Development of the wearable motion capture system WB

2009 Fiscal Year Final Research Report

• Project/Area Number: 19700389
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Biomedical engineering/Biological material science
• Research Institution: Waseda University
• Principal Investigator: ZECCA Massimiliano Waseda University, 理工学術院, 准教授 (30434377)
• Project Period (FY): 2007 – 2009
• Keywords: 生体情報・計測 / 人間・ロボットインタラクション / 医療路簿ティクス / リハビリテーション / ヒューマン・マシン・インターフェース / モーションキャプチャ / 慣性測定ユニット / センシング

Research Abstract

The main result of this project is the development of the Inertial Measurement Unit (IMU) WB-4, which integrates 3D accelerometer, gyroscope, and magnetometer in a 20x17mm board (2.0 grams weight) - at present the smallest and most performing IMU in the world. During the project this IMU and the previous prototypes was applied in a vast range of applications, such as : performance measurement and assessment for laparoscopy skill analysis, both on the surgeons and on the tools; performance measurement and assessment for neurosurgery; mastication analysis; gait analysis for healthy and disabled persons. All the applications were successful as testified by the published literature and the relative awards, thus validating the proposed approach.

Research Products

• [Journal Article] Brain response to a humanoid robot in areas implicated in the perception of human emotional gestures (2010)
  • Author(s): T. Chaminade, M. Zecca, S. -J. Blakemore, A. Takanishi, C.D. Frith, S. Micera, P. Dario, G. Rizzolatti, V. Gallese, M.A. Umilta
  • Journal Title: PLoS-ONE (to appear)
• [Journal Article] Developement of an Ultra-Miniaturized Inertial Measurement Unit for Jaw Movement Analysis during Free Chewing (2010)
  • Author(s): Z. Lin, M. Zecca, S. Sessa, H. Ishii, A. Takanishi
  • Journal Title: Journal of Computer Science (accepted)
• [Journal Article] Development of an Ultra-Miniaturized Inertial Measurement Unit for Objective Skill Analysis and Assessment in Neurosurgery: preliminary results (2009)
  • Author(s): M. Zecca, S. Sessa, Z. Lin, T. Sasaki, T. Suzuki, K. Itoh, H. Iseki, A. Takanishi
  • Journal Title: MICCAI 2009, Part I, Lecture Notes in Computer Science 5761 vol.5671 Pages: 443-500
• [Journal Article] Development of the Inertial Measurement Unit WB-3 - measurement of different movements of the chin (2009)
  • Author(s): M. Zecca, Z. Lin, S. Sessa, T. Sasaki, H. Ishii, A. Takanishi
  • Journal Title: Journal of Japanese Society for Mastication Science and Health Promotion vol.19 Pages: 143-144
• [Journal Article] Neuroscience and Robotics: Ethical and Social Implications (2009)
  • Author(s): M. Zecca
  • Journal Title: Ethics for Bioscience and Bioengineering vol.5 Pages: 29-58
• [Journal Article] Design and Evaluation of The Soft Hand WSH-1 For The Emotion Expression Humanoid Robot KOBIAN (2008)
  • Author(s): M. Zecca, K. Endo, N. Endo, Y. Mizoguchi, T. Kusano, K. Itoh, A. Takanishi
  • Journal Title: Gerontechnology vol.7 Pages: 249
• [Journal Article] Design and Evaluation of the new Emotional Expression Head for the ADL assistive Full-body Emotion Expression Humanoid Robot KOBIAN (2008)
  • Author(s): N. Endo, S. Momoki, M. Zecca, K. Itoh, A. Takanishi
  • Journal Title: Gerontechnology vol.7 Pages: 99
• [Presentation] Ultra-Miniaturized Inertial Measurement Unit WB-3 for Jaw Movement Analysis during Free Chewing (2010)
