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Development of a hardwired synergy robot hand based on the human hand synergy

Research Project

Project/Area Number 19K14941
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionThe University of Electro-Communications

Principal Investigator

Togo Shunta  電気通信大学, 大学院情報理工学研究科, 准教授 (30751523)

Project Period (FY) 2019-04-01 – 2022-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2021: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2020: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Keywordsロボットハンド / ハンドシナジー / ソフトハンド / ソフトフィンガー / 人体模倣 / ワイヤ牽引 / 劣駆動 / 人間化ロボティクス / 主成分分析 / ワイヤ牽引機構 / 干渉機構 / ソフトロボット / 機構設計
Outline of Research at the Start

本研究では,ヒトの手指運動の基底であるハンドシナジーを機構として実装し,少数のアクチュエータで多様な手指運動を実現できるハードワイヤード・シナジーロボットハンドを開発する.ハンドシナジーとは、様々な手指姿勢のキネマティクスを次元削減して得られる基底であり,それらの線形和で元の手指姿勢を再構成する.提案ロボットは,単一のアクチュエータ出力を複数の関節に分配する機構とそれらの分配力の線形和を実現する機構から成る.我々の予備解析の結果に基づき,最終的に31種類の手指姿勢を3個のアクチュエータで生成することを目標とする.最終的には,複数アクチュエータ出力の分配・合成を自在にする機構の開発を目標とする.

Outline of Final Research Achievements

The objective of this study was to develop a robotic hand that can realize various hand motions with a small number of actuators, based on a mechanical representation of the hand synergy, which is the basis of human hand motions. As a result of developing a wire traction and underactuated robot hand, it was found that stable grasping of an object and intelligent hand control are difficult with the underactuated form. In order to improve the grasping ability of the robot hand, we developed a soft finger that mimics the human body structure. Experimental results showed that the asymmetry shape of the distal phalanx and the interaction between the hard fingernail and the soft finger pulp improved the precision grasping ability. We also developed an unlimited rotary wire winding mechanism that can exert high traction force by pressing the wire against a narrow shaft with a drum.

Academic Significance and Societal Importance of the Research Achievements

本研究で明らかとなった,ヒト指の構造が精密把持の能力を向上させることは,人体の筋骨格構造そのものが何かしらの機能的役割を持つことを示唆し,大きな学術的意義がある.特に,柔らかい指と物体との相互作用は,様々な物理現象が生じるため,シミュレーションよりも,着目する構造の一部のみを変更した2つのロボットを比較することで,その役割を実験的に明らかにすることができる.この人体模倣ロボットに基づいた,ヒトの身体の機能的役割を解明するアプローチは,さらに多くの身体部位に適用可能である.また,開発したワイヤ無限巻取り機構は,様々なアクチュエータに取り付けることができるため,非常に広範な応用が期待できる.

Report

(4 results)
  • 2021 Annual Research Report   Final Research Report ( PDF )
  • 2020 Research-status Report
  • 2019 Research-status Report
  • Research Products

    (55 results)

All 2022 2021 2020 2019 Other

All Journal Article (14 results) (of which Int'l Joint Research: 2 results,  Peer Reviewed: 12 results,  Open Access: 8 results) Presentation (37 results) (of which Int'l Joint Research: 12 results) Remarks (1 results) Patent(Industrial Property Rights) (3 results)

  • [Journal Article] Learning data correction for myoelectric hand based on “survival of the fittest"2021

    • Author(s)
      Yusuke Yamanoi, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Journal Title

      Cyborg and Bionic Systems

      Volume: 2021 Pages: 1-12

    • DOI

      10.34133/2021/9875814

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Asymmetric shape of distal phalanx of human finger improves precision grasping2021

    • Author(s)
      Kumagai Ayane、Obata Yoshinobu、Yabuki Yoshiko、Jiang Yinlai、Yokoi Hiroshi、Togo Shunta
    • Journal Title

      Scientific Reports

      Volume: 11 Issue: 1 Pages: 10402-10402

    • DOI

      10.1038/s41598-021-89791-3

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Development of a Two-Layered Elastic Glove for Dynamic Stable Grasping of Powered Prosthetic Hand2021

    • Author(s)
      小畑承経, 熊谷あやね, 矢吹佳子,東郷俊太, 姜銀来, 横井浩史
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 39 Issue: 8 Pages: 744-750

    • DOI

      10.7210/jrsj.39.744

    • NAID

      130008107279

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Semi-automated control system for reaching movements in EMG shoulder disarticulation prosthesis based on mixed reality device2021

    • Author(s)
      Shunta Togo, Kazuaki Matsumoto, Susumu Kimizuka, Yilai Jiang, and Hiroshi Yokoi
    • Journal Title

