博士（情報科学）, 北海道大学

Power assist

Robotics

Signal processing

Sensor fusion

Imege sensing

Communication technology

Wavelet analysis

Embedded system

Biometric system

Man-machine system

Informatics, Human interface and interaction

Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering), Control and system engineering

Informatics, Robotics and intelligent system

Bachelor's degree program, School of Engineering

Master's degree program, Graduate School of Information Science and Technology

Doctoral (PhD) degree program, Graduate School of Information Science and Technology

Jun. 2025, 一般社団法人日本機械学会 ロボティクス・メカトロニクス部門, 分野融合研究優秀表彰
Development of Augmented Jump SLIP Model and Its Optimization Based on Impulse Analysis

Jun. 2025, 一般社団法人日本機械学会 ロボティクス・メカトロニクス部門, ROBOMECH表彰（産業・実用分野）
余事象動作を考慮した隠れセミマルコフモデルを用いたロバストな介護作業識別

Feb. 2025, 第25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, SI2024優秀講演賞

Nov. 2017, 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

Mar. 2017, 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

Mar. 2014, 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

Mar. 2009, 北海道大学工学部, 学業優秀賞

Mar. 2009, 北海道大学GP, 優秀賞

Dec. 2007, 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

A Chain Rule-Based Generalized Framework for Efficient Dynamic Analysis of Complex Robotic Systems
Takashi Kusaka; Takayuki Tanaka
Robotics, 14, 9, 115, 115, MDPI AG, 25 Aug. 2025
Scientific journal, System representation via computational graphs has become a cornerstone of modern machine learning, underpinning the gradient-based training of complex models. We have previously introduced the Partial Lagrangian Method—a divide-and-conquer approach that decomposes the Lagrangian into link-wise components—to derive and evaluate the equations of motion for robot systems with dynamically changing structures. That method leverages the symbolic expressiveness of computational graphs with automatic differentiation to streamline dynamic analysis. In this paper, we advance this framework by establishing a principled way to encode time-dependent differential equations as computational graphs. Our approach, which augments the state vector and applies the chain rule, constructs fully time-independent graphs directly from the Lagrangian, eliminating the erroneous time-derivative embeddings that previously required manual correction. Because our transformation is derived from first principles, it guarantees graph correctness and generalizes to any system governed by variational dynamics. We validate the method on a simple serial-link robotic arm, showing that it faithfully reproduces the standard equations of motion without graph failure. Furthermore, by compactly representing state variables, the resulting computational graph achieves a seven-fold reduction in evaluation time compared to our prior implementation. The proposed framework thus offers a more intuitive, scalable, and efficient design and analysis of complex dynamic systems.

Improving Motion Estimation Accuracy in Underdetermined Problems Using Physics-Informed Neural Networks with Inverse Kinematics and a Digital Human Model
Yuya Hishikawa; Takashi Kusaka; Yoshifumi Tanaka; Yukiyasu Domae; Naoki Shirakura; Natsuki Yamanobe; Yui Endo; Mitsunori Tada; Natsuki Miyata; Takayuki Tanaka
Electronics, 14, 15, 3055, 3055, MDPI AG, 30 Jul. 2025
Scientific journal, With the rapid technological advancements in wearable devices, motion and health management have significantly improved, enabling the measurement of various biometric data with compact equipment. Our research focuses on motion measurement but, in general, full-body motion estimation requires motion capture systems or multiple inertial sensors, making it necessary to directly measure movement itself. In this study, we propose estimating full-body posture using inverse kinematics based on trunk posture and limb-end information collected through wearable devices. To enhance estimation accuracy in this underdetermined problem, we employ Physics-Informed Neural Networks (PINNs), which efficiently learn using physical laws as a loss function, along with a high-precision inverse kinematics model of a digital human. Through this approach, we enable high-accuracy full-body posture estimation even with wearable devices in underdetermined scenarios.

Development of a simple mechanical model to evaluate running economy for designing running augmentation suits
Hiromu Mori; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka; Yumeko Imamura
ROBOMECH Journal, 12, 1, Springer Science and Business Media LLC, 18 Jul. 2025
Scientific journal, Abstract

This paper presents a simple mechanical model capable of evaluating a running effectiveness index $$\epsilon _{EI}$$ based on mechanical energy. We extended a spring-loaded inverted pendulum model, considering the biomechanical determinants of running economy (RE), to develop a simplified mechanical model that can accurately represent the $$\epsilon _{EI}$$ calculated by a detailed running model. To assess the accuracy of the proposed model in estimating RE, we computed the $$\epsilon _{EI}$$ using both the proposed and detailed models, based on data obtained from running experiments. A linear regression analysis using the least squares method was performed to analyze the relationship between the $$\epsilon _{EI}$$ values calculated by the two models. The regression analysis results of the $$\epsilon _{EI}$$ values obtained from the two models yielded significant F-statistics ( $$p < 0.01$$ ) for all four participants, demonstrating that the proposed model can sufficiently represent the running economy index calculated by the detailed model.

Enhancement of precision in electromagnetic radar exterior wall inspection through model-based analysis of measurement uncertainty
Keina Kitaura; Takashi Kusaka; Takumi Honda; Takayuki Tanaka
ROBOMECH Journal, 12, 1, Springer Science and Business Media LLC, 29 May 2025
Scientific journal, Abstract

A model-based approach using tile-based models was developed to estimate the depth and size of voids within exterior walls. However, during field applications with portable devices, antenna misalignment has been identified as a key factor reducing the accuracy of these estimations. To address this issue, an index was proposed to evaluate measurement uncertainty through model-based analysis, enhancing data accuracy. Additionally, data accuracy was improved by incorporating labeling from electromagnetic radar and hammering inspection results. The efficacy of the proposed method was validated through data analysis from building exterior wall inspections at construction sites, followed by comparisons of the estimated results. Notably, when classifying tiles as healthy or defective, linear separations in void depth and size increased by 0.549, while separation in void size increased by 0.522.

Uncertain Shape and Deformation Recognition Using Wavelet-Based Spatiotemporal Features
Haruka Matoba; Takashi Kusaka; Koji Shimatani; Takayuki Tanaka
Electronics, 14, 11, 2131, 2131, MDPI AG, 23 May 2025
Scientific journal, This paper proposes a wavelet-based spatiotemporal feature extraction method for recognizing uncertain shapes and their deformations. Uncertain shapes, such as hand gestures and fetal movements, exhibit individual and trial-dependent variations, making their accurate recognition challenging. Our approach constructs shape feature vectors by integrating wavelet coefficients across multiple scales, ensuring robustness to rotation and translation. By analyzing the temporal evolution of these features, we can detect and quantify deformations effectively. Experimental evaluations demonstrate that the proposed method accurately identifies shape differences and tracks deformations, outperforming conventional approaches such as template matching and neural networks in adaptability and generalization. We further validate its applicability in tasks such as hand gesture recognition and fetal movement analysis from ultrasound videos. These results suggest that the proposed wavelet-based spatiotemporal feature extraction technique provides a reliable and computationally efficient solution for recognizing and tracking uncertain shapes in dynamic environments.

A Motion Propagation Force Analysis of Multi-DoF Systems Using the Partial Lagrangian Method
Hironori Gunji; Takashi Kusaka; Takayuki Tanaka
Robotics, 14, 5, 54, 54, MDPI AG, 24 Apr. 2025
Scientific journal, A partial Lagrangian method is proposed as an inverse dynamics analysis method for multi-link systems. This method, combined with automatic differentiation, allows for the derivation of equations of motion and analytical extraction of motion-induced torque components. We introduce the concept of motion propagation force to describe joint torque components generated by the motion of other joints. This concept aligns with existing notions such as interaction torque, while providing a novel analytical perspective. The effectiveness of the proposed method is confirmed through simulations using a three-DoF arm model, where motion propagation torques are visualized and validated. This method is useful for motion analysis and impedance control in complex robotic systems.

