Dec. 2023, 計測自動制御学会, SI2023優秀講演賞　　　　　　　　　　　　　　　
内視鏡下副鼻腔手術におけるSHAP を用いた手術技量の分析
山田海俊,鈴木正宣,宮路洸,海老名光希,佐瀬一弥,辻田哲平,陳暁帥,安部崇重,小水内俊介,中丸裕爾,妹尾拓,本間明宏,近野敦

Dec. 2023, 計測自動制御学会, SI2023優秀講演賞　　　　　　　　　　　　　　　
腹腔鏡手術支援のための臓器特徴点を用いた臓器モデル位置合わせ
薄井浩生, 渋谷紗也華, 海老名光希, 佐瀬一弥, 陳暁帥, 小水内俊介, 安部崇重, 辻田哲平, 妹尾拓,的場光太郎, 近野敦

Dec. 2023, Journal of Robotics and Mechatronics, The Best Paper Award 2023　　　　　　　　　　　　　　　
Development of a Haptic Interface for Neurosurgical Simulators with a Micro Scissors Module for Displaying Cutting Force
Teppei Tsujita;Yuto Inoue;Yutaka Takagi;Atsushi Konno;Satoko Abiko;Xin Jiang;Atsuhiro Nakagawa;Masaru Uchiyama

Jun. 2023, 日本機械学会 ロボティクス・メカトロニクス部門, 部門貢献表彰　　　　　　　　　　　　　　　
近野 敦

Mar. 2023, 公益社団法人日本工学教育協会, JSEE AWARD　　　　　　　　　　　　　　　
近野 敦

Mar. 2023, ソニーセミコンダクタソリューションズ株式会社, 2022年度Sensing Solution大学共同研究プログラム 最優秀エンジニアリング賞　　　　　　　　　　　　　　　
気管内吸引支援のための聴診データ学習に基づいた喀痰貯留位置推定
藤原朋之;小水内俊介;近野敦

Dec. 2022, 計測自動制御学会, SI2022優秀講演賞　　　　　　　　　　　　　　　
仮想空間での血管吻合時の手技再現のための針による血管の変形シミュレーション
須田智輝,陳暁帥,近野敦,佐瀬一弥,辻田哲平,岡和彦

Dec. 2022, 計測自動制御学会, SI2022優秀講演賞　　　　　　　　　　　　　　　
脳神経外科手術のためのくも膜を考慮した脳モデルを用いた脳変形シミュレーション
高橋優里,陳暁帥,佐瀬一弥,辻田哲平,近野敦,岡和彦

Dec. 2022, 計測自動制御学会, SI2022優秀講演賞　　　　　　　　　　　　　　　
自動気管内吸引システムのための吸痰要否判別・喀痰貯留位置推定手法の検討
小水内俊介;コリー紀代;藤原朋之;近野敦

Mar. 2022, ソニーセミコンダクタソリューションズ株式会社, 2021年度Sensing Solution大学共同研究プログラム 最優秀アプリケーション賞　　　　　　　　　　　　　　　
気管内吸引支援のための聴診データ学習に基づいた 肺音の正常異常判別
藤原朋之;小水内俊介;近野敦

Jun. 2021, JSME Robotics and Mechatronics Division, Robotics and Mechatronics Academic Achievement Award　　　　　　　　　　　　　　　
Atsushi Konno

Mar. 2020, IEEE, CBS2019 Best Conference Paper Finalist　　　　　　　　　　　　　　　
Vessel Dissection Simulation for Neurosurgery Simulators Considering Subarachnoid Space Structure
Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita and Atsushi Konno

Mar. 2019, 計測自動制御学会, SI2018優秀講演賞　　　　　　　　　　　　　　　
可変ピッチプロペラクアッドチルトロータドローンの性能検証
浦岡雅史;小水内俊介;近野敦

Mar. 2019, 計測自動制御学会, SI2018優秀講演賞　　　　　　　　　　　　　　　
脳神経外科手術支援ブレインシフトAR 表示
白井亮輔;陳暁帥;佐瀬一弥;小水内俊介;辻田哲平;近野敦

Mar. 2019, 計測自動制御学会, SI2018優秀講演賞　　　　　　　　　　　　　　　
生体反応を呈する喀痰吸引シミュレータESTE-SIMのための生体反応モデル（酸素飽和度および心拍数）
小水内俊介;コリー紀代;二宮伸治;近野敦

Dec. 2018, IEEE, ROBIO2018 Finalists of Best Conference Paper　　　　　　　　　　　　　　　
Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-type Haptic Interface Using MR Fluid
Teppei Tsujita;Kazuya Sase;Xiaoshuai Chen;Masashige Tomita;Atsushi Konno;Masano Nakayama;Atsuhiro Nakagawa;Koyu Abe;Masaru Uchiyama

Dec. 2017, 計測自動制御学会, SI2017優秀講演賞　　　　　　　　　　　　　　　
提示力偏向機構を用いた携帯型 6 自由度力覚提示装置の開発
奥田悠斗;小水内俊介;近野 敦

Dec. 2017, 計測自動制御学会SI部門, 貢献表彰　　　　　　　　　　　　　　　
SII2016実行委員長として貢献
近野 敦

Dec. 2017, IEEE, ROBIO2017 Best Paper in Biomimetics Finalist　　　　　　　　　　　　　　　
Analysis of Drop Test Using an One-Legged Robot Toward Parachute Landing by a Humanoid Robot
Teppei Tsujita;Odpurev Altangerel;Satoko Abiko;Atsushi Konno

Sep. 2017, Robotic Society of Japan, Advanced Robotics Best Paper Award　　　　　　　　　　　　　　　
Large Attitude Change Flight of a Quad Tilt Rotor Unmanned Aerial Vehicle
Atsushi Oosedo;Satoko Abiko;Shota Narasaki;Atsushi Kuno;Atsushi Konno;Masaru Uchiyama

Dec. 2016, IEEE, ROBIO2016 Best Paper in Biomimetics Finalist　　　　　　　　　　　　　　　
Experimental and Numerical Analysis of Damage Fracture Mechanics of Brain Parenchyma
Xiaoshuai Chen;Kazuya Sase;Atsushi Konno;Teppei Tsujita

May 2015, IEEE, ICRA Conference Best Paper Award Finalist　　　　　　　　　　　　　　　
Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change
Atsushi Oosedo;Satoko Abiko;Shota Narasaki;Atsushi Kuno;Atsushi Konno;Masaru Uchiyama

Feb. 2014, IEEE, Haptics Symposium Best Demo Award Finalist　　　　　　　　　　　　　　　
Encountered-Type Haptic Interface Using Magneto-Rheological Fluid for Surgical Simulators
Teppei Tsujita;Takuya Kameyama;Atsushi Konno;Xin Jiang;Satoko Abiko;Masuru Uchiyama

Dec. 2011, 計測自動制御学会, SI2011優秀講演表彰　　　　　　　　　　　　　　　
塑性変形物体の自動組み立て動作生成
Kyongmo Koo;近野敦;内山勝;野田哲男

Nov. 2011, みやぎ産業科学振興基金, みやぎ産業科学振興基金研究奨励賞　　　　　　　　　　　　　　　
ヒューマノイドロボットの全身動作生成に関する研究
近野 敦

Dec. 2010, SICE, SII2010 Best Paper Award Finalist　　　　　　　　　　　　　　　
Development of a Static Sinkage Model for a Biped Robot on Loose Soil
Shunsuke Komizunai;Atsushi Konno;Satoko Abiko;Masaru Uchiyama, Japan

Dec. 2010, 計測自動制御学会, SI2010優秀講演表彰　　　　　　　　　　　　　　　
垂直カナード翼を利用した航空ロボットの5自由度飛行シミュレーション
呉健太;松本剛明;大瀬戸篤司;増子弘二;近野敦;内山勝, Japan

Oct. 2010, IEEE/RSJ/ICROS, IROS Best Application Paper Award Finalist　　　　　　　　　　　　　　　
Robotized Assembly of a Wire Harness in Car Production Line
Xin Jiang;Kyong-mo Koo;Kohei Kikuchi;Atsushi Konno;Masaru Uchiyama

Oct. 2006, 計測自動制御学会, SI2005ベストセッション賞　　　　　　　　　　　　　　　
ヒューマノイドロボットHRP-2による和太鼓演奏の実現
松本剛明;近野敦;伊勢紘人;内海信之介;菊地真;佐藤大祐;阿部幸勇;内山勝, Japan

Apr. 1999, 日本機械学会, 奨励賞（研究）　　　　　　　　　　　　　　　
研究用プラットフォームヒューマノイドロボット「才華」の開発
近野 敦, Japan

Development of a System for Determining Technique Level of Vascular Anastomosis Using Hand Motion
Xiaoshuai Chen, Taro Shoji, Ryosuke Kowatari, Koki Ebina, Yoshifumi Kobayashi, Moeki Kato, Hinaha Kabasawa, Taisei Suzuki, Kazuya Sase, Teppei Tsujita, Shunsuke Komizunai, Kazuhiko Oka, Atsushi Konno
Journal of Robotics and Mechatronics, 36, 4, 801, 812, Fuji Technology Press Ltd., 20 Aug. 2024
Scientific journal, In off-pump coronary artery bypass grafting (OPCAB), the coronary arteries are joined as the heart beats. This procedure requires high skill and experience to be performed reliably and quickly. Although training kits are commonly used for technical training, the inability of trainees to always be with experienced surgeons for guidance and to receive immediate evaluation remains problematic. To address this problem, a system that allows a single trainee to observe and quantitatively evaluate the procedures performed by an experienced surgeon is being developed. In this study, to analyze the differences between the motions of experienced and novice surgeons, Leap Motion was used to measure the hand motion of the vascular anastomosis performed by both surgeons using a training kit. Using the measured data, the features of the vascular anastomosis surgical techniques performed by experienced and novices were tested using the Mann–Whitney U test. In addition, a binary classification was performed using machine learning with these features. The binary classification results show that trainees can be classified as experts or novices with high accuracy using the developed system.

Surgical skill analysis focused on tissue traction in laparoscopic wet lab training
Koki Ebina, Takashige Abe, Madoka Higuchi, Kiyohiko Hotta, Jun Furumido, Naoya Iwahara, Taku Senoo, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Yo Kurashima, Hiroshi Kikuchi, Haruka Miyata, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Atsushi Konno, Nobuo Shinohara
Surgery Open Science, Elsevier BV, Aug. 2024
Scientific journal

Validation and motion analyses of laparoscopic radical nephrectomy with Thiel-embalmed cadavers
Lingbo Yan, Koki Ebina, Takashige Abe, Masafumi Kon, Madoka Higuchi, Kiyohiko Hotta, Jun Furumido, Naoya Iwahara, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Yo Kurashima, Hiroshi Kikuchi, Haruka Miyata, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Toshiaki Shichinohe, Soichi Murakami, Taku Senoo, Masahiko Watanabe, Atsushi Konno, Nobuo Shinohara
Current Problems in Surgery, 101559, 101559, Elsevier BV, Jul. 2024
Scientific journal

A surgical instrument motion measurement system for skill evaluation in practical laparoscopic surgery training
Koki Ebina, Takashige Abe, Lingbo Yan, Kiyohiko Hotta, Toshiaki Shichinohe, Madoka Higuchi, Naoya Iwahara, Yukino Hosaka, Shigeru Harada, Hiroshi Kikuchi, Haruka Miyata, Ryuji Matsumoto, Takahiro Osawa, Yo Kurashima, Masahiko Watanabe, Masafumi Kon, Sachiyo Murai, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Taku Senoo, Nobuo Shinohara, Atsushi Konno
PLOS ONE, 19, 6, e0305693, e0305693, Public Library of Science (PLoS), 25 Jun. 2024
Scientific journal, This study developed and validated a surgical instrument motion measurement system for skill evaluation during practical laparoscopic surgery training. Owing to the various advantages of laparoscopic surgery including minimal invasiveness, this technique has been widely used. However, expert surgeons have insufficient time for providing training to beginners due to the shortage of surgeons and limited working hours. Skill transfer efficiency has to be improved for which there is an urgent need to develop objective surgical skill evaluation methods. Therefore, a simple motion capture–based surgical instrument motion measurement system that could be easily installed in an operating room for skill assessment during practical surgical training was developed. The tip positions and orientations of the instruments were calculated based on the marker positions attached to the root of the instrument. Because the patterns of these markers are individual, this system can track multiple instruments simultaneously and detect exchanges. However due to the many obstacles in the operating room, the measurement data included noise and outliers. In this study, the effect of this decrease in measurement accuracy on feature calculation was determined. Accuracy verification experiments were conducted during wet-lab training to demonstrate the capability of this system to measure the motion of surgical instruments with practical accuracy. A surgical training experiment on a cadaver was conducted, and the motions of six surgical instruments were measured in 36 cases of laparoscopic radical nephrectomy. Outlier removal and smoothing methods were also developed and applied to remove the noise and outliers in the obtained data. The questionnaire survey conducted during the experiment confirmed that the measurement system did not interfere with the surgical operation. Thus, the proposed system was capable of making reliable measurements with minimal impact on surgery. The system will facilitate surgical education by enabling the evaluation of skill transfer of surgical skills.

人工呼吸器装着中の気管内吸引トレーニングが可能なシミュレータSimmar+ESTE-SIMの開発
コリー 紀代, 五十嵐 真里, 小水内 俊介, 井上 創造, 中村 美鈴, 金井 理, 近野 敦, 二宮 伸治
小児保健研究, 83, 講演集, 152, 152, (公社)日本小児保健協会, May 2024
Japanese

Development of Machine Learning-Based Assessment System for Laparoscopic Surgical Skills Using Motion-Capture
Koki Ebina, Takashige Abe, Lingbo Yan, Kiyohiko Hotta, Madoka Highuchi, Naoya Iwahara, Jun Furumido, Masafumi Kon, Sachiyo Murai, Yo Kurashima, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Taku Senoo, Nobuo Shinohara, Atsushi Konno
2024 IEEE/SICE International Symposium on System Integration (SII), IEEE, 08 Jan. 2024
International conference proceedings

Discrimination of Normal and Abnormal Auscultated Lung Sounds using Edge Devices
Tomoyuki Fujiwara, Shunsuke Komizunai, Atsushi Konno
Journal of Robotics Society of Japan, 41, 4, May 2023, [Peer-reviewed], [Invited], [Last author]
Japanese, Scientific journal

Proposal of Simulation-Based Surgical Navigation and Development of Laparoscopic Surgical Simulator that Reflects Motion of Surgical Instruments in Real-World.
Sayaka Shibuya, Noriyuki Shido, Ryosuke Shirai, Kazuya Sase, Koki Ebina, XiaoShuai Chen, Teppei Tsujita, Shunsuke Komizunai, Taku Senoo, Atsushi Konno
International Journal of Automation Technology, 17, 3, 262, 276, May 2023, [Peer-reviewed], [Last author, Corresponding author]
Scientific journal

Proficiency evaluation of simulation education on the entire tracheal suctioning process using a motion capture system and a catheter control sensing device
Colley Noriyo, Komizunai Shunsuke, Kanai Satoshi, Konno Atsushi, Inoue Sozo, Nakamura Misuzu, Ninomiya Shinji
Journal of International Nursing Research, 2, 1, e2021-0016, e2021-0016, Japan Society of Nursing Research, 17 Feb. 2023, [Peer-reviewed]
English, Objective: We developed a suctioning catheter control sensing device given the increasing demand for skilled home-based healthcare techniques, such as tracheal suctioning. This study evaluated the proficiency of the entire tracheal suctioning process between expert and novice groups via the suctioning catheter control sensing device and a motion capture system. Our hypothesis is that motion capture can measure the proficiency of tracheal suctioning despite the biological reactions of the simulator and the characteristics of participants. Methods: Nine expert nurses, each with more than three years of clinical experience in tracheal suctioning, and 13 nursing students from an urban university nursing department participated. The performance time, pelvic forward bending angle, travel distance, posing time, posing frequency of bilateral dorsum manus, and suctioning catheter control between the two groups with/without simulated biological reactions were analyzed. Results: The two-way analysis of variance demonstrated that the biological reactions (or lack thereof) and the proficiency level did not interact. The main effect of performance time, posing time, and posing frequency was statistically significant; experts performed tracheal suctioning more expeditiously and skillfully. The sensing device could detect hesitance or rough catheter control. Conclusions: Our results indicated that performance time, posing time, and posing frequency could serve as proficiency criteria with/out biological reactions. Additional studies are required to establish a quantitative education evaluation method to determine clinically reliable proficiency levels of tracheal suctioning.

Rotational Regrasping For a Stick-type Object Using Inertial Force Based on High-speed Swing-up Motion.
Taku Senoo, Atsushi Konno, Hayato Otsubo, Idaku Ishii
ROBIO, 1, 6, 2023
International conference proceedings

Force Sensorless Physical Interaction Based on Plastic Behavior Control Without Inertia Shaping.
Taku Senoo, Atsushi Konno
RO-MAN, 1872, 1877, 2023, [Peer-reviewed], [Last author]
English, International conference proceedings

Virtual 3D Viewpoint Control Based on Integration of Around-View and Back-View Monitors.
Taku Senoo, Atsushi Konno, Norimasa Kishi
IECON, 1, 6, 2023, [Peer-reviewed]
English, International conference proceedings

Development and validation of a measurement system for laparoscopic surgical procedures in practical surgery training.
Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Nobuo Shinohara, Atsushi Konno
IEEE/SICE International Symposium on System Integration(SII), 1, 6, IEEE, 2023, [Peer-reviewed], [Last author, Corresponding author]
International conference proceedings

Mental workload during endoscopic sinus surgery is associated with surgeons' skill levels.
Masanobu Suzuki, Kou Miyaji, Kotaro Matoba, Takashige Abe, Yuji Nakamaru, Ryosuke Watanabe, Takayoshi Suzuki, Akira Nakazono, Atsushi Konno, Dominik Hinder, A J Psaltis, P J Wormald, Akihiro Homma
Frontiers in medicine, 10, 1090743, 1090743, 2023, [Peer-reviewed], [International Magazine]
English, Scientific journal, INTRODUCTION: Surgeons' mental workload during endoscopic sinus surgery (ESS) has not been fully evaluated. The assessment was challenging due to the great diversity of each patient's anatomy and the consequence variety of surgical difficulties. In this study, we examined the mental workload of surgeons with various surgical skill levels during ESS under the standardized condition provided by novel-designed 3D sinus models. MATERIALS AND METHODS: Forty-seven participants performed a high-fidelity ESS simulation with 3D-printed sinus models. Surgeons' mental workload was assessed with the national aeronautics and space administration-task load index (NASA-TLX). Associations between the total and subscales score of NASA-TLX and surgical skill index, including the board certification status, the number of experienced ESS cases, and the objective structured assessment of technical skills (OSATS), were analyzed. In addition, 10 registrars repeated the simulation surgery, and their NASA-TLX score was compared before and after the repetitive training. RESULTS: The total NASA-TLX score was significantly associated with OSATS score (p = 0.0001). Primary component analysis classified the surgeons' mental burden into three different categories: (1) the skill-level-dependent factors (temporal demand, effort, and performance), (2) the skill-level-independent factors (mental and physical demand), and (3) frustration. After the repetitive training, the skill-level-dependent factors were alleviated (temporal demand; z = -2.3664, p = 0.0091, effort; z = -2.1704, p = 0.0346, and performance; z = -2.5992, p = 0.0017), the independent factors were increased (mental demand; z = -2.5992, p = 0.0023 and physical demand; z = -2.2509, p = 0.0213), and frustration did not change (p = 0.3625). CONCLUSION: Some of the mental workload during ESS is associated with surgical skill level and alleviated with repetitive training. However, other aspects remain a burden or could worsen even when surgeons have gained surgical experience. Routine assessment of registrars' mental burdens would be necessary during surgical training to sustain their mental health.

Basic Experiments Toward Mixed Reality Dynamic Navigation for Laparoscopic Surgery
Xiaoshuai Chen, Daisuke Sakai, Hiroaki Fukuoka, Ryosuke Shirai, Koki Ebina, Sayaka Shibuya, Kazuya Sase, Teppei Tsujita, Takashige Abe, Kazuhiko Oka, Atsushi Konno
Journal of Robotics and Mechatronics, 34, 6, 1253, 1267, Fuji Technology Press Ltd., 20 Dec. 2022, [Peer-reviewed]
Scientific journal, Laparoscopic surgery is a minimally invasive procedure that is performed by viewing endoscopic camera images. However, the limited field of view of endoscopic cameras makes laparoscopic surgery difficult. To provide more visual information during laparoscopic surgeries, augmented reality (AR) surgical navigation systems have been developed to visualize the positional relationship between the surgical field and organs based on preoperative medical images of a patient. However, since earlier studies used preoperative medical images, the navigation became inaccurate as the surgery progressed because the organs were displaced and deformed during surgery. To solve this problem, we propose a mixed reality (MR) surgery navigation system in which surgical instruments are tracked by a motion capture (Mocap) system; we also evaluated the contact between the instruments and organs and simulated and visualized the deformation of the organ caused by the contact. This paper describes a method for the numerical calculation of the deformation of a soft body. Then, the basic technology of MR and projection mapping is presented for MR surgical navigation. The accuracy of the simulated and visualized deformations is evaluated through basic experiments using a soft rectangular cuboid object.

Moving Particle Semi-Implicit and Finite Element Method Coupled Analysis for Brain Shift Estimation
Akito Ema, Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
Journal of Robotics and Mechatronics, 34, 6, 1306, 1317, Fuji Technology Press Ltd., 20 Dec. 2022, [Peer-reviewed], [Corresponding author]
Scientific journal, Neuronavigation is a computer-assisted technique for presenting three-dimensional images of a patient’s brain to facilitate immediate and precise lesion localization by surgeons. Neuronavigation systems use preoperative medical images of patients. In neurosurgery, when the dura mater and arachnoid membrane are incised and the cerebrospinal fluid (CSF) drains out, the brain loses the CSF buoyancy and deforms in the direction of gravity, which is referred to as brain shift. This brain shift yields inaccurate neuronavigation. To reduce this inaccuracy, an intraoperative brain shift should be estimated. This paper proposes a dynamic simulation method for brain-shift estimation combining the moving-particle semi-implicit (MPS) method and the finite element method (FEM). The CSF was modeled using fluid particles, whereas the brain parenchyma was modeled using finite elements (FEs). Node particles were attached to the surface nodes of the brain parenchyma in the FE model. The interaction between the CSF and brain parenchyma was simulated using the repulsive force between the fluid particles and node particles. Validation experiments were performed using a gelatin block. The gelatin block was dipped into silicone oil, which was then gradually removed; the block deformation owing to the buoyancy loss was measured. The experimental deformation data were compared with the results of the MPS-FEM coupled analysis. The mean absolute error (MAE) between the simulated deformation and the average across the four experiments was 0.26 mm, while the mean absolute percentage error (MAPE) was 27.7%. Brain-shift simulations were performed using the MPS-FEM coupled analysis, and the computational cost was evaluated.

Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force
Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko, Xin Jiang, Atsuhiro Nakagawa, Masaru Uchiyama
Journal of Robotics and Mechatronics, 34, 6, 1284, 1296, Fuji Technology Press Ltd., 20 Dec. 2022, [Peer-reviewed]
Scientific journal, Introduction of surgical simulators, which enable repeated learning of new surgical techniques, is advancing and they are desired in the field of neurosurgery. This study aims to make a two-fold contribution. First is the development of a haptic interface, which can be used while changing the operative tools necessary for training the cerebral fissure opening technique while using both the hands. Second is to develop a module for the haptic interface, which can display the cutting force when using micro scissors. To realize the operation with both the hands, the haptic interfaces for the right and left hands are designed so that they do not interfere. In addition, surgical tools, such as retractors, micro dissectors, and micro scissors, can be exchanged. In the cutting experiment carried out prior to the development of the haptic interface, it was clarified that the force when the dura mater was cut using micro scissors was 0.5 N. For comparison, the cutting forces required to cut two and three sheets of paper were measured to be 0.4 N and 0.6 N, respectively. The developed micro scissors module was designed using one motor and planetary gear mechanism. The gear mechanism is designed such that the right and left handles rotate in reverse directions around the rotation axis of the micro scissors using only one motor. This mechanism enables the micro scissors to cut the virtual tissues in the middle of the blade. The developed module could display a force of 0.4 N.

Feedback control of an encountered-type haptic interface using MR fluid and servomotors for displaying cutting and restoring force of soft tissue
Teppei Tsujita, Takuya Kameyama, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama
Advanced Robotics, 36, 24, 1327, 1338, Informa UK Limited, 17 Dec. 2022, [Peer-reviewed]
Scientific journal

Tracking of Overlapped Vehicles with Spatio-Temporal Shared Filter for High-Speed Stereo Vision
Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
Journal of Robotics and Mechatronics, 34, 5, 1033, 1042, Fuji Technology Press Ltd., 20 Oct. 2022, [Peer-reviewed]
Scientific journal, In this study, we propose a method for measuring the distance and velocity of overlapping vehicles using high-speed stereo vision. The method is based on the correlation filter called MOSSE and is improved by balancing the computation cost and accuracy using the features of high-frame-rate images. To achieve stable tracking, the tracking window was adjusted for each vehicle according to the vehicle distance and the overlapping state. Experiments on the images acquired by the cameras mounted on an actual vehicle were performed to validate the proposed method.

Repetitive simulation training with novel 3D-printed sinus models for functional endoscopic sinus surgeries.
Masanobu Suzuki, Kou Miyaji, Ryosuke Watanabe, Takayoshi Suzuki, Kotaro Matoba, Akira Nakazono, Yuji Nakamaru, Atsushi Konno, Alkis James Psaltis, Takashige Abe, Akihiro Homma, Peter-John Wormald
Laryngoscope investigative otolaryngology, 7, 4, 943, 954, Aug. 2022, [Peer-reviewed], [International Magazine]
English, Scientific journal, Background: The purpose of this study was to find a utility of a newly developed 3D-printed sinus model and to evaluate the educational benefit of simulation training with the models for functional endoscopic sinus surgery (FESS). Material and methods: Forty-seven otolaryngologists were categorized as experts (board-certified physicians with ≥200 experiences of FESS, n = 9), intermediates (board-certified physicians with <200 experiences of FESS, n = 19), and novices (registrars, n = 19). They performed FESS simulation training on 3D-printed models manufactured from DICOM images of computed tomography (CT) scan of real patients. Their surgical performance was assessed with the objective structured assessment of technical skills (OSATS) score and dissection quality evaluated radiologically with a postdissection CT scan. First we evaluated the face, content, and constructive values. Second we evaluated the educational benefit of the training. Ten novices underwent training (training group) and their outcomes were compared to the remaining novices without training (control group). The training group performed cadaveric FESS surgeries before and after the repetitive training. Results: The feedback from experts revealed high face and content value of the 3D-printed models. Experts, intermediates, and novices demonstrated statistical differences in their OSATS scores (74.7 ± 3.6, 58.3 ± 10.1, and 43.1 ± 11.1, respectively, p < .001), and dissection quality (81.1 ± 13.1, 93.7 ± 15.1, and 126.4 ± 25.2, respectively, p < .001). The training group improved their OSATS score (41.1 ± 8.0 to 61.1 ± 6.9, p < .001) and dissection quality (122.1 ± 22.2 to 90.9 ± 10.3, p = .013), while the control group not. After training, 80% of novices with no prior FESS experiences completed surgeries on cadaver sinuses. Conclusion: Repeated training using the models revealed an initial learning curve in novices, which was confirmed in cadaveric mock FESS surgeries. Level of evidence: N/A.

Objective evaluation of laparoscopic surgical skills in wet lab training based on motion analysis and machine learning
Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kou Miyaji, Sayaka Shibuya, Yan Lingbo, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
Langenbeck's Archives of Surgery, 407, 5, 2123, 2132, Aug. 2022, [Peer-reviewed]
English, Scientific journal, Background: Our aim was to build a skill assessment system, providing objective feedback to trainees based on the motion metrics of laparoscopic surgical instruments. Methods: Participants performed tissue dissection around the aorta (tissue dissection task) and renal parenchymal closure (parenchymal-suturing task), using swine organs in a box trainer under a motion capture (Mocap) system. Two experts assessed the recorded movies, according to the formula of global operative assessment of laparoscopic skills (GOALS: score range, 5–25), and the mean scores were utilized as objective variables in the regression analyses. The correlations between mean GOALS scores and Mocap metrics were evaluated, and potential Mocap metrics with a Spearman’s rank correlation coefficient value exceeding 0.4 were selected for each GOALS item estimation. Four regression algorithms, support vector regression (SVR), principal component analysis (PCA)-SVR, ridge regression, and partial least squares regression, were utilized for automatic GOALS estimation. Model validation was conducted by nested and repeated k-fold cross validation, and the mean absolute error (MAE) was calculated to evaluate the accuracy of each regression model. Results: Forty-five urologic, 9 gastroenterological, and 3 gynecologic surgeons, 4 junior residents, and 9 medical students participated in the training. In both tasks, a positive correlation was observed between the speed-related parameters (e.g., velocity, velocity range, acceleration, jerk) and mean GOALS scores, with a negative correlation between the efficiency-related parameters (e.g., task time, path length, number of opening/closing operations) and mean GOALS scores. Among the 4 algorithms, SVR showed the highest accuracy in the tissue dissection task (MAE median= 2.2352), and PCA-SVR in the parenchymal-suturing task (MAE median= 1.2714), based on 100 iterations of the validation process of automatic GOALS estimation. Conclusion: We developed a machine learning–based GOALS scoring system in wet lab training, with an error of approximately 1–2 points for the total score, and motion metrics that were explainable to trainees. Our future challenges are the further improvement of onsite GOALS feedback, exploring the educational benefit of our model and building an efficient training program.

THE DEVELOPMENT OF SKILL EVALUATION SYSTEM FOR LAPAROSCOPIC SURGICAL PROCEDURE
EBINA KOKI, ABE TAKASHIGE, HOTTA KIYOHIKO, HIGUCHI MADOKA, FURUMIDO JUN, IWAHARA NAOYA, KON MASAFUMI, KOMIZUNAI SHUNSUKE, KURASHIMA YO, KIKUCHI HIROSHI, MATSUMOTO RYUJI, OSAWA TAKAHIRO, MURAI SACHIYO, TSUJITA TEPPEI, SASE KAZUYA, CHEN XIAOSHUAI, SHINOHARA NOBUO, KONNO ATSUSHI
Proceedings of Jc-IFToMM International Symposium, 5, 73, 79, Japanese Council of IFToMM, 16 Jul. 2022
English, This paper describes details of the development of skill evaluation system for laparoscopic surgical procedure. The measurement experiment was conducted for 70 surgeons, and the participants perform 2 tasks: tissue dissection around the aorta and renal parenchymal suturing/knotting using porcine cadaver. In the experiments, the movement of surgical instruments were recorded by motion capture (MoCap) system, and the motion indices were calculated. The participants grouped into three classes (novices, intermediates, and experts) according to their level of experience. Three classification algorithms: support vector machine (SVM), principal component based SVM (PCA-SVM), gradient boosting decision tree (GBDT) were utilized for developing the model of classifier. The accuracy of each model was assessed by nested and repeated k-fold cross validation. Regarding 3-class classification, the GBDT method resulted highest accuracy (the median of the accuracy is A_med = 68.6 %) in the dissection tasks. In the suturing/knotting tasks, PCA-SVM resulted highest accuracy (A_med = 58.4 %). Regarding 2-class classification (experts vs. intermediates/novices), the GBDT method resulted A_med = 72.9 % in the dissection task, and the PCA-SVM method resulted A_med = 69.2 % in the suturing task. This result shows the MoCap based skill evaluation system in wet-lab training could be a practical way to objectively assess trainees' surgical competence.

Numerical Calculation Method for Brain Shift Based on Hydrostatics and Dynamic FEM
Xiaoshuai Chen, Ryosuke Shirai, Ken Masamune, Manabu Tamura, Yoshihiro Muragaki, Kazuya Sase, Teppei Tsujita, Atsushi Konno
IEEE Transactions on Medical Robotics and Bionics, 4, 2, 368, 380, May 2022, [Peer-reviewed]
English, Scientific journal

Development of Nursing Skill Proficiency Criteria for Dynamic Projection Mapping Simulator Using Motion Capture System
Colley Noriyo, Komizunai Shunsuke, Kanai Satoshi, Konno Atsushi, Inoue Sozo, Nakamura Misuzu, Ninomiya Shinji
高等教育ジャーナル : 高等教育と生涯学習, 29, 61, 67, Institute for the Advancement of Higher Education, Research Division for Higher Education, Mar. 2022, [Peer-reviewed]
Japanese

Automatic assessment of laparoscopic surgical skill competence based on motion metrics.
Koki Ebina, Takashige Abe, Kiyohiko Hotta, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kou Miyaji, Sayaka Shibuya, Yan Lingbo, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
PloS one, 17, 11, e0277105, 2022, [Peer-reviewed], [International Magazine]
English, Scientific journal, The purpose of this study was to characterize the motion features of surgical devices associated with laparoscopic surgical competency and build an automatic skill-credential system in porcine cadaver organ simulation training. Participants performed tissue dissection around the aorta, dividing vascular pedicles after applying Hem-o-lok (tissue dissection task) and parenchymal closure of the kidney (suturing task). Movements of surgical devices were tracked by a motion capture (Mocap) system, and Mocap-metrics were compared according to the level of surgical experience (experts: ≥50 laparoscopic surgeries, intermediates: 10-49, novices: 0-9), using the Kruskal-Wallis test and principal component analysis (PCA). Three machine-learning algorithms: support vector machine (SVM), PCA-SVM, and gradient boosting decision tree (GBDT), were utilized for discrimination of the surgical experience level. The accuracy of each model was evaluated by nested and repeated k-fold cross-validation. A total of 32 experts, 18 intermediates, and 20 novices participated in the present study. PCA revealed that efficiency-related metrics (e.g., path length) significantly contributed to PC 1 in both tasks. Regarding PC 2, speed-related metrics (e.g., velocity, acceleration, jerk) of right-hand devices largely contributed to the tissue dissection task, while those of left-hand devices did in the suturing task. Regarding the three-group discrimination, in the tissue dissection task, the GBDT method was superior to the other methods (median accuracy: 68.6%). In the suturing task, SVM and PCA-SVM methods were superior to the GBDT method (57.4 and 58.4%, respectively). Regarding the two-group discrimination (experts vs. intermediates/novices), the GBDT method resulted in a median accuracy of 72.9% in the tissue dissection task, and, in the suturing task, the PCA-SVM method resulted in a median accuracy of 69.2%. Overall, the mocap-based credential system using machine-learning classifiers provides a correct judgment rate of around 70% (two-group discrimination). Together with motion analysis and wet-lab training, simulation training could be a practical method for objectively assessing the surgical competence of trainees.

Automotive Tracking with High-speed Stereo Vision Based on a Spatiotemporal Shared Filter.
Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, Masatoshi Ishikawa
ICSTCC, 613, 618, 2022, [Peer-reviewed]
International conference proceedings

Improved 3D Human Motion Capture Using Kinect Skeleton and Depth Sensor
Alireza Bilesan, Shunsuke Komizunai, Teppei Tsujita, Atsushi Konno
Journal of Robotics and Mechatronics, 33, 6, 1408, 1422, Dec. 2021, [Peer-reviewed]
English, Scientific journal, Kinect has been utilized as a cost-effective, easy-to- use motion capture sensor using the Kinect skeleton algorithm. However, a limited number of landmarks and inaccuracies in tracking the landmarks’ positions restrict Kinect’s capability. In order to increase the accuracy of motion capturing using Kinect, joint use of the Kinect skeleton algorithm and Kinect-based marker tracking was applied to track the 3D coordi¬nates of multiple landmarks on human. The motion’s kinematic parameters were calculated using the land¬marks’ positions by applying the joint constraints and inverse kinematics techniques. The accuracy of the proposed method and OptiTrack (NaturalPoint, Inc., USA) was evaluated in capturing the joint angles of a humanoid (as ground truth) in a walking test. In or¬der to evaluate the accuracy of the proposed method in capturing the kinematic parameters of a human, lower body joint angles of five healthy subjects were extracted using a Kinect, and the results were com¬pared to Perception Neuron (Noitom Ltd., China) and OptiTrack data during ten gait trials. The absolute agreement and consistency between each optical sys¬tem and the robot data in the robot test and between each motion capture system and OptiTrack data in the human gait test were determined using intraclass cor¬relations coefficients (ICC3). The reproducibility be¬tween systems was evaluated using Lin’s concordance correlation coefficient (CCC). The correlation coeffi¬cients with 95% confidence intervals (95%CI) were interpreted substantial for both OptiTrack and pro¬posed method (ICC > 0.75 and CCC > 0.95) in hu¬manoid test. The results of the human gait exper¬iments demonstrated the advantage of the proposed method (ICC > 0.75 and RMSE = 1.1460°) over the Kinect skeleton model (ICC < 0.4 and RMSE = 6.5843°).

仮想生体反応の呈示・実施者の属性による気管吸引中の視線計測結果と作業負担感への影響
コリー 紀代, 小水内 俊介, 金井 理, 井上 創造, 近野 敦, 中村 美鈴, 二宮 伸治
人工呼吸, 38, 2, 162, 168, 一般社団法人 日本呼吸療法医学会, Nov. 2021, [Peer-reviewed]
Japanese, 【目的】本研究では、①プロジェクションマッピング映像による仮想生体反応の呈示の有無や実施者の属性にかかわらず、視線計測結果が習熟度評価指標となりうるかを検証し、②生体反応を呈するシミュレータを用いた際の作業負担感を初学者と熟練者において比較することを目的とする。

【方法】看護師群と学生群の気管吸引の所要時間、視線の停留時間・停留回数を測定した。タスク終了後に日本語版NASA-TLXを用い、両群の作業負担感を比較した。

【結果】生体反応呈示の有無と属性による交互作用は認められず、所要時間と視線停留時間において看護師群－学生群間の主効果が認められた。作業負担感は26項目中5項目に有意差が認められた。

【結論】看護師群の視線停留時間が統計学的有意に短く、習熟度評価に有用な指標と考えられた。作業負担感は生体反応の呈示により学生群・看護師群ともに高まり、先行研究よりも有意差のある項目数が減少した。

気管内吸引手技の2D/3D動画視聴による学習効果評価指標の開発
萬谷 麗奈, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 萬井 太規, 二宮 伸治
医工学治療, 33, 1, 21, 29, (NPO)日本医工学治療学会, Mar. 2021, [Peer-reviewed]
Japanese, 気管内吸引は侵襲を伴うため、医学生・看護学生を含め、免許取得前の医療系学生が実施する機会は限られている。そのため、患者や療養者のケアを行う家族ケア提供者も含め、より多くの人間が気管内吸引手技を獲得する一助となるよう、Two Dimensional(2D)動画とThree Dimensional Computer Graphics(3DCG)動画を開発した。本研究の目的は、一般的な気管内吸引の2D動画と、2D動画をもとに製作した3DCGアニメーション動画を看護師と看護学生に視覚呈示し、視線の停留点移動速度と観察結果を問うアンケートを実施により、停留点移動速度の学習効果評価項目指標としての適用可能性を検討することを目的とした。動画視聴中の看護師と学生の視線を両眼構成の視線計測システムにて記録・分析した結果、看護師群と学生群ともに2D/3Dいずれの動画視聴においても停留点移動速度頻度分析における両群間の統計学的有意差は認められなかったものの、共通して二峰性のグラフを示した。アンケート結果からは両群ともに動画視聴による学習効果について肯定的な意見が大部分を占めた。今後は、操作方法や3D動画中の説明の追加などの意見を踏まえて動画を改良した上で、停留点移動速度頻度分析による学習効果への影響を測定することが課題である。(著者抄録)

Surgical Skill Analysis Based on the Way of Grasping Organs with Forceps in Dissection Procedure of Laparoscopic Surgery
Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
CISM International Centre for Mechanical Sciences, Courses and Lectures, 601, 76, 83, 2021, [Peer-reviewed]
In book, This paper presents a surgical skill analysis based on the way of grasping organs with forceps in dissection procedure in a wet lab training for laparoscopic surgery. Forty-four medical doctors and students conducted lymphadenectomy training using laparoscopic surgical instruments and porcine cadaver organs. During the training, movement of surgical instrument, grasping frequency/force/position, path length, completion time and other indices were measured. Among the indices, this paper focuses on analyzing the relationship between surgical skill level and the way of grasping organs with forceps such as grasping frequency, force, and position. The subjects are classified into three groups (novice, intermediate and expert) by the number of experienced surgeries. The indices between the three groups are compared by the Kruskal–Wallis and Mann–Whitney U test. The results of analysis show that the ratio of non-grasping period to the total task time of novice surgeons is larger than that of experts, and the total number of grasping of novices is greater than that of experts. From the results, it is found that the novices frequently re-grasp organs during the dissection operation. There is a possibility that novices frequently fail to grasp the organ at an optimal point and hence repeat re-grasping.

Construction of a detachable artificial trachea model for three age groups for use in an endotracheal suctioning training environment simulator.
Takaaki Yoshimura, Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Satoshi Kanai, Atsushi Konno, Koichi Yasuda, Hiroshi Taguchi, Takayuki Hashimoto, Shinichi Shimizu
PloS one, 16, 3, e0249010, 2021, [Peer-reviewed], [International Magazine]
English, Scientific journal, Tracheal suctioning is an important procedure to maintain airway patency by removing secretions. Today, suctioning operators include not only medical staff, but also family caregivers. The use of a simulation system has been noted to be the most effective way to learn the tracheal suctioning technique for operators. While the size of the trachea varies across different age groups, the artificial trachea model in the simulation system has only one fixed model. Thus, this study aimed to construct multiple removable trachea models according to different age groups. We enrolled 20 patients who had previously received proton beam therapy in our institution and acquired the treatment planning computed tomography (CT) image data. To construct the artificial trachea model for three age groups (children, adolescents and young adults, and adults), we analyzed the three-dimensional coordinates of the entire trachea, tracheal carina, and the end of the main bronchus. We also analyzed the diameter of the trachea and main bronchus. Finally, we evaluated the accuracy of the model by analyzing the difference between the constructed model and actual measurements. The trachea model was 8 cm long for children and 12 cm for adolescents and young adults, and for adults. The angle between the trachea and bed was about 20 degrees, regardless of age. The mean model accuracy was less than 0.4 cm. We constructed detachable artificial trachea models for three age groups for implementation in the endotracheal suctioning training environment simulator (ESTE-SIM) based on the treatment planning CT image. Our constructed artificial trachea models will be able to provide a simulation environment for various age groups in the ESTE-SIM.

Motion analysis for better understanding of psychomotor skills in laparoscopy: objective assessment-based simulation training using animal organs.
Koki Ebina, Takashige Abe, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Masafumi Kon, Kiyohiko Hotta, Shunsuke Komizunai, Yo Kurashima, Hiroshi Kikuchi, Ryuji Matsumoto, Takahiro Osawa, Sachiyo Murai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Atsushi Konno, Nobuo Shinohara
Surgical endoscopy, 35, 8, 4399, 4416, 09 Sep. 2020, [Peer-reviewed], [International Magazine]
English, Scientific journal, BACKGROUND: Our aim was to characterize the motions of multiple laparoscopic surgical instruments among participants with different levels of surgical experience in a series of wet-lab training drills, in which participants need to perform a range of surgical procedures including grasping tissue, tissue traction and dissection, applying a Hem-o-lok clip, and suturing/knotting, and digitize the level of surgical competency. METHODS: Participants performed tissue dissection around the aorta, dividing encountered vessels after applying a Hem-o-lok (Task 1), and renal parenchymal closure (Task 2: suturing, Task 3: suturing and knot-tying), using swine cadaveric organs placed in a box trainer under a motion capture (Mocap) system. Motion-related metrics were compared according to participants' level of surgical experience (experts: 50 ≤ laparoscopic surgeries, intermediates: 10-49, novices: 0-9), using the Kruskal-Wallis test, and significant metrics were subjected to principal component analysis (PCA). RESULTS: A total of 15 experts, 12 intermediates, and 18 novices participated in the training. In Task 1, a shorter path length and faster velocity/acceleration/jerk were observed using both scissors and a Hem-o-lok applier in the experts, and Hem-o-lok-related metrics markedly contributed to the 1st principal component on PCA analysis, followed by scissors-related metrics. Higher-level skills including a shorter path length and faster velocity were observed in both hands of the experts also in tasks 2 and 3. Sub-analysis showed that, in experts with 100 ≤  cases, scissors moved more frequently in the "close zone (0  ≤ to < 2.0 cm from aorta)" than those with 50-99 cases. CONCLUSION: Our novel Mocap system recognized significant differences in several metrics in multiple instruments according to the level of surgical experience. "Applying a Hem-o-lok clip on a pedicle" strongly reflected the level of surgical experience, and zone-metrics may be a promising tool to assess surgical expertise. Our next challenge is to give completely objective feedback to trainees on-site in the wet-lab.

