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Senoo Taku
| Faculty of Information Science and Technology Systems Science and Informatics System Synthesis | Associate Professor |
Researcher basic information
■ Degree■ URL
researchmap URLホームページURL■ Various IDs
Researcher number
- 10512113
Research Keyword
- Intelligent Robotics
- Sensory behavior system
- High-speed Manipulation
- Robot Hand
- Bipedal Robot
- High-speed vision
- Visual Feedback
- Active Sensing
- Force Control
- In-vehicle Image Processing
- Informatics, Robotics and intelligent system
- Informatics, Mechanics and mechatronics
- Informatics, Perceptual information processing
- 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
Career
■ CareerCareer
- Apr. 2022 - Present
Hokkaido University, 大学院情報科学研究院, 准教授 - Apr. 2020 - Mar. 2022
Hiroshima University, 大学院先進理工系科学研究科, 准教授 - Apr. 2018 - Mar. 2020
The University of Tokyo, The Graduate School of Information Science and Technology, 講師 - Apr. 2015 - Mar. 2018
The University of Tokyo, The Graduate School of Information Science and Technology, 助教 - Apr. 2011 - Mar. 2015
The University of Tokyo, The Graduate School of Information Science and Technology, 特任助教 - Apr. 2008 - Mar. 2011
The University of Tokyo, The Graduate School of Information Science and Technology, 特任研究員 - Apr. 2005 - Mar. 2008
日本学術振興会 特別研究員（DC1）
Research activity information
■ Awards- Dec. 2023, 計測自動制御学会システムインテグレーション部門, SI2023 優秀講演賞
山田海俊;鈴木正宣;宮路洸;海老名光希;佐瀬一弥;辻田哲平;陳暁帥;安部崇重;小水内俊介;中丸裕爾;妹尾拓;本間明宏;近野敦 - Dec. 2023, 計測自動制御学会システムインテグレーション部門, SI2023 優秀講演賞
薄井浩生;渋谷紗也華;海老名光希;佐瀬一弥;陳暁帥;小水内俊介;安部崇重;辻田哲平;妹尾拓;的場光太郎;近野敦 - Nov. 2023, 北海道大学 大学院情報科学研究院, 若手産学共同研究促進事業 研究院長賞
妹尾拓 - Mar. 2023, IEEE International Conference On Mechatronics, Best Paper Candidates
Hiromichi Kawahara, Taku Senoo, and Idaku Ishii - Dec. 2022, 計測自動制御学会システムインテグレーション部門, SI2022 優秀講演賞
妹尾拓;川原大宙;石井抱;籔内健人;平野正浩;岸則政;石川正俊 - Mar. 2021, 日本鉄鋼協会 計測・制御・システム工学部会, 計測・制御・システム技術賞
島﨑航平;Zulhaj Aliansyah;妹尾拓;石井抱 - Dec. 2020, 計測自動制御学会システムインテグレーション部門, SI2020 優秀講演賞
川原大宙;妹尾拓;石井抱;平野正浩;岸則政;石川正俊 - Oct. 2020, 日本ロボット学会, 優秀研究・技術賞
小山佳祐;下条誠;妹尾拓;石川正俊 - May 2020, 日本機会学会ロボティクスメカトロニクス部門, ROBOMECH表彰（学術研究分野）
小山佳祐;下条誠;妹尾拓;石川正俊 - Dec. 2019, 計測自動制御学会システムインテグレーション部門, SI2019 優秀講演賞
田中敬;小山佳祐;妹尾拓;石川正俊 - Dec. 2019, 計測自動制御学会システムインテグレーション部門, SI2019 優秀講演賞
妹尾拓;王允卓;平野正浩;岸則政;石川正俊 - Jun. 2019, 日本機会学会ロボティクスメカトロニクス部門, ROBOMECH表彰（学術研究分野）
小山佳祐;下条誠;妹尾拓;石川正俊 - Jun. 2018, 日本機会学会ロボティクスメカトロニクス部門, ROBOMECH表彰
妹尾拓;村上健一;石川正俊 - Dec. 2017, 計測自動制御学会システムインテグレーション部門, SI2017 優秀講演賞
佐藤宏;山川雄司;妹尾拓;石川正俊 - Dec. 2017, 計測自動制御学会システムインテグレーション部門, SI2017 優秀講演賞
平野正浩;妹尾拓;岸則政;石川正俊 - Apr. 2017, Mechatronics, Elsevier, Outstanding Reviewer
Taku Senoo - Dec. 2016, 計測自動制御学会システムインテグレーション部門, 研究奨励賞
妹尾拓;小池正憲;村上健一;石川正俊 - Dec. 2016, 計測自動制御学会システムインテグレーション部門, 若手奨励賞
妹尾拓 - Dec. 2016, IEEE International Conference on Robotics and Biomimetics, T. J. Tarn Best Paper in Robotics Award
Taku Senoo;Yuuki Horiuchi;Yoshinobu Nakanishi;Kenichi Murakami;Masatoshi Ishikawa - Mar. 2016, 第21回ロボティクスシンポジア, 優秀論文賞
妹尾拓;小池正憲;村上健一;石川正俊 - Dec. 2015, 計測自動制御学会システムインテグレーション部門, SI2015 優秀講演賞
黄守仁;Bergstrom Niklas;山川雄司;妹尾拓;石川正俊 - Dec. 2015, 計測自動制御学会システムインテグレーション部門, SI2015 優秀講演賞
妹尾拓;小池正憲;村上健一;石川正俊 - Dec. 2015, IEEE International Conference on Robotics and Biomimetics, Finalist of Best Student Paper Award
Kenichi Murakami;Yuji Yamakawa;Taku Senoo;Masatoshi Ishikawa - Oct. 2012, IEEE/RSJ International Conference on Intelligent Robots and Systems, Best Jubilee Video Award
Masatoshi Ishikawa;Akio Namiki;Taku Senoo;Yuji Yamakawa - May 2007, 日本機会学会ロボティクスメカトロニクス部門, ROBOMEC表彰
古川徳厚;妹尾拓;並木明夫;石川正俊 - Dec. 2006, 計測自動制御学会システムインテグレーション部門, SI2006 優秀講演賞
古川徳厚;妹尾拓;並木明夫;石川正俊 - May 2006, IEEE International Conference on Robotics and Automation, Best Manipulation Paper Award
Noriatsu Furukawa;Akio Namiki;Taku Senoo;Masatoshi Ishikawa - Feb. 2006, 計測自動制御学会, 学術奨励賞・研究奨励賞
妹尾拓
- Objective evaluation for Endoscopic Sinus Surgeries' proficiency by image analysis for postoperative 3D sinus models
Kaito Yamada; Masanobu Suzuki; Kou Miyaji; Kazuya Sase; Koki Ebina; Teppei Tsujita; Xiaoshuai Chen; Shunsuke Komizunai; Taku Senoo; Akira Nakazono; Ryosuke Watanabe; Shogo Kimura; Takayoshi Suzuki; Yuji Nakamaru; Kotaro Matoba; Dominik Hinder; Alexander Zhang; Alkis J. Psaltis; Peter J. Wormald; Atsushi Konno; Akihiro Homma
AURIS NASUS LARYNX, 52, 5, 567, 574, Oct. 2025, [Peer-reviewed]
English, Scientific journal - External validation of a motion capture-based surgical skill assessment system in laparoscopic simulation training environments
Koki Ebina; Takashige Abe; Kiyohiko Hotta; Lingbo Yan; Chihiro Kamijo; Madoka Higuchi; Masafumi Kon; Hiroshi Kikuchi; Haruka Miyata; Ryuji Matsumoto; Takahiro Osawa; Sachiyo Murai; Taku Senoo; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Atsushi Konno; Nobuo Shinohara
SURGICAL ENDOSCOPY AND OTHER INTERVENTIONAL TECHNIQUES, 39, 9, 5879, 5888, Sep. 2025, [Peer-reviewed]
English, Scientific journal - Modeling and Experimental Analysis for Screw Loosening Detection Using a High-Speed Robotic Hand
Yukihiro Magara; Taku Senoo; Atsushi Konno
JOURNAL OF ROBOTICS AND MECHATRONICS, 37, 4, 918, 926, Aug. 2025, [Peer-reviewed]
English, Scientific journal - Paper handling using multifingered robot hand based on high-speed image processing
妹尾拓; 大倉秀斗; 近野敦
画像ラボ, 36, 4, 36, 41, Apr. 2025 - Dynamic paper bending manipulation using a high-speed multi-fingered robot hand system
Hideto Okura; Shunsuke Komizunai; Taku Senoo; Atsushi Konno
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 22, 2, Mar. 2025, [Peer-reviewed]
English, Scientific journal - Object Grasping Assist System with Reading Human Intention and Predicting Object Position.
Tomohiko Hayakawa; Tomohiro Sueishi; Yuka Hiruma; Himari Tochioka; Taku Senoo; Shouren Huang; Masatoshi Ishikawa
ICARA, 61, 65, 13 Feb. 2025, [Peer-reviewed]
International conference proceedings - Surgical technique analysis using dynamic measurement of surgical instruments for practical laparoscopic surgery training*
Lingbo Yan; Takashige Abe; Koki Ebina; Masafumi Kon; Madoka Higuchi; Kiyohiko Hotta; Jun Furumido; Naoya Iwahara; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Yo Kurashima; Hiroshi Kikuchi; Haruka Miyata; Ryuji Matsumoto; Takahiro Osawa; Sachiyo Murai; Toshiaki Shichinohe; Soichi Murakami; Taku Senoo; Masahiko Watanabe; Atsushi Konno
2025 IEEE/SICE International Symposium on System Integration (SII), 271, 274, IEEE, 21 Jan. 2025, [Peer-reviewed]
International conference proceedings - Surgical skill analysis using explainable AI in endoscopic sinus surgery
Kaito Yamada; Masanobu Suzuki; Kou Miyaji; Koki Ebina; Kazuya Sase; Teppei Tsujita; Xiaoshuai Chen; Takashige Abe; Shunsuke Komizunai; Yuji Nakamaru; Taku Senoo; Akihiro Homma; Atsushi Konno
2025 IEEE/SICE International Symposium on System Integration (SII), 287, 291, IEEE, 21 Jan. 2025, [Peer-reviewed]
International conference proceedings - Remote medical treatment support through AR avatar demonstration
Chisaho MIURA; Daichi AOKI; Kaito YAMADA; Soichi MURAKAMI; Takashi SHIMOE; Xu WANG; Jian LIU; Ken NISHIOKA; Taku SENOO; Hiroaki DATE; Toshiaki SHICHINOHE; Takashige ABE; Satoshi KANAI; Atsushi KONNO
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2025, 2A1, S02, Japan Society of Mechanical Engineers, 2025
Scientific journal - Development of a Hybrid Measurement System for Surgical Instrument Motion of Laparoscopic Surgery
Koki Ebina; Takashige Abe; Lingbo Yan; Kiyohiko Hotta; Chihiro Kamijo; Madoka Higuchi; Masafumi Kon; Hiroshi Kikuchi; Haruka Miyata; Ryuji Matsumoto; Takahiro Osawa; Sachiyo Murai; Yo Kurashima; Toshiaki Shichinohe; Masahiko Watanabe; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Taku Senoo; Nobuo Shinohara; Atsushi Konno
IEEE Transactions on Medical Robotics and Bionics, 7, 2, 1, 1, 2025, [Peer-reviewed]
English, Scientific journal - Human-Robot Interaction through an Object Grasped with Two Fingers Based on Plastic Deformation Control
Taku Senoo; Atsushi Konno; Hiromichi Kawahara; Idaku Ishii
2024 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1136, 1141, IEEE, 10 Dec. 2024, [Peer-reviewed]
International conference proceedings - Single-Sheet Separation from Paper Stack Based on Friction Uncertainty Using High-Speed Robot Hand
Taku Senoo; Atsushi Konno; Yuuki Yamana; Idaku Ishii
APPLIED SYSTEM INNOVATION, 7, 6, Dec. 2024, [Peer-reviewed]
English, Scientific journal - High-Speed Sheet Extraction Out of Paper Bundle Based on Probabilistic Approach Using Two Robot Fingers
Taku Senoo; Atsushi Konno; Yuuki Yamana; Idaku Ishii
2024 4th International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), 1, 6, IEEE, 04 Nov. 2024, [Peer-reviewed]
International conference proceedings - Validation and motion analyses of laparoscopic radical nephrectomy with Thiel-embalmed cadavers.
