Research activity information

• 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

• 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.

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

  Scientific journal


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

  Takahiro Aoki, Hiroyuki Nakamoto, Futoshi Kobayashi

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

  Scientific journal


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

  Ryoga Nishimura, Hiroyuki Nakamoto, Futoshi Kobayashi

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

  Scientific journal


• 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.

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

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


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

  Ryoga Nishimura, Hiroyuki Nakamoto, Futoshi Kobayashi

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

  International conference proceedings


• 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

  Institute of Electrical and Electronics Engineers (IEEE), Jul. 2021, IEEE Sensors Journal, 21(13) (13), 14352 - 14359

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• 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

  Wiley, May 2021, Journal of Texture Studies

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• 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.

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

  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

  Springer International Publishing, 2021, Lecture Notes in Networks and Systems, 415 - 422

  In book


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

  Kento Kusumi, Hiroyuki Nakamoto, Futoshi Kobayashi, Yuya Nagahata

  IEEE, Oct. 2020, 2020 IEEE SENSORS

  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

  IEEE, Jul. 2020, 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)

  International conference proceedings


• Fusion System of Vision and Hearing Sensation using Deep Learning

  Kazuto Tsumura, Futoshi Kobayashi, Hiroyuki Nakamoto

  Corresponding, Dec. 2019, Proceedings of 2019 International Symposium on Micro-NanoMechatronics and Human Science, English

  [Refereed]

  International conference proceedings


• 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.

  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

  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

  Jul. 2019, 31(7) (7), 2357 - 2365, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• メンデルソン手技のための柔軟膜ひずみセンサによる喉頭挙上検出方法

  勝野 友基, 中本 博之, 山本 暁生, 梅原 健, 別所 侑亮, 小林 太, 石川 朗

  嚥下リハビリテーションの１つに喉頭を随意的に持ち上げるメンデルソン手技がある．この手技の問題点として口頭による教示では対象者自身で習得が困難な場合がある．そこで，喉頭運動を視覚的に補助するバイオフィードバックツールの利用が推奨されている．本研究では，バイオフィードバックツールの開発を目的とし，柔軟膜ひずみセンサを用いた喉頭挙上検出方法の検証を行った．若年健常成人（男性9名，女性12名）の頸部に柔軟膜ひずみセンサを組み込んだデバイスを装着し，手技時の喉の周囲径の時系列データを取得した．計測時には言語聴覚士の触診による喉頭挙上判定をセンサと同期して取得した．取得データに対しクラスタリングを行い，手技時の波形を分類した．分類された波形を用いて，1階差分とパターンマッチングにより喉頭挙上の検出を行った．全21試行中12試行で，挙上時間について言語聴覚士の判定との差が1秒未満で検出された．1秒未満であった試行の多くはバスタブ形状の波形であった．若年健常成人において，本手法により喉頭挙上を検出できる可能性が示された．高齢者での波形の分類や，検出アルゴリズムの改善が今後の課題である．

  公益社団法人 日本生体医工学会, 2019, 生体医工学, Annual57(Abstract) (Abstract), S165_2 - S165_2, Japanese


• 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


• 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)


• Joint angle measurement by stretchable strain sensor

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

  Springer Berlin Heidelberg, Jun. 2018, Journal of Ambient Intelligence and Humanized Computing, 1 - 6, English

  [Refereed]

  Scientific journal

  Link to Kobe Univ. Repository (Kernel)


• 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)


• 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


• 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


• 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


• 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


• Joint Angle Measurement by Stretchable Strain Sensor

  NAKAMOTO Hiroyuki, YAMAJI Tokiya, HIRATA Ichiro, OOTAKA Hideo, KOBAYASHI Futoshi

  2017, Proc. of the 3rd International Conference on Ambient Intelligence and Ergonomics in Asia 2017, 1 - 6, 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)


• 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


• 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


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

  Fumio Kojima, Futoshi Kobayashi, Hiroyuki Nakamoto

  IOS Press, 2016, International Journal of Applied Electromagnetics and Mechanics, 52(1-2) (1-2), 1 - 2, 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


• 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


• 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


• Robot-Human Handover for Home-living-assistance Robot

  OKAMOTO Kouki, KOBAYASHI Futoshi, KOJIMA Fumio

  Oct. 2014, Proc. of International Conference on Functional Materials and Applications, English

  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


• 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


• 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


• 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


• Robot-Human Handover Based on Position and Posture of Human Hand

  Futoshi Kobayashi, Kouki Okamoto, Fumio Kojima

  2014, 2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS), 918 - 921, 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


• 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


• 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)


• Handover Motion based on Human Hand Posture with Hand/Arm Robot

  Futoshi Kobayashi, Fumio Kojima

  2013, 2013 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS), English

  [Refereed]

  International conference proceedings


• 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


• 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


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

  Wataru Fukui, Futoshi Kobayashi, Fumio Kojim

  InTech, Jan. 2012, The Future of Humanoid Robots - Research and Applications

  In book


• 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


• 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


• 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


• Two-Fingered Haptic Device for Robot Hand Teleoperation

  Futoshi Kobayashi, George Ikai, Wataru Fukui, Fumio Kojima

  A haptic feedback system is required to assist telerehabilitation 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 the distal segment of the operator's thumb, middle finger, and basipodite of the middle finger when the robot hand grasps an object. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.

  Hindawi Limited, Oct. 2011, Journal of Robotics, Volume 2011, Article ID 419465, 1 - 8, 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


• 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


• Shape classification in continuous rotation manipulation by universal robot hand

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

  Fuji Technology Press, 2009, Journal of Advanced Computational Intelligence and Intelligent Informatics, 13(3) (3), 178 - 184, 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 Proceedings (Industrial Electronics Conference), pp. 1117-1122, 2205 - 2210, 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, Vol. 13, No. 3, pp.178-184, 145 - +, 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, 145 - +, 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, Vol 13. No. 3, pp. 178-184, 145 - +, English

  [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


• 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


• Outer Shape Classification of Object in Rotation Operation by Universal Robot Hand Using Continuous Dynamic Programming

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

  Oct. 2008, Transactions of the Japan Society of Mechanical Engineers, 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


• 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 Rotating Manipulation by Universal Robot Hand

  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, 53 - 58, English

  [Refereed]

  International conference proceedings


• 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


• Development of eddy current testing system for complicated-shaped components

  Akira Nishimizu, Tetsuya Matsui, Masahiro Koike, Yoshio Nonaka, Toshio Kojima, Futoshi Kobayashi, Toshiyuki Takagi, Tetsuya Uchimoto, Hisashi Endo, Mitsuo Hashimoto, Katsuhiro Fukuoka

  Atomic Energy Society of Japan, 2008, Transactions of the Atomic Energy Society of Japan, 7(2) (2), 142 - 151, 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 Pressure Distributed Sensor for Universal Robot Hand

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

  Sep. 2007, Transactions of the Japan Society of Mechanical Engineers, 73(733) (733), 2561 - 2567, Japanese

  [Refereed]

  Scientific journal


• Self-Localization based on Particle Filter for Underwater Inspection Robot

  KOBAYASHI Futoshi, KOJIMA Fumio

  Sep. 2007, Proc. of 13th International Symposium on Applied Electromagnetics and Mechanics, pp. 145-146, English

  [Refereed]

  International conference proceedings


• Study on In-Pipe Corrosion Diagnosis System -Corrosion Estimation on Screw Parts Using a Surface SH Probe-:-Corrosion Estimation on Screw Parts Using a Surface SH Probe-

  FUKUDA Toshio, YUI Hironori, SAKAMOTO Shintaro, ABE Yasunori, HASEGAWA Yasuhisa, KOBAYASHI Futoshi, ARAI Fumihito

  In diagnosing air-conditioning pipe deterioration, it is especially important to inspect screwed parts because their original thickness is thinner than that of straight parts and it is comparatively easy for leakage to occur if there is local internal corrosion. We examined a method of applying an ultrasonic test for the inspection, and proposed a method for detecting internal local corrosions of screwed parts and estimating the size and the position of corrosion with angle probe of surface SH waves. In this paper, we describe the results of experimental analysis on the echo from screwed parts of pipes, and we show the method to detect the internal local corrosion and estimate the size and position by using the edge echo. Finally, we describe the results of tests on artificial corrosion pipes and the limitations of this method.

