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2014 Fiscal Year Annual Research Report

力触覚技術による医工融合基盤の革新

Research Project

Project/Area Number 25220903
Research InstitutionKeio University

Principal Investigator

大西 公平  慶應義塾大学, 理工学部, 教授 (80137984)

Co-Investigator(Kenkyū-buntansha) 森川 康英  慶應義塾大学, 医学部, 講師 (90124958)
小澤 壮治  東海大学, 医学部, 教授 (10169287)
下野 誠通  横浜国立大学, 工学(系)研究科(研究院), 准教授 (90513292)
大石 潔  長岡技術科学大学, 工学(系)研究科(研究院), 教授 (40185187)
名取 賢二  千葉大学, 工学(系)研究科(研究院), 助教 (70545607)
元井 直樹  神戸大学, 海事科学研究科(研究院), 講師 (10611270)
Project Period (FY) 2013-05-31 – 2018-03-31
Keywordsハプティクス / 医工融合基盤 / スキル抽出 / 動作の人工実現 / モーションコントロール
Outline of Annual Research Achievements

本研究では成熟化社会において希求されるQOLの向上を目的とし、ハプティクス機能付エンドエフェクタHEM2を開発し、直接的な身体支援を人工実現する。さらに、同装置においてモーションコントロールの原理を適用し、行為と身体機能を数学的に解明する。本研究は、身体機能を「表現」する研究計画A、身体機能を「発現」する研究計画B、多機能統合による直接行為の「実現」を達成する研究計画C、および、理論検証実験を行うための試験機を開発する研究計画Dの4つを逐次達成することで遂行する。前年度において、実世界ハプティクス技術による身体機能の表現原理を確立し、研究計画Aについては完遂した。本年度は、研究計画Bに関する研究を主におこない、さらに当初の計画を前倒しし研究計画Cに関しても基本的な原理実験に着手した。具体的には、各研究計画に対し、次のような成果を得た。1.身体機能のひとつである把持・操りデータを収集し各データについて数学的に解析した。2. 低自由度なシステムで単純動作を単位身体機能に分離,組み合わせをおこなう理論を確立し,実験により実証した。3.身体機能データの数学的解析を多自由度なシステムに応用するため、5自由度10軸ハプティックエンドエフェクタHEM2を用いて身体機能データの収集をおこない数学的に解析した。さらに、医学的な有用性を確認するために同機を用いて縫合糸の縫合を実現した. 4.システムの小型化を目的とした、エンコーダレス位置推定法を確立し、低自由度動作において有用性を確認した。5. 位置と力を遠隔に伝達することができる「フレキシブルアクチュエータ」を用いて体内から臓器の硬さを定量的に測定する「臓器触診デバイス」を開発し、動物実験により、有効性を示した。
以上の結果を学術論文,学会発表,招待講演などを通じて社会に発信した。

Current Status of Research Progress
Current Status of Research Progress

1: Research has progressed more than it was originally planned.

Reason

本年度の研究は当初の予定を超え,研究計画Bでは身体機能の「発現」に関しては理論の構築および実験実証をおこなうとともに,後期計画である研究計画Cの行為の「実現」に関してもデータベース化およびインデックス化の基礎理論を構築した。また,ハプティックエンドエフェクタHEM2を改良したことにより,来年度以降に向けて身体機能の「発現」に対する更なる実証実験が可能となった。これにより,行為の「実現」に対する実証実験へスムーズに移行することができるようになる。さらに,本研究結果を口腔外科の分野へも応用することで,新たな多自由度口腔外科手術支援システムの試作機を完成させた。その結果、力触覚技術を用いて,広く医工融合の推進および普及を進めることができた。本年度までに研究計画A身体機能の「表現」および研究計画B身体機能の「発現」の大部分を完遂し,さらに研究計画C行為の「実現」の基礎理論の構築に成功した。そのため,研究計画を加速させ,研究計画Cの完遂と研究計画Dの身体機能支援システムの試作開発を迅速に進められる見通しがたった。以上の理由から当初の計画以上に進展しているといえる。