Lingbo Yan; Koki Ebina; Takashige Abe; Masafumi Kon; Madoka Higuchi; Kiyohiko Hotta; Jun Furumido; Naoya Iwahara; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Yo Kurashima; Hiroshi Kikuchi; Haruka Miyata; Ryuji Matsumoto; Takahiro Osawa; Sachiyo Murai; Toshiaki Shichinohe; Soichi Murakami; Taku Senoo; Masahiko Watanabe; Atsushi Konno; Nobuo Shinohara
Current problems in surgery, 61, 10, 101559, 101559, Oct. 2024, [Peer-reviewed], [International Magazine]
English, Scientific journal, PURPOSE: Our aim was to develop practical training for laparoscopic surgery using Thielembalmed cadavers. Furthermore, in order to verbalize experts' motion characteristics and provide objective feedback to trainees, we initiated motion capture analyses of multiple surgical instruments simultaneously during the cadaveric trainings. In the present study, we report our preliminary results. METHODS: Participants voluntarily joined the present cadaveric simulation trainings, and performed laparoscopic radical nephrectomy. After the trainings, scores for tissue similarity (face validity) and impression of educational merit (content validity) were collected from participants based on a 5-point Likert scale (tissue similarity: 5: very similar, 3: average, 1: very different; educational merit: 5: very high, 3: average, 1: very low). In addition, after the additional IRB approval, we started motion capture (Mocap) analyses of 6 surgical instruments (scissors, vessel sealing system, grasping forceps, clip applier, right-angled forceps, and suction), using an infrared trinocular camera (120-Hz location record). Mocap-metrics were compared according to the previous surgical experiences (experts: ≧50 laparoscopic surgeries, intermediates: 10-49, novices: 0-9), using the Kruskal-Wallis test. RESULTS: A total of 9 experts, 19 intermediates, and 15 novices participated in the present study. In terms of face validity, the mean scores were higher than 3, other than for the Vena cava(mean score of 2.89). Participants agreed with the training value (usefulness for future skill improvement: mean score of 4.57). In terms of Mocap analysis, faster speed-related metrics (e.g., velocity, the distribution of tip velocity, acceleration, and jerk) in the scissors and vessel sealing system, a shorter path length of grasping forceps, and fewer dimensionless squared jerks, which indicated more purposeful motion of 4 surgical instruments (vessel sealing system, grasping forceps, clip applier and suction), were observed in the more experienced group. CONCLUSIONS: The Thiel-embalmed cadaver provides an excellent training opportunity for complex laparoscopic procedures with participants' high level of satisfaction, and may become a promising tool for a better objective understanding of surgical dexterity. In order to enrich formative feedback to trainees, we are now proceeding with Mocap analysis. - Surgical skill analysis focused on tissue traction in laparoscopic wet lab training.
Koki Ebina; Takashige Abe; Madoka Higuchi; Kiyohiko Hotta; Jun Furumido; Naoya Iwahara; Taku Senoo; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Yo Kurashima; Hiroshi Kikuchi; Haruka Miyata; Ryuji Matsumoto; Takahiro Osawa; Sachiyo Murai; Atsushi Konno; Nobuo Shinohara
Surgery open science, 21, 7, 13, Sep. 2024, [Peer-reviewed], [International Magazine]
English, Scientific journal, BACKGROUND: Tissue handling is one of the pivotal parts of surgical procedures. We aimed to elucidate the characteristics of experts' left-hand during laparoscopic tissue dissection. METHODS: Participants performed tissue dissection around the porcine aorta. The grasping force/point of the grasping forceps were measured using custom-made sensor forceps, and the forceps location was also recorded by motion capture system (Mocap). According to the global operative assessment of laparoscopic skills (GOALS), two experts scored the recorded movies, and based on the mean scores, participants were divided into three groups: novice (<10), intermediate (10≤ to <20), and expert (≤20). Force-based metrics were compared among the three groups using the Kruskal-Wallis test. Principal component analysis (PCA) using significant metrics was also performed. RESULTS: A total of 42 trainings were successfully recorded. The statistical test revealed that novices frequently regrasped a tissue (median total number of grasps, novices: 268.0 times, intermediates: 89.5, experts: 52.0, p < 0.0001), the traction angle became stable against the aorta (median weighted standard deviation of traction angle, novices: 30.74°, intermediates: 26.80, experts: 23.75, p = 0.0285), and the grasping point moved away from the aorta according to skill competency [median percentage of grasping force applied in close zone (0 to 2.0 cm from aorta), novices: 34.96 %, intermediates: 21.61 %, experts: 10.91 %, p = 0.0032]. PCA showed that the efficiency-related (total number of grasps) and effective tissue traction-related (weighted average grasping position in Y-axis and distribution of grasping area) metrics mainly contributed to the skill difference (proportion of variance of first principal component: 60.83 %). CONCLUSION: The present results revealed experts' left-hand characteristics, including correct tissue grasping, sufficient tissue traction from the aorta, and stable traction angle. Our next challenge is the provision of immediate and visual feedback onsite after the present wet-lab training, and shortening the learning curve of trainees. - Development of a Quantitative Evaluation System for Surgical Skill in Endoscopic Sinus Surgery
Kaito Yamada; Masanobu Suzuki; Kou Miyaji; Koki Ebina; Kazuya Sase; Teppei Tsujita; Xiaoshuai Chen; Takashige Abe; Shunsuke Komizunai; Yuji Nakamaru; Taku Senoo; Akihiro Homma; Atsushi Konno
7th Jc-IFToMM International Symposium, 22 Jun. 2024, [Peer-reviewed]
International conference proceedings - Vibration Inspection by Robot Hand : Influence of grasping position
Yukihiro Magara; Hideto Okura; Shunsuke Komizunai; Taku Senoo; Atsushi Konno
7th Jc-IFToMM International Symposium, 22 Jun. 2024, [Peer-reviewed]
International conference proceedings - Development of Machine Learning-Based Assessment System for Laparoscopic Surgical Skills Using Motion-Capture
Koki Ebina; Takashige Abe; Lingbo Yan; Kiyohiko Hotta; Madoka Highuchi; Naoya Iwahara; Jun Furumido; Masafumi Kon; Sachiyo Murai; Yo Kurashima; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Taku Senoo; Nobuo Shinohara; Atsushi Konno
2024 IEEE/SICE International Symposium on System Integration (SII), IEEE, 08 Jan. 2024, [Peer-reviewed]
International conference proceedings - A surgical instrument motion measurement system for skill evaluation in practical laparoscopic surgery training.
Koki Ebina; Takashige Abe; Lingbo Yan; Kiyohiko Hotta; Toshiaki Shichinohe; Madoka Higuchi; Naoya Iwahara; Yukino Hosaka; Shigeru Harada; Hiroshi Kikuchi; Haruka Miyata; Ryuji Matsumoto; Takahiro Osawa; Yo Kurashima; Masahiko Watanabe; Masafumi Kon; Sachiyo Murai; Shunsuke Komizunai; Teppei Tsujita; Kazuya Sase; Xiaoshuai Chen; Taku Senoo; Nobuo Shinohara; Atsushi Konno
PloS one, 19, 6, e0305693, 2024, [Peer-reviewed], [International Magazine]
English, Scientific journal, This study developed and validated a surgical instrument motion measurement system for skill evaluation during practical laparoscopic surgery training. Owing to the various advantages of laparoscopic surgery including minimal invasiveness, this technique has been widely used. However, expert surgeons have insufficient time for providing training to beginners due to the shortage of surgeons and limited working hours. Skill transfer efficiency has to be improved for which there is an urgent need to develop objective surgical skill evaluation methods. Therefore, a simple motion capture-based surgical instrument motion measurement system that could be easily installed in an operating room for skill assessment during practical surgical training was developed. The tip positions and orientations of the instruments were calculated based on the marker positions attached to the root of the instrument. Because the patterns of these markers are individual, this system can track multiple instruments simultaneously and detect exchanges. However due to the many obstacles in the operating room, the measurement data included noise and outliers. In this study, the effect of this decrease in measurement accuracy on feature calculation was determined. Accuracy verification experiments were conducted during wet-lab training to demonstrate the capability of this system to measure the motion of surgical instruments with practical accuracy. A surgical training experiment on a cadaver was conducted, and the motions of six surgical instruments were measured in 36 cases of laparoscopic radical nephrectomy. Outlier removal and smoothing methods were also developed and applied to remove the noise and outliers in the obtained data. The questionnaire survey conducted during the experiment confirmed that the measurement system did not interfere with the surgical operation. Thus, the proposed system was capable of making reliable measurements with minimal impact on surgery. The system will facilitate surgical education by enabling the evaluation of skill transfer of surgical skills. - Rotational Regrasping For a Stick-type Object Using Inertial Force Based on High-speed Swing-up Motion
Taku Senoo; Atsushi Konno; Hayato Otsubo; Idaku Ishii
2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023, 1, 6, 07 Dec. 2023, [Peer-reviewed] - Stem detection using depth camera in red perilla farm
Seito Takeuchi; Shunsuke Komizunai; Taku Senoo; Atsushi Konno
16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, 63, 64, 07 Nov. 2023, [Peer-reviewed] - Unfolded Paper Manipulation by a Robot Hand Using High-speed Image Processing
Hideto Okura; Shunsuke Komizunai; Taku Senoo; Atsushi Konno
16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, 77, 78, 06 Nov. 2023, [Peer-reviewed] - Development of the Classification System for Surgical Skills in Endoscopic Sinus Surgery
Kaito Yamada; Masanobu Suzuki; Kou Miyaji; Koki Ebina; Kazuya Sase; Teppei Tsujita; Xiaoshuai Chen; Takashige Abe; Shunsuke Komizunai; Yuji Nakamaru; Taku Senoo; Akihiro Homma; Atsushi Konno
16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, 3, 4, 06 Nov. 2023, [Peer-reviewed] - Virtual 3D Viewpoint Control Based on Integration of Around-View and Back-View Monitors
Taku Senoo; Atsushi Konno; Norimasa Kishi
IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, 1, 6, IEEE, 17 Oct. 2023, [Peer-reviewed]
International conference proceedings - Force Sensorless Physical Interaction Based on Plastic Behavior Control Without Inertia Shaping
Taku Senoo; Atsushi Konno
2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 1872, 1877, IEEE, 30 Aug. 2023, [Peer-reviewed]
International conference proceedings - Proposal of Simulation-Based Surgical Navigation and Development of Laparoscopic Surgical Simulator that Reflects Motion of Surgical Instruments in Real-World.