  The Japan Society of Mechanical Engineers, 2007, JEE, 2(2) (2), 247 - 256, English


• Multi-Robot Formation with Multi-Object Behavior Coordination in Static Environment

  Futoshi KOBAYASHI, Fumio KOJIMA, Naoki Takayanagi

  Sep. 2006, Proc. of Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on Advanced Intelligent Systems, CD-ROM, English

  [Refereed]

  International conference proceedings


• Exploring unknown environment using position correction based on explored information in multi-robot teleoperation

  Futoshi Kobayashi, Yuki Minami, Fumio Kojima

  2006, 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 3496 - +, English

  [Refereed]

  International conference proceedings


• Crack detection by mobile robot with ECT sensor

  F Kobayashi, F Kojima, H Nakatsuka

  2006, PROCEEDINGS OF THE 3RD INTERNATIONAL SYMPOSIUM ON AUTONOMOUS MINIROBOTS FOR RESEARCH AND EDUTAINMENT (AMIRE 2005), 299 - +, English

  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


• Position correction based on knowledge sharing with dependability in multi-robot exploration

  Futoshi Kobayashi, Fumio Kojima

  2006, WMSCI 2006: 10TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL II, PROCEEDINGS, Vol. 2, pp. 240-245, 240 - 245, English

  [Refereed]

  International conference proceedings


• Crack shape recovery with ECT sensor robot for remote diagnosis system

  Futoshi Kobayashi, Teruo Usami, Fumio Kojima, Hisashi Nakatsuka

  2006, 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 5326 - +, English

  International conference proceedings


• Development of Adjustable Environmental Interface with Proximity Sensor for Robot Teleoperation

  小林 太, 小島 史男

  Dec. 2005, Transaction of the Japan Society of Mechanical Engineers, 71(712) (712), 3494 - 3501, Japanese

  [Refereed]

  Scientific journal


• Study on In-Pipe Corrosion Diagnosis System (Corrosion Estimation on Screw Parts Using a Surface SH Probe)

  福田 敏男, 油井 拓紀, 酒本 晋太郎, 阿部 靖則, 長谷川 泰久, 小林 太, 新井 史人

  In diagnosing air-conditioning pipe deterioration, it is especially important to inspect screwed parts because their original thickness is thinner than that of straight parts and it is comparatively easy for leakage to occur if there is local internal corrosion. We examined a method of applying an ultrasonic test for the inspection, and proposed a method for detecting internal local corrosions of screwed parts and estimating the size and the position of corrosion with angle probe of surface SH waves. In this paper, we describe results of experimental analysis on the echo from screwed parts of pipes, and we show the method to detect the internal local corrosion and estimate the size and position by using the pipe-end echo. Finally, we describe the results of tests on artificial corrosion pipes and the limitations of this method.

  The Japan Society of Mechanical Engineers, Oct. 2005, Transaction of the Japan Society of Mechanical Engineers, 71(710) (710), 2888 - 2895, Japanese

  [Refereed]

  Scientific journal


• Development of hybrid nondestructive evaluation system using electromagnetic inverse analysis with measurements

  KOJIMA Fumio, KOBAYASHI Futoshi, KAWAI Nobuhiro, KAMEZAKI Shingo, NISHIMIZU Akira, KOIKE Masahiro, MATSUI Tetsuya

  Aug. 2005, Proceedings of the SICE Annual Conference, 992-995, English

  [Refereed]

  International conference proceedings


• Study on In-Pipe Corrosion Diagnosis System (Inference of Corrosion Using Wavelets and Two Dimensional Data)

  福田 敏男, 油井 拓紀, 酒本 晋太郎, 阿部 靖則, 長谷川 泰久, 小林 太, 新井 史人

  Aug. 2004, Transactions of the Japan Society of Mechanical Engineers, 70(696) (696), 2322 - 2328, Japanese

  [Refereed]

  Scientific journal


• Strategy Determination by Statistical Technique in Autonomous Conveyance System

  KOBAYASHI Futoshi, YASUDA Yuji, KOJIMA Fumio

  In recent years, an aim of conveyance systems is to provide suitably for various demands and to treat a wide variety of products, therefore autonomous decentralization is needed in conveyance system. Because conventional conveyance systems are designed for efficiency and it takes much time and resource to change specification or cope with breakdowns. Many research works on autonomous distributed conveyance systems have been proposed so far. However, it is difficult to use conventional methods in dynamic environment with environmental change. Therefore, this paper proposes a strategy determination method by statistical technique. In this method, each robot estimates an environmental state with queueing theory in order to decide strategy autonomously. Moreover, each robot recognizes environmental change and expire the stored environmental state in order to decide a new strategy suitable for a new environment.

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), May 2004, システム制御情報学会論文誌, 17(5) (5), 202 - 210, Japanese

  [Refereed]

  Scientific journal


• Study on In-Pipe Corrosion Diagnosis System -Estimation of Corrosion on Screw Parts Using a Surface SH Probe-

  SAKAMOTO Shintaro, FUKUDA Toshio, YUI Hironori, ABE Yasuhiro, HASEGAWA Yasuhisa, KOBAYASHI Futoshi, ARAI Fumihito

  Feb. 2004, Journal of Robotics and Mechatronics, Vol. 16, No. 1, pp. 61-70(1) (1), 61 - 70, English

  [Refereed]

  Scientific journal


• Study on In-Pipe Corrosion Diagnosis System -Corrosion Estimation Using Wavelet Transform and Two-dimensional Information-

  SAKAMOTO Shintaro, FUKUDA Toshio, YUI Hironori, ABE Yasuhiro, HASEGAWA Yasuhisa, KOBAYASHI Futoshi, ARAI Fumihito

  Feb. 2004, Journal of Robotics and Mechatronics, Vol. 16, No. 1, pp. 71-79(1) (1), 71 - 79, English

  [Refereed]

  Scientific journal


• Development of remote diagnosis system for power plants using electromagnetic inverse analysis

  KOJIMA Fumio, KOBAYASHI Futoshi, NISHIMIZU Akira, KOIKE Masahiro, MATSUI Tetsuya

  2004, Proc. of the International Symposium on Dynamic and Control, 97-105, English

  [Refereed]

  International conference proceedings


• Sensor selection based on fuzzy inference for sensor fusion

  F Kobayashi, D Masumoto, F Kojima

  2004, 2004 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-3, PROCEEDINGS, CD-ROM, 305 - 310, English

  [Refereed]

  International conference proceedings


• Sensor Fusion with Link Selective Neural Network based on Sensor Reliability

  KOBAYASHI Futoshi, KOJIMA Fumio

  Dec. 2003, Proc. of the Second International Conference on Computational Intelligence, Robotics and Automation, CD-ROM, English

  [Refereed]

  International conference proceedings


• Autonomous Conveyance System Using Bayesian Inference

  KOBAYAHI Futoshi, YASUDA Yuji, KOJIMA Fumio

  This paper deals with an autonomous distributed conveyance system under a dynamic environment. In order for each agent to implement strategy determination autonomously, it needs to acquire environmental information. In this system, information is exchanged among other agents. By using Bayesian inference for gathered local information, the overall situation is predicted and strategy is determined. Moreover, when current environmental information differs from information acquired from environment by environmental big change etc., cancellation of the current strategy and re-decision are implemented.

