Researcher basic information

• Ph.D. (University of Electro-Communications), The University of Electro-Communications

• https://researchmap.jp/read0087441?lang=en

• https://jglobal.jst.go.jp/detail?JGLOBAL_ID=200901070423113274
• https://hce-lab.net/

• 200901070423113274

• パワーアシスト
• 筋骨格モデル
• 筋活動センシング
• ペットロボット
• 生物型ロボット
• 視覚情報
• 画像計測
• 生体計測システム
• 移動ロボット
• ウェアラブルロボット
• 人間機械システム
• Mobile Robot
• Wearable Robot
• Human-Machine System

• Informatics, Human interface and interaction
• Informatics, Database
• Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering), Measurement engineering
• Informatics, Intelligent robotics
• Informatics, Perceptual information processing
• Informatics, Mechanics and mechatronics
• 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

Research activity information

• Jun. 2025, 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
  Saizo Kamei;Takashi Kusaka;Taro Nakamura;Fumio Ito;Takashi Itsuno;Riku Takakuwa;Takayuki Tanaka, 37208901
• Jun. 2025, 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動作識別
  島田 悠之介;迎田 隆幸;日下 聖;遠藤 維;多田 充徳;宮田 なつき;田中 孝之
• Feb. 2025, 計測自動制御学会システムインテグレーション部門, SI2024優秀講演賞
  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
• May 2024, 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）
  外壁タイル非破壊検査のための電磁波多層走査法による空隙深さとサイズの同時推定
  田中孝之;アッサリム・ホセイン;本田匠;大野湧人;内田茂
• Feb. 2023, 産業応用工学会, 論文賞
  残存機能を活用した立ち座り動作支援機器における適正アシスト力の選定と評価
  三上 隼人;土谷 圭央;田中 孝之;和田 親宗
• Sep. 2022, 計測自動制御学会, フェロー称号
  田中孝之
• Jun. 2022, Japan Society of Fisheries Engineering, Fisheries Engineering Paper Award
  Effect of Work Assistive Suit on Fishermen’s Physical Labor in Fish Unloading Task on a Skipjack Tuna Pole and Line Fishing Boat on Offshore Waters
  Hideyuki Takahashi;Kenji Yasuda;Takayuki Tanaka, Official journal, Japan
• Nov. 2021, 日本再生医療とリハビリテーション学会, 第3回日本再生医療とリハビリテーション学会学術大会
  最優秀賞
  吉田道拓;田中孝之;土谷圭央, Japan society, Japan
• 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, 部門研究奨励賞
  X線画像解析に基づく腰部締付力による人体腰部の関節剛性変化のモデル化
  吉田道拓;田中孝之;金子勇斗;土谷圭央;神島保
• Mar. 2019, 計測自動制御学会システムインテグレーション部門, SI2018優秀講演賞
  杖型立ち座り支援器具
  田中孝之;勝長達平;橋元裕紀;平石聖;土谷圭央
• 2018, 日本ロボット学会, フェロー
  田中 孝之
• 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, 部門貢献賞
  田中 孝之
• Jan. 2017, Hokkaido University, Hokkaido University President's Award for Outstanding Research
  Takayuki Tanaka
• Feb. 2016, 北海道, 北海道科学技術奨励賞
  軽労化技術スマートスーツの研究開発と普及活動
  田中 孝之
• Jan. 2014, Japan Society of Mechanical Engineers, Fellow
  Takayuki Tanaka
• 2012, 第24回中小企業優秀新技術・新製品賞 産学官連携特別賞
  Japan
• 2011, 2011年度精密工学会北海道支部優秀プレゼンテーション賞
  Japan
• 2011, ヒューマンインタフェース学会論文賞
  Japan
• 2010, 日本機械学会ロボティクス・メカトロニクス部門貢献表彰
  Japan
• 2009, 計測自動制御学会システムインテグレーション部門貢献賞
  Japan
• 2009, 日本機械学会北海道支部賞（研究技術賞）
  Japan
• 2008, SI2008優秀講演賞
  Japan
• 2008, （社）精密工学会2008年度北海道支部学術講演会技術賞
  Japan
• 2008, 計測自動制御学会論文賞
  Japan
• 2007, ICROS ICCAS2007 Student Paper Award
• 2007, SPIE ISOT2007 Best Paper Award
• 2007, 画像センシングシンポジウム優秀論文賞
  Japan
• 2007, ICROS ICCAS2007 Student Paper Award
• 2007, SPIE ISOT2007 Best Paper Award
• 2006, SI2006優秀講演賞
  Japan
• 2006, (社)精密工学会2006年度北海道支部学術講演会技術賞
  Japan
• 2005, SPIE ISOT2005 Best Student Paper Award
• 2005, SPIE ISOT2005 Best Student Paper Award
• 2004, SI2004ベストセッション賞
  Japan
• 2003, SI2003優秀講演賞
  Japan

• 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, IEEE, 11 Jan. 2026, [Peer-reviewed], [Last author]
  English, International conference proceedings, 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.
• 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, IEEE, 11 Jan. 2026, [Peer-reviewed], [Last author]
  English, International conference proceedings, 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.
• Representation of Jacobian Matrix Using Computational Graphs And Its Applications
  Hironori Gunji; Takashi Kusaka; Takayuki Tanaka
  IECON 2025 – 51st Annual Conference of the IEEE Industrial Electronics Society, 1, 6, IEEE, 14 Oct. 2025, [Peer-reviewed]
  English, International conference proceedings, 51322646
• Reproduction of Human Locomotion Transitions Based on Motion Intention Using a Strategy-Tactics Framework
  Masaki Kitagawa; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka
  2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 6635, 6640, IEEE, 05 Oct. 2025, [Peer-reviewed]
  English, International conference proceedings, This paper proposes a hierarchical motion generation model that integrates individual intent into dynamic locomotion control, aiming to reproduce transitions between walking and running within a unified physical framework. The model consists of a strategy layer that reflects high-level objectives such as speed and energy efficiency, and a tactics layer that adjusts physical parameters such as leg stiffness, touchdown angle, and applied force. These layers interact through dynamically modulated control gains, allowing motion transitions to emerge naturally without explicit switching mechanisms. Simulations based on an extended Spring-Loaded Inverted Pendulum (SLIP) model demonstrate that differences in acceleration duration and energy supply result in diverse locomotion patterns. Notably, a transition from walking to running occurs when both acceleration intensity and additional energy surpass specific thresholds. The results highlight the model’s capacity to capture hysteresis-like features in human gait transitions and emphasize the importance of coordinated tactical control. Future work will address integrating multiple tactical elements and experimental validation toward applications in assistive robotics and human movement analysis., 51322646
• 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, [Peer-reviewed], [Invited]
  English, 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, 30 Jul. 2025, [Peer-reviewed], [Invited], [Last author]
  English, 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, 7, 18 Jul. 2025, [Peer-reviewed]
  English, Scientific journal, Abstract
  This paper presents a simple mechanical model capable of evaluating a running effectiveness index
  
  $$\epsilon _{EI}$$
  
  
  ϵ
  
  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
  
  $$\epsilon _{EI}$$
  
  
  ϵ
  
  EI
  
  
  
  
  calculated by a detailed running model. To assess the accuracy of the proposed model in estimating RE, we computed the
  
  $$\epsilon _{EI}$$
  
  
  ϵ
  
  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
  
  $$\epsilon _{EI}$$
  
  
  ϵ
  
  EI
  
  
  
  
  values calculated by the two models. The regression analysis results of the
  
  $$\epsilon _{EI}$$
  
  
  ϵ
  
  EI
  
  
  
  
  values obtained from the two models yielded significant F-statistics (
  
  $$p < 0.01$$
  
  
  p
  <
  0.01
  
  
  
  ) for all four participants, demonstrating that the proposed model can sufficiently represent the running economy index calculated by the detailed model., 37208901
• 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, [Peer-reviewed], [Last author]
  English, Scientific journal, 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, [Peer-reviewed], [Invited], [Last author]
  English, 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, 24 Apr. 2025, [Peer-reviewed], [Last author]
  English, 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., 37208901
• 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, 13 Apr. 2025, [Peer-reviewed], [Invited], [Last author]
  English, 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, 16 Mar. 2025, [Peer-reviewed], [Invited], [Last author]
  English, 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, [Peer-reviewed]
  English, 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., 37208901
• Partial Torque Tensor and Its Building Block Representation for Dynamics of Branching Structures Using Computational Graph
  Takashi Kusaka; Takayuki Tanaka
  Robotics, 14, 3, 31, 10 Mar. 2025, [Peer-reviewed], [Last author], [International Magazine]
  English, 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., 37208901
• 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, 37, 1, 222, 230, 20 Feb. 2025, [Peer-reviewed]
  English, Scientific journal, This study analyzed upper torso rotation, which is crucial for improving pitch velocity and minimizing upper limb load during pitching. A simplified model was developed to facilitate the analysis which focused on torso torsion. In this model, the instantaneous torque transfer ratio and torso mobility were defined as key indices. We experimentally verified how these indices vary under three conditions: no torsion, static torsion, and dynamic torsion. The results demonstrate that torso mobility increases in conjunction with the instantaneous torque transfer ratio. Both static and dynamic torsion conditions resulted in higher instantaneous torque transfer ratios compared to the no-torsion condition. In static torsion, the maximum torso mobility was, on average, 26% greater than that observed under no torsion. In dynamic torsion, the maximum torso mobility was, on average, 69% greater than that observed under no torsion. These results indicate that torsion is effective in increasing both the instantaneous torque transfer ratio and torso mobility and that this effect is stronger in dynamic torsion. Therefore, torsion increased the angular velocity of the upper torso in response to torque input from the lower limb, potentially resulting in higher ball velocity and a reduction in upper limb strain. Additionally, the findings imply that the input required from the lower limbs to achieve a specified pitch velocity may be reduced. The simplified model and indices proposed in this study provide a foundation for designing exercise intervention techniques, evaluating athletic performance, and assessing injury risk related to torso rotation., 37208901
• 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, [Peer-reviewed]
  English, Scientific journal, 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., 37208901
• Can Forward Dynamics Simulation with a Simple Model Represent Complex Rotations of the Torso with Torsion?
  Shunsuke Nakamae; Takayuki Tanaka; Akihiko Murai; Takashi Kusaka
  Proceedings of the 2024 IEEE International Conference on Robotics and Biomimetics, 675, 680, Dec. 2024, [Peer-reviewed]
  English, International conference proceedings, This study generates and analyzes human torso rotation and torsion unisng a simple model (TRM sim). As most injuries happen in the upper limb during pitching related to torso rotation and torsion, TRM sim is effective in baseball First, we designed TRM sim and generated the motion by forward dynamics. For validation, we measured three different human torso rotations with varying degrees of torsion. By aligning the peak values of input and their timings with human motions, TRM sim represented human motion, such as the relationship between torsion and the angular impulse of trunk muscle torque. These results suggest that TRM sim can represent torso rotation with different torsion levels. This study aims to generate torso rotations with various torsion to reduce upper limb load during pitching, with potential applications in designing intervention techniques., 37208901
• 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, Dec. 2024, [Peer-reviewed], [Last author]
  Japanese, Scientific journal, In this paper, we propose a work description by elemental motion and a work identification method for creating detailed care records. This method describes tasks as a time-series of elemental motion and identifies care works. In order to achieve robust work identification against irregular motion and annotation of incorrect motion labels during a work, some elemental motion are integrated into one class as complementary event motion. Using the time-series data of elemental motion information, our proposed work identification method utilizing Hidden Semi-Markov Models can recognize performed care works based on the frequency distribution of state transitions. In the experiment, three simulated care works were measured and identified. In addition, simulations using artificial data were conducted to verify the robustness of the proposed method. Furthermore, we measured actual caregiving tasks at a nursing home to confirm whether the task detection was feasible. The results demonstrated the effectiveness of the proposed system.
• Motor Imagery Training System based on the EquilibriumTrajectory Hypothesis
  Yuma Ito; Takayuki Tanaka; Takashi Kusaka
  Proceedings of JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024, [Peer-reviewed]
  English, International conference proceedings, 37208901
• 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
  Proceedings of JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024, [Peer-reviewed]
  English, International conference proceedings, 37208901
• 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
  Proceedings of JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024, [Peer-reviewed]
  English, International conference proceedings
• An Image-based Measurement for Estimating Feed Intake inDaily Cows
  Ryotaro Inoguchi; Asahi Matsuda; Takayuki Tanaka; Takashi Kusaka; Takayuki Mukaeda; Shiho Ishikawa; Yuriya Ishikawa
  Proceedings of JSME The 8th International Conference on Advanced Mechatronics (ICAM 2024), Nov. 2024, [Peer-reviewed]
  English, International conference proceedings
• 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], [Invited]
  English, 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.
• Optimization of Torsional Spring Constants for Walking Assist Devices Using Torsion Springs Based on Dynamics Simulation
  Saizo Kameia; Yoshio Tsutiya; Takayuki Tanaka; Masaki Kitagawa
  産業応用工学会論文誌, 12, 1, 92, 100, 15 Mar. 2024, [Peer-reviewed]
  Japanese, Scientific journal
• The Validation of the Improvement Effect of Maneuverability on Power Assist System using Guidance Force of Toward the Planned Trajectory Considering Approachability
  Junki Matsuda; Takayuki Tanaka
  Journal of the Robotics Society of Japan, 41, 9, 789, 796, The Robotics Society of Japan, Nov. 2023, [Peer-reviewed]
  Japanese, Scientific journal, This research aims to improve maneuverability for power assist system based on guidance force field. This paper describes a method of improving maneuverability using guidance force field of toward the desired trajectory considering approachability on the impedance-controlled manipulator. The approachability in this study means the direction where to approach target work piece. The guidance force field generated toward planned trajectory considering approachability based on Minimum-Jerk Model. It was designed to be easy to apply operator's mind, because the guidance force was designed to decrease when the difference between the desired trajectory and the end-effector position was increased using spreading parameter of guidance force field. Moreover, we defined evaluation function to evaluate maneuverability for guidance force field. As a result of study, we confirmed that the proposed method can improve maneuverability through experiments.
• Reconstructive Approach for Detection and Analysis of Hemiplegia in Human Walking Motion Based on Musculoskeletal Model
  Daniel Tunmise Fatunmbi; Takayuki Tanaka
  2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct. 2023, [Peer-reviewed]
  English, International conference proceedings
• Fundamental Knowledge Acquisition by Using Wearable Sensor for “KEIROKA” of Construction Industry
  Yoshio TSUCHIYA; Yoshifumi TANAKA; Takayuki TANAKA
  IFAC-PapersOnLine, 56, 2, 9709, 9714, Elsevier BV, Jul. 2023, [Peer-reviewed]
  English, International conference proceedings
• 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], [Corresponding author]
  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., 37208901
• A Correction Method for Muscle Stiffness Sensors to Measure Transversus Abdominis Activity
  Shunsuke Nakamae; Takayuki Tanaka; Koji Shimatani
  Journal of Robotics and Mechatronics, 35, 3, 810, 822, Fuji Technology Press Ltd., 20 Jun. 2023, [Peer-reviewed]
  English, Scientific journal, The transversus abdominis muscle is important for various human functions, including the prevention of back pain and the use of muscle activity values as an indicator for the treatment of urinary incontinence. Measuring muscle activity is an effective means of evaluating whether correct training has been performed. The transversus abdominis muscle stiffness sensor developed in a previous study used a method in which a belt with a sensor attached was wrapped around the lower back, which made measurement simple but also caused problems owing to the influence of phenomena other than muscle activity on the measurement data. Therefore, we propose a novel correction method to calculate the muscle activity of this sensor accurately, which can be used for simple measurements. We propose a formula to compensate for effects other than muscle activity based on a model equation that includes contact conditions and belt tension, which affect the muscle stiffness sensor value. We evaluated the validity of the correction equation from simulations and the change in similarity owing to the correction by simultaneously measuring the muscle action potentials and muscle stiffness sensor values during breathing movements with muscle activity. The proposed correction method improved the muscle stiffness data during respiration and contraction. It is possible to improve the measurement accuracy by improving the calibration method and hardware., 37208901;27113973
• Optimizing the number of scan layers in multi-layered scanning methods for detecting void sizes in concrete building tiles using electromagnetic waves
  Hussain Alsalem; Takayuki Tanaka; Takumi Honda; Shigeru Uchida; Wakuto Ono
  2023 IEEE/SICE International Symposium on System Integration (SII), 1, 5, IEEE, 17 Jan. 2023, [Peer-reviewed]
  English, International conference proceedings, Electromagnetic waves have proven to be efficient in detecting voids in concreted building tiles. However, obstacles, such as the difficulty of data analysis and the need to use relatively large equipment on-site, lead to increased costs. The multilayer survey method (MLS) provides a qualitative and fundamental solution to this dilemma. Because it is based on multiple scans, it still has the potential to improve the quantity and location of the required scanning layers, which will increase the accuracy and speed of the results. MLS was conducted on actual tiled concrete, which includes voids of several sizes. A comparison of the simulation and experimental results showed that there was a possibility of optimizing the number of scan layers. The ability to optimize scanning layers was demonstrated both theoretically and empirically.
• Lumbar mechanical model capable of reproducing joint stiffness changes during lumbar extension motion
  Masahiro Sato; Takayuki Tanaka; Michihiro Yoshida; Yusuke Suzuki
  2023 IEEE/SICE International Symposium on System Integration (SII), 1, 6, IEEE, 17 Jan. 2023, [Peer-reviewed]
  English, International conference proceedings, In this study, we developed a lumbar mechanical model that can reproduce the changes in joint stiffness during lumbar extension motion in humans. Earlier reports suggest that during lumbar extension motion joint stiffness varies from person to person. The individual differences in the way joint stiffness changes during lumbar extension motion are caused by individual differences in motion strategy, developed with reference to the equilibrium-point hypothesis, which is one of the clues to the elucidation of the human motor control law. We herein describe the development process of the model and examine the possibility of verifying individual differences in movement strategies by reproducing joint stiffness changes.
• Measurement of the Void Size Between Wall Tiles and Concrete Through Nondestructive Inspection Using Electromagnetic Waves
  Hussain Alsalem; Takayuki Tanaka; Takumi Honda; Satoru Doi; Shigeru Uchida; Wakuto Ono
  IEEJ Transactions on Electrical and Electronic Engineering, Wiley, 30 Dec. 2022, [Peer-reviewed]
  English, Scientific journal, The separation of tiles from buildings degrades the aesthetic appeal of buildings and may result in structural failure. Therefore, tiles should be inspected periodically. However, manual inspections are expensive and require qualified experts. In this study, voids corresponding to tile separation were detected in a concrete specimen using nondestructive inspection based on electromagnetic wave detection. Furthermore, wave reflection models of healthy and defective tiles were created, and the effects of the void plane size on the reflection of defective tiles were considered. The correlation between the void plane size and the reflection intensity difference integral value was verified through multilayer scanning using these models.
• 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], [Last author]
  English, 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.
• Working Posture Classification Based on Wearable-embedded Sensors and Application to Work Detection
  Takayuki MUKAEDA; Yunosuke SHIMADA; Takayuki TANAKA; Hiroaki NOGUCHI; Toshihisa ABE
  Transactions of the Society of Instrument and Control Engineers, 58, 12, 558, 567, The Society of Instrument and Control Engineers, Dec. 2022, [Peer-reviewed]
  Japanese, Scientific journal, To evaluate the work contents of a care worker, this paper proposes a novel lower limb posture estimation method, and a motion recognition method for the automation of care records. In our approach, wearable-embedded sensors consisting of inertial sensors and insole-type plantar pressure sensors were used to recognize the posture of the whole body during care tasks. The upper body posture was calculated from triaxial accelerations, and posture classification of lower limbs can be reached with characteristics extracted from plantar pressure distribution. To achieve accurate posture recognition considering unexpected posture in training phase and compound postures combining multiple postures, a new posture estimation method combining normal and complementary Gaussian mixture network (NACGMN) and posture-fitness function was developed. Using the time-series data of posture information, our proposed work estimation manner utilizing hidden semi-Markov models can recognize performed care works based on the frequency distribution of state transitions. In experiments, we measured and recognized transfer assistance works between a bed and a wheelchair in our laboratory and an actual care facility, and the results demonstrated the effectiveness of the proposed system.
• 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, 19 Oct. 2022, [Peer-reviewed], [Last author]
  English, 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.
• Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model
  Masaki Kitagawa; Takayuki Tanaka; Akihiko Murai
  2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 5249, 5256, Oct. 2022, [Peer-reviewed]
  English, International conference proceedings, This study aims to construct a running simulator based on a motion generation and control system that enables the description of motion strategies using the spring-loaded
  inverted pendulum (SLIP) model. The problems of stability and robustness encountered in the running simulation with the SLIP model are elucidated, and stable running is achieved by controlling the stiffness and the attitude angle dynamically at touchdown, as well as human energy adjustment that is introduced to consider the active motion strategy. As a result, passive and active control by humans can be expressed, and a framework that can express the changes in running due to motion strategies is constructed. Finally, we discuss the possibility of describing and elucidating the motion strategies., 37208901
• Selection and Evaluation of Appropriate Assist Force for Standing and Sitting Motion Assist Devices Using Residual Function
  Mikami Hayato; Tsuchiya Yoshio; Tanaka Takayuki; Wada Chikamune
  The Japanese Journal of the Institute of Industrial Applications Engineers, 10, 2, 82, 89, The Institute of Industrial Applications Engineers, Sep. 2022, [Peer-reviewed]
  Japanese, Supporting the elderly by utilizing their remaining functions will lead to the extension of their healthy life span. In this study, we developed a portable cane-type standing and sitting positional mobility support device. In this study, we developed a cane-type mobility support device, and selected a suitable support direction for elderly people by dynamic analysis simulation. In addition, the necessary assisting force for the elderly was examined and the assisting force was set. The effectiveness of the device was evaluated by measuring the surface electromyogram of healthy subjects. As a result, it was found that the specifications of this device were effective when the assist direction was 30 degrees and the assist force was 110 N. From the measurement of the surface electromyogram, it was found that the device was effective for both standing and sitting motions. It also helps to ensure the safety of the sitting motion of elderly people.
• Ordered Search for Multiple Feature Patterns Based on Area Expansion by Union Operation and Confidential Interval
  Hirokazu Asano; Hidenori Takauji; Takayuki Tanaka; Shun'ichi Kaneko
  IEEJ Transactions on Electronics, Information and Systems, 142, 8, 971, 981, Institute of Electrical Engineers of Japan (IEE Japan), 01 Aug. 2022, [Peer-reviewed], [Domestic magazines]
  Japanese, Scientific journal, Two novel strategies for incremental searching of interest patterns are proposed in context of sequential search of multiple patterns in the scene. One is based on a scheme based on union operation to extend search regions depending on all of the proceeding searches, which can possibly adapt the search to some local distortion in the scene or the objects. Another strategy utilizes incremental setting of confidence intervals to the search regions depending on their statistics in position errors of respective patterns. In addition to them, a new scheme of repetitive trials for realizing reliability in the search. By using a set of real objects, many experiments show the effectivity and the efficiency of the proposed strategies.
• Fast and Accurate Approximation Methods for Trigonometric and Arctangent Calculations for Low-Performance Computers
  Takashi Kusaka; Takayuki Tanaka
  Electronics, 11, 15, 2285, 2285, MDPI AG, 22 Jul. 2022, [Peer-reviewed], [Last author]
  English, 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.
• Modeling of changes in lumbar joint stiffness by pelvic tightening based on physique and pelvic alignment
  Michihiro Yoshida; Tanaka Takayuki; Yoshio Tsuchiya
  Physical Ergonomics and Human Factors, 205, 213, AHFE International, Jul. 2022, [Peer-reviewed]
  English, International conference proceedings, We have been elucidated the mechanism by which pelvic belt reduces lumbar burden. Pelvic tightening increases the lumbar joint stiffness and inhibits the flexion of the lumbar spine in the forward bending. Flexion of the lumbar joint is substituted by the hip joint, which corrects the posture during forward bending and reduces the lumbar burden (lumbar joint torque). The level of the assisting effect of the tightening force has the individual difference, but at present, it is not clear what factors cause it. In this study, we develop a model that represents the assistance effect based on the physique such as height and weight, and the posture and shape of the pelvis and lumbar spine (pelvic alignment).This study developed a regression model that expresses the amount of change in joint stiffness due to tightening force, using the individual physique and pelvic alignment characteristics as input. The joint stiffness was estimated from motion measurement using optical motion capture and obtained from the equation of motion of the link model representing the human body. Pelvic alignment was measured by X-ray images, and five features were obtained: sacral inclination angle (SS angle), pelvic inclination angle (PT angle), inclination angle of the sacrum relative to the pelvis (PI angle), curvature of the lumbar lordosis, and pelvic aperture angle. Among these, the SS angle, PT angle, and PI angle were measured under two conditions: standing and 45 degrees forward bending and obtained a total of eight pelvic alignment features. In addition, height, weight, BMI, and back muscle strength were added as physique characteristics expressing body size and muscle strength, for a total of 12 variable measured. These features were measured on 15 subjects. Among the 12 features, three to four variables were input to the model by excluding those that were strongly correlated with each other and less capable of explaining changes in the target value, joint stiffness.From the proposed model, changes in joint stiffness could be estimated from pelvic alignment and physique characteristics. At large forward bending angles, we found that to obtain a high assistance effect, tilting of the sacrum anteriorly relative to the pelvis and forward tilting of pelvis is necessary. On the other hand, in the mild forward bending, the person who is higher body weight in addition to the forward tilt of the PT and PI angles tend to obtain higher assistive effect.
• A Proposal of Individualization of Guidance Force Field to Improve Maneuverability of Power Assist Systems
  Junki Matsuda; Takayuki Tanaka
  2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 1231, 1236, Jul. 2022, [Peer-reviewed]
  English, International conference proceedings, This study aims to improve the maneuverability of power assist systems based on guidance force field. We have proposed an artificial potential method to generate a guidance force field on an arbitrary work trajectory to guide the operator and manipulator to reduce the workload of the operator when using a position-controllable industrial manipulator as a PAS. Experiments showed that the proposed guidance force field contributed to a reduction in the workload of the operator. Individual differences were observed in the maneuverability of the operator under the guidance force field. In this paper, we propose a mathematical model of the maneuverability of the guidance force field and a method to obtain the optimum spread of the guidance force field for each operator.
• Modeling Joint Stiffness Change by Pelvic Tightening Based on Pelvic Alignment
  Michihiro Yoshida; Takayuki Tanaka; Yoshio Tsuchiya
  Biomechanics, 2, 2, 264, 280, {MDPI} {AG}, 22 May 2022, [Peer-reviewed]
  English, Scientific journal, This paper aims to develop a regression model that explains the relationship between changes in lumbar joint stiffness and pelvic alignment (posture or shape of the bones of the pelvis and lumbar spine) due to pelvic tightening. The proposed model is based on the hypothesis that lumbar joint stiffness increases with changes in pelvic alignment. The proposed model is based on experimentally measured stiffness values and pelvic alignment data sets. The stiffness of the lumbar joint was estimated by motion analysis using a motion-capture system. Ninety-six volunteers participated in the experiment to estimate stiffness values, and the validity of using lumbar joint stiffness as the output of the model was examined. The pelvic alignment was measured through X-ray images. Pelvic alignment was measured using radiographic images, and 25 volunteers participated. The Results section states that the amount of change in the posture of the sacrum relative to the pelvis and the curvature of the lumbar spine contributes to the change in lumbar joint stiffness. Future work will include FEM analysis to validate the overall hypothesis and the validity of applying the model to a group other than those who participated in the development of the model.
• Improvement of the Lumbar Burden Reduction, and Influence on Lumbar Joint Stiffness by the Personalized Variable Tightening Force Control of Active Corset
  吉田道拓; 田中孝之; 土谷圭央; 金子勇斗
  計測自動制御学会論文集, 57, 12, Dec. 2021, [Peer-reviewed]
  Japanese, Scientific journal
• A Proposal of Diagnostic System for Assistance Effect of Pelvic Belt Based on CoP Measurement
  Michihiro Yoshida; Takayuki Tanaka; Yoshio Tsuchiya
  2021 IEEE 30th International Symposium on Industrial Electronics (ISIE), 1, 5, IEEE, 20 Jun. 2021, [Peer-reviewed]
  English, International conference proceedings, This study aims to develop a diagnostic system that estimates the assistance effect of pelvic tightening in advance for the introduction of the pelvic belt to the field of work or clinical use. This study explains the hypothesis of lumbar burden reduction by pelvic belt and shows that pelvic tightening reduces lumbar joint flexion. The posture correction degree is proportional to the amount of reduction in the lumbar burden. By conducting a motion measurement, the posture correction index indicates the assistance effect. From the measurement using motion capture and force platform for 86 people, we developed a mathematical model that estimates the posture correction index from CoP change.
• Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit
  Hongyuan Ren; Takayuki Tanaka; Akihiko Murai
  2021 IEEE International Conference on Robotics and Automation (ICRA), 1263, 1268, IEEE, 30 May 2021, [Peer-reviewed]
  English, International conference proceedings, Human running motion is a complex motion that not only based on the movement of legs but also needs the entire body to participate in. Therefore, we focused on the upper body, designed a trunk and pelvic rotation assist suit to apply an external force on the chest and pelvis for assisting the running motion, changing the energy flow between the upper and lower body to improve the running efficiency. However, human motion is very complicated and difficult to analyze, it is hard to explore the specific effect of the external force which is provided by the rotation assist suit on human motion. In this paper, we proposed an advanced spring-loaded inverted pendulum model for simulating the human running motion in natural running status and expanded running status in which the motion is expanded by wearing the trunk and pelvic rotation assist suit, parametrically represent the changes of human due to the intervention of the external force, and discuss the effect of the external assistant force on the human running motion.
• Effect of Work Assistive Suit on Fishermen’s Physical Labor in Fish Unloading Task on a Skipjack Tuna Pole and Line Fishing Boat on Offshore Waters
  Hideyuki TAKAHASHI; Kenji YASUDA; Takayuki TANAKA
  水産工学, 57, 3, 83, 89, Feb. 2021, [Peer-reviewed]
  Japanese, Scientific journal, The main function of work assistive suits is to reduce the burden on the muscles around the waist during stooping, thought to be the one of the causes of low back pain. Since fishermen frequently stoop, the introduction of work assistive suits is highly anticipated. In this study, the effect of a work assistive suit on the fish unloading task in a skipjack tuna pole and line fishing boat on offshore waters was experimentally investigated. A prototype work assistive suit, using carbon fiber-reinforced plastic plates as the elastic body of the suit, was manufactured and provided for the experiment. We measured the activity of the elector spine of four subjects using surface electromyography. The results showed that the muscle activities of the elector spine adjacent to the fourth lumbar vertebrate were significantly reduced in two subjects (the other two did not have successful experiments) and the rate of reduction ranged from 11% to 25%. The muscle activity in the elector spine adjacent to the first lumbar vertebrate was slightly increased in a subject, however, no significant changes were seen in other three subjects. It is expected that the work assistive suit considering actual work of fishermen is developed and disseminated.
• Pose Identification for Task Recognition in Care Work
  Shinnosuke Kato; Mihoko Niitsuma; Takayuki Tanaka
  2021 IEEE/SICE International Symposium on System Integration (SII), 315, 319, IEEE, 11 Jan. 2021, [Peer-reviewed]
  English, International conference proceedings
• Hierarchical probabilistic task recognition based on spatial memory for care support
  Tappei Katsunaga; Takayuki Tanaka; Mihoko Niitsuma; Saburo Takahashi; Toshihisa Abe
  2021 IEEE/SICE International Symposium on System Integration (SII), 310, 314, IEEE, 11 Jan. 2021, [Peer-reviewed]
  English, International conference proceedings
• The Effect of Passive Lower Limb Assist Device on Muscle Synergy in Standing-Up Motion
  Shunsuke Torigai; Takayuki Tanaka
  2021 IEEE/SICE International Symposium on System Integration (SII), 566, 571, IEEE, 11 Jan. 2021, [Peer-reviewed]
  English, International conference proceedings
• Subjective evaluation of lumbar load and tightening force using a pelvic belt
  Yoshio Tsuchiya; Takayuki Tanaka; Michihiro Yoshida
  2021 IEEE/SICE International Symposium on System Integration (SII), 2020, 0, 548, 553, IEEE, 11 Jan. 2021, [Peer-reviewed]
  English, International conference proceedings,

  Lumbar load, which causes chronic low back pain, varies depending on posture and external load. However, the timing to feel the lumbar burden varies from person to person. It is also known that tightening the pelvic belt against the lumbar burden improves posture and reduces the lumbar burden. For this reason, the tightening force of the pelvic belt is measured for the posture and the lumbar load, and the relationship between the sensation and the load is evaluated.

