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Dynamics and Tribology of Soft Tissues in Tactile Perception

Research Project

Project/Area Number 15H02230
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

Hirai Shinichi  立命館大学, 理工学部, 教授 (90212167)

Co-Investigator(Kenkyū-buntansha) 野間 春生  立命館大学, 情報理工学部, 教授 (00374108)
田中 弘美  立命館大学, 情報理工学部, 教授 (10268154)
王 忠奎  立命館大学, 理工学部, 助教 (50609873)
森川 茂廣  滋賀医科大学, 神経難病研究センター, 客員教授 (60220042)
井上 貴浩  岡山県立大学, 情報工学部, 准教授 (60453205)
三谷 篤史  札幌市立大学, デザイン学部, 准教授 (70388148)
Project Period (FY) 2015-04-01 – 2018-03-31
Project Status Completed (Fiscal Year 2017)
Budget Amount *help
¥44,200,000 (Direct Cost: ¥34,000,000、Indirect Cost: ¥10,200,000)
Fiscal Year 2017: ¥10,270,000 (Direct Cost: ¥7,900,000、Indirect Cost: ¥2,370,000)
Fiscal Year 2016: ¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2015: ¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Keywords触覚 / 滑り覚 / モデリング / 力学モデル / ソフトフィンガー / ソフトハンド / センシング / 曲げ変形 / ソフトグリッパー / 変形形状 / 触覚センサ / 柔軟指 / 有限要素モデル / ダイナミクス / ダイナミックシミュレーション / ソフトメカニクス / 触知覚 / トライボロジー / 軟組織 / 初期滑り
Outline of Final Research Achievements

The purpose of this research is to understand the dynamic process of human tactile perception, through which humans recognize object properties, and to develop soft tactile sensing devices. We conducted research on dynamic modeling of fingertip, mechanical analysis of fingertip slippage, soft finger fabrication using a three-dimensional printer, sensing in soft fingers, and slippage sensing using wrinkle structure. Through modeling and dynamics simulation of fingertips, we found that acceleration is effective in slippage detection. Soft hand consisting of soft fingers was prototyped to perform object grasping and manipulation. We showed the possibility of slip detection by measuring bending deformation of soft fingers and proposed slip detection using wrinkle structure.

Report

(4 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Annual Research Report
  • 2015 Annual Research Report
  • Research Products

    (55 results)

All 2017 2016 2015 Other

All Journal Article (11 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 10 results,  Open Access: 3 results,  Acknowledgement Compliant: 1 results) Presentation (43 results) (of which Int'l Joint Research: 28 results,  Invited: 1 results) Remarks (1 results)

  • [Journal Article] A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling2017

    • Author(s)
      Wang Zhongkui、Torigoe Yuuki、Hirai Shinichi
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 2 Issue: 4 Pages: 1909-1916

    • DOI

      10.1109/lra.2017.2714141

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Wrin’Tac: Tactile Sensing System With Wrinkle's Morphological Change2017

    • Author(s)
      Ho Van Anh、Yamashita Hideyasu、Wang Zhongkui、Hirai Shinichi、Shibuya Koji
    • Journal Title

      IEEE Transactions on Industrial Informatics

      Volume: 13 Issue: 5 Pages: 2496-2506

    • DOI

      10.1109/tii.2017.2718660

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Comparison of different soft grippers for lunch box packaging2017

    • Author(s)
      Wang Zhongkui、Zhu Mingzhu、Kawamura Sadao、Hirai Shinichi
    • Journal Title

      Robotics and Biomimetics

      Volume: 4 Issue: 1 Pages: 1-9

    • DOI

      10.1186/s40638-017-0067-1

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Grasping state estimation of printable soft gripper using electro-conductive yarn2017

    • Author(s)
      Matsuno Takahiro、Wang Zhongkui、Hirai Shinichi
    • Journal Title

      Robotics and Biomimetics

      Volume: 4 Issue: 1 Pages: 1-11

    • DOI

      10.1186/s40638-017-0072-4

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Electromotive Manipulator Control by Detection of Proximity, Contact and Slipping Using MEMS Multi-axial Tactile Sensor2017