Strategy for Future Research Activity

平成27年度では研究計画Bを完遂し、研究計画Cを推進するために平成26年度に構築した理論を身体機能の「発現」システムに対して実装することで,より自由度の高い複雑な動作を実現する。具体的には刺入,結紮等の手技をInVivoで実現することで,実際の手術データを収集する。平成28年度以降は、構築した行為の「実現」、「発現」の基礎理論を発展させることで,インデックス化やそれを用いた動作の検索システムなどの行為のデータベース化の研究に着手する。行為データベースを用いることで,複数の主体での共有と利用が可能になるとともに、用途に応じた加工や再利用ができるようになる。特に行為データベースとその時空間的連結によるタスク達成はこれまで達成されていなかった直接行為の人工合成であるといえ,自動化に向けた研究の大きな飛躍になると考えられる。さらに、HEM2とこれを改良した2号機のInVivo実験を通した評価から改善案を考え,更なる改良を加える。それを踏まえ、最終的に制作するHEM2統合用行為評価システムへ向けた発展型の開発に着手する。

  • Research Products

    (97 results)

All 2015 2014

All Journal Article (23 results) (of which Peer Reviewed: 7 results,  Acknowledgement Compliant: 2 results) Presentation (73 results) (of which Invited: 3 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] 直流電動機における位置センサレス運動制御2015

    • Author(s)
      神原義幸,魚住誠二,野崎貴裕,大西公平
    • Journal Title

      電気学会論文誌産業応用部門誌

      Volume: Vol. 135 No. 3 Pages: pp. 205-211

    • DOI

      10.1541/ieejias.135.205

    • Peer Reviewed
  • [Journal Article] 不安定な通信ネットワークを考慮した通信外乱オブザーバ内の制御対象モデルの配置方法2015

    • Author(s)
      兵頭翔洋,大西公平
    • Journal Title

      電気学会論文誌産業応用部門誌

      Volume: Vol. 135 No. 3 Pages: pp. 192-198

    • DOI

      10.1541/ieejias.135.192

    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] On the Explicit Robust Force Control via Disturbance Observer2015

    • Author(s)
      Emre Sariyildiz and Kouhei Ohnishi
    • Journal Title

      IEEE Transaction on Industrial Electronics

      Volume: Vol. 62 No. 3 Pages: pp. 1581-1589

    • DOI

      10.1109/TIE.2014.2361611

    • Peer Reviewed
  • [Journal Article] Fine Tracking Control System based on Double Equivalent-Perfect Tracking Control System and Error-Based Disturbance Observer for Optical Disk2015

    • Author(s)
      Naohide Sakimura,Takahiro Ohashi,Kiyoshi Ohishi,and Toshimasa Miyazaki
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: Vol. 4, No. 1 Pages: pp. 1-10

    • DOI

      10.1541/ieejjia.4.1

    • Peer Reviewed
  • [Journal Article] Stability and Robustness of Disturbance Observer based Motion Control Systems2015

    • Author(s)
      Emre Sariyildiz and Kouhei Ohnishi
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: Vol. 62, No. 1 Pages: pp. 414-422

    • DOI

      10.1109/TIE.2014.2327009

    • Peer Reviewed
  • [Journal Article] Application of Nuclear Medicine to Achieve Less Invasive Surgery for Malignant Solid Tumors in Children2014

    • Author(s)
      Ryo Hotta,Takumi Fujimura,Naoki Shimojima,Tadaki Nakahara,Yasushi Fuchimoto,Ken Hoshino,YasuhideMorikawa,Hiroshi Matsufuji and Tatsuo Kuroda
    • Journal Title

      Pediatrics International

      Volume: Vol. 56, No. 6 Pages: pp. 896-901

    • DOI

      10.1111/ped.12368

  • [Journal Article] 【ビジュアル小児外科疾患のフォローアップ・プログラム-手術直後から遠隔期の問題点まで】 リンパ管腫2014

    • Author(s)
      藤野 明浩,上野 滋,岩中 督,木下 義晶,小関 道夫,森川 康英,黒田 達夫
    • Journal Title

      小児外科

      Volume: Vol. 46, No. 11 Pages: pp. 1181-1186

  • [Journal Article] Motion Expression by Elemental Separation of Haptic Information2014

    • Author(s)
      Takahiro Nozaki,Takahiro Mizoguchi,and Kouhei Ohnishi
    • Journal Title