• Measuring Adhesion Strength of Wall Tile to Concrete by Non-Contact Inspection Using Electromagnetic Waves
  Hussain Alsalem; Takayuki Tanaka; Takumi Honda; Satoru Doi; Shigeru Uchida
  Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC), 633, 638, International Association for Automation and Robotics in Construction (IAARC), 14 Oct. 2020, [Peer-reviewed]
  English, International conference proceedings, The separation of exterior tiles from buildings diminishes the visual appeal of cities and can injure pedestrians when they are struck by falling tiles. Therefore, tiles should be inspected periodically. However, completion of the inspection process has hurdles, including high cost and the need for qualified human inspectors. This study describes a non-destructive inspection method for detecting voids that match those seen in tile separation in a concrete specimen using electromagnetic waves, specifically microwaves. The method can be performed using devices that are simpler, smaller, and easier to use than those required by conventional methods. In addition, this method can be used to measure the adhesion strength of tiles.
• Analysis of Running Expansion with Trunk and Pelvic Rotation Assist Suit by Using SLIP Model
  Hongyuan Ren; Takayuki Tanaka; Kotaro Hashimoto; Akihiko Murai
  ROMANSY 23 - Robot Design, Dynamics and Control, 458, 466, Springer International Publishing, Sep. 2020, [Peer-reviewed]
  International conference proceedings, In this paper, we evaluated the effect of the trunk and pelvic rotation assist suit in assisting human running motion. During running motion, when the angular momentum of the upper body and the lower body is closer to balance, the running efficiency will be improved. According to this fact, we developed the trunk and pelvic rotation assist suit to apply external forces in the upper body to balance the angular momentum and improve the running efficiency. To evaluate the assist efficiency of our assist suit, we used the spring-loaded inverted pendulum model (SLIP model) and conducted a running expansion experiment. We combined the results of SLIP model and experimental data to evaluate the effect of the assist suit by comparing the energy and athletic performance between natural and expanded running motion. Finally, we confirmed the trunk and pelvic rotation assist suit does have an assisting effect on the human running motion.
• Relationship between Upper Body Posture Angle and Vertebral Body Posture Angle in Lateral Flexion and Rotation Posture
  Yoshio TSUCHIYA; Takayuki TANAKA; Tamotsu KAMISHIMA
  Advanced Biomedical Engineering, 9, 181, 188, Japanese Society for Medical and Biological Engineering, Sep. 2020, [Peer-reviewed]
  English, Research institution, Lumbar loading causes increased intervertebral pressure and is an important factor in low back pain. However, it is difficult to quantitatively judge the actions that affect lumbar load and the magnitude of lumbar load increase. Low back pain occurs not only in the workplace but also during activities of daily living. Therefore, it is necessary to investigate the factors inducing low back pain by measuring movements in various planes and determining the magnitude of the lumbar load. Accordingly, the lumbar spine should be examined during various movements. Several studies have examined vertebral bodies in the anteflexion posture. However, the relationship between body flexion angle and vertebral body angle during lateral flexion and rotation remains unknown. In this study, we proposed an estimation method for changes in vertebral body angle during lateral flexion and rotation in the lumbosacral region using a wearable sensor system we previously developed. The accuracy of the proposed estimation method was evaluated and demonstrated using X-ray images.
• Modeling the Joint Stiffness Change by Pelvic Tightening Based on Alignment of Lumbar and Pelvis
  Michihiro Yoshida; Takayuki Tanaka; Yoshio Tsuchiya; Yuto Kaneko
  Advances in Intelligent Systems and Computing, 168, 176, Springer International Publishing, Jul. 2020, [Peer-reviewed]
  English, International conference proceedings
• The Optimal Posture Estimation for Training Pelvic Floor Muscles by Using Individualized Musculoskeletal Model
  Tomohiro Wakaiki; Takayuki TANAKA; Koji Shimatani; Yuichi KURITA; Yoshimi SUGIYAMA
  Biomechanism, 25, 113, 124, Jul. 2020, [Peer-reviewed], [Domestic magazines]
  Japanese, Scientific journal, SUI (Stress Urinary Incontinence) is a typical quality of life disease in women and has symptoms of unexpected urine leakage when the abdominal pressure rises such as coughing or sneezing. It is mainly caused by relaxation or damage of PFM (Pelvic Floor Muscles) due to obesity, aging and childbirth and it is considered that strengthening of PFM is effective for prevention. Training methods such as Kegel gymnastics have been devised so far, but these methods need expert guidance and time for training. The effect of training varies from person to person because an individual difference of pelvis shape and alignment. In order to solve this problem, we proposed a method to estimate the individual optimal training posture, by defining 11 postures that can be taken in daily life and calculating the PFM activation of each posture with the individualized musculoskeletal model. Moreover, the proposed method was evaluated by comparing with the measured values of PFM activation in each posture. As a result, a positive correlation with the calculation result was confirmed in 3 subjects out of 6, suggesting the validity of this method., 27113973
• Visualization of Voids in Tile Concrete by Non-contact Inspection using Electromagnetic Waves
  Takumi Honda; Takayuki Tanaka; Satoru Doi; Shigeru Uchida
  The International Workshop on Frontiers of Computer Vision 2020, Feb. 2020, [Peer-reviewed]
  English, International conference proceedings
• Development of an anomaly detection method with a novel hidden semi-Markov model incorporating unlearned states.
  Takayuki Mukaeda; Keisuke Shima; Saori Miyajima; Yuki Hashimoto; Takayuki Tanaka; Naomichi Tani; Hiroyuki Izumi
  2020 IEEE/SICE International Symposium on System Integration(SII), 1270, 1275, IEEE, 2020, [Peer-reviewed]
  International conference proceedings
• Task recognition based on task history considering estimation error of localization in care support with autonomous mobile wheelchairs.
  Tappei Katsunaga; Takayuki Tanaka; Mihoko Niitsuma; Saburo Takahashi; Toshihisa Abe
  2020 IEEE/SICE International Symposium on System Integration(SII), 1265, 1269, IEEE, 2020, [Peer-reviewed]
  International conference proceedings
• Task Activity Recognition and Workspace Extraction for Nursing Care Assistance in Intelligent Space.
  Kouji Sakotani; Shinnosuke Kato; Mihoko Niitsuma; Takayuki Tanaka
  2020 IEEE/SICE International Symposium on System Integration (SII), 1259, 1264, IEEE, 2020, [Peer-reviewed]
  International conference proceedings
• Visualization of Voids Between Tile and Concrete by Multi-Layered Scanning Method with Electromagnetic Waves
  Takumi Honda; Takayuki Tanaka; Satoru Doi; Shigeru Uchida; Maria Q. Feng
  Journal of Robotics and Mechatronics, 31, 6, 863, 870, Dec. 2019, [Peer-reviewed]
  English, Scientific journal, The tiles that are used to protect the exterior of a building may separate from the concrete substrate and fall off as they age. To prevent accidents, a tiled wall can be inspected using various methods. In this study, nondestructive inspection (NDI) with microwave electromagnetic waves (EMWs) is used for detecting tile separation, and the chance of detecting the separation by this method is discussed in this paper. Here, the inspection apparatus is used to detect voids in concrete, including voids that simulate tile separation. An antenna attached to the apparatus transmits and receives microwaves to obtain a reflected intensity from the concrete. In addition, the distribution of reflected intensity is obtained using a proposed scanning method, multi-layered scanning. This involves several scans along the concrete surface at different antenna-to-surface distances. Typically, EMWs have to be analyzed with an expensive network analyzer in the time or frequency domain. However, we demonstrate that voids are detected from the obtained distribution of the reflected intensity of EMWs measured by a simple device without a network analyzer. The proposed method of NDI with EMWs is cheaper and simpler than conventional inspection methods.
• Relationships between Quantitative and Subjective Evaluations of Assistive Effect on Standing Function of the Smart Suit
  Hijiri Hiraishi; Takayuki Tanaka; Mami Sakata; Dai Kawahara; Keisuke Shima
  The Fourth International Conference on Informatics and Assistive Technologies for Health-Care, Medical Support and Wellbeing, Nov. 2019, [Peer-reviewed], [Corresponding author]
  English, International conference proceedings
• Minimal Inertial Sensor Placement for Work Recognition and Working Posture Assessment*
  Saori Miyajima; Yuki Hashimoto; Takayuki Tanaka; Natsuki Miyata; Mitsunori Tada; Masaaki Mochimaru
  2019 IEEE/SICE International Symposium on System Integration (SII), IEEE, Jan. 2019, [Peer-reviewed]
  International conference proceedings
• Biofeedback for Training Pelvic Floor Muscles with EMG Signals of Synergistic Muscles
  Hikaru Hasegawa; Takayuki Tanaka; Tomohiro Wakaiki; Koji Shimatani; Yuichi Kurita
  Advances in Intelligent Systems and Computing, 789, 403, 410, 2019, [Peer-reviewed]
  International conference proceedings
• Effect of Dynamic Tightening Force by Active Corset on Joint Stiffness and Lumbar Assisting
  YOSHIDA Michihiro; TANAKA Takayuki; KANEKO Yuto; TSUCHIYA Yoshio
  Transactions of the Society of Instrument and Control Engineers, 55, 11, 683, 691, The Society of Instrument and Control Engineers, 2019, [Peer-reviewed]
  Japanese, Scientific journal,

  In this paper, we experimentally verify the relationship between the change in the stiffness of joints around the lumbar due to dynamic tightening control of the Active Corset and the reduction of the lumbar load. The bending angle of joints around the lumbar in lifting movement were measured, and the elasticity of the joints were calculated. As the result of the measurement on 21 subjects, tightening of Active Corset reduced the lumbar load with substituting the lumbar joint flexion by the hip joint flexion in all subjects. In addition, the we confirmed that the ratio of the lumbar elasticity to the hip joint elasticity increase with tightening around the pelvis on the four subjects. We conclude that the decrease of the lumbar load with tightening caused by increasing the ratio of the lumbar joint elasticity to the hip joint elasticity.

• 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), IEEE, Oct. 2018, [Peer-reviewed]
  International conference proceedings
• 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
  Journal of Robotics and Mechatronics, 30, 5, 696, 705, Oct. 2018, [Peer-reviewed]
  English, Scientific journal, A forward bending motion is essential in everyday tasks, such as carrying objects, shoveling snow, and performing farm work. However, many people suffer from lumbar pain resulting from forward bending motion, which causes a lumbar disc load owing to the changing of the lumbar shape. We have developed a wearable lumbar load estimation system, which measures the skin shape on the back using a curvature sensor. Because the lumbar load varies with the external load, the lumbar load should be estimated based on the external load. Therefore, we have developed a method for estimating an unknown external force using a muscle stiffness sensor. Muscle strength can be estimated by measuring the muscle hardness from the surface, and the relationship between the external force and the muscle force can be modeled. Using this method, we estimate the dependence of the lumbar load on external forces in real time. In addition, we simplify the calculation by converting the external load into a load resulting from a person’s own weight. We incorporate the proposed method into our wearable sensor system, estimate the lumbar load, and compare this with the results of a musculoskeletal dynamics simulation.
• Evaluation framework for passive assistive device based on humanoid experiments
  Yumeko Imamura; Ko Ayusawa; Eiichi Yoshida; Takayuki Tanaka
  International Journal of Humanoid Robotics, 15, 3, World Scientific Publishing Co. Pte Ltd, 01 Jun. 2018, [Peer-reviewed]
  English, Scientific journal
• Design of a simple three-dimensional musculoskeletal model for a wearable sensor system, and optimization of link joint position using finite element analysis
  Haruma Akimoto; Yoshio Tsutiya; Yumeko Imamura; Takashi Kusaka; Takayuki Tanaka
  2017 IEEE Life Sciences Conference, LSC 2017, 2018-, LSC, 234, 237, Institute of Electrical and Electronics Engineers Inc., 23 Jan. 2018, [Peer-reviewed]
  English, International conference proceedings
• Estimation of the optimal spread of a guidance force field for a power assist system
  Junki Matsuda; Takayuki Tanaka; Takashi Kusaka
  Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017, 2018-, IRIS, 249, 254, Institute of Electrical and Electronics Engineers Inc., 08 Jan. 2018, [Peer-reviewed]
  English, International conference proceedings
• Wearable sensor system for lumbosacral load estimation by considering the effect of external load
  Yoshio Tsuchiya; Takashi Kusaka; Takayuki Tanaka; Yoshikazu Matsuo
  Advances in Intelligent Systems and Computing, 608, 160, 168, Springer Verlag, 2018, [Peer-reviewed]
  English, International conference proceedings
• 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.
• Individualization of Musculoskeletal Model for Analyzing Pelvic Floor Muscles Activity Based on Gait Motion Features.
  Tomohiro Wakaiki; Takayuki Tanaka; Koji Shimatani; Yuichi Kurita; Tadayuki Iida
  J. Robotics Mechatronics, 30, 6, 991, 1003, 2018, [Peer-reviewed]
  English, Scientific journal, Stress urinary incontinence (SUI) is a typical quality of life disease in women. The strengthening of the pelvic floor muscle (PFM) is considered effective to prevent this. Specifically, PFM activity is affected by individual pelvic shape and posture. Therefore, it is necessary to analyze muscle activity by considering the individual differences. In this study, individual pelvic alignment was estimated from the feature values of natural gait via multiple regression analysis. In addition, individual pelvic feature points were derived from X-ray images and used to deform the standard model to obtain individual pelvic shapes. Results indicate that the residual averages of the estimated feature angles were less than 2° in most cases. Subsequently, measurements of the pelvis were obtained via MRI to evaluate the estimated pelvis shape. The results indicate that individual adaptation leads to muscle attachment positions, which are important in the muscle activity analysis, and closer to the true MRI value when compared to that of the standard pelvic model.
• 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.
• Feature selection for work recognition and working motion measurement
  Miyajima, S.; Tanaka, T.; Miyata, N.; Tada, M.; Mochimaru, M.; Izumi, H.
  Journal of Robotics and Mechatronics, 30, 5, 706, 716, 2018, [Peer-reviewed]
  English, Scientific journal
• Unpowered Sensorimotor-Enhancing Suit Reduces Muscle Activation and Improves Force Perception
  Yuichi Kurita; Jumpei Sato; Takayuki Tanaka; Minoru Shinohara; Toshio Tsuji
  IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, 47, 6, 1158, 1163, Dec. 2017, [Peer-reviewed]
  English, Scientific journal
• 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, 1, 1, 11, Springer International Publishing, 01 Dec. 2017, [Peer-reviewed]
  English, Scientific journal
• Evaluation Framework for Passive Assistive Device Based on Humanoid Experiments
  Yumeko Imamura; Ko Ayusawa; Eiichi Yoshida; Takayuki Tanaka
  International Journal of Humanoid Robotics, 15, 3, 1750026-1, 1750026-25, Oct. 2017, [Peer-reviewed]
  English, Scientific journal, This study presents an enhanced framework for evaluating an assistive effect generated by a passive assistive device using a humanoid robot. The humanoid robotic experiments can evaluate wearable devices by measuring the joint torque, which cannot be measured directly from the human body. In this paper, we introduce an “assistive torque estimation map” as an efficient means for estimating the supportive torque within the range of motions by interpolating the measured joint torques and joint angles of the robot. This map aims to estimate the supportive torques for complex motions without conducting humanoid experiments or human-subject experiments with these motions. We generated an estimation map for an actual assistive suit that decreases the load on the lumbar region and we verified the validity of the proposed method by experimentation. In addition, the geometric simulation model of the assistive suit was validated based on the proposed experiments by using the humanoid robot HRP-4. The proposed framework is expected to lead to an efficient design of such assistive devices so that fewer human-subject experiments need to be conducted.
• 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.
• Unpowered sensorimotor-enhancing suit reduces muscle activation and improves force perception
  Yuichi Kurita; Jumpei Sato; Takayuki Tanaka; Minoru Shinohara; Toshio Tsuji
  IEEE Transactions on Human-Machine Systems, 99, 1, 6, May 2017, [Peer-reviewed]
  English, Scientific journal
• Field Testing of the Influence of Assistive Wear on the Physical Fitness of Nursing-Care Workers
  Yumeko Imamura; Takayuki Tanaka; Kazuki Takizawa
  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 10652, 137, 146, Springer Verlag, 2017, [Peer-reviewed]
  English, International conference proceedings
• Individualization of Musculoskeletal Model to Analyze Pelvic Floor Muscles Activity
  Tomohiro Wakaiki; Takayuki Tanaka; Koji Shimatani; Tadayuki Iida; Yoshio Tsuchiya; Kazuya Sugihara; Yoshimi Sugiyama
  DIGITAL HUMAN MODELING SYMPOSIUM, DHM-013FP, 2017, [Peer-reviewed]
• Nondestructive Inspection of Voids in Concrete by Multi-layered Scanning Method with Electromagnetic Waves
  Shotaro Kawataki; Takayuki Tanaka; Satoru Doi; Shigeru Uchida; Maria Q. Feng
  2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM), 336, 341, 2017, [Peer-reviewed]
  English, International conference proceedings
• A proposal of lumbosacral load wearable sensor and lumbosacral alignment estimation based on X-ray image
  Yoshio TSUCHIYA; Takasi KUSAKA; Takayuki TANAKA; Yoshikazu MATSUO; Makoto ODA; Tsukasa SASAKI; Tamotsu KAMISIMA; Masanori YAMANAKA
  Transactions of the JSME (in Japanese), 82, 843, 16, 00072-16-00072, The Japan Society of Mechanical Engineers, Oct. 2016, [Peer-reviewed]
  Japanese, Scientific journal, 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.
• New evaluation framework for human-assistive devices based on humanoid robotics
  Ko Ayusawa; Eiichi Yoshida; Yumeko Imamura; Takayuki Tanaka
  ADVANCED ROBOTICS, 30, 8, 519, 534, Apr. 2016, [Peer-reviewed]
  English, Scientific journal
• 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, International conference proceedings
• 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, International conference proceedings
• 1F3-4 Workload Estimation Using Physical Burden and Heart Rate Variation
  Saori MIYAJIMA; Takayuki TANAKA; Hiroyuki IZUMI; Natsuki MIYATA; Mitsunori TADA; Masaaki MOCHIMARU
  The Japanese Journal of Ergonomics, 52, Supplement, S234, S235, Japan Ergonomics Society, 2016, [Peer-reviewed]
  Scientific journal
• 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, International conference proceedings
• Optimal Arrangement of Inertial Sensors for Workload Estimation Using Digital Human Model Based on Body Surface Deformation Analysis
  Miyajima, S.; Miyata, N.; Tada, M.; Tanaka, T.; Mochimaru, M.
  Advances in Physical Ergonomics and Human Factors, 489, 483, 494, 2016, [Peer-reviewed]
  English, Scientific journal
• Field test on KEIROKA (Fatigue-reduction) effect and physical fitness change by assistive device for care work
  IMAMURA YUMEKO; TANAKA TAKAYUKI; TAKIZAWA KAZUKI
  看護理工学会誌, 2, 3, 142, 149, 看護理工学会, 25 Aug. 2015
  Japanese
• 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, International conference proceedings
• Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion
  Yumeko Imamura; Takayuki Tanaka; Ko Ayusawa; Eiichi Yoshida
  2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 1149, 1154, 2015, [Peer-reviewed]
  English, International conference proceedings
• 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, International conference proceedings
• 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, International conference proceedings
• 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, International conference proceedings
• Analysis of Trunk Stabilization Effect by Passive Power-Assist Device
  Yumeko Imamura; Takayuki Tanaka; Yoshihito Suzuki; Kazuki Takizawa; Masanori Yamanaka
  Journal of Robotics and Mechatronics, 26, 6, 791, 798, Fuji Technology Press, 20 Dec. 2014, [Peer-reviewed]
  English, Scientific journal
• Control Method for Power Assisted Cart Using Walking Effect Prediction Aimed at Improvement of Load Reduction Ratio
  Norihiro Kobayashi; Takayuki Tanaka
  Journal of Robotics and Mechatronics, 26, 6, 780, 789, Fuji Technology Press, 20 Dec. 2014, [Peer-reviewed]
  English, Scientific journal
• 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
• Operational point impedance control for maneuverability improvement of power assist system controllable on arbitrary point
  Fumiya Shibukawa; Takayuki Tanaka
  Transactions of the JSME (in Japanese), 80, 816, 1, 13, Aug. 2014, [Peer-reviewed]
  Japanese, Scientific journal, Multi-portal Human Interface (M-HI) as an innovative human interface for power assist systems has been researched and developed. The M-HI allows users to apply the operational force anywhere on the power assist system. When users control the PAS on its arbitrary point, The operational point motion is different from the end-effecter motion, even if the end-effecter move as ideal motion for users. The phenomenon affects user's maneuverability decrease. In this paper, impedance paremeters on the operational point are forcused. The relationsihp between the operational point motion and maneuverability are analyzed in terms of the impedance parameters. To evaluate the maneuverability of PAS applied M-HI, The impedance parameters of each operational point is calculated. Furthermore, modification of impedance parameters on the operational point is proposed. However, the method raise end-effecter motion error, the modification amount optimization is required. In this paper, the optimization method and results of fundamental maneuverability evaluations are shown.
• Skill Assist Efficiency Control for Periodical Tasks based on Phase Difference Limitation Method of Assist Force under use of Semi-active Assist Mechanisms
  Takashi Kusaka; Takayuki Tanaka; Hidekazu Kajiwara
  Journal of the Robotics Society of Japan, 32, 2, 108, 116, The Robotics Society of Japan, Mar. 2014, [Peer-reviewed]
  Japanese, Scientific journal, This paper describes a method of skill assist efficiency control by using semi-active assist mechanisms based on phase difference limitation method. The skill assist in this study means the motion correction effect in periodical motions. The semi-active assist mechanisms can make the assist force with the phase difference, because the mechanism uses elastic materials as the source of the assist force. This force is controlled by adjusting the fixed point of the elastic materials by using the connected actuator as a series-elastic actuator. We confirmed the motion correction effect of our skill assist based on the phase difference control in previous study. Our proposed method in this study can control the skill assist efficiency to arbitrary value by limitation of the phase difference. Moreover, we confirmed that the proposed method can control its effect through experiments with several value of the efficiency. As a result of this study, we confirmed the fundamental ability of our developed method to control the motion correction ratio depending on types of task or personal differences in periodical motions.
• 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, International conference proceedings
• Power-Assisted cart Control Method with Motor Torque Limiter based on Prediction and its reliability
  Norihiro Kobayashi; Takayuki Tanaka
  2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 632, 637, 2014, [Peer-reviewed]
  English, International conference proceedings
• Unloading muscle activation enhances force perception
  Yuichi Kurita; Jumpei Sato; Takayuki Tanaka; Minoru Shinohara; Toshio Tsuji
  ACM International Conference Proceeding Series, 2014, [Peer-reviewed]
  International conference proceedings
• Evaluation of Assistive Devices Using Humanoid Robot with Mechanical Parameters Identification
  Ko Ayusawa; Shin'ichiro Nakaoka; Eiichi Yoshida; Yumeko Imamura; Takayuki Tanaka
  2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 205, 211, 2014, [Peer-reviewed]
  English, International conference proceedings
• Verification of Assistive Effect Generated by Passive Power-Assist Device Using Humanoid Robot
  Yumeko Imamura; Takayuki Tanaka; Ko Ayusawa; Eiichi Yoshida
  2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 761, 766, 2014, [Peer-reviewed]
  English, International conference proceedings
• Estimation of lumbar load by 2D reconstruction of spine line using wearable sensor system
  Yoshio Tsuchiya; Yoshikazu Matsuo; Takayuki Tanaka
  Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, 2014-, January, 3669, 3674, Institute of Electrical and Electronics Engineers Inc., 2014, [Peer-reviewed]
  English, International conference proceedings
• Parallel bicycles and their applications
  Maria Q. Feng; Takashi Kawamura; Takayuki Tanaka
  Journal of Robotics and Mechatronics, 26, 1, 9, 14, Fuji Technology Press, 2014, [Peer-reviewed]
  English
• Pneumatically Driven Prehension Orthosis with Force Control Function
  MOROMUGI SHUNJI; TANAKA TAKAYUKI; HIGASHI TOSHIO; FENG MARIA Q; ISHIMATSU TAKAKAZU
  J Robot Mechatron, 25, 6, 973, 982, 20 Dec. 2013, [Peer-reviewed]
  English, Scientific journal
• 介護作業従事者の日常業務が疲労感と体力に及ぼす影響
  TOMABECHI NOBUYASU; TAKIZAWA KAZUKI; TANAKA TAKAYUKI; SUZUKI YOSHIHITO
  体力科学, 62, 6, 653, 654, 01 Dec. 2013, [Peer-reviewed]
  Japanese
• Operational Point Motion Harmonizing Control for Multi-link Power Assist Systems Controllable from Arbitrary Operational Point
  Shibukawa Fumiya; Tanaka Takayuki
  JRSJ, 31, 9, 108, 943, The Robotics Society of Japan, Nov. 2013, [Peer-reviewed]
  Japanese, Scientific journal, We have proposed a Multi-portal Human Interface (M-HI) as an innovative human interface for power assist systems (PAS). The M-HI allows users to apply the operational force anywhere on the power assist system. Because of that, the effective workspace of the PAS is extended as their end-effecter can be controlled as a user desires. However, when users control the PAS on its intermediate joint, the control point motion is different from the end-effecter motion. This motion affects maneuverability of the PAS. In this paper, we consider the number of links and degrees of freedom on a multi-link manipulator. The relation between the control point motion and maneuverability is analyzed. The operational point motion harmonization (OPMH) is based on this relation. This method enables users to control the PAS with M-HI more accurately.
• 障害者のリハや介護に役立つテクニカルエイドと環境整備 Assisted Products―スマートスーツ・ライト
  田中孝之
  J Clin Rehabil, 22, 9, 893, 899, Sep. 2013, [Invited]
  Japanese
• Detection of Grape Stem's Base Position by Compliant Contact Using Robot Manipulator
  IGAWA HISASHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; TADA TATSUMI; SUZUKI SHIN'ICHI; OMURA ISAO
  精密工学会誌, 79, 7, 651, 658, The Japan Society for Precision Engineering, Jul. 2013, [Peer-reviewed]
  Japanese, To remove weeds around a grape vine without damaging the stem, we propose a contact recognition technology in this paper. The developed technique can reliably determine the position of the vine's lower stem, which may be deformed under sufficient force and may be buried in the weeds. We have developed a new method to detect the position of grape stems as objects in which its deformation is considered. By calculating the deformation from the relations between the geometry and mechanics of manipulator's link postures before and after contact point detection, the position of the object can be determined with high accuracy. Because stem position detection commences after tactile recognition has been performed, any deformation of the object has already occurred. The effect of this initial deformation on the detection accuracy cannot be ignored. Therefore, position detection of object is divided into two operations : reducing the object deformation and detecting the object position. In this way, highly accurate recognition of its position is achieved. The paper continues by giving a detailed explanation of the proposed method.
• 形状の異なるスコップを使用した6週間の雪かき作業は体力テスト結果に影響を及ぼすのか?
  瀧澤一騎; 田中孝之; 吉成哲; 奈良博之; 柴田啓介; 山中正紀; 鈴木善人
  日本生理人類学会誌, 18, 2, 27, 32, 25 May 2013, [Peer-reviewed]
  Japanese
• A Modeling of Cerebral Blood Flow Changes due to Head Motion for fNIRS
  Kosuke Takahashi; Takayuki Tanaka; Hiroyuki Nara; Shun'ichi Kaneko; Masao Inoue; Shunji Shimizu; Satoru Kojima
  INTERNATIONAL JOURNAL OF OPTOMECHATRONICS, 7, 2, 83, 95, Apr. 2013, [Peer-reviewed]
  English, Scientific journal
• Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles
  Motoki Nakano; Takayuki Tanaka; Shun'ichi Kaneko
  Journal of Robotics and Mechatronics, 25, 1, 145, 152, Feb. 2013, [Peer-reviewed]
  English, Scientific journal
• Improving the Maneuverability of Power Assist Valves by Considering the Characteristics of Biarticular Muscles
  Motoki Nakano; Takayuki Tanaka; Shun'ichi Kaneko
  Journal of Robotics and Mechatronics, 25, 1, 145, 152, Feb. 2013, [Peer-reviewed]
  English, Scientific journal
• KI‐VPAモデルに基づくVibration Alert Interfaceの順応による振動感覚変化の補正方法
  森友揮; 田中孝之; 金子俊一; 片桐祥雅
  ヒューマンインタフェース学会論文誌(CD-ROM), 15, 1/4, 305, 312, ヒューマンインタフェース学会, Feb. 2013, [Peer-reviewed]
  Japanese
• Vision-based displacement sensor for monitoring dynamic response using robust object search algorithm
  Yoshio Fukuda; Maria Q. Feng; Yuto Narita; Shun'Ichi Kaneko; Takayuki Tanaka
  IEEE Sensors Journal, 13, 12, 4725, 4732, 2013, [Peer-reviewed]
  English, Scientific journal
• A proposal for a model of change of maximum isometric muscle force in step-changeworkload
  Shota Ando; Takayuki Tanaka; Hiroyuki Nara; Kazuki Takizawa
  Journal of Robotics and Mechatronics, 25, 6, 1050, 1059, Fuji Technology Press, 2013, [Peer-reviewed]
  English, Scientific journal
• A proposal for a model of change of maximum isometric muscle force in step-changeworkload
  Shota Ando; Takayuki Tanaka; Hiroyuki Nara; Kazuki Takizawa
  Journal of Robotics and Mechatronics, 25, 6, 1050, 1059, Fuji Technology Press, 2013, [Peer-reviewed]
  English, Scientific journal
• Improvement of sensory stabilization and repeatability of vibration interface for distance presentation
  Yuki Sampei; Takayuki Tanaka; Yuki Mori; Shun'Ichi Kaneko
  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8027, 734, 743, 2013, [Peer-reviewed]
  English, International conference proceedings
• 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, International conference proceedings
• ARE THE RESULTS OF PHYSICAL FITNESS TESTS AFFECTED BY 6 WEEKS SNOW SHOVELLING USING DIFFERENT TYPES OF SHOVELS?
  TAKIZAWA Kazuki; TANAKA Takayuki; YOSHINARI Satoshi; NARA Hiroyuki; SHIBATA Keisuke; YAMANAKA Masanori; SUZUKI Yoshihito
  Japanese Journal of Physiological Anthropology, 18, 2, 87, 92, Japan Society of Physiological Anthropology, 2013, [Peer-reviewed]
  Japanese, We examined physical fitness adaptation after six weeks of snow shovelling using different types of shovels. Thirty-three subjects participated in this study and were divided two groups: normal shovel group and less-workload shovel (UD-shovel) group. Grip strength, vertical jump, 10 m obstacle walking, chair rising test, lactate threshold and body mass were measured before and after six weeks of snow shovelling. All measurements showed no significant differences between the groups. The chair rising test and ten meter obstacle walking were significantly at main effects. These values were higher in the after period than in the before period. But there were no significant differences at main effects in grip strength, vertical jump, lactate threshold and body mass. These results suggest that six weeks of snow shovelling may not affect upper body strength and aerobic capacity, but may affect lower body and muscle of trunk strength, power, agility, balance and coordination. These effects were not different if using normal shovels or UD-shovels.
• Postural Stabilization by Trunk Tightening Force Generated by Passive Power-Assist Device
  Yumeko Imamura; Takayuki Tanaka; Hiroyuki Nara; Yoshihito Suzuki; Kazuki Takizawa; Masanori Yamanaka
  2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2836, 2839, 2013, [Peer-reviewed]
  English, International conference proceedings
• Humanoid Robot as an Evaluator of Assistive Devices
  Kanako Miura; Eiichi Yoshida; Yoshiyuki Kobayashi; Yui Endo; Fumio Kanehioro; Keiko Homma; Isamu Kajitani; Yoshio Matsumoto; Takayuki Tanaka
  2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2013 Vol.1, 679, 685, 2013, [Peer-reviewed]
  English, International conference proceedings
• 雪かき作業時における筋力補助スーツ着用による軽労化効果の評価
  瀧澤一騎; 田中孝之; 吉成哲; 柴田啓介; 鈴木善人
  体力科学, 61, 6, 684, 684, (一社)日本体力医学会, 01 Dec. 2012, [Peer-reviewed]
  Japanese
• Power-Assisted cart Control Method with Motor Torque Limiter based on Prediction of Torque Saturation
  Norihiro Kobayashi; Takayuki Tanaka; Shun'ichi Kankeo
  Journal of Energy & Power Engineering, 6, 8, 1349, Oct. 2012, [Peer-reviewed]
  English, Scientific journal
• Reliability Analysis of Object Position Measured by Motion Stereo Considering Camera Vibration
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi; TAKAUJI Hidenori; KOCHI Nobuo; YAMADA Mitsuharu
  IEEJ Transactions on Industry Applications, 132, 10, 942, 950, The Institute of Electrical Engineers of Japan, 01 Oct. 2012, [Peer-reviewed]
  Japanese, This study is aimed at developing a high-reliability motion stereo system through the consideration of camera vibration. In stereo measurement, we can approximate the distribution of measurement the error in images as a uniform distribution, and the distribution of the disparity error as a triangular distribution. Therefore, the parameters of the distributions are the mean value µ and the standard deviation σ, while the amplitude A and the frequency F are regarded as parameters of camera vibration. In our previous work, we constructed a model of the measurement error resulting from camera vibration. In this study, we define the existing probability of objects by using the measurement error model, and the reliability of object position. In addition, we verify the validity of the existing probability and reliability.
• Measurement and Modeling of Perception Adaptation to Vibratory Frequency for Vibration Alert Interface
  MORI Yuki; TANAKA Takayuki; KANEKO Shun'ichi; KATAGIRI Yoshitada
  The Transactions of Human Interface Society, 14, 3, 293, 301, Human Interface Society, 25 Aug. 2012, [Peer-reviewed]
  Japanese,

  This paper describes a method to model the change in vibratory perception due to the adaptation. In the vibration alert interface, user has to perceive the vibratory frequency correctly, however when the frequency was the same, the vibration perception was different if the frequency before change was different. Experimental results showed that the higher vibration frequency before the change is, the weaker vibration strength user perceives. In order to correct this difference of vibratory perception, we create a model to calculate the perception adaptation. Simulation result shows accuracy of this model.

