岐にわたった専門知識が要求される行為であることが示された.考察 : オントロジーは「できる」能力の範囲や評価すべき能力の定義を示す教育評価ツールとしても活用の可能性がある表現法と考えられた.

  • 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治, 浅賀 忠義, 高橋 望, コリー 紀代
    日本シミュレーション医療教育学会雑誌 = Journal of Japan Association for Simulation-based Education in Healthcare Professionals 6 99 - 103 日本シミュレーション医療教育学会 2018年 [査読無し][通常論文]
  • 二宮 伸治, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 高橋 望, 浅賀 忠義
    日本シミュレーション医療教育学会雑誌 = Journal of Japan Association for Simulation-based Education in Healthcare Professionals 6 92 - 98 日本シミュレーション医療教育学会 2018年 [査読無し][通常論文]
  • Atsushi Oosedo, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    AUTONOMOUS ROBOTS 41 5 1143 - 1159 2017年06月 [査読有り][通常論文]
     
    A quadrotor equipped with a fixed-wing (hereinafter referred to as the quadrotor tail-sitter UAV) has been developed by authors. The quadrotor tail-sitter UAV can hover like a quadrotor and can fly like a fixed-wing airplane. The remarkable characteristic of the developed quadrotor tail-sitter UAV is that it does not use any control surfaces during any form of flight; hovering, transition flight or level flight. This paper discusses an optimal transition from hovering to level flight for the quadrotor tail-sitter UAV because transition flight is most likely to be unstable throughout flight owing to stalling of the fixed-wing. The paper proposes three transition strategies: (i) normal transition (PID feedback to a step input), (ii) minimizing the transition time, and (iii) minimizing the transition time with keeping altitude constant. To realize the above optimal transition strategies, the aerodynamic parameters of the developed quadrotor tail-sitter UAV are measured by the wind tunnel test in advance. The three strategies are experimentally verified and the comparison among the three strategies is presented.
  • Kazuya Sase, Teppei Tsujita, Atsushi Konno
    日本コンピュータ外科学会誌 19 2 89 - 99 一般社団法人 日本コンピュータ外科学会 2017年04月 [査読有り][通常論文]
     

    The generation of patient-specific models is one of the difficult problems in the clinical application of surgery simulators. In particular, when estimation of soft tissue deformation is required, a finite element (FE) mesh needs to be generated from the patient's medical images. One of the effective methods of FE mesh generation is the volume embedding approach. In this approach, the medical volume data are embedded in a simple volumetric mesh such as orthogonal grid. However, the volume embedding method generates an incorrect boundary surface in the FE mesh. This makes it difficult to solve the contact problem between tools and embedded volumes. In this paper, an efficient contact handling method for embedded volumes using the signed distance field is described. In addition, its application to haptic rendering is introduced.

  • 葛西 光希, 木村 圭司, 塩見 慶, 近野 敦, 田殿 武雄, 堀 雅裕
    地理学論集 92 1 17 - 36 北海道地理学会 2017年 [査読有り][通常論文]
  • A. Nakagawa, T. Kumabe, Y. Ogawa, T. Hirano, T. Kawaguchi, K. Ohtani, T. Nakano, C. Sato, M. Yamada, T. Washio, T. Arafune, T. Teppei, A. Konno, S. Satomi, K. Takayama, T. Tominaga
    SHOCK WAVES 27 1 1 - 14 2017年01月 [査読有り][通常論文]
     
    The high-speed liquid (water) jet has distinctive characteristics in surgical applications, such as tissue dissection without thermal damage and small blood vessel preservation, that make it advantageous over more conventional instruments. The continuous pressurized jet has been used since the first medical application of water jets to liver surgery in the 1980s, but exhibited drawbacks partly related to the excess water supply required and unsuitability for application to microsurgical instruments intended for deep, narrow lesions (endoscopic instrumentation and catheters) due to limitations in miniaturization of the device. To solve these issues, we initiated work on the pulsed micro-liquid jet. The idea of the pulsed micro-liquid jet originated from the observation of tissue damage by shock/bubble interactions during extracorporeal shock wave lithotripsy and evolved into experimental application for recanalization of cerebral embolisms in the 1990s. The original method of generating the liquid jet was based on air bubble formation and microexplosives as the shock wave source, and as such could not be applied clinically. The air bubble was replaced by a holmium:yttrium-aluminum-garnet (Ho:YAG) laser-induced bubble. Finally, the system was simplified and the liquid jet was generated via irradiation from the Ho:YAG laser within a liquid-filled tubular structure. A series of investigations revealed that this pulsed laser-induced liquid jet (LILJ) system has equivalent dissection and blood vessel preservation characteristics, but the amount of liquid usage has been reduced to less than 2 l per shot and can easily be incorporated into microsurgical, endoscopic, and catheter devices. As a first step in human clinical studies, we have applied the LILJ system for the treatment of skull base tumors through the transsphenoidal approach in 9 patients (7 pituitary adenomas and 2 chordomas), supratentorial glioma (all high grade glioma) in 8 patients, including one with fine perforating vessel involvement, and cerebrovascular disease (1 arteriovenous malformation and 2 intracerebral hemorrhages) in 3 patients. Precise dissection and mass reduction of the tumor were obtained in all tumor cases except for one chordoma with significant fibrosis. Small arteries down to 100 were preserved, allowing subsequent microsurgical devascularization. Veins were also preserved occasionally. The arachnoid membrane and the tumor capsule were resistant to the LILJ except for one case with prolonged exposure. No complications related to use of the LILJ system were observed. No disturbance of the surgical field by splashing, aerosol, or dissemination of pathological tissue occurred with placement of the optimal suction system. The Ho:YAG LILJ system enhances the advantages of commercialized pressure-driven continuous liquid jet instrumentation in terms of small vessel preservation and accessibility in confined spaces for minimally invasive neurosurgery, and solves some of the drawbacks involved with excessive liquid use and size.
  • XiaoShuai Chen, Akito Ema, Kazuya Sase, Teppei Tsujita, Atsushi Konno
    IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, December 11-14, 2017 899 - 904 IEEE 2017年 [査読有り][通常論文]
  • Teppei Tsujita, Tadamasa Kitahara, Ryoya Tahara, Satoko Abiko, Atsushi Konno
    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017 2474 - 2479 IEEE 2017年 [査読有り][通常論文]
  • Teppei Tsujita, Odpurev Altangerel, Satoko Abiko, Atsushi Konno
    2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017 221 - 226 IEEE 2017年 [査読有り][通常論文]
  • 小水内俊介, 小貫督仁, WU Meng Hung, 辻田哲平, 近野敦
    日本ロボット学会誌 35 7 548 - 556 一般社団法人 日本ロボット学会 2017年 [査読有り][通常論文]
     
    This paper presents a walking control system for biped robots on loose soil. The proposed method realizes long time continuous walking and stable stopping on sand. Characteristics of the proposed system is landing position (modification) control. In this control, as a balance index, amount of CoM position modification is utilized. Considering past modification history, amount of current landing position modification is decided. In oder to evaluate the proposed control system, the small humanoid robot performed walking, stepping and turning on sand.
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita, Shunsuke Komizunai
    Journal of Biomechanical Science and Engineering 11 4 16-00323  2016年10月 [査読有り][通常論文]
     
    Dissection and removal of lesion areas are fundamental operations in brain surgeries. Therefore, damage and fracture models are needed to simulate dissection and removal operations. Generally, brain tissues show strong ductility; however, conventional fracture or damage models cannot reproduce ductile fractures well. In this paper, a simple damage and fracture model of brain parenchyma is proposed for real-time haptic surgery simulations. Although the proposed model does not require iterative calculation, it can reproduce ductile fracture while maintaining sufficient accuracy. The finite element method (FEM) is used to perform numerical simulations. In the proposed damage model, it is assumed that micro-damage begins when von Mises stress exceeds a certain threshold in an element, and the micro-damage grows with increased von Mises stress. The stiffness decreases as the micro-damage grows. When the integrity of an element becomes smaller than a certain threshold, the element is removed to express the occurrence of a fracture. These steps were formulated algorithmically. In order to verify the proposed damage and fracture model, tensile tests were conducted using porcine brain parenchyma. Parameters for the proposed damage model were identified using the results of the tensile tests. Tensile test simulations were performed using the identified parameters. The simulations effectively reproduced the stress-strain curves obtained in the tensile tests using porcine brain tissues.
  • Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 30 5 326 - 337 2016年03月 [査読有り][通常論文]
     
    Quadrotor unmanned aerial vehicles (UAVs) have been actively used in various fields. However, only the altitude and the attitude in three degrees of freedom can be independently controlled since quadrotor UAVs are underactuated systems. A quad tilt rotor UAV solves the problem of an underactuated system in a general quadrotor UAV. The quad tilt rotor UAV can control both position and attitude independently by tilting the directions of the propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example a UAV can fly and hover with a 90 [GRAPHICS] pitch angle, and it can even flip over when the thrust direction is tilted in a wide enough range. In this paper, we present the attitude transition flight control system for pitch angles ranging from 0 [GRAPHICS] to 90 [GRAPHICS] since flight conditions with a 90 [GRAPHICS] pitch angle significantly differs from that in a conventional quadrotor UAV flight. We construct an adequate control system for a flight with a wide range of attitude conditions.
  • Shunsuke Komizunai, Kyohei Wada, Takuya Kijima, Atsushi Konno
    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2016 SII 508 - 513 2016年 [査読有り][通常論文]
     
    This paper described a interaction system with midair images projected by using mist screen. In comparison with the previously developed system, the new system has some advantages as follows: visibility and presence of midair images, tracking accuracy of a finger tip, interactivity with midair images. In the system, three new components: a high-power mist screen generation device, an accurate hand motion tracking method and a proper screen surface calibration algorithm are introduced. These advantages enhance quality of experience in interaction with midair images and enable quantitative evaluation of performance of the system. In the results of user evaluation test, positions of a CG object as midair image and user's finger tip are well corresponding. These results indicate that, position of midair images in the system can be recognized easily, and the system shows excellent performance as a midair image display system.
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 2016 SII 490 - 495 2016年 [査読有り][通常論文]
     
    This paper presents a viscoelastic model of brain parenchyma which is based on the generalized Maxwell model but considers also inertial force. The proposed model is implemented in finite element method (FEM). The viscoelastic behavior of brain parenchyma was confirmed by stress relaxation tests using porcine brain parenchyma. The stress relaxation characteristics were measured at strain 0.1, 0.2 and 0.3. The strains were applied by strain rates of 0.1 (s(-1)) and 1.0 (s(-1)). Viscoelastic parameters were identified by solving an optimization problem using experimental data and dynamic simulations. In order to verify the consistency and quality of the experimental data and the dynamic simulation, stress relaxation simulations were performed using the identified parameters.
  • Kazuya Sase, Teppei Tsujita, Atsushi Konno
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 2016 ROBIO 1594 - 1600 2016年 [査読有り][通常論文]
     
    The handling of contacts between virtual objects is a fundamental problem of 6 DOF haptic rendering in virtual environments. Especially, the haptic rendering of the contact between rigid and deformable objects is challenging because the physics simulation with high computational burden must be calculated in real time with good stability. In this paper, we introduce a fast and stable contact handling method that can be used for 6 DOF haptic rendering. The two-way contact response is formulated based on a penalty method. To enhance the numerical stability in large time step, the penalty-based contact force is integrated using implicit time integration. The method was evaluated by experiments using a haptic device combined with a physics simulator based on finite element method.
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
    2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) 2016 ROBIO 485 - 490 2016年 [査読有り][通常論文]
     
    In this paper, a damage and fracture model of brain parenchyma is proposed for a haptic brain surgery simulation. It is assumed that microscopic damage begins by von Mises yield criterion, and the microscopic damage grows rate in proportion to volume strain. Tensile tests with two different strain rate were conducted using porcine brain parenchyma (tensile velocities: 0.1 (mm/s) and 1.0 (mm/s), mean length of specimens: 15 (mm)). Mechanical properties and proposed damage model parameters were identified by solving optimization problem with fitted curves of experimental data at 0.1 (mm/s). The proposed model and identified parameters were verified by comparing the simulation result and experimental data with tensile velocity of 1.0 (mm/s). A conventional damage model, simplified Lemaitre model, was implemented for comparison. Tensile simulations were performed with two models, proposed model and simplified Lemaitre model, with tensile velocity of 0.1 (mm/s). The simulation results were compared with the experimental result. It is confirmed that the proposed model well reproduce damage and fracture mechanics of brain parenchyma, while the simplified Lemaitre model could not well reproduce the ductility.
  • Kazuya Sase, Teppei Tsujita, Atsushi Konno
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 9902 116 - 123 2016年 [査読有り][通常論文]
     
    The generation of a patient-specific finite element (FE) model of organs is important for preoperative surgical simulations. Although methods for generating a mesh from a 3D geometric model of organs are well established,the reproduction of complex structures,such as holes,branches,and jaggy boundaries,remains difficult. To approximate the deformation of complex structures,an approach for embedding a fine geometry in a coarse volumetric mesh can be used. In this paper,we introduce a volume embedding method that preserves the topology of a complicated structure on the basis of segmented medical images. Our evaluation shows that the generated FE model precisely reproduces the topology of a human brain according to a segmented medical image.
  • Shunsuke Komizunai, Keisuke Nishizaki, Kyohei Wada, Takuya Kijima, Atsushi Konno
    JRM 28 6 798 - 798 Fuji Technology Press 2016年 [査読有り][通常論文]
  • A. Fukuhara, T. Tsujita, K. Sase, A. Konno, A. Nakagawa, T. Endo, T. Tominaga, X. Jiang, S. Abiko, M. Uchiyama
    ADVANCED ROBOTICS 30 19 1245 - 1259 2016年 [査読有り][通常論文]
     
    In neurosurgery, surgeons sometimes retract brain tissue to prepare an operating field around a lesion. In addition, they are required to plan a safe surgical pathway for deep-brain regions while considering tissue damage caused by excessive stress. The goal of this study is to develop a technique for automatically generating a surgery pathway for lesions in the deep-brain region, focusing on securing an operating field around the lesion as a first step and also considering brain tissue deformation. In previous studies, securing the operating field has been treated as a single-objective optimization problem in order to maximize the viewable area of the lesion. However, in this study, the task of securing the operating field is formulated as a multi-objective optimization problem. Using a technique that combines finite element analysis and an optimization method, the principal stress on the brain is constrained to less than a certain threshold value, and the position and orientation of the surgical instrument are optimized for safe retraction of the brain according to various weighting factors.
  • Meng-Hung Wu, Shuhei Ogawa, Atsushi Konno
    ADVANCED ROBOTICS 30 2 131 - 149 2016年01月 [査読有り][通常論文]
     
    A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.
  • Kazuya Sase, Akira Fukuhara, Teppei Tsujita, Atsushi Konno
    ROBOMECH Journal 2 1 Article 17  2015年12月 [査読有り][通常論文]
  • Garam Park, Atsushi Konno
    ADVANCED ROBOTICS 29 9 639 - 656 2015年05月 [査読有り][通常論文]
     
    In this paper, an imitation learning framework that includes an evolutionary process based on principal component analysis (PCA) is presented. The framework comprises offline and online processes. In the offline process, human demonstrations are used to develop a motion database. The database covers the workspace and includes robot properties. The evolved database has a clustered structure for efficiency. In the online process, a robot can generate desired motions using a real-time motion reconstruction method based on PCA. The performance of this method is verified through two case studies. The proposed framework is applied to the generation of reaching motions to an object on a table and a shelf.
  • Rajat Mittal, Atsushi Konno, Shunsuke Komizunai
    1ST INTERNATIONAL CONFERENCE ON COMPUTING COMMUNICATION CONTROL AND AUTOMATION ICCUBEA 2015 29 - 34 2015年 [査読有り][通常論文]
     
    This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. We put forward the existing knowledge on humanoid walking in a concise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.
  • Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2015 Vol.3 2326 - 2331 2015年 [査読有り][通常論文]
     
    Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [degrees] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [degrees] to 90 [degrees] since flight condition with a 90 [degrees] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.
  • Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    ROBOMECH Journal 2014 1 6 2014年 [査読有り][通常論文]
  • Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 1656 - 1661 2014年 [査読有り][通常論文]
     
    Dissection and removal of lesion area are fundamental operations in brain surgery. In order to correctly reproduce dissection and removal in brain surgery haptic simulation, mechanical properties of brain tissue must be investigated. In this work, porcine brains are used as specimens. Mechanical properties such as density, Poisson's ratio, Young's modulus, damping coefficient, and fracture stress of porcine brain parenchyma are measured and identified. Since haptic simulations require real-time computation of deformation and fracture of brain tissue, a linear finite element model and Rayleigh damping model are used. The Rayleigh damping coefficients are identified by solving optimization problems, so that the error between experimental results and simulation results is minimized.
  • Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014 588 - 594 2014年 [査読有り][通常論文]
     
    In neurosurgery, effects of deformation should be considered to avoid damaging brain tissues. The goal of this study is to develop an automatic path planner considering the deformation of brain tissues. This paper shows a scheme which combines FEM (Finite Element Method) and an optimization method for optimization of retraction in order to approach a deep part of a brain. Also, evaluations of two optimization results are discussed. One optimization is for retraction of a simple shape model for comparing two solvers, Pattern Search and Genetic Algorithm. Pattern Search Algorithm obtained maximum view size for the simple model when the principal stress of the tissue is not more than the threshold 500 (Pa). The other optimization is for retraction of a brain fissure model. Based on the result of the simple shape model, Pattern Search Algorithm is used for this optimization. It successfully generated optimal position and posture of a spatula for opening the fissure model which has same mechanical property with the human brain. These results show the effectiveness of the proposed scheme.
  • Meng-Hung Wu, Atsushi Konno, Shuhei Ogawa, Shunsuke Komizunai
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 2014 Vol.5 3446 - 3451 2014年 [査読有り][通常論文]
     
    This research aims to create a framework of transporting an object by multiple humanoid robots. In this work, a symmetric hybrid position/force control is adapted to two humanoid robots. The reference object position and attitude are given by an operator online, and the two humanoid robots generate its whole body motion to follow the reference object position properly. The result of proposed method is verified with a dynamics simulation.
  • Takuya Kameyama, Teppei Tsujita, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    2014 IEEE HAPTICS SYMPOSIUM (HAPTICS) 283 - 288 2014年 [査読有り][通常論文]
     
    For improving surgical techniques of novice surgeons or preoperative planning, development of practical surgical simulators utilizing virtual reality technology have been expected in the medical field. During surgery, a surgeon uses a variety of surgical instruments. Therefore, a haptic interface should be able to display reaction force through various surgical instruments. Based on this concept, a novel encountered-type haptic interface using MR (Magneto-Rheological) fluid for surgical simulators was developed. In this paper, a force feedback control scheme using a force sensor mounted on a MR fluid container is proposed. By using this scheme, performance of frequency response and effectiveness of the proposed control scheme are evaluated. In this frequency response experiment, it is evaluated that a force bandwidth of the closed-loop controller for the fluid is 200 [Hz] and it has sufficient performance to replicate vibratory cutting force of soft tissue. Moreover, by moving the container, the proposed scheme can display force based on reference force while the knife stops. Therefore, the proposed method can replicate cutting force of soft tissue correctly, and has sufficient performance to be used as surgical simulators.
  • Teppei Tsujita, Takuya Kameyama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    IEEE Haptics Symposium, HAPTICS 2014, Houston, TX, USA, February 23-26, 2014 1 - 1 IEEE 2014年 [査読有り][通常論文]
  • Development of a Brain Surgery Simulator
    Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Akira Fukuhara, Kazuya Sase, Teppei Tsujita, Satoko Abiko
    Proceedings of the International Symposium on Interdisciplinary Research and Education on Medical Device Developments 2013年09月 [査読無し][招待有り]
  • Fumihito Sugai, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Advanced Robotics 27 12 907 - 917 2013年08月01日 [査読有り][通常論文]
     
    In order to develop space robotic technologies, the feasibility and reliability of the systems have to be verified by repetitive operation tests. A hybrid simulator (also referred to as a Hardware-in-the-loop simulator) is one of the effective ways to examine orbital operations on the ground. The simulator embeds a hardware experiment in a numerical simulation loop. However, it is known that the hybrid simulator has a serious problem that energy increase arises in contact with a hardware experiment in the loop. In general, the energy increase in the hybrid simulator occurs due to the dead time in the system. However, this paper presents that dead band in force/torque measuring also causes the energy increase. The dead band in the force/torque measuring is necessary to avoid unexpected motion of the hybrid simulator due to the noise data in the force/torque sensor. This paper proposes two compensation methods for the energy increase problem due to the dead band. The first method is to insert a virtual damper to absorb the increased energy during the contact. The second method is to extrapolate force/torque data that is lost through the dead band processing right after the contact. The experimental verification with uniaxial contact in hybrid simulator is carried out to validate the proposed compensation methods. © 2013 Taylor & Francis Group, LLC.
  • Teppei Tsujita, Kazuya Sase, Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Koyu Abe, Masaru Uchiyama
    Advanced Robotics 27 7 525 - 540 2013年05月01日 [査読有り][通常論文]
     
    A novel encountered-type haptic interface for surgical simulators is proposed. This interface has a container of MR (Magneto-Rheological) fluid, and an operator puts a surgical instrument into the fluid and can feel resistance force. The advantage of this interface is that an operator can move an instrument freely when it does not contact with MR fluid and change instruments easily. If an instrument is mounted mechanically on a haptic interface driven by servomotors, it is difficult to change surgical tools. On the other hand, the developed device does not require a procedure for changing tools and can increase a sense of reality. However, MR fluid cannot display large deformation of a tissue since its elastic region is small. Therefore, a container of the fluid is moved by servomotors. In this paper, concept and design of the interface and performance evaluations are described. In order to specify required display force, cutting force of a liver is analysed, and the maximum force is about 1.6 [N]. The device is designed based on this required force. Relationship between coil current and display force is measured, and the interface can exert 2.7 [N] when the current is 1 [A]. In addition, the validness of the proposed scheme using servomotors is evaluated. © 2013 Taylor & Francis and The Robotics Society of Japan.
  • Atsushi Oosedo, Satoko Abiko, Atsushi Konno, Takuya Koizumi, Tatuya Furui, Masaru Uchiyama
    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 317 - 322 2013年 [査読有り][通常論文]
     
    This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback in the accuracy of the attitude control in stationary hovering because they were developed based on a fixed-wing aircraft and they used the control surfaces, such as aileron, elevator, and rudder for the attitude control. To overcome such a drawback, we developed a quad rotor tail-sitter VTOL UAV. The quad rotor tail-sitter VTOL UAV realizes high accuracy in the attitude control with four rotors like a quad rotor helicopter and achieves level flight like a fixed-wing airplane. The remarkable characteristic of the developed quad rotor tail-sitter VTOL UAV is that it does not use any control surfaces even in the level flight. This paper shows the design concept of the developed UAV and experimental verification of all flight modes including hovering, transition flight and level flight.
  • Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9 4 2012年12月 [査読有り][通常論文]
     
    Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.
  • Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 9 2 2012年06月 [査読有り][通常論文]
     
    In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.
  • Shuhei Ogawa, Atsushi Konno
    2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 99 - 104 2012年 [査読有り][通常論文]
     
    This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion, including the walking based on only the hand trajectory. Firstly, a virtual joint model, which substitutes the biped model, is proposed. The walking trajectory is generated based on the hand trajectory by using this model. Secondly, a method for generating whole body motion including walking is presented. Finally, the effectiveness of the proposed method is evaluated by simulations and experiments.
  • Yoshikazu Satake, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 5046 - 5051 2012年 [査読有り][通常論文]
     
    A hybrid simulator is a simulator which embeds a hardware experiment in a numerical simulation. However, the hybrid simulator is generally subjected to an inherent problem of energy increase in collision of two hardwares in the loop because of delay times. To solve this problem, Osaki et al. proposed a compensation method of delay time that can realize a variable coefficient of restitution [1]. However, the above method has a drawback that a model error of the system degrades the accuracy of the compensation method. This paper describes the influence of the model error and proposes a new approach to improve the accuracy of delay time compensation based on the coefficient of restitution by introducing a new model of the system. A collision experiment by the hybrid simulator is carried out to validate the accuracy of the proposed compensation method compared with the conventional compensation method.
  • Teppei Tsujita, Manabu Ohara, Kazuya Sase, Atsushi Konno, Masano Nakayama, Koyu Abe, Masaru Uchiyama
    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 1044 - 1049 2012年 [査読有り][通常論文]
     
    In open abdominal surgical procedures, many surgical instruments, e. g., knives, cutting shears and clamps, are generally used. Therefore, a haptic interface should display reaction force of a soft biological tissue through such a surgical instrument. Simplest solution for this difficulty is that an actual instrument is mechanically mounted on the traditional haptic interface driven by servomotors. However, operators lose a sense of reality when they change the instrument since they must perform a procedure which is not required in actual surgery for attaching/detaching the instrument to/from the haptic interface. Therefore, a novel haptic interface using MR (Magneto-Rheological) fluid is developed in this research. Rheological property of MR fluid can be changed in a short time by applied magnetic flux density. By cutting the fluid using a surgical instrument, operators can feel resistance force as if they cut tissue. However, MR fluid cannot display large deformation of soft tissues since elastic region of MR fluid is small. Therefore, a container of the fluid is moved by a motion table driven by servomotors. In this paper, concept and design of the haptic interface and performance evaluations are described.
  • Atsushi Oosedo, Atsushi Konno, Takaaki Matsumoto, Kenta Go, Koji Masuko, Masaru Uchiyama
    ADVANCED ROBOTICS 26 3-4 307 - 326 2012年 [査読有り][通常論文]
     
    In this paper, we present the development of a quad-rotor tail-sitter unmanned aerial vehicle (UAV) that is composed of quad rotors and a fixed wing. The developed UAV can hover like a quad-rotor helicopter and can fly long distance like a fixed-wing airplane. The main wing of the developed UAV is taken from a commercially available radio-controlled airplane and other parts such as the body frame are newly developed. A microcomputer, various sensors and a battery are mounted on the UAV for autonomous flight without any support from a ground system. Attitude and altitude control systems are developed for the UAV. In order to verify the designed controller, a three-dimensional flight simulator of a quad-rotor tail-sitter UAV is developed by use of MATLAB/Simulink. This paper also describes attitude control experiments. The results show that the propeller slipstream has a negative influence on attitude control. Solutions for the negative influence of the propeller slipstream are also discussed in this paper. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012
  • Atsushi Konno, Tomoya Myojin, Takaaki Matsumoto, Teppei Tsujita, Masaru Uchiyama
    International Journal of Robotics Research 30 13 1596 - 1608 2011年11月 [査読有り][通常論文]
     
    When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method. © SAGE Publications 2011.
  • Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Shunsuke Komizunai, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 8 4 98 - 109 2011年09月 [査読有り][通常論文]
     
    Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit this ability and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan.
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 25 6-7 805 - 823 2011年 [査読有り][通常論文]
     
    This paper addresses a vision-based method for estimating vibration excited in the tip of a flexible-link manipulator. In this method, estimation of vibration is achieved by observing the variation of image features projected on a wrist camera. It mimics the situation of utilizing a wrist camera in tip vibration control of a space manipulator. In space, a vision sensor can be expected to be a feasible means for measuring the elastic vibration of the space manipulators, since they are more reliable compared with sensors like strain gauges. The method proposed in this paper takes advantage of the frequential characteristics of visual information that are reflected as a blurred background scene. With the high-frequency component of the projected image features, a Kalman filter-based observer is implemented as the estimator for the vibration. This implementation is characterized by the considerations of incorporating the slow sensor of the camera in the fast servo loop and compensation of the time delay due to image processing. With the vibration estimator, vibration suppression control relying solely on a wrist camera becomes possible. This scheme is successfully verified by experiments. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011
  • Masano Nakayama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 333 - 338 2011年 [査読有り][通常論文]
     
    Blunt dissection is a fundamental technique in brain surgery to expose an affected or to separate tissues without cutting. This paper addresses a linear elastic fracture model to simulate blunt dissection in a virtual brain surgery. Blunt dissection is simulated by fracturing a linear elastic finite elements when the stress applied to the element exceeds the specified fracture stress. However if an element is fractured without any consideration for connections with adjacent elements, the fracture may produce some structurally unstable elements. The structurally unstable elements cause computational instability. In order to avoid this instability problem, an element fracture method is proposed. The fracture model is verified by comparing the results of blunt dissection simulation with the result of experiments.
  • SongGi Lee, Xin Jiang, Koyu Abe, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 416 - 421 2011年 [査読有り][通常論文]
     
    Recently, industrial robots are widely employed in various fields for automation. However, some assembly tasks still need intervention of human workers, because of the complicated assembly skills involved. In order to assist the assembly tasks, some industrial partner robot have been introduced into the assembly line. These devices are designed merely for supporting the weight of the heavy parts, and sometimes they embarrass the human work from applying their skills. In this research we propose a new system in which robots and human workers cooperate complementarily in an assembly task. This paper describes a prototype robot designed following this idea.
  • Songgi LEE, Xin JIANG, Koyu ABE, Satoko ABIKO, Atsushi KONNO, Masaru UCHIYAMA
    Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 732 - 737 2011年 [査読無し][通常論文]
  • Xiaoshuai Chen, Masano Nakayama, Teppei Tsujita, Xin Jiang, Satoko Abiko, Koyu Abe, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 655 - 660 2011年 [査読無し][通常論文]
     
