Papers - Ohnishi, Kouhei

Development of microsurgical forceps equipped with haptic technology for in situ differentiation of brain tumors during microsurgery

Ezaki T., Kishima K., Shibao S., Matsunaga T., Pareira E.S., Kitamura Y., Nakayama Y., Tsuda N., Takahara K., Iwama T., Sampetrean O., Toda M., Ohnishi K., Shimono T., Sasaki H.

Scientific Reports 14 ( 1 )  2024.12

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The stiffness of human cancers may be correlated with their pathology, and can be used as a biomarker for diagnosis, malignancy prediction, molecular expression, and postoperative complications. Neurosurgeons perform tumor resection based on tactile sensations. However, it takes years of surgical experience to appropriately distinguish brain tumors from surrounding parenchymal tissue. Haptics is a technology related to the touch sensation. Haptic technology can amplify, transmit, record, and reproduce real sensations, and the physical properties (e.g., stiffness) of an object can be quantified. In the present study, glioblastoma (SF126-firefly luciferase-mCherry [FmC], U87-FmC, U251-FmC) and malignant meningioma (IOMM-Lee-FmC, HKBMM-FmC) cell lines were transplanted into nude mice, and the stiffness of tumors and normal brain tissues were measured using our newly developed surgical forceps equipped with haptic technology. We found that all five brain tumor tissues were stiffer than normal brain tissue (p < 0.001), and that brain tumor pathology (three types of glioblastomas, two types of malignant meningioma) was significantly stiffer than normal brain tissue (p < 0.001 for all). Our findings suggest that tissue stiffness may be a useful marker to distinguish brain tumors from surrounding parenchymal tissue during microsurgery, and that haptic forceps may help neurosurgeons to sense minute changes in tissue stiffness.

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Analysis of Grinding Motion using Force/Tactile Sensation

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

IEEE International Symposium on Industrial Electronics  2024

ISSN  21635137

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Understanding human movements is essential for teaching skills to novices and enabling robots to learn. Traditional movement analysis often relies on visual data, but incorporating force/tactile information is vital for object interactions. The spring-mass-damper model, used to represent force/tactile data, assumes continuous contact and consistent material properties, which are limitations when analyzing grinding actions that frequently alternate between contact and non-contact. This study proposes analyzing grinding by quantifying force/tactile sensations as the ratio of the root mean square (RMS) values of force to speed, using absolute impedance to measure sensations irrespective of contact. Findings indicated that operators typically initiate a pressing motion several seconds after detecting contact, and their reactions to samples of varying hardness differ significantly. These observations suggest a detailed breakdown of human grinding skills is feasible, highlighting the potential of force/tactile information in enhancing skill transfer to beginners and robots.

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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

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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.

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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

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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.

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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

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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.

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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

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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.

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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

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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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Development and validation of a surgical drill with a haptic interface in spine surgery

K Yamanouchi, S Takano, T Matsunaga, M Matsumoto, M Murakami, T Shimono, M Yagi, K Ohnishi

(researchsquare.com)   2022.05

Joint Work, Last author

Experimental Verification of a Novel Continuously Variable Transmission with Electro-Hydrosttic Actuator

H Asai, K Sugihara, T Kitamura, Y Saito, K Ohnishi, T Nozaki

20220220 (IEEE)   2022.02

Joint Work, Last author

Object Detection in Motion Reproduction System with Segmentation Algorithm

X Sun, T Nozaki, T Murakami, K Ohnishi

 2022.02

Joint Work, Last author

Performance Impruvement of Bilateral Teleoperation with Hydraulic Actuator by Friction Compensation

Y Saito, H Asai, T Kitamura, W Iida, T Nozaki, K Ohnishi

 2022.02

Joint Work, Last author

Quantification of Force/Tactile Sensation

Y.Saito, K Ohnishi

IEEJ Journal of Industry Applications (IEEJ )  12 ( 2 ) 125 - 130 2022

Joint Work, Last author,  ISSN  21871094

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The force/tactile sensation (hereafter referred to as f/t sensation) has not been well defined for a long time. In the applications of real haptics, it is necessary to quantitatively evaluate the quality of the f/t sensation. The paper proposes the definition of f/t sensation as the stimulus signal. Accordingly, the instantaneous value of the stimulus signal of the f/t sensation represents the simultaneous ratio of the value of reaction force and the value of velocity. If the contact target is modeled as an inertia-damper-spring model, the stimulus signal of the f/t sensation is expressed as the equivalent circuit of the sum of the impedance (or admittance) and the voltage source (or the current source). The definition of the stimulus signal of the f/t sensation in frequency area clarifies the physical meaning. The paper presents the experimental results that confirm the viability of this novel definition on the stimulus signal of the f/t sensation.

