氏名

イシイ ヒロユキ

石井 裕之

職名

准教授(任期付) (https://researchmap.jp/read0206193/)

所属理工学術院

(創造理工学部)

連絡先

メールアドレス

メールアドレス
hiroyuki@aoni.waseda.jp

URL等

研究者番号
10398927

本属以外の学内所属

兼担

理工学術院(大学院創造理工学研究科)

理工学術院(大学院先進理工学研究科)

研究院(研究機関)/附属機関・学校(グローバルエデュケーションセンター)

学内研究所等

医療レギュラトリ―サイエンス研究所

研究所員 2015年-

ライフサポートイノベーション研究所

研究所員 2014年-2014年

ヒューマノイド研究所

研究所員 2015年-

ライフサポートイノベーション研究所

研究所員 2015年-

次世代ロボット研究機構

研究所員 2015年-

ヘルスケアロボティクス研究所

研究所員 2018年-

学際融合脳科学研究所

研究所員 2018年-

理工学術院総合研究所(理工学研究所)

兼任研究員 2018年-

学歴・学位

学歴

2004年04月-2007年03月 早稲田大学 大学院理工学研究科博士後期課程 生命理工学専攻

学位

博士(工学) 課程 早稲田大学 知能機械学・機械システム

経歴

2007年06月-2009年03月早稲田大学先端科学健康・医療融合研究機構
2009年04月-2012年03月早稲田大学グローバル・ロボット・アカデミア
2012年04月-2016年02月早稲田大学理工学研究所次席研究員
2016年03月-早稲田大学創造理工学部准教授

委員歴・役員歴(学外)

2015年10月-2017年09月日本コンピュータ外科学会評議員
2015年04月-2015年12月ICAM2015Social Event Chair
2013年02月-2013年11月IROS2013Associate Editor

受賞

平成30年度文部科学大臣表彰若手科学者賞

2018年04月授与機関:文部科学省

Advanced Robotics Best Paper Award

2015年09月授与機関:日本ロボット学会

タイトル:A novel method to develop an animal model of depression using a small mobile robot

受賞者(グループ):Hiroyuki Ishii, Qing Shi, Shogo Fumino, Shinichiro Konno, Shinichi Kinoshita, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Shigenobu Shibata, Atsuo Takanishi

ICRA2014, Best Cognitive Robotics Paper Award, Finalist

2014年06月授与機関:IEEE Robotics and Automation Society

タイトル:Control of posture and trajectory for a rat-like robot interacting with multiple real rats

受賞者(グループ):Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Shinichi Kinoshita, Atsuo Takanishi, Satoshi Okabayashi, Qiang Huang, Toshio Fukuda

Best research abstracts

2013年06月授与機関:Society in Europe for Simulation Applied to Medicine

タイトル:Novel airway management simulator providing quantitative feedback to trainees

受賞者(グループ):Ishii H., Noh Y., Shoji S., Matsuoka N., Nakae Y., Katayama T., Takanishi A.

日本ロボット学会研究奨励賞

2012年09月授与機関:日本ロボット学会

タイトル:小型移動ロボットを用いた精神疾患モデル動物の開発

受賞者(グループ):石井裕之

CME2012, Best Conference Paper Award

2012年07月授与機関:ICME

タイトル:Development of Airway Management training system WKA-4: Provide useful feedback of trainee performance to trainee during Airway Management

受賞者(グループ):Yohan Noh, Chunbao Wang, Mitsuhiro Tokumoto, Solis Jorge, Hiroyuki Ishii, Atsuo Takanishi, Hatake Kazuyuki, Satoru Shoji

第18回日本コンピュータ外科学会大会講演論文賞

2009年11月授与機関:日本コンピュータ外科学会

タイトル:時間経過による患者の状態変化が再現できる気管挿管訓練用頭部モデルWKA-3の開発

受賞者(グループ):佐藤圭,ノヨハン,下村彰宏,瀬川正尚,石井裕之,ソリスホルヘ,高西淳夫,畠和幸

2008年度優秀業績賞

2008年03月授与機関:早稲田大学先端科学・健康医療融合研究機構

受賞者(グループ):石井裕之

RoBio2007, Best Paper Award

2007年12月授与機関:IEEE

タイトル:Biomechatronic Design and Development of a Legged Rat Robot

受賞者(グループ):F. Patane, V. Mattoli, C. Laschi, B. Mazzolai, P. Dario, H. Ishii, S. Kurisu, A. Koumura, A. Takanishi

研究分野

キーワード

知能機械学・機械システム、ロボティクス

研究シーズ

医療手技訓練用ヒューマノイド

シーズ分野:ものづくり技術

顎顔面マッサージロボット

シーズ分野:ライフサイエンス

論文

Design of four-arm four-crawler disaster response robot OCTOPUS

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)査読有りp.2840 - 28452016年-

DOI

A Novel Approach to Increase the Locomotion Performance of Mobile Robots in Fields With Tall Grasses

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査読有り1(1)p.122 - 1292016年01月-2016年01月 

DOIScopus

詳細

概要:© 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.

