Research activity information

• Dec. 2023 第24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, SI2023優秀講演賞, 咀嚼過程における食感の変化とその推定

  青木 尊啓, 中本 裕之, 小林 太


• Dec. 2021 第22回公益社団法人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, SI2021優秀講演賞, 3Dフードプリンタによる造形物と食品の食感比較

  多田雄毅, 中本裕之, 平田一郎, 小林太


• Dec. 2015 第16回公益財団法人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実行委員会, SI2015優秀講演賞, 異方性をもつ柔軟膜ひずみセンサの開発

  NAKAMOTO HIROYUKI, 大高 秀夫, 平田 一郎, 多田 充徳, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  Japan society


• Nov. 2015 Organizing Committee of 7th International Conference on Emerging Trends in Engineering & Technology, Research Front Award, Displacement and Tilt Estimation of Contact Surface on Magnetic Tactile Sensor using Genetic Programming

  NAKAMOTO HIROYUKI, SASAI Shiho, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  International society

• Analysis of Frequency Spectrum of Ultrasonic Pulse-Echo Wave Reflected on Periodic Rough

  Kotaro Fujii, Hiroyuki Nakamoto, Phillipe Guy, Tetsuya Uchimoto

  Corresponding, Nov. 2024, Proceedings of 21st International Conference on Flow Dynamics

  [Refereed]

  International conference proceedings


• Effect of Periodic Rough Surface on Ultrasonic Pulse-echo Signal

  Hiroyuki Nakamoto, Kotaro Fujii, Philippe Guy, Tetsuya Uchimoto

  IEEE, Oct. 2024, 2024 IEEE SENSORS, 1 - 4

  [Refereed]

  International conference proceedings


• Prediction of food texture changes using force data in simulations of repetitive chewing

  Takahiro Aoki, Hiroyuki Nakamoto, Futoshi Kobayashi

  Corresponding, Japanese Society for Food Science and Technology, Aug. 2024, Food Science and Technology Research, 30(6) (6), 635 - 645

  [Refereed]

  Scientific journal


• Effects of sensory combination on crispness and prediction of sensory evaluation value by Gaussian process regression

  Hiroyuki Nakamoto, Ryoga Nishimura, Futoshi Kobayashi

  Crispness contributes to the pleasantness and enjoyment of eating foods and is popular with people of wide ages in many countries. Hence, a quantitative evaluation method for crispness is required for food companies developing new food products. In this study, the effects of different sensory combinations on crispness were investigated through sensory evaluation, and a Gaussian process regression model was used to predict the evaluation values of crispness. First, four crispness descriptors in Japanese were selected, and sensory evaluations were conducted with ten participants using commercially available snack foods under three different sensory combinations of force, vibration, and sound to confirm the effects of the three senses. An instrumental system also measured force, vibration, and sound for snack foods under the same conditions. The Gaussian process regression model determined the relationship between the sensory and measurement data and predicted the sensory evaluation values from the measurement data. Cross-validation verified that the Gaussian process regression model accurately predicted the food texture evaluation values from the measurement data even in conditions with different sensory components.

  Lead, Public Library of Science (PLoS), Feb. 2024, PLOS ONE, 19(2) (2), e0297620 - e0297620

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Food Texture Prediction Method Using Multiple Measurement and Template Data

  Hiroyuki Nakamoto, Tomomi Shimizu

  2024, IEEE Access

  Scientific journal


• Quantitative Assessment of Eddy Current Inspection Technician Skills

  Daigo Kosaka, Masahiro Hoshiba, Hiroyuki Nakamoto

  In eddy current testing, it is desirable to keep sensor perpendicular to test surface, but it is difficult to automatically determine the sensor posture at inspection points with complex geometry, and the non-destructive testing technician manually operates the sensor. In such cases, it is necessary to ensure skill of the technicians as they are part of the non-destructive testing system. We are conducting research to establish a skills training method to efficiently develop non-destructive testing technicians. The behavior of licensed and unlicensed subjects was measured while inspecting defects around bolt holes. There was a clear statistical difference between the sequences of licensed and unlicensed subjects.ts will be established, and a prototype real-time skill teaching system will be built to verify the validity of the proposed method.

  Last, AHFE International, Dec. 2023, Emerging Technologies and Future of Work, 270 - 276

  [Refereed]

  International conference proceedings

  Link to Kobe Univ. Repository (Kernel)


• Effects of Filtered Air- and Bone-conduction Sounds’ Presentation in Mastication on Food Texture

  Hiroyuki Nakamoto, Kento Kawanishi, Ichiro Hirata

  Food texture is an essential sensation for food palatability, as well as taste and aroma, and is particularly important for solid foods. Among food textures, crispness is one of the most popular food textures in various countries. There are many snack foods with crisp textures in the market. They contribute to the sales amount. Hence, food companies need to develop new snack foods with good crispness for consumers' palatability.For mechanical textures, humans generally perceive force, bone-conduction sound, and air-conduction sound through the senses of tactile and hearing. This indicates that food texture is a multisensory perception. There are some reports that a high-frequency sound changes food texture to make it crispier. These reports showed that the filtered sound parameters of one of the senses changed the texture of the food. It has the potential to add a crisp texture to the original texture. In comparison with other languages, the Japanese language has many food texture descriptors of 445. Crispness descriptors such as saku-saku and kari-kari have differences from each other. Native Japanese speakers use the texture terms properly. The influence of the filtered masticatory sound on the crispness descriptors in Japanese is unclear.This study investigates the influence of air- and bone-conduction sounds on crisp texture by sensory evaluation. Air-conduction sounds during mastication are converted into digital data by a microphone. The sound data are filtered by high-pass or low-pass filters and are presented to the participants of sensory evaluation by a headphone or a bone-conduction earphone. For comparison, the sound data were also presented without filtering. This process from the conversion to presentation is performed in real time. The sample of sensory evaluation used nine commercially available foods; potato chips, hardtacks, thin rice crackers, pretzel sticks, thin cookies, sablés, thick rice crackers, deep-fried cookies, and stick-shaped sweet potato chips. Participants were eight students aged 22.9 ± 0.83 (mean ± standard deviation). They bit each sample three times and recorded the degree of texture on the visual analog scale of three texture descriptors; saku-saku, kari-kari, pari-pari.In the results of the sensory evaluation, saku-saku had no significant influence by the low-pass or high-pass filter and the headphone or bone-conduction earphone. On the other hand, low-pass filtered sound decreased the evaluation values of kari-kari and pari-pari of most samples by the headphone. This suggests that saku-saku tends to be influenced by the perception of force than air- and bone-conduction sounds. Kari-kari and pari-pari were influenced by sound. Some samples such as thin cookies and sablés had a difference between the influence of low-pass and high-pass filters by the headphone. Kari-kari and pari-pari are sensitive to the frequency of the sound. Since there are different tendencies among the three crispness descriptors, the effective addition of crispness by sound requires a detailed design of the filter frequency for each object descriptor in Japanese.

  Lead, AHFE International, Dec. 2023, Human-Centered Design and User Experience, 27 - 32

  [Refereed]

  International conference proceedings

  Link to Kobe Univ. Repository (Kernel)


• Comparison of Backpacks with Air Mesh Back Panels and Curved Boards in Standing Position

  Ichiro Hirata, Hiroyuki Nakamoto, Takashi Nonaka

  We designed a prototype backpack to reduce the physical load on students. The main features of the prototype structure were a three-dimensional pad back panel and a curved board. The prototype has a curved surface board inside the padded back panel. This increases the contact area between the backpack and the student's back. To verify the effectiveness of the prototype fit, we compared the prototype to a conventional backpack. Twelve participants were recruited from elementary school students and preschool students. There were significant differences in neck and hip angles when compared to the prototype. Postural measurements showed that carrying a conventional backpack resulted in tilting posture. Stabilometry was measured and found to be more unstable in the conventional backpack. Body pressure distribution measurements showed that the prototype distributed body pressure better. Compared to the prototype, the lower edge of the conventional backpack locally touched the lower back. On the other hand, the padded air mesh back panel of the prototype had a large area of contact with the lumbar region. The results of the comparison between the prototype and the conventional backpack showed that the children's posture changed. This indicated that the prototype was effective in reducing the load on the children.

  AHFE International, Dec. 2023, Human-Centered Design and User Experience, 21 - 26

  [Refereed]

  International conference proceedings

  Link to Kobe Univ. Repository (Kernel)


• Effect of Flaw Parameters on Ultrasonic Attenuation

  Hiroyuki Nakamoto, Kazuma Terada, Phillipe Guy, Tetsuya Uchimoto

  Lead, Nov. 2023, Twentieth International Conference on Flow Dynamics Proceedings, 1314 - 1315

  International conference proceedings


• Decrease at Specific Frequencies in Frequency Spectrum of Ultrasonic Waves Reflected on Rough Surface

  Hiroyuki Nakamoto, Kazuma Terada, Philippe Guy, Tetsuya Uchimoto

  Nov. 2023, Proceedings of the 21st International Symposium on Applied Electromagnetics and Mechanics

  [Refereed]


• Joint angle measurement by stretchable strain sensor

  Hiroyuki Nakamoto, Tokiya Yamaji, Ichiro Hirata, Hideo Ootaka, Futoshi Kobayashi

  Springer Berlin Heidelberg, Nov. 2023, Journal of Ambient Intelligence and Humanized Computing, 1 - 6, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Comparison of random and periodic rough surfaces by ultrasonic attenuation and frequency distribution

  Hiroyuki Nakamoto, Kazuma Terada, Philippe Guy, Tetsuya Uchimoto

  Flow accelerated corrosion generates not only pipe-wall thinning but also roughness on an inside wall. In some flow conditions, the increase in roughness can increase the mass transfer coefficient by up to 80%. It is then very important to have an evaluation tool to monitor and quantify the roughness of a pipe. This study aims to estimate the roughness by using ultrasonic attenuation. The advantage of using ultrasonic attenuation is that it utilizes the signals measured by existing ultrasonic probes, and does not require significant changes to the equipment. To evaluate the inner rough surface, this study compares ultrasonic attenuations on random and periodic rough surfaces. We used an ultrasonic broadband probe on specimens with random and periodic rough surfaces in experiments. The results indicate a significant difference between the attenuation values estimated on random and periodic roughness. In addition, attenuation of amplitude at specific frequencies also was observed. These specific frequencies implied having the potential to estimate the pitch of periodic flaws on the rough surface.

  IOS Press, Apr. 2023, International Journal of Applied Electromagnetics and Mechanics, 71, S429 - S436, English

  [Refereed]

  Scientific journal


• Effect of Backpacks with Air Mesh Back Panel and Curved Board in Running

  Hiroyuki NAKAMOTO, Ichiro HIRATA, Takashi NONAKA

  Lead, Mar. 2023, International Symposium on Affective Science and Engineering, English

  [Refereed]


• Texture estimation of snack foods using force, vibration, and sound

  Ryoga Nishimura, Hiroyuki Nakamoto, Futoshi Kobayashi

  Corresponding, Japanese Society for Food Science and Technology, Dec. 2022, Nippon Shokuhin Kagaku Kogaku Kaishi, 69(12) (12), 565 - 572, Japanese

  [Refereed]

  Scientific journal


• 安定期慢性閉塞性肺疾患における6分間歩行試験中の呼吸数と運動耐容能の関連

  山本 暁生, 中本 裕之, 山口 卓己, 酒井 英樹, 金子 正博, 大西 伸悟, 西馬 照明, 澤田 格, 大澤 悟志, 石川 朗

  (一社)日本呼吸ケア・リハビリテーション学会, Oct. 2022, 日本呼吸ケア・リハビリテーション学会誌, 32(Suppl.) (Suppl.), 165s - 165s, Japanese

  Research society


• Food Texture Measurement System Using Rod Type Actuator for Imitation of Human Mastication

  Hiroyuki Nakamoto, Yuya Nagahata, Futoshi Kobayashi

  Food texture is one of the most important factors in determining the personal palatability of foods, so food companies require food texture measurement and evaluation in developing novel food products. However, instruments are not fast enough or strong enough to imitate human mastication. To measure the textures of different foods, this study proposes a sensor stand that uses a rod-type actuator. The target speed and force of the sensor stand are 100 mm/s and 100 N, respectively. A food texture sensor that imitates the structure of a human tooth is attached to the sensor stand. The sensor stand and a desktop computer make up the measurement system. Using the system, the fundamental characteristics of the sensor stand with the texture sensor are demonstrated. Verification experiments confirm that the sensor stand satisfies the target values of speed and force. Experiments on actual food items also demonstrate the effectiveness of the measurement system in evaluating food textures.

  Lead, Fuji Technology Press Ltd., Jul. 2022, International Journal of Automation Technology, 16(4) (4), 421 - 426

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Comparison of ultrasonic attenuation on random and periodic rough surfaces

  Hiroyuki Nakamoto, Kazuma Terada, Philippe Guy, Tetsuya Uchimoto

  Lead, Jun. 2022, Short Paper Book of The 20th International Symposium on Applied Electromagnetics and Mechanics, 211 - 212, English

  [Refereed]

  International conference proceedings


• 渦電流探傷試験技術者のためのプローブの状態遷移にもとづく技能評価の定量化

  中本 裕之, 小坂 大吾

  Lead, Apr. 2022, 非破壊検査, 71(4) (4), 177 - 182

  [Refereed]

  Scientific journal


• A Study of Snack Food Texture Estimation Based on Force, Vibration, and Sound Data in Fracture

  Ryoga Nishimura, Hiroyuki Nakamoto, Futoshi Kobayashi

  Corresponding, IEEE, Jan. 2022, 2022 IEEE/SICE International Symposium on System Integration (SII)

  [Refereed]

  International conference proceedings


• Validity of a novel respiratory rate monitor comprising stretchable strain sensors during a 6-min walking test in patients with chronic pulmonary obstructive disease

  Akio Yamamoto, Hiroyuki Nakamoto, Takumi Yamaguchi, Hideki Sakai, Masahiro Kaneko, Shingo Ohnishi, Teruaki Nishiuma, Kaku Sawada, Yusuke Iwata, Satoshi Osawa, Kumiko Ono, Akira Ishikawa

  Elsevier BV, Dec. 2021, Respiratory Medicine, 190, 106675 - 106675

  [Refereed]

  Scientific journal


• Sum of variance for quantifying the variation of multiple sequential data for the crispness evaluation of chicken nugget

  Hiroyuki Nakamoto, Takeaki Yasuda, Futoshi Kobayashi, Yuya Nagahata, Rina Shimizu, Ko Kimura

  Lead, Wiley, Aug. 2021, Journal of Texture Studies, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Estimation of Probe Angles Based on Inertial Measurement and Human Skill Assessment

  Kazuki Matsuo, Hiroyuki Nakamoto, Daigo Kosaka, Futoshi Kobayashi

  Corresponding, Springer International Publishing, Jul. 2021, Lecture Notes in Networks and Systems, 415 - 422, English

  [Refereed]

  In book


• A Magnetic Food Texture Sensor and Comparison of the Measurement Data of Chicken Nuggets

  Hiroyuki Nakamoto, Yuya Nagahata, Futoshi Kobayashi

  Food texture is one of the important quality indicators in foodstuffs, along with appearance and flavor, contributing to taste and odor. This study proposes a novel magnetic food texture sensor that corresponds to the tactile sensory capacity of the human tooth. The sensor primarily consists of a probe, linear slider, spring, and circuit board. The probe has a cylindrical shape and includes a permanent magnet. Both sides of the spring are fixed to the probe and circuit board. The linear slider enables the smooth, single-axis motion of the probe during food compression. Two magnetoresistive elements and one inductor on the circuit board measured the probe’s motion. A measurement system then translates the measurement data collected by the magnetoresistive elements into compression force by means of a calibration equation. Fundamental experiments were performed to evaluate the range, resolution, repetitive durability of force, and differences in the frequency responses. Furthermore, the sensor was used to measure seven types of chicken nuggets with different coatings. The difference between the force and vibration measurement data is revealed on the basis of the discrimination rate of the nuggets.

  Lead, MDPI AG, May 2021, Sensors, 21(10) (10), 3310 - 3310, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Measurement of laryngeal elevation time using a flexible surface stretch sensor

  Kaoru Hanaie, Akio Yamamoto, Ken Umehara, Yusuke Bessho, Hiroyuki Nakamoto, Kimiko Nakayama, Kaku Sawada, Satoshi Osawa, Takeshi Ogasawara, Syuichi Tsuneishi, Yoko Wakasugi, Akira Ishikawa

  BACKGROUND: Dysphagia is a growing health problem in aging societies. An observational cohort study targeting community-dwelling populations revealed that 16% of elderly subjects present with dysphagia. There is a need in elderly communities for systematic dysphagia assessment. OBJECTIVE: This study aimed to verify whether laryngeal elevation in the pharyngeal phase could be measured from the body surface using thin and flexible stretch sensors. METHODS: Thirty-two elderly subjects (17 males, 15 females; mean age ± SD: 89.2 ± 6.2 years) with suspected dysphagia underwent a swallowing contrast examination in which seven stretch sensors were attached to the front of the neck. The elongation of the sensors was measured and compared to the laryngeal elevation time values obtained using videofluorography. The sensor signal detected the laryngeal elevation start time, conclusion of the descent of the larynx, and the laryngeal elevation time. The respective laryngeal elevation times obtained using videofluorography and using the sensor were compared using the Bland-Altman method. RESULTS: The laryngeal elevation time was 1.34 ± 0.46 s with the stretch sensor and 1.49 ± 0.56 s with videofluorography. There was a significant positive correlation between the duration obtained by both methods (r = 0.69, p < 0.0001). A negative additional significant bias of -0.15 s (95% confidence interval -0.30 to -0.03, p = 0.046) was noted in the laryngeal elevation time from the videofluorography measurement. CONCLUSION: Laryngeal elevation time can be measured noninvasively from the neck surface using stretch sensors.

  Wiley, Dec. 2020, Journal of Oral Rehabilitation, 47(12) (12), 1489 - 1495, English, International magazine

  [Refereed]

  Scientific journal


• Development of Magnetic Food Texture Sensor with Spring and Sliding Mechanism

  Kento Kusumi, Hiroyuki Nakamoto, Futoshi Kobayashi, Yuya Nagahata

  Corresponding, IEEE, Oct. 2020, 2020 IEEE SENSORS, English

  [Refereed]

  International conference proceedings


• Attenuation of Ultrasonic Guided Wave on Buried Illumination Pillar

  Hiroyuki Nakamoto, Akiko Kaji

  Lead, IEEE, Oct. 2020, 2020 IEEE SENSORS, English

  [Refereed]

  International conference proceedings


• Development of Band-shaped Device and Detection Algorithm of Laryngeal Elevation

  Hiroyuki Nakamoto, Yuki Katsuno, Akio Yamamoto, Ken Umehara, Kaoru Hanaie, Yusuke Bessho, Futoshi Kobayashi, Akira Ishikawa

  This study concerns a measurement device and an algorithm of the laryngeal elevation for the Mendelsohn maneuver. The measurement device is band-shaped and measures the change of the circumferential length of the neck by stretchable strain sensors. The device is lightweight of 35 g. The algorithm detects the onset and offset points in time of the laryngeal elevation by the first-order difference and the dynamic time warping distance. Twelve elderly people participated in an experiment to validate the effectiveness of the device. A clustering method separated the measurement data into two groups based on their waveforms. We defined template data from the measurement data. The algorithm detected the onset and offset time by using the template data. Although the offset time of a group had an error of about 4 s, the onset and offset time points of the other group were errors within 1 s.

