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プロフィール情報
所属
学位
プロフィール情報
姓
日下, クサカ名
聖, タカシID各種
201301037235476918
所属
業績リスト
研究キーワード
研究分野
経歴
- 2023年04月 - 現在 北海道大学 大学院情報科学研究院 助教
- 2021年04月 - 2023年03月 北海道立総合研究機構 研究主任
- 2018年04月 - 2021年03月 本田技術研究所 Innovation Lab. Tokyo, Staff Engineer
- 2014年04月 - 2018年03月 北海道大学 特任助教
- 2011年04月 - 2014年03月 日本学術振興会 特別研究員（DC1）
学歴
- 2009年04月 - 2014年03月 北海道大学 大学院情報科学研究科
- 2007年04月 - 2009年03月 北海道大学 工学部
- 2002年04月 - 2007年03月 釧路工業高等専門学校 電子工学科
委員歴
- 2015年09月 - 2016年12月 第17回計測自動制御学会SI部門講演会(SI2016) 事務局
- 2015年09月 - 2016年12月 IEEE/SICE SII2016 Steering Committee
受賞
- 2017年11月 日本機械学会 第27回インテリジェントシステムシンポジウム(FAN2017) ベストプレゼンテーション賞(和田賞)
動作予測に基づくアシストウェア制御のためのウェーブレット分散特徴量の応用 - 2017年03月 電気学会 電子・情報・システム部門 技術委員会奨励賞
ウェアラブル腰部負荷センサの開発 と介護施設作業管理への応用 - 2014年03月 北海道大学 平成25年度 大学院情報科学研究科 システム情報科学 専攻長賞
エネルギ制御によるパワーアシストとスキルアシストの同時実現とセミアクティブアシスト機構への応用 - 2009年03月 北海道大学工学部 学業優秀賞
- 2009年03月 北海道大学GP 優秀賞
- 2007年12月 サッポロバレーバレー Extream Technology プロジェクト コンテスト2007 優勝
論文
- Masahiro Sato, Michihiro Yoshida, Takashi Kusaka, Yusuke Suzuki, Takayuki TanakaJournal of Robotics and Mechatronics 35 3 762 - 770 2023年06月20日 [査読有り]
We considered the change in joint stiffness as a motion strategy in human lumbar extension movement. We developed a musculoskeletal model that can reproduce this motion strategy and attempted to clarify the individual characteristics and differences in motion strategy. This model reproduces changes in lumbar joint stiffness during movement by appropriately adjusting parameters such that they represent the motion strategy. Using this model, we identified parameters in lumbar extension exercises for six participants with differences in lumbar joint stiffness and examined changes in lumbar joint stiffness and motion strategies. The results showed that participants with similar changes in joint stiffness had commonalities in their motion strategies. - Takashi Kusaka, Takayuki TanakaRobotics 11 6 149 - 149 2022年12月09日 [査読有り]
In the fields of control engineering and robotics, either the Lagrange or Newton–Euler method is generally used to analyze and design systems using equations of motion. Although the Lagrange method can obtain analytical solutions, it is difficult to handle in multi-degree-of-freedom systems because the computational complexity increases explosively as the number of degrees of freedom increases. Conversely, the Newton–Euler method requires less computation even for multi-degree-of-freedom systems, but it cannot obtain an analytical solution. Therefore, we propose a partial Lagrange method that can handle the Lagrange equation efficiently even for multi-degree-of-freedom systems by using a divide-and-conquer approach. The proposed method can easily handle system extensions and system reconstructions, such as changes to intermediate links, for multi-degree-of-freedom serial link manipulators. In addition, the proposed method facilitates the derivation of the equations of motion-by-hand calculations, and when combined with an analysis algorithm using automatic differentiation, it can easily realize motion analysis and control the simulation of multi-degree-of-freedom models. Using multiple pendulums as examples, we confirm the effectiveness of system expansion and system reconstruction with the partial Lagrangians. The derivation of their equations of motion and the results of motion analysis by simulation and motion control experiments are presented. The system extensions and reconstructions proposed herein can be used simultaneously with conventional analytical methods, allowing manual derivations of equations of motion and numerical computer simulations to be performed more efficiently. - Takashi Kusaka, Takayuki TanakaSensors 22 20 7989 - 7989 2022年10月 [査読有り]
Advances in micro-electro-mechanical systems technology have led to the emergence of compact attitude measurement sensor products that integrate acceleration, magnetometer, and gyroscope sensors on a single chip, making them important devices in the field of three-dimensional (3D) attitude measurement for unmanned aerial vehicles, smartphones, and other devices. Sensor fusion algorithms for posture measurement have become an indispensable technology in cutting-edge research, such as human posture measurement using wearable sensors, and stabilization problems in robot position and posture measurement. We have also developed wearable sensors and powered suits in our previous research. We needed a technology for the real-time measurement of a 3D human body motion. It is known that quaternions can be used to algebraically handle 3D rotations; however, sensor fusion algorithms for three sensors are presently complex. This is because these algorithms deal with the post-rotation attitude (pure quaternions) rather than rotation information (the rotor) to avoid a double covering problem involving the rotor. If we are dealing with rotation, it may be possible to make the algorithm simpler and faster by dealing directly with the rotor. In this study, to solve the double covering problem involving the rotor, we propose a stateful rotor and develop a technique for uniquely determining the time-varying states of the rotor. The proposed stateful rotor guarantees the continuity of the rotor parameters with respect