    • Author(s)
      荒木 凌馬、安部 隆、野間 春生、寒川 雅之
    • Journal Title

      IEEJ Transactions on Sensors and Micromachines

      Volume: 137 Issue: 7 Pages: 212-217

    • DOI

      10.1541/ieejsmas.137.212

    • NAID

      130006832176

    • ISSN
      1341-8939, 1347-5525
    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Measurement Techniques with Frequency-Modulated Probe Light for Proximity and Tactile Combo Sensor2017

    • Author(s)
      梅木 尚、野沢 瑛斗、奥山 雅則、野間 春生、安部 隆、寒川 雅之
    • Journal Title

      IEEJ Transactions on Sensors and Micromachines

      Volume: 137 Issue: 5 Pages: 146-150

    • DOI

      10.1541/ieejsmas.137.146

    • NAID

      130005631771

    • ISSN
      1341-8939, 1347-5525
    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Soft Gripper Dynamics Using a Line-Segment Model with an Optimization-Based Parameter Identification Method2017

    • Author(s)
      Zhongkui Wang and Shinichi Hirai
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 2(2) Issue: 2 Pages: 624-634

    • DOI

      10.1109/lra.2017.2650149

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Texture Characterization Including Warm/Cool Sensation using Force-, Light-, and Temperature-Sensitive Microelectromechanical Systems Sensor2017

    • Author(s)
      Fumiya Sato, Kenta Takahashi, Takashi Abe, Masanori Okuyama, Haruo Noma, Masayuki Sohgawa
    • Journal Title

      Sensors and Materials

      Volume: 29(3) Pages: 311

    • DOI

      10.18494/SAM.2017.1443

    • ISSN
      0914-4935, 2435-0869
    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Magnetic and Mechanical Modelling of a Soft Three-Axis Force Sensor2016

    • Author(s)
      Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai
    • Journal Title

      IEEE Sensors Journal

      Volume: 16(13) Issue: 13 Pages: 5298-5307

    • DOI

      10.1109/jsen.2016.2550605

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] オンラインメッシュ型回転抽出と変形計算による共回転系変形シミュレーションの高速化2016

    • Author(s)
      田川 和義, 山田 隆洋, 田中 弘美
    • Journal Title

      電子情報通信学会論文誌

      Volume: J99-D Pages: 959-968

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 多様なVR 術野構築のための漿膜・結合組織の半自動生成手法2015

    • Author(s)
      田川 和義,近江 奈帆子,田中 弘美,小森 優,来見 良誠,森川 茂廣
    • Journal Title

      電子情報通信学会技術研究報告

      Volume: 115(25) Pages: 35-39

    • Related Report
      2015 Annual Research Report
  • [Presentation] Morphological Computation in Tactile Sensing: The Role of Wrinkle2017

    • Author(s)
      Van Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, and Koji Shibuya
    • Organizer
      2017 IEEE Int. Conf. on Robotics and Automation (ICRA 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Soft Gripper Dynamics Using a Line-Segment Model with Optimization-Based Parameter Identification Method2017

    • Author(s)
      Zhongkui Wang and Shinichi Hirai
    • Organizer
      2017 IEEE Int. Conf. on Robotics and Automation (ICRA 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] An Indentation-type Instrument for Measuring Soft Tissue Elasticity2017

    • Author(s)
      Zhongkui Wang, Kosuke Kadoma, and Shinichi Hirai
    • Organizer
      Int. Conf. on Innovation in Medicine and Healthcare (KES-InMed-17)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Real-time Curvature Estimation of Printable Soft Gripper using Electro-conductive Yarn2017

    • Author(s)
      Takahiro Matsuno, Zhongkui Wang, and Shinichi Hirai
    • Organizer
      2017 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Fabrication and Performance Comparison of Different Soft Pneumatic Actuators for Lunch Box Packaging2017

    • Author(s)
      Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura, and Shinichi Hirai
    • Organizer
      2017 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling2017

    • Author(s)
      Zhongkui Wang and Shinichi Hirai
    • Organizer
      2017 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Deformation Estimation of a Plate Spring Using Asymmetric and Symmetric Conductive Patterns2017

    • Author(s)
      Takahiro Matsuno and Shinichi Hirai
    • Organizer
      2017 IEEE/SICE Int. Symp. on System Integration
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 静電容量式力センサを有するロボットハンドによる把持2017

