Papers - Minamizawa, Kouta

Control device, robot control method, and robot control system

CL Fernando, S Tachi, G Sano, K Minamizawa

US Patent App. 16/684,625  2020

Operation Discrimination Using Skin Vibration:-Study on the Characteristics of Vibration and the Presentation Position-

SUGIURA Shimpei, KATAGIRI Takumi, TANAKA Yoshihiro, MINAMIZAWA Kouta, WATANABE Junji

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (The Japan Society of Mechanical Engineers)  2020 ( 0 ) 2P1 - M15 2020

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<p>We are exploring new applications using haptic sharing. If we were able to capture and perceive the sensations and movements of others into ourselves, we could conduct cooperative works with others on the basis of shared haptic perception. We demonstrated human-robot cooperation by sending human haptic information during the task to the robot. Regarding human-human cooperation, humans need to perceive haptic information and identify the other's state on the task. Therefore, in this paper, the identification of different tool operations by presenting vibrotactile stimulation that reproduces the skin vibration collected during each operation was tested. Performance of the identification was investigated on different positions to present vibrotactile stimulation and on the multi inputs of vibrotactile stimulation.</p>

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Interest Arousal by Haptic Feedback During a Storytelling for Kindergarten Children

M Shibasaki, Y Kamiyama, E Czech, K Obata, Y Wakamoto, K Kishi, ...

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  12272 LNCS   518 - 526 2020

ISSN  9783030581466

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In this paper, we introduce “Kinder BURU BURU cushion” a vibrotactile cushion that is used during storytelling time to grab the attention of children to help them to focus on the story. We conducted field tests using our system, which confirmed that children were more interested in a story when using our system compared to normal storytelling. For this research, we collaborated with a printing company and a picture book company, designed our system based on user studies at a kid’s space, and conducted empirical field experiments.

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皮膚振動を用いた作業識別 一振動の特徴と提示部位に関する検討一

杉浦慎平， 片桐拓海， 田中由浩， 南澤孝太， 渡邊淳司

ロボティクス・メカトロニクス講演会講演概要集 2020, 2P1-M15  2020

Signal processing apparatus and signal processing method

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, Y Mizushina, ...

US Patent 10,705,620  2020

Signal processing apparatus and signal processing method

H Kim, M Yoshino, M Inami, K Minamizawa, Y Sugiura, S Kasahara

US Patent 10,674,304  2020

Shared Haptic Perception for Human-Robot Collaboration

K Katayama, M Pozzi, Y Tanaka, K Minamizawa, D Prattichizzo

International Conference on Human Haptic Sensing and Touch Enabled Computer … (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics))  12272 LNCS   536 - 544 2020

ISSN  9783030581466

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To obtain a fluent human-robot collaboration, reciprocal awareness is fundamental. In this paper, we propose to achieve it by creating a haptic connection between the human operator and the collaborative robot. Data coming from a wearable skin vibration sensor are used by the robot to recognize human actions, and vibrotactile signals are used to inform the human about the correct recognition of her/his actions. It is shown that the proposed communication paradigm, based on shared haptic perception, allows to improve cycle time performance in a complex human-robot collaborative task.

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SF の射程距離 (第 5 回) 身体という 「距離」 を超える

南澤孝太

SF マガジン= SF magazine 61 (4), 240-250  2020

Sensation imparting device, robot control system, and robot control method

CL Fernando, S Tachi, G Sano, K Minamizawa

US Patent App. 16/684,624  2020

Synesthesia Wear: Full-body haptic clothing interface based on two-dimensional signal transmission

T Furukawa, N Hanamitsu, Y Kamiyama, H Nii, C Krekoukiotis, ...