Novel method of estimating surface condition for tiny mobile robot to improve locomotion performance

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査読有り2015-Decemberp.6515 - 65202015年12月-2015年12月 

DOIScopus

詳細

ISSN:21530858

概要:© 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.

Angular sway propagation in One Leg Stance and quiet stance with Inertial Measurement Units for older adults

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)査読有りp.6955 - 69582015年08月-2015年08月 

PubMedDOI

Design and Control of a Biomimetic Robotic Rat for Interaction With Laboratory Rats

Shi, Qing;Ishii, Hiroyuki;Sugahara, Yusuke;Takanishi, Atsuo;Huang, Qiang;Fukuda, Toshio

IEEE-ASME TRANSACTIONS ON MECHATRONICS査読有り20(4)p.1832 - 18422015年-2015年

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ISSN:1083-4435

Designing a receptionist robot: Effect of voice and appearance on anthropomorphism

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査読有り2015-Novemberp.235 - 2402015年11月-2015年11月 

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概要:© 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.

"Olá, my name is Ana": A study on Brazilians interacting with 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査読有りp.66 - 712015年10月-2015年10月 

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概要:© 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.

Behavior modulation of rats to a robotic rat in multi-rat interaction

Shi, Qing; Shi, Qing; Ishii, Hiroyuki; Tanaka, Katsuaki; Sugahara, Yusuke; Takanishi, Atsuo; Okabayashi, Satoshi; Huang, Qiang; Fukuda, Toshio

Bioinspiration and Biomimetics査読有り10(5)2015年09月-2015年09月 

DOIScopus

詳細

ISSN:17483182

概要:© 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.

Development of subliminal persuasion system to improve the upper limb posture in laparoscopic training: a preliminary study.

Zhang Di;Sessa Salvatore;Kong Weisheng;Cosentino Sarah;Magistro Daniele;Ishii Hiroyuki;Zecca Massimiliano;Takanishi Atsuo

International journal of computer assisted radiology and surgery査読有り10(11)2015年-2015年

PubMedDOI

詳細

ISSN:1861-6429

概要: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.

Design of operating software and electrical system of mobile robot for environmental monitoring

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)査読有りp.1763 - 17682014年12月-2014年12月 

DOIScopus

Objective skill evaluation of endotracheal intubation using muscle contraction sensor

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)査読有りp.1862 - 18672014年12月-2014年12月 

DOIScopus

Development of state transition model and speech recognition module for training of neurological examination

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)査読有りp.1124 - 11292014年-2014年

DOI

Application of wireless inertial measurement units and EMG sensors for studying deglutition — Preliminary results

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)査読有りp.5381 - 53842014年-

PubMedDOI

Development of new muscle contraction sensor to replace sEMG for using in muscles analysis fields

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)査読有りp.6945 - 69482014年-2014年

DOI

A comparison of the effects of different equipment used for venipuncture to aid in promoting more effective simulation education

C.Fujii, H.Ishii, A.Takanishi,

Journal of Blood Disorders & Transfusion査読有り5(8)2014年-

DOI

Control of posture and trajectory for a rat-like robot interacting with multiple real rats

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)査読有りp.975 - 9802014年06月-2014年06月 

DOI

Objective Skill Evaluation for Laparoscopic Training Based on Motion Analysis

Lin, Zhuohua;Uemura, Munenori;Zecca, Massimiliano;Sessa, Salvatore;Ishii, Hiroyuki;Tomikawa, Morimasa;Hashizume, Makoto;Takanishi, Atsuo

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING査読有り60(4)p.977 - 9852013年-2013年

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ISSN:0018-9294

A Methodology for the Performance Evaluation of Inertial Measurement Units

Sessa, Salvatore;Zecca, Massimiliano;Lin, Zhuohua;Bartolomeo, Luca;Ishii, Hiroyuki;Takanishi, Atsuo

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS査読有り71(2)p.143 - 1572013年-2013年

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ISSN:0921-0296

A novel method to develop an animal model of depression using a small mobile robot

Ishii, Hiroyuki;Shi, Qing;Fumino, Shogo;Konno, Shinichiro;Kinoshita, Shinichi;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi;Tahara, Yu;Shibata, Shigenobu;Takanishi, Atsuo