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), Oct. 2003, システム制御情報学会論文誌, Vol. 16, No. 10, pp. 500-506(10) (10), 500 - 506, Japanese

  [Refereed]

  Scientific journal


• Sensor Fusion by Link Selective Neural Network Based on Sensor Selection

  KOBAYASHI Futoshi, FUKUI Takeharu, FUKUDA Toshio, ARAI Fumio, ONODA Makoto, KOJIMA Fumio

  Sep. 2003, Transactions of the Japan Society of Mechanical Engineers, 69(685) (685), 2344 - 2349, Japanese

  [Refereed]

  Scientific journal


• Re-formation of mobile robots using Genetic Algorithm and Reinforcement Learning

  F Kobayashi, N Tomita, F Kojima

  2003, SICE 2003 ANNUAL CONFERENCE, VOLS 1-3, 2902 - 2907, English

  [Refereed]

  International conference proceedings


• Determination of exploration target based on belief measure in multi-robot exploration

  F Kobayashi, S Sakai, F Kojima

  2003, 2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, 1545 - 1550, English

  [Refereed]

  International conference proceedings


• Knowledge Sharing based on Dependability in Multi-Robot Exploration

  KOBAYASHI Futoshi, SHINYAMA Shigeru, KOJIMA Fumio

  Sep. 2002, Proc. of Knowledge-Based Intelligent Information Engineering Systems and Allied Technologies, pp. 1382-1386, English

  [Refereed]

  International conference proceedings


• 配管腐食診断システムの研究（超音波探傷法による平面情報を用いた腐食種類，規模の推定）

  福田敏男, 油井拓紀, 酒本晋太郎, 阿部靖則, 長谷川泰久, 小林太, 新井史人

  2002, 日本機械学会論文集（Ｃ編）, 68(666) (666), 391 - 397


• Sharing of exploring information using belief measure for multi robot exploration

  F Kobayashi, S Sakai, F Kojima

  2002, PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2, pp. 1544-1549, 1544 - 1549, English

  [Refereed]

  International conference proceedings


• Sensor selected fusion with sensor selection based gating neural network

  F Kobayashi, T Fukui, F Arai, T Fukuda, F Kojima, M Onoda, Y Hotta

  2002, PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2, pp. 1482-1487, 1482 - 1487, English

  [Refereed]

  International conference proceedings


• Shape recovery of natural crack using evolutionary programming related to eddy current testing

  F Kojima, N Kubota, F Kobayashi, T Takagi

  2001, INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS, 15(1-4) (1-4), 243 - 247, English

  [Refereed]

  Scientific journal


• Acquisition of sensor fusion rule based on environmental condition in sensor fusion system

  F Kobayashi, Y Tanabe, T Fukuda, F Kojima

  2001, JOINT 9TH IFSA WORLD CONGRESS AND 20TH NAFIPS INTERNATIONAL CONFERENCE, PROCEEDINGS, VOLS. 1-5, pp. 2096-2101, 2096 - 2101, English

  [Refereed]

  International conference proceedings


• Sensor selected fusion considering process condition in grinding system

  F Kobayashi, T Fukui, T Fukuda, F Kojima, M Onoda, Y Hotta

  2001, MFI2001: INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS, pp. 121-126, 121 - 126, English

  [Refereed]

  International conference proceedings


• Knowledge sharing using belief measure in multi robot system

  F Kobayashi, S Sakai, F Kojima

  2001, KNOWLEDGE-BASED INTELLIGENT INFORMATION ENGINEERING SYSTEMS & ALLIED TECHNOLOGIES, PTS 1 AND 2, 69, 535 - 539, English

  [Refereed]

  International conference proceedings


• Sensor Selected Fusion for Intelligent Robotic Systems

  KOBAYASHI Futoshi, FUKUDA Toshio

  Sep. 2000, Proc. of 1st IFAC Conference on Mechatronic Systems, pp. 599-604, English

  [Refereed]

  International conference proceedings


• Sensor Selection by Reliability Based on Possibility Measure and Its Application to Grinding Process

  KOBAYASHI Futoshi, ARAI Fumihito, FUKUDA Toshio, ONODA Makoto, HOTTA Yuzo

  Manufacturing systems become complex more and more for adapting to various environmental conditions. In these systems, sensor fusion methods for estimating states of a system from multiple sensor information have received much attention. Also, it is necessary to select the sensor infromation for adapting to various situation flexibly. In these days, various methods of fusing multiple information have been proposed so far, but these methods don't select the sensor information by the reliability of each sensor. In this paper, we propose a sensor selected fusion system using a recurrent neural network. The sensor selection method is based on the production system considering with the reliability which expressed by the possibility measure. The effectiveness of the proposed method is shown through inferring the surface roughness in the grinding process.

  The Society of Instrument and Control Engineers, Mar. 2000, 計測自動制御学会論文集, 36(3) (3), 290 - 297, Japanese

  [Refereed]

  Scientific journal


• Sensory Evaluation System Based on KANSEI Self-Tuning Spline Fuzzy Inference (Acquisition of KANSEI for Persimmon)

  FUKUDA Toshio, CHIKAZAWA Tomoya, HASEGAWA Yasuhisa, KOBAYASHI Futoshi, SHIMOJIMA Koji, YAMAGUCHI Yuji

  Mar. 2000, International Journal of Fuzzy Systems, Vol. 2, No. 1, pp. 54-59, English

  [Refereed]

  Scientific journal


• Acquisition of KANSEI based on Fuzzy inference and multivaritate analysis

  T Fukuda, T Chikazawa, Y Hasegawa, F Kobayashi, K Shimojima, Y Yamaguchi

  2000, DATA MINING II, 2, 83 - 92, English

  International conference proceedings


• Sensor selected fusion using selection rules acquired by ES (application to inference of surface roughness in grinding system)

  F Kobayashi, F Arai, T Fukuda, M Onoda, Y Hotta

  2000, NINTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS (FUZZ-IEEE 2000), VOLS 1 AND 2, pp. 1068-1073, 1068 - 1073, English

  [Refereed]

  International conference proceedings


• Self-organization of non signal urban traffic flow with fuzzy model

  F Kobayashi, K Takishita, T Fukuda

  2000, 2000 IEEE INTELLIGENT TRANSPORTATION SYSTEMS PROCEEDINGS, pp. 21-26, 21 - 26, English

  [Refereed]

  International conference proceedings


• Seamless tracking system with multiple cameras

  T Fukuda, T Suzuki, F Kobayashi, F Arai, Y Hasegawa, M Negi

  2000, IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 26th(Vol.2) (Vol.2), 1249 - 1254, English

  [Refereed]

  International conference proceedings


• Extraction of KANSEI from Expert and Sensory Evaluation System based on KANSEI

  T Fukuda, T Chikazawa, Y Hasegawa, F Kobayashi, K Shimojima, Y Yamaguchi

  2000, IECON 2000: 26TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-4, 26th(Vol.1) (Vol.1), 211 - 216, English

  [Refereed]

  International conference proceedings


• Intelligent Monitoring System for Grinding Process by Recurrent Fuzzy Inference (Evaluation of Inferred Surface Roughness Using Degree of Fuzziness)

  KOBAYASHI Futoshi, ARAI Fumihito, FUKUDA Toshio, ONODA Makoto, MARUI Norimasa

  Oct. 1999, Journal of Robotics and Mechatronics, Vol. 11, No. 5, pp. 423-430(5) (5), 423 - 430, English

  [Refereed]

  Scientific journal


• Sensory Evaluation System based on KANSEI Self-tuning Spline Fuzzy Inference (Acquisition of KANSEI for Persimmon)

  FUKUDA Toshio, CHIKAZAWA Tomoya, HASEGAWA Yasuhisa, KOBAYASHI Futoshi, SHIMOJIMA Koji, YAMAGUCHI Yuji

  Aug. 1999, Proc. of IEEE International Conference on Fuzzy Systems, pp. 1498-1503, English

  [Refereed]

  International conference proceedings


• Sensor Selected Fusion System (Application to Inference of Surface Roughness in Grinding System)