    • Author(s)
      山田 寛大, 平井 慎一
    • Organizer
      ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Annual Research Report
  • [Presentation] 力学データに基づく口腔ケアの訓練・評価システムの開発に向けた歪ゲージを用いた歯列モデルの作製2017

    • Author(s)
      森川 茂廣, 王 忠奎, 平井 慎一
    • Organizer
      第5回看護理工学会学術集会
    • Related Report
      2017 Annual Research Report
  • [Presentation] Soft Robotics for Locomotion and Manipulation2017

    • Author(s)
      Shinichi Hirai
    • Organizer
      17th Int. Conf. on Control, Automation and Systems (ICCAS 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Development of artificial haptic model for human tactile sense using machine learning2017

    • Author(s)
      Hikaru Shimoe, Kohei Matsumura, Haruo Noma, Masayuki Sohgawa, and Masanori Okuyama
    • Organizer
      2017 IEEE Sensors
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Texture measurement for fabrics including warm/cool and fluffiness sensation by multimodal MEMS sensor2017

    • Author(s)
      Fumiya Sato, Takahashi Abe, Haruo Noma, and Masayuki Sohgawa
    • Organizer
      Transducers 2017
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Gripping control of delicate and flexible object by electromotive manipulator with proximity and tactile combo MEMS sensor2017

    • Author(s)
      Ryouma Araki, Takahashi Abe, Haruo Noma, and Masayuki Sohgawa
    • Organizer
      Transducers 2017
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 小型電動マニピュレータによる柔軟物把持センサのための近接・接触・滑り検知触覚センサ2017

    • Author(s)
      菅史 賢, 荒木 凌馬, 安部 隆, 寒川 雅之, 野間 春生
    • Organizer
      第34回「センサ・マイクロマシンと応用システム」シンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] 繊細な把持制御に向けた近接触覚複合マイクロカンチレバーセンサの小型化・多素子化2017

    • Author(s)
      荒木 凌馬, 安部 隆, 野間 春生, 寒川 雅之
    • Organizer
      第8回マイクロ・ナノ工学シンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] 柔軟物把持制御のための近接触覚複合MEMSセンサの出力評価2017

    • Author(s)
      菅 史賢, 荒木 凌馬, 安部 隆, 野間 春生, 寒川 雅之
    • Organizer
      ロボティクス・メカトロニクス講演会2017
    • Related Report
      2017 Annual Research Report
  • [Presentation] 骨盤底サポート下着開発のための殿部軟組織の軟らかさ評価2017

    • Author(s)
      田原 大輔, 西木 友浩, 熊本 真大, 二宮 早苗, 岡山久代, 内藤 紀代子, 森川 茂廣
    • Organizer
      第5回看護理工学会学術集会
    • Related Report
      2017 Annual Research Report
  • [Presentation] 受動要素を備えた丸ベルト捩り機構の2指による把持物姿勢操り制御2017

    • Author(s)
      岡本 造, 井上 貴浩, 平井 慎一
    • Organizer
      計測自動制御学会SI部門講演会
    • Related Report
      2017 Annual Research Report
  • [Presentation] A 3D Printed Soft Gripper Integrated with Curvature Sensor for Studying Soft Grasping2016

    • Author(s)
      Zhongkui Wang and Shinichi Hirai
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      札幌コンベンションセンター (北海道・札幌市)
    • Year and Date
      2016-12-14
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Function-Selectable Tactile Sensing System with Morphological Change2016

    • Author(s)
      Van Anh Ho, Hideyasu Yamashita, Koji Shibuya, Zhongkui Wang, Shinichi Hirai, Junya Nagase, and Kazuyoshi Tsutsumi
    • Organizer
      IEEE/SICE International Symposium on System Integration
    • Place of Presentation
      札幌コンベンションセンター (北海道・札幌市)
    • Year and Date
      2016-12-14
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 3D Printed Soft Gripper for Automatic Lunch Box Packing2016

    • Author(s)
      Zhongkui Wang, Damith Suresh Chathuranga, Shinichi Hirai
    • Organizer
      IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      青島 (中国)
    • Year and Date
      2016-12-04
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Evaluation Method of Fabrics by Visual and Tactile Texture Information Using MEMS Combo Sensor2016