    In recent medical field, surgical simulators with the technique of virtual reality are expected to provide a new means to support the surgical front. We have developed a simulation for brain surgery using a dynamic deformation model. Most of physics models, including the dynamic deformation model, are required to identify the physical properties of target tissues. In this research, we identified physical properties of swine liver. Young's Modulus, Poisson's Ratio and damping coefficient is necessary for the simulation. There are previous researches about identification of Young's Modulus, but that about identification of Poisson's Ratio and damping coefficient are few. Therefore, in this research, we conduct tension experiments to measure Young's Modulus and Poisson's Ratio, and vibration experiments to measure damping coefficient. © 2011 IEEE.
  • Meng-Hung Wu, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 779 - 784 2011年 [査読無し][通常論文]
  • Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 23 4 589 - 597 2011年 [査読有り][通常論文]
     
    Soft-tissue fracture simulation is a key to surgery simulation virtually reproducing cutting, dissection, and removal. Soft-tissue fracture is modeled by finite element fracture in which elements are removed if their stress exceeds a specified fracture stress. Removing elements without considering connection to adjacent elements may produce structurally unstable elements, that cause computational instability. We propose geometric limitation and element fracture method to avoid this instability. We confirmed the feasibility of our proposals by comparing blunt dissection simulation results to blunt dissection experiment results using agar.
  • Xin Jiang, Kyong-mo Koo, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 25 3-4 473 - 489 2011年 [査読有り][通常論文]
     
    This paper addresses an engineering attempt of utilizing multiple robot arms in the assembly of deformable parts. The robot system developed in this research simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation is performed by skilled workers and is considered to be difficult for automation. In this paper, a synthetic robotized solution is proposed for this process. For the first time, it realizes robotized assembly of a complex deformable object (wire harness) under a condition similar to an actual plant. Although some of the problems are simplified in the implementation, those critical to assemblies involving deformable objects are investigated and solved with experimental validation. Therefore, this research is expected to contribute to exploring the feasibility and potential of robotized assembly using deformable parts in actual plants. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011
  • Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 23 6 907 - 918 2011年 [査読有り][通常論文]
     
    This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 8 2 378 - 384 2010年04月 [査読無し][通常論文]
     
    In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    ROBOTICA 28 1 107 - 118 2010年01月 [査読無し][通常論文]
     
    This paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The Simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.
  • Tuning of MPID Control for a Flexible Manipulator Using a Neural Network
    Tamer Mansour, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 22 1 82 - 90 2010年 [査読無し][通常論文]
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 1-2 159 - 177 2010年 [査読無し][通常論文]
     
    This paper addresses the inverse dynamics of a 4-d.o.f. parallel robot, H4. Simplified inverse dynamics models have been proposed so far in which the inertia of a rod is neglected. Computation of the inertia of the rod was a heavy load for past computers and, hence, the simplified inverse dynamics were useful for online computation. However, owing to the recent great progress in computer hardware, online computation of the full dynamics is no longer a heavy load for modern computers. Therefore, a detailed inverse dynamics model of H4 is proposed in this paper. The Newton-Euler method is adopted for generating inverse dynamics solutions for H4 which have four (S-S)(2) (two spherical-spherical) chains in each rod. In order to evaluate the proposed inverse dynamics model, three controllers are tested: (i) PD controller, (ii) PD controller with velocity feed-forward and (iii) dynamic compensation controller based on the proposed dynamics model. The experimental results are presented and analyzed. It is also shown that the simplified dynamics model can be used without clear deterioration of control quality. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Takaaki Matsumoto, Koichi Kita, Ren Suzuki, Atsushi Oosedo, Kenta Go, Yuta Hoshino, Atsushi Konno, Masaru Uchiyama
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 54 - 59 2010年 [査読無し][通常論文]
     
    The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitting is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional hovering control for a tail-sitter UAV is not robust enough against large disturbance such as a blast of wind, a bird strike, and so on. It is experimentally observed that the conventional quaternion feedback hovering control often fails to keep stability when the control compensates large attitude errors. This paper proposes a novel hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance. In order to verify the proposed hovering control strategy, simulations and experiments on hovering of the UAV are performed giving large attitude errors. The results show that the proposed control strategy successfully compensates initial large attitude errors keeping stability, while the conventional quaternion feedback controller
  • Samuel Okodi, Xin Jiang, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) 5576 - 5581 2010年 [査読有り][通常論文]
     
    This paper presents a robust and efficient method of generating manipulation motion skill for non-force-feedback high speed constrained compliant robot motion. Using a non-structured teaching environment, the inherent task in the captured demonstration force and position data is estimated and reconstructed from three sets of complimentary models, including analytical mathematical modelling, empirical modelling and human skill demonstration modelling. The approach addresses task specification accuracy deficiencies, and involves outward interface simplifications, with embedded rigorous analytical methodologies that enable users to realise complex and robust constrained compliant robot motion without dealing with the low level motion generation aspects. Function based task representation supports an intuitive approach to generate robust constrained motion by skill superimposition, as exemplified by peg-in-hole with crank turning.
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 4 467 - 488 2010年 [査読有り][通常論文]
     
    This paper discusses a vision-based approach to implement task-level control in flexible-link manipulators. The proposed approach emphasizes the advantage of using vision in the control of flexible manipulators. It is pointed out that taking advantage of the inherent robustness, implementation of an image-based visual servo can be regarded as a synthetic solution to precise task-level control of flexible manipulators. This approach is implemented in a three-dimensional flexible-link manipulator. The implementation makes good use of filters in decoupling task-level control and vibration suppression control. Moreover, we point out that although the robustness of the approach can help to overcome the difficulty in control resulting from the complex measurement of the link's elastic deformation, it lacks in capability of tip trajectory specification. This problem is analyzed in this research and it leads to the proposal for the integration of the image interpolation technique. This technique makes the proposed approach adequate for tasks involved with complex tip trajectories. For flexible-link manipulators, the proposed approach with the remedy is the first vision-based synthetic solution that attempts to make a flexible manipulator usable for a practical task. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Kohei Osaki, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 8-9 1081 - 1098 2010年 [査読有り][通常論文]
     
    A hybrid simulation, which is also referred to as a hardware-in-the-loop (HIL) simulation, includes a hardware experiment within a numerical simulation loop. The hybrid simulation is an effective method to test space robotic operations providing a virtual microgravity environment on the ground. However, hybrid simulation generally suffers from the problem of energy increase when two hardwares in the loop collide with each other because of delay times. This paper presents a compensation method for the energy increase problem. A dead time model that represents various delay times of the system is introduced and it is clarified how the energy of the system is increased by the dead time. Based upon the dead time model, a compensation for the dead time is proposed. This compensation method realizes the desired energy consumption at a collision, which is represented by the coefficient of restitution in the hybrid simulation. Experiments of uniaxial collision are conducted to validate the proposed compensation. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Yuki Nomura, Takahiro Kikuchi, Atsushi Konno, Masaru Uchiyama
    Proceedings of the International Conference on Advanced Mechatronics 2010 498 - 503 一般社団法人日本機械学会 2010年 [査読有り][通常論文]
     
    The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to develop a robot system which is robust against changes of tasks and environments. This study aims to develop such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing a table is selected. This paper presents simulation result of the task with several types of robots by applying common RT component.
  • Takaaki Matsumoto, Atsushi Konno, Ren Suzuki, Atsushi Oosedo, Kenta Go, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 1612 - 1617 2010年 [査読有り][通常論文]
     
    Miniature vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) make various missions possible alone such as surveillance in partially-destroyed building and at broad hazard area where many obstacle exist. In such missions, agile turnaround using post-stall maneuvers is useful to avoid obstacles. This paper discusses agile turnaround strategies utilizing post-stall maneuvers for tail-sitter VTOL UAVs. Two agile turn strategies are studied in this paper: (1) minimum travel distance turn, and (2) minimum radius turn. The proposed strategies are formulated and optimization problems are solved. Through computer simulation, the proposed strategies are evaluated in terms of travel distance and turning radius comparing with conventional Immelmann turn strategy.
  • Xin Jiang, Kyong-mo Koo, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 490 - 495 2010年 [査読有り][通常論文]
     
    This paper addresses an engineering attempt of utilizing multiple robot arms in assemblies of deformable parts. The developed robot system simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation has been performed by skilled workers and is considered to be difficult for automatization. During the development of the system, solutions are proposed for various engineering problems confronted. The problems are all due to the deformable properties of a wire harness. Many of them are general for other operations involved with deformable objects. The proposed methods in the research are verified by a successful demonstration of wire harness assembly under a condition similar to a real plant.
  • Ren Suzuki, Takaaki Matsumoto, Atsushi Konno, Yuta Hoshino, Kenta Go, Atsushi Oosedo, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 1618 - 1623 2010年 [査読有り][通常論文]
     
    Vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) are expected to perform dangerous mission such as rescue and exploring disaster site alone. As for the operation of a UAV in a rescue mission, teleoperation is preferred. This paper describes teleoperation of a miniature tail-sitter VTOL UAV. A teleoperation system is developed to navigate a tail-sitter UAV. A velocity estimation method for outdoor flight is described and a velocity control strategy based on attitude control for indoor hovering of tail-sitter VTOL UAVs is proposed. In order to verify the teleoperation system and velocity control strategy, indoor exploration and target tracking teleoperation are performed in this paper. Through the experiments, the operator successfully controlled a teleoperated tail-sitter VTOL UAV with non-line-of-sight. In addition, a preliminary obstacle avoidance system is also implemented to assist operator.
  • Satoko Abiko, Atsushi Konno, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 5034 - 5041 2010年 [査読有り][通常論文]
     
    This paper presents an asymmetric stiffness characteristic of a human hand. In human support robotics or medical robotics, the detail comprehension of physical human body is important to develop safe and high performed robots to work cooperatively with a human and to replace human dexterous tasks. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of an articulated body system. In this paper, perturbation-excited method is carried out for estimating the stiffness of a human hand. The experimental results demonstrate nonlinear property of the stiffness of a human hand. To illustrate the observed stiffness characteristic, this paper proposes nonlinear stiffness model of the human hand.
  • Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) 718 - 725 2010年 [査読有り][通常論文]
     
    In order to exert large force on an environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." The objective of an impact motion is to exert large force on an environment, however if the impulsive force is too large, the robot may fall down due to the reaction force. This paper presents an optimization scheme to generate impact motions for humanoid robots. The advantage of the proposed scheme is that impulsive force exerted on a target by a humanoid robot's whole body is maximized while guaranteeing the stability. A punching motion is generated by the scheme as an example and evaluated by performing simulations.
  • Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 61 - 66 2010年 [査読有り][通常論文]
     
    This paper addresses the development of a dynamics simulator that for a biped robot on loose soil. Especially, the paper focuses on the method of sinkage calculation which is one of the characteristics for walking on loose soil. The calculation algorithm is changed dynamically according to the support condition of the legs. Considering ground projection of center of mass (GCoM) as a center of rotation of a robot, angle of trim is also estimated. Additionally, to describe the dynamical variation of sinkage, a filtering method is proposed for the calculation result. By applying the proposed method, sinkage phenomenon of a biped robot during stepping is simulated realistically. ©2010 IEEE.
  • Xiaoshuai Chen, Masano Nakayama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    Proceedings of 2010 IEEE/SICE International Symposium on System Integration 90 - 95 2010年 [査読有り][通常論文]
     
    In recent medical field, surgical simulation with the technique of virtual reality is expected to provide a new means for surgical training. In this research, we developed a simulation for brain surgeries, in which dynamic deformation model is used for describing dissection involved. Thus, in this research, the effect of the speed and acceleration of surgical tools is considered in the calculation of deformation and reaction force. The proposed method in this paper ensures smoothed expression of the reaction force and tissues' deformation. ©2010 IEEE.
  • Yuki Nomura, Shuhei Ogawa, Takahiro Kikuchi, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 206 - 211 2010年 [査読有り][通常論文]
     
    The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to develop a robot system which is robust against changes of tasks and environments. This study aims to develop such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing a table is selected. This paper presents simulation result of the task with several types of robots by applying common RT component. ©2010 IEEE.
  • Kouji Masuko, Ippei Takahashi, Shuhei Ogawa, Meng-Hung Wu, Atsushi Oosedo, Takaaki Matsumoto, Kenta Go, Fumihito Sugai, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 248 - 253 2010年 [査読有り][通常論文]
     
    In this study, we work for autonomous takeoff and landing of a miniature size unmanned aerial vehicle (UAV). We get the information of attitude and altitude by using a small Linux computer and various sensors equipped with fuselage. Attitude and altitude feedback control scheme and autonomous takeoff and landing strategies are proposed. We also develop a landing system that recognize landing site by visual feedback. ©2010 IEEE.
  • Atsushi Oosedo, Atsushi Konno, Takaaki Matumoto, Kenta Go, Kouji Masuko, Satoko Abiko, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 254 - 259 2010年 [査読有り][通常論文]
     
    In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the proposed UAV over a conventional quad rotor helicopter type UAV. This paper also describes the development of the quad rotor tail-sitter UAV. ©2010 IEEE.
  • Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 287 - 292 2010年 [査読有り][通常論文]
     
    This paper presents more reliable and fast path planning method for end effector constrained 7DOF redundant manipulators. Conventional path planning for redundant manipulators used jacobian based planning method for convenience. But it is not easy to apply in case of constrained tasks and redundant manipulators. On the contrary in this paper we uses position based path planning by inverse kinematics. Position based path planning is cost effective than jacobian methods and more easy to avoid joint limit and singularity. Usual path planning problems of pick and place with constraint are considered and demonstrated the usefulness of proposed planner. ©2010 IEEE.
  • Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings 293 - 298 2010年 [査読有り][通常論文]
     
    Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators. ©2010 IEEE.
  • Koichi Kita, Atsushi Konno, Masaru Uchiyama
    ADVANCED ROBOTICS 24 5-6 763 - 781 2010年 [査読有り][通常論文]
     
    This paper presents the vertical takeoff, landing and transition between level flight and hovering of a tail-sitter vertical takeoff and landing (VTOL) aerial robot. The tail-sitter is suitable for micro aerial vehicles because it does not need any extra equipment for the VTOL maneuver. The developed tail-sitter aerial robot is equipped with four actuators for controlling ailerons, an elevator, a rudder and a propeller. A micro computer, various sensors and a battery are mounted on the aerial robot for autonomous flight without any support from a ground system. A transition flight strategy is constructed so that the transition finishes in the shortest time restricting an altitude change. In order to achieve the transition strategy, the reference trajectory of the pitch angle is computed offline by using an optimization technique. In the transition flight control system, a PID feedback controller is applied to attitude control, while a feedforward controller is applied to altitude control. The gain scheduling is applied to the control of the rudder and aileron. The experimental results on the transition between level flight and hovering, takeoff, and landing are presented. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 7 5 858 - 864 2009年10月 [査読有り][通常論文]
     
    It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.
  • Koichi Kita, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 21 2 277 - 283 2009年 [査読有り][通常論文]
  • Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Masaru Uchiyama
    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 156 - + 2009年 [査読有り][通常論文]
     
    Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit it and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we illustrate our novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal and report on progress towards its implementation on humanoid robot hardware. Unlike existing hardware executions of footstep planning approaches, we consider obstacles of non-zero height while planning. Specific strategies are adopted to cater for these, both in dodging obstacles by circumvention as well as in design of stepping over trajectories. Experimental results of its implementaion on HRP-2 humanoid robot are also presented.
  • Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 447 - 452 2009年 [査読有り][通常論文]
     
    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." This paper presents a contact dynamics model of a humanoid robot for such a motion. Multibody dynamics and effect of a servo controller on impulsive force are also considered in the proposed model. The proposed model can estimate impulsive force at low computation cost compared with full-featured dynamics computation methods. The estimation results of each motion are compared with simulation results by OpenfIRP3. The maximum error of impulse is about 6 (%). Therefore, the proposed model is useful for estimating dynamics behavior of a humanoid robot.
  • Analysis of Human Dexterity While Performing Tasks and Its Implementation on a Humanoid Robot
    Shunsuke Komizunai, Atsushi Konno, Masaru Uchiyama
    Proceedings of the Sixth International Conference on Flow Dynamics 350 - 351 2009年 [査読有り][通常論文]
  • Yasar Ayaz, Takuya Owa, Teppei Tsujita, Atsushi Konno, Khalid Munawar, Masaru Uchiyama
    9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 361 - 366 2009年 [査読有り][通常論文]
     
    The unique ability of humanoid robots to step over or upon obstacles is left unexploited if ordinary mobile robot navigation strategies are used for humanoids as well. Recently presented path planning strategies that make use of this capability, however, are very time consuming due to high computational complexity. We have presented a novel approach to humanoid robot footstep planning in obstacle cluttered environments that employs a human-like approach to terrain traversal. This paper mainly centers on providing a proof of concept for the algorithm while also bringing about some improvements. Unlike previous statically stable simulation work, here we present footstep plans including dynamic walk together with practical results of HRP-2 humanoid robot navigating in various scenarios with different obstacle characteristics. These also include catering for body sway dynamics as well as planning and executing stepping over obstacles encountered at angles not perpendicular to the robot's line of motion. ©2009 IEEE.
  • 船川幸寛, 近野敦, 内山勝
    日本機械学会論文集 C編 74 744 2045 - 2051 一般社団法人日本機械学会 2008年08月25日 [査読有り][通常論文]
     
    In the future, it is expected that robots will be able to play an active role in the real life alongside humans. Then, the softness of the robot is enumerated as one of the mechanical performances demanded for robots that coexist and cooperate with humans. Because, in case of a robot receives impact forces from an object, actuators may receive unpredictable damage by the impact forces. If the robot has mechanical softness, it is possible to reduce the impact forces. In such cases it is necessary to adjust the stiffness of the joint. Then, the reaction forces at the time of impact can be passively absorbed by lowering the joint stiffness. On the other hand, when torque requirement is high, a variable stiffness design helps raise the joint stiffness. Design of such a variable stiffness mechanism is proposed in this paper. The stiffness characteristics are evaluated. Analysis is conducted to verify feasibility of mounting it on actual robots.
  • Yoshihisa Yamamoto, Hideaki Togashi, Atsushi Kato, Yuya Takahashi, Atsushi Konno, Yuden Teraoka, Akitaka Yoshigoe, Hidehito Asaoka, Maki Suemitsu
    Applied Surface Science 254 19 6232 - 6234 2008年07月30日 [査読有り][通常論文]
     
    Initial adsorption of oxygen molecules on the Si(1 1 0)-16 × 2 surface and subsequent modification of the bonding states induced by mild (300 °C) annealing have been studied by synchrotron-radiation photoemission spectroscopy and scanning-tunneling microscopy. It has been shown that upon annealing, the intensity and the energy positions of the Si 2p suboxide components shift towards the values characteristic for the thermal oxide. This indicates the presence of a metastable chemisorption state of oxygen on the Si(1 1 0)-16 × 2 surface. © 2008 Elsevier B.V. All rights reserved.
  • T. Mansour, A. Konno, M. Uchiyama
    ADVANCED ROBOTICS 22 4 433 - 449 2008年 [査読有り][通常論文]
     
    The use of flexible links in robots has become very common in different engineering fields. The issue of position control for flexible link manipulators has gained a lot of attention. Using the vibration signal originating from the motion of the flexible-link robot is one of the important methods used in controlling the tip position of the single-link arms. Compared with the common methods for controlling the base of the flexible arm, vibration feedback can improve the use of the flexible-link robot systems. In this paper a modified PID control (MPID) is proposed which depends only on vibration feedback to improve the response of the flexible arm without the massive need for measurements. The arm moves horizontally by a DC motor on its base while a tip payload is attached to the other end. A simulation for the system with both PD controller and the proposed MPID controller is performed. An experimental validation for the control of the single-link flexible arm is shown. The robustness of the proposed controller is examined by changing the loading condition at the tip of the flexible arm. The response results for the single-link flexible arm are presented with both the PI and MPID controller used. A study of the stability of the proposed MPID is carried out. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.
  • Ryohei Takahashi, Hiroto Ise, Atsushi Konno, Masaru Uchiyama, Daisuke Sato
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 1201 - + 2008年 [査読有り][通常論文]
     
    In order to verify orbital operations of a dual-arm space robot on the ground, a hybrid simulator (hardware in the loop simulator) is developed. The hybrid simulator includes a 14-degrees-of-freedom (14-DOF) dual-arm robot and 9-DOF motion table. A hybrid simulator has a great advantage in simulating complicated collision with multiple contacts, because it is difficult for a numerical simulation to get reliable and accurate results of such complicated phenomena. In this paper, the system architecture and the motion planning for three motion tables are presented. Two experiments are performed to confirm the basic motion and simulate a free-flying dual-arm space robot colliding with a floating object. The feasibility of robot operation is discussed from showing the position and force data obtained in the motion simulation.
  • Masanori Hayakawa, Keiko Hara, Daisuke Sato, Atsushi Konno, Masaru Uchiyama
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2013 - + 2008年 [査読有り][通常論文]
     
    This paper describes a procedure of avoiding singularity for a redundantly-driven, dual-arm, master-slave robotic system. In cooperative operation, the procedure starts with a periodic check if one of the dual arms is close to a singular configuration by examining the manipulability of the arm. If it is close to a singularity, then the system stops its cooperative operation and control scheme switches to redundancy control. Then the operator manipulates the joint until the arm moves away from the singular configuration by inputing angular velocity to a redundant axis. The fact that the operator can select a new arm configuration to avoid singular configuration in teleoperation is the contribution of this research. After moving away from the singular configuration, the system can resume cooperative operation. Because this manual operation applies to a redundant axis only (in the null space of the Jacobian matrix), it does not affect the current end-effector pose and force status. Experimental examples are provided to demonstrate the proposed method.
  • Shohei Fujino, Daisuke Sato, Koyu Abe, Atsushi Konno, Masaru Uchiyama
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2067 - + 2008年 [査読有り][通常論文]
     
    In this paper, a method for displaying feeling of cutting by a micro-scissors type haptic device is described. Micro-scissors are a type of surgical instrument, which is frequently used in brain surgery under a microscope. A prototype of a micro-scissors type haptic device consists of three components: an interface, a drive member, and force sensors. The interface is designed to equip features of a pair of micro-scissors and has a blade spring on its end. The drive member is composed of two DC-motors and two crank-lever mechanisms as decelerators. The force sensors are composed of strain gauges with H-slits, and implemented into each handle of the interface. For the aid of applying the force sensors to feedback control of cutting resistance forces, compensation for influence of a blade spring on the force sensors is added. Evaluation experiment for basic performance of the device is carried out, and the device is proved to be able to generate the computed cutting resistance forces. Virtual cutting experiment by six subjects is carried out, and it is proved that the device is able to display feeling of cutting.
  • Tamer Mansour, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9 2896 - 2901 2008年 [査読無し][通常論文]
     
    This paper presents a MPID (Modified Proportional-Integral-Derivative) controller used to suppress vibration of flexible manipulator moving vertically. To attain the vibration suppression a vibration variable should play role in the control signal which drives the flexible manipulator. The proposed controller is based on the conventional PID control but the integral term is replaced with another one which mainly depends on the vibration of the end effector. Camera becomes an inherent part of space manipulator, using the MPID controller with the visual information recorded by the camera makes the strain measuring circuits and amplifiers unnecessary. This means reducing the hardware used in the control of flexible manipulator. The novelty of the results lies in the fact that the measurement of the rate of change in deflection, which is used as a vibration variable, has been done without the need of numerical differentiation. Experiments successfully demonstrate that using the visual data with an observer based on Kalman filer can achieve a noticeable damping of the end effector vibration of the flexible manipulator.
  • Kyong-mo Koo, Xin Jiang, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 862 - 867 2008年 [査読無し][通常論文]
     
    In this paper, the development of a robot car wiring system is addressed. It is designed to be used for automatically assembling wire harness into a car body. This operation is among the most difficult tasks of vehicle assembly and is not yet automated. Based on an analysis of the requirements for a robot car wiring system, we propose a solution which is capable of automatically completing assembly of wire harness into instrument panel frame of a car. The development of its prototype experimental system and the results of its verification experiments are described.
  • Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
    2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 1024 - 1029 2008年 [査読無し][通常論文]
     
    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion:" In this research, a nailing task is taken as an example of impact motion. This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. In order to validate the proposed scheme, experiments are carried out using life-sized humanoid robot HRP-2. The motion for nailing task generated by the proposed method is compared with the motion designed heuristically by a human. The driving depth is clearly increased by the proposed method.
  • Experiments on Hammering a Nail by a Humanoid Robot HRP-2
    Shunsuke Komizunai, Teppei Tsujita, Fumiya Nishii, Yuki Nomura, Takuya Owa, Atsushi Konno, Masaru Uchiyama
    Proceedings of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control 325 - 331 2008年 [査読無し][通常論文]
  • 高橋遼平, 佐藤大祐, 近野敦, 内山勝
    日本ロボット学会誌 26 6 590 - 598 The Robotics Society of Japan 2008年 [査読無し][通常論文]
     
    This paper presents hybrid (hardware in the loop) simulation of orbital operations by a space robot, and discusses a way to capture a spinning satellite using a dual-arm space robot. The orbital operations by a space robot, such as capturing a target object, involve collision between the hands and the object. It is difficult to numerically simulate complicated phenomena at the collision in general. The hybrid simulation is known as a useful method to verify the orbital operations having such complicated phenomena. The hybrid simulation is basically software simulation, replacing its part of numerical model by a hardware model, which contains complicated structure and motion. Firstly, a system architecture of the hybrid simulator is presented and a strategy for capturing a rotating object by a dual-arm space robot is discussed. Secondly, hybrid simulation of capturing a rotating object by a dual-arm space robot is performed to evaluate the proposed strategy. Finally, an experimental result of the hybrid simulation is presented, and effectiveness of the proposed strategy is verified.
  • Atsushi Konno, Tomoya Myojin, Teppei Tsujita, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 647 - 652 2008年 [査読無し][通常論文]
     
    When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. This paper proposes a way to generate impact motions for humanoid robots to exert a large force keeping a balance. In the proposed method, the Sequential Quadratic Programming (SQP) is used to solve a nonlinear programming problem in which an objective function and constraints may be nonlinear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized to keep stability. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out rising a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of the breaking wooden boards experiments clearly show the effectiveness of the proposed method.
  • Xin Jiang, Yosuke Yabe, Atsushi Konno, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 3783 - 3788 2008年 [査読無し][通常論文]
     
    In this paper, a vision-based vibration control approach is proposed to deal with the vibration appearing at the end-point of a flexible-link manipulator. It is achieved by utilizing the information obtained from end-effector camera. Particularly, the image features necessary for this approach are not specified to those obtained from assumed objects like artificial markers. This property enables the approach to be applied in a completely unknown environment. In that case, end-effector camera automatically collects the visual information needed for vibration damping. This paper shows feasibility of this strategy.
  • Samuel Okodi, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 961 - 966 2008年 [査読無し][通常論文]
     
    Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm is embedded with functions to optimise, filter, synchronise and enhance safety.
  • Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS 1570 - 1575 2008年 [査読無し][通常論文]
     
    In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion". In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.
  • 白田聡, 近野敦, 内山勝
    日本機械学会論文集 C 73 734 2734 - 2741 一般社団法人日本機械学会 2007年10月25日 [査読無し][通常論文]
     
    Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. A humanoid robot Saika-4 is developed aiming to break through the limitation by using a gravity compensation mechanism. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. This paper verifies effectiveness of the gravity compensation mechanism performing preliminary experiments.
  • 三浦 郁奈子, 近野 敦, 庄司 道彦
    日本バーチャルリアリティ学会論文誌 12 3 305 - 313 日本バーチャルリアリティ学会 2007年09月 [査読有り][通常論文]
     
    We propose a mixed reality application that uses a humanoid robot as a CG character's tangible body. The system consists of a synchronized pair of a humanoid robot and a virtual avatar, and an HMD that overlays the avatar onto the robot. And this research experiments the evaluation of the present enhancement of CG character through physical interaction with a robot which the character is overlaid onto it. The application requires that the motion data should be the processed motion-capture data to enhance its reality, the robot should be light-weight and have flexible link arms to make it safe.
  • 辻田 哲平, 近野 敦, 内山 勝
    計測自動制御学会論文集 43 5 418 - 427 計測自動制御学会 2007年05月 [査読無し][通常論文]
     
    In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed binocular camera head is developed. The aim of the binocular camera head is to provide a platform to reproduce the human brain information processing. Two neuromorphic vision chips with lenses, which are developed imitating human retinas, will be mounted on the camera head. The camera head has an azimuth DOF for each camera and a common elevation DOF. Therefore, total number of DOF is three. The weight of the robot head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. Consequently, all motors are mounted on the base. The characteristics of the camera head are quickness in motion, lightness in weight and simplicity of the mechanism. This paper presents the design, development and evaluation of the camera head. The inverse and forward kinematics are also discussed in this paper.
  • Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS 4 1 125 - 149 2007年03月 [査読無し][通常論文]
     
    Unlike wheeled robots, humanoid robots are able to cross obstacles by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of the Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10 3427 - + 2007年 [査読無し][通常論文]
     
    This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.
  • Satoru Shirata, Atsushi Konno, Masaru Uchiyama
    2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 3641 - 3646 2007年 [査読無し][通常論文]
     
    Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to a general biped robot. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the gravity compensation mechanism in the legs. To evaluate effectiveness of the gravity compensation mechanism, preliminary experiments are performed using the humanoid robot.
  • 杉村武昭, 小西雄太, 出口淳, 石原聡之, 福島誉史, 近野敦, 内山勝, 小柳光正
    電子情報通信学会論文誌 D J89-D 6 1141-1152 - 1152 一般社団法人電子情報通信学会 2006年06月01日 [査読無し][通常論文]
     