      IEEE Open Journal of Engineering in Medicine and Biology

      Volume: 2 Pages: 55-64

    • DOI

      10.1109/ojemb.2021.3058036

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-of-Freedom Coupled Tendon-driven Joint Module2021

    • Author(s)
      Wenyang Li, Yiwei Wang, Shunta Togo, Hiroshi Yokoi,and Yinlai Jiang
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 6 Issue: 2 Pages: 1105-1111

    • DOI

      10.1109/lra.2021.3056376

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] Joint Angle Based Motor Point Tracking Stimulation for Surface FES: A Study on Biceps Brachii2021

    • Author(s)
      Kento Ichikawa, Yinlai Jiang, Masao Sugi, Shunta Togo, Hiroshi Yokoi
    • Journal Title

      Medical Engineering & Physics

      Volume: 88 Pages: 9-18

    • DOI

      10.1016/j.medengphy.2020.11.014

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Modularization of 2- and 3-DoF Coupled Tendon-Driven Joints2021

    • Author(s)
      Wenyang Li, Peng Chen, Dianchun Bai, Xiaoxiao Zhu, Shunta Togo, Hiroshi Yokoi
    • Journal Title

      IEEE Transactions on Robotics

      Volume: 37 Issue: 3 Pages: 1-13

    • DOI

      10.1109/tro.2020.3038687

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Development of a shoulder disarticulation prosthesis system intuitively controlled with the trunk surface electromyogram2020

    • Author(s)
      Susumu Kimizuka, Yohei Tanaka, Shunta Togo, Yinlai Jiang, Hiroshi Yokoi
    • Journal Title

      Frontiers in Neurorobotics

      Volume: 14 Pages: 74-74

    • DOI

      10.3389/fnbot.2020.542033

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Modularized Coupled Tendon-Driven Humanoid Robot Arm2020

    • Author(s)
      姜銀来,李文揚, 陳鵬,東郷俊太, 横井浩史
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 38 Issue: 7 Pages: 657-666

    • DOI

      10.7210/jrsj.38.657

    • NAID

      130007897136

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] 筋電義手の社会実装研究2020

    • Author(s)
      東郷 俊太,横井 浩史,姜 銀来,矢吹 佳子,村井 雄太,山野井 佑介
    • Journal Title

      日本ロボット学会誌

      Volume: 38 Pages: 127-130

    • NAID

      130007809770

    • Related Report
      2019 Research-status Report
  • [Journal Article] 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発2019

    • Author(s)
      君塚 進,日吉 祐太郎,叶 鶴松,田中 洋平,東郷 俊太,姜 銀来,横井 浩史
    • Journal Title

      バイオメカニズム学会誌

      Volume: 43 Pages: 248-255

    • NAID

      130007740719

    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] Development of an sEMG sensor composed of two-layered conductive silicone with different carbon concentrations2019

    • Author(s)
      Togo Shunta、Murai Yuta、Jiang Yinlai、Yokoi Hiroshi
    • Journal Title

      Scientific Reports

      Volume: 9 Issue: 1 Pages: 13996-13996

    • DOI

      10.1038/s41598-019-50112-4

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] 残存指を利用できる手部筋電義手システムの開発 ― 設計手法の提案と試作 ―2019

    • Author(s)
      村井 雄太,矢吹 佳子,石原 正博,高木 岳彦,高山 真一郎,東郷 俊太,加藤 龍,姜 銀来,横井 浩史
    • Journal Title

      バイオメカニズム学会誌

      Volume: 43 Pages: 124-133

    • NAID

      130007660513

    • Related Report
      2019 Research-status Report
    • Peer Reviewed
  • [Journal Article] 筋電制御システムに関する研究と義手への応用2019

    • Author(s)
      横井 浩史,東郷 俊太,姜 銀来,矢吹 佳子,村井 雄太
    • Journal Title

      日本ロボット学会誌

      Volume: 37 Pages: 301-306

    • NAID

      130007652519

    • Related Report
      2019 Research-status Report
  • [Presentation] Evaluation of the precision grasping ability by artificial finger based on the morphology of distal phalanx2022

    • Author(s)
      Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Yokoi Hiroshi and Shunta Togo
    • Organizer
      2022 IEEE 4th Global Conference on Life Science and Technologies (LifeTech2022)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a 7 DOF electric shoulder disarticulation prosthesis using a return routing tendon driven mechanism2022

    • Author(s)
      Yuko Nakamura, Yinlai Jiang, Hiroshi Yokoi and Shunta Togo
    • Organizer
      2022 IEEE 4th Global Conference on Life Science and Technologies (LifeTech2022)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a motorized prosthetic hand for infants with phocomelia2021

