学位

• 博士（工学）(高知工科大学)
• Ph.D(Kochi University of Technology)

経歴

学歴

受賞

• Best Conference Paper Finalist
• Best Student Paper Award, 2017 IEEE International Conference on Cyborg and Bionic Systems
• 2016 International Conference on Biomedical Signal and Bioinformatics (ICBSB 2016), Excellent Paper Award
• The 14th International Conference on Intelligent Autonomous Systems, Best Conference Paper Award Finalist
• 日本知能情報ファジィ学会貢献賞
• 2015 International Conference on Wearable Sensor and Robot（ICWSR）Best Paper Award
• 日本知能情報ファジィ学会奨励賞
• SCIS-ISIS 2012 Best Application Award
• IEEE ICMA AWARD for ICMA 2010 Best Paper in Automation

その他

論文

• Towards Cyborg: Exploring Long-term Clinical Outcomes of a Multi-DOF Myoelectric Prosthetic Hand [DOI] [Othres link]
• Model-based Tension And State Estimation For Sensorless Tendon-Driven Mechanisms
• Dynamic Label Smoothing Strategy for Biosignal Classification
• A Robot Hand for Versatile Grasping With Tendon-Driven Telescopic Fingers [DOI] [Othres link]
• A Hand Gesture Recognition Strategy Based on Virtual-Dimension Increase of EMG [DOI] [Othres link]
• 3M3Dワイヤ干渉駆動に基づくヒューマノイド腰関節の開発 [DOI] [Othres link]
• A 3-DOF coupled tendon-driven humanoid waist [DOI] [Othres link]
• 伸縮機構を備えたロボティック・フィンガーの開発 [DOI]
• Automatic Control System for Reach-to-Grasp Movement of a 7-DOF Robotic Arm Using Object Pose Estimation with an RGB Camera
• Design of Anthropomimetic Robotic Wrist Joint and Forearm
• A Layered sEMG–FMG Hybrid Sensor for Hand Motion Recognition From Forearm Muscle Activities [DOI] [Othres link]
• A Novel Multifunctional Intelligent Bed Integrated with Multimodal Human-robot Interaction Approach and Safe Nursing Methods
• Comparison of Bipolar and Monopolar Electrode Configurations for FES on Biceps Brachii
• A Strain Gauge Based FMG Sensor for sEMG-FMG Dual Modal Measurement of Muscle Activity Associated with Hand Gestures [DOI] [Othres link]
• Density-reducing Monte Carlo Method for 7-DOF Humanoid Robot Arm Workspace Solution
• Improvement of Precision Grasping Performance by Interaction Between Soft Finger Pulp and Hard Nail [DOI] [Othres link] [Othres link]
• 捕球動作に有効なヒトの把持姿勢の分類と筋電義手ハンドへの応用
• Classification of Human Grasping Posture Suitable for Catching and Its Application to Robotic Hand [DOI] [Othres link]
• 先天性上肢欠損のための歯車機構を用いた幼児用義手の手先具の開発 [DOI] [Othres link]
• Coevolution of Myoelectric Hand Control under the Tactile Interaction among Fingers and Objects [DOI] [Othres link]
• FES における刺激の位置から手指姿勢の推定: 機械学習を用いた試み
• Inverse Kinematics for a 7-DOF Humanoid Robotic Arm with Joint Limit and End Pose Coupling [DOI]
• Estimation of Hand Posture from Stimulus Position in FES: An Attempt using Machine Learning [DOI] [Othres link]
• A 3-DOF Bionic Waist Joint for Humanoid Robot [DOI] [Othres link]
• Investigation of Motor Point Shift and Contraction Force of Triceps Brachii for Functional Electrical Stimulation [DOI] [Othres link]
• Development of Integrated Multi-Electrode for FES Using Stretchable Mesh Material to Induce Hand Posture
• Modularization of 2- and 3-DoF Coupled Tendon-Driven Joints [DOI] [Othres link]
• Real-time Object Detection with Deep Learning for Robot Vision on Mixed Reality Device [DOI] [Othres link]
• Multi-channel sEMG signal gesture recognition based on improved CNN-LSTM hybrid models [DOI]
• Research on the dynamic model of human lower limbs based on 3D vision [DOI]
• Semi-automated control system for reaching movements in EMG shoulder disarticulation prosthesis based on mixed reality device [DOI] [Othres link]
• Development of a Two-Layered Elastic Glove for Dynamic Stable Grasping of Powered Prosthetic Hand [DOI] [Othres link]
• Survey on Main Drive Methods Used in Humanoid Robotic Upper Limb [DOI] [Othres link]
• Study on classification effect of sEMG signals in different vibration environments based on LDA algorithm [DOI] [Othres link]