to angular changes, and this paper confirms its effectiveness by simulating two rotations around an arbitrary axis. In addition, we verify experimentally that a fast sensor fusion method using stateful rotor can be used for attitude calculation. Experiments also confirm that the calculated results converge to the desired rotation angle for two spatial rotations around an arbitrary axis. Since the proposed stateful rotor extends and stabilizes the definition of the rotor, it is applicable to any algorithm that deals with time-varying quaternionic rotors. In this research, an algorithm based on a multiply–add operation is designed to reduce computational complexity as a high-speed calculation for embedded systems. This method is theoretically equivalent to other methods, while contributing to power saving and the cost reduction of products. - Takashi Kusaka, Takayuki TanakaElectronics 11 15 2285 2022年07月22日 [査読有り]
In modern computers, complicated signal processing is highly optimized with the use of compilers and high-speed processing using floating-point units (FPUs); therefore, programmers have little opportunity to care about each process. However, a highly accurate approximation can be processed in a small number of computation cycles, which may be useful when embedded in a field-programmable gate array (FPGA) or micro controller unit (MCU), or when performing many large-scale operations on a graphics processing unit (GPU). It is necessary to devise algorithms to obtain the desired calculated values without an accelerator or compiler assistance. The residual correction method (RCM) developed here can produce simple and accurate approximations of certain nonlinear functions with minimal multiply–add operations. In this study, we designed an algorithm for the approximate computation of trigonometric and inverse trigonometric functions, which are nonlinear elementary functions, to achieve their fast and accurate computation. A fast first approximation and a more accurate second approximation of each function were created using RCM with a less than 0.001 error using multiply–add operations only. This achievement is particularly useful for MCUs, which have a low power consumption but limited computational power, and the proposed approximations are candidate algorithms that can be used to stabilize the attitude control of robots and drones, which require real-time processing. - Michihiro Yoshida, Takayuki Tanaka, Yoshio Tsuchiya, Takashi KusakaJournal of Robotics and Mechatronics 30 5 740 - 751 2018年10月 [査読有り][通常論文]
This study describes the effect of Active Corset on the lumbar spine. Active Corset is assist tools used to prevent low back pain. It tightens the waist optimally according to the lumbar load during work. This study aimed to clarify the mechanical effect of tightening of the pelvis on lumbar joints and determine the mechanism leading to reduction of the lumbar load. Moreover, this study examined the phenomena commonly occurring among the subjects with reduced lumbar load by tightening of the pelvis. First, we will present some examples of currently used assist tools and demine the utility of the Active Corset among the various tools used. Next, the mechanism of the Active Corset will be described. Further, we will present a hypothesis about reducing the lumbar load by tightening the pelvis. After describing the change in the joint bending angle on tightening, we will describe reduction of burden from the antigravity torque around the lumbar joint. Finally, we will compare active tightening using Active Corset with tightening using a constant force and describe the advantage of active tightening. - Yoshio Tsuchiya, Yumeko Imamura, Takayuki Tanaka, Takashi KusakaJ. Robot. Mechatron. 30 5 696 - 705 2018年10月 [査読有り][通常論文]
- 橋本光太郎, 田中孝之, 日下聖日本機械学会論文集(Web) 84 864 ROMBUNNO.18‐00064(J‐STAGE) - 18-00064 一般社団法人 日本機械学会 2018年 [査読無し][通常論文]
The purpose of this study is to develop a walking assist device by controlling trunk and pelvis motion. Human gait motion consists of whole body exercise including lower body motion and upper one. As all exercises are performed normally, walking with less energy loss is performed. If any exercises are incomplete, compensatory motion is performed and it is considered that there is energy loss. Therefore, this study aims at developing the walking assist device to make normal exercises and reduces energy loss by applying external forces, focusing on the trunk rotation and the pelvic rotation that involved in stride length and walking speed. - 日下聖, 相津琢磨, 橋本光太郎, 田中孝之計測自動制御学会論文集 54 3 373‐382(J‐STAGE) - 382 公益社団法人 計測自動制御学会 2018年 [査読有り][通常論文]
This paper proposed a walking assistance method by using trunk rotation based on the spinal engine theory. According to the spinal engine theory, our walking is realized by cooperation between upper body and legs through the energy exchange. Therefore, we developed an assistance device for trunk rotation and its control method. We adopted the periodic input control as the control method and modified it to be suitable for human assistance. According to experimental results, the proposed method realized walking assist by supporting trunk rotation movement. Moreover, it also realized training effect as the walking resist, by controlling a parameter of the controller. In this article, their effects were confirmed by theoretical analysis and experiments. - 宮島 沙織, 田中 孝之, 日下 聖計測自動制御学会論文集 53 5 299 - 307 計測自動制御学会 ; [1965]- 2017年05月 [査読有り][通常論文]
