最終更新日2017年02月01日

氏名

イシイ ヒロユキ

石井 裕之

職名

准教授(任期付)

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

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-

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

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 

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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

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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 

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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

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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 

DOIScopus

詳細

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 

DOIScopus

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 

DOIScopus

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

DOIWoS

詳細

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

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

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

『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.

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