Development of Fundamentals for Human Support Space Based on Real-World Haptic Energy Conversion

• Project/Area Number: 20686019
• Research Category: Grant-in-Aid for Young Scientists (A)
• Allocation Type: Single-year Grants
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Keio University
• Principal Investigator: KATSURA Seiichiro 慶應義塾大学, 理工学部, 准教授 (00401779)
• Project Period (FY): 2008 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥24,830,000 (Direct Cost: ¥19,100,000、Indirect Cost: ¥5,730,000); Fiscal Year 2011: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000); Fiscal Year 2010: ¥7,800,000 (Direct Cost: ¥6,000,000、Indirect Cost: ¥1,800,000); Fiscal Year 2009: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000); Fiscal Year 2008: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000)
• Keywords: 人間支援システム / 人間支援空間 / 実世界ハプティクス / システムエネルギー変換 / 電気機器工学 / 電機統合システム / モーションコントロール / 産業電子 / テレリアリティ / 身体性拡張

Research Abstract

This research aims realization of safety and rich life-support for a human and reduction of energy and develops fundamentals for human support space which has real-time network. The network can transmit physical sensations among human and systems. We have succeeded in realization of design method for a wearable haptic device and haptic control technique, which integrate real-world haptic energy conversion and sensation feedback control.

Research Products

• [Journal Article] Tele-Operation of a Mobile Haptic System Using Dynamical Modal Transformation (2012)
  • Author(s): Wataru Yamanouchi, Seiichiro Katsura
  • Journal Title: 電気学会産業応用部門誌 Volume: Vol.132-D, No.3 Pages: 315-321
  • NAID: 10030532204
  • Peer Reviewed
• [Journal Article] Recognition and Classification of Human Motion Based on Hidden Markov Model for Motion Database (2012)
  • Author(s): Yoshihiro Ohnishi, Seiichiro Katsura
  • Journal Title: The 12th International Workshop on Advanced Motion Control, AMC2012-SARAJEVO
  • Peer Reviewed
• [Journal Article] 熱外乱オブザーバによるペルチェ素子の2自由度ロバスト温度制御 (2011)
  • Author(s): 森光英貴, 桂誠一郎
  • Journal Title: 電気学会産業応用部門誌 Volume: Vol.131-D, No.7 Pages: 967-973
  • NAID: 10030530662
  • Peer Reviewed
• [Journal Article] Experimental Investigation of Variable Scaled Bilateral Control (2011)
  • Author(s): Takahiro Kosugi, Seiichiro Katsura
  • Journal Title: 4th International Conference on Human System Interaction, HSI2011-YOKOHAMA Pages: 250-255
  • Peer Reviewed
• [Journal Article] Frequency Response Analysis of Observer-Based Thermal Control System of Peltier Device (2011)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Journal Title: 4th International Conference on Human System Interaction, HSI2011-YOKOHAMA Pages: 256-261
  • Peer Reviewed
• [Journal Article] Environmental Embedded Haptic System Based on Modal Transformation (2011)
  • Author(s): Hiroyuki Nagai, Seiichiro Katsura
  • Journal Title: 4th International Conference on Human System Interaction, HSI2011-YOKOHAMA Pages: 262-267
  • Peer Reviewed
• [Journal Article] Identical-Coordinate Bilateral Control for Master-Slave Type Power-Assisted System (2011)
  • Author(s): Shunsuke Yajima, Seiichiro Katsura
  • Journal Title: SICE 2011 Annual Conference Pages: 622-627