  Lead, IEEE, Jul. 2020, 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2020, 4475 - 4478, English, International magazine

  [Refereed]

  International conference proceedings


• Corrosion Induced Roughness Characterization by Ultrasonic Attenuation Measurement

  Hiroyuki NAKAMOTO, Philippe GUY, Toshiyuki TAKAGI

  Lead, Japan Society of Maintenology, Feb. 2020, E-Journal of Advanced Maintenance, 11(4) (4), 139 - 146, English

  [Refereed]

  Scientific journal


• Wearable Band-shaped Device and Detection Algorithm for Laryngeal Elevation in Mendelsohn Maneuver

  Hiroyuki Nakamoto, Yuki Katsuno, Akio Yamamoto, Ken Umehara, Yusuke Bessho, Futoshi Kobayashi, Akira Ishikawa

  Lead, Institute of Electrical and Electronics Engineers ({IEEE}), 2020, IEEE Sensors Journal, 21(13) (13), 1 - 1, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Fusion system of vision and hearing sensation using Deep Learning Fusion system of vision and hearing sensation using Deep Learning

  Kazuto Tsumura, Futoshi Kobayashi, Hiroyuki Nakamoto

  Institute of Electrical and Electronics Engineers Inc., Dec. 2019, MHS 2019 - 30th 2019 International Symposium on Micro-NanoMechatronics and Human Science, English

  International conference proceedings


• Monitoring respiratory rates with a wearable system using a stretchable strain sensor during moderate exercise

  Yamamoto, Akio, Nakamoto, Hiroyuki, Bessho, Yusuke, Watanabe, Yu, Oki, Yutaro, Ono, Kumiko, Fujimoto, Yukari, Terada, Tsutomu, Ishikawa, Akira

  Dec. 2019, MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING, 57(12) (12), 2741 - 2756, English

  [Refereed]

  Scientific journal


• Back Surface Roughness Measurement Based on Attenuation of Ultrasonic Wave

  Hiroyuki Nakamoto, Philippe Guy, Toshiyuki Takagi, Tetsuya Uchimoto, Kazuya Hamaguchi

  Nov. 2019, Proceedings of the Nineteenth International Symposium on Advanced Fluid Information (AFI2019), 236 - 237

  International conference proceedings


• 6分間歩行試験におけるCOPD患者の呼吸循環応答と歩行距離の関連

  山本 暁生, 中本 裕之, 澤田 格, 大澤 悟志, 別所 侑亮, 金子 正博, 酒井 英樹, 西馬 照明, 大西 伸吾, 石川 朗

  (一社)日本呼吸ケア・リハビリテーション学会, Oct. 2019, 日本呼吸ケア・リハビリテーション学会誌, 29(Suppl.) (Suppl.), 246s - 246s, Japanese

  [Refereed]


• Laryngeal Elevation Measurement for Dysphagia Rehabilitation by Stretchable Strain Sensors

  KATSUNO Yuki, NAKAMOTO Hiroyuki, YAMAMOTO Akio, UMEHARA Ken, BESSHO Yusuke, KOBAYASHI Futoshi, TERADA Tsutomu, ISHIKAWA Akira

  The Mendelsohn maneuver is one of dysphagia rehabilitation methods and is a swallowing maneuver which voluntarily prolongs laryngeal elevation. In general, the recognition of the laryngeal elevation is difficult for patients. They often need a long-time training to obtain the maneuver. However, showing onset and offset times of laryngeal elevation can promote effective rehabilitation. We propose a measurement device of the laryngeal elevation based on the change of the circumference of the neck. In this study, we develop a neckband-shaped device composed of stretchable strain sensors. The laryngeal elevation changes the neck circumference. The device partially measures the neck circumference. Two methods detect the onset and offset times of the laryngeal elevation. One determines the times from the difference of the time-series circumference of the neck. The other method determines the times from both the difference and a pattern matching. In experiments, 21 healthy subjects conducted 4-second laryngeal elevation in the Mendelsohn maneuver. Simultaneously, a speech-language-hearing therapist determined the times of the laryngeal elevation by palpating the subjects. The method of only the difference correctly detected the onset times. However, the offset times had over 1-second errors in some cases. The other method detected both the onset and offset times with short-time errors. We confirmed that the proposed device and the method with the difference and pattern matching have a potential for a biofeedback rehabilitation device.

  Corresponding, The Society of Instrument and Control Engineers, Oct. 2019, Transactions of the Society of Instrument and Control Engineers, 55(10) (10), 655 - 661, Japanese, Domestic magazine

  [Refereed]

  Scientific journal


• Attenuation of Guided Wave in Illumination Pillar by Soil

  Akiko KAJI, Hiroyuki NAKAMOTO, Futoshi KOBAYASHI

  Corresponding, Sep. 2019, Abstract catalogue of the 19th International Symposium on Applied Electromagnetics and Mechanics, #128

  [Refereed]

  International conference proceedings


• Food Texture Quantification of Tempura Using Magnetic Food Texture Sensor and Time-series Data

  Ninomae Souda, Hiroyuki Nakamoto, Futoshi Kobayashi, Yuya Nagahata, Yoriyasu Hirosue

  Corresponding, {MYU} K.K., Jul. 2019, Sensors and Materials, 31(7) (7), 2357 - 2357, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Inspection of illumination pillar using ultrasonic guided wave by electromagnetic acoustic transducer

  Hiroyuki Nakamoto

  Maintenance of aging infrastructure facilities in urban area is a critical issue. Actually, in Kobe city, two illumination pillars fell down because they had corrosion under the ground line. This study aims to detect corrosion of illumination pillars using ultrasonic guided wave generated by electromagnetic acoustic transducer (EMAT). The guided wave is expected as a quick and long distance inspection technology for piping systems. In this study, a guided wave inspection system using the EMATs is proposed. The guided wave inspection system detects corrosion by reflected waves from corrosion. The effectiveness of the proposed system for screening of corrosion in illumination pillars is verified through experiments using both retired and active illumination pillars.

  Hindawi publishing, Mar. 2019, International Journal of Applied Electromagnetics and Mechanics, 59(4) (4), 1487 - 1493, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• 慢性閉塞性肺疾患における6分間歩行試験中の呼吸数に関する研究

  山本 暁生, 中本 裕之, 澤田 格, 大澤 悟志, 岩田 優助, 金子 正博, 酒井 英樹, 山口 卓巳, 門 浄彦, 西馬 照明, 大西 伸悟, 藤本 由香里, 別所 侑亮, 石川 朗

  (一社)日本呼吸器学会, Mar. 2019, 日本呼吸器学会誌, 8(増刊) (増刊), 251 - 251, Japanese

  [Refereed]


• Recent advances in PYRAMID project : EMAT experimental results for corrosion characterization

  Philippe Guy, Bernard Normand, Hiroyuki Nakamoto, Toshiyuki Takagi, Dwaipayan Mallick

  Tohoku University, Mar. 2019, Abstract book of ELyT Workshop 2019, English

  International conference proceedings


• Body parts estimation for motion capture system using multiple depth sensors

  Ryuichiro Sakata, Futoshi Kobayashi, Hiroyuki Nakamoto

  Institute of Electrical and Electronics Engineers Inc., Dec. 2018, MHS 2018 - 2018 29th International Symposium on Micro-NanoMechatronics and Human Science, English

  International conference proceedings


• COMPARISON OF TWO NONINVASIVE DEVICES FOR MEASURING RESPIRATORY RATES WITHOUT A FACEMASK DURING WALKING

  Yamamoto, Akio, Nakamoto, Hiroyuki, Bessho, Yusuke, Fujimoto, Yukari, Oki, Yutaro, Iwata, Yusuke, Ishikawa, Akira

  Nov. 2018, RESPIROLOGY, 23, 119 - 119, English

  [Refereed]


• Corrosion Characterization for Pipe Wall by Ultrasound Reflection

  Hiroyuki NAKAMOTO, Philippe GUY, Toshiyuki TAKAGI

  Tohoku University, Nov. 2018, Proceedings of the Eighteenth International Symposium on Advanced Fluid Information (AFI2018), English

  International conference proceedings


• Wearable Lumbar-Motion Monitoring Device with Stretchable Strain Sensors

  Hiroyuki Nakamoto, Tokiya Yamaji, Akio Yamamoto, Hideo Ootaka, Yusuke Bessho, Futoshi Kobayashi, Rei Ono

  Hindawi publishing, Oct. 2018, Journal of Sensors, 2018, 1 - 7, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• 慢性閉塞性肺疾患に対する6分間歩行試験における呼吸数計測システムの開発

  山本 暁生, 中本 裕之, 澤田 格, 岩田 優助, 別所 侑亮, 藤本 由香里, 石川 朗

  (一社)日本呼吸ケア・リハビリテーション学会, Oct. 2018, 日本呼吸ケア・リハビリテーション学会誌, 28(Suppl.) (Suppl.), 177s - 177s, Japanese


• Laryngeal Elevation Detection for Mendelsohn Maneuver by Stretchable Strain Sensors

  Yuki KATSUNO, Hiroyuki NAKAMOTO, Akio YAMAMOTO, Yusuke BESSHO, Tsutomu TERADA, Akira ISHIKAWA

  IEEE, Jul. 2018, 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, English

  [Refereed]

  International conference proceedings


• Laryngeal Elevation Detection for Dysphagia Rehabilitation by Stretchable Strain Sensors.

  Katsuno Yuki, NAKAMOTO HIROYUKI, YAMAMOTO AKIO

  Jul. 2018, IEEE Engineering in Medicine and Biology Society, English

  [Refereed]

  International conference proceedings


• Innovative larynx elevation counter during saliva swallowing using a series of flexible stretchable strain sensors

  YAMAMOTO AKIO, NAKAMOTO HIROYUKI, Terada Tsutomu, Ishikawa Akira

  Jul. 2018, IEEE Engineering in Medicine and Biology Society, English

  [Refereed]

  International conference proceedings


• ウェアラブルセンサを用いた慢性閉塞性肺疾患患者の6分間歩行試験における呼吸関連指標の計測の試み

  山本 暁生, 中本 裕之, 別所 侑亮, 大澤 悟志, 石川 朗

  日本運動療法学会, Jun. 2018, 日本運動療法学会大会抄録集, 43回, 46 - 46, Japanese


• Food Texture Quantification Using a Magnetic Food Texture Sensor and Dynamic Time Warping

  Ninomae Souda, Hiroyuki Nakamoto, Futoshi Kobayashi

  Japanese Society for Food Science and Technology, Jun. 2018, Food Science and Technology Research, 24(2) (2), 257 - 263, English

  [Refereed]

  Scientific journal


• Food texture evaluation using logistic regression model and magnetic food texture sensor

  Hiroyuki Nakamoto, Daisuke Nishikubo, Futoshi Kobayashi

  Elsevier Ltd, Apr. 2018, Journal of Food Engineering, 222, 20 - 28, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• A study of surface roughness measurement on a carbon steel block by ultrasonic scattering from the opposite side

  Hiroyuki NAKAMOTO, Philippe GUY

  Mar. 2018, Abstract book of ELyT Workshop 2018, English

  International conference proceedings


• シート状ストレッチセンサを用いた反復唾液嚥下試験における嚥下回数検出の試み- 若年健常者における検討-

  山本 暁生, 中本 裕之, 梅原 健, 別所 侑亮, 花家 薫, 山口 卓巳, 岩田 優助, TERADA Tsutomu, 石川 朗

  Feb. 2018, 第41 回日本嚥下医学界学術講演会, Japanese

  Symposium


• Measurement of swallowing frequency using a stretchable strain sensor

  Hiroyuki Nakamoto, Ryo Nakamura, Akio Yamamoto, Hideo Ootaka, Yusuke Bessho, Rei Ono

  日本言語聴覚士協会 ; 2004-, 2018, 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 15(3) (3), 142 - 147, Japanese


• シート状ストレッチセンサを用いた胸郭運動の計測機器の開発

  Yamamoto Akio, NAKAMOTO HIROYUKI, 沖 侑大郎, Fujimoto Yukari, 別所 侑亮, Ishikawa Akira

  (公社)日本リハビリテーション医学会, 2018, リハビリテーション医学, 55(4) (4), 348 - 357, Japanese

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Stretchable Strain Sensor and its Application

  Nakamoto Hiroyuki

  Lead, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS, 2018, SYSTEMS, CONTROL AND INFORMATION, 62(1) (1), 2 - 7, Japanese


• Method for measuring tri-axial lumbar motion angles using wearable sheet stretch sensors

  Akio Yamamoto, Hiroyuki Nakamoto, Tokiya Yamaji, Hideo Ootaka, Yusuke Bessho, Ryo Nakamura, Rei Ono

  Oct. 2017, PLOS ONE, 12(10) (10), e0183651, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• 嚥下造影検査による嚥下動態評価とストレッチセンサによる評価の比較

  花家 薫, Yamamoto Akio, 梅原 健, 山口 卓巳, 岩田 優助, 小笠原 剛, 谷 茉波, 高橋 枝里香, 門間 陽一, 大澤 悟志, 澤田 格, 太田 雅史, 別所 侑亮, Nakamoto Hiroyuki, 常石 秀市, Ishikawa Akira

  日本嚥下医学会, Sep. 2017, 嚥下医学, 6(2) (2), 244 - 244, Japanese

  [Refereed]

  Research society


• 喉頭運動に対するシート状ストレッチセンサを用いた喉頭挙上訓練の検討

  梅原 健, Yamamoto Akio, 花家 薫, 山口 卓巳, 岩田 優助, 太田 雅史, 別所 侑亮, Nakamoto Hiroyuki, Ishikawa Akira

  日本嚥下医学会, Sep. 2017, 嚥下医学, 6(2) (2), 251 - 251, Japanese

  [Refereed]

  Research society


• Food Texture Evaluation Using Tooth-shaped Sensor and Statistic Model

  Hiroyuki Nakamoto, Ninomae Souda, Daisuke Nishikubo, Futoshi Kobayashi

  Sep. 2017, 2017 6th International Conference on Informatics, Electronics and Vision, #28, English

  [Refereed]

  International conference proceedings


• Pick-Up Motion Based on Vision and Tactile Information in Hand/Arm Robot

  Futoshi Kobayashi, Shou Minoura, Hiroyuki Nakamoto, Fumio Kojima

  Institute of Electrical and Electronics Engineers Inc., Aug. 2017, Proceedings - 2016 3rd International Conference on Computing Measurement Control and Sensor Network, CMCSN 2016, 110 - 113, English

  [Refereed]

  International conference proceedings


• Food Texture Classification Using Magnetic Sensor and Principal Component Analysis

  Hiroyuki Nakamoto, Daisuke Nishikubo, Shuhei Okada, Futoshi Kobayashi, Fumio Kojima

  Institute of Electrical and Electronics Engineers Inc., Aug. 2017, Proceedings - 2016 3rd International Conference on Computing Measurement Control and Sensor Network, CMCSN 2016, 114 - 117, English

  [Refereed]

  International conference proceedings


• Ultrasonic Guided Wave Approach for Inspecting Concave Surface of the Laser Butt-welded Pipe

  Akinori Furusawa, Akihiko Nishimura, Toshihiko Takebe, Masaki Nakamura, Yusuke Takenaka, Shingo Sudo, Hiroyuki Nakamoto

  Aug. 2017, E-Journal of Advanced Maintenance, 9(2) (2), 44 - 51, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Joint Angle Measurement by Stretchable Strain Sensor

  Hiroyuki Nakamoto, Tokiya Yamaji, Ichiro Hirata, Hideo Ootaka, Futoshi Kobayashi

  Aug. 2017, Proceedings of the 3rd International Conference on Ambient Intelligence and Ergonomics in Asia 2017, ID - 36, English

  [Refereed]

  International conference proceedings


• Parallel mechanism using stretchable strain sensor for lumbar motion measurement

  Hiroyuki Nakamoto, Tokiya Yamaji, Akio Yamamoto, Hideo Ootaka, Yusuke Bessho, Rei Ono

  Jul. 2017, 2017 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, FrDT16 - 03.5, English

  [Refereed]

  International conference proceedings


• ウェアラブルストレッチセンサを用いた三次元腰椎角度計測法に関する研究

  山本 暁生, 中本 裕之, 山路 時矢, 大高 秀夫, 別所 侑亮, 小野 玲

  (公社)日本産業衛生学会, May 2017, 産業衛生学雑誌, 59(臨増) (臨増), 363 - 363, Japanese


• シート状ストレッチセンサを用いた歩行中の非侵襲的な呼吸数計測法の開発

  山本暁生, 中本裕之, 別所侑亮, 太田雅史, 沖侑大郎, 藤本由香里, 渡邊佑, 岩田健太郎, 村上茂史, 山田莞爾, TERADA Tsutomu, 小野くみ子, 石川朗

  Apr. 2017, 第57 回日本呼吸器学会学術講演会, 6, 640, Japanese

  Symposium


• シート状ストレッチセンサを用いた歩行中の非侵襲的な呼吸数計測法の開発

  Yamamoto Akio, 中本 裕之, 別所 侑亮, 太田 雅史, 沖 侑大郎, Fujimoto Yukari, 渡邊 佑, 岩田 健太郎, 村上 茂史, 山田 莞爾, TERADA TSUTOMU, Ono Kumiko, Ishikawa Akira

  (一社)日本呼吸器学会, Mar. 2017, 日本呼吸器学会誌, 6巻増刊(増刊) (増刊), 266 - 266, Japanese

  [Refereed]

  Research society


• POD Evaluation of Motion Capturing Systems for Robot Teleoperation

  SHIMIZU Kai, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki

  Tele-operated robotic systems have been applied in extreme environment. In order to operate delicate tasks, many humanoid robots have been developed. Motion capturing systems are often used so as to tele-operate those robots. However, it is difficult for individual motion capturing system to measure precise joint angles of a human arm. Therefore, we integrate two motion capturing systems. Here, it is important how two motion capturing systems are integrated. In this paper, we evaluate the reliability of each motion capturing system. The probability of detection (POD) is applied to evaluate the reliability of two systems. By using POD, it is possible to evaluate the influence caused by measurement environment and camera arrangement etc. Consequently, based on the POD evaluation, the tendency of the reliability of two motion capturing systems were confirmed.

  The Japan Society of Mechanical Engineers, 2017, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2017, 2P1 - C10, Japanese


• 柔軟膜ひずみセンサを用いた腰の動作計測装置の開発

  山路 時矢, 中本 裕之, YAMAMOTO AKIO, 大高 秀夫, 別所 侑亮, ONO REI

  2017, 第61回 システム制御情報学会研究発表講演会, Japanese

  [Refereed]

  Symposium


• シート状ストレッチセンサを用いた胸郭運動の計測機器の開発

  山本 暁生, NAKAMOTO HIROYUKI, 沖 侑大郎, 藤本 由香里, 別所 侑亮, 石川 朗

  2017, リハビリテーション医学, Japanese

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Robot-Human Handover Based on Motion Prediction of Human

  SAKATA Wataru, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki

  2017, Proc. of 2017 6th International Conference on Informatics, Electronics and Vision, English

  [Refereed]

  International conference proceedings


• Food Texture Evaluation Using Tooth-shaped Sensor and Statistic Model

  NAKAMOTO Hiroyuki, SOUDA Ninomae, NISHIKUBO Daisuke, KOBAYASHI Futoshi

  2017, Proc. of 2017 6th International Conference on Informatics, Electronics and Vision, English

  [Refereed]

  International conference proceedings


• Development of Motion Capture System using Multiple Depth Sensors

  SAKATA Ryuichiro, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki

  2017, Proc. of 2 2017 International Symposium on Micro-Nano Mechatronics and Human Science, English

  [Refereed]

  International conference proceedings


• Rapid Prototyping Human Interfaces Using Stretchable Strain Sensor

  Tokiya Yamaji, Hiroyuki Nakamoto, Hideo Ootaka, Ichiro Hirata, Futoshi Kobayashi

  2017, JOURNAL OF SENSORS, 2017, 1 - 9, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Inspection of Illumination Pillars Using Electromagnetic Ultrasonic Guided Wave

  Hiroyuki Nakamoto, Fumio Kojima, Daichi Nakamura, Arihiro Miwa, Yoshitaka Iwasaki, Hideaki Tomita

  IOS Press, 2017, Studies in Applied Electromagnetics and Mechanics, 42, 202 - 208, English

  [Refereed]

  Scientific journal


• メンデルソン手技におけるシート状ストレッチセンサを用いた視覚フィードバックの基礎的検討

  梅原 健, 山本 暁生, 花家 薫, 山口 卓巳, 太田 雅史, 別所 侑亮, 中本 裕之, 石川 朗

  (一社)日本摂食嚥下リハビリテーション学会, Dec. 2016, 日本摂食・嚥下リハビリテーション学会雑誌, 20(3) (3), S102 - S102, Japanese


• シート状ストレッチセンサを用いた臥床中の嚥下回数計測ツールの開発

  梅原 健, Yamamoto Akio, 花家 薫, 山口 卓巳, 別所 侑亮, 太田 雅史, Nakamoto Hiroyuki, Ishikawa Akira

  (一社)日本言語聴覚士協会, Sep. 2016, 言語聴覚研究, 13(3) (3), 130 - 130, Japanese

  [Refereed]

  Research society


• シート状ストレッチセンサを用いた嚥下機能の評価ツールの開発(第二報) 頭頸部肢位による影響

  山口 卓巳, 梅原 健, Yamamoto Akio, 花家 薫, 太田 雅史, 大高 秀夫, 米澤 晶弥, 中本 裕之, Ishikawa Akira

  (公社)日本リハビリテーション医学会, Jun. 2016, The Japanese Journal of Rehabilitation Medicine, (JARM2016) (JARM2016), I120 - I120, Japanese

