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Soft Tissue Mechanics in Human Dexterity via Internal Sensing

Research Project

Project/Area Number 20246049
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  Ritsumeikan University, 理工学部, 教授 (90212167)

Co-Investigator(Kenkyū-buntansha) TANAKA Hiromi  立命館大学, 情報理工学部, 教授 (10268154)
INUBUSHI Toshiro  滋賀医科大学, MR医学総合研究センター, 教授 (20213142)
MORIKAWA Shigehiro  滋賀医科大学, 医学部, 教授 (60220042)
INOUE Takahiro  岡山県立大学, 情報工学部, 准教授 (60453205)
Project Period (FY) 2008 – 2010
Project Status Completed (Fiscal Year 2010)
Budget Amount *help
¥46,150,000 (Direct Cost: ¥35,500,000、Indirect Cost: ¥10,650,000)
Fiscal Year 2010: ¥13,000,000 (Direct Cost: ¥10,000,000、Indirect Cost: ¥3,000,000)
Fiscal Year 2009: ¥14,950,000 (Direct Cost: ¥11,500,000、Indirect Cost: ¥3,450,000)
Fiscal Year 2008: ¥18,200,000 (Direct Cost: ¥14,000,000、Indirect Cost: ¥4,200,000)
Keywordsソフトメカニクス / 軟組織 / 巧みさ / 力学 / 内部変形 / MR画像 / モデリング / 層状物体 / 滑り / 時間遅れ / 変形 / 物体操作 / 把持 / 変形計測 / 操作 / MRI
Research Abstract

We will investigate how mechanically human soft tissues contribute to human motion dexterity. First, we have formulated dynamic rheological deformation using finite element approximation for the modeling of soft tissues. We have established a method to identify deformation parameters in the model from the measurement of actually deforming objects. Second, we have proposed two methods to compute inner deformation from MR images of soft tissues. We have then constructed mechanical models of human fingertips to simulate their deformation during object grasping and manipulation. Next, we have formulated potential energy stored in soft fingertips to proposed control laws for grasping and manipulation performed by soft fingertips. We have concluded that the proposed control law is robust against the delay in signal processing and this robustness originates from the softness of fingertips.

Report

(4 results)
  • 2010 Annual Research Report   Final Research Report ( PDF )
  • 2009 Annual Research Report
  • 2008 Annual Research Report
  • Research Products

    (99 results)

All 2011 2010 2009 2008 Other

All Journal Article (24 results) (of which Peer Reviewed: 24 results) Presentation (66 results) Book (2 results) Remarks (7 results)

  • [Journal Article] Modeling and Estimation of Rheological Properties of Food Products for Manufacturing Simulations2011

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

      J.of Food Engineering Vol.102

      Pages: 136-144

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Modeling and Analysis of a Frictional Sliding Soft Fingertip, and Experimental Validations2011

    • Author(s)
      Van Ho, Shinichi Hirai
    • Journal Title

      Advanced Robotics Vol.25,No.3

      Pages: 291-311

    • NAID

      10028239835

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] パラレルイメージング用アレイコイルを利用した13Cスペクトロスコピックイメージングの試み2011

    • Author(s)
      森川茂廣,村山浩之,藤本栄,椎野顯彦,犬伏俊郎,栗林秀人
    • Journal Title

      日磁医誌 Vol.31

      Pages: 65-69

    • NAID

      10029698783

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Modeling and Estimation of Rheological Properties of Food Products for Manufacturing Simulations2011

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

      Journal of Food Engineering

      Volume: 102 Pages: 136-144

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Modeling and Analysis of a Frictional Sliding Soft Fingertip, and Experimental Validations2011

    • Author(s)
      Van Ho, Shinichi Hirai
    • Journal Title

      Advanced Robotics

      Volume: 25-3 Pages: 291-311

    • NAID

      10028239835

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development and Analysis of a Sliding Tactile Soft Fingertip Embedded with a Micro Force/Moment Sensor2011

    • Author(s)
      Van Ho, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Journal Title

      IEEE Transaction on Robotics

      Volume: (印刷中 掲載確定)

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] パラレルイメージング用アレイコイルを利用した13Cスペクトロスコピックイメージングの試み2011