  • Author(s): Z. Lin, M. Zecca, S. Sessa, H. Ishii, A. Takanishi
  • Organizer: in 2010 International Symposium on Robotics and Intelligent Sensors IRIS2010
  • Place of Presentation: Nagoya, Japan(accepted)
  • Year and Date: 20100000
• [Presentation] Evaluation of the KOBIAN and HABIAN emotional expression humanoid robots with European Elderly people (2010)
  • Author(s): M. Zecca, G. Macri, Y. Mizoguchi, Nobutsuna Endo, K.I. Vito Monaco, P. Dario, A. Takanishi
  • Organizer: in 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control ROMANSY 2010
  • Place of Presentation: Udine, Italy(accepted)
  • Year and Date: 20100000
• [Presentation] Modular Design of Emotion Expression Humanoid Robots KOBIAN (2010)
  • Author(s): N. Endo, K. Endo, M. Zecca, A. Takanishi, "Modular Design of Emotion Expression Humanoid Robots KOBIAN
  • Organizer: in 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control ROMANSY 2010
  • Place of Presentation: Udine, Italy(accepted)
  • Year and Date: 20100000
• [Presentation] Development of an Ultra-Miniaturized Inertial Measurement Unit for Objective Skill Analysis and Assessment in Neurosurgery: preliminary results (2009)
  • Author(s): M. Zecca, S. Sessa, Z. Lin, T. Sasaki, T. Suzuki, K. Itoh, H. Iseki, A. Takanishi
  • Organizer: in 12th International Conference on Medical Image Computing and Computer Assisted Intervention MICCAI 2009
  • Place of Presentation: Imperial College, London
  • Year and Date: 20090000
• [Presentation] Whole body Emotion Expressions for KOBIAN Humanoid Robot - preliminary experiments with different emotional patterns (2009)
  • Author(s): M. Zecca, Y. Mizoguchi, K. Endo, F. Iida, Y. Kawabata, N. Endo, K. Itoh, A. Takanishi
  • Organizer: in 18th IEEE International Symposium on Robot and Human Interactive Communication Toyama International Conference Center
  • Place of Presentation: Japan
  • Year and Date: 20090000
• [Presentation] Evaluation of the Effects of the Shape of the Artificial Hand on the Quality of the Interaction - Natural Appearance vs. Symbolic Appearance - (2009)
  • Author(s): M. Zecca, N. Endo, Y. Mizoguchi, K. Endo, F. Iiida, Y. Kawabata, K. Itoh, A. Takanishi
  • Organizer: in Human Robot Interaction 2009 (HRI2009)
  • Place of Presentation: San Diego, CA, USA
  • Year and Date: 20090000
• [Presentation] Objective Skill Analysis and Assessment of Neurosurgery by using the Waseda Bioinstrumentation System WB-3 - Pilot tests - (2009)
  • Author(s): S. Sessa, M. Zecca, Z. Lin, T. Sasaki, T. Suzuki, K. Itoh, H. Iseki, A. Takanishi
  • Organizer: in IEEE/RSJ International Conference on Intelligent RObots and Systems IROS2009
  • Place of Presentation: St. Louis, MO, USA
  • Year and Date: 20090000
• [Presentation] Waseda Bioinstrumentation System 3 as a tool for objective rehabilitation measurement and assessment - development of the inertial measurement unit- (2009)
  • Author(s): S. Sessa, M. Zecca, Z. Lin, T. Sasaki, K. Itoh, A. Takanishi
  • Organizer: in IEEE International Conference on Rehabilitation Robotics ICORR2009
  • Place of Presentation: Kyoto International Conference Center, Japan
  • Year and Date: 20090000
• [Presentation] Objective Skill Analysis and Assessment in Neurosurgery by Using an Ultra-Miniaturized Inertial Measurement Unit WB-3 - Pilot tests - (2009)