  [Refereed]

  Research society


• シート状ストレッチセンサを用いた嚥下機能の評価ツールの開発(第一報) 喉頭運動の非侵襲的な計測

  花家 薫, Yamamoto Akio, 梅原 健, 山口 卓己, 太田 雅史, 大高 秀夫, 米澤 晶弥, Nakamoto Hiroyuki, Ishikawa Akira

  (公社)日本リハビリテーション医学会, Jun. 2016, The Japanese Journal of Rehabilitation Medicine, (JARM2016) (JARM2016), I120 - I120, Japanese

  [Refereed]

  Research society


• シート状ストレッチセンサを用いた胸腹部の呼吸数・呼吸運動の定量評価法の開発

  Yamamoto Akio, 沖 侑大郎, Fujimoto Yukari, 渡邊 佑, 中本 裕之, 太田 雅史, 玉木 彰, ISHIKAWA AKIRA

  (公社)日本リハビリテーション医学会, Jun. 2016, The Japanese Journal of Rehabilitation Medicine 2016, (JARM2016) (JARM2016), I374 - I374, Japanese

  [Refereed]

  Research society


• Stretchable Strain Sensor With Anisotropy and Application for Joint Angle Measurement

  Hiroyuki Nakamoto, Hideo Ootaka, Mitsunori Tada, Ichiro Hirata, Futoshi Kobayashi, Fumio Kojima

  May 2016, IEEE SENSORS JOURNAL, 16(10) (10), 3572 - 3579, English

  [Refereed]

  Scientific journal


• シート状ストレッチセンサを用いた腰椎の屈伸・回旋角度計測法に関する検討

  Yamamoto Akio, 中村 凌, 中本 裕之, 大高 秀夫, 別所 侑亮, 村田 峻輔, ONO REI

  (公社)日本産業衛生学会, May 2016, 産業衛生学雑誌, 58(臨増) (臨増), 282 - 282, Japanese

  [Refereed]

  Research society


• POD Evaluation for Joint Angles from Inertial and Optical Motion Capturing System

  SHIMIZU Kai, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  Feb. 2016, E-Journal of Advanced Maintenance, 7(4) (4), 206 - 215, English

  [Refereed]

  Scientific journal


• Human motion caption with vision and inertial sensors for hand/arm robot teleoperation

  Futoshi Kobayashi, Keiichi Kitabayashi, Kai Shimizu, Hiroyuki Nakamoto, Fumio Kojima

  2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52(3-4) (3-4), 1629 - 1636, English

  [Refereed]

  Scientific journal


• Visualization of Remote Taskspace for Hand/Arm Robot Teleoperation

  Futoshi Kobayashi, Yoshiyuki Kakizaki, Hiroyuki Nakamoto, Fumio Kojima

  2016, INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT II, 9835, 479 - 487, English

  [Refereed]

  International conference proceedings


• Magnetic Food Texture Sensor Incorporating Human Tooth Structure

  Daisuke Nishikubo, Hiroyuki Nakamoto, Futoshi Kobayashi, Fumio Kojima

  2016, JOURNAL OF THE JAPANESE SOCIETY FOR FOOD SCIENCE AND TECHNOLOGY-NIPPON SHOKUHIN KAGAKU KOGAKU KAISHI, 63(6) (6), 268 - 273, Japanese

  [Refereed]

  Scientific journal


• INSPECTION OF ILLUMINATION PILLARS USING ELECTROMAGNETIC ULTRASONIC GUIDED WAVE

  Daichi NAKAMURA, Arihiro MIWA, Hiroyuki NAKAMOTO, Fumio KOJIMA, Yoshihisa IWASAKI, Hideaki TOMITA

  2016, 21st International Workshop on Electromagnetic Nondestructive Evaluation, 104 - 105, English

  [Refereed]

  International conference proceedings


• Tactile texture classification using magnetic tactile sensor

  Hiroyuki Nakamoto, Takuya Matsumoto

  2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52(3-4) (3-4), 1673 - 1679, English

  [Refereed]

  Scientific journal


• Stretchable strain sensor for distributed strain measurement and design of measurement circuit

  Hiroyuki Nakamoto, Hideo Ootaka, Ichiro Hirata, Futoshi Kobayashi, Fumio Kojima

  2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52(3-4) (3-4), 1681 - 1688, English

  [Refereed]

  Scientific journal


• Estimation method using genetic programming for location and depth on distributed tactile sensor

  Shiho Sasai, Hiroyuki Nakamoto, Futoshi Kobayashi, Fumio Kojima

  2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52(3-4) (3-4), 1221 - 1229, English

  [Refereed]

  Scientific journal


• A Study on Classification of Food Texture with Recurrent Neural Network

  Shuhei Okada, Hiroyuki Nakamoto, Futoshi Kobayashi, Fumio Kojima

  2016, INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I, 9834, 247 - 256, English

  [Refereed]

  International conference proceedings


• Stretchable Strain Sensor Based on Areal Change of Carbon Nanotube Electrode

  Hiroyuki Nakamoto, Hideo Ootaka, Mitsunori Tada, Ichiro Hirata, Futoshi Kobayashi, Fumio Kojima

  Apr. 2015, IEEE SENSORS JOURNAL, 15(4) (4), 2212 - 2218, English

  [Refereed]

  Scientific journal


• The flexible interface using a stretch sensor

  Ichiro Hirata, Hiroyuki Nakamoto, Hideo Ootaka, Mitsunori Tada

  2015, 6TH INTERNATIONAL CONFERENCE ON APPLIED HUMAN FACTORS AND ERGONOMICS (AHFE 2015) AND THE AFFILIATED CONFERENCES, AHFE 2015, 3, 845 - 849, English

  [Refereed]

  International conference proceedings


• Characteristics Evaluation of Stretchable Strain Sensor for Control of Pneumatic Artificial Muscle

  Hiroyuki Nakamoto, Soushi Oida, Hideo Ootaka, Mitsunori Tada, Ichiro Hirata, Futoshi Kobayashi, Fumio Kojima

  2015, 2015 10TH ASIAN CONTROL CONFERENCE (ASCC), English

  [Refereed]

  International conference proceedings


• Vision Based Grasping System with Universal Jamming Hand

  Futoshi Kobayashi, Souta Ueno, Hiroyuki Nakamoto, Fumio Kojima

  2015, 2015 10TH ASIAN CONTROL CONFERENCE (ASCC), 3135 - 3138, English

  [Refereed]

  International conference proceedings


• Design and Response Performance of Capacitance Meter for Stretchable Strain Sensor

  Hiroyuki Nakamoto, Soushi Oida, Hideo Ootaka, Ichiro Hirata, Mitsunori Tada, Futoshi Kobayashi, Fumio Kojima

  2015, 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015-December, 2348 - 2353, English

  [Refereed]

  International conference proceedings


• Development of Food Texture Sensor Using Two Magnetic Sensing Elements

  Hiroyuki Nakamoto, Daisuke Nishikubo, Futoshi Kobayashi, Fumio Kojima

  2015, 2015 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (IEEE SSCI), 117 - 121, English

  [Refereed]

  International conference proceedings


• Door opening operation by teleoperated hand/arm robot

  FUJIMOTO Kouhei, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  Nov. 2014, Proc. of the 2nd International Conference on Maintenance Science and Technology, 203 - 204, English

  International conference proceedings


• Assessment Method of Pipe Operation Time by Using Hazard Rate Based on Fusion of Prediction and Inspection

  NAKAMOTO Hiroyuki, KOJIMA Fumio, KATO Sho

  Nov. 2014, Proceedings of the 2nd International Conference on Maintenance Science and Technology, 193 - 194, English

  [Refereed]

  International conference proceedings


• Grasping Posture Considering Object Transportation in Multi-fingered Robot Hand

  Kobayashi Futoshi, Kanno Hayato, Nakamoto Hiroyuki, Kojima Fumio

  これまで，6軸力覚センサを用いた滑りの検出を行い，滑りを考慮した物体把持姿勢の決定を行ってきた．しかし，物体を静的に持ち上げる場合での把持姿勢を決定しており，動的に搬送することは考慮していなかった．本講演では，物体搬送時において安定して把持することが可能な把持姿勢の決定を行う．ここで，ロボットハンドによる持ち上げ時に物体の重さを推定し，その重さと搬送時に想定される速度を考慮し，把持姿勢を決定する．

  The Japan Joint Automatic Control Conference, 2014, Proceedings of the Japan Joint Automatic Control Conference, 57, 512 - 515, Japanese


• Reliability Assessment of EMAT-NDE System for Pipe Wall Thinning Management

  Fumio Kojima, Hiroyuki Nakamoto, Hiroki Tabata, Sho Katoh, Daigo Kosaka

  2014, ELECTROMAGNETIC NONDESTRUCTIVE EVALUATION (XVI), 38, 3 - +, English

  [Refereed]

  International conference proceedings


• Reliability Assessment for Thickness Inspection of Pipe Wall using Probability of Detection

  NAKAMOTO Hiroyuki, KOJIMA Fumio, KATO Sho

  This paper proposes a reliability assessment method for thickness measurements of pipe wall using probability of detection (POD). Thicknesses of pipes are measured by qualified inspectors with ultrasonic thickness gauges. The inspection results are affected by human factors of the inspectors and include some errors, because the inspectors have different experiences and frequenc

  Japan Society of Maintenology, Jan. 2014, E-Journal of Advanced Maintenance, 5(4) (4), 228 - 237, English

  [Refereed]

  Scientific journal


• Pipe-wall thickness measurement at high temperature by electromagnetic acoustic transducer

  Hiroyuki Nakamoto, Fumio Kojima, Atsushi Morikawa, Hiroki Tabata, Daigo Kosaka

  IOS Press, 2014, Studies in Applied Electromagnetics and Mechanics, 39, 256 - 262, English

  [Refereed]

  Scientific journal


• Hysteresis Characteristic and Repeat Accuracy of Magnetic Type Tactile Sensor

  Hiroyuki Nakamoto, Satoru Takenawa

  2014, ELECTROMAGNETIC NONDESTRUCTIVE EVALUATION (XVI), 38, 24 - +, English

  [Refereed]

  International conference proceedings


• Motion capture with inertial measurement units for hand/arm robot teleoperation

  Futoshi Kobayashi, Ko Hasegawa, Hiroyuki Nakamoto, Fumio Kojima

  2014, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 45(1-4) (1-4), 931 - 937, English

  [Refereed]

  Scientific journal


• Reliability evaluation of pipe thickness measurement by electromagnetic acoustic transducer

  Hiroyuki Nakamoto, Fumio Kojima, Hiroki Tabata, Daigo Kosaka

  2014, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 45(1-4) (1-4), 923 - 929, English

  [Refereed]

  Scientific journal


• Estimation of Displacement and Rotation by Magnetic Tactile Sensor Using Stepwise Regression Analysis

  Hiroyuki Nakamoto, Taketo Wakabayashi, Futoshi Kobayashi, Fumio Kojima

  2014, JOURNAL OF SENSORS, 2014, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Slip Based Pick-and-Place by Universal Robot Hand with Force/Torque Sensors

  Futoshi Kobayashi, Hayato Kanno, Hiroyuki Nakamoto, Fumio Kojima

  2014, 2014 IEEE SYMPOSIUM ON ROBOTIC INTELLIGENCE IN INFORMATIONALLY STRUCTURED SPACE (RIISS), 149 - 152, English

  [Refereed]

  International conference proceedings


• Application of Stretchable Strain Sensor for Pneumatic Artificial Muscle

  Hiroyuki Nakamoto, Soushi Oida, Hideo Ootaka, Mitsunori Tada, Ichiro Hirata, Futoshi Kobayashi, Fumio Kojima

  2014, 2014 IEEE SYMPOSIUM ON ROBOTIC INTELLIGENCE IN INFORMATIONALLY STRUCTURED SPACE (RIISS), 112 - 116, English

  [Refereed]

  International conference proceedings


• A Study on Tactile Texture Recognition using Magnetic Type Tactile Sensor

  MATSUMOTO Takuya, NAKAMOTO Hiroyuki

  2種類のセンサ素子を備えた磁気式触覚センサを用いたテクスチャ認識法を提案した．時系列データを周波数領域に変換したものをSVMで学習する枠組みを用い，センサ素子それぞれの得意な周波数領域を組み合わせることによる認識率向上を示した．

  Dec. 2013, 2013 IEEE/SICE International Symposium on System Integration, English

  [Refereed]

  International conference proceedings


• 検出確率を用いた超音波厚さ計測による配管減肉検査の信頼性評価について

  NAKAMOTO Hiroyuki, KOJIMA Fumio, KATO Sho

  保全学会, Oct. 2013, 保全学, 12(3) (3), 89 - 95, Japanese

  [Refereed]

  Scientific journal


• Arm-Rest Supporting System for Assisting Activities of Daily Life

  Kitagawa Maiki, Saga Norihiko, Nakamoto Hiroyuki, Nagase Jun-ya

  Japanese Society for Medical and Biological Engineering, 2013, BME, 51, U - 25-U-25, English


• Slip Detection using Robot Fingertip with 6-Axis Force/torque Sensor

  Hayato Kanno, Hiroyuki Nakamoto, Futoshi Kobayashi, Fumio Kojima, Wataru Fukui

  2013, PROCEEDINGS OF THE 2013 IEEE WORKSHOP ON ROBOTIC INTELLIGENCE IN INFORMATIONALLY STRUCTURED SPACE (RIISS), 1 - 6, English

  [Refereed]

  International conference proceedings


• Application of magnetic type tactile sensor to gripper

  Hiroyuki Nakamoto, Satoru Takenawa

  2013, Proceedings of the 2013 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013, 7 - 12, English

  [Refereed]

  International conference proceedings


• Evaluation of Circle Diameter by Distributed Tactile Information in Active Tracing

  Hiroyuki Nakamoto, Futoshi Kobayashi, Fumio Kojima

  2013, JOURNAL OF SENSORS, 2013, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• Hand/Arm Robot Teleoperation by Inertial Motion Capture

  Futoshi Kobayashi, Keiichi Kitabayashi, Hiroyuki Nakamoto, Fumio Kojima

  2013, 2013 SECOND INTERNATIONAL CONFERENCE ON ROBOT, VISION AND SIGNAL PROCESSING (RVSP), 234 - 237, English

  [Refereed]

  International conference proceedings


• Development of Haptic Device for Five-fingered Robot Hand Teleoperation

  Kouhei Fujimoto, Futoshi Kobayashi, Hiroyuki Nakamoto, Fumio Kojima

  2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 820 - 825, English

  [Refereed]

  International conference proceedings


• A Study on Tactile Texture Recognition Using Magnetic Type Tactile Sensor

  Takuya Matsumoto, Hiroyuki Nakamoto

  2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 477 - 481, English

  [Refereed]

  International conference proceedings


• 分布型触覚センサの高速触覚情報取得と触覚情報に基づいた物体操作

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The Institute of Systems, Control and Information Engineers, May 2012, Transactions of the Institute of Systems, Control and Information Engineers, 25(5) (5), 117 - 125, Japanese

  [Refereed]

  Scientific journal


• Performance Evaluation of Magnetic Type Tactile Sensor

  NAKAMOTO Hiroyuki, GOKA Masanori, TAKENAWA Satoru, KIDA Yasuaki

  Mar. 2012, Studies in Applied Electromagnetic and Mechanics, 36, 247 - 254, English

  [Refereed]

  Scientific journal


• Object Manipulation based on Tactile Information of Multi-Fingered Robot Hand

  Wataru Fukui, Futoshi Kobayashi, Hiroyuki Nakamoto, Fumio Kojima

  2012, SIMULATION AND MODELING RELATED TO COMPUTATIONAL SCIENCE AND ROBOTICS TECHNOLOGY, 37, 185 - 195, English

  [Refereed]

  International conference proceedings


• Displacement and Force Measurement, Vibration Detection by Magnetic Type Tactile Sensor

  Hiroyuki Nakamoto, Satoru Takenawa

  2012, SIMULATION AND MODELING RELATED TO COMPUTATIONAL SCIENCE AND ROBOTICS TECHNOLOGY, 37, 196 - 210, English

  [Refereed]

  International conference proceedings


• Exact Pipe Wall Thinning Management with Flow Accelerated Corrosion using Electro-Magnetic Acoustic Transducer

  Daigo Kosaka, Hiroki Tabata, Hiroyuki Nakamoto, Fumio Kojima

  2012, SIMULATION AND MODELING RELATED TO COMPUTATIONAL SCIENCE AND ROBOTICS TECHNOLOGY, 37, 236 - 243, English

  [Refereed]

  International conference proceedings


• Multipoint Haptic Device for Robot Hand Teleoperation

  Futoshi Kobayashi, George Ikai, Wataru Fukui, Hiroyuki Nakamoto, Fumio Kojima

  2012, 2012 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS), 304 - 309, English

  [Refereed]

  International conference proceedings


• Teleoperation of Universal Robot Hand with Pinching Force Stabilization

  Futoshi Kobayashi, Hiroyuki Nakamoto, Fumio Kojima, Tadashi Maeda, Nobuaki Imamura, Hidenori Shirasawa

  2012, SIMULATION AND MODELING RELATED TO COMPUTATIONAL SCIENCE AND ROBOTICS TECHNOLOGY, 37, 172 - 184, English

  [Refereed]

  International conference proceedings


• Tactile-based object manipulation (TbOM) for a multi-fingered robot hand

  Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Tadashi Maeda, Nobuaki Imamura, Kazuhiro Sasabe, Hidenori Shirasawa

  2012, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 39(1-4) (1-4), 1055 - 1061, English

  [Refereed]

  Scientific journal


• Slip detection with multi-axis force/torque sensor in universal robot hand

  Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Yasuaki Kida, Nobuaki Imamura, Hidenori Shirasawa

  2012, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 39(1-4) (1-4), 1047 - 1054, English

  [Refereed]

  Scientific journal


• Structure and fundamental evaluation of magnetic type tactile sensor

  Hiroyuki Nakamoto, Satoru Takenawa, Yasuaki Kida

  2012, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 39(1-4) (1-4), 1021 - 1026, English

  [Refereed]

  Scientific journal


• Multiple Joints Reference for Robot Finger Control in Robot Hand Teleoperation

  Futoshi Kobayashi, Keiichi Kitabayashi, Hiroyuki Nakamoto, Fumio Kojima, Wataru Fukui, Nobuaki Imamura, Tadashi Maeda

  2012, 2012 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 577 - 582, English

  [Refereed]

  International conference proceedings


• High-Speed Tactile Sensing for Array-type Tactile Sensor and Object Manipulation based on Tactile Information

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  Dec. 2011, Journal of Robotics, Vol. 2011, Article ID 691769, 691769 - 9, English

  [Refereed]

  Scientific journal


• トルクリミット機構を有する多指多関節ユニバーサルロボットハンドシステムの開発

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SASABE Kazuhiro, SHIRASAWA Hidenori

  Sep. 2011, The Japan Society of Applied Electromagnetics and Mechanics, Vol.19, No.3, pp. 557-563, Japanese

  [Refereed]

  Scientific journal


• Robot Hand Tele-Operation System in Consideration of Human and Robot Hand Structure

  KOBAYASHI Futoshi, MAEMOTO Daisuke, FUKUI Wataru, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SASABE Kazuhiro, SHIRASAWA Hidenori

  May 2011, Proc. of Workshop on Autonomous Grasping, CD-ROM, English

  [Refereed]

  International conference proceedings


• Grasping force control using force sensor and tactile sensor for inspection support robot

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, MAEDA Tadashi, SASABE Kazuhiro, SHIRASAWA Hidenori

  Mar. 2011, Proceedings of 16th International Workshop on Electromagnetic Nondestructive Evaluation, pp. 108-110, English

  International conference proceedings


• Vibration measurement in non-rigid test environment with speckle interferometry

  Tetsuya Matsumoto, Hiroyuki Nakamoto, Yukako Takizawa, Yoichi Kitagawa, Fumiyasu Kuratani, Katsumi Koyama, Masaaki Adachi

  2011, Proceedings of SPIE - The International Society for Optical Engineering, 8011, English

  [Refereed]

  International conference proceedings


• Development of tactile sensor using magnetic elements

  Hiroyuki Nakamoto, Masanori Goka, Satoru Takenawa, Yasuaki Kida

  2011, IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, 37 - 42, English

  [Refereed]

  International conference proceedings


• Hazardous Behavior Detection of Residents with Multi-camera Gates in Nursing Home Corridors