    • Author(s)
      森川茂廣, 村山浩之, 藤本栄, 椎野顯彦, 犬伏俊郎, 栗林秀人
    • Journal Title

      日磁医誌

      Volume: 31 Pages: 65-69

    • NAID

      10029698783

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 物理世界と情報世界をつなぐソフトインターフェース2010

    • Author(s)
      平井慎一
    • Journal Title

      日本ロボット学会誌,ロボティック・サイエンス論文特集号 Vol.28,No.4

      Pages: 503-511

    • NAID

      10026386933

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Amyloid imaging using high-field magnetic resonance2010

    • Author(s)
      Amatsubo T., Yanagisawa D., Morikawa S., Taguchi H., Tooyama I.
    • Journal Title

      Magn Reson Med Sci Vol.9

      Pages: 95-99

    • NAID

      10027851175

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 物理世界と情報世界をつなぐソフトインターフェース2010

    • Author(s)
      平井慎一
    • Journal Title

      日本ロボット学会誌,ロボティック・サイエンス論文特集号

      Volume: 28-4 Pages: 503-511

    • NAID

      10026386933

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Amyloid imaging using high-field magnetic resonance2010

    • Author(s)
      Amatsubo, T., Yanagisawa, D., Morikawa, S., Taguchi, H., Tooyama, I.
    • Journal Title

      Magn Reson Med Sci

      Volume: 9 Pages: 95-99

    • NAID

      10027851175

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Physical Parameter Identification of Uniform Rheological Deformation Based on FE Simulation2009

    • Author(s)
      Zhongkui Wang, Kazuki Namima, Shinichi Hirai
    • Journal Title

      生体医工学 Vol.47,No.1

      Pages: 1-6

    • NAID

      130004494082

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 柔軟指による把持物体の姿勢制御2009

    • Author(s)
      井上貴浩,平井慎一
    • Journal Title

      日本機械学会論文集C編 Vol.75,No.757

      Pages: 2537-2546

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 摘み滑り動作を利用した布地の展開動作2009

    • Author(s)
      柴田瑞穂,太田剛士,平井慎一
    • Journal Title

      日本ロボット学会誌 Vol.27,No.9

      Pages: 1029-1036

    • NAID

      10026089667

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 視覚情報遅れを考慮した2指1自由度対ロボットハンドによる対向操り動作2009

    • Author(s)
      井上貴浩,松井俊樹,平井慎一
    • Journal Title

      計測自動制御学会論文集 Vol.45,No.12

      Pages: 678-687

    • NAID

      10026207429

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Percutaneous aspiration of spinal ventricle cysts using real-time magnetic resonance imaging and navigation2009

    • Author(s)
      Takahashi S., Saruhashi Y., Odate S., Matsusue Y., Morikawa S.
    • Journal Title

      Spine Vol.34

      Pages: 629-634

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] 柔軟指による把持物体の姿勢制御2009

    • Author(s)
      井上貴浩, 平井慎一
    • Journal Title

      日本機械学会論文集C編 75-757

      Pages: 2537-2546

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 視覚情報遅れを考慮した2指1自由度対ロボットハンドによる対向操り動作2009

    • Author(s)
      井上貴浩, 松井俊樹, 平井慎一
    • Journal Title

      計測自動制御学会論文集 45-12

      Pages: 678-687

    • NAID

      10026207429

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development of a conjugated gadolinium and cisplatin-gelatin possessing properties as an intravascular contrast agent for MR imaging2009

    • Author(s)
      Sonoda A, Nitta N, Ohta S, Seko A, Jo J, Morikawa S, Tabata Y, Takahashi M, Murata K
    • Journal Title

      Eur J Radiol. 71

      Pages: 570-575

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Physical Parameter Identification of Uniform Rheological Deformation Based on FE Simulation2009

    • Author(s)
      Zhongkui Wang, Kazuki Namima, Shinichi Hirai
    • Journal Title

      生体医工学 47-1

      Pages: 1-6

    • NAID

      130004494082

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Adaptive 4D MR Imaging for MRI-guided Therapy Using Navigator-Based Respiratory Signal2008

    • Author(s)
      Tokuda J., Morikawa S., Haque H.-A., Tsukamoto T., Matsumiya K., Liao H., Masamune K., Dohi T.
    • Journal Title