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Validation of a Property Estimation Method Based on Sequential and Posteriori Estimation

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

IECON Proceedings (Industrial Electronics Conference) (IECON Proceedings (Industrial Electronics Conference))  2022-October 2022

ISSN  21624704

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Robots are being developed to perform tasks in homes and factories autonomously. Several studies have examined motion generation based on haptic information, and some studies consider the environment as physical property information. However, there is a trade-off between the accuracy and the time required for the physical property estimation. Therefore, in this study, we propose a method for estimating physical properties based on training the relationship between the two estimation models. The first is a fast sequential estimation model, and the second is a highly accurate posterior estimation model. Training the relationship between the two models makes highly accurate sequential property estimation possible. Validation results showed improved accuracy of property estimation for learning samples and some untrained samples.

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Stability and Robustness of the Disturbance Observer-Based Motion Control Systems in Discrete-Time Domain

Sariyildiz E., Hangai S., Uzunovic T., Nozaki T., Ohnishi K.

IEEE/ASME Transactions on Mechatronics (IEEE/ASME Transactions on Mechatronics)  26 ( 4 ) 2139 - 2150 2021.08

ISSN  10834435

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This article analyses the robust stability and performance of the disturbance observer (DOb) based digital motion control systems in the discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller can be directly adjusted by tuning the nominal plant model and the bandwidth of the observer. However, they have the upper and lower bounds due to robust stability and performance constraints as well as the noise sensitivity. The constraints on the design parameters of the DOb change when the digital motion controller is synthesized by measuring different states of a servosystem. For example, the bandwidth of the DOb is limited by the noise sensitivity and waterbed effect when the velocity and position measurements are employed in the digital robust motion controller synthesis. The robustness constraint due to the waterbed effect is removed when the DOb is implemented by acceleration measurement. The design constraints on the nominal plant model and the bandwidth of the observer are analytically derived by employing the generalized Bode integral theorem in discrete time. The proposed design constraints allow one to systematically synthesize a high-performance DOb-based digital robust motion controller. The experimental results are given to verify the proposed analysis and synthesis methods.

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A Method to Contact with Real Environment through Virtual Object by Hidden End Effector in Teleoperation with Augmented Reality

Matsunaga T., Shimono T., Ohnishi K.

IEEE International Symposium on Industrial Electronics (IEEE International Symposium on Industrial Electronics)  2021-June 2021.06

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Teleoperation systems utilizing master-slave systems and video apparatuses are useful for tasks requiring human judgments and skills. Haptic sensation can be transmitted by master-slave systems implementing bilateral control, while visual information is shown to operators by video apparatuses. Furthermore, augmented reality (AR) can be presented to operators by processing visual and haptic information. Operators can move virtual objects in real environment by using teleoperation systems. However, virtual objects cannot interact with real environment, although rendering of virtual objects can be changed according to the positional relation to real environment. The noninteractive characteristics of AR between real and virtual objects restricts application of teleoperation systems. In this paper, a method that enables operators to contact with real environment through a virtual object is proposed. Bilateral control with compliance controller is implemented to a one degree-of-freedom master-slave system as haptic AR. The end effector of the slave robot is hidden by image processing. Instead of the real end effector, a virtual end effector with a virtual object is presented as visual AR. Operators can perform contact motion by the teleoperation system, as if reaction force from real environment is presented through the virtual object. The feasibility of the proposed method is confirmed by an experiment.

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Multi functional drill incorporating linear motor for haptic surgical instrument and simulator

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

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

ISSN  9781728144429

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In orthopedic surgery, tasks to cut the vertebra by surgical drills involve the risk of the spinal cord injury. Since the spinal cord injury causes motor and sensory disorder to patients, orthopedists who perform spine surgery must have skills to achieve tasks using surgical drills. Although robotic technologies is being applied to orthopedic surgical operations, support for surgeons in delicate tasks requiring surgeon's skills is insufficient. In this study, a multi functional drill available for both a surgical instrument and a simulator is presented. A linear motor incorporated in the proposed device used as a surgical instrument provides support for operators, while measuring position information and estimating force information. Furthermore, environmental information can be abstracted by haptic information such as position and force information. Virtual environment reproduced by the environmental information is presented by the proposed device used as a simulator. The feasibility of the multi functional drill is confirmed by utilizing functions as a surgical instrument and a simulator.

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Development of multi degrees-of-freedom haptic forceps robot with three actuated fingers

Matsunaga T., Shimono T., Ohnishi K.

IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  10 ( 2 ) 247 - 253 2021.03

ISSN  21871094

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Surgical robots have been studied and developed to assist surgeons. Master-slave flexible forceps robots that are components of a flexible endoscopic surgical robot are useful to realize novel minimally invasive surgical procedures that are difficult for conventional rigid medical devices. Although driving force for the tip portion of a flexible forceps robot is mechanically transmitted by wires through the flexible portion, friction and backlash changed by the posture of the flexible portion make it difficult to realize precise end effector control. Furthermore, transmission of haptic sensation is necessary to realize safer operation. In this study, a multi degrees-of-freedom (DoF) haptic forceps robot with three fingers is presented as an end effector of a flexible forceps robot. Transmission of driving force in flexible structure that causes performance deterioration is eliminated by arranging motors near the end effector. To transmit haptic sensation to operators, bilateral control is implemented to a master-slave system composed of the haptic forceps robot and a multi DoF input device. Additionally, control on modal space is implemented to verify finger dexterity. The utility of the haptic forceps robot is experimentally validated.

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A study on safe forseps grip force for the intestinal tract using haptic technology

K Yatabe, S Ozawa, J Oguma, S Hiraiwa, S Tomita, T M Yokoyama, T Shiimono, K Ohnishi

Invasive Therapy (Taylor and Fransis)   2021.01

Joint Work, Last author

Bilateral teleoperatìon system with extension of information based on visual information

Matsunaga T., Shimono T., Ohnishi K.

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering (Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering)  87 ( 4 ) 380 - 387 2021

ISSN  09120289

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Master-slave teleoperatìon robots are useful for tasks that require human judgments and skills. Haptic sensation can be transmitted between a master and a slave by implementing bilateral control. Besides, visual information of the slave side that cannot be directly seen from the master side is presented by devices such as cameras, endoscopes, and displays. Therefore, advanced support of the teleoperatìon robots for operators can be expected by utilizing extended visual and haptic information. In this paper, a master-slave teleoperation system with ability to extend information transmitted to operators is proposed. The teleoperation system consists of one degree of freedom master-slave system implementing bilateral control based on robust acceleration control and an image processing system. To support operators, visual and haptic augmented reality is generated by image processing, micro-macro bilateral control, and compliance control. In addition, a design method of position and force scaling for micro-macro bilateral control according to magnification ratio of image is presented. The utility of the proposed bilateral teleoperation system is verified by experiments.

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Online Motion Modification by Operator in Motion Reproduction System

Sun X., Nozaki T., Ohnishi K., Murakami T.

IECON Proceedings (Industrial Electronics Conference) (IECON Proceedings (Industrial Electronics Conference))  2020-October   668 - 673 2020.10

ISSN  9781728154145

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© 2020 IEEE. This paper proposes a novel online motion modification method in motion reproduction system. Motion reproduction is used to reproduce human motion saved through bilateral control. Bilateral control is a teleoperation which can transmit both position and force. Human judgement is needed for compensating the saved motion when the environment is different. However, conventional motion reproduction system only relies on saved motion or environment in slave side. Therefore operators in master side cannot modify the motion after motion has been saved. Instead of just reproducing the motion data, the proposed method adds master system at motion reproduction phase so that an operator can modify the motion. If the master system is simply added to motion reproduction system, the operator's motion and saved motion will interfere each other. Therefore, we propose to use weightings to suppress the interference. Simulated results validates the effectiveness of the proposal.

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An Approach to Architecture Design of Bilateral Control System based on a Layer Structure

Tanida K., Okano T., Murakami T., Ohnishi K.

IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  9 ( 4 ) 318 - 330 2020.07

ISSN  21871094

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©2020 The Institute of Electrical Engineers of Japan. A bilateral control system aims at realizing a fine haptic transmission between a human operator and a remote environment object. Such a system is expected to realize multiple requirements in practical applications, and the architecture design based on a layer structure has to be considered. This paper treats a surgery robot system as an example, and its system has two requirements: "large workspace"and "fine haptic sensation". Using the conventional bilateral control system to realize these requirements simultaneously is difficult because mechanical and control designs are separately discussed. At the same time, a system that has multiple requirements such as a fine/coarse system is often designed only using position information. This study proposed to consider not only mechanical/control design but also the position/force information simultaneously from the perspective of an architecture design. The proposed architecture decomposes the functions into each motor/robot by defining roles and combining each role in the layer structure. The advantage of the proposal is that a complex system can be designed as a entire by combining multiple sub-functions that can be simply designed. As a result, the surgery robot system is designed by considering its requirements, and the experiments are carried out to verify if the requirements are satisfied. Â

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Automatic grasping position adjustment for robotic hand by estimating center of gravity using disturbance observer

Yajima S., Shimono T., Mizoguchi T., Ohnishi K.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM)  2020-July   595 - 600 2020.07

