Associate Professor
(School of Creative Science and Engineering)
Faculty of Science and Engineering(Graduate School of Creative Science and Engineering)
Research Council (Research Organization)/Affiliated organization(Global Education Center)
研究所員 2015-
研究所員 2014-2014
研究所員 2015-
研究所員 2015-
研究所員 2015-
研究所員 2018-
研究所員 2018-
兼任研究員 2018-
研究所員 2019-
2004/04 -2007/03 | Waseda University |
Ph. D Coursework Waseda Uiversity Intelligent mechanics/Mechanical systems
2007/06-2009/03 | Waseda University |
2009/04-2012/03 | Waseda University |
2012/04-2016/02 | Waseda University |
2016/03- | Waseda UniversitySchool of Creative Science and EngineeringAssociate Professor |
2015/04-2015/12 | ICAM2015Social Event Chair |
2013/02-2013/11 | IROS2013Associate Editor |
2015/09Conferment Institution:The Robotics Society of Japan
Title:A novel method to develop an animal model of depression using a small mobile robot
Award Winner(Group):Hiroyuki Ishii, Qing Shi, Shogo Fumino, Shinichiro Konno, Shinichi Kinoshita, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Shigenobu Shibata, Atsuo Takanishi
2014/06Conferment Institution:IEEE Robotics and Automation Society
Title:Control of posture and trajectory for a rat-like robot interacting with multiple real rats
Award Winner(Group):Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda
2013/06Conferment Institution:Society in Europe for Simulation Applied to Medicine
Title:Novel airway management simulator providing quantitative feedback to trainees
Award Winner(Group):Ishii H., Noh Y., Shoji S., Matsuoka N., Nakae Y., Katayama T., Takanishi A.
2012/07Conferment Institution:ICME
Title:Development of Airway Management training system WKA-4: Provide useful feedback of trainee performance to trainee during Airway Management
Award Winner(Group):Yohan Noh, Chunbao Wang, Mitsuhiro Tokumoto, Solis Jorge, Hiroyuki Ishii, Atsuo Takanishi, Hatake Kazuyuki, Satoru Shoji
2007/12Conferment Institution:IEEE
Title:Biomechatronic Design and Development of a Legged Rat Robot
Award Winner(Group):F. Patane, V. Mattoli, C. Laschi, B. Mazzolai, P. Dario, H. Ishii, S. Kurisu, A. Koumura, A. Takanishi
Seeds Field:Manufacturing Technology
Seeds Field:Life sciences
Mitsuhiro Kamezaki; Hiroyuki Ishii; Tatsuzo Ishida; Masatoshi Seki; Ken Ichiryu; Yo Kobayashi; Kenji Hashimoto; Shigeki Sugano; Atsuo Takanishi; Masakatsu G. Fujie; Shuji Hashimoto; Hiroshi Yamakawa
Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA) Peer Review Yes p.2840 - 28452016-
Tanaka, Katsuaki; Ishii, Hiroyuki; Kuroiwa, Daisuke; Okamoto, Yuya; Mossor, Eric; Sugita, Hikaru; Shi, Qing; Okabayashi, Satoshi; Sugahara, Yusuke; Takanishi, Atsuo; Takanishi, Atsuo
IEEE Robotics and Automation Letters Peer Review Yes 1(1) p.122 - 1292016/01-2016/01
Outline:© 2015 IEEE. One of the main problems faced by land-based mobile robots is their locomotion performance on rough outdoor terrain. We focused on the navigation of grassy areas such as riversides and forests. These have many types of obstacles, which make robot locomotion difficult. Several studies have been conducted on locomotive mechanisms for rough terrains that have performed well. However, most of these mechanisms cannot pass through grass taller than their own height while using a small number of actuators. We designed a novel mechanism that uses only two motors to ensure a high locomotive ability over a field with tall grasses. We also designed "Grassbreaker" by attaching an outer covering to a tiny mobile robot shaped like an icebreaker. We found that the robot's shape greatly influences its mobility in a tall grass field and that the robot continued to move forward while bending tall grasses such as reeds. The significant difference (p < 0.05) between the average speeds of Grassbreaker and the robot without the outer covering was confirmed in an experiment. The robot's new shape is significant not only because it fills a gap in previous research work but also because this method does not require any additional actuators such as conventional cutting and bending methods.
Tanaka, Katsuaki; Ishii, Hiroyuki; Okamoto, Yuya; Kuroiwa, Daisuke; Miura, Yusaku; Endo, Daiki; Mitsuzuka, Junko; Shi, Qing; Okabayashi, Satoshi; Sugahara, Yusuke; Takanishi, Atsuo; Takanishi, Atsuo
IEEE International Conference on Intelligent Robots and Systems Peer Review Yes 2015-Decemberp.6515 - 65202015/12-2015/12
ISSN:21530858
Outline:© 2015 IEEE. Environment recognition is an effective way for a mobile robot to move across rough terrain. In particular, this makes it possible to prevent a tiny mobile robot from getting stuck or turning over. Several studies have been conducted on environment recognition using a laser range finder or camera. However, almost all of these studies focused on obstacle detection or shape recognition, which cannot be used to recognize the surface condition such as slipperiness. The purpose of this work is to design a model for estimating the surface condition using a tiny mobile robot. We set slipperiness as one of the parameters for recognizing the surface condition, which is already used by terramechanics, along with two additional parameters, the hardness and unevenness. We find that a robot can roughly estimate the ground hardness by measuring the current peak of a motor and the unevenness from measuring the robot posture. By recognizing the surface condition, the robot can change the parameters of the controlling motor based on the ground characteristics. This new method for recognizing the surface condition is significant, not only because it fills gaps in the previous research, but also because it does not require any special sensors such as a laser range finder and does not consume a large quantity of energy. Therefore, it achieves a core objective of our environmental monitoring system using multiple mobile robot.
W. Kong; S. Sessa; D. Zhang; M. Zecca; S. Cosentino; H. Ishii; D. Magistro; H. Takeuchi; R. Kawashima; A. Takanishi
Proceedings of 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015) Peer Review Yes p.6955 - 69582015/08-2015/08
Shi, Qing;Ishii, Hiroyuki;Sugahara, Yusuke;Takanishi, Atsuo;Huang, Qiang;Fukuda, Toshio
IEEE-ASME TRANSACTIONS ON MECHATRONICS Peer Review Yes 20(4) p.1832 - 18422015-2015
ISSN:1083-4435
Trovato, G.; Ramos, J. G.; Azevedo, H.; Moroni, A.; Magossi, S.; Ishii, H.; Simmons, R.; Takanishi, A.
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication Peer Review Yes 2015-Novemberp.235 - 2402015/11-2015/11
Outline:© 2015 IEEE. Robots are possible candidates for performing tasks as helpers in activities of daily living in the future: working as a receptionist is one possible employment. However, the way the receptionist robot should appear, sound and behave needs to be investigated carefully, in order to design a robot which is accepted and perceived in a positive way by common users. This paper describes a study on anthropomorphism of a receptionist robot made for Brazilian people depending on the appearance and on the voice of the receptionist. This experiment was preceded by a preliminary survey about expectation of people regarding receptionists. The main experiment consisted in having Brazilian people interacting with a conversational agent and with a humanoid robot through a video conference. The two receptionists are not only different in physical appearance, but in the sound of the voice, too, which can be either human-like or robotic sound. The two receptionists gave indications to the participants to reach rooms where they could evaluate the receptionists through questionnaires concerning anthropomorphism and uncanniness among other concepts. The results gathered from both experiments provide useful hints to design a receptionist robot.
Trovato, Gabriele; Ramos, Josué G.; Azevedo, Helio; Moroni, Artemis; Magossi, Silvia; Ishii, Hiroyuki; Simmons, Reid; Takanishi, Atsuo
Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015 Peer Review Yes p.66 - 712015/10-2015/10
Outline:© 2015 IEEE. In the near future, robots are expected to perform assistive tasks and do different kind of jobs. In particular, humanoid robots are possible candidates for being used as helpers in activities of daily living. One possible employment is working as a receptionist, providing useful indications to visitors in a public office. The design of how robots could look like is a matter of growing importance, as it is important to create a look that poses no uncanny valley effects on the human user and that is appropriate to potentially serve in different job areas in human society. In this paper we want to describe the study on anthropomorphism of a receptionist robot. We invited Brazilian people with different education levels to interact with two variations of a receptionist robot, different in physical appearance as well as in the sound of the voice. In one case, the appearance was a conversational agent made with computer graphics, in the other, a real humanoid robot. Results gathered from surveys and comments of the participants provide useful directions to design a receptionist robot and insights on the effect of digital divide on anthropomorphism.
Shi, Qing; Shi, Qing; Ishii, Hiroyuki; Tanaka, Katsuaki; Sugahara, Yusuke; Takanishi, Atsuo; Okabayashi, Satoshi; Huang, Qiang; Fukuda, Toshio
Bioinspiration and Biomimetics Peer Review Yes 10(5) 2015/09-2015/09
ISSN:17483182
Outline:© 2015 IOP Publishing Ltd. In this paper, we study the behavioral response of rats to a robotic rat during multi-rat interaction. Experiments are conducted in an open-field where a robotic rat called WR-5 is put together with three laboratory rats. WR-5 is following one rat (target), while avoiding the other two rats (outside observers) during interaction. The behavioral characteristics of each target rat is evaluated by scoring its locomotor activity and frequencies of performing rearing, body grooming and mounting actions. Additionally, the frequency of being mounted by other rats is also measured. Experimental results show that the target becomes more active after interaction. The rat species, with more active behavioral characteristics, is more susceptible to being adjusted by the robot. The increased time spent by the outside observers in the vicinity of the robot indicates that a biomimetic robot has the promise for modulating rat behavior even without direct interaction. Thus, this study provide a novel approach to shaping the sociality of animals living in groups.