      Magn Reson Med Vol.59

      Pages: 1051-1061

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Journal Article] Adaptive 4D MR Imaging for MRI-guided Therapy Using Navigator-Based Respiratory Signal2008

    • Author(s)
      Tokuda J, Morikawa S, Haque HA, Tsukamoto T, Matsumiya K, Liao H, Masamune K, Dohi T
    • Journal Title

      Magnetic Resonance in Medicine 59

      Pages: 1051-1061

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Correlation between High Field MR Images and Histopatho logical Findings of Rat Transplanted Cancer Immediately after Partial Microwave Coagulation2008

    • Author(s)
      Murakami K, Morikawa S, Naka S, Demura K, Sato K, Shiomi H, Kurumi Y, Inubushi T, Tani T
    • Journal Title

      Magnetic Resonance in Medical Science 7

      Pages: 105-112

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development and Analysis of a Sliding Tactile Soft Fingertip Embedded with a Micro Force/Moment Sensor

    • Author(s)
      Van Ho, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Journal Title

      IEEE Transaction on Robotics (掲載決定)

    • Related Report
      2010 Final Research Report
    • Peer Reviewed
  • [Presentation] Toward a Platform for Modeling and Simulating Dynamic Stick-Slip Transitions of Soft Fingertips2011

    • Author(s)
      Van Ho, Shinichi Hirai
    • Organizer
      第16回ロボティクスシンポジア予稿集(275-282)
    • Place of Presentation
      指宿シーサイドホテル(鹿児島)
    • Year and Date
      2011-03-14
    • Related Report
      2010 Final Research Report
  • [Presentation] Toward a Platform for Modeling and Simulating Dynamic Stick-Slip Transitions of Soft Fingertips2011

    • Author(s)
      Van Ho, Shinichi Hirai
    • Organizer
      第16回ロボティクスシンポジア
    • Place of Presentation
      指宿・指宿シーサイドホテル
    • Year and Date
      2011-03-14
    • Related Report
      2010 Annual Research Report
  • [Presentation] Contact Modeling and Parameter Switching for Simultaneous Reproduction of Rheological Force and Deformation2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics
    • Place of Presentation
      中国・天津
    • Year and Date
      2010-12-16
    • Related Report
      2010 Annual Research Report
  • [Presentation] A Local Geometric Preserving Approach For Interior Deformation Fields Measurement From MR Volumetric Images of Human Tissues2010

    • Author(s)
      Penglin Zhang, Hirai Shinichi
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics
    • Place of Presentation
      中国・天津
    • Year and Date
      2010-12-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] SURF and Spatial Association Correspondence for the Extraction and Matching of Feature Points from MR Images of Deformed Tissues2010

    • Author(s)
      Xubing Zhang, Shinichi Hirai, Penglin Zhang
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics
    • Place of Presentation
      中国・天津
    • Year and Date
      2010-12-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] Modelless and Grasping-Forceless Control by Robotic Fingers Capable of Mechanically Coupled Movement2010

    • Author(s)
      Takahiro Inoue, Shinichi Hirai, Daisuke Takizawa
    • Organizer
      IEEE/RSJ Int.Conf.on Intelligent Robots and Systems
    • Place of Presentation
      台北
    • Year and Date
      2010-10-21
    • Related Report
      2010 Annual Research Report
  • [Presentation] Modeling and Property Estimation of Japanese Sweets for Their Manufacturing Simulation2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE/RSJ Int.Conf.on Intelligent Robots and Systems
    • Place of Presentation
      台北
    • Year and Date
      2010-10-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] Modeling and Parameter Estimation of Rheological Objects for Simultaneous Reproduction of Force and Deformation2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      1st Int.Conf.on Applied Bionics and Biomechanics
    • Place of Presentation
      イタリア・ベニス
    • Year and Date
      2010-10-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] 実験動物での肝臓T1強調画像撮像のための一工夫2010

    • Author(s)
      森川茂廣, 村山浩之, 藤本栄, 椎野顯彦, 犬伏俊郎, 栗林秀人
    • Organizer
      第38回日本磁気共鳴医学会大会
    • Place of Presentation
      つくば・つくば国際会議場
    • Year and Date
      2010-10-01
    • Related Report
      2010 Annual Research Report
  • [Presentation] パラレルイメージング用アレイコイルを利用した13Cスペクトロスコビックイメージングの試み2010