  Tetsuya Matsumoto, Hiroyuki Nakamoto, Masanori Goka, Yoichi Kitagawa, Hirofumi Kameyama, Yojiro Kamise, Kiyohiro Omori, Ichiro Kitayama, Kazutoshi Sumiya

  2011, EVERYDAY TECHNOLOGY FOR INDEPENDENCE AND CARE, 29, 75 - 80, English

  [Refereed]

  International conference proceedings


• Fingertip force and position control using force sensor and tactile sensor for universal robot hand II

  Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Tadashi Maeda, Nobuaki Imamura, Kazuhiro Sasabe, Hidenori Shirasawa

  2011, IEEE SSCI 2011: Symposium Series on Computational Intelligence - RIISS 2011: 2011 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, 43 - 48, English

  [Refereed]

  International conference proceedings


• Multi-contact Recognition with Genetic Algorithm for Universal Robot Hand

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, MAEDA Tadashi, SASABE Kazuhiro, SHIRASAWA Hidenori

  Dec. 2010, Proceedings of Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on advanced Intelligent Systems, pp. 1277-1282, English

  [Refereed]

  International conference proceedings


• A Magnetic Type Tactile Sensor by GMR elements and inductors

  Masanori Goka, Hiroyuki Nakamoto, Satoru Takenawa

  2010, IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 885 - 890, English

  [Refereed]

  International conference proceedings


• A magnetic type tactile sensor using GMR elements and inductors

  Hiroyuki Nakamoto, Masanori Goka, Satoru Takenawa, Yasuaki Kida

  Japan Society of Mechanical Engineers, 2010, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 76(766) (766), 1476 - 1482, Japanese

  [Refereed]

  Scientific journal


• Design of downsized magnetic type tactile sensor

  Masanori Goka, Hiroyuki Nakamoto, Satoru Takenawa, Yasuaki Kida

  Japan Society of Mechanical Engineers, 2010, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 76(772) (772), 3640 - 3647, Japanese

  [Refereed]

  International conference proceedings


• Shape Classification Based on Tactile Information by Universal Robot Hand

  Hiroyuki Nakamoto, Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Nobuaki Imamura, Hidenori Shirasawa

  2009, IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6, 35th Vol.4, 2229 - +, English

  [Refereed]

  International conference proceedings


• Development of Multi-Fingered Universal Robot Hand with Torque Limiter Mechanism

  Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Hiroyuki Nakamoto, Tadashi Maeda, Nobuaki Imamura, Kazuhiro Sasabe, Hidenori Shirasawa

  2009, IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6, 35th Vol.3, 2074 - +, English

  [Refereed]

  International conference proceedings


• Outer shape classification in rotation manipulation by universal robot hand

  Hiroyuki Nakamoto, Wataru Fukui, Futoshi Kobayashi, Fumio Kojima, Nobuaki Imamura, Hidenori Shirasawa

  2009, 2009 IEEE Workshop on Robotic Intelligence in Informationally Structured Space, RiiSS 2009 - Proceedings, Vol 13. No. 3, pp. 178-184, 145 - 150, English

  [Refereed]

  International conference proceedings


• 連続DPを用いたユニバーサルロボットハンドによる回転操作中物体の外周形状識別

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, IMAMURA Nobuaki, SHIRASAWA Hidenori, KOJIMA Fumio

  We propose a method for outer shape classification in rotation manipulation by a multi-fingered robotic hand. The robotic hand has five fingers equipped with pressure distributed sensors. Each pressure sensor can meassure the pressure distribution once every 10ms. Our classification method uses the pressure distributed sensors and consists of the following processes: A kurtosis is calculated from the pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. Finally, an evaluated value is calculated between the time-series kurtosis and a reference pattern through a continuous dynamic programming (CDP) scheme. This classifies the contact surface shape using thresholds. Laboratory experiments confirm that this method can classify three objects with a high accuracy rate.

  The Japan Society of Mechanical Engineers, Oct. 2008, 日本機械学会論文集(C編), 74(746) (746), 2521 - 2527, Japanese

  [Refereed]

  Scientific journal


• Haptic Feedback in Universal Robot Hand Tele-Operation

  SAITOU Yu, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, SASABE Kazuhiro, SHIRASAWA Hidenori

  Sep. 2008, Proc. of Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems, pp. 1123-1128, English

  [Refereed]

  International conference proceedings


• Development of Multi-Fingered Universal Robot Hand

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, IMAMURA Nobuaki, MAEDA Tadashi, NAKAMOTO Hiroyuki, SASABE Kazuhiro, SHIRASAWA Hidenori

  Sep. 2008, Proc. of Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems, pp. 1117-1122, English

  [Refereed]

  International conference proceedings


• Adaptive Tactile Measurement with Genetic Algorithm for Universal Robot Hand

  KOBAYASHI Futoshi, NAKAE Ryo, FUKUI Wataru, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, SHIRASAWA Hidenori

  Sep. 2008, Proc. of Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems, pp. 1008-1013, English

  [Refereed]

  International conference proceedings


• ユニバーサルロボットハンドによる回転操作中の形状識別 - DPマッチングを用いた対象物の局所形状識別

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, IMAMURA Nobuaki, SHIRASAWA Hidenori, KOJIMA Fumio

  We propose a method of shape classification in rotating manipulation by a multi-fingered robot hand. A multi-fingered robot hand understands position and posture of a object and can realize suitable manipulations by classifying a shape of contact surface in rotating manipulation. Our method uses pressure distributed sensors equipped in fingers and consists of the following three processes. First, periodic pressure distributions are measured by a pressure distributed sensor in rotating manipulation. A kurtosis is calculated from each pressure distribution and can quantify a shape of contact surface in the moment. Secondly, a kurtosis pattern is cut out from a periodic kurtosis. Finally, a degree of similarity calculates between a kurtosis pattern and a reference pattern by DP matching method and classifies the shape of contact surface using thresholds. We confirm that our method classifies three objects with a high degree of accuracy and can keep the classification rate even in changing rotation velocity through laboratory experiments.

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), Jul. 2008, システム制御情報学会論文誌, 21(7) (7), 219 - 225, Japanese

  [Refereed]

  Scientific journal


• Shape Classification in Rotation Manipulation by Universal Robot Hand

  Hiroyuki Nakamoto, Futoshi Kobayashi, Nobuaki Imamura, Hidenori Shirasawa, Fumio Kojima

  2008, 2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS, pp. 1111-1116, 53 - 58, English

  [Refereed]

  International conference proceedings


• 剛体要素の配列を内部に持つ柔軟な三軸触覚センサ

  TAKENAWA Satoru, NAKAMOTO Hiroyuki, KITAGAWA Youichi, ICHIMORI Kazuyuki, IMAMURA Nobuaki

  In this paper, we propose a novel tactile sensor in which array of rigid elements is inserted to measure tangential force in addition to perpendicular force. The sensor structure is based on a tactile sensor using pressure sensitive rubber covered with elastic body and single-sided electrode sheet, which was developed in our previous study, in order to derive distribution of pressure magnitude. The principle is described, and two dimensional finite element analysis is carried out. Numerical results show that the perpendicular force and the tangential force can be derived simultaneously with the proposed sensor, and the effect of dimensions of the rigid element is discussed by both mechanical prediction and numerial results. A 3 × 3 unit-cell tactile sensor with pressure sensitive rubber and electrode sheet is prototyped, and experiments are undertaken using 6-axis force sensor as a reference. Experimental results having characteristics in dependence on tangential force and perpendicular force are compared with analytical results. The contributions of rigid element to sensor output is observed experimentally in agreement with simulations, and sensor properties are described.

  The Robotics Society of Japan, Jan. 2008, 日本ロボット学会誌, 26(1) (1), 90 - 97, Japanese

  [Refereed]

  Scientific journal


• ユニバーサルロボットハンドのための分布型圧力センサの開発

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, IMAMURA Nobuaki, SHIRASAWA Hidenori, KOJIMA Fumio

  We propose a pressure distributed sensor as a tactile sensor for a five-fingered robotic hand like a human hand. The sensor has simple, three-layer structure, which composed of an urethane gel, a pressure sensitive rubber under the gel, and an electrode sheet at the bottom. The arrangement brings high productivity and smooth maintenance. The electrode sheet also provides high ratio of the detection area to the sensor and high sensitivity. First, the characteristics of response time and accuracy are investigated by ground tests. Secondly, a shape recognition method with the sensor is proposed. Finally the effectiveness and validity of the proposed method are demonstrated through laboratory experiments.

  The Japan Society of Mechanical Engineers, Sep. 2007, 日本機械学会論文集(C編), 73(733) (733), 2561 - 2567, Japanese

  [Refereed]

  Scientific journal


• Development of an Articulated Mechanical Hand with Enveloping Grasp Capability

  IMAMURA Nobuaki, NAKAMURA Yuya, YAMAOKA Seiichi, SHIRASAWA Hidenori, NAKAMOTO Hiroyuki

  Jun. 2007, Journal of Robotics and Mechatronics, Vol 19. No. 3, pp. 308-314(3) (3), English

  [Refereed]

  Scientific journal


• Development of a multi-fingered mechanical hand with envelope grasp capability for various shapes of parts

  Nobuaki Imamura, Seiichi Yamaoka, Hidenori Shirsawa, Hiroyuki Nakamoto

  2006, WMSCI 2006: 10TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL II, PROCEEDINGS, 337 - +, English

  [Refereed]

  International conference proceedings


• Universal robot hand equipped with tactile and joint torque sensors - Development and experiments on stiffness control and object recognition

  Hiroyuki Nakamoto, Futoshi Kobayashi, Nobuaki Imamura, Hidenori Shirasawa

  2006, WMSCI 2006: 10TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL II, PROCEEDINGS, Vol. 2, pp. 347-352, 347 - 352, English

  [Refereed]

  International conference proceedings


• 柔軟体と導電性ゴムによるロボットハンド用分布型圧力センサ

  NAKAMOTO Hiroyuki, SAIKI Tunemasa, KITAGAWA Youichi

  Tactile sensors for robot hands are important in order to improve the working performance of the industrial manipulating robots' hands. However, as for the most tactile sensors, which have been suggested, these sensors have no flexiblity, and contact areas between the sensors and the objects, are small. Therefore, the pressures of local distributions are obtained from the sensors. Consequently, we proposed a new pressure distribution sensor that combined flexible material and conductive rubber for robot hands. The usefulness of our new sensor is described in this paper.

  The Robotics Society of Japan, Apr. 2005, 日本ロボット学会誌, 23(3) (3), 360 - 361, Japanese

  [Refereed]

  Scientific journal

• 荷重、振動、音の計測にもとづくスナック菓子の食感推定

  中本 裕之

  Lead, Feb. 2023, おいしさの科学ニュース, 118, Japanese

  [Invited]

  Introduction commerce magazine


• 配管肉厚検査における検出確率を用いた検査技量の評価

  中本 裕之

  Lead, Jun. 2022, 配管技術, 64(7) (7), 30 - 34

  Introduction commerce magazine


• ヒトの歯の構造と受容器の特性を模した食感センサ

  中本 裕之

  Lead, Apr. 2022, FFIジャーナル, 227(2) (2), 115 - 120

  [Invited]

  Introduction scientific journal


• 配管肉厚検査における検出確率を用いた検査技量の評価

  中本 裕之

  Lead, Apr. 2021, 検査技術, 26(4) (4), 15 - 20

  Introduction commerce magazine


• 破断時の荷重の時系列データとDynamic Time Warpingによる食感定量評価

  NAKAMOTO HIROYUKI

  Mar. 2018, おいしさの科学ニュース, Japanese

  Introduction commerce magazine


• ヒトの歯の構造を模したセンサを用いた食感計測への挑戦

  Hiroyuki Nakamoto

  フレグランスジャーナル, Feb. 2018, Aroma Research, 18(1) (1), 56 - 57, Japanese

  Introduction commerce magazine


• シート上ストレッチセンサを用いたメンデルソン手技における喉頭挙上時間の測定

  梅原健, 梅原健, 山本暁生, 勝野友基, 花家薫, 山口卓巳, 太田雅史, 別所侑亮, 中本裕之, 石川朗

  2018, 日本言語聴覚学会(Web), 19th, ROMBUNNO.YR‐2 (WEB ONLY), Japanese


• ストレッチセンサを用いた喉頭運動計測器の開発に関する基礎的検討

  花家薫, 山本暁生, 梅原健, 山口卓巳, 岩田優助, 岩田優助, 大澤悟志, 別所侑亮, 中本裕之, 中山貴美子, 石川朗

  (一社)日本呼吸ケア・リハビリテーション学会, 28 Oct. 2017, 日本呼吸ケア・リハビリテーション学会誌, 27(Suppl.) (Suppl.), 230s - 230s, Japanese


• ウェアラブルストレッチセンサを用いた歩行中の呼吸数計測システムの精度検証

  山本暁生, 中本裕之, 別所侑亮, 沖侑大郎, 藤本由香里, 渡邊佑, 山田莞爾, 寺田努, 小野くみ子, 石川朗

  (一社)日本呼吸ケア・リハビリテーション学会, 28 Oct. 2017, 日本呼吸ケア・リハビリテーション学会誌, 27(Suppl.) (Suppl.), 164s - 164s, Japanese


• ヒトの歯の構造を模した食感センサと菓子の食感計測

  Hiroyuki Nakamoto

  包装食品技術協会, Feb. 2017, 食品の包装, 48(2) (2), 67 - 70, Japanese

  Introduction commerce magazine


• ストレッチャブル伸長センサを用いた膝の関節角度計測

  中本裕之, 山路時矢, 大高秀夫, 平田一郎, 小林太

  31 Aug. 2016, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2016, ROMBUNNO.MC3‐7, Japanese


• 伸び量の分布計測の可能なストレッチャブル伸長センサの開発

  中本裕之, 大高秀夫, 平田一郎, 多田充徳, 小林太

  31 Aug. 2016, 電気学会電子・情報・システム部門大会講演論文集(CD-ROM), 2016, ROMBUNNO.MC4‐6, Japanese


• シート状ストレッチセンサを用いた臥床中の嚥下回数計測ツールの開発

  梅原健, 山本暁生, 花家薫, 山口卓巳, 太田雅史, 中本裕之, 石川朗

  11 May 2016, 日本言語聴覚学会プログラム・抄録集, 17th, 134, Japanese


• The 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM2015) Preface

  Fumio Kojima, Futoshi Kobayashi, Hiroyuki Nakamoto

  2016, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 52(1-2) (1-2), 1 - 2, English

  Others


• 伸長センサを用いた関節角度計測用アプリケーションの開発

  平田一郎, 中本裕之, 大高秀夫, 多田充徳, 大谷桂司

  2016, 日本感性工学会春季大会予稿集(CD-ROM), 11th, ROMBUNNO.G6-2, Japanese


• メンデルソン手技におけるシート状ストレッチセンサを用いた視覚フィードバックの基礎的検討

  梅原健, 梅原健, 山本暁生, 花家薫, 山口卓巳, 太田雅史, 別所侑亮, 中本裕之, 石川朗

  (一社)日本摂食嚥下リハビリテーション学会, 2016, 日本摂食嚥下リハビリテーション学会学術大会抄録集(Web), 22nd(3) (3), ROMBUNNO.O22‐3 (WEB ONLY) - S102, Japanese


• 異方性をもつ柔軟膜ひずみセンサの開発

  中本裕之, 大高秀夫, 平田一郎, 多田充徳, 小林太, 小島史男

  14 Dec. 2015, 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(CD-ROM), 16th, ROMBUNNO.2H2‐4, Japanese


• Response evaluation of food texture sensor with magnetoresistive elements and inductors

  西久保 大輔, 中本 裕之, 小林 太

  計測自動制御学会計測部門, 10 Sep. 2015, センシングフォーラム資料, 32, 351 - 354, Japanese


• 人工筋計測のための柔軟膜伸長センサの回路設計

  中本裕之, 老田壮志, 大高秀夫, 平田一郎, 多田充徳, 小林太, 小島史男

  03 Sep. 2015, 日本ロボット学会学術講演会予稿集(CD-ROM), 33rd, ROMBUNNO.3A3-06, Japanese


• 1P2-N01 Development of Grasping Sense Feedback System for Robot Hand Teleoperation

  FUJIMOTO Kouhei, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  An operator cannot obtain feeling of grasping in robot hand tele-operation with motion-capture data of operator's hand, because an operator does not grasp an object actually. If an operator cannot obtain feeling of grasping, an operator may move his fingers by mistake. Therefore, we build robot hand tele-operation system with pseudo grasping sense feedback by using the haptic device and the visual feedback system. By using this system, an operator can feel as though he grasped an object with own hand, when a robot hand grasps an object in the tele-operation with motion-capture data of his hand. Finally, we test the usability of this system.

  The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "1P2 - N01(1)"-"1P2-N01(4)", Japanese


• 多様な触覚知覚を有する人工マトリクス・スキンによる接触位置及び深さの推定

  NAKAMOTO Hiroyuki

  公益財団法人日揮・実吉奨学会, Mar. 2015, 公益財団法人日揮・実吉奨学会 2013年度研究助成金受給者研究報告集, 32, 52 - 58, Japanese

  Technical report


• 歯根膜内の受容器特性にもとづく食感センサと3次元咀嚼運動機構による食感計測に関する研究

  NAKAMOTO Hiroyuki

  公益財団法人浦上食品・食文化振興財団, Mar. 2015, 浦上財団研究報告書, 22, 95 - 102, Japanese

  Technical report


• 伸長センサを用いた感性デバイスの検討

  平田一郎, 中本裕之, 大高秀夫, 多田充徳

  2015, 日本感性工学会春季大会予稿集(CD-ROM), 10th, ROMBUNNO.2B-03, Japanese


• 柔軟なインタフェースの実現に向けた取り組み

  平田一郎, 中本裕之, 大高秀夫, 多田充徳

  2015, 日本感性工学会大会予稿集(CD-ROM), 17th, ROMBUNNO.E45, Japanese


• The 2nd ICMST-Kobe 2014 ポスターセッション報告

  NAKAMOTO Hiroyuki

  日本保全学会, Jan. 2015, 保全学, 13(4) (4), 53 - 54, Japanese

  Meeting report


• 伸長センサを用いた柔軟インタフェースの検討

  平田一郎, 中本裕之, 大高秀夫, 多田充徳

  11 Nov. 2014, Designシンポジウム講演論文集, 2014, 196 - 199, Japanese


• 薄型柔軟膜を用いた伸長センサによるゴム人工筋の伸縮計測

  老田壮志, 中本裕之, 大高秀夫, 多田充徳, 平田一郎, 小林太, 小島史男

  04 Sep. 2014, 日本ロボット学会学術講演会予稿集(CD-ROM), 32nd, ROMBUNNO.3E1-06, Japanese


• 薄型柔軟膜による伸長インタフェースの提案

  平田一郎, 中本裕之, 大高秀夫, 多田充徳

  05 Jun. 2014, 人間工学, 50, 262‐263, Japanese


• 2A1-R03 Teleoperation for Hand/Arm Robot by Optical and Inertial motion capture(Cooperation between Human and Machine)

  KITABAYASHI Keiichi, FUJIMOTO Kouhei, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  Teleoperation of the robot arm is achieved by capturing the motion of the operator's arm with optical motion capture. However, tracking markers disappear on the way motion capture, optical motion capture can't get operator's posture continuously. So we propose teleoperation system for robot arm by using optical and inertial motion capture. By using this system, we can teleoperate the robot arm continuously.

  The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "2A1 - R03(1)"-"2A1-R03(4)", Japanese


• 3P1-R05 Decision of Grasping Posture Considering Object Slippage with Multi-fingered Robot Hand(Robot Hand Mechanism and Grasping Strategy (1))

  KANNO Hayato, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  A robot hand needs to manipulate an object with different sizes and shapes in various environments. However, sometimes gravity force occur a slip when the manipulator picks up the object. Therefore, grasping posture is needed to decide in order to prevent the slip. In this paper, we propose a decision method of grasping posture considering object slippage with multi-fingered robot hand. When the slip occurs during manipulating the object by the robot hand, torque acting on the robot fingertip changes by the slip. The robot hand detects the slip by observing the torque acting on the robot fingertip by the multi-axis force/torque sensors. The grasping posture is determined considering the slip, when the robot hand picks up and places the object.

