TANAKA, Eiichiro

Official Title



(Graduate School of Information, Production, and Systems)


Affiliated Institutes


運営委員 2018-2018


兼任研究員 2018-


3304 Conceptual descriptions of receiver states for sharing knowledge in learning service design

MURAMATSU Keiichi;KIMITA Koji;ISHII Takatoshi;NEMOTO Yutaro;TANAKA Eiichirou;WATANUKI Keiichi;MATSUI Tatsunori;SHIMOMURA Yoshiki

2015(25) p."3304 - 1"-"3304-6"2015/09-2015/09




Outline:Recently, view point of service has been widespread. In learning domains, service providers have been required to adopt it and to provide values co-created by teachers and learners. The value co-creation takes place in joint sphere where providers and customers make interaction, and the value is subjectively perceived by receivers (learners in learning service). That is, a mental state of leaner is one of possible value in the co-creation. The current study aims to develop a conceptual framework which describes mental states of learners for specifying values in the co-creation. As a result, we proposed ontological descriptions of learning event which consists of a teacher, a learner, learning materials, and a learning action by the learner. In concrete terms, we proposed ontological descriptions for receiver states in a learning activity, on the basis of a conceptual model of value co-creation. The ontological descriptions are useful for sharing knowledge on values perceived by learners to design learning services.


NARAZAKI Jin;IKEJO Kiyotaka;NAGAMURA Kazuteru;TANAKA Eiichiro;SEYAMA Natsuhiko

The Proceedings of the JSME international conference on motion and power transmissions 2017(0) p.5 - 52017-2017




Wear on tooth surface of gears occurs while gear pair transmits a power and a rotation. The progression of the wear gradually degrade the performance for the change in the tooth profile. Especially, the edge contact provides a large wear to the tooth surface. A tooth profile modification is widely used to prevent the edge contact. However, there is few researches about the effect of tooth profile modification to the surface wear. In this study, we investigated the effect of tooth profile modification on the tooth wear of involute spur gear in the cyclic wear test with two types of gears. Furthermore, we developed a computer program to predict the amount of the wear on the tooth surface considering the edge contact for the spur gear. The method is based on two types of wear equations. One is Soda's theory under lubricated condition, and the other is derived from the ploughing wear model. We compered the calculated result with experimental data, and discussed the effect of the tooth profile modification on the tooth wear.



The Proceedings of the JSME international conference on motion and power transmissions 2017(0) p.12 - 22017-2017




A walking assistance apparatus using a torque limiter was developed. We used the servo motor for hobby, it is relatively small, light weight, and included not only a motor and transmission gear, but also a driver and encoder. At first, we controlled the device using angle control method, according to the walking phase along to the mean data of able bodied people while walking. However, when the user stops walking suddenly or walk on outdoor various roads, the final gear was broken frequently. Because the gear was designed to break easily, to defend the motor from the inverse inputting overload torque. Then we developed a torque limiter mechanism in the final gear. This is a traction drive sandwiched a soft material plate between two circular disk. We carried out the experiment to measure the limit torques of eight kinds of the rubber material. In this paper, the results of the experiment were shown.



The Proceedings of the JSME international conference on motion and power transmissions 2017(0) p.12 - 12017-2017




We developed small type of a standing up device for the elderly. We have developed standing up devices; caster walker type and bed wheel chair type. They assist standing up motion, backed on following two conditions. 1) the trajectory of center of gravity of the user is round shape, 2) the trajectory of the hip joint of the user while standing up is straight line. These conditions were found from the data of able bodied elderly people, and the feature of their standing up conditions is to lean forward the upper body. By using these devices, the load of the knee joint decrease, and the user can learn how to stand up easily. However, these devices are bulky and usable scenes are limited. Then we developed small type, which can be used on various chairs. This type assists from sitting posture to the middle phase while standing up. The mechanism is constituted with links and a gas spring, instead of a motor. It is light weight, low cost, and small to be able to attach to the back of a chair. From the calculation, by using this new type, the output torques of the knee and ankle joints decreased.