    • Author(s)
      森川茂廣, 村山浩之, 藤本栄, 椎野顯彦, 犬伏俊郎, 栗林秀人
    • Organizer
      第38回日本磁気共鳴医学会大会
    • Place of Presentation
      つくば・つくば国際会議場
    • Year and Date
      2010-09-30
    • Related Report
      2010 Annual Research Report
  • [Presentation] Robotic Manipulation with Large Time Delay on Visual Feedback Systems2010

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Organizer
      IEEE/ASME Int.Conf.on Advanced Intelligent Mechatronics
    • Place of Presentation
      カナダ・モントリオール
    • Year and Date
      2010-07-09
    • Related Report
      2010 Annual Research Report
  • [Presentation] 指関節連動運動を備えた2指多自由度ロボットハンドによる物体姿勢非ヤコビ制御2010

    • Author(s)
      井上貴浩, 滝澤大祐, 平井慎一
    • Organizer
      ロボティクス・メカトロニクス'10演会
    • Place of Presentation
      旭川・旭川大雪アリーナ
    • Year and Date
      2010-06-16
    • Related Report
      2010 Annual Research Report
  • [Presentation] 柔軟3指による把持対象物の姿勢制御2010

    • Author(s)
      上本宏明, 平井慎一
    • Organizer
      ロボティクス・メカトロニクス'10講演会
    • Place of Presentation
      旭川・旭川大雪アリーナ
    • Year and Date
      2010-06-15
    • Related Report
      2010 Annual Research Report
  • [Presentation] Two-Phased Controller for a Pair of 2-DOF Soft Fingertips Based on the Qualitative Relationship between Joint Angles and Object Location2010

    • Author(s)
      Yujiro Yamazaki, Takahiro Inoue Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Automation
    • Place of Presentation
      米国・アンカレジ
    • Year and Date
      2010-05-06
    • Related Report
      2010 Annual Research Report
  • [Presentation] Design of a Small-Scale Tactile Sensor with Three Sensing Points for Using in Robotic Fingertips2010

    • Author(s)
      Van Ho, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Automation
    • Place of Presentation
      米国・アンカレジ
    • Year and Date
      2010-05-06
    • Related Report
      2010 Annual Research Report
  • [Presentation] Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft Fingertip Focusing on Stick-To-Slip Transition2010

    • Author(s)
      Van Ho, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Automation
    • Place of Presentation
      米国・アンカレジ
    • Year and Date
      2010-05-06
    • Related Report
      2010 Annual Research Report
  • [Presentation] A Local Geometric Preserving Approach For Interior Deformation Fields Measurement From MR Volumetric Images of Human Tissues2010

    • Author(s)
      Penglin Zhang, Hirai Shinichi
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics (Robio 2010)(437-441)
    • Place of Presentation
      Tianjin, China
    • Related Report
      2010 Final Research Report
  • [Presentation] SURF and Spatial Association Correspondence for the Extraction and Matching of Feature Points from MR Images of Deformed Tissues2010

    • Author(s)
      Xubing Zhang, Shinichi Hirai, Penglin Zhang
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics (Robio 2010)(448-453)
    • Place of Presentation
      Tianjin, China
    • Related Report
      2010 Final Research Report
  • [Presentation] Contact Modeling and Parameter Switching for Simultaneous Reproduction of Rheological Force and Deformation2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics (Robio 2010)(726-731)
    • Place of Presentation
      Tianjin, China
    • Related Report
      2010 Final Research Report
  • [Presentation] Modeling and Property Estimation of Japanese Sweets for Their Manufacturing Simulation2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS 2010)
    • Place of Presentation
      Taipei
    • Related Report
      2010 Final Research Report
  • [Presentation] Modelless and Grasping-Forceless Control by Robotic Fingers Capable of Mechanically Coupled Movement2010

