Ph.D. (Eng.), Osaka University

M. (Eng.), Osaka University

B. (Eng.), Osaka University

Robotics

Actuator

Fusion hybrid actuator

Android

Android avatar

Human－Robot Interaction

Human－Edible Robot Interaction

Physical Human-Robot Interaction

Informatics, Robotics and intelligent systems

Informatics, Mechanics and mechatronics

Informatics, Intelligent robotics

Mar. 2021 - Present
The University of Electro-Communications, Graduate School of Informatics and Engineering, School of Informatics and Engineering Department of Mechanical and Intelligent Systems Engineering,Cluster II(Emerging Multi-interdisciplinary Engineering), 准教授

Aug. 2013 - Feb. 2021
Osaka University, 大学院 基礎工学研究科 システム創成専攻, Assistant professor

Apr. 2013 - Jul. 2013
The University of Tokyo, 大学院 情報理工学系研究科, 日本学術振興会 特別研究員（PD）

Apr. 2010 - Mar. 2013
Osaka University, 大学院 基礎工学研究科 システム創成専攻, 博士後期課程，日本学術振興会 特別研究員（DC1）

Jan. 2012 - Sep. 2012
Georgia Institute of Technology, ジョージ W. ウッドラフ機械工学研究科, Visiting Scholar

Oct. 2009 - Mar. 2010
Osaka University, 大学院 基礎工学研究科 システム創成専攻, 博士前期課程

Apr. 2008 - Sep. 2009
Osaka University, 大学院 工学研究科 知能・機能創成工学専攻, 博士前期課程

Apr. 2004 - Mar. 2008
Osaka University, 工学部 応用理工学科

25 Mar. 2013
Osaka University, Graduate School of Engineering Science, Department of Systems Innovation

23 Mar. 2010
Osaka University, Graduate School of Engineering Science, Department of Systems Innovation

24 Mar. 2008
Osaka University, School of Engineering, Mechanical, Materials, and Manufacturing Science

01 Mar. 2003
Osaka Prefectural Tennoji High School, 理数科

Apr. 2023 - Present
委員長, 電気学会 巧みなアクチュエーション技術に関する調査専門委員会, Society

Jun. 2020 - Present
TF Member, CDS TC Task Force on Robotics, IEEE CIS TC Cognitive and Developmental Systems, Society

Feb. 2017 - Present
委員, 計測自動制御学会 SI部門ロボティクス部会, Society

Jul. 2020 - Jun. 2022
委員, 電気学会 人間支援システムのためのアクチュエーション技術に関する調査専門委員会, Society

Jun. 2020 - Mar. 2021
実行委員, 令和3年電気学会全国大会, Society

Mar. 2024
情報処理学会
人間と食物の意見の相違がその味に及ぼす影響: 対話可能な可食ロボットを用いた実験的探究
HCI研究発表会 学生奨励賞, 久米佑弥;下山拓真;山縣芽生;高橋英之;仲田佳弘
Japan society, Japan

Dec. 2022
電子情報通信学会 ヒューマンコミュニケーショングループ, 食品材料から構成される可食ロボットを実際に食べることが人の心理や認知に与える影響を研究する研究の第一段階として，動きを調整可能なゼラチンベースの可食ロボットのデザインと動きの印象評価を行っている．
摂食を介したヒューマンロボットインタラクションを実現するための可食ロボットのデザインと動きの印象評価
ヒューマンコミュニケーション賞 (HC賞), 山木 廉;仲田 佳弘;堀部 和也;伴 碧;高橋 英之;石黒 浩
Japan society, Japan

Jul. 2015
大阪大学
研究部門
大阪大学総長奨励賞, 仲田 佳弘

Nov. 2013
IEEE Industrial Electronics Society
Best paper in session, IECON 2013, 仲田 佳弘

Nov. 2011
日本AEM学会
奨励賞, 仲田 佳弘

Achieving Mechanical Transparency Using Fusion Hybrid Linear Actuator for Shoulder Flexion and Extension in Exoskeleton Robot
Shimoyama; Takuma, Noda; Tomoyuki; Teramae, Tatsuya; Nakata, Yoshihiro
Last, IEEE International Conference on Robotics and Automation, May 2024, Peer-reviwed
International conference proceedings, English

Disturbance Response and Force Control of a Magnetic Lead Screw Actuator
Akira Heya; Yoshihiro Nakata; Tetsuya Abe; Katsuhiro Hirata
IEEJ Journal of Industry Applications, Institute of Electrical Engineers of Japan (IEE Japan), 05 Apr. 2024, Peer-reviwed
Scientific journal

Development of the Lifelike Head Unit for a Humanoid Cybernetic Avatar ‘Yui’ and its Operation Interface
Mizuki Nakajima; Kaoruko Shinkawa; Yoshihiro Nakata
Last, IEEE Access, Institute of Electrical and Electronics Engineers (IEEE), 12, 23930-23942, 13 Feb. 2024, Peer-reviwed
Scientific journal

Exploring the eating experience of a pneumatically-driven edible robot: Perception, taste, and texture.
Yoshihiro Nakata; Midori Ban; Ren Yamaki; Kazuya Horibe; Hideyuki Takahashi; Hiroshi Ishiguro
Lead, PloS one, 19, 2, e0296697, 05 Feb. 2024, Peer-reviwed, True, This study investigated the effects of animated food consumption on human psychology. We developed a movable, edible robot and evaluated the participants' impressions induced by the visualization of its movements and eating of the robot. Although several types of edible robots have been developed, to the best of our knowledge, the psychological effects associated with the eating of a robot have not been investigated. We developed a pneumatically driven edible robot using gelatin and sugar. We examined its perceived appearance and the participants' impressions when it was eaten. In the robot-eating experiment, we evaluated two conditions: one in which the robot was moved and one in which it was stationary. Our results showed that participants perceived the moving robot differently from the stationary robot, leading to varied perceptions, when consuming it. Additionally, we observed a difference in perceived texture when the robot was bitten and chewed under the two conditions. These findings provide valuable insights into the practical applications of edible robots in various contexts, such as the medical field and culinary entertainment.
Scientific journal, English

Design and Dynamic Analysis of a Two-Degree-of-Freedom Pneumatic-Electromagnetic Hybrid Actuator Using Bellows Pneumatic Actuator
Akira Heya; Keita Taki; Yoshihiro Nakata; Tsuyoshi Inoue; Katsuhiro Hirata
IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, IEEE, 16 Oct. 2023, Peer-reviwed
International conference proceedings

Fusion Hybrid Linear Actuator: Concept and Disturbance Resistance Evaluation
Yoshihiro Nakata; Tomoyuki Noda
Lead, IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers (IEEE), 1-11, Mar. 2023, Peer-reviwed
Scientific journal, English

Gaze movement operability and sense of spatial presence assessment while operating a robot avatar
Kaoruko Shinkawa; Yoshihiro Nakata
Last, Proceedings of 2023 IEEE/SICE International Symposium on System Integrations, IEEE, -, -, ---, 19 Jan. 2023, Peer-reviwed
International conference proceedings, English

Spontaneous gait phase synchronization of human to a wheeled mobile robot with replicating gait-induced upper body oscillating motion
Satoshi Yagi; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Scientific Reports, 12, 16275, 29 Sep. 2022, Peer-reviwed
Scientific journal, English

Gaze motion and subjective workload assessment while performing a task walking hand in hand with a mobile robot
Naoki Ise; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Corresponding, International Journal of Social Robotics, -, -, ---, 13 Sep. 2022, Peer-reviwed
Scientific journal, English

Study on Disturbance Response of a Magnetic Lead Screw Actuator
Akira Heya; Yoshihiro Nakata; Tetsuya Abe; Katsuhiro Hirata
Proceedings of 2022 International Power Electronics Conference (IPEC-Himeji 2022- ECCE Asia), IEEE, -, -, 255-259, 01 Jul. 2022, Peer-reviwed
International conference proceedings, English

Adjustable whole-body dynamics for adaptive locomotion: the influence of upper-body movements and its interactions with the lower-body parts on the stable locomotion of a simple bipedal robot
Huthaifa Ahmad; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Robotica, Cambridge University Press, 40, 9, 3340-3354, 11 Mar. 2022, Peer-reviwed
Scientific journal, English

Inter-module Physical Interactions: A Force-Transmissive Modular Structure for Whole-body Robot Motion
Shiqi Yu; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Journal of Robotics and Mechatronics, 33, 5, 1190-1203, 20 Oct. 2021, Peer-reviwed
Scientific journal, English

Perception of Emotional Expression of Mobile Humanoid Robot Using Gait-Induced Upper Body Motion
Satoshi Yagi; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
IEEE Access, Institute of Electrical and Electronics Engineers (IEEE), 9, 1-14, 03 Sep. 2021, Peer-reviwed
Scientific journal, English