• Joint Angle Based Motor Point Tracking Stimulation for Surface FES: A Study on Biceps Brachii [DOI]
• Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-of-Freedom Coupled Tendon-driven Joint Module [DOI] [Othres link]
• 動的安定把持を実現する電動義手のための二層弾性構造グローブの開発
• Design of a 3-DOF Coupled Tendon-Driven Waist Joint
• Asymmetric shape of distal phalanx of human finger improves ability of precision grasping
• An Online sEMG Motion Classification Framework for Tele-operating the Robotic Hand [DOI]
• モジュール化したワイヤ干渉駆動型ヒューマノイド・ロボットアーム [DOI]
• Development of a shoulder disarticulation prosthesis system intuitively controlled with the trunk surface electromyogram [DOI] [DBLP] [Othres link] [Othres link]
• Evaluation of the grasping ability by artificial finger based on the morphology of distal phalanx [DOI] [Othres link]
• Analysis of Two-Layer Artificial Soft Fingertip for Dynamic Stable Grasping
• Transfer Method of Multiple Welfare-Robots Based on Minimal Fuzzy System [DOI]
• Stimulation Wave Profiles for Elbow Flexion in Surface Electrical Stimulation Based on Burst-Modulated Symmetric Biphasic Rectangular Waves [DOI]
• Development and evaluation of a myoelectric prosthetic hand adaptable to individuality for Children
• Development of EMG Prosthetic Hand for Infant with Lightness and High Pinch Force [DOI]
• The Development of an Underwater sEMG Signal Recognition System Based on Conductive Silicon [DOI]
• Non-contact recognition method of abnormal gait based on node-iteration type fuzzy Petri net [DOI]
• Clinical Application of Implantable Brain Machine Interfaces [DOI]
• A Study on EMG Adaptable System and Application for the Prosthetic Hand [DOI] [Othres link]
• Lightweight 10-DOF Robotic Hand With Built-In Wire-Driven Mechanism
• Design of A Prosthetic Hand for Multiple hand Motions
• Development of an Adaptive Prosthetic Hand
• EEG Measurement Using Dry Electrodes Comprising Two-layered Conductive Silicone with Different Carbon Concentrations
• Motion Control of a Walking Support Robot Based on Gait Analysis
• Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand using Superelastic Rubber
• 握力把握・精密把握における安定把持のための筋電義手用関節屈伸機構の開発 [DOI]
• 残存指を利用できる手部筋電義手システムの開発－設計手法の提案と試作 － [Othres link] [Othres link]
• Development of Soft Impedance Balancer for EMG Electrode
• Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand [DOI]
• Development of an sEMG sensor composed of two-layered conductive silicone with different carbon concentrations [DOI]
• Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions [DOI] [Othres link]
• A Robust Feedback Path Tracking Control Algorithm for an Indoor Carrier Robot Considering Energy Optimization
• Motor Point Tracking Stimulation of Biceps Brachii Using Multi Electrodes Based Functional Electrical Stimulation
• A Gear-Driven Prosthetic Hand with Major Grasp Functions for Toddlers
• 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発 [DOI] [CiNii Books] [CiNii Research] [Othres link] [Othres link] [Othres link] [Othres link] [Othres link]
• One-channel surface electromyography decomposition for muscle force estimation [DOI]
• Development of a parent wireless assistive interface for myoelectric prosthetic hands for children
• Development of Myoelectric Prosthetic Hand Control System Using Mobile Terminal
• Toward Automatic Tuning of Tendon-driven Mechanisms: Vibration based Detection of Tendon Tension
• Structure Design of a Tendon-driven Robotic Arm Considering Safety and Durability
• EMG Classification by Using Swarm Intelligence for Myoelectric Prosthetic Hand
• Gait Analysis based Speed Control of Walking Assistive Robot
• Safety Control for Robotic Arm in Narrow Space Based on Distance Sensor
• Multiple Welfare-Robots Architecture of Smart House for Security Assistance of Daily Activities [DOI] [DBLP] [Othres link] [Othres link]
• Design of a 2 Motor 2 Degrees-of-Freedom Coupled Tendon-driven Joint Module
