姜 銀来
| 脳・医工学研究センター | 教授 |
| UEC中国教育研究支援センター | 教授 |
| 機械知能システム学専攻 | 教授 |
| Ⅱ類（融合系） | 教授 |
研究者情報
経歴
研究活動情報
受賞
- 受賞日 2017年10月
Best Student Paper Award, 2017 IEEE International Conference on Cyborg and Bionic Systems, Yuta Mura;Yoshiko Yabuki;Masahiro Ishihara;Takehiko Takagi;Shinichiro Takayama;Shunta Togo;Jiang Yinlai;Hiroshi Yokoi
国際学会・会議・シンポジウム等の賞 - 受賞日 2016年11月
2016 International Conference on Biomedical Signal and Bioinformatics (ICBSB 2016), Excellent Paper Award, Rintaro Kamihira;Misato Kasuya;Yinlai Jiang;Shunta Togo;Masao Sugi;Hiroshi Yokoi
国際学会・会議・シンポジウム等の賞 - 受賞日 2016年07月
The 14th International Conference on Intelligent Autonomous Systems, Best Conference Paper Award Finalist, Yoshiko Yabuki;Kazumasa Tanahashi;Suguru Hoshikawa;Tatsuhiro Nakamura;Ryu Kato;Yinlai Jiang;Hiroshi Yokoi
国際学会・会議・シンポジウム等の賞 - 受賞日 2015年
日本知能情報ファジィ学会貢献賞
国内学会・会議・シンポジウム等の賞 - 受賞日 2015年
2015 International Conference on Wearable Sensor and Robot（ICWSR）Best Paper Award, Yinlai Jiang;Shintaro Sakoda;Masami Togane;Soichiro Morishita;Hiroshi Yokoi
国際学会・会議・シンポジウム等の賞 - 受賞日 2013年
日本知能情報ファジィ学会奨励賞
国内学会・会議・シンポジウム等の賞 - 受賞日 2012年
SCIS-ISIS 2012 Best Application Award
国際学会・会議・シンポジウム等の賞 - 受賞日 2010年
IEEE ICMA AWARD for ICMA 2010 Best Paper in Automation
国際学会・会議・シンポジウム等の賞
論文
- Dynamic Label Smoothing Strategy for Biosignal Classification
Peiji Chen; Dian Li; Yifan Tang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
ラスト(シニア)オーサー, 2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 掲載ページ 1556-1560, 出版日 2024年04月, 査読付 - A Robot Hand for Versatile Grasping With Tendon-Driven Telescopic Fingers
Yiwei Wang; Kazuma Kakino; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
ラスト(シニア)オーサー, IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 9巻, 3号, 掲載ページ 2957-2964, 出版日 2024年03月
研究論文（学術雑誌） - A Hand Gesture Recognition Strategy Based on Virtual-Dimension Increase of EMG
Yuxuan Wang; Ye Tian; Jinying Zhu; Haotian She; Yinlai Jiang; Zhihong Jiang; Hiroshi Yokoi
Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 5巻, 出版日 2024年01月29日, 査読付, The electromyography(EMG) signal is the biocurrent associated with muscle contraction and can be used as the input signal to a myoelectric intelligent bionic hand to control different gestures of the hand. Increasing the number of myoelectric-signal channels can yield richer information of motion intention and improve the accuracy of gesture recognition. However, as the number of acquisition channels increases, its effect on the improvement of the accuracy of gesture recognition gradually diminishes, resulting in the improvement of the control effect reaching a plateau. To address these problems, this paper presents a proposed method to improve gesture recognition accuracy by virtually increasing the number of EMG signal channels. This method is able to improve the recognition accuracy of various gestures by virtually increasing the number of EMG signal channels and enriching the motion intention information extracted from data collected from a certain number of physical channels, ultimately providing a solution to the issue of the recognition accuracy plateau caused by saturation of information from physical recordings. Meanwhile, based on the idea of the filtered feature selection method, a quantitative measure of sample sets (separability of feature vectors [SFV]) derived from the divergence and correlation of the extracted features is introduced. The SFV value can predict the classification effect before performing the classification, and the effectiveness of the virtual-dimension increase strategy is verified from the perspective of feature set differentiability change. Compared to the statistical motion intention recognition success rate, SFV is a more representative and faster measure of classification effectiveness and is also suitable for small sample sets.
研究論文（学術雑誌） - 伸縮機構を備えたロボティック・フィンガーの開発
柿野和真; 山野井佑介; 東郷俊太; 横井浩史; 姜銀来
ラスト(シニア)オーサー, 日本ロボット学会誌, 41巻, 10号, 掲載ページ 885-888, 出版日 2023年12月, 査読付
研究論文（学術雑誌） - Automatic Control System for Reach-to-Grasp Movement of a 7-DOF Robotic Arm Using Object Pose Estimation with an RGB Camera
Shuting Bai; Jiazhen Guo; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), 出版日 2023年12月, 査読付
研究論文（国際会議プロシーディングス） - Design of Anthropomimetic Robotic Wrist Joint and Forearm
Yoshinobu Obata; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 出版日 2023年10月, 査読付 - A Layered sEMG–FMG Hybrid Sensor for Hand Motion Recognition From Forearm Muscle Activities
Peiji Chen; Ziye Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
ラスト(シニア)オーサー, IEEE Transactions on Human-Machine Systems, Institute of Electrical and Electronics Engineers (IEEE), 53巻, 5号, 掲載ページ 935-944, 出版日 2023年10月, 査読付
研究論文（学術雑誌） - A Novel Multifunctional Intelligent Bed Integrated with Multimodal Human-robot Interaction Approach and Safe Nursing Methods
Donghui Zhao; Yuhui Wu; Chenhao Yang; Junyou Yang; Houde Liu; Shuoyu Wang; Yinlai Jiang; Hiroshi Yokoi
IET Cyber-Systems and Robotics, 5巻, 3号, 掲載ページ e12097, 出版日 2023年09月, 査読付
研究論文（学術雑誌） - Comparison of Bipolar and Monopolar Electrode Configurations for FES on Biceps Brachii
Kiyoka Arai; Masao Sugi; Hiroshi Yokoi; Lin Wang; Yinlai Jiang
ラスト(シニア)オーサー, the 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 出版日 2023年07月, 査読付
研究論文（国際会議プロシーディングス） - A Strain Gauge Based FMG Sensor for sEMG-FMG Dual Modal Measurement of Muscle Activity Associated with Hand Gestures
Yifan Tang; Jiayi Wang; Peiji Chen; Wenyang Li; Haokang Xu; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
ラスト(シニア)オーサー, The 16th International Conference on Intelligent Robotics and Applications, Springer Nature Singapore, 掲載ページ 185-194, 出版日 2023年07月, 査読付
論文集(書籍)内論文 - Density-reducing Monte Carlo Method for 7-DOF Humanoid Robot Arm Workspace Solution
Rutong Dou; Shenbo Yu; Pengpeng Xia; Peng Chen; Hiroshi Yokoi; Yinlai Jiang
ラスト(シニア)オーサー, Journal of Southwest Jiaotong University, 59巻, 出版日 2023年05月, 査読付
研究論文（学術雑誌）, 中国語 - 捕球動作に有効なヒトの把持姿勢の分類と筋電義手ハンドへの応用
東島涼香; 姜銀来; 横井浩史; 東郷俊太
バイオメカニズム学会誌, 47巻, 1号, 掲載ページ 54-62, 出版日 2023年02月, 査読付
研究論文（学術雑誌）, 日本語 - Coevolution of Myoelectric Hand Control under the Tactile Interaction among Fingers and Objects
Yuki Kuroda; Yusuke Yamanoi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 2022巻, 出版日 2022年11月, 査読付, The usability of a prosthetic hand differs significantly from that of a real hand. Moreover, the complexity of manipulation increases as the number of degrees of freedom to be controlled increases, making manipulation with biological signals extremely difficult. To overcome this problem, users need to select a grasping posture that is adaptive to the object and a stable grasping method that prevents the object from falling. In previous studies, these have been left to the operating skills of the user, which is extremely difficult to achieve. In this study, we demonstrate how stable and adaptive grasping can be achieved according to the object regardless of the user’s operation technique. The required grasping technique is achieved by determining the correlation between the motor output and each sensor through the interaction between the prosthetic hand and the surrounding stimuli, such as myoelectricity, sense of touch, and grasping objects. The agents of the 16-DOF robot hand were trained with the myoelectric signals of six participants, including one child with a congenital forearm deficiency. Consequently, each agent could open and close the hand in response to the myoelectric stimuli and could accomplish the object pickup task. For the tasks, the agents successfully identified grasping patterns suitable for practical and stable positioning of the objects. In addition, the agents were able to pick up the object in a similar posture regardless of the participant, suggesting that the hand was optimized by evolutionary computation to a posture that prevents the object from being dropped.
研究論文（学術雑誌）, 英語 - 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
日本ロボット学会誌, 40巻, 6号, 掲載ページ 546-549, 出版日 2022年07月, 査読付
研究論文（学術雑誌）, 日本語 - Inverse Kinematics for a 7-DOF Humanoid Robotic Arm with Joint Limit and End Pose Coupling
Rutong Dou; Shenbo Yu; Wenyang Li; Peng Chen; Pengpeng Xia; Fengchen Zhai; Hiroshi Yokoi; Yinlai Jiang
責任著者, Mechanism and Machine Theory, Elsevier BV, 169巻, 掲載ページ 104637-104637, 出版日 2022年03月, 査読付
研究論文（学術雑誌）, 英語 - 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
43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), IEEE, Accepted巻, 掲載ページ 6337-6340, 出版日 2021年11月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of Integrated Multi-Electrode for FES Using Stretchable Mesh Material to Induce Hand Posture
In Morimoto; Yusuke Yamanoi; Masao Sugi; Yinlai Jiang; Hiroshi Yokoi
The XXIV Annual Conference of the International Functional Electrical Stimulation Society (IFESS), 掲載ページ 156-159, 出版日 2021年09月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Modularization of 2- and 3-DoF Coupled Tendon-Driven Joints
Wenyang Li; Peng Chen; Dianchun Bai; Xiaoxiao Zhu; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE), 37巻, 3号, 掲載ページ 905-917, 出版日 2021年06月, 査読付
研究論文（学術雑誌）, 英語 - Semi-automated control system for reaching movements in EMG shoulder disarticulation prosthesis based on mixed reality device
Shunta Togo; Kazuaki Matsumoto; Susumu Kimizuka; Yilai Jiang; Hiroshi Yokoi
IEEE Open Journal of Engineering in Medicine and Biology, Institute of Electrical and Electronics Engineers (IEEE), 2巻, 2号, 掲載ページ 55-64, 出版日 2021年02月, 査読付
研究論文（学術雑誌）, 英語 - Development of a Two-Layered Elastic Glove for Dynamic Stable Grasping of Powered Prosthetic Hand
Yoshinobu Obata; Ayane Kumagai; Yoshiko Yabuki; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 39巻, 8号, 掲載ページ 744-750, 出版日 2021年
研究論文（学術雑誌） - Survey on Main Drive Methods Used in Humanoid Robotic Upper Limb
Yiwei Wang; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 2021巻, 出版日 2021年, 査読付, Humanoid robotic upper limbs including the robotic hand and robotic arm are widely studied as the important parts of a humanoid robot. A robotic upper limb with light weight and high output can perform more tasks. The drive system is one of the main factors affecting the weight and output of the robotic upper limb, and therefore, the main purpose of this study is to compare and analyze the effects of the different drive methods on the overall structure. In this paper, we first introduce the advantages and disadvantages of the main drive methods such as tendon, gear, link, fluid (hydraulic and pneumatic), belt, chain, and screw drives. The design of the drive system is an essential factor to allow the humanoid robotic upper limb to exhibit the structural features and functions of the human upper limb. Therefore, the specific applications of each drive method on the humanoid robotic limbs are illustrated and briefly analyzed. Meanwhile, we compared the differences in the weight and payload (or grasping force) of the robotic hands and robotic arms with different drive methods. The results showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio, which results in a larger output torque. Further, the weight of the actuator accounts for a larger proportion of the total weight, and a reasonable external placement of the actuator is also beneficial to achieve light weight.
研究論文（学術雑誌）, 英語 - Study on classification effect of sEMG signals in different vibration environments based on LDA algorithm
Yanchao Wang; Ye Tian; Jinying Zhu; Haotian She; Hiroshi Yokoi; Yinlai Jiang; Qiang Huang
Sensors, MDPI AG, 21巻, 18号, 掲載ページ 6234-6234, 出版日 2021年, 査読付, Myoelectric prosthesis has become an important aid to disabled people. Although it can help people to recover to a nearly normal life, whether they can adapt to severe working conditions is a subject that is yet to be studied. Generally speaking, the working environment is dominated by vibration. This paper takes the gripping action as its research object, and focuses on the identification of grasping intentions under different vibration frequencies in different working conditions. In this way, the possibility of the disabled people who wear myoelectric prosthesis to work in various vibration environment is studied. In this paper, an experimental test platform capable of simulating 0–50 Hz vibration was established, and the Surface Electromyography (sEMG) signals of the human arm in the open and grasping states were obtained through the MP160 physiological record analysis system. Considering the reliability of human intention recognition and the rapidity of algorithm processing, six different time-domain features and the Linear Discriminant Analysis (LDA) classifier were selected as the sEMG signal feature extraction and recognition algorithms in this paper. When two kinds of features, Zero Crossing (ZC) and Root Mean Square (RMS), were used as input, the accuracy of LDA algorithm can reach 96.9%. When three features, RMS, Minimum Value (MIN), and Variance (VAR), were used as inputs, the accuracy of the LDA algorithm can reach 98.0%. When the six features were used as inputs, the accuracy of the LDA algorithm reached 98.4%. In the analysis of different vibration frequencies, it was found that when the vibration frequency reached 20 Hz, the average accuracy of the LDA algorithm in recognizing actions was low, while at 0 Hz, 40 Hz and 50 Hz, the average accuracy was relatively high. This is of great significance in guiding disabled people to work in a vibration environment in the future.
