PUBLICATIONS

論文誌
  • 1
    Tatsuhiro Hamana, Minami Kawashima, Sho Sakaino, Toshiaki Tsuji: “Selective Drive and Control of Index Finger Joint Using Multipoint Functional Electrical Stimulation,” IEEE Access, Vol. 10, pp. 112444-112459, 2022. 【IF(2021) = 3.367】
  • 2
    Yuki Saigusa, Sho Sakaino, Toshiaki Tsuji: “Imitation Learning for Nonprehensile Manipulation Through Self-Supervised Learning Considering Motion Speed,” IEEE Access, Vol. 10, pp. 68291-68306, 2022. 【IF(2021) = 3.367】
  • 3
    Kazuki Hayashi, Sho Sakaino, Toshiaki Tsuji: “An Independently Learnable Hierarchical Model for Bilateral Control-Based Imitation Learning Applications,” IEEE Access, Vol. 10, pp. 32766-32781, 2022. 【IF(2021) = 3.367】
  • 4
    Sho Sakaino, Kazuki Fujimoto, Yuki Saigusa, Toshiaki Tsuji: “Imitation Learning for Variable Speed Contact Motion for Operation up to Control Bandwidth,” IEEE Open Journal of the Industrial Electronics Society, Vol. 3, pp. 116-127, 2022.
  • 5
    Yuya Nogi, Sho Sakaino, Toshiaki Tsuji: “Force Control of Grinding Process Based on Frequency Analysis,” IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3250-3256, 2022. 【IF = 3.6】
  • 6
    Tomoki Horikoshi, Sho Sakaino, Toshiaki Tsuji: “High Dynamic Range Force Sensing of a Robot Hand Combining Signals on Tip and Wrist,” IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3210-3217, 2022. 【IF = 3.6】
国際会議
  • 1
    Minami Kawashima, Tatsuhiro Hamana, Sho Sakaino, Toshiaki Tsuji: “Position Control of Two Finger Joints Using Functional Electrical Stimulation,” in Proceedings of REHAB WEEK 2023, O-117, 2022.
  • 2
    Tomoya Kitamura, Sho Sakaino, Masayuki Hara, Toshiaki Tsuji: “Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation,” in Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, 2022.
  • 3
    Ryuya Tamura, Sho Sakaino, Toshiaki Tsuji: “High Dynamic Range Uniaxial Force/Torque Sensor Using Metal Foil and Semiconductor Strain Gauge,” in Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, 2022.
  • 4
    Yasuhiro Kato, Toshiaki Tsuji, Sho Sakaino: “Motion Planning for Cutting Flexible Objects Based on Contact State Recognition,” in Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, 2022.
国内会議・研究会
  • 1
    赤川徹朗,七種勇樹, 境野翔,“バイラテラル制御に基づく模倣学習による斜面の拭き動作,” 第40回日本ロボット学会学術講演会, 4B3-01, 東京, 9月8日, 2022.
  • 2
    山根広暉, 七種勇樹, 境野翔, 辻俊明“バイラテラル制御に基づく模倣学習による三次元曲面拭き動作,” 第40回日本ロボット学会学術講演会, 4B3-02, 東京, 9月8日, 2022.
  • 3
    赤川徹朗, 境野翔,“画像認識とバイラテラル制御に基づくコンベアピッキングタスクの模倣学習,” ロボティクス・メカトロニクス講演会2022, 2P1-C05, 札幌, 6月3日, 2022.
論文誌
  • 1
    Ryuya Tamura, Tomoki Horikoshi, Sho Sakaino, Toshiaki Tsuji: “High Dynamic Range 6-Axis Force Sensor Employing a Semiconductor–Metallic Foil Strain Gauge Combination,” IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 6243-6249, 2021. 【IF = 3.6】
  • 2
    Ryuya Tamura, Sho Sakaino, Toshiaki Tsuji: “High Dynamic Range Uniaxial Force/Torque Sensor Using Semiconductor Strain Gauge,” IEEJ Journal of Industry Applications, Vol. 10, No. 5, pp. 506-511, 2021.
  • 3
    T. Kitamura, S. Sakaino, M. Hara, and T. Tsuji: “Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on a Dynamic Model Approximation,” IEEJ Journal of Industry Applications, 2021.
  • 4
    T. Tsuji, K. Sato, S. Sakaino: “Contact Feature Recognition Based on MFCC of Force Signals,” IEEE Robotics and Automation Letters, 2021.
  • 5
    七種勇樹, 笹川歩, 境野翔, 辻俊明: “バイラテラル制御に基づく模倣学習における双腕協調動作のための学習モデルの検証,” 日本ロボット学会誌, Vol.39, No.2, pp.677-680, 2021.
  • 6
    Ryuya Tamura, Tomoki Horikoshi, Sho Sakaino, Toshiaki Tsuji: “High Dynamic Range 6-Axis Force Sensor Employing a Semiconductor–Metallic Foil Strain Gauge Combination,” IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 6243-6249, 2021. 【IF = 3.6】
  • 7
    Ryuya Tamura, Sho Sakaino, Toshiaki Tsuji: “High Dynamic Range Uniaxial Force/Torque Sensor Using Semiconductor Strain Gauge,” IEEJ Journal of Industry Applications, 2021. (Accepted for publication)
国際会議
  • 1
    Tsukasa Kusakabe, Sho Sakaino, Toshiaki Tsuji: “A Design Method for Non-Diagonal Stiffness Matrix in Admittance Control,” in Proceedings of the 21st International Conference on Control, Automation and Systems, FA9-3, P00161, 2021.
  • 2
    Yuki Saigusa, Ayumu Sasagawa, Sho Sakaino, Toshiaki Tsuji: “Imitation learning for variable speed motion generation over multiple actions,” in Proceedings of the 47th Annual Conference of the IEEE Industrial Electronics Society, pp. 1-6, 2021.
  • 3
    Koyo Sato, Sho Sakaino, Toshiaki Tsuji: “A Force Recognition System for Distinguishing Click Responses of Various Objects,” in Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2860-2865, 2020. 【CORE A】
  • 4
    Sho Sakaino: “Bilateral Control-Based Imitation Learning for Velocity-Controlled Robot,” in Proceedings of the 30th IEEE International Symposium on Industrial Electronics, pp. 1-6, 2021.
  • 5
    Sho Sakaino, Tomoya Kitamura, Naoto Mizukami, Toshiaki Tsuji: “High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder,” in Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, JIA-to-SAMCON2021-2, 2021.
  • 6
    Kyo Kutsuzawa, Sho Sakaino, Toshiaki Tsuji: “Simultaneous Estimation of Contact Position and Tool Shape Using an Unscented Particle Filter,” in Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, JIA-to-SAMCON2021-3, 2021.
  • 7
    S. Sakaino, Y. Hasegawa, T. Kitamura, and T. Tsuji: “Bilateral Control between Human and Robot by Using Functional Electrical Stimulation,” in Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, IS-5, 2021.
  • 8
    T. Hamana, T. Kitamura, S. Sakaino and T. Tsuji: “Characteristics of Muscle Contraction with Voltage and Frequency in Non-Invasive Functional Electrical Stimulation,” in Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, TT2-5, 2021.
  • 9
    K. Hayashi, Ayumu Sasagawa, Sho Sakaino, and Toshiaki Tsuji: "A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control," in Proceedings of the 2021 IEEE International Conference on Mechatronics, pp. 1-7, 2021.
  • 10
    T. Ueki, S. Sakaino, and T. Tsuji: "Force restrained control to extend flexibility of trajectory planning," in Proceedings of the 2021 IEEE International Conference on Mechatronics, pp. 1-6, 2021.
