KEIO RESEARCHERS INFORMATION SYSTEM

Career 【 Display / hide 】

Career 【 Display / hide 】

• 2004.04

  -

  2005.03

  慶應義塾大学特別研究助手

• 2005.04

  -

  2007.03

  慶應義塾大学理工学部システムデザイン工学科助手

• 2007.04

  -

  2009.03

  慶應義塾大学理工学部システムデザイン工学科助教

• 2009.04

  -

  2011.03

  慶應義塾大学理工学部システムデザイン工学科専任講師

• 2010.04

  -

  2011.03

  首都大学東京非常勤講師

display all >>

Academic Degrees 【 Display / hide 】

Academic Degrees 【 Display / hide 】

• 博士（工学）, Keio University, 2004.03

  非線形システムの統合型ニューラルネットワーク知的制御

Research Areas 【 Display / hide 】

Research Areas 【 Display / hide 】

• Informatics / Mechanics and mechatronics

Books 【 Display / hide 】

Books 【 Display / hide 】

• Driving Control of a Powered Wheelchair by Voluntary Eye Blinking and with Environment Recognition

  Kyohei Okugawa, Masaki Nakanishi, Yasue Mitsukura, TAKAHASHI MASAKI, Trans Tech Publications Inc., 2014

  Scope: 1764-1768

• Gait Measurement System for the Elderly Using Laser Range Sensor

  Ayanori Yorozu, TAKAHASHI MASAKI, Trans Tech Publications Inc., 2014

  Scope: 1629-1635

• 3D X-Y-T Space Path Planning for Autonomous Mobile Robot Considering Dynamic Constraints

  Ippei Nishitani, Tetsuya Matsumura, Mayumi Ozawa, Ayanori Yorozu, TAKAHASHI MASAKI, Trans Tech Publications Inc., 2014

  Scope: 1163-1167

• Simultaneous Control of Translational and Rotational Motion for Autonomous Omnidirectional Mobile Robot Considering Shape of the Robot and Movable Area by Heights

  Ayanori Yorozu, Takafumi Suzuki, Tetsuya Matsumura, TAKAHASHI MASAKI, Springer, 2013

  Scope: 91-100

• INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, Lecture Notes in Electrical Engineering

  TAKAHASHI MASAKI, Takafumi Suzuki, Tetsuya Matsumura and Ayanori Yorozu, Springer, 2012

  Scope: 51-64

display all >>

Papers 【 Display / hide 】

Papers 【 Display / hide 】

• Exhaustive evaluation of microgravity landing dynamics for small body exploration

  Otsuki M., Baba M., Imada T., Yamato M., Ohashi T., Takahashi M., Himeno T., Maeda T., Ozaki S., Ishigami G., Kobayashi T., Kitazono K.

  Acta Astronautica 238   1 - 12 2026.01

  ISSN  00945765

  　View Summary

  Landing dynamics play a crucial role in the success of planetary missions, particularly in low-gravity environments, and determining optimal landing sites continues to be challenging. This paper reports a method for landing safety evaluation based on spacecraft dynamics for landings on the surface layer of small bodies in the Martian moons exploration project. Unlike conventional short-duration contact explorations, spacecraft designed for the exploration of Martian moons will remain on the surface of Phobos for several hours post landing. Owing to low gravitational forces, small bodies exhibit an inadequate restoring force, which can result in overturning and rebounding of the spacecraft; moreover, the gravitational forces on Martian moons are several tens of times greater than that on other small bodies, such as Ryugu and Itokawa, necessitating a consideration of the impact acceleration during landing. In this study, a distinctive model was constructed based on low-gravity experimental results, with the capacity to replicate the flexibility of the spacecraft structure, tank sloshing, shock absorption, and interaction with the surface layer. Subsequently, we confirmed the unique behaviors of the spacecraft during its landing simulation on authentic terrain, and candidate landing areas were evaluated based on nine safety criteria. This evaluation process entailed the identification of safe landing areas, yielding a 20% reduction in the number of safe landing sites compared with that based exclusively on terrain.

  • Access to Document (DOI)

• Speech Method for Caregiving Robots Considering Uncertainty

  Shindo A., Kawasaki Y., Takahashi M.