These days, inertial sensors are often used to capture human movements. A complimentary filter is the one method of sensor fusion, which several sensors data are combined to set off each sensor's disadvantages. It is often used for wearable devices because of its high measurement accuracy at low calculation cost. Human motion contains various speeds and frequency. However, in a complementary filter, combined frequency range is fixed and the filter can not cope with motion out of the range. Thus, a coefficient of the complimentary filter is replaced with sigmoid function in order to fluctuate along with motion speed of subjects. This fluctuating coefficient enables measuring irregular motions of human. Experiment shows that using this method rises accuracy of motion measurement. - Takashi Kusaka, Takayuki Tanaka, Hidekazu KajiwaraROBOMECH Journal 4 2 1 - 11 2017年01月 [査読有り][通常論文]
- 土谷圭央, 日下聖, 田中孝之, 松尾祥和, 小田まこと, 笹木工, 神島保, 山中正紀日本機械学会論文集(Web) 82 843 ROMBUNNO.16‐00072(J‐STAGE) - 00072-16-00072 一般社団法人 日本機械学会 2016年 [査読有り][通常論文]
<p>Anteflexion of the spine is essential for many physical activities of daily living. However, this motion places the lumbar disks because it generats heavy load due to changes in the shape of the lumbar spine and can lead to low back pain. In older to reduce low back pain, here we proposed a wearable sensor system configuration that can estimate lumbosacral alignment and lumbar load by measuring the shape of the lumbar skin when the lumbosacral alignment changes. The shape of the lumbar skin and posture angle are measured by using curvature sensors and accelerometers. In addition, the system must be constructed in consideration of the physique, in order to absorb in a variety of human. We proposed this system by measuring the body parameters of anteflexion and studied the change in dimensions of the lumbar spine from changes in posture. By extracting the dimensions of the lumbosacral spine in X-ray images, the attitude angle, body surface area and the dimensions of the lumbosacral spine have relevance. The lumbosacral dimensions calibration method was developed by using that relation. Lumbosacral alignment estimation considering the difference in physiques is developed, and lumbosacral spine alignment was to improve the estimation accuracy. The proposed method could improve accuracy lumbosacral alignment estimation.</p> - Takuto Yoshifuji, Takayuki Tanaka, Takashi KusakaJournal of Robotics and Mechatronics 26 6 692 - 703 Fuji Technology Press 2014年12月20日 [査読有り][通常論文]
- 土谷圭央, 田中孝之, 日下聖, 松尾祥和産業保健人間工学研究 16 Supplement (Nov) 68 - 71 産業保健人間工学会 2014年11月15日 [査読無し][通常論文]
- 日下 聖, 田中 孝之, 梶原 秀一日本ロボット学会誌 = Journal of the Robotics Society of Japan 32 2 198 - 206 日本ロボット学会 ; 1983- 2014年03月 [査読有り][通常論文]
- 日下 聖, 田中 孝之, 今村 由芽子Hippophile 0 47 27 - 33 日本ウマ科学会 2012年01月 [査読有り][通常論文]
- Assist Force Control of Smart Suit for Horse Trainers Considering Motion SynchronizationT. Kusaka, T. Tanaka, S. Kaneko, Y. Suzuki, M. Saito, H. KajiwaraInternational Journal of Automation Technology 3 6 723 - 730 2009年12月 [査読有り][通常論文]
MISC
- 宮崎俊之, 日下聖, 新井浩成, 堤大祐 北海道立総合研究機構工業試験場成果発表会発表要旨(Web) 2023 2023年
- Lightweight retroreflective structures as SAR satellite targetsToshiyuki Miyazaki, Takashi Kusaka, Fumihiro Takahashi, Takashi Hosokawa The 15th Pan Ocean Remote Sensing Conference (PORSEC2022) 2022年12月 [査読有り]
- Evaluation of Luneberg Lens Focusing Performance in a Finite Size Anechoic ChamberToshiyuki Miyazaki, Takashi Kusaka, Fumihiro Takahashi, Takashi Hosokawa The 2022 International Symposium on Antennas and Propagation (ISAP2022) 119 -120 2022年10月 [査読有り]
- Kotaro Hashimoto, Takayuki Tanaka, Takashi Kusaka 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018年10月
- Wearable Sensor System for Lumbosacral Load Estimation by Considering the Effect of External LoadYoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo International Conference on Applied Human Factors and Ergonomics. 160 -168 2017年 [査読有り][通常論文]
- Akimoto Haruma, Tsutiya Yoshio, Imamura Yumeko, Kusaka Takashi, Tanaka Takayuki IEEE Conference Proceedings 2017 (LSC) 234‐237 2017年 [査読有り][通常論文]
- Matsuda Junki, Tanaka Takayuki, Kusaka Takashi IEEE Conference Proceedings 2017 (IRIS) 249‐254 2017年 [査読有り][通常論文]
- Kotara Hashimoto, Takayuki Tanaka, Takuma Aizu, Takashi Kusaka 2016 WORLD AUTOMATION CONGRESS (WAC) 2016年 [査読有り][通常論文]
We developed a new system to assist the elderly with walking. Previous walking assist systems directly control the hips or legs. The proposed system provides walking assistance using passive dynamic walking by controlling trunk rotation. We verify the relation between trunk rotation and walking by fixing trunk rotation. Gait analysis was performed using a motion-capture system and electromyography. We propose an assistive device for a new form of walking assistance. We also developed a prototype of the assistive device and verify its effectiveness. - Takuma Aizu, Takayuki Tanaka, Kotara Hashimoto, Takashi Kusaka 2016 WORLD AUTOMATION CONGRESS (WAC) 2016年 [査読有り][通常論文]