  KOBAYASHI Futoshi, ARAI Fumihito, FUKUDA Toshio, ONODA Makoto, HOTTA Yuzo

  Aug. 1999, Proc. of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 123-128, English

  [Refereed]

  International conference proceedings


• Adaptation, Learning and Evolution for Intelligent Systems

  KOBAYASHI Futoshi, FUKUDA Toshio

  Aug. 1999, Proc. of IEEE International Conference on Fuzzy Systems, pp. 1203-1210, English

  [Refereed]

  International conference proceedings


• Proposal of Reliability Based on Degree of Fuzziness for Evaluating Sensor Fusion

  KOBAYASHI Futoshi, ARAI Fumihito, SHIMOJIMA Koji, FUKUDA Toshio, ONODA Makoto, HOTTA Yuzo

  Apr. 1999, Journal of Japan Society for Fuzzy Theory and Systems, Vol. 11, No. 2, pp. 320-327(2) (2), Japanese

  [Refereed]

  Scientific journal


• Sensor selection by reliability based on possibility measure

  F Kobayashi, F Arai, T Fukuda

  1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, pp. 2614-2619, 2614 - 2619, English

  [Refereed]

  International conference proceedings


• Sensor selection by reliability based on possibility measure

  F Kobayashi, F Arai, T Fukuda

  1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, pp. 492-497, 2614 - 2619, English

  [Refereed]

  International conference proceedings


• Sensor fusion system using Recurrent Fuzzy Inference

  F Kobayashi, F Arai, T Fukuda, K Shimojima, M Onoda, N Marui

  Oct. 1998, JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 23(2-4) (2-4), 201 - 216, English

  [Refereed]

  Scientific journal


• Intelligent Monitoring System for Grinding by Recurrent Fuzzy Inference (Evaluation of Estimated Surface Roughness by Degree of Fuzziness)

  KOBAYASHI Futoshi, ARAI Fumihito, FUKUDA Toshio, SHIMOJIMA Koji, ONODA Makoto, MARUI Norimasa

  Aug. 1998, Proc. of 3rd International Conference on Advanced Mechatronics, pp. 680-685, English

  [Refereed]

  International conference proceedings


• Online Estimation of Surface Roughness by Recurrent Fuzzy Inference in Grinding Process

  KOBAYASHI Futoshi, ARAI Fumihito, SHIMOJIMA Koji, FUKUDA Toshio, ONODA Makoto, MARUI Norimasa

  Apr. 1998, Transactions of the Japan Society of Mechanical Engineers, 64(620) (620), 1272 - 1277, Japanese

  [Refereed]

  Scientific journal


• Shape Measurement Method by Integrating Stereo Vision and Shape-from-Shading with Evolutionary Programming

  KOBAYASHI Futoshi, FUKUDA Toshio, SHIMOJIMA Koji, TAKUSAGAWA Teruhiko

  In this paper, we propose a new method for measuring the shape of objects. The proposed method is based on integrating stereo vision and Shape-from Shading with Evolutionary Programming (EP). In some traditional methods the reflection of objects is diffuse reflection. But because the reflection of real objects consists of diffuse and specular reflection, some methods cannot be applied to real objects. Photometric stereo can be applied to real objects but this method needs many original image for measuring the shape accurately. The proposed method can apply Phong model to a reflectivity function and measure the shape of the object which have the effect of diffuse and specular reflection. Then, this method uses EP for identifying the reflectivity function accurately.

  The Japan Society of Mechanical Engineers, Apr. 1998, Transactions of the Japan Society of Mechanical Engineers, 64(620) (620), 1244 - 1249, Japanese

  [Refereed]

  Scientific journal


• Shape reconstruction system integrating stereo vision and shape from shading with evolutionary programming

  F Kobayashi, T Fukuda, K Shimojima

  Jan. 1998, JOURNAL OF ELECTRONIC IMAGING, 7(1) (1), 8 - 15, English

  [Refereed]

  Scientific journal


• Shape reconstruction system integrating stereo vision and shape-from-shading - Shape reconstruction using pair improvement method

  F Kobayashi, T Fukuda, K Shimojima, T Takusagawa

  1998, 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, pp. 1847-1852, 1847 - 1852, English

  [Refereed]

  International conference proceedings


• Online Estimation of Surface Roughness by Recurrent Fuzzy Model in Grinding Process

  KOBAYASHI Futoshi, ARAI Fumio, FUKUDA Toshio

  Nov. 1997, Proc. of Manufacturing Science and Engineering, MED-Vol. 6-1, pp. 49-54(Vol.B) (Vol.B), English

  [Refereed]

  International conference proceedings


• Shape measurement method integrating stereo vision and shape-from-shading with evolutionary programming

  F Kobayashi, T Fukuda, K Shimojima, T Takusagawa

  1996, IROS '97 - PROCEEDINGS OF THE 1997 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOT AND SYSTEMS: INNOVATIVE ROBOTICS FOR REAL-WORLD APPLICATIONS, VOLS 1-3, pp. 1561-1566, 1561 - 1566, English

  [Refereed]

  International conference proceedings

• 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

  勝野友基, 中本裕之, 山本暁生, 梅原健, 別所侑亮, 小林太, 石川朗

  21 Jan. 2019, 計測自動制御学会関西支部・システム制御情報学会若手研究発表会講演論文集(CD-ROM), 2018, ROMBUNNO.C2‐5, Japanese


• 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

  勝野友基, 中本裕之, 山本暁生, 梅原健, 別所侑亮, 小林太, 石川朗

  13 Dec. 2018, 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), 19th, ROMBUNNO.1B2‐04, Japanese


• 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

  勝野友基, 中本裕之, 山本暁生, 梅原健, 別所侑亮, 寺田努, 小林太, 石川朗

  29 Aug. 2018, センシングフォーラム資料(CD-ROM), 35th, ROMBUNNO.1C3‐2, Japanese


• 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—A Study of Laryngeal Elevation Detection for Dysphagia Rehabilitation by Stretchable Strain Sensors

  勝野 友基, 中本 裕之, 山本 暁生, 梅原 健, 別所 侑亮, 寺田 努, 小林 太, 石川 朗

  計測自動制御学会計測部門, Aug. 2018, センシングフォーラム資料, 35, 147 - 152, Japanese


• 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


• 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


• 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


• 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


• 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


• 1A1-J07 Handover Motion by Hand/Arm Robot based on Hand Posture(Robot Hand Mechanism and Grasping Strategy (1))

  KOBAYASHI Futoshi, MARUNO Yuki, KOJIMA Fumio

  This paper deals with a handover motion for the hand/arm robot. Handing over objects to humans is an important motion for service robots. The robot has to change a trajectory for handover without disturbing human's works. Therefore, we propose a handover motion control for the hand/arm robot according to the hand posture of humans. The robot estimates the hand posture with a motion sensing input device Kinect and moves upward from the palm of human's hand.

  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 - J07(1)"-"1A1-J07(2)", Japanese


• 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


• 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


• Trajectory Generation based on Hand Posture for Handover Motion by Hand/Arm Robot

  小林 太, 丸野 由貴, 小島 史男

  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


• 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-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


• 1B2-1 Objects Recognition for Pickup Motion By Hand/Arm Robot

  MARUNO Yuki, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio

  Humanoid robots are expected to work some tasks in cooperation with human beings. In order to accomplish these tasks, the humanoid robots should have robotic hands and use some tools like human hands. We have developed the hand/arm robot system with the developed universal robot hand. This paper deals with object recognition and lifting for handing over the object to the human by the hand/arm robot with vision sensor. The validity of these method shows through an experiment with the hand/arm robot.