国内会議・研究会
  • 1
    七種勇樹, 境野翔, 辻俊明,“バイラテラル制御に基づく模倣学習の多自由度ロボットアームへの拡張,” 第39回日本ロボット学会学術講演会, 1I3-03 , オンライン, 9月9日, 2021. 実験時のパラメータなどはこちら
  • 2
    境野翔,“ハプティクスに基づく模倣学習によるロボットの汎用物体操作,” 令和3年電気学会産業応用部門大会, オンライン, 8月26日 2021.
論文誌
  • 1
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Simultaneous Estimation of Contact Position and Tool Shape using Unscented Particle Filter,” IEEJ Journal of Industry Applications, Vol. 9, No. 5, pp. 505-514, 2020.
  • 2
    A. Sasagawa, K. Fujimoto, S. Sakaino and T. Tsuji: “Imitation Learning Based on Bilateral Control for Human–Robot Cooperation,” IEEE Robotics and Automation Letters, Vol. 5, No. 4, pp. 6169-6176, 2020.
  • 3
    D. Furuta, K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Motion Planning with Success Judgement Model based on Learning from Demonstration,” IEEE Access, Vol. 8, No. 4, pp. 73142-73150, 2020.
  • 4
    辻俊明, 佐藤航陽, 境野翔: “力覚情報のメル周波数ケプストラム係数に基づく接触動作の認識,” 日本ロボット学会誌, Vol. 31, No. 2, 2021.
  • 5
    S. Sakaino, T. Kitamura, N. Mizukami, and T. Tsuji: “High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder,” IEEJ Journal of Industry Applications, Vol. 10, No. 2, pp. 124-133, 2021.
  • 6
    A. Sasagawa, S. Sakaino, T. Tsuji: “Motion Generation Using Bilateral Control-based Imitation Learning with Autoregressive Learning,” IEEE Access, Vol. 9, pp. 20508-20520, 2021.
  • 7
    M. Oikawa, T. Kusakabe, K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix ,” IEEE Robotics and Automation Letters, 2021.
国際会議
  • 1
    T. Tsuji, D. Okumura, R.Tamura, and S.Sakaino: "High dynamic range six-axis force / torque sensors for dexterous robots," the 6th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, IS-7, 2020.
  • 2
    T. Horikoshi, S. Sakaino, and T. Tsuji: "Highly backdrivable Motion Control of a Robot with HDR 6-axis F/T Sensor," the 6th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, P-18, 2020.
  • 3
    M. Oikawa, K. Kutsuzawa, S. Sakaino, and T. Tsuji: "Admittance Control Based on a Stiffness Ellipse for Rapid Trajectory Deformation," in Proceedings of the 16th IEEE International Workshop on Advanced Motion Control, pp. 23-28, 2020.
  • 4
    M. Kawazawa, S. Sakaino, and T. Tsuji: "Development of a Low-friction Motor using Bearings as Gear Teeth," in Proceedings of the 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1573-1578, 2020.
国内会議・研究会
  • 1
    七種勇樹, 笹川歩, 境野翔, 辻俊明,“バイラテラル制御に基づく模倣学習における双腕協調動作のための学習モデルの検証,” 第38回日本ロボット学会学術講演会, 1CI-03, オンライン, 10月9日, 2020.
  • 2
    植木俊宏, 境野翔, 辻俊明,“力の最大値制約を考慮したアドミタンス制御,” 第38回日本ロボット学会学術講演会, 1D1-06, オンライン, 10月9日, 2020.
  • 3
    辻俊明, 佐藤航陽, 境野翔,“力覚情報のメル周波数ケプストラム係数に基づく接触動作,” 第38回日本ロボット学会学術講演会, 3D1-04, オンライン, 10月9日, 2020.
  • 4
    笹川歩, 藤本和樹, 境野翔, 辻俊明,“模倣学習におけるニューラルネットワークの深層化による長期推論,” ロボティクス・メカトロニクス講演会2020, 1A1-G09, オンライン, 5月28日, 2020.
  • 5
    會田真広, 及川将秀, 沓澤京, 境野翔, 辻俊明,“アクティブセンシングに基づく蓋の嵌め合い動作の成否判定,” ロボティクス・メカトロニクス講演会2020, 1A1-G09, オンライン, 5月28日, 2020.
  • 6
    堀越友貴, 田村龍也, 及川将秀, 沓澤京, 境野翔, 辻俊明,“ハイダイナミックレンジ6軸力覚センサを用いたアドミッタンス制御によるマニピュレータの操作性向上,” ロボティクス・メカトロニクス講演会2020, 2A1-C11, オンライン, 5月29日, 2020.
  • 7
    日下部司, 及川将秀, 沓澤京, 境野翔, 辻俊明,“ロボットの力検出に基づく高剛性な環境のインピーダンス推定,” ロボティクス・メカトロニクス講演会2020, 2A1-M08, オンライン, 5月29日, 2020.
  • 8
    運天光, 境野翔, 辻俊明,“6軸力覚センサを用いた微小変動する力情報の検出,” ロボティクス・メカトロニクス講演会2020, 2A2-N03, オンライン, 5月29日, 2020.
論文誌
  • 1
    J. Tsunoda, S. Sakaino, and T. Tsuji: ”Development of an Angle Measurement System Using Monocular Camera and Moiré Patterns,”IEEJ Journal of Industry Applications, Vol. 8, No. 2, pp. 200-206, 2019.
  • 2
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: ”Trajectory Adjustment for Nonprehensile Manipulation Using Latent Space of Trained Sequence-to-Sequence Model,”Advanced Robotics, Vol. 33, No. 21, pp. 1144-1154, 2019.
  • 3
    R. Koike, S. Sakaino, and T. Tsuji: ”Hysteresis Compensation in Force/Torque Sensors Using Time Series Information,”Sensors, Vol. 19, No. 19, 2019.
  • 4
    Y. Hasegawa, T. Kitamura, S. Sakaino, T. Tsuji: “Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Humans and Robots,” IEEE Access, Vol. 8, No. 1, pp. 15792-15799, 2020.
国際会議
  • 1
    T. Kitamura, Y. Hasegawa, S. Sakaino, and T. Tsuji: “Estimation of Relationship between Stimulation Current and Exerted Force Considering Muscle Length,” IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2019), March, 2019
  • 2
    Y. Kato, S. Sakaino, and T. Tsuji: “Driving Support System with Using Haptic Bio Feedback through Steering Wheel,” IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2019), March, 2019
  • 3
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Simultaneous Estimation of Contact Position and Tool Shape using Particle Filter,” IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2019), March, 2019
  • 4
    J. Tsunoda, S. Sakaino, and T. Tsuji: “Angle Measurement Using Monocular Camera and Moire Pattern Enlarging the Rotation in the Linear Motion,”IEEE International Conference on Mechatronics(ICM2019), March, 2019.
  • 5
    K. Araake, S. Sakaino, and T. Tsuji: “Design of Resonance Ratio Control with Relative Position Information for Two-Inertia System,”IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM2019), July, 2019.