A Modification Method for Domain Shift in the Hidden Semi-Markov Model and Its Application
Yunosuke Shimada; Takashi Kusaka; Takayuki Mukaeda; Yui Endo; Mitsunori Tada; Natsuki Miyata; Takayuki Tanaka
Electronics, 14, 8, 1579, 1579, MDPI AG, 13 Apr. 2025
Scientific journal, In human behavior recognition using machine learning, model performance degrades when the training data and operational data follow different distributions which is a phenomenon known as domain shift. This study proposes a method for domain adaptation in the hidden semi-Markov model (HSMM) by modifying only the emission probability distributions. Assuming that the state transition probabilities remain unchanged, the method updates the emission probabilities based on the posterior distribution of the target domain. This approach enables domain adaptation with minimal computational cost without requiring model retraining. The effectiveness of the proposed method was evaluated on synthetic time-series data from different domains and actual care work data, achieving recognition performance comparable to that of models retrained for each domain. These findings suggest that the proposed method applies to various time-series data analysis tasks requiring domain adaptation.

Stabilization of Signal Decomposition Based on Frequency Entrainment Phenomena
Keina Kitaura; Takashi Kusaka; Koji Shimatani; Takayuki Tanaka
Electronics, 14, 6, 1163, 1163, MDPI AG, 16 Mar. 2025
Scientific journal, With advancements in the miniaturization and lightweight design of computers and electronic devices, wearable sensors are now widely utilized in fields such as healthcare and medicine. Signals obtained from wearable sensors often contain a mix of biological signals and noise. Typically, wearable sensor measurements focus on a single signal of interest (SoI), treating other signals as noise. While methods for separating multiple signals exist, the stable tracking of frequency variations during signal separation remains an unresolved challenge. Biological signal and human motion measurements often face issues such as noise, temporal disconnections, dropouts, and frequency variations. To address these challenges, we developed a method that can stably separate and extract SoI from measurement data. We demonstrated the effectiveness of the proposed method through simulations replicating common measurement issues. By applying the method, we show that SoI frequency estimates can be obtained with a high accuracy. Furthermore, we confirm that the method can separate multiple SoIs from a single measurement dataset, highlighting its utility. Finally, we validate that the proposed method can reliably extract multiple SoIs, such as heart rate, walking rhythm, and breathing rate, from actual data measured using stretch sensors, achieving results consistent with simulations.

Motion Tactics Model Combining Multiple Tactics to Represent Individual Differences in Human Running Motion
Masaki Kitagawa; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka
Applied Sciences, 15, 6, 3221, 3221, MDPI AG, 15 Mar. 2025
Scientific journal, Human running is a simple, periodic motion; however, the underlying mechanisms that generate this motion are complex, resulting in individual variations even when the same locomotion goal is pursued. Current generalized locomotion studies have not adequately explained these variations. To address this gap, we focus on the concept of motion strategy, which involves selecting different approaches to accomplish a task. Our objective is to develop a simulation that integrates these motion strategies. Achieving this requires both a deep understanding of the mechanisms behind human motion generation and the development of a system that can reproduce these mechanisms within a simulation. In this study, we propose a motion tactics model and develop a simulation system to replicate motions guided by these strategies. The simulation results were compared with experimental data to assess the effectiveness of the proposed model in replicating individual differences in motion. The model generated multiple motion states and showed it could select unique outcomes by combining different tactics, confirming its validity and feasibility. This approach demonstrated the potential for representing the characteristics in individual motion.

Partial Torque Tensor and Its Building Block Representation for Dynamics of Branching Structures Using Computational Graph
Takashi Kusaka; Takayuki Tanaka
Robotics, 14, 3, 31, 31, MDPI AG, 10 Mar. 2025
Scientific journal, The Euler–Lagrange and Newton–Euler methods are typically used to derive equations of motion for serial-link manipulators. We previously proposed a partial Lagrangian method, which is similar to the Lagrangian method, for handling the equations of motion analytically. Moreover, the proposed method can efficiently handle multi-link analyses, similar to the Newton–Euler method. The partial Lagrangian method organizes the Lagrangian, which is obtained from the link structure, and torque, which is obtained by differential operations, into a table that can be easily handled by both manual calculations and computer analysis. Furthermore, by representing it using a computational graph, it is possible to perform dynamic analysis while maintaining the structure of a system. By observing the intermediate nodes of this computational graph, it is possible to observe how the torque generated at a particular link affects the joint. Organizing the structure with graphs allows us to consider complex systems as a collection of subgraphs, making this method highly compatible with our proposed partial Lagrangian approach. This study shows that the partial torque tensor can be used as an analog of the partial torque table for serial-link systems by interpreting the meaning of the table, i.e., the partial torque, as the interaction between the links in order to simplify the treatment of branching link systems. Due to the use of the partial torque tensor, the dimensions of the tensor correspond one-to-one with the number of branches, allowing the description of any branching system. Furthermore, by using the proposed building block representation, even complex branching systems can be easily designed and analyzed.

Torsion as a Mechanism for Enhancing Torso Mobility by Increasing Instantaneous Torque Transfer Ratio
Shunsuke Nakamae; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka
Journal of Robotics and Mechatronics, 20 Feb. 2025
Scientific journal

Analysis of stiffness changes and factors induced by smart suit with trunk kinetic chain SLIP model
Hiromu Mori; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka; Yumeko Imamura
ROBOMECH Journal, 12, 1, Springer Science and Business Media LLC, 18 Jan. 2025
Scientific journal, Abstract

We are currently developing a suit that assists human running motion based on the Smart Suit (SS). The SS is a wearable assistive device that intervenes in trunk kinetic chain movements by linking trunk rotation to hip flexion and extension through elastic belts. By intervening in the trunk kinetic chain, our goal is to enhance stiffness, thereby improving running economy and speed. The purpose of this study is to acquire fundamental insights into the changes in leg and trunk rotational stiffness induced by the SS, as well as the underlying mechanisms. We defined the SS torque intervention rate $$p_{ss}$$ , which focuses on the magnitude of force, and the peak time difference index, $$e_{lag}$$ , between SS and humans, which focuses on the timing of force, and analyzed the relationship between the stiffness change rate due to SS wearing. The results of the analysis suggest that SS affects human running sensitively rather than mechanically. We also confirmed that the degree of adaptation to SS, assessed by the timing gap between SS exertion and human exertion, contributes significantly to changes in trunk rotation stiffness.

Pseudo-Normalization via Integer Fast Inverse Square Root and Its Application to Fast Computation without Division
Takashi Kusaka; Takayuki Tanaka
Electronics, 13, 15, 2955, 2955, MDPI AG, 26 Jul. 2024, [Peer-reviewed]
Scientific journal, Vector normalization is an important process in several algorithms. It is used in classical physical calculations, mathematical techniques, and machine learning, which has witnessed significant advancements in recent years. Normalization and regularization ensure the stability of solutions and play an important role in algorithm convergence. Normalization typically refers to the division of elements by their norm. Division should not be used in algorithmic implementations because its computational cost is considerably higher than that of multiply–add operations. Based on this, there is a well-known method referred to as the fast inverse square root (FISR) algorithm in floating-point calculations (IEEE754). In deeper-level embedded systems that require fast responses or power efficiency, integer instead of real number arithmetic (floating-point number arithmetic) should be used to increase speed. Conversely, in deeper-level embedded systems that require fast responses or power efficiency, integer arithmetic should be used instead of real number arithmetic (floating-point number arithmetic) to increase speed. Therefore, embedded engineers encounter problems in instances in which they use integer arithmetic for implementation, but real number arithmetic is required to compute vectors and other higher-dimensional algebra. There is no conventional normalization algorithm similar to the FISR algorithm for integer arithmetic; however, the proposed pseudo-normalization achieves vector normalization within a restricted domain using only multiply–add operations and bit shifts. This allows for fast and robust operations, even for low-performance MCUs that do not have power-efficient FPUs. As an example, this study demonstrates the computation of the arctangent (Arctan2 function; atan2(y, x)) with high precision using only integer multiply–add operations. In this study, we proposed a method of vector normalization using only integer arithmetic for embedded systems and confirmed its effectiveness by simulation using Verilog. The research results can contribute to various fields such as signal processing of IMU sensor data, faster artificial intelligence training, and efficient rendering of computer graphics.

