下条 誠
| 名誉教授・その他関係者 | 名誉教授 |
- プロフィール:
これまでに歯車の計測，触覚センサシステムの研究，触覚を用いたインターフェースの研究開発に関する研究に従事。現在，ロボティクス・メカトロニクス研究，特にロボットハンドと触覚センシングの研究を行っています。具体的には，視覚と触覚情報を補完する近接覚センシング，すべり覚センサの研究，これらセンサを取付けたロボットハンドの研究開発など。
研究者情報
研究分野
経歴
研究活動情報
受賞
- 受賞日 2020年10月
日本ロボット学会
小型・低摩擦アクチュエータ"MagLinkage"を用いた低衝撃・ノンストップ把持
第一回優秀研究・技術賞, 小山佳祐;下条誠;妹尾拓;石川正俊 - 受賞日 2020年05月
日本機械学会
小型・低摩擦アクチュエータMagLinkage の開発とハンド応用
ROBOMECH表彰（学術研究分野）, 小山佳祐;下条誠;妹尾拓;石川正俊 - 受賞日 2019年06月
日本機械学会
触覚機能を内包する高速・高精度近接覚センサ
ROBMEC表彰, 小山佳祐;下条誠;妹尾拓;石川正俊
国内学会・会議・シンポジウム等の賞, 日本国 - 受賞日 2016年09月
日本ロボット学会
指先に近接覚センサを備えたロボットハンドによるプリグラスプ制御
論文賞, 小山佳祐;鈴木陽介;明愛国;下条誠 - 受賞日 2016年08月
IEEE ROBIO（International Conference on Robotics and Biomimetics)
Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex
Best Paper in Biomimetics Award of IEEE ROBIO 2015, 風間英気;佐藤隆紀;宮本一郎;明愛国;下条誠 - 受賞日 2015年12月
計測自動制御学会
ネット状近接覚センサを用いた非接触型インターフェースの開発
SI2015優秀講演賞
国内学会・会議・シンポジウム等の賞, 日本国 - 受賞日 2015年08月
IEEE ICIA（International Conference on Information and Automation) 2015
Best Paper, 明愛国;佐藤圭吾;知能機械工学専攻博士前期課程修了;佐藤隆紀;知能機械工学専攻博士前期;風間英気;知能機械工学専攻博士前期;宮本一郎;知能機械工学専攻博士前期課程修了;下条誠
国際学会・会議・シンポジウム等の賞 - 受賞日 2015年01月
IEEE sensors council
Most Cited from All Time by April 2014, Shimojo, M;Namiki, A;Ishikawa, M;Makino, R;Mabuchi, K
国内外の国際的学術賞, アメリカ合衆国 - 受賞日 2014年12月
計測自動制御学会
物体形状に倣うロボットハンドの開発-近接覚センサを用いた多指ハンドとアームの協調制御によるグラスプ動作について
SI2014優秀講演賞, 小山佳祐;鈴木陽介;明愛国;下条誠
国内学会・会議・シンポジウム等の賞 - 受賞日 2014年09月
日本ロボット学会
フェロー称号
フェロー称号を授与
学会誌・学術雑誌による顕彰 - 受賞日 2014年07月
IEEE sensors council
A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method
25 MOST ACCESSED PAPER in April 2014, Shimojo, M;Namiki, A;Ishikawa, M;Makino, R;Mabuchi, K
国内外の国際的学術賞, アメリカ合衆国 - 受賞日 2013年12月
FA財団
ロボットハンド指先に付与したネット状近接覚センサ情報に基づく把持姿勢の決定
FA財団平成24・25年度「論文賞」, 鈴木健治;鈴木陽介;長谷川浩章;明愛国;石川正俊;下条誠
出版社・新聞社・財団等の賞, 日本国 - 受賞日 2013年08月
IEEE ICIA(International Conference on Information and Automation) & ICAL(International Conference on Automation and Logistics)
Best Conference Paper of ICAL 2013 - 受賞日 2012年07月
IEEE Sensors Council
25 MOST ACCESSED ARTICLES – JUNE 2012(IEEE Sensors Council) - 受賞日 2012年05月
IEEE Sensors Council
25 MOST ACCESSED ARTICLES – APRIL 2012(IEEE Sensors Council ) - 受賞日 2011年12月
計測自動制御学会
SI2011優秀講演賞 - 受賞日 2010年10月
日本機械学会
ICAM2010 Best Paper Nomination Finalist - 受賞日 2010年09月
IEEE
IEEE ICMA2010 Best Paper Nomination Finalist - 受賞日 2010年08月
計測自動制御学科
計測自動制御学会論文賞 - 受賞日 2010年03月
ファナックＦＡロボット財団
論文賞 ファナックＦＡロボット財団
日本国 - 受賞日 2010年03月
SI2009優秀講演賞 - 受賞日 2009年09月
日本バーチャルリアリティ学会
日本バーチャルリアリティ学会論文賞
日本国 - 受賞日 2009年09月
IEEE/RSJ
KAZUO TANIE AWARD((IEEE RO-MAN 2009 ) - 受賞日 2008年12月
計測自動制御学会システムインテグレーション部門
SI2008優秀講演賞 - 受賞日 2007年10月
IEEE/RSJ
The IEEE Robotics and Automation Society Award, Best Paper Finalist in IROS2007 - 受賞日 2003年09月
Excellent Paper Award (6th Japan-France Congress on Mechatronics & 4th Asia-EuropeCongresson Mechatronics) - 受賞日 2003年05月
日本機械学会ロボティクス・メカトロニクス部門 ROBOMEC表彰 - 受賞日 1997年
Best paper award (IEEE Int. Workshop on Robot and Human Communication) - 受賞日 1996年
日本機械学会ロボティクス・メカトロニクス部門 業績賞 - 受賞日 1994年
科学技術庁注目発明 - 受賞日 1990年
科学技術庁注目発明 - 受賞日 1984年
計測自動制御学会論文賞受賞 - 受賞日 1982年
科学技術庁注目発明
論文
- Development of Knee Joint Mechanism with Variable Transmission and Joint Stop for Bipedal Robot Inspired by Human Structure
Kimitake Ueki; Ryuki Sato; Aiguo Ming; Makoto Shimojo; Moncef Hammadi; Jean-Yves Choley
2020 21st International Conference on Research and Education in Mechatronics (REM), IEEE, 出版日 2020年12月09日, 査読付
研究論文（国際会議プロシーディングス）, 英語 - High-speed Hitting Grasping with Magripper, a Highly Backdrivable Gripper using Magnetic Gear and Plastic Deformation Control
Satoshi Tanaka; Keisuke Koyama; Taku Senoo; Makoto Shimojo; Masatoshi Ishikawa
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 掲載ページ 9137-9143, 出版日 2020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 - 近接覚センサを用いた多指ハンドとアームによる物体の遠隔把持
一村 リサ; 梶本 裕之; 下条 誠; 明 愛国
日本ロボット学会誌, 38巻, 8号, 掲載ページ 737-745, 出版日 2020年10月, 査読付
研究論文（学術雑誌）, 日本語 - Integrated control of a multiple-degree-of-freedom hand and arm using a reactive architecture based on high-speed proximity sensing
Keisuke Koyama; Makoto Shimojo; Aiguo Ming; Masatoshi Ishikawa
The International Journal of Robotics Research, 38巻, 14号, 掲載ページ 1717-1750, 出版日 2019年09月, 査読付, https://doi.org/10.1177/0278364919875811
研究論文（学術雑誌）, 英語 - 生物模倣型ソフト水中ロボットの研究開発 —駆動システムを内蔵した立体魚型ロボットの開発—
谷口 貴耶; 西村 冬威; Moncef Hammadi; Jean-Yves Choley; 明 愛国; 下条 誠
計測自動制御学会論文集, 55巻, 4号, 掲載ページ 252-259, 出版日 2019年04月, 査読付
研究論文（学術雑誌）, 日本語 - High-Speed, Small-Deformation Catching of Soft Objects Based on Active Vision and Proximity Sensing
Keisuke Koyama; Kenichi Murakami; Taku Senoo; Makoto Shimojo; Masatoshi Ishikawa
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 4巻, 2号, 掲載ページ 578-585, 出版日 2019年04月, 査読付
研究論文（学術雑誌） - Dynamic Intelligent Systems Based on High-Speed Vision.
Taku Senoo; Yuji Yamakawa; Shouren Huang; Keisuke Koyama; Makoto Shimojo; Yoshihiro Watanabe; Leo Miyashita; Masahiro Hirano; Tomohiro Sueishi; Masatoshi Ishikawa
J. Robotics Mechatronics, 31巻, 1号, 掲載ページ 45-56, 出版日 2019年, 査読付
研究論文（学術雑誌）, 英語 - Development of a Sensor Network System with High Sampling Rate Based on Highly Accurate Simultaneous Synchronization of Clock and Data Acquisition and Experimental Verification †.
Yuji Yamakawa; Yutaro Matsui; Akihito Noda; Masatoshi Ishikawa; Makoto Shimojo
Micromachines, 9巻, 7号, 掲載ページ 1-15, 出版日 2018年06月27日, 査読付, 国際誌, In this paper, we develop a new sensor network system with a high sampling rate (over 500 Hz) based on the simultaneous synchronization of clock and data acquisition for integrating the data obtained from various sensors. Hence, we also propose a method for the synchronization of clock and data acquisition in the sensor network system. In the proposed scheme, multiple sensor nodes including PCs are connected via Ethernet for data communication and for clock synchronization. The timing of the data acquisition of each sensor is locally controlled based on the PC's clock locally provided in the node, and the clocks are globally synchronized over the network. We construct three types of high-speed sensor network systems using the proposed method: the first one is composed of a high-speed tactile sensor node and a high-speed vision node; the second one is composed of a high-speed tactile sensor node and three acceleration sensor nodes; and the last one is composed of a high-speed tactile sensor node, two acceleration sensor nodes, and a gyro sensor node. Through experiments, we verify that the timing error between the sensor nodes for data acquisition is less than 15 μs, which is significantly smaller than the time interval of 2 ms or a shorter sampling time (less than 2 ms). We also confirm the effectiveness of the proposed method and it is expected that the system can be applied to various applications.
研究論文（学術雑誌）, 英語 - Robotic Grasping Using Proximity Sensors for Detecting both Target Object and Support Surface
Sasaki, Koichi; Koyama, Keisuke; Ming, Aiguo; Shimojo, Makoto; Plateaux, Regis; Choley, Jean-Yves
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 2925-2932, 出版日 2018年, 査読付, The robustness of the positioning and posturing of robot hands relative to target object and support surface is an important issue for autonomous grasping. For example, to perform a grasping action such as picking up thin objects from a table top, the position and posture of the hand must be controlled to keep adequate relative posture and distance to the support surface besides those between the hand and the target object. Because slight errors in the posture and position are enough to cause grasping failure, the positioning and posturing of the hand must be precise enough, specially when the hand is close to the target object and support surface. To improve the robustness of robotic grasping, in this paper we present a method by grasping control based on the relative posture and position between hand and support surface besides those between hand and target object, using proximity sensors. Proximity sensors are newly installed on fingernails besides on the fingertips. As the fingernail sensor, an integration of Time-of-Flight (TOF) sensor and photo-reflector is designed to realize long range detection, as well as with precise and high-speed detection regardless of the reflectance of support surfaces when approaching the support surface. By the sensors, the hand can approach the object and support surface coarsely first, and then can be controlled fast and precisely to realize adequate grasping motion along the support surface but without contact with the support face. The method has been implemented to a manipulator system, and successful grasping experiments have demonstrated the effectiveness of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Development of High-Performance Soft Robotic Fish by Numerical Coupling Analysis
Zhao, Wenjing; Ming, Aiguo; Shimojo, Makoto
APPLIED BIONICS AND BIOMECHANICS, HINDAWI LTD, 出版日 2018年, 査読付, To design a soft robotic fish with high performance by a biomimetic method, we are developing a soft robotic fish using piezoelectric fiber composite (PFC) as a flexible actuator. Compared with the conventional rigid robotic fish, the design and control of a soft robotic fish are difficult due to large deformation of flexible structure and complicated coupling dynamics with fluid. That is why the design and control method of soft robotic fish have not been established and they motivate us to make a further study by considering the interaction between flexible structure and surrounding fluid. In this paper, acoustic fluid-structural coupling analysis is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish in the fluid. Basic governing equations of soft robotic fish in the fluid are firstly described. The numerical coupling analysis is then carried out based on different structural parameters of soft robotic fish. Through the numerical analysis, a new soft robotic fish is finally designed, and experimental evaluation is performed. It is confirmed that the larger swimming velocity and better fishlike swimming performance are obtained from the new soft robotic fish. The new soft robotic fish is developed successfully for high performance.
研究論文（学術雑誌）, 英語 - 2足歩行安定性を向上する足裏実装型非接触センサの開発
有田輝; 米田将允; 鈴木陽介; 下条誠; 明愛国
日本ロボット学会誌, 一般社団法人 日本ロボット学会, 35巻, 9号, 掲載ページ 669-680, 出版日 2017年09月, 査読付, For bipedal robots walking on uneven terrain, lack of information about a terrain may cause serious reduction of the stability. To solve the problem, the purpose of this paper is to develop a sensor which can be mounted on robot's soles and propose methods which can increase the stability of bipedal walk with the sensor. The sensor should detect information including relative posture and relative distance between the sole of the swing leg and the floor, when the robot execute the walk by ZMP-based control. In this paper, the sensor has been designed based on Net-Structure Proximity Sensor (NSPS) and a prototype has been developed. The developed sensor is with thin structure, light weight, less wirings (four wires only) and fast response (<1[ms]). Experimental results show that the sensor can output necessary relative posture and positon between the sole and the floor for walk control. Besides, the sensor has been mounted to the soles of a hobby robot and its feasibility is shown by controlling robot so that its sole can land on a tilted floor with maximum contacting area to improve the stability.
研究論文（学術雑誌）, 日本語 - Planning of Knotting Based on Manipulation Skills with Consideration of Robot Mechanism/ Motion and Its Realization by a Robot Hand System
Yuji Yamakawa; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
SYMMETRY-BASEL, MDPI, 9巻, 9号, 掲載ページ 1-25, 出版日 2017年09月, 査読付, This paper demonstrates the relationship between the production process of a knot and manipulation skills. First, we define the description (rope intersections, grasp type and fixation positions) of a knot. Second, we clarify the characteristics of the manipulation skills from the viewpoint of the knot description. Next, in order to obtain the production process of the knot, we propose an analysis method based on the structure of the knot and the characteristics of the manipulation skills. Using the proposed analysis method, we analyzed eight kinds of knots, formed with a single rope, two ropes or a single rope and an object. Finally, in order to validate the production process obtained by the proposed analysis method, we show experimental results of an overhand knot and a half hitch produced by using a robot hand system.
研究論文（学術雑誌）, 英語 - ネット状近接覚センサを用いた非接触手探り動作による未知物体把持の研究
鈴木 陽介; 瀬戸川 将夫; 明 愛国; 下条 誠
日本ロボット学会誌, 35巻, 2号, 掲載ページ 135-142, 出版日 2017年02月, 査読付
研究論文（学術雑誌）, 日本語 - 対象物と周辺環境情報を検出可能な近接覚を備えたロボットハンドによる物体把持
佐々木 航一; 小山 佳祐; 明 愛国; 下条 誠
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2017巻, 掲載ページ 2P1-B11, 出版日 2017年,Grasping thin objects on the table is difficult because a slight angular error of the robot hand causes grasping failure. Besides, unintended contact with surface of the table causes not only grasping failure but also malfunction of the robot hand. Therefore, In the grasping, posture adaptation between hand and environment is important for successful grasping. In this paper we present a grasping method for thin object using finger pad and nail proximity sensor which can detect both object and surrounding environment. Because the nail proximity sensor is consisted of photo reflector and TOF proximity sensor, angular and distance error between the hand and the surrounding environment can be detected and corrected during approach to the object. As an experimental result, we show that the proposed method has robustness for environment and can grasp thin object on the table even if angular error exists.
日本語 - 近接覚を備えた遠隔操作型ロボットハンドにおける操作者への物体面情報の提示
一村 リサ; 小山 佳祐; 下条 誠; 明 愛国
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2017巻, 掲載ページ 2P1-B10, 出版日 2017年,We verified the effectiveness of presentation method of the object plane information by electrotactile stimulation based on proximity sensor outputs. The proximity sensor is able to obtain distance and posture information between the sensor and the object at the area near the object, and mounted on a robot fingertip. If the proximity information is transmitted to the operator, it is useful for the operator to grasp the object in teleoperation robot. Especially, we focused on posture presentation in this paper, by which operator can make the robot fingertip confront the object. The experiment all results show the possibility that the proposed method enables the operator to adjust the grasping posture.
日本語 - 近接覚センサと RC サーボモータを用いた高機能・多自由度ハンドの開発
石関 峻一; 小山 佳祐; 明 愛国; 下条 誠
ロボティクス・メカトロニクス講演会講演概要集, 一般社団法人 日本機械学会, 2017巻, 掲載ページ 2P1-B09, 出版日 2017年,In industrial field and home service field, there is required to grasp various objects with one type of a hand. Since fingertips of multi-D.O.F hand have a wide movable range, it is suitable for grasping objects with various shape and size. In our laboratory, we have developed the hand equipped with proximity sensors. And we realized a pre-grasp motion which adjusts distance and posture between the fingertip and an object without touching it. However, the hand used is expensive custom-made items, and there is problems that a controller is large and expensive. In this research, we develop a low-cost robot hand equipped with the proximity sensor. This robot hand consists of RC servo motors, which has advantages of easy maintenance, easy installation and low-cost.
日本語 - Compliance Control with Vector Decomposer Using One-Dimensional Pressure Sensor for Robotic Hand
Yu, Dacheng; Yu, Zhangguo; Chen, Xuechao; Huang, Qiang; Shi, Yongliang; Zhu, Min; Zhang, Weimin; Ming, Aiguo; Shimojo, Makoto
2017 CHINESE AUTOMATION CONGRESS (CAC), IEEE, 掲載ページ 445-450, 出版日 2017年, 査読付, Compliance control using tactile sensor for robotic hands have been one of the major research topics. Most researchers use a variety of multi-dimensional force sensors with compliance control. In this paper, we replace traditional multi-dimensional force/torque sensor with one-dimensional pressure sensor. In order to achieve the effect of multi-dimensional sensor, we also propose a vector decomposer to calculate the three-axes position error vector from one-dimensional position signal and make it works in position based impedance control. Finally, the performance of the vector decompose algorithm and compliance grasping are verified in simulation and experiment.
研究論文（国際会議プロシーディングス）, 英語 - Design and control of robot legs with bi-articular muscle-tendon complex.
Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo; Fei Meng; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu; Qiang Huang
IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 掲載ページ 2605-2610, 出版日 2017年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - ネット状近接覚センサを用いた非接触手探り動作による未知物体把持の研究
鈴木陽介; 瀬戸川将夫; 明愛国; 下条誠
日本ロボット学会誌, 35巻, 2号, 掲載ページ 49-56, 出版日 2016年, 査読付
研究論文（学術雑誌）, 日本語 - Dynamic information space based on high-speed sensor technology
Masatoshi Ishikawa; Hiroyuki Shinoda; Yoshihiro Watanabe; Idaku Ishii; Yutaka Sakaguchi; Makoto Shimojo; Yutaka Nakajima; Hirotsugu Yamamoto; Takashi Komuro; Hiromasa Oku
Human-Harmonized Information Technology, Volume 1: Vertical Impact, Springer Japan, 掲載ページ 97-136, 出版日 2016年01月01日, 査読付, The purpose of this research is to realize a dynamic information space harmonizing human perception system, recognition system, and motor system. Toward this purpose, our key technology is high-speed sensor technology and display technology focusing on vision and haptic sense which performs at the order of kHz. Based on these technologies, our information space can obtain the dynamics of humans and objects in perfect condition and displays information at high speed. As subsystems for our goal, we have newly developed four important elemental technologies including high-speed 3D vision toward insensible dynamics sensing, high-speed resistor network proximity sensor array for detecting nearby object, noncontact low-latency haptic feedback, and high-speed display of visual information for information sharing and operation in real space. Also, in order to achieve the coordinated interaction between individual humans and this information space, we have conducted the research about the human perceptual and motor functions for coordinated interaction with high-speed information environment. In addition, we have developed various application systems based on the concept of dynamic information space by integrating the subsystems.
論文集(書籍)内論文, 英語 - Integrated Control of a Multi-fingered Hand and Arm using Proximity Sensors on the Fingertips
Keisuke Koyama; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 4282-4288, 出版日 2016年, 査読付, In this study, we propose integrated control of a robotic hand and arm using only proximity sensing from the fingertips. An integrated control scheme for the fingers and for the arm enables quick control of the position and posture of the arm by placing the fingertips adjacent to the surface of an object to be grasped. The arm control scheme enables adjustments based on errors in hand position and posture that would be impossible to achieve by finger motions alone, thus allowing the fingers to grasp an object in a laterally symmetric grasp. This can prevent grasp failures such as a finger pushing the object out of the hand or knocking the object over. Proposed control of the arm and hand allowed correction of position errors on the order of several centimeters. For example, an object on a workbench that is in an uncertain positional relation with the robot, with an inexpensive optical sensor such as a Kinect, which only provides coarse image data, would be sufficient for grasping an object.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Flexible Tail for Legged Robot
Ryuki Sato; Shun Hashimoto; Aiguo Ming; Makoto Shimojo
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, IEEE, 掲載ページ 683-688, 出版日 2016年, 査読付, Some creatures can realize dynamic locomotions with a slender body by utilizing the dynamic effect by moving their whole body besides their legs. For example, some mammals moving by hopping with two legs at high speed and high efficiency have a tail as long as their body length. Their tails are composed of multi-joint and are exible. The dynamic effect by swinging their exible tails is useful for fast running and high jumping. In this paper, we develop a exible tail mechanism for two-legged robot inspired by the exibility of the animal tail. This tail is comprised of 6 linkages in series and the linkages are connected with elastic passive joints. First, the elasticity of tail joints and the motion of the tail base joint are designed by jumping simulations. To evaluate the effectiveness of the exible tail mechanism, jumping experiments have been conducted using the prototype of the two-legged robot with the exible tail as well as rigid tail. The results of these experiments show that the legged robot realized higher jumps with using the effect of swinging its exible tail.
研究論文（国際会議プロシーディングス）, 英語 - Integration of High-speed Visual and Tactile Sensors with Synchronization in a Sensor Network System
Yuji Yamakawa; Masatoshi Ishikawa; Makoto Shimojo; Akihito Noda
2016 IEEE SENSORS, IEEE, 掲載ページ 1-3, 出版日 2016年, 査読付, In this paper, we propose a data acquisition synchronization scheme for integrating 500-fps class high-speed networked visual and tactile sensors systems. In the proposed scheme, multiple sensor nodes including PCs are connected via Ethernet for data communication and for clock synchronization. The clocks of the PCs are synchronized over the network using Precision Time Protocol (PTP) with negligible errors of around a few microseconds. The trigger of each sensor is locally controlled based on the PC's clock locally provided in the node, and the clocks are globally synchronized over the network. An experimental system comprising a high-speed vision system, a high-speed tactile sensor, and two PCs was constructed, and the experimental results showed that the timing error between the sensor nodes for data acquisition was less than 15 microseconds, which is significantly smaller than the time interval of 2 milliseconds.
研究論文（国際会議プロシーディングス）, 英語 - Development of A Flexible Coupled Spine Mechanism For A Small Quadruped Robot
Ryosuke Kawasaki; Ryuki Sato; Eiki Kazama; Aiguo Ming; Makoto Shimojo
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 71-76, 出版日 2016年, 査読付, Quadruped animals realize dynamic motions such as fast running and high and long jumping with the utilization of the flexibility of their bodies. It is known that the motions of their front and rear legs couple with the flexion and extension of their spine when running or jumping. In recent years, quadruped robots inspired by cats and cheetahs have been developed. In our group, a small quadruped robot has been developed with leg mechanisms which consist of spring and damper systems inspired by bi-articular muscle-tendon complexes of animals. The robot is able to perform various motions such as walking, running and jumping. In this paper, flexibility features as in animal bodies are to be introduced to make the robot run fast and jump long (or high) by coupling the motions of their spine and legs. In our design, the flexion and extension of the spine are realized by a spine joint with a torsion spring, and the coupling to the front and rear legs has been realized by cables. Driving the scapula or hip joints causes flexion of the spine and stores the elastic energy in the spring. The extension of the spine with the spring assists in driving the scapula or hip joints. As a result, in the jump experiment, the robot with a flexible spine can realize longer jump distance than that by a robot with a rigid spine.
研究論文（国際会議プロシーディングス）, 英語 - Net-Structure Proximity Sensor: High-Speed and Free-Form Sensor With Analog Computing Circuit
Hiroaki Hasegawa; Yosuke Suzuki; Aiguo Ming; Keisuke Koyama; Masatoshi Ishikawa; Makoto Shimojo
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 20巻, 6号, 掲載ページ 3232-3241, 出版日 2015年12月, 査読付, This paper proposes a proximity sensing system, which has advantages of wide sensing area and rapid response. For the rapid and safe behavior of robots, high-speed detection of nearby and noncontact objects is important because of shorter time-to-contact. Here, we propose net-structure proximity sensor (NSPS), which covers large sensing area and fulfills 1-ms response time. NSPS is an array of infrared reflective proximity sensor elements integrated by a resistor network circuitry. Executing analog computation on the electrical circuitry, the sensing system outputs a few of meaningful signals, from the reaction distribution of all the elements. The signals mean the center position and approximate distance to the object. This sensor requires only six external wires regardless of the number of detecting elements. In this paper, we first show that various sizes of NSPS are easily configured by only using standard electronic parts. Next, we prototype NSPS with 25 elements in 5 x 5 matrix, and verify the output characteristics by experiments. At last, we discuss the availability of NSPS for robot hand systems and human-machine interface systems.
研究論文（学術雑誌）, 英語 - 指先に光学式近接覚センサを備えた多指ハンドによる同時接触での把持 （物体表面の反射率推定とセンサ出力の補正)
小山佳祐; 鈴木陽介; 明愛国; 下条誠
日本機械学会論文集, The Japan Society of Mechanical Engineers, 82巻, 833号, 掲載ページ 15-25, 出版日 2015年12月, 査読付, In grasping of a robot hand, a contact timing of each finger has a influence on grasp success. In order to eliminate the gap and grasp an object quickly, proximity sensing from the robot surface is effective way. The sensor detects the object posture and distance in a several tens of millimeters from the robot surface. It enables that the robot adjusts postures and distance between the object and fingertips along the object surface. In this paper, we demonstrate a quick grasp with contacting each finger simultaneously by proximity sensors on fingertips. In order to realize the grasp by optical proximity sensors, we introduce our reflectance estimation of the object surface and calibration of the sensor output. This approach uses only the proximity sensor output and a relative moving distance of the fingertip. It is unnecessary to add extra equipment or sensor for estimation and calibration. It is possible to achieve the grasp regardless of the reflectance of the object surface. In the experiment, we confirmed that the approach can be applied to surface with different reflection characteristics (iron plate, aluminum plate, paper: cylinder and plane ), and the hand can grasp a object with various reflectance surfaces (31.9∼76.1%) quickly with contacting each fingertip within 0.056s.
研究論文（学術雑誌）, 日本語 - 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 ― 立体魚型ソフト水中ロボットの開発 ―
西村冬威; 明 愛国; 下条 誠; Jean-Yves Choley; Moncef Hammadi
日本ロボット学会誌, 33巻, 7号, 掲載ページ 44-50, 出版日 2015年09月, 査読付
研究論文（学術雑誌）, 日本語 - 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発-立体魚型ソフト水中ロボットの開発ｰ
西村冬威; 明愛国; 下条誠
日本ロボット学会誌, 日本ロボット学会, 33巻, 7号, 掲載ページ 524-530, 出版日 2015年09月01日, 査読付, Mimetic soft underwater robots using PFC are being developed by author's group. High speed and efficiency motions have been realized by the developed robots up to now. However, the robots are with simple shape of flat plate. To realize stream-line shape and embedding electric components inside the robots, it is necessary to prepare interior space inside the robots. For this purpose, this paper proposed basic structure, and the design approach for 3-dimensional fish-like soft underwater robots. And we confirmed the validity for propulsion performance improvement by experiments using developed prototype designed by the proposed method.
研究論文（学術雑誌）, 日本語 - 指先に近接覚センサを備えたロボットハンドによるプリグラスプ制御
小山佳祐; 鈴木陽介; 明愛国; 下条誠
日本ロボット学会誌, 日本ロボット学会, 33巻, 9号, 掲載ページ 712-722, 出版日 2015年09月, 査読付, 論文賞
研究論文（学術雑誌）, 日本語 - Super-Low-Latency Telemanipulation Using High-Speed Vision and High-Speed Multifingered Robot Hand
Yugo Katsuki; Yuji Yamakawa; Yoshihiro Watanabe; Masatoshi Ishikawa; Makoto Shimojo
ACM/IEEE International Conference on Human-Robot Interaction, IEEE Computer Society, 02-05-巻, 掲載ページ 45-46, 出版日 2015年03月02日, 査読付, We developed a super-low-latency telemanipulation system using a high-speed vision system and a high-speed robot hand with a high-speed tactile sensor. This system does not require users to wear sensors. Also, since it has latency lower than the sampling rate of visual recognition by humans, the latency is not recognizable by humans. Low-latency telemanipulation systems are needed to perform tasks that require high speed, such as catching falling objects or fast-moving objects. We evaluated the latency of our telemanipulation system and successfully demonstrated catching of falling objects using our system, in contrast to a conventional vision system operating at 30 fps, which failed the task.
研究論文（国際会議プロシーディングス）, 英語 - High-speed Sensing of Softness during Grasping Process by Robot Hand Equipped with Tactile Sensor
Yugo Katsuki; Yuji Yamakawa; Masatoshi Ishikawa; Makoto Shimojo
2015 IEEE SENSORS, IEEE, 掲載ページ 1693-1696, 出版日 2015年, 査読付, We developed a high-speed telemanipulation system using a high-speed vision system and a high-speed robot hand equipped with a high-speed tactile sensor. This system does not require users to wear sensors. Also, since it has a latency lower than the sampling rate of human visual recognition, the latency is not recognizable by humans. Low-latency telemanipulation systems are needed to perform tasks that require high speed, such as catching falling objects or fast-moving objects. In a telemanipulation system, sensory (visual and tactile) feedback for the user is important to operate the system efficiently. In particular this paper focuses on the measurement of the softness characteristics of the object to be manipulated. We propose a new method of distinguishing target objects at high-speed based on softness information using a high-speed robot hand equipped with a high-speed tactile sensor.
研究論文（国際会議プロシーディングス）, 英語 - Development of A Small Quadruped Robot with Bi-articular Muscle-tendon Complex
Eiki Kazama; Ryuki Sato; Ichiro Miyamoto; Aiguo Ming; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 1059-1064, 出版日 2015年, 査読付, Hydraulic and pneumatic actuators are used as actuators of robots. They have large capabilities of instantaneous output, but with problems of increase in size and mass, and difficulty for precise control. In contrast, electromagnetic motors have better controllability, lower cost, and smaller size. However, in order to actuate robots, they are usually used with reducers which have high reduction ratio, and it is difficult to realize creature-like dynamic motions such as fast running and high jumping, due to low backdrivability of joints. To solve the problem, we have developed leg mechanisms, which consist of a spring and a damper inspired by bi-articular muscle-tendon complex of animals. The final target is to develop a quadruped robot which can walk, run fast and jump highly like a cat. A cat mainly uses its hind legs in jumping and front legs in landing. It implies that the hind legs play an important role in jumping, and that the front legs do in landing. For this reason, it is necessary to design different leg structures for front and hind legs. In this paper, we develop a new front leg mechanism suitable to a hind leg mechanism which was already made by our group, and make a small quadruped robot. As the result of experiments for dynamic motions, stable running trot at a speed of 3.5 kilometers per hour and forward jumping of 1 body length per jump have been realized by the robot.
研究論文（国際会議プロシーディングス）, 英語 - Grasping Strategy for Moving Object using Net-Structure Proximity Sensor and Vision Sensor
Yosuke Suzuki; Keisuke Koyama; Aiguo Ming; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE COMPUTER SOC, 掲載ページ 1403-1409, 出版日 2015年, 査読付, This study presents a robot-hand-arm system with high robustness and responsiveness by using a "Net-Structure Proximity Sensor." The sensor, which we have developed and specially designed for a robot hand, directly detects an object being to be grasped and outputs analog voltage signals according to the position/posture error between the robot hand and the object. It has been confirmed that the robot hand is able to quickly adjust to and grasp an unknown object by applying a feed-back control method based on the sensor signals. This paper focuses on the integration of the proximity-based feedback control to a commonly-used vision-based control. These sensors work in complementary manner: a vision sensor is available for planning an approaching path of a robot hand by detecting large area, and a Net-Structure Proximity Sensor enables the robot hand to adjust the approaching error before grasping and to improve the certainty of the grasping. Two objective velocities are derived independently by the sensors. By adding the velocities with considering the reliability of the sensor information, the robot hand becomes to be able to perform approaching and adjustment to the target object simultaneously. Experimental results showed that the robot hand grasped a moving object with high success rate even in conditions where it was difficult to predict the trajectory of the object accurately.
研究論文（国際会議プロシーディングス）, 英語 - Development of Leg Mechanism Using a Knee Joint with Continuously Variable Reduction Ratio Adaptive to Load
Takuma Uchida; Ryuki Sato; Aiguo Ming; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, IEEE, 掲載ページ 1199-1203, 出版日 2015年, 査読付, The realization of human-like dynamic motions by bipedal robots is still a challenge. One reason for this is that joints of bipedal robots are actuated with low backdrivability. In this paper, to improve backdrivability of the joints in a bipedal robot, a new mechanism of knee joint with continuously variable reduction ratio adaptive to load is proposed and a control method is also proposed according to the characteristic of the mechanism. A prototype of the bipedal robot using the designed knee joint with continuously variable reduction ratio adaptive to load has been developed. The effectiveness of the mechanism is shown by experimental results using the prototype.
研究論文（国際会議プロシーディングス）, 英語 - Development of Robot Leg Composed of Parallel Linkage and Elastic Spring for Dynamic Locomotion
Aiguo Ming; Keigo Sato; Ryuki Sato; Eiki Kazama; Ichiro Miyamoto; Makoto Shimojo
2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, IEEE, 掲載ページ 38-43, 出版日 2015年, 査読付, Musculoskeletal structures in many animals are flexible, which are very important to achieve dynamic locomotion such as running and jumping. For this reason, in recent research of robotics, elastic element is introduced in robot structure in order to improve dynamic performance of robots. In this paper, we propose a robot leg composed of parallel linkage and elastic tension spring. A prototype of the leg has been developed and it is evaluated by jumping simulations and experiments. As results of the experiments, higher and more efficient jumping is realized by the proposed leg comparing to the leg without elastic spring.
研究論文（国際会議プロシーディングス）, 英語 - Development of Robot Legs Inspired by Bi-articular Muscle-tendon Complex of Cats
Ryuki Sato; Ichiro Miyamoto; Keigo Sato; Aiguo Ming; Makoto Shimojo
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 1552-1557, 出版日 2015年, 査読付, Within the limbs of typical animals, there exist bi-articular muscles crossing two joints. It is known that the bi-articular muscles of the felid play an important role in the locomotion. Also the muscle-tendon complex, composed of the gastrocnemius muscle and the Achilles' tendon that cross the knee joint and the ankle joint contributes much to the movements such as running and jumping particularly. Besides, because the muscle-tendon complex has the function for absorbing shocking, it is utilized for soft landing from high places. To achieve high performance for jumping and landing motion like cats, we are developing robot legs inspired by the bi-articular muscle-tendon complex of cats. The leg consists of hip, knee and ankle joints. For the knee and ankle joints, a four-bar linkage mechanism with one elastic linkage, in which the knee joint is driven by an electric rotary motor and the ankle joint is passive, is applied. By this mechanism, basic functions of the bi-articular muscle-tendon complex of felids like cats can be realized and the performance for jumping and landing can be improved. In this paper, the new leg mechanism is described. Moreover, a prototype of a pair of the hind legs of the quadruped robot using the new mechanism has been developed. The results of jumping and landing experiments are shown to validate the effectiveness of the mechanism.
研究論文（国際会議プロシーディングス）, 英語 - Grasping Control Based on Time-To-Contact Method for a Robot Hand Equipped with Proximity Sensors on Fingertips
Keisuke Koyama; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo
ラスト(シニア)オーサー, 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 504-510, 出版日 2015年, 査読付, Quick motion and soft touch control are important for autonomous grasping. To perform a grasping action, a hand must adjust its fingertips to match the object shape. It is also necessary to reduce the fingertip velocity on contact with the object. We propose a method of fingertip velocity control for fast approach and slow contact using proximity sensors installed on fingertips. The proposed control reduces the fingertip velocity at contact, decreasing the change of impulse force and thus making it appropriate for grasping soft or fragile objects. The proposed control uses time-to-contact (TTC), which is converted from sensor output. It is known that many animals, including humans, use TTC for collision avoidance. TTC represents the remaining time until collision considering the rate change of a control variable. We carried out grasping tests on various common objects using TTC. Experimental results show that the proposed control realizes fingertip alignment perpendicular to unknown shapes and surface objects and lowers the velocity at contact.
研究論文（国際会議プロシーディングス）, 英語 - Fluid-Structure Interaction Analysis of a Soft Robotic Fish Using Piezoelectric Fiber Composite
Wenjing Zhao; Aiguo Ming; Makoto Shimojo; Yohei Inoue; Hiroshi Maekawa
Journal of Robotics and Mechatronics, 26巻, 5号, 掲載ページ 638-648, 出版日 2014年05月, 査読付
研究論文（学術雑誌）, 英語 - Development of a Sea Snake-like Underwater Robot
Aiguo Ming; Takahiro Ichikawa; Wenjing Zhao; Makoto Shimojo
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 掲載ページ 761-766, 出版日 2014年, 査読付, Developing soft fish robots by biomimetic approach is a useful way to achieve high efficiency, high performance and fish-like motions. Comparing to the conventional rigid fish robots, the design and control of soft fish robots are difficult, because the coupling between the flexible structure and fluid should be considered. But the coupling problem is very difficult to be solved due to large deformation and complicated dynamics. This is main reason why the design method for soft fish robots has not been established while many trial developments of soft fish robots have been done up to now. It motivates us to realize the design and control of soft fish robots based on the analytical simulation, by considering the coupling between flexible structure and fluid. In this paper, development of a sea snake-like underwater robot using piezoelectric fiber composite is described. First, the propulsion mechanism of sea snakes is discussed to provide hints for design and control of soft sea snake-like underwater robots. Next, a sea snake-like underwater robot is designed based on the modal analysis of the robots structure in the fluid and a prototype is made. Finally, the performance of the prototype is investigated by experiments.
研究論文（国際会議プロシーディングス）, 英語 - Dynamic Analysis and Optimization of Soft Robotic Fish Using Fluid-Structural Coupling Method
Wenjing Zhao; Aiguo Ming; Makoto Shimojo
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 1474-1479, 出版日 2014年, 査読付, Aiming to design a soft robotic fish with more natural, more flexible and high-performance movements through biomimetic method, we are developing a soft robotic fish with body/caudal fin (BCF) propulsion by using piezoelectric fiber composite (PFC) as actuator. Compared with conventional rigid robotic fish, the design and control of the soft robotic fish are difficult and hard to reveal its dynamic performances due to the large deformation of flexible structure and complicated coupling dynamics with fluid. That's why the design and control method of the soft robotic fish has not been established, and we need to study it by considering the interaction between flexible structure and fluid. In this paper, fluid-structural coupling analysis based on acoustics method is applied to consider the fluid effect and predict the dynamic responses of soft robotic fish using PFC in fluid. Basic driving and governing equations of soft robotic fish in the fluid are firstly described. Then the numerical acoustics coupling analysis is performed. The calculated results are congruent well with experiments on dynamic responses. Finally, based on this coupling method, a new prototype of soft robotic fish is proposed by optimization for improvement.
研究論文（国際会議プロシーディングス）, 英語 - Development of a Novel Leg Mechanism in the Shape of Backward Convex with a Mechanical Joint Stop for bipedal robot
Aiguo Ming; Toshinori Tahata; Kimitake Ueki; Makoto Shimojo
2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014), IEEE, 掲載ページ 107-112, 出版日 2014年, 査読付, The realization of natural, fast and versatile motions for bipedal robots is still a challenge topic. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is necessary. In this paper, a novel mechanism of leg in the shape of backward convex with a mechanical joint stop is proposed to reduce the necessary torque by the actuator in knee joint and then to improve the actuation capability of knee joint and reduce the consuming energy by the actuator while by a light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Development of an Entertainment Robot System using Kinect
Aiguo Ming; Kazuya Enomoto; Mizuki Shinozaki; Ryuki Sato; Makoto Shimojo
2014 10TH FRANCE-JAPAN/ 8TH EUROPE-ASIA CONGRESS ON MECATRONICS (MECATRONICS), IEEE, 掲載ページ 127-132, 出版日 2014年, 査読付, As one of home services by a mobile manipulator system, we are aiming at the realization of the assist for elderly people. The purpose of this work is to develop a robot system that provides mental support for elderly people as one part of the home services. We have developed a rock-paper-scissors-Atchimuitehoi gaming system as entertainment robot system by using Kinect v2 as human robot interface. In this paper, the configuration of the developed system is described. And the basic algorithms for recognition of human action as well as voice are proposed and implemented. Finally the feasibility of the system is shown by the experimental results using the developed prototype.
研究論文（国際会議プロシーディングス）, 英語 - ロボットハンドの構造・運動を考慮した操りスキルの統合に基づく結び目の生成計画
山川雄司; 並木明夫; 石川正俊; 下条誠
日本ロボット学会誌, The Robotics Society of Japan, 31巻, 3号, 掲載ページ 283-291, 出版日 2013年03月, 査読付, This paper demonstrates the relationship between the production process of a knot and robot hand skills. First, we define the descriptions (rope intersection and fixed position) of a knot. Next, the characteristics of the robot hand skills are clarified from viewpoint of the description of the knot. Then, in order to obtain the production process of knot, we propose an analysis method based on the structure of knot and the characteristics of the robot hand skills. And, we analyze various knots using the proposed analysis method. Finally, in order to validate the production process obtained by the proposed analysis method, an experimental result of half hitch is shown by using a high-speed multifingered hand system.
研究論文（学術雑誌）, 日本語 - Mechanism of linear load-sensitive continuously variable transmission with spherical driving unit
Kenjiro Tadakuma; Riichiro Tadakuma; Kazuki Terada; Aiguo Ming; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 25巻, 6号, 掲載ページ 1079-1087, 出版日 2013年, 査読付, This paper describes a linear load-sensitive continuously variable transmission (CVT) with a spherical driving unit. This CVTmechanismconsists of a spherical drive, drive axis, motor housing, fixed bracket, and a linear sliding plate. It continuously changes the reduction ratio by changing the inclination angle of the active rotational axis. Additionally, this linear mechanism ensures load-sensitive functioning by changing the inclination of the active rotational axis in response to the load. We have developed a linear load-sensitive CVT and confirmed the effectiveness of the proposed mechanism.