研究論文（学術雑誌）, 英語 - 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 BV, 88巻, 掲載ページ 9-18, 出版日 2021年, 査読付
研究論文（学術雑誌）, 英語 - Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-of-Freedom Coupled Tendon-driven Joint Module
Wenyang Li; Yiwei Wang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 6巻, 2号, 掲載ページ 1105-1111, 出版日 2021年, 査読付
研究論文（学術雑誌）, 英語 - 動的安定把持を実現する電動義手のための二層弾性構造グローブの開発
小畑承経; 熊谷あやね; 矢吹佳子; 東郷俊太; 姜銀来; 横井浩史
日本ロボット学会誌, 39巻, 出版日 2021年, 査読付
研究論文（学術雑誌）, 日本語 - Design of a 3-DOF Coupled Tendon-Driven Waist Joint
Yiwei Wang; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2021 IEEE International Conference on Robotics and Automation(ICRA), Accepted巻, 掲載ページ 7046-7051, 出版日 2021年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Asymmetric shape of distal phalanx of human finger improves ability of precision grasping
Ayane Kumagai; Yoshinobu Obata; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Scientific Reports, 11巻, 掲載ページ 10402, 出版日 2021年, 査読付
研究論文（学術雑誌）, 英語 - モジュール化したワイヤ干渉駆動型ヒューマノイド・ロボットアーム
姜銀来; 李文揚; 陳鵬; 東郷俊太; 横井浩史
日本ロボット学会誌, 38巻, 7号, 掲載ページ 657-666, 出版日 2020年, 査読付
研究論文（学術雑誌）, 日本語 - Evaluation of the grasping ability by artificial finger based on the morphology of distal phalanx
Ayane Kumagai; Yoshinobu Obata; Hiroshi Yokoi; Shunta Togo; Yinlai Jiang
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech), IEEE, 掲載ページ 334-335, 出版日 2020年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Analysis of Two-Layer Artificial Soft Fingertip for Dynamic Stable Grasping
Yoshinobu Obata; Ayane Kumagai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech), 掲載ページ 362-363, 出版日 2020年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 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), 掲載ページ 381-386, 出版日 2019年10月31日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development and evaluation of a myoelectric prosthetic hand adaptable to individuality for Children
Yoshiko Yabuki; Yuta Murai; Yusuke Yamanoi; Xiaobei Jing; Xu Yong; Yuankang Shi; Shunta Togo; Yinlai Jiang; Takehiko Takagi; Shinichiro Takayama; Hiroshi Yokoi
International Society for Prosthetics and Orthotics (ISPO) 17th World Congress, *巻, 出版日 2019年10月08日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Lightweight 10-DOF Robotic Hand With Built-In Wire-Driven Mechanism
Takaki Shimura; Yuta Murai; Shunta Togo; Jiang Yinlai; Hiroshi Yokoi
IEEE International Conference on Robotics and Biomimetics, 掲載ページ 491-495, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Design of A Prosthetic Hand for Multiple hand Motions
Xiaobei Jing; Xu Yong; Guanglin Li; Yinlai Jiang; Hiroshi Yokoi
IEEE International Conference on Robotics and Biomimetics, 掲載ページ 2813-2818, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of an Adaptive Prosthetic Hand
Xu Yong; Xiaobei Jing; Xinyu Wu; Yinlai Jiang; Hiroshi Yokoi
IEEE International Conference on Robotics and Biomimetics, 掲載ページ 2799-2804, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - EEG Measurement Using Dry Electrodes Comprising Two-layered Conductive Silicone with Different Carbon Concentrations
Yuma Ono; Yuta Murai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
IEEE International Conference on Robotics and Biomimetics, 掲載ページ 2460-2464, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Motion Control of a Walking Support Robot Based on Gait Analysis
Naoya Matsumoto; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE International Conference on Robotics and Biomimetics, 掲載ページ 1880-1884, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand using Superelastic Rubber
Yoshiko Yabuki; Kazumasa Tanahashi; Yasuhiro Mouri; Yuta Murai; Shunta Togo; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
Robotics and Autonomous Systems, 111巻, 掲載ページ 31-43, 出版日 2019年01月, 査読付
研究論文（学術雑誌）, 英語 - 握力把握・精密把握における安定把持のための筋電義手用関節屈伸機構の開発
谷直行; 姜銀来; 東郷俊太; 横井浩史
日本ロボット学会誌, 37巻, 2号, 掲載ページ 168-178, 出版日 2019年, 査読付
研究論文（学術雑誌）, 日本語 - 残存指を利用できる手部筋電義手システムの開発－設計手法の提案と試作 －
村井雄太; 矢吹佳子; 石原正博; 高木岳彦; 髙山真一郎; 東郷俊太; 加藤龍; 姜銀来; 横井浩史
バイオメカニズム学会誌, バイオメカニズム学会, 43巻, 2号, 掲載ページ 124-133, 出版日 2019年, 査読付, 本稿は、手部欠損者の欠損指の運動機能を補綴し、残存指の運動機能を活用可能な手部筋電義手の設計手法を提案している。手部筋電義手の設計における課題は機械系と制御系に存在する。機械系設計の課題にはデジタルエンジニアリングの考え方に基づき被験者の手部の3Dデータから断端形状に適合するソケットと手の外観を損なわずに電動部品を収納できる把持機構を設計し、残存指を活用可能な手先具を実現した。制御系設計の課題には、ニューラルネットワークによって、計測した筋電から手部の把持操作に必要となる離断部位の筋電を分離し、電動ハンドの制御に応用することに成功した。また、被験者を対象に手部筋電義手を試作した。試作した手部筋電義手の把持・操り動作について、ピックアンドプレース実験を実施し、手部筋電義手の有効性を確認した。(著者抄録)
研究論文（学術雑誌）, 日本語 - Development of Soft Impedance Balancer for EMG Electrode
Yuankang Shi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
The 2019 IEEE International Conference on Real-time Computing and Robotics, Accepted巻, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand
Xu Yong; Xiaobei Jing; Xinyu Wu; Yinlai Jiang; Hiroshi Yokoi
Sensors, {MDPI} {AG}, 19巻, 16号, 掲載ページ 3539-3539, 出版日 2019年, 査読付
研究論文（学術雑誌）, 英語 - Development of an sEMG sensor composed of two-layered conductive silicone with different carbon concentrations
Shunta Togo; Yuta Murai; Yinlai Jiang; Hiroshi Yokoi
Scientific Reports, 9巻, 16号, 掲載ページ 13996, 出版日 2019年, 査読付
研究論文（学術雑誌）, 英語 - A Robust Feedback Path Tracking Control Algorithm for an Indoor Carrier Robot Considering Energy Optimization
Yina Wang; Wenqiu Xiong; Junyou Yang; Yinlai Jiang; Shuoyu Wang
Energies, 12巻, 16号, 掲載ページ 2010, 出版日 2019年, 査読付
研究論文（学術雑誌）, 英語 - Motor Point Tracking Stimulation of Biceps Brachii Using Multi Electrodes Based Functional Electrical Stimulation
Kento Ichikawa; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
2019 IEEE International Conference on Cyborg and Bionic Systems, No.4巻, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - A Gear-Driven Prosthetic Hand with Major Grasp Functions for Toddlers
Xiaobei Jing; Xu Yong; Yuankang Shi; Yoshiko Yabiki; Yinlai Jiang; Hiroshi Yokoi; Guanglin Li
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, Accepted巻, 掲載ページ 2813-2818, 出版日 2019年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発
君塚進; 日吉祐太郎; 叶鶴松; 田中洋平; 東郷俊太; 姜銀来; 横井浩史
バイオメカニズム学会誌, バイオメカニズム学会, 43巻, 4号, 掲載ページ 248-255, 出版日 2019年, 査読付, 長期間の訓練なしに使用可能な電動肩義手システムを実現するため，体幹部の表面筋電位を制御信号とした個性適応制御による 4自由度の直感操作型肩義手システムを開発した．健常者の体幹部の表面筋電位を多点計測し，主成分分析による解析を行うことで体幹部の適正筋電計測箇所を特定した．その結果，体幹部の適正筋電計測箇所は胸部と背部に分布していることが判明した．胸部と背部の表面筋電位を腕の動作制御に用いた，肩義手による物体の把持・移動動作検証実験の結果，全ての被験者が一定時間内における物体の把持・移動に成功した．
研究論文（学術雑誌）, 日本語 - One-channel surface electromyography decomposition for muscle force estimation
Wentao Sun; Jinying Zhu; Yinlai Jiang; Hiroshi Yokoi; Qiang Huang
Frontiers in Neurorobotics, Frontiers Media S.A., 12巻, MAY号, 出版日 2018年05月04日, 査読付, Estimating muscle force by surface electromyography (sEMG) is a non-invasive and flexible way to diagnose biomechanical diseases and control assistive devices such as prosthetic hands. To estimate muscle force using sEMG, a supervised method is commonly adopted. This requires simultaneous recording of sEMG signals and muscle force measured by additional devices to tune the variables involved. However, recording the muscle force of the lost limb of an amputee is challenging, and the supervised method has limitations in this regard. Although the unsupervised method does not require muscle force recording, it suffers from low accuracy due to a lack of reference data. To achieve accurate and easy estimation of muscle force by the unsupervised method, we propose a decomposition of one-channel sEMG signals into constituent motor unit action potentials (MUAPs) in two steps: (1) learning an orthogonal basis of sEMG signals through reconstruction independent component analysis
(2) extracting spike-likeMUAPs fromthe basis vectors. Nine healthy subjects were recruited to evaluate the accuracy of the proposed approach in estimating muscle force of the biceps brachii. The results demonstrated that the proposed approach based on decomposed MUAPs explains more than 80% of the muscle force variability recorded at an arbitrary force level, while the conventional amplitude-based approach explains only 62.3% of this variability. With the proposed approach, we were also able to achieve grip force control of a prosthetic hand, which is one of the most important clinical applications of the unsupervised method. Experiments on two trans-radial amputees indicated that the proposed approach improves the performance of the prosthetic hand in grasping everyday objects.
研究論文（学術雑誌）, 英語 - Development of a parent wireless assistive interface for myoelectric prosthetic hands for children
Yutaro Hiyoshi; Yuta Murai; Yoshiko Yabuki; Kenichi Takahana; Soichiro Morishita; Yinlai Jiang; Shunta Togo; Shinichiro Takayama; Hiroshi Yokoi
Frontiers in Neurorobotics, 12巻, 48号, 出版日 2018年, 査読付
研究論文（学術雑誌）, 英語 - Development of Myoelectric Prosthetic Hand Control System Using Mobile Terminal
Takuma Harada; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), 掲載ページ 551-556, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Toward Automatic Tuning of Tendon-driven Mechanisms: Vibration based Detection of Tendon Tension
Tomohiro Shimizu; Wenyang Li; Peng Chen; Yinlai Jiang; Shunta Togo; Hiroshi Yokoi
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), 掲載ページ 389-394, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Structure Design of a Tendon-driven Robotic Arm Considering Safety and Durability
Wenyang Li; Peng Chen; Yinlai Jiang; Dianchun Bai; Shunta Togo; Hiroshi Yokoi
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), 掲載ページ 71-76, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - EMG Classification by Using Swarm Intelligence for Myoelectric Prosthetic Hand
Yuki Kuroda; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), 掲載ページ 452-457, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Gait Analysis based Speed Control of Walking Assistive Robot
Akane Fujimoto; Naoya Matsumoto; Yinlai Jiang; Shunta Togo; Seiichi Teshigawara; Hiroshi Yokoi
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), 掲載ページ 88-92, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Safety Control for Robotic Arm in Narrow Space Based on Distance Sensor
Peng Chen; Wenyang Li; Yinlai Jiang; Dianchun Bai; Xiaoxiao Zhu; Shunta Togo; Hiroshi Yokoi
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), 掲載ページ 66-70, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Multiple Welfare-Robots Architecture of Smart House for Security Assistance of Daily Activities
Donghui Zhao; Junyou Yang; Yina Wang; Chunwei Yu; Yinlai Jiang; Shuoyu Wang; Toshio Fukuda
Proceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR2018), IEEE, 掲載ページ 595-601, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Design of a 2 Motor 2 Degrees-of-Freedom Coupled Tendon-driven Joint Module
Wenyang Li; Peng Chen; Dianchun Bai; Xiaoxiao Zhu; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 掲載ページ 943-948, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of Tendon Driven Under-Actuated Mechanism Applied in an EMG Prosthetic Hand with Three Major Grasps for Daily Life
Xiaobei Jing; Xu Yong; Tian Lan; Guanglin Li; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), 掲載ページ 2774-2779, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 個性適応型制御法を用いた幼児・子供用義手の開発
矢吹佳子; Hesong Ye; Xu Yong; 日吉祐太郎; 村井雄太; 東郷俊太; 姜銀来; 加藤龍; 高木岳彦; 高山真一郎; 横井浩史
運動器リハビリテーション, 日本運動器科学会, 29巻, 3号, 掲載ページ 302-311, 出版日 2018年, 本論文では、幼児・小児を対象として筋電義手を開発し、その適用事例と効果について述べている。開発したシステムは、開閉1自由度の手先具に3Dプリンタを用いて軽量小型化を達成し、制御システムに個性適応制御法を用いている。個性適応制御法は、外部補助者によりリアルタイムに閾値を調整する機能を有し、長期の訓練を必要とせず使用が可能な義手制御システムを提案・開発し、これを用いて評価実験を行った結果をまとめている。(著者抄録)
研究論文（学術雑誌）, 日本語 - Development of an intuitive operation type shoulder prosthesis hand system using the surface myoelectric potential of trunk
Susumu Kimizuka; Yutaro Hiyoshi; Hesong Ye; Shunta Togo; Youhei Tanaka; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Cyborg and Bionic Systems, 掲載ページ 597-602, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Reduction of malfunction of myoelectric shoulder prosthesis by removing ECG noise
Kazuaki Matsumoto; Susumu Kimizuka; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Cyborg and Bionic Systems, 掲載ページ 489-493, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of new flexible dry electrode for myoelectric sensor using conductive silicone
Yasuhiro Mouri; Yuta Murai; Yoshiko Yabuki; Takumi Kato; Hideki Ohmae; Yoshihiro Tomita; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Cyborg and Bionic Systems, 掲載ページ 478-482, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Development of Compliance Actuation Mechanism for Wire-driven Robotic Hand using Pressure Force
Yoshinobu Obata; Yuta Murai; Takaki Shimura; Xu Yong; Xiaobei Jing; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Robotics and Biomimetics, 掲載ページ 748-751, 出版日 2018年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Analysis of Time-Series Data Using Sliding Window based SVD for Motion Evaluation
Yinlai Jiang; Isao Hayashi; Shuoyu Wang; Kenji Ishida
Journal of Advanced Computational Intelligence and Intelligent Informatics, 21巻, 7号, 掲載ページ 1240-1250, 出版日 2017年12月, 査読付
研究論文（学術雑誌）, 英語 - Intelligent Prosthetic Arm Force Control Based on sEMG Analysis and BPNN Classifier
Dianchun Bai; Shutian Chen; Junyou Yang; Chunyu Xia; Baiqing Sun; Yinlai Jiang; Hiroshi Yokoi
Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems, 掲載ページ 108-113, 出版日 2017年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Real-time cortical adaptation monitoring system for prosthetic rehabilitation based on functional near-infrared spectroscopy
Chiaki Mizuochi; Shunta Togo; Yasuhiro Mouri; Yinlai Jiang; Yoshiko Yabuki; Hiroshi Yokoi; Soichiro Morishita; Ryu Kato
Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems, 掲載ページ 130-135, 出版日 2017年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Designs of Tailor-Made Myoelectric Prosthetic Hand for Trans-Metacarpal Amputations with Remaining Fingers and Joint Moving Functions
Yuta Mura; Yoshiko Yabuki; Masahiro Ishihara; Takehiko Takagi; Shinichiro Takayama; Shunta Togo; Jiang Yinlai; Hiroshi Yokoi
Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems, 掲載ページ 119-124, 出版日 2017年10月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Conductive Silicon Based sEMG Sensor for Myoelectric Control of Prosthetic Hands: Structure Design and Evaluation
Yinlai Jiang; Yuta Murai; Taihei Kuwahara; Shunta Togo; Yoshiko Yabuki; Hiroshi Yokoi
Proceedings of the 2017 IEEE International Conference on Real-time Computing and Robotics, 掲載ページ 383-387, 出版日 2017年07月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - sEMG Sensor Using Polypyrrole-Coated Nonwoven Fabric Sheet for Practical Control of Prosthetic Hand
Yinlai Jiang; Masami Togane; Baoliang Lu; Hiroshi Yokoi
FRONTIERS IN NEUROSCIENCE, FRONTIERS MEDIA SA, 11巻, 33号, 出版日 2017年02月, 査読付, One of the greatest challenges of using a myoelectric prosthetic hand in daily life is to conveniently measure stable myoelectric signals. This study proposes a novel surface electromyography (sEMG) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy electrodes) to allow people with disabilities to control prosthetic limbs. The PPy electrodes are sewn on an elastic band to guarantee close contact with the skin and thus reduce the contact electrical impedance between the electrodes and the skin. The sensor is highly customizable to fit the size and the shape of the stump so that people with disabilities can attach the sensor by themselves. The performance of the proposed sensor was investigated experimentally by comparing measurements of Ag/AgCl electrodes with electrolytic gel and the sEMG from the same muscle fibers. The high correlation coefficient (0.87) between the two types of sensors suggests the effectiveness of the proposed sensor. Another experiment of sEMG pattern recognition to control myoelectric prosthetic hands showed that the PPy electrodes are as effective as Ag/AgCl electrodes for measuring sEMG signals for practical myoelectric control. We also investigated the relation between the myoelectric signals' signal-to-noise ratio and the source impedances by simultaneously measuring the source impedances and the myoelectric signals with a switching circuit. The results showed that differences in both the norm and the phase of the source impedance greatly affect the common mode noise in the signal.
研究論文（学術雑誌）, 英語 - 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; 姜 銀来; 東郷 俊太; 横井 浩史
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, 2017巻, 掲載ページ 221-222, 出版日 2017年, 筆者らは，脳卒中における手指麻痺患者を対象として，多点電極を用いた機能的電気刺激によるリハビリテーション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刺激装置を開発し，手指姿勢を変化させうることを確認した．多点電極刺激装置は自由度が高く，可能な刺激パターンの数が極めて多いため，目的の姿勢を得るための刺激位置探索には高速化が必要である．そこで本研究では，同相な電極群の配置を限定した形で粗探索を行い，次に詳細な近傍探索を行うという探索手法を提案する．
日本語 - 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巻, 5号, 掲載ページ 193-204, 出版日 2017年, 査読付, The incidence of limb paralysis due to cerebrovascular disorders is increasing. In the affected patients, returning to normal life is a concern that needs to be addressed. Therefore an effective treatment for recovery of motor function is required. Rehabilitation to encourage patients to perform a variety of exercises is required. One of the effective methods for recovery of motor function is repetitive facilitation of exercises. This method requires that a therapist assists a patient on a one-to-one basis. The lack of qualified personnel to assist individuals and the increased burden on the medical personnel in recent years have made rehabilitation using repetitive facilitation of exercise difficult. Therefore, it is important that we use repetitive facilitation exercises and training equipment in combination to facilitate high-quality rehabilitation for a large number of patients with paralysis. Such training equipment should allow stable performance of a variety of exercises. The purpose of this study was to develop an arm exercise function recovery system based on surface electrical stimulation using multi-channel electrodes for a patient to undergo rehabilitation without assistance at home. As the training equipment, we used functional electrical stimulation (FES) with surface electrodes, which is a non-invasive method. Stimulating a specific muscle is difficult using FES with surface electrodes. Therefore, we traced an electrode pattern including many electrode points to achieve appropriate stimulation. In the case of multichannel surface electrodes, we considered that there should be as many electrode patterns as possible. In this report, we describe an example of the method to determine the electrode pattern that can evoke finger and hand positioning using a multi-channel electrode selector “FES selector device”, by which the electrode pattern can be changed freely. We used the electrode pattern that had the highest estimated joint precision obtained by estimating joint angles using an artificial neural network. We then performed clustering of finger and hand positions based on the electrode pattern. This cluster was then used as the cluster that correlates the actual finger and hand positions with the electrode pattern. We performed clustering of the electrode pattern based on this cluster of finger and hand positions. In addition, we demonstrate in this report an example of searching the electrode pattern by clustering using the FES selector device and an artificial neural network. From this search, we identified the electrode patterns that evoked exercise, and found around 16 to 24 clusters of finger and hand positions. These findings suggest that a variety of exercises can be evoked without assistance. Based on the clustering result, we made a table of the required positions and the corresponding electrode patterns. Using this table, a patient can easily find the pattern appropriate to the desired position.
研究論文（学術雑誌）, 日本語 - Exploration of a hybrid design based on EEG and eye movement
Junyou Yang; Yuan Hao; Dianchun Bai; Yinlai Jiang; Hiroshi Yokoi
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Springer Verlag, 10462巻, 掲載ページ 206-216, 出版日 2017年, 査読付, This study presents a novel hybrid interface based on both electroencephalography (EEG) and eye movement. The detection of combination EEG with eye movement provides a new means of communication for patients whose muscular damage are unable to communicate. And this method can translate some brain responses into actions. In this paper, based on the motor imagery, event related synchronization/desychronization (ERS/ERD) were tested by using time-frequency spectrum and brain topographic mapping. A features extraction algorithm is proposed based on common spatial pattern (CSP), then the support vector machine (SVM) were carried out to classificate data. An EEG recording device integrated with an eye tracker can be complementary to attain improved performance and a better efficiency. The eye movement signals (via eye tracker of Tobbi) and EEG signals of ERS/ERD are as the input of hybrid BCI system simultaneously while subjects follow movement of the arrows in each direction. The recognition accuracy of the entire system reaches to 86.1%. The results showed that the proposed method was efficient in the classification accuracy.
研究論文（国際会議プロシーディングス）, 英語 - One-Handed Wearable sEMG Sensor for Myoelectric Control of Prosthetic Hands
Yin-lai Jiang; Shintaro Sakoda; Masami Togane; Soichiro Morishita; Hiroshi Yokoi
WEARABLE SENSORS AND ROBOTS, SPRINGER-VERLAG SINGAPORE PTE LTD, 399巻, 56号, 掲載ページ 105-109, 出版日 2017年, 査読付, A novel sEMG (surface electromyography) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy-electrode) is proposed for the disabled to control prosthetic limbs in daily life. The PPy-electrodes are sewed on an elastic band to guarantee closely contact to the skin thus to enable stable sEMG measurement with high signal-to-noise ratio. Furthermore, the sensor is highly customizable to fit for the size and the shape of the stump so that the disabled can wear the sensor by themselves. The performance of the proposed sensor is investigated by comparing with Ag/AgCl electrodes with electrolytic gel in an experiment to measure the sEMG from the same muscle fibers. The high correlation coefficient (0.87) between the sEMG measured by the two types of sensors suggests the effectiveness of the proposed sensor. The experiment to control myoelectric prosthetic hands showed that the disabled can use it with one hand to obtain sEMG signals for myoelectric control.