  • Author(s): Z. Lin, M. Zecca, S. Sessa, T. Sasaki, T. Suzuki, K. Itoh, H. Iseki, A. Takanishi
  • Organizer: in 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'09)
  • Place of Presentation: Minneapolis, MN, USA
  • Year and Date: 20090000
• [Presentation] Objective Skill Analysis and Assessment in Neurosurgery by using the Waseda Bioinstrumentation System WB-3 - Pilot tests - (2009)
  • Author(s): Z. Lin, M. Zecca, S. Sessa, T. Sasaki, T. Suzuki, K. Itoh, H. Iseki, A. Takanishi
  • Organizer: in Robotics and Mechatronics Conference ROBOMEC 2009
  • Place of Presentation: Fukuoka, Japan
  • Year and Date: 20090000
• [Presentation] Waseda Bioinstrumentation System WB-2R as a Wearable Tool for an Objective Analysis of Surgeon's Performance (2009)
  • Author(s): Z. Lin, M. Zecca, S. Sessa, T. Kusano, K. Itoh, A. Takanishi
  • Organizer: in IEEE/RSJ International Conference on Advanced Intelligent Machatronics AIM2009
  • Place of Presentation: Singapore
  • Year and Date: 20090000
• [Presentation] Design of the humanoid robot KOBIAN -preliminary analysis of facial and whole body emotion expression capabilities- (2008)
  • Author(s): M. Zecca, N. Endo, S. Momoki, K. Itoh, A. Takanishi
  • Organizer: in IEEE-RAS International Conference on Humanoid Robots HUMANOIDS2008
  • Place of Presentation: Daejeon, South Korea
  • Year and Date: 20080000
• [Presentation] Design and Evaluation of The Soft Hand WSH-1 For The Emotion Expression Humanoid Robot KOBIAN (2008)
  • Author(s): M. Zecca, K. Endo, N. Endo, Y. Mizoguchi, T. Kusano, K. Itoh, A. Takanishi
  • Organizer: in 6th International Conference of the International Society for Gerontechnology (Gerontechnology2008) Pisa
  • Place of Presentation: Italy
  • Year and Date: 20080000
• [Presentation] Development of Whole-Body Emotion Expression Humanoid Robot (2008)
  • Author(s): N. Endo, S. Momoki, M. Zecca, M. Saito, Y. Mizoguchi, K. Itoh, A. Takanishi
  • Organizer: in 2008 IEEE International Conference on Robotics and Automation (ICRA) Pasadena
  • Place of Presentation: CA, USA
  • Year and Date: 20080000
• [Presentation] Design and Evaluation of the new Emotional Expression Head for the ADL assistive Full-body Emotion Expression Humanoid Robot KOBIAN (2008)
  • Author(s): N. Endo, S. Momoki, M. Zecca, K. Itoh, A. Takanishi
  • Organizer: in 6th International Conference of the International Society for Gerontechnology (Gerontechnology2008) Pisa
  • Place of Presentation: Italy
  • Year and Date: 20080000
• [Presentation] Development of Whole-Body Emotion Expression Humanoid Robot -Design and Evaluation of the Emotional Expression Head- (2008)
  • Author(s): N. Endo, S. Momoki, K. Endo, T. Kusano, M. Zecca, K. Itoh, A. Takanishi
  • Organizer: in 26th Annual Conference of the Robotics Society of Japan (RSJ2008)
  • Place of Presentation: Japan
  • Year and Date: 20080000
• [Presentation] Design and development of the Waseda anthropomorphic soft hand WSH-1 -Evaluation of the interaction with young and elderly people- (2008)
  • Author(s): K. Endo, N. Endo, M. Zecca, T. Kusano, Y. Mizoguchi, K. Itoh, A. Takanishi
  • Organizer: in 26th Annual Conference of the Robotics Society of Japan (RSJ2008)
  • Place of Presentation: Japan
  • Year and Date: 20080000
• [Presentation] Development of the Waseda Bioinstrumentation System WB-2 - the new Inertial Measurement Unit - (2007)
