博士（工学）, 東京大学

optimization

Human-Machine Interaction

Manufacturing Systems

Robotics

Autonomous Decentralized Systems

Informatics, Mechanics and mechatronics

Informatics, Robotics and intelligent systems

Apr. 2016 - Present
電気通信大学, 大学院情報理工学研究科 機械知能システム学専攻, 准教授

Apr. 2012 - Mar. 2017
東京大学, 人工物工学研究センター, 客員研究員

Apr. 2011 - Mar. 2016
電気通信大学, 大学院情報理工学研究科 知能機械工学専攻, 准教授

Apr. 2011 - Mar. 2012
東京大学, 人工物工学研究センター, 協力研究員

Apr. 2010 - Mar. 2011
東京農工大学, 工学部機械システム工学科, 特任助教

Jun. 2009 - Mar. 2010
東京大学, 人工物工学研究センター, 特任研究員

Apr. 2009 - Jun. 2009
東京大学, 大学院工学系研究科 精密機械工学専攻, 特任研究員

Apr. 2008 - Mar. 2009
東京大学, IRT研究機構, 特任講師

Apr. 2007 - Mar. 2008
東京大学, 大学院情報理工学系研究科 知能機械情報学専攻, 特任講師

Apr. 2003 - Mar. 2007
東京大学, 大学院情報理工学系研究科, 特任助手

Apr. 2000 - Mar. 2003
The University of Tokyo, Graduate School of Engineering, Ph.D. Candidate, Department of Precision Engineering

Apr. 1998 - Mar. 2000
The University of Tokyo, Graduate School of Engineering, Master Course, Department of Presicion Machinery Engineering

Apr. 1993 - Mar. 1998
The University of Tokyo, Faculty of Engineering, Department of Mathematical Engineering and Information Physics

Apr. 2024 - Present
生産システム部門委員, 日本機械学会, Society

Apr. 2023 - Present
Editor, SICE Journal of Control, Measurement, and System Integration, Society

Aug. 2019 - Present
理事, 一般社団法人 先端レーザ樹脂溶着技術・推進コンソーシアム, Others

Apr. 2018 - Present
学術会員, 一般財団法人 製造科学技術センター, Others

Mar. 2015 - Mar. 2019
代議員, 日本ロボット学会, Society

Apr. 2016 - Mar. 2018
実用化技術賞選考委員, 日本ロボット学会, Society

Jan. 2016 - Dec. 2017
自律分散システム部会委員, 計測自動制御学会, Society

Apr. 2015 - Mar. 2017
Advanced Robotics Best Paper Award選考小委員会委員, 日本ロボット学会, Society

Apr. 2013 - Mar. 2017
生産システム部門委員, 日本機械学会, Society

Apr. 2010 - Mar. 2016
広報・情報部会委員, 精密工学会, Society

Jan. 2014 - Dec. 2014
自律分散システム部会委員, 計測自動制御学会, Society

Jan. 2013 - Dec. 2013
自律分散システム部会幹事, 計測自動制御学会, Society

Jan. 2012 - Dec. 2013
Robotics and Automation Society Japan Chapter Tresurer, IEEE, Society

Jan. 2012 - Dec. 2013
Robotics and Automation Society Japan Chapter 会計, Society

Apr. 2010 - Mar. 2013
アフィリエイト, 精密工学会, Society

Jan. 2012 - Dec. 2012
自律分散システム部会副幹事, 計測自動制御学会, Society

2011 - 2012
研究奨励賞選考小委員会委員, 日本ロボット学会, Society

Apr. 2007 - Mar. 2010
会誌編集委員, 精密工学会, Society

Jan. 2007 - Dec. 2008
自律分散システム部会委員, 計測自動制御学会, Society

Mar. 2018
精密工学会
肘関節屈曲運動を補助するための機能的電気刺激における刺激波形パラメータ
2018年精密工学会春季大会学術講演会ベストプレゼンテーション賞, 桑原 昂士
Japan society

Oct. 2008
加工時の現実的な制約を考慮した長方形資材切出し問題の解法
第18回インテリジェント・システム・シンポジウム ベストプレゼンテーション賞, 杉 正夫;塩見 雄佑;太田 順;大久保 強志;永井 秀稔;小島 浩;井上 和佳
Japan society

Jul. 2006
Online Rescheduling in Semiconductor Manufacturing
Best Paper Award for Scheduling Practice in International Symposium on Scheduling 2006 (ISS 2006), Mingang Cheng;Masao Sugi;Jun Ota;Masashi Yamamoto;Hiroki Ito;Kazuyoshi Inoue
International society

Aug. 2005
Deskwork Support System Based on the Estimation of Human Intention
Best Paper Award in the 13th IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2004), Yusuke Tamura;Masao Sugi;Jun Ota;Tamio Arai
International society

Aug. 2004
計測自動制御学会
グラフ上の反応拡散方程式による交通信号網の自律分散型制御
2004年度計測自動制御学会論文賞, 杉 正夫;湯浅 秀男;新井 民夫
Official journal

Mar. 2004
ファナックFAロボット財団
Nelder-Mead法条件緩和アルゴリズムによるマニピュレータ制御パラメータのチューニング法
ファナックFAロボット財団平成15年度論文賞, 太田 順;金子 慎一郎;新井 民夫;前田 雄介;杉 正夫;千葉 龍介
Publisher

Dec. 2001
Holonic Robot System: A Flexible Assembly System with High Reconfigurability
平成13年IMS論文賞, Yusuke MAEDA;Yasumichi AIYAMA;Tamio ARAI
Others

L-LDAを用いた動作データの半自動分節化手法による分節化作業の効率化
石田和貴; 長野真大; 山田哲男; 中嶋良介; 杉正夫
Last, 日本設備管理学会誌, 36, 3, 34-39, 01 Oct. 2024, Peer-reviwed, Invited
Scientific journal, Japanese

Motion Capture Analysis of Learning Effect for Assembly Tasks
Koki Karube; Ryuto Kawane; Taku Hayashi; Masao Sugi; Tetsuo Yamada
The 7th Asian Conference of Management Science and Applications (ACMSA 2023), Nov. 2023, Peer-reviwed
International conference proceedings, English

Comparison of Bipolar and Monopolar Electrode Configurations for FES on Biceps Brachii.
Kiyoka Arai; Masao Sugi; Hiroshi Yokoi; Lin Wang; Yinlai Jiang
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference, 2023, 1-4, Jul. 2023, True, Function electrical stimulation (FES) is recommended as one of the effective methods for rehabilitation of motor function after stroke. There are two forms to deliver electrical stimulation to induce muscle contraction: Bipolar electrode configuration with two electrodes of the same size, and monopolar electrode configuration with a bigger electrode as an indifferent electrode and a smaller one as an active electrode. The purpose of this study is to compare the two kinds of configuration on biceps brachii in terms of induced muscle contraction force and muscle fatigue. In the experiment, electrical stimulation was applied on biceps brachii muscles of the right arm. Isometric contraction was induced by fixing the elbow joint during the stimulation. The experimental results showed that the induced contraction force was bigger using monopolar electrode configuration with the indifferent electrode on the antagonist muscle, and there was no significant difference in muscle fatigue between the configurations. Monopolar electrode configuration with the indifferent electrode on the antagonist muscle was suggested as the most effective method for FES on biceps brachii.Clinical Relevance- This study establishes an effective electrode configuration for FES on biceps brachii.
Scientific journal, English

Measurement of Disassembly Work Using Optical Motion Capture
Ryuto Kawane; Hiromasa Ijuin; Ryosuke Nakajima; Masao Sugi; Shuho Yamada; Tetsuo Yamada
Lecture Notes in Mechanical Engineering, Springer International Publishing, 103-110, 26 Apr. 2023, Abstract

In recent years, the depletion of natural resources has been severe globally. One of the solutions to this problem is to reuse and recycle materials from end-of-life (EOL) products and reduce waste. In the industrial field, disassembly work is needed to take back parts/materials from the end-of-life assembly products. Furthermore, in the manufacturing industry, there are human resource development or skill transfer issues due to a declining birth rate and an aging population as well as a labor shortage in developed countries. In particular, in Japan, the population aged 65 and overreached 28.8% of the total population in 2019, and the labor shortage has become more serious. To resolve these issues, the digitization of skills through optical motion capture is promoted in this industry, where three-dimensional coordinate data of workers can be accurately measured. Toshiba Corporation has introduced motion capture for achieving more effective guidance and skill transfer at the work site. However, data related to disassembly were not obtained via motion capture. This study measures and analyzes the motion data for disassembly work obtained via optical motion capture. First, the motion data for disassembly work is obtained via optical motion capture. Next, the data obtained is shown graphically and compared by body part. Finally, the results are shown and discussed.
In book

モーションキャプチャーと機械学習による作業の身体動作の可視化と作業者の推定方法—Work Movement Visualization and Worker Estimation Methods Using Motion Capture and Machine Learning—2022年度春季研究発表大会特集
川根 龍人; 伊集院 大将; 杉 正夫; 中嶋 良介; 岡本 一志; 仲田 知弘; 松野 省吾; 山田 哲男
日本設備管理学会誌 = Journal of the Society of Plant Engineers Japan / 日本設備管理学会編集事務局 編, 名古屋 : 日本設備管理学会, 34, 4, 111-121, Feb. 2023
Japanese

Identification of potential improvement assembly movements using worker classification by motion capture and machine learning.
Ryuto Kawane; Hiromasa Ijuin; Koki Karube; Masao Sugi; Tomohiro Nakada; Tetsuo Yamada
IWCIA, 79-84, 2023
International conference proceedings

水平作業台ディスプレイにおける作業者の注視点推定システム
山田 孟; 杉 正夫; 長野 真大; 中嶋 良介; 仲田 知弘; 松野 省吾; 岡本 一志; 山田 哲男
日本設備管理学会誌, 日本設備管理学会, 34, 1, 8-14, Apr. 2022, Peer-reviwed, Invited
Scientific journal, Japanese

2-Stage Design for a Hybrid Assembly Line with Humans and Robots Considering Automation Difficulty Level: Case Study of the Electrical Equipment Assembly Line
Takashi Miyauchi; Tetsuo Yamada; Masao Sugi
International Journal of Smart Computing and Artificial Intelligence, International Institute of Applied Informatics, 6, 1, IJSCAI646, 11 Mar. 2022, Peer-reviwed, Invited
Scientific journal, English

Estimation of Hand Posture from Stimulus Position in FES: An Attempt using Machine Learning
In Morimoto; Yusuke Yamanoi; Masao Sugi; Yinlai Jiang; Hiroshi Yokoi
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 40, 6, 546-549, 2022, This study is to construct a system for patients to easily search for the appropriate stimulation positions of functional electrical stimulation (FES) to obtain the desired posture for daily rehabilitation. We applied 125 patterns of electrical stimulation using integrated power-net multi-point electrodes that we developed. The posture discrimination of each five fingers was performed using hand tracking. 20 different machine learning algorithms were investigated with the accuracy of for robust hand estimation based on the relationship with the induced hand posture and the stimulation patterns. The experimental results illustrated the degree of difficulty of estimating hand posture using the stimulus center based on the evaluation results using AUC as the evaluation index of machine learning, and that the consideration of direction vector of electrical stimulation increased the accuracy.
Scientific journal, Japanese

Investigation of Motor Point Shift and Contraction Force of Triceps Brachii for Functional Electrical Stimulation
Takashi Hirai; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), IEEE, 01 Nov. 2021
International conference proceedings

Development of Integrated Multi-Point Electrodes for FES Using Power Net to Induce Hand Posture
In Morimoto; Yusuke Yamanoi; Masao Sugi; Yinlai Jiang; Hiroshi Yokoi
Proceedings of The XXIV Annual Conference of the International Functional Electrical Stimulation Society (IFESS 2021), Paper 11, 23 Sep. 2021, Peer-reviwed
International conference proceedings, English

作業の自動化難易度と自動化率を考慮した人とロボットのハイブリッド組立ラインの設計法
宮内 孝; 山田 哲男; 杉 正夫
日本設備管理学会誌, 日本設備管理学会, 33, 2, 39-49, Jul. 2021, Peer-reviwed, Invited
Scientific journal, Japanese

Joint angle based motor point tracking stimulation for surface FES: A Study on biceps brachii
Kento Ichikawa; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
Medical Engineering & Physics, Elsevier, 88, 88, 9-18, Feb. 2021, Peer-reviwed
Scientific journal, English

機械学習・スマートデバイスを活用した循環型生産システムの生産性イノベーションへのチャレンジ
中嶋 良介; 仲田 知弘; 杉 正夫; 山田 哲男
システム／制御／情報, システム制御情報学会, 64, 10, 380-387, Oct. 2020, Peer-reviwed, Invited
Japanese

Solution of the Rectangular Strip Packing Problem Considering a 3-Stage Guillotine Cutting Constraint with Finite Slitter Blades
Masao Sugi; Yusuke Shiomi; Tsuyoshi Okubo; Hidetoshi Nagai; Kazuyoshi Inoue; Jun Ota
International Journal of Automation Technology, Fuji Technology Press, 14, 3, 447-458, May 2020, Peer-reviwed
Scientific journal, English