研究論文（国際会議プロシーディングス）, 英語 - Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand by Using Thermoplastic Styrene Elastomer
Yoshiko Yabuki; Kazumasa Tanahashi; Suguru Hoshikawa; Tatsuhiro Nakamura; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
INTELLIGENT AUTONOMOUS SYSTEMS 14, SPRINGER INTERNATIONAL PUBLISHING AG, 531巻, 掲載ページ 269-282, 出版日 2017年, 査読付, This paper reports on design and development of new cosmetic gloves for Myoelectric Prosthetic Hand which provides a realistic appearance and flexible motion of robot hands. The main design issues are divided into five as followings; appearance, gripping performance, durability, texture, flexibility. The appearance includes the shape, wrinkles, finger mark, nail, and color of the hand; the aim is to make these properties of the prosthetic hand as similar to those of the human hand as possible. The durability is evaluated by adaptabilities for daily living, and flexible materials without prevention from finger motion. Furthermore, the gripping performance is improved by the thickness map of palm which is well fit to the gripping object. The experiment shows the results of the performance test applied to the pick-and-place task by using powered prosthetic hand in order to evaluate total properties of the developed cosmetic gloves.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Myoelectric Hand Incorporating a Residual Thumb for Transmetacarpal Amputees
Yuta Murai; Suguru Hoshikawa; Shintaro Sakoda; Yoshiko Yabuki; Masahiro Ishihara; Tatsuhiro Nakamura; Takehiko Takagi; Shinichiro Takayama; Yinlai Jiang; Hiroshi Yokoi
INTELLIGENT AUTONOMOUS SYSTEMS 14, SPRINGER INTERNATIONAL PUBLISHING AG, 531巻, 掲載ページ 977-990, 出版日 2017年, 査読付, Restoring the hand functionality of partial amputees requires a myoelectric prosthetic hand, which is a robotic hand controlled by myoelectric signals from the skin surface and has the potential to restore human hand functionality. Most myoelectric hands have been developed for forearm amputees, while those for partial-hand amputees are few in number despite the higher numbers of the latter. Partial-hand amputees have limited hand functionality and cannot grasp andmanipulate various objects in a manner comparable to individuals with a healthy hand; thus, they require a myoelectric hand. In this study, design issues were identified, and three-dimensional computer-aided design was used to propose an integrated skeleton and housing with a supporting socket. A passive thumb mechanism with motion in the remaining part of the hand was developed where the motion control system is based on the amputee's muscles. An amputation system is proposed comprising mixed metacarpal and center-part cuts. A prototype was constructed, and its gripping functionality was evaluated. The results demonstrated an enhanced gripping performance compared to the non-use of prosthetics, which attests to the viability and effectiveness of the system.
研究論文（国際会議プロシーディングス）, 英語 - 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, 7巻, 1号, 掲載ページ 33-44, 出版日 2017年01月, 査読付
研究論文（学術雑誌）, 英語 - 麻痺者上肢運動再建のための多点表面電極システムを用いた電気刺激における電極パターン探索手法の開発
粕谷美里; 森下壮一郎; 姜銀来; 杉正夫; 横井浩史
生体医工学, 55巻, 5号, 掲載ページ 193-204, 出版日 2017年, 査読付
研究論文（学術雑誌）, 日本語 - Large Scale Indoor 3D Mapping Using RGB-D Sensor
Xiaoxiao Zhu; Qixin Cao; Hiroshi Yokoi; Yinlai Jiang
Intelligent Robotics and Applications, Volume 9834 of the series Lecture Notes in Computer Science, 掲載ページ 313-321, 出版日 2016年08月03日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - A method for evaluation of dependency between diseased side and opposite side of hemiplegia patient during FES-Cycling by using transfer entropy
Mai Nozakura; Soichiro Morishita; Misato Ohdaira; Yinlai Jiang; Hiroshi Yokoi
The International Society of Electrophysiology and Kinesiology (ISEK) Congress, 掲載ページ Poster, 出版日 2016年07月08日
研究論文（国際会議プロシーディングス）, 英語 - 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, 掲載ページ **-**, 出版日 2016年07月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Force-Magnification Mechanism with Artificial Tendon Sheath for Myoelectric Prosthetic Hand for Children
Hesong Ye; Xiang Feng; Yoshiko Yabuki; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, in press巻, 掲載ページ 533-538, 出版日 2016年, 査読付, Myoelectric prosthetic hands (MPH) for children are being studied to meet with the need of children with upper limb deficiency. The MPH for children developed in a previous study was lack of stability and mechanical adaptability, and could not be controlled to meet with variable scenes in real life. We therefore developed a steady mechanism to ensure its mechanical stability, and conducted a pick-and-place experiment to verify its practical performance. Furthermore, we designed a bionic mechanism to enhance its mechanical adaptability. The mechanism mimicking human ligaments of tendon sheath makes it possible that the MPH's finger can bend fast with small torque while approaching to the object, and slowly increase grasp torque after touching the object. To enable the mechanism to exert proper range of torque, the dynamics of the mechanism was analyzed. We also conducted a mechanics experiment to verify its mechanical adaptability.
研究論文（国際会議プロシーディングス）, 英語 - エラストマーゲルを用いた筋電義手のための装飾用グローブの開発
矢吹佳子; 棚橋一将; 石原正博; 星川英; 中村達弘; 姜銀来; 加藤龍; 横井浩史
日本義肢装具学会誌, 32巻, 掲載ページ 177-185, 出版日 2016年, 査読付
研究論文（学術雑誌）, 日本語 - Identification of fragmented letters through minimum-distance interpolation
Tatsuhisa Takahashi; Yinlai Jiang; Shuoyu Wang; Masanaga Ikegami; Akihito Yoshimura; Shinichi Watanabe; Takashi Matsuo; Hirotaka Yanagida
Therapeutic Research, 37巻, 8号, 掲載ページ 795-802, 出版日 2016年, 査読付
研究論文（学術雑誌）, 英語 - 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, 掲載ページ P4.3, 出版日 2015年08月11日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Live Demonstration: Prosthetic Hands Controlled with a Highly Usable sEMG Sensor
Shintaro Sakoda; Yoshiko Yabuki; Yinlai Jiang
2015 IEEE SENSORS, IEEE, 出版日 2015年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - fNIRS-based analysis of brain activation with knee extension induced by functional electrical stimulation
Misato Ohdaira; Tomoko Kamisawa; Soichiro Morishita; Yinlai Jiang; Osamu Yamamura; Hiroshi Yokoi
WORLD CONGRESS ON MEDICAL PHYSICS AND BIOMEDICAL ENGINEERING, 2015, VOLS 1 AND 2, SPRINGER INT PUBLISHING AG, 51巻, 掲載ページ 1137-1141, 出版日 2015年, 査読付, Patients suffering from paralysis due to aging, accidents, or brain injuries are increasing worldwide. Consequently, there is a compelling need for effective methods for the recovery of motor functions. The involvement of brain plasticity has been suggested effective and previous studies have reported that lost motor function and efficiency due to brain damage can be regained by repeatedly increasing and decreasing brain activation. Functional electrical stimulation (FES) has shown its effectiveness in the recovery of motor function. Brain activity usually decreases with the improvement of muscle control by FES. This study investigated the generality of brain responses during rehabilitation with FES in order to elucidate the recovery mechanism. We monitored the brain activity of one healthy subject with fNIRS over a ten-day period (one experiment per day) during which the knee joint movement was induced by FES with different parameters. The subject was seated in the chair of a leg extension device (Fig. 1). The measurement regions covered the primary motor cortex and the somatosensory cortex with transmitters and receivers shown in the right of Fig. 1. Receiver No. 5 in Fig. 1 was positioned on the Cz of the international 10-20 system. We stimulated his left quadriceps muscle with the FES device for 4 seconds. The results suggest that the observed increases and decreases of brain activity induced by FES are common (Fig. 2). It is suggested that increasing and decreasing brain activation was evoked by long-term FES stimulation. Further research is needed to examine greater numbers of healthy subjects and patients suffering from paralysis to determine the optimum stimulation parameters for brain activation to involve brain plasticity.
研究論文（国際会議プロシーディングス）, 英語 - A Highly Usable and Customizable sEMG Sensor for Prosthetic Limb Control Using Polypyrrole-coated Nonwoven Fabric Sheet
Yinlai Jiang; Shintaro Sakoda; Masami Togane; Soichiro Morishita; Baoliang Lu; Hiroshi Yokoi
2015 IEEE SENSORS, IEEE, 掲載ページ 811-814, 出版日 2015年, 査読付, A novel sEMG (surface electromyography) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy-electrode) is proposed for the disabled to control prosthetic limbs in daily life. The PPy-electrodes are sewed on an elastic band to guarantee closely contact to the skin thus to enable stable sEMG measurement with high signal-to-noise ratio. Furthermore, the sensor is highly customizable to fit for the size and the shape of the stump so that the disabled can wear the sensor by themselves. The performance of the proposed sensor is investigated by comparing with Ag/AgCl electrodes with electrolytic gel in an experiment to measure the sEMG from the same muscle fibers. The high correlation coefficient (0.84) between the sEMG measured by the two types of sensors suggests the effectiveness of the proposed sensor. The experiment of sEMG patter recognition to control myoelectric prosthetic hands showed that the PPy-electrodes are as effective as Ag/AgCl electrodes to measure sEMG signals for practical myoelectric control.
研究論文（国際会議プロシーディングス）, 英語 - Structure Design for a Two-DoF Myoelectric Prosthetic Hand to Realize Basic Hand Functions in ADLs
Suguru Hoshigawa; Yinlai Jiang; Ryu Kato; Soichiro Morishita; Tatsuhiro Nakamura; Yoshiko Yabuki; Hiroshi Yokoi
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 掲載ページ 4781-4784, 出版日 2015年, 査読付, Prosthetic hands are desired by those who have lost a hand or both hands not only for decoration but also for the functions to help them with their activities of daily living (ADL). Prosthetic robotic hands that are developed to fully realize the function of a human hand are usually too expensive to be economically available, difficult to operate and maintain, or over heavy for longtime wearing. The aim of this study is therefore to develop a simplified prosthetic hand (sim-PH), which is to be controlled by myoelectric signals from the user, to realize the most important grasp motions in ADL by trading off the cost and performance. This paper reports the structure design of a two-DoF sim-PH with two motors to drive the CM joint of the thumb and the interlocked MP joints of the other four fingers. In order to optimize the structure, the model of the sim-PH was proposed based on which 7 sim-PHs with different structural parameters were manufactured and tested in a pick-and-place experiment. Correspondence analysis of the experimental results clarified the relationship between the hand functions and the shapes of fingers.
研究論文（国際会議プロシーディングス）, 英語 - Pinch-Force-Magnification Mechanism of Low Degree of Freedom EMG Prosthetic Hand for Children
Hesong Ye; Shintaro Sakoda; Yinlai Jiang; Soichiro Morishita; Hiroshi Yokoi
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 掲載ページ 2466-2469, 出版日 2015年, 査読付, EMG prosthetic hands are being extensively studied for the disabled who need them not only for cosmesis but also for the functions to help them with basic daily activities. However, most EMG prosthetic hands are developed for adults. Since the early use of prosthetic hands is important for the children to accept and adapt to them, we are developing low degrees of freedom (DoF) prosthetic hand that is suitable for children. Due to the limited size of a child's hand, the servo motor which drives the MP joint are small-sized and low-power. Hence, a pinch-force-magnification mechanism is required to improve the pinch force of the EMG prosthetic hand. In this paper we designed a wire-driven mechanism which can magnify pinch force by increasing the length of the MP joint's moment arm. Pinch force measurement experiment validated that the pinch force of the prosthetic hand with the mechanism is more than twice of that of the hand with direct drive.
研究論文（国際会議プロシーディングス）, 英語 - 基本把持機能を有する簡易型筋電義手の開発と評価
星川英; 迫田辰太郎; 山野井佑介; 加藤龍; 森下壮一郎; 中村達弘; 關達也; 姜銀来; 横井浩史
知能と情報, 27巻, 6号, 掲載ページ 885-897, 出版日 2015年, 査読付
研究論文（学術雑誌）, 日本語 - Knowledge Acquisition Method Based on Singular Value Decomposition for Human Motion Analysis
Yinlai Jiang; Isao Hayashi; Shuoyu Wang
IEEE TRANSACTIONS ON KNOWLEDGE AND DATA ENGINEERING, IEEE COMPUTER SOC, 26巻, 12号, 掲載ページ 3038-3050, 出版日 2014年12月, 査読付, The knowledge remembered by the human body and reflected by the dexterity of body motion is called embodied knowledge. In this paper, we propose a new method using singular value decomposition for extracting embodied knowledge from the time-series data of the motion. We compose a matrix from the time-series data and use the left singular vectors of the matrix as the patterns of the motion and the singular values as a scalar, by which each corresponding left singular vector affects the matrix. Two experiments were conducted to validate the method. One is a gesture recognition experiment in which we categorize gesture motions by two kinds of models with indexes of similarity and estimation that use left singular vectors. The proposed method obtained a higher correct categorization ratio than principal component analysis (PCA) and correlation efficiency (CE). The other is an ambulation evaluation experiment in which we distinguished the levels of walking disability. The first singular values derived from the walking acceleration were suggested to be a reliable criterion to evaluate walking disability. Finally we discuss the characteristic and significance of the embodied knowledge extraction using the singular value decomposition proposed in this paper.
研究論文（学術雑誌）, 英語 - Analysis and extraction of knowledge from body motion using singular value decomposition
Yinlai Jiang; Isao Hayashi; Shuoyu Wang
IEEE International Conference on Fuzzy Systems, Institute of Electrical and Electronics Engineers Inc., 掲載ページ 2438-2443, 出版日 2014年09月04日, 査読付, The dexterity of body motion when performing skills are being actively studied. In this paper, singular value decomposition is used to extract the dexterous features from the time-series data of body motion. A matrix is composed by overlapping the subsets of the time-series data. The left singular vectors of the matrix are extracted as the patterns of the motion and the singular values as a scalar, by which each corresponding left singular vector affects the matrix. A gesture recognition experiment, in which we categorize gesture motions with indexes of similarity and estimation that use left singular vectors, was conducted to validate the method. Furthermore, in order to understand the features better, the features of the left singular vectors were described as fuzzy sets, and fuzzy if-then rules were used to represent the knowledge.
研究論文（国際会議プロシーディングス）, 英語 - Directional control of an omnidirectional walking support walker: adaptation to individual differences with fuzzy learning
Yinlai Jiang; Shuoyu Wang; Kenji Ishida; Yo Kobayashi; Masakatsu G. Fujie
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 28巻, 7号, 掲載ページ 479-485, 出版日 2014年04月, 査読付, We are developing a method to recognize a user's directional intention to control an omnidirectional walker (ODW) according to the force interaction between the ODW and the user. Since the characteristics in the force interaction are different among persons especially for those with walking difficulty, a fuzzy learning method is developed in this study to adapt to the individual difference in forearm pressures in order to improve the usability of the method. The experiment results show that fuzzy learning can significantly improve the accuracy of recognition by updating the fuzzy rules according to the characteristics in the force interaction.
研究論文（学術雑誌）, 英語 - 基本3種の把持姿勢をとる2自由度筋電義手の指形状に応じた機能の評価
星川 英; 加藤 龍; 森下 壮一郎; 中村 達弘; 關 達也; 姜 銀来; 横井 浩史
日本知能情報ファジィ学会 ファジィ システム シンポジウム 講演論文集, 日本知能情報ファジィ学会, 30巻, 掲載ページ 694-697, 出版日 2014年, 筋電義手は上肢切断患者等の上肢機能を再建するものである．多様な日常生活動作を可能にするためには筋電義手の動作自由度は高い方が良い．しかしながら，動作自由度を増やすほど義手の重量は増加する．義手の重量が増すと使用者にとって大きな負担となる．したがって，動作自由度を最低限に抑えて軽量化を図る必要がある．これまでの研究で我々は，連動する示指と中指のMP関節と，母指CM関節との2自由度で3種の把持姿勢（握力把握，精密把握，側面把握）を可能とする義手を開発している．これにより，日常生活に必要とされる手の動作の85%が実現可能である．この義手は，母指CM関節を対立させた状態で示指と中指を屈曲させたときに指尖が合うような指の形状にすることで，上記3種の把持姿勢が可能になっている．しかしながら，特に各指の関節角が，把持可能な物体の形状や把持力などの把持機能に大きな影響を及ぼすにも関わらず，これまでは経験的に形状を決定していた．そのために，把持機能に応じた義手の設計ができないという問題があった．これを解決するには，義手の形状をモデル化し，把持機能との関係を明らかにする必要がある．以上のことから本研究では，実現したい把持機能に応じた義手の設計を可能にするための義手のモデル化およびそれに応じた把持機能の検証を行う．具体的には，まず指の関節角度を設計パラメータとして，複数の2自由度義手を作成し，実機を用いた引抜力測定実験を行った．さらに，物体を把持するときの正確さや容易さの評価をするために，Pick-and-Place実験を行った．なおこの実験は，日常生活における機能を評価するために，日常生活で把持する頻度の高い物体を選定して行った．その結果，指の曲げ角度の大きい義手は，把持した物体を保持する力は強いが物体の把持は困難になる傾向があった．一方，指の曲げ角度の小さい義手は，保持力は弱いものの物体の把持は容易になる傾向があった．
日本語 - Analysis and Extraction of Knowledge from Body Motion Using Singular Value Decomposition
Yinlai Jiang; Isao Hayashi; Shuoyu Wang
2014 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 掲載ページ 2438-2443, 出版日 2014年, 査読付, The dexterity of body motion when performing skills are being actively studied. In this paper, singular value decomposition is used to extract the dexterous features from the time-series data of body motion. A matrix is composed by overlapping the subsets of the time-series data. The left singular vectors of the matrix are extracted as the patterns of the motion and the singular values as a scalar, by which each corresponding left singular vector affects the matrix. A gesture recognition experiment, in which we categorize gesture motions with indexes of similarity and estimation that use left singular vectors, was conducted to validate the method. Furthermore, in order to understand the features better, the features of the left singular vectors were described as fuzzy sets, and fuzzy if-then rules were used to represent the knowledge.
研究論文（国際会議プロシーディングス）, 英語 - A Low-Degree of Freedom EMG Prosthetic Hand with Nails and Springs to Improve Grasp Ability
Xiaobei Jing; Xu Yong; Yinlai Jiang; Hiroshi Yokoi; Ryu Kato
2014 7TH INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING AND INFORMATICS (BMEI 2014), IEEE, 掲載ページ 562-567, 出版日 2014年, 査読付, There are millions of people who have lost a hand or both hands due to acquired amputation or congenital limb deficiencies. In order to improve their quality of life, electromyogram (EMG) prosthetic hands have been developed to compensate for some daily activities which a cosmetic glove cannot do. However, most EMG prosthetic hands pursue the ability of motions by multi-degree of freedom mechanisms that lead to the shortcomings, such as low intensity, high cost, overweight, and maintenance difficulties at the same time. The development of low-degree of freedom EMG prosthetic hand with high performance is therefore very practical and important. We have developed an EMG prosthetic hand with two motors to realize the rotary motions which account for 85% hand motions in daily life. In this study, we improve the mechanism of the hand with springs to connect the fingers to the palm and artificial nails equipped on top of the fingers. Experimental results show a significant improvement of grasp ability, especially for the tiny objects.