Can an android’s posture and movement discriminate against the ambiguous emotion perceived from its facial expressions?
Satoshi Yagi; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
PLOS ONE, Public Library of Science (PLoS), 16, 8, 1-17, 10 Aug. 2021, Peer-reviwed, Expressing emotions through various modalities is a crucial function not only for humans but also for robots. The mapping method from facial expressions to the basic emotions is widely used in research on robot emotional expressions. This method claims that there are specific facial muscle activation patterns for each emotional expression and people can perceive these emotions by reading these patterns. However, recent research on human behavior reveals that some emotional expressions, such as the emotion “intense”, are difficult to judge as positive or negative by just looking at the facial expression alone. Nevertheless, it has not been investigated whether robots can also express ambiguous facial expressions with no clear valence and whether the addition of body expressions can make the facial valence clearer to humans. This paper shows that an ambiguous facial expression of an android can be perceived more clearly by viewers when body postures and movements are added. We conducted three experiments and online surveys among North American residents with 94, 114 and 114 participants, respectively. In Experiment 1, by calculating the entropy, we found that the facial expression “intense” was difficult to judge as positive or negative when they were only shown the facial expression. In Experiments 2 and 3, by analyzing ANOVA, we confirmed that participants were better at judging the facial valence when they were shown the whole body of the android, even though the facial expression was the same as in Experiment 1. These results suggest that facial and body expressions by robots should be designed jointly to achieve better communication with humans. In order to achieve smoother cooperative human-robot interaction, such as education by robots, emotion expressions conveyed through a combination of both the face and the body of the robot is necessary to convey the robot’s intentions or desires to humans.
Scientific journal, English

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society
Yoshihiro Nakata; Satoshi Yagi; Shiqi Yu; Yifei Wang; Naoki Ise; Yutaka Nakamura; Hiroshi Ishiguro
Lead, Robotica, 40, 4, 933-950, 23 Jul. 2021, Peer-reviwed
Scientific journal, English

The Neighbor in My Left Hand: Development and Evaluation of an Integrative Agent System With Two Different Devices
Asuka Minami; Hideyuki Takahashi; Yoshihiro Nakata; Hidenobu Sumioka; Hiroshi Ishiguro
IEEE Access, Institute of Electrical and Electronics Engineers (IEEE), 9, 98317-98326, 08 Jul. 2021, Peer-reviwed
Scientific journal, English

Android Printing: Towards On-Demand Android Development Employing Multi-Material 3-D Printer
Satoshi Yagi; Yoshihiro Nakata; Hiroshi Ishiguro
Proceedings of 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), IEEE, -, -, ---, Jul. 2021, Peer-reviwed
International conference proceedings, English

Structural Simplicity and Performance Comparison of Magnetic Lead Screws without Spiral Permanent Magnets
Akira Heya; Yoshihiro Nakata; Hiroshi Ishiguro; Katsuhiro Hirata
IEEJ Transactions on Electrical and Electronic Engineering, Wiley, 16, 3, 464-469, Mar. 2021, Peer-reviwed
Scientific journal, English

Analysis of a Motor Integrated Magnetically Levitated Lead Screw
A. Heya; Y. Nakata; H. Ishiguro; K. Hira
Proceedings of IEEE Conference on Electromagnetic Field Computation, Nov. 2020, Peer-reviwed
International conference proceedings, English

A Software Framework to Create Behaviors for Androids and Its Implementation on the Mobile Android "ibuki"
Shiqi Yu; Yusuke Nishimura; Satoshi Yagi; Naoki Ise; Yifei Wang; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 23 Mar. 2020, Peer-reviwed
International conference proceedings, English

Perception of Emotional Gait-like Motion of Mobile Humanoid Robot Using Vertical Oscillation
Satoshi Yagi; Naoki Ise; Shiqi Yu; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, ACM, 23 Mar. 2020, Peer-reviwed
International conference proceedings, English

PedestriANS: a bipedal robot with adaptive morphology
Huthaifa Ahmad; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Adaptive Behavior, SAGE Publications, 1-14, 19 Feb. 2020, Peer-reviwed, In diverse situations, humans produce natural and adaptable bipedal locomotion by cooperatively manipulating the interactions among the different parts of their bodies and the environment. Therefore, to realize a robot with adaptable behavior, it should be enabled to adjust its morphology accordingly in response to environmental changes. From this perspective, this study introduces the development of a bipedal robot with adaptive morphology. By implementing an actuator network system (ANS), the robot is able to manipulate the physical characteristics of its legs and the way they interact with each other. Two experiments have been conducted: main and supplementary experiments. The main experiment examined how effective is adjusting the robot’s morphology on changing the robot’s behavior. The experiment was conducted on different ground materials and under different connection patterns between the robot’s legs. During the experiment, the robot’s behavior was evaluated in reference to four aspects: walking style, stability, speed, and moving direction. The supplementary experiment took the results of the main experiment and used it to improve the robot’s behavior during locomotion. The robot was enabled to automatically switch between the different connection patterns of the ANS, which in turn changed the interaction between the robot’s legs and generated a more suitable dynamics for the surrounding environment.
Scientific journal

Electric actuator network system: pulse width modulation signal based mutual connection of actuators for multi-joint movements
Y. Wang; Y. Nakata; Y. Nakamura; H. Ishiguro
Proceedings of the International Symposium on Artificial Life and Robotics 2020, Jan. 2020, Peer-reviwed
International conference proceedings, English

A Magnetically Levitated Lead Screw for Complete Non-Contact Power Transmission
Akira Heya; Yoshihiro Nakata; Katsuhiro Hirata; Hiroshi Ishiguro
IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, IEEE, Oct. 2019, Peer-reviwed
International conference proceedings, English

Experimental Verification of a Consequent-Pole Magnetic Lead Screw
Tetsuya Abe; Akira Heya; Yoshihiro Nakata; Katsuhiro Hirata; Hiroshi Ishiguro
2019 22nd International Conference on Electrical Machines and Systems (ICEMS), IEEE, Aug. 2019, Peer-reviwed
International conference proceedings, English

A Magnetic Lead Screw with Variable Stiffness Mechanism
Akira Heya; Yoshihiro Nakata; Katsuhiro Hirata; Hiroshi Ishiguro
2019 12th International Symposium on Linear Drives for Industry Applications (LDIA), IEEE, Jul. 2019, Peer-reviwed
International conference proceedings, English

A Bipedal Robot with an Energy Transfer Mechanism between Legs: A Pilot Study
Huthaifa Ahmad; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, Dec. 2018, Peer-reviwed
International conference proceedings, English

A study on energy transfer among limbs in a legged robot locomotion
Huthaifa Ahmad; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Adaptive Behavior, SAGE Publications, 26, 6, 309-321, Dec. 2018, Peer-reviwed
Scientific journal

Analysis of a Consequent-Pole Magnetic Lead Screw
A. Heya; Y. Nakata; M. Sakai; T. Abe; H. Ishiguro; K. Hirata
Proceedings of the IEEE Conference on Electromagnetic Field Computation 2018, Oct. 2018, Peer-reviwed
International conference proceedings, English

Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator
Akira Heya; Yoshihiro Nakata; Masahiko Sakai; Hiroshi Ishiguro; Katsuhiro Hirata
IEEE Transactions on Magentics, Institute of Electrical and Electronics Engineers (IEEE), 54, 11, 1-5, Aug. 2018, Peer-reviwed, Force-controllable actuators are essential for guaranteeing safety in human-robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frictional contact, and they are force limited when overloaded. We have developed a novel MLS that does not include spiral permanent magnets and an MLS-driven linear actuator (MLSDLA) that uses this device. This simple structure reduces the overall size of the device and improves productivity because it is constructed by a commonly used machined screw as a screw. The actuator can drive back against an external force and it moves flexibly based on the magnetic spring effect. In this paper, we propose a force estimation method for the MLSDLA that does not require separate sensors. The magnetic phase difference, as measured from the angular and linear displacements of the actuator, is used for this calculation. The estimated force is then compared against measurements recorded with a load sensor in order to verify the effectiveness of the proposed method.
Scientific journal, English

Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator
A. Heya; Y. Nakata; M. Sakai; H. Ishiguro; K. Hirata
Proceedings of IEEE International Magnetics Conference 2018, Apr. 2018, Peer-reviwed
International conference proceedings, English

Study on Sensorless Drive of a Helical Teethed Linear Actuator
Masahiko Sakai; Katsuhiro Hirata; Yoshihiro Nakata
Journal of the Japan Society of Applied Electromagnetics and Mechanics, 26, 1, 28-33, Mar. 2018, Peer-reviwed, his paper describes the rotation angle sensorless drive of a helical teethed linear actuator (HTLA) for artificial muscle. The position control with vector controller is required the linear and rotary position of the mover of the HTLA. However, to simultaneously measurement the linear and rotary signals is required complicated structure. The proposed estimation method utilizes the magnetic saliency of the mover and linear encoder signal. In this study, the estimation accuracy of the rotation angle was calculated by 3D-FEM analysis and measured by prototype. In addition, we investigated the response characteristics under PID position control using the estimated rotation angle. As the result, the maximum estimation error is 7.5 deg. in the initial stable position of the prototype. Moreover, experimental result show that position control can be performed using the proposed estimation method.
Scientific journal, Japanese