Sayaka Shibuya; Noriyuki Shido; Ryosuke Shirai; Kazuya Sase; Koki Ebina; XiaoShuai Chen; Teppei Tsujita; Shunsuke Komizunai; Taku Senoo; Atsushi Konno
International Journal of Automation Technology, 17, 3, 262, 276, May 2023, [Peer-reviewed]
Scientific journal - Grasping complex shapes with the integration of high-speed vision and machine learning in a dynamic situation.
Hiromichi Kawahara; Taku Senoo; Idaku Ishii
IEEE International Conference on Mechatronics(ICM), 1, 6, IEEE, 16 Mar. 2023, [Peer-reviewed]
International conference proceedings - The development of the data correction method and feature extraction for the skill evaluation of practical laparoscopic surgical training
EBINA Koki; ABE Takashige; YAN Lingbo; HOTTA Kiyohiko; KON Masafumi; HIGUCHI Madoka; FURUMIDO Jun; IWAHARA Naoya; KOMIZUNAI Shunsuke; KURASHIMA Yo; KIKUCHI Hiroshi; MATSUMOTO Ryuji; OSAWA Takahiro; MURAI Sachiyo; TSUJITA Teppei; SASE Kazuya; CHEN Xiaoshuai; SENOO Taku; SHINOHARA Nobuo; KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 2P2-B26, The Japan Society of Mechanical Engineers, 2023
Japanese, This paper describes the details of the data correction method and feature extraction for skill evaluation of practical laparoscopic surgical training. To analyze the surgical dexterity in practical laparoscopic surgical training, the motion capture (MoCap) based measurement system have been developed, and measurement experiment in cadaver surgical tranining were conducted. However, the measured data contains noise and missing values, skill analysis is not possible without data correction. For this background, outlier removal method using Kalman filter and other threshold-based method were applied. Linear interpolation and Savitzky-Golay filter were also applied to the data. After the data correction, feature extraction was performed and some kinematic indices of the surgical instruments were successfully calculated. - Skill evaluation for Endoscopic Sinus Surgery using machine learning
YAMADA Kaito; SUZUKI Masanobu; MIYAJI Kou; EBINA Koki; SASE Kazuya; TSUJITA Teppei; CHEN Xiaoshuai; ABE Takashige; KOMIZUNAI Shunsuke; NAKAMARU Yuji; SENOO Taku; HOMMA Akihiro; KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2023, 2P1-B27, The Japan Society of Mechanical Engineers, 2023
Japanese, Endoscopic sinus surgery (ESS) is one of the standard minimally invasive surgical procedures for diseases of a nasal cavity and paranasal sinuses. This paper describes the development and details of a surgeon skill classification system using machine learning. A learning model was generated based on the features calculated from the dynamic measurement data of surgical instruments in the ESS and the enlarged sinus volume as an indicator for surgical efficacy. By using three machine learning algorithms, Support Vector Machine (SVM), PCA (Principal Component Analysis based)-SVM and Gradient Boosting Decision Tree (GBDT), three-group discrimination (expert vs. intermediate vs. novice) and two-group discrimination (expert vs. intermediate/novice) were performed. A comparison of the accuracy in the methods revealed that SVM is the most accurate method for three-group discrimination, while SVM and GBDT are the most accurate for two-group discrimination. - Tracking of Overlapped Vehicles with Spatio-Temporal Shared Filter for High-Speed Stereo Vision
Taku Senoo; Atsushi Konno; Yunzhuo Wang; Masahiro Hirano; Norimasa Kishi; Masatoshi Ishikawa
Journal of Robotics and Mechatronics, 34, 5, 1033, 1042, Fuji Technology Press Ltd., 20 Oct. 2022, [Peer-reviewed]
Scientific journal, In this study, we propose a method for measuring the distance and velocity of overlapping vehicles using high-speed stereo vision. The method is based on the correlation filter called MOSSE and is improved by balancing the computation cost and accuracy using the features of high-frame-rate images. To achieve stable tracking, the tracking window was adjusted for each vehicle according to the vehicle distance and the overlapping state. Experiments on the images acquired by the cameras mounted on an actual vehicle were performed to validate the proposed method. - Automotive Tracking with High-speed Stereo Vision Based on a Spatiotemporal Shared Filter
Taku Senoo; Atsushi Konno; Yunzhuo Wang; Masahiro Hirano; Norimasa Kishi; Masatoshi Ishikawa
2022 26th International Conference on System Theory, Control and Computing (ICSTCC), 613, 618, IEEE, 19 Oct. 2022, [Peer-reviewed]
International conference proceedings - An underactuated parallel-link gripper for a multicopter capable of plane perching
Maozheng Xu; Taku Senoo; Takeshi Takaki
ROBOMECH JOURNAL, 9, 1, Feb. 2022, [Peer-reviewed]
English, Scientific journal - High-speed tracking for overlapped vehicles using Instance Segmentation and contour deformation.
Hiromichi Kawahara; Taku Senoo; Idaku Ishii; Masahiro Hirano; Norimasa Kishi; Masatoshi Ishikawa
SII, 730, 735, 2022, [Peer-reviewed]
International conference proceedings - High-speed Tracking for Overlapped Vehicles Using Template Matching Based on the Contour Information
Hiromichi KAWAHARA; Taku SENOO; Idaku ISHII; Masahiro HIRANO; Norimasa KISHI; Masatoshi ISHIKAWA
Transactions of the Society of Instrument and Control Engineers, 58, 1, 21, 30, The Society of Instrument and Control Engineers, 2022, [Peer-reviewed]
Scientific journal - View and Scanning-Depth Expansion Photographic Microscope Using Ultrafast Switching Mirrors.
Shaopeng Hu; Wei Lu; Kohei Shimasaki; Mingjun Jiang; Taku Senoo; Idaku Ishii
IEEE Trans. Instrum. Meas., 71, 1, 13, 2022, [Peer-reviewed]
Scientific journal - Omnidirectional Panoramic Video System With Frame-by-Frame Ultrafast Viewpoint Control.
Shaopeng Hu; Hongyu Dong; Kohei Shimasaki; Mingjun Jiang; Taku Senoo; Idaku Ishii
IEEE Robotics and Automation Letters, 7, 2, 4086, 4093, 2022, [Peer-reviewed]
Scientific journal - An acceleration method for correlation-based high-speed object tracking
Masahiro Hirano; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
Measurement: Sensors, 18, Dec. 2021, [Peer-reviewed]
International conference proceedings - Condition analysis of a multicopter carried with passive skid for rough terrain landing
Maozheng Xu; Taku Senoo; Takeshi Takaki
ROBOMECH JOURNAL, 8, 1, Nov. 2021, [Peer-reviewed]
English, Scientific journal - Wide-area Operation Monitoring of Conveyors Using a Panoramic Vibration Camera
Shimasaki Kohei; Aliansyah Zulhaj Muhammad; Senoo Taku; Ishii Idaku; Ito Tomohiko
ISIJ International, 61, 10, 2587, 2596, The Iron and Steel Institute of Japan, 15 Oct. 2021, [Peer-reviewed]
English, In this study, we propose a novel non-contact vision sensing method for wide-area monitoring of the operation of conveyors in ironworks by using a panoramic vibration camera in real time. This method can capture magnified images, including vibrations from a single camera with mirror-driven viewpoint switching. The rotation of multiple rollers with conveyor belts was detected using a function of full-pixel vibration spectrum imaging, which can calculate peak frequencies from time frequency responses. Through experiments in different situations, such as loading and unloading, we evaluated the efficiency of this method, which can monitor the operation of multiple rollers and conveyors, when the camera is located 15 m away, or more, from the conveyors to be monitored. - Dynamic Robot Manipulation using High-speed Cognitive Behavior System
Taku Senoo
Robotics and Computer Science World Forum 2021, Oct. 2021, [Peer-reviewed], [Invited]
International conference proceedings - Visual-Feedback-Based Frame-by-Frame Synchronization for 3000 fps Projector-Camera Visual Light Communication
Atul Sharma; Sushil Raut; Kohei Shimasaki; Taku Senoo; Idaku Ishii
ELECTRONICS, 10, 14, Jul. 2021, [Peer-reviewed]
English, Scientific journal - A Simultaneous Multi-Object Zooming System Using an Ultrafast Pan-Tilt Camera
Shaopeng Hu; Kohei Shimasaki; Mingjun Jiang; Taku Senoo; Idaku Ishii
IEEE SENSORS JOURNAL, 21, 7, 9436, 9448, Apr. 2021, [Peer-reviewed]
English, Scientific journal - Vibration-feature-based Multicopter Detection with CNN-based Appearance Validation
Raut Sushil; Kohei Shimasaki; Taku Senoo; Idaku Ishii; Kazuhiko Yamamoto
7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Mar. 2021, [Peer-reviewed]
International conference proceedings - An Omnidirectional Multicopter Tracking System with HFR-Video-Based Vibration Source Localization
Mingjun Jiang; Ryo Sogabe; Kohei Shimasaki; Taku Senoo; Idaku Ishii; Kazuhiko Yamamoto
7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Mar. 2021, [Peer-reviewed]
International conference proceedings - Projection-mapping-based object pointing using a high-frame-rate camera-projector system
Deepak Kumar; Sushil Raut; Kohei Shimasaki; Taku Senoo; Idaku Ishii
ROBOMECH JOURNAL, 8, 1, Mar. 2021, [Peer-reviewed]
English, Scientific journal - Baseball Robots Based on Sensory-Motor Integration
Taku Senoo; Idaku Ishii
2021 21ST INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2021), 1772, 1777, 2021, [Peer-reviewed], [Invited]
English, International conference proceedings - A long-time automated honeybees count system using high-speed vision.
Hironori Yoshida; Kohei Shimasaki; Taku Senoo; Idaku Ishii; Kazuhiko Yamamoto
IEEE/SICE International Symposium on System Integration(SII), 404, 408, IEEE, 2021, [Peer-reviewed]
International conference proceedings - Multiple Scale Aggregation with Patch Multiplexing for High-Speed Inter-Vehicle Distance Estimation.