• Power-Assisted cart Control Method with Motor Torque Limiter based on Prediction of Torque Saturation
  Norihiro Kobayashi; Takayuki Tanaka; Shun'ichi Kankeo
  Journal of Energy & Power Engineering, 6, 8, 1349, Aug. 2012, [Peer-reviewed]
  English
• Operational Force Stabilization for Power Assist Systems Considering User's Visuospatial Recognition Resolution based on Fuzzy Regression Analysis
  SHIBUKAWA Fumiya; TANAKA Takayuki; KANEKO Shun'ichi
  日本ロボット学会誌, 30, 4, 420, 427, 日本ロボット学会, 15 May 2012, [Peer-reviewed]
  Japanese, Scientific journal
• A Yank-based Variable Coefficient Method for a Low-Powered Semi-Active Power Assist System
  Andre Rosendo; Takayuki Tanaka; Shun'ichi Kaneko
  Journal of Robotics and Mechatronics, 24, 2, 291, 297, Apr. 2012, [Peer-reviewed]
  English
• Robust Tactile Recognition of Grape Trunk Considering Visual Recognizing Ability for Weeding Robot in Vineyard
  井川 久; 田中 孝之; 金子 俊一
  精密工学会誌, 78, 2, 160, 167, 精密工学会, Feb. 2012, [Peer-reviewed]
  Japanese, Scientific journal
• Vibration Alert Interfaceにおける振動周波数に対する振動感覚順応とそのモデル化
  森友揮; 田中孝之; 金子俊一; 片桐祥雅
  ヒューマンインタフェース学会論文誌(CD-ROM), 14, 1/4, 293, 301, Feb. 2012, [Peer-reviewed]
  Japanese
• A Modeling of Cerebral Blood Flow Changes due to Head Motion for fNIRS
  Kosuke Takahashi; Takayuki Tanaka; Hiroyuki Nara; Shun'ichi Kaneko; Masao Inoue; Shunji Shimizu; Satoru Kojima
  2012 INTERNATIONAL SYMPOSIUM ON OPTOMECHATRONIC TECHNOLOGIES (ISOT), 7, 1/2, 83, 95, 2012, [Peer-reviewed]
  English, International conference proceedings
• Measurement and Modeling of Perception Adaptation to Vibratory Frequency for Vibration Alert Interface
  森 友揮; 田中 孝之; 金子 俊一
  ヒューマンインタフェース学会論文誌 The transactions of Human Interface Society, 14, 1, 293, 301, ヒューマンインタフェース学会, 2012, [Peer-reviewed]
  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; 齊藤宗信; 鈴木善人
  Hippophile, 0, 47, 27, 33, 日本ウマ科学会, Jan. 2012, [Peer-reviewed]
  Japanese
• A yank-based variable coefficient method for a low-powered semi-active power assist system
  Andre Rosendo; Takayuki Tanaka; Shun'ichi Kaneko
  Journal of Robotics and Mechatronics, 24, 2, 291, 297, Fuji Technology Press, 2012, [Peer-reviewed]
  English, Scientific journal
• 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, International conference proceedings
• Improving the Maneuverability of Power Assist Valves by Compensation Considering of Posture
  Motoki Nakano; Takayuki Tanaka; Shun'ichi Kaneko
  2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 1111, 1116, 2012, [Peer-reviewed]
  English, International conference proceedings
• Base Position Detection of Grape Stem Considering Its Displacement for Weeding Robot in Vineyards
  Hisashi Igawa; Takayuki Tanaka; Shun'ichi Kaneko; Tatsumi Tada; Shin'ichi Suzuki; Isao Ohmura
  38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), 2567, 2572, 2012, [Peer-reviewed]
  English, International conference proceedings
• Motion-based design of elastic belts for passive assistive device using musculoskeletal model
  Yumeko Imamura; Takayuki Tanaka; Yoshihito Suzuki; Kazuki Takizawa; Masanori Yamanaka
  2011 IEEE International Conference on Robotics and Biomimetics, IEEE, Dec. 2011, [Peer-reviewed]
  International conference proceedings
• 形状の違うスコップによる6週間の雪かき作業が体力に及ぼす影響
  瀧澤一騎; 田中孝之; 吉成哲; 奈良博之; 柴田啓介; 鈴木善人
  体力科学, 60, 6, 797, 797, (一社)日本体力医学会, 01 Dec. 2011
  Japanese
• 雪かき運動による漸増負荷試験は全身持久力テストとして妥当か?
  柴田啓介; 田中孝之; 瀧澤一騎; 吉成哲; 鈴木善人
  体力科学, 60, 6, 765, 765, (一社)日本体力医学会, 01 Dec. 2011
  Japanese
• 雪かき運動におけるLT強度測定を目的とした漸増負荷運動プロトコルの作成
  瀧澤一騎; 吉成哲; 奈良博之; 鈴木善人; 田中孝之
  体力科学, 60, 4, 468, 469, 01 Aug. 2011
  Japanese
• Development of Measurement Error Model for Stereo Measurement System by Considering Camera Vibration
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi; TAKAUJI Hidenori; KOCHI Nobuo; YAMADA Mitsuharu
  IEEJ Transactions on Industry Applications, 131, 4, 522, 530, The Institute of Electrical Engineers of Japan, 01 Apr. 2011
  Japanese, This study aims to establish an error model for a stereo measurement system by considering camera vibration. In stereo measurements, we can approximate the measurement error distribution in images as a uniform distribution. Therefore, the parameters of the measurement error distribution are the mean value µ and the standard deviation σ, while the amplitude A and the frequency F are regarded as the parameters of the camera vibration. In order to verify the relationships between the parameters of the measurement error distribution and those of the camera vibration, we performed an experiment using a vibration-testing system. The results of the experiment showed that the vibration did not affect µ. Moreover, we found a positive correlation between σ and A as well as a negative correlation betweenσ and F. Using these relationships, we estimated the parameters of the measurement error from the parameters of the camera vibration.
• Motion-based-design of elastic material for passive assistive device using musculoskeletal model
  Yumeko Imamura; Takayuki Tanaka; Yoshihito Suzuki; Kazuki Takizawa; Masanori Yamanaka
  Journal of Robotics and Mechatronics, 23, 6, 978, 990, Fuji Technology Press, 2011, [Peer-reviewed]
  English, Scientific journal
• Design of vibration alert interface based on tactile adaptation model to vibration stimulation
  Yuki Mori; Takayuki Tanaka; Shun'ichi Kaneko
  Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 6771, 1, 462, 469, 2011, [Peer-reviewed]
  English, International conference proceedings
• An Operational Method from Arbitrary Point on Multi-link Power Assist Systems: An Motion Generation for Operational Force Harmonization
  Shibukawa Fumiya; Tanaka Takayuki; Kaneko Shunichi
  Proceedings of the Japan Joint Automatic Control Conference, 54, 386, 386, The Japan Joint Automatic Control Conference, 2011
  Japanese, In this paper, a multi-portal human interface (M-HI) as an innovative human interface for power assist systems (PASs) is proposed.
  M-HI enables users to control PAS's end-effecter from anywhere on the PAS.
  In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the effective workspace of power assist systems containing multi-degrees of freedom manipulators.
  The experiment of applying M-HI to the Three-degrees of freedom PAS limited the motion into sagittal plane and evaluation its maneuverability are carried out.
  Controlling from intermediate joint of the PAS, the motion of control point sometimes interference against operational force.
  In this paper the method to harmonize the force of control point and operational force, and evaluate its effectiveness.
• 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]
  English, International conference proceedings
• Fundamental study on evaluation of KEIROKA(fatigue-reduction) technology in using UD shovel for removing snow by musculo-skeletal dynamics simulator
  Hiroyuki Nara; Takayuki Tanaka; Yumeko Imamura; Satoshi Yoshinari; Yasuhiro Nakajima; Shun'ichi Kaneko
  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 1579, 1584, IEEE, 2011, [Peer-reviewed]
  English, International conference proceedings
• A design of the multi-portal human interface considering user's line of sight and controlling stability
  Fumiya Shibukawa; Takayuki Tanaka; Shun'ichi Kaneko
  2010 IEEE International Conference on Robotics and Biomimetics, IEEE, Dec. 2010, [Peer-reviewed]
  International conference proceedings
• High-speed impedance matching based on muscle characteristic and its application for improving maneuverability of power assist valve
  Motoki Nakano; Shunichi Kaneko; Takayuki Tanaka; Koichi Yamano
  2010 IEEE International Conference on Systems, Man and Cybernetics, IEEE, Oct. 2010, [Peer-reviewed]
  International conference proceedings
• Self-localization of a mobile robot on irregular ground using a laser range finder
  Naohito Takasuka; Takayuki Tanaka; Shun'ichi Kaneko; Tatsumi Tada; Shin'ichi Suzuki
  2010 World Automation Congress, 1, 6, Sep. 2010, [Peer-reviewed]
  International conference proceedings
• A method of trajectory generation to vehicle robot under unknown environment
  D. Nagahara; S. Takahashi; T. Tanaka; S. Kaneko
  Proceedings of World Automation Congress, Sep. 2010, [Peer-reviewed]
• 動きを“視る”動作解析 動作計測に基づいた筋力補助装置・装具の設計
  田中孝之
  映像情報Industrial, 42, 8, 41, 47, Aug. 2010, [Invited]
  Japanese
• Design of Vibration Alert Interface based on Vibration Strength Considering Skin Deformation with Respect to Grip Force
  MORI Yuki; TANAKA Takayuki; KANEKO Shun'ichi
  Human interface, 12, 2, 103, 111, ヒュ-マンインタフェ-ス学会, 25 May 2010
  Japanese
• A novel semi-active assist system considering low-powered actuator limitations
  Andre Rosendo; Takayuki Tanaka; Shuńichi Kaneko
  2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 1104, 1109, 2010, [Peer-reviewed]
  English, International conference proceedings
• Modeling stereo measurement error by considering camera vibration
  Shin'ya Okazaki; Takayuki Tanaka; Shun'ichi Kaneko; Hidenori Takauji; Nobuo Kochi; Mitsuharu Yamada
  2010 International Symposium on Optomechatronic Technologies, ISOT 2010, 2010, [Peer-reviewed]
  English, International conference proceedings
• Control method for power-assist systems with energy regeneration system based on predicting operation
  Norihiro Kobayashi; Takayuki Tanaka; Shun'ichi Kaneko
  IECON 2010 - 36TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2010, [Peer-reviewed]
  English, International conference proceedings
• Vision-Based Displacement Sensor for Monitoring Dynamic Response Using Robust Object Search Algorithm
  Yoshio Fukuda; Maria Feng; Yuto Narita; Shun'ichi Kaneko; Takayuki Tanaka
  2010 IEEE SENSORS, 1928, 1931, 2010, [Peer-reviewed]
  English, International conference proceedings
• 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]
  English, Scientific journal
• Visual and tactual recognition of trunk of grape for weeding robot in vineyards
  Hisashi Igawa; Takayuki Tanaka; Shun'ichi Kaneko; Tatsumi Tada; Shin'ichi Suzuki
  2009 35th Annual Conference of IEEE Industrial Electronics, IEEE, Nov. 2009, [Peer-reviewed]
  International conference proceedings
• Improving Maneuverability of Power-Assisted Valve for Fire Engines Based on Prediction of Valve Opening Time
  Motoki Nakano; Takayuki Tanaka; Shun’ichi Kaneko; Koichi Yamano; Yoichiro Tsutsui
  Journal of Robotics and Mechatronics, 21, 5, 628, 634, Oct. 2009, [Peer-reviewed]
  English, Scientific journal
• Human Joint Motion Recognition Using Ultrasound Pulse Echo Based on Test Feature Classifier
  Yoichiro Tsutsui; Takayuki Tanaka; Shun’ichi Kaneko; Yukinobu Sakata; Maria Q. Feng
  Journal of Robotics and Mechatronics, 21, 5, 597, 606, Oct. 2009, [Peer-reviewed]
  English, Scientific journal
• Support device for horse trainer to decrease muscular fatigue on horse training
  田中 孝之; 齊藤 宗信; 鈴木 善人
  Descente sports science, 30, 163, 171, 石本記念デサントスポ-ツ科学振興財団事務局, Jun. 2009
  Japanese
• Robust Focusing using Orientation Code Matching
  LI YUAN; TAKAUJI HIDENORI; OMURA ISAO; KANEKO SHUN'ICHI; TANAKA TAKAYUKI
  精密工学会誌(CD-ROM), 75, 5, 650, 656, 05 May 2009
  Japanese
• A Rotational Registration Method by Using Local Consistency of Point Dispersion Considering Defect Types
  URANO Takahiro; KANEKO Shun'ichi; TAKAUJI Hidenori; TANAKA Takayuki; MAEDA Shunji; SHIBUYA Hisae; YOSHIDA Minoru
  IEEJ Transactions on Electronics, Information and Systems, 129, 5, 778, 785, The Institute of Electrical Engineers of Japan, 01 May 2009
  Japanese, A novel algorithm for rotational registration of dot-cloud data based on Local Consistency of Point Dispersion considering defect types (color LCPD) is proposed. In this approach, a new measurement of the local consistency of the distribution of the dot clouds in both data sets is developed, which can then be combined into a weighted-metric based on the importance of the defect types. This method is expected to be effective and robust in the registration of randomly distributed, inconsistent observations. It has been shown to converge to the true solution in a variety of cases involving both real and simulated data.
• Robust Focusing using Orientation Code Matching
  Yuan Li; Isao Ohmura; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
  Electronic Letters on Computer Vision and Image Analysis, 7, 3, 101, 114, 2009, [Peer-reviewed]
  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
• Multi-portal Human Interface
  Fumiya Shibukawa; Takayuki Tanaka; Shun'ichi Kaneko
  IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6, 35th Vol.6, 4010, 4015, 2009
  English, International conference proceedings
• A Robust Real Velocity Sensing for Agrimotors by Orientation Code Matching
  NAKAHARA Kazuya; TAKAUJI Hidenori; KANEKO Shun'ichi; TANAKA Takayuki; SHIMIZU Masashi; MIYASHITA Yukio; OHMURA Isao
  The IEICE transactions on information and systems, 91, 3, 793, 802, The Institute of Electronics, Information and Communication Engineers, 01 Mar. 2008
  Japanese, 圃場での大きなスリップなどが避けられないスプレイヤ(散布機)やハーベスタ(収穫機)などの農作業機の実速度をロバストに計測するためのシステムを開発することを目的とする.従来のタコメータ形式の計測ではなく,地面の移動量を画像照合により間接的に測定する.その際,方向符号照合法に基づくことにより,天候不良,圃場の状態変動などの影響を排除したロバスト計測を実現した.試作システムを農耕用トラクタに搭載し,雨天や作業内容が異なる実圃場において速度計測実験を行うことにより有効性を検証した.
• Improvement Performance of Test Feature Classifier by a Weighted Voting Method
  SAKATA Yukinobu; KANEKO Shun'ichi; TANAKA Takayuki
  The IEICE transactions on information and systems, 91, 1, 89, 100, The Institute of Electronics, Information and Communication Engineers, 01 Jan. 2008
  Japanese, 本論文では,ノンパラメトリックなパターン分類器として提案されたテスト特徴分類器(TFC)の識別性能の改良と,その実応用における可能性を検証することを目的とする.TFCでは,分類に有効な特徴量の組合せであるプライムテスト特徴(PTF)に投影された入力未知パターンに対して同時に最近傍法による識別を行い,それらの認識結果に基づく投票処理の集票スコアにより入力パターンを識別する.本手法では,PTFの特性に基づいた重み係数による重み付き投票処理を行う.これにより,各PTFの機能がより効果的に発揮され分類器の性能向上が期待できる.更に提案手法を逐次学習アルゴリズムへ拡張する.実データによる実験結果により本手法の有効性を確認した.
• Robust self-matching based focus measure
  Li Yuan; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka; Isao Ohmura
  Proceedings of SPIE - The International Society for Optical Engineering, 7266, 2008, [Peer-reviewed]
  English, International conference proceedings
• Object recognition based on relationship between camera vibration and measurement error on stereo measurement
  Shin'ya Okazaki; Takayuki Tanaka; Syun'ichi Kaneko; Hidenori Takauji
  Proceedings of SPIE - The International Society for Optical Engineering, 7266, 2008, [Peer-reviewed]
  English, International conference proceedings
• A blowing-based method of detecting trunk and estimating root position for weeding mobile robots
  Fan Zhang; Akihiko Matsushita; Shun'ichi Kaneko; Takayuki Tanaka
  Proceedings of SPIE - The International Society for Optical Engineering, 7266, 2008, [Peer-reviewed]
  English, International conference proceedings
• Smart Suit: Soft Power Suit with Semi-active Assist Mechanism - Prototype for Supporting Waist and Knee Joint
  Takayuki Tanaka; Yuta Satoh; Shun'ichi Kaneko; Yoshihito Suzuki; Naohisa Sakamoto; Shuji Seki
  2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4, 1707, +, 2008, [Peer-reviewed]
  English, International conference proceedings
• Simultaneous Estimation of Torque and Angle of Human Elbow Joint by Using Ultrasound Echo
  TSUTSUI YOICHIRO; HAYASE KAZUHIKO; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; FENG MARIA Q
  精密工学会誌(CD-ROM), 73, 11, 1273, 1278, 05 Nov. 2007
  Japanese
• Registration Method by Using LCPD and Its Application for Defect Points
  URANO Takahiro; KANEKO Shun'ichi; TAKAUJI Hidenori; TANAKA Takayuki; MAEDA Shunji; SHIBUYA Hisae; YOSHIDA Minoru
  The IEICE transactions on information and systems, 90, 10, 2798, 2806, The Institute of Electronics, Information and Communication Engineers, 01 Oct. 2007
  Japanese, 照合指標のない光学・磁気ディスクメディアのような回転媒体における新しいロバスト回転照合アルゴリズムLocal Consistency of Point Dispersion (LCPD)法を提案する.これは個々の点データ周りの局所的範囲における他点群データとの分布の一貫性を評価し,その局所的評価値は重みを設定して累積するアプローチに基づいている.提案手法の例外値に対するロバスト性について,点群データの分類に基づく定性的な考察を行っている.提案手法が例外値データの含有に対して,高いロバスト性を有し,しかも良好な収束性能を実現していることを,シミュレーション,及び実データに基づく実験によって示す.
• Joint Torque and Angle Estimation by Using Ultrasound Transmitted through Human Muscle
  TSUTSUI YOICHIRO; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; FENG MARIA Q
  精密工学会誌(CD-ROM), 73, 9, 1062, 1067, 05 Sep. 2007
  Japanese
• Robust Rotation-invariant Search based on Orientation Code Difference Histogram
  URANO Takahiro; KANEKO Shun'ichi; TAKAUJI Hidenori; TANAKA Takayuki
  The Journal of the Institute of Image Electronics Engineers of Japan, 36, 4, 417, 425, The Institute of Image Electronics Engineers of Japan, 25 Jul. 2007
  Japanese, A rotation-invariant template matching scheme using orientation code difference histogram (OCDH) is proposed. Orientation code features based on local distributions of pixel brightness, which are robust against furious change in illumination. We utilize the fact that a difference between any two orientation codes with a constant displacement is invariant for any rotation of images. We propose a two-stage framework for realizing the fast rotation-invariant template matching based on OCDH. In the first stage, candidate positions are selected through evaluation of OCDH at every position, and then in the second stage, we estimate approximate rotation angles and we finally register at the positions.
• Expanding Measurement Range of Binocular Stereovision Based On Mono-MoCap
  TAKAHASHI HIDENORI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI
  精密工学会誌(CD-ROM), 73, 6, 671, 676, 05 Jun. 2007
  Japanese
• Human joint movement recognition by using ultrasound echo based on test feature classifier
  Yoichiro Tsutsui; Yukinobu Sakata; Takayuki Tanaka; Shun'ichi Kaneko; Maria Q. Feng
  2007 IEEE SENSORS, VOLS 1-3, 1205, 1208, 2007, [Peer-reviewed]
  English, International conference proceedings
• Visual guide power assist system to adapt operators' motion - art. no. 6719OH
  Shunsuke Kawaai; Takayuki Tanaka; Shunichi Kaneko
  OPTOMECHATRONIC SYSTEMS CONTROL III, 6719, OH719, OH719, 2007, [Peer-reviewed]
  English, International conference proceedings
• Vision based environment recognition for mobile robot in irregular ground
  Shin'ya Okazaki; Takayuki Tanaka; Syun'ichi Kaneko; Akihiko Matsushita
  2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 1860, 1864, 2007, [Peer-reviewed]
  English, International conference proceedings
• Robust focusing by Orientation Code Matching
  Yuan Li; Isao Ohmura; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
  PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 749, +, 2007, [Peer-reviewed]
  English, International conference proceedings
• 3D measurement of flexible objects by robust motion stereo
  Y. Domae; H. Takauji; S. Kaneko; T. Tanaka; H. Okuda; M. Hashimoto
  PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 737, +, 2007, [Peer-reviewed]
  English, International conference proceedings
• 3-dimensional measurement of cable configuration being based on feature tracking motion stereo
  Yukiyasu Domae; Haruhisa Okuda; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
  OPTOMECHATRONIC SYSTEMS CONTROL III, 6719, 2007, [Peer-reviewed]
  English, International conference proceedings
• Robust focusing by orientation code matching and its application to depth reconstruction
  Yuan Li; Isao Ohmura; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
  EIGHT INTERNATIONAL CONFERENCE ON QUALITY CONTROL BY ARTIFICIAL VISION, 6356, 2007, [Peer-reviewed]
  English, International conference proceedings
• Distortion and scale estimation for robust tag registration - art. no. 671804
  Io Nakayama; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
  OPTOMECHATRONIC COMPUTER-VISION SYSTEMS II, 6718, 71804, 71804, 2007, [Peer-reviewed]
  English, International conference proceedings
• Robot contest competition, an approach to venture mind education
  Takashi Kawamura; Takayuki Tanaka
  2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, 83, +, 2007, [Peer-reviewed]
  English, International conference proceedings
• Matching-based focusing by Orientation Code Matching and depth reconstruction
  Yuan Li; Hidenori Takauji; Shunichi Kaneko; Takayuki Tanaka; Isao Ohmura
  OPTOMECHATRONIC COMPUTER-VISION SYSTEMS II, 6718, 2007, [Peer-reviewed]
  English, International conference proceedings
• Robust Joint Torque Estimation for Using EMG Sensor Suit and High-speed Calibration
  SUZUKI Yousuke; TANAKA Takayuki; FENG Maria Q.; MOROMUGI Shunji
  計測自動制御学会論文集, 42, 8, 982, 990, 計測自動制御学会, 31 Aug. 2006
  Japanese, Scientific journal
• A Robust Walk of Quasi Passive Walking Robot Controled by Periodic Input
  UMEGAE Masamori; KAJIWARA Hidekazu; TANAKA Takayuki; KANEKO Shun'ichi
  計測自動制御学会論文集, 42, 8, 974, 981, 計測自動制御学会, 31 Aug. 2006
  Japanese
• Motion Capture for 3D Human Motion Measurement by Using One Camera with Polygonal Markers
  TAKAHASHI Hidenori; TANAKA Takayuki; KANEKO Shun'ichi
  計測自動制御学会論文集, 42, 7, 719, 726, 計測自動制御学会, 31 Jul. 2006
  Japanese, Scientific journal
• Scalable Image Searching Method based on Orientation Code Density
  TAKAUJI Hidenori; KANEKO Shun'ichi; TANAKA Takayuki
  Journal of the Japan Society for Precision Engineering, Contributed Papers, 72, 4, 487, 493, The Japan Society for Precision Engineering, 05 Apr. 2006
  Japanese, This paper aims to propose a fast image searching method from environmental observation images even in the presence of scale changes. A new scheme has been proposed for extracting feature areas based on a robust image registration algorithm called Orientation code matching. Extracted areas are stored as template images and utilized in image searching. As the number of template images grows, the searching cost becomes a serious problem. Additionally, changes of viewing positions cause scale change of an image and matching failure. In our scheme, richness in features is important for feature area generation and the entropy is used to evaluate the variety of edge directions which are stable to scale change of the image. This characteristic contributes to limitation of searching area and reduction in calculation costs. Scaling factors are estimated by orientation code density which means the percentage of effective codes in fixed size areas. An estimated scaling factor is applied to matching a scale of template images to one of observation images. Some experiments are performed in order to compare computation time and verify effectiveness of estimated scaling factor using real scenes.
• Efficient Template Matching Algorithm for Binary Image based on Scanning-type Upper Limit Estimation
  MAE TAKAHIRO; KANEKO SHUN'ICHI; TANAKA TAKAYUKI
  精密工学会誌(CD-ROM), 72, 4, 481, 486, 05 Apr. 2006
  Japanese
• Scalable Image Searching Method based on Orientation Code Density
  TAKAUJI HIDENORI; KANEKO SHUN'ICHI; TANAKA TAKAYUKI
  精密工学会誌(CD-ROM), 72, 4, 487, 493, 05 Apr. 2006
  Japanese
• Efficient Template Matching Algorithm for Binary Image based on Scanning-type Upper Limit Estimation
  MAE Takahiro; KANEKO Shun'ichi; TANAKA Takayuki
  Journal of the Japan Society for Precision Engineering, Contributed Papers, 72, 4, 481, 486, The Japan Society for Precision Engineering, 05 Apr. 2006
  Japanese, An efficient algorithm for binary template matching is proposed. For efficient search, object images to be checked is divided into two regions: R-region and P-region. In R-region, an upper limit of correlation coefficients can be derived as an interval estimation based on mathematical analysis of correlations of the object image and a pivot image. In P-region, another interval estimation is formalized based on the number of white and black pixels in a template and the object image. By use of these interval estimations, a scanning-type upper limit estimation of correlation coefficients can be formalized for the efficient search algorithm. Experiments show the effectiveness and efficiency of the proposed search algorithm.
• Autonomous and robust structuring of real environment by searching complex regions
  Hidenori Takauji; Io Nakayama; Shunichi Kaneko; Takayuki Tanaka
  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, 36, International Society for Photogrammetry and Remote Sensing, 2006
  English, International conference proceedings
• Extraction and tracking of orientation coded features being robust against illumination changes
  Yukiyasu Domae; Hidenori Takauji; Henrik Stier; Shunichi Kaneko; Takayuki Tanaka
  International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, 36, 2006
  International conference proceedings
• A sensor to measure hardness of human tissue
  Shunji Moromugi; Shinichi Kumano; Mitsuaki Ueda; Takakazu Ishimatsu; Maria Q. Feng; Takayuki Tanaka
  2006 IEEE SENSORS, VOLS 1-3, 388, +, 2006, [Peer-reviewed]
  English, International conference proceedings
• Using orientation code matching for robustly sensing real velocity of agrimotors
  Kazuya Nakahara; Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka; Masashi Shimizu; Yukio Miyashita
  OPTOMECHATRONIC SENSORS, INSTRUMENTATION, AND COMPUTER-VISION SYSTEMS, 6375, 2006, [Peer-reviewed]
  English, International conference proceedings
• Local retouching of degraded images by histogram-based similarity evaluation
  Lin Fu; Shun'ichi Kaneko; Takayuki Tanaka
  OPTOMECHATRONIC SENSORS, INSTRUMENTATION, AND COMPUTER-VISION SYSTEMS, 6375, 2006, [Peer-reviewed]
  English, International conference proceedings
• Expansion of Measuring Range of Binocular Stereovision System Based On Mono-MoCap
  Hidenori Takahashi; Takayuki Tanaka; Shun'ichi Kaneko
  OPTOMECHATRONIC SENSORS, INSTRUMENTATION, AND COMPUTER-VISION SYSTEMS, 6375, 2006, [Peer-reviewed]
  English, International conference proceedings
• Integral Ultrasonic Muscle Activity Sensor for Detecting Human Motion
  T. Koyama; T. Tanaka; S. Kaneko; S. Moromugi; M.Q. Feng
  2005 IEEE International Conference on Systems, Man and Cybernetics, 2, 1669, 1674, IEEE, Oct. 2005, [Peer-reviewed]
  English, International conference proceedings
• Soft Sensor Suits as Man-Machine Interface for Wearable Power Amplifier
  Y. Suzuki; S. Moromugi; T. Tanaka; S. Kaneko; M.Q. Feng
  2005 IEEE International Conference on Systems, Man and Cybernetics, 2, 1680, 1685, IEEE, Oct. 2005, [Peer-reviewed]
  English, International conference proceedings
• Robust Tagging in Strange Circumstance
  TAKAUJI Hidenori; KANEKO Shun'ichi; TANAKA Takayuki
  IEEJ Transactions on Electronics, Information and Systems, 125, 6, 926, 934, The Institute of Electrical Engineers of Japan, 01 Jun. 2005
  Japanese, This paper aims to propose a new scheme for robust tagging for landmark definition in unknown circumstance using some qualitative evaluations based on Orientation code representation and matching which has been proposed for robust image registration even in the presence of change in illumination and occlusion. Necessary characteristics for effective tags: richness, similarity, and uniqueness, are considered in order to design an algorithm for tag detection. These qualitative considerations can be utilized to design simple and robust algorithm for tag definition in combination with the robust image registration algorithm.
• Duplex ultrasonic muscle activity sensor
  Yoichiro Tsutsui; Takayuki Tanaka; Shun'ichi Kaneko; Maria Q. Feng
  Proceedings of IEEE Sensors, 2005, 310, 313, 2005, [Peer-reviewed]
  English, International conference proceedings
• Efficient template matching algorithm based on interval estimations on correlation
  Takahiro Mae; Shun'ichi Kaneko; Takayuki Tanaka
  Proceedings of SPIE - The International Society for Optical Engineering, 6051, 2005, [Peer-reviewed]
  English, International conference proceedings
• Application of successive test feature classifier to dynamic recognition problems
  Yukinobu Sakata; Shun'ichi Kaneko; Takayuki Tanaka
  Proceedings of SPIE - The International Society for Optical Engineering, 6051, 2005, [Peer-reviewed]
  English, International conference proceedings
• Joint torque and angle estimation by using ultrasonic muscle activity sensor
  Yoichiro Tsutsui; Takayuki Tanaka; Shun'ichi Kaneko; Maria Q. Feng
  Proceedings of SPIE - The International Society for Optical Engineering, 6049, 2005, [Peer-reviewed]
  English, International conference proceedings
• Self maintenance robot system using physical information learning for mobile robot with visual sensors
  Naohiro Sekiguchi; Takayuki Tanaka; Shun'ichi Kaneko
  Proceedings of SPIE - The International Society for Optical Engineering, 6052, 2005, [Peer-reviewed]
  English, International conference proceedings
• Robust tracking based on orientation code matching under irregular conditions
  Yukiyasu Domae; Shun'ichi Kaneko; Takayuki Tanaka
  Proceedings of SPIE - The International Society for Optical Engineering, 6051, 2005, [Peer-reviewed]
  English, International conference proceedings
• A fast tag searching method based on orientation code entropy and density
  Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka
  Proceedings of SPIE - The International Society for Optical Engineering, 6051, 2005, [Peer-reviewed]
  English, International conference proceedings
• Fast and robust rotation-invariant search by using orientation code difference histogram
  Takahiro Urano; Shun'ichi Kaneko; Takayuki Tanaka
  Proceedings of SPIE - The International Society for Optical Engineering, 6051, 2005, [Peer-reviewed]
  English, International conference proceedings
• Motion capture for human motion measuring by using single camera with triangle markers
  Hidenori Takahashi; Takayuki Tanaka; Shun'ichi Kaneko
  Proceedings of SPIE - The International Society for Optical Engineering, 6049, 2005, [Peer-reviewed]
  English, International conference proceedings
• Auto-calibration system, of EMG sensor suit
  Yousuke Suzuki; Takayuki Tanaka; Maria Q. Feng
  Proceedings of SPIE - The International Society for Optical Engineering, 6049, 2005, [Peer-reviewed]
  English, International conference proceedings
• MEMS and fiber optics sensor-based wearable interface for medical applications
  Y Fukuda; T Tanaka; MQ Feng; T Ishimatsu
  2005 IEEE SENSORS, VOLS 1 AND 2, 814, 817, 2005, [Peer-reviewed]
  English, International conference proceedings
• Learning of body sense and body image for mobile robot with visual sensors
  N Sekiguchi; T Tanaka; S Kaneko
  2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, 2005 Vol.2, 1269, 1274, 2005
  English, International conference proceedings
• Muscle Stiffness Sensor to Control Assisting Device for the Disabled
  Shunji Moromugi; Yasuhiro Koujina; Seigo Ariki; Akira Okamoto; Takayuki Tanaka; Maria Q. Feng; Takakazu Ishimatsu
  Journal of Artificial Life and Robotics, 8, 1, 42, 45, Jan. 2004, [Peer-reviewed]
  English, Scientific journal
• Torque Estimation Using Ultrasonic Muscle Activity Sensor(Power Assist and Nursing 2,Session: TP1-C)
  Tsutsui Yoichiro; Tanaka Takayuki; Suzuki Yosuke; Feng Maria Q.
  The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2004, 48, 48, The Japan Society of Mechanical Engineers, 2004
  English
• Smart power suit with variable stiffness mechanism
  T Hayashi; T Tanaka; MQ Feng
  RO-MAN 2004: 13TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS, 637, 642, 2004, [Peer-reviewed]
  English, International conference proceedings
• Using orientation code matching for robust landmark definition and verification
  H Takauji; S Kaneko; T Tanaka
  MACHINE VISION AND ITS OPTOMECHATRONIC APPLICATIONS, 5603, 71, 80, 2004, [Peer-reviewed]
  English, International conference proceedings
• 介護用装着型ヒューマンアシストロボットの開発とアシスト効果向上のための制御系設計 (特集「ウェアラブル・フルードアクチュエータの実現性」)
  小山 猛; 田中 孝之
  フルードパワーシステム, 34, 5, 128, 133, 日本フルードパワーシステム学会, Sep. 2003
  Japanese
• Fibrous Optical Actuator Containing Photochromic Molecules
  Takayuki Tanaka; Naoto Yamagishi; Ryujiro Mitsui; Takashi Kawamura
  Journal of Robotics and Mechatronics, 15, 2, 172, 177, Apr. 2003, [Peer-reviewed]
  English, Scientific journal
• Soft Power Suit for Knee Motion Assistance
  S. Moromugi; Y. Koujina; S. Ariki; T. Tanaka; M. Q. Feng; T.Ishimatsu
  International Journal of Human-friendly Welfare Robotic Systems, 4, 4, 13, 19, 2003, [Peer-reviewed]
  English, Scientific journal
• Interaction among human, machine and patient with work state transition
  T Koyama; T Tanaka; K Tanaka; MQ Feng
  2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2362, 2367, 2003, [Peer-reviewed]
  English, International conference proceedings
• Ultrasonic sensor disk for detecting muscular force
  T Tanaka; S Hori; R Yamaguchi; MQ Feng; S Moromugi
  RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS, 291, 295, 2003, [Peer-reviewed]
  English, International conference proceedings
• Subjective Evaluation of Operating Feeling in a Haptic Interface
  KANAMORI Naoki; TANAKA Takayuki; TANAKA Kazuo
  Transactions of the Japan Society of Mechanical Engineers. Series C., 68, 669, 1467, 1473, The Japan Society of Mechanical Engineers, 25 May 2002
  Japanese, This paper addresses subjective evaluation for operating feeling in a haptic interface. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three-pattern classification is also investigated by the semantic differential method and factor analysis.
• Principle of Stable Running of An Unicycle Robot, Journal of Robotics and Mechatronics
  Takayuki Tanaka; Hisanobu Suzuki; Kazuo Tanaka
  Journal of Robotics and Mechatronics, 14, 1, 37, 45, Feb. 2002, [Peer-reviewed]
• Evaluation method of man-machine system based on muscular characteristic
  Takeshi Koyama; Takayuki Tanaka; Kazuo Tanaka; Maria Q. Feng
  Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 71, 76, 2002, [Peer-reviewed]
  English, International conference proceedings
• Rights to Intellectual Property on R&D Results Conducted at University
  Kazuo Yamafuji; Takayuki Tanaka
  Journal of Robotics and Mechatronics, 13, 1, 101, 106, 2001, [Peer-reviewed]
• New Biological Real-time Pattern Extraction Emulating Fly's Behavior
  Takayuki Tanaka; Kazuo Yamafuji; Yasunori Yamazaki
  Journal of Robotics and Mechatronics, 13, 1, 68, 73, 2001, [Peer-reviewed]
• Mechanical modeling and control of wearable nursing care robot
  T Koyama; MQ Feng; T Tanaka
  INTEGRATION OF ASSISTIVE TECHNOLOGY IN THE INFORMATION AGE, 9, 227, 234, 2001, [Peer-reviewed]
  English, International conference proceedings
• Principle of Cat-Turn Motion and Realization of Cat-Turning by a Robot with Vertebrate-Type Backbones Driven by Rubber Actuators
  International Journal of Mechanics and Control, 1, 1, 19, 34, 2001
• Wearable Human-Assising System for Nursing Use (1st Report, Concepts, Design of System and Development of a Prototype)
  KOYAMA Takeshi; YAMAFUJI Kazuo; TANAKA Takayuki
  Transactions of the Japan Society of Mechanical Engineers. Series C., 66, 651, 3679, 3684, The Japan Society of Mechanical Engineers, 25 Nov. 2000
  Japanese, In order to care bed-bound and disabled people without charging both patients and nurses with physical and mental stress, we have developed a robotic prototype of a human-assisting system, called the Human-Assisting RObot (HARO). It is requested that patients enjoy their daily life and cares without giving physical and mental burdens to nursing people. There are two ways to care the patients. One is to conduct the cares by an intelligent robot autonomously, another is to be performed by a human-assisting system. Since we believe it is necessary to combine humman's cognitive capability and robot's power, we have developed a robotic prototype of a human-assisting system as a wearable power assisting system including human's intention, skill and cognition. In this paper, the concepts based on the practical experiences of care, system design, developed robot and the exprimental results are described.
• Wearable Human Assisting Robot for Nursing Use
  Takeshi Koyama; Maria Q. Feng; Takayuki Tanaka
  Machine Intelligence and Robotic Control, 2, 4, 163, 168, 2000, [Peer-reviewed]
  English, Scientific journal
• Development of a robotic system which assists unmanned production based on cooperation between off-line robots and on-line robots. Part 3. Development of an off-line robot, autonomous navigation, and detection of faulty workpieces in a vibrating parts feeder
  H. Z. Yang; K. Yamafuji; T. Tanaka; S. Moromugi
  International Journal of Advanced Manufacturing Technology, 16, 8, 582, 590, Springer-Verlag London Ltd., 2000, [Peer-reviewed]
  English, Scientific journal
• New biological real-time pattern extraction method emulating fly's behavior
  Takayuki Tanaka; Kazuo Yamafuji
  IECON Proceedings (Industrial Electronics Conference), 1, 1237, 1242, IEEE Computer Society, 2000, [Peer-reviewed]
  English, International conference proceedings
• Improvement of Maneuverability of the Man-Machine System for Wearable Nursing Robots
  Satoki Morishita; Takayuki Tanaka; Kazuo Yamafuji; Naoki Kanamori
  Journal of Robotics and Mechatronics, 11, 6, 461, 467, Dec. 1999, [Peer-reviewed]
  English, Scientific journal
• Development of Intelligent Mobile Robot for Service Use (3rd Report, Biological Real-time Pattern Extraction Method Emulating Fly's Behavior and its Application to Hand-Eye System)
  TANAKA Takayuki; OHWI Junji; YAMAFUJI Kazuo
  Transactions of the Japan Society of Mechanical Engineers. Series C., 65, 629, 146, 153, The Japan Society of Mechanical Engineers, 25 Jan. 1999
  Japanese, We have developing an intelligent mobile robot for service use which can be utilized as a "secretary or helper robot" during the day and "security guard or maintenance including floor-cleaning robot" at night in office buildings. When the service robot works or moves autonomously in an enviromnent including human beings, it should be able to recognize its environment on real time. In this paper, new biological object extraction method is developed. In order to extract objects from a frame image taken by a camera, many Virtual Flies (VFs) scattered in the CRT display are utilized. An individual VF composed of 3×3 pixels can freely fly in the display. Fundamental object extraction method is to detect objects just like flies sensing foods and swarming around them. Methodology and experimental results together with its application of Hand-Eye system using a robot manipulator are described in detail.
• Development of Intelligent Mobile Robot for Service Use (2nd Report, Self Position Detection System Using a Visual Sensor)
  TANAKA Takayuki; YAMAFUJI Kazuo; WATANABE Hiroki; KATAE Takeshi
  Transactions of the Japan Society of Mechanical Engineers. Series C., 64, 628, 4702, 4709, The Japan Society of Mechanical Engineers, Dec. 1998
  Japanese, We have developing an intelligent mobile robot for service use which can be utilized as a "secretary or helper robot" in day time and "security guard or maintenance including floor-cleaning robot" in night in office buildings. Since the service robot works or moves autonomously living together with human being in office environments, it must be able to recognize its absolute position and environment. In this paper, we proposed two types of self positioning method based on a visual sensor. One is the global self positioning (GSP) which is realized by recognition of a room number plate. The another is Iocal self positioning (LSP) in which the position is calculated by the relation between the robot and three lighting landmarks, such as two exit lamps and a fire hydrant lamp in corridors. Experimental results show that proposed methods are very effective in self positioning for the autonomous mobile robot.
• Unattended Production Based on Cooperation between Offline and Online Robot
  Journal of Robotics and Mechatronics, 10, 6, 538, 541, 1998
• Soft computing algorithms for intelligent control of a mobile robot, Part 2: Path planning, navigation and technology operations
  T. Tanaka; J. Ohwi; L.V. Litvintseva; K. Yamafuji; S.V. Ulyanov
  Soft Computing, 1, 2, 99, 106, Jun. 1997, [Peer-reviewed]
  English, Scientific journal
• Soft computing algorithms for intelligent control of a mobile robot, Part 1: Direct human-robot communications and managing system for cooperative control
  T. Tanaka; J. Ohwi; L.V. Litvintseva; K. Yamafuji; S.V. Ulyanov
  Soft Computing, 1, 2, 88, 98, Jun. 1997, [Peer-reviewed]
  English, Scientific journal
• Development of Intelligent Mobile Robot for Service Use (1st Report, Adjustiing-to-Environment Type Autonomous Locomotion System)
  TANAKA Takayuki; YAMAFUJI Kazuo; TAKAHASHI Hidenori
  Transactions of the Japan Society of Mechanical Engineers. Series C., 63, 605, 211, 218, The Japan Society of Mechanical Engineers, 25 Jan. 1997
  Japanese, We have developed an intelligent mobile robot for service use, which can be utilized as a "secretary-or helper-robot" by daytime and "robot for security guard or maintenance including floor cleaning" by night in office buildings. An autonomous locomotion control system of this service robot is organized by four functions, i.e., path planning, recognition of absolute position, locomotion control and learning navigation controller. In this paper, in order to move more appropriately and smoothly in environments including human beings and obstacles, we have examined the learning function by means of fuzzy neural network which tunes up membership functions for fuzzy locomotion control. By this method, the intelligent robot can learn the moving area autonomously. Results obtained by computer simulation show that the proposed method is very useful for autonomous locomotion control of the intelligent robot.
• Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms
  Takayuki Tanaka; Junji Ohwi; Ludmila V. Litvintseva; Kazuo Yamafuji; Sergei V. Ulyanov
  Journal of Robotics and Mechatronics, 8, 6, 538, 554, Dec. 1996, [Peer-reviewed]
  English, Scientific journal
• A mobile robot for service use: Behaviour simulation system and intelligent control.
  T Tanaka; J Ohwi; LV Litvintseva; K Yamafuji; SV Ulyanov; Kurawaki, I
  IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 366, 371, 1996, [Peer-reviewed]
  English, International conference proceedings
• Intelligent control of technology operations robot of service use with manipulator
  T Tanaka; Y Kojima; J Ohwi; K Yamafuji; SV Ulyanov
  RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, 170, 176, 1996, [Peer-reviewed]
  English, International conference proceedings
• Intelligent Control of Mobile Robot for Service Use
  International Journal of Software and Systems, 3, 35, 43, 1996
• Intelligent fuzzy motion control of mobile robot for service use
  S.V. Ulyanov; K. Yamafuji; K. Miyagawa; T. Tanaka; T. Fukuda
  Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, IEEE Comput. Soc. Press, Aug. 1995, [Peer-reviewed]
  International conference proceedings