A Nonlinear and Failure Numerical Calculation Method for Vessel Preservation Simulations Based on Subarachnoid Space Structure Considerations
Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
IEEE Transactions on Medical Robotics and Bionics, 2, 3, 356, 363, Institute of Electrical and Electronics Engineers (IEEE), Aug. 2020, [Peer-reviewed], [Invited]
English, Scientific journal

Development and validation of a measurement system for laparoscopic surgical procedures
Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
SICE Journal of Control, Measurement, and System Integration, 13, 4, 191, 200, The Society of Instrument and Control Engineers, Jul. 2020, [Peer-reviewed], [Invited]
English, Scientific journal

可変ピッチプロペラクアッドチルトロータドローンの開発と推力応答評価　　　　　　　　　　　　　　　
小水内俊介, 浦岡雅史, 近野敦
計測自動制御学会論文集, 56, 5, 310, 316, May 2020, [Peer-reviewed]
Japanese, Scientific journal

An immersive nursing education system that provides experience of exemplary procedures from first person viewpoint with haptic feedback on wrist
Shunsuke Komizunai, Noriyo Colley, Atsushi Konno
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 311, 316, 12 Jan. 2020, [Peer-reviewed]
International conference proceedings, © 2020 IEEE. With the spread of home medical care, it is important to increase the number of care providers who received a standard nursing education, including person except doctors and nurses. This paper describes the development of an experience-based nursing education system that supports proficiency in procedures, taking as examples endotracheal suctioning. Whole-body motion and gaze of practitioners during suctioning are measured. By reflecting measured data in a humanoid model in a virtual reality (VR) space, it is possible to reproduce and observe the procedure. By using this system, learners can re-experience exemplary procedures from first person viewpoint, and instructors can observe the learner's technique from a free viewpoint and quantitatively analyze/evaluate it. By substituting the attentive guidance with the imitation of users, it can be assisted the transmission of the tips and skill that are difficult to verbalize.

Hygienic Manipulation Evaluation System during Endotracheal Suctioning using Bilateral Dorsum Manus Total Travel Distance
Noriyo Colley, Shunsuke Komizunai, Shinji Ninomiya, Tadayoshi Asaka, Hiroki Mani, Hana Takizawa, Sarina Umesawa, Yuya Taira, Eri Murata, Misuzu Nakamura, Sozo Inoue, Satoshi Kanai, Atsushi Konno
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 500, 503, IEEE, 12 Jan. 2020, [Peer-reviewed]
International conference proceedings, © 2020 IEEE. Endotracheal suctioning is a life-threatening technique which requires correct decision-making and immediate reaction to maintain airway clearance. To avoid risks of suctioning, the Closed Suction System (CSS) have been developed. However, there is no consensus regarding the priority use of the CSS compared to the Open Suction System (OSS); the usage of the OSS is still common for long-term ventilator users for economical reason. Education is a key factor to prevent secondary infection by suctioning. Therefore, this paper aims to focus on the prevention of secondary infection by the OSS, and to develop a quantitative evaluation system for aseptic technique using bilateral dorsum manus total travel distance.

A Simple Deformation and Reaction Force Numerical Calculation Method for Nonlinear Brain Tissues
Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 1388, 1393, 12 Jan. 2020, [Peer-reviewed]
International conference proceedings, © 2020 IEEE. Presenting correct reaction force is an important functional element of a haptic surgical simulator which is used to practice surgical techniques by novice surgeons. Particularly, in neurosurgeries, novice surgeons rely on the force felt at their hands in many situations. However, it is difficult to accurately calculate the deformation and reaction force of brain tissues in real-time because of the nonlinearity of the brain tissues. In this study, a simple numerical calculation method for nonlinear brain tissues is proposed. The simulation is constructed based on the finite element method, and the nonlinear characteristics of brain tissues are reproduced. When a force is applied to the brain parenchyma, the reaction force nonlinearly increases as the deformation proceeds. The phenomenon is reproduced by increasing a scale factor of the stiffness matrix as the von Mises stress of the element increases. To validate the proposed calculation method, experiments were performed using porcine brains. In experiments, the longitudinal cerebral fissure of the brain was retracted at 1 mm/s and 10 mm/s. Necessary parameters for the proposed calculation method were identified by using experimental data of 1 mm/s. By comparing the simulation results and experimental data of 10 mm/s with the same parameters, the validity and accuracy of the proposed nonlinear calculation method of brain tissue were proved.

A Hepato-Biliary-Pancreatic Deformable Model for a Simulation-Based Laparoscopic Surgery Navigation
Atsushi Konno, Noriyuki Shido, Kazuya Sase, Xiaoshuai Chen, Teppei Tsujita
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 39, 44, IEEE, 12 Jan. 2020, [Peer-reviewed]
International conference proceedings, © 2020 IEEE. This paper presents a way to make a hepatobiliary pancreatic FE (Finite Element) model from medical images preserving the structural topology for dynamic surgery simulation. Medical images are generally composed of a sequence of sliced images, and they can be transformed into a 3D geometric model by using any image analyzing software. However, because of incompleteness of the geometric model transformed from the sliced images, volume meshing (FE model generation) is not very easy. In order to cope with the incompleteness of the geometric model, embedding is used, in which the geometric model is embedded into hexahedral meshes. If multiple parts of different segments are included in a hexahedral element, the element is replicated for each segment using SLPs: Separation Label Pairs to preserve structural topology. Haptic simulation was performed using the generated hepato-biliary-pancreatic FE model.

Impact Motion of Humanoid Robots
近野敦
日本ロボット学会誌, 38, 10, 2020

Relationship Between Tracheal Suctioning Catheter Motion and Secretion Amount Based on Viscosity
Noriyo Colley, Shunsuke Komizunai, Atsushi Konno, Satoshi Kanai, Shinji Ninomiya
SAGE Open Nursing, 6, 2020, [Peer-reviewed]
Scientific journal, Background: To provide safe tracheal suctioning, the American Association of Respiratory Care guideline discusses the length of suctioning catheter, but the most effective tracheal suctioning catheter technique is still unknown. Objective: The aim of this study is to compare the amount of simulated secretion produced by five different handlings of a catheter at two different viscosities and in two different models to discover the most effective suctioning maneuver in the various mucus conditions. Design: In vitro experimental design. Methods: The amount of secretion aspirated by our researcher's manipulation of a suctioning catheter was measured. The tip of the catheter was recorded using a high-speed video camera to visualize the secretion motion. Results: The most effective suctioning technique differed depending on the viscosity of the secretion. There were no significant differences between five suctioning methods applied to high-viscosity phlegm in a tracheal membrane model, but the flexion technique was the most efficient for low-viscosity secretion. Conclusions: Our results imply that the flexion technique was reasonably safe and the most effective of these five methods for low-viscosity secretion.

Development of Namako, a Game-Engine Plugin for Haptic Rendering of Soft Objects
佐瀬一弥, Chen XiaoShuai, 辻田哲平, 近野敦
日本バーチャルリアリティ学会論文誌(Web), 25, 4, 2020, [Peer-reviewed]

Proficiency evaluation of tracheal suctioning using motion capture system and the NASA-TLX
長内 真理乃, コリー 紀代, 小水内 俊介, 二宮 伸治, 金井 理, 浅賀 忠義, 中村 美鈴, 井上 創造, 村田 恵理, 萬井 太規, 近野 敦
日本小児呼吸器学会雑誌, 30, 2, 172, 180, 日本小児呼吸器学会, Jan. 2020, [Peer-reviewed]
Japanese, 気管内吸引は、気管や気管支粘膜などの損傷や損傷に伴う大量出血、低酸素症、嘔吐、疼痛といったリスクがあり侵襲度が高い技術であるとされる。より実践的な指導により免許取得後の安全な吸引を実施するためにも、客観的な数値や尺度による評価が必要になるが、気管内吸引技術の習熟度を示す指標を検討している先行研究は多くはない。そこで本研究はモーションキャプチャを用い、気管内吸引シミュレーション中の看護師群と看護学生群の習熟度の評価指標や教育項目を検討した。また、NASA-TLXを用いて精神的負担感を調査した。動作解析より、所要時間、左手背総移動距離、左右の手背の停留回数・停留時間について群間に有意差が認められ、NASA-TLXの結果からは学生群の方が時間の余裕のなさや作業結果への不満足というストレスが大きいことが示された。従って、これらが気管内吸引の習熟度の客観的評価項目として有用である可能性が示唆された。(著者抄録)

気管内吸引手技中の視線計測による看護師と看護学生の習熟度の比較
竹内由佳, COLLEY Noriyo, 二宮伸治, 小水内俊介, 金井理, 浅賀忠義, 中村美鈴, 井上創造, 村田恵理, 萬井太規, 近野敦
医工学治療, 31, 3, 171, 180, (NPO)日本医工学治療学会, Nov. 2019, [Peer-reviewed]
Japanese, 本研究では視線計測に基づく教育評価項目や評価指標の抽出を目的とし、気管内吸引シミュレーション中の看護師と看護学生を対象に両眼構成視線計測装置(Pupil、Pupil Labs社)を用いた視線計測により手技の所要時間、視線の停留回数・停留時間、停留点移動速度を比較した。視線計測後には、NASA-TLXを用いて作業負担度を調査した。その結果、所要時間、視線の停留時間、視線の停留回数・停留時間に有意差が認められた。作業負担度には有意差が見られなかったことから、両群とも模擬環境において同等のストレスがあったと推測される。不慣れな環境においてもパフォーマンスに差が現れることから、手技の所要時間や視線の停留回数・停留時間は習熟度を評価する客観的な指標となりうることが示された。(著者抄録)

Vessel Dissection Simulation for Neurosurgery Simulators Considering Subarachnoid Space Structure
Xiaoshuai Chen, Mio Hashimoto, Kazuya Sase, Teppei Tsujita, Atsushi Konno
Proceedings of the 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS2019), Paper 006-1, 6, IEEE, Sep. 2019, [Peer-reviewed]
English, International conference proceedings

一人称視点で模範手技の追体験が可能な没入型看護教育システム ESTE-VR
小水内 俊介, 近野 敦, 金井 理, 浅賀 忠義, 井上 創造, 村田 恵理, 萬井 太規, 高橋 望, 二宮 伸治, コリー 紀代
日本シミュレーション医療教育学会雑誌, 7, 89, 93, 日本シミュレーション医療教育学会, Aug. 2019
Japanese, 【背景】在宅医療の浸透に伴い、医師や看護師ではない範囲も含め、一定水準の看護教育を受けたケア提供者を増やすことは重要な課題となる。【目的】気管内吸引を例に、手技の習熟を支援する体験型の看護教育システムを開発する。【方法】気管内吸引中の実施者の全身動作および視線を計測する。仮想現実(Virtual reality:VR)空間で人型モデルに計測データを反映することで手技の再現・観察を可能とする。【結果】学習者が模範手技を一人称視点で追体験することが可能であるとともに、指導者が学習者の手技を自由な視点から観察し定量的に分析・評価するための手段にもなる。【考察】手取り足取りの指導を使用者自身の模倣で代替することにより、言語化しにくいコツや巧みさの伝達を支援しうる。(著者抄録)

Numerical Model of Connective Tissue for Splitting Brain Fissure Simulation
Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, Atsushi Konno
Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, 118, 123, IEEE, Apr. 2019, [Peer-reviewed]
International conference proceedings, © 2019 IEEE. Splitting brain fissure is an important operative procedure in neurosurgeries. Arachnoid membrane that covers brain parenchyma is generally opened with sharp dissection using microscissors, while connective tissues such as arachnoid trabeculae are fractured by blunt dissection to split a brain fissure. However, most earlier studies about neurosurgery simulation have not given enough detailed model of connective tissues because consideration of connective tissues in simulation requires high computational cost. The objective of this paper is to conduct a brain fissure splitting simulation considering damage of connective tissues. Assuming that connective tissues are homogeneously distributed in a brain fissure, a damage model of connective tissue is proposed. To verify the splitting brain fissure simulation, longitudinal fissure splitting experiments were performed by using porcine brains with different splitting velocities. By comparing the experimental data and the simulation results, simulations can reproduce the reaction force of the brain fissure splitting with connective tissues.

Presenting a Simple Method of Brain Shift Estimation for Neuronavigations and Considering its Practicality.
XiaoShuai Chen, Ryosuke Shirai, Ken Masamune, Manabu Tamura, Yoshihiro Muragaki, Atsushi Konno
IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019, 112, 117, IEEE, 2019, [Peer-reviewed]
International conference proceedings

Markerless Human Motion Tracking Using Microsoft Kinect SDK and Inverse Kinematics.
Alireza Bilesan, Saeed Behzadipour, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, June 9-12, 2019, 504, 509, IEEE, 2019, [Peer-reviewed]

Cooperative massive object transportation by two humanoid robots.
JaeSung Yang, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
12th Asian Control Conference, ASCC 2019, Kitakyushu-shi, Japan, June 9-12, 2019, 498, 503, IEEE, 2019, [Peer-reviewed]

An Interactive Endotracheal Suctioning Simulator Which Exhibits Vital Reactions: ESTE-SIM.
Shunsuke Komizunai, Shinji Ninomiya, Atsushi Konno, Satoshi Kanai, Tadayoshi Asaka, Eri Murata, Hiroki Mani, Nozomi Takahashi, Noriyo Colley
International Journal of Automation Technology, 13, 4, 490, 498, 2019, [Peer-reviewed]
English, Scientific journal

AR Brain-Shift Display for Computer-Assisted Neurosurgery.
Ryosuke Shirai, XiaoShuai Chen, Kazuya Sase, Shunsuke Komizunai, Teppei Tsujita, Atsushi Konno
58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Hiroshima, Japan, September 10-13, 2019, 1113, 1118, IEEE, 2019, [Peer-reviewed]
English, International conference proceedings

A Measurement System for Skill Evaluation of Laparoscopic Surgical Procedures.
Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Madoka Higuchi, Jun Furumido, Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, Atsushi Konno
58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Hiroshima, Japan, September 10-13, 2019, 1099, 1106, IEEE, 2019, [Peer-reviewed]
English, International conference proceedings

痰吸引トレーニングシミュレータのための痰吸引量およびカテーテル接触荷重リアルタイム計測装置の開発
二宮 伸治, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 高橋 望, 浅賀 忠義
日本シミュレーション医療教育学会雑誌, 6, 128, 129, 日本シミュレーション医療教育学会, Sep. 2018
Japanese

Marker-based motion tracking using Microsoft Kinect
Alireza Bilesan, Mohammadhasan Owlia, Saeed Behzadipour, Shuhei Ogawa, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
Proceedings of the IFAC symposium on Robot Control (SYROCO), Aug. 2018, [Peer-reviewed]
English, International conference proceedings

Massive object transportation by a humanoid robot
JaeSung Yang, Shuhei Ogawa, Teppei Tsujita, Shunsuke Komizunai, Atsushi Konno
Proceedings of the IFAC symposium on Robot Control (SYROCO), Aug. 2018, [Peer-reviewed]
English, International conference proceedings

Hardware-in-the-loop simulation of massive-payload manipulation on orbit
Jaesung Yang, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
ROBOMECH Journal, 5, 19, Aug. 2018, [Peer-reviewed]
English, Scientific journal

Parameter Identification for a Model of Stress Relaxation at Brain Retraction from Experimentations using Porcine Brain
Xiaoshuai Chen, Kazuya Sase, Akito Ema, Atsushi Konno, Teppei Tsujita
Journal of Japan Society of Computer Aided Surgery, 20, 1, 22, 32, The Japan Society of Computer Aided Surgery, Feb. 2018, [Peer-reviewed]
English, Scientific journal

Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-Type Haptic Interface Using MR Fluid.
Teppei Tsujita, Kazuya Sase, XiaoShuai Chen, Masashige Tomita, Atsushi Konno, Masano Nakayama, Atsuhiro Nakagawa, Koyu Abe, Masaru Uchiyama
IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, December 12-15, 2018, 898, 903, IEEE, 2018, [Peer-reviewed]
International conference proceedings

Future Possibilities for Endotracheal Suctioning Ontologies Based on the Ocular Movement of Skilled Nurses
Colley Noriyo, Shimizu Hiromi, Takahashi Nozomi, Komizunai Shunsuke, Konno Atsushi, Kanai Satoshi, Ninomiya Shinji, Otsuka Ken, Asaka Tadayoshi
Igaku Kyoiku / Medical Education (Japan), 49, 2, 117, 125, Japan Society for Medical Education, 2018, [Peer-reviewed]
Japanese, Scientific journal,

Introduction: Due to the advancement of the home-based healthcare, increasing the number of professionals who are able to administer homebased treatments, such as endotracheal suctioning, is an urgent issue.Methods: By measuring the ocular movement of nurses, nursing students and previous researches, an endotracheal suctioning ontology was visualized. It included a multiplex task structure, recognition, and judgment, as well as identifying procedures used during endotracheal suctioning that could contribute to a discussion on educational feasibility.Results: From the hierarchical structure of the constructed endotracheal suctioning ontology, not only the procedural knowledge but also knowledge about medical devices, knowing what options exist when endotracheal suctioning is ineffective, and a wide range of other expertise is needed to perform endotracheal suctioning safely.Discussion: An endotracheal suctioning ontology was created from the ocular movement of nurses. Ontologies are a potential tool for defining minimum requirements and the scope of ability that must be evaluated before clinical practicum.

Visual presentation by projection mapping/augmented reality for nursing simulators which exhibit vital reactions
小水内俊介, 近野敦, 金井理, 二宮伸治, 浅賀忠義, 高橋望, COLLEY Noriyo
日本シミュレーション医療教育学会雑誌, 6, 99, 103, 日本シミュレーション医療教育学会, 2018
Japanese

Development of a device for real-time measurement of sputum volume and catheter contact load for endotracheal suction training simulator
二宮伸治, COLLEY Noriyo, 小水内俊介, 近野敦, 金井理, 高橋望, 浅賀忠義
日本シミュレーション医療教育学会雑誌, 6, 92, 98, 日本シミュレーション医療教育学会, 2018
Japanese

Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV
Atsushi Oosedo, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
AUTONOMOUS ROBOTS, 41, 5, 1143, 1159, SPRINGER, Jun. 2017, [Peer-reviewed]
English, Scientific journal, A quadrotor equipped with a fixed-wing (hereinafter referred to as the quadrotor tail-sitter UAV) has been developed by authors. The quadrotor tail-sitter UAV can hover like a quadrotor and can fly like a fixed-wing airplane. The remarkable characteristic of the developed quadrotor tail-sitter UAV is that it does not use any control surfaces during any form of flight; hovering, transition flight or level flight. This paper discusses an optimal transition from hovering to level flight for the quadrotor tail-sitter UAV because transition flight is most likely to be unstable throughout flight owing to stalling of the fixed-wing. The paper proposes three transition strategies: (i) normal transition (PID feedback to a step input), (ii) minimizing the transition time, and (iii) minimizing the transition time with keeping altitude constant. To realize the above optimal transition strategies, the aerodynamic parameters of the developed quadrotor tail-sitter UAV are measured by the wind tunnel test in advance. The three strategies are experimentally verified and the comparison among the three strategies is presented.

Haptic Interaction with Segmented Medical Image Embedded in Finite Element Mesh
Kazuya Sase, Teppei Tsujita, Atsushi Konno
Journal of Japan Society of Computer Aided Surgery, 19, 2, 89, 99, The Japan Society of Computer Aided Surgery, Apr. 2017, [Peer-reviewed]
English, Scientific journal,

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

Analysis of the Strong Local Wind in Northwestern Hokkaido, Japan
KASAI Koki, KIMURA Keiji, SHIOMI Kei, KONNO Atsushi, TADONO Takeo, HORI Masahiro
チリガクロンシュウ, 92, 1, 17, 36, 北海道地理学会, 2017, [Peer-reviewed]
English

Pulsed laser-induced liquid jet: evolution from shock/bubble interaction to neurosurgical application
A. Nakagawa, T. Kumabe, Y. Ogawa, T. Hirano, T. Kawaguchi, K. Ohtani, T. Nakano, C. Sato, M. Yamada, T. Washio, T. Arafune, T. Teppei, A. Konno, S. Satomi, K. Takayama, T. Tominaga
SHOCK WAVES, 27, 1, 1, 14, SPRINGER, Jan. 2017, [Peer-reviewed]
English, The high-speed liquid (water) jet has distinctive characteristics in surgical applications, such as tissue dissection without thermal damage and small blood vessel preservation, that make it advantageous over more conventional instruments. The continuous pressurized jet has been used since the first medical application of water jets to liver surgery in the 1980s, but exhibited drawbacks partly related to the excess water supply required and unsuitability for application to microsurgical instruments intended for deep, narrow lesions (endoscopic instrumentation and catheters) due to limitations in miniaturization of the device. To solve these issues, we initiated work on the pulsed micro-liquid jet. The idea of the pulsed micro-liquid jet originated from the observation of tissue damage by shock/bubble interactions during extracorporeal shock wave lithotripsy and evolved into experimental application for recanalization of cerebral embolisms in the 1990s. The original method of generating the liquid jet was based on air bubble formation and microexplosives as the shock wave source, and as such could not be applied clinically. The air bubble was replaced by a holmium:yttrium-aluminum-garnet (Ho:YAG) laser-induced bubble. Finally, the system was simplified and the liquid jet was generated via irradiation from the Ho:YAG laser within a liquid-filled tubular structure. A series of investigations revealed that this pulsed laser-induced liquid jet (LILJ) system has equivalent dissection and blood vessel preservation characteristics, but the amount of liquid usage has been reduced to less than 2 l per shot and can easily be incorporated into microsurgical, endoscopic, and catheter devices. As a first step in human clinical studies, we have applied the LILJ system for the treatment of skull base tumors through the transsphenoidal approach in 9 patients (7 pituitary adenomas and 2 chordomas), supratentorial glioma (all high grade glioma) in 8 patients, including one with fine perforating vessel involvement, and cerebrovascular disease (1 arteriovenous malformation and 2 intracerebral hemorrhages) in 3 patients. Precise dissection and mass reduction of the tumor were obtained in all tumor cases except for one chordoma with significant fibrosis. Small arteries down to 100 were preserved, allowing subsequent microsurgical devascularization. Veins were also preserved occasionally. The arachnoid membrane and the tumor capsule were resistant to the LILJ except for one case with prolonged exposure. No complications related to use of the LILJ system were observed. No disturbance of the surgical field by splashing, aerosol, or dissemination of pathological tissue occurred with placement of the optimal suction system. The Ho:YAG LILJ system enhances the advantages of commercialized pressure-driven continuous liquid jet instrumentation in terms of small vessel preservation and accessibility in confined spaces for minimally invasive neurosurgery, and solves some of the drawbacks involved with excessive liquid use and size.

A simple brain shift estimation for neuronavigation based on finite element method and hydrostatics.
XiaoShuai Chen, Akito Ema, Kazuya Sase, Teppei Tsujita, Atsushi Konno
IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, December 11-14, 2017, 899, 904, IEEE, 2017, [Peer-reviewed]
International conference proceedings

Drop test for evaluating effect of cushioning material and servo gain on parachute landing impact using a small one-legged robot.
Teppei Tsujita, Tadamasa Kitahara, Ryoya Tahara, Satoko Abiko, Atsushi Konno
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017, 2474, 2479, IEEE, 2017, [Peer-reviewed]
International conference proceedings

Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot.
Teppei Tsujita, Odpurev Altangerel, Satoko Abiko, Atsushi Konno
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, Macao, December 5-8, 2017, 221, 226, IEEE, 2017, [Peer-reviewed]
International conference proceedings

A Walking Stabilization Control for Biped Robots on Loose Soil
小水内俊介, 小貫督仁, WU Meng Hung, 辻田哲平, 近野敦
日本ロボット学会誌, 35, 7, 548, 556, The Robotics Society of Japan, 2017, [Peer-reviewed]
Japanese, Scientific journal, This paper presents a walking control system for biped robots on loose soil. The proposed method realizes long time continuous walking and stable stopping on sand. Characteristics of the proposed system is landing position (modification) control. In this control, as a balance index, amount of CoM position modification is utilized. Considering past modification history, amount of current landing position modification is decided. In oder to evaluate the proposed control system, the small humanoid robot performed walking, stepping and turning on sand.

A Simple Damage and Fracture Model of Brain Parenchyma for Haptic Brain Surgery Simulations
Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita, Shunsuke Komizunai
Journal of Biomechanical Science and Engineering, 11, 4, 16-00323, Oct. 2016, [Peer-reviewed]
English, Scientific journal, Dissection and removal of lesion areas are fundamental operations in brain surgeries. Therefore, damage and fracture models are needed to simulate dissection and removal operations. Generally, brain tissues show strong ductility; however, conventional fracture or damage models cannot reproduce ductile fractures well. In this paper, a simple damage and fracture model of brain parenchyma is proposed for real-time haptic surgery simulations. Although the proposed model does not require iterative calculation, it can reproduce ductile fracture while maintaining sufficient accuracy. The finite element method (FEM) is used to perform numerical simulations. In the proposed damage model, it is assumed that micro-damage begins when von Mises stress exceeds a certain threshold in an element, and the micro-damage grows with increased von Mises stress. The stiffness decreases as the micro-damage grows. When the integrity of an element becomes smaller than a certain threshold, the element is removed to express the occurrence of a fracture. These steps were formulated algorithmically. In order to verify the proposed damage and fracture model, tensile tests were conducted using porcine brain parenchyma. Parameters for the proposed damage model were identified using the results of the tensile tests. Tensile test simulations were performed using the identified parameters. The simulations effectively reproduced the stress-strain curves obtained in the tensile tests using porcine brain tissues.

Large attitude change flight of a quad tilt rotor unmanned aerial vehicle
Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 30, 5, 326, 337, TAYLOR & FRANCIS LTD, Mar. 2016, [Peer-reviewed]
English, Scientific journal, Quadrotor unmanned aerial vehicles (UAVs) have been actively used in various fields. However, only the altitude and the attitude in three degrees of freedom can be independently controlled since quadrotor UAVs are underactuated systems. A quad tilt rotor UAV solves the problem of an underactuated system in a general quadrotor UAV. The quad tilt rotor UAV can control both position and attitude independently by tilting the directions of the propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example a UAV can fly and hover with a 90
[GRAPHICS]
pitch angle, and it can even flip over when the thrust direction is tilted in a wide enough range. In this paper, we present the attitude transition flight control system for pitch angles ranging from 0
[GRAPHICS]
to 90
[GRAPHICS]
since flight conditions with a 90
[GRAPHICS]
pitch angle significantly differs from that in a conventional quadrotor UAV flight. We construct an adequate control system for a flight with a wide range of attitude conditions.

Evaluation of Ease of Target Position Recognition in Interaction with Midair Images by using Mist Screen
Shunsuke Komizunai, Kyohei Wada, Takuya Kijima, Atsushi Konno
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, SII, 508, 513, IEEE, 2016, [Peer-reviewed]
English, International conference proceedings, This paper described a interaction system with midair images projected by using mist screen. In comparison with the previously developed system, the new system has some advantages as follows: visibility and presence of midair images, tracking accuracy of a finger tip, interactivity with midair images. In the system, three new components: a high-power mist screen generation device, an accurate hand motion tracking method and a proper screen surface calibration algorithm are introduced. These advantages enhance quality of experience in interaction with midair images and enable quantitative evaluation of performance of the system. In the results of user evaluation test, positions of a CG object as midair image and user's finger tip are well corresponding. These results indicate that, position of midair images in the system can be recognized easily, and the system shows excellent performance as a midair image display system.

A Viscoelastic Model of Brain Parenchyma for Haptic Brain Surgery Simulations
Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2016, SII, 490, 495, IEEE, 2016, [Peer-reviewed]
English, International conference proceedings, This paper presents a viscoelastic model of brain parenchyma which is based on the generalized Maxwell model but considers also inertial force. The proposed model is implemented in finite element method (FEM). The viscoelastic behavior of brain parenchyma was confirmed by stress relaxation tests using porcine brain parenchyma. The stress relaxation characteristics were measured at strain 0.1, 0.2 and 0.3. The strains were applied by strain rates of 0.1 (s(-1)) and 1.0 (s(-1)). Viscoelastic parameters were identified by solving an optimization problem using experimental data and dynamic simulations. In order to verify the consistency and quality of the experimental data and the dynamic simulation, stress relaxation simulations were performed using the identified parameters.

Haptic Rendering of Contact Between Rigid and Deformable Objects Based on Penalty Method with Implicit Time Integration
Kazuya Sase, Teppei Tsujita, Atsushi Konno
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, ROBIO, 1594, 1600, IEEE, 2016, [Peer-reviewed]
English, International conference proceedings, The handling of contacts between virtual objects is a fundamental problem of 6 DOF haptic rendering in virtual environments. Especially, the haptic rendering of the contact between rigid and deformable objects is challenging because the physics simulation with high computational burden must be calculated in real time with good stability. In this paper, we introduce a fast and stable contact handling method that can be used for 6 DOF haptic rendering. The two-way contact response is formulated based on a penalty method. To enhance the numerical stability in large time step, the penalty-based contact force is integrated using implicit time integration. The method was evaluated by experiments using a haptic device combined with a physics simulator based on finite element method.

Experimental and Numerical Analysis of Damage Fracture Mechanics of Brain Parenchyma
Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016, ROBIO, 485, 490, IEEE, 2016, [Peer-reviewed]
English, International conference proceedings, In this paper, a damage and fracture model of brain parenchyma is proposed for a haptic brain surgery simulation. It is assumed that microscopic damage begins by von Mises yield criterion, and the microscopic damage grows rate in proportion to volume strain. Tensile tests with two different strain rate were conducted using porcine brain parenchyma (tensile velocities: 0.1 (mm/s) and 1.0 (mm/s), mean length of specimens: 15 (mm)). Mechanical properties and proposed damage model parameters were identified by solving optimization problem with fitted curves of experimental data at 0.1 (mm/s). The proposed model and identified parameters were verified by comparing the simulation result and experimental data with tensile velocity of 1.0 (mm/s). A conventional damage model, simplified Lemaitre model, was implemented for comparison. Tensile simulations were performed with two models, proposed model and simplified Lemaitre model, with tensile velocity of 0.1 (mm/s). The simulation results were compared with the experimental result. It is confirmed that the proposed model well reproduce damage and fracture mechanics of brain parenchyma, while the simplified Lemaitre model could not well reproduce the ductility.

Embedding segmented volume in finite element mesh with topology preservation
Kazuya Sase, Teppei Tsujita, Atsushi Konno
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 9902, 116, 123, Springer Verlag, 2016, [Peer-reviewed]
English, International conference proceedings, The generation of a patient-specific finite element (FE) model of organs is important for preoperative surgical simulations. Although methods for generating a mesh from a 3D geometric model of organs are well established,the reproduction of complex structures,such as holes,branches,and jaggy boundaries,remains difficult. To approximate the deformation of complex structures,an approach for embedding a fine geometry in a coarse volumetric mesh can be used. In this paper,we introduce a volume embedding method that preserves the topology of a complicated structure on the basis of segmented medical images. Our evaluation shows that the generated FE model precisely reproduces the topology of a human brain according to a segmented medical image.

A Wearable Encounter-Type Haptic Device Suitable for Combination with Visual Display.
Shunsuke Komizunai, Keisuke Nishizaki, Kyohei Wada, Takuya Kijima, Atsushi Konno
JRM, 28, 6, 798, 798, Fuji Technology Press, 2016, [Peer-reviewed]
English

Securing an optimum operating field without undesired tissue damage in neurosurgery
A. Fukuhara, T. Tsujita, K. Sase, A. Konno, A. Nakagawa, T. Endo, T. Tominaga, X. Jiang, S. Abiko, M. Uchiyama
ADVANCED ROBOTICS, 30, 19, 1245, 1259, TAYLOR & FRANCIS LTD, 2016, [Peer-reviewed]
English, Scientific journal, In neurosurgery, surgeons sometimes retract brain tissue to prepare an operating field around a lesion. In addition, they are required to plan a safe surgical pathway for deep-brain regions while considering tissue damage caused by excessive stress. The goal of this study is to develop a technique for automatically generating a surgery pathway for lesions in the deep-brain region, focusing on securing an operating field around the lesion as a first step and also considering brain tissue deformation. In previous studies, securing the operating field has been treated as a single-objective optimization problem in order to maximize the viewable area of the lesion. However, in this study, the task of securing the operating field is formulated as a multi-objective optimization problem. Using a technique that combines finite element analysis and an optimization method, the principal stress on the brain is constrained to less than a certain threshold value, and the position and orientation of the surgical instrument are optimized for safe retraction of the brain according to various weighting factors.

Symmetry position/force hybrid control for cooperative object transportation usingmultiple humanoid robots
Meng-Hung Wu, Shuhei Ogawa, Atsushi Konno
ADVANCED ROBOTICS, 30, 2, 131, 149, TAYLOR & FRANCIS LTD, Jan. 2016, [Peer-reviewed]
English, Scientific journal, A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.

GPU-accelerated surgery simulation for opening a brain fissure
Kazuya Sase, Akira Fukuhara, Teppei Tsujita, Atsushi Konno
ROBOMECH Journal, 2, 1, Article 17, Springer Science and Business Media LLC, Dec. 2015, [Peer-reviewed]
English, Scientific journal

Imitation learning framework based on principal component analysis
Garam Park, Atsushi Konno
ADVANCED ROBOTICS, 29, 9, 639, 656, TAYLOR & FRANCIS LTD, May 2015, [Peer-reviewed]
English, Scientific journal, In this paper, an imitation learning framework that includes an evolutionary process based on principal component analysis (PCA) is presented. The framework comprises offline and online processes. In the offline process, human demonstrations are used to develop a motion database. The database covers the workspace and includes robot properties. The evolved database has a clustered structure for efficiency. In the online process, a robot can generate desired motions using a real-time motion reconstruction method based on PCA. The performance of this method is verified through two case studies. The proposed framework is applied to the generation of reaching motions to an object on a table and a shelf.

Implementation of HOAP-2 Humanoid Walking Motion in OpenHRP Simulation
Rajat Mittal, Atsushi Konno, Shunsuke Komizunai
1ST INTERNATIONAL CONFERENCE ON COMPUTING COMMUNICATION CONTROL AND AUTOMATION ICCUBEA 2015, 29, 34, IEEE, 2015, [Peer-reviewed]
English, International conference proceedings, This paper describes the implementation of walking motion of HOAP-2 Humanoid in OpenHRP simulation. We put forward the existing knowledge on humanoid walking in a concise and straightforward manner and integrate it to make the humanoid walk. We make use of the concept of Zero Moment Point (ZMP) for stability analysis and Cart Table Model to determine the relation between Zero Moment Point and Centre of Mass for generating a walking motion pattern. The walking motion pattern is generated in Matlab which is then fed to OpenHRP simulation to test stable walking of the humanoid. The paper also discusses some stabilization algorithms which have been implemented on the humanoid in order to account for variations like surface unevenness and backlash which are encountered by the humanoid during walking in the real world.

Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change
Atsushi Oosedo, Satoko Abiko, Shota Narasaki, Atsushi Kuno, Atsushi Konno, Masaru Uchiyama
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015 Vol.3, 2326, 2331, IEEE COMPUTER SOC, 2015, [Peer-reviewed]
English, International conference proceedings, Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underacuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, e.g. a UAV flying and hovering with a 90 [degrees] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the attitude transition flight control system for pitch angles ranging 0 [degrees] to 90 [degrees] since flight condition with a 90 [degrees] pitch angle significantly differs from that in a conventional quadrotor UAV flight, and then adequate control system and sufficient experimental validation are necessary for stable flight in a wide range of attitude conditions.

Proposition and evaluation of a collision detection method for real time surgery simulation of opening a brain fissure
Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
ROBOMECH Journal 2014, 1, 6, 2014, [Peer-reviewed]

Identification of Mechanical Properties of Brain Parenchyma for Brain Surgery Haptic Simulation
Xiaoshuai Chen, Kazuya Sase, Atsushi Konno, Teppei Tsujita
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 1656, 1661, IEEE, 2014, [Peer-reviewed]
English, International conference proceedings, Dissection and removal of lesion area are fundamental operations in brain surgery. In order to correctly reproduce dissection and removal in brain surgery haptic simulation, mechanical properties of brain tissue must be investigated. In this work, porcine brains are used as specimens. Mechanical properties such as density, Poisson's ratio, Young's modulus, damping coefficient, and fracture stress of porcine brain parenchyma are measured and identified.
Since haptic simulations require real-time computation of deformation and fracture of brain tissue, a linear finite element model and Rayleigh damping model are used. The Rayleigh damping coefficients are identified by solving optimization problems, so that the error between experimental results and simulation results is minimized.

Optimization of Retraction in Neurosurgery to Avoid Damage Caused by Deformation of Brain Tissues
Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, 588, 594, IEEE, 2014, [Peer-reviewed]
English, International conference proceedings, In neurosurgery, effects of deformation should be considered to avoid damaging brain tissues. The goal of this study is to develop an automatic path planner considering the deformation of brain tissues. This paper shows a scheme which combines FEM (Finite Element Method) and an optimization method for optimization of retraction in order to approach a deep part of a brain. Also, evaluations of two optimization results are discussed. One optimization is for retraction of a simple shape model for comparing two solvers, Pattern Search and Genetic Algorithm. Pattern Search Algorithm obtained maximum view size for the simple model when the principal stress of the tissue is not more than the threshold 500 (Pa). The other optimization is for retraction of a brain fissure model. Based on the result of the simple shape model, Pattern Search Algorithm is used for this optimization. It successfully generated optimal position and posture of a spatula for opening the fissure model which has same mechanical property with the human brain. These results show the effectiveness of the proposed scheme.

Symmetry Cooperative Object Transportation by Multiple Humanoid Robots
Meng-Hung Wu, Atsushi Konno, Shuhei Ogawa, Shunsuke Komizunai
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014 Vol.5, 3446, 3451, IEEE, 2014, [Peer-reviewed]
English, International conference proceedings, This research aims to create a framework of transporting an object by multiple humanoid robots. In this work, a symmetric hybrid position/force control is adapted to two humanoid robots. The reference object position and attitude are given by an operator online, and the two humanoid robots generate its whole body motion to follow the reference object position properly. The result of proposed method is verified with a dynamics simulation.

Displaying Cutting Force of Soft Tissue Using MR Fluid for Surgical Simulators
Takuya Kameyama, Teppei Tsujita, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
2014 IEEE HAPTICS SYMPOSIUM (HAPTICS), 283, 288, IEEE, 2014, [Peer-reviewed]
English, International conference proceedings, For improving surgical techniques of novice surgeons or preoperative planning, development of practical surgical simulators utilizing virtual reality technology have been expected in the medical field. During surgery, a surgeon uses a variety of surgical instruments. Therefore, a haptic interface should be able to display reaction force through various surgical instruments. Based on this concept, a novel encountered-type haptic interface using MR (Magneto-Rheological) fluid for surgical simulators was developed. In this paper, a force feedback control scheme using a force sensor mounted on a MR fluid container is proposed. By using this scheme, performance of frequency response and effectiveness of the proposed control scheme are evaluated. In this frequency response experiment, it is evaluated that a force bandwidth of the closed-loop controller for the fluid is 200 [Hz] and it has sufficient performance to replicate vibratory cutting force of soft tissue. Moreover, by moving the container, the proposed scheme can display force based on reference force while the knife stops. Therefore, the proposed method can replicate cutting force of soft tissue correctly, and has sufficient performance to be used as surgical simulators.

Encountered-type haptic interface using Magneto-Rheological fluid for surgical simulators.
Teppei Tsujita, Takuya Kameyama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
IEEE Haptics Symposium, HAPTICS 2014, Houston, TX, USA, February 23-26, 2014, 1, 1, IEEE, 2014, [Peer-reviewed]
International conference proceedings

Development of a Brain Surgery Simulator　　　　　　　　　　　　　　　
Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Akira Fukuhara, Kazuya Sase, Teppei Tsujita, Satoko Abiko
Proceedings of the International Symposium on Interdisciplinary Research and Education on Medical Device Developments, Sep. 2013, [Invited]
English, International conference proceedings

Compensation for dead band of force measurement based on the coefficient of restitution in a hybrid simulator
Fumihito Sugai, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
Advanced Robotics, 27, 12, 907, 917, 01 Aug. 2013, [Peer-reviewed]
English, Scientific journal, In order to develop space robotic technologies, the feasibility and reliability of the systems have to be verified by repetitive operation tests. A hybrid simulator (also referred to as a Hardware-in-the-loop simulator) is one of the effective ways to examine orbital operations on the ground. The simulator embeds a hardware experiment in a numerical simulation loop. However, it is known that the hybrid simulator has a serious problem that energy increase arises in contact with a hardware experiment in the loop. In general, the energy increase in the hybrid simulator occurs due to the dead time in the system. However, this paper presents that dead band in force/torque measuring also causes the energy increase. The dead band in the force/torque measuring is necessary to avoid unexpected motion of the hybrid simulator due to the noise data in the force/torque sensor. This paper proposes two compensation methods for the energy increase problem due to the dead band. The first method is to insert a virtual damper to absorb the increased energy during the contact. The second method is to extrapolate force/torque data that is lost through the dead band processing right after the contact. The experimental verification with uniaxial contact in hybrid simulator is carried out to validate the proposed compensation methods. © 2013 Taylor &
Francis Group, LLC.

Design and evaluation of an encountered-type haptic interface using MR fluid for surgical simulators
Teppei Tsujita, Kazuya Sase, Atsushi Konno, Masano Nakayama, Xiaoshuai Chen, Koyu Abe, Masaru Uchiyama
Advanced Robotics, 27, 7, 525, 540, 01 May 2013, [Peer-reviewed]
English, Scientific journal, A novel encountered-type haptic interface for surgical simulators is proposed. This interface has a container of MR (Magneto-Rheological) fluid, and an operator puts a surgical instrument into the fluid and can feel resistance force. The advantage of this interface is that an operator can move an instrument freely when it does not contact with MR fluid and change instruments easily. If an instrument is mounted mechanically on a haptic interface driven by servomotors, it is difficult to change surgical tools. On the other hand, the developed device does not require a procedure for changing tools and can increase a sense of reality. However, MR fluid cannot display large deformation of a tissue since its elastic region is small. Therefore, a container of the fluid is moved by servomotors. In this paper, concept and design of the interface and performance evaluations are described. In order to specify required display force, cutting force of a liver is analysed, and the maximum force is about 1.6 [N]. The device is designed based on this required force. Relationship between coil current and display force is measured, and the interface can exert 2.7 [N] when the current is 1 [A]. In addition, the validness of the proposed scheme using servomotors is evaluated. © 2013 Taylor &
Francis and The Robotics Society of Japan.

Development of a Quad Rotor Tail-Sitter VTOL UAV without Control Surfaces and Experimental Verification
Atsushi Oosedo, Satoko Abiko, Atsushi Konno, Takuya Koizumi, Tatuya Furui, Masaru Uchiyama
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 317, 322, IEEE, 2013, [Peer-reviewed]
English, International conference proceedings, This paper presents development of a quad rotor tail-sitter VTOL UAV (Vertical Takeoff and Landing Unmanned Aerial Vehicle) which is composed of four rotors and a fixed wing. The conventional VTOL UAVs have a drawback in the accuracy of the attitude control in stationary hovering because they were developed based on a fixed-wing aircraft and they used the control surfaces, such as aileron, elevator, and rudder for the attitude control. To overcome such a drawback, we developed a quad rotor tail-sitter VTOL UAV. The quad rotor tail-sitter VTOL UAV realizes high accuracy in the attitude control with four rotors like a quad rotor helicopter and achieves level flight like a fixed-wing airplane. The remarkable characteristic of the developed quad rotor tail-sitter VTOL UAV is that it does not use any control surfaces even in the level flight. This paper shows the design concept of the developed UAV and experimental verification of all flight modes including hovering, transition flight and level flight.