  • 6
    D. Okumura, S. Sakaino, and T.Tsuji: “Miniaturization of multistage high dynamic range six-axis force sensor composed of resin material,”in Proceedings of 2019 International Conference on Robotics and Automation (ICRA), pp. 4297-4302, 2019
  • 7
    K. Sato, S. Sakaino, and T.Tsuji: “Success/Failure Identification of Skill Movement by Neural Network Using Force Information,” in Proceedings of the 45th Annual Conference of the IEEE Industrial Electronics Society, pp. 3641-3646, 2019
  • 8
    R. Tamura, S. Sakaino, and T.Tsuji: “Development of compact high dynamic range six-axis force sensor with cross-arch structure,” in Proceedings of the 45th Annual Conference of the IEEE Industrial Electronics Society, pp. 3609-3614, 2019
  • 9
    T. Kitamura, Y. Hasegawa, S.Sakaino, and T. Tsuji: “Control Using High-carrier Frequency PWM in Functional Electrical Stimulation,” in Proceedings of the 45th Annual Conference of the IEEE Industrial Electronics Society, pp. 5358-5363, 2019
  • 10
    K. Fujimoto, S. Sakaino, and T. Tsuji: “Time Series Motion Generation Considering Long Short-Term Motion,” in Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.6842-6848, 2019
国内会議・研究会
  • 1
    笹川歩, 藤本和樹,境野翔, 辻俊明: "画像認識と位置・力情報を用いた模倣学習", ロボティクス・メカトロニクス講演会2019,
  • 2
    西脇悠介,長谷川優, 北村知也, 溝口寛人, 水上直人, 境野翔, 辻俊明:"機能的電気刺激におけるインピーダンスと筋収縮力の相関性の検討, " ロボティクス・メカトロニクス講演会2019
  • 3
    藤本和樹, 境野翔, 辻俊明: "サンプリングをずらすことによる機械学習の訓練データ水増し手法の検証", ロボティクス・メカトロニクス講演会2019
  • 4
    田村龍也, 小池龍一郎, 境野翔, 辻俊明: “クロスアーチ構造の導入によるハイダイナミックレンジ6軸力覚センサの小型化”, ロボティクス・メカトロニクス講演会2019
  • 5
    植木俊宏, 沓澤京, 及川将秀, 辻俊明, 境野翔: “力制御の特性を活用したPeg-in-Holeにおける軌道計画法の提案,”ロボティクス・メカトロニクス講演会2019
  • 6
    佐藤航陽, 及川将秀, 古田大地, 沓澤京, 境野翔, 辻俊明: “ニューラルネットワークを用いたペンのはめ合いタスクにおける力情報による成否判定,” ロボティクス・メカトロニクス講演会2019
  • 7
    及川将秀, 境野翔, 辻俊明: “組み立て作業のための力制御における剛性楕円の自律生成,” 第37回日本ロボット学会学術講演会, 1A1-08, 東京, 9月4日, 2019
  • 8
    沓澤京, 境野翔, 辻俊明:,“画像情報を含んだ模倣学習におけるSequence-to-Sequence Autoencoderの利用,” 第37回日本ロボット学会学術講演会, 1A3-08, 東京, 9月4日, 2019
  • 9
    藤本和樹, 境野翔, 辻俊明:,“模倣学習を用いた動作生成におけるモデル化誤差の検証,” 第37回日本ロボット学会学術講演会, 1A3-07, 東京, 9月4日, 2019
  • 9
    Yuu Hasegawa, Tomoya Kitamura, Sho Sakaino, Toshiaki Tsuji,“Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Human and Robot,” 2019年 電気学会 電子・情報・システム部門大会, 那覇, 9月4日, 2019.
  • 9
    田村龍也, 境野翔, 辻俊明,“半導体歪ゲージを用いたハイダイナミックレンジ1軸力覚センサの開発,”メカトロニクス制御研究会・実世界ハプティクス, MEC-19-022, 12月14日, 2019.
論文誌
  • 1
    T. Sakuma, K. Tsuda, S. Sakaino, and T. Tsuji: ”Modeling and resonance suppression control for electro-hydrostatic actuator as a two-mass resonant system,” Advanced Robotics, Vol. 32, No. 1, pp. 1-11, 2018.
  • 2
    T. Tsuji, K. Kutsuzawa, and S. Sakaino: ”Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes,” IEEJ Journal of Industry Applications, Vol. 7, No. 1, pp. 22-28, 2018.
  • 3
    K. Umeda, T. Sakuma, K. Tsuda, S. Sakaino, and T. Tsuji: ”Reaction Force Estimation of Electro-hydrostatic Actuator Using Reaction Force Observer,” IEEJ Journal of Industry Applications, Vol. 7, No. 3, pp. 250-258, 2018.
  • 4
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: ”Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model,” IEEE Robotics and Automation Letters, Vol. 3, No. 4, pp. 3606-3613, 2018.
国際会議
  • 1
    K. I, K. Umeda, K. Tsuda, S. Sakaino, and T. Tsuji: “Force Control of Electro-Hydrostatic Actuator Using Pressure Control Considering Torque Efficiency,” The 15th International Workshop on Advanced Motion Control (AMC2018), 2018/3
  • 2
    T. Okamoto, K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Trajectory Planning by Variable Length Chunk of Sequence-to-Sequence Using Hierarchical Decoder,” The 15th International Workshop on Advanced Motion Control (AMC2018), 2018/3
  • 3
    K. Morito, J. Tsunoda, S. Sakaino, and T. Tsuji: “Reaction Force Observer Using Load Dependent Friction Model,” The 15th International Workshop on Advanced Motion Control (AMC2018), 2018/3
  • 4
    N. Mizukami, T. Kitamura, S. Sakaino, and T. Tsuji: “Fundamental Examination for Motor Point Identification of Functional Electrical Stimulation, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2018), V3-8
  • 5
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Deformation of Contact Motion by Neural Networks to Adapt for Various Environment Change, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2018), SS1-1
  • 6
    J. Tsunoda, S. Sakaino, and T. Tsuji: “Development of an Angle Measurement System Using Monocular Camera and Moir`e Patterns, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2018), TT2-1
  • 7
    T. Kitamura, N. Mizukami, H. Mizoguchi, S. Sakaino, and T. Tsuji: “Control with Adjusted Pulse Frequency and Amplitude in Functional Electrical Stimulation, ” The IEEE 40th Annual International Conference of the Engineering in Medicine and Biology Society(EMBC2018), July, 2018
  • 8
    T. Adachi, K. Fujimoto, S. Sakaino, and T. Tsuji: “Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Control,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), October, 2018
  • 9
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), October, 2018
  • 10
    T. Kitamura, Y. Hasegawa, S. Sakaino, and T. Tsuji: “Estimation of Relationship between Stimulation Current and Force Exerted during Isometric Contraction,” The 44th Annual Conference of the IEEE Industrial Electronics Society(IECON2018), October, 2018
  • 11
    Y. Hasegawa, T. Kitamura, S. Sakaino, and T. Tsuji: “Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation,” The 44th Annual Conference of the IEEE Industrial Electronics Society(IECON2018), October, 2018
国内会議・研究会
  • 1
    北村知也, 境野翔, 辻俊明: "機能的電気刺激を用いた際の可動性と被験者間における個体差の関係の検証", ロボティクス・メカトロニクス講演会2018, 1A1-J16, 2018/06