  • Peer Reviewed
• [Journal Article] Switching Bilateral Control System for Haptic Training (2011)
  • Author(s): Takumi Ishii, Seiichiro Katsura
  • Journal Title: SICE 2011 Annual Conference Pages: 633-638
  • Peer Reviewed
• [Journal Article] Bilateral Force Feedback Control Between Multi-Degree-of-Freedom Mobile Robot and Joystick (2011)
  • Author(s): Naoya Murata, Seiichiro Katsura
  • Journal Title: SICE 2011 Annual Conference Pages: 1041-1046
  • Peer Reviewed
• [Journal Article] Experimental Evaluation of Disturbance Observer-Based Heat Inflow Estimation Method (2011)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Journal Title: SICE 2011 Annual Conference Pages: 1069-1074
  • Peer Reviewed
• [Journal Article] Vibration Control of a Two-Mass Resonant System Using Wave Compensator (2011)
  • Author(s): Eiichi Saito, Seiichiro Katsura
  • Journal Title: SICE 2011 Annual Conference Pages: 2672-2677
  • Peer Reviewed
• [Journal Article] 熱外乱オブザーバによるペルチェ素子の2自由度ロバスト温度制御 (2011)
  • Author(s): 森光英貴, 桂誠一郎
  • Journal Title: 電気学会産業応用部門誌 Vol.131-D, No.7
  • NAID: 10030530662
  • Peer Reviewed
• [Journal Article] Bilateral Control of 3-Mass Resonant System Based on Resonance Ratio Control (2011)
  • Author(s): Shutaro Yorozu, Seiichiro Katsura
  • Journal Title: 2011 Joint IEEE International Conference on Industrial Electronics & Southeastern Symposium on System Theory, ICIT-SSST11-AUBUEN
  • Peer Reviewed
• [Journal Article] Null-Space Control Considering Environment Condition in Bilateral Teleoperation (2011)
  • Author(s): Takeshi Okura, Seiichiro Katsura
  • Journal Title: 2011 Joint IEEE International Conference on Industrial Electronics & Southeastern Symposium on System Theory, ICIT-SSST11-AUBURN
  • Peer Reviewed
• [Journal Article] Bilateral Control of Walking Haptic System (2011)
  • Author(s): Kazuki Nagase, Seiichiro Katsura
  • Journal Title: 2011 Joint IEEE International Conference on Industrial Electronics & Southeastern Symposium on System Theory, ICIT-SSST11-AUBURN
  • Peer Reviewed
• [Journal Article] Shadow Robot for Teaching Motion (2010)
  • Author(s): Seiichiro Katsura, Yuichi Matsumoto, Kouhei Ohnishi
  • Journal Title: Robotics and Autonomous Systems Journal Volume: Vol.58, No.7 Pages: 840-846
  • Peer Reviewed
• [Journal Article] Force Control of Human-Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design (2010)
  • Author(s): Chowarit Mitsantisuk, Seiichiro Katsura, Kiyoshi Ohishi
  • Journal Title: IEEE Transactions on Industrial Electronics Volume: Vol.57, No.4 Pages: 1383-1392
  • Peer Reviewed
• [Journal Article] 力帰還型マルチラテラル制御に基づく歩行力覚フィードバック制御 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Journal Title: 電気学会産業応用部門誌 Volume: Vol.130-D, No.3 Pages: 351-359
  • NAID: 10026230017
  • Peer Reviewed
• [Journal Article] Shadow Robot for Teaching Motion (2010)
  • Author(s): S.Katsura, Y.Matsumoto, K.Ohnishi
  • Journal Title: Robotics and Autonomous Systems Journal Vol.58, No.7 Pages: 840-846
  • Peer Reviewed
• [Journal Article] Force Control of Human-Robot Interaction Using Twin Direct-Drive Motor System Based on Modal Space Design (2010)
  • Author(s): C.Mitsantisuk, S.Katsura, K.Ohishi
