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

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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

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Papers 【 Display / hide 】

Papers 【 Display / hide 】

• Estimation of Three-Dimensional Ground Reaction Forces During Walking and Turning Using Insole Pressure Sensors Based on Gait Pattern Recognition

  Eguchi R., Takahashi M.

  IEEE Sensors Journal （IEEE Sensors Journal)  23 （ 24 ） 31278 - 31286 2023.12

  ISSN  1530437X

  　View Summary

  Three-dimensional ground reaction forces (3D GRFs) in various gait patterns (e.g., walking and turning) provide essential information for clinical assessment. Previous scholars proposed to estimate GRFs from insoles with few pressure sensors using machine learning techniques. However, estimating GRFs during turning using a model learned from walking proved difficult because relationships between plantar pressure and GRFs vary according to the gait pattern. In this study, GRFs were estimated based on gait pattern recognition. GRF estimation models were learned from various gait patterns in advance. These models represented relationships between the insole measurements and GRFs using a Gaussian process regression (GPR). The GRFs were estimated from the insole measurements using a maximum likelihood (ML) model recognized as the current gait pattern. The ML model had the largest time frames, in which its standard deviation (SD) of the probabilistically estimated vertical GRF was the smallest among all the models (i.e., its training data were closest to the inputs), in the initial and terminal stance phases (subphases). In addition, the time frames of the contralateral leg were considered to enhance the recognition accuracy based on interlimb coordination. Experiment results showed that the proposed system, which used a common model learned from all the gait patterns for the vertical GRF and the ML model in the subphases of both legs for the horizontal GRFs, estimated 3D GRFs during walking and turning with different curvatures and directions with higher accuracy. The system can be widely applied for clinical walking tests and monitoring in daily life.

  • Access to Document (DOI)

• Gait Measurement System Utilizing Missing Point Clouds Caused by Feet With Apple LiDAR Camera

  Takahashi M., Takahashi M.

  IEEE Sensors Letters （IEEE Sensors Letters)  7 （ 10 ）  2023.10

  　View Summary

  Gait measurement in clinical settings is often limited to qualitative evaluations despite the availability of various measurement devices. Although marker-less motion capture techniques, such as Kinect, have been attracting attention recently, they have rarely been introduced in the field because of the complexity of measurement operations. Therefore, in this letter, we propose a gait measurement algorithm that uses the light detection and ranging (LiDAR) camera of an iPad, a widely used mobile device. First, as part of the floor was hidden by the walking foot, the missing points in the floor point cloud were detected as feet. Subsequently, we placed the potentials at the detected foot positions, summed them over a series of frames, and obtained the local maximum value to obtain the ground position during walking. Spatial gait parameters, such as step length and width, were obtained from the ground position. In an accuracy verification experiment with 13 elderly subjects, the average absolute error of the step length was 28 mm, and that of the step width was 19 mm. These results indicated that the values estimated using the proposed method are useful for evaluating clinical tasks.

  • Access to Document (DOI)

• Simultaneous Measurement of Respiratory and Pulse Information Using a Patch-Type Sensor for Sleep Apnea Hypopnea Detection

  Ota Y., Yoshida T., Nagaoka H., Takahashi M.

  IEEE Sensors Letters （IEEE Sensors Letters)  7 （ 10 ）  2023.10

  　View Summary

  Sleep apnea hypopnea syndrome (SAHS) is one of the most common sleeping disorders. However, numerous people suffering from SAHS are left undiagnosed. SAHS causes arousal reactions, sleep fragmentation, and hypoxemia, thus leading to excessive daytime sleepiness, lack of concentration, and a high risk of cardiovascular complications. Although polysomnography is the standard way of SAHS screening, its high cost, limited accessibility, and requirement of operational skills hinder its applicability for SAHS diagnoses. Therefore, this letter proposes a novel approach for SAHS detection using a patch-type photoplethysmography sensor. As an initial study, both respiratory and pulse information are simultaneously measured, and the trend of pulse variation, which reportedly has a strong correlation to oxygen saturation (SpO2), is thereby clarified. In addition, more real-time measurement of the pulse rate was possible on the chest compared to the fingertip. SAHS detection by incorporating respiratory and pulse information is beneficial for complete and credible screening and risk assessment of cardiovascular complications with less invasive devices. Therefore, this simple patch-type sensor can replace invasive, expensive, and limiting screening methods to facilitate the diagnosis of SAHS.

  • Access to Document (DOI)

• The modeling and analysis for the natural frequency adjustments of Vehicle Manipulator for the ITER Blanket Remote Handling System

  Tomoyuki I., Yuto N., Nobukazu T., Masaki T.

  Fusion Engineering and Design （Fusion Engineering and Design)  192 2023.07

  ISSN  09203796

  　View Summary

  This paper describes a method to adjust the natural frequency of the Vehicle Manipulator of the ITER Blanket Remote Handling System (BRHS). The natural frequency was adjusted to avoid the seismic resonance by using the redundancy of degree of freedom of the Vehicle Manipulator. The Vehicle Manipulator was modeled and analyzed with lumped mass model with joint stiffness. The analysis has shown that the natural frequencies of the Vehicle Manipulator can be changed from 0.5 Hz to 12 Hz in the gripping posture of the First Wall in the vacuum vessel, suggesting that the dominant seismic frequency around 7Hz-9 Hz can be avoided.

  • Access to Document (DOI)

• Rush-Out Risk Mapping from Human Operational Commands Considering Field Context^∗

  Ohnishi F., Kawasaki Y., Takahashi M.

  IEEE International Workshop on Robot and Human Communication, RO-MAN （IEEE International Workshop on Robot and Human Communication, RO-MAN)     1196 - 1201 2023

  ISSN  19449445

  　View Summary

  Collaborative delivery robots in hospitals are required to move safely and efficiently in a short time, without colliding with people. Hence, they must consider the risk of people rushing out from blind spots or rooms, including field context such as the role and usage of the location. However, these factors are difficult to extract solely from geometric information. Therefore, we propose a method for generating a rush-out risk map considering the field context from the hospital staf's operation data of an electric wheelchair. We convert the wheelchair's speed operated by staff into rush-out risk, and then place rush-out risk potentials at positions where rush-outs may occur. Subsequently, we optimize the mapping position of rush-out risk and parameters of each potential to minimize the error to obtain a rush-out risk map. We collected actual staff operation data in the hospital and confirmed that we could generate a rush-out risk map with small errors.

  • Access to Document (DOI)

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

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

• 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

• 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

• Living space supporting solitary elderly who lives by oneself using supporting robot

  Takahashi, Masaki

  科学研究費補助金研究成果報告書 2017

• Cooperative control of a building and equipment to enhance the functional maintainability

  Takahashi, Masaki

  科学研究費補助金研究成果報告書 2015

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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

  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

  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

  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

  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

  2017 Asian Control Conference (ASCC 2017) (Gold Coast, Australia) , 

  2017.12

  , 

  Oral presentation (general)

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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

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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。

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Courses Taught 【 Display / hide 】

Courses Taught 【 Display / hide 】

• SYSTEMS ENGINEERING

  2024

• SPECIAL LECTURE ON SPACE AND ENVIRONMENT DESIGN ENGINEERING 1

  2024

• SEMINAR IN SYSTEM DESIGN ENGINEERING

  2024

• MODELING OF STATICAL AND DYNAMICAL PHENOMENA

  2024

• LINEAR CONTROL THEORY

  2024

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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

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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

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