    本論文では,三次元積層型集積回路を用いたロボットビジョンシステムのための新しい並列リコンフィギャラブル画像処理プロセッサのアーキテクチャと,その動的再構成のための階層型再構成手法を示す.本論文に示す並列リコンフィギャラブル画像処理プロセッサは画像サイズに対してスケーラブルであり,このような画像処理プロセッサにロボットビジョン向けの画像処理アルゴリズムを実装することで,高性能かつ高機能なロボットビジョンシステムの実現が期待できる.また,設計した並列リコンフィギャラブル画像処理プロセッサをFPGAに実装した試作システムによるロボットヘッドを用いたビジュアルサーボ実験についても報告する.
  • Impact Motion Humanoid Robot HRP-2
    Masaru Uchiyama, Atsushi Konno
    Journal of the Robotics Society of Japan,Robotics Society of Japan 24 2 189 - 189 2006年 [査読無し][通常論文]
  • Xin Jiang, Atsushi Konno, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 1224 - + 2006年 [査読無し][通常論文]
     
    This paper discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1mm.
  • Atsushi Konno, Ryo Uchikura, Toshiyuki Ishihara, Teppei Tsujita, Takeaki Sugimura, Jun Deguchi, Mitsumasa Koyanagi, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 1372 - 1377 2006年 [査読無し][通常論文]
     
    In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed vision system is developed. The vision system is composed of a binocular camera head and high speed image sensors. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional integration technology. The prototype of the neuromorphic vision chip has three layers: (1) photoreceptor layer, (2) horizontal and bipolar cell layer, and (3) ganglion cell layer. An image sensor is separately developed, which corresponds to the photoreceptor layer of the layered vision chip. The image sensors are tentatively mounted on the camera head, since the resolution of the prototype of the layered vision chip is not sufficient at this stage. The camera head has an azimuth DOF for each eye and a common elevation DOF. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. The total performance of the vision system is examined in this work. Saccadic eye movement and frequency response are experimentally reviewed.
  • Yasar Ayaz, Khalid Munawar, M. Bilal Malik, Atsushi Konno, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 5490 - + 2006年 [査読無し][通常論文]
     
    Unlike wheeled robots, humanoid robots are able to overcome obstacles in the environment by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, globalized algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.
  • Takaaki Matsumoto, Atsushi Konno, Linlin Gou, Masaru Uchiyama
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 5919 - + 2006年 [査読無し][通常論文]
     
    When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. However, exerting impulsive force is one of the most difficult tasks for humanoid robots, because a reaction force caused by the applied impulsive force may bring the humanoid robot down. This paper discusses a humanoid robot motion to generate a large force utilizing an impact. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is carefully designed to maximize the speed of a hand keeping the stability. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. In the experiments, three kinds of wooden boards are tested to break by the Karate-chop. The strength of wooden boards is estimated striking the boards with a free-falling plummet. Stabilizing control is also applied to the robot in order to stabilize the body after the impact. The experimentation results are reported in the paper.
  • Michihiko Shoji, Kanako Miura, Atsushi Konno
    ACM SIGGRAPH 2006: Emerging Technologies 2006年 [査読有り][通常論文]
  • 杉村武昭, 出口淳, 小西雄太, 中谷好博, 福島誉史, 近野敦, 栗野浩之, 内山勝, 小柳光正
    電子情報通信学会技術研究報告 105 43(RECONF2005 15-29) 79-84 - 84 一般社団法人電子情報通信学会 2005年05月06日 [査読無し][通常論文]
  • 黄潤權, 近野敦, 小笠原克久, 猪平栄一, 内山勝
    日本ロボット学会誌 23 1 113 - 123 The Robotics Society of Japan 2005年 [査読無し][通常論文]
     
    This paper describes the development of a high speed dynamic simulator for humanoid robots. In the simulator, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the bodies and environments, a virtual spring-damper contact model is proposed. This model enables an accurate computation of the reaction forces and slips. A simulation of ascending steep stairs is carried out in order to demonstrate the validity of the simulation. The results of the simulation are presented and discussed.
  • T Tsujita, A Konno, M Uchiyama
    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 785 - 792 2005年 [査読無し][通常論文]
     
    In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed binocular camera head is developed. The aim of the binocular camera head is to provide a platform to reproduce the human brain information processing. Two neuromorphic vision chips with lenses, which are developed imitating human retinas, will be mounted on the camera head. The camera head has an azimuth DOF for each camera and a common elevation DOF, thus there are three DOF in total. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. Consequently, all motors are mounted on the base. The characteristics of the camera head are quickness, lightweight and simple mechanism. This paper presents the design, development and evaluation of the camera head. The inverse and forward kinematics are also discussed in this paper.
  • A Konno, Y Tanida, K Abe, M Uchiyama
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1470 - 1475 2005年 [査読無し][通常論文]
     
    This paper addresses a plantar H-slit force sensor for humanoid robots to detect the reaction force. The zero moment point (ZMP) is calculated from the detected reaction force balance. The H-slit force sensors are structuralized on a plantar frame. Since a H-slit beam unidirectionally deforms, only the normal force from the ground is selectively detected without being affected from the friction force between the sole and ground. The plantar H-slit force sensors are developed for a humanoid robot. A model is proposed to simulate the sensor output. The simulated outputs are compared with results of the finite element analysis (FEA) and the experimentation results.
  • A Konno, Y Hwang, S Tamada, M Uchiyama
    2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1788 - 1793 2005年 [査読無し][通常論文]
     
    When a human needs to apply a large force to an environment, the human will take an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the Sequential Quadratic Programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contribute to make the manipulation force larger.
  • M. Uchiyama, A. Konno, D. Sato, T. Matsumoto, Y. Ishida, T. Ishihara
    Proceedings of 36th International Symposium on Robotics TH1C1-TH1C1  2005年 [査読無し][通常論文]
  • 杉村武昭, 出口淳, 小西雄太, 中谷好博, 福島誉史, 近野敦, 栗野浩之, 内山勝, 小柳光正
    電子情報通信学会技術研究報告 104 521(ICD2004 183-192) 49-54  2004年12月09日 [査読無し][通常論文]
  • CHOI H-B, COMPANY O, PIERROT F, 近野敦, 渋川哲郎, 阿部幸勇, 佐藤大祐, 内山勝
    日本機械学会論文集 C 70 691 798 - 803 一般社団法人日本機械学会 2004年03月25日 [査読無し][通常論文]
     
    This paper deals with the design and dynamic control simulation of a new type of 4-DOF parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS^. The Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the proposed dynamic control dramatically improves the trajectory tracking accuracy.
  • T Miyabe, A Konno, M Uchiyama, M Yamano
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 23 3 275 - 291 2004年03月 [査読有り][通常論文]
     
    The recent developments in space technology demand various services to uncontrollable satellites, such as refueling and repairing, in order to extend their lifespans. However there has so far been no research on such practical applications with flexible manipulators. In this paper, we address automated object capture with a two-arm flexible manipulator which is a basic technology for such services in space. This object capturing strategy includes symmetric cooperative control, visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator For the performance improvement oil the rise time of the internal forces at the instant of making contact, a transition control strategy is also proposed considering the resultant mechanical compliance associated with the internal forces. Moreover we present the control system configuration for this task. This control system is based on IBM-compatible personal computers (PCs), and the computational loads for the task execution are distributed to several PCs connected to each other through the Ethernet. The effectiveness of the proposed control system and task sequence is validated with the experiments.
  • R Sellaouti, A Konno, FB Ouezdou
    ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS 1577 - 1581 2004年 [査読無し][通常論文]
     
    In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN and the first experiments are presented. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.
  • M Yamano, JS Kim, A Konno, M Uchiyama
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 39 1 1 - 15 2004年01月 [査読無し][通常論文]
     
    This paper discusses cooperative control of a dual-flexible-arm robot to handle a rigid object in three-dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. To derive the control scheme, kinematics and dynamics of the robot when it forms a closed kinematic chain is discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-rigid-arm robots. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible robots and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the robot, each arm of which has two flexible links, seven joints and a force/torque sensor. The results illustrate that the robot handled the rigid object damping links' vibration successfully in three-dimensional space.
  • FEM Analysis of a Directional Deflection Sensor Beam Structure for Small Force/Torque Measurement
    Koyu ABE, Yusuke TANIDA, Atsushi KONNO, Masaru UCHIYAMA
    Proceedings of the International Conference on Precision Engineering 628 - 634 2004年 [査読無し][通常論文]
  • Satoru Shirata, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 148 - 153 2004年 [査読有り][通常論文]
  • Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems 3501 - 3506 2004年 [査読有り][通常論文]
  • ROBIAN Biped Robot : Design and Experiments
    F.B. Ouezdou, R. Sellaouti, A. Konno, B. Mohamed, V. Scesa, P. Henaff, C. Zaoui, O. Bruneau
    Proceedings of HLR Workshop on Humanoid and Legged Robots 2004年 [査読無し][通常論文]
  • 猪平栄一, 近野敦, 内山勝
    日本ロボット学会誌 22 8 1021 - 1030 The Robotics Society of Japan 2004年 [査読無し][通常論文]
     
    Dividing a software component into simpler ones is an effective way to improve the manageability and reusability. However, in the case of conventional dynamically reconfigurable software architecture, the software becomes difficult to manage by dividing the components. The reason is that dividing the software components needlessly increases the number of the concurrent processes in such architecture because the software components correspond to the concurrent processes. Thus, the software components should be independent of the concurrent processes. In this paper, we present a software architecture equipped with the dynamic reconfigurability for the sequential process within a concurrent process. A multi-agent model lies at the base of the presented architecture. In our architecture, an agent, which is concurrent process, can consist of the voluntary number of the software components. And, we can modify the configuration of an agent, that is, the combination of the software components at runtime. We also describe the implementation of the real-time control software by applying the presented architecture.
  • Y Hwang, E Inohira, A Konno, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 31 - 36 2003年 [査読無し][通常論文]
     
    This paper describes an efficient dynamic simulation of a humanoid robot. In the simulation, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the foot and a floor, a virtual spring-damper contact model is proposed. By introducing this model, computation of contact becomes easier and faster compared with other method such as plastic contact. A simulation of ascending steep stairs is carried out in order to demonstrate the validity of the simulation. The results of the simulation are presented and discussed.
  • HB Choi, O Company, F Pierrot, A Konno, T Shibukawa, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 1185 - 1190 2003年 [査読無し][通常論文]
     
    This paper deals with the design and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for highspeed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS(TM). In addition, the Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.
  • T Miyabe, A Konno, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 2529 - 2534 2003年 [査読無し][通常論文]
     
    The recent developments in the space technology demand various services to the exhausted or damaged satellites such as refueling and repairing in order to extend their life spans. In this paper, an automated object capturing with a two-arm flexible manipulator is addressed, which is a basic technology for such services. This object capturing includes the symmetric cooperative control, the visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator. There have been no researches on such a practical application with the flexible manipulators so far. The effectiveness of this capturing sequence is validated with the experiment.
  • E Inohira, A Konno, M Uchiyama
    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS 4060 - 4065 2003年 [査読無し][通常論文]
     
    This paper presents the software system architecture with the dynamic reconfigurability for highly autonomous systems. The proposed architecture is based on multi-agent model, which is suitable for autonomous, open and distributed systems. Since an agent is too sophisticated as the minimal component that we handle, we define a unit as a simple component of an agent. We present the advanced capability to dynamically reconfigure autonomous systems because their goals and environments vary frequently. We determine the specification of units and agents in order to analyze the behavior of overall system and to implement the dynamic reconfiguration as easy and simple as possible. In this paper, we also discuss the method to guarantee the system behavior during the dynamic reconfiguration in order to operate the robotic system without a hitch at any time, especially while reconfiguring.
  • SINGULARITY ANALYSIS OF A NOVEL 4-DOFS PARALLEL ROBOT H4 BY USING SCREW THEORY
    Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
    Proceedings of DETC’03, ASME 2003 Design Engineering Technical Conferences and Computers and Information in Engineering Conference 1 - 9 2003年 [査読無し][通常論文]
  • A Konno, K Ogasawara, Y Hwang, E Inohira, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 589 - 594 2003年 [査読無し][通常論文]
     
    This paper proposes an adaptive intermittent crawl gait for quadruped robots to walk on a slope. In the proposed method, the inclination of a floor is estimated in real time by the displacement of the projection of the center of gravity from the nominal position. Depending upon the estimated inclination, the gait is changed in order to gain the longitudinal stability margin. Experiments and dynamic simulations are performed to validate the proposed method. The results are presented and discussed.
  • K Abe, Y Tanida, A Konno, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1056 - 1061 2003年 [査読無し][通常論文]
     
    We proposed an H-slit type parallel beam which can be effectively utilized to achieve a highly unidirectional deformable structure for force/torque sensors. The structure is an extension of the parallel beam structure. And hence, the proposed design structure will result in 4-bar link closed mechanism the joints of which are deformable, so the strain gauges are fixed at these positions. This is the basic idea and unique feature of our proposed design. The H-slit beam can be used to measure very small generated forces. In this paper, we present above characteristics of the both beam structures with Finite Element Method (FEM) analysis, and outline of a small force/torque sensor using H-slit beams. Moreover reported in this article is over load protection mechanism which exhibits beam's effectiveness and its ability to withstand over load conditions without much deformations. This is due to the protection provided in the cross section of the beam.
  • Y Hwang, A Konno, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 1901 - 1906 2003年 [査読無し][通常論文]
     
    Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.
  • HB Choi, A Konno, M Uchiyama
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 3312 - 3317 2003年 [査読無し][通常論文]
     
    This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3- and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation. Indeed, there are just few effort have been devoted in the past to 4-DOFs parallel robot. Therefore, we focus on the forward kinematics of a 4-DOFs parallel robot H4. Solutions of the forward kinematic yields a 16(th) degree polynomial in a single variable which indicates that there may be up to 16 different configurations for the travelling plate for a given set of motor's angle. The results are presented via a numerical example.
  • A Konno, DM Liu, M Uchiyama
    ROBOTICA 20 6 637 - 651 2002年11月 [査読無し][通常論文]
     
    This paper focuses on using a singularly perturbed approach to derive a vibration damping control law in which a pole assignment feedback method is utilized. The composite control system is characterized by two components which can be computed separately. The one is Cartesian-based PI control which drives the end-effector of a flexible manipulator to track the desired time-based trajectory. The other is pole assignment feedback control which damps out vibrations during and at the end of trajectory tracking. An advantage of this composite control method in real implementation is that it does not require a derivative of the end-effector's position, and the derivatives of signals from the strain gauges. From the characteristics and implementation points of view, it appears to be simple to use. Laboratory experiments were conducted to evaluate the performance of the proposed control method.
  • 宮部友博, 山野光裕, 近野敦, 内山勝
    日本機械学会論文集 C 68 672 2374 - 2379 一般社団法人日本機械学会 2002年08月25日 [査読無し][通常論文]
     
    This paper discusses an object capturing task with a two-arm flexible manipulator. To realize a stable capture with no slips at the end-effectors on the object surface, the internal force being developed in the object needs to rise quickly. For this purpose, the relationship between the end-effectors' approach velocities to the object and the internal force during the capture is analyzed with a simple mass-damper-spring model for the two-arm manipulator and the object system. Furthermore, a method for changing the control modes is proposed considering the resultant mechanical compliances at the tips of the arms so that the rise time of the internal force is reduced. The effectiveness of this method is verified with experiments.
  • R Sellaouti, A Konno, F Ben Ouezdou
    ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS 438 387 - 396 2002年 [査読無し][通常論文]
     
    This paper presents a novel 3-DOFs parallel-actuated mechanism for the hip joint of the biped robot named ROBIAN This mechanism allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations are conducted to validate a kinematic model and to find a set of optimal parameters for the actual design. An experimental prototype and the ROBIAN hip are also shown in this paper.
  • A Konno, N Kato, Y Mitsuya, M Uchiyama
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 1056 - 1061 2002年 [査読無し][通常論文]
     
    In order to meet the demand for a research platform of intelligent robotics, a quadrupedal research platform JROB-2 has been developed. This paper presents the design and development of the quadrupedal walking robot JROB-2. The JROB-2 consists of five parts: quadrupedal walking mechanism, an embedded PC, servo amplifiers, power supplies, and a high speed stereo camera head. The stereo camera head can track the sinusoidal joint trajectory of the 15 [] amplitude and about 30 [Hz] frequency. The performance of the developed camera head is high enough to imitate the human eye movement such as saccade and pursuit. Almost all components of the JROB-2 are commercially available, and thus, its development cost is reduced and its maintenance becomes much easier. It is expected that the JROB-2 will serve as a good research platform for the studies of robotics and artificial intelligence.
  • R Sellaouti, A Konno, FB Ouezdou
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 1161 - 1166 2002年 [査読無し][通常論文]
     
    This paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots. Instead of common serial mechanism, a more robust parallel mechanism was developed. This kind of structure allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations were conduced to validate the kinematic model and optimize the design. Experimental prototype was developed to perform realistic tests on the control of this kind of mechanism.
  • A Konno, R Sellaouti, FB Arnar, FB Ouezdou
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 1384 - 1389 2002年 [査読無し][通常論文]
     
    In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN is,discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.
  • FB Ouezdou, A Konno, R Sellaouti, F Gravez, B Mohamed, O Bruneau
    CLIMBING AND WALKING ROBOTS 375 - 382 2002年 [査読無し][通常論文]
     
    In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN is discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.
  • T Miyabe, A Konno, M Uchiyama
    2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS 2708 - 2713 2002年 [査読無し][通常論文]
     
    This paper discusses a cooperative control of a two-arm spatial flexible manipulator with redundancy. Two different approaches are discussed to solve the kinematics of this manipulator. Moreover, several performance criteria are also discussed for this system in order to get the optimal kinematics solution. Some of the criteria discussed are peculiar to the cooperation of the two-arm spatial flexible manipulators, and they have not been discussed so far. Finally, the criteria and kinematics solutions are evaluated with the experimental implementations.
  • A Konno, Y Mitsuya, N Kato, M Uchiyama
    2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II 57 - 62 2001年 [査読無し][通常論文]
     
    For an easier and natural teleoperation of the quadruped walking robots, a user interface is developed with a Steering wheel and an assembly of pedals. In order to change the speed and the direction of the quadruped walking robots according to the operation of the steering wheel and the pedals, an on-line gait transition method is developed. Using this human-machine interface and on-line gait transition, the operator can control the quadruped walking robots almost in the same way as a driver drives a car. A quadruped walking robot named JROB-2 is used in the experiments. As the steering wheel is also equipped with various control buttons, it is possible to assign various single command tasks like "stand up" and "sit down" etc., to these buttons and hence control the robot for these tasks without even touching the keyboard or mouse. This paper presents the details of this interface.
  • T Miyabe, M Yamano, A Konno, M Uchiyama
    IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 907 - 912 2001年 [査読無し][通常論文]
     
    This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.
  • A Konno, T Yoshiike, K Nagashima, M Inaba, H Inoue
    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 43 2 401 - 407 2000年06月 [査読無し][通常論文]
     
    This paper presents preliminary experiments on automatic programming of motions of a humanoid robot by human demonstrations. Aiming to develop the "teaching by human demonstrations" system, three preliminary experiments are performed: (a) on-line recognition of human postures, (b) on-line imitation of human postures, and (c) recognition of the pick and place task and generation of a motion of a robot arm to play it back. The humanoid robot having its head with stereo camera arrangement, a 2-DOF neck and dual 7-DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstrations.
  • S Kagami, A Konno, R Kageyama, M Inaba, H Inoue
    EXPERIMENTAL ROBOTICS VI 250 499 - 507 2000年 [査読無し][通常論文]
     
    A wheel type humanoid robot "H4" is developed as a platform for the research on vision-tactile-action coupling in intelligent behavior of robots. The H4 has the features as follows : 1) upper-body consists of 19DOF (3DOF waist, 6DOF arm, 4DOF head), light weight and enough space to attach skin, 2) multi-value tactile switch and matrix gel tactile sensor, two types soft and distributed sensor skin covers upperbody, 3) each tactile sensor module has microprocessor module which is connected via I-2 C serial bus and make sensor network, 4) PC/AT compatible onboard computer which is controlled by RT-linux and connected to a network via radio ethernet, 5) 3D vision facility and 6) self-contained. This paper describe the design, implementation and experiment of H4, which is expected to be a common test-bed in experiment and discussion for tactile based aspects of intelligent robotics.
  • Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama
    Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, USA 482 - 487 2000年 [査読無し][通常論文]
  • 山野 光裕, 金 鎮秀, 近野 敦, 内山 勝
    日本機械学会論文集（C編） 66 649 3063 - 3068 2000年 [査読無し][通常論文]
     
    This paper discusses cooperative control of a dual-arm flexible manipulator to handle a rigid object in three dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. In order to derive the control scheme, kinematics and dynamics of the manipulator when it forms a closed kinematic chain are discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-arm rigid manipulators. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible manipulator and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the manipulator, each arm of which have two flexible links, seven joints and a force/torque sensor. The results illustrate that the manipulator handles the rigid object damping links’ vibration successfully in three dimensional space. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.
  • A Konno, N Kato, S Shirata, T Furuta
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS 1565 - 1570 2000年 [査読無し][通常論文]
     
    In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 is developed. It is a self-sustaining biped robot with. a dual arm and a robotic head. rt is equipped with a PC (IBM PC/AT clone), batteries, a wireless ethernet modem, a gyroscope and motor drivers inside its body. Saika-3 can be teleoperated via wireless ethernet communication. A graphic dynamic simulator is also developed to study control strategy. This paper presents an outline of the hardware of Saika-3 and a simulation result.
  • M Yamano, A Konno, M Uchiyama, T Miyabe
    2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS 2036 - 2041 2000年 [査読無し][通常論文]
     
    This paper discusses a way of capturing a spinning object using two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that the manipulators capture the object automatically measuring position and rotational velocity of the object. The motion of the two hands of the manipulators are synchronized with the rotation of the object. The hands make contact with the spinning object safely, considering link flexibility, and then brake the spin smoothly. The effectiveness of our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.
  • 香山 健太郎, 長嶋 功一, 近野 敦, 稲葉 雅幸, 井上 博允
    日本機械学会論文集（Ｃ編） 65 632 1524 - 1529 一般社団法人日本機械学会 1999年 [査読無し][通常論文]
     
    In this paper, we propose an environmental description for robots to memorize temporality and spatiality of wide-range environment. The description is region-based and the environment is described as a mosaic of regions. The description consists of three components: Panoramic Labelled Image that is a segmented color panoramic innage, Region Database that has spatial and temporal information about each region, and Regions Relation Network that describes adjacency state between regions. The description is constantly updated in the background of other visual processing. The description enables robots to detect changes in the environment, to grasp their characteristics, and to memorize them. The description corresponds to human visual short-term memory which is called working memory or visuospatial sketch pad in cognitive psychology. Moreover, we implement the environmental description on the humanoid robot Saika and show how it expands the robot's behavior.
  • 吉池 孝英, 近野 敦, 長嶋 功一, 稲葉 雅幸, 井上 博允
    日本機械学会論文集（Ｃ編） 65 632 1565 - 1570 一般社団法人日本機械学会 1999年 [査読無し][通常論文]
     
    This paper presents preliminary experiments on automatic programing of a humanoid's motions by human demonstration. Aiming to develop the "teaching by human demonstration" system, three preliminary experiments are performed : (a) on-line recognition of human posture, (b) on-line mimicking of human posture, and ( c ) recognition of the pick and place task and generation of the robot's arm trajectories to play it back. The humanoid robot having its head with stereo camera arrangement, two DOF neck and dual seven DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstration.
  • Flexible Manipulator Trajectory Learning Control with Input Preshaping Method
    Liu Deman, Atsushi Konno, Masaru Uchiyama
    Proceeding of the 38th SICE Annual Conference, International Session Papers, Morioka, Japan 967 - 972 1999年 [査読無し][通常論文]
  • Vibration Suppression Control of Two Cooperative Flexible Manipulators Working in 3D Space
    Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama
    Proceedings of the Ninth International Conference on Advanced Robotics ('99 ICAR), Tokyo, Japan 385 - 390 1999年 [査読無し][通常論文]
  • 近野 敦, 多田 充徳, 長嶋 功一, 稲葉 雅幸, 井上 博允
    日本機械学会論文集（Ｃ編） 65 638 4070 - 4075 1999年 [査読無し][通常論文]
     
    This paper addresses the development of a three fingered anthropomorphic hand and discusses a strategy for grasping unknown objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has a thumb, an index finger and a middle finger with a total of nine degrees of freedom. The location of thumb is designed considering the opposability seen in a human hand. Eighty seven touch sensors are distributed over the palm and fingers of this hand. In the latter part of this paper, a strategy for grasping unknown objects by groping, using the devoloped hand, is discussed. Groping is a kind of “active sensing”. When the system does not have any models available for the objects to be grasped, active sensing becomes inevitable. The aim of the groping is to find a grasping configuration for the unknown objects. A ball, a can, a cone, a rectangular cube, and cube arc chosen as the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of the objects nor any complicated computations, and therefore, is useful especially for tasks in the real world. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.
  • S Kagami, M Kabasawa, K Okada, T Matsuki, Y Matsumoto, A Konno, M Inaba, H Inoue
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 146 - 151 1998年 [査読無し][通常論文]
     
    A legged robot "JROB-1" is developed for a robotics research platform as a result of inter-university research program on Intelligent Robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. The JROB-1 has the features as follows : 1) self-contained, 2) RT-Linux running on PC/AT processes vision&sensor processing, motion planning and control, 3) connected to a network: via radio ethernet as to utilize network:ed resources, 4) Fujitsu color trading vision board and Hitachi general purpose vision processing board are attached, 5) all parts are commercially available, 6) it is ea;tensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common test-bed for experiment and discussion, to do intelligent robotics research by integrating perception and motion.
  • K Kayama, K Nagashima, A Konno, M Inaba, H Inoue
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 3253 - 3258 1998年 [査読無し][通常論文]
     
    In this paper, we propose an environmental description for robots to memorizes temporality and spatiality of guide-range environment. The description is region-based and the environment is described as a mosaic of regions. The description consists of three components: Panoramic Labelled Image that is a segmented color panoramic image, Region Database that has spatial and temporal information, about each region, and Regions Relation Network that describes adjacency state between regions. The description is constantly updated in the back ground of other visual processing. The description enables robots to detect changes in, the environment, to grasp their characteristics, and to memorize them. Moreover, we implement the environmental description on the humanoid robot Saika and show how it expands the robot's behavior.
  • 加賀美 聡, 椛澤 光隆, 岡田 慧, 松本 吉央, 近野 敦, 稲葉 雅幸, 井上 博允
    日本ロボット学会誌 16 5 623 - 628 The Robotics Society of Japan 1998年 [査読無し][通常論文]
     
    A legged robot "JROB-1" is developed as a platform for the research on perception-action coupling in intelligent behaviour of robots. The JROB-1 has the features as follows: 1) robot base is TITAN-VIII, 2) PC/AT compatible on-board computer which is controlled by RT-linux, 3) self-contained and connected to a network via radio ethernet, 4) many commercial boards (including color tracking vision board) are available, 5) extensibility with respect to hardware and software, and 6) every parts is commercially available. JROB-1 is one of the accomplishment of Grant-in-Aid for Scientific Research on Priority Areas by Ministry of Education, and is expected to be a common test-bed in experiment and discussion for various aspects of intelligent robotics.
  • On-line Recognition and Mimicking of Human Posture
    Takahide Yoshiike, Atsushi Konno, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
    Proceedings of the 3rd International Conference on Advanced Mechatoronics 430 - 435 1998年 [査読無し][通常論文]
  • S Kagami, K Okada, M Kabasawa, Y Matsumoto, A Konno, M Inaba, H Inoue
    1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3 235 - 240 1998年 [査読無し][通常論文]
     
    View changing because of vibration while walking is one of the most fundamental problem for a vision based legged robot. To overcome this difficulty, three key issues are denoted : a) integration of color segmentation, optical flow and stereo, which is able to apply to vibrating view using correlation hardware, b) software servo loop implemented as a kernel module for the purpose of soft actuation, and c) smooth walking pattern generation using solid model and dynamics simulator. Furthermore, a quadruped legged robot "JROB-1" is developed as a platform for the research on perception-action coupling in intelligent behavior of robots.
  • A Konno, K Nishiwaki, R Furukawa, M Tada, K Nagashima, M Inaba, H Inoue
    EXPERIMENTAL ROBOTICS V 232 79 - 90 1998年 [査読有り][通常論文]
     
    This article addresses the development of a humanoid robot named Saika and skillful manipulations performed by Saika. The developed humanoid robot Saika has a two-DOF neck, dual five-DOF upper arms, a torso and a head which consists of two eyes and two ears. Saika has human-size dimension and weighs eight kilograms. This article also presents three kinds of manipulations performed by Saika: (1) hitting a bounding ball, (2) grasping unknown objects by groping and (3) catching a thrown ball. Those tasks are chosen to study behavior-based movement control and intelligence.
  • S Lopez-Linares, A Konno, M Uchiyama
    JOURNAL OF ROBOTIC SYSTEMS 14 12 823 - 837 1997年12月 [査読無し][通常論文]
     