  The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011(21) (21), 104 - 105, Japanese


• 1C2-4 Study on size discrimination of grasping objects by force feedback

  IKAI George, FUKUI Wataru, KOBAYASHI Futoshi, Kojima Fumio

  The force feedback system for tele-operating robot hand is required because a robot hand operator can not feel reaction force or tactile stimulus. We have developed the haptic device named ExoPhalanx. ExoPhalanx act as a passive force feedback device on distal phalanx of thumb, distal phalanx of middle finger and basiposite of middle finger. In this paper, we estimate how accurately an operator discriminates size of the grasping object using the ExoPhalanx when the operator grasps an object by a tele-operated robot hand.

  The Japan Society of Mechanical Engineers, 01 Sep. 2011, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 2011(21) (21), 132 - 135, 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


• 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


• 1P1-C09 Development of two-fingered haptic device for manipulating robot hand(Haptic Interface)

  IKAI George, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio

  Haptic feedback system is required to provide reaction force resulting in the robot hand to an operator. In this paper, we develop a force feedback device to present reaction force in the operator when the robot hand grasping an object. The force feedback device presents reaction force in distal segment of thumb and middle finger, and basipodite of middle finger. The device is very compact, lightweight and has many force display points by using a Shape Memory Arroy as an actuator.

  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, "1P1 - C09(1)"-"1P1-C09(4)", 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


• 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


• 1A1-C10 Development of the force feedback exoskelton for manipulating robot hand

  IKAI George, Fukui WATARU, KOBAYASHI Futoshi, KOJIMAM Fumio

  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 exoskeleton for force feedback to present reaction force in an operator based on force data measured from the robot hand system. By using a Shape Memory Arroy as an actuator the exoskelton is very compact, lightweight, the structure is simple and easy maintenance. Build a Force Feedback System using a data glove and the exoskeleton, the performance of this system is evaluated.

  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, "1A1 - C10(1)"-"1A1-C10(2)", 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


• 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


• 1A1-A10 Development of multi-fingered universal robot hand

  FUJIMOTO Toyohisa, NAKANISHI Toshi, MAEDA Tadashi, IMAMURA Nobuaki, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, SASABE Kazuhiro, SHIRASAWA Hidenori

  A multi-fingered universal robot hand has been developed in order to construct the platform of humanoid hand study. The special feature of the hand is a miniaturized friction generation mechanism that is installed in the joint driving mechanism. This design has a good effect on sustaining a large external force by a small finger mechanism with a singular point posture.

  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 - A10(1)"-"1A1-A10(2)", Japanese


• 2A2-L02 Exploring Dyamic Environment in Multi-Robot Teleoperation System

  Kobayashi Futoshi, Minami Yuki, Kojima Fumio

  This paper deals with the human interface system for multi-robot teleoperation in exploring unknown environment. Some operators can recognize a robot's environment easily and teleoperate multiple robots through these interfaces. However, in an unknown environment, the position of obstacles are often changed by environmental change. When the position of obstacles are changed, the environmental map must be reconstructed for teleoperating the robots in the changed environment. In this paper, we propose a reconstruction method for the environmental map in dynamic environment. By reconstructing the environmental map, operators can teleoperate a robot appropriately in dynamic environment.

  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, "2A2 - L02(1)"-"2A2-L02(3)", 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


• 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


• 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


• 10205 Mobile Robot Navigation based on Sensor Selected Fusion System

  KOBAYASHI Futoshi, MASUMOTO Daisuke, KOJIMA Fumio

  In recent years, robot technology has remarkably developed and many researchers have worked on mobile robot behavior control. We suggest a sensor seiected fusion method based on neural network for a mobile robot navigation. In this method, we evaluate sensor values by possibility measure and select useful ones among all sensors according to selection rule with fuzzy logic. Back propagation algorithm is applied to neural network learning. In some cases, it's hard to determine the teach data for learning, therefore the data is acquired by GA. In addition, self-organizing map is used as a constraint condition in evolution. Through a simulation of mobile robot navigation, the effectiveness of the proposed method is clarified.

  The Japan Society of Mechanical Engineers, 17 Mar. 2005, 日本機械学会関東支部総会講演会講演論文集, 2005(11) (11), 309 - 310, 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


• 超音波による配管腐食診断技術〈ウェーブレット交換を利用した残存肉厚測定精度の向上〉

  酒本晋太郎, 阿部靖則, 福田敏男, 新井史人, 油井拓紀, 長谷川泰久, 小林太

  2005, 配管技術, 47(7) (7)


• 超音波による配管腐食診断システムの研究

  酒本晋太郎, 福田敏男, 新井史人, 長谷川泰久, 小林太, 油井拓紀

  2005, 新菱冷熱中央研究所報, 12


• Adjastable Human Interface to Environmental Change for Robot Teleoperation

  Kobayashi F, Matsui H, Kojima F

  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, 176 - 177, Japanese


• Crack shape identification arising in eddy current testing by multi coil probes

  KOJIMA Fumio, KAWAI Nobuhiro, KOBAYASI Futoshi, NISHIMIZU Akira, KOIKE Masahiro, MATSUI Tetsuya

  The Japan Society of Mechanical Engineers, 22 Nov. 2003, The Computational Mechanics Conference, 2003(16) (16), 649 - 650, Japanese


• Inference of In-pipe Corrosions States using Wavelet Transformed

  FUKUDA Toshio, YUI Hironori, SAKAMOTO Shintaro, ABE Yasunori, HASEGAWA Yasuhisa, KOBAYASHI Futoshi, ARAI Fumihito

  In non-destructive inspection, recognition of in-pipe corrosions form is important issue to infer corrosion type and a cause of corrosion generation. An ultrasonic flaw detection method has been used due to easy implementation. It however does not express enough performance when it is implemented to measure the thickness at complex corrosion form. In this paper, we propose an algorithm to improve the precision of ultrasonic flaw detection method using measuring data at multiple points and wavelet analysis. This algorithm can select a proper echo of ultrasonic wave in superposed reflection waves using spatial information and frequency characteristics. We show the improvement of thickness measurement of the proposed algorithm on a piping with the complex form of corrosions, comparing with the conventional thickness measurement method.

  The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 479 - 482, Japanese


• Environment Reconstruction using Distance Data for Robot Teleoperation

  KOBAYASHI Futoshi, MATSUI Hiroshi, KOJIMA Fumio

  Human interface for presenting an environment is received attention in robot teleoperation. Here, it is very important that an operator can recognize the environment quickly. Accordingly, a system need to represent required data for the operator. This paper deals with a novel method of reconstructing the environment using distance data measured by sensor. In this method, the system represents the reconstructed environment, not the sensing data. For showing the effectiveness of this method, we show some experimental results with small mobile robot "Khepera".

  The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 473 - 478, Japanese


• Application to Mobile Robot Exploration with Hierarchical Sensor Fusion

  Kobayashi F., Miyoshi H., Kojima F.

  近年, さまざまなセンサが開発され, ロボットに搭載されるようになり, ロボットが計測した情報を効果的に使用するためのセンサフュージョンの研究が行われている。しかし, 従来の研究では, 計測した情報を同時に処理する手法が利用されており, センサが多くなった場合, 時間がかかるといった問題がある。本発表では, すべてのセンサ情報を同時に処理するのではなく, 種類に応じて階層的に処理する新たなセンサフュージョンの手法を提案する。また, 提案した手法を移動ロボットの探索問題へ適用し, その有効性を示す。

  The Japan Society of Mechanical Engineers, 2002, ロボティクス・メカトロニクス講演会講演概要集, 2002, 88 - 88, Japanese


• 配管腐食診断システムの研究 超音波による内面腐食の推定

  酒本晋太郎, 油井拓紀, 福田敏男, 新井史人, 長谷川泰久, 小林太, 阿部靖則

  2002, 建設ロボットシンポジウム論文集, 9th


• 配管腐食診断システムの研究

  酒本晋太郎, 阿部靖則, 福田敏男, 新井史人, 長谷川泰久, 小林太, 油井拓紀

  2002, 新菱冷熱中央研究所報, 9


• Sensor Fusion System by Link Selective Neural Network based on Sensor Selection.