Passive walking suppose to depend on trunk rotation, and system is proposed trunk rotation assist by walking periodical. We aim to develop a waking assist suit for a long period of walking. In this study, we analyze walking motion, and got important subject. As the result, we confirmed almost all joints have the same representative frequency, and this system need to control energy. We think state of walking changes with increasing velocity, and human cannot do passive walking in the case of above a certain speed. Therefore, it is important to do assist insufficient energy in the passive walking. There is periodic input control as a method that enables it. Actuator is selected with enough torque and angular velocity for assist trunk rotation from the walking analysis result. We confirmed three nonlinear oscillator characteristic applying periodic input control. As the result, Rayleigh model is most efficient and approximately equal to energy of trunk rotation. We evaluate torque assist ratio of trunk rotation in this system and actuator. As the result, we confirmed that van der Pol is better torque assist ratio average than others, but Hybrid can be cetain of assist. - Yoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo, Makoto Oda, Tsukasa Sasaki, Tamotsu Kamishima, Masanori Yamanaka INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT II 9835 200 -210 2016年 [査読有り][通常論文]
Anteflexion of the spine is essential for many physical activities of daily living. However, this motion places the lumbar discs under heavy loading because of changes in the shape of the lumbar spine, possibly leading to low back pain. With the aim of reducing low back pain, here we developed a wearable sensor system that can estimate lumbosacral alignment and lumbar load by measuring the shape of the lumbar skin as the lumbosacral alignment changes. The shape of the lumbar skin and posture angle are measured by using curvature sensors and accelerometers. In addition, the wearers physique must be considered for the system to be usable by a variety of people. We developed this system by measuring the body parameters associated with anteflexion and studied the changes in the dimensions of the lumbar spine with changes in posture. By measuring the dimensions of the lumbosacral spine on X-ray images, the posture angle, body surface area, and the dimensions of the lumbosacral spine have relevance. A calibration method for lumbosacral dimensions was developed using this relation. However, the estimation method for lumbosacral alignment could not maintain good calibration of interbody distance. Therefore, we further developed the estimation to include a calibration method for interbody distance, thereby improving the estimation accuracy. - Takashi Kusaka, Takayuki Tanaka, Hidekazu Kajiwara 2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) 42 -47 2015年 [査読有り][通常論文]
This study proposes a technique for approximating high-cost calculations at low cost in embedded systems. Fast calculation of arctangent (as given by atan2) was developed by the proposed technique. Relative to the atan2 standard library function, the resulting approximation is 20 times as fast and requires only one-third the memory. - Yoshio Tsuchiya, Takashi Kusaka, Takayuki Tanaka, Yoshikazu Matsuo, Makoto Oda, Tsukasa Sasaki, Tamotsu Kamishima, Masanori Yamanaka 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2015 3909 -3912 2015年 [査読有り][通常論文]
Anteflexion of the spine is essential for many physical activities in everyday life. However, this motion places the lumbar disks under heavy load due to changes in the shape of the lumbar spine and can lead to low back pain. With the aim of reducing low back pain, here we developed a wearable sensor system that can estimate lumbosacral alignment and lumbar load by measuring the shape of the lumbar skin when the lumbosacral alignment changes. In addition, we used this system to measure the parameters of anteflexion and studied the change in dimensions of the lumbar spine from changes in posture. By determining the dimensions of the lumbosacral spine on an X-ray image, a lumbosacral dimensions calibration method based on body surface area and height was developed. By using this method, lumbosacral alignment and lumbar load could be accurately estimated using the wearable sensor system. - Yumeko Imamura, Takayuki Tanaka, Takashi Kusaka, Yoshio Tsuchiya 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2015 3905 -3908 2015年 [査読有り][通常論文]
In this study, we propose an estimation model of lumbar load, which is a factor in lumbar disorders. Our proposed method uses a musculoskeletal model with elastic elements between the vertebral bodies, and simulates the inter vertebral disk pressure and the displacement of the vertebral bodies simultaneously. - Saori Miyajima, Takayuki Tanaka, Yumeko Imamura, Takashi Kusaka 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2015 6716 -6719 2015年 [査読有り][通常論文]