Masahiro Hirano; Yuji Yamakawa; Taku Senoo; Norimasa Kishi; Masatoshi Ishikawa
IEEE Intelligent Vehicles Symposium(IV), 1436, 1443, IEEE, 2021, [Peer-reviewed]
International conference proceedings - The method of calibration for the robot arm capable of adjusting position of the center of gravity and the evaluation of the motion in the air
松永望; 吉田大哲; 島崎航平; 妹尾拓; 高木健
日本機械学会論文集(Web), 87, 901, 2021, [Peer-reviewed] - 500-Fps Omnidirectional Visual Tracking Using Three-Axis Active Vision System.
Mingjun Jiang; Ryo Sogabe; Kohei Shimasaki; Shaopeng Hu; Taku Senoo; Idaku Ishii
IEEE Transactions on Instrumentation and Measurement, 70, 1, 11, 2021, [Peer-reviewed]
Scientific journal - Single-Camera-Based Bridge Structural Displacement Measurement with Traffic Counting.
Zulhaj Aliansyah; Kohei Shimasaki; Taku Senoo; Idaku Ishii; Shuji Umemoto
Sensors, 21, 13, 4517, 4517, 2021, [Peer-reviewed]
Scientific journal - A 500-Fps Pan-Tilt Tracking System With Deep-Learning-Based Object Detection.
Mingjun Jiang; Kohei Shimasaki; Shaopeng Hu; Taku Senoo; Idaku Ishii
IEEE Robotics and Automation Letters, 6, 2, 691, 698, 2021, [Peer-reviewed]
Scientific journal - High-frame-rate Video-based Multicopter Tracking System Using Pixel-level Short-time Fourier Transform.
Kohei Shimasaki; Nagahiro Fujiwara; Shaopeng Hu; Taku Senoo; Idaku Ishii
Journal of Intelligent and Robotic Systems, 103, 2, 36, 36, 2021, [Peer-reviewed]
Scientific journal - Baseball Robotic System—Running, Hitting and Fielding Based on High-speed Vision—
Senoo Taku
Journal of the Robotics Society of Japan, 38, 4, 313, 317, The Robotics Society of Japan, 2020, [Peer-reviewed]
Japanese - Dynamic In-Hand Regrasping Using a High-Speed Robot Hand and High-Speed Vision
Ryosuke Higo; Taku Senoo; Masatoshi Ishikawa
IFAC PAPERSONLINE, 53, 2, 9796, 9801, 2020, [Peer-reviewed]
English, International conference proceedings - Simultaneous Multi-face Zoom Tracking for 3-D People-Flow Analysis with Face Identification.
Liheng Shen; Shaopeng Hu; Kohei Shimasaki; Taku Senoo; Idaku Ishii
16th International Conference on Mobility, Sensing and Networking(MSN), 410, 417, IEEE, 2020, [Peer-reviewed]
International conference proceedings - High-speed Hitting Grasping with Magripper, a Highly Backdrivable Gripper using Magnetic Gear and Plastic Deformation Control.
Satoshi Tanaka; Keisuke Koyama; Taku Senoo; Makoto Shimojo; Masatoshi Ishikawa
IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 9137, 9143, IEEE, 2020, [Peer-reviewed]
International conference proceedings - Adaptive Visual Shock Absorber with Visual-based Maxwell Model Using a Magnetic Gear.
Satoshi Tanaka; Keisuke Koyama; Taku Senoo; Masatoshi Ishikawa
2020 IEEE International Conference on Robotics and Automation(ICRA), 6163, 6168, IEEE, 2020, [Peer-reviewed]
International conference proceedings - Bolt loosening detection using multi-purpose robot hand.
Fumiya Shimada; Kenichi Murakami; Taku Senoo; Masatoshi Ishikawa
IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), 1860, 1866, IEEE, 2020, [Peer-reviewed]
International conference proceedings - Robot Hand Interaction Using Plastic Deformation Control with Inner Position Loop.
Kenichi Murakami; Koki Ishimoto; Taku Senoo; Masatoshi Ishikawa
IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), 1748, 1753, IEEE, 2020, [Peer-reviewed]
International conference proceedings - HFR Projector Camera Based Visible Light Communication System for Real-Time Video Streaming.
Atul Sharma; Sushil Raut; Kohei Shimasaki; Taku Senoo; Idaku Ishii
Sensors, 20, 18, 5368, 5368, 2020, [Peer-reviewed]
Scientific journal - Real-Time Traffic Light Detection with Frequency Patterns Using a High-Speed Camera.
Kento Yabuuchi; Masahiro Hirano; Taku Senoo; Norimasa Kishi; Masatoshi Ishikawa
Sensors, 20, 14, 4035, 4035, 2020, [Peer-reviewed]
Scientific journal - Human Robot Hand Interaction with Plastic Deformation Control.
Kenichi Murakami; Koki Ishimoto; Taku Senoo; Masatoshi Ishikawa
Robotics, 9, 3, 73, 73, 2020, [Peer-reviewed]
Scientific journal - High-speed Sensory Feedback Control for Dexterous Robotic Limbs
Taku Senoo
Asia Pacific Society for Computing and Information Technology 2019, No. 101, Abstract ID: 10, Jul. 2019, [Peer-reviewed], [Invited]
International conference proceedings - High-speed Robotic Handling and Running Based on Sensory-Motor Integration
Taku Senoo; Masatoshi Ishikawa
2019 International Conference on Soft Computing and Machine Learning, 17, Apr. 2019, [Peer-reviewed], [Invited]
International conference proceedings - High-speed UAV Delivery System with Non-stop Parcel Handover Using High-speed Visual Control.
Satoshi Tanaka; Taku Senoo; Masatoshi Ishikawa
2019 IEEE Intelligent Transportation Systems Conference(ITSC), 4449, 4455, IEEE, 2019, [Peer-reviewed]
International conference proceedings - High-Speed Ring Insertion by Dynamic Observable Contact Hand.
Yukihisa Karako; Shinji Kawakami; Keisuke Koyama; Makoto Shimojo; Taku Senoo; Masatoshi Ishikawa
International Conference on Robotics and Automation(ICRA), 2744, 2750, IEEE, 2019, [Peer-reviewed]
International conference proceedings - Non-stop Handover of Parcel to Airborne UAV Based on High-speed Visual Object Tracking.
Satoshi Tanaka; Taku Senoo; Masatoshi Ishikawa
19th International Conference on Advanced Robotics(ICAR), 408, 413, IEEE, 2019, [Peer-reviewed]
International conference proceedings - Dynamic Intelligent Systems Based on High-Speed Vision.
Taku Senoo; Yuji Yamakawa; Shouren Huang; Keisuke Koyama; Makoto Shimojo; Yoshihiro Watanabe; Leo Miyashita; Masahiro Hirano; Tomohiro Sueishi; Masatoshi Ishikawa
Journal of Robotics and Mechatronics, 31, 1, 45, 56, 2019, [Peer-reviewed]
Scientific journal - High-Speed, Small-Deformation Catching of Soft Objects Based on Active Vision and Proximity Sensing.
Keisuke Koyama; Kenichi Murakami; Taku Senoo; Makoto Shimojo; Masatoshi Ishikawa
IEEE Robotics and Automation Letters, 4, 2, 578, 585, 2019, [Peer-reviewed]
Scientific journal - Deformation Control of a Manipulator Based on the Zener Model.
Taku Senoo; Kenichi Murakami; Masatoshi Ishikawa
Journal of Robotics and Mechatronics, 31, 2, 263, 273, 2019, [Peer-reviewed]
Scientific journal - Rubik's Cube Handling Using a High-Speed Multi-Fingered Hand and a High-Speed Vision System.
Ryosuke Rigo; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 6609, 6614, IEEE, 2018, [Peer-reviewed]
International conference proceedings - Robotic Physical Interaction Using Deformation Control Based on the Zener Model.
Taku Senoo; Kenichi Murakami; Masatoshi Ishikawa
IEEE International Conference on Cyborg and Bionic Systems(CBS), 445, 448, IEEE, 2018, [Peer-reviewed]
International conference proceedings - Control of Elastic Robot Arm by Feedback of Shape Information with High-speed Vision
塚本勇介; 山川雄司; 妹尾拓; 石川正俊
計測自動制御学会論文集, 54, 5, 2018, [Peer-reviewed] - High-Speed High-Precision Proximity Sensor for Detection of Tilt, Distance, and Contact.
Keisuke Koyama; Makoto Shimojo; Taku Senoo; Masatoshi Ishikawa
IEEE Robotics and Automation Letters, 3, 4, 3224, 3231, 2018, [Peer-reviewed]
Scientific journal - Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques
Tomohiko Hayakawa; Takanoshin Watanabe; Taku Senoo; Masatoshi Ishikawa
JOVE-JOURNAL OF VISUALIZED EXPERIMENTS, 122, Apr. 2017, [Peer-reviewed]
English, Scientific journal - Deformable Behavior Genearation of a Manipulator Using Standard Linear Solid Model
SENOO Taku; MURAKAMI Kenichi; ISHIKAWA Masatoshi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017, 1P2, B12, The Japan Society of Mechanical Engineers, 2017
Japanese,In this study, passive dynamic control of a manipulator is designed and realized. The control strategy is based on the idea that the shift in position and posture of an end effector attributable to an external force is regarded as deformation of the robot. The standard linear solid (SLS) model is used to generate the deformable behavior, which describes the combination of plastic and elastic deformation. In addition, the relation between the SLS model and Maxwell/Voigt models are analyzed. Physical simulations with a robotic arm are executed to validate and analyze the proposed control law.
- Catching robot hand system in dynamic depth variation with a rotating variable focusing unit
Kenichi Murakami; Lihui Wang; Tomohiko Hayakawa; Taku Senoo; Masatoshi Ishikawa
Optics InfoBase Conference Papers, 2017, OSA - The Optical Society, 2017, [Peer-reviewed]
English, International conference proceedings - High-speed visual feedback for realizing high-performance robotic manipulation
S. Huang; N. Bergström; Y. Yamakawa; T. Senoo; M. Ishikawa
Proceedings of SPIE - The International Society for Optical Engineering, 10328, SPIE, 2017, [Peer-reviewed]
English, International conference proceedings - Dynamic Compensation based on High-speed Vision and its Application to Industrial Robots
Huang Shouren; Yamakawa Yuji; Senoo Taku; Bergström Niklas
Journal of the Robotics Society of Japan, 35, 8, 591, 595, The Robotics Society of Japan, 2017, [Peer-reviewed]
Japanese - Robotic Contour Tracing with High-Speed Vision and Force-Torque Sensing based on Dynamic Compensation Scheme
Shouren Huang; Bergstroem Niklas; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
IFAC PAPERSONLINE, 50, 1, 4616, 4622, 2017, [Peer-reviewed]
English, International conference proceedings - Deformable robot behavior based on the standard linear solid model.