  • 2
    長谷川優, 北村知也, 溝口寛人, 水上直人, 境野翔, 辻俊明:"機能的電気刺激を用いた示指の閉ループ制御, " ロボティクス・メカトロニクス講演会2018, 1A1-J15, 2018/06
  • 3
    荒明健太, 梅田滉大, 津田賢汰, 井航太, 境野翔, 辻俊明: "電気静油圧アクチュエータを用いた2自由度ロボットアームの共振抑制制御", ロボティクス・メカトロニクス講演会2018, 2P1-H15, 2018/06
  • 4
    藤本和樹, 足立強, 境野翔, 辻俊明:"人間の物体操作技能に基づくニューラルネットワークを用いた位置・力制御, " ロボティクス・メカトロニクス講演会2018, 2A2-E18, 2018/06
  • 5
    川澤優大, 境野翔, 辻俊明:"R/Cサーボモータの軸ねじれの推定に基づく高バックドライバビリティ制御, " ロボティクス・メカトロニクス講演会2018, 2A1-C15, 2018/06
  • 6
    小西祐也, 沓澤京, 境野翔, 辻俊明:"力のアクティブセンシングに基づく道具の形状推定, " ロボティクス・メカトロニクス講演会2018, 2A1-G15, 2018/06
  • 7
    及川将秀, 関野耕平, 境野翔, 辻俊明:"二足筋骨格ロボットの跳躍マップに基づく前額面剛性比制御, " ロボティクス・メカトロニクス講演会2018, 2P2-K03, 2018/06
  • 8
    山口勉, 境野翔, 辻俊明:"ロジスティック回帰分析を用いた技能動作の分類, " ロボティクス・メカトロニクス講演会2018, 2P2-K13, 2018/06
  • 9
    藤本和樹, 足立強, 境野翔, 辻俊明:"人間の物体操作の模倣学習に適したロボットの制御座標の評価, " 第36回日本ロボット学会学術講演会, 2E2-02, 2018/09
  • 10
    沓澤京, 境野翔, 辻俊明:"訓練済み軌道生成モデルを用いた新たな動作目標への軌道最適化, " 第36回日本ロボット学会学術講演会, 2E2-06, 2018/09
  • 11
    北村知也, 溝口寛人,境野翔, 辻俊明:"Control of Two Links Between the Shoulder and Elbow using Noninvasive Functional Electrical Stimulation, " SICE ライフエンジニアリング部門シンポジウム2018, 2018/09
  • 12
    森戸一弥, 角田潤也,長谷川由理,境野翔, 辻俊明:"力可視化バイオフィードバック機能を有する前脛骨筋の遠心性収縮トレーニングシステム, " メカトロニクス制御研究会・実世界ハプティクス, MEC-18-015, 2018/09
論文誌
  • 1
    T. Yamazaki, S. Sakaino, T. Tsuji: “Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm,” Electrical Engineering in Japan, Vol. 199, No.3, pp. 57-67, 2017.
  • 2
    T. Tsuji, T. Seki, S. Sakaino: “Intrinsic Contact Sensing for Touch Interface with Movable Structure,” IEEE Transactions on Industrial Electronics, Vol. 64, 2017.
  • 3
    K. Kutsuzawa, S. Sakaino, T. Tsuji: “A Control System for a Tool Use Robot: Drawing a Circle by Bringing Out Functions of a Compass,” Journal of Robotics and Mechatronics, Vol. 29, No. 2, 2017.
  • 4
    S. Sakaino, T. Furuya, T. Tsuji: “Bilateral Control between Electric and Hydraulic Actuators Using Linearization of Hydraulic Actuator,” IEEE Transactions on Industrial Electronics, Vol. 64, No. 6, pp. 4631-4641, 2017.
  • 5
    S. Sakaino, H. Kawajiri, T. Tsuji: “Determination of Torque Distribution Ratio for Electric Bicycle with Independently Driven Front and Rear Wheels,” IEEJ Journal of Industry Applications, Vol. 6, No. 3, pp. 223-230, 2017.
  • 6
    K. Tsuda, T. Sakuma, K. Umeda, S. Sakaino, T. Tsuji: “Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System,” IEEJ Journal of Industry Applications, Vol. 6, No. 5, pp. 320-327, 2017.
  • 7
    T. Tsuji, K. Kutsuzawa, S. Sakaino: “Acceleration Control for Dynamic Manipulation of a Robot Turning Over Objects,”IEEE Robotics and Automation Letters, 2017. Vol. 2, No. 4, pp. 2328-2335, 2017.
  • 8
    T. Tsuji, K. Kutsuzawa, and S. Sakaino: “Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes,” IEEJ Journal of Industry Applications, Vol. 7, No. 1, 2018.
  • 9
    T. Sakuma, K. Tsuda, K. Umeda, S. Sakaino, and T. Tsuji: “Modeling and Resonance Suppression Control for Electro-hydrostatic Actuator as a Two-Mass Resonant System,” Advanced Robotics, pp. 1-11, 2017.
  • 10
    S. Sakaino, T. Tsuji: “Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer, ” Robomech Journal, 4:1, 2017/12
国際会議
  • 1
    T. Kitamura, N. Mizukami, S. Sakaino, T. Tsuji: “Bilateral Control of Two-Link Human Arms Using Antagonist Muscle Stimulation,” in Proceedings of SAMCON 2017, SS1-3, 2017.
  • 2
    K. Kutsuzawa, S. Sakaino, T. Tsuji: “Learning Identity Mapping of Trajectories by Sequence-toSequence Model with Time Series Chunking,” in Proceedings of SAMCON 2017, SS2-1, 2017.
  • 3
    D. Okumura, S. Sakaino, and T. Tsuji: “Development of a multistage six-axis force sensor with a high dynamic range, ” The 26th IEEE International Symposium on Industrial Electronics(ISIE 2017).
  • 4
    M. Sekiya and T. Tsuji: “Inverse Estimation of Multiple Muscle Activations Based on Linear Logistic Regression, ” Proc. 2017 IEEE International Conference on Rehabilitation Robotics (ICORR2017).
  • 5
    D. Furuta, K. Kutsuzawa, T. Okamoto, S. Sakaino, and T. Tsuji: "Model Predictive Control based Deep Neural Network for Dynamic Manipulation, " The 43rd International Conference on Industrial Electronics, Control and Instrumentation(IECON' 17).
  • 6
    R. Koike, S. Sakaino, and T. Tsuji: "Contact Point Estimation in Tactile Interface Using Particle Filter, " The 43rd International Conference on Industrial Electronics, Control and Instrumentation(IECON' 17).
  • 7
    K. Sekino, S. Sakaino, and T. Tsuji: "Frontal Posture Control of Jumping Biped Robot Using Stiffness Bias Control, " The 43rd International Conference on Industrial Electronics, Control and Instrumentation(IECON' 17).
  • 8
    K. Tsuda, K. Umeda, K. I, S. Sakaino, and T. Tsuji: "Analysis on Rigidity of Hydraulic Hoses for Electro-hydrostatic Actuators, " The 43rd International Conference on Industrial Electronics, Control and Instrumentation(IECON' 17).
  • 9
    T. Kitamura, H. Mizoguchi, N. Mizukami, S. Sakaino, and T. Tsuji: "Chattering Reduction of Functional Electrical Stimulation with the Smith Compensator, " The 43rd International Conference on Industrial Electronics, Control and Instrumentation(IECON' 17).
  • 10
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Sequence-to-Sequence Models for Trajectory Defor-mation of Dynamic Manipulation,” The 43rd International Conference on Industrial Electronics, Control and Instrumentation(IECON' 17).
  • 11
    S. Sakaino, T. Tsuji: “Resonance Suppression of Electro-hydrostatic Actuator by Full State Feedback Controller Using Load-side Information and Relative Velocity,” IFAC-PapersOnLine, Vol. 50, No. 1, pp. 12065-12070, 2017.