      IEEE Transaction on Industrial Electronics

      Volume: Vol. 61, No. 11 Pages: pp. 6192-6201

    • DOI

      10.1109/TIE.2014.2308162

    • Peer Reviewed
  • [Journal Article] Fontan Completion in A Patient with Previous Liver Transplantation2014

    • Author(s)
      Hirofumi Haida,Ryo Aeba,Ken Hoshino and Yasuhide Morikawa
    • Journal Title

      Interactive CardioVascular and Thoracic Surgery

      Volume: Vol. 4, No. 19 Pages: pp. 705-707

    • DOI

      10.1093/icvts/ivu216

  • [Journal Article] 腹痛を契機に診断された肺嚢胞の1例2014

    • Author(s)
      黒岩 祐梨,長嶋 雅子,和田 聖哉,大塩 猛人,森川 康英,田中 吾朗,沼崎 啓,桃井 真里子,郡司 勇治
    • Journal Title

      小児科臨床

      Volume: Vol. 67, No. 10 Pages: pp. 1714-1718

  • [Journal Article] 神経堤由来細胞を蛍光標識したマウスを用いた薬剤性ヒルシュスプルング病モデルの有用性に関する検討2014

    • Author(s)
      藤村 匠,下島 直樹,芝田 晋介,岡野 栄之,森川 康英,黒田 達夫
    • Journal Title

      日本大腸肛門病学会雑誌

      Volume: Vol. 67, No. 8 Pages: pp. 558

  • [Journal Article] Heartbeat Synchronization with Haptic Feedback for Tele-surgical Robot2014

    • Author(s)
      Yu Nakajima,Takahiro Nozaki,and Kouhei Ohnishi
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: Vol. 61, No. 7 Pages: pp. 3753-3764

    • DOI

      10.1109/TIE.2013.2287258

    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Two-Stage Feedforward Tracking Control System with Error-Based Disturbance Observer for Optical Discs2014

    • Author(s)
      Naohide Sakimura,Takahiro Ohashi,Kiyoshi Ohishi,and Toshimasa Miyazaki
    • Journal Title

      OPTICAL REVIEW

      Volume: Vol. 21, No. 5 Pages: pp. 578-584

    • DOI

      10.1007/s10043-014-0092-z

  • [Journal Article] Cornelia de Lange症候群の患児に生じた盲腸捻転の1例2014

    • Author(s)
      加藤 源俊,柳澤 智彦,森川 康英
    • Journal Title

      日本小児科学会雑誌

      Volume: Vol. 118, No. 6 Pages: pp. 993

  • [Journal Article] 非症候性肝内胆管減少症の超低出生体重児の1例2014

    • Author(s)
      醍醐 政樹,嶋岡 鋼,梅崎 光,村瀬 真紀,森川 康英
    • Journal Title

      日本周産期・新生児医学会雑誌

      Volume: Vol. 50, No. 2 Pages: pp. 811

  • [Journal Article] ヒルシュスプルング病新規動物実験モデルの有用性の検討2014

    • Author(s)
      藤村 匠, 下島 直樹, 芝田 晋介, 岡野 栄之, 森川 康英, 黒田 達夫
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 4 Pages: pp. 863

  • [Journal Article] Cornelia de Lange症候群の患児に生じた盲腸捻転の一例2014

    • Author(s)
      加藤 源俊,柳澤 智彦,森川 康英
    • Journal Title

      日本小児救急医学会雑誌

      Volume: Vol. 13, No. 2 Pages: pp. 275

  • [Journal Article] ヒルシュスプルング病に対する神経堤幹細胞移植治療の有用性に関する研究2014

    • Author(s)
      藤村 匠,下島 直樹,芝田 晋介,高橋 信博,石濱 秀雄,加藤 源俊,富田 紘史,藤野 明浩,星野 健,堀 桂子,板倉 剛,西村 空也,中村 雅也,森川 康英,岡野 栄之,黒田 達夫
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 3 Pages: pp. 687

  • [Journal Article] 腹腔鏡所見から見た臍ヘルニア絆創膏固定法による治癒機転に関する考察2014

    • Author(s)
      大塩 猛人,浅野間 理仁,石川 正志,柳沢 智彦,森川 康英
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 3 Pages: pp. 574