Taku Senoo; Kenichi Murakami; Masatoshi Ishikawa
IEEE Conference on Control Technology and Applications(CCTA), 746, 751, IEEE, 2017, [Peer-reviewed]
International conference proceedings - Analysis of sliding behavior of a biped robot in centroid acceleration space.
Taku Senoo; Masatoshi Ishikawa
Robotica, 35, 3, 636, 653, 2017, [Peer-reviewed]
Scientific journal - Impedance Control Design Based on Plastic Deformation for a Robotic Arm.
Taku Senoo; Masanori Koike; Kenichi Murakami; Masatoshi Ishikawa
IEEE Robotics and Automation Letters, 2, 1, 209, 216, 2017, [Peer-reviewed]
Scientific journal - Gain-compensated sinusoidal scanning of a galvanometer mirror in proportional-integral-differential control using the pre-emphasis technique for motion-blur compensation
Tomohiko Hayakawa; Takanoshin Watanabe; Taku Senoo; Masatoshi Ishikawa
APPLIED OPTICS, 55, 21, 5640, 5646, Jul. 2016, [Peer-reviewed]
English, Scientific journal - Visual encoder: robust and precise measurement method of rotation angle via high-speed RGB vision
Hyuno Kim; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
OPTICS EXPRESS, 24, 12, 13375, 13386, Jun. 2016, [Peer-reviewed]
English, Scientific journal - Development of a high-speed, high-accuracy robot hand for micromanipulation.
Hiroshi Sato; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2016 IEEE International Conference on Robotics and Biomimetics(ROBIO), 1535, 1541, IEEE, 2016, [Peer-reviewed]
International conference proceedings - Robotic pitching by rolling ball on fingers for a randomly located target.
Taku Senoo; Yuuki Horiuchi; Yoshinobu Nakanishi; Kenichi Murakami; Masatoshi Ishikawa
2016 IEEE International Conference on Robotics and Biomimetics(ROBIO), 325, 330, IEEE, 2016, [Peer-reviewed]
International conference proceedings - Plastic deformation control based on time-varying impedance adjustment.
Masanori Koike; Taku Senoo; Kenichi Murakami; Masatoshi Ishikawa
2016 IEEE International Conference on Robotics and Biomimetics(ROBIO), 106, 111, IEEE, 2016, [Peer-reviewed]
International conference proceedings - Deformation control of a multijoint manipulator based on maxwell and voigt models.
Taku Senoo; Gaku Jinnai; Kenichi Murakami; Masatoshi Ishikawa
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 2711, 2716, IEEE, 2016, [Peer-reviewed]
International conference proceedings - Rolling manipulation for throwing breaking balls by changing grasping forms.
Kenichi Murakami; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society(IECON), 791, 796, IEEE, 2016, [Peer-reviewed]
International conference proceedings - High-performance robotic contour tracking based on the dynamic compensation concept.
Shouren Huang; Niklas Bergström; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2016 IEEE International Conference on Robotics and Automation(ICRA), 3886, 3893, IEEE, 2016, [Peer-reviewed]
International conference proceedings - Towards assistive human-robot micro manipulation.
Niklas Bergström; Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
16th IEEE-RAS International Conference on Humanoid Robots(Humanoids), 1188, 1195, IEEE, 2016, [Peer-reviewed]
International conference proceedings - Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties.
Shouren Huang; Niklas Bergström; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
Sensors, 16, 8, 1195, 1195, 2016, [Peer-reviewed]
Scientific journal - Visual shock absorber based on plastic deformation control.
Masanori Koike; Kenichi Murakami; Taku Senoo; Masatoshi Ishikawa
2015 IEEE International Conference on Robotics and Biomimetics(ROBIO), 656, 661, IEEE, 2015, [Peer-reviewed]
International conference proceedings - Motion planning for catching a light-weight ball with high-speed visual feedback.
Kenichi Murakami; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2015 IEEE International Conference on Robotics and Biomimetics(ROBIO), 339, 344, IEEE, 2015, [Peer-reviewed]
International conference proceedings - Robotic manipulation of rotating object via twisted thread using high-speed visual sensing and feedback.
Hyuno Kim; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems(MFI), 265, 270, IEEE, 2015, [Peer-reviewed]
International conference proceedings - Robotic needle threading manipulation based on high-speed motion strategy using high-speed visual feedback.
Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 4041, 4046, IEEE, 2015, [Peer-reviewed]
International conference proceedings - Visual shock absorber based on maxwell model for anti-rebound control.
Taku Senoo; Masanori Koike; Kenichi Murakami; Masatoshi Ishikawa
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 1640, 1645, IEEE, 2015, [Peer-reviewed]
International conference proceedings - Realizing 1D robotic catching without prediction based on dynamic compensation concept.
Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
IEEE International Conference on Advanced Intelligent Mechatronics(AIM), 1629, 1634, IEEE, 2015, [Peer-reviewed]
International conference proceedings - A Pre-compensation Fuzzy Logic Algorithm Designed for the Dynamic Compensation Robotic System
Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 12, Jan. 2015, [Peer-reviewed]
English, Scientific journal - Development of High-speed Bipedal Running Robot System (ACHIRES)
玉田智樹; 玉田智樹; 五十嵐渉; 米山大揮; 米山大揮; 田中和仁; 田中和仁; 山川雄司; 妹尾拓; 石川正俊
日本ロボット学会誌, 33, 7, 2015, [Peer-reviewed] - Robot Application of High-speed Vision
Senoo Taku; Yamakawa Yuji; Ishikawa Masatoshi
Journal of the Robotics Society of Japan, 32, 9, 769, 773, The Robotics Society of Japan, 2014, [Peer-reviewed]
Japanese - Planar sliding analysis of a biped robot in centroid acceleration space.
Taku Senoo; Masatoshi Ishikawa
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 4050, 4056, IEEE, 2014, [Peer-reviewed]
International conference proceedings - High-speed bipedal robot running using high-speed visual feedback.
Tomoki Tamada; Wataru Ikarashi; Daiki Yoneyama; Kazuhito Tanaka; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
14th IEEE-RAS International Conference on Humanoid Robots(Humanoids), 140, 145, IEEE, 2014, [Peer-reviewed]
International conference proceedings - Manipulation model of thread-rotor object by a robotic hand for high-speed visual feedback control.
Hyuno Kim; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), 924, 930, IEEE, 2014, [Peer-reviewed]
International conference proceedings - High-Speed Vision and its Application Systems.
Taku Senoo; Yuji Yamakawa; Yoshihiro Watanabe; Hiromasa Oku; Masatoshi Ishikawa
Journal of Robotics and Mechatronics, 26, 3, 287, 301, 2014, [Peer-reviewed]
Scientific journal - Dynamic compensation by fusing a high-speed actuator and high-speed visual feedback with its application to fast peg-and-hole alignment.
Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
Advanced Robotics, 28, 9, 613, 624, 2014, [Peer-reviewed]
Scientific journal - 3D shape reconstruction of an object based on its silhouette using a high-speed vision
Yuji Yamakawa; Yoshiyuki Tabata; Taku Senoo; Masatoshi Ishikawa
Proceedings of the SICE Annual Conference, 1966, 1971, Society of Instrument and Control Engineers (SICE), 2013, [Peer-reviewed]
English, International conference proceedings - Dynamic manipulation of a thin circular flexible object using a high-speed multifingered hand and high-speed vision.
Yuji Yamakawa; Shisei Nakano; Taku Senoo; Masatoshi Ishikawa
IEEE International Conference on Robotics and Biomimetics(ROBIO), 1851, 1857, IEEE, 2013, [Peer-reviewed]
International conference proceedings - High-speed manipulation of cable connector using a high-speed robot hand.
Tomoki Tamada; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
IEEE International Conference on Robotics and Biomimetics(ROBIO), 1598, 1604, IEEE, 2013, [Peer-reviewed]
International conference proceedings - Fast peg-and-hole alignment using visual compliance.
Shouren Huang; Kenichi Murakami; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 286, 292, IEEE, 2013, [Peer-reviewed]
International conference proceedings - Realizing peg-and-hole alignment with one eye-in-hand high-speed camera.
Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), 1127, 1132, IEEE, 2013, [Peer-reviewed]
International conference proceedings - Two-dimensional analysis of dynamic biped locomotion based on feet slip.
Taku Senoo; Masatoshi Ishikawa
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM), 512, 517, IEEE, 2013, [Peer-reviewed]
International conference proceedings - Dynamic Biped Locomotion Using Asymmetry of Sliding Friction
妹尾拓; 高野光浩; 石川正俊
日本ロボット学会誌, 31, 3, 2013, [Peer-reviewed] - A direct visual servo scheme based on simplified interaction matrix for high-speed manipulation.
Shouren Huang; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
2012 IEEE International Conference on Robotics and Biomimetics(ROBIO), 1950, 1955, IEEE, 2012, [Peer-reviewed]
International conference proceedings - Ultra high-speed Robot Based on 1 kHz vision system.
Masatoshi Ishikawa; Akio Namiki; Taku Senoo; Yuji Yamakawa
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 5460, 5461, IEEE, 2012, [Peer-reviewed]
International conference proceedings - Dynamic horizontal movement of a bipedal robot using frictional asymmetry.
Taku Senoo; Mitsuhiro Takano; Masatoshi Ishikawa
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 1834, 1839, IEEE, 2012, [Peer-reviewed]
International conference proceedings - On-line learning of temporal state models for flexible objects.
Niklas Bergström; Carl Henrik Ek; Danica Kragic; Yuji Yamakawa; Taku Senoo; Masatoshi Ishikawa
12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)(Humanoids), 712, 718, IEEE, 2012, [Peer-reviewed]
International conference proceedings - Tweezers manipulation using high-speed visual servoing based on contact analysis.
Taku Senoo; Daiki Yoneyama; Akio Namiki; Masatoshi Ishikawa
2011 IEEE International Conference on Robotics and Biomimetics(ROBIO), 1936, 1941, IEEE, 2011, [Peer-reviewed]
International conference proceedings - High-speed catching based on inverse motion approach.
Kenichi Murakami; Taku Senoo; Masatoshi Ishikawa
2011 IEEE International Conference on Robotics and Biomimetics(ROBIO), 1308, 1313, IEEE, 2011, [Peer-reviewed]
International conference proceedings - 外界センサ 高速ビジョンを用いた高速ロボットの実現
渡辺 義浩; 妹尾 拓; 石川 正俊
ロボット, 192, 47, 53, 日本ロボット工業会, Jan. 2010, [Peer-reviewed]
Japanese - Jumping patterns analysis for 1-DOF two-legged robot.
Taku Senoo; Yuichi Tanno; Masatoshi Ishikawa
11th International Conference on Control, Automation, Robotics and Vision(ICARCV), 603, 608, IEEE, 2010, [Peer-reviewed]
International conference proceedings - Skillful manipulation based on high-speed sensory-motor fusion.
Taku Senoo; Yuji Yamakawa; Satoru Mizusawa; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
2009 IEEE International Conference on Robotics and Automation(ICRA), 1611, 1612, IEEE, 2009, [Peer-reviewed]
International conference proceedings - High-speed throwing motion based on kinetic chain approach.