• 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, 30th, 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, 30th, 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, 30th, 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
• 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, 67, 1, 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, 57th, 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, 57th, 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, 57th, 2025
• Special Issue on Robotics and Mechatronics Technology for Sports, Exercise, and Health Care (Part 1)
  Takayuki Tanaka; Takashi Kawamura; Shunji Moromugi; Yuichi Kurita; Akihiko Murai, JOURNAL OF ROBOTICS AND MECHATRONICS, 36, 4, 799, 800, Aug. 2024
  English, Others
• 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), 25th, 2024
• Inverse Kinematics Network for Human Posture Estimation Using First-Person Video
  菱川祐也; 日下聖; 田中孝之; 田中吉史; 白倉尚樹; 山野辺夏樹; 堂前幸康; RAMIREZ-ALPIZAR Ixchel Georgina; CORONADO Enrique; 遠藤維; 多田充徳; 宮田なつき, 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
• 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), 25th, 2024
• Robust SLAM against Environmental Changes by Fusion of Cyber Space and Physical Space
  新田靖周; 日下聖; 田中吉史; 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), 25th, 2024
• Proposal of a Fetal Movement Detection Method Using Fetal Echo-Video
  的場遥佳; 日下聖; 島谷康司; 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), 25th, 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, 56th, 2024
• Visualization of Electromagnetic Radar Exterior Wall Inspection Results Using MR Devices
  田畑郁弥; 田中孝之; 日下聖, 建設ロボットシンポジウム論文集(CD-ROM), 22nd, 2024
• Assessing Reliability Using Model-Based Analysis Based on Electromagnetic Radar Exterior Wall Inspection Method
  北浦佳英奈; 田中孝之; 日下聖; 大野湧人; 堀居令奈; 本田匠, 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), 2024, 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, 日本ロボット学会学術講演会予稿集(CD-ROM), 42nd, 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, 66, 1, 2024
• 「軽労化」の深耕 : 作業員の身体能力評価と安全意識改革、および労災リスク調査
  田中 吉史; 田中 孝之; 土谷 圭央, 建設機械 / 建設機械編集委員会 編, 59, 6, 51, 60, Jun. 2023
  日本工業出版, Japanese
• 運動力学・筋活動解析に基づく体幹捻転動作の力学的解釈の試み
  中前俊祐; 田中孝之; 村井昭彦; 日下聖, バイオメカニズム学術講演会講演予稿集(CD-ROM), 44th, 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
• 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), 41st, 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), 41st, 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), 24th, 2023
• 残存機能を活用した新たな立ち座り動作支援機器の有効性検証
  土谷圭央; 三上隼人; 田中孝之; 和田親宗, 日本ロボット学会学術講演会予稿集(CD-ROM), 40th, 2022
• 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
• 建設労働者の腰痛症に着目した身体能力と腰部負担の調査
  土谷圭央; 早坂将太郎; 田中吉史; 田中孝之, 産業衛生学雑誌, 64, 1, 2022
• Lumbar disc pressure change analysis by L5-L4 disc shape using FEM
  藤田亘; 土谷圭央; 吉田道拓; 田中孝之, ロボティクスシンポジア予稿集, 27th, 2022
• 筋硬さセンサを用いた腹横筋活動計測による間接的骨盤底筋トレーニング
  鈴木星斗; 田中孝之; 島谷康司; 板橋陽子; 栗田雄一, バイオメカニズム学術講演会講演予稿集(CD-ROM), 42nd, 2021
• 超人スポーツ・グランドチャレンジ 2020
  持丸 正明; 村井 昭彦; 田中 孝之; 栗田 雄一; 南澤 孝太; 稲見 昌彦, バイオメカニズム学会誌, 45, 2, 80, 83, 2021
  超人スポーツとは，人間の身体能力を補綴・拡張する人間拡張工学に基づき，人の身体能力を超える力を身につけ「人を超える」，あるいは年齢や障碍などの身体差により生じる「人と人のバリアを超える」ことによって生み出される新しいスポーツ競技である．拡張された超人同士がテクノロジーを自在に乗りこなし，競い合う「人機一体」の新たなスポーツを創造することを目指している．さらなる「人機一体」の技術の開発に向け，競技者同士が同一の技術（道具）を用い，その使いこなし方や身体能力，戦略で競い合う超人スポーツ競技ではなく，最先端の人間拡張工学と身体能力を競技者同士が自在に開発，適用して，独自技術と身体能力で競い合い，記録に挑戦するかたちの競技を新たに創り出すという目的で，3 つのグランドチャレンジを設定し，2020 年度の第 1 回グランドチャレンジを実施した．, バイオメカニズム学会, Japanese
• Modeling of running augmentation based on 3D SLIP model
  北川雅基; 田中孝之; 村井昭彦; REN H., 計測自動制御学会北海道支部学術講演会論文集, 53rd, 2021
• SLIPモデルを用いた走行拡張シミュレータ構築のための基礎研究
  北川雅基; 田中孝之; 村井昭彦; 村井昭彦, バイオメカニズム学術講演会予稿集, 42nd (CD-ROM), 2021
• Consideration about improvement of the lumbar burden reduction by the individualized dynamic tightening force control of Active Corset
  吉田道拓; 田中孝之; 土谷圭央; 金子勇斗, ロボティクスシンポジア予稿集, 26th (CD-ROM), 2021
• 骨盤底筋群活動と運動イメージの関係
  板橋陽子; 島谷康司; 田中孝之, 母性衛生, 62, 3, 2021
• Evaluation of Running Assist with Trunk and Pelvic Rotation Assist Based on Enhanced SLIP Model
  橋本光太郎; 田中孝之; REN Hongyuan; 村井昭彦; 村井昭彦, ロボティクスシンポジア予稿集, 25th, 2020
• グランドチャレンジ3競技
  村井昭彦; 田中孝之; 栗田雄一; 南澤孝太; 持丸正明, バイオメカニズム学術講演会予稿集, 41st, 2020
• -Stress analysis using X-ray images of front and rear bending postures for developing a lumbar physical model-
  FUJITA Wataru; TSUCHIYA Yoshio; TANAKA Takayuki; YOSHIDA Michihiro, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, 0, 1P2, F14, 2020
  

  Low back pain is a serious problem in Japan, so analysis of lumber load is needed. The conventional analysis method is an invasive analysis, and a non-invasive and safe analysis method is required. The purpose of this study is to make a physical model of L4-L5 vertebral body from radiographs and to estimate the lumbar load from the model. Five X-ray images of the upper body angle, standing postures, and backward bending were taken for each subject, and a three-dimensional model of the L4-L5 vertebral body was created. FEM analysis was performed using the model created, and the load acting on the intervertebral disc during the photographed postures ware measured. The results were evaluated for each of the four subjects to measure individual differences. Based on these results, we approached the lumbar load analysis using a physical model, which is the goal of this study.

  , The Japan Society of Mechanical Engineers, Japanese
• 腰部負担軽減のためのアクティブコルセット
  田中 孝之; 吉田 道拓; 金子 勇斗; 土谷 圭央, 産業衛生学雑誌, 61, 5, 243, 243, Sep. 2019, [Peer-reviewed]
  (公社)日本産業衛生学会, Japanese
• スライディングボードを活用したchair sitting positionによる移乗介助方法の検討
  岸村 厚志; 土谷 圭央; 田中 孝之; 佐伯 大輔; 飛田 伊都子, 日本作業療法学会抄録集, 53回, PL, 1D06, Sep. 2019, [Peer-reviewed]
  (一社)日本作業療法士協会, Japanese
• 自己位置推定誤差を考慮した作業履歴に基づく作業認識
  勝長達平; 田中孝之; 新妻実保子, 知能メカトロニクスワークショップ講演論文集(CD-ROM), 24th, 2019
• 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, 60, 3, 82, 83, May 2018, [Peer-reviewed]
  (公社)日本産業衛生学会, Japanese
• 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, 2P1-L18, 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., The Japan Society of Mechanical Engineers, Japanese
• 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, 2P2-M14, 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., The Japan Society of Mechanical Engineers, Japanese
• 骨盤底筋活動解析のための筋骨格モデルの形状個別適合
  若生 知宏; 田中 孝之; 島谷 康司; 栗田 雄一; 飯田 忠行, 精密工学会学術講演会講演論文集, 2018, 0, 688, 689, 2018
  

  腹圧性尿失禁は女性の典型的なQOL疾患である．予防には骨盤底筋（PFM）の強化が有効であるが，筋活動に個人差が大きく，それを考慮したトレーニングが望まれる．骨盤アライメントはこの個人差の一因となるため，計測する必要がある．現在はレントゲン計測が主流だが，被爆などの問題がある．本研究では，これを解決するため，歩行動作から骨盤アライメントを推定する方法を提案する．推定の結果，残差を2[deg]程度に抑えることができた．

  , 公益社団法人 精密工学会, Japanese
• Preface to Special Issue on System Integration for Promoting Multidisciplinarity and Social Implementation
  KAWABATA Kuniaki; TANAKA Takayuki; KURITA Yuichi; SHIMA Keisuke; WADA Kazuyoshi, Transactions of the Society of Instrument and Control Engineers, 54, 1, 1, 1, 2018
  The Society of Instrument and Control Engineers, Japanese
• 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), 18th, ROMBUNNO.3D2‐10, 20 Dec. 2017
  Japanese
• 姿勢コードを用いた作業認識支援手法
  宮島沙織; 下山慧; 田中孝之; 泉博之; 宮田なつき, 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), 18th, ROMBUNNO.3D2‐09, 20 Dec. 2017
  Japanese
• 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, 38回, 85, 88, Nov. 2017
  バイオメカニズム学会, Japanese
• 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), 35th, ROMBUNNO.3G1‐01, 11 Sep. 2017
  Japanese
• 日常生活動作での個別筋力トレーニングのための骨盤筋骨格モデルの設計
  若生知宏; 田中孝之; 島谷康司; 土谷圭央, 日本ロボット学会学術講演会予稿集(CD-ROM), 35th, ROMBUNNO.1D2‐03, 11 Sep. 2017
  Japanese
• 作業中における負担感と作業動作の同時計測
  宮島沙織; 田中孝之; 泉博之; 宮田なつき; 多田充徳; 持丸正明, 産業保健人間工学研究, 19, Supplement, 39‐42, 04 Sep. 2017
  Japanese
• マイクロ波多層走査法によるコンクリート内空隙検出
  田中孝之; 川瀧翔太郎; 土井暁; 内田茂; FENG Maria Q, 建設ロボットシンポジウム論文集(CD-ROM), 17th, ROMBUNNO.O4‐5, 28 Aug. 2017
  Japanese
• 着脱性の向上をはかった漁業用軽労化支援スーツの試作
  高橋秀行; 田丸修; 土谷圭央; 田中孝之, 日本水産工学会学術講演会講演論文集, 2017, 172‐175, 27 May 2017
  Japanese
• 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), 2017, ROMBUNNO.2P2‐K02, K02, 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.

  , The Japan Society of Mechanical Engineers, Japanese
• 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), 2017, ROMBUNNO.1P1‐L11, L11, 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.

  , The Japan Society of Mechanical Engineers, Japanese
• 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), 2017, ROMBUNNO.2P2‐J06, J06, 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.

  , The Japan Society of Mechanical Engineers, Japanese
• 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, 22nd, 271‐272, 15 Mar. 2017
  Japanese
• Smart Suit: KEIROKA assistive suit
  田中孝之, 日本AEM学会誌, 25, 1, 17‐23, 10 Mar. 2017
  Japanese
• Motion-tracking skill assist and power assist for sinusoidal motions with a semi-active assist mechanism using energy control
  KUSAKA Takashi; TANAKA Takayuki; KAJIWARA Hidekazu, ROBOMECH Journal (Web), 4, Jan, 4:2 (WEB ONLY), Jan. 2017
  English
• 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, 37回, 157, 160, Nov. 2016, [Peer-reviewed]
  バイオメカニズム学会, Japanese
• Discussion about suitable support for the wearable work support tools
  泉 博之; 田中 孝之, 産業保健人間工学研究 = Journal of ergonomics in occupational safety and health, 18, 22, 24, Sep. 2016
  産業保健人間工学会, Japanese
• スマートスーツによる作業の軽労化支援
  田中孝之, 配管技術, 58, 6, 72, 76, 01 May 2016
  日本工業出版, Japanese
• 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, 21st, 117, 122, 17 Mar. 2016
  Japanese
• 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, 21st, 476, 481, 17 Mar. 2016
  Japanese
• デジタルヒューマンモデルを用いた作業負担推定のための体表面形状解析に基づく慣性センサ最適配置
  宮島沙織; 田中孝之; 宮田なつき; 多田充徳; 持丸正明, ロボティクスシンポジア予稿集, 21st, 350, 355, 17 Mar. 2016
  Japanese
• Wearable Logging System of Work Load for Improvement of Operation
  田中孝之; 宮島沙織; 泉博之, 電気学会制御研究会資料, CT-16, 6-16, 23, 24, 23 Jan. 2016
  Japanese
• 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, CT-16, 6-16, 33, 34, 23 Jan. 2016
  Japanese
• 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, 1P1-12b2, 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., The Japan Society of Mechanical Engineers, Japanese
• SEnS: Sensorimotor Enhancing Suit that Improves Sensorimotor Performance:- Assistive suit for Laparoscopic Surgery -
  KURITA Yuichi; KOIKE Yuki; TANAKA Takayuki; TSUJI Toshio, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2016, 0, 1A1, 02b4, 2016
  

  We have developed the Sensorimotor Enhancing Suit (SEnS) and revealed that the SEnS can unload the load of one's upper limb and then improve the force perception capability. In this study, we develop a new version of SEnS for a laparoscopic surgery. The SEnS for the laparoscopic surgery was designed to unload the muscle effort around one's shoulder, and it also helps to maintain the appropriate posture for the surgery. We measured smoothness of motions during forceps manipulations when wearing the SEnS. The experimental results show that the SEnS can improve the smoothness of motions.