• Development of Tendon Driven Under-Actuated Mechanism Applied in an EMG Prosthetic Hand with Three Major Grasps for Daily Life
• 個性適応型制御法を用いた幼児・子供用義手の開発 [Othres link] [Othres link]
• Development of an intuitive operation type shoulder prosthesis hand system using the surface myoelectric potential of trunk
• Reduction of malfunction of myoelectric shoulder prosthesis by removing ECG noise
• Development of new flexible dry electrode for myoelectric sensor using conductive silicone
• Development of Compliance Actuation Mechanism for Wire-driven Robotic Hand using Pressure Force
• Analysis of Time-Series Data Using Sliding Window based SVD for Motion Evaluation
• Intelligent Prosthetic Arm Force Control Based on sEMG Analysis and BPNN Classifier
• Real-time cortical adaptation monitoring system for prosthetic rehabilitation based on functional near-infrared spectroscopy
• Designs of Tailor-Made Myoelectric Prosthetic Hand for Trans-Metacarpal Amputations with Remaining Fingers and Joint Moving Functions
• Conductive Silicon Based sEMG Sensor for Myoelectric Control of Prosthetic Hands: Structure Design and Evaluation
• sEMG Sensor Using Polypyrrole-Coated Nonwoven Fabric Sheet for Practical Control of Prosthetic Hand [DOI] [Web of Scientce]
• 多点電極を用いた機能的電気刺激における目的手指姿勢を実現するための高速な刺激パターン探索 [DOI] [CiNii Research (CiNii Articles)]
• Development of a search method of electrode patterns for use in electrical stimulation using multichannel surface electrodes for upper limb motor function recovery in patients with paralysis [DOI]
• Exploration of a hybrid design based on EEG and eye movement [DOI]
• One-Handed Wearable sEMG Sensor for Myoelectric Control of Prosthetic Hands [DOI] [Web of Scientce]
• Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand by Using Thermoplastic Styrene Elastomer [DOI] [Web of Scientce]
• Development of a Myoelectric Hand Incorporating a Residual Thumb for Transmetacarpal Amputees [DOI] [Web of Scientce]
• Maintenance of muscle contraction improves during dynamic exercise by multi-channel functional electrical stimulation with time shifting stimulation
• 麻痺者上肢運動再建のための多点表面電極システムを用いた電気刺激における電極パターン探索手法の開発
• Large Scale Indoor 3D Mapping Using RGB-D Sensor
• A method for evaluation of dependency between diseased side and opposite side of hemiplegia patient during FES-Cycling by using transfer entropy
• The cortical adaptation monitoring system for leg press machine with FES induced biofeedback
• Force-Magnification Mechanism with Artificial Tendon Sheath for Myoelectric Prosthetic Hand for Children [Web of Scientce]
• エラストマーゲルを用いた筋電義手のための装飾用グローブの開発
• Identification of fragmented letters through minimum-distance interpolation
• fNIRS-based analysis of temporal changes of brain activation during long-term conditioning with functional electrical stimulation
• Live Demonstration: Prosthetic Hands Controlled with a Highly Usable sEMG Sensor [Web of Scientce]
• fNIRS-based analysis of brain activation with knee extension induced by functional electrical stimulation [DOI] [Web of Scientce]
• A Highly Usable and Customizable sEMG Sensor for Prosthetic Limb Control Using Polypyrrole-coated Nonwoven Fabric Sheet [Web of Scientce]
• Structure Design for a Two-DoF Myoelectric Prosthetic Hand to Realize Basic Hand Functions in ADLs [Web of Scientce]
• Pinch-Force-Magnification Mechanism of Low Degree of Freedom EMG Prosthetic Hand for Children [Web of Scientce]
• 基本把持機能を有する簡易型筋電義手の開発と評価
• Knowledge Acquisition Method Based on Singular Value Decomposition for Human Motion Analysis [DOI] [Web of Scientce]
• Analysis and extraction of knowledge from body motion using singular value decomposition [DOI]
• Directional control of an omnidirectional walking support walker: adaptation to individual differences with fuzzy learning [DOI] [Web of Scientce]
• 基本3種の把持姿勢をとる2自由度筋電義手の指形状に応じた機能の評価 [DOI] [CiNii Research (CiNii Articles)]
• Analysis and Extraction of Knowledge from Body Motion Using Singular Value Decomposition [Web of Scientce]