A design of robotic spine composed of parallelogram actuation modules
Shiqi Yu; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Artificial Life and Robotics, Springer Tokyo, 22, 4, 477-482, 01 Dec. 2017, Peer-reviwed, Humanoids are being applied into society gradually in the aspect of human–robot interaction recently. The human spine plays an important role when performing natural human upper body postures. However, most of the humanoids only show tense body postures due to the limitations of their simple mechanical structures. We investigated that the human natural spine postures can be imitated by serially connected rigid links with a few joints by the analysis of human spine motion. In this report, we proposed a robotic spine composed of parallelogram actuation modules, and built a prototype. We also investigated the natural spinal postural appearances which are realized by the prototype.
Scientific journal, English

Effect of the cervical structure on the operability of teleoperated humanoid head
Kenta Maeda; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Artificial Life and Robotics, Springer Tokyo, 22, 4, 497-502, 01 Dec. 2017, Peer-reviwed, Android robots: humanoids with realistic human appearance can serve as a telecommunication medium (teleoperated humanoids). We have anticipated that if teleoperated humanoids acquired with not only their human appearances, but also an ability of to realize human-like head motions, the telecommunication and the system operability through androids would greatly improve. To realize such human-like head motions of teleoperated humanoids, we referred to the human cervical spine mechanism, and accordingly aimed to verify how the cervical structure of teleoperated humanoids would affect the operability in our remote-controlling system. First, we developed a multiple joint cervical structure for our teleoperated humanoid, and then, we evaluated of if the multiple joint cervical structure realized human-like head motions and improved its system operability through experiments from the aspects of its eyesight targeting performance and subjective impressions. Finally, we concluded that our proposed multiple joint cervical structure of the teleoperated humanoid enabled to increase the system operability in comparison with the prototype system: with either a top joint cervical structure or a bottom joint one. We anticipate that this work will contribute to the future development and implementation of telecommunication by humanoids.
Scientific journal, English

Prediction and prevention of losing steps in a helical teethed linear actuator
M. Sakai; K. Hirata; Y. Nakata
2017 11th International Symposium on Linear Drives for Industry Applications (LDIA), IEEE, Sep. 2017, Peer-reviwed
International conference proceedings, English

Proposal of a Magnetic Lead Screw Actuator without Helical Permanent Magnets
Gendai Matsuoka; Masahiko Sakai; Yoshihiro Nakata; Noboru Niguchi; Hiroshi Ishiguro; Katsuhiro Hirata
Journal of the Japan Society of Applied Electromagnetics and Mechanics, The Japan Society of Applied Electromagnetics and Mechanics, 25, 2, 224-229, Jul. 2017, Peer-reviwed, This paper presents a novel magnetic lead screw actuator without helical permanent magnets. Magnetic lead screw actuator is high efficiency due to its non-contact transmission. It is expected to be applicable to interactive robots with human because of its compliance to external forces. The proposed actuator has simple structure comparing to the conventional magnetic screws. The result of the force calculation and structure optimization employing 3-D finite element method is reported.
Scientific journal, Japanese

Effect of the cervical structure on the operability of tele-operated humanoid
K. Maeda; Y. Nakata; Y. Nakamura; H. Ishiguro
Proceedings of the International Symposium on Artificial Life and Ro botics 2017, 424-427, Jan. 2017, Peer-reviwed
International conference proceedings, English

A design of robotic spine composed by parallelogram actuation modules
S. Yu; Y. Nakata; Y. Nakamura; H. Ishiguro
Proceedings of the International Symposium on Artificial Life and Robotics 2017, 420-423, Jan. 2017, Peer-reviwed
International conference proceedings, English

Adjustable response of a robotic arm by switching paths of an actuator network system
T. Hashizume; Y. Nakata; Y. Nakamura; H. Ishiguro
Proceedings of the International Symposium on Artificial Life and Robotics 2017, 416-419, Jan. 2017, Peer-reviwed
International conference proceedings, English

Switching locomotion of a four-legged robot by changing the connection patterns of an actuator network system
H. Ahmad; Y. Nakata; Y. Nakamura; H. Ishiguro
Proceedings of the International Symposium on Artificial Life and Robotics 2017, 338-341, Jan. 2017, Peer-reviwed
International conference proceedings, English

An application of adjustable response mechanism to the musculoskeletal robot
Kenji Ura; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Transactions of the JSME (in Japanese), The Japan Society of Mechanical Engineers, 83, 845, 1-11, Jan. 2017, Peer-reviwed, Recently, robots are expected to support actions performed in a real-life environment in our daily lives. However, robots encounter several interferences while performing physical interactions, such as shaking hands, hugging, and holding various objects. Therefore, it is difficult for the robots to perform such actions flexibly owing to the unexpected noises associated with these actions. Humans, in contrast, can cope with various disturbances thanks to the flexibility of their body structure. It is suggested that this property can be realized by changing the passive dynamics depending on the situation and task. Passive dynamics can be changed using two important mechanisms. One is imparting a high degree of freedom, i.e., redundancy of joints. The other is to incorporate a multi-articular muscle, i.e., redundancy of actuators. Using these redundancies, several complicated movements and power adjustments can be realized. In this study, a human-like upper-body musculoskeletal robot comprising redundant joints and actuators is developed. The robot can change its passive dynamics by simply changing the mutual interconnection of air actuators. In this paper, we report the structure and performance evaluation of the robot. The response characteristics of the robotic arm under different combinations of actuators connections are presented.
Scientific journal, Japanese

Design strategy for robotic spines of Androids with a natural postural appearance
Andrei S. Ramalho; Yutaka Nakamura; Yoshihiro Nakata; Hiroshi Ishiguro
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), IEEE, 312-317, Nov. 2016, Peer-reviwed
International conference proceedings, English

Development of a Large Moving Range Shoulder Joint for a Humanoid Robot —A Double Joint Mechanism Driven by Mutually Inter-connected Air Cylinders—
Kenji Urai; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Journal of the Robotics Society of Japan, 34, 9, 623-630, Nov. 2016, Peer-reviwed, This paper presents a shoulder joint for a human-like robotic arm. This joint mechanism is composed of two ball joints laying back to back and the range of motion is larger than that of a usual ball joint. Since the joint is driven by the mutually inter-connected air cylinders, the control signal can be operated equally with a normal ball joint shoulder. The prototype of the joint with 6 air cylinders and its kinematic model were developed to confirm its range of motion. We also achieved an overhand throwing motion with a robotic arm using the proposed shoulder mechanism thanks to the large moving range.
Scientific journal, Japanese

Adaptive locomotion by two types of legged robots with an actuator network system
Hideyuki Ryu; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2069-2074, Oct. 2016, Peer-reviwed
International conference proceedings, English

Adaptive Whole-Body Dynamics An Actuator Network System for Orchestrating Multijoint Movements
Hideyuki Ryu; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
IEEE ROBOTICS & AUTOMATION MAGAZINE, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 23, 3, 85-92, Sep. 2016, Peer-reviwed, Adaptive locomotion is crucial for robots that move across rough terrain and variable ground surfaces to complete various tasks [1]. Recent advances in numerical computation allow robots to operate in real environments by using complex control frameworks based on precise models of the robots' bodies and surroundings. However, it is not always feasible to obtain a precise model because factors such as the robot's movement, position, shape, and stiffness and surrounding objects affect the robot's motion. In particular, the interaction with other autonomous systems, such as humans, can result in significant disturbances in robot motion. Therefore, robots should possess robust mechanisms to react to unexpected forces from their surroundings [2], [3]. Examples are seen in nature. Animals can effectively react to such disturbances because of their elaborate reaction mechanisms (e.g., rapid reflexes arise from the intrinsic mechanical dynamics of the musculoskeletal system) [4].
Scientific journal, English

人共存型ロボットのためのアクチュエータ技術
Yoshihiro Nakata
Chemical engineering, 化学工業社, 61, 1, 38-46, Jan. 2016, Invited
Research society, Japanese

Study on a pneumatically actuated robot for simulating evolutionary developmental process of musculoskeletal structures
Hideyuki Ryu; Yoshihiro Nakata; Yuya Okadome; Yutaka Nakamura; Hiroshi Ishiguro
Journal of Robotics and Mechatronics, Fuji Technology Press, 28, 2, 226-233, 2016, Peer-reviwed, Under the effects of surroundings such as gravitational force, ambient temperature, and chemical substances, each animal has acquired an optimized body structure through its evolution. For example, vertebrate land animals have a sophisticated musculoskeletal structure including not only monoarticular muscles but also multiarticular muscles to support their weight against gravitational force. Many researchers have developed musculoskeletal robots with a biarticular muscle mechanism that enables them to execute physical tasks similar to the mimicked animal. However, the developmental process of the musculoskeletal structure has not been examined in detail in past studies. In this study, we developed a musculoskeletal robot with redundant air cylinders to investigate the developmental process of the body structure of the animal. We proposed a switching mechanism between several muscle structures called the actuator network system (ANS). In the ANS, the selection of mutually interconnected, simultaneously activated air cylinders is changed by switching the interconnections. The experimental results indicate that by changing the connection of the cylinders and the inner pressure of the connected cylinders, i.e., the strength of the connection, the response of the robot to external forces can be modified, thus demonstrating the feasibility of our approach.
Scientific journal, English