  • Journal Title: IEEE Transactions on Industrial Electronics Vol.57, No.4 Pages: 1383-1392
  • Peer Reviewed
• [Journal Article] 力帰還型マルチラテラル制御に基づく歩行力覚フィードバック制御 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Journal Title: 電気学会産業応用部門誌 Vol.130-D, No.3 Pages: 351-359
  • NAID: 10026230017
  • Peer Reviewed
• [Journal Article] Thermal Bilateral Control without Heat Flux Sensor (2010)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Journal Title: International Symposium on Application of Biomechanical Control Systems to Precision Engineering, ISAB 2010-FUKUSHIMA Pages: 223-224
  • Peer Reviewed
• [Journal Article] Heat Inflow Control of Peltier Device Based on Heat Inflow Observer (2010)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Journal Title: SICE 2010 Annual Conference, SICE 2010-TAIPEI Pages: 996-1001
  • Peer Reviewed
• [Journal Article] A Method to Control a Peltier Device Based on Heat Disturbance Observer (2010)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Journal Title: The 36th Annual Conference of the IEEE Industrial Electronics Society, IECON '10-PHOENIX Pages: 1216-1221
  • Peer Reviewed
• [Journal Article] Force Feedback Control for Haptic Walking System (2010)
  • Author(s): Kazuki Nagase, Seiichiro Katsura
  • Journal Title: The 36th Annual Conference of the IEEE Industrial Electronics Society, IECON '10-PHOENIX Pages: 1528-1533
  • Peer Reviewed
• [Journal Article] Articulated Multilateral Control for Haptic Broadcasting System (2010)
  • Author(s): Takumi Ishii, Seiichiro Katsura
  • Journal Title: The 36th Annual Conference of the IEEE Industrial Electronics Society, IECON '10-PHOENIX Pages: 1866-1871
  • Peer Reviewed
• [Journal Article] Combining Position and Acceleration Information for High Performance of Bilateral Control using Kalman-Filter-Based Disturbance Observer (2010)
  • Author(s): Chowarit Mitsantisuk, Thao Tran Phuong, Kiyoshi Ohishi, Seiichiro Katsura
  • Journal Title: The 36th Annual Conference of the IEEE Industrial Electronics Society, IECON '10-PHOENIX Pages: 2063-2068
  • Peer Reviewed
• [Journal Article] Transmission of Haptic Sensation for Human-Assisted Devices (2010)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Seiichiro Katsura
  • Journal Title: The 3rd Thailand-Japan International Academic Conference, TJIA 2010-NAGOYA
  • Peer Reviewed
• [Journal Article] One-to-Many Bilateral Control for Adaptation to Environment (2010)
  • Author(s): Takeshi Okura, Seiichiro Katsura
  • Journal Title: 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, MECATRONICS '10-YOKOHAMA Pages: 86-91
  • Peer Reviewed
• [Journal Article] Micro-Macro Bilateral Control with Variable Scaling Gain Based on Operational Velocity (2010)
  • Author(s): Takahiro Kosugi, Seiichiro Katsura
  • Journal Title: 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, MECATRONICS '10-YOKOHAMA Pages: 207-212
  • Peer Reviewed
• [Journal Article] Walking-Sensation Feedback Control System with Gravity Compensation of Swing Leg (2010)
  • Author(s): Kazuki Nagase, Seiichiro Katsura
  • Journal Title: 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, MECATRONICS '10-YOKOHAMA Pages: 425-430
  • Peer Reviewed