We estimate lumbar torque based on motion measurement using only three inertial sensors. First, human motion is measured by a 6-axis motion tracking device that combines a 3-axis accelerometer and a 3-axis gyroscope placed on the shank, thigh, and back. Next, the lumbar joint torque during the motion is estimated by kinematic musculoskeletal simulation. The conventional method for estimating joint torque uses full body motion data measured by an optical motion capture system. However, in this research, joint torque is estimated by using only three link angles of the body, thigh, and shank. The utility of our method was verified by experiments. We measured motion of bendung knee and waist simultaneously. As the result, we were able to estimate the lumbar joint torque from measured motion. - Takashi Kusaka, Takayuki Tanaka 2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE) 1762 -+ 2014年 [査読有り][通常論文]
In recent years, workers decline has become a major problem in the field such as nursing care, welfare and heavy transport work in a factory with hard work. The authors have developed semi-active assist mechanisms and their control methods as wearable power assist devices for fatigue reduction. The mechanisms have elastic material as the source of assist force, and actuators for controlling the elastic force. Elastic materials such as springs retain equilibrium because their material generates the restoring force toward a natural length. This characteristic is effective in assisting movement that requires a restoration of posture, such as bending and stretching of human limbs. We have optimized its controls for various forms of target work, and confirmed its effectiveness regarding work with a bending motion that requires a postural restoring force. Then the purpose of this study is to develop a control method of the semi-active assist mechanisms. Moreover, this study aims the simultaneous realization of power assist and skill assist based on energy control and its application to semi-active assist mechanism. The proposed skill assist method is implemented using our previous power assist device, so the device provides not only a power assist effect but also a skill assist effect to correct motion. Hence, an operator obtains both power and skill assist effects simultaneously. In order to realize power assist and skill assist simultaneously, we develop efficiency control methods between the power assist and the skill assist in this study. Moreover, to apply the semi-active assist mechanism to real-world tasks like rehabilitation, we aim to develop a control method which has effects of both motion correction and fatigue reduction. - 日下 聖, 田中 孝之, 齊藤 宗信, 鈴木 善人 シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2013 (0) _140 -1_-_140-6_ 2013年 [査読無し][通常論文]
The authors have developed the smart suit and the smart suit lite as an assist suit for fatigue reduction. The smart suit has elastic materials and actuators. The elastic materials are sources of assisting force and the actuator can control the assist force by adjusting the length of the elastic materials. On the other hand, the smart suit lite has only elastic materials like supporters. In this study, we apply the smart suit and the smart suit lite to racehorse trainers because their work accompanied by a large burden. In the results, we confirmed large effect of fatigue reduction through field experiments. - Hiroyuki Nara, Takashi Kusaka, Takayuki Tanaka, Takayuki Yamagishi, Shotaroh Ogura 2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 2840 -2843 2013年 [査読有り][通常論文]
Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit". - Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) 758 -763 2012年 [査読有り][通常論文]
This paper describes an analysis of the power assist and the skill assist effects of a semi-active assist mechanism based on an energy control. For this mechanism, we have developed a soft and flexible power assist device that consists of an elastic material and a small direct current motor. The assist force is then the elastic force, which is controlled by adjusting the length of the elastic material by means of the motor. The skill assist is based on a motion correction method of periodic motions that was developed in a previous study. The control method can provide both power assist and skill assist affects. In this study, we analyze the adequacy of the power assist when simultaneously applying the skill assist. - Takashi Kusaka, Takayuki Tanaka, Shun'ichi Kaneko, Hidekazu Kajiwara 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 2187 -2192 2011年 [査読有り][通常論文]
This paper describes a skill assist method based on an energy control that employs a semi-active assist mechanism. For this mechanism, we have developed a soft and flexible power assist device that consists of elastic materials and a small DC motor. The assist force is the elastic force of the elastic materials, and this force is controlled by adjusting the length of the elastic materials by means of the DC motor. In our previous study, we confirmed that this mechanism has high power assist effectiveness. In this study, we consider correction of user motion correction by the semi-active assist mechanism in order to provide skill assist. We consider the motion to be an energy state and control the motion through energy control. © 2011 IEEE.
書籍等出版物
講演・口頭発表等
- ネックバンド型センサユニットを用いた作業計測の一提案日下 聖, 田中孝之, 菱川祐也, 田中吉史, 白倉尚樹, 山野辺夏樹, Ixchel Georgina Ramirez-Alpizar, Enrique Coronado, 堂前幸康日本産業衛生学会 作業関連性運動器障害研究会 第29回定例会 2023年09月
- 土谷 圭央, 日下 聖, 田中 孝之, 吉田 道拓ロボティクス・メカトロニクス講演会講演概要集 2018年 一般社団法人 日本機械学会
Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. Because it can be expected to explore the cause of low back pain, it is necessary to measure the lumbar load noninvasively taking lumbosacral alignment and external load into consideration. In this research, we develop a wearable sensor system for estimating the lumbar load. - 吉田 道拓, 田中 孝之, 日下 聖, 土谷 圭央ロボティクス・メカトロニクス講演会講演概要集 2018年 一般社団法人 日本機械学会
This research developed assist equipment that changes the tightening force depending on low back burden. The final aim of this research is to develop the control system to tighten optimally. This paper aims to reveal the response of the human body to the tightening. The low back burden is defined as the compression force on the intervertebrae disk. The first half of this paper verifies the effect of the tightening on pelvis. In the verification about the posture of anteflexion, the low back burden decreased in two subjects among three. Also about the motion of lifting up, all of three subjects was reduced the low back burden. In the second half, the influence on joint stiffness by tighteing was shown for four subjects. By the experiment to identify the inpedance, the increase of elasticity on joints was shown about the one of the subjects. - 橋本光太郎, 田中孝之, 日下聖計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 2017年12月
- 秋本晴馬, 土谷圭央, 田中孝之, 日下聖, 今村由芽子バイオメカニズム学術講演会予稿集 2017年11月
- 日下聖, 岡本仁志, 吉田道拓, 田中孝之日本ロボット学会学術講演会予稿集(CD-ROM) 2017年09月
- 相津琢磨, 橋本光太郎, 日下聖, 田中孝之日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2017年05月 一般社団法人 日本機械学会
In recently years, aging society with fewer children are major problem, and it is required that the elderly are independent in order to enhance the quality of life. There are many researches on walking assist suit from this background. Walking is exercise including not only lower body but also upper body movement, but most of these are suits to assist the lower body. Therefore, the purpose of study is to develop walking assist suit focusing on trunk rotation. The control method adopted periodic input control which is effective for periodic motion. And, the Hybrid oscillator is extended,it is possible to change the motion in case of rotating direction switching. In this paper, we describe the design method of the trunk rotation assist device, confirm system effect from experiment. As the result, this system need to consider left and right legs. - 吉田道拓, 土谷圭央, 田中孝之, 日下聖日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2017年05月 一般社団法人 日本機械学会
In recent years, the necessity of measuring the physical stress is increasing. The reaction force that the legs receive from the floor is useful information for estimating the physical stress. But measurement equipment for reaction force cannot be carried in most cases. It is difficult to measure at the environment that human act. Furthermore, that equipment is expensive, and measurement involves several constraints. We prototype a sensor which is low cost and can measure the reaction force even in any environment. - 土谷圭央, 日下聖, 田中孝之, 松尾祥和, 小田まこと, 笹木工, 神島保, 山中正紀日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2017年05月 一般社団法人 日本機械学会
Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. This study aims to develop of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Lumbar motion have anteflexion,rotation motion and lateral bending. However, it thing don’t know that relationship between the upper body attitude angle and the attitude angle of the vertebral body in rotation motion and lateral bending. We construct that estimation method of rotation angle and lateral bending angle in the vertebral body. - 相津琢磨, 日下聖, 田中孝之ロボティクスシンポジア予稿集 2017年03月
- 四元数相補フィルタを用いた複数種センサによる腰部表皮形状の3次元計測 [通常講演]日下 聖, 土谷 圭央, 田中 孝之バイオメカニズム学術講演会予稿集 2016年11月 バイオメカニズム学会
- 体幹回旋補助装置のための基礎的研究 [通常講演]相津琢磨, 田中孝之, 橋本光太郎, 日下聖ロボティクスシンポジア予稿集 2016年03月
- 受動歩行アシストを考慮した体幹回旋補助装置 [通常講演]橋本光太郎, 田中孝之, 相津琢磨, 日下聖ロボティクスシンポジア予稿集 2016年03月
- 日下聖, 土谷圭央, 田中孝之, 松尾祥和電気学会制御研究会資料 2016年01月
- 土谷 圭央, 日下 聖, 田中 孝之, 松尾 祥和ロボティクス・メカトロニクス講演会講演概要集 2016年 一般社団法人 日本機械学会
This study aims to develop of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Need to use the hand load for lumbar load estimation. Therefore, the hand load estimation method is developed by using muscle hardness sensor. By using this method, the hand load can be estimated with enough accuracy. - 土谷圭央, 日下聖, 田中孝之, 松尾祥和, 小田まこと, 笹木工, 神島保, 山中正紀計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM) 2015年11月
- 日下聖, 田中孝之日本ロボット学会学術講演会予稿集(CD-ROM) 2015年09月
- 宮島沙織, 田中孝之, 今村由芽子, 日下聖, 若杉素秋計測自動制御学会北海道支部学術講演会論文集 2015年
- 土谷 圭央, 日下 聖, 田中 孝之, 松尾 祥和, 小田 まこと, 笹木 工, 神島 保, 山中 正紀ロボティクス・メカトロニクス講演会講演概要集 2015年 一般社団法人 日本機械学会
This study is aimed to developed of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Obtains the lumbosacral size from the X-ray image, the lumbosacral size calibration method is developed using the body surface area and height. Using these method, and confirm lumbosacral alignment estimation accuracy and the lumbar load estimation accuracy. - 宮島 沙織, 田中 孝之, 今村 由芽子, 日下 聖ロボティクス・メカトロニクス講演会講演概要集 2015年 一般社団法人 日本機械学会