  Lecture Notes in Computer Science 15561 LNAI   244 - 253 2025

  ISSN  03029743

  　View Summary

  Recent studies have explored the integration of large language models (LLMs) into caregiving robots. The use of LLMs facilitates the generation of human-like natural dialogues and diverse, varied expressions. However, in case of a lack of direct and specific instructions from a user, gaining an accurate understanding of the user's intent is challenging, which may result in miscommunication. Thus, this study proposed a method to achieve robust communication even in the absence of direct instructions by considering the uncertainty in destination prediction probabilities. The proposed system leveraged GPT-4 to generate various Japanese speech content candidates and employed neighborhood components analysis to facilitate dimensionality reduction. Consequently, notable features of the rich linguistic embeddings were preserved while transforming them into manageable data. The system selected appropriate utterances based on the destination prediction probabilities. Furthermore, this study investigated changes in the speech content according to the variations in these probabilities, and the incorporation of uncertainty in communication was validated.

  • Access to Document (DOI)

• Release of space debris from flexible nets for Active Debris Removal

  Ota K., Takahashi M.

  AIAA Science and Technology Forum and Exposition AIAA Scitech Forum 2025  2025

  　View Summary

  Net-based debris capture is one of the countermeasures against space debris. This paper considers the system which consists of flexible net with actuators attached to the corner nodes to release multiple debris into transitioned orbit. The debris releasing from a net system is assumed, and the net-debris composite system is attributed to nonlinear programming. The nonlinear dynamics of net’s flexibility and contact between the net and the debris are explicitly considered so that the debris can realize the target speed and angle of velocity, and the optimized control input history of the net system actuators is derived accordingly. The validity of derived actuator inputs is verified by numerical simulations.

  • Access to Document (DOI)

• Pulmonary function deterioration screening using a patch-type multimodal sensor: A pilot study

  Ota Y., Nakata Y., Tsuji M., Yoshida T., Nomura Y., Nagaoka H., Ishikawa A., Yamamoto A., Yamada K., Takahashi M.

  Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBS  2025

  ISSN  1557170X

  　View Summary

  The progressive decline in pulmonary function contributes to the risk of chronic respiratory diseases and reduction in quality of life. However, the conventional pulmonary function test, Spirometry, is only available after the patient acknowledges the symptoms. In case of structural damage to the lungs, it is irreversible, and complete treatment is difficult. Therefore, we aimed to establish a simple pulmonary function monitoring system using the photoplethysmography (PPG) sensor on the patch-type multimodal sensor. As a pilot study, we conducted trend analysis of the proposed sensor during simulated hypoxemia and comparison based on smoking history. From hypoxia simulation, respiratory PPG signals are likely to be affected not only by physical respiratory dynamics, but also by internal pulsatile indices. The degree of deformation in signal amplitude and intensity differed by smoking history. In addition, it showed a mild correlation with poor pulmonary function. Although further evaluation with a broader participant pool and clinical pulmonary evaluation is necessary, these findings suggest potential application for early pulmonary function monitoring with the proposed sensor.Clinical Relevance - This suggests the potential use of the PPG signal from the patch-type multimodal sensor for early screening of pulmonary function deterioration, for which many patients remain undiagnosed due to its asymptomatic symptoms.

  • Access to Document (DOI)

• Physiological and psychological effects of spotlight in a limited space

  Yoshino K., Takahashi M.

  AIAA Science and Technology Forum and Exposition AIAA Scitech Forum 2025  2025

  　View Summary

  In a limited space, such as pressurized rovers, insufficient personal space is a source of stress for astronauts. The aim of this study is to mitigate effects caused by personal space invasions. The proposed system for that problem is using a spotlight system that automatically adjusts based on vital sign feedback. In this study, experiments with human subjects to test the effects of spotlight exposure are conducted. Specifically, respiration signal was measured to investigate the relationship between respiration, distance and the spotlight in a limited space. The results suggest that changes in respiration may reflect the effects of spatial distance, suggesting that respiration may serve as an indicator of personal spatial discomfort. Furthermore, the usefulness of spotlight lighting in confined spaces was demonstrated through its effects on breathing, demonstrating its potential to enhance comfort by adjusting lighting based on vital sign.