  , The Japan Society of Mechanical Engineers, Japanese
• 頭部形状と骨格構造を考慮した上向き作業軽労化ネックサポータの評価
  青山慎一郎; 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, 48th, 53, 56, 2016
  Japanese
• マイクロ波非破壊検査によるコンクリート内空隙検出の基礎研究
  川瀧翔太郎; 田中孝之; 土井暁; 内田茂; FENG Maria Q, 計測自動制御学会北海道支部学術講演会論文集, 48th, 79, 80, 2016
  Japanese
• セミアクティブ筋力トレーニングスーツの負荷制御系設計
  中野直樹; 田中孝之; 野村英史; 神山慶人; 渡部靖之, 計測自動制御学会北海道支部学術講演会論文集, 48th, 57, 60, 2016
  Japanese
• Mechatronics for Power Assist System
  TANAKA Takayuki; TAKESUE Naoyuki, Journal of the Society of Mechanical Engineers, 119, 1166, 40, 41, 2016
  The Japan Society of Mechanical Engineers, Japanese
• 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), 2015, ROMBUNNO.SS18-5(O1-2), 18 Nov. 2015
  Japanese
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第三報:関節位置覚に対する影響―
  栗田雄一; 佐藤純平; 辻敏夫; 田中孝之; 篠原稔, 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM), 2015, ROMBUNNO.SS13-1, 18 Nov. 2015
  Japanese
• パワーアシストは労働力不足の救世主になるか 動力なしで,ゴムの力を利用した軽労化スーツ「スマートスーツ」
  TANAKA TAKAYUKI, 建設機械, 51, 10, 17, 20, 01 Oct. 2015
  日本工業出版, Japanese
• 簡易動作計測に基づくスマートスーツの軽労化効果の見積もり
  田中孝之; 宮島沙織; 今村由芽子, 建設ロボットシンポジウム論文集(CD-ROM), 15th, ROMBUNNO.P2-15, 07 Sep. 2015
  Japanese
• セミアクティブ負荷制御機構をもつ微小重力下筋力トレーニングスーツ
  田中孝之; 中野直樹; 野村英史; 神山慶人, 日本ロボット学会学術講演会予稿集(CD-ROM), 33rd, ROMBUNNO.2C1-04, 03 Sep. 2015
  Japanese
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第二報:両腕の補助が可能なスーツの開発―
  栗田雄一; 小池祐輝; 田中孝之; 辻敏夫, 日本ロボット学会学術講演会予稿集(CD-ROM), 33rd, ROMBUNNO.2A2-04, 03 Sep. 2015
  Japanese
• 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), 33rd, ROMBUNNO.1I3-08, 03 Sep. 2015
  Japanese
• 装着型作業支援装置の現状と課題 軽労化を実現するスマートスーツ
  TANAKA TAKAYUKI, 福祉介護テクノプラス, 8, 6, 10, 13, 01 Jun. 2015
  日本工業出版, Japanese
• 漁業用軽労化支援スーツの改良―2 改良型スーツの評価試験
  高橋秀行; 田中孝之; 今村由芽子; 前田大輔; 吉成哲; 江森浩司; 鈴木善人, 日本水産工学会学術講演会講演論文集, 2015, 117, 118, 29 May 2015
  日本水産工学会, Japanese
• 漁業用軽労化支援スーツの改良―1 新たな腰部支持機構を搭載したスーツの試作
  TAKAHASHI HIDEYUKI; TANAKA TAKAYUKI; IMAMURA YUMEKO; MAEDA DAISUKE; YOSHINARI SATOSHI; EMORI HIROSHI; SUZUKI YOSHIHITO, 日本水産工学会学術講演会講演論文集, 2015, 113, 116, 29 May 2015
  日本水産工学会, Japanese
• 2A1-N06 Robot Contest Produce Competition 2014
  TANAKA Takayuki; KAWAMURA Takashi; OHTAKE Hiroshi; KOYAMA Takeshi; MURAKAMI Hiroki, ロボティクス・メカトロニクス講演会講演概要集, 2015, "2A1, N06(1)"-"2A1-N06(3)", 17 May 2015
  This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2014 is also reported as an embodiment., The Japan Society of Mechanical Engineers, Japanese
• 1A1-K02 Fast and Low-cost Calculation of Arctangent by Residual Correction Method for Embedded Systems
  KUSAKA Takashi; TANAKA Takayuki; KAJIWARA Hidekazu, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1A1, K02(1)"-"1A1-K02(4)", 17 May 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., The Japan Society of Mechanical Engineers, Japanese
• 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, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1, X05(1)"-"1P1-X05(2)", 17 May 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., The Japan Society of Mechanical Engineers, Japanese
• 1P1-W05 Simulation of Effect by Assist Device based on Motion Measurement Using Multiple Inertia Sensors
  MIYAJIMA Saori; TANAKA Takayuki; IMAMURA Yumeko; KUSAKA Takashi, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1, W05(1)"-"1P1-W05(3)", 17 May 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., The Japan Society of Mechanical Engineers, Japanese
• 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, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1, X04(1)"-"1P1-X04(4)", 17 May 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., The Japan Society of Mechanical Engineers, Japanese
• 動作解析に基づく人-ロボットの機能の対応付けによる生産ライン設計支援手法の一提案
  若杉素秋; 田中孝之; 堂前幸康, 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), 2015, 2015
• F113002 Smart Suit: KEIROKA Assistive Tool
  TANAKA Takayuki, The Proceedings of Mechanical Engineering Congress, Japan, 2015, 0, _F113002, 1-_F113002-5, 2015
  KEIROKA[○!R] assistive system is assistive technology which can reduce fatigue or load of human workers and also can keep their physical performance. In this paper, the author describes the concept of KEIROKA assistive system and Smart Suit [○!R] as a concrete example of KEIROKA system. The assistive mechanism of Smart Suit and its design based on information and robot technology (IRT), biomechanics and ergonomics will be mentioned. Usage examples of Smart Suit will be also shown. The application of IRT on KEIROKA assistive system and its future prospects will be remarked., The Japan Society of Mechanical Engineers, Japanese
• G1500303 Evaluation of neck-supporter considering head shape and human skeletal structure
  AOYAMA Shin'ichiro; TANAKA Takayuki, The Proceedings of Mechanical Engineering Congress, Japan, 2015, 0, _G1500303, -_G1500303-, 2015
  Today in construction work, some workers have to do looking-upward works. Looking-upward work for many hours and many times make fatigue on their neck. In addition, the fatigue also affects the daily life as well as work. Therefore we develop neck-supporter for looking-upward work to reduce fatigue. In the conventional research, the fatigue on neck is reduces 40% by wearing neck-supporter. Current research issue is that assist effect is different from the physique of the neck-supporter's wearer. To solve this problem, we design 4 links statics model to assist their neck ideally considering wearer's physique. As a result of verification of position validity, this model was able to correctly estimate back of the head position. We simulated the assist ratio by using 3-pattern initial attitude degrees. The result was that initial attitude degrees greatly affect assist ratio. Future tasks are looking-upward work experiment to wear neck-supporter and compare the result of experiment to the simulation., The Japan Society of Mechanical Engineers, Japanese
• G1500302 Stabilization of Semi-Active Load Control Mechanism to Smart Suit for Muscle Training
  NAKANO Naoki; TANAKA Takayui; IMAMURA Yumeko; NOMURA Hidefumi; IMAI Shigeru; KAMIYAMA Yoshito; WASEDA Shinpei, The Proceedings of Mechanical Engineering Congress, Japan, 2015, 0, _G1500302, -_G1500302-, 2015
  Astronauts are using huge special machines in order to maintain physical function under the zero-gravity. This research aims to develop the wearable training device to do muscle training under the zero-gravity instead of them. First, we designed motor-unit system and its sensing device to control. Next, we developed Semi-Active Load Control Mechanism to use a PD feedback control method with this device at a constant force. We made an experiment to evaluate the control method, that the force point was moved by hand at a constant speed. But the output force had an unstable vibration component because of discontinuous law and human control. So we designed FIR digital filter and new control method to reduce unstable vibration. By using these methods, we showed the effectiveness through the evaluation experiment., The Japan Society of Mechanical Engineers, Japanese
• 微小重力下におけるセミアクティブトレーニングシステムの研究開発
  野村英史; 神山慶人; 田中孝之; 中野直樹, 宇宙科学技術連合講演会講演集(CD-ROM), 59th, ROMBUNNO.2E14, 2015
  Japanese
• 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, 47th, 1, 2, 2015
  Japanese
• 動作解析に基づく人‐ロボットの機能の対応付けによる生産ライン設計支援手法の一提案
  WAKASUGI MOTOAKI; TANAKA TAKAYUKI; DOMAE YUKIYASU, 計測自動制御学会北海道支部学術講演会論文集, 47th, 11, 14, 2015
  In this research, the way to support to design automated production line by making a correlation between human working and robot's based on analyzing of human motion was developed. It was seen assembling works as the combination of simple motions of work. The motion of work was became segmented by measuring acceleration and angular speed data and acknowledging motions of simple works and transient states them by using Support Vector Machine(SVM).The working within segmented motions was extracted by using Self-Organizing Maps (SOM) and made correlation between human workings and robot's functions. By the medium of them, the basis of the system to derive robot's features for automated production line was developed., The Japan Society of Mechanical Engineers, Japanese
• Wearable Lumbar Load Estimation System for Work Load Evaluation
  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, 0, 68, 71, Nov. 2014
  産業保健人間工学会, Japanese
• Smart Suit : KEIROKA Assistive Technology for Work Support and Its Evaluation
  田中孝之; 今村由芽子; 宮島沙織; 泉博之, 産業保健人間工学研究, 16, 0, 15, 18, Nov. 2014
  産業保健人間工学会, Japanese
• 超高齢社会とVR 高齢社会での社会参加支援のため軽労化技術の研究開発と評価システムの構築
  TANAKA TAKAYUKI; NARA HIROYUKI, 日本バーチャルリアリティ学会誌, 19, 3, 148-151,123(1), 30 Sep. 2014
  Japanese
• 感覚運動機能を向上させるウェアラブルスーツSEnSの評価
  SATO JUMPEI; TANAKA TAKAYUKI; SHINOHARA MINORU; TSUJI TOSHIO; KURITA YUICHI, 日本バーチャルリアリティ学会大会論文集(CD-ROM), 19th, ROMBUNNO.12D-3, 17 Sep. 2014
  Japanese
• Effect of Joint Parameters Identification of Humanoid Robot on Evaluation of Assistive Devices
  AYUSAWA KO; YOSHIDA EIICHI; IMAMURA YUMEKO; TANAKA TAKAYUKI, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd, ROMBUNNO.1A3-03, 04 Sep. 2014
  English
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS
  KURITA YUICHI; SATO JUNHEI; TANAKA TAKAYUKI; SHINOHARA MINORU; TSUJI TOSHIO, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd, ROMBUNNO.2Q2-04, 04 Sep. 2014
  Japanese
• 上向き作業軽労化のためのネックサポータの開発
  AOYAMA SHIN'ICHIRO; TANAKA TAKAYUKI, 建設ロボットシンポジウム論文集(CD-ROM), 14th, 287, 292, 28 Aug. 2014
  Japanese
• かつお釣漁業の漁獲物陸揚げ作業における軽労化支援スーツの効果について―1.漁業用軽労化支援スーツの試作
  TAKAHASHI HIDEYUKI; WATANABE KAZUTOSHI; TANAKA TAKAYUKI; NAKAJIMA YASUNARI; SUZUKI YOSHIHITO, 日本水産工学会学術講演会講演論文集, 2014, 165, 166, 31 May 2014
  Japanese
• かつお釣漁業の漁獲物陸揚げ作業における軽労化支援スーツの効果について―2.漁業用軽労化支援スーツの評価試験
  TAKAHASHI HIDEYUKI; TANAKA TAKAYUKI; NAKAJIMA YASUNARI; SUZUKI YOSHIHITO, 日本水産工学会学術講演会講演論文集, 2014, 167, 168, 31 May 2014
  Japanese
• 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, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A2, F08(1)"-"2A2-F08(3)", 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"., The Japan Society of Mechanical Engineers, Japanese
• 3A1-S05 Validation of Passive Power-Assist Device Smart Suit Lite Using Humanoid Robot(Wearable Robotics)
  IMAMURA Yumeko; TANAKA Takayuki; YOSHIDA Eiichi, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3A1, S05(1)"-"3A1-S05(2)", 24 May 2014
  We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite reduces lumbar load by utilizing the elastic force of elastic belts. In this research, we performed basic experiment that evaluates effect of reduction in joint torque by using humanoid robot HRP-4C. The humanoid robot has high reproducibility of the motion, and its joint torques are able to be measured easily. In the result of the experiment, we observed a clear decrease of the lumbar torque when wearing the device during lifting motion. Furthermore, because the correlation were found between the decrement of torque, assist force and joint angle, it was confirmed that the assist mechanism of Smart Suit Lite are realized as designed in terms of joint torques., The Japan Society of Mechanical Engineers, Japanese
• 3A1-S03 Sensor system for the lumbar spine two-dimensional shape estimation using multiple accelerometer and curvature sensors(Wearable Robotics)
  TSUCHIYA Yoshio; Matsuo Yoshikazu; TANAKA Takayuki, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3A1, S03(1)"-"3A1-S03(4)", 24 May 2014
  Anteflexion motion is absolutely necessary when we spend daily life which we carry, snow shoveling, farm work, etc. However, many people have lumbar pain because of anteflexion motion that causes a lumbar disk burden due to changing lumbar shape. For this reason, purpose of this study is make a motion measuring system that can estimate lumbar shape from measuring lumbar skin shape which is change when lumbar shape is change., The Japan Society of Mechanical Engineers, Japanese
• 3A1-S02 Design of Semi-Active Load Control Mechanism to Smart Suit for Muscle Training in space(Wearable Robotics)
  NAKANO Naoki; TANAKA Takayuki; IMAMURA Yumeko; KAWADA Kenichi; IMAI Shigeru; NOMURA Hidefumi; YAMAMURA Yuhei, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3A1, S02(1)"-"3A1-S02(3)", 24 May 2014
  Astronauts are struggling against decrease of physical function, such as muscle atrophy because of long space flight and its weightlessness. Thus today, they are using huge special machines in order to maintain physical function.This research aims to develop wearable training device to do muscle training under the zero-gravity. First, we measured Electromyograph and analysed the muscle activities during conventional barbell training.Next, we developed a simulation model to estimate the muscle activity level which varies with both motion position and and weight load. Using this model, we propose Semi-Active Load Control Mechanism, that enables to give similar training effect to conventional barbell training., The Japan Society of Mechanical Engineers, Japanese
• 3P2-E06 Velocity calibration by analog information presentation using vibration alert interface(Haptic Interface)
  LAI Zhantao; TANAKA Takayuki; SAMPEI Yuki, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3P2, E06(1)"-"3P2-E06(3)", 24 May 2014
  This paper introduces a handy haptic device which informs users about analog information by different vibration. Human's subjective recognition to same stimulus varies from different external condition, so vibration alert interface is effective for information calibration by pulsing different vibration signals. Above all, the author explains the main function, internal components and working environment of Vibration Alert Interface. After, the author supposes a mathematical model to describe relationship between vibrotactile perception and interval period according to associated equations. Then author conducts a series of experiments and verify those assumptions and discover some other property of effective elements of interval period., The Japan Society of Mechanical Engineers, English
• 1P1-R06 Robot Contest Produce Competition 2013(RoboCup and Robot Contest)
  TANAKA Takayuki; KAWAMURA Takashi; OHTAKE Hiroshi, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1P1, R06(1)"-"1P1-R06(3)", 24 May 2014
  This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2013 is also reported as an embodiment., The Japan Society of Mechanical Engineers, Japanese
• パワーアシストシステムの任意点操作におけるインピーダンス修正量の最適化
  SHIBUKAWA FUMIYA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, ロボティクスシンポジア予稿集, 19th, 245, 250, 13 Mar. 2014
  Japanese
• スマートスーツ・ライトの締付力による体幹安定化効果の動作解析とモデル化
  IMAMURA YUMEKO; TANAKA TAKAYUKI; SUZUKI YOSHIHITO; TAKIZAWA KAZUKI; YAMANAKA MASANORI, ロボティクスシンポジア予稿集, 19th, 134, 139, 13 Mar. 2014
  Japanese
• 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, 19th, 239, 244, 13 Mar. 2014
  Japanese
• NEDOの助成で実用化された最新福祉用具紹介 第13回 介護労働の負担と疲労を軽減する「軽労化スーツ」の実用化開発
  TANAKA TAKAYUKI, 地域ケアリング, 16, 1, 52, 55, 12 Jan. 2014
  北隆館, Japanese
• 3A1-S04 KEIROKA-Assistive Suit Using Elastic Composite S-FRP(Wearable Robotics)
  TANAKA Takayuki; IMAMURA Yumeko; YOSHINARI Satoshi; TAKAHASHI Hideyuki, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014, 0, _3A1, S04_1-_3A1-S04_3, 2014
  This paper describes an innovative passive element for assistive device and its application. S-FRP is an elastic composite consisting of FRP and rubber. S-FRP provides restoring force in 3 dimension. A prototype of S-FRP and its basic characteristics are shown. Moreover, a prototype of KEIROKA-assistive suit using S-FRP for supporting back bend motion is developed. The authors show experimental results that the prototype suit can reduce 20% of muscular activations in back bending and stretching motions., The Japan Society of Mechanical Engineers, Japanese
• 3P1-H05 Muscle activation assistive wear that improves force perception performance(Musculoskeletal modeling)
  SATO Jumpei; TANAKA Takayuki; SHINOHARA Minoru; TSUJI Toshio; KURITA Yuichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014, 0, _3P1, H05_1-_3P1-H05_3, 2014
  In this study, we examined (1) weight discrimination capability of human subjects with different muscle load, and (2) sensorimotor capability of human subjects when using a muscle assistive equipment. According to previous studies, humans can sense the intensity of external stimulus more accurately when voluntary muscle activation is less. We developed a three-dimensional musculoskeletal model based on an upper extremity model, and calculated the muscle activity required to keep a posture. We also conducted human experiments and revealed that the weight discrimination capability improves as voluntary muscle activation is less. Based on the experimental results, we developed a muscle assistive equipment that unloads the weight of one's upper limb and evaluated the improvement in the sensorimotor capability when using the equipment. The results show that assisting the muscle load is effective to improve the sensorimotor performance., The Japan Society of Mechanical Engineers, Japanese
• 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
  YOSHIFUJI TAKUTO; TANAKA TAKAYUKI; KUSAKA KIYOSHI, 計測自動制御学会北海道支部学術講演会論文集, 46th, 147, 151, 2014
  Japanese
• Vibration Alert Interfaceを用いた運転支援のための距離感覚アシスト
  SAMPEI YUKI; TANAKA TAKAYUKI; MORI YUKI, 計測自動制御学会北海道支部学術講演会論文集, 46th, 87, 90, 2014
  Japanese
• 上向き作業軽労化のためのネックサポータの開発
  AOYAMA SHIN'ICHIRO; TANAKA TAKAYUKI, 計測自動制御学会北海道支部学術講演会論文集, 46th, 41, 44, 2014
  Japanese
• Development of Weeding Robot for Brewing Vineyards
  SUZUKI SHIN'ICHI; TADA TATSUMI; MITAMURA TOMOYUKI; URAIKE TAKAFUMI; OMURA ISAO; SHIRAHATA MASAKI; UCHIDA TETSUSHI; KANEKO SHUN'ICHI; TANAKA TAKAYUKI; KUWABARA JUN'ICHI; TAKAMATSU MASASHI, 北海道立総合研究機構工業試験場報告, 313, 1, 11, 2014
  Japanese
• ステレオビジョンセンサを用いたぶどう園向け除草ロボットの開発
  OMURA ISAO; MITAMURA TOMOYUKI; URAIKE TAKAFUMI; SUZUKI SHIN'ICHI; TADA TATSUMI; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, 計測自動制御学会北海道支部学術講演会論文集, 46th, 109, 110, 2014
  Japanese
• 任意点操作可能なパワーアシストシステムの操作点インピーダンス修正による操作性向上
  SHIBUKAWA FUMIYA; TANAKA TAKAYUKI, 計測自動制御学会北海道支部学術講演会論文集, 46th, 133, 136, 2014
  Japanese
• アシスト技術評価のための腰部作業負担感覚モデルの作成
  TAKAHASHI KOSUKE; TANAKA TAKAYUKI; NARA HIROYUKI; IMAMURA YUMEKO; KANEKO SHUN'ICHI; YOSHIDA EIICHI, 計測自動制御学会北海道支部学術講演会論文集, 46th, 29, 32, 2014
  Japanese
• Motion Analysis of Trunk Stabilization Effect generated by Smart Suit Lite for Care Work
  IMAMURA Yumeko; TANAKA Takayuki; SUZUKI Yoshihito; TAKIZAWA Kazuki; YAMANAKA Masanori, IEICE technical report. Welfare Information technology, 113, 195, 11, 14, 29 Aug. 2013
  We are developing a compact and lightweight power assist supporter called Smart Suit Lite that utilizes elastic force of elastic belts. It has not only effect of supporting muscles but also effect of stabilizing torso in the similar way as a corset. It is said that the corset increases stiffness of trunk and decrease intradiscal pressure by applying pressure around the pelvis. However this effect is difficult to measure directly and has not utilized actively for power-assist devices. Therefore, this study aims to construct a mechanical model of the trunk stabilizing effect. In this paper, we describe basic experiments evaluating improvement of postural stability by lumbar tightening force., The Institute of Electronics, Information and Communication Engineers, Japanese
• 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, 113, 195, 21, 26, 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., The Institute of Electronics, Information and Communication Engineers, Japanese
• Special Talk : Challenge of Information and Robot Technology on KEIROKA Assistive System
  TANAKA Takayuki, IEICE technical report. Welfare Information technology, 113, 195, 37, 39, 29 Aug. 2013
  KEIROKA[○!R] assistive system is assistive technology which can reduce fatigue or load of human workers and also can keep their physical performance. In this special talk, the author will talk the concept of KEIROKA assistive system and Smart Suit[○!R] as a concrete example of KEIROKA system. The application of information and robot technology on KEIROKA system and its future prospects will be remarked., The Institute of Electronics, Information and Communication Engineers, Japanese
• 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, IEICE technical report. Welfare Information technology, 113, 195, 77, 81, 29 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., The Institute of Electronics, Information and Communication Engineers, Japanese
• Assistive force control of the dairy farming for smart suit with motion recognition
  NARA Hiroyuki; TANAKA Takayuki; KUSAKA Takashi; WAKASUGI Motoaki; YAMAGISHI Takayuki; OGURA Shotaroh, IEICE technical report. Welfare Information technology, 113, 195, 83, 84, 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"., The Institute of Electronics, Information and Communication Engineers, Japanese
• 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, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2P1, C07(1)"-"2P1-C07(2)", 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"., The Japan Society of Mechanical Engineers, Japanese
• 1P1-R12 Investigations of impressions and needs for "KEIROKA technology" in Denmark(Wearable Robotics)
  Shibukawa Fumiya; Takai Hisamitsu; Matumoto Tokuko; Imamura Yumeko; Tanaka Takayuki; Suzuki Yoshito, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1P1, R12(1)"-"1P1-R12(3)", 22 May 2013
  KEIROKA technology to reduce workers fatigues have been proposed. Denmark is one of the best welfare countries. The investigations were conducted to obtain the impressions to "Smart Suit Lite for care givers" from the worker in Denmark. This report shows the results of interviews and questionnaires at hospital, research institute and welfare center. In this investigation, existence of care workers who has back pain in Denmark is confirmed. The needs of prevention to the back pain and KEIROKA technology are also found in Denmark care work field., The Japan Society of Mechanical Engineers, English
• Method of Trajectory Generation of Autonomous Weeding Robot for Weeding in Large Area
  NODA YOSHIKI; TAKAHASHI SATORU; TANAKA TAKAYUKI; KAWABATA KUNIAKI, 電気学会次世代産業システム研究会資料, IIS-13, 7-22, 27, 32, 08 Mar. 2013
  Japanese
• 任意点操作可能な多リンクパワーアシストシステムの操作点インピーダンス修正のための一手法
  渋川文哉; 田中孝之; 金子俊一, 日本ロボット学会学術講演会予稿集(CD-ROM), 31st, 2013
• Editorial: Assistive Technology Based on ICT/IRT for Aged Society.
  Takayuki Tanaka; Yasuhisa Hasegawa; Takanori Miyoshi; Shunji Shimizu; Tohru Ifukube, J. Robotics Mechatronics, 25, 6, 887, 887, 2013
• Correction method based on KI-VPA model for changes in vibratory perception caused by adaptation
  Yuki Mori; Takayuki Tanaka; Shun'Ichi Kaneko, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 8016, 1, 107, 116, 2013, [Peer-reviewed]
  English
• 2P1-A05 Qualitative Evaluation of Effect of Assistive Device by a Humanoid(Humanoid)
  Yoshida Eiichi; Miura Kanako; Kobayashi Yoshiyuki; Endo Yui; Kanehiro Fumio; Homma Keiko; Kajitani Isamu; Matsumoto Yoshio; Tanaka Takayuki, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _2P1, A05_1-_2P1-A05_4, 2013
  We presented a new application of humanoid robots as an evaluator of assistive devices, to reduce the burden of tests with human subjects. Taking the supportive wear "Smart Suit" designed to relieve the load at lower back as an example, we have conducted pilot experiments by using the humanoid robot HRP-4C. We showed the basic feasibility of this application as we observed a clear decrease of the torque at the torso joint with the wear., The Japan Society of Mechanical Engineers, Japanese
• 1P1-G02 The Influence of Long-Term Farm Work Using a KEIROKA Suit on the Physical Function(Universal Design and Robotics & Mechatronics)
  YOSHINARI Satoshi; TANAKA Takayuki; TAKIZAWA Kazuki; NARA Hiroyuki; SUZUKI Yoshihito; MAEDA Daisuke; NAKAJIMA Yasuhiro; Kuwano Kouki, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _1P1, G02_1-_1P1-G02_2, 2013
  Many assistive technologies to reduce work load have been proposed. However, the effects of these technologies are not sufficiently verified from a long-term standpoint. In this study, we tried to evaluate the influence of long-term farm work using a passive power assist suit on the physical function by daily measurement of physical fitness., The Japan Society of Mechanical Engineers, Japanese
• 1A2-E03 Influence of an Optical Flow on the Vibration Sense and Depth Perception of Vibration Alert Interface(Haptic Interface (2))
  SAMPEI Yuki; TANAKA Takayuki; MORI Yuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _1A2, E03_1-_1A2-E03_3, 2013
  We've developed a vibration alert interface (VAI), provides some information through changing its vibration pattern. In our previous studies, we designed the VAI and its vibration pattern to provide analog-like information to users such as distance to obstacles. To recognize the precise information, users need to perceive the vibration pattern correctly. However, various disturbances often impede it. We thought that the change of movement speed would have affected the recognition of the depth perception via the vibratory stimulation. In this paper, we experimentally show the relationship between the vibration sense and the depth perception. Further, we'll propose a vibration presentation model for mainly drivers in order to correct the perception gap due to the application and the surroundings of the VAI. We'll evaluate the proposed model through carrying out the experiments., The Japan Society of Mechanical Engineers, Japanese
• 2A1-H05 Evaluation of Smart Suit Lite and a Model of Burden Sense from Psychophysical Factors in the Lifting(Sense, Motion and Measurement (1))
  TAKAHASHI Kosuke; TANAKA Takayuki; NARA Hiroyuki; KANEKO Shun'ichi; YOSHIDA Eiichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _2A1, H05_1-_2A1-H05_4, 2013
  In Japan which low birthrate and aging goes ahead through, technology is needed for facilitating the activities of elderly persons as well as their caregivers. Wearable assist devices, such as the Smart Suit Lite (SSL), are effective for this purpose. It is important to evaluate such devices from not only physical, but also from psychophysical perspectives. Experiments involving lifting a heavy object with and without SSL were conducted, and SSL was evaluated psychophysically. The muscle activity was measured by surface electromyography. The psychophysiological evaluation was conducted by using the Visual Analogue Scale. The reductions in load of 22.01% for muscles and 19.74% for the sense of lumbar load were confirmed. This report proposes the human load sense model based on the sense of weight and the amount of muscular activation. This model is expected to find application in humanoid robots for robust evaluation of power assist devices., The Japan Society of Mechanical Engineers, Japanese
• 2P1-C03 Evaluation of Trunk Stabilization Effect by Tightening Force Generated by Smart Suit Lite(Welfare Robotics and Mechatronics(3))
  IMAMURA Yumeko; TANAKA Takayuki; NARA Hiroyuki; SUZUKI Yoshihito; TAKIZAWA Kazuki; YAMANAKA Masanori, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2013, 0, _2P1, C03_1-_2P1-C03_4, 2013
  A passive power-assist supporter called Smart Suit Lite, which is a compact and lightweight power-assist device that utilizes the restoring force of elastic belts, has been developed. The design method to optimize the Smart Suit Lite for particular motions has been constructed. It uses the musculoskeletal dynamics simulator and an extended musculoskeletal model which has skin segments for analyzing assist force. In this paper, two basic experiments were performed to evaluate the postural stabilities for constructing a mechanical model of the trunk stabilization effect of the Smart Suit Lite. As a result of the experiments, it is confirmed that the standard deviation of the lumbar angle decreased by 32.1% on average in wearers with low stability., The Japan Society of Mechanical Engineers, Japanese
• 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, 0, _2A1, F08_1-_2A1-F08_4, 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., The Japan Society of Mechanical Engineers, Japanese
• 高齢社会での社会参加支援のための軽労化技術の研究開発と評価システムの構築
  TANAKA TAKAYUKI; YAMAGISHI TAKAYUKI; NARA HIROYUKI; YOSHINARI SATOSHI; TAKIZAWA KAZUKI; YAMANAKA MASANORI; SUZUKI YOSHIHITO; SHIMIZU SHUNJI, 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2013, ROMBUNNO.SP2-1-5, 4, 2013
  (一社)ライフサポート学会, Japanese
• 大型構造物の無標識振動解析のためのロバスト画像計測法に関する研究
  O TENKO; MATSUSHITA AKIHIKO; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; FUKUDA YOSHIO; FENG M. Q, 画像センシングシンポジウム講演論文集(CD-ROM), 19th, ROMBUNNO.IS3-17, 2013
  Japanese
• ロバスト画像照合に基づく大型建造物の同時多点振動計測
  O TENKO; FUKUDA YOSHIO; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; MATSUSHITA AKIHIKO; FENG M.Q, ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM), 2013, ROMBUNNO.IS2-D8, 2013
  Japanese
• 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, 0, _140, 1_-_140-6_, 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., The Japan Society of Mechanical Engineers, Japanese
• The 30th Anniversary Annual Conference of RSJ
  TANAKA Takayuki, JRSJ, 30, 10, 1048, 1049, 15 Dec. 2012
  The Robotics Society of Japan, Japanese
• 多リンクパワーアシストシステムの任意点操作における操作点インピーダンスの解析
  渋川文哉; 田中孝之; 金子俊一, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th, 2012
• 任意点操作可能な多リンクパワーアシストシステムの操作点作用力を考慮した操作性向上
  渋川文哉; 田中孝之; 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, 44th, 2012
• 上腕挙上作業用アシストスーツのためのストレッチFRPアクチュエータの開発
  松本浩輔; 田中孝之; 金子俊一; 奈良博之; 吉成哲; 前田大輔; 鈴木善人, 計測自動制御学会北海道支部学術講演会論文集, 44th, 102, 103, 2012
  Japanese
• 1A1-E02 A Relative Vibration Sense Presentation Method for Improvement of the Sense Repeatability at the Time of Vibration Alert Interface Use(Haptic Interface)
  SAMPEI Yuki; TANAKA Takayuki; MORI Yuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _1A1, E02_1-_1A1-E02_4, 2012
  This research has developed the User Interface, called Vibration Alert Interface (VAI), which presents information by the difference in the frequencies of vibration. Much of conventional vibration presentation equipment warned the user by on and off change of vibration, however, VAI is to change a frequency of shown vibration, and its degree as well as warning of just danger can be even shown. But actually, it's studied that the vibration sensing ability isn't fixed because of disturbance, for example, the user's state. To reduce these influence, a system with reproducibility is requested, therefore it has been studied variously so far. Accordingly, this paper contrived the method to suppress dispersion of vibration sensation from the different angle, presentation method of vibration. It's stated that the experiment, which investigates reproducibility of vibration sensation, was made using the Relative Vibration Sense Presentation Method, and that this presentation method improved repeatability., The Japan Society of Mechanical Engineers, Japanese
• 1A1-M05 Vibration Display Considering Adaptation to Vibration for Vibration Alert Interface
  MORI Yuki; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _1A1, M05_1-_1A1-M05_3, 2012
  This paper describes change in vibratory perception due to an adaptation, its modeling and correction method. Vibration alert interface is a vibration display device which conveys information such as distance and degree of risk using difference of vibration frequency and temporal pattern. In the vibration alert interface, user needs to perceive the vibratory frequency correctly, however vibration perception after the change was changed by the frequency before the change when the vibration frequency changes. To correct this change in vibratory perception, vibration perception model was constructed. It was able to correct the change in vibratory perception due to the adaptation using correction frequency calculated by proposed adaptation model., The Japan Society of Mechanical Engineers, Japanese
• 2A2-C05 Estimation of the Head Motion Component of the functional Near-Infrared Spectroscopy (fNIRS) Data(Sense, Motion and Measurement(2))
  TAKAHASHI Kosuke; TANAKA Takayuki; NARA Hiroyuki; KANEKO Shun'ichi; KOJIMA Satoru; INOUE Masao, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2012, 0, _2A2, C05_1-_2A2-C05_4, 2012
  To evaluate KEIROKA technology by the brain activity, investigation of cerebral blood flow due to brain activity is conducted by using functional near-infrared spectroscopy (fNIRS). However, it is difficult to measure the brain activity using fNIRS during exercise because cerebral blood flow changes due to head motion not to neural activity. The head motion component is an obstacle to measure the brain activity. This research tried to estimate the head motion component by using 3D Motion Capture. And the head motion component was estimated by the pitch angle. The author also tried to subtract the head motion component from fNIRS data during exercise. The way to remove will be shown., The Japan Society of Mechanical Engineers, Japanese
• 葡萄園除草に向けた車両型移動ロボットの軌道制御手法
  野田祥希; 髙橋悟; 田中孝之; 金子俊一, 数理科学会論文集, Oct. 2011, [Peer-reviewed]
• 葡萄園雑草除去のための車両型ロボット制御手法
  野田祥希; 髙橋悟; 田中孝之; 金子俊一, 平成23年度電気学会産業応用部門大会講演論文集, Sep. 2011
• 車両型除草ロボットのためのナビゲーション手法
  野田祥希; 髙橋悟; 田中孝之; 金子俊一, 第30回数理科学講演会講演論文集, pp. 81-82, Aug. 2011
• 多リンクパワーアシストシステムの任意操作点からの直感的操作手法-多リンク多自由度マニピュレータの操作点での運動拘束に関する考察-
  渋川文哉; 田中孝之; 金子俊一; 梶原秀一; 吉藤拓土, ロボティクスシンポジア予稿集, 16th, 2011
• 多リンクパワーアシストシステムにおける任意点操作手法 操作力の干渉を軽減する操作点協調化制御
  渋川文哉; 田中孝之; 金子俊一, 自動制御連合講演会(CD-ROM), 54th, 2011
• 多リンクパワーアシストシステムの任意操作点における操作干渉力を考慮した直感的制御手法
  渋川文哉; 田中孝之; 金子俊一; 吉藤拓土; 梶原秀一, 知能メカトロニクスワークショップ講演論文集(CD-ROM), 16th, 2011
• 多リンクパワーアシストシステムの多点操作入力における操作点での干渉力の軽減
  渋川文哉; 田中孝之; 金子俊一; 吉藤拓土; 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, 43rd, 2011
• 高所腕上げ作業用スマートスーツのためのストレッチFRPアクチュエータの開発
  松本浩輔; 田中孝之; 金子俊一; 奈良博之; 吉成哲; 前田大輔; 鈴木善人, 計測自動制御学会北海道支部学術講演会論文集, 43rd, 63, 64, 2011
  Japanese
• 3Sアシスト:軽労化技術のコンセプト
  田中孝之; 吉成哲; 瀧澤一騎; 奈良博之; 鈴木善人, 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, ROMBUNNO.162, 2011
  Japanese
• 筋骨格動力学シミュレーターを用いた除雪作業用UDスコップ使用時の身体的負担評価
  奈良博之; 田中孝之; 今村由芽子; 吉成哲; 中島康博; 金子俊一, 生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, ROMBUNNO.219, 2011
  Japanese
• 2A1-E07 Design and Field Evaluation of Smart Suit Light for Care Motions based on Musculoskeletal Model(Wearable Robotics)
  IMAMURA Yumeko; TANAKA Takayuki; KANEKO Shun'ichi; YAMANAKA Masanori; TAKIZAWA Kazuki; HOTTA Daisuke, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2011, 0, _2A1, E07_1-_2A1-E07_4, 2011
  We are developing a passive power assist supporter "Smart Suit Light". The smart suit light is a compact and lightweight power assist device utilizing elastomeric force of elastic materials. We constructed Motion-based-assist method to design the smart suit light for particular motions. Moreover, we developed an extended musculoskeletal model which has skin segments for analyzing assist force. In this paper, we deal with care motions as target movement. From three-dimensional motion data and the extended musculoskeletal model, we analyzed human muscle forces and assist forces. Then we designed arrangement and property of the elastic materials based on Motion-based-assist method. Furthermore, its assist effect was verified by basic experiments., The Japan Society of Mechanical Engineers, Japanese
• 2P2-O05 Sensor suit for an estimation of lumbar burden based on measuring lumbar shape and center of gravity of upper body(Sense, Motion and Measurement)
  HOSHINA Hiroki; TANAKA Takayuki; KANEKO Shun'ichi; NARA Hiroyuki, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2011, 0, _2P2, O05_1-_2P2-O05_4, 2011
  A lot of person has lumbar pain, and in addition to that, a lot of operation that have heavy burden with bend forward exists when daily life and specifically working. Then, we pay attention to lumbar burden when various work was done, and made the system that estimate lumbar burden in present study., The Japan Society of Mechanical Engineers, Japanese
• J102053 The Influence of Long-Term Shoveling Task Using an Ergonomic Snow Shovel on the Physical Function
  YOSHINARI Satoshi; TANAKA Takayuki; TAKIZAWA Kazuki; NARA Hiroyuki; SUZUKI Yoshihito; NAKAJIMA Yasuhiro, The Proceedings of Mechanical Engineering Congress, Japan, 2011, 0, _J102053, 1-_J102053-2, 2011
  Snow shoveling is generally considered to be undesirable type of exercise from the reasons of requirement of higher cardiovascular function. The upper body takes the deep flexion posture by the snow-lifting work, and load concentrates on a spinal column and the back. To overcome the posture load, a modified handle was designed. This handle has S-shape curvature to allow a person to assume an upright standing posture while snow shoveling. In this way, various techniques for labor assistance are suggested, but the evaluation is not performed very much when they use it continuously. The purpose of the study is to evaluate the relationships between change of the stamina and physical strength such as muscular strength or the power from the comparison of shovel handle shape. The physical strength of the subjects was measured before and after intervention of the 6-week daily snow-shoveling work and performed a multiple regression analysis, but the handle shape did not affect the result., The Japan Society of Mechanical Engineers, Japanese
• 葡萄畑除草ロボットのための軌道生成手法
  石上大祐; 髙橋悟; 高須賀直一; 田中孝之, 第53回自動制御連合講演会論文集, pp. 1073-1074, Nov. 2010
• 進化するモーションキャプチャ 動作計測に基づいた筋力補助装置・装具の設計
  田中孝之, 映像情報Medical, 42, 8, 734-739,674, 733, Jul. 2010, [Invited]
  産業開発機構, Japanese
• うちの製品に使いたい,有ればいいな?と思えるマテリアル スマートスーツ,軽労化技術に有ればいいなと思える,マテリアルとは?
  田中孝之, 月刊Material Stage, 10, 4, 11, 15, Jul. 2010, [Invited]
  技術情報協会, Japanese
• 1A1-F25 Design of controller for a Semi-Active Assist Mechanism considering Low-Powered Actuator Limitation
  Rosendo Andre; Nakano Motoki; Tanaka Takayuki; Kaneko Shun'ichi, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1A1, F25(1)"-"1A1-F25(4)", 2010
  The purpose of this work is to design a system capable of easily lifting heavy weights through a direct interface between the user and the system itself, receiving signals from the user and using a low-powered actuator connected to a spring to amplify its power, defining the so called Semi-active system. Varying the system weight from 5 to 15 kg it's possible to observe the system's behavior during the Visual Tracking Experiment through different assisting ratios. Simulations are performed using as input a sinusoidal force from the user and results are obtained, effectively reducing the user's fatigue and respecting the actuators limitation using the proposed control method. In the future, this kind of Power Assisting System can be remotely implanted in suits to effectively aid nurses, firefighters, industrial workers and also space missions., The Japan Society of Mechanical Engineers, English
• 1A1-B03 Improving the Ability of Visual and Tactual Recognition of Grape Tree for Robot in Vineyards
  IGAWA Hisashi; TANAKA Takayuki; KANEKO Shun'ichi; TADA Tatsumi; SUZUKI Shin'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A1, B03_1-_1A1-B03_4, 2010
  Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot., The Japan Society of Mechanical Engineers, Japanese
• 1A1-C08 Floor Reaction Force Estimation and Analysis of Physical Strain in Water Projection for Water Projection Angle and Nozzle Bending Angle
  KIKUCHI Takashi; TANAKA Takayuki; KANEKO Shun'ichi; YAMANO Koichi; YASUDA Yasuharu, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A1, C08_1-_1A1-C08_4, 2010
  In this research, we aim at reducing physical strain from nozzle reaction force and making the fire fighting activity more smoothly. We measured reaction forces as water is projected from a nozzle. We also conducted an analysis of physical strain for water projection angle and nozzle bending angle., The Japan Society of Mechanical Engineers, Japanese
• 1A1-G12 High-speed Impedance Matching Based on Muscle Characteristic and Its Application for Improving Maneuverability of Power Assist Valve
  NAKANO Motoki; TANAKA Takayuki; KANEKO Shun'ichi; YAMANO Koichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A1, G12_1-_1A1-G12_4, 2010
  The purpose of this research is to develope the powered valve for fire engine which according to person's intention based on impedance control. We establish the method to predict valve's opening time period by initial value of operation torque. In addition, we establish the method to predict it real time baced on minimum jerk model. It made the evaluation more improved to half., The Japan Society of Mechanical Engineers, Japanese
• 1A1-G28 The control method for power assist devices that have energy regeneration system based on predicting operation and its reliability
  KOBAYASHI Norihiro; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A1, G28_1-_1A1-G28_4, 2010
  The purpose of this study is to develop the control method for power assist system that has energy regeneration system, by recovering desired load reduction ratio even if torque saturation happens. This paper considers using the ratio of impluse of assist force to impluse of operator's force as an evaluation indicator. Proposed method predicts the operation of an operator and gets desired load reduction ratio by dealing deficient impluse, based on reliability of predicted values., The Japan Society of Mechanical Engineers, Japanese
• 1A2-D19 Influence of Adaptation on Vibration Perception for Information Presentation Device Using Vibration
  Mori Yuki; Tanaka Takayuki; Kaneko Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A2, D19_1-_1A2-D19_3, 2010
  This paper describes influence of adaptation on vibration perception for information presentation device using vibration. Information presentation using vibration is an effective method to convey the information to the user. Vibration conveys the information to the user by change in vibration frequency. However, vibration perception was changed due to the adaptation even when vibration frequency was constant. Perception of vibration strength was changed by vibration duration and how to change in vibration. We aim to find a cause of adaptaion and make a mathematical model of adaptation to vibration., The Japan Society of Mechanical Engineers, Japanese
• 1A2-E30 Self-localization of a mobile robot which has a degree of inclination by multi-landmark
  TAKASUKA Naohito; TANAKA Takayuki; KANEKO Shun'ichi; TADA Tatsumi; SUZUKI Shin'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A2, E30_1-_1A2-E30_4, 2010
  Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use two poles for the landmark in our experiment. We confirm the effectiveness and accuracy of our proposed technique by both simulations and experiments., The Japan Society of Mechanical Engineers, Japanese
• 1A2-G13 Multi-portal Human Interface for Power Assist Systems : Operational Force Estimation with Fuzzy Approximation Considering Controlling stability
  SHIBUKAWA Fumiya; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _1A2, G13_1-_1A2-G13_4, 2010
  In this study, we propose a multi-portal human interface (M-HI)as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the operableworkspace of power assist systems containing multi-DOF manipulators., The Japan Society of Mechanical Engineers, Japanese
• 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, 0, _2A1, C25_1-_2A1-C25_4, 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., The Japan Society of Mechanical Engineers, Japanese
• 2P1-F18 Robust Stereo System Considering Reliability of Object Position with Camera Vibration
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi; TAKAUJI Hidenori; KOCHI Nobuo; YAMADE Mitsuharu, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2010, 0, _2P1, F18_1-_2P1-F18_4, 2010
  This study aims to establish a Robust sensor system by considering a camera vibration. In stereo measurement, we cam approximate the distribution of the measurement error in image by using uniform distribution. Therefore, the parameters of the distribution of the measurement error are the mean value μ and the standard deviation σ, while the amplitude A and the frequency F are regarded as the parameters of the camera vibration. In order to verify relationships between the parameters with regard to the distribution of the measurement error and the parameters of the camera vibration, we performed an experiment using a vibration testing system. By the result, we can establish the measurement error model. Moreover, we defined the existing probability of the object by using the parameters of the measurement error. Additionally, in order to be minimized the errors, we proposed a variable baseline method. We verified effect of the variable baseline method., The Japan Society of Mechanical Engineers, Japanese
• 動作計測と筋骨格動力学モデルに基づく筋力補助装具の設計(若葉研究者の集い4,サマーセミナー(若葉研究者の集い))
  今村 由芽子; 田中 孝之; 金子 俊一; 山中 正紀; 堀田 大介, 映像情報メディア学会技術報告, 34, 0, 73, 76, 2010
  本研究では身体疲労を軽減させるための筋力補助装具"スマートスーツ・ライト"を開発している.スマートスーツ・ライトは弾性材(ゴムベルト)の張力を利用した,小型軽量のアシスト装置である.本報では,スマートスーツ・ライトの補助効果を特定の動作に最適化するための設計手法について述べる.対象動作として介護動作を扱い,モーションキャプチャにより介護動作の3次元計測を行った,取得した動作データにより,動作中の筋発揮力,弾性材の伸びについて解析した.それらの結果に基づき,弾性材の配置について検討する., 一般社団法人 映像情報メディア学会, Japanese
• 把持力による皮膚変形を考慮したVibration Alert Interfaceの振動設計
  ヒューマンインタフェース学会論文誌, 12, 2, 103, 111, 2010
• Measurement Error Model Construction on Stereo Measurement Considering Random Vibration
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi; TAKAUJI Hidenori; KOCHI Nobuo; YAMADA Mitsuharu, 電気学会研究会資料. GID, 一般産業研究会, 2009, 1, 41, 46, 11 Dec. 2009
  Japanese
• Visual and tactual recognition of trunk of grape for weeding robot in vineyards
  Hisashi Igawa; Takayuki Tanaka; Shun'ichi Kaneko; Tatsumi Tada; Shin'ichi Suzuki, 2009 35th Annual Conference of IEEE Industrial Electronics, 27th, 4061, +, Nov. 2009, [Peer-reviewed]
  English
• ホース床反力を用いた放水反力軽減方法の提案
  菊地隆志; 田中孝之; 金子俊一; 山野光一; 安田康晴, 知能メカトロニクスワークショップ講演論文集, 14th, 170, 173, 26 Sep. 2009
  Japanese
• Improving maneuverability of power-assisted valve for fire engines based on speedy impedance maching
  中野 基輝; 田中 孝之; 金子 俊一, 知能メカトロニクスワークショップ講演論文集, 14, 46, 51, 26 Sep. 2009
  〔精密工学会〕, Japanese
• Proposal of reducing nozzle reaction force using hose floor reaction force
  菊地 隆志; 田中 孝之; 金子 俊一, 知能メカトロニクスワークショップ講演論文集, 14, 170, 173, 26 Sep. 2009
  〔精密工学会〕, Japanese
• 体幹安定化補助を考慮したパッシブ筋力補助装置
  田中孝之; 今村由芽子; 山中正紀; 鈴木善人; 齊藤宗信, 日本機械学会福祉工学シンポジウム講演論文集, 2009, 116, 117, 23 Sep. 2009
  We are developing "Smart Suit Light" as a passive power assist supporter. The smart suit light is designed in consideration of not only supporting back muscles but also stabilizing torso as same as lumber corset. This paper will describe the concept and the basic design of the smart suit light. The assist efficiency which is the performance to reduce muscle activities, and also the relation between the tightening force around waist and the waist joint angle, as fundamental experimental results of a prototype will be shown., The Japan Society of Mechanical Engineers, Japanese
• Multi-portal Human Interface for Power Assist Systems
  SHIBUKAWA FUMIYA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本ロボット学会学術講演会予稿集(CD-ROM), 27th, ROMBUNNO.3C3-07, 15 Sep. 2009
  Japanese
• Design of Smart Suit For Snow Shoveling Based On Motion Based Assist Method
  IMAMURA YUMEKO; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; YAMANAKA MASANORI; SUZUKI YOSHIHITO; SAITO MUNENOBU, 日本機械学会年次大会講演論文集, 2009, Vol.7, 287, 288, 12 Sep. 2009
  In this research, we developed a wearable power assist system Smart Suit for snow shoveling, and constructed Motion Based Assist Method. The Smart Suit is controlled by semi-active assist system with elastic materials and adjustable assist mechanisms. Motion Based Assist Method is an technique to design control rule by measuring the motion. We propose the control rule that used joint angle and joint angular velocity, and performed an experiment to verify its assist effect. As a result of experiment, it was effective especially to the legs. It was confirmed that about 20% physical load were reduced on average., The Japan Society of Mechanical Engineers, Japanese
• 画像照合に基づく建造物の遠隔振動計測
  成田悠人; 高氏秀則; 田中孝之; 金子俊一; FENG Maria Q, 映像情報メディア学会技術報告, 33, 34(ME2009 120-152), 57, 60, 27 Aug. 2009
  Japanese
• Robust Vision, Robotic Sensing and their Real Applications
  KANEKO Shun'ichi; TANAKA Takayuki; SATOH Yutaka; TAKAUJI Hidenori, IEICE technical report, 109, 88, 61, 69, 11 Jun. 2009
  Around the researches in the author's lab, the examples of robust algorithms for illumination change, local shading, occlusion, and/or saturation in the real world scenes. ISC, OCM, RRC and their extended versions or successors are described into their details. Many examples of their applications in the real industry are shown with a lot of pictures. And then, the image-based robotic sensing is a part of the main issue and Smart suits and an algorithm of vibration monitoring is introduced., The Institute of Electronics, Information and Communication Engineers, Japanese
• Robust Vibration Alert Interface
  TANAKA Takayuki; MORI Yuki; KANEKO Shun'ichi, IEICE technical report, 109, 83, 63, 66, 08 Jun. 2009
  In recent years, we see walking people while using e-mail service and looking at screen of mobile phone with an increase in mobile phone user. We have developed a distance sense interface interface for detecting something denger for users. In designing the warning of device, we focus the difference of grip force each user. We propose the warning without recourse to grip force on the basis of Fechner's law., The Institute of Electronics, Information and Communication Engineers, Japanese
• 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; SAITO MUNENOBU; SEKI SHUJI; SAKAMOTO NAOHISA; KAJIWARA HIDEKAZU, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2009, ROMBUNNO.1P1-F06, 24 May 2009
  Japanese
• 視覚誘導型パワーアシストシステムのための三次元形状と操作方向認識
  松田潤樹; 田中孝之; 金子俊一; 高氏秀則; 高橋悟, ロボティクスシンポジア予稿集, 14th, 411, 416, 16 Mar. 2009
  Japanese
• ステレオ計測におけるカメラ振動を考慮した計測誤差モデルの構築
  岡崎伸哉; 田中孝之; 金子俊一; 高氏秀則; 高地伸夫; 佐藤宏一; 山田光晴, ロボティクスシンポジア予稿集, 14th, 89, 94, 16 Mar. 2009
  Japanese
• 100周年を担う若手育成 : 北海道支部の取り組み(5.2 支部の活動,5.精密工学の輪,<特集>創立75周年記念)
  金子 俊一; 田中 孝之, 精密工学会誌, 75, 1, 176, 177, 05 Jan. 2009
  公益社団法人精密工学会, Japanese
• 無反動ノズル開発のためのホース床反力を用いた放水反力軽減方法の提案
  菊地隆志; 田中孝之; 金子俊一; 山野光一; 筒井洋一郎, 計測自動制御学会北海道支部学術講演会論文集, 41st, 7, 8, 2009
  Japanese
• 自転車漕ぎ補助用スマートスーツのエネルギー制御
  内藤葉月; 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, 41st, 5, 6, 2009
  Japanese
• 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, 0, _1P1, F06_1-_1P1-F06_4, 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., The Japan Society of Mechanical Engineers, Japanese
• 画像照合に基づく建造物の遠隔振動計測(セッション4,サマーセミナー(若葉研究者の集い))
  成田 悠人; 高氏 秀則; 田中 孝之; 金子 俊一; Feng Maria Q., 映像情報メディア学会技術報告, 33, 0, 57, 60, 2009
  本研究ではデジタル画像処理技術を用いた可とう性を有する橋梁の遠隔振動計測手法を提案する.この手法は費用対効果に優れ,実装が容易であり,高分解能な動的計測の利点を併せ持つ.橋梁に直接接触しない遠隔計測は橋梁の維持管理に有効であり,また高精度構造同定は橋梁の構造劣化の程度を認識するために必要不可欠である.本論文では,構造物の健康監視方法の一つである振動計測の重要性,いくつかの代表的な計測手法,および本提案手法の有効性の検証試験結果について述べる., 一般社団法人 映像情報メディア学会, Japanese
• J1102-4-1 Design of Smart Suit For Snow Shoveling Based On Motion Based Assist Method
  IMAMURA Yumeko; TANAKA Takayuki; KANEKO Shun'ichi; YAMANAKA Masanori; SUZUKI Yoshihito; SAITOH Munenobu, The proceedings of the JSME annual meeting, 2009, 0, 287, 288, 2009
  In this research, we developed a wearable power assist system Smart Suit for snow shoveling, and constructed Motion Based Assist Method. The Smart Suit is controlled by semi-active assist system with elastic materials and adjustable assist mechanisms. Motion Based Assist Method is an technique to design control rule by measuring the motion. We propose the control rule that used joint angle and joint angular velocity, and performed an experiment to verify its assist effect. As a result of experiment, it was effective especially to the legs. It was confirmed that about 20% physical load were reduced on average., The Japan Society of Mechanical Engineers, Japanese
• 1G3-2 Passive Power Assist Device Considering With Stabilization of Torso
  TANAKA Takayuki; IMAMURA Yumeko; YAMANAKA Masanori; SUZUKI Yoshihito; SAITO Munenobu, The Proceedings of the JSME Symposium on Welfare Engineering, 2009, 0, 116, 117, 2009
  We are developing "Smart Suit Light" as a passive power assist supporter. The smart suit light is designed in consideration of not only supporting back muscles but also stabilizing torso as same as lumber corset. This paper will describe the concept and the basic design of the smart suit light. The assist efficiency which is the performance to reduce muscle activities, and also the relation between the tightening force around waist and the waist joint angle, as fundamental experimental results of a prototype will be shown., The Japan Society of Mechanical Engineers, Japanese
• 競走馬調教軽労化のための騎手用筋力補助装置の開発
  デサントスポーツ科学, 30, 163, 171, 2009
• 欠陥種を考慮に入れた局所一貫性に基づく欠陥パタン照合法
  浦野 貴裕; 金子 俊一; 高氏 秀則; 田中 孝之; 前田 俊二; 渋谷 久恵; 吉田 実, 電気学会論文誌C, 129, 5, 778, 785, 2009
• Robust Focusing using Orientation Code Matching
  LI Yuan; TAKAUJI Hidenori; OHMURA Isao; KANEKO Shun'ichi; TANAKA Takayuki, Journal of the Japan Society for Precision Engineering, 75, 5, 650, 656, 2009
  This paper proposes a novel scheme for image focusing by introducing a new focus measure based on self-matching methods. A unique pencil-shaped profile is identified by comparing the similarity between all patterns extracted around the same position in each scene. Based on this profile, a new criterion function called Complementary Pencil Volume (CPV) is defined to evaluate focus or defocus scenes based on similarity rate of self-matching, which visually represents the volume of a pencil-shape profile. Among matching methods, Orientation Code Matching (OCM) is recommended due to its invariant with regards to illuminations and contrasts. Several experiments using a Telecentric lens are implemented to demonstrate the efficiency of proposed measures. Outstandingly, comparing conventional focus measures, shows that the proposed method, focus measure based on OCM is robust against changes of brightness or illumination. Using this method, pan-focused images are composed and depth informations are represented by comparing the focus and defocus region in the scenes both under low and high illumination conditions., The Japan Society for Precision Engineering
• Current Issues and Trends on Multi-Dimensional Sensing Technologies in Digital Media : An annual investigative report 2008 of IEEJ MDS
  NAGATA Noriko; OHKI Hidehiro; KATO Kunihito; KOSHIMIZU Hiroyasu; FUJIWARA Takayuki; SAGAWA Ryusuke; TANAKA Takayuki; OKUDA Haruhisa; HAGA Tetsuji; HASHIMOTO Manabu, 電気学会研究会資料. GID, 一般産業研究会, 2008, 13, 1, 6, 28 Nov. 2008
  Japanese
• 皮膚変形と触圧覚との関係に基づいた距離感覚提示装置の設計
  森友揮; 田中孝之; 金子俊一, インテリジェント・システム・シンポジウム講演論文集, 18th, CD-ROM, ROMBUNNO.A5-4, 23 Oct. 2008
  Japanese
• Semi-active Power Assist Device for Supporting Waist and Knee Joint
  TANAKA TAKAYUKI; SUZUKI YOSHIHITO; SAKAMOTO NAOHISA; SEKI SHUJI, 日本機械学会福祉工学シンポジウム講演論文集, 2008, 156, 157, 17 Sep. 2008
  English
• Assist Force Control of Semi-active Assist System for Horse Trainer Based On Periodical Input Control
  TANAKA TAKAYUKI; KAWAMURA YASUYUKI; KANEKO SHUN'ICHI; KAJIWARA HIDEKAZU, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th, ROMBUNNO.3K1-02, 09 Sep. 2008
  Japanese
• Recognition of Grape-Trunk Area for Weeding Robot in Vineyards
  IGAWA HISASHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; MATSUSHITA AKIHIKO; TAKAUJI HIDENORI; TADA TATSUMI, 日本ロボット学会学術講演会予稿集(CD-ROM), 26th, ROMBUNNO.1L3-10, 09 Sep. 2008
  Japanese
• 視覚誘導型パワーアシストシステム―対象物位置の計測誤差と操作性の関係
  松田潤樹; 田中孝之; 金子俊一; 高氏秀則; 高橋悟, 知能メカトロニクスワークショップ講演論文集, 13th, 69, 74, 08 Sep. 2008
  Japanese
• Visual guided power assist system: relation between measurement error and maneuverability
  松田 潤樹; 田中 孝之; 金子 俊一, 知能メカトロニクスワークショップ講演論文集, 13, 69, 74, 08 Sep. 2008
  〔精密工学会〕, Japanese
• Roles of Robot Contest Produce Competition on Creativity Education
  TANAKA TAKAYUKI, 日本機械学会年次大会講演論文集, 2008, Vol.5, 171, 172, 02 Aug. 2008
  Japanese
• Improving Maneuverability of Powered Cock for Fire Engine Based on Predicting Its Opening and Closing Time Period
  NAKANO MOTOKI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; YAMANO KOICHI; KOYAMA HIDETO; SEKI SHUJI; SAKAMOTO NAOHISA, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2008, ROMBUNNO.1A1-G12, 05 Jun. 2008
  Japanese
• Method of graphical measurement for controling YAG Laser welding robot
  YAMANAKA MASAHIRO; MATSUSHITA AKIHIKO; KANEKO SHUN'ICHI; TANAKA TAKAYUKI; OFUJI HITOSHI; FUKUDA KAORU, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2008, ROMBUNNO.2P2-B09, 05 Jun. 2008
  Japanese