DYNAMIC SIMULATION OF BIPED WALKING ON LOOSE SOIL
Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Xin Jiang, Masaru Uchiyama
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 9, 4, WORLD SCIENTIFIC PUBL CO PTE LTD, Dec. 2012, [Peer-reviewed]
English, Scientific journal, Most of the studies on biped walking on even or uneven terrain have assumed stiff ground. This paper proposes a dynamic contact model between foot and loose soil. The proposed contact model provides sinkage of the foot, slip of the sole and reactive force acting on the foot on loose soil. Sinkage of the foot and slip of the sole are calculated utilizing terramechanics model, which are important characteristics for biped robot to walk on loose soil. Reactive force acting on the foot on loose soil is calculated using spring-damper model between the foot and the deformed ground. By applying the proposed contact model to a usual dynamics simulator, dynamic sinkage and slip phenomenon during biped walking on loose soil are simulated. Additionally, in order to verify the simulation result, experiments were carried out using a humanoid robot.

HUMANOID ROBOT MOTION GENERATION SCHEME FOR TASKS UTILIZING IMPULSIVE FORCE
Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 9, 2, WORLD SCIENTIFIC PUBL CO PTE LTD, Jun. 2012, [Peer-reviewed]
English, Scientific journal, In order to exert a large force on an environment, it is effective to apply impulsive force. We describe the motions in which tasks are performed by applying impulsive force as "impact motions." This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. The impact motion is optimized based on a three dimensional model using sequential quadratic programming (SQP). In this research, a nailing task is taken as an example of impact motion. A dominant parameter for driving a nail strongly is revealed and motions which maximize the parameter are generated considering the robot's postural stability. In order to evaluate the proposed scheme, a life-sized humanoid robot drives nails into a plate made of chemical wood. The optimized motion is compared with a motion designed heuristically by a human. Average driving depth is clearly increased by the proposed method.

Mobile Manipulation of a Humanoid Robot
Shuhei Ogawa, Atsushi Konno
2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 99, 104, IEEE, 2012, [Peer-reviewed]
English, International conference proceedings, This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion, including the walking based on only the hand trajectory. Firstly, a virtual joint model, which substitutes the biped model, is proposed. The walking trajectory is generated based on the hand trajectory by using this model. Secondly, a method for generating whole body motion including walking is presented. Finally, the effectiveness of the proposed method is evaluated by simulations and experiments.

Accuracy Improvement of Delay Time Compensation Based on the Coefficient of Restitution for a Hybrid Simulator
Yoshikazu Satake, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 5046, 5051, IEEE, 2012, [Peer-reviewed]
English, International conference proceedings, A hybrid simulator is a simulator which embeds a hardware experiment in a numerical simulation. However, the hybrid simulator is generally subjected to an inherent problem of energy increase in collision of two hardwares in the loop because of delay times. To solve this problem, Osaki et al. proposed a compensation method of delay time that can realize a variable coefficient of restitution [1]. However, the above method has a drawback that a model error of the system degrades the accuracy of the compensation method. This paper describes the influence of the model error and proposes a new approach to improve the accuracy of delay time compensation based on the coefficient of restitution by introducing a new model of the system. A collision experiment by the hybrid simulator is carried out to validate the accuracy of the proposed compensation method compared with the conventional compensation method.

Development of a Haptic Interface Using MR Fluid for Displaying Cutting Forces of Soft Tissues
Teppei Tsujita, Manabu Ohara, Kazuya Sase, Atsushi Konno, Masano Nakayama, Koyu Abe, Masaru Uchiyama
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 1044, 1049, IEEE, 2012, [Peer-reviewed]
English, International conference proceedings, In open abdominal surgical procedures, many surgical instruments, e. g., knives, cutting shears and clamps, are generally used. Therefore, a haptic interface should display reaction force of a soft biological tissue through such a surgical instrument. Simplest solution for this difficulty is that an actual instrument is mechanically mounted on the traditional haptic interface driven by servomotors. However, operators lose a sense of reality when they change the instrument since they must perform a procedure which is not required in actual surgery for attaching/detaching the instrument to/from the haptic interface. Therefore, a novel haptic interface using MR (Magneto-Rheological) fluid is developed in this research. Rheological property of MR fluid can be changed in a short time by applied magnetic flux density. By cutting the fluid using a surgical instrument, operators can feel resistance force as if they cut tissue. However, MR fluid cannot display large deformation of soft tissues since elastic region of MR fluid is small. Therefore, a container of the fluid is moved by a motion table driven by servomotors. In this paper, concept and design of the haptic interface and performance evaluations are described.

Design and Attitude Control of a Quad-Rotor Tail-Sitter Vertical Takeoff and Landing Unmanned Aerial Vehicle
Atsushi Oosedo, Atsushi Konno, Takaaki Matsumoto, Kenta Go, Koji Masuko, Masaru Uchiyama
ADVANCED ROBOTICS, 26, 3-4, 307, 326, TAYLOR & FRANCIS LTD, 2012, [Peer-reviewed]
English, Scientific journal, In this paper, we present the development of a quad-rotor tail-sitter unmanned aerial vehicle (UAV) that is composed of quad rotors and a fixed wing. The developed UAV can hover like a quad-rotor helicopter and can fly long distance like a fixed-wing airplane. The main wing of the developed UAV is taken from a commercially available radio-controlled airplane and other parts such as the body frame are newly developed. A microcomputer, various sensors and a battery are mounted on the UAV for autonomous flight without any support from a ground system. Attitude and altitude control systems are developed for the UAV. In order to verify the designed controller, a three-dimensional flight simulator of a quad-rotor tail-sitter UAV is developed by use of MATLAB/Simulink. This paper also describes attitude control experiments. The results show that the propeller slipstream has a negative influence on attitude control. Solutions for the negative influence of the propeller slipstream are also discussed in this paper. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012

An impact dynamics model and sequential optimization to generate impact motions for a humanoid robot
Atsushi Konno, Tomoya Myojin, Takaaki Matsumoto, Teppei Tsujita, Masaru Uchiyama
International Journal of Robotics Research, 30, 13, 1596, 1608, Nov. 2011, [Peer-reviewed]
English, Scientific journal, When a human needs to generate a large force, they will try to apply an impulsive force with dynamic cooperation of the whole body. In this paper we first discuss impact dynamics of humanoid robots and then propose a way to generate impact motions for a humanoid robot to exert a large force while keeping a balance. In the impact motion generation, Sequential Quadratic Programming (SQP) is used to solve a non-linear programming problem in which an objective function and constraints may be non-linear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized. Breaking wooden boards with a Karate chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of breaking the wooden boards experiments clearly show the effectiveness of the proposed method. © SAGE Publications 2011.

A Human-Like Approach Towards Humanoid Robot Footstep Planning
Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Shunsuke Komizunai, Masaru Uchiyama
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 8, 4, 98, 109, SAGE PUBLICATIONS INC, Sep. 2011, [Peer-reviewed]
English, Scientific journal, Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit this ability and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Design methodology for obstacle stepping over motion designed for use with this algorithm is also presented. The paper puts forth simulation results of footstep planning as well as experimental results for the stepping over trajectory designed for use with hardware execution of the footstep plan.

Wrist Camera-Based Vibration Suppression Control for a Flexible Manipulator
Xin Jiang, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 25, 6-7, 805, 823, TAYLOR & FRANCIS LTD, 2011, [Peer-reviewed]
English, Scientific journal, This paper addresses a vision-based method for estimating vibration excited in the tip of a flexible-link manipulator. In this method, estimation of vibration is achieved by observing the variation of image features projected on a wrist camera. It mimics the situation of utilizing a wrist camera in tip vibration control of a space manipulator. In space, a vision sensor can be expected to be a feasible means for measuring the elastic vibration of the space manipulators, since they are more reliable compared with sensors like strain gauges. The method proposed in this paper takes advantage of the frequential characteristics of visual information that are reflected as a blurred background scene. With the high-frequency component of the projected image features, a Kalman filter-based observer is implemented as the estimator for the vibration. This implementation is characterized by the considerations of incorporating the slow sensor of the camera in the fast servo loop and compensation of the time delay due to image processing. With the vibration estimator, vibration suppression control relying solely on a wrist camera becomes possible. This scheme is successfully verified by experiments. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

Linear Elastic Fracture Model for Brain Surgery Simulation
Masano Nakayama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 333, 338, IEEE, 2011, [Peer-reviewed]
English, International conference proceedings, Blunt dissection is a fundamental technique in brain surgery to expose an affected or to separate tissues without cutting. This paper addresses a linear elastic fracture model to simulate blunt dissection in a virtual brain surgery. Blunt dissection is simulated by fracturing a linear elastic finite elements when the stress applied to the element exceeds the specified fracture stress. However if an element is fractured without any consideration for connections with adjacent elements, the fracture may produce some structurally unstable elements. The structurally unstable elements cause computational instability. In order to avoid this instability problem, an element fracture method is proposed. The fracture model is verified by comparing the results of blunt dissection simulation with the result of experiments.

A Cooperative Industrial Partner Robot for Handling Heavy Parts
SongGi Lee, Xin Jiang, Koyu Abe, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 416, 421, IEEE, 2011, [Peer-reviewed]
English, International conference proceedings, Recently, industrial robots are widely employed in various fields for automation. However, some assembly tasks still need intervention of human workers, because of the complicated assembly skills involved. In order to assist the assembly tasks, some industrial partner robot have been introduced into the assembly line. These devices are designed merely for supporting the weight of the heavy parts, and sometimes they embarrass the human work from applying their skills. In this research we propose a new system in which robots and human workers cooperate complementarily in an assembly task. This paper describes a prototype robot designed following this idea.

A Human Assistant Robot System for Handling Heavy Mechanical Parts in Assembly Lines
Songgi LEE, Xin JIANG, Koyu ABE, Satoko ABIKO, Atsushi KONNO, Masaru UCHIYAMA
Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan, 732, 737, 2011

Identification of Physical Properties of Swine Liver for Surgical Simulation Using a Dynamic Deformation Model
Xiaoshuai Chen, Masano Nakayama, Teppei Tsujita, Xin Jiang, Satoko Abiko, Koyu Abe, Atsushi Konno, Masaru Uchiyama
Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan, 655, 660, 2011
International conference proceedings, In recent medical field, surgical simulators with the technique of virtual reality are expected to provide a new means to support the surgical front. We have developed a simulation for brain surgery using a dynamic deformation model. Most of physics models, including the dynamic deformation model, are required to identify the physical properties of target tissues. In this research, we identified physical properties of swine liver. Young's Modulus, Poisson's Ratio and damping coefficient is necessary for the simulation. There are previous researches about identification of Young's Modulus, but that about identification of Poisson's Ratio and damping coefficient are few. Therefore, in this research, we conduct tension experiments to measure Young's Modulus and Poisson's Ratio, and vibration experiments to measure damping coefficient. © 2011 IEEE.

Cooperative Object Transportation by Multiple Humanoid Robots
Meng-Hung Wu, Atsushi Konno, Masaru Uchiyama
Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan, 779, 784, 2011

Stable soft-tissue fracture simulation for surgery simulator
Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
Journal of Robotics and Mechatronics, 23, 4, 589, 597, Fuji Technology Press, 2011, [Peer-reviewed]
English, Scientific journal, Soft-tissue fracture simulation is a key to surgery simulation virtually reproducing cutting, dissection, and removal. Soft-tissue fracture is modeled by finite element fracture in which elements are removed if their stress exceeds a specified fracture stress. Removing elements without considering connection to adjacent elements may produce structurally unstable elements, that cause computational instability. We propose geometric limitation and element fracture method to avoid this instability. We confirmed the feasibility of our proposals by comparing blunt dissection simulation results to blunt dissection experiment results using agar.

Robotized Assembly of a Wire Harness in a Car Production Line
Xin Jiang, Kyong-mo Koo, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 25, 3-4, 473, 489, VSP BV, 2011, [Peer-reviewed]
English, Scientific journal, This paper addresses an engineering attempt of utilizing multiple robot arms in the assembly of deformable parts. The robot system developed in this research simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation is performed by skilled workers and is considered to be difficult for automation. In this paper, a synthetic robotized solution is proposed for this process. For the first time, it realizes robotized assembly of a complex deformable object (wire harness) under a condition similar to an actual plant. Although some of the problems are simplified in the implementation, those critical to assemblies involving deformable objects are investigated and solved with experimental validation. Therefore, this research is expected to contribute to exploring the feasibility and potential of robotized assembly using deformable parts in actual plants. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2011

Development of awire harness assembly motion planner for redundant multiple manipulators
Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
Journal of Robotics and Mechatronics, 23, 6, 907, 918, Fuji Technology Press, 2011, [Peer-reviewed]
English, Scientific journal, This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.

Analytic Singularity Analysis of a 4-DOF Parallel Robot Based on Jacobian Deficiencies
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 8, 2, 378, 384, INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS, Apr. 2010
English, Scientific journal, In this paper, analytic singularity analysis of a 4-DOF parallel robot H4 is addressed. Since a parallel manipulator consisting of several serial chains has complex singularities in the workspace, the determination of singular configurations is very important in design, trajectory planning, and control. The classical method to determine singular configurations is to find the determinant of the Jacobian matrix. However, the Jacobian matrix of a parallel manipulator is complex in general and thus it is not easy to find the determinant of the Jacobian matrix. Therefore, we focus on the analytic singularity analysis of a 4-DOF parallel robot H4 using Jacobian deficiencies. A subset of the whole singularities and the intuitively predictable ones are only derived using Jacobian matrix deficiency. Three type singularities, i.e., overmobility, undermobility and combined singularities, have been presented.

Design, implementation, and performance evaluation of a 4-DOF parallel robot
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
ROBOTICA, 28, 1, 107, 118, CAMBRIDGE UNIV PRESS, Jan. 2010
English, Scientific journal, This paper deals with the design, implementation, and performance evaluation of a new type of 4-DOF parallel mechanism providing three translations and one rotation for high-speed handling and machining. This parallel mechanism is named H4. A necessary condition and system configuration of the H4 are also described. Hardware and kinematics of the H4 is addressed and the manipulability ellipsoid which is one of the widely used methods to examine the design of parallel mechanisms is addressed. The performance evaluation is carried out to demonstrate the H4 robot. The Simulation and experimental results show that three different controllers, the PD, PD + velocity feed-forward, and dynamic compensation controller, dramatically improve the trajectory tracking accuracy.

Tuning of MPID Control for a Flexible Manipulator Using a Neural Network　　　　　　　　　　　　　　　
Tamer Mansour, Atsushi Konno, Masaru Uchiyama
Journal of Robotics and Mechatronics, 22, 1, 82, 90, 2010

Inverse Dynamics Analysis of a 4-d.o.f. Parallel Robot H4
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 24, 1-2, 159, 177, TAYLOR & FRANCIS LTD, 2010
English, Scientific journal, This paper addresses the inverse dynamics of a 4-d.o.f. parallel robot, H4. Simplified inverse dynamics models have been proposed so far in which the inertia of a rod is neglected. Computation of the inertia of the rod was a heavy load for past computers and, hence, the simplified inverse dynamics were useful for online computation. However, owing to the recent great progress in computer hardware, online computation of the full dynamics is no longer a heavy load for modern computers. Therefore, a detailed inverse dynamics model of H4 is proposed in this paper. The Newton-Euler method is adopted for generating inverse dynamics solutions for H4 which have four (S-S)(2) (two spherical-spherical) chains in each rod. In order to evaluate the proposed inverse dynamics model, three controllers are tested: (i) PD controller, (ii) PD controller with velocity feed-forward and (iii) dynamic compensation controller based on the proposed dynamics model. The experimental results are presented and analyzed. It is also shown that the simplified dynamics model can be used without clear deterioration of control quality. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

A Hovering Control Strategy for a Tail-Sitter VTOL UAV that Increases Stability Against Large Disturbanceac
Takaaki Matsumoto, Koichi Kita, Ren Suzuki, Atsushi Oosedo, Kenta Go, Yuta Hoshino, Atsushi Konno, Masaru Uchiyama
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 54, 59, IEEE, 2010
English, International conference proceedings, The application range of UAVs (unmanned aerial vehicles) is expanding along with performance upgrades. Vertical take-off and landing (VTOL) aircraft has the merits of both fixed-wing and rotary-wing aircraft. Tail-sitting is the simplest way for the VTOL maneuver since it does not need extra actuators. However, conventional hovering control for a tail-sitter UAV is not robust enough against large disturbance such as a blast of wind, a bird strike, and so on. It is experimentally observed that the conventional quaternion feedback hovering control often fails to keep stability when the control compensates large attitude errors. This paper proposes a novel hovering control strategy for a tail-sitter VTOL UAV that increases stability against large disturbance. In order to verify the proposed hovering control strategy, simulations and experiments on hovering of the UAV are performed giving large attitude errors. The results show that the proposed control strategy successfully compensates initial large attitude errors keeping stability, while the conventional quaternion feedback controller

Intuitive Human Skill Reconstruction for Compliance Control
Samuel Okodi, Xin Jiang, Satoko Abiko, Atsushi Konno, Masaru Uchiyama
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 5576, 5581, IEEE, 2010, [Peer-reviewed]
English, International conference proceedings, This paper presents a robust and efficient method of generating manipulation motion skill for non-force-feedback high speed constrained compliant robot motion. Using a non-structured teaching environment, the inherent task in the captured demonstration force and position data is estimated and reconstructed from three sets of complimentary models, including analytical mathematical modelling, empirical modelling and human skill demonstration modelling. The approach addresses task specification accuracy deficiencies, and involves outward interface simplifications, with embedded rigorous analytical methodologies that enable users to realise complex and robust constrained compliant robot motion without dealing with the low level motion generation aspects. Function based task representation supports an intuitive approach to generate robust constrained motion by skill superimposition, as exemplified by peg-in-hole with crank turning.

Vision-Based Task-Level Control of a Flexible-Link Manipulator
Xin Jiang, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 24, 4, 467, 488, TAYLOR & FRANCIS LTD, 2010, [Peer-reviewed]
English, Scientific journal, This paper discusses a vision-based approach to implement task-level control in flexible-link manipulators. The proposed approach emphasizes the advantage of using vision in the control of flexible manipulators. It is pointed out that taking advantage of the inherent robustness, implementation of an image-based visual servo can be regarded as a synthetic solution to precise task-level control of flexible manipulators. This approach is implemented in a three-dimensional flexible-link manipulator. The implementation makes good use of filters in decoupling task-level control and vibration suppression control. Moreover, we point out that although the robustness of the approach can help to overcome the difficulty in control resulting from the complex measurement of the link's elastic deformation, it lacks in capability of tip trajectory specification. This problem is analyzed in this research and it leads to the proposal for the integration of the image interpolation technique. This technique makes the proposed approach adequate for tasks involved with complex tip trajectories. For flexible-link manipulators, the proposed approach with the remedy is the first vision-based synthetic solution that attempts to make a flexible manipulator usable for a practical task. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

Delay Time Compensation for a Hybrid Simulator
Kohei Osaki, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 24, 8-9, 1081, 1098, TAYLOR & FRANCIS LTD, 2010, [Peer-reviewed]
English, Scientific journal, A hybrid simulation, which is also referred to as a hardware-in-the-loop (HIL) simulation, includes a hardware experiment within a numerical simulation loop. The hybrid simulation is an effective method to test space robotic operations providing a virtual microgravity environment on the ground. However, hybrid simulation generally suffers from the problem of energy increase when two hardwares in the loop collide with each other because of delay times. This paper presents a compensation method for the energy increase problem. A dead time model that represents various delay times of the system is introduced and it is clarified how the energy of the system is increased by the dead time. Based upon the dead time model, a compensation for the dead time is proposed. This compensation method realizes the desired energy consumption at a collision, which is represented by the coefficient of restitution in the hybrid simulation. Experiments of uniaxial collision are conducted to validate the proposed compensation. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

Application of Robot Service by using RT Components
Yuki Nomura, Takahiro Kikuchi, Atsushi Konno, Masaru Uchiyama
Proceedings of the International Conference on Advanced Mechatronics, 2010, 498, 503, The Japan Society of Mechanical Engineers, 2010, [Peer-reviewed]
English, International conference proceedings, The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to develop a robot system which is robust against changes of tasks and environments. This study aims to develop such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing a table is selected. This paper presents simulation result of the task with several types of robots by applying common RT component.

Agile Turnaround Using Post-Stall Maneuvers for Tail-Sitter VTOL UAVs
Takaaki Matsumoto, Atsushi Konno, Ren Suzuki, Atsushi Oosedo, Kenta Go, Masaru Uchiyama
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 1612, 1617, IEEE, 2010, [Peer-reviewed]
English, International conference proceedings, Miniature vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) make various missions possible alone such as surveillance in partially-destroyed building and at broad hazard area where many obstacle exist. In such missions, agile turnaround using post-stall maneuvers is useful to avoid obstacles. This paper discusses agile turnaround strategies utilizing post-stall maneuvers for tail-sitter VTOL UAVs. Two agile turn strategies are studied in this paper: (1) minimum travel distance turn, and (2) minimum radius turn. The proposed strategies are formulated and optimization problems are solved. Through computer simulation, the proposed strategies are evaluated in terms of travel distance and turning radius comparing with conventional Immelmann turn strategy.

Robotized Assembly of a Wire Harness in Car Production Line
Xin Jiang, Kyong-mo Koo, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 490, 495, IEEE, 2010, [Peer-reviewed]
English, International conference proceedings, This paper addresses an engineering attempt of utilizing multiple robot arms in assemblies of deformable parts. The developed robot system simulates a practically existing assembly process in an automobile plant where wrapped cables (wire harness) have to be fixed on the body of a car. This operation has been performed by skilled workers and is considered to be difficult for automatization. During the development of the system, solutions are proposed for various engineering problems confronted. The problems are all due to the deformable properties of a wire harness. Many of them are general for other operations involved with deformable objects. The proposed methods in the research are verified by a successful demonstration of wire harness assembly under a condition similar to a real plant.

Teleoperation of a Tail-Sitter VTOL UAV
Ren Suzuki, Takaaki Matsumoto, Atsushi Konno, Yuta Hoshino, Kenta Go, Atsushi Oosedo, Masaru Uchiyama
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 1618, 1623, IEEE, 2010, [Peer-reviewed]
English, International conference proceedings, Vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) are expected to perform dangerous mission such as rescue and exploring disaster site alone. As for the operation of a UAV in a rescue mission, teleoperation is preferred. This paper describes teleoperation of a miniature tail-sitter VTOL UAV. A teleoperation system is developed to navigate a tail-sitter UAV. A velocity estimation method for outdoor flight is described and a velocity control strategy based on attitude control for indoor hovering of tail-sitter VTOL UAVs is proposed. In order to verify the teleoperation system and velocity control strategy, indoor exploration and target tracking teleoperation are performed in this paper. Through the experiments, the operator successfully controlled a teleoperated tail-sitter VTOL UAV with non-line-of-sight. In addition, a preliminary obstacle avoidance system is also implemented to assist operator.

An Asymmetric Stiffness Model of a Human Hand
Satoko Abiko, Atsushi Konno, Masaru Uchiyama
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 5034, 5041, IEEE, 2010, [Peer-reviewed]
English, International conference proceedings, This paper presents an asymmetric stiffness characteristic of a human hand. In human support robotics or medical robotics, the detail comprehension of physical human body is important to develop safe and high performed robots to work cooperatively with a human and to replace human dexterous tasks. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of an articulated body system. In this paper, perturbation-excited method is carried out for estimating the stiffness of a human hand. The experimental results demonstrate nonlinear property of the stiffness of a human hand. To illustrate the observed stiffness characteristic, this paper proposes nonlinear stiffness model of the human hand.

Optimization of Impact Motions for Humanoid Robots Considering Multibody Dynamics and Stability
Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 718, 725, IEEE, 2010, [Peer-reviewed]
English, International conference proceedings, In order to exert large force on an environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." The objective of an impact motion is to exert large force on an environment, however if the impulsive force is too large, the robot may fall down due to the reaction force. This paper presents an optimization scheme to generate impact motions for humanoid robots. The advantage of the proposed scheme is that impulsive force exerted on a target by a humanoid robot's whole body is maximized while guaranteeing the stability. A punching motion is generated by the scheme as an example and evaluated by performing simulations.

Development of a static sinkage model for a biped robot on loose soil
Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 61, 66, 2010, [Peer-reviewed]
English, International conference proceedings, This paper addresses the development of a dynamics simulator that for a biped robot on loose soil. Especially, the paper focuses on the method of sinkage calculation which is one of the characteristics for walking on loose soil. The calculation algorithm is changed dynamically according to the support condition of the legs. Considering ground projection of center of mass (GCoM) as a center of rotation of a robot, angle of trim is also estimated. Additionally, to describe the dynamical variation of sinkage, a filtering method is proposed for the calculation result. By applying the proposed method, sinkage phenomenon of a biped robot during stepping is simulated realistically. ©2010 IEEE.

Simulation of Surgical Dissection Using a Dynamic Deformation Model
Xiaoshuai Chen, Masano Nakayama, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
Proceedings of 2010 IEEE/SICE International Symposium on System Integration, 90, 95, 2010, [Peer-reviewed]
International conference proceedings, In recent medical field, surgical simulation with the technique of virtual reality is expected to provide a new means for surgical training. In this research, we developed a simulation for brain surgeries, in which dynamic deformation model is used for describing dissection involved. Thus, in this research, the effect of the speed and acceleration of surgical tools is considered in the calculation of deformation and reaction force. The proposed method in this paper ensures smoothed expression of the reaction force and tissues' deformation. ©2010 IEEE.

Verification of the versatility of the RT modules by the multiple robots platform
Yuki Nomura, Shuhei Ogawa, Takahiro Kikuchi, Atsushi Konno, Masaru Uchiyama
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 206, 211, 2010, [Peer-reviewed]
English, International conference proceedings, The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to develop a robot system which is robust against changes of tasks and environments. This study aims to develop such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing a table is selected. This paper presents simulation result of the task with several types of robots by applying common RT component. ©2010 IEEE.

Autonomous takeoff and landing of an unmanned aerial vehicle
Kouji Masuko, Ippei Takahashi, Shuhei Ogawa, Meng-Hung Wu, Atsushi Oosedo, Takaaki Matsumoto, Kenta Go, Fumihito Sugai, Atsushi Konno, Masaru Uchiyama
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 248, 253, 2010, [Peer-reviewed]
English, International conference proceedings, In this study, we work for autonomous takeoff and landing of a miniature size unmanned aerial vehicle (UAV). We get the information of attitude and altitude by using a small Linux computer and various sensors equipped with fuselage. Attitude and altitude feedback control scheme and autonomous takeoff and landing strategies are proposed. We also develop a landing system that recognize landing site by visual feedback. ©2010 IEEE.

Design and simulation of a quad rotor tail-sitter unmanned aerial vehicle
Atsushi Oosedo, Atsushi Konno, Takaaki Matumoto, Kenta Go, Kouji Masuko, Satoko Abiko, Masaru Uchiyama
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 254, 259, 2010, [Peer-reviewed]
English, International conference proceedings, In this paper, we present the design and concept of a quad rotor tail-sitter UAV (unmanned aerial vehicle). The designed UAV is composed of quad rotors and a fixed wing. It can hover like a helicopter, and can cruise like a fixed wing airplane. In order to verify this concept, a simulator of a quad rotor tail-sitter UAV is developed. Simulation results show the advantage in energy efficiency of the proposed UAV over a conventional quad rotor helicopter type UAV. This paper also describes the development of the quad rotor tail-sitter UAV. ©2010 IEEE.

End effector constrained path planning for 7DOF manipulator
Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 287, 292, 2010, [Peer-reviewed]
English, International conference proceedings, This paper presents more reliable and fast path planning method for end effector constrained 7DOF redundant manipulators. Conventional path planning for redundant manipulators used jacobian based planning method for convenience. But it is not easy to apply in case of constrained tasks and redundant manipulators. On the contrary in this paper we uses position based path planning by inverse kinematics. Position based path planning is cost effective than jacobian methods and more easy to avoid joint limit and singularity. Usual path planning problems of pick and place with constraint are considered and demonstrated the usefulness of proposed planner. ©2010 IEEE.

Clamp grasping and insertion task automation for automobile industry
Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
2010 IEEE/SICE International Symposium on System Integration: SI International 2010 - The 3rd Symposium on System Integration, SII 2010, Proceedings, 293, 298, 2010, [Peer-reviewed]
English, International conference proceedings, Robot is now expending their ability from simple repetitive tasks to complex assembling tasks for supporting human life activities and advanced manufacturing automations. Manufacturing automation needs more narrow tolerance to assemble parts than human life support. In manufacturing automation, insertion tasks are the most frequently used primitive tasks. It is simple but impossible assembling tasks for robots without calibrations by high precision sensory devices. Laser displacement sensors are more fast, robust, and high precision one than any other measuring devices. The high precision performance of laser displacement sensor makes robots use it as a calibrations and feature extractions device. This paper will address how to find out the hole position and insertion direction vector from the acquired point clouds. Experiments will show the automated precision insertion task of manipulators. ©2010 IEEE.

Transition between Level Flight and Hovering of a Tail-Sitter Vertical Takeoff and Landing Aerial Robot
Koichi Kita, Atsushi Konno, Masaru Uchiyama
ADVANCED ROBOTICS, 24, 5-6, 763, 781, VSP BV, 2010, [Peer-reviewed]
English, Scientific journal, This paper presents the vertical takeoff, landing and transition between level flight and hovering of a tail-sitter vertical takeoff and landing (VTOL) aerial robot. The tail-sitter is suitable for micro aerial vehicles because it does not need any extra equipment for the VTOL maneuver. The developed tail-sitter aerial robot is equipped with four actuators for controlling ailerons, an elevator, a rudder and a propeller. A micro computer, various sensors and a battery are mounted on the aerial robot for autonomous flight without any support from a ground system. A transition flight strategy is constructed so that the transition finishes in the shortest time restricting an altitude change. In order to achieve the transition strategy, the reference trajectory of the pitch angle is computed offline by using an optimization technique. In the transition flight control system, a PID feedback controller is applied to attitude control, while a feedforward controller is applied to altitude control. The gain scheduling is applied to the control of the rudder and aileron. The experimental results on the transition between level flight and hovering, takeoff, and landing are presented. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

Closed-Form Forward Kinematics Solutions of a 4-DOF Parallel Robot
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 7, 5, 858, 864, INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS, Oct. 2009, [Peer-reviewed]
English, Scientific journal, It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.

Hovering Control of a Tail-Sitter VTOL Aerial Robot
Koichi Kita, Atsushi Konno, Masaru Uchiyama
Journal of Robotics and Mechatronics, 21, 2, 277, 283, 2009, [Peer-reviewed]
English, Scientific journal

Planning Footsteps in Obstacle Cluttered Environments
Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Masaru Uchiyama
2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 156, +, IEEE, 2009, [Peer-reviewed]
English, International conference proceedings, Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit it and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we illustrate our novel approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal and report on progress towards its implementation on humanoid robot hardware. Unlike existing hardware executions of footstep planning approaches, we consider obstacles of non-zero height while planning. Specific strategies are adopted to cater for these, both in dodging obstacles by circumvention as well as in design of stepping over trajectories. Experimental results of its implementaion on HRP-2 humanoid robot are also presented.

Contact Dynamics Mode Ring of a Humanoid Robot for Tasks Utilizing Impact Dynamics
Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 447, 452, IEEE, 2009, [Peer-reviewed]
English, International conference proceedings, In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." This paper presents a contact dynamics model of a humanoid robot for such a motion. Multibody dynamics and effect of a servo controller on impulsive force are also considered in the proposed model. The proposed model can estimate impulsive force at low computation cost compared with full-featured dynamics computation methods. The estimation results of each motion are compared with simulation results by OpenfIRP3. The maximum error of impulse is about 6 (%). Therefore, the proposed model is useful for estimating dynamics behavior of a humanoid robot.

Analysis of Human Dexterity While Performing Tasks and Its Implementation on a Humanoid Robot　　　　　　　　　　　　　　　
Shunsuke Komizunai, Atsushi Konno, Masaru Uchiyama
Proceedings of the Sixth International Conference on Flow Dynamics, 350, 351, 2009, [Peer-reviewed]
English, Symposium

Footstep planning for humanoid robots among obstacles of various types
Yasar Ayaz, Takuya Owa, Teppei Tsujita, Atsushi Konno, Khalid Munawar, Masaru Uchiyama
9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09, 361, 366, 2009, [Peer-reviewed]
English, International conference proceedings, The unique ability of humanoid robots to step over or upon obstacles is left unexploited if ordinary mobile robot navigation strategies are used for humanoids as well. Recently presented path planning strategies that make use of this capability, however, are very time consuming due to high computational complexity. We have presented a novel approach to humanoid robot footstep planning in obstacle cluttered environments that employs a human-like approach to terrain traversal. This paper mainly centers on providing a proof of concept for the algorithm while also bringing about some improvements. Unlike previous statically stable simulation work, here we present footstep plans including dynamic walk together with practical results of HRP-2 humanoid robot navigating in various scenarios with different obstacle characteristics. These also include catering for body sway dynamics as well as planning and executing stepping over obstacles encountered at angles not perpendicular to the robot's line of motion. ©2009 IEEE.

A Joint Mechanism with Variable Stiffness
FUNAKAWA YUKIHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本機械学会論文集 C編, 74, 744, 2045, 2051, The Japan Society of Mechanical Engineers, 25 Aug. 2008, [Peer-reviewed]
Japanese, In the future, it is expected that robots will be able to play an active role in the real life alongside humans. Then, the softness of the robot is enumerated as one of the mechanical performances demanded for robots that coexist and cooperate with humans. Because, in case of a robot receives impact forces from an object, actuators may receive unpredictable damage by the impact forces. If the robot has mechanical softness, it is possible to reduce the impact forces. In such cases it is necessary to adjust the stiffness of the joint. Then, the reaction forces at the time of impact can be passively absorbed by lowering the joint stiffness. On the other hand, when torque requirement is high, a variable stiffness design helps raise the joint stiffness. Design of such a variable stiffness mechanism is proposed in this paper. The stiffness characteristics are evaluated. Analysis is conducted to verify feasibility of mounting it on actual robots.

SR-PES and STM observation of metastable chemisorption state of oxygen on Si(1 1 0)-16 × 2 surface
Yoshihisa Yamamoto, Hideaki Togashi, Atsushi Kato, Yuya Takahashi, Atsushi Konno, Yuden Teraoka, Akitaka Yoshigoe, Hidehito Asaoka, Maki Suemitsu
Applied Surface Science, 254, 19, 6232, 6234, 30 Jul. 2008, [Peer-reviewed]
English, Scientific journal, Initial adsorption of oxygen molecules on the Si(1 1 0)-16 × 2 surface and subsequent modification of the bonding states induced by mild (300 °C) annealing have been studied by synchrotron-radiation photoemission spectroscopy and scanning-tunneling microscopy. It has been shown that upon annealing, the intensity and the energy positions of the Si 2p suboxide components shift towards the values characteristic for the thermal oxide. This indicates the presence of a metastable chemisorption state of oxygen on the Si(1 1 0)-16 × 2 surface. © 2008 Elsevier B.V. All rights reserved.

Modified PID control of a single-link flexible robot
T. Mansour, A. Konno, M. Uchiyama
ADVANCED ROBOTICS, 22, 4, 433, 449, VSP BV, 2008, [Peer-reviewed]
English, Scientific journal, The use of flexible links in robots has become very common in different engineering fields. The issue of position control for flexible link manipulators has gained a lot of attention. Using the vibration signal originating from the motion of the flexible-link robot is one of the important methods used in controlling the tip position of the single-link arms. Compared with the common methods for controlling the base of the flexible arm, vibration feedback can improve the use of the flexible-link robot systems. In this paper a modified PID control (MPID) is proposed which depends only on vibration feedback to improve the response of the flexible arm without the massive need for measurements. The arm moves horizontally by a DC motor on its base while a tip payload is attached to the other end. A simulation for the system with both PD controller and the proposed MPID controller is performed. An experimental validation for the control of the single-link flexible arm is shown. The robustness of the proposed controller is examined by changing the loading condition at the tip of the flexible arm. The response results for the single-link flexible arm are presented with both the PI and MPID controller used. A study of the stability of the proposed MPID is carried out. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008.

Hybrid simulation of a dual-arm space robot colliding with a floating object
Ryohei Takahashi, Hiroto Ise, Atsushi Konno, Masaru Uchiyama, Daisuke Sato
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 1201, +, IEEE, 2008, [Peer-reviewed]
English, International conference proceedings, In order to verify orbital operations of a dual-arm space robot on the ground, a hybrid simulator (hardware in the loop simulator) is developed. The hybrid simulator includes a 14-degrees-of-freedom (14-DOF) dual-arm robot and 9-DOF motion table. A hybrid simulator has a great advantage in simulating complicated collision with multiple contacts, because it is difficult for a numerical simulation to get reliable and accurate results of such complicated phenomena. In this paper, the system architecture and the motion planning for three motion tables are presented. Two experiments are performed to confirm the basic motion and simulate a free-flying dual-arm space robot colliding with a floating object. The feasibility of robot operation is discussed from showing the position and force data obtained in the motion simulation.

Singularity avoidance by inputting angular velocity to a redundant axis during cooperative control of a teleoperated dual-arm robot
Masanori Hayakawa, Keiko Hara, Daisuke Sato, Atsushi Konno, Masaru Uchiyama
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2013, +, IEEE, 2008, [Peer-reviewed]
English, International conference proceedings, This paper describes a procedure of avoiding singularity for a redundantly-driven, dual-arm, master-slave robotic system. In cooperative operation, the procedure starts with a periodic check if one of the dual arms is close to a singular configuration by examining the manipulability of the arm. If it is close to a singularity, then the system stops its cooperative operation and control scheme switches to redundancy control. Then the operator manipulates the joint until the arm moves away from the singular configuration by inputing angular velocity to a redundant axis. The fact that the operator can select a new arm configuration to avoid singular configuration in teleoperation is the contribution of this research. After moving away from the singular configuration, the system can resume cooperative operation. Because this manual operation applies to a redundant axis only (in the null space of the Jacobian matrix), it does not affect the current end-effector pose and force status. Experimental examples are provided to demonstrate the proposed method.

Displaying feeling of cutting by a micro-scissors type haptic device
Shohei Fujino, Daisuke Sato, Koyu Abe, Atsushi Konno, Masaru Uchiyama
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2067, +, IEEE, 2008, [Peer-reviewed]
English, International conference proceedings, In this paper, a method for displaying feeling of cutting by a micro-scissors type haptic device is described. Micro-scissors are a type of surgical instrument, which is frequently used in brain surgery under a microscope. A prototype of a micro-scissors type haptic device consists of three components: an interface, a drive member, and force sensors. The interface is designed to equip features of a pair of micro-scissors and has a blade spring on its end. The drive member is composed of two DC-motors and two crank-lever mechanisms as decelerators. The force sensors are composed of strain gauges with H-slits, and implemented into each handle of the interface. For the aid of applying the force sensors to feedback control of cutting resistance forces, compensation for influence of a blade spring on the force sensors is added. Evaluation experiment for basic performance of the device is carried out, and the device is proved to be able to generate the computed cutting resistance forces. Virtual cutting experiment by six subjects is carried out, and it is proved that the device is able to display feeling of cutting.

Experimental verification on vibration suppression of a flexible manipulator using MPID controller
Tamer Mansour, Xin Jiang, Atsushi Konno, Masaru Uchiyama
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2896, 2901, IEEE, 2008
English, International conference proceedings, This paper presents a MPID (Modified Proportional-Integral-Derivative) controller used to suppress vibration of flexible manipulator moving vertically. To attain the vibration suppression a vibration variable should play role in the control signal which drives the flexible manipulator. The proposed controller is based on the conventional PID control but the integral term is replaced with another one which mainly depends on the vibration of the end effector. Camera becomes an inherent part of space manipulator, using the MPID controller with the visual information recorded by the camera makes the strain measuring circuits and amplifiers unnecessary. This means reducing the hardware used in the control of flexible manipulator. The novelty of the results lies in the fact that the measurement of the rate of change in deflection, which is used as a vibration variable, has been done without the need of numerical differentiation. Experiments successfully demonstrate that using the visual data with an observer based on Kalman filer can achieve a noticeable damping of the end effector vibration of the flexible manipulator.

Development of a Robot Car Wiring System
Kyong-mo Koo, Xin Jiang, Kohei Kikuchi, Atsushi Konno, Masaru Uchiyama
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 862, 867, IEEE, 2008
English, International conference proceedings, In this paper, the development of a robot car wiring system is addressed. It is designed to be used for automatically assembling wire harness into a car body. This operation is among the most difficult tasks of vehicle assembly and is not yet automated. Based on an analysis of the requirements for a robot car wiring system, we propose a solution which is capable of automatically completing assembly of wire harness into instrument panel frame of a car. The development of its prototype experimental system and the results of its verification experiments are described.

Humanoid Robot Motion Generation for Nailing Task
Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 1024, 1029, IEEE, 2008
English, International conference proceedings, In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion:" In this research, a nailing task is taken as an example of impact motion. This paper proposes a way to generate impact motions for humanoid robots to exert a large force and the feedback control method for driving a nail robustly. In order to validate the proposed scheme, experiments are carried out using life-sized humanoid robot HRP-2. The motion for nailing task generated by the proposed method is compared with the motion designed heuristically by a human. The driving depth is clearly increased by the proposed method.

Experiments on Hammering a Nail by a Humanoid Robot HRP-2　　　　　　　　　　　　　　　
Shunsuke Komizunai, Teppei Tsujita, Fumiya Nishii, Yuki Nomura, Takuya Owa, Atsushi Konno, Masaru Uchiyama
Proceedings of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, 325, 331, 2008

Hybrid Simulation of a Capturing a Rotating Object Task by a Dual-Arm Space Robot
Ryohei Takahashi, Daisuke Sato, Atsushi Konno, Masaru Uchiyama
Journal of the Robotics Society of Japan, 26, 6, 590, 598, The Robotics Society of Japan, 2008
Japanese, This paper presents hybrid (hardware in the loop) simulation of orbital operations by a space robot, and discusses a way to capture a spinning satellite using a dual-arm space robot. The orbital operations by a space robot, such as capturing a target object, involve collision between the hands and the object. It is difficult to numerically simulate complicated phenomena at the collision in general. The hybrid simulation is known as a useful method to verify the orbital operations having such complicated phenomena. The hybrid simulation is basically software simulation, replacing its part of numerical model by a hardware model, which contains complicated structure and motion. Firstly, a system architecture of the hybrid simulator is presented and a strategy for capturing a rotating object by a dual-arm space robot is discussed. Secondly, hybrid simulation of capturing a rotating object by a dual-arm space robot is performed to evaluate the proposed strategy. Finally, an experimental result of the hybrid simulation is presented, and effectiveness of the proposed strategy is verified.

Optimization of Impact Motions for Humanoid Robots
Atsushi Konno, Tomoya Myojin, Teppei Tsujita, Masaru Uchiyama
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 647, 652, IEEE, 2008
English, International conference proceedings, When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. This paper proposes a way to generate impact motions for humanoid robots to exert a large force keeping a balance. In the proposed method, the Sequential Quadratic Programming (SQP) is used to solve a nonlinear programming problem in which an objective function and constraints may be nonlinear functions of the motion parameters. Impact motions are generated using SQP so that the impact force is maximized while the angular momentum is minimized to keep stability. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out rising a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The results of the breaking wooden boards experiments clearly show the effectiveness of the proposed method.

Vibration Suppression Control of a Flexible Arm Using Image Features of Unknown Objects
Xin Jiang, Yosuke Yabe, Atsushi Konno, Masaru Uchiyama
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 3783, 3788, IEEE, 2008
English, International conference proceedings, In this paper, a vision-based vibration control approach is proposed to deal with the vibration appearing at the end-point of a flexible-link manipulator. It is achieved by utilizing the information obtained from end-effector camera. Particularly, the image features necessary for this approach are not specified to those obtained from assumed objects like artificial markers. This property enables the approach to be applied in a completely unknown environment. In that case, end-effector camera automatically collects the visual information needed for vibration damping. This paper shows feasibility of this strategy.

Human Demonstration Data for Fast Task Teaching
Samuel Okodi, Xin Jiang, Atsushi Konno, Masaru Uchiyama
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 961, 966, IEEE, 2008
English, International conference proceedings, Robot operation requires a succinct interface with fewer parameters to specify. This paper presents an algorithm to interface an integrated torque control law, and human task demonstration data. The data is comprised of 6 degrees of freedom, pendant force and position data, and hand posture tracking data. The aim is to automatically specify all the required parameters for the control law, which include constrained and non-constrained trajectories, reference task frames and distal end compliance. The algorithm is embedded with functions to optimise, filter, synchronise and enhance safety.