研究論文（国際会議プロシーディングス）, 英語 - Tendon Drive Finger Mechanisms for an EMG Prosthetic Hand with Two Motors
Xu Yong; Xiaobei Jing; Yinlai Jiang; Hiroshi Yokoi; Ryu Kato
2014 7TH INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING AND INFORMATICS (BMEI 2014), IEEE, 掲載ページ 568-572, 出版日 2014年, 査読付, EMG prosthetic hands are being extensively studied to meet with the need of the millions of physical disabilities who have lost a hand or both hands. But for most of existing multi-degree of freedom EMG prosthetic hands, shortcomings such as low intensity, high price, et al., have blocked them from practical realization. Low-degree freedom EMG prosthetic hand with high performance is therefore desired to solve these problems. The aim of this study is to optimize the low-freedom degree EMG prosthetic hand based on utilization rate of human hand's joints in daily life. We used two motors to realize the rotary motions of CM joints and three kinds of tendon drive mechanism of MP joints. The low-freedom degree EMG prosthetic hand can also complete powerful grasp, precise grasp and lateral grasp which account for 85% hand motions in daily life. Stress analysis is also performed to guarantee safety in daily use. Finally, a pick-and-place experiment was conducted to evaluate the designs.
研究論文（国際会議プロシーディングス）, 英語 - Approximate Model for Interactive-Tendon Driven Mechanism of a Multiple-DoFs Myoelectric Prosthetic Hand
Tatsuya Seki; Yinlai Jiang; Hiroshi Yokoi
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 掲載ページ 999-1004, 出版日 2014年, 査読付, For practical use, a myoelectric prosthetic hand needs to (1) have a human-like structure, (2) be lightweight, (3) have multiple degrees of freedom (DoFs), and (4) have a high grip force. We have developed a myoelectric prosthetic hand with an interactive-tendon driven mechanism. This paper describes the control method by which the interactive-tendon driven mechanism produces fine and precise actions, as well as an approximate model for the control method. The approximate model was developed based on a geometry model and an equilibrium model for the joint torque. Experimental results show that the joint motions of the actual robotic hand are controlled with errors of between 9 and 15% using the approximate model.
研究論文（国際会議プロシーディングス）, 英語 - Development and Evaluation of Simplified EMG Prosthetic Hands
Yinlai Jiang; Shintaro Sakoda; Suguru Hoshigawa; Hesong Ye; Yoshiko Yabuki; Tatsuhiro Nakamura; Masahiro Ishihara; Takehiko Takagi; Shinichiro Takayama; Hiroshi Yokoi
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 掲載ページ 1368-1373, 出版日 2014年, 査読付, Millions of physical disabilities, who have lost a hand or both hands, are in need of prosthetic hands not only for decoration but also for the functions to help them with basic daily activities. Although EMG prosthetic hands are being extensively studied to satisfy this need, most of them are too expensive to be economically available, difficult to operate and maintain by a user him/herself, or over heavy for longtime wearing. The aim of this study is therefore to develop a simplified EMG prosthetic hand (sim-EMGPH) to solve these problems. The sim-EMGPH consists of five parts: a lightweight robotic hand with two motors to realize the most frequent hand activities, a highly stretchable cosmetic glove with little load on the motors, an EMG measurement system including sensors with high wearability made of soft conductive materials, a controller implemented by a 32-bit microprocessor which performs EMG signal processing, pattern recognition, and motor control, and a human-friendly tablet interface for the user to operate the sim-EMGPH by him/herself. We manufactured three sim-EMGPHs for three subjects: two with congenital upper limb deficiency and one with upper limb amputation. Free task experiments showed that the subjects could operate the sim-EMGPHs by themselves to perform basic activities of daily living. Limitations revealed and improvement plans are also discussed in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Trajectory planning to improve the motion performance of a nonholonomic wheeled mobile robot
Yina Wang; Shuoyu Wang; Yinlai Jiang; Yo Kobayashi; Masakatsu G Fujie
ICIC express letters, ICIC International, 8巻, 1号, 掲載ページ 295-301, 出版日 2014年, 査読付, Wheeled mobile robots suitable for a variety of applications in a wide field have been studied for many years. In any application, it is necessary to ensure the motion performance of a wheeled mobile robot to guarantee its reliability and security. However, it is difficult to control the motion of wheeled mobile robot because it is a three-dimensional two-input nonholonomic system. In this paper, we address the problem of motion under nonholonomic constraints for the wheeled mobile robot based on the fact that one can direct a nonholonomic automobile to track any path in a wide space by adjusting its velocity and orientation angle on-line. First, an on-line trajectory planning method is proposed to generate the reference velocity and the orientation angle according to the target position and the robot's current position. Then, the feedback velocity and orientation control law are designed based on the dynamic model. Finally, experiments are conducted to demonstrate the effectiveness of the proposed controller.
研究論文（学術雑誌）, 英語 - Motion control method of seat-style omnidirectional mobile walker using a digital acceleration control method
Bo Shen; Shuoyu Wang; Yinlai Jiang; Yina Wang; Renpeng Tan; Kenji Ishida; Yo Kobayashi; Masakatsu G. Fujie
ICIC express letters, 8巻, 1号, 掲載ページ 87-93, 出版日 2014年, 査読付
研究論文（学術雑誌）, 英語 - Motion control of an omni-directional walker for walking support
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie
Assistive Technologies: Concepts, Methodologies, Tools, and Applications, IGI Global, 掲載ページ 614-622, 出版日 2013年08月31日, 査読付, With the increase in the percentage of the population defined as elderly, increasing numbers of people suffer from walking disabilities due to illness or accidents. An omni-directional walker (ODW) has been developed that can support people with walking disabilities and allow them to perform indoor walking. The ODW can identify the user's directional intention based on the user's forearm pressures and then supports movement in the intended direction. In this chapter, a reference trajectory is generated based on the intended direction in order to support directed movement. The ODW needs to follow the generated path. However, path tracking errors occur because the center of gravity (COG) of the system shifts and the load changes due to user`s pressure. An adaptive control method is proposed to deal with this issue. The results of simulations indicate that the ODW can accurately follow the user's intended direction by inhibiting the influence of COG shifts and the resulting load change. The proposed scheme is feasible for supporting indoor movement.
論文集(書籍)内論文, 英語 - ゲームロボットの知能化～模倣アプローチの試み～
岩松 将輝; 王 碩玉; 姜 銀来
日本知能情報ファジィ学会 ファジィ システム シンポジウム 講演論文集, 日本知能情報ファジィ学会, 29巻, 掲載ページ 127-127, 出版日 2013年, 全方向移動型ロボットを用いて，ロボット上部に設置したステージ上のゴールにボールを転がし導くゲームを開発した．ロボットが自ら動いてゲームを達成するように知能化するため，人間の操作にある戦略を抽出し，模倣するアプローチを試みる．今回の報告は，人間によるゲーム中のボールの座標と人間の行った操作との定量的関係より，人間の行動戦略の抽出を行い，結果を示す．
日本語 - Improving the motion performance for an intelligent walking support machine by RLS algorithm
Wang Y; Wang S; Tan R; Jiang Y; Ishida K; Kobayashi Y; Fujie M.G
ICIC Express Letters, ICIC International, 7巻, 4号, 掲載ページ 1177-1182, 出版日 2013年, 査読付, To make the old people and handicapped people move easily by themselves, an omni-directional walking support machine (WSM) has been developed. In our previous study, to improve the motion performance of the WSM, a digital acceleration control method has been developed to deal with the nonlinear friction. However, the design of the digital acceleration controller requires to know the exact plant parameters of the WSM which are variable due to center of gravity (COG) shift and load changes. The change of the plant parameters affects the motion performance of the digital acceleration control system. Therefore, in this paper, a discrete-time system identification method using recursive least squares (RLS) algorithm is proposed to online identify the WSM's plant parameters for the digital acceleration controller. Simulations are executed and compared with the digital acceleration controller without using RLS algorithm, and the results demonstrate the feasibility and effectiveness of the proposed control method.
英語 - J151014 ディジタル加速度制御法によるインテリジェント歩行支援ロボットの運動制御([J151-01]ライフサポートとQOL(1))
王 碩玉; 王 義娜; 姜 銀来; 石田 健司; 小林 洋; 藤江 正克; 安藤 健
年次大会, 一般社団法人 日本機械学会, 2013巻, 掲載ページ _J151014-1-_J151014-5, 出版日 2013年, Abstract: With the rapidly increasing aging population in need of long-term care and the decreasing youth population, the elder-to-elder nursing care has become a serious social issue, and an intelligent robot that supports elderly people's everyday life is highly sought after. It is highly desirable that people with the impairment in lower extremities will not become bed-ridden due to their lack of muscle strength to maintain standing posture. Therefore, the authors have been working to develop an intelligent walking support robot that enhances a person's residual functional capacity of lower extremities. This report proposes a motion controller of the intelligent walking support robot that uses digital acceleration control method and confirms the effectiveness of the proposed controller by conducting simulations and experiments. The digital acceleration controller is an effective control method to deal with the effect of nonlinear friction force, and the effectiveness has been verified in the application of motion control on mechatronics system and robot manipulator.
日本語 - J241033 上半身重心情報による自立生活支援ロボットの操作法([J241-03]医工学テクノロジーによる医療福祉機器開発(3))
瀋 博; 王 碩玉; 姜 口来; 王 義娜; 石田 健司; 小林 洋; 藤江 正克; 安藤 健
年次大会, 一般社団法人 日本機械学会, 2013巻, 掲載ページ _J241033-1-_J241033-4, 出版日 2013年, For the patients with disabled lower limbs, the exercise of the upper body is necessary to keep them healthy. In order to help the patients to live independent life, a new method is proposed to control a human support robot by center of gravity (COG) of the upper body. Four force sensors are used to measure the COG distribution of the upper body. The Intention is calculated from the COG information by a direction vector algorithm. An intention strength parameter is introduced to avoid the intention judging error. Finally, an experiment is conducted to verify the algorithm.
日本語 - Singular Value Analysis through Divided Time-Series Data and its Application to Walking Difficulty Evaluation
Yinlai Jiang; Isao Hayashi; Shuoyu Wang
2013 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ - IEEE 2013), IEEE, 出版日 2013年, 査読付, Motion time-series data observed with various sensing systems are usually analyzed to extract embodied knowledge which is remembered by the human body and reflected by the dexterity in the motion of the body. A method based on singular value analysis through divided time-series data (SVA-DTS) is proposed for extracting features from time-series data. Matrices are composed from the subsets of time-series data and the left singular vectors of the matrices are extracted as the patterns of the motion and the singular values as a scalar, by which the corresponding left singular vectors affects the matrices. The SVA-DTS was applied to a walking difficulty evaluation experiment in which three levels of walking difficulty were simulated by restricting the right knee joint. The accelerations of the middles of the shanks and the back of the waist were measured. Singular values were calculated from the normalized acceleration time-series data with the SVA-DTS. The results showed that the first singular values inferred from the acceleration data of the right shank significantly related to the increase of the restriction to the right knee. The first singular values of the acceleration data of the right shank were suggested to be reliable criteria to evaluate walking difficulty. We visualize the first singular values in a 3D space to provide intuitive information about walking difficulty which can be used as a tool for evaluating walking difficulty.
研究論文（国際会議プロシーディングス）, 英語 - Control Method of a Human Support Robot for Independent Living by Center of Gravity Information of Upper Body
Bo Shen; Shuoyu Wang; Yinlai Jiang; Yina Wang
2013 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), IEEE, 掲載ページ 384-389, 出版日 2013年, 査読付, For the patients with disabled lower limbs, independent living is difficult to perform and the subsequent lack of physical exercises of their upper body in daily life may cause disuse syndrome. In order to assist the patients to live independently and exercise their upper body in daily life, a human support robot (HSR) is developed, and a novel control method, using the upper body gravity information, is proposed to control the HSR. Based on the information of upper body's center of gravity(COG), the HSR can move according to the user's intention. Under the assistance of the HSR, patients can move to any direction by shifting their upper body. Four force sensors are used to measure the user's weight distribution. Through analyzing the force data from 4 sensors, user's motion intention can be inferred by the proposed intention recognition method, and then it is used to control the HSR to move in the intended velocity. To distinguish the moving intention and the stationary intention, a parameter of intention strength is introduced. At last, an experiment is conducted to verify the performance of control method.
研究論文（国際会議プロシーディングス）, 英語 - Path Tracking Control of an Omni-directional Walker Considering Pressures from a User
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie
2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 掲載ページ 910-913, 出版日 2013年, 査読付, An omni-directional walker (ODW) is being developed to support the people with walking disabilities to do walking rehabilitation. The training paths, which the user follows in the rehabilitation, are defined by physical therapists and stored in the ODW. In order to obtain a good training effect, the defined training paths need to be performed accurately. However, the ODW deviates from the training path in real rehabilitation, which is caused by the variation of the whole system's parameters due to the force from the user. In this paper, the characteristics of pressures from a user are measured, based on which an adaptive controller is proposed to deal with this problem, and validated in an experiment in which a pseudo handicapped person follows the ODW. The experimental results show that the proposed method can control the ODW to accurately follow the defined path with or without a user.
研究論文（国際会議プロシーディングス）, 英語 - Adaptive Control of an Omni-directional Walker Considering the Forces Caused by User
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie
2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, 掲載ページ 761-766, 出版日 2013年, 査読付, An omni-directional walker (ODW) has been developed to support people with walking impairment to do walking training without the presence of a physical therapist. In order to get a good training effect, the ODW needs to precisely follow the training path which is defined by a physical therapist. However, the forces caused by user make the ODW deviate from the training path. In previous studies, an adaptive controller was developed to deal with the pressure leading to the load change and center of gravity shift of the ODW. However, the forces from used consist of both vertical pressure and horizontal thrust. In this paper, an improved model is proposed considering both the pressure and the thrust. Furthermore, an adaptive controller is designed based on the model to improve the path tracking accuracy. The simulation is carried out and the results demonstrate that the proposed method is effectiveness to control the ODW following the training path accurately.
研究論文（国際会議プロシーディングス）, 英語 - Speed Control of an Omnidirectional Walker by Forearm Pressures: Considering Features in Force Exertion with Forearms.
Yinlai Jiang; Shuoyu Wang; Renpeng Tan; Kenji Ishida; Yo Kobayashi; Masakatsu G. Fujie
8th International Conference on Body Area Networks, BODYNETS 2013, Boston, MA, USA, September 30 - October 2, 2013, ICST, 掲載ページ 307-312, 出版日 2013年, 査読付 - Control of an excretion care support robot using digital acceleration control algorithm: path tracking problem in an indoor environment
Y. Wang; S.Y. Wang; Y. Jiang; R. Tan
Journal of System Design and Dynamics, The Japan Society of Mechanical Engineers, 7巻, 4号, 掲載ページ 472-487, 出版日 2013年, 査読付, An excretion care support robot, which can reduce the burden of caregivers, has been developed for bedridden persons. Because the excretion care support robot needs to move between its stop position and the caregiving room, which typically requires navigating a narrow and complex route, the robot must precisely follow a predefined path to avoid colliding with obstacles or falling over. However, different floor conditions in different rooms cause a wide range of time-varying friction, which has a serious effect on the motion accuracy of the robot motion system. To address this issue, a digital acceleration controller is designed to enable the excretion care support robot to accurately follow the predefined path. The digital acceleration controller is a special control algorithm that compensates for friction and can be designed without a priori friction information. Simulations and experiments are conducted under different friction conditions and the results demonstrate that this control method can effectively deal with the friction problem. Therefore, the excretion care support robot can safely move to the user's side when needed.
研究論文（学術雑誌）, 英語 - Adaptive control method for path tracking of wheeled mobile robot considering parameter changes
Yina Wang; Shuoyu Wang; Renpeng Tan; Yinlai Jiang
International Journal of Advanced Mechatronic Systems, 4巻, 1号, 掲載ページ 41-49, 出版日 2012年02月, 査読付, Wheeled mobile robots are widely used in industry, agriculture, and daily human life because they have essential loading capability. Many studies about path-tracking of wheeled mobile robots have been conducted. However, the path-tracking accuracy of these robots is low due to non-linear friction in the wheels, centre-of-gravity shifts and load changes. To address these issues, this paper proposes a motion control method based on the adaptive control law for a wheeled mobile robot. This control method does not need the exact values of plant parameters and can adapt to parameter uncertainties by measuring and adjusting the parameters automatically. Therefore, it is very robust to plant parameter changes caused by non-linear friction, centre-of-gravity shifts, and load changes. To verify the effectiveness of the proposed control method, path-tracking simulations are carried out. The simulation results demonstrate the feasibility and effectiveness of the adaptive control method. Copyright © 2012 Inderscience Enterprises Ltd.
研究論文（学術雑誌）, 英語 - Motion Control of a Cushion Robot Considering Load Change and Center of Gravity Shift, Trans.JSME
Renpeng Tan; Shuoyu Wang; Yinlai Jiang
Jouranal of System Design and Dynamics, The Japan Society of Mechanical Engineers, Vol.6巻, No.5号, 掲載ページ 740-753, 出版日 2012年, 査読付, A cushion robot with omnidirectional wheels is developed to support in-room movement of the elderly. Because the cushion robot works in a narrow, complex surrounding, it must accurately follow the target direction to avoid repetitively switching drives and to guarantee user safety. However, the user seated on the cushion robot causes a load change and a shift of the center of gravity (COG) of the whole system, which decreases the path tracking precision. To address this issue, an adaptive controller is designed to enable the cushion robot to accurately follow the target direction. The adaptive law can estimate the load and the position of the COG shift on-line, and can control the system so that it accurately follows a reference path generated to reach the target. Simulations and experiments are executed under the no-load condition and the load condition. The simulation and experimental results demonstrate that this control scheme effectively deals with the load change and the COG shift. Therefore, the cushion robot is reliable and convenient for assisting in-room movement of the elderly.