  • [Journal Article] 臍ヘルニア絆創膏固定の至適時期は? 超音波検査による臍ヘルニア絆創膏固定治療過程からの検討2014

    • Author(s)
      柳澤 智彦,加藤 源俊,森川 康英,大塩 猛人
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 3 Pages: pp. 572

  • [Journal Article] 新生児の臍形態に関する検討2014

    • Author(s)
      加藤 源俊,柳沢 智彦,森川 康英
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 3 Pages: pp. 571

  • [Journal Article] 小児悪性固形腫瘍の臨床研究グループの現状と今後 日本横紋筋肉腫研究グループ(JRSG)の展開と臨床試験の今後の課題2014

    • Author(s)
      黒田 達夫,森川 康英,池田 均,大植 孝治,木下 義晶,仁尾 正記,檜山 英三
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 3 Pages: pp. 396

  • [Journal Article] 傍十二指腸ヘルニアとの鑑別に苦慮したメッケル憩室穿通の1例2014

    • Author(s)
      柳澤 智彦,森川 康英,加藤 源俊
    • Journal Title

      日本小児外科学会雑誌

      Volume: Vol. 50, No. 2 Pages: pp. 283

  • [Presentation] Power-based Damping Injection for Bilateral Control Systems under Time Delay2015

    • Author(s)
      Yoshiki Ohno, Nobuto Yoshimura, and Kouhei Ohnishi
    • Organizer
      IEEE International Conference on Industrial Technology
    • Place of Presentation
      Seville (Spain)
    • Year and Date
      2015-03-17 – 2015-03-19
  • [Presentation] Human Task Reproduction with Gaussian Mixture Models2015

    • Author(s)
      Tomohiro Nakano, Koyo Yu, and Kouhei Ohnishi
    • Organizer
      IEEE International Conference on Industrial Technology
    • Place of Presentation
      Seville (Spain)
    • Year and Date
      2015-03-17 – 2015-03-19
  • [Presentation] Stability Analysis of Bilateral Control by Considering Environmental Impedance and Modeling Error2015

    • Author(s)
      Yoshiyuki Kambara, Seiji Uozumi, and Kouhei Ohnishi
    • Organizer
      IEEE International Conference on Industrial Technology
    • Place of Presentation
      Seville (Spain)
    • Year and Date
      2015-03-17 – 2015-03-19
  • [Presentation] Verification of Twist Drive System and Its Application to Haptic Robot Hand2015

    • Author(s)
      Seiji Uozumi, Shuhei Shimizu, Takuya Matsunaga, Tomohiro Nakano, and Kouhei Ohnishi
    • Organizer
      IEEE International Conference on Industrial Technology
    • Place of Presentation
      Seville (Spain)
    • Year and Date
      2015-03-17 – 2015-03-19
  • [Presentation] Force-based Control Scheme for Stable Contact Motion in Time-delayed Teleoperation2015

    • Author(s)
      Nobuto Yoshimura, Yoshiki Ohno, and Kouhei Ohnishi
    • Organizer
      IEEE International Conference on Industrial Technology
    • Place of Presentation
      Seville (Spain)
    • Year and Date
      2015-03-17 – 2015-03-19
  • [Presentation] Stereo Vision based Robot Navigation System Using Modulated Potential Field for Implant Surgery2015

    • Author(s)
      Koyo Yu, Seiji Uozumi, and Kouhei Ohnishi
    • Organizer
      IEEE International Conference on Industrial Technology
    • Place of Presentation
      Seville (Spain)
    • Year and Date
      2015-03-17 – 2015-03-19
  • [Presentation] Amplification of Touching Sensation for Micro Environment by VCM-Based Haptic System2015

    • Author(s)
      Daisuke Tomizuka, Takaaki Ikeda, Yoshiyuki Kambara, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] A Performance Improvement Method of 3-channel Bilateral Control System Under Time Delay2015

    • Author(s)
      Shuhei Shimizu, Nobuto Yoshimura, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] A Power Based Compensation Method for Bilateral Control System under Time Delay2015