Analysis of Nailing Task Motion for a Humanoid Robot
Teppei Tsujita, Atsushi Konno, Shunsuke Komizunai, Yuki Nomura, Takuya Owa, Tomoya Myojin, Yasar Ayaz, Masaru Uchiyama
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, 1570, 1575, IEEE, 2008
English, International conference proceedings, In order to exert a large force on the environment, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion". In this research, a nailing task is taken as an example of impact motion. This paper presents a relationship between driving depth and force or impulse and analysis of impulsive force prediction model.

Experimental Verification of a Gravity Compensation Mechanism for a Humanoid Robot
SHIRATA SATORU, KONNO ATSUSHI, UCHIYAMA MASARU
日本機械学会論文集 C, 73, 734, 2734, 2741, The Japan Society of Mechanical Engineers, 25 Oct. 2007
Japanese, Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. A humanoid robot Saika-4 is developed aiming to break through the limitation by using a gravity compensation mechanism. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. This paper verifies effectiveness of the gravity compensation mechanism performing preliminary experiments.

Virtual Humanoid Physically Interactive with Humans
Kanako Miura, Atsushi Konno, Michihiko Shoji
Transactions of the Virtual Reality Society of Japan, 12, 3, 305, 313, 日本バーチャルリアリティ学会, Sep. 2007, [Peer-reviewed]
Japanese, Scientific journal, We propose a mixed reality application that uses a humanoid robot as a CG character's tangible body. The system consists of a synchronized pair of a humanoid robot and a virtual avatar, and an HMD that overlays the avatar onto the robot. And this research experiments the evaluation of the present enhancement of CG character through physical interaction with a robot which the character is overlaid onto it. The application requires that the motion data should be the processed motion-capture data to enhance its reality, the robot should be light-weight and have flexible link arms to make it safe.

Design and development of a high speed binocular camera head
Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
Transactions of the Society of Instrument and Control Engineers, 43, 5, 418, 427, 計測自動制御学会, May 2007
Japanese, In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed binocular camera head is developed. The aim of the binocular camera head is to provide a platform to reproduce the human brain information processing. Two neuromorphic vision chips with lenses, which are developed imitating human retinas, will be mounted on the camera head. The camera head has an azimuth DOF for each camera and a common elevation DOF. Therefore, total number of DOF is three. The weight of the robot head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. Consequently, all motors are mounted on the base. The characteristics of the camera head are quickness in motion, lightness in weight and simplicity of the mechanism. This paper presents the design, development and evaluation of the camera head. The inverse and forward kinematics are also discussed in this paper.

Human-like approach to footstep planning among obstacles for humanoid robots
Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 4, 1, 125, 149, WORLD SCIENTIFIC PUBL CO PTE LTD, Mar. 2007
English, Scientific journal, Unlike wheeled robots, humanoid robots are able to cross obstacles by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper, we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of the Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.

A vision-based endpoint trajectory and vibration control for flexible manipulators
Xin Jiang, Atsushi Konno, Masaru Uchiyama
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 3427, +, IEEE, 2007
English, International conference proceedings, This paper addresses a vision-based endpoint trajectory and vibration control approach for flexible manipulators. In this approach, both the trajectory and vibration control are implemented by using an endpoint camera. In order to estimate link vibrations from the visual information, Kalman filter is used. To make the endpoint to follow a specified trajectory, image interpolation approach is introduced. The experimental results prove the effectiveness of the proposed control strategy.

Design and evaluation of a gravity compensation mechanism for a humanoid robot
Satoru Shirata, Atsushi Konno, Masaru Uchiyama
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, 3641, 3646, IEEE, 2007
English, International conference proceedings, Performance of a human size humanoid robot is strictly limited by performance of the motor. The progress of a motor has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the motor cannot be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to a general biped robot. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the gravity compensation mechanism in the legs. To evaluate effectiveness of the gravity compensation mechanism, preliminary experiments are performed using the humanoid robot.

Design of Parallel Reconfigurable Image Processor with Three-Dimensional Structure
SUGIMURA TAKEAKI, KONISHI YUTA, DEGUCHI JUN, ISHIHARA TOSHIYUKI, FUKUSHIMA TAKAFUMI, KONNO ATSUSHI, UCHIYAMA MASARU, KOYANAGI MITSUMASA
電子情報通信学会論文誌 D, J89-D, 6, 1141-1152, 1152, The Institute of Electronics, Information and Communication Engineers, 01 Jun. 2006
Japanese, 本論文では,三次元積層型集積回路を用いたロボットビジョンシステムのための新しい並列リコンフィギャラブル画像処理プロセッサのアーキテクチャと,その動的再構成のための階層型再構成手法を示す.本論文に示す並列リコンフィギャラブル画像処理プロセッサは画像サイズに対してスケーラブルであり,このような画像処理プロセッサにロボットビジョン向けの画像処理アルゴリズムを実装することで,高性能かつ高機能なロボットビジョンシステムの実現が期待できる.また,設計した並列リコンフィギャラブル画像処理プロセッサをFPGAに実装した試作システムによるロボットヘッドを用いたビジュアルサーボ実験についても報告する.

Impact Motion Humanoid Robot HRP-2　　　　　　　　　　　　　　　
Masaru Uchiyama, Atsushi Konno
Journal of the Robotics Society of Japan,Robotics Society of Japan, 24, 2, 189, 189, 2006

Visual servoing experiment using a 3D flexible-link manipulator
Xin Jiang, Atsushi Konno, Masaru Uchiyama
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 1224, +, IEEE, 2006
English, International conference proceedings, This paper discusses an approach to apply visual servoing to a 3D flexible-link manipulator. The proposed approach is composed of an end-effector position control based on eye-in-hand visual servoing and a vibration suppression control. In order to decouple the end-effector position control and the vibration control, the end-effector position control is applied in a low frequency domain, while the vibration control is applied in a high frequency domain. To decouple the frequency domain, a high-pass filter and a low-pass filter are used. Stability of the whole system is analyzed by investigating the pole of the system. Using the proposed approach, the 3D flexible-link manipulator succeeds to insert a peg into a hole whose clearance is 0.5mm. However, it is difficult for the flexible-link manipulator to insert the peg into a hole whose clearance is 0.1mm, if there is no force control. Therefore, an impedance control is also tested together with the end-effector position control and the vibration control. Using the modified approach, the flexible-link manipulator succeeds to insert the peg into the hole whose clearance is 0.1mm.

Development of a high speed vision system for mobile robots
Atsushi Konno, Ryo Uchikura, Toshiyuki Ishihara, Teppei Tsujita, Takeaki Sugimura, Jun Deguchi, Mitsumasa Koyanagi, Masaru Uchiyama
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 1372, 1377, IEEE, 2006
English, International conference proceedings, In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed vision system is developed. The vision system is composed of a binocular camera head and high speed image sensors. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional integration technology. The prototype of the neuromorphic vision chip has three layers: (1) photoreceptor layer, (2) horizontal and bipolar cell layer, and (3) ganglion cell layer. An image sensor is separately developed, which corresponds to the photoreceptor layer of the layered vision chip. The image sensors are tentatively mounted on the camera head, since the resolution of the prototype of the layered vision chip is not sufficient at this stage. The camera head has an azimuth DOF for each eye and a common elevation DOF. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. The total performance of the vision system is examined in this work. Saccadic eye movement and frequency response are experimentally reviewed.

Human-like approach to footstep planning among obstacles for humanoid robots
Yasar Ayaz, Khalid Munawar, M. Bilal Malik, Atsushi Konno, Masaru Uchiyama
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 5490, +, IEEE, 2006
English, International conference proceedings, Unlike wheeled robots, humanoid robots are able to overcome obstacles in the environment by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, globalized algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming. In this paper we present a new approach to footstep planning in obstacle cluttered environments that employs a human-like strategy to terrain traversal. Simulation results of its implementation on a model of Saika-3 humanoid robot are also presented. The algorithm, being one of reactive nature, refutes previous claims that reactive algorithms fail to find successful paths in complex obstacle cluttered environments.

A humanoid robot that breaks wooden boards applying impulsive force
Takaaki Matsumoto, Atsushi Konno, Linlin Gou, Masaru Uchiyama
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 5919, +, IEEE, 2006
English, International conference proceedings, When a human needs to generate a large force, the human will try to apply an impulsive force cooperating whole body. However, exerting impulsive force is one of the most difficult tasks for humanoid robots, because a reaction force caused by the applied impulsive force may bring the humanoid robot down. This paper discusses a humanoid robot motion to generate a large force utilizing an impact. Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is carefully designed to maximize the speed of a hand keeping the stability. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. In the experiments, three kinds of wooden boards are tested to break by the Karate-chop. The strength of wooden boards is estimated striking the boards with a free-falling plummet. Stabilizing control is also applied to the robot in order to stabilize the body after the impact. The experimentation results are reported in the paper.

U-Tsu-Shi-O-Mi: The virtual humanoid you can reach
Michihiko Shoji, Kanako Miura, Atsushi Konno
ACM SIGGRAPH 2006: Emerging Technologies, 2006, [Peer-reviewed]
English, International conference proceedings

Robot Vision System with Three-Dimensionally Integrated Reconfigurable Image Processor Chip
SUGIMURA TAKEAKI, DEGUCHI JUN, KONISHI YUTA, NAKATANI YOSHIHIRO, FUKUSHIMA TAKAFUMI, KONNO ATSUSHI, KURINO HIROYUKI, UCHIYAMA MASARU, KOYANAGI MITSUMASA
電子情報通信学会技術研究報告, 105, 43(RECONF2005 15-29), 79-84, 84, The Institute of Electronics, Information and Communication Engineers, 06 May 2005
Japanese

Development of a High Speed Dynamics Simulator for Humanoid Robots
HWANG Yoonkwon, KONNO Atsushi, OGASAWARA Katsuhisa, INOHIRA Eiichi, UCHIYAMA Masaru
JRSJ, 23, 1, 113, 123, The Robotics Society of Japan, 2005
Japanese, This paper describes the development of a high speed dynamic simulator for humanoid robots. In the simulator, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the bodies and environments, a virtual spring-damper contact model is proposed. This model enables an accurate computation of the reaction forces and slips. A simulation of ascending steep stairs is carried out in order to demonstrate the validity of the simulation. The results of the simulation are presented and discussed.

Design and development of a high speed binocular camera head
T Tsujita, A Konno, M Uchiyama
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 785, 792, IEEE, 2005
English, International conference proceedings, In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed binocular camera head is developed. The aim of the binocular camera head is to provide a platform to reproduce the human brain information processing. Two neuromorphic vision chips with lenses, which are developed imitating human retinas, will be mounted on the camera head. The camera head has an azimuth DOF for each camera and a common elevation DOF, thus there are three DOF in total. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. Consequently, all motors are mounted on the base. The characteristics of the camera head are quickness, lightweight and simple mechanism. This paper presents the design, development and evaluation of the camera head. The inverse and forward kinematics are also discussed in this paper.

A plantar H-slit force sensor for humanoid robots to detect the reaction forces
A Konno, Y Tanida, K Abe, M Uchiyama
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 1470, 1475, IEEE, 2005
English, International conference proceedings, This paper addresses a plantar H-slit force sensor for humanoid robots to detect the reaction force. The zero moment point (ZMP) is calculated from the detected reaction force balance. The H-slit force sensors are structuralized on a plantar frame. Since a H-slit beam unidirectionally deforms, only the normal force from the ground is selectively detected without being affected from the friction force between the sole and ground. The plantar H-slit force sensors are developed for a humanoid robot. A model is proposed to simulate the sensor output. The simulated outputs are compared with results of the finite element analysis (FEA) and the experimentation results.

Working postures for humanoid robots to generate large manipulation force
A Konno, Y Hwang, S Tamada, M Uchiyama
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 1788, 1793, IEEE, 2005
English, International conference proceedings, When a human needs to apply a large force to an environment, the human will take an appropriate posture to produce a large manipulation force. This paper discusses appropriate working postures for a humanoid robot to apply a force effectively to an environment. An objective function is defined and the Sequential Quadratic Programming (SQP) is used to find a solution. The pushing a wall and turning a valve are taken as examples of tasks for a humanoid robot, and simulations and experimentations are performed. The results show that the consideration of working postures clearly contribute to make the manipulation force larger.

A Humanoid Robot to Perform Tasks in Which Impact Dynamics is Utilized
M. Uchiyama, A. Konno, D. Sato, T. Matsumoto, Y. Ishida, T. Ishihara
Proceedings of 36th International Symposium on Robotics, TH1C1-TH1C1, 2005

Robot Vision System with Parallel Reconfigurable Image Processor
SUGIMURA TAKEAKI, DEGUCHI JUN, KONISHI YUTA, NAKATANI YOSHIHIRO, FUKUSHIMA TAKAFUMI, KONNO ATSUSHI, KURINO HIROYUKI, UCHIYAMA MASARU, KOYANAGI MITSUMASA
電子情報通信学会技術研究報告, 104, 521(ICD2004 183-192), 49-54, 09 Dec. 2004
Japanese

Design and Dynamic Simulation of a Novel 4-DOF Parallel Robot H4
CHOI H-B, COMPANY O, PIERROT F, KONNO ATSUSHI, SHIBUKAWA TETSURO, ABE KOYU, SATO DAISUKE, UCHIYAMA MASARU
日本機械学会論文集 C, 70, 691, 798, 803, The Japan Society of Mechanical Engineers, 25 Mar. 2004
Japanese, This paper deals with the design and dynamic control simulation of a new type of 4-DOF parallel mechanism providing 3 translations and 1 rotation for high-speed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS^. The Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the proposed dynamic control dramatically improves the trajectory tracking accuracy.

An approach toward an automated object retrieval operation with a two-arm flexible manipulator
T Miyabe, A Konno, M Uchiyama, M Yamano
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 23, 3, 275, 291, SAGE PUBLICATIONS LTD, Mar. 2004, [Peer-reviewed]
English, Scientific journal, The recent developments in space technology demand various services to uncontrollable satellites, such as refueling and repairing, in order to extend their lifespans. However there has so far been no research on such practical applications with flexible manipulators. In this paper, we address automated object capture with a two-arm flexible manipulator which is a basic technology for such services in space. This object capturing strategy includes symmetric cooperative control, visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator For the performance improvement oil the rise time of the internal forces at the instant of making contact, a transition control strategy is also proposed considering the resultant mechanical compliance associated with the internal forces. Moreover we present the control system configuration for this task. This control system is based on IBM-compatible personal computers (PCs), and the computational loads for the task execution are distributed to several PCs connected to each other through the Ethernet. The effectiveness of the proposed control system and task sequence is validated with the experiments.

The ROBIAN biped project: Design and experiments
R Sellaouti, A Konno, FB Ouezdou
ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS, 1577, 1581, CHINA MACHINE PRESS, 2004
English, International conference proceedings, In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN and the first experiments are presented. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.

Cooperative control of a 3D dual-flexible-arm robot
M Yamano, JS Kim, A Konno, M Uchiyama
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 39, 1, 1, 15, SPRINGER, Jan. 2004
English, Scientific journal, This paper discusses cooperative control of a dual-flexible-arm robot to handle a rigid object in three-dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. To derive the control scheme, kinematics and dynamics of the robot when it forms a closed kinematic chain is discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-rigid-arm robots. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible robots and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the robot, each arm of which has two flexible links, seven joints and a force/torque sensor. The results illustrate that the robot handled the rigid object damping links' vibration successfully in three-dimensional space.

FEM Analysis of a Directional Deflection Sensor Beam Structure for Small Force/Torque Measurement　　　　　　　　　　　　　　　
Koyu ABE, Yusuke TANIDA, Atsushi KONNO, Masaru UCHIYAMA
Proceedings of the International Conference on Precision Engineering, 628, 634, 2004

Design and Development of a Light-weight Biped Humanoid Robot Saika-4
Satoru Shirata, Atsushi Konno, Masaru Uchiyama
Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 148, 153, 2004, [Peer-reviewed]
English, International conference proceedings

Inverse Dynamic Analysis of a 4-DOF Parallel Robot H4
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3501, 3506, 2004, [Peer-reviewed]
English, International conference proceedings

ROBIAN Biped Robot : Design and Experiments　　　　　　　　　　　　　　　
F.B. Ouezdou, R. Sellaouti, A. Konno, B. Mohamed, V. Scesa, P. Henaff, C. Zaoui, O. Bruneau
Proceedings of HLR Workshop on Humanoid and Legged Robots, 2004
English, International conference proceedings

Real-time Control Software Equipped with Dynamic Reconfigurability for Its Sequential Process
INOHIRA Eiichi, KONNO Atsushi, UCHIYAMA Masaru
JRSJ, 22, 8, 1021, 1030, The Robotics Society of Japan, 2004
Japanese, Dividing a software component into simpler ones is an effective way to improve the manageability and reusability. However, in the case of conventional dynamically reconfigurable software architecture, the software becomes difficult to manage by dividing the components. The reason is that dividing the software components needlessly increases the number of the concurrent processes in such architecture because the software components correspond to the concurrent processes. Thus, the software components should be independent of the concurrent processes. In this paper, we present a software architecture equipped with the dynamic reconfigurability for the sequential process within a concurrent process. A multi-agent model lies at the base of the presented architecture. In our architecture, an agent, which is concurrent process, can consist of the voluntary number of the software components. And, we can modify the configuration of an agent, that is, the combination of the software components at runtime. We also describe the implementation of the real-time control software by applying the presented architecture.

An order n dynamic simulator for a humanoid robot with a virtual spring-damper contact model
Y Hwang, E Inohira, A Konno, M Uchiyama
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 31, 36, IEEE, 2003
English, International conference proceedings, This paper describes an efficient dynamic simulation of a humanoid robot. In the simulation, an order n formulation is used to solve the inverse dynamics and forward dynamics of a multi-body system. The formulation can deal with a tree structure and multiple contacts with the environment. In order to simulate a collision with friction between the foot and a floor, a virtual spring-damper contact model is proposed. By introducing this model, computation of contact becomes easier and faster compared with other method such as plastic contact. A simulation of ascending steep stairs is carried out in order to demonstrate the validity of the simulation. The results of the simulation are presented and discussed.

Design and control of a novel 4-DOFs parallel robot H4
HB Choi, O Company, F Pierrot, A Konno, T Shibukawa, M Uchiyama
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 1185, 1190, IEEE, 2003
English, International conference proceedings, This paper deals with the design and dynamic control simulation of a new type of 4-DOFs parallel mechanism providing 3 translations and 1 rotation for highspeed handling and machining. This parallel mechanism is named as H4. A model-based dynamic control scheme is developed to improve the accuracy of the trajectory tracking. A simplified dynamic model is used for the H4 robot to decrease the cost of computation. A dynamic simulation is performed using ADAMS(TM). In addition, the Adept motion is used as a benchmark test to evaluate the effect of the dynamic control. The simulation results show that the dynamic control dramatically improves the trajectory tracking accuracy.

Automated object apturing with a two-arm flexible manipulator
T Miyabe, A Konno, M Uchiyama
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 2529, 2534, IEEE, 2003
English, International conference proceedings, The recent developments in the space technology demand various services to the exhausted or damaged satellites such as refueling and repairing in order to extend their life spans. In this paper, an automated object capturing with a two-arm flexible manipulator is addressed, which is a basic technology for such services. This object capturing includes the symmetric cooperative control, the visual servoing, the resolution of the inverse kinematics problem and the optimization of the configuration of a two-arm redundant flexible manipulator. There have been no researches on such a practical application with the flexible manipulators so far. The effectiveness of this capturing sequence is validated with the experiment.

Layered multi agent architecture with dynamic reconfigurability
E Inohira, A Konno, M Uchiyama
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, 4060, 4065, IEEE, 2003
English, International conference proceedings, This paper presents the software system architecture with the dynamic reconfigurability for highly autonomous systems. The proposed architecture is based on multi-agent model, which is suitable for autonomous, open and distributed systems. Since an agent is too sophisticated as the minimal component that we handle, we define a unit as a simple component of an agent. We present the advanced capability to dynamically reconfigure autonomous systems because their goals and environments vary frequently. We determine the specification of units and agents in order to analyze the behavior of overall system and to implement the dynamic reconfiguration as easy and simple as possible. In this paper, we also discuss the method to guarantee the system behavior during the dynamic reconfiguration in order to operate the robotic system without a hitch at any time, especially while reconfiguring.

SINGULARITY ANALYSIS OF A NOVEL 4-DOFS PARALLEL ROBOT H4 BY USING SCREW THEORY　　　　　　　　　　　　　　　
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
Proceedings of DETC’03, ASME 2003 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 1, 9, 2003

An adaptive gait for quadruped robots to walk on a slope
A Konno, K Ogasawara, Y Hwang, E Inohira, M Uchiyama
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 589, 594, IEEE, 2003
English, International conference proceedings, This paper proposes an adaptive intermittent crawl gait for quadruped robots to walk on a slope. In the proposed method, the inclination of a floor is estimated in real time by the displacement of the projection of the center of gravity from the nominal position. Depending upon the estimated inclination, the gait is changed in order to gain the longitudinal stability margin. Experiments and dynamic simulations are performed to validate the proposed method. The results are presented and discussed.

A directional deflection sensor beam for very small force/torque measurement
K Abe, Y Tanida, A Konno, M Uchiyama
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 1056, 1061, IEEE, 2003
English, International conference proceedings, We proposed an H-slit type parallel beam which can be effectively utilized to achieve a highly unidirectional deformable structure for force/torque sensors. The structure is an extension of the parallel beam structure. And hence, the proposed design structure will result in 4-bar link closed mechanism the joints of which are deformable, so the strain gauges are fixed at these positions. This is the basic idea and unique feature of our proposed design. The H-slit beam can be used to measure very small generated forces. In this paper, we present above characteristics of the both beam structures with Finite Element Method (FEM) analysis, and outline of a small force/torque sensor using H-slit beams. Moreover reported in this article is over load protection mechanism which exhibits beam's effectiveness and its ability to withstand over load conditions without much deformations. This is due to the protection provided in the cross section of the beam.

Whole body cooperative tasks and static stability evaluations for a humanoid robot
Y Hwang, A Konno, M Uchiyama
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 1901, 1906, IEEE, 2003
English, International conference proceedings, Human beings utilize a whole body motion such as weight shift to generate a large force while doing heavy works. Momentum is harnessed to increase an action force to the object. This paper discusses whole body cooperative motions of a humanoid robot for heavy works and the static stability during the motion. Pushing a wall and twisting a valve are taken as examples of heavy works in this study. Several whole body motion patterns are examined using a dynamic simulator which efficiently solves dynamic equations of serial rigid body system using an O(n) algorithm. Static stability is evaluated through simulation results that include external force, joint torques, position of the center of gravity and ZMP, etc.

Closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4
HB Choi, A Konno, M Uchiyama
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 3312, 3317, IEEE, 2003
English, International conference proceedings, This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3- and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation. Indeed, there are just few effort have been devoted in the past to 4-DOFs parallel robot. Therefore, we focus on the forward kinematics of a 4-DOFs parallel robot H4. Solutions of the forward kinematic yields a 16(th) degree polynomial in a single variable which indicates that there may be up to 16 different configurations for the travelling plate for a given set of motor's angle. The results are presented via a numerical example.

A singularly perturbed method for pole assignment control of a flexible manipulator
A Konno, DM Liu, M Uchiyama
ROBOTICA, 20, 6, 637, 651, CAMBRIDGE UNIV PRESS, Nov. 2002
English, Scientific journal, This paper focuses on using a singularly perturbed approach to derive a vibration damping control law in which a pole assignment feedback method is utilized. The composite control system is characterized by two components which can be computed separately. The one is Cartesian-based PI control which drives the end-effector of a flexible manipulator to track the desired time-based trajectory. The other is pole assignment feedback control which damps out vibrations during and at the end of trajectory tracking. An advantage of this composite control method in real implementation is that it does not require a derivative of the end-effector's position, and the derivatives of signals from the strain gauges. From the characteristics and implementation points of view, it appears to be simple to use. Laboratory experiments were conducted to evaluate the performance of the proposed control method.

Realization of a Quick and Stable Capturing Task with a Two-Arm Flexible Manipulator.
MIYABE TOMOHIRO, YAMANO MITSUHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本機械学会論文集 C, 68, 672, 2374, 2379, The Japan Society of Mechanical Engineers, 25 Aug. 2002
Japanese, This paper discusses an object capturing task with a two-arm flexible manipulator. To realize a stable capture with no slips at the end-effectors on the object surface, the internal force being developed in the object needs to rise quickly. For this purpose, the relationship between the end-effectors' approach velocities to the object and the internal force during the capture is analyzed with a simple mass-damper-spring model for the two-arm manipulator and the object system. Furthermore, a method for changing the control modes is proposed considering the resultant mechanical compliances at the tips of the arms so that the rise time of the internal force is reduced. The effectiveness of this method is verified with experiments.

ROBIAN hip joint: Analysis, design and simulation
R Sellaouti, A Konno, F Ben Ouezdou
ROMANSY 14 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS, 438, 387, 396, SPRINGER-VERLAG WIEN, 2002
English, International conference proceedings, This paper presents a novel 3-DOFs parallel-actuated mechanism for the hip joint of the biped robot named ROBIAN This mechanism allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations are conducted to validate a kinematic model and to find a set of optimal parameters for the actual design. An experimental prototype and the ROBIAN hip are also shown in this paper.

Design and development of the quadrupedal research platform JROB-2
A Konno, N Kato, Y Mitsuya, M Uchiyama
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 1056, 1061, IEEE, 2002
English, International conference proceedings, In order to meet the demand for a research platform of intelligent robotics, a quadrupedal research platform JROB-2 has been developed. This paper presents the design and development of the quadrupedal walking robot JROB-2. The JROB-2 consists of five parts: quadrupedal walking mechanism, an embedded PC, servo amplifiers, power supplies, and a high speed stereo camera head. The stereo camera head can track the sinusoidal joint trajectory of the 15 [] amplitude and about 30 [Hz] frequency. The performance of the developed camera head is high enough to imitate the human eye movement such as saccade and pursuit. Almost all components of the JROB-2 are commercially available, and thus, its development cost is reduced and its maintenance becomes much easier. It is expected that the JROB-2 will serve as a good research platform for the studies of robotics and artificial intelligence.

Design of a 3 DOFs parallel actuated mechanism for a biped hip joint
R Sellaouti, A Konno, FB Ouezdou
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 1161, 1166, IEEE, 2002
English, International conference proceedings, This paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots. Instead of common serial mechanism, a more robust parallel mechanism was developed. This kind of structure allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations were conduced to validate the kinematic model and optimize the design. Experimental prototype was developed to perform realistic tests on the control of this kind of mechanism.

Design and development of the biped prototype ROBIAN
A Konno, R Sellaouti, FB Arnar, FB Ouezdou
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 1384, 1389, IEEE, 2002
English, International conference proceedings, In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN is,discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.

ROBIAN biped project - a tool for the analysis of the human-being locomotion system
FB Ouezdou, A Konno, R Sellaouti, F Gravez, B Mohamed, O Bruneau
CLIMBING AND WALKING ROBOTS, 375, 382, PROFESSIONAL ENGINEERING PUBLISHING LTD, 2002
English, International conference proceedings, In order to study the human being locomotion system, a multi-degrees of freedom (DOFs) biped prototype equipped with flexible feet, which is named as ROBIAN, is developed. In this paper, the conceptual design of the biped prototype ROBIAN is discussed. The features of the ROBIAN are: (a) parallel mechanism at the hip and the ankle, (b) modular design and (c) 1-DOF active/passive joint between the heel and the toe. The ROBIAN will have 18-DOFs in total: 6-DOFs for each leg, 1-DOF passive or active joint for each foot and 4-DOFs for the upper limb. One of the major application of the ROBIAN will be the efficient development of a real testbed of active/passive prosthesis for the disabled.

Cooperative control of a two-arm flexible manipulator with redundancy
T Miyabe, A Konno, M Uchiyama
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, 2708, 2713, IEEE, 2002
English, International conference proceedings, This paper discusses a cooperative control of a two-arm spatial flexible manipulator with redundancy. Two different approaches are discussed to solve the kinematics of this manipulator. Moreover, several performance criteria are also discussed for this system in order to get the optimal kinematics solution. Some of the criteria discussed are peculiar to the cooperation of the two-arm spatial flexible manipulators, and they have not been discussed so far. Finally, the criteria and kinematics solutions are evaluated with the experimental implementations.

Man-machine interface using steering wheel and pedals for a quadruped walking robot
A Konno, Y Mitsuya, N Kato, M Uchiyama
2001 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS PROCEEDINGS, VOLS I AND II, 57, 62, IEEE, 2001
English, International conference proceedings, For an easier and natural teleoperation of the quadruped walking robots, a user interface is developed with a Steering wheel and an assembly of pedals. In order to change the speed and the direction of the quadruped walking robots according to the operation of the steering wheel and the pedals, an on-line gait transition method is developed. Using this human-machine interface and on-line gait transition, the operator can control the quadruped walking robots almost in the same way as a driver drives a car. A quadruped walking robot named JROB-2 is used in the experiments. As the steering wheel is also equipped with various control buttons, it is possible to assign various single command tasks like "stand up" and "sit down" etc., to these buttons and hence control the robot for these tasks without even touching the keyboard or mouse. This paper presents the details of this interface.

An approach toward a robust object recovery with flexible manipulators
T Miyabe, M Yamano, A Konno, M Uchiyama
IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 907, 912, IEEE, 2001
English, International conference proceedings, This paper discusses an object's recovery with flexible manipulators. To realize a stable capture with no slips at the end-effectors on the object's surface, it is necessary to reduce the rise time of the internal forces. The relationship between the approach velocity and the internal forces being developed in the object during the capturing task is analyzed. Moreover, an approach to switch between the control modes is also proposed considering the resultant mechanical compliance at the tips of the arms, so that the internal forces rise rapidly. Finally, the experimental implementations illustrate the effectiveness of this approach.

Preliminary experiments in motion programming of humanoid robot by human demonstrations
A Konno, T Yoshiike, K Nagashima, M Inaba, H Inoue
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 43, 2, 401, 407, JAPAN SOC MECHANICAL ENGINEERS, Jun. 2000
English, Scientific journal, This paper presents preliminary experiments on automatic programming of motions of a humanoid robot by human demonstrations. Aiming to develop the "teaching by human demonstrations" system, three preliminary experiments are performed: (a) on-line recognition of human postures, (b) on-line imitation of human postures, and (c) recognition of the pick and place task and generation of a motion of a robot arm to play it back. The humanoid robot having its head with stereo camera arrangement, a 2-DOF neck and dual 7-DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstrations.

Development of a humanoid H4 with soft and distributed tactile sensor skin
S Kagami, A Konno, R Kageyama, M Inaba, H Inoue
EXPERIMENTAL ROBOTICS VI, 250, 499, 507, SPRINGER-VERLAG LONDON LTD, 2000
English, Scientific journal, A wheel type humanoid robot "H4" is developed as a platform for the research on vision-tactile-action coupling in intelligent behavior of robots. The H4 has the features as follows : 1) upper-body consists of 19DOF (3DOF waist, 6DOF arm, 4DOF head), light weight and enough space to attach skin, 2) multi-value tactile switch and matrix gel tactile sensor, two types soft and distributed sensor skin covers upperbody, 3) each tactile sensor module has microprocessor module which is connected via I-2 C serial bus and make sensor network, 4) PC/AT compatible onboard computer which is controlled by RT-linux and connected to a network via radio ethernet, 5) 3D vision facility and 6) self-contained. This paper describe the design, implementation and experiment of H4, which is expected to be a common test-bed in experiment and discussion for tactile based aspects of intelligent robotics.

Experiments on Capturing a Floating Object by Two Flexible Manipulators
Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, USA, 482, 487, 2000

Cooperative Control Experiments of a 3D Dual-Arm Flexible Manipulator
Mitsuhiro Yamano, Jin-Soo Kim, Atsushi Konno, Masaru Uchiyama
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 66, 649, 3063, 3068, 2000
English, Scientific journal, This paper discusses cooperative control of a dual-arm flexible manipulator to handle a rigid object in three dimensional space. The proposed control scheme integrates hybrid position/force control and vibration suppression control. In order to derive the control scheme, kinematics and dynamics of the manipulator when it forms a closed kinematic chain are discussed. Kinematics is described using workspace force, velocity and position vectors, and hybrid position/force control is extended from that on dual-arm rigid manipulators. Dynamics is derived from constraint conditions and the lumped-mass-spring model of the flexible manipulator and an object. The vibration suppression control is calculated from the deflections of the flexible links and the dynamics. Experiments on cooperative control are performed. The absolute positions/orientations and internal forces/moments are controlled using the manipulator, each arm of which have two flexible links, seven joints and a force/torque sensor. The results illustrate that the manipulator handles the rigid object damping links’ vibration successfully in three dimensional space. © 2000, The Japan Society of Mechanical Engineers. All rights reserved.

Development of a light-weight biped humanoid robot
A Konno, N Kato, S Shirata, T Furuta
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 1565, 1570, IEEE, 2000
English, International conference proceedings, In order to meet the demand of a research platform for intelligent robotics, a humanoid robot named Saika-3 is developed. It is a self-sustaining biped robot with. a dual arm and a robotic head. rt is equipped with a PC (IBM PC/AT clone), batteries, a wireless ethernet modem, a gyroscope and motor drivers inside its body. Saika-3 can be teleoperated via wireless ethernet communication. A graphic dynamic simulator is also developed to study control strategy. This paper presents an outline of the hardware of Saika-3 and a simulation result.

Capturing a spinning object by two flexible manipulators
M Yamano, A Konno, M Uchiyama, T Miyabe
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, 2036, 2041, IEEE, 2000
English, International conference proceedings, This paper discusses a way of capturing a spinning object using two flexible manipulators. We propose a capturing procedure using hybrid position/force control and vibration suppression control. The procedure is established so that the manipulators capture the object automatically measuring position and rotational velocity of the object. The motion of the two hands of the manipulators are synchronized with the rotation of the object. The hands make contact with the spinning object safely, considering link flexibility, and then brake the spin smoothly. The effectiveness of our method is shown in experiments using two 3D manipulators, each of which has two flexible links and seven joints.

Panoramic-Environmental Description as Robots' Visual Short-Term Memory
kentaro KAYAMA, Koichi NAGASHIMA, Atsushi KONNO, Masayuki INABA, Hirochika INOUE
Transactions of the Japan Society of Mechanical Engineers, Series C, 65, 632, 1524, 1529, The Japan Society of Mechanical Engineers, 1999
Japanese, In this paper, we propose an environmental description for robots to memorize temporality and spatiality of wide-range environment. The description is region-based and the environment is described as a mosaic of regions. The description consists of three components: Panoramic Labelled Image that is a segmented color panoramic innage, Region Database that has spatial and temporal information about each region, and Regions Relation Network that describes adjacency state between regions. The description is constantly updated in the background of other visual processing. The description enables robots to detect changes in the environment, to grasp their characteristics, and to memorize them. The description corresponds to human visual short-term memory which is called working memory or visuospatial sketch pad in cognitive psychology. Moreover, we implement the environmental description on the humanoid robot Saika and show how it expands the robot's behavior.

Preliminary Experiments on Programing of a Humanoid's Motions by Human Demonstration
Takahide YOSHIIKE, Atsushi KONNO, Koichi NAGASHIMA, Masayuki INABA, Hirochika INOUE
Transactions of the Japan Society of Mechanical Engineers, Series C, 65, 632, 1565, 1570, The Japan Society of Mechanical Engineers, 1999
Japanese, This paper presents preliminary experiments on automatic programing of a humanoid's motions by human demonstration. Aiming to develop the "teaching by human demonstration" system, three preliminary experiments are performed : (a) on-line recognition of human posture, (b) on-line mimicking of human posture, and ( c ) recognition of the pick and place task and generation of the robot's arm trajectories to play it back. The humanoid robot having its head with stereo camera arrangement, two DOF neck and dual seven DOF arms, is used in these experiments. The experimental results prove the potential of an easy and natural teaching by human demonstration.

Flexible Manipulator Trajectory Learning Control with Input Preshaping Method　　　　　　　　　　　　　　　
Liu Deman, Atsushi Konno, Masaru Uchiyama
Proceeding of the 38th SICE Annual Conference, International Session Papers, Morioka, Japan, 967, 972, 1999

Vibration Suppression Control of Two Cooperative Flexible Manipulators Working in 3D Space　　　　　　　　　　　　　　　
Mitsuhiro Yamano, Atsushi Konno, Masaru Uchiyama
Proceedings of the Ninth International Conference on Advanced Robotics ('99 ICAR), Tokyo, Japan, 385, 390, 1999

Development of an Anthropomorphic Multi-Fingered Hand and Experiments on Grasping Unknown Objects by Groping
Atsushi Konno, Mitsunori Tada, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 65, 638, 4070, 4075, 1999
English, Scientific journal, This paper addresses the development of a three fingered anthropomorphic hand and discusses a strategy for grasping unknown objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has a thumb, an index finger and a middle finger with a total of nine degrees of freedom. The location of thumb is designed considering the opposability seen in a human hand. Eighty seven touch sensors are distributed over the palm and fingers of this hand. In the latter part of this paper, a strategy for grasping unknown objects by groping, using the devoloped hand, is discussed. Groping is a kind of “active sensing”. When the system does not have any models available for the objects to be grasped, active sensing becomes inevitable. The aim of the groping is to find a grasping configuration for the unknown objects. A ball, a can, a cone, a rectangular cube, and cube arc chosen as the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of the objects nor any complicated computations, and therefore, is useful especially for tasks in the real world. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.

Design and development of a legged robot research platform JROB-1
S Kagami, M Kabasawa, K Okada, T Matsuki, Y Matsumoto, A Konno, M Inaba, H Inoue
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 146, 151, IEEE, 1998
English, International conference proceedings, A legged robot "JROB-1" is developed for a robotics research platform as a result of inter-university research program on Intelligent Robotics supported by the Ministry of Education Grant-in-Aid for Scientific Research on Priority Areas in Japan. The JROB-1 has the features as follows : 1) self-contained, 2) RT-Linux running on PC/AT processes vision&sensor processing, motion planning and control, 3) connected to a network: via radio ethernet as to utilize network:ed resources, 4) Fujitsu color trading vision board and Hitachi general purpose vision processing board are attached, 5) all parts are commercially available, 6) it is ea;tensible with respect to sensor, sensor processing hardware and software. JROB-1 is expected to be a common test-bed for experiment and discussion, to do intelligent robotics research by integrating perception and motion.

Panoramic-environmental description as robots' visual short-term memory
K Kayama, K Nagashima, A Konno, M Inaba, H Inoue
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 3253, 3258, IEEE, 1998
English, International conference proceedings, In this paper, we propose an environmental description for robots to memorizes temporality and spatiality of guide-range environment. The description is region-based and the environment is described as a mosaic of regions. The description consists of three components: Panoramic Labelled Image that is a segmented color panoramic image, Region Database that has spatial and temporal information, about each region, and Regions Relation Network that describes adjacency state between regions. The description is constantly updated in the back ground of other visual processing. The description enables robots to detect changes in, the environment, to grasp their characteristics, and to memorize them. Moreover, we implement the environmental description on the humanoid robot Saika and show how it expands the robot's behavior.

Research Platform of Perception-Action Integration in Legged Robot: JROB-1
Satoshi Kagami, Mitsutaka Kabasawa, Kei Okada, Yoshio Matsumoto, Atsushi Konno, Masayuki Inaba, Hirochika Inoue
Journal of the Robotics Society of Japan, 16, 5, 623, 628, The Robotics Society of Japan, 1998
Japanese, A legged robot "JROB-1" is developed as a platform for the research on perception-action coupling in intelligent behaviour of robots. The JROB-1 has the features as follows: 1) robot base is TITAN-VIII, 2) PC/AT compatible on-board computer which is controlled by RT-linux, 3) self-contained and connected to a network via radio ethernet, 4) many commercial boards (including color tracking vision board) are available, 5) extensibility with respect to hardware and software, and 6) every parts is commercially available. JROB-1 is one of the accomplishment of Grant-in-Aid for Scientific Research on Priority Areas by Ministry of Education, and is expected to be a common test-bed in experiment and discussion for various aspects of intelligent robotics.

On-line Recognition and Mimicking of Human Posture　　　　　　　　　　　　　　　
Takahide Yoshiike, Atsushi Konno, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
Proceedings of the 3rd International Conference on Advanced Mechatoronics, 430, 435, 1998

A vision-based legged robot as a research platform
S Kagami, K Okada, M Kabasawa, Y Matsumoto, A Konno, M Inaba, H Inoue
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, 235, 240, IEEE, 1998
English, International conference proceedings, View changing because of vibration while walking is one of the most fundamental problem for a vision based legged robot. To overcome this difficulty, three key issues are denoted : a) integration of color segmentation, optical flow and stereo, which is able to apply to vibrating view using correlation hardware, b) software servo loop implemented as a kernel module for the purpose of soft actuation, and c) smooth walking pattern generation using solid model and dynamics simulator. Furthermore, a quadruped legged robot "JROB-1" is developed as a platform for the research on perception-action coupling in intelligent behavior of robots.

Dexterous manipulations of humanoid robot Saika
A Konno, K Nishiwaki, R Furukawa, M Tada, K Nagashima, M Inaba, H Inoue
EXPERIMENTAL ROBOTICS V, 232, 79, 90, SPRINGER-VERLAG LONDON LTD, 1998, [Peer-reviewed]
English, Scientific journal, This article addresses the development of a humanoid robot named Saika and skillful manipulations performed by Saika. The developed humanoid robot Saika has a two-DOF neck, dual five-DOF upper arms, a torso and a head which consists of two eyes and two ears. Saika has human-size dimension and weighs eight kilograms. This article also presents three kinds of manipulations performed by Saika: (1) hitting a bounding ball, (2) grasping unknown objects by groping and (3) catching a thrown ball. Those tasks are chosen to study behavior-based movement control and intelligence.

Vibration suppression control of 3D flexible robots using velocity inputs
S Lopez-Linares, A Konno, M Uchiyama
JOURNAL OF ROBOTIC SYSTEMS, 14, 12, 823, 837, JOHN WILEY & SONS INC, Dec. 1997
English, Scientific journal, Research on vibration suppression control of flexible robots has concentrated mainly on the one-link and two-link planar manipulators. Most of the techniques that have been presented cannot be easily extended to the case of a general 3D flexible robot. Ln this article we present a general control scheme based on hardware velocity servo cards. The velocity commands to move the robot are calculated by adding a vibration suppression term to the joint position feedback employed in ''rigid'' robots. Two different methods are proposed to calculate this term, one based on optimum quadratic control and the other based on pseudo-inverse nonlinear decoupling. These techniques are studied numerically in the case of a real two-link three-joint flexible robot, by computing the values of the closed-loop poles at different configurations. Experiments on position stabilization of the robot prove the validity of our methods. (C) 1997 John Wiley & Sons, Inc.

Configuration-dependent vibration controllability of flexible-link manipulators
A Konno, M Uchiyama, Y Kito, M Murakami
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 16, 4, 567, 576, SAGE PUBLICATIONS LTD, Aug. 1997, [Peer-reviewed]
English, Scientific journal, In this article, the structural vibration controllability of flexible-link manipulators is discussed For some spatial flexible-link manipulators, the structural vibration controllability is configuration-dependent. Therefore, the flexible-link manipulator may have some vibration-uncontrollable configurations. To understand the physical interpretation of vibration-uncontrollable configurations, we propose the modal accessibility concept, which indicates how well the actuators can affect the structural vibration modes. The configuration in which all of the actuators cannot affect at least one of the manipulator's vibration modes is vibration uncontrollable. Main contributions of this article are the following two points: first, interesting structural vibration-uncontrollable configurations are found within the two-link three-joint-type manipulator's workspace and are verified experimentally; second, the modal accessibility index is introduced to indicate how well the corresponding vibration mode is controllable. Experimental results show that even in the controllable configurations, it becomes difficult to suppress vibration if the modal accessibility is small.