Complementary Event Motion Classification for Robust Identification and Care Work Identification Using Hidden Semi-Markov Model
Yunosuke SHIMADA; Takayuki MUKAEDA; Takashi KUSAKA; Yui ENDO; Mitsunori TADA; Natsuki MIYATA; Takayuki TANAKA
Transactions of the Society of Instrument and Control Engineers, 60, 12, 620, 630, The Society of Instrument and Control Engineers, 2024, [Peer-reviewed]

Musculoskeletal Model Capable of Reproducing Lumbar Extension Motion Strategy Based on the Equilibrium Point Hypothesis
Masahiro Sato; Michihiro Yoshida; Takashi Kusaka; Yusuke Suzuki; Takayuki Tanaka
Journal of Robotics and Mechatronics, 35, 3, 762, 770, Fuji Technology Press Ltd., 20 Jun. 2023, [Peer-reviewed]
English, Scientific journal, 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.

Partial Lagrangian for Efficient Extension and Reconstruction of Multi-DoF Systems and Efficient Analysis Using Automatic Differentiation
Takashi Kusaka; Takayuki Tanaka
Robotics, 11, 6, 149, 149, MDPI AG, 09 Dec. 2022, [Peer-reviewed], [Lead author]
Scientific journal, 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.

Stateful Rotor for Continuity of Quaternion and Fast Sensor Fusion Algorithm Using 9-Axis Sensors
Takashi Kusaka; Takayuki Tanaka
Sensors, 22, 20, 7989, 7989, MDPI AG, Oct. 2022, [Peer-reviewed], [Lead author]
Scientific journal, 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.

Fast and Accurate Approximation Methods for Trigonometric and Arctangent Calculations for Low-Performance Computers
Takashi Kusaka; Takayuki Tanaka
Electronics, 11, 15, 2285, MDPI AG, 22 Jul. 2022, [Peer-reviewed], [Lead author]
Scientific journal, 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.

Wearable lumbar load estimation system and its visualizing application for long-term care industry
土谷圭央; 岸村厚志; 日下聖; 田中孝之
地域ケアリング, 24, 9, 2022, [Peer-reviewed]

Reducing Lumbar Load with Active Corset
Michihiro Yoshida; Takayuki Tanaka; Yoshio Tsuchiya; Takashi Kusaka
Journal of Robotics and Mechatronics, 30, 5, 740, 751, Oct. 2018, [Peer-reviewed]
English, Scientific journal, This study describes the effect of Active Corset on the lumbar spine. Active Corset is assist tools used to prevent low back pain. It tightens the waist optimally according to the lumbar load during work. This study aimed to clarify the mechanical effect of tightening of the pelvis on lumbar joints and determine the mechanism leading to reduction of the lumbar load. Moreover, this study examined the phenomena commonly occurring among the subjects with reduced lumbar load by tightening of the pelvis. First, we will present some examples of currently used assist tools and demine the utility of the Active Corset among the various tools used. Next, the mechanism of the Active Corset will be described. Further, we will present a hypothesis about reducing the lumbar load by tightening the pelvis. After describing the change in the joint bending angle on tightening, we will describe reduction of burden from the antigravity torque around the lumbar joint. Finally, we will compare active tightening using Active Corset with tightening using a constant force and describe the advantage of active tightening.

Estimating Lumbar Load During Motion with an Unknown External Load Based on Back Muscle Activity Measured with a Muscle Stiffness Sensor
Yoshio Tsuchiya; Yumeko Imamura; Takayuki Tanaka; Takashi Kusaka
J. Robot. Mechatron., 30, 5, 696, 705, Oct. 2018, [Peer-reviewed]
English, Scientific journal

Walking assist by trunk and pelvis motion assist for gait improvement
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, The Japan Society of Mechanical Engineers, 2018
Japanese, 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.

Walking Assistance and Walking Training by Using Trunk Rotation Assistance Device with Periodic Input Control
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, The Society of Instrument and Control Engineers, 2018, [Peer-reviewed]
Japanese, Scientific journal, 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.

Variable Complimentary Filter for Improving Accuracy of Human Motion Measurement
Saori MIYAJIMA; Takayuki TANAKA; Takashi KUSAKA
Transactions of the Society of Instrument and Control Engineers, 53, 5, 299, 307, 計測自動制御学会 ; [1965]-, May 2017, [Peer-reviewed]
Japanese, Scientific journal, 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.

Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control
Takashi Kusaka; Takayuki Tanaka; Hidekazu Kajiwara
ROBOMECH Journal, 4, 2, 1, 11, Jan. 2017, [Peer-reviewed], [Lead author]
English, Scientific journal

A proposal of lumbosacral load wearable sensor and lumbosacral alignment estimation based on X-ray image
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, [Peer-reviewed]
Japanese, <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>

Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components
Takuto Yoshifuji; Takayuki Tanaka; Takashi Kusaka
Journal of Robotics and Mechatronics, 26, 6, 692, 703, Fuji Technology Press, 20 Dec. 2014, [Peer-reviewed]
English, Scientific journal

作業負担評価のためのウェアラブル腰部負荷推定システム
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, 15 Nov. 2014
Japanese

Skill Assist Efficiency Control for Periodical Tasks based on Phase Difference Limitation Method of Assist Force under use of Semi-active Assist Mechanisms
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-, Mar. 2014, [Peer-reviewed], [Lead author]
Japanese

Smart Suit Lite Integrated with Jockey Protector and Verification of Its Load Reduction
日下 聖; 田中 孝之; 今村 由芽子
Hippophile, 0, 47, 27, 33, 日本ウマ科学会, Jan. 2012, [Peer-reviewed], [Lead author]
Japanese

Assist Force Control of Smart Suit for Horse Trainers Considering Motion Synchronization
T. Kusaka; T. Tanaka; S. Kaneko; Y. Suzuki; M. Saito; H. Kajiwara
International Journal of Automation Technology, 3, 6, 723, 730, Dec. 2009, [Peer-reviewed], [Lead author]
English, Scientific journal

Assist force control of smart suit for horse trainer considering motion synchronization and postural stabilization
Takashi Kusaka; Takayuki Tanaka; Shun'ichi Kaneko; Yoshihito Suzuki; Munenobu Saito; Shuji Seki; Naohisa Sakamoto; Hidekazu Kajiwara
ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings, 770, 775, 2009
English, International conference proceedings

Running Augmentation Mechanisms of Soft Exosuit Focusing on Changes in Kinetic Energy Utilization
Hiromu Mori; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka; Yumeko Imamura, Augmented Humans 2026, 16 Mar. 2026

MRF-Based Mapping of Fetal and Maternal Deformations for Understanding and Supporting Fetal Movement Perception
Haruka Matoba; Takashi Kusaka; Koji Shimatani; Dongmin Kim; Hoshinori Kanazawa; Yasuo Kuniyoshi; Takayuki Tanaka, 2026 IEEE/SICE International Symposium on System Integration (SII), 832, 837, 11 Jan. 2026, [Peer-reviewed]
This study proposes a foundational method for objectively classifying whether mothers can easily perceive fetal movements, a crucial indicator in perinatal care. Traditional fetal movement assessments rely on subjective maternal reports or wearable sensor-based methods susceptible to external noise.This paper applies the previously established Multi-Resolution Feature (MRF) method to independently quantify both fetal and maternal deformation from simulated fetal movement videos. We constructed a novel fetal-maternal deformation map using these deformation values as axes. The results demonstrate that this map can visually represent the relationship between fetal and maternal deformation. Furthermore, exploratory analysis of the data distribution on the map suggested the existence of distinct fetal movement patterns: movements accompanied by significant maternal abdominal wall deformation (likely perceived by the mother) and movements where the fetus is active but less transmission occurs to the mother (likely difficult for the mother to perceive). This method is expected to be a stepping stone towards establishing a new approach for more detailed assessment of fetal health and, consequently, improving the quality of perinatal medical care., IEEE, English