  小林太, 福井猛晴, 新井史人, 福田敏男, 小島史男, 小野田誠, 堀田祐三

  2002, 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, 2002(Pt.4) (Pt.4)


• In-Pipe Corrosion Diagnosis System. Estimation of the type and size of the corrosion using two-dimensional ultrasonic flaw detector.

  福田敏男, 油井拓紀, 阿部靖則, 酒本晋太郎, 長谷川泰久, 小林太, 新井史人

  2001, 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, 2001(Pt.3) (Pt.3)


• Sensor Selected Fusion System Considering Environmental Condition. Inference of Surface Roughness in Grinding Process.

  小林太, 福井猛晴, 新井史人, 福田敏男, 小島史男, 小野田誠, 堀田祐三

  2001, 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, 2001(Pt.3) (Pt.3)


• Monitoring system of drilling process by Recurent Fuzzy Inference.

  小林太, 福井猛晴, 新井史人, 福田敏男, 小島史男, 大関宏夫

  2001, インテリジェント・システム・シンポジウム講演論文集, 11th


• 知識データベースに基づくセンサ選択型融合システムによる研削加工粗さ推定

  小林太, 福田敏男, 新井史人, 福井猛晴

  2001, IMS研究成果講演論文集, 2001


• 1A1-29-034 センサ融合のための環境情報を考慮したセンサ選択ルールの獲得 : 研削加工プロセスにおける研削加工粗さの推定

  小林 太, 田部 陽介, 新井 史人, 福田 敏男, 小野田 誠, 堀田 祐三

  研削加工は加工精度を容易に得ることができる加工法としてさまざまな製造工程に使用されている。この加工法において, 加工中に計測した複数の情報から加工粗さを推測するセンサ融合手法が注目され, さまざまな状況において環境に応じてセンサ情報の選択することが求められている。本発表では, センサ選択機能を持つセンサ融合手法を提案する。本手法では, 進化的手法によりセンサを選択するためのルールを獲得し, そのルールに基づき選択されたセンサ情報の融合を行う。

  一般社団法人日本機械学会, 2000, ロボティクス・メカトロニクス講演会講演概要集, 2000, 34 - 34, Japanese


• Sensor Selected Fusion Considering Environmental Condition.

  小林太, 小島史男, 田部陽介, 福田敏男

  2000, インテリジェント・システム・シンポジウム講演論文集, 10th


• Acquistion of Selection Rule for Sensor Selected Fusion.

  小林太, 新井史人, 福田敏男, 小野田誠, 堀田祐三

  1999, インテリジェント・システム・シンポジウム講演論文集, 9th


• Inference of Surface Roughness in Grinding Process Using Sensor Selection Based on Possibility Measure.

  小林太, 新井史人, 福田敏男, 小野田誠, 堀田祐三

  1999, 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, 1999(Pt.1) (Pt.1)


• Motion planning based on hierarchical knowledge using evolutionary computation.

  倉重健太郎, 福田敏男, 星野春夫, 小林太

  1999, インテリジェント・システム・シンポジウム講演論文集, 9th


• An improvement of an estimation rule for roughness deterioration on ground surface.

  堀田祐三, 小野田誠, 早川幸孝, 福田敏男, 新井史人, 小林太

  1999, IMS研究成果講演論文集, 1999


• Online Estimation of Surface Roughness in Grinding Process by Recurrent Fuzzy Inference with Incremental Learning.

  小林太, 新井史人, 福田敏男, 小野田誠, 円井則雅

  1998, IMS研究成果講演論文集, 1998


• Shape Measurement using Stereo Vision and Shape-from-Shading.

  小林太, 福田敏男, 下島康嗣, 田草川照彦

  1997, インテリジェント・システム・シンポジウム講演論文集, 7th


• 3-D Measurement System based on Active Motion Camera.

  下島康嗣, 小林太, 福田敏男, 新井史人, 田草川照彦, 大岡俊之

  1994, 日本ロボット学会学術講演会予稿集, 12th(2) (2)

• Robotics 2010 Current and Future Challenges

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  Joint work, INTECH, Feb. 2010, English

  Scholarly book


• Robotics 2010:Current and Future Challenges

  NAKAMOTO Hiroyuki, KOBAYASHI Futoshi, KOJIMA Fumio

  Joint work, IN-TECH, Feb. 2010, English

  Scholarly book

• 微小物体の把持・操作が可能なロボットフィンガーの開発

  山野 達喜, 小林 太, 中本 裕之

  ロボティクス・メカトロニクス講演会2020, May 2020

  Poster presentation


• 深層学習を用いた視聴覚統融合システムに関する研究

  津村 和人, 小林 太, 中本 裕之

  ロボティクス・メカトロニクス講演会2020, May 2020

  Poster presentation


• 距離画像センサと音声インターフェースを用いた食事支援システムの開発

  崔 英斗, 小林 太, 中本 裕之

  第64回システム制御情報学会研究発表講演会, May 2020

  Oral presentation


• 複数台のRGB-Dカメラを用いた複数人モーションキャプチャに関する研究

  乾 史典, 小林 太, 中本 裕之

  第64回システム制御情報学会研究発表講演会, May 2020

  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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• 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


• Handover Motion by Hand/Arm Robot based on Hand Posture

  KOBAYASHI Futoshi, MARUNO Yuki, KOJIMA Fumio

  2013 JSME Conference on Robotics and Mechatronics, May 2013, Japanese, The Japan Society of Mechanical Engineers, Tsukuba City, This paper deals with a handover motion for the hand/arm robot. Handing over objects to humans is an important motion for service robots. The robot has to change a trajectory for handover without disturbing human’s works. Therefore, we propose a handover motion control for the hand/arm robot according to the hand posture of humans. The robot estimates the hand posture with a mo, 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


• Trajectory Generation based on Hand Posture for Handover Motion by Hand/Arm Robot

  KOBAYASHI Futoshi, MARUNO Yuki, 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, This paper deals with a handover motion for the hand/arm robot. Handing over objects to humans is an important motion for service robots., 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


• 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


• Hand/Arm Robot Teleoperation with Human Motion Capture and Haptic Feedback

  KOBAYASHI FUTOSHI

  International Symposium on Multi-scale Intelligent Systems, Jul. 2012, English, Nagoya, Japan, International 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


• 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


• 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


• 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


• 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


• Study on size discrimination of grasping objects by force feedback

  IKAI George, FUKUI Wataru, 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


• 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


• Objects Recognition for Pickup Motion By HandArm Robot

  MARUNO Yuki, FUKUI Wataru, 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


• 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


• Development of the force feedback exoskelton for gripping tele-manipulating robot hand

  IKAI George, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio

  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


• 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


• Development of Tele-Operation System for Hand Arm Robot by Human Motion

  KOBAYASHI Futoshi, HASEGAWA Ko, WATARU Fukui, KOJIMA Fumio, NAKAMOTO Hiroyuki, SASABE Kazuhiro, IMAMURA Nobuaki, SHIRASAWA Hidenori

  38th SICE Symposium on Intelligent Systems, Mar. 2011, Japanese, 公益社団法人計測自動制御学会, 神戸市, Domestic conference

  Oral presentation


• Development of Master-slave Teaching System in Consideration of Hand Structure for Hand Arm Robot

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

  第53回自動制御連合講演会, Nov. 2010, Japanese, 社団法人日本機械学会, 高知市, Domestic conference

  Oral presentation


• Development of the force feedback exoskelton for manipulating robot hand (Force Feedback to MP joint and DIP-PIP joint)

  IKAI George, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio

  第53回自動制御連合講演会, Nov. 2010, Japanese, 社団法人日本機械学会, 高知市, Domestic conference

  Oral presentation


• Grasping Force Control with Two Fingers using Tactile and Force Information for Universal Robot Hand II