Vibration controllability of 3D flexible manipulators
S LopezLinares, A Konno, M Uchiyama
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 119, 2, 326, 330, ASME-AMER SOC MECHANICAL ENG, Jun. 1997
English, Scientific journal, Structural vibrations of flexible robots are not always fully controllable in all the workspace. la some cases, there exist configurations where the actuators cannot affect some of the vibration modes, and thus cannot control their vibrations. This problem has been neglected in the case of the one link and two-link planar manipulators; however, it must be dealt with in depth when trying to control a 3D flexible robot, This paper discusses the vibration controllability of flexible manipulators. Vibration uncontrollable configurations are estimated both by the minimum singular values of the controllability matrix nod the closed-loop behavior. A 2-link 3-joint prototype flexible manipulator is used for a case study, and the uncontrollable configurations Of the manipulator are found.

Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system
DN Nenchev, K Yoshida, P Vichitkulsawat, A Konno, M Uchiyama
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 2528, 2534, I E E E, 1997
English, International conference proceedings, The control of a dextrous manipulator mounted on a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled from the base dynamics. As a consequence of the decoupling, feedback control gains for structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. We examine experimentally the performance of the above control tasks, using a planar experimental setup.

Acquisition of visually guided swing motion based on genetic algorithms and neural networks in two-armed bipedal robot
K Nagasaka, A Konno, M Inaba, H Inoue
1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 2944, 2949, I E E E, 1997
English, International conference proceedings, We describe the method in which a visually guided swing motion for a 16DOF two-armed bipedal robot is acquired by applying GA (genetic algorithm) to a NN (neural network) controller. The evolutionary approach to the acquisition of various motions for robots has been successfully used by many researchers, but most studies have been carried out only through computer simulations. In this research, we adopt a real robot with a complicated body used in a noisy environment. The evolutionary processes are examined in a virtual world constructed on a CRS-CS6400 parallel computer which simulates such factors as swing dynamics, visual processes, noise reduction processes, and timelags in a control system. It took about 2 hours for an artificial evolution io create a successful individual after 50 generations from an initial population af 200 unsuccessful genes. Using the NN decoded from the most successful individual of the fast generation, a real two-armed bipedal robot that could swing successfully was obtained.

Dexterous Manipulations of Humanoid Robot Saika　　　　　　　　　　　　　　　
Atsushi Konno, Koichi Nishiwaki, Ryo Furukawa, Mitsunori Tada, Koichi Nagashima, Masayuki Inaba, Hirochika Inoue
Priprints of Fifth Int. Symp. on Experimental Robots, 46, 57, 1997

Development of a 3-fingered hand and grasping unknown objects by groping
A Konno, M Tada, K Nagashima, M Inaba, H Inoue
1997 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP'97) - TOWARDS FLEXIBLE AND AGILE ASSEMBLY AND MANUFACTURING, 72, 77, I E E E, 1997
English, International conference proceedings, This paper addresses the development of a three-fingered hand and discusses a strategy for grasping unknown. objects by groping. In the former part of the paper, the design of the developed robot hand is presented. The robot hand has thumb, index finger and middle finger with a total of eight degrees-of-freedom, The location of thumb is designed considering opposability of human hand. Eighty-seven touch sensors are distributed over the surface of palm and fingers of the robot hand. In the latter part of the paper, a strategy for grasping unknown objects by groping using the developed hand is discussed. Groping is a kind of ''active sensing.'' When the system does not have any models of objects to grasp, active sensing becomes inevitable. The aim of the groping is to find a grasping configuration for unknown objects. A can, a ball, a cone, a elate, and it cube are chosen for the unknown objects in the experiments. Experimental results demonstrate the capability of the strategy for grasping unknown objects. This strategy needs neither models of objects nor complicated computation, and therefore, useful especially for assembly tasks in the real world.

The humanoid Saika that catches a thrown ball
K Nishiwaki, A Konno, K Nagashima, M Inaba, H Inoue
RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, 94, 99, IEEE, 1997
English, International conference proceedings, This peeper addresses ball-catching behavior by the humanoid robot Saika. The aim of this study is to implement human skills on the humanoid in the same manner as human performs them. The behavior of catching a falling and a thrown ball is chosen as on example of dynamic skillful manipulation. Considering the human behavior, we realize ball-catching behavior by three steps: (a) localization of the ball by the vision system, (b) prediction of the ball's path to determine the catching point, and (c) reaching out the hand to the catching point by a neural network inverse kinematics model. Experimental results demonstrate the validity of the catching strategies.

Attention-based interaction between human and the robot Chiye
K Nagashima, T Yoshiike, A Konno, M Inaba, H Inoue
RO-MAN '97 SENDAI: 6TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, 100, 105, IEEE, 1997
English, International conference proceedings, In this paper, we discuss attention-based interaction between robot Chiye and human. The visual attention is conducted by the three asynchronous parallel processing units: (1) target detection block, (2) target management block and (3) target observation block. The robot Chiye interacts with human according to the status of gazed objects. Two binds of attention-based robot's behaviors are examined: (a) orientation behavior toward a human, and (b) handing-over behavior.

Precise Lumped-Parameter Modeling of Flexible Manipulator Dynamics.
KIM J-S, KONNO ATSUSHI, UCHIYAMA MASARU
日本機械学会論文集 C, 62, 602, 4005, 4011, The Japan Society of Mechanical Engineers, Oct. 1996
Japanese, In this paper, we discuss the modeling of flexible manipulators, for which there are two approaches: one based on distributed-parameter modeling and the other on lumped-parameter modeling. The former has been applied to control and analysis of simple manipulators requiring precision, while the latter has been applied to multilink spatial manipulators, because of the model's simplicity. We have already proposed a lumped-parameter modeling method for multilink spatial flexible manipulators. In this paper, we apply our lumped-parameter modeling method to a simple manipulator, and investigate what degree of precision we can obtain using the model. Experiments and simulations are performed and, based on comparison of the results, the approximation performance of our modeling method is discussed.

Configuration-Dependent Vibration Controllability of Flexible Arm Manipulators
KONNO Atsushi, UCHIYAMA Masaru, KITO Yutaka, MURAKAMI Mahito
Transactions of the Society of Instrument and Control Engineers, 32, 1, 78, 86, 計測自動制御学会, 31 Jan. 1996
Japanese

Force control of constrained flexible manipulators
JS Kim, K Suzuki, A Konno, M Uchiyama
1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 635, 640, I E E E, 1996
English, International conference proceedings

Modeling of a flexible manipulator dynamics based upon Holzer's model
A Konno, M Uchiyama
IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 223, 229, I E E E, 1996
English, International conference proceedings, An approach to modeling flexible manipulators consisting of rotary joints and flexible links is proposed in this paper. In the proposed approach, flexible manipulators are modeled by lumped-masses and massless springs on the basis of Holzer's model, which is known as an approximate model for vibration analysis of flexible systems. Due to its simplicity, the constructed model is advantageous to the study of kinematics, dynamics and control strategy of complicated systems such as three dimensional multi-link multi-DOF flexible manipulators. Based on the model, dynamic equations of motion are derived using Lagrange's equation. Kinematics and the relationship between the dynamics of rigid manipulators and flexible manipulators are also discussed. The effectiveness of the model is evaluated by comparing the results of simulation with those of the experiment.

Modeling, Controllability and Vibration Suppression of 3D Flexible Robots
Masaru Uchiyama, Atsushi Konno
Robotics Research, The Seventh International Symposium, Georges Giralt and Gerhard Hirzinger (Eds), Springer, 90, 99, 1996

Development of a humanoid robot Saika
A Konno, K Nagashima, R Furukawa, K Nishiwaki, T Noda, M Inaba, H Inoue
IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, 805, 810, IEEE, 1996
English, International conference proceedings, This article addresses the development of a lightweight, human-size and low-cost developing humanoid robot named Saika. Saika has a 2-DOF neck, two 5-DOF upper arms, a torso and a head. Several types of hands and forearms are developed. They are chosen depending upon the tasks to perform. The features of Saika are: (a) Saika is modularized to reduce the developing cost and to make maintenance easy, (b) the total weight of the heard, the neck, the two zipper arms rand the torso is only eight kilograms and (c) most of the motors are installed inside the arms and the torso.

Experimental Study on Variable Gain Vibration Suppression Control of a Three-Dimensional Flexible Manipulator
Konno Atsushi, Uchiyama Masaru
Transactions of the Japan Society of Mechanical Engineers. C, 61, 591, 4345, 4350, The Japan Society of Mechanical Engineers, 25 Nov. 1995
Japanese, In some three-dimensional flexible manipulators, the relationship between vibrations and actuators depends upon the manipulators' configuration. It has been reported that fixed gain vibration control in such manipulators makes the system unstable. Therefore, configuration dependence of such manipulators must be considered. In this paper, a configuration-dependent variblegain vibration-suppression control strategy for three-dimensional flexible manipulators is presented. The vibration control scheme computes the feedback control gain in real time depending upon the configuration. Thus, the s...

VIBRATION SUPPRESSION CONTROL OF SPATIAL FLEXIBLE MANIPULATORS
A KONNO, M UCHIYAMA
CONTROL ENGINEERING PRACTICE, 3, 9, 1315, 1321, PERGAMON-ELSEVIER SCIENCE LTD, Sep. 1995
English, Scientific journal, In spatial 3D flexible manipulators, some parameters change, depending upon the arm's configuration. The relationship between vibrations and actuators might be configuration-dependent. Therefore, such configuration dependency has to be considered in the control of 3D spatial flexible manipulators. Linear quadratic regulator (LQR) would be one of the solutions. However, state feedback gains must be computed at various configurations and the gain table would be quite large in the case of multi-DOF manipulators. In this paper, a configuration-dependent variable-gain vibration-suppression control strategy for 3D spatial flexible manipulator is discussed. The vibration control scheme computes the link deflection feedback gain depending upon the current configuration during each sampling period. Thus, no large gain table is needed, and the scheme would be effective in the case of multi-DOF 3D spatial manipulators. The control scheme is examined in the case of a 2-link 7-joint type manipulator through experiments. The stability of the control scheme is also discussed.

Hybrid Position/Force Control of Flexible Manipulators　　　　　　　　　　　　　　　
Jin-Soo Kim, Kuniaki Suzuki, Atsushi Konno, Masaru Uchiyama
Proceedings of the 10th KOREA AUTOMATIC CONTROL CONFERENCE, International Program, Seoul, Korea, 408, 411, 1995

Modeling of a Flexible Manipulator Dynamics Based on the Holzer's Method.
KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会誌, 12, 7, 1021, 1028, The Robotics Society of Japan, Oct. 1994
Japanese, In this paper, we discuss the modeling of flexible manipulators. In the modeling of flexible manipulators, there are two approaches: one is based on the distributed-parameter modeling and the other on the lumped-parameter modeling. The distributed-parameter model is effective for simple flexible manipulators such as a one-link planar manipulator. For flexible manipulators with multi-link and multi-DOF (degree-of-freedom), however, the distributed-parameter model will be too complicated to use in control. In this paper, we propose a new model for the flexible manipulators based on the lumped-parameter model. Our model is simple enough to construct and implement in control schemes. This model can also be easily applied to manipulators which have flexibility at their joints. Based on our model, dynamic equations of motion are derived by the Lagrange's method. The effectiveness of our model is shown by comparing simulation results with the experimental results.

VIBRATION CONTROLLABILITY OF FLEXIBLE MANIPULATORS
A KONNO, M UCHIYAMA, Y KITO, M MURAKAMI
1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4, 308, 314, I E E E, COMPUTER SOC PRESS, 1994
English, International conference proceedings

Controllability of Flexible Manipulators
S. LÓPEZ-LINARES, A. KONNO, M. UCHIYAMA
Preprints of the Fourth IFAC Symposium on Robot Control, Capri, Italy, 509, 516, 1994

VIBRATION SUPPRESSION CONTROL OF FLEXIBLE ROBOTS USING VELOCITY INPUTS
S LOPEZLINARES, A KONNO, M UCHIYAMA
IROS '94 - INTELLIGENT ROBOTS AND SYSTEMS: ADVANCED ROBOTIC SYSTEMS AND THE REAL WORLD, VOLS 1-3, 1429, 1437, I E E E, 1994
English, International conference proceedings

Vibration Suppression Control of Spatial Flexible Manipulators
A. KONNO, M. UCHIYAMA
Preprints of the Fourth IFAC Symposium on Robot Control, Capri, Italy, 517, 523, 1994

Lumped-Parameter Modeling of Flexible Manipulator Dynamics
Jin-Soo Kim, Atsushi Konno, Masaru Uchiyama, Kazuaki Usui, Kazuki Yoshimura
Proceedings of the 9th KOREA AUTOMATIC CONTROL CONFERENCE, International Sessions, Taejeon, Korea, 117, 122, 1994

Vibration Suppressing Control of 3D Flexible Manipulators Using the Acceleration Command
KONNO Atsushi, UCHIYAMA Masaru, KITO Yutaka, MURAKAMI Mahito
JRSJ, 12, 8, 1166, 1174, The Robotics Society of Japan, 1994
Japanese, In this paper, we discuss the control of a 3D (3-dimensional) spatial flexible manipulator. In the 3D spatial flexible manipulator, object parameters for the control change depending on the arm configuration. Therefore, gains in the controller for the vibration suppression have to be changed configuration-dependently. In this paper, we propose a configuration-dependent adaptive controller in which the joint accelerations are used as commands to suppress the vibration. We discuss two configuration-dependent control schemes. One is a scheme which adds damping to the vibration system. We call this scheme as 'active damping control.' The other is a scheme which uses the optimal regulator. These schemes are combined to be implemented on a 3D flexible manipulator. Experimental results show the effectiveness of the control schemes. In the experiment, we find discontinuous gains of the optimal regulator for some arm configurations. Also the plausible reasons for discontinuity are briefly discussed.

Configuration-Dependent Controllability of Flexible Manipulators　　　　　　　　　　　　　　　
A. Konno, M. Uchiyama, Y. Kito, M. Murakami
Experimental Robotics III: The 3rd International Symposium, Tsuneo Yoshikawa and Fumio Miyazaki (Eds.), Lecture Notes in Control and Information Sciences 200, 531, 544, 1994

Configuration-Dependent Controllability of Flexible Manipulators　　　　　　　　　　　　　　　
A. Konno, M. Uchiyama, Y. Kito, M. Murakami
Preprints of the Third International Symposium on Experimental Robotics, 276, 282, 1993

Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators　　　　　　　　　　　　　　　
Atsushi Konno, Masaru Uchiyama
Transactions of the IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems, Edited by Toshi TAKAMORI, Kazuo TSUCHIYA, 937, 942, 1993

Configuration-Dependent Vibration Control of Multi-Link Spatial Flexible Manipulators　　　　　　　　　　　　　　　
Atsushi Konno, Masaru Uchiyama
Proceedings of the IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems '92 Kobe, 1461, 1466, 1992

Computed Acceleration Control for the Vibration Suppression of Flexible Robotic Manipulators
M. Uchiyama, A. Konno
Proceedings of the Fifth International Conference on Advanced Robotics, Pisa, 126, 131, 1991

Development of a Flexible Dual-Arm Manipulator Testbed for Space Robotics
M. Uchiyama, A. Konno, T. Uchiyama, S. Kanda
Proc. IEEE Int. Workshop on Intelligent Robots and Systems '90, Tsuchiura, 375, 381, 1990

Laser Optical Measurement of Robot Structural Deflections
M. Uchiyama, A. Konno
Proceedings of the International Conference on Advanced Mechatronics, Tokyo, 353, 357, 1989

TPPV気管内吸引シミュレータ演習におけるインシデントの分類
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Skill evaluation for Endoscopic Sinus Surgery using machine learning
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The development of the data correction method and feature extraction for the skill evaluation of practical laparoscopic surgical training
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安部崇重, 近野敦, 海老名光希, 晏凌波, 今雅史, 小水内俊介, 堀田記世彦, 渡辺雅彦, 七戸俊明, 倉島庸, 篠原信雄, 日本生体医工学会大会プログラム・抄録集(Web), 62nd, 2023

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コリー紀代, 五十嵐真里, 二宮伸治, 中島裕史, 中村美鈴, 井上創造, 今井適, 金井理, 近野敦, 小水内俊介, 長和俊, 倉島庸, 平田健司, 渡邊祐介, 石田稔, 高橋誠, 医工学治療, 35, Supplement, 2023

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山田海俊, 鈴木正宣, 宮路洸, 佐瀬一弥, 海老名光希, 辻田哲平, CHEN Xiaoshuai, 安部崇重, 中丸裕爾, 妹尾拓, 小水内俊介, 本間明宏, 近野敦, 計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 23rd, 2022

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安部崇重, 海老名光希, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 堀田紀世彦, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄, 泌尿器外科, 34, 3, 2021

Skill assessment of grasping force/position of forceps in dissection procedure of laparoscopic surgery
海老名光希, 安部崇重, 小水内俊介, 辻田哲平, 佐瀬一弥, CHEN Xiaoshuai, 樋口まどか, 古御堂純, 岩原直也, 倉島庸, 篠原信雄, 近野敦, 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), 2020, 2020

吸引カテーテル操作に応じた生体反応を呈するプロジェクションマッピングシミュレータ:ESTE-SIM
小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 高橋望, 二宮伸治, 日本シミュレーション医療教育学会雑誌, 7, 2019

一人称視点で熟練者の身体動作と視線を追体験可能な没入型看護教育システム:ESTE-VR
小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治, 日本シミュレーション医療教育学会雑誌, 7, 2019

看護シミュレータ開発におけるプロジェクションマッピング/拡張現実による視覚提示の課題
小水内俊介, 近野敦, 金井理, 二宮伸治, 浅賀忠義, 高橋望, コリー紀代, 日本シミュレーション医療教育学会雑誌, 6, 126, 126, Sep. 2018
日本シミュレーション医療教育学会, Japanese

人工呼吸器装着児(者)の社会参加を促進する多職種連携における構造的課題
コリー紀代, 清水弘美, 大塚健, 高橋望, 近野敦, 小水内俊介, 金井理, 二宮伸治, 井上創造, 村田恵理, 萬井太規, 浅賀忠義, 医学教育, 49, Suppl., 205, 205, Jul. 2018
(一社)日本医学教育学会, Japanese

Humanoid robots: Modeling and control
Dragomir N. Nenchev, Teppei Tsujita, Atsushi Konno, Humanoid Robots: Modeling and Control, 1, 508, 01 Jan. 2018
Humanoid Robots: Modeling and Control provides systematic presentation of the models used in the analysis, design and control of humanoid robots. The book starts with a historical overview of the field, a summary of the current state of the art achievements and an outline of the related fields of research. It moves on to explain the theoretical foundations in terms of kinematic, kineto-static and dynamic relations. Further on, a detailed overview of biped balance control approaches is presented. Models and control algorithms for cooperative object manipulation with a multi-finger hand, a dual-arm and a multi-robot system are also discussed. One of the chapters is devoted to selected topics from the area of motion generation and control and their applications. The final chapter focuses on simulation environments, specifically on the step-by-step design of a simulator using the Matlab® environment and tools. This book will benefit readers with an advanced level of understanding of robotics, mechanics and control such as graduate students, academic and industrial researchers and professional engineers. Researchers in the related fields of multi-legged robots, biomechanics, physical therapy and physics-based computer animation of articulated figures can also benefit from the models and computational algorithms presented in the book., Elsevier, English, Others

気管内吸引技術の量的評価の試み:Dynamic Time Warpingを用いた分析結果から
コリー紀代, 清水弘美, 大塚健, 金井理, 近野敦, 二宮伸治, 浅賀忠義, 小水内俊介, 萬井太規, 村田恵理, 高橋望, 井上創造, 医工学治療, 30, Supplement, 128, 128, 2018
(NPO)日本医工学治療学会, Japanese

熟練看護師の視線計測による気管内吸引オントロジーの構築
COLLEY Noriyo, 清水弘美, 高橋望, 小水内俊介, 近野敦, 金井理, 二宮伸治, 大塚健, 浅賀忠義, 医学教育, 48, Suppl., 230, 230, 01 Aug. 2017
(一社)日本医学教育学会, Japanese

Neurosurgery Simulator
近野 敦, 佐瀬 一弥, 陳 暁帥, 精密工学会誌 = Journal of the Japan Society for Precision Engineering, 83, 6, 504, 508, Jun. 2017
精密工学会, Japanese

2016 IEEE/SICE International Symposium on System Integration (SII2016)
KONNO Atsushi, HIRATA Yasuhisa, J. of SICE, 56, 5, 381, 382, 2017
The Society of Instrument and Control Engineers, Japanese

Neurosurgery Simulator
Atsushi Konno, Kazuya Sase, Xiaoshuai chen, Journal of the Japan Society for Precision Engineering, 83, 6, 504, 508, 2017, [Invited]
Japanese, Introduction scientific journal

Preface.
Atsushi Konno, Koki Kikuchi, Nathan Michael, Advanced Robotics, 27, 9, 655, 2013

Innovation of the Production Process by Parallel Link Robot
SUEFUJI Nobuyuki, TAKANO Ken, IMADA Yukio, KONNO Atsushi, UCHIYAMA Masaru, Journal of the Robotics Society of Japan, 30, 2, 160, 162, 15 Mar. 2012
日本ロボット学会, Japanese

18・6 ヒューマノイド(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)
近野 敦, 日本機械学會誌, 109, 1053, 677, 677, 05 Aug. 2006
一般社団法人日本機械学会, Japanese

JSME Yearbook 18. Robotics and mechatronics.
KOSUGE KAZUHIRO, TSUBOUCHI KOJI, OSUGA KOICHI, MASAMUNE KEN, YASUDA TAKASHI, CHIKANO ATSUSHI, YOSHIMI TAKASHI, ANDO YOSHINOBU, 日本機械学会誌, 109, 1053, 675-678, 05 Aug. 2006
Japanese

インパクト動作ヒューマノイドロボット「HRP-2」　　　　　　　　　　　　　　　
内山勝, 近野敦, 日本ロボット学会誌 （社）日本ロボット学会, 24, 2, 189, 189, 2006

Whole Body Cooperative Force Control of a Humanoid Robot
KONNO ATSUSHI, 豊田研究報告, 58, 103-108, 108, 30 May 2005
豊田理化学研究所, Japanese

人間型ロボットの遠隔操縦に関する研究
近野敦, 内山勝, 妻木勇一, 阿部幸勇, 立石科学技術振興財団助成研究成果集, 10, 25-28, Sep. 2001
Japanese

電脳空間から物理空間へ
近野敦, ESTRELA,（財）統計情報研究開発センター, 86, 12, 17, 2001
統計情報研究開発センタ-, Japanese

「未来志向大型ロボットプロジェクト」特集について
近野 敦, 日本ロボット学会誌, 18, 8, 1, 1, 15 Nov. 2000
Japanese

研究用プラットフォームヒューマノイドロボット「才華」の開発
近野 敦, 日本機械学會誌, 102, 966, 289, 289, May 1999
一般社団法人日本機械学会, Japanese

References of References in Flexible Robots
UCHIYAMA Masaru, KONNO Atsushi, Journal of the Robotics Society of Japan, 16, 7, 921, 923, 15 Oct. 1998
一般社団法人 日本ロボット学会, Japanese

Flexible Robot　　　　　　　　　　　　　　　
Masaru Uchiyama, Atsushi Konno, Journal of the Robotic Society of Japan,Robotic Society of Japan, 16, 7, 921, 923, 1998

Adapting function of the sense behavior system. Realization of the parallel process network which is capable of structural handling to describe applied actions. ( Ministry of Education S ).
INOUE HIROMITSU, INABA MASAYUKI, KONNO ATSUSHI, KANEHIRO FUMIO, 感覚と行動の統合による機械知能の発現機構の研究 平成8年度, 91-94, 1997
Japanese

Adaptation function of sense behavior system. Realization of parallel process network for integrating sense and action. ( Ministry of Education S )
INOUE HIROMITSU, INABA MASAYUKI, OKA TETSUSHI, KONNO ATSUSHI, 第1回重点領域研究「知能ロボット」シンポジウム予稿集 平成7年度 感覚と行動の統合による機械知能の発現機構の研究, 57-60, 1996
Japanese

Adaptation function of sense behavior system. Realization of parallel process network for integrating sense and action. ( Ministry of Education S )
INOUE HIROMITSU, INABA MASAYUKI, OKA TETSUSHI, KONNO ATSUSHI, 感覚と行動の統合による機械知能の発現機構の研究 平成7年度, 83-86, 1996
Japanese

ロボット工学ハンドブック 第3版
日本ロボット学会, 第III編「ロボット制御・知能化技術」 第1.1節「自由度構成とモデリング，運動学，動力学」
コロナ社, Mar. 2023, 9784339046793, ix, 1072p, Japanese, [Contributor]

Humanoid robots : modeling and control
Nenchev Dragomir N, Konno Atsushi, Tsujita Teppei
Butterworth-Heinemann, 2019, 9780128045602, English, [Joint work]

最先端医療機器の病院への普及展望と今後の製品開発　　　　　　　　　　　　　　　
近野敦, 陳暁帥, 佐瀬一弥, 第4章6節「VR・ARを応用した脳神経外科手術シミュレータ」
技術情報協会, May 2018, [Contributor]

JSME Text Series, Mechanical Engineering　　　　　　　　　　　　　　　
Atsushi Konno, Masaru Uchiyama, Section 2.3, Robot
Japan Society of Mechanical Engineers, Oct. 2012, [Contributor]

Robot Technology　　　　　　　　　　　　　　　
Kazuhito Yokoi, Atsushi Konno, Chapter 2, Section 1, Humanoid Robot
Ohmsha, Aug. 2011, 9784274210723, [Contributor]

PID Control Implementation and Tuning　　　　　　　　　　　　　　　
Tamar Mansour, Atsushi Konno, Masaru Uchiyama, Chapter 8, Neural Network Based Tuning Algorithm for MPID Control
InTech, Apr. 2011, 9789533071664, [Contributor]

Cutting Edge Robotics　　　　　　　　　　　　　　　
Teppei Tsujita, Atsushi Konno, Yuki Nomura, Shunsuke Komizunai, Yasar Ayaz, Masaru Uchiyama, Chapter 11, An Impact Motion Generation Support Software
In-Tech, Sep. 2010, 9789533070629, [Contributor]

Advances in Robot Manipulators　　　　　　　　　　　　　　　
Tamar Mansour, Atsushi Konno, Masaru Uchiyama, Chapter 24, Vibration Based Control for Flexible Link Manipulator
In-Tech, Apr. 2010, 9789533070902, [Contributor]

Mobile Robots Navigation　　　　　　　　　　　　　　　
Yasar Ayaz, Atsushi Konno, Khalid Munawar, Teppei Tsujita, Masaru Uchiyama, Chapter 11, Navigation Planning with a Human-Like Approach
In-Tech, Mar. 2010, [Contributor]

Humanoid Robots - Human-like Machines -　　　　　　　　　　　　　　　
Yasar Ayaz, Khalid Munawar, Mohammad Bilal Malik, Atsushi Konno, Masaru Uchiyama, Chapter 15, A Human-Like Approach to Footstep Planning
In-Tech, Jul. 2007, 9783902613073, [Contributor]

Humanoid Robots - New Developments -　　　　　　　　　　　　　　　
Atsushi Konno, Takaaki Matsumoto, Yu Ishida, Daisuke Sato, Masaru Uchiyama, Chapter 29, Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot
In-Tech, Jul. 2007, 9783902613004, [Contributor]

新版ロボット工学ハンドブック　　　　　　　　　　　　　　　
近野 敦, 第5編「システム化技術」，9.2節「構造設計」，9.3節「制御系設計」
コロナ社, Jun. 2005, [Contributor]

ヒューマノイドロボットによる力制御の実装　　　　　　　　　　　　　　　
平林勇人, 小水内俊介, 佐藤大祐, 辻田哲平, 妹尾拓, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2023
2023 - 2023

二足歩行ロボットの足裏センサデータからの地面判別　　　　　　　　　　　　　　　
服部賢太郎, 小水内俊介, 上野賢次, 海老名光希, 平林勇人, 山田海俊, 辻田哲平, 佐藤大祐, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2023
2023 - 2023

エッジデバイスによる聴診された肺音の正常異常判別　　　　　　　　　　　　　　　
藤原朋之, 小水内俊介, 近野敦
日本ロボット学会学術講演会予稿集(CD-ROM), 2022
2022 - 2022

インフラ点検のためのクアッドチルトロータUAVの壁面走行　　　　　　　　　　　　　　　
高橋拓誠, 鶴園卓也, 小水内俊介, 近野敦
日本ロボット学会学術講演会予稿集(CD-ROM), 2022
2022 - 2022

HoloLens2を用いた血管吻合時の手技記録と仮想空間での再現　　　　　　　　　　　　　　　
庄司大朗, 陳暁帥, 近野敦, 辻田哲平, 佐瀬一弥, 岡和彦
日本ロボット学会学術講演会予稿集(CD-ROM), 2022
2022 - 2022

腹腔鏡手術トレーニングのための機械学習を用いた技能別スコア評価システムの開発　　　　　　　　　　　　　　　
海老名光希, 安部崇重, 堀田記世彦, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 小水内俊介, 倉島庸, 菊地央, 松本隆児, 大澤崇宏, 村井祥代, 辻田哲平, 佐瀬一弥, 陳暁帥, 篠原信雄, 近野敦
日本ロボット学会学術講演会予稿集(CD-ROM), 2022
2022 - 2022

ヒューマノイドロボットの泥状地面二足歩行のシミュレーションと実験の比較　　　　　　　　　　　　　　　
服部賢太郎, 小水内俊介, 辻田哲平, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2022
2022 - 2022

Discrimination of normal and abnormal lung sounds based on long span FFT of auscultation data using a microcomputer　　　　　　　　　　　　　　　
藤原朋之, 小水内俊介, 近野敦
LIFE講演概要集(CD-ROM), 2022
2022 - 2022

機械学習による外科手術技量の定量的評価　　　　　　　　　　　　　　　
近野 敦
第83回耳鼻咽喉科臨床学会総会・学術講演会, 26 Jun. 2021, Japanese, Invited oral presentation
26 Jun. 2021 - 27 Jun. 2021, [Invited]

視線移動量と視線移動速度頻度分析による気管内吸引技術の習熟度評価の検討　　　　　　　　　　　　　　　
横尾 さくら, コリー 紀代, 小水内 俊介, 近野 敦, 金井 理, 二宮 伸治
医工学治療, May 2021, (NPO)日本医工学治療学会, Japanese
May 2021 - May 2021

機械学習を利用した鉗子動態特徴量に基づく腹腔鏡手術基本手技の技量評価　　　　　　　　　　　　　　　
安部崇重, 海老名光希, 堀田記世彦, 古御堂純, 岩原直也, 今雅史, 樋口まどか, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄
日本泌尿器科学会総会(Web), 2021
2021 - 2021

AR/VR看護シミュレータのための馴染みや自然さを考慮した患者モデルの構成方法　　　　　　　　　　　　　　　
木村仁, 小水内俊介, COLLEY Noriyo, 近野敦
日本バーチャルリアリティ学会大会論文集(CD-ROM), 2021
2021 - 2021

ウエットラボにおける腹腔鏡手術熟練課程の数値化の試み　　　　　　　　　　　　　　　
安部崇重, 海老名光希, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 堀田紀世彦, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄
泌尿器外科, 2021
2021 - 2021

Contact surface locomotion of a quad-tilt rotor UAV for infrastructure inspection　　　　　　　　　　　　　　　
高橋拓誠, 鶴園卓也, 奥村康生, 小水内俊介, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2021
2021 - 2021

Development of a measurment system for nasal endscopic surgey　　　　　　　　　　　　　　　
宮路洸, 鈴木正宣, 中丸裕爾, 佐瀬一弥, CHEN Xiaoshuai, 辻田哲平, 小水内俊介, 本間明宏, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2021
2021 - 2021

A multi-platform remote nursing education system that allows to take and re-experience a demonstration guidance of exemplary procedures　　　　　　　　　　　　　　　
佐藤優太, 木村仁, 小水内俊介, COLLEY Noriyo, 二宮伸治, 金井理, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2021
2021 - 2021

Development of real-time contact deformation simulation system for elastic bodies for surgical navigation　　　　　　　　　　　　　　　
澁谷紗也華, 佐瀬一弥, CHEN Xiaoshuai, 小水内俊介, 辻田哲平, 近野敦
電気学会研究会資料, 2021
2021 - 2021

Development of a navigation system using a hand-held type midair multi-DoF haptic device and SLAM
FUJIWARA Tomoyuki, KOMIZUNAI Shunsuke, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, The Japan Society of Mechanical Engineers, Japanese
2021 - 2021, In order to develop a navigation system using SLAM technology and airborne multi-degree-of-freedom force sensing using pseudo-force sensing based on partial acceleration motion, an evaluation experiment of a navigation system using a force sensing device with only two spatial degrees of freedom for force sensing was conducted. In the evaluation experiment, a user test was conducted, and the accuracy of the system was evaluated by two scales: an objective evaluation by evaluating the success rate, and a subjective evaluation by questionnaire. As a result, the 2-DOF force-sensing device used in the navigation system succeeded in presenting the expected force sensation, and the navigation system was found to have a certain degree of practicality.

Projection Mapping of a Liver 3D Model for a Laparoscopic Surgery Support System
TAKAHASHI Yuri, KONNO Atsushi, SASE Kazuya, TSUJITA Teppei, CHEN Xiaoshuai
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, The Japan Society of Mechanical Engineers, Japanese
2021 - 2021, In laparoscopic surgery, current surgical navigation systems use preoperative medical images. The actual shape of organs and the navigation image are different from each other due to the deformation of the organ during the operation. To solve this problem, our research group is developing an endoscopic surgery support system that can present intraoperative organ deformation. In this study, for this system, an organ 3D model is constructed from medical images. The 3D model is projected by projection mapping on the surface of a human body to present the organ that is inside the body. In addition, a full-scale liver was made from soft resin using a 3D model of an organ, and the usefulness of projection mapping was verified.

仮想生体反応の呈示・実施者の属性による気管吸引中の視線計測結果と作業負担感への影響
コリー 紀代, 小水内 俊介, 金井 理, 井上 創造, 近野 敦, 中村 美鈴, 二宮 伸治
人工呼吸, 2021, 一般社団法人 日本呼吸療法医学会, Japanese
2021 - 2021, 【目的】本研究では、①プロジェクションマッピング映像による仮想生体反応の呈示の有無や実施者の属性にかかわらず、視線計測結果が習熟度評価指標となりうるかを検証し、②生体反応を呈するシミュレータを用いた際の作業負担感を初学者と熟練者において比較することを目的とする。

【方法】看護師群と学生群の気管吸引の所要時間、視線の停留時間・停留回数を測定した。タスク終了後に日本語版NASA-TLXを用い、両群の作業負担感を比較した。

【結果】生体反応呈示の有無と属性による交互作用は認められず、所要時間と視線停留時間において看護師群－学生群間の主効果が認められた。作業負担感は26項目中5項目に有意差が認められた。

【結論】看護師群の視線停留時間が統計学的有意に短く、習熟度評価に有用な指標と考えられた。作業負担感は生体反応の呈示により学生群・看護師群ともに高まり、先行研究よりも有意差のある項目数が減少した。

Development and verification of a laparoscopic surgery retraction simulator system linked with real space
SHIBUYA Sayaka, SASE Kazuya, CHEN Xiaoshui, KOMIZUNAI Shunsuke, TSUJITA Teppei, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, The Japan Society of Mechanical Engineers, Japanese
2021 - 2021, Since laparoscopic surgery is performed through the images displayed on the monitor, it requires a higher degree of surgeons’ skills than open surgery, in which surgery is performed while directly checking the surgical field. In order to support decisions and surgical procedures in laparoscopic surgery, a surgical support system that displays deformation of organs caused by contact with a surgical instrument calculated by a finite element method has been developed. The usefulness was proved by the operation verification with a simple elastic body and the deformation and the average error within 1 mm. After that, the state of contact and deformation of the virtual organ model was confirmed.

A nursing education simulator that exhibits vital reactions that enables training in endotratracheal suctioning, repositioning, and tube feeding
KOMIZUNAI Shunsuke, COLLEY Noriyo, NINOMIYA Shinji, KANAI Satoshi, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, The Japan Society of Mechanical Engineers, Japanese
2021 - 2021, This paper describes a functional expansion of a nursing education simulator that has been developed focusing on the endotracheal suctioning. Most patients who require endotracheal suctioning also require tube feeding. In addition to sputum aspiration and repositioning, by providing training functions for tube feeding, educational elements of the nursing simulator, such as the relationship between tasks, and the vital reactions to the procedures, are expanded.

Superposition Display of Soft Tissue using Mixed Reality Technology for a Laparoscopic Surgery Support System
OGASAWARA Kenta, CHEN Xiaoshuai, SASE Kazuya, TSUJITA Teppei, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, The Japan Society of Mechanical Engineers, Japanese
2021 - 2021, A laparoscopic surgery is a minimally invasive surgery that reduces the burden on the patient. However, main disadvantage of the laparoscopic surgery is the narrowness of the field of view provided by an endoscopic camera. Therefore, if an organ is damaged by a surgical instrument outside the field of view, it is easily overlooked. To support the laparoscopic surgery, surgical navigation systems have been developed so far. However, conventional navigation systems provide information based on the preoperative medical images, and hence the gaps between the actual surgical situation and the navigation information become larger as the surgery proceeds. This paper proposes a method of providing predicted information on the endoscopic images. In this method, the movements of surgical instruments are measured by a motion capture system. The dynamic deformation of an organ caused by the contact between a surgical instrument and the organ is simulated and presented by superimposing the CG model on the endoscopic image. In the superposition display experiment, the superposition of the deformed flexible cube and its 3D model was confirmed.

Analysis of bio-experimenter’s motional characteristics for uniformity in cell seeding
SEGAWA Katsumasa, MIYATA Natsuki, TADA Mitsunori, ADACHI Shungo, MITSUYAMA Toutai, KOMIZUNAI Shunsuke, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2021, The Japan Society of Mechanical Engineers, Japanese
2021 - 2021, In this study, we analyzed experimenters’motional characteristics that lead to uniform cell seeding. The motion to seed cell was measured using a motion capture system for three novices who were taught to execute stirring by ”a rotational movement” of a multi-well plate and four experients who were asked to seed as usual. Skill indices were defined as a feature of the seeding motion. Cell uniformity was evaluated as an averaged intensity variation from binarized microscope cell images. The correlation analysis between each skill index and uniformity index showed that the stirring movement of the plate was strongly related to uniformity of the seeded cell. Significant difference between the novice group and the experient group was observed in uniformity index and several skill indices in stirring process. These results indicated that teaching rotational stirring to a novice worked to guarantee uniform cell seeding to a certain extent.

Synthesizing Dynamic Facial Expressions of the Patient Model with Projection Mapping for the Nurse Training Simulator
Ahmad Ridwan Fauzi, Kanai Satoshi, Date Hiroaki, Komizunai Shunsuke, Konno Atsushi, Colley Noriyo, Ninomiya Shinji
Proceedings of JSPE Semestrial Meeting, 01 Mar. 2020, The Japan Society for Precision Engineering, English
01 Mar. 2020 - 01 Mar. 2020, Tube insertion through trachea is a procedure performed by nurses to suck the sputum out of the patient’s trachea. If the procedure is not performed carefully, it causes inconvenience and damages patient’s trachea. To train novice nurses to practice the procedure in a safer environment, we developed a projection mapping-based nurse training simulator, and its effectiveness was evaluated. From the evaluations, it was found that more facial expressions, including choking, coughing, and patient’s relaxed states, still must be integrated into the patient model so the nurse could be more immersed into the simulator. To achieve that, a Facial Action Coding System (FACS)-based video analysis tool is first used to identify the activated facial action units (AU) in those states and they are applied to the synthetic deformations on a 3D face of the patient model. The degree of naturalness, reality and effectiveness are evaluated.

触感を伴う拡張現実映像を用いた気管内吸引シミュレータのための計測機能を備えた気道模型　　　　　　　　　　　　　　　
木村仁, 小水内俊介, コリー紀代, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2020
2020 - 2020

Automated Piloting and Position Feedback Control of a 10g Class Toy Drone　　　　　　　　　　　　　　　
藤原朋之, 高橋拓誠, 澁谷紗也華, 服部賢太郎, 小水内俊介, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2020
2020 - 2020

Step Timing Adjustment for Walking Stabilization of Humanoid Robot on Loose Soil　　　　　　　　　　　　　　　
澤登陽介, 小水内俊介, 辻田哲平, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2020
2020 - 2020

Impact Motion of Humanoid Robots　　　　　　　　　　　　　　　
近野敦
日本ロボット学会誌, 2020
2020 - 2020

Motion analysis in wet-lab training of laparoscopic surgery: difference in movements among experts, intermediates, and novices　　　　　　　　　　　　　　　
安部崇重, 海老名光希, 樋口まどか, 古御堂純, 岩原直也, 今雅史, 堀田記世彦, 小水内俊介, 倉島庸, 村井祥代, 近野敦, 篠原信雄
日本泌尿器科学会総会(Web), 2020
2020 - 2020

Skill assessment of grasping force/position of forceps in dissection procedure of laparoscopic surgery
EBINA Koki, ABE Takashige, KOMIZUNAI Shunsuke, TSUJITA Teppei, SASE Kazuya, CHEN Xiaoshuai, HIGUCHI Madoka, HURUMIDO Jun, IWAHARA Naoya, KURASHIMA Yo, SHINOHARA Nobuo, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, The Japan Society of Mechanical Engineers, Japanese
2020 - 2020, This paper describes the detail of the objective surgical skill assessments from the viewpoint of a way of grasping organ with forceps in dissection procedure in wet lab training. In the surgical skill measurement experiments, 46 cases of grasping force/position of gripper in lymphadenectomy are measured. Surgical skill is analyzed based on six indices related to grasping operation. Subjects are classified into three groups (novices, intermediates, and experts) by the number of experienced surgeries, and the difference on the six indices between these groups are investigated by the Kruskal–Wallis and Mann–Whitney U test. The analytical results show that the ratio of non-grasping period to the total task time of novice surgeons is larger than that of experts, and the total number of grasping is greater than that of experts. From these results, it is considered that novices frequently re-grasp organs in the dissection operation because they fail to grasp organ at an optimal point.

Development of a tracheal model for an endotracheal suction simulator using augmented reality scene with haptics- Measurement and evaluation of catheter manipulation -
KIMURA Hitoshi, KOMIZUNAI Shunsuke, COLLEY Noriyo, KONNO Atsushi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2020, The Japan Society of Mechanical Engineers, Japanese
2020 - 2020, In order to respond to the growing needs of nursing, it is necessary to correct the gap between practice and education. Endotracheal suctioning has been performed not only at hospital but also at home frequently, there is a need to develop a suction simulator that can quantitatively assess the techniques of suction catheter manipulation. In this paper, we described a tracheal model with measurement functions: the measurement of the pushing force of the catheter on the airway wall by the force sensor and the detection of the catheter tip trajectory history by the camera were implemented. These data from our tracheal model might be useful not only assessing the proficiency of catheter manipulation quantitatively, but also assessing the risk of tracheal mucosal damage and pain caused by inappropriate manipulation or excessive pushing force.

Generating facial expressions of pain with projection mapping for the nurse training simulator (1st report): Effect on the tracheal aspiration time for a patient with cerebral palsy
Fauzi Ahmad Ridwan, Kanai Satoshi, Date Hiroaki, Komizunai Shunsuke, Konno Atsushi, Colley Noriyo, Ninomiya Shinji
Proceedings of JSPE Semestrial Meeting, 01 Mar. 2019, The Japan Society for Precision Engineering, English
01 Mar. 2019 - 01 Mar. 2019, Patients with cerebral palsy suffer from permanent movement disorder, and a nurse usually performs their tracheal aspiration where a tube must be inserted into the patient’s trachea. The tube insertion procedure must be performed quickly and carefully in order for the patient not to experience significant pain, anxiety, and even tracheal bleeding that would cause fear for the patient. To master such skill, many training opportunities should be provided for the novice nurses. Therefore, a training simulator is needed that could mimic the real situation of the procedure to provide an accurate and realistic feedback to the novice nurses. To realize that goal, we have developed a simulator that provides a head mannequin with the pain sensor attached and can project computer-generated patient’s facial expressions onto the mannequin face using projection mapping. The expression can change in conjunction with pain intensity the patient would receive due to the sputum blockage in the trachea and due to the hard contact of the tube tip with the trachea. The effectiveness of the projection mapping in the simulator is evaluated by comparing how fast trained and novice nurses finish the procedure when the facial expression of the pain is simulated or not.