ADVANCED ROBOTICS査読有り27(1)p.61 - 692013年-2013年

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ISSN:0169-1864

Development of an objective endoscopic surgical skill assessment system for pediatric surgeons: suture ligature model of the crura of the diaphragm in infant fundoplication

Ieiri, Satoshi;Ishii, Hiroyuki;Souzaki, Ryota;Uemura, Munenori;Tomikawa, Morimasa;Matsuoka, Noriyuki;Takanishi, Atsuo;Hashizume, Makoto;Taguchi, Tomoaki

PEDIATRIC SURGERY INTERNATIONAL査読有り29(5)p.501 - 5042013年-2013年

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ISSN:0179-0358

Safe venepuncture techniques using a vacuum tube system

Fujii, Chieko;Ishii, Hiroyuki;Takanishi, Atsuo

INTERNATIONAL JOURNAL OF NURSING PRACTICE査読有り19p.11 - 192013年-2013年

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ISSN:1322-7114

A rat-like robot for interacting with real rats

Shi, Qing;Ishii, Hiroyuki;Kinoshita, Shinichi;Konno, Shinichiro;Takanishi, Atsuo;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi

ROBOTICA査読有り31p.1337 - 13502013年-2013年

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ISSN:0263-5747

Modulation of rat behaviour by using a rat-like robot

Shi, Qing;Ishii, Hiroyuki;Kinoshita, Shinichi;Takanishi, Atsuo;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi;Shibata, Shigenobu

BIOINSPIRATION & BIOMIMETICS査読有り8(4)2013年-2013年

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ISSN:1748-3182

Stress exposure using small mobile robot both in immature and mature period induces mental disorder in rat

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査読有りp.587 - 5922012年10月-2012年10月 

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ISSN:21551774

概要: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.

Image processing and behavior planning for robot-rat interaction

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年-2012年

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Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit

Bartolomeo, Luca;Lin, Zhuohua;Sessa, Salvatore;Zecca, Massimiliano;Ishii, Hiroyuki;Takanishi, Atsuo

INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS査読有り39(1-4)p.779 - 7852012年-2012年

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ISSN:1383-5416

気道管理訓練用ヒューマノイドWKA-4の開発 : 気道確保困難症例再現機能を有するハードウェアの設計・製作

石井 裕之;海老原 一樹;瀬川 正尚;ノ ヨハン;佐藤 圭;高西 淳夫;庄司 聡;畠 和幸

日本ロボット学会誌査読有り30(1)p.91 - 982012年01月-2012年01月 

CiNii

詳細

ISSN:02891824

概要: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.

Synthesis of a New [6]-Gingerol Analogue and Its Protective Effect with Respect to the Development of Metabolic Syndrome in Mice Fed a High-Fat Diet

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査読有り54(18)p.6295 - 63042011年-2011年

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ISSN:0022-2623

A robot-rat interaction experimental system based on the rat-inspired mobile robot WR-4

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査読有りp.402 - 4072011年12月-2011年12月 

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概要: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.

Development of a robot which can simulate swallowing of food boluses with various properties for the study of rehabilitation of swallowing disorders

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)査読有りp.4676 - 46812011年-2011年

DOI

Surface EMG and heartbeat analysis preliminary results in surgical training: dry boxes and live tissue.

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.査読有り20112011年-2011年

DOI

詳細

ISSN:1557-170X

概要::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.

Development of a 3D simulation which can provide better understanding of trainee's performance of the task using airway management training system WKA-1RII

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)査読有りp.2635 - 26402011年-2011年

DOI

Development of a Hybrid Wheel-Legged Mobile Robot WR-3 Designed for the Behavior Analysis of Rats

Shi, Qing;Ishii, Hiroyuki;Miyagishima, Shunsuke;Konno, Shinichiro;Fumino, Shogo;Takanishi, Atsuo;Okabayashi, Satoshi;Iida, Naritoshi;Kimura, Hiroshi

ADVANCED ROBOTICS査読有り25(18)p.2255 - 22722011年-2011年

DOIWoS

詳細

ISSN:0169-1864

Development of the wireless ultra-miniaturized inertial measurement unit WB-4: preliminary performance evaluation.

Lin Zhuohua;Zecca Massimiliano;Sessa Salvatore;Bartolomeo Luca;Ishii Hiroyuki;Takanishi Atsuo

33rd Annual International Conference of the IEEE EMBS査読有り20112011年-2011年

PubMedDOI

詳細

ISSN:1557-170X

概要::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.

Development of a novel quadruped mobile robot for behavior analysis of rats

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査読有りp.3073 - 30782010年12月-2010年12月 

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概要: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.