    Research on vibration suppression control of flexible robots has concentrated mainly on the one-link and two-link planar manipulators. Most of the techniques that have been presented cannot be easily extended to the case of a general 3D flexible robot. Ln this article we present a general control scheme based on hardware velocity servo cards. The velocity commands to move the robot are calculated by adding a vibration suppression term to the joint position feedback employed in ''rigid'' robots. Two different methods are proposed to calculate this term, one based on optimum quadratic control and the other based on pseudo-inverse nonlinear decoupling. These techniques are studied numerically in the case of a real two-link three-joint flexible robot, by computing the values of the closed-loop poles at different configurations. Experiments on position stabilization of the robot prove the validity of our methods. (C) 1997 John Wiley & Sons, Inc.
  • A Konno, M Uchiyama, Y Kito, M Murakami
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 16 4 567 - 576 1997年08月 [査読有り][通常論文]
     
    In this article, the structural vibration controllability of flexible-link manipulators is discussed For some spatial flexible-link manipulators, the structural vibration controllability is configuration-dependent. Therefore, the flexible-link manipulator may have some vibration-uncontrollable configurations. To understand the physical interpretation of vibration-uncontrollable configurations, we propose the modal accessibility concept, which indicates how well the actuators can affect the structural vibration modes. The configuration in which all of the actuators cannot affect at least one of the manipulator's vibration modes is vibration uncontrollable. Main contributions of this article are the following two points: first, interesting structural vibration-uncontrollable configurations are found within the two-link three-joint-type manipulator's workspace and are verified experimentally; second, the modal accessibility index is introduced to indicate how well the corresponding vibration mode is controllable. Experimental results show that even in the controllable configurations, it becomes difficult to suppress vibration if the modal accessibility is small.
  • S LopezLinares, A Konno, M Uchiyama
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 119 2 326 - 330 1997年06月 [査読無し][通常論文]
     
    Structural vibrations of flexible robots are not always fully controllable in all the workspace. la some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot, This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix nod the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations Of the manipulator are found.
  • DN Nenchev, K Yoshida, P Vichitkulsawat, A Konno, M Uchiyama
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 2528 - 2534 1997年 [査読無し][通常論文]
     
    The control of a dextrous manipulator mounted on a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains for structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. We examine experimentally the performance of the above control tasks, using a planar experimental setup.
  • K Nagasaka, A Konno, M Inaba, H Inoue
    1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4 2944 - 2949 1997年 [査読無し][通常論文]
     
    We describe the method in which a visually guided swing motion for a 16DOF two-armed bipedal robot is acquired by applying GA (genetic algorithm) to a NN (neural network) controller. The evolutionary approach to the acquisition of various motions for robots has been successfully used by many researchers, but most studies have been carried out only through computer simulations. In this research, we adopt a real robot with a complicated body used in a noisy environment. The evolutionary processes are examined in a virtual world constructed on a CRS-CS6400 parallel computer which simulates such factors as swing dynamics, visual processes, noise reduction processes, and timelags in a control system. It took about 2 hours for an artificial evolution io create a successful individual after 50 generations from an initial population af 200 unsuccessful genes. Using the NN decoded from the most successful individual of the fast generation, a real two-armed bipedal robot that could swing successfully was obtained.
  • Dexterous Manipulations of Humanoid Robot Saika
    Atsushi Konno, Koichi Nishiwaki, Ryo Furukawa, Mitsunori Tada, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
    Priprints of Fifth Int. Symp. on Experimental Robots 46 - 57 1997年 [査読無し][通常論文]
  • A Konno, M Tada, K Nagashima, M Inaba, H Inoue
    1997 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP'97) - TOWARDS FLEXIBLE AND AGILE ASSEMBLY AND MANUFACTURING 72 - 77 1997年 [査読無し][通常論文]
     
    This paper addresses the development of a three-fingered hand and discusses a strategy for grasping unknown. objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has thumb, index finger and middle finger with a total of eight degrees-of-freedom, The location of thumb is designed considering opposability of human hand. Eighty-seven touch sensors are distributed over the surface of palm and fingers of the robot hand. In the latter part of the paper, a strategy for grasping unknown objects by groping using the developed hand is discussed. Groping is a kind of ''active sensing.'' When the system does not have any models of objects to grasp, active sensing becomes inevitable. The aim of the groping is to find a grasping configuration for unknown objects. A can, a ball, a cone, a elate, and it cube are chosen for the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of objects nor complicated computation, and therefore, useful especially for assembly tasks in the real world.
  • K Nishiwaki, A Konno, K Nagashima, M Inaba, H Inoue
    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS 94 - 99 1997年 [査読無し][通常論文]
     
    This peeper addresses ball-catching behavior by the humanoid robot Saika. The aim of this study is to implement human skills on the humanoid in the same manner as human performs them. The behavior of catching a falling and a thrown ball is chosen as on example of dynamic skillful manipulation. Considering the human behavior, we realize ball-catching behavior by three steps: (a) localization of the ball by the vision system, (b) prediction of the ball's path to determine the catching point, and (c) reaching out the hand to the catching point by a neural network inverse kinematics model. Experimental results demonstrate the validity of the catching strategies.
  • K Nagashima, T Yoshiike, A Konno, M Inaba, H Inoue
    RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS 100 - 105 1997年 [査読無し][通常論文]
     
    In this paper, we discuss attention-based interaction between robot Chiye and human. The visual attention is conducted by the three asynchronous parallel processing units: (1) target detection block, (2) target management block and (3) target observation block. The robot Chiye interacts with human according to the status of gazed objects. Two binds of attention-based robot's behaviors are examined: (a) orientation behavior toward a human, and (b) handing-over behavior.
  • KIM J‐S, 近野敦, 内山勝
    日本機械学会論文集 C 62 602 4005 - 4011 日本機械学会 1996年10月 [査読無し][通常論文]
     
    科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究)
  • 近野 敦, 内山 勝, 貴答 豊, 村上 真人
    計測自動制御学会論文集 32 1 78 - 86 計測自動制御学会 1996年01月31日 [査読無し][通常論文]
  • JS Kim, K Suzuki, A Konno, M Uchiyama
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4 635 - 640 1996年 [査読無し][通常論文]
  • A Konno, M Uchiyama
    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3 223 - 229 1996年 [査読無し][通常論文]
     
    An approach to modeling flexible manipulators consisting of rotary joints and flexible links is proposed in this paper. In the proposed approach, flexible manipulators are modeled by lumped-masses and massless springs on the basis of Holzer's model, which is known as an approximate model for vibration analysis of flexible systems. Due to its simplicity, the constructed model is advantageous to the study of kinematics, dynamics and control strategy of complicated systems such as three dimensional multi-link multi-DOF flexible manipulators. Based on the model, dynamic equations of motion are derived using Lagrange's equation. Kinematics and the relationship between the dynamics of rigid manipulators and flexible manipulators are also discussed. The effectiveness of the model is evaluated by comparing the results of simulation with those of the experiment.
  • Masaru Uchiyama, Atsushi Konno
    Robotics Research, The Seventh International Symposium, Georges Giralt and Gerhard Hirzinger (Eds), Springer 90 - 99 1996年 [査読無し][通常論文]
  • A Konno, K Nagashima, R Furukawa, K Nishiwaki, T Noda, M Inaba, H Inoue
    IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3 805 - 810 1996年 [査読無し][通常論文]
     
    This article addresses the development of a lightweight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika is modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the heard, the neck, the two zipper arms rand the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.
  • 近野 敦, 内山 勝
    日本機械学會論文集. C編 61 591 4345 - 4350 The Japan Society of Mechanical Engineers 1995年11月25日 [査読無し][通常論文]
     
    In some three-dimensional flexible manipulators, the relationship between vibrations and actuators depends upon the manipulators' configuration. It has been reported that fixed gain vibration control in such manipulators makes the system unstable. Therefore, configuration dependence of such manipulators must be considered. In this paper, a configuration-dependent variblegain vibration-suppression control strategy for three-dimensional flexible manipulators is presented. The vibration control scheme computes the feedback control gain in real time depending upon the configuration. Thus, the s...
  • A KONNO, M UCHIYAMA
    CONTROL ENGINEERING PRACTICE 3 9 1315 - 1321 1995年09月 [査読無し][通常論文]
     
    In spatial 3D flexible manipulators, some parameters change, depending upon the arm's configuration. The relationship between vibrations and actuators might be configuration-dependent. Therefore, such configuration dependency has to be considered in the control of 3D spatial flexible manipulators. Linear quadratic regulator (LQR) would be one of the solutions. However, state feedback gains must be computed at various configurations and the gain table would be quite large in the case of multi-DOF manipulators. In this paper, a configuration-dependent variable-gain vibration-suppression control strategy for 3D spatial flexible manipulator is discussed. The vibration control scheme computes the link deflection feedback gain depending upon the current configuration during each sampling period. Thus, no large gain table is needed, and the scheme would be effective in the case of multi-DOF 3D spatial manipulators. The control scheme is examined in the case of a 2-link 7-joint type manipulator through experiments. The stability of the control scheme is also discussed.
  • Hybrid Position/Force Control of Flexible Manipulators
    Jin-Soo Kim, Kuniaki Suzuki, Atsushi Konno, Masaru Uchiyama
    Proceedings of the 10th KOREA AUTOMATIC CONTROL CONFERENCE, International Program, Seoul, Korea 408 - 411 1995年 [査読無し][通常論文]
  • 近野敦, 内山勝
    日本ロボット学会誌 12 7 1021 - 1028 The Robotics Society of Japan 1994年10月 [査読無し][通常論文]
     
    In this paper, we discuss the modeling of flexible manipulators. In the modeling of flexible manipulators, there are two approaches: one is based on the distributed-parameter modeling and the other on the lumped-parameter modeling. The distributed-parameter model is effective for simple flexible manipulators such as a one-link planar manipulator. For flexible manipulators with multi-link and multi-DOF (degree-of-freedom), however, the distributed-parameter model will be too complicated to use in control. In this paper, we propose a new model for the flexible manipulators based on the lumped-parameter model. Our model is simple enough to construct and implement in control schemes. This model can also be easily applied to manipulators which have flexibility at their joints. Based on our model, dynamic equations of motion are derived by the Lagrange's method. The effectiveness of our model is shown by comparing simulation results with the experimental results.
  • A KONNO, M UCHIYAMA, Y KITO, M MURAKAMI
    1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4 308 - 314 1994年 [査読無し][通常論文]
  • S. LÓPEZ-LINARES, A. KONNO, M. UCHIYAMA
    Preprints of the Fourth IFAC Symposium on Robot Control, Capri, Italy 509 - 516 1994年 [査読無し][通常論文]
  • S LOPEZLINARES, A KONNO, M UCHIYAMA
    IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3 1429 - 1437 1994年 [査読無し][通常論文]
  • A. KONNO, M. UCHIYAMA
    Preprints of the Fourth IFAC Symposium on Robot Control, Capri, Italy 517 - 523 1994年 [査読無し][通常論文]
  • Jin-Soo Kim, Atsushi Konno, Masaru Uchiyama, Kazuaki Usui, Kazuki Yoshimura
    Proceedings of the 9th KOREA AUTOMATIC CONTROL CONFERENCE, International Sessions, Taejeon, Korea 117 - 122 1994年 [査読無し][通常論文]
  • 近野 敦, 内山 勝, 貴答 豊, 村上 真人
    日本ロボット学会誌 12 8 1166 - 1174 The Robotics Society of Japan 1994年 [査読無し][通常論文]
     
    In this paper, we discuss the control of a 3D (3-dimensional) spatial flexible manipulator. In the 3D spatial flexible manipulator, object parameters for the control change depending on the arm configuration. Therefore, gains in the controller for the vibration suppression have to be changed configuration-dependently. In this paper, we propose a configuration-dependent adaptive controller in which the joint accelerations are used as commands to suppress the vibration. We discuss two configuration-dependent control schemes. One is a scheme which adds damping to the vibration system. We call this scheme as 'active damping control.' The other is a scheme which uses the optimal regulator. These schemes are combined to be implemented on a 3D flexible manipulator. Experimental results show the effectiveness of the control schemes. In the experiment, we find discontinuous gains of the optimal regulator for some arm configurations. Also the plausible reasons for discontinuity are briefly discussed.
  • Configuration-Dependent Controllability of Flexible Manipulators
    A. Konno, M. Uchiyama, Y. Kito, M. Murakami
    Experimental Robotics III: The 3rd International Symposium, Tsuneo Yoshikawa and Fumio Miyazaki (Eds.), Lecture Notes in Control and Information Sciences 200 531 - 544 1994年 [査読無し][通常論文]
  • Configuration-Dependent Controllability of Flexible Manipulators
    A. Konno, M. Uchiyama, Y. Kito, M. Murakami
    Preprints of the Third International Symposium on Experimental Robotics 276 - 282 1993年 [査読無し][通常論文]
  • Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators
    Atsushi Konno, Masaru Uchiyama
    Transactions of the IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems, Edited by Toshi TAKAMORI, Kazuo TSUCHIYA 937 - 942 1993年 [査読無し][通常論文]
  • Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators
    Atsushi Konno, Masaru Uchiyama
    Proceedings of the IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems '92 Kobe 1461 - 1466 1992年 [査読無し][通常論文]
  • M. Uchiyama, A. Konno
    Proceedings of the Fifth International Conference on Advanced Robotics, Pisa 126 - 131 1991年 [査読無し][通常論文]
  • M. Uchiyama, A. Konno, T. Uchiyama, S. Kanda
    Proc. IEEE Int. Workshop on Intelligent Robots and Systems '90, Tsuchiura 375 - 381 1990年 [査読無し][通常論文]
  • M. Uchiyama, A. Konno
    Proceedings of the International Conference on Advanced Mechatronics, Tokyo 353 - 357 1989年 [査読無し][通常論文]

書籍

  • 日本ロボット学会 (担当:分担執筆範囲:第III編「ロボット制御・知能化技術」 第1.1節「自由度構成とモデリング，運動学，動力学」)
    コロナ社 2023年03月 (ISBN: 9784339046793) ix, 1072p
  • Nenchev Dragomir N, Konno Atsushi, Tsujita Teppei (担当:共著)
    Butterworth-Heinemann 2019年 (ISBN: 9780128045602)
  • 最先端医療機器の病院への普及展望と今後の製品開発
    近野敦, 陳暁帥, 佐瀬一弥 (担当:分担執筆範囲:第4章6節「VR・ARを応用した脳神経外科手術シミュレータ」)
    技術情報協会 2018年05月
  • JSMEテキストシリーズ 機械工学総論
    近野敦, 内山勝 (担当:分担執筆範囲:2.3節「ロボット」)
    日本機械学会 2012年10月
  • ロボットテクノロジー
    横井一仁, 近野敦 (担当:分担執筆範囲:第2編第1章「ヒューマノイドロボット」)
    オーム社 2011年08月 (ISBN: 9784274210723)
  • PID Control Implementation and Tuning
    Tamar Mansour, Atsushi Konno, Masaru Uchiyama (担当:分担執筆範囲:Chapter 8, Neural Network Based Tuning Algorithm for MPID Control)
    InTech 2011年04月 (ISBN: 9789533071664)
  • Cutting Edge Robotics
    Teppei Tsujita, Atsushi Konno, Yuki Nomura, Shunsuke Komizunai, Yasar Ayaz, Masaru Uchiyama (担当:分担執筆範囲:Chapter 11, An Impact Motion Generation Support Software)
    In-Tech 2010年09月 (ISBN: 9789533070629)
  • Advances in Robot Manipulators
    Tamar Mansour, Atsushi Konno, Masaru Uchiyama (担当:分担執筆範囲:Chapter 24, Vibration Based Control for Flexible Link Manipulator)
    In-Tech 2010年04月 (ISBN: 9789533070902)
  • Mobile Robots Navigation
    Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Masaru Uchiyama (担当:分担執筆範囲:Chapter 11, Navigation Planning with a Human-Like Approach)
    In-Tech 2010年03月
  • Humanoid Robots - Human-like Machines -
    Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama (担当:分担執筆範囲:Chapter 15, A Human-Like Approach to Footstep Planning)
    In-Tech 2007年07月 (ISBN: 9783902613073)
  • Humanoid Robots - New Developments -
    Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato, Masaru Uchiyama (担当:分担執筆範囲:Chapter 29, Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot)
    In-Tech 2007年07月 (ISBN: 9783902613004)
  • 新版ロボット工学ハンドブック
    近野 敦 (担当:分担執筆範囲:第5編「システム化技術」，9.2節「構造設計」，9.3節「制御系設計」)
    コロナ社 2005年06月

講演・口頭発表等

  • ヒューマノイドロボットによる力制御の実装
    平林勇人, 小水内俊介, 佐藤大祐, 辻田哲平, 妹尾拓, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2023年
  • 二足歩行ロボットの足裏センサデータからの地面判別
    服部賢太郎, 小水内俊介, 上野賢次, 海老名光希, 平林勇人, 山田海俊, 辻田哲平, 佐藤大祐, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2023年
  • エッジデバイスによる聴診された肺音の正常異常判別
    藤原朋之, 小水内俊介, 近野敦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2022年
  • インフラ点検のためのクアッドチルトロータUAVの壁面走行
    高橋拓誠, 鶴園卓也, 小水内俊介, 近野敦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2022年
  • HoloLens2を用いた血管吻合時の手技記録と仮想空間での再現
    庄司大朗, 陳暁帥, 近野敦, 辻田哲平, 佐瀬一弥, 岡和彦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2022年
  • 腹腔鏡手術トレーニングのための機械学習を用いた技能別スコア評価システムの開発
    海老名光希, 安部崇重, 堀田記世彦, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 小水内俊介, 倉島庸, 菊地央, 松本隆児, 大澤崇宏, 村井祥代, 辻田哲平, 佐瀬一弥, 陳暁帥, 篠原信雄, 近野敦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2022年
  • ヒューマノイドロボットの泥状地面二足歩行のシミュレーションと実験の比較
    服部賢太郎, 小水内俊介, 辻田哲平, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2022年
  • マイコンによる聴診データの長スパンFFTに基づく肺音の正常異常判別
    藤原朋之, 小水内俊介, 近野敦
    LIFE講演概要集(CD-ROM) 2022年
  • 機械学習による外科手術技量の定量的評価  [招待講演]
    近野 敦
    第83回耳鼻咽喉科臨床学会総会・学術講演会 2021年06月 口頭発表（招待・特別）
  • 視線移動量と視線移動速度頻度分析による気管内吸引技術の習熟度評価の検討
    横尾 さくら, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治
    医工学治療 2021年05月 (NPO)日本医工学治療学会
  • 機械学習を利用した鉗子動態特徴量に基づく腹腔鏡手術基本手技の技量評価
    安部崇重, 海老名光希, 堀田記世彦, 古御堂純, 岩原直也, 今雅史, 樋口まどか, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄
    日本泌尿器科学会総会(Web) 2021年
  • AR/VR看護シミュレータのための馴染みや自然さを考慮した患者モデルの構成方法
    木村仁, 小水内俊介, COLLEY Noriyo, 近野敦
    日本バーチャルリアリティ学会大会論文集(CD-ROM) 2021年
  • ウエットラボにおける腹腔鏡手術熟練課程の数値化の試み
    安部崇重, 海老名光希, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 堀田紀世彦, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄
    泌尿器外科 2021年
  • インフラ点検のためのクアッドチルトロータUAVの接触面走行
    高橋拓誠, 鶴園卓也, 奥村康生, 小水内俊介, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2021年
  • 鼻腔内視鏡手術手技計測システムの開発
    宮路洸, 鈴木正宣, 中丸裕爾, 佐瀬一弥, CHEN Xiaoshuai, 辻田哲平, 小水内俊介, 本間明宏, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2021年
  • 模範手技の実演指導の受講・追体験が可能なマルチプラットフォーム型遠隔看護教育システム
    佐藤優太, 木村仁, 小水内俊介, COLLEY Noriyo, 二宮伸治, 金井理, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2021年
  • 手術ナビゲーションのための弾性体リアルタイム接触変形シミュレーションシステムの開発
    澁谷紗也華, 佐瀬一弥, CHEN Xiaoshuai, 小水内俊介, 辻田哲平, 近野敦
    電気学会研究会資料 2021年
  • 藤原 朋之, 小水内 俊介, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2021年 一般社団法人 日本機械学会
     
    In order to develop a navigation system using SLAM technology and airborne multi-degree-of-freedom force sensing using pseudo-force sensing based on partial acceleration motion, an evaluation experiment of a navigation system using a force sensing device with only two spatial degrees of freedom for force sensing was conducted. In the evaluation experiment, a user test was conducted, and the accuracy of the system was evaluated by two scales: an objective evaluation by evaluating the success rate, and a subjective evaluation by questionnaire. As a result, the 2-DOF force-sensing device used in the navigation system succeeded in presenting the expected force sensation, and the navigation system was found to have a certain degree of practicality.
  • 髙橋 優里, 近野 敦, 佐瀬 一弥, 辻田 哲平, 陳 暁帥
    ロボティクス・メカトロニクス講演会講演概要集 2021年 一般社団法人 日本機械学会
     
    In laparoscopic surgery, current surgical navigation systems use preoperative medical images. The actual shape of organs and the navigation image are different from each other due to the deformation of the organ during the operation. To solve this problem, our research group is developing an endoscopic surgery support system that can present intraoperative organ deformation. In this study, for this system, an organ 3D model is constructed from medical images. The 3D model is projected by projection mapping on the surface of a human body to present the organ that is inside the body. In addition, a full-scale liver was made from soft resin using a 3D model of an organ, and the usefulness of projection mapping was verified.
  • コリー 紀代, 小水内 俊介, 金井 理, 井上 創造, 近野 敦, 中村 美鈴, 二宮 伸治
    人工呼吸 2021年 一般社団法人 日本呼吸療法医学会
     
    【目的】本研究では、①プロジェクションマッピング映像による仮想生体反応の呈示の有無や実施者の属性にかかわらず、視線計測結果が習熟度評価指標となりうるかを検証し、②生体反応を呈するシミュレータを用いた際の作業負担感を初学者と熟練者において比較することを目的とする。 【方法】看護師群と学生群の気管吸引の所要時間、視線の停留時間・停留回数を測定した。タスク終了後に日本語版NASA-TLXを用い、両群の作業負担感を比較した。 【結果】生体反応呈示の有無と属性による交互作用は認められず、所要時間と視線停留時間において看護師群－学生群間の主効果が認められた。作業負担感は26項目中5項目に有意差が認められた。 【結論】看護師群の視線停留時間が統計学的有意に短く、習熟度評価に有用な指標と考えられた。作業負担感は生体反応の呈示により学生群・看護師群ともに高まり、先行研究よりも有意差のある項目数が減少した。
  • 澁谷 紗也華, 佐瀬 一弥, 陳 暁帥, 小水内 俊介, 辻田 哲平, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2021年 一般社団法人 日本機械学会
     
    Since laparoscopic surgery is performed through the images displayed on the monitor, it requires a higher degree of surgeons’ skills than open surgery, in which surgery is performed while directly checking the surgical field. In order to support decisions and surgical procedures in laparoscopic surgery, a surgical support system that displays deformation of organs caused by contact with a surgical instrument calculated by a finite element method has been developed. The usefulness was proved by the operation verification with a simple elastic body and the deformation and the average error within 1 mm. After that, the state of contact and deformation of the virtual organ model was confirmed.
  • 小水内 俊介, コリー 紀代, 二宮 伸治, 金井 理, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2021年 一般社団法人 日本機械学会
     
    This paper describes a functional expansion of a nursing education simulator that has been developed focusing on the endotracheal suctioning. Most patients who require endotracheal suctioning also require tube feeding. In addition to sputum aspiration and repositioning, by providing training functions for tube feeding, educational elements of the nursing simulator, such as the relationship between tasks, and the vital reactions to the procedures, are expanded.
  • 小笠原 健太, 陳 暁帥, 佐瀬 一弥, 辻田 哲平, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2021年 一般社団法人 日本機械学会
     
    A laparoscopic surgery is a minimally invasive surgery that reduces the burden on the patient. However, main disadvantage of the laparoscopic surgery is the narrowness of the field of view provided by an endoscopic camera. Therefore, if an organ is damaged by a surgical instrument outside the field of view, it is easily overlooked. To support the laparoscopic surgery, surgical navigation systems have been developed so far. However, conventional navigation systems provide information based on the preoperative medical images, and hence the gaps between the actual surgical situation and the navigation information become larger as the surgery proceeds. This paper proposes a method of providing predicted information on the endoscopic images. In this method, the movements of surgical instruments are measured by a motion capture system. The dynamic deformation of an organ caused by the contact between a surgical instrument and the organ is simulated and presented by superimposing the CG model on the endoscopic image. In the superposition display experiment, the superposition of the deformed flexible cube and its 3D model was confirmed.
  • 瀬川 勝仁, 宮田 なつき, 多田 充徳, 足達 俊吾, 光山 統泰, 小水内 俊介, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2021年 一般社団法人 日本機械学会
     
    In this study, we analyzed experimenters’motional characteristics that lead to uniform cell seeding. The motion to seed cell was measured using a motion capture system for three novices who were taught to execute stirring by ”a rotational movement” of a multi-well plate and four experients who were asked to seed as usual. Skill indices were defined as a feature of the seeding motion. Cell uniformity was evaluated as an averaged intensity variation from binarized microscope cell images. The correlation analysis between each skill index and uniformity index showed that the stirring movement of the plate was strongly related to uniformity of the seeded cell. Significant difference between the novice group and the experient group was observed in uniformity index and several skill indices in stirring process. These results indicated that teaching rotational stirring to a novice worked to guarantee uniform cell seeding to a certain extent.
  • Ahmad Ridwan Fauzi, 金井 理, 伊達 宏昭, 小水内 俊介, 近野 敦, コリー 紀代, 二宮 伸治
    精密工学会学術講演会講演論文集 2020年03月 公益社団法人 精密工学会
     
    Tube insertion through trachea is a procedure performed by nurses to suck the sputum out of the patient’s trachea. If the procedure is not performed carefully, it causes inconvenience and damages patient’s trachea. To train novice nurses to practice the procedure in a safer environment, we developed a projection mapping-based nurse training simulator, and its effectiveness was evaluated. From the evaluations, it was found that more facial expressions, including choking, coughing, and patient’s relaxed states, still must be integrated into the patient model so the nurse could be more immersed into the simulator. To achieve that, a Facial Action Coding System (FACS)-based video analysis tool is first used to identify the activated facial action units (AU) in those states and they are applied to the synthetic deformations on a 3D face of the patient model. The degree of naturalness, reality and effectiveness are evaluated.
  • 触感を伴う拡張現実映像を用いた気管内吸引シミュレータのための計測機能を備えた気道模型
    木村仁, 小水内俊介, コリー紀代, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2020年
  • 10[g]級トイドローンの自動操縦化と位置フィードバック制御
    藤原朋之, 高橋拓誠, 澁谷紗也華, 服部賢太郎, 小水内俊介, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2020年
  • ヒューマノイドロボットの安定な軟弱地面歩行のためのステップ時間制御
    澤登陽介, 小水内俊介, 辻田哲平, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2020年
  • ヒューマノイドロボットのインパクト動作
    近野敦
    日本ロボット学会誌 2020年
  • モーションキャプチャー装置を用いた腹腔鏡手術手技の熟練過程の分析
    安部崇重, 海老名光希, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 堀田記世彦, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄
    日本泌尿器科学会総会(Web) 2020年
  • 海老名 光希, 安部 崇重, 小水内 俊介, 辻田 哲平, 佐瀬 一弥, 陳 暁帥, 樋口 まどか, 古御堂 純, 岩原 直也, 倉島 庸, 篠原 信雄, 近野 敦
    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
     
    This paper describes the detail of the objective surgical skill assessments from the viewpoint of a way of grasping organ with forceps in dissection procedure in wet lab training. In the surgical skill measurement experiments, 46 cases of grasping force/position of gripper in lymphadenectomy are measured. Surgical skill is analyzed based on six indices related to grasping operation. Subjects are classified into three groups (novices, intermediates, and experts) by the number of experienced surgeries, and the difference on the six indices between these groups are investigated by the Kruskal–Wallis and Mann–Whitney U test. The analytical results show that the ratio of non-grasping period to the total task time of novice surgeons is larger than that of experts, and the total number of grasping is greater than that of experts. From these results, it is considered that novices frequently re-grasp organs in the dissection operation because they fail to grasp organ at an optimal point.
  • 木村 仁, 小水内 俊介, コリー 紀代, 近野 敦
    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
     
    In order to respond to the growing needs of nursing, it is necessary to correct the gap between practice and education. Endotracheal suctioning has been performed not only at hospital but also at home frequently, there is a need to develop a suction simulator that can quantitatively assess the techniques of suction catheter manipulation. In this paper, we described a tracheal model with measurement functions: the measurement of the pushing force of the catheter on the airway wall by the force sensor and the detection of the catheter tip trajectory history by the camera were implemented. These data from our tracheal model might be useful not only assessing the proficiency of catheter manipulation quantitatively, but also assessing the risk of tracheal mucosal damage and pain caused by inappropriate manipulation or excessive pushing force.
  • Fauzi Ahmad Ridwan, 金井 理, 伊達 宏昭, 小水内 俊介, 近野 敦, コリー 紀代, 二宮 伸治
    精密工学会学術講演会講演論文集 2019年03月 公益社団法人 精密工学会
     
