Ohnishi, Kouhei

写真a

Affiliation

Keio Frontier Research & Education Collaborative Square (K-FRECS), K-FRECS at Shin-Kawasaki （Mita）

Position

Project Professor (Non-tenured)

External Links
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Career 【 Display / hide 】

  • 1980.04
    -
    1982.03

    慶應義塾大学工学部電気工学科 ,助手

  • 1982.04
    -
    1988.03

    慶應義塾大学工学部電気工学科 ,専任講師

  • 1988.04
    -
    1996.03

    慶應義塾大学理工学部電気工学科 ,助教授

  • 1992.04
    -
    1993.03

    兼慶應義塾大学就職部（矢上支部） ,委員

  • 1993.10
    -
    1995.09

    慶應義塾大学学生部（矢上） ,委員

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Academic Background 【 Display / hide 】

  • 1975.03

    The University of Tokyo, Faculty of Engineering, 電気工学科

    University, Graduated

  • 1977.03

    The University of Tokyo, Graduate School, Division of Engineering, 電気工学専門課程

    Graduate School, Completed, Master's course

  • 1980.03

    The University of Tokyo, Graduate School, Division of Engineering, 電気工学専門課程

    Graduate School, Completed, Doctoral course

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Academic Degrees 【 Display / hide 】

  • 工学　, The University of Tokyo, 1980.03

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Books 【 Display / hide 】

  • Mechatronics and Robotics: New Trends and Challenges

    Ohnishi K., et al, CRC Press, 2020.11,  Page： 266

    Scope: 12 Human–Robot Interaction

  • Motion Control Systems

    ASIF SABANOVIC OHNISHI KOUHEI, John Wiley, 2011.02

    Scope: 364

  • 「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

    コンピュータの構造を論理的かつ数学的に理解するすることに主眼を置き，ハードの基礎からCの活用までを解説した。

  • 丸善

    堀　洋一、大西公平, 1998.06

  • 「制御工学の基礎」

    堀 洋一、 大西公平, 丸善, 1997.10

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Papers 【 Display / hide 】

  • Validation of a surgical drill with a haptic interface in spine surgery

    Yamanouchi K., Takano S., Mima Y., Matsunaga T., Ohnishi K., Matsumoto M., Nakamura M., Shimono T., Yagi M.

    Scientific Reports （Scientific Reports)  13 （ 1 ）  2023.12

    　View Summary

    Real haptics is a technology that reproduces the sense of force and touch by transmitting contact information with real objects by converting human movements and the feel of the objects into data. In recent years, real haptics technology has been installed in several surgical devices. A custom-made surgical drill was used to drill into the posterior lamina to verify the time required for penetration detection and the distance the drill advanced after penetration. A surgeon operated with the drill and the same aspects were measured and verified. All experiments were performed on female miniature pigs at 9 months of age with a mean body weight of 23.6 kg (range 9–10 months and 22.5–25.8 kg, n = 12). There were statistically significant differences in the average reaction time and the distance travelled after penetration between a handheld drill and the drill with the penetration detection function (p < 0.001). The reaction time to detect penetration and the distance after penetration were both significantly improved when compared with those of the handheld surgical drill without the penetration detection function, with mean differences of 0.049 ± 0.019 s [95% CI 0.012, 0.086 s] and 2.511 ± 0.537 mm [95% CI 1.505, 3.516 mm]. In this study, we successfully conducted a performance evaluation test of a custom-made haptic interface surgical drill. A prototype high-speed drill with a haptic interface accurately detected the penetration of the porcine posterior lamina.

  • Handheld Haptic Drill Simulator Using Visual Servoing System for Axial Force Presentation

    Matsunaga T., Takano S., Shimono T., Ohnishi K., Yagi M., Nakamura M.

    IEEE International Symposium on Industrial Electronics （IEEE International Symposium on Industrial Electronics)  2023-June 2023

    　View Summary

    Bone cutting tasks in spinal surgery require advanced skills to operate a handheld drill device. Since there is a risk to injure the spinal cord, both of support for surgeons and enhancement of surgeon's skills are important for safer surgery. Therefore, orthopedic surgical robots and devices have been studied and developed. In this study, a handheld haptic drill simulator using a visual servoing system is developed. A stereo camera is used to acquire the position and posture of a handheld drill device used as a haptic interface. Voxel representation is applied to virtual objects in environment simulation. Axial cutting force is fed back to the operator via the haptic interface, while virtual environment images are presented by a two-dimensional display. A small virtual object composed of voxels is cut by the drill device in the experiment. The feasibility of the handheld haptic drill simulator and the applicability of the handheld haptic drill devices are confirmed by the experimental results.

  • Verification of Anode Position and Generated Force Vector of EHD at Wire-cylinder Electrode

    Kitamura T., Katagiri H., Yashita S., Saito Y., Asai H., Ohnishi K., Nozaki T.

    IEEE International Symposium on Industrial Electronics （IEEE International Symposium on Industrial Electronics)  2023-June 2023

    　View Summary

    Electrohydrodynamics (EHD) is a thrust force produced when high voltage is applied to two electrodes, and actuators using EHD are expected to reduce equipment size and the effects of friction. However, the EHD effect of multiple anode electrodes has yet to be verified and should be considered when fabricating a multi-degree-of-freedom actuator using EHD. This paper examines the relationship between the applied voltage and the generated EHD to verify the effect of multiple anode electrodes on the EHD. Experiments were conducted using a device with two anode electrodes at right angles and another with two parallel electrodes. The results showed that the two anode electrodes placed at right angles interfered with each other, and the generated forces were not superposed. The direction of the generated force was approximately 45 deg. When the electrodes were placed horizontally, it was confirmed that the generated forces were superposed, indicating that the arrangement, not the number of anode electrodes, was the cause of the interference.

