| TSUMUGIWA Toru |  |
| Faculty of Life and Medical Sciences Department of Biomedical Engineering | |
| Professor |
Last Updated :2025/05/08
Researcher Profile and Settings
researchmap
Research funding number
90362912Research Interests
Research Areas
Research Experience
- Doshisha University, Faculty of Life and Medical Sciences, 教授, 2018/04 - Today
- Doshisha University, Faculty of Life and Medical Sciences, 准教授, 2010 - 2018
- Doshisha University, Faculty of Life and Medical Sciences, 専任講師, 2008 - 2010
- Doshisha University, 工学部, 専任講師, 2007 - 2008
- Doshisha University, 工学部, 助手, 2006 - 2007
- Shimane University, Interdisciplinary Faculty of Science and Engineering, 助手, 2003 - 2006
Education
- Doshisha University, 大学院 工学研究科, 機械工学専攻 博士課程（後期課程）, - 2003
- Doshisha University, Graduate School, Division of Engineering, 機械工学専攻 博士課程（前期課程）, - 2000
- Doshisha University, 工学部, 機械システム工学科, - 1998
Association Memberships
Awards
Published Papers
- Effect of impedance characteristics on human cortical and upper limb muscle activity and work characteristics in human–robot physical interaction
Toru TSUMUGIWA; Aoi SAKATA; Masanori MURAKAMI; Ryuichi YOKOGAWA
Transactions of the JSME (in Japanese), Japan Society of Mechanical Engineers, 90(938) 24 - 00094, Oct. 2024, Scientific journal - Multimodal walker-type gait analysis system with encoder data of walker and human pose estimation data using fisheye-camera
Katsuhiko NISHIZAWA; Yuma KOYAMATSU; Toru TSUMUGIWA; Ryuichi YOKOGAWA
Transactions of the JSME (in Japanese), Japan Society of Mechanical Engineers, 90(937), Sep. 2024, Scientific journal - Effects of Display Response Latency on Brain Activity During Device Operation
Kengo Somei; Kentaro Oshima; Toru Tsumugiwa; Ryuichi Yokogawa; Mitsuhiro Narusue; Hiroto Nishimura; Yusaku Takeda; Toshihiro Hara
IEEE Access, Institute of Electrical and Electronics Engineers (IEEE), 11 34860 - 34869, Mar. 2023, Scientific journal - Analysis of Sit–to–Walk Movement with an Admittance Controlled Robotic Walker
Noriyoshi KAMITANI; Toru TSUMUGIWA; Ryuichi YOKOGAWA
Transactions of the JSME (in Japanese), Japan Society of Mechanical Engineers, 88(912) 22 - 00075, Aug. 2022, Scientific journal - Gait Rehabilitation and Locomotion Support System Using a Distributed Controlled Robot System
Katsuhiko Nishizawa; Toru Tsumugiwa; Ryuichi Yokogawa
Journal of Robotics and Mechatronics (JRM), 34(1) 72 - 85, Feb. 2022 - Development of Mechanical-Impedance-Varying Mechanism in Admittance Control
Toru Tsumugiwa; Miho Yura; Atsushi Kamiyoshi; Ryuichi Yokogawa
Journal of Robotics and Mechatronics (JRM), doi: 10.20965/jrm.2018.p0863 , Dec. 2018 - Analysis of upper-extremity motion and muscle and brain activation during machine operation in consideration of mass and friction
Toru Tsumugiwa; Atsushi Shibta; Ryuichi Yokogawa
IEEE Transactions on Human-Machine Systems, DOI: 10.1109/THMS.2018.2789682 , Feb. 2018 - Changes in brain activation associated with backlash magnitude: a step toward quantitative evaluation of maneuverability
Kazue Sugiura; Toru Tsumugiwa; Ryuichi Yokogawa
Artificial Life and Robotics, DOI: 10.1007/s10015-017-0406-x , Nov. 2017 - Maneuverability of impedance-controlled motion in a human-robot cooperative task system
Toru Tsumugiwa; Yoshiki Takeuchi; Ryuichi Yokogawa
Journal of Robotics and Mechatronics, Fuji Technology Press, 29(4) 746 - 756, 01 Aug. 2017, Scientific journal - Development of motion analysis system for cyclists based on surface EMG and pedal force measurements
Toru TSUMUGIWA; Yasuho HOMMOTO; Ryuichi YOKOGAWA
Transactions of the JSME (in Japanese), Japan Society of Mechanical Engineers, 82(841) 16 - 00010, Sep. 2016, Scientific journal - Analysis for motion characteristics of human operator and motor area of higher brain function during human-robot cooperative work
TSUMUGIWA Toru; IKUTA Ryo; YOKOGAWA Ryuichi
Transactions of the JSME (in Japanese), The Japan Society of Mechanical Engineers, DOI:10.1299/transjsme.15-00095 , Feb. 2016 - Compliance analysis of the vertical multi articulated manipulator PA-10
TSUMUGIWA Toru; KOJIMA Yuki; YOKOGAWA Ryuichi
TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A, The Japan Society of Mechanical Engineers, DOI:10.1299/transjsme.15-00014, Aug. 2015 - Development of variable control mechanism to amplify operating range of end-effector of wearable haptic device (Design of the variable control mechanism and evaluation of haptic states)
KINUGAWA Takashi; MORIKAWA Shota; TSUMUGIWA Toru; YOKOGAWA Ryuichi
Transactions of the JSME (in Japanese), The Japan Society of Mechanical Engineers, DOI: 10.1299/transjsme.2014dr0265(817) DR0265 - DR0265, Sep. 2014 - Development of variable control mechanism to amplify operating range of end-effector of wearable haptic device (Proposal and evaluation of force feedback system in wide operating range)
MORIKAWA Shota; TSUMUGIWA Toru; YOKOGAWA Ryuichi
Transactions of the JSME (in Japanese), The Japan Society of Mechanical Engineers, 80(816) DOI: 10.1299/transjsme.2014dr0234 - DR0234, Aug. 2014 - Compliance measurement for the Mitsubishi PA-10 robot
Toru Tsumugiwa; Yasuhiro Fukui; Ryuichi Yokogawa
ADVANCED ROBOTICS, TAYLOR & FRANCIS LTD, 28(14) 919 - 928, 2014, Scientific journal - 人間とロボットの協調作業系における作業動特性の干渉制御を実現する動特性調節器の開発および評価
木下 敦之; 積際 徹; 横川 隆一
日本機械学会論文集Ｃ編, 原著論文No.2013-JCR-0276 4705 - 4720, Dec. 2013 - 垂直多関節型マニピュレータPA-10の手先コンプライアンス特性のモデル設計に関する一考察
岡田 昌也; 積際 徹; 横川 隆一
設計工学会, Vol.48(No.11(2013-11)) 28 - 36, Nov. 2013 - 被歩行補助者の位置変位検出に基づく杖型歩行支援ロボットの運動制御法の開発
森多 隼也; 積際 徹; 横川 隆一
日本機械学会論文集C編, No.2013-JCR-0277 3584 - 3596, Oct. 2013 - 外界との接触状況検出機構を有する人とロボットの力学的協調システムの開発
井上 亮; 積際 徹; 横川 隆一
機械学会論文集C編 論文 No.2012-JCR-0238, 原著論文No.2012-JCR-0238 2981 - 2991, Sep. 2013 - Development of mechanical regulator of physical human-robot interaction to stabilize the impedance control in a constraint state