• [Journal Article] Sensorless Force Sensing Using Kalman Filtering Techniques for Bilateral Control System (2010)
  • Author(s): Chowarit Mitsantisuk, Thao Tran Phuong, Kiyoshi Ohishi, Seiichiro Katsura
  • Journal Title: 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, MECATRONICS '10-YOKOHAMA Pages: 437-442
  • Peer Reviewed
• [Journal Article] Construction of Heat Inflow Control System Based on Disturbance Heat Flow Estimation (2010)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Journal Title: 8th France-Japan and 6th Europe-Asia Congress on Mechatronics, MECATRONICS '10-YOKOHAMA Pages: 591-596
  • Peer Reviewed
• [Journal Article] Kalman Filter-Based Disturbance Observer and its Applications to Sensorless Force Control (2010)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Journal Title: Advanced Robotics Volume: Vol.25,No.3 Pages: 335-353
  • NAID: 10028239880
  • Peer Reviewed
• [Journal Article] 力帰還型マルチラテラル制御に基づく歩行力覚フィードバック制御 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Journal Title: 電気学会産業応用部門誌 Vol.130-D No.3 Pages: 351-359
  • NAID: 10026230017
  • Peer Reviewed
• [Journal Article] Development and Analysis of a Wire-Based Robot with Twin Direct-Drive Motor System (2010)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Journal Title: 電気学会産業応用部門誌 Vol.130-D No.3 Pages: 385-392
  • NAID: 10026230082
  • Peer Reviewed
• [Journal Article] Simplified Walking Haptic System Based on Bilateral Control (2010)
  • Author(s): Takeshi Okura, Seiichiro Katsura
  • Journal Title: The 11th IEEE International Workshop on Advanced Motion Control, AMC 2010-NAGAOKA Pages: 222-227
  • Peer Reviewed
• [Journal Article] Stiffness Modeling Across Transition Temperatures in Virtual Environments by B-Spline Interpolation (2010)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Journal Title: The 11th IEEE International Workshop on Advanced Motion Control, AMC 2010-NAGAOKA Pages: 349-354
  • Peer Reviewed
• [Journal Article] Kalman Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation (2009)
  • Author(s): C.Mitsantisuk, S.Katsura, K.Ohishi
  • Journal Title: IEEE Transactions on Industrial Electronics Vol.56, No.10 Pages: 3897-3905
  • Peer Reviewed
• [Journal Article] Sensor-less Cutting Force Monitoring using Parallel Disturbance Observer (2009)
  • Author(s): Daisuke Kurihara, Yasuhiro Kakinuma, Seiichiro Katsura
  • Journal Title: International Journal of Automation Technology Vol.3, No.4 Pages: 415-421
  • Peer Reviewed
• [Journal Article] Kalman Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation (2009)
  • Author(s): Chowarit Mitsantisuk, Seiichiro Katsura, Kiyoshi Ohishi
  • Journal Title: IEEE Transactions on Industrial Electronics Vol.56, No.10 Pages: 3897-3905
  • Peer Reviewed
• [Journal Article] Identification of Twin Direct-Drive Motor System with Consideration of Wire Rope Tension (2009)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Journal Title: The 5th IEEE International Conference on Mechatronics, ICM '09-MALAGA
  • Peer Reviewed
• [Journal Article] Modal Space Disturbance Observer Based on Operation of Environment Position (2009)
  • Author(s): Kazuki Nagase, Seiichiro Katsura
  • Journal Title: The 35th Annual Conference of the IEEE Industrial Electronics Society, IECON '09-PORTO Pages: 1861-1866