Zhang Di;Sessa Salvatore;Kong Weisheng;Cosentino Sarah;Magistro Daniele;Ishii Hiroyuki;Zecca Massimiliano;Takanishi Atsuo
International journal of computer assisted radiology and surgery Peer Review Yes 10(11) 2015-2015
ISSN:1861-6429
Outline:PURPOSE:Current training for laparoscopy focuses only on the enhancement of manual skill and does not give advice on improving trainees' posture. However, a poor posture can result in increased static muscle loading, faster fatigue, and impaired psychomotor task performance. In this paper, the authors propose a method, named subliminal persuasion, which gives the trainee real-time advice for correcting the upper limb posture during laparoscopic training like the expert but leads to a lower increment in the workload.;METHODS:A 9-axis inertial measurement unit was used to compute the upper limb posture, and a Detection Reaction Time device was developed and used to measure the workload. A monitor displayed not only images from laparoscope, but also a visual stimulus, a transparent red cross superimposed to the laparoscopic images, when the trainee had incorrect upper limb posture. One group was exposed, when their posture was not correct during training, to a short (about 33 ms) subliminal visual stimulus. The control group instead was exposed to longer (about 660 ms) supraliminal visual stimuli.;RESULTS:We found that subliminal visual stimulation is a valid method to improve trainees' upper limb posture during laparoscopic training. Moreover, the additional workload required for subconscious processing of subliminal visual stimuli is less than the one required for supraliminal visual stimuli, which is processed instead at the conscious level.;CONCLUSIONS:We propose subliminal persuasion as a method to give subconscious real-time stimuli to improve upper limb posture during laparoscopic training. Its effectiveness and efficiency were confirmed against supraliminal stimuli transmitted at the conscious level: Subliminal persuasion improved upper limb posture of trainees, with a smaller increase on the overall workload.
Katsuaki Tanaka; Hiroyuki Ishii; Shinichi Kinoshita; Qing Shi; Hikaru Sugita; Satoshi Okabayashi; Yusuke Sugahara; Atsuo Takanishi
Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014) Peer Review Yes p.1763 - 17682014/12-2014/12
A. Niibori; Y. Matsuoka; L. Bartolomeo; S. Cosentino; W. Kong; U. Imtiaz; D. Zhang; Y. Kasuya; M. Nagai; M. Ozaki; S. Sessa; H. Ishii; M. Zecca; A. Takanishi
Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014) Peer Review Yes p.1862 - 18672014/12-2014/12
Y. Sugamiya; K. Matsunaga; C. Wang; S. Tokunaga; S. Kawasaki; H. Ishii; Y. Nakae; T. Katayama; A. Takanishi
Proceedings of 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO2014) Peer Review Yes p.1124 - 11292014-2014
U. Imtiaz; K. Yamamura; W. Kong; S. Sessa; Z. Lin; L. Bartolomeo; H. Ishii; M. Zecca; Y. Yamada; A. Takanishi
Proceedings of 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2014) Peer Review Yes p.5381 - 53842014-
D. Zhang; Y. Matsuoka; W. Kong; U. Imtiaz; L. Bartolomeo; S. Cosentino; M. Zecca; S. Sessa; H. Ishii; A. Takanishi
Proceedings of 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2014) Peer Review Yes p.6945 - 69482014-2014
C.Fujii, H.Ishii, A.Takanishi,
Journal of Blood Disorders & Transfusion Peer Review Yes 5(8) 2014-
Qing Shi; Hiroyuki Ishii; Yusuke Sugahara; Shinichi Kinoshita; Atsuo Takanishi; Satoshi Okabayashi; Qiang Huang; Toshio Fukuda
Proceedings of 2014 IEEE International Conference on Robotics and Automation (ICRA2014) Peer Review Yes p.975 - 9802014/06-2014/06
Lin, Zhuohua;Uemura, Munenori;Zecca, Massimiliano;Sessa, Salvatore;Ishii, Hiroyuki;Tomikawa, Morimasa;Hashizume, Makoto;Takanishi, Atsuo
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING Peer Review Yes 60(4) p.977 - 9852013-2013
ISSN:0018-9294
Sessa, Salvatore;Zecca, Massimiliano;Lin, Zhuohua;Bartolomeo, Luca;Ishii, Hiroyuki;Takanishi, Atsuo
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS Peer Review Yes 71(2) p.143 - 1572013-2013
ISSN:0921-0296
Ishii, Hiroyuki;Shi, Qing;Fumino, Shogo;Konno, Shinichiro;Kinoshita, Shinichi;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi;Tahara, Yu;Shibata, Shigenobu;Takanishi, Atsuo
ADVANCED ROBOTICS Peer Review Yes 27(1) p.61 - 692013-2013
ISSN:0169-1864
Ieiri, Satoshi;Ishii, Hiroyuki;Souzaki, Ryota;Uemura, Munenori;Tomikawa, Morimasa;Matsuoka, Noriyuki;Takanishi, Atsuo;Hashizume, Makoto;Taguchi, Tomoaki
PEDIATRIC SURGERY INTERNATIONAL Peer Review Yes 29(5) p.501 - 5042013-2013
ISSN:0179-0358
Fujii, Chieko;Ishii, Hiroyuki;Takanishi, Atsuo
INTERNATIONAL JOURNAL OF NURSING PRACTICE Peer Review Yes 19p.11 - 192013-2013
ISSN:1322-7114
Shi, Qing;Ishii, Hiroyuki;Kinoshita, Shinichi;Konno, Shinichiro;Takanishi, Atsuo;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi
ROBOTICA Peer Review Yes 31p.1337 - 13502013-2013
ISSN:0263-5747
Shi, Qing;Ishii, Hiroyuki;Kinoshita, Shinichi;Takanishi, Atsuo;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi;Shibata, Shigenobu
BIOINSPIRATION & BIOMIMETICS Peer Review Yes 8(4) 2013-2013
ISSN:1748-3182
Ishii, Hiroyuki; Shi, Qing; Miyagishima, Syunsuke; Fumino, Shogo; Konno, Shinichiro; Okabayashi, Satoshi; Iida, Naritoshi; Kimura, Hiroshi; Tahara, Yu; Shibata, Shigenobu; Takanishi, Atsuo
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics Peer Review Yes p.587 - 5922012/10-2012/10
ISSN:21551774
Outline:The number of patients with mental disorders is increasing in advanced countries, hence more effective psychotropic drugs are recently desired. In process of development of psychotropic drugs, animal experiments have been playing a very important role. Mental disorder model animals which exhibit behavior disorder like patients with mental disorders are used in these experiments. These animals are normally developed by genetic manipulation, surgical operation in their brain or drug administration. A candidate for a new drug is administrated in these animals to evaluate its effect. However, we have some doubts about conventional mental disorder model animals because they are induced these disorders by using methods which are quite different from causes of mental disorder of human beings. Therefore, the purpose of this study is to develop an novel methodology to create mental disorder model animals. We then developed a small mobile robot and a control system for it. Using them, we have performed some experiments to create a mental disorder model rat. We had then succeeded in developing a mental disorder model rat by exposing stress using the robot during immature period. This rat exhibits low activity in some behavior tests during mature period. For better understanding of how stress exposure induces mental disorder in a rat, we conducted another experiment based on stress vulnerability hypothesis. In this experiment, stress was exposed during both immature and mature period while that had been exposed only during immature period. We prepared several conditions of stress exposure by changing robot behavior pattern to find the one to induce much stress in a rat. From a result of experiment, we found that a rat which received gentle chase by the robot during immature period was induced much stress when it received robot attack during mature period. Thus, we consider that this rat is more appropriate to the mental disorder model than that was developed in our past experiment. © 2012 IEEE.
Shi, Q., Ishii, H., Konno, S., Kinoshita, S., Takanishi, A.
Proceedings of the 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012) p.967 - 9732012-2012
Bartolomeo, Luca;Lin, Zhuohua;Sessa, Salvatore;Zecca, Massimiliano;Ishii, Hiroyuki;Takanishi, Atsuo
INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS Peer Review Yes 39(1-4) p.779 - 7852012-2012
ISSN:1383-5416
ISHII Hiroyuki;EBIHARA Kazuki;SEGAWA Masanao;NOH Yohan;SATO Kei;TAKANISHI Atsuo;SHOJI Satoru;HATAKE Kazuyuki
JRSJ Peer Review Yes 30(1) p.91 - 982012/01-2012/01
ISSN:02891824
Outline:The purpose of this study is to develop novel training system for medical skills using robot technology. We have developed Waseda Kyotokagaku Airway No.4 (WKA-4) as a novel training simulator for airway management. This robot reproduces several different patients with actuators. For instance, this robot has a unique mechanism in its temporomandibular joint that consists of a set of warm gears and force sensors, hence reproduces a patient with TMJ disorder. This robot also has the tongue that is able to change its shape using air pressure, hence reproduces the difficulty of airway management. We then asked the medical doctors to evaluate the robot using a questionnaire and confirmed that WKA-4 had enough property to use in the training of anesthesiologists.