ISSN  9781728167947

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© 2020 IEEE. Recently, the demand for collaborative robot is increasing. Most of them are smaller to conventional industrial robots. In order to support humans in various field, it is required that they acquire flexible and dexterous motions. The soft motion based on force control will be one of keys to realize such a motion. However, the introduction of force control leads to a decrease in the rigidity of the system, which results in a decrease in positioning accuracy. This poor position tracking accuracy could cause the drop of grasped object, and it leads property damage accidents. Recently, there have been much discussions about the responsibility, handling, and risk management of accident caused by robots. As a solution, we propose the automatic grasping position adjustment for robotic hand to prevent the grasped object from falling. By observing the center of gravity and adjusting its position, the system attempts to shift unstable grasping position to stable position. This paper shows the automatic grasping position adjustment method. Then the performance of proposed method is verified by using actual robotic hand.

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Development of small-diameter haptic flexible gripping forceps robot

Matsunaga T., Ohnishi K., Wada N., Kitagawa Y.

Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) (Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi))  211 ( 1-4 ) 47 - 54 2020.06

ISSN  04247760

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© 2020 Wiley Periodicals, Inc. Robotic technologies are being increasingly utilized for medical treatments to support surgeons and reduce the burden on patients. Flexible endoscopic surgical systems with an endoscope and flexible forceps robots are state-of-the-art devices that are expected to realize more difficult and less invasive surgery. Surgeons teleoperate these flexible forceps robots as their own hands and conduct various medical tasks. The wire-driven mechanism is applied to many flexible forceps robots to transmit the driving force to the tip of the robots in a narrow space. However, the flexible structure makes it difficult to control the wire-driven robots and implement the haptic technologies to realize safer surgery. In this paper, a force sensor-less, small-diameter flexible forceps robot with the ability to transmit haptic sensation is presented. The driving part at the tip of the flexible part, composed of a small actuator with a reduction mechanism, realizes the miniaturization of the robot. Haptic information is estimated by low-resolution position information. The bending of the flexible part with electric wires does not deteriorate the performance of the end effector. The performance of the haptic flexible forceps robot is evaluated through experiments.

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Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview

Sariyildiz E., Oboe R., Ohnishi K.

IEEE Transactions on Industrial Electronics (IEEE Transactions on Industrial Electronics)  67 ( 3 ) 2042 - 2053 2020.03

ISSN  02780046

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© 1982-2012 IEEE. Disturbance observer (DOB) has been one of the most widely used robust control tools since it was proposed by Ohnishi in 1983. This paper introduces the origins of DOB and presents a survey of the major results on DOB-based robust control in the last 35 years. Furthermore, it explains DOB's analysis and synthesis techniques for linear and nonlinear systems by using a unified framework. In final section, this paper presents concluding remarks on DOB-based robust control and its engineering applications.

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Development of a Multi DOF Haptic Robot for Dentistry and Oral Surgery

Iijima T., Matsunaga T., Shimono T., Ohnishi K., Usuda S., Kawana H.

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020)     52 - 57 2020.01

ISSN  9781728166674

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© 2020 IEEE. There exist many dental surgery such as orthognathic surgery and an implant operation. Jaw deformity is one of the dental diseases such as an abnormality of occlusion and facial distortion in the shape. To treat jaw deformity, the osteotomy is carried out by human hands. However, drilling a jawbone accurately by oral surgeons is difficult. Recently, surgical robots are attracting attention in the medical field. The researches of surgery supporting systems have been carried out. They have possibilities to avoid unexpected accidents in the surgery, a hands shake and so on. The improvement of the minimally invasive surgery can be expected, thanks to robotic technology. The purpose of this research is the design and development of master-slave dentistry and oral surgery assisting robot. By implementing acceleration based bilateral control, haptic information can be communicated. Moreover, the proposed robot has the serial-parallel hybrid mechanism that can obtain the advantages of a serial mechanism and a parallel mechanism. In this paper, the mechanism of the proposed robot is explained and the performance of the proposed robot is validated by experiments.

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Selection of required controller for position-and force-based task in motion copying system

Okano T., Oboe R., Ohnishi K., Murakami T.

Journal of Robotics and Mechatronics (Journal of Robotics and Mechatronics)  32 ( 1 ) 113 - 127 2020

ISSN  09153942

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© 2020, Fuji Technology Press. All rights reserved. With the remarkable development of related technologies, the number of robots has been gradually increasing and their presence is becoming much more familiar in our daily lives. The motion copying system (MCS) is utilized as the method for conducting some tasks by robots. This system enables tasks to be reproduced when the environmental conditions are not changed. The task reproduction performance is degraded when environmental variations occur, and human-like adaptable motion is expected to be developed in the MCS. This study reveals the dominant element of motion, and the control strategy is varied at each time in each axis by considering the task realization. The flexibility of motion is learned from both the operator and the task implementation. The task reproduction experiments by MCS are conducted to verify the effectiveness of the proposal.