  • Peer Reviewed
• [Journal Article] Analysis of Interaction Force of Wire-Based Robot Using Variable Wire Rope Tension Control (2009)
  • Author(s): Chowarit Mitsantisuk, Thao Tran Phuong, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Journal Title: The 35th Annual Conference of the IEEE Industrial Electronics Society, IECON '09-PORTO Pages: 3073-3078
  • Peer Reviewed
• [Journal Article] Sensor-less Cutting Force Control Using Parallel Disturbance Observer (2009)
  • Author(s): Daisuke Kurihara, Yasuhiro Kakinuma, Seuchiro Katsura
  • Journal Title: JSME The 5th International Conference on Leading Edge Manufacturing in 21st Century, LEM21-OSAKA Pages: 191-196
  • Peer Reviewed
• [Journal Article] ハプトグラフとモード分解制御に基づくロボットの触覚発現 (2009)
  • Author(s): 横倉勇希, 桂誠一郎, 大石潔
  • Journal Title: 電気学会産業応用部門誌 Vol.129-D, No.2 Pages: 136-143
  • NAID: 10024000293
  • Peer Reviewed
• [Journal Article] Sensorless Interaction Force Control Based on B-Spline Function for Human-Robot Systems (2008)
  • Author(s): Chowarit Mitsantisuk, Seiichiro Katsura, Kiyoshi Ohishi
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Vol.1, No.6 Pages: 452-459
  • NAID: 10024488697
  • Peer Reviewed
• [Journal Article] Bilateral Teleoperation with Dimensional Scaling for Realization of Mobile-Hapto (2008)
  • Author(s): Wataru Yamanouchi, Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi
  • Journal Title: The 34th Annual Conference of the IEEE Industrial Electronics Society, IECON '08-ORLANDO Pages: 1590-1595
  • Peer Reviewed
• [Presentation] 波動オブザーバに基づく共振系の防振制御 (2012)
  • Author(s): 齊藤英一, 桂誠一郎
  • Organizer: 計測自動制御学会SI部門メカトロニクスシステム部会研究会
  • Place of Presentation: 東京
  • Year and Date: 2012-03-30
• [Presentation] 実世界ハプティクスに基づいた人間の動作の抽出と解析 (2012)
  • Author(s): 永嶋弘樹, 桂誠一郎
  • Organizer: 計測自動制御学会SI部門メカトロニクスシステム部会研究会
  • Place of Presentation: 東京
  • Year and Date: 2012-03-30
• [Presentation] 零空間制御に基づいたモバイルハプトのヨーレート制御 (2012)
  • Author(s): 矢島俊介, 桂誠一郎
  • Organizer: 平成24年電気学会全国大会
  • Place of Presentation: 広島
  • Year and Date: 2012-03-21
• [Presentation] 無線テレモビリティシステム (2012)
  • Author(s): 小杉貴洸, 鈴木希, 山之内亘, 桂誠一郎
  • Organizer: 平成24年電気学会全国大会
  • Place of Presentation: 広島
  • Year and Date: 2012-03-21
• [Presentation] Reproducibility Improvement in Bilateral Teleoperation with Different Motion Areas (2012)
  • Author(s): Takahiro Kosugi, Shunasuke Yajima, Eiichi Saito, Seiichiro Katsura
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 横浜
  • Year and Date: 2012-03-06
• [Presentation] Recognition and Classification of Human Motion Based on Hidden Markov Model for Motion Database (2012)
  • Author(s): Yoshihiro Ohnishi, Seiichiro Katsura
  • Organizer: The 12th International Workshop on Advanced Motion Control
  • Place of Presentation: AMC2012-SARAJEVO
• [Presentation] テレリアリティ:空間を越えた知覚・行動メディア (2011)
  • Author(s): 桂誠一郎
  • Organizer: 電子情報通信学会コミュニケーションクオリティ研究会
  • Place of Presentation: 名古屋(招待講演)
  • Year and Date: 2011-11-29
• [Presentation] 実世界ハプティクスに基づくオンラインモーションコピーシステム (2011)
  • Author(s): 矢島俊介, 石井沢実, 桂誠一郎
  • Organizer: 第54回自動制御連合講演会
  • Place of Presentation: 豊橋
  • Year and Date: 2011-11-19
• [Presentation] テレリアリティ:時空間を越えた知覚・行動メディア (2011)