Kosuke Irino; Toru Tsumugiwa; Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 79(802) 2048 - 2061, 2013, Scientific journal - Analysis and evaluation method for a human motion skill proficiency for human-robot cooperative positioning task
Kentaro Okamoto; Toru Tsumugiwa; Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 79(803) 2394 - 2407, 2013, Scientific journal - Development of the walking-support robot equipped with force detecting system
Katsuhiko Nishizawa; Toru Tsumugiwa; Ryuichi Yokogawa
Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), 2696 - 2698, 2013, International conference proceedings - Development of wearable haptic device using variable structure control for end effector of haptic device
Takashi Kinugawa; Toru Tsumugiwa; Ryuichi Yokogawa
Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), 279 - 281, 2013, International conference proceedings - 3-DOFパラレルメカニズムを有する力覚提示装置の開発
谷口 嘉則; 積際 徹; 横川 隆一
日本機械学会論文集Ｃ編, 原著論文No.2012-JCR-0237 3228 - 3238, Sep. 2012 - Grasp and transport control for a chopsticks-type robot using work control
Yojiro Yamasaki; Toru Tsumugiwa; Ryuichi Yokogawa
International Journal of Advanced Mechatronic Systems, 4(1) 32 - 40, Feb. 2012, International conference proceedings - Walking-support Robot using Distributed Individual Units Coordinated through a Communication Network
YOKOGAWA Ryuichi; TSUMUGIWA Toru
JRSJ, The Robotics Society of Japan, 28(9) 1077 - 1078, 15 Nov. 2010 - Grasp and transport control of a chopsticks-type robot
Yamasaki, Yojiro; Tsumugiwa, Toru; Yokogawa, Ryuichi
ICIC Express Letters, 6(1) 907 - 916, 2010 - Grasp and Transport Control for a Chopsticks-type Robot Using Work Done on an Object
Yamasaki Y; Tsumugiwa T; Yokogawa R
Proceedings of the 2010 International Conference on Modelling, Identification and Control, 269 - 275, 2010, International conference proceedings - ロボットマニピュレータの制御モード切り替え法に関する研究(第1報, 位置と力の偏差に基づく制御モード切り替え法の提案)
山崎 容次郎; 横川 隆一; 積際 徹; 原 敬
機械学会論文集 C編, 74(740) 867 - 875, Apr. 2008 - A study on a method for switching control mode of robot manipulators (1st report, A proposal of a method for switching control mode based on position and force errors)
Yojiro Yamasaki; Ryuichi Yokogawa; Toru Tsumugiwa; Kei Hara
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Japan Society of Mechanical Engineers, 74(4) 867 - 875, 2008, Scientific journal - Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System
Toru Tsumugiwa; Yasunori Fuchikami; Atsushi Kamiyoshi; Ryuichi Yokogawa; Kazunobu Yoshida
JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING, JAPAN SOC MECHANICAL ENGINEERS, 1(1) 113 - 121, 2007, Scientific journal - Vibration Suppression Control for a Variable Length Pendulum System
YOSHIDA Kazunobu; KAWABE Hisashi; MATSUMOTO Itaru; TSUMUGIWA Toru
Transactions of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 18(7) 243 - 254, Jul. 2005 - 人間とロボットの協調作業系におけるロボットのインピーダンス制御の安定性解析に関する一考察
積際 徹; 渕上 康徳; 神吉 厚之; 横川 隆一; 吉田 和信
機械学会論文集 C編, 71(707) 2267 - 2272, Jul. 2005 - 人間とロボットによる協調運搬・精密はめあい（Peg-in-Hole）作業における一制御法
積際 徹; 阪本 敦; 横川 隆一; 原 敬
機械学会論文集 C編, 70(689) 69 - 76, Jan. 2004 - Stability analysis for impedance control of robot for human-robot cooperative task system
Toru Tsumugiwa; Ryuichi Yokogawa; Kazunobu Yoshida
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4 3883 - 3888, 2004, International conference proceedings - 多自由度を有する垂直多関節型ロボットのコンプライアンスの計測（7自由度を有するロボットPA-10への適用）
積際 徹; 横川 隆一; 原 敬
機械学会論文集 C編, 69(688) 3293 - 3300, Dec. 2003 - 人間とロボットによる協調作業における人間の手先剛性の推定にもとづく可変インピーダンス制御（人間とロボットによる協調書道）
積際 徹; 横川 隆一; 原 敬
設計工学会, 38(4) 195 - 201, Apr. 2003 - Variable Impedance Control with Virtual Stiffness for Human-Robot Cooperative Task
TSUMUGIWA Toru; YOKOGAWA Ryuichi; HARA Kei
The proceedings of the JSME annual meeting, The Japan Society of Mechanical Engineers, 2002 187 - 188, 2002
MISC
- ロボットとの協調作業における人の運動特性・脳賦活状態と操作性評価に関する一考察
横尾 公哉; 積際 徹; 横川 隆一
同志社大学ハリス理化学研究報告, Alternative:Harris Science Research Institute of Doshisha University, 第57巻(第2号) 76 - 87, Jul. 2016 - 2P1-N08 Analysis of Moving and Pointing Behavior Characteristics in Human-Robot Cooperative Positioning Task
YOKOO Kimiya; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2P1 - N08(1)"-"2P1-N08(4)", 17 May 2015 - 2P1-M09 Development of the variable control mechanism for adjusting the dynamic characteristics under the human-robot cooperative task
ONO Kazuki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2P1 - M09(1)"-"2P1-M09(4)", 17 May 2015 - 2P1-M08 Effect of mechanical interaction between leader and follower on higher brain functions during human-human cooperative transportation task
OHATA Masaki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2P1 - M08(1)"-"2P1-M08(4)", 17 May 2015 - 1P1-F03 Motion Analysis System for Bicycle Pedaling based on Surface EMG and Pedal Force Measurements
HOMMOTO Yasuho; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "1P1 - F03(1)"-"1P1-F03(4)", 17 May 2015 - 1P1-C08 Development of measurement system of lumbar flexion angle for nurse caring assistance motion
NAKABO Masashi; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "1P1 - C08(1)"-"1P1-C08(3)", 17 May 2015 - 2P1-L02 Motion Control of Walking Support Robot Based on Estimation of User's Walking State
KAWABATA Ichiho; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2P1 - L02(1)"-"2P1-L02(3)", 17 May 2015 - 2P1-L07 Evaluation of higher brain function about the positioning task added friction properties in human-robot cooperative task
SHIBATA Atsushi; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2P1 - L07(1)"-"2P1-L07(3)", 17 May 2015 - 2P1-L10 Motion Control of Walking Support Robot Based on Body Weight Supported Training
SAKATA Hiroshi; TSUMUGIWA Toru; YOKOGAWA Ryuich
