KEIO RESEARCHERS INFORMATION SYSTEM

Career 【 Display / hide 】

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

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  2018.03

  Department of System Design Engineering, Keio University, Assistant Professor

• 2018.04

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  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 】

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

Academic Degrees 【 Display / hide 】

Academic Degrees 【 Display / hide 】

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

Research Areas 【 Display / hide 】

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

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

Research Keywords 【 Display / hide 】

Research Keywords 【 Display / hide 】

• Power Electronics

• Robotics

• Control Engineering

• Electroaerodynamic Propulsion System

Books 【 Display / hide 】

Books 【 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 Century Civilisation, 2025.01

  　View Summary

  The sensation of the contact is indispensable for the contact task. In this chapter, the instantaneous value of the force/tactile sensation is defined and quantified as the ratio of the force and the velocity. The absolute value is also defined by the rms value with the definition of the time window. This value is extended to the frequency domain with the four parameters, which are also the admittance of the contact object. The operating point of the contact task in the force–velocity plane should be the crossing point of the characteristics of the actuation and the mechanical load. This is the same as the coincidence of the force/tactile sensation with the admittance of the contact object. Since the admittance of the contact object is varied according to the motion, such a coincidence should be maintained by the feedback mechanism. As a result, the feedforward system to define the mission of the contact and the feedback system for the matching the admittance is the essential structure of the contact task. That is shown by the figures and the experimental results.

  • Access to Document (DOI)

• ハプティクスとその応用―力触覚の伝送・記録・再現・表示―

  2022.12

  Scope: 第Ｉ編　ハプティクスの原理、第2章　ハプティクス技術論

• ハプティクスとその応用―力触覚の伝送・記録・再現・表示―

  2022.12

  Scope: 第IV編　ハプティクスの応用、第8 章　双腕型ロボット「GP-Arm

Papers 【 Display / hide 】

Papers 【 Display / hide 】

• Free-breathing Three-dimensional MR Cholangiopancreatography Using Centric k-space Encoding Improved Gallbladder Visualization: A Prospective Study.

  Tsuzaki J, Nozaki T, Ito D, Habe T, Miyazaki S, Arai M, Hase M, Sakata H, Tsukada R, Yamada Y, Jinzaki M

  Magnetic resonance in medical sciences : MRMS : an official journal of Japan Society of Magnetic Resonance in Medicine 25 ( 1 )  2026.03

  ISSN  1347-3182

  • Access to Document (DOI)

• Compatible realisation of control and identification of direct adaptive control via probing signal auto-elimination

  Takakura A., Yokoyama T., Nozaki T., Adachi S., Ohmori H.

  IFAC Journal of Systems and Control 35 2026.03

  ISSN  2468-6018

  　View Summary

  The model reference adaptive control system is an adaptive controller that maintains the control performance even when the uncertainty of the controlled system’s parameters is high, and its design methodology is well established. In particular, the direct MRACS excels in responsiveness; however, it suffers from the problem that its adjustable parameters do not converge to their true values. To converge the adjustable parameters to their true values, a conventional method involves injecting a probing signal to satisfy the PE property; however, this compromises the control performance. Thus, a control error-based probing signal auto-elimination scheme is proposed in this study, which adaptively regulates the probing signal based solely on the control error without predefined elimination timing. This enables the identification of adjustable parameters during transient phases, while automatically suppressing the probing signal once sufficient tracking performance is achieved. Furthermore, unlike existing probing-based methods, the proposed scheme allows re-injection of the probing signal when performance degradation is detected, thereby achieving a compatible realisation of identification and control within a single framework. Therefore, the proposed scheme simultaneously contributes to the identification and control, significantly reducing the tracking error. The validity of the proposed structure was confirmed by simulations under plant variation conditions.