    • Author(s)
      Takahiro Inoue, Shinichi Hirai, Daisuke Takizawa
    • Organizer
      IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS 2010)
    • Place of Presentation
      Taipei
    • Related Report
      2010 Final Research Report
  • [Presentation] Modeling and Parameter Estimation of Rheological Objects for Simultaneous Reproduction of Force and Deformation2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      1st Int Conf.on Applied Bionics and Biomechanics (ICABB-2010)
    • Place of Presentation
      Venice, Italy
    • Related Report
      2010 Final Research Report
  • [Presentation] Finite Element Modeling of Rheological Objects for Simultaneously Reproducing their Deformation and Force Behaviors2010

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      6th Joint Workshop on Machine Perception and Robotics (MPR2010)
    • Place of Presentation
      Fukuoka
    • Related Report
      2010 Final Research Report
  • [Presentation] The Feature Points Matching of Non-rigid Tissues Based on SURF, Spatial Association Correspondence and Clustering : Application to MR 2-D Slice Deformation Measurement2010

    • Author(s)
      Xubing Zhang, Shinichi Hirai, Penglin Zhang
    • Organizer
      6th Joint Workshop on Machine Perception and Robotics (MPR2010)
    • Place of Presentation
      Fukuoka
    • Related Report
      2010 Final Research Report
  • [Presentation] Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion2010

    • Author(s)
      Mizuho Shibata, Tsuyoshi Ota, Shinichi Hirai
    • Organizer
      Int.Conf.on Advanced Mechatronics (ICAM2010)
    • Place of Presentation
      Suita, Japan
    • Related Report
      2010 Final Research Report
  • [Presentation] Robotic Manipulation with Large Time Delay on Visual Feedback Systems2010

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Organizer
      IEEE/ASME Int.Conf.on Advanced Intelligent Mechatronics (AIM2010)
    • Place of Presentation
      Montreal, Canada
    • Related Report
      2010 Final Research Report
  • [Presentation] Two-Phased Controller for a Pair of 2-DOF Soft Fingertips Based on the Qualitative Relationship between Joint Angles and Object Location2010

    • Author(s)
      Yujiro Yamazaki, Takahiro Inoue, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(4294-4301)
    • Place of Presentation
      Anchorage
    • Related Report
      2010 Final Research Report
  • [Presentation] Design of a Small-Scale Tactile Sensor with Three Sensing Points for Using in Robotic Fingertips2010

    • Author(s)
      Van Ho, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(4855-4860)
    • Place of Presentation
      Anchorage
    • Related Report
      2010 Final Research Report
  • [Presentation] Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft Fingertip Focusing on Stick-To-Slip Transition2010

    • Author(s)
      Van Ho, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(4315-4321)
    • Place of Presentation
      Anchorage
    • Related Report
      2010 Final Research Report
  • [Presentation] 指節骨連動運動を実現する腱駆動2指ハンドの設計2009

    • Author(s)
      井上貴浩, 滝澤大佑, 谷川弘典, 平井慎一
    • Organizer
      計測自動制御学会システムインテグレーション部門学術講演会
    • Place of Presentation
      東京都、芝浦工業大学
    • Year and Date
      2009-12-25
    • Related Report
      2009 Annual Research Report
  • [Presentation] ロボットハンドによる把持の内部変位計測2009

    • Author(s)
      阿部慶之, 平井慎一
    • Organizer
      計測自動制御学会システムインテグレーション部門学術講演会
    • Place of Presentation
      東京都、芝浦工業大学
    • Year and Date
      2009-12-24
    • Related Report
      2009 Annual Research Report
  • [Presentation] Two-Phased Force and Coordinates Controller for a Pair of 2-DOF Soft Fingers2009

    • Author(s)
      Yujiro Yamazaki, Takaihro Inoue, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics
    • Place of Presentation
      Guilin, China
    • Year and Date
      2009-12-21
    • Related Report
      2009 Annual Research Report
  • [Presentation] Simulation of Soft Fingertip Deformation under Contact and Rolling Constraints using FEM and CSM2009

    • Author(s)
      Kazuki Namima, Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics
    • Place of Presentation
      Guilin, China
    • Year and Date
      2009-12-21
    • Related Report
      2009 Annual Research Report
  • [Presentation] Fabrication of Tactile System with Three Sensing Points Using Micro Force/Moment Sensor2009