英語 - 分割時系列型特異値解析を用いた歩行困難の評価
姜 銀来; 林 勲; 王 碩玉
日本知能情報ファジィ学会 ファジィ システム シンポジウム 講演論文集, 日本知能情報ファジィ学会, 28巻, 掲載ページ 1105-1110, 出版日 2012年, 我々は，災害時の避難と救助を支援するツールとして，歩行困難の避難者を自動的に発見するシステムを開発している．災害時に，被災者は怪我や障害から歩行困難を生じている可能性が高く，早急な被災者の救援のためには，その避難者を瞬時に発見することが求められる．本研究では，分割時系列型特異値解析を用いて，歩行困難を評価し可視化する新たな手法を提案する．具体的には，歩行時の3軸加速度による時系列データから，特異値分解を用いて歩行動作の特徴量を抽出し，平面上の三角形に可視化することで容易に被災者の歩行困難性が推定できるツールを開発する．
日本語 - Digital acceleration controller based on recursive least squares (RLS) identification for an excretion care support robot
Yina Wang; Renpeng Tan; Yinlai Jiang; Shuoyu Wang; Kazuhiro Hamaguchi
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 1639-1644, 出版日 2012年, 査読付, In previous studies, an excretion care support robot has been developed for the bedridden people. To improve the motion performance for the robot, a digital acceleration controller has been designed to deal with the problem of uncertain and unbounded nonlinear friction. The motion performance of the digital acceleration control system is not sufficient because the design of the digital acceleration controller need the exact values of the plant parameters of the robot. However, these values are variable due to center-of-gravity shifts and load changes. In this paper, to address these issues, a discrete-time system identification method using recursive least squares(RLS) algorithm is proposed to identify the parameters of the plant online. This method is effective to deal with the problem of center-of-gravity shifts and load changes. Simulations are conducted, the results demonstrate the feasibility and effectiveness of the proposed control method by comparing it with the digital acceleration controller without RLS. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Embodied Knowledge Extraction from Human Motion Using Singular Value Decomposition
Yinlai Jiang; Isao Hayashi; Shuoyu Wang
2012 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE), IEEE, 出版日 2012年, 査読付, Embodied knowledge is the knowledge remembered by the human body and reflected by the dexterity in the motion of the body. In this paper, we propose a new method using singular value decomposition for extracting embodied knowledge from the time-series data of the motion which is measured with various sensors such as an accelerometer, a motion capture system and a force sensor. We compose a matrix from the the time-series data and use the left singular vectors of the matrix as the patterns of the motion and the singular values as a scalar, by which each corresponding left singular vector affects the matrix. Two experiments were conducted to testify the method. One is a gesture recognition experiment in which we categorize gesture motions by two kinds of models with the indexes of similarity and estimation using left singular vectors. The other is an ambulation evaluation experiment in which we distinguished the levels of walking disability using a 3D hyperplane constructed by the singular values. Finally we discuss the characteristic and significance of the embodied knowledge extraction using singular value decomposition proposed in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Evaluation and Visualizaton of Evacuees' Walking Difficulty in Disasters
Isao Hayashi; Yinlai Jiang; Shuoyu Wang
6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS, IEEE, 掲載ページ 1907-1910, 出版日 2012年, 査読付, Identification of the evacuees with walking difficulty will definitely lead to quick rescue and thus improve the efficiency of evacuation in times of disasters or calamities. We are developing a new method using singular value decomposition for extracting features from the time-series data which is measured with various sensors such as an accelerometer, a motion capture system and a force sensor. In this paper, we apply this method to assess walking difficulty based on three dimensional acceleration data during walking. In order to verify the usefulness of the method, three levels of walking disability in the lower limbs are simulated by constraining the knee joint and ankle joint of the right leg. The accelerations of the middle of shanks and the back of the waist are measured and analyzed after normalization. Features related to walking difficulty are acquired from the time-series acceleration data using singular value decomposition. The results showed that the first singular values inferred from the acceleration data of the right and left shanks significantly related to the increase of the constraint to the joints. The first singular values of the shanks were suggested to be reliable criteria to evaluate walking difficulty. We propose a triangular tool to provide intuitive information extracted from the first singular values to assist the evaluation of the walking difficulty.
研究論文（国際会議プロシーディングス）, 英語 - User Directional Intention Identification for a Walking Support Walker Adaptation to Individual Differences with Fuzzy Learning
Yinlai Jiang; Shuoyu Wang; Kenji Ishida; Yo Kobayashi; Masakatsu G. Fujie
6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS, IEEE, 掲載ページ 1207-1210, 出版日 2012年, 査読付, Safety is required as well as usability when developing a human robot interface for a disabled user. We are developing an omni-directional walker (ODW) to support indoor movement for those who have walking disabilities. A novel method is proposed to recognize a user's directional intention according to his/her forearm pressures to the ODW, which are measured by sensors embedded in the ODW's armrest. Fuzzy rules are extracted from the relationship between forearm pressure and directional intention and an algorithm is proposed for directional intention identification based on distance-type fuzzy reasoning method (DTFRM). Furthermore, fuzzy learning is introduced to adapt to the individual difference in forearm pressures. The experiment results show that the reasoning results of the proposed method are consistent with the intended directions, and that fuzzy learning can reduce the reasoning errors caused by individual difference.
研究論文（国際会議プロシーディングス）, 英語 - An Improved Adaptive Controller with Parameter Optimization by GA for an Omni-directional Walker
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Yo Kobayashi; Masakatsu G. Fujie
6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS, IEEE, 掲載ページ 1211-1214, 出版日 2012年, 査読付, An omni-directional walker (ODW) has been developed for walking rehabilitation for people with walking disabilities. In rehabilitation, a user needs to accurately follow the reference path stored in the ODW in order to obtain good training effect. In order to improve the path tracking accuracy, a nonlinear adaptive controller was developed in pervious studies, to deal with load change and center of gravity shift caused by the user. The path tracking accuracy can be improved by adjust the parameter of the adaptive controller. In this paper, genetic algorithm is used to automatically and quickly optimize the parameters of adaptive controller. Simulation was conducted, in which the ODW was controlled to follow a linear path. The results were shown that the parameter optimization strategy is effective to quickly find the optimal parameter.
研究論文（国際会議プロシーディングス）, 英語 - Bilateral Frontal Cortex Activation during Fragmented-Letter Identification is Greater than that during Complete-Letter Identification
Y. Jiang; H. Yanagida; T. Takahashi; S. Y. Wang
Transactions of Japanese Society for Medical and Biological Engineering, 日本エム・イー学会, 50巻, 2号, 掲載ページ 219-226, 出版日 2012年, 査読付
研究論文（学術雑誌）, 英語 - 特異値分解による運動動作の特徴獲得
姜銀来; 林勲; 王碩玉
知能と情報, 日本知能情報ファジィ学会, 24巻, 1号, 掲載ページ 513-525, 出版日 2012年, 査読付, 近年，身体の動作に関与した様々な研究が行われている．川人は，身体を一つのモデルと仮定し，フィードバックとフィードフォワード制御からなる脳と身体間の閉回路で身体内部モデルを構成し，身体動作のしなやかさを説明している．本論文では，内部モデルを入出力データから得られる一つの関数モデルとして捉え，身体に装着した各種センサーから身体動作の時系列データを検出し，特異値分解を用いてその動作の特徴を抽出するモデルを提案する．ここでは，この内部モデルによって得られた知識を身体知と呼ぶ．具体的には，左特異ベクトルを用いた類似度と評価値から２種類の識別モデルを構成し，手招きのジェスチャーを識別した．また，特異値によって構成される３次元の超平面から歩行動作の識別を行った．最後に，本論文での特異値分解を用いた動作解析手法の特徴と意義について，考察を行った．
研究論文（学術雑誌）, 日本語 - ADAPTIVE CONTROL METHOD FOR PATH-TRACKING CONTROL OF AN OMNI-DIRECTIONAL WALKER COMPENSATING FOR CENTER-OF-GRAVITY SHIFTS AND LOAD CHANGES
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie; Masanori Nagano
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, ICIC INT, 7巻, 7B号, 掲載ページ 4423-4434, 出版日 2011年07月, 査読付, In previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker so that rehabilitation can be carried out without a physical therapist. However, the walker sometimes strays from the predefined path because of center-of-gravity shifts and load changes. It is necessary for the walker to precisely follow the paths defined in the walking training programs to guarantee the effectiveness of rehabilitation and user safety. Therefore, this paper describes a path-tracking control method for the omni-directional walker to compensate for center-of-gravity shifts and load changes. First, the kinematics and kinetics of the omni-directional walker motion are presented. Second, an adaptive control strategy is proposed. Finally, simulations show that the walker can be controlled accurately by using the proposed method.
研究論文（学術雑誌）, 英語 - The relationship between visual interpolation ability and leukoaraiosis in healthy subjects
Kaechang Park; Yinlai Jiang; Shuoyu Wang
Early Detection and Rehabilitation Technologies for Dementia: Neuroscience and Biomedical Applications, IGI Global, 掲載ページ 1-8, 出版日 2011年, 査読付, This chapter examines the relationship between leukoaraiosis (LA) and visual interpolation ability (VIA) in healthy subjects using a novel method that involves the quantitative measurement of VIA. LA has been found through neuroimaging studies and is caused by demyelinization and degenerative changes in arterioles that are related to atherosclerosis (Breteler et al., 1994). Moderate and severe LA have been regarded as surrogate markers for stroke and cognitive impairment. In the present study, the bilateral extent of LA was significantly associated with a decline in VIA. This result demonstrates the clinical importance of mild LA in addition to moderate and severe LA. It also indicates a useful possible application of this method for the early detection of cognitive impairment. © 2011, IGI Global.
論文集(書籍)内論文, 英語 - Acquisition of Embodied Knowledge on Gesture Motion by Singular Spectrum Analysis
I. Hayashi; Y. Jiang; S. Y. Wang
Journal of Advanced Computational Intelligence and Intelligent Informatics, 15巻, 8号, 掲載ページ 1011-1018, 出版日 2011年, 査読付
研究論文（学術雑誌）, 英語 - Adaptive control strategy with parameter optimisation for omni-directional walker
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie
International Journal of Mechatronics and Automation, 1巻, 3-4号, 掲載ページ 172-180, 出版日 2011年, 査読付, In order to support people with walking disabilities to perform walking rehabilitation, an omni-directional walker (ODW) has been developed. Walking training programmes are stored in the walker so that rehabilitation can be carried out without a physical therapist. During walking training the forces imposed by the user’s arms to the armrest of the ODW decreased the path tracking accuracy. In a previous study, to address the issue, an adaptive control algorithm was developed to deal with the centre of gravity shift and the load changes caused by the users. However, the control parameters in the non-linear adaptive control law were manually adjusted. In this paper, an adaptive control strategy with automatic parameter adjustment by genetic algorithm is proposed. Simulations are presented to show the feasibility and effectiveness of the proposed scheme. © 2011 Inderscience Enterprises Ltd.
研究論文（学術雑誌）, 英語 - Adaptive controller for omni-directional walker: Improvement of dynamic model
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Tianyou Chai; Masakatsu G. Fujie
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 掲載ページ 325-330, 出版日 2011年, 査読付, An omni-directional walker (ODW) is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW cannot accurately follow a training path planned by a physical therapist for walking rehabilitation due to the center-of-gravity shifts and load changes caused by users. To address this issue, a new center-dynamic model of the ODW is derived considering center-of-gravity shifts and load changes. An adaptive control method is shown. Comparison with a dual-loop proportional-integral (PI) controller in simulations shows that the proposed method improves the path tracking accuracy. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Car-like mobile robot oriented digital acceleration control method
Yina Wang; Renpeng Tan; Shuoyu Wang; Yinlai Jiang
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 掲載ページ 1491-1496, 出版日 2011年, 査読付, Car-like mobile robots are widely used in industry, ports, and agriculture because they have the necessary loading capability. So far, the path tracking accuracy of these robots is low due to nonlinear friction in the wheels, center-of-gravity shifts, and load changes caused by users. To address these issues, a dynamics model is derived that considers nonlinear friction, center-of-gravity shifts, and load changes. In particular, a digital acceleration control algorithm is proposed to compensate for nonlinear friction. Simulations are executed using proportional-integral (PI) control for comparison with those using the proposed method. The results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of omni-directional walker for walking support
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie
2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011, 掲載ページ 633-636, 出版日 2011年, 査読付, An omni-directional walker (ODW) has been developed which can support people with walking disabilities to perform indoor walking. During walking support, the walker can identify the user's directional intention according to the user's forearm pressures and support the user to go in the intended direction. In this paper, an adaptive control method is proposed to control the ODW's movement toward the direction in which the user intends to go. Simulation results show that the ODW can accurately follow the user's intention direction with the proposed control method. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Control of an Omnidirectional Walking Support Walker by Forearm Pressures
Yinlai Jiang; Shuoyu Wang; Kenji Ishida; Takeshi Ando; Masakatsu G. Fujie
2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 2011巻, 掲載ページ 7466-7469, 出版日 2011年, 査読付, We have been developing an omnidirectional walker (ODW) for walking support. In walking support, it is necessary control the ODW following the user's direction and velocity intentions. In this paper, a novel interface is proposed to recognize the user's intentions according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user intentions was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance-type fuzzy reasoning method. We conduct a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW.
研究論文（国際会議プロシーディングス）, 英語 - Directional control of an omnidirectional walker for walking support with forearm pressures.
Yinlai Jiang; Kenji Ishida; Shuoyu Wang; Takeshi Ando; Masakatsu G. Fujie
FUZZ-IEEE 2011, IEEE International Conference on Fuzzy Systems, Taipei, Taiwan, 27-30 June, 2011, Proceedings, IEEE, 掲載ページ 2728-2731, 出版日 2011年, 査読付 - A novel direction control method for walking support with an omnidirectional walker
Yinlai Jiang; Shuoyu Wang; Kenji Ishida; Takeshi Ando; Masakatsu G. Fujie
International Journal of Mechatronics and Automation, 1巻, 3-4号, 掲載ページ 244-252, 出版日 2011年, 査読付, Safe and convenient walking support machines are strongly desired for the people suffering from walking disabilities. We have developed an omnidirectional walker (ODW) for walking support. In walking support, it is necessary to control the ODW following the user’s directional intention. In this paper, a novel interface is proposed to recognise the user’s directional intention according to the forearm pressures. The forearm pressures exerted to the ODW by the user with wrists and elbows are measured by four force sensors embedded in the ODW’s armrest. The relationship between the forearm pressure and the directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results show that the algorithm is applicable to control the ODW in walking support. © 2011 Inderscience Enterprises Ltd.
研究論文（学術雑誌）, 英語 - Acquisition of embodied knowledge on gesture motion by singular value decomposition
Isao Hayashi; Yinlai Jiang; Shuoyu Wang
Journal of Advanced Computational Intelligence and Intelligent Informatics, Fuji Technology Press, 15巻, 8号, 掲載ページ 1011-1018, 出版日 2011年, 査読付, Communication is classified in terms of verbal and nonverbal information. We discuss an acquisition method of knowledge from nonverbal information. In particular, a gesture is an efficient form of nonverbal communication as well as in verbal ways, and we formulate here a method that measures similarity and estimation between gestures. A gesture includes human embodied knowledge, and therefore the visible bodily actions can communicate particular messages. However, we have infinite patterns for gesture, determined by personality. Recently, the singular spectrum analysis method is utilized as an attractive method. In this paper, we propose a new method for acquiring embodied knowledge from time-series data on gestures using singular value decomposition. The motion behavior is categorized into several clusters with similarity and estimation between interval time-series data. We discuss the usefulness of the proposed method using an example of gesture motion.
研究論文（学術雑誌）, 英語 - Effects of Changes in the Apparent Viscosity of Blood with Vessel Size on Retinal Microcirculation: Significance of the Fahraeus-Lindqvist Effect
T. Takahashi; T. Saitoh; Y. Jiang; S. Y. Wang; A. Okada; H. Yanagida
Transactions of Japanese Society for Medical and Biological Engineering, 日本生体医工学会, 49巻, 4号, 掲載ページ 4423-4434, 出版日 2011年, 査読付
研究論文（学術雑誌）, 英語 - 10A-E-4 Adaptive Control Algorithm with Parameter Optimization Using Neural Networks for an Omni-directional Walker(Room E International session)
TAN Renpeng; WANG Shuoyu; JIANG Yinlai; ISHIDA Kenji; FUJIE Masakatsu
バイオメディカル・ファジィ・システム学会大会講演論文集, バイオメディカル・ファジィ・システム学会, 23巻, 掲載ページ 313-316, 出版日 2010年, An omni-directional walker, which is able to realize diverse motion groups, has been developed for walking rehabilitation. In a previous study, an adaptive control algorithm was developed to deal with the center of gravity shift and the load changes caused by the users. However, the control parameters in the nonlinear adaptive control law were manually adjusted, which led to lower accuracy. In this paper, a neural network for automatically adjustment of the adaptive control parameters is proposed. According to the rehabilitation program designed by the physical therapists, we simulate the walker's movement along a linear path. The simulation results verify the effectiveness of the parameter optimization using neural network.
英語 - 9P-E-9 The Possibility of Quickening Walking Rehabilitation by Imaginary Walking(Room E International session)
JIANG Yinlai; WANG Shuoyu; TAN Renpeng; ISHIDA Kenji; ANDO Takeshi; FUJIE Masakatsu G.
バイオメディカル・ファジィ・システム学会大会講演論文集, バイオメディカル・ファジィ・システム学会, 23巻, 掲載ページ 279-282, 出版日 2010年, Walking rehabilitation machines have drawn great attentions with more and more people suffering from walking disabilities in an aging society. However, most of the developed walking rehabilitation machines aim at enhancing muscle strength, neglecting the recovery of the neural system. 58% of walking disabilities are caused by problems in the neural system. Therefore, we propose a rehabilitation system which includes both muscle strength enhancement by a walking rehabilitation machine and neurological rehabilitation by imaginary walking. In this paper we compared the activation in motor area of the brain during real walking and imaginary walking by means of fNIRS (functional Near-InfraRed Spectroscopy). Two subjects participated in the experiment. During imaginary walking, the subjects were instructed to imagine that they were walking with the same pace to a person in the video being shown to the subjects. As a result, the concentration of oxygenated hemoglobin in motor area during imaginary walking was higher than that during real walking in both of the subjects. This was because that it was not necessary to pay attention to the movements of the legs and feet during normal walking on the plain road without any obstacles, while movement planning was required when the subjects imagined their walking in the same way to another person. The experiment result indicated that it is possible to quicken walking rehabilitation by imaginary walking.
英語 - 10A-E-3 Directional Intention Identification Based on the Force Interaction between an Omni-directional Walker and a Human(Room E International session)
JIANG Yinlai; WANG Shuoyu; ISHIDA Kenji; ANDO Takeshi; FUJIE Masakatsu G.
バイオメディカル・ファジィ・システム学会大会講演論文集, バイオメディカル・ファジィ・システム学会, 23巻, 掲載ページ 309-312, 出版日 2010年, Walking support machines are strongly desired with more and more people suffering from walking disabilities in aging society. In previous studies, we have developed an omni-directional walker (ODW) for both walking rehabilitation and walking support. In the case of walking support, it is necessary for the ODW to know which direction its user is intending to go in order to support the user to reach the goal. In this paper, a novel interface is proposed to recognize a user's directional intention according to the force interaction between the user and the ODW. We conducted an experiment to study the relationship between the resultant forearm pressure and the direction intention. The experiment results showed that although there were significant individual differences in forearm pressures, it was possible to reason directional intentions from the forearm pressures. The relationship between forearm pressures and directional intentions was extracted as fuzzy rules. Since the fuzzy rules were sparse, we adopted the distance-type fuzzy reasoning method to develop an algorithm for directional intention. Finally, the effectiveness of the algorithm was verified by experiments, which showed that reasoning results were consistent with the intended directions.