• Object Recognition Based on Relationship between Camera Vibration and Disparity Error on Stereo Measurement
  OKAZAKI SHIN'YA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; MATSUSHITA AKIHIKO; TAKAUJI HIDENORI; TADA TATSUMI; OMURA ISAO; SUZUKI SHIN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2008, ROMBUNNO.2A1-E03, 05 Jun. 2008
  Japanese
• Warning Design considered Adaptability of Sense of Touch and Pressure for Portable Obstacle Recognition Support Device
  MORI YUKI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2008, ROMBUNNO.2P1-D02, 05 Jun. 2008
  Japanese
• Robot Contest Produce Competition
  TANAKA TAKAYUKI; OTAKE HIROSHI; KAWAMURA TAKASHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2008, ROMBUNNO.2A1-I18, 05 Jun. 2008
  Japanese
• 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, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2008, ROMBUNNO.2A1-I21, 05 Jun. 2008
  Japanese
• 手先軌道学習機能を有する視覚誘導型パワーアシストシステム
  河合俊輔; 田中孝之; 金子俊一, ロボティクスシンポジア予稿集, 13th, 81, 86, 16 Mar. 2008
  Japanese
• 変形パタン画像照合のための回転角度およびスケール推定
  高氏秀則; 中山伊央; 金子俊一; 田中孝之, ロボティクスシンポジア予稿集, 13th, 147, 152, 16 Mar. 2008
  Japanese
• Rotation Angle Estimation for Distortion Pattern Image based on Orientation Code Histogram
  TAKAUJI Hidenori; NAKAYAMA Io; KANEKO Shun'ichi; TANAKA Takayuki, 電気学会研究会資料. IIC, 産業計測制御研究会, 2008, 86, 51, 56, 11 Mar. 2008
  電気学会, Japanese
• A rotational registration method by using local consistency of point dispersion considering defect types
  URANO Takahiro; KANEKO Shun'ichi; TAKAUJI Hidenori; TANAKA Takayuki; MAEDA Shunji; SHIBUYA Hisae; YOSHIDA Minoru, 電気学会研究会資料. IP, 情報処理研究会, 2008, 1, 39, 44, 22 Feb. 2008
  Japanese
• 2A1-I18 Robot Contest Produce Competition
  TANAKA Takayuki; OHTAKE Hiroshi; KAWAMURA Takashi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, 0, _2A1, I18_1-_2A1-I18_2, 2008
  This paper describes the robot contest produce competition and its purpose on creativity education. In this competition, participants plan an original robot contest for children including the rule book, the field, the robots for demonstration and the promotion video. Then, they present the robot contest as the trial management. This competition aims to promote their creativity, especially the problem-raising ability and the problem segmentation ability, and presentation ability too. The robot contest produce competition 2007 is also reported as an embodiment., The Japan Society of Mechanical Engineers, Japanese
• 1A1-G12 Improving Maneuverability of Powered Cock for Fire Engine Based on Predicting Its Opening and Closing Time Period
  NAKANO Motoki; TANAKA Takayuki; KANEKO Shun'ichi; YAMANO Koichi; KOYAMA Hideto; SEKI Shuji; SAKAMOTO Naohisa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, 0, _1A1, G12_1-_1A1-G12_2, 2008
  This research has been making the powered cock for fire engine. Recently the number of Japanese firemen decreases. They need device with a little load but it is forbidden to automate completely by fire defense law. So this research's purpose is to make the powered cock according to person's intention based on impedance control. First, we have confirmed relation of impedance parameter and cock's opening time period. In addition, we establish the method to predict cock's opening time period by initial value of controlling torque. By this method, evaluation consists of operation torque average and visual tracking error average has improved to the half. Second, we have confirmed to make responsiveness speedier based on friction control.The cock has strong static friction so there is longtime lag from giving the operation torque to opening of the cock. This friction control makes time lag shorter from 0.2sec to 0.03sec., The Japan Society of Mechanical Engineers, Japanese
• 2A1-E03 Object Recognition Based on Relationship between Camera Vibration arid Disparity Error on Stereo Measurement
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi; MATSUSHITA Akihiko; TAKAUJI Hidenori; TADA Tatsumi; OHMURA Isao; SUZUKI Shn'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, 0, _2A1, E03_1-_2A1-E03_4, 2008
  This study aims to obtain exact visual information in irregular ground. We use visual information obtained by stereo measurement. We can approximate disparity error distribution by normal distribution. At first, we examine relationship between parameter of disparity error and parameter of camera vibration. Next, we define existing probability using parameter of disparity error, and we use existing probability for position estimate. Specifically, we obtain visual information of without vibration or near offer in irregular ground through the use of relationship between parameter of camera vibration and parameter of error., The Japan Society of Mechanical Engineers, Japanese
• 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, 0, _2A1, I21_1-_2A1-I21_2, 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., The Japan Society of Mechanical Engineers, Japanese
• 2P1-D02 Warning Design considered Adaptability of Sense of Touch and Pressure for Portable Obstacle Recognition Support Device
  MORI Yuki; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, 0, _2P1, D02_1-_2P1-D02_2, 2008
  We have been researching a portable obstacle recognition support device to avoid danger for users and surrounding people. We have confirmed that perception of vibration is changed by user's grip force, the stronger grip force, the stronger user feel vibration. In addition, experimental result showed that the vibrations strength users feel changes with the vibration strength which is applied earlier to users. It's thought that this result is a phenomenon which is based on adaptability of sense of touch and pressure. We aim at warning design without recourse to adaptability., The Japan Society of Mechanical Engineers, Japanese
• 2P2-B09 Method of graphical measurement for controling YAG Laser Welding robot
  YAMANAKA Masahiro; MATSUSHITA Akihiko; KANEKO Shun'ichi; TANAKA Takayuki; OHFUJI Hitoshi; FUKUDA Kaoru, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2008, 0, _2P2, B09_1-_2P2-B09_4, 2008
  Laser robot can weld more accurate than Arc welding. However, the accuracy of positional match is demanded. Then, the system the welding robot is equipped with the camera and slit beam irradiating to the welding object is assumed. And, the irradiated appearance is photographed. By giving geometrical analysis to the obtained beam image, laser robot is controlled. Here, as the preparation stage, about linear regression of beam for geometrical analysis is described., The Japan Society of Mechanical Engineers, Japanese
• 1G1-3 Semi-active Power Assist Device for Supporting Waist and Knee Joint
  TANAKA Takayuki; SUZUKI Yoshihito; SAKAMOTO Naohisa; SEKI Shuji, The Proceedings of the JSME Symposium on Welfare Engineering, 2008, 0, 156, 157, 2008
  We have been developing "Smart Suit" as a soft and light-weight wearable power assist system. A prototype for preventing low-back injury in agricultural works and its semi-active assist mechanism have been developed. In this paper, we describe a prototype of smart suit for supporting waist and knee joint, and its control method for preventing the displacement of the adjustable assist force mechanism in order to keep the assist efficiency., The Japan Society of Mechanical Engineers, English
• 重み付き投票処理によるテスト特徴法の性能改良
  電子情報通信学会論文誌, 91-D, 1, 89, 100, 2008
• Robust Focusing using Orientation Code Matching and its applications
  LI YUAN; OHMURA ISAO; TAKAUJI HIDENORI; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, ViEWビジョン技術の実利用ワークショップ講演論文集, 2007, 365, 370, 06 Dec. 2007
  English
• 細線形状を持つケーブルに対するロバストモーションステレオ
  堂前幸康; 奥田晴久; 高氏秀則; 木村雄太; 金子俊一; 田中孝之, ViEWビジョン技術の実利用ワークショップ講演論文集, 2007, 265, 270, 06 Dec. 2007
  Japanese
• Color LCPDに基づく欠陥点群照合法
  浦野貴裕; 金子俊一; 高氏秀則; 田中孝之; 前田俊二; 渋谷久恵; 吉田実, ViEWビジョン技術の実利用ワークショップ講演論文集, 2007, 167, 172, 06 Dec. 2007
  Japanese
• Preface to Special Issue on Human-Related System Integration
  SUZUKI Sho'ji; SUZUKI Takahiro; YOSHIDOME Tadashi, 計測自動制御学会論文集, 43, 11, 945, 945, 30 Nov. 2007
  Japanese
• Simultaneous Estimation of Torque and Angle of Human Elbow Joint by Using Ultrasound Echo
  TSUTSUI Yoichiro; HAYASE Kazuhiko; TANAKA Takayuki; KANEKO Shun'ichi; FENG Maria Q., Journal of the Japan Society for Precision Engineering, 73, 11, 1273, 1278, 05 Nov. 2007
  We propose a new method for joint angle and torque estimation by using ultrasound. The ultrasound is emitted from the surface of skin. The estimation is carried out based on the feature value extracted from the reflected wave from inside of living body. The feature value changes as the movement of the muscle relating to the joint. We conducted an examination of simultaneous joint torque and angle estimation in dynamic motion of human elbow joint. Neural network and Multiple linear regression was employed as the estimator. Correlation coefficients and Mean absolute error between estimated data and measured data were calculated. The results show that the estimation was successful, though the error increased with time course., The Japan Society for Precision Engineering, Japanese
• Joint Torque and Angle Estimation by Using Ultrasound Transmitted through Human Muscle
  TSUTSUI Yoichiro; TANAKA Takayuki; KANEKO Shun'ichi; FENG Maria Q., Journal of the Japan Society for Precision Engineering, 73, 9, 1062, 1067, 05 Sep. 2007
  We have proposed a brand-new noninvasive method of joint torque and joint angle estimation by using ultrasound sensor for detecting muscle movement. In this study, the movement of biceps muscle and triceps muscle of human arm are detected with the ultrasound sensors. These muscles have a relation to contraction and extension of elbow joint. We conducted an examination of joint torque estimation under constant joint angles. We also conducted an examination of joint angle estimation under constant joint torques. In these examinations, torque or angle on the elbow joint was measured by using a torque sensor or an 1-Link Arm. The estimations were carried out with Nonlinear regression equations. Correlation coefficients between measured torque/angle and estimated one were calculated. The results show that these estimations by using ultrasound were successful., The Japan Society for Precision Engineering, Japanese
• 変形パタン画像の環境認識システムへの応用
  高氏秀則; 中山伊央; 金子俊一; 田中孝之, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2007, TC3-7, 04 Sep. 2007
  Japanese
• カラーグラデーションタグを用いた3次元位置計測
  崔冬梅; 松下昭彦; 金子俊一; 高橋秀典; 田中孝之, 映像情報メディア学会技術報告, 31, 39(ME2007 121-151), 103, 104, 28 Aug. 2007
  Japanese
• Human Joint Movement Estimation with a Sensor Fusion
  TSUTSUI Yoichiro; TANAKA Takayuki; KANEKO Shun'ichi; FENG Maria Q.; MOROMUGI Shunji, 電気学会研究会資料. GID, 一般産業研究会, 2007, 1, 23, 28, 27 Aug. 2007
  Japanese
• Using orientation code that used color information for defect point of the semiconductor
  HONDA Takumi; KANEKO Shuniti; TANAKA Takayuki, 電気学会研究会資料. IP, 情報処理研究会, 2007, 22, 31, 34, 12 Aug. 2007
  Japanese
• 欠陥種を考慮に入れた局所整合性に基づく点群照合法
  浦野貴裕; 金子俊一; 高氏秀則; 田中孝之; 前田俊二; 渋谷久恵; 吉田実, 画像センシングシンポジウム講演論文集(CD-ROM), 13th, IN2-02, 06 Jun. 2007
  Japanese
• 方向符号テクスチャ解析を利用したひも状柔軟物の特徴追跡と構造復元
  堂前幸康; 奥田晴久; 高氏秀則; 金子俊一; 田中孝之; 橋本学, 画像センシングシンポジウム講演論文集(CD-ROM), 13th, IN1-05, 06 Jun. 2007
  Japanese
• Expanding Measurement Range of Binocular Stereovision Based On Mono-MoCap
  TAKAHASHI Hidenori; TANAKA Takayuki; KANEKO Shun'ichi, Journal of the Japan Society for Precision Engineering, 73, 6, 671, 676, 05 Jun. 2007
  In the previous paper, the authors achieved a 3D motion capture system by using one camera with triangle markers, named as Mono-MoCap (MMC). MMC has two features. One is that MMC can measure 3D positions of subjects by using one camera on the basis of the perspective n point (PnP) problem. Another is that MMC does not need to recalibrate the camera parameters. In this paper, the authors apply MMC to binocular stereovision system for expanding its measurement range. Stereovision system can not measure 3D positions of objects when even one camera does not capture the objects. Experimental results show that the proposed method is effective for expanding of the measurement range of the parallel binocular stereovision system., The Japan Society for Precision Engineering, Japanese
• Fundamental Study on Variable Stiffness Mechanism Using Electromagnet and Spring
  NAITO HAZUKI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2007, 1A2-C01, 10 May 2007
  Japanese
• Velocity Estimation and Environment Recognition Using Visual Information for a Mobile Robot in Undulating Environment
  OKAZAKI SHIN'YA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2007, 2A2-E07, 10 May 2007
  Japanese
• Smart Suit for Agricaltual Use-4th Report, Advanced adjustable assist mechanism-
  SEKI SHUJI; SATO YUTA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; SUZUKI YOSHIHITO; SAKAMOTO NAOHISA, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2007, 1A1-G01, 10 May 2007
  Japanese
• Obstacle Recognition Support Device based on Working Strength and Obstacle Recognizability
  WASHIO TAICHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2007, 1A2-M05, 10 May 2007
  Japanese
• Local Region Improvement of Degraded Images by Histogram-based Similarity Evaluation
  FU Lin; KANEKO Shunichi; TANAKA Takayuki, 電気学会研究会資料. IP, 情報処理研究会, 2007, 1, 25, 30, 24 Feb. 2007
  English
• A method of separating weeds and trunk in different motions by blowing wind and a method of presuming root position
  Fan Zhang; Akihiko Matsushita; Takayuki Tanaka; Shun'ichi Kaneko; Hidenori Takauji, 2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, 1855, 1859, 2007
  English
• 1A1-G01 Smart Suit for Agric ultural Use : 4th Report, Advanced adjustable assist mechanism
  SEKI Shuji; SATOH Yuhta; TANAKA Takayuki; KANEKO Shunichi; SUZUKI Yoshihito; SAKAMOTO Naohisa, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007, 0, _1A1, G01_1-_1A1-G01_2, 2007
  In this study, we aim to develop a light-weight wearable power assist system "Smart Suit" for agricultural work. The smart suit mainly consists of elastic materials and adjustable assist mechanisms. In this report, we installed the motor unit that made the adjustable assist mechanism more efficient in the "Smart Suit", and we did the experiment that measured the potential differences between muscles when there was the adjustable assist mechanism and was not., The Japan Society of Mechanical Engineers, Japanese
• 1A1-H04 A Method of Separating Weeds and Trunk in Different Motions by Blowing Wind
  Zhang Fan; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007, 0, _1A1, H04_1-_1A1-H04_3, 2007
  Due to the area of the wainari-vineyard in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique which can be applied to the weeding robot in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. In this technique, we took advantage of the difference of the hardness between the weeds and the trunk. The basic principle of this research is that after blowing wind to the target objects, the computer analyzes the response of the objects by using reduplicate difference. Based on the dynamic-static response, robot could distingish the weeds and trunk., The Japan Society of Mechanical Engineers, Japanese
• 1A2-C01 Fundamental Study on Variable Stiffness Mechanism Using Electromagnet and Spring
  NAITO Hazuki; TANAKA Takayuki; KANEKO Shun'ochi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007, 0, _1A2, C01_1-_1A2-C01_2, 2007
  This research is a fundamental study on variable stiffness mechanism using electromagnet and spring. In this study, we develop an unit that can change the stiffness to the combination of the electromagnet with the spring. And, it's basic characteristic was examined. Next, the mechanism was modeled, and the control method of the stiffness. In addition, we examined whether it can control. As a result, it has been understood that stiffness is changed from 0.12kgf/mm to 0.165kgf/mm, and stiffness can be controlled but it takes time., The Japan Society of Mechanical Engineers, Japanese
• 1A2-M05 Obstacle Recognition Support Device based on Working Strength and Obstacle Recognizability
  WASHIO Taichi; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007, 0, _1A2, M05_1-_1A2-M05_3, 2007
  Recently, we see many portable device users walking, using eniail service and internet contents. Such an activity is dangerous because it makes users less alert to surrounding obstacles. Therefore we set out to develop a. portable Obstacle-Recognition-Support-Device that widely secures the walking safety of the users. We proposed. the estimation method of obstacle recognizability while using portable device based on the body characteristics and the concentration rate t.o the work. We showed the experimental results of an attention power of testees to the obstacles when the intensity of given warning was changed according to the working strength and obstacle recognizability., The Japan Society of Mechanical Engineers, Japanese
• 2A2-E07 Velocity Estimation and Environment Recognition Using Visual Information for a Mobile Robot in Undulating Environment
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2007, 0, _2A2, E07_1-_2A2-E07_3, 2007
  This study aims to develop a velocity estimation and an envirnment recognition method for a mobile robot in an undulating environment. By evaluating the measuring errors of stereo method, we aim to remove those errors and get accurate velocity and environment information. We calculate velocity of mobile robot by dividing the difference of stereo data by sampling time. We used moving average and reliability of landmark to remove errors and we remove errors 70%〜90%. An undulating environment is obtained by comparing the measuring stereo errors with the theoretical stereo errors., The Japan Society of Mechanical Engineers, Japanese
• 局所一貫性による点群の回転照合法と欠陥パタン照合への応用
  電子情報通信学会論文誌, 90D, 10, 2798, 2806, 2007
• 方向符号照合による農作業機のためのロバスト速度計測
  電子情報通信学会論文誌, in printing, 2007
• 方向符号差分ヒストグラムに基づくロバスト回転不変照合法
  浦野貴裕; 金子俊一; 高氏秀則; 田中孝之, 画像電子学会誌, 36, 4, 417, 425, 2007
• Smart Suit for Agricaltual Use (1st Report, A prototype of smart suit and its fundamental experiments)
  SATO YUTA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; SUZUKI YOSHIHITO; SAKAMOTO NAOHISA, 日本ロボット学会学術講演会予稿集(CD-ROM), 24th, 3G24, 14 Sep. 2006
  Japanese
• 超音波筋活動センサを用いた上肢運動推定 (第11回知能メカトロニクスワークショップ講演論文集) -- (センシング技術)
  早瀬 一彦; 田中 孝之; 金子 俊一, 知能メカトロニクスワークショップ講演論文集, 11, 128, 131, 07 Sep. 2006
  〔精密工学会〕, Japanese
• 超音波筋活動センサを用いた上肢運動推定
  早瀬一彦; 田中孝之; 金子俊一; FENG Maria Q, 知能メカトロニクスワークショップ講演論文集, 11th, 128, 131, 07 Sep. 2006
  Japanese
• 方向符号照合法に基づく農作業機制御用速度センサの開発
  中原和哉; 高氏秀則; 金子俊一; 田中孝之; 清水将志; 宮下行雄; 大村功, 知能メカトロニクスワークショップ講演論文集, 11th, 132, 137, 07 Sep. 2006
  Japanese
• ロバストタグ抽出のためのスケーリングなどを考慮した信頼度設計
  中山伊央; 高氏秀則; 金子俊一; 田中孝之, 知能メカトロニクスワークショップ講演論文集, 11th, 36, 41, 07 Sep. 2006
  〔精密工学会〕, Japanese
• Robust tagging in strange circumstance
  Hidenori Takauji; Shun'ichi Kaneko; Takayuki Tanaka, ELECTRICAL ENGINEERING IN JAPAN, 156, 4, 22, 32, Sep. 2006
  English
• スケーリング・変形を考慮したタグの信頼度設計―ロバストタグ抽出法―
  中山伊央; 高氏秀則; 金子俊一; 田中孝之, 映像情報メディア学会技術報告, 30, 42, 71, 74, 31 Aug. 2006
  映像情報メディア学会, Japanese
• 柔軟な画像分類のための色・形状特徴の設計
  李 媛; 金子 俊一; 田中 孝之, 映像情報メディア学会技術報告, 30, 42, 67, 70, 31 Aug. 2006
  映像情報メディア学会, English
• Robust Registration of Defect Set by Local Consistency of Point Data
  URANO Takahiro; KANEKO Shun'ichi; TANAKA Takayuki; MAEDA Shunji; SHIBUYA Hisae; YOSHIDA Minoru, 電気学会研究会資料. IP, 情報処理研究会, 2006, 20, 41, 44, 12 Aug. 2006
  Japanese
• Successive pattern learning based on test feature classifier and its application to dynamic recognition problems
  SAKATA Yukinobu; KANEKO Shun'ichi; TANAKA Takayuki, 電気学会研究会資料. IP, 情報処理研究会, 2006, 11, 1, 6, 11 Aug. 2006
  Japanese
• Novel image classification by extracting color and shape features
  LI Yuan; KANEKO Shun'ichi; TANAKA Takayuki, 電気学会研究会資料. IP, 情報処理研究会, 2006, 11, 7, 12, 11 Aug. 2006
  English
• High Universality Design Support System
  WASHIO TAICHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2006, 2P2-A23, 26 May 2006
  Japanese
• Influence of Electrical Noise on Joint Motion Estimation using Ultrasonic Muscle activity Sensor
  KOYAMA TAKESHI; TANAKA TAKAYUKI; TSUTSUI YOICHIRO; KANEKO SHUN'ICHI; FENG MARIA Q, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2006, 2P1-A06, 26 May 2006
  Japanese
• A Control Method of Power Amplifier for Reducing Muscular Fatigue
  GOTO RYOSUKE; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2006, 2P2-A36, 26 May 2006
  Japanese
• 反射型超音波筋活動センサによる2自由度肩関節トルク推定
  早瀬一彦; 田中孝之; 金子俊一; FENG Maria. Q, ロボティクスシンポジア予稿集, 11th, 204, 209, 16 Mar. 2006
  Japanese
• テスト特徴による逐次パタン分類法とその時系列認識問題への応用
  坂田幸辰; 金子俊一; 田中孝之, 画像センシングシンポジウム予稿集(CD-ROM), 12th, L-14, 2006
  Japanese
• 方向符号特徴を利用した明度変化に強ロバストな特徴点抽出及びそのトラッキング
  堂前幸康; 金子俊一; 田中孝之, 画像センシングシンポジウム予稿集(CD-ROM), 12th, B-5, 2006
  Japanese
• 方向符号差分ヒストグラムに基づく高効率回転不変画像照合
  浦野貴裕; 金子俊一; 田中孝之, 画像センシングシンポジウム予稿集(CD-ROM), 12th, L-13, 2006
  Japanese
• 2P1-A06 Influence of Electrical Noise on Joint Motion Estimation using Ultrasonic Muscle activity Sensor
  Koyama Takeshi; TANAKA Takayuki; Tsutsui Yoichiro; Kaneko Shun'ichi; Feng Maria. Q., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2006, 0, _2P1, A06_1-_2P1-A06_4, 2006
  We have developed the Ultrasonic Muscle activity Sensor (UMS) that measures muscle activities by the change of ultrasonic wave in muscles. We have shown that it is possible to estimate joint motion by using UMS. In this paper, we examine the influence of electrical noise on joint motion estimation using UMS and compare the influence when using EMG., The Japan Society of Mechanical Engineers, Japanese
• 2P2-A23 High Universality Design Support System
  WASHIO Taichi; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2006, 0, _2P2, A23_1-_2P2-A23_2, 2006
  This study aims to develop a design support system which enables to improve the common-usability from the physical features of small numbers of testees and to develop an obstacle detector which is accessible to everyone. We proposed "universality" as an evaluation index of universal design. In this paper, we propose a safety universality estimation method which can estimates safety universality from the physical descriptions of the testees., The Japan Society of Mechanical Engineers, Japanese
• 2P2-A36 A Control Method of Power Amplifier for Reducing Muscular Fatigue
  GOTOH Ryosuke; TANAKA Takayuki; KANEKO Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2006, 0, _2P2, A36_1-_2P2-A36_4, 2006
  In this study, the authors aimed to develope a control method of power amplifier for reducing muscular fatigue. First of all, we defined the operating environment of the power amplifier, and we designed a controller which gives suitable impedance to the manipulator of the device and realizes natural contact condition for the operator in the environment. Based on the designed controller, we developed a one-link power amplifier as a minimum model of power suits. Also, we discussed how to quantify muscular fatigue with electromyograph in order to grasp human's characteristic of muscular fatigue when an operator do a task, and we defined an evaluation function of muscular fatigue. Based on these approach, we estimated optimal impedance that the manipulator should have to reduce muscular fatigue during visual tracking task. Besides, we proposed Automatic Optimal Impedance Matching Control which adjusts impedance of the controller automatically in order to minimize energy into the system, and we established effects of the control method for reducing muscular fatigue., The Japan Society of Mechanical Engineers, Japanese
• 内挿型絶対差分照合法を用いたLSIウェハ欠陥抽出
  竹田健祐; 金子俊一; 田中孝之; 酒井薫; 前田俊二; 中川泰夫, ViEWビジョン技術の実利用ワークショップ講演論文集, 2005, 20, 25, 08 Dec. 2005
  Japanese
• ロバスト画像照合に基づく農作業機用速度センサの開発
  中原和哉; 金子俊一; 田中孝之; 清水将志; 宮下行雄, ViEWビジョン技術の実利用ワークショップ講演論文集, 2005, 234, 239, 08 Dec. 2005
  Japanese
• 方向符号照合のトラッキングへの応用 (第10回知能メカトロニクスワークショップ講演論文集)
  堂前 幸康; 金子 俊一; 田中 孝之, 知能メカトロニクスワークショップ講演論文集, 10, 85, 90, 01 Sep. 2005
  〔精密工学会〕, Japanese
• 反射型超音波筋活動センサによる動的な肘関節トルク推定 (第10回知能メカトロニクスワークショップ講演論文集)
  早瀬 一彦; 田中 孝之; 金子 俊一, 知能メカトロニクスワークショップ講演論文集, 10, 107, 110, 01 Sep. 2005
  〔精密工学会〕, Japanese
• 方向符号差分ヒストグラム(OCDH)に基づく回転不変画像照合 (第10回知能メカトロニクスワークショップ講演論文集)
  浦野 貴裕; 金子 俊一; 田中 孝之, 知能メカトロニクスワークショップ講演論文集, 10, 161, 166, 01 Sep. 2005
  〔精密工学会〕, Japanese
• 方向符号照合のトラッキングへの応用
  堂前幸康; 金子俊一; 田中孝之; 高橋悟, 知能メカトロニクスワークショップ講演論文集, 10th, 85, 90, 01 Sep. 2005
  Japanese
• 方向符号差分ヒストグラム(OCDH)に基づく回転不変画像照合
  浦野貴裕; 金子俊一; 田中孝之, 知能メカトロニクスワークショップ講演論文集, 10th, 161, 166, 01 Sep. 2005
  Japanese
• 反射型超音波筋活動センサによる動的な肘関節トルク推定
  早瀬一彦; 田中孝之; 金子俊一; FENG Maria, 知能メカトロニクスワークショップ講演論文集, 10th, 107, 110, 01 Sep. 2005
  Japanese
• 疲労を軽減するための増力装置制御法の開発
  後藤良介; 田中孝之; 金子俊一, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 43, 46, 30 Aug. 2005
  Japanese
• 足関節障害者のための装着型歩行補助装置―(歩行障害と歩行補助方法についての考察)―
  浦野しょう; 田中孝之; 金子俊一, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 47, 48, 30 Aug. 2005
  Japanese
• 反射型超音波筋活動センサによる肘関節トルク推定
  早瀬一彦; 田中孝之; 金子俊一, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 39, 42, 30 Aug. 2005
  Japanese
• 内挿型絶対差分照合に基づくロバストなサブピクセル画像照合法
  竹田健祐; 金子俊一; 田中孝之; 酒井薫; 前田俊二; 中川泰夫, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 31, 34, 30 Aug. 2005
  Japanese
• 高ユニバーサリティ障害物検出装置の設計支援システム
  鷲尾太一; 田中孝之; 金子俊一, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 29, 30, 30 Aug. 2005
  Japanese
• 超音波筋活動センサによるトルク推定
  小山剛史; 田中孝之; 金子俊一, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 35, 38, 30 Aug. 2005
  Japanese
• 農作業機制御のためのロバスト実速度センシング
  中原和哉; 金子俊一; 田中孝之; 清水将志; 名取誠, 映像情報メディア学会技術報告, 29, 47(ME2005 125-139), 25, 28, 30 Aug. 2005
  Japanese
• HSI空間を用いた色特徴量を分析する手法の応用
  伝琳; 金子俊一; 田中孝之, 映像情報メディア学会技術報告, 29, 46(ME2005 105-124), 25, 28, 29 Aug. 2005
  Japanese
• 方向符号差分ヒストグラムによるロバスト回転不変画像照合法
  浦野貴裕; 金子俊一; 田中孝之, 映像情報メディア学会技術報告, 29, 46(ME2005 105-124), 17, 20, 29 Aug. 2005
  Japanese
• 方向符号差分ヒストグラムによるロバスト回転不変画像照合法 (サマーセミナー(若葉研究者の発表会))
  浦野 貴裕; 金子 俊一; 田中 孝之, 映像情報メディア学会技術報告, 29, 46, 17, 20, Aug. 2005
  映像情報メディア学会, Japanese
• HSI空間を用いた色特徴量を分析する手法の応用 (サマーセミナー(若葉研究者の発表会))
  傅 琳; 金子 俊一; 田中 孝之, 映像情報メディア学会技術報告, 29, 46, 25, 28, Aug. 2005
  映像情報メディア学会, Japanese
• 農作業機制御のためのロバスト実速度センシング (サマーセミナー(若葉研究者の発表会))
  中原 和哉; 金子 俊一; 田中 孝之, 映像情報メディア学会技術報告, 29, 47, 25, 28, Aug. 2005
  映像情報メディア学会, Japanese
• 内挿型絶対差分照合に基づくロバストなサブピクセル画像照合法 (サマーセミナー(若葉研究者の発表会))
  竹田 健祐; 金子 俊一; 田中 孝之, 映像情報メディア学会技術報告, 29, 47, 31, 34, Aug. 2005
  映像情報メディア学会, Japanese
• 超音波筋活動センサによるトルク推定 (サマーセミナー(若葉研究者の発表会))
  小山 剛史; 田中 孝之; 金子 俊一, 映像情報メディア学会技術報告, 29, 47, 35, 38, Aug. 2005
  映像情報メディア学会, Japanese
• 反射型超音波筋活動センサによる肘関節トルク推定 (サマーセミナー(若葉研究者の発表会))
  早瀬 一彦; 田中 孝之; 金子 俊一, 映像情報メディア学会技術報告, 29, 47, 39, 42, Aug. 2005
  映像情報メディア学会, Japanese
• 疲労を軽減するための増力装置制御法の開発 (サマーセミナー(若葉研究者の発表会))
  後藤 良介; 田中 孝之; 金子 俊一, 映像情報メディア学会技術報告, 29, 47, 43, 46, Aug. 2005
  映像情報メディア学会, Japanese
• Succesive Pattern Learning based on Test Feature Classifier and its Application to Dynamic Recognition problems
  SAKATA YUKINOBU; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, 情報処理学会シンポジウム論文集, 2005, IS2-77, 18 Jul. 2005
  Japanese
• Efficient Template Matching Algorithm using Scanning-type Interval Estimation
  MAE TAKAHIRO; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, 情報処理学会シンポジウム論文集, 2005, IS2-53, 18 Jul. 2005
  Japanese
• Robust Tagging in Strange Circumstance
  TAKAUJI HIDENORI; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, 情報処理学会シンポジウム論文集, 2005, OS3-8, 18 Jul. 2005
  Japanese
• Three Dimensional Tracking by Stereo Visual Feedback
  DOMAE YUKIYASU; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, 情報処理学会シンポジウム論文集, 2005, IS4-166, 18 Jul. 2005
  Japanese
• SWEEPER Modeled on Magic Bloom (3rd Report, Development of SWEEPER with Mechanical Stability)
  ISHIKAWA FUKURO; HIRUKO YOSHIAKI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; YAMAFUJI KAZUO, 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), 2005, 1P2-S-016, 09 Jun. 2005
  Japanese
• Evaluation Method for Universality and High Universality Device for Detecting Obstacles
  WASHIO TAICHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI, 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), 2005, 1A1-N-032, 09 Jun. 2005
  Japanese
• 農耕用トラクタのためのロバスト実速度センシング
  中原和哉; 金子俊一; 田中孝之; 清水将志; 名取誠, 画像センシングシンポジウム講演論文集, 11th, 153, 156, Jun. 2005
  Japanese
• 高ユニバーサリティ障害物検出装置
  鷲尾太一; 田中孝之; 金子俊一, 画像センシングシンポジウム講演論文集, 11th, 449, 452, Jun. 2005
  Japanese
• 周期入力による準受動的歩行ロボットの運動制御
  梅枝真守; 梶原秀一; 田中孝之; 金子俊一, ロボティクスシンポジア予稿集, 10th, 133, 138, 14 Mar. 2005
  Japanese
• 1A1-N-032 Evaluation Method for Universality and High-Universality Device for Detecting Obstacles(Universal Design,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
  Washio Taichi; Tanaka Tanaka; Kaneko Shun'ichi, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2005, 0, 12, 12, 2005
  The Japan Society of Mechanical Engineers, Japanese
• 1P2-S-016 SWEEPER Modeled on Magic Bloom : 3rd Report, Development of SWEEPER with mechanical stability(Mobile Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
  Ishikawa Fukurow; Hiruko Yoshiaki; Tanaka Takayuki; Kaneko Shun'ichi; Yamafuji Kazuo, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2005, 0, 122, 122, 2005
  The Japan Society of Mechanical Engineers, Japanese
• Succesive Classification by Test Feature Classifier and its Application to Dynamic Recognition problems
  SAKATA Yukinobu; KANEKO Shun'ichi; TANAKA Takayuki; TAKAGI Yuji, Technical report of IEICE. PRMU, 104, 524, 25, 30, 17 Dec. 2004
  Fundamental characteristics of successive lerarning by Test Feature Classifier(TFC), which is non-parametric and effective small data, are examined. In the learning, after recognition of a set of unknown objects, they are fed into the classifier in order to obtain a modified classifier. We propose an efficient algorithm for reconstruction of prime test features, which are combinaton feature subsets for getting excellent performance. We apply the proposed successive TFC to dynamic recognition problems from which the characteristic of data changes with progress of time, and examine the characteristic by the experiment which used simulation data., The Institute of Electronics, Information and Communication Engineers, Japanese
• Using Orientation Code Difference Histogram(OCDH) for Fast Rotational Image Matching
  URANO Takahiro; KANEKO Shun'ichi; TANAKA Takayuki; IMADA Munetoshi, Technical report of IEICE. PRMU, 104, 523, 37, 42, 16 Dec. 2004
  We propose a fast and rotate-invariant template matching using an Orientation Code Difference Histogram (OCDH). It is based on Orientation Code Matching (OCM) [1], [2] and Orientation Code Histogram (OH)[3]. fast and robust for template matching even in presence of some irregularities like shading, highlighting, occlusion or their combination. It is fast in order to prune by OCDH., The Institute of Electronics, Information and Communication Engineers, Japanese
• Effcient Image Search based on Scanning-type Interval Esitimation
  MAE Takahiro; KANEKO Shun'ichi; TANAKA Takayuki, Technical report of IEICE. PRMU, 104, 523, 43, 47, 16 Dec. 2004
  An efficient algorithm for template matching is proposed. We derive upper limit for efficient serach, it use two interval estimation, one is based on correlation coefficient between registered images, the other is based on number of white and black pixels. These interval estimation can estimate a correlation coefficient value between scene image arid template images strictly. We designed an efficient template matching algorithm using this upper limits, and we prove the efficiency of this algorithm using map images., The Institute of Electronics, Information and Communication Engineers, Japanese
• Efficient Image Search based on Scanning-type Interval Estimation
  MAE TAKAHIRO; KANEKO SHUN'ICHI; TANAKA TAKAYUKI, 電子情報通信学会技術研究報告, 104, 523(PRMU2004 123-133), 43, 47, 09 Dec. 2004
  Japanese
• 内挿型増分符号相関に基づくロバストなサブピクセル画像照合法
  竹田健祐; 金子俊一; 田中孝之; 酒井薫; 前田俊二; 中川泰夫, ViEWビジョン技術の実利用ワークショップ講演論文集, 2004, 16, 21, 02 Dec. 2004
  Japanese
• 方向符号差分ヒストグラムに基づくロバスト回転画像照合
  浦野貴裕; 金子俊一; 田中孝之; 今田宗利, ViEWビジョン技術の実利用ワークショップ講演論文集, 2004, 22, 27, 02 Dec. 2004
  Japanese
• 未知環境におけるロバストタギング
  高氏 秀則; 金子 俊一; 田中 孝之, 知能メカトロニクスワークショップ講演論文集, 9, 17, 22, 05 Aug. 2004
  〔精密工学会〕, Japanese
• 超音波筋活動センサにおける体格差の影響
  小山 剛史; 田中 孝之; 筒井 洋一郎, 知能メカトロニクスワークショップ講演論文集, 9, 127, 130, 05 Aug. 2004
  〔精密工学会〕, Japanese
• ロバスト画像処理研究における創造性教育
  金子 俊一; 田中 孝之, 知能メカトロニクスワークショップ講演論文集, 9, 291, 295, 05 Aug. 2004
  〔精密工学会〕, Japanese
• ステレオ測距とカルマンフィルタに基づく3次元状態センシング
  堂前幸康; 高氏秀則; 金子俊一; 田中孝之, 知能メカトロニクスワークショップ講演論文集, 9th, 65, 70, 05 Aug. 2004
  〔精密工学会〕, Japanese
• 触覚センサを用いた視覚障害者誘導用ブロックの認識率の推定
  山岸尚登; 黒井恒志; 田中孝之, ロボティクスシンポジア予稿集, 9th, 567, 572, 08 Mar. 2004
  Japanese
• 超音波筋活動センサの開発
  筒井洋一郎; 鈴木洋輔; 田中孝之; FENG M Q, ロボティクスシンポジア予稿集, 9th, 168, 173, 08 Mar. 2004
  Japanese
• SWEEPER: The New Vehicle Modeled on The Magic Broom : 1st Report, Concept and Trial Development
  Kawaguchi Kaori; Tanaka Takayuki; Yamafuji Kazuo; Uehara Takeshi; Maeda Takamasa, The Proceedings of Conference of Kanto Branch, 2004, 0, 411, 412, 2004
  We develop a new vehicle to improve human mobility. It is modeled on the magic broom, and is named SWEEPWE. SWEEPER is lightweight and smart size, so it has high portability. SWEEPER is deigned in consideration of multipurpose use, for example, a substance of bicycle, avehicle for entertaiment. In this paper, we descride design concepts of SWEEPER, deveropment of a prototype, the questionnaire evaluation by trial ride and future works based on the evaluation., The Japan Society of Mechanical Engineers, Japanese
• Power suit with Variable Stiffness Mechanism
  Hayashi Toshiaki; Tanaka Takayuki, The Proceedings of Conference of Kanto Branch, 2004, 0, 413, 414, 2004
  Wearable robots, especially power suits to enhance human activity are one of most interesting topics. This study aims to develop a power suit installing a variable stiffness mechanism. In a previous study, we showed the relation between impedance parameters of power suits and human performance, and verified the effectiveness of self impedance matching method using soft computings. In this paper, we conduct fundamental experiments in order to design a variable stiffness mechanism which can tune the stiffness of joint mechanically. Experimental results show the effectiveness of variable stiffness for improving human performance and reducting muscle fatigue., The Japan Society of Mechanical Engineers, Japanese
• New evaluation method for universal design : Inference of recognition accuracy of the laid tactile blocks considered aging
  Yamagishi N; Tanaka T; Kuroi H, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2004, 0, 24, 24, 2004
  The Japan Society of Mechanical Engineers, Japanese
• Educational Method and Materials for Robotics and Mechatronics to Foster Spirits Without Beeing Afraid to Fail
  Goth T; Tanaka T, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2004, 0, 120, 121, 2004
  The Japan Society of Mechanical Engineers, Japanese
• SWEEPER : The New Vehicle Modeled on The Magic Broom : 2nd report, Human interface for intuitive control
  Kawaguchi K; Tanaka T; Yamahuji K; Uehara T; Maeda T, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2004, 0, 175, 175, 2004
  The Japan Society of Mechanical Engineers, Japanese
• Wearable Sensor Suit : 3rd report, Auto-calibration for measurement of joint torque by using surface EMG
  Suzuki Y; Tanaka T; Tsutsui Y, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2004, 0, 178, 179, 2004
  The Japan Society of Mechanical Engineers, Japanese
• Trouble shooting operation using an Off-line robot
  SEKIGUCHI NAOHIRO; SHIMIZU SHIGENORI; TANAKA TAKAYUKI, 日本ロボット学会学術講演会予稿集(CD-ROM), 21st, 1F18, 20 Sep. 2003
  Japanese
• Fibrous Optical Actuator Containing .BETA.-carotene
  MITSUI RYUJIRO; TANAKA TAKAYUKI; KAWAMURA TAKASHI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2003, 1A1.3F.F6(1)-1A1.3F.F6(2), 23 May 2003
  Japanese
• Fibrous Optical Actuator Containing β-carotene
  Mitsui R.; Tanaka T.; Kawamura T., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2003, 0, 31, 31, 2003
  新しいアクチュエータとして動物の視覚などの生体における光受容機構に存在するフォトクロミック分子を動力源とするアクチュエータの開発を行っている。力学モデルを構築し, 動作実験結果との比較を行った。, The Japan Society of Mechanical Engineers, Japanese
• (1)ロボット・メカトロニクスに対する創造性教育と社会貢献の実践(教育)(日本機械学会賞〔2002年度(平成14年度)審査経過報告〕)
  石川 晴雄; 前川 博; 明 愛国; 金森 哉吏; 田中 孝之, 日本機械学会誌, 106, 1014, 354, 354, 2003
  一般社団法人 日本機械学会, Japanese
• 18.6.ものづくり教育とメカトロニクス(18.ロボティクス・メカトロニクス)(<特集>機械工学年鑑)
  田中 孝之; 生田 幸士, 日本機械学会誌, 106, 1017, 640, 640, 2003
  一般社団法人 日本機械学会, Japanese
• The Recognition of the Tactile Blocks for the Visually Handicapped using the Tactile Sensor
  Yamagishi N.; Tanaka T., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2003, 0, 18, 18, 2003
  本研究では, ユニバーサルデザインの新しい評価方法の構築のために, 視覚障害者誘導用ブロック上を歩行したときの足裏の圧力分布を感圧導電性ゴムを用いた触覚センサによって測定し, 人間の認識結果との関連性を検証する。, The Japan Society of Mechanical Engineers, Japanese
• Wearable Sensor Suit
  Yamaguti R.; Tanaka T.; Hori S.; Moromugi S.; Feng M. Q., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2003, 0, 84, 84, 2003
  人間の全身に渡る動作を計測する為に, センサを内蔵した着衣方のセンサスーツを開発し最適なセンシングアルゴリズムを構築する研究である。本稿では筋肉の状態を測る超音波センサの高性能化を報告する。, The Japan Society of Mechanical Engineers, Japanese
• Human-Assist System for Nursing Use : 12th Report, Design of control system for improvement of assisting effect
  Koyama T.; Tanaka T.; Tanaka K.; Feng M. Q., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2003, 0, 84, 84, 2003
  本報では, 生体情報である表面筋電位を用いてロボット装着時と未装着時の介護者の筋力を比較し, 全てのマンマシン系で利用可能なアシスト効果評価手法を提案する。, The Japan Society of Mechanical Engineers, Japanese
• 介護用装着型ヒューマンアシストロボットの開発とアシスト効果向上のための制御系設計
  フルードパワーシステム, Vol.34, No.5, 128, 133, 2003
• Trouble Recognition of A Robot Assisiting Unmanned Production
  SHIMIZU SHIGENORI; SEKIGUCHI NAOHIRO; TANAKA TAKAYUKI; TANAKA KAZUO; ARASHIMA KENJI, 日本ロボット学会学術講演会予稿集(CD-ROM), 20th, 1A37, 12 Oct. 2002
  Japanese
• Wearable Sensor Suit (1st Report, Concept and Ultrasonic Sensor Disk)
  TANAKA TAKAYUKI; YAMAGUCHI RYUSUKE; MOROMUGI SHUNJI; FENG M Q, 日本ロボット学会学術講演会予稿集(CD-ROM), 20th, 1F24, 12 Oct. 2002
  Japanese
• 地域と連携した物づくり教育
  田中孝之, 日本機械学会年次大会講演論文集, 2002, Vol.8, 507, 508, 20 Sep. 2002
  Japanese
• Operating Feeling of Wearable Robot and the Application to Control System Design
  KANAMORI Naoki; TANAKA Takayuki; TANAKA Kazuo, IPSJ SIG Notes, 126, 3, 31, 33, 21 Jan. 2002
  This paper addresses subjective evaluation for operating feeling in a wearable robot. The NASA-TLX method, which is mental workload index analysis, is employed to investigate operating feeling for various impedance parameters and task parameters. The result shows the existence of three patterns of human operation. The patterns correspond to viscosity-based operation, restoring force-based operation and inertia-based operation, respectively. We verify the existence of three patterns by analyzing force sensor data. Furthermore, the verification of three pattern classification is also investigated by the semantic differential method and factor analysis., Information Processing Society of Japan (IPSJ), Japanese
• Intelligent evaluation of universal design using a human sensory simulator.
  YAMAGISHI NAOTO; TANAKA TAKAYUKI, 自動制御連合講演会講演論文集, 45th, 399, 400, 2002
  Japanese
• P01-(6) 地域と連携した物づくり教育
  田中 孝之, 年次大会講演資料集, 2, 0, 507, 508, 2002
  一般社団法人 日本機械学会, Japanese
• Human-Assist System for Nursing Use : 11th Report, Estimation of Human's Aim
  Koyama T.; Tanaka T.; Tanaka K.; Maria Q. Feng, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 48, 48, 2002
  我々は介護者の肉体的・精神的負担を軽減するため, 介護者が装着しその腕力を増力することを目的とした, 介護用ヒューマン・アシスト・システムHAROの開発を進めている。本報では, HAROの操作性を向上させるために, HARO装着部に内蔵された操作力センサによって検出される操作力と介護者の筋電との相関をバイオメカニクスの観点から明確にし, その相関と操作力から介護者の意図を推定する。これにより, 介護者の筋骨格系に則した挙動やアシストが可能となる。, The Japan Society of Mechanical Engineers, Japanese
• Human-Assisting System for Nursing Use : 10th Report, Design of control system for work-state transition
  Yoshikawa K.; Koyama T.; Tanaka T.; Tanaka K., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 48, 49, 2002
  われわれは介護用ヒューマン・アシスト・システムを開発し, 操作力センサと外力センサを統合した制御系の設計をおこなってきた。本研究では被介護者への抱き上げ作業の過程において, 被介護者との非接触である自由状態と接触している負荷状態, さらに自由状態と負荷状態との間の不連続な変化に対して過渡状態を設け, それぞれに対応した制御系を設計する。擬似被介護者 (約30kgのおもり) の持ち上げ実験をおこない, 提案する制御系が操作者の円滑な作業に有効であることを示す。, The Japan Society of Mechanical Engineers, Japanese
• fibrous optical actuator containing photochromic molecules
  Yamagishi N.; Tanaka T.; Kawamura T.; Tanaka K., The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2002, 0, 117, 117, 2002
  本研究では光エネルギによって構造が可逆的に変化するフォトクロミック分子に注目し, その動作をアクチュエータの動力として利用することを目的とする。フォトクロミック分子をナイロン6フィラメントの結晶組織中に拡散させ, 同分子の構造変化を利用した柔軟で静粛な繊維型アクチュエータを試作した。本アクチュエータは光によるエネルギ供給と制御が可能であり, 全体としてのシステムの小型・軽量化が期待できる。実験によりアクチュエータとしての利用を前提とした特性評価を行う。, The Japan Society of Mechanical Engineers, Japanese
• 力触覚インタフェースにおける操作感の主観評価
  金森直希; 田中孝之; 田中一男, 日本機械学会論文集, 68, 669, 1467, 1473, 2002
• 一本足ロボットの動作特性と制御
  堀滋樹; 田中孝之; 田中一男; 宮島晃, 日本ロボット学会学術講演会予稿集, 19th, 128, 18 Sep. 2001
  Japanese
• Principle of Stable Running for an Unicycle Robot.
  TANAKA TAKAYUKI; HORI SHIGEKI; TANAKA KAZUO; SUZUKI HISANOBU, 日本ロボット学会学術講演会予稿集, 19th, 229, 230, 18 Sep. 2001
  Japanese
• 操作アームの操作感分析
  金森直希; 田中孝之; 田中一男, 日本ロボット学会学術講演会予稿集, 19th, 205, 18 Sep. 2001
  Japanese
• 介護用ヒューマン・アシスト・システム 第9報 実用的な介護動作のための制御システムの設計
  吉川広祐; 小山猛; 田中孝之; 田中一男, 日本ロボット学会学術講演会予稿集, 19th, 295, 18 Sep. 2001
  Japanese
• 知能ロボットが創る未来社会
  田中 孝之, オムニマネジメント, 10, 8, 2, 6, Aug. 2001
  日本経営協会, Japanese
• Ultrasonic Muscle Power Sensor for Wearable Human Power Amplifying System.
  KUSHIDA TAKUYA; TANAKA TAKAYUKI; FENG M Q; MOROMUGI SHUNJI, 日本機械学会関東支部総会講演会講演論文集, 7th, 289, 290, 09 Mar. 2001
  Japanese
• 806 Ultrasonic Muscle Power Sensor for Wearable Human Power Amplifying System
  KUSHIDA Takuya; TANAKA Takayuki; FENG Maria Q.; MOROMUGI Shunji, The Proceedings of Conference of Kanto Branch, 2001, 0, 289, 290, 2001
  We have been developing the wearable human poweramplifying device. In order to correctly control the amplifying system, innovative sensors to recognize human motion are required to fubricated. In this paper, we propose the ultrasonic muscle power sensor by which human muscle power is directly measured. Trial manufacturing, experimental results and effectiveness of the proposed sensor are reported., The Japan Society of Mechanical Engineers, Japanese
• F12-(1) アミューズメントロボットの研究開発と社会貢献(アミューズメント/エンターテイメント/ペットロボット)(機素潤滑設計部門,ロボティックス・メカトロニクス部門企画)
  田中 孝之, 年次大会講演資料集, 1, 0, 181, 182, 2001
  一般社団法人 日本機械学会, Japanese
• ロボットによる連続なわ跳びの実現まで
  田中孝之; 山藤和男, BIT (Tokyo), 32, 12, 48, 53, Dec. 2000
  共立出版, Japanese
• Subjective Evaluation on Man-Machine System by an Operator.
  KANAMORI NAOKI; TANAKA TAKAYUKI; TANAKA KAZUO, 日本ロボット学会学術講演会予稿集, 18th, 1085, 1086, 12 Sep. 2000
  Japanese
• Development of a Robot which is able to play with a Pet Animal. 2nd Report. A Prototype and Interactive Communications with a Pet Animal.
  TANAKA ERIKA; TANAKA TAKAYUKI; YAMAFUJI KAZUO; IWAMOTO TETSUYA, 日本ロボット学会学術講演会予稿集, 18th, 1431, 1432, 12 Sep. 2000
  Japanese
• Study on Nonholonomic Robots: 6th Report, Stable driving of a unicycle.
  SHENG Z; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.5, 2P2.57.083(1)-2P2.57.083(2), 11 May 2000
  Japanese
• Non-holonomic Robot(5th Report, Gymnastic Robot).
  SUZUKI HISANOBU; NAKAKUKI KAZUO; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.5, 2P2.57.084(1)-2P2.57.084(2), 11 May 2000
  Japanese
• Study on Nonholonomic Robots: 4th Report, One-Legged Robot.
  MIYAJIMA AKIRA; TAKEMURA YOSHITO; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.4, 2P1.57.091(1)-2P1.57.091(2), 11 May 2000
  Japanese
• Study on Nonholonomic Robots: 1st Report, 3D Posture conversion by means of cat-turning motion and hovering.
  KOBAYASHI TSUYOSHI; MURAYAMA NOBORU; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.4, 2P1.57.089(1)-2P1.57.089(2), 11 May 2000
  Japanese
• Study on Nonholonomic Robots: 7th Report, Posture control of a free-flying robot in the air.
  TANAKA TAKAYUKI; HONDA KOTARO; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.5, 2P2.57.081(1)-2P2.57.081(2), 11 May 2000
  Japanese
• Study on Nonholonomic Robots: 2nd Report, Cat-turn motion by a robot.
  KAWAMURA TAKASHI; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.4, 2P1.57.090(1)-2P1.57.090(2), 11 May 2000
  Japanese
• Study on Nonholonomic Robots: 3rd Report, Brachiation by using excitation of vibration.
  TANAKA TAKAYUKI; MAEKAWA KEIICHIRO; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 2000, Pt.4, 2P1.57.092(1)-2P1.57.092(2), 11 May 2000
  Japanese
• 2P1-57-089 ノンホロノミック・ロボットに関する研究 : 第 1 報猫ひねりによる 3 次元姿勢変換とホバーリング
  小林 剛; 村上 昇; 田中 孝之; 山藤 和男, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 87, 87, 2000
  本研究は, 2次元猫ひねりロボットを2組, 組み合わせることにより, すなわち直交する2つの軸のまわりにそれぞれ1回ずつ猫ひねりを行うことにより3次元空間内で, 任意の姿勢をとることができることを示とともに, 3D猫ひねりロボットの開発を行った結果を報告する。, 一般社団法人 日本機械学会, Japanese
• 2P1-57-090 ノンホロノミック・ロボットに関する研究 : 第 2 報ロボットによる猫ひねり
  河村 隆; 山藤 和男; 田中 孝之, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 87, 87, 2000
  われわれは1991年に世界で初めて猫ひねり動作の解明に成功し, この原理を応用してロボットに猫ひねりを行わせることに成功した。本研究は, ゴム人工筋を用いた猫の尻振り動作, 背骨の曲げ角の制御およびロボット猫の自由落下時の尻振り動作と猫ひねりの関係を明らかにした。, 一般社団法人 日本機械学会, Japanese
• 2P1-57-091 ノンホロノミック・ロボットに関する研究 : 第 4 報一本足ロボット
  宮島 晃; 竹村 嘉人; 山藤 和男; 田中 孝之, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 87, 88, 2000
  竹馬の動歩行をモデルとして, 一点接地で安定に立つことのできる一本足移動ロボットを開発した。本ロボットは定常的な足踏みにより動的に安定姿勢を保ち, さらに移動もおこなう。本研究では, 一本足ロボットをノンホロノミックシステムの見地から3次元でモデル化し, 各リンクの角度や各モータのトルク, ZMPの軌跡等をシミュレーションと実機の実験により解析, 動歩行について考察する。, 一般社団法人 日本機械学会, Japanese
• 2P1-57-092 ノンホロノミック・ロボットに関する研究 : 第 3 報励振を利用した雲梯わたりロボット
  田中 孝之; 前川 桂一郎; 山藤 和男, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 88, 88, 2000
  1989年に発表した筆者らの2リンクで1モータ駆動の雲梯わたりボットは典型的なノンホロノミックシステムである。その後, 2リンクで2モータというホロノミックシステムなどが研究されているが, われわれはあくまでもノンホロノミックシステムの励振によってもたらされる少ないアクチュエータによる優れた運動の実現にこだわり, 新提案したトルク制御法により効率よく雲梯わたりが実現できることを報告する。, 一般社団法人 日本機械学会, Japanese
• 2P2-57-081 ノンホロノミック・ロボットに関する研究
  田中 孝之; 本多 幸太郎; 山藤 和男, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 103, 103, 2000
  犬は訓練により, 空中に投げられたフリスビーや物体の落下する近くまで駆けて行って口で受けとめることができる。本研究はそのような犬の動作をロボットで実現するため, 多関節の二足をもつロボットを開発した。空中に放り投げられたこのロボットが空中でオイラー角を検出し, 足を常に地面に向けて軟着陸するようにゴム人工筋を制御することにより, ロボット犬の足からの軟着地実験に成功した。, 一般社団法人 日本機械学会, Japanese
• 2P2-57-082 ノンホロノミック・ロボットに関する研究
  和田 一義; 山藤 和男; 田中 孝之; 五閑 学, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 103, 103, 2000
  跳躍と同時に作業を行うロボットの一つとして, なわ跳びロボットに着目した。これまで, ロボットの開発と実機を用いた定点での連続なわ跳び動作の実現に成功したが, 動特性や制御特性に関してまだ解明されない部分がある。本研究では, シミュレーションによりなわ跳びロボットの運動特性の検討, なわ跳びと移動の同時動作を実現するための方法論を開発する。, 一般社団法人 日本機械学会, Japanese
• 2P2-57-083 ノンホロノミック・ロボットに関する研究
  盛 再権; 田中 孝之; 山藤 和男, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 103, 104, 2000
  本研究は, 横行クレーンの吊り荷の振動制御に関する基礎的研究として, サーボモータで水平に駆動されるスライダに取り付けた単振子型ローダーアームの制御を行った。この系は1入力, 2出力のノンホロノミックシステムであり, 具体的にはローダーアームの先端を高速・精密に位置決めする場合の残留振動防止に関するソフトウエアサーボ制御の研究である。, 一般社団法人 日本機械学会, Japanese
• 2P2-57-084 ノンホロノミック・ロボットに関する研究
  鈴木 久延; 中久喜 一雄; 山藤 和男; 田中 孝之, ロボティクス・メカトロニクス講演会講演概要集, 2000, 0, 104, 104, 2000
  曲率をもつ3つのリンクと2つのアクチュエータから構成され, 倒立や蠕動運動などにより床面を移動することができる床運動ロボットを開発した。本研究では, ノンホロノミックシステムの見地からロボットの運動特性を調べるとともに, 感性工学的なアプローチをおこない, より生物的な動作を実現する方法について検討する。, 一般社団法人 日本機械学会, Japanese
• (14)生物の本能的行動に倣った新実時間画像抽出法の研究
  田中 孝之, 日本機械学会誌, 103, 978, 297, 297, 2000
  一般社団法人 日本機械学会, Japanese
• 脳波認識に基づく意思伝達システムに関する基礎的研究
  田中一男; 須貝明文; 田中孝之, 日本ファジィ学会関東支部ワークショップ論文集, 13th, 13, 17, 22 Oct. 1999
  Japanese
• Real-time Image Extracting Technology.
  TANAKA TAKAYUKI; YAMAFUJI KAZUO; TANAKA KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.1, 1P1.01.002(1)-1P1.01.002(2), 12 Jun. 1999
  Japanese
• Human-Assist System for Nursing Use. 5th Report. Maneuverability and psychological safety.
  KANAMORI NAOKI; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.1, 1P1.09.021(1)-1P1.09.021(2), 12 Jun. 1999
  Japanese
• Human-Assist System for Nursing Use. 6th Report. Maneuverbility of the system under loading.
  MURANO NAOYASU; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.1, 1P1.09.019(1)-1P1.09.019(2), 12 Jun. 1999
  Japanese
• Research of unmanned production support robot. 3rd. Stereo vision by insect type image extracting system.
  SEKIGUCHI NAOHIRO; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.2, 1P2.20.020(1)-1P2.20.020(2), 12 Jun. 1999
  Japanese
• Human-Assist System for Nursing Use. 7th Report. Development of Human Assist End-effector (HAND).
  HIRATA NAHOKO; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.1, 1P1.09.023(1)-1P1.09.023(2), 12 Jun. 1999
  Japanese
• Human-Assist System for Nursing Use. 8th Report. Transferring and nursing motion by wearing the human-assist system developed.
  KOYAMA TAKESHI; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.1, 1P1.09.022(1)-1P1.09.022(2), 2, 12 Jun. 1999
  Japanese
• Unmanned Production Based on Cooperation between Offline Robots and Online Robots. 3rd Report. Stereo vision using insect type image extracting method.
  SATO DAISUKE; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.2, 2A1.66.067(1)-2A1.66.067(2), 12 Jun. 1999
  Japanese
• Development of a Self-learning Algorithm for Interactive Robotic Pets.
  KAI MACHIKO; TANAKA TAKAYUKI; TAJIMA TOSHIHIRO; KUDO TOSHIMI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1999, Pt.3, 2P2.22.015(1)-2P2.22.015(2), 12 Jun. 1999
  Japanese
• ハエの行動にならった生物的実時間画像抽出法
  山藤 和男; 田中 孝之; 大井 純司, 自動化技術, 30, 11, 43, 48, Nov. 1998
  工業調査会, Japanese
• Human-Assist System for Nursing Use. 4th Report. Concepts and development of a robotic prototype of wearable human-assist system.
  KOYAMA TAKESHI; OHARA NAOKI; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本ロボット学会学術講演会予稿集, 16th, 619, 620, Sep. 1998
  Japanese
• Study of Maneuverability of Man-Machine System. 2nd. Report, Proposal of Self Impedance Matching Method.
  MORISHITA SATOKI; TANAKA TAKAYUKI; KURAWAKI ICHIRO; YAMAFUJI KAZUO, 日本ロボット学会学術講演会予稿集, 16th, 1145, 1146, Sep. 1998
  Japanese
• Interactive Pet Robot.
  TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1998, Pt.1, 1CVI1.5(1), Jun. 1998
  Japanese
• Technologies for Autonomous Locomotion Controlof the Intelligent Mobile Robot for Service Use.
  TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1998, Pt.1, 2AVI1.3(1), Jun. 1998
  Japanese
• Development and Motion Control of a Unicycle Robot without Extension Cables.
  OKURA TAKESHI; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1998, Pt.2, 1AI3.7(1)-1AI3.7(2), Jun. 1998
  Japanese
• Study of Rescue System against Disasters after Earthquake. 3rd Report, Development of a movile robot for rescue operations.
  GAMASAWA MASARU; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1998, Pt.4, 1CI4.7(1)-1CI4.7(2), Jun. 1998
  Japanese
• Research and Development of an Interactive Pet Robot : Expressing Mechanism of Emotion and Intention for an Interactive Pet Robot
  KAI Machiko; TANAKA Takayuki; YAMAFUJI Kazuo, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 7, 681, 684, 10 Nov. 1997
  Japanese
• Human-Assist System for Nursing Use. 3rd Report. Experiment on maneuverability of a man-machine system.
  MORISHITA SATONORI; OBARA NAOMI; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本ロボット学会学術講演会予稿集, 15th, 343, 344, Sep. 1997
  Japanese
• Human-Assist System for Nursing Use. 1st Report. Fundamental concepts and specifications of a human-assist system.
  KANAMORI NAOKI; KURAWAKI ICHIRO; TANAKA TAKAYUKI; YAMAFUJI KAZUO; TAGUCHI KAN, 日本ロボット学会学術講演会予稿集, 15th, 339, 340, Sep. 1997
  Japanese
• Biological Pattern Extraction Method Emulating Fly's Behavior.
  TANAKA TAKAYUKI; OI JUNJI; YAMAFUJI KAZUO, 日本ロボット学会学術講演会予稿集, 15th, 1097, 1098, Sep. 1997
  Japanese
• Human-Assist System for Nursing Use. 2nd Report. Development of a two-link power-assisting manipulator and its force control.
  MURANO NAOYASU; SATO MASATOSHI; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本ロボット学会学術講演会予稿集, 15th, 341, 342, Sep. 1997
  Japanese
• Study of Rescue System against Disasters after Earthquake. 2nd Report. Rescue of human beings from collapsed wooden house.
  TANAKA TAKAYUKI; YAMAFUJI KAZUO; FENG M, JSMEロボメカ・シンポジア講演論文集, 2nd, 71, 74, Jul. 1997
  Japanese
• Proposal of Biological Pattern Extraction Method Emulating Fly's Behavior.
  OI JUNJI; TANAKA TAKAYUKI; YAMAFUJI KAZUO, ロボティクスシンポジア予稿集, 2nd, 157, 162, Jul. 1997
  Japanese
• A New Columbus' Egg Robot and Robots with Insect-like Behavior.
  TAGUCHI KAN; YAMAFUJI KAZUO; TANAKA TAKAYUKI, JSMEロボメカ・シンポジア講演論文集, 2nd, 25, 26, Jul. 1997
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 23th Report. Direct Communication between Robot and Human Being Using Gesture Recognition.
  UEDA YUKINORI; TANAKA TAKAYUKI; YAMAFUJI KAZUO; SAEKI KENSUKE, ロボティクスシンポジア予稿集, 2nd, 49, 52, Jul. 1997
  Japanese
• Development of Inteligence Mobile Robot for Service Use. 20th Report. Intelligent mobile robot system by using plural computers.
  SEKIGUCHI NAOHIRO; TANAKA TAKAYUKI; YAMAFUJI KAZUO; HIRABAYASHI TOMOKAZU, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 1105, 1106, Jun. 1997
  Japanese
• Development of the Model of Emotion Generation Mechanism for Artificial Life.
  TAKANASHI SHINJI; TANAKA JUNPEI; LITVINTSEVA L V; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 1161, 1164, Jun. 1997
  Japanese
• Trial Manufacture of Emotional Expression Robot and Human Evaluation of its Expression.
  KAI MACHIKO; KATAGAMI DAISUKE; TAKANASHI SHINJI; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 671, 672, Jun. 1997
  Japanese
• Biological Object Extraction Method Emulating Flys' Behavior and its Application to Measuring Distance Using a Robot Manipulator.
  OI JUNJI; TANAKA TAKAYUKI; YAMAFUJI KAZUO; KURAWAKI ICHIRO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 1083, 1086, Jun. 1997
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 21th Report. Path planning of double-arm robot based on the task.
  SHIBUYA MITSUHIRO; TANAKA TAKAYUKI; YAMAFUJI KAZUO; OGINO KAZUMITSU, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 645, 646, Jun. 1997
  Japanese
• Concept and Simulation of New Pattern Recognition Technique.
  OGINO YOHEI; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 1069, 1070, Jun. 1997
  Japanese
• Deveropment of an Insect Type Robot for Fire-Fighting.
  MATSUMOTO KEIGO; YAMAFUJI KAZUO; TANAKA TAKAYUKI, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.A, 373, 374, Jun. 1997
  Japanese
• A range finder using a CCD camera.
  TAGUCHI KAN; TANAKA TAKAYUKI; EMA KEN'ICHI; YAMAFUJI KAZUO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 775, 776, Jun. 1997
  Japanese
• Development of a Mobile Robot for Carrying Trash. 3rd Report. Development of automatic power supplying apparatus and installations of a cleaner.
  UJIIE TOMONORI; SATO TAISUKE; TANAKA TAKAYUKI; YAMAFUJI KAZUO; TOYOSHIMA ISAO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1997, Vol.B, 647, 650, Jun. 1997
  Japanese
• Development of a Robot Which Can Catch a Samurai's Sword.
  MATSUMOTO KEIGO; HASHIMURA MASAKAZU; OGINO YOHEI; YAMAFUJI KAZUO; ULYANOV S V; TANAKA TAKAYUKI, 日本ロボット学会学術講演会予稿集, 14th, 2, 453, 454, Nov. 1996
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 17th Report. Adaptive locomotion control system using hierarchical environment map.
  SEKIGUCHI NAOHIRO; TANAKA TAKAYUKI; YAMAFUJI KAZUO; ULYANOV S V, 日本ロボット学会学術講演会予稿集, 14th, 2, 499, 500, Nov. 1996
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 16th Report. Proposal of Active Multi-Eye system and its application to robot.
  OI JUNJI; GAMASAWA MASARU; YAMAFUJI KAZUO; TANAKA TAKAYUKI; ULYANOV S V, 日本ロボット学会学術講演会予稿集, 14th, 1, 295, 296, Nov. 1996
  Japanese
• Postural Stability and Intelligent Control of a Robotic Unicycle.
  WATANABE SHIN; OKURA TAKESHI; YAMAFUJI KAZUO; ULYANOV S V; TANAKA TAKAYUKI, JSMEロボメカ・シンポジア講演論文集, 1st, 105, 110, Jul. 1996
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 13th Report. Navigation rules based on self-learning and sensor-fusion.
  KATAGAMI DAISUKE; TANAKA TAKAYUKI; YAMAFUJI KAZUO; ULYANOV S V; TOYOSHIMA ISAO, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1996, Vol A, 690, 693, Jun. 1996
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 10th Report. Autonomous navigation control based on hierarchical environment map.
  TANAKA TAKAYUKI; YAMAFUJI KAZUO; ULYANOV S V; HIRABAYASHI TOMOKAZU, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1996, Vol B, 959, 962, Jun. 1996
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 9th Report. A Method of Avoiding Dynamic Obstacles with Predicting Action.
  TANAKA TAKAYUKI; SEKIGUCHI NAOHIRO; YAMAFUJI KAZUO, 日本ロボット学会学術講演会予稿集, 13th, 3, 887, 888, Nov. 1995
  Japanese
• Path Planning of an Intelligent Mobile Robot for Service Use using Genetic Algorithm.
  TANAKA TAKAYUKI; YAMAFUJI KAZUO, 日本機械学会関東支部・精密工学会山梨講演会講演論文集, 1994, 194, 195, Sep. 1994
  Japanese
• Development of Intelligent Mobile Robot for Service Use. 2nd Report. Autonomous Locomotion Control.
  ISHIKAWA ATSUO; MIYAGAWA KIMIHIKO; TANAKA TAKAYUKI; YAMAFUJI KAZUO, 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, 1994-A, 940, 353, 358, Jun. 1994
  Japanese