  • Author(s): 桂誠一郎
  • Organizer: 平成23年度電気学会東京支部新潟支所研究発表会
  • Place of Presentation: 長岡(招待講演)
  • Year and Date: 2011-11-19
• [Presentation] 動作再現のためのロバストなモーションコピーシステム (2011)
  • Author(s): 矢島俊介, 桂誠一郎
  • Organizer: 日本機械学会2011年度年次大会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-11
• [Presentation] 連結型マルチラテラル制御による多方向触覚伝送システムの構築 (2011)
  • Author(s): 石井沢実, 桂誠一郎
  • Organizer: 日本機械学会2011年度年次大会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-11
• [Presentation] モーションデータベースのためのリアルタイム動作検索手法 (2011)
  • Author(s): 大西祥裕, 桂誠一郎
  • Organizer: 日本機械学会2011年度年次大会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-11
• [Presentation] 先端位置遅延フィードバックによる二慣性共振系の振動制御 (2011)
  • Author(s): 齊藤英一, 桂誠一郎
  • Organizer: 日本機械学会2011年度年次大会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-11
• [Presentation] バイラテラル触覚通信におけるネットワーク伝送方式の提案 (2011)
  • Author(s): 鈴木希, 桂誠一郎
  • Organizer: 日本機械学会2011年度年次大会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-11
• [Presentation] 異構造マスタ・スレーブシステムにおけるモード空間オブザーバを用いた非干渉バイラテラル制御 (2011)
  • Author(s): 矢島俊介, 桂誠一郎
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-09
• [Presentation] 触覚通信におけるリアルタイム性を考慮した送信手法 (2011)
  • Author(s): 鈴木希, 桂誠一郎
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-09
• [Presentation] 実世界ハプティクスのための焼き鈍し法を用いた摩擦パラメータの決定 (2011)
  • Author(s): 下市拓真, 桂誠一郎
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-09
• [Presentation] モーションデータベース構築のための動作の要素抽出・検索手法 (2011)
  • Author(s): 大西祥裕, 桂誠一郎
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 東京
  • Year and Date: 2011-09-09
• [Presentation] 熱外乱オブザーバを用いたペルチェ素子の温度制御の帯域検証 (2011)
  • Author(s): 森光英貴, 桂誠一郎
  • Organizer: 平成23年電気学会全国大会
  • Place of Presentation: 大阪
  • Year and Date: 2011-03-16
• [Presentation] 近接マスタ・スレーブシステムのための同座標バイラテラル制御 (2011)
  • Author(s): 矢島俊介, 桂誠一郎
  • Organizer: 平成23年電気学会全国大会
  • Place of Presentation: 大阪
  • Year and Date: 2011-03-16
• [Presentation] 環境埋め込み型ハプティックシステムによるなぞり動作の解析 (2011)
  • Author(s): 永井裕之, 桂誠一郎
  • Organizer: 平成23年電気学会全国大会
  • Place of Presentation: 大阪
  • Year and Date: 2011-03-16
• [Presentation] 接触環境を考慮したバイラテラルシステムの零空間制御 (2011)
  • Author(s): 大倉武, 桂誠一郎
  • Organizer: 平成23年電気学会全国大会
  • Place of Presentation: 大阪
  • Year and Date: 2011-03-16
• [Presentation] 人間の動作支援のための環境埋め込み型ハプティックシステム (2011)
  • Author(s): 永井裕之, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 千葉
  • Year and Date: 2011-03-08
• [Presentation] 人間動作支援のための同座標バイラテラル制御 (2011)
  • Author(s): 矢島俊介, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 千葉
  • Year and Date: 2011-03-08
• [Presentation] 熱外乱オブザーバに基づく熱キャパシタンス制御 (2011)
  • Author(s): 森光英貴, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 千葉
  • Year and Date: 2011-03-08
• [Presentation] 視触覚フィードバックに基づくモバイルロボットの双方向ナビゲーション (2011)
  • Author(s): 小杉貴洸, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 千葉
  • Year and Date: 2011-03-08
• [Presentation] 車両型テレモビリティシステムのためのバイラテラルカ覚フィードバック制御 (2011)
  • Author(s): 永瀬一貴, 萬修太郎, 小杉貴洸, 横倉勇希, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 千葉
  • Year and Date: 2011-03-08
• [Presentation] ミニチュアストロータを用いたスラストワイヤの新しい設計法によるフレキシブルアクチュエータの改善 (2011)
  • Author(s): チャワリット ミッサンティスク, 大石潔, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 千葉
  • Year and Date: 2011-03-08