Characteristics analysis of a helical teethed linear actuator
Masahiko Sakai; Katsuhiro Hirata; Yoshihiro Nakata
INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, IOS PRESS, 52, 1-2, 571-578, 2016, Peer-reviwed, This paper presents a helical teethed linear actuator (HTLA) for artificial muscles of human coexistence robots. The HTLA has small number of simple-shaped permanent magnets and coils. The advantages of this actuator are a high force constant and capability of accurate assembly. The performances of the HTLA were investigated by using 3-D finite element method (FEM). As a result, it was found that the maximum thrust force was 23.1 N, and the efficacy of the PID position control for the HTLA was confirmed. In addition, by the force control using encoder signals, the detent force was decreased to 0.56 N and the force constant was 34.9 N/A. Moreover, the control of the stiffness for flexible motions was implemented by using compliance control.
Scientific journal, English

HUMA: A human-like musculoskeletal robot platform for physical interaction studies
Yuya Okadome; Yutaka Nakamura; Kenji Urai; Yoshihiro Nakata; Hiroshi Ishiguro
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), IEEE, 676-683, Nov. 2015, Peer-reviwed
International conference proceedings, English

Characteristics Analysis of a Helical Teethed Linear Actuator
M. Sakai; K. Hirata; Y. Nakata
Proceedings of International Symposium on Applied Electromagnetics and Mechanics 2015, Sep. 2015, Peer-reviwed
International conference proceedings, English

Development of a pneumatic-electromagnetic hybrid linear actuator with an integrated structure
Yoshihiro Nakata; Tomoyuki Noda; Jun Morimoto; Hiroshi Ishiguro
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 6238-6243, Sep. 2015, Peer-reviwed
International conference proceedings, English

Design of an Integrated Pneumatic-Electromagnetic Hybrid Linear Actuator
Y. Nakata; T. Noda; J. Morimoto; H. Ishiguro
IEEE/RSJ IROS2014, Workshop: From Active Impedance to Intrinsically Compliant and Variable Impedance Actuators: Pros, Cons and Trade-offs, Sep. 2014, Peer-reviwed
International conference proceedings, English

A Self-organizing Mechanism for Robotic Musculoskeletal Systems
H. Ryu; Y. Nakata; Y. Okadome; Y. Nakamura; H. Ishiguro
IEEE/RSJ IROS2014, Workshop: From Active Impedance to Intrinsically Compliant and Variable Impedance Actuators: Pros, Cons and Trade-offs, Sep. 2014, Peer-reviwed
International conference proceedings, English

Confidence-based roadmap using Gaussian process regression for a robot control
Yuya Okadome; Yutaka Nakamura; Kenji Urai; Yoshihiro Nakata; Hiroshi Ishiguro
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 661-666, Sep. 2014, Peer-reviwed
International conference proceedings, English

Estimation of physical interaction between a musculoskeletal robot and its surroundings
Kenji Urai; Yuya Okadome; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
Artificial Life and Robotics, Springer-Verlag Tokyo, 19, 2, 193-200, 01 Sep. 2014, Peer-reviwed, Recently, robots are expected to support our daily lives in real environments. In such environments, however, there are a lot of obstacles and the motion of the robot is affected by them. In this research, we develop a musculoskeletal robotic arm and a system identification method for coping with external forces while learning the dynamics of complicated situations, based on Gaussian process regression (GPR). The musculoskeletal robot has the ability to cope with external forces by utilizing a bio-inspired mechanism. GPR is an easy-to-implement method, but can handle complicated prediction tasks. The experimental results show that the behavior of the robot while interacting with its surroundings can be predicted by our method.
Scientific journal, English

Estimation of Physical Interaction between a Musculoskeletal Robot and Its Surroundings
K. Urai; Y. Okadome; Y. Nakata; Y. Nakamura; H. Ishiguro
Proceedings of the International Symposium on Artificial Life and Robotics 2014, Jan. 2014, Peer-reviwed
International conference proceedings, English

Development and control of a novel cylindrical IPM linear vernier motor for compliant robot actuation
Yoshihiro Nakata; Hiroshi Ishiguro; Kenji Kitani; Tatsuya Fujimoto; Katsuhiro Hirata
IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, IEEE, 2744-2749, Nov. 2013, Peer-reviwed
International conference proceedings, English

A Linear Vernier Motor for Artificial Muscle Applications
NAKATA Yoshihiro; ISHIGURO Hiroshi; HIRATA Katsuhiro
日本ロボット学会誌, The Robotics Society of Japan, 31, 6, 552-555, Jul. 2013, Invited
Scientific journal, Japanese

Hopping by a monopedal robot with a biarticular muscle by compliance control - An application of an electromagnetic linear actuator
Yoshihiro Nakata; Atsuhiro Ide; Yutaka Nakamura; Katsuhiro Hirata; Hiroshi Ishiguro
Journal of Robotics and Mechatronics, Fuji Technology Press, 25, 1, 106-114, 2013, Peer-reviwed, The compliance of muscles with external force and the structural stability given by biarticular muscles are important features of animals for realizing dynamic whole-body motion such as running and hopping in various environments. For this reason, we have been studying an electromagnetic linear actuator. This actuator emulates the behavior of a human muscle, such as spring-damper properties, through the quick control of output force, i.e., impedance control. It is expected to be used as an artificial muscle. In this paper, we design a monopedal robot possessing bi- and mono-articular muscles implemented by linear actuators. Thanks to the biarticular muscle, the direction of bouncing by a robot can be controlled by changing the stiffness ellipse at the endpoint, i.e., foot, of the robot. We make a simulator of the robot to evaluate dynamic characteristics and show that the robot hops stably by adjusting the stiffness ellipse. We also confirm that the behavior of the real robot is consistent with that of our simulator.
Scientific journal, English

Design and optimization of a novel small-sized linear vernier motor without mover magnets for artificial muscle applications
Y. Nakata; T. Fujimoto; H. Ishiguro; K. Hirata
Proceedings of IEEE International Magnetics Conference 2012, 1-4, May 2012, Peer-reviwed
International conference proceedings, English

Hopping of a monopedal robot with a biarticular muscle driven by electromagnetic linear actuators
Yoshihiro Nakata; Atsuhiro Ide; Yutaka Nakamura; Katsuhiro Hirata; Hiroshi Ishiguro
2012 IEEE International Conference on Robotics and Automation, IEEE, 3153-3160, May 2012, Peer-reviwed
International conference proceedings, English

Small Size Linear Vernier Motor for Artificial Muscle Applications
NAKATA Yoshihiro; YU Tianyi; ISHIGURO Hiroshi; HIRATA Katsuhiro
Journal of the Japan Society of Applied Electromagnetics and Mechanics, 20, 1, 113-118, Mar. 2012, Peer-reviwed, We have been developing an electromagnetic linear actuator for an artificial muscle which has long stroke, quick response and large thrust using interior permanent magnets effectively. In this paper, we propose a novel small size cylindrical linear vernier motor with axially magnetized magnets. This actuator has a simple structure whose mover is composed of sets of a ring magnet between iron rings. Axially opposite magnetized magnets are alternatively arranged. The thrust and detent force of the actuator are calculated by the 2-D finite element method. As the results, the thrust of the actuator 12.9N under 1A effective current is achieved with detent force ±1.1N.
Scientific journal, Japanese

Development of a Monopedal Robot with a Biarticular Muscle and Its Hopping Motion
Y. Nakata; A. Ide; K. Hirata; H. Ishiguro
Proceedings of the International Symposium on Adaptive Motion of Animals and Machines 2011, 85-86, Oct. 2011, Peer-reviwed
International conference proceedings, English

Dynamic analysis method for electromagnetic artificial muscle actuator under PID control
Yoshihiro Nakata; Hiroshi Ishiguro; Katsuhiro Hirata
IEEJ Transactions on Industry Applications, 131, 2, 5-170, 2011, Peer-reviwed, We have been studying an interior permanent magnet linear actuator for an artificial muscle. This actuator mainly consists of a mover and stator. The mover is composed of permanent magnets, magnetic cores and a non-magnetic shaft. The stator is composed of 3-phase coils and a back yoke. In this paper, the dynamic analysis method under PID control is proposed employing the 3-D finite element method (3-D FEM) to compute the dynamic response and current response when the positioning control is active. As a conclusion, computed results show good agreement with measured ones of a prototype. © 2011 The Institute of Electrical Engineers of Japan.
Scientific journal, English