国内会議・研究会
  • 1
    境野翔, 辻俊明, “電気静油圧アクチュエータの共振抑制制御,” 平成29年電気学会全国大会, 富山, 3月15-17日, 2017
  • 2
    足立強, 北村知也, 水上直人, 溝口寛人, 境野翔, 辻俊明: “機械学習を用いた機能的電気刺激における筋肉の非線形モデリング,“ ロボティクス・メカトロニクス講演会2017, 2A2-J02, 2017/05
  • 3
    井航太, 佐久間智輝, 梅田滉大, 津田賢汰, 境野翔, 辻俊明: “電気静油圧アクチュエータのトルク効率と内部漏れ流量のモデリング,“ ロボティクス・メカトロニクス講演会2017, 2P1-E04, 2017/05
  • 4
    古田大地, 沓澤京, 岡本哲学, 境野翔, 辻俊明: “動力学拘束を考慮したモデル予測制御のディープニューラルネットワーク学習, “ ロボティクス・メカトロニクス講演会2017, 1P10-I12, 2017/05
  • 5
    梅田滉大, 井航太, 津田賢汰, 境野翔, 辻俊明: “Verification of Pressure Dissipation for Force Control Using Electro-Hydrostatic Actuator, “ メカトロニクス制御研究会, MEC-17-004, 2017/09
  • 6
    溝口寛人, 北村知也, 境野翔 ,辻俊明: “Study of shoulder control using noninvasive functional electrical stimulation, “ メカトロニクス制御研究会, MEC-17-005, 2017/09
  • 7
    境野翔 ,辻俊明: “電気静油圧アクチュエータの全状態フィードバック制御, “ 平成29年度電気学会産業応用部門大会講演論文集, 2-S6-3, 2017/09
論文誌
  • 1
    山崎貴大,境野翔,辻俊明: “装着型ロボットアームを用いた人の腕の動力学モデリングと物理パラメータ推定, ”電気学会産業応用部門誌," Vol. 136,No. 4, pp. 254-262, 2016/8
  • 2
    T. Kitamura, N. Mizukami, H. Mizoguchi, S. Sakaino, and T. Tsuji, "Bilateral Control in the Vertical Direction Using Functional Electrical Stimulation," IEEJ Journal of Industry Applications, Vol. 5, No. 5, pp. 398-404, 2016/08
  • 3
    H. Kitamura, S. Sakaino, T. Tsuji: “Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force, ” IEEJ Journal of Industry Applications, Vol. 6, No. 2
国際会議
  • 1
    H. Kawajiri, S. Sakaino, T. Tsuji: “Determination of Torque Distribution Ratio for Front and Rear Wheels Independently Driven Bicycle, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), TT5-4, 2016/3
  • 2
    H. Mizoguchi, T. Kitamura, S. Sakaino, T. Tsuji: “Bilateral Control Using Functional Electrical Stimulation Considering Muscle Length, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), TT8-6, 2016/3
  • 3
    H. Kitamura, S. Sakaino, T. Tsuji: “Development of chair-type tactile interface utilizing body motion, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), V-2, 2016/3
  • 4
    S. Sakaino, T. Kitamura, T. Tsuji: “A New Possibility of Bilateral Control -Functional Electrical Stimulation-, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), IS1-3, 2016/3
  • 5
    T. Kitamura, N. Mizukami, S. Sakaino, T. Tsuji: “Bilateral Control Using Functional Electrical Stimulation with Reaction Torque Observer, ” The 2016 IEEE 14th International Workshop on Advanced Motion Control(AMC2016), 2016/4
  • 6
    J. Okuma, R. Matsuzaki, S. Sakaino, T. Tsuji: “Recognition of Contact Conditions by Robots Using Tools, ” The 2016 IEEE International Symposium on Industrial Electronics(ISIE2016)
  • 7
    K. Kutsuzawa, S. Sakaino, T. Tsuji: “Contact Force Estimation for Multiple Points of Contact, ” The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2016)
  • 8
    T. Okamoto, K. Kutsuzawa, S. Sakaino, T. Tsuji: “Trajectory Planning Method for Object Manipulation Considering Dynamic Constraint with Object, ” The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2016)
  • 9
    S. Sakaino, T. Tsuji: “Oil leakage and friction compensation for electro-hydrostatic actuator using drive-side and load-side encoders, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
  • 10
    K. Kutsuzawa, S. Sakaino, T. Tsuji: “Estimation of individual force at three contact points on an end-effector by a six-axis force/torque sensor, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
  • 11
    N. Totsu, S. Sakaino, T. Tsuji: “Development of a desk-type tactile interface using force sensors and an acceleration sensor, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
  • 12
    K. Tsuda, S. Sakaino, T. Tsuji: “Bilateral Control between Electric and Electro-hydrostatic Actuators Using Feedback Modulator, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
国内会議・研究会
  • 1
    梅田滉大, 佐久間智輝, 津田賢汰, 境野翔, 辻俊明: “油圧アクチュエータにおける高確度な反力推定法, “ロボティクス・メカトロニクス講演会2016, 2A1-04b3, 2016/06
  • 2
    津田賢汰, 佐久間智輝, 梅田滉大, 境野翔, 辻俊明: “電気静油圧アクチュエータの動特性同定, “ロボティクス・メカトロニクス講演会2016, 2A1-04b1, 2016/06
  • 3
    水上直人, 北村知也, 境野翔, 辻俊明: “機能的電気刺激を用いた人 - 機械のバイラテラル制御,“ ロボティクス・メカトロニクス講演会2016, 1P1-19a1, 2016/06
  • 4
    北村知也, 水上直人, 溝口寛人, 境野翔, 辻俊明: “高次スライディングモード制御を用いたFESによるバイラテラル制御,“ 第34回日本ロボット学会学術講演会, 3F2-05, 2016/09
  • 5
    佐久間智輝, 津田賢汰, 梅田滉大, 境野翔, 辻俊明: “電気静油圧アクチュエータの2慣性共振モデルとその制御,“ 第34回日本ロボット学会学術講演会, 3E2-01, 2016/09
  • 6
    北村知也, 水上直人, 境野翔, 辻俊明, “FESを用いた拮抗筋刺激による2関節バイラテラル制御の検証,”メカトロニクス制御研究会・モーションコントロール, MEC-16-038, 東京, 12月11日, 2016
  • 7
    水上直人, 北村知也, 溝口寛人, 境野翔, 辻俊明: “機能的電気刺激を用いたバイラテラル制御系の比較,“ 第17回計測自動制御学会システムインテグレーション部門講演会(SI2016), 2A2-2, 2016/12
論文誌
  • 1
    T. Tsuji, J. Okuma, S. Sakaino: “Dynamic Object Manipulation Considering Contact Condition of Robot with Tool,” IEEE Trans. on Industrial Electronics, Vol. 63, No. 3, pp. 1972-1980, 2016/3
  • 2
    T. Tsuji, T. Kaneko, S. Sakaino: “Motion Matching in Rehabilitation Databases with Force and Position Information,” IEEE Trans. on Industrial Electronics, Vol. 63, No. 3, pp. 1935-1942, 2016/3
国際会議
  • 1
    T. Tsuji, S. Itoh, S. Sakaino, Y. Hasegawa: “Development of an Upper Limb Rehabilitation Robot with Motion Guide Control by Pneumatic Artificial Muscles, ” Proc. 2015 IEEE International Conference on Mechatronics, pp. 426-431, 2015/3
  • 2
    H. Kawajiri, H. Mizoguchi, S. Sakaino, T. Tsuji: “Sensorless Pedaling Torque Estimation by Front and Rear Wheels Independently Driven Power Assist Bicycle, ” Proc. 2015 IEEE International Conference on Mechatronics, pp. 364-369, 2015/3
  • 3