  • Access to Document (DOI)

• Piconewton-Scale Ultrafine Teleoperation Using Optical Traps

  M Otsuka, S Kozu, K Niwa, K Hashikawa, T Nozaki

  IEEJ Journal of Industry Applications, 20250123 15 ( 3 ) 487 - 494 2026

  ISSN  2187-1094

  　View Summary

  Although cell manipulation technologies have been adopted in a wide variety of applications, at present operators must rely solely on visual information to perform such procedures without damaging the cells. Consequently, there is an increasing demand for the integration of tactile feedback. However, conventional force sensors face significant challenges in detecting ultrafine forces exerted on soft targets such as cells. In this study, we propose an admittance-based bilateral control with reaction force estimation using an optical tweezer. The results of an experimental evaluation showed that a prototype system was able to estimate and transmit forces on the order of piconewtons to facilitate ultrafine teleoperation. Thus, our results show that the proposed approach overcomes conventional limitations in measuring ultrafine forces and enables intuitive force feedback. These capabilities are expected to reduce the difficulty of specialized microscale tasks such as cell manipulation significantly.

  • Access to Document (DOI)

• On the Robust Position Control of Variable Stiffness Series Elastic Actuators

  E Sariyildiz, M Horikoshi, T Nozaki

  2026 IEEE 19th International Conference on Advanced Motion Control (AMC), 1-6  2026

• Multi-objective exploration of multistaged ducted thrusters

  H Shibata, S Shimizu, X Jiang, HI Krebs, T Nozaki

  AIP Advances 16 (1) 16 ( 1 )  2026

  • Access to Document (DOI)

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

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

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

  Nozaki, Takahiro

  科学研究費補助金研究成果報告書 2023

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

  Nozaki, Takahiro

  科学研究費補助金研究成果報告書 2023

• 機械的インピーダンスがニューロリハビリテーションに与える影響の解明

  Nozaki, Takahiro

  福澤諭吉記念慶應義塾学事振興基金事業報告集 (福澤基金運営委員会)  2020

• Development of a foot-mounted compact interface realizing motion substitution and haptic replacement

  Nozaki, Takahiro

  科学研究費補助金研究成果報告書 2019

• ありの儘の物をありの儘に見過ごして少しも心に留めざるは馬にも等し

  Nozaki, Takahiro

  新版 窮理図解 (慶應義塾大学理工学部)   ( 28 )  2018.10

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

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

• Robotics Platform for Emergent Intelligence Grounded in the Order of Embodied Interactions

  2026.08

  -

  2030.11

  Japan Science and Technology Agency, Moonshot R&D, Other, Principal investigator

• 光学的トラップ力を用いた力触覚伝送型遠隔微細操作システムの創出

  2026.06

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  2029.03

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

• Japan-U.S. International Joint Research and Development of a Solid-State Electroaerodynamic Propulsion System Using High Voltage

  2025.01

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  2027.12

  New Energy and Industrial Technology Development Organization, ＮＥＤＯ先導研究プログラム／エネルギー・環境分野における革新的技術の国際共同研究開発, Other, Principal investigator

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

  2024.06

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  2027.03

  Japan Society for the Promotion of Science, 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

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  2027.03

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), No Setting

  　View Summary

  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。

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Awards 【 Display / hide 】

Awards 【 Display / hide 】

• Excellence Award, Grand Prize Category, Japan Construction Machinery and Construction Award (Japan Construction Machinery and Construction Association)

  2026.06, Japan Construction Machinery and Construction Association

  Type of Award： Award from publisher, newspaper, foundation, etc.

• Technical Achievement Award (The Japan Society for Rock Mechanics)

  2026.06, The Japan Society for Rock Mechanics

  Type of Award： Award from publisher, newspaper, foundation, etc.

• Best Paper Award (Engineering)

  2024.11, The Japan Society of Computer Aided Surgery

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

• The 36th Young Investigation Excellence Award

  2021.09, The Robotics Society of Japan

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

• Excellent Paper Presentation Award

  2021.03, The Institute of Electrical Engineers of Japan

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

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Courses Taught 【 Display / hide 】

Courses Taught 【 Display / hide 】

• COMPREHENSIVE EXERCISE OF ELECTRONICS AND ELECTRICAL ENGINEERING

  2026

• GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

  2026

• LABORATORIES IN SCIENCE AND TECHNOLOGY

  2026

• CONTROL DESIGN THEORY FOR REAL-WORLD SYSTEMS

  2026

• MECHATRONICS

  2026

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