Stimulation Wave Profiles for Elbow Flexion in Surface Electrical Stimulation Based on Burst-Modulated Symmetric Biphasic Rectangular Waves
Ryunosuke Tazawa; Daisuke Okano; Yuki Hatazawa; Masao Sugi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Proceedings of the 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 381-386, 31 Oct. 2019, Peer-reviwed
International conference proceedings, English

Motor point tracking stimulation of biceps brachii using multi electrodes based on functional electrical stimulation
Kento Ichikawa; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
2019 IEEE International Conference on Cyborg and Bionic Systems, CBS 2019, Institute of Electrical and Electronics Engineers Inc., 1-4, 01 Sep. 2019, Muscle contraction via functional electrical stimulation (FES) has been proved effective in the rehabilitation of motor functions. However, different from voluntary contraction, electrical stimulation causes rapid muscle fatigue. In this study, we investigated how muscle fatigue can be reduced via Motor Point (MP) tracking stimulation. Four kinds of stimulation methods were used: simultaneous stimulation (SS), time based shifting stimulation (TSS), 2-channel joint angle based shifting stimulation (JASS), and 3-channel JASS. They were compared for the stimulation of the biceps brachii. The experimental results showed that 3-channel JASS caused the least decrease in the maximal elbow angle and the least decrease rate in the angular velocity induced by FES. In addition, the effect of muscle fatigue reduction was low when the MP tracking accuracy was high but the MP tracking density was low. This shows that both MP tracking accuracy and MP tracking density have to be taken into account when the reduction of muscle fatigue associated with FES should be investigated.
International conference proceedings, English

Usability Analysis of Information on Worker's Hands in Animated Assembly Manuals
Masao Sugi; Ippei Matsumura; Yusuke Tamura; Tamio Arai; Jun Ota
International Journal of Automation Technology, Fuji Technology Press, 12, 4, 524-532, Jul. 2018, Peer-reviwed
Scientific journal, English

Consideration of Tilting Speed of Lower Back Fatigue Reduction System based on Actively Tilting Seat
Naoto Hojo; Kenji Tanaka; Yuta Chinen; Taichi Wada; Masao sugi
Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO2017), 2087-2092, Dec. 2017, Peer-reviwed
International conference proceedings, English

Maintenance of Muscle Contraction Improves during Dynamic Exercise by Multi-channel Functional Electrical Stimulation with Time Shifting Stimulation
Rintaro Kamihira; Misato Kasuya; Yinlai Jiang; Shunta Togo; Masao Sugi; Hiroshi Yokoi
International Journal of Bioscience, Biochemistry and Bioinformatics, IACSIT Press, 7, 1, 30-40, Jan. 2017, Peer-reviwed
Scientific journal, English

Quantification of Muscle Fatigue Using Surface Electromyography for Isometric Handgrip Task
Yew Guan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Jun Ota
Journal of Telecommunication Electronic and Computer Engineering, Technical University of Malaysia Malacca, 9, 3, 205-209, 2017, Peer-reviwed
Research institution, English

Development of a search method of electrode patterns for use in electrical stimulation using multichannel surface electrodes for upper limb motor function recovery in patients with paralysis
Misato Kasuya; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Hiroshi Yokoi
Transactions of Japanese Society for Medical and Biological Engineering, Japan Soc. of Med. Electronics and Biol. Engineering, 55, 5, 193-204, 2017, Peer-reviwed
Scientific journal, Japanese

The cortical adaptation monitoring system for leg press machine with FES induced biofeedback
Misato Kasuya; Mai Nozakura; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Ryu Kato; Hiroshi Yokoi
The International Society of Electrophysiology and Kinesiology (ISEK) Congress, **-**, Jul. 2016, Peer-reviwed
International conference proceedings, English

Function to automatically put away objects using moving trays in a deskwork support system
Takayuki Taruki; Masao Sugi
Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM2015), The Japan Society of Mechanical Engineers, 2015, 255-256, 07 Dec. 2015, Peer-reviwed, This study deals with a deskwork support system that assists human workers by delivering necessary objects to the workers using automatically moving trays. In this manuscript, we propose a new function that enables automatically putting away unnecessary objects using moving trays. Elapsed times from the delivery of objects are used to determine the time limit for putting away objects.
International conference proceedings, English

fNIRS-based analysis of temporal changes of brain activation during long-term conditioning with functional electrical stimulation
Misato Ohdaira; Tomoko Kamisawa; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Osamu Yamamura; Hiroshi Yokoi
international Convention on Rehabilitation Engineering&Assistive Technology(i-CREATe) 2015, P4.3, 11 Aug. 2015, Peer-reviwed
International conference proceedings, English

A novel algorithm for continuous steel casting scheduling with focus on quality property constraint and slab width maximization
Taiki Ogata; Tsuyoshi Okubo; Hidetoshi Nagai; Masashi Yamamoto; Masao Sugi; Jun Ota
International Journal of Automation Technology, Fuji Technology Press, 9, 3, 235-247, 2015, Peer-reviwed, This paper proposes a solution for casting scheduling, an important process in steel manufacturing. A constraint due to secular changes in quality properties, including slab property degradation in casting, and problems with evaluation indices for slab casting width for the improvement of productivity, are taken into account in the study. These factors have not been focused on in previous studies. In this study, the casting scheduling problem is divided into two. One problem involves determining a schedule frame for each slab, and the other is the problem of determining the slab width. To be more specific, after an initial solution for slab order is reached based on heuristics with the quality property constraint taken into account, a hierarchical solving method of determining the slab width is employed in accordance with the shortest path problem-solving method, and obtained solutions are improved using a simulated annealing technique. The simulation is performed with the data created from actual operation data and an initial solution that satisfies the constraint is derived. An improved solution is then obtained using the solution search technique.
Scientific journal, English

Order scheduling of multiple stacker cranes on common rails in an automated storage/retrieval system
Yiheng Kung; Yoshimasa Kobayashi; Toshimitsu Higashi; Masao Sugi; Jun Ota
INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, TAYLOR & FRANCIS LTD, 52, 4, 1171-1187, Feb. 2014, Peer-reviwed, An order scheduling method for improving the work efficiency of multiple cranes on a common rail in an automated storage/retrieval system (AS/RS) is proposed in this paper. Most AS/RSs are equipped with one stacker crane. However, this is logistically challenging, and higher work efficiency in warehouses, such as those using more than one stacker crane, is required. In this paper, a warehouse with multiple stacker cranes working simultaneously is proposed. Unlike warehouses with only one crane, order scheduling is very difficult because there are multiple cranes working simultaneously and collisions are possible. Warehouse order must be maintained while avoiding collisions. Sometimes, detours are necessary to avoid collisions. As a result, work efficiency will decrease if a sequence of orders is not properly planned. Nevertheless, as transport works in AS/RSs are occurring randomly, scheduling cannot be conducted in advance, which makes the order scheduling of multiple cranes difficult. A fast order scheduling method is proposed here. Several orders are combined into an order cluster, and dynamic programming is used to obtain the best combination of order clustering. By utilising this method, cranes can work cooperatively, improving work efficiency to 0.95 with a two-crane AS/RS and to 0.78 with a three-crane AS/RS.
Scientific journal, English

Force Estimation by Surface Electromyography during Functional Electrical Stimulation
Yuki Shimizu; Masao Sugi; Misato Ohdaira; Soichiro Morishita; Tatsuhiro Nakamura; Ryu Kato; Hiroshi Yokoi
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 1345-1350, 2014, Peer-reviwed, In recent years, a rehabilitation method in which a quadriplegic person can perform training without a therapist has been proposed, and studies that use functional electrical stimulation (FES) have been promoted. However, FES induces muscle contractions that tend to be stronger than voluntary contractions, and hence increases the muscle load too easily. Accordingly, the resultant excessive contractions induce early muscle fatigue. Therefore, the state of muscle fatigue must be determined to prevent injury during rehabilitation. Here we employed surface electromyography (SEMG) to estimate the muscle force. We confirmed that the estimation method in a previous study, which filters out noise due to FES, is applicable to SEMG signals during FES. Consequently, we suggest that the aforementioned estimation method may be used during FES.
International conference proceedings, English

Modeling the process of animation production
Hisato Nakanishi; Naohiro Shichijo; Masao Sugi; Taiki Ogata; Tatsunori Hara; Jun Ota
International Journal of Automation Technology, Fuji Technology Press, 7, 4, 439-450, Jul. 2013, Peer-reviwed, In this study, a work process model for animation production is developed. Interviews with animation studio workers and surveys of their working diaries and shot progress charts are conducted to create a framework for the work processes. The work hours necessary for each operation of the work project are expressed using a gamma function. Workers are classified into two categories, managers and animators, and their behavioral rules are modeled. To establish a rule for the determination of the operation sequence order for an animator to perform multiple work operations, four typical dispatching rules, often used in a scheduling theory, are selected, and the one that is closest to actual data is regarded as the rule that the animator actually follows. As a result of the analysis, it is found that the Earliest Due Date (EDD) and SLACK are closest to actual animators' behavioral rules. Managers are also found to move the sub-deadline (a deadline of each operation) up about 30% earlier than the actual deadline. The knowledge we obtain is that, in order to realize better working conditions, animators should determine their operation sequence order by using SLACK, and managers should designate subdeadlines by keeping a balance between the prevention of deadline violation and the reduction of overtime work.
Scientific journal, English

Relation between Robots' Working Paces and Assembly Workers' Mental Strain in Human-Robot Cooperative Assembly
Yuki Shimizu; Ryu Kato; Masao Sugi
Proceedings of SICE Annual Conference 2013, 1047-1051, 2013, Peer-reviwed
International conference proceedings, English

Quantitative estimation of muscle fatigue on cyclic handgrip tasks
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Jun Ota
INTERNATIONAL JOURNAL OF INDUSTRIAL ERGONOMICS, ELSEVIER SCIENCE BV, 42, 1, 103-112, Jan. 2012, Peer-reviwed, A recovery model is proposed to represent the relationship between the muscle fatigue and the rest time. Three experiments were conducted at 50% MVC with the contraction time of 10 s, 30 s and 50 s. Every experiment consists of 5 handgrip tasks with different rest interval. The maximal isometric forces during the pre-fatigue and post-fatigue were recorded to compute the muscle fatigue developed from each handgrip tasks. An exponential function is used to model the relationship between the muscle recovery and rest interval. With this model, the amount of muscle fatigue that is recovered given the rest duration can be estimated. The results suggest that the rate of muscle recovery is correlated to the degree of muscle fatigue at any particular moment, regardless the contraction level or contraction time of the tasks. It is demonstrated that the performance is not significant improved by increasing the number of experiments during calibration process. After that, the recovery model is integrated with the existing fatigue index proposed previously. This is then evaluated on cyclic handgrip tasks. The results show that during the high repetitive motion tasks, the effect of muscle recovery is essential to be taken into consideration for quantifying the degree of muscle fatigue. In average, the estimation error is between 5% MVC, comparing between the estimated value and the force loss measured using dynamometer. This concludes the effectiveness of utilizing force loss as the index to quantify the muscle fatigue and recovery. (C) 2011 Elsevier B.V. All rights reserved.
Scientific journal, English

Manipulator System Selection Based on Evaluation of Task Completion Time and Cost
Yanjiang Huang; Lounell B. Gueta; Ryosuke Chiba; Tamio Arai; Tsuyoshi Ueyama; Masao Sugi; Jun Ota
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 4698-4703, 2011, Peer-reviwed, Task completion time and cost are two significant criteria for the selection of manipulator system. For a given task, several Pareto solutions of manipulator systems should be derived based on the evaluation of these two criteria. However, this process requires a large calculation time. In this paper, we propose a method that can select appropriate systems by evaluating task completion time and cost within the desired calculation time. In the proposed method, multiple objective particle swarm optimization (MOPSO) is employed to search for appropriate manipulator systems from a set of candidate systems. Location optimization and motion coordination are integrated to derive the task completion time and the relative cost is used to evaluate the cost of a manipulator system. We employ particle swarm optimization (PSO) for location optimization and use nearest-neighborhood algorithm (NNA) for motion coordination, since PSO and NNA have a high speed of convergence to a good solution. The proposed method is applied to a set of tasks and is proved to be effective and practical.
International conference proceedings, English

A compressed annealing approach with pre-process for the asymmetric traveling salesman problem with time windows
Tadanobu Mizogaki; Masao Sugi; Masashi Yamamoto; Hidetoshi Nagai; Yusuke Shiomi; Jun Ota
International Journal of Automation Technology, Fuji Technology Press, 5, 5, 669-678, 2011, Peer-reviwed, This paper proposes a method of rapidly finding a feasible solution to the asymmetric traveling salesman problem with time windows (ATSP-TW). ATSP-TW is a problem that involves determining the route with the minimum travel cost for visiting n cities one time each with time window constraints (the period of time in which the city must be visited is constrained). "Asymmetrical" denotes a difference between the cost of outbound and return trips. For such a combinatorial optimization problem with constraints, we propose a method that combines a pre-process based on the insertion method with metaheuristics called "the compressed annealing approach." In an experiment using a 3-GHz computer, our method derives a feasible solution that satisfies the time window constraints for all of up to about 300 cities at an average of about 1/7 the computing time of existing methods, an average computing time of 0.57 seconds, and a maximum computing time of 9.40 seconds.
Scientific journal, English