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2P1 - L10(1)"-"2P1-L10(3)", 17 May 2015 - 2A2-T09 Analysis of compliance characteristic for a vertical multi articulated manipulator PA-10
NAKATA Masaya; TSUMUGIWA Toru; YOKOKAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "2A2 - T09(1)"-"2A2-T09(4)", 17 May 2015 - 1P1-X01 Analysis of operating force during pressing a switch on electric surgical unit using a tendon-muscle driven model of the index finger
OOGI Shun; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2015 "1P1 - X01(1)"-"1P1-X01(4)", 17 May 2015 - 垂直多関節型マニピュレータPA-10の手先コンプライアンス特性のモデル設計に関する一考察—An Analysis of Design for Modeling of Tip Compliance Characteristic of a Vertical Multi Articulated Robot PA-10
岡田 昌也; 積際 徹; 横川 隆一
設計工学 = Journal of Japan Society for Design Engineering : 日本設計工学会誌, 日本設計工学会, 48(11) 514 - 522, Nov. 2013 - G151054 Motion Control of a Chopsticks-type Robot Using Load Reduction
YAMASAKI Yojiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi
Mechanical Engineering Congress, Japan, The Japan Society of Mechanical Engineers, 2013 "G151054 - 1"-"G151054-4", 08 Sep. 2013 - 2P1-O08 Work Control and Power Control Using Load Influencing the Environment for a Planar 3-DOF Robot(Dynamics & Design of Robot System)
SASAKI Shota; YAMASAKI Yojiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2013 "2P1 - O08(1)"-"2P1-O08(4)", 22 May 2013 - 1A2-V08 The development of mechanical device to stabilize the impedance control in constraint space(Cooperation between Human and Machine(2))
IRINO Kosuke; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2012 "1A2 - V08(1)"-"1A2-V08(4)", 27 May 2012 - A48 Motion Analysis of Lower Limb Movement during Pedaling of Cyclist with Iliotibial Band Syndrome
FUKUOKA Norimitsu; TSUMUGIWA Toru; YOKOGAWA Ryuichi
Symposium on sports and human dynamics, The Japan Society of Mechanical Engineers, 2011 247 - 248, 30 Oct. 2011 - A37 Functional Postures of Index Finger and Surface EMG
SEI Fumiaki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
Symposium on sports and human dynamics, The Japan Society of Mechanical Engineers, 2011 200 - 202, 30 Oct. 2011 - A36 Model of Muscle-Tendon Driven System for Index Finger on MRI Images
NAKATANI Hidetsugu; TSUMUGIWA Toru; YOKOGAWA Ryuichi
Symposium on sports and human dynamics, The Japan Society of Mechanical Engineers, 2011 196 - 199, 30 Oct. 2011 - 2A1-B10 Development of 3-DOF Parallel Mechanism Haptic Device(Cooperation between Human and Machine)
TANIGUCHI Yoshinori; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2011 "2A1 - B10(1)"-"2A1-B10(2)", 26 May 2011 - 2A1-B09 Development of Man-Machine Interface for Human-Robot Cooperative Task(Cooperation between Human and Machine)
INOUE Ryo; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2011 "2A1 - B09(1)"-"2A1-B09(2)", 26 May 2011 - 1201 Development of Blinks Measurement System during VDT Work Using Image Measurement
KOJIMA Yusuke; YOKOGAWA Ryuichi; TSUMUGIWA Toru
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "12 - 1", 19 Mar. 2011 - 717 Modeling of Rotation Axes of IP and MP Joints of Index Finger Using MRI
FUTAMI Shota; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "7 - 17", 19 Mar. 2011 - 824 Evaluation of Maneuverability of Power Assist System Using Bio logical Information
NAKAMURA Yusuke; TSUMUGIVVA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "8 - 24", 19 Mar. 2011 - 825 Effectiveness of Attachment for Preventing Excessive Bending of Thumb Operating Small Information Terminal Based on Postures of Thumb and EMG
IKINOBU Ai; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "8 - 25", 19 Mar. 2011 - 716 Evaluation of Joint Compliance of Vertical Multi Articulated Robot
FUJITA Suguru; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "7 - 16", 19 Mar. 2011 - 719 Statics Model of Human ThumbBased on MR Image Data
MATSUMURA Yusuke; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "7 - 19", 19 Mar. 2011 - 714 Control Method of Autonomous Transfer Robot with Range Image Sensor
WATARI Yutaro; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2011(86) "7 - 14", 19 Mar. 2011 - Stability Analysis for Variable Impedance Control of Robot
Tsumugiwa Toru; Yokogawa Ryuichi
The science and engineering review of Doshisha University, Doshisha University, 第51巻(第2号) 40 - 46, Jul. 2010 - 628 Development of Load Adjusting Method of Two Step Gait with Walking Support Robots Using Sole Pressure Measurement Shoes
MATSUNAGA Naoya; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2010(85) "6 - 28", 16 Mar. 2010 - 621 Development of Muscular-Tension-Estimation Algorithm by VBA and an Application to Medical Treatment of Dysmyotonia
KODAMA Taichi; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2010(85) "6 - 21", 16 Mar. 2010 - 627 Performance Estimation of Distributed Robot System for Movement Support and Development of Walking Support Control
YOKOI Takeshi; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2010(85) "6 - 27", 16 Mar. 2010 - 626 Compliance Model of Vertical Multi Articulated Manipulator PA10
TERAMURA Yu; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2010(85) "6 - 26", 16 Mar. 2010 - 722 Haptic Device Control based on Estimation of End Point Force using Myoelectric Potential
HORIUCHI Tomoyuki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2010(85) "7 - 26", 16 Mar. 2010 - 2A2-M13 Relationship between Manipulability of Thumb and Brain Activation in Cell-phone Keystrokes with Thumb
TAKEDA Shigenori; TSUMIGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2009 "2A2 - M13(1)"-"2A2-M13(2)", 25 May 2009 - 2A1-B02 Development of Appearance Inspection System of Parts with Pan/tilt Device
YUKIZANE Fumiaki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2009 "2A1 - B02(1)"-"2A1-B02(2)", 25 May 2009 - 1P1-C21 Development of Power Assist System Using Force-and-Displacement Detection Interface with Parallel Mechanism.