• A Low-Degree of Freedom EMG Prosthetic Hand with Nails and Springs to Improve Grasp Ability [Web of Scientce]
• Tendon Drive Finger Mechanisms for an EMG Prosthetic Hand with Two Motors [Web of Scientce]
• Approximate Model for Interactive-Tendon Driven Mechanism of a Multiple-DoFs Myoelectric Prosthetic Hand [Web of Scientce]
• Development and Evaluation of Simplified EMG Prosthetic Hands [Web of Scientce]
• Trajectory planning to improve the motion performance of a nonholonomic wheeled mobile robot [CiNii Research (CiNii Articles)] [Othres link]
• Motion control method of seat-style omnidirectional mobile walker using a digital acceleration control method
• Motion control of an omni-directional walker for walking support [DOI]
• Motion control of a wheeled mobile robot using digital acceleration control method
• ゲームロボットの知能化～模倣アプローチの試み～ [DOI] [CiNii Research (CiNii Articles)]
• Improving the motion performance for an intelligent walking support machine by RLS algorithm [CiNii Research (CiNii Articles)] [Othres link] [Othres link]
• J151014 ディジタル加速度制御法によるインテリジェント歩行支援ロボットの運動制御([J151-01]ライフサポートとQOL(1)) [DOI] [CiNii Research] [Othres link]
• J241033 上半身重心情報による自立生活支援ロボットの操作法([J241-03]医工学テクノロジーによる医療福祉機器開発(3)) [DOI] [CiNii Research] [Othres link]
• Singular Value Analysis through Divided Time-Series Data and its Application to Walking Difficulty Evaluation [Web of Scientce]
• Control Method of a Human Support Robot for Independent Living by Center of Gravity Information of Upper Body [Web of Scientce]
• Path Tracking Control of an Omni-directional Walker Considering Pressures from a User [Web of Scientce]
• Adaptive Control of an Omni-directional Walker Considering the Forces Caused by User [Web of Scientce]
• Speed Control of an Omnidirectional Walker by Forearm Pressures: Considering Features in Force Exertion with Forearms. [DOI] [DBLP] [Othres link] [Othres link]
• Control of an excretion care support robot using digital acceleration control algorithm: path tracking problem in an indoor environment [DOI] [CiNii Research (CiNii Articles)] [Othres link]
• Nonlinear adaptive controller for omni-directional walker: Dynamic model improvement and experiment
• Adaptive control method for path tracking of wheeled mobile robot considering parameter changes [DOI]
• Motion control for an intelligent walking support machine
• Motion Control of a Cushion Robot Considering Load Change and Center of Gravity Shift, Trans.JSME [DOI] [CiNii Research (CiNii Articles)] [Othres link]
• 分割時系列型特異値解析を用いた歩行困難の評価 [DOI] [CiNii Research (CiNii Articles)] [CiNii Books] [Othres link]
• Digital acceleration controller based on recursive least squares (RLS) identification for an excretion care support robot [DOI]
• Embodied Knowledge Extraction from Human Motion Using Singular Value Decomposition [Web of Scientce]
• Evaluation and Visualizaton of Evacuees' Walking Difficulty in Disasters [Web of Scientce]
• User Directional Intention Identification for a Walking Support Walker Adaptation to Individual Differences with Fuzzy Learning [DOI] [Web of Scientce] [Othres link] [Othres link]
• An Improved Adaptive Controller with Parameter Optimization by GA for an Omni-directional Walker [DOI] [Web of Scientce] [Othres link] [Othres link]
• Bilateral Frontal Cortex Activation during Fragmented-Letter Identification is Greater than that during Complete-Letter Identification [CiNii Research (CiNii Articles)] [CiNii Books] [Othres link] [Othres link]
• 特異値分解による運動動作の特徴獲得 [DOI] [CiNii Research (CiNii Articles)] [Othres link] [Othres link]
• Digital acceleration control method for path tracking control of an autonomous mobile robot
• Motion control with parameter optimization by genetic algorithm
• Knowledge acquisition of human control strategy in a ball-into-goal game on an omnidirectional robot