    T. Tsuji, S. Sakaino: “Haptic Signal Processing of a Desk-Type Interface Using Force Sensors, ” The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control, IS4-5, 2015/3
  • 4
    S. Sakaino, T. Furuya, T. Tsuji: “Bilateral Control between Electric and Hydraulic Actuators Taking Oil Compression into Account, ” The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control, IS6-1, 2015/3
  • 5
    T. Kaneko, K. Ogata, S. Sakaino, T. Tsuji: “Impact Force Control Based on Stiffness Ellipse Method Using Biped Robot Equipped with Biarticular Muscles, ” The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2015), pp. 2246-2251, 2015/9
  • 6
    T. Seki, S. Sakaino, T. Tsuji: “A Method for Converting End Effectors of Various Forms into Tactile Interfaces, ” The 41th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 15), pp. 1759-1764, 2015/11
  • 7
    T. Kitamura, S. Sakaino, T. Tsuji: “Bilateral Control Using Functional Electrical Stimulation, ” The 41th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 15), pp. 2336-2341, 2015/11
  • 8
    S. Iwata, K. Ogata, S. Sakaino, T. Tsuji: “Specular Reflection Removal with High-Speed Camera for Video Imaging, ” The 41th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 15), pp. 1735-1740, 2015/11
  • 9
    K. Kutsuzawa, S. Sakaino, T. Tsuji: “Estimation of Individual Contact Force when Two Contact Points Exist during Robotic Tool Use, ” The 6th International Conference on Advanced Mechatronics(ICAM2015), 1A1-24, 2015/12
  • 10
    N. Totsu, D. Okumura, S. Sakaino, T. Tsuji: “Development of a Haptic Cutting Board with a Force Visualization System, ” The 6th International Conference on Advanced Mechatronics(ICAM2015), 1P2-18, 2015/12
国内会議・研究会
  • 1
    石川国康, 境野翔, 辻俊明:“電動二輪車の前後輪独立駆動による安定化制御, ” 電気学会産業計測制御技術委員会, 2015/1
  • 2
    北村滉之, 境野翔, 辻俊明: “力の微分情報を利用した机型触覚インタフェースによる接触点位置算出, “ロボティクス・メカトロニクス講演会2015, 1P1-V02, 2015/5
  • 3
    戸津信寛, 境野翔, 辻俊明: “力覚センサと加速度センサを併用した机型触覚インタフェース, “ロボティクス・メカトロニクス講演会2015, 1P1-V03, 2015/5
  • 4
    沓澤京, 大熊隼, 境野翔, 辻俊明: “コンパスで円を描く動作を実現する制御, “ロボティクス・メカトロニクス講演会2015, 2P1-F07, 2015/5
  • 5
    佐久間智輝, 古谷峻千, 境野翔, 辻俊明: “サーボポンプを用いた油圧閉回路による電気-油圧アクチュエータ間のバイラテラル制御, “ロボティクス・メカトロニクス講演会2015, 2P1-K07, 2015/5
  • 6
    境野翔, 佐久間智輝, 辻俊明: “フィードバック変調器と外乱オブザーバによる油圧閉回路の摩擦補償, “第33回日本ロボット学会学術講演会, 3D2-07, 2015/9
論文誌
  • 1
    栗田直幸,境野翔,辻俊明: “接触時における外力ベクトルの変化を用いた非凸包型エンドフェクタでの全身触覚, ” 電気学会産業応用部門誌,Vol. 134,No. 5, pp. 517-525
  • 2
    T. Tsuji, N. Kurita, S. Sakaino: “Whole-body tactile sensing through a force sensor using soft materials in contact areas, ” ROBOMECH Journal, 1:11
国際会議
  • 1
    Sho Sakaino, Toshiaki Tsuji: “Integration of Disturbance Observer and Feedback Modulator for Dead Zone Compensation of Hydraulic Actuator,” in Proceedings of the 40th Annual Conference of the IEEE Industrial Electronics Society, pp. 2786-2791, 2014.
  • 2
    Toshiaki Tsuji, Chinami Momiki, Sho Sakaino: “Development and Evaluation of an Operation Interface for Physical Therapy Devices Based on Rehabilitation Database,”in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2014, pp. 3543-3548, 2014.
  • 3
    Sho Sakaino, Toshiaki Tsuji: “Integration of Disturbance Observer and Feedback Modulator for Dad Zone Compensation of Hydraulic Actuator,” in Proceedings of the 40th Annual Conference of the IEEE Industrial Electronics Society, pp. 2786-2791, 2014.
  • 4
    Toshiaki Tsuji, Naoyuki Kurita, Sho Sakaino: “Development of a Desk-type Tactile Interface Using Force Sensors ,” in Proceedings of the 40th Annual Conference of the IEEE Industrial Electronics Society, pp. 5248-5253, 2014.
  • 5
    Sho Sakaino, Toshiaki Tsuji: “Position/Force Decoupled Bilateral Communication without Force Control in Slave Side by Using Multirate Control,” in Proceedings of the 13rd IEEE International Workshop on Advanced Motion Control, pp. 717-722, 2014.
  • 6
    Takeshi Kaneko, Shota Ito, Toshiaki Tsuji, Sho Sakaino: “Haptic Data Compression for Rehabilitation Databases,” in Proceedings of the 13rd IEEE International Workshop on Advanced Motion Control, pp. 657-662, 2014.
  • 7
    Ryohei Matsuzaki, Jun Okuma, Sho Sakaino, Toshiaki Tsuji: “Contact State Recognition Based on Haptic Signal Processing for Robotic Tool Use,” in Proceedings of the 2014 IEEE International Power Electronics Conference, pp. 1978-1983, 2014.
国内会議・研究会
  • 1
    古谷峻千, 境野翔, 辻俊明, “油の圧縮性を考慮した電気-油圧アクチュエータ間のバイラテラル制御,”第32回日本ロボット学会学術講演集, 2P1-07, 福岡, 9月 4-6日, 2014.
  • 2
    山崎貴大, 境野翔, 辻俊明, “M 系列信号を用いた装着型ロボットアームによる人の腕の同定法,”平成26年度電気学会産業応用部門大会講演論文集, 2-20, 東京, 8月26-28日, 2014.
  • 3
    境野翔, “スレーブ側に力制御を持たないマルチレートバイラテラル制御における高次外乱オブザーバ,”メカトロニクス制御研究会, MEC-141, 長岡, 7月26日, 2014.
  • 4
    境野翔, “油圧アクチュエータを用いた多自由度バイラテラル制御,”電気学会全国大会シンポジウム, S-22-5, 松山, 3月13-20日, 2014.
  • 5
    關樹, 栗田直幸, 境野翔, 辻俊明, “力覚情報の微分値に基づく個人認証システム,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-039, MEC-14-027, 東京, 3月10-11日, 2014.
  • 6
    石川国康, 境野翔, 辻俊明, “電動二輪車の前後輪独立駆動による安定化制御,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-085, MEC-14-073, 東京, 3月10-11日, 2014.
  • 7
    岩田修平, 寺田朋央, 大熊隼, 松崎亮平, 境野翔, 辻俊明, “触覚情報に基づく複数材料を内包した物体の切断,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-095, MEC-14-083, 東京, 3月10-11日, 2014.
  • 8
    川尻皓之, 境野翔, 辻俊明, “画像と機能的電気刺激を組み合わせた運動技能教示システムの開発,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-110, MEC-14-098, 東京, 3月10-11日, 2014.
  • 9
    伊藤翔太, 寺田朋央, 境野翔, 辻俊明, “力情報を可視化した上肢リハビリ支援システムの開発,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-112, MEC-14-100, 東京, 3月10-11日, 2014.