Mixed-Load Transportation Scheduling of Multiple Agents in a Warehouse Environment
Ryunosuke Takano; Toshimitsu Higashi; Hirofumi Tamura; Masao Sugi; Jun Ota
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 25, 11-12, 1557-1576, 2011, Peer-reviwed, In a floor warehouse environment, where many agents transport numbers of products iteratively, efficient product transportation is required for high productivity. In general, the following facts are recognized. (i) Three kinds of jobs exist: picking, replenishment and arrangement. (ii) Mixed-load transportation can decrease the completion time of vehicles. In many former methods, however, the above facts are not considered. We propose a design methodology using a dispatching rule and a local search method based on a simulated annealing algorithm. The rule is applied to obtain the initial solution and the local search method is adopted to obtain a semi-optimal solution in consideration of mixed-load transportation. To evaluate the applicability of the proposed algorithm, we have implemented the algorithm in several product environments. The simulation results verify the effectiveness of the proposed method. (C) Koninklijke Brill NV, Leiden, 2011
Scientific journal, English

Estimation of handgrip force using frequency-band technique during fatiguing muscle contraction
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Masataka Nishino; Ryu Kato; Tatsuhiro Nakamura; Jun Ota
JOURNAL OF ELECTROMYOGRAPHY AND KINESIOLOGY, ELSEVIER SCI LTD, 20, 5, 888-895, Oct. 2010, Peer-reviwed, In this paper, we propose a force estimation model to compute the handgrip force from SEMG signal during fatiguing muscle contraction tasks. The appropriate frequency range was analyzed using various combinations of a wavelet scale, and the highest accuracy was achieved at a range from 242 to 365 Hz. After that, eight healthy individuals performed a series of static (70%, 50%, 30%, and 20% MVC) and dynamic (0-50% MVC) muscle contraction tasks to evaluate the performance of this technique in comparison with that of former method using the Root Mean Square of the SEMG signal. Both methods had comparable results at the beginning of the experiments, before the onset of muscle fatigue. However, differences were clearly observed as the degree of muscle fatigue began to increase toward the endurance time. Under this condition, the estimated handgrip force using the proposed method improved from 17% to 134% for static contraction tasks and 40% for dynamic contraction tasks. This study overcomes the limitation of the former method during fatiguing muscle contraction tasks and, therefore, unlocks the potential of utilizing the SEMG signal as an indirect force estimation method for various applications. (C) 2009 Elsevier Ltd. All rights reserved.
Scientific journal, English

The Relationship between Muscle Fatigue and Recovery during Isometric Handgrip Task
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Jun Ota
Proceedings of the 7th IASTED International Conference on Biomedical Engineering (BioMed 2010), 79-85, 2010, Peer-reviwed
International conference proceedings, English

Online Rescheduling in Semiconductor Manufacturing
Masao Sugi; Mingang Cheng; Masashi Yamamoto; Hiroki Ito; Kazuyoshi Inoue; Jun Ota
International Journal of Automation Technology, 4, 2, 184-197, 2010, Peer-reviwed
Scientific journal, English

Development of Deskwork Support System using Pointing Gesture Interface
Masao Sugi; Hisato Nakanishi; Masataka Nishino; Yusuke Tamura; Tamio Arai; Jun Ota
Journal of Robotics and Mechatronics, 22, 4, 430-438, 2010, Peer-reviwed
Scientific journal, English

A Solution for 2D Rectangular Cutting Stock Problems with 3-Stage Guillotine-Cutting Constraint
Masao Sugi; Yusuke Shiomi; Tsuyoshi Okubo; Kazuyoshi Inoue; Jun Ota
International Journal of Automation Technology, 4, 5, 461-468, 2010, Peer-reviwed
Scientific journal, English

Attentive deskwork support system
Yusuke Tamura; Masao Sugi; Tamio Arai; Jun Ota
Journal of Advanced Computational Intelligence and Intelligent Informatics, Fuji Technology Press, 14, 7, 758-769, 2010, Peer-reviwed, We propose an attentive deskwork support system that quickly delivers required objects to people who work at desks. To meet this goal, we propose methods to understand a user's request for support. To know the existence of the user request, the system uses the characteristics of the user's hand and eye movements and detects hand-reaching movements. The system understands the content of the user's request by integrating sensory and contextual information using a probabilistic model. Finally, the system determines a point of delivery by predicting a user's hand movement and delivers required objects by using self-moving trays. The experiments are conducted to evaluate the usefulness of the system proposed here.
Scientific journal, English

Rescheduling of Train Shunting in Railway Stations
Masao Sugi; Hidetoshi Nagai; Masashi Yamamoto; Yusuke Shiomi; Jun Ota
International Journal of Automation Technology, 4, 6, 495-501, 2010, Peer-reviwed
Scientific journal, English

Quantitative estimation of muscle fatigue using surface electromyography during static muscle contraction
Yewguan Soo; Masao Sugi; Masataka Nishino; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Tatsuhiro Nakamura; Jun Ota
2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, 2975-2978, 2009, Peer-reviwed, Muscle fatigue is commonly associated with the musculoskeletal disorder problem. Previously, various techniques were proposed to index the muscle fatigue from electromyography signal. However, quantitative measurement is still difficult to achieve. This study aimed at proposing a method to estimate the degree of muscle fatigue quantitatively. A fatigue model was first constructed using handgrip dynamometer by conducting a series of static contraction tasks. Then the degree muscle fatigue can be estimated from electromyography signal with reasonable accuracy. The error of the estimated muscle fatigue was less than 10% MVC and no significant difference was found between the estimated value and the one measured using force sensor. Although the results were promising, there were still some limitations that need to be overcome in future study.
International conference proceedings, English

Design of Gesture Interface for Deskwork Support System
Masataka Nishino; Yuto Nakanishi; Masao Sugi; Yewguan Soo; Jun Ota; Tamio Arai
Proceedings of the ICROS-SICE International Conference 2009 (ICCAS-SICE 2009), 2260-2267, 2009, Peer-reviwed
International conference proceedings, English

Evaluation of frequency band technique in estimating muscle fatigue during dynamic contraction task
Yewguan Soo; Masataka Nishino; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Tatsuhiro Nakamura; Jun Ota
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 4206-4211, 2009, Peer-reviwed, Long-time exposure to repetitive or monotonous work is associated with increased risk for musculoskeletal disorders that are due to muscle fatigue. Previously, researchers reported that muscle fatigue can be estimated using a low-frequency band of an SEMG signal. However, these studies were performed exclusively during static contraction tasks. The objective of the present study was to evaluate and determine the frequency range for a low-frequency band. In addition, the performance during dynamic contraction tasks was analyzed. A group of healthy university students (8 males) was recruited, and endurance handgrip tasks were conducted. SEMG signals were captured from the forearm muscle. The frequency range for the low-frequency band was redefined as 5 - 40Hz. The results from a dynamic contraction task indicated that a low-frequency band is a reliable method for indexing muscle fatigue from SEMG signals.
International conference proceedings, English

Quantitative Evaluation of Automatic Parts Delivery in "Attentive Workbench" Supporting Workers in Cell Production
Masao Sugi; Ippei Matsumura; Yusuke Tamura; Makoto Nikaido; Jun Ota; Tamio Arai; Kiyoshi Kotani; Kiyoshi Takamasu; Hiromasa Suzuki; Akio Yamamoto; Yoichi Sato; Seiichi Shin; Fumihiko Kimura
Journal of Robotics and Mechatronics, 21, 1, 135-145, 2009, Peer-reviwed
Scientific journal, English

Attentive Object Feeding for Supporting Deskwork
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2840-2845, Sep. 2008, Peer-reviwed
International conference proceedings, English

Quantitative Evaluation of Physical Assembly Support in Human Supporting Production System "Attentive Workbench"
Masao Sugi; Ippei Matsumura; Yusuke Tamura; Jun Ota; Tamio Arai
Proceedings of the IEEE International Conference on Robotics and Automation, 3624-3629, May 2008, Peer-reviwed
International conference proceedings, English

The relationship between changes in amplitude and instantaneous mean frequency at low and high frequency bands during dynamic contraction
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Tatsuhiro Nakamura; Rulin Du; Jun Ota
2nd International Conference on Bioinformatics and Biomedical Engineering, iCBBE 2008, IEEE Computer Society, 1413-1416, 2008, Peer-reviwed, Surface Electromyography (SEMG) analysis of dynamic contraction is becoming more important to understand the muscle condition in real life activities. The objective of the study is to discover the relationship between the changes of amplitude and frequency at high and low frequency bands. Continuous Wavelet Transform (CWT) is utilized in order to process the SEMG data in both time and frequency domain. The result shows the potential to estimate the force level by analyzing the amplitude of high frequency band. However the influence of muscle fatigue and force variation should be identified during dynamic contraction. The proposed method provides an alternative solution for analyzing SEMG signals in different perspective. © 2008 IEEE.
International conference proceedings, English

Evaluating assembly instruction methods in cell production system by physiological parameters and subjective indices
Nuttapol Pongthanya; Feng Duan; Jeffrey Too Chuan Tan; Kei Watanabe; Ye Zhang; Masao Sugi; Hiroshi Yokoi; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 199-+, 2008, Peer-reviwed, Providing assembly information to support human workers has been verified to be an effective way to improve the assembly performance. However, the relationship between the assembly information format and the human workers'fatigue has not been investigated clearly. This paper is aimed to evaluate assembly instruction provided by information supporting system in fatigue aspect by using physiological measurement. The task performance and subjective rating measurements are taken into account to verify the physiological responses. The experimental results show that image and text instruction have more potential to convey the assembly information than voice instruction in this setting.
International conference proceedings, English

Multimedia based assembly supporting system for cell production
Feng Duan; Masahiro Morioka; Jeffrey Too Chuan Tan; Ye Zhang; Kei Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Ryou Nihei; Shinsuke Sakakibara; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 213-+, 2008, Peer-reviwed, Multiple skilled human operators enable the cell production system to meet the requirement of the diversified products and production quantity flexibly. How to improve the assembly performance of the operators and reduce their assembly burden are two important factors. To solve these problems, a multimedia based assembly supporting system (MASTER) is proposed, which aims to support assembly operators from both information aspect and physical aspect. The results show that using this system, the assembly performance of the operators is improved. With the information and physical supports from this system, the assembly complexity and burden of the assembly operators are reduced.
International conference proceedings, English

A study of design factors for information supporting system in cell production
Ye Zhang; Feng Duan; Jeffrey Too Chuan Tan; Kei Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 319-+, 2008, Peer-reviwed, With the innovation of mechanism, operators are released from the physical assembly tasks. Most of current assembly tasks are the cognitive tasks; therefore providing assembly supporting information can improve the assembly process. However, which kinds of assembly information fit the operators and how to provide the assembly information is convenient to the operator have not been investigated thoroughly. To solve these problems, an information supporting system is developed and several operators are employed to execute a cable-insert task. The results show that providing multimedia based assembly information in the assembly area can reduce assembly mistakes and mental work load while accelerate the assembly process.
International conference proceedings, English

Assembly information system for operational support in cell production
Jeffrey Too Chuan Tan; Feng Duan; Ye Zhang; Kai Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 209-+, 2008, Peer-reviwed, In cell production, the output depends heavily on the performance of the worker. Assembly information support is useful to support the worker. The objective of this study is to develop a framework to organize assembly information to support production operation. It is illustrated by an application of a production operation in laboratory simulation. Assembly motion of skilled worker is extracted and the assembly process is decomposed into operational units, which linked with support information to set up the information database. New assembly process with information support can then be generated and implemented with multimodal system to assist production operation.
International conference proceedings, English

Simultaneous measurement of force and muscle fatigue using frequency-band wavelet analysis
Yewguan SOO; Masao SUGI; Hiroshi YOKOI; Tamio ARAI Rulin DU; Jun OTA
Proceedings of the 30th Annual International IEEE EMBS Conference (EMBC 2008), 5045-5048, 2008, Peer-reviwed
International conference proceedings, English

Target Identification through Human Pointing Gesture Based on Human-Adaptive Approach
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Journal of Robotics and Mechatronics, 20, 4, 515-525, 2008, Peer-reviwed
Scientific journal, English

Estimation of User's Intention Inherent in the Movements of Hand and Eyes for the Deskwork Support System
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3709-3714, Nov. 2007, Peer-reviwed
International conference proceedings, English

Quantitative Evaluation of Human Supporting Production System "Attentive Workbench"
Masao Sugi; Ippei Matsumura; Yusuke Tamura; Jun Ota; Tamio Arai
Proceedings of the IEEE Conference on Automation Science and Engineering, 531-535, Sep. 2007, Peer-reviwed
International conference proceedings, English

Attentive Workbench: An Intelligent Production Cell Supporting Human Workers
Masao Sugi; Yusuke Tamura; ほか
Distributed Autonomous Robotic Systems 6, 465-474, Jun. 2007, Peer-reviwed
International conference proceedings, English

