Nozaki, Takahiro

写真a

Affiliation

Faculty of Science and Technology, Department of System Design Engineering (Yagami)

Position

Associate Professor

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Career 【 Display / hide 】

  • 2012.04
    -
    2014.03

    The Japan Society for the Promotion of Science, Research Fellow (DC1)

  • 2014.04
    -
    2015.03

    Yokohama National University, Assistant Professor

  • 2015.04
    -
    2018.03

    Department of System Design Engineering, Keio University, Assistant Professor

  • 2018.04
    -
    2022.03

    Department of System Design Engineering, Keio University, Assistant Professor

  • 2019.10
    -
    2021.04

    Department of Mechanical Engineering, Massachusetts Institute of Technology, Visiting Scientist

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Academic Background 【 Display / hide 】

  • 2006.04
    -
    2010.03

    Keio University, Faculty of Science and Technology, Department of System Design Engineering

    University, Graduated

  • 2010.04
    -
    2012.03

    Keio University, Graduate School, Division of Science and Engineering, School of Integrated Design Engineering

    Graduate School, Completed, Master's course

  • 2012.04
    -
    2014.03

    Keio University, Graduate School, Division of Science and Engineering, School of Integrated Design Engineering

    Graduate School, Completed, Doctoral course

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Academic Degrees 【 Display / hide 】

  • Ph. D., Keio University, Coursework, 2014.03

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Research Areas 【 Display / hide 】

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Power engineering

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Electron device and electronic equipment

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Research Keywords 【 Display / hide 】

  • Robotics

  • Control Engineering

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Papers 【 Display / hide 】

  • Force/Tactile Sensation for Contact Task

    K Ohnishi, T Nozaki, Y Saito, H Asai, T Kitamura

    Emotional Engineering, Vol. 10: Emotional Engineering as a Culture for 22nd …  2025

  • Vertical Adjustment Method with Mechanical Power Factor Feedback

    T Shimada, K Yane, I Kotani, S Kozu, T Nozaki

    2024 IEEE 33rd International Symposium on Industrial Electronics (ISIE), 1-6  2024

    ISSN  21635137

    　View Summary

    There are some dangerous situations under tunnel construction. Since humans fill small halls on the surface of a tunnel with explosives by their hands, they always work with risks of injury or death due to accidents of unexpected explosions or collapses of tunnels. In order to proceed with construction, remote control robots that take the place of their work have been developed. Although they made construction safer for humans, the operation of remote control robots is difficult. This paper proposes a method to adjust the angle vertically by using mechanical power factor feedback. When the robot's arm hits the target object, it estimates an angle deviation by mechanical power. The mechanical power factor is an analogy to power factor in electronics, which is proposed to estimate an angle deviation easily instead of using an angle sensor. It makes it possible not only to evaluate a performance of robots but also estimate an angle deviation for the vertical adjustment. Thus, the proposal has advantages in terms of focusing on the mechanical power factor. By conducting simulations, the results of the estimation of angle deviation were verified.

  • Realization of Scaled Admittance Bilateral Control with Different Inertias Using Piezoelectric Actuator

    S Kozu, I Kotani, K Seki, N Motoi, T Nozaki

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM …    1103 - 1108 2024

    ISSN  21596247

    　View Summary

    In micro-manipulations such as cell manipulation, it is desirable for the operator to feel the haptic sensation of the object. Bilateral control can remotely transmit position and force information between leader and follower systems. In this control, the use of a linear motor as a leader and a stacked piezoelectric actuator as a follower has been proposed to achieve micro-scale operation. There is a lot that needs to be clarified about bilateral control when the structure differs between leader and follower systems. In conventional scaled 4channel (4ch) bilateral control, a theory of oblique coordinate control has been proposed that considers differences in the inertia of leader and follower systems. However, when a piezoelectric actuator is used, the control scheme differs from using two linear motors with different inertias because the structures of the leader and follower systems are entirely different. Another method is scaled admittance bilateral control. However, the control design when structures and inertias of the two systems are different has not yet been clarified. In this paper, a scaled admittance bilateral control using a piezoelectric actuator and a linear motor is constructed. Experiments confirm that the realized scaled admittance bilateral control has the equivalent position and force tracking performances as the conventional scaled 4ch bilateral control using a piezoelectric actuator. Furthermore, the designed scaled admittance bilateral control is more robust to fluctuations in the nominal inertia of the piezoelectric actuator than the conventional scaled 4 ch bilateral control.

  • Motion Reproduction of Loading Explosive with Compensation for Variations in Position and Direction of Hole by Image Processing

    M Horikoshi, I Kotani, T Nozaki

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM …    1151 - 1156 2024

    ISSN  21596247

    　View Summary

    Mountain tunnel excavation has two problems, which are a shortage of skilled engineers and frequent industrial accidents. Automation of mountain tunnel excavation is progressing to solve these problems. However, loading explosives in mountain tunnel excavation is difficult to automate because this task requires a sense of force. Motion reproduction is an expected method to automate the process of loading explosives that takes the sense of force into account. It uses bilateral control to save and reproduce motions and has the advantage of being able to reproduce forces and teach human skills to manipulators. On the other hand, motion reproduction cannot succeed in saved tasks when the relative position of the loading hole and manipulator or the direction of the loading hole changes from the saving phase. Therefore, this paper proposes a method to compensate for variations in relative position and direction by image processing based on depth information in motion reproduction for automation of loading explosives. Experiments showed the effectiveness of the proposed method through the successful reproduction of the insertion motion despite variations in relative position and direction.