  • 10
    金子武志, 大熊隼, 境野翔, 辻俊明, “リハビリ支援データベースにおける類似症例検索のための運動照合技術,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-113, MEC-14-101, 東京, 3月10-11日, 2014.
  • 11
    山崎貴大, 境野翔, 辻俊明, “外骨格ロボットアームを用いた人のモーションのロボットへの転写及び人への教示,”平成26年産業計測制御/メカトロニクス制御合同研究会, IIC-14-121, MEC-14-109, 東京, 3月10-11日, 2014.
論文誌
  • 1
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Position Constrained Bilateral Control by Oblique Coordinate Control Considering Priority of Tasks,” IEEJ Journal of Industry Applications, vol.2, No. 6, pp. 298-305, 2013.
  • 2
    高橋大樹, 境野翔, 辻俊明, 金子裕良:“電気-油圧アクチュエータを用いた速度指令方式によるバイラテラル制御,”電気学会産業応用部門誌,Vol. 133,No. 11,pp. 1065-1072, 2013
  • 3
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Force Based Disturbance Observer for Dynamic Force Control and a Position/Force Hybrid Controller,” IEEJ Transactions on Electrical and Electronic Engineering, vol.8, No. 5, pp. 505-514, 2013.
  • 4
    望月大樹, 仲達宗一郎, 渡辺宏, 境野翔, 金子裕良, 阿部茂, 保田富夫: “一方向非接触給電から拡張容易な双方向非接触給電システム,”電気学会産業応用部門誌,Vol. 133,No. 7,pp. 707-713,2013.
  • 5
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “A Novel Motion Equation for General Task Description and Analysis of Mobile-Hapto,” IEEE Transactions on Industrial Electronics, vol. 60, No. 7, pp. 2673-2680, 2013.
  • 6
    Makoto Kamibayashi, Sho Sakaino, Toshiaki Tsuji: “Evaluation Indices of Stiffness Control for Its Performance Comparison,” IEEJ Journal of Industry Applications, vol.2, No. 1, pp. 61-65, 2013.
国際会議
  • 1
    Toshiaki Tsuji, Chinami Momiki, Sho Sakaino: “Stiffness Control of a Pneumatic Rehabilitation Robot for Exercise Therapy with Multiple Stages,”in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2013, pp. 1480-1485, 2013.
  • 2
    Toshiaki Tsuji, Naoyuki Kurita, Mitsuyuki Yamada, Sho Sakaino, Yasuyoshi Kaneko: “Rehabilitation Database Based on Haptic Signal Processing,”in Proceedings of the IEEE Humanitarian Technology Conference 2013, pp. 13-18, 2013.
  • 3
    Soichiro Nakadachi, Shigeru Mochizuki, Sho Sakaino, Yasuyoshi Kaneko, Shigeru Abe, Tomio Yasuda: “Bidirectional Contactless Power Transfer System Expandable from Unidirectional System,”in Proceedings of the IEEE Energy Conversion Congress and Exposition2013, pp. 3651-3657, 2013.
  • 4
    Daiki Takahashi, Takayuki Furuya, Sho Sakaino, Toshiaki Tsuji: “Experimental Evaluation of Bilateral Control of Velocity Control System Using Electric and Hydraulic Actuators,” in Proceedings of the 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4118-4123, 2013.
  • 5
    Naoyuki Kurita, Hiroaki Hasunuma, Sho Sakaino, Toshiaki Tsuji: “Simplified Whole-Body Tactile Sensing System Using Soft Material at Contact Areas,” in Proceedings of the 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4262-4267, 2013.
  • 6
    Ryohei Matsuzaki, Makoto Kamibayashi, Sho Sakaino, Toshiaki Tsuji: “Classification of a Hybrid Control System for Robotic Tool Use,”in Proceedings of 2013 IEEE International Conference on Mechatronics, pp. 712-717, 2013.
国内会議・研究会
  • 1
    境野翔, “スレーブ側に力制御を持たないマルチレートバイラテラル制御,”メカトロニクス制御研究会, MEC-13-177, 長岡, 11月22日, 2013.
  • 2
    古谷峻千, 境野翔, 辻俊明, “電気-油圧駆動ロボットアーム間のバイラテラル制御におけるスケーリングゲインを用いた重量物操作,”第31回日本ロボット学会学術講演集, 1K1-04, 東京, 9月 4-6日, 2013.
  • 3
    山崎貴大, 境野翔, 辻俊明, “外骨格ロボットアームを用いた水平方向と重力方向における複数人の打撃動作の検証,”平成25年度電気学会産業応用部門大会講演論文集, 2-25, 山口, 8月28-30日, 2013.
  • 4
    境野翔, 辻俊明, “可動範囲の制限された多自由度マニピュレータの外乱積分値を用いた動特性同定,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-034, 千葉, 3月7-8日, 2013.
  • 5
    古谷峻千, 境野翔, 辻俊明, “多自由度ロボットアームを用いた電気-油圧アクチュエータ間のバイラテラル制御,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-045, 千葉, 3月7-8日, 2013.
  • 6
    森戸賢, 境野翔, 辻俊明, “路面の鏡面反射を除去するための高速ストロボカメラ,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-053, 千葉, 3月7-8日, 2013.
  • 7
    宮島奈那, 境野翔, 阿部茂, “移動ロボット用非接触給電の画像処理による給電位置判定システム,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-054, 千葉, 3月7-8日, 2013.
  • 8
    籾木千菜美, 横尾知典, 境野翔, 辻俊明, “リハビリ支援装置のための操作インタフェースの開発,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-066, 千葉, 3月7-8日, 2013.
  • 9
    山崎貴大, 境野翔, 辻俊明, 橋本卓弥,“人の接触動作時の動特性の抽出と解析,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-067, 千葉, 3月7-8日, 2013.
  • 10
    寺田朋央, 境野翔, 辻俊明, “手術支援のための力覚信号処理に基づくフェールセーフシステム,”産業計測制御/メカトロニクス制御合同研究会, IIC-13-0145, 千葉, 3月7-8日, 2013.
国際会議
  • 1
    Sho Sakaino, Toshiaki Tsuji: “An Extended Jacobian Matrix and Multirate Control for Bilateral Control between Different Time Resolution Systems,” in Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, pp. 2656-2661, 2012.
  • 2
    Naoyuki Kurita, Sho Sakaino, Toshiaki Tsuji: “Whole-body Force Sensation by Force Sensor with End-effector of Arbitrary Shape,” in Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5428-5433, 2012.
  • 3
    Toshiaki Tsuji, Tomonori Yokoo, Sho Sakaino: “High Bandwidth Attitude Control Based on Musculoskeletal System with Biarticular Muscles,” in Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, pp. 5428-5433, 2012.
  • 4
    Tomonori Yokoo, Sho Sakaino, Shigeru Abe, Toshiaki Tsuji: “Development of a Physical Therapy Robot for Rehabilitation Databases,” in Proceedings of the 12th IEEE International Workshop on Advanced Motion Control, pp. 1-6, 2012.
国内会議・研究会
  • 1
    境野翔, 辻俊明, “可動範囲を考慮した多自由度マニピュレータの動特性同定法,”第30回日本ロボット学会学術講演集, 4O3-4, 札幌, 9月 17-20日, 2012.
  • 2
    松崎亮平, 上林誠, 境野翔, 辻俊明, “線接触を伴う道具を使用するロボットのハイブリッド制御,”平成24年度電気学会産業応用部門大会講演論文集, Vol. II, pp. 65-70, 千葉, 8月21-23日, 2012.