    • Author(s)
      Kenta Takahashi, Masanori Okuyama, Haruo Noma, Takashi Abe, Masayuki Sohgawa
    • Organizer
      IEEE Sensors 2016
    • Place of Presentation
      オーランド (米国)
    • Year and Date
      2016-11-01
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A 3D Printed Soft Gripper and Its Application for Lunch Box Packaging2016

    • Author(s)
      Zhongkui Wang and Shinichi Hirai
    • Organizer
      CEMS Topical Meeting on Soft Robotics
    • Place of Presentation
      理化学研究所 創発物性科学研究センター (埼玉県・和光市)
    • Year and Date
      2016-10-27
    • Related Report
      2016 Annual Research Report
  • [Presentation] Soft Robotics for Object Manipulation2016

    • Author(s)
      Shinichi Hirai, Wang Zhongkui, and Ho Anh Van
    • Organizer
      CEMS Topical Meeting on Soft Robotics
    • Place of Presentation
      理化学研究所 創発物性科学研究センター (埼玉県・和光市)
    • Year and Date
      2016-10-27
    • Related Report
      2016 Annual Research Report
  • [Presentation] A Soft Three Axis Force Sensor Useful for Robot Grippers2016

    • Author(s)
      Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, Shinichi Hirai
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon (韓国)
    • Year and Date
      2016-10-13
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Force Control on Antagonistic Twist-drive Actuator Robot2016

    • Author(s)
      Takahiro Inoue, Ryuichi Miyata, Shinichi Hirai
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon (韓国)
    • Year and Date
      2016-10-12
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Fabric Interface with Proximity and Tactile Sensation for Human-Robot Interaction2016

    • Author(s)
      Van Anh Ho, Shinichi Hirai, and Koki Naraki
    • Organizer
      IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Daejeon (韓国)
    • Year and Date
      2016-10-11
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 力覚的対話操作が可能なレオロジー物体の粒子ベース大変形シミュレーション2016

    • Author(s)
      山内 博貴, 田川 和義, 広田 光一, 田中 弘美
    • Organizer
      第21回日本バーチャルリアリティ学会大会
    • Place of Presentation
      つくば国際会議場 (茨城県・つくば市)
    • Year and Date
      2016-09-14
    • Related Report
      2016 Annual Research Report
  • [Presentation] ホール素子を用いた柔軟指内蔵力覚センサ2016

    • Author(s)
      Chathuranga Damith Suresh, 平井 慎一
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形大学 小白川キャンパス (山形県・山形市)
    • Year and Date
      2016-09-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] Texture Characterization Including Warm/cool Sensation by Force, Light, and Temperature Sensitive MEMS Sensor2016

    • Author(s)
      Fumiya Sato, Kenta Takahashi, Takashi Abe, Masanori Okuyama, Haruo Noma, Masayuki Sohgawa
    • Organizer
      The 8th Asia-Pacific Conference of Transducers and Micro/Nano Technologies
    • Place of Presentation
      金沢市文化ホール (石川県・金沢市)
    • Year and Date
      2016-06-27
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon2016

    • Author(s)
      Van Ho, Hisayoshi Honda, and Shinichi Hirai
    • Organizer
      IEEE Int. Conf. on Robotics and Automation
    • Place of Presentation
      ストックホルム (スウェーデン)
    • Year and Date
      2016-05-18
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] オンラインリメッシュ型有限要素法変形計算のための最適な行列保持法の選定2015

    • Author(s)
      栗木 涼,田川 和義,田中 弘美
    • Organizer
      日本VR学会 第16回力触覚の提示と計算研究会
    • Place of Presentation
      立命館大学(滋賀県草津市)
    • Year and Date
      2015-11-25
    • Related Report
      2015 Annual Research Report
  • [Presentation] 多関節アームへの衝撃的荷重の負荷と解放時の振動抑制手法2015

    • Author(s)
      井上 貴浩,平井 慎一
    • Organizer
      第58回自動制御連合講演会
    • Place of Presentation
      神戸大学(兵庫県神戸市)
    • Year and Date
      2015-11-15
    • Related Report
      2015 Annual Research Report
  • [Presentation] Robust Real Time Material Classification Algorithm Using Soft Three Axis Tactile Sensor: Evaluation of the Algorithm2015