SHINOHARA Koki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2009 "1P1 - C21(1)"-"1P1-C21(2)", 25 May 2009 - 1A1-M03 Muscle-Skeletal Kinematic Model of Index Finger by MRI Images
YOSHINO Hiroyasu; YOKOGAWA Ryuichi; TSUMUGIWA Toru
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2009 "1A1 - M03(1)"-"1A1-M03(2)", 25 May 2009 - 1321 Stepping Over the Ditch by the Quadruped Robot with a Variable Body Mechanism
FUJII Kota; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 21", 16 Mar. 2009 - 1315 Design and Control of the Robot for Transportation of Parts and Products
MACHIDA Masaomi; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 15", 16 Mar. 2009 - 1316 Development of Support Robot to Assist Human's Upper Limb Movement
TAKAHATA Koji; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 16", 16 Mar. 2009 - 1330 Identification of Joint Compliance of Vertical Multi Articulated Robot
FUKUI Yasuhiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 30", 16 Mar. 2009 - 1324 Construction of Fibers Defect Recognition Systems using Image Information
NAKASHIMA Yoshinori; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 24", 16 Mar. 2009 - 1323 Estimation Link Lengths of Index Finger using Image Information
ONISHI Tatsunobu; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 23", 16 Mar. 2009 - 1322 Estimation of Seating Posture of VDT Worker Using Image Measurement
YANAGIMOTO Hiroyuki; TSUMUGIWA Toru; YOKOGAWA Ryuichi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2009(84) "13 - 22", 16 Mar. 2009 - 1A2-D14 Development of Mechanical Load Adjuster with Motion Measurement Device for Human Robot Interaction
TSUMUGIWA Toru; WATANABE Yuki; YOKOGAWA Ryuichi
ロボティクス メカトロニクス講演会, 2009, The Japan Society of Mechanical Engineers, "1A2 - D14(1)"-"1A2-D14(3)", 2009 - 1A1-D07 Development of Power Assist System using Surface Electromyogram Data
YAMAMOTO Susumu; UENO Tomohiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2008 "1A1 - D07(1)"-"1A1-D07(2)", 06 Jun. 2008 - 1A1-D03 Development of Human-Robot Cooperative Task System based on Inherent Dynamics Based Control
TSUMUGIWA Toru; UENO Tomohiro; YAMAMOTO Susumu; YOKOGAWA Ryuichi; SHIBATA Hiroshi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2008 "1A1 - D03(1)"-"1A1-D03(2)", 06 Jun. 2008 - 2A1-H06 Motion Simulation of Tendon-Driven Model of The Index Finger
FUJIMURA Koji; TSUMUGIWA Toru; YOKOGAWA Ryuiti; SHIBATA Hiroshi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2008 "2A1 - H06(1)"-"2A1-H06(2)", 06 Jun. 2008 - 2A1-H17 Kinematic Characteristics of Linkage of Human Index Finger
OGAWA Tomohiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2008 "2A1 - H17(1)"-"2A1-H17(2)", 06 Jun. 2008 - 211 Human-Robot Cooperative System Based on Inherent Dynamics of Work Object
UENO Tomohiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "2 - 11", 14 Mar. 2008 - 1230 Walking Support Cam Mechanism for Reducing Knee Joint Load
TAKEUCHI Akihiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "12 - 30", 14 Mar. 2008 - 1222 Coupled Mechanism with Uniaxial Drive for Eating Support
HATTORI Takehito; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "12 - 22", 14 Mar. 2008 - 1217 Power Assist System Using Force and Displacement Detection Interface with Parallel Mechanism
IWATA Junichi; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "12 - 17", 14 Mar. 2008 - 1223 Evaluation of the Kinematics Model of Muscle-Tendon Arrangement of Index Finger using MRI Index Finger using MRI
YAGI Wataru; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "12 - 23", 14 Mar. 2008 - 1224 Slope Crossing of a Quadruped Robot with a Variable Body Mechanism
MIZUNO Masaaki; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "12 - 24", 14 Mar. 2008 - 1227 Mechanism for Supporting Movement of Physically Handicapped Person's Body Posture in Putting on and Taking off a Pair of Trousers
HANAI Atsushi; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2008(83) "12 - 27", 14 Mar. 2008 - F4-5 Impedance Control of Robot for Human-Robot Dynamical Interaction System
TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
The Computational Mechanics Conference, The Japan Society of Mechanical Engineers, 2007(20) 48 - 49, 25 Nov. 2007 - 1A1-M08 Robot Motion Control based on Relative Motion Information between Human and Robot in Human-Robot Dynamical Interaction
TSUMUGIWA Toru; KAMIYOSHI Atsushi; YOKOGAWA Ryuichi; SHIBATA Hiroshi
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2007 "1A1 - M08(1)"-"1A1-M08(3)", 11 May 2007 - 1408 Evaluation of the Manipulability of an Index Finger Fingertip using Genetic Algorithm
FUKUMOTO Toshinori; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 8", 16 Mar. 2007 - 1411 Estimate Algorithm of VDT Worker's Gaze Point uing the Position and Angle of a Face, the Position of a Pupil and the Area of a Part of Black Eye
ODAKA Yoshiyuki; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 11", 16 Mar. 2007 - 1406 Design and Control of the Small Robot Manipulator to Support Human's Meal Operation
KAWASHIMA Kenichi; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 6", 16 Mar. 2007 - 1417 Biologic Information Management System using Mobile Terminal by Bluetooth
IZUME Hiroyuki; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 17", 16 Mar. 2007 - 1410 Manipulation Experiment of Two Finger Manipulator Operated Remotely Based on Image Information
YAMASAKI Naoki; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 10", 16 Mar. 2007 - 1413 Kinematical Analysis of the Thumb in Operating Cellular-phone Using the 3-dimensional Position Measurement by Image Processing
TERASAKA Naoto; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 13", 16 Mar. 2007 - 1401 Omni Directional Walking of the Quadruped Robot with a Variable Body Mechanism
KURASHITA Naoto; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 1", 16 Mar. 2007 - 1414 Design and Control of a Mobile Robot Manipulator for Human Power Assistance
ITO Satoshi; TSUMUGIWA Toru; YOKOGAWA Ryuichi; SHIBATA Hiroshi
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2007(82) "14 - 14", 16 Mar. 2007 - 502 Power Assist System Using Impedance Control with Virtual Stiffness Term in Human-Robot Cooperative Task
KAMIYOSHI Atsushi; YOKOGAWA Ryuichi; SHIBATA Hiroshi; TSUMUGIWA Toru
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2006(81) "5 - 2", 17 Mar. 2006 - 1P1-N-065 Power Assist System using Impedance Control Strategy of Robot(Cooperation between Human and Machine 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Kamiyoshi Atsushi; Morikawa Hiroya; Yokogawa Ryuichi; Shibata Hiroshi; Tsumugiwa Toru
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2005 60 - 60, 09 Jun. 2005 - Oscillation suppression control for a pendulum by moving the center of gravity : General stabilizing conditions and formulas for estimating damping ratio
YOSHIDA Kazunobu; KAWABE Hisashi; MATSUMOTO Itaru; TSUMIGIWA Toru
講演論文集, The Japan Society of Mechanical Engineers, 2004 215 - 216, 25 Oct. 2004 - Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Task : Human-Robot Cooperative Calligraphic Task
TSUMUGIWA Toru; YOKOGAWA Ryuichi; HARA Kei
Journal of Japan Society for Design Engineering, 日本設計工学会, 38(4) 45 - 51, 05 Apr. 2003 - Measuring System of Human Upper Limb Joint Torque in Human Arm Movement using Three-Dimension Measuring Device OPTOTRAK3020 : Quantitative evaluation method of human motion in human-robot cooperative task
Kitagawa T.; Tsumugiwa T.; Yokogawa R.; Hara K.