Taku Senoo; Akio Namiki; Masatoshi Ishikawa
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), 3206, 3211, IEEE, 2008, [Peer-reviewed]
International conference proceedings - Realtime collision avoidance using a robot manipulator with light-weight small high-speed vision systems.
Sho Morikawa; Taku Senoo; Akio Namiki; Masatoshi Ishikawa
2007 IEEE International Conference on Robotics and Automation(ICRA), 794, 799, IEEE, 2007, [Peer-reviewed]
International conference proceedings - Visuomotor integration in high-speed manipulation system
Akio Namiki; Taku Senoo; Noriatsu Furukawa; Masatoshi Ishikawa
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 1062, +, 2006, [Peer-reviewed]
English, International conference proceedings - Ball Control in High-speed Batting Motion using Hybrid Trajectory Generator.
Taku Senoo; Akio Namiki; Masatoshi Ishikawa
Proceedings of the 2006 IEEE International Conference on Robotics and Automation(ICRA), 1762, 1767, IEEE, 2006, [Peer-reviewed]
International conference proceedings - Dynamic Regrasping using a High-speed Multifingered Hand and a High-speed vision System.
Noriatsu Furukawa; Akio Namiki; Taku Senoo; Masatoshi Ishikawa
Proceedings of the 2006 IEEE International Conference on Robotics and Automation(ICRA), 181, 187, IEEE, 2006, [Peer-reviewed]
International conference proceedings - Hybrid Trajectory Generation of an Articulated Manipulator for High-speed Batting
妹尾拓; 並木明夫; 石川正俊
日本ロボット学会誌, 24, 4, 2006, [Peer-reviewed] - Development of a High-Speed Batting Robot System
NAMIKI Akio; SENOO Taku; ISHIKAWA Masatoshi
自動車技術 = Journal of Society of Automotive Engineers of Japan, 58, 9, 79, 80, 01 Sep. 2004, [Peer-reviewed]
Japanese - Dynamic Manipulation Using High-speed Multifingered Hand-Arm System - Grasping, Catching, and Batting -
Akio Namiki; Yoshiro Imai; Taku Senoo; Masatoshi Ishikawa
Video Proceedings of the 2004 IEEE International Conference on Robotics and Automation(ICRA), No. L, 2004, [Peer-reviewed]
International conference proceedings - High-speed Batting using a Multi-jointed Manipulator.
Taku Senoo; Akio Namiki; Masatoshi Ishikawa
Proceedings of the 2004 IEEE International Conference on Robotics and Automation(ICRA), 1191, 1196, IEEE, 2004, [Peer-reviewed]
International conference proceedings
- Assist System to Speed up Object Grasping by Reading Human Intention on a Desk
早川智彦; 蛭間友香; 妹尾拓; HUANG Shouren; 石川正俊, 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), 25th, 2024 - Grasping position estimation system for unknown shape objects for grasping objects of complex shapes in dynamic environments
大倉秀斗; 早川智彦; 妹尾拓; 近野敦, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 25th, 2024 - Construction of a high-speed depth measurement system for high-speed dynamic manipulation
大倉秀斗; 甲斐裕也; 早川智彦; 早川智彦; 小水内俊介; 妹尾拓; 近野敦, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 24th, 2023 - ヒューマノイドロボットによる力制御の実装
平林勇人; 小水内俊介; 佐藤大祐; 辻田哲平; 妹尾拓; 近野敦, 計測自動制御学会北海道支部学術講演会論文集, 55th, 2023 - ロボットハンドによる摩擦差を利用した用紙分離
山名悠希; 妹尾拓; 石井抱, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th, 2022 - 高速ロボットハンドによる振り上げ動作を用いたインハンドマニピュレーション
大坪隼人; 妹尾拓; 石井抱, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th, 2022 - REAL-TIME VIBRATION IMAGING SYSTEM USING NVIDIA JETSON TX2
島崎航平; SHARMA Atul Kumar; 妹尾拓; 石井抱, 電子情報通信学会大会講演論文集(CD-ROM), 2021, 2021 - Wide-area Operation Monitoring of Conveyors Using a Panoramic Vibration Camera
島崎航平; ALIANSYAH Zulhaj Muhammad; 妹尾拓; 石井抱; 伊藤友彦, 鉄と鋼, 107, 8, 2021 - Virtual palpation system using high-speed vision
島崎航平; 高橋裕之; 妹尾拓; 石井抱, 日本機械学会中国四国支部総会・講演会講演論文集(CD-ROM), 59th, 2021 - Vibration monitoring for unloader crane using high-speed vision
島崎航平; 胡少鵬; 妹尾拓; 石井抱; 伊藤友彦; 松本愛, 材料とプロセス(CD-ROM), 34, 2, 2021 - Remote Crane Monitoring Using Area Sensing Technology
石井抱; 島崎航平; 胡少鵬; 妹尾拓; 奥松俊博; 松田浩, 材料とプロセス(CD-ROM), 34, 2, 2021 - ロボットハンドを使用した加振によるねじ緩み判別
立石侑也; 島崎航平; 妹尾拓; 石井抱, 日本ロボット学会学術講演会予稿集(CD-ROM), 39th, 2021 - Honeybee Camera for Swarm Monitoring
島崎航平; 妹尾拓; 石井抱; 荻原麻理; 芳山三喜雄, センシングフォーラム資料(CD-ROM), 38th, 2021 - Rotation monitoring for wide-area conveyors using panoramic vibration imaging
島崎航平; ALIANSYAH Zulhaj Muhammad; 妹尾拓; 石井抱, 材料とプロセス(CD-ROM), 33, 2, 2020 - PID制御に対するパルス入力を用いたガルバノミラーの高速ラスタ走査手法-高速移動によるモーションブラーの補償撮像に向けて-
早川智彦; 加茂佳吾; 久保田祐貴; 望戸雄史; 妹尾拓; 石川正俊, 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), 2019, 2019 - 小型・低摩擦アクチュエータ“MagLinkage“を用いた低衝撃・ノンストップ把持
小山佳祐; 下条誠; 妹尾拓; 石川正俊, 日本ロボット学会学術講演会予稿集(CD-ROM), 37th, 2019 - 高速・低摩擦・トルクリミッタ付き小型直動機構Magsliderの開発
田中敬; 小山佳祐; 妹尾拓; 石川正俊, 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), 20th, 2019 - 触覚機能を内包する高速・高精度近接覚センサ-第3報:Super tactile-based active touchによる薄板部品の高速・低反力挿入-
小山佳祐; 下条誠; 妹尾拓; 石川正俊, 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), 2019, 2019 - 小型・低摩擦アクチュエータMagLinkageの開発とハンド応用
小山佳祐; 下条誠; 妹尾拓; 石川正俊, 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), 2019, 2019 - 触覚機能を内包する高速・高精度近接覚センサ-第2報:柔軟物を潰さずに高速キャッチするための視覚・近接覚制御の提案-
小山佳祐; 村上健一; 妹尾拓; 下条誠; 石川正俊, 日本ロボット学会学術講演会予稿集(CD-ROM), 36th, 2018 - 触覚機能を内包する高速・高精度近接覚センサ-第1報:センサモジュールの開発と接触判定の実現-
小山佳祐; 下条誠; 妹尾拓; 石川正俊, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2018, 2018 - 受動的緩衝動作における直列表現ベースの塑性変形制御
妹尾拓; 小池正憲; 村上健一; 石川正俊, 日本ロボット学会学術講演会予稿集(CD-ROM), 34th, 2016 - 1P1-H08 Real Time Trajectory Generation of an Articulated Arm for High-speed Catching
MURAKAMI Kenichi; YAMAKAWA Yuji; SENOO Taku; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1, H08(1)"-"1P1-H08(3)", 17 May 2015
High-speed manipulation has great potential to produce new robotic skills utilizing the feature of high-speed motion. Based on the concept, we had achieved high-speed throwing motion using a high-speed multi-fingered hand-arm system as an example. The purpose of this study is to achieve catching a high-speed ball with a high-speed hand-arm system and high-speed visual feedback. One of the main problems in catching a high-speed moving light-weight ball is a ball bouncing off after hitting the hand. Because of this problem, the operation time by the hand is limited to a very short time. Therefore in this paper, we consider arm motion to extend the operation time., The Japan Society of Mechanical Engineers, Japanese - 1P2-I07 Impact Absorption Control with Anti-rebound Property Based on Maxwell Model
SENOO Taku; KOIKE Masanori; MURAKAMI Kenichi; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2, I07(1)"-"1P2-I07(4)", 17 May 2015
In this paper, visual shock absorber is proposed with the goal of achieving anti-rebound of collision object for high-speed catching. The architecture consists of series connection between passive elastic structure and software damper based on Maxwell model which represents plastic deformation. Experimental results are shown in which a 2-DOF manipulator with high-speed vision receives the impact of rolling object without rebound., The Japan Society of Mechanical Engineers, Japanese - 1P2-B02 Mechanical Improvement of Bipedal Running Experiment System "ACHIRES" Aiming for the Achievement of Dynamic Leg Motions
UMEMURA Hajime; TAMADA Tomoki; IKARASHI Wataru; YONEYAMA Daiki; TANAKA Kazuhito; SENOO Taku; YAMAKAWA Yuji; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2, B02(1)"-"1P2-B02(3)", 17 May 2015
This paper presents methods to ameliorate the hardware mechanism of the bipedal robot for the running experiment system based on high-speed visual feedback, called ACHIRES. In a new robot (Test Unit 2), we succeeded in enlarging the movable range of waist joints, enhancing the power of the actuators in each joint, and reducing the risk of cable interference around knees, which are keys to achieve more dynamic movements of the robot. As a first step of assessing the effect of above stated changes, we conducted the running experiment, in which we accomplished 4.2 km/h running and longer duration of air-staying time, leading to less risk of tumbling over. On the other hand, increased weight of the upper body brought new issue; larger pitch moment while jumping. In order to achieve further stable running, improvement of control method is needed which is capable of subduing the crucial moment while in the air and of calculating the optimum body angle at the moment of jumping., The Japan Society of Mechanical Engineers, Japanese - 塑性変形モデルを用いたロボットアームのインピーダンス制御設計
妹尾拓; 小池正憲; 村上健一; 石川正俊, 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), 16th, 2015 - 高速視覚サーボによるピンセット型道具操り
米山大揮; 水澤悟; 妹尾拓; 並木明夫; 石川正俊, ロボティクスシンポジア予稿集, 16th, 2011 - 高速多指ロボットアームを用いた投球制御
西島良雅; 妹尾拓; 石川正俊; 並木明夫, ロボティクスシンポジア予稿集, 16th, 2011 - 高速ビジュアルサーボを用いた多指ロボットハンドによる微小物体の3次元把持動作