• ADAPTIVE CONTROL METHOD FOR PATH-TRACKING CONTROL OF AN OMNI-DIRECTIONAL WALKER COMPENSATING FOR CENTER-OF-GRAVITY SHIFTS AND LOAD CHANGES [Web of Scientce]
• Quantitative assessment of fall-limping by acceleration analysis using singular value decomposition
• The relationship between visual interpolation ability and leukoaraiosis in healthy subjects [DOI]
• Acquisition of Embodied Knowledge on Gesture Motion by Singular Spectrum Analysis
• Adaptive control strategy with parameter optimisation for omni-directional walker [DOI]
• Adaptive controller for omni-directional walker: Improvement of dynamic model [DOI]
• Car-like mobile robot oriented digital acceleration control method [DOI]
• Motion control of omni-directional walker for walking support [DOI]
• Control of an Omnidirectional Walking Support Walker by Forearm Pressures [DOI] [PubMed] [Web of Scientce]
• Directional control of an omnidirectional walker for walking support with forearm pressures. [DOI] [DBLP] [Othres link]
• A novel direction control method for walking support with an omnidirectional walker. [DOI] [DBLP] [Othres link]
• A novel direction control method for walking support with an omnidirectional walker [DOI]
• Acquisition of embodied knowledge on gesture motion by singular value decomposition [DOI]
• Effects of Changes in the Apparent Viscosity of Blood with Vessel Size on Retinal Microcirculation: Significance of the Fahraeus-Lindqvist Effect [CiNii Research (CiNii Articles)] [CiNii Books] [Othres link]
• Classification accuracy enhancement for an fNIRS Brain-Computer Interface using Singular Spectrum Transformation
• Motion control of an omni-directional walker using adaptive control method
• Adaptive control algorithm with parameter optimization using neural networks for an omni-directional walker
• 10A-E-4 Adaptive Control Algorithm with Parameter Optimization Using Neural Networks for an Omni-directional Walker(Room E International session) [DOI] [CiNii Research (CiNii Articles)]
• 9P-E-9 The Possibility of Quickening Walking Rehabilitation by Imaginary Walking(Room E International session) [DOI] [CiNii Research (CiNii Articles)]
• 10A-E-3 Directional Intention Identification Based on the Force Interaction between an Omni-directional Walker and a Human(Room E International session) [DOI] [CiNii Research (CiNii Articles)]
• Directional intention identification for running control of an OmniDirectional Walker [DOI]
• Adaptive controller for motion control of an omni-directional walker [DOI]
• Adapting directional intention identification in running control of a walker to individual difference with fuzzy learning [DOI]
• Three-dimensional motion analysis for gesture recognition using singular value decomposition [DOI]
• Path tracking control considering center of gravity shift and load change for an omni-directional walker [DOI]
• Directional Intention Identification for Running Control of an Omni-directional Walker [Web of Scientce]
• The Effect of Age on the Human Ability to Identify Fragmented Letters through Visual Interpolation [CiNii Research (CiNii Articles)] [Othres link] [Othres link]
• Quantification of the Human Ability to Identify Fragmented Letters through Visual Interpolation [DOI] [CiNii Research (CiNii Articles)] [CiNii Books] [Othres link] [Othres link]
• QUANTITATION OF HUMAN VISUAL INTERPOLATION ABILITY AND ITS APPLICATION TO BRAIN HEALTH CHECK [Web of Scientce]
• 案内ロボット用のリード開発と安心性の検証 [DOI] [CiNii Research (CiNii Articles)] [CiNii Books]
• Human visual recognition ability for partially erased letters [Web of Scientce]
• Brain enhancement attempt based on visual recognition
• Speed dependency of cerebral blood volume changes during visual cognitive activation measured with NIRS [Web of Scientce]
• Measurement of correlation between age and the human visual interpolation ability [Web of Scientce]
• The human visual recognition ability for incomplete letters [Web of Scientce]

