Murakami, Toshiyuki

写真a

Affiliation

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

Position

Professor

External Links
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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.

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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.'''''''

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Other Affiliation 【 Display / hide 】

  • Dean, Faculty of Science and Technology

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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

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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

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Academic Degrees 【 Display / hide 】

  • 工学　, Keio University, 1993.03

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Research Areas 【 Display / hide 】

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

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Research Keywords 【 Display / hide 】

  • Robotics, Motion Control

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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．

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Papers 【 Display / hide 】

  • Posture Stabilization Control Compensating Variation of Body Center of Gravity in Underactuated System

    Yajima H., Ishizaki K., Miyata Y., Nawa M., Kato N., Murakami T.

    Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023 （Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023)   2023

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    With the recent decreasing birthrate and aging population, cooperative robots are attracting attention for a new workforce. As cooperative robot, robots with a small footprint and high center of gravity, like humans, can be considered more suited. Robots with these features are generally unstable, and posture stabilization control becomes important when the center of gravity is shifted due to holding objects or other factors. Therefore, in this study, we select a two-wheeled robot as the target robot and carrying luggage as the target motion, and establish the posture stabilization. Many studies about two-wheeled transport robots do not adequately consider the shift in the center of gravity, which may lead to rapid acceleration and negatively affect position tracking performance. The purpose of this paper is to compensate the shift in the center of gravity of the vehicle, and can perform transport operations in a steady state. To achieve this purpose, we propose to apply Repulsive compliance control(RCC) to a two-wheeled transport robot. Several experiments show its effectiveness.

  • Assistance Torque Control Based on Musculoskeletal Hexagon Output Distribution for Upper Limb Exoskeleton

    Morishita H., Murakami T.

    Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023 （Proceedings - 2023 IEEE International Conference on Mechatronics, ICM 2023)   2023

    　View Summary

    Upper limb exoskeletons are a current focus of technology for rehabilitation and assistance. Although the exoskeletons are actively researched and various applications are being explored, it poses many challenges because of their robot-human fusion of dynamics. In particular, control strategy is one of main problems to solve. Important points of the exoskeleton control are safety, usability, and prevention of insufficient/excessive assistance. Control of physical HumanRobot Interaction (pHRI) without electromyographic (EMG) measurements is one of solutions for the first and the second points. However, the exoskeletons assist based on only payload information in conventional researches and they have disadvantages in third point. Since ease of output of muscles is affected by the limb posture, assistance should be determined based on both payload and musculoskeletal information of each user. Hence, this paper aims to realize musculoskeletal model-based assistance considering ease of output of muscles. For this aim, hexagon distribution (HD)-based assistance torque calculator is proposed. HD expresses human output characteristics of a hand tip by modeling muscles of an upper limb including bi-articular muscles as 6 muscle groups. In proposed control strategy, first, the maximum human output is derived by HD. Second, it is judged whether assistance is sufficient or insufficient. Finally, assistance torque is adjusted in the case of insufficient assistance. To verify effectiveness of the proposed method, an experiment is conducted. As a result, it is confirmed that the proposed method can assist users based on their musculoskeletal characteristics.

  • Determination of the Optimal Number of Phases of a Multiphase Bidirectional Chopper Considering AC Loss in Inductor

    Nakamura Takayuki, Murakami Toshiyuki

    IEEE ACCESS 11   55814 - 55823 2023

    ISSN  2169-3536

  • Force Sensorless Hybrid Position/Force Control with Equivalent Mass Matrices Switching for Decoupled Rubbing Motion

    Shimamoto K., Murakami T.

    IEEJ Journal of Industry Applications （IEEJ Journal of Industry Applications)  12 （ 2 ） 107 - 116 2023

    ISSN  21871094

    　View Summary

    This paper presents a force sensorless workspace hybrid position/force control method with equivalent mass matrices switching for rubbing motion. The equivalent mass matrices express an interference between control axes. Since the determinant of the matrix computed from the design values of robots becomes near zero around the singular configuration of robots, the utilized matrices are often arbitrarily designed. However, inappropriate matrices conditions deteriorate control performance and could cause vibration during rubbing motion. This study reveals suitable equivalent mass matrices for rubbing motion depending on the velocity of the force control axes. Moreover, a hybrid controller with equivalent mass matrices switching depending on the expected velocity of the force control axes in tasks is proposed. The validity of the proposed hybrid controller is demonstrated by the experimental response of rubbing motion with a parallel link type direct-drive four-link manipulator.

  • Identification of unknown object properties based on tactile motion sequence using 2-finger gripper robot

    Thompson J., Kasun Prasanga D., Murakami T.

    Precision Engineering （Precision Engineering)  74   347 - 357 2022.03

    ISSN  01416359

    　View Summary

    The purpose of service robots is to work and handle a wide range of objects in a human environment. Therefore, they must have the ability to grasp unknown objects with the appropriate force, by dynamically identifying their stiffness, mass, and surface-interaction properties. To ensure the successful grasping of unknown objects, it is significant to estimate the object response properties. In this paper, the cognitive functions to efficiently perform such operations with only tactile motion data and supervised learning using limited data, have been demonstrated. The study uses pinch-grasping performed by a 2-fingered robot experimental setup with a pre-designed motion sequence, over 7 different objects having a wide range of properties to capture the motion data. The proposed approach avails pre-processed motion data to train neural networks for accurately predicting object response properties for 3 unseen test objects. We have done a comparative study among three neural network architectures CNN, LSTM, and CNN-LSTM and we found that novel CNN-LSTM outperforms the other two models in terms of accuracy. The CNN-LSTM regression model achieves 0.98 and 0.97 of R2 value for the prediction of stiffness and mass, respectively and the CNN classification model achieves 94% of accuracy for the surface interaction classification.

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

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Reviews, Commentaries, etc. 【 Display / hide 】

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Presentations 【 Display / hide 】

  • 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)

  • 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)

  • 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)

  • 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)

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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, Grant-in-Aid for Scientific Research (A) , Principal investigator

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Awards 【 Display / hide 】

  • 電気学会産業応用特別賞学術賞

    2023.08, 電気学会産業応用部門

  • 電気学会産業応用特別賞貢献賞

    2022.08

  • Best Paper Award

    2021.03, The 9th IIAE International Conference on Industrial Application Engineering 2021

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

  • Best Poster Award

    2021.03, The 9th IIAE International Conference on Industrial Application Engineering 2021

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

  • 電気学会　フェロー

    2016.04

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Courses Taught 【 Display / hide 】

  • SEMINAR IN SYSTEM DESIGN ENGINEERING

    2023

  • INTELLIGENT MACHINE SYSTEM

    2023

  • INDEPENDENT STUDY ON INTEGRATED DESIGN ENGINEERING

    2023

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 2

    2023

  • GRADUATE RESEARCH ON INTEGRATED DESIGN ENGINEERING 1

    2023

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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
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    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
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    2006.10

  • 電気学会 産業応用部門国際化ＷＧ, 

    2004.09
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    2005.09

  • 電気学会 東京支部役員会, 

    2004.05
    -
    2006.05

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Committee Experiences 【 Display / hide 】

  • 2021.08
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    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
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    2022.03

    顧問, SAMCON2022実行委員会

  • 2020.09
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    2022.05

    委員, 電気学会表彰委員会

  • 2020.06
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    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
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    2022.06

    部門長・部門担当理事（産業応用部門）, 電気学会

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