Thesis for a degree 【 display / non-display 】

Thesis for a degree 【 display / non-display 】

• Advanced Motion Control for Real World Haptic Storage

  下野　誠通 

    2007.09

  Doctoral Thesis   Single Work

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  慶應義塾大学　（博士（工学）） 本学位論文では、実世界触覚記録のための基礎技術となる高度モーションコントロール手法を提案している。特に、透明性の高い加速度制御に基づくバイラテラル制御手法、ミクロマクロバイラテラル制御手法、マルチラテラル制御手法について述べており、それぞれの制御手法による実世界触覚記録について論じた。

Papers 【 display / non-display 】

Papers 【 display / non-display 】

• Bilateral Teleoperation System with Extension of Information Based on Visual Information

  MATSUNAGA Takuya, SHIMONO Tomoyuki, OHNISHI Kouhei

  Journal of the Japan Society for Precision Engineering ( The Japan Society for Precision Engineering )  87 ( 4 )   380 - 387   2021.04

  Joint Work

  　View Summary

  <p>Master-slave teleoperation robots are useful for tasks that require human judgments and skills. Haptic sensation can be transmitted between a master and a slave by implementing bilateral control. Besides, visual information of the slave side that cannot be directly seen from the master side is presented by devices such as cameras, endoscopes, and displays. Therefore, advanced support of the teleoperation robots for operators can be expected by utilizing extended visual and haptic information. In this paper, a master-slave teleoperation system with ability to extend information transmitted to operators is proposed. The teleoperation system consists of one degree of freedom master-slave system implementing bilateral control based on robust acceleration control and an image processing system. To support operators, visual and haptic augmented reality is generated by image processing, micro-macro bilateral control, and compliance control. In addition, a design method of position and force scaling for micro-macro bilateral control according to magnification ratio of image is presented. The utility of the proposed bilateral teleoperation system is verified by experiments.</p>

  DOI CiNii

• Development of Multi Degrees-of-Freedom Haptic Forceps Robot with Three Actuated Fingers

  Matsunaga Takuya, Shimono Tomoyuki, Ohnishi Kouhei

  IEEJ Journal of Industry Applications ( 一般社団法人 電気学会 )  10 ( 2 )   247 - 253   2021.03  [Refereed]

  Joint Work

  　View Summary

  <p>Surgical robots have been studied and developed to assist surgeons. Master-slave flexible forceps robots that are components of a flexible endoscopic surgical robot are useful to realize novel minimally invasive surgical procedures that are difficult for conventional rigid medical devices. Although driving force for the tip portion of a flexible forceps robot is mechanically transmitted by wires through the flexible portion, friction and backlash changed by the posture of the flexible portion make it difficult to realize precise end effector control. Furthermore, transmission of haptic sensation is necessary to realize safer operation. In this study, a multi degrees-of-freedom (DoF) haptic forceps robot with three fingers is presented as an end effector of a flexible forceps robot. Transmission of driving force in flexible structure that causes performance deterioration is eliminated by arranging motors near the end effector. To transmit haptic sensation to operators, bilateral control is implemented to a master-slave system composed of the haptic forceps robot and a multi DoF input device. Additionally, control on modal space is implemented to verify finger dexterity. The utility of the haptic forceps robot is experimentally validated.</p>

  DOI CiNii

• External Force Estimation in Linear Series Elastic Actuator without Load-side Encoder

  Minoru Yokoyama, Razvan Andrei Budau Petrea, Roberto Oboe, Tomoyuki Shimono

  IEEE Transactions on Industrial Electronics   68 ( 1 )   861 - 870   2021.01  [Refereed]

  Joint Work

  DOI

• A study on safe forceps grip force for the intestinal tract using haptic technology

  Yatabe Kentaro, Ozawa Soji, Oguma Junya, Hiraiwa Shinichiro, Tomita Sakura, Matsunaga Takuya, Togas … Show more authors

  MINIMALLY INVASIVE THERAPY & ALLIED TECHNOLOGIES     2020.12  [Refereed]

  Joint Work

  Web of Science DOI

• Back-drivability Improvement of Geared System Based on Disturbance Observer and Load-side Disturbance Observer