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2003 55 - 56, 2003 - Switching Control of Impedance Control/Torque Control for Human-Robot Cooperative Task : Human-robot cooperative bolting task
Kawamura K.; Sakamoto A.; Tsumugiwa T.; Yokogawa R.; Hara K.
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2003 56 - 56, 2003 - Stability Analysis for Impedance Control System in Human-Robot Cooperative Task System : Analysis method as regards time delay of human movement and compliance of robot
Fuchikami Y.; Tsumugiwa T.; Yokogawa R.; Hara K.
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2003 55 - 55, 2003 - Variable Impedance Control for Human-Robot Peg-in-hole Cooperative Task : Proposing Impedance Control Method, Varying Viscosity and Stiffness
SAKAMOTO Atsushi; TSUMUGIWA Toru; YOKOGAWA Ryuichi; HARA Kei
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2002(77) "8 - 31"-"8-32", 2002 - Control method for Cooperative transportation of a flexible object for Human-Robot Cooperative Task : Cooperative transportation of such as a Towel or a Sheet for Human-Robot Cooperative Task
TOTSUKA Masahiro; TSUMUGIWA Toru; YOKOGAWA Ryuichi; HARA Kei
関西支部講演会講演論文集, The Japan Society of Mechanical Engineers, 2002(77) "8 - 33"-"8-34", 2002 - Control method for Human-Robot Cooperative task handling Flexible object such as Towel or Sheet
Totsuka Masahiro; Tsumugiwa Toru; Yokogawa Ryuichi; Hara Kei
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2002 80 - 81, 2002 - Variable Impedance Control with Stiffness Coefficient Based on Estimation of Human Arm Characteristic for Human-Robot Cooperative Task : Human-Robot Cooperative Pouring out Wine
TSUMUGIWA Toru; YOKOGAWA Ryuichi; HARA Kei
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2002 80 - 80, 2002 - Variable Impedance Control for Human-Robot Cooperative Peg-in-hole Task
Sakamoto Atsushi; Tsumugiwa Toru; Yokogawa Ryuichi; Hara Kei
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2002 80 - 80, 2002 - Variable Impedance Control Based on Estimation of Human Characteristic for Human-Robot Cooperative Task : Cooperative Spoon in Mouth Task for Eating
Ishii Teruhiko; Kaneko Hiroyuki; Tsumugiwa Toru; Yokogawa Ryuichi; Hara Kei
ロボティクス・メカトロニクス講演会講演概要集, The Japan Society of Mechanical Engineers, 2002 81 - 81, 2002
Books etc
Presentations
- Effect of Display Response Time on Sense of Agency and Brain Activity During Human-machine Interface Device Operation
Michihisa Yamamoto; Toru Tsumugiwa; Ryuichi Yokogawa
IECON 2024 – 50th Annual Conference of the IEEE Industrial Electronics Society, 06 Nov. 2024, 03 Nov. 2024, 06 Nov. 2024, Oral presentation - Evaluation of the Clinical Utility of a Gait Analysis System Using Pose Estimation Techniques in Physical Therapy
Katsuhiko Nishizawa; Yu Oba; Kento Yamada; Ikumi Tanaka; Toru Tsumugiwa; Ryuichi Yokogawa; Tomoya Watanabe
2024 SICE International Symposium on Control Systems, SICE ISCS 2024, Mar. 2024, Mar. 2024, Mar. 2024 - Effects of Delayed Visual Feedback on Brain Activity: A Near-Infrared Spectroscopy Study
Kengo Somei; Toru Tsumugiwa; Ryuichi Yokogawa; Mitsuhiro Narusue; Hiroto Nishimura; Yusaku Takeda; Toshihiro Hara
2023 IEEE/SICE International Symposium on System Integration (SII), 17 Jan. 2023, 17 Jan. 2023, 17 Jan. 2023, IEEE - Effects of Leader–Follower Information Asymmetry on Brain Activity During Human–Human Cooperative Transport Work
Shunsuke Satake; Toru Tsumugiwa; Ryuichi Yokogawa
IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society, 17 Oct. 2022, 17 Oct. 2022, 17 Oct. 2022, IEEE - Human arms' compliance properties based on upper limb posture and muscle activity analysis in steering wheel operation
Honoka Sugimoto; Toru Tsumugiwa; Ryuichi Yokogawa; Mitsuhiro Narusue; Yusaku Takeda; Toshihiro Hara
The Twenty-Seventh International Symposium on Artificial Life and Robotics 2022 (AROB 27th 2022), 26 Jan. 2022, 25 Jan. 2022, 27 Jan. 2022, Oral presentation - Effect of Display Response Time on Brain Activity in Human–Machine Interface Commander Operation
Kentaro Oshima; Toru Tsumugiwa; Ryuichi Yokogawa; Mitsuhiro Narusue; Hiroto Nishimura; Yusaku Takeda; Toshihiro Hara
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 29 Sep. 2021, 27 Sep. 2021, 01 Oct. 2021, Oral presentation - Muscle and Brain Activations in Cylindrical Rotary Controller Manipulation with Index Finger and Thumb
Rio Okatani; Toru Tsumugiwa; Ryuichi Yokogawa; Mitsuhiro Narusue; Hiroto Nishimura; Yuusaku Takeda; Toshihiro Hara
IEEE International Conference on Robotics and Automation (ICRA), 03 Jun. 2020, 31 May 2020, 31 Aug. 2020, Oral presentation - Gait Assessment on EMG and Trunk Acceleration with Impedance-Controlled Gait-Aid Walker-Type Robot
Shun Watanabe, Toru Tsumugiwa, Ryuichi Yokogawa
