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

  • 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.

  • 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.

  • Shift-Adaptive Estimation of Joint Angle Using Instrumented Brace with Two Stretch Sensors Based on Gaussian Mixture Models

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

    IEEE Robotics and Automation Letters (IEEE Robotics and Automation Letters)  5 ( 4 ) 5881 - 5888 2020年10月

     概要を見る

    © 2016 IEEE. Wearable motion sensing in daily life has attracted attention in various disciplines. Especially, stretchable strain sensors have been instrumented into garments (e.g. brace). To estimate joint motions from such sensors, previous studies have modelled relationships between the sensor strains and motion parameters via supervised/semi-supervised learning. However, typically these only model a single relationship assuming the sensor to be located at a specific point on the body. Consequently, they exhibit reduced performance when the strain-parameter relationship varies due to sensor shifts caused by long-term wearing or donning/doffing of braces. This letter presents a shift-adaptive estimation of knee joint angle. First, a brace is instrumented with two stretch sensors placed at different heights. Next, the different strain-angle relationships at varying brace shift positions are learned using Gaussian mixture models (GMMs). The system then estimates the joint angle from the sensor strains through Gaussian mixture regression using a maximum likelihood shift GMM, which is identified by referring to the two strains in a previous 1 s period. Experimental results indicated that the proposed method estimates the joint angle at multiple shift positions (0-20 mm) with higher accuracy than methods using a single model, single sensor, or referring to the present sensor strains.

  • Human-friendly control system design for two-wheeled service robot with optimal control approach

    Sekiguchi S., Yorozu A., Kuno K., Okada M., Watanabe Y., Takahashi M.

    Robotics and Autonomous Systems (Robotics and Autonomous Systems)  131 2020年09月

    ISSN  09218890

     概要を見る

    © 2020 Elsevier B.V. This paper proposes a novel control system design for a two-wheeled service robot that follows a person as an assistant without knowing the person's destination. For this kind of service robot, the key skill is to realize human-friendly movement. However, appropriate motion always changed depending on the situation. For instance, when the robot is close and person turns toward it, it is important to suppress the robot's acceleration. Likewise, if the person turns away from the robot, the robot should maintain its position within an appropriate area. Therefore, to deal with various required movements, our control system is able to change its properties automatically and suitably depending on the situation by using weights of the cost function in nonlinear model predictive control (NMPC) as a function of the relative distance between the person and the robot. Unlike previous methods, our design includes only one controller. Consequently, we are able to take into account system stability. Moreover, owing to proposing in NMPC framework, it is easy to extend our method by adopting other recognition or goal-setting methods. We conducted simulations using actual human walking data taken by the robot's laser range sensors. The experiments demonstrate that the robot can follow a person who performs U-turn, confirming that our method can produce human-friendly robot movement in a practical scene.

  • Gait analysis of patients with distal radius fracture by using a novel laser Timed Up-and-Go system

    Fujita K., Iijima H., Eguchi R., Kuroiwa T., Sasaki T., Yokoyama Y., Koyama T., Nimura A., Kato R., Okawa A., Takahashi M.

    Gait and Posture (Gait and Posture)  80   223 - 227 2020年07月

    ISSN  09666362

     概要を見る

    © 2020 The Authors Background: Postmenopausal women are at risk of fall and fracture with the physical decline. Distal radius fracture (DRF) is considered as the primary fragility fracture, and women with this fracture showed poor results in the usual Timed Up-and-Go (TUG) test, indicating a decline in balance and physical ability. The detailed physical characteristics of female DRF patients have not been extensively examined. Research question: Is the novel laser TUG system able to detect and analyze the detailed gait characteristics in patients with DRF whose physical ability has tended to decline? Methods: In this cross-sectional case control study, the gait characteristics of 32 female patients with DRF who had undergone surgery were evaluated at 2 weeks postoperatively with a laser TUG system to analyze the detailed leg motion during normal TUG test. Forty-three age- and sex-matched non-fractured women were evaluated by the laser TUG system as controls. Lifestyle and present illness were corrected at the time of TUG measurement. Detailed data during laser TUG in both groups were compared statistically, and odds ratio and thread shod of the fracture was elucidated through a logistic regression analysis. Results: DRF patients showed slower speed and had to do more steps to complete the TUG test. Furthermore, asymmetric trajectory and significantly further distance from the marker were observed. Thirteen steps to complete the TUG test was the thread shod of DRF. Significance: Detailed gait characteristics of patients with DRF were detected by the laser TUG system. The gait decline and abnormality could be one of the reasons of consecutive fragility fracture. To prevent secondary fragility fractures, this system can be useful for screening.

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KOARA(リポジトリ)収録論文等 【 表示 / 非表示

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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
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    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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