Development of the hybrid wheel-legged mobile robot WR-3 designed to interact with rats

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 2010p.887 - 8922010年12月-2010年12月 

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詳細

概要: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.

Development of a cognition system for analyzing rat's behaviors

Shi, Qing; Miyagishima, Shunsyuke; Fumino, Shogo; Konno, Shinichiro; Ishii, Hiroyuki; Takanishi, Atsuo

2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010査読有りp.1399 - 14042010年12月-2010年12月 

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詳細

概要: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.

Path generator control system and virtual compliance calculator for maxillofacial massage robots

Ishii, Hiroyuki;Koga, Hiroki;Obokawa, Yuichi;Solis, Jorge;Takanishi, Atsuo;Katsumata, Akitoshi

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY査読有り5(1)p.77 - 842010年-2010年

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ISSN:1861-6410

Development of the miniaturized wireless inertial measurement unit WB-4: Pilot test for mastication analysis

Lin, Z., Zecca, M., Sessa, S., Bartolomeo, L., Ishii, H., Itoh, K., Takanishi, A.

Proceedings of 2010 IEEE/SICE International Symposium on System Integration査読有りp.420 - 4252010年-2010年

DOIScopus

Development of an ultra-miniaturized inertial measurement unit WB-3 for human body motion tracking

Lin, Z., Zecca, M., Sessa, S., Bartolomeo, L., Ishii, H., Itoh, K., Takanishi, A.

Proceedings of 2010 IEEE/SICE International Symposium on System Integration査読有りp.414 - 4192010年-2010年

DOIScopus

Development of an Ultra-Miniaturized Inertial Measurement Unit for Jaw Movement Analysis during Free Chewing

Z.Lin, M.Zecca, S.Sessa, H.Ishii, A.Takanishi

Journal of Computer Science査読有り6(8)p.896 - 9032010年-

DOI

Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

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査読有り5(4)p.317 - 3252010年-

PubMedDOI

Development of experimental setup to create novel mental disorder model rats using small mobile robot

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)査読有りp.3905 - 39102010年-2010年

DOIScopus

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

H.Ishii, H.Koga, Y.Obokawa, J.Solis, A.Takanishi, A.Katsumata

International Journal of Robotics Research査読有り28(9)p.1228 - 12392009年-

DOIWoS

An oral rehabilitation robot for massaging the masseter and temporal muscles: a preliminary report

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査読有り25p.53 - 592009年-2009年

DOIWoS

Design and development of biomimetic quadruped robot for behavior studies of rats and mice

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)査読有りp.7192 - 71952009年-2009年

DOI

Development of the evaluation system for the airway management training system WKA-1R

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)査読有りp.574 - 5792008年-

DOIScopus

WKA-1R Robot assisted quantitative assessment of airway management

Noh Y., Segawa M., Shimomura A., Ishii H., Solis J., Hatake K., Takanishi A.

International Journal of Computer Assisted Radiology and Surgery査読有り3(6)p.543 - 5502008年-2008年

DOIWoS

Towards understanding the suture/ligature skills during the training process using WKS-2RII

Solis J., Oshima N., Ishii H., Matsuoka N., Hatake K., Takanishi A.

International Journal of Computer Assisted Radiology and Surgery査読有り3(3-4)p.231 - 2392008年-2008年

DOIWoS

Development of autonomous experimental setup for behavior analysis of rats

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)査読有りp.4152 - 41572007年-2007年

DOIScopus

Experimental study on task teaching to real rats through interaction with a robotic rat

Ishii, H., Ogura, M., Kurisu, S., Komura, A.,Takanishi, A., Iida, N., Kimura, H.

Lecture Notes in Computer Science査読有り4095p.643 - 6542006年-2006年

ScopusWoS

生体計測システムWB-3を用いた腹腔鏡手術技能の客観的評価

鈴木 悠人;迎田 美和;林 〓華;バルトロメオ ルカ;伊藤 加寿子;石井 裕之;セッサ サルバトーレ;ゼッカ マッシミリアーノ;植村 宗則;富川 盛雅;大平 猛;田上 和夫;家入 里志;小西 晃造;橋爪 誠;高西 淳夫

Journal of Japan Society of Computer Aided Surgery : J.JSCAS12(3)p.226 - 2272010年11月-2010年11月 

CiNii

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ISSN:13449486

シミュレータを用いた腹腔鏡下縫合手技の評価に関する研究

石井 裕之;植村 宗則;富川 盛雅;橋爪 誠;高西 淳夫

Journal of Japan Society of Computer Aided Surgery : J.JSCAS12(3)p.292 - 2932010年11月-2010年11月 