    • Author(s)
      Takayoshi Shimada, Yusuke Yamanoi, Yoshiko Yabuki, Shunta Togo, Yinlai Jiang, Ryu Kato, Takehiko Takagi, Yuki Kuroda and Hiroshi Yokoi
    • Organizer
      18th World Congress of the International Society for Prosthetics and Orthotics (ISPO2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Investigation of motor point shift and contraction force of triceps brachii for functional electrical stimulation2021

    • Author(s)
      Takashi Hirai, Yinlai Jiang, Masao Sugi, Shunta Togo and Hitoshi Yokoi
    • Organizer
      2021 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a humanoid shoulder based on 3-motor 3 degrees-of-freedom coupled tendon-driven joint module2021

    • Author(s)
      Wenyang Li, Yiwei Wang, Shunta Togo, Hiroshi Yokoi and Yinlai Jiang
    • Organizer
      2021 IEEE International Conference on Robotics and Automation (ICRA2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design of a 3-dof coupled tendon-driven waist joint2021

    • Author(s)
      Yiwei Wang, Wenyang Li, Shunta Togo, Hiroshi Yokoi and Yinlai Jiang
    • Organizer
      2021 IEEE International Conference on Robotics and Automation (ICRA2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 折り返しワイヤ干渉駆動機構を用いた7自由度筋電肩義手の開発2021

    • Author(s)
      中村 優子,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第42回バイオメカニズム学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] ヒトの捕球姿勢の分類と筋電義手ハンドへの応用2021

    • Author(s)
      東島 涼香,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第42回バイオメカニズム学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 機能的電気刺激を用いた上腕三頭筋のMP位置の移動と筋収縮力の探索2021

    • Author(s)
      平井 隆志,姜 銀来,杉 正夫,東郷 俊太,横井 浩史
    • Organizer
      第42回バイオメカニズム学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 可動指を変えた幼児用2自由度電動義手の開発2021

    • Author(s)
      大谷 俊介,平井 太智,黒田 勇幹,矢吹 佳子,山野井 佑介,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第37回日本義肢装具学会学術大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] ワイヤ劣駆動ロボットフィンガによる薄板小物体把持のための関節トルク比と過伸展機構の検討2021

    • Author(s)
      大谷 俊介,姜 銀来,東郷 俊太,横井 浩史,山野井 佑介
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 筋電肩義手のための全軸干渉型ロボットアームの開発2021

    • Author(s)
      君塚 進,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 多軸干渉駆動機構のためのワイヤ滑り関節機構の開発2021

    • Author(s)
      関 美咲,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 動的安定把持実現のための電動義手用2層弾性グローブの開発2021

    • Author(s)
      小畑 承経,熊谷 あやね,矢吹 佳子,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] 拮抗筋構造型ロボット関節に対する仮想軌道に基づく繰り返し制御2021

    • Author(s)
      藤井 裕子,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第39回日本ロボット学会学術講演会
    • Related Report
      2021 Annual Research Report
  • [Presentation] Real-time object detection with deep learning for robot vision on mixed reality device2021

    • Author(s)
      Jiazhen Guo, Peng Chen, Yinlai Jiang, Hiroshi Yokoi and Shunta Togo
    • Organizer
      2021 IEEE3rd Global Conference on Life Science and Technologies (LifeTech2021)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] ドラム押付型ワイヤ無限巻取り機構における最大牽引力とトルクリミッタの検証2021

    • Author(s)
      島田 孝太,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      2021年度精密工学会春季大会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] ヒト指末節骨の形態的特徴に基づいた人工指による精密把持性能の評価2020

    • Author(s)
      熊谷 あやね,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第41回バイオメカニズム学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 体幹筋電から上肢運動の動作意図を抽出するシステムの開発2020

    • Author(s)
      宮崎 健太,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第41回バイオメカニズム学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 子共用筋電義手ソケットの開発2020

    • Author(s)
      黒田 勇幹,矢吹 佳子,山野井 佑介,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第36回日本義肢装具学会
    • Related Report
      2020 Research-status Report
  • [Presentation] 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価2020

    • Author(s)
      中尾 聡一郎,平井 太智,小野 祐真,山野井 佑介,黒田 勇幹,矢吹 佳子,東郷 俊太,姜 銀来,加藤 龍,高木 岳彦,石原 正博,横井 浩史
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 先天性前腕欠損者のための幼児用2自由度電動義手の開発2020

    • Author(s)
      平井 太智,中尾 聡一郎,小野 祐真,黒田 勇幹,矢吹 佳子,山野井 佑介,東郷 俊太,姜 銀来,加藤 龍,横井 浩史
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 肩義手のための腕の手先位置のフィードバックシステムに適した振動刺激の検討2020

    • Author(s)
      中村 優子,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 磁気センサを応用した柔軟な圧力センサの開発2020