Analyze assembly skills using a motion simulator
Feng Duan; Jeffrey Too Chuan Tan; Ye Zhang; Kei Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Tamio Arai
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, IEEE, 1428-1433, 2007, Peer-reviwed, Many researchers have focused on transferring human skills to robots by extracting those skills into the machine-understandable models. It is an important step towards creating an intelligent robot in a cooperative environment. These models not only can be employed to transfer human control strategy to robots, but also can be used to improve the new workers' performance. In this paper, we propose a method that is to extract the advantages of several operators' skills and synthesize new skills to train new workers. To realize the skill extract, synthesis and transfer system, it is absolutely necessary to reproduce and synthesize the experts' motions. In the latter case, a kinematic simulator of human body is employed to realize the synthesis of the operators' motions based on the detected motion data. To verify the proposed method, we employed it to execute a peg-in-hole assembly task. The results show that after training by the synthesized skill model, the new operator's performance is improved significantly.
International conference proceedings, English

The solution of 2-Dimensional Rectangular Cutting Stock Problem considering cutting process
Yusuke Shiomi; Masao Sugi; Jun Ota; Tsuyoshi Okubo; Masashi Yamamoto; Hiroshi Kojima; Kazuyoshi Inoue
2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1-3, IEEE, 389-394, 2007, Peer-reviwed, The Cutting stock problem (CSP) is an important problem that affects the profit of the processing industries. The CSP that deals with a set of rectangular items is classified as the 2-Dimensional Rectangular Cutting Stock Problem (2DRCSP). Although the 2DRCSP has been researched widely in the field of mathematical programming, the solutions of these studies are not always suitable for the actual manufacturing. This is because most of the existing studies do not consider the cutting process in actual manufacturing. In this report, we formulate a solution for the 2DRCSP with the constraints of the cutting process being considered. As for the approach, we calculate smaller patterns of arrangement and perform all of arrangement by using them iteratively. In addition, we use the simulated annealing method to calculate their length.
International conference proceedings, English

"Plug & Produce" functions for an easily reconfigurable robotic assembly cell
Yusuke Maeda; Haruka Kikuchi; Hidemitsu Izawa; Hiroki Ogawa; Masao Sugi; Tamio Arai
ASSEMBLY AUTOMATION, EMERALD GROUP PUBLISHING LTD, 27, 3, 253-260, 2007, Peer-reviwed, Purpose - This paper aims to develop an easily reconfigurable assembly cell.
Design/methodology/approach - Some functions are implemented to resolve problems associated with physical reconfiguration of an agent-based robotic assembly cell, such as position calibration and workspace allocation.
Findings - The implemented prototype assembly cell is composed of industrial manipulators and a belt conveyor. Installation of a new manipulator and assembly execution are successfully demonstrated on the prototype cell.
Practical implications - In the developed assembly system, installation and removal of assembly devices are easily performed so that it can adapt to changes in the manufacturing environment quickly.
Originality/value - The developed system does not use specially designed hardware. Easy reconfiguration is enabled using conventional devices such as manipulators and belt conveyors.
Scientific journal, English

Development of Gesture-Based Interface for Deskwork Support System
Masao Sugi; Makoto Nikaido; Yusuke Tamura; Jun Ota; Tamio Arai
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5171-5176, Oct. 2006, Peer-reviwed
International conference proceedings, English

Implementation of Human Supporting Production System "Attentive Workbench"
Masao Sugi; Yusuke Tamura; ほか
Proceedings of the SICE-ICASE International Joint Conference 2006, 1270-1273, Oct. 2006, Peer-reviwed
International conference proceedings, English

Prediction of Target Object Based on Human Hand Movement for Handing-Over between Human and Self-Moving Trays
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Proceedings of the 15th IEEE International Symposium on Robot and Human Interactive Communication, 189-194, Sep. 2006, Peer-reviwed
International conference proceedings, English

Handing-Over between Human and Self-Moving Tray
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Proceedings of the IMEKO XVIII World Congress, TC18-08, Sep. 2006, Peer-reviwed
International conference proceedings, English

Human Supporting Production Cell "Attentive Workbench"
Masao Sugi; Yusuke Tamura; ほ
Intelligent Autonomous Systems 9, 740-747, Mar. 2006, Peer-reviwed
International conference proceedings, English

Autonomous Collaborative Environment for Project Based Learning
•Mihoko Otake; Ryo Fukano; Shinji Sako; Masao Sugi; Kiyoshi Kotani; Junya Hayashi; Hiroshi Noguchi; Ryuichi Yoneda; Kenjiro Taura; Nobuyuki Otsu; Tomomasa Sato
Intelligent Autonomous Systems 9T. Araietal.(Eds.) IOSPress, 756-763, Mar. 2006, Peer-reviwed, The importance of integrating different disciplines of information science and technology is growing for the realization of an information system which works robustly in the real world. Such a system should be achieved by integrating different disciplines, since it is difficult to cover all areas in information science and technology by only one person or group. In order to support collaboration, the autonomous collaborative environment for project- based learning was developed. The environment comprises the workshop "A Hundred Hour Workshop" and the community site “WS100H.NET”. Novel interdisciplinary technology, fusion of recognition and parallel computation was successfully developed whose collaboration process was autonomous.
International conference proceedings, English

2A1-B34 Development of Collaborative Research and Education Platform via A Hundred Hour Workshop
Otake Mihoko; Kaneda Kenji; Kamoshida Yoshikazu; Fukano Ryo; Shiraki Takayoshi; Ito Satoshi; Ishiguro Katsuhiko; Shirai Tatsuya; Saito Hideo; Horita Yuuki; Nanri Takuya; Shimohata Yasuyuki; Yoshimoto Haruhiro; Sako Shinji; Sugi Masao; Kotani Kiyoshi; Yoneda Ryuichi; Hayashi Junya; Noguchi Hiroshi; Taura Kenjiro; Otsu Nobuyuki; Sato Tomomasa
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2006, _2A1-B34_1-_2A1-B34_3, 2006, The importance of integrating different discipline of information science and technology is growing for the realization of information system which works robust in real world. Such system should be achieved by integrating super robust algorithm, large-scale dependable network and devices or interfaces which sense and/or actuate in the real world. It is necessary to encourage collaboration among specialists of different disciplines, since it is difficult to cover all area in information science and technology by only one person or group. In order to support collaboration among various kinds of experts, the autonomous collaborative environment for project based learning was developed. The environment comprises the workshop protocol and the community site. The workshop named "A Hundred Hour Workshop" for graduate students who belong to different departments was carried out during summer holidays. The community site named "WS100H.NET" was developed for supporting and analyzing autonomous collaboration process. Novel interdisciplinary technology, fusion of recognition and parallel computation was successfully developed. Collaboration process among the participants was autonomous with minimal facilitation by the tutor in the environment.
Japanese

Human Supporting Production Cell "Attentive Workbench".
Masao Sugi; Yusuke Tamura; Makoto Nikaido; Jun Ota; Tamio Arai; Kiyoshi Takamasu; Kiyoshi Kotani; Akio Yamamoto; Hiromasa Suzuki; Yoichi Sato; Fumihiko Kimura; Seiichi Shin
INTELLIGENT AUTONOMOUS SYSTEMS 9, I O S PRESS, 740-747, 2006, Peer-reviwed, We have proposed "Attentive Workbench (AWB)." a new cell production system in which an intelligent system supports human workers. Recognizing worker's condition and intention, the system supports workers from both physical and information aspects. This paper deals with physical assembly support using self-moving parts trays. The system delivers necessary assembly parts to workers and clears finished products quickly. On transporting large products, multiple trays are subjected to form a rigid body working as a large single tray. In order to realize this arrangement of trays in real-time, a planning method based on the priority scheme and heuristic rule is proposed. Self-moving trays and a simple gesture-based interface are integrated to show a real example of deskwork support.
International conference proceedings, English

Implementation of human supporting production system "Attentive workbench"
Masao Sugi; Yusuke Tamura; Jun Ota; Tamio Arai; Kiyoshi Takamasu; Hiromasa Suzuki
2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, IEEE, 5632-+, 2006, Peer-reviwed, We have proposed "attentive workbench (AWB)," an assembly cell that supports the production activities of human workers. Attentive Workbench is composed of an augmented desk interface and self-moving trays with the Sawyer planar motors. In this paper, 2nd generation prototype of AWB is realized. Practical assembly support by self-moving trays are carried out for the evaluation of the present system.
International conference proceedings, English

A fast rescheduling method in semiconductor manufacturing allowing for tardiness and scheduling stability
Mingang Cheng; Masao Sugi; Jun Ota; Masashi Yamamoto; Hiroki Ito; Kazuyoshi Inoue
2006 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1 AND 2, IEEE, 100-+, 2006, Peer-reviwed, In semiconductor manufacturing, rescheduling problems are extremely difficult to solve in real time due to the high frequency of disturbances that occur approximately every minute. This paper proposes a new approach to online manufacturing rescheduling. Unlike the traditional methods to have a scheduling process again, we (1) revise the existing schedule to keep high schedule stability based on message passing rescheduling with operation sorting; and (2) during the manufacturing process, improve the performance of the revised schedule with the introduction of a quick local search on semi-critical paths. In actual problems with about 200,000 processes, this method can effectively accommodate disturbances in less than I second, and a better schedule can be obtained in less than 1 minute. This method has been demonstrated to be more effective than conventional dispatching-rule methods, some of which have been actually applied in many facilities, because it offers higher schedule stability and fewer violations of due dates.
International conference proceedings, English

Online rescheduling in semiconductor manufacturing
Mingang Cheng; Masao Sugi; Jun Ota; Masashi Yamamoto; Hiroki Ito; Kazuyoshi Inoue
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, IEEE, 2245-2250, 2006, Peer-reviwed, Semiconductor manufacturing is mainly characterized by diversity of products, different process types, and random failures. It is extremely difficult to solve scheduling problems due to high frequency of disturbance occurrence. This paper proposes a new approach for the online manufacturing rescheduling method. Instead of having a dispatching process based on dispatching rules once again, we revise the existing schedule based on message passing principle once the disturbance occurs, and improve the performance of the revised schedule by the introduction of a quick local search according to permutations of processes on send-critical paths. The proposed method can release the influence of disturbances in less than 1 second, and finish rescheduling process in less than 1 minute.
Through the actual problems with about 200,000 processes, this method is evaluated to be more effective for actual manufacturing than the dispatching-rule based methods, some of which have been applied in many facilities.
International conference proceedings, English

作業者支援型セル生産システム"Attentive Workbench"のための自走式部品トレイの動作および配置の計画
杉 正夫; 二階堂 諒; 田村 雄介; 太田 順; 新井 民夫
精密工学会誌, 精密工学会, 72, 11, 1380-1385, 2006, Peer-reviwed, We have proposed "Attentive Workbench (AWB)," a new cell production system in which an intelligent system supports human workers. Recognizing worker's condition and intention, the system supports workers from both physical and information aspects. This paper deals with physical assembly support using self-moving parts trays. The system delivers necessary assembly parts to workers and clears finished products quickly. On transporting large products, multiple trays are subjected to form a rigid body working as a large single tray. In order to realize these movement of trays in real-time, a planning method based on the priority scheme and heuristic rule is proposed. The present method is evaluated through simulations.
Scientific journal, Japanese

Autonomous Collaborative Environment for Project Based Learning
Mihoko Otake; Ryo Fukano; Shinji Sako; Masao Sugi; Kiyoshi Kotani; Junya Hayashi; Hiroshi Noguchi; Ryuichi Yoneda; Kenjiro Taura; Nobuyuki Otsu; Tomomasa Sato
INTELLIGENT AUTONOMOUS SYSTEMS 9, IOS PRESS, 57, 2, 756-+, 2006, Peer-reviwed, The importance of integrating different discipline of information science and technology is growing for the realization of information system which works robust in real world. Such system should be achieved by integrating super robust algorithm, large-scale dependable network and devices or interfaces which sense and/or actuate in the real world. It is necessary to encourage collaboration among specialists of different disciplines, since it is difficult to cover all area in information science and technology by only one person or group. In order to support collaboration among various kinds of experts, the autonomous collaborative environment for project based learning was developed. The environment comprises the workshop protocol and the community site. The workshop named "A Hundred Hour Workshop" for graduate students who belong to different departments was carried out during summer holidays. The community site named "WS100H.NET" was developed for supporting and analyzing autonomous collaboration process. Novel interdisciplinary technology, fusion of recognition and parallel computation was successfully developed. Collaboration process among the participants was autonomous with minimal facilitation by the tutor in the environment,
International conference proceedings, English

Arrangement Planning for Multiple Self-Moving Trays in Human Supporting Production Cell "Attentive Workbench"
Makoto Nikaido; Masao Sugi; Yusuke Tamura; ほか
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3880-3885, Aug. 2005, Peer-reviwed
International conference proceedings, English

Placement of Self-Moving Trays for the Deskwork Support System
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 3886-3891, Aug. 2005, Peer-reviwed
International conference proceedings, English