    • Author(s)
      Van Anh Ho, Yuki Takashima, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai
    • Organizer
      第26回「センサ・マイクロマシンと応用システム」シンポジウム
    • Place of Presentation
      東京都、タワーホール船堀
    • Year and Date
      2009-10-15
    • Related Report
      2009 Annual Research Report
  • [Presentation] Modeling and Parameter Identification of Rheological Object Based on FE Method and Nonlinear Optimization2009

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE/RSJ Int.Conf.on Intelligent Robots and Systems(IROS 2009)
    • Place of Presentation
      St.Louis, U.S.A.
    • Year and Date
      2009-10-12
    • Related Report
      2009 Annual Research Report
  • [Presentation] Simulation of Deformation in Robotics (Keynote Speech)2009

    • Author(s)
      Shinichi Hirai
    • Organizer
      Asia Simulation Conference 2009
    • Year and Date
      2009-10-07
    • Related Report
      2010 Final Research Report
  • [Presentation] Simulation of Deformation in Robotics2009

    • Author(s)
      Shinichi Hirai
    • Organizer
      Asia Simulation Conference 2009
    • Place of Presentation
      草津市、立命館大学
    • Year and Date
      2009-10-07
    • Related Report
      2009 Annual Research Report
  • [Presentation] Two-Dimensional Model of Sliding Motion of a Soft Fingertip Focusing on Stick-to-Slip Transition2009

    • Author(s)
      HO ANH VAN, 平井慎一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜市、横浜国立大学
    • Year and Date
      2009-09-15
    • Related Report
      2009 Annual Research Report
  • [Presentation] Parallel-distributed Model in Three-dimensional Soft-fingered Grasping and Manipulation2009

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Automation
    • Place of Presentation
      神戸市、神戸ポートピアホテル
    • Year and Date
      2009-05-15
    • Related Report
      2009 Annual Research Report
  • [Presentation] Physical Parameter Identification of Rheological Object Based on Measurement of Deformation and Force2009

    • Author(s)
      Zhongkui Wang, Kazuki Namima, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Automation
    • Place of Presentation
      神戸市、神戸ポートピアホテル
    • Year and Date
      2009-05-14
    • Related Report
      2009 Annual Research Report
  • [Presentation] Analysis of Sliding of a Soft Fingertip Embedded with a Novel Micro Force/Moment Sensor : Simulation, Experiment, and Application2009

    • Author(s)
      Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Automation
    • Place of Presentation
      神戸市、神戸ポートピアホテル
    • Year and Date
      2009-05-14
    • Related Report
      2009 Annual Research Report
  • [Presentation] An Optical and Electromagnetic Hybrid Tracking System for MR Image Guided Interventional Procedures2009

    • Author(s)
      Morikawa S, Haque HA, Naka S, Murakami K, Kurumi Y, Tani T, Inubushi T.
    • Organizer
      ISMRM 17th Scientific Meeting and Exhibition
    • Place of Presentation
      Honolulu, HA, U.S.A.
    • Year and Date
      2009-04-23
    • Related Report
      2009 Annual Research Report
  • [Presentation] Increased applicability of a manipulator to assist MR guided microwave ablation of liver tumors and clinical experiences of 14 cases2009

    • Author(s)
      Morikawa S, Inubushi T, Naka S, Murakami K, Kurumi Y, Tani T, Haque HA, Tokuda J, Hata N.
    • Organizer
      ISMRM 17th Scientific Meeting and Exhibition
    • Place of Presentation
      Honolulu, HA, U.S.A.
    • Year and Date
      2009-04-22
    • Related Report
      2009 Annual Research Report
  • [Presentation] Two-Phased Force and Coordinates Controller for a Pair of 2-DOF Soft Fingers2009

    • Author(s)
      Yujiro Yamazaki, Takaihro Inoue, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics (Robio 2009)(931-937)
    • Place of Presentation
      Guilin, China
    • Related Report
      2010 Final Research Report
  • [Presentation] Simulation of Soft Fingertip Deformation under Contact and Rolling Constraints using FEM and CSM2009

    • Author(s)
      Kazuki Namima, Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE Int.Conf.on Robotics and Biomimetics (Robio 2009)(1585-1590)
    • Place of Presentation
      Guilin, China
    • Related Report
      2010 Final Research Report
  • [Presentation] Modeling and Parameter Identification of Rheological Object Based on FE Method and Nonlinear Optimization2009