  • Access to Document (DOI)

display all >>

Papers, etc., Registered in KOARA 【 Display / hide 】

Papers, etc., Registered in KOARA 【 Display / hide 】

• Resilient vibration control method considering functional continuity and rapid restoration

  Takahashi, Masaki

  科学研究費補助金研究成果報告書 2023

• Goal inference via corrective path demonstration for human-robot collaboration

  Takahashi, Masaki

  AICカンファレンス予稿集 (慶應義塾大学AI・高度プログラミングコンソーシアム)     58 - 58 2023

• Robot symbiosis living space to extend the healthy life expectancy

  Takahashi, Masaki

  科学研究費補助金研究成果報告書 2021

• Broadcast responsive vibration control system to reduce damage to facilities

  Takahashi, Masaki

  科学研究費補助金研究成果報告書 2019

• Development of measurement and evaluation system of motor and cognitive function for Parkinson's disease

  Takahashi, Masaki

  科学研究費補助金研究成果報告書 2019

display all >>

Reviews, Commentaries, etc. 【 Display / hide 】

Reviews, Commentaries, etc. 【 Display / hide 】

• Erratum: Shift-Adaptive estimation of joint angle using instrumented brace with two stretch sensors based on gaussian mixture models (IEEE Robotics and Automation Letters (2020) 5:4 (5881-5888) DOI: 10.1109/LRA.2020.3010486)

  Eguchi R., Michael B., Howard M., Takahashi M.

  IEEE Robotics and Automation Letters (IEEE Robotics and Automation Letters)  5 ( 4 )  2020.10

  　View Summary

  Fig. 1 in [1] had distortions between (a) and (b) and lost the grid in (c). The correct figure is shown in Fig. 1. (Figure Presented).

  • Access to Document (DOI)

Presentations 【 Display / hide 】

Presentations 【 Display / hide 】

• 多機能型ロボットによるスマート農業

  髙橋　正樹, 石上玄也, 萬礼応

  [Domestic presentation]  第5回制御部門マルチシンポジウム (東京都) , 

  2018.03

  , 

  Oral presentation (general)

• Agile Attitude Maneuver via SDRE Controller using SGCMG Integrated Satellite Model

  Ryotaro Ozawa, TAKAHASHI MASAKI

  [International presentation]  The 2018 AIAA Science and Technology Forum and Exposition (AIAA SciTech 2018) (Gaylord Palms, Kissimmee, Florida, USA) , 

  2018.01

  , 

  Oral presentation (general)

• Control System Design of a Quadrotor Suppressing the Virtual Reality Sickness

  Kandai Watanabe, TAKAHASHI MASAKI

  [International presentation]  The 2018 AIAA Science and Technology Forum and Exposition (AIAA SciTech 2018) (Gaylord Palms, Kissimmee, Florida, USA) , 

  2018.01

  , 

  Oral presentation (general)

• Minimum-time Attitude Maneuver of Small Satellite Mounted with Communication Antenna

  Kota Mori, TAKAHASHI MASAKI

  [International presentation]  The 2018 AIAA Science and Technology Forum and Exposition (AIAA SciTech 2018) (Gaylord Palms, Kissimmee, Florida, USA) , 

  2018.01

  , 

  Oral presentation (general)

• Attitude Maneuver and Gimbal Angle Guidance by SDRE Controller using SGCMG Integrated Satellite SDLR Model

  Ryotaro Ozawa, TAKAHASHI MASAKI

  [International presentation]  2017 Asian Control Conference (ASCC 2017) (Gold Coast, Australia) , 

  2017.12

  , 

  Oral presentation (general)

display all >>

Research Projects of Competitive Funds, etc. 【 Display / hide 】

Research Projects of Competitive Funds, etc. 【 Display / hide 】

• 自律ロボット導入のための人のマルチモーダル業務分析

  2023.04

  -

  2026.03

  基盤研究(C), Principal investigator

• パーキンソン病患者の機能的移動能力と認知機能の計測・評価システムの開発

  2016.04

  -

  2020.03

  MEXT,JSPS, Grant-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Principal investigator

• 転倒予防計測システム

  2011.04

  -

  2012.03

  村田機械株式会社, Joint research, Principal investigator

• 可変重力環境下における歩行制御メカニズムの解明と次世代宇宙服のシステムデザイン

  2009.04

  -

  2010.03

  慶應義塾先端科学技術研究センター, 指定研究プロジェクト次世代先端分野探索研究（単年度）, Research grant, No Setting

• 受動要素を併合した２足ロボットの非線形動力学設計と制御

  2008.04

  -

  2009.03

  慶應義塾大学, Keio Gijuku Academic Development Funds, Research grant, No Setting

display all >>

Awards 【 Display / hide 】

Awards 【 Display / hide 】

• 部門貢献表彰

  TAKAHASHI MASAKI, 2015.08, 日本機械学会　機械力学・計測制御部門, 部門貢献表彰

  Type of Award： Award from Japanese society, conference, symposium, etc.