腹腔鏡手術技量評価のための手技計測システム開発　　　　　　　　　　　　　　　
海老名光希, 安部崇重, 小水内俊介, 辻田哲平, 佐瀬一弥, CHEN Xiaoshuai, 樋口まどか, 古御堂純, 岩原直也, 倉島庸, 篠原信雄, 近野敦
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 2019
2019 - 2019

看護シミュレータ開発におけるプロジェクションマッピング/拡張現実による視覚提示の課題
小水内俊介, 近野敦, 金井理, 二宮伸治, 浅賀忠義, 高橋望, コリー紀代
日本シミュレーション医療教育学会雑誌, Sep. 2018, 日本シミュレーション医療教育学会, Japanese
Sep. 2018 - Sep. 2018

人工呼吸器装着児(者)の社会参加を促進する多職種連携における構造的課題
コリー紀代, 清水弘美, 大塚健, 高橋望, 近野敦, 小水内俊介, 金井理, 二宮伸治, 井上創造, 村田恵理, 萬井太規, 浅賀忠義
医学教育, Jul. 2018, (一社)日本医学教育学会, Japanese
Jul. 2018 - Jul. 2018

ARを用いた実時間ブレインシフト可視化
白井亮輔, CHEN Xiaoshuai, 佐瀬一弥, 辻田哲平, 近野敦
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 01 Jun. 2018, Japanese

Visibility evaluation through scattering property simulation of mist screen as an aerial image display　　　　　　　　　　　　　　　
鈴木孝二郎, 小水内俊介, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2018
2018 - 2018

環境計測に基づくヒューマノイドロボットの行動生成　　　　　　　　　　　　　　　
月本啓太, 斉藤直矢, 小水内俊介, 辻田哲平, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2018
2018 - 2018

インフラ点検のためのクアッドチルトロータUAVの6軸位置姿勢制御　　　　　　　　　　　　　　　
三谷拓巳, 早川宗太, 小水内俊介, 近野敦
計測自動制御学会北海道支部学術講演会論文集, 2018
2018 - 2018

座学と実習を補間するスマートフォン/タブレットを用いたインタラクティブなパーソナル看護教育教材:ESTE‐mobile
小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治
日本呼吸療法医学会学術総会プログラム・抄録集, 2018, Japanese

生体反応を呈するシミュレータESTE‐SIMのための吸引時SpO2/脈拍数の実測に基づく数理モデル定式化の試み
コリー紀代, 小水内俊介, 村田恵理, 稲村道子, 玉置美香, 山田真代, 八柳千佳子, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, 二宮伸治
日本呼吸療法医学会学術総会プログラム・抄録集, 2018, Japanese

没入型看護教育システムESTE‐VRを用いた習熟度分析評価ツール
小水内俊介, コリー紀代, 近野敦, 金井理, 浅賀忠義, 井上創造, 村田恵理, 萬井太規, 高橋望, 二宮伸治
日本呼吸療法医学会学術総会プログラム・抄録集, 2018, Japanese

痰吸引カテーテル接触荷重計測デバイスESTE‐SDを用いた臨床経験が接触荷重と挿入長に与える影響の評価
二宮伸治, 小水内俊介, 村田恵理, 近野敦, 金井理, 浅賀忠義, 井上創造, 萬井太規, 高橋望, コリー紀代
日本呼吸療法医学会学術総会プログラム・抄録集, 2018, Japanese

気管内吸引技術の量的評価の試み:Dynamic Time Warpingを用いた分析結果から
コリー紀代, 清水弘美, 大塚健, 金井理, 近野敦, 二宮伸治, 浅賀忠義, 小水内俊介, 萬井太規, 村田恵理, 高橋望, 井上創造
医工学治療, 2018, Japanese

衝撃波の医療応用:最近の動向もふまえて
中川敦寛, 遠藤俊毅, 遠藤英徳, 大沢伸一郎, 冨永悌二, 中西史, 横沢友樹, 山下慎一, 飯久保正弘, 佐藤由加, 佐久間篤, 八木橋真央, 近野敦, 辻田哲平, 大谷清伸
衝撃波シンポジウム講演論文集(CD-ROM), 2018, Japanese

ヒューマノイドロボットの軟弱地面歩行着地位置制御シミュレーション
斉藤直矢, 小水内俊介, 辻田哲平, 近野敦
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20 Dec. 2017, Japanese

分身ロボットの直感的操作を可能とする可搬操作システム
鈴木孝二郎, 白井亮輔, 月本啓太, 三谷拓巳, 小水内俊介, 近野敦
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20 Dec. 2017, Japanese

軟弱地面歩行シミュレータのための粘着モデル
田中諒, 斉藤直矢, 小水内俊介, 辻田哲平, 近野敦
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20 Dec. 2017, Japanese

提示力偏向機構を用いた携帯型6自由度力覚提示装置の開発
奥田悠斗, 小水内俊介, 近野敦
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 20 Dec. 2017, Japanese

小型1脚ロボットを用いたパラシュート着地衝撃に対する緩衝材とサーボゲインの影響評価
北原理匡, 辻田哲平, 田原諒也, 安孫子聡子, 近野敦
日本機械学会関東支部・精密工学会山梨講演会講演論文集(CD-ROM), 18 Oct. 2017, Japanese

ブレインシフト推定のためのMPS‐FEM連成解析におけるゼラチン実験による精度検証
江間章斗, 佐瀬一弥, 陳暁帥, 紫藤紀行, 辻田哲平, 近野敦
日本ロボット学会学術講演会予稿集(CD-ROM), 11 Sep. 2017, Japanese

Neurosurgery Simulator
近野 敦, 佐瀬 一弥, 陳 暁帥
精密工学会誌 = Journal of the Japan Society for Precision Engineering, Jun. 2017, 精密工学会, Japanese
Jun. 2017 - Jun. 2017

ヒューマノイドロボットによるパラシュート着地転倒動作実現に向けた小型1脚ロボットの落下試験
辻田哲平, ALTANGEREL Odpurev, 堀合泰生, 安孫子聡子, 近野敦
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, Japanese

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

二足歩行ヒューマノイドロボットの軟弱地面上旋回歩行
斉藤直矢, 小貫督仁, 小水内俊介, 辻田哲平, 近野敦
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, Japanese

振動子を用いた多自由度空中力覚提示装置の開発と評価
奥田悠斗, 小水内俊介, 近野敦
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, Japanese

可変ピッチプロペラロータの推力応答実験
浦岡雅史, 小水内俊介, 近野敦
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, Japanese

没入型脳外科手術シミュレータの開発
紫藤紀行, 佐瀬一弥, 小水内俊介, 辻田哲平, 近野敦
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 09 May 2017, Japanese

Neurosurgery Simulator
Atsushi Konno, Kazuya Sase, Xiaoshuai chen
Journal of the Japan Society for Precision Engineering, 2017, Japanese
2017 - 2017, [Invited]

2016 IEEE/SICE International Symposium on System Integration (SII2016)
KONNO Atsushi, HIRATA Yasuhisa
J. of SICE, 2017, The Society of Instrument and Control Engineers, Japanese
2017 - 2017

脳外科手術シミュレーションのための脳実質損傷モデル
陳暁帥, 佐瀬一弥, 近野敦, 辻田哲平
日本ロボット学会学術講演会予稿集(CD-ROM), 07 Sep. 2016, Japanese

領域分割された医用画像の有限要素メッシュ埋め込みにおけるトポロジ保存手法
佐瀬一弥, 辻田哲平, 近野敦
日本ロボット学会学術講演会予稿集(CD-ROM), 07 Sep. 2016, Japanese

Automatic Generation of Finite Element Mesh with Brain-Fissure Structure Based on Medical-Image Segmentation
佐瀬 一弥, 辻田 哲平, 近野 敦
電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 19 Jan. 2016, Japanese

Development of an Encountered-type Haptic Interface Using MR Fluid for Neurosurgery Simulator
TSUJITA Teppei, SOGA Yoshiki, KONNO Atsushi
Robomech, 2016, Japanese

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

1P1-W09 Development of a Fingertip Tactile Device using a 3 DoF Parallel Mechanism with Vertical Fixed Linear Actuators　　　　　　　　　　　　　　　
KOMIZUNAI Shunsuke, SATO Keigo, NISHIZAKI Keisuke, KONNO Atsushi
ロボティクス・メカトロニクス講演会講演概要集, 17 May 2015, The Japan Society of Mechanical Engineers, Japanese
17 May 2015 - 17 May 2015, A tactile device which utilizes a 3 degree of freedom small parallel mechanism is developed. The device presents pressure sensation, two directional share force and vibration at a user's fingertip. The device is designed to be used together with a glove type device. The whole system including the tactile device and the glove type device is expected to present various sensation to the user's hand.

2A1-G03 Pitch Up Hovering Flight Control of a Quad Tilt Rotor UAV　　　　　　　　　　　　　　　
OOSEDO Atsushi, ABIKO Satoko, KUNO Atsushi, NARASAKI Shota, KOKUBUN Shohei, KONNO Atsushi
ロボティクス・メカトロニクス講演会講演概要集, 17 May 2015, The Japan Society of Mechanical Engineers, Japanese
17 May 2015 - 17 May 2015, Quad tilt rotor Unmanned Aerial Vehicle (UAV) solves the problem of underactuated system in general quadrotor UAV. The quad tilt rotor UAV can control position and attitude independently by tilting directions of propellers. However, the flight control system in a wide range of attitudes has not been discussed yet, for example UAV flying and hovering with a 90 [°] pitch angle and can flip over when the range of the tilting motor rotates wide enough. In this paper, we present the flight control system for flight condition with a ±90 [°] pitch angle significantly differs from that in a conventional quadrotor UAV flight. We verify the adequate control system for flight in a wide range of attitude conditions through flight experiment.

1P1-V06 A Glove Type Haptic Device Suitable for Combination with Visual Display　　　　　　　　　　　　　　　
NISHIZAKI Keisuke, SATO Keigo, KOMIZUNAI Shunsuke, KONNO Atsushi
ロボティクス・メカトロニクス講演会講演概要集, 17 May 2015, The Japan Society of Mechanical Engineers, Japanese
17 May 2015 - 17 May 2015, Haptics is important as well as visual presentation to provide high quality virtual experience. Conventional haptic devices have large overhanging drive mechanisms from the outline of the hand, it is possible to spoil the quality of visual information. This paper describes a glove type haptic device designed compactly by using a small drive mechanism using the SMA.

MR流体を用いた手術シミュレータ用遭遇型力覚提示装置による二方向力覚提示　　　　　　　　　　　　　　　
辻田哲平, 亀山卓也, 近野敦, 安孫子聡子, 姜欣, 内山勝
日本ロボット学会学術講演会予稿集(CD-ROM), 2015
2015 - 2015

クアッドロータテールシッタUAVによる最短時間遷移飛行　　　　　　　　　　　　　　　
大瀬戸篤司, 安孫子聡子, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD-ROM), 2015
2015 - 2015

GPGPUを活用した実時間脳腫瘍摘出シミュレーション　　　　　　　　　　　　　　　
佐瀬一弥, 近野敦, 辻田哲平, 辻田哲平, 福原洸, CHEN XiaoShuai, 小水内俊介
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2014
2014 - 2014

脳腫瘍摘出シミュレーションのための安定な柔軟物破壊モデル　　　　　　　　　　　　　　　
佐瀬一弥, 近野敦, 辻田哲平, 辻田哲平, 福原洸, CHEN XiaoShuai, 小水内俊介
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2014
2014 - 2014

Proposition and evaluation of a collision detection method for real time surgery simulation of opening a brain fissure
Akira Fukuhara, Teppei Tsujita, Kazuya Sase, Atsushi Konno, Xin Jiang, Satoko Abiko, Masaru Uchiyama
ROBOMECH Journal 2014, 2014
2014 - 2014

4チルトロータUAVの位置姿勢独立飛行制御　　　　　　　　　　　　　　　
大瀬戸篤司, 安孫子聡子, 楢崎翔太, 久野温, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD-ROM), 2014
2014 - 2014

術具による脳組織圧排に伴う損傷を回避する深部病変部への最適手術経路計画　　　　　　　　　　　　　　　
福原洸, 辻田哲平, 辻田哲平, 佐瀬一弥, 近野敦, 姜欣, 安孫子聡子, 内山勝
日本ロボット学会学術講演会予稿集(CD-ROM), 2014
2014 - 2014

Preface.
Atsushi Konno, Koki Kikuchi, Nathan Michael
Advanced Robotics, 2013
2013 - 2013

サイドスラスタを有する垂直離着陸機の開発　　　　　　　　　　　　　　　
小泉卓也, 古井達也, 大瀬戸篤司, 安孫子聡子, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2013
2013 - 2013

脳裂開放シミュレーションのための接触判定法の提案　　　　　　　　　　　　　　　
福原洸, 辻田哲平, 佐瀬一弥, 近野敦, JIANG Xin, 安孫子聡子, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2013
2013 - 2013

脳外科手術シミュレータ用マイクロ剪刀モジュールによる切断感覚提示　　　　　　　　　　　　　　　
井上祐人, 辻田哲平, 安孫子聡子, 姜欣, 内山勝, 近野敦
日本ロボット学会学術講演会予稿集(CD-ROM), 2013
2013 - 2013

Innovation of the Production Process by Parallel Link Robot
SUEFUJI Nobuyuki, TAKANO Ken, IMADA Yukio, KONNO Atsushi, UCHIYAMA Masaru
Journal of the Robotics Society of Japan, 15 Mar. 2012, 日本ロボット学会, Japanese
15 Mar. 2012 - 15 Mar. 2012

Collaborative Haptic Interaction in Virtual Environment of Multi-Operator Multi-Robot Teleoperation Systems　　　　　　　　　　　　　　　
Nguyen Truong Thanh, Xin Jiang, Satoko Abiko, Teppei Tsujita, Atsushi Konno, Masaru Uchiyama
2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2012, SOC INSTRUMENT CONTROL ENGINEERS JAPAN, English
2012 - 2012, In a multi-operator multi-robot (MOMR) teleoperation system, each human operator controls a remote slave robot via a corresponding master interface to jointly perform complex tasks. This paper provides a hardware-in-loop simulation to study collaborative haptic interaction of MOMR teleoperation systems based on decentralized control approach. This approach uses physically-based motion simulation for rendering cooperative virtual manipulation in haptic interfaces. The dynamic behavior including contact force and collision detection is calculated using Open Dynamics Engine and reflected on haptic interface to assist operators to implement cooperative tasks in graphic environment. The result of this study constitutes a significant step forward for distributed haptic collaboration.

脳神経外科手術シミュレータ用力覚提示装置の開発と評価　　　　　　　　　　　　　　　
庄司怜平, 井上祐人, CHEN Xiao Shuai, 中山雅野, 阿部幸勇, JIANG Xin, 安孫子聡子, 辻田哲平, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2012
2012 - 2012

Linux RT-Preemptを用いたヒューマノイドロボットHOAP-2の実時間制御システムの開発とRTコンポーネントによる実装　　　　　　　　　　　　　　　
富田将茂, 近野敦, 辻田哲平, 安孫子聡子, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2012
2012 - 2012

ヒューマノイドロボットによる移動マニピュレーション　　　　　　　　　　　　　　　
小川修平, 近野敦, 安孫子聡子, 辻田哲平, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2012
2012 - 2012

実脳モデルを用いた脳裂開放シミュレータの実時間性評価　　　　　　　　　　　　　　　
佐瀬一弥, 中山雅野, 佐竹恵和, 安孫子聡子, JIANG Xin, 辻田哲平, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2012
2012 - 2012

オンライン踏み出し動作によるヒューマノイドロボットの転倒回避　　　　　　　　　　　　　　　
星野佑太, 小水内俊介, 富田将茂, 安孫子聡子, 辻田哲平, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2012
2012 - 2012

軟組織動的モデルを用いた手術シミュレーションの検証実験
陳暁帥, 中山雅野, 辻田哲平, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 07 Sep. 2011, Japanese

MR流体により生体軟組織切断感覚を提示するハプティックインタフェースの開発
辻田哲平, 佐瀬一弥, 小原学, 近野敦, 中山雅野, 阿部幸勇, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 07 Sep. 2011, Japanese

二脚ロボットのための軟弱地面における動的沈下モデル
小水内俊介, 近野敦, 安孫子聡子, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 07 Sep. 2011, Japanese

Cooperative Object Transportation by Multiple Humanoid Robots
Meng-Hung Wu, Atsushi Konno, Masaru Uchiyama
Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan, 2011
2011 - 2011

Identification of Physical Properties of Swine Liver for Surgical Simulation Using a Dynamic Deformation Model
Xiaoshuai Chen, Masano Nakayama, Teppei Tsujita, Xin Jiang, Satoko Abiko, Koyu Abe, Atsushi Konno, Masaru Uchiyama
Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan, 2011
2011 - 2011, In recent medical field, surgical simulators with the technique of virtual reality are expected to provide a new means to support the surgical front. We have developed a simulation for brain surgery using a dynamic deformation model. Most of physics models, including the dynamic deformation model, are required to identify the physical properties of target tissues. In this research, we identified physical properties of swine liver. Young's Modulus, Poisson's Ratio and damping coefficient is necessary for the simulation. There are previous researches about identification of Young's Modulus, but that about identification of Poisson's Ratio and damping coefficient are few. Therefore, in this research, we conduct tension experiments to measure Young's Modulus and Poisson's Ratio, and vibration experiments to measure damping coefficient. © 2011 IEEE.

A Human Assistant Robot System for Handling Heavy Mechanical Parts in Assembly Lines
Songgi LEE, Xin JIANG, Koyu ABE, Satoko ABIKO, Atsushi KONNO, Masaru UCHIYAMA
Proceedings of 2011 IEEE/SICE International Symposium on System Integration, Kyoto, Japan, 2011
2011 - 2011

Development of a Wire Harness Assembly Motion Planner　　　　　　　　　　　　　　　
Kyongmo Koo, Xin Jiang, Atsushi Konno, Masaru Uchiyama
Journal of Robotics and Mechatronics, 2011
2011 - 2011

宇宙ステーション搭載アームによる補給機HTVの捕獲ハイブリッドシミュレータの構築　　　　　　　　　　　　　　　
高橋一平, JIANG X., 安孫子聡子, 阿部幸勇, 近野敦, 内山勝, 中西洋喜, 上野浩史, 小田光茂
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2011
2011 - 2011

双腕宇宙ロボットの浮遊物体捕獲ハイブリッドモーションシミュレーションの安定化　　　　　　　　　　　　　　　
菅井文仁, JIANG Xin, 安孫子聡子, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2011
2011 - 2011

足跡マップを用いた二脚ロボットの軟弱地面における歩行シミュレーション　　　　　　　　　　　　　　　
小水内俊介, 近野敦, 安孫子聡子, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2011
2011 - 2011

ロボットを利用したデルタ翼ロール運動の動的風洞試験
阿部弘之, 中田伸大, 沼田大樹, 姜欣, 近野敦, 浅井圭介
流体力学講演会/航空宇宙数値シミュレーション技術シンポジウム講演集(CD−ROM), 2011, Japanese

遠隔双腕宇宙ロボットによる浮遊物体把持作業模擬実験
菅井文仁, JIANG Xin, 安孫子聡子, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

RTコンポーネントを活用したロボットサービスの実現例
野村勇樹, 小水内俊介, 菊地隆浩, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

鈍的剥離操作シミュレーション安定化のための要素破壊モデル
中山雅野, 安孫子聡子, JIANG Xin, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

複数のマニピュレータによる線状柔軟物体のハンドリング
KOO Kyongmo, JIANG Xin, 近野敦正, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

脳外科手術シミュレータ用ハプティックインタフェースの開発
高木優, 阿部幸勇, JIANG Xin, 安孫子聡子, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

人間の手先における非対称剛性モデルの提案
安孫子聡子, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

小惑星探査機のタッチダウンサンプル採集シミュレーション
岩川和晃, 安孫子聡子, JIANG Xin, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

H溝型ロードセルにおける荷重偏置誤差の除去
阿部幸勇, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

2脚ロボットの軟弱地面における接地力学解析
小水内俊介, 近野敦, 安孫子聡子, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

軌道上高質量物搬送ハイブリッドシミュレーション
安孫子聡子, YANG Jae Sung, JIANG Xin, 近野敦, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

テールシッタVTOL UAVの最小移動ポストストール姿勢遷移機動
松本剛明, 近野敦, 鈴木廉, 大瀬戸篤司, 呉健太, 内山勝
日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD−ROM), 13 Jun. 2010, Japanese

Biped walking of a humanoid robot on sand　　　　　　　　　　　　　　　
Shunsuke Komizunai, Atsushi Konno, Satoko Abiko, Masaru Uchiyama
Proceedings of the Sixth International Conference on Flow Dynamics, 2010

Brain Surgery Simulation using FEM　　　　　　　　　　　　　　　
Masano Nakayama, Satoko Abiko, Xin Jiang, Atsushi Konno, Masaru Uchiyama
Proceedings of the Sixth International Conference on Flow Dynamics, 2010

2P1-D06 Contact Dynamics Analysis of a Biped Robot on Loose Soil
KOMIZUNAI Shunsuke, KONNO Atsushi, ABIKO Satoko, UCHIYAMA Masaru
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 addresses contact dynamic model between loose soil and feet of a legged robot. Most of studies for biped robots have assumed the floors as undeformable rigid ones. This paper deals with a locomotion of a biped robot on deformable loose soil like sand. Since the ground reaction force varies according to the contact condition between the feet and ground in case of loose soil, it is necessary to formulate mathematically this relationship. The ground reaction force can be analyzed in the two conditions: static and driving state. In the static state, the ground reaction force is deter...

2A2-B24 Application of the Robot Service by using RT Components
NOMURA Yuki, KOMIZUNAI Shunsuke, KIKUCHI Takahiro, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
The robots are expected to perform daily tasks in human environment. To realize such a robotic system, it is necessary to develop intelligent robotic technology to observe the environmental condition and to accomplish tasks. In practice, it is required to create a robot system which is robust against changes of tasks and environments. This study aims to create such a robust robot system by using RT component. As an example of a daily task performed by the robot, the task of clearing dishes is selected. This paper presents simulation result of the task with several types of robots by applyin...

2A1-B20 Development and Verification of Element Fracture Model for Stabilization of Blunt Dissection simulation
NAKAYAMA Masano, ABIKO Satoko, JIANG Xin, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
Blunt dissection is a surgical technique to expose structures or to separate tissue without cutting. This paper addresses an element fracture model to avoid instability in blunt dissection simulation for virtual brain surgery. Blunt dissection is modeled by finite element fracture in which elements are fractured when their stresses exceed a specified fracture stress. However if an element is fractured without any consideration for connections with adjacent elements, the fracture may produce some structurally unstable elements. The structurally unstable elements cause computational instabili...

1P1-B16 Asymmetric Stiffness Model of a Human Hand
Abiko Satoko, Konno Atsushi, Uchiyama Masaru
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 presents asymmetric stiffness characteristic of a human hand. It is known that a human arm generates variable stiffness depending on tasks by coactivation of agonist and antagonist muscles. Previous related researches have been presented impedance characteristics of a human upper limb in static posture and dynamic motion. These characteristics are represented by ellipsoids. However, the above analyses are based on a simple muscle model and conventional kinematic and dynamics of a robotic manipulator. In this paper, perturbation-excited method is carried out for estimating the sti...

1A2-D22 Error Elimination Technique of Off-center Loading on an H-slit Type Load Cell
ABE Koyu, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
An H-slit type beam (double beam type load cell) has an effect on increasing the strain signals. It can help to enlarge the sensitivity of a force sensor while keeping enough rigidity and stiffness. The other characteristic of an H-slit beam is that its deformation pattern is same as that of a four bar link mechanism. For this kind of mechanism, it is highly important to show resistivity to torsional deformation forces. Commercial weighting equipments utilizing this type of load cell is expected to be capable of eliminating the error due to off-center loading. The effectiveness of it is bel...

1A2-C18 Attitude Transition of Minimum Travel Distance Post-Stall Turnaround for Tail-Sitter VTOL UAVs
MATSUMOTO Takaaki, KONNO Atsushi, SUZUKI Ren, OOSEDO Atsushi, GO Kenta, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
Miniature vertical take-off and landing unmanned aerial vehicles (VTOL UAVs) make various missions possible alone. Since simple tail-sitter UAVs have any extra equipments for tail-sitting maneuver, attitude control is difficult problem. This paper discusses agile turnaround flight utilizing post-stall maneuver for tail-sitter VTOL UAVs. The minimum longitudinal travel distance turnaround strategy is formulated and optimization problem is solved. In order to achieve agile turnaround stably, a novel attitude control strategy for a tail-sitter VTOL UAV is implemented. The results show that the...

1A2-C05 Experiment on Capturing of a Floating Object by a Teleoperated Dual-Arm Space Robot
SUGAI Fumihito, JIANG Xin, ABIKO Satoko, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
One of the expected tasks by space robots is capturing a malfunctioning satellite. There are several works of capturing satellite, however, a few attempts has been carried out to capture an attitude-uncontrolled-satellite without the extra vehicle activity (EVA) by astronaut. This paper presents experiments of capturing a floating object under microgravity conditions by a teleoperated dual-arm space robot. Two teleoperation experiments are studied in this paper: (1) capturing a stationary floating object with time delay, (2) capturing a rotating object without time delay. The dual-arm space...

1A2-B16 Hybrid Simulation of Massive Payload Transfer on Orbit
Abiko Satoko, Yang Jae Sung, Jiang Xin, Konno Atsushi, Uchiyama Masaru
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 presents a hybrid simulator of massive pay load transfer on orbit. The hybrid motion simulator is useful to simulate and analyze the motion of a floating object under collision and microgravity environment. The transfer of a massive pay load by a robotic system on orbit may have a risk of contingental collision. Therefore, it is required to investigate proper approach of handling the massive target in advance. This study developed the hybrid simulator to demonstrate the transfer of the massive payload on ground.

1A2-C04 Touch-down simulation for asteroid exploration
IWAKAWA Kazuaki, ABIKO Satoko, JIANG Xin, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
The touch-down is one promising method to collect samples on the surface of the asteroid. However the condition of the surface of the asteroid is generally unknown. Therefore, it is necessary to comprehend the dynamic behavior of the spacecraft after the contact on the variable types of the asteroid surface to guarantee the safe touch-down sample collecting. This paper describes dynamic simulation of the spacecraft during the contact with the asteroid. The spacecraft consists of a main satellite and a flexible sample collection apparatus. The results of the numerical simulation illustrate t...

1A2-A20 Wire Handling Strategy by Multiple Manipulators
KOO Kyongmo, JIANG Xin, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2010, Japanese
A wire also called Deformable Linear Object(DLO) has a shape of simple line or spline. But has an uncertainty properties of deformation. We can see even the natural status of the wire has a different shapes caused by the internal stress and contact conditions. Especially extern condition determines the shape of the wire. We believe handling motion planning and strategies of DLO, we are considering the electric wire, can automate industrial application. Our interest is not a topological shape of wire, but the manipulation and assembly applications by multiple manipulators. As the first step,...

1A1-C09 Development of a Haptic Interface for a Brain Surgery Simulator
TAKAGI Yutaka, ABE Koyu, JIANG Xin, ABIKO Satoko, KONNO Atsushi, UCHIYAMA Masaru
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 paper, the development of a haptic interface for a brain surgery simulator and a brain surgery simulator using the interface is presented. The haptic interface is composed of two 6-DOF haptic devices which consists of a surgical instruments attaching/detaching mechanism, a force-torque sensor, a 3-DOF rotation mechanism and a modified delta mechanism. The haptic interface enables to simulate medical operations with both hands at the area near the tip of two surgical instruments. In order to evaluate the performance of the interface, experiments are carried out. In the experiments th...

ロバストに作業を実行するための作業知能モジュール群の開発:システム統合と実証実験
松日楽信人, 小川秀樹, 淺間一, 山口亨, 近野敦
日本ロボット学会学術講演会予稿集(CD−ROM), 2010, Japanese

2脚ロボットの軟弱地面における動作シミュレータの開発
小水内俊介, 近野敦, 安孫子聡子, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 2010, Japanese

非力拘束把握型グリッパによる重量物ハンドリング
LEE SongGi, JIANG Xin, 阿部幸勇, 安孫子聡子, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 2010, Japanese

複数ロボットプラットフォームによるRTモジュールの汎用性検証
野村勇樹, 小川修平, 菊地隆浩, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 2010, Japanese

4発ロータテールシッタ航空ロボットの設計とシミュレーション
大瀬戸篤司, 近野敦, 松本剛明, 呉健太, 増子弘二, 安孫子聡子, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 2010, Japanese

3G1-4 Development of a Wheelchair with a Built-in Berthing Apparatus
Abe Koyu, Nakamura Taizo, Ueno Takehiro, Sato Daisuke, Konno Atsushi, Uchiyama Masaru
The JSME Symposium on Welfare Engineering, 23 Sep. 2009, Japanese
Nowadays, apparatus for berthing wheelchairs are configured in many vehicles for public transportation and welfare purpose. Many problems have also been found from practical usage of them. For example, they can not work well with all the wheelchairs of various sizes. Due to the improper fixing position, they are not stable enough confronted to transverse shake. Especially, for most of them, it is impossible to fasten and unfasten the apparatus by the disabled people themselves. In this research, a new kind of wheelchair with a built-in berthing apparatus is proposed. It is expected able to ...

3G1-3 Development of a Winch for Loading Wheelchairs and Stretchers into a Vehicle
Abe Koyu, Nakamura Taizo, Jiang Xin, Konno Atsushi, Uchiyama Masaru
The JSME Symposium on Welfare Engineering, 23 Sep. 2009, Japanese
In many welfare vehicles, loading of wheelchairs and stretchers are assisted by winch embedded in the vehicle. However, most of the winches are not capable of braking in unloading operations. In many situations, the lack of braking implies potential dangers. In this research, a new kind of winch is proposed. It is characterized by the braking system designed for unloading operations. The system makes it possible to unload a wheelchair with a safe velocity and stop an unloading immediately as the operator likes. In addition, with the winch, the fasten belt can be withdrawn following the oper...

車いす,ストレッチャーなどの引上装置の開発
阿部幸勇, 中村泰三, JIANG Xin, 近野敦, 内山勝
日本機械学会福祉工学シンポジウム講演論文集, 23 Sep. 2009, Japanese

固定装置内蔵型車いすの開発
阿部幸勇, 中村泰三, 上野武大, 佐藤大祐, 近野敦, 内山勝
日本機械学会福祉工学シンポジウム講演論文集, 23 Sep. 2009, Japanese

Development of Variable Stiffness Mechanism with Linear Spring
FUNAKAWA YUKIHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 15 Sep. 2009, Japanese

Hybrid Simulation of Capture Operation with Delay Time Compensation
OSAKI KOHEI, YANG JAESUNG, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 15 Sep. 2009, Japanese

Robotilized Assembly of a Wire Harness in Car Production Line
JIANG XIN, KOO KYONG-MO, KIKUCHI KOHEI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 15 Sep. 2009, Japanese

Development of intelligent software modules for robots to perform tasks with robustness: Toward the system integration
MATSUHIRA NOBUTO, ASAMA HAJIME, YAMAGUCHI TOORU, KONNO ATSUSHI
日本ロボット学会学術講演会予稿集(CD−ROM), 15 Sep. 2009, Japanese

1A2-E13 Transitions Between Level-Flight and Hovering of a Tail-Sitter VTOL Aerial Robot
KITA Koichi, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 25 May 2009, Japanese
Tail-sitter is one of the simplest VTOL aircraft. However, because the flight control is difficult, past researches used special equipments to facilitate controlling. To make aerial robots smaller and simpler, we are developing an aerial robot that excludes these special equipments. Flight of VTOL aircraft can be broadly divided into three phases: vertical flight (including hovering), level-flight, and transition flight. This paper describes transition flight between level-flight and hovering of our tail-sitter VTOL aerial robot. The transition flight was constructed based on strategy that ...

1A2-K03 Development and Verification of a Separation Model for Blunt Dissection Simulation of a Brain Surgery
NAKAYAMA Masano, YAMADA Kenta, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 25 May 2009, Japanese
In this paper, a separation model for blunt dissection simulation of a brain surgery is discussed. In the separation model, fracture behavior of brain tissue and its representation in the simulation are important. A brain tissue is modeled by using finite element method. The finite element model is composed of three layers in which a connective tissue model is sandwiched between two brain parenchyma models. In order to represent the fracture behavior in the finite element model, when the principal stress generated at an element exceeds its maximum, the element is removed from the model. In ...

1A1-A13 Development of a Modified Delta Mechanism with Variable Stiffness
FUNAKAWA Yukihiro, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 25 May 2009, Japanese
There are haptic devices as devices that display the virtual reality to human. It is difficult to display the feeling of tactile sense either hardness or softness on hardware in past haptic device and it cannot display both tactile sense. This paper presents the design and development of a modified delta mechanism with variable stiffness. The proposed mechanism can be used as a haptic device to display virtual force and haptics. Since the stiffness at the endpoint of the mechanism is variable, the mechanism can display hardness as well as softness of a virtual object or virtual environment....

Transitions Between Level-Flight and Hovering of a Tail-Sitter VTOL Aerial Robot
KITA KOICHI, KONNO ATSUSHI, UCHIYAMA MASARU
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), 24 May 2009, Japanese

Development of a Modified Delta Mechanism with Variable Stiffness
FUNAKAWA YUKIHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
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), 24 May 2009, Japanese

Development and Verification of a Separation Model for Blunt Dissection Simulation of a Brain Surgery
NAKAYAMA MASANO, YAMADA KENTA, KONNO ATSUSHI, UCHIYAMA MASARU
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), 24 May 2009, Japanese

極限環境下でのロボットによる作業　　　　　　　　　　　　　　　
高エネルギー加速器研究機構 加速器全体打合せのための講演会, 2009

宇宙で活躍するロボット，人と協力するロボット　　　　　　　　　　　　　　　
三菱電機技術部会, 2009

極限環境下でのロボットによる作業　　　　　　　　　　　　　　　
高エネルギー加速器研究機構 加速器全体打合せのための講演会, 2009

宇宙で活躍するロボット，人と協力するロボット　　　　　　　　　　　　　　　
三菱電機技術部会, 2009

Analysis of Human Dexterity While Performing Tasks and Its Implementation on a Humanoid Robot　　　　　　　　　　　　　　　
Shunsuke Komizunai, Atsushi Konno, Masaru Uchiyama
Proceedings of the Sixth International Conference on Flow Dynamics, 2009

Compensation of Dead Time of a Hybrid Simulator
OSAKI KOHEI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 09 Sep. 2008, Japanese

Development of intelligent software modules for robots to perform tasks with robustness: Project introduction and progress
MATSUHIRA NOBUTO, YOSHIMI TAKASHI, ASAMA HAJIME, YAMAGUCHI TOORU, KONNO ATSUSHI
日本ロボット学会学術講演会予稿集(CD−ROM), 09 Sep. 2008, Japanese

東北大学 内山・近野研究室のRT—アイ・イン・ハンド型視覚に基づく振動制御技術—
姜欣, 阿部幸勇, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 09 Sep. 2008, Japanese

Hovering Control of a Tail-Sitter Type VTOL Aerial Robot
KITA KOICHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 09 Sep. 2008, Japanese

東北大学 内山・近野研究室のRT—高指向性力覚センサ技術—
阿部幸勇, 姜欣, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集(CD−ROM), 09 Sep. 2008, Japanese

2P2-A15 Delay Time Compensation to Realize a Variable Coefficient of Restitution in Hybrid Motion Simulation
OSAKI Kohei, TAKAHASHI Ryohei, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese
A hybrid motion simulator generally suffers from a problem in which the kinetic energy of the system increases during contact because of delay times. This paper presents a compensation method for that problem. A dead time model that represents various delay times of the system is presented, and how the kinetic energy of the system is increased by the dead time is clarified. On the basis of that, a method to compensate for the dead time is proposed. This compensation method realizes a variable coefficient of restitution in the hybrid motion simulation. After that, experiments of uniaxial col...

2P1-F11 Evaluation of Nailing Motion for a Humanoid Robot
TSUJITA Teppei, KOMIZUNAI Shunsuke, NOMURA Yuki, OWA Takuya, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese
In order to exert a large force on the environment beyond the limitation of actuators, it is effective to apply impulsive force. We describe the motions that perform tasks by applying impulsive force as "impact motion." In this research, a nailing task is taken as an example of impact motion. To drive a nail skillfully, it is imperative to exert large force to a target point with precision. This paper presents evaluation of optimized motion based on virtual mass dynamics model. In order to evaluate the motion, experiments are carried out using a life-sized humanoid robot HRP-2. The position...

2A1-D02 Performance Evaluation of a Humanoid Robot Equipped with a Gravity Compensation Mechanism in the Legs
KIKUCHI Makoto, SHIRATA Satoru, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese
A humanoid robot has not achieved performance like a human. One factor of this matter is output shortage of a motor. The power weight ratio of the motor falls below that of a human's muscle, and the great progress of that cannot be expected. In order to overcome the limitation of performance, the load of motors must be reduced. A humanoid robot Saika-4 is equipped with a gravity compensation mechanism in the legs. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. This paper is aimed to evaluate utility of the grav...

2A1-G06 A Vision Based Vibration Suppression Control Considering Feature Disappearance
JIANG in, YABE Yosuke, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese
A vision-based vibration control approach had been proposed for flexible-link manipulators. It utilizes the information from end-effector camera to estimate vibration. Particularly, the image features necessary for this approach are not specified to the ones from any assumed objects like artificial markers. Thus this control method has to be capable of dealing with the random variation of the detected features. In this paper, a strategy is proposed to treat the case of feature disappearance.

1P1-F19
KITA Koichi, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 06 Jun. 2008, Japanese
In this study, we developed a tail sitter type VTOL aerial robot, and a basic control system. The VTOL aircraft has advantages of both the rotorcraft and the fixed-wing aircraft. The tail sitter type VTOL aircraft doesn't need an extra actuator for the VTOL action like the tilt rotor type. On the other hand, because the attitude change is large, the control is difficult. The control of the VTOL aerial robot is roughly divided into three phases. The first is the take-off and landing, the second is the transition flight, and the third is the horizontal cruse flight. As the first step for cont...

Hovering Control of a Tail Sitter Type VTOL Aerial Robot
KITA KOICHI, KONNO ATSUSHI, UCHIYAMA MASARU
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), 05 Jun. 2008, Japanese

Performance Evaluation of a Humanoid Robot Equipped with a Gravity Compensation Mechanism in the Legs
KIKUCHI MAKOTO, SHIRATA SATORU, KONNO ATSUSHI, UCHIYAMA MASARU
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), 05 Jun. 2008, Japanese

Evaluation of Nailing Motion for a Humanoid Robot
TSUJITA TEPPEI, KOMIZUNAI SHUNSUKE, NOMURA YUKI, OWA TAKUYA, KONNO ATSUSHI, UCHIYAMA MASARU
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), 05 Jun. 2008, Japanese

A Vision Based Vibration Suppression Control Considering Feature Disappearance
JIANG XIN, YABE YOSUKE, KONNO ATSUSHI, UCHIYAMA MASARU
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), 05 Jun. 2008, Japanese

Delay Time Compensation to Realize a Variable Coefficient of Restitution in Hybrid Motion Simulation
OSAKI KOHEI, TAKAHASHI RYOHEI, KONNO ATSUSHI, UCHIYAMA MASARU
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), 05 Jun. 2008, Japanese

Session 1　　　　　　　　　　　　　　　
Workshop on Humanoid Robotics : State of the Art from Real Platforms, 2008

Session 1　　　　　　　　　　　　　　　
Workshop on Humanoid Robotics : State of the Art from Real Platforms, 2008

Development and Analysis of Teleoperation Assistant System Using Force Display for Dual-Arm Space Robot
TAKAHASHI DAIKI, SUGAI FUMIHITO, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会(CD−ROM), 2008, Japanese

Excavation Task by a Humanoid Robot
NOMURA YUKI, OWA TAKUYA, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会(CD−ROM), 2008, Japanese

A Humanoid Robot That Avoids Falling Down Satisfying Severe Time Constraint
MYOJIN TOMOYA, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会(CD−ROM), 2008, Japanese

Analysis of Nailing Task Motion by a Humanoid Robot
TSUJITA TEPPEI, KOMIZUNAI SHUNSUKE, NOMURA YUKI, OWA TAKUYA, NISHII FUMIYA, MYOJIN TOMOYA, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 13 Sep. 2007, Japanese

Hybrid Simulation of Capturing a Rotating Object by a Dual-Arm Space Robot
TAKAHASHI RYOHEI, SATO DAISUKE, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 13 Sep. 2007, Japanese

Generation and Analysis of Board Breaking Motion of a Humanoid Robot
MYOJIN TOMOYA, TSUJITA TEPPEI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 13 Sep. 2007, Japanese

Preliminary Experiments on an Attitude Control of an Small Aerial Robot
UTSUMI SHINNOSUKE, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 13 Sep. 2007, Japanese

1A1-B03 Design and Evaluation of a Gravity Compensation Mechanism for a Humanoid Robot
SHIRATA Satoru, KIKUCHI Makoto, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, Japanese
Performance of human size humanoid robots is strictly limited by performance of motors. The progress of the motors has not been remarkable compared with the progress of electronics. Therefore, the great progress of the performance of the humanoid robots can not be expected, at least in the present circumstances. In this paper, a gravity compensation mechanism is designed which is applicable to general biped robots. The mechanism is expected to reduce the joint torque of the legs required to support the gravitational force of the whole body. A humanoid robot Saika-4 is equipped with the grav...

1A1-B02 A Human-Like Approach Towards Humanoid Robot Footstep Planning
AYAZ Yasar, KONNO Atsushi, UCHIYAMA Masaru, MUNAWAR Khalid, MALIK Mohammad Bilal
ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, English
Superior navigational ability in everyday environments such as homes and offices is one of the primary incentives behind humanoid robotics research. Yet their ability to step over or upon obstacles remains unexploited if algorithms designed for wheeled robot navigation are also employed for humanoids. Recently, globalized strategies have been designed that do take into account this feature. Yet, due to high computational complexity, most of them remain highly time consumptive. A new approach is presented herewith that employs a human-like approach to terrain traversal. Results of its simula...

1A1-B01 Development of an Impact Motion Generation Support System for a Humanoid Robot
TSUJITA Teppei, TSUCHIE Takuro, MYOJIN Tomoya, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 11 May 2007, Japanese
In order to effectively generate an impact motion of a humanoid robot, a motion generation support system is developed. The system visualizes not only a designed motion but also experimented motion. Force and torque generated in the experiment are superimposed on the experimented motion. The visualized ZMP, GCoM, force, moment and difference between the designed motion and the experimental result will help motion designer to improve the designed impact motion. A nailing task is taken as an example of an impact motion. A motion of a humanoid robot to drive a nail into a wooden plate with a h...