    Patients with cerebral palsy suffer from permanent movement disorder, and a nurse usually performs their tracheal aspiration where a tube must be inserted into the patient’s trachea. The tube insertion procedure must be performed quickly and carefully in order for the patient not to experience significant pain, anxiety, and even tracheal bleeding that would cause fear for the patient. To master such skill, many training opportunities should be provided for the novice nurses. Therefore, a training simulator is needed that could mimic the real situation of the procedure to provide an accurate and realistic feedback to the novice nurses. To realize that goal, we have developed a simulator that provides a head mannequin with the pain sensor attached and can project computer-generated patient’s facial expressions onto the mannequin face using projection mapping. The expression can change in conjunction with pain intensity the patient would receive due to the sputum blockage in the trachea and due to the hard contact of the tube tip with the trachea. The effectiveness of the projection mapping in the simulator is evaluated by comparing how fast trained and novice nurses finish the procedure when the facial expression of the pain is simulated or not.
  • 腹腔鏡手術技量評価のための手技計測システム開発
    海老名光希, 安部崇重, 小水内俊介, 辻田哲平, 佐瀬一弥, CHEN Xiaoshuai, 樋口まどか, 古御堂純, 岩原直也, 倉島庸, 篠原信雄, 近野敦
    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) 2019年
  • 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治, 浅賀 忠義, 高橋 望, コリー 紀代
    日本シミュレーション医療教育学会雑誌 2018年09月 日本シミュレーション医療教育学会
  • コリー 紀代, 清水 弘美, 大塚 健, 高橋 望, 近野 敦, 小水内 俊介, 金井 理, 二宮 伸治, 井上 創造, 村田 恵理, 萬井 太規, 浅賀 忠義
    医学教育 2018年07月 (一社)日本医学教育学会
  • 白井亮輔, CHEN Xiaoshuai, 佐瀬一弥, 辻田哲平, 近野敦
    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) 2018年06月
  • 空中映像表示媒体としてのミストスクリーンの散乱特性シミュレーションによる視認性評価
    鈴木孝二郎, 小水内俊介, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2018年
  • 環境計測に基づくヒューマノイドロボットの行動生成
    月本啓太, 斉藤直矢, 小水内俊介, 辻田哲平, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2018年
  • インフラ点検のためのクアッドチルトロータUAVの6軸位置姿勢制御
    三谷拓巳, 早川宗太, 小水内俊介, 近野敦
    計測自動制御学会北海道支部学術講演会論文集 2018年
  • 小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治
    日本呼吸療法医学会学術総会プログラム・抄録集 2018年
  • コリー紀代, 小水内俊介, 村田恵理, 稲村道子, 玉置美香, 山田真代, 八柳千佳子, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, 二宮伸治
    日本呼吸療法医学会学術総会プログラム・抄録集 2018年
  • 小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治
    日本呼吸療法医学会学術総会プログラム・抄録集 2018年
  • 二宮伸治, 小水内俊介, 村田恵理, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, コリー紀代
    日本呼吸療法医学会学術総会プログラム・抄録集 2018年
  • コリー紀代, 清水弘美, 大塚健, 金井理, 近野敦, 二宮伸治, 浅賀忠義, 小水内俊介, 萬井太規, 村田恵理, 高橋望, 井上創造
    医工学治療 2018年
  • 中川敦寛, 遠藤俊毅, 遠藤英徳, 大沢伸一郎, 冨永悌二, 中西史, 横沢友樹, 山下慎一, 飯久保正弘, 佐藤由加, 佐久間篤, 八木橋真央, 近野敦, 辻田哲平, 大谷清伸
    衝撃波シンポジウム講演論文集(CD-ROM) 2018年
  • 斉藤直矢, 小水内俊介, 辻田哲平, 近野敦
    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年12月
  • 鈴木孝二郎, 白井亮輔, 月本啓太, 三谷拓巳, 小水内俊介, 近野敦
    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年12月
  • 田中諒, 斉藤直矢, 小水内俊介, 辻田哲平, 近野敦
    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年12月
  • 奥田悠斗, 小水内俊介, 近野敦
    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年12月
  • 北原理匡, 辻田哲平, 田原諒也, 安孫子聡子, 近野敦
    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(CD-ROM) 2017年10月
  • 江間章斗, 佐瀬一弥, 陳暁帥, 紫藤紀行, 辻田哲平, 近野敦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2017年09月
  • 近野 敦, 佐瀬 一弥, 陳 暁帥
    精密工学会誌 = Journal of the Japan Society for Precision Engineering 2017年06月 精密工学会
  • 辻田哲平, ALTANGEREL Odpurev, 堀合泰生, 安孫子聡子, 近野敦
    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年05月 

    Although how to perform tasks at disaster sites has been actively discussed, there is little debate on important issues such as how to deliver robots to disaster sites. We propose to drop a humanoid robot with a parachute from an airplane as one of the methods of delivering robots. In this research, we aim to establish a method to absorb the shock at the time of landing by whole body motion for preventing the damage to the robot. As an early stage of this research, drop tests using a small one-legged robot were conducted. From the viewpoint obtained by these experiments, we designed a parachute landing motion for the small robot heuristically and succeeded in reducing the impact force to 40%.

  • 斉藤直矢, 小貫督仁, 小水内俊介, 辻田哲平, 近野敦
    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年05月
  • 奥田悠斗, 小水内俊介, 近野敦
    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年05月
  • 浦岡雅史, 小水内俊介, 近野敦
    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年05月
  • 紫藤紀行, 佐瀬一弥, 小水内俊介, 辻田哲平, 近野敦
    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年05月
  • 近野敦, 佐瀬一弥, 陳暁帥
    精密工学会誌 2017年
  • 近野 敦, 平田 泰久
    計測と制御 2017年 公益社団法人 計測自動制御学会
  • 陳暁帥, 佐瀬一弥, 近野敦, 辻田哲平
    日本ロボット学会学術講演会予稿集(CD-ROM) 2016年09月
  • 佐瀬一弥, 辻田哲平, 近野敦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2016年09月
  • 佐瀬 一弥, 辻田 哲平, 近野 敦
    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 2016年01月
  • 辻田 哲平, 曽我 佳紀, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2016年 

    During surgery, a surgeon uses a variety of surgical instruments. Therefore, a haptic interface for surgical training should be able to display reaction force through various surgical instruments. Based on this concept, a novel encountered-type haptic interface using MR (Magneto-Rheological) fluid for neurosurgery simulators have been developed. This paper presents design of an 8 DOF haptic interface which can display independent reaction force on each hand. This haptic interface has two display parts which consists of MR fluid, a container of the fluid, a force sensor, an electromagnet coil and a yoke. The display part is miniaturized based on magnetic field analysis and moved by a 4 DOF motion table for the application of neurosurgery training.

  • 1P1-W09 3自由度直動パラレル機構を利用した装着型指先触覚提示装置の開発
    小水内 俊介, 佐藤 佳吾, 西崎 圭祐, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2015年05月 一般社団法人日本機械学会
     
    A tactile device which utilizes a 3 degree of freedom small parallel mechanism is developed. The device presents pressure sensation, two directional share force and vibration at a user's fingertip. The device is designed to be used together with a glove type device. The whole system including the tactile device and the glove type device is expected to present various sensation to the user's hand.
  • 2A1-G03 4チルトロータUAVの90度ピッチアップホバリング制御
    大瀬戸 篤司, 安孫子 聡子, 久野 温, 楢崎 翔太, 國分 祥平, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2015年05月 一般社団法人日本機械学会
     
    Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underactuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the flight control system for flight condition with a ±90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight. We verify the adequate control system for flight in a wide range of attitude conditions through flight experiment.
  • 1P1-V06 視覚提示との併用に適したグローブ型力覚提示装置
    西崎 圭祐, 佐藤 佳吾, 小水内 俊介, 近野 敦
    ロボティクス・メカトロニクス講演会講演概要集 2015年05月 一般社団法人日本機械学会
     
    Haptics is important as well as visual presentation to provide high quality virtual experience. Conventional haptic devices have large overhanging drive mechanisms from the outline of the hand, it is possible to spoil the quality of visual information. This paper describes a glove type haptic device designed compactly by using a small drive mechanism using the SMA.
  • MR流体を用いた手術シミュレータ用遭遇型力覚提示装置による二方向力覚提示
    辻田哲平, 亀山卓也, 近野敦, 安孫子聡子, 姜欣, 内山勝
    日本ロボット学会学術講演会予稿集(CD-ROM) 2015年
  • クアッドロータテールシッタUAVによる最短時間遷移飛行
    大瀬戸篤司, 安孫子聡子, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD-ROM) 2015年
  • GPGPUを活用した実時間脳腫瘍摘出シミュレーション
    佐瀬一弥, 近野敦, 辻田哲平, 辻田哲平, 福原洸, CHEN XiaoShuai, 小水内俊介
    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) 2014年
  • 脳腫瘍摘出シミュレーションのための安定な柔軟物破壊モデル
    佐瀬一弥, 近野敦, 辻田哲平, 辻田哲平, 福原洸, CHEN XiaoShuai, 小水内俊介
    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) 2014年
  • Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
    ROBOMECH Journal 2014 2014年
  • 4チルトロータUAVの位置姿勢独立飛行制御
    大瀬戸篤司, 安孫子聡子, 楢崎翔太, 久野温, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD-ROM) 2014年
  • 術具による脳組織圧排に伴う損傷を回避する深部病変部への最適手術経路計画
    福原洸, 辻田哲平, 辻田哲平, 佐瀬一弥, 近野敦, 姜欣, 安孫子聡子, 内山勝
    日本ロボット学会学術講演会予稿集(CD-ROM) 2014年
  • Preface.  [通常講演]
    Atsushi Konno, Koki Kikuchi, Nathan Michael
    Advanced Robotics 2013年
  • サイドスラスタを有する垂直離着陸機の開発
    小泉卓也, 古井達也, 大瀬戸篤司, 安孫子聡子, 近野敦, 内山勝
    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) 2013年
  • 脳裂開放シミュレーションのための接触判定法の提案
    福原洸, 辻田哲平, 佐瀬一弥, 近野敦, JIANG Xin, 安孫子聡子, 内山勝
    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) 2013年
  • 脳外科手術シミュレータ用マイクロ剪刀モジュールによる切断感覚提示
    井上祐人, 辻田哲平, 安孫子聡子, 姜欣, 内山勝, 近野敦
    日本ロボット学会学術講演会予稿集(CD-ROM) 2013年
  • 末藤 伸幸, 高野 健, 今田 行雄, 近野 敦, 内山 勝
    日本ロボット学会誌 2012年03月 日本ロボット学会
  • Collaborative Haptic Interaction in Virtual Environment of Multi-Operator Multi-Robot Teleoperation Systems  [通常講演]
    Nguyen Truong Thanh, Xin Jiang, Satoko Abiko, Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
    2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE) 2012年 SOC INSTRUMENT CONTROL ENGINEERS JAPAN
     
    In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for rendering cooperative virtual manipulation in haptic interfaces. The dynamic behavior including contact force and collision detection is calculated using Open Dynamics Engine and reflected on haptic interface to assist operators to implement cooperative tasks in graphic environment. The result of this study constitutes a significant step forward for distributed haptic collaboration.
  • 脳神経外科手術シミュレータ用力覚提示装置の開発と評価
    庄司怜平, 井上祐人, CHEN Xiao Shuai, 中山雅野, 阿部幸勇, JIANG Xin, 安孫子聡子, 辻田哲平, 近野敦, 内山勝
    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
  • Linux RT-Preemptを用いたヒューマノイドロボットHOAP-2の実時間制御システムの開発とRTコンポーネントによる実装
    富田将茂, 近野敦, 辻田哲平, 安孫子聡子, 内山勝
    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
  • ヒューマノイドロボットによる移動マニピュレーション
    小川修平, 近野敦, 安孫子聡子, 辻田哲平, 内山勝
    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
  • 実脳モデルを用いた脳裂開放シミュレータの実時間性評価
    佐瀬一弥, 中山雅野, 佐竹恵和, 安孫子聡子, JIANG Xin, 辻田哲平, 近野敦, 内山勝
    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
  • オンライン踏み出し動作によるヒューマノイドロボットの転倒回避
    星野佑太, 小水内俊介, 富田将茂, 安孫子聡子, 辻田哲平, 近野敦, 内山勝
    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
  • 陳暁帥, 中山雅野, 辻田哲平, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2011年09月
  • 辻田哲平, 佐瀬一弥, 小原学, 近野敦, 中山雅野, 阿部幸勇, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2011年09月
  • 小水内俊介, 近野敦, 安孫子聡子, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2011年09月
  • Meng-Hung Wu, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 2011年
  • Xiaoshuai Chen, Masano Nakayama, Teppei Tsujita, Xin Jiang, Satoko Abiko, Koyu Abe, Atsushi Konno, Masaru Uchiyama
    Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 2011年 
    In recent medical field, surgical simulators with the technique of virtual reality are expected to provide a new means to support the surgical front. We have developed a simulation for brain surgery using a dynamic deformation model. Most of physics models, including the dynamic deformation model, are required to identify the physical properties of target tissues. In this research, we identified physical properties of swine liver. Young's Modulus, Poisson's Ratio and damping coefficient is necessary for the simulation. There are previous researches about identification of Young's Modulus, but that about identification of Poisson's Ratio and damping coefficient are few. Therefore, in this research, we conduct tension experiments to measure Young's Modulus and Poisson's Ratio, and vibration experiments to measure damping coefficient. © 2011 IEEE.
  • Songgi LEE, Xin JIANG, Koyu ABE, Satoko ABIKO, Atsushi KONNO, Masaru UCHIYAMA
    Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan 2011年
  • Development of a Wire Harness Assembly Motion Planner  [通常講演]
    Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Journal of Robotics and Mechatronics 2011年
  • 宇宙ステーション搭載アームによる補給機HTVの捕獲ハイブリッドシミュレータの構築
    高橋一平, JIANG X., 安孫子聡子, 阿部幸勇, 近野敦, 内山勝, 中西洋喜, 上野浩史, 小田光茂
    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) 2011年
  • 双腕宇宙ロボットの浮遊物体捕獲ハイブリッドモーションシミュレーションの安定化
    菅井文仁, JIANG Xin, 安孫子聡子, 近野敦, 内山勝
    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) 2011年
  • 足跡マップを用いた二脚ロボットの軟弱地面における歩行シミュレーション
    小水内俊介, 近野敦, 安孫子聡子, 内山勝
    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) 2011年
  • 阿部弘之, 中田伸大, 沼田大樹, 姜欣, 近野敦, 浅井圭介
    流体力学講演会/航空宇宙数値シミュレーション技術シンポジウム講演集(CD−ROM) 2011年
  • 菅井文仁, JIANG Xin, 安孫子聡子, 近野敦, 内山勝
    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
  • 野村勇樹, 小水内俊介, 菊地隆浩, 近野敦, 内山勝
    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
  • 中山雅野, 安孫子聡子, JIANG Xin, 近野敦, 内山勝
    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
  • KOO Kyongmo, JIANG Xin, 近野敦正, 内山勝
    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
  • 高木優, 阿部幸勇, JIANG Xin, 安孫子聡子, 近野敦, 内山勝
    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
  • 安孫子聡子, 近野敦, 内山勝
    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
  • 岩川和晃, 安孫子聡子, JIANG Xin, 近野敦, 内山勝
    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
  • 阿部幸勇, 近野敦, 内山勝
    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
  • 小水内俊介, 近野敦, 安孫子聡子, 内山勝
    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
  • 安孫子聡子, YANG Jae Sung, JIANG Xin, 近野敦, 内山勝
    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
  • 松本剛明, 近野敦, 鈴木廉, 大瀬戸篤司, 呉健太, 内山勝
    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
  • Biped walking of a humanoid robot on sand  [通常講演]
    Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
    Proceedings of the Sixth International Conference on Flow Dynamics 2010年
  • Brain Surgery Simulation using FEM  [通常講演]
    Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
    Proceedings of the Sixth International Conference on Flow Dynamics 2010年
  • 小水内 俊介, 近野 敦, 安孫子 聡子, 内山 勝
    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 addresses contact dynamic model between loose soil and feet of a legged robot. Most of studies for biped robots have assumed the floors as undeformable rigid ones. This paper deals with a locomotion of a biped robot on deformable loose soil like sand. Since the ground reaction force varies according to the contact condition between the feet and ground in case of loose soil, it is necessary to formulate mathematically this relationship. The ground reaction force can be analyzed in the two conditions: static and driving state. In the static state, the ground reaction force is deter...
  • 野村 勇樹, 小水内 俊介, 菊地 隆浩, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to create a robot system which is robust against changes of tasks and environments. This study aims to create such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing dishes is selected. This paper presents simulation result of the task with several types of robots by applyin...
  • 中山 雅野, 安孫子 聡子, 姜 欣, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    Blunt dissection is a surgical technique to expose structures or to separate tissue without cutting. This paper addresses an element fracture model to avoid instability in blunt dissection simulation for virtual brain surgery. Blunt dissection is modeled by finite element fracture in which elements are fractured when their stresses exceed a specified fracture stress. However if an element is fractured without any consideration for connections with adjacent elements, the fracture may produce some structurally unstable elements. The structurally unstable elements cause computational instabili...
  • 安孫子 聡子, 近野 敦, 内山 勝
    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 presents asymmetric stiffness characteristic of a human hand. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of a robotic manipulator. In this paper, perturbation-excited method is carried out for estimating the sti...
  • 阿部 幸勇, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    An H-slit type beam (double beam type load cell) has an effect on increasing the strain signals. It can help to enlarge the sensitivity of a force sensor while keeping enough rigidity and stiffness. The other characteristic of an H-slit beam is that its deformation pattern is same as that of a four bar link mechanism. For this kind of mechanism, it is highly important to show resistivity to torsional deformation forces. Commercial weighting equipments utilizing this type of load cell is expected to be capable of eliminating the error due to off-center loading. The effectiveness of it is bel...
  • 松本 剛明, 近野 敦, 鈴木 廉, 大瀬戸 篤司, 呉 健太, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    Miniature vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) make various missions possible alone. Since simple tail-sitter UAVs have any extra equipments for tail-sitting maneuver, attitude control is difficult problem. This paper discusses agile turnaround flight utilizing post-stall maneuver for tail-sitter VTOL UAVs. The minimum longitudinal travel distance turnaround strategy is formulated and optimization problem is solved. In order to achieve agile turnaround stably, a novel attitude control strategy for a tail-sitter VTOL UAV is implemented. The results show that the...
  • 菅井 文仁, 姜 欣, 安孫子 聡子, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    One of the expected tasks by space robots is capturing a malfunctioning satellite. There are several works of capturing satellite, however, a few attempts has been carried out to capture an attitude-uncontrolled-satellite without the extra vehicle activity (EVA) by astronaut. This paper presents experiments of capturing a floating object under microgravity conditions by a teleoperated dual-arm space robot. Two teleoperation experiments are studied in this paper: (1) capturing a stationary floating object with time delay, (2) capturing a rotating object without time delay. The dual-arm space...
  • 安孫子 聡子, 梁 宰誠, 姜 欣, 近野 敦, 内山 勝
    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 presents a hybrid simulator of massive pay load transfer on orbit. The hybrid motion simulator is useful to simulate and analyze the motion of a floating object under collision and microgravity environment. The transfer of a massive pay load by a robotic system on orbit may have a risk of contingental collision. Therefore, it is required to investigate proper approach of handling the massive target in advance. This study developed the hybrid simulator to demonstrate the transfer of the massive payload on ground.
  • 岩川 和晃, 安孫子 聡子, 姜 欣, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    The touch-down is one promising method to collect samples on the surface of the asteroid. However the condition of the surface of the asteroid is generally unknown. Therefore, it is necessary to comprehend the dynamic behavior of the spacecraft after the contact on the variable types of the asteroid surface to guarantee the safe touch-down sample collecting. This paper describes dynamic simulation of the spacecraft during the contact with the asteroid. The spacecraft consists of a main satellite and a flexible sample collection apparatus. The results of the numerical simulation illustrate t...
  • KOO Kyongmo, 姜 欣, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2010年 
    A wire also called Deformable Linear Object(DLO) has a shape of simple line or spline. But has an uncertainty properties of deformation. We can see even the natural status of the wire has a different shapes caused by the internal stress and contact conditions. Especially extern condition determines the shape of the wire. We believe handling motion planning and strategies of DLO, we are considering the electric wire, can automate industrial application. Our interest is not a topological shape of wire, but the manipulation and assembly applications by multiple manipulators. As the first step,...
  • 高木 優, 阿部 幸勇, 姜 欣, 安孫子 聡子, 近野 敦, 内山 勝
    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 paper, the development of a haptic interface for a brain surgery simulator and a brain surgery simulator using the interface is presented. The haptic interface is composed of two 6-DOF haptic devices which consists of a surgical instruments attaching/detaching mechanism, a force-torque sensor, a 3-DOF rotation mechanism and a modified delta mechanism. The haptic interface enables to simulate medical operations with both hands at the area near the tip of two surgical instruments. In order to evaluate the performance of the interface, experiments are carried out. In the experiments th...
  • 松日楽信人, 小川秀樹, 淺間一, 山口亨, 近野敦
    日本ロボット学会学術講演会予稿集(CD−ROM) 2010年
  • 小水内俊介, 近野敦, 安孫子聡子, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2010年
  • LEE SongGi, JIANG Xin, 阿部幸勇, 安孫子聡子, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2010年
  • 野村勇樹, 小川修平, 菊地隆浩, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2010年
  • 大瀬戸篤司, 近野敦, 松本剛明, 呉健太, 増子弘二, 安孫子聡子, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2010年
  • 阿部 幸勇, 中村 泰三, 上野 武大, 佐藤 大祐, 近野 敦, 内山 勝
    福祉工学シンポジウム講演論文集 2009年09月 
    Nowadays, apparatus for berthing wheelchairs are configured in many vehicles for public transportation and welfare purpose. Many problems have also been found from practical usage of them. For example, they can not work well with all the wheelchairs of various sizes. Due to the improper fixing position, they are not stable enough confronted to transverse shake. Especially, for most of them, it is impossible to fasten and unfasten the apparatus by the disabled people themselves. In this research, a new kind of wheelchair with a built-in berthing apparatus is proposed. It is expected able to ...
  • 阿部 幸勇, 中村 泰三, 姜 欣, 近野 敦, 内山 勝
    福祉工学シンポジウム講演論文集 2009年09月 
    In many welfare vehicles, loading of wheelchairs and stretchers are assisted by winch embedded in the vehicle. However, most of the winches are not capable of braking in unloading operations. In many situations, the lack of braking implies potential dangers. In this research, a new kind of winch is proposed. It is characterized by the braking system designed for unloading operations. The system makes it possible to unload a wheelchair with a safe velocity and stop an unloading immediately as the operator likes. In addition, with the winch, the fasten belt can be withdrawn following the oper...
  • 阿部幸勇, 中村泰三, JIANG Xin, 近野敦, 内山勝
    日本機械学会福祉工学シンポジウム講演論文集 2009年09月
  • 阿部幸勇, 中村泰三, 上野武大, 佐藤大祐, 近野敦, 内山勝
    日本機械学会福祉工学シンポジウム講演論文集 2009年09月
  • 船川幸寛, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2009年09月
  • 大崎康平, YANG Jaesung, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2009年09月
  • JIANG Xin, KOO Kyong‐mo, 菊地宏平, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2009年09月
  • 松日楽信人, 淺間一, 山口亨, 近野敦
    日本ロボット学会学術講演会予稿集(CD−ROM) 2009年09月
  • 北 光一, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2009年05月 
    Tail-sitter is one of the simplest VTOL aircraft. However, because the flight control is difficult, past researches used special equipments to facilitate controlling. To make aerial robots smaller and simpler, we are developing an aerial robot that excludes these special equipments. Flight of VTOL aircraft can be broadly divided into three phases: vertical flight (including hovering), level-flight, and transition flight. This paper describes transition flight between level-flight and hovering of our tail-sitter VTOL aerial robot. The transition flight was constructed based on strategy that ...
  • 中山 雅野, 山田 健太, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2009年05月 
    In this paper, a separation model for blunt dissection simulation of a brain surgery is discussed. In the separation model, fracture behavior of brain tissue and its representation in the simulation are important. A brain tissue is modeled by using finite element method. The finite element model is composed of three layers in which a connective tissue model is sandwiched between two brain parenchyma models. In order to represent the fracture behavior in the finite element model, when the principal stress generated at an element exceeds its maximum, the element is removed from the model. In ...
  • 船川 幸寛, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2009年05月 
    There are haptic devices as devices that display the virtual reality to human. It is difficult to display the feeling of tactile sense either hardness or softness on hardware in past haptic device and it cannot display both tactile sense. This paper presents the design and development of a modified delta mechanism with variable stiffness. The proposed mechanism can be used as a haptic device to display virtual force and haptics. Since the stiffness at the endpoint of the mechanism is variable, the mechanism can display hardness as well as softness of a virtual object or virtual environment....
  • 北光一, 近野敦, 内山勝
    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年05月
  • 船川幸寛, 近野敦, 内山勝
    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年05月
  • 中山雅野, 山田健太, 近野敦, 内山勝
    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年05月
  • 極限環境下でのロボットによる作業  [通常講演]
    高エネルギー加速器研究機構 加速器全体打合せのための講演会 2009年
  • 宇宙で活躍するロボット，人と協力するロボット  [通常講演]
    三菱電機技術部会 2009年
  • 極限環境下でのロボットによる作業  [通常講演]
    高エネルギー加速器研究機構 加速器全体打合せのための講演会 2009年
  • 宇宙で活躍するロボット，人と協力するロボット  [通常講演]
    三菱電機技術部会 2009年
  • Analysis of Human Dexterity While Performing Tasks and Its Implementation on a Humanoid Robot  [通常講演]
    Shunsuke Komizunai, Atsushi Konno, Masaru Uchiyama
    Proceedings of the Sixth International Conference on Flow Dynamics 2009年
  • 大崎康平, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2008年09月
  • 松日楽信人, 吉見卓, 淺間一, 山口亨, 近野敦
    日本ロボット学会学術講演会予稿集(CD−ROM) 2008年09月
  • 姜欣, 阿部幸勇, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2008年09月
  • 北光一, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2008年09月
  • 阿部幸勇, 姜欣, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2008年09月
  • 大崎 康平, 高橋 遼平, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 
    A hybrid motion simulator generally suffers from a problem in which the kinetic energy of the system increases during contact because of delay times. This paper presents a compensation method for that problem. A dead time model that represents various delay times of the system is presented, and how the kinetic energy of the system is increased by the dead time is clarified. On the basis of that, a method to compensate for the dead time is proposed. This compensation method realizes a variable coefficient of restitution in the hybrid motion simulation. After that, experiments of uniaxial col...
  • 辻田 哲平, 小水内 俊介, 野村 勇樹, 大輪 拓矢, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 
    In order to exert a large force on the environment beyond the limitation of actuators, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." In this research, a nailing task is taken as an example of impact motion. To drive a nail skillfully, it is imperative to exert large force to a target point with precision. This paper presents evaluation of optimized motion based on virtual mass dynamics model. In order to evaluate the motion, experiments are carried out using a life-sized humanoid robot HRP-2. The position...
  • 菊地 真, 白田 聡, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 
    A humanoid robot has not achieved performance like a human. One factor of this matter is output shortage of a motor. The power weight ratio of the motor falls below that of a human's muscle, and the great progress of that cannot be expected. In order to overcome the limitation of performance, the load of motors must be reduced. A humanoid robot Saika-4 is equipped with a gravity compensation mechanism in the legs. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. This paper is aimed to evaluate utility of the grav...
  • 姜 欣, 矢部 洋輔, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 
    A vision-based vibration control approach had been proposed for flexible-link manipulators. It utilizes the information from end-effector camera to estimate vibration. Particularly, the image features necessary for this approach are not specified to the ones from any assumed objects like artificial markers. Thus this control method has to be capable of dealing with the random variation of the detected features. In this paper, a strategy is proposed to treat the case of feature disappearance.
  • 北 光一, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2008年06月 
    In this study, we developed a tail sitter type VTOL aerial robot, and a basic control system. The VTOL aircraft has advantages of both the rotorcraft and the fixed-wing aircraft. The tail sitter type VTOL aircraft doesn't need an extra actuator for the VTOL action like the tilt rotor type. On the other hand, because the attitude change is large, the control is difficult. The control of the VTOL aerial robot is roughly divided into three phases. The first is the take-off and landing, the second is the transition flight, and the third is the horizontal cruse flight. As the first step for cont...
  • 北光一, 近野敦, 内山勝
    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年06月
  • 菊地真, 白田聡, 近野敦, 内山勝
    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年06月
  • 辻田哲平, 小水内俊介, 野村勇樹, 大輪拓矢, 近野敦, 内山勝
    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年06月
  • JIANG Xin, 矢部洋輔, 近野敦, 内山勝
    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年06月
  • 大崎康平, 高橋遼平, 近野敦, 内山勝
    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年06月
  • Session 1  [通常講演]
    Workshop on Humanoid Robotics : State of the Art from Real Platforms 2008年
  • Session 1  [通常講演]
    Workshop on Humanoid Robotics : State of the Art from Real Platforms 2008年
  • 高橋大樹, 菅井文仁, 近野敦, 内山勝
    自動制御連合講演会(CD−ROM) 2008年
  • 野村勇樹, 大輪拓矢, 近野敦, 内山勝
    自動制御連合講演会(CD−ROM) 2008年
  • 明神智也, 近野敦, 内山勝
    自動制御連合講演会(CD−ROM) 2008年
  • 辻田哲平, 小水内俊介, 野村勇樹, 大輪拓矢, 西井文哉, 明神智也, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2007年09月
  • 高橋遼平, 佐藤大祐, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2007年09月
  • 明神智也, 辻田哲平, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2007年09月
  • 内海信之介, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2007年09月
  • 白田 聡, 菊地 真, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2007年05月 
    Performance of human size humanoid robots is strictly limited by performance of motors. The progress of the motors has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the humanoid robots can not be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to general biped robots. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the grav...
  • アヤズ ヤサル, 近野 敦, 内山 勝, ムナワル カリッド, マリック モハッマド ベラール
    ロボティクス・メカトロニクス講演会講演概要集 2007年05月 
    Superior navigational ability in everyday environments such as homes and offices is one of the primary incentives behind humanoid robotics research. Yet their ability to step over or upon obstacles remains unexploited if algorithms designed for wheeled robot navigation are also employed for humanoids. Recently, globalized strategies have been designed that do take into account this feature. Yet, due to high computational complexity, most of them remain highly time consumptive. A new approach is presented herewith that employs a human-like approach to terrain traversal. Results of its simula...
  • 辻田 哲平, 土江 拓郎, 明神 智也, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2007年05月 
    In order to effectively generate an impact motion of a humanoid robot, a motion generation support system is developed. The system visualizes not only a designed motion but also experimented motion. Force and torque generated in the experiment are superimposed on the experimented motion. The visualized ZMP, GCoM, force, moment and difference between the designed motion and the experimental result will help motion designer to improve the designed impact motion. A nailing task is taken as an example of an impact motion. A motion of a humanoid robot to drive a nail into a wooden plate with a h...
  • 白田聡, 菊地真, 近野敦, 内山勝
    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年05月
  • 辻田哲平, 土江拓郎, 明神智也, 近野敦, 内山勝
    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年05月
  • Enhanced Autonomy for Humanoid Robots to Work in a Real Environment  [通常講演]
    5th ICT-Asia Regional Seminar 2007年
  • Enhanced Autonomy for Humanoid Robots to Work in a Real Environment  [通常講演]
    5th ICT-Asia Regional Seminar 2007年
  • 土江拓郎, 船川幸寛, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2006年09月
  • JIANG Xin, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2006年09月
  • 菊地真, 白田聡, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2006年09月
  • 白田 聡, 近野 敦, 内山 勝
    知能メカトロニクスワークショップ講演論文集 2006年09月
  • 白田聡, 近野敦, 内山勝
    知能メカトロニクスワークショップ講演論文集 2006年09月
  • 小菅一弘, 坪内孝司, 大須賀公一, 正宗賢, 安田隆, 近野敦, 吉見卓, 安藤吉伸
    日本機械学会誌 2006年08月
  • 18・6 ヒューマノイド(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)
    近野 敦
    日本機械学會誌 2006年08月 一般社団法人日本機械学会
  • 石原聡之, 内海信之介, 近野敦, 内山勝
    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年05月
  • 内海信之介, 石原聡之, 天野大二朗, 小西雄太, 杉村武昭, 近野敦, 小柳光正, 内山勝
    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年05月
  • インパクト動作ヒューマノイドロボット「HRP-2」  [通常講演]
    内山勝, 近野敦
    日本ロボット学会誌 （社）日本ロボット学会 2006年
  • 内海 信之介, 石原 聡之, 天野 大二朗, 小西 雄太, 杉村 武昭, 近野 敦, 小柳 光正, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2006年 
    In order to achieve human-like situation awareness ability for robot, a high speed vision system is requisite. A vision system is composed vision chips and binocular camera head. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional (3D) integration technology. Image sensors are tentatively mounted on the camera head, because the 3D vision chip is under construction. The binocular camera head responds quick enough to reconstruct human eye movement. This paper describes the reproduction of a human pursuit eye movement using the vision sy...
  • 石原 聡之, 内海 信之介, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2006年 
    A small arial robot is developed in order to inspect the obstructed indoor hazardous areas such as disaster-stricken areas. Attitude sensors and CPU (Central Processing Unit) are integrated into a radio controlled small helicopter EP-CALIBER M24 (Kyosyo Corporation) for autonomous flight. The rate giro, the acceleration sensor, and the terrestrial magnetism sensor sensor are used to control the attitude. To confirm the effectiveness of the system,the flight experiment are performed, and succeed in the flight during about 3.5 [s]. This paper describes the detail of the development of the aut...
  • JIANG Xin, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2005年09月
  • 近野敦
    豊田研究報告 2005年05月 豊田理化学研究所
  • Humanoid Robots & Medical Applications- Research Activities in Japan -  [通常講演]
    Robotique Humanoïd & Applications Médicales 2005年
  • Humanoid Robots & Medical Applications- Research Activities in Japan -  [通常講演]
    Robotique Humanoïd & Applications Médicales 2005年
  • 阿部 幸勇, 近野 敦, 内山 勝
    日本機械学会東北支部秋季講演会講演論文集 2004年09月
  • 阿部幸勇, 近野敦, 内山勝
    日本機械学会東北支部秋季講演会講演論文集 2004年09月
  • 松本剛明, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2004年09月
  • 玉田 誠幸, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2004年06月
  • 白田 聡, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2004年06月
  • 白田聡, 近野敦, 内山勝
    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) 2004年06月
  • 谷田悠介, 阿部幸勇, 近野敦, 内山勝
    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) 2004年06月
  • 玉田誠幸, 近野敦, 内山勝
    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) 2004年06月
  • 521 Stiffness Indices for the Performance Evaluation of H4 Parallel Robot
    KADlRIKOTA Rajesh babu, KONNO Atsushi, UCHIYAMA Masaru
    講演論文集 2004年03月 一般社団法人日本機械学会
     
