高橋 正樹 (タカハシ マサキ)

Takahashi, Masaki

写真a

所属(所属キャンパス)

理工学部 システムデザイン工学科 (矢上)

職名

教授

HP

外部リンク

経歴 【 表示 / 非表示

  • 2004年04月
    -
    2005年03月

    慶應義塾大学特別研究助手

  • 2005年04月
    -
    2007年03月

    慶應義塾大学理工学部システムデザイン工学科助手

  • 2007年04月
    -
    2009年03月

    慶應義塾大学理工学部システムデザイン工学科助教

  • 2009年04月
    -
    2011年03月

    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年04月
    -
    2011年03月

    首都大学東京非常勤講師

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学位 【 表示 / 非表示

  • 博士(工学), 慶應義塾, 2004年03月

    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

 

研究分野 【 表示 / 非表示

  • 機械力学・制御

 

著書 【 表示 / 非表示

  • 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年

    担当範囲: 1764-1768

  • Gait Measurement System for the Elderly Using Laser Range Sensor

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

    担当範囲: 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年

    担当範囲: 1163-1167

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

    髙橋 正樹, Springer, 2012年

    担当範囲: 51-64

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論文 【 表示 / 非表示

  • Staircase design for health monitoring in elderly people

    Ogawa A., Iijima H., Takahashi M.

    Journal of Building Engineering (Journal of Building Engineering)  37 2021年05月

     概要を見る

    The need for early detection and intervention for age-related health deterioration via home-based health monitoring systems is growing with global population aging. Health deterioration is typically evaluated using questionnaires, but obtaining frequent responses is difficult. Although stair walking involving a high physical load is suitable for assessing health deterioration, uniform assessment using home-based systems is difficult because different stair designs result in different movements. There is currently insufficient research on differences in evaluation performance between different stair designs. The current study aimed to develop an objective index to assess difficulties in activities of daily living (ADLs) as an indicator of health deterioration by observing stair walking, and to investigate the effects of stair dimensions on the relationship between the index and health deterioration. We hypothesized that knee joint positions during stair ascent would be associated with health deterioration, and developed the “Stepping in Level” index, reflecting the knee joint position when stepping in, obtained using a markerless depth information-based system. Seventy elderly people ascended two types of stairs (steep: 33.7°; shallow: 28.2°) and completed a questionnaire regarding ADL difficulty. We used a generalized linear mixed model to investigate the ability of “Stepping in Level” to explain ADL difficulty. The results revealed that “Stepping in Level” was able to explain ADL difficulty, and steep stairs were more suitable than shallow stairs for assessment. Our system enables daily assessment of difficulty in ADLs and detection of subtle changes in daily life. The current findings could inform design guidelines for health monitoring.

  • Low Back Pain as a Risk Factor for Recurrent Falls in People With Knee Osteoarthritis

    Iijima H., Shimoura K., Aoyama T., Takahashi M.

    Arthritis Care and Research (Arthritis Care and Research)  73 ( 3 ) 328 - 335 2021年03月

    ISSN  2151464X

     概要を見る

    Objective: Knee osteoarthritis (OA) has been suggested to increase the risk of falls. Low back pain (LBP) is a potential risk factor for falls in people with knee OA, but this issue has not been addressed adequately in previous studies. The objective of this study was to investigate the relationship between LBP and falls in people with knee OA in a 12-month period. Methods: Participants with knee OA (Kellgren/Lawrence [K/L] grade ≥1) completed questionnaires for LBP and falls that occurred in the preceding 12 months. Binary and ordinal logistic regression analyses were performed to assess the relationship between LBP or moderate-to-severe LBP (numeric rating scale ≥4 points) and any fall (≥1 fall) or recurrent falls (≥2 falls) after adjustment for age, sex, K/L grade, knee pain severity, and quadriceps strength. Sensitivity analyses were performed excluding people with sciatica, nonchronic LBP, K/L grade 1, and those receiving pain medications. Results: We included 189 participants (ages 61–90 years, 78.3% women) in this study. Of these participants, 41 (21.6%) reported falls in the preceding 12 months. People with any LBP (n = 101) and those with moderate-to-severe LBP (n = 45) had 2.7- and 3.7-times higher odds of recurrent falls, respectively. Sensitivity analyses revealed a strong correlation between moderate-to-severe LBP and recurrent falls. Conclusion: Thorough investigation of LBP as a risk factor for recurrent falls in people with knee OA may provide a novel insight into the pathomechanics of recurrent falls in this population.