  The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3P1 - R05(1)"-"3P1-R05(4)", Japanese


• 感性デザインのための伸長インタフェース

  平田一郎, 中本裕之, 大高秀夫, 多田充徳

  2014, 日本感性工学会大会予稿集(CD-ROM), 16th, ROMBUNNO.D53, Japanese


• 3P2-C07 Fundamental Evaluation of Stretch Measurement by Thin Elastomer Sheet(Haptic Interface)

  NAKAMOTO Hiroyuki, OIDA Soushi, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  Recently, carbon nanotubes have been assembled into stretchable conductors, and are potential base materials for various flexible sensors. Herein, we introduce a thin, flexible stretch sensor with a wide dynamic range. The capacitance of the stretch sensor depends upon the area of its sensing part. The sensor is chiefly composed of polyolefin polyol (PU). Unlike silicone, PU resists abrasion and tearing, and generates small residual strain. The electrode of the stretch sensor is made from single-walled carbon nanotubes, which exhibits high affinity (and therefore strong adhesiveness) to PU. On account of these characteristics, the stretch sensor is easily fabricated and robust. We describe the structure and principle of the stretch sensor, and show results of fundamental evaluations.

  The Japan Society of Mechanical Engineers, 2014, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2014(0) (0), _3P2 - C07_1-_3P2-C07_2, Japanese


• Measurement Method of Joint Angle by Stretchable Strain Sensor

  Nakamoto Hiroyuki, Ootaka Hideo, Hirata Ichiro, Tada Mitsunori, Kobayashi Futoshi, Kojima Fumio

  人間の運動の計測を目的として，運動を妨げない程度の柔軟性をもつカーボンナノチューブ電極を有した伸縮可能な柔軟膜センサを用いた関節角度の計測方法を提案する．また，センサの出力から関節角度を算出する方法について検討し，実験により評価する．

  The Japan Joint Automatic Control Conference, 2014, Proceedings of the Japan Joint Automatic Control Conference, 57(0) (0), 2006 - 2007, Japanese


• 会議報告 The 16th International Symposium on Applied Electromagnetics and Mechanics(ISEM2013)

  NAKAMOTO Hiroyuki

  日本AEM学会, Dec. 2013, 日本AEM学会誌, 21(4) (4), 607 - 608, Japanese

  Meeting report


• 1A1-J06 Teleoperation for Hand/Arm Robot by Inertial Motion Capture(Robot Hand Mechanism and Grasping Strategy (1))

  KOBAYASHI Futoshi, HASEGAWA Ko, KITABAYASHI Keiichi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  The multi-fingered robot hand has much attention in various fields. Many Robot hands have been proposed so far. A teleoperation system for the hand/arm robot allows intuitive manipulation of the hand/arm robot. Therefore, this paper deals with a motion capture system for controlling the hand/arm robot remotely. Here, we use inertial measurement units in order to detect the joint angle of an operator's hand and arm.

  The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "1A1 - J06(1)"-"1A1-J06(2)", Japanese


• 2A2-C09 Design of Upper Limb Supporting System based on Human Daily Life Activities(Welfare Robotics and Mechatronics (2))

  KITAGAWA Maiki, SAGA Norihiko, NAKAMOTO Hiroyuki, NAGASE Jun-ya

  While Japan is facing an aging society, the number of people who go to the hospital because of aging, sickness, and accidents is increasing daily. Research on assisting the patients are increasing as well, but research on the upper limb assistance is rather slow compared to the research of lower limb assistance because of the upper limb's complicated structure. We have come up with a system where we can switch from two modes, a mode where the machine rehabilitate the patient and another mode that support the patient on their activities. We have created this machine by the excursion range of human's daily life activities so that the machine can secure the patients arm during their daily activities. We also have created a Control box so that the machine can be easily taken to places. In this paper, we report the characteristics of support functions of this system.

  The Japan Society of Mechanical Engineers, 22 May 2013, ロボティクス・メカトロニクス講演会講演概要集, 2013, "2A2 - C09(1)"-"2A2-C09(3)", Japanese


• Development of food texture sensor based on tooth structure

  初瀬 仁志, 中本 裕之, 小林 太

  システム制御情報学会, 15 May 2013, システム制御情報学会研究発表講演会講演論文集, 57, 4p, Japanese


• Measurements of Pipe Wall Thickness in High temperature using Multi-Layered EMAT

  森川 惇, 小島 史男, 中本 裕之

  システム制御情報学会, 15 May 2013, システム制御情報学会研究発表講演会講演論文集, 57, 4p, Japanese


• Reliability Assessment of Non-destructive Inspection System using Probability of Detection

  中本 裕之, 小島 史男, 加藤 翔

  システム制御情報学会, 15 May 2013, システム制御情報学会研究発表講演会講演論文集, 57, 4p, Japanese


• S154014 Study on the Upper Limb Rehabilitation System Using a Pneumatic Cylinder

  NAKANISHI Yuki, KITAGAWA Maiki, DOBASHI Hiroki, SAGA Norihiko, NAGASE Junya, NAKAMOTO Hiroyuki

  In recent years, patients who are not able to move their bodies because of accidents, aging, and disease have been increasing. This rise leads to many patients are not being able to do their ADL (Activities of Daily Life) every day. If the patients are not able to do their daily activities, supporting their activities every time will be a huge burden to the nursing department and other people related to them. In this study, we have developed a simple and compact device that will care the patients' daily activities by supporting their upper arms. When constructing this device, we have created a human model based on the human characteristics, and completed the device so that it matches the characteristics upon the study of human mechanics. By choosing to use a pneumatic cylinder instead of a motor for the better weight-to-output ratio, we can expect flexibility and relied safeness of the device due to the cylinder's ability to control the compression of air. We adopt position control and compliance control for this device to realize two functions, 1 e, living assistance mode and rehabilitation mode We also created a control box that is easy to carry and operate In addition, this device was evaluated by professionals such as doctors. We show the evaluation results.

  The Japan Society of Mechanical Engineers, 09 Sep. 2012, Mechanical Engineering Congress, Japan, 2012, "S154014 - 1"-"S154014-5", Japanese


• 組み替え自在な自動外観検査システム開発

  NAKAMOTO Hiroyuki, MATSUMOTO Tetsuya

  自動外観検査の適用可能性を検証するための組み替え自在な自動外観検査システムを開発した。検査対象としてチップソーを取り上げ、刃先の角度6項目について計測実験を行い、自動外観検査システムの有効性を検証した。

  日本工業出版, Aug. 2012, 画像ラボ, 23(8) (8), 1 - 4, Japanese

  Introduction commerce magazine


• 1A1-E05 Development of multipoint force feedback exoskelton for tele-manipulating robot hand(Haptic Interface)

  IKAI George, Kitabayashi Keiichi, FUKUI Wataru, Nakamoto Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  Haptic feedback system is required to provide reaction force resulting in the robot hand to the operator. In this paper, we develop the force feedback device which can provide operator's multiple finger knuckles with reaction force. The force feedback device presents reaction force in thumb, index finger and middle finger. The device is very compact , lightweight and high haptic resolution by using a Shape Memory Arroy as a clutch brake.

  The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1A1 - E05(1)"-"1A1-E05(4)", Japanese


• 1A2-B05 Calculation of force vector using a GMR Tactile Sensor taking Rotation of the Magnet into account(Tactile and Force Sensing(2))

  KURODA Ken, TAKENAWA Satoru, NAKAMOTO Hiroyuki

  A novel tactile sensor using Giant Magnetic Resistive (GMR) elements and a permanent magnet have been proposed in our previous study. The output voltage of GMR elements depend on magnetic flux density of a permanent magnet. The proposed has difficulty in measuring three-axis displacement of (Δx, Δy, Δz) when the magnet is rotating. In this paper, we propose the formulation which can measure displacement of (Δx, Δy, Δz) and also two rotation angle of (Φx, Φz) of a permanent magnet. We calculate the displacement vector using the regression analysis of the magnetic field which has analyzed preliminarily. Numerical results showed a good agreement with theoretical displacement of (Δx, Δy, Δz, Φx, Φz).

  The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1A2 - B05(1)"-"1A2-B05(2)", Japanese


• 1A2-H05 Position Optimization using Manipulability and Load Capability for Hand/Arm Robot(Robot Hand Mechanism and Grasping Strategy(2))

  KANNO Hayato, SONODA Sho, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio, MAEDA Tadashi, IMAMURA Nobuaki

  Papers propose a position optimization method that achieves keeping manipulation capability and preventing motor's injury from too large loads. This method is calculated by two indexes of evaluation. Fisrt index is the manipulability. It can evaluate a manipulation capability and determine whether a manipulation keep away from the singular point or not. Second index is the joint load function. It can determine whether loads of joint motors are divided or not. Finally, position optimization method applies Hand/Arm Robot System and I show the usefulness of the proposed position optimization.

  The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1A2 - H05(1)"-"1A2-H05(4)", Japanese


• 1A2-N10 Development of an Upper Limb Rehabilitation System in Elbow Style Using a Pneumatic Cylinder(Rehabilitation Robotics and Mechatronics(2))

  KITAGAWA Maiki, OKI Kyohei, NAKANISHI Yuki, SAGA Norihiko, NAKAMOTO Hiroyuki, NAGASE Jun-ya

  In recently, more than a quarter of the Japanese population is considered to be an elderly, injured, or handicapped. By their own reasons, they have difficulties on doing the activities of daily life (such as eating and reading), which is becoming a big problem to the Nursing department. We have created a machine that helps the movement of the patient's upper limb muscle, which is consisted in many movements in the daily activities. With an Occupational therapist aside, the machine can also rehabilitate the patient's arm by giving the movements to their limbs, slowly repeating the flexion and extension. The use of pneumatic cylinder makes the machine very weightless, which minimize energy for the machine and simply useable for anyone in the hospital. In this paper, we report the characteristics and the rehabilitation support functions of the system.

  The Japan Society of Mechanical Engineers, 27 May 2012, ロボティクス・メカトロニクス講演会講演概要集, 2012, "1A2 - N10(1)"-"1A2-N10(3)", Japanese


• 2C1-4 A study of Active Touch with Distributed Tactile Sensor

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  Active touch, with voluntary movement on the part of the subject, is important for human to obtain the local and detailed features on it. In addition, active touch is considered to enhance the human spatial resolution. In this paper, first, we define three requirements of a tactile sensor for active touch, and design a distributed tactile sensor model. Next, we suggests a measurement process with the sensor model, and a synthesis method of distributed deformations. We confirm the results of higher spatial resolution than structural spatial resolution by the prototype sensor and the method through the laboratory experiments, which evaluate circular diameters.

  The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011(21) (21), 235 - 238, Japanese


• 1A3-5 Tele-Operation System for Hand/Arm Robot by Hand Recognition System

  HASEGAWA Ko, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, SHIRASAWA Hidenori

  We have developed a hand/arm robot with a universal robot hand and an industrial robot in order to implement varisous tasks like human hand. The hand/arm robot requires skilled technique to operate remotely because it has a lot of degrees of freedom. The master-slave tele-operation system is useful for such a robot. In this paper, we develop a novel tele-operation system which the hand/arm robot are controlled according to hand recognition system.

  The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011(21) (21), 152 - 153, Japanese


• 1B3-2 A Method for On-Line Identification of Viscoelasticity in Electromagnetic Levitation Systems and Measurement of Micro Torque : An Application for Measurement of Torque in Micro Drilling Process

  ANDO Takashi, NAKAMOTO Hiroyuki

  This study proposes an on-line meathod for identification of dynamical parameters and measurement of forces and torques in micro drilling process. For measuring forces by dynamical method, viscoelasticity must be determined collectly. In this method, real-time least squre method is used to construct state obsever of discrete dynamical system which estimates accelerations and to determin the viscolasticity in the electromagnetic levitation system. Further, a result of measuring the torque of micridrilling process is shown.

  The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011(21) (21), 158 - 159, Japanese


• 1B2-2 Tactile based Object Manipulation for Universal Robot Hand II

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  Various robot hands are developed and researched all over the world. To grasp the object by using the robot hand, the fingertip position and force must be controlled at the same time. The conventional control methods are not hard to apply the robot hand. In this paper, the fingertip position is controlled by the finger of the robot hand and the fingertip force is controlled by the opposite finger. The finger (the position control) controls the position of the grasped object and the finger (the force control) controls the grasping force. A new force control method is proposed for this position / force control method. This force control method is suitable for the robot hand. In this paper, the proposed method is applied to the Universal Robot Hand II and verified about the effectiveness.

  The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011(21) (21), 106 - 109, Japanese


• 1A1-I03 Anti-Slip Control for Universal Robot Hand II based on Slip Detection Using Multi-Axis Force/Torque Sensor(Robot Hand Mechanism and Grasping Strategy)

  FUKUI Wataru, MARUTA Shuhei, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, KIDA Yasuaki, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  In order to detect a slip, various slip sensors have been proposed so far. However, they are not in practical use yet. There are two causes. One is the difficulty to mount many sensors in downsized robot hands. The other is the difficulty to maintain the many sensors. We propose a slip detection method with the multi-axis force/torque sensor in order to resolve these problems. The multi-axis force/torque sensors are mounted in general robot fingertip and the above causes are cleared.

  The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "1A1 - I03(1)"-"1A1-I03(4)", Japanese


• 1A1-I09 Development of Teloperation System for Robot Hand by Grip Force Stabilization Method(Robot Hand Mechanism and Grasping Strategy)

  KOBAYASHI Futoshi, MAEMOTO Daisuke, FUKUI Wataru, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The development of the robot industry has a remarkable. In the field of various industries, a robot working in place of human is expected. Therefore, we have developed a small and five-fingered robot hand like a human hand. Then, we built the master-slave teleoperation system in order to work various tasks. However, there is problem in simple teleoperation systems to do the pinching task with stability. The problem is not to have the sense that the operator actually grasps. It makes instability of grip force and the problem that the pinching task cannot be done with stability. In this paper, we propose a teleoperation system that used the grip force stabilization method. Here, the grip force stabilization method is used for moving in the direction where the change in the external force is cancelled. We show the effectiveness of the suggestion method by experiment.

  The Japan Society of Mechanical Engineers, 26 May 2011, ロボティクス・メカトロニクス講演会講演概要集, 2011, "1A1 - I09(1)"-"1A1-I09(2)", Japanese


• 自動外観検査システムの開発

  中本裕之, 松本哲也, 三浦久典, 安東隆志

  2011, 兵庫県立工業技術センター研究報告書, (20) (20)


• 2P2-C07 Development of Support Device Having Restoration of an Upper Limb Using a Pneumatic Cylinder(Rehabilitation Robotics and Mechatronics)

  OKI Kyohei, NAKAMOTO Hiroyuki, KOBAYASHI Yohei, SAGA Norihiko

  Recently, the number of elderly people is expected to increase because of aging society. They will become difficult to activities of daily life (ADL) because of physical handicaps by sickness and injury, etc. So, handicapped people need training for rehabilitation to recover their ability to use upper limbs. In rehabilitation training, the patient and the occupational therapist (O.T.) train together. The O.T. support motions that give a constant load to patient's limbs and moves their limbs, slowly repeating the flexion and extension. The device can often substitute for the O.T.'s motion in rehabilitation. Therefore, we developed an upper limb rehabilitation support system using a pneumatic cylinder. We report the characteristics and the rehabilitation support functions of the system.

  The Japan Society of Mechanical Engineers, 2011, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2011(0) (0), _2P2 - C07_1-_2P2-C07_2, Japanese


• 握りやすさの評価方法の検討:柄の直径と把持位置,手の寸法との関係について

  平田一郎, 中本裕之

  2011, 日本感性工学会大会予稿集(CD-ROM), 13th, ROMBUNNO.E23, Japanese


• 高齢者の転倒・徘徊など、常時監視、不要に

  MATSUMOTO Tetsuya, NAKAMOTO Hiroyuki, GOKA Masanori, KITAGAWA Youichi, KAMEYAMA Hiroshi, KAMISE Youichiro, OMORI Kiyohiro, SUMIYA Kazutoshi, KITAYAMA Ichiro

  日本工業出版, Sep. 2010, 画像ラボ, 21(9) (9), 38 - 42, Japanese

  Introduction scientific journal


• ランドセルの身体負荷軽減に関する研究―重心動揺およびランドセルの揺れからの考察―

  平田一郎, 中本裕之, 後藤泰徳, 泉正勝, 泉正義

  Japan Ergonomics Society, 19 Jun. 2010, 人間工学, 46, 454 - 455, Japanese


• 1P1-E29 Vibration Response Characterization of Magnetic Type Tactile Sensor

  NAKAMOTO Hiroyuki, GOKA Masanori, TAKENAWA Satoru, KIDA Yasuaki

  Vibration response characterizations of a magnetic type tactile sensor are measured. The tactile sensor has four inductors. When vibratory stimulation is generated on the sensor surface by contact, a permanent magnet in the sensor vibrates. At this time, the inductors output induced electromotive forces. In this paper, we measure relationships of the vibratory stimulation and the inductor's output through the laboratory experiment.

  The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1P1 - E29(1)"-"1P1-E29(2)", Japanese


• 1P1-E27 Design of Downsized Magnetic Type Tactile Sensor

  GOKA Masanori, NAKAMOTO Hiroyuki, Takenawa Satoru, KIDA Yausaki

  A novel magnetic type tactile sensor was proposed that can measure a three-axis force and detect slips. Features of the tactile sensor are a wiring reduction, simple structure and low cost. The proposed tactile sensor can be created many variation in hardness and shape of the elastic layer. In this paper, our purpose is downsized tactile sensor in order to realize a low cost and useful robot hand. Therefore, we are going to design the tactile sensor using finite elemental method for estimation of the size of the elastic layer and the arrangement of electric parts. Eventually, we verify the performance of this downsized sensor.

  The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1P1 - E27(1)"-"1P1-E27(2)", Japanese


• 2A2-C20 Development of Hand/Arm Robot System with Universal Robot Hand II

  SONODA Sho, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  A humanoid robot hand is expected that it will be able to work in various fields such as remote medical care and extreme environment. Therefore we have developed and studied five fingered robot hand, "Universal Robot Hand II". However its work area is limited in real world. In this paper, we combined a robot arm with the robot hand to expand the work area and developed the Hand/Arm Robot System. This system is able to control the robot hand and the robot arm simultaneously. We show the effectiveness of this system through the manipulation experiment of door knob by the Hand/Arm Robot System.

  The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2A2 - C20(1)"-"2A2-C20(2)", Japanese


• 2A2-C16 Development of teaching system for hand/arm robot by teleoperation

  MAEMOTO Daisuke, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The development of the recent robot industry has a remarkable. In the field of various industries, a robot working in place of human is expected. Therefore we have developed a small and five-fingered robot hand like a human hand. We built a hand/arm robot system with the developed robot hand and a robot arm in order to work various tasks. However, the hand/arm robot requires a lot of time to teach motion because the hand/arm robot has a lot of degrees of freedom. In this paper, We development teaching system for hand/arm robot by teleoperation. We show the effectiveness of the teaching system which we developed by an experiment.

  The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2A2 - C16(1)"-"2A2-C16(2)", Japanese


• 2P1-B30 Development of teaching system for hand/arm robot by teleoperation

  MAEMOTO Daisuke, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The development of the recent robot industry has a remarkable. In the field of various industries, a robot working in place of human is expected. Therefore we have developed a small and five-fingered robot hand like a human hand. We built a hand/arm robot system with the developed robot hand and a robot arm in order to work various tasks. However, the hand/arm robot requires a lot of time to teach motion because the hand/arm robot has a lot of degrees of freedom. In this paper, We development teaching system for hand/arm robot by teleoperation. We show the effectiveness of the teaching system which we developed by an experiment.

  The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "2P1 - B30(1)"-"2P1-B30(2)", Japanese


• 把持方法と握りやすさに関する研究―手のサイズと物体把持位置との関係について―

  平田一郎, 中本裕之

  2010, Designシンポジウム講演論文集, 2010, 97 - 100, Japanese


• 感圧センサを用いた操作パネルデザインに関する研究

  平田一郎, 後藤泰徳, 山口篤, 中本裕之, 東義隆, 礒野禎三, 有年雅敏

  30 Oct. 2009, 兵庫県立工業技術センター研究報告書, (18) (18), 53 - 54, Japanese


• Shape Classification in Rotational Manipulation by Multi-Jointed Hand Equipped Distributed Tactile Sensor

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio, IMAMURA Nobuaki, SHIRASAWA Hidenori

  We propose a shape classification method in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments demonstrate the effectiveness of our proposal shape classification.