その他業績

• Research status of elderly-care robots and safe human-robot interaction methods [DOI] [Othres link]
• 特徴空間表示機能を用いたパターン識別制御型筋電義手の訓練手法の開発 [J-GLOBAL]
• パワーネットを用いたFES用一体型多点電極の開発と発現手指姿勢による評価 [J-GLOBAL]
• Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs [DOI] [Othres link]
• ワイヤ干渉駆動とそのモジュール化設計 [DOI]
• 筋電義手の社会実装研究 [DOI] [CiNii Books] [CiNii Research] [Othres link] [Othres link] [Othres link]
• ワイヤ駆動型の擬人化ロボットアーム
• 先天性前腕欠損者のための幼児用2自由度電動義手の開発 [J-GLOBAL]
• 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価 [J-GLOBAL]
• 筋電信号の時変性に適応する教師データ更新手法に関する研究 [J-GLOBAL]
• 筋電義手の熟達度に関する研究 [J-GLOBAL]
• 筋電制御システムに関する研究と義手への応用
• 適応学習機能を備えたオーダーメイド筋電義手による脳機能の評価
• BMI出力デバイス‐人と機械が相互に適応できる技術を目指して‐ [CiNii Research (CiNii Articles)] [CiNii Books] [Othres link]
• インテリジェント歩行支援機の走行制御 適応制御を用いた重心変化への対応 [J-GLOBAL]
• 上半身重心情報による自立生活支援ロボットの操作法 [J-GLOBAL]
• ディジタル加速度制御法によるインテリジェント歩行支援ロボットの運動制御 [J-GLOBAL]
• インテリジェント歩行支援機の運動制御精度向上 [J-GLOBAL]
• User directional intention recognition of an omnidirectional walking support walker [DOI] [Othres link]
• 無方向性全方向移動ロボットの走行制御 [DOI] [CiNii Research (CiNii Articles)]
• 知的アミューズメントロボットの実現 [DOI] [CiNii Research (CiNii Articles)]
• Brain-Computer Interface開発における信号の大域的特長の知識抽出 [DOI] [CiNii Research (CiNii Articles)]
• 小型全方向移動機能を持つ案内ロボット [DOI] [CiNii Research (CiNii Articles)]
• 転倒防止を目的とする転倒動作の解析 [DOI] [CiNii Research (CiNii Articles)]
• 座位歩行訓練機による訓練時の動作解析 [DOI] [CiNii Research (CiNii Articles)]
• 重心のずれを考慮した座位歩行訓練機の走行制御 [DOI] [CiNii Research (CiNii Articles)]
• 黙読を用いたBrain-Computer Interface開発のための脳血流変化の知識化 [DOI] [CiNii Research (CiNii Articles)]
• 移動支援ロボットの走行制御のための力覚情報による方向意図同定法 [DOI] [CiNii Research (CiNii Articles)]
• 新型歩行訓練器の運動制御 [J-GLOBAL]
• 全方向移動型歩行支援機による歩行支援のための方向意図の同定法 [J-GLOBAL]
• 近赤外線分光法を用いた歩行運動時と歩行運動想起時の脳活動計測 [DOI] [CiNii Research (CiNii Articles)]
• 歩行補助機における前腕荷重による方向制御 [J-GLOBAL]