    • Author(s)
      Ryohei Kozuki, Kenji Ogawa, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Power Based Motion Segmentation for Motion Reproduction2015

    • Author(s)
      Tomohiro Nakano, Koyo Yu, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Optimal Equivalent Carrier Frequency of Multi-level Motor Drives to Minimize Torque Ripple with Dead Time Disturbance Observer2015

    • Author(s)
      Shuhei Shimmyo, Katsutoku Takeuchi, Norio Takahashi, Makoto Matsushita, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Development of Electro-Hydraulic Transmission System Based Haptic Remote Actuator for Organ Palpation Device2015

    • Author(s)
      Kenji Ogawa, Ryohei Kozuki, Francis Bechet, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network2015

    • Author(s)
      Shoyo Hyodo and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Arrangement of Data Obtained from Bilateral Control for Robot Programming in the Context of Function2015

    • Author(s)
      Seinan Kyo and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] A Gain Scheduling Method of Force-based Control Scheme for Teleoperation under Time Delay2015

    • Author(s)
      Nobuto Yoshimura and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Evaluation of Bilateral Control System based on Magnitude and Phase of Impedance2015

    • Author(s)
      Takahiro Mizoguchi and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Free-Shaping Method of Communicative Operational Force in Bilateral Control Systems under Time Delay2015

    • Author(s)
      Yoshiki Ohno, Nobuto Yoshimura, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Motion Reproduction System for Reaching Rehabilitation based on Jerk Minimum Model2015

    • Author(s)
      Takaaki Ikeda and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Abstraction of the Basic Component in Human Motion Based on ICA2015

    • Author(s)
      Akihiko Yamamuro, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Working Range Extension for Haptic Surgical Forceps Robots2015

    • Author(s)
      Kazuki Tanida, Emre Sariyildiz, and Kouhei Ohnishi
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] An Evaluation of Individual Physical Performance by Haptic Rehabilitation Robot2015

    • Author(s)
      Naoya Tojo, Tomoyuki Shimono, Toshiaki Tsuji, Yuri Hasegawa, and Shinichiro Ishii
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Human-Machine Cooperative Grasping/Manipulating System using Force-based Compliance Controller with Force Threshold2015

    • Author(s)
      Naoki Motoi and Ryogo Kubo
    • Organizer
      The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-09 – 2015-03-10
  • [Presentation] Damping Injection Using Position-Based Contact Detection for Bilateral Control System under Time Delay2015

    • Author(s)
      Shuhei Shimizu, Yoshiki Ohno, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-10
  • [Presentation] Modulated Potential Field for Position Adjusting with Human Interaction for Implant Surgery2015

    • Author(s)
      Koyo Yu, Tomohiro Nakano, Kouhei Ohnishi, Shin Usuda, Hiromasa Kawana, and Taneaki Nakagawa
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Consideration on Function Mode Design for Motion Construction2015

    • Author(s)
      Seiji Uozumi, Koyo Yu, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Analysis and Compensation of Operational Force in Bilateral Control Systems under Time-Varying Delay2015

    • Author(s)
      Yoshiki Ohno, Nobuto Yoshimura, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Reproduction of Motion Obtained in Bilateral Control Considering Environment Position2015

    • Author(s)
      Seinan Kyo and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Implementation of Dual Model-Free Time Delay Compensator for Bilateral Control System with Time Delay2015

    • Author(s)
      Shoyo Hyodo and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] A Method for Improving Scaling Bilateral Control by Integration of Physical and Control Scaling Ratio2015

    • Author(s)
      Kenji Ogawa, Ryohei Kozuki, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Quantitative Evaluation of Stroke Paralysis Considering Individual Differences in Symptoms2015

    • Author(s)
      Takaaki Ikeda and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Gripper's Rotation of Five DoF Surgical Robot by Using Coordinate Transformation2015

    • Author(s)
      Takuya Matsunaga, Guillaume Fau, Ryohei Kozuki, Kazuki Tanida, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Disturbance Suppression Method for Position-Sensorless Motion Control of DC Brushed Motor2015

    • Author(s)
      Yoshiyuki Kambara, Seiji Uozumi, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] A Nonlinear Stability Analysis for the Robust Position Control Problem of Robot Manipulators2015