Experimental study on color preference and visual fatigue against LED lighting

Muramatsu, Keiichi; Kaede, Kazunori; Tanaka, Eiichiro; Watanuki, Keiichi

Advances in Intelligent Systems and Computing 585p.78 - 852018/01-2018/01




Outline:© Springer International Publishing AG 2018. In recent times, light-emitting diode (LED) lighting has been widespread in offices and manufacturing buildings, but for assembly operation in manufacturing situations, it has not yet been explored. In this study, we measure color preference and visual fatigue to evaluate LED task lighting for assembly operation. We conducted an experiment to obtain subjective responses to color preference and to measure visual fatigue under LED lighting. The participants were asked to assemble a gearbox model as a task under three different lighting conditions. As a result, lighting with high color temperature was rated with high visibility, fatigability, and low preference. On the other hand, critical fusion frequency, which indicates visual fatigue, was higher in lighting with low color temperature than in lighting with other conditions. This indicates that color preference as a subjective response discords from visual fatigue evaluated by biological information.

Affective computing using clustering method for mapping human's emotion

Zhang, Z.; Tanaka, E.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM p.235 - 2402017/08-2017/08



Outline:© 2017 IEEE. In this study, we proposed a method which could be used for mapping people's emotion state on the two-dimensional arousal-valence model of effect. The final target of our research is to apply this kind of emotional recognition system to robots or some assistant apparatus which service activities of daily living (ADL). Since in our previous studies, we have finished the work of recognizing people's emotion state on the dimension of arousal by evaluating subjects' heartbeat and LF/HF, which is calculated from the frequency domain analysis of HRV, as the second step's work, we focused on how to recognize people's emotion state on valence dimension. To be specific, we used some kinds of normative affective stimuluses to elicit subjects' emotional change, then collected multiple physiological data during this emotional stimulation process. Finally, as for data analyzing, we didn't use the supervised learning method, like SVM, but made a new attempt to apply the unsupervised clustering method to sample data, dividing the data set into several natural clusters by analyzing the physiological features we abstracted. The calculated results of our experiment have verified the feasibility of mapping human's emotion state on the two-dimensional arousal-valence model of effect at a quadrant level.

User-friendly walking assistance device able to walk on stairs safely

Zhang, Y.; Tanaka, E.; Lee, H.; Saegusa, S.; Yuge, L.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM p.839 - 8442017/08-2017/08



Outline:© 2017 IEEE. A novel control method for the walking assistance device using predefined walking trajectory used to walk for the elderly or the patients with weak leg muscle on stairs from plain more safely and naturally is proposed in this paper. Two control method, torque control and impedance control, used per their usage purpose are introduced, and the later one is focused in this paper. To make sure the use of safety, two situations, putting swing leg in front of stair too close or too far, while a user wearing assistance climbing up on the stairs through even ground is considered. If the user faces these situations walking with the apparatus using impedance control, falling or collision between apparatus and stair are happened more easily than level walking because of lots of environment facts need to be considered like the distance between user and stairs. One of the most important environment facts is recognizing of the stairs, therefore, to prevent the user from the danger in each situation, ultrasonic sensor is used as a safety system to keep space, and we called safety distance, between foot part of walking device and stair. The value of safety distance is not only defined as a switch to change the walking trajectory between the plain mode and the stair mode but also used to decide the ideal stride of trajectory while walking to stairs from even ground. Finally, the result of walking experiment shows that the safety walking experience by wearing our walking assistance device can be achieved.