  The Institute of Electronics, Information and Communication Engineers, 08 Jun. 2009, IEICE technical report, 109(83) (83), 23 - 26, Japanese


• 2A2-A13 Multiple sensing with grouping measurement points for universal robot hand

  FUKUI Wataru, NAKAE Ryo, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The more size of an array-type pressure sensor the hand has for improvement in the resolution, the more debased the sampling frequency is. Therefore we have proposed a method of high-speed sensing with the GA for array-type pressure sensor. However, this method cannot find multi-point contact. Sensing multi-point contact is very important for development of a robot hand like a human hand. Therefore, a method of multiple sensing is proposed. The validity of the proposed method shows in some experiments.

  The Japan Society of Mechanical Engineers, 25 May 2009, ロボティクス・メカトロニクス講演会講演概要集, 2009, "2A2 - A13(1)"-"2A2-A13(2)", Japanese


• 2A2-B22 Robot hand tele-operation system switching position control and force control with contact information

  SAITO Yu, MAEMOTO Daisuke, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kauhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  Humanoid robot hand controled with teleoperation is expected that it will be able to work at various situation such as remote medical care and extreme environment. The purpose of our study is to realize dexterous manipulation task with teleoperated humanoid robot hand system. In this report, we propose a switch strategy of motion control of robot hand using contact condition and presentation of contact sensation of robot hand to an teleoperator. In some evaluation experiments, the teleoperator could control the fingertip force and feel the contact sensation of the robot hand.

  The Japan Society of Mechanical Engineers, 25 May 2009, ロボティクス・メカトロニクス講演会講演概要集, 2009, "2A2 - B22(1)"-"2A2-B22(2)", Japanese


• 2A2-A12 Development of Distributed Tactile Sensor for Universal Robot Hand

  KOBAYASHI Futoshi, HIROSHIMA Takehito, FUKUI Wataru, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  We propose a tactile sensor for Universal Robot Hand. The sensor has three layers composed of a urethane gel, a pressure sensitive conductive rubber and a electrode sheet and can measure a pressure distribution on front, tip and both sides of a finger. A FPGA(field programmable gate array) embedded in a drive circuit drives the sensor, and it selects sensing points and measures pressure distributions. We describe details about the sensor and show results of evaluation experiment.

  The Japan Society of Mechanical Engineers, 25 May 2009, ロボティクス・メカトロニクス講演会講演概要集, 2009, "2A2 - A12(1)"-"2A2-A12(2)", Japanese


• 関節駆動型マネキンの開発

  後藤泰徳, 平田一郎, 安藤隆志, 中本裕之, 後藤浩二, 礒野禎三, 有年雅敏

  01 Nov. 2008, 兵庫県立工業技術センター研究報告書, (17) (17), 33 - 36, Japanese


• 1A1-A09 Developement of Tactile Sensing Unit using FPGA for Distributed Perception

  KOBAYASHI Futoshi, TANAKA Satoko, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, SHIRASAWA Hidenori

  We propose a tactile sensor unit for distributed perception. The unit measures and processes tactile information rapidly using a field programmable gate array (FPGA). Additionally, the unit can select any measurement point of 256 points and select the whole sensing element also. The feature of the proposed unit is that the degree of freedom of the measurement is high. In this paper, we describe the drive circuit of the unit and experimental results.

  The Japan Society of Mechanical Engineers, 06 Jun. 2008, ロボティクス・メカトロニクス講演会講演概要集, 2008, "1A1 - A09(1)"-"1A1-A09(2)", Japanese


• ユーザビリティ評価によるデザイン改善手法の開発

  平田一郎, 後藤泰徳, 中本裕之, 後藤浩二, 富田友樹

  01 Dec. 2007, 兵庫県立工業技術センター研究報告書, (16) (16), 44 - 45, Japanese


• 2A1-E04 Optimization for Manipulation Task of Universal Robot Hand using Evolutionary Computation

  KOBAYASHI Futoshi, KANDA Kenjiro, SAITO Yu, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, SHIRASAWA Hidenori, TOUJI Wataru, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, TANAKA Takaho

  Human hand is a multifunctional end effctor which is widely used for various purposes. The purpose of our study is to realize dexterous manipulation task with universal robot hand system which has the same capability as human hand. In this report, we propose the strategy to hold object and technique of optimize the torque or pressure value. In the evaluation experiments, the system could rotate the wheel object dexterously.

  The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A1 - E04(1)"-"2A1-E04(2)", Japanese


• 2A1-E05 Fast Sensing for Tactile Sensor with Genetic Algorithm

  NAKAE Ryo, KOBAYASHI Futoshi, KOJIMA Fumio, KANDA Kenjiro, TOUJI Wataru, NAKAMOTO Hiroyuki, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, IMAMURA Nobuaki, SHIRASAWA Hidenori, TANAKA Takaho

  Recently, a robotic hand with tactile sensors is important for manipulating objects dexterously. However, computer resources are needed for processing tactile sensor information because tactile sensor has numerous measument points in general. For resolving this problem, this paper proposes a fast sensing method with the genetic algorithm. The validity of the proposed method shows in some experiments.

  The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A1 - E05(1)"-"2A1-E05(2)", Japanese


• 2A1-E06 Shape Recognition Accuracy in Rotation Manipulation by Universal Robot Hand

  NAKAMOTO Hiroyuki, TAKENAWA Satoru, ICHIMORI Kazuyuki, NAKAE Ryo, KANDA Kenjiro, KOBAYASHI Futoshi, KOJIMA Fumio, TOUJI Wataru, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, TANAKA Takaho, IMAMURA Nobuaki, SHIRASAWA Hidenori

  This paper describes an accuracy of shape recognition in rotating manipulation. First the time-series pressure distribution is messured with a distributed pressure sensor on the universal robot hand. Kurtosis is calculated from a pressure distribution, and the time-series kurtosis in a rotation manipulation is found. Second the time-series kurtosis is cut out with the feature kurtosis values to obtain short kurtosis patterns. The degree of similarity between these short kurtosis patterns using the DP matching recognizes the object's shape in rotating manipulation. We confirm that the recognition accuracy is high through experiments.

  The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A1 - E06(1)"-"2A1-E06(2)", Japanese


• マイクロファブリケーション研究・事業化検討会

  安東隆志, 富田友樹, 浜口和也, 中本裕之

  2006, 兵庫県立工業技術センター研究報告書, (15) (15)


• 2P2-B39 Object Recognition by Universal Robot Hand with Distributed Pressure Sensor

  NAKAMOTO Hiroyuki, TAKENAWA Satoru, KANDA Kenjiro, SHINNO Keisuke, KOBAYASHI Futoshi, KOJIMA Fumio, TOJI Wataru, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, TANAKA Takaho, IMAMURA Nobuaki, SHIRASAWA Hidenori

  This paper describes method of object recognition with the distributed pressure sensor that prepared for a universal robot hand. In this method, shape of a contact area is evaluated by the kurtosis of an averaging pressure distribution. The validity of the proposed method was assure by experiments.

  The Japan Society of Mechanical Engineers, 2006, ロボティクス・メカトロニクス講演会講演概要集, 2006, "2P2 - B39(1)"-"2P2-B39(3)", Japanese


• 1A1-B23 Development of Universal Robot Hand and Evaluation of Joint Stiffness Control

  KANDA Kenjiro, KOBAYASHI Futoshi, KOJIMA Fumio, SHINNO Keisuke, TOUJI Wataru, NAKAMOTO Hiroyuki, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, IMAMURA Nobuaki, SHIRASAWA Hidenori, TANAKA Takaho

  Human hand is a multifunctional end effctor which is widely used for various purposes. The purpose of our study is to realize an universal robot hand system which has the same capability as human hand. In this report, a universal robot hand system which we have developed is described.

  The Japan Society of Mechanical Engineers, 2006, ロボティクス・メカトロニクス講演会講演概要集, 2006, "1A1 - B23(1)"-"1A1-B23(2)", Japanese


• 1A1-B27 Envelope grasp by the articulated mechanical hand

  NAKAMURA Yuya, IMAMURA Nobuaki, YAMAOKA Seiichi, SHIRASAWA Hidenori, NAKAMOTO Hiroyuki

  Recently, it has been required that various objects with different shapes or sizes could be held and grasped by robot hand mechanism for the sake of factory automation and labor saving. Corresponding to such needs, we have developed an articulated mechanical hand which has an envelope grasp capability. Since the developed hand is possible to envelope and grasp an object mechanically, it can be used easily and widely in the factory where various shaped and different sized parts should be handled. In this paper, the change of grasp configurations for the object size is studied on the developed mechanical hand and conditions for realizing a suitable grasp are analyzed geometrically.

  The Japan Society of Mechanical Engineers, 2006, ロボティクス・メカトロニクス講演会講演概要集, 2006, "1A1 - B27(1)"-"1A1-B27(2)", Japanese


• 1P1-N-092 Development of an universal robot hand with tactile and joint torque sensors(Robot Hand Mechanism and Grasping Strategy 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

  TOUJI Wataru, NAKAMOTO Hiroyuki, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, NAKAGAWA Shinobu, KOBAYASHI Futoshi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The Japan Society of Mechanical Engineers, 09 Jun. 2005, ロボティクス・メカトロニクス講演会講演概要集, 2005, 66 - 66, Japanese


• 1P1-N-105 High-sensitivity tactile sensor for universal robot hand(Tactile and Force Sense 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

  NAKAMOTO Hiroyuki, KOSAKA Nobuyuki, TOUJI Wataru, TAKEUCHI Akira, MAEDA Tadashi, NAKAMURA Minao, NAKAGAWA Shinobu, KOBAYASHI Futoshi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  The Japan Society of Mechanical Engineers, 09 Jun. 2005, ロボティクス・メカトロニクス講演会講演概要集, 2005, 69 - 69, Japanese


• Development of an universal robot hand with tactile and joint torque sensors

  田路渡, 中本裕之, 竹内昭, 前田正, 中村皆生, 中川志信, 小林太, 今村信昭, 白沢秀則

  2005, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM), 2005


• 「所内公募プロジェクト研究」31 人間のそしゃく運動に基づいた食品物性測定システムの開発

  吉田和利, 浜口和也, 中本裕之, 平田一郎

  01 Sep. 2004, 兵庫県立工業技術センター研究報告書, (13) (13), 72 - 73, Japanese


• Development of a humanoid robot finger equipped with tactile and joint torque sensors

  Hata J, Nakamoto H, Imamura N, Ohmori H

  The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 150 - 151, Japanese


• 「所内公募プロジェクト研究」29 磁気浮上精密軌道制御機構を用いた微細加工技術の開発

  安東隆志, 浜口和也, 中本裕之

  2004, 兵庫県立工業技術センター研究報告書, (13) (13)


• 磁気浮上精密軌道制御機構を用いた微細加工技術の開発

  安東隆志, 中本裕之, 浜口和也

  2003, 兵庫県立工業技術センター研究報告書, (12) (12)


• 人間のそしゃく運動に基づいた食品物性測定システムの開発

  吉田和利, 浜口和也, 中本裕之, 平田一郎

  2003, 兵庫県立工業技術センター研究報告書, (12) (12)


• 遠隔操作型ロボットハンド用高機能感覚センサの開発-触覚フィードバックを用いた高機能ロボット遠隔操作システムの開発-

  中本裕之, 才木常正, 三浦久典, 北川洋一, 平田一郎, 阿部剛, 長谷朝博, 小坂宣之

  2003, 兵庫県立工業技術センター研究報告書, (12) (12)


• 磁気浮上精密軌道制御機構を用いた微細加工技術の開発

  安東隆志, 中本裕之, 浜口和也

  2002, 兵庫県立工業技術センター研究報告書, (11) (11)


• 遠隔操作型ロボットハンド用高機能感覚センサの開発

  中本裕之, 瀧沢由佳子, 才木常正, 三浦久典, 北川洋一, 平田一郎, 阿部剛, 長谷朝博, 三宅輝明

  2002, 兵庫県立工業技術センター研究報告書, (11) (11)

• おいしさの科学とフードテック最前線（監修：都甲潔）

  中本 裕之

  Contributor, 食感センサによる食感の定量化, シーエムシー出版, Aug. 2022, Japanese, ISBN: 9784781316758


• Sensors and Materials, Vol. 31, No. 7(3), Special Issue on Food-Sensing Technologies and Applications

  Hiroyuki Nakamoto

  Editor, Guest Editor, MYU K.K., Jul. 2019


• International Journal of Applied Electromagnetics and Mechanics, Vol. 52, Nos. 1-2 (Special Issue: Proceedings from the 17th International Symposium on Applied Electromagnetics and Mechanics (ISEM2015))

  Joint editor, Guest Editor, IOS Press, Dec. 2016


• Studies in Applied Electromagnetics and Mechanics, Vol.37

  Fumio Kojima, Futoshi Kobayashi, Hiroyuki Nakamoto

  Joint editor, Guest Editor, IOS Press, 2012


• 進化する有機半導体(共著)

  NAKAMOTO HIROYUKI

  Joint work, (株)エヌ・ティー・エス, 2006, Japanese

  Scholarly book

• 複数の深度センサによる深層学習を用いた多角度からの動作推定

  小島 聡一郎, 小林 太, 中本 裕之

  2024年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2025

  Oral presentation


• 慣性センサを用いた機械学習による人間行動認識

  大澤 永遠, 小林 太, 中本 裕之

  2024年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2025

  Oral presentation


• 複数の磁石を用いた磁気式触覚センサの検討

  新井 睦, 中本 裕之

  2024年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2025

  Oral presentation


• 因果探索を用いた食感知覚に影響を及ぼす物理的特徴量の推定

  川﨑 雄一郎, 中本 裕之

  2024年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2025

  Oral presentation


• 超音波シミュレーションを用いた周期的粗面の形状推定

  藤井滉太郎, 中本裕之, Philippe Guy, 内一哲哉

  第25回公益社団法人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, Dec. 2024


• 時系列データを用いた食感変化のモデリングによる因果性の評価

  青木 尊啓, 中本 裕之

  第25回公益社団法人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, Dec. 2024

  Poster presentation


• 荷重と加速度のデータに基づく咀嚼時の食感変化の推定

  青木 尊啓, 中本 裕之

  日本食品科学工学会第71回大会, Aug. 2024, Japanese

  Oral presentation


• 周波数変調した咀嚼気導音による破砕のある食感への影響

  小野 徳士, 中本 裕之, 平田 一郎

  日本人間工学会第65回大会, Jun. 2024, Japanese

  Oral presentation


• 周期的な粗面で反射した超音波の周波数スペクトルに対するエッジ波の影響

  藤井 滉太郎, 中本 裕之, Philippe GUY, 内一 哲哉

  第68回システム制御情報学会研究発表講演会, May 2024, Japanese

  Oral presentation


• 計測データを用いた咀嚼時の食感変化の推定

  青木 尊啓, 中本 裕之, 小林太

  第68回システム制御情報学会研究発表講演会, May 2024, Japanese

  Oral presentation


• 周期的なきずをもつ粗⾯からのパルス超⾳波反射波の解析

  藤井 滉太郎, 中本 裕之, 小林 太

  2023年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2024

  Oral presentation


• 聴覚を介した⾷感に対する気導⾳のフィルタリングの影響

  小野 徳士, 中本 裕之, 小林 太

  2023年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2024

  Oral presentation


• ベイズ線形回帰による⾷品圧縮時の計測データを⽤いた⾷感の推定

  池田 彬人, 中本 裕之, 小林 太

  2023年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2024

  Oral presentation


• 咀嚼過程における食感の変化とその推定

  青木 尊啓, 中本 裕之, 小林太

  第24回公益社団法人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, Dec. 2023

  Oral presentation


• 荷重データに基づく食感の経時変化の推定

  青木 尊啓, 土井 陽貴, 中本 裕之, 小林 太

  日本食品科学工学会第70回記念大会, Aug. 2023

  Oral presentation


• 食品圧縮時の計測データを用いた多様な食感の定量化方法

  清水 智美, 中本 裕之, 小林 太

  第67回システム制御情報学会研究発表講演会, May 2023

  Oral presentation


• 多感覚の構成の違いによる食感の官能評価とその推定

  西村 亮我, 中本 裕之, 小林太

  第23回公益社団法人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, Dec. 2022, Japanese

  Poster presentation


• Comparison of Ultrasonic Attenuation by Different Pitches on Periodic Rough Surface

  Kazuma Terada, Hiroyuki Nakamoto, Phillipe Guy, Tetsuya Uchimoto

  Nineteenth International Conference on Flow Dynamics, Nov. 2022, English

  Oral presentation


• サポートベクトル回帰による食品破断時の計測データを用いた食感推定

  清水 智美, 西村 亮我, 中本 裕之, 小林 太

  第30回インテリジェント・システム・シンポジウム, Sep. 2022, Japanese

  Oral presentation


• 荷重及び振動データを用いた多様な食感の定量化方法

  清水 智美, 中本 裕之, 小林 太

  第66回システム制御情報学会研究発表講演会, May 2022

  Oral presentation


• 3Dフードプリンタによる造形物と食感に係る機械的性質の比較

  多田 雄毅, 中本 裕之, 平田 一郎, 小林 太

  第66回システム制御情報学会研究発表講演会, May 2022

  Oral presentation


• 周期的及び非周期的な粗面における反射波の超音波減衰の比較

  寺田 和真, 中本 裕之, Philippe GUY, 内一 哲哉

  2021年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2022

  Oral presentation


• 3Dフードプリンタによる造形物と食品の食感比較

  多田 雄毅, 中本 裕之, 平田 一郎, 小林 太

  第22回公益社団法人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, Dec. 2021

  Oral presentation


• 食品圧縮時の荷重，振動及び音を用いた食感評価

  西村 亮我, 中本 裕之, 長畑 雄也, 清水 里奈, 小林太

  インテリジェント・システム・シンポジウム2021, Sep. 2021

  Oral presentation


• ガウス過程回帰を用いた荷重、振動、音によるチキンナゲットの食感評価

  西村 亮我, 中本 裕之, 長畑 雄也, 清水 里奈, 小林太

  日本食品科学工学会第68回大会, Aug. 2021

  Oral presentation


• 磁気式食感センサの改良と基本特性の評価

  楠見 健人, 中本 裕之, 小林 太, 長畑 雄也

  第21回公益社団法人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, Dec. 2020, Japanese

  Oral presentation


• 渦電流試験技術者の動作解析のためのプローブの姿勢推定と視線検出

  松尾 和樹, 中本 裕之, 小坂 大吾, 小林 太

  日本非破壊検査協会2020年度秋季講演大会, Oct. 2020, Japanese

  Oral presentation


• 廃炉措置における配管減肉の予測とモニタリングに基づく配管システムのリスク管理 (11) 周期的な傷をもつ粗面での反射による広帯域超音波への影響

  中本 裕之, Philippe GUY, 高木 敏行, 内一 哲哉

  日本原子力学会2020年秋の年会, Sep. 2020, Japanese

  Oral presentation


• ベイズ推定を用いた荷重・振動データにもとづく食感の推定

  土井 陽貴, 中本 裕之, 小林 太, 長畑 雄也, 平田 一郎

  第22回日本感性工学会大会, Sep. 2020, Japanese

  Oral presentation


• 周期的な傷をもつ粗面における反射による超音波減衰の影響

  中本 裕之, Guy Philippe, 高木 敏行, 内一 哲哉

  第64回システム制御情報学会研究発表講演会, May 2020, Japanese

  Oral presentation


• 磁気式食感センサの耐久性向上とレンジ及び分解能の評価

  楠見 健人, 中本 裕之, 小林 太, 長畑 雄也

  第64回システム制御情報学会研究発表講演会, May 2020, Japanese

  Oral presentation


• 廃炉措置における配管減肉の予測とモニタリングに基づく配管システムのリスク管理 (5)粗面で反射した超音波とその周波数分析による粗さ評価

  中本 裕之, GUY Philippe, 高木 敏行, 内一 哲哉

  日本原子力学会2020年春の年会, Mar. 2020, Japanese

  Oral presentation


• 食感測定器による荷重データの特徴量とばらつきに基づく食感評価

  安田 健晃, 中本 裕之, 小林 太, 平田 一郎, 木村 功, 清水 里奈

  第15回日本感性工学会春季大会, Mar. 2020, Japanese

  Oral presentation


• 周期的な傷をもつ粗面で反射した超音波の減衰

  石橋 昴也, 中本 裕之, Guy Philippe, 高木 敏行, 内一 哲哉

  2019年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2020, Japanese

  Poster presentation


• スライド機構を組み込んだ磁気式食感センサの開発

  楠見 健人, 中本 裕之, 小林 太, 長畑 雄也

  第20回公益社団法人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, Dec. 2019, Japanese