  • 3
    高橋大樹, 境野翔, 辻俊明, “ひずみゲージを用いた電気-油圧アクチュエータ間のバイラテラル制御の実験による実証,”平成24年度電気学会産業応用部門大会講演論文集, Vol. II, pp. 89-94, 千葉, 8月21-23日, 2012.
  • 4
    栗田直幸, 境野翔, 辻俊明, “力覚センサを用いた非凸包型エンドエフェクタでの全身触覚,”産業計測制御/メカトロニクス制御合同研究会, IIC-12-030, 横浜, 3月6-7日, 2012.
  • 5
    高橋大樹, 境野翔, 辻俊明, “電気-油圧アクチュエータ間のバイラテラル制御,”産業計測制御/メカトロニクス制御合同研究会, IIC-12-034, 横浜, 3月6-7日, 2012.
  • 6
    松崎亮平, 上林誠, 境野翔, 辻俊明, “道具使用による汎用性を目指したロボットのハイブリッド制御,”産業計測制御/メカトロニクス制御合同研究会, IIC-12-093, 横浜, 3月6-7日, 2012.
  • 7
    山田充之, 横尾知典, 境野翔, 辻俊明, 金子裕良 “速度情報に基づくリハビリ支援ロボットの評価指標,”産業計測制御/メカトロニクス制御合同研究会, IIC-12-157, 横浜, 3月6-7日, 2012.
論文誌
  • 1
    Tomoya Sato, Sho Sakaino, Takahiro Yakoh: “Methods for Reducing Operational Forces in Force-Sensor-less Bilateral Control with Thrust Wires for Two-Degree-of-Freedom Remote Robots,” Human-Computer Systems Interaction: Backgrounds and Applications 2, 2011.
  • 2
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control,” IEEE Transactions on Industrial Informatics, vol. 7, No. 3, pp.446-454, 2011.
  • 3
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Precise Position/Force Hybrid Control with Modal Mass Decoupling and Bilateral Communication between Different Structures,” IEEE Transactions on Industrial Informatics, vol. 7, No. 2, pp.266-276, 2011.
  • 4
    Tomoya Sato, Sho Sakaino, Eijiro Ohashi, Kouhei Ohnishi: “Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots,” IEEE Transactions on Industrial Electronics, vol. 58, No. 4, pp. 1385-1396, 2011.
  • 5
    佐藤貴彦,新明脩平,仲里三希,見上慧,佐藤智矢,境野翔,大西公平:“歩幅伸長のための爪先関節と踵関節を用いた2足歩行ロボットの膝伸展歩行法,”電気学会産業応用部門誌,Vol. 131,No. 3,pp. 283-290,2011.
  • 6
    Tomoya Sato, Sho Sakaino, Kouhei Ohnishi: “Real-Time Walking Trajectory Generation Method with Three Masses Models at Constant Body Height for Three-Dimensional Biped Robots,” IEEE Transactions on Industrial Electronics, vol. 58, No.2, pp. 376-383, 2011.
国際会議
  • 1
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Velocity Constrained Mobile-hapto by Coordinate Transformation,” in Proceedings of the 1st International Symposium on Access Spaces, pp. 248-253, 2011.
  • 2
    Tomoya Sato, Sho Sakaino, Kouhei Ohnishi: “Motion Reproduction System of Manipulating and Grasping Motion for Grasping Objects of Unknown Size,” in Proceedings of the 1st International Symposium on Access Spaces, pp. 254-259, 2011.
  • 3
    Tomoya Sato, Sho Sakaino, Kouhei Ohnishi: “Adaptation Method Using Environmental Modes for Biped Robot with Toe and Heel Joints on Unknown Uneven Terrain,” in Proceedings of the 2011 IEEE International Conference on Mechatronics, pp. 869-874, 2011.
国内会議・研究会
  • 1
    境野翔, 佐藤智也, 大西公平, “モバイルハプトにおける位置と速度の階層的拘束の実現,”平成23年度電気学会産業応用部門大会講演論文集, 2-51, 那覇, 9月 6-8日, 2011.
論文誌
  • 1
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Task Description and Control for Redundant System by Oblique Coordinate Control,” 電気学会産業応用部門誌,vol. 130, No. 8, pp.1015-1021, 2010.
  • 2
    佐藤智矢,境野翔,大西公平:“2足歩行ロボットのための仮想平面法を用いた歩行安定化制御,”電気学会産業応用部門誌,vol. 130, No. 5, pp.685-691, 2010.
  • 3
    新明脩平,仲里三希,見上慧,佐藤智矢,境野翔,大西公平:“モード変換に基づいた2足歩行ロボットの未知段差における歩行制御,”電気学会産業応用部門誌,Vol. 130-D,No. 4,pp. 468-476,2010.
  • 4
    境野翔,佐藤智矢,大西公平:“斜交座標制御を用いた高度なハイブリッド制御の実現,”電気学会産業応用部門誌,vol. 130,No. 3,pp. 300-306, 2010.
  • 5
    佐藤智矢,境野翔,大西公平:“2足歩行ロボットの歩行安定化のためのZMP外乱オブザーバの一設計法”,電気学会産業応用部門誌,vol. 130,No. 3,pp. 283-292,2010.
国際会議
  • 1
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Mobile-hapto with Yaw Rate Control for Traveling on Rough Terrain,” in Proceedings of the 36th Annual Conference of the IEEE Industrial Electronics Society, pp. 1559-1564, 2010.
  • 2
    Tomoya Sato, Sho Sakaino, Kouhei Ohnishi: “Switching Impedance Control in Vertical Direction for Biped Robot with Toe and Heel Joints on Uneven Terrain,” in Proceedings of the 36th Annual Conference of the IEEE Industrial Electronics Society, pp. 1639-1644, 2010.
  • 3
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “Constrained Bilateral Control by Oblique Coordinate Control Taking Priority of Tasks into Account,” in Proceedings of the International Powerelectronics Conference 2010, pp. 2540-2544, 2010.
  • 4
    Sho Sakaino, Tomoya Sato, Kouhei Ohnishi: “A Novel Motion Equation for General Task Description,” in Proceedings of the 11th IEEE International Workshop on Advanced Motion Control, pp. 566-571, 2010.
  • 5
    Tomoya Sato, Sho Sakaino, Kouhei Ohnishi: “Trajectory Planning and Control for Biped Robot with Toe and Heel Joints,” in Proceedings of the 11th IEEE International Workshop on Advanced Motion Control, pp. 129-136, 2010.
  • 6
    Tomoya Sato, Sho Sakaino, Kouhei Ohnishi: “Methods for Reduction of Operational Force in Force Sensor-less Bilateral Control with Thrust Wire” in Proceedings of the 3rd Conference on Human System Interactions, pp. 412-418, 2010.
  • 7
    Sho Sakaino, A.M. Harsha S. Abeykoon, Kouhei Ohnishi: “Keynote paper ?Real World Haptics Applied to Forceps in Robot Suregery,” in Proceedings of the IEEE 5th International Conference on Information and Automation for Sustainability, pp.571-574, 2010.
国内会議・研究会
  • 1
    境野翔,佐藤智矢,大西公平“座標変換によるモバイルハプトの速度拘束の実現,”IIC-10-24,東京,3月8-9日, 2010.
  • 2
    境野翔,佐藤智矢,大西公平“一般的なタスク記述のための革新的な運動方程式と モバイルハプトの実現,”電気学会産業計測制御研究会,IIC-1