Development and evaluation of an assistive apparatus with pantograph mechanism for standing-up motion of elderly

Liao, Yun Ting; Muramatsu, Keiichi; Watanuki, Keiichi; Tanaka, Eiichiro

Journal of Advanced Mechanical Design, Systems and Manufacturing 11(6) 2017/11-2017/11



Outline:© 2017 The Japan Society of Mechanical Engineers. Due to the growing elderly population in many developed countries like Japan, assistive devices are increasingly needed to overcome the difficulties of their activities of daily living (ADL). The motion of standing up places a particular burden on the ankle and knee joints and connects static motions (e.g., sitting and lying) and kinetic motions (e.g., walking and climbing up/down the stairs). In our previous research, two types of standing-up assistance apparatuses were introduced according to the suitable standing-up motions. However, these devices are bulky and cannot be widely used in practical settings such as bus terminals. Regarding the suitable standing-up motions of the elderly in the previous literature, a standing-up apparatus with a pantograph mechanism is introduced to diminish the size of the mechanism based on three design principles: (1) the trajectory of the user's COG is an arc; (2) the trajectory of the user's hip joint while standing up is a straight line at an angle of 45 [deg] from the horizon; and (3) the user is supported until the knee angle reaches 60 [deg] . Simulations showed that the load on knee and ankle joint is decreased, and user may stand up easily with our proposed apparatus. A prototype of the apparatus that may be installed on various chairs in public was fabricated. Considering that the apparatus may be used in places without electric power supply, the apparatus is made simply with links and a gas spring instead of electric actuators. Experimental measurements of the trajectories of the center of gravity (COG) and hip joints show that the proposed apparatus may help users to stand in a way that minimizes stress on their lower-body joints.

Development of a torque limiter for the gear of an assistive walking device

Zhuang, Jyun Rong; Nagayoshi, Hayato; Kondo, Hirotoshi; Muramatsu, Keiichi; Watanuki, Keiichi; Tanaka, Eiichiro

Journal of Advanced Mechanical Design, Systems and Manufacturing 11(6) 2017/11-2017/11



Outline:© 2017 The Japan Society of Mechanical Engineers. Wearable assistive devices have been receiving considerable attention in academic circles. To make these devices efficient, we need additional research on the service lives of the mechanical elements used in these devices. The wearers of these devices frequently encounter unexpected movements that lead to motor failure in the devices. The purpose of this study is to develop an overload protection mechanism using a torque limiter, which can eliminate the overload torque delivered in the reverse direction to effectively prevent the device from breaking and ensure the safety of the user. To improve the service life of assistive walking devices, we designed a sandwich mechanism for the final gear of the servo motor. We made the material from rubber and configured it between a pair of circular plates. The surface tractive force delivered the required torque. When the surface load exceeded the maximum friction force, the circular plates slipped and protected the device. In this paper, we implement a torque limiter and prove its durability by performing experiments using two circular plate designs, one with grooves type and another without grooves type. We also use various materials to assess the applicability of the assistive walking device. The findings indicate that the with grooves type gives better torque performance; it achieves the same rated torque as the servo motor. Thus, this study recommends that with grooves type is particularly suitable for the elderly who require high assistive power. On the other hand, without grooves type is suitable for users who employ the device for extended periods because this type has an excellent service life. Our experiment proves that the torque limiter that we developed can withstand the load torque over 300 times for situations involving the loss of balance such as stumbling and slipping. Finally, we experimentally validate the improvement of walking performance by using this torque limiter.


Moriwaki, Ichiro; Fujii, Masahiro; Hirogaki, Toshiki; Iwatsuki, Nobuyuki; Koide, Takao; Kurokawa, Syuhei; Tanaka, Eiichiro; Tozaki, Yasuyoshi

Journal of Advanced Mechanical Design, Systems and Manufacturing 11(6) 2017/11-2017/11


Walking assistance according to the emotion

Tanaka, Eiichiro; Yuge, Louis

Emotional Engineering: Understanding Motivation 6p.141 - 1522017/11-2017/11



Outline:© Springer International Publishing AG 2018. A walking assistance device for apoplexy patients has been developed. We developed a walking assistance device RE-Gait®, which assists the motion of the ankle joint while walking. The motor is controlled according to the walking phase grasped with the pressure sensors under the sole. It is already utilized as a product, for the gait training by so many hemiplegic patients. By using the technology of RE-Gait®, a new device for the able-bodied elderly to promote exercise was also developed. This is RE-Gait®Light, which is lower cost, very light, and easy to move. We proposed a new control method for this device, which is automatically tuned according to the condition of the emotion of the user. In this chapter, the evaluation results using this method are introduced.