• [Presentation] Experimental Evaluation of Disturbance Observer-Based Heat Inflow Estimation Method (2011)
  • Author(s): Hidetaka Morimitsu, Seiichiro Katsura
  • Organizer: SICE 2011 Annual Conference
  • Place of Presentation: SICE2011-TOKYO
• [Presentation] Environmental Embedded Haptic System Based on Modal Transformation (2011)
  • Author(s): Hiroyuki Nagai, Seiichiro Katsura
  • Organizer: 4th International Conference on Human System Interaction
  • Place of Presentation: HSI2011-YOKOHAMA
• [Presentation] Bilateral Control of Walking Haptic System (2011)
  • Author(s): K.Nagase, S.Katsura
  • Organizer: 2011 Joint IEEE International Conference on Industrial Electronics & Southeastern Symposium on System Theory ICIT-SSST11-AUBURN
• [Presentation] ナノハプトのための可変スケーリングバイラテラル制御 (2010)
  • Author(s): 小杉貴洸, 萬修太郎, 桂誠一郎
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] 二足歩行ロボットを用いたバイラテラル遠隔歩行制御 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] 共振比制御に基づく三慣性システムの防振力制御 (2010)
  • Author(s): 萬修太郎, 桂誠一郎
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] 環境形状に適応するバイラテラル遠隔操作 (2010)
  • Author(s): 大倉武, 桂誠一郎
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] ハプトグラフによる人間の触感の可視化 (2010)
  • Author(s): 永井裕之, 渡部達人, 横倉勇希, 桂誠一郎
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-22
• [Presentation] 熱外乱オブザーバによるペルチェ素子のロバスト熱制御 (2010)
  • Author(s): 森光英貴, 桂誠一郎
  • Organizer: 日本機械学会2010年度年次大会
  • Place of Presentation: 名古屋
  • Year and Date: 2010-09-05
• [Presentation] 二足歩行型スレーブシステムを用いた歩行感覚フィードバックの実現 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 平成22年度電気学会産業応用部門大会
  • Place of Presentation: 東京
  • Year and Date: 2010-08-24
• [Presentation] ペルチェ素子における流入熱量の熱流束センサレス推定 (2010)
  • Author(s): 森光英貴, 桂誠一郎
  • Organizer: 平成22年電気学会全国大会
  • Place of Presentation: 東京
  • Year and Date: 2010-03-19
• [Presentation] 二足歩行型ハプティックデバイスの簡易モデルによる実世界力覚フィードバック制御 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 平成22年電気学会全国大会
  • Place of Presentation: 東京
  • Year and Date: 2010-03-19
• [Presentation] 熱感覚コミュニケーション実現のためのペルチェ素子のロバスト熱制御 (2010)
  • Author(s): 森光英貴, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 東京
  • Year and Date: 2010-03-09
• [Presentation] 歩行感覚フィードバックシステムのための力覚フィードバック制御 (2010)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 東京
  • Year and Date: 2010-03-09
• [Presentation] 離散要素の連続化に基づいた空間システムにおけるモバイルロボットの双方向ナビゲーション (2010)
  • Author(s): 小杉貴洗, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 東京
  • Year and Date: 2010-03-09
• [Presentation] システムエネルギーに基づくバイラテラル制御の構成法 (2010)
  • Author(s): 山之内亘, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 東京
  • Year and Date: 2010-03-08
• [Presentation] Articulated Multilateral Control for Haptic Broadcasting System (2010)
  • Author(s): Takumi Ishii, Seiichiro Katsura
  • Organizer: The 36th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: IECON' 10-PHOENIX
• [Presentation] Force Feedback Control for Haptic Walking System (2010)
  • Author(s): K.Nagase, S.Katsura
  • Organizer: The 36th Annual Conference of the IEEE Industrial Electronics Society, IECON '10-PHOENIX, pp.1528-1533
• [Presentation] Articulated Multilateral Control for Haptic Broadcasting System (2010)
  • Author(s): T.Ishii, S.Katsura