Design and Evaluation of a Gravity Compensation Mechanism for a Humanoid Robot
SHIRATA SATORU, KIKUCHI MAKOTO, KONNO ATSUSHI, UCHIYAMA MASARU
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), 10 May 2007, Japanese

Development of an Impact Motion Generation Support System for a Humanoid Robot
TSUJITA TEPPEI, TSUCHIE TAKURO, MYOJIN TOMOYA, KONNO ATSUSHI, UCHIYAMA MASARU
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), 10 May 2007, Japanese

Enhanced Autonomy for Humanoid Robots to Work in a Real Environment　　　　　　　　　　　　　　　
5th ICT-Asia Regional Seminar, 2007

Enhanced Autonomy for Humanoid Robots to Work in a Real Environment　　　　　　　　　　　　　　　
5th ICT-Asia Regional Seminar, 2007

Generation and Analysis of Impact Motions of a Humanoid Robot
TSUCHIE TAKURO, FUNAKAWA YUKIHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 14 Sep. 2006, Japanese

Improvement of Flexible Manipulator Based Visual Servoing Through Image Interpolation
JIANG XIN, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 14 Sep. 2006, Japanese

Development of a Light Weight and Strong Grip Hand for a Humanoid Robot
KIKUCHI MAKOTO, SHIRATA SATORU, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 14 Sep. 2006, Japanese

ヒューマノイドロボット才華4における重力補償機構の実験的検証 (第11回知能メカトロニクスワークショップ講演論文集) -- (ロボティクス要素技術)
白田 聡, 近野 敦, 内山 勝
知能メカトロニクスワークショップ講演論文集, 07 Sep. 2006, Japanese

ヒューマノイドロボット才華4における重力補償機構の実験的検証
白田聡, 近野敦, 内山勝
知能メカトロニクスワークショップ講演論文集, 07 Sep. 2006, Japanese

JSME Yearbook 18. Robotics and mechatronics.
KOSUGE KAZUHIRO, TSUBOUCHI KOJI, OSUGA KOICHI, MASAMUNE KEN, YASUDA TAKASHI, CHIKANO ATSUSHI, YOSHIMI TAKASHI, ANDO YOSHINOBU
日本機械学会誌, 05 Aug. 2006, Japanese
05 Aug. 2006 - 05 Aug. 2006

18・6 ヒューマノイド(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)　　　　　　　　　　　　　　　
近野 敦
日本機械学會誌, 05 Aug. 2006, 一般社団法人日本機械学会, Japanese
05 Aug. 2006 - 05 Aug. 2006

Development of an Autonomous Indoor Aerial Robot
ISHIHARA TOSHIYUKI, UTSUMI SHINNOSUKE, KONNO ATSUSHI, UCHIYAMA MASARU
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), 26 May 2006, Japanese

Reproduction of Human Pursuit Eye Movement Using a High Speed Vision System
UTSUMI SHINNOSUKE, ISHIHARA TOSHIYUKI, AMANO DAIJIRO, KONISHI YUTA, SUGIMURA TAKEAKI, KONNO ATSUSHI, KOYANAGI MITSUMASA, UCHIYAMA MASARU
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), 26 May 2006, Japanese

インパクト動作ヒューマノイドロボット「HRP-2」　　　　　　　　　　　　　　　
内山勝, 近野敦
日本ロボット学会誌 （社）日本ロボット学会, 2006
2006 - 2006

2A1-C09 Reproduction of Human Pursuit Eye Movement Using a High Speed Vision System
UTSUMI Shinnosuke, ISHIHARA Toshiyuki, AMANO Daijiro, KONISHI Yuta, SUGIMURA Takeaki, KONNO Atsushi, KOYANAGI Mitsumasa, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2006, Japanese
In order to achieve human-like situation awareness ability for robot, a high speed vision system is requisite. A vision system is composed vision chips and binocular camera head. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional (3D) integration technology. Image sensors are tentatively mounted on the camera head, because the 3D vision chip is under construction. The binocular camera head responds quick enough to reconstruct human eye movement. This paper describes the reproduction of a human pursuit eye movement using the vision sy...

2P2-C09 Development of an Autonomous Indoor Aerial Robot
ISHIHARA Toshiyuki, UTSUMI Shinnosuke, KONNO Atsushi, UCHIYAMA Masaru
ロボティクス・メカトロニクス講演会講演概要集, 2006, Japanese
A small arial robot is developed in order to inspect the obstructed indoor hazardous areas such as disaster-stricken areas. Attitude sensors and CPU (Central Processing Unit) are integrated into a radio controlled small helicopter EP-CALIBER M24 (Kyosyo Corporation) for autonomous flight. The rate giro, the acceleration sensor, and the terrestrial magnetism sensor sensor are used to control the attitude. To confirm the effectiveness of the system,the flight experiment are performed, and succeed in the flight during about 3.5 [s]. This paper describes the detail of the development of the aut...

Peg Insertion Operation by a Flexible Manipulator
JIANG XIN, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 15 Sep. 2005, Japanese

Whole Body Cooperative Force Control of a Humanoid Robot
KONNO ATSUSHI
豊田研究報告, 30 May 2005, 豊田理化学研究所, Japanese
30 May 2005 - 30 May 2005

Humanoid Robots & Medical Applications- Research Activities in Japan -　　　　　　　　　　　　　　　
Robotique Humanoïd & Applications Médicales, 2005

Humanoid Robots & Medical Applications- Research Activities in Japan -　　　　　　　　　　　　　　　
Robotique Humanoïd & Applications Médicales, 2005

Optimization of the Slit Profile of the H-slit Beam for Force/Torque Sensor
Abe Koyu, Konno Atsushi, Uchiyama Masaru
日本機械学会東北支部秋季講演会講演論文集, 17 Sep. 2004, Japanese

力覚センサ用H形溝付きはりにおける溝形状の最適化
阿部幸勇, 近野敦, 内山勝
日本機械学会東北支部秋季講演会講演論文集, 17 Sep. 2004, Japanese

Impact Motion of Compact Humanoid Robot HOAP-2
MATSUMOTO TAKAAKI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 15 Sep. 2004, Japanese

Working Posture for a Humanoid Robot to Generate Manipulatoin Force Effectively
Tamada S, Konno A, Uchiyama M
ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese

Development of a Humanoid Robot Saika-4
Shirata S, Conno A, Uchiyama M
ロボティクス・メカトロニクス講演会講演概要集, 18 Jun. 2004, Japanese

Design and Development of a Humanoid Robot Saika-4.
SHIRATA SATORU, KONNO ATSUSHI, UCHIYAMA MASARU
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), 18 Jun. 2004, Japanese

Design and Development of a H-slit Type Ground Reaction Force Sensor for a Humanoid Robot.
TANIDA YUSUKE, ABE KOYU, KONNO ATSUSHI, UCHIYAMA MASARU
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), 18 Jun. 2004, Japanese

Working Posture for a Humanoid Robot to Generate Manipulation Force Effectively.
TAMADA SEIKO, KONNO ATSUSHI, UCHIYAMA MASARU
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), 18 Jun. 2004, Japanese

521 Stiffness Indices for the Performance Evaluation of H4 Parallel Robot　　　　　　　　　　　　　　　
KADlRIKOTA Rajesh babu, KONNO Atsushi, UCHIYAMA Masaru
講演論文集, 13 Mar. 2004, The Japan Society of Mechanical Engineers, English
13 Mar. 2004 - 13 Mar. 2004, Stiffness is the one of the prime and important aspects in determining the quality of design of parallel robots. Evaluating parallel robot based on stiffness will enable the designer to operate it in a given workspace with assured dexterity. Besides stiffness, condition number is also closely related to optimum design of parallel robot. Further, both stiffness and condition number will go to zero under Type-II singularity of parallel robot. Against this backdrop, this paper addresses, the development of objective function in terms of condition number as a function of stiffness matrix of H4 parallel robot. The proposed method will ensure that robot would exhibit equal and same quantity of stiffness in all directions of the workspace i,e. structural isotropy.

最先端宇宙ロボット　　　　　　　　　　　　　　　
平成16年度山形大学公開講座「ロボットの心と体」, 2004

双腕冗長フレキシブルマニピュレータの協調制御　　　　　　　　　　　　　　　
第5回計測自動制御学会システムインテグレーション部門講演会, 2004

最先端宇宙ロボット　　　　　　　　　　　　　　　
平成16年度山形大学公開講座「ロボットの心と体」, 2004

双腕冗長フレキシブルマニピュレータの協調制御　　　　　　　　　　　　　　　
第5回計測自動制御学会システムインテグレーション部門講演会, 2004

Whole Body Cooperated Heavy Task of Humanoid Robots
KONNO ATSUSHI, HWANG Y, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 20 Sep. 2003, Japanese

Vibration Analysis of a Flexible Manipulator Considering the Flexibility in the Joint Parts
MIYABE TOMOHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 20 Sep. 2003, Japanese

Closed-Form Solutions for the Forward Kinematics of a 4-DOFs Parallel Robot H4
Hee-Byoung Choi, Atsushi Konno, Masaru Uchiyama
Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, 20 Sep. 2003, Japanese

Experimental Study on Whole Body Control of a Humanoid Robot to Generate Large Manipulation Force.
TAMADA SEIKO, TSUDA MUNEYUKI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 20 Sep. 2003, Japanese

Development and Evaluation of a Sole Force Sensor Using an H-slit Beam
TANIDA YUSUKE, ABE KOYU, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 20 Sep. 2003, Japanese

A Teleoperation System Using a High-Bandwidth Tactile Display
INO HIROSHI, TACHIHARA SHUICHI, ASAI DAISUKE, SATO DAISUKE, KONNO ATSUSHI, UCHIYAMA MASARU
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), 23 May 2003, Japanese
本論文では, 力覚情報と皮膚感覚情報を同時に呈示可能な遠隔操作システムについて述べる。オーグメンテッドリアリティ環境を介して高い臨場感を創出する操作環境を構築し, 基礎動作実験によってその検証を行う。

An Experimental Teleoperation System for a Dual-Arm Space Robot Using Two Haptic Interfaces
TACHIHARA SHUICHI, INO HIROSHI, WASHINO SEIICHIRO, SATO DAISUKE, KONNO ATSUSHI, UCHIYAMA MASARU
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), 23 May 2003, Japanese
本稿では双腕宇宙ロボットの遠隔操作実験システムについて述べる。本システムは2台のハプティックインタフェースをマスタアームとしている。これにより多様な操作が可能になる。また, 基礎動作実験を行い, 本システムの有効性を検証する。

A Foot Friction Model and Dynamic Simulation of a Quadruped Walking Robot
KONNO ATSUSHI, OGASAWARA KATSUHISA, UCHIYAMA MASARU
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), 23 May 2003, Japanese
ばねダンパによる摩擦モデルを導入し, 四脚歩行ロボットの動力学シミュレータを開発した。すべりが生じるような環境下における実際の四脚ロボットを用いた歩行実験と比較し, 摩擦モデルの妥当性を検証する。

Whole Body Cooperating Pushing Task by a Humanoid Robot
HWANG Y, KONNO ATSUSHI, UCHIYAMA MASARU
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), 23 May 2003, Japanese
本稿では, 人間が全身を使って効率的に押し作業を行うことに着目し, ロボットの安定性を保ちながら全身を用いて対象物に最大接触力を加えることができるような姿勢について考察する。その結果をシミュレーションによる検証する。

Singularity Analysis of a Parallel Robot H4 by Using Screw Theory
CHOI H-B, KONNO ATSUSHI, UCHIYAMA MASARU
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), 23 May 2003, Japanese
現在, 産業で効率的に使われる4自由度パラレルロボットH4の設計を行っている。しかし, パラレル機構の作業範囲において複雑な特異点が存在する。本稿では, スクリュ理論を用い, 4自由度パラレルロボットH4の特異点解析を行った。

A Hybrid Simulator to Use Both Serial and Parallel Mechanisms Jointly
UENO HIROSHI, KAWABE HIROSHI, SATO DAISUKE, KONNO ATSUSHI, UCHIYAMA MASARU
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), 23 May 2003, Japanese
高い周波数帯域かつ広い運動呈示範囲を実現することを目的として, シリアル・パラレル機構を併用したハイブリッドシミュレータを開発した。本稿では, 2つのモーションテーブルによる相対運動の呈示, 及び構築したシステムの評価実験について述べる。

Simulation of Ascending Steep Stairs by a Humanoid Robot
HWANG Y, FUJITA JUN, KAWAUCHI NAOTO, INOHIRA EIICHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 12 Oct. 2002, Japanese

Dynamic Control Simulation on a 4-DOFs Parallel Robot H4
CHOI H-B, COMPANY O, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 12 Oct. 2002, Japanese

A Teleoperation Experiment System for a Dual-Arm Space Robot
TACHIHARA SHUICHI, INO HIROSHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 12 Oct. 2002, Japanese

Design of a Dynamically Reconfigurable Motion Control System.
INOHIRA EIICHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 12 Oct. 2002, Japanese

Redundancy Resolution of a Two-Arm Flexible Manipulator
MIYABE TOMOHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集(CD−ROM), 12 Oct. 2002, Japanese

四脚歩行ロボットの高速動力学シミュレータの開発
小笠原克久, HWANG Y‐K, 猪平栄一, 近野敦, 内山勝
日本機械学会東北支部地方講演会講演論文集, 06 Sep. 2002, Japanese

Development of High Performance Dynamics Simulator for Quadruped Walking Robots
OGASAWARA Katsuhisa, Hwang Yoon Kwon, INOHIRA Eiichi, KONNO Atsushi, UCHIYAMA Masaru
講演論文集, 06 Sep. 2002, Japanese

Implementation of a Standing-State Task Using a Humanoid Robot Saika-3
Tamada S, Furuta T, Inohira E, Konno A, Uchiyama M
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, 07 Jun. 2002, Japanese
我々が開発してきたヒューマノイドロボット才華3は全身で計30自由度が配置されており, 頭部, 胴体, 腕部, ハンド, 脚部を備えているため様々な作業を実現することができる。特にヒューマノイドロボットは, 体幹位置を移動させることにより, 広範な作業領域を獲得できるという利点を持っている。本稿では, 作業中に, 体幹位置を移動しなければ届かない領域にハンドが及ぶ場合について, 作業を実現するための手法を提案し, 検証する。

Feed-Forward Camera Control for Robot Vision Based on Saccade Model
Deguchi Jun, Mitsuya Yusuke, Nakagawa Yoshihiro, Shim Jeoung Chill, Konno Atsushi, Kurino Hiroyuki, Koyanagi Mitsumasa
講演論文集, 16 Mar. 2002, Japanese

サッカードモデルに基づくロボットのためのフィードフォワードカメラ制御の研究
出口淳, 三ツ谷祐輔, 中川源洋, SHIM J C, 近野敦, 栗野浩之, 小柳光正
日本機械学会東北支部総会・講演会講演論文集, 16 Mar. 2002, Japanese

Simulation of Humanoid Balance Compensation with ZMP Manipulation.
HWANG Y, INOHIRA EIICHI, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会講演論文集, 2002, Japanese

Teleoperation of a Spatial 3-DOF Flexible Manipulator.
KASHIWAZAKI TOSHINOBU, MIYABE TOMOHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会講演論文集, 2002, Japanese

A study of a Directional Deflection Beam for Force/Torque Sensors.
ABE KOYU, SATO DAISUKE, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会講演論文集, 2002, Japanese

Design of a Sole Force Sensor Using an H-slit Beam.
TANIDA YUSUKE, ABE KOYU, KONNO ATSUSHI, UCHIYAMA MASARU
自動制御連合講演会講演論文集, 2002, Japanese

An Efficient Vision-Based Object Tracking System for a Quadrupedal Walkng Robot.
MITSUYA YUSUKE, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 18 Sep. 2001, Japanese

双腕フレキシブルマニピュレータによる対象物捕獲作業の解析と実験
宮部友博, 山野光裕, 近野敦, 内山勝
日本ロボット学会学術講演会予稿集, 18 Sep. 2001, Japanese

Development of a Humanoid Robot System Based on QNX Realtime Platform.
INOHIRA EIICHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 18 Sep. 2001, Japanese

ヒューマノイドロボットの動的再構成可能な制御システム (第6回 知能メカトロニクスワークショップ--人間を支援するメカトロニクス技術) -- (特別セッション ロボットの制御)
猪平 栄一, 近野 敦, 内山 勝
知能メカトロニクスワークショップ講演論文集, 30 Aug. 2001, Japanese

ヒューマノイドロボットの動的再構成可能な制御システム
猪平栄一, 近野敦, 内山勝
知能メカトロニクスワークショップ講演論文集, 30 Aug. 2001, Japanese

2P2-M8 Static and Dynamic Transitional Gaits with Variable Velocity for a Quadrupedal Walking Robot
Mitsuya Y, Kato N, Konno A, Uchiyama M
ロボティクス・メカトロニクス講演会講演概要集, 08 Jun. 2001, Japanese

2P2-H1 A Highly Efficient Simulation for Dynamic Walking of Humanoid Robots.
Hwang Y. K, Konno A, Uchiyama M
ロボティクス・メカトロニクス講演会講演概要集, 08 Jun. 2001, Japanese

2A1-N2 Development of the Light Arms and Hands for the Humanoid Robot Saika-3
Furuta T, Ito H, Konno A, Uchiyama M
ロボティクス・メカトロニクス講演会講演概要集, 08 Jun. 2001, Japanese

A Highly Efficient Simulation for Dynamic Walking of Humanoid Robots.
HWANG Y-K, KONNO ATSUSHI, UCHIYAMA MASARU
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, 08 Jun. 2001, Japanese

Static and Dynamic Transitional. Gaits with Variable Velocity for a Quadrupedal Walking Robot.
MITSUYA YUSUKE, KATO NORIYOSHI, KONNO ATSUSHI, UCHIYAMA MASARU
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, 08 Jun. 2001, Japanese

Development of the Light Arms and Hands for the Humanoid Robot Saika-3.
FURUTA TOMOYUKI, ITO HARUO, KONNO ATSUSHI, UCHIYAMA MASARU
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, 08 Jun. 2001, Japanese

Design of the Upper Body of a Humanoid Robot Saika-3.
KONNO ATSUSHI, FURUTA TOMOYUKI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 12 Sep. 2000, Japanese

Dynamic Simulation of Humanoid Robot Using Space Robotics Toolbox SpaceDyn.
HWANG Y-K, KATO NORIYOSHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 12 Sep. 2000, Japanese

Preliminary Motion Experiments of a Humanoid Robot Saika-3.
INOHIRA EIICHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 12 Sep. 2000, Japanese

Experiments on Capturing a Spinning Object by Two Flexible Manipulators.
MIYABE TOMOHIRO, YAMANO MITSUHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 12 Sep. 2000, Japanese

四脚知能ロボットJROB‐2用高速視覚システムの開発
近野敦, 三ツ谷裕輔, 内山勝
知能メカトロニクスワークショップ講演論文集, 30 Aug. 2000, Japanese

Development of the Humanoid Robot Saika-3.
KONNO ATSUSHI, SHIRATA SATOSHI, FURUTA TOMOYUKI, KATO YOSHINORI, UCHIYAMA MASARU
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, 11 May 2000, Japanese

Teleoperation of the Quadrupedal Intelligent Robot JROB-2.
KONNO ATSUSHI, MITSUYA YUSUKE, KATO YOSHINORI, UCHIYAMA MASARU
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, 11 May 2000, Japanese

Linux vs. RT-Linux vs. ART-Linux －フリーリアルタイムＯＳのトレンドを探る－　　　　　　　　　　　　　　　
日本機械学会ロボティクス・メカトロニクス講演会チュートリアル, 2000

Linux vs. RT-Linux vs. ART-Linux －フリーリアルタイムＯＳのトレンドを探る－　　　　　　　　　　　　　　　
日本機械学会ロボティクス・メカトロニクス講演会チュートリアル, 2000

2P1-79-123 ヒューマノイドロボット才華 3 の開発
近野 敦, 白田 聡, 古田 友之, 加藤 雅麗, 内山 勝
ロボティクス・メカトロニクス講演会講演概要集, 2000, Japanese
現在開発中のヒューマノイドロット, 才華3の概要について報告する。開発中の才華3は, 脚部6自由度×2,腕部7自由度×2,ハンド部1自由度×2,視覚装置2自由度の合計30自由度で構成される予定である。これまでに開発した部分, および今後の開発計画について報告する。

2A1-43-043 四脚知能ロボット JROB-2 の遠隔操縦
近野 敦, 三ツ谷 裕輔, 加藤 雅麗, 内山 勝
ロボティクス・メカトロニクス講演会講演概要集, 2000, Japanese
四脚知能ロボットJROB-2を開発した。また, 開発したJROB-2の遠隔操縦システムを構築した。本報告では, 遠隔操縦システムの概要, 遠隔操縦実験について発表する。

Remote Control of a Quadrupedal Walking Robot Using a Joypad.
KATO NORIYOSHI, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 09 Sep. 1999, Japanese

An Experiment of Reflex and Voluntary Behaviors of Humanoid "Saika".
NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, 09 Sep. 1999, Japanese

Experiments on Capturing an Object by a Dual-Arm Flexible Manipulator.
YAMANO MITSUHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, 09 Sep. 1999, Japanese

Robot Control System Using VxWorks and Linux.
YAMANO MITSUHIRO, KONNO ATSUSHI, UCHIYAMA MASARU
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, 12 Jun. 1999, Japanese

Quadrupedal Intelligent Robot Research Platform JROB-2.
KONNO ATSUSHI, YOKOKOJI YASUYOSHI, AIYAMA YASUMICHI, TSUBOUCHI TAKASHI, INOUE HIROCHIKA
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, 12 Jun. 1999, Japanese

Design and Development of Research Platform JROB-2.
KATO NORIYOSHI, KONNO ATSUSHI, UCHIYAMA MASARU, INOUE HIROCHIKA
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, 12 Jun. 1999, Japanese

普及型多足歩行ロボットの機構・制御系・歩容制御入門　　　　　　　　　　　　　　　
日本機械学会ロボティクス・メカトロニクス講演会チュートリアル, 1999

普及型多足歩行ロボットの機構・制御系・歩容制御入門　　　　　　　　　　　　　　　
日本機械学会ロボティクス・メカトロニクス講演会チュートリアル, 1999

Flexible Manipulator Trajectory Learning Control with Input Preshaping Method　　　　　　　　　　　　　　　
Liu Deman, Atsushi Konno, Masaru Uchiyama
Proceeding of the 38th SICE Annual Conference, International Session Papers, Morioka, Japan, 1999

Design and Implementation of a Wheel type Humanoid "H4" as for Vision-Tactile Behavior Research.
KAGAMI SATOSHI, KONNO ATSUSHI, KAGEYAMA RYUSUKE, KABASAWA MITSUTAKA, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1998, Japanese

Compliance Control of a 3D Flexible Manipulator Using Link Strain Data.
YAMANO MITSUHIRO, KAWAGUCHI MASATERU, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, Sep. 1998, Japanese

Development of Dynamic Humanoid 'H5'.
NAGASAKA KEN'ICHIRO, KONNO ATSUSHI, NISHIWAKI KOICHI, KITAGAWA TOMONOBU, SUGIHARA TOMOMICHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1998, Japanese

Development of humanoid type portable network robot.
TAKUMA SHINSUKE, YAEGASHI TAKESHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1998, Japanese

Development and Applications of Multivalued Touch Sensor That Cover Robots.
KAGEYAMA RYUSUKE, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1998, Japanese

Wandering Behavior of Legged Robot Using Binocular Stereo and Color Segmentation.
OKADA KEI, KAGAMI SATOSHI, KABASAWA MITSUTAKA, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1998, Japanese

Hardware of Legged Robot Research Platform: JROB-1.
HARAGUCHI SATOSHI, KABASAWA MITSUTAKA, YAMATAKA MINORI, KAGAMI SATOSHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Experiments of Memorization, Recognition and Reflective Behaviors of Humanoid Robot Saika.
NAGASHIMA KOICHI, KAYAMA KENTARO, YOSHIIKE TAKAHIDE, KAGEYAMA RYUSUKE, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Measurement of Human Posture based on Color and a Human Model.
YOSHIIKE TAKAHIDE, NAGASHIMA KOICHI, NODA TAKURO, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Legged Robot Research Platform JROB-1: Software Components.
KAGAMI SATOSHI, KABASAWA MITSUTAKA, HARAGUCHI SATOSHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Detection of Environment Change and Description of Occlusion using Short-term Memory.
KAYAMA KENTARO, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Motion Acquisition and Control Method of Vision-Equipped Two-Armed Bipedal Brachiation Robot.
NAGASAKA KEN'ICHIRO, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Motion Acquisition in a Virtual World and Its Modification in the Real World of Visually Guided Swing Motion by an Two-Armed Bipedal Robot.
NAGASAKA KEN'ICHIRO, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Construction of a Virtual World for Genetic Motion Acquisition.
NAGASAKA KEN'ICHIRO, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Development of a small PC control system for a networked portable robot.
YAEGASHI TSUYOSHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Sep. 1997, Japanese

Speech Recognition in Noisy Environments.
MITA TAICHI, NODA TAKURO, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Development of BeNet System for Multi-thread EusLisp and Transputer Network.
NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Grasping of Unknown Objects Using Tactile Sensors.
TADA MITSUNORI, KONNO ATSUSHI, NAGASHIMA KOICHI, YOSHIIKE TAKAHIDE, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Realtime Human Detection, Tracking and Interpretation of Action based on Parallel Processing.
SATO KATSUHIKO, KANEHIRO FUMIO, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Developement of spread-type servo joint modules.
ABE KOYU, ARIYAMA KOTA, UCHIYAMA MASARU, KONNO ATSUSHI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Aquisition of inverse dynamics of the arm of humanoid robot "Saika".
FURUKAWA RYO, NISHIWAKI KOICHI, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Construction of Panoramic Environment Model describing Spatial Structure and its Transition.
KAYAMA KENTARO, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Catching a Ball by Humanoid Robot Saika.
NISHIWAKI KOICHI, KONNO ATSUSHI, NAGASHIMA KOICHI, FURUKAWA RYO, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Leading a Self-Contained Quardruped Mobile Robot with a "Dog-Walking" Interface.
KABASAWA MITSUTAKA, ANDO TAKESHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

Development of Small Embeded Processor Boards for Distributed Computing.
NAGASHIMA KOICHI, AIYAMA YASUMICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1997, Japanese

A Human-form Multi-Jointed Robot Hand with Distributed Tactile Sonsors Made from Optic Fiber.
INABA MASAYUKI, SUGITA YUICHIRO, NAGASHIMA KOICHI, KONNO ATSUSHI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Nov. 1996, Japanese

Development of Humanoid Saika-System Construction.
NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Nov. 1996, Japanese

Development of Humanoid Saika. Mechanical Design.
KONNO ATSUSHI, NISHIWAKI KOICHI, NAGASHIMA KOICHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Nov. 1996, Japanese

Recognition of Human Gestures based on Three-dimensional Measurement.
YOSHIIKE TAKAHIDE, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Nov. 1996, Japanese

A Self-Contained Quadruped Robot System Ready to Accept Instructions on Combinative Actions.
ANDO TAKESHI, KABASAWA MITSUTAKA, SHIBATA TOMOHIRO, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROMITSU
日本ロボット学会学術講演会予稿集, Nov. 1996, Japanese

A Study of Sound Stream Based Direction Estimation of Plural Sound Sources.
NODA TAKURO, NAGASHIMA KOICHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1996, Japanese

Hand over Behavior using Visual Information.
YOSHIIKE TAKAHIDE, KONNO ATSUSHI, NAGASHIMA KOICHI, OKA TETSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1996, Japanese

Development of a 2-DOF Servo Module.
KONNO ATSUSHI, INOUE HIROCHIKA, INABA MASAYUKI
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, Jun. 1996, Japanese

Design, Modeling and Control of a Reaction-Driven Space Manipulator.
NENCHEV D N, GOUO AKIO, HIRATA TAKEHIKO, KONNO ATSUSHI, ABE KOYU, UCHIYAMA MASARU
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, Jun. 1996, Japanese

Attention Behavior of Interactive Humanoid System using Behaviornet.
NAGASHIMA KOICHI, OKA TETSUSHI, KONNO ATSUSHI, INABA MASAYUKI, INOUE HIROCHIKA
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, Jun. 1996, Japanese

Approach to firm combination of sense and action based on behavior net.
INABA MASAYUKI, OKA TETSUSHI, KONNO ATSUSHI, INOUE HIROCHIKA
日本ロボット学会学術講演会予稿集, Nov. 1995, Japanese

Application of Arbitrary Form Template to Object Tracking Based on Correlation Processing.
INOUE HIROCHIKA, KONNO ATSUSHI, MORI TAKETOSHI, NAGASHIMA KOICHI
日本ロボット学会学術講演会予稿集, Nov. 1995, Japanese

Reaction nullspace based space teleoperation.
吉田和哉, 岡田茂, 三輪敏雄, 阿部幸勇, 近野敦, 内山勝, DRAGOMIR N
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, Jun. 1995, English

Force control of flexible manipulators.
UCHIYAMA MASARU, KONNO ATSUSHI, KIM J-S
日本機械学会ロボティクス・メカトロニクス講演会講演論文集, Jun. 1995, Japanese

フレキシブルマニピュレータの動力学モデリング　　　　　　　　　　　　　　　
日本機械学会計算力学部門第８回計算力学講演会特別講演, 1995

フレキシブルマニピュレータの動力学モデリング　　　　　　　　　　　　　　　
日本機械学会計算力学部門第８回計算力学講演会特別講演, 1995

Modeling of Flexible Manipulator Dynamics.
KIM J, UCHIYAMA MASARU, KONNO ATSUSHI, USUI KAZUAKI, YOSHIMURA KAZUKI
日本機械学会機械力学・計測制御部門講演会論文集, Jun. 1994, Japanese

Experiments on Vibration Suppressing Control of a 2-Link 7-Joint Flexible Manipulator.
KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, Nov. 1993, Japanese

Stability of Simultaneous Control of Joint Motion and Link Vibration of Flexible Robots.
KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, Oct. 1992, Japanese

Controllability of Spatial Flexible Robots.
KONNO ATSUSHI, UCHIYAMA MASARU, MURAKAMI MASATO
日本ロボット学会学術講演会予稿集, Oct. 1992, Japanese

Configuration Dependent Optimal Feedback Gain for the Vibration Suppression of Flexible Arm Robots.
UCHIYAMA MASARU, MURAKAMI MAHITO, KONNO ATSUSHI
Dyn Des Conf, Jul. 1992, Japanese

Simultaneous Control of Joint Motion and Link Vibration of Flexible Arm Robots.
KONNO ATSUSHI, UCHIYAMA MASARU
Dyn Des Conf, Jul. 1992, Japanese

Controllability of Fexible Robot Arms.
内山勝, 村上真人, 近野敦
計測自動制御学会学術講演会予稿集, 1992, Japanese

Configuration-Dependent Variable-Gain Vibration Control of Spatial Flexible Arms.
KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, Nov. 1991, Japanese

A Strain-Deflection Conversion Algorithm for Multi-Link Flexible Arms.
MURAKAMI MASATO, KONNO ATSUSHI, UCHIYAMA MASARU
日本ロボット学会学術講演会予稿集, Nov. 1991, Japanese

Modeling of the Flexible Arm Dynamics Based on the Holzer's Method.
内山勝, 近野敦
日本ロボット学会ロボットシンポジウム予稿集, 1991, Japanese

Variable-Gain Vibration-Suppressing Control of Flexible Robots.
近野敦, 内山勝, 榛沢文久, 城島陽介
日本ロボット学会ロボットシンポジウム予稿集, 1991, Japanese

Variable-gain vibration-suppressing control of 3-D flexible robot manipulators.
KONNO ATSUSHI, UCHIYAMA MASARU, JOJIMA YOSUKE, HANZAWA FUMIHISA
日本ロボット学会学術講演会予稿集, Nov. 1990, Japanese

Development of a prototype of an astronautical dual arm manipulator (ADAM).
UCHIYAMA MASARU, KONNO ATSUSHI, UCHIYAMA TAKASHI, KANDA SHINJI
日本ロボット学会学術講演会予稿集, Nov. 1989, Japanese

A laser optical link deflection sensor for flexible robot arms.
UCHIYAMA MASARU, KONNO ATSUSHI
日本ロボット学会学術講演会予稿集, Oct. 1988, Japanese

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2011 - 2012

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
2011 - 2012

Study for production process improvement　　　　　　　　　　　　　　　
2011 - 2012

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2011 - 2012

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
2011 - 2012

Study for production process improvement　　　　　　　　　　　　　　　
2011 - 2012

双腕ロボットの高速・高精度位置決め制御技術の開発　　　　　　　　　　　　　　　
2010 - 2012

双腕ロボットの高速・高精度位置決め制御技術の開発　　　　　　　　　　　　　　　
2010 - 2012

ロバストに作業を実行するための作業知能モジュール群の開発　　　　　　　　　　　　　　　
2008 - 2012

ロバストに作業を実行するための作業知能モジュール群の開発　　　　　　　　　　　　　　　
2008 - 2012

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2010 - 2011

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
2010 - 2011

低騒音バックルの開発　　　　　　　　　　　　　　　
2010 - 2011

Feasibility study for production process improvement　　　　　　　　　　　　　　　
2010 - 2011

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2010 - 2011

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
2010 - 2011

低騒音バックルの開発　　　　　　　　　　　　　　　
2010 - 2011

Feasibility study for production process improvement　　　　　　　　　　　　　　　
2010 - 2011

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2009 - 2010

パラレルロボットに関する研究　　　　　　　　　　　　　　　
2009 - 2010

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
2009 - 2010

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2009 - 2010

パラレルロボットに関する研究　　　　　　　　　　　　　　　
2009 - 2010

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
2009 - 2010

新製品開発テーマの最適仕様・設計・製造へのご指導並び助言　　　　　　　　　　　　　　　
2008 - 2010

新製品開発テーマの最適仕様・設計・製造へのご指導並び助言　　　　　　　　　　　　　　　
2008 - 2010

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2008 - 2009

パートナーロボット（中量物）の開発　　　　　　　　　　　　　　　
2008 - 2009

自動車生産ラインにおける柔軟物取り付け作業の自動化　　　　　　　　　　　　　　　
2006 - 2009

自動車生産ラインにおける柔軟物取り付け作業の自動化　　　　　　　　　　　　　　　
2006 - 2009

ロバストに作業を実行するための作業知能モジュール群の開発　　　　　　　　　　　　　　　
2008 - 2008

ロバストに作業を実行するための作業知能モジュール群の開発　　　　　　　　　　　　　　　
2008 - 2008

French-Japanese research collaboration on cooperative robots　　　　　　　　　　　　　　　
2007 - 2008

French-Japanese research collaboration on cooperative robots　　　　　　　　　　　　　　　
2007 - 2008

ヒューマノイドロボットインパクト動作ライブラリーの開発　　　　　　　　　　　　　　　
2006 - 2008

ヒューマノイドロボットインパクト動作ライブラリーの開発　　　　　　　　　　　　　　　
2006 - 2008

ヒューマノイド型双腕フレキシブルロボットの制御の研究　　　　　　　　　　　　　　　
2006 - 2007

ヒューマノイド型双腕フレキシブルロボットの制御の研究　　　　　　　　　　　　　　　
2006 - 2007

ヒューマノイド型双腕フレキシブルロボットの制御の研究　　　　　　　　　　　　　　　
2005 - 2006

HRP-2用インパクト動作生成ソフトウェアの研究開発（レンタル・サポート）　　　　　　　　　　　　　　　
2005 - 2006

車椅子を安全・確実に固縛する装置の研究開発　　　　　　　　　　　　　　　
2005 - 2006

ヒューマノイド型双腕フレキシブルロボットの制御の研究　　　　　　　　　　　　　　　
2005 - 2006

HRP-2用インパクト動作生成ソフトウェアの研究開発（レンタル・サポート）　　　　　　　　　　　　　　　
2005 - 2006

車椅子を安全・確実に固縛する装置の研究開発　　　　　　　　　　　　　　　
2005 - 2006

つま先自由度を持つ二足ロボットの生物規範型歩行　　　　　　　　　　　　　　　
2004 - 2006

HRP-2用インパクト動作生成ソフトウェアの研究開発　　　　　　　　　　　　　　　
2004 - 2006

つま先自由度を持つ二足ロボットの生物規範型歩行　　　　　　　　　　　　　　　
2004 - 2006

HRP-2用インパクト動作生成ソフトウェアの研究開発　　　　　　　　　　　　　　　
2004 - 2006

軽量高速ヒューマノイドアームの振動抑制制御に関する研究　　　　　　　　　　　　　　　
2004 - 2005

ロボットの自律性の高度化に関する研究調査と予備実験　　　　　　　　　　　　　　　
2004 - 2005

車椅子を安全・確実に固縛する装置の研究開発　　　　　　　　　　　　　　　
2004 - 2005

軽量高速ヒューマノイドアームの振動抑制制御に関する研究　　　　　　　　　　　　　　　
2004 - 2005

ロボットの自律性の高度化に関する研究調査と予備実験　　　　　　　　　　　　　　　
2004 - 2005

車椅子を安全・確実に固縛する装置の研究開発　　　　　　　　　　　　　　　
2004 - 2005

ヒューマノイドロボットの全身協調力制御　　　　　　　　　　　　　　　
2003 - 2005

ヒューマノイドロボットの全身協調力制御　　　　　　　　　　　　　　　
2003 - 2005

市販のモータに対応する力制御コントローラの研究開発　　　　　　　　　　　　　　　
2001 - 2003

市販のモータに対応する力制御コントローラの研究開発　　　　　　　　　　　　　　　
2001 - 2003

脚腕協調両手作業基礎理論の開発　　　　　　　　　　　　　　　
2000 - 2003

脚腕協調両手作業基礎理論の開発　　　　　　　　　　　　　　　
2000 - 2003

人に安全な，木材を利用した内骨格型ロボットアームの研究開発　　　　　　　　　　　　　　　
1999 - 2001

人間型ロボットの遠隔操縦に関する研究　　　　　　　　　　　　　　　
1999 - 2001

人に安全な，木材を利用した内骨格型ロボットアームの研究開発　　　　　　　　　　　　　　　
1999 - 2001

人間型ロボットの遠隔操縦に関する研究　　　　　　　　　　　　　　　
1999 - 2001

マイクロ・ソフトメカニクス統合体としての高度生体機能機械の研究　　　　　　　　　　　　　　　
1996 - 2000

マイクロ・ソフトメカニクス統合体としての高度生体機能機械の研究　　　　　　　　　　　　　　　
1996 - 2000

視聴覚統合能動制御ロボットヘッド　　　　　　　　　　　　　　　
1995 - 1996

視聴覚統合能動制御ロボットヘッド　　　　　　　　　　　　　　　
1995 - 1996

フレキシブル双腕ロボットの協調制御に関する研究　　　　　　　　　　　　　　　
1993 - 1994

フレキシブル双腕ロボットの協調制御に関する研究　　　　　　　　　　　　　　　
1993 - 1994

災害医療対応・外傷処置・外傷手術XR 遠隔支援システムの開発　　　　　　　　　　　　　　　
令和5年度安全保障技術研究推進制度
Nov. 2023 - Mar. 2028
近野 敦
防衛装備庁, タイプS, Principal investigator

応力分布を実時間計測可能な脳模型を用いた手術トレーニングシステムの開発
科学研究費助成事業
01 Apr. 2024 - 31 Mar. 2027
辻田 哲平, 安孫子 聡子, 中川 敦寛, 近野 敦
日本学術振興会, 基盤研究(B), 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工学群), 24K00858

Automatic generation of surgical plans using the patient's digital twin
Grants-in-Aid for Scientific Research
30 Jun. 2023 - 31 Mar. 2026
近野 敦, 妹尾 拓, 小水内 俊介
Japan Society for the Promotion of Science, Grant-in-Aid for Challenging Research (Exploratory), Hokkaido University, 23K18486

Laparoscopic surgical dynamic navigation using maximum likelihood estimation of organ deformations
Grants-in-Aid for Scientific Research
Apr. 2023 - Mar. 2026
近野 敦, 安部 崇重, 妹尾 拓, 小水内 俊介, 安孫子 聡子, 辻田 哲平, 陳 暁帥, 佐瀬 一弥
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Hokkaido University, Principal investigator, 23H00480

Development of home mechanical ventilator AR simulators which bridge practice education gap
Grants-in-Aid for Scientific Research
01 Apr. 2022 - 31 Mar. 2025
コリー 紀代, 二宮 伸治, 金井 理, 近野 敦, 井上 創造, 中村 美鈴, 小水内 俊介
本研究では、①医療事故の体験も可能な人工呼吸器複合現実シミュレータの開発と、②機械学習を用いた特徴量抽出による学習評価アルゴリズムの構築を目的としている。


①に関しては、広島国際大学の二宮教授ラボにおいて人工呼吸器の操作パネルと測定値グラフの表示が可能な人工呼吸器トレーニングアプリSimmarを開発いただき、関東圏の2大学において大学院生約40名を対象としたユーザテストとアンケート調査を実施した。その結果、卒後1年目から人工呼吸器に携わったと回答した者が30名(71.4%)、学部レベルでSIMMAN-ALS5000を使用した経験のある12名のうち、8名が満足したと回答し、4名が不満と回答した。大学院レベルでSIMMAN-ALS5000を使用した17名のうち、12名が満足したと回答した。まともに習ったことがないという自由記載も認められた。同時に、特別支援学校における人工呼吸器装着児への看護師のかかわりについて360度動画教材を開発し、アンケートを実施したところ、教材の難易度について、学部3年次の学習内容として適切と回答した者が約8割、学部4年次として適切と回答した者が同じく約8割であった。2023年度はこれらの結果と学会発表後のディスカッションを踏まえ、教材の難易度を設定する。


②に関しては、九州工業大学の井上教授と共に機械学習において抽出すべきタスクについて検討し、先行研究に基づき、手袋着用から手袋廃棄までの気管内吸引の一連の流れを1回の気管内吸引とし、吸引前の判断指標となる「肺音聴診」、吸引後の看護介入である「体位ドレナージ」を含めた行動認識のためのアノテーションを進めている。翌年度は、習熟度を判定する分類器の開発を進める。
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 22H03701

Motion analysis of laparoscopic surgical skills in experts and its use for surgical education
Grants-in-Aid for Scientific Research
01 Apr. 2021 - 31 Mar. 2024
安部 崇重, 渡辺 雅彦, 七戸 俊明, 篠原 信雄, 近野 敦
鉗子動態に基づく手術技量評価法の開発
これまでのウエットラボ参加者70名の鉗子動態計測データを用いて、手術経験数を熟練度の指標として用い、サポートベクターマシン等を用いて、鉗子動態に基づく手術技量分析能を評価した。良好な弁別能を観察しており、現在論文投稿中である。また、これまでのウェットラボ記録ビデオに関して、腹腔鏡手術技術評価表であるGOALS評価表を使用し、2名の腹腔鏡技術認定医による技術評価を修了した。GOALS評価表は、1. Depth perception, 2. Bimanual dexterity, 3. Efficiency, 4.Tissu handling, 5. Autonomy の5項目を、それぞれ1-5段階で評価を行う形式で、5-25点の点数が割り付けられる。R3年度は、鉗子動態計測値とGOALSスコアの相関評価を行い、鉗子動態に基づく機械学習を用いたGOALSスコアの自動計算法を開発した。現在、論文投稿中である。


カダバーを用いた腹腔鏡下腎摘除術トレーニングプログラムの開発と鉗子動態の計測・解析
使用するカダバーは、シール法と呼ばれる固定方法の献体で、生体と比較し良好な組織類似性が特徴である。2020年9月末より腹腔鏡下腎摘除術トレーニングにおいて、三眼カメラOptiTrack V 120 Trioを用いて鉗子動態計測を開始している。R3年度は、18名の参加者に関して、カダバー腹腔鏡下腎摘除術の鉗子動態の測定を行った。
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 21H00893

緩徐な脳圧排技術を基とした脳深部手術研究と新規脳レトラクタの開発
科学研究費助成事業
01 Apr. 2018 - 31 Mar. 2023
林 俊哲, 大沢 伸一郎, 佐藤 洋, 中川 敦寛, 荒船 龍彦, 近野 敦, 辻田 哲平, 陳 暁帥, 佐瀬 一弥
共同研究者と定期的に(概ね1回/月TV会議および年数回程度東京などにて)会議を行い新規レトラクタの構造や材料について議論を行なっている．また共同研究と共に試作品を設作成し会議にて議論を重ね，数度の改変を行い暫定的なレトラクタを数種類作成した．概ね設計コンセプトは確立されたが材料の選定，臨床実証を行う上での細かな構造改変が必要であり，ディスポーザブルなシース構造とシースを拡大する構造のブラッシュアップをさらに重ねる方針となった.
暫定的なレトラクタの試作品を用いてブタ脳に対する穿刺実験を累計5回施行し，レトラクタが脳に与える影響について検討を行なった．ブタ実験の結果，これまで臨床に使用されているタイプに模したレトラクタと新規レトラクタを比較したところ，手術中の脳圧に対する影響は同程度であり，脳に対する損傷程度は両者で同等ないし新規レトラクタで損傷程度が少ないとの所見と考えられた．さらに病理組織所見による検討では，新規レトラクタでは拡大率が小さい場合には既存のレトラクタとの差異はほとんどみられないものの，拡大率を大きくした場合には同等のレトラクタ径で穿刺を行った場合には，新規レトラクタにおいて穿刺部位周囲の脳実質における出血抑制効果が認められ，脳損傷の程度は同程度であり新規レトラクタの有用性が示された．
上記結果を踏まえ，新規レトラクタのヒトへの臨床実証を行う予定であり，実証のためのヒト脳へ応用可能なレトラクタを新たに作成中である．現在共同研究者とレトラクタの構造設計を試行錯誤しており，3Dプリンタによる模型を作成しつつ実用レトラクタを試作中である．また，レトラクタに装着する圧モニターの小型化および汎用性について情報を収集し対応中である．
日本学術振興会, 基盤研究(C), 東北大学, 18K08932