    • Author(s)
      Emre Sariyildiz, Koyo Yu, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] An Analysis and Design of Velocity Feedback in Time-delayed Teleoperation System2015

    • Author(s)
      Nobuto Yoshimura, Yoshiki Ohno, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Practical PID Controller Tuning for Motion Control2015

    • Author(s)
      Ozhan Ozen, Emre Sariyildiz, Kenji Ogawa, Kouhei Ohnishi, and Asif Sabanovic
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] A Quantization Method for Haptic Data Lossy Compression2015

    • Author(s)
      Tomohiro Nakano, Seiji Uozumi, Rolf Johansson, and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Elimination of Reactive Operational Force in Bilateral Control System under Time Delay2015

    • Author(s)
      Ryohei Kozuki, Kenji Ogawa,and Kouhei Ohnishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Variable Noise-Covariance Kalman Filter based Instantaneous State Observer for Industrial Robot2015

    • Author(s)
      Takashi Yoshioka, Thao Tran Phuong, Kiyoshi Ohishi, Toshimasa Miyazaki and Yuki Yokokura
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Attitude Control of Quadruped Robot by Using Combination of Mono-and Bi-articular Muscles2015

    • Author(s)
      Keisuke Ueda, Yuichi Sato, Toshimasa Miyazaki, Kiyoshi Ohishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Robotics-Assisted Rehabilitation Therapy for the Hands and Wrists Using Force Sensorless Bilateral Control with Shadow and Mirror Mode2015

    • Author(s)
      Chowarit Mitsantisuk, Kiyoshi Ohishi
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Design of a Feedforward Control System Considering Dead Time for Optical Disc Systems2015

    • Author(s)
      Keisuke Yoshida, Takahiro Ohashi, Kiyoshi Ohishi, and Toshimasa Miyazaki
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] An Estimation of Strength Ratios of Antagonistic Muscle Groups Based on Variable Moment Arm2015

    • Author(s)
      Naoya Tojo and Tomoyuki Shimono
    • Organizer
      The IEEE/IES International Conference on Mechatronics, ICM2015
    • Place of Presentation
      名古屋工業大学(愛知県・名古屋市)
    • Year and Date
      2015-03-06 – 2015-03-08
  • [Presentation] Time-Delay Systems - Problems, Solutions, and Applications -2014

    • Author(s)
      Kenji Natori
    • Organizer
      The 7th International Conference on Information and Automation for Sustainability
    • Place of Presentation
      Colombo (Sri Lanka)
    • Year and Date
      2014-12-22 – 2014-12-24
    • Invited
  • [Presentation] Modal Multirate Control for Scaled Bilateral System Taking Relative Velocity Resolution Into Account2014

    • Author(s)
      Shuang Xu and Tomoyuki Shimono
    • Organizer
      The 7th International Conference on Information and Automation for Sustainability
    • Place of Presentation
      Colombo (Sri Lanka)
    • Year and Date
      2014-12-22 – 2014-12-24
  • [Presentation] 5自由度鉗子ロボットを用いた縫合作業の評価2014

    • Author(s)
      松永卓也, Guillaume Fau,大西公平,森川康英
    • Organizer
      日本コンピュータ外科学会
    • Place of Presentation
      大阪大学 (大阪府吹田市)
    • Year and Date
      2014-11-08 – 2014-11-09
  • [Presentation] 力覚伝達機能を有した3自由度鉗子ロボットの遠隔制御2014

    • Author(s)
      大野嘉紀, 上月涼平,大西公平
    • Organizer
      日本コンピュータ外科学会
    • Place of Presentation
      大阪大学 (大阪府吹田市)
    • Year and Date
      2014-11-08 – 2014-11-09
  • [Presentation] Online Calculation of Operational Force in Bilateral Control System under Time-Delay2014

    • Author(s)
      Yoshiki Ohno, Nobuto Yoshimura, and Kouhei Ohnishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Operational Force Reduction Method in Bilateral Control System and Evaluation under Time Delay2014

    • Author(s)
      Shuhei Shimizu, Yoshiki Ohno, and Kouhei Ohnishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Toward Object Recognition and Manipulation by Human Motion Data with Vision and Tactile Sensation2014