Okamoto, Mayumi;Irii, Hiroyuki;Tahara, Yu;Ishii, Hiroyuki;Hirao, Akiko;Udagawa, Haruhide;Hiramoto, Masaki;Yasuda, Kazuki;Takanishi, Atsuo;Shibata, Shigenobu;Shimizu, Isao
JOURNAL OF MEDICINAL CHEMISTRY Peer Review Yes 54(18) p.6295 - 63042011-2011
ISSN:0022-2623
Shi, Qing; Ishii, Hiroyuki; Fumino, Shogo; Konno, Shinichiro; Kinoshita, Shinichi; Takanishi, Atsuo; Okabayashi, Satoshi; Iida, Naritoshi; Kimura, Hiroshi
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 Peer Review Yes p.402 - 4072011/12-2011/12
Outline:This research proposes to design and develop a novel robot involved in the general and famous animal experimental method called Social Interaction Test (SIT). Aiming at increased movement range of the waist and improved interoperability, we have developed a novel small animaroid robot WR-4 (Waseda Rat No.4). The waist of WR-4 endowed with a multi-bendable 6-bar linkage mechanism makes the robot able to rotate around ±130° horizontally, meeting required movement range. Integrating with a 4-bar linkage mechanism in the neck, this 6-bar linkage mechanism achieves the bending posture as living rats, allowing the imitation of behavior such as rotating. Furthermore, ultrasonic motors (USM) used to drive forelegs greatly reduce the weight of upper body, resulting in quicker acting of rearing behavior. WR-4 consists of 10 active DOFs (two 1-DOF wheels for locomotion, two 2-DOF forelegs for interaction, one 1-DOF neck for swing, one 2-DOF waist for rearing and body grooming and one 1-DOF reserved for tail) and 2 passive DOFs in the paws. The evaluation tests on motion performance show that WR-4 could act both rearing (reaching 60°) and rotating (reaching ±100° respectively) behaviors approximately 0.1s quicker than mature rats. Preliminary SIT between WR-4 and mature rats have been conducted strictly following psychological rules. Experimental results reveal that the frequencies of rearing behavior in rats were increased significantly when WR-4 reared periodically, and the activities of rats were decreased after WR-4 reared. © 2011 IEEE.
Noh, Y., Segawa, M., Sato, K., Wang, C., Ishii, H., Solis, J., Takanishi, A., Katsumata, A., Iida, Y.
Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA 2011) Peer Review Yes p.4676 - 46812011-2011
Bartolomeo Luca;Lin Zhuohua;Zecca Massimiliano;Sessa Salvatore;Ishii Hiroyuki;Xu Hao;Uemura Munenori;Tomikawa Morimasa;Hashizume Makoto;Takanishi Atsuo
Surface EMG and heartbeat analysis preliminary results in surgical training: dry boxes and live tissue. Peer Review Yes 20112011-2011
ISSN:1557-170X
Outline::The training in the surgical practice is of paramount importance to prepare the residents in performing surgical procedures on human subject and to provide exercise on new techniques for experienced surgeons. Usually, these trainings are carried out on live animals or in virtual environments and dry boxes; the complexity of the exercises is identical in both of the case, but the pressure in operating with a living subject could change the attitude and the movements of the trainee. Until now, it has not been possible to analyze this stress in details together in the surgical animal training and dry boxes. In this work we propose an innovative portable system that can measure two physiological parameters, the heartbeat and the surface electromyography, during a session of training in both of the environment. The preliminary results, for one subject, show a bigger average power in the shoulder muscles during the living operation together with a higher but stable heartbeat rate.
Wang, C., Noh, Y., Ishii, H., Kikuta, G., Ebihara, K., Tokumoto, M., Okuyama, I., Yusuke, M., Terunaga, C., Takanishi, A., Hatake, K.
Proceedings of 2011 IEEE International Conference on Robotics and Biomimetics(ROBIO 2011) Peer Review Yes p.2635 - 26402011-2011
Shi, Qing;Ishii, Hiroyuki;Miyagishima, Shunsuke;Konno, Shinichiro;Fumino, Shogo;Takanishi, Atsuo;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi
ADVANCED ROBOTICS Peer Review Yes 25(18) p.2255 - 22722011-2011
ISSN:0169-1864
Lin Zhuohua;Zecca Massimiliano;Sessa Salvatore;Bartolomeo Luca;Ishii Hiroyuki;Takanishi Atsuo
33rd Annual International Conference of the IEEE EMBS Peer Review Yes 20112011-2011
ISSN:1557-170X
Outline::This paper presents the preliminary performance evaluation of our new wireless ultra-miniaturized inertial measurement unit (IMU) WB-4 by compared with the Vicon motion capture system. The WB-4 IMU primarily contains a mother board for motion sensing, a Bluetooth module for wireless data transmission with PC, and a Li-Polymer battery for power supply. The mother board is provided with a microcontroller and 9-axis inertial sensors (miniaturized MEMS accelerometer, gyroscope and magnetometer) to measure orientation. A quaternion-based extended Kalman filter (EKF) integrated with an R-Adaptive algorithm for automatic estimation of the measurement covariance matrix is implemented for the sensor fusion to retrieve the attitude. The experimental results showed that the wireless ultra-miniaturized WB-4 IMU could provide high accuracy performance at the angles of roll and pitch. The yaw angle which has reasonable performance needs to be further evaluated.
Shi, Qing; Miyagishima, Shunsyuke; Fumino, Shogo; Ishii, Hiroyuki; Takanishi, Atsuo; Laschi, Cecilia; Mazzolai, Barbara; Mattoli, Virgilio; Dario, Paolo
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings Peer Review Yes p.3073 - 30782010/12-2010/12
Outline:In the domain of psychology and medical science, many experiments have been conducted referring to research on animal behaviors, to study the mechanism of mental disorders and to develop psychotropic drugs to treat them. Rodents such as rats are often chosen as experimental subjects in these experiments. However, according to some researchers, the experiments on social interactions using animals are poorly- reproducible. Therefore, we consider that the reproducibility of these experiments can be improved by using a robotic agent that interacts with an animal subject. We have developed a novel quadruped rat-inspired robot, the WR-2 (Waseda Rat No.2), based on the dimension and body structure of a mature rat. It is capable of reproducing the behaviors such as walking, mounting, rearing and grooming of the rat. ©2010 IEEE.
Shi, Qing; Miyagishima, Shunsyuke; Konno, Shinichiro; Fumino, Shogo; Ishii, Hiroyuki; Takanishi, Atsuo; Laschi, Cecilia; Mazzolai, Barbara; Mattoli, Virgilio; Dario, Paolo
2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 p.887 - 8922010/12-2010/12
Outline:This paper presents the design and development of a bio-inspired mobile robot called WR-3 (Waseda Rat No.3), as an experimental tool to study social interaction between rats and robots. According to the motion analysis of rats, their motion can be divided into two phases: moving and interaction. Therefore, a novel hybrid mechanism in which wheels are used for moving and legs are used for interaction has been designed to actuate the WR-3. Consequently, the robot can move at a high speed using its wheels and reproduce the rats' interaction using its legs and other parts. Based on the dimension and body structure of a mature rat, WR-3 has been designed with dimensions of 240×70×90[mm] and is the same shape as a rat. It consists of 18 DOFs in total: two 1-DOF wheels, four 3-DOF legs (including passive DOFs), a 2-DOF waist, and a 2-DOF neck. Preliminary interaction experiments with rats demonstrate that WR-3 is capable of reproducing interactions such as following, rearing, grooming, mounting, etc. similar to a real rat. © 2010 IEEE.
Shi, Qing; Miyagishima, Shunsyuke; Fumino, Shogo; Konno, Shinichiro; Ishii, Hiroyuki; Takanishi, Atsuo
2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 Peer Review Yes p.1399 - 14042010/12-2010/12
Outline:The interaction experiment, between a robot and a rat, will benefit significantly when the rat's actions can be recognized automatically in real time. Regarding quantitative behavior analysis, the number and duration of a rat's actions should be measured efficiently and accurately. Therefore, aiming at the above-mentioned objectives, a novel cognition system capable of detecting rats' actions has been proposed in this paper. The main function of this cognition system lies on the real-time recognition and offline analysis of rats' behaviors. Basic image processing algorithm as Labeling and Contour Finding were employed to extract feature parameters (body length, body area, body radius, rotational angle, and ellipticity) of rat's actions. These parameters are integrated as the input feature vector of NN (Neural Network) and SVM (Support Vector Machine) training system respectively. Preliminary experiments reveal that the grooming, rotating and rearing actions could be recognized with extremely high rate (more than 90%) by both NN and SVM. Compared to NN, SVM provides better recognition rate and less computational cost. © 2010 IEEE.
Ishii, Hiroyuki;Koga, Hiroki;Obokawa, Yuichi;Solis, Jorge;Takanishi, Atsuo;Katsumata, Akitoshi
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY Peer Review Yes 5(1) p.77 - 842010-2010
ISSN:1861-6410
Lin, Z., Zecca, M., Sessa, S., Bartolomeo, L., Ishii, H., Itoh, K., Takanishi, A.
Proceedings of 2010 IEEE/SICE International Symposium on System Integration Peer Review Yes p.420 - 4252010-2010
Lin, Z., Zecca, M., Sessa, S., Bartolomeo, L., Ishii, H., Itoh, K., Takanishi, A.