  • Organizer: The 36th Annual Conference of the IEEE Industrial Electronics Society, IECON '10-PHOENIX, pp.1866-1871
• [Presentation] Heat Inflow Control of Peltier Device Based on Heat Inflow Observer (2010)
  • Author(s): H.Morimitsu, S.Katsura
  • Organizer: SICE 2010 Annual Conference, SICE 2010-TAIPEI, pp.996-1001
• [Presentation] 個人の動作に基づく人間支援システム (2009)
  • Author(s): 山之内亘, 永瀬一貴, 桂誠一郎
  • Organizer: 第52回自動制御連合講演会
  • Place of Presentation: 大阪
  • Year and Date: 2009-11-21
• [Presentation] マルチラテラル制御のための環境データメモリを用いた環境クオリヤの実現 (2009)
  • Author(s): 横倉勇希, 桂誠一郎
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜
  • Year and Date: 2009-09-17
• [Presentation] Development of Disturbance Observer and Its Applications to Sensorless Force Control (2009)
  • Author(s): Chowarit Mitsantisuk, Thao Phuong Tran, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜
  • Year and Date: 2009-09-17
• [Presentation] Improvement of Twin Direct-Drive Motor System for Controlling Velocity Based on Variable Wire Rope Tension Control (2009)
  • Author(s): Chowarit Mitsantisuk, Thao Phuong Tran, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Organizer: 平成21年度電気学会産業応用部門大会
  • Place of Presentation: 三重
  • Year and Date: 2009-09-02
• [Presentation] 多自由度異構造バイラテラルシステムにおけるタスク透明性の向上 (2009)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 平成21年度電気学会産業応用部門大会
  • Place of Presentation: 三重
  • Year and Date: 2009-09-02
• [Presentation] 二足歩行型ハプティックデバイスを用いた歩行力覚フィードバックシステム (2009)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 平成21年電気学会全国大会
  • Place of Presentation: 札幌
  • Year and Date: 2009-03-19
• [Presentation] Development of Bilateral Robot System Between Different Mechanical Structure Based on Modal Space Design (2009)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Organizer: 平成21年電気学会全国大会
  • Place of Presentation: 札幌
  • Year and Date: 2009-03-18
• [Presentation] 微小領域における力覚フィードバック付マイクロマニピュレーションシステム (2009)
  • Author(s): 萬修太郎, 桂誠一郎
  • Organizer: 平成21年電気学会全国大会
  • Place of Presentation: 札幌
  • Year and Date: 2009-03-18
• [Presentation] Sensorless Wire Rope Tension Approach to Improve the Vibration-Free Performance of Cooperative Human-Robot Systems (2009)
  • Author(s): Chowarit Mitsantisuk, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 東京
  • Year and Date: 2009-03-10
• [Presentation] 二足歩行型ハプティックデバイスのための歩行感覚フィードバック制御 (2009)
  • Author(s): 永瀬一貴, 桂誠一郎
  • Organizer: 電気学会産業計測制御研究会
  • Place of Presentation: 東京
  • Year and Date: 2009-03-10
• [Remarks] 受賞(計13件)(1) The Best Paper Award of the 4th HSI2011
• [Remarks] (2) The Best Paper Award of the 13th EPE-PEMC08
• [Remarks] (3)矢崎学術賞奨励賞
• [Remarks] (4)電気学会優秀論文発表賞2件
• [Remarks] (5)電気学会産業計測制御技術委員会優秀論文発表賞4件
• [Remarks] (6) SICE Annual Conference Finalists of International Award 2件
• [Remarks] (7)三井住友海上福祉財団賞
• [Remarks]
  • URL: http://www.katsura.sd.keio.ac.jp/
• [Remarks]
  • URL: http://www.katsura.sd.keio.ac.jp/
• [Remarks] ホームページ
  • URL: http://www.katsura.sd.keio.ac.jp/
• [Remarks]
  • URL: http://www.katsura.sd.keio.ac.jp/
• [Remarks]
  • URL: http://www.katsura.sd.keio.ac.jp/
• [Remarks]
  • URL: http://www.katsura.sd.keio.ac.jp/
• [Remarks]
  • URL: http://www.katsura.sd.keio.ac.jp/projects/wakatea20.html