Research Grants & Projects

Grant-in-aids for Scientific Research Adoption Situation

Research Classification:

Study of the specification of the micro miniature drive mechanism for wearable human motion assistance device


Allocation Class:¥3770000

Research Classification:

Development of walking assisted robot based on Neuroscience


Allocation Class:¥3900000

Research Classification:

Development of a Whole Body Motion Support Type Mobile Suit and Verification of the Method of Mobile Neuro-Rehabilitation

Allocation Class:¥4160000

On-campus Research System

Special Research Project


2018Collaborator:Jyun-Rong Zhuang

Research Results Outline:歩行時の人間の感情をリアルタイムに評価し,その結果に基づいて歩行補助機の目標値を自動的に調整するシステムを構築する.感情は快-不快と覚醒-睡眠の2軸に歩行時の人間の感情をリアルタイムに評価し,その結果に基づいて歩行補助機の目標値を自動的に調整するシステムを構築する.感情は快-不快と覚醒-睡眠の2軸による2次元で表すことができ,人間の生体信号,脳波,表情筋,心拍の分析値を用いて機械学習によりアンケ...歩行時の人間の感情をリアルタイムに評価し,その結果に基づいて歩行補助機の目標値を自動的に調整するシステムを構築する.感情は快-不快と覚醒-睡眠の2軸による2次元で表すことができ,人間の生体信号,脳波,表情筋,心拍の分析値を用いて機械学習によりアンケート結果との比較を行い評価精度を検証した.その結果,およそ80%程度の正答率で評価できることを確認した.一方,歩行状態は,歩行率と歩幅の2次元にて表すことができ,そこで,目標の歩行率と歩幅を変化させたときの感情変化を確認する実験を行い,その変化傾向を把握することができた.また,トルクリミッターを歩行補助機に装着した.



Research Results Outline:ゴムを引き伸ばしたときの反力を用いてパッシブな動作補助スーツを開発した.特に,持ち上げ動作を補助するための構造として,ベルトが上腕から肩越しに背中に抜ゴムを引き伸ばしたときの反力を用いてパッシブな動作補助スーツを開発した.特に,持ち上げ動作を補助するための構造として,ベルトが上腕から肩越しに背中に抜け,大腿部裏から膝頭に,そして足裏まで連結される構造とした.本スーツ使用により,持ち上げ動作時の上...ゴムを引き伸ばしたときの反力を用いてパッシブな動作補助スーツを開発した.特に,持ち上げ動作を補助するための構造として,ベルトが上腕から肩越しに背中に抜け,大腿部裏から膝頭に,そして足裏まで連結される構造とした.本スーツ使用により,持ち上げ動作時の上腕二頭筋および脊柱起立筋の筋活動の最大値が3-5割程度軽減することを確認した.さらに,持ち上げる対象の違いによってゴムベルトの硬さを調節できるよう,磁気粘弾性ゴムファイバーを試作した.本材料に磁力を加えることによりある程度の伸び率まではばね定数が増大するが,上限を超えると磁力を加えないときの値と等しくなることを確認した.



Research Results Outline:人間の感情は,覚醒-睡眠と快-不快の2軸で表した2次元で表すことができるが,アンケートをとらずに生体信号のみで評価可能な方法を検討した.快-不快に影響人間の感情は,覚醒-睡眠と快-不快の2軸で表した2次元で表すことができるが,アンケートをとらずに生体信号のみで評価可能な方法を検討した.快-不快に影響されやすいとする顔面の表情筋の筋電位,覚醒-睡眠に影響されやすいとする心拍(LF/HF),2軸の両...人間の感情は,覚醒-睡眠と快-不快の2軸で表した2次元で表すことができるが,アンケートをとらずに生体信号のみで評価可能な方法を検討した.快-不快に影響されやすいとする顔面の表情筋の筋電位,覚醒-睡眠に影響されやすいとする心拍(LF/HF),2軸の両方に影響する脳波を総合的に評価した.上記2次元マップを9つのエリアに分解し,アンケート結果との整合性を確認したところ,およそ80%の精度で推定することができた.本手法を用いることにより,ヒューマンマシンインターフェイスとしての活用が可能となった.