  • Development of Orthopedic Haptic Drill for Spinal Surgery with Penetration Detection Scheme based on Viscosity Estimation

    Takano S., Shimono T., Matsunaga T., Yagi M., Ohnishi K., Nakamura M., Mima Y., Yamanouchi K., Ikeda G.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM （IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM)  2023-June   194 - 200 2023

    　View Summary

    In orthopedic surgery, making an incision into the spine involves a risk of injury to the spinal cord. In addition, surgeons must determine penetration into the bone using only their haptic senses. This imposes a heavy burden on the surgeon. In this study, an orthopedic haptic drill with a penetration detection scheme based on viscosity estimation is proposed. This drill detects penetration by monitoring changes in the position and force of the linear motor in the drill. The threshold values are automatically optimized according to the estimated viscosity of the object being cut. Therefore, the proposed drill does not require prior setup of the parameters in accordance with the object being cut. The utility of the proposed drill is verified experimentally.

  • Machine Learning-Based Performance Improvement of Bilateral Teleoperation with Hydraulic Actuator

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

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

    　View Summary

    Teleoperation with hydraulic actuator is useful for human action augmentation. However, disturbances in hydraulic actuators are complex and accurate estimation of external forces is difficult. In this paper, a reaction force observer and machine learning are combined to achieve high accuracy sensorless force estimation in hydraulic actuator. Furthermore, this method is applied to a bilateral control system to improve its performance. While there are many machine learning methods, this paper uses a Long Short-Term Memory network, a type of recurrent neural network that excels at inferring time series data, to accurately infer the hysteresis characteristics of disturbances in hydraulic actuator. Furthermore, 4ch bilateral control based on oblique coordinate control is used to realize teleoperation. In the experiment, a friction model-based compensation method and a machine learning-based compensation method are applied to bilateral control, and the performance of each method is evaluated.

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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 】

  • 精子形成能判定のための精巣の硬さ測定装置の開発～ハムスター精巣を用いての検討

    OHNISHI KOUHEI

    日本コンピュータ外科学会 (東京、日本) , 

    2016.11
    , 

    Oral presentation (general), 日本コンピュータ外科学会

  • The Control Scheme of Underactuated Master System in Bilateral Control for Operation of Fragile Environment

    OHNISHI KOUHEI

    The 41st Annual Conference of IEEE Industrial Electronics Society,IECON (横浜) , 

    2016.11
    , 

    Oral presentation (general), IECON

  • Development of haptic prosthetic hand for realization of intuitive operation

    OHNISHI KOUHEI

    The 42nd Annual Conference of the IEEE Industrial Electronics Society,IECON 2016 (Firenze,Italy) , 

    2016.10
    , 

    Oral presentation (general), IEEE

  • Simultaneonus Locomation of Biped Robot with the Transmission of Human Motion

    OHNISHI KOUHEI

    The 42nd Annual Conference of the IEEE Industrial Electrnics Society,IECON 2016 (Firenze,Italy) , 

    2016.10
    , 

    Oral presentation (general), IEEE

  • Robotic Finger Rehabilitation System for Stroke Patient Using Surface EMG Armband

    OHNISHI KOUHEI

    The 42nd Annual Conference of the IEEE Industrial Electronics Society,IECON 2016 (Firenze Italy) , 

    2016.10
    , 

    IEEE

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

  • Real haptics system without any sensors at slave side

    2018.04
    -
    2021.03

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

  • Revolution of integrated platform on medicine and engineering by haptic technology

    2013.05
    -
    2018.03

    MEXT,JSPS, Grant-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (S), Principal investigator

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Awards 【 Display / hide 】

  • Fujihara Award

    大西公平, 2019.06, 藤原科学財団

    Type of Award： International academic award (Japan or overseas)

  • 電気学会功績賞

    2017.06, 電気学会

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

    　View Description

    ハプティクス通信技術の発展とその産業応用への貢献

  • 紫綬褒章

    大西公平, 2016.11, Japanese Gavernment, 多年学術の分野においてよく努め発展に寄与したことについて

    Type of Award： Other

  • 産業応用部門賞

    嶌本慶太・谷田和貴・野崎貴裕・大西公平, 2014.08, 電気学会, 腱駆動型球体間接機構による力覚伝達

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

  • 日本学術会議会長賞

    青山藤詞郎・柿沼康弘, 2013.09, 日本学術会議　産学官連携推進会議, 「外乱オブザーバー応用技術」の開発

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

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Social Activities 【 Display / hide 】

  • IEEE 'Transactions on Industrial Electronics'

    1988.05
    -
    Present
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Memberships in Academic Societies 【 Display / hide 】

  • IEEE Industrial Electronics Society, 

    2010.01
    -
    Present

  • Institute of Electrical Engineers of Japan, 

    2009.05
    -
    2010.05

  • 日本コンピュータ外科学会, 

    2008.10
    -
    Present

  • 電気学会, 

    2008.05
    -
    2009.05

  • IEEE Industrial Electronics Society, 

    2008.01
    -
    2009.12

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Committee Experiences 【 Display / hide 】

  • 2015.05
    -
    2016.05

    会長, 電気学会

  • 2014.12
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    2016.11

    委員, 電気学会実世界ハプティクスの高度化に関する協同研究委員会

  • 2014.05
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    2016.05

    有識者会議役員, 電気学会

  • 2014.05
    -
    2015.05

    会長代理, 電気学会理事会

  • 2014.02
    -
    Present

    代議員, 電気学会

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