研究論文（学術雑誌）, 英語 - Performance Improvement for Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot
Aiguo Ming; Kazuya Ogura; Makoto Shimojo
2013 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), IEEE, 掲載ページ 350-355, 出版日 2013年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize safe assist by real time feedback control based on the fused information from a high speed tactile sensor and a 3D range camera. The algorithm for posture estimation of human using a 3D range camera and initial experimental results have been reported in our previous paper. This paper describes the improvement on the estimation method to realize stable and accurate detection. The experimental results show the effectiveness of the improved method for posture estimation for standing-up motion.
研究論文（国際会議プロシーディングス）, 英語 - Basic study of touchless human interface using net structure proximity sensors
Ichiro Miyamoto; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 25巻, 3号, 掲載ページ 553-558, 出版日 2013年, 査読付, In this paper, we examine the touchless human interface using proximity sensors array. Touchless human interfaces, including Microsoft's Kinect, are being studied intensively. We have developed Registor Network-Structure Proximity Sensor featuring a highspeed response, touchless operation, and freely determined arrangement. It is thought that intuitive input is possible by using a human interface with highspeed response proximity sensors. We simulated interface sensor output and examined the possibility to distinguish gestures performed using sensors in experiments.
研究論文（学術雑誌）, 英語 - Fundamental Analysis for Design and Control of Soft Fish Robots using Piezoelectric Fiber Composite
Aiguo Ming; Kazunori Hashimoto; Wenjing Zhao; Makoto Shimojo
2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), IEEE, 掲載ページ 219-224, 出版日 2013年, 査読付, Developing fish robots by biomimetic approach is a useful way to achieve more efficient, high-performance and fish-like motions. And it is very important to make the fish robots as soft as fishes. For this purpose, we are developing soft fish robots using flexible piezoelectric fiber composite (PFC) as actuators together with soft body structure. Comparing to the conventional rigid fish robot, the design and control of soft fish robots are difficult, because the coupling between the flexible continuum and fluid should be considered, which is very difficult to be solved due to large deformation and complicated dynamics. This is main reason why the design method for soft fish robots has not been established while many trial developments of soft fish robots have been done up to now. It motivates us to challenge the design and control problem of soft fish robots based on the analytical simulation with considering the coupling between flexible structure and fluid. In this paper, fundamental analysis for the design and control of soft fish robots using PFC is described. First, modeling of driving from input voltage of PFC to the displacement output of robot in the air is established and improved by comparing experimental results with simulation results. Next the method for structural design of fish robot is performed by modal analysis in the fluid. Finally, a new design of fish robot by the method is shown.
研究論文（国際会議プロシーディングス）, 英語 - Experimental discussion of occurrence of high-frequency component on slip sensor output using pressure conductive rubber
Yosuke Suzuki; Seiichi Teshigawara; Mitsuhiro Chiba; Takumi Shimada; Aiguo Ming; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 25巻, 2号, 掲載ページ 316-323, 出版日 2013年, 査読付, We have presented a slip sensor that uses pressure-conductive rubber to detect initial slip, but have not revealed the principle of high-frequency wave occurrence that is used by this detection. The wave-occurrence principle should be clarified in optimized slip sensor design, especially the properties of pressure-conductive rubber and the detector shape and for reducing individual differences in detection characteristics of the slip sensor. This paper discusses the wave-occurrence principle through a series of experiments and shows that localized fixing and peeling between pressure-conductive rubber and electrodes in the slip sensor configuration have important relation to the principle.
研究論文（学術雑誌）, 英語 - Robust robotic grasping using IR Net-Structure Proximity Sensor to handle objects with unknown position and attitude
Sha Ye; Kenji Suzuki; Yosuke Suzuki; Masatoshi Ishikawa; Makoto Shimojo
ラスト(シニア)オーサー, Proceedings - IEEE International Conference on Robotics and Automation, 掲載ページ 3271-3278, 出版日 2013年, 査読付, In this paper, we focus on unknown parameters such as the position and attitude of the object, and describe a short-range, high-speed and noncontact sensing method for obtaining the position and attitude of the object using IR Net-Structure Proximity Sensor ('IR-NSPS') which complements the dead region of sensory information between visual and tactile sensing. To be more precise, we propose two effective control methods which are pre-shaping and object positioning using IR-NSPS for robust grasping by adjusting the gripper configuration in response to attitude error of up to ±45 deg and the position error of up to ±80 mm of the unknown object. The methods therefore can significantly increase the speed and effectiveness of grasping objects without requiring a specific approach that depends on a vision sensor. Furthermore, to demonstrate the advantages of pre-shaping and object positioning, object grasping experiments were performed using these two operations to grasp objects placed randomly on a tabletop. © 2013 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Hemispherical Net-structure Proximity Sensor Detecting Azimuth and Elevation for Guide Dog Robot
Hikaru Arita; Yosuke Suzuki; Hironori Ogawa; Kazuteru Tobita; Makoto Shimojo
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 掲載ページ 653-658, 出版日 2013年, 査読付, We have developed a net-structure proximity sensor that detects the azimuth and elevation to a nearby object. This information can be used by robots to avoid obstacles or to respond to human behavior. We propose detection principles where the azimuth is detected by arranging two one-dimensional net-structure proximity sensors along orthogonal axes, and the elevation is detected by arranging two one-dimensional net-structure proximity sensors in a stacked ring. We also experimentally demonstrate the feasibility of these detection principles. The experimental result shows the sensor can detect azimuth at all peripheral angles and elevation from side to top up.
研究論文（国際会議プロシーディングス）, 英語 - Pre-shaping for various objects by the robot hand equipped with resistor network structure proximity sensors
Keisuke Koyama; Hiroaki Hasegawa; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo
ラスト(シニア)オーサー, IEEE International Conference on Intelligent Robots and Systems, 掲載ページ 4027-4033, 出版日 2013年, 査読付, In this paper, we demonstrate a preliminary motion before grasping by a robot hand, for adjusting the object-fingertip distance and 2-axis postures simultaneously, using a Resistor Network Structure Proximity sensor (RNSP sensor). Through this motion (called 'pre-shaping') and the grasping of an object, the surface of each fingertip is brought into contact with the object surface so that in the next stage grasping can be undertaken. In the next stage, a force can be applied from the fingertips onto the object surface directly. The pre-shaping enhances the reliability of the feedback control for the after-contact tactile sensors. To realize the pre-shaping, we use fingertips equipped with RNSP sensors, which can detect the distance between the fingertip and the object, to determine the relative position between fingertips and an object. The RNSP sensor has a fast response (<
1 [ms]) and simple connectivity (only 6 wires), and can be mounted easily. Additionally, a characteristics of the RNSP sensor output can be designed by the arrangement of the sensor elements. To perform the pre-shaping by simple sensor feedback control based on the configuration between the fingertip and object, we designed the RNSP sensor so that it had the appropriate characteristics for the pre-shaping. © 2013 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of Leg Mechanism Using a Knee Joint with Variable Reduction Ratio Adaptive to Load
Aiguo Ming; Syunpei Nozawa; Ryuki Sato; Zhangguo Yu; Makoto Shimojo
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 掲載ページ 1574-1579, 出版日 2013年, 査読付, The realization of natural, fast and versatile motions for bipedal robots is still a challenge. As one approach to enhance the performance of bipedal robots, actuation with high backdrivability, high power-to-weight ratio as well as high torque is required. In this paper, a new mechanism of knee joint with variable reduction ratio adaptive to load is proposed to improve the capability of actuation while in light structure. The design method including simulation for the mechanism is described. A prototype of the leg robot has been developed and the basic feasibility of the mechanism is shown by experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Basic study of touchless human interface using net structure proximity sensors
Ichiro Miyamoto; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
Journal of Robotics and Mechatronics, Fuji Technology Press, 25巻, 3号, 掲載ページ 553-558, 出版日 2013年, 査読付, In this paper, we examine the touchless human interface using proximity sensors array. Touchless human interfaces, including Microsoft's Kinect, are being studied intensively. We have developed Registor Network-Structure Proximity Sensor featuring a highspeed response, touchless operation, and freely determined arrangement. It is thought that intuitive input is possible by using a human interface with highspeed response proximity sensors. We simulated interface sensor output and examined the possibility to distinguish gestures performed using sensors in experiments.
研究論文（学術雑誌）, 英語 - ロボットハンド指先に付与したネット状近接覚センサ情報に基づく把持姿勢の決定
鈴木健治; 鈴木陽介; 長谷川浩章; 明愛国; 石川正俊; 下条誠
計測自動制御学会論文集, 48巻, 4号, 掲載ページ 232ー240, 出版日 2012年05月, 査読付
研究論文（学術雑誌）, 日本語 - Motion planning of a golf swing robot
Chunquan Xu; Zhizhen Yang; Aiguo Ming; Makoto Shimojo
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 22巻, 1号, 掲載ページ 13-23, 出版日 2012年02月, 査読付, We report our studies of a new motion planning method for a two-link golf swing robot. We introduce two fundamental properties of manipulator dynamics: the time-reversal symmetry property and the pendulum property. The former is used to reverse the rest-to-point pre-impact swing (backswing and downswing) into a symmetric point-to-rest swing in time, and the latter is used to design a proportional-derivative plus gravity, joint and coupling torque compensation control algorithm to plan the reversed pre-impact swing and the point-to-rest follow-through swing. By using this method, accurate impact position and hitting speed control of the golf swing and low computational cost are achieved. The introduced properties hold true for general multi-revolute-joint planar manipulators and the proposed motion planning algorithm can be implemented on them too. (C) 2011 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - 歯車測定機の精度向上に関する研究（第1報）:測定力変化の影響
田口 哲也; 新竹 純; 明 愛国; 下条 誠
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, 2012巻, 掲載ページ 931-932, 出版日 2012年, 近年，高精度な歯車の要求に伴い，その品質を評価する歯車測定機の高精度化に取り組んできた．その計測値を保証するシステムも確立されつつあり，更に精度を向上させるために検出器の特性を改善させる必要性が明確になった．本論文では単純形状基準器を用いて大きな変位が生じる場合の誤差要因を分析し，その影響を小さくするために測定力を一定にする制御方法について検証し，その有効性を確認できた．
日本語 - High speed and high sensitivity slip sensor for dexterous grasping
Seiichi Teshigawara; Takahiro Tsutsumi; Yosuke Suzuki; Makoto Shimojo
ラスト(シニア)オーサー, Journal of Robotics and Mechatronics, Fuji Technology Press, 24巻, 2号, 掲載ページ 298-310, 出版日 2012年, 査読付, Slip-detecting tactile sensors are essential if robot hands are ever to achieve the gripping motions of human hands. In our previous research, we developed a flexible, thin, and lightweight slip sensor that exploits resistance changes in pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and changes in normal force. Therefore, in this research, we investigate a method of identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we find that high-frequency components of several kilohertz or more are included in the complex voltage signal immediately before object slip. Therefore, using this high-frequency component, we develop a simple structure sensor that distinguishes between both contact and a state of immediately before slip with high sensitivity. Moreover, we design a slip sensor for a robot hand and examine the effects of noise by manipulation. Finally, we describe an experiment involving the adjustment of the gripping force of a robot hand.
研究論文（学術雑誌）, 英語 - A Unified Framework for Virtual Passive Bipedal Gait Generation
C. Xu; A. Ming; M. Shimojo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 3141-3146, 出版日 2012年, 査読付, It is well known a fine tuned unpowered biped machine can passively walk down a gentle slope. The in-depth understanding of the passivity is helpful to design more efficient bipedal gaits. In this paper, we investigate the principle mechanism of passive dynamic walking and propose a unified framework for virtual passive bipedal gait generation. The framework shows the physical system's kinetic energy varies inversely proportional to the imitated virtual system's potential energy. Based on this property we propose a kinetic energy tracking control law to realize virtual passive dynamic walking on any slopes in any virtual gravity fields. Numerical simulations are given to support our proposal.
研究論文（国際会議プロシーディングス）, 英語 - Development of flapping robots using piezoelectric fiber composites - Improvement of flapping mechanism inspired from insects with indirect flight muscle
Aiguo Ming; Natchapon Luekiatphaisan; Makoto Shimojo
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, 掲載ページ 1880-1885, 出版日 2012年, 査読付, Recently, many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy-harvesting fibers and sensing fibers can be embedded in the structure and it makes flapping robots with compact and light structure. This paper proposes a new flapping mechanism for the flapping robots using piezoelectric fiber composites to improve the performance of the robot developed in our previous work, which is inspired from insects with indirect flight muscle. A prototype of flapping robot using the new flapping mechanism has been made and experimental results show the improvement of the performance. © 2012 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Structural Design and Dynamic Analysis of Robotic Fish with Piezoelectric Fiber Composite
Wenjing Zhao; Aiguo Ming; Makoto Shimojo; Jun Shintake
MECATRONICS REM 2012, IEEE, 掲載ページ 161-168, 出版日 2012年, 査読付, Robotic fishes using artificial muscle as actuators have been described recently. The purpose of this work is to develop a flexible robotic fish using the piezoelectric fiber composite (PFC). To achieve the good flexibility and mobility of the robotic fish, we proposed a simple and compact structure. The load simulation method of piezoelectric actuator was employed to improve the fish's movement performance and swimming efficiency. By the analysis of the driving characteristics of the PFC, the robot structure with symmetrical distribution was designed based on the caudal fin propulsion mode. This structure was verified reasonable in the theoretical and simulation method. The dynamic characteristics of this underwater robot were both analyzed through the experiments and numerical analysis of Finite Element Method (FEM). The calculated results were congruent well with the experiment measurements of the prototype. Relatively high swimming speed was achieved during the experimental tests for a prototype. This indicated the numerical methods can be applied in the structural optimization and dynamic analysis of the robotic fish. More information will be available for the fluid-structure interaction analysis in future.
研究論文（国際会議プロシーディングス）, 英語 - Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot
Natsumi Tsukada; Kazuya Ogura; Aiguo Ming; Makoto Shimojo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), IEEE, 掲載ページ 968-973, 出版日 2012年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor and a 3D range camera. This paper describes the posture estimation of human using a 3D range camera. A method for posture estimation from the 3D range data is proposed. The method is implemented and experimental results show the availability of the 3D range camera for posture estimation.
研究論文（国際会議プロシーディングス）, 英語 - Posture Estimation using a 3D Range Camera for Standing-Up Motion Assist Robot
Natsumi Tsukada; Kazuya Ogura; Aiguo Ming; Makoto Shimojo
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), IEEE, 掲載ページ 350-355, 出版日 2012年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor and a 3D range camera. This paper describes the posture estimation of human using a 3D range camera. A method for posture estimation from the 3D range data is proposed. The method is implemented and experimental results show the availability of the 3D range camera for posture estimation.
研究論文（国際会議プロシーディングス）, 英語 - Small-sized and Lightweight Slip Detection Sensor System for Prosthetic Hand
Seiichi Teshigawara; Satoru Shimizu; Daisuke Yamagishi; Yosuke Suzuki; Hiroshi Yokoi; Makoto Shimojo
15th International Conference on Mechatronics Technology (ICMT2011), 出版日 2011年11月, 査読付, BEST STUDENT PAPER AWARD
研究論文（国際会議プロシーディングス）, 英語 - 全方位検出・高速応答可能なネット状近接覚センサの開発
寺田一貴; 鈴木陽介; 長谷川浩章; 曽根聡史; 明愛国; 石川正俊; 下条誠
日本ロボット学会誌, 29巻, 8号, 掲載ページ 683-693, 出版日 2011年10月, 査読付
研究論文（学術雑誌）, 日本語 - 全方向包み込み式なじみグリッパ機構“Omni-Gripper”の研究 ― Hot-Ice現象を活用した液・固相変化式 把持メカニズム ―
多田隈建二郎; 田中大貴; 寺田一貴; 大石千種; 長谷川浩章; 勅使河原誠一; 明愛国; 下条誠; 高山俊男; 小俣透; 東森充; 金子真
第16回 ロボティクスシンポジア, 出版日 2011年03月14日, 査読付
研究論文（その他学術会議資料等）, 日本語 - 超高精度歯車測定機の開発－直接駆動方式実験機の試作とその基本性能確認-
田口哲也; 明愛国; 下条誠; 金森哉吏; 梶谷誠; 竹田龍平
精密工学会誌, 公益社団法人 精密工学会, 77巻, 3号, 掲載ページ 327-332, 出版日 2011年03月, 査読付, The quality of gears is classified according to deviations measured by a gear measuring machine by ISO 1328-1, and recently a system to evaluate gear measuring machines is to be established with the requirements of high precision gears. The purpose of our research is to develop an ultrahigh precision gear measuring machine with small uncertainty of measured values and repeatability less than 1 micro meter. To reduce the transmission errors caused by the mechanism in conventional gear measuring machines, the experimental instrument consisting of two direct drive axes, linear axis and rotary axis, has been developed and its performance has been verified by authors. The mechanism, control and fundamental performance of the experimental instrument are described in this paper.
研究論文（学術雑誌）, 日本語 - Development of high precision gear measuring machine
Tetsuya Taguchi; Aiguo Ming; Makoto Shimojo
International Journal of Mechatronics and Automation, 1巻, 3-4号, 掲載ページ 181-189, 出版日 2011年, 査読付, The high precision gears are strongly required for advanced motion and power transmission. And the improved evaluation technology for the precision gears is becoming indispensable. Moreover, the reliability of the measured value became important when the accuracy of the gear becomes high, and the establishment of the traceability system has been needed. For the establishment of the traceability system, the higher precision gear measuring machine (GMM) with lower uncertainty is expected to contribute to improve gear calibration uncertainty. For the purpose, a new concept of the high precision GMM was proposed from analysing the problems of the conventional GMM. A prototype of the high precision GMM using the direct drive mechanism has been developed. And the high measurement capability of the developed GMM was verified by the evaluation method using the standard deviation of the measured form deviation. © 2011 Inderscience Enterprises Ltd.
研究論文（学術雑誌）, 英語 - Stand-Up Motion Support By A Mobile Manipulator System with High Speed Tactile Sensors
Zhaoxian Xie; Manabu Yamashiro; Hisashi Yamaguchii; Masahito Tsukano; Aiguo Ming; Makoto Shimojo
International Journal of Information Acquisition, 8巻, 3号, 掲載ページ 181-195, 出版日 2011年, 査読付
研究論文（学術雑誌）, 英語 - Robot hand whose fingertip covered with net-shape proximity sensor: Moving object tracking using proximity sensing
Hiroaki Hasegawa; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
ラスト(シニア)オーサー, Journal of Robotics and Mechatronics, Fuji Technology Press, 23巻, 3号, 掲載ページ 328-337, 出版日 2011年, 査読付, Occlusion in several millimeters from an object to be grasped made it difficult for a vision-sensor-based approach to detect relative positioning between this object and robot fingers joint grasping. The proximity sensor we proposed detects the object at a near range very effectively. We developed a thin proximity sensor sheet to cover the 3 fingers of a robot hand. Integrating sensors and hand control, we implemented an objecttracking controller. Using proximity sensory signals, the controller coordinates wrist positioning based on palm proximity sensors and grasping from fingertip sensors, enabling us to track and capture moving objects.
研究論文（学術雑誌）, 英語 - Highly Sensitive Sensor for Detection of Initial Slip and Its Application in a Multi-fingered Robot Hand
Seiichi Teshigawara; Takahiro Tsutsumi; Satoru Shimizu; Yosuke Suzuki; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 1097-1102, 出版日 2011年, 査読付, Tactile sensors for slip detection are essential for implementing human-like gripping in a robot hand. In previous studies, we proposed flexible, thin and lightweight slip detection sensors utilizing the characteristics of pressure-sensitive conductive rubber. This was achieved by using the high-frequency vibration component generated in the process of slipping of the gripped object in order to distinguish between slipping of the object and changes in the normal force. In this paper, we design a slip detection sensor for a multi-fingered robot hand and examine the influence of noise caused by the operation of such a hand. Finally, we describe an experiment focusing on the adjustment of the gripping force of a multi-fingered robot hand equipped with the developed sensors.
研究論文（国際会議プロシーディングス）, 英語 - "Omni-Paddle": Amphibious Spherical Rotary Paddle Mechanism
Kenjiro Tadakuma; Riichiro Tadakuma; Ming Aigo; Makoto Shimojo; Mitsuru Higashimori; Makoto Kaneko
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 5056-5062, 出版日 2011年, 査読付, This paper describes a combination mechanism of a wheeground a paddle to realize an effective movement on the border of ground and water. For the conventional mobile mechanisms on water or on ground the combination of the mechanism to the body of the robot separately, and each one can be the interruption to the other in each field. In this research, we propose a hybrid mechanism of a wheeground a paddle as drive mechanism itself to realize an effective movement on the border such as a coast with debris after a disaster like a seismic sea wave or a tanker grounding accident. A prototype robot has been built and basic experiments on its motion have been conducted.
研究論文（国際会議プロシーディングス）, 英語 - Motion planning for a dynamically-coupled hyper-dynamic manipulator by reinforcement learning
Masahiro Wada; Aiguo Ming; Makoto Shimojo
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 掲載ページ 1822-1827, 出版日 2011年, 査読付, This paper proposes a new motion planning method for a hyper-dynamic robot which aims at realizing the motion control skills exhibited by professional golfers by a dexterous robot. The robot has similar distribution of actuators' capability to that of human, which is compact but requires dynamically-coupled driving for high speed motion. For such a robot with strong coupling and nonlinearity, to realize a motion including multi-boundary conditions, motion planning is very difficult. As a new method for the motion planning, the motion planning method using reinforcement learning is proposed in this paper. Simulation results show the effectiveness of the proposed motion planning method. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - The Mechanism of the Linear Load-Sensitive Continuously Variable Transmission with the Spherical Driving Unit
Kenjiro Tadakuma; Riichiro Tadakuma; Kazuki Terada; Aiguo Ming; Makoto Shimojo; Mitsuru Higashimori; Makoto Kaneko
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 4048-4053, 出版日 2011年, 査読付, This paper describes linear load-sensitive continuously variable transmission with the spherical driving unit. This CVT mechanism consists of spherical drive, drive axis, motor housing, fixed bracket and linear sliding plate. It changes the reduction ratio continuously by inclination angle of active rotational axis. Additionally, this linear mechanism has a load-sensitive function by changing inclination of active rotational axis in response to the load. We have developed a linear load-sensitive continuously variable transmission and confirmed the effectiveness of the proposed mechanism.
研究論文（国際会議プロシーディングス）, 英語 - Development of Omni-Directional and Fast-Responsive Net-Structure Proximity Sensor
Kazuki Terada; Yosuke Suzuki; Hiroaki Hasegawa; Satoshi Sone; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 954-1961, 出版日 2011年, 査読付, This paper presents a proximity sensor for recognizing an object in 360 degrees all around with response time only 1[ms]. The sensor applies an unique design of analog net-structure circuit, which enables all-face mounting on various peripheries and fast-response/simplification of information processing. Thus, the sensor is especially available for avoiding sudden contact with rapidly approaching objects for mobile robots, robot arms, robot hands, and other robotic systems. In this paper, the structure and the detecting principle of the sensor are firstly described, then, its detection property is tested by experiments. The result shows that the sensor recognizes the angle of the nearby object with accuracy of 3[deg]. Furthermore, as practical use of the sensor, a large size model is produced for a mobile robot to achieve omni-directional sensing. By using the application model, two detection methods are discussed on situations where the number or the positions of the nearby objects differs.
研究論文（国際会議プロシーディングス）, 英語 - A Novel Propulsion Method of Flexible Underwater Robots
Jun Shintake; Aiguo Ming; Makoto Shimojo
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 4735-4740, 出版日 2011年, 査読付, This paper aims at mobility enhancement of flexible underwater robots. For this purpose, a novel propulsion method utilizing both static and dynamic deformation of a flexible planar structure is proposed. By actuating the planar structure in two dimensions, various propulsive motions can be generated and the realization of various robotic movements can be expected. Two prototypes of such kind of robots with square and circular shape driven by two pieces of piezoelectric fiber composites has been developed. As the experimental results, the movements with multiple DOFs, holonomic and non-holonomic movements have been realized by the robots. The motion mechanism for the movements are discussed by simulation results.
研究論文（国際会議プロシーディングス）, 英語 - Development of a soft underwater robot mimicking cow-nosed ray
Wenjing Zhao; Takuma Osaka; Aiguo Ming; Makoto Shimojo
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, 掲載ページ 1724-1729, 出版日 2011年, 査読付, This paper aims at design and enhancement of the performance for soft biomimetic cow-nosed ray based on piezoelectric fiber composite. Macro fiber composite (MFC), a typical piezoelectric fiber composite is used. A new structure of the soft robotic fish is proposed through structural optimization based on the bionics and structural dynamics analysis with the Finite Element Method (FEM). According to this structure, the track of the flapping motion for pectoral fins is described by the simulation analysis. Meantime, experiment of the prototype is presented. The displacement results of the track for pectoral fin in simulation and experiment are compared during a normal period. The simulation results march the experimental results well. Finally, the track of pectoral fin and speed performance of the soft robotic fish in the water is described. The speed can reach 200mm/s when 10Hz rectangular input signal is used. © 2011 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - A New Leg Mechanism for Humanoid Robot
Akira Maruyama; Chunquan Xu; Naoki Kajiwara; Chigusa Ohishi; Aiguo Ming; Makoto Shimojo
Proceedings of the 14th International Conference on Mechatronics Technology, 掲載ページ 389-394, 出版日 2010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 - 近接・触・すべり覚を統合したインテリジェントロボットハンドの開発
溝口善智; 多田隈建二郎; 長谷川浩章; 明愛国; 石川正俊; 下条誠
計測自動制御学会論文集, 46巻, 10号, 掲載ページ 632-640, 出版日 2010年10月, 査読付
研究論文（学術雑誌）, 日本語 - Development of a Wearable Sensory Prosthetic Device for Patients with Peripheral Neural Disturbances.
Kunihiko Mabuchi; Hirotaka Niiro; Masanari Kunimoto; Takafumi Suzuki; Makoto Shimojo
Proceedings of 10th Vienna International Workshop on Functional Electrical Stimulation and 15th Annual Conference of the International FES Society, 掲載ページ 309-311, 出版日 2010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 - Development of A Mobile Manipulator System With RFID-Based Sensor Fusion For Home Service： A Case Study on Mobile Manipulation of Chairs
Zhaoxian Xie; Manabu Yamashiro; Hisashi Yamaguchi; Aiguo Ming; Makoto Shimojo
International Journal of Information Acquisition, Vol. 7巻, No.1号, 掲載ページ 1-13, 出版日 2010年06月, 査読付
研究論文（学術雑誌）, 英語 - A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces
Makoto Shimojo; Takuma Araki; Aigou Ming; Masatoshi Ishikawa
IEEE SENSORS JOURNAL, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 10巻, 4号, 掲載ページ 822-830, 出版日 2010年04月, 査読付, A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-D surfaces as well as the overall load. There are only four signal wires from the sensor. The sensor response time is nearly constant (within 1 ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.
研究論文（学術雑誌）, 英語 - 水陸境界上移動体のための球状回転パドル機構“Omni-Paddle”の開発
多田隈建二郎; 光田裕一; 多田隈理一郎; 曽根聡史; 明愛国; 下条誠; 東森充; 金子真
第15回 ロボティクスシンポジア, 出版日 2010年03月15日, 査読付
研究論文（その他学術会議資料等）, 日本語 - Development of Underwater Robots using Piezoelectric Fiber Composite : Diversification of Propulsion Movement by Single Fin Structure
Shintake Jun; Ming Aiguo; Shimojo Makoto
The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 一般社団法人日本機械学会, 2010巻, 掲載ページ 124-128, 出版日 2010年, Fish type underwater robots have a lot of possibilities such as good mobility and high efficiency. Most of the fish type robots developed up to now have complicated mechanisms with complicated motion control. It results in that the structure and the movement of robots are different from those of fishes. The purpose of our work is to develop creaturelike flexible underwater robots by using piezoelectric fiber composite. Compared with conventional artificial muscular underwater robots, powerful underwater robots with a very simple structure can be composed by the piezoelectric fiber composite. This paper describes the development of a flexible underwater robot with pectoral fin propulsion like ray and mode shape propulsion of structural vibration, which can generate various movements.
英語 - Development of Flexible Underwater Robots with Caudal Fin Propulsion
Jun Shintake; Aiguo Ming; Makoto Shimojo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 出版日 2010年, 査読付, Fish type underwater robots has a lot of possibilities such as good mobility and high efficiency. Most of the fish type robots developed up to now have complicated mechanisms with complicated motion control. It results in that the structure and the movement of robots are different from that of fishes. The purpose of our work is to develop creature-like flexible underwater robots by using piezoelectric fiber composite. Compared with conventional artificial muscular underwater robots, powerful underwater robots with a very simple structure can be composed. This paper describes the development of a flexible underwater robot with caudal fin propulsion, which can generate large propulsive force and move at high speed. Besides, by utilizing the large propulsive force, pitch and roll motions are realized by attaching two pectoral fins to the robot.
研究論文（国際会議プロシーディングス）, 英語 - Development of Intelligent Robot Hand using Proximity, Contact and Slip sensing
Hiroaki Hasegawa; Yoshitomo Mizoguchi; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 777-784, 出版日 2010年, 査読付, To achieve the skillful task like the human, many researchers have been working on robot hand. An interaction with vision and tactile information are indispensable for realization of skillful tasks. In the existing research, the method using a camera to get the vision information is often found. But, in the boundary area of a non-contact phase and a contact phase, there are problem that lack of sensor information because the influence of occlusion comes up to surface. We devise to introduce the proximity sensor in this area. And we call the robot hand which is equipped with proximity, tactile and slip sensor "intelligent robot hand".
In this research, we show the constitution example of the intelligent robot hand and propose the method to realize Pick&Place as concrete task.
研究論文（国際会議プロシーディングス）, 英語 - High Sensitivity Initial Slip Sensor for Dexterous Grasp
Seiichi Teshigawara; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 掲載ページ 4867-4872, 出版日 2010年, 査読付, Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits the characteristics of pressure conductive rubber. However, using this sensor, it was difficult to distinguish between object slip and a change in the normal force. Therefore, in the present research, we investigated a method for identifying object slip by analyzing the frequency components of the output signal from the sensor. As a result, we found that high-frequency components of 1 kHz or more are included in the complex voltage signal generated by object slip. Therefore, by using this high-frequency component, we developed a simple sensor that distinguished between both contact and initial slip with high sensitivity.
研究論文（国際会議プロシーディングス）, 英語 - Human assist by a mobile manipulator with high speed tactile sensor
Hisashi Yamaguchi; Zhaoxian Xie; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Information and Automation, ICIA 2010, 掲載ページ 765-770, 出版日 2010年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor for detecting the force and its center between the assisted people and robot arm. This paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system and the control methods about basic movement necessary for stand-up movement support according to the tactile information. ©2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Human assist by a mobile manipulator with high speed tactile sensor
Hisashi Yamaguchi; Zhaoxian Xie; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Information and Automation, ICIA 2010, 掲載ページ 765-770, 出版日 2010年, 査読付, As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by real time feedback control based on the information from a high speed tactile sensor for detecting the force and its center between the assisted people and robot arm. This paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system and the control methods about basic movement necessary for stand-up movement support according to the tactile information. ©2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Development of Directly Manipulable Tactile Graphic System with Audio Support Function
Shigenobu Shimada; Haruka Murase; Suguru Yamamoto; Yusuke Uchida; Makoto Shimojo; Yutaka Shimizu
COMPUTERS HELPING PEOPLE WITH SPECIAL NEEDS, PROCEEDINGS, PT 2, SPRINGER-VERLAG BERLIN, 6180巻, 掲載ページ 451-+, 出版日 2010年, 査読付, A basic device combining a tactile graphic display function and a touch position sensing function is proposed. The trial device consists of two major components, a tactile graphic display and a force sensor. The force sensor measures a center of gravity generated by touch action on the display surface and a PC estimates the point based on the data. The fundamental function for achieving the interactive communication is to detect the location where user is touching a tangible surface. By applying this functions, the click and scroll function by an empty hand are realized. In addition, an audio-tactile graphic system which can be used mainly to overcome tactile cognitive limitation is implemented as an application of the system. Moreover, the area of tactile display is expanded for the purpose of improvement userability. Following this, we propose the tactile scrollbar where the users can recognize their position of plane space. The validity of the developed tactile graphic system has been confirmed through subjective experiments.
研究論文（国際会議プロシーディングス）, 英語 - Development of flapping robots using piezoelectric fiber composites - Development of driving module inspired by insects with indirect flight muscle
Yuichi Fukushima; Kentaro Minagawa; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, 掲載ページ 77-82, 出版日 2010年, 査読付, Recently, flapping robots are noticed by many researchers, and many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy-harvesting fibers and sensing fibers can be embedded in the structure and it makes flapping robots with compact and light structure. This paper proposes a new driving mechanism for the flapping robots using piezoelectric fiber composites. The driving mechanism is inspired from insects with indirect flight muscle. A prototype of flapping robot using the new driving mechanism has been designed and experimental results show the feasibility of the proposed mechanism. © 2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - Mechanical Design of the Wheel-Leg Hybrid Mobile Robot to Realize a Large Wheel Diameter
Kenjiro Tadakuma; Riichiro Tadakuma; Akira Maruyama; Eric Rohmer; Keiji Nagatani; Kazuya Yoshida; Aigo Ming; Makoto Shimojo; Mitsuru Higashimori; Makoto Kaneko
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 3358-3365, 出版日 2010年, 査読付, In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize a greater ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and a test of the basic properties of the rotational fingertip are also shown. The Basic configurations of wheel-leg retractable is considered well. The integrated mode is also described.
研究論文（国際会議プロシーディングス）, 英語 - Connected Tracked Robot with Offset Joint Mechanism for Multiple Configurations
Kenjiro Tadakuma; Chigusa Ohishi; Akira Maruyama; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aiguo Ming; Makoto Shimojo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 3366-3371, 出版日 2010年, 査読付, This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris.
In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.
研究論文（国際会議プロシーディングス）, 英語 - Development of Flapping Robots using Piezoelectric Fiber Composites - Performance Enhancement by Unique Structure and Drive Control
Kentaro Minagawa; Yuichi Fukushima; Aiguo Ming; Makoto Shimojo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), IEEE, 掲載ページ 1624-1629, 出版日 2010年, 査読付, Recently, flapping robots are noticed by many researchers, and the realization of flight motion like insects, birds and so on has many challenges. The purpose of this work is to develop flapping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating as well as energy harvesting and sensing fibers can be embedded into the wing as part of the structure, which makes the robot flap while remaining compact and light. This paper describes the performance enhancement of the flapping robots capable of flapping and feathering motions using piezoelectric fiber composites. A unique mechanism with different stiffness for up-stroke and down-stroke and a new drive control using saturated sine wave are proposed in this paper. By introducing the mechanism and drive control, the performance about lift and thrust force has been improved remarkably.
研究論文（国際会議プロシーディングス）, 英語 - High Sensitivity Slip Sensor Using Pressure Conductive Rubber for Dexterous Grasp and Manipulation
Seiichi Teshigawara; Satoru Shimizu; Takahiro Tsutsumi; Yosuke Suzuki; Aiguo Ming; Makoto Shimojo; Masatoshi Ishikawa
2010 IEEE SENSORS, IEEE, 掲載ページ 570-574, 出版日 2010年, 査読付, Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated. In this study, we evaluate the stability of the output in the case of differing initial normal forces and changing surface properties of an object. Finally, we describe an experiment on adjustment of the gripping force by a multi-fingered robot hand.
研究論文（国際会議プロシーディングス）, 英語 - Motion planning for vertical jumping by a small humanoid with structural joint stops
Yuichi Hasegawa; Chigusa Ohishi; Masato Fukumori; Chunquan Xu; Aiguo Ming; Makoto Shimojo
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010, 掲載ページ 691-696, 出版日 2010年, 査読付, To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion planning method and simulation results are shown in this paper. © 2010 IEEE.
研究論文（国際会議プロシーディングス）, 英語 - 高速多指ハンドと高速視触覚フィードバックを用いた柔軟紐の結び操作
山川雄司; 並木明夫; 石川正俊; 下条誠
日本ロボット学会, The Robotics Society of Japan, 27巻, 9号, 掲載ページ 1016-1024, 出版日 2009年11月, 査読付, This paper proposes a new strategy for making knots with a high-speed multifingered robot hand with tactile sensors and visual sensor. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. In loop production, the wrist joint angle control is proposed by using visual feedback with high-speed visual sensor. In addition, the dynamics of the rope permutation are analyzed, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown using one high-speed multifingered hand with tactile and visual sensors.
研究論文（学術雑誌）, 日本語 - Motion Control of a Golf Swing Robot
Chunquan Xu; Aiguo Ming; Takeharu Nagaoka; Makoto Shimojo
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, SPRINGER, 56巻, 3号, 掲載ページ 277-299, 出版日 2009年10月, 査読付, In this paper we discuss our simulation and empirical study of a golf swing motion controller for a two-link golf swing robot. We distinguish two variants of the whole golf swing termed as hitting problem and stopping problem. For the hitting problem arising from backswing and downswing, we map the task into the output of a target dynamic system-a harmonic oscillator-under energy control. For the stopping problem that arises from follow-through, we propose a Proportional plus Gravity and Coupling Torque Compensation (PGCTC) feedback controller. Preliminary simulation study shows the proposed controllers solve the hitting problem and the stopping problem respectively. The controllers are implemented on a physical robot. Experimental results indicate the robot is able to perform desired golf swing-backswing, downswing, and follow-through. We also give a preliminary analysis on the proposed method to understand its merits and weaknesses.
研究論文（学術雑誌）, 英語 - 択走査方式を用いた省配線・分布型触覚センサ
西野高明; 下条誠; 石川正俊
計測自動制御学会論文集, 45巻, 8号, 掲載ページ 391-397, 出版日 2009年09月, 査読付, 論文賞
研究論文（学術雑誌）, 日本語 - 形態可変機能を有する2車体連結クローラ
大石千種; 多田隈建二郎; 多田隈理一郎; 永谷圭司; 吉田和哉; 明愛国; 下条誠
日本機械学会 ロボティクス・メカトロニクス講演会 ROBOMEC2009， 1A2-G18, 出版日 2009年05月, 査読付
研究論文（学術雑誌）, 日本語 - 大車輪径を構成可能な脚車輪可変モジュール
多田隈建二郎; 丸山央; エリックロメール; 永谷圭司; 吉田和哉; 明愛国; 下条誠
日本機械学会ロボティクス・メカトロニクス講演会 ROBOMEC2009， 2P1-D19, 出版日 2009年05月, 査読付
研究論文（学術雑誌）, 日本語 - High Speed and High Sensitivity Slip Sensor Utilizing Characteristics of Conductive Rubber–Relationship Between Shear Deformation of Conductive Rubber and Resistance Change–
Seiichi Teshigawara; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
ラスト(シニア)オーサー, Journal of Robotics and Mechatronics, 21巻, 2号, 掲載ページ 200-208, 出版日 2009年04月, 査読付
研究論文（学術雑誌）, 英語 - 横方向への移動を特徴とする円形断面クローラロボットの開発 第２報： 円弧状地形および軟弱地での基本走行試験
多田隈建二郎; 多田隈理一郎; 永谷圭司; 吉田和哉; 明愛国; 下条誠
第14回 ロボティクスシンポジア予稿集, 出版日 2009年03月, 査読付
研究論文（その他学術会議資料等）, 日本語 - Armadillo-Inspired Wheel-Leg Retractable Module
Kenjiro Tadakuma; Riichiro Tadakuma; Akira Maruyama; Eric Rohmer; Keiji Nagatani; Kazuya Yoshida; Aiguo Ming; Shimojo Makoto; Mitsuru Higashimori; Makoto Kaneko
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, IEEE, 掲載ページ 610-+, 出版日 2009年, 査読付, In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and the test to see the basic property of the rotational fingertip are also shown.
研究論文（国際会議プロシーディングス）, 英語 - Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility
Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aigo Mingi; Makoto Shimojo; Karl Iagnemma
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 1679-1684, 出版日 2009年, 査読付, In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype. Basic motion experiments with confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink.
研究論文（国際会議プロシーディングス）, 英語 - Development of an Active Flapping Wing using Piezoelectric Fiber Composites
Aiguo Ming; Yawen Huang; Yuichi Fukushima; Makoto Shimojo
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, IEEE, 掲載ページ 2144-2149, 出版日 2009年, 査読付, Recently, flapping robots are noticed by many researchers, and many challenges are being made toward the realization of flight motions like insects, birds and so on. The purpose of this work is to develop napping robots using a new type of piezoelectric material, that is, piezoelectric fiber composites. By using the composites, actuating fibers and sensing fibers can be embedded into a wing as part of the structure and it makes flapping robots with compact and light structure. A prototype of flapping robot capable of flapping and feathering motions has been developed. The design and driving method of the robot as well as experimental results about thrust and lift force are shown in this paper.
研究論文（国際会議プロシーディングス）, 英語 - Development of High-Sensitivity Slip Sensor Using Special Characteristics of Pressure Conductive Rubber
Seiichi Teshigawara; Kenjiro Tadakuma; Aiguo Ming; Masatoshi Ishikawa; Makoto Shimojo
ラスト(シニア)オーサー, ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 1311-+, 出版日 2009年, 査読付, Even with the eyes closed, humans are able to grip an object with minimal force without such information as the coefficient of friction or the weight. Tactile sensors capable of detecting slippage are necessary for this gripping action to be realized in a robot hand. Heretofore, many slip sensors were developed and produced, but there was not a slip sensor of simple structure practical for installation on fingertips of a robot hand. Therefore, we propose a low-profile/lightweight slip sensor of simple structure. The special properties of pressure conductive rubber are utilized as a detection device in this sensor. In this paper, we discuss the results of trial manufacture and of slip detection property testing of this sensor. Moreover, we will report the results of slip prevention experiments by this prototype slip sensor, and indicate that the pressure conductive rubber is promising as a material of slip sensor.
研究論文（国際会議プロシーディングス）, 英語 - Motion Planning for a Golf Swing Robot Based on Reverse Time Symmetry and PGCTC Control
C. Xu; A. Ming; M. Shimojo
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 69-74, 出版日 2009年, 査読付, A new golf swing robot performing high-speed golf swings has been developed by the authors. This paper deals with the motion planning problem of the golf swing. At first, the reverse time symmetry and single pendulum inherences in manipulator dynamics are introduced. Then, by utilizing the first inherence, the Rest-to-Point motion planning problem for the backswing and downswing is transformed into a reverse time symmetric Point-to-Rest motion planning problem. Finally, based on the second inherence, a Proportional plus Gravity and Coupling Torque Compensation (PGCTC) control scheme is developed to solve both the reverse time symmetric Point-to-Rest motion planning problem for the backswing and downswing and the forward time Point-to-Rest problem for the follow-through. Simulation shows the effect of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Skillful Manipulation Based on High-speed Sensory-Motor Fusion
Taku Senoo; Yuji Yamakawa; Satoru Mizusawa; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 4252-+, 出版日 2009年, 査読付, This video introduces the demonstration of skillful manipulation using a high-speed robot system. The system consists of visual and tactile sensors at a rate of 1 kHz and a high-speed hand-arm manipulator. The high-speed sensory-motor fusion improves not just the speed of existing robot manipulations, but robotic skills by introducing the features peculiar to high-speed motion. Based on such a concept, new variations of skillful manipulation were achieved.
研究論文（国際会議プロシーディングス）, 英語 - Development of Underwater Robots using Piezoelectric Fiber Composite
Aiguo Ming; Seokyong Park; Yoshinori Nagata; Makoto Shimojo
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 掲載ページ 3435-3440, 出版日 2009年, 査読付, Underwater robot using piezoelectric fiber composite with the merits of being soft and capable of large displacement, is proposed in this paper. By pasting the thin and flexible composite on to a structure, meandering motion observed in underwater creatures such as fish can be realized by generating propagation wave for propulsive force. Hence, a compact, effective and powerful robot capable of underwater movement can be realized. This paper describes the mechanism design and control method of the robot using piezoelectric fiber composite based on the principle of underwater creatures and shows the feasibility of the proposal by the experimental results of two developed prototypes.
研究論文（国際会議プロシーディングス）, 英語 - One-handed Knotting of a Linear Flexible Object based on Reconfigurable Skill Synthesis Strategy
Yuji Yamakawa; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
RECONFIGURABLE MECHANISMS AND ROBOTS, KC EDIZIONI, 掲載ページ 478-+, 出版日 2009年, 査読付, This paper illustrates the relationship between a knotting process and knotting skills for a multifingered hand. To determine the appropriate skills required for knotting, we analyzed the knotting motion performed by a human hand. The knotting process is divided into four handling skills. In addition, this paper proposes a new strategy for making knots with a multifingered hand. The strategy consists of several basic skills, and various knots can be achieved by reconfigurable synthesis of skills. Finally, we show experimental results of an overhand knot and a half hitch.
研究論文（国際会議プロシーディングス）, 英語 - Home Service by a Mobile Manipulator System -Mobile Manipulation of Chairs-
Manabu Yamashiro; Zhaoxian Xie; Hisashi Yamaguchi; Aiguo Ming; Makoto Shimojo
2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3, IEEE, 掲載ページ 295-300, 出版日 2009年, 査読付, A mobile manipulator system as a versatile platform for home service has been developed by authors. The mobile system has two features. One is the efficient and easy recognition of environment and objects about geometrical, physical and additional information by a sensor fusion system consisting of RFID, camera and laser range sensor. The other is such geometrical, physical and additional information-based mobile manipulation for various objects. In this paper, mobile manipulation of various chairs for home service is described. The methods for recognition and mobile manipulation are proposed and experimental results are given to show the feasibility of the proposed methods.
研究論文（国際会議プロシーディングス）, 英語 - Cooperative Control of Two Mobile Manipulators Transporting Objects on the Slope
Chao Tang; Chunquan Xu; Aiguo Ming; Makoto Shimojo
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 2805-2810, 出版日 2009年, 査読付, This paper reports our recent results on the motion control of cooperative transportation by two mobile manipulators following a reference trajectory on the slope. We propose a cooperative control algorithm which is divided into two steps. In the first step, the mobile manipulators regulate their postures to keep themselves away from falling using their redundant Degree-Of-Freedom. If the robots still cannot keep stable, then in the second step, both robots adjust their forces acting on the transported object to avoid falling. Simulation results are given to validate the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Development for an Interactive Communication Display for Blind Computer Users
Shigenobu Shimada; Suguru Yamamoto; Yusuke Uchida; Masami Shinohara; Yutaka Shimizu; Makoto Shimojo
RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2, IEEE, 18巻, 掲載ページ 306-+, 出版日 2009年, 査読付, This study is the development of the interface for visually handicapped persons using the knowledge of the robotics field. A basic device combining a tactile graphic display function and a touch position/force direction sensing function is proposed. The trial device consists of two major components, a tactile graphic display and a 6-axis force/torque sensor. The force sensor measures six dynamic values generated by touch action on the display surface and a PC estimates the point based on the data. The fundamental function for achieving the interactive communication is to detect the location where user is touching a tangible surface. By applying this functions, the click and scroll function by an empty hand are realized. In addition, an audio tactile graphic system which can be used mainly to overcome tactile cognitive limitation is implemented as an application of the system. The validity of the developed tactile graphic system has been confirmed through subjective experiments.
研究論文（国際会議プロシーディングス）, 英語 - High Sensitivity Slip Sensor Using Pressure Conductive Rubber
Seiichi Teshigawara; Satoru Shimizu; Kenjiro Tadakuma; Ming Aiguo; Makoto Shimojo; Masatoshi Ishikawa
2009 IEEE SENSORS, VOLS 1-3, IEEE, 掲載ページ 988-988, 出版日 2009年, 査読付, Slip detecting tactile sensors are essential to achieve a human-like gripping motion with a robot hand. In previous researches, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. However, It was hard for this sensor to distinguish between the object slip and the normal force change. Therefore, we consider the separative method using high frequency elements generated by object slipping. In this paper, we design the information processing method and developed the sensor detecting both contact and initial slip in high sensitivity and a simple composition.
研究論文（国際会議プロシーディングス）, 英語 - Throwable Tetrahedral Robot with Transformation Capability
Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Ming Aigo; Makoto Shimojo; Karl Iagnemma
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 2801-2808, 出版日 2009年, 査読付, In this paper, a tetrahedral mobile robot with central axis for transformation to the flat vehicle is presented. The throwable robot with the function of going into narrow spaces when its in the flat-vehicle mode is explained in detail. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: mode changing function and omnidirectional motion. Basic Motion experiments, with a test vehicle are also presented. Keywords: Search and Rescue, Throwable, Tetrahedral Shaped, Omni-Ball, Transformation, Mechanical Design
研究論文（国際会議プロシーディングス）, 英語 - Motion Planning for a High-speed Manipulator with Mechanical Joint Stops based on Target Dynamics and PCH System
S. Sakai; C. Xu; A. Ming; M. Shimojo
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 掲載ページ 279-284, 出版日 2009年, 査読付, This paper reports a motion planning scheme for a high performance robot aiming to realize the motion control skills exhibited by professional golfers. The robot has a dexterous mechanism with similar distribution of actuators' capability and a pair of mechanical joint stops like human beings. The proposed motion planning method combines target dynamics together with port-controlled Hamiltonian (PCH) system theory resulting in an energy controller which not only takes the mechanical joint stops into account but also realizes torque compensation from a high-power actuator to a low-power actuator. Simulation and experimental results prove the proposed method can generate the golf swings with specified hitting speed and finish position for our specially designed robot.
研究論文（国際会議プロシーディングス）, 英語 - オプタコンの機械特性と人間の触覚特性との適合度に関する研究
島田茂伸; 篠原正美; 安彦成泰; 下条誠
電子情報通信学会論文誌 D, vol J91-D no.5,pp.1296-1304, 一般社団法人電子情報通信学会, J91-D巻, 5号, 掲載ページ 1296-1304, 出版日 2008年05月, 査読付, 視覚障害者へ文字や図形情報を触覚によって伝達する機器にオプタコンーIIがある.これは圧電素子駆動による触知ピンアレーで構城される触覚提示部と,指先大のカメラを用いた撮像部からなる.触覚提示部はコンパクトな筐体に触知ピンが高密度に100本配置され,それぞれのピンを230Hzの高振動数で駆動できることから,触覚機序の解明を目的とした神経生理分野の実験機にも使用される.触覚機序を扱う分野では,触覚が生起する仕組みは皮膚の変形量であることが知られているが,指と接触下にある触知ピンの変位は未計測であり,挙動が明らかにされていない.したがって,触知ピンが皮膚へ与える変位は不明となり,基礎となる資料が不足している.そこで,本研究では指と接触下にある触知ピンをレーザ変位計によって計測を行い,触知ピンが指に与える変位を定量的に評価する.また,得られた資料と神経生理の知見であるヒトの振動検出しきい曲線との対比から,オプタコン-IIの情報伝達の仕組みを再考する.本研究の知見は神経生理学の分野で触覚提示装置として広く用いられているオプタコン-IIの機械的な基礎資料を与え,新たな触覚情報伝達装置設計の基盤となるものである.
研究論文（学術雑誌）, 日本語 - The Denelopment of the plantar Pressure Sensor Shoes for Gait Analysis
M. Hirasawa; H. Okada; M. Shimojo
J. of Probotics and Mechatronics, 20巻, 3号, 掲載ページ 289-295, 出版日 2008年04月, 査読付
研究論文（学術雑誌）, 英語 - Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor
Daisuke Gunji; Yoshitorno Mizoguchi; Seiichi Teshigawara; Aiguo Ming; Akio Namiki; Masatoshi Ishikawaand; Makoto Shimojo
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, IEEE, 掲載ページ 2605-2610, 出版日 2008年, 査読付, To achieve a human like grasping with a multi-fingered robot hand, the grasping force should be controlled without using information from the grasped object such as its weight and friction coefficient. In this study, we propose a method for detecting the slip of a grasped object using the force output of Center of Pressure (CoP) tactile sensors. CoP sensors can measure the center position of a distributed load and the total load applied on the surface of the sensor, within 1 ms. These sensors are arranged on the fingers of the robot hand, and their effectiveness as slip detecting sensors is confirmed in tests of slip detection during grasping. Finally, we propose a method for controlling grasping force to resist tangential force applied to the grasped object using a feedback control system with the CoP sensor force output.
研究論文（国際会議プロシーディングス）, 英語 - Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor
Daisuke Gunji; Yoshitomo Mizoguchi; Seiichi Teshigawara; Aiguo Ming; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 掲載ページ 858-863, 出版日 2008年, 査読付, To achieve a human like grasping with a multi-fingered robot hand, the grasping force should be controlled without using information from the grasped object such as its weight and friction coefficient. In this study, we propose a method for detecting the slip of a grasped object using the force output of Center of Pressure (CoP) tactile sensors. CoP sensors can measure the center position of a distributed load and the total load applied on the surface of the sensor, within 1 ms. These sensors are arranged on the fingers of the robot hand, and their effectiveness as slip detecting sensors is confirmed in tests of slip detection during grasping. Finally, we propose a method for controlling grasping force to resist tangential force applied to the grasped object using a feedback control system with the CoP sensor force output.
研究論文（国際会議プロシーディングス）, 英語 - Home Service by a Mobile Manipulator System - System Configuration and Basic Experiments
Aiguo Ming; Zhaoxian Xie; Takuya Yoshida; Manabu Yamashiro; Chao Tang; Makoto Shimojo
2008 INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, VOLS 1-4, IEEE, 掲載ページ 464-469, 出版日 2008年, 査読付, This paper describes a mobile manipulator system as a versatile platform for home service. Two key technologies are addressed in the paper. One is the efficient and easy recognition of environment about geometrical, physical and additional information by a sensor fusion system consisting of RFID, stereo camera and laser range sensor. The other is such geometrical, physical and additional information-based manipulation including mobile manipulation for the heavy objects cannot be handled up by the mobile manipulator. The system configuration is described and basic experiments show its effectiveness.
研究論文（国際会議プロシーディングス）, 英語 - Development of Underwater Robot using Macro Fiber Composite
Yoshinori Nagata; Seokyong Park; Aiguo Ming; Makoto Shimojo
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, IEEE, 掲載ページ 955-960, 出版日 2008年, 査読付, We developed several underwater robots by using Macro Fiber Composite(MFC), a new type of piezo-electric actuator with the merits of being soft and capable of large displacement, developed by NASA recently. MFC is made by processing PZT into a fiber-like state, hence yielding better flexibility, and structural actuation is possible by pasting it to thin structures since it is covered by polyimide film. Utilizing MFC's characteristics of being thin and flexible, meandering motion observed in underwater creatures such as fish is possible by generating progressive waves for propulsive force. Hence, a space-saving, effective mechanism capable of underwater movement can be achieved. Furthermore, in addition to forward locomotion, whirling motion and locomotion direction switching by using multiple MFCs actuators has been realized also.
研究論文（国際会議プロシーディングス）, 英語 - New Design for a Dynamic Tactile Graphic System for Blind Computer Users
Shigenobu Shimada; Suguru Yamamoto; Yusuke Uchida; Masami Shinohara; Yutaka Shimizu; Makoto Shimojo
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 掲載ページ 1415-+, 出版日 2008年, 査読付, An interactive tactile graphic display which acts by touch force has been developed as a trial. The trial model showed four usability problems through several usability experiments. Thus we re-designed three operation rules and developed a new image resampling algorithm to solve the problems. As the result, all problems shown in the previous system were solved. Furthermore a strategy of user interface design for interactive tactile graphic displays was shown through the development. In addition, an audio-tactile graphic system which can be used mainly to overcome tactile cognitive limitation was implemented as an application of the system.
研究論文（国際会議プロシーディングス）, 英語 - A Net-Structure Tactile Sensor Covering Freeform Surface with Reduced Wiring
Makoto Shimojo; Takuma Araki; Masahiro Teranishi; Aigou Ming; Masatoshi Ishikawa
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 掲載ページ 868-+, 出版日 2008年, A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. There are only 4 signal wires from the sensor. The sensor response time is nearly constant (within 1ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described.
研究論文（国際会議プロシーディングス）, 英語 - Study of High Speed and High Sensitivity Slip Sensor Characteristic of conductive material
Seiichi Teshigawara; Masatoshi Ishikawa; Makoto Shimojo
2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, IEEE, 掲載ページ 864-+, 出版日 2008年, 査読付, Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have developed flexible, thin and lightweight center of pressure (CoP) sensor. The sensor, constructed of pressure conductive rubber sandwiched between two sheets of conductive film, is able to detect the center position of the load distribution and the total load. Recently, detection of initial slip has been shown to be possible. However the detection principles are unclear. Therefore, we carried out verification experiments of the slip detection properties of CoP sensor and the detection principle. In the results, we found a change in electrical conductivity produced with a shear deformation of the pressure conductive rubber. In this paper, we will discuss the slip detection properties of CoP sensor and detection principle. We will also apply these principle to describe the structure of high speed/high sensitivity slip sensor.
研究論文（国際会議プロシーディングス）, 英語 - Development of High Speed and High Sensitivity Slip Sensor
Seiichi Teshigawara; Masatoshi Ishikawa; Makoto Shimojo
ラスト(シニア)オーサー, 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 47-52, 出版日 2008年, 査読付, Slip detecting tactile sensors is essential to achieving a human-like gripping motion with a robot hand. Up until now, we have developed flexible, thin and lightweight center of pressure (CoP) sensor. The sensor, constructed of pressure conductive rubber sandwiched between two sheets of conductive film, is able to detect the center position of the load distribution and the total load. Recently, detection of initial slip has been shown to be possible. However the detection principles are unclear. Therefore, we carried out verification experiments of the slip detection properties of the CoP sensor and the detection principle. In the results, we found a change in electrical conductivity produced with a shear deformation of the pressure conductive rubber. In this paper, we will discuss the slip detection properties of the CoP sensor and detection principle.
研究論文（国際会議プロシーディングス）, 英語 - Knotting Manipulation of a Flexible Rope by a Multifingered Hand System based on Skill Synthesis
Yuji Yamakawa; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, IEEE, 掲載ページ 2691-+, 出版日 2008年, 査読付, In this paper, we examine the relationship between a knotting process and the individual skills of which a robot hand is capable. To determine the necessary hand skills required for knotting, we first analyzed the knotting action performed by a human subject We identified loop production, rope permutation, and rope pulling skills. To take account of handling of the two ends of the rope, we added a rope moving skill. We determined the characteristics of these skills using an intersection-based description. The knotting process was examined based on the analysis of knots and the characteristics of the robot hand skills. Finally, we show experimental results of an overhand knot and a half hitch performed using a highspeed multifingered hand system.
研究論文（国際会議プロシーディングス）, 英語 - Motion generation for hyper dynamic manipulation
C. Xu; A. Ming; T. Maruyama; M. Shimojo
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 17巻, 8号, 掲載ページ 405-416, 出版日 2007年10月, 査読付, Basic concept about how to realize hyper dynamic manipulation by a robot has been given by the authors in previous works. Based on the analysis results of human hyper dynamic manipulation, two key issues concerning the realization of hyper dynamic manipulation by an anthropomorphic mechanism, namely, utilization of dynamically coupled driving and structural joint stops, have been emphasized. Therefore, unlike that for conventional manipulators, our approach is to design and control a hyper dynamic manipulator based on the utilization of dynamically coupled driving and structural joint stops. Motion generation based on this approach is critical to the utilization of dynamically coupled driving and joint stops, and presents great difficulties. In this paper, a new method for motion generation is proposed, and its superior numerical stability achieved with high accuracy is shown by simulation results. Many meaningful and interesting results for the hyper dynamic manipulation for a two-joint manipulator are obtained in simulation. Moreover, the hyper dynamic manipulation is realized successfully by a prototype of a golf swing robot, designed based on the concept presented in this paper. (C) 2007 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - 等電位法に基づく分布型オーバサンプリングA-D変換を用いた触覚センサ
岩下貴司; 下条誠; 石川正俊
電子情報通信学会論文誌 C, 一般社団法人電子情報通信学会, J90-C巻, 10号, 掲載ページ 683-692, 出版日 2007年10月, 査読付, ロボットに代表される自動制御機器の安全性確保,あるいはコミュニケーションの手段として,触覚センサヘの要求が高まっている.しかし,これまでに開発された触覚センサは,設置面積・コスト・生産性などに欠点を抱えており,応用範囲が限られていた.この問題を克服するために,圧力分布の検出・A-D変換・信号処理・伝送などの機能を単一のLSIに集積する手法を提案する.本論文では,このようなシステムLSIの要である,圧力分布の検出とA-D変換を行う回路について述べる.集積回路化にあたり,既存の検出回路である等電位法を詳細に解析したところ,いくつかの問題点が明らかになった.これらの解決法として,等電位法とオーバサンプリングA-D変換の機能を融合した回路を提案した.これを実装したチップを用いて圧力分布の測定を行った結果,提案した回路が正常に動作することを確認した.
研究論文（学術雑誌）, 日本語 - Motion generation for hyper dynamic manipulation
C. Xu; A. Ming; T. Maruyama; M. Shimojo
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 17巻, 8号, 掲載ページ 405-416, 出版日 2007年10月, 査読付, Basic concept about how to realize hyper dynamic manipulation by a robot has been given by the authors in previous works. Based on the analysis results of human hyper dynamic manipulation, two key issues concerning the realization of hyper dynamic manipulation by an anthropomorphic mechanism, namely, utilization of dynamically coupled driving and structural joint stops, have been emphasized. Therefore, unlike that for conventional manipulators, our approach is to design and control a hyper dynamic manipulator based on the utilization of dynamically coupled driving and structural joint stops. Motion generation based on this approach is critical to the utilization of dynamically coupled driving and joint stops, and presents great difficulties. In this paper, a new method for motion generation is proposed, and its superior numerical stability achieved with high accuracy is shown by simulation results. Many meaningful and interesting results for the hyper dynamic manipulation for a two-joint manipulator are obtained in simulation. Moreover, the hyper dynamic manipulation is realized successfully by a prototype of a golf swing robot, designed based on the concept presented in this paper. (C) 2007 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - 触覚センサによる滑り検出に基づく多指ハンドの把持力制御
郡司大輔; 荒木拓真; 並木明夫; 明愛国; 下条誠
日本ロボット学会誌 Vol.25 No.6 pp.970-978 , 2007., The Robotics Society of Japan, 25巻, 6号, 掲載ページ 970-978, 出版日 2007年09月, 査読付, To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for detecting the slip of grasping object by force output of the Center of Pressure (CoP) tactile sensor. CoP sensor can measure center position of distributed load and total load which is applied on the surface of the sensor within 1 [ms] . This sensor is arranged on finger of the robot hand, and the effectiveness as slip detecting sensor is confirmed by experiment of slip detection on grasping. Finally, we propose a method for controlling grasping force resist the tangential force added to the grasping object by feedback control system of the CoP sensor force output.
研究論文（学術雑誌）, 日本語 - Navigation system for mobile robot based on simultaneous-firing sonar ring
Xie Zhao-xian; Huang Da-gui; Ming Ai-guo; Li Zhi-jun; Shimojo, M
Journal of University of Electronic Science and Technology of China vol.36 Issue: 2 Pages: 309-11, 321 Published: April 2007, 36巻, 2号, 掲載ページ 309-311, 出版日 2007年04月, 査読付
研究論文（学術雑誌）, 英語 - Motion control of a manipulator with mechanical joint stops
Yuichi Kamata; Aiguo Ming; Makoto Shimojo
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, IEEE, 掲載ページ 1451-1456, 出版日 2007年, 査読付, A new golf swing robot to simulate human's motion has been developed by !authors. As a characteristic of the robot, joint stops limiting range of!movement at wrist joint give strong force of constraint and contribute largely to the acceleration of a golf club. However, how to control a manipulator with joint stops for high speed motions is a problem to be solved. In this paper, a new model of joint stop with considering visco-elastic characteristics and contact force is established and the model is used for motion control. And as a method for contact control of joint stop, reflex control is introduce and applied to the process of following swing process. Experimental results show the effectiveness of the proposed methods.
研究論文（国際会議プロシーディングス）, 英語 - A net-structure tactile sensor covering free-form surface and ensuring high-speed response
Makoto Shimojo; Takuma Araki; Seiichi Teshigawara; Aigou Ming; Masatoshi Ishikawa
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 掲載ページ 676-+, 出版日 2007年, 査読付, A tactile sensor is developed with the aim of covering a robot's entire structure, while reducing wiring requirement and ensuring high-speed response. The sensor detects the center point of load distribution on 2-dimensional surfaces as well as the overall load. There are only 4 signal wires from the sensor. The sensor response time is nearly constant (within 1ms) regardless of the number of detection elements, their placements or sensor areas. In this paper, the principles behind the operation of this sensor and the results of experiments using the sensor are described. Further, a developed tactile element composed of pressure-sensitive materials and chip-resistors is described.
研究論文（国際会議プロシーディングス）, 英語 - One-handed knotting of a flexible rope with a high-speed multifingered hand having tactile sensors
Yuji Yamakawa; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9, IEEE, 掲載ページ 709-+, 出版日 2007年, 査読付, This paper proposes a new strategy for making knots with a high-speed multifingered robot hand having tactile sensors. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. The dynamics of the rope permutation are analyzed in order to improve the success rate, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown.
研究論文（国際会議プロシーディングス）, 英語 - Design for high dynamic performance robot based on dynamically coupled driving and joint stops
C. Xu; A. Ming; K. Mak; M. Shimojo
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, ACTA PRESS, 22巻, 4号, 掲載ページ 281-293, 出版日 2007年, 査読付, A new design approach is proposed for high dynamic performance robots, such as robots performing high-speed dynamic motions. This method is based on the utilization of dynamically coupled driving and joint stops. In the method, the dynamic performance index (DPI) formulated by the desired maximum motion specifications and the boundary conditions on initial/final configurations are combined to form a design index (DI) first. Then a dexterous mechanism consisting of very light actuators and links is initially designed under an assumption of utilizing dynamically coupled driving and joint stops. By increasing the load capabilities of the actuators step by step, an iterative process of searching for the solution of DI=0 with minimal torque needs is implemented to validate and improve the initial design. This process yields a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment clearly illustrates the merits of the method.
研究論文（学術雑誌）, 英語 - Development of a Xero Moment Point Sensor for a Walking Robot
Makoto Shimojo; Takuma Araki; Takaaki Nishino; Aigou Ming; Masatoshi Ishikawa
Proceedings of Asia International Symposium on Mechatrnoics (AISM2006), 掲載ページ A1-06, 出版日 2006年12月
研究論文（国際会議プロシーディングス）, 英語 - The development of a violin musician robot
H. Kuwabara; H. Seki; Y. Sasada; M. Aiguo; M. Shimojo
IEEE/RSJ Int. Conf. Intelligent Robos and systems, 2006., CD-ROM巻, 出版日 2006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 - A new golf swing robot to simulate human skill - Learning control based on direct dynamics model using recurrent ANN
Aiguo Ming; Shinya Furukawa; Teppei Teshima; Makoto Shimojo; Makoto Kajitani
MECHATRONICS, PERGAMON-ELSEVIER SCIENCE LTD, 16巻, 7号, 掲載ページ 443-449, 出版日 2006年09月, 査読付, The motion control skill in human hyper dynamic motions, especially in ultra high speed motions, is being investigated by the authors toward a realization of hyper dynamic manipulation by robots. As a case study, a new golf swing robot, consisting of an actuated joint and a passive joint with a mechanical stopper, has been developed by us. To improve the accuracy of the motion, learning control using ANN is introduced to shadow swing motion and the swing motion of hitting a ball, and its effectiveness has been shown by experiments. Since the model used in the method depends on the swing conditions, it is difficult to adapt the same model to all conditions. To improve the versatility of the learning control method, a recurrent ANN as a model with versatility is adopted to derive the model of direct dynamics of such strongly coupled, non-linear, non-holonomic and hybrid system. And a control method based on learning and motion generation by using the model is proposed and implemented to the golf swing robot prototype. In this paper, the method for adopting the recurrent ANN and implementing the learning control is described, and experimental results are shown. (C) 2006 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - A new golf swing robot to simulate human skill-Learning control based on direct dynamics model using recurrent ANN
Aiguo Ming; Shinya Furukawa; Teppei Teshima; Makoto Shimojo; Makoto Kajitani
Mechatronics, 16巻, 7号, 掲載ページ 443-449, 出版日 2006年09月, 査読付, The motion control skill in human hyper dynamic motions, especially in ultra high speed motions, is being investigated by the authors toward a realization of hyper dynamic manipulation by robots. As a case study, a new golf swing robot, consisting of an actuated joint and a passive joint with a mechanical stopper, has been developed by us. To improve the accuracy of the motion, learning control using ANN is introduced to shadow swing motion and the swing motion of hitting a ball, and its effectiveness has been shown by experiments. Since the model used in the method depends on the swing conditions, it is difficult to adapt the same model to all conditions. To improve the versatility of the learning control method, a recurrent ANN as a model with versatility is adopted to derive the model of direct dynamics of such strongly coupled, non-linear, non-holonomic and hybrid system. And a control method based on learning and motion generation by using the model is proposed and implemented to the golf swing robot prototype. In this paper, the method for adopting the recurrent ANN and implementing the learning control is described, and experimental results are shown. © 2006 Elsevier Ltd. All rights reserved.
研究論文（学術雑誌）, 英語 - Development of a Nonholonomic Mobile Manipulator with Hybrid Joints
Aiguo Ming; Zhaoxian Xie; Sheng Miao; Zhijun Li; Makoto Shimojo
Proceedings of The 2006 International Symposium on Advanced ICT (AICT2006), 掲載ページ 353-362, 出版日 2006年08月
研究論文（国際会議プロシーディングス）, 英語 - Development of 2-DOF haptics device drivendirectly by shaft motor
Hironori Ogawa; Makoto Shimojo
J.of Robotics and Mechatronics, 一般社団法人日本機械学会, 18巻, 4号, 掲載ページ 392-400, 出版日 2006年08月, 査読付, Human beings acquire such object information as surface conditions, hardness, temperature, and smoothness by cutaneous sense to enable skillful operation. Material texture and other tactile sensations greatly affect our tactile erceptions, such as the feeling of use and comfort or discomfort. In this study, we developed a new haptic device having a structure involving direct drive by shaft motors and capable of horizontal and vertical direct drive at a time. This device will enable the presentation of texture with higher reality. This paper introduces the basic structure and features of the haptic device. And elemental presentation experiments were described.
研究論文（学術雑誌）, 英語 - Intelligent compliant force/motion control of nonholonomic mobile manipulator working on the nonrigid surface
Zhijun Li; Jiangong Gu; Aiguo Ming; Chunquan Xu; Makoto Shimojo
NEURAL COMPUTING & APPLICATIONS, SPRINGER, 15巻, 3-4号, 掲載ページ 204-216, 出版日 2006年06月, 査読付, The task under consideration is to control a mobile manipulator for the class of nonrigid constrained motion. The working surface is deformable. The geometric and physical model of the surface is unknown and all contact force is nonlinear and difficult to model. To accomplish a task of this kind, we propose a force/motion fuzzy controller based on the philosophy of the parallel approach in two decoupled subspaces. In one subspace, we control the constant contact force normal to the surface and estimate the end-effector tool's deformable depth of the surface; in the other, we keep the end-effector's constant velocity parallel to the tangential plane of the surface and suppress the tangential force of the surface deformation. The nonholonomic mobile base is utilized to avoid the singularity. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations compared with the model-based control.
研究論文（学術雑誌）, 英語 - 材質感呈示システムに関する研究 -触覚による布地材質感の呈示-
小川博教; 下条誠
電子情報通信学会論文誌 Vol., No.2, pp.353-361, 2006., J89-D巻, 2号, 掲載ページ 353-361, 出版日 2006年06月, 査読付
研究論文（学術雑誌）, 日本語 - Motion control of ultra high-speed manipulator with flexible link based on dynamically coupled driving
Tomoari Maruyama; Chunquan Xu; Aiguo Ming; Makoto Shimojo
J. Robotics and Mechatronics, 18巻, 5号, 掲載ページ 598-607, 出版日 2006年06月, 査読付
研究論文（学術雑誌）, 英語 - Study on Smart Hyper-Dynamic Manipulation
Aiguo Ming; Chunquan Xu; Makoto Shimojo
Proceedings of The International Workshop on Modern Science and Technology, 掲載ページ 244-249, 出版日 2006年05月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 点字触読時の接触力測定方法の確立とその応用 -接触力と点字触読速度の関係-
渡辺哲也; 大内進; 金子健; 山口俊光; 島田茂伸; 下条誠
電子情報通信学会論文誌 D, J90-D巻, 3号, 掲載ページ 693-705, 出版日 2006年03月, 査読付
研究論文（学術雑誌）, 日本語 - Development of a compact and fast-response haptics display system
Makoto Shimojo; Toni Niki
Systems and Computers in Japan, 37巻, 2号, 掲載ページ 46-55, 出版日 2006年02月, 査読付, The importance of tactile/force presentation schemes as part of human-computer interfacing has been extensively discussed in recent years. In these schemes it is important that the presentation of force be smooth, which requires that the tactile/force presentation have good high-frequency response. To address this need, in this research we took special care to ensure that our presentation equipment could respond rapidly at frequencies up to 1 kHz, with backdrivability of the force from the effector to the actuator stage. We first constructed a simple realization of our haptic display, and then converted it to a smaller-scale and lighter-weight version. The basis of the display presentation was tactile sensitivity in response to finger movements. To achieve this, our apparatus uses magnetic position sensors and angle sensors to detect the finger movements. Based on these finger movements, the apparatus makes changes in the tactile presentation information that correspond to the contact. In a typical presentation experiment for which a fast response was especially necessary, we studied the possibility of using the sensation of vibrations generated by contact to present the feel of various kinds of wood. In addition, we performed a surface roughness presentation experiment in which display operators traced a virtual wall and were made to distinguish five kinds of surface roughness. In this paper, we summarize our assessment of the characteristics and functioning of our apparatus. © 2006 Wiley Periodicals, Inc.
研究論文（学術雑誌）, 英語 - ゴルフスイングロボットの実打運動制御
逸見昌伸; MING Aiguo; U Chunquan; 下条誠
日本機械学会論文集 C, 72巻, 714号, 掲載ページ 553-560, 出版日 2006年02月, 査読付
研究論文（学術雑誌）, 日本語 - A gait support system for human locomotion without restriction of the lower extremities: Preliminary mechanism and control design
Takayuki Hoshino; Masanori Tomono; Takafumi Suzuki; Shimojo Makoto; Kunihiko Mabuchi
2006 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vols 1-15, IEEE, 掲載ページ 4568-4571, 出版日 2006年, 査読付, A motion support system is important for improving the quality of life for people with inadequate muscle power for walking or standing. Such a system must maintain coordination between the movement of the living body and that of the motion support system with respect to timing and power. We have developed a preliminary assistance device for human locomotion that does not restrict movement of the user's lower extremities. To determine the appropriate timing and applied force for this assistance device, we have use two types control mode; (1) surface EMG signals from the lower limb in preliminary controller. Each assistance leg has a three-axis magnetic sensor near lower end which tracks a magnet attached to each ankle of the user's legs. This sensor attracted to a magnet attached to the human ankle in the leg swing phase. The mechanical leg supports the user's weight when the leg is in the standing phase.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of golf swing robot based on dynamically-coupled driving
Tomoari Maruyama; Chunquan Xu; Aiguo Ming; Makoto Shimojo
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, IEEE, 掲載ページ 77-+, 出版日 2006年, 査読付, A new golf swing robot to simulate human's motion has been developed by authors. The basic design concept of the robot is to realize high speed swing motion while by a smart structure, just like human. By the concept, the robot consists of a shoulder joint with powerful direct-drive motor and a wrist joint with small direct-drive motor. And for the reason, swing motion at high speed should be realized by a skill of motion control, so called dynamically-coupled driving, to compensate the lack of driving capability in the wrist joint. This paper deals with the motion control of the robot. First, a new model of golf swing robot with considering the flexibility of golf club is established and all parameters are identified by experiments. According to the new model, trajectories for different criteria are generated and implemented to the robot. Experimental results show high accuracy of the motion control.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of nonholonomic mobile underactuated manipulator
Zhijun Li; Aiguo Ming; Ning Xi; Makoto Shimojo
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, 掲載ページ 3512-+, 出版日 2006年, 査読付, Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods.
研究論文（国際会議プロシーディングス）, 英語 - Dynamic performance enhancement design of robot based on dynamically-coupled driving and joint stop
Chunquan Xu; Aiguo Ming; Makoto Shimojo
2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, IEEE, 掲載ページ 659-+, 出版日 2006年, 査読付, A new design method based on the utilization of dynamically-coupled driving and joint stops is proposed for high dynamic performance robots, such as the robot performing highspeed dynamic motions. In the method, the desired dynamic performance and the boundary conditions of the dynamic motion are combined to be a design index (DI) first. Then the robot is initially designed by selecting light actuators and links under an assumption of utilizing dynamically-coupled driving and joint stops. By increasing the actuator capabilities step by step, an iterative process of minimizing DI is implemented to yield a robot that is lighter than conventional robots and capable of performing dynamic motions more efficiently by utilizing dynamically-coupled driving and joint stops. Based on the method, a two-link golf swing robot performing high-speed swings is designed. Simulation results indicate the method can reduce the needs for the torque and power as compared with conventional design methods. The experiment illustrates the dynamically-coupled driving and the joint stops can be used.
研究論文（国際会議プロシーディングス）, 英語 - An approach for direct manipulation by tactile modality for blind computer users: Development of the second trial production
Shigenobu Shimada; Masami Shinohara; Yutaka Shimizu; Makoto Shimojo
COMPUTERS HELPING PEOPLE WITH SPECIAL NEEDS, PROCEEDINGS, SPRINGER-VERLAG BERLIN, 4061巻, 掲載ページ 1039-1046, 出版日 2006年, 査読付, A basic device combining a tactile display function and a touch position sensing function is proposed. The trial device consists of two major components, a tactile graphic display and a six-axis force/torque sensor. The force sensor measures six dynamic values generated by touch action on the display surface and a PC estimates the touch position based on the data. Since the defects of the first trial production are the weakness of the touch surface, an assembly error, and the measurement error of six-axis force/torque sensor, they are solved in the second trial production. The effect of a contact force on the estimated position are examined respectively by a vertical component and a horizontal component. It is shown from the above experimental results that the second trial production is practically sufficient estimated position accuracy.
研究論文（学術雑誌）, 英語 - An approach for direct manipulation by tactile modality for blind computer users: Development of the second trial production
Shigenobu Shimada; Masami Shinohara; Yutaka Shimizu; Makoto Shimojo
COMPUTERS HELPING PEOPLE WITH SPECIAL NEEDS, PROCEEDINGS, SPRINGER-VERLAG BERLIN, 4061巻, 掲載ページ 1039-1046, 出版日 2006年, 査読付, A basic device combining a tactile display function and a touch position sensing function is proposed. The trial device consists of two major components, a tactile graphic display and a six-axis force/torque sensor. The force sensor measures six dynamic values generated by touch action on the display surface and a PC estimates the touch position based on the data. Since the defects of the first trial production are the weakness of the touch surface, an assembly error, and the measurement error of six-axis force/torque sensor, they are solved in the second trial production. The effect of a contact force on the estimated position are examined respectively by a vertical component and a horizontal component. It is shown from the above experimental results that the second trial production is practically sufficient estimated position accuracy.
研究論文（学術雑誌）, 英語 - Development of a measuring system of contact force during Braille reading using an optical 6-axis force sensor
T. Watanabe; S. Oouchi; T. Yamaguchi; M. Shimojo; S. Shimada
2006 28TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-15, IEEE, CD-ROM,巻, 掲載ページ 3455-+, 出版日 2006年, 査読付, A system with an optical 6-axis force sensor was developed to measure contact force during braille reading. In using this system, we encountered two problems. One is a variability of output values depending on the contact point This was solved by using two transformation techniques. The other is that subjects read braille in a different manner from the usual. We compared two manners of braille reading, one-handed vs two-handed, and found a small reduction in reading speed. Using this system, we collected data from four braille readers and quantitatively showed more minute contact force trajectories than those in earlier studies.
研究論文（国際会議プロシーディングス）, 英語 - Motion control of golf swing robot based on target dynamics
Chunquan Xu; Takeharu Nagaoka; Aiguo Ming; Makoto Shimojo
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 掲載ページ 2545-+, 出版日 2006年, 査読付, A new golf swing robot performing high-speed golf swings has been developed by the authors. This paper deals with the motion planning problem of the golf swing. A target dynamics based control scheme is proposed. This control scheme maps the robot to a harmonic oscillator (target dynamical system). Based on the target system, energy control is adopted to realize a specified hitting speed at a specified impact position in the swing. After the swing passed through the impact position, PD control and PD plus gravity, joint torque and coupling torque compensation control are adopted to smoothly slow down and stop the swing at a specified finish position. Simulation and experimental results show the effect of the proposed method.
研究論文（国際会議プロシーディングス）, 英語 - Dynamic pen spinning using a high-speed multifingered hand with high-speed tactile sensor
Tatsuya Ishihara; Akio Namiki; Masatoshi Ishikawa; Makoto Shimojo
2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, IEEE, CD-ROM巻, 掲載ページ 258-+, 出版日 2006年, 査読付, We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The system is respectively capable of high-speed finger motion up to 180 deg per 0.1 s and high-speed tactile feedback with a sampling rate higher than 1 kHz. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task using a high-speed multifingered hand equipped with tactile sensors. The paper describes the tactile feedback control strategies and experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Regarding the Accuracy in Horizontal Force Component of Tactile GUI Devic
Shigenobu Shimada; Masami Shinohara; Yutaka Shimizu; Makoto Shimojo
Proce. of the First International Conference on Sensing Technology (ICST2005), 掲載ページ 437-441, 出版日 2005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 - A rotary encoder based on magneto-optical storage
K Tobita; T Ohira; M Kajitani; C Kanamori; M Shimojo; A Ming
IEEE-ASME TRANSACTIONS ON MECHATRONICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 10巻, 1号, 掲載ページ 87-97, 出版日 2005年02月, 査読付, A new kind of the rotary encoder based on the magneto-optical (MO) storage is proposed. Using the MO methods, a small high-precision high-response rotary encoder can be realized. High precision is achieved by a two-stage process in which the code disk is firstly written using the direct transfer recording, and then rewritten using the corrections based on the measured errors. The systems for writing to, reading from, and evaluating the MO encoder are developed, with the optimal MO encoder reading and writing parameters determined experimentally. A trial MO encoder with a resolution of 9000 pulses/revolutions is created directly from a reference encoder, delivering an accuracy of approximately 2.8 in. The maximum resolution and response frequencies achieved are 18000 p/r and 400 kHz. After the corrected transfer recording, accuracies of 1.3 in at a resolution of 2250 p/r and 1.7 in at 9000 p/r are achieved.
研究論文（学術雑誌）, 英語 - Collision-tolerant control for hybrid joint based arm of nonholonomic mobile manipulator in human-robot symbiotic environments
ZJ Li; AG Ming; N Xi; ZX Xie; JG Gu; M. Shimojo
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, IEEE, 掲載ページ 4037-4043, 出版日 2005年, 査読付, a human-symbiotic safe mobile manipulator with nonholonomic constraint is described to realize human safety, impact force absorbing and task fulfillment. The robot consists of an arm covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with human, the arising impulse force is attenuated effectively by the physical model formed with the hybrid joint and the soft material. Owing to the displacement movement of the link when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. Simulation and experiment results confirm that the proposed physical model is suitable for robot working in the human-robot symbiotic environment and the control method are useful for robot's task fulfillment.
研究論文（国際会議プロシーディングス）, 英語 - A new motion control method for golf swing robot hitting a ball
A Ming; M Henmi; C Xu; M Shimojo
2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1 AND 2, IEEE, 掲載ページ 1517-1522, 出版日 2005年, 査読付, A new golf swing robot to simulate human motion has been developed. This paper deals with motion control of the robot for hitting a ball. For the case, it becomes important to control the motion of the robot after the impact, to avoid breaking a club. In this paper, a method for controlling the robot adaptable to various impact conditions is proposed. The motion state of the robot is estimated first by an extended Kalman filter, and a new reference trajectory is generated on-line according to the estimated state. The method has been implemented to the robot successfully.
研究論文（国際会議プロシーディングス）, 英語 - Development of hybrid joints for the compliant arm of human-symbiotic mobile manipulator
Z Li; A Ming; N Xi; J Gu; M Shimojo
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, ACTA PRESS, 20巻, 4号, 掲載ページ 260-270, 出版日 2005年, 査読付, This paper presents a safe arm using compliant hybrid joints for human-friendly service robots, which realizes human safety, absorbs impact force, and provides task fulfillment. The robot is composed of links covered with soft materials and hybrid joints, which can be put into active or passive mode as needed. In an unexpected or expected collision with a human, the arising impulse force is attenuated effectively by the proposed physical model, which is developed with the hybrid joints and the soft covering. Owing to the displacement of the links when the joint is passive, a recovery control algorithm has been developed for the end-effector to maintain its desired task position after the collision. The force attenuation property has been verified through collision experiments in that the capability of the proposed passive arm in overcoming the limitations of active compliance control has been demonstrated. Simulation results also showed that the proposed control method is useful for robot's task fulfillment.