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2020), 08 Jul. 2020, 06 Jul. 2020, 09 Jul. 2020, Oral presentation - Gait Analysis of Walking Locomotion Enhanced by an Impedance-Controlled Gait-Aid Walker-Type Robot
Shun Watanabe, Toru Tsumugiwa, Ryuichi Yokogawa
IEEE/SICE International Symposium on System Integration (SII2020), 15 Jan. 2020, 13 Jan. 2020, 15 Jan. 2020, Oral presentation - 歩行支援機器の運動特性が被歩行補助者の歩容へ及ぼす影響
渡部 竣; 積際 徹; 横川 隆一
第37回 日本ロボット学会 学術講演会, Sep. 2019 - ステアリング操舵時における手先コンプライアンス特性
大澤 崇広; 積際 徹; 横川 隆一; 成末 充宏; 武田 雄策; 原 利宏
第37回 日本ロボット学会 学術講演会, Sep. 2019 - つまみ回転操作時における示指・拇指のコンプライアンス特性
織田 悠平; 積際 徹; 横川 隆一; 成末 充宏; 武田 雄策; 原 利宏
第37回 日本ロボット学会 学術講演会, Sep. 2019 - ペダリング動作時における筋収縮提示システムの開発
村田 壮; 積際 徹; 横川 隆一
第37回 日本ロボット学会 学術講演会, Sep. 2019 - 力覚入力調整機構を用いたヒューマンマシンインターフェースの開発
浅井 拳; 積際 徹; 横川 隆一
第37回 日本ロボット学会 学術講演会, Sep. 2019 - 可変アドミッタンス制御を実現する操作力調整機構
杉田 俊; 積際 徹; 横川 隆一
第37回 日本ロボット学会 学術講演会, Sep. 2019 - マン・マシンインターフェイスにおける操作支援トルクに対する操作性評価
竹内 良樹; 積際 徹; 横川 隆一
第37回 日本ロボット学会 学術講演会, Sep. 2019 - 示指・拇指によるつまみ回転操作時の筋・脳賦活解析
岡谷 梨央; 積際 徹; 横川 隆一; 成末 充宏; 西村 啓人; 武田 雄策; 原 利宏
第37回 日本ロボット学会 学術講演会, Sep. 2019 - Real-time muscle contraction feedback system for pedaling analysis based on surface EMG and lower limb muscle length
Naoya Abe; Takeshi Murata; Toru Tsumugiwa; Ryuichi Yokogawa
ECSS Congress Prague 2019, Jul. 2019 - マニピュレータ装着型受動摺動機構の開発
岩井 彬; 積際 徹; 横川 隆一
日本機械学会 関西支部第94期定時総会講演会, Mar. 2019 - Human Arm Compliance Evaluation Based on Muscle Activation Analysis
Naomichi Higashiyama; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 24th 2019, Jan. 2019 - Force and posture analysis of the index finger and thumb in turning the cylindrical device
Itsuki Hirata; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 24th 2019, Jan. 2019 - Analysis of muscle activity of upper limbs and cortex brain function in cylindrical object manipulation
Kai Tanaka; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 24th 2019, Jan. 2019 - Identification of brain/muscle activation and instrument maneuverability under pinching and grasping condition
Yosuke Yamamoto; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 24th 2019, Jan. 2019 - Influence of leader and follower role in human-human cooperative transportation task on brain-muscle activation
Shinobu Nakajima; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 24th 2019, Jan. 2019 - Analysis of motion characteristics during cylindrical knob rotation operation by index finger and thumb
Jumpei Yonezawa; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 24th 2019, Jan. 2019 - ロボット動特性の可変を実現するインタフェースの提案
神吉 厚之; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 協調運搬作業におけるリーダ・フォロワの役割が脳・筋活動と運動に与える影響
中島 詩惟; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 筋賦活解析に基づく手先コンプライアンスの特性評価
東山 尚道; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 把持・把握条件による機器操作時の脳・筋賦活と操作性評価への影響
山本 洋介; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 円筒形物体操作における上肢の筋活動および脳活動解析
田中 懐; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - ペダリング動作時における自転車競技選手の下肢筋群収縮特性
阿部 直也; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 円筒形物体回転操作時における示指・拇指の指先力／関節角度に基づく解析
平田 樹; 積際 徹; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 作業対象の動特性・動作特性に対する筋・脳賦活解析
積際 徹; 柴田 篤志; 横川 隆一
第36回 日本ロボット学会 学術講演会, Sep. 2018 - 自転車競技選手のペダリング動作における下肢筋群賦活に関する一考察
門田真弥; 積際徹; 横川隆一
日本機械学会 第29回バイオエンジニアリング講演会, Jan. 2017 - 起立支援における被介護者の起立動作特性
清水康隆; 積際徹; 横川隆一
日本機械学会 第29回バイオエンジニアリング講演会, Jan. 2017 - 摩擦特性を付与した運動が筋賦活および運動野・体性感覚野に及ぼす影響
眞鍋奈津季; 積際徹; 横川隆一
日本機械学会 第29回バイオエンジニアリング講演会, Jan. 2017 - 一輪型運搬支援機に搭載する電動ブレーキ機構の開発
足立梨絵; 積際徹; 横川隆一
日本機械学会 第29回バイオエンジニアリング講演会, Jan. 2017 - 作業対象が有する機械コンプライアンス値と人間の運動特性
ベルナール マエル耀平; 積際徹; 横川隆一
日本機械学会 第29回バイオエンジニアリング講演会, Jan. 2017 - KINECTを用いた下肢動作計測に基づく被介護者の動作解析
中西真理愛; 積際徹; 横川隆一
日本機械学会 第29回バイオエンジニアリング講演会, Jan. 2017 - Transition of muscle contraction of lower limbs during cycling exercise
Masaya Fujita; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 22nd 2017, Jan. 2017 - Force analysis of the index finger and thumb in turning the cylindrical object
Hiroto Nishimura; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 22nd 2017, Jan. 2017 - Evaluation of mechanical impedance regulator mechanism in human-robot cooperative task system
Miho Yura; Atsushi Kamiyoshi; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 22nd 2017, Jan. 2017 - Stability analysis for human-robot cooperative task system with the variable impedance mechanism
Tomoyuki Uchida; Atsushi Kamiyoshi; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 22nd 2017, Jan. 2017 - Effect of mechanical backlash on higher brain functions and surface potential signals
Kazue Sugiura; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 22nd 2017, Jan. 2017 - Effect of mechanical interaction between leader and follower on brain activations during human-human cooperative transportation task