  • Effect of Coil Size on Efficiency of Wireless Power Transfer with Magnetic Field Resonant by Halbach Array

    T Oba, Y Tomioka, T Nozaki

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM …    1050 - 1055 2024

    ISSN  21596247

    　View Summary

    In recent years, wireless power transfer (WPT) has become popular from the viewpoint of easy charging. Among them, magnetic field resonance WPT is being researched and developed due to its high efficiency. However, there are magnetic fluxes that cannot be used for power supply and are leaking out in magnetic field resonance WPT. Therefore, this paper applies a special magnet arrangement, a Halbach array, for transmission coils. The Halbach array transmission coils can concentrate the magnetic fluxes on one side. This feature allows the magnetic fluxes to be concentrated to increase the amount of magnetic fluxes chained to the receiving coil. It has a significant effect on efficiency. Since the size of the transmission and receiving coils also affects efficiency, this paper changes the size of the coils and analyzes its effect on efficiency. The efficiency of the Halbach array transmission coils will be confirmed by comparison with conventional transmission coils.

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

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

  • Development of a robot for single-cell surgery with tactile feedback

    2024.06
    -
    2027.03

    Grants-in-Aid for Scientific Research, Grant-in-Aid for Challenging Research (Exploratory), No Setting

    　View Summary

    細胞やその小器官から情報を得る手段として、単一細胞手術が近年注目されている。しかし、これまでに研究されてきた方法では、人の手で直接複雑な操作を施すことはできない。本研究は、触覚フィードバック付き単一細胞手術用ロボットの開発を目的とし、研究代表者らが培ってきた力触覚伝送技術（リアルハプティクス）による超微小手術用ロボット開発のノウハウをもとに、まずは基礎的知見を得ることを目指す。本研究の遂行により、複雑な細胞手術や新たな細胞手術法の開発への道が開ける。さらに、細胞研究を起点に生命科学全体の体系や方向性を大きく変革させること、およびロボット工学へ再応用することが期待できる。

  • Development of dental implant drill with bone quality change detection mechanism

    2023.04
    -
    2027.03

    Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), No Setting

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    歯科インプラント治療は、天然歯への負担が少なく、咀嚼機能や審美性に多くの利点を持つ優れた治療法である。しかし、歯槽骨高の低い上顎臼歯部の埋入においては、上顎洞粘膜損傷の危険性を伴う。そこで本研究では、上顎洞底の皮質骨のみを貫通した時点で上顎洞粘膜の損傷なく停止する新たなサイナスリフトシステムを構築する。目的達成のためA. 切削抵抗とドリル形状・回転速度との関係性解明、B. 切削抵抗測定アルゴリズムの開発、C. 骨質変化検出機構の開発、D. ハンドピース型歯科インプラントドリル機器のハード製作、E. 自動停止制御の実装を実施したのち、F. in vivo 実証実験により、有用性を確認する。

  • 電気的特性に基づく再生誘導血小板の品質評価に基づくパーソナル治療薬の開発

    2023.04
    -
    2026.03

    Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), No Setting

    　View Summary

    血小板は核を持たないことから、再生医療材料の分野において、臨床応用面で有利である。皮下脂肪組織由来血小板は、iPS細胞由来血小板より、安全面・費用面で、より臨床応用のハードルが低い素材として注目されている。これまでの成果を元に、われわれはは、いち早く皮下脂肪組織由来血小板を創傷治癒薬として臨床応用するため、治験を前提としており、具体的な治験プロトコールの策定・必要な客観的評価基準の確立・治験で使用する脂肪細胞ソースの確保を進めている。本研究では、特に誘導血小板の製品としての品質保証による安全性を担保する技術開発を行い、第一種再生医療等技術として完成させる。

  • Development of a neurorehabilitation system using haptic substitution and motion substitution as external stimuli

    2020.05
    -
    2022.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, Nozaki Takahiro, Fund for the Promotion of Joint International Research (Home-Returning Researcher Development Research (A)), Principal investigator

    　View Summary

    We conducted research on robot-assisted neuro-rehabilitation with Dr. Hermano Igo Krebs and colleagues at the Massachusetts Institute of Technology in the United States. Three types of tests, Discrete Movement, Rhythmic Movement, and Target Transition, were conducted to clarify the mechanism of human force generation. The results suggest that "the differential value of the force that humans can generate is sufficiently large, and that the response speed is due to visual information," "humans anticipate slight future movements and try to improve their movements," and "the law of superposition holds for the differential value of force. In addition, we succeeded in developing a new proximity sensor that can simultaneously measure distance, angle, and force. The research results were published in an international journal with Impact Factor 8.236 and received an award from the Institute of Electrical Engineers of Japan.

  • Development and control of a new haptic system that brings dexterity to hydraulically driven manipulators

    2020.04
    -
    2024.03

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

    　View Summary

    In this study, we proposed a method to give a robot a force-tactile sensation by installing a multi-degree-of-freedom force sensor at the base of a manipulator. When a force is applied to the manipulator from the external environment, the contact position and contact force can be calculated from the ratio of the force and moment in each axis direction. We implemented the proposed method on a commercial 6-DOF manipulator and confirmed that it is possible to calculate and control the contact position and contact force.

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Courses Taught 【 Display / hide 】

  • POWER ELECTRONICS

    2024

  • LABORATORIES IN SYSTEM DESIGN ENGINEERING 2)

    2024

  • LABORATORIES IN SCIENCE AND TECHNOLOGY

    2024

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2024

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2024

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