多自由度空中力触覚提示デバイスの開発　　　　　　　　　　　　　　　
共同研究
Apr. 2022 - Mar. 2023
近野敦
ソニーセミコンダクタソリューションズ株式会社, Principal investigator

溶接士視野映像を用いた定量化技術に関する研究　　　　　　　　　　　　　　　
共同研究
May 2022 - Oct. 2022
近野敦
川田テクノロジーズ株式会社, Principal investigator

災害現場上空からのヒューマノイドロボットの迅速な投入
科学研究費助成事業
01 Apr. 2019 - 31 Mar. 2022
辻田 哲平, 佐藤 大祐, 安孫子 聡子, 近野 敦, 山田 俊輔
膝部の柔軟関節にSEA(Series Elastic Actuator)であるHEBI Robotics社製のX-シリーズアクチュエータのX8-9を搭載した一脚ロボットの衝撃試験を行い，SEAのシステム同定と動力学シミュレーションによるロボット全体の挙動の再現行った．また，柔軟関節を有する二脚ロボットの試作も行った．
SEAのシステム同定を行うために，片側を地面に固定した2リンク1関節ロボットの関節部にX8-9を用い，もう片側のリンクに硬球を振り子によって衝突させることが可能な実験装置を開発した．振り子の高さを変化させることで衝撃力を変化させ，各実験における関節角度の時系列変化を取得した． SEAをバネ，ダンパ，アクチュエータ要素でモデリングし，このモデルの係数を実験結果と誤差が最小化されるように最適化計算を行うことで導出した．その後，このSEAモデルをMathworks社製マルチボディダイナミクスシミュレーションソフトウエアであるSimscape Mulibody上で2リンク1関節ロボットの動力学計算モデルに導入し，柔軟関節を有するロボットの動力学シミュレータを開発した．このシミュレータの精度検証を行うために，2リンク1関節ロボットを実際に10mmの高さから関節角度45°で落下させ，そのときの関節角度の時系列変化と比較をおこなった．落下時の関節角度誤差は2°程度と動作生成に十分な精度を有することがわかった．
また，これまで開発してきた柔軟関節を有する一脚ロボットは，シリアルリンク構造をとっており，足部に搭載されたアクチュエータに直接衝撃が印可される，脚を高速に運動させることができないといった問題があった．そこで，パラレルリンク機構の内部に柔軟要素をもたせることで，これらの問題を解決することが可能な二脚ロボットを開発した．
日本学術振興会, 基盤研究(B), 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工学群), 19H02119

Surgical support system using real-time dynamic simulation and mixed reality
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)
Apr. 2018 - Mar. 2022
Atsushi Konno, Toshiaki Shichinohe, Satoko Abiko, Teppei Tsujita, Xiaoshuai Chen, Kazuya Sase, Shunsuke Komizunai
In conventional surgical navigation systems, organ models generated from preoperatively taken medical images of the patient are superimposed onto the patient's image to indicate the location of the affected area to the surgeon. However, the information is not updated even if a part of the organ is removed, and hence the gap between the navigation and the actual situation of organs becomes considerably large as the surgery progresses. In this study, a prototype of a surgical support system using mixed reality is developed. In the system, the position of surgical instruments during laparoscopic surgery is tracked, and when the estimated position of the tip of the surgical instruments and the organ model come into contact, a dynamic simulation running in parallel with the surgery calculates the deformation of the organ and the stress generated inside the organ. The information projected on the patient’s body or displayed on a TV monitor are updated in real-time.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Hokkaido University, Principal investigator, Competitive research funding, 18H04102

Development of a weak shock wave pulse jet scalpel that achieves both local control of infiltrating lesions and preservation of postoperative function
Grants-in-Aid for Scientific Research
01 Apr. 2018 - 31 Mar. 2021
Nakagawa Atsuhiro
The purpose of present study was to achieve infiltration of drug delivery to brain parenchyma through neuroendoscopic procedure by applying pulsed water jet. We have hypothesized that the penetration depth and area can be modified by applying shock wave. We have measured material property of brain and measured penetration depth and area using brain phantom and animal model. Present results showed the possibility of shock wave modified pulsed water jet can be additional treatment tool for the malignant lesion without well demarcated margin.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Tohoku University, 18H04157

IoTデバイスによる外科手術技量評価システムの研究開発　　　　　　　　　　　　　　　
共同研究
Apr. 2020 - Mar. 2021
近野敦
ソニーセミコンダクタソリューションズ株式会社, Principal investigator

Development of three-dementional simulation to improve instant judgement and technical elaborateness
Grants-in-Aid for Scientific Research
01 Apr. 2017 - 31 Mar. 2020
Noriyo Colley
To provide safe and effective tracheal suctioning, prompt and multiangle decision and delicate catheter operation must be acquired. We developed a Projection Mapping simulator which shows biological reactions of an adult patient by 3D Computer Graphics to train above mentioned skills. Several scenarios which frequently clinically occur, e.g. the drop of the arterial oxygen saturation by the prolonged suctioning time, was created. Using such scenario, experienced nurse's and nursing students' eye movement and motion was inspected to quantify the learning curve to obtain judgment skill and delicate suctioning catheter control. Particular results were shown about the difference of eye movement and motion between the nursing student group and the nurse group.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Hokkaido University, 17H04425

粒子法－有限要素法連成解析手法の開発補助事業　　　　　　　　　　　　　　　
自転車等機械振興事業に関する補助金
Apr. 2018 - Mar. 2020
近野 敦
公益財団法人JKA, Principal investigator, Competitive research funding

Analysis of flow of smart fluid for imitating brain tissues mechanically and its application to the surgical simulators
Grants-in-Aid for Scientific Research
01 Apr. 2016 - 31 Mar. 2019
Tsujita Teppei
The smart fluid is a fluid that can show various functions by changing the external field, and MR (Magnetorheological) fluid is a kind of this smart fluid. MR fluid can behave a brain tissue, and operators can carry out surgical operations such as cutting and retraction it directly．Based on this idea, a haptic interface for the surgical simulator which can display minute force has been developed.
In addition, cutting or retracting of the MR fluid is a new usage of the fluid and the flow mode had not been analyzed until now, and the flow phenomenon has not been clarified. Therefore, the resistance force for the surgical tool of the arbitrary shape could not be estimated, and it was impossible to design the haptic interface based on a model. Then, the resistance force generation mechanism was clarified, and the basic verification of the numerical simulator which could estimate the generated resistance force was carried out.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工学群), 16H04309

小型回転翼飛行体の制御性向上に関する研究　　　　　　　　　　　　　　　
共同研究
Apr. 2018 - Mar. 2019
近野 敦
川田テクノロジーズ（株）, Principal investigator, Competitive research funding

ドローン状態量推定技術の研究　　　　　　　　　　　　　　　
共同研究
Apr. 2017 - Mar. 2018
近野 敦
川田テクノロジーズ（株）, Principal investigator, Competitive research funding

Neurosurgery Supporting System based on Real-Time Dynamics Simulation
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)
Apr. 2015 - Mar. 2018
Konno Atsushi
Neuronavigation has been widely used in neurosurgery, which localizes the 3D position of the affected area and displays the position on the preoperative medical image such as CT or MRI images. However, the displayed position becomes unreliable when brain is deformed by the loss of cerebral spinal fluid (CSF) or removable of the affected area. Such deformation is referred to as brain shift. In this work, a supporting system for neurosurgery was developed, which visualizes the estimated brain shift and stress distribution in the brain based on the real-time dynamics simulation. Furthermore, a semi-automated method to generate the finite element model of the brain of the patient from the preoperative medical images was developed.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Hokkaido University, Principal investigator, Competitive research funding, 15H01707

Realization of parachute landing by humanoid robot
Grants-in-Aid for Scientific Research
01 Apr. 2015 - 31 Mar. 2017
Tsujita Teppei
Although how to perform tasks at disaster sites has been actively discussed, there is little debate on important issues such as how to deliver robots to disaster sites. We propose to drop a humanoid robot with a parachute from an airplane as one of the methods of delivering robots. In this research, we aim to establish a method to absorb the shock at the time of landing by whole body motion for preventing the damage to the robot. As an early stage of this research, drop tests using a small one-legged robot were conducted. From the viewpoint obtained by these experiments, we designed a parachute landing motion for the small robot heuristically and succeeded in reducing the impact acceleration to 40%.
Japan Society for the Promotion of Science, Grant-in-Aid for Challenging Exploratory Research, 防衛大学校(総合教育学群、人文社会科学群、応用科学群、電気情報学群及びシステム工, 15K12113

Cooperative Object Transportation by Multiple Humanoid Robots
Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research
Apr. 2014 - Mar. 2017
Konno Atsushi
For cooperative object transportation by multiple mobile robots, the leader-follower type cooperation has been enthusiastically studied so far. However, in the leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, in the cooperation among biped robots, the time-lag between leader and follower robots may cause fall down of biped robots. Therefore, symmetry type cooperation has been developed in this project, in which every robots synchronously move. Dynamic simulation results show that when the object transportation seed is fast, the leader-follower type cooperation becomes unstable (some of robots fall), while the symmetry-type cooperation maintains stability. The proposed symmetry type cooperation was also verified by performing experiments using two real humanoid robots.
Japan Society for the Promotion of Science, Grant-in-Aid for Challenging Exploratory Research, Hokkaido University, Principal investigator, Competitive research funding, 26540130

力覚触覚提示装置を用いた脳外科手術シミュレータの開発　　　　　　　　　　　　　　　
最先端・次世代研究開発支援プログラム
Apr. 2010 - Mar. 2014
近野 敦
日本学術振興会, Principal investigator, Competitive research funding

双腕ロボットの高精度位置決め技術の開発　　　　　　　　　　　　　　　
共同研究
Apr. 2010 - Mar. 2013
近野 敦
川田工業（株）, Principal investigator, Competitive research funding

ロボット行動計画技術，冗長自由度利用技術，力覚制御技術開発の研究開発　　　　　　　　　　　　　　　
共同研究
Apr. 2009 - Mar. 2012
近野 敦
三菱電機（株）, Principal investigator, Competitive research funding

Next-Generation Dynamic Wind-Tunnel Testing for Realizing Virtual Flight-Test Environment
Grants-in-Aid for Scientific Research
2010 - 2012
ASAI Keisuke, NAGAI Hiroki, NUMATA Daiju, JIANG Xin, KONNO Atsushi, NAKAKITA Kazuyuki
The purpose of this study is to develop a next-generation dynamic wind-tunnel testing technique based on hybrid-simulation approach for studying dynamic stability of aircraft in nonlinear flight region. A new parallel-link robotic manipulator called “HEXA" has been designed, built, and used for conducting multi-degree-of-freedom dynamic wind-tunnel testing. In addition, advanced optical measurement techniques such as unsteady Pressure-Sensitive Paint and Fluorescent Mini-tuft have been developed to visualize the flow on the model moving in the flow. As a result of the experiment using these techniques, the effects of oscillation frequency and amplitude on the dynamic stability of a wing have been clarified.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Tohoku University, 22246103

ポータブルテールシッターVTOL無人航空機の開発
科学研究費助成事業
Apr. 2009 - Mar. 2011
近野 敦, 内山 勝, 姜 欣, 阿部 幸勇, 安孫子 聡子
本研究では,災害発生時に上空から被災地の情報を収集することを目的とした,ポータブルテールシッターVTOL型無人航空機を開発する.平成22年度は,飛行シミュレータの開発,ホバリング制御の開発を行った.
平成21年度に構築した飛行モデルを用いて,飛行シミュレータを開発した.実際の機体に制御則を実装する前に,この飛行シミュレータで制御則の有効性を確認した.
まず,GPS情報に基づく定位置ホバリング制御を開発した.GPS情報では機体の高度に関して精度が得られないので,地面との距離を計測する超音波センサと気圧差を利用した高度計を併用して機体の高度を制御することとした.プロペラを一つのみ有する単発機では,メインローターの回転による反動トルクが発生し,何も制御しないとヨー軸周りに回転してしまう.そこでヨー軸周りの反動トルクをエルロン(補助翼)で抑制する制御則を開発した.
次にホバリングしながらの指定経路追従制御を研究開発した.ホバリングしながら経路追従を行うためには,水平方向に力を発生させなければならない.ここではエレベータ(昇降舵)とラダー(方向舵)の舵面にプロペラ後流(ダウンウォッシュ)を当てることで水平分力を作り出す制御を試み,実機での制御実験を行い,その有効性を検証した.
日本学術振興会, 挑戦的萌芽研究, 東北大学, Principal investigator, Competitive research funding, 21656219

衝撃力に対するヒューマノイドロボットの転倒回避制御
科学研究費助成事業
Apr. 2009 - Mar. 2011
近野 敦, 内山 勝, 姜 欣, 阿部 幸勇, 安孫子 聡子
平成22年度は,転倒回避制御および戦略の改良と小型ヒューマノイドロボットによる転倒回避実験を行った.平成21年度に開発した転倒回避戦略を,小型ヒューマノイドロボットによる転倒回避実験の結果をフィードバックしながら改良した.
小型ヒューマノイドロボットによる転倒回避実験のために,開発済みの衝撃力印加装置およびロボット保護センサスーツを改良し,ロボット前方からだけでなくあらゆる方向から衝撃力を印加できるように整備した.転倒回避制御のために,加速度センサ,ジャイロスコープからのセンサ情報を融合しながら転倒を判断する指標を作成した.小型ヒューマノイドロボットに様々な大きさの衝撃力を印加して,そのときの転倒判断指標と転倒したかどうかの結果から,作成した転倒判断指標が妥当であることを検証した.転倒していると判断した後,反射的に行動を起こさなければならないため,予めいくつかの回避行動パターンを用意しておき,それらを組み合わせることで転倒を回避する手法を開発した.
片足支持期を想定して衝撃力を印加し,転倒回避制御と戦略が有効に機能しているかを実験的に検証した.また人間サイズヒューマノイドロボットでの転倒回避実験の一部を前倒して実施した.
日本学術振興会, 基盤研究(B), 東北大学, Principal investigator, Competitive research funding, 21300073

ロバストに作業を実行するための作業知能モジュール群の開発　　　　　　　　　　　　　　　
次世代ロボット知能化技術開発プロジェクト
Apr. 2007 - Mar. 2011
近野 敦
新エネルギー・産業技術総合開発機構, Principal investigator, Competitive research funding

Experimental Model of a Large Displacement Micro Tweezers Used for Force Display.
Grants-in-Aid for Scientific Research
2008 - 2010
ABE Koyu, UCHIYAMA Masaru, KONNO Atsushi, JIANG Xin, ABIKO Satoko
Through the research project, two main achievements are obtained.
(1)A method for simultaneously measuring the loading position and the magnitude of the load force is found out. It uses an H-slit type double beam structure as the deflection mechanism. The effectiveness of the method is verified by FEA simulations and an experimental model. As a result of the finding, we can know the actual magnitude of the load whichever part of the tweezers is gripped by an operator.
(2)Overload prevention is important for a micro tweezers with function of force display. Since unexpected external force may damage it. A new type of overload prevention mechanism is proposed for those tweezers with small deflection mechanism.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Tohoku University, 20560231

ヒューマノイドロボットインパクト動作ライブラリーの開発　　　　　　　　　　　　　　　
産業技術研究助成事業
Apr. 2005 - Mar. 2008
近野 敦
新エネルギー・産業技術総合開発機構, Principal investigator, Competitive research funding

脳外科手術試技のための術具イン・ザ・ループシミュレータ
科学研究費助成事業
2007 - 2008
内山 勝, 近野 敦, 佐藤 大祐, 姜 欣, 阿部 幸勇
本年度は脳外科手術における鈍的な剥離、切断のような両手を用いて術具を操作する場合において、そのシミュレーションと任意の術具の使用可能な手術シミュレータの構築を行った。この構築したシステムでは, これまで用いてきたハプティックインタフェースの姿勢部の改良に加え, 実際の手術機器をハプティックインタフェースの先端に簡単な操作で取り付けられる器具着脱機構の設計を行った。構築したシステムでは、手術中において、脳べら、剥離子、マイクロ剪刀などの交換および組み合わせての使用を想定している。
また、手術する際、手術機器が脳組織に与える動的な影響を考慮することから、動的な変形の表現可能なモデル化手法について提案した。この提案した手法を脳べらによる押し込み操作シミュレーションに適用し、その有効性を確認した。この手法を導入したことにより、脳組織の変形挙動は、従来までの手術機器の操作速度、加速度を考慮しない静的なものから, 生体軟組織の振動を含む動的なものに拡張でき、より現実に近いものになってきている。
そのうえで、手術手技の基礎的な部分、なかでも鈍的剥離操作に重点をおいて研究を行った。鈍的剥離操作は組織をメスやハサミなどの鋭利な部分で切開するのではなく、鈍的なものを用い、押し広げながら切開していく方法である。これは脳深部を対象とした手術において、重要な手技の一つである。この研究において、操作者が実際の剥離子を用いて剥離操作を行う際、発生する鈍的剥離現象を対象に、剥離モデル、リアルタイムシミュレーションに必要な反力、変形計算手法を提案した。また、提案した剥離モデルと計算手法を実物における剥離現象に適用し、評価を行って、その有効性を確認した。
日本学術振興会, 萌芽研究, 東北大学, 19656064

軽量高速ヒューマノイドアームの振動抑制制御に関する研究　　　　　　　　　　　　　　　
共同研究
Apr. 2004 - Mar. 2007
近野 敦
（株）NTTドコモ, Principal investigator, Competitive research funding

Development of compact size force sensing devices which uses for high directivity elasticity beam
Grants-in-Aid for Scientific Research
2006 - 2007
ABE Koyu, UCHIYAMA Masaru, KONNO Atsushi, SATO Daisuke, JIAN Xin
The objective of this study is to design and develop a small 6-axis force sensor and micro force-sensing device, using the slit type beam structure. The results of this research are summarized as follows.
1. We proposed H-slit type parallel beam structure in our previous work. This sensor structure alone can be realized for overload prevention without any other parts and can be embedded as overload prevention mechanism in the structure. However, to care for fatigue failure, flatness of the stress distribution in the notch is important for a slit type beam when using it for ceramics. 1) To determine the optimum notch shape for a notched beam. The results showed that an elliptical notch with a minor-axis-to-major-axis ratio of 1/5 to 1/6 gave relatively good performance for torsional rigidity. 2) To prevent the fatigue failure on the H-slit beam, flatness of the stress distribution and the curvature of maximum stress part in the notch are important. About this, the ellipse of minor axis and major axis ratio 1/5 showed good result. 3) In case of the elliptical profiles, generated strains are slightly larger than the rectangle profiles. 4) The acting point of overload prevention can be built up at the design stages by calculation correctly. However, the rotational center at the notch is important. The ellipsoid curves rotational center is placed more in vicinity of notch center as compared to the rectangular curves. 5) This H-slit beam is to be applied to the micro-scissors type haptic device to convey feeling of cutting in brain surgery seen under microscope.
2. It was analyzed for Stewart Platform type structure model using FEA and to fabricate prototype model small 6-axis force sensor. However, it yet remains out of reach of the goal, because of difficulty in cutting out of the interference of cross talk from the beams generated signals.
3. The result of research has been presented in the domestic and international conferences and has also been reported to the journals.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Tohoku University, 18560242

IMPACT DYNAMICS OF HUMANOID ROBOTS
Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)
Apr. 2006 - 2007
KONNO Atsushi, UCHIYAMA Masaru, JIAN Xin, ABE Koyu, SATO Daisuke
Impact motion of humanoid robots is studied. Impact motion is a motion in which a robot gains momentum and applies the momentum as an impulsive force to exert a large force on environments. Impact motion is effective when a robot cannot produce static force large enough to complete a given task. Firstly, model of impact dynamics is studied to compute the impact force at a collision between a robot and an environment. Secondly, a way to generate impact motions for humanoid robots to exert a dynamic force large enough to complete a given task. The generated impact motion is optimized to maximize the impact force, minimizing the angular momentum of the body during the motion.
Breaking wooden boards by Karate-chop is taken as a case study because it is a typical example of tasks that utilize impulsive force. A humanoid robot motion for the Karate-chop is generated by the proposed method. In order to validate the designed motion, experiments are carried out using a small humanoid robot Fujitsu HOAP-2. The Karate-chop motion generated by the proposed method is compared with the motion designed by a human. The success rate of the human-made motion for the chemical wood board whose thickness is 5 mm was 10%, while the success rate of the optimized motion for the same board was 90%. The success rate is drastically improved by using the proposed method.
In an impact motion, a humanoid robot suffers from the reaction force which is as large as the applied force. Therefore, the attitude stabilization of the humanoid robot against the reaction force is one of the key issues. The conventional attitude stabilization by translating the torso is effective only for the relatively small reaction force. In order to keep balance of the humanoid robot even after suffering from large reaction force, attitude stabilization by stepping is developed. This stabilization technique is evaluated in the experiments using Fujitsu HOAP-2.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Tohoku University, Principal investigator, Competitive research funding, 18300067

Acquisition of Next Generation Dual-arm Teleoperation Technology through Hybrid Simulation
Grants-in-Aid for Scientific Research
2004 - 2007
UCHIYAMA Masaru, KONNO Atsushi, SATO Daisuke, JIAN Xin, ABE Koyu
The aim of this research is to develop a next generation dual-arm teleoperation technology through exploiting a hybrid motion simulation technology to simulate micro-gravity environment. It is expected that the aim can be achieved by integrating the hybrid motion simulation technology which has been developed and verified in the head investigator's laboratory into dual-arm robot based teleoperation. Following this idea, a system is designed to be capable of simulating tasks such as robotic assembly of truss structures, and robotic retrieval of satellites, which are undertaken in micro-gravity environment. The main achievements of this research project are summarized as follows.
1. A hybrid motion simulator characterized by a 9DOF motion table is developed and evaluated. This introduction is verified to be helpful to greatly enlarge the region of motion indication.
2. With the developed system, dual-arm robot based assembly involved with time delay is investigated. Some approaches like partially automating some of assembly processes, and vision based operation assistance are proposed. With these technologies implemented, assembly of a complex truss structure is achieved by teleoperation even under 5 second time delay.
3. The dynamic consistency of the hybrid motion simulation is analyzed. It contributes to answer whether the indicated motion by the simulator can be trusted as the reproduction of the real physical phenomenon. A system consistency evaluation method is proposed. It takes rebound coefficient as the main evaluation factor. And for the two main consistency related factors, servo error and time delay, compensation approaches are proposed and validated, respectively.
4. The efficiency of developed system is validated by simulating a task of capturing a rotating object by the dual-arm robot, which is expected to imitate the task of practical robotic satellite retrieval. In this research, the simulation system helps to propose a capturing strategy for such a complex task.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), Tohoku University, 16206024

つま先自由度を持つ二足ロボットの生物規範型歩行　　　　　　　　　　　　　　　
日仏交流促進事業共同研究
Apr. 2004 - Mar. 2006
近野 敦
日本学術振興会, Principal investigator, Competitive research funding

自由度縮退を利用したヒューマノイドロボットの全身協調力制御　　　　　　　　　　　　　　　
科学研究費補助金 若手研究(A)
Apr. 2003 - Mar. 2006
近野 敦
日本学術振興会, Principal investigator, Competitive research funding

人間のダイナミック動作の力学的解明とヒューマノイドロボット作業への応用
科学研究費助成事業 萌芽研究
Apr. 2005 - 2006
近野 敦, 内山 勝, 阿部 幸勇, 佐藤 大祐
ダイナミック動作の例として,空手手刀による板割りをとりあげ理論解析を行った.空手手刀による板割りでは,手刀が板にインパクトする瞬間の運動量変化が板に対する力積として作用し,板を破断する.まず,人間の空手手刀動作を参考に,小型ヒューマノイドロボットを用いて,様々な空手手刀動作を生成した.次に,ヒューマノイドロボットが腕を振り下ろす際に手先の持つ運動量に着目し,腕振り動作中に蓄積される運動量と手先速度を計測した.さらに,手刀が板に持つインパクトする瞬間の運動量を,手先等価質量と手先速度の積で近似し,その近似運動量が最大となるような動作を自動生成する手法を開発した.本手法では,まず手先が板にインパクトする瞬間の運動量が最大で,かつ転倒安定性を考え,全身の角運動量が最小となるような評価指標を設定し,最適化手法によりインパクトの瞬間の姿勢と速度を決定する.次に,インパクトの瞬間から微小時間前の姿勢を,時間軸を逆にたどりながら最適化問題を解き,初期姿勢まで逆方向にインパクト前の動作を決定していく.さらに,インパクトの瞬間の姿勢から最終姿勢まで順方向の最適化問題を解いていき,順方向にインパクト後の動作を決定する.一般的なマニピュレータの動作生成では,初期状態と最終状態を決定してから動作を生成するが,本手法ではインパクトの瞬間の運動から動作を生成するため,インパクトの瞬間の運動を実現するのに適した初期姿勢および最終姿勢が自動的に選択される.このようにして,転倒の危険を最小にしつつ,手先の運動量を最大にする空手動作を自動生成する手法を開発した.
日本学術振興会, 萌芽研究, 東北大学, Principal investigator, Competitive research funding, 17650044

ヒューマノイドロボットの全身協調力制御　　　　　　　　　　　　　　　
研究嘱託
Apr. 2003 - Mar. 2005
近野 敦
財団法人豊田理化学研究所, Principal investigator, Competitive research funding

脳の力学シミュレータの構築と手術時の力覚・触覚呈示システムの開発
科学研究費助成事業
2003 - 2005
内山 勝, 近野 敦, 佐藤 大祐, 阿部 幸勇
本研究では、ロボット技術を利用した新しい力覚・触覚提示デバイスと、生体力学や医学における研究成果とをバーチャルリアリティ技術を介して融合させ、その手術操作がたいへん困難とされる脳手術における力覚・触覚情報を提示可能な、脳の力学シミュレータと手術操作感覚提示デバイスを基にした手術シミュレータシステムの開発を目的とした。
平成17年度は、若手医師のトレーニングや術前の手術計画の際に利用可能な手術シミュレータシステムの開発を目指し、平成16年度までに行ってきた、脳の力学シミュレータの構築、脳の手術操作における力覚・触覚の提示機能をさらに改善した。特に、手術器械の持ち手を力覚・触覚デバイスと組み合わせ、操作感覚を十分に提示可能なデバイスの設計・開発と、脳のモデルの詳細化、干渉・変形モデルの再現性の向上に注力した。前者では、脳べらおよびマイクロ剪刀の手術操作を提示可能な新型デバイスを開発できた。後者では、線形有限要素モデルとニュートンの運動方程式による干渉モデルを利用することで、実時間での生体組織のシミュレーションが可能な力学シミュレータを構築できた。
本年度までの研究結果により、脳の仮想手術シミュレータの基本的なシステム開発が完了した。しかし、生体組織の非線形モデルの導入や、微小な力を提示するデバイスの実現といった課題点が残った。今後、さらに取り組みを進め、仮想手術シミュレータによる脳の手術操作実験を実施しなければならない。
日本学術振興会, 萌芽研究, 東北大学, 15656065

Study on the unidirectional force sensitive beam structure with the overload protection mechanism
Grants-in-Aid for Scientific Research
2001 - 2003
ABE Koyu, TSUMAKI Yuichi, KONNNO Atsushi, UCHIYAMA Masaru, SATO Daisuke
A variety of force/torque sensors are used in the engineering application fields. Most of the force/torque sensors are designed to be sensitive for a weak signal, and thus, they unexpectedly lose the stiffness. Such flexible sensors tend to sense the coupled forces, and it is generally difficult to decouple them. Furthermore, the flexible sensors cause the positioning error.
The objective of this study is to design and develop a unidirectional force sensitive beam structure to overcome the problems described above. In the design process, the characteristics of the H-slit and parallel beam structure was analyzed by FEA (Finite Element Analysis) and experiments. The results of this research are summarized as follows.
1.From the results of experiments and FEA for the H-slit beam and parallel beam, we found that the H-slit beam was more rigid than the parallel beam if they had same sensitivity. This result indicates that the H-slit beam is an appropriate shape for the unidirectional force sensor, since it can be sensitive and stiff.
2.The H-slit beam structure can be modeled by a 4-bars closed-link structure. Therefore, the structure itself can be a mechanical stopper for the overloads. The applied force decreases the width of the slit of the beam, and when the width of the slit becomes zero, the beam does not deform anymore.
3.The Optimal parameter and dimensions of the H-slit beam are investigated in order to avoid the stress concentration. As a result of this study, it is found that a parabola shaped notches (minor and major axis ratio is 1:10) exhibits a relatively, adequate stress distribution.
4.The H-slit force sensor is applied to the ZMP sensor for a humanoid robot. The developed ZMP sensor has 6 sensing points equipped with 12 H-slits. The sensor is attached at the sole of a humanoid robot and used for the control of the robot.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), Tohoku University, 13650268

人間型ロボットの遠隔操縦に関する研究　　　　　　　　　　　　　　　
研究助成
Apr. 1999 - Mar. 2001
近野 敦
立石科学技術振興財団, Principal investigator, Competitive research funding

Development of a compact highly efficient and verratile 6-DOF haptic interface
Grants-in-Aid for Scientific Research
1999 - 2001
UCHIYAMA Masaru, MUNAWAR Khalid, TSUMAKI Yuichi, KONNO Atsushi, ABE Koyu, YOON Woo-keun
The objective of this research is the development and application of a highly versatile, small and high performance haptic interface. Specifically, it is the realization of a compact 6-DOF haptic interface device with wide workspace and response bandwidth, the realization of a highly versatile control device with a very simple interface for various computing systems, and the application of this haptic interface device to the space teleoperation. The outcome of this research can be summarized as below.
1. A new analysis model to calculate the stiffness of the parallel structure as a function of the structural parameters was developed. With this model, it became possible to easily predict the variations in the stiffness of the parallel structure due to the changes in the structural parameters. Consequently, it became possible to optimize this haptic interface from the stiffness point of view.
2. The haptic interface with a widely improved stiffness was designed and its prototype was developed. Backed by the above-mentioned analysis model and along with a prototyping experience basis until now, the successful design and prototyping of a haptic interface with largely improved characteristics over the prototypes developed until now was achieved. It is also planned to share the engineering drawings of this new haptic interface prototype on the internet.
3. The space teleoperation is picked up as an application of this haptic interface, and the research is carried out. With this haptic interface, the teleoperation experiment of the Engineering Test Satellite VH (ETS-VII)-based robotic arm was executed and hence the effectiveness of its light weight and wide movement range features was demonstrated. Moreover, a dual-arm robotic system was developed as a ground-based experimental setup for the space teleoperation, and this haptic interface was employed in place of the master device for this system and hence its usefulness was shown.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), Tohoku University, 11555067

人に安全な，木材を利用した内骨格型ロボットアームの研究開発　　　　　　　　　　　　　　　
研究助成
Apr. 1999 - Mar. 2000
近野 敦
財団法人メカトロニクス技術高度化財団, Principal investigator, Competitive research funding

ドライビングインタフェースによる脚型知能ロボットの遠隔操縦　　　　　　　　　　　　　　　
科学研究費補助金 奨励研究(A)
Apr. 1999 - Mar. 2000
近野 敦
日本学術振興会, Principal investigator, Competitive research funding

Study on Ultra High-Speed Micro-Gravity Simulator Based Space Telerobotics
Grants-in-Aid for Scientific Research
1998 - 2000
UCHIYAMA Masaru, YOON Woo-keun, TSUMAKI Yuichi, KONNO Atsushi, ABE Koyu
In this project, we mainly studied an ultra high-speed micro-gravity hybrid simulator which can simulate complicated motions such as involved in the interactions between an object and a space telerobot under the micro-gravity environment. The developed hybrid simulator is able to realize a relatively precise simulation since it mainly depends on numerical calculations as much as possible. In addition, to achieve a high band-width response, it employs a HEXA-type high-speed parallel link robot in its physical part. The simulation results are displayed with the computer graphics. The salient goals achieved in this project are addressed bellow.
1. A prototype of the hybrid motion simulator has been constructed and the experiments to evaluate its frequency response bandwidth and the basic performance, are conducted.
2. The interaction forces and torques are modeled by the impedance of the simulator system to achieve the precise simulation results.
3. To evaluate the above-proposed modeling, the interactions between the rigid bodies have been simulated. Moreover, to exhibit a multi-point contact motion, the same simulations are also performed with a three-fingered hand.
4. We have also evaluated the simulator's characteristics, analytically, and verified the impact dynamics of the hybrid motion simulation, experimentally, by comparing it with a real collision phenomenon executed in a micro-gravity drop-shaft facility.
5. The teleoperation facility has been added to this developed hybrid simulator. Consequently, an operator can now teleoperate a graphics model of a space manipulator whose motions are to be simulated with the hybrid simulator.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B)., Tohoku University, 10450093

人間型ロボットの，見まねによる作業学習・技術習得　　　　　　　　　　　　　　　
科学研究費補助金 奨励研究(A)
Apr. 1998 - Mar. 1999
近野 敦
日本学術振興会, Principal investigator, Competitive research funding

Realtime Color Segmentation, Optical Flow, Depthmap Generation Integration for Mobile Robot Control
Grants-in-Aid for Scientific Research
1998 - 1999
INOUE Hirochika, KAGAMI Satoshi, KONNO Atsushi, MIZOGUCHI Hiroshi
Actually, from the point of view of safety, working space of robot is separated from life space of human being. In order to utilize a robot in a human life, sensing technology to detect human being is required. This research aims to develop a robot vision system that can detect walking or moving human being while robot is also moving, by combining color segmentation, optical flow generation and depth map generation. Following is a list of research topics,
1. Color segmentation method from correlation calculation,
2. Boundary detection using optical flow generation,
3. Depth map generation from stereo cameras,
4. Development of high speed three axis robot head,
5. Spacio-temporal region segmentation for deformable target,
6. Development of mobile robot which has 0nboard vision processing system,
7. Experiments
Finally, using the techniques that have developed, mobile robot control under human being walking environment is achieved. Throughout from experiment, evaluation of the techniques and improvement are reported.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (B), The University of Tokyo, 10450096

Development of Multi-Legged Robot Platform and Its Application to Make Evolution of Intelligent Machine Research
Grants-in-Aid for Scientific Research
1998 - 1999
INOUE Hirochika, YOKOKOJI Yasuyoshi, HASEGAWA Tsutomu, ARAI Tamio, TSUBOUCHI Koji, KONNO Yasuyoshi
The objective of this research project is to develop a multi-legged robot platform that is capable of being commonly utilized on performing various researches of intelligent robots. We have especially focused on the robot platform that has been developed from 1995-1997 on the research project grant-in-aid referred to as "intelligent robot," and we have evolved collaborative work to transform the platform into its advanced version for achieving our aim.
(1) Development of a multi-legged robot platform, Jrob-2 : We have integrated and standardized all the components of Jrob-1 (which are a vision system, circuit boards, computer, and software and which have been developed on the research project grant-in-aid), and we have assembled them into an advanced multi-legged robot platform, Jrob-2. The vision system has two cameras and its pan, tilt, and congestion are controllable. It is capable of actively processing 3-dimensional images in real time. Gyroscopes and other sensors are equipped to take the valance of the robot. As the operating system, we have installed Real-Time Linux and all the fundamental behaviors of the robot are coded in C language.
(2) Tutorial of Jrob-2 in the Annual Conference of the Japan Society of Mechanical Engineering : The team for developing Jrob-2 held a tutorial of its hard/soft ware and its fundamental behavior library in 1999 for the purpose of making the robot widely utilized by robotics researchers.
(3) As for making evolutions of intelligent machine based on the platform, collaborative researchers have dealt with widely ranged research topics by taking their own approaches. Specifically, they have studied the quantitative relationship between the robot posture in locomotion and its mobility, generating locomotion by superimposing reactive behaviors, motion planning, cooperative transportation, and integration of vision and behavior. These research results are published in an over 300 pages report.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), The University of Tokyo, 10355011

Development of the memory based autonomous mobile robot which enables on-site teaching through shared vision
Grants-in-Aid for Scientific Research
1996 - 1997
INABA Masayuki, TSUSAKA Yuji, KONNO Atsushi
In the first year, 1996, we designed the total system of the mobile robot which we can ride on and teach the way where we want through the robot vision system. This year, we focused on the functions of memory based behaviors and speech communication.
(1) Finding and memorization of the cue object to specify the way we want to go
(a) finding the cue object specified in the shared view of the robot vision system, (b) finding and memorizeing the cues.
(2) Addition of the speech recognition function to give instructions to the robot.
The human riding on the robot can give the simple instruction to find the target cue object which has been taught in the teaching phase. When the robot can not understand the instruction, it can generate a question to confirm the meaning.
(3) Total experiments
We have experiments outdoors of our university campus to test the usefulness of the shared vision and the effectiveness of the memory based functions.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (A), The University of Tokyo, 08555065

RESEARCH ON REACTIONLESS MANIPULATOR
Grants-in-Aid for Scientific Research
1995 - 1997
NENCHEV Dragomir, ABE Koyu, TSUMAKI Yuichi, YOSHIDA Kazuya
We developed a general method for reaction compensation via inertial coupling. This method we called "reaction null space" method. In our early work we focused on moving base systems, such as free-flying space robots and long-reach manipulators or flexible base manipulators. We have shown that via the reaction null space, the dynamics of the manipulator are decoupled from the dynamics of the base. Using the notation, we can analyze the system, for example, to obtain the so-called "reactionless paths" in the workspace of the manipulator. Any motion along these paths will not excite the base dynamics.Also, the reaction null space is useful for design purposes. This is clear from the fact that the reaction null space may exist with different types of design. In our latest work we extend the scope of the reaction null space method to cover the whole class of underactuated manipulators. In addition to moving base robots, this class includes also free-and flexible-joint robots and flexible-link robots.
We designed a planar experimental system of a flexible-base manipulator comprising a flexible base with an elastic cantilever beam. Initially, a small 2R rigid link manipulator was mounted on the tip of the base. A force/torque sensor with a special design was mounted on the base of the rigid link manipulator to measure reactions in the plane. Control feedback from elastic base deflection was obtained through a strain gauge. With this design we could obtain useful experimental data for the one-arm case, which confirmed our expectation regarding reactionless motion. Later, we attached a second rigid-link manipulator to the system. With this experimental setup we could perform noncontact motion experiments, as follows.
First, feasibility of reactionless path tracking was confirmed both under open loop and closed-loop control.In either case, the disturbance of the base was ignorable. This situation didn't change when the acceleration and the speed along the reactionless path were changed. This is well in agreement with theory. We note that the reactionless paths do exist also for a dual-arm manipulator holding an object. This was verified experimentally. Second, we developed a three-phase path planning method for a single arm. The experimental performance confirmed our expectations. We compared the results with the well-known method of Disturbance Map. Finally, we implemented vibration suppression control by active damping. We have shown that vibration suppression is decoupled from the reactionless path motion. This means that feedback gains of the two control subtasks can be designed independently. It is possible to suppress vibrations while moving along a reactionless path. We have also confirmed the possibility of vibration suppression with a dual-arm manipulator holding an object.
Japan Society for the Promotion of Science, Grant-in-Aid for Scientific Research (C), 07805027

Reserach on Dexterous High Speed Parallel Robots
Grants-in-Aid for Scientific Research
1994 - 1995
UCHIYAMA Masaru, ABE Koyu, TSUMAKI Yuichi, KONNO Atsushi, NENCHEV Dragomir, PIERROT Francois, DAUCHEZ Pierre
(1)High Speed Motion
The possibility for high speed motion has been evaluated using a bench-mark test motion, which we called ADEPT motion, after the name of the ADEPT robot which has been acknowledged to be the fastest industrial robot. The HEXA robot achieved one-cycle ADEPT motion performance within 0.465 seconds. The acceleration along the Z axis was 27.8G.
(2)High Accuracy Dynamic Path Tracking
Accurate dynamic path tracking has been tested. We used two approaches based on : a simple dynamic model, and a feedforward velocity component. As a result, it was confirmed that both approaches guarantee high accuracy path tracking. However, the latter approach is preferable, since it requires less computations than the former.
(3)Compliance Control Without Force Sensor
Since the HEXA is equipped with DD motors, it was possible to implement compliance control with using a force sensor. We achieved the desired performance, using also a novel approach for friction compensation.
(4)Path Planning Through Singular Points
A newly proposed singularity-consistent path planning and control method has been implemented and tested.
(5)Proposal of a New Type HEXA
Based on the results of our research, we propose a new design for HEXA.The ultimate goal is to increase the maximum speed and achive accleration up to 50 G.
(6)Organized Session at MIMR
A special session on parallel robots was organized by prof. M.Uchiyama at the International Symposium on Microsystems, Intelligent Materials and Robots, Sendai, Japan, Sept. 27-29,1995
Japan Society for the Promotion of Science, Grant-in-Aid for international Scientific Research, Tohoku University, 06044020

分散型ロボット要素群による知的物体操作の研究
科学研究費助成事業 一般研究(C)
1994 - 1994
近野 敦, 阿部 幸勇
近年,ロボットに対し様々な環境下での作業が求められており,作業環境によっては器用な人間の指に代わって単純な機能を持つ複数のロボットによる操作が有効になる場合がある.
本研究では,単純な機構を持ったロボット群で物体を安定把持・操作を行うことを目的として,分散型ロボット要素群を製作した.このような物体把持・操作の応用例としてはマイクロマシンを想定している.一つ一つのロボット要素をマニピュレーションエレメント(ME)と呼ぶことにする.製作したMEは,DCサーボモータにより直進運動する指(プッシュロッド)と,ばね特性を持つ受動関節からなる.指先にかかる力は,サーボモータに与えている電流値から計算する.また,受動関節の回転角はポテンショメータで検出する.
複数のMEを用いて一つの対象物を安定把持・操作する制御法を構築した.制御法を構築するに当たり,MEと対象物間の力学的解析,幾何学的解析を行い,安定把持の条件を求めた.対象物を操作するのに一つ一つMEが実現すべき力を求める問題を力分配問題という.今回この分配問題を,拘束条件付きの最適化問題として解く方法と一般化逆行列を用いて解く方法の二つの方法で解いた.
製作した四つのMEを用いて,対象物の安定把持・製作実験を行った.実験では実時間制御を行うことを考慮し,力分配問題を一般化逆行列を解く方法を採用した.対象物の並進移動,及び回転移動の実験を行い,良好な結果を得た.今回の研究により,分散型ロボット要素群による知的物体操作の基礎を確立した.
日本学術振興会, 一般研究(C), 東北大学, 06650295

気管内吸引の訓練装置
Patent right, コリー 紀代, 近野 敦, 金井 理, 小水内 俊介, 二宮 伸治, 国立大学法人北海道大学, 学校法人常翔学園
特願2019-228888, 19 Dec. 2019
特開2021-096413, 24 Jun. 2021
特許第7388652号, 20 Nov. 2023
202303016194170776

ロボット接触検知装置
Patent right, 伊勢 憲和, 内山 勝, 近野 敦, 阿部 幸勇, 姜 欣, 安孫子 聡子, 李 成基, トヨタ自動車東日本株式会社, 国立大学法人東北大学
特願2012-068451, 23 Mar. 2012
特開2013-198955, 03 Oct. 2013
特許第5765686号
26 Jun. 2015
201503011625367463

干渉駆動関節機構
Patent right, 近野 敦, 西井 文哉, 阿部 幸勇, 姜 欣, 内山 勝, 国立大学法人東北大学
特願2008-278007, 29 Oct. 2008
特開2010-105094, 13 May 2010
特許第5158710号, 21 Dec. 2012
21 Dec. 2012
201303004958585881

可変剛性を有する関節機構
Patent right, 近野 敦, 船川 幸寛, 阿部 幸勇, 内山 勝, 国立大学法人東北大学
特願2007-201464, 02 Aug. 2007
特開2009-034774, 19 Feb. 2009
特許第5062675号, 17 Aug. 2012
17 Aug. 2012
特許公開2009-34774, 201303020769918433

はり構造起歪体および荷重測定法
Patent right, 阿部 幸勇, 内山 勝, 近野 敦, 姜 欣, 安孫子 聡子, 国立大学法人東北大学
特願2010-118938, 25 May 2010
特開2011-247658, 08 Dec. 2011
201103028889949100

荷重センサ
Patent right, 阿部 幸勇, 内山 勝, 近野 敦, 姜 欣, 国立大学法人東北大学
特願2009-229502, 01 Oct. 2009
特開2011-075494, 14 Apr. 2011
201103032608855656