    • Author(s)
      Seinan Kyo and Kouhei Ohnishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Recognition of Surfaces Based on Haptic Information Using Self-Organizing Maps2014

    • Author(s)
      Tomohiro Nakano, Rolf Johansson, and Kouhei Ohnishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Bilateral Control System with CDOB and Band Eliminate Filter under Time Delay2014

    • Author(s)
      Ryohei Kozuki and Kouhei Ohnishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] An Estimation Method of Antagonistic Ratios of Functional Effective Muscles of Upper Limb Based on Maximum Force Distribution at End-Effector2014

    • Author(s)
      Naoya Tojo and Tomoyuki Shimono
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Point-to-point Motion Control Based on Reproduction of Recorded Human Motions with Time Scaling2014

    • Author(s)
      Naoki Motoi, Ryogo Kubo, and Tomoyuki Shimono
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Realization of IPMSM Drive Systems without both an Electrolytic Capacitor and an Line Inductor2014

    • Author(s)
      Kodai Abe, Kiyoshi Ohishi, andHitoshi Haga
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Robust and Fine Sinusoidal Voltage Control of Self-sustained Operation Mode for Photovoltaic Generation System2014

    • Author(s)
      Kenta Sayama, Shohei Anze, Kiyoshi Ohishi, Hitoshi Haga, and Takayuki Shimizu
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Best fit Sensorless Force Control System considering Environmental Stiffness Variation2014

    • Author(s)
      Yuki Yokokura and Kiyoshi Ohishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Transparency Improvement in A Bilateral Motion-Scaling Control Using Kalman-Filter-Based Disturbance Observer2014

    • Author(s)
      Chowarit Mitsantisuk and Kiyoshi Ohishi
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] Motion-Copying System of a Different Master-Slave Mechanism with Variable Reproduction Speed2014

    • Author(s)
      Thao Tran Phuong, Kiyoshi Ohishi and Yuki Yokokura
    • Organizer
      The 40th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Dallas, Texas (USA)
    • Year and Date
      2014-10-29 – 2014-11-01
  • [Presentation] 環境インピーダンスの伝達特性に基づくバイラテラル遠隔操作システムの性能 評価についての検討2014

    • Author(s)
      名取賢二
    • Organizer
      電気学会メカトロニクス制御研究会
    • Place of Presentation
      横浜国立大学(神奈川県横浜市)
    • Year and Date
      2014-10-11 – 2014-10-11
  • [Presentation] 腸管運動不全に対する神経堤幹細胞移植治療の有用性に関する研究2014

    • Author(s)
      藤村匠, 下島直樹, 阿部陽友, 清水隆弘, 高橋信博, 石濱秀雄, 加藤源俊, 藤野明浩, 星野健, 森川康英, 黒田達夫
    • Organizer
      第50回日本移植学会総会
    • Place of Presentation
      京王プラザホテル(東京都新宿区)
    • Year and Date
      2014-09-10 – 2014-09-12
  • [Presentation] Bilateral Control System to Overcome Destabilization from Network Delay2014

    • Author(s)
      Shoyo Hyodo and Kouhei Ohnishi
    • Organizer
      IEEJ Annual Conference of the IEEJ Industry Application Society
    • Place of Presentation
      東京電機大学(東京都足立区)
    • Year and Date
      2014-08-26 – 2014-08-28
  • [Presentation] 通信外乱オブザーバを適用したバイラテラル遠隔操作システムの安定性を考慮した制御系設計に関する検討2014

    • Author(s)
      名取賢二
    • Organizer
      電気学会メカトロニクス制御研究会
    • Place of Presentation
      長岡技術科学大学(新潟県長岡市)
    • Year and Date
      2014-07-26 – 2014-07-26
  • [Presentation] Development of a Five Degrees of Freedom Master/Slave Robot for Tele-operated Laparoscopic Surgical Operations2014

    • Author(s)
      Guillaume Fau, Takuya Matsunaga, and Kouhei Ohnishi
    • Organizer
      The 7th International Conference on Human System Interaction
    • Place of Presentation
      Lisbon (Portugal)
    • Year and Date
      2014-06-16 – 2014-06-18
  • [Presentation] A New Challenge for Future Technology2014