黒島麻衣; 黒島麻衣; 米山大揮; 山川雄司; 妹尾拓; 並木明夫; 石川正俊, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th, 2011 - 2A2-D04 3D catching using tweezers by multifingered hand
YONEYAMA Daiki; SENOO Taku; NAMIKI Akio; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2A2, D04(1)"-"2A2-D04(2)", 2010
Multifingerd hand is capable of using tool and can increase its ability. With high-speed actuator and vision robot can do more advanced tool manipulation than human. The task multifingered hand catches a small ball in parabolic and free fall motion using tweezers is taken up for its demonstartion. Experimental results are also shown., The Japan Society of Mechanical Engineers, Japanese - 1A1-G10 High-speed throwing motion based on dynamics of multifingered hand-arm
NISHIJIMA Yoshimasa; SENOO Taku; NAMIKI Akio, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A1, G10(1)"-"1A1-G10(3)", 2010
The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, an appropriate motion using the dynamic characteristic of the arm is needed. Most of human sports players can use kinetic energy efficiently based on dynamics of body. As a result, they achieve high-level performance. In this paper, sine waves are used to imitate human throwing motion. The advantages of the proposed algorithm is simple to set an objective throwing motion. The parameters are optimized based on the dynamics of the hand-arm. In addition, a follow-through algorithm is added using polynomial interpolation. Experimental results are shown., The Japan Society of Mechanical Engineers, Japanese - 2A1-F30 Analysis on Jumping Patterns of 1-DOF Legged Robot
SENOO Taku; TANNO Yuichi; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2A1, F30(1)"-"2A1-F30(4)", 2010
In this paper we report on experiments on jumping motion using a 1-DOF legged robot. First the dynamics and basic characteristics of the 1-DOF legged robot are derived. Three jumping patterns based on the sliding contact between the leg and the ground are represented. In particular two-step jumping method is newly proposed, which is effective for high-speed and powerful actuator. Next the influence of structural parameters of the legged robot on jumping motion is analyzed. It has proven that the optimal parameters for high jump exist., The Japan Society of Mechanical Engineers, Japanese - 2A2-B05 Throwing Strategy for Dynamic Regrasping
TANAKA Kazuhito; SENOO Taku; FURUKAWA Noriatsu; NAMIKI Akio; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2009, "2A2, B05(1)"-"2A2-B05(4)", 25 May 2009
One of the most important functions for robot hand is to regrasp a target object. In recent years, the strategy which is called "Dynamic Regrasping" has been introduced to achieve high-speed regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, in order to improve the success rate of dynamic regrasping and achieve dynamic regrasping for any target, we introduce the new throwing strategy for dynamic regrasping by creating a throwing model., The Japan Society of Mechanical Engineers, Japanese - 2A2-B19 High-speed throwing motion using multifingerd hand-arm
NISHIJIMA Yoshimasa; SENOO Taku; NAMIKI Akio, ロボティクス・メカトロニクス講演会講演概要集, 2009, "2A2, B19(1)"-"2A2-B19(3)", 25 May 2009
The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, a human motion is referred to. Most of human sports players can use kinetic energy efficiently based on dynamics of body. As a result, they achieve high-level performance. By simplifying the human swing motion, a two-link three-degree-of-freedom swing model is proposed. This model is easy to extract key points of dynamic swing motion: two-dimensional kinetic chain, and three-dimensional inertia force. Experimental results by high-speed robot arm are shown., The Japan Society of Mechanical Engineers, Japanese - 1A1-B09 High-speed Dynamic Manipulation Using Non-Contact State With Two Manipulators
SENOO Taku; NAMIKI Akio; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2009, "1A1, B09(1)"-"1A1-B09(2)", 25 May 2009
In this paper high-speed manipulation system is developed, which consists of two manipulators and active visions. The design concept and the features of the system are described. In addition a task using non-contact state is taken up in order to achieve high-speed dynamic manipulation. Experimental results are also shown in which a manipulator throws a ball and the other manipulator hits the ball., The Japan Society of Mechanical Engineers, Japanese - 多指ハンドアームシステムによる高速投球動作
妹尾拓; 並木明夫; 石川正俊, ロボティクスシンポジア予稿集, 14th, 2009 - 1A1-I14 High-speed Throwing Motion Based on Kinetic Chain Swing Model
SENOO Taku; NAMIKI Akio; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1A1, I14(1)"-"1A1-I14(4)", 06 Jun. 2008
In this paper the robotic throwing task is taken up in order to achieve high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion focused on the torque transmission. In addition the release method using robotic hand is analyzed for ball control. Experimental results are also shown in which a high-speed manipulator throws a ball toward the target., The Japan Society of Mechanical Engineers, Japanese - 1A2-F10 High-speed Throwing Motion Based on Wave Propagation
SENOO Taku; NAMIKI Akio; ISHIKAWA Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2007, "1A2, F10(1)"-"1A2-F10(4)", 11 May 2007
The speed of recent robotic manipulation is very slow although a mechanical system excels in the speed of motion fundamentally. On the other hand various inventions which contribute to fast movement are reported in human motion. For instance, in human throwing motion we can observe the movement called "kinetic chain" which enables to propagate kinetic energy. Based on this motion, a throwing strategy focused on the superposition of wave patterns is proposed in order to achieve high-speed robot motion. The evaluation on contact modeling for control of a target is also analyzed., The Japan Society of Mechanical Engineers, Japanese - ビジュアルフィードバックに基づく高速多指ハンドを用いたダイナミックリグラスピング
古川徳厚; 並木明夫; 妹尾拓; 石川正俊, ロボティクスシンポジア予稿集, 12th, 2007 - 1A1-B34 Grasp Strategy for Dynamic Regrasping
Furukawa Noriatsu; Senoo Taku; Namiki Akio; Ishikawa Masatoshi, ロボティクス・メカトロニクス講演会講演概要集, 2006, "1A1, B34(1)"-"1A1-B34(4)", 2006
In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static, in a constant cantact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, the regrasping strategy based on visual feedback is presented and experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. A cylinder is chosen as a specific example of target for dynamic regrasping, with successful dynamic regrasping tasks are experimentally achieved., The Japan Society of Mechanical Engineers, Japanese - 高速ロボットシステムによるバッティングタスクの実現
妹尾拓; 並木明夫; 石川正俊, ロボティクスシンポジア予稿集, 10th, 2005 - Online Trajectory Generation of a Manipulator for high-speed Batting
Senoo T; Namiki A; Ishikawa M, ロボティクス・メカトロニクス講演会講演概要集, 2004, 51, 51, 18 Jun. 2004
The Japan Society of Mechanical Engineers, Japanese - Perfomance Evaluation of a High-speed Robotic Batting System
妹尾拓; 並木明夫; 石川正俊, 日本ロボット学会学術講演会予稿集(CD-ROM), 22nd, 2004
- Introduction to Sports Robotics - Simulation/analysis and Intervention in Competition -
妹尾拓, 高速センサフィードバックによる動的変化への対応, pp. 163-183
オーム社, Oct. 2024, 9784274232534, vi, 287p, Japanese, [Contributor] - Robot control handbook
妹尾拓; 石川正俊, 野球ロボットとジャグリングロボット, pp. 664-667
近代科学社, Dec. 2017, 9784764904736, xx, 999p, Japanese, [Contributor] - ロボットテクノロジー（日本ロボット学会編）
妹尾拓, 渡辺義浩, 石川正俊, 高速ビジョン, pp. 202-205
オーム社, Aug. 2011, 9784274210723, [Contributor] - Cutting Edge Robotics 2010
Satoru Mizusawa; Akio Namiki; Taku Senoo; Masatoshi Ishikawa, Tweezers Type Manipulation by a Multifingered Hand Using a High-speed Visual Servoing, pp. 395-410
INTECH, Oct. 2010, 9789533070629, [Contributor] - Visual Servoing via Advanced Numerical Methods
Akio Namiki; Taku Senoo; Satoru Mizusawa; Masatoshi Ishikawa, High-speed Visual Feedback Control for Grasping and Manipulation, pp. 39-53
Springer, Mar. 2010, 9781849960892, [Contributor] - Robotics 2010 Current and Future Challenges
Taku Senoo; Akio Namiki; Masatoshi Ishikawa, Ball Control in High-speed Throwing Motion Based on Kinetic Chain Approach, pp. 109-122
INTECH, Feb. 2010, 9789537619787, [Contributor]
- 知能システム特論, 2024年, 修士課程, 情報科学院
- 知能システム特論, 2024年, 博士後期課程, 情報科学研究科
- 知能システム特論, 2024年, 博士後期課程, 情報科学院
- システムデザイン, 2024年, 学士課程, 工学部
- 電気制御システム演習Ⅰ, 2024年, 学士課程, 工学部
- 画像計測工学, 2024年, 学士課程, 工学部
- 科学・技術の世界, 2024年, 学士課程, 全学教育
- Development of Disaster Medical Response, Trauma Treatment, and Traumatic XR Surgery Remote Support System
Program on Security Technology Research
Sep. 2023 - Mar. 2028
Atsushi Konno; Soichi Murakami; Toshiaki Shichinohe; Satoshi Kanai; Yo Kurashima; Takashige Abe; Taku Senoo