Powerful and Flexible Linear Actuator
HIRATA K; NAKATA Y; ISHIGURO H
Magnetics Japan, 日本磁気学会, 5, 8, 371-378, Aug. 2010, Invited
Research society, Japanese

Dynamic Analysis Method for Electromagnetic Artificial Muscle Actuator under PID Control
Y. Nakata; H. Ishiguro; K. Hirata
Proceedings of IEEE International Conference on the Computation of Electromagnetic Fields 2009, 664-665, Nov. 2009, Peer-reviwed
International conference proceedings, English

Dynamic analysis method for an electromagnetic linear actuator under the PID control
NAKATA Yoshihiro; HIRATA Katsuhiro; ISHIGURO Hiroshi
Journal of the Japan Society of Applied Electromagnetics, 17, 2, 194-199, Jun. 2009, Peer-reviwed, We have been studying a new electromagnetic linear actuator for android using Halbach array of magnets. In this paper, the dynamic analysis method under the PID control is proposed employing the 3-D finite element method. This method is applied to compute the dynamic response when the positioning control is active. The validity of the analysis is verified through the comparison with the measurement of a prototype.
Scientific journal, Japanese

人間と食物の意見の相違がその味に及ぼす影響: 対話可能な可食ロボットを用いた実験的探究
久米佑弥; 下山拓真; 山縣芽生; 高橋英之; 仲田佳弘
Last, 11 Mar. 2024, 研究報告ヒューマンコンピュータインタラクション (HCI), 2024-HCI-207, 4, Japanese, Others

巧みなアクチュエーションの実現に向けた融合型ハイブリッドアクチュエータの研究開発
仲田 佳弘; 野田 智之
Lead, 06 Dec. 2023, 電気学会 D部門 産業計測制御研究会, IIC-23-042, Japanese, Others

可動隔壁型二自由度球面空圧アクチュエータのトルク解析
大竹 陸郎; 部矢 明; 仲田 佳弘; 井上 剛志
Aug. 2023, Dynamics and Design Conference 2023 (D&D2023), 244, Japanese, Summary national conference

ベローズ空気圧アクチュエータを用いた多自由度空電ハイブリッドアクチュエータのトルク解析
部矢 明; 瀧 恵多; 仲田 佳弘; 井上 剛志; 平田 勝弘
Aug. 2023, Dynamics and Design Conference 2023 (D&D2023), 248, Japanese, Summary national conference

職人の丁度よい押しつけ力の再現に向けた一体構造空電ハイブリットリニアアクチュエータの開発
仲田 佳弘; 野田 智之
Lead, Jan. 2022, 電気学会産業応用部門大会, 2-S12-2, Japanese, Summary national conference

Performance Evaluation of a Three Layered Permanent Magnet Magnetic-Geared Motor
氷室 健太; 平田 勝弘; 新口 昇; 仲田 佳弘
電気学会, 07 Aug. 2015, 電気学会研究会資料. RM, 2015, 88, 19-23, Japanese, 40021396993

A study on prediction of contact force between a large DoFs robot with backdrivability and a soft object
岡留 有哉; 中村 泰; 仲田 佳弘
電子情報通信学会, 23 Jun. 2015, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 115, 111, 77-82, Japanese, 0913-5685, 40020524419, AN10091178

1P1-S01 A Study on the Adjustment of Response at the End Effector of a Robotic Arm with a Biarticular Muscle Mechanism
HASHIZUME Takuma; NAKATA Yoshihiro; OKADOME Yuya; NAKAMURA Yutaka; ISHIGURO Hiroshi
Recently, robots are expected to work alongside humans in our daily environment. To realize a safe physical interaction between the robot and its surroundings, the robot must be able to control the flexibility at the end effector to external forces. In this research, a 2-link robotic arm with a biarticular muscle mechanism using an air cylinder was developed. Thanks to the mechanism, the robot can adjust the response characteristics at the end effector by changing the restriction condition of two joints. We conducted an experiment that the robot with and without the biarticular muscle mechanism rotated a roller by its end effector. The performances of the robot for the task in each restriction condition were compared. The results suggested that the robot can modify its response to external forces by changing the restriction condition depending of the assigned task., The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P1-S01(1)"-"1P1-S01(4)", Japanese, 110010053265, AA11902933

1P2-C07 Dynamics estimation for a human-like upper body musuculoskeletal robot driven by air actuators
Okadome Yuya; Nakamura Yutaka; Urai Kenji; Nakata Yoshihiro; Ishiguro Hiroshi
Recently, robots are expected to work in real environment to support our daily lives. However, there are a lot of disturbances in such a environment. A robot with many degrees of freedom might be beneficial in coping with various disturbances in a real environment, because it can generate many kinds of motion. However, because of its complicated structure, it is difficult to estimate its dynamics which is necessary to design the control rule. In this paper, we discuss about 3 data-driven methods (k-nearest neighbor, support vector regression and Gaussian process regression) for estimation of a human-like upper body musuculoskeletal robot driven by air actuators., The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2-C07(1)"-"1P2-C07(3)", Japanese, 110010054620, AA11902933

1A1-J03 Development of pneumatically actuated robot for simulating evolutionary developmental process of musculoskeletal structures(Evolution and Learning for Robotics)
RYU Hideyuki; NAKATA Yoshihiro; OKADOME Yuya; NAKAMURA Yutaka; ISHIGURO Hiroshi
Under the influences from the environment, each animal has acquired an optimized body structure by evolutionary developmental process. For example, vertebrate land animals have sophisticated musculoskeletal structure possessing not only monoarticular muscles but also multiarticular muscles against the force of gravity. Many researchers have been developed musculoskeletal robots with a biarticular muscle to resemble the physical performance of the mimicked animal but there are few studies to reveal why such a structure has been developed. In this research, we developed a musculoskeletal robot with redundant actuators to investigate the developmental process of the body structure. By connecting sets of actuators physically, these actuators work as a multiarticular muscle and the motion of corresponding joints are interlocked. The experimental results shows that by changing the connection among the actuators, the response to the external forces can be modified. We also discuss the way to evolve the body structure and the feasibility of our conceptual approach., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1A1-J03(1)"-"1A1-J03(4)", Japanese, 110009966622, AA11902933

1A1-B08 Development of Wire Driven Dislocatable Joint with Magnetic Circuit(Mechanism and Control for Wire Actuation System)
KOMAGATA Mitsuo; KAMINAGA Hiroshi; MURAI Akihiko; NAKATA Yoshihiro; NAKAMURA Yoshihiko
In this research, we propose a 2DOF joint of quadruped robot that can dislocate to protect the robot from overload. Proposed 2DOF joint can dislocate with excess load from arbitrary orientation. The design specification is determined by motion analysis of a dog. By using this 2DOF dislocatable joint, we designed a leg of quadruped robot. The Structure of the prototype and fundamental operation of the movement is reported., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "1A1-B08(1)"-"1A1-B08(4)", Japanese, 110009966601, AA11902933

3A1-D08 Development of Human-Like Robotic Arm Using Novel Joint Mechanism with Wide Range of Motion Driven by Pneumatic Actuators(Humanoid (1))
URAI Kenji; NAKATA Yoshihiro; NAKAMURA Yutaka; ISHIGURO Hiroshi
In this paper, we developed a new human-like robotic upper limb with large working area thanks to the novel robotic shoulder using a double joint mechanism. This joint mechanism is composed of two ball joints driven by the pneumatically connected linear actuator pairs to enlarge the range of motion compared to a simple ball joint while keeping the simplicity of the control. Thanks to not only the robotic shoulder but also the robotic blade bone and elbow joint with human comparable range of motion, the robot is capable of throwing a ball like a human. We also investigated the characteristics of the shoulder joint mechanism., The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3A1-D08(1)"-"3A1-D08(4)", Japanese, 110009967051, AA11902933

Development of High-Power Linear Vernier Motor and Its Control for Realizing Flexible Robot Motion
仲田 佳弘; 木谷 健二; 平田 勝弘
システム制御情報学会, 21 May 2014, システム制御情報学会研究発表講演会講演論文集, 58, 6p, Japanese, 40020358671

High Efficiency Drive for a Legged Hopping Robot with an Electromagnetic Linear Actuator by Regenerative Braking Control
木谷 健二; 仲田 佳弘; 平田 勝弘
電気学会, 08 Aug. 2013, 電気学会研究会資料. HCA, 2013, 27, 37-42, Japanese, 40019793331, AA12515954