Salient Behavior Extraction in Construction Machinery Operation Using Motion Propagation Forces
Ryo Sumiyama; Takashi Kusaka; Hironori Gunji; Yuichi Kurita; Fumiya Sakamoto; Masaru Ito; Yusuke Kamimura; Takayuki Tanaka, 2026 IEEE/SICE International Symposium on System Integration (SII), 1119, 1124, 11 Jan. 2026, [Peer-reviewed]
This study proposes a vibration-feedback method to enhance kinesthetic perception while reducing lumbar load during the teleoperation of construction machinery. The angular acceleration of the operator’s seat is dynamically estimated from joint torques, and salient vibration components are extracted from their decomposed terms. Using the partial Lagrangian method and the concept of motion-propagation force, we isolate the torque component at the base joint induced by the motion of a specific link and analyze its contribution to seat angular acceleration via wavelet transforms. Excavation experiments demonstrate that the extracted component significantly influences seat angular acceleration, suggesting that selective vibration feedback can preserve operational feel while alleviating operator workload., IEEE, English

Representation of Jacobian Matrix Using Computational Graphs And Its Applications
Hironori Gunji; Takashi Kusaka; Takayuki Tanaka, 51st Annual Conference of the IEEE Industrial Electronics Society (IECON 2025), Oct. 2025

Reproduction of Human Locomotion Transitions Based on Motion Intention Using a Strategy-Tactics Framework
Kitagawa, Masaki; Tanaka, Takayuki; Murai, Akihiko; Kusaka, Takashi, 2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct. 2025

Extracting the behavior of interest of construction machinery using the partial Lagrangian method
住山遼; 日下聖; 郡司紘教; 栗田雄一; 坂本郁弥; 伊藤卓; 柚本夏輝; 田中孝之, 日本機械学会年次大会講演論文集(CD-ROM), 2025, 2025

Can Forward Dynamics Simulation with a Simple Model Represent Complex Rotations of the Torso with Torsion?
Shunsuke NAKAMAE; Takayuki TANAKA; Akihiko MURAI; Takashi KUSAKA, The 2024 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2024), Dec. 2024

An Image-based Measurement for Estimating Feed Intake inDaily Cows
Ryotaro Inoguchi; Asahi Matsuda; Takayuki Tanaka; Takashi Kusaka; Takayuki Mukaeda; Shiho Ishikawa; Yuriya Ishikawa, JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024

HSMM based dairy cows behavior model capable of capturing changes due to food intake
Yuriya Ishikawa; Takashi Kusaka; Asahi Matsuda; Takayuki Mukaeda; Shiho Ishikawa; Ryotaro Inoguchi; Takayuki Tanaka, JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024

Development of Augmented Jump SLIP model and Its Optimization based on Impulse Analysis
Saizo Kamei; Takashi Kusaka; Taro Nakamura; Fumio Ito; Takashi Itsuno; Riku Takakuwa; Takayuki Tanaka, JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024

Lightweight retroreflective structures as SAR satellite targets
Toshiyuki Miyazaki; Takashi Kusaka; Fumihiro Takahashi; Takashi Hosokawa, The 15th Pan Ocean Remote Sensing Conference (PORSEC2022), Dec. 2022, [Peer-reviewed]

Evaluation of Luneberg Lens Focusing Performance in a Finite Size Anechoic Chamber
Toshiyuki Miyazaki; Takashi Kusaka; Fumihiro Takahashi; Takashi Hosokawa, The 2022 International Symposium on Antennas and Propagation (ISAP2022), 119, 120, Oct. 2022, [Peer-reviewed]

Walking Assistance and Resistance of Walking Motion by Trunk and Pelvis Motion Assist
Kotaro Hashimoto; Takayuki Tanaka; Takashi Kusaka, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2018
IEEE

Wearable Sensor System for Lumbosacral Load Estimation by Considering the Effect of External Load
Yoshio Tsuchiya; Takashi Kusaka; Takayuki Tanaka; Yoshikazu Matsuo, International Conference on Applied Human Factors and Ergonomics., 160, 168, 2017, [Peer-reviewed]
English

Design of a simple three-dimensional musculoskeletal model for a wearable sensor system, and optimization of link joint position using finite element analysis
Akimoto Haruma; Tsutiya Yoshio; Imamura Yumeko; Kusaka Takashi; Tanaka Takayuki, IEEE Conference Proceedings, 2017, LSC, 234‐237, 2017, [Peer-reviewed]
English

Estimation of the optimal spread of a guidance force field for a power assist system
Matsuda Junki; Tanaka Takayuki; Kusaka Takashi, IEEE Conference Proceedings, 2017, IRIS, 249‐254, 2017, [Peer-reviewed]
English

Prototype of a Trunk Rotation Assist System for Passive Dynamic Walking and Fundamental Experiments
Kotara Hashimoto; Takayuki Tanaka; Takuma Aizu; Takashi Kusaka, 2016 WORLD AUTOMATION CONGRESS (WAC), 2016, [Peer-reviewed]
English

A Fundamental Design of Controller of Trunk Rotation Assist Device for Passive Dynamic Walkl
Takuma Aizu; Takayuki Tanaka; Kotara Hashimoto; Takashi Kusaka, 2016 WORLD AUTOMATION CONGRESS (WAC), 2016, [Peer-reviewed]
English

A Calibration Method for Interbody Distance in Lumbosacral Alignment Estimation
Yoshio Tsuchiya; Takashi Kusaka; Takayuki Tanaka; Yoshikazu Matsuo; Makoto Oda; Tsukasa Sasaki; Tamotsu Kamishima; Masanori Yamanaka, INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT II, 9835, 200, 210, 2016, [Peer-reviewed]
English

Residual Correction Method for Fast Calculation of Arctangent in Embedded Systems
Takashi Kusaka; Takayuki Tanaka; Hidekazu Kajiwara, 2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 42, 47, 2015, [Peer-reviewed]
English

Calibration method for lumbosacral dimensions in wearable sensor system of lumbar alignment
Yoshio Tsuchiya; Takashi Kusaka; Takayuki Tanaka; Yoshikazu Matsuo; Makoto Oda; Tsukasa Sasaki; Tamotsu Kamishima; Masanori Yamanaka, 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2015, 3909, 3912, 2015, [Peer-reviewed]
English

Lumbar Load Estimation using a Musculoskeletal Model in Consideration of Vertebral Body Displacement: Lumbar Load Simulation under Static Conditions
Yumeko Imamura; Takayuki Tanaka; Takashi Kusaka; Yoshio Tsuchiya, 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2015, 3905, 3908, 2015, [Peer-reviewed]
English

Lumbar Joint Torque Estimation Based on Simplified Motion Measurement Using Multiple Inertial Sensors
Saori Miyajima; Takayuki Tanaka; Yumeko Imamura; Takashi Kusaka, 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2015, 6716, 6719, 2015, [Peer-reviewed]
English

Simultaneous Realization of Power Assist and Skill Assist for Sinusoidal Motions by using Semi-active Assist Mechanism
Takashi Kusaka; Takayuki Tanaka, 2014 PROCEEDINGS OF THE SICE ANNUAL CONFERENCE (SICE), 1762, +, 2014, [Peer-reviewed]
English

Development on Smart Suit for Dairy Work Assistance
Hiroyuki Nara; Takashi Kusaka; Takayuki Tanaka; Takayuki Yamagishi; Shotaroh Ogura, 2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2840, 2843, 2013, [Peer-reviewed]
English

Analysis of Power Assist Effect during Skill Assist for Periodic Motions Under Use of Semi-active Assist Mechanisms
Takashi Kusaka; Takayuki Tanaka; Shun'ichi Kaneko; Hidekazu Kajiwara, 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 758, 763, 2012, [Peer-reviewed]
English

Skill assist and power assist for periodic motions by using semi-active assist mechanism with energy control
Takashi Kusaka; Takayuki Tanaka; Shun'ichi Kaneko; Hidekazu Kajiwara, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 2187, 2192, 2011, [Peer-reviewed]
IEEE, English