  • Author(s): M. Zecca, M. Saito, N. Endo, Y. Mizoguchi, K. Itoh, H. Takanobu, A. Takanishi
  • Organizer: in IEEE International Conference on Robotics and Biomimetics (Robio 2007)
  • Place of Presentation: Sanya, China
  • Year and Date: 20070000
• [Presentation] On the development of the Waseda Bioinstrumentation WB-2 - Development of the gyro module (2007)
  • Author(s): M. Zecca, K. Itoh, Y. Mizoguchi, N. Endo, M. Saito, H. Takanobu, A. Takanishi
  • Organizer: in Robotics and Mechatronics Conference ROBOMEC2007
  • Place of Presentation: Akita, Japan
  • Year and Date: 20070000
• [Presentation] On the development of the Bioinstrumentation System for the evaluation of human-robot interaction - Head and Hands Motion Capture Systems (2007)
  • Author(s): M. Zecca, N. Endo, K. Itoh, K. Imanishi, M. Saito, N. Nanba, H. Takanobu, A. Takanishi
  • Organizer: in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007)
  • Place of Presentation: ETH Zurich, Switzerland
  • Year and Date: 20070000
• [Presentation] Emotional Expression Humanoid Robot WE-4RII - Evaluation of the perception of facial emotional expressions by using fMRI (2007)
  • Author(s): M. Zecca, T. Chaminade, M.A. Umilta, K. Itoh, M. Saito, N. Endo, Y. Mizoguchi, S. Blakemore, C. Frith, V. Gallese, G. Rizzolatti, S. Micera, P. Dario, H. Takanobu, A. Takanishi
  • Organizer: in Robotics and Mechatronics Conference ROBOMEC2007
  • Place of Presentation: Akita, Japan
  • Year and Date: 20070000
• [Presentation] Analysis of the Surgeon's Performance during Laparoscopy by Using the Bioinstrumentation System WB-1R- towards the development of a Global Performance Index - (2007)
  • Author(s): M. Zecca, F. Cavallo, M. Saito, N. Endo, Y. Mizoguchi, S. Sinigaglia, K. Itoh, H. Takanobu, G. Megali, O. Tonet, P. Dario, A. Pietrabissa, A. Takanishi
  • Organizer: in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007)
  • Place of Presentation: Sheraton Hotel, San Diego, CA, USA
  • Year and Date: 20070000
• [Presentation] in workshop on 'Neurorobotics: an interdisciplinary approach to the design of a new generation of high-performance robots (2007)
  • Author(s): M. Zecca
  • Organizer: IEEE International Conference on Robotics and Automation ICRA2007
  • Place of Presentation: Rome, Italy
  • Year and Date: 20070000
• [Presentation] Development of a Bioinstrumentation System for Interaction with a Robot - Motion Capture System of Upper Body using Small Attitude Sensor Modules- (2007)
  • Author(s): Y. Mizoguchi, K. Itoh, M. Saito, N. Endo, M. Zecca, H. Takanobu, A. Takanishi
  • Organizer: in 25th Annual Conference of the Robotics Society of Japan (RSJ2007)
  • Place of Presentation: Chiba Institute of Technology, Chiba
  • Year and Date: 20070000
• [Remarks] ホームページ等:日本語
  • URL: http://www.takanishi.mech.waseda.ac.jp/top/research/wb/wb-3/index_j.htm
• [Remarks] English
  • URL: http://www.takanishi.mech.waseda.ac.jp/top/research/wb/wb-3/index.htm
• [Patent(Industrial Property Rights)] ZMP inc., (6F Sumitomo Fudosan Koishikawa Bldg., 5-41-10, Koishikawa, Bunkyo-ku, Tokyo Japan)
  • Inventor(s): acquired from the proposer the rights for the commercialization of 9-axis wireless motion sensor e-nuvo IMU-Z, which is based on the design of the "WB-3 (Waseda Bioinstrumentation system No.3)"