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Multimodal haptic display for virtual reality: A survey

Wang D., Ohnishi K., Xu W.

IEEE Transactions on Industrial Electronics (IEEE Transactions on Industrial Electronics)  67 ( 1 ) 610 - 623 2020

ISSN  02780046

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© 1982-2012 IEEE. Human haptic perception system is complex, involving both cutaneous and kinesthetic receptors. These receptors work together and enable human to perceive the external world. To simulate immersive interaction with virtual objects in virtual reality scenarios haptic devices are desired to reproduce multiproperties of virtual objects, support multigestures of human hands to perform fine manipulation, produce haptic stimuli for simultaneously stimulating multireceptors (including cutaneous and kinesthetic receptors) of human haptic channel, and thus invoke realistic compound haptic sensations. In recent years, such multimodal haptic devices have emerged. In this paper, we survey the latest progress on multimodal haptic devices, identify the gaps, and put forward future research directions on the topic.

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Development of a force sensorless percussion device for rationalization of generator inspection

Kuwahara H., Mizoguchi T., Shimono T., Ohnishi K.

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering (Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering)  86 ( 1 ) 120 - 125 2020

ISSN  09120289

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© 2020 Japan Society for Precision Engineering. All rights reserved. For non-deconstructive generator inspection, robots which can crawl in a gap of a rotor and a stator have been developed. Since the robot should be enough thin to crawl in the gap, the inspection devices also need to be compact. Percussion is a method to detect the stator wedge looseness. Since echo vibration excited by striking the target is analyzed in this method, the device requires two functions: A striking function and a sensing function. Basically, two devices such as a hammer and a microphone are utilized to achieve the functions. In this paper, a percussion device with the force control technique and the inspection method to detect the stator wedge looseness are proposed. Since the proposed device can not only control the striking force but also sense the reaction force by itself, it is expected that the device can be compact. Moreover, in the proposed method, inner stator slot model parameters are estimated by analyzing the gain characteristics of the proposed device. Then, the amount of the stator wedge looseness is evaluated based on the model parameters. The validity of the proposed percussion device and the inspection method are evaluated through the experiments.

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Development of a microsurgery-assisted robot for high-precision thread traction and tension control, and confirmation of its applicability

Hangai S., Nozaki T., Soma T., Miyashita H., Asoda S., Yazawa M., Sato K., Kawana H., Ohnishi K., Kobayashi E.

International Journal of Medical Robotics and Computer Assisted Surgery (International Journal of Medical Robotics and Computer Assisted Surgery)  17 ( 2 )  2020

ISSN  14785951

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© 2020 The Authors. The International Journal of Medical Robotics and Computer Assisted Surgery published by John Wiley & Sons Ltd. Background: Microsurgery requires high skills for suturing using fragile threads, often within narrow surgical fields. Precise tension is required for good healing and to avoid the risk of thread breakage. Methods: To meet the demands, we developed a novel assist robot utilizing high-precision sensorless haptic technology. The robot adopts a cable-driven mechanism to maintain a distance from the surgical area and enhances compatibility with surgical equipment such as microscopes. The robot performance was verified through in vitro and in vivo experiments using a rat model. Results: The realization of precise tension control was confirmed in both experiments. In particular, in the in vivo experiments, the developed robot succeeded to produce a knot with an accurate tension of 0.66% error. Conclusions: The developed robot can realize to control traction force precisely. This technology might open up the window for a full assist robot for microsurgery with haptic feeling.

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Reconstruction of pitchfork bifurcation with exogenous disturbances based on equivalent-input-disturbance approach

She J., Yin X., Wu M., Sato D., Ohnishi K.

Nonlinear Dynamics (Nonlinear Dynamics)  102 ( 4 ) 2699 - 2709 2020

ISSN  0924090X

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© 2020, Springer Nature B.V. Reconstructing a pitchfork bifurcation that is destroyed by an exogenous disturbance is important to control it. This paper extends the equivalent-input-disturbance (EID) approach to solve the problem of reconstructing a pitchfork bifurcation when there is an exogenous disturbance for the first time. A nonlinear term and a bifurcation parameter are designed in the system to reconstruct the pitchfork bifurcation. The bifurcation characteristics of the equilibriums of the system are analyzed by exploring the features of the EID-based system. This provides us analytic solutions for a system with a degree higher than four for the first time. Unlike other pitchfork-bifurcation control systems, the EID-based control system only rejects the disturbance and retains the nonlinearity. Numerical examples demonstrate the effectiveness of the presented method and show its superiority over others. The robustness of the reconstruction with respect to measurement noise and control of a pitchfork bifurcation are also shown by the examples.

