着用型人間計測システムの開発と生理指標および動作の解析

2009 年度 研究成果報告書

• 研究課題/領域番号: 19700389
• 研究種目: 若手研究(B)
• 配分区分: 補助金
• 研究分野: 医用生体工学・生体材料学
• 研究機関: 早稲田大学
• 研究代表者: ゼッカ マッシミリアーノ 早稲田大学, 理工学術院, 准教授 (30434377)
• 研究期間 (年度): 2007 – 2009
• キーワード: 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

研究概要

このプロジェクトの主な成果はInertial Measurement Unit(IMU)WB-4の開発したことである.IMUは加速度センサ,ジャイロセンサ,および地磁気センサから構成されており,寸法は20x17[mm],質量は2.0[g]で現在のところ,世界最小で最も性能が優れている.このプロジェクトでIMUは,以前開発したWB-2やWB-3と共に,以下のような様々なアプリケーションに適用された.あ)腹腔鏡検査:動作計測とスキル評価.い)神経外科:動作計測.う)咀嚼:咀嚼パターンと食物判別の分析.え)歩行分析:健常者と身体障害者の動作計測とスキル評価.われわれが提案している手法の有効性は,多数の学会誌掲載や受賞,および実験の実績によって裏づけされており,様々なアプリケーションで成功を収めた.

研究成果

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