    Stiffness is the one of the prime and important aspects in determining the quality of design of parallel robots. Evaluating parallel robot based on stiffness will enable the designer to operate it in a given workspace with assured dexterity. Besides stiffness, condition number is also closely related to optimum design of parallel robot. Further, both stiffness and condition number will go to zero under Type-II singularity of parallel robot. Against this backdrop, this paper addresses, the development of objective function in terms of condition number as a function of stiffness matrix of H4 parallel robot. The proposed method will ensure that robot would exhibit equal and same quantity of stiffness in all directions of the workspace i,e. structural isotropy.
  • 最先端宇宙ロボット  [通常講演]
    平成16年度山形大学公開講座「ロボットの心と体」 2004年
  • 双腕冗長フレキシブルマニピュレータの協調制御  [通常講演]
    第5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 2004年
  • 最先端宇宙ロボット  [通常講演]
    平成16年度山形大学公開講座「ロボットの心と体」 2004年
  • 双腕冗長フレキシブルマニピュレータの協調制御  [通常講演]
    第5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 2004年
  • 近野敦, HWANG Y, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2003年09月
  • 宮部友博, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2003年09月
  • CHOI H‐B, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2003年09月
  • 玉田誠幸, 津田宗征, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2003年09月
  • 谷田悠介, 阿部幸勇, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2003年09月
  • 伊能寛, 立原周一, 朝井大介, 佐藤大祐, 近野敦, 内山勝
    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年05月 
    本論文では, 力覚情報と皮膚感覚情報を同時に呈示可能な遠隔操作システムについて述べる。オーグメンテッドリアリティ環境を介して高い臨場感を創出する操作環境を構築し, 基礎動作実験によってその検証を行う。
  • 立原周一, 伊能寛, 鷲野誠一郎, 佐藤大祐, 近野敦, 内山勝
    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年05月 
    本稿では双腕宇宙ロボットの遠隔操作実験システムについて述べる。本システムは2台のハプティックインタフェースをマスタアームとしている。これにより多様な操作が可能になる。また, 基礎動作実験を行い, 本システムの有効性を検証する。
  • 近野敦, 小笠原克久, 内山勝
    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年05月 
    ばねダンパによる摩擦モデルを導入し, 四脚歩行ロボットの動力学シミュレータを開発した。すべりが生じるような環境下における実際の四脚ロボットを用いた歩行実験と比較し, 摩擦モデルの妥当性を検証する。
  • HWANG Y, 近野敦, 内山勝
    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年05月 
    本稿では, 人間が全身を使って効率的に押し作業を行うことに着目し, ロボットの安定性を保ちながら全身を用いて対象物に最大接触力を加えることができるような姿勢について考察する。その結果をシミュレーションによる検証する。
  • CHOI H-B, 近野敦, 内山勝
    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年05月 
    現在, 産業で効率的に使われる4自由度パラレルロボットH4の設計を行っている。しかし, パラレル機構の作業範囲において複雑な特異点が存在する。本稿では, スクリュ理論を用い, 4自由度パラレルロボットH4の特異点解析を行った。
  • 上野浩, 川辺洋, 佐藤大祐, 近野敦, 内山勝
    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年05月 
    高い周波数帯域かつ広い運動呈示範囲を実現することを目的として, シリアル・パラレル機構を併用したハイブリッドシミュレータを開発した。本稿では, 2つのモーションテーブルによる相対運動の呈示, 及び構築したシステムの評価実験について述べる。
  • HWANG Y, 藤田淳, 川内直人, 猪平栄一, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2002年10月
  • CHOI H-B, COMPANY O, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2002年10月
  • 立原周一, 伊能寛, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2002年10月
  • 猪平栄一, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2002年10月
  • 宮部友博, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集(CD−ROM) 2002年10月
  • 小笠原克久, HWANG Y‐K, 猪平栄一, 近野敦, 内山勝
    日本機械学会東北支部地方講演会講演論文集 2002年09月
  • 小笠原 克久, 黄 潤權, 猪平 栄一, 近野 敦, 内山 勝
    講演論文集 2002年09月
  • 玉田 誠幸, 古田 友之, 猪平 栄一, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2002年06月 
    我々が開発してきたヒューマノイドロボット才華3は全身で計30自由度が配置されており, 頭部, 胴体, 腕部, ハンド, 脚部を備えているため様々な作業を実現することができる。特にヒューマノイドロボットは, 体幹位置を移動させることにより, 広範な作業領域を獲得できるという利点を持っている。本稿では, 作業中に, 体幹位置を移動しなければ届かない領域にハンドが及ぶ場合について, 作業を実現するための手法を提案し, 検証する。
  • 出口 淳, 三ツ谷 祐輔, 中川 源洋, 沈 正七, 近野 敦, 栗野 浩之, 小柳 光正
    講演論文集 2002年03月
  • 出口淳, 三ツ谷祐輔, 中川源洋, SHIM J C, 近野敦, 栗野浩之, 小柳光正
    日本機械学会東北支部総会・講演会講演論文集 2002年03月
  • HWANG Y, 猪平栄一, 近野敦, 内山勝
    自動制御連合講演会講演論文集 2002年
  • 柏崎寿宣, 宮部友博, 近野敦, 内山勝
    自動制御連合講演会講演論文集 2002年
  • 阿部幸勇, 佐藤大祐, 近野敦, 内山勝
    自動制御連合講演会講演論文集 2002年
  • 谷田悠介, 阿部幸勇, 近野敦, 内山勝
    自動制御連合講演会講演論文集 2002年
  • 三ツ谷祐輔, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 2001年09月
  • 宮部友博, 山野光裕, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 2001年09月
  • 猪平栄一, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 2001年09月
  • 猪平 栄一, 近野 敦, 内山 勝
    知能メカトロニクスワークショップ講演論文集 2001年08月
  • 猪平栄一, 近野敦, 内山勝
    知能メカトロニクスワークショップ講演論文集 2001年08月
  • 三ツ谷 祐輔, 加藤 雅麗, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2001年06月
  • 黄 潤權, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2001年06月
  • 古田 友之, 伊藤 陽夫, 近野 敦, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2001年06月
  • HWANG Y‐K, 近野敦, 内山勝
    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 2001年06月
  • 三ツ谷祐輔, 加藤雅麗, 近野敦, 内山勝
    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 2001年06月
  • 古田友之, 伊藤陽夫, 近野敦, 内山勝
    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 2001年06月
  • 近野敦, 古田友之, 内山勝
    日本ロボット学会学術講演会予稿集 2000年09月
  • HWANG Y‐K, 加藤雅麗, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 2000年09月
  • 猪平栄一, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 2000年09月
  • 宮部友博, 山野光裕, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 2000年09月
  • 近野敦, 三ツ谷裕輔, 内山勝
    知能メカトロニクスワークショップ講演論文集 2000年08月
  • 近野敦, 白田聡, 古田友之, 加藤雅麗, 内山勝
    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年05月
  • 近野敦, 三ツ谷裕輔, 加藤雅麗, 内山勝
    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年05月
  • Linux vs. RT-Linux vs. ART-Linux －フリーリアルタイムＯＳのトレンドを探る－  [通常講演]
    日本機械学会ロボティクス・メカトロニクス講演会チュートリアル 2000年
  • Linux vs. RT-Linux vs. ART-Linux －フリーリアルタイムＯＳのトレンドを探る－  [通常講演]
    日本機械学会ロボティクス・メカトロニクス講演会チュートリアル 2000年
  • 近野 敦, 白田 聡, 古田 友之, 加藤 雅麗, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2000年 
    現在開発中のヒューマノイドロット, 才華3の概要について報告する。開発中の才華3は, 脚部6自由度×2,腕部7自由度×2,ハンド部1自由度×2,視覚装置2自由度の合計30自由度で構成される予定である。これまでに開発した部分, および今後の開発計画について報告する。
  • 近野 敦, 三ツ谷 裕輔, 加藤 雅麗, 内山 勝
    ロボティクス・メカトロニクス講演会講演概要集 2000年 
    四脚知能ロボットJROB-2を開発した。また, 開発したJROB-2の遠隔操縦システムを構築した。本報告では, 遠隔操縦システムの概要, 遠隔操縦実験について発表する。
  • 加藤雅麗, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1999年09月
  • 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1999年09月
  • 山野光裕, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1999年09月
  • 山野光裕, 近野敦, 内山勝
    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年06月
  • 近野敦, 横小路泰義, 相山康道, 坪内孝司, 井上博允
    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年06月
  • JROB‐2の設計・開発  [通常講演]
    加藤雅麗, 近野敦, 内山勝, 井上博允
    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年06月
  • 普及型多足歩行ロボットの機構・制御系・歩容制御入門  [通常講演]
    日本機械学会ロボティクス・メカトロニクス講演会チュートリアル 1999年
  • 普及型多足歩行ロボットの機構・制御系・歩容制御入門  [通常講演]
    日本機械学会ロボティクス・メカトロニクス講演会チュートリアル 1999年
  • Flexible Manipulator Trajectory Learning Control with Input Preshaping Method  [通常講演]
    Liu Deman, Atsushi Konno, Masaru Uchiyama
    Proceeding of the 38th SICE Annual Conference, International Session Papers, Morioka, Japan 1999年
  • 加賀美聡, 近野敦, 陰山竜介, 椛沢光隆, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1998年09月
  • 山野光裕, 川口順央, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1998年09月
  • 長阪憲一郎, 近野敦, 西脇光一, 北川知伸, 杉原知道, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1998年09月
  • 宅間信介, 八重樫剛史, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 陰山竜介, 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 岡田慧, 加賀美聡, 椛沢光隆, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 原口聡, 椛沢光隆, 山高大乗, 加賀美聡, 近野敦, 稲葉雅幸, 井上博充
    日本ロボット学会学術講演会予稿集 1997年09月
  • 長嶋功一, 香山健太郎, 吉池孝英, 陰山竜介, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 吉池孝英, 長嶋功一, 野田卓郎, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 加賀美聡, 椛沢光隆, 原口聡, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 香山健太郎, 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 長阪憲一郎, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 長阪憲一郎, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 長阪憲一郎, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 八重樫剛史, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1997年09月
  • 三田太一, 野田卓郎, 長島功一, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 多田充徳, 近野敦, 長島功一, 吉池孝英, 稲葉雅幸, 井上博允
    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年06月
  • 佐藤克彦, 金広文男, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 阿部幸勇, 有山航太, 内山勝, 近野敦, 井上博允
    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年06月
  • 古川亮, 西脇光一, 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 香山健太郎, 長島功一, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 西脇光一, 近野敦, 長嶋功一, 古川亮, 稲葉雅幸, 井上博允
    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年06月
  • 椛沢光隆, 安藤毅, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 長島功一, 相山康道, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 稲葉雅幸, 杉田雄一郎, 長嶋功一, 近野敦, 井上博允
    日本ロボット学会学術講演会予稿集 1996年11月
  • 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1996年11月
  • 近野敦, 西脇光一, 長嶋功一, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1996年11月
  • 吉池孝英, 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1996年11月
  • 安藤毅, 椛沢光隆, 柴田智広, 近野敦, 稲葉雅幸, 井上博允
    日本ロボット学会学術講演会予稿集 1996年11月
  • 野田卓郎, 長嶋功一, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 吉池孝英, 近野敦, 長嶋功一, 岡哲資, 稲葉雅幸, 井上博允
    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年06月
  • 近野敦, 井上博允, 稲葉雅幸
    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年06月
  • NENCHEV D N, 郷緒昭夫, 平田剛彦, 近野敦, 阿部幸勇, 内山勝
    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年06月
  • 長嶋功一, 岡哲資, 近野敦, 稲葉雅幸, 井上博允
    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年06月
  • 稲葉雅幸, 岡哲資, 近野敦, 井上博允
    日本ロボット学会学術講演会予稿集 1995年11月
  • 井上博允, 近野敦, 森武俊, 長嶋功一
    日本ロボット学会学術講演会予稿集 1995年11月
  • 吉田和哉, 岡田茂, 三輪敏雄, 阿部幸勇, 近野敦, 内山勝, DRAGOMIR N
    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 1995年06月
  • 内山修, 近野敦, KIM J‐S
    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 1995年06月
  • フレキシブルマニピュレータの動力学モデリング  [通常講演]
    日本機械学会計算力学部門第８回計算力学講演会特別講演 1995年
  • フレキシブルマニピュレータの動力学モデリング  [通常講演]
    日本機械学会計算力学部門第８回計算力学講演会特別講演 1995年
  • KIM J, 内山勝, 近野敦, 薄井和明, 吉村一貴
    日本機械学会機械力学・計測制御部門講演会論文集 1994年06月
  • 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1993年11月
  • 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1992年10月
  • 近野敦, 内山勝, 村上真人
    日本ロボット学会学術講演会予稿集 1992年10月
  • 内山勝, 村上真人, 近野敦
    Dyn Des Conf 1992年07月
  • 近野敦, 内山勝
    Dyn Des Conf 1992年07月
  • 内山勝, 村上真人, 近野敦
    計測自動制御学会学術講演会予稿集 1992年
  • 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1991年11月
  • 村上真人, 近野敦, 内山勝
    日本ロボット学会学術講演会予稿集 1991年11月
  • 内山勝, 近野敦
    日本ロボット学会ロボットシンポジウム予稿集 1991年
  • 近野敦, 内山勝, 榛沢文久, 城島陽介
    日本ロボット学会ロボットシンポジウム予稿集 1991年
  • 近野敦, 内山勝, 城島陽介, 榛沢文久
    日本ロボット学会学術講演会予稿集 1990年11月
  • 内山勝, 近野敦, 内山隆, 神田真司
    日本ロボット学会学術講演会予稿集 1989年11月
  • 内山勝, 近野敦
    日本ロボット学会学術講演会予稿集 1988年10月

作品等

  • パートナーロボット（中量物）の開発
    2011年 -2012年
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    2011年 -2012年
  • Study for production process improvement
    2011年 -2012年
  • パートナーロボット（中量物）の開発
    2011年 -2012年
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    2011年 -2012年
  • Study for production process improvement
    2011年 -2012年
  • 双腕ロボットの高速・高精度位置決め制御技術の開発
    2010年 -2012年
  • 双腕ロボットの高速・高精度位置決め制御技術の開発
    2010年 -2012年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2012年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2012年
  • パートナーロボット（中量物）の開発
    2010年 -2011年
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    2010年 -2011年
  • 低騒音バックルの開発
    2010年 -2011年
  • Feasibility study for production process improvement
    2010年 -2011年
  • パートナーロボット（中量物）の開発
    2010年 -2011年
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    2010年 -2011年
  • 低騒音バックルの開発
    2010年 -2011年
  • Feasibility study for production process improvement
    2010年 -2011年
  • パートナーロボット（中量物）の開発
    2009年 -2010年
  • パラレルロボットに関する研究
    2009年 -2010年
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    2009年 -2010年
  • パートナーロボット（中量物）の開発
    2009年 -2010年
  • パラレルロボットに関する研究
    2009年 -2010年
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    2009年 -2010年
  • 新製品開発テーマの最適仕様・設計・製造へのご指導並び助言
    2008年 -2010年
  • 新製品開発テーマの最適仕様・設計・製造へのご指導並び助言
    2008年 -2010年
  • パートナーロボット（中量物）の開発
    2008年 -2009年
  • パートナーロボット（中量物）の開発
    2008年 -2009年
  • 自動車生産ラインにおける柔軟物取り付け作業の自動化
    2006年 -2009年
  • 自動車生産ラインにおける柔軟物取り付け作業の自動化
    2006年 -2009年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2008年
  • ロバストに作業を実行するための作業知能モジュール群の開発
    2008年 -2008年
  • French-Japanese research collaboration on cooperative robots
    2007年 -2008年
  • French-Japanese research collaboration on cooperative robots
    2007年 -2008年
  • ヒューマノイドロボットインパクト動作ライブラリーの開発
    2006年 -2008年
  • ヒューマノイドロボットインパクト動作ライブラリーの開発
    2006年 -2008年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2006年 -2007年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2006年 -2007年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2005年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発（レンタル・サポート）
    2005年 -2006年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2005年 -2006年
  • ヒューマノイド型双腕フレキシブルロボットの制御の研究
    2005年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発（レンタル・サポート）
    2005年 -2006年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2005年 -2006年
  • つま先自由度を持つ二足ロボットの生物規範型歩行
    2004年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発
    2004年 -2006年
  • つま先自由度を持つ二足ロボットの生物規範型歩行
    2004年 -2006年
  • HRP-2用インパクト動作生成ソフトウェアの研究開発
    2004年 -2006年
  • 軽量高速ヒューマノイドアームの振動抑制制御に関する研究
    2004年 -2005年
  • ロボットの自律性の高度化に関する研究調査と予備実験
    2004年 -2005年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2004年 -2005年
  • 軽量高速ヒューマノイドアームの振動抑制制御に関する研究
    2004年 -2005年
  • ロボットの自律性の高度化に関する研究調査と予備実験
    2004年 -2005年
  • 車椅子を安全・確実に固縛する装置の研究開発
    2004年 -2005年
  • ヒューマノイドロボットの全身協調力制御
    2003年 -2005年
  • ヒューマノイドロボットの全身協調力制御
    2003年 -2005年
  • 市販のモータに対応する力制御コントローラの研究開発
    2001年 -2003年
  • 市販のモータに対応する力制御コントローラの研究開発
    2001年 -2003年
  • 脚腕協調両手作業基礎理論の開発
    2000年 -2003年
  • 脚腕協調両手作業基礎理論の開発
    2000年 -2003年
  • 人に安全な，木材を利用した内骨格型ロボットアームの研究開発
    1999年 -2001年
  • 人間型ロボットの遠隔操縦に関する研究
    1999年 -2001年
  • 人に安全な，木材を利用した内骨格型ロボットアームの研究開発
    1999年 -2001年
  • 人間型ロボットの遠隔操縦に関する研究
    1999年 -2001年
  • マイクロ・ソフトメカニクス統合体としての高度生体機能機械の研究
    1996年 -2000年
  • マイクロ・ソフトメカニクス統合体としての高度生体機能機械の研究
    1996年 -2000年
  • 視聴覚統合能動制御ロボットヘッド
    1995年 -1996年
  • 視聴覚統合能動制御ロボットヘッド
    1995年 -1996年
  • フレキシブル双腕ロボットの協調制御に関する研究
    1993年 -1994年
  • フレキシブル双腕ロボットの協調制御に関する研究
    1993年 -1994年

その他活動・業績

特許

受賞

  • 2023年12月 計測自動制御学会 SI2023優秀講演賞
     内視鏡下副鼻腔手術におけるSHAP を用いた手術技量の分析 
    受賞者: 山田海俊,鈴木正宣,宮路洸,海老名光希,佐瀬一弥,辻田哲平,陳暁帥,安部崇重,小水内俊介,中丸裕爾,妹尾拓,本間明宏,近野敦
  • 2023年12月 計測自動制御学会 SI2023優秀講演賞
     腹腔鏡手術支援のための臓器特徴点を用いた臓器モデル位置合わせ 
    受賞者: 薄井浩生, 渋谷紗也華, 海老名光希, 佐瀬一弥, 陳暁帥, 小水内俊介, 安部崇重, 辻田哲平, 妹尾拓,的場光太郎, 近野敦
  • 2023年12月 Journal of Robotics and Mechatronics The Best Paper Award 2023
     Development of a Haptic Interface for Neurosurgical Simulators with a Micro Scissors Module for Displaying Cutting Force 
    受賞者: Teppei Tsujita;Yuto Inoue;Yutaka Takagi;Atsushi Konno;Satoko Abiko;Xin Jiang;Atsuhiro Nakagawa;Masaru Uchiyama
  • 2023年06月 日本機械学会 ロボティクス・メカトロニクス部門 部門貢献表彰
     
    受賞者: 近野 敦
  • 2023年03月 公益社団法人日本工学教育協会 JSEE AWARD
     
    受賞者: 近野 敦
  • 2023年03月 ソニーセミコンダクタソリューションズ株式会社 2022年度Sensing Solution大学共同研究プログラム 最優秀エンジニアリング賞
     気管内吸引支援のための聴診データ学習に基づいた喀痰貯留位置推定 
    受賞者: 藤原朋之;小水内俊介;近野敦
  • 2022年12月 計測自動制御学会 SI2022優秀講演賞
     仮想空間での血管吻合時の手技再現のための針による血管の変形シミュレーション 
    受賞者: 須田智輝,陳暁帥,近野敦,佐瀬一弥,辻田哲平,岡和彦
  • 2022年12月 計測自動制御学会 SI2022優秀講演賞
     脳神経外科手術のためのくも膜を考慮した脳モデルを用いた脳変形シミュレーション 
    受賞者: 高橋優里,陳暁帥,佐瀬一弥,辻田哲平,近野敦,岡和彦
  • 2022年12月 計測自動制御学会 SI2022優秀講演賞
     自動気管内吸引システムのための吸痰要否判別・喀痰貯留位置推定手法の検討 
    受賞者: 小水内俊介;コリー紀代;藤原朋之;近野敦
  • 2022年03月 ソニーセミコンダクタソリューションズ株式会社 2021年度Sensing Solution大学共同研究プログラム 最優秀アプリケーション賞
     気管内吸引支援のための聴診データ学習に基づいた 肺音の正常異常判別 
    受賞者: 藤原朋之;小水内俊介;近野敦
  • 2021年06月 日本機械学会ロボティクス・メカトロニクス部門 学術業績賞
     
    受賞者: 近野 敦
  • 2020年03月 IEEE CBS2019 Best Conference Paper Finalist
     Vessel Dissection Simulation for Neurosurgery Simulators Considering Subarachnoid Space Structure 
    受賞者: Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita and Atsushi Konno
  • 2019年03月 計測自動制御学会 SI2018優秀講演賞
     可変ピッチプロペラクアッドチルトロータドローンの性能検証 
    受賞者: 浦岡雅史;小水内俊介;近野敦
  • 2019年03月 計測自動制御学会 SI2018優秀講演賞
     脳神経外科手術支援ブレインシフトAR 表示 
    受賞者: 白井亮輔;陳暁帥;佐瀬一弥;小水内俊介;辻田哲平;近野敦
  • 2019年03月 計測自動制御学会 SI2018優秀講演賞
     生体反応を呈する喀痰吸引シミュレータESTE-SIMのための生体反応モデル（酸素飽和度および心拍数） 
    受賞者: 小水内俊介;コリー紀代;二宮伸治;近野敦
  • 2018年12月 IEEE ROBIO2018 Finalists of Best Conference Paper
     Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-type Haptic Interface Using MR Fluid 
    受賞者: Teppei Tsujita;Kazuya Sase;Xiaoshuai Chen;Masashige Tomita;Atsushi Konno;Masano Nakayama;Atsuhiro Nakagawa;Koyu Abe;Masaru Uchiyama
  • 2017年12月 計測自動制御学会 SI2017優秀講演賞
     提示力偏向機構を用いた携帯型 6 自由度力覚提示装置の開発 
    受賞者: 奥田悠斗;小水内俊介;近野 敦
  • 2017年12月 計測自動制御学会SI部門 貢献表彰
     SII2016実行委員長として貢献 
    受賞者: 近野 敦
  • 2017年12月 IEEE ROBIO2017 Best Paper in Biomimetics Finalist
     Analysis of Drop Test Using an One-Legged Robot Toward Parachute Landing by a Humanoid Robot 
    受賞者: Teppei Tsujita;Odpurev Altangerel;Satoko Abiko;Atsushi Konno
  • 2017年09月 一般社団法人日本ロボット学会 Advanced Robotics Best Paper Award
     Large Attitude Change Flight of a Quad Tilt Rotor Unmanned Aerial Vehicle 
    受賞者: Atsushi Oosedo;Satoko Abiko;Shota Narasaki;Atsushi Kuno;Atsushi Konno;Masaru Uchiyama
  • 2016年12月 IEEE ROBIO2016 Best Paper in Biomimetics Finalist
     Experimental and Numerical Analysis of Damage Fracture Mechanics of Brain Parenchyma 
    受賞者: Xiaoshuai Chen;Kazuya Sase;Atsushi Konno;Teppei Tsujita
  • 2015年05月 IEEE ICRA Conference Best Paper Award Finalist
     Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change 
    受賞者: Atsushi Oosedo;Satoko Abiko;Shota Narasaki;Atsushi Kuno;Atsushi Konno;Masaru Uchiyama
  • 2014年02月 IEEE Haptics Symposium Best Demo Award Finalist
     Encountered-Type Haptic Interface Using Magneto-Rheological Fluid for Surgical Simulators 
    受賞者: Teppei Tsujita;Takuya Kameyama;Atsushi Konno;Xin Jiang;Satoko Abiko;Masuru Uchiyama
  • 2011年12月 計測自動制御学会 SI2011優秀講演表彰
     塑性変形物体の自動組み立て動作生成 
    受賞者: Kyongmo Koo;近野敦;内山勝;野田哲男
  • 2011年11月 みやぎ産業科学振興基金 みやぎ産業科学振興基金研究奨励賞
     ヒューマノイドロボットの全身動作生成に関する研究 
    受賞者: 近野 敦
  • 2010年12月 SICE SII2010 Best Paper Award Finalist
     Development of a Static Sinkage Model for a Biped Robot on Loose Soil 
    受賞者: Shunsuke Komizunai;Atsushi Konno;Satoko Abiko;Masaru Uchiyama
  • 2010年12月 計測自動制御学会 SI2010優秀講演表彰
     垂直カナード翼を利用した航空ロボットの5自由度飛行シミュレーション 
    受賞者: 呉健太;松本剛明;大瀬戸篤司;増子弘二;近野敦;内山勝
  • 2010年10月 IEEE/RSJ/ICROS IROS Best Application Paper Award Finalist
     Robotized Assembly of a Wire Harness in Car Production Line 
    受賞者: Xin Jiang;Kyong-mo Koo;Kohei Kikuchi;Atsushi Konno;Masaru Uchiyama
  • 2006年10月 計測自動制御学会 SI2005ベストセッション賞
     ヒューマノイドロボットHRP-2による和太鼓演奏の実現 
    受賞者: 松本剛明;近野敦;伊勢紘人;内海信之介;菊地真;佐藤大祐;阿部幸勇;内山勝
  • 1999年04月 日本機械学会 奨励賞（研究）
     研究用プラットフォームヒューマノイドロボット「才華」の開発 
    受賞者: 近野 敦