生体データ活用の最前線～スマートセンシングによる生体情報計測とその応用～
板生 清 他
サイエンス＆テクノロジー株式会社, 27 Apr. 2017, 4864281513, 519, Japanese, [Joint work]

モーションセンシングとAI・情報 技術を融合した軽労化技術の進展
日下 聖
第39回 医療AI特別セミナー医療AI特別セミナー, 16 Dec. 2025

姿勢推定 AI を用いた狭小空間における作業負担解析のための行動計測技術
野田 紫音; 田中 孝之; 日下 聖
第26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 (SI2025)
10 Dec. 2025 - 13 Dec. 2025

体幹安定化機能を強化した Thoracic Resistance Smart Suit の開発と基礎実験
八木 晴菜; 日下 聖; 田中 孝之
第26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 (SI2025)
10 Dec. 2025 - 13 Dec. 2025

手元作業映像を用いた作業識別手法の検討
井口 凌太郎; 田中 孝之; 日下 聖; 草場 信之
第26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 (SI2025)
10 Dec. 2025 - 13 Dec. 2025

油圧ショベルの掘削作業における接触感覚拡張の一提案
住山 遼; 日下 聖; 郡司 紘教; 栗田 雄一; 坂本; 郁弥; 伊藤 卓; 上村 佑介; 田中 孝之
第26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 (SI2025)
10 Dec. 2025 - 13 Dec. 2025

電磁波レーダ外壁検査におけるアンテナ傾斜と放射特性を考慮したモデルベース解析の構築と検証
田畑 郁弥; 田中 孝之; 日下 聖
第26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 (SI2025)
10 Dec. 2025 - 12 Dec. 2025

現場の負担を軽くする。〜軽労化 DX による自動化への道〜
日下 聖
第26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 (SI2025)
10 Dec. 2025 - 12 Dec. 2025

姿勢推定AIを用いた遮蔽空間作業における行動計測のための隠れ補正技術
野田 紫音; 田中 孝之; 日下 聖
第30回知能メカトロニクスワークショップ2025（iMec2025）
15 Sep. 2025 - 17 Sep. 2025

作業者の動作計測に基づく軽労化DXプラットフォームの構築 その3 一人称視点映像を用いた作業姿勢推定と その活用について
菱川祐也; 新田靖周; 日下聖
2025年度日本建築学会大会
09 Sep. 2025 - 12 Sep. 2025

作業者の動作計測に基づく軽労化DXプラットフォームの構築 その2 動的環境の計測技術の建築現場応用
新田靖周; 菱川祐也; 日下聖
2025年度日本建築学会大会
09 Sep. 2025 - 12 Sep. 2025

作業者の動作計測に基づく軽労化DX プラットフォームの構築 その1 作業データ蓄積に基づくウェアラブルマ ニュアルと技術伝承への活用
日下聖; 菱川祐也; 新田靖周
2025年度日本建築学会大会
09 Sep. 2025 - 12 Sep. 2025

部分ラグランジュ法を用いた建設機械の注目挙動抽出
住山 遼; 日下 聖; 郡司 紘教; 栗田 雄一; 坂本 郁弥; 伊藤 卓; 柚本 夏輝; 田中 孝之
日本機械学会 2025年度年次大会
07 Sep. 2025 - 10 Sep. 2025

部分ラグランジュ法と自動微分を用いた効率的な閉リンク系の運動解析
郡司 紘教; 日下 聖; 田中 孝之
第43回日本ロボット学会学術講演会（RSJ2025）
02 Sep. 2025 - 05 Sep. 2025

胴体回旋の角運動量伝達性解析 ~伝達性指標の可視化と有効な筋活動パターン解析~
中前 俊祐; 田中 孝之; 村井 昭彦; 日下 聖
Sports Informatics and Technology 2025, 31 Jul. 2025
01 Aug. 2025

体幹運動連鎖への介入による走行経済性変化の解析
森 啓; 田中 孝之; 村井 昭彦; 日下 聖; 今村 由芽子
Sports Informatics and Technology 2025 (SIT2025), 31 Jul. 2025
01 Aug. 2025

単一のCNTニットセンサを用いた複数生体信号と運動の同時計測
北浦佳英奈; 日下聖; 島谷康司; 矢野史章; 田中孝之
ロボティクス・メカトロニクス講演会2025（ROBOMECH2025）
04 Jun. 2025 - 06 Jun. 2025

跳躍拡張装置による運動スキル獲得の機序
亀井佐以蔵; 日下聖; 中村太郎; 伊藤文臣; 伊津野武史; 高桑凛空; 田中孝之
ロボティクス・メカトロニクス講演会2025（ROBOMECH2025）
04 Jun. 2025 - 06 Jun. 2025

方向符号特徴に基づく乳牛の採食量推定手
井口凌太郎; 田中孝之; 日下聖; 松田朝陽; 迎田隆幸; 石川志保; 石川優理矢
ロボティクス・メカトロニクス講演会2025（ROBOMECH2025）
04 Jun. 2025 - 06 Jun. 2025

Wavelet特徴量を用いた時空間周波数解析によるエコー動画からの胎動検出
的場遥佳; 日下聖; 島谷康司; 田中孝之
ロボティクス・メカトロニクス講演会2025（ROBOMECH2025）, 04 Jun. 2025

A Modification Method of Hidden Semi-Markov Model for Work Recognition considering Robustness for Environmental Variability
島田悠之介; 日下聖; 迎田隆幸; 迎田隆幸; 遠藤維; 遠藤維; 多田充徳; 多田充徳; 宮田なつき; 宮田なつき; 田中孝之
ロボティクスシンポジア予稿集, 2025
2025 - 2025

A Proposal for a Running Dynamics Model to Evaluate Running Economy Focusing on Trunk Kinetic Chain
森啓; 田中孝之; 村井昭彦; 日下聖; 今村由芽子
ロボティクスシンポジア予稿集, 2025
2025 - 2025

Dynamics Analysis of Branching Structures by using Partial Lagrange Method
日下聖; 田中孝之
ロボティクスシンポジア予稿集, 2025
2025 - 2025

A Career Plan Generation System Utilizing LLMs for Learning Support
近藤崇仁; 田中孝之; 日下聖
HAIシンポジウム(Web), 2025
2025 - 2025

建設・土木作業員の腰痛に関わる体力測定項目の検討
田中孝之; 日下聖; 田中吉史; 土屋圭央
産業衛生学雑誌, 2025
2025 - 2025

Verification of Position and Orientation Measurement Accuracy of Portable Measuring Instruments Using Vuforia
田畑郁弥; 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, 2025
2025 - 2025

Occlusion Correction Method for Human Behavior Measurement in Workspaces with Visual Obstructions Using Posture Estimation AI
野田紫音; 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, 2025
2025 - 2025

Relationship Between Operator’s Lumbar Load and Seat Dynamics in Real and Teleoperated Construction Machinery
住山遼; 日下聖; 栗田雄一; 坂本郁弥; 伊藤卓; 柚本夏輝; 田中孝之
計測自動制御学会北海道支部学術講演会論文集, 2025
2025 - 2025

ZMPを考慮した SLIP モデルを用いた走行再現の精度向上
北川 雅基; 田中 孝之; 村井 昭彦; 日下 聖
第25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(SI2024), 20 Dec. 2024

作業者の運動計測と作業環境のデジタルツインに基づく軽労化 DX
日下 聖; 草場 信之; 岡田 繁; 東 陽介; 鈴木 善人; 田中 孝之
第25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(SI2024), 20 Dec. 2024

サイバー空間と実空間の融合による環境変動にロバストな SLAM
新田 靖周; 日下 聖; 大成建設; 田中 吉史; 田中 孝之
第25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(SI2024), 20 Dec. 2024

胎児エコー動画を用いた胎動検出手法の提案
的場 遥佳; 日下 聖; 島谷 康司; 田中 孝之
第25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(SI2024), 20 Dec. 2024

一人称視点映像による人姿勢推定のための逆運動学ネットワーク
菱川 祐也; 日下 聖; 田中 孝之; 田中 吉史; 白倉 尚貴; 山野辺 夏樹; 堂前 幸康; Ixchel Georgina Ramirez Alpizar; Enrique Coronado; 遠藤 維; 多田 充徳; 宮田 なつき
第25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(SI2024), 20 Dec. 2024