A Study on Teaching Specific Movements Using Tendon Vibration in Humans
NAKATA Yoshihiro; ISHIGURO Hiroshi; UEDA Jun
In the case of teaching specific limb movement for people, e.g. rehabilitation or teaching some difficult operations, verbal instructions or direct motion of the learner's joint are always used but these processes burden the instructors. This paper presents initial experimental results on a new concept for teaching movements that utilizes sensory illusion induced by using small vibration motors. This tendon vibration can be implemented relatively easily and safely compared with electrical stimulation. Wearable vibrators with variable frequency control have been developed. By using the developed vibrators, a feedback control method that compensates for the error between a reference angle and current joint angle has been implemented for the elbow movements. The efficacy of the proposed method has been confirmed by experiments conducted for 11 healthy adult subjects., The Institute of Electronics, Information and Communication Engineers, 13 Mar. 2013, IEICE technical report. Neurocomputing, 112, 480, 31-36, Japanese, 0913-5685, 110009713249, AN10091178

Control of a Small Linear Vernier Motor for Artificial Muscle Applications Using Disturbance Observer
FUJIMOTO Tatsuya; NAKATA Yoshihiro; KITANI Kenji; HIRATA Katsuhiro
11 Mar. 2013, 電気学会研究会資料. LD, リニアドライブ研究会, 2013, 22, 29-34, Japanese, 10031161088, AN10074612

Dynamic Analysis of a Small Linear Vernier Motor without Mover Magnets for Artificial Muscle Applications
FUJIMOTO Tatsuya; NAKATA Yoshihiro; HIRATA Katsuhiro
07 Aug. 2012, 電気学会研究会資料. RM, 回転機研究会, 2012, 65, 27-32, Japanese, 10031018626, AN10442283

1P1-T07 Compliant physical interaction of a musculoskeletal robotic arm based on control of the stiffness ellipse at the end effector(Biorobotics)
Ide Atsuhiro; Nakata Yoshihiro; Nakamura Yutaka; Hirata Katsuhiro; Ishiguro Hiroshi
Development of mechanisms for robots in daily life to realize safe human-robot interaction is important issue of robotics. Humans have two important mechanisms to move in various environments while coping with unexpected disturbances. One is the compliance of muscles, and the other is the biarticular muscle. These mechanisms seem to be necessary to realize human like compliant motion. In this research, electromagnetic linear actuators are used as artificial muscles, because it is easy to implement multi-articular muscles and they can change the impedance characteristics by controlling their output force. We show the effect of biarticular muscles for the controlling of the stiffness ellipse at the end effector and develop a robotic arm with 3 actuators. The robot can change the stiffness ellipse by controlling the stiffness coefficient of each actuator and perform reaching tasks., The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1P1-T07(1)"-"1P1-T07(4)", Japanese, 110009908507, AA11902933

Flexible physical interaction based on control of the stiffness ellipse at the end effector by a musculoskeletal robotic arm : An application of an electromagnetic linear actuator
NAKATA Yoshihiro; IDE Atsuhiro; NAKAMURA Yutaka; HIRATA Katsuhiro; ISHIGURO Hiroshi
Development of mechanisms for robots in daily life to realize safe human-robot interaction is important issue of robotics. Humans have two important mechanisms to move in various environments while coping with unexpected disturbances. One is the compliance of muscles, and the other is the biarticular muscle. The compliance of muscles enables humans to respond to external forces flexibly. The biarticular muscle is a muscle which actuates two adjacent joints at the same time, modifying the effect of external forces on the whole body by changing its stiffness. These mechanisms seem to be necessary to realize human like flexible motion. In this research, electromagnetic linear actuators are used as artificial muscles, because it is easy to implement multi-articular muscles and they can change the impedance characteristics by controlling their output force. We show the effect of biarticular muscles for the controlling of the stiffness ellipse at the end effector and develop a robotic arm with 3 actuators. The robot can change the stiffness ellipse by controlling the stiffness coefficient of each actuator and perform reaching tasks., The Institute of Electronics, Information and Communication Engineers, 13 Dec. 2011, IEICE technical report. Neurocomputing, 111, 368, 69-74, Japanese, 0913-5685, 110009466939, AN10091178

Small Size Linear Vernier Motor without Mover Magnets for Artificial Muscle Applications
FUJIMOTO Tatsuya; NAKATA Yoshihiro; HIRATA Katsuhiro
28 Oct. 2011, 電気学会研究会資料. LD, リニアドライブ研究会, 2011, 55, 29-34, Japanese, 10029800778, AN10074612

2A2-E03 Control of Monopedal Robot Driven by Electromagnetic Linear Actuators with Changing Stiffness Ellipse(Walking Robot)
IDE Atsuhiro; NAKATA Yoshihiro; HIRATA Katsuhiro; ISHIGURO Hiroshi
We have been studying an interior permanent magnet linear actuator as an artificial muscle. This actuator has long stroke, high response and large thrust using interior permanent magnets effectively and can emulate the spring-dumper characteristics of a human muscle by quick control of the output force, i.e. impedance control. In this paper, we develop a monopedal robot possessing bi- and mono-articular muscles implemented by electromagnetic linear actuators. Thanks to the biarticular muscle, the stiffness ellipse at the endpoint (foot) of the robot can be changed. The bouncing direction of the robot can be controlled by adjusting the stiffness ellipse when the robot touches down to the ground. We made a simulator of the robot to evaluate the dynamic characteristics. We also confirm that the behavior of the real robot is consistent to that of our simulator., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A2-E03(1)"-"2A2-E03(4)", Japanese, 110009692233, AA11902933

2A2-E02 Development of a Monopedal Robot Driven by Electromagnetic Linear Actuators(Walking Robot)
NAKATA Yoshihiro; OBAYASHI Fuminao; HIRATA Katsuhiro; ISHIGURO Hiroshi
We have been studying an interior permanent magnet linear actuator as an artificial muscle. This actuator has long stroke, high response and large thrust using interior permanent magnets effectively and can emulate the spring-dumper characteristics of a human muscle by quick control of the output force, i.e. impedance control. In this paper, we develop a monopedal robot possessing bi- and mono-articular muscles implemented by electromagnetic linear actuators. Thanks to the biarticular muscle, the stiffness ellipse at the endpoint (foot) of the robot can be changed. The bouncing direction of the robot we developed can be controlled by adjusting the stiffness ellipse when the robot touches down to the ground. We also develop a small size current control circuit for the electromagnetic linear actuator to downsize a control system., The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "2A2-E02(1)"-"2A2-E02(4)", Japanese, 110009692232, AA11902933

コンプライアンス制御による一脚ロボットの連続跳躍-リニア電磁アクチュエータの一応用-
仲田佳弘
2011, 第16回ロボティクスシンポジア 2011, 398-404, 80021651411

Dynamic Analysis of New Linear Magnetic Gear Employing 3D-FEM
IDE Atsuhiro; HIRATA Katsuhiro; ISHIGURO Hiroshi; NAKATA Yoshihiro; MURAMATSU Masari; NIGUCHI Noboru
14 Mar. 2010, 電気学会研究会資料. LD, リニアドライブ研究会, 2010, 1, 83-88, Japanese, 10026073935, AN10074612

2A1-B04 Development of a Biomimetic Robotic Arm Driven by Electromagnetic Linear Actuators for Artificial Muscles
NAKATA Yoshihiro; OBAYASHI Fuminao; HIRATA Katsuhiro; ISHIGURO Hiroshi
For realizing androids that have very humanlike mechanisms and movements, they have been developed by using pneumatic actuators. However, pneumatic actuators require a large and powerful air compressor and controlling them is difficult. Therefore, we have been studying a new linear actuator with interior permanent magnet mover for androids. This actuator is driven by a battery and controllable compliance. In the development, we have found a structure of the actuator that is more powerful and quick through iterative simulations based on the 3-D finite element method and developed the prototypes and control system for them. In this paper, we will show the structure, various simulations and experiments of the new linear actuator and development of the biomimetic robotic arm driven by our actuators., The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会2010予稿集, "2A1-B04(1)"-"2A1-B04(4)", Japanese, 110008741679, AA11902933

Dynamic Analysis Method of an Electromagnetic Linear Actuator for an Artificial Muscle under the PID Control
NAKATA Yoshihiro; HIRATA Katsuhiro; ISHIGURO Hiroshi
29 Jan. 2009, 電気学会研究会資料. LD, リニアドライブ研究会, 2009, 1, 13-18, Japanese, 10026073308, AN10074612

可動隔壁型二自由度球面空圧アクチュエータのトルク解析
大竹 陸郎; 部矢 明; 仲田 佳弘; 井上 剛志
Oral presentation, Japanese, Dynamics and Design Conference 2023 (D&D2023)
31 Aug. 2023
28 Aug. 2023- 31 Aug. 2023

ベローズ空気圧アクチュエータを用いた多自由度空電ハイブリッドアクチュエータのトルク解析
部矢 明; 瀧 恵多; 仲田 佳弘; 井上 剛志; 平田 勝弘
Oral presentation, Japanese, Dynamics and Design Conference 2023 (D&D2023)
31 Aug. 2023
28 Aug. 2023- 31 Aug. 2023

アンドロイドアバターのための広角カメラ一体型眼球および視覚共有システムの開発
新川 馨子; 平山 大志; 中島 瑞; 仲田 佳弘
Poster presentation, ロボティクス・メカトロニクス 講演会
29 Jun. 2023
28 Jun. 2023- 01 Jul. 2023