CiNii

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ISSN:13449486

咬合採得用付加型シリコーン印象材の咬合接触検査への応用と留意点

佐久間 重光;森 隆司;石井 裕之;安藤 清文;浅野 惇太;石黒 とも子;尾関 万里奈;大塚 文与;池田 大恵;服部 豪之;高西 淳夫;伊藤 裕

愛知学院大学歯学会誌 = The Aichi-Gakuin journal of dental science48(4)p.383 - 3882010年12月-2010年12月 

CiNii

詳細

ISSN:00446912

顎運動を定量的に計測可能な小型センサの製作

迎田 美和;鈴木 悠人;林 ゾウ華;セッサ サルバトーレ;バルトロメオ ルカ;石井 裕之;ゼッカ マッシミリアーノ;高西 淳夫

日本咀嚼学会雑誌 : 咀嚼と健康 = Journal of Japanese Society for Masticatory Science and Health Promotion20(2)p.138 - 1392010年11月-2010年11月 

CiNii

詳細

ISSN:09178090

効果的な内視鏡外科手術トレーニングのためのメタ認知の重要性と定量的縫合技術シミュレータの開発

富川 盛雅;植村 宗則;石井 裕之;松岡 紀之;長尾 吉泰;大内田 研宙;赤星 朋比古;家入 里志;大平 猛;高西 淳夫;橋爪 誠

Journal of Japan Society of Computer Aided Surgery : J.JSCAS13(3)p.214 - 2152011年11月-2011年11月 

CiNii

詳細

ISSN:13449486

小児内視鏡外科手術における客観的技術評価システム開発 : 乳児腹腔鏡下噴門形成術における食道裂孔縫縮モデル

家入 里志;石井 裕之;宗崎 良太;富川 盛雅;松岡 紀之;高西 淳夫;橋爪 誠;田口 智章

Journal of Japan Society of Computer Aided Surgery : J.JSCAS13(3)p.216 - 2172011年11月-2011年11月 

CiNii

詳細

ISSN:13449486

気道管理訓練用ヒューマノイドWKA-5における気道確保困難症例の再現と評価

奥山 勲;ノヨ ハン;王 春宝;海老原 一樹;徳本 光宏;千原 照永;松岡 優典;石井 裕之;高西 淳夫;庄司 聡;中江 悠介;松岡 紀之;畠 和幸

Journal of Japan Society of Computer Aided Surgery : J.JSCAS13(3)p.224 - 2252011年11月-2011年11月 

CiNii

詳細

ISSN:13449486

単孔式手術における3Dドームモニターの有用性の検討

長尾 吉泰;植村 宗則;剣持 一;吉田 正樹;堀 淳一;石井 裕之;家入 里志;大内田 研宙;富川 盛雅;橋爪 誠

Journal of Japan Society of Computer Aided Surgery : J.JSCAS13(3)p.244 - 2452011年11月-2011年11月 

CiNii

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ISSN:13449486

インテリジェント腹腔鏡手術トレーニングシステムの開発 : 第一報 : 臓器の動作を再現可能なマニピュレータの設計・製作

石井 裕之;植村 宗則;松岡 優典;千原 照永;木下 新一;徳本 光弘;追塩 拓也;富川 盛雅;橋爪 誠;高西 淳夫

Journal of Japan Society of Computer Aided Surgery : J.JSCAS13(3)p.376 - 3772011年11月-2011年11月 

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ISSN:13449486

インテリジェント腹腔鏡手術トレーニングシステムの開発 : (第2報)-臓器モデルの動作がタスクの難易度に及ぼす影響の検討-

石井 裕之;木下 新一;家入 里志;植村 宗則;富川 盛雅;橋爪 誠;高西 淳夫

Journal of Japan Society of Computer Aided Surgery : J.JSCAS14(3)p.200 - 2012012年10月-2012年10月 

CiNii

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ISSN:13449486

小児内視鏡外科手術における客観的技術評価システム開発の試み(第2報) : 噴門形成術における呼吸性移動モデル

家入 里志;石井 裕之;宗崎 良太;富川 盛雅;松岡 紀之;高西 淳夫;橋爪 誠;田口 智章

Journal of Japan Society of Computer Aided Surgery : J.JSCAS14(3)p.274 - 2752012年10月-2012年10月 

CiNii

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ISSN:13449486

大腸内視鏡トレーニングシミュレータでの手技評価に関する研究

石井 裕之;植村 宗則;長尾 吉泰;赤星 明比古;神代 竜一;富川 盛雅;橋爪 誠;高西 淳夫

Journal of Japan Society of Computer Aided Surgery : J.JSCAS14(3)p.334 - 3352012年10月-2012年10月 