人間の跳躍高さを増大させる直列駆動型カタパルトの開発
伊津野 武史; 高桑 凛空; 伊藤 文臣; 亀井 佐以蔵; 日下 聖; 田中 孝之; 中村 太郎
第25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(SI2024), 19 Dec. 2024

建設・土木作業員の腰痛に関わる体力測定項目の検討
田中孝之; 日下聖; 田中吉史; 土谷圭央
第31回 作業関連性運動器障害研究会, 02 Nov. 2024

Motor Imagery Training System based on the Equilibrium Trajectory Hypothesis
Yuma Ito; Takayuki Tanaka; Takashi Kusaka
JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024
Nov. 2024 - Nov. 2024

MRデバイスを利用した電磁波レーダ外壁検査結果の可視化
田畑 郁弥; 田中 孝之; 日下 聖
第22回建設ロボットシンポジウム, 08 Oct. 2024

跳躍運動向上のための靴型デバイスによる運動介入のモデル化と力学的解析
亀井佐以蔵; 日下 聖; 中村 太郎; 伊藤 文臣; 伊津野 武史; 高桑 凛空; 田中 孝之
第42回 日本ロボット学会学術講演会, 04 Sep. 2024

部分ラグランジュ法を用いた多リンク系の運動伝播トルク解析
郡司紘教; 田中孝之; 日下 聖
第42回 日本ロボット学会学術講演会, 04 Sep. 2024

電磁波レーダ外壁検査手法に基づくモデルベース解析を用いた信頼性の評価
北浦佳英奈; 田中孝之; 日下聖; 大野湧人; 堀井令奈; 本田匠
ロボティクス・メカトロニクス 講演会 2024, 29 May 2024

KEIROKA DX based on Human Motion Sensing and Workplace Digital Twin
日下聖; 草場信之; 岡田繁; 東陽介; 鈴木善人; 田中孝之
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), 2024
2024 - 2024

Improvment of the Accuracy of Running Reconstruction Using SLIP Model Considering ZMP
北川雅基; 田中孝之; 村井昭彦; 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), 2024
2024 - 2024

Research on Wireless Data Transmission System for Mobile Devices using Software Defined Radio
宮崎俊之; 新井浩成; 堤大祐; 日下聖
北海道立総合研究機構工業試験場報告, 2024
2024 - 2024

部分ラグランジュ法に基づく簡易運動解析モデルの設計
郡司紘教; 日下聖; 田中孝之
計測自動制御学会北海道支部学術講演会論文集, 2024
2024 - 2024

ネックバンド型センサユニットを用いた作業計測の一提案
日下聖; 田中孝之; 菱川祐也; 田中吉史; 白倉尚樹; 山野辺夏樹; RAMIREZ-ALPIZAR Ixchel Georgina; CORONADO Enrique; 堂前幸康
産業衛生学雑誌, 2024
2024 - 2024

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, 23 Sep. 2023

Changing Lumbar Flexion Motion Strategy with Tightening Force of Pelvic Belt
田中孝之; 日下聖; 佐藤雅大; 田中吉史
電気学会電子・情報・システム部門大会(Web), 2023
2023 - 2023

腰部負担計測に基づくスライディングボードを活用した移乗介助方法の検討
土谷圭央; 岸村厚志; 田中孝之; 日下聖; 佐伯大輔; 飛田伊都子
日本ロボット学会学術講演会予稿集(CD-ROM), 2023
2023 - 2023

介護作業識別のための状態遷移を考慮した要素動作分類
島田悠之介; 田中孝之; 迎田隆幸; 遠藤維; 多田充徳; 宮田なつき; 日下聖
日本ロボット学会学術講演会予稿集(CD-ROM), 2023
2023 - 2023

SAR衛星で観測可能な海上浮力体の研究開発 再帰反射構造を有しSAR衛星で観測可能な海上浮力体の研究開発(令和元~4年度)
宮崎俊之; 日下聖
北海道立総合研究機構産業技術環境研究本部工業試験場成果発表会プログラム・発表要旨(Web), 2023
2023 - 2023

Workload Estimation Using a Neckband Wearable Sensor Trunk and Lower Extremity Posture Estimation System Using Machine Learning Based on Neck Position and Inverse Kinematics
菱川祐也; 日下聖; 田中孝之; 田中吉史; 白倉尚樹; 山野辺夏樹; RAMIREZ-ALPIZAR Ixchel Georgina; CORONADO Enrique; 堂前幸康
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), 2023
2023 - 2023

ソフトウェア無線による無線データ伝送システムの研究 ソフトウェア無線による移動体向け無線データ伝送システムに関する研究(令和3~4年度)
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 - 2023

道総研におけるソフトウェア無線の取組み ソフトウェア無線による移動体向け無線データ伝送システムに関する研究(令和3年~令和4年度)
日下聖; 宮崎俊之; 堤大祐; 新井浩成
北海道立総合研究機構産業技術環境研究本部工業試験場成果発表会プログラム・発表要旨(Web), 2022
2022 - 2022

作業改善と軽労化のための身体負担の可視化技術
田中 孝之; 日下 聖; 土谷 圭央; 宮島 沙織; 泉 博之
産業衛生学雑誌, May 2018, (公社)日本産業衛生学会, Japanese
May 2018 - May 2018

Visualization technology of lumbar load
TSUCHIYA Yoshio; KUSAKA Takashi; TANAKA Takayuki; YOSHIDA Michihiro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2018, The Japan Society of Mechanical Engineers, Japanese
2018 - 2018, 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.

Effect of Joint Stiffness by Tightening Force of Active Corset
YOSHIDA Michihiro; TANAKA Takayuki; KUSAKA Takashi; TSUCHIYA Yoshio
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2018, The Japan Society of Mechanical Engineers, Japanese
2018 - 2018, 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.

歩行動作分析に基づく体幹・骨盤運動補助による歩行アシスト装置の開発
橋本光太郎; 田中孝之; 日下聖
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20 Dec. 2017, Japanese
20 Dec. 2017 - 20 Dec. 2017

FEM解析による腰部負担推定のための腰部簡易筋骨格モデルの最適化
秋本晴馬; 土谷圭央; 田中孝之; 日下聖; 今村由芽子
バイオメカニズム学術講演会予稿集, 04 Nov. 2017, Japanese
04 Nov. 2017 - 04 Nov. 2017

アシストウェア制御のためのウェーブレット分散特徴量を用いた動作・負担予測
日下聖; 岡本仁志; 吉田道拓; 田中孝之
日本ロボット学会学術講演会予稿集(CD-ROM), 11 Sep. 2017, Japanese
11 Sep. 2017 - 11 Sep. 2017

歩行時体幹回旋補助装置のための拡張型Hybrid振動子を用いた歩行アシストの一提案
相津琢磨; 橋本光太郎; 日下聖; 田中孝之
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, The Japan Society of Mechanical Engineers, Japanese
09 May 2017 - 09 May 2017, 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.

身体負担計測を目的とする簡易インソール型足底反力センサの試作
吉田道拓; 土谷圭央; 田中孝之; 日下聖
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, The Japan Society of Mechanical Engineers, Japanese
09 May 2017 - 09 May 2017, 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.

X線画像解析に基づく腰部3次元動作と腰仙椎アライメントとの関係
土谷圭央; 日下聖; 田中孝之; 松尾祥和; 小田まこと; 笹木工; 神島保; 山中正紀
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, The Japan Society of Mechanical Engineers, Japanese
09 May 2017 - 09 May 2017, Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. This study aims to develop of wearable sensor system, and propose an estimation method of lumbosacral alignment and lumbar load caused by changes in posture. Lumbar motion have anteflexion,rotation motion and lateral bending. However, it thing don’t know that relationship between the upper body attitude angle and the attitude angle of the vertebral body in rotation motion and lateral bending. We construct that estimation method of rotation angle and lateral bending angle in the vertebral body.