英語 - Directional intention identification for running control of an OmniDirectional Walker
Yinlai Jiang; Shuoyu Wang; Kenji Ishida; Takeshi Ando; Masakatsu G. Fujie
Journal of Advanced Computational Intelligence and Intelligent Informatics, Fuji Technology Press, 14巻, 7号, 掲載ページ 784-792, 出版日 2010年, 査読付, Walking is a vital exercise for health promotion and a fundamental ability necessary for everyday life. In previous work, we developed an OmniDirectional Walker (ODW) for walking rehabilitation and walking support. In walking support, it is necessary for the ODW to know the direction the user intends to go based on user manipulation. Actual directional intent must, however, be identified from physical manipulation because a user's directional intent and physical manipulation are not always mutually consistent. In this paper, a novel interface is proposed to recognize a user's directional intention according to the forearm pressures exerted to the ODW by the user with wrists and elbows. The forearm pressures are measured by 4 sensors embedded in the ODW's armrest. The relationship between forearm pressure and directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on distance-type fuzzy reasoning method. The effectiveness of the algorithm was verified by experimental reasoning results demonstrated to be consistent with intended directions.
研究論文（学術雑誌）, 英語 - Adaptive controller for motion control of an omni-directional walker
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masanori Nagano
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 掲載ページ 156-161, 出版日 2010年, 査読付, Walking is a vital exercise for health promotion and a fundamental ability necessary for everyday life. In the authors' previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker and the walker must precisely follow the paths defined in the walking training programs to guarantee the effectiveness of rehabilitation. In the previous study, an adaptive control method has been proposed for path tracking of the walker considering a center of gravity shift and load change. In this paper simulations and running experiments are carried out to verify the proposed adaptive control method. First, the kinematics and the kinetics of the omni-directional walker motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations and experiments are carried out using the proposed method. Comparing with the proportional-integral-derivative control (PID control), the simulation and experiment results demonstrate the feasibility and effectiveness of the adaptive control method. © 2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Adapting directional intention identification in running control of a walker to individual difference with fuzzy learning
Yinlai Jiang; Shuoyu Wang
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 掲載ページ 693-698, 出版日 2010年, 査読付, An omni-directional walker (ODW) has been developed for walking rehabilitation and walking support in the authors' previous studies. It is necessary for the ODW to know its user's directional intention according to the user's manipulation during walking support. In this paper, a novel method is proposed to recognize a user's directional intention according to his/her forearm pressures to the ODW, which are measured by sensors embedded in the ODW's armrest. First, the relationship between forearm pressure and directional intention was extracted as fuzzy rules. Second, an algorithm is proposed for directional intention identification based on distance-type fuzzy reasoning method (DTFRM). Furthermore, fuzzy learning is introduced to adapt directional intention identification to the individual difference in forearm pressures. The experiment results show that the reasoning results of the proposed method are consistent with the intended directions, and that fuzzy learning can reduce the reasoning errors caused by individual difference. © 2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Three-dimensional motion analysis for gesture recognition using singular value decomposition
Yinlai Jiang; Isao Hayashi; Masanao Hara; Shuoyu Wang
2010 IEEE International Conference on Information and Automation, ICIA 2010, 掲載ページ 805-810, 出版日 2010年, 査読付, A gesture is a form of non-verbal communication in which visible bodily actions communicate particular messages, either in place of speech or together and in parallel with spoken words. Gestures are important in the communication between human and human. It will make a robot more human-friendly to enable it to communicate with human by gestures. Our research addresses to develop a method to recognize human gestures for a guide robot that can be used in hospitals, welfare facilities, and etc. In this paper, firstly, a novel 3D motion analysis algorithm for gesture recognition using singular value decomposition (SVD) is proposed. An experiment, in which five gestures is included, is carried out to testify the effectiveness of the algorithm. The experiment results indicate that the proposed algorithm is applicable for the guide robot to recognize human gestures in guidance. ©2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Path tracking control considering center of gravity shift and load change for an omni-directional walker
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masanori Nagano
2010 IEEE International Conference on Information and Automation, ICIA 2010, 掲載ページ 672-675, 出版日 2010年, 査読付, Walking is a vital exercise that is very important for health and everyday life. In the authors' previous studies, an omni-directional walker was developed for walking rehabilitation. Walking training programs are stored in the walker so that rehabilitation can be carried out without a physical therapist. However, the walker sometimes strays from the predefined path due to a center of gravity shift and load change. It is necessary for the walker to precisely follow the paths defined in the walking training programs to guarantee the effectiveness of rehabilitation and the user's safety. Therefore, this paper describes the path tracking control of the omni-directional walker during the center of gravity shift and load change. First, the kinetics of the omni-directional walker motion is presented. Second, an adaptive control strategy is proposed. Finally, path tracking simulations are carried out using the proposed method. The simulation results demonstrate the feasibility and effectiveness of the adaptive control method. ©2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Directional Intention Identification for Running Control of an Omni-directional Walker
Yinlai Jiang; Shuoyu Wang
2010 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2010), IEEE, 14巻, 7号, 掲載ページ 784-792, 出版日 2010年, 査読付, Walking is a vital exercise for health promotion and a fundamental ability necessary for everyday life. In the authors' previous studies, an omni-directional walker (ODW) has been developed for walking rehabilitation and walking support. In the case of walking support, it is necessary for the ODW to know which direction its user is intending to go according to the user's manipulation. However, since the directional intention and physical manipulation of a user are not always consistent with each other, it is an important subject to identify the real directional intention from physical manipulation. In this paper, a method is proposed to recognize a user's directional intention according to the pressures, which are measured by sensors embedded in the ODW's armrest, from the user's forearms. Firstly, the relationship between forearm pressure and directional intention was extracted as fuzzy rules. Then an algorithm is proposed for directional intention identification based on Distance-Type Fuzzy Reasoning Method (DTFRM). Finally, the effectiveness of the algorithm is verified by experiments, which show that reasoning results are consistent with the intended directions.
研究論文（国際会議プロシーディングス）, 英語 - The Effect of Age on the Human Ability to Identify Fragmented Letters through Visual Interpolation
Y. Jiang; M. Ikegami; H. Yanagida; T. Takahashi; S. Y. Wang
Therapeutic Research, 31巻, 7号, 掲載ページ 1049-1055, 出版日 2010年, 査読付, 雑誌掲載版人間は不完全な文字の同定など視覚内挿にたけている。加齢がこの能力にどのような影響を与えるかを調べるため、20〜76歳の健常者56名の断片文字の同定能力を調べた。アルファベットの断片文字を無作為にパソコンの画面上に表示した。断片文字は無作為に完全な文字から削除できる矩形域(約4×8ピクセル)に作製した。断片文字読解スコアは全対象において、ピクセル50%削除での適正同定は80%以上であったが、適正同定スコアはピクセルの70%、80%、90%削除で有意に減少し、これは男女間或いは年齢間で大きな差異はなかった。断片文字同定能力は健康な高齢者では良好に維持されており、認識機能(言語能力)のある側面を評価するのに利用できると考えられた
研究論文（学術雑誌）, 英語 - Quantification of the Human Ability to Identify Fragmented Letters through Visual Interpolation
Y. Jiang; M. Ikegami; H. Yanagida; T. Takahashi; S. Y. Wang
Transactions of Japanese Society for Medical and Biological Engineering, 一般社団法人 日本生体医工学会, 48巻, 4号, 掲載ページ 369-376, 出版日 2010年, 査読付, To quantify a subject's skill at visual interpolation, as in the identification of incomplete letters, we developed a new computer-based system for presenting fragmented letters of the English alphabet. Using this system, we examined the quantitative relationship between the fragmentation of letters and their correct identification in six healthy young male subjects. The 26 letters (black, 72-point, MSP Gothic) were randomly displayed one by one on the screen of a personal computer: each letter appeared once per test. Each of the letters was presented within a square (128 × 128 pixels) against a white background for 200 ms. The fragmented letters were produced by randomly removing pixels from complete letters using three different modes of elimination: removal of single dots or small and large rectangles with random rotation. The complete and fragmented letters were evaluated with respect to the density of information provided by the pixels that constituted the letters according to information theory. There was a direct correlation between the percentage of pixels removed from the complete letters and the density of information about the removed pixels. The scores for the correct identification of fragmented letters with dot elimination remained at almost 100% correct identification regardless of the percentage of pixels removed. In contrast, the correct identification scores with the elimination of large rectangles decreased with the removal of 70%, 80%, 86%, 90%, and 92% of pixels. The correct identification scores for the elimination of small rectangles fell between the scores for the other elimination modes. These results suggest that the identification of fragmented letters could be related to the recognition of structures in which imaginary lines exist between closest pixels, within some limited distance between existing pixels. The evaluation of fragmented-letter identification using this system may be useful for quantifying the capability of visual interpolation.
研究論文（学術雑誌）, 英語 - QUANTITATION OF HUMAN VISUAL INTERPOLATION ABILITY AND ITS APPLICATION TO BRAIN HEALTH CHECK
Yinlai Jiang; Shuoyu Wang
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, ICIC INT, 5巻, 3号, 掲載ページ 773-783, 出版日 2009年03月, 査読付, Object recognition based on its separate visible portions, defined as visual interpolation, is an important characteristic of the visual system, allowing a clue for elucidating mechanisms of visual recognition in the brain. In the present study, an incomplete-letter recognition experiment is designed to measure the human visual interpolation ability (VIA). The experiment results indicate that features and correlations between features significantly influenced the letter identification. Therefore, it is necessary to consider the importance of letter features in the experiment. An algorithm is proposed to quantitatively evaluate the importance of letter features and the human visual interpolation ability for partially erased letters. Furthermore, the relationship between VIA and age is measured with this algorithm. The results show that VIA decreases with aging, indicating the feasibility to check the health of the brain with the proposed algorithm.
研究論文（学術雑誌）, 英語 - 案内ロボット用のリード開発と安心性の検証
津田 大作; 王 碩玉; 三浦 直樹; 姜 銀来
バイオメディカル・ファジィ・システム学会誌, バイオメディカル・ファジィ・システム学会, 11巻, 1号, 掲載ページ 43-48, 出版日 2009年, 査読付, 病院または福祉施設で高齢者や障害者を安心して目的地まで誘導する案内ロボットが開発されている.しかし,視覚障害者を案内するためには視覚情報以外の手段で視覚障害者を案内する方法が必要である.本研究では,被験者とロボットの間で相互に力情報を伝達できる5類の案内ロボット用リードを開発した.また,被験者に案内実験を行った結果をアンケートにより評価し,各リードの安心性を検証した.その結果,リードの固定部にバネのような弾性のある物を取り付けることで,より安心に案内できることが示された.
研究論文（学術雑誌）, 日本語 - Human visual recognition ability for partially erased letters
Yinlai Jiang; Shuoyu Wang
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, ICIC INT, 3巻, 5号, 掲載ページ 1183-1192, 出版日 2007年10月, 査読付, The human visual system has high-level recognition abilities and can efficiently and accurately identify an object based on object parts. In the present study, a letter recognition experiment, in which an algorithm was proposed to create incomplete letters in three levels, was designed to evaluate the human visual recognition ability for partially erased objects. Five subjects were asked to identify partially erased English letters displayed for short time periods (200 ms, 150 rns and 100 ms). The results suggested that features and correlations between features significantly influence letter identification. Based on the experiment, an algorithm is proposed to quantitatively evaluate the importance of letter features and the similarities between letters with information entropy.
研究論文（学術雑誌）, 英語 - Speed dependency of cerebral blood volume changes during visual cognitive activation measured with NIRS
Yinlai Jiang; Shuoyu Wang
2007 3RD INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING, VOLS 1 AND 2, IEEE, 掲載ページ 306-+, 出版日 2007年, 査読付, In this study, multichannel near-infrared spectroscopy (NIRS) was used to measure the change in cerebral hemoglobin concentrations during an incomplete-letter recognition task consisting of a fast section and a slow section. In the task, 85% of the black pixels in the letter images were erased. The display period of the erased letters in the fast section and in the slow section were set to 1000 ins and 3000 ins, respectively, during which the subjects were instructed to respond verbally. Fourteen male volunteers participated in the experiment. Activations in the occipital and bilateral frontal areas were simultaneously examined with three 24-channel probes. The results demonstrated that the oxygenated hemoglobin concentration (oxyHb) during the fast section was relatively higher than that during the slow section. Furthermore, the oxy-Hb difference between the two sections in the occipital areas was more significant than that in the bilateral frontal areas, indicating that for the recognition task in this study, speed change affects the activations in the occipital areas more than those in the frontal areas.
研究論文（国際会議プロシーディングス）, 英語 - Measurement of correlation between age and the human visual interpolation ability
Yinlai Jiang; Shuoyu Wang
PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, IEEE, 掲載ページ 1543-1546, 出版日 2007年, 査読付, The possibility to evaluate brain functions through the human visual interpolation ability is studied in this work. The human visual interpolation ability is defined as the recognition ability to efficiently and accurately identify an object based on object parts. A letter recognition experiment was designed to measure the human visual interpolation ability for partially erased objects. An algorithm was designed to create incomplete letters as stimuli for the experiment. 54 subjects aged from 21 to 76 years participated in the experiment. The experiment results showed that the correct identification rate decreased with the increase of age on average. The subjects were grouped into 6 groups according to their ages (20s, 30s, 40s, 50s, 60s and 70s) and a two-tailed t-test of group means was carried out. The t-test results showed that the correct rate decreased with aging more significantly after 50 years old than before 50 years old. The correlation indicates that visual interpolation ability decreases with the increase of age. Furthermore, it indicates the possibility to check the related brain functions based on the correlation between age and visual interpolation ability.
研究論文（国際会議プロシーディングス）, 英語 - The human visual recognition ability for incomplete letters
Yinlai Jiang; Shuoyu Wang
ICICIC 2006: FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE COMPUTING, INFORMATION AND CONTROL, VOL 2, PROCEEDINGS, IEEE COMPUTER SOC, 掲載ページ 329-+, 出版日 2006年, 査読付, The human vision system has high-level recognition abilities and can efficiently and accurately identify an object based on object parts. In the present study, a letter recognition experiment was designed to evaluate recognition of incomplete objects by humans. Five subjects were asked to identify partially erased English letters displayed for short time periods. We found that features and correlations between features significantly influence letter identification. An algorithm based on information entropy is proposed to quantitatively evaluate the importance of letter features and the similarities between letters.