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ISSN:13449486

SF-043-1 より安全な内視鏡外科医療を構築するために : 認知心理学的知見に基づく効果的トレーニング法の開発(SF-043 サージカルフォーラム(43)外科教育,第111回日本外科学会定期学術集会)

富川 盛雅;植村 宗則;石井 裕之;長尾 吉泰;堤 敬文;大内田 研宙;赤星 朋比古;家入 里志;大平 猛;高西 淳夫;橋爪 誠

日本外科学会雑誌112(1)2011年05月-2011年05月 

CiNii

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ISSN:03014894

SF-016-6 小児内視鏡外科手術における客観的技術評価システム開発(SF-016 サージカルフォーラム(16)小児 臨床,第112回日本外科学会定期学術集会)

宗崎 良太;家入 里志;石井 裕之;富川 盛雅;松岡 紀之;高西 淳夫;橋爪 誠;田口 智章

日本外科学会雑誌113(2)2012年03月-2012年03月 

CiNii

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ISSN:03014894

SF-017-2 3Dモニターの効果および加圧センサーの結果から見た単孔式手術の修練法(SF-017 サージカルフォーラム(17)外科教育,第112回日本外科学会定期学術集会)

長尾 吉泰;植村 宗則;石井 裕之;吉田 正樹;堀 淳一;堤 敬文;家入 里志;大内田 研宙;富川 盛雅;前原 喜彦;橋爪 誠

日本外科学会雑誌113(2)2012年03月-2012年03月 

CiNii

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ISSN:03014894

P2-43 医療手技訓練における定量的評価提示に関する検討 : シミュレータを用いた縫合手技訓練を対象として(ポスター発表II)

石井 裕之;高西 敦夫;岡林 誠士;飯田 成敏;木村 裕

日本行動分析学会年次大会プログラム・発表論文集(29)2011年09月-2011年09月 

CiNii

Shape visualization method of flexible colonoscopy using non visual sensor network for monitoring of operation

Lee, Jaewoo; Ishii, Hyroyuki; Takanishi, Atsuo

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBSp.524 - 5272011年12月-2011年12月 

DOIScopus

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ISSN:1557170X

概要: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.

Non visual sensor based shape perception method for gait control of flexible colonoscopy robot

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 2011p.577 - 5822011年12月-2011年12月 

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概要: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.

Analysis of the colon by the biodynamic model and application to the colonoscope robot design

Lee, Jaewoo; Kenya, Ukawa; Doho, Shuno; Ishii, Hiroyuki; Takanishi, Atsuo; Takanishi, Atsuo

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011p.1844 - 18492011年12月-2011年12月 

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概要: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.

Simulation model which can visualize the shape of the colonoscope using orientation sensor network

Lee, Jaewoo; Ukawa, Genya; Doho, Shuna; Lin, Zuohua; Ishii, Hiroyuki; Takanishi, Atsuo

Proceedings of the 6th IASTED International Conference on Biomechanics, BioMech 2011p.29 - 362011年12月-2011年12月 

DOIScopus

詳細

概要: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.

Motion evaluation of a modified multi-link robotic rat

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 Systems2017-Septemberp.2397 - 24022017年12月-2017年12月 

DOIScopus

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ISSN:21530858

概要:© 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.

Development of a Self-Propelled Actively Bendable Colonoscope Robot with a "Party Horn" Propulsion Mechanism

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 : abstracts2015(6)p.68 - 692015年12月-2015年12月 

CiNii

詳細

ISSN:13488961

概要: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.

Development of Battery Charging System Using Wireless Power Transmission for Outdoor Mobile Robots

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 : abstracts2015(6)p.110 - 1112015年12月-2015年12月 

CiNii

詳細

ISSN:13488961

概要: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.

A Study on Effects of Outer Shape of Mobile Robot on Locomotive Performance in Grass Field

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 : abstracts2015(6)p.161 - 1622015年12月-2015年12月 

CiNii

詳細

ISSN:13488961

概要: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.

Development of a 5-DoF Arm Robot for Neurological Examination Training

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 : abstracts2015(6)p.219 - 2202015年12月-2015年12月 

CiNii

詳細

ISSN:13488961

概要: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.

Development of experimental setup to create novel mental disorder model rats using small mobile robot

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 Proceedingsp.3905 - 39102010年12月-2010年12月 

DOIScopus

詳細

概要: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.

Design of four-arm four-crawler disaster response robot OCTOPUS

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 Automation2016-Junep.2840 - 28452016年06月-2016年06月 

DOIScopus

詳細

ISSN:10504729

概要:© 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.

A Novel Approach to Increase the Locomotion Performance of Mobile Robots in Fields With Tall Grasses

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 Letters1(1)p.122 - 1292016年01月-2016年01月 

DOIScopus

詳細

概要:© 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.