  　View Description

  長年機械力学・計測制御部門で活躍しておられ，2013年度（第91期）の部門幹事として部門の活性化に大いに貢献されました。また部門講演会であるDynamics and Design Conference 2014において，幹事としてその開催と運営に尽力され，講演会を盛会に導かれました。

• The 12th International Conference on Motion and Vibration Control (MOVIC 2014), Best Student Presentation Award

  Takayuki Ishida, Hiroka Inoue, Wataru Mogi, TAKAHASHI MASAKI, Masahiro Ono, Shuichi Adachi, 2014.08, Long-Range Navigation for Resource-Constrained Planetary Rovers using angle of Arrival

  Type of Award： Other

• 2013 International Conference on Control, Mechatronics and Automation (ICCMA 2013), Excellent Presentation Award

  Ippei Nishitani, Tetsuya Matsumura, Mayumi Ozawa, Ayanori Yorozu, TAKAHASHI MASAKI, 2013.12, 3D X-Y-T Space Path Planning for Autonomous Mobile Robot Considering Dynamic Constraints

  Type of Award： Other

• International Conference on Intelligent Automation and Robotics (ICIAR'12), Best Student Paper Award

  YOKOYAMA KAZUTO, TAKAHASHI MASAKI, 2012.10, Energy Shaping Nonlinear Acceleration Control for a Mobile Inverted Pendulum with a Slider Mechanism Utilizing Instability

  Type of Award： Other

• The 12th International Conference on Intelligent Autonomous Systems, Best Poster Paper Award

  AYANORI YOROZU, TAKAFUMI SUZUKI, TETSUYA MATSUMURA, TAKAHASHI MASAKI, 2012.06, The 12th International Conference on Intelligent Autonomous Systems, Simultaneous Control of Translational and Rotational Motion for Autonomous Omniderectional Mobile Robot Considering Shape of the Robot and Movable Area by Height

  Type of Award： International academic award (Japan or overseas)

  　View Description

  知的自律システムに関する国際会議において発表した自律移動ロボットにおける環境評価と行動決定に関する研究成果がBest Poster Paper Awardを受賞した。

display all >>

Courses Taught 【 Display / hide 】

Courses Taught 【 Display / hide 】

• SYSTEM DESIGN ENGINEERING PRACTICAL RESEARCH (INTERNATIONAL) B

  2026

• COMPUTER PROGRAMMING EXERCISE

  2026

• SYSTEMS ENGINEERING

  2026

• LINEAR CONTROL THEORY

  2026

• GRADUATE RESEARCH ON INFORMATICS, MANAGEMENT, AND HUMAN SCIENCES A1

  2026

display all >>

Social Activities 【 Display / hide 】

Social Activities 【 Display / hide 】

• 特許庁

  2010.02

  -

  2015.11

• かわさき・神奈川ロボットビジネス協議会

  2009.09

  -

  2010.03

  　View Summary

  平成21年度事業化支援会議・生活分野ロボットWG委員主査

Memberships in Academic Societies 【 Display / hide 】

Memberships in Academic Societies 【 Display / hide 】

• 電気学会, 

  2015.04

  -

  2016.03

• 一般社団法人日本建築学会, 

  2010.04

  -

  2016.03

• 日本航空宇宙学会, 

  2010.04

  -

  2016.03

• 一般社団法人計測自動制御学会, 

  2009.04

  -

  2016.03

• AIAA: The American Institute of Aeronautics and Astronautics, 

  2008.04

  -

  2016.03

display all >>

Committee Experiences 【 Display / hide 】

Committee Experiences 【 Display / hide 】

• 2012.04

  -

  2013.03

  委員, 日本機械学会

  　View Remarks

  機械力学・計測制御部門　運営委員　幹事

• 2011.04

  -

  2012.03

  Committee Member, 日本機械学会

  　View Remarks

  機械力学・計測制御部門　運営委員

• 2010.04

  -

  2012.03

  Committee Member, 日本機械学会

  　View Remarks

  宇宙工学部門　運営委員

• 2010.02

  -

  2012.11

  工業所有権審査会試験委員（特許庁弁理士試験委員）, 特許庁

• 2009.09

  -

  2010.03

  Program Chair, かわさき・神奈川ロボットビジネス協議会

  　View Remarks

  平成21年度事業化支援会議・生活分野ロボットWG委員主査

display all >>