体幹回旋補助装置を用いた波形変形による歩行アシストの一提案
相津琢磨; 日下聖; 田中孝之
ロボティクスシンポジア予稿集, 15 Mar. 2017, Japanese
15 Mar. 2017 - 15 Mar. 2017

四元数相補フィルタを用いた複数種センサによる腰部表皮形状の3次元計測
日下 聖; 土谷 圭央; 田中 孝之
バイオメカニズム学術講演会予稿集, Nov. 2016, バイオメカニズム学会, Japanese
Nov. 2016 - Nov. 2016

体幹回旋補助装置のための基礎的研究
相津琢磨; 田中孝之; 橋本光太郎; 日下聖
ロボティクスシンポジア予稿集, 17 Mar. 2016, Japanese
17 Mar. 2016 - 17 Mar. 2016

受動歩行アシストを考慮した体幹回旋補助装置
橋本光太郎; 田中孝之; 相津琢磨; 日下聖
ロボティクスシンポジア予稿集, 17 Mar. 2016, Japanese
17 Mar. 2016 - 17 Mar. 2016

Development of Wearable Lumber Load Sensor and an Application to Work Management of Nursing Facilities
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, 23 Jan. 2016, Japanese
23 Jan. 2016 - 23 Jan. 2016

A Hand Load Estimation Method for Anteflextion by Using The Muscle Hardness Sensor
TSUCHIYA Yoshio; KUSAKA Takashi; TANAKA Takayuki; MATSUO Yoshikazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2016, The Japan Society of Mechanical Engineers, Japanese
2016 - 2016, 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.

ウェアラブルセンサシステムを用いた腰部負荷推定のための腰仙部寸法校正法
土谷圭央; 日下聖; 田中孝之; 松尾祥和; 小田まこと; 笹木工; 神島保; 山中正紀
計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM), 18 Nov. 2015, Japanese
18 Nov. 2015 - 18 Nov. 2015

引き込みを利用した振動周波数推定とパラメータ最適化による適応的周期入力制御
日下聖; 田中孝之
日本ロボット学会学術講演会予稿集(CD-ROM), 03 Sep. 2015, Japanese
03 Sep. 2015 - 03 Sep. 2015

複数慣性センサを用いた動作計測に基づく作業負担評価手法のフィールド実験
MIYAJIMA SAORI; TANAKA TAKAYUKI; IMAMURA YUMEKO; KUSAKA TAKASHI; WAKASUGI MOTOAKI
計測自動制御学会北海道支部学術講演会論文集, 2015, Japanese
2015 - 2015

1P1-X04 Lumbosacral dimensions correction method for wearable lumbar load estimation system
Tsuchiya Yoshio; KUSAKA Takashi; TANAKA Takayuki; MATSUO Yoshikazu; ODA Makoto; SASAKI Tsukasa; KAMISIMA Tamotsu; YAMANAKA Masanori
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, The Japan Society of Mechanical Engineers, Japanese
2015 - 2015, 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.

1P1-W05 Simulation of Effect by Assist Device based on Motion Measurement Using Multiple Inertia Sensors
MIYAJIMA Saori; TANAKA Takayuki; IMAMURA Yumeko; KUSAKA Takashi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, The Japan Society of Mechanical Engineers, Japanese
2015 - 2015, This research aims to estimate effect of assist device in real work field. First, Human motion is measured by 6-axis motion tracking devise that combines a 3-axis accelerometer and a 3-axis gyroscope placed on shank, thigh and back. Next, lumbar joint torque and assisting effect of Smart Suit Lite in the motion are estimated by interactive musculoskeletal simulation. Conventional method to estimate joint torque is using full body motion data measured by optical motion capturing system. But in this research, joint torque can be estimated by only 3 angles of links which is body, thigh and lower leg. Usability of proposal method is verified by the field experiment. As the result of the experiment, workload was evaluated and assistive effect of Smart Suit Lite was estimated by measured motion.

1P1-X05 Lumbar Load Estimation using Musculoskeletal Model in Consideration of Vertebral Body Displacement : Simulation of distance between vertebral body mass centers in static upright position
IMAMURA Yumeko; TANAKA Takayuki; KUSAKA Takashi; TSUCHIYA Yoshio
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, The Japan Society of Mechanical Engineers, Japanese
2015 - 2015, 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.

1A1-K02 Fast and Low-cost Calculation of Arctangent by Residual Correction Method for Embedded Systems
KUSAKA Takashi; TANAKA Takayuki; KAJIWARA Hidekazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2015, The Japan Society of Mechanical Engineers, Japanese
2015 - 2015, 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.

2A2-F08 Development of the dairy operation for smart suit adapted to the working posture(Universal Design and Robotics & Mechatronics)
NARA Hiroyuki; Tanaka Takayuki; Kusaka Takashi; Tamai Nobuyuki; Wakasugi Motoaki; Yamagishi Takayuki; OGURA Shotaro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 24 May 2014, The Japan Society of Mechanical Engineers, Japanese
24 May 2014 - 24 May 2014, 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".

筋負担軽減と動作矯正を考慮したセミアクティブアシスト機構の制御パラメータ設計
KUSAKA TAKASHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; KAJIWARA HIDEKAZU
ロボティクスシンポジア予稿集, 13 Mar. 2014, Japanese
13 Mar. 2014 - 13 Mar. 2014

複数周波数成分を有する周期運動のスキルアシストのための拡張型周期入力制御の開発
吉藤拓土; 田中孝之; 日下聖
計測自動制御学会北海道支部学術講演会論文集, 2014, Japanese
2014 - 2014

A Skill Assist for Periodic Motion with Multiple Frequency Components by using Energy Control
YOSHIFUJI Takuto; TANAKA Takayuki; KUSAKA Takashi
IEICE technical report. Welfare Information technology, 29 Aug. 2013, The Institute of Electronics, Information and Communication Engineers, Japanese
29 Aug. 2013 - 29 Aug. 2013, This paper describes a skill assist effect for motion of Multi Frequency Component by using an energy control method and semi-active assist mechanism. We have developed the semi-active assist mechanism as a soft and flexible power assist device. This mechanism is constituted by an elastomer and actuator. The assist force is controlled by actuator. Previous study, skill assist by using periodical input control has motion correction effect for motion by a single frequency. In this study, we propose a method that extends the periodical input control for periodic motion with multiple frequency components. We verified the effect of Skill-Assist considering the multiple frequency components of human motion.

A Measurement and Recognition of Human Motion for Optimizing Assistive Force of Smart Suit.
WAKASUGI MOTOAKI; TANAKA TAKAYUKI; NARA HIROYUKI; KUSAKA TAKASHI; KANEKO SHUN'ICHI
電子情報通信学会技術研究報告, 22 Aug. 2013, 一般社団法人電子情報通信学会, Japanese
22 Aug. 2013 - 22 Aug. 2013, Optimizing assistive force of Smart Suit has depended on waist joint angle measured by exibl electrogoniometer. But, this measuring method can not know exactly how human works with Smart Suit. Then, a measurement of human motion by measuring waist, knee and ankle joint angle with use of acceleration and gyro sensor is suggested. In addition, a measurement of human motion with new link model of human's joint is suggested based on spinal joint.

Assistive force control of the dairy farming for smart suit with motion recognition
NARA HIROYUKI; TANAKA TAKAYUKI; KUSAKA TAKASHI; WAKASUGI MOTOAKI; YAMAGISHI TAKAYUKI; OGURA SHOTARO
電子情報通信学会技術研究報告, 22 Aug. 2013, 一般社団法人電子情報通信学会, Japanese
22 Aug. 2013 - 22 Aug. 2013, 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".

A Skill Assist for Periodic Motion with Multiple Frequency Components by using Energy Control
YOSHIFUJI TAKUTO; TANAKA TAKAYUKI; KUSAKA TAKASHI
電子情報通信学会技術研究報告, 22 Aug. 2013, Japanese
22 Aug. 2013 - 22 Aug. 2013

2P1-C07 Support power optimization of smart suit using posture estimation for dairy operation in actual field test(Welfare Robotics and Mechatronics(3))
NARA Hiroyuki; Tanaka Takayuki; Kusaka Takashi; Yamagishi Takayuki; OGURA Shotaro
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 22 May 2013, The Japan Society of Mechanical Engineers, Japanese
22 May 2013 - 22 May 2013, 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".