Motion Control of Self-Moving Trays for Human Supporting Production Cell "Attentive Workbench"
Masao Sugi; Makoto Nikaido; Yusuke Tamura; ほか
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 4091-4096, Apr. 2005, Peer-reviwed
International conference proceedings, English

Online job shop rescheduling with reaction-diffusion equation on a graph
Mingang Cheng; Masao Sugi; Jun Ota; Masashi Yamamoto; Hiroki Ito; Kazuyoshi Inoue
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 3170-3175, 2005, Peer-reviwed, The Job-Shop Scheduling Problem (JSSP) is one of the most difficult NP-hard combinatorial optimization problems. It is extremely difficult to solve the complex job shop scheduling problems because of the disturbances of manufacturing environment. This paper proposes a new method based on the reaction-diffusion equation on a graph [1] to solve JSSP with disturbances. This method considers the operations of JSSP as the autonomous decentralized system elements. According to the definition of the local potential functions between two operations (two operations on the same machine or the same job), the original schedule can be revised to accommodate with the disturbances of manufacturing, such as Machine Breakdown, Processing Time Variation, in a short time. The present method is tested for benchmark problems with disturbances. © 2005 IEEE.
International conference proceedings, English

卓上作業支援システムのための作業者意図の推定
田村 雄介; 杉 正夫; 太田 順; 新井 民夫
計測自動制御学会論文集, 計測自動制御学会, 41, 7, 612-618, 2005, Peer-reviwed, We have proposed a system called Attentive Workbench (AWB) that is designed to support desktop work. AWB is the system which estimates a worker's condition using some sensors and assists a worker using movable trays and projectors from both physical and informational viewpoints. A method for estimating an AWB user's intention is proposed and presented herein. An AWB user expresses his/her intention by pointing a finger at a necessary tray. For estimating which tray a user needs, we take two approaches. One is to consider user's subjective pointing direction, and the other is to integrate the sensor data and user's past action sequences using Dynamic Bayesian Network. A description of the experimental results will demonstrate the usefulness of the method proposed here.
Scientific journal, Japanese

Autonomous Distributed Control of Traffic Signals with Cycle Length Control
Masao Sugi; Hideo Yuasa; Jun Ota; Tamio Arai
Trans. of the Society of Instrument and Control Engineers, The Society of Instrument and Control Engineers, E-3, 1, 8-18, 2005, Peer-reviwed
Scientific journal, English

Deskwork Support System Based on the Estimation of Human Intentions
Yusuke Tamura; Masao Sugi; Jun Ota; Tamio Arai
Proceedings of the 13th IEEE International Workshop on Robot and Human Interactive Communication, 413-418, Sep. 2004, Peer-reviwed
International conference proceedings, English

Distributed Control of Multiple Self-Moving Trays for an Intelligent Cell Production System
Masao Sugi; Yusuke Tamura; ほか
Proceedings of SICE Annual Conference 2004, 2506-2511, Aug. 2004, Peer-reviwed
International conference proceedings, English

Attentive Workbench: An Intelligent Production Cell Supporting Human Workers.
Masao Sugi; Yusuke Tamura; Jun Ota; Tamio Arai; Kiyoshi Takamasu; Kiyoshi Kotani; Hiromasa Suzuki; Yoichi Sato
Distributed Autonomous Robotic Systems 6(DARS), Springer, 465-474, 2004
International conference proceedings

An Easily Reconfigurable Robotic Assembly System
Yusuke MAEDA; Haruka KIKUCHI; Hidemitsu IZAWA; Hiroki OGAWA; Masao SUGI; Tamio ARAI
Proc. of 2003 IEEE Int. Conf. on Robotics and Automation, IEEE, 2586-2591, Sep. 2003, Peer-reviwed
International conference proceedings, English

Real-Time Task Decomposition and Allocation for a Multi-Agent Robotic Assembly Cell
Tamio ARAI; Hidemitsu IZAWA; Yusuke MAEDA; Haruka KIKUCHI; Hiroki OGAWA; Masao SUGI
Proc. of 5th IEEE Int. Symp. on Assembly and Task Planning, IEEE, 42-47, Jul. 2003, Peer-reviwed
International conference proceedings, English

A holonic architecture for easy reconfiguration of robotic assembly systems
M Sugi; Y Maeda; Y Aiyama; T Harada; T Arai
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 19, 3, 457-464, Jun. 2003, Peer-reviwed, This paper proposes a flexible assembly system, where autonomous manufacturing devices and production management agents communicate with one another to accomplish production tasks. This architecture allows the system to arrange manufacturing devices independently of the type of products assembled and to assemble multiple products in parallel and asynchronous progress. This system also supports plug and produce, a system function that realizes easy reconfiguration. Thus, the system can return quick responses to breakdowns and changes in production quantities. This paper also presents an index for the general evaluation of reconfigurable manufacturing systems. With this index and the plug-and-produce function, the system can be reconfigured appropriately to adapt to changes in the manufacturing environments.
Scientific journal, English

Autonomous decentralized control of traffic signals with closed-loop contraints, on offsets
M Sugi; H Yuasa; J Ota; T Arai
SICE 2003 ANNUAL CONFERENCE, VOLS 1-3, IEEE, 1954-1960, 2003, Peer-reviwed, A new method is proposed for controlling a large number of traffic signals, which are represented by nonlinear oscillators, each governed by a reaction-diffusion equation at a node of a graph. The behavior of each signal is determined only by the states of its neighbors, with the system as a whole being also organized globally. In this report, we newly introduce the control of cycle lengths of the signals. The system can achieve high performance in dynamic traffic conditions by controlling cycle lengths of the signals, along with offsets and splits. The simulation results are exemplified to show the validity of the method.
International conference proceedings, English

サイクル長制御を取り入れた自律分散型交通信号制御
杉 正夫; 湯浅 秀男; 太田 順; 新井 民夫
計測自動制御学会論文集, 計測自動制御学会, 39, 8, 767-776, 2003, Peer-reviwed, A new method is proposed for controlling a large number of traffic signals, which are represented by nonlinear oscillators, each governed by a reaction-diffusion equation at a node of a graph. The behavior of each signal is determined only by the states of its neighbors, with the system as a whole being also organized globally. In this report, cycle lengths of the signals are controlled according to the traffic condition. Along with the control of offsets and splits, which are also explained here, the system can achieve high performance in dynamic traffic conditions. The simulation results are exemplified to show the validity of the method.
Scientific journal, Japanese

Nelder-Mead法条件緩和アルゴリズムによるマニピュレータ制御パラメータのチューニング法
太田 順; 金子 慎一郎; 新井 民夫; 前田 雄介; 杉 正夫; 千葉 龍介
計測自動制御学会産業論文集, 計測自動制御学会, 2, 4, 27-33, 2003, Peer-reviwed
Scientific journal, Japanese

グラフ上の反応拡散方程式による交通信号網の自律分散型制御
杉 正夫; 湯浅 秀男; 新井 民夫
計測自動制御学会論文集, 計測自動制御学会, 39, 1, 51-58, 2003, Peer-reviwed
Scientific journal, Japanese

Automatic calibration of assembly robots for instantaneous installation 'plug & produce'
H Kikuchi; Y Maeda; M Sugi; T Arai
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 17, 1, 41-52, 2003, Peer-reviwed, Reconfigurability is essential to complete highly flexible and agile assembly systems. Easier installation of assembly devices is indispensable for easier reconfiguration. In this paper, we propose an automated calibration method based on the 'plug & produce' concept to support device installation for the relay of parts. We use two cameras to measure three-dimernsional coordinates of two assembly devices for the calibration and obtain the relative positional relationship between the two devices. We also present experimental results on the accuracy of the calibration between two robot manipulators.
Scientific journal, English

Automated calibration of robot coordinates for reconfigurable assembly systems
T Arai; Y Maeda; H Kikuchi; M Sugi
CIRP ANNALS-MANUFACTURING TECHNOLOGY, ELSEVIER SCIENCE BV, 51, 1, 5-8, 2002, Peer-reviwed, To achieve higher reconfigurability of an assembly line, quick plug-in and plug-out of devices such as robots is essential. When a new device is installed into the assembly line, calibration should be made. This research deals with an automated calibration system of relative position/orientation based on the Direct Linear Transformation method using two CCD cameras. The cameras are freely positioned, and then a set of motions is commanded to each manipulator. By detecting the motion with the cameras, the relative position of the two robots is obtained. The resultant accuracy is 0.16 mm rms at the best.
Scientific journal, English

Holonic assembly system with plug and produce
T Arai; Y Aiyama; M Sugi; J Ota
COMPUTERS IN INDUSTRY, ELSEVIER SCIENCE BV, 46, 3, 289-299, Oct. 2001, Peer-reviwed, An assembly system based on holonic concept has been newly installed. The system consists of three manipulators, one belt-conveyor and two warehouses. The system assembles several parts into a product. Its sequences are planned by negotiation among the assembly devices by means of contract net protocol. Thus, even though the parts are supplied at different warehouses, the system can generate a sequence of transportation automatically. Utilizing the characteristics of distributed autonomous systems, a new concept Plug and Produce is proposed. A device can be installed easily and then immediately start to work. This system has high robustness against the reconfiguration and sudden changes of products. Experiments were made for two kinds of assembly tasks and verified the efficiency of the system. (C) 2001 Elsevier Science B.V. All rights reserved.
Scientific journal, English

Automated Calibration for Assembly Device Installation Based on Plug & Produce Concept
Haruka KIKUCHI; Yusuke MAEDA; Masao SUGI; Tamio ARAI
Initiatives of Precision Engineering at the Beginning of a Millennium, Kluwer Academic Publishers, SPRINGER, 729-733, Jul. 2001, Peer-reviwed
International conference proceedings, English

Holonic Robot System: A Flexible Assembly System with High Reconfigurability
Masao SUGI; Yusuke MAEDA; Yasumichi AIYAMA; Tamio ARAI
Proc. of 2001 IEEE Int. Conf. on Robotics and Automation, IEEE, 799-805, May 2001, Peer-reviwed
International conference proceedings, English

A Flexible Robot System for Assembly with a Concept of Holon
Masao SUGI; Yusuke MAEDA; Yasumichi AIYAMA; Tamio ARAI
Proc. of 32nd Int. Symp. on Robotics, 844-849, Apr. 2001, Peer-reviwed
International conference proceedings, English

Agile assembly system by "plug and produce"
T Arai; Y Aiyama; Y Maeda; M Sugi; J Ota
CIRP ANNALS 2000: MANUFACTURING TECHNOLOGY, HALLWAG PUBLISHERS, 49, 1, 1-4, 2000, Peer-reviwed, For highly flexible and agile assembly systems, installation of manufacturing devices is indispensable technology. In this paper, we propose a "Plug & Produce" concept. It is a methodology to introduce a new manufacturing device into a manufacturing system easily and quickly. It can also remove the device easily from the system. It is designed by analogy of Plug & Play concept in computer world. A holonic assembly system is installed using proposed Plug & Produce architecture. The validity of the proposed architecture is verified by experiments with robots and a belt conveyor. A robot will be installed to an existing cell in a short time. The proposed concept can enhance the agility of assembly systems greatly.
International conference proceedings, English

A Study on Accuracy of Worker Classification by Deep Learning using 3D Motion Data
川根龍人; 伊集院大将; 杉正夫; 中嶋良介; 仲田知弘; 岡本一志; 松野省吾; 山田哲男
2023, 精密工学会大会学術講演会講演論文集(CD-ROM), 2023, 202302286665000826

Motion Analysis of Worker by Motion Capture and Deep Learning Software
川根龍人; 伊集院大将; 杉正夫; 中嶋良介; 仲田知弘; 岡本一志; 松野省吾; 山田哲男
2022, 精密工学会大会学術講演会講演論文集(CD-ROM), 2022, 202202279901392126

Development of Integrated Multi-Point Electrodes for FES Using Power Net and Evaluation by Expressed Hand Posture
森本韻; 安田翔太朗; 松尾英治; 山野井佑介; 杉正夫; JIANG Yinlai; 横井浩史
2021, LIFE講演概要集(CD-ROM), 2020/2021, 202102222235666154

オーグメンテッド・ヒューマン Augmented Human ― AIと人体科学の融合による人機一体、究極のIFが創る未来
横井 浩史; 矢吹 佳子; 東郷 俊太; 姜 銀来; 加藤 龍; 杉 正夫
Scholarly book, Japanese, Joint work, 第1編 AHのための基礎研究 第2章 電気刺激による運動と感覚の再生, エヌ・ティー・エス, Jan. 2018, 9784860435158

人と共存するコンピュータ・ロボット学 ―実世界情報システム―
太田 順; 杉 正夫; 新井 民夫
Scholarly book, Japanese, Joint work, 第5.3節 人間とインタラクションする群知能としてのアテンティブ・ワークベンチ, オーム社, 2004, 4274946940

人間－ロボットによる長尺物の協調搬送：長軸回りのトルク入力を使用したインピーダンス制御
飯坂和也; 石田和貴; 杉正夫
Oral presentation, Japanese, 2025年度精密工学会春季大会学術講演会講演論文集
19 Mar. 2025
17 Mar. 2025- 19 Mar. 2025