共同研究・競争的資金等の研究課題

  • 災害医療対応・外傷処置・外傷手術XR 遠隔支援システムの開発
    防衛装備庁：令和5年度安全保障技術研究推進制度
    研究期間 : 2023年11月 -2028年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2023年06月 -2026年03月 
    代表者 : 近野 敦, 妹尾 拓, 小水内 俊介
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2023年04月 -2026年03月 
    代表者 : 近野 敦, 安部 崇重, 妹尾 拓, 小水内 俊介, 安孫子 聡子, 辻田 哲平, 陳 暁帥, 佐瀬 一弥
  • 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 : コリー 紀代, 二宮 伸治, 金井 理, 近野 敦, 井上 創造, 中村 美鈴, 小水内 俊介
     
    本研究では、①医療事故の体験も可能な人工呼吸器複合現実シミュレータの開発と、②機械学習を用いた特徴量抽出による学習評価アルゴリズムの構築を目的としている。
    ①に関しては、広島国際大学の二宮教授ラボにおいて人工呼吸器の操作パネルと測定値グラフの表示が可能な人工呼吸器トレーニングアプリSimmarを開発いただき、関東圏の2大学において大学院生約40名を対象としたユーザテストとアンケート調査を実施した。その結果、卒後1年目から人工呼吸器に携わったと回答した者が30名(71.4%)、学部レベルでSIMMAN-ALS5000を使用した経験のある12名のうち、8名が満足したと回答し、4名が不満と回答した。大学院レベルでSIMMAN-ALS5000を使用した17名のうち、12名が満足したと回答した。まともに習ったことがないという自由記載も認められた。同時に、特別支援学校における人工呼吸器装着児への看護師のかかわりについて360度動画教材を開発し、アンケートを実施したところ、教材の難易度について、学部3年次の学習内容として適切と回答した者が約8割、学部4年次として適切と回答した者が同じく約8割であった。2023年度はこれらの結果と学会発表後のディスカッションを踏まえ、教材の難易度を設定する。
    ②に関しては、九州工業大学の井上教授と共に機械学習において抽出すべきタスクについて検討し、先行研究に基づき、手袋着用から手袋廃棄までの気管内吸引の一連の流れを1回の気管内吸引とし、吸引前の判断指標となる「肺音聴診」、吸引後の看護介入である「体位ドレナージ」を含めた行動認識のためのアノテーションを進めている。翌年度は、習熟度を判定する分類器の開発を進める。
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2021年04月 -2024年03月 
    代表者 : 安部 崇重, 渡辺 雅彦, 七戸 俊明, 篠原 信雄, 近野 敦
     
    鉗子動態に基づく手術技量評価法の開発 これまでのウエットラボ参加者70名の鉗子動態計測データを用いて、手術経験数を熟練度の指標として用い、サポートベクターマシン等を用いて、鉗子動態に基づく手術技量分析能を評価した。良好な弁別能を観察しており、現在論文投稿中である。また、これまでのウェットラボ記録ビデオに関して、腹腔鏡手術技術評価表であるGOALS評価表を使用し、2名の腹腔鏡技術認定医による技術評価を修了した。GOALS評価表は、1. Depth perception, 2. Bimanual dexterity, 3. Efficiency, 4.Tissu handling, 5. Autonomy の5項目を、それぞれ1-5段階で評価を行う形式で、5-25点の点数が割り付けられる。R3年度は、鉗子動態計測値とGOALSスコアの相関評価を行い、鉗子動態に基づく機械学習を用いたGOALSスコアの自動計算法を開発した。現在、論文投稿中である。
    カダバーを用いた腹腔鏡下腎摘除術トレーニングプログラムの開発と鉗子動態の計測・解析 使用するカダバーは、シール法と呼ばれる固定方法の献体で、生体と比較し良好な組織類似性が特徴である。2020年9月末より腹腔鏡下腎摘除術トレーニングにおいて、三眼カメラOptiTrack V 120 Trioを用いて鉗子動態計測を開始している。R3年度は、18名の参加者に関して、カダバー腹腔鏡下腎摘除術の鉗子動態の測定を行った。
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2018年04月 -2023年03月 
    代表者 : 林 俊哲, 大沢 伸一郎, 佐藤 洋, 中川 敦寛, 荒船 龍彦, 近野 敦, 辻田 哲平, 陳 暁帥, 佐瀬 一弥
     
    共同研究者と定期的に(概ね1回/月TV会議および年数回程度東京などにて)会議を行い新規レトラクタの構造や材料について議論を行なっている．また共同研究と共に試作品を設作成し会議にて議論を重ね，数度の改変を行い暫定的なレトラクタを数種類作成した．概ね設計コンセプトは確立されたが材料の選定，臨床実証を行う上での細かな構造改変が必要であり，ディスポーザブルなシース構造とシースを拡大する構造のブラッシュアップをさらに重ねる方針となった. 暫定的なレトラクタの試作品を用いてブタ脳に対する穿刺実験を累計5回施行し，レトラクタが脳に与える影響について検討を行なった．ブタ実験の結果，これまで臨床に使用されているタイプに模したレトラクタと新規レトラクタを比較したところ，手術中の脳圧に対する影響は同程度であり，脳に対する損傷程度は両者で同等ないし新規レトラクタで損傷程度が少ないとの所見と考えられた．さらに病理組織所見による検討では，新規レトラクタでは拡大率が小さい場合には既存のレトラクタとの差異はほとんどみられないものの，拡大率を大きくした場合には同等のレトラクタ径で穿刺を行った場合には，新規レトラクタにおいて穿刺部位周囲の脳実質における出血抑制効果が認められ，脳損傷の程度は同程度であり新規レトラクタの有用性が示された． 上記結果を踏まえ，新規レトラクタのヒトへの臨床実証を行う予定であり，実証のためのヒト脳へ応用可能なレトラクタを新たに作成中である．現在共同研究者とレトラクタの構造設計を試行錯誤しており，3Dプリンタによる模型を作成しつつ実用レトラクタを試作中である．また，レトラクタに装着する圧モニターの小型化および汎用性について情報を収集し対応中である．
  • 多自由度空中力触覚提示デバイスの開発
    ソニーセミコンダクタソリューションズ株式会社：共同研究
    研究期間 : 2022年04月 -2023年03月 
    代表者 : 近野敦
  • 溶接士視野映像を用いた定量化技術に関する研究
    川田テクノロジーズ株式会社：共同研究
    研究期間 : 2022年05月 -2022年10月 
    代表者 : 近野敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2019年04月 -2022年03月 
    代表者 : 辻田 哲平, 佐藤 大祐, 安孫子 聡子, 近野 敦, 山田 俊輔
     
    膝部の柔軟関節にSEA(Series Elastic Actuator)であるHEBI Robotics社製のX-シリーズアクチュエータのX8-9を搭載した一脚ロボットの衝撃試験を行い，SEAのシステム同定と動力学シミュレーションによるロボット全体の挙動の再現行った．また，柔軟関節を有する二脚ロボットの試作も行った． SEAのシステム同定を行うために，片側を地面に固定した2リンク1関節ロボットの関節部にX8-9を用い，もう片側のリンクに硬球を振り子によって衝突させることが可能な実験装置を開発した．振り子の高さを変化させることで衝撃力を変化させ，各実験における関節角度の時系列変化を取得した． SEAをバネ，ダンパ，アクチュエータ要素でモデリングし，このモデルの係数を実験結果と誤差が最小化されるように最適化計算を行うことで導出した．その後，このSEAモデルをMathworks社製マルチボディダイナミクスシミュレーションソフトウエアであるSimscape Mulibody上で2リンク1関節ロボットの動力学計算モデルに導入し，柔軟関節を有するロボットの動力学シミュレータを開発した．このシミュレータの精度検証を行うために，2リンク1関節ロボットを実際に10mmの高さから関節角度45°で落下させ，そのときの関節角度の時系列変化と比較をおこなった．落下時の関節角度誤差は2°程度と動作生成に十分な精度を有することがわかった． また，これまで開発してきた柔軟関節を有する一脚ロボットは，シリアルリンク構造をとっており，足部に搭載されたアクチュエータに直接衝撃が印可される，脚を高速に運動させることができないといった問題があった．そこで，パラレルリンク機構の内部に柔軟要素をもたせることで，これらの問題を解決することが可能な二脚ロボットを開発した．
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2018年04月 -2022年03月 
    代表者 : 近野 敦, 七戸 俊明, 安孫子 聡子, 辻田 哲平, 陳 暁帥, 佐瀬 一弥, 小水内 俊介
     
    従来の手術支援システムは，患者の手術前検査医用画像から作成した臓器モデルを患者の映像に重畳表示し，患部の位置などを手術者に提示する．しかし手術が進行し臓器の一部が切除されてもその情報は更新されず，手術の進行と共に手術支援画像と実際の臓器が乖離していく問題があった．そこで本研究では，腹腔鏡手術中の手術器具の位置を追跡し，推定された手術器具の先端位置と臓器のモデルが接触すると，手術と並行して実施している動力学シミュレーションが臓器の変形と内部に発生する応力を計算し，患者に投影している内臓モデルや大型モニターに表示している情報を更新し，手術者に提示するシステムのプロトタイプを開発した．
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2018年04月 -2021年03月 
    代表者 : 中川 敦寛, 冨永 悌二, 遠藤 俊毅, 中西 史, 大沢 伸一郎, 齋藤 竜太, 山下 慎一, 唐澤 秀明, 辻田 哲平, 荒船 龍彦, 大谷 清伸, 近野 敦, 八木橋 真央, 森田 隆弘, 西嶌 泰生
     
    本研究の目的は、申請者らが原理開発から臨床研究まで開発を進めたパルスジェットメスに微弱衝撃波を印加することで、内視鏡下に脳内浸潤病変境界部への薬剤深達が得られることを明らかにすることである。本研究では、1. 浸潤病変部の物性値を物性工学的検討で測定、2． 微弱衝撃波印加後のパルスジェットの流体動態と組織内深達効果を流体工学、模擬モデルを用いた検討、組織学的検討で臨床的に有用性をもたらすことができる条件を同定、3.模擬モデルおよび動物モデルで内視鏡下手術用パルスジェットメスに微弱衝撃波を印加、照射し、従来の切開、剥離に加え局所病変制御効果を評価した。
  • IoTデバイスによる外科手術技量評価システムの研究開発
    ソニーセミコンダクタソリューションズ株式会社：共同研究
    研究期間 : 2020年04月 -2021年03月 
    代表者 : 近野敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2017年04月 -2020年03月 
    代表者 : コリー 紀代, 金井 理, 近野 敦, 二宮 伸治, 中村 美鈴, 浅賀 忠義, 井上 創造, 小水内 俊介, 萬井 太規, 村田 恵理
     
    本研究では、気管内吸引を実施する過程で必要となる「瞬時の多角的判断」と「繊細なカテーテル操作」を訓練するため、患者の生体反応を３D映像投影で呈示するProjection Mappingシミュレータを開発し、気管内吸引の吸引時間延長による動脈血中酸素飽和度の低下、という臨床的に頻度の高いシナリオを用いた看護師の判断能力への効果を、視線計測とモーションキャプチャーという客観的指標を用いて検証した。 その結果、看護学生と看護師の視線と動作の特徴について一定の見解が得られたため、論文化し、国際ジャーナルに投稿する予定である。また現在、所属機関の産学連携部を通じて特許出願中である。
  • 粒子法－有限要素法連成解析手法の開発補助事業
    公益財団法人JKA：自転車等機械振興事業に関する補助金
    研究期間 : 2018年04月 -2020年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2016年04月 -2019年03月 
    代表者 : 辻田 哲平, 安孫子 聡子, 佐瀬 一弥, 近野 敦, 中川 敦寛, 冨永 悌二
     
    機能性流体とは外場を変化させることで諸機能を発する流体であり，この機能性流体の一種であるＭＲ (Magnetorheological) 流体を脳組織に見立て，直接切断・圧排等の操作を行うことで，術具の交換が容易であり，微細な力触覚を提示可能な手術シミュレータ用力触覚提示装置を開発した．また，ＭＲ流体の切断・圧杯は従来にない流れモードでの利用であり，その流動現象は解明されていない．このため任意形状の術具に対する抵抗力を予測できず，経験的な設計に頼っていた．そこで抵抗力発生メカニズムを明らかにし，発生抵抗力を予測可能な数値シミュレータの基礎検証を行った．
  • 小型回転翼飛行体の制御性向上に関する研究
    川田テクノロジーズ（株）：共同研究
    研究期間 : 2018年04月 -2019年03月 
    代表者 : 近野 敦
  • ドローン状態量推定技術の研究
    川田テクノロジーズ（株）：共同研究
    研究期間 : 2017年04月 -2018年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2015年04月 -2018年03月 
    代表者 : 近野 敦, 冨永 悌二, 中川 敦寛, 辻田 哲平, 小水内 俊介, 陳 暁帥
     
    脳神経外科手術では，手術部位の3次元位置を計測し手術前に撮影した患者のCT画像やMRI画像を重畳することで病変部の位置を手術者に視覚提示するニューロナビゲータが広く用いられている．しかし手術中の脳脊髄液漏出や腫瘍除去によって引き起こされるブレインシフトと呼ばれる脳変位により，ナビゲーションが不正確になるという問題があった．本研究では，実時間動力学手術シミュレーションにより，ブレインシフトや応力分布を実時間で手術者に提示できるシステムを開発した．また，CTやMRIなどの医用画像から，実時間動力学手術シミュレーションで用いる患者の脳の有限要素モデルを半自動で生成する手法を開発した．
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2015年04月 -2017年03月 
    代表者 : 辻田 哲平, 近野 敦, 安孫子 聡子
     
    災害現場でのタスクの実行方法については積極的に議論がなされているが，ロボットをいかにして災害現場に搬送するかといった重要な問題についてはほとんど議論がなされていない．そこで，ロボットを災害現場へ運ぶ方法の1つとして，飛行機からパラシュートを備えたヒューマノイドロボットを投下することを提案する． なかでも本研究では，ロボットの損傷防止のために着陸時の衝撃を全身運動で吸収する方法の確立を目指す．研究の初期段階として，小型の片脚ロボットを用いた落下試験を実施した．これらの実験から得られた観点から小型ロボットのパラシュート着地動作を試行錯誤的に設計し，衝撃による加速度を40％に低減することに成功した．
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2014年04月 -2017年03月 
    代表者 : 近野 敦, 小水内 俊介
     
    複数ロボット協調物体搬送ではリーダー・フォロワー型協調制御が盛んに研究されてきたが，リーダーが動作を始めてからフォロワーがその力に応じて動作計画を行うため，二足歩行ロボットではその動作の時間遅れにより転倒する危険性がある．そこで本研究では，全てのロボットが対等に動作する対称型協調制御を開発した．動力学シミュレーションで，リーダー・フォロワー型協調制御ではヒューマノイドロボットの何台かが転倒に至るような搬送速度でも，提案する対称型協調制御では全てのロボットが転倒することなく物体搬送が可能であることを示した．2台の実ヒューマノイドロボットを用いて物体搬送実験を行い，提案手法の有効性を確認した．
  • 力覚触覚提示装置を用いた脳外科手術シミュレータの開発
    日本学術振興会：最先端・次世代研究開発支援プログラム
    研究期間 : 2010年04月 -2014年03月 
    代表者 : 近野 敦
  • 双腕ロボットの高精度位置決め技術の開発
    川田工業（株）：共同研究
    研究期間 : 2010年04月 -2013年03月 
    代表者 : 近野 敦
  • ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発
    三菱電機（株）：共同研究
    研究期間 : 2009年04月 -2012年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2010年 -2012年 
    代表者 : 浅井 圭介, 永井 大樹, 沼田 大樹, 姜 欣, 近野 敦, 中北 和之, 近野 敦
     
    本研究は,航空機の非線形領域における動安定性を調べる実験技術として,ハイブリッド・アプローチによる次世代動的風洞試験法を開発することを目的としている.従来のシリアルロボットに加えて,新規にHEXA型パラレルロボットとその制御系を開発し,それらを用いて縦運動と横運動が連成する2自由度の加振実験を実施した.これと並行して,非定常感圧塗料や蛍光ミニタフトなどの先進的な光学計測手法を開発し,非定常運動するデルタ翼面上の前縁剥離渦の崩壊や空気力への周波数の影響を実験で明らかにした.これら一連の実験により,非線形飛行力学の研究を行うための基盤技術を構築することができた.
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2009年04月 -2011年03月 
    代表者 : 近野 敦, 内山 勝, 姜 欣, 阿部 幸勇, 安孫子 聡子
     
    本研究では,災害発生時に上空から被災地の情報を収集することを目的とした,ポータブルテールシッターVTOL型無人航空機を開発する.平成22年度は,飛行シミュレータの開発,ホバリング制御の開発を行った. 平成21年度に構築した飛行モデルを用いて,飛行シミュレータを開発した.実際の機体に制御則を実装する前に,この飛行シミュレータで制御則の有効性を確認した. まず,GPS情報に基づく定位置ホバリング制御を開発した.GPS情報では機体の高度に関して精度が得られないので,地面との距離を計測する超音波センサと気圧差を利用した高度計を併用して機体の高度を制御することとした.プロペラを一つのみ有する単発機では,メインローターの回転による反動トルクが発生し,何も制御しないとヨー軸周りに回転してしまう.そこでヨー軸周りの反動トルクをエルロン(補助翼)で抑制する制御則を開発した. 次にホバリングしながらの指定経路追従制御を研究開発した.ホバリングしながら経路追従を行うためには,水平方向に力を発生させなければならない.ここではエレベータ(昇降舵)とラダー(方向舵)の舵面にプロペラ後流(ダウンウォッシュ)を当てることで水平分力を作り出す制御を試み,実機での制御実験を行い,その有効性を検証した.
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2009年04月 -2011年03月 
    代表者 : 近野 敦, 内山 勝, 姜 欣, 阿部 幸勇, 安孫子 聡子
     
    平成22年度は,転倒回避制御および戦略の改良と小型ヒューマノイドロボットによる転倒回避実験を行った.平成21年度に開発した転倒回避戦略を,小型ヒューマノイドロボットによる転倒回避実験の結果をフィードバックしながら改良した. 小型ヒューマノイドロボットによる転倒回避実験のために,開発済みの衝撃力印加装置およびロボット保護センサスーツを改良し,ロボット前方からだけでなくあらゆる方向から衝撃力を印加できるように整備した.転倒回避制御のために,加速度センサ,ジャイロスコープからのセンサ情報を融合しながら転倒を判断する指標を作成した.小型ヒューマノイドロボットに様々な大きさの衝撃力を印加して,そのときの転倒判断指標と転倒したかどうかの結果から,作成した転倒判断指標が妥当であることを検証した.転倒していると判断した後,反射的に行動を起こさなければならないため,予めいくつかの回避行動パターンを用意しておき,それらを組み合わせることで転倒を回避する手法を開発した. 片足支持期を想定して衝撃力を印加し,転倒回避制御と戦略が有効に機能しているかを実験的に検証した.また人間サイズヒューマノイドロボットでの転倒回避実験の一部を前倒して実施した.
  • ロバストに作業を実行するための作業知能モジュール群の開発
    新エネルギー・産業技術総合開発機構：次世代ロボット知能化技術開発プロジェクト
    研究期間 : 2007年04月 -2011年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2008年 -2010年 
    代表者 : 阿部 幸勇, 内山 勝, 近野 敦, 姜 欣, 安孫子 聡子
     
    本研究における成果は, 大きく分けて次の二つである. (1)起歪部にH形スリットを持つダブルビーム機構を採用する事で, 荷重位置と実荷重を同時測定する手法をFEAと実験モデルによって見いだした.このことにより, 操作者の違いによる把持位置変化の影響を排し, 実際の把持力のみを知る事ができる. (2)力覚提示機能を持つマイクロピンセットでは操作時の僅かな過大力が大きな損傷を生むことから, その過負荷防止は極めて重要である.そこで, 微小な起歪体に適した新たな過負荷防止機構を提案した.
  • ヒューマノイドロボットインパクト動作ライブラリーの開発
    新エネルギー・産業技術総合開発機構：産業技術研究助成事業
    研究期間 : 2005年04月 -2008年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2007年 -2008年 
    代表者 : 内山 勝, 近野 敦, 佐藤 大祐, 姜 欣, 阿部 幸勇
     
    本年度は脳外科手術における鈍的な剥離、切断のような両手を用いて術具を操作する場合において、そのシミュレーションと任意の術具の使用可能な手術シミュレータの構築を行った。この構築したシステムでは, これまで用いてきたハプティックインタフェースの姿勢部の改良に加え, 実際の手術機器をハプティックインタフェースの先端に簡単な操作で取り付けられる器具着脱機構の設計を行った。構築したシステムでは、手術中において、脳べら、剥離子、マイクロ剪刀などの交換および組み合わせての使用を想定している。 また、手術する際、手術機器が脳組織に与える動的な影響を考慮することから、動的な変形の表現可能なモデル化手法について提案した。この提案した手法を脳べらによる押し込み操作シミュレーションに適用し、その有効性を確認した。この手法を導入したことにより、脳組織の変形挙動は、従来までの手術機器の操作速度、加速度を考慮しない静的なものから, 生体軟組織の振動を含む動的なものに拡張でき、より現実に近いものになってきている。 そのうえで、手術手技の基礎的な部分、なかでも鈍的剥離操作に重点をおいて研究を行った。鈍的剥離操作は組織をメスやハサミなどの鋭利な部分で切開するのではなく、鈍的なものを用い、押し広げながら切開していく方法である。これは脳深部を対象とした手術において、重要な手技の一つである。この研究において、操作者が実際の剥離子を用いて剥離操作を行う際、発生する鈍的剥離現象を対象に、剥離モデル、リアルタイムシミュレーションに必要な反力、変形計算手法を提案した。また、提案した剥離モデルと計算手法を実物における剥離現象に適用し、評価を行って、その有効性を確認した。
  • 軽量高速ヒューマノイドアームの振動抑制制御に関する研究
    （株）NTTドコモ：共同研究
    研究期間 : 2004年04月 -2007年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2006年 -2007年 
    代表者 : 阿部 幸勇, 内山 勝, 近野 敦, 佐藤 大祐, 姜 欣
     
    本研究の課題であるH形溝付きはり構造を用いた高剛性で高感度なマイクロ力覚センシングデバイスの製作にむけ,以下のような成果を得た. 1)H形溝付きはりをSiなどの高脆材に用いる場合,変形部の応力集中と疲労破壊が問題となる.そこで,これまでの解析結果に加え溝の内側と外側における応力を別々に解析したうえで最適溝形状の検討を行なった.その結果,楕円の長軸と短軸の比が1/5程度のものが有効であるという結果を得た. 2)溝付きはりをAFMなどのカンチレバーとして用いる場合,触針先端の変化が問題となる.また平行移動機構として用いる場合の寄生角も課題である.そこで変形帯域の大きなTi-Ni系超弾性合金を用いての予備実験を考えたが,材料の調達が困難なことから実現できずFEAによる解析にとどまった. 3)微小力の測定には不用意な外力への防止策が極めて重要となる.そこで我々が提案をしている過負荷防止機構の有用性について実験的に検証した.また,この作動点の決定には溝付きはりの回転中心が重要なことから,FEAによる解析を行い,定性的ではあるが各溝形状の回転中心を求めた.さらに,提案した過負荷防止機構は溝付きはりの溝の形によって複数軸力の過負荷にも応用できることを示した. 4)H形溝付きはりの微小力測定への応用として脳外科手術用の剪刀に力測定部を構成したデバイスを作製し,切断感覚提示装置の開発を行った. 5)微小な6軸力覚センサの実現に向けてスチュワートプラットフォーム型の構成を考え,FEAによる解析を行った.しかし現在,各軸力の信号のクロストーク(混信)を防ぐまでは至っていない. 6)これらで得られた成果を,学術論文,国際会議および国内の学術会議において発表した.
  • 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 : 2006年04月 -2007年 
    代表者 : 近野 敦, 内山 勝, 姜 欣, 阿部 幸勇, 佐藤 大祐
     
    ヒューマノイドロボットが外界環境に力を作用するような作業において,腕部や脚部などに備えられた個々のアクチュエータの駆動力だけでは作業対象に対して十分な力を与えられない場合に,ロボットの身体全体を運動連鎖させ,蓄積・伝達される運動量を力積として加えることで望みの力を生み出す動作(ここではインパクト動作と呼ぶことにする)について研究を行った.まず,発生する衝撃力およびその後の運動について,インパクトダイナミクスの数値モデルを構築した.また,ある作業が与えられたときに,その作業を遂行するためのインパクト動作を自動生成する手法を開発した.この動作生成手法では,発生する衝撃力を出来るだけ大きくしつつ,ロボットの姿勢変動を最小化するよう,最適化を行う.開発したインパクト動作自動生成法を,小型ヒューマノイドロボットによる空手板割り実験で検証した.人間が手動で生成した空手動作では,5mmの板圧の合成板を割る成功率は10%であったが,開発したインパクト動作自動生成法による動作では,成功率は90%まで向上した.インパクト動作では,自らが発生する衝撃力が,そのまま反力として跳ね返ってくるため,大きな衝撃力に対する転倒安定性が問題となる.小さな衝撃力に対しては,胴体移動のみでその力を吸収するが,大きな衝撃力が発生する場合に備え,脚の踏み代え動作で転倒を回避する手法を開発した.小型ヒューマノイドロボットによる実験で,開発した転倒回避手法の有効性を検証した.
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2004年 -2007年 
    代表者 : 内山 勝, 近野 敦, 佐藤 大祐, 姜 欣, 阿部 幸勇
     
    本研究では,研究代表者がこれまで培ってきたハイブリッドモーションシミュレーション技術を核として,双腕宇宙ロボットの次世代遠隔操作技術の獲得を目指す。具体的には,双腕宇宙ロボットによるトラス構造物組立作業と人工衛星の回収作業を対象とし,これらの作業を研究室内で模擬する双腕宇宙ロボット遠隔操作作業模擬システムを構築し,この作業模擬環境において,これらの作業の実現を目指す。研究の成果は,以下のように要約される。 1. 2自由度のX-YテーブルとHEXA型パラレル機構による6自由度のモーションテーブル、無限回転物体の模擬が可能な1自由度スピンテーブルの組み合わせによる9自由度構成とした運動提示機構を導入し,新たな双腕ロボット遠隔作業模擬実験システムを構築した。 2. 1で開発されたシステム用いて,時間遅れを伴った状態での組立技術の開発を行った。この過程で,組立手順の一部自律化、視覚センサによる作業支援などの方法を提案した。これらの方法をロボットに実装し,5秒の時間遅れを伴った場合での遠隔操作によるトラス構造物の組立を実現した。 3. 遠隔操作シミュレーションの特徴の一つであるハイブリッドモーションシミュレータの信頼性にかかわる力学的整合性について,解析を行った。数値モデルの反発係数を指標としての評価方法を確立し,整合性に大きく影響するサーボ誤差やサンプリング周期によるシステムの遅れ時間を報償する方法を提案した。 4. 開発された次世代双腕遠隔作業模擬システムの応用として,双腕宇宙ロボットによるスピン衛星捕獲作業を想定し,双腕宇宙ロボットによる回転体把持作業模擬を行った。この作業模擬実験の結果をもとに,微小重力環境下での双腕回転体把持という高度な作業の把持戦略の検討を行い,実際の模擬実験から提案した戦略の有効性を確認した。これにより,システムの全体の有効性を証明した。
  • つま先自由度を持つ二足ロボットの生物規範型歩行
    日本学術振興会：日仏交流促進事業共同研究
    研究期間 : 2004年04月 -2006年03月 
    代表者 : 近野 敦
  • 自由度縮退を利用したヒューマノイドロボットの全身協調力制御
    日本学術振興会：科学研究費補助金 若手研究(A)
    研究期間 : 2003年04月 -2006年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業 萌芽研究
    研究期間 : 2005年04月 -2006年 
    代表者 : 近野 敦, 内山 勝, 阿部 幸勇, 佐藤 大祐
     