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS 2009)
    • Place of Presentation
      St.Louis, U.S.A.
    • Related Report
      2010 Final Research Report
  • [Presentation] Parameter Estimation of Rheological Object Based on FE Simulation and Nonlinear Optimization2009

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      5th Joint Workshop on Machine Perception and Robotics (MPR2009)
    • Place of Presentation
      Kyoto
    • Related Report
      2010 Final Research Report
  • [Presentation] Inner Displacement Measurement of Grasping by Robotic Hand2009

    • Author(s)
      Yoshiyuki Abe, Zhongkui Wang, Kazuki Namima, Shigehiro Morikawa, Shinichi Hirai
    • Organizer
      5th Joint Workshop on Machine Perception and Robotics (MPR2009)
    • Place of Presentation
      Kyoto
    • Related Report
      2010 Final Research Report
  • [Presentation] 3-dimensional finite element method based needle insertion simulation considering needle tip shape2009

    • Author(s)
      Yamaguchi S., Satake K., Shirai Y., Tanaka H.T., Morikawa S.
    • Organizer
      23rd Int.Cong.and Exh.Computer Assisted Radiology and Surgery (CARS) 2009
    • Place of Presentation
      Berlin, Germany
    • Related Report
      2010 Final Research Report
  • [Presentation] Wiping Motion for Deformable Object Handling2009

    • Author(s)
      Mizuho Shibata, Tsuyoshi Ota, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(134-139)
    • Place of Presentation
      Kobe
    • Related Report
      2010 Final Research Report
  • [Presentation] Analysis of Sliding of a Soft Fingertip Embedded with a Novel Micro Force/Moment Sensor : Simulation, Experiment, and Application2009

    • Author(s)
      Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(889-894)
    • Place of Presentation
      Kobe
    • Related Report
      2010 Final Research Report
  • [Presentation] Physical Parameter Identification of Rheological Object Based on Measurement of Deformation and Force2009

    • Author(s)
      Zhongkui Wang, Kazuki Namima, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(1238-1243)
    • Place of Presentation
      Kobe
    • Related Report
      2010 Final Research Report
  • [Presentation] Parallel-distributed Model in Three-dimensional Soft-fingered Grasping and Manipulation2009

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Organizer
      Proc.IEEE Int.Conf.on Robotics and Automation(2092-2097)
    • Place of Presentation
      Kobe
    • Related Report
      2010 Final Research Report
  • [Presentation] An Optical and Electromagnetic Hybrid Tracking System for MR Image Guided Interventional Procedures2009

    • Author(s)
      Morikawa S., Haque H.-A., Naka S., Murakami K., Kurumi Y., Tani T, Inubushi T.
    • Organizer
      ISMRM 17th Scientific Meeting and Exhibition
    • Place of Presentation
      Honolulu, U.S.A.
    • Related Report
      2010 Final Research Report
  • [Presentation] 連続体力学に基づくオンラインリメッシュ型変形シミュレーション2009

    • Author(s)
      中川智史
    • Organizer
      情報処理学会 第71回全国大会
    • Place of Presentation
      草津 (滋賀県)
    • Related Report
      2008 Annual Research Report
  • [Presentation] Force/Moment Sensing During Sliding Motion using a Micro Sensor Embedded in a Soft Fingertip2008

    • Author(s)
      Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, Shinichi Hirai
    • Organizer
      Proc.10th Int.Conf.on Control, Automation, Robotics and Vision (ICARCV 2008)
    • Place of Presentation
      Hanoi, Vietnam
    • Related Report
      2010 Final Research Report
  • [Presentation] Physical Parameter Identification of Rheological Object Based on FE Dynamic Model2008

    • Author(s)
      Zhongkui Wang, Shinichi Hirai
    • Organizer
      4th Joint Workshop on Machine Perception and Robotics (MPR2008)
    • Place of Presentation
      Beijing, China
    • Related Report
      2010 Final Research Report
  • [Presentation] Physical Parameter Identification of Isotropic Uniform Deformation Based on FE Simulation2008