• ロボット工学ハンドブック
  日本ロボット学会
  コロナ社, Mar. 2023, 9784339046793, ix, 1072p, Japanese, [Contributor]
• Humanoid Robotics: A Reference
  Eiichi Yoshida; Ko Ayusawa; Yumeko Imamura; Takayuki Tanaka, Toward New Humanoid Applications: Wearable Device Evaluation Through Human Motion Reproduction
  Springer, Aug. 2018, 9400760450, English, This chapter addresses a new application of humanoid robot for evaluation of wearable assistive devices. One of the issues for diffusion of assistive devices that has been developed recently is its objective and qualitative evaluation to validate its assistive effects. Human subject experiments that have frequently been used have several drawbacks such as heavy ethical procedures, repeatability, and subjectivity coming from tests with questionnaires. A humanoid robot with humanlike structure and shape has potential to be used as an “active mannequin.” By reproducing human motions based on a technique called retargeting, a humanoid robot can test wearable devices instead of a human. It has advantages as it can repeat the same motions to test the product under the same conditions, and it has no ethical risks. The largest advantage is its capacity of quantitative evaluation by measuring joint torques, which allows direct validation of supportive torque generated by the device. By taking an example of a supportive wear “Smart Suit Lite” supporting the user’s lower back by elastic bands, we will overview the evaluation framework of humanoid-based assistive device evaluation, including human motion retargeting, experimental device evaluation with humanoid HRP-4C, and validation of the accuracy of the results using an identification method., [Contributor]
• ロボット制御学ハンドブック
  田中孝之; 諸麦俊司; 松野 文俊; 大須賀 公一; 松原 仁; 野田 五十樹; 稲見 昌彦, センサ・アクチュエータとモデリング
  近代科学社, Dec. 2017, 476490473X, 1024, [Contributor]