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

  第53回自動制御連合講演会, Nov. 2010, Japanese, 社団法人日本機械学会, 高知市, Domestic conference

  Oral presentation


• Grasping Force Control using Tactile and Force Information for Universal Robot Hand II

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

  第20回インテリジェント・システム・シンポジウム, Sep. 2010, Japanese, 公益社団法人計測自動制御学会, 八王子市, Domestic conference

  Oral presentation


• Grasping Force Control for Universal Robot Hand II based on Slip Detection Using Multi-Axis Force Torque Sensor

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

  第20回インテリジェント・システム・シンポジウム, Sep. 2010, Japanese, 公益社団法人計測自動制御学会, 八王子市, Domestic conference

  Oral presentation


• 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

  2010 JSME Conference on Robotics and Mechatronics, Jun. 2010, Japanese, 社団法人日本機械学会, 旭川市, Domestic conference

  Poster presentation


• Development of the force feedback exoskelton for manipulating robot hand

  IKAI George, FUKUI Wataru, KOBAYASHI Futoshi, KOJIMA Fumio

  2010 JSME Conference on Robotics and Mechatronics, Jun. 2010, Japanese, 社団法人日本機械学会, 旭川市, Domestic conference

  Poster presentation


• 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

  2010 JSME Conference on Robotics and Mechatronics, Jun. 2010, Japanese, 社団法人日本機械学会, 旭川市, Domestic conference

  Poster presentation


• Development of Multi-Fingered Universal Robot Hand System

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

  The 27th Annual Conference of the Robotics Society of Japan, Sep. 2009, Japanese, 社団法人日本ロボット学会, 横浜市, Domestic conference

  Oral presentation


• 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

  2009 JSME Conference on Robotics and Mechatronics, May 2009, Japanese, 社団法人日本機械学会, 福岡市, Domestic conference

  Poster presentation


• Robot Hand Tele-Operation System Switching Position Control and Force Control with Contact Information

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

  2009 JSME Conference on Robotics and Mechatronics, May 2009, Japanese, 社団法人日本機械学会, 福岡市, Domestic conference

  Poster presentation


• 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

  2009 JSME Conference on Robotics and Mechatronics, May 2009, Japanese, 社団法人日本機械学会, 福岡市, Domestic conference

  Poster presentation


• Development of Human Guide Robot with RFID Tags

  KOBAYASHI Futoshi, IMAI Daisuke, KOJIMA Fumio

  The 26th Annual Conference of the Robotics Society of Japan, Sep. 2008, Japanese, 社団法人日本ロボット学会, 神戸市, Domestic conference

  Oral presentation


• Development of multi-fingered universal robot hand

  FUJIMOTO Toyohisa, NAKANISHI Toshi, MAEDA Tadashi, IMAMURA Nobuaki, KOBAYASHI Futoshi, NAKAMOTO Hiroyuki, SASABE Kazuhiro, SHIRASAWA Hidenori

  2008 JSME Conference on Robotics and Mechatronics, Jun. 2008, Japanese, 社団法人日本機械学会, 長野市, Domestic conference

  Poster presentation


• Haptic Feedback in Universal Robot Hand Tele-Operation

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

  2008 JSME Conference on Robotics and Mechatronics, Jun. 2008, Japanese, 社団法人日本機械学会, 長野市, Domestic conference

  Poster presentation


• Development of Tactile Sensing Unit using FPGA for Distributed Perception

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

  2008 JSME Conference on Robotics and Mechatronics, Jun. 2008, Japanese, 社団法人日本機械学会, 長野市, Domestic conference

  Poster presentation


• Grasping of multiple objects by universal robot hand with tactile sensor

  NAKAE Ryo, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, TANAKA Takaho, IMAMURA Nobuaki, SHIRASAWA Hidenori

  8th SICE System Integration Division Annual Conference, Dec. 2007, Japanese, 社団法人計測自動制御学会, 広島市, Domestic conference

  Oral presentation


• Contact Display System in Universal Robot Hand Tele-Operation

  SAITOU Yu, KOBAYASHI Futoshi, KOJIMA Fumio, NAKAMOTO Hiroyuki, MAEDA Tadashi, TANAKA Takaho, IMAMURA Nobuaki, SHIRASAWA Hidenori

  8th SICE System Integration Division Annual Conference, Dec. 2007, Japanese, 社団法人計測自動制御学会, 広島市, Domestic conference

  Oral presentation


• Outer Shape Recognition of Rotating Manipulation Objects by Universal Robot Hand

  NAKAMOTO Hiroyuki, TAKENAWA Satoru, KITAGAWA Yoichi, NAKAE Ryo, KOBAYASHI Futoshi, KOJIMA Fumio, MAEDA Tadashi, TANAKA Takaho, IMAMURA Nobuaki, SHIRASAWA Hidenori

  8th SICE System Integration Division Annual Conference, Dec. 2007, Japanese, 社団法人計測自動制御学会, 広島市, Domestic conference

  Oral presentation


• Force Display System in Robot Hand Tele-Operation

  KOBAYASHI Futoshi, SAITOU Yu, KOJIMA Fumio, NAKAMOTO Hiroyuki, IMAMURA Nobuaki, TANAKA Takaho, SHIRASAWA Hidenori

  第17回インテリジェント・システム・シンポジウム, Aug. 2007, Japanese, 社団法人日本知能情報ファジィ学会, 名古屋市, Domestic conference

  Oral presentation


• 炉内構造物検査における水中ロボットの自己位置認識手法について

  KOBAYASHI Futoshi, KOJIMA Fumio

  日本保全学会第4回学術講演会, Jul. 2007, Japanese, 日本保全学会, Fukui, Japan, Domestic conference

  Oral presentation


• プラント構造物検査における検査ロボットシステムの構築

  KOBAYASHI Futoshi, KOJIMA Fumio

  日本保全学会第4回学術講演会, Jul. 2007, Japanese, 日本保全学会, 福井市, Domestic conference

  Oral presentation


• Exploring Dyamic Environment in Multi-Robot Teleoperation System

  KOBAYASHI Futoshi, MINAMI Yuki, KOJIMA Fumio

  2007 JSME Conference on Robotics and Mechatronics, May 2007, Japanese, 社団法人日本機械学会, 秋田市, Domestic conference

  Poster presentation


• OOptimization 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

  2007 JSME Conference on Robotics and Mechatronics, May 2007, Japanese, 社団法人日本機械学会, Akita Kyoten Center, Domestic conference

  Poster presentation


• 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

  2007 JSME Conference on Robotics and Mechatronics, May 2007, Japanese, 社団法人日本機械学会, 秋田市, Domestic conference

  Poster presentation


• 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

  2007 JSME Conference on Robotics and Mechatronics, May 2007, Japanese, 社団法人日本機械学会, 秋田市, Domestic conference

  Poster presentation


• Dynamic Reorganization of Sensor Fusion System in Mobile Robot

  Futoshi KOBAYASHI, Fumio KOJIMA

  7th SICE System Integration Division Annual Conference, Dec. 2006, Japanese, （社）計測自動制御学会システムインテグレーション部門, 札幌コンベンションセンター, Domestic conference

  Oral presentation


• Exploring Unknown Environment using Position Correction based on Explored Information in Multi-robot Teleoperation

  Yuki MINAMI, Futoshi KOBAYASHI, Fumio KOJIMA

  The 49th Japan Joint Automatic Control Conference, Oct. 2006, Japanese, システム制御情報学会, 計測自動制御学会, 日本機会学会, 化学工学会, 精密工学会, 日本航空宇宙学会, Kobe University, Domestic conference

  Oral presentation


• Rearrangeable Sensor Fusion System for Mobile Robot

  Futoshi KOBAYASHI, Fumio KOJIMA

  The 23rd Sensor Symposium on Sensors, Micromachines, and Applied Systems, Oct. 2006, Japanese, 社団法人電気学会, 高松, Domestic conference

