Permanent body augmentation technologies and its application for teleoperation and motion support

• Project/Area Number: 17H03205
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Nagoya University
• Principal Investigator: Hasegawa Yasuhisa 名古屋大学, 工学研究科, 教授 (70303675)
• Co-Investigator(Kenkyū-buntansha): 高須 正規 岐阜大学, 応用生物科学部, 准教授 (00503327)
• Project Period (FY): 2017-04-01 – 2020-03-31
• Project Status: Completed (Fiscal Year 2019)
• Budget Amount: ¥17,290,000 (Direct Cost: ¥13,300,000、Indirect Cost: ¥3,990,000); Fiscal Year 2019: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2018: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000); Fiscal Year 2017: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
• Keywords: 身体拡張 / インタフェース / 遠隔操作 / 運動支援 / 電気刺激 / 歩行支援 / 歩行安定化 / 走行支援 / 身体装着機器 / ウェアラブル / 身体化 / ウエアラブル / 操作インタフェース / 歩行 / ユーザインターフェース / 知能ロボティックス / 生物・生体工学 / マルチモーダルインターフェース

Outline of Final Research Achievements

In this project, technologies for permanent body augmentation have been explored from viewpoint of recognition and perception in order to mitigate limitations on system lightweighting and downsizing. This approach is based on the tool embodiment phenomena where a user could feel a tool as a part of one’s body which never feel its size and weight. We are aiming to enhance and apply acquired knowledge and technologies for the physiological affinity to teleoperation system and wearable motion assistive device control in order to make them more useful.

Academic Significance and Societal Importance of the Research Achievements

人と機械の完全な融合を促進する脳・神経生理的親和性は装着型支援機器の実用性を大きく左右する基幹技術であり、医療・福祉・介護のみならず、建設現場や工場における重作業支援、トレーニング、スポーツ、アミューズメントなどその活用範囲は広く、今後の装着型支援機器の標準化技術となりえるものである。

Research Products

• [Journal Article] Enhancing the Transparency by Onomatopoeia for Passivity-Based Time-Delayed Teleoperation (2020)
  • Author(s): Zhu Yaonan、Aoyama Tadayoshi、Hasegawa Yasuhisa
  • Journal Title: IEEE Robotics and Automation Letters Volume: 5 Issue: 2 Pages: 2981-2986
  • DOI: 10.1109/lra.2020.2972896
  • Peer Reviewed
• [Journal Article] Gait modification for improving walking stability of exoskeleton assisted paraplegic patient (2020)
  • Author(s): Li Mengze、Aoyama Tadayoshi、Hasegawa Yasuhisa
  • Journal Title: ROBOMECH Journal Volume: 7 Issue: 1 Pages: 1-12
  • DOI: 10.1186/s40648-020-00169-y
• [Journal Article] Medial part thickness of wearable device affecting running motion (2019)
  • Author(s): Kubota Naoki、Hasegawa Yasuhisa
  • Journal Title: ROBOMECH Journal Volume: 6 Issue: 1 Pages: 1-9
  • DOI: 10.1186/s40648-019-0136-z
  • Peer Reviewed / Open Access
• [Journal Article] Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance (2019)
  • Author(s): Itadera Shunki、Dean-Leon Emmanuel、Nakanishi Jun、Hasegawa Yasuhisa、Cheng Gordon
  • Journal Title: IEEE Robotics and Automation Letters Volume: 4 Issue: 4 Pages: 3609-3616
  • DOI: 10.1109/lra.2019.2928770
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Precise Foot Positioning of Walking Robot for Paraplegic Patient Wearing Exoskeleton by Using Electrical Stimulation Feedback (2018)
  • Author(s): Li Mengze、Yuan Zhaofan、Aoyama Tadayoshi、Hasegawa Yasuhisa
  • Journal Title: Journal of Mechanisms and Robotics Volume: 10 Issue: 4 Pages: 1-8
  • DOI: 10.1115/1.4040354
  • Peer Reviewed
• [Journal Article] Electric stimulation and cooperative control for paraplegic patient wearing an exoskeleton (2017)
  • Author(s): Li Mengze、Yuan Zhaofan、Wang Xufeng、Hasegawa Yasuhisa
  • Journal Title: Robotics and Autonomous Systems Volume: 98 Pages: 204-212
  • DOI: 10.1016/j.robot.2017.09.009
  • Peer Reviewed
• [Presentation] Experimental Evaluation of Haptic Visualization Interface for Robot Teleoperation Using Onomatopoeia in a Haptic Recognition Task (2018)
  • Author(s): M Ando, J Chiba, S Itadera, J Nakanishi, T Aoyama, Y Hasegawa
  • Organizer: 2018 International Symposium on Micro-NanoMechatronics and Human Science
  • Int'l Joint Research
• [Presentation] Electric Stimulation based Weight Discrimination for Paraplegic Wearing Exoskeleton (2018)
  • Author(s): M Li, X Wang, T Aoyama, Y Hasegawa
  • Organizer: 2018 IEEE International Conference on Intelligence and Safety for Robotics
  • Int'l Joint Research
• [Presentation] ロボットの遠隔操作におけるオノマトペを利用した力覚視覚化インターフェース (2018)
  • Author(s): 千葉丈太郎， 板寺駿輝， 中西淳， 青山忠義， 長谷川泰久
  • Organizer: ロボティクス・メカトロニクス講演会
• [Presentation] Electrical stimulation feedback for gait control of walking simulator (2017)
  • Author(s): Mengze Li, Tadayoshi Aoyama, Yasuhisa Hasegawa
  • Organizer: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)
  • Int'l Joint Research
• [Presentation] Electrical stimulation for compensation of impaired lower limb sensation (2017)
  • Author(s): Mengze Li, Tadayoshi Aoyama, Yasuhisa Hasegawa
  • Organizer: 2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS)
  • Int'l Joint Research
• [Patent(Industrial Property Rights)] Force-sense visualization apparatus, robot, and force-sense visualization program (2019)
  • Inventor(s): Hasegawa, Nakanishi, et al.
  • Industrial Property Rights Holder: Hasegawa, Nakanishi, et al.
  • Industrial Property Rights Type: 特許
  • Filing Date: 2019
  • Overseas