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A study on safe forceps grip force for the intestinal tract using haptic technology

Yatabe K., Ozawa S., Oguma J., Hiraiwa S., Tomita S., Matsunaga T., Togashi N., Yokoyama M., Shimono T., Ohnishi K.

Minimally Invasive Therapy and Allied Technologies (Minimally Invasive Therapy and Allied Technologies)  31 ( 4 ) 573 - 579 2020

ISSN  13645706

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Purpose: The present study used haptic technology to determine the safe forceps grip force for preventing organ damage when handling the intestinal tract. Material and methods: The small intestines of ten male beagle dogs (weighing 9.5–10 kg) were grasped with the entire forceps for one minute; the small intestines were then pulled out of the forceps and evaluated for damage. The force at which the shaft inside the forceps was pulled to close the tip of the forceps was defined as the grip force. Small intestine damage was classified into macroscopic (serosal defects, hemorrhage, hematomas, grip marks) and microscopic (damage layer to the mucosa, submucosa/muscularis mucosa, inner orbicularis muscle, external longitudinal muscle, serosa/subserosa). Grip marks and damage layer to the serosa/subserosa have been considered as acceptable safety margins when grasping the small intestines of beagle dogs. Results: The macroscopic findings showed that the maximum grip force that produced a 0% incidence of hemorrhage and hematoma was 15 N. At the microscopic level, the maximum grip force that produced a 0% incidence of external longitudinal muscle injury was 15 N, respectively. Conclusions: A grip force of 15 N does not damage the small intestines of beagle dogs.

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Haptics-Led Innovation for Coming Society

Ohnishi K., Nozaki T., Saito Y., Shimono T., Mizoguchi T.

Technical Digest - International Electron Devices Meeting, IEDM (Technical Digest - International Electron Devices Meeting, IEDM)  2019-December 2019.12

ISSN  9781728140315

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© 2019 IEEE. Contact task by artifact has been an unsolved problem since its starting in 1940's. After many RDs including the early works in US and the other countries, bilateral control is a strong solution for this issue. Quality of tactile sensation heavily depends on transparency between master and slave. The Hadamard transformation designed in acceleration space gives the high transparency. The real haptics based on this transformation brings not only the vivid sensation of contact task but also two important applications into the coming society. One is a high-quality tele-operation and the other is a playback of skilled motion by human. The real haptics is a key concept in 21st century where QOL should be the fundamental basis of the society. The paper shows some examples of experiments.

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A Controller Design Method of Bilateral Teleoperation for Velocity Control Driver

Saito Y., Shimmyo S., Nozaki T., Ohnishi K.

IECON Proceedings (Industrial Electronics Conference) (IECON Proceedings (Industrial Electronics Conference))  2019-October   3585 - 3590 2019.10

ISSN  9781728148786

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© 2019 IEEE. Bilateral control can realize haptic feedback required for securing safety and diversity in teleoperation by robots. Since conventional approaches are based on a servo controller which has high-performance current control or torque control, there is a barrier for advancing into society. The objective of this paper is to propose a design method of the bilateral controller using velocity control driver to achieve haptic feedback. The velocity control driver such as an inverter is widely used in the industrial fields. In the proposed method, a reaction force observer modified for velocity control driver is used to estimate environmental reaction force. The control system is constructed by applying the concept of hybrid control which controls velocity and force independently, and the concept of modal space which separates motions into functions is also applied. Furthermore, the proposed bilateral controller is designed based on the ideal conditions of operationality and reproducibility. The validity of the proposal is verified through a simulation and an experiment. The obtained results show that the proposed controller successfully achieves the teleoperation with haptic feedback using velocity control driver.

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Force Sensorless Haptic Probe Driven by Large Circular Linear Motor for Haptic Rendering

Matsunaga T., Shimono T., Asai H., Ohnishi K.

IECON Proceedings (Industrial Electronics Conference) (IECON Proceedings (Industrial Electronics Conference))  2019-October   657 - 662 2019.10

ISSN  9781728148786

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© 2019 IEEE. Utilization of haptic sensation for robots has advantages in various fields. Haptic rendering which is a technology to contact with virtual objects will be useful for virtual reality and simulation devices in medical and industrial fields. To realize these applications, technologies to extract environmental information and reconstruct virtual environments have been studied. In this paper, a force sensorless probe to obtain environmental information for a haptic rendering system is presented. Environmental information such as shape and stiffness is automatically recorded by the haptic probe driven by linear motors. By utilizing a large circular linear motor which has circular motion, haptic information of environments which have a two dimensional shape can be extracted by the device with simple structure. In experiments, the haptic probe contacts with an environment which has two kinds of stiffness. The recored environmental information is processed and rendered to an operator by a XY table composed of two linear motors. Experimental results show that the system can capture environmental information and it can be used for haptic rendering.