水平作業台ディスプレイ上での作業者の注視点情報に基づく意図推定と情報提示
石田和貴; 飯坂和也; 山田哲男; 中嶋良介; 杉正夫
Oral presentation, Japanese, 2025年度精密工学会春季大会学術講演会講演論文集
19 Mar. 2025
17 Mar. 2025- 19 Mar. 2025

機能的電気刺激による肘関節屈曲のための多点電極 MP 追従システムの開発
青木翔太; 北岸壮良; 姜銀来; 横井浩史; 杉正夫
Oral presentation, Japanese, 2025年度精密工学会春季大会学術講演会講演論文集
19 Mar. 2025
17 Mar. 2025- 19 Mar. 2025

多点電極を用いた機能的電気刺激による手指の内転・外転運動の実現
北岸壮良; 青木翔太; 姜銀来; 横井浩史; 杉正夫
Oral presentation, Japanese, 2025年度精密工学会春季大会学術講演会講演論文集
19 Mar. 2025
17 Mar. 2025- 19 Mar. 2025

リニアアクチュエータを用いたモータポイント追従型機能的電気刺激装置の開発
海老原心; 劉 越; 杉正夫; 横井浩史; 姜銀来
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
04 Sep. 2024
03 Sep. 2024- 06 Sep. 2024

人間－ロボット協調作業における非言語コミュニケーション： 人間同士による長尺物協調搬送における解析
斎藤 雄太; 中川 隼; 石田 和貴; 杉 正夫
2024年度精密工学会春季大会学術講演会講演論文集
13 Mar. 2024
12 Mar. 2024- 14 Mar. 2024

ロボットと人間の協調作業における作業中の偶発的な要因による精神的負担の評価
中川隼; 斎藤雄太; 石田和貴; 杉正夫
Oral presentation, Japanese, 2024年度精密工学会春季大会学術講演会講演論文集
13 Mar. 2024
12 Mar. 2024- 14 Mar. 2024

運動トレーニングにおける皮膚刺激フィードバック手法の比較：電気刺激と振動刺激
塚本翔大; 青木翔太; 中村駿; 姜銀来; 横井浩史; 杉正夫
Oral presentation, Japanese, 2024年度精密工学会春季大会学術講演会講演論文集
12 Mar. 2024
12 Mar. 2024- 14 Mar. 2024

熱可塑性エラストマー材料を用いた一体型多点表面電気刺激電極
中村駿; 青木翔太; 塚本翔大; 姜銀来; 横井浩史; 杉正夫
Oral presentation, Japanese, 2024年度精密工学会春季大会学術講演会講演論文集
12 Mar. 2024
12 Mar. 2024- 14 Mar. 2024

On Human-Robot Cooperation in Manufacturing: Synchronized Collaboration and Non-Verbal Communication
Masao Sugi
Invited oral presentation, English, 2024 IEEE/SICE International Symposium on System Integration Workshop on Safety & ANSHIN Systems - ANSHIN & Safety for Robots & Intelligent Systems, Invited
Jan. 2024

L-LDAを用いた動作データの半自動分節化手法による分節化作業の効率化
石田和貴; 長野真大; 山田哲男; 中嶋良介; 杉正夫
Japanese, 2023年度日本設備管理学会春季研究発表大会論文集
19 Jun. 2023
19 Jun. 2023- 19 Jun. 2023

ロボットと人間の同期型協調作業における引き込み現象を用いた作業ペースの調整
山下 雅裕; 塚本 侑志; 斎藤 雄太; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
16 Mar. 2023

人間・ロボット協調作業システムにおけるロボットの作業ペース変化と作業者の精神的負担のリアルタイム評価
塚本 侑志; 斎藤 雄太; 山下 雅裕; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
16 Mar. 2023

前腕部多点機能的電気刺激における刺激波形の高周波成分と発現手指姿勢の調査
青木 翔太; 市東 潤哉; 中村 駿; 吉井 仁美; 姜 銀来; 横井 浩史; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
15 Mar. 2023

一体型柔軟多点電極を用いた機能的電気刺激における目的手指姿勢実現のための高速な刺激パターン近傍探索に関する研究
市東 潤哉; 中村 駿; 青木 翔太; 吉井 仁美; 姜 銀来; 横井 治史; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
15 Mar. 2023

Google MediaPipe と Leap Motion の性能評価比較
吉井 仁美; 青木 翔太; 中村 駿; 市東 潤哉; 横井 治史; 姜 銀来; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
15 Mar. 2023

3次元モーションデータの深層学習による作業者分類の精度に関する一考察
川根 龍人; 伊集院 大将; 杉 正夫; 中嶋 良介; 仲田 知弘; 岡本 一志; 松野 省吾; 山田 哲男
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
14 Mar. 2023

ナット締結作業における一次元畳み込みニューラルネットワークを用いた要素動作ごとの熟練度評価
石田 和貴; 長野 真大; 中嶋 良介; 山田 哲男; 小林 周平; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
14 Mar. 2023

水平作業台ディスプレイのための複数カメラに基づく視線位置推定システム
長野 真大; 石田 和貴; 中嶋 良介; 仲田 知弘; 松野 省吾; 岡本 一志; 山田 周歩; 山田 哲男; 杉 正夫
Oral presentation, Japanese, 2023年度精密工学会春季大会学術講演会講演論文集
14 Mar. 2023

For The Balancing of Productivity and Mental Stress on Human-Robot Synchronized Collaborative Manufacturing
Masao Sugi
Invited oral presentation, English, 2023 IEEE/SICE International Symposium on System Integration Workshop on Safety & ANSHIN Systems - ANSHIN & Safety for Robots & Intelligent Systems, Invited
Jan. 2023

同期型の人間・ロボット共同作業における作業効率と心理負荷
塚本 侑志; 斎藤 雄太; 山下 雅裕; 杉 正夫
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会予稿集, 日本ロボット学会, 東京都, Domestic conference
07 Sep. 2022

ナット締結作業の熟練度判別システム: 1次元畳み込みニューラルネットワークと敵対的生成ネットワークを用いたアプローチ
杉 正夫; 小林 周平; 長野 真大; 中嶋 良介; 仲田 知弘; 松野 省吾; 岡本 一志; 山田 哲男
Oral presentation, Japanese, 2022年度日本設備管理学会春季研究発表大会論文集, 日本設備管理学会, 神奈川県相模原市, Domestic conference
13 Jun. 2022

水平作業台ディスプレイとレーザーポインタを用いた組立作業支援システム
大西 紗愛; 小林 周平; 長野 真大; 杉 正夫
Oral presentation, Japanese, 精密工学会2022年度春季大会講演論文集, 精密工学会, 東京都目黒区, Domestic conference
17 Mar. 2022

一次元畳み込みニューラルネットワークと敵対的生成ネットワークを用いたナット締結作業の熟練度判別
小林 周平; 長野 真大; 大西 紗愛; 中嶋 良介; 山田 哲男; 杉 正夫
Oral presentation, Japanese, 精密工学会2022年度春季大会講演論文集, 精密工学会, 東京都目黒区, Domestic conference
17 Mar. 2022

モーションキャプチャーと深層学習ソフトウェアによる作業者の動作分析
川根 龍人; 伊集院 大将; 杉 正夫; 中嶋 良介; 仲田 知弘; 岡本 一志; 松野 省吾; 山田 哲男
Oral presentation, Japanese, 精密工学会2022年度春季大会講演論文集, 精密工学会, 東京都目黒区, Domestic conference
17 Mar. 2022

表面電極式機能的電気刺激による前腕部再建のための一体型柔軟多点電極の改良
中村 駿; 市東 潤哉; 趙 越; 安田 翔大郎; 姜 銀来; 横井 浩史; 杉 正夫
Oral presentation, Japanese, 精密工学会2022年度春季大会講演論文集, 精密工学会, 東京都目黒区, Domestic conference
17 Mar. 2022

ロボットと人間の同期型協調作業における作業ペースの変化が及ぼす精神的負担の評価
斎藤 雄太; 塚本 侑志; 杉 正夫
Oral presentation, Japanese, 精密工学会2022年度春季大会講演論文集, 精密工学会, 東京都目黒区, Domestic conference
15 Mar. 2022

機能的電気刺激を用いた上腕三頭筋のMP位置の移動と筋収縮力の探索
平井 隆志; 姜 銀来; 杉 正夫; 東郷 俊太; 横井 浩史
Oral presentation, Japanese, 第42回バイオメカニズム学術講演会（SOBIM2021）講演予稿集, バイオメカニズム学会, 香川県高松市, Domestic conference
28 Nov. 2021

パワーネットを用いた FES 用一体型多点電極の開発と発現手指姿勢による評価
森本 韻; 安田 翔太朗; 松尾 英治; 山野井 佑介; 杉 正夫; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第36回ライフサポート学会大会 (LIFE2020-2021) 講演論文集, ライフサポート学会, 富山県富山市, Domestic conference
18 Sep. 2021

多点電極型逐次刺激FESを⽤いた前腕部の筋疲労軽減の検証
松尾 英治; 姜 銀来; 杉 正夫; 横井 浩史
Oral presentation, Japanese, 第36回ライフサポート学会大会 (LIFE2020-2021) 講演論文集, ライフサポート学会, 富山県富山市, Domestic conference
18 Sep. 2021

FESにおける刺激の位置から手指姿勢の推定: 機械学習を用いた試み
森本 韻; 山野井 佑介; 杉 正夫; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会予稿集, 日本ロボット学会, 長野県, Domestic conference
10 Sep. 2021

人とロボットの協働の難しさ
杉 正夫
Invited oral presentation, Japanese, 日本ロボット学会2021年度オープンフォーラム「合業－ロボットと人間が助け合う未来の生産システムを目指して（第二回）」, Invited
Sep. 2021

水平作業台ディスプレイにおける作業者の注視点推定システム
杉 正夫; 山田 孟; 長野 真大; 中嶋 良介; 仲田 知弘; 松野 省吾; 岡本 一志; 山田 哲男
Oral presentation, Japanese, 2021年度日本設備管理学会春季研究発表大会論文集, 日本設備管理学会, 神奈川県相模原市, Domestic conference
14 Jun. 2021

水平作業台ディスプレイにおける作業者の頭部位置移動に対応した注視点推定システムの提案
山田 孟; 長野 真大; 中嶋 良介; 仲田 知弘; 松野 省吾; 岡本 一志; 山田 哲男; 杉 正夫; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

卓上作業支援システムにおけるABCDアルゴリズムに基づく物品グループ化手法の提案
塚本 侑志; 永渕 将; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

ロボットと人間の同期型交互作業を想定した作業ペースの変化によるストレス評価
河見 健佑; 小林 周平; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

交通信号網の非線形振動子モデルを用いた自律分散的広域制御における粒子群最適化による制御パラメータの考察
永渕 将; 須藤 菜名; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

非線形振動子モデルを用いた交通信号網の自律分散的広域制御におけるX-Means法によるサブエリア分割手法の有効性検証
須藤 菜名; 永渕 将; 今川 貴矢; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

シリコーン電極を用いた機能的電気刺激における導電性ジェルの塗布範囲による筋収縮への影響
市東 潤哉; 趙 越; 田澤 龍之介; 永渕 将; 毛 程宇; 姜 銀来; 横井 浩史; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

多点式表面筋電センサとスパイキングニューラルネットワークモデルを用いた手指動作推定
田澤 龍之介; 姜 銀来; 横井 浩史; 杉 正夫
Oral presentation, Japanese, 精密工学会2021年度春季大会講演論文集, 精密工学会, 東京都調布市, Domestic conference
16 Mar. 2021

Research and Challenges of Current AI for Generation Z by Questionnaire and Text Analysis
Yamada T.; Masui K.; Matsuno S.; Nagasawa K.; Ijuin H.; Ishigaki A; Inaba M.; Inoue H.; Yu Y.; Okamoto K.; Kitada H.; Zhou L.; Sugi M.; Taki S.; Nakajima R.; Nakada T.; Ohto-Fujita E.; Yamada S.
Japanese, Proceedings of the Conference of Transdisciplinary Federation of Science and Technology, Transdisciplinary Federation of Science and Technology, People have both expectations and fears about current AI, which has begun to be integrated into our
society through products and services. However, Generation Z, who has been around digital device such as smart
phones since they were born and have a new sense of values, will play a leading role in the future society in which
AI and people collaborate. Therefore, it is necessary to understand the expectations and fears about AI from their
own words.