This research aims to estimate effect of assist device in real work field. First, Human motion is measured by 6-axis motion tracking devise that combines a 3-axis accelerometer and a 3-axis gyroscope placed on shank, thigh and back. Next, lumbar joint torque and assisting effect of Smart Suit Lite in the motion are estimated by interactive musculoskeletal simulation. Conventional method to estimate joint torque is using full body motion data measured by optical motion capturing system. But in this research, joint torque can be estimated by only 3 angles of links which is body, thigh and lower leg. Usability of proposal method is verified by the field experiment. As the result of the experiment, workload was evaluated and assistive effect of Smart Suit Lite was estimated by measured motion. - 今村 由芽子, 田中 孝之, 日下 聖, 土谷 圭央ロボティクス・メカトロニクス講演会講演概要集 2015年 一般社団法人 日本機械学会
In this study, we propose an estimation model of the lumbar load which is a factor of lumbar disorders. Proposed method uses musculoskeletal model that has elastic elements between the vertebral bodies, and simulates the intervertebral disk pressure and the displacement of the vertebral bodies simultaneously. This paper reports on the comparison with the experimental value of the displacement of the vertebral body in static conditions. - 日下 聖, 田中 孝之, 梶原 秀一ロボティクス・メカトロニクス講演会講演概要集 2015年 一般社団法人 日本機械学会
The paper proposes a technique to create a low-cost approximate function for calculation of a large-cost functions in embedded systems. The fast-calculations of arctangent(atan2), sine and cosine functions were developed as its application. The developed atan2 function is 20x faster and 1/3 RAM usage than the standard math library. - 奈良 博之, 田中 孝之, 日下 聖, 玉井 伸幸, 若杉 素秋, 山岸 孝幸, 小倉 庄太郎ロボティクス・メカトロニクス講演会講演概要集 2014年05月 一般社団法人日本機械学会
Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit". - 日下聖, 田中孝之, 金子俊一, 梶原秀一ロボティクスシンポジア予稿集 2014年03月
- 吉藤拓土, 田中孝之, 日下聖計測自動制御学会北海道支部学術講演会論文集 2014年
- 吉藤 拓土, 田中 孝之, 日下 聖電子情報通信学会技術研究報告 = IEICE technical report : 信学技報 2013年08月 一般社団法人電子情報通信学会
我々は弾性材とアクチュエータによって構成されるセミアクティブアシスト機構を開発し,この機構と周期入力制御を用いたエネルギ制御を行うことで,人間の行う単一周波数による周期運動に対して追従性の向上を行うスキルアシスト効果を確認してきた.本研究では複数の周波数成分を有する運動に対して,周波数に着目した引きこみを行うことで運動補助を可能とする拡張型周期入力制御を提案する.また,セミアクティブアシスト機構を搭載した実験装置を用いて,拡張型周期入力制御を用いたスキルアシストによる運動改善効果を検証する. - スマートスーツの補助力最適化のための動作計測と認識 [通常講演]若杉素秋, 田中孝之, 奈良博之, 日下聖, 金子俊一電子情報通信学会技術研究報告 2013年08月 一般社団法人電子情報通信学会
本研究は,スマートスーツの補助力最適化を行うための,動作計測と認識を目的とするものである.今までのスマートスーツでは,フレキシブルゴニオメータを用いて計測された腰部の曲げ角度のみをもとに補助力を出力していた.しかし,この手法では装着者の動作を正確に把握することができない.そこで,複数の加速度・角速度センサを用い腰・膝・足首の三か所の曲げ角を計測することで,より正確な動作計測・認識を行う.さらに今回,背骨の関節を考慮した新たな身体リンクモデルを用いた動作計測を提案する. - 動作認識を用いた酪農作業用スマートスーツの補助力制御 [通常講演]奈良博之, 田中孝之, 日下聖, 若杉素秋, 山岸孝幸, 小倉庄太郎電子情報通信学会技術研究報告 2013年08月 一般社団法人電子情報通信学会
我々は,高齢者の過度の負担や疲労を取り除くことで作業や仕事の質を高めることが可能である「軽労化技術」を高齢者に適用することで,自立生活と社会参加を実現することを目指している.本研究においては,軽労化を目的として新たに開発した「スマートスーツ」を用い,酪農作業補助を目的とした評価実験を実施するために酪農作業者に協力して頂き,作業者の表面筋電位を計測した.そして,スマートスーツの着用時と非着用時の表面筋電位を比較することで効果を評価した。 - 吉藤拓土, 田中孝之, 日下聖電子情報通信学会技術研究報告 2013年08月
- 奈良 博之, 田中 孝之, 日下 聖, 山岸 孝幸, 小倉 庄太郎ロボティクス・メカトロニクス講演会講演概要集 2013年05月 一般社団法人日本機械学会
Our purpose in this study is to achieve an independent life and a social involvement for the elderly using KEIROKA Technology(fatigue-reduction) which makes it possible to improve the quality of chores and occupations by removing excessive strain and tiredness. The authors have developed power assist suits named "smart suit". The authors have evaluated the effect that the purpose of dairy work assistance, to measure EMG of the worker, compared to the potential of the surface of the non-wearing and wearing "smart suit". - 日下聖, 田中孝之, 金子俊一, 梶原秀一ロボティクスシンポジア予稿集 2013年03月
- 吉藤拓士, 田中孝之, 日下聖, 金子俊一, 梶原秀一ロボティクスシンポジア予稿集 2013年03月
- スマートスーツの補助力最適化のための動作計測と認識 [通常講演]若杉素秋, 田中孝之, 奈良博之, 日下聖, 金子俊一計測自動制御学会北海道支部学術講演会論文集 2013年
- 奈良博之, 田中孝之, 日下聖, 山岸孝幸, 小倉庄太郎計測自動制御学会北海道支部学術講演会論文集 2013年
- 日下聖, 田中孝之, 齊藤宗信, 鈴木善人日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス(CD-ROM) 2013年 一般社団法人 日本機械学会
The authors have developed the smart suit and the smart suit lite as an assist suit for fatigue reduction. The smart suit has elastic materials and actuators. The elastic materials are sources of assisting force and the actuator can control the assist force by adjusting the length of the elastic materials. On the other hand, the smart suit lite has only elastic materials like supporters. In this study, we apply the smart suit and the smart suit lite to racehorse trainers because their work accompanied by a large burden. In the results, we confirmed large effect of fatigue reduction through field experiments. - 日下 聖, 田中 孝之, 金子 俊一, 梶原 秀一ロボティクス・メカトロニクス講演会講演概要集 2013年 一般社団法人 日本機械学会
We have developed semi-active assist mechanisms and their control method. The semi-active assist mechanism uses the restoring force of elastic materials as an assist force, and the mechanism can control the restoring force by adjusting the equilibrium point of the elastic materials by using an actuator. The control method for sinusoidal motions were developed for power assist and skill assist in previous study. The power assist means to decrease operator's load, and the skill assist means to correct operator's motion. The method was realized both assist by only using the phase difference of forces between the operator and the assist device. In this paper, we analysed the effects of the phase difference for the power assist and the skill assist from viewpoint of impedance control. - 吉藤拓土, 田中孝之, 日下聖, 金子俊一, 梶原秀一日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