Research Results Outline:高齢者の運動促進,歩容改善を目的として,着衣内に装着可能な超小型歩行補助機を開発した.超小型モータを用い,足裏の感圧センサの情報に応じて足関節を補助す高齢者の運動促進,歩容改善を目的として,着衣内に装着可能な超小型歩行補助機を開発した.超小型モータを用い,足裏の感圧センサの情報に応じて足関節を補助する.また,歩行中の使用者の感情を,様々な人体計測データをクラスタリングすることにより,快不快,覚醒...高齢者の運動促進,歩容改善を目的として,着衣内に装着可能な超小型歩行補助機を開発した.超小型モータを用い,足裏の感圧センサの情報に応じて足関節を補助する.また,歩行中の使用者の感情を,様々な人体計測データをクラスタリングすることにより,快不快,覚醒睡眠の二次元で評価する方法を提案した.さらに,評価結果に基づいて歩行補助機の目標パラメータを調整した実験を行った結果,使用者の状態に応じて,運動促進もしくは維持を補助できることを確認した.以上より,本システムの活用により,心のメンタル補助,技のスキル補助,体の運動補助を統合し効率的な補助を実現する可能性を示唆した.



Research Results Outline:健常高齢者向けに歩行促進する歩行補助機を開発した.本装置を屋外で様々な動作にも対応するには,突発的動作が発生したときの駆動部への逆入力を防ぎ,問題動作健常高齢者向けに歩行促進する歩行補助機を開発した.本装置を屋外で様々な動作にも対応するには,突発的動作が発生したときの駆動部への逆入力を防ぎ,問題動作後に即座に連結が回復するトルクリミッタを組み込むことが重要である.しかしながらこのトルクリミッタを...健常高齢者向けに歩行促進する歩行補助機を開発した.本装置を屋外で様々な動作にも対応するには,突発的動作が発生したときの駆動部への逆入力を防ぎ,問題動作後に即座に連結が回復するトルクリミッタを組み込むことが重要である.しかしながらこのトルクリミッタを出力軸に追加すると外装が拡大することから,歯車内に本機構を組み込む構造を提案した.試作機を製作し,組み込まれた歯車の押し付け量に応じてリミットトルクを調整できることを確認し,また,歩行補助機使用中に急停止すると本機能が作動することを確認した.

Lecture Course

Course TitleSchoolYearTerm
Kinematics of MachineryGraduate School of Information, Production and Systems2019spring semester
Laboratory Works on Production SystemsGraduate School of Information, Production and Systems2019fall semester
Mechanical System Design Research (Spring)Graduate School of Information, Production and Systems2019spring semester
Mechanical System Design Research (Fall)Graduate School of Information, Production and Systems2019fall semester
Mechanical System DesignGraduate School of Information, Production and Systems2019fall semester
Design of Machine ElementsGraduate School of Information, Production and Systems2019fall semester
Dynamics of MachineryGraduate School of Information, Production and Systems2019spring semester
Mechanical System Design BGraduate School of Information, Production and Systems2019spring semester
Mechanical System Design CGraduate School of Information, Production and Systems2019spring semester
Mechanical System Design AGraduate School of Information, Production and Systems2019fall semester
Mechanical System Design DGraduate School of Information, Production and Systems2019fall semester
Mechanical System Design Research (Spring)Graduate School of Information, Production and Systems2019spring semester
Mechanical System Design Research (Fall)Graduate School of Information, Production and Systems2019fall semester