In this study, we conduct a questionnaire survey on current AI for Generation Z and text mining to extract
information from a large amount of text data, and discusses the research and challenges involved.
2021
2021 2021

機械学習による作業者のモーション分析の一考察
川根 龍人; 伊集院 大将; 杉 正夫; 中嶋 良介; 山田 哲男
Oral presentation, Japanese, Webインテリジェンスとインタラクション研究会 予稿集 17
2021

水平作業台ディスプレイにおける畳み込みニューラルネットワークを用いた視線計測システムの構築
山田 孟; 杉 正夫; 中嶋 良介; 山田 哲男
Oral presentation, Japanese, 2020年度日本設備管理学会春季研究発表大会論文集, 日本設備管理学会, 東京都調布市, Domestic conference
04 Jun. 2020

作業の自動化難易度と自動化率を考慮したハイブリッド組立ラインの設計問題
宮内 孝; 山田 哲男; 杉 正夫
Oral presentation, Japanese, 2020年度日本設備管理学会春季研究発表大会論文集, 日本設備管理学会, 東京都調布市, Domestic conference
04 Jun. 2020

多点機能的電気刺激による前腕部運動再建のための筒状一体型シリコーン電極
畠沢 祐輝; 黒木 光; 田澤 龍之介; 永渕 将; 毛 程宇; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, 精密工学会, 東京都小金井市, Domestic conference
18 Mar. 2020

表面電極式機能的電気刺激における上腕二頭筋の収縮に適した刺激波形の検討
黒木 光; 田澤 龍之介; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, 精密工学会, 東京都小金井市, Domestic conference
18 Mar. 2020

上下昇降デスクを用いた立位転換後における作業姿勢自動改善システムの提案
佐藤 素気; 杉 正夫
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, 精密工学会, 東京都小金井市, Domestic conference
18 Mar. 2020

調理作業を例としたアクティビティ図と動画を用いた作業支援マニュアルの評価
小林 周平; 山田 孟; 杉 正夫
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, 精密工学会, 東京都小金井市, Domestic conference
18 Mar. 2020

卓上作業支援システムにおける重み付きCPM法の平均重み閾値の自動調整
堂前 佑斗; 山田 孟; 杉 正夫
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, 精密工学会, 東京都小金井市, Domestic conference
18 Mar. 2020

多点機能的電気刺激による前腕部運動再建のための筒状一体型シリコーン電極
畠沢 祐輝; 黒木 光; 田澤 龍之介; 永渕 将; 毛 程宇; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Japanese, 精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 筆者らは，麻痺者を対象とした手指の多点機能的電気刺激リハビリシステムの開発を行ってきた．これまでに双極性の電気刺激を用いた装置により様々な姿勢の発現を確認した．しかし従来電極では電極の貼付位置を一定化することが難しい．そこで本報では，電極の位置ズレが生じづらいように全ての電極が単一のシリコーンに埋め込まれた一体型電極を用いて複数日にわたって探索を行い，装着容易性や手指姿勢の再現性などで評価を行う．
01 Mar. 2020
01 Mar. 2020- 01 Mar. 2020

表面電極式機能的電気刺激における上腕二頭筋の収縮に適した刺激波形の検討
黒木 光; 田澤 龍之介; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Japanese, 精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 麻痺患者に対するリハビリテーションの一つとして機能的電気刺激を用いる手法が普及している．しかし，刺激部位や刺激波形によって筋収縮の結果が異なり，実際に使用されている刺激波形は様々である．筆者らはこれまで，双極式表面電極とバースト変調矩形波とを用いた機能的電気刺激システムを開発してきた．本発表では，上腕二頭筋の収縮を誘発するための刺激波形として，バースト変調矩形波とバースト変調正弦波の比較を行う．
01 Mar. 2020
01 Mar. 2020- 01 Mar. 2020

多点電極式機能的電気刺激装置の開発: 一体型多点電極の試作と経時変化の調査
永渕 将; 毛 程宇; 田澤 龍之介; 畠沢 祐輝; 東郷 俊太; 姜 銀来; 杉 正夫; 横井 浩史
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, 日本ロボット学会, 東京都調新宿区, Domestic conference
06 Sep. 2019

機能的電気刺激における肘関節屈曲運動を誘発するための刺激波形探索
田澤 龍之介; 畠沢 祐輝; 岡野 大輔; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
15 Mar. 2019

多点型機能的電気刺激リハビリテーションシステムにおける刺激位置再現性を用いた高速な刺激パターン探索
岡野 大輔; 田澤 龍之介; 畠沢 祐輝; 粕谷 美里; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
15 Mar. 2019

水平作業台ディスプレイのための情報提示手法の注視点情報による評価
山田 孟; 海老原 聖也; 杉 正夫
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
14 Mar. 2019

卓上作業支援システムにおける対話的インタラクション支援機能の提案
陣山 岳; 永渕 将; 松澤 弘一; 杉 正夫
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
14 Mar. 2019

卓上作業支援システムにおける力学モデルを用いた小型自走式トレイ群の入れ替え整列
永渕 将; 陣山 岳; 杉 正夫
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
14 Mar. 2019

卓上作業支援システムにおける物品の履歴情報とグラフ分割手法を用いたグループ化手法の提案
松澤 弘一; 陣山 岳; 杉 正夫
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
14 Mar. 2019

非線形結合振動子モデルを用いた交通網の自律分散型制御における制御パラメータの考察
海老原 聖也; 今川 貴矢; 田代 朋哉; 杉 正夫
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
14 Mar. 2019

非線形振動子モデルを用いた交通信号網の自律分散的制御におけるサブエリア分割手法の提案
今川 貴矢; 海老原 聖也; 田代 朋哉; 杉 正夫
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, 精密工学会, 東京都足立区, Domestic conference
14 Mar. 2019

多点型機能的電気刺激リハビリテーションシステムにおける刺激位置再現性を用いた高速な刺激パターン探索
岡野 大輔; 田澤 龍之介; 畠沢 祐輝; 粕谷 美里; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Japanese, 精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 筆者らは，脳卒中における麻痺患者を対象とした，多点電極を用いた手指機能的電気刺激リハビリシステムの開発を行っている．これまでに，多点電極と双極性の刺激波形とを用いた装置によって様々な姿勢の発現を確認した．この装置は刺激の自由度が高く刺激可能な数が膨大になるため，刺激位置探索の高速化が必要である．本報では，同相な電極群の配置を限定して探索を行う．刺激パターンの再現性を考慮して異なる日の探索結果を参考にすることで，短時間で目的姿勢に適した刺激パターンを取得する．
01 Mar. 2019
01 Mar. 2019- 01 Mar. 2019

機能的電気刺激における肘関節屈曲運動を誘発するための刺激波形探索
田澤 龍之介; 畠沢 祐輝; 岡野 大輔; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Japanese, 精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 表面貼付型の電極を利用した機能的電気刺激は，拘束性の低さと着脱の容易性から運動訓練やリハビリテーションの補助手法の一つとして注目されている．刺激部位や刺激波形によって筋収縮の挙動が異なるが，利用される刺激波形は様々である．本研究では高周波の刺激波形をBurst変調した刺激を矩形波を用いて筋発揮力と主観的な痛みの評価の2つの観点から評価する．
01 Mar. 2019
01 Mar. 2019- 01 Mar. 2019

ヘッドマウントディスプレイと水平作業台ディスプレイの作業支援比較
吉村 昌人; 海老原 聖也; 田代 朋哉; 杉 正夫
Oral presentation, Japanese, 日本機械学会関東支部第24回講演会講演論文集, 日本機械学会, 東京都調布市, Domestic conference
17 Mar. 2018

組立作業支援における水平作業台ディスプレイとプロジェクタを組合せた情報提示手法の提案
平畠 佑樹; 海老原 聖也; 田代 朋哉; 杉 正夫
Oral presentation, Japanese, 日本機械学会関東支部第24回講演会講演論文集, 日本機械学会, 東京都調布市, Domestic conference
17 Mar. 2018

双方向通行の十字路における歩行者の混雑緩和の検討 ― 混雑度に応じた最適な交通ルールパラメータ
小溝 貴大; 杉 正夫
Oral presentation, Japanese, 日本機械学会関東支部第24回講演会講演論文集, 日本機械学会, 東京都調布市, Domestic conference
17 Mar. 2018

機能的電気刺激を用いた下肢の血流改善システムの構築
畠沢 祐輝; 岡野 大輔; 桑原 昂士; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2018年度春季大会講演論文集, 精密工学会, 東京都文京区, Domestic conference
15 Mar. 2018

肘関節屈曲運動を補助するための機能的電気刺激における刺激波形パラメータ
桑原 昂士; 岡野 大輔; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2018年度春季大会講演論文集, 精密工学会, 東京都文京区, Domestic conference
15 Mar. 2018

小型物品搬送ロボット群を用いた卓上作業支援システムのための自己位置推定および補正機能
和田 太一; 陣山 岳; 杉 正夫
Oral presentation, Japanese, 精密工学会2018年度春季大会講演論文集, 精密工学会, 東京都文京区, Domestic conference
15 Mar. 2018

肘関節屈曲運動を補助するための機能的電気刺激における刺激波形パラメータ
桑原 昂士; 岡野 大輔; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Japanese, 精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 表面貼付型の電極を利用した機能的電気刺激は，拘束性の低さと着脱の容易性から運動トレーニングやリハビリテーションの補助手法の一つとして注目されている．刺激部位や刺激波形によって筋収縮の挙動が異なるが，利用される刺激波形は様々である．本研究では上腕の屈曲運動を補助する場合に発揮力の大きい刺激波形の探索を行う．本発表では，バースト変調矩形波をベースに，高周波域の波数に着目して実施した調査結果を報告する．
01 Mar. 2018
01 Mar. 2018- 01 Mar. 2018

機能的電気刺激を用いた下肢の血流改善システムの構築
畠沢 祐輝; 岡野 大輔; 桑原 昂士; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Japanese, 精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 深部静脈血栓症は，長時間のデスクワークや寝たきり状態など下肢の活動不足で血流が鬱滞することで発症し，重篤な場合は肺塞栓症を引き起こすことがある．予防策の一例として，足首関節の底背屈運動による血流量増加が挙げられる．本発表では，当該動作を非随意に実現可能な手法として機能的電気刺激を利用し，これによる血流改善効果を検証する．短時間の被験者実験を行い，下肢血流量の変化を調査する．
01 Mar. 2018
01 Mar. 2018- 01 Mar. 2018

多点表面電気刺激における刺激電極パターンのクラスタリング
粕谷 美里; 森下 壮一郎; 姜 銀来; 杉 正夫; 横井 浩史
Poster presentation, Japanese, 計測自動制御学会システム・情報部門学術講演会2017（SSI2017）, Domestic conference
26 Nov. 2017

水平作業台ディスプレイを用いた組立作業支援システムにおける作業者の利き手情報に応じたマニュアル提示の提案
海老原 聖也; 田代 朋哉; 西村 俊一; 杉 正夫
Oral presentation, Japanese, 精密工学会2017年度春季大会講演論文集, 精密工学会, 神奈川県横浜市, Domestic conference
14 Mar. 2017

多点電極を用いた機能的電気刺激における目的手指姿勢を実現するための高速な刺激パターン探索
岡野 大輔; 桑原 昂士; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2017年度春季大会講演論文集, 精密工学会, 神奈川県横浜市, Domestic conference
14 Mar. 2017

卓上作業支援システムにおける物品搬送トレイの並列動作計画
陣山 岳; 田代 朋哉; 西村 俊一; 杉 正夫
Oral presentation, Japanese, 精密工学会2017年度春季大会講演論文集, 精密工学会, 神奈川県横浜市, Domestic conference
14 Mar. 2017

卓上作業支援システムにおける作業履歴に基づいた物品情報のグループ化 第2報: 使用時刻情報に基づく物品関連度重み付けの導入
葛西 光晟; 西村 俊一; 木村 拓海; 田代 朋哉; 杉 正夫
Oral presentation, Japanese, 精密工学会2017年度春季大会講演論文集, 精密工学会, 神奈川県横浜市, Domestic conference
14 Mar. 2017

混雑緩和を目的とした十字路群衆流の制御手法の検討
西村 俊一; 田代 朋哉; 杉 正夫
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム資料, 計測自動制御学会, 東京都調布市, Domestic conference
31 Jan. 2017

座面傾動椅子を用いた腰痛軽減システムにおける座面圧力分布を考慮した傾動動作
田中 健司; 北條 尚人; 杉 正夫
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム資料, 計測自動制御学会, 東京都調布市, Domestic conference
31 Jan. 2017

Transfer Entropyを用いた下肢協調運動における協調性の定量的評価
野櫻 舞; 粕谷 美里; 東郷 俊太; 姜 銀来; 杉 正夫; 横井 浩史
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム資料, 計測自動制御学会, 東京都調布市, Domestic conference
31 Jan. 2017

混雑緩和のための群衆流の制御手法の検討
西村 俊一; 杉 正夫
Oral presentation, Japanese, 第22回創発システム・シンポジウム, 計測自動制御学会, 長野県諏訪市, Domestic conference
24 Aug. 2016

フットペダル型運動トレーニングシステムのための表面電気刺激を利用した情報提示手法
桑原 昂士; 粕谷 美里; 杉 正夫; 森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 第22回創発システム・シンポジウム, 計測自動制御学会, 長野県諏訪市, Domestic conference
24 Aug. 2016

The cortical adaptation monitoring system for leg press machine with FES induced biofeedback
Misato Kasuya; Mai Nozakura; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Hiroshi Yokoi
Oral presentation, English, The 21st Congress of the International Society of Electrophysiology and Kinesiology (ISEK 2016), International Society of Electrophysiology and Kinesiology, Chicago, IL, USA, International conference
06 Jul. 2016