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Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain

Shimmyo S., Saito Y., Nozaki T., Ohnishi K.

IECON Proceedings (Industrial Electronics Conference) (IECON Proceedings (Industrial Electronics Conference))  2019-October   3597 - 3602 2019.10

ISSN  9781728148786

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© 2019 IEEE. Bilateral control is getting much attention as a key technology in teleoperation. A reproducibility is one of the performance indices of bilateral teleoperation, and four-channel acceleration-based bilateral control (4ch ABC) which has a high reproducibility with wide bandwidth enables operators to feel environmental impedance, clearly. Both position control and force control are required for the 4ch ABC, and a PD controller and a P controller are often utilized with a disturbance observer (DOB) and a reaction force observer (RFOB). This paper discusses how operators can feel environmental impedance with wide bandwidth in the 4ch ABC. A damping ratio of a PD controller has been, conventionally, set about 1 by imitating a traditional design principle of servo control. This paper theoretically reveals that a velocity feedback gain of a PD controller affects a bandwidth of reproducibility as a synergy with observer gains of a DOB, and a PD controller using a high velocity feedback gain is introduced. The validity of the theoretical analysis is confirmed by simulations and experimental results.

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Communication delay compensation for precise force matching in teleoperation

Tojo N., Tashiro T., Yokoyama M., Shimono T., Oboe R., Mizoguchi T., Ohnishi K.

IEEE International Conference on Industrial Informatics (INDIN) (IEEE International Conference on Industrial Informatics (INDIN))  2019-July   553 - 556 2019.07

ISSN  9781728129273

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© 2019 IEEE. Teleoperation technology is widely employed in the fields of industry and human support. Bilateral control, which is one of the possible methods to achieve teleoperation, enables mutual transmission of operational force of an operator and reaction force from remote environment. However, teleoperation often involves non negligible communication delays, due to the limits of the communication networks. As a countermeasure against communication delays, bilateral control using a force-control-based communication delay compensation has been proposed. This approach is effective in stabilizing system behavior and in maintaining the force states, so that operator's operational force and reaction force from environment can act in pairs and opposite direction, even during contact tasks. In this paper, we introduce a bilateral control that makes use of a force-control-based communication delay compensation, with a new control structure in which structural redundancy of conventional system is removed. The proposed bilateral control system demonstrates through experiments a stable teleoperation and an accurate force matching performance through experiments.

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Multi DoF Robotic Platform using Large Circular Linear Motors for Haptic Surgical Robots

Matsunaga T., Asai H., Shimono T., Ohnishi K.

IEEE International Symposium on Industrial Electronics (IEEE International Symposium on Industrial Electronics)  2019-June   1174 - 1179 2019.06

ISSN  9781728136660

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© 2019 IEEE. Reduction of burden on patients and surgeons is an issue in the medical field. Robotic surgery utilizing teleoperation robots is a method to realize minimally invasive surgery and support surgeons. Structure of surgical robots can be divided into robotic surgical tools and robotic platforms. Robotic platforms have multi degree of freedom (DoF) arms to mount robotic surgical tools and functions to change workspace of the end effector of robotic surgical tools by its large movable range. Therefore, large output to support robotic surgical tools, precise motion, and enough movable range are necessary for the robotic platforms. In this paper, a novel multi DoF robotic platform with two arms and a robotic surgical tool are presented. The robotic platform consists of large circular linear motors which can generate large output force and realize remote center of motion. As the robotic surgical tool, a master-slave three DoF forceps robot which has ability to transmit haptic sensation to operators is developed. In an experiment, the robotic platform with the slave of the three DoF forceps robot is teleoperated to validate the performance of the robots.

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Design and Analysis of Core-less Multi-layered Axial Motor

Soneda C., Asai H., Hatta Y., Shimono T., Ohnishi K.

IEEE International Symposium on Industrial Electronics (IEEE International Symposium on Industrial Electronics)  2019-June   267 - 272 2019.06

ISSN  9781728136660

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© 2019 IEEE. This paper proposes a new multi-layered axial motor. It is designed as a core-less motor. A core-less motor does not generate cogging torque but generates less torque than a motor including core. In the proposed motor, the multi-layered structure is applied in order to improve torque. Multi permanent magnet layers and multi coil layers are arranged alternatively in the axial direction. Because flux density reaching coil layers is improved by the multi-layered structure, torque is improved. By 3D finite element method analysis, the relationship between torque and the ratio of permanent magnet to coil is analyzed. The relationship between torque and the number of layers is analyzed. Moreover the relationship of the outside diameter between the permanent magnet layer and the coil layer is analyzed. Based on the analysis, the experimental model of the multi-layered axial motor is designed.