Proceedings of 2010 IEEE/SICE International Symposium on System Integration Peer Review Yes p.414 - 4192010-2010
Z.Lin, M.Zecca, S.Sessa, H.Ishii, A.Takanishi
Peer Review Yes 6(8) p.896 - 9032010-
G.Trovato, M.Shikanai, G.Ukawa, J.Kinoshita, N.Murai, J.W. Lee, H.Ishii, A.Takanishi, K. Tanoue, S.Ieiri, K.Konishi, M.Hashizume
International Journal of Computer Assisted Radiology and Surgery Peer Review Yes 5(4) p.317 - 3252010-
Hiroyuki Ishii; Qing Shi; Yuichi Masuda; Syunsuke Miyagishima; Syogo Fumino; Atsuo Takanishi; Satoshi Okabayashi; Naritoshi Iida; Hiroshi Kimura; Yu Tahara; Akiko Hirao; Shigenobu Shibata
Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010) Peer Review Yes p.3905 - 39102010-2010
H.Ishii, H.Koga, Y.Obokawa, J.Solis, A.Takanishi, A.Katsumata
International Journal of Robotics Research Peer Review Yes 28(9) p.1228 - 12392009-
Ariji Y., Katsumata A., Ogi An., Izumi M., Sakuma S., Iida Y., Hiraiwa Y., Kurita K., Igarashi C., Kobayashi K., Ishii H., Takanishi A., Ariji E.,
Oral Radiology Peer Review Yes 25p.53 - 592009-2009
Ishii, H., Masuda, Y., Miyagishima, S., Fumino, S., Takanishi, A., Laschi, C., Mazzolai, B., Mattoli, V., Dario, P.
Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine(EMBC 2009) Peer Review Yes p.7192 - 71952009-2009
Noh, Y., Segawa, M., Shimomura, A., Ishii, H., Solis, J., Hatake, K., Takanishi, A.
Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics(BioRob 2008) Peer Review Yes p.574 - 5792008-
Noh Y., Segawa M., Shimomura A., Ishii H., Solis J., Hatake K., Takanishi A.
International Journal of Computer Assisted Radiology and Surgery Peer Review Yes 3(6) p.543 - 5502008-2008
Solis J., Oshima N., Ishii H., Matsuoka N., Hatake K., Takanishi A.
International Journal of Computer Assisted Radiology and Surgery Peer Review Yes 3(3-4) p.231 - 2392008-2008
Hiroyuki Ishii; Motonori Ogura; Shunji Kurisu; Atsushi Komura; Atsuo Takanishi; Naritoshi Iida; Hiroshi Kimura
Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007) Peer Review Yes p.4152 - 41572007-2007
Ishii, H., Ogura, M., Kurisu, S., Komura, A.,Takanishi, A., Iida, N., Kimura, H.
Lecture Notes in Computer Science Peer Review Yes 4095p.643 - 6542006-2006
SAKUMA SHIGEMITSU;MORI TAKASHI;ISHII HIROYUKI;ANDO KIYOFUMI;ASANO JUNTA;ISHIGURO TOMOKO;OZEKI MARINA;OTSUKA FUMIYO;IKEDA HIROE;HATTORI HIROYUKI;TAKANISHI ATSUO;ITO YUTAKA
48(4) p.383 - 3882010/12-2010/12
ISSN:00446912
Lee, Jaewoo; Ishii, Hyroyuki; Takanishi, Atsuo
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS p.524 - 5272011/12-2011/12
ISSN:1557170X
Outline:3D Visualization method of shape of flexible colonoscopy in simulated computing environment is proposed. Signals from sensor network are used to calculate the orientation of the body of each sensor. Position of each sensor is estimated from the orientation using assumption of forward kinematics in robotics. This data are then interpolated with curve fitting method to give natural impression of shape to surgeon who are watching monitor. The resulting simulated curve shows that motion of shape of colonoscopy can be simulated at it is. © 2011 IEEE.
Lee, Jaewoo; Ukawa, Genya; Doho, Shuna; Lin, Zhuohua; Ishii, Hyroyuki; Zecca, Massimiliano; Takanishi, Atsuo; Takanishi, Atsuo
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 p.577 - 5822011/12-2011/12
Outline:In this paper, the shape of the medical robot which can move in the colon is suggested for its gate control. In this system, the current shape information plays a sensing role in order to control the gate of robot in the colon. In order to find current shape of robot, we construct sensor network system which composed of several electronic compass units. This unit makes use of chip which includes pair of 3 axis accelerometer and 3 axis magnetometer. From this signals, orientation is evaluated after filtering noise. Then, based on the kinematic chain model, the shape of the flexible robot is calculated using orientation information. The resulting trajectory shows that this method cans percept shape of flexible robot well. © 2011 IEEE.
Lee, Jaewoo; Kenya, Ukawa; Doho, Shuno; Ishii, Hiroyuki; Takanishi, Atsuo; Takanishi, Atsuo
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 p.1844 - 18492011/12-2011/12
Outline:The general characteristics of the colon are proposed in the mechanical point of view. This is prerequisite information when we want to develop endoscopic robot which can move well in the human colon. Friction property which comprise static and dynamic friction coefficient is investigated. The elastic property of colon is also investigated: the radial tensile force is measured in the elastic range. The effect on the robot is revealed by using experimental method. The design parameters of the robot are then investigated: one is for the moving mechanism which has to be selected in view of mobility compared to the above knowledge. The other is for selection problem on the fin type and size in the inverse screw type. Several apparatus for friction property measurements were made and carefully made experiments. The resulting data were analyzed. Final results show that inverse screw type of robot has more mobility compared to the rotational inertia type. © 2011 IEEE.
Lee, Jaewoo; Ukawa, Genya; Doho, Shuna; Lin, Zuohua; Ishii, Hiroyuki; Takanishi, Atsuo
Proceedings of the 6th IASTED International Conference on Biomechanics, BioMech 2011 p.29 - 362011/12-2011/12
Outline:The Simulation Model which can visualize the shape of commercial colonoscope is proposed. This model uses kinematic chain which approximates the shape of colonoscope by serially connected multiple joint-link pairs. As the input to the model, orientation information is used. Orientation information is extracted from the Sensor Network. The sensor network consists of connecting a number of sensor units with CAN bus. Each sensor unit also has two kinds of sensor: triad of accelerometer and triad of magnetometer. Roll and pitch angle are estimated based on the accelerometer signals. Yaw angle is estimated based on the magnetometer signals. By using kinematic chain model and orientation as input, we estimate the key points which are positions of sensor units on the colonoscope. Then, we implement spline interpolation to find the intermediate points which constitutes the shape of colonoscope. We made experiment in order to check whether model has enough accuracy. Firstly, we compared estimated curve with sine curve which is used as a ground truth. Secondly, we investigated the effect of number of sensor on the accuracy. Final result says that it has enough estimation ability.
Li, Chang; Li, Chang; Shi, Qing; Shi, Qing; Li, Kang; Li, Kang; Zou, Mingjie; Zou, Mingjie; Ishii, Hiroyuki; Takanishi, Atsuo; Huang, Qiang; Huang, Qiang; Fukuda, Toshio; Fukuda, Toshio
IEEE International Conference on Intelligent Robots and Systems 2017-Septemberp.2397 - 24022017/12-2017/12
ISSN:21530858
Outline:© 2017 IEEE. The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally update the forelimb of the robot and redesign the control board to make it more dexterous and increase its behavioral capability. Then, we systematically and kinematically analyze the rotational range of joint variables and the workspace of the robot by using traversal method. To evaluate the motion capability of the modified robot, we propose two quantitative parameters: maximum reachable height (MRH) and minimum bendable distance (MBD). Additionally, we achieve to quantitatively evaluate the behavioral similarity between the robot and rat with the calculated accumulative distance (AD) by using dynamic time warping (DTW). These evaluated methods show high promise to improve the robot-rat interaction to be more similar to rat-rat interaction.
Nomura Koki;Takeuchi Hiromi;Sato Mamoru;Ishii Hiroyuki;Uemura Munenori;Akaboshi Tomohiko;Tomikawa Morimasa;Hashizume Makoto;Takanishi Atsuo
The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts 2015(6) p.68 - 692015/12-2015/12
ISSN:13488961
Outline:Drawbacks of conventional colonoscopy include the risk of accidental injury and a dependence on the operator's skill. This study presents a novel minimally invasive self-propelled colonoscope robot. We developed an active-bending module, made with pneumatic parallel links with three degrees of freedom, and assembled in a robot (WQE-5) propelled by a "party horn" mechanism with a thrust generator. We confirm the increase in the passing speed in the curved section of a colon model, achieved by the winding of WQE-5.
Okamoto Yuya;Ishii Hiroyuki;Tanaka Katsuaki;Kuroiwa Daisuke;Shi Qing;Sugita Hikaru;Mossor Eric;Okabayashi Satoshi;Sugahara Yusuke;Takanishi Atsuo
The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts 2015(6) p.110 - 1112015/12-2015/12
ISSN:13488961
Outline:In recent years, demands for outdoor mobile robots, such as those for agriculture or environmental monitoring, are increasing. Power supply is one of the most important considerations for these robots, and autonomous battery charging system can be one solution. The objective of this study is to develop a prototype battery charging system for outdoor mobile robots, using wireless power transmission technology. We developed a battery charging station and a power receiver for a mobile robot. The receiver coil was implemented in WAMOT-2, which had been developed for the monitoring. Operation of the system was verified through an experiment.
Kuroiwa Daisuke;Ishii Hiroyuki;Tanaka Katsuaki;Okamoto Yuya;Shi Qing;Sugita Hikaru;Mossor Eric;Okabayashi Satoshi;Sugahara Yusuke;Takanishi Atsuo
The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts 2015(6) p.161 - 1622015/12-2015/12
ISSN:13488961
Outline:Locomotive performance is one of the most important issues for land-based mobile robots, which is designed to be used in natural environment, such as grass fields or forests. We propose a novel method to change outer shape of the robot to increase locomotive performance in natural environment. The robots, which are designed using this method, does not require additional actuators, while conventional mobile robots obtain higher locomotive performance in natural environment using multiple actuators. The objective of this study is to propose a novel design method of outer shape of mobile robots, which is inspired from "icebreakers". Through experiments, we confirmed that locomotive performance is greatly affected by outer shape of mobile robots.
Sakaeda Gen;Kawasaki Shintaro;Ishii Hiroyuki;Shibusawa Ryota;Matsuoka Noriyuki;Nakae Yusuke;Katayama Tamotsu;Takanishi Atsuo
The ... international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM : abstracts 2015(6) p.219 - 2202015/12-2015/12
ISSN:13488961
Outline:Neurological examination takes an important role in the clinical examination, and requires both deep medical knowledge and high clinical skills. Until now, several education methods for neurological examination have been proposed, such as lectures using videos, and skill trainings with manikins or simulated patients (SPs). However, complex physical skills, such as examination of the upper limbs, are difficult to obtain for inexperienced physicians both in lectures and in skill trainings. In this paper, we propose an arm robot named WKE-3(Waseda Kyotokagaku Elbow Robot No.3) for skill trainings of neurological examination, as a part of the whole body patient robot named WKP (Waseda Kyotokagaku Patient). A novel mechanism, which can simulate both active and passive movement, is implemented in the elbow joint to simulate various symptoms.
Ishii, Hiroyuki; Shi, Qing; Masuda, Yuichi; Miyagishima, Syunsuke; Fumino, Syogo; Takanishi, Atsuo; Okabayashi, Satoshi; Iida, Naritoshi; Kimura, Hiroshi; Tahara, Yu; Hirao, Akiko; Shibata, Shigenobu
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings p.3905 - 39102010/12-2010/12
Outline:The number of patients with mental disorders is increasing in advanced countries. Many researchers are working to develop mental disorder model animals that contribute to development of new psychotropic drugs. However, we have some doubts about conventional mental disorder models. Therefore, the purpose of this study is to develop an experimental setup to create novel mental disorder model animals. We then developed a small mobile robot and a control system for the robot. Using them, we performed an experiment to develop a mental disorder model rat. In the experiment, we succeeded in developing a new depression model rat and also high activity model rat. These disorder models must be useful in the screening of new psychotropic drugs. In addition, the methodology we developed in this research will contribute to clarifying mechanisms of mental disorders. ©2010 IEEE.
Kamezaki, Mitsuhiro; Ishii, Hiroyuki; Ishida, Tatsuzo; Seki, Masatoshi; Ichiryu, Ken; Kobayashi, Yo; Hashimoto, Kenji; Sugano, Shigeki; Takanishi, Atsuo; Fujie, Masakatsu G.; Hashimoto, Shuji; Yamakawa, Hiroshi
Proceedings - IEEE International Conference on Robotics and Automation 2016-Junep.2840 - 28452016/06-2016/06
ISSN:10504729
Outline:© 2016 IEEE. We developed a four-arm four-crawler advanced disaster response robot called OCTOPUS. Disaster response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional disaster response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.
Tanaka, Katsuaki; Ishii, Hiroyuki; Kuroiwa, Daisuke; Okamoto, Yuya; Mossor, Eric; Sugita, Hikaru; Shi, Qing; Okabayashi, Satoshi; Sugahara, Yusuke; Takanishi, Atsuo; Takanishi, Atsuo
IEEE Robotics and Automation Letters 1(1) p.122 - 1292016/01-2016/01
Outline:© 2015 IEEE.One of the main problems faced by land-based mobile robots is their locomotion performance on rough outdoor terrain. We focused on the navigation of grassy areas such as riversides and forests. These have many types of obstacles, which make robot locomotion difficult. Several studies have been conducted on locomotive mechanisms for rough terrains that have performed well. However, most of these mechanisms cannot pass through grass taller than their own height while using a small number of actuators. We designed a novel mechanism that uses only two motors to ensure a high locomotive ability over a field with tall grasses. We also designed "Grassbreaker" by attaching an outer covering to a tiny mobile robot shaped like an icebreaker. We found that the robot's shape greatly influences its mobility in a tall grass field and that the robot continued to move forward while bending tall grasses such as reeds. The significant difference (p < 0.05) between the average speeds of Grassbreaker and the robot without the outer covering was confirmed in an experiment. The robot's new shape is significant not only because it fills a gap in previous research work but also because this method does not require any additional actuators such as conventional cutting and bending methods.
Trovato, Gabriele; Do, Martin; Terlemez, Ömer; Mandery, Christian; Ishii, Hiroyuki; Bianchi-Berthouze, Nadia; Asfour, Tamim; Takanishi, Atsuo
IEEE-RAS International Conference on Humanoid Robots p.318 - 3232016/12-2016/12
ISSN:21640572
Outline:© 2016 IEEE.Humanoid robots are expected to be able to communicate with humans using physical interaction, including hug, which is a common gesture of affection. In order to achieve that, their physical embodiment has to be carefully planned, as a user-friendly design will facilitate interaction and minimise repulsion. In this paper, we investigate the effect of manipulating the visual/tactile appearance of a robot, covering wires and metallic parts with clothes, and the auditory effect by enabling or disabling the connector of the hand. The experiment consists in a hugging interaction between the participants and the humanoid robot ARMAR-IIIb. Results after participation of 24 subjects confirm the positive effect from using clothes to modify the appearance and the negative effect of noise and vibration.
Tanaka, K.; Yokoyama, H.; Ishii, H.; Inoue, S.; Shi, Q.; Okabayashi, S.; Sugahara, Y.; Takanishi, A.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 p.637 - 6422017/02-2017/02
Outline:© 2016 IEEE.The demand for monitoring from high points is increasing to support remote control and accurate monitoring. Unmanned ground vehicles with long arms are used to achieve long-term and accurate monitoring. The use of convex steel tapes is effective for achieving both high strength and lightness of the arm, which prevents the robot from collapsing or the arm from falling off. However, the previously proposed methods could not be used under tough environmental conditions such as strong winds as well as when the posture of the robot is changed. The objective of the present study is to design a novel extendable arm structure using convex tapes for outdoor usage. We designed an arm with a novel combination of convex tapes that can endure outdoor interferences. We manufactured the arm using a new method such that there is no need to separate the convex tapes. Our results indicated that the robot could extend its arm up to 4 m at a wind speed of 10 m/s and its posture can be changed to 15° in all directions without the use of additional supports such as an outrigger. This novel arm is useful for supporting remote-controlled aerial work platform outdoors such as in a disaster struck area where only tiny mobile robots can enter. This novel combination method is significant not only because it fills the gap in previous sutures but also because it does not require complex mechanisms such as the outrigger method.
Trovato, Gabriele; Ramos, Josue G.; Azevedo, Helio; Moroni, Artemis; Magossi, Silvia; Simmons, Reid; Ishii, Hiroyuki; Takanishi, Atsuo
Paladyn 8(1) p.1 - 172017/04-2017/04
Outline:© 2017 Gabriele Trovato et al. The receptionist job, consisting in providing useful indications to visitors in a public office, is one possible employment of social robots. The design and the behaviour of robots expected to be integrated in human societies are crucial issues, and they are dependent on the culture and society in which the robot should be deployed. We study the factors that could be used in the design of a receptionist robot in Brazil, a country with a mix of races and considerable gaps in economic and educational level. This inequality results in the presence of functional illiterate people, unable to use reading, writing and numeracy skills. We invited Brazilian people, including a group of functionally illiterate subjects, to interact with two types of receptionists differing in physical appearance (agent v mechanical robot) and in the sound of the voice (human like v mechanical). Results gathered during the interactions point out a preference for the agent, for the human-like voice and a more intense reaction to stimuli by illiterates. These results provide useful indications that should be considered when designing a receptionist robot, as well as insights on the effect of illiteracy in the interaction.
Tanaka, Katsuaki; Okamoto, Yuya; Ishii, Hiroyuki; Kuroiwa, Daisuke; Mitsuzuka, Junko; Yokoyama, Hiroya; Inoue, Sho; Shi, Qing; Okabayashi, Satoshi; Sugahara, Yusuke; Takanishi, Atsuo
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM p.1412 - 14172017/08-2017/08
Outline:© 2017 IEEE. We are designing an unmanned ground vehicle (UGV) for use in a large-scale and long-Term environmental monitoring system. Existing high-performance UGVs cannot cope with unexpected events because their design concept, like that of almost all previous mobile robots, is based on the development of a single high-performance robot capable of performing every task. To overcome this limitation, we propose using multiple inexpensive robots and operating them such that each compensates for the shortcomings of the others. The objective of this study is to design a robot that could be used to realize a multiple autonomous mobile robot system for long-Term outdoor operation. These robots use only two motors for movement and rely on internal sensors for the control of the robot, thus minimizing the cost. The developed robot is capable of handling unexpected events such that could traverse extreme environments such as forests. The design concept will contribute to the configuration of a multiple robot system and also to increasing the robustness of the overall system. In addition to proposing a robotic system for long-Term operation, this study also proposes a novel idea whereby parts of a robot may be sacrificed to attain the overall objective. In this paper, we describe the details of the wheel and the control design of the robot, and also present the results of some experiments using the developed robot.
Tanaka, Katsuaki; Zhang, Di; Inoue, Sho; Kasai, Ritaro; Yokoyama, Hiroya; Shindo, Koki; Matsuhiro, Ko; Marumoto, Shigeaki; Ishii, Hiroyuki; Takanishi, Atsuo
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 p.1503 - 15082017/08-2017/08
Outline:© 2017 IEEE. We developed a small mobile robot in response to the demands in the disaster area. A hybrid locomotion mechanism of wheels and multi-rotors are proposed to realize both high locomotion performance and long-term operation. The wheels allow to highly maneuverable move in a narrow space, and the multi-rotors allow to move to a higher position. The objective of this study is to design the locomotion mechanism and develop a platform for confirming the basic locomotion performance. We attached a wheel mechanism into the assembled hobby drone and embedded an electrical system to operate the robot. The wheels also contribute to protect the multi-rotors from obs tacles such as rubble. A stabilizer was proposed to stabilize the robot during running with wheels and designed to allow recover from flipping state. The significant of this work is not only improving the locomotion performance of the drone, but also increase the operating time, this leads various uses at disaster sites. In this paper, the details of the locomotion mechanism and some experimental results using the developed platform are shown.
Sakaeda, Gen; Matsubara, Takanobu; Ishii, Hiroyuki; Takanishi, Atsuo
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 p.536 - 5402017/08-2017/08
Outline:© 2017 IEEE. Tooth brushing plays an important role in one's health, and particularly, in the prevention of oral diseases. It is a fundamental oral care technique in daily life; however, many elderly or handicapped people cannot brush their teeth without assistance from helpers. The purpose of this study is to develop an automatic teeth cleaning mouthpiece robot. One of the most common methods of brushing teeth is to move the toothbrush along the row of teeth. Hence, a mechanism to wipe teeth using sponges is designed and it consists of an eccentric cam, a wiper with sponges, and a rounded guide rail. This mechanism generates rounded wiper motions along the row of teeth. Furthermore, a safety system is designed to prevent aspiration. Brushing stops automatically when the user lifts his/her jaw up from the jaw supporter.
Nomura, Koki; Sato, Mamoru; Takeuchi, Hiromi; Minoru, Konno; Ryoichi, Toriumi; Ishii, Hiroyuki; Takanishi, Atsuo
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 p.1481 - 14862017/08-2017/08
Outline:© 2017 IEEE. In recent years, the importance of inspection technologies for old gas pipes has been advocated. In this study, we developed a robot that moves in gas pipes and acquires pictures of interior of pipes in order to easily identify problems, such as cracks in the walls or water leakages. The robot consists of two balloons and an extension hose, which can be extended or shrunk by means of changing the internal pressure. This mechanism allows the robot to move like an inchworm in gas pipes. The robot also has an active-bending module, driven by air pressure that allows it to pass curved pipe sections. Therefore, the robot can move horizontally and vertically in pipes having an inner diameter of both 28 mm and 53 mm.
Hiroyuki Ishii
Annual Meeting of SESAM 2014(Society in Europe for Simulation Applied to Medicine)Invitation Yes2014/06
International conferenceSymposium workshop panel(nominated)Venue:Poznan
Hiroyuki Ishii
2014 Annual Meeting of Society of Simulation in Healthcare(Society of Simulation in Healthcare)Invitation Yes2014/01
International conferenceSymposium workshop panel(nominated)Venue:San Francisco
Hiroyuki Ishii
Annual Meeting of SESAM 2013(Society in Europe for Simulation Applied to Medicine)Invitation Yes2013/06
International conferenceSymposium workshop panel(nominated)Venue:Paris
Reference Number:768
歩行パターン作成装置、2足歩行ロボット装置、歩行パターン作成方法、2足歩行ロボット装置の制御方法、プログラムおよび記録媒体(日本)高西 淳夫, 石井 裕之, 小柳津 研一, 菅原 雄介, 小鹿 健一郎, 川北 泉, 田中 智明
2004-267599、2006- 82155
Reference Number:812
気管挿管訓練装置(日本, PCT, ヨ-ロッパ, アメリカ)高西 淳夫, ノヨハン, ソリス ホルヘ, 石井 裕之, 小椋 優, 長弘 考司, 瀬川 正尚, 下村 彰宏
2008- 61956、2009-217082、4932768
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光学式力センサ(日本)高西 淳夫, ノヨハン, ソリス ホルヘ, 石井 裕之, 瀬川 正尚, 下村 彰宏
2008- 85233、2009-236799
Reference Number:835
マッサージロボット及びその制御プログラム(日本, PCT)高西 淳夫, 勝又 明敏, 古賀 裕樹, 石井 裕之, ソリス ホルヘ, 小保川 祐一
2008- 87291、2009-240353、5119473
Reference Number:894
位置検出装置、そのプログラム、モニタリングシステム、及び気管挿管訓練装置(日本)高西 淳夫, 菊田 剛, ノヨハン, 石井 裕之, 下村 彰宏, 瀬川 正尚, 佐藤 圭, ソリス ホルヘ
2008-254328、2010- 85687、5038276
Reference Number:895
体部位自動判別システム(日本)高西 淳夫, 勝又 明敏, 古賀 裕樹, 石井 裕之, ソリス ホルヘ, 小保川 祐一, 江口 晃一
2008-249374、2010- 75571、5234458
Reference Number:954
力センサ及び力センシングシステム(日本)高西 淳夫, ノヨハン, 石井 裕之, ソリス ホルヘ
2009- 54311、2010-210294、5212944
Reference Number:1257
流体検出装置(日本)高西 淳夫, 石井 裕之, ノヨハン, 石 青, 王 春宝
2011-265348、2013-117452、5923813
Reference Number:1353
形状記憶合金を用いたアクチュエータ及びアクチュエータユニット(日本)松永 健太朗, 山北 高之, 追塩 拓也, 高西 淳夫, 石井 裕之
2012-202088、2014- 55575
Reference Number:1358
軟素材の弾性変形機構(日本)高西 淳夫, 石井 裕之, 王 春宝, 海老原 一樹, 松岡 優典, 千原 照永
2012-195915、2014- 52480
Reference Number:1592
対話型問診訓練システム、対話型処理装置及びそのプログラム(日本)高西 淳夫, 石井 裕之, 松永 健太朗
2014-178642、2016- 53606
Reference Number:1977
管内移動システム及び移動体のスタック検出用プログラム(日本)高西 淳夫, 石井 裕之, 竹内 弘美, 佐藤 衛, 李 駿騁, 野村 幸暉, 吉本 昂平
2017-172471、2019- 48488
Reference Number:2038
触診シミュレータ(日本)岩城 直登, 高西 淳夫, 石井 裕之, 川崎 智佑喜, 日塔 和宏, 武部 康隆
2018- 31568、2019-148620
Reference Number:2247
自己伸展型推進装置(日本)石井 裕之, 佐竹 祐紀
2019-156170
Reference Number:2248
管路補修装置(日本)石井 裕之, 柴田 尚樹
2019-159754
Reference Number:127-JP
医療用手技評価システム、手技評価装置及び手技評価プログラム(日本)高西 淳夫, ムハマド アイズディン, 大島 信希, 翠川 龍, ソリス ホルヘ, 小椋 優, 石井 裕之
2008-537441、5083776
Reference Number:130-JP
マッサージロボット及びその制御プログラム並びに体部位特定用ロボット(日本)高西 淳夫, 石井 裕之, ソリス ホルヘ, 勝又 明敏, 臼田 雄一, 古賀 裕樹, 松野 昌生, 小椋 優
2008-537442、5097907
Research Classification:
Building the new system that manage to control of cuff pressure in a tracheal tube2011-2012
Allocation Class:¥3900000
Research Classification:
Development of experimental system to produce mental disorder model animal using RT2009-2010
Allocation Class:¥4420000
Research Classification:
Development of a Miniaturized Attitude Measurement Sensor Module and Construction of a Surgical Skills Training SystemAllocation Class:¥4290000
Research Classification:
Modeling of playing behavior of animals using robot technologies2015/-0-2018/-0
Allocation Class:¥4680000
Research Classification:
Robust visual servoing for medical ultrasound for HIFU therapy2013/-0-2016/-0
Allocation Class:¥4940000
Research Classification:
Development of RT-based screening system for new psychic drags2012/-0-2014/-0
Allocation Class:¥4420000
Research Classification:
Research on Instantaneous High-power Motion Generation by Whole-body Coordination of a Humanoid Robot2017/-0-2020/-0
Allocation Class:¥44850000
Research Classification:
Development of a robot-based experimental system for the estimation and adjustment of rat stress level2013/-0-2015/-0
Allocation Class:¥4030000
Research Classification:
Creation of Human-Robot Coordination Control based on Observation and Insight2019/-0-2024/-0
Allocation Class:¥44070000
2017Collaborator:高西淳夫
Research Results Outline:本研究では,野生動物の体内やその生息環境に埋め込まれた計測デバイスからデータを回収するための自律移動型ロボット・システムの開発に取り組んだ.具体的には本研究では,野生動物の体内やその生息環境に埋め込まれた計測デバイスからデータを回収するための自律移動型ロボット・システムの開発に取り組んだ.具体的には,湖沼や泥濘地など従来型の移動ロボットでは移動が難しかった環境下でも移動が可能な小型移動ロボットの...本研究では,野生動物の体内やその生息環境に埋め込まれた計測デバイスからデータを回収するための自律移動型ロボット・システムの開発に取り組んだ.具体的には,湖沼や泥濘地など従来型の移動ロボットでは移動が難しかった環境下でも移動が可能な小型移動ロボットの設計と製作を行った.このロボットは,独自に開発された駆動機構によって湖沼や泥濘地でも推力を得ることが可能で,野生動物が生息する深部領域へ進入することが可能となっている.製作されたロボットの実験室における評価実験の結果,想定された移動能力を有することが確認された.今後は,行政組織などと連携の上,実証実験に取り組む.
2016
Research Results Outline:小型移動ロボットとラットの遊びに注目して研究を行った.まず,ラットとロボットによる遊びの新たな形態として,壁のぼり行動に注目し,新たに壁のぼりが可能な小型移動ロボットとラットの遊びに注目して研究を行った.まず,ラットとロボットによる遊びの新たな形態として,壁のぼり行動に注目し,新たに壁のぼりが可能な小型移動ロボットを開発した.つづいてラット同士のインタラクションの観察にもとづき,ラットとの間に遊...小型移動ロボットとラットの遊びに注目して研究を行った.まず,ラットとロボットによる遊びの新たな形態として,壁のぼり行動に注目し,新たに壁のぼりが可能な小型移動ロボットを開発した.つづいてラット同士のインタラクションの観察にもとづき,ラットとの間に遊びを生起させるためのロボットの行動アリゴリズムの構築を行った.そして,このアルゴリズムによって制御されるロボットとラットによるインタラクション実験を行った.実験には,有色ラットの一種で,社会性が高くインタラクション実験に適したLong Evansを用いた.この実験では,ロボットがラットに対して遊び行動を働きかけ,その際のラットの行動の変化を観察した.
2017Collaborator:水村優治郎, 石橋啓太郎, 山田壮一
Research Results Outline:本研究では,発達障害児などとインタラクションを行うボール形ロボットの設計と製作を行った.具体的には,跳躍する機能を備え,弾性体で構成される外殻に覆われ本研究では,発達障害児などとインタラクションを行うボール形ロボットの設計と製作を行った.具体的には,跳躍する機能を備え,弾性体で構成される外殻に覆われたボール形ロボットを製作した.跳躍機構は,ばね,円筒カム,ラチェット,DCモータによって構成されて...本研究では,発達障害児などとインタラクションを行うボール形ロボットの設計と製作を行った.具体的には,跳躍する機能を備え,弾性体で構成される外殻に覆われたボール形ロボットを製作した.跳躍機構は,ばね,円筒カム,ラチェット,DCモータによって構成されており,DCモータが発生する力をばねに蓄え,それを一気に解放することで跳躍動作を生成する.またロボットには,マイクロコントローラ,無線通信モジュール,バッテリーが実装されており,外部から給電ケーブルなどによる拘束を受けることなく運動を行うことが可能となっている.実験の結果,ボール形ロボットは想定された程度の跳躍力を発揮できる事が確認された.
2018Collaborator:石橋啓太郎
Research Results Outline:本研究では,先端に爪のようや鋭利な構造を有する脚を駆動して,樹木等の凹凸のある表面上を移動する小型移動ロボットの開発に取り組んだ.研究期間内に,ばね鋼本研究では,先端に爪のようや鋭利な構造を有する脚を駆動して,樹木等の凹凸のある表面上を移動する小型移動ロボットの開発に取り組んだ.研究期間内に,ばね鋼線材によって製作された超軽量の脚を,形状記憶合金アクチュエータによって駆動する小型の6足ロボットを...本研究では,先端に爪のようや鋭利な構造を有する脚を駆動して,樹木等の凹凸のある表面上を移動する小型移動ロボットの開発に取り組んだ.研究期間内に,ばね鋼線材によって製作された超軽量の脚を,形状記憶合金アクチュエータによって駆動する小型の6足ロボットを開発した.開発したロボットについて評価実験を実施したところ,不整地での歩行が可能であることが確認された.また30度までの傾斜の登攀が可能であることも確認された.加えて,形状記憶合金アクチュエータの使用により,全く駆動音を発生させずに移動することが可能であることを確認した.
2018Collaborator:高西淳夫
Research Results Outline:研究代表者は多年にわたり,屋外環境下で自律的に移動し,環境情報の収集を行う環境モニタリングの開発に取り組んでいる.今回,湖沼内においてカミツキガメ等の研究代表者は多年にわたり,屋外環境下で自律的に移動し,環境情報の収集を行う環境モニタリングの開発に取り組んでいる.今回,湖沼内においてカミツキガメ等の害獣の生態調査を行う新たなロボットを開発した.このロボットはアルキメディアンスクリューによって,従...研究代表者は多年にわたり,屋外環境下で自律的に移動し,環境情報の収集を行う環境モニタリングの開発に取り組んでいる.今回,湖沼内においてカミツキガメ等の害獣の生態調査を行う新たなロボットを開発した.このロボットはアルキメディアンスクリューによって,従来の移動ロボットでは進入や移動が困難であった泥濘地の地表および地中で移動することが可能となっている.具体的には,2個のアルキメディアンスクリューを,回転モータを介して直列に接続し,前部と後部を逆向きに回転させることで,路面や周囲の流体からの反力を推力に変換する.今後,ロボット先端にカメラや触覚センサを搭載し,泥濘地に潜むカミツキガメの探索に用いる.
2018
Research Results Outline:本研究では,人間に行動変容を促すロボットシステムとして,児童とインタラクションを行うボール型ロボットの開発に取り組んだ.開発したボール型ロボットは直径本研究では,人間に行動変容を促すロボットシステムとして,児童とインタラクションを行うボール型ロボットの開発に取り組んだ.開発したボール型ロボットは直径が約20cmで,内蔵された機構によって跳躍することが可能となっている.跳躍機構は,モータの回転によ...本研究では,人間に行動変容を促すロボットシステムとして,児童とインタラクションを行うボール型ロボットの開発に取り組んだ.開発したボール型ロボットは直径が約20cmで,内蔵された機構によって跳躍することが可能となっている.跳躍機構は,モータの回転によってばねにエネルギを蓄積し,それを瞬間的に開放することで跳躍力を得る.また跳躍の方向を変化させる機構も備えており,任意の方向へ跳躍することが可能となっている.加えて,形状記憶合金と布で製作された柔軟な外装を有しており,児童がボールに接触する場面での安全性を確保している.
Course Title | School | Year | Term |
---|---|---|---|
Basic Experiments in Science and Engineering 2A Sougoukikai | School of Creative Science and Engineering | 2020 | spring semester |
Basic Experiments in Science and Engineering 2A Sougoukikai | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Mechanics | School of Creative Science and Engineering | 2020 | spring semester |
Engineering Mechanics | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Mechanics [S Grade] | School of Creative Science and Engineering | 2020 | spring semester |
Engineering Mechanics [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Mechatronics Laboratory Fund. | School of Creative Science and Engineering | 2020 | spring semester |
Mechatronics Laboratory Fund. | School of Creative Science and Engineering | 2021 | spring semester |
Mechatronics Laboratory Fund. [S Grade] | School of Creative Science and Engineering | 2020 | spring semester |
Mechatronics Laboratory Fund. [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Project Based Learning Fund. | School of Creative Science and Engineering | 2020 | fall semester |
Project Based Learning Fund. | School of Creative Science and Engineering | 2021 | fall semester |
Project Based Learning Fund. [S Grade] | School of Creative Science and Engineering | 2020 | fall semester |
Project Based Learning Fund. [S Grade] | School of Creative Science and Engineering | 2021 | fall semester |
Control Engineering | School of Creative Science and Engineering | 2020 | spring semester |
Control Engineering | School of Creative Science and Engineering | 2021 | spring semester |
Control Engineering [S Grade] | School of Creative Science and Engineering | 2020 | spring semester |
Control Engineering [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Project Based Learning Adv. | School of Creative Science and Engineering | 2020 | spring semester |
Project Based Learning Adv. | School of Creative Science and Engineering | 2021 | spring semester |
Project Based Learning Adv. [S Grade] | School of Creative Science and Engineering | 2020 | spring semester |
Project Based Learning Adv. [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Mechanical Engineering Laboratory Fundamentals (Japanese) | School of Creative Science and Engineering | 2020 | spring semester |
Mechanical Engineering Laboratory Fund. | School of Creative Science and Engineering | 2020 | spring semester |
Mechanical Engineering Laboratory Fundamentals (Japanese) | School of Creative Science and Engineering | 2021 | spring semester |
Mechanical Engineering Laboratory Fund. | School of Creative Science and Engineering | 2021 | spring semester |
Mechanical Engineering Laboratory Fund. [S Grade] | School of Creative Science and Engineering | 2020 | spring semester |
Mechanical Engineering Laboratory Fund. [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Mechanical Engineering Laboratory Advanced (Japanese) | School of Creative Science and Engineering | 2020 | fall semester |
Mechanical Engineering Laboratory Adv. | School of Creative Science and Engineering | 2020 | fall semester |
Mechanical Engineering Laboratory Advanced (Japanese) | School of Creative Science and Engineering | 2021 | fall semester |
Mechanical Engineering Laboratory Adv. | School of Creative Science and Engineering | 2021 | fall semester |
Mechanical Engineering Laboratory Adv. [S Grade] | School of Creative Science and Engineering | 2020 | fall semester |
Mechanical Engineering Laboratory Adv. [S Grade] | School of Creative Science and Engineering | 2021 | fall semester |
Seminar | School of Creative Science and Engineering | 2020 | full year |
Seminar | School of Creative Science and Engineering | 2021 | full year |
Seminar [S Grade] | School of Creative Science and Engineering | 2020 | full year |
Seminar [S Grade] | School of Creative Science and Engineering | 2021 | full year |
Engineering Practice | School of Creative Science and Engineering | 2020 | full year |
Engineering Practice | School of Creative Science and Engineering | 2021 | full year |
Engineering Practice [S Grade] | School of Creative Science and Engineering | 2020 | full year |
Engineering Practice [S Grade] | School of Creative Science and Engineering | 2021 | full year |
Graduation Thesis | School of Creative Science and Engineering | 2020 | full year |
Graduation Thesis | School of Creative Science and Engineering | 2021 | full year |
Graduation Thesis [S Grade] | School of Creative Science and Engineering | 2020 | full year |
Graduation Thesis [S Grade] | School of Creative Science and Engineering | 2021 | full year |
Mechatronics Laboratory Adv. | School of Creative Science and Engineering | 2020 | fall semester |
Mechatronics Laboratory Adv. | School of Creative Science and Engineering | 2021 | fall semester |
Graduation Thesis A | School of Creative Science and Engineering | 2020 | fall semester |
Graduation Thesis A | School of Creative Science and Engineering | 2021 | fall semester |
Graduation Thesis A [S Grade] | School of Creative Science and Engineering | 2020 | fall semester |
Graduation Thesis A [S Grade] | School of Creative Science and Engineering | 2021 | fall semester |
Graduation Thesis B | School of Creative Science and Engineering | 2020 | spring semester |
Graduation Thesis B | School of Creative Science and Engineering | 2021 | spring semester |
Graduation Thesis B [S Grade] | School of Creative Science and Engineering | 2020 | spring semester |
Graduation Thesis B [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Seminar C | School of Creative Science and Engineering | 2020 | spring semester |
Engineering Practice C | School of Creative Science and Engineering | 2020 | spring semester |
Statics, Kinematics and Dynamics of Mechanisms | School of Creative Science and Engineering | 2020 | fall semester |
Statics, Kinematics and Dynamics of Mechanisms | School of Creative Science and Engineering | 2020 | fall semester |
Statics, Kinematics and Dynamics of Mechanisms [S Grade] | School of Creative Science and Engineering | 2020 | fall semester |
Seminar A | School of Creative Science and Engineering | 2020 | spring semester |
Seminar A | School of Creative Science and Engineering | 2020 | spring semester |
Seminar A | School of Creative Science and Engineering | 2021 | spring semester |
Seminar A | School of Creative Science and Engineering | 2021 | spring semester |
Seminar A [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Practice A | School of Creative Science and Engineering | 2020 | spring semester |
Engineering Practice A | School of Creative Science and Engineering | 2020 | spring semester |
Engineering Practice A | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Practice A | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Practice A [S Grade] | School of Creative Science and Engineering | 2021 | spring semester |
Seminar B | School of Creative Science and Engineering | 2020 | fall semester |
Seminar B | School of Creative Science and Engineering | 2020 | fall semester |
Seminar B | School of Creative Science and Engineering | 2021 | fall semester |
Seminar B | School of Creative Science and Engineering | 2021 | fall semester |
Seminar B [S Grade] | School of Creative Science and Engineering | 2021 | fall semester |
Engineering Practice B | School of Creative Science and Engineering | 2020 | fall semester |
Engineering Practice B | School of Creative Science and Engineering | 2020 | fall semester |
Engineering Practice B | School of Creative Science and Engineering | 2021 | fall semester |
Engineering Practice B | School of Creative Science and Engineering | 2021 | fall semester |
Engineering Practice B [S Grade] | School of Creative Science and Engineering | 2021 | fall semester |
Seminar C | School of Creative Science and Engineering | 2021 | spring semester |
Seminar C | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Practice C | School of Creative Science and Engineering | 2021 | spring semester |
Engineering Practice C | School of Creative Science and Engineering | 2021 | spring semester |
Graduation Thesis Spring | School of Creative Science and Engineering | 2021 | spring semester |
Graduation Thesis Fall | School of Creative Science and Engineering | 2021 | fall semester |
Modeling and Analysis of Dynamic Systems | School of Creative Science and Engineering | 2021 | spring semester |
Modeling and Analysis of Dynamic Systems | School of Creative Science and Engineering | 2021 | spring semester |
Master's Thesis (Department of Modern Mechanical Engineering) | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Advanced Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Advanced Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Creative Science and Engineering | 2021 | full year |
Research on Biorobotics | Graduate School of Creative Science and Engineering | 2021 | full year |
Research on Biorobotics | Graduate School of Advanced Science and Engineering | 2021 | full year |
Research on Biorobotics | Graduate School of Advanced Science and Engineering | 2021 | full year |
Research on Adaptive Robotics | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Adaptive Robotics | Graduate School of Creative Science and Engineering | 2021 | full year |
Research on Adaptive Robotics | Graduate School of Creative Science and Engineering | 2021 | full year |
Advanced Topics in Adaptive Robotics | Graduate School of Creative Science and Engineering | 2020 | spring semester |
Advanced Topics in Adaptive Robotics | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Biorobotics A | Graduate School of Creative Science and Engineering | 2020 | spring semester |
Seminar on Biorobotics A | Graduate School of Creative Science and Engineering | 2020 | spring semester |
Seminar on Biorobotics A | Graduate School of Advanced Science and Engineering | 2020 | spring semester |
Seminar on Biorobotics A | Graduate School of Advanced Science and Engineering | 2020 | spring semester |
Seminar on Biorobotics A | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Biorobotics A | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Biorobotics A | Graduate School of Advanced Science and Engineering | 2021 | spring semester |
Seminar on Biorobotics A | Graduate School of Advanced Science and Engineering | 2021 | spring semester |
Seminar on Biorobotics B | Graduate School of Creative Science and Engineering | 2020 | fall semester |
Seminar on Biorobotics B | Graduate School of Creative Science and Engineering | 2020 | fall semester |
Seminar on Biorobotics B | Graduate School of Advanced Science and Engineering | 2020 | fall semester |
Seminar on Biorobotics B | Graduate School of Advanced Science and Engineering | 2020 | fall semester |
Seminar on Biorobotics B | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Seminar on Biorobotics B | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Seminar on Biorobotics B | Graduate School of Advanced Science and Engineering | 2021 | fall semester |
Seminar on Biorobotics B | Graduate School of Advanced Science and Engineering | 2021 | fall semester |
Seminar on Adaptive Robotics A | Graduate School of Creative Science and Engineering | 2020 | spring semester |
Seminar on Adaptive Robotics A | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Adaptive Robotics A | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Adaptive Robotics B | Graduate School of Creative Science and Engineering | 2020 | fall semester |
Seminar on Adaptive Robotics B | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Seminar on Adaptive Robotics B | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Seminar on Adaptive Robotics C | Graduate School of Creative Science and Engineering | 2020 | spring semester |
Seminar on Adaptive Robotics C | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Adaptive Robotics C | Graduate School of Creative Science and Engineering | 2021 | spring semester |
Seminar on Adaptive Robotics D | Graduate School of Creative Science and Engineering | 2020 | fall semester |
Seminar on Adaptive Robotics D | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Seminar on Adaptive Robotics D | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Master's Thesis (Department of Modern Mechanical Engineering) | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Advanced Science and Engineering | 2020 | full year |
Research on Biorobotics | Graduate School of Creative Science and Engineering | 2021 | full year |
Research on Biorobotics | Graduate School of Advanced Science and Engineering | 2021 | full year |
Research on Adaptive Robotics | Graduate School of Creative Science and Engineering | 2020 | full year |
Research on Adaptive Robotics | Graduate School of Creative Science and Engineering | 2021 | full year |
Methodical Robotics | Graduate School of Creative Science and Engineering | 2020 | fall semester |
Methodical Robotics | Graduate School of Advanced Science and Engineering | 2020 | fall semester |
Methodical Robotics | Graduate School of Creative Science and Engineering | 2021 | fall semester |
Methodical Robotics | Graduate School of Advanced Science and Engineering | 2021 | fall semester |
Master's Thesis (Department of Integrative Bioscience and Biomedical Engineering) | Graduate School of Advanced Science and Engineering | 2020 | full year |
Seminar in the Bioscience and Biomedical Laboratory | Graduate School of Creative Science and Engineering | 2021 | an intensive course(spring) |
Seminar in the Bioscience and Biomedical Laboratory | Graduate School of Advanced Science and Engineering | 2021 | an intensive course(spring) |
Integrative Bioscience and Biomedical Engineering B | Graduate School of Advanced Science and Engineering | 2020 | fall semester |
Integrative Bioscience and Biomedical Engineering B | Graduate School of Advanced Science and Engineering | 2020 | fall semester |
Integrative Bioscience and Biomedical Engineering B | Graduate School of Advanced Science and Engineering | 2021 | fall semester |
Integrative Bioscience and Biomedical Engineering B | Graduate School of Advanced Science and Engineering | 2021 | fall semester |
Master's Thesis (Department of Integrative Bioscience and Biomedical Engineering) | Graduate School of Advanced Science and Engineering | 2020 | full year |
Advanced Medical Engineering of Radiation and Electromagnetic and life Science | Global Education Center | 2020 | summer |