  Oral presentation


• シミュレーションを援用した逆問題解析による電磁非破壊評価技術

  KOJIMA Fumio, KOBAYASHI Futoshi

  日本保全学会シンポジウム―高経年化対策に関わる劣化・損傷の評価技術の最前線―, Aug. 2006, Japanese, 日本保全学会, 敦賀市, Domestic conference

  Invited oral presentation


• Development of Crack Shape Inspection System with ECT Sensor Robot

  Futoshi KOBAYASHI, Fumio KOJIMA, Hisashi NAKATSUKA

  日本保全学会 第3回学術講演会, Jul. 2006, Japanese, 日本保全学会, 東北大学工学部・青葉記念会館, Domestic conference

  Oral presentation


• Development of Universal Robot Hand and Evaluation of Joint Stiffness Control

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

  2006 JSME Conference on Robotics and Mechatronics, May 2006, Japanese, 社団法人日本機械学科, Waseda University, Domestic conference

  Poster presentation


• Crack Surface Inspection by Mobile Robot with ECT Sensor

  中塚 恆, 小林 太, 小島 史男

  （財）計測自動制御学会関西支部平成17年度シンポジウム若手研究発表会, Mar. 2006, Japanese, （財）計測自動制御学会関西支部, Kobe University, Domestic conference

  Oral presentation


• Applying Multi-Objective Behavior Coordination to Multi-Robot Formation Problem

  高柳 直樹, KOBAYASHI FUTOSHI, 小島 史男

  SICE System Integration Division Annual Conference, Dec. 2005, Japanese, （社）計測自動制御学会システムインテグレーション部門, 熊本電波工業高等専門学校, Domestic conference

  Oral presentation


• Distributed Tactile Sensor for Universal Robot Hand (Measurement Accuracy and Responsivity)

  中本 裕之, 武縄 悟, 一森 和之, 新納 啓輔, 小林 太, 今村 信昭, 白沢 秀則

  SICE System Integration Division Annual Conference, Dec. 2005, Japanese, （社）計測自動制御学会システムインテグレーション部門, 熊本電波工業高等専門学校, Domestic conference

  Oral presentation


• Development of an universal robot hand system

  新納 啓輔, 小林 太, 小島 史男, 上田 健二郎, 田路 渡, 中本 裕之, 竹内 昭, 前田 正, 中村 皆生, 今村 信昭, 白沢 秀則

  SICE System Integration Division Annual Conference, Dec. 2005, Japanese, （社）計測自動制御学会システムインテグレーション部門, 熊本電波工業高等専門学校, Domestic conference

  Oral presentation


• Environment Reconstruction based on Belief Measure in Multi-Robot Teleoperation

  南 勇樹, KOBAYASHI Futoshi, KOJIMA Fumio

  FAN Symposium, Sep. 2005, Japanese, （社）計測自動制御学会, 京都工芸繊維大学, Domestic conference

  Oral presentation


• Development of Mobile Inspection Robot in Eddy Current Testing

  KOBAYASHI Futoshi, KOJIMA Fumio, NAKATSUKA Hisashi

  日本保全学会 第２回学術講演会, Jul. 2005, Japanese, 日本保全学会, 京都大学百周年時計台記念館, Domestic conference

  Poster presentation


• 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 JSME Conference on Robotics and Mechatronics, Jun. 2005, Japanese, 社団法人日本機械学会, Kobe, Domestic conference

  Poster presentation


• High-sensitivity Tactile Sensor for Universal Robot Hand

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

  2005 JSME Conference on Robotics and Mechatronics, Jun. 2005, Japanese, 社団法人日本機械学会, 神戸国際展示場, Domestic conference

  Poster presentation


• 逆問題解析によるECT迅速診断システムの構築に関する研究(2) -多チャンネルECT信号によるSCCの復元技法について-

  小島 史男, 五島 奈々花, 河合 信弘, 小林 太, 西水 亮, 小池 正浩, 松井 哲也

  日本原子力学会「2004年春の大会」, 2004, Japanese, 日本原子力学会, 岡山大学, Domestic conference

  Oral presentation


• 逆解析を用いた遠隔診断のためのインタラクティブ・インターフェースの開発

  小林 太, 小島 史男, 松井 哲也, 西水 亮, 高木 敏行

  第31回知能システムシンポジウム, 2004, Japanese, 知能システムシンポジウム, 学術総合センター, Domestic conference

  Oral presentation


• 階層型ファジィ推論を用いた知的移動ロボットのためのセンサ融合システム

  小林 太, 新納 啓輔, 福井 航, 小島 史男

  第48回システム制御情報学会研究発表講演会, 2004, Japanese, システム制御情報学会, 未記入, Domestic conference

  Oral presentation


• ロボット遠隔操作のための環境変化に対応した環境提示システム

  小林 太, 松井 洋, 小島 史男

  ロボティクス・メカトロニクス講演会2004, 2004, Japanese, 日本機械学会, 名古屋, Domestic conference

  Oral presentation


• Cyber-infrastructure for Health Monitoring of Nuclear Plants using Network Tomography

  KOJIMA Fumio, KOBAYASHI Futoshi

  The first International Symposium on Intelligent Artifacts and Bio-systems, 2004, English, 未記入, 未記入, International conference

  Oral presentation


• 複数ロボットによる領域探索におけるビリーフ測度に基づく探索点決定

  小林 太, 坂井 史郎, 小島 史男

  第47回システム制御情報学会研究発表講演会 （709-710 ）, 2003, Japanese, システム制御情報学会, 京都テルサ, Domestic conference

  Oral presentation


• 電磁場逆解析をもちいた多チャンネルコイルプローブによるき裂形状診断

  小島 史男, 河合 信弘, 小林 太, 西水 亮, 小池 正浩, 松井 哲也

  第16回計算力学講演会, 2003, Japanese, 日本機械学会計算力学部門, 神戸大学工学部, Domestic conference

  Oral presentation


• 進化型学習によるセンサ選択を用いたニューラルネットワークに基づくセンサ融合

  小林 太, 舛本 大輔, 小島 史男

  第46回自動制御連合講演会, 2003, Japanese, システム制御情報学会, 岡山大学, Domestic conference

  Oral presentation


• 逆問題解析によるECT迅速診断システムの構築に関する研究 -その1: ECTデータによる複数欠陥の復元技法について-

  小島 史男, 小林 太, 依藤 大輔, 沖 真也, 西水 亮, 小池 正浩, 松井 哲也

  日本原子力学会「2003年秋の大会」, 2003, Japanese, 日本原子力学会, 静岡大学, Domestic conference

  Oral presentation


• 階層型データフュージョンを用いた自律移動ロボットの目標探索

  小林 太, 三好 博己, 小島 史男

  第4回SICEシステムインテグレーション部門講演会, 2003, Japanese, システム制御情報学会システムインテグレーション部門, 333-334, Domestic conference

  Oral presentation


• Re-formation of Mobile Robots using Genetic Algorithm and Reinforcement Learning

  KOBAYASHI Futoshi, TOMITA Naohiko, KOJIMA Fumio

  SICE Annual Conference 2003, 2003, English, 計測自動制御学会, FUKUI, Domestic conference

  Oral presentation

• IEEE


• 日本知能情報ファジィ学会


• 電気学会


• システム制御情報学会


• 計測自動制御学会


• 日本機械学会

• 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, Principal investigator

  Competitive research funding


• 磁気センシングとシミュレーションによる材料経年劣化診断システムに関する研究

  小島 史男

  科学研究費補助金／基盤研究(C), 2009

  Competitive research funding


• ロボットハンド触覚センサにおける分散知覚と触覚フィードバック制御

  小林 太

  科学研究費補助金／若手研究(B), 2007, Principal investigator

  Competitive research funding


• 電磁場逆問題解析による材料劣化予測診断システムに関する研究

  小島 史男

  科学研究費補助金／基盤研究(C), 2005

  Competitive research funding