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Variable Slave Force Gain for Oblique Coordinate Control under the Presence of Time-Delay

Okano T., Ohnishi K., Murakami T.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     249 - 254 2019.05

ISSN  9781538669594

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© 2019 IEEE. Teleoperation gets a significant attention from the society, and 4ch bilateral control is known as a method to realize the haptics transmission. Its controller is able to achieve the rich haptics transmission, but the performance is degraded under the presence of time-delay due to the interference between the position and force controllers. In particular, its interference becomes larger when position and force scaling are set more than 1 and the mass difference between the master and slave is large. 3ch architecture has proposed to tackle with the performance deterioration when the position and force scaling are set more than 1, but no researches have conducted for considering both the scaling and mass difference. This paper considers the situation that the scaling are set and the mass difference is existed in addition to the time-delay. Oblique coordinate control is utilized, and the superiority of 4ch and 3ch architectures are discussed. The proposal takes the superiority of these two architectures, and its effectiveness was verified through simulations and experiments.

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Experimental Study on Bilateral Control System under Different Wireless Communication Methods

Mizoguchi T., Kokubun G., Yamaguchi N., Shimono T., Ohnishi K.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     31 - 36 2019.05

ISSN  9781538669594

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© 2019 IEEE. This paper examines relationship between haptic sense transmission versus wireless network communication. Network communication is a big issue in haptics research area. It is well studied that time-delay, jitter, and packet-loss deteriorates the performance of haptic sense transmission. Transparency is well known evaluation criteria to examine the performance of haptic transmission. The uniqueness of this paper is that the evaluation is examined in real wireless communication environment. The throughput in the system depends on several different disturbances in wireless communication. The paper examines the performance of haptic system from the aspects of transparency. Series of experimental results supports the paper.

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Grasping Point Estimation Based on Stored Motion and Depth Data in Motion Reproduction System

Sun X., Nozaki T., Murakami T., Ohnishi K.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     471 - 476 2019.05

ISSN  9781538669594

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© 2019 IEEE. Most countries are running shortage of working force due to the aging population and reduction in the birthrate. Robot manipulators are expected to replace human work. However, it it still difficult for manipulators to do simple tasks such as fruit harvesting, foods cooking or toy assembling. A problem for robotic automation arise in the difficulty in teaching how much force manipulators should use for a task execution. Motion reproduction system, which uses bilateral control to store motion data, is one of a method to teach manipulators motion including position and force. The problem concerning motion reproduction system is that the motion reproducing fails if environment is changed between motion saving phase and motion reproducing phase. Motion reproduction system which can understand and adapt to environment is required. Vision sensor can sense environment. Computer vision is mainly focus on how to classify objects. Vision information is seldom combined with motion control especially force motion. Therefore, I propose a motion reproduction system in which reproduced motion is decided based on several motions and collected depth data. Convolutional Neural Network(CNN) was used to estimate a motion command from a depth image. Saved force data was used to generate labels for training. The label decision is different from conventional Machine learning alzorithm.

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Symmetric Operational Force Compensator for Bilateral Teleoperation under Time Delay Based on Power Flow Direction

Shimmyo S., Saito Y., Nozaki T., Ohnishi K.

Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019 (Proceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019)     700 - 705 2019.05

ISSN  9781538669594

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© 2019 IEEE. This paper proposes an operational force reduction method for four-channel bilateral teleoperation under time delay. The four-channel bilateral control is an attractive way to realize a remote control with haptic sensation. In general, the haptic sensation deteriorates under the time delay in the four-channel bilateral teleoperation, e.g., operationality of the teleoperation, stability of the system, and other performances. To improve the operationality in free motion, a communication disturbance observer and a three-channel bilateral control have been proposed. Although the operational force in the free motion is reduced by these methods, the system becomes asymmetric. This means that the performance of the remote control from the slave side deteriorates in these methods. To overcome this problem, a novel symmetric compensator by using variable compliance control is proposed. A feedback gain is varied based on a power flow direction. The validity of the proposed method is confirmed by experimental results.

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Mathematical modeling of semicircular linear motor based on vector potential with landen's transformation

Asai H., Shimono T., Fujimoto Y., Mizoguchi T., Ohnishi K.

IEEE Transactions on Industry Applications (IEEE Transactions on Industry Applications)  55 ( 1 ) 437 - 447 2019.01

ISSN  00939994

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© 1972-2012 IEEE. A semicircular linear motor that realizes a motion along circumference of the circle has been developed. To settle the optimal design of this motor by mathematical analysis, the theoretical equation of motor performance has to be clarified. In this paper, the mathematical modeling of semicircular linear motor is carried out from the viewpoint of Lorentz force and magnetic flux density derived by vector potential. By comparing calculated, analyzed, and measured magnