SHIMONO Tomoyuki

Affiliation

Faculty of Engineering, Division of Intelligent Systems Engineering

Job Title

Associate Professor

Date of Birth

1980

Research Fields, Keywords

Haptics, Motion control, Robotics, Mechatronics, Human support engineering

Mail Address

E-mail address

Related SDGs




The Best Research Achievement in Research Career 【 display / non-display

  • 【Published Thesis】 Mathematical Modeling of Semicircular Linear Motor Based on Vector Potential With Landen's Transformation  2019.03

    【Published Thesis】 Estimation of Antagonistic Output Ratios Based on Force Distribution at End Effector of Limb  2017.02

    【Published Thesis】 Abstraction and Reproduction of Force Sensation from Real Environment by Bilateral Control  2007.04

The Best Research Achievement in the last 5 years 【 display / non-display

  • 【Published Thesis】 External Force Estimation in Linear Series Elastic Actuator without Load-side Encoder  2021.01

    【Published Thesis】 Reduction of Contact Force Fluctuation for Rotary Wear Test Apparatus  2020.02

    【Published Thesis】 Novel Algorithm for Effective Position/Force Control  2019.11

    【Published Thesis】 Mathematical Modeling of Semicircular Linear Motor Based on Vector Potential With Landen's Transformation  2019.03

    【Published Thesis】 Estimation of Antagonistic Output Ratios Based on Force Distribution at End Effector of Limb  2017.02

Graduating School 【 display / non-display

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    2004

    Waseda University   Faculty of Science and Engineering   Department of Mechanical Engineering   Graduated

Graduate School 【 display / non-display

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    2007

    Keio University  Graduate School, Division of Science and Engineering  School of Integrated Design Engineering  Doctor Course  Completed

  •  
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    2006

    Keio University  Graduate School, Division of Science and Engineering  School of Integrated Design Engineering  Master Course  Completed

Degree 【 display / non-display

  • Doctor of Engineering -  Keio University

  • Master of Engineering -  Keio University

Campus Career 【 display / non-display

  • 2013.04
    -
    Now

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Intelligent Systems Engineering   Associate Professor  

  • 2009.04
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    2013.03

    Duty   Yokohama National UniversityFaculty of Engineering   Division of Intelligent Systems Engineering   Assistant Professor  

  • 2018.04
    -
    Now

    Concurrently   Yokohama National UniversityGraduate school of Engineering Science   Department of Mathematics, Physics, Electrical Engineering and Computer Science   Associate Professor  

  • 2013.04
    -
    Now

    Concurrently   Yokohama National UniversityGraduate School of Engineering   Department o Physics, Electrical and Computer Engineering   Associate Professor  

  • 2013.04
    -
    Now

    Concurrently   Yokohama National UniversityCollege of Engineering Science   Department of Mathematics, Physics, Electrical Engineering and Computer Science   Associate Professor  

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External Career 【 display / non-display

  • 2020.04
     
     

    Kanagawa Institute of Industrial Science and Technology   Healthcare Robot Group   Leader  

  • 2016.04
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    2020.03

    Kanagawa Institute of Industrial Science and Technology   Development of Haptic Robots for Medicine, Rehabilitation, and Welfare"" Project"   Project Leader  

  • 2007.10
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    2008.03

      Research Fellowship for Young Scientists of the Japan Society for the Promotion of Science  

  • 2007.04
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    2007.09

      Research Fellowship for Young Scientists of the Japan Society for the Promotion of Science  

Academic Society Affiliations 【 display / non-display

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    The institute of Electrical Engineers of Japan

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    The robotic Society of Japan

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    IEEE

Field of expertise (Grants-in-aid for Scientific Research classification) 【 display / non-display

  • Power engineering/Power conversion/Electric machinery

  • Control engineering/System engineering

  • Intelligent mechanics/Mechanical systems

 

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

     View Summary

    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

  • 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

  • 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

  • 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(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

  • 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