Masaki Ohata; Toru Tsumugiwa; Ryuichi Yokogawa
AROB 22nd 2017, Jan. 2017 - 機械的バックラッシが高次脳機能および筋賦活状態に及ぼす影響
杉浦和恵; 積際徹; 横川隆一
第34回 日本ロボット学会 学術講演会, Sep. 2016 - 機械インピーダンス可変機構の開発・評価
由良美帆; 積際徹; 横川隆一
第34回 日本ロボット学会 学術講演会, Sep. 2016 - 人間とロボットの協調作業における機械インピーダンス可変機構の開発
永田求; 積際徹; 横川隆一
第34回 日本ロボット学会 学術講演会, Sep. 2016 - 人間-ロボット協調作業系における摩擦運動特性下での 筋賦活および高次脳機能解析
眞鍋奈津季; 積際徹; 横川隆一
第34回 日本ロボット学会 学術講演会, Sep. 2016 - T字杖，四脚杖，ロフストランド杖を用いた歩容ならびに免荷に関する解析
谷口允紀; 積際徹; 横川隆一
第34回 日本ロボット学会 学術講演会, Sep. 2016 - T字杖，四脚杖，ロフストランド杖の歩容に関する一考察
谷口允紀; 積際徹; 横川隆一
2001 IEEE / RSJ International Conference on Intelligent Robots and Systems, Aug. 2016 - 機械的バックラッシを考慮した操作性に関する研究
杉浦和恵; 積際徹; 横川隆一
IEEE Metro Area Workshop in Kansai, 2016, Aug. 2016 - 介助動作における腰部屈曲角度の計測および作業姿勢評価システムの開発
中坊将士; 積際徹; 横川隆一
IEEE Metro Area Workshop in Kansai, 2016, Aug. 2016 - 支持免荷歩行訓練動作に基づく歩行支援ロボットの運動制御
坂田寛; 積際徹; 横川隆一
IEEE Metro Area Workshop in Kansai, 2016, Aug. 2016 - 協調位置決め作業における 移動動作及び位置決め動作の運動解析
横尾公哉; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 人間とロボットの協調作業における動特性の可変制御機構の開発
小野一樹; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 人どうしの協調運搬作業においてリーダ・フォロワ間の相互作用が高次脳機能へ及ぼす影響
大畑真輝; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 支持免荷歩行訓練動作に基づく歩行支援ロボットの運動制御
坂田寛; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 人間-ロボット協調作業系において摩擦特性を付加した位置決め作業に関する高次脳機能評価
柴田篤志; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 被歩行補助者の状態推定に基づく歩行支援ロボットの運動制御
川端一帆; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 垂直多関節型マニピュレータPA-10 のコンプライアンス特性についての解析
中田雅也; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 示指の筋腱駆動系モデルを用いた電気メススイッチの押下時における操作力特性の解析
大城峻; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 表面筋電位および踏力計測に基づくペダリング動作解析システム
本元泰穂; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 介助動作における腰部屈曲角度の計測・解析システムの開発
中坊将士; 積際徹; 横川隆一
ロボティクス・メカトロニクス講演会2015, May 2015 - 二輪型運搬支援機を用いた運搬作業における作業者の身体的負担に関する一考察
大辻恭平; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - 二輪走行機構を有する運搬支援機の開発
大竹洋輔; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - インピーダンス制御されたロボットアーム手先に搭載する高剛性環境との接触機構
児玉宜彦; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - 人とロボットの協調作業における力伝達量調節機構の運動制御
曽我祐介; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - 人間とロボットの協調作業における力伝達量調節機構の設計
横溝秀一; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - 人とロボットの協調作業における操作者の運動スキルに関する一考察
生田涼; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - 垂直多関節型マニピュレータPA-10のコンプライアンスモデルに関する一考察
小島悠暉; 積際徹; 横川隆一
計測自動制御学会 システム・情報部門 学術講演会(SSI2013), Oct. 2013 - Development of the Walking-Support Robot Equipped with Force Detecting System
Katsuhiko Nishizawa; Toru Tsumugiwa; Ryuichi Yokogawa
SICE Annual Conference 2013, Sep. 2013 - Development of Wearable Haptic Device Using Variable Structure Control for End Effector of Haptic Device
Takashi Kinugawa; Toru Tsumugiwa; Ryuichi Yokogawa
SICE Annual Conference 2013, Sep. 2013 - Robot Motion Control Using Mechanical Load Adjuster with Motion Measurement Interface for Human-Robot Cooperation
Toru Tsumugiwa; Yuki Watanabe; Ryuichi Yokogawa
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), Oct. 2009 - Development of Mechanical Load Adjusting Device with Motion Measurement Interface for Robotic Assistive Rehabilitation System
Toru Tsumugiwa; Yuki Watanabe; Ryuichi Yokogawa
2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR2009), Jun. 2009 - Object Inherent Dynamics Based Motion Control in Human-Robot Cooperative Task System
Toru Tsumugiwa; Ryuichi Yokogawa
2009 IEEE International Conference on Robotics and Automation(ICRA2009), 2009 - Position Detecting Device for Measurement of Human Motion in Human-Machine Interaction
Toru TSUMUGIWA; Atsushi KAMIYOSHI; Ryuichi YOKOGAWA; Hiroshi SHIBATA
2007 IEEE / ASME International Conference on Advanced Intelligent Mechatronics ( AIM 2007 ), Sep. 2007 - Relationship between model parameters and fingertip manipulation of a tendon-muscle driven system
Salvador Rivera Chequer; Ryuichi Yokogawa; Toru Tsumugiwa; Hiroshi Shibata
2006 IEEE International Conference on Robotics and Biomimetics ( ROBIO 2006 ), Dec. 2006 - Development of Human Motion Detecting Device for Human-Machine Interface
Toru TSUMUGIWA; Atsushi KAMIYOSHI; Ryuichi YOKOGAWA; Hiroshi SHIBATA
2006 IEEE International Conference on Robotics and Biomimetics ( ROBIO 2006 ), Dec. 2006 - Impedance Control Strategy using Virtual Stiffness Term for Human-Robot Cooperative Task(Power Assistance in Carrying Heavy Object)
A. Kamiyoshi; R. Yokogawa; H. Shibata; T. Tsumugiwa
ISR 2005 ( 36th International Symposium on Robotics ), Nov. 2005 - Vibration Suppression Controls for a Variable Length Pendulum
K.Yoshida; H.Kawabe; I.Matsumoto; T.Tsumugiwa
SICE 2005 Annual Conference ( Okayama ), Aug. 2005 - Stability Analysis for Impedance Control of Robot for Human-Robot Cooperative Task System