- 日下聖, 田中孝之, 金子俊一, 梶原秀一日本ロボット学会学術講演会予稿集(CD-ROM) 2012年09月
- 日下聖, 田中孝之, 金子俊一, 梶原秀一計測自動制御学会北海道支部学術講演会論文集 2012年
- 日下聖, 田中孝之, 金子俊一, 梶原秀一日本ロボット学会学術講演会予稿集(CD-ROM) 2011年09月
- 日下聖, 田中孝之, 金子俊一, 梶原秀一ロボティクスシンポジア予稿集 2011年03月
- 日下聖, 田中孝之, 金子俊一, 梶原秀一計測自動制御学会北海道支部学術講演会論文集 2011年
- 日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 梶原 秀一ロボティクス・メカトロニクス講演会講演概要集 2010年 一般社団法人 日本機械学会
We have developed a soft and flexible power assist device named "smart suit". The assist force is basically gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse training to prevent their injuries. Moreover we aim developing an assist force control method based on the energy control for considering not only the power assist but the skill assit. In this paper, we confirm the energy control has the effectiveness of the power assist and the skill assist. - 日下聖, 田中孝之, 金子俊一, 鈴木善人, 斎藤宗信, 梶原秀一計測自動制御学会北海道支部学術講演会論文集 2010年
- 日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 梶原 秀一ロボティクス・メカトロニクス講演会講演概要集 2010年 一般社団法人日本機械学会
We have developed a soft and flexible power assist device named "smart suit". The assist force is basically gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse training to prevent their injuries. Moreover we aim developing an assist force control method based on the energy control for considering not only the power assist but the skill assit. In this paper, we confirm the energy control has the effectiveness of the power assist and the skill assist. - 日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 関 修二, 坂本 直久, 梶原 秀一ロボティクス・メカトロニクス講演会講演概要集 2009年 一般社団法人 日本機械学会
This paper describes the assist force control of semi-active assist system "Smart Suit" for horse trainer. We developed a soft and flexible power assist device named "Smart Suit" for reducing horse trainers' physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. The assist force is basically gained by the elastic force of rubber belt, and it is controlled by turning the length of the rubber belt by using DC motor. In order to gain the suitable assist force for periodical horse trainers' motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP) which is the dynamic stable point. - 日下 聖, 田中 孝之, 金子 俊一, 鈴木 善人, 齊藤 宗信, 関 修二, 坂本 直久, 梶原 秀一ロボティクス・メカトロニクス講演会講演概要集 2009年 一般社団法人 日本機械学会
This paper describes the assist force control of semi-active assist system "Smart Suit" for horse trainer. We developed a soft and flexible power assist device named "Smart Suit" for reducing horse trainers' physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. The assist force is basically gained by the elastic force of rubber belt, and it is controlled by turning the length of the rubber belt by using DC motor. In order to gain the suitable assist force for periodical horse trainers' motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP) which is the dynamic stable point. - 日下 聖, 中野 基輝, 渋川 文哉, 近藤 香織, 小林 範行, 佐野 竜一, 田中 孝之, 金子 俊一ロボティクス・メカトロニクス講演会講演概要集 2008年 一般社団法人 日本機械学会
This paper aims to propose a method of robot contest that enlightens welfare activity for children. Recently, many children have few chance to meet and communicate the grandparents, because numbers of two-generation family increased. A lot of current robot contests for children have given priority to the education of creativity. Then, we give the chance that children think about the welfare activity by adding a moralistic theme to the robot contest. We designed "Grandpa Mission" as a robot contest to rise awareness for welfare activity and propose how to execute it. - 日下 聖, 中野 基輝, 渋川 文哉, 近藤 香織, 小林 範行, 佐野 竜一, 田中 孝之, 金子 俊一ロボティクス・メカトロニクス講演会講演概要集 2008年 一般社団法人 日本機械学会
This paper aims to propose a method of robot contest that enlightens welfare activity for children. Recently, many children have few chance to meet and communicate the grandparents, because numbers of two-generation family increased. A lot of current robot contests for children have given priority to the education of creativity. Then, we give the chance that children think about the welfare activity by adding a moralistic theme to the robot contest. We designed "Grandpa Mission" as a robot contest to rise awareness for welfare activity and propose how to execute it.
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- 日本学術振興会：科学研究費助成事業 特別研究員奨励費研究期間 : 2011年 -2013年代表者 : 日下 聖本研究は弾性材とアクチュエータから成るセミアクティブアシスト機構による周期運動のアシストを研究対象とし, これまで行ってきたパワーアシストを実現する制御法の拡張として, 負担軽減だけでなく動作矯正を行うスキルアシスト制御法に関して研究を行っている. 本年度は研究計画の通り, 大目的であるセミアクティブアシスト機構によるパワーアシストとスキルアシストの同時実現に取り組み, これまで開発してきた技術を拡張することでそれを実現した. まず, 我々の扱うセミアクティブアシスト機構において, 補助エネルギをパワーアシストに使うのか, スキルアシストに使うのかは, 人間とアシスト装置のダイナミクスの両方を解析からトレードオフの関係になることがわかっている. 同時実現として我々の研究で解決すべき課題は, この補助エネルギをいかに効率的にパワーアシストとスキルアシストに配分するかである. これまでの研究でパラメータ設計によるパワーアシスト効率制御法, 人間の運動のばらつきを統計的に組み込んだ補助力位相差制限法に基づくスキルアシスト効率制御法を開発してきた. しかしながら, それら双方のトレードオフを考慮した同時最適化は行っていなかった. そのため, 本年度はセミアクティブアシスト機構のパワーアシストとスキルアシストの研究の総まとめとして, トレードオフの関係にあるそれぞれのアシスト効率いかにすれば最適化可能であるかについて研究を行った. この同時最適化という課題を解決するために, 我々は周期運動のアシストの動作点という概念を新たに導入した. トレードオフの関係を用いて円上を動く動作点を考えると, 本システムは半径方向が補助エネルギを示すこととなる. 動作点の概念はその関係を用いて設計しこの概念を用いて同時最適化のためのパラメータ設計を行い, 実験的に検証を行った. その結果, スキルアシストの適用による追従誤差の低下と, その上で目標値通りの最大化されたパワーアシスト効果を得ることができた. これにより, 本研究課題であるセミアクティブアシスト機構とエネルギ制御によるパワー及びスキルアシストの同時実現を達成した.
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