研究論文（学術雑誌）, 英語 - A tactile sensor sheet using pressure conductive rubber with electrical-wires stitched method
M Shimojo; A Namiki; M Ishikawa; R Makino; K Mabuchi
責任著者, IEEE SENSORS JOURNAL, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 4巻, 5号, 掲載ページ 589-596, 出版日 2004年10月, 査読付, A new type of tactile sensor using pressure-conductive rubber with stitched electrical wires is presented. The sensor is thin and flexible and can cover three-dimensional objects. Since the sensor adopts a single-layer composite structure, the sensor is durable with respect to external force. In order to verify the effectiveness of this tactile sensor, we performed an experiment in which a four-fingered robot hand equipped with tactile sensors grasped sphere and column. The sensor structure, electrical circuit, and characteristics are described. The sensor control system and experimental results are also described.
研究論文（学術雑誌）, 英語 - Development of 3-D Coordinate Measuring System Using Laser Plane Scanners
Chisato Kanamori; Makoto Kajitani; Aiguo Ming; Makoto Shimojo
Proceedings of First Asia International Symposium on Mechatronics(AISM2004), 掲載ページ 553-558, 出版日 2004年09月
研究論文（国際会議プロシーディングス）, 英語 - Learning Control of a Golf Swing Robot Based on Direct Dynamics Model Using Recurrent ANN
Aiguo Ming; Shinya Furukawa; Teppei Teshima; Makoto Shimojo; Makoto Kajitani
Proc. of the First Asia International Symposium on Mechatronics(AISM 2004), CD-ROM巻, 出版日 2004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 - Acquisition of reaction force distributions for a walking humanoid robot
Kinoshita G; Oota C; Osumi H; Shimojo, M
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4巻, 掲載ページ 3859-3864, 出版日 2004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 - Mobile manipulator collision control with hybrid joints in human-robot symbiotic environments
Zhijun Li; Aiguo Ming; Ning Xi; Shimojo, M; Kajitani, M
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, 1巻, 掲載ページ 154-161, 出版日 2004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 - 高速応答が可能な可搬型ハプティクスディスプレイの開発
下条誠; 仁木亨
電子情報通信学会論文誌, 一般社団法人電子情報通信学会, J87-D-II巻, 5号, 掲載ページ 1133-1141, 出版日 2004年05月, 査読付, 触力覚提示方式の重要性は,ヒューマンインタフェース技術との関連において近年広く認識されるようになってきた.触力覚提示では,高周波数帯域までの応答性と,かつ滑らかな力提示が重要となる.このため,本提示装置では1kHz程度の周波数域までの応答性と,効果器側からアクチュエータヘの力のバックドライバビリティを重視し,シンプルな構造によりその実現を図り,かつ小型・軽量化を行った.また提示は手指の触運動に応じて触感覚を提示する.このため,磁気位置センサと角度センサにより手指動作を計測し,手指動作による接触状態に応じた触覚提示情報の更新を行った.提示実験として,高速応答が特に必要とされる,接触時振動感覚を例に取り,接触対象物の材質感の提示可能性を検討した.また,表面状態提示として凹凸情報を貼り付けた仮想壁を操作者がなぞり,5種類の表面状態を判別させる実験を行った.本論文では,開発した装置の特性と機能を検証した結果について報告する.
研究論文（学術雑誌）, 日本語 - 光磁気式エンコーダの高度化に関する研究(第3報)—複数トラック同時再生方式によるMOエンコーダの性能向上
小西 哲也; 梶谷 誠; 下条 誠; 金森 哉吏; 飛田 和輝; 池田 俊一
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, 2004A巻, 掲載ページ 583-583, 出版日 2004年, 本研究では,光磁気記録方式を用いたロータリエンコーダ(MOエンコーダ)の高分解能化とアブソリュート化を目的として,複数の目盛記録トラックを同時に再生することが可能となるマルチトラックピックアップMOエンコーダ(MTP)の開発を行ってきた.本報では,基礎実験と光学系シミュレーションの結果に基づくMTPの設計と試作,MTPの性能を確認するために行った実験の結果について報告する. - An approach for direct manipulation by tactile modality for blind computer users: Principle and practice of detecting information generated by touch action
M. Shimojo; M Shinohara; M Tanii; Y Shimizu
COMPUTERS HELPING PEOPLE WITH SPECIAL NEEDS: PROCEEDINGS, SPRINGER-VERLAG BERLIN, 3118巻, 掲載ページ 753-760, 出版日 2004年, 査読付, A basic device combining a tactile display function and a touch position/force direction sensing function is proposed. The trial device consists of two major components, a tactile graphic display and a 6-axis force/torque sensor. The force sensor measures six dynamic values generated by touch action on the display surface and a PC estimates the point based on the data and a simple dynamic principle. Preliminary investigation indicated the validity of this device and its promising capability for HC using tactile modality.
研究論文（学術雑誌）, 英語 - Optimal trajectory generation for manipulator with strong nonlinear constraints and multiple boundary conditions
CQ Xu; AG Ming; M Shimojo
IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics, IEEE, 掲載ページ 192-197, 出版日 2004年, 査読付, Up to now, the research work about optimal trajectory generation mainly focuses on such motion planning with boundary conditions of specified initial and final configurations. Multiple boundary conditions are seldom taken into account. This paper explores the motion planning method for hyper dynamic manipulation with multiple boundary conditions of initial, final and middle configurations and strong nonlinear constraints derived from active torque limitation and joint stop, and B-spline based optimal torque trajectory generation method is proposed by authors. By transforming the torque limitation constraints into a series of linear limitations for the coefficients of B-spline, and by using SQP optimization algorithm, optimal solutions are obtained with high convergence. Numerical experiments show the proposed method has superior numerical stability and high optimization accuracy in dealing with the optimal motion planning problem with strong nonlinear constraints and multiple boundary conditions.
研究論文（国際会議プロシーディングス）, 英語 - Simultaneously-firing sonar ring based high-speed navigation for nonholonomic mobile robots in unstructured environments
ZX Xie; ZJ Li; Y Sugiura; AG Ming; M Shimojo
PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON INTELLIGENT MECHATRONICS AND AUTOMATION, IEEE, 掲載ページ 650-655, 出版日 2004年, 査読付, A sensing system using sonar ring for mobile robot capable of rapid detection and avoidance of obstacles has been developed and a prototype of the sensing system with 24 sonar sensors is fabricated. A composite method of firing all ultrasonic sensors simultaneously with the scanning rate up to 66Hz of panoramic detection and Dynamic Window Approach (DWA) is utilized to achieve high-speed-navigation in the narrower, cluttered, dynamic, unstructured environments. The experimental results show that a rapid navigation of mobile robot in the unstructured environment becomes possible.
研究論文（国際会議プロシーディングス）, 英語 - Development of a mixed signal LSI for tactile data processing
A Iwashita; M. Shimojo
2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7, IEEE, 5巻, 掲載ページ 4408-4413, 出版日 2004年, 査読付, A tactile sensor which can cover the entire body of a robot is needed to construct a robot that coexists with humans. In this study, Pressure Conductive Rubber and a matrix of electrodes are used to build a two-dimensional force sensor array. The large amount of wiring causes problems in these sensor arrays. We are trying to develop at? LSI which can detect the force distribution on the sensor and compress it to reduce the number of wires. The goal of this study is to detect signals from a 64 x 64 sensor array and convert it into an 8-bit digital signal at 1-ms intervals. In this paper, the detection circuit in particular is discussed.
研究論文（国際会議プロシーディングス）, 英語 - Development of a motion support system by using an electromyogram - Signal processing of an electromyogram to estimate the biomechanical characteristics of joints
T Hoshino; M Tomono; R Furusawa; T Suzuki; M. Shimojo; K Mabuchi
2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7, IEEE, 5巻, 掲載ページ 4432-4437, 出版日 2004年, 査読付, A motion support system is very important for improving the quality of life for the people who have inadequate muscle power for walking or standing. One of the most important aspects of the development of such systems is how to keep coordination between the movement of the living body and that of the motion support system with respect to timing and power. In this study, we tried to develop an algorithm that would be capable of solving this problem by measuring the torque and the viscosity of the movements of the living body from a surface electromyogram (EMG), and varying the torque and viscosity of the support system in proportion to those of the living body. The results demonstrated that the torque of the joint of the living boas, coincided very well with the estimated value calculated from integrated surface EMG and it was possible to support the subject's motion such that he could perform smooth motions while exerting with a small amount of power.
研究論文（国際会議プロシーディングス）, 英語 - Development of tactile sensors using liquid type pressure sensitive material
Makoto SHIMOJO
1st IEEE Technical Exhibition Based Conference on Robotics and Automation, 掲載ページ CD-ROM, 出版日 2004年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Evaluation of the geometrical uncertainty of helix deviation measurements using the Monte Carlo simulation
Hideyuki Tanaka; Makoto Shimojo; Shimojo; Takashi Sato
Proceedings of the First Asia International Symposium on Mechatronics(AISM 2004), 掲載ページ CD-ROM, 出版日 2004年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Trajectory Planning and Control of a Mobile Manipulator with Active/Passive Switching Joints for Partial Constrained Tasks
Aiguo Ming; Tetsuo Jinnai; Zhijun Li; Ting Zou; Makoto Shimojo; Makoto Kajitani
Proceedings of 2nd Japan-China Workshop on Multidisciplinary Researches in Engineering, 掲載ページ 76-81, 出版日 2003年11月
研究論文（国際会議プロシーディングス）, 英語 - Magneto-optical rotary encoder with a multiple reading pickup,FM1-1
Kazuteru TOBITA; Satoki KAWAMOTO; Makoto KAJITANI; Chisato KANAMORI Aiguo MING; Makoto SHIMOJO
2nd Japan-China Workshop on Multidisciplinary Research in Engineering, CD-ROM巻, 出版日 2003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 a High Precision Mounting Robotic System -Positioning experiments by Optical Fiber Sensor
Kazuteru Tobita; Satoki Kawamoto; Kajitani; Makoto; Chisato Kanamori; Makoto Shimojo; Aiguo Ming
Proceedings of 6th Japan-France Congress on Mechatronics & 4th Asia-Europe Congress on Mechatronics, 掲載ページ 157-162, 出版日 2003年09月
研究論文（国際会議プロシーディングス）, 英語 - 光磁気式エンコーダの高度化に関する研究（第1報）—マルチスポットピックアップによるMOエンコーダの性能向上
小西 哲也; 飛田 和輝; 池田 俊一; 梶谷 誠; 金森 哉吏; 下条 誠; 河本 聡紀
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, 2003A巻, 掲載ページ 535-535, 出版日 2003年, 本研究では，光磁気記録方式を用いた高精度なロータリエンコーダ(MOエンコーダ)の開発を目的として，複数の目盛の再生信号を加算平均化し，誤差のランダム成分を軽減するマルチスポットピックアップMOエンコーダ（MSP）を試作してきた．
本報では，光学系シミュレーションに基づく試作MSPの問題点の解明と改良，基礎実験によるMSP改良の有効性の検証について報告する． - 光磁気式エンコーダの高度化に関する研究（第2報）—複数トラック同時再生方式の検討
池田 俊一; 飛田 和輝; 小西 哲也; 梶谷 誠; 金森 哉吏; 下条 誠; 河本 聡紀
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, 2003A巻, 掲載ページ 536-536, 出版日 2003年, 各種メカトロニクス機器の回転制御に広く用いられているロータリエンコーダには,高精度かつ低コスト,高分解能,高速応答,そして小型化が望まれている.本研究ではこれらの要求を満たす新しいエンコーダとして光磁気記録技術を応用したロータリエンコーダを開発している．本報では,複数トラックの同時再生に関する基礎的な実験を行い,その結果から得られた高分解能化やアブソリュート化のための指針を報告する． - Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber
M Shimojo; T Suzuki; A Namiki; T Saito; M Kunimoto; R Makino; H Ogawa; M Ishikawa; K Mabuchi
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, IEEE, CD-ROM巻, 掲載ページ 1264-1270, 出版日 2003年, Research attempting to merge human and mechanical systems through a nervous system is one of the most dynamic fields in interface technology. Recently, artificial cochlear and retinal nerves were connected via a nervous system. However, there has been no report concerning the replacement of human tactile sensation by artificial sensors connected to the tactile sensory nerve system. The present study reports the development of a system which enables the touch strength applied to a robot hand to be sensed and applied to the hand of a human operator via the microstimulation method. The operator controls the grasping action of a robot hand equipped with tactile sensors at a remote location via a network. The contact information between an object and the robot hand is transmitted via the network, and the tactile sensory nerve of the operator is stimulated by a microelectrode. The force applied to the robot hand can be sensed as a applied force to the hand of the human operator. Applications of the proposed system include the presentation of tactile perception in remote manipulation. In addition, the proposed system is an effective method for transmitting sensation from artificial limbs. The present paper describes the experimental system and results.
研究論文（国際会議プロシーディングス）, 英語 - Development of a system for experiencing tactile sensation from a robot hand by electrically stimulating sensory nerve fiber
M. Shimojo; T Suzuki; A Namiki; T Saito; M Kunimoto; R Makino; H Ogawa; M Ishikawa; K Mabuchi
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, IEEE, CD-ROM巻, 掲載ページ 1264-1270, 出版日 2003年, 査読付, Research attempting to merge human and mechanical systems through a nervous system is one of the most dynamic fields in interface technology. Recently, artificial cochlear and retinal nerves were connected via a nervous system. However, there has been no report concerning the replacement of human tactile sensation by artificial sensors connected to the tactile sensory nerve system. The present study reports the development of a system which enables the touch strength applied to a robot hand to be sensed and applied to the hand of a human operator via the microstimulation method. The operator controls the grasping action of a robot hand equipped with tactile sensors at a remote location via a network. The contact information between an object and the robot hand is transmitted via the network, and the tactile sensory nerve of the operator is stimulated by a microelectrode. The force applied to the robot hand can be sensed as a applied force to the hand of the human operator. Applications of the proposed system include the presentation of tactile perception in remote manipulation. In addition, the proposed system is an effective method for transmitting sensation from artificial limbs. The present paper describes the experimental system and results.
研究論文（国際会議プロシーディングス）, 英語 - Development of a hyper dynamic manipulator utilizing joint stops
A Ming; N Harada; M Shimojo; M Kajitani
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE, 3巻, 掲載ページ 2084-2089, 出版日 2003年, 査読付, Usually there exist joint stops in a manipulator due to the mechanical structure of joints. In conventional manipulators, a collision between an arm and the strutural joint stop is avoided by barriers from both software and electronic hardware. Comparing to these conventional manipulators, human utilizes structural joint stops usefully in many manipulations, especially in hyper dynamic manipulations such as golf swing. A basic concept and general method to utilize the structural joint stop in a manipulator, aiming at improving the dynamic capability of the manipulator in a large extent by simple and smart structure have been given in our previous work. To show the feasibility of the proposal, a hyper dynamic manipulator utilizing joint stops has been fabricated and fundamental experiments(see video) have been carried out. Experimental results have shown the important role of the joint stop, to realize an efficient hyper dyamnic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.
研究論文（国際会議プロシーディングス）, 英語 - Dynamic sensing experiments of reaction force distributions on the sole of a walking humanoid robot
G Kinoshita; T Kimura; M Shimojo
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE, 2巻, 掲載ページ 1413-1418, 出版日 2003年, 査読付, This paper describes methods for sensing the reaction forces acting on the foot and on the sole of a humanoid robot during walking.
A force sensor is described, which utilizes sensors at each of four corners of the foot to measure the center of pressure during walking.
A tactile sensor was also constructed from pressure conductive rubber sandwiched between upper and lower electrode arrays positioned at right angles to each other. This sensor provides information about the force distributions acting on the sole of the foot.
Results are presented of measurements of the force distributions acting on the sole of the foot during walking of a humanoid robot on a flat surface and over thin objects on the floor.
研究論文（国際会議プロシーディングス）, 英語 - Mechanism design and control of dynamically-coupled driving based manipulator
AG Ming; CQ Xu; T Maruyama; M Shimojo; M Kajitani
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS, IEEE, 1巻, 掲載ページ 1-6, 出版日 2003年, 査読付, Usually the dynamic capability of conventional manipulators is limited by heavy structure. Different from those manipulators, human can do many hyper dynamic manipulations while in a smart structure by utilizing dynamically-coupled driving between body and arms. Aiming at improving the dynamic capability of a manipulator in a large extent, a basic concept and general method on the mechanism design and control of the manipulator is proposed, just to simulate the action of human utilizing the dynamically-coupled driving. Furthermore, using joint stop in a manipulator will enhance the effect of dynamically-coupled driving. To show the feasibility of the proposal, a hyper dynamic manipulator has been fabricated and fundamental experiments have been carried out. Experimental results have shown the important role of the dynamically-coupled driving to realize an efficient hyper dynamic manipulation while in a smart structure. This paper describes the developed prototype and experimental results.
研究論文（国際会議プロシーディングス）, 英語 - A Sheet-Type Sensor Using Pressure-Conductive Rubber with Electrical-Wire Stitches Method
M. Shimojo; R. Makino; A. Namiki; M. Ishikawa; T. Suzuki; K. Mabuchi
The first IEEE international conference on sensors, CD-ROM巻, 出版日 2002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 - 遠隔地ハンドからの触覚情報を人間の触覚神経系経由により提示するシステムの開発
下条 誠; 小川 博教; 牧野 了太; 鈴木 隆文; 並木 明夫; 齋藤 敬; 國本 雅也; 石川 正俊; 満渕 邦彦
日本バーチャルリアリティ学会大会論文集 = Proceedings of the Virtual Reality Society of Japan annual conference, 日本バ-チャルリアリティ学会, 7巻, 掲載ページ 141-144, 出版日 2002年09月18日
日本語 - Motion Control of a New Golf Swing Robot for Hitting a Ball
A. Ming; T. Teshima; T. Takayama; M. Kajitani; M. Shimojo
Proceedings of 4th International Conference on the Engineering of Sport, 掲載ページ 456-462, 出版日 2002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 - A sheet type tactile sensor using pressure conductive rubber with electrical-wires stitches method
M. Shimojo; R. Makino; A. Namiki; M. Ishikawa; T. Suzuki; K. Mabuchi
Proc. of IEEE Sensors 2002. First IEEE International Conference on Sensors, 2巻, 掲載ページ 1637-1642, 出版日 2002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 - Artificial Skin with Highly Tactile Density -Innovative Sensory-Motor Fusion Opens a New Robotic World(Tutorial)
Makoto Shimojo
2002 IEEE International Conference on Robotics and Automation, 出版日 2002年05月
研究論文（国際会議プロシーディングス）, 英語 - Development of a maintenance robot system for the road lighting equipment
AG Ming; Y Ishikawa; N Hasegawa; K Shibasaki; Y Ye; M Kajitani; C Kanamori; M Shimojo; Y Aizawa
PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 掲載ページ 161-166, 出版日 2002年, To realize the automization of maintenance work for the road lighting equipment, a robot system has been developed. It consists of an elevating unit and an exchanging unit including a newly designed illumination equipment. As the elevating unit, an autonomous elevating robot has been developed. By the exchanging mechanism with the new illumination unit, install and removal of the illumination unit can be done automatically just by the elevating motion of the robot. By integrating all units, an overall experiment for a sequence of task has been done and the feasibility of the developed system is confirmed by the results. In this paper, basic concept and configuration of the system are described. The detailed design and fabrication of each unit are given also.
研究論文（国際会議プロシーディングス）, 英語 - A proposal for utilizing structural joint stop in a manipulator
A Ming; M Kajitani; M Shimojo
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 4巻, 掲載ページ 3649-3654, 出版日 2002年, 査読付, Usually the revolute joint of a manipulator can't rotate all around, that is, in a range larger than 360 degree and it is limited by a mechanical element so called "joint stop". In conventional manipulators, a collision between an arm and the joint stop is avoided by barriers from both software and electronic hardware. Comparing to those conventional manipulators, human utilizes structural joint stop usefully in many manipulations, especially in hyper dynamic manipulations. In this paper, we propose a general utilization of structural joint stop in a manipulator to improve the capability of the manipulator in a large extent by simple modification of the structure of joint. This paper gives the basic idea for utilizing structural joint stop in a manipulator, expected effects of the proposal, the method how to utilize the joint stop and simulation results.
研究論文（国際会議プロシーディングス）, 英語 - Development of a rapid obstacle sensing system using sonar ring for mobile robot
A Ming; K Kajihara; M Kajitani; M Shimojo
2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 3巻, 掲載ページ 3068-3073, 出版日 2002年, 査読付, A sensing system using sonar ring for mobile robot capable of rapid detection and avoidance of obstacles has been developed. In the system, a method of firing all ultrasonic sensors. on a sonar ring simultaneously is used. And to eliminate error data due to crosstalks in the simultaneous firing, a filtering method based on pattern matching using neural network is used. To show the advantage of this method, a prototype of sensing system with 24 sonar sensors is fabricated. By installing the system to mobile robot, a scanning rate up to 50Hz of panoramic detection is achieved. The experimental results showed that a rapid navigation of mobile robot in a real environment becomes possible. This paper describes the basic concept, the method for sensing and avoidance of obstacles, configuration of the developed sensor system and experimental results of obstacle detection and avoidance.
研究論文（国際会議プロシーディングス）, 英語 - A rotary encoder based on magneto-optical storage method
K Tobita; T Ohira; M Kajitani; C Kanamori; A Ming; M. Shimojo; S Kawamoto
PROCEEDINGS OF THE 3RD CHINA-JAPAN SYMPOSIUM ON MECHATRONICS, CHINESE INSTITUTE ELECTRONICS, 掲載ページ 128-133, 出版日 2002年, We propose a new kind of rotary encoder based on a magneto-optical storage method. By using this method, a rotary encoder with small size, high precision and response can be realized. High precision can be achieved with the ability for re-recording by using the transfer recording with error correction method. The method is as follows. Firstly, an initial recording is made directly from the reference encoder and angle position errors of MO encoder are measured. Correcting values to cancel errors are calculated based on Fourier analysis. Finally, MO encoder is re-recorded with the correcting values after erasing. The following issues are described: (1) A device for recording, playback and evaluation of MO encoder has been developed. (2) MO encoder made for trial purposes was recorded by 2250 p/r (pulses/revolution) directly from the referential encoder. Accuracy of about 2.5" and reproducibility of 0.079" were achieved. (3) As a result of experiments for transfer recording with error correction, an accuracy of 1.3" for 2250 p/r and 1.7" for 9000 p/r was achieved.
研究論文（国際会議プロシーディングス）, 英語 - Innovative Sensory-Motor Fusion Opens a New Robotic World -Artificial Skin with Highly Tactile Density-
Makoto SHIMOJO
2002 IEEE International Conference on Robotics and Automation, CD-ROM巻, 出版日 2002年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Tactile Sensor using Pressure Conductive Rubber with Electrical-Wires stitches Method
M. Shimojo; R. Ikeda; A. Namiki; M. Ishikawa; T. Suzuki; K. Mabuchi
Proc. of 3rd European-Asian Congress on Mechatronics, CD-ROM巻, 出版日 2001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 - HMDの焦点調節補償機能に着目した仮想スポーツにおける捕球タイミングの評価
川原慎太郎; 米倉達広; 下条誠; 岸義樹
日本バーチャルリアリティ学会論文誌, 特定非営利活動法人 日本バーチャルリアリティ学会, 5巻, 3号, 掲載ページ 1033-1040, 出版日 2000年11月, In this paper, we proposed a new method of evaluating quantitative the influence to the depth perception was influenced by the contradiction between convergence and accommodation in stereoscopic displays.We suppose empirical application of stereoscopic displays, verify about influences when we catch the ball in the virtual world. To be concrete, we used stereoscopic display with accommodative compensation, and proposed a new method of evaluating quantitative the influence to the depth perception was influenced by the contradiction between convergence and accommodation in stereoscopic displays, from results of tasks supposed to catch the ball in the virtual world. We also conducted a subjective experiment, and report its results.
研究論文（学術雑誌）, 日本語 - An evaluation of depth perception in a virtual space
Kawahara S; Sugihara T; Miyasato T; Shimojo M; Yonekura T
Proc. of 7th International Display Workshops - IDW'00, pp., 2000., 掲載ページ 1123-1126, 出版日 2000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 - 仮想スポーツ動作を用いた奥行知覚の評価手法の提案
川原慎太郎; 杉原敏昭; 宮里勉; 下条誠; 米倉達広
3次元画像コンファレンス2000, 2000巻, 出版日 2000年07月, 査読付
研究論文（国際会議プロシーディングス）, 日本語 - Relationship between intraneural electrical stimulation and evoked pressure sensation -Psychophysical quantification
Takafumi Suzuki; Kunihiko Mabuchi; Masanari Kunimoto; Makoto Shimojo; Takashi Saito; Naoto Kakuta
5th Annual Conf. of the Int. Functional Electrical Stimulation Society., 掲載ページ 407-409, 出版日 2000年01月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Sensation evoked by simultaneous electrical stimulation of two single mechanoreceptor units
T Suzuki; M Kunimoto; M Shimojo; T Saito; M Ishikawa; K Mabuchi
PROCEEDINGS OF THE 22ND ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-4, IEEE, 22巻, 掲載ページ 844-844, 出版日 2000年, 査読付, In this study we examined the sensation evoked by the simultaneous electrical stimulation of two single mechanoreceptor units. Two tungsten microelectrodes were inserted percutaneously at two points on the forearm of awake human subjects into the median nerve and adjusted so that the activity of each single mechanoreceptor unit could be recorded, After identifying the types of units, the properties of the sensation evoked by simultaneous electrical stimulation were investigated by comparing them with those of the individual stimuli from the electrodes. To date, experiments have been done on the combination of two SAI units whose receptive fields did not overlap. For this combination, no "phantom sensation" was observed. The evoked sensation was the simple sum of those evoked by the individual stimuli. We are now experimenting with other combinations of units.
研究論文（国際会議プロシーディングス）, 英語 - Sensation evoked by simultaneous electrical stimulation of two single mechanoreceptor units
T Suzuki; M Kunimoto; M Shimojo; T Saito; M Ishikawa; K Mabuchi
PROCEEDINGS OF THE 22ND ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-4, IEEE, 22巻, 掲載ページ 844-844, 出版日 2000年, 査読付, In this study we examined the sensation evoked by the simultaneous electrical stimulation of two single mechanoreceptor units. Two tungsten microelectrodes were inserted percutaneously at two points on the forearm of awake human subjects into the median nerve and adjusted so that the activity of each single mechanoreceptor unit could be recorded, After identifying the types of units, the properties of the sensation evoked by simultaneous electrical stimulation were investigated by comparing them with those of the individual stimuli from the electrodes. To date, experiments have been done on the combination of two SAI units whose receptive fields did not overlap. For this combination, no "phantom sensation" was observed. The evoked sensation was the simple sum of those evoked by the individual stimuli. We are now experimenting with other combinations of units.
研究論文（国際会議プロシーディングス）, 英語 - A development of simple haptic display
T Niki; M Shimojo
SMC 2000 CONFERENCE PROCEEDINGS: 2000 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOL 1-5, IEEE, 2巻, 掲載ページ 1001-1006, 出版日 2000年, 査読付, Force and tactile feedback greatly enhance the interaction of virtual environment applications. A simple haptics display that has very high frequency response of the force feedback was developed. The simple haptics display present force feedback and also vibrotactile information.
In the design over view, we propose the categorization of the object presentation data and these data format. We calculated some of these patterns, including tactile and temperature data.
The frequency response of the haptics display was examined. Then the experiments of the vibrotactile presentation at contact with wood and aluminum were presented. And a method of the surface roughness presentation were also investigated.
Results showed that the simple haptics display provide sufficient frequency response for presenting the vibrotactile information at contact and perciving a surface roughness of virtual objects.
研究論文（国際会議プロシーディングス）, 英語 - Simple haptic display and object data design
T Niki; M Shimojo
2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, IEEE, 2巻, 掲載ページ 967-972, 出版日 2000年, 査読付, Force and tactile feedback greatly enhance the interaction of virtual environment applications. A simple haptics display that has very high frequency response of the force feedback was developed. The simple haptics display present force feedback and also vibrotactile information.
In the design over view, we propose the categorization of the object presentation data and these data format. We calculated some of these patterns, including tactile and temperature data.
The frequency response of the haptics display was examined. Then the experiments of the vibrotactile presentation at contact with wood and aluminum were presented. rind a method of the surface roughness presentation was also investigated.
Results showed that the simple haptics display provide sufficient frequency response for presenting the vibrotactile information at contact and perceiving a surface roughness of virtual objects.
研究論文（国際会議プロシーディングス）, 英語 - Sensation evoked by simultaneous electrical stimulation of two single mechanoreceptor units
T Suzuki; M Kunimoto; M. Shimojo; T Saito; M Ishikawa; K Mabuchi
PROCEEDINGS OF THE 22ND ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-4, IEEE, 22巻, 掲載ページ 844-844, 出版日 2000年, In this study we examined the sensation evoked by the simultaneous electrical stimulation of two single mechanoreceptor units. Two tungsten microelectrodes were inserted percutaneously at two points on the forearm of awake human subjects into the median nerve and adjusted so that the activity of each single mechanoreceptor unit could be recorded, After identifying the types of units, the properties of the sensation evoked by simultaneous electrical stimulation were investigated by comparing them with those of the individual stimuli from the electrodes. To date, experiments have been done on the combination of two SAI units whose receptive fields did not overlap. For this combination, no "phantom sensation" was observed. The evoked sensation was the simple sum of those evoked by the individual stimuli. We are now experimenting with other combinations of units.
研究論文（国際会議プロシーディングス）, 英語 - Human shape recognition performance for 3-D tactile display
M Shimojo; M Shinohara; Y Fukui
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 29巻, 6号, 掲載ページ 637-644, 出版日 1999年11月, 査読付, The purpose of this study is to describe the relationship between the pin-matrix density of a tactile display and the recognition performance of displayed three-dimensional (3-D) shapes. Three types of pin-matrix tactile display, that generate 3-D shapes, were used for the experiment. The pitch of pins was 2 mm, 3 mm, 5 mm for each. We assumed that surfaces, edges, and vertices were primitive 3-D shape information, so tested shapes were classified into these three categories. We assumed two types of finger touching mode. One, fingertip-only, allowed full use of spatial shape information given to the fingertip. Another, tracing, allowed tracing of the object. Recognition time and the classified error rate were measured. We obtained results on the relationship between pin pitch and recognition performance data. Regression curves for pin pitch and recognition time were plotted. And a significance test of recognition time versus pin pitch was done. Also error rate of identification versus pin pitch were described. In shape recognition time, there was a little difference between the two modes, and it was observed that recognition time was somewhat less influenced by pin pitch in tracing. In the rate of correct shape recognition, tracing exhibited better results than fingertip-only. For the spatial resolution of the 3-D tactile display, pin pitch of 2 mm or less Is necessary for fingertip-only, and 3 mm is sufficient for tracing. Our results provide basic knowledge for developing tactile presentation devices, as man-machine and other interface, especially in virtual reality technology.
研究論文（学術雑誌）, 英語 - Development of a System for Experiencing Tactile Sensations from an Artificial Arm by Electrically Stimulating Sensory Nerve Fiber, EMBEC99 part１,776 (1999)
Takafumi Suzuki; Kunihiko Mabuchi; Masanari Kunimoto; Makoto Shimojo; Takashi Saito; Naoto Kakuta
European Medical &Biological Eng.Conf., 掲載ページ 776, 出版日 1999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 - The Relationship between Stimulation Signals and Subjective Intensities and Areas, Proc. of 21st
Takafumi Suzuki; Kunihiko Mabuchi; Haruyo Nishimura; Takashi Saito; Naoto Kakuta; Masanari Kunimoto; Makoto Shimojo
International Conference of the IEEE EMBS (1999)., CD-ROM巻, 出版日 1999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 - A system of interpreting somatic sensations for use with artificial hands and limbs
K. Mabuchi; T. Suzuki; M. Kunimoto; M. Shimojo; N. Kakuta; T. Saito; H. Nishimura; M. Ishikawa
Proc. of 21st International Conference of the IEEE EMBS, CD-ROM巻, 出版日 1999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 - Possibility of Tool Grip Shape Evaluation using Grasping Force Distribution Measurement System
S. SATO; S. SHIMIZU; M. Shimojo; K. SEKI
HCI International '99, 21A巻, 掲載ページ 138-139, 出版日 1999年08月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Relation ship between an Intraneural Electrical Stimulation Signal to a slowly Adapting Mechanoreceptor Unit and the Evoked Artificial Pressure Sensation Vol. 23, No.7, pp.671(1999)
Kunihiko Mabuchi; Takafumi Suzuki; Masanari Kunimoto; Makoto Shimojo; Takashi Saito; Naoto Kakuta
Artificial Organs,, 28巻, 7号, 掲載ページ 671, 出版日 1999年07月, 査読付
研究論文（学術雑誌）, 英語 - Incorporating a Pressure-sensation Function into an Artificial Arm System, , Vol.23 No.7 pp.674 (1999)
Takafumi Suzuki; Kunihiko Mabuchi; Masanari Kunimoto; Makoto Shimojo; Takashi Saito; Naoto Kakuta
Artificial Organs, 23巻, 7号, 掲載ページ 674, 出版日 1999年07月, 査読付
英語 - 広範囲操作力対応型力覚インターフェース：6DFMシステム
蔡 奕; 福井幸男; 山下樹里; 下条誠
日本バーチャルリアリティー学会論文誌, 特定非営利活動法人 日本バーチャルリアリティ学会, 3巻, 3号, 掲載ページ 65-74, 出版日 1998年09月, 査読付, This paper describes a new virtual manipulation environment with 6 DOF Cartesian manipulator for force feedback display. The manipulator is controlled by the force the operator puts on the lever, and it can present virtual surfaces of wide range of mechanical hardness, from very hard to very soft. With this system the operator can trace the smooth surface smoothly even under the control of several hundred cycle-time. We performed several experiments including virtual peg-in-hole experiments to verify the system's performance and effectiveness in constructing virtual environment applications.
研究論文（学術雑誌）, 日本語 - Haptics Interface for Virtual Environment: 6DFM System
Yi CAi; Juli Yamashita; Yukio Fukui; Makoto Shimojo
7th IEEE International Workshop on Robot and Human Communication, 掲載ページ 605-612, 出版日 1998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 - Object Localization with Multiple Sensors
S. Shenker; O. Khatib; M Shimojo
Int. J. Robotics Research, MIT Press, 7巻, 6号, 掲載ページ 34-44, 出版日 1998年06月, 査読付
研究論文（学術雑誌）, 英語 - Presentation and Perceptio of Virtual Haptics Textures
Yukio Fukui; Juli Yamashita; Yi Cai; Makoto Shimojo
感性評価１筑波大学感性評価構造モデル構築特別プロジェクト研究報告集1997, 掲載ページ 163-167, 出版日 1998年04月, 査読付
研究論文（大学，研究機関等紀要）, 英語 - Shape identification performance and pin-matrix density in a three-dimensional tactile display
Makoto Shimojo; Masami Shinohara; Yukio Fukui
Systems and Computers in Japan, John Wiley and Sons Inc., 29巻, 2号, 掲載ページ 1-8, 出版日 1998年, 査読付, Tactile display devices use an array of pins mounted in the form of a matrix to present three-dimensional (3D) shapes to the user by raising and lowering the pins. With a denser matrix of mounted pins, it can be expected that shape identification will become easier and the time required for identification will also become shorter, but that problems of difficulty in fabrication will arise. It is necessary to consider such trade-offs in the development of such devices. This investigation conducted experiments to study the effect of pin pitch on shape identification as part of the fundamental investigation of this subject. The experiment used three tactile display devices with pin pitches of 2, 3, and 5 mm for geometrical shape identification, with response time and rate of misidentification taken as the performance data. Surfaces, edges, and vertices of 3D shapes were used as the shape primitives for displayed shapes and several of each type were selected for presentation. The results obtained revealed that performance has different relationships to pin pitch with different shape primitives. © 1998 Scripta Technica.
研究論文（学術雑誌）, 英語 - 3次元触覚ディスプレイにおける提示ピン配置密度と形状判別特性
下条誠; 篠原正美; 福井幸男
電子情報通信学会, 一般社団法人電子情報通信学会, J80-D-II巻, 5号, 掲載ページ 1202-1208, 出版日 1997年05月, 査読付, ピンをマトリクス状に配置し, 各ピンの昇降によって3次元形状を提示する触覚提示装置では, そのピンの実装密度を高めるほど形状の判別が容易になり, 判別に要する時間も短くなることが予想される反面, 製作がより困難になるという問題があり, 機器開発にあたっては両者のトレードオフを考慮する必要がある. 本論文では, そのための基礎的検討の一環としてピン間距離が形状判別に及ぼす影響について実験と考察を行った. 実験は, ピン間距離2mm, 3mm, 5mmの3種類の触覚提示装置を用いた幾何学的形状判別実験を行い, パフォーマンスデータとして反応時間およぴ誤判別率を得た. 提示形状としては, 3次元形状の面, 辺, 角を形状プリミティブとし, それぞれについて各数種類の形を選び提示した. その結果, ピン間距離とパフォーマンスの関係が形状プリミティブによって異なることが明らかにされた. 本研究の成果は, 近年仮想現実感技術などのヒューマンインタフェースの分野で注目されている触覚提示装置を開発する場合の基礎的知見として有効と思われる.
研究論文（学術雑誌）, 日本語 - Recognition by Inconsistent Information from Visual and Haptics Interface
Y. Fukui; M Shimojo; J. Yamashita
Journal of Robotics and Mechatronics Vol.9, No.3, pp.208-212 (1997), 9巻, 3-4号, 掲載ページ 208-212, 出版日 1997年03月, 査読付
研究論文（学術雑誌）, 英語 - A Study on Force Feed-back Device Using 6 D.O.F. Cartesian Robot (Adaptive control method for human spatial movement)
H. Yokoi; Y. Fukui; J. Yamashita; M. Shimojo
Journal of Robotics and Mechatronics, 9巻, 1号, 掲載ページ 1-8, 出版日 1997年01月, 査読付
研究論文（学術雑誌）, 英語 - 6軸直交型ロボットを用いたフォースフィードバックデバイスに関する基礎研究
横井浩史; 福井幸男; 山下樹里; 下条誠
日本機械学会論文集(Ｃ編), Vol.63, No.605, pp.204-210 (1997), 63巻, 605号, 掲載ページ 204-210, 出版日 1997年01月, 査読付
研究論文（学術雑誌）, 日本語 - Mechanical filtering effect of elastic cover for tactile sensor
Makoto Shimojo
IEEE Transactions on Robotics and Automation, 13巻, 1号, 掲載ページ 128-132, 出版日 1997年, 査読付, Tactile sensors are ordinarily covered with an elastic cover to protect the sensor from being damaged by shock or chemical contamination. The cover, however, greatly decreases the sensor's spatial resolution. This effect becomes serious in the fabrication of a high-spatial-resolution sensor, even if the cover is only 0.2 mm thick, when the sensor requires a spatial resolution of less than 1 mm. This paper analyzes the low-pass spatial filtering effect of the cover, calculates the filtering gain for different types of elastic cover materials using the finite-element method, and gives preliminary experimental results.
研究論文（学術雑誌）, 英語 - Shape identification performance and pin-matrix density in a 3 dimensional tactile display
M Shimojo; M Shinohara; Y Fukui
IEEE 1997 VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM, PROCEEDINGS, I E E E, COMPUTER SOC PRESS, 掲載ページ 180-187, 出版日 1997年, Tactile display devices use an array of pins mounted in the form of a matrix to present three-dimensional shapes to the user by raising and lowering the pins. With a denser matrix of mounted pins, it can be expected that shape identification will become easier and the rime required for identification will also become shorter, but that problems of difficulty in fabrication will arise. It is necessary to; consider such trade-offs in the development of such devices. This study conducted experiments to study the effect of pin pitch on shape identification as part of the fundamental investigation of this subject. The experiment used three tactile display devices with pin pitches of 2 mm 3 mm and 5 mm for geometrical shape identification, with response time and rate of misidentification taken as the performance data. Surfaces, edges and vertices of three-dimensional shapes were used as the shape primitives for displayed shapes and several of each type were selected for presentation. The results obtained revealed that performance has different relationships to pin pitch with different shape primitives.
研究論文（国際会議プロシーディングス）, 英語 - The relationship between human grip types and force distribution pattern in grasping
S Shimizu; M. Shimojo; S Sato; Y Seki; A Takahashi; Y Inukai; M Yoshioka
8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, I E E E, 掲載ページ 299-304, 出版日 1997年, 査読付, It is an important to analyzing a human grasping motions. In these classifications of grasping patterns depend for many parts on their personal definitions, and no unified view has not been reached at present. The measured quantities in grasping include the posture of the hand, and grasping force and its distribution. And few have been reported on classifications based on grasping force and ifs distribution.
This paper first describes a Sensor Glove MKIII which measures grasping force and its distribution in human grasping motion. Then the grasping force measured when some objects were grasped using this sensor is shown together with the distribution of the force. Furthermore, the usefulness of this sensor was verified by applying the ''Contact Web'' technique to the grasping force and its distribution pattern and taking an example of the classification of grasping reported by Cutkosky. It follows fi om these facts that the Sensor Glove MKIII may be useful far the analysis of grasping patterns.
研究論文（国際会議プロシーディングス）, 英語 - Differences of force distribution patterns on grip types in human grasping motions
S Shimizu; M Shimojo; S Sato; Y Seki; A Takahashi; Y Inukai; M Yoshioka
DESIGN OF COMPUTING SYSTEMS: COGNITIVE CONSIDERATIONS, ELSEVIER SCIENCE BV, 21巻, 掲載ページ 425-428, 出版日 1997年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Improvement of hand-grasp measurement system
Y Seki; S Sato; S Shimizu; M Shimojo; A Takahashi
DESIGN OF COMPUTING SYSTEMS: SOCIAL AND ERGONOMIC CONSIDERATIONS, ELSEVIER SCIENCE BV, 21巻, 掲載ページ 459-462, 出版日 1997年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Human shape recognition performance for 3D tactile display
M Shimojo; M Shinohara; Y Fukui
SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, I E E E, 掲載ページ 3192-3197, 出版日 1997年, 査読付, The purpose of this study is to describe the relationship between the pin-matrix density of a tactile display and the recognition performance of displayed 3-dimensional shapes. Three types of pin-matrix tactile display, that generate 3D shapes, were used for the experiment. The pitch of pins was 2 mm, 3 mm, 5 mm for each. We assumed that surfaces, edges, and vertices were primitive 3D shape information, so tested shapes were classified into these three categories. We assumed two types of finger touching mode. One, fingertip-only, allowed full use of spatial shape information given to the fingertip. Another, tracing, allowed tracing of the object. Recognition time and the classified error rate were measured. We obtained results on the relationship between pin pitch and recognition performance data. Regression curves for pin pitch and recognition time were plotted. And a significance test of recognition time vs pin pitch was done. Also error rate of identification vs pin pitch were described.
研究論文（国際会議プロシーディングス）, 英語 - Perceptual performances of force rendering methods
Y Fukui; J Yamashita; M Shimojo
SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, I E E E, 掲載ページ 1401-1405, 出版日 1997年, 査読付, In virtual reality techniques, the force feedback method becomes important especially when manipulating shapes interactively. The present study used two methods of presenting haptic stimuli and compared their perceptual effects. One method involved generating undulations by spatially varying the positions where reaction forces were generated while keeping the directions of them constant, the other by spatially varying the directions of reaction forces while keeping the positions constant. The subjective intensities of undulations generated by the two methods were compared. The results indicated that the subjective intensities depend on their spatial frequencies. Then, two stimuli were superimposed 180 degrees out of phase to check if two stimuli generated by different methods offset each other. No offset was observed regardless of the spatial frequencies of the stimuli.
研究論文（国際会議プロシーディングス）, 英語 - Development of Measuring System for Human Hand Grasping Function
Sato S; Shimojo M; Seki Y; Takahashi A; Shimizu S
3rd France-Japan Congress & 1st Europe-Asia on Mechtronics, pp.221-226, 1996., 掲載ページ 221-226, 出版日 1996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 - Tactile systems
Masatoshi Ishikawa; Makoto Shimojo
Handbook of Sensors and Actuators, 3巻, 掲載ページ 165-176, 出版日 1996年, 査読付, Several types of tactile sensors and tactile information processing are described. There are some research subjects such as intelligent sensors using parallel processing, tactile imaging with video signal for tactile image processing using image processor, and active sensing for expanding capabilities of tactile sensors. In this paper, basic concepts on those subjects and examples are shown. © 1996 Elsevier B.V. All rights reserved.
研究論文（学術雑誌）, 英語 - 人間感覚のセンシング技術
下条誠
電気学会論文誌, 116巻, 1号, 掲載ページ 20-23, 出版日 1996年01月, 査読付
研究論文（学術雑誌）, 日本語 - Human shape recognition performance and pin-matrix density in a 3 dimensional tactile display
M. Shimojo; M Shinohara; Y Fukui
RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, I E E E, 掲載ページ 513-518, 出版日 1996年, 査読付, The purpose of this paper is to provide the relationship between the pin-matrix density of a tactile display and the recognition performance of displayed 3-dimensional shapes. Three kinds of pin-matrix tactile displays, that generate 3D shapes, were used for the experiment. The pitch of pin was 5mm, 3mm, 2mm for each. As we assumed that surfaces, edges and vertices were the primitive information of the 3D shapes, tested shapes were classified into these three categories.
The results obtained revealed that performance has different relationships to pin pitch with different shape primitives. The results of this study should be effective as fundamental knowledge to be used in developing tactile presentation devices, which have been receiving attention in recent years in the study of human interfaces, especially in the area of virtual reality technology.
研究論文（国際会議プロシーディングス）, 英語 - Measuring system for grasping
S Sato; M Shimojo; Y Seki; A Takahashi; S Shimizu
RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, I E E E, 掲載ページ 292-297, 出版日 1996年, 査読付, A measuring system for grasping function is developed. The purposes of this system is to measure and analyze grasping function of human hands. In this report, the structure of this system is introduced Sensor Glove which is the main device of the system, developed by the authors to measure operation force distribution in hands is also explained in detail. Using this system, operation force distribution, joint angles of hands and fingers, wrist position and direction in the operation space and the view of the operation can be simultaneously measured and recorded in real time.
The system is constructed with 5 subsystems, 1)Sensor Glove for operation force distribution, 2)Cyber Glove (by Virtual Technologies) for 18 joint angles in hand, 3)magnetic sensor to detect the wrist position and direction, 4)video equipment for the observation of the operation view and 5)personal computer to control the system.
研究論文（国際会議プロシーディングス）, 英語 - The relation between human grip types and force distribution pattern in grasping
S Shimizu; M Shimojo; S Sato; Y Seki; A Takahashi; Y Inukai; M Yoshioka
RO-MAN '96 - 5TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS, I E E E, 掲載ページ 286-291, 出版日 1996年, 査読付, It is an important to analyzing a human grasping motions. In these classifications of grasping patterns depend for many parts on their personal definitions, and no unified view has not been reached at present. The measured quantities in grasping include the posture of the hand, and grasping force and its distribution. And few have been reported on classifications based on grasping force and its distribution.
This paper describes first a unique Sensor Glove ME;III, which we have developed to measure the grasping force and its distribution. Next, the Sensor Glove MKIII was used to classify grasping modes based on the distribution of grasping force. As a result, in ''prehensile grasp'' classified by Cutkosky, the difference in grasping patterns due to the object shapes used in the experiment could be measured as the difference in pressure distribution patterns. In addition, it was found that classification of grasping is possible using this sensor and the ''contact web'' method. Therefore, the possibility is made clear that the Sensor Glove MKIII would be useful for classification of grasping patterns.
研究論文（国際会議プロシーディングス）, 英語 - 高柔軟性をもつ把持圧力分布センサの開発
関 喜一; 下条誠; 佐藤 滋; 高橋 昭彦
計測自動制御学会, Vol.31, No.9, pp.1528-1530 (1995), 31巻, 9号, 掲載ページ 1528-1530, 出版日 1995年09月, 査読付
研究論文（学術雑誌）, 日本語 - A system for simultaneous measuring grasping posture and pressure distribution
M SHIMOJO; S SATO; Y SEKI; A TAKAHASHI
PROCEEDINGS OF 1995 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, I E E E, 1巻, 掲載ページ 831-836, 出版日 1995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 a new hand-grasp measurement system
Y SEKI; S SATO; M SHIMOJO; A TAKAHASHI
SYMBIOSIS OF HUMAN AND ARTIFACT: HUMAN AND SOCIAL ASPECTS OF HUMAN-COMPUTER INTERACTIONS, ELSEVIER SCIENCE PUBL B V, 20巻, 掲載ページ 791-796, 出版日 1995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 a new hand-grasp measurement system
Y SEKI; S SATO; M Shimojo; A TAKAHASHI
SYMBIOSIS OF HUMAN AND ARTIFACT: HUMAN AND SOCIAL ASPECTS OF HUMAN-COMPUTER INTERACTIONS, ELSEVIER SCIENCE PUBL B V, 20巻, 掲載ページ 791-796, 出版日 1995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 3D-input device using adaptive control
H Yokoi; J Yamashita; Y Fukui; M Shimojo
1995 IEEE INTERNATIONAL CONFERENCE ON NEURAL NETWORKS PROCEEDINGS, VOLS 1-6, IEEE, 5巻, 掲載ページ 2709-2714, 出版日 1995年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - THE CONCEPT OF TOOL-BASED DIRECT DEFORMATION METHOD FOR NETWORKED COOPERATIVE CAD INTERFACE
J YAMASHITA; H YOKOI; Y FUKUI; M Shimojo
IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, IEICE-INST ELECTRON INFO COMMUN ENG, E77D巻, 12号, 掲載ページ 1350-1354, 出版日 1994年12月, 査読付, This paper proposes the concept of Tool-Based Direct Deformation Method (TB-DDM) which supports networked CAD (Computer Aided Design) systems with virtual reality technologies. TB-DDM allows designers to sculpt free forms directly with tools; each tool has its deforming characteristics, such as, the area and the shape of deformation. TB-DDM's direct deformation interface is independent of form representations because the system automatically calculates appropriate deformation according to its form representation when a tool ''pushes'' a form. The deformation with TB-DDM is concisely described by the initial shape, types of tools, and their loci; the description enables cooperative CAD systems with narrow bandwidth network to share design process rapidly and to distribute computational load.
研究論文（学術雑誌）, 英語 - A virtual surface modeler for direct and regional free form manipulation
Yamashita J; Yokoi H; Fukui Y; Shimojo M
4th Int.Conf.artificial rearity and tele-existense, Vol.ICAT'94, pp.35-42. 1994., 掲載ページ 35-42, 出版日 1994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 - Development of 3D-Input Device for Virtual Surface Manipulation
Yokoi H; Yamashita J; Fukui Y; shimojo M
RO-MAN'94. 3rd IEEE Int. workshop on Robotics and Human Communication,, 掲載ページ 134-139, 出版日 1994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 - Recognition of Virtual Shape using Visual and Tactual Sense under Optical Illusion
Fukui Y; Shimojo M
RO-MAN'94, 3rd IEEE Int. workshop on Robotics and Human Communication, 掲載ページ .294-298, 出版日 1994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 - Development of the virtual shape manipulating system
Yokoi H; Yamashita J; Fukui Y; Shimojo M
4th Int.Conf. Artificial rearity and tele-existane, Vol.ICAT'94, 掲載ページ 43-48, 出版日 1994年01月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - SPATIAL-FILTERING CHARACTERISTIC OF ELASTIC COVER FOR TACTILE SENSOR
M SHIMOJO
1994 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION: PROCEEDINGS, VOLS 1-4, I E E E, COMPUTER SOC PRESS, 掲載ページ 287-292, 出版日 1994年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 触覚センサにおける弾性体カバーの空間周波数フィルタリング効果
下条誠
日本機械学会論文集(Ｃ編), 一般社団法人日本機械学会, 59巻, 567号, 掲載ページ 3458-3463, 出版日 1993年11月, 査読付, Tactile sensors are normally covered with an elastic cover to protect the sensor from being destroyed by shock or chemical contamination. However the spatial resolution of the sensor with an elastic cover decreases, because the cover exhibits low-pass spatial filtering characteristics. This effect is serious when fabricating a high-spatial-resolution sensor which spatial resolution is under 1mm, even if the cover thickness 200μm. In this paper, this low-pass spatial filtering characteristic is analyzed and filter gain for various kind of elastic cover materials is calculated using the finite element method. Elementary experimental results are shown.
研究論文（学術雑誌）, 日本語 - 感圧導電性ゴムの履歴特性
下条誠
日本機械学会論文集(C編), 一般社団法人日本機械学会, 59巻, 564号, 掲載ページ 2464-2469, 出版日 1993年08月, Pressure-conductive rubber has many excellent features such as high Flexibility, workability and ease in the fabrication of thin films. However this material shows hysteresis between pressure and resistance values. To date, this property has not been investigated in detail. In this paper, evaluation of pressure sensing characteristics of pressure-conductive rubber, including hysteresis, time response and creep effect, was carried out. A pressure loading instrument in which motion could be precisely controlled was constructed to test its characteristics experimentally. The hysteresis effect, that is caused by the stress-strain characteristics of the material, was experimentally clarified. An index for showing the degree of this hysteresis was proposed. As for the time response, a time lag of 0. 2 [ms] was observed. As for the creep effect, resistance of the rubber remained constant for a long time under constant loading.
研究論文（学術雑誌）, 日本語 - 視覚と触覚の情報提示について
福井幸男; 下条誠
日本人間工学会誌, Vol.29, No.3, pp.141-146 (1993), 29巻, 3号, 掲載ページ 141-146, 出版日 1993年03月, 査読付
研究論文（学術雑誌）, 日本語 - AN ACTIVE TOUCH SENSING METHOD USING A SPATIAL-FILTERING TACTILE SENSOR
M SHIMOJO; M ISHIKAWA
PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, I E E E, COMPUTER SOC PRESS, 1巻, 掲載ページ 948-954, 出版日 1993年
研究論文（国際会議プロシーディングス）, 英語 - Development of Human Type Manipulator with tendon-driven System
Wada M; Nishihara K; Shimojo M
Proc.１st Japanese-French Congress of Mechatronics, 掲載ページ 367-372, 出版日 1992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 - 手指操作力分布計測装置の開発
佐藤滋; 佐野吉雅; 菊池季比古; 下条誠
人間工学会会誌, Vol.28, No.5, pp.251-267 (1992), 28巻, 564号, 掲載ページ 251-267, 出版日 1992年05月, 査読付
研究論文（学術雑誌）, 日本語 - Difference in Recognition of Optical Illusion Using Virtual and Tactual Sense
Y. Fukui; M. Shimojo
J. Robotics and Mechatronics, Vol.4, No.1, pp.58-62 (1992), 4巻, 12号, 掲載ページ 58-62, 出版日 1992年01月, 査読付
研究論文（学術雑誌）, 英語 - Edge tracing of virtual shape using input device with force feedback
Yukio Fukui; Makoto Shimojo
Systems and Computers in Japan, 23巻, 5号, 掲載ページ 94-104, 出版日 1992年, 査読付, In manipulating shapes displayed on a screen by means of a keyboard, mouse, or tablet, the operator can only confirm his/her operation visually through the eyes. This process can easily cause eye fatigue, resulting in low work efficiency. To improve this situation, a reaction force to the operator's hands should also be used to provide feedback from the operation. We have devised an input device based on this idea. Its main feature is a two‐dimensional force sensor mounted on the head of an XY recorder connected to a graphics computer. The XY recorder head with mounted sensor can be controlled by the computer to move in the direction in which the finger force is applied. Using this input device, we have done experiments on human sensitivity to virtual shapes through following their contours when force feedback is available. As a result, we have discovered that low or shallow hollows in the shape, which are barely detectable to the eyes only, appeared as feedback signals, such as a change of direction of the reaction force and the speed. This change makes it easier for the operator to recognize the features of the virtual shape. Through this experiment, we were able to confirm the validity of the concept of using an input device with a force feedback mechanism. Copyright © 1992 Wiley Periodicals, Inc., A Wiley Company
研究論文（学術雑誌）, 英語 - TARGET AND OUTLINE OF THE NATIONAL RESEARCH-AND-DEVELOPMENT PROGRAM, HUMAN SENSORY MEASUREMENT APPLICATION TECHNOLOGY
K KURA; N NAGAMURA; T YOSHIZAWA; M Shimojo
ISMCR 92 : PROCEEDINGS OF THE SECOND INTERNATIONAL SYMPOSIUM ON MEASUREMENT AND CONTROL IN ROBOTS, SOC INSTRUMENT & CONTROL ENGINEERS JAPAN, 掲載ページ 861-861, 出版日 1992年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 力覚をフィードバックする操作デバイスによる仮想形状のなぞり動作
福井幸男; 下条誠
電子情報通信学会論文誌 D-II, J74-D巻, 8号, 掲載ページ 1052-1059, 出版日 1991年08月, 査読付
研究論文（学術雑誌）, 日本語 - Tactile Imaging System for Body Pressure Distribution
Kanaya K; Ishikawa M; Shimojo M
IEA'91 Desinning for Every one" Taylor & Francis" , No.2, pp.1495-1497, 1991., 2号, 掲載ページ 1495-1497, 出版日 1991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 - 高密度フレキシブル圧力分布イメージャ
下条誠; 石川正俊
日本機械学会誌論文集(Ｃ編), 57巻, 537号, 掲載ページ 1568-1574, 出版日 1991年05月, 査読付
研究論文（学術雑誌）, 日本語 - 空間フィルタ形触覚センサを用いた能動センシング
下条誠; 石川正俊
電子情報通信学会論文誌 C-II, Vol.J74-C, No.5, pp.309-316 (1991), 電子情報通信学会エレクトロニクスソサイエティ, J74-C巻, 5号, 掲載ページ 309-316, 出版日 1991年05月
研究論文（学術雑誌）, 日本語 - A FLEXIBLE HIGH-RESOLUTION TACTILE IMAGER WITH VIDEO SIGNAL OUTPUT
M Shimojo; M ISHIKAWA; K KANAYA
1991 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, I E E E, COMPUTER SOC PRESS, 掲載ページ 384-391, 出版日 1991年, 査読付
研究論文（国際会議プロシーディングス）, 英語 - Thin and Flexible Position Sensor
M Shimojo; M. Ishikawa
J. Robotics and Mechatronics, 2巻, 1号, 掲載ページ 38-41, 出版日 1990年01月, 査読付
研究論文（学術雑誌）, 英語 - OBJECT LOCALIZATION WITH MULTIPLE SENSORS
S SHEKHAR; O KHATIB; M. Shimojo
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, MIT PRESS, 7巻, 6号, 掲載ページ 34-44, 出版日 1988年12月, 査読付
研究論文（学術雑誌）, 英語 - ビデオ信号出力を持つ圧力分布センサと触覚パターン処理
石川正俊; 下条誠
計測自動制御学会論文集, 24巻, 7号, 掲載ページ 662-669, 出版日 1988年07月, 査読付
研究論文（学術雑誌）, 日本語 - Sensor Fusion and Object Localizatio
Shenker S; Khatib O; Shimojo M
IEEE Int. Conf. Robotics and Automation, 掲載ページ 1623-1628, 出版日 1986年04月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 感圧導電性ゴムと液晶を用いた圧力分布の表示方法
下条誠; 石川正俊
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 21巻, 2号, 掲載ページ 177-182, 出版日 1985年02月, 査読付, In this paper the sensor which has a simple structure, flexibility and also has the function of displaying the pressure distribution is proposed, and measured results are shown.
The sensor consists of four layers. First and third layers are patterned electrodes. Second layer is the pressure conductive rubber whose resistance varies with pressure. Last layer is the liquid crystal whose color varies with temperature.
The theory of measurement is as follows: the distributed pressure(p) on the sensor causes a drop in the resistance (rp) of the pressure conductive rubber: as a voltage is applied between two patterned electrode layers. the electric current(i) passes through the rubber in proportion to the rp: then this electric current produces heat(q) and the temperature(θ) rises as the result. Consequently this changes the color of liquid crystal at the position. In a word, this sensor converts the intensity of pressure into the difference of temperature and displays it using liquid crystal. The following equations show these relations: θ∝q∝i2rp=v2/rp∝v2p∝p(ifrp∝p-1).
However, the heat diffusion occuring in the rubber and the electrodes causes the measurement errors. Therefore the ways of preventing heat from diffusion are necessary. Hence these methods are proposed; (1) the electrodes are constructed of a lot of small square electrodes which are connected with narrow channels each other. In order to decide the sizes of the patterned electrode, the simulation is carried out. (2) the heat produced in the rubber is controlled by using a heat controller.
This sensor is useful for the measuring the contact pressure between the soft materials, such as between human body and a seat.
研究論文（学術雑誌）, 日本語 - STUDY ON SHOCK ABSORB PROPERTIES OF PROTECTIVE HELMET
M SHIMOJO; K BAN
BULLETIN OF THE JSME-JAPAN SOCIETY OF MECHANICAL ENGINEERS, JAPAN SOC MECHANICAL ENGINEERS SANSHIN HOKUSEI BLDG, 27巻, 225号, 掲載ページ 553-560, 出版日 1984年, 査読付
研究論文（学術雑誌）, 英語 - 安全帽の衝撃緩和特性
下条誠; 伴菊夫
日本機械学会論文集, Vol.49, No.443, pp.1181-1189 (1983), 一般社団法人日本機械学会, 49巻, 443号, 掲載ページ 1181-1189, 出版日 1983年07月, 査読付, 安全帽の衝撃緩和特性を(1)時間的緩和作用,(2)帽体でそらせる作用,(3)空間的緩和作用の三つの大別した。まず,(1)の作用を調べるため,安全帽の等価解析モデルを低温から高温にわたり実験で求めた。そして,人頭の衝撃・耐性モデルと組合せシミュレーションを行い,安全帽の特性がいかにあるべきかを解析した。次に,転倒した場合ひさしがあるために人頭におよぶ影響を調べるため,精密ダミーヘッドに安全帽を着用し実験を行い,その影響を検討した。
研究論文（学術雑誌）, 日本語 - A Tactile Semsor Using Pressure-Corductive Rubber
IshikawaM; Shimojo M
Proc.The 2nd Sensor Symp., 掲載ページ 189-192, 出版日 1982年12月, 査読付
研究論文（国際会議プロシーディングス）, 英語 - 感圧導電性ゴムを用いた2次元分布荷重の中心位置の測定方法
石川正俊; 下条誠
計測自動制御学会論文集, 18巻, 7号, 掲載ページ 730-735, 出版日 1982年07月, 査読付, 論文賞
研究論文（学術雑誌）, 日本語 - 3次元動態計測システムとその応用
石川 正俊; 武田 常広; 下条 誠; 伴 菊夫
バイオメカニズム, バイオメカニズム学会, 6巻, 掲載ページ 145-154, 出版日 1982年, A measurement system for the three-dimensional position using "SELSPOT" is shown, which has many advantages over the methods with photographs, movies, or other devices, with respect to its on-line measurement, easy operation, fast sampling, fast data processing, and high accuracy. This is important in view of the application that the display of the analyzed data is required soon after the measurement, such as the experiment of sports physiology and rehabilitation. The system is constructed with a measurement subsystem and an analyzing subsystem. The measurement subsystem is constructed with the dual two-dimensional measurement device which is named "SELSPOT", a communication and timing controller, microcomputer for the filing of the data, and external memory devices. The analyzing subsystem is constructed with the random scan type graphic display with the light pen and ten-keyboard for the interactive analysis, the line printer for the numerical data, and the x-y plotter for the hard copy of the screen. This paper proposes a precise method with which the three-dimensional position is calculated from the dual two-dimensional data. This method defines it as the generalized inverse of the characteristic equation on the camera and the detective device, or the middle point of the segment which determines the minimum length of the two principle rays. By the analysis of the detective device and the lens system, the three factors of the following measurement errors and the methods of their compensation is considered: the non-linearity of the position sensitive detector with the distance between the camera and the LED, the interference of the lightning in the experiment room, and the distortion of the lens. On the other hand, this paper also proposes a new method for camera setting which causes the least error in the calculated data. In the results, the worst accuracy is ±0.4% with error compensation, and ±2.0% without the compensation, respectively. In addition, as the software of the analyzing subsystem realizes the interactive processing and the sufficient function, the period for the display and analysis of the three-dimensional movement is shortened.
日本語 - 自動歯車精度測定機に関する研究
下条誠; 石川二郎; 梶谷誠; 長田秀治
日本機械学会論文集, 43巻, 373号, 掲載ページ 3548-3555, 出版日 1977年09月, 査読付
研究論文（学術雑誌）, 日本語
MISC
- ロボティクス・メカトロニクスならびにロボットハンドと触覚センシングの研究
下条誠
筆頭著者, ドクセルは日本語でパワーポイントやPDF、Wordファイルを共有できるサービスです, ドクセル, 出版日 2022年04月, ドクセル(Docswell)のスライド公開, 記事・総説・解説・論説等（商業誌、新聞、ウェブメディア） - 令和2年度特許出願技術動向調査報告書「触覚センシング」
特許庁では、市場創出に関する技術分野、国の政策として推進すべき技術分野を中心に、今後の進展が予想される技術テーマを選定し、特許出願技術動向調査を実施しています。
特許情報は、企業や大学等における研究開発の成果に係る最新の技術情報及び権利情報であり、特許情報の分析に基づく技術動向調査は、先端技術分野等の出願状況や研究開発の方向性を明らかにし、企業や大学等における研究開発テーマや技術開発の方向性を決定する上で極めて有効なものです。
本調査では、特許情報にもとづき、日本の産業が優位にある分野、あるいは日本が劣位にある分野等について分析を行っており、企業の研究開発戦略において大変有用な情報であると考えられます。また、企業のグローバル活動に伴う、世界規模での特許出願動向の基礎資料として、各国・機関における特許出願動向調査 -マクロ調査-も実施しています。
今後の経営戦略や研究開発戦略を検討する際のご参考としてください。, 出版日 2021年04月, 日本語, 機関テクニカルレポート，技術報告書，プレプリント等 - 近接覚センサを用いたプリグラスプ制御の過渡応答と安定性の解析
小山佳祐; 下条誠; WAN Weiwei; 原田研介
出版日 2020年, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2020巻, 2424-3124, 202002240135816190 - 触覚センサの研究開発動向とこれからの展開(1)～
下条 誠
筆頭著者, 出版日 2019年11月, センサイト http://sensait.jp/7971/, 日本語, 招待, 記事・総説・解説・論説等（商業誌、新聞、ウェブメディア） - これからの触覚技術
下条 誠
出版日 2019年06月, 日本ロボット学会誌, 37巻, 5号, 掲載ページ 385-390, 日本語, 査読付, 招待, 記事・総説・解説・論説等（学術雑誌） - 小型・低摩擦アクチュエータ“MagLinkage“を用いた低衝撃・ノンストップ把持
小山佳祐; 下条誠; 妹尾拓; 石川正俊
出版日 2019年, 日本ロボット学会学術講演会予稿集(CD-ROM), 37th巻, 201902264593679218 - 触覚機能を内包する高速・高精度近接覚センサ-第3報:Super tactile-based active touchによる薄板部品の高速・低反力挿入-
小山佳祐; 下条誠; 妹尾拓; 石川正俊
出版日 2019年, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2019巻, 2424-3124, 201902245745866006 - 小型・低摩擦アクチュエータMagLinkageの開発とハンド応用
小山佳祐; 下条誠; 妹尾拓; 石川正俊
出版日 2019年, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2019巻, 2424-3124, 201902274897384110 - 触覚機能を内包する高速・高精度近接覚センサ-第2報:柔軟物を潰さずに高速キャッチするための視覚・近接覚制御の提案-
小山佳祐; 村上健一; 妹尾拓; 下条誠; 石川正俊
出版日 2018年, 日本ロボット学会学術講演会予稿集(CD-ROM), 36th巻, 201802266953616693 - 触覚機能を内包する高速・高精度近接覚センサ-第1報:センサモジュールの開発と接触判定の実現-
小山佳祐; 下条誠; 妹尾拓; 石川正俊
出版日 2018年, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2018巻, 2424-3124, 201802243780083441 - 触覚機能を内包する近接覚の提案
小山佳祐; 下条誠; 石川正俊
出版日 2017年, 日本ロボット学会学術講演会予稿集(CD-ROM), 35th巻, 201702237083595262 - 高速視触覚センサネットワークシステムの開発
山川 雄司; 野田 聡人; 石川 正俊; 下条 誠
計測自動制御学会計測部門, 出版日 2016年09月01日, センシングフォーラム資料, 33巻, 掲載ページ 119-122, 日本語, 40020949957, AA11461587 - 1P2-N02 近接覚センサを搭載したマニピュレータの遠隔操作方式の研究 : 近接覚センサ出力に基づく操作者への力覚フィードバック手法の検討
佐々井 亮太; 鈴木 陽介; 明 愛国; 下条 誠
We propose haptic feedback methods based on proximity sensor output in teleoperation. Composed of four distance measurement sensors, the proximity sensors are mounted on the palm of the robot hand. When the palm of the robot hand faces an object, a plane of the object can be estimated. The operator Ls given a reaction force based on a model of virtual spring. The amplitude is determined by the distance to the estimated plane, and the direction is determined by the normal vector of the plane. In this paper, especially we propose three methods how the amplitude is determined by the distance, and we verify the differences of the operator perceiving the reaction force by each method., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N02(1)"-"1P2-N02(4)", 日本語, 110010055029, AA11902933 - 1P2-N08 指先近接覚センサを用いた未知形状物体にならうRCサーボを用いたモジュール型ロボットハンド
久松 和樹; 小山 圭祐; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a modular robot hand composed of RC servo motors which follows unknown shapes of objects using fingertip proximity sensors. The fingertip proximity sensor has been proved to enable the finger to keep constant distance and run parallel to an object by sensor feedback. The feedback control is simple and robust, and so it can be operated even using microcomputers and RC servo motors. High expandability is one of advantages of RC servo motors. By making the most of its characteristics, the robot hand can be changed degree-of- freedom (DOF) easily. The robot hand will be a variously deformable robot hand according to various purposes., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N08(1)"-"1P2-N08(4)", 日本語, 110010055035, AA11902933 - 1P2-N07 近接覚センサを用いたロボットハンドの遠隔操作システムの研究 : 操作者入力と自律制御の統合システムの提案
石関 峻一; 鈴木 陽介; 明 愛国; 下条 誠
Generally, teleoperation of a robot hand with a monocular camera has problems of lack of depth information and the occlusion occur. The operator misrecognizes the position and posture of the object, and the robot hand cannot grasp the object. In the paper, to solve this problem, we use a proximity sensor, which we have developed, attached to the palm of the robot hand. The operator is able to recognize the position and posture of the object by using the proximity sensor. In addition, autonomy control based on the sensor enables to adjust the position and posture of the robot hand. We integrate operator control with autonomy control. The number of success of grasping the object increases and an operation burden decreases., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N07(1)"-"1P2-N07(4)", 日本語, 110010055034, AA11902933 - 1P2-N09 触・近接覚による操りのための接触状態変化の検出
岡部 信吾; 鈴木 陽介; 明 愛国; 下条 誠
We have developed a non-contact sensor called "net-structure proximity sensor" and a contact sensor called "slip sensor. " Both sensors are mounted on fingertips of our robot hand for object manipulation. The net-structure proximity sensor detects position and posture of an object, not only in non-contact but also in contact. The slip sensor detects pressure and slippage between an object in contact. In this paper, we investigate the outputs of these sensors under contact-state-transition between fingertips and an object, such as rapidly touch and forced posture change., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1P2-N09(1)"-"1P2-N09(4)", 日本語, 110010055036, AA11902933 - 2A2-W04 導電性ペーストを用いた荷重分布中心位置(CoP)検出触覚センサの構成方法に関する検討
鈴木 陽介; 明 愛国; 下条 誠
This paper proposes a construction method for a Center of Pressure (CoP) tactile sensor using electrically-conductive paste and adhesion bond. The advantages are cost reduction and implement ability on various surface, because the conductive paste is able to draw electric circuits, for example, by pen-shaped tools, without using hot welding. A prototype sensor was implemented on a polypropylene sheet. It was confirmed that the sensor worked correctly and detected the position and amplitude of the applied force. This paper also discusses the noise reduction, an easier construction method, difference in materials of implementation surfaces, and the durability., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "2A2-W04(1)"-"2A2-W04(3)", 日本語, 110010055677, AA11902933 - 2A2-S10 らせん状磁石を用いた結合・変形機構を備えたモジュラーロボットの開発
筒井 悠平; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a lattice modular robot which is able to perform both binding and transformation on 2D plane using helical magnets. A helical magnet has a cylindrical shape with helically-arranged magnetic poles on its surface. Modules have a square shape when viewed from the top. Helical magnets are arranged on each sides of square. Modules can bind each other by attraction of each of helical magnets. In addition, helical magnets work as a linear actuator by rotating it. This enables a module sliding transformation from its neighbor modules to further its adjacent modules. There are problems of existing modular robots that unable binding and unable transformation because of mechanical interference and lack of space. This proposed modular robot realizes various self-reconfigurations through overcoming those problems., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "2A2-S10(1)"-"2A2-S10(4)", 日本語, 110010055646, AA11902933 - 2A2-P10 動物の筋腱複合体を規範とする小型四脚ロボットの研究開発
風間 英気; 明 愛国; 下条 誠
Electromagnetic motors are useful actuators for robots due to good controllability and low cost. But, usually electromagnetic motors together with reducers of high reduction ratio are used to actuate robots. It is difficult to realize creature-like dynamic motions such as fast running, high jumping, by the robots due to low backdrivability of joints. To solve the problem, a robot with leg mechanisms consisting of spring and damper inspired by bi-articular muscle-tendon complex of animals, has been developed. As the result of experiments for dynamic motion, trot running at a speed of 3.5 kilometers per hour and forward jump about 1 body length per jump have been realized by the robot., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "2A2-P10(1)"-"2A2-P10(4)", 日本語, 110010055617, AA11902933 - 1A1-L03 非接触型ヒューマンインタフェースデバイスの開発 : 自由曲面配置可能なネット状近接覚センサのウェアラブルデバイスへの応用
栃木 紫帆; 鈴木 陽介; 明 愛国; 下條 誠
For 3D interaction of computer, many researchers often use vision sensor. However, some of them focus on the interface using proximity sensors. We also try to produce 3D interface using net-structure proximity sensors. This sensors use infrared radiation, and can get position and distance of object. Non-touch human interface that we developed can get user's motion, and identify multi-point in 3D. Net-structure proximity sensors can fit their form to various surfaces. We think this sensor's feature can use for "wearable devise". In this paper, we try to propose new interaction for wearable devise using net-structure proximity sensors. We design new net-structure proximity sensors to combine head mounted display., 一般社団法人日本機械学会, 出版日 2015年05月17日, ロボティクス・メカトロニクス講演会講演概要集, 2015巻, 掲載ページ "1A1-L03(1)"-"1A1-L03(4)", 日本語, 110010052976, AA11902933 - 2A2-L01 非接触型ヒューマンインタフェースデバイスの開発 : 独立多点センシング方式の導入とモジュール化(VR・ARとインタフェース)
栃木 紫帆; 有田 輝; 鈴木 陽介; 明 愛国; 下条 誠
Recently, the devices called "3D interface", which get gesture including Kinect and Leap Motion, attract people. Most of them use vision sensors for detecting human motion. However, we try to produce a new 3D interface without vision sensor, focusing on the net-structure proximity sensor our lab developed by. In some previous studies, it was made known that the interface used this sensor can get not only gesture but also identify multi-point. In this paper, we developed a new non-touch human interface device by using modularized net-structure proximity sensor, and proposed new wiring technique. This device can get four points identified positions (four fingers) in wide area., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "2A2-L01(1)"-"2A2-L01(4)", 日本語, 110009966986, AA11902933 - 3P2-R05 遠隔操作での近接制御を用いたロボットハンドによる物体把持に関する研究(ロボットハンドの機構と把持戦略(2))
佐々井 亮太; 小山 佳祐; 鈴木 陽介; 下条 誠
We have developed a proximity sensor that was specially designed for a fingertip of robot hand. We have realized a preparatory motion before grasping, for adjusting the object-fingertip distance and 2-axis postures simultaneously by using the sensor. We call this motion "pre-shaping". In this paper, we realize object grasping by introducing a proximity sensor into master slave system. So, we newly develop a proximity sensor that is specially designed for palm of robot hand. This sensor enables appropriate pre-shaping by adjusting 2-axis postures between palm of robot hand and object., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "3P2-R05(1)"-"3P2-R05(4)", 日本語, 110009967429, AA11902933 - 3P2-S02 近接覚フィードバック制御に基づくロボットハンドの知能化に関する研究 : 反射行動を生成するアナログフィードバック回路(ロボットハンドの機構と把持戦略(2))
小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we introduce an analog feedback system: constructed by several analog circuits and our proximity sensor, for generating a pre-shaping motion of a robot hand. The pre-shaping means adjustment of the fingertip-object distance and fingertip postures simultaneously. Through this motion, each fingertip surface contacts with object surface on target posture. So fingertip force can be applied to the object surface directly. Moreover, the pre-shaping advantages feedback control using tactile sensors after contact improving the reliability of the object grasping. By introducing the analog feedback system, it is possible to construct the system of the robot in a compact configuration as a whole., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "3P2-S02(1)"-"3P2-S02(4)", 日本語, 110009967432, AA11902933 - 3P2-R06 近接覚を付与したロボットハンドによる移動物体の把持に関する研究(ロボットハンドの機構と把持戦略(2))
岡部 信吾; 小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
We have developed a non-contact sensor called "proximity sensor" that detects position and posture of an object in a short-range. The proximity sensors are mounted on a palm and fingertips of a robot hand. With the sensor on a palm, the palm center position and an object center position are matched. And with the sensor on a fingertip, the fingertip surface and an object surface face each other and keep constant distance. The combination of them realizes grasping a static object that has unknown shape by a robot hand. But we have not focused on grasping a moving object. In this paper, we focus on grasping a moving object. So we investigate grasping an moving object that moves unknown speed by the robot hand with the proximity sensors., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "3P2-R06(1)"-"3P2-R06(4)", 日本語, 110009967430, AA11902933 - 1A1-W06 光を用いて動作生成を行うモジュラーロボットシステムの開発 : 光の伝搬による連鎖行動生成手法の提案(自律分散型ロボットシステム)
望月 康平; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a modular robot system generating actions based on photo-detection. We particularly propose the chain action generation by propagating light. Many of the modules consist of non-identical modules, easily replaced and connected. We make up autonomous decentralized control system by generating motivations of the modules to transform local structure with LED and photo transistor. In the first, by communicating light between the electrically-independent modules, the modular robot acts meandering motion without microcomputer. Herewith, the modular robot is downsized, power saving, low-cost, excellent environment adaptability and under simple control. In the future, the modular robot will snake narrow and winding road by proximity sensor., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1A1-W06(1)"-"1A1-W06(3)", 日本語, 110009966670, AA11902933 - 1A1-W05 光学式近接覚センサ情報を用いた自律分散型モジュラーロボットの行動規範(自律分散型ロボットシステム)