能動的座面傾動椅子を用いた腰痛軽減システムにおける作業に支障のない傾動速度の検討
北條 尚人; 田中 健司; 杉 正夫
Oral presentation, Japanese, 精密工学会2016年度春季大会講演論文集, 精密工学会, 千葉県野田市, Domestic conference
15 Mar. 2016

運動トレーニングシステムのための表面電気刺激による情報提示手法の検討
桑原 昂士; 大平 美里; 杉 正夫; 森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 精密工学会2016年度春季大会講演論文集, 精密工学会, 千葉県野田市, Domestic conference
15 Mar. 2016

コミュニティ抽出手法を用いた物品情報のグループ化 第2報: 作業履歴からの頻度行列生成方法の改良
加治野 陽; 木村 拓海; 杉 正夫
Oral presentation, Japanese, 精密工学会2016年度春季大会講演論文集, 精密工学会, 千葉県野田市, Domestic conference
15 Mar. 2016

卓上作業支援システムにおける物品搬送トレイ群のための迅速な物品取り出し計画
小泉 竜太郎; 奥田 貴紀; 島野 雄貴; 樽木 孝至; 杉 正夫
Oral presentation, Japanese, 精密工学会2016年度春季大会講演論文集, 精密工学会, 千葉県野田市, Domestic conference
15 Mar. 2016

卓上作業支援システムにおける物品自動片付け機能の提案
樽木 孝至; 奥田 貴紀; 杉 正夫
Oral presentation, Japanese, 精密工学会2016年度春季大会講演論文集, 精密工学会, 千葉県野田市, Domestic conference
15 Mar. 2016

水平作業台ディスプレイを用いた組立作業支援システムにおける作業者の頭部位置・方向に応じた情報提示
田代 朋哉; 西村 俊一; 杉 正夫
Oral presentation, Japanese, 精密工学会2016年度春季大会講演論文集, 精密工学会, 千葉県野田市, Domestic conference
15 Mar. 2016

後処理のある圧縮焼鈍し法を用いた時間枠制約付き非対称巡回セールスマン問題の解法
溝垣 忠信; 杉 正夫; 山本 政; 塩見 雄佑; 永井 秀稔; 太田 順
2011年度精密工学会春季大会学術講演会講演論文集
2011
2011 2011

Estimation of Human Prehension Movements Using Gaze Information for Deskwork Support System
TAMURA Yusuke; SUGI Masao; OTA Jun; ARAI Tamio
Japanese, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems
29 Jan. 2007
29 Jan. 2007- 29 Jan. 2007

Detection of the Reaching Movement and Prediction of the Target Object Based on Human Hand Movement
TAMURA Yusuke; SUGI Masao; OTA Jun; ARAI Tamio
Japanese, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems
26 Jan. 2006
26 Jan. 2006- 26 Jan. 2006

2A1-B34 Development of Collaborative Research and Education Platform via A Hundred Hour Workshop
Otake Mihoko; Kaneda Kenji; Kamoshida Yoshikazu; Fukano Ryo; Shiraki Takayoshi; Ito Satoshi; Ishiguro Katsuhiko; Shirai Tatsuya; Saito Hideo; Horita Yuuki; Nanri Takuya; Shimohata Yasuyuki; Yoshimoto Haruhiro; Sako Shinji; Sugi Masao; Kotani Kiyoshi; Yoneda Ryuichi; Hayashi Junya; Noguchi Hiroshi; Taura Kenjiro; Otsu Nobuyuki; Sato Tomomasa
Japanese, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, https://www.jstage.jst.go.jp/article/jsmermd/2006/0/2006__2A1-B34_1/_pdf, The importance of integrating different discipline of information science and technology is growing for the realization of information system which works robust in real world. Such system should be achieved by integrating super robust algorithm, large-scale dependable network and devices or interfaces which sense and/or actuate in the real world. It is necessary to encourage collaboration among specialists of different disciplines, since it is difficult to cover all area in information science and technology by only one person or group. In order to support collaboration among various kinds of experts, the autonomous collaborative environment for project based learning was developed. The environment comprises the workshop protocol and the community site. The workshop named "A Hundred Hour Workshop" for graduate students who belong to different departments was carried out during summer holidays. The community site named "WS100H.NET" was developed for supporting and analyzing autonomous collaboration process. Novel interdisciplinary technology, fusion of recognition and parallel computation was successfully developed. Collaboration process among the participants was autonomous with minimal facilitation by the tutor in the environment.
2006
2006 2006

作業者支援型生産環境 "Attentive Workbench"
杉 正夫
Invited oral presentation, Japanese, 精密工学会生産自動化専門委員会研究例会, Invited
Apr. 2005

ホロニック組立システムの開発（第2報）―Plug & Produce 機能の実装―
前田 雄介; 菊地 悠; 井澤 秀益; 小河 寛揮; 杉 正夫; 新井 民夫
Japanese, 精密工学会誌, 精密工学会, http://id.ndl.go.jp/bib/7072897, In this paper, a flexible robotic assembly system with decentralized architecture is studied. The system is designed to achieve high reconfigurability so that it can adapt to changes in its manufacturing environment; a new robot can be easily installed into the system and execute assembly tasks immediately, together with other devices. A semi-automated calibration method for positions of newly installed robots is integrated to the system, which enhances the reconfigurability of the system significantly. The management mechanism of positional information resulting from installation/removal of assembly devices is also described. We refer to such system functions that support easy reconfiguration as "Plug & Produce." Our implementation of the assembly system consists of conventional manipulators and a belt conveyor. In the experiment, a new mobile manipulator was easily added into the system and it performed assembly operation successfully with other existing devices.
2004
2004 2004

ホロニック組立システムの開発（第1報）―システムアーキテクチャと組立作業の実現―
井澤 秀益; 前田 雄介; 菊地 悠; 小河 寛揮; 杉 正夫; 新井 民夫
Japanese, 精密工学会誌, 精密工学会
2004
2004 2004

ホロンの概念を用いた柔軟なロボット群管理システム : 第7報 : システムの検証と柔軟性の評価
杉 正夫; 相山 康道; 新井 民夫
Japanese, 精密工学会大会学術講演会講演論文集
01 Mar. 2000
01 Mar. 2000- 01 Mar. 2000

ホロンの概念を用いた柔軟なロボット群管理システム 第5報:システムの実装とデモンストレーション
原田 智和; 杉 正夫; 相山 康道; 新井 民夫
Japanese, 精密工学会大会学術講演会講演論文集
05 Mar. 1999
05 Mar. 1999- 05 Mar. 1999

ホロンの概念を用いた柔軟なロボット群管理システム 第6報:Plug & Produceコンセプトの実装
原田 智和; 杉 正夫; 相山 康道; 新井 民夫
Japanese, 精密工学会大会学術講演会講演論文集
05 Mar. 1999
05 Mar. 1999- 05 Mar. 1999

メカトロニクス基礎実験II／知能機械工学基礎実験II
Oct. 2018 - Present
電気通信大学

力学演習（Mエリア）
Apr. 2017 - Present
電気通信大学

バーチャルリアリティ特論
Oct. 2011 - Present
電気通信大学

メカトロニクス応用
Oct. 2012 - Mar. 2025
電気通信大学

ソフトコンピューティング
Sep. 2012 - Mar. 2018
中央大学

知能機械工学基礎実験I/II
Apr. 2013 - Sep. 2016
電気通信大学

人間機械システム
Apr. 2012 - Sep. 2016
電気通信大学

専門実験B
Oct. 2012 - Mar. 2015
電気通信大学

工学基礎実験
Apr. 2010 - Sep. 2010
東京農工大学

2013 - Present
The Japan Society of Mechanical Engineers

2012 - Present
Society for Serviceology

2001 - Present
IEEE

2000 - Present
The Society of Instrument and Control Engineers

2000 - Present
The Robotics Society of Japan

1998 - Present
The Japan Society for Precision Engineering

多点機能的電気刺激による脳卒中片麻痺患者のセルフリハビリテーションシステム
杉 正夫
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(C), Principal investigator, 24K14244
Apr. 2024 - Mar. 2027

ユーザのリーチング動作に基づき物品の取出し・片付けを行う卓上作業支援システム
杉 正夫
日本学術振興会, 科学研究費助成事業, 東京大学, 若手研究(B), 19700189
2007 - 2007

Task assignment methodology of multiple tasks with order constraints for multiple robot system
OTA Jun; ARAI Tamio; YOKOI Hiroshi; CHIBA Ryousuke; UEDA Ryuuichi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Tokyo, Grant-in-Aid for Scientific Research (C), In former researches in mufti-robotics, in spite of its importance, there have been no propositions of task allocation scheme toward the problem involving "task constraints" that impose some restriction on the orders of task execution. In other studies involving task constraints such as job shop scheduling, task constraints are given by the designer. We address the problem that robots should calculate task constraints by themselves and should execute task allocation considering their constraints. As an example of such problem, we adopted rearrangement task of multiple movable objects. In this research, following subjects should be solved. 1. Task allocation should be executed considering task constraints. 2. Task constraints should be calculated as early as possible. Toward these subjects, we have obtained following results. 1. By means of classification of task constraints, we have obtained calculation methods of task constraints and task allocation methods considering these constraints. 2. We have promoted efficiency of calculation procedure of task constraints. First, we have analyzed calculation procedure from viewpoints when calculation should be done and how long it should be taken. Next, we have listed all possible procedure. Finally, we have tested these procedures in simulated environments. As a result, following method turns out to be the most effective: In every time of task allocation, robots should calculate some constraints that costs comparatively low calculation costs. And robots should calculate other constraints that cost comparatively high calculation costs only when robots fail to planned tasks. In future works, more flexible framework that divides given task into several small tasks is needed. For example, some objects should be temporarily set to adequate intermediate goals., 18500148
2006 - 2007

Decision Making of Robots based on State-Action Map and Its Compression along with Local Learning Strategy
ARAI Tamio; SHIMOMURA Yoshiki; OTA Jun; MAEDA Yusuke; SUGI Masao; UEDA Ryuichi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Tokyo, Grant-in-Aid for Scientific Research (B), In this research, we have developed a novel set of methodology that makes autonomous robots act in the real-world for long time. For technology exchange, also, we have participated in the robot soccer world cup (RoboCup), where researchers have make robots work in the real-world successfully. The methods developed are as follows: self-localization that is robust against unexpected conditions, a decision making method that cover any condition in a task, and another decision making method that deals with uncertainty of recognition. Our novel self-localization method, which is a version of a particle filter, utilizes resetting methods. A resetting method is used when a particle filter loses the pose of a robot. We enhance the robustness of a particle filter for self-localization by combining two major resetting methods, which have antipodal characteristics. As a planning and decision making method, we have proposed a compression method for decision making data, which is huge for install on memory of robots. Vector quantization is used for the compression. The particle filter and the decision making rule is combined so that robots can deal with the problem of uncertainty in decision making. In this method, an expected value of appropriateness is calculated for each action toward the probability distribution represented by the particle filter. The most appropriate action is then chosen from the values. In experiments, robots can switch their behavior when the level of uncertainty is changed. For example, a robot keeps away from a wall of an environment when the distance between the robot and the wall is uncertain., 16300050
2004 - 2006

移動機構を持つ部品箱を用いた作業者支援型のセル生産システム
杉 正夫
日本学術振興会, 科学研究費助成事業, 東京大学, 若手研究(B), 本申請では,セル生産方式に自走式の部品箱を導入し,組立の各工程において必要な部品や工具を作業者に素早く手渡すことにより,部品取り出しの時間的ロスや部品取り間違いを減らして作業を効率化させることを提案している.またこのような支援を行うことにより,作業者の個性によらず安定した生産を実現することを目指している. 本年度は,昨年度までに開発した自走式トレイを用いたシステムを実際に構築した.システムは6台の自走式トレイから成り,組立に必要な部品や工具などを作業者に素早く手渡す. 自走式トレイ群と人間作業者の間には,何らかのインタフェースが必要である.インタフェースとしては,例えば音声によるもの,指差しジェスチャに基づくものなど様々なものが考えられるが,本研究では効率を重視し,足踏みスイッチによる方法を採用した.作業者は現在行っている組立工程が完了すると,足踏みスイッチを踏む.すると次の工程に必要な部品(を載せた部品トレイ)が作業者の手元に寄ってくる. 6台の自走式トレイと足踏みスイッチによるインタフェースを統合したシステムを実装し,組立作業のデモンストレーションと簡単なシステム評価を行った.子供用のジグソーパズル(6〜12ピース)を組立てる製品に見立て,提案手法により部品供給を行う場合と,部品供給を行わず,自走式トレイを作業者の前に静止して並べた場合(従来のセル生産方式に対応)のそれぞれで繰り返し組立作業を行い,組立に要した時間の平均値を求めた.その結果,組立所要時間の平均値はほぼ同じであったが,提案手法によって組立を行った場合の方が所要時間の分散が小さくなることが示された.部品供給を行わない場合は作業者の集中力低下に伴い作業効率が大幅に低下するが,部品供給を行う場合は作業者の集中力によらず安定して作業が行えることが確認できた., 16700165
2004 - 2005