Is hugging a robot weird? Investigating the influence of robot appearance on users' perception of hugging

Trovato, Gabriele; Do, Martin; Terlemez, Ömer; Mandery, Christian; Ishii, Hiroyuki; Bianchi-Berthouze, Nadia; Asfour, Tamim; Takanishi, Atsuo

IEEE-RAS International Conference on Humanoid Robotsp.318 - 3232016年12月-2016年12月 

DOIScopus

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ISSN:21640572

概要:© 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.

Novel extendable arm structure using convex tapes for improving strength of pipe on tiny mobile robots

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 2016p.637 - 6422017年02月-2017年02月 

DOIScopus

詳細

概要:© 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.

A receptionist robot for Brazilian people: Study on interaction involving illiterates

Trovato, Gabriele; Ramos, Josue G.; Azevedo, Helio; Moroni, Artemis; Magossi, Silvia; Simmons, Reid; Ishii, Hiroyuki; Takanishi, Atsuo

Paladyn8(1)p.1 - 172017年04月-2017年04月 

DOIScopus

詳細

概要:© 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.

Hardware and control design considerations for a monitoring system of autonomous mobile robots in extreme environment

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, AIMp.1412 - 14172017年08月-2017年08月 

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概要:© 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.

A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors

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 2017p.1503 - 15082017年08月-2017年08月 

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概要:© 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.

Development of automatic teeth cleaning robot driven by cam mechanism

Sakaeda, Gen; Matsubara, Takanobu; Ishii, Hiroyuki; Takanishi, Atsuo

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017p.536 - 5402017年08月-2017年08月 

DOIScopus

詳細

概要:© 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.

Development of in-pipe robot with extension hose and balloons

Nomura, Koki; Sato, Mamoru; Takeuchi, Hiromi; Minoru, Konno; Ryoichi, Toriumi; Ishii, Hiroyuki; Takanishi, Atsuo

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017p.1481 - 14862017年08月-2017年08月 

DOIScopus

詳細

概要:© 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.

A novel one-dimensional electronic state at IrTe2Surface

Ootsuki, Daiki; Ishii, Hiroyuki; Kudo, Kazutaka; Nohara, Minoru; Takahashi, Masaya; Horio, Masafumi; Fujimori, Atsushi; Yoshida, Teppei; Arita, Masashi; Anzai, Hiroaki; Namatame, Hirofumi; Taniguchi, Masaki; Taniguchi, Masaki; Saini, Naurang L.; Mizokawa, Takashi

Journal of the Physical Society of Japan86(12)2017年12月-2017年12月 

DOIScopus

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ISSN:00319015

概要:© 2017 The Physical Society of Japan. Highly one-dimensional (1D) Fermi sheets are realized at the surface of a layered Ir telluride IrTe 2 which exhibits a stripe-type charge and orbital order below ∼280 K. The 1D Fermi sheets appear in the low temperature range where the stripe order is well established. The 1D Fermi sheets are truncated by the bulk Fermi surfaces, and the spectral weight suppression at the Fermi level deviates from the typical Tomonaga–Luttinger behavior. The 1D band runs along the stripe and is accompanied by several branches which can be derived from the quantization in the perpendicular direction.

講演・口頭発表等

評価型シミュレータによる学習・教育支援ソフトウェアの開発

石井裕之

第46 回日本医学教育学会大会産学連携セミナー(日本医学教育学会)招待有り2014年07月

詳細

国内会議セミナー開催地:和歌山

Innovation in Skills Evaluation and Development: "physical" simulators with quantitative evaluation

Hiroyuki Ishii

Annual Meeting of SESAM 2014(Society in Europe for Simulation Applied to Medicine)招待有り2014年06月

詳細

国際会議シンポジウム・ワークショップ パネル(指名)開催地:Poznan

Challenge to Sensor Technology: Can Sensors Verify Trainee's Skill?

Hiroyuki Ishii

2014 Annual Meeting of Society of Simulation in Healthcare(Society of Simulation in Healthcare)招待有り2014年01月

詳細

国際会議シンポジウム・ワークショップ パネル(指名)開催地:San Francisco

自己学習から試験まで幅広い手技教育場面に対応した気道管理シミュレータ

石井裕之

第45 回日本医学教育学会大会産学連携セミナー(日本医学教育学会)招待有り2013年07月

詳細

国内会議セミナー開催地:千葉

Airway Management Simulator with Quantitative Feedback

Hiroyuki Ishii

Annual Meeting of SESAM 2013(Society in Europe for Simulation Applied to Medicine)招待有り2013年06月