    • Author(s)
      Damith Suresh Chathuranga Katudampe Vithanage, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai
    • Organizer
      2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Hamburg (Germany)
    • Year and Date
      2015-09-30
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Robotic Joint Design by Agonist and Antagonist Arrangement with Twisting Small-diameter Round-belts2015

    • Author(s)
      Takahiro Inoue, Sizuka Yamamoto, Ryuichi Miyata, and Shinichi Hirai
    • Organizer
      2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
    • Place of Presentation
      Hamburg (Germany)
    • Year and Date
      2015-09-29
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Study on Corotated Deformation Model for Simulating Soft Tissue in Large Deformation2015

    • Author(s)
      Kazuyoshi Tagawa, Takahiro Yamada, Hiromi T. Tanaka
    • Organizer
      Innovation in Medicine and Healthcare 2015
    • Place of Presentation
      立命館大学(京都府京都市)
    • Year and Date
      2015-09-11
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Study on the Human Perception of Incipient and Overall Slippages Using A 2D FE Fingertip Model2015

    • Author(s)
      Wang Zhongkui, Damith Suresh Chathuranga Katudampe Vithanage, and Shinichi Hirai
    • Organizer
      The 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society
    • Place of Presentation
      Milano (Italy)
    • Year and Date
      2015-08-28
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Disposable Soft 3 Axis Force Sensor for Biomedical Applications2015

    • Author(s)
      Damith Suresh Chathuranga Katudampe Vithanage, Wang Zhongkui, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai
    • Organizer
      Int. Conf. of the IEEE Engineering in Medicine and Biology Society
    • Place of Presentation
      Milano (Italy)
    • Year and Date
      2015-08-28
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A motorized manipulator with hybrid MR and US image navigation system to assist needle insertion2015

    • Author(s)
      Morikawa S, Yamada A, Naka S, Murakami K, Tani T, Tokuda J.
    • Organizer
      The 11th Asian Conference on Computer Aided Surgery
    • Place of Presentation
      Singapore (Singapore)
    • Year and Date
      2015-07-10
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Study on Fingertip Slippage using FE Model for Developing Human-Like Tactile Sensor2015

    • Author(s)
      Zhongkui Wang, Damith Suresh Chathuranga, and Shinichi Hirai
    • Organizer
      2015 Int. Conf. on Real-time Computing and Robotics
    • Place of Presentation
      Changsha (China)
    • Year and Date
      2015-06-25
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 高磁場MR装置を用いたMR画像・超音波画像併用穿刺支援ロボットシステム2015

    • Author(s)
      森川 茂廣,山田 篤史,仲 成幸,村上 耕一郎,谷 徹
    • Organizer
      第15回日本術中画像情報学会
    • Place of Presentation
      東京サイエンスセンター(神奈川県川崎市)
    • Year and Date
      2015-06-20
    • Related Report
      2015 Annual Research Report
  • [Presentation] An Anthropomorphic Tactile Sensor System with its Applications in Dexterous Manipulations2015

    • Author(s)
      Damith Suresh Chathuranga, Zhongkui Wang, and Shinichi Hirai
    • Organizer
      5th Annual IEEE Int. Conf. on CYBER Technology in Automation, Control, and Intelligent Systems
    • Place of Presentation
      Shenyang (China)
    • Year and Date
      2015-06-10
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Soft 3D Tactile Sensor for Artificial Fingertips - Design, Fabrication and Testing of the Sensor -2015

    • Author(s)
      Damith Suresh Chathuranga and Shinichi Hirai
    • Organizer
      ロボティクス・メカトロニクス講演会2015
    • Place of Presentation
      みやこめっせ(京都府京都市)
    • Year and Date
      2015-05-19
    • Related Report
      2015 Annual Research Report
  • [Remarks] 触知覚センシングにおける軟組織のダイナミクス・トライボロジー

    • URL

      http://www.ritsumei.ac.jp/~hirai/project/GASR2015-j.html

    • Related Report
      2017 Annual Research Report 2016 Annual Research Report 2015 Annual Research Report

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Published: 2015-04-16   Modified: 2019-03-29  

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