    ダイナミック動作の例として,空手手刀による板割りをとりあげ理論解析を行った.空手手刀による板割りでは,手刀が板にインパクトする瞬間の運動量変化が板に対する力積として作用し,板を破断する.まず,人間の空手手刀動作を参考に,小型ヒューマノイドロボットを用いて,様々な空手手刀動作を生成した.次に,ヒューマノイドロボットが腕を振り下ろす際に手先の持つ運動量に着目し,腕振り動作中に蓄積される運動量と手先速度を計測した.さらに,手刀が板に持つインパクトする瞬間の運動量を,手先等価質量と手先速度の積で近似し,その近似運動量が最大となるような動作を自動生成する手法を開発した.本手法では,まず手先が板にインパクトする瞬間の運動量が最大で,かつ転倒安定性を考え,全身の角運動量が最小となるような評価指標を設定し,最適化手法によりインパクトの瞬間の姿勢と速度を決定する.次に,インパクトの瞬間から微小時間前の姿勢を,時間軸を逆にたどりながら最適化問題を解き,初期姿勢まで逆方向にインパクト前の動作を決定していく.さらに,インパクトの瞬間の姿勢から最終姿勢まで順方向の最適化問題を解いていき,順方向にインパクト後の動作を決定する.一般的なマニピュレータの動作生成では,初期状態と最終状態を決定してから動作を生成するが,本手法ではインパクトの瞬間の運動から動作を生成するため,インパクトの瞬間の運動を実現するのに適した初期姿勢および最終姿勢が自動的に選択される.このようにして,転倒の危険を最小にしつつ,手先の運動量を最大にする空手動作を自動生成する手法を開発した.
  • ヒューマノイドロボットの全身協調力制御
    財団法人豊田理化学研究所：研究嘱託
    研究期間 : 2003年04月 -2005年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2003年 -2005年 
    代表者 : 内山 勝, 近野 敦, 佐藤 大祐, 阿部 幸勇
     
    本研究では、ロボット技術を利用した新しい力覚・触覚提示デバイスと、生体力学や医学における研究成果とをバーチャルリアリティ技術を介して融合させ、その手術操作がたいへん困難とされる脳手術における力覚・触覚情報を提示可能な、脳の力学シミュレータと手術操作感覚提示デバイスを基にした手術シミュレータシステムの開発を目的とした。 平成17年度は、若手医師のトレーニングや術前の手術計画の際に利用可能な手術シミュレータシステムの開発を目指し、平成16年度までに行ってきた、脳の力学シミュレータの構築、脳の手術操作における力覚・触覚の提示機能をさらに改善した。特に、手術器械の持ち手を力覚・触覚デバイスと組み合わせ、操作感覚を十分に提示可能なデバイスの設計・開発と、脳のモデルの詳細化、干渉・変形モデルの再現性の向上に注力した。前者では、脳べらおよびマイクロ剪刀の手術操作を提示可能な新型デバイスを開発できた。後者では、線形有限要素モデルとニュートンの運動方程式による干渉モデルを利用することで、実時間での生体組織のシミュレーションが可能な力学シミュレータを構築できた。 本年度までの研究結果により、脳の仮想手術シミュレータの基本的なシステム開発が完了した。しかし、生体組織の非線形モデルの導入や、微小な力を提示するデバイスの実現といった課題点が残った。今後、さらに取り組みを進め、仮想手術シミュレータによる脳の手術操作実験を実施しなければならない。
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 2001年 -2003年 
    代表者 : 阿部 幸勇, 妻木 勇一, 近野 敦, 内山 勝, 佐藤 大祐, KHALID Munawar
     
    近年,力覚センサの応用分野は多岐にわたっている.しかし,その多くは受感部の感度を上げる目的から剛性が低くなっていることが多い.このようなセンサを用いて,外乱のある動作の中から必要な信号のみを取り出すことは困難である.そこで本研究の目的を,特定の方向に敏感で,他の方向には剛性のあるセンサ用はりについて解明することとした.具体的には,平行平板はりとH形溝つきはりにおける変形の特徴をFEA(有限要素解析)と実験モデルによって検証し,センサはりとしての有用性を実証する. 本研究の成果は以下のように要約される. 1.両はりとも,はり間距離を増やすことで可変形性を大きく損なうことなくねじり剛性を高めることができるが,特にH形溝付きはりは,平行はりに比べて著しく剛性が高い.またH形溝付きはりは変形部を溝部に限定していることから,その溝部にひずみゲージを貼ることで変形の多くを信号として取り出すことができる.このことは,小さな変形で大きなひずみが取り出せることを意味しており,力検出用はりとして最適といえる.しかし,はり中間部の厚さがカウンターマスとなって固有値を下げることから,その軽量化について考慮しなければならない. 2.H形溝付きはりの特徴である方向性を持った可変形性は,はり部に儲けた4箇所の薄肉部が4棒リンク機構における回転ジョイントの役割を果たしていることに起因する.この機構の特徴を生かし,過負荷防止の機構をその構造中に付加することができた. 3.H形溝付きはりは溝部への応力集中を特徴としている.そこで,この溝部の金属疲労が考えられることから,その最適形状について研究した.これまでのところ,短軸と長軸の比が1/10程度の楕円溝が,簡便で有効な溝形状であることを確認している. 4.このH形溝付きセンサはりの新たな応用課題としてヒューマノイドロボットの足底センサを取り上げ,その設計,試作,実験を行い成果を得た.
  • 人間型ロボットの遠隔操縦に関する研究
    立石科学技術振興財団：研究助成
    研究期間 : 1999年04月 -2001年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1999年 -2001年 
    代表者 : 内山 勝, KHALID Munawar, 妻木 勇一, 近野 敦, 尹 祐根, 阿部 幸勇, 梅津 真弓
     
    本研究の目的は、高い汎用性を持つ小型高性能なハプティックインタフェースの開発及びその応用である。具体的には、小さな設置面積、広い作業領域、高い応答帯域を実現する6自由度のハプティックインタフェースと様々な計算機に容易に接続可能な汎用性の高い制御装置の実現、及びこのハプティックインタフェースの宇宙遠隔操作への応用である。本研究の成果は以下のように要約される。 1.パラレル機構の剛性を機構パラメータの関数として計算するための新しい解析モデルを作成した。これにより、機構パラメータの変更に伴うパラレル機構の剛性変化を容易に予測することが可能となり、よって、剛性面でのハプティックインタフェースの最適化が可能となった。 2.剛性の特性が大幅に改善されたハプティックインタフェースの設計、試作を行った。上記の解析モデルの援用並びにこれまでの試作経験に基づき、従来の試作機の特性を大幅に上回る特性を有するハプティックインタフェースの試作に成功した。試作したハプティックインタフェースの設計図はインターネットにより一般に公開予定である。 3.本研究で開発したハプティックインタフェースの応用として、宇宙遠隔操作を取り上げ、研究を実施した。このハプティックインタフェースにより、技術試験衛星VII型搭載ロボットアームの遠隔操作実験を行い、その特長である小型軽量及び広可動範囲のの有効性を実証した。また、宇宙遠隔操作の地上実験装置として双腕ロボットシステムを開発し、マスタデバイスに、このハプティックインタフェースを採用し、その有用性を示した。
  • 人に安全な，木材を利用した内骨格型ロボットアームの研究開発
    財団法人メカトロニクス技術高度化財団：研究助成
    研究期間 : 1999年04月 -2000年03月 
    代表者 : 近野 敦
  • ドライビングインタフェースによる脚型知能ロボットの遠隔操縦
    日本学術振興会：科学研究費補助金 奨励研究(A)
    研究期間 : 1999年04月 -2000年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1998年 -2000年 
    代表者 : 内山 勝, 尹 祐根, 妻木 勇一, 近野 敦, 阿部 幸勇
     
    本研究では,微小重力環境下に置かれた宇宙テレロボットの挙動を地上で正確に模擬するために,数値計算の比重を可能な限り高めることで高い精度を実現する超高速ハイブリッドシミュレータに関する研究を行った.すなわち,数値計算が可能なダイナミクス等の計算は計算機で行い,数値計算による模擬が困難な接触作業等の現象のみを物理的ハードウェアにて模擬した.これらの結果は,CGを使って表示される.なお,物理シミュレータには,独自に開発した超高速パラレル機構HEXAを用いた.研究成果の概要を以下に示す. ・ハイブリッドモーションシミュレータシステムを構築し,周波数応答実験を行い,その基本性能を検証した. ・物理モデルで得られたデータを定量化して数値モデルに取り込むために,モーションテーブルのインピーダンス特性に着目して定量化メカニズムのモデル化を行った. ・衝突後拘束のない剛体間運動および衝突後拘束される剛体間運動を模擬し,モデル化した物体間干渉力の定量化メカニズムの有効性を検証した.また,多点接触が予想される複雑な衝突現象の模擬を行った. ・数値空間と実空間の物理量の移動とシミュレータ伝達特性の関係に着目し,シミュレータ特性と物理的整合性の因果関係を解析的に導いた. ・グラフィックスで表示されるマニピュレータシステムに対し遠隔操作が可能なシステムを構築した.
  • 人間型ロボットの，見まねによる作業学習・技術習得
    日本学術振興会：科学研究費補助金 奨励研究(A)
    研究期間 : 1998年04月 -1999年03月 
    代表者 : 近野 敦
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1998年 -1999年 
    代表者 : 井上 博允, 加賀美 聡, 近野 敦, 溝口 博
     
    現在、安全性の面から人間とロボットはその活動空間が分離されている。しかし将来、ロボットを人間の日常生活支援に用いるためには、ロボットを人間の活動空間内で安全に行動させるための感覚や知能の研究が必要になる。本研究では、局所相関法に基づくカラー画像の色領域分割、オプティカルフローに基づく動き領域検出、両眼相関法による距離マップ生成、視覚追跡、などの視覚情報を実時間で処理し、それらを統合処理することによりロバストに多数の立体領域を認識し得るロボット視覚システムを構築し、それを用いて、人混みの中でも安全に移動ロボットを自律走行させる手法を確立することを目的として下記の項目について研究を行った。 1.相関法に基づく色彩領域分割 2.オプティカルフローを利用した分割領域の境界認識 3.ステレオ視による視差からの距離情報の獲得 4.ロボット用高速3軸両眼カメラヘッドの開発 5.時間的かつ空間的に変化する領域の時空間ラベリング 6.実時間視覚システムを実装した自立型移動ロボットの開発 7.総合実験 これにより人間の生活環境で、静止した障害物、ランドマーク、活動する人間を検出することを目的に色彩領域分割、光学フロー、距離画像生成の三種類の画像処理手法の統合法に行った。また開発した移動ロボットを用いて人間が歩行している場所で、人間の動作を妨げないように動的に空スペースを見つけながら行動する手法について研究を行った。最後にこれらを統合し、動的に行動するロボットを開発し、アプリケーションを通して実時間で実験を行うことにより、開発してきた手法の評価と改良を行った。
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1998年 -1999年 
    代表者 : 井上 博允, 横小路 泰義, 長谷川 勉, 新井 民夫, 坪内 孝司, 近野 敦
     
    本研究は、平成7〜9年度に行った重点領域研究「知能ロボットの成果の一つである脚型ロボット研究用プラットフォームを、一般の研究用に改良し知能ロボット研究用のプラットフォームとして仕上げ、それを用いて種々のロボット知能の研究を展開することを目的として共同研究を実施した。 (1)脚型ロボットプラットフォームJrob-2開発・整備:重点領域研究で開発した脚型ロボットJRob-1の視覚システム、エレクトロニクス、コンピュータまわり、ソフトウエアの統合と標準化を行い、Jrob-2として完成。視覚システムは2つのカメラの輻輳・パン・チルトを制御し、立体画像をアクティブにリアルタイム処理可能。ジャイロその他のセンサー搭載。そして、開発用OSとしてはリアルタイムLinuxを、また基本的な動作プログラムのパッケージはLinux上のC言語で書かれ一般性を持たせている。 (2)日本機械学会ロボメカ部門講演会でJrob-2のチュートリアル開催:上記プラットフォームを広く使って貰うため、平成11年5月、Jrob-2開発担当グループは、Jrob-2のハード・ソフト・基本動作ライブラリについてのチュートリアルを開催し、その技術・学術的内容を公開し、広く利用される環境づくりをおこなった。 (3)プラットフォームを用いた機械知能の新展開に関しては、研究協力者がそれぞれの立場から幅広く研究を展開し、歩行姿勢と移動特性の関係、反射の組み合わせによる歩行の実現、経路計画及び歩容の計画、複数台ロボットによる協調搬送制御、包み込み歩容の研究、視覚・行動統合実験、など、約300ページの報告書にまとめられている。
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1996年 -1997年 
    代表者 : 稲葉 雅幸, 津坂 祐司, 近野 敦
     
    初年度は,計画どおり,全体設計,視覚機能とそれを用いた教示と自律運動を行なうことが可能となったため,最終年度である平成9年度は,記憶主導機能に重点をおき音声により記憶を呼びおこさせる能力を付加することを試みた. (1)注視対象の発見と記憶 人間が指示した対象の発見機能と,ロボットが注視可能な対象を視覚機能の能力に基づいて発見する機能,それらの対象を記憶する機構を実現した. (2)音声認識機能の付加 記憶したものを指示する場合に,音声は非常に有効であるため,音声入力処理装置を購入し,簡単な音声認識処理を行なって記憶されたものを呼び起こす能力を付加した. (3)総合実験 システムを組み上げた後,屋外に出て運転を実際に行ない,システムを評価し,改良を重ねる.具体的には,大学キャンパス内に建物間の移動経路に対して実験を行ない,システムの評価を行なった.
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1995年 -1997年 
    代表者 : DRAGOMIR Nenchev, 阿部 幸勇, 妻木 勇一, 吉田 和哉, 近野 敦
     
    本研究では、まず平面に拘束された柔軟ベース(フレキシブルアーム)を製作し、その先端に制御可能な2リンク剛体マニピュレータを付加した。実験装置TREPにおいて、軌道計画方法として、二つの無反動軌道による動作と、1つの折りたたみ状態のアームの動作の組み合わせによる、3-phase path planningを提案した。これにより、剛体マニピュレータの動作中の反動が最小限におさえられることが確認された。さらに、剛体マニピュレータの動作による反動のみならず、外力などの外乱による柔軟ベースへの反動をおさえ、その反動による柔軟ベースの振動を抑制するため、振動抑制制御が導入された。PTP動作、無反動動作、あるいは3-phase動作と振動抑制制御との組み合わせで、システムパフォーマンスの向上が実験によって確認された。そして、実験装置において、第二剛体マニピュレータを付加し、実験装置TREP-IIを製作した。この実験機において、単腕での作業と双腕での作業の両方の場合実験を行ってきた。結果としは、以下に示す。 ・双腕のうちの片方のマニピュレータのみで作業をするときに、もう片方のマニピュレータによってその反動を補償する反動補償制御を提案し、無反動制御の式をもとに制御則を導いた。そして、当研究室の平面モデル実験装置モデル実験装置TREPに制御則を適用し、その有効性を確かめた。 ・双腕で物体を搬送する作業を考え、そのときの動作パターンを解析し、それぞれについての条件式を求めた。さらに、その条件式と無反動制御の式を組み合わせ、双腕で物体を搬送するときの動作についての無反動制御の制御則を導いた。そして、制御式を実験装置TREPに適用し、それぞれの場合についての実験を行った。その結果から、振動については有効であることが確かめられた。 ・双腕動作の条件式と従来の振動抑制制御則から、双腕動作時の振動抑制制御則を導いた。そして、実験装置TREPでの実験によりその有効性を確かめた。さらにPTP制御と振動抑制制御を組合せ、反動によって生じた振動を抑制するこにも有効であることがわかった。
  • 日本学術振興会：科学研究費助成事業
    研究期間 : 1994年 -1995年 
    代表者 : 内山 勝, ピエロ フランソワ, ドシェ ピエール, 阿部 幸勇, 妻木 勇一, 近野 敦, ネンチェフ ドゥラゴミー, フランソワ ピエロ, ピエール ドシェ, ドゥラゴミール ネンチェ
     
    パラレルロボットは従来のシリアル型のロボットと比較して,高精度,高負荷,高剛性,高速性などの面で優れ,近年とくに研究者の注目を集めている.このパラレルロボットの形態のひとつとして,フランスモンペリエII大学のフランソワ・ピエロ氏により提案されたHEXA機構がある.研究代表者はこのHEXA機構に注目し,提案者であるフランソワ・ピエロ氏と豊田工機(株)との間で3者共同研究を行ってきた.現在,HEXAロボットをそれぞれの研究機関において所有し,研究を行っている.本研究では,このパラレルロボットを用い,以下の目的を達成するために研究を行った. 1.高速動作の検証 2.高精度軌道追従性能の実現 3.力覚センサを用いない力制御の実現 4.作業領域内に存在する特異点の解析及び特異点通過経路計画法の確立 5.新型HEXAの概念設計 これらの目的を達成するために以下の調査研究を行った. 1.平成6年度には,内山勝,近野敦,阿部幸男がモンペリエII大学を訪問し,実験装置,制御システム等の視察を行った.その結果,パラレルロボットの制御に関連した多くの有益な情報を得ることができた. 2.同年度,ピエール・ドシェ氏を東北大学に招へいした.同時期にCNRSの補助によりフランソワ・ピエロ氏も来日し,本学における実験装置と共に,これまでの本学における成果を視察し,制御理論及び制御システムに関して意見交換を行った。 3.平成7年度には,内山勝,ドゥラゴミール・ネンチェフ,妻木勇一がモンペリエII大学を訪問し,互いの成果を公開し意見交換を行った. 4.また,同年度,フランソワ・ピエロ氏を東北大学に招へいした.この時,仙台において開催された,International Symposium on Microsystems,Intelligent Materials and Robotsにおいてパラレルロボットのオ-ガナイズドセッションを組み,これまでの研究成果を一般公開した. 5.同年度,内山勝,阿部幸男が米国で研究中のフランソワ・ピエロ氏及びピエール・ドシェ氏を訪問し.新型HEXAに関して議論を行った. これらの調査研究により以下に示す研究成果が得られた. 1.高速動作の検証 高速性を評価する方法として,ロボットメーカのアデプト社がロボットの運動性能の評価方法として定めたアデプトモーションを採用した.その結果,1サイクル0.465秒の高速動作を実現した.また,最大加速度27.8Gを達成した. 2.高精度軌道追従性能の実現 HEXAに動的制御を導入し,高い軌道追従性能を実現した.また,速度のフィードフォワードを行うことで,動的制御を行った場合とほぼ同等の性能が得られることを明らかにした.動的制御に比べ計算量の少ない本手法はより実用的である. 3.力覚センサを用いない力制御の実現 HEXAロボットはダイレクトドライブモータを使用しているため,力覚センサが無くても力の制御が可能である.そこで,力覚センサを使わないコンプライアンス制御を実現し,実験により本手法の有効性を検証した.また,同時に摩擦補償の新しい手法を提案した. 4.特異点通過経路計画法の確立 パラレルロボットには,過可動特異点および劣可動特異点というシリアル型にはない特有の特異点が存在する.そこで,零空間ベクトルに基づく手法を用い特異点を通過するための経路計画手法を提案し,実験により検証した. 新型HEXAの概念設計 これまで得られたパラレルロボットに関する多くの知見に基づき,現在新型HEXA実現に向けて,概念設計を行っている.新型HEXAは更なる高速性能を目指し,最大加速度50Gを目標としている.
  • 日本学術振興会：科学研究費助成事業 一般研究(C)
    研究期間 : 1994年 -1994年 
    代表者 : 近野 敦, 阿部 幸勇
     
    近年,ロボットに対し様々な環境下での作業が求められており,作業環境によっては器用な人間の指に代わって単純な機能を持つ複数のロボットによる操作が有効になる場合がある. 本研究では,単純な機構を持ったロボット群で物体を安定把持・操作を行うことを目的として,分散型ロボット要素群を製作した.このような物体把持・操作の応用例としてはマイクロマシンを想定している.一つ一つのロボット要素をマニピュレーションエレメント(ME)と呼ぶことにする.製作したMEは,DCサーボモータにより直進運動する指(プッシュロッド)と,ばね特性を持つ受動関節からなる.指先にかかる力は,サーボモータに与えている電流値から計算する.また,受動関節の回転角はポテンショメータで検出する. 複数のMEを用いて一つの対象物を安定把持・操作する制御法を構築した.制御法を構築するに当たり,MEと対象物間の力学的解析,幾何学的解析を行い,安定把持の条件を求めた.対象物を操作するのに一つ一つMEが実現すべき力を求める問題を力分配問題という.今回この分配問題を,拘束条件付きの最適化問題として解く方法と一般化逆行列を用いて解く方法の二つの方法で解いた. 製作した四つのMEを用いて,対象物の安定把持・製作実験を行った.実験では実時間制御を行うことを考慮し,力分配問題を一般化逆行列を解く方法を採用した.対象物の並進移動,及び回転移動の実験を行い,良好な結果を得た.今回の研究により,分散型ロボット要素群による知的物体操作の基礎を確立した.

教育活動情報

主要な担当授業

  • 知能システム特論
    開講年度 : 2021年
    課程区分 : 修士課程
    開講学部 : 情報科学研究科
    キーワード : ロボット工学，宇宙ロボット，ヒューマノイドロボット，ロボットオペレーティングシステム，運動制御の計算理論
  • 知能システム特論
    開講年度 : 2021年
    課程区分 : 修士課程
    開講学部 : 情報科学院
    キーワード : ロボット工学，宇宙ロボット，ヒューマノイドロボット，ロボットオペレーティングシステム，運動制御の計算理論
  • 大学院共通授業科目（教育プログラム）：外科系臨床医学研究の新展開 医療機器開発概論
    開講年度 : 2021年
    課程区分 : 修士課程
    開講学部 : 大学院共通科目
    キーワード : 臨床医学、臨床解剖、外科教育、献体を使用した手術手技研修 （Cadaver Surgical Training：CST）、医療機器開発
  • 知能システム特論
    開講年度 : 2021年
    課程区分 : 博士後期課程
    開講学部 : 情報科学研究科
    キーワード : ロボット工学，宇宙ロボット，ヒューマノイドロボット，ロボットオペレーティングシステム，運動制御の計算理論
  • 知能システム特論
    開講年度 : 2021年
    課程区分 : 博士後期課程
    開講学部 : 情報科学院
    キーワード : ロボット工学，宇宙ロボット，ヒューマノイドロボット，ロボットオペレーティングシステム，運動制御の計算理論
  • 英語演習
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 全学教育
    キーワード : 先端テクノロジー，ロボット，OS，通信ネットワーク，火星探査，電動飛行機
  • 教科教育法（情報Ⅰ）
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 教育学部
    キーワード : 教科「情報」、科目「情報I」、情報の見方や考え方、情報社会、教員の役割、授業内容、学習評価
  • 教科教育法（情報Ⅱ）
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 教育学部
    キーワード : 教科「情報」、科目「情報II」、情報の見方や考え方、情報社会、教員の役割、授業内容、学習評価、教員研修のあり方
  • 力学基礎
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 運動方程式，運動量，力学的エネルギー，解析力学，剛体の運動
  • 空間フィールド情報学
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : コンピュータネットワーク，プロトコル階層
  • 線形システム論
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : ダイナミカルシステム, 線形システム, 可制御性, 可観測性, 周波数特性, 安定性
  • 情報と職業
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 教科「情報」、情報社会、職業、情報の見方や考え方、社会構造、企業、ビジネス、犯罪と法、インターネット
  • 情報社会及び情報倫理
    開講年度 : 2021年
    課程区分 : 学士課程
    開講学部 : 工学部
    キーワード : 教科「情報」、情報社会、情報倫理、情報の見方や考え方、情報技術と人間

大学運営

学内役職歴

  • 2020年4月1日 - 2022年3月31日 大学院情報科学研究院副研究院長
  • 2022年4月1日 - 2024年3月31日 大学院情報科学研究院副研究院長

委員歴

  • 2021年06月 - 現在   日本IFToMM会議   実行委員会副委員長
  • 2021年10月 - 2022年03月   日本機械学会   日本機械学会賞委員会
  • 2013年04月 - 2022年03月   日本ロボット学会   北海道ロボット技術研究専門委員会委員長
  • 2019年01月 - 2020年12月   計測自動制御学会北海道支部   支部長
  • 2018年04月 - 2020年03月   計測自動制御学会   学会賞委員会委員
  • 2017年01月 - 2018年12月   計測自動制御学会北海道支部   副支部長
  • 2016年09月 - 2017年03月   日本機械学会   日本機械学会賞委員会
  • 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   第93期表彰委員
  • 2014年04月 - 2015年03月   日本機械学会ロボティクス・メカトロニクス部門   第92期表彰委員
  • 2013年04月 - 2014年03月   日本機械学会ロボティクス・メカトロニクス部門   第91期代議員
  • 2012年04月 - 2012年07月   日本ロボット学会   第26回論文賞選考委員
  • 2011年04月 - 2012年03月   日本機械学会ロボティクス・メカトロニクス部門   第89期表彰委員
  • 2010年04月 - 2011年03月   日本機械学会機械力学・計測部門   第88期運営委員   日本機械学会機械力学・計測部門
  • 2010年04月 - 2011年03月   日本機械学会ロボティクス・メカトロニクス部門   第88期表彰委員   日本機械学会ロボティクス・メカトロニクス部門
  • 2009年04月 - 2011年03月   日本ロボット学会   評議委員   日本ロボット学会
  • 2006年01月 - 2011年03月   計測自動制御学会東北支部   運営専門委員   計測自動制御学会東北支部
  • 2008年12月 - 2009年09月   日本ロボット学会第24回研究奨励賞選考委員会   幹事   日本ロボット学会第24回研究奨励賞選考委員会
  • 2008年04月 - 2009年03月   日本ロボット学会 事業計画委員会   委員長   日本ロボット学会 事業計画委員会
  • 2008年04月 - 2009年03月   日本ロボット学会 出版委員会   委員長   日本ロボット学会 出版委員会
  • 2008年04月 - 2009年03月   日本ロボット学会 学術講演会管理推進委員会   幹事   日本ロボット学会 学術講演会管理推進委員会
  • 2007年04月 - 2009年03月   日本ロボット学会   事業担当理事   日本ロボット学会
  • 2007年12月 - 2008年09月   日本ロボット学会 第23回研究奨励賞選考委員会   幹事   日本ロボット学会 第23回研究奨励賞選考委員会
  • 2007年04月 - 2008年03月   日本ロボット学会事   業計画委員会副委員長   日本ロボット学会事
  • 2007年04月 - 2008年03月   日本機械学会   第85期情報・知能・精密機器部門代議員   日本機械学会
  • 2003年04月 - 2007年03月   日本航空宇宙学会   北部支部幹事   日本航空宇宙学会
  • 2003年01月 - 2005年12月   IEEE Robotics and Automation Society   Japan Chapter Secretary   IEEE Robotics and Automation Society
  • 2004年04月 - 2005年03月   日本機械学会ロボティクス・メカトロニクス部門   第二地区副委員長   日本機械学会
  • 2003年 - 2005年   計測自動制御学会   東北支部事業幹事   計測自動制御学会
  • 2003年12月 - 2004年03月   日本ロボット学会   第19回研究奨励賞選考委員   日本ロボット学会
  • 2003年04月 - 2004年03月   日本機械学会   メカライフ編集委員   日本機械学会
  • 2000年10月 - 2003年12月   計測自動制御学会   東北支部広報幹事   計測自動制御学会
  • 2003年04月 - 2003年07月   日本ロボット学会   第17回論文賞選考委員   日本ロボット学会
  • 2003年04月 - 2003年07月   日本ロボット学会   第18回研究奨励賞選考委員   日本ロボット学会
  • 2001年03月 - 2003年03月   日本ロボット学会   評議員   日本ロボット学会
  • 1999年04月 - 2001年03月   日本ロボット学会   会誌編集委員会委員   日本ロボット学会
  • 1999年04月 - 2001年03月   日本ロボット学会   論文査読小委員会委員   日本ロボット学会
  • 1998年04月 - 2001年03月   日本機械学会   ロボティクス・メカトロニクス部門第二地区幹事   日本機械学会
  • 1999年01月 - 1999年12月   計測自動制御学会   東北支部運営専門委員   計測自動制御学会
  • 日本ロボット学会   出版委員会副委員長   日本ロボット学会
  • 日本ロボット学会 著作権管理委員会   委員   日本ロボット学会 著作権管理委員会

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