詳細

国際会議シンポジウム・ワークショップ パネル(指名)開催地:Paris

手技評価と挿管困難症例の再現が可能な気道管理シミュレータ

石井裕之

第44 回日本医学教育学会大会ランチョンセミナー(日本医学教育学会)招待有り2012年07月

詳細

国内会議セミナー開催地:神奈川

手技評価機能を備えた医学教育シミュレータに関する研究

石井裕之

第42 回日本医学教育学会大会ランチョンセミナー(日本医学教育学会)招待有り2010年07月

詳細

国内会議セミナー開催地:東京

手技評価が可能な医学教育シミュレータの開発

石井裕之

第41 回日本医学教育学会大会ランチョンセミナー(日本医学教育学会)招待有り2009年07月

詳細

国内会議セミナー開催地:大阪

ラットと小型移動ロボットのインタラクションに関する研究

石井裕之

第24回日本疾患モデル学会総会(日本疾患モデル学会)招待有り2007年09月

詳細

国内会議シンポジウム・ワークショップ パネル(指名)開催地:茨城

ラットとラット形ロボットを用いた生物とロボットの共生に関する研究

石井裕之

関西実験動物研究会第92回研究会(関西実験動物研究会)招待有り2006年12月

詳細

国内会議口頭発表(招待・特別)開催地:京都

特許

整理番号: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

特願2004-267599、特開2006- 82155

整理番号: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

特願2008- 61956、特開2009-217082、特許第4932768号

整理番号:813

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

特願2008- 85233、特開2009-236799

整理番号: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

特願2008- 87291、特開2009-240353、特許第5119473号

整理番号: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, ソリス ホルヘ, 石井 裕之, 下村 彰宏, 瀬川 正尚, 佐藤 圭

特願2008-254328、特開2010- 85687、特許第5038276号

整理番号: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

特願2008-249374、特開2010- 75571、特許第5234458号

整理番号: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

特願2009- 54311、特開2010-210294、特許第5212944号

整理番号: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

特願2011-265348、特開2013-117452、特許第5923813号

整理番号: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)

高西 淳夫, 石井 裕之, 山北 高之, 追塩 拓也, 松永 健太朗

特願2012-202088、特開2014- 55575

整理番号: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

特願2012-195915、特開2014- 52480

整理番号: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

特願2014-178642、特開2016- 53606

整理番号: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

特願2008-537441、特許第5083776号

整理番号: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, 勝又 明敏, 臼田 雄一, 古賀 裕樹, 松野 昌生, 小椋 優, 石井 裕之, ソリス ホルヘ

特願2008-537442、特許第5097907号

外部研究資金

科学研究費採択状況

研究種別:挑戦的萌芽研究

気管チューブカフ管理を提言できる新規システムの構築

2011年-2012年

研究分野:麻酔・蘇生学

配分額:¥3900000

研究種別:若手研究(B)

精神疾患研究のためのロボットを用いた疾患モデル実験系の開発

2009年-2010年

研究分野:知能機械学・機械システム

配分額:¥4420000

研究種別:若手研究(B)

小型姿勢センサモジュールの開発と手術手技訓練システムの構築

2008年-2010年

研究分野:医用生体工学・生体材料学

配分額:¥4290000

研究種別:若手研究(B)

ラットとの共生を目指したロボットの行動モデルの開発

2005年-2007年

研究分野:知覚情報処理・知能ロボティクス

配分額:¥3500000

研究種別:基盤研究(C)

ロボット技術を用いた動物の「遊び」行動のモデル化

2015年-2017年

研究分野:知能ロボティクス

配分額:¥4680000

研究種別:基盤研究(C)

生体に適用可能な超音波ビジュアルサーボの開発とその集束超音波治療への応用

2013年-2015年

研究分野:医用システム

配分額:¥4940000

研究種別:若手研究(B)

ロボティクスとベクトル解析を融合させた新たな向精神薬スクリーニング系の構築

2012年-2013年

研究分野:知能機械学・機械システム

配分額:¥4420000

研究種別:基盤研究(S)

人間共存型ロボットの能動的な働きかけによる人間協調技術の研究

2013年05月-2018年03月

研究分野:知能ロボティクス

学内研究制度

特定課題研究

自律移動型ロボットを用いたログデータ回収システムの開発

2017年度共同研究者:高西淳夫

研究成果概要: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...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.

『ラットと小型ロボットによるインスタラクション実験を通した人間-機械協調系の基礎モデルの構築』

2016年度

研究成果概要: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...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.

ボール形ロボットの開発を通したインタラクション指向型人工物の身体デザインの研究

2017年度共同研究者:水村優治郎, 石橋啓太郎, 山田壮一

研究成果概要: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...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.

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