セミアクティブアシスト機構による周期運動のスキルアシストとパワーアシスト―スキルアシスト適用時のパワーアシスト率制御―
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, 14 Mar. 2013, Japanese
14 Mar. 2013 - 14 Mar. 2013

拡張型周期入力制御による複数周波数成分を持つ周期運動に対するスキルアシスト
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, 14 Mar. 2013, Japanese
14 Mar. 2013 - 14 Mar. 2013

140 Muscle Load Reduction for Racehorse Trainers by using Smart Suit and Smart
KUSAKA Takashi; TANAKA Takayuki; SAITO Munenobu; SUZUKI Yoshihito
The Proceedings of the Symposium on sports and human dynamics, 2013, The Japan Society of Mechanical Engineers, Japanese
2013 - 2013, 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.

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
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, Japanese
2013 - 2013

姿勢推定による酪農作業用スマートスーツの補助力最適化と実フィールド試験
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, Japanese
2013 - 2013

スマートスーツおよびスマートスーツライトによる競走馬調教騎手の筋負担軽減
KUSAKA TAKASHI; TANAKA TAKAYUKI; SAITO MUNENOBU; SUZUKI YOSHIHITO
日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス(CD-ROM), 2013, The Japan Society of Mechanical Engineers, Japanese
2013 - 2013, 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.

2A1-F08 Skill Assist and Power Assist for Sinusoidal Motions by using Semi-active Assist Mechanisms : Analysis of Impedance Adjustment Effect of Phase Difference Control(Cooperation between Human and Machine)
KUSAKA Takashi; TANAKA Takayuki; KANEKO Shun'ichi; KAJIWARA Hidekazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, The Japan Society of Mechanical Engineers, Japanese
2013 - 2013, 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.

複数周波数成分を持つ周期運動におけるスキルアシストのためのエネルギー制御
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), 17 Sep. 2012, Japanese
17 Sep. 2012 - 17 Sep. 2012

セミアクティブアシスト機構によるスキルアシスト時の位相差リミッタによるスキルアシスト率制御の一考察
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), 17 Sep. 2012, Japanese
17 Sep. 2012 - 17 Sep. 2012

セミアクティブ・アシスト機構による周期運動における負担軽減と動作矯正
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, Japanese
2012 - 2012

セミアクティブアシスト機構とエネルギ制御によるパワーアシストとスキルアシスト―スキルアシスト制御則の開発と視覚追従実験による効果検証―
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), 07 Sep. 2011, Japanese
07 Sep. 2011 - 07 Sep. 2011

セミアクティブアシスト機構とエネルギー制御によるスキルアシスト―視覚追従実験による動作矯正効果の検証―
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, 14 Mar. 2011, Japanese
14 Mar. 2011 - 14 Mar. 2011

セミアクティブアシスト機構を用いたエネルギー制御による周期運動の動作矯正
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, Japanese
2011 - 2011

2A1-C25 Smart Suit for Horse Trainers : Power and Skill Assist Based on Energy Control
KUSAKA Takashi; TANAKA Takayuki; KANEKO Shun'ichi; SUZUKI Yoshihito; SAITOH Munenobu; KAJIWARA Hidekazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, The Japan Society of Mechanical Engineers, Japanese
2010 - 2010, 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.

調教騎手用スマートスーツの開発―周期運動におけるエネルギー変化を考慮した補助力制御―
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, Japanese
2010 - 2010

Smart Suit for Horse Trainers-Power and Skill Assist Based on Semi-active Assist and Energy Control
Takashi Kusaka; Takayuki Tanaka; Shun'ichi Kaneko; Yoshihito Suzuki; Munenobu Saito; Hidekazu Kajiwara
2010 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2010, IEEE, English
2010 - 2010, This paper describes semi-active assist control in the form of a smart suit for horse trainers. We have developed a soft and flexible power assist device named "smart suit" for reducing user's physical fatigue. The smart suit is a semi-active and flexible power assist devices. The semi-active assist mechanism consisting of elastic materials and a small DC motor is our original technology. The assist force is gained by the elastic force of elastic materials, and it is controlled by adjusting the length of the elastic materials by using DC motor. In this study, we applied the smart suit to horse trainers for reducing their physical fatigue in horse training to prevent their injuries. Moreover we aim developing an assist force control method based on the energy control for considering not only the power assist but the skill assit. In this paper, we confirm the energy control has the effectiveness of the power assist in the situation without the skill assist.

1P1-F06 Smart Suit for Horse Trainer : Assist Force Control Considering Postural Stabilization and Synchronization with Periodical Motion
KUSAKA Takashi; TANAKA Takayuki; KANEKO Shun'ichi; SUZUKI Yoshihito; SAITOH Munenobu; SEKI Shuji; SAKAMOTO Naohisa; KAJIWARA Hidekazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2009, The Japan Society of Mechanical Engineers, Japanese
2009 - 2009, 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.

1P1-F06 Smart Suit for Horse Trainer : Assist Force Control Considering Postural Stabilization and Synchronization with Periodical Motion
KUSAKA Takashi; TANAKA Takayuki; KANEKO Shun'ichi; SUZUKI Yoshihito; SAITOH Munenobu; SEKI Shuji; SAKAMOTO Naohisa; KAJIWARA Hidekazu
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2009, The Japan Society of Mechanical Engineers, Japanese
2009 - 2009, 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.

2A1-I21 A Robot Contest to Rise Awareness for Welfare Activity
KUSAKA Takashi; NAKANO Motoki; SHIBUKAWA Fumiya; KONDO Kaori; KOBAYASHI Noriyuki; SANO Ryuichi; TANAKA Takayuki; KANEKO Shun'ichi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, The Japan Society of Mechanical Engineers, Japanese
2008 - 2008, 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.

2A1-I21 A Robot Contest to Rise Awareness for Welfare Activity
KUSAKA Takashi; NAKANO Motoki; SHIBUKAWA Fumiya; KONDO Kaori; KOBAYASHI Noriyuki; SANO Ryuichi; TANAKA Takayuki; KANEKO Shun'ichi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, The Japan Society of Mechanical Engineers, Japanese
2008 - 2008, 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.

応用数学演習Ⅰ, 2024年, 学士課程, 工学部

電気制御システム実験Ⅰ, 2024年, 学士課程, 工学部

2012 - Present
IEEE

2011 - Present
日本ロボット学会

2010 - Present
計測制御自動学会

2009 - Present
日本機械学会

デジタルツイン技術を活⽤したウェアラブルマニュアルによる 搾乳作業の軽労化デイリーナビがもたらす労働⽣産性の向上
スマート生産方式SOP(スマート農業技術導入・運用手順書)作成研究
Sep. 2025 - Mar. 2027
農研機構, 北海道大学, 7A2

作業動作認識と経験共有プラットフォームによる労働作業DX
若手研究人材・ネットワーク育成補助金（タレント補助金）
Apr. 2023 - Mar. 2024
公益財団法人 北海道科学技術総合振興センター

多重信号分類（MUSIC）を用いた電磁波による外界センシング手法に関する研究
令和４年度職員研究奨励事業
Apr. 2022 - Mar. 2023
地方独立行政法人北海道立総合研究機構, Principal investigator

再帰反射構造を有しSAR衛星で観測可能な海上浮力体の研究開発
SCOPE
2019 - 2023
総務省, 総務省 戦略的情報通信研究開発推進事業（SCOPE）, Coinvestigator

アシストロボットにおける⼈間⼯学的動作解析の研究に関する共同研究
Dec. 2012 - Mar. 2019
共同研究：株式会社ニコン, 株式会社ニコン、北海道大学

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
科学研究費助成事業 特別研究員奨励費
2011 - 2013
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.
日本学術振興会, 特別研究員奨励費, 北海道大学, 11J01391

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