  
• 人工知能学大事典
  田中孝之; 人工知能学会; JSAI, パワーアシストスーツ
  共立出版, Jul. 2017, 4320124200, 1579, 1024-1025, Japanese, Dictionary or encycropedia, [Contributor]

  
• 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～
  田中孝之; 日下 聖; 土谷圭央; 板生 清, 作業者の腰への負担計測と軽減に向けたセンサ内蔵ウェアの開発
  サイエンス＆テクノロジー株式会社, Apr. 2017, 4864281513, 519, [Contributor]

  
• 福祉技術ハンドブック: 健康な暮らしを支えるために
  産業技術研究所ヒューマンライフテクノロジー研究部門, パワードスーツ
  朝倉書店, Oct. 2013, 4254201524, 506, [Contributor]

  
• 東日本大震災合同調査報告
  東日本大震災合同調査報告書編集委員会
  日本機械学会, 丸善出版 (発売), 2013, 9784888982320, 178-180, Japanese
• 独創的ロボットの研究開発 : 夢のあるロボットと役に立つロボット
  山藤 和男; 田中 孝之
  養賢堂, 2002, 4842503319, Japanese

• -Stress analysis using X-ray images of front and rear bending postures for developing a lumbar physical model-
  FUJITA Wataru; TSUCHIYA Yoshio; TANAKA Takayuki; YOSHIDA Michihiro
  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, The Japan Society of Mechanical Engineers, Japanese
  2020 - 2020,

  Low back pain is a serious problem in Japan, so analysis of lumber load is needed. The conventional analysis method is an invasive analysis, and a non-invasive and safe analysis method is required. The purpose of this study is to make a physical model of L4-L5 vertebral body from radiographs and to estimate the lumbar load from the model. Five X-ray images of the upper body angle, standing postures, and backward bending were taken for each subject, and a three-dimensional model of the L4-L5 vertebral body was created. FEM analysis was performed using the model created, and the load acting on the intervertebral disc during the photographed postures ware measured. The results were evaluated for each of the four subjects to measure individual differences. Based on these results, we approached the lumbar load analysis using a physical model, which is the goal of this study.

• 高齢労働者を支える軽労化技術
  田中孝之
  産業衛生学雑誌, 16 May 2018, Japanese
• 軽労化技術で創り出す軽労化社会
  田中孝之
  電子情報通信学会大会講演論文集(CD-ROM), 06 Mar. 2018, Japanese
• 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.
• 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
• Wearable Logging System of Work Load for Improvement of Operation
  田中孝之; 宮島沙織; 泉博之
  電気学会制御研究会資料, 23 Jan. 2016, Japanese
• 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.
• マイクロ波非破壊検査によるコンクリート内空隙検出の基礎研究
  川瀧翔太郎; 田中孝之; 土井暁; 内田茂; FENG Maria Q
  計測自動制御学会北海道支部学術講演会論文集, 2016, Japanese
• セミアクティブ筋力トレーニングスーツの負荷制御系設計
  中野直樹; 田中孝之; 野村英史; 神山慶人; 渡部靖之
  計測自動制御学会北海道支部学術講演会論文集, 2016, Japanese
• 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
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第三報:関節位置覚に対する影響―
  栗田雄一; 佐藤純平; 辻敏夫; 田中孝之; 篠原稔
  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
• 軽労化ツール:スマートスーツ
  田中孝之
  日本機械学会年次大会講演論文集(CD-ROM), 12 Sep. 2015, Japanese
• 簡易動作計測に基づくスマートスーツの軽労化効果の見積もり
  田中孝之; 宮島沙織; 今村由芽子
  建設ロボットシンポジウム論文集(CD-ROM), 07 Sep. 2015, Japanese
• セミアクティブ負荷制御機構をもつ微小重力下筋力トレーニングスーツ
  田中孝之; 中野直樹; 野村英史; 神山慶人
  日本ロボット学会学術講演会予稿集(CD-ROM), 03 Sep. 2015, Japanese
• 感覚運動機能を向上させるウェアラブルスーツ:SEnS―第二報:両腕の補助が可能なスーツの開発―
  栗田雄一; 小池祐輝; 田中孝之; 辻敏夫
  日本ロボット学会学術講演会予稿集(CD-ROM), 03 Sep. 2015, Japanese
• 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
• 漁業用軽労化支援スーツの改良―2 改良型スーツの評価試験
  TAKAHASHI HIDEYUKI; TANAKA TAKAYUKI; IMAMURA YUMEKO; MAEDA DAISUKE; YOSHINARI SATOSHI; EMORI HIROSHI; SUZUKI YOSHIHITO
  日本水産工学会学術講演会講演論文集, 29 May 2015, Japanese
• Relative Speed Feeling Presenting Method using Vibration Alert Interface
  LAI ZHANTAO; SAMPEI YUKI; TANAKA TAKAYUKI
  ヒューマンインタフェースシンポジウム論文集(CD-ROM), 10 Sep. 2013, English
• 任意点操作可能な多リンクパワーアシストシステムの操作点インピーダンス修正のための一手法
  渋川文哉; 田中孝之; 金子俊一
  日本ロボット学会学術講演会予稿集(CD-ROM), 04 Sep. 2013, Japanese
• ロバストでかつ収束性能の高い点群照合アルゴリズム
  近藤正一; 金子俊一; 田中孝之; 高氏秀則; 前田俊二
  電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 04 Sep. 2013, Japanese
• 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, Japanese
• Motion Analysis of Trunk Stabilization Effect generated by Smart Suit Lite for Care Work
  IMAMURA YUMEKO; TANAKA TAKAYUKI; SUZUKI YOSHIHITO; TAKIZAWA KAZUKI; YAMANAKA MASANORI
  電子情報通信学会技術研究報告, 22 Aug. 2013, Japanese
• 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, Japanese
• 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
• Challenge of Information and Robot Technology on KEIROKA Assistive System
  TANAKA TAKAYUKI
  電子情報通信学会技術研究報告, Aug. 2013, Japanese
  [Invited]
• 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
• Method of Trajectory Generation of Autonomous Weeding Robot for Weeding in Large Area
  NODA YOSHIKI; TAKAHASHI SATORU; TANAKA TAKAYUKI; KAWABATA KUNIAKI
  電気学会次世代産業システム研究会資料, 08 Mar. 2013, Japanese
• 介護作業用スマートスーツ・ライトによる前屈姿勢保持時の筋力補助と姿勢安定化
  今村由芽子; 田中孝之; 金子俊一; 鈴木善人; 瀧澤一騎; 山中正紀
  ロボティクスシンポジア予稿集, Mar. 2013, Japanese
  [Invited]
• 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, Mar. 2013, Japanese
• Postural stabilization by trunk tightening force generated by passive power-assist device.
  Imamura Y; Tanaka T; Nara H; Suzuki Y; Takizawa K; Yamanaka M
  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2013
• Development on smart suit for dairy work assistance.
  Nara H; Kusaka T; Tanaka T; Yamagishi T; Ogura S
  Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, 2013
• Humanoid robot as an evaluator of assistive devices.
  Kanako Miura; Eiichi Yoshida; Yoshiyuki Kobayashi; Yui Endo; Fumio Kanehiro; Keiko Homma; Isamu Kajitani; Yoshio Matsumoto; Takayuki Tanaka
  2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, 2013
• Improvement of Sensory Stabilization and Repeatability of Vibration Interface for Distance Presentation.
  Yuki Sampei; Takayuki Tanaka; Yuki Mori; Shun'ichi Kaneko
  Foundations of Augmented Cognition - 7th International Conference, AC 2013, Held as Part of HCI International 2013, Las Vegas, NV, USA, July 21-26, 2013. Proceedings, 2013
• Correction Method Based on KI-VPA Model for Changes in Vibratory Perception Caused by Adaptation.
  Yuki Mori; Takayuki Tanaka; Shun'ichi Kaneko
  Human Interface and the Management of Information. Information and Interaction Design - 15th International Conference, HCI International 2013, Las Vegas, NV, USA, July 21-26, 2013, Proceedings, Part I, 2013
• ステップ状作業負荷変動における等尺性最大筋力変化モデル
  安藤翔太; 田中孝之; 奈良博之; 瀧澤一騎; 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
• 持ち上げ動作におけるスマートスーツ・ライトの物理的心理的評価
  高橋紘介; 田中孝之; 奈良博之; 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
• 葡萄園除草ロボットのための葡萄樹の触覚認識
  井川久; 田中孝之; 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
• 腰部表皮形状と上体前屈角度計測に基づく腰部負荷推定法
  保科大樹; 田中孝之; 奈良博之; 金子俊一; 山中正紀; 關之山勝博
  計測自動制御学会北海道支部学術講演会論文集, 2013, Japanese
• 上向き作業用軽労化スーツによる筋負担軽減効果の検証
  松本浩輔; 田中孝之; 奈良博之; 金子俊一; 矢田和也; 柏原一樹
  計測自動制御学会北海道支部学術講演会論文集, 2013, Japanese
• 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
• 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
• 操作性向上のための上腕筋骨格モデルを用いたパワーアシスト
  中野基輝; 田中孝之; 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
• 雪かき作業時における筋力補助スーツ着用による軽労化効果の評価
  瀧澤一騎; 田中孝之; 吉成哲; 柴田啓介; 鈴木善人
  体力科学, 01 Dec. 2012, Japanese
• 建設作業における上向き作業時の頸部筋負担の解析
  松本浩輔; 田中孝之; 矢田和也
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 腰部負荷推定のための腰部表皮形状と上体角度計測に基づく腰椎形状推定
  保科大樹; 田中孝之; 奈良博之; 金子俊一; 山中正紀; 關之山勝博
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 持ち上げ動作におけるスマートスーツ・ライトの筋負担補助効果と感覚量の検証
  高橋紘介; 田中孝之; 奈良博之; 金子俊一
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• フィードフォワードを付加したサーボ制御を用いた葡萄園除草ロボットWeeRoの移動制御
  木村龍史; 松下昭彦; 金子俊一; 田中孝之
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• マニピュレータの姿勢を利用した変形対象物の位置検出誤差と初期変形量の関係
  井川久; 田中孝之; 金子俊一; 多田達実; 鈴木慎一; 大村功
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 介護作業用スマートスーツ・ライトの体幹安定化効果による静的姿勢バランス能力の向上
  今村由芽子; 田中孝之; 鈴木善人; 瀧澤一騎; 山中正紀
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 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
• 三対六筋を有した筋骨格モデルに基づく姿勢考慮補償での筋出力差による手先応答性への影響
  中野基輝; 田中孝之; 金子俊一
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 作業負荷の変動が骨格筋に及ぼす影響と筋力モデル
  安藤翔太; 田中孝之; 奈良博之; 瀧澤一騎; 金子俊一
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 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
• ガス工事の現場を想定したスマートスーツ・ライトの疲労軽減効果に関する実験的検討
  田村健; 田中孝之
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• 多リンクパワーアシストシステムの任意点操作における操作点インピーダンスの解析
  渋川文哉; 田中孝之; 金子俊一
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, Japanese
• Humanoid Robot as an Evaluator of Assistive Devices
  YOSHIDA EIICHI; MIURA KANAKO; KOBAYASHI YOSHIYUKI; ENDO YUI; HOMMA KEIKO; KAJITANI ISAMU; MATSUMOTO YOSHIO; TANAKA TAKAYUKI
  日本ロボット学会学術講演会予稿集(CD-ROM), 17 Sep. 2012, English
• 振動感覚順応を考慮したVibration Alert Interfaceの振動呈示方法
  森友揮; 田中孝之; 金子俊一
  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), 27 May 2012, Japanese
• fNIRSデータにおける頭部姿勢変化による脳血流変化の推定
  高橋紘介; 田中孝之; 奈良博之; 金子俊一; 小島悟; 井上正雄
  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), 27 May 2012, Japanese
• Vibration Alert Interface利用時における感覚再現性向上のための相対振動感覚提示法
  三瓶佑希; 田中孝之; 森友揮; 金子俊一
  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), 27 May 2012, Japanese
• 体幹安定化のためのスマートスーツ・ライトの姿勢変化に伴う体幹締め付け力によるバランス能力向上
  今村由芽子; 田中孝之; 鈴木善人; 瀧澤一騎; 山中正紀
  ロボティクスシンポジア予稿集, Mar. 2012, Japanese
• 上腕挙上作業用アシストスーツのためのストレッチFRPアクチュエータの開発
  松本浩輔; 田中孝之; 金子俊一; 奈良博之; 吉成哲; 前田大輔; 鈴木善人
  計測自動制御学会北海道支部学術講演会論文集, 2012, Japanese
• 介護作業用スマートスーツ・ライトによる体幹安定化効果の検証
  今村由芽子; 田中孝之; 鈴木善人; 瀧澤一騎; 山中正紀
  計測自動制御学会北海道支部学術講演会論文集, 2012, Japanese
• 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
• 二関節筋を有する筋骨格モデルに基づく上腕姿勢を考慮したパワーアシスト
  中野基輝; 田中孝之; 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, 2012, Japanese
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮したロバスト触覚認識技術の評価
  井川久; 田中孝之; 金子俊一; 多田達実; 鈴木慎一; 大村功
  計測自動制御学会北海道支部学術講演会論文集, 2012, Japanese
• 腰部負荷推定のための腰部表皮形状と上体角度計測に基づく上体姿勢推定
  保科大樹; 田中孝之; 奈良博之; 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, 2012, Japanese
• 任意点操作可能な多リンクパワーアシストシステムの操作点作用力を考慮した操作性向上
  渋川文哉; 田中孝之; 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, 2012, Japanese
• Base Position Detection of Grape Stem Considering Its Displacement for Weeding Robot in Vineyards
  IGAWA HISASHI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; TADA TATSUMI; SUZUKI SHIN'ICHI; OHMURA ISAO
  Annu Conf IEEE Ind Electron Soc, 2012, English
• 雪かき運動による漸増負荷試験は全身持久力テストとして妥当か?
  柴田啓介; 田中孝之; 瀧澤一騎; 吉成哲; 鈴木善人
  体力科学, 01 Dec. 2011, Japanese
• 形状の違うスコップによる6週間の雪かき作業が体力に及ぼす影響
  瀧澤一騎; 田中孝之; 吉成哲; 奈良博之; 柴田啓介; 鈴木善人
  体力科学, 01 Dec. 2011, Japanese
• 多リンクパワーアシストシステムにおける任意点操作手法 操作力の干渉を軽減する操作点協調化制御
  渋川文哉; 田中孝之; 金子俊一
  自動制御連合講演会(CD-ROM), 19 Nov. 2011, Japanese
• フィードフォワードを付加したサーボ制御を用いた葡萄園除草ロボットWeeRoの移動制御
  木村龍史; 松下昭彦; 金子俊一; 田中孝之
  自動制御連合講演会(CD-ROM), 19 Nov. 2011, Japanese
• VAIの感覚再現性を向上する相対振動感覚提示法
  三瓶佑希; 田中孝之; 森友輝; 金子俊一
  ヒューマンインタフェースシンポジウム論文集(CD-ROM), 13 Sep. 2011, Japanese
• Vibration Alert Interfaceにおける順応による振動感覚変化のモデル化
  森友揮; 田中孝之; 金子俊一; 片桐祥雅
  ヒューマンインタフェースシンポジウム論文集(CD-ROM), 13 Sep. 2011, Japanese
• 軽労化スコップを用いた長期除雪作業による身体機能への影響評価
  吉成哲; 田中孝之; 瀧澤一騎; 奈良博之; 鈴木善人; 中島康博
  日本機械学会年次大会講演論文集, 10 Sep. 2011, Japanese
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮したロバスト触覚認識の評価
  井川久; 田中孝之; 金子俊一; 多田達実; 鈴木慎一; 大村功
  日本ロボット学会学術講演会予稿集(CD-ROM), 07 Sep. 2011, Japanese
• 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
• 葡萄園雑草除去のための車両型ロボット制御手法
  野田祥希; 高橋悟; 田中孝之; 金子俊一
  電気学会産業応用部門大会(CD-ROM), 06 Sep. 2011, Japanese
• 雪かき運動におけるLT強度測定を目的とした漸増負荷運動プロトコルの作成
  瀧澤一騎; 吉成哲; 奈良博之; 鈴木善人; 田中孝之
  体力科学, 01 Aug. 2011, Japanese
• 上腕二関節筋特性に基づくパワーアシストバルブの操作性向上
  中野基輝; 田中孝之; 金子俊一; 山野光一
  ロボティクスシンポジア予稿集, Mar. 2011, Japanese
• 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, Mar. 2011, Japanese
• 多リンクパワーアシストシステムの任意操作点からの直感的操作手法―多リンク多自由度マニピュレータの操作点での運動拘束に関する考察―
  渋川文哉; 田中孝之; 金子俊一; 梶原秀一; 吉藤拓土
  ロボティクスシンポジア予稿集, Mar. 2011, Japanese
• 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, Karon Beach, Thailand, December 7-11, 2011, 2011
• Fundamental study on evaluation of KEIROKA(fatigue-reduction) technology in using UD shovel for removing snow by Musculo-Skeletal Dynamics Simulator.
  Hiroyuki Nara; Takayuki Tanaka; Yumeko Imamura; Satoshi Yoshinari; Yasuhiro Nakajima; Shun'ichi Kaneko
  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011, 2011
• Motion-based design of elastic belts for passive assistive device using musculoskeletal model.
  Yumeko Imamura; Takayuki Tanaka; Yoshihito Suzuki; Kazuki Takizawa; Masanori Yamanaka
  2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Karon Beach, Thailand, December 7-11, 2011, 2011
• Design of Vibration Alert Interface Based on Tactile Adaptation Model to Vibration Stimulation.
  Yuki Mori; Takayuki Tanaka; Shun'ichi Kaneko
  Human Interface and the Management of Information. Interacting with Information - Symposium on Human Interface 2011, Held as Part of HCI International 2011, Orlando, FL, USA, July 9-14, 2011, Proceedings, Part I, 2011
• 筋骨格動力学シミュレーターを用いた除雪作業用UDスコップ使用時の身体的負担評価
  奈良博之; 田中孝之; 今村由芽子; 吉成哲; 中島康博; 金子俊一
  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, Japanese
• パワーアシストと基礎体力維持に関する基礎研究
  安藤翔太; 田中孝之; 奈良博之; 瀧澤一騎; 金子俊一
  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, Japanese
• 介護作業用スマートスーツ・ライトの軽労化効果検証
  今村由芽子; 田中孝之; 鈴木善人; 瀧澤一騎; 山中正紀
  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, Japanese
• 軽労化技術によって遅発性筋痛が抑制できればいいのにな
  瀧澤一騎; 安藤翔太; 奈良博之; 田中孝之
  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, Japanese
• 3Sアシスト:軽労化技術のコンセプト
  田中孝之; 吉成哲; 瀧澤一騎; 奈良博之; 鈴木善人
  生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM), 2011, Japanese
• 多リンクパワーアシストシステムの任意操作点における操作干渉力を考慮した直感的制御手法
  渋川文哉; 田中孝之; 金子俊一; 吉藤拓土; 梶原秀一
  知能メカトロニクスワークショップ講演論文集(CD-ROM), 2011, Japanese
• 筋骨格モデルによる上腕姿勢を考慮したインピーダンス制御に基づくパワーアシストシステム
  中野基輝; 田中孝之; 金子俊一
  知能メカトロニクスワークショップ講演論文集(CD-ROM), 2011, Japanese
• モーション・ベースト・アシスト法に基づく介護用スマートスーツ・ライトのための弾性材設計と評価
  今村由芽子; 田中孝之; 金子俊一; 山中正紀; 瀧澤一騎; 堀田大介
  計測自動制御学会北海道支部学術講演会論文集, 2011, Japanese
• 多リンクパワーアシストシステムの多点操作入力における操作点での干渉力の軽減
  渋川文哉; 田中孝之; 金子俊一; 吉藤拓土; 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
• 高所腕上げ作業用スマートスーツのためのストレッチFRPアクチュエータの開発
  松本浩輔; 田中孝之; 金子俊一; 奈良博之; 吉成哲; 前田大輔; 鈴木善人
  計測自動制御学会北海道支部学術講演会論文集, 2011, Japanese
• 腰部形状及び上半身重心位置計測に基づいた腰部負荷推定結果による危険作業姿勢評価
  保科大樹; 田中孝之; 金子俊一; 奈良博之
  計測自動制御学会北海道支部学術講演会論文集, 2011, Japanese
• 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
• 負荷変動と姿勢を考慮した床反力変化モデルを用いた人間の筋負担解析
  菊地隆志; 田中孝之; 金子俊一; 山野光一
  バイオメカニズム学術講演会予稿集, 06 Nov. 2010, Japanese
• 葡萄畑除草ロボットのための軌道生成手法
  石上大祐; 石上陽一; 高橋悟; 高須賀直一; 田中孝之
  自動制御連合講演会(CD-ROM), 03 Nov. 2010, Japanese
• 動作計測と筋骨格動力学モデルに基づく筋力補助装具の設計
  今村由芽子; 田中孝之; 金子俊一; 山中正紀; 堀田大介
  映像情報メディア学会技術報告, 30 Aug. 2010, Japanese
• 葡萄園除草ロボットのための葡萄樹の視触覚認識能力の向上
  井川久; 田中孝之; 金子俊一; 多田達実; 鈴木慎一
  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), 13 Jun. 2010, Japanese
• 作業者の操作予測とその信頼性に基づいたエネルギー回生システムを有するパワーアシスト装置の制御方法
  小林憲弘; 田中孝之; 金子俊一
  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), 13 Jun. 2010, Japanese
• 振動を利用した情報提示装置における慣れが振動感覚に及ぼす影響
  森友揮; 田中孝之; 金子俊一
  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), 13 Jun. 2010, Japanese
• 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識
  高須賀直一; 田中孝之; 金子俊一; 多田達実; 鈴木慎一
  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), 13 Jun. 2010, Japanese
• 筋特性に基づく高速インピーダンスマッチングによるパワーアシストバルブの操作性向上
  中野基輝; 田中孝之; 金子俊一; 山野光一
  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), 13 Jun. 2010, Japanese
• 放水角度とノズル曲げ角に対する放水負担解析および床反力推定
  菊地隆志; 田中孝之; 金子俊一; 山野光一; 安田康晴
  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), 13 Jun. 2010, Japanese
• 調教騎手用スマートスーツの開発―エネルギー制御に基づくパワーアシストとスキルアシスト―
  日下聖; 田中孝之; 金子俊一; 鈴木善人; 齊藤宗信; 梶原秀一
  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), 13 Jun. 2010, Japanese
• カメラ振動に伴う対象物位置の信頼性を考慮したロバストステレオシステム
  岡崎伸哉; 田中孝之; 金子俊一; 高氏秀則; 高地伸夫; 山田光晴
  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), 13 Jun. 2010, Japanese
• マルチポータルヒューマンインタフェース―操作安定性を考慮した操作力ファジィ推定柚―
  渋川文哉; 田中孝之; 金子俊一
  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), 13 Jun. 2010, Japanese
• Design of controller for a Semi-Active Assist Mechanism considering Low-Powered Actuator Limitation
  ROSENDO ANDRE; NAKANO MOTOKI; TANAKA TAKAYUKI; KANEKO SHUN'ICHI
  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), 13 Jun. 2010, English
• 振動環境下における対象物位置情報の信頼性を考慮したロバストステレオビジョンシステム
  岡崎伸哉; 田中孝之; 金子俊一; 高氏秀則; 高地伸夫; 山田光晴
  ロボティクスシンポジア予稿集, Mar. 2010, Japanese
• High-speed impedance matching based on muscle characteristic and its application for improving maneuverability of power assist valve.
  Motoki Nakano; Shun'ichi Kaneko; Takayuki Tanaka; Koichi Yamano
  Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Istanbul, Turkey, 10-13 October 2010, 2010
• 2P1-F18 Robust Stereo System Considering Reliability of Object Position with Camera Vibration
  OKAZAKI Shin'ya; TANAKA Takayuki; KANEKO Shun'ichi; TAKAUJI Hidenori; KOCHI Nobuo; YAMADE Mitsuharu
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  This study aims to establish a Robust sensor system by considering a camera vibration. In stereo measurement, we cam approximate the distribution of the measurement error in image by using uniform distribution. Therefore, the parameters of the distribution of the measurement error are the mean value μ and the standard deviation σ, while the amplitude A and the frequency F are regarded as the parameters of the camera vibration. In order to verify relationships between the parameters with regard to the distribution of the measurement error and the parameters of the camera vibration, we performed an experiment using a vibration testing system. By the result, we can establish the measurement error model. Moreover, we defined the existing probability of the object by using the parameters of the measurement error. Additionally, in order to be minimized the errors, we proposed a variable baseline method. We verified effect of the variable baseline method.
• 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
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  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.
• 1A2-G13 Multi-portal Human Interface for Power Assist Systems : Operational Force Estimation with Fuzzy Approximation Considering Controlling stability
  SHIBUKAWA Fumiya; TANAKA Takayuki; KANEKO Shun'ichi
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  In this study, we propose a multi-portal human interface (M-HI)as an innovative human interface for power assist systems. M-HI allows users to apply force anywhere in the power assist system. This paper describes the concept, the design, the algorithm and possible applications of M-HI. In addition, this paper demonstrates the effectiveness of M-HI with respect to expanding the operableworkspace of power assist systems containing multi-DOF manipulators.
• 1A2-E30 Self-localization of a mobile robot which has a degree of inclination by multi-landmark
  TAKASUKA Naohito; TANAKA Takayuki; KANEKO Shun'ichi; TADA Tatsumi; SUZUKI Shin'ichi
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  Our present study aims to establish a method for estimating the position of a mobile robot traversing irregular ground. More specifically, we apply simultaneous localization and mapping (SLAM) using a laser range finder (LRF). We derive an expression to estimate the position of the mobile robot relative to a fixed landmark using the LRF. We use two poles for the landmark in our experiment. We confirm the effectiveness and accuracy of our proposed technique by both simulations and experiments.
• 1A2-D19 Influence of Adaptation on Vibration Perception for Information Presentation Device Using Vibration
  Mori Yuki; Tanaka Takayuki; Kaneko Shun'ichi
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  This paper describes influence of adaptation on vibration perception for information presentation device using vibration. Information presentation using vibration is an effective method to convey the information to the user. Vibration conveys the information to the user by change in vibration frequency. However, vibration perception was changed due to the adaptation even when vibration frequency was constant. Perception of vibration strength was changed by vibration duration and how to change in vibration. We aim to find a cause of adaptaion and make a mathematical model of adaptation to vibration.
• 1A1-G28 The control method for power assist devices that have energy regeneration system based on predicting operation and its reliability
  KOBAYASHI Norihiro; TANAKA Takayuki; KANEKO Shun'ichi
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  The purpose of this study is to develop the control method for power assist system that has energy regeneration system, by recovering desired load reduction ratio even if torque saturation happens. This paper considers using the ratio of impluse of assist force to impluse of operator's force as an evaluation indicator. Proposed method predicts the operation of an operator and gets desired load reduction ratio by dealing deficient impluse, based on reliability of predicted values.
• 1A1-G12 High-speed Impedance Matching Based on Muscle Characteristic and Its Application for Improving Maneuverability of Power Assist Valve
  NAKANO Motoki; TANAKA Takayuki; KANEKO Shun'ichi; YAMANO Koichi
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  The purpose of this research is to develope the powered valve for fire engine which according to person's intention based on impedance control. We establish the method to predict valve's opening time period by initial value of operation torque. In addition, we establish the method to predict it real time baced on minimum jerk model. It made the evaluation more improved to half.
• 1A1-C08 Floor Reaction Force Estimation and Analysis of Physical Strain in Water Projection for Water Projection Angle and Nozzle Bending Angle
  KIKUCHI Takashi; TANAKA Takayuki; KANEKO Shun'ichi; YAMANO Koichi; YASUDA Yasuharu
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  In this research, we aim at reducing physical strain from nozzle reaction force and making the fire fighting activity more smoothly. We measured reaction forces as water is projected from a nozzle. We also conducted an analysis of physical strain for water projection angle and nozzle bending angle.
• 1A1-B03 Improving the Ability of Visual and Tactual Recognition of Grape Tree for Robot in Vineyards
  IGAWA Hisashi; TANAKA Takayuki; KANEKO Shun'ichi; TADA Tatsumi; SUZUKI Shin'ichi
  ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
  Due to the vastness of the vineyards in Hokkaido, it is very hard for its workers to eradicate weeds. In order to solve this problem, we aim to develop a weeding robot with a multi-link manipulator, using a visual sensing technique of stereo camera system for recognizing the trunk of grape. However this technique lacks accuracy because the stereo camera system generally cannot avoid the error in measurement. Considering this, we devised a method which defines the grape-trunk area. Additionally, in order to compensate the visual sensing technique, we used a tactual sensing technique using the multi-link manipulator, which can recognize trunk of grape by touching it. In this paper, we developed a robust sensing system using both visual and tactual recognition for the weeding robot.
• カメラ振動を考慮したステレオ計測誤差モデル
  岡崎伸哉; 田中孝之; 金子俊一; 高氏秀則; 高地伸夫; 山田光晴
  ViEWビジョン技術の実利用ワークショップ講演論文集(CD-ROM), 2010, Japanese
• 葡萄園除草ロボットのための葡萄樹の視覚認識能力を考慮した触覚認識技術
  井川久; 田中孝之; 金子俊一; 多田達実; 鈴木慎一
  知能メカトロニクスワークショップ講演論文集(CD-ROM), 2010, Japanese
• 可近接性を考慮した手先軌道生成機能を有する視覚誘導型パワーアシストシステム
  松田潤樹; 田中孝之; 金子俊一
  知能メカトロニクスワークショップ講演論文集(CD-ROM), 2010, Japanese
• 移動ロボットの傾きを考慮した複数のランドマークによる位置姿勢認識
  高須賀直一; 田中孝之; 金子俊一; 多田達実; 鈴木慎一; 高橋悟
  知能メカトロニクスワークショップ講演論文集(CD-ROM), 2010, Japanese
• パッシブ筋力補助装置の設計と評価
  今村由芽子; 田中孝之; 山中正紀; 鈴木善人; 齊藤宗信
  計測自動制御学会北海道支部学術講演会論文集, 2010, Japanese
• 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
• 高速インピーダンスマッチングによるパワーアシストバルブの操作性向上
  中野基輝; 田中孝之; 金子俊一; 山野光一
  日本ロボット学会学術講演会予稿集(CD-ROM), 2010, Japanese
• 慣れを考慮した振動による情報提示装置
  森友揮; 田中孝之; 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, 2010, Japanese
• 筋特性に基づく高速インピーダンスマッチングによるパワーアシストバルブの操作性向上
  中野基輝; 田中孝之; 金子俊一; 山野光一
  計測自動制御学会北海道支部学術講演会論文集, 2010, Japanese
• Control method for power-assist systems with energy regeneration system based on predicting operation
  KOBAYASHI NORIHIRO; TANAKA TAKAYUKI; KANEKO SHUN'ICHI
  Annu Conf IEEE Ind Electron Soc, 2010, English
• High-speed Impedance Matching Based on Muscle Characteristic and Its Application for Improving Maneuverability of Power Assist Valve
  NAKANO MOTOKI; TANAKA TAKAYUKI; NANEKO SHUNICHI; YAMANO KOICHI
  Proc IEEE Int Conf Syst Man Cybern, 2010, English
• スマートスーツの研究開発と応用展開
  田中孝之
  建築の自動化技術シンポジウム予稿集, Jan. 2010, Japanese
  [Invited]
• Measurement Error Model Construction on Stereo Measurement Considering Random Vibration
  OKAZAKI SHIN'YA; TANAKA TAKAYUKI; KANEKO SHUN'ICHI; TAKAUJI HIDENORI; KOUCHI NOBUO; YAMADA MITSUHARU
  電気学会一般産業研究会資料, 11 Dec. 2009, Japanese
• 高速インピーダンスマッチングによる消防車用パワーアシストバルブの操作性向上
  中野基輝; 田中孝之; 金子俊一; 山野光一
  知能メカトロニクスワークショップ講演論文集, 26 Sep. 2009, Japanese