Development of an integrated pneumatic-electromagnetic hybrid linear actuator towards the reproduction of suitable contact force generated by experts
Yoshihiro Nakata; Tomoyuki Noda
Oral presentation, Japanese, 2022 IEE-Japan Industry Applications Society Conference, Domestic conference
01 Sep. 2022

人に優しくふるまえるロボットを目指して
仲田 佳弘
Public discourse, 2022年度 第11回若手会オンラインセミナー（高密度共役若手会）, Invited
03 Jun. 2022

コンシークエント型磁気ねじの開発
阿部哲也; 部矢明; 仲田佳弘; 平田勝弘; 石黒浩
Japanese
Jan. 2019
Jan. 2019 Jan. 2019

車輪移動アンドロイドの上体の揺動が人間の歩容に与える影響の検討
八木聡明; 仲田佳弘; 中村泰; 石黒浩
Japanese
Mar. 2018
Mar. 2018 Mar. 2018

Study on a cervical mechanism for a tele-operated android head and its operability
Kenta Maeda; Yoshihiro Nakata; Yutaka Nakamura; Hiroshi Ishiguro
English
Dec. 2016
Dec. 2016 Dec. 2016

人型上肢筋骨格ロボット HUMA を用いた外力に対する応答性調整の検討 ―アクチュエータネットワークの経路切替えによるエンドエフェクタの外力に対する応答性調整
Takuma HASHIZUME; Kenji URAI; Yoshihiro NAKATA; Yutaka NAKAMURA; Hiroshi ISHIGURO
Japanese
Jun. 2016
Jun. 2016 Jun. 2016

バックドライバビリティを持つ多自由度ロボットと柔軟物との接触力予測
岡留 有哉; 中村 泰; 仲田 佳弘; 石黒 浩
Japanese
Jun. 2015
Jun. 2015 Jun. 2015

Dynamics estimation for a human-like upper body musuculoskeletal robot driven by air actuators
岡留 有哉; 中村 泰; 浦井 健次; 仲田 佳弘; 石黒 浩
Japanese
May 2015
May 2015 May 2015

二関節筋機構を有する腕ロボットによるエンドエフェクタの応答性調整の検討
橋詰拓馬; 仲田佳弘; 岡留有哉; 中村泰; 石黒浩
Japanese
May 2015
May 2015 May 2015

筋骨格ロボットのための応答性調節機構に関する研究-空気圧アクチュエータ駆動人型上肢帯ロボットHUMAの開発-
浦井健次; 仲田佳弘; 中村泰; 石黒浩
Japanese
Mar. 2015
Mar. 2015 Mar. 2015

Development of High-Power Linear Vernier Motor and Its Control for Realizing Flexible Robot Motion
仲田佳弘; 木谷健二; 平田勝弘; 石黒浩
Japanese
May 2014
May 2014 May 2014

筋骨格構造の進化的発生過程シミュレーションの為の空圧駆動ロボットの開発
笠 秀行; 仲田 佳弘; 岡留 有哉; 中村 泰; 石黒 浩
Japanese
May 2014
May 2014 May 2014

1A1-B08 Development of Wire Driven Dislocatable Joint with Magnetic Circuit(Mechanism and Control for Wire Actuation System)
KOMAGATA Mitsuo; KAMINAGA Hiroshi; MURAI Akihiko; NAKATA Yoshihiro; NAKAMURA Yoshihiko
Japanese, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, http://ci.nii.ac.jp/naid/110009966601, In this research, we propose a 2DOF joint of quadruped robot that can dislocate to protect the robot from overload. Proposed 2DOF joint can dislocate with excess load from arbitrary orientation. The design specification is determined by motion analysis of a dog. By using this 2DOF dislocatable joint, we designed a leg of quadruped robot. The Structure of the prototype and fundamental operation of the movement is reported.
2014
2014 2014

High Efficiency Drive for a Legged Hopping Robot with an Electromagnetic Linear Actuator by Regenerative Braking Control
KITANI Kenji; NAKATA Yoshihiro; HIRATA Katsuhiro
Japanese, 電気学会研究会資料. RM, 回転機研究会, http://ci.nii.ac.jp/naid/10031193658
08 Aug. 2013
08 Aug. 2013- 08 Aug. 2013

Control of a Small Linear Vernier Motor for Artificial Muscle Applications Using Disturbance Observer
FUJIMOTO Tatsuya; NAKATA Yoshihiro; KITANI Kenji; HIRATA Katsuhiro
Japanese, 電気学会研究会資料. LD, リニアドライブ研究会, http://ci.nii.ac.jp/naid/10031161088
11 Mar. 2013
11 Mar. 2013- 11 Mar. 2013

A Study on Teaching Specific Movements Using Tendon Vibration in Humans
NAKATA Yoshihiro; ISHIGURO Hiroshi; UEDA Jun
Japanese, IEICE technical report. Neurocomputing, The Institute of Electronics, Information and Communication Engineers, http://ci.nii.ac.jp/naid/110009713249, In the case of teaching specific limb movement for people, e.g. rehabilitation or teaching some difficult operations, verbal instructions or direct motion of the learner's joint are always used but these processes burden the instructors. This paper presents initial experimental results on a new concept for teaching movements that utilizes sensory illusion induced by using small vibration motors. This tendon vibration can be implemented relatively easily and safely compared with electrical stimulation. Wearable vibrators with variable frequency control have been developed. By using the developed vibrators, a feedback control method that compensates for the error between a reference angle and current joint angle has been implemented for the elbow movements. The efficacy of the proposed method has been confirmed by experiments conducted for 11 healthy adult subjects.
06 Mar. 2013
06 Mar. 2013- 06 Mar. 2013

Dynamic Analysis of a Small Linear Vernier Motor without Mover Magnets for Artificial Muscle Applications
FUJIMOTO Tatsuya; NAKATA Yoshihiro; HIRATA Katsuhiro
Japanese, 電気学会研究会資料. LD, リニアドライブ研究会, http://ci.nii.ac.jp/naid/10031118825
07 Aug. 2012
07 Aug. 2012- 07 Aug. 2012

Flexible physical interaction based on control of the stiffness ellipse at the end effector by a musculoskeletal robotic arm : An application of an electromagnetic linear actuator
NAKATA Yoshihiro; IDE Atsuhiro; NAKAMURA Yutaka; HIRATA Katsuhiro; ISHIGURO Hiroshi
Japanese, IEICE technical report. Neurocomputing, The Institute of Electronics, Information and Communication Engineers, http://ci.nii.ac.jp/naid/110009466939, Development of mechanisms for robots in daily life to realize safe human-robot interaction is important issue of robotics. Humans have two important mechanisms to move in various environments while coping with unexpected disturbances. One is the compliance of muscles, and the other is the biarticular muscle. The compliance of muscles enables humans to respond to external forces flexibly. The biarticular muscle is a muscle which actuates two adjacent joints at the same time, modifying the effect of external forces on the whole body by changing its stiffness. These mechanisms seem to be necessary to realize human like flexible motion. In this research, electromagnetic linear actuators are used as artificial muscles, because it is easy to implement multi-articular muscles and they can change the impedance characteristics by controlling their output force. We show the effect of biarticular muscles for the controlling of the stiffness ellipse at the end effector and develop a robotic arm with 3 actuators. The robot can change the stiffness ellipse by controlling the stiffness coefficient of each actuator and perform reaching tasks.
13 Dec. 2011
13 Dec. 2011- 13 Dec. 2011

Small Size Linear Vernier Motor without Mover Magnets for Artificial Muscle Applications
FUJIMOTO Tatsuya; NAKATA Yoshihiro; HIRATA Katsuhiro
Japanese, 電気学会研究会資料. LD, リニアドライブ研究会, http://ci.nii.ac.jp/naid/10029800778
28 Oct. 2011
28 Oct. 2011- 28 Oct. 2011

Dynamic Analysis of New Linear Magnetic Gear Employing 3D-FEM
IDE Atsuhiro; HIRATA Katsuhiro; ISHIGURO Hiroshi; NAKATA Yoshihiro; MURAMATSU Masari; NIGUCHI Noboru
Japanese, 電気学会研究会資料. LD, リニアドライブ研究会, http://ci.nii.ac.jp/naid/10026073935
14 Mar. 2010
14 Mar. 2010- 14 Mar. 2010

Dynamic Analysis Method of an Electromagnetic Linear Actuator for an Artificial Muscle under the PID Control
NAKATA Yoshihiro; HIRATA Katsuhiro; ISHIGURO Hiroshi
Japanese, 電気学会研究会資料. LD, リニアドライブ研究会, http://ci.nii.ac.jp/naid/10026073308
29 Jan. 2009
29 Jan. 2009- 29 Jan. 2009