研究論文（国際会議プロシーディングス）, 英語
MISC
- Research status of elderly-care robots and safe human-robot interaction methods
Donghui Zhao; Xingwang Sun; Bo Shan; Zihao Yang; Junyou Yang; Houde Liu; Yinlai Jiang; Yokoi Hiroshi
Faced with the increasingly severe global aging population with fewer children, the research, development, and application of elderly-care robots are expected to provide some technical means to solve the problems of elderly care, disability and semi-disability nursing, and rehabilitation. Elderly-care robots involve biomechanics, computer science, automatic control, ethics, and other fields of knowledge, which is one of the most challenging and most concerned research fields of robotics. Unlike other robots, elderly-care robots work for the frail elderly. There is information exchange and energy exchange between people and robots, and the safe human-robot interaction methods are the research core and key technology. The states of the art of elderly-care robots and their various nursing modes and safe interaction methods are introduced and discussed in this paper. To conclude, considering the disparity between current elderly care robots and their anticipated objectives, we offer a comprehensive overview of the critical technologies and research trends that impact and enhance the feasibility and acceptance of elderly care robots. These areas encompass the collaborative assistance of diverse assistive robots, the establishment of a novel smart home care model for elderly individuals using sensor networks, the optimization of robot design for improved flexibility, and the enhancement of robot acceptability., Frontiers Media SA, 出版日 2023年11月30日, Frontiers in Neuroscience, 17巻, 査読付, 1662-453X - Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs
Yiwei Wang; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
ラスト(シニア)オーサー, Humanoid robotic upper limbs including the robotic hand and robotic arm are widely studied as the important parts of a humanoid robot. A robotic upper limb with light weight and high output can perform more tasks. The drive system is one of the main factors affecting the weight and output of the robotic upper limb, and therefore, the main purpose of this study is to compare and analyze the effects of the different drive methods on the overall structure. In this paper, we first introduce the advantages and disadvantages of the main drive methods such as tendon, gear, link, fluid (hydraulic and pneumatic), belt, chain, and screw drives. The design of the drive system is an essential factor to allow the humanoid robotic upper limb to exhibit the structural features and functions of the human upper limb. Therefore, the specific applications of each drive method on the humanoid robotic limbs are illustrated and briefly analyzed. Meanwhile, we compared the differences in the weight and payload (or grasping force) of the robotic hands and robotic arms with different drive methods. The results showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio, which results in a larger output torque. Further, the weight of the actuator accounts for a larger proportion of the total weight, and a reasonable external placement of the actuator is also beneficial to achieve light weight., American Association for the Advancement of Science (AAAS), 出版日 2021年01月, Cyborg and Bionic Systems, 2021巻, 2692-7632 - ワイヤ干渉駆動とそのモジュール化設計
姜銀来; 李文揚; 王軼煒; 東郷俊太; 横井浩史
出版日 2021年, 日本ロボット学会誌, 39巻, 9号, 日本語, 招待, 記事・総説・解説・論説等（学術雑誌） - ワイヤ駆動型の擬人化ロボットアーム
姜 銀来
日本ロボット工業会機関誌, 出版日 2020年03月, ロボット, 253号, 掲載ページ 62-64, 日本語, 招待, 記事・総説・解説・論説等（学術雑誌） - 筋電制御システムに関する研究と義手への応用
横井浩史; 東郷俊太; 姜銀来; 矢吹佳子; 村井雄太
出版日 2019年, 日本ロボット学会誌, 37巻, 4号, 掲載ページ 301-306, 日本語, 招待, 記事・総説・解説・論説等（学術雑誌） - 適応学習機能を備えたオーダーメイド筋電義手による脳機能の評価
水落千彰; 矢吹佳子; 毛利保寛; 東郷俊太; 姜銀来; 加藤龍; 横井浩史
出版日 2018年, バイオメカニズム学会誌, 42巻, 2号, 日本語, 招待, 記事・総説・解説・論説等（学術雑誌） - BMI出力デバイス‐人と機械が相互に適応できる技術を目指して‐
横井浩史; 姜銀来
精密工学会, 出版日 2017年, 精密工学会誌, 83巻, 11号, 掲載ページ 1000-1005, 日本語, 招待, 記事・総説・解説・論説等（学術雑誌）, 0912-0289, 40021385323, AN1003250X - インテリジェント歩行支援機の走行制御 適応制御を用いた重心変化への対応
王義娜; 王碩玉; 姜銀来; 石田健司; 小林洋; 藤江正克; 安藤健
出版日 2013年, 日本ロボット学会学術講演会予稿集(CD-ROM), 31st巻, 201302204110671309 - 上半身重心情報による自立生活支援ロボットの操作法
SHEN Bo; WANG Shuoyu; JIANG Yinlai; WANG Yina; 石田健司; 小林洋; 藤江正克; 安藤健
出版日 2013年, 日本機械学会年次大会講演論文集(CD-ROM), 2013巻, 2424-2667, 201502203874316390 - ディジタル加速度制御法によるインテリジェント歩行支援ロボットの運動制御
WANG Shuoyu; WANG Yina; JIANG Yinlai; 石田健司; 小林洋; 藤江正克; 安藤健
出版日 2013年, 日本機械学会年次大会講演論文集(CD-ROM), 2013巻, 2424-2667, 201502238455899295 - インテリジェント歩行支援機の運動制御精度向上
王義娜; 王碩玉; 譚仁鵬; 姜銀来; 石田健司; 小林洋; 藤江正克; 安藤健
出版日 2012年, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th巻, 201202233356712856 - User directional intention recognition of an omnidirectional walking support walker
Yinlai Jiang; Kenji Ishida; Shuoyu Wang; Takeshi Ando; Masakatsu G. Fujie
An omnidirectional walking support walker (ODW) is being developed. In order to provide walking support according to the user directional intention, we propose a method to recognize the user directional intention from forearm pressures. The pressures between forearms and the ODW are measured by 4 force sensors embedded in the ODW's armrest. The relationship between forearm pressure and user directional intention was extracted as fuzzy rules and an algorithm was proposed for directional intention identification based on the distance type fuzzy reasoning method. We conducted a path tracking experiment with the proposed method. The results showed that the method was applicable to the ODW's direction control in walking support. © 2011 IEEE., 出版日 2011年, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 掲載ページ 1291-1296, 英語, 81055124192 - 無方向性全方向移動ロボットの走行制御
荒垣 龍馬; 王 碩玉; 三浦 直樹; 姜 銀来
本研究室では正四面体型の無方向性全方向移動ロボットの研究を行っている．正四面体の頂点それぞれにオムニホイールを装着することによりどの面が底面であっても全方向移動できる．本報告では正四面体の底面となる三輪モデルを用いて運動学モデル・動力学モデルを算出する. PID制御によるロボットが転がって底面変化した場合の直線移動の走行シミュレーション結果を報告する．, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 74-74, 日本語, 130005025881 - 知的アミューズメントロボットの実現
田中 健介; 王 碩玉; 三浦 直樹; 姜 銀来
アミューズメント分野において，ロボットに娯楽性を持たせることは重要な課題であるが人間とのやり取りから新しい動作を生み出すことができれば娯楽性を実現できるだろう．本報告では，提案したゲームにおいてロボットが人間の知的操作を模倣することで自動的にゲームを達成することを目的とする．そのためにプレイヤーの操作情報及びボールの移動情報を測定し，知識として抽出を行った．, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 242-242, 日本語, 130005025738 - Brain-Computer Interface開発における信号の大域的特長の知識抽出
島本 博史; 三浦 直樹; 姜 銀来; 王 碩玉
近年、言語や文書での意思伝達が困難な者の介護支援として期待されているBrain-Computer Interface(BCI)の開発が行われているが、計測される生体信号が非線形かつ時変的で再現性がないため、まだ満足できる実用レベルまで至っていない。しかし熟練測定オペレータは、信号を大域的に捉え適切に判断できる。我々は、近赤外線分光法(NIRS)装置を用いて測定された信号を熟練者オペレータの知識としてファジィ集合及びプロダクションルールにより定量的に表現することで大域的特長を重視したBCIの開発をしている。しかし、これまでの発表では熟練測定オペレータの知識抽出作業において局所的な特性を注視し過ぎ適切な知識の抽出ができなかった。そこで本研究では、大域的視点から計測信号の特長を定式化し、熟練者の曖昧言語を統計的手法により得るファジィ集合で定量化する。そして距離型ファジィ推論法に基づき信号認識精度の向上を図る。また、黙読をタスクの一例として提案手法の有効性を示す。, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 234-234, 日本語, 130005025729 - 小型全方向移動機能を持つ案内ロボット
山中 健史; 王 碩玉; 三浦 直樹; 姜 銀来
先行研究では、案内ロボットを開発し、障害物回避をしながら被案内者を目的地まで案内することに成功した。しかし、室外では使用できず円柱型ロボット自身の転倒問題があり、結局実用レベルまでには至らなかった。本研究では、小型で全方向移動機能をもつ杖型案内ロボットを開発している。今回では、１号機の動力学モデルと運動学モデルを導出して、シミュレーションおよび走行実験結果を報告する。, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 212-212, 日本語, 130005025705 - 転倒防止を目的とする転倒動作の解析
真辺 良祐; 王 碩玉; 三浦 直樹; 姜 銀来
社会の高齢化につれて、高齢者の転倒事故は多発している。力学的な立場から、転倒状態発生の直前に、何らかのFall Signを測定できれば、転倒になりそうな姿勢を安定状態に修正することが可能である。そこで、本研究では、転倒原因の最も多い一つである「つまずき」に着目して、加速度センサーを用いて、歩行時から転倒までの体の頭、肩、腰、膝の加速度の変化から測定・解析することにより、Fall Signを抽出する。結果として、転倒を予測できるようになり、転倒防止につながる。, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 156-156, 日本語, 130005025642 - 座位歩行訓練機による訓練時の動作解析
吉田 宗基; 王 碩玉; 三浦 直樹; 姜 銀来
早期回復実現のために，怪我や手術直後，まだ立位筋力不足な状態から歩行訓練を始めることが強く望まれている．したがって，先行研究では，立位筋力不足の重度患者も使用可能な座位歩行訓練機を開発した．しかし，より効果的に訓練するには適切な運動メニューを作成する事が必要である．本発表では，運動メニューづくりの根拠として，座位歩行訓練機使用時と立位での実歩行の場合を，動作や筋力状況について比較することにより，座位歩行訓練機による訓練の特徴を明らかにする．, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 155-155, 日本語, 130005025641 - 重心のずれを考慮した座位歩行訓練機の走行制御
渡辺 悠人; 王 碩玉; 三浦 直樹; 姜 銀来; 石田 健司; 藤江 正克
立位での歩行訓練が困難な歩行機能障害者の歩行訓練のために，座位での訓練が可能な座位歩行訓練機を開発している．現在，訓練機の移動時に訓練機が理想経路から外れるという問題が生じており，原因として移動時に訓練者の重心が移動する事により全体の重心が想定される位置からずれる事が考えられる．そこで本研究では，重心のずれを考慮した座位歩行訓練機のモデリングを行った後，PID制御法を用いて重心のずれがある場合の経路追従誤差の抑制効果について明らかにする．, 自動制御連合講演会, 出版日 2010年11月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 154-154, 日本語, 130005025640 - 黙読を用いたBrain-Computer Interface開発のための脳血流変化の知識化
島本 博史; 三浦 直樹; 姜 銀来; 王 碩玉
Brain-Computer Interface(BCI)とは非侵襲的に計測した脳活動信号を用いて機器を操作するインターフェイスであり、我々は近赤外線分光法 (NIRS)を用いて計測した脳血流変化を利用してBCIの開発を行っている。これまでに黙読時の脳血流変化を距離型ファジィ推論法によってBCIの制御信号とする手法を提案してきたがNIRS信号の持つ信号特性が知識としてファジィルールに十分に反映されていないという問題点が残されていた。そこで本研究では、より適切なファジィルール決定のために、黙読時の脳血流変化をNIRSにより計測し信号特性の解析を行う。計測実験として黙読課題時の両側前頭前野の脳血流変化の計測を3名の被験者に対し周4回4週間の計測を行い、計測結果から課題特異的な脳血流変化パターンを抽出しその知識化を試みる。, 日本知能情報ファジィ学会, 出版日 2010年09月, 日本知能情報ファジィ学会 ファジィ システム シンポジウム 講演論文集, 26巻, 0号, 掲載ページ 298-298, 日本語, 130005035557 - 移動支援ロボットの走行制御のための力覚情報による方向意図同定法
高木 紀明; 王 碩玉; 三浦 直樹; 姜 銀来
移動支援ロボットの走行を制御する場合、被支援者の行きたい方向をロボットに正確に伝える必要がある。本研究は歩行時被支援者の前腕部の力覚情報を利用し方向意図を同定する方法を提案する。移動支援ロボットのアームレストに荷重センサーを装着し、被支援者の前腕荷重と方向意図との定量関係の計測を行い、その定量関係に基づいて距離型ファジィ推論法を用いた方向意図の同定法を開発する。実験により、本手法の有効性を示す。, 自動制御連合講演会, 出版日 2010年09月, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 310-310, 日本語, 130005025814 - 新型歩行訓練器の運動制御
WANG Shuoyu; JIANG Yinlai; 石田健司; 榎勇人; 藤江正克; 永野敬典
出版日 2010年, 日本ロボット学会学術講演会予稿集(CD-ROM), 28th巻, 201002271779128764 - 全方向移動型歩行支援機による歩行支援のための方向意図の同定法
JIANG Yinlai; WANG Shuoyu; 石田健司; 安藤健; 藤江正克
出版日 2010年, 日本ロボット学会学術講演会予稿集(CD-ROM), 28th巻, 201002254685447317 - 近赤外線分光法を用いた歩行運動時と歩行運動想起時の脳活動計測
河内 潤一郎; 王 碩玉; 三浦 直樹; 姜 銀来
歩行障害患者の歩行訓練のためには，まだベッドに横になっている状態からの訓練が重要であり，さらに運動制御を行う脳についても同様に訓練を行うことが重要であると考えられる．しかも，後遺症を残さないためにはなるべく早く訓練することが望ましい．そこで本研究では歩行イメージによる回復初期の歩行訓練法を開発するために近赤外線分光法を用いて歩行運動想起時及び実歩行時の脳活動を計測し，両者の比較から歩行訓練に利用可能な脳活動の情報の抽出を試みる．, 自動制御連合講演会, 出版日 2010年, 自動制御連合講演会講演論文集, 53巻, 0号, 掲載ページ 157-157, 日本語, 130005025643 - 歩行補助機における前腕荷重による方向制御
JIANG Yinlai; WANG Shuoyu; 石田健司; 安藤健; 藤江正克
出版日 2009年, 日本ロボット学会学術講演会予稿集(CD-ROM), 27th巻, 200902286907097652
書籍等出版物
- 医療機器への応用が見込まれる最先端技術とその事業化
横井浩史; 矢吹佳子; 村井雄太; 雍旭,景暁バイ; 東郷俊太; 白殿春; 朱笑笑; 姜銀来
学術書, 日本語, 分担執筆, 第8節 義肢ロボット開発の最新技術と今後の製品化展望, 技術情報協会, 出版日 2018年05月31日, ISBN 9784861047145 - オーグメンテッド・ヒューマン
横井浩史; 矢吹佳子; 東郷俊太; 姜銀来; 加藤龍; 杉正夫
学術書, 日本語, 分担執筆, 第2章 電気刺激による運動と感覚の再生, NTS, 出版日 2018年01月 - Infrared Spectroscopy –Life and Biomedical Sciences
Y. Jiang; S. Y. Wang; R. Tan; K. Ishida; T. Ando; M. G. Fujie
学術書, 英語, 分担執筆, Chapter 9: Comparison of Cortical Activation during Real Walking and Mental Imagery of Walking: the Possibility of Quickening Walking Rehabilitation by Mental Imaginary of Walking, InTech, 出版日 2012年 - Motion Control of Omni-Directional Walker for Walking Support
Renpeng Tan; Shuoyu Wang; Yinlai Jiang; Kenji Ishida; Masakatsu G. Fujie
学術書, 英語, 分担執筆, IGI Global, 出版日 2012年 - Early Detection and Rehabilitation Technologies for Dementia: Neuroscience and Biomedical Applications
K. Park; Y. Jiang; S. Y. Wang
学術書, 英語, 分担執筆, Chapter 1: Relationship between Visual Interpolation Ability and Leukoaraiosis in Healthy Subjects, IGI Global, 出版日 2011年
講演・口頭発表等
- Bionic Robotic Arm and its Human Interface to Realize Smart Prosthesis
Yinlai Jiang
口頭発表（招待・特別）, 2023 International Forum on Rehabilitaion and Assistive Robotics at the Institute of Medical Robotics, Shanghai Jiao Tong University, 招待
発表日 2023年12月 - Dynamic Label Smoothingを用いた生体信号分類のための領域汎化
陳 培基; 東郷 俊太; 横井 浩史; 姜 銀来
第41回日本ロボット学会学術講演会
発表日 2023年09月 - ギヤを用いた3自由度干渉駆動機構の開発
東 直希; 東郷 俊太; 横井 浩史; 姜 銀来
第41回日本ロボット学会学術講演会
発表日 2023年09月 - Sensorless Tension Estimation in Tendon-Driven Mechanism Using Stainless Steel Wire
Da Silva Bernardo; Neto Josef; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
第41回日本ロボット学会学術講演会
発表日 2023年09月 - 特徴空間表示機能を用いたパターン識別制御型筋電義手の訓練手法の開発
辻本 立樹; 山野井 佑介; 黒田 勇幹; 姜 銀来; 横井 浩史
第41回日本ロボット学会学術講演会
発表日 2023年09月 - 人体の関節における液体潤滑を模倣した指関節構造の開発