    • Author(s)
      Kouhei Ohnishi
    • Organizer
      The 20th International Conference on Electrical Engineering
    • Place of Presentation
      Jeju (Korea)
    • Year and Date
      2014-06-15 – 2014-06-19
    • Invited
  • [Presentation] Motion Navigation in Haptic Bilateral System Based on Vision-based Force Compliance Controller Taking Object Coordinate into Account2014

    • Author(s)
      Muhammad Herman Jamaluddin , Tomoyuki Shimono and Naoki Motoi
    • Organizer
      The 23rd International Symposium on Industrial Electronics
    • Place of Presentation
      Istanbul (Turkey)
    • Year and Date
      2014-06-01 – 2014-06-04
  • [Presentation] An Adaptive Reaction Torque Observer Design II2014

    • Author(s)
      Emre Sariyildiz and Kouhei Ohnishi
    • Organizer
      The 23rd International Symposium on Industrial Electronics
    • Place of Presentation
      Istanbul (Turkey)
    • Year and Date
      2014-06-01 – 2014-06-04
  • [Presentation] A Comparison Study for Force Sensor and Reaction Force Observer Based Force Control Systems2014

    • Author(s)
      Emre Sariyildiz and Kouhei Ohnishi
    • Organizer
      The 23rd International Symposium on Industrial Electronics
    • Place of Presentation
      Istanbul (Turkey)
    • Year and Date
      2014-06-01 – 2014-06-04
  • [Presentation] An Experimental Validation of Electro-hydraulic Transmission for Haptic Teleoperation - Comparison with Thrust Wire -2014

    • Author(s)
      Francis Bechet, and Kouhei Ohnishi
    • Organizer
      The 23rd International Symposium on Industrial Electronics
    • Place of Presentation
      Istanbul (Turkey)
    • Year and Date
      2014-06-01 – 2014-06-04
  • [Presentation] Proposal of Friction and Force Transmission Compensator for Cancer Hardness Measurement System Using Flexible Actuator2014

    • Author(s)
      Kenji Ogawa, Francis Bechet, and Kouhei Ohnishi
    • Organizer
      The 23rd International Symposium on Industrial Electronics
    • Place of Presentation
      Istanbul (Turkey)
    • Year and Date
      2014-06-01 – 2014-06-04
  • [Presentation] Impedance Control based Two-Channel Architecture in Time Delayed Teleoperation System2014

    • Author(s)
      Nobuto Yoshimura and Kouhei Ohnishi
    • Organizer
      The 23rd International Symposium on Industrial Electronics
    • Place of Presentation
      Istanbul (Turkey)
    • Year and Date
      2014-06-01 – 2014-06-04
  • [Presentation] A Guide to Design Disturbance Observer Based Motion Control Systems2014

    • Author(s)
      Emre Sariyildiz and Kouhei Ohnishi
    • Organizer
      International Power Electronics Conference -ECCE ASIA- IPEC-Hiroshima 2014
    • Place of Presentation
      広島国際会議場(広島県広島市)
    • Year and Date
      2014-05-18 – 2014-05-21
  • [Presentation] Free Motion Mechanical Power Factor; Comparison Between Robots in Different Structure and Coordinate2014

    • Author(s)
      Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi
    • Organizer
      International Power Electronics Conference -ECCE ASIA- IPEC-Hiroshima 2014
    • Place of Presentation
      広島国際会議場(広島県広島市)
    • Year and Date
      2014-05-18 – 2014-05-21
  • [Presentation] Haptics for Industry Applications2014

    • Author(s)
      Kouhei Ohnishi
    • Organizer
      The 12th International Conference on Development and Application Systems
    • Place of Presentation
      Suceava, Romania
    • Year and Date
      2014-05-15 – 2014-05-17
    • Invited
  • [Patent(Industrial Property Rights)] 位置・力制御装置、位置・力制御方法及びプログラム2014

    • Inventor(s)
      大西公平、境野翔、野崎貴裕
    • Industrial Property Rights Holder
      大西公平、境野翔、野崎貴裕
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2013-194704, PCT/JP2014/073083
    • Filing Date
      2014-09-02

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Published: 2016-06-01  

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