  Poster presentation


• 食感測定器による時系列荷重データを用いた食感強度の推定

  安田 健晃, 中本 裕之, 小林 太, 長畑 雄也, 木村 功, 清水 里奈, 堀田 真理子, 井上 賀美

  日本食品科学工学会第65回大会, Aug. 2019, Japanese

  Oral presentation


• スプリングバネを用いた磁気式食感センサの開発

  楠見 健人, 中本 裕之, 小林 太

  日本食品科学工学会第65回大会, Aug. 2019, Japanese

  Oral presentation


• 柔軟膜ひずみセンサを用いた高齢者に対する嚥下リハビリテーションのための喉頭挙上検出

  勝野 友基, 中本 裕之, 山本 暁生, 梅原 健, 花家 薫, 別所 侑亮, 小林 太, 石川 朗

  第36回センシングフォーラム, Aug. 2019, Japanese

  Poster presentation


• 照明柱の非破壊検査における埋設によるガイド波の減衰

  梶 晃子, 中本 裕之, 小林 太

  日本保全学会第16回学術講演会, Jul. 2019

  Oral presentation


• 埋設された照明柱に対する電磁超音波探触子を用いたガイド波非破壊計測

  KAJI Akiko, NAKAMOTO Hiroyuki, KOJIMA Fumio

  平成30年度SICE関西支部・ISCIE若手研究発表会, Jan. 2019, Japanese, SICE関西支部, ISCIE, 大阪工業大学梅田キャンパス, Domestic conference

  Oral presentation


• 柔軟膜ひずみセンサを用いたバンド型デバイスによる喉頭挙上の検出

  KATSUNO Yuki, NAKAMOTO Hiroyuki, YAMAMOTO Akio, UMEHARA Ken, BESSHO Yusuke, KOBAYASHI Futoshi, ISHIKAWA Akira

  平成30年度SICE関西支部・ISCIE若手研究発表会, Jan. 2019, Japanese, SICE関西支部, ISCIE, 大阪工業大学梅田キャンパス, Domestic conference

  Oral presentation


• 柔軟膜ひずみセンサを用いた装具デバイスによる喉頭運動の検出

  KATSUNO Yuki, NAKAMOTO Hiroyuki, YAMAMOTO Akio, UMEHARA Ken, BESSHO Yusuke, KOBAYASHI Futoshi, ISHIKAWA Akira

  第19回公益社団法人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, Dec. 2018, Japanese, 計測自動制御学会システムインテグレーション部門, 大阪工業大学梅田キャンパス, Domestic conference

  Oral presentation


• 配管検査のための粗面における反射時の散乱による超音波減衰の影響

  NAKAMOTO Hiroyuki, GUY Philippe, TAKAGI Toshiyuki

  第27回MAGDAコンファレンス, Oct. 2018, Japanese, 日本AEM学会, 東京理科大学葛飾キャンパス, Domestic conference

  Oral presentation


• 柔軟膜ひずみセンサを用いた嚥下障害リハビリテーションのための喉頭挙上及び降下の検出

  KATSUNO Yuki, NAKAMOTO Hiroyuki, YAMAMOTO Akio, UMEHARA Ken, BESSHO Yusuke, TERADA Tsutomu, KOBAYASHI Futoshi, ISHIKAWA Akira

  第35回センシングフォーラム, Aug. 2018, Japanese, 計測自動制御学会計測部門, 山口大学常盤キャンパス, Domestic conference

  Oral presentation


• 磁気式センサとDynamic Time Warpingによる天ぷらの食感評価

  SOUDA Ninomae, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, NAGAHATA Yuya, HIROSUE Yoriyasu

  日本食品科学工学会第65回大会, Aug. 2018, Japanese, 日本食品科学工学会, 東北大学川内北キャンパス, Domestic conference

  Oral presentation


• 柔軟膜歪みセンサを用いた背面に装着可能な腰部の動作計測装置

  YAMAJI Tokiya, NAKAMOTO Hiroyuki, YAMAMOTO Akio, BESSHO Yusuke, OOTAKA Hideo, ONO Rei

  第18回公益社団法人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, Dec. 2017, Japanese, Domestic conference

  Oral presentation


• 磁気式食感センサによる時系列データの類似度を指標とした食感の定量化

  SOUDA Ninomae, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi

  第18回公益社団法人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, Dec. 2017, Japanese, Domestic conference

  Oral presentation


• ウェアラブルストレッチセンサを用いた歩行中の呼吸数計測システムの精度検証

  YAMAMOTO AKIO, NAKAMOTO HIROYUKI, 別所侑亮, 沖侑大郎, FUJIMOTO YUKARI, 渡邊佑, 山田莞爾, TERADA TSUTOMU, ONO KUMIKO, ISHIKAWA AKIRA

  第２７回日本呼吸ケア・リハビリテーション学会学術集会, Nov. 2017, Japanese, Domestic conference

  Poster presentation


• 磁気式食感センサとDynamic Time Warping による食感定量評価

  SOUDA Ninomae, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi

  日本食品科学工学会第64回大会, Aug. 2017, Japanese, Domestic conference

  Oral presentation


• 電磁超音波探触子で励起したガイド波による運用中照明柱の健全部計測

  NAKAMOTO Hiroyuki, NAKAMURA Daichi, KOJIMA Fumio, KOMATSU Keiichi, TOMITA Hideaki

  第29回「電磁力関連のダイナミクス」シンポジウム, May 2017, Japanese, Domestic conference

  Oral presentation


• 柔軟膜ひずみセンサを用いた腰の動作計測装置の開発

  YAMAJI Tokiya, NAKAMOTO Hiroyuki, YAMAMOTO Akio, BESSHO Yusuke, OOTAKA Hideo, ONO Rei, KOBAYASHI Futoshi

  第61回システム制御情報学会研究発表講演会, May 2017, Japanese, Domestic conference

  Oral presentation


• シート状ストレッチセンサを用いた歩行中の非侵襲的な呼吸数計測法の開発

  YAMAMOTO AKIO, NAKAMOTO HIROYUKI, 別所侑亮, 太田雅史, 沖侑大郎, FUJIMOTO YUKARI, 渡邊佑, 岩田健太郎, 村上茂史, 山田莞爾, TERADA TSUTOMU, ONO KUMIKO, ISHIKAWA AKIRA

  第５７回日本呼吸器学会学術講演会, Apr. 2017, Japanese, Domestic conference

  Poster presentation


• ロボット遠隔操作のための検出確率を用いたモーションキャプチャ信頼度評価

  清水 開, KOBAYASHI FUTOSHI, NAKAMOTO HIROYUKI

  ロボティクス・メカトロニクス講演会, 2017, Japanese, Domestic conference

  Poster presentation


• 柔軟膜伸長センサを用いた衣服圧の測定

  Motoki Hirai, Hiroyuki Nakamoto, Hideo Ootaka, Ichiro Hirata, Futoshi Kobayashi

  平成28年度SICE関西支部・ISCIE若手研究発表会, Jan. 2017, Japanese, Domestic conference

  Oral presentation


• 伸長センサを用いた関節角度計測用アプリケーションの開発

  平田 一郎, NAKAMOTO HIROYUKI, 大高 秀夫, 多田 充徳, 大谷 桂司

  第11回感性工学会春季大会, Mar. 2016, Japanese, Domestic conference

  Oral presentation


• 2種類の異なる検出素子をもつ食感センサの神経回路モデルによる識別

  NAKAMOTO HIROYUKI, 岡田 崇平, 西久保 大輔, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  第43回知能システムシンポジウム, Mar. 2016, Japanese, Domestic conference

  Oral presentation


• 柔軟膜伸長センサとその応用

  NAKAMOTO Hiroyuki

  兵庫県立大学医療健康情報技術研究センター２０１５年度第４回講演会, Feb. 2016, Japanese, Domestic conference

  [Invited]

  Invited oral presentation


• 電磁超音波ガイド波を用いた運用中の照明柱における腐食検出の適用

  Daichi Nakamura, Hiroyuki Nakamoto, Fumio Kojima, Keiichi Komatsu, Hideaki Tomita

  第25回 MAGDAコンファレンス in 桐生, 2016, Japanese, Domestic conference

  Poster presentation


• 伸び量の分布計測の可能なストレッチャブル伸長センサの開発

  Hiroyuki Nakamoto, Tokiya Yamaji, Hideo Ootaka, Ichiro Hirata, Futoshi Kobayashi

  第28回電気学会電子・情報・システム部門大会, 2016, Japanese, Domestic conference

  Oral presentation


• 磁気式センサと主成分分析を用いた食感分類

  Daisuke Nishikubo, Hiroyuki Nakamoto, Futoshi Kobayashi

  日本食品科学工学会第63回大会, 2016, Japanese, Domestic conference

  Oral presentation


• 形状の異なる接触子を用いた食感センサの計測特性

  Daisuke Nishikubo, Hiroyuki Nakamoto, Futoshi Kobayashi

  第17回 公益社団法人 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, 2016, Japanese, Domestic conference

  Oral presentation


• リカレントニューラルネットワークを用いたフードテクスチャによる食品判別

  Shuhei Okada, Hiroyuki Nakamoto, Futoshi Kobayashi

  第33回センシングフォーラム計測部門大会, 2016, Japanese, Domestic conference

  Poster presentation


• ばね連結モデルを用いた柔軟な触覚センサの設計

  Shiho Sasai, Hiroyuki Nakamoto, Futoshi Kobayashi

  第25回 MAGDAコンファレンス in 桐生, 2016, Japanese, Domestic conference

  Poster presentation


• ストレッチャブル伸長センサを用いた膝の関節角度計測

  Hiroyuki Nakamoto, Tokiya Yamaji, Hideo Ootaka, Ichiro Hirata, Futoshi Kobayashi

  第28回電気学会電子・情報・システム部門大会, 2016, Japanese, Domestic conference

  Oral presentation


• ストレッチャブル伸長センサによる脚の運動計測

  Tokiya Yamaji, Hiroyuki Nakamoto, Hideo Ootaka, Ichiro Hirata, Futoshi Kobayashi

  第26回インテリジェント・システム・シンポジウム, 2016, Japanese, Domestic conference

  Oral presentation


• 6枚のシート状ストレッチセンサを用いた腰の動作計測ツールの開発

  Tokiya Yamaji, Hiroyuki Nakamoto, Akio Yamamoto, Yusuke Bessho, Hideo Ootaka, Rei Ono

  第17回 公益社団法人 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, 2016, Japanese, Domestic conference

  Oral presentation


• 異方性をもつ柔軟膜ひずみセンサの開発

  NAKAMOTO HIROYUKI, 大高 秀夫, 多田 充徳, 平田 一郎, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  第16回公益財団法人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, Dec. 2015, Japanese, Domestic conference

  Oral presentation


• 超音波ガイド波の照明柱腐食検査への適用

  MIWA Arihiro, FURUSAWA Akinori, NAKAMOTO Hiroyuki, NAKAMURA Daichi, KOJIMA Fumio

  第２４回MAGDAコンフェレンスin Tohoku, Nov. 2015, Japanese, Japan Society of Applied Electromagnetics and Mechanics, 東北大学 電気通信研究所流体科学研究所, Domestic conference

  Oral presentation


• 磁気式触覚センサを用いた触感計測に関する一検討

  NAKAMOTO HIROYUKI, 松本 卓也, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  第24回MAGDAコンファレンス in Tohoku, Nov. 2015, Japanese, Domestic conference

  Oral presentation


• Performance Evaluation of Universal Jamming Hand

  KOBAYASHI Futoshi, UENO Souta, NAKAMOTO Hiroyuki, KOJIMA Fumio

  International Conference on Functional Materials and Applications, Nov. 2015, English, International conference

  Poster presentation


• Displacement and Tilt Estimation of Contact Surface on Magnetic Tactile Sensor Using Genetic Programming

  NAKAMOTO Hiroyuki, SASAI Shiho, KOBAYASHI Futoshi, KOJIMA Fumio

  7th International Conference on Emerging Trends in Engineering & Technology, Nov. 2015, English, International conference

  Oral presentation


• Application of Stretchable Strain Sensor for Human's Motion Monitor

  HIRATA Ichiro, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori

  7th International Conference on Emerging Trends in Engineering & Technology, Nov. 2015, English, International conference

  Oral presentation


• 人工筋計測のための柔軟膜伸長センサの回路設計

  NAKAMOTO HIROYUKI, 老田 壮志, 大高 秀夫, 平田 一郎, 多田 充徳, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  第33回日本ロボット学会学術講演会, Sep. 2015, Japanese, Domestic conference

  Oral presentation


• 磁気抵抗素子とインダクタを有する食感センサの応答評価

  西久保 大輔, NAKAMOTO HIROYUKI, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  第32回センシングフォーラム, Sep. 2015, Japanese, Domestic conference

  Oral presentation


• Tactile Texture Classification Using Magnetic Tactile Sensor

  NAKAMOTO Hiroyuki, MATSUMOTO Takuya

  17th International Symposium on Applied Electromagnetics and Mechanics, Sep. 2015, English, International conference

  Poster presentation


• Stretchable Strain Sensor for Distributed Strain Measurement and Design of Measurement Circuit

  NAKAMOTO Hiroyuki, OOTAKA Hideo, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  17th International Symposium on Applied Electromagnetics and Mechanics, Sep. 2015, English, International conference

  Poster presentation


• Human Motion Caption with Vision and Inertial Sensors for Hand/Arm Robot Teleoperation

  KITABAYASHI Keiichi, KOBAYASHI Futoshi, SHIMIZU Kai, NAKAMOTO Hiroyuki, KOJIMA Fumio

  17th International Symposium on Applied Electromagnetics and Mechanics, Sep. 2015, English, International conference

  Poster presentation


• Estimation Method Using Genetic Programming for Location and Depth on Distributed Tactile Sensor

  SASAI Shiho, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  17th International Symposium on Applied Electromagnetics and Mechanics, Sep. 2015, English, International conference

  Poster presentation


• 磁気式食感センサを用いたフードテクスチャ計測の研究

  西久保 大輔, NAKAMOTO HIROYUKI, KOBAYASHI FUTOSHI, KOJIMA FUMIO

  日本食品科学工学会第62回大会講演会, Aug. 2015, Japanese, Domestic conference

  Oral presentation


• The flexible interface using a stretch sensor

  HIRATA Ichiro, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori

  6th International Conference on Applied Human Factors and Ergonomics, Jul. 2015, English, International conference

  Oral presentation


• Angle measurement of wrist and elbow joints by flexible strain sensor

  NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  6th International Conference on Applied Human Factors and Ergonomics, Jul. 2015, English, International conference

  Poster presentation


• Development of Grasping Sense Feedback System for Robot Hand Teleoperation

  KOBAYASHI Futoshi, KANNO Hayato, NAKAMOTO Hiroyuki, KOJIMA Fumio

  2015 JSME Conference on Robotics and Mechatronics, May 2015, Japanese, The Japan Society of Mechanical Engineers, Kyoto City, Domestic conference

  Poster presentation


• 伸長センサを用いた感性評価の検討

  HIRATA Ichiro, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori

  第10回日本感性工学会春季大会, Mar. 2015, Japanese, Domestic conference

  Oral presentation


• 柔軟膜センサによる運動時の関節の動作計測

  NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  インタラクション2015, Mar. 2015, Japanese, Domestic conference

  Oral presentation


• 柔軟なインタフェースの実現に向けた取り組み

  平田 一郎, NAKAMOTO HIROYUKI, 大高 秀夫, 多田 充徳

  第17回日本感性工学会大会, 2015, Japanese, Domestic conference

  Oral presentation


• 人工筋における柔軟膜伸長センサの適用

  OIDA Soushi, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  第15回公益財団法人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（SI2014）, Dec. 2014, Japanese, Domestic conference

  Oral presentation


• GPを用いた分布型触覚センサにおける接触位置及び深さの推定

  SASAI Shiho, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  第23回MAGDAコンファレンスin高松, Dec. 2014, Japanese, Domestic conference

  Oral presentation


• Grasping Posture Considering Object Transportation in Multi-fingered Robot Hand

  KOBAYASHI Futoshi, KANNO Hayato, NAKAMOTO Hiroyuki, KOJIMA Fumio

  第57回自動制御連合講演会, Nov. 2014, Japanese, The Society of Instrument and Control Engineers, Shibukawa City, Domestic conference

  Oral presentation


• 伸長センサを用いた柔軟インタフェースの検討

  HIRATA Ichiro, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori

  Designシンポジウム2014, Nov. 2014, Japanese, Domestic conference

  Oral presentation


• 柔軟膜センサを用いた関節角度計測の一手法

  NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  第57回自動制御連合講演会, Nov. 2014, Japanese, Domestic conference

  Oral presentation


• 薄型柔軟膜を用いた伸長センサによるゴム人工筋の伸縮計測

  OIDA Soushi, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  第32回日本ロボット学会学術講演会, Sep. 2014, Japanese, Domestic conference

  Oral presentation


• 感性デザインのための伸長インタフェース

  HIRATA Ichiro, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori

  第16回日本感性工学会大会, Sep. 2014, Japanese, Domestic conference

  Oral presentation


• 薄型柔軟膜による伸長インタフェースの提案

  HIRATA Ichiro, NAKAMOTO Hiroyuki, OOTAKA Hideo, TADA Mitsunori

  日本人間工学会第55回大会, Jun. 2014, Japanese, Domestic conference

  Oral presentation


• 薄型柔軟膜による伸長計測の基礎的評価

  NAKAMOTO Hiroyuki, OIDA Soushi, OOTAKA Hideo, TADA Mitsunori, HIRATA Ichiro, KOBAYASHI Futoshi, KOJIMA Fumio

  日本機械学会ロボティクス・メカトロニクス部門講演会2014, May 2014, Japanese, Domestic conference

  Poster presentation


• Decision of Grasping Posture Considering Object Slippage with Multi-fingered Robot Hand

  KANNO Hayato, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  2014 JSME Conference on Robotics and Mechatronics, May 2014, Japanese, The Japan Society of Mechanical Engineers, Toyama City, Domestic conference

  Poster presentation


• Teleoperation for Hand/Arm Robot by Optical and Inertial motion capture

  KITABAYASHI Keiichi, FUJIMOTO Kouhei, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  2014 JSME Conference on Robotics and Mechatronics, May 2014, Japanese, The Japan Society of Mechanical Engineers, Toyama City, Domestic conference

  Poster presentation


• 永久磁石と磁気抵抗素子を用いた触覚センサによる接触情報の推定

  NAKAMOTO Hiroyuki, WAKABAYASHI Taketo, KOBAYASHI Futoshi, KOJIMA Fumio

  第26回「電磁力関連のダイナミクス」シンポジウム, May 2014, Japanese, Domestic conference

  Oral presentation


• Quantitative evaluation of material degradation with hybrid use of simulation and monitoring and its application to pipe wall thickness management

  Kojima Fumio, Uchida Shunsuke, Nakamoto Hiroyuki

  Elyt Workshop, Feb. 2014, English, 東北大学, フランス、ニース, International conference

  [Invited]

  Invited oral presentation


• 電磁超音波探触子による配管厚さ寸法計測の性能評価

  KOJIMA Fumio, NAKAMOTO Hiroyuki, TABATA Hiroki

  第14回公益財団法人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（SI2013）, Dec. 2013, Japanese, Domestic conference

  Oral presentation


• 磁気式触覚センサのための重回帰分析による磁石の変位及び回転の推定

  WAKABAYASHI Taketo, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  第22回MAGDAコンファレンス, Dec. 2013, Japanese, Domestic conference

  Oral presentation


• 磁気計測にもとづく炭素鋼の経年劣化評価法の開発

  Kojima Fumio, Nakamoto Hiroyuki, KOSAKA Daigo

  MAGDA2013, Dec. 2013, Japanese, MAGDA2013, 日本、宮崎, Domestic conference

  Oral presentation


• Reliability assessment of condition based monitoring for pipe wall thinning

  Kojima Fumio, Nakamoto Hiroyuki, KOSAKA Daigo, Nishino Hideo

  ISSNP2013, Nov. 2013, English, ISSNP2013, 中国、北京, International conference

  Oral presentation


• Reliability Assessment for Pipe Elbows with Local Wall Pinning using Guided Wave Testing (Invited)

  Kojima Fumio, Hioki Junko, Nakamoto Hiroyuki, Nishino Hideo

  ICFD2013, Nov. 2013, English, 東北大学, 日本、仙台, International conference

  [Invited]

  Invited oral presentation


• ロボットハンドのための6軸力覚センサを用いた滑り検出に関する研究

  菅納 隼人, NAKAMOTO HIROYUKI, KOBAYASHI FUTOSHI, KOJIMA FUMIO, FUKUI WATARU

  THE 31st ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN, Sep. 2013, Japanese, The Robotics Society of Japan, Tokyo, Domestic conference