SIGGRAPH Asia 2019 Emerging Technologies, 48-50 (SIGGRAPH Asia 2019 Emerging Technologies, SA 2019)     48 - 50 2019.11

ISSN  9781450369428

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© 2019 Copyright held by the owner/author(s). In this paper, we present Synesthesia Wear, a full-body, customizable haptic interface, and demonstrate its capabilities with an untethered spatial computing experience. This wear not only looks as flexible as ordinary cloth, but also the attached modules are powered and controlled through this conductive textile via two-dimensional signal transmission(2DST) technology. The haptic modules have a pin, badge-like connector, and it can be freely attached on the conductive textile(Fig.1(b)), enabling users to personally customize the experience to their own liking. This module can render variations of haptic feedback to the torso and all limbs of the body, and visualize representations using LED light patterns. We also designed a spatial computing experience(Fig.1(c)) inspired by the perceptual phenomenon called synesthesia. The system provides an sensory blended experience in which the user walks around freely in real space. The user can interact with real and virtual environments, in a reality-overlapping way by wearing Synesthesia Wear.

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Identification of glycyrrhizin metabolites in humans and of a potential biomarker of liquorice-induced pseudoaldosteronism: a multi-centre cross-sectional study

Takahashi Kanon, Yoshino Tetsuhiro, Maki Yasuhito, Ishiuchi Kan'ichiro, Namiki Takao, Ogawa-Ochiai Keiko, Minamizawa Kiyoshi, Makino Toshiaki, Nakamura Tomonori, Mimura Masaru, Watanabe Kenji

ARCHIVES OF TOXICOLOGY 93 ( 11 ) 3111 - 3119 2019.11

ISSN  0340-5761

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TeleSight: enabling asymmetric collaboration in VR between HMD user and Non-HMD users

T Furukawa, D Yamamoto, M Sugawa, R Peiris, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 26 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

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© 2019 Copyright held by the owner/author(s). In this paper, we propose "TeleSight", proof-of-concept prototype enabling asymmetric collaboration in VR between HMD user and Non-HMD users. TeleSight provides two interaction layers for designing asymmetric interaction, a physical layer for direct tangible interaction with players in VR space and visual layer that visually expresses VR space. Each layer is constructed by an avatar robot that imitates the motion of the HMD user, and a projection system. Non-HMD users can understand what happens in the virtual world by each interaction layers. Also, Non-HMD users can interact tangibly with the players in VR space throughout avatar robot. TeleSight provides that cooperative co-located gameplay between HMD user and Non-HMD users through experience scenarios using two layers.

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Arque artificial biomimicry-inspired tail for extending innate body functions

Nabeshima J., Yamen Saraiji M., Minamizawa K.

ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

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© 2019 Copyright held by the owner/author(s). For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this work, Arque, we propose an artificial biomimicry-inspired anthropomorphic tail to allow us alter our body momentum for assistive, and haptic feedback applications. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we highlight potential applications for using such prosthetic tail as an extension of human body to provide active momentum alteration in balancing situations, or as a device to alter body momentum for full-body haptic feedback scenarios.

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Arque: artificial biomimicry-inspired tail for extending innate body functions

J Nabeshima, MHDY Saraiji, K Minamizawa

ACM SIGGRAPH 2019 Posters, 1-2 (ACM SIGGRAPH 2019 Posters, SIGGRAPH 2019)   2019.07

ISSN  9781450363143

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© 2019 Copyright held by the owner/author(s). For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this work, Arque, we propose an artificial biomimicry-inspired anthropomorphic tail to allow us alter our body momentum for assistive, and haptic feedback applications. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we highlight potential applications for using such prosthetic tail as an extension of human body to provide active momentum alteration in balancing situations, or as a device to alter body momentum for full-body haptic feedback scenarios.

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Designing a full-body customizable haptic interface using two-dimensional signal transmission

T Furukawa, N Hanamitsu, Y Kamiyama, H Nii, C Krekoukiotis, ...