    • Author(s)
      Zhongkui Wang, Kazuki Namima, Shinichi Hirai
    • Organizer
      生体医工学シンポジウム2008(BMES2008)
    • Place of Presentation
      Toyonaka
    • Related Report
      2010 Final Research Report
  • [Presentation] Task-selection Control by Thumb and Forefinger Based on Softfinger Contact2008

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Organizer
      Third Asia International Symposium on Mechatronics (AISM2008)
    • Place of Presentation
      Sapporo
    • Related Report
      2010 Final Research Report
  • [Presentation] Modeling of Needle Insertion for Percutaneous Minimally Invasive Therapy2008

    • Author(s)
      Yamaguchi S., Morikawa S., Shirai Y., Tanaka H.T.
    • Organizer
      22nd Int.Cong.and Exh.Computer Assisted Radiology and Surgery (CARS 2008)
    • Place of Presentation
      Barcelona, Spain
    • Related Report
      2010 Final Research Report
  • [Presentation] Task-selection Control by Thumb and Forefinger Based on Softfinger Contact2008

    • Author(s)
      Takahiro Inoue
    • Organizer
      Third Asia International Symposium on Mechatronics (AISM2008)
    • Place of Presentation
      札幌
    • Related Report
      2008 Annual Research Report
  • [Presentation] Force/Moment Sensing During Sliding Motion using a Micro Sensor Embedded in a Soft Fingertip2008

    • Author(s)
      Van Ho Anh
    • Organizer
      10th Int. Conf. on Control, Automation, Robotics and Vision (ICARCV 2008)
    • Place of Presentation
      ベトナム, ハノイ
    • Related Report
      2008 Annual Research Report
  • [Presentation] 柔軟指による三次元把持と操作2008

    • Author(s)
      平井慎一
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      神戸
    • Related Report
      2008 Annual Research Report
  • [Presentation] アクティブ虚血ダイナミクスのシミュレーション2008

    • Author(s)
      浪間一希
    • Organizer
      生体医工学シンポジウム2008
    • Place of Presentation
      大阪府豊中市
    • Related Report
      2008 Annual Research Report
  • [Presentation] 適応的四面体ボリュームメッシュのオンラインリメッシュ法を用いた剥離シミュレーション2008

    • Author(s)
      辻野圭則
    • Organizer
      第13回日本バーチャルリアリティ学会
    • Place of Presentation
      奈良
    • Related Report
      2008 Annual Research Report
  • [Presentation] Modeling of Needle Insertion for Percutaneus Minimally Invasive Therapy2008

    • Author(s)
      Satoshi Yamaguchi
    • Organizer
      CARS 2008 (Computer Assisted Radiology & Surgery)
    • Place of Presentation
      バルセロナ, スペイン
    • Related Report
      2008 Annual Research Report
  • [Book] Mechanics and Control of Soft-fingered Manipulation(ISBN978-1-84800-980-6)2008

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Total Pages
      245
    • Publisher
      Springer-Verlag
    • Related Report
      2010 Final Research Report
  • [Book] Mechanics and Control of Soft-fingered Manipulation2008

    • Author(s)
      Takahiro Inoue, Shinichi Hirai
    • Total Pages
      245
    • Publisher
      Springer-Verlag
    • Related Report
      2008 Annual Research Report
  • [Remarks] ホームページ等

    • Related Report
      2010 Final Research Report
  • [Remarks] 和文

    • URL

      http://www.ritsumei.ac.jp/se/~hirai/project/GASR2008-j.html

    • Related Report
      2010 Final Research Report
  • [Remarks] 英文

    • URL

      http://www.ritsumei.ac.jp/se/~hirai/project/GASR2008-e.html

    • Related Report
      2010 Final Research Report
  • [Remarks]

    • URL

      http://www.ritsumei.ac.jp/se/~hirai/project/GASR2008-j.html

    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www.ritsumei.ac.jp/se/~hirai/project/GASR2008-j.html

    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://www.ritsumei.ac.jp/se/~hirai/project/GASR2008-e.html

    • Related Report
      2009 Annual Research Report
  • [Remarks]

    • URL

      http://www.ritsumei.ac.jp/se/~hirai/project/GASR2008-j.html

    • Related Report
      2008 Annual Research Report

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Published: 2008-04-01   Modified: 2016-04-21  

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