  • Transcutaneous Electrical Nerve Stimulation Improves Stair Climbing Capacity in People with Knee Osteoarthritis

    Iijima H., Eguchi R., Shimoura K., Yamada K., Aoyama T., Takahashi M.

    Scientific Reports (Scientific Reports)  10 ( 1 )  2020年12月

     概要を見る

    © 2020, The Author(s). This study aimed to examine the effect of transcutaneous electrical nerve stimulation (TENS) on stair climbing capacity in individuals with pre-radiographic to mild knee osteoarthritis (OA). This is a secondary analysis of data from a single, participant-blinded, randomized controlled trial with a pre-post design. Participants with pre-radiographic to mild knee OA (mean age, 59.1 years; 72.9% women) were randomly assigned into two groups, a TENS (n = 30) and a sham-TENS groups (n = 29). TENS or sham-TENS treatments were applied to all participants by using the prototype TENS device with pre-specified parameters. The primary outcome measures included valid and reliable functional measures for stair climbing (stair-climb test [SCT]), visual analog scale for knee pain during the SCT, and quadriceps muscle strength. TENS improved SCT time by 0.41 s (95% confidence interval [CI]: 0.07, 0.75). The time reduction in the transition phase explains the TENS therapeutic effect. Post-hoc correlation analyses revealed a non-significant but positive relationship between the pain relief effect and improved 11-step SCT time in the TENS group but not in the sham-TENS group. These results indicate that the TENS intervention may be an option for reducing the burden of early-stage knee OA.

  • Dynamic Motion Tracking Based on Point Cloud Matching with Personalized Body Segmentation

    Ono T., Eguchi R., Takahashi M.

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics)  2020-November   61 - 67 2020年11月

    ISSN  9781728159072

     概要を見る

    Falling is a serious problem with the growing elderly population. In this sense, clinical institutions have implemented motor function assessment programs. In particular, the timed up and go test (TUG) is the most frequently applied clinical trial to assess the elderly walking ability in many clinical institutions and communities. In this study, we proposed a gait measurement system that can evaluate motor function in dynamic gait tests, such as the TUG test, using the point clouds of depth sensors (Kinect). The TUG test is a dynamic task that includes 3m of walking and turning motion. However, estimating joint positions using conventional methods that use Kinect skeleton function or point clouds is difficult. To solve these problems, before applying the iterative closest point algorithm, we proposed a method to move the segment model to a pre-estimated position and perform matching. In the accuracy verification experiments of several young people, the average error of each joint position was less than approximately 0.03 m, and the average error of the knee angle was approximately 4.54 to 5.13 degrees. These results indicate that the values estimated by the proposed method are useful as values for evaluating clinical tasks.

  • Estimation of body direction based on gait for service robot applications

    Yorozu A., Takahashi M.

    Robotics and Autonomous Systems (Robotics and Autonomous Systems)  132 2020年10月

    ISSN  09218890

     概要を見る

    © 2020 Elsevier B.V. Recently, there have been several studies on the research and development of service robots, such as reception or waiter robots for facilities and companion robots for support of baggage transportation or guidance in public spaces. Several experimental results in real environments have been reported. To realize socially acceptable human–robot interaction for service robots, human recognition, including not only position but also body direction, around the robot is important. Using an RGB-D camera, it is possible to detect the posture of a person. However, because the viewing angle of the camera is narrow, it is difficult to recognize the environment around the robot with a single device. This study proposes the estimation of the body direction based on the gait, that is, not only the position and velocity, but also the state of the legs (stance or swing phase), using laser range sensors installed at shin height. We verify the effectiveness of the proposed method for several patterns of movement, which are seen when a person interacts with the service robot and evaluate measurement accuracy.