  Xu Shuang, Yokoyama Minoru, Shimono Tomoyuki

  IEEJ JOURNAL OF INDUSTRY APPLICATIONS ( 一般社団法人 電気学会 )  9 ( 5 )   475 - 485   2020.09  [Refereed]

  Joint Work

  　View Summary

  <p>This paper proposes a method of improving the back-drivability of torque control according to the dynamic characteristic of forward-drivability based on the concept of proposed equivalent expression. The control strategy is composed of disturbance observer (DOB), a load-side DOB (LDOB) and the designed controller for torque control. The DOB realizes robust motion control by compensating for the friction and modeling error of the system, and the LDOB estimates the external torque input from the load-side. According to the designed controller, the proposed method constructs the back-drivability as forward-drivability via each transfer function of the equivalent expression. In addition, a scaling factor is introduced to quantitatively adjust the back-drivability to adapt to different application demands. Moreover, the decision basis of parameters in the proposed control is discussed and the effect on the control system is clarified. The experimental results are compared with the conventional torque control method, and show the consistency in the quantitative improvement of back-drivability effectively with the scaling factor.</p>

  Web of Science DOI CiNii

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Review Papers 【 display / non-display 】

Review Papers 【 display / non-display 】

• Real Haptics for Telemedicine

  Tomoyuki Shimono, Takahiro Mizoguchi, Kouhei Ohnishi

  The Journal of the Institute of Image Information and Television Engineers ( The Institute of Image Information and Television Engineers )  75 ( 3 ) 330 - 333   2021.05

  Introduction and explanation (scientific journal)   Joint Work

• Medical Device for Digitalization of Haptic Sensation

  Tomoyuki Shimono, Kouhei Ohnishi

  Chemical Industry   71 ( 8 ) 478 - 482   2020.08

  Introduction and explanation (commerce magazine)   Joint Work

• Fundamental Theory of Motion Control

  Tomoyuki Shimono, Kouhei Ohnishi

  Machine Design   64 ( 5 ) 4 - 8   2020.04

  Introduction and explanation (commerce magazine)   Joint Work

• Real Haptics for Applications to Medical Support

  Tomoyuki Shimono, Kouhei Ohnishi

  Machine Design   64 ( 5 ) 38 - 41   2020.04

  Introduction and explanation (commerce magazine)   Joint Work

• Motion Control for Real World Haptics

  K. Ohnishi, S. Katsura, and T. Shimono

  IEEE Industrial Electronics Magazine   4 ( 2 ) 16 - 19   2010.06

  Introduction and explanation (scientific journal)   Joint Work

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Academic Awards Received 【 display / non-display 】

Academic Awards Received 【 display / non-display 】

• Outstanding Paper Award

  2019.03.04   IEEJ   Development of Multi Degree of Freedom Haptic Forceps Robots with Multi Actuated Fingers

  Winner： T. Matsunaga, T. Shimono, and K. Ohnishi

• Best Paper Award in the Track of Robotics, Automation and Control

  2014.12   IEEE ICIAfS2014  

  Winner： Masato Ohori and Tomoyuki Shimono

• Best Paper Award in the Track of Robotics, Automation and Control

  2014.12   IEEE ICIAfS2014  

  Winner： Hiroshi Asai, Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto

Grant-in-Aid for Scientific Research 【 display / non-display 】

Grant-in-Aid for Scientific Research 【 display / non-display 】

• Grant-in-Aid for Scientific Research(B)

  Project Year： 2017.04  -  2020.03 

• Grant-in-Aid for challenging Exploratory Research

  Project Year： 2016.04  -  2018.03 

• Grant-in-Aid for Scientific Research(B)

  Project Year： 2014.04  -  2017.03 

• Grant-in-Aid for challenging Exploratory Research

  Project Year： 2014.04  -  2016.03 

• Grant-in-Aid for Young Scientists(A)

  Project Year： 2011.04  -  2014.03 

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Presentations 【 display / non-display 】

Presentations 【 display / non-display 】

• Haptic Robots for Physical Human Support

  T. Shimono  [Invited]

  The 26th International Conference on Information, Communication and Automation Technologies, ICAT2017  (Sarajevo, Bosna)  2017.10.01