  Oral presentation


• 歯の構造に基づいた食感センサの開発

  HATSUSE Hitoshi, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  日本食品科学工学会第60回記念大会講演会, Aug. 2013, Japanese, Domestic conference

  Oral presentation


• Reliability Evaluation of Pipe Thickness Measurement by Electromagnetic Acoustic Transducer

  Nakamoto Hiroyuki, Kojima Fumio, TABATA Hiroki, KOSAKA Daigo

  ISEM2013, Aug. 2013, English, ISEM2013, カナダ,ｹﾍﾞｯｸｼﾃｨｰ, International conference

  Oral presentation


• ガイド波を用いたエルボウ部配管減肉検査の信頼性評価法

  Kojima Fumio, Hioki Junko, Nakamoto Hiroyuki, Nishino Hideo

  日本保全学会学術講演会, Jul. 2013, Japanese, 日本保全学会, 日本、大阪, Domestic conference

  Oral presentation


• POD法による配管減肉検査の信頼性評価法とハザードレートへの適用

  NAKAMOTO Hiroyuki, KOJIMA Fumio, KATO Sho

  日本保全学会第10回学術講演会, Jul. 2013, Japanese, 日本保全学会, 日本,大阪, Domestic conference

  Oral presentation


• Pipe-wall thickness measurement at hightemperature by electromagnetic acoustic transducer

  Kojima Fumio, Nakamoto Hiroyuki, Morikawa Atsushi, TABATA Hiroki, KOSAKA Daigo

  ENDE2013, Jun. 2013, English, ENDE2013, スロバキア、ﾌﾞﾗﾁｽﾗｳﾞｧ, International conference

  Oral presentation


• 電磁超音波探触子を用いた高温環境下における配管減肉寸法測定

  Morikawa Atsushi, Kojima Fumio, Nakamoto Hiroyuki, TABATA Hiroki

  SCI'2013, May 2013, Japanese, システム制御情報学会, 神戸、日本, Domestic conference

  Oral presentation


• Pen Position Control by In-Hand Manipulation with Multi-Fingered Robot Hand

  KOBAYASHI Futoshi, NAKAMURA Yuuki, FUKUI Wataru, NAKAMOTO Hiroyuki, KOJIMA Fumio

  57th Annual Conference of the Institute of Systems, Control and Information Engineerings, May 2013, Japanese, The Institute of Systems, Control and Information Engineerings, Kobe City, Many multi-fingered robot hands have been developed in industrial and research fields. In this paper, we develop a in-hand manipulation for the multi-fingered robot hand. Here, the robot hand controls a pen in its hand with the developed system., Domestic conference

  Oral presentation


• 人間の生活動作に基づく上肢支援システムの設計

  KITAGAWA Maiki, SAGA Nobuhiko, NAKAMOTO Hiroyuki, NAGASE Junya

  日本機械学会ロボティクス・メカトロニクス講演会2013, May 2013, Japanese, Domestic conference

  Poster presentation


• 持ちやすさ評価のための圧力分布計測システムの開発

  HIRATA Ichiro, NAKAMOTO Hiroyuki

  第3回日本感性工学会関西支部大会, May 2013, Japanese, Domestic conference

  Oral presentation


• 歯の構造に基づいた食感センサの開発

  HATSUSE Hitoshi, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  第57回システム制御情報学会研究発表講演会（SCI'13）, May 2013, Japanese, システム制御情報学会, 日本,神戸, Domestic conference

  Oral presentation


• Teleoperation for Hand/Arm Robot by inertial Motion Capture

  KOBAYASHI Futoshi, HASEGAWA Ko, KITABAYASHI Keiichi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  2013 JSME Conference on Robotics and Mechatronics, May 2013, Japanese, The Japan Society of Mechanical Engineers, Tsukuba City, The multi-fingered robot hand has much attention in various fields. Many Robot hands have been proposed so far. A teleoperation system for the hand/arm robot allows intuitive manipulation of the hand/arm robot. Therefore, this paper deals with a motion capture system for controlling the hand/arm robot remotely. Here, we use inertial measurement units in order to detect the join, Domestic conference

  Oral presentation


• Joint Angle Estimation of Human Arm by Motion Sensor for Hand/Arm Robot Teleoperation

  KOBAYASHI Futoshi, HASEGAWA Ko, KITABAYASHI Keiichi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  57th Annual Conference of the Institute of Systems, Control and Information Engineerings, May 2013, Japanese, The Institute of Systems, Control and Information Engineerings, Kobe City, The multi-fingered robot hand has much attention in various fields. Many Robot hands have been proposed so far. A teleoperation system for the hand/arm robot allows intuitive manipulation of the hand/arm robot. Therefore, this paper deals with a motion capture system for controlling the hand/arm robot remotely. Here, we use inertial measurement units in order to detect the join, Domestic conference

  Oral presentation


• Probability of Detection を用いた非破壊検査の信頼性評価法

  NAKAMOTO Hiroyuki, KOJIMA Fumio, KATO Sho, TABATA Hiroki

  第57回システム制御情報学会研究発表講演会（SCI'13）, May 2013, Japanese, システム制御情報学会, 日本,神戸, Domestic conference

  Oral presentation


• Development of haptic device for five-fingered robot hand teleoperation

  FUJIMOTO Kohei, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki

  57th Annual Conference of the Institute of Systems, Control and Information Engineerings, May 2013, Japanese, The Institute of Systems, Control and Information Engineerings, Kobe City, When we operate a robot hand remotely with tele-operation system, it is difficult to operate the robot hand collectly because of the reaction force without. Thus the haptic feedback system is required to provide reaction force resulting in the robot hand to an operator. In this paper, we develop the force feedback device which can present reaction force on operator’s multiple f, Domestic conference

  Oral presentation


• PODを用いた配管減肉検査における信頼性評価法

  NAKAMOTO Hiroyuki, KOJIMA Fumio, KATO Sho, TABATA Hiroki

  日本原子力学会2013年春の年会, Mar. 2013, Japanese, 日本原子力学会, 大阪府東大阪市, 配管減肉検査の定点監視・広域監視技術に対して， Probability of Detection(POD)を用いた検査技術の信頼性評価方法を提案した．収集した実験データに算出したPODによって，ヒューマンファクタ及び使用機器，検査対象などの違いにより決定される信頼性を定量的に評価できることを確認した．, Domestic conference

  Oral presentation


• ガウス・ニュートン法を用いた磁気式触覚センサの変位及び回転の推定

  WAKABAYASHI Taketo, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, Takenawa Satoru

  計測自動制御学会第13回システムインテグレーション部門講演会, Dec. 2012, Japanese, 計測自動制御学会, 福岡県福岡市, A magnetic type tactile sensor using giant magnetic resistive (GMR) elements and a permanent magnet have been proposed in out previous study. The output voltages of GMR elements depend on magnetic flux density of a permanent magnet. In this paper, we estimated displacement and tilt of GMR sensor using the Gauss-Newton Algorithm on condition that limit the movement of magnet in, Domestic conference

  Oral presentation


• Multipoint Haptic Device for Robot Hand Teleoperation

  KOBAYASHI Futoshi, IKAI George, FUKUI Wataru, NAKAMOTO Hiroyuki, KOJIMA Fumio

  The 23rd International Symposium on Micro-Nano Mechatronics and Human Science, Nov. 2012, English, Nagoya, Japan, A haptic feedback system is required to assist teleoperation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to operator’s multiple finger knuckles. The device uses a shape memory alloy as an actuator, which affords a very compact, lig, International conference

  Poster presentation


• 電磁超音波探触子を用いた配管減肉計測の信頼性評価

  KOSAKA Daigo, KOJIMA Fumio, NAKAMOTO Hiroyuki, TABATA Hiroki, KATO Sho

  日本保全学会第9回学術講演会, Jul. 2012, Japanese, 日本保全学会, 東京都国立市, This paper is concerned with risk assessment of pipe wall thinning management. The reliability of the NDT systems is evaluated from probability of detection (POD). The statistical uncertainty of NDT reliability is then represented by a conservative confidence bound on the POD function. The idea is applied to the pipe wall thinning management using electromagnetic acoustic trans, Domestic conference

  Oral presentation


• 内部磁石の回転を考慮したGMR触覚センサによる接触力計測

  KURODA Ken, TAKENAWA Satoru, NAKAMOTO Hiroyuki

  ロボティクス・メカトロニクス講演会2012, May 2012, Japanese, 日本機械学会ロボティクスメカトロニクス部門, 浜松市, Domestic conference

  Poster presentation


• 人間の手との機構の違いを考慮したロボットハンドの遠隔操作に関する研究

  KITABAYASHI Keiichi, FUKUI Wataru, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio, IMAMURA Nobuaki

  第56回システム制御情報学会研究発表講演会, May 2012, Japanese, システム制御情報学会, 京都市, Domestic conference

  Oral presentation


• 磁気式触覚センサのヒステリシスと再現性の評価

  NAKAMOTO Hiroyuki, TAKENAWA Satoru

  第56回システム制御情報学会研究発表講演会, May 2012, Japanese, システム制御情報学会, 京都市, Domestic conference

  Oral presentation


• ロボットハンド遠隔操作のための複数節フォースフィードバック装置の開発

  IKAI George, KITABAYASHI Keiichi, FUKUI Wataru, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  ロボティクス・メカトロニクス講演会2012, May 2012, Japanese, 日本機械学会ロボティクスメカトロニクス部門, 浜松市, Domestic conference

  Poster presentation


• リンク機構を有する空気圧駆動型上肢リハビリテーション支援装置の開発

  KITAGAWA Maiki, OKI Kyohei, NAKANISHI Yuki, SAGA Norihiko, NAKAMOTO Hiroyuki, NAGASE Junya

  ロボティクス・メカトロニクス講演会2012, May 2012, Japanese, 日本機械学会ロボティクスメカトロニクス部門, 浜松市, Domestic conference

  Poster presentation


• ハンド／アームロボットのための可操作度と関節負荷を考慮した最適姿勢に関する研究

  KANNO Hayato, SONODA Sho, NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio, MAEDA Tadashi, IMAMURA Nobuaki

  ロボティクス・メカトロニクス講演会2012, May 2012, Japanese, 日本機械学会ロボティクスメカトロニクス部門, 浜松市, Domestic conference

  Poster presentation


• 磁気式触覚センサ内部の永久磁石の回転角

  KURODA Ken, TAKENAWA Satoru, NAKAMOTO Hiroyuki

  第12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, Dec. 2011, Japanese, 計測自動制御学会, 京都大学, Domestic conference

  Oral presentation


• 磁気式触覚センサの構造と基礎的評価

  NAKAMOTO Hiroyuki, TAKENAWA Satoru, KOBAYASHI Futoshi, KOJIMA Fumio

  平成23年度日本設備管理学会秋季研究発表大会/第3回検査・評価・保全に関する連携講演会, Dec. 2011, Japanese, 日本設備管理学会, 大阪市立大学, Domestic conference

  Oral presentation


• 空気圧シリンダを用いた肘置き式上肢機能回復訓練システムの開発

  OKI Kyohei, SUGAHARA Naoki, SAGA Nobuhiko, NAGASE Jun-ya, NAKAMOTO Hiroyuki

  第12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, Dec. 2011, Japanese, 計測自動制御学会, 京都大学, Domestic conference

  Oral presentation


• 多指ロボットハンドのための触覚情報に基づく物体操作

  FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  第54回自動制御連合講演会, Nov. 2011, Japanese, 計測自動制御学会, 豊橋技術科学大学, 愛知県豊橋市., Domestic conference

  Oral presentation


• リンク機構を有する空気圧駆動型上肢リハビリテーション支援装置の開発

  SUGAHARA Naoki, OKI Kyohei, SAGA Norihiko, NAGASE Junya, NAKAMOTO Hiroyuki

  第54回自動制御連合講演会, Nov. 2011, Japanese, 計測自動制御学会, 豊橋技術科学大学, 愛知県豊橋市., Domestic conference

  Oral presentation


• arm motion

  KOBAYASHI Futoshi, IKAI George, HASEGAWA Ko, NAKAMOTO Hiroyuki, KOJIMA Fumio

  International Workshop on Simulation and Modeling related to Computational Science and Robotics Technology, Nov. 2011, English, Kobe University, Kobe University, Kobe., International conference

  Oral presentation


• Object manipulation based on tactile information of multi-fingered robot hand

  FUKUI Wataru, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, KOJIMA Fumio

  International Workshop on Simulation and Modeling related to Computational Science and Robotics Technology, Nov. 2011, English, Kobe University, Kobe University, Kobe., International conference

  Oral presentation


• Displacement and force measurement, slip detection by magnetic type tactile sensor

  NAKAMOTO Hiroyuki, TAKENAWA Satoru

  International Workshop on Simulation and Modeling related to Computational Science and Robotics Technology, Nov. 2011, English, Kobe University, Kobe University, Kobe., International conference

  Oral presentation


• A Study of Active Touch with Distributed Tactile Sensor

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  Intelligent System Symposium 2011, Sep. 2011, Japanese, 社団法人日本機械学会, 神戸, Domestic conference

  Oral presentation


• Tele-Operation System for HandArm Robot by Hand Recognition System

  HASEGAWA Ko, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, SHIRASAWA Hidenori

  Intelligent System Symposium 2011, Sep. 2011, Japanese, 社団法人日本機械学会, 神戸, Domestic conference

  Oral presentation


• Tactile based Object Manipulation for Universal Robot Hand II

  WATARU Fukui, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SHIRASAWA Hidenori

  Intelligent System Symposium 2011, Sep. 2011, Japanese, 社団法人日本機械学会, 神戸, Domestic conference

  Oral presentation


• Development of Teloperation System for Robothand by Grasping Power Stabilization Method

  KOBAYASHI Futoshi, MAEMOTO Daisuke, WATARU Fukui, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  2011 JSME Conference on Robotics and Mechatronics, May 2011, Japanese, 社団法人日本機械学会, 岡山, Domestic conference

  Poster presentation


• Operation design of HandArm Robot to open door

  KAWAMURA Ryosuke, WATARU Fukui, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, IMAMURA Nobuaki, SASABE Kazuhiro, SHIRASAWA Hidenori

  第55回システム制御情報学会研究発表講演会, May 2011, Japanese, システム制御情報学会, 大阪, Domestic conference

  Oral presentation


• Anti-Slip Control for Universal Robot Hand II based on Slip Detection Using Multi-Axis ForceTorque Sensor

  WATARU Fukui, MARUTA Shuhei, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, KIDA Yasuaki, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  2011 JSME Conference on Robotics and Mechatronics, May 2011, Japanese, 社団法人日本機械学会, 岡山, Domestic conference

  Poster presentation


• Outer Shape Classification in Rotation Manipulation by Universal Robot Hand

  NAKAMOTO HIROYUKI

  IEEE Workshop on Robotic Intelligence in Informationally Structured Space, 2009, English, International conference

  Oral presentation


• Shape Classification in Rotation Manipulation by Universal Robot Hand

  NAKAMOTO HIROYUKI

  IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, English, International conference

  Oral presentation


• Shape Classification in Continuous Rotation Manipulation by Universal Robot Hand

  NAKAMOTO HIROYUKI

  Joint 4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium on Advanced Intelligent Systems, 2008, English, International conference

  Oral presentation


• Universal Robot Hand Equipped with Tactile and Joint Torque Sensors - Development and Experiments on Stiffness Control and Object Recognition -

  NAKAMOTO HIROYUKI

  The 10th World Multi-Conference on Systemics, Cybernetics and Informatics, 2006, English, International conference

  Oral presentation

• 社団法人 日本ロボット学会


• システム制御情報学会


• IEEE

• Prediction of dynamic food texture sensation by multimodal sensory integration and dominant model

  中本 裕之

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Grant-in-Aid for Scientific Research (C), Kobe University, Apr. 2020 - Mar. 2023, Principal investigator

  本研究では時間とともに変化する複数の感覚を統合し知覚の動態を表現する数理的手法を確立することを目的とする。特に咀嚼時の歯の力触覚の感覚である食感を対象とする。視覚や聴覚に比較して力触覚のセンサ化並びに定量化は確立しておらず、食感に関しても我々が日々の食事の際の身近な感覚であり、おいしさに直結する重要な感覚であるにもかかわらず既存の定量化手法が不十分である。また、咀嚼動作は食物を破断し食塊を形成するプロセスとなるが、この間の食感の変化を表現する数理的手法も明らかでない。これら課題の解決のため、令和3年度では、次の3つのサブテーマに分けて研究を推進した。 サブテーマa)「食感センサの製作と計測システムの構築」においては、令和2年度に設計製作した独自の磁気式食感センサを用いて、力と振動の同時計測によってクリスピーな食感をもつ食品の部分的な破砕のタイミングを捉えられること、また従来と比較して高速に咀嚼動作の生成が可能な咀嚼運動装置と組み合わせることによって食品のもつ粘性の同時計測も可能なことを確認した。サブテーマb)「多感覚統合モデルによる食感強度推定」では、ガウス過程回帰を用いた食感推定を行い、食感センサから得られた力と振動の力触覚感覚と気導音である聴覚との融合を行った。力触覚感覚だけでなく音の情報を加えることで高精度に食感強度推定が可能なことを確認した。サブテーマc)「支配的食感決定モデルと食感の動態の解析」においては、咀嚼回数の違いによって変化する硬さや脆さなどの特徴量を確認し、それらを自己回帰モデルに用いることで複数の食感の動態を表現できることを確認した．


• 歯根膜内の受容器特性をもつ磁気式食感センサの高度化

  中本 裕之

  科学技術振興機構, 産学が連携した研究開発成果の展開 研究成果展開事業 研究成果最適展開支援プログラム(A-STEP) 機能検証フェーズ 試験研究タイプ, 神戸大学, 2019 - 2020, Principal investigator

  食品破断時の力と振動を同時に計測可能な磁気式食感センサをシーズ技術として、高精度化や高耐久性などの性能・仕様を高度化し、企業ニーズである食感定量評価の食品開発への実用化を加速する。


• 歯根膜内の受容器の特性を有する食感センサを用いた食感の定量化に関する研究

  中本 裕之

  学術研究助成基金助成金／基盤研究(C), Apr. 2016 - Mar. 2019, Principal investigator

  Competitive research funding


• 歯根膜の柔軟性と受容特性に基づく食感センサを用いた食感計測に関する研究

  中本 裕之

  学術研究助成基金助成金／基盤研究(C), Apr. 2013 - Mar. 2016, Principal investigator

  Competitive research funding


• 磁気計測にもとづく鉄鋼構造物の状態監視技術に関する研究

  小島 史男

  科学研究費補助金／基盤研究(C), Apr. 2012 - Mar. 2016

  Competitive research funding


• 拡張現実感覚提示と作業反力提示によるロボットハンドの遠隔操作

  小林 太

  科学研究費補助金／基盤研究(C), Apr. 2012 - Mar. 2015

  Competitive research funding


• 触覚センサの開発と触覚情報処理

  共同研究, 2006 - 2011

  分布情報となる触覚センサ出力をロボットハンドの動作と合わせて対象物の認識や操作に応用する．

  Competitive research funding


• 人工マトリクス・スキンと階層型情報処理モデルによる触覚知覚に関する研究

  中本 裕之

  学術研究助成基金助成金／若手研究(B), 2011, Principal investigator

  Competitive research funding


• Spatial resolution-variable tactile sensor and its decision for control of multi-fingered hand

  NAKAMOTO Hiroyuki

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Young Scientists (B), Hyogo Prefectural Institute of Technology, 2009 - 2010

  We have developed a distributed tactile sensor which can change its spatial resolution. The sensor has 256 measurement units. The sensing circuit can change lines for applied voltages, and the sensor can measure each or whole of all units. Then, in case of the whole or multiple measurements, the sensor can shorten the sensing cycle. We applied the sensor to multi-fingered robotic hand, and used the robotic hand for a work of opening door. Therefore, we confirmed that it is effective for the work to use the tactile information.


• recognition using tactile sensor

  Competitive research funding

• 食感評価方法、食感標準モデル

  中本裕之, 早田一, 長畑雄也, 木村功, 清水里奈, 堀田真理子, 井上賀美

  特願2019-151109, 21 Aug. 2019

  Patent right


• 静電容量型センサ、及び、回転角度の測定方法

  中本裕之, 別所侑亮, 大高秀夫

  特願2014-227558, 07 Nov. 2014, 特許6554657, 19 Jul. 2019

  Patent right