講演・口頭発表等

• 汎用性の高いバネ・ワイヤー・プーリー系重力補償機構の提案
• ワイヤとギアを組み合わせた干渉駆動による肩関節の開発
• リニアアクチュエータを用いたモータポイント追従型機能的電気刺激装置の開発
• 人体を模倣した流体潤滑を有する指関節構造の粘弾性特性
• ワイヤ干渉駆動機構を用いた滑り転がり関節
• Bionic Robotic Arm and its Human Interface to Realize Smart Prosthesis
• Dynamic Label Smoothingを用いた生体信号分類のための領域汎化
• ギヤを用いた3自由度干渉駆動機構の開発
• Sensorless Tension Estimation in Tendon-Driven Mechanism Using Stainless Steel Wire
• 特徴空間表示機能を用いたパターン識別制御型筋電義手の訓練手法の開発
• 人体の関節における液体潤滑を模倣した指関節構造の開発
• 人体の筋骨格構造を模倣したロボット手首および前腕の開発
• 足部形状・姿勢に依存した人体模倣足部の粘弾性変化
• 伸縮機構を備えたロボティック・フィンガーの開発
• ワイヤ干渉駆動モジュールを用いた出力重量比の高い人型ロボットアームの開発
• 3M3D ワイヤ干渉駆動に基づくヒューマノイド腰関節の開発
• 未来時間を考慮した仮想軌道に基づく繰り返し制御法
• 合成繊維ワイヤの牽引に適したドラム同期型無限巻取り機構の開発
• 靭帯型拘束法を用いたワイヤ牽引転がり関節の設計と評価
• ワイヤ干渉駆動機構と重力補償機構を用いた等身大ヒト型脚ロボットの開発
• 上腕二頭筋の機能的電気刺激における単電極法と双電極法の比較
• 機能的電気刺激を用いた母指の対立運動を伴う手指姿勢の発現
• 表面電極式機能的電気刺激による前腕部再建のための一体型柔軟多点電極の改良
• 拮抗筋構造型ロボット関節に対する仮想軌道に基づく繰り返し制御
• 動的安定把持実現のための電動義手用２層弾性グローブの開発
• 多軸干渉駆動機構のためのワイヤ滑り関節機構の開発
• 筋電肩義手のための全軸干渉型ロボットアームの開発
• ワイヤ劣駆動ロボットフィンガによる薄板小物体把持のための関節トルク比と過伸展機構の検討
• FESにおける刺激の位置から手指姿勢の推定 : 機械学習を用いた試み
• パワーネットを用いたFES 用一体型多点電極の開発と発現手指姿勢による評価
• 多点電極型逐次刺激FES を用いた前腕部の筋疲労軽減の検証
• 頭蓋内脳波を用いたブレインマシンインターフェースによるロボットアームの３次元リアルタイム制御
• シリコーン電極を用いた機能的電気刺激における導電性ジェルの塗布範囲による筋収縮への影響
• 点式表面筋電センサとスパイキングニューラルネットワークモデルを用いた手指動作推定
• 磁気センサを応用した柔軟な圧力センサの開発
• 肩義手のための腕の手先位置のフィードバックシステムに適した振動刺激の検討
• 先天性前腕欠損者のための幼児用２自由度電動義手の開発
• 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価
• 表面電極式機能的電気刺激における上腕二頭筋の収縮に適した刺激波形の検討,
• 筋電義手の熟達度に関する研究
• ワイヤ干渉機構を用いたシリコーンハンドの開発
• 3自由度干渉駆動関節モジュールの解析
• 多点電極式機能的電気刺激装置の開発
• 全軸干渉機構における最適干渉行列の設計理論
• 全軸ワイヤ干渉駆動機構を用いたロボットアームの開発
• 繰り返し計算に基づく仮想軌道制御の力場適応
• 義手用装飾手袋の材質と物体把持性能に関する調査研究
• 二相性のバースト変調矩形波を用いた表面電気刺激による肘関節の発揮トルクの時間的遷移
• 残存指を活用できる手部筋電義指システムの設計法の構築
• ワイヤ駆動ロボットハンドのためのトルクリミッタ機能を有する無限巻き取り機構の開発
• fNIRSを用いた筋電義手使用時の脳活動に関する研究
• 心電ノイズ除去による筋電肩義手の誤動作の低減
• 筋電義手に適した義手用手袋の開発
• ワイヤ干渉駆動関節モジュールの分類と比較
• 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発
• 個性に適応する幼児用筋電義手の開発と評価
• 多点表面電気刺激における刺激電極パター ンのクラスタリング
• 多点機能的電気刺激による前腕部運動再建のための筒状一体型シリコーン電極