    • Author(s)
      島田 孝太,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 筋電信号の時変性に適応する教師データ更新手法に関する研究2020

    • Author(s)
      黒田 勇幹,山野井 佑介,東郷 俊太,姜 銀来,加藤 龍,横井 浩史
    • Organizer
      第38回日本ロボット学会学術講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] Evaluation of the grasping ability by artificial finger based on the morphology of distal phalanx2020

    • Author(s)
      Ayane Kumagai, Yoshinobu Obata, Yinlai Jiang, Hiroshi Yokoi and Shunta Togo
    • Organizer
      2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Analysis of two-layer artificial soft fingertip for dynamic stable grasping2020

    • Author(s)
      Yoshinobu Obata, Ayane Kumagai, Shunta Togo, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] A 10-DOF lightweight robotic hand with built-in wire-driven mechanism2019

    • Author(s)
      Takaki Shimura, Yuta Murai, Shunta Togo, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of EMG prosthetic hand for infant with lightness and high pinch force2019

    • Author(s)
      Taichi Hirai, Shunta Togo, Yinlai Jiang and Hiroshi Yokoi
    • Organizer
      15th IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development and evaluation of a myoelectric prosthetic hand adaptable to individuality for Children2019

    • Author(s)
      Yoshiko Yabuki, Yuta Murai, Yusuke Yamanoi, Xiaobei Jing, Xu Yong, Yuankang Shi, Shunta Togo, Yinlai Jiang, Takehiko Takagi, Shinichiro Takayama and Hiroshi Yokoi
    • Organizer
      International Society for Prosthetics and Orthotics (ISPO 2019) 17th World Congress
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] ワイヤ干渉機構を用いたシリコーンハンドの開発2019

    • Author(s)
      佐藤 文隆,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      計測自動制御学会システム・情報部門学術講演会2019 (SSI2019)
    • Related Report
      2019 Research-status Report
  • [Presentation] 筋電義手の熟達度に関する研究2019

    • Author(s)
      鎌田 舞花,矢吹 佳子,黒田 勇幹,山野井 佑介,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第40回バイオメカニズム学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 3自由度干渉駆動関節モジュールの解析2019

    • Author(s)
      李 文揚,姜 銀来,陳 鵬,東郷 俊太,横井 浩史
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 全軸ワイヤ干渉駆動機構を用いたロボットアームの開発2019

    • Author(s)
      君塚 進,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 全軸干渉機構における最適干渉行列の設計理論2019

    • Author(s)
      東郷 俊太,君塚 進,姜 銀来,横井 浩史
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] 繰り返し計算に基づく仮想軌道制御の力場適応2019

    • Author(s)
      藤井 裕子,姜 銀来,横井 浩史,東郷 俊太
    • Organizer
      第13回Motor Control研究会
    • Related Report
      2019 Research-status Report
  • [Presentation] 義手用装飾手袋の材質と物体把持性能に関する調査研究2019

    • Author(s)
      矢吹 佳子,馮 翔,鎌田 舞花,小畑 承経,東郷 俊太,姜 銀来,横井 浩史
    • Organizer
      第35回日本義肢装具学会学術大会
    • Related Report
      2019 Research-status Report
  • [Remarks] 東郷研究室HP

    • URL

      http://www.hi.mce.uec.ac.jp/togolab

    • Related Report
      2021 Annual Research Report
  • [Patent(Industrial Property Rights)] 変換プログラムおよび変換装置2020

    • Inventor(s)
      横井 浩史, 石 源康, 東郷 俊太, 姜 銀来, 山野井 佑介
    • Industrial Property Rights Holder
      横井 浩史, 石 源康, 東郷 俊太, 姜 銀来, 山野井 佑介
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2020-002645
    • Filing Date
      2020
    • Related Report
      2020 Research-status Report
  • [Patent(Industrial Property Rights)] 3D薄型Wrist関節機構2019

    • Inventor(s)
      横井浩史,矢吹佳子,東郷俊太,姜銀来,棚橋一将,山野井佑介
    • Industrial Property Rights Holder
      横井浩史,矢吹佳子,東郷俊太,姜銀来,棚橋一将,山野井佑介
    • Industrial Property Rights Type
      特許
    • Filing Date
      2019
    • Related Report
      2019 Research-status Report
  • [Patent(Industrial Property Rights)] 筋電センサ及び電極部材2019

    • Inventor(s)
      横井浩史,姜銀来,東郷俊太,村井雄太,君塚進,石源康
    • Industrial Property Rights Holder
      横井浩史,姜銀来,東郷俊太,村井雄太,君塚進,石源康
    • Industrial Property Rights Type
      特許
    • Filing Date
      2019
    • Related Report
      2019 Research-status Report

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Published: 2019-04-18   Modified: 2023-01-30  

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