米田 将允; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose an autonomous distributed control method for modular robots that operates based on only local communications. The robot's task is self-reconfiguration to mimic the shape of the nearby object detected by proximitysensors (mounted on the modules). Each module decides in only local communications the need for action and the direction of movement, and create meaningful operations for the system. We designed a two-dimensional lattice type modules of three-layer structure. Deformation mechanism uses a slide mechanism. The communication among neighboring modules uses the optical communication of the phototransistor and LED. The availability of the rule is demonstrated by simulations., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1A1-W05(1)"-"1A1-W05(4)", 日本語, 110009966669, AA11902933 - 1A1-S03 二足歩行ロボットの運動性能の向上に関する研究 : 変減速交差リンクとストッパの併用による膝関節の開発(脚移動ロボット)
植木 公威; 田畑 利憲; HAMMADI Moncef; 明 愛国; CHOLEY Jean-Yves; 下条 誠
In this paper, we propose a joint stop mechanism in addition to the cross link mechanism in our previous research. This mechanism consisting of the joint stop, torsional spring and spacer is introduced into the knee joint of our bipedal robot. The aim of this research is to address the reduction of power consumption in walking by the proposed mechanism. The function of joint stop mechanism is to temporarily fix the knee joint to a certain angle when performing extension walking. As a result, we succeeded to cut down energy consumption by assisting torques to actuators by the joint stop., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1A1-S03(1)"-"1A1-S03(4)", 日本語, 110009966655, AA11902933 - 2A2-L03 触・近接覚統合型ヒューマンインターフェース用入力デバイスの開発(VR・ARとインタフェース)
前田 宗; 有田 輝; 鈴木 陽介; 明 愛国; 下条 誠
In previous study, we developed a CoP sensor with pressure conductive sensor and a net-structure proximity sensor with optical detection elements. CoP sensor is a contact sensor that detects the strength and the center position of the load. Net-like Proximity sensor is a sensor for acquiring distance and the center position of the object in non-contact with the reflected light of the object. Since the circuit configuration is very similar, integration of the these sensors is easy. In this paper, we develop an interface that can be input in both contact and non-contact. By integrating the non-contact interface and the contact interface, it is expected to expand the diversity of the operation., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "2A2-L03(1)"-"2A2-L03(3)", 日本語, 110009968932, AA11902933 - 1P1-E05 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 : ウミヘビ型ロボットの試作(水中ロボット・メカトロニクス(2))
市川 貴大; 趙 文静; 明 愛国; 下条 誠
Aimming to design a soft robotic fish for more flexible and efficient fish-like motion by biomimetic method, we are developing a snake-like robot with body undulating propulsion using the piezoelectric fiber composite (PFC) as soft actuator by mimicking the sea snake. Due to the large deformation of flexible structure and complicated dynamics with fluid, the design method for soft fish robots has not been established, and we need to study it by considering the coupling between them. In this paper, the sea snake-like robot using PFC is developed by the analytical simulation with considering the coupling between flexible structure and fluid. The efficient body undulating propulsion based on meandering motion is realized successfully from the prototype, and its swimming efficiency is similar to the real sea snake's., 一般社団法人日本機械学会, 出版日 2014年05月24日, ロボティクス・メカトロニクス講演会講演概要集, 2014巻, 掲載ページ "1P1-E05(1)"-"1P1-E05(4)", 日本語, 110009968697, AA11902933 - ネット状近接覚センサと視覚センサの統合による未知形状物体把持に関する研究
瀬戸川将夫; 小山佳祐; 鈴木陽介; 明愛国; 下条誠
出版日 2014年, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd巻, 201402221178113907 - ネット状近接覚センサとビジョンセンサを統合したロボットハンドシステムによる把持戦略に関する研究
鈴木陽介; 瀬戸川将夫; 小山佳祐; 明愛国; 下条誠
出版日 2014年, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd巻, 201402261770428572 - 人工の手の研究開発動向 (特集 人工の手)
下条 誠
筆頭著者, 人間の手の工学的実現についてロボットハンドと義手の研究開発の歴史と現状について述べた．その工学的実現では，機能"Dexterity"と形態"Anthropomorphism"の2つの側面があり，その紹介を行う．ロボットハンドでは，1970年代の巧みな把持操作を行う多指ハンドから現在の先端的なハンドについて述べる．また義手については，市販されている義手から，現在米国で開発が進んでいる最新のハンド・アームシステムの研究開発について紹介する．, バイオメカニズム学会, 出版日 2014年01月, Journal of the Society of Biomechanisms, 38(1), pp.3-10, 2014, 38巻, 1号, 掲載ページ 3-10, 日本語, 査読付, 招待, 0285-0885, 130005145315, AN00334047 - インタラクティブ型触覚グラフィクスディスプレイの大域情報取得手法 (福祉情報工学)
島田 茂伸; 村瀬 悠; 下条 誠
素手による直接操作機能とテキスト情報の音声出力機能を付加したインタラクティブ型触覚ディスプレイの開発を続けてきており,被験者実験からユーザが自己位置を喪失することが知見として得られた.この問題へのアプローチとして,触覚ディスプレイの複数画面におよぶ大域コンテンツ中での自己位置を通達するデバイス:触覚スクロールバーを提案する.本稿ではその実装と評価について述べる., 一般社団法人電子情報通信学会, 出版日 2013年08月29日, 電子情報通信学会技術研究報告 = IEICE technical report : 信学技報, 113巻, 195号, 掲載ページ 91-95, 日本語, 0913-5685, 110009805803, AA1155230X - 2A2-M07 圧電繊維複合材料を用いた生物模倣型ソフト水中ロボットの研究開発 : 中空構造のマス型水中ロボットの試作(水中ロボット・メカトロニクス)
西村 冬威; 明 愛国; 下条 誠
Mimetic soft underwater robots using piezoelectric fiber composites are being developed by us. High speed and efficiency motions have been realized by the robots up to now. However, the robots are with simple shape of flat plate. To realize stream-line shape and embed electric components inside the robots, it is necessary to prepare interior space inside the robots. This paper describes the trial to develop a trout-like underwater robot with interior space., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A2-M07(1)"-"2A2-M07(3)", 日本語, 110009963343, AA11902933 - 2P1-A06 二足歩行ロボットの運動性能の向上に関する研究 : 変減速交差リンク機構を用いた膝関節の開発(ヒューマノイド)
植木 公威; 明 愛国; 下条 誠
In this paper, we propose a cross link mechanism with variable reduction ratio. This mechanism, which consists of the crossed links with different lengths, is used to drive a knee joint of two-legged robots. We can get variable reduction ratio by using it. We use the parameters that give high reduction ratio when a knee joint is flexed. Then this cross link mechanism can reduce static torque necessary for two-legged robot's flexion and extension. As a result, reduction ratio of the actuator is reduced, and the performance for motion is improved., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2P1-A06(1)"-"2P1-A06(4)", 日本語, 110009963381, AA11902933 - 2A1-A12 高速・高感度すべり覚センサの開発 : ネット状センサ構造によるすべり位置・方向の検出(触覚と力覚(1))
蔡 孝棟; 鈴木 陽介; 明 愛国; 下条 誠
In our research group, we are developing a High-Speed High-Sensitivity Slip Sensor composed of a piece of pressure sensitive conductive rubber. It's useful for griping object in most suitable force. As the next step, We focus our research on how to deliver object on suitable timing. We propose a method to determine the suitable timing witch detects slip direction by a Netted-Structure circuit. This paper reports that we succeed in detecting the slip position and direction by the Netted-Structure., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A1-A12(1)"-"2A1-A12(4)", 日本語, 110009963193, AA11902933 - 2A1-B03 超音波式ネット状近接覚センサの構成方法に関する検討(触覚と力覚(1))
有田 輝; 鈴木 陽介; 小川 博教; 飛田 和輝; 下条 誠
In previous study, we developed a net-structure proximity sensor with optical detection elements and showed applications such as robot hand and human interface. However, the optical sensor cannot use in blurry vision and cannot detect a transparent object. We propose a new net-structure proximity sensor with ultrasonic detection elements. The sensor can resolve above problems and is applicable new detecting methods that utilize the ultrasonic waves. In this paper, we discuss demands to construct the ultrasonic net-structure proximity sensor. Secondly, we propose a constitution of the ultrasonic net-structure proximity sensor that fulfills the functions with ultrasonic elements., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A1-B03(1)"-"2A1-B03(4)", 日本語, 110009963198, AA11902933 - 2A1-N08 近接センサを用いて適応変形を行うモジュラーロボットシステムの開発(自律分散型ロボットシステム)
望月 康平; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a modular robot system adaptively transforming a mechanical structure with applying proximity sensors. A proximity sensor is consist of LED and a photo transistor. The modular robot is composed of nonidentical modules, easily replaced and connected. We make up autonomous decentralized control system by generating motivations of the modules to transform local structure with using proximity sensor output. In the first,we form a shapechangeable plane by connecting modules which have servomotors and proximity sensors. A module can estimate the distance between the module and objects by its proximity sensor. By equalizing the distance among neighboring modules, the modular robot system transforms along the shape of objects., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2A1-N08(1)"-"2A1-N08(4)", 日本語, 110009963250, AA11902933 - 1A1-P14 動物の筋腱複合体を規範とする脚機構の研究開発(脚移動ロボット(1))
宮本 一郎; 野澤 峻平; 明 愛国; 下条 誠
The robot is performed by the motor drive. However, human force is generated using the muscle. The major difference between robot and human skeletal muscle is the presence of Bi-articular muscle. Bi-articular muscle ganged operation with two joint. As a result, human are highly movement possible like jumping and running. In this paper, we examine the effect of link similar to Bi-articular muscle of humans using the simulation., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "1A1-P14(1)"-"1A1-P14(4)", 日本語, 110009962860, AA11902933 - 1A1-K07 触覚・近接覚センサを搭載したロボットハンドによる物体把持の研究 : 接触状態における近接覚センサの出力利用に関する検討(ロボットハンドの機構と把持戦略(1))
小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
Various sensor can be introduced into the robot hand such as proximity sensor; detecting an object position in non-contact using reflection of an electric field or light. Introducing tactile and proximity sensor into robot hand, it can obtain great sensory ability compared with human. On the bases of this concept, we developed "Slip and Proximity Integrated Fingertip Sensor" which has Net-Structure Proximity Sensor and Slip Sensor. In this paper, we focus on Net-Structure Proximity Sensor output in a contact state. We discuss a possibility that object stiffness can be distinguished by Proximity Sensor output in a contact state., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "1A1-K07(1)"-"1A1-K07(4)", 日本語, 110009962846, AA11902933 - 1A1-K08 視覚・近接覚を統合したロボットハンドによる対象物把持に関する研究 : 近接フィードバックを活用するための視覚情報の検討(ロボットハンドの機構と把持戦略(1))
瀬戸川 将夫; 小山 佳祐; 鈴木 陽介; 明 愛国; 下条 誠
We have developed a sensor to detect position and posture of an object in a short-range, called a "proximity sensor". The proximity sensors are mounted on fingertips of a robot hand, and it is realized that the fingertip surface and an object surface face each other before contact in grasping process by the robot. We call such postural adjustment "preshaping". When grasping an object by a robot hand system with the combination of the proximity sensor and a visual sensor, the visual sensor has only to guide the robot hand so that the proximity sensor detects the object and pre-shaping is performed appropriately. In this paper, we investigate the information which the visual sensor should acquire to perform pre-shaping appropriately., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "1A1-K08(1)"-"1A1-K08(4)", 日本語, 110009962847, AA11902933 - 2P1-B11 移動マニピュレータによるホームサービスに関する研究 : Kinectによる立ち上がり動作の姿勢推定(福祉ロボティクス・メカトロニクス(3))
篠崎 瑞生; 明 愛国; 下条 誠
As one of the home services by a mobile manipulator system, we are aiming at the realization of the motion assist for elderly people. The purpose of the work is to realize a safe assist by feedback control based on the information from a high speed tactile sensor and Kinect. This paper describes the skeleton data accuracy estimated by Kinect and the classification of standing-up motion phases using Kinect. A method for classification from Kinect skeleton data is proposed. The method is implemented and experimental results show the availability of Kinect for the classification., 一般社団法人日本機械学会, 出版日 2013年05月22日, ロボティクス・メカトロニクス講演会講演概要集, 2013巻, 掲載ページ "2P1-B11(1)"-"2P1-B11(4)", 日本語, 110009964045, AA11902933 - ネット状近接覚センサを搭載したロボットハンドによる指先同時接触のための距離推定手法
小山佳祐; 鈴木陽介; 明愛国; 下条誠
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, 201302298291519931 - 近接覚を有するインテリジェントロボットハンドの研究
鈴木陽介; 叶沙; 小山佳祐; 瀬戸川将夫; 明愛国; 下条誠
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, 201302240271688259 - 2A2-V01 負荷感応無段変速機構を膝関節に搭載した脚機構の開発(脚移動ロボット(2))
野澤 峻平; 明 愛国; 下条 誠
In this paper, we introduce Load-Sensitive Continuously Variable Transmission used for knee joints of the two-legged robot. Among the joints of the two-legged robot, the variation of the torque necessary for the actuator is especially large in knee joint. In walking motion, two phases, swing phase and stance phase exist. In these two phases, the torque necessary for the knee joint actuators changes greatly. But reduction ratio of the actuators used for joints of the robot is generally constant. To solve the problem, we introduce a Load-Sensitive Continuously Variable Transmission in the knee joints, to adapt to the variation and then to achieve efficient walking motion., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2A2-V01(1)"-"2A2-V01(3)", 日本語, 110009909281, AA11902933 - 2A2-G10 胴体屈曲推進型水中ロボットのPTP制御に関する研究(水中ロボット・メカトロニクス(1))
小松 優祐; 大阪 拓真; 橋本 一慶; 趙 文静; 明 愛国; 下条 誠
Using piezo-electric fiber composite as actuators suitable for soft robotics, we have constructed a prototype trunk flexion prpulsion type underwater robot. Macro Fiber Composite is a new piezoelectric fiber composite material. In addition to the basic characteristics of a conventional piezoelectric material, it has excellent flexibility and impact resistance. In this paper, a control method to reach the target pose from the initial pose(PTP), is proposed and its effectiveness was verified by experiments., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2A2-G10(1)"-"2A2-G10(4)", 日本語, 110009908823, AA11902933 - 2A2-K01 3次元距離測定カメラを用いた立ち上がり動作支援ロボットのための姿勢推定法:推定方法の改善による性能向上(ロボットビジョン(1))
小倉 和也; 塚田 夏美; 明 愛国; 下条 誠
Currently in many countries, the number of senior citizens who need help in daily life is increasing. We are developing a robotic system for assisting standing-up motions of the citizens from a chair by using a mobile manipulator. A standing-up posture estimation method has been proposed in our previous work, but the accuracy and processing time need to be improved. In this paper, we aim to improve the estimation performance to realize standing-up motion assist, by introducing the vote principle of Combinatorial Hough Transform (CHT) in LMedS Hough Transform. As the result, we confirmed the reduction of the estimated processing time by reducing wasted votes., 一般社団法人日本機械学会, 出版日 2012年05月27日, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 掲載ページ "2A2-K01(1)"-"2A2-K01(3)", 日本語, 110009908857, AA11902933 - 高速高感度型すべり覚センサの研究開発―荷重分布中心位置を用いたすべり方向の検出―
勅使河原誠一; 鈴木陽介; MING Aiguo; 石川正俊; 下条誠
出版日 2012年03月13日, ロボティクスシンポジア予稿集, 17th巻, 掲載ページ 122-127, 日本語, 1881-7300, 201302253573455894 - 1P1-I03 すべり・近接覚を統合したロボットハンドによるハンドリングに関する研究 : 人間との物体受け渡し動作について(ロボットハンドの機構と把持戦略(3))
小山 佳祐; 向山 由宇; 叶 沙; 鈴木 陽介; 明 愛国; 下条 誠
In object grasping using vision sensors, occlusion occurs when a robot hand approaches around several millimeters from a grasping object. One solution of this problem is to introduce proximity sensors which detect the object position and distance in the near range area. Furthermore, when the weight of the grasping object is unidentified, slip sensors are required to grasp the object. This research focuses on pre-shaping using (net-structure) proximity sensors and integration of proximity sensors and slip sensors, in object passing and release tasks between a human and a robot hand. The posture of the object which the human holds out is detected by the proximity sensing, and the contact between the human and the grasping object is detected by the slip sensing., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1P1-I03_1-_1P1-I03_4, 日本語, 110009908391, AA11902933 - 1P1-A05 高速すべり覚情報処理システムの開発 : すべり検出確度の向上(触覚と力覚(3))
蔡 孝棟; 勅使河原; 誠一; 鈴木 陽介; 明 愛国; 下条 誠
In our research group, we are developing a signal processing system for a compact sized and high speed slip detective sensor.We found that it is difficult to tell initial slipping from shaped normal force charging with the traditional processing method by DWT(db2). But the raw signal of initial slipping is obviously different from the signal of a shaped normal force charging. So we differentiated the slip detection sensor's output to determine either the shaped normal force is charging or the tangential force is charging. As a result, we improved the accuracy of slip detection. I will report about that in this paper., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1P1-A05_1-_1P1-A05_4, 日本語, 110009908319, AA11902933 - 1A1-C02 感圧導電性ゴムを用いたすべり覚センサの検出原理となる高周波信号成分の発生機序に関する実験的検討(触覚と力覚(1))
鈴木 陽介; 勅使河原; 誠一; 知場 充洋; 島田 匠; 明 愛国; 下条 誠
We have presented the availability of our slip sensor using pressure conductive rubber for detecting initial slip, however, we have not revealed the principle of high-frequency wave occurrence which takes the detection method. Clarification of the principle is required for optimized design of the slip sensor, especially the property of the pressure conductive rubber and the shape of the detecting part, and for reduction of individual difference of detection characteristic of the slip sensor. This paper discusses the principle through a series of experiments and finally shows that localized fixing and peeling between pressure conductive rubber and electrodes in the slip sensor configuration has influence with the principle., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-C02_1-_1A1-C02_4, 日本語, 110009907233, AA11902933 - 1A1-C01 全方位センシング可能なネット状近接覚センサの開発 : 素子角度差を用いた反射率・形状・姿勢によらない距離検出手法(触覚と力覚(1))
金 彰海; 向山 由宇; 鈴木 陽介; 明 愛国; 下条 誠
In this paper, we propose a method for measuring distance independent of reflectance, shape and attitude by optical reflective sensors. This method uses two sensor layers: one layer has the sensor elements mounted in straight direction and the other has in tilt direction. The two sensor layer outputs have difference due to optical path length. By calculating the proportion of two sensor outputs, we can reject effect of reflectance, shape and attitude of object. We apply to multistage ring sensor for evaluate the availability of this method. Then, we examine distance measuring property of sensor for different object by experiments., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-C01_1-_1A1-C01_4, 日本語, 110009907232, AA11902933 - 1A1-B02 分布する赤外光反射型近接覚での情報処理方式の研究 : 近接情報への側抑制モデル適用によるエッジ検出手法(触覚と力覚(1))
国府田 直人; 鈴木 陽介; 明 愛国; 下条 誠
Lateral inhibition mechanism in human vision and tactile has effect on the edge enhancement. This mechanism is the structuring of a network so that neurons inhibit some of their neighbors. An analog circuit emulated this neuron network achieve the High-speed response. In this paper, we propose an edge detection method for an infrared proximity array with the lateral inhibition. In our approach, we first apply the photocurrent distribution obtained from that sensor to the lateral inhibition model. We then detect edge points from an edge enhancement: lateral inhibition output using zero-cross detection. Simulation and Experiments of our algorithms using that sensor are performed and favorable results are obtained., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-B02_1-_1A1-B02_4, 日本語, 110009907222, AA11902933 - 1A1-B01 物体までの方位・仰角を検出可能な光学式近接覚センサの開発(触覚と力覚(1))
有田 輝; 鈴木 陽介; 小川 博教; 飛田 和輝; 下条 誠
In this paper, we develop a net-structured proximity sensor which detects azimuth angle and elevation angle to an adjacent object without contact. The information is available for various robots to avoid an approach obstacle or to follow with human behavior. First, we propose detection principle of azimuth angle and detection principle of elevation angle. Detection of azimuth angle is realized by arranging two one-dimension net-structured proximity sensor in orthogonalized axes. Detection of elevation angle is realized by arranging two one-dimension net-structured proximity sensor in double-decker ring. Then, we show availability of detection principles by the experiments with the sensor which is constructed based on proposing principles., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-B01_1-_1A1-B01_4, 日本語, 110009907221, AA11902933 - 1A1-L01 近接覚を用いた把持物体の位置・姿勢・動きに応じた把持手法(ロボットハンドの機構と把持戦略(1))
叶 沙; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
The purpose of this paper is to consider the strategy of grasping a moving object robustly using the Net Structure Proximity Sensor which has fast response (1 ms) and detects the object position and distance in near field. In general, a temporary lack of sensory information due to occlusion occurs when using vision sensor to grasp object. In this strategy, we integrate the object following motion and the pre-shaping motion corresponding to the object posture together to grasp the object which moves randomly without any concern for occlusion using the proximity sensor. Specifically, the example of following the object from heights of 50mm makes it clear that it is possible to follow the object in maximum 30m/s in speculation., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _1A1-L01_1-_1A1-L01_4, 日本語, 110009907323, AA11902933 - 2P1-P02 フォトアレイとLEDを用いた多点位置計測方式の提案(VRとインタフェース)
森 明日見; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we propose the multi-point position measurement using a photo array and infrared LED which can be applied to three-dimensional user interface. In recent years, the digital terminal which manages and operates information is tended to multiply functions. Thus, the handleability of its interface decline relatively, and it is necessary to become skilled in operation. Accordingly, a touch panel which enables sensuous operation became widely used. These lead to the situation where user cannot make full use of function and the digital divide. Because an input and an output of a touch panel are seamless, the operation with the gesture input realizes a direct and intuitive interaction and improves the operability of digital terminal. An improvement in the handleability by an intuitive operation depended on the flexibility of the interface. Therefore, an improvement of the handleability is expected by expanding an input range from two-dimensions to three-dimensions., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _2P1-P02_1-_2P1-P02_2, 日本語, 110009909434, AA11902933 - 2P1-P03 ネット状近接覚センサを用いたヒューマンインタフェースに関する基礎的検討(VRとインタフェース)
宮本 一郎; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we examined the availability of the touchless human interface using net structure proximity sensors. Recently, touchless human interface including kinect at Microsoft is studied actively. We were developing net structure proximity sensors with the feature High-speed response, touchless, and freely arrangement in the past. It is thought that an intuitive input is attained by using human interface of High-speed response proximity sensors. We considered the sensor output of the interface use using simulation, and examined that possibility distinction of gesture performed using sensor made as an experiment., 一般社団法人 日本機械学会, 出版日 2012年, ロボティクス・メカトロニクス講演会講演概要集, 2012巻, 0号, 掲載ページ _2P1-P03_1-_2P1-P03_3, 日本語, 110009909435, AA11902933 - すべり覚センサのための高速情報処理システム
勅使河原誠一; 知場充洋; 鈴木陽介; MING Aiguo; 下条誠
出版日 2011年09月10日, 日本機械学会年次大会講演論文集(CD-ROM), 2011巻, 掲載ページ ROMBUNNO.S153011, 日本語, 201202269317418945 - 動的な障害物回避を可能とするネット状近接覚センサ用いた全方向自律移動ロボット
曽根聡史; 長谷川浩章; 鈴木陽介; 多田隈建二郎; 下条誠
出版日 2011年09月07日, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th巻, 掲載ページ ROMBUNNO.1I2-6, 日本語, 201102227645197326 - ネット状近接覚センサのみを用いたロボットハンドによる物体探索と把持
叶沙; 鈴木健治; 向山由宇; 鈴木陽介; 石川正俊; 下条誠
出版日 2011年09月07日, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th巻, 掲載ページ ROMBUNNO.3E2-1, 日本語, 201102225899168986 - 10μsの応答を実現するフォトダイオード型ネット状近接覚センサ
長谷川浩章; 鈴木陽介; 明愛国; 下条誠
出版日 2011年09月07日, 日本ロボット学会学術講演会予稿集(CD-ROM), 29th巻, 掲載ページ ROMBUNNO.2L2-1, 日本語, 201102272762408430 - 2P1-O16 感覚神経線維刺激を用いた義手への感覚提示機能の実装に関する研究(触覚と力覚(2))
新納 弘崇; 荒木 望; 國本 雅也; 帆足 勇希; 鈴木 隆文; 深山 理; 満渕 邦彦; 下条 誠
This paper presents a mounting technique for experiencing sensory sensation to prosthetic hand with which patients lost the extremities by disturbances will be able to replace the extremities and feel somatic sensation as if they were touching an object with their healthy hand. The system consists of myoelectric prosthetic hand by surface electromyography signal and flexible pressure sensors which cover the finger of prosthetic hand and micro-electrical stimulation of the sensory nerve fibers was used in order to evoke somatic sensations. The results show that the system worked satisfactorily, and it is demonstrated that the system will be able to compensate sensory function of the patients with sensory neuropathy and have possibilities for replace the extremities, 一般社団法人日本機械学会, 出版日 2011年05月26日, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 掲載ページ "2P1-O16(1)"-"2P1-O16(2)", 日本語, 110009711568, AA11902933 - 1A1-J02 ネット状近接覚センサを用いた物体姿勢検出手法による把持動作(ロボットハンドの機構と把持戦略)
鈴木 健治; 叶 沙; 長谷川 浩章; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
The objective of this research is to detect posture of an object using the Net Structure Proximity Sensor applied to the fingertip of robot hand for reliable grasping. In object grasping and object sensing, occlusion occurs when using the vision sensor around several millimeters from grasping object. The solution of this problem is to introduce the proximity sensor which detects the object position and distance in near range area. The posture detection uses the sensor position output which takes zero not being affected by the distance whenever the surface of object and the surface of the sensor are parallel position. This detection technique is introduced to manage the object grasping successfully in adjusting the robot hand posture in two axes to appropriate grasping position., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _1A1-J02_1-_1A1-J02_4, 日本語, 110009690609, AA11902933 - 2A2-O03 高速すべり覚情報処理システムの開発 : 信号処理手法の検討(触覚と力覚(1))
勅使河原; 誠一; 秋本 直哉; 清水 智; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. This sensor can distinguish between condition of the object slip and the normal force change using a frequency component. In previous research, it was considered that the separation of these conditions was very difficult, but we managed to achieve it. We had suggested the separate algorithm by using Discrete Wavelet Transform signal processing. In this paper, we will discuss about the filtering method in the algorithm., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A2-O03_1-_2A2-O03_3, 日本語, 110009692336, AA11902933 - 2A2-O04 高速・高感度型すべり覚センサの研究開発 : 高速度カメラによるすべり検出原理の解明(触覚と力覚(1))
勅使河原; 誠一; 森田 竜峰; 清水 智; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. When an object slides on the surface of our slip sensor, the complex output change occurs. By using this output change, this sensor can distinguish between the object slip and the normal force change. But, the mechanism of the complex voltage change is unclear. So, in this paper, we will observe the slip surface of an acrylic plate and the rubber with a high-speed camera. And, we report on the sensor output and the relation to the sensor output and the state of rubber., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A2-O04_1-_2A2-O04_4, 日本語, 110009692337, AA11902933 - 2A2-P05 分布型近接覚センサからの情報処理(触覚と力覚(1))
国府田 直人; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we developed a proximity sensor which detects an adjacent object. The sensor consists of reflection photosensor array and multiplexer scanning detection elements. We carried out experiments with varying the distance between the sensor and an object in order to examine the charastic of the sensor against distance change. We tried to estimate the shape of an object and indicated the possibility. We applied information processing to the voltage distribution for useful information such as image processing methods and statistical processing methods. We can estimate distance independent the reflective characteristic of an object between the sensor and the object by using coefficient of variation., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2A2-P05_1-_2A2-P05_4, 日本語, 110009692354, AA11902933 - 2P1-O01 ネット状近接覚センサの抵抗値設計手法(触覚と力覚(2))
森 明日見; 寺田 一貴; 鈴木 陽介; 明 愛国; 石川 正俊; 下条 誠
In this paper, we propose a design method of resistance for Net Structure Proximity Sensor (NSPS). Generally, vision sensors and tactile sensors are used for the external world measurement. A vision sensor has the problem of occlusion and a tactile sensor cannot detect until coming in contact. Therefore, we have developed NSPS that detects the intermediate area of vision and tactile area. NSPS can detect within 1ms the center position of the approaching object and the distance to the object without contact. This sensor is composed of resistor networks connected by phototransistor. The performance of NSPS is determined by the resistance in the networks. However, there was no practical design method of the resisters because of the network circuit. Accordingly, we describe a method for designing easily arbitrary dynamic range and faster measurement speed and confirm the validity of the proposed method., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2P1-O01_1-_2P1-O01_4, 日本語, 110009711553, AA11902933 - 2P1-O15 赤外線反射型近接センサアレーの適切な光学素子配置に関する研究(触覚と力覚(2))
向山 由宇; 鈴木 陽介; 長谷川 浩章; 明 愛国; 石川 正俊; 下条 誠
In this paper, we considered an assessment function for effective optical elements placement of the Mesh of proximity sensor and searched a simulation result which maximizes the assessment function. Output characteristic of this sensor depends on relative placement of the optical elements. Since the placement has large amount of freedom, designing of the sensor which meets desired specification is difficult even using the optical simulator. Thus we proposed the simulator-supported method for effective element placement using Genetic Algorithm, and attempted to improve the sensor output characteristic over applying this method to the sensor design. In this article, we applied this method to the fingertip sensor which has unidirectional curvature, and confirmed the effect., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _2P1-O15_1-_2P1-O15_4, 日本語, 110009711567, AA11902933 - 1P1-I08 ネット状近接覚センサを用いた全方向移動台車の開発(車輪型/クローラ型移動ロボット)
曽根 聡史; 寺田 一貴; 長谷川 浩章; 鈴木 陽介; 多田隈 建二郎; 下条 誠
In this paper, we propose an omni-directional mobile robot that can assist to transport a baggage in the crowded situations. It is necessary to possess a high-speed and wide-ranging environments recognition and high motion mechanisms so that the robot may work more effectively, for instance under situations such as airports and the hospitals. So, we developed the robot which has omni-directional net proximity sensor, which can detect the center position of current distribution and relative distance from an object to the sensor within 1 ms, and it has also omni-directional driving mechanism using Omni-Ball which consists of two hemispherical wheels. In addition, the performance of the prototype robot system is verified through experiments., 一般社団法人 日本機械学会, 出版日 2011年, ロボティクス・メカトロニクス講演会講演概要集, 2011巻, 0号, 掲載ページ _1P1-I08_1-_1P1-I08_4, 日本語, 110009691941, AA11902933 - 触覚・近接覚・すべり覚の開発とロボットハンドへの応用
下条 誠
出版日 2011年01月, 日本機械学会誌｢メカトップ関東｣, 114巻, 1112号, 掲載ページ 9-9, 日本語, 査読付, 招待, 記事・総説・解説・論説等（学術雑誌） - 0735 触覚ディスプレイと情報アクセシビリティ(S38-1:感覚ディスプレイとQOLテクノロジー1)
島田 茂伸; 下条 誠; 清水 豊
一般社団法人日本機械学会, 出版日 2010年01月08日, バイオエンジニアリング講演会講演論文集, 2009巻, 22号, 掲載ページ 307-307, 日本語, 110008064685, AA11903175 - 2A1-D13 感覚神経系障害患者のためのウェアラブル感覚補填・感覚強化システムの開発 : マイクロスティミュレーション法による触圧覚生成と感覚増強
新納 弘崇; 國本 雅也; 鈴木 隆文; 満渕 邦彦; 下条 誠
In this study, we attempted to develop a prototype of a wearable sensory prosthetic system with which patients suffering from peripheral sensory disturbance will be able to feel somatic sensations as if they were touching an object with their healthy and intact hand. The system consists of finger sacs and palm patch equipped with flexible pressure sensors, and micro-electrical stimulation of the sensory nerve fibers was used in order to evoke somatic sensations. The results showed that the system worked satisfactorily, and it is demonstrated that the system will be able to compensate or even enhance sensory function of the patients with sensory neuropathy., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "2A1-D13(1)"-"2A1-D13(2)", 日本語, 110008741743, AA11902933 - 1A2-B28 2車体連結クローラの形態可変機能のための2重関節機構構成の実験的検討
大石 千種; 多田隈 建二郎; 丸山 央; 永谷 圭司; 吉田 和哉; 明 愛国; 下条 誠
This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disaster-generated debris. We examined the drive system for the roll axis of the joint mechanism that achieved four configurations. Moreover, we developed test model and experimented basic performances., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A2-B28(1)"-"1A2-B28(4)", 日本語, 110008741326, AA11902933 - 2A2-C22 指先にネット状近接覚センサを装着したロボットハンド : 近接覚情報を利用した移動物体追従動作
長谷川 浩章; 明 愛国; 石川 正俊; 下条 誠
Because of occlusion, around several millimeters from grasping object, it was difficult for the method based on vision sensor to detect relative position between grasping object and the fingers of robot hand. To solve this problem, proximity sensor which detects the object in near range is very effective. In this research, we developed thin proximity sensor sheet and covered each finger of three-fingered robot hand with it. Then integrating these sensors and hand control system, we implemented object tracking controller. Using proximity sensory signals, this controller coordinates wrist position based on palm proximity sensors, and grasping posture from fingertip sensors. Therefore we realized tracking and capturing motion of moving objects., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "2A2-C22(1)"-"2A2-C22(4)", 日本語, 110008741927, AA11902933 - 1A1-G06 二関節間の駆動トルクの相互利用を可能とする脚機構の提案
丸山 央; 梶原 直喜; 大石 千種; 明 愛国; 下条 誠
In the design of the leg mechanism of the conventional humanoid robot, the actuator and the reducer in each joint are selected individually to be larger than the maximum static torque exerted on the joint. For the case of humanoid, some joint, e.g. knee joint, bears large static torque due to the configuration and needs a reducer with large gear ratio. It results in heavier joint and lower mobility. To solve the problem, a leg mechanism with drive torque sharing spring and joint stop is proposed in this paper. The concept, design and simulation results are described., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-G06(1)"-"1A1-G06(4)", 日本語, 110008741253, AA11902933 - 1A1-D02 高感度初期滑り検出センサの研究開発 : 感圧ゴムの種類と被覆材の検討