工藤 陸; 姜 銀来; 横井 浩史; 東郷 俊太
第41回日本ロボット学会学術講演会
発表日 2023年09月 - 人体の筋骨格構造を模倣したロボット手首および前腕の開発
小畑 承経; 姜 銀来; 横井 浩史; 東郷 俊太
第41回日本ロボット学会学術講演会
発表日 2023年09月 - 足部形状・姿勢に依存した人体模倣足部の粘弾性変化
橋本 悟; 姜 銀来; 横井 浩史; 東郷 俊太
第41回日本ロボット学会学術講演会
発表日 2023年09月 - 伸縮機構を備えたロボティック・フィンガーの開発
柿野 和真; 山野井 佑介; 東郷 俊太; 横井 浩史; 姜 銀来
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - ワイヤ干渉駆動モジュールを用いた出力重量比の高い人型ロボットアームの開発
李 文揚; Wang Yiwei; 東郷 俊太; 横井 浩史; 姜 銀来
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - 3M3D ワイヤ干渉駆動に基づくヒューマノイド腰関節の開発
Wang Yiwei; 李 文揚; 東郷 俊太; 横井 浩史; 姜 銀来
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - 未来時間を考慮した仮想軌道に基づく繰り返し制御法
梅田 佳歩; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - 合成繊維ワイヤの牽引に適したドラム同期型無限巻取り機構の開発
工藤 陸; 島田 孝太; 小畑 承経; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - 靭帯型拘束法を用いたワイヤ牽引転がり関節の設計と評価
梅澤 亮; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - ワイヤ干渉駆動機構と重力補償機構を用いた等身大ヒト型脚ロボットの開発
橋本 悟; 岡田 琉意; 小林 隼矢; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第40回日本ロボット学会学術講演会, 国内会議
発表日 2022年09月 - 上腕二頭筋の機能的電気刺激における単電極法と双電極法の比較
新井清か; 杉正夫; 横井浩史; 姜銀来
口頭発表（一般）, 日本語, LIFE 2022, 国内会議
発表日 2022年08月 - 機能的電気刺激を用いた母指の対立運動を伴う手指姿勢の発現
安田翔大郎; 姜銀来; 杉正夫; 横井浩史
口頭発表（一般）, 日本語, LIFE 2022, 国内会議
発表日 2022年08月 - 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
精密工学会学術講演会
発表日 2022年03月 - 拮抗筋構造型ロボット関節に対する仮想軌道に基づく繰り返し制御
藤井裕子; 姜銀来; 横井浩史; 東郷俊太
口頭発表（一般）, 日本語, 第39回日本ロボット学会学術講演会, 国内会議
発表日 2021年09月 - 動的安定把持実現のための電動義手用２層弾性グローブの開発
小畑 承経; 熊谷 あやね; 矢吹 佳子; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第39回日本ロボット学会学術講演会, 国内会議
発表日 2021年09月 - 多軸干渉駆動機構のためのワイヤ滑り関節機構の開発
関 美咲; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第39回日本ロボット学会学術講演会, 国内会議
発表日 2021年09月 - 筋電肩義手のための全軸干渉型ロボットアームの開発
君塚 進; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第39回日本ロボット学会学術講演会, 国内会議
発表日 2021年09月 - ワイヤ劣駆動ロボットフィンガによる薄板小物体把持のための関節トルク比と過伸展機構の検討
大谷 俊介; 姜 銀来; 東郷 俊太; 横井 浩史; 山野井 佑介
口頭発表（一般）, 日本語, 第39回日本ロボット学会学術講演会, 国内会議
発表日 2021年09月 - 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
口頭発表（一般）, 日本語, 第39回日本ロボット学会学術講演会, 国内会議
発表日 2021年09月 - 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
口頭発表（一般）, 日本語, LIFE2020-2021, 国内会議
発表日 2021年09月 - 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; 横井浩史; 姜銀来; 杉正夫
口頭発表（一般）, 日本語, LIFE2020-2021, 国内会議
発表日 2021年09月 - 頭蓋内脳波を用いたブレインマシンインターフェースによるロボットアームの３次元リアルタイム制御
藏富 壮留; Palmer Jason; 陳 鵬; 姜 銀来; 横井 浩史; 平田 雅之
第59回日本生体医工学学会大会
発表日 2021年05月 - 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
精密工学会学術講演会
発表日 2021年03月 - 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
精密工学会学術講演会
発表日 2021年03月 - 磁気センサを応用した柔軟な圧力センサの開発
島田 孝太; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第38回日本ロボット学会学術講演会, 国内会議
発表日 2020年10月 - 肩義手のための腕の手先位置のフィードバックシステムに適した振動刺激の検討
中村 優子; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第38回日本ロボット学会学術講演会, 国内会議
発表日 2020年10月 - 先天性前腕欠損者のための幼児用２自由度電動義手の開発
平井 太智; 中尾 聡一郎; 小野 祐真; 黒田 勇幹; 矢吹 佳子; 山野井 佑介; 東郷 俊太; 姜 銀来; 加藤 龍; 横井 浩史
口頭発表（一般）, 日本語, 第38回日本ロボット学会学術講演会, 国内会議
発表日 2020年10月 - 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価
中尾 聡一郎; 平井 太智; 小野 祐真; 山野井 佑介; 黒田 勇幹; 矢吹 佳子; 東郷 俊太; 姜 銀来; 加藤 龍; 高木 岳彦; 石原 正博; 横井 浩史
口頭発表（一般）, 日本語, 第38回日本ロボット学会学術講演会, 国内会議
発表日 2020年10月 - 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
精密工学会学術講演会
発表日 2020年03月 - 筋電義手の熟達度に関する研究
鎌田 舞花; 矢吹 佳子; 黒田 勇幹; 山野井 佑介; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第40回バイオメカニズム学術講演会, 国内会議
発表日 2019年12月 - ワイヤ干渉機構を用いたシリコーンハンドの開発
佐藤 文隆; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 計測自動制御学会システム・情報部門学術講演会2019 (SSI2019), 国内会議
発表日 2019年11月 - 3自由度干渉駆動関節モジュールの解析
李 文揚; 姜 銀来; 陳 鵬; 東郷 俊太; 横井 浩史
口頭発表（一般）, 日本語, 第37回日本ロボット学会学術講演会, 国内会議
発表日 2019年09月 - 多点電極式機能的電気刺激装置の開発
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
口頭発表（一般）, 日本語, 第37回日本ロボット学会学術講演会, 国内会議
発表日 2019年09月 - 全軸干渉機構における最適干渉行列の設計理論
東郷 俊太; 君塚 進; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第37回日本ロボット学会学術講演会, 国内会議
発表日 2019年09月 - 全軸ワイヤ干渉駆動機構を用いたロボットアームの開発
君塚 進; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第37回日本ロボット学会学術講演会, 国内会議
発表日 2019年09月 - 繰り返し計算に基づく仮想軌道制御の力場適応
藤井 裕子; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第13回Motor Control研究会, 国内会議
発表日 2019年08月 - 義手用装飾手袋の材質と物体把持性能に関する調査研究
矢吹 佳子; 馮 翔; 鎌田 舞花; 小畑 承経; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第35回日本義肢装具学会学術大会, 国内会議
発表日 2019年07月 - 二相性のバースト変調矩形波を用いた表面電気刺激による肘関節の発揮トルクの時間的遷移
粕谷 美里; 桑原 昂士; 東郷 俊太; 姜 銀来; 杉 正夫; 横井 浩史
ポスター発表, 日本語, 計測自動制御学会 システム・情報部門 学術講演会 2018, 国内会議
発表日 2018年11月 - 残存指を活用できる手部筋電義指システムの設計法の構築
村井 雄太; 星川 英; 矢吹 佳子; 東郷 俊太; 姜 銀来; 加藤 龍; 横井 浩史
ポスター発表, 日本語, 計測自動制御学会 システム・情報部門 学術講演会 2018, 国内会議
発表日 2018年11月 - ワイヤ駆動ロボットハンドのためのトルクリミッタ機能を有する無限巻き取り機構の開発
小畑 承経; 村井 雄太; 志村 駿; 東郷 俊太; 姜 銀来; 横井 浩史
ポスター発表, 日本語, 計測自動制御学会 システム・情報部門 学術講演会 2018, 国内会議
発表日 2018年11月 - fNIRSを用いた筋電義手使用時の脳活動に関する研究
水落 千彰; 矢吹 佳子; 東郷 俊太; 姜 銀来; 横井 浩史
ポスター発表, 日本語, ニューロリハビリシンポジウム2018, 国内会議
発表日 2018年11月 - 心電ノイズ除去による筋電肩義手の誤動作の低減
松本 一朗; 君塚 進; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第39回バイオメカニズム学術講演会, 国内会議
発表日 2018年11月 - 筋電義手に適した義手用手袋の開発
矢吹 佳子; 黒田 勇幹; 村井 雄太; 日吉 祐太郎; 叶 鶴松; 雍 旭; 景 暁バイ; 東郷 俊太; 姜 銀来; 横井 浩史
口頭発表（一般）, 日本語, 第34回日本義肢装具学会学術大会, 国内会議
発表日 2018年11月 - ワイヤ干渉駆動関節モジュールの分類と比較
李 文揚; 陳 鵬; 矢吹 佳子; 姜 銀来; 横井 浩史; 東郷 俊太
口頭発表（一般）, 日本語, 第36回日本ロボット学会学術講演会, 国内会議
発表日 2018年09月 - 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発
君塚 進; 日吉 祐太郎; 叶 鶴松; 田中 洋平; 東郷 俊太; 姜 銀来; 横井 浩史
ポスター発表, 日本語, 第36回日本ロボット学会学術講演会, 国内会議
発表日 2018年09月 - 個性に適応する幼児用筋電義手の開発と評価
矢吹 佳子; 黒田 勇幹; 村井 雄太; 日吉 祐太郎; 叶 鶴松; 雍 旭; 景 暁バイ; 東郷 俊太; 姜 銀来; 横井 浩史
ポスター発表, 日本語, 第36回日本ロボット学会学術講演会, 国内会議
発表日 2018年09月 - 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
ポスター発表, 日本語, 計測自動制御学会 システム・情報部門 学術講演会 2017, 国内会議
発表日 2017年11月 - 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
精密工学会学術講演会
共同研究・競争的資金等の研究課題
- サイボーグプラットフォームのための制御機構モジュールの設計開発と評価
横井浩史; 山野井佑介; 加藤 龍; 萩原祐介; Matuttis H; 姜 銀来; 東郷 俊太
日本学術振興会, 科学研究費助成事業 基盤研究(A), 電気通信大学, 基盤研究(A), 研究分担者, 23H00166
研究期間 2023年04月 - 2028年03月 - 義手を知的パートナーとするサイバネティック基盤の構築
姜銀来; 横井浩史; 山野井祐介
日本学術振興会, 科学研究費助成事業 基盤研究(B), 電気通信大学, 基盤研究(B), 研究代表者, 23H03785
研究期間 2023年04月 - 2027年03月 - 最適刺激位置を追従するRobotic FESの開発
立石科学技術振興財団, 研究助成
研究期間 2022年04月 - 2023年03月 - 導電性高分子を用いた感覚フィードバック付き筋電義手の開発
横井 浩史; 高木 岳彦; 東郷 俊太; 姜 銀来; 加藤 龍
日本学術振興会, 科学研究費助成事業 基盤研究(A), 電気通信大学, 基盤研究(A), 本研究は，前腕切断者用の筋電義手として，自由度の高い運動能力と感覚の代替機能の実現を目指して，指先の触圧感覚と関節角のフィードバック機構を有する5指ハンドの開発を行い，筋電制御システムを利用して，切断者の手指動作の再建の課題に挑戦する． 課題は，メカ開発とセンサグローブ開発の2項目からなる． メカ開発では，ワイヤー干渉駆動法を用いて軽量・多自由度・高出力を有する5指ロボットハンドを試作し，性能評価を通して改良し，筋電義手に適用可能な設計法を明らかにすることを目指した．2021年度においては，3名の成人前腕切断者に，試作した5指駆動型筋電義手を適用し，フィールドテストを行った．期間中3回のフィールドテスト評価では，自由度義手との性能差を，BBT（Box and Block Test）及びCarroll test等の評価試験によって比較し，有用性を評価した． 当多自由度義手は，国内2例目の筋電義手として，2022年3月31日，厚生労働省補装具完成用部品に指定された． センサグローブ開発においては，導電性シリコンを応用することにより，指先の触圧と関節角を計測し，これを振動子を用いて断端部ソケットに伝達することを目的として，開発を進めた．2020年度においては，さらに，感覚のフィードバックの方法として視覚への映像変化として情報提示を行う方法を開発し，前述の触覚と聴覚へのフィードバックとのパフォーマンス比較実験を行った．患者への触覚のフィードバック方法として申請当初はボイスコイルによる振動フィードバックを検討していたが，2021年度に再検討し，フィードバックの呈示装置として骨伝導イヤホンを採用することとし，有効性検証のため，聴覚刺激を行いながら日常生活音を聞き応答する二重課題法を行い，人の囁き声に当たる30～40dBの小さな音に応答できること，これが日常生活を阻害しないことを明らかにした．, 18H03761
研究期間 2018年04月 - 2023年03月 - 義手を身体化するための相補的なマルチモーダル生体信号の計測と解析法
姜 銀来; 横井 浩史
日本学術振興会, 科学研究費助成事業 基盤研究(C), 電気通信大学, 基盤研究(C), 失った手の機能を再建する義手を制御するため、sEMG(表面筋電図)はよく利用されている。しかし、sEMG信号の数と質は使用者の状況に制限され、高機能義手の性能を発揮するために十分な情報が得られない場合がある。本研究は、sEMG信号不足の課題を解決するため、FMG(force Myography)を導入し、sEMGとFMGを計測する単体センサの開発と、sEMGとFMGから前腕手部動作の同定法の構築を行った。FMGの導入により信号全体のロバスト性が向上し、手部動作の識別精度が著しく改善された。sEMG-FMG単体センサにより、使用者の負担を増やさずに高機能義手を安定的に制御できることが期待できる。, 19K12877
研究期間 2019年04月 - 2022年03月 - 固有覚を持つワイヤ干渉駆動関節モジュールの開発
公益財団法人 NSKメカトロニクス技術高度化財団, 研究助成, 研究代表者
研究期間 2020年03月 - 2022年02月 - 重度ALS患者介護用ロボット制御のための曖昧な意図の認識法
王 碩玉; 石田 健司; 永野 靖典; 姜 銀来
日本学術振興会, 科学研究費助成事業 挑戦的萌芽研究, 高知工科大学, 挑戦的萌芽研究, 研究分担者, 言語や文字では意図を表現できない、寝たきり障害者を介護するロボットの実現を目指して、身体や頭部の拘束もない且つ低侵襲の脳測定装置を用いて、“冷たい水が飲みたい”や“熱いからエアコンの温度設定を下げて”などのような曖昧な意図をも認識するためのFuzzy_BCI の開発を行った。具体的には生理的な曖昧な概念に対して、体性感覚野と体性感覚聨合野を測定し、室温変化とヘモグロビン濃度変化との関連性を発見した。また、局所的温度感覚と心の動きとの関係については、一次運動野や体性感覚野に近い前頭葉の計測結果と、POMS2テスト結果を比較して、有益な結果を得られた。, 16K12503
研究期間 2016年04月 - 2020年03月 - 随意独立活性に着目したヒトの多筋制御システムのモデル化と筋電肩義手制御への応用
東郷 俊太; 今水 寛; 横井 浩史; 姜 銀来
日本学術振興会, 科学研究費助成事業, 電気通信大学, 若手研究(B), 本研究では，ヒトの随意多筋制御メカニズムをモデル化するとともに，筋電肩義手制御へ応用することを目的とした．筋シナジーの概念に随意制御性を導入し，適切な指標を用いれば，随意活性可能な筋シナジーを抽出可能であることを示した．また，筋シナジーは随意筋制御の最小単位ではないことも示唆された．また，低自由度制御入力でロボットアームの腕運動を制御しなければならない筋電肩義手システムに，自由度を削減するシナジーの概念を適用することで，両肩離断者のユーザーにおいても単純な物体の把持移動動作が可能であることも示した．本研究の以上の成果は，研究代表者が提案する人間化ロボティクスの有用性を示している．, 17K17724
研究期間 2017年04月01日 - 2019年03月31日 - 福祉機器制御のための生体順応型sEMG計測法
姜 銀来; 横井 浩史
日本学術振興会, 科学研究費助成事業 基盤研究(C), 電気通信大学, 基盤研究(C), sEMG（Surface Electromyography, 表面筋電図）は皮膚表面に付けた電極で計測した筋肉の活動電位の複合である．行動意図を反映しているため，福祉機器の制御信号として研究されている．本研究は，実用性の高いsEMGの計測と解析法を開発するために，電極と計測法と多チャンネルsEMGの選択法との３つの課題に取り組んだ．まず，導電性高分子材料と導電性シリコーンゴムを用いて，柔軟で装着し易い乾式電極を開発した．次に，計測法の開発では，生体電気特性とsEMGの質との関係を明らかにした．最後に，多チャンネルの筋電計測システムを開発し，健常者と切断者の実験により有用性が検証された．, 16K01539
研究期間 2016年04月 - 2019年03月 - 導電性シリコン表皮を持つ人工ハンド
横井 浩史; 姜 銀来
日本学術振興会, 科学研究費助成事業 挑戦的萌芽研究, 電気通信大学, 挑戦的萌芽研究, 筋電義手の制御信号として皮膚表面から筋活動情報を計測するために，表面電極が必要である．本研究は，アグリゲーション性の高いカーボンブラックとシリコーンを混合することで導電性シリコーンを作成し，さらに金属製の不織布に導電性シリコーンを塗布することで，電極の材料を開発した．筋電電極は，皮膚と義手ソケットの間に用いられ，外力に影響される可能性があるため，外力の影響を定量的に調べた．センサ全体をシリコーンで覆うようにし，汗や水のある環境でも利用可能となった．さらに，義手に感覚機能を付与するために，導電性シリコーンを利用した感圧センサを開発し，義手との一体化を実現した．, 16K12951
研究期間 2016年04月 - 2019年03月 - 断片文字の認知における心理学的・神経生理学的モデルの構築および応用
姜 銀来
日本学術振興会, 科学研究費助成事業 若手研究(B), 若手研究(B), 断片的視覚情報を脳内で補い、再構成する視覚補間は、視覚認知において重要な役割を果している。本研究は、（１）視覚補間の心理学的メカニズムを解明するため、断片文字の各部分の重要さを定量的に評価し、最短距離連接モデルを構築した。また断片情報連接の傾向も調べた。（２）断片文字認知の神経生理学的メカニズムを解明するため、断片率に脳活動の変化をfMRIで測定した。（３）断片文字の認知力の簡易計測システムを開発し、断片文字の認知力と加齢および認知症の危険因子との関連性を調べて、その関連性を影響する計測条件を検討した。, 25730097
研究期間 2013年04月 - 2016年03月 - 単体多機能型自立生活支援ロボットの本質的安全技術と知能化技術の開発
王 碩玉; 井上 喜雄; 石田 健司; 片岡 万里; 藤江 正克; 江丸 貴紀; 向殿 政男; 姜 銀来
日本学術振興会, 科学研究費助成事業 基盤研究(B), 高知工科大学, 基盤研究(B), 研究分担者, 現在、様々な生活支援ロボットが開発されている。しかし、これらのほとんどは、単一機能しか持っていない機器であるため、自立生活に必要な基本的動作群（ADL）には対応できていない。また、狭い自宅に多数の単一機能型機器を備えることが困難であるとともに、使い方が統一されず煩雑である。 そこで今回の研究は、単体多機能型生活支援ロボットを提案し、具体的に①安全性保証技術、②作業意図推定法、③トータルシステムの構成法を開発することにより、下肢障害者や弱体高齢者の自立生活支援を目的とする、単体多機能型生活支援ロボットを完成させ、実環境での支援実験を行い、有用性を示す。, 24300203
研究期間 2012年04月 - 2016年03月 - 欠損文字の認知力に基づく認知症早期予防に関する研究
姜銀来
科学技術振興機構, 研究成果最適展開支援プログラム（Ａ－ＳＴＥＰ）探索タイプ
研究期間 2011年08月 - 2012年03月 - 断片的視覚情報の認知メカニズムとその神経学的基盤の解明および応用
姜 銀来
日本学術振興会, 科学研究費助成事業 若手研究(B), 高知工科大学, 若手研究(B), ヒトは、断片的な図形や文字から元の図形や文字を推理、認知できる能力を持っている。本研究では、(1)最短距離連接モデルを提案し、ヒトは断片情報の距離を基に、断片情報を認識していることが実証された。(2)完全な文字の認知に比べて、断片文字の認知の場合には、脳の両側前頭葉の活動が有意に増加することが分かった。(3)断片文字の認知力と無症候性白質病変との関連性が認められた。断片文字の認知力による認知障害の予測の可能性が示された。, 23700316
研究期間 2011年 - 2012年
産業財産権
- ワイヤ駆動装置、及びロボットハンド
特許権, 横井 浩史, 景 暁蓓, 雍 旭, 矢吹 佳子, 東郷 俊太, 姜 銀来, 特願2019-208742, 特許第7442784号, 登録日: 2024年02月26日 - ３Ｄ薄型Wrist関節機構
特許権, 横井 浩史, 矢吹 佳子, 東郷 俊太, 姜 銀来, 棚橋 一将, 山野井 佑介, 特願2019-164917, 出願日: 2019年06月10日, 国立大学法人電気通信大学，株式会社タナック, 特許第7352231号, 登録日: 2023年09月20日 - 筋電センサ及び電極部材
特許権, 横井浩史, 姜銀来, 石源康, 東郷俊太, 村井雄太, 君塚進, 特願2019-105592, 出願日: 2019年06月05日, 国立大学法人電気通信大学, 特許第7298881号, 登録日: 2023年06月19日 - マニピュレータ
特許権, 横井浩史, 姜銀来, 2018-520708, 出願日: 2017年04月19日, 特許第6928960号, 発行日: 2021年08月12日 - 変換プログラムおよび変換装置
特許権, 横井浩史, 石源康, 東郷俊太, 姜銀来, 山野井祐介, PCT/JP2021/000577, 出願日: 2021年01月08日, 国立大学法人電気通信大学 - インターフェイス部品，インターフェイス装置，および，アシスト装置
特許権, 横井浩史, 姜銀来, 矢吹佳子, 迫田辰太郎, 棚橋一成, 棚橋一将, 2015-163683, 出願日: 2015年08月21日, 特許第6792259号, 発行日: 2020年11月10日 - 変換プログラムおよび変換装置
特許権, 横井浩史, 石源康, 東郷俊太, 姜銀来, 山野井祐介, 2020-002645, 出願日: 2020年01月10日, 国立大学法人電気通信大学 - ワイヤ駆動装置
特許権, 横井 浩史, 景 暁蓓, 雍 旭, 矢吹 佳子, 東郷 俊太, 姜 銀来, 2019-208742, 出願日: 2019年11月19日, 国立大学法人電気通信大学 - グリッパ構造、人工アーム、及びグリッパ装置
特許権, 横井 浩史, 矢吹 佳子, 東郷 俊太, 姜 銀来, 2019-055195, 出願日: 2019年03月22日, 国立大学法人電気通信大学 - 機能的電気刺激システム、および機能的電気刺激方法
特許権, 上平倫太郎, 横井浩史, 姜銀来, 東郷俊太, 杉正夫, 2017-074607, 出願日: 2017年04月04日 - 信号測定装置、及び信号測定方法
特許権, 横井浩史, 姜銀来, 東郷俊太, 矢吹佳子, 村井雄太, 2017-029981, 出願日: 2017年02月21日 - マニピュレータ
特許権, 横井浩史, 姜銀来, 2016-109120, 出願日: 2016年05月31日 - モータ駆動ハンド
特許権, 横井浩史, 叶鶴松, 姜銀来, 森下壮一郎, 迫田辰太郎, 2015-165296, 出願日: 2015年08月24日