Murakami, Toshiyuki

写真a

Affiliation

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

Position

Professor

External Links

Profile 【 Display / hide

  • Prof. Toshiyuki MURAKAMI received the B. E., M. E., and Ph. D. degrees in electrical engineering from Keio University, Yokohama, Japan, in 1988, 1990, and 1993, respectively. In 1993, he joined the Department of Electrical Engineering, Keio University, where he is currently a Professor in the Department of System Design Engineering. From 1999 to 2000, he was a Visiting Researcher with The Institute for Power Electronics and Electrical Drives, Aachen University of Technology, Aachen, Germany. His research interests are robotics, intelligent vehicles, mobile robots, and motion control.

Profile Summary 【 Display / hide

  • '''''''This laboratory focuses on robot control/instrumentation and sensor applicationa to achieve a flexible human assist (FHA) system. Areas investigated include sensor application, intelligent wheelchair control, vibration control, mobile manipulator control, and intelligent manufacturing systems; areas yielding many conference papers and articles.'''''''

Other Affiliation 【 Display / hide

  • Dean, Graduate School of Science and Technology

  • Dean, Faculty of Science and Technology

Career 【 Display / hide

  • 1993.04
    -
    1996.03

    慶應義塾大学理工学部電気工学科 ,助手

  • 1996.04
    -
    Present

    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

  • 1996.04
    -
    Present

    慶應義塾大学理工学部電気工学科 ,専任講師

  • 1997.04
    -
    1999.03

    慶應義塾大学理工学部情報処理常置委員会  ,委員

  • 1998.04
    -
    1999.03

    慶應義塾大学日吉2学年 ,担任

display all >>

Academic Background 【 Display / hide

  • 1988.03

    Keio University, Faculty of Science and Engineering, 電気工学科

    University, Graduated

  • 1990.03

    Keio University, Graduate School, Division of Science and Engineeri, 電気工学専攻

    Graduate School, Completed, Master's course

  • 1993.03

    Keio University, Graduate School, Division of Science and Engineeri, 電気工学専攻

    Graduate School, Completed, Doctoral course

Academic Degrees 【 Display / hide

  • 工学 , Keio University, 1993.03

 

Research Areas 【 Display / hide

  • Power engineering/Power conversion/Electric machinery (Electric Power Engineering/Electric Equipment Engineering)

Research Keywords 【 Display / hide

  • Robotics, Motion Control

 

Books 【 Display / hide

  • 「電磁気工学」

    村上俊之,内山太郎,大西公平, 培風館, 2002.05

     View Summary

    力を中心とした電磁気工学の基礎事項および電磁気工学に基づいた実機応用について概説した教科書である.

  • 数理工学基礎シリーズ「コンピュータの数理」

    矢向高弘、村上俊之、大西公平, 朝倉書店, 2000.10

     View Summary

    コンピュータのハードウェアの基礎から、2進数による数値計算法、C言語によるプログラミング、計算誤差にまで言及した工学者向けの教科書である。

  • Recent Advances in Motion Control (邦訳 : モーション・コントロールの最新技術)

    G.S.Buja, H.Fujita and K.Ohnishi, 日刊工業新聞社, 1990.12

    Scope: 3〜12, 131〜138

     View Summary

    G.S.Buja, H.Fujita and K.Ohnishi のうちChapter 1-1 'Advanced Control Technique inMotion System', pp3〜12, 及びChapter 6-2 'An Approach to Artificial MuscleMotion by Network of Actuators', pp131〜138, 本著書では,多自由度モーションシステムにおけるロバスト制御技術の最新技術について述べている.同時に,モーションシステムの自

  • Integrated Micro-Motion Systems -Micromachining, Control and Applications- (邦訳 : マイクロモーション統合システム)

    Edited by F.Harashima, Elsevier Science Publishers B.V., 1990.12

    Scope: 185〜198

     View Summary

    Edited by F.Harashima のうちNetwork Motion Control in Micromechatronics, pp185〜198,本著書では,近年注目されているマイクロアクチュエータを想定した多自由度システムの構成法ならびにその力制御手法について述べている.本手法の特長は,非線形フィードバックにより,力の動作信号が孤立波としてアクチュエータ間を伝搬する機構となっている点にある.提案する手法の有効性は数値シミュレーションにより確認されている.

Papers 【 Display / hide

  • Assessment of human walking stability using the gait sensitivity norm with wearable sensors

    Masuda H., Fukutoku K., Murakami T.