清水 智; 勅使河原 誠一; 明 愛国; 石川 正俊; 下条 誠
By the recent research, we found that the electrical resistance change occurs because of the shear deformation of pressure conductive rubber. Therefore, we expect that can detect the object slippage by measuring the electrical resistance change of pressure conductive rubber when the object slips on the rubber. In this paper, we examine the difference of the output by an internal particle of pressure conductive rubber and hardness and the covering material., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-D02(1)"-"1A1-D02(4)", 日本語, 110008741162, AA11902933 - 1A1-D03 ネット状近接覚センサの三次元素子配置に関する研究 : 光線追跡法による光電式近接覚センサのシミュレーション
藤村 竜徳; 向山 由宇; 明 愛国; 石川 正俊; 下条 誠
The external world measurement sensor is useful so that the robot may evade the collision of man and the obstacle. However, a vision sensor has the problem of occlusion and a tactile sensor cannot be detected until coming in contact. Then, a proximity sensor that can detect the approach of the object is useful to interpolate the intermediate area of these vision and tactile area. We Study on the Mesh of Proximity Sensor that can be fitted on the free-form surface. In this paper, we simulated the sensor output by the ray-tracing method to examine the influence by having changed the arrangement of the light-emitting parts and light-receiving parts., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-D03(1)"-"1A1-D03(4)", 日本語, 110008741163, AA11902933 - 1A1-C16 接触部位の面積とその中心位置が計測可能なセンサの開発
曽根 聡史; 明 愛国; 石川 正俊; 下条 誠
In this paper, we propose the sensor capable of detecting the total contact area and the center of it and the characteristics of sensor are verified by trial product of the sensors. In previous studies, various walking measurement devices which is using pressure conductive element were developed, but they had several problems such as wires, responsivity, non-linearity and so on. So using we developed net structure tactile sensor, these problems were able to solve, but non-linearity problem that remains to be solved. And instead of pressure conductive rubber which have inferior repeatability, on/off switches which is quantitative and element use net structure sensor. Therefore the sensor charasteristics output is digitally and simplistically. Additionaly using switch is "double action switch" which is used in digtal camera the sensor get richer tactile information., 一般社団法人日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 掲載ページ "1A1-C16(1)"-"1A1-C16(3)", 日本語, 110008741146, AA11902933 - 2A2-D08 Hot-Ice現象を活用した全方向包み込み式なじみグリッパ機構
多田隈 建二郎; 小俣 透; 東森 充; 金子 真; 田中 大貴; 寺田 一貴; 大石 千種; 長谷川 浩章; 勅使河原; 誠一; 明 愛国; 下条 誠; 高山 俊男
This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy, functional fluid, dilatancy fluid, and so on. The deformable part of the gripper changes its shape by covering all direction of objects and makes the contacting area higher. This time, we especially focus on the "Hot Ice" phenomena to realize higher grasping motion. The basic performance of fluid of CH3COONa has been observed., 一般社団法人 日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 0号, 掲載ページ _2A2-D08_1-_2A2-D08_4, 日本語, 110008741942, AA11902933 - 2A2-C19 CoPセンサを用いたロボットハンドによる紙の滑り制御
松嵜 泰士; 林 寛和; 並木 明夫; 下条 誠
In this paper, we focus on control of slip of paper. The goal is the position control of a paper by recognizing slip information. For this purpose, we use high-speed multifingered hand with CoY (center of pressure) sensor. CoP sensor can output the center of pressure at contact position, and it can also output the vibration information caused by slip. By analyzing the information with Wavelet transform, the hand is controlled so that the paper is set to the desired position. The results of the experiment are shown., 一般社団法人 日本機械学会, 出版日 2010年, ロボティクス・メカトロニクス講演会講演概要集, 2010巻, 0号, 掲載ページ _2A2-C19_1-_2A2-C19_4, 日本語, 2424-3124, 201002233287012940, 110008741924 - 全方位ネット状近接覚センサによる複数物体検出手法
寺田一貴; 長谷川浩章; 曽根聡史; 鈴木陽介; MING Aiguo; 石川正俊; 下条誠
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, 掲載ページ ROMBUNNO.3I3-7, 日本語, 201002242464396213 - 高速・高感度型すべり覚センサの研究開発―多指ロボットハンドへの応用―
勅使河原誠一; 堤隆弘; 清水智; 鈴木陽介; MING Aiguo; 石川正俊; 下条誠
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, 掲載ページ ROMBUNNO.2O1-5, 日本語, 201002208144526603 - 1C1-2 高速触覚センサと3次元カメラを搭載した移動マニピュレータによるヒューマンアシスト : 基本構想(GS1:立ち座り動作解析・支援機器の開発,一般セッション)
山口 恒; 塚田 夏美; 明 愛国; 下条 誠
As one of the home services with a mobile manipulator system, we are aiming at the realization of the motion assist for older persons. The purpose of the work is to realize a safe assist by real time feedback control based on the information of sensor fusion from a three-dimensional camera for detecting the 3-dimensional coordinate and a high speed tactile sensor for detecting the load and its center. This paper introduces our basic method for assisting standing-up motion and system configuration, the design of tactile sensor as well as initial experimental results to show the feasibility of the proposed system., 一般社団法人日本機械学会, 出版日 2009年09月23日, 福祉工学シンポジウム講演論文集, 2009巻, 掲載ページ 10-13, 日本語, 110008009533, AA11901522 - 2P1-K02 障害物回避のための同期検波を利用したネット状近接覚センサ
寺西 正裕; 高橋 陽介; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
The detection range of the net-structure proximity sensor became the long range by using synchronous detection. In addition, I attached this sensor to a manipulator and performed obstacle avoidance and showed the utility of the proximity sensor., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2P1-K02(1)"-"2P1-K02(4)", 日本語, 110008698561, AA11902933 - 2A2-J08 薄型ネット状近接覚センサを装着したロボットハンド指先の開発と特性評価 : 手先に対し相対的に移動する把持対象物への追従制御
長谷川 浩章; 溝口 善智; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
This paper describes the fingertip of robot hand covered with network-form proximity sensor that we developed. As background, because of occlusion, around several millimeters from grasping object it was difficult for the method based on vision sensor to detect relational position between grasping object and the fingers of robot hand. Therefore, introduction of proximity sensor which senses the distance of the object is very effective. In order to realize this sort of sensor, we analyzed and designed the net structure proximity sensor when using miniature reflective sensor. Then we manufactured the fingertip covered with thin proximity sensor sheet. It has been confirmed that this prototype can realize the basic performance required for grasping of robot hand., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A2-J08(1)"-"2A2-J08(3)", 日本語, 110008698377, AA11902933 - 2A2-J04 インテリジェントロボットハンドの研究開発 : Pick and Placeの達成
溝口 善智; 堤 隆弘; 長谷川 浩章; 明 愛国; 多田隈 建二郎; 石川 正俊; 下条 誠
To achieve a skillful operation like the human being by robot hand, an interaction with the vision and the tactile sense is indispensable. To consider the safe and certain grasping operation by the robot hand, we proposed use of proximity sensor which can detect the several tens of millimeters from finger-tip surface and tactile sensor. And we call such a robot hand an "intelligent robot hand" and develop this. This time, we propose the control method of internal force based on CoP(center of pressure) tactile sensor for the achievement of grasping by three fingers and confirmed utility of the proposal method by the experiments., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A2-J04(1)"-"2A2-J04(4)", 日本語, 110008698374, AA11902933 - 2A2-K06 ネット状近接覚センサの三次元配置に関する研究 : 光線追跡法による光電式近接覚センサのシミュレーション
藤村 竜徳; 有田 浩之; 多田隈 建二郎; 明 愛国; 下条 誠
The external world measurement sensor is useful so that the robot may evade the collision of man and the obstacle. However, a vision sensor has the problem of occlusion and a tactile sensor cannot be detected until coming in contact. Then, a proximity sensor that can detect the approach of the object is useful to interpolate the intermediate area of these vision and tactile area. We Study on the Proximity Sensor Network System that can be fitted on the free-form surface. In this paper, we simulated the sensor output by the ray-tracing method to examine the influence by having changed the arrangement of the light-emitting parts and light-receiving parts., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A2-K06(1)"-"2A2-K06(4)", 日本語, 110008698389, AA11902933 - 2A1-B12 ヒトの歩行における足趾と下肢関節の機能
平澤 正輝; 片野 広大; 岡田 英孝; 下条 誠
Humans are the only living things which make a erect bipedalism. We are evolving the lower extremity - below a pelvis and gained the more complicated and more sophisticated gait pattern. In this report, we separate Ground Reaction Force (GRF) from the foot shape and the ankle joint torque for gait. And we clarified that the effect of those., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "2A1-B12(1)"-"2A1-B12(2)", 日本語, 110008697827, AA11902933 - 1P1-F18 触覚ピンディスプレイにおける指先と掌の形状知覚特性の違いに関する研究
村瀬 悠; 武市 隆太; 清水 豊; 島田 茂伸; 下条 誠
The exhibition to a high tip of a finger the space resolution becomes important in a tactile display in the conventional investigation. However, we must touch the tactile display that we can cover at a time at a tip of a finger in a bigger area practically very small. This paper proposes sense of touch exhibition to the palm for sense of touch stimulation of the big size area that cannot cover only at the area of a tip of finger and think about a finger-tip in the pin display and a difference of the shape communication of the palm., 一般社団法人日本機械学会, 出版日 2009年05月25日, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 掲載ページ "1P1-F18(1)"-"1P1-F18(4)", 日本語, 110008697755, AA11902933 - 多指ハンドの動作を考慮したスキル統合に基づく結び操作
山川雄司; 並木明夫; 石川正俊; 下条誠
出版日 2009年, ロボティクスシンポジア予稿集, 14th巻, 1881-7300, 200902277632618640 - 2P1-K06 感圧導電性ゴムの特性を用いた滑り覚センサの研究開発 : 抵抗値変化の高周波成分について
勅使河原; 誠一; 清水 智; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have proposed flexible, thin and lightweight slip sensor utilizing characteristics of pressure conductive rubber. However, this sensor was difficult to distinguish between the object slip and the normal force change. So, we consider the separative method using high frequency components generated by object slip. In this paper, we will discuss about the high frequency components., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2P1-K06_1-_2P1-K06_2, 日本語, 110008698565, AA11902933 - 2P1-J13 感圧導電性ゴムの特性を用いた滑り覚センサの研究開発 : 法線および接線方向変形と抵抗値変化の関係
清水 智; 綿奈部 裕之; 勅使河原; 誠一; 多田隈 建二郎; 明 愛国; 石川 正俊; 下条 誠
By the recent research, we found that the electrical resistance change occurs when the transformation of not only the transformation of the normal direction but also the shear direction occurred to the pressure conductive rubber. In this paper, we verified the characteristic to the normal force and the tangential force about various pressure conductive rubbers., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2P1-J13_1-_2P1-J13_4, 日本語, 110008698558, AA11902933 - 2P1-E05 球状構造を用いた負荷感応・無段変速を特徴とする直動機構
寺田 一貴; 多田隈 建二郎; 多田隈 理一郎; 明 愛国; 下条 誠
This paper describes linear load-sensitive continuously variable transmission with the spherical driving unit. This CVT mechanism consists of spherical drive, drive axis, motor housing, fixed bracket and linear sliding plate. It changes the reduction ratio continuously by inclination angle of active rotational axis. Additionally, this linear mechanism has a load-sensitive function by changing inclination of active rotational axis in response to the load. We have developed a linear load-sensitive continuously variable transmission and confirmed the effectiveness of the proposed mechanism., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2P1-E05_1-_2P1-E05_4, 日本語, 110008698492, AA11902933 - 2A2-B02 全方向包み込み式なじみグリッパ : 把持応答性向上を目指した各種方法
多田隈 建二郎; 下条 誠; 多田隈 理一郎; 勅使河原 誠一; 溝口 善智; 長谷川 浩章; 寺田 一貴; 高山 俊男; 小俣 透; 明 愛国
This paper describes the morphing omnidirectional gripper which is able to grasp various objects with low melting point alloy. The deformable part of the gripper changes its shape by covering all directionof objects and makes the contacting area higher. In order to keep the high grasping force, proposed gripper does not need any additional energy thanks to the solid state of the deformable part including low melting point alloy. The design of the actual prototype model with cooling mechanism is shown and built. In addition, the usage of functional fluids for the morphing part is proposed. The basic performance of the blended material of low melting point alloy and magnetic fluid has been observed., 一般社団法人 日本機械学会, 出版日 2009年, ロボティクス・メカトロニクス講演会講演概要集, 2009巻, 0号, 掲載ページ _2A2-B02_1-_2A2-B02_2, 日本語, 110008698245, AA11902933 - 総論:特集 ｢触覚技術展望｣
下条誠
筆頭著者, 出版日 2008年07月, 計測と制御，vol.47, no.7, pp.548-553, 2008., 47巻, 7号, 掲載ページ 548-553, 日本語, 査読付, 招待, 記事・総説・解説・論説等（その他） - 2P1-I14 移動マニピュレータによるホームサービスシステムの研究開発 : ステレオカメラとRFIDを用いた移動マニピュレーション(ホーム&オフィスロボット)
山代 学; 吉田 卓史; 謝 昭賢; 明 愛国; 下条 誠
A versatile system for home service using a mobile manipulator and multi-sensors is being developed by authors, to realize efficient mobile manipulations of various objects in the home by sensor fusion. This paper describes the configuration of the system and mobile manipulation of chairs by utilizing stereo camera and RFID., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2P1-I14(1)"-"2P1-I14(2)", 日本語, 110008696611, AA11902933 - 2A1-A07 圧電繊維複合材料を用いた水中ロボットの研究開発 : 直進・旋回可能なロボットの試作(水中ロボット・メカトロニクス)
朴 ソギョン; 福島 佑一; 明 愛国; 下条 誠
Fish type underwater robots come into use in the fishery investigation field for the purpose of exploring the appearance in the near bottom of the sea, for the sake of oceanic development. Many of the fish type robots that have been developed up to now have complex mechanisms, are bulky, and need motors combined with cranks and advanced technique for motion control. This research aims to develop an underwater robot by using MFC (Macro Fiber Composite) which is a new type of flexible piezo-electric fiber composite with film structure. Compared with conventional artificial muscular underwater robots, MFC can be used by composing underwater robots with a very simple structure. Using MFC actuator, we developed the robots capable of progress and turning motion., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2A1-A07(1)"-"2A1-A07(4)", 日本語, 110008696216, AA11902933 - 1P1-J14 高齢者の歩行メカニズムの解明(デジタルヒューマン)
平澤 正輝; 岡田 英孝; 下条 誠
Faint, slipping, stumbling and missing step, are enumerated as a factor of the fall for the elderly while walking. Moreover, a decay of the muscle function and a decrease in Range Of Motion (ROM) and the function of the ankle are thought indirect factors to fall. The relationship between these factors of fall and gait has mostly been clarified from the measurement of gait. However those results are only guesses by a statistical technique, not casual relation for each other. In this research, we clarify the role in gait of each joint and fall mechanism of the elderly, with the gait simulation used the solid body link model., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1P1-J14(1)"-"1P1-J14(2)", 日本語, 110008696200, AA11902933 - 1P1-I04 ロボットに全身被覆可能な近接覚・触覚融合型センサを用いた衝突回避動作に関する研究開発(触覚と力覚)
柴崎 保則; 堤 隆弘; 下条 誠; 明 愛国
The mesh structure fusion of tactile and proximity sensor is developed. The sensor can be attached to freeform surface and needs only six wires. The sensor can detect the center position of the object and total distance to the object and the center position of a distributed load and the total load of the distribution. In this paper, the structure of the sensor and the prototype of the sensor are described, and the sensor is made to be installed in the manipulator, and the collision evasion is achieved. And seamless detection operation is done by using tactile information and proximity information., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1P1-I04(1)"-"1P1-I04(4)", 日本語, 110008696178, AA11902933 - 1P1-F08 圧電繊維複合材料を用いた羽ばたきロボットの研究開発 : 翼機構の改善(飛行ロボット・メカトロニクス)
福島 佑一; 朴 ソギョン; 明 愛国; 下条 誠
The purpose of the research is to develop flapping robots using piezoelectric fiber composites. By using the composites, actuating fibers and sensing fibers can be embedded into a wing as part of the structure and it makes flapping robots with compact and light structure. A prototype of flapping robot with flapping and feathering motions has been developed. The design and driving method of the robot as well as experimental results about thrust and lift are shown in this paper., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1P1-F08(1)"-"1P1-F08(3)", 日本語, 110008696114, AA11902933 - 1A1-H11 高速・高感度な滑り覚センサの研究開発 : 感圧導電性ゴムの特性(触覚と力覚)
勅使河原 誠一; 西永 知博; 石川 正俊; 下条 誠
Slip detecting tactile sensors are essential to achieving a human-like gripping motion with a robot hand. Up until now, we have developed flexible, thin and lightweight center of pressure (CoP) sensor. The sensor, constructed of pressure conductive rubber sandwiched between two sheets of conductive film, is able to detect the center position of the load distribution and the total load. Recently, detection of initial slip has been shown to be possible. However the detection principles are unclear. In this paper, we will discuss the slip detection principle of CoP sensor and the properties., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1A1-H11(1)"-"1A1-H11(2)", 日本語, 110008695960, AA11902933 - 1A1-H15 同期検波を用いたネット状近接覚センサの高機能化(触覚と力覚)
寺西 正裕; 柴崎 保則; 明 愛国; 石川 正俊; 下条 誠
The net structure proximity sensor capable of being attached to over robot entire body was developed. This sensor is effective as a sensor of the intermediate level of object detection. It is necessary to plan further high function to realize a robot by higher-speed exercise. This paper analyzes the effect of the sensor at far field., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1A1-H15(1)"-"1A1-H15(2)", 日本語, 110008695964, AA11902933 - 1A1-I01 広範囲計測が可能な歩行位置検出センサを用いた個人識別(感覚・運動・計測)
片野 広大; 平澤 正輝; 岡田 英孝; 下条 誠
The biometrics is important technology provide security and service for individual. In the biometrics, the identification employs gait is studied varied method. Because it has the advantage of the measurement is transparent. But, not only to identification, practical application of study employs gait measurement is difficult. Because gait measurement systems have problems on measurement area, expensive cost, complicated structures, and so on. We made a walking position sensor, flat, less number of wire and can be broadened, for wide range gait. And we can work out some gait analysis factors from this sensor output. And so we try to identification using these factors., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1A1-I01(1)"-"1A1-I01(4)", 日本語, 110008695974, AA11902933 - 1A1-A23 ゴルフスイングロボットに関する研究 : 新しいエネルギー制御則による運動軌道の生成(動作計画と制御の新展開)
山田 心也; 酒井 優; 明 愛国; 下条 誠
A golf swing robot which has a smart structure and enables high-speed swing based on dynamic coupling drive has been developed by authors. We have reported the feasibility of an energy control method to generate the golf swing trajectory from address position to impact position by adopting target dynamics. In this paper,we apply a new energy control method to generate the whole swing trajectory and show its effectiveness through experimental results., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "1A1-A23(1)"-"1A1-A23(4)", 日本語, 110008695813, AA11902933 - 2P1-F13 小型ヒューマノイドによる跳躍動作の検討(ヒューマノイド)
大石 千種; 長谷川 雄一; 許 春権; 明 愛国; 下条 誠
To realize hyper dynamic manipulations such as jumping by a smart structure, authors have proposed the utilization of dynamically-coupled driving and joint stop mechanisms before. The purpose of this work is to apply the idea to humanoids to realize hyper dynamic manipulations. This paper investigates the possibility of jumping by a small commercial humanoid with newly introduced joint stop mechanisms. The motion planning for jumping has been performed with considering the capability of actuators in the humanoid and the possibility for jumping has been examined by simulation., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2P1-F13(1)"-"2P1-F13(3)", 日本語, 110008696545, AA11902933 - 1P1-I07 インテリジェントロボットハンドの研究開発 : 貫通孔を有するCoPセンサによる触覚・近接覚複合センサの実現(触覚と力覚)
溝口 善智; 明 愛国; 並木 明夫; 石川 正俊; 下条 誠
To achieve a human like grasping with a multi fingered robot hand, an interaction with vision and tactile information is indispensable. The method to use the camera for the vision information acquisition of the robot hand is common. The camera is effective globally but incorrect locally because of blind spot and the shadow of robot hand itself. Therefore it is thought that acquisition of approach and contact information to the object continually is very effective for grasping by introducing the proximity sensor which is sensing distance of several centimeter from an object. This time we pro..., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 0号, 掲載ページ "1P1-I07(1)"-"1P1-I07(2)", 日本語, 2424-3124, 200902249957575609, 110008696181 - 2P2-E12 インタラクティブ型触覚グラフィックディスプレイのユーザインタフェース向上とその応用(VRとインタフェース)
山本 卓; 内田 優典; 藤村 竜徳; 島田 茂伸; 篠原 正美; 下条 誠; 清水 豊
An interactive tactile graphic display which acts by touch force has been developed as a trial. The trial model showed four usability problems through several usability experiments. Thus we re-designed three operation rules and developed a new image resampling algorithm to solve the problems. As the result, all problems shown in the previous system were solved. Furthermore a strategy of user interface design for interactive tactile graphic displays was shown through the development. In addition, an audio-tactile graphic system which can be used mainly to overcome tactile cognitive limitatio..., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2P2-E12(1)"-"2P2-E12(4)", 日本語, 110008696735, AA11902933 - 2P2-E13 指先と掌におけるピンディスプレイでの形状情報伝達の違いに関する研究(VRとインタフェース)
武市 隆太; 藤村 竜徳; 島田 茂伸; 下条 誠
The exhibition to a high tip of a finger the space resolution becomes important in a tactile display in the conventional investigation. However, we must touch the tactile display that we can cover at a time at a tip of a finger in a bigger area practically very small. This paper proposes sense of touch exhibition to the palm for sense of touch stimulation of the big size area that cannot cover only at the area of a tip of finger and think about a finger-tip in the pin display and a difference of the shape communication of the palm., 一般社団法人日本機械学会, 出版日 2008年06月06日, ロボティクス・メカトロニクス講演会講演概要集, 2008巻, 掲載ページ "2P2-E13(1)"-"2P2-E13(4)", 日本語, 110008696736, AA11902933 - 多指ハンドと視触覚フィードバックによる柔軟紐の高速マニピュレーション
山川雄司; 並木明夫; 石川正俊; 下条誠
出版日 2008年, ロボティクスシンポジア予稿集, 13th巻, 1881-7300, 200902273872192202 - 高速多指ハンドを用いた棒状物体の回転制御
並木明夫; 石原達也; 山川雄司; 石川正俊; 下条誠
出版日 2008年, ロボティクスシンポジア予稿集, 13th巻, 1881-7300, 200902282146633690 - 電気通信大学電気通信学部 知能機械工学科電気通信学研究科 知能機械工学専攻下条・明 研究室
下条 誠; 明 愛国
出版日 2007年09月30日, 日本バーチャルリアリティ学会誌 = Journal of the Virtual Reality Society of Japan, 12巻, 3号, 掲載ページ 174-175, 日本語, 1342-6680, 10019957854, AA11461758 - 二次元分布型触覚センサ
下条誠
化学工業社, 出版日 2007年09月, ケミカルエンジニヤリング, 52巻, 9号, 掲載ページ 671-678, 日本語, 査読付, 招待, 記事・総説・解説・論説等（その他）, 0387-1037, 40015606805, AN00074423 - 1A2-K03 下肢計測スーツの研究開発 : 歩行評価のための足底圧センサの開発(医療・福祉ロボティクス・メカトロニクス)
平澤 正輝; 岡田 英孝; 下条 誠
Humans are the only living things which make a erect bipedalism. They are evolving the leg extremity-below a pelvis, and gained the more complicated and more sophisticated walk system. In the depertment of the bio-mechanics or the rehabilitation, movement analysis instrument has been developed. But, almost of these are attended by the feeling of a constraint, or a measurement place will be limited. We makes the measurement suit which can survay operation of the leg, without giving a feeling of a restraint as much as possible as an experiment. And the in-sole sensor shoes, used for it, are developed., 一般社団法人日本機械学会, 出版日 2007年05月11日, ロボティクス・メカトロニクス講演会講演概要集, 2007巻, 掲載ページ "1A2-K03(1)"-"1A2-K03(4)", 日本語, 110008695137, AA11902933 - 1A2-B08 触覚センサを用いた多指ハンドの接触力制御 : 触覚フィードバックによる多点接触力制御(触覚と力覚)
溝口 善智; 郡司 大輔; 明 愛国; 並木 明夫; 石川 正俊; 下条 誠
Handling behavior of human can be divided into Pinching and Grasping. In multi-fingered robot hand, wrapping grasp which permits the object to contact with the finger link other than the tip of finger, or palm is called Power grasp. The interaction with the tactile sensor is indispensable for the achievement of Power grasp to and unknown object with the multi-fingered robot hand. In this study, for the achievement of Power grasp operation which doesn't depend on the grasping object wit the multi-fingered robot hand, we propose a method for multi-point contact force control in inside of the ..., 一般社団法人日本機械学会, 出版日 2007年05月11日, ロボティクス・メカトロニクス講演会講演概要集, 2007巻, 0号, 掲載ページ "1A2-B08(1)"-"1A2-B08(4)", 日本語, 2424-3124, 200902289525886290, 110008695051 - 2A1-E08 触覚フィードバックを用いた柔軟紐の高速片手結び(ロボットハンドの機構と把握戦略)
山川 雄司; 並木 明夫; 石川 正俊; 下条 誠
In this study, we propose a strategy of knotting using a high-speed multifingered robot hand and tactile sensors. The strategy is divided to three steps: a loop generation, a replacement of ropes, and a pulling of a rope. Through these three steps, a knotting is achieved by only one multifingered hand. And, in order to allow the continuous motion, we have added one step: "a shift of rope". The experimental results are shown using the multifingered hand with tactile sensors. Finally, we analyze a behavior of the replacement of rope to produce a high rate of success., 一般社団法人日本機械学会, 出版日 2007年05月11日, ロボティクス・メカトロニクス講演会講演概要集, 2007巻, 0号, 掲載ページ "2A1-E08(1)"-"2A1-E08(4)", 日本語, 2424-3124, 200902267972939836, 110008695387 - 点字触読速度・接触力・触運動と触読者の属性との関係(ヒューマンコミュニケーショングループ(HCG)シンポジウム)
渡辺 哲也; 大内 進; 金子 健; 山口 俊光; 島田 茂伸; 下条 誠
被験者32人を対象とした触速度・接触力実験の結果を詳細に解析した。その結果,触読速度は点字学習開始年齢,日常の点字使用頻度に関係するが,触運動との明確な関係は見い出せなかった。触読速度が遅い読者の殆どは接触力が軽く,他方,実用的な速度で読める読者の接触力は比較的強く,また人により異なることも分かった。, 社団法人電子情報通信学会, 出版日 2007年03月16日, 電子情報通信学会技術研究報告. WIT, 福祉情報工学, 106巻, 612号, 掲載ページ 67-72, 日本語, 0913-5685, 110006249179, AA1155230X - 近接覚から触覚までをシームレスにつなぐ汎触覚センサの開発
下条誠
出版日 2007年, 日本機械学会ロボティクス メカトロニクス講演会講演論文集, 2007, 10021115564 - 1A2-B09 CoP触覚センサによる滑り検出 : メカニズムの解明と被覆材の影響(触覚と力覚)
勅使河原; 誠一; 石川 正俊; 下条 誠
To prevent the robot from dropping the object, the tactile sensor which detects not only the contact position and force but also slip sense is necessary. In this study, it aims to detect a slip with the Center of Pressure (CoP) tactile sensor. This sensor can install in the robot hand, and has the feature of flexibility, thinly, and lightness. CoP tactile sensor can measure center position of distributed load and total load. In addition, we show that CoP tactile sensor can detect the tangential force and describe the influence of the coating material used for the sensor surface protection., 一般社団法人 日本機械学会, 出版日 2007年, ロボティクス・メカトロニクス講演会講演概要集, 2007巻, 0号, 掲載ページ _1A2-B09_1-_1A2-B09_4, 日本語, 110008695052, AA11902933 - 6軸力センサを用いた点字読み時の触圧測定の試み
渡辺 哲也; 大内 進; 金子 健; 山口 俊光; 下条 誠; 島田 茂伸
点字読者が指に点字用紙に触れるときの接触力測定の試みを続けている。これまでに微少変位センサと面圧力分布測定センサの2種類のシステムを用いてきたが,測定の精度と安定性に問題があった。そこでこの度,高精度かつ安定した出力を得られる6軸カセンサを用いたシステムを構築した。センサは測定面を1点で支える構造のため,測定面上の位置により出力値に変動が出た。そこで6軸データを用いて接触位置を推定した後,位置ごとに接触力を補正する手法を採用した。定期的な校正の結果,この測定・補正手法で安定かつ精度のよい測定が可能であると判断した。このシステムを用いて点字使用者を対象に実験したところ,読み速度が速い被験者ほど接触力が強い,熟達者の行読み中にも接触力の変動があるなど,従来主張されてきた命題と相反するデータを得た。, 一般社団法人電子情報通信学会, 出版日 2006年05月19日, 電子情報通信学会技術研究報告, 106巻, 57号, 掲載ページ 33-40, 日本語, 0913-5685, 110004758133, AA1155230X - インタラクティブな触図ディスプレイ : 重度視覚障害を持つPCユーザのためのタッチ･インターフェース (特集 各種原理を応用した入力機器)
篠原 正美; 下条 誠
テクノタイムズ社, 出版日 2006年04月, ディスプレイ, 12巻, 4号, 掲載ページ 47-53, 日本語, 1341-3961, 40019856724, AA11422144 - インタラクティブな触図ディスプレイ
篠原正美; 下条誠
出版日 2006年04月, 月刊 ディスプレイ, 12巻, 4号, 掲載ページ 47-53, 日本語, 査読付, 記事・総説・解説・論説等（その他） - 指先に装着した面状CoP触覚センサによる滑り検出
郡司大輔; 荒木拓真; 柴崎保則; MIMG Aigou; 下条誠
出版日 2006年, 日本ロボット学会学術講演会予稿集(CD-ROM), 24th巻, 200902274093689024 - 2P2-B01 自由曲面への装着と省配線化を可能とする網目状触覚センサ
荒木 拓真; 郡司 大輔; 下条 誠
The mesh structure tactile sensor is developed. The sensor can be attached to free-form surface and needs only four wires. The sensor can detect the center position of distributed load and total load of the distribution within 1 ms. In this paper, the theory of the sensor is shown and the characteristics of the sensor are verified by a trial product of the sensor., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "2P2-B01(1)"-"2P2-B01(4)", 日本語, 110008694292, AA11902933 - 2P2-B02 触覚センサを用いた把持における滑り検出
郡司 大輔; 荒木 拓真; 柴崎 保則; 下条 誠
In the Grasping control and handling the object with the robot hand, tactile sensor that can detect contact information of the object is expected. Detection of slipping is an important problem in the Grasping control. For more advanced grasping, real-time slip detection for controling grasping force is required. In this study, we apply the tactile sensor for measuring center position of distributed load to detect a slip., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "2P2-B02(1)"-"2P2-B02(4)", 日本語, 110008694293, AA11902933 - 1A1-E17 ゴルフスイングロボットに関する研究 : エネルギー制御を導入した運動制御方法の検討
長岡 武治; 許 春権; 明 愛国; 下条 誠
A method combing target dynamics with energy control to generate golf swing trajectories is considered. The time cost of trajectory generation becomes very low by applying the method. A series of swing trajectories from address position to finish position with different boundary conditions and constraints are generated. Experiments are carried out by adopting the generated trajectories as reference inputs and PD control law. Experimental results confirmed the feasibility of the method., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "1A1-E17(1)"-"1A1-E17(4)", 日本語, 110008693724, AA11902933 - 1A1-E21 バイオリン演奏ロボットの研究開発
桑原 弘樹; 関 博和; 笹田 康弘; 下条 誠
We are studying the robot arm for playing a violin, which can play it like human. We develop a new bowing mechanism, and test the control method. We measured the condition for a pronunciation necessary for the performance violin., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "1A1-E21(1)"-"1A1-E21(4)", 日本語, 110008693728, AA11902933 - 1A1-E19 ゴルフスイングロボットに関する研究 : 粘弾性ストッパを利用した運動制御
鎌田 裕一; 山川 明浩; 明 愛国; 下条 誠
A golf swing robot based on dynamic coupling drive has been developed by authors, which enables high-speed swing while by a smart structure. In this paper, a new model of golf swing robot with considering the visco-elastic joint stop is established and used for motion control. The swing with using joint stop is realized successfully., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "1A1-E19(1)"-"1A1-E19(2)", 日本語, 110008693726, AA11902933 - 1A1-B39 高速触覚システムを用いたペン状物体の高速把持・操り
石原 達也; 並木 明夫; 石川 正俊; 下条 誠
We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The hand and the sensor is respectively capable of high-speed finger motion up to 180 deg per 0.1 s and high-speed tactile feedback with a sampling rate higher than 1 kHz. We have achieved the pen spinning task using the two robot fingers. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task with the three robot fingers using the system. The paper describes the tactile feedback control strategies and experimental results., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 0号, 掲載ページ "1A1-B39(1)"-"1A1-B39(4)", 日本語, 2424-3124, 200902255349728460, 110008693635 - 1P1-D06 触覚GUIを可能とする視覚障害者用入出力装置の開発 : 第三試作機の開発
島田 茂伸; 長澤 俊; 篠原 正美; 清水 豊; 下条 誠
A basic device combining a tactile display function and a touch position/force direction sensing function is proposed. The first trial device consists of two major components, a tactile graphic display and a 6-axis force/torque sensor. The proposed device is substituted for the mouse function of a click and scrolling, and it provides a fundamental GUI operation. From the knowledge acquired from the first trial device, the new tactile input/output device which forcused on enlargement of tactile presentation area, the improvement in position detection accuracy, and improvement in easy-to-tran..., 一般社団法人日本機械学会, 出版日 2006年, ロボティクス・メカトロニクス講演会講演概要集, 2006巻, 掲載ページ "1P1-D06(1)"-"1P1-D06(4)", 日本語, 110008693852, AA11902933 - 点字読み速度と触圧の関係について : 面圧力分布測定システムを使った触圧の測定(「感性情報処理の基礎と応用」及びヒューマン情報処理一般)
渡辺 哲也; 大内 進; 金子 健; 山口 俊光; 下条 誠; 島田 茂伸
本研究の目的は, 視覚障害者が点字を読む際の触圧を計測し, これと読み能力(読み速度)との関係を明らかにすることである。このために, 感圧導電性インクの原理による面圧分布測定システムを導入し, 点字読者を被験者とした触圧測定実験を実施してきた。被験者5人の読み速度は7.51〜10.87マス/秒と速く, 全員が点字読み熟達者と判断できる。この5人に利き手の示指1本で読んでもらったときの触圧は, 1人が80〜90gf, ほかの4人が10数gfであった。行を移る際に力が抜ける様子や, 行読みの途中でも微細な変動が見られることが明らかになった。今後の課題は, 読み能力が大きく異なる被験者を募り, 読み速度と触圧の関係を検証することである。, 社団法人電子情報通信学会, 出版日 2005年12月08日, 電子情報通信学会技術研究報告. HIP, ヒューマン情報処理, 105巻, 479号, 掲載ページ 69-74, 日本語, 0913-5685, 110003488657, AN10487237 - 面圧力分布測定システムを使った点字読みの触圧測定(高齢者支援/肢体不自由者支援/一般)
渡辺 哲也; 大内 進; 金子 健; 山口 俊光; 下条 誠; 島田 茂伸
本研究の目的は, 視覚障害者が点字を読む際の触圧と触運動を同期的に計測し, これらと読み能力(速度及び正確さ)との関係を明らかにすることである。このために, 点字の触読に関する文献研究, 感圧導電性ゴムを利用した触圧測定システムの導入, このシステムを使った試験的な触圧測定を実施した。被験者2人に利き手の利き指1本で読んでもらったときの触圧は1人が80〜90gf, もう1人が10数gfであった。今後は, この値が妥当かどうかについて, システムの精度の確認とともに, 被験者数の増加を通じて検証していく。, 社団法人電子情報通信学会, 出版日 2005年07月07日, 電子情報通信学会技術研究報告. WIT, 福祉情報工学, 105巻, 186号, 掲載ページ 51-56, 日本語, 0913-5685, 110003224477, AA1155230X - 2A1-N-108 2次元荷重分布中心位置検出触覚センサによる2足歩行ロボットのZMP検出(触覚と力覚4,生活を支援するロボメカ技術のメガインテグレーション)
荒木 拓真; 谷保 勇樹; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 156-156, 日本語, 110006210423, AA11902933 - 2A1-N-107 2次元分布荷重中心位置検出触覚センサ : センサ構成パラメータとセンサ特性について(触覚と力覚4,生活を支援するロボメカ技術のメガインテグレーション)
下条 誠; 谷保 勇樹
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 156-156, 日本語, 110006210422, AA11902933 - 2P1-N-103 触覚情報処理用Mixed Signal LSIの開発(触覚と力覚5,生活を支援するロボメカ技術のメガインテグレーション)
岩下 貴司; 下条 誠; 石川 正俊
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 198-198, 日本語, 110006210590, AA11902933 - 1P2-N-080 レーザ光平面スキャナを用いた3次元位置計測システムの開発(3次元計測/センサフュージョン3,生活を支援するロボメカ技術のメガインテグレーション)
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 108-108, 日本語, 110006210230, AA11902933 - 1A1-N-050 ゴルフスイングロボットに関する研究 : ゴルフクラブの柔軟性を考慮した連動制御(制御の新理論とモーションコントロール1,生活を支援するロボメカ技術のメガインテグレーション)
丸山 共存; 鎌田 裕一; 許 春権; 明 愛国; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 16-16, 日本語, 110006209867, AA11902933 - 1A1-N-038 ヴァイオリン演奏ロボットハンドの開発に関する研究(アミューズメントロボットエンタテイナーロボット,生活を支援するロボメカ技術のメガインテグレーション)
関 博和; 猿田 正博; 桑原 弘樹; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 14-14, 日本語, 110006209857, AA11902933 - 1A1-N-053 ゴルフスイングロボットに関する研究 : 実打運動制御の一方法(制御の新理論とモーションコントロール1,生活を支援するロボメカ技術のメガインテグレーション)
逸見 昌伸; 佐藤 哲平; 許 春権; 明 愛国; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 17-17, 日本語, 110006209870, AA11902933 - 1A1-S-025 簡易尺取虫型ロボットを用いたメカトロ教育(ものづくり教育とメカトロニクス1,生活を支援するロボメカ技術のメガインテグレーション)