ACM SIGGRAPH 2019 Posters, 54 (ACM SIGGRAPH 2019 Posters, SIGGRAPH 2019)   2019.07

ISSN  9781450363143

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HAPTIC PLASTeR: soft, thin, light and flexible haptic display using DEA composed of slide-ring material for daily life

T Kurogi, Y Yonehara, RL Peiris, T Fujiwara, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 15 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

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PinocchioVR

M Uju, K Shirota, R Peiris, K Minamizawa

ACM SIGGRAPH 2019 Emerging Technologies, 21 (ACM SIGGRAPH 2019 Emerging Technologies, SIGGRAPH 2019)   2019.07

ISSN  9781450363082

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© 2019 Copyright held by the owner/author(s). In the Pinocchio fairy tale, the nose of a boy extends when he lies. Inspired by this tale, we created a Pinocchio VR system that presents the feeling of the nose extending through body ownership illusion. This illusion is created by pulling the nose while presenting the visuals of the nose growing in the head mounted display. Our research that explored different combinations of haptics and visuals indicated that the the minimum requirement for this body ownership illusion is the visuals and the’nose-pulling’ haptic sensation. Thus, the PinocchioVR system consists of a head mounted display and an integrated haptic nose-pulling mechanism. Furthermore, in this demonstration, we explore olfactory and vibrotactile sensations as multimodal effects to present new experiences such as interacting with far away objects with your nose, extending the nose to smell foods at a distance, and even, experience what it would feel like to hang clothes on your elongated nose.

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Musiarm extending prosthesis to musical expression

Hatakeyama K., Saraiji M., Minamizawa K.

ACM International Conference Proceeding Series (ACM International Conference Proceeding Series)   2019.03

ISSN  9781450365475

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©2019 Copyright held by the owner/author(s). The emergence of prosthetic limbs where solely focused on substituting the missing limb with an artificial one, in order for the handicap people to manage their daily life independently. Past research on prosthetic hands has mainly focused on prosthesis' function and performance. Few proposals focused on the entertainment aspect of prosthetic hands. In this research, we considered the defective part as a potential margin for freely designing our bodies, and coming up with new use cases beyond the original function of the limb. Thus, we are not aiming to create anthropomorphic designs or functions of the limbs. By fusing the prosthetic hands and musical instruments, we propose a new prosthetic hand called "MusiArm" that extends the body part's function to become an instrument. MusiArm concept was developed through the dialogue between the handicapped people, engineers and prosthetists using the physical characteristics of the handicapped people as a "new value" that only the handicapped person can possess. We asked handicapped people who cannot play musical instruments, as well as people who do not usually play instruments, to use prototypes we made. As a result of the usability tests, using MusiArm, we made a part of the body function as a musical instrument, drawing out the unique expression methods of individuals, and enjoying the performance and clarify the possibility of showing interests.

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Prosthetic tail artificial anthropomorphic tail for extending innate body functions

Nabeshima J., Saraiji M., Minamizawa K.

ACM International Conference Proceeding Series (ACM International Conference Proceeding Series)   2019.03

ISSN  9781450365475

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©2019 Copyright held by the owner/author,. For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this paper, we propose an exploratory biomimicry-inspired anthropomorphic tail design to allow engineering and expanding human body functions. The proposed tail consists of adjacent joints with a spring-based structure to handle shearing and tangential forces, and allow managing the length and weight of the target tail. The internal structure of the tail is driven by four pneumatic artificial muscles providing the actuation mechanism for the tail tip. Here we describe the design and implementation process, and highlight potential applications for using such prosthetic tail.

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Liquid-VR-Wetness Sensations for Immersive Virtual Reality Experiences

K Shirota, M Uju, R Peiris, K Minamizawa

International AsiaHaptics conference, 252-255 (Lecture Notes in Electrical Engineering)  535   252 - 255 2019

ISSN  9789811331930

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© 2019, Springer Nature Singapore Pte Ltd. We propose Liquid-VR, a system that simulates wetness and liquid sensations for the whole body by providing a combination of thermal and vibrotactile stimuli from the user’s face and across the upper body to the lower body. A head mounted display with thermal and vibrotactile modules simulates the wetness sensations on the face with the displayed visuals. These sensations are carried through out the body by using an array of vibrotactile modules placed on the collarbones and the feet actuated to simulate moving phantom sensations. We demonstrate this experience through virtual reality application scenarios such as being in a shower or being in side a glass of liquid.

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