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KOARA(リポジトリ)収録論文等 【 表示 / 非表示

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総説・解説等 【 表示 / 非表示

研究発表 【 表示 / 非表示

  • 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年03月, 口頭(一般)

  • 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年01月, 口頭(一般)

  • 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年01月, 口頭(一般)

  • 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年01月, 口頭(一般)

  • 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年12月, 口頭(一般)

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競争的資金等の研究課題 【 表示 / 非表示

  • 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年04月
    -
    2020年03月

    文部科学省・日本学術振興会, 科学研究費助成事業, 高橋 正樹, 基盤研究(B), 補助金,  代表

  • 転倒予防計測システム

    2011年04月
    -
    2012年03月

    村田機械株式会社, 共同研究契約,  代表

  • 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年04月
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    2010年03月

    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), 補助金, 

  • 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年04月
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    2009年03月

    慶應義塾大学, 慶應義塾学事振興資金, 補助金, 

  • 次世代小型人工衛星のアジリティ向上および自律的制御系再構成法の提案

    2007年04月
    -
    2009年03月

    科学研究費補助金(文部科学省・日本学術振興会), その他, 

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受賞 【 表示 / 非表示

  • 部門貢献表彰

    髙橋 正樹, 2015年08月, 日本機械学会 機械力学・計測制御部門, 部門貢献表彰

    受賞区分: 国内学会・会議・シンポジウム等の賞

     説明を見る

    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年08月, Long-Range Navigation for Resource-Constrained Planetary Rovers using angle of Arrival

    受賞区分: その他の賞

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

    Ippei Nishitani, Tetsuya Matsumura, Mayumi Ozawa, Ayanori Yorozu, TAKAHASHI MASAKI, 2013年12月, 3D X-Y-T Space Path Planning for Autonomous Mobile Robot Considering Dynamic Constraints

    受賞区分: その他の賞

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

    横山 和人、髙橋 正樹, 2012年10月, Energy Shaping Nonlinear Acceleration Control for a Mobile Inverted Pendulum with a Slider Mechanism Utilizing Instability

    受賞区分: その他の賞

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

    萬 礼応, 鈴木 崇文, 松村 哲哉, 髙橋 正樹, 2012年06月, 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

    受賞区分: 国内外の国際的学術賞

     説明を見る

    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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担当授業科目 【 表示 / 非表示

  • システム工学

    2021年度

  • 空間・環境デザイン工学特別講義第1

    2021年度

  • システムデザイン工学輪講

    2021年度

  • 力学的モデリング

    2021年度

  • 線形制御理論

    2021年度

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社会活動 【 表示 / 非表示

  • 特許庁

    2010年02月
    -
    2015年11月
  • かわさき・神奈川ロボットビジネス協議会

    2009年09月
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    2010年03月

     概要を見る

    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

所属学協会 【 表示 / 非表示

  • 電気学会, 

    2015年04月
    -
    2016年03月
  • 一般社団法人日本建築学会, 

    2010年04月
    -
    2016年03月
  • 日本航空宇宙学会, 

    2010年04月
    -
    2016年03月
  • 一般社団法人計測自動制御学会, 

    2009年04月
    -
    2016年03月
  • AIAA: The American Institute of Aeronautics and Astronautics, 

    2008年04月
    -
    2016年03月

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委員歴 【 表示 / 非表示

  • 2012年04月
    -
    2013年03月

    委員, 日本機械学会

     特記事項を見る

    機械力学・計測制御部門 運営委員 幹事

  • 2011年04月
    -
    2012年03月

    委員, 日本機械学会

     特記事項を見る

    機械力学・計測制御部門 運営委員

  • 2010年04月
    -
    2012年03月

    委員, 日本機械学会

     特記事項を見る

    宇宙工学部門 運営委員

  • 2010年02月
    -
    2012年11月

    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年09月
    -
    2010年03月

    主査, かわさき・神奈川ロボットビジネス協議会

     特記事項を見る

    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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