Japan Ministry of Defense, PJ004596 - Touch vibration inspection by a high-frequency robot hand
Grants-in-Aid for Scientific Research
01 Apr. 2024 - 31 Mar. 2027
妹尾 拓; 近野 敦
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 24K00840 - Automatic generation of surgical plans using the patient's digital twin
Grants-in-Aid for Scientific Research
30 Jun. 2023 - 31 Mar. 2026
近野 敦; 妹尾 拓; 小水内 俊介
Japan Society for the Promotion of Science, Grant-in-Aid for Challenging Research (Exploratory), Hokkaido University, 23K18486 - Laparoscopic surgical dynamic navigation using maximum likelihood estimation of organ deformations
Grants-in-Aid for Scientific Research
01 Apr. 2023 - 31 Mar. 2026
近野 敦; 安部 崇重; 妹尾 拓; 小水内 俊介; 安孫子 聡子; 辻田 哲平; 陳 暁帥; 佐瀬 一弥
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Hokkaido University, 23H00480 - Sensory-Motor Integration Theory in Multi-Eye High-Speed Vision Robot
Grants-in-Aid for Scientific Research
01 Apr. 2022 - 31 Mar. 2025
並木 明夫; 妹尾 拓; 山川 雄司
本研究では、多眼高速ビジョンロボットシステムを開発し、ロボットの体表に小型高速カメラを高密度に配置することで、死角をなくし、全てを視覚計測可能な「無死角性」と、認識と作業速度の「高速性」を実現する。具体的には、以下の三つの課題に取り組む。①全身にカメラを配置した多眼高速ビジョンロボットの開発、②動的多眼ステレオによる実時間3次元認識、③多眼視覚と運動統合による動作生成。これらの開発により、ロボットの作業速度を大幅に向上させることを目指す。
本年度は、ロボット全身にカメラを配置した多眼高速ビジョンネットワークを開発した。具体的には、多自由度ハンド・アームの指、掌、腕に合計26個の小型カメラIU233N2-Zを配置した。死角が少なくなるように最適化問題を解決して配置を決めた。多数のカメラからの視覚情報を一台の計算機で処理するのは困難なため、各カメラからの情報を処理する分散ノードを設置したネットワークを開発し、動的に経路制御を行うこととした。処理ノードにはNVIDIA Jetson Xavier NXを使用した。結果として、全カメラからの画像情報を120Hzで取得し、リアルタイムで処理することが可能となった。
開発した多眼ハンドアームシステムを使用して、高速移動物体のトラッキング制御の実験を行った。複数のカメラから得られる情報のタイミングを完全に同期することは難しいために、拡張カルマンフィルタを用いることで非同期においても精度よく情報統合を行うこととした。実機による追跡実験を行うことで、提案アルゴリズムの有効性を確認した。
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Chiba University, 23K22710 - 多眼高速ビジョンロボットにおける感覚運動統合理論の研究
科学研究費助成事業 基盤研究(B)
01 Apr. 2022 - 31 Mar. 2025
並木 明夫; 妹尾 拓; 山川 雄司
日本学術振興会, 基盤研究(B), 千葉大学, 22H01439 - Development of Next Generation Information Environment Systems Using High-speed Vision and Tracking Technology
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (S)
31 Aug. 2020 - 31 Mar. 2025
石川 正俊; 妹尾 拓; 早川 智彦; 黄 守仁; 宮下 令央; 末石 智大
本年度の研究成果をサブテーマごとに以下に示す．
(A)人間の視覚を超えた高速知覚情報処理技術の確立 A-1) 逐次的な相対運動推定結果から各時刻の位置姿勢を推定するため，高速性を失わずにドリフトを補正する機構を構築し，安定したトラッキングを行った．また，レーザードップラーセンサー及び光学システムを用いる複数物体の運動計測と三次元トラッキングシステムを構築し，同システムの計測データを解析するアルゴリズムの設計と評価を行った．A-2) 本年度の目標としていたマーカレスの高速トラッキングアルゴリズム群を開発し，本年度以降の高速トラッキング技術および高速運動計測技術開発の基盤を構築した．
(B)人間の動作をシームレスにサポートする高速情報・力覚呈示技術の確立 B-1) ユーザーのダイナミクスである視線を高速に計測するシステムと，事前にマーカーを付与しない高速自己位置推定手法の第１次試作を構築した．B-2) 塑性変形を基軸とした力制御則を提案し，ヒトとロボットハンドの滑らかなインタラクションを実現した．
(C)高速知覚情報処理の基盤強靭化技術の確立 C-1) 映像遅延だけではなく，フレームレートも制御できるシステムを構築し，錯視現象に対するフレームレートの影響を観測する被験者実験を実施した．C-2) 高速ビジョンモジュールを用いた1,000fpsの高速カメラネットワークを構築し，トラッキング精度に影響する同時撮像におけるフレーム同期を数十マイクロ秒の精度で実現した．
(D)次世代情報環境システムによる時空間インタラクションにおける違和感の打破 D-1) 高速トラッキングに利用しやすい事前情報の利用を想定し，高速なスポーツ動作に対する予測情報即時呈示の基礎検討を行った．D-2)複合センシングシステムを構築し，ユーザーの意図と環境中のアフォーダンスをミリ秒オーダで読み取る手法を検討した．
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (S), The University of Tokyo, 20H05704 - Rheology Robotics Based on Deformation Control with High Backdrivability
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
01 Apr. 2020 - 31 Mar. 2023
妹尾 拓
本年度の研究成果をサブテーマごとに以下に示す．
(A) 変形モデルに基づく力制御手法の確立：ロボットハンドのように慣性が小さく関節摩擦が相対的に大きい機構に対してモデルベースの力制御手法を適用すると，パラメータ誤差の影響により挙動が不安定になる．この問題を解消するため，変形モデルから導出される目標位置を陽に計算し，力フィードバック制御系の内部に位置制御系を組み込んだ二重構造制御系を提案した．これにより，塑性変形に基づく受動的な緩衝軌道を生成すると同時に，パラメータ誤差に起因する振動の抑制が可能となった．
(B) 低摩擦特性を有する高バックドライブロボットの開発：磁石歯車を利用したグリッパを開発した．磁石による非接触のトルク伝達により物理的摩擦を無くすことで，出力軸側に負荷が加わった際にわずかなトルクで逆回転し，従来のロボットに比べてバックドライバビリティの高い柔軟な動作が可能である．機構全体を剛体で構成しているため制御が容易で高精度な位置決めも実行しやすい．指先側面あるいは掌に対して負荷が生じたときに受動的に両指が内側へスライドする機構を設計し，衝撃から把持動作への移行を効率的に実行できる構造となっている．
(C) 低衝撃高速マニピュレーションの実現：ロボットハンドの指モジュールに対して二重構造制御系を実装することで，ヒトがロボットを押したときに滑らかに動作するインタラクションタスクを実現した．提案した制御系に関する比較実験をおこない，安定した外力緩衝が可能であることを実証した．
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hiroshima University, 20H02110 - A Research on Hyper Vibration Spectrum Camera Using High-speed Vision
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)
01 Apr. 2019 - 31 Mar. 2022
ISHII IDAKU
We develop a hyper vibration spectrum camera in which pixel-level vibration spectrum analysis is implemented in parallel to a high-speed vision system. It can realize dynamics-based image recognition based on multi-dimensional vibration spectrum images in which brightness signals are processed in the audio frequency range. We show its effectiveness in real-time vibration spectrum imaging that enable vibration pattern recognition by hybridizing high-speed image recognition and vibration analysis through vibration surveillance cases in various applications.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Hiroshima University, 19H00769 - ロボット体表面に配置された多眼高速視覚ネットワークによる視覚サーボ制御
科学研究費助成事業 基盤研究(B)
01 Apr. 2019 - 31 Mar. 2022
並木 明夫; 妹尾 拓; 山川 雄司
従来の知能ロボットでは，使用するカメラ台数は少数に抑えられ，設置場所も人間のように頭部に装着するか，ハンドアイとして手先に装着するかのどちらかであり，視界は狭く，オクルージョンによる死角が頻繁に生じるという問題があった。そのため，複雑なタスクでは成功率が上がらず，作業速度も人間以上に遅くなっていた。本課題ではこの問題を解決するために，小型高速カメラをロボットの体表に高密度で配置することで，「無死角性」と「高速性」を実現する多眼高速ビジョンネットワークシステムを実現する．今年度は下記の研究を行った．
[多眼高速ビジョンハンドの開発]前年度に開発したシステムを改良する。これは超小型カメラ８台をロボットハンドの指表皮に埋め込んだものである．USBから画像を取得するためのソフトウェアを改良することで，120Hz以上の画像を安定して取得するとともに，ホワイトバランス等のカメラ制御パラメータをリアルタイムで変更できるようにした．
[多眼視覚サーボ制御] 前年度に開発した多眼システムのために，ロボット表皮上に配置された複数のカメラを効果的にキャリブレーションするための手法を考案した．関節角の誤差についても同時にキャリブレーションすることで，カメラパラメータを高精度に推定することを可能とした．
[カメラネットワークの動的最適経路制御] 前年度に引き続き，対象検出・衝突検出の緊急度・優先度に応じて個々のカメラからの情報を動的に変えるシステムの開発について検討した．
日本学術振興会, 基盤研究(B), 千葉大学, 19H02102 - Development of a Biped Running Robot System with Highly Responsive Characteristics
Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)
01 Apr. 2016 - 31 Mar. 2019
Senoo Taku
By integrating high-speed vision and high-speed actuator, a bipedal running system with instantaneous response characteristics was realized. As for system development, the high torque-weight-ratio actuators suitable for bipedal movement were developed and high-speed bipedal running mechanism equipped with 1000 fps compact lightweight vision at the head part was designed. With respect to posture stabilization, a new feedback-based control method in that posture recovery motion is repeatedly executed in response to instantaneous detection of the beginning of falling was established, instead of the commonly-used previously-determined feedforward type falling avoidance. These technologies have made it possible to achieve acrobatic tasks: robust running in unpredicted external force and on rough terrain, somersault by accelerating and jumping forward to make one rotation, and emergency stop action for rapidly incoming obstacles during running.
Japan Society for the Promotion of Science, Grant-in-Aid for Young Scientists (A), The University of Tokyo, 16H06073 - Understanding of Geometric and Mechanical Information Based on Multi-fingered Hand Manipulation with High-speed Vision
Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research
01 Apr. 2013 - 31 Mar. 2015
SENOO Taku
A method of simultaneously identifying geometric and mechanical information of an object was proposed using the data set of time-series multi-view image captured with high-speed vision. By actively manipulating a measurement objet to get multi-view images with a single camera, the 3-D shape reconstruction was performed in voxel space on the basis of a space carving method using the objet silhouette, and the inertia moment and mass distribution were also estimated in fitting the object movement to the mechanical constraint such as the conservation of angular momentum and the conservation of energy.
Japan Society for the Promotion of Science, Grant-in-Aid for Challenging Exploratory Research, The University of Tokyo, 25540113 - 超高速ロボットシステムによるダイナミックマニピュレーションの研究
科学研究費助成事業 特別研究員奨励費
2005 - 2007
妹尾 拓
本研究では「高速性」に焦点を当てて,マニピュレーションアルゴリズムの開発および機械システムの限界に挑む超高速ロボットシステムの実現を目指している.本年度は、アームの高速スウィングアルゴリズムおよび多指ハンドによるリリース制御戦略を提案し,スローイング動作の実験をおこなった.
はじめに手先速度の高速化を目指して,スウィング動作に着目した.人間の運動を参考にして,キネティックチェーンという平面的な運動連鎖と3次元的な多軸回転運動の慣性力伝播という2つの運動を直交に組み合わせたスウィングモデルを提案した.体幹から手先へ向けてエネルギーの伝播に大きく影響する要素を基底関数として抽出し,それをタイミングよく重ね合わせることで手先速度の高速化を可能にしている.シミュレーションにより,体幹で発生したトルクが手先へ伝播していく効率的な高速スウィング動作を実現できることを示した.また実機とスウィングモデルの関節構造が異なっていても,提案したスウィング動作はダイナミクスの変換をおこなうことで適応可能となっている.
また高速動作を利用した器用なマニピュレーションを目指して,多指ハンドによるリリース制御について研究した.ハンドとボールのあいだに働く接触力の時間応答および指上でのボールの転がり距離を解析し,その結果を利用することでリリースのタイミング誤差に対してロバストにリリース方向を制御する投球アルゴリズムを提案した.この戦略はアームの高速スウィング動作によって出現する慣性力を利用することで,把持状態からリリース状態へ効果的に遷移するリリース制御となっている.
上記の高速スウィング動作とリリース制御をハンドアームシステムへ実装し,目標地点へ向けてボールを投げる実験をおこなった.そして2m離れた半径10cmのネットへ向かって半径5cmのボールをコントロールする高速スローイング動作を実現した.
日本学術振興会, 特別研究員奨励費, 東京大学, 05J11883