島田 茂伸; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 36-36, 日本語, 110006209947, AA11902933 - 1P1-N-041 触覚GUIを可能とする視覚障害者用入出力装置の開発 : 水平方向分力の入力による誤差の要因とその補正手法(ハプティックインタフェース1,生活を支援するロボメカ技術のメガインテグレーション)
島田 茂伸; 篠原 正美; 清水 豊; 下条 誠
一般社団法人日本機械学会, 出版日 2005年06月09日, ロボティクス・メカトロニクス講演会講演概要集, 2005巻, 掲載ページ 56-56, 日本語, 110006210024, AA11902933 - 2次元圧力分布測定法を用いた触覚センサへの応用(G15-1 センシング・認識,G15 ロボティクス・メカトロニクス部門)
下条 誠; 谷保 勇樹; 並木 明夫; 石川 正俊
An application of the tactile sensor using a method for measuring the center position of the two dimensional distributed load is proposed and the basic experimental results for its verification are shown. The sensor used in this method is constructed of pressure-conductive rubber, a pair of resistive material coated film. In this paper it is shown that this sensor can concurrently detect two available values that are the center position of the two dimensional distributed load on the surface of the sensor and total load of the distribution., 一般社団法人日本機械学会, 出版日 2004年09月04日, 年次大会講演論文集 : JSME annual meeting, 2004巻, 5号, 掲載ページ 301-302, 日本語, 110004063881, AA11461871 - ゴルフスイングロボットに関する研究 : 人間の関節動作範囲の考慮有無によるスイング軌道の変化(制御の新理論とモーションコントロール1)
丸山 共存; 許 春権; 明 愛国; 下条 誠; 梶谷 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 109-109, 日本語, 110004069792, AA11902933 - ゴルフスイングロボットに関する研究 : インパクト後の運動制御(制御の新理論とモーションコントロール1)
逸見 昌伸; 明 愛国; 下条 誠; 梶谷 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 109-109, 日本語, 110004069791, AA11902933 - 生体信号を用いた運動機能アシストシステムの開発 : 関節パラメータを推定するための表面筋電信号処理(医療・福祉ロボティクス・メカトロニクス3)
星野 隆行; 友納 昌則; 鈴木 隆文; 下条 誠; 満渕 邦彦
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 79-79, 日本語, 110004069673, AA11902933 - 触覚情報処理用ミックスドシグナルLSIの開発 : アナログ回路部の問題点の検証と改善(触覚・力覚2)
岩下 貴司; 下条 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 54-54, 日本語, 110004069579, AA11902933 - 材質感呈示システムに関する研究 : 触覚による布地材質感の呈示(ハプティックインタフェース2)
小川 博教; 下条 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 47-47, 日本語, 110004069551, AA11902933 - 自重支持機能を備えた歩行アシストシステムに関する基本検討(医療・福祉ロボティクス・メカトロニクス2)
友納 昌則; 星野 隆行; 鈴木 隆文; 満渕 邦彦; 下条 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 43-43, 日本語, 110004069535, AA11902933 - ヒューマノイドロボットの歩行時の足圧分布取得(触覚・力覚2)
木下 源一郎; 太田 千広; 大隅 久; 山田 昌利; 下条 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 54-54, 日本語, 110004069578, AA11902933 - ヴァイオリン演奏ロボットハンドの運指機構に関する研究 : 人間の演奏動作解析とハンドの要求仕様(アミューズメントロボット・エンタテイナーロボット)
猿田 正博; 宮井 隆雄; 明 愛国; 金森 哉吏; 下条 誠
一般社団法人日本機械学会, 出版日 2004年06月18日, ロボティクス・メカトロニクス講演会講演概要集, 2004巻, 掲載ページ 174-174, 日本語, 110004070047, AA11902933 - 2次元分布荷重測定法を用いた触覚センサへの応用
下条誠; 谷保勇樹; 石川正俊; 並木明夫
出版日 2004年, 日本ロボット学会学術講演会予稿集(CD-ROM), 22nd巻, 200902289947539525 - バイモルフ型圧電アクチュエータを用いた材質センシングに関する研究
安彦; 久保 昌之; 下条 誠
一般社団法人日本機械学会, 出版日 2004年, 日本機械学会ロボティクス メカトロニクス講演会'04講演会論文集, 2004, 掲載ページ 47-47, 日本語, 110004069550, AA11902933 - 材質感呈示システムに関する研究 : 触覚による布地材質感の呈示
小川 博教; 下条 誠
出版日 2003年09月17日, 日本バーチャルリアリティ学会大会論文集 = Proceedings of the Virtual Reality Society of Japan annual conference, 8巻, 掲載ページ 255-256, 日本語, 1342-4564, 10013959796, AA11429766 - 光磁気式ロータリエンコーダに関する研究 (第20回センシングフォーラム 資料--センシング技術の新たな展開と融合) -- (セッション1B2 位置・長さ・形状計測(1))
飛田 和輝; 下条 誠; 金森 哉吏
〔計測自動制御学会〕, 出版日 2003年09月16日, センシングフォ-ラム資料, 20巻, 掲載ページ 163-168, 日本語, 1343-7631, 40006223977, AA11461587 - 光磁気式ロータリエンコーダに関する研究
飛田和輝; 下条誠; 金森哉吏; 梶谷誠; 大平貴之; 河本聡紀
出版日 2003年09月16日, センシングフォーラム資料, 20th巻, 掲載ページ 163-168, 日本語, 200902235205873561 - 超高精度歯車測定機の精度向上に関する研究--不確かさの要因となる機構的誤差の解明とシミュレーションを用いた不確かさ推定 (第8回知能メカトロニクスワークショップ講演論文集) -- (S7. ロボットとメカトロニクスの基礎)
金森 哉吏; 韓 慧森; 下条 誠
〔精密工学会〕, 出版日 2003年08月21日, 知能メカトロニクスワークショップ講演論文集, 8巻, 掲載ページ 141-146, 日本語, 40005932514 - 1A1-2F-F2 振動子アレイを用いた材質のセンシングに関する研究 : 接触振動特性変化による材質のセンシングについて
安彦 成泰; リム ハトチン; 金森 哉吏; 明 愛国; 下条 誠
PZT型バイモルフは, 曲げにより電圧を生じることからアクチュエータのみならずセンサとして利用できるという報告がされている。今回, このセンサとしての特性を用いた材質のセンシングへの利用について研究を行った。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 21-21, 日本語, 110002506020, AA11902933 - 1A1-3F-B3 液状感圧ゴムを用いた自由曲面型触覚センサの開発
下条 誠; 金森 克彦; 明 愛国; 金森 哉吏; 石川 正俊
本報告では, 液状感圧ゴムに電極部を浸すディッピング手法により, 自由曲面上に感圧ゴム膜を作ることによって触覚センサを構築した例について報告する。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 25-25, 日本語, 110002506041, AA11902933 - ゴルフスイングロボットに関する研究-関節ストッパを使用しないスイング実験
丸山共存; 明 愛国; 下条 誠; 梶谷 誠
本研究では, 干渉駆動を用いた高速動作を実現するゴルフスイングロボットを開発し, その機構と制御法の有効性を実証してきた。本報では手首関節にストッパ無しの場合フルスイング実験を行い, その結果を報告する。, 一般社団法人日本機械学会, 出版日 2003年, 日本機械学会ロボティクス メカトロニクス講演会'03, 掲載ページ 105-105, 日本語, 110002506491, AA11902933 - 2P1-2F-F3 ゴルフスイングロボットに関する研究 : 学習制御方法の改良
古川 真也; 手島 鉄兵; 明 愛国; 下条 誠; 梶谷 誠
本研究では干渉駆動を用いたゴルフスイングロボットを開発し, その有効性を実証してきた。本報では, 巡回型NNによる順動力学モデルを用いた学習制御方法とスイング実験的結果を報告する。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 105-105, 日本語, 110002506490, AA11902933 - 2A1-1F-C2 能動/受動切り替え関節を有する移動マニピュレータの応用に関する研究 : 曲面への描画作業実験
陳内 鉄生; 竹村 亮; 趨 挺; 佐藤 雅一; 明 愛国; 下条 誠; 金森 哉吏
本報では, 第2関節以外の全ての関節に能動/動切り替え機構を持つ5自由度垂直多関節型マニピュレータ部と2輪駆動の移動部を持つ移動マニピュレータの部分的拘束を受ける作業への応用を取り上げる。具体的には, 受動関節の角度に基づき状態を推定し, ある曲面内で描画作業を行うことを目的とする。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 64-64, 日本語, 110002506256, AA11902933 - 1A1-1F-D2 2 足歩行ロボットの床反力分布の計測
太田 千広; 木村 友紀; 木下 源一郎; 下条 誠
歩行ロボットの歩行時の床反力計測について計測結果について述べる。従来, これらの計測は足圧として2点から4点の力計測を行っていたが, これを分布的に計測する手法について報告する。, 一般社団法人日本機械学会, 出版日 2003年, ロボティクス・メカトロニクス講演会講演概要集, 2003巻, 掲載ページ 8-8, 日本語, 110002505948, AA11902933 - 光磁気記録を応用したロータリエンコーダの開発(第9報) : 試作マルチスポットピックアップの評価
飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
出版日 2002年10月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 2号, 掲載ページ 214-214, 日本語, 10009984298, AN1018673X - 線状レーザ光を用いた空間座標位置計測(第24報) : 基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について(2)
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
出版日 2002年10月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 2号, 掲載ページ 543-543, 日本語, 80015811008, AN1018673X - 超高精度歯車測定機の精度向上に関する研究:歯形誤差測定における測定誤差の原因解明
久保田 禅; 下条 誠; 明 愛国; 金森 哉吏; 梶谷 誠; 竹田 龍平
出版日 2002年03月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 1号, 掲載ページ 707-707, 日本語, 10008501446, AN1018673X - 線状レーザ光を用いた空間座標位置計測(第23報):キャリブレーションのための基準円入力作業の自動化
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
出版日 2002年03月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 1号, 掲載ページ 701-701, 日本語, 10008501434, AN1018673X - 光磁気記録を応用したロータリエンコーダの開発(第8報):マルチスポットピックアップの試作
中里 威晴; 飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
出版日 2002年03月01日, 精密工学会大会学術講演会講演論文集, 2002巻, 1号, 掲載ページ 675-675, 日本語, 10008501364, AN1018673X - シート状触覚センサ（日本のロボット研究の歩み) 創立20周年記念DVD-ROM
下条誠; 石川正俊
出版日 2002年03月, 日本ロボット学会、Vol20.N0.2,2002., 20巻, 2号, 日本語, 査読付, 記事・総説・解説・論説等（その他） - 皮膚感覚センサの現状
下条誠
筆頭著者, 出版日 2002年03月, 静電気学会誌, 26巻, 3号, 掲載ページ 119-123, 日本語, 査読付, 招待, 記事・総説・解説・論説等（その他） - 高空間分解能な触覚提示を目指した触覚提示方式の研究
下条; 安彦 康成; 篠原 正美; 明 愛国; 金森 哉吏
より高い空間解像度を有する触覚像の掲示方式の開発を目的とした研究である。触覚提示部としては, 視覚障害者用触覚提示装置として定評のあるOptaconeの振動周波数, 振幅を可変となるように改造したものを用い, 触覚パターンの提はニ特性の計測と人間の機械受容器特性との関係を考察した。, 一般社団法人日本機械学会, 出版日 2002年, 日本機械学会ロボティクス メカトロニクス講演会'02論文集, 掲載ページ 111-111, 日本語, 110002505835, AA11902933 - 2A1-107 同時駆動方式ソナーリングを用いた移動ロボットの高速障害物検出と回避 : 高速センシングと高速回避の問題点への対応
梶原 一宏; 佐藤 治男; 明 愛国; 金森 哉吏; 梶谷 誠; 下条 誠
本研究では障害物の高速センシングを目的として複数ソナーの同時駆動方式を用いたセンシングシステムを開発し, 移動ロボットに適用してきた.これまでの研究で同時駆動によるクロストークの除去におおむね成功している.しかし高速センシングによる新たな問題がおこった.高速移動の際にリアルタイムで回避を行う必要があるという問題である.本報では, これらの問題をクリアするための新たな回避アルゴリズムと, それを実装した際の実験結果について報告する., 一般社団法人日本機械学会, 出版日 2002年, ロボティクス・メカトロニクス講演会講演概要集, 2002巻, 掲載ページ 75-75, 日本語, 110002505418, AA11902933 - ゴルフスイングロボットに関する研究 (新しい手首関節の試作とスイング実験)
原田望; 明 愛国; 下条 誠; 梶谷 誠
本研究では干渉駆動を用いた高速動作を実現するための機構と制御法を提案し, 今までにゴルフスイングロボットを開発し, その有効性を実証してきた。ロボットは駆動関節(等価肩関節)と非駆動関節(手首関節)の2自由度マニピュレータであった。本報では非駆動関節であった手首関節を駆動関節へと変更し, 手首関節に手首と同等な駆動力を持つDDモータ, 関節可動限界に相当する粘弾性ストッパを取り付ける改造を行った。この改造によりアドレスからフィニッシュまでを一連の動作としてスイングをを行い, その実験結果について報告する。, 一般社団法人日本機械学会, 出版日 2002年, 日本機械学会ロボティクス メカトロニクス講演会'02講演論文集, 掲載ページ 20-20, 日本語, 110002504735, AA11902933 - 1A1-J06 高速道路用照明設備メンテナンスロボット CLIMBER の開発 : 照明ユニット交換システムの開発
叶 〓; 柴崎 航也; 伊藤 忠; 梶谷 誠; 明 愛国; 下条 誠; 金森 哉吏; 美馬 一博; 会沢 雄二; 小林 哲
本研究では, 道路照明設備のメンテナンス作業自動化のためにロボットシステムCLIMBERの開発と, それに伴う新規照明設備の開発を目的とする。本システムは昇降システムと一体型照明ユニット及びその交換システムからなる。これまでに, 昇降システムの開発と性能評価について報告している。本稿では, 自動化のための照明ユニット及び照明ユニット交換システムの設計, 試作と動作実験の結果について報告する。, 一般社団法人日本機械学会, 出版日 2002年, ロボティクス・メカトロニクス講演会講演概要集, 2002巻, 掲載ページ 32-33, 日本語, 110002504887, AA11902933 - 皮膚感覚の情報処理
下条誠
筆頭著者, 出版日 2002年, 計測自動制御学会, 41巻, 10号, 掲載ページ 723-727, 日本語, 査読付, 招待, 記事・総説・解説・論説等（その他）, 10015308010 - 光磁気記録を応用したロータリエンコーダの開発(第7 報) : マルチスポットピックアップの検討
中里 威春; 飛田 和輝; 梶谷 誠; 金森 哉吏; 明 愛国; 下条 誠; 大平 貴之
出版日 2001年09月01日, 精密工学会大会学術講演会講演論文集, 2001巻, 2号, 掲載ページ 551-551, 日本語, 10009889394, AN1018673X - 線状レーザ光を用いた空間座標位置計測(第22報) : 基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について
金森 哉吏; 梶谷 誠; 下条 誠; 明 愛国
出版日 2001年09月01日, 精密工学会大会学術講演会講演論文集, 2001巻, 2号, 掲載ページ 645-645, 日本語, 10009889677, AN1018673X - 視覚障害者のための触覚付きマウスを用いた画面情報取得方式の研究
石田 朋大; 下条 誠; 渡辺 哲也
出版日 2000年09月18日, 日本バーチャルリアリティ学会大会論文集 = Proceedings of the Virtual Reality Society of Japan annual conference, 5巻, 掲載ページ 477-478, 日本語, 1342-4564, 10013962514, AA11429766 - 簡易型ハプティクスディスプレイによる材質感提示方式の研究
仁木 亨; 下条 誠
日本バ-チャルリアリティ学会, 出版日 2000年09月18日, 日本バーチャルリアリティ学会大会論文集 = Proceedings of the Virtual Reality Society of Japan annual conference, 5巻, 掲載ページ 315-318, 日本語, 1342-4564, 10013962181, AA11429766 - 高密度型触覚ディスプレイを用いた触覚情報提示の試み
下条 誠; 萩谷 一博; 篠原 正美
出版日 2000年09月18日, 日本バーチャルリアリティ学会大会論文集 = Proceedings of the Virtual Reality Society of Japan annual conference, 5巻, 掲載ページ 255-256, 日本語, 1342-4564, 10013962063, AA11429766 - 909 視覚障害者用Tactile Displayの開発(オーガナイズドセッション : 社会に貢献するメカトロニクス)
下条 誠; 石田 朋大; 渡辺 哲也
Mouse with tcatile display sytem for blind people to use GUI is developed. A screen reader was used for converting text information on the screen to voice. A tactile display was used for displaying graphical information on the screen. The tactile display which is installed in the mouse, has 8x8 pin matrix with 3mm pin pitch. It is planned to coat the surface of pin matrix by rubber to supplement the space resolution. The system and discussion of pin-matrix density were shown., 一般社団法人日本機械学会, 出版日 2000年09月08日, 茨城講演会講演論文集 : Ibaraki district conference, 2000巻, 掲載ページ 257-258, 日本語, 110002511628, AN10554141 - HMDの焦点調節補償機能に着目した奥行の知覚精度の評価手法の提案 : 仮想スポーツにおける捕球タイミングを指標とした評価法
川原 慎太郎; 杉原 敏昭; 宮里 勉; 下条 誠; 米倉 達広
本稿では、立体視ディスプレイにおける輻輳距離と調節距離の矛盾現象が奥行きの知覚精度に与える影響を定量的に評価する手法について述べる.ここでは、立体視ディスプレイの実証的な応用を想定し、球技における捕球動作を仮想空間内で行う場合の影響について検証する.具体的には、表示デバイスとして焦点調節補償機能を有する立体視ディスプレイを用い、仮想空間内での球技の捕球動作を想定した被験者タスクの成績より、輻輳距離と調節距離の矛盾が知覚精度に与える影響を定量的に捉える手法を提案する.また、その手法を用いた実験の結果についても述べる., 一般社団法人電子情報通信学会, 出版日 2000年03月22日, 電子情報通信学会技術研究報告. MVE, マルチメディア・仮想環境基礎, 99巻, 723号, 掲載ページ 31-36, 日本語, 0913-5685, 110003271051, AN10476092 - 焦点調節機能を有するHMDを用いた仮想スポーツシステムの試作
川原慎太郎; 米倉達広; 下条誠
出版日 1999年, 3次元画像コンファレンス講演論文集, 1999巻, 200902125213576940 - 3次元触覚ディスプレイの空間分解能と形状判別特性--どの程度の分解可能が望ましいのかを探る
下条 誠; 篠原 正美; 福井 幸男
日本工業出版, 出版日 1998年02月, 画像ラボ, 9巻, 2号, 掲載ページ 41-45, 日本語, 0915-6755, 40005023644, AN10164169 - 把持タイプと把持圧力分布観察の試み
佐藤 滋; 清水 俊治; 下條 誠; 関 喜一
出版日 1997年05月16日, 日本人間工学会大会講演集, 38巻, 掲載ページ 172-173, 日本語, 0549-4974, 10009531611, AA11995592 - センサ-グロ-ブ--手に加わる圧力を測る
下条 誠; 関 喜一
高圧ガス保安協会, 出版日 1996年06月, 高圧ガス, 33巻, 6号, 掲載ページ 468-471, 日本語, 0452-2311, 40001167694, AN00349918 - 3次元触覚ディスプレイにおける提示ピン配置密度と形状判別特性
下条 誠; 篠原 正美; 福井 幸男
The purpose of this paper is to provide the relationship between the pin-matrix density of a tactile display and the recognition performance of displayed 3-dimensional shapes. Three kinds of pin-matrix tactile displays, that generate 3D shapes, were used for the experiment. The pitch of pin was 5mm, 3mm, 2mm for each. As we assumed that surfaces, edges and vertices were the primitive information of the 3D shapes, tested shapes were classified into these three categories. As for the performance data, recognition time and classified error counts were measured. As the results, we obtained that the relationship between pin-matrix density and recognition performance data depend deeply on the primitives of 3D shapes., 一般社団法人電子情報通信学会, 出版日 1996年05月28日, 電子情報通信学会技術研究報告. MVE, マルチメディア・仮想環境基礎, 96巻, 82号, 掲載ページ 123-128, 日本語, 110003270602, AN10476092 - 3次元触覚ディスプレイにおける提示ピン配置密度と形状判別特性
下条誠
出版日 1996年, HumanInterface, N&R, 11巻, 掲載ページ 313-318, 80008930731 - 動き評価LSIを用いた高速無標点身体運動計測の試み
高橋 昭彦; 下条 誠; 横井 孝志
工業技術院生命工学工業技術研究所, 出版日 1995年06月, 生命工学工業技術研究所研究報告, 3巻, 2号, 掲載ページ p1-6, 日本語, 0919-5351, 40005019989, AN10417424 - 把握力分布計測用センサグローブMKIIの開発
関喜一; 下条誠; 佐藤滋; 高橋昭彦
出版日 1995年, 日本ロボット学会学術講演会予稿集, 13th巻, 3号, 200902151924201380 - 18.ロボティクス・メカトロニクス : 18・4 ヒューマンロボットコミュニケーション (<特集>機械工学年鑑)
下条 誠
一般社団法人日本機械学会, 出版日 1994年08月05日, 日本機械学會誌, 97巻, 909号, 掲載ページ 709-709, 日本語, 0021-4728, 110002477497, AN00187394 - 視覚と触覚・力覚の協調動作での課題
福井 幸男; 赤松 幹之; 下条 誠
This paper reports specification to be considered for design of input device for artificial reality. Some variations of visual and haptical feedback conditions for the device are discussed with experimental results. Discrepancy between visual and haptical informations is left undiscussed for future investigation.This paper reports specification to be considered for design of input device for artificial reality. Some variations of visual and haptical feedback conditions for the device are discussed with experimental results. Discrepancy between visual and haptical informations is left undiscussed for future investigation., 出版日 1992年05月11日, 情報処理学会研究報告ヒューマンコンピュータインタラクション（HCI）, 1992巻, 31号, 掲載ページ 53-56, 日本語, 170000032991, AA1221543X - 仮想形状のなぞりアルゴリズム
福井 幸男; 下条誠
設計段階において、曲面形状の形状評価を行いながら形状変更を行うためには、容易に面の形状が理解でき、変更も直ちに行える手段が望ましい。そこで、曲面上を手指でなぞって局所的な評価を行うことを最終目的とした基礎実験を行った。曲面の断面を想定すれば、まず平面内の曲線上をなぞることが基本であるから、平面内でのなぞりアルゴリズムを2通り開発した。反力を返すことができる装置をXYレコーダを利用して試作し、なぞり動作を行った。うねりのある形状を計算機上に定義し、その境界上をなぞる実験の結果、視覚で確認するときと同様な傾向の、うねりの周期に依ったうねり振幅の知覚限界が得られた。It is important for the designer to understand easily the shape of free-form surface at the design stage. The most easy way to understand the local characteristics of the shape is to trace the surface by his finger. As this tracing movement almost lie on a plane at a time, it is useful to develop 2-D tracing environment. We have developed two 2-D tracing algorithms, and have reformed a xy-recorder into an input device with force-feedback function. We have made some experiments of tracing virtual curves and obtained the characteristics of sensation by finger movement with force-feedback., 出版日 1991年02月22日, 情報処理学会研究報告グラフィクスとCAD（CG）, 1991巻, 15号, 掲載ページ 1-8, 日本語, 170000034315, AN10100541 - 1)触覚センサと触運動(テレビジョン電子装置研究会)
下条 誠; 石川 正俊
一般社団法人映像情報メディア学会, 出版日 1989年10月20日, テレビジョン学会誌, 43巻, 10号, 掲載ページ 1167-1167, 日本語, 0386-6831, 110003702013, AN00151466 - 接触感覚を用いた形状入力手法
福井 幸男; 下条 誠; 岸 義樹
曲線を含む2次元形状を直接計算機に入力する方法は、描かれたものを光学的に読みとるかマウスやデジタイザーで座標点列として入力するのが一般的である。ところが、一旦入力した曲線を修正する場合を考えると、マウスやデジタイザーでは思うような修正が難しい。その原因の一つは、相対位置入力が困難なことである。すなわち、与えられた形状に対して、相対的な位置入力が求められている場合では、ディスプレイの像を目で追いながら手でそれに沿って動かすという、視覚と運動感覚の双方を併用しなければならないため困難さをともなうのである。一方たとえばろくろで回転体の断面を生成する場合のように、対象物体の弾塑性を利用して力を与えて微小変形させる場合は視覚は補助的な確認のためで、変形に直接関与していないので容易である。計算機に入力された形状を修正するときにはこの力のフィードバックが無いため、わずかな変位を入力するのが難しくなっている。本報告では、形状の入力はマウスと同じ様な感覚で行い、修正時にはあたかも弾塑性物体に触れて変形させるような力のフィードバックがある接触感覚を伴う入力方法について述べる。, 出版日 1989年03月15日, 全国大会講演論文集, 38巻, 掲載ページ 726-727, 日本語, 110002874339, AN00349328 - 対象物表面に設けた触覚センサによるフィ-ドバック制御
佐藤 滋; 下条 誠; 石川 正俊
工芸財団, 出版日 1986年, 製品科学研究所研究報告, 105号, 掲載ページ p15-23, 日本語, 0389-9659, 40002069315, AN00129274 - 薄型フレキシブル位置覚センサとその応用
下条誠
出版日 1985年, 計測自動制御学会論文集, 21巻, 11号, 掲載ページ 114-116, 10011652551 - セルスポット・床反力計による重心測定
武田 常広; 石川 正俊; 増田 正; 下条 誠; 伴 菊夫
Japan Ergonomics Society, 出版日 1981年, 人間工学, 17巻, 0号, 掲載ページ 152-153, 日本語, 0549-4974, 130003869675
書籍等出版物
- ハプティクス ～触覚フィードバック技術の現在と今後～
下条誠
共著, 第2章2節 (pp.15-75), 株式会社 情報機構, 出版日 2023年06月23日 - 触覚認識メカニズムと応用技（増補版）
下条誠; 前田隆司; 篠田裕之; 佐野明人
事典・辞書, 日本語, 編者(編著者), 3章 触覚センサ, サイエンス＆テクノロジー, 出版日 2014年03月19日, ISBN 9784907002374 - 触覚認識メカニズムと応用技術
下条誠; 前田隆司; 篠田裕之; 佐野明人
日本語, 編者(編著者), サイエンス＆テクノロジー, 出版日 2010年10月 - 神経系との直接接続により随意運動及び感覚提示が可能な次世代人工肢システムの試作
満渕, 邦彦; 石川, 正俊; 下条, 誠; 鈴木, 隆文; 古沢, 竜志; 竹内, 昌治; 久保山, 哲二; 國本, 雅也
1冊, 満渕邦彦, 出版日 2009年 - センシング入門
西原, 主計; 河原崎, 徳之; 下条, 誠; 吉留, 忠史
日本語, 共著, 第3章 機械量のセンシング, vii, 229p, オーム社, 出版日 2007年, ISBN 9784274203787 - ロボット工学ハンドブック
下条誠
日本語, 共著, コロナ社, 出版日 2005年 - 人間感覚ハンドブック
下条誠
日本語, 共著, 朝倉書店, 出版日 2003年10月 - 計測工学ハンドブック
下条誠
日本語, 共著, 朝倉書店, 出版日 2003年08月 - 機械工学事典
下条誠
日本語, 共著, 触覚等, 日本機械学会, 出版日 1997年 - Intelligent Sensors Handbook of Sensors and Actuators 3
M. Ishikawa; M. Shimojo
英語, 共著, Elsevier Press,, 出版日 1996年 - 人工現実感の展開 (3．2節)
下条誠; 福井幸男; 赤松幹之
日本語, 共著, コロナ社, 出版日 1994年 - アドバンスド・センサハンドブック
下条誠; 共同執筆
日本語, 共著, 集積化位置センサ(7．2．2節), 培風館, 出版日 1994年 - マイクロマシン技術による製品小型化・知能化事典
下条誠
日本語, 共著, 位置センサ(1ー(7)節), 出版日 1992年 - 人間機能のバイオメカニズム
下条誠; 伴菊夫
日本語, 共著, 安全帽の衝撃緩和特性, バイオメカニズム学会, 出版日 1987年 - 心理学マニュアル
下条誠
日本語, 共著, 第11章観察法(人間の把持動作の観察法), 北大路書房, 出版日 1977年
講演・口頭発表等
- A Sheet-Type Sensor Using Pressure-Conductive Rubber with Electrical-Wire Stitches Method
M. Shimojo; R. Makino; A. Namiki; M. Ishikawa; T. Suzuki; K. Mabuchi
口頭発表（招待・特別）, 英語, The first IEEE international conference on sensors, 国際会議
発表日 2002年10月 - 液状感圧ゴムを用いた自由曲面型触覚センサの開発
下条 誠; 金森克彦; 明愛国; 金森哉吏; 石川正俊
口頭発表（一般）, 日本語, 第20回日本ロボット学会創立20周年記念学術講演会
発表日 2002年10月 - ロボットハンドからの触覚情報を人間の触覚神経経由により提示するシステムの開発
下条誠; 牧野了太; 小川博教; 鈴木隆文; 並木明夫; 齋藤 敬; 國本雅也; 石川正俊; 満渕邦彦
口頭発表（一般）, 日本語, 第20回日本ロボット学会創立20周年記念学術講演会
発表日 2002年10月 - 線状レーザ光を用いた空間座標位置計測（第24報）-基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について（半径）-
金森哉吏; 梶谷 誠; 下条 誠; 明 愛国
口頭発表（一般）, 日本語, 2002年度精密工学会秋季大会学術講演会講演論文集
発表日 2002年10月 - 光磁気記録を応用したロータリエンコーダの開発（第9報）-試作マルチスポットピックアップの評価-
飛田和輝; 大平貴之; 梶谷 誠; 金森哉吏; 明 愛国; 下条 誠
口頭発表（一般）, 日本語, 2002年度精密工学会秋季大会学術講演会講演論文集
発表日 2002年10月 - 遠隔地ハンドからの触覚情報を人間の触覚神経系経由により提示するシステムの開発
下条誠; 小川博教; 牧野了太; 鈴木隆文; 並木明夫; 斎藤敬; 石川正俊; 満渕邦彦; 國本雅也
口頭発表（一般）, 日本語, 日本バーチャルリアリティ学会第７回大会
発表日 2002年09月 - ロボットハンドからの触覚情報を人間の触覚神経経由により提示するシステムの開発
下条誠; 牧野了太; 小川博教; 鈴木隆文; 並木明夫; 齋藤 敬; 國本雅也; 石川正俊; 満渕邦彦
口頭発表（一般）, 日本語, ヒューマンインターフェース学会，ヒューマンインターフェースシンポジウム2002論文集
発表日 2002年09月 - (Invited Paper):A Sheet-Type Sensor Using Pressure-Conductive Rubber with Electrical- Wire Stitches Method
M. Shimojo; R. Makino; A. Namiki; M. Ishikawa; T. Suzuki; K. Mabuchi
口頭発表（招待・特別）, 英語, The first IEEE international conference on sensors () (2002), 国際会議
発表日 2002年06月 - ロボットハンドからの接触感覚を触覚神経系経由により提示するシステムの開発
下条誠; 牧野了太; 小川博教; 鈴木隆文; 並木明夫; 斎藤敬(東大; 石川正俊; 満渕邦彦
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'02(ROBOMEC02)
発表日 2002年06月 - 高空間分解能な触覚提示を目指した触覚提示方式の研究
下条 誠; 安彦成泰; 篠原正美; 金森哉吏; 明 愛国
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'02(ROBOMEC02)
発表日 2002年06月 - A Sheet-Type Sensor Using Pressure-Conductive Rubber with Electrical-Wire Stitches Method
M. Shimojo; R. Makino; A. Namiki; M. Ishikawa; T. Suzuki; K. Mabuchi
口頭発表（招待・特別）, 英語, Proc. of IEEE Sensors 2002. First IEEE Int. Conf. on Sensors, IEEE, Orlando, FL, USA, 国際会議
発表日 2002年06月 - Artificial Skin with Highly Tactile Density -Innovative Sensory-Motor Fusion Opens a New Robotic World(Tutorial)
Makoto Shimojo
その他, 英語, 2002 IEEE International Conference on Robotics and Automation
発表日 2002年05月 - 超高精度歯車測定機の精度向上に関する研究 －歯形誤差測定における測定誤差の原因解明－， ，O81，pp.707(2002.3.28-30)
久保田禅; 下条誠; 明愛国; 金森哉吏; 梶谷誠; 竹田龍平
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集
発表日 2002年03月 - 線状レーザ光を用いた空間座標位置計測（第23報） －キャリブレーションのための基準円入力作業の自動化－
金森哉吏; 梶谷誠; 下条誠; 明愛国
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集，O74
発表日 2002年03月 - 光磁気記録を応用したロータリエンコーダの開発 (第8報） －マルチスポットピックアップの試作－
中里威晴; 飛田和輝; 梶谷誠; 金森哉吏; 明愛国; 下条誠; 大平貴之
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集，O19
発表日 2002年03月 - 光磁気記録方式を応用したロータリエンコーダに関する研究
飛田和輝
その他, 日本語, 博士論文
発表日 2002年03月 - Innovative Sensory-Motor Fusion Opens a New Robotic World -Artificial Skin with Highly Tactile Density-
口頭発表（招待・特別）, 英語, 2002 IEEE International Conference on Robotics and Automation, 国際会議
発表日 2002年 - 線状レーザ光を用いた空間座標位置計測 (第22報) －基準円入力ツールの設置条件がパラメータ同定に及ぼす影響について－
金森哉吏; 梶谷誠; 下条誠; 明愛国
口頭発表（一般）, 日本語, 2002年度精密工学会春季大会学術講演会論文集,N22
発表日 2001年09月 - 光磁気記録を応用したロータリエンコーダの開発 (第7報） －マルチスポットピックアップの検討－
中里威晴; 飛田和輝; 梶谷誠; 金森哉吏; 明愛国; 下条誠; 大平貴之
口頭発表（一般）, 日本語, 2001年度精密工学会秋季大会学術講演会講演論文集, L34
発表日 2001年09月 - 自律移動ロボットによる搬送作業システムの開発 （屋外でのナビゲーション方法及び運用管理システムの開発
堀井啓介; 松川宗太; 美馬一博; 金森哉吏; 明愛国; 梶谷誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集
発表日 2001年06月 - ゴルフスイングにおける人間の動的な運動制御技能の検討 （アドレスからインパクトまでの軌道生成）
三田拓郎; 明愛国; 梶谷誠
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集
発表日 2001年06月 - 楽器演奏ロボットに関する研究 （合奏システムの開発）
中西有美; 梶谷誠; 明愛国; 金森哉吏; 美馬一博
口頭発表（一般）, 日本語, 日本機械学会ロボティクス・メカトロニクス講演会'01講演論文集，(2001.6.8-10)
発表日 2001年06月 - ワイヤー縫込方式によるシート状触覚センサの試作
下条誠; 池田立一; 並木明夫; 石川正俊; 満渕邦彦
口頭発表（一般）, 日本語, 第17回日本ロボット学会学術講演会
発表日 1999年09月 - 視覚障害者用Tactile Displayの開発
下条誠; 石田朋大; 渡辺哲也
口頭発表（一般）, 日本語, 第17回日本ロボット学会学術講演会
発表日 1999年09月 - 視覚障害者用Tactile Displayの開発
下条誠; 石田朋大; 渡辺哲也
口頭発表（一般）, 日本語, 日本VR学会第４回大会
発表日 1999年09月 - 高速応答性を目的とした簡易型ハプティクスディスプレイの開発
仁木亨; 下条誠
口頭発表（一般）, 日本語, 日本VR学会第４回大会
発表日 1999年09月 - ワイヤー縫い込み方式によるシート状触覚センサ
下条誠; 池田立一; 並木明夫; 石川正俊; 満渕邦彦
口頭発表（一般）, 日本語, 日本機械学会ロボティクスメカトロニクス講演会
発表日 1999年06月 - 視覚障害者用Voice&Tactile Displayの開発
下条誠; 黄学忠; 森岡俊雄; 石田朋大; 渡辺哲也
口頭発表（一般）, 英語, 日本機械学会ロボティクスメカトロニクス講演会
発表日 1999年06月 - 把持圧力分布からのグリップ形状評価の試み
佐藤滋; 下条誠; 関喜一; 清水俊治
口頭発表（一般）, 日本語, 第16回日本ロボット学会学術講演会
発表日 1998年09月 - 把持圧力分布による握り形状評価の試み
佐藤滋; 下条誠; 関喜一; 清水俊治
口頭発表（一般）, 日本語, ロボティクス・メカトロニクス講演会'98
発表日 1998年06月
担当経験のある科目_授業
共同研究・競争的資金等の研究課題
- 近接覚を用いた自律制御型ハンドの研究開発と不良視環境下での遠隔操作への応用
下条 誠; 明 愛国; 鈴木 陽介
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), 実際の把持では，ハンドとアーム両方の協調動作があって初めて，各種物体形状や位置・姿勢誤差に応じた適切な把持が可能となる。このため，把持対象物に追従し，その形状に自律的に倣うハンド・アーム統合制御システムを開発した。自律的把持が可能となるため，単眼カメラ映像による把持操作でも物体近傍までハンドを近づけるだけでよく，遠隔操作での確実性を向上させた。なお遠隔操作での視界不良下での作業を支援する触覚フィードバック方式を導入した。また，物体の位置姿勢等の大局的情報の獲得のため簡易視覚を導入し把持操作の適用範囲の拡大を行った, 26240040
研究期間 2014年04月01日 - 2017年03月31日 - ハプティクス型触覚デバイスを用いた視覚障害者の触地図利用手法
島田 茂伸; 下条 誠; 井野 秀一
日本学術振興会, 科学研究費助成事業 若手研究(A), 地方独立行政法人東京都立産業技術研究センター, 若手研究(A), 本研究は、視覚障害者にとって取り扱いが難しい図形や画像など非言語/空間情報の獲得・作成を支援する方法を具体化し、彼らの情報機器を介しての情報アクセシビリティ向上に資することを目的とする。開発を続けてきた視覚障害者用インタラクティブ型触覚ディスプレイを基盤技術として、触知覚と筋・関節覚を結合した感覚（ハプティクス）を感覚代行経路として利用する新デバイスの提案を行う。, 24680064
研究期間 2012年04月01日 - 2017年03月31日 - 脳の適応を誘導する人・機械・相互適応技術の開拓
横井 浩史; 高山 真一郎; 生駒 一憲; 下条 誠; 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，人が自分の手として扱えるような人・機械相互適応型の筋電義手の研究開発を行った．高伸縮性を持つエラストマーゲル材料を用いて，手指表面のテクスチャをリアルに再現した人工皮膚を開発し，導電性シリコンで作った全方位センサを内蔵することで感圧機能を持たせ，機能的電気刺激を用いた感覚フィードバック機能を実現した．ワイヤ干渉駆動機構を用いて，高い把持力および運動自由度と軽量性とを両立した義手用ハンドとアームを開発した．脳波P300を用いた注目箇所の意図推定を行い，脳波による筋電義手制御について検討した．, 25249025
研究期間 2013年04月01日 - 2016年03月31日 - 高速センサー技術に基づく調和型ダイナミック情報環境の構築
石川 正俊; 石井抱; 阪口豊; 下条誠; 篠田裕之; 山本裕紹; 小室孝; 下条 誠
科学技術振興機構(JST), 戦略的創造研究推進事業(CREST), 研究分担者
研究期間 2009年04月 - 2015年03月 - 統合型触覚センサアーキテェクチャーの研究開発
下条 誠; 石川 正俊; 横井 浩史; 明 愛国; 鈴木 陽介
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，ロボットはもとより各種機械システムに装着する触覚センサシステムの高機能化を図るため，接触，滑り，近接などの多様な物理量を統合する触覚センサアーキテェクチャを研究開発した。これにより，従来問題となっていた，多数の検出素子を接続する配線処理への方法論の提案を行い，アナログ回路網を用いることにより検出素子増加に伴う応答遅れの問題への解決を図った。また，従来困難であった，すべり始める直前の事前滑りを検出可能なすべり覚センサを開発した。センサは薄型軽量・高速応答が可能である。研究では，これら開発したセンサをロボットハンド等へ実装し，検証実験を行い，その有用性を実験により明らかにした。, 22240012
研究期間 2010年04月01日 - 2014年03月31日 - 人と機械の融合マシン技術に関する研究
横井 浩史; 下条 誠; 生駒 一憲; 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), 本研究では,運動と感覚の再建を補助するシステムの構築を目的として,人とロボットをシームレスに結合する技術・方法論の構築を行った.個性適応型筋電義手(高出力他自由度ロボットハンド,柔らかい触覚センサ,BMI上腕義手)や麻痺指に対するリハビリ装置(症状に応じたアシスト,装着の簡易化,複雑な拇指のアシスト)および機能的電気刺激装置(多種類の感覚提示法,最適な刺激を探索するシステム)を開発し,日常生活環境下での使用可能なシステムの実現を行った., 22246033
研究期間 2010年 - 2012年 - 神経インタフェース技術の確立による次世代義肢における感覚及び随意運動機能の実現
満渕邦彦; 鎮西恒雄; 阿部裕輔; 松浦 弘幸; 石川 正俊; 藤正巖; 井街宏; 松本 博志; 柳田 康幸; 深津晋; 柴田 政廣; 鈴木隆文; 國本雅也; 下条誠; 渡邊卓; 松田甚一; 栗本育三郎; 磯山隆; 角田 直人; 並木明夫; 成瀬誠; 稲見 昌彦; 齋藤敬; Alain Goulet; 中坊 嘉弘; Alvaro Cassinelli; 稲葉俊哉; 大倉典子; 石垣 博行; 近藤 克哉
厚生労働省(MHLW), 厚生労働科学研究費補助金(厚生科研費), 研究分担者
研究期間 2008年04月 - 2011年03月 - 石川 正俊; 金子真; 下条誠; 並木明夫; 下条 誠
科学技術振興機構(JST), 戦略的創造研究推進事業 発展研究(SORST), 研究分担者
研究期間 2005年04月 - 2010年03月 - インタラクティブ型触覚デバイスを用いた視覚障害者の触地図利用手法
島田 茂伸; 下条 誠
日本学術振興会, 科学研究費助成事業 若手研究(A), 地方独立行政法人東京都立産業技術研究センター, 若手研究(A), 視覚障害者に図表を伝達する触覚ピンディスプレイに6軸力覚センサを組合せ、触っている場所を直接操作可能にする触覚入出力操作を開発した。この機能を基盤に素手によるクリックやスクロールを実現し、音声情報も付加することにより開発装置のユーザビリティ向上を試みた。また、自己位置と注目点とを相互参照可能とする触覚スクロールバーと呼ぶ装置開発を行った。以上は被験者実験により有効性を確認した。, 20680031
研究期間 2008年 - 2010年 - 近接覚から触覚までをシームレスにつなぐ汎用触覚センサ構成方式の研究開発
下条 誠; 石川 正俊; 明 愛国; 並木 明夫; 多田隈 建二郎
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,基本動作原理が同じセンサで,近接覚から触覚までをシームレスにつながる触覚センサシステムの開発と,これらを用いた新たな制御システムの開発を行った.その特色・独創的な点としては,全て同じ動作原理であるため,ソフトウェアの統一が取りやすく,また単純なアナログ回路網で構成するため,高速応答性に優れ,拡張性が高く,構造が簡単なことから安価に供給できる.このような特徴を併せてもつセンサはこれまで実現されておらず,これからのロボット技術はもとより各種機械システムに装着する触覚センサシステムの共通的プラットホーム技術として利用できると考える., 19200015
研究期間 2007年 - 2009年 - 重度視覚障害者がWebの非言語コンテンツを獲得するための支援方式
清水 豊; 下条 誠; 長岡 英司; 篠原 正美; 島田 茂伸
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), Web情報における図やイメージなどの非言語コンテンツの獲得は重度視覚障害者にとって難しい問題である。この研究ではインタラクティブに機能する触覚グラフィックディスプレイによって触覚情報提示に基づく非言語イメージを伝達することに加えて、触覚認知では困難な部位に音声キーワードを埋め込むという原理を具体化した。研究期間において以下の成果を得ることができた。 1.Web対応のソフトウエア構築 Web対応言語に特殊アルゴリズムを併用することは情報提供の拡大を妨げる要因になる。そのため、触覚化コンテンツに音声キーワードを埋め込んで機能化するための問題と提示範囲に制約を伴う触覚グラフィックディスプレイの効力を増すための拡大・縮小にも耐えられるアルゴリズムの構築を行った。具体的には、一般に普及しているFlash型ファイルと連携させるという発想で解決することができた。 2.インタラクティブ型触覚グラフィックディスプレイの機能化 非言語コンテンツを提示する基幹部の触覚グラフィックディスプレイを機能化させることができた。主な特徴は、インタフェースをUSB化してどのPC/AT型パソコンにも対応できること、ならびに、インタラクティブな操作機能としてスクロール、クリック、拡大・縮小を誤操作なく実現できるユーザインタフェース確立することができた。 3.統合システムの評価実験 上記の項目を統合したシステムを用いて、重度視覚障害者に対する評価実験を行った。Web系との基本操作が確実にできることを実証した他に、応用例として、指定場所へのガイド、地図情報の認知、イラストパターンの認知など具体的に重度視覚障害者が必要とする非言語コンテンツの獲得を支援でき、システムの有効性を検証できた。, 18300192
研究期間 2006年 - 2007年 - 神経系との直接接続により随意運動及び感覚提示が可能な次世代人工肢システムの試作
満渕 邦彦; 石川 正俊; 下条 誠; 鈴木 隆文; 古沢 竜志; 竹内 昌治; 國本 雅也
日本学術振興会, 科学研究費助成事業 基盤研究(A), 東京大学, 基盤研究(A), 本研究の目的は、生体の神経系と人工肢の信号ラインを直接かつ永続的に接続し、装着者が意図どおりに動かすことが可能で、又、あたかも自分の手足で触れたのと同様の感覚を感じうるという、次世代の人工肢システムを試作する事にある。今回試作したシステムでは、感覚提示系に関しては、義手に装着したセンサに加えられた物理的刺激の強度に応じて、マイクロニューログラム針電極を用いて、当該部位を支配する単一感覚受容ユニットの神経線維に対して微小電気刺激を加え、センサに加えられたのと同じ強度の圧や振動等の感覚を発生させるためのコーディング・デコーディング則の解析を進めた。又、被験者の腱部に機械的振動を与える事により、運動感覚・位置覚を発生させる試みも行った。一方、運動系に関しては、末梢神経の運動神経活動に伴って生じ、運動神経活動同様パルス列で表現される針筋電信号情報を運動神経活動の代用として用い、ロボットハンドに被験者の手や指の動きとほぼ同じ動きをとらせる事に成功した。次いで、神経活動自体による作動を試み、末梢神経用としては、主に再生型神経電極をベースとして流路などを付加した電極を開発し、又、中枢神経用としても、多チャンネルで柔軟、かつ個々の電極の刺入位置の調節が可能な電極や神経の再生促進・誘導を目指した諸種の電極を開発して、動物実験で末梢神経信号、及び、大脳皮質信号による制御を試みたが、後者に関しては、車椅子に見立てた車の速度・方向等を随意的に制御する等の成果を挙げる事が出来たが、前者に関しては、実験動物への電極の埋め込みとin vitroで神経細胞を用いた生体適合性等、有用性および性能に関する検討を行う段階まで研究開発を進める事は出来たが、チャンネル数や得られる情報量の問題で運動制御を行なうには充分ではなく、埋込電極による信号取得と義手の作動と多チャンネル化については今後の問題として残った。, 17206022
研究期間 2005年 - 2007年 - 触覚センサシステムの開発と視覚チップとのセンサ情報の統合
下条 誠; 高瀬 国克; 石川 正俊; 金森 克彦
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), 本研究では,標準となりうる触覚センサシステムの開発を目的に,自由曲面への実装が可能で,法線・接線方向力の検出ができ,分布型で問題となる多数のセンサからの配線問題を解決し局所的な情報処理を行える触覚センサの研究開発と触覚情報処理チップの開発を行なった.また既に開発済みの視覚チップとのデータ様式・インターフェースを共通化することによる視触覚センサ統合処理方式の研究開発を行なった,成果を以下に示す. (1)開発したセンシング素材は,液状であるため複雑な形状表面にも薄い感圧ゴム膜を形成できる.かつ表面のみを用いて全身を柔軟で薄いゴム膜で覆えるため,ロボット内部構造に関わらず装着が可能である.また,従来の感圧ゴムで問題になっていたヒステリシス特性が少なく薄型,軽量で成形・加工性が良く,省電力・廉価である特徴を有する. (2)法線方向力のみでなく接線方向力も検出できる多軸力型のセンサを開発した.これにより多軸力の検出,及び滑りの検出が可能となる. (3)分布型センサで問題となる多数の配線処理と触覚情報処理を行う触覚情報処理用LSIを開発した.これにより局所的情報処理,及びセンサからの多数配線の低減,併せて検出部と制御部のペアによる使い易さの向上をはかる. (4)視覚チップとのインターフェースを共通化することを目的に,視覚チップと触覚チップとのインターフェース方式に関する研究開発を行なった, 以上のことから,ロボットの全身を覆うようなセンシティブスキンによるロボット身体の接触状況による外界認識が可能となり,また滑りの検出による把持制御,接触作業における動作制御,人間とロボット等との皮膚感覚を通したインターフェースなど高度なロボット制御への応用が期待される.またウエラブル機器での入力装置など触覚情報の獲得は近未来型自動化機器においてその高性能化には必要不可欠なものであり,その応用が期待される., 16300052
研究期間 2004年 - 2006年 - 感覚運動統合理論に基づく「手と脳」の工学的実現
石川 正俊; 岩田穆; 金子真; 下条誠; 阪口豊; 石井抱
科学技術振興機構(JST), 戦略的創造研究推進事業(CREST)
研究期間 1999年04月 - 2005年03月 - 重度視覚障害者のパソコンによる就業支援ツールの実用化
清水 豊; 坂本 和義; 下条 誠; 長岡 英司; 篠原 正美
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), 重度視覚障害者の職業を向上するためのパソコン支援ツールに関する研究を行い、以下の諸点を明らかにすることができた。 1.視覚障害者のヒューマン・コンピュータ・システムにおけるパフォーマンスを予測・評価するためのデータを得た。その結果に基づき、認知的作業分析モデルによる解明から、操作上のボトルネックが図形認知とその操作であることを明らかにした。 2.インタラクティブに機能する触覚グラフィック・ディスプレイをアクセシビリティ手段とするパソコン支援システムを導入することによって、図形探索と移動を必要とするレイアウトなど、より高度な操作課題を含む実験を行った。その結果、音声による画面読み上げ機能との連携の下により速くタスクを完成させることを実証した。 3.導入したアクセシビリティ手段が操作者に負担になるか否かについて疲労やストレスにかかわる評価を行った。その結果、生理的・心理評価から、さほど負担にはならないというデータを得て、構築したシステムが実用に耐えるものであることを明らかにした。 4.アクセシビリティを向上させる新しい触覚デバイスの方式を考察した。従来のインタラクティブ性は操作キーとジョイスティックによるものであったが、操作画面をダイレクトタッチするという方式のプロトタイプを開発することができた。これによって、従来から重度視覚障害者が苦手としていたマウス操作に代替する手段になることを実証できた。 5.新方式のディスプレイに機能を付加することによって、自らが描画する図形をディジタルファイルとして保存したり呼び出したりするアクセス機能を可能とし、レイアウトなど図形操作に必要なコンテンツをディジタルメディアとする道を開いたので、就業内容を多様化する機能を提供できることになった。, 15300196
研究期間 2003年 - 2005年 - ハプティクスディスプレイの開発と材質感レンダリング方式の研究開発
下条 誠
日本学術振興会, 科学研究費助成事業 基盤研究(C), 基盤研究(C), ハフティクスインタフェースとは、人間の力覚および触覚を通して計算機との双方向的情報伝達を行うためのインタフェース方式と定義できる.このようなインタフェース方式の重要性は,主にバーチャルリアリティー技術との関連において近年広く認識されるようになってきており,特に最近,情報,医療,生産,スポーツ,アミューズメント等の分野においてその重要性が高まっている.我々は将来の遠隔医療への展開を視野に入れ,高感度・高出力,かつ,小型の簡易型ハプティクスディスプレイを開発した.このディスプレイは,可搬性を保ったまま様々な触力覚提示を行うことを目的としている.また,力覚のみならず物体表面の凹凸のような触感覚提示の実現が可能とされる高速応答性を持っていることから,複合的な触覚提示が期待できる.しかし,単一デバイスによる複数の触情報提示と,複数の触覚情報を効率的に提示するプラットフォームの提案は,まだなされていない.そこで本研究では,数種類の触感覚を管理し,効率的な提示を行える触力覚提示方式を提案し,この方式にもとづいたシステムを構築した.この方式は,触覚情報を物体全体の形状特性と物体表面の特性に分類し,効率的かつ実用的な提示を実現させる.また,情報管理と演算処理を別機構に分離し,様々な用途においても対応できるようにする. 次に,高い振動周波数を必要とする接触時振動感覚提示実験を行った.接触時振動とは,物体接触時に発生しているであろうと考えられる高周波振動のことである.この実験により,高周波振動感覚提示の必要性と,簡易型ハプティクスディスプレイの利用可能性を検証した. 最後に,仮想壁面接触時に必要とされる表面状態提示実験を行い,触力覚提示システムの実現可能性を検証した.仮想壁とは,ソフトウェア的に作成された仮想的な一様平面上に,壁面の触覚情報を貼り付けたものである.なお,本実験ではディジタルカメラによって撮影した画像から触覚情報を作成した. この結果,触感覚の提示において接触時振動の提示が有効であること,本システムにおいて1kHz程度の振動波形を出力可能であること,また,表面状態提示実験において概ね良好な結果を得ることができた.また,パラメータの設定を工夫することでさらに良好な認識・識別が可能であるとの結論を得た., 11650260
研究期間 1999年 - 2001年 - 次世代人工肢のための高度現実感を有する人工感覚創出・呈示システムの試作研究
満渕 邦彦; 國本 雅也; 下条 誠; 石川 正俊; 鈴木 隆文
日本学術振興会, 科学研究費助成事業 基盤研究(B), 東京大学, 基盤研究(B), 本研究は、個々の感覚神経線維を電気刺激する事によって人工感覚を生じさせるという新しい人工現実感技術手法を用いて、人工肢(ロボットハンド)のセンサ側に加えられた物と同じ感覚をあたかも自分の手で触れているかのような高度の現実感をもって生体側に呈示するシステムの試作を行った。 まず、覚醒状態の人間を被験者とし、微小タングステン電極を経皮的に末梢神経に刺入するマイクロスティミュレーション(ニューログラム)法を用いて、1本の単一感覚神経線維に電気刺激を加え、その際に生じる感覚の強さや領域、パターン等と、外部から入力した電気刺激の強度・周波数等との関連について検討を加えた。 そして、この結果を土台とし、1)生体の感覚神経線維を電気刺激して、任意の強度の感覚(電気刺激する感覚神経線維と接続している感覚受容器が感知する感覚)を生じるために必要な、強度・周波数・パターンの電気刺激パルス列を決定し、出力するシステムの作成を行い、さらに、2)模擬的な義肢として人の手型のロボットハンドを用い、このロボットハンドに、圧分布を計測する感圧ゴムセンサを装着し、このセンサからの出力を上記の1)のシステムに入力し、センサに加わった刺激と同等の感覚を生じるために必要なパルス列に変換して、生体の感覚神経線維に出力し、義肢(ロボットハンド)に加わった機械的刺激(特に圧刺激)がそのまま、生体にとって、あたかも自分自身の対応部位に同じ刺激が加わったかのような感覚として投影される、という人工感覚生成・呈示システムの作成を行った。また、このシステムを実際に作動させ、同システムが設計どおり妥当に動作する事を確認した。 また、この手法では、電極数がせいぜい数本に限られるので、臨床応用を目指して、1本1本の感覚神経線維との入出力を可能とするマルチチャンネル神経電極(神経再生型電極等)の開発も試みた。, 11555068
研究期間 1999年 - 2000年 - 人間行動の非線形情報処理構造の解明のための生態学的統合計測評価手法に関する研究
和田 充雄; 下条 誠; 山口 明宏; 横井 浩史; 三上 貞芳
日本学術振興会, 科学研究費助成事業 基盤研究(B), 北海道大学, 基盤研究(B), 人間の感覚行動の機構は、外界の複雑さに適応するために獲得された非線形情報処理のプロセスであり、多様な行動パターンの遷移、多義性の競合的認知など行動レベルの複雑適応システムとして人間行動を解明し理解につなげていく研究が重要になっている。他方、生物の持つ感覚と行動の情報処理プロセスは、最近の知見からは脳情報処理におけるカオティックな現象の関与や、いわゆる免疫システムに代表されるハイパーなシステムとして探求する必要性が強まっており、カオス計算、ニューロコンピューティングの理論的手法の開発から複雑適応システムとしての構成論的研究が重要視されている。本研究は、人間の行動に現れる微小な動きの生体カオスから認知行動レベルまでを計測し、解析、同定、モデル化して評価する生態学的な手法にまとめあげることを目標に以下の課題に取り組んできた。 (1) 生体非線形ダイナミクスの解析:生体生理レベルでの同調、遷移、競合等の非線形ダイナミクスの解析に基づく予測評価の研究 (2) 自己組織的情報処理モデル:認知的行動の特徴を抽出するニューロエージェント群の自己組織的構成及び学習手法の研究 (3) 行動生態学的計測評価手法:ヒューマンインタフェースにおける人間行動の生態学的な計測評価手法の研究 本研究の結果、(1)では、生体信号の解析からカオティックカップリングにより人間の感覚行動を多義性・多様性を伴う特徴をとらえる非線形の刺激反応システムとして予測評価モデル化を達成した。(2)では、多数のニューロエージェントを時間空間的に自己組織化するパルスニューラルネットワークの手法を開発し、知覚情報を統合する制御や認知情報処理など新たな知見を得た。(3)では、ヒューマン・マシン・インタラクションにおいて競合と協調を伴いつつ親しみ易さや使い易さが増していく(あるいは減じていく)認知行動課題の評価実験を行い、人間行動における状況依存性を考慮したインタフェース設計の評価資料を得た。これらにより人間機械系においてこれまで評価の難しかった生理的及び心理的な要因が重なる非明示的なヒューマンファクターに対する理論的実験的アプローチと新たな統合的評価の枠組みを提供できたと考えている。, 08458083
研究期間 1996年 - 1998年
産業財産権
- 歩行補助装置
特許権, 友納 昌則, 下条 誠, 星野 隆行, 特願2005-363361, 出願日: 2005年12月16日, 国立大学法人 電気通信大学, 特願2005-363361, 発行日: 2011年05月20日 - リング型センサ
特許権, 下条 誠, 寺田 一貴, 2009-203027, 出願日: 2009年09月02日, 国立大学法人電気通信大学, 2011-53115, 公開日: 2011年03月07日 - 滑り検出装置及び方法
特許権, 下条 誠, 勅使河原, 2009-124463 (出願日2009.5.22),PCT/JP2010/058576, 出願日: 2009年05月22日, 国立大学法人電気通信大学,イナバゴム株式会社, WO2010/134584A1, 公開日: 2010年11月25日 - 二次元分布荷重中心位置検出センサおよび二次元分布荷重中心位置検出装置
特許権, 下条 誠, 12/097,211 (PCT/JP2006/322294), 出願日: 2006年11月08日, 国立大学法人 電気通信大学, (WO2007/069412), 公開日: 2007年06月21日, US7,784,362B2, 発行日: 2010年08月31日
メディア報道
- Proximity sensor-based High-speed Tracking and High-precision Depth Scanning
IEEE SPECTRUM, Video Friday:Your weekly selection of awesome robot videos, インターネットメディア, https://www.youtube.com/watch?v=KMmkcUkTC5w&feature=emb_logo
公開日 2020年11月 - Some impressive dexterity from a robot hand equipped with magnetic gears.
IEEE Spectrum, Video Friday, インターネットメディア, https://youtu.be/v470C9L3Szo
公開日 2019年09月 - High-speed, Small-deformation Catching of Soft Objects based on Active Vision and Proximity Sensing
本人以外, IEEE Spectrum, Video Friday, インターネットメディア, In this paper, we propose a combination of sensing and control modules for catching soft objects (i.e., a marshmallow and paper balloon) at a high speed with small deformation. A paper balloon and marshmallow are deformed by a small force and they have individual differences in terms of softness. Therefore, model-based, small-deformation catching is difficult. To realize small-deformation catching, we used high-speed sensor-based (vision and proximity) control modules without a deformation model of the soft objects. A high-speed vision-based controller adjusts the positions of the fingertips of a robot to some extent. As the distance to the object decreased, the fingertip positions were accurately controlled by the high-speed, high-precision proximity-based control. Furthermore, the fingertips were stopped by a proximity-based contact detection before the object surface was deformed. Virtual damping control was effective in catching an object whose surface can be easily deformed by a small impact force or vibration of the fingertips, such as a paper balloon.
公開日 2019年03月 - Integrated Control of a Multi-fingered Hand and Arm Using Proximity Sensors on the Fingertips
IEEE Spectrum, Video Friday, インターネットメディア, In this study, we propose integrated control of a robotic hand and arm using only proximity sensing from the fingertips. An integrated control scheme for the fingers and for the arm enables quick control of the position and posture of the arm by placing the fingertips adjacent to the surface of an object to be grasped. The arm control scheme enables adjustments based on errors in hand position and posture that would be impossible to achieve by finger motions alone, thus allowing the fingers to grasp an object in a laterally symmetric grasp. This can prevent grasp failures such as a finger pushing the object out of the hand or knocking the object over. Proposed control of the arm and hand allowed correction of position errors on the order of several centimeters. For example, an object on a workbench that is in an uncertain positional relation with the robot, with an inexpensive optical sensor such as a Kinect, which only provides coarse image data, would be sufficient for grasping an object.
https://spectrum.ieee.org/automaton/robotics/robotics-software/video-friday-icra-stockholm
公開日 2016年05月 - Net-shaped proximity sensor
本人以外, 2009国際ロボット展, インターネットメディア, Net-shaped proximity sensor, DigInfo 2009/12/23,
公開日 2009年12月