書籍等出版物

• 医療機器への応用が見込まれる最先端技術とその事業化
• オーグメンテッド・ヒューマン
• Infrared Spectroscopy –Life and Biomedical Sciences
• Motion Control of Omni-Directional Walker for Walking Support
• Early Detection and Rehabilitation Technologies for Dementia: Neuroscience and Biomedical Applications

作品等

共同研究・競争的資金等の研究課題

• サイボーグプラットフォームのための制御機構モジュールの設計開発と評価
• 義手を知的パートナーとするサイバネティック基盤の構築
• 最適刺激位置を追従するRobotic FESの開発
• 導電性高分子を用いた感覚フィードバック付き筋電義手の開発
• 義手を身体化するための相補的なマルチモーダル生体信号の計測と解析法
• 固有覚を持つワイヤ干渉駆動関節モジュールの開発
• 重度ALS患者介護用ロボット制御のための曖昧な意図の認識法
• 随意独立活性に着目したヒトの多筋制御システムのモデル化と筋電肩義手制御への応用
• 福祉機器制御のための生体順応型sEMG計測法
• 導電性シリコン表皮を持つ人工ハンド
• 断片文字の認知における心理学的・神経生理学的モデルの構築および応用
• 単体多機能型自立生活支援ロボットの本質的安全技術と知能化技術の開発
• 欠損文字の認知力に基づく認知症早期予防に関する研究
• 断片的視覚情報の認知メカニズムとその神経学的基盤の解明および応用

メディア報道

産業財産権

• 重力補償装置、及びマニピュレーター
• ワイヤ駆動装置、及びロボットハンド
• ３Ｄ薄型Wrist関節機構
• 筋電センサ及び電極部材
• マニピュレータ
• 変換プログラムおよび変換装置
• インターフェイス部品，インターフェイス装置，および，アシスト装置
• 変換プログラムおよび変換装置
• ワイヤ駆動装置
• グリッパ構造、人工アーム、及びグリッパ装置
• 機能的電気刺激システム、および機能的電気刺激方法
• 信号測定装置、及び信号測定方法
• マニピュレータ
• モータ駆動ハンド

所属学協会

• 生体医工学会
• 知能情報ファジィ学会
• 米国電気電子学会（IEEE）
• ロボット学会

委員歴

担当経験のある科目

社会貢献活動

学術貢献活動