    2021 IEEE International Conference on Mechatronics, ICM 2021 (2021 IEEE International Conference on Mechatronics, ICM 2021)   2021.03

    ISSN  9781728144429

     View Summary

    Quantifying walking stability is needed in order to evaluate the various walking assist methods. It can also allow the planning of individualized interventions for elderly people or patients with disorders. The Gait Sensitivity Norm (GSN) is a new measure of the walking stability developed for passive dynamic walkers and has been reported to show a strong correlation with the fall risk. The GSN is a method based on the idea of the H2 norm, which allows us to know the dynamic response of the system of walkers by measuring the impulse response. The reliability of the GSN quantification has been confirmed in passive dynamic walkers and neuromusculoskeletal walking models. However, it has not yet been applied to humans. In this paper, we proposed a method to apply the GSN to the analysis of human walking. To apply the GSN to a human gait, wearable sensors were used to analyze human walking. The validity of quantifying gait stability with the GSN is assessed in the experiments comparing abnormal walker (with some weight or blindfold) and normal walkers. The result is consistent with the intuitive idea that blind walking is more unstable than normal walking.

  • Admittance control-based bilateral control system considering position error

    Kimura S., Nozaki T., Murakami T.

    2021 IEEE International Conference on Mechatronics, ICM 2021 (2021 IEEE International Conference on Mechatronics, ICM 2021)   2021.03

    ISSN  9781728144429

     View Summary

    This paper proposes a bilateral control system implementing an admittance control system. Bilateral control system realizes teleoperation of a remote robot with a sense of touch. We focus on an admittance-based bilateral control system, which needs only two communication channels and has almost the same control performance as an acceleration-based bilateral control system, which is one of the highest transparent teleoperation systems. However, the conventional admittance-based system assumes an ideal communication situation where there is no communication time delay and no packet loss and has possible to increase position error as time goes on in practical use. The proposed admittance-based system achieves the same control performance as the conventional structure without increasing position error even if there is a communication delay. The validity of the proposed system is confirmed through simulations and experiments.

  • Disturbance observer for DC motor based on Savitzky-Golay filters and application to bilateral control

    Hazaz M., Murakami T.

    IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  10 ( 2 ) 227 - 235 2021.03

    ISSN  21871094

     View Summary

    This paper describes the implementation of a disturbance observer-based controller after Savitzky-Golay filters. The cutoff frequency is a bottleneck for the conventional disturbance observers in DC motors with position measurement. The measurement noise limits the cutoff frequency of the pseudo-derivative in the design of the conventional disturbance observers. This study proposes an implementation of a disturbance observer based on Savitzky-Golay filters to improve the performance in noisy conditions with respect to the cutoff frequency of the time derivative. The proposed method was verified through various numerical simulations and experiments, thereby demonstrating its applications in bilateral control.

  • Development of neural network-based explicit force control with disturbance observer

    Okano T., Nozaki T., Murakami T.

    IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  10 ( 2 ) 153 - 164 2021.03

    ISSN  21871094

     View Summary

    Human support robots are in high demand and the performance enhancement through force control has been extensively studied. However, the design of the force controller and selection of appropriate gains are sometimes difficult because they are affected by the conditions of motion such as environmental impedance or model uncertainties. This study discusses force control with a disturbance observer and applies a neural network (NN) into its controller; the NN works as both the feedback and feedforward components. The contribution of this study is to show the development method of force control using disturbance observer and a NN, which enhances the performance of force control from the perspective of both feedback and feedforward components. The structure of the controller and composition of the NN were selected through simulation results; moreover, the compensator based on NN was designed in a frequency range higher than the cutoff frequency of the observer with a small number of hidden layers. Moreover, this study discusses a training method of weights in real time. Simulations and experiments were performed for showing the effectiveness of the proposal.

  • Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame

    Handa Hinako, Nozaki Takahiro, Murakami Toshiyuki

    IEEJ JOURNAL OF INDUSTRY APPLICATIONS (IEEJ Journal of Industry Applications)  10 ( 3 ) 324 - 330 2021

    ISSN  2187-1094

     View Summary

    Sensing is essential in human cooperative robots to realize safe and powerful operations against contact with the surrounding environment. Contact sensing has been studied for manipulators to avoid accidents caused by collisions between humans and robots. Conventional research has demonstrated that contact sensing requires many sensors or has a limited measurable range. In the conventional research without sensors, modeling systems, such as frictional force and plant parameters, have been used to estimate the contact force. However, a high reduction ratio mechanism for achieving powerful operations hinders accurate force estimation. This study proposes a method to estimate the contact force and contact position on a manipulator with a high reduction ratio mechanism by installing only one force/torque sensor on the base frame of the manipulator. By using the proposed method, the contact force and contact position can be detected regardless of the location where the contact force is applied. Furthermore, when the contact force is applied in a location where the contact position cannot be accurately estimated, an estimated disturbance or a link motion is used to determine the contact position. The effectiveness of the proposed method is validated through experiments.

display all >>

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

Reviews, Commentaries, etc. 【 Display / hide

Presentations 【 Display / hide

  • Automated Deceleration System Considering Driving Resistance Based on Pedestrian’s Forecast Position

    Y. Nakamura, T. Nozaki and T. Murakami

    The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2018) (Nagaoka University of Technology, Japan) , 2018.03, Oral Presentation(general)

  • An Approach to Power Assist Hand Exoskeleton for Patients with Paralysis

    H. Uchida and T. Murakami

    IEEE 15th International Workshop on Advanced Motion Control (Nagaoka University of Technology, Japan) , 2018.03, Oral Presentation(general)

  • Position and Torque Sensorless Motion Transmission for Haptic Teleoperation Using Two Types of Voltage Compensation

    S. Akutsu, T. Nozaki and T. Murakami

    2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017) (Nagaoka University of Technology, Japan) , 2017.11, Oral Presentation(general)

  • A Comparison Study of Velocity and Torque Based Control of Two-Wheel Mobile Robot for Human Operation

    S. Amagai, M. Kamatani and T. Murakami

    2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017) (Nagaoka University of Technology, Japan) , 2017.11, Oral Presentation(general)

  • Comprehensive Evaluation of Human Activity Classification based on Inertia Measurement Unit with Air Pressure Sensor

    T. Ishikawa, H. Hayami and T. Murakami

    2017 IEEE 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP2017) (Nagaoka University of Technology, Japan) , 2017.11, Oral Presentation(general)

display all >>

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

  • A Study on Human Motion Model and Force Control Based Life Support for ADL

    2015.04
    -
    2018.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, 村上 俊之, Grant-in-Aid for Scientific Research (A) , Principal Investigator

Awards 【 Display / hide

  • 電気学会 フェロー

    2016.04

  • IEEJ Industry Applications Society Distinguished Transaction Paper Award

    Misako Sasayama and Toshiyuki Murakami, 2015.09, (社)電気学会

  • 電気学会論文投稿システム立ち上げ功労賞

    村上 俊之, 2005.08, (社)電気学会

  • IPEC2005 Recognition Award

    村上 俊之, 2005.08, (社)電気学会

  • SCIS&ISIS2004 Recognition Award

    村上 俊之, 2004.09, SCIS&ISIS

display all >>

 

Courses Taught 【 Display / hide

  • SEMINAR IN SYSTEM DESIGN ENGINEERING

    2021

  • LABORATORIES IN SYSTEM DESIGN ENGINEERING 2)

    2021

  • INTELLIGENT MACHINE SYSTEM

    2021

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2021

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2021

display all >>

 

Memberships in Academic Societies 【 Display / hide

  • 電気学会東京支部学生員委員会, 

    2005.05
    -
    2006.05
  • 電気学会 平成17年度産業応用部門大会論文委員会, 

    2004.12
    -
    2005.11
  • 電気学会 センサの知能化によるシステムの高度化協同研究委員会, 

    2004.11
    -
    2006.10
  • 電気学会 産業応用部門国際化WG, 

    2004.09
    -
    2005.09
  • 電気学会 東京支部役員会, 

    2004.05
    -
    2006.05

display all >>

Committee Experiences 【 Display / hide

  • 2021.08
    -
    2023.07

    委員, 電気学会 多技術融合による高度センサ応用に関する調査専門に員会

  • 2021.05
    -
    2022.03

    顧問, SAMCON2022実行委員会

  • 2020.09
    -
    2022.05

    委員, 電気学会表彰委員会

  • 2020.06
    -
    Present

    1号委員, 電気学会 電気システムセキュリティ特別技術委員会

  • 2020.06
    -
    2022.06

    部門長・部門担当理事(産業応用部門), 電気学会

display all >>