Development of Electromagnetic Linear Actuator for Artificial Muscle
NAKATA Yoshihiro; HIRATA Katsuhiro; ISHIGURO Hiroshi
Japanese, 電気学会研究会資料. LD, リニアドライブ研究会, http://ci.nii.ac.jp/naid/10025841245
30 Oct. 2008
30 Oct. 2008- 30 Oct. 2008

Information Literacy Basics
Osaka University

知能機械工学実験
The University of Electro-Communications

知能機械工学実験
電気通信大学

基礎プログラミングおよび演習
The University of Electro-Communications

基礎プログラミングおよび演習
電気通信大学

Advanced Information Engineering for Robotics
The University of Electro-Communications

ロボット情報工学特論
電気通信大学

Information Science Basics
Osaka University

May 2013 - Present
IEEE

Jun. 2010 - Present
THE ROBOTICS SOCIETY OF JAPAN

Apr. 2010 - Present
THE INSTITUTE OF ELECTRICAL ENGINEERS OF JAPAN

May 2008 - Present
THE JAPAN SOCIETY OF APPLIED ELECTROMAGNETICS AND MECHANICS

ロボットの能動的接触による表面分布インピーダンスの可視化とその利用
仲田 佳弘
日本学術振興会, 科学研究費助成事業 若手研究（A）, Principal investigator
Apr. 2017 - Mar. 2020

柔軟な体幹を有するリニア電磁アクチュエータ駆動人型上半身ロボットの身体協調運動
仲田 佳弘
日本学術振興会, 科学研究費助成事業 若手研究（A）, Principal investigator
Apr. 2014 - Mar. 2018

一体構造空電ハイブリッドアクチュエータの作動流体を用いたコイル冷却機構の研究開発
仲田 佳弘
永守財団, 研究助成, Principal investigator
Sep. 2016 - Aug. 2017

一体構造空電ハイブリッドアクチュエータのしなやかさを体感可能な触知メディアの研究開発
仲田 佳弘
国立研究開発法人 科学技術振興機構, 技術シーズ選抜育成プロジェクト〔ロボティクス分野〕, Principal investigator
Oct. 2015 - Mar. 2016

一体化構造を有する空電ハイブリッドダイレクトドライブ直動アクチュエータの開発
仲田 佳弘
日本学術振興会, 科学研究費助成事業 挑戦的萌芽研究, Principal investigator
Apr. 2014 - Mar. 2016

樹脂－繊維強化プラスチック複合化による空電ハイブリッド直動アクチュエータの高性能化
仲田 佳弘
大阪大学, リーンローンチパッドプログラム（LLP）連携型・実用化シーズ育成支援制度, Principal investigator
Oct. 2014 - Mar. 2015

人体の筋粘弾性のシナジーに基づく巧みな動作を行うロボットの制御
仲田 佳弘
日本学術振興会, 科学研究費助成事業, 東京大学, 特別研究員奨励費, 私たちが生活する実環境でロボットが活動するには, 人や物体と安全に接触できる必要がある. 特に外乱や, 撃力を受ける場合の動作制御は重要である. そこで, 申請者は実環境に適応して活動していると考えられる人の構造に着目し, 筋のように出力の粘弾性を制御できるリニアアクチュエータによる冗長な筋骨格構造を持つロボットの研究・開発を行ってきた. しかし, 多自由度ロボットにおいて, 各アクチュエータの弾性だけでなく粘性を制御することは容易ではない. 本研究では, 筋の共収縮により実現される粘弾性に幾つかの組(シナジー)を考えることができ, 粘弾性の調整はタスクに応じてその組を学習することで実現できるという仮説を立てる. タスク遂行時の人の筋の活性度から, 粘弾性調整のレベルでのシナジーを抽出できれば, 筋骨格ロボットにおいても, 粘弾性のパラメータ空間の低次元化と制御戦略の単純化が期待できる. 本年度は, 外乱に対する筋活動の変化を調べるとともに, 制御対象である人型ロボットに用いるリニアバーニアモータを改良した. 外乱に対する筋活動の変化を調べるため, 腱への振動刺激により生じる運動錯覚を利用した, 小型振動モータを用いた振動子と制御システムを作成し, 一定の振動数の振動を肘と足首の腱に与え, その時の周辺の筋の筋電位を計測した. 個人差が大きかったが, 振動に対して筋電位が変化する様子が観察された. リニアバーニアモータの改良では, シミュレーション結果と比較して実機の推力が低下する問題の解決を試みた. 事前に実機の推力を精度よく計算できれば, 開発期間の短縮が可能となる. 可動子・固定子間のエアギャップの拡大と可動子の加工による透磁率の変化が原因であると考え, 解析モデルを修正して結果を比較するとともに, 加工後に焼鈍処理を施した可動子を用いて推力を計測した, その結果, エアギャップの変化が推力低下に大きく寄与することが明らかになった., 13J08593
2013 - 2013

リニア電磁アクチュエータを用いた外力に対する柔軟性を変更可能なシステムの実現
仲田 佳弘
日本学術振興会, 科学研究費助成事業, 大阪大学, 特別研究員奨励費, 本研究では,生物の筋が外力に対する粘弾性特性を変化させられることに着目し,制御によって出力の粘弾性を変化できるリニア電磁アクチュエータを複数搭載したロボットを用いて,人や物と物理的インタラクションが可能なシステムを実現する.このシステムによって,多様な外乱が存在する実環境において,人との接触を伴うタスクにおける安全性向上,跳躍のようなダイナミックな動作の実現が可能となる.本年度は,昨年度に提案したリニアバーニアモータを試作した.このリニアバーニアモータは,先に開発した埋込磁石型のリニア電磁アクチュエータと比較して,同じ電流を励磁したときに2倍以上の推力を発生できることをシミュレーションによって確認している.この成果は国際学会にて報告している.試作機を用いて推力およびディテント力(電流を励磁しなくても発生する力)の基本特性および位置制御時の応答性を評価するとともに,外力に対する柔軟動作が実現できることを確認した。また,リニア電磁アクチュエータを複数搭載した筋骨格上肢ロボットの制御を行った.柔軟物を押すタスクに対して,事前に様々な推力値をアクチュエータに与えたときの,関節角度,角速度と手先圧力のデータを集め,そのデータセットを元に適切なアクチュエータの推力の組を推定するようなノンパラメトリックモデルを用いた制御法を適用した.今回は集めたデータを基に手先の圧力が推定できることを実験により確認した.さらに,昨年度に続き,米国・ジョージア工科大学にて研究留学を行い,ロボットの制御への応用を目的に,人の動作の特性を調べる研究を行った.この成果をまとめ,国際学会へ投稿した.その他,リニア電磁アクチュエータ駆動型下肢ロボットの連続跳躍に関する研究について,国際学会での発表を行い,1件の学術論文が論文誌に掲載された., 10J00772
2010 - 2012

TEPIA アドバイザー
Advisor, 一般社団法人 高度技術社会推進協会, Research advise
21 May 2019 - Present

新感覚 遠隔コミュニケーション／仲田佳弘（電気通信大学 准教授）
Other than myself, テレビ東京, 探究の階段, Media report
25 Apr. 2024

生き物みたいに動くロボットを食べたら、人は何を感じる？
Other than myself, 子供の科学2024年5月号, Paper
10 Apr. 2024

人類の食文化を新たに創造する可食ロボット そのお味は？
Other than myself, 日経BP, 未来コトハジメ, Internet
26 Mar. 2024

操作というより憑依 双方向型アバター「Yui」
Other than myself, Forbes JAPAN, Internet
19 Mar. 2024

アンドロイドアバター「Yui」とVRゴーグルで「視聴覚の共有による臨場感」を実現 操作者の表情をアバターで再現 電通大と東京電大
Other than myself, ロボットスタート（ロボスタ）, Internet
11 Mar. 2024

電通大と東京電機大、操作者が「憑依」できるアンドロイドアバターを開発
Other than myself, 日本経済新聞, Paper
11 Mar. 2024

動くロボットを食べるとどう感じるか？ 可食ロボットの食体験を分析
Other than myself, 大学ジャーナルオンライン, Internet
10 Mar. 2024

食育に貢献
Other than myself, 日刊工業新聞, レーザー, Paper
05 Mar. 2024

動きのありなしで食感に変化も？「可食ロボット」を食べた時の感覚を実験…どんな分野に応用できるか研究者に聞いた
Other than myself, FNNプライムオンライン, Internet
05 Mar. 2024

ロボットを躍り食い？ 可食ロボットの哲学的課題
Other than myself, Forbes JAPAN, Internet
28 Feb. 2024

ロボットを食べた際の知覚の変化を研究。動いている状態で食べると罪悪感
Other than myself, PC Watch, Internet
16 Feb. 2024

What It’s Like to Eat a Robot
Other than myself, IEEE Spectrum, Internet
13 Feb. 2024

2023国際ロボット展／ロボ部品、小型化注力
Other than myself, 日刊工業新聞, Paper
01 Dec. 2023

電通大など、空圧・電気併用の直道装置 ロボット向け
Other than myself, NIKKEI Tech Foresight, Internet
24 May 2023