Toru TSUMUGIWA; Yasunori FUCHIKAMI; Atsushi KAMIYOSHI; Ryuichi YOKOGAWA; Kazunobu YOSHIDA
2004 IEEE / RSJ International Conference on Intelligent Robots and Systems, Oct. 2004 - Measurement Method for Compliance of Vertical-Multi-Articulated Robot -Application to 7-DOF Robot PA-10-
Toru TSUMUGIWA; Ryuichi YOKOGAWA; Kei HARA
2003 IEEE International Conference on Robotics and Automation, Sep. 2003 - Switching Control of Position/Torque Control for Human-Robot Cooperative Task - Human-Robot Cooperative Carrying and Peg-in-Hole Task -
Toru TSUMUGIWA; Atsushi SAKAMOTO; Ryuichi YOKOGAWA; Kei HARA
2003 IEEE International Conference on Robotics and Automation, Sep. 2003 - Variable Impedance Control with Virtual Stiffness for Human-Robot Cooperative Peg in Hole Task
Toru TSUMUGIWA; Ryuichi YOKOGAWA; Kei HARA
2002 IEEE / RSJ International Conference on Intelligent Robots and Systems, Dec. 2002 - VARIABLE IMPEDANCE CONTROL BASED ON ESTIMATION OF HUMAN ARM STIFFNESS FOR HUMAN-ROBOT COOPERATIVE TASK-Human-Robot Cooperative Calligraphic Task-
Toru TSUMUGIWA; Ryuichi YOKOGAWA; Kei HARA
2002 The 6th International Conference on Motion and Vibration Control, Aug. 2002 - Variable Impedance Control with Virtual Stiffness for Human-Robot Cooperative Task (Humnan Robot Cooperative Peg in Hole Task)
Toru TSUMUGIWA; Ryuichi YOKOGAWA; Kei HARA
SICE Annual Conference 2002 in Osaka ( SICE2002 ), Aug. 2002 - Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Calligraphic Task
Toru TSUMUGIWA; Ryuichi YOKOGAWA; Kei HARA
2002 IEEE International Conference on Robotics and Automation, May 2002 - Variable Impedance Control with Regard to Working Process for Man-Machine Cooperation-Work System
Toru TSUMUGIWA; Ryuichi YOKOGAWA; Kei HARA
2001 IEEE / RSJ International Conference on Intelligent Robots and Systems, Nov. 2001
Industrial Property Rights
- Patent right
インピーダンス制御装置、およびインピーダンス制御プログラム
特願 2003-157047 , 特開 2004-358575 - Patent right
ロボットシステム、ロボットのインピーダンス制御方法
特願 2003-015749 , 特開 2004-223663
Research Projects
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積際 徹
本研究の目的は、筋・脳賦活状態と運動特性、主観評価を相互に解析することにより、作業対象の動特性に対する人間の認知過程の一端について明らかにすることである。筋・脳賦活状態と運動に関わるデータと人間の心理状態を紐付けることができれば、力学的な相互作用を伴う作業や操作機器の動特性設計を定量的に実現するための有益な基盤情報になり、直感的かつ容易に操作・操縦できるような機器や操作インターフェースが実現できると考えられる。 本研究では、人間が操作する作業対象の動特性（例えば、インピーダンス特性として表現される慣性、粘性、剛性などの動特性）に対する人間の応答特性・認知過程を明らかにするために、三次元位置計測装置や力覚センサによる運動計測（人間の運動中の位置や力の計測）、fNIRS、筋電位計による脳血流変化量、筋電位計測を行い、得られたデータの解析を実施する。また、人間の感性評価を実現する主観評価については、アンケート等による調査を行い、種々のデータとともに多面的な解析を試みる。 本年度（2021年度）の研究成果としては、(1)実験実施に必要な環境の構築、(2)計測実験の実施、(3)データ解析法の確立が挙げられる。これらの成果によって、研究目的達成のために必要となるデータ収集や解析に関わる実現可能性を示すことができた。次年度以降は、解析結果に関わる各パラメータ間の関連性や相関についての検討を通して、研究目的となる“作業対象の動特性に対する人間の応答特性・認知過程の一端について明らかにすること”を目指す。, Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), 2021/04 -2024/03, Grant-in-Aid for Scientific Research (C), Doshisha University - 作業動特性に対する人間の認知能力解明と筋・脳賦活状態に関する解析手法の創成
積際 徹
科学研究費補助金 基盤研究(C), 2018 -2020, Principal investigator, Competitive research funding - 人間とロボットの動特性干渉制御に基づくロボットの運動制御法の創成と高次脳機能評価
積際 徹
科学研究費補助金 基盤研究(C), 2015 -2017, Principal investigator, Competitive research funding - 人間とロボットの力学的協調作業に伴う動特性帯域を滑らかに調整する機械的可変機構
積際 徹
科学研究費補助金 基盤研究(C), 2012 -2014, Principal investigator, Competitive research funding - 作業動特性帯域の可変制御に基づく人間-機械協調系の力学的相互作用の実現
積際 徹
科学研究費補助金 若手研究(B), 2010 -2011, Principal investigator, Competitive research funding - Investigation of the muscle-tendon driven system of the finger on analysis of the higher brain function using NIRS and the pseudo-inverse matrix structure.
YOKOGAWA Ryuichi; TSUMUGIWA Toru
While the position of the phalangeal joint and the configuration of the muscles/tendons at the joint were numerically different among the subjects, the function of the muscles/tendons was common among them. While the roles of the muscles/tendons were different among the subjects in the manipulation of the fine fingertip force, the roles were able to be classified into some cases. The classification was explained using the tendon driven models developed on the MRI data. In the manipulation of the fine fingertip force, the manipulability of the finger depends on the finger posture. The brain activity controlling the fingertip changes in order to adjust the muscle forces to the variation of the manipulability of the finger. The conclusions indicate the possibility that the neural mechanism of the motor learning depends on the characteristics of the muscles/tendons, i. e. the controlled object. This could provide new insights for research into motor nerves physiology., Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, 2009 -2011, Grant-in-Aid for Scientific Research (B), Doshisha University - 人間－ロボット協調作業系において固有動特性を運動規範とする力学的相互作用の実現
積際 徹
科学研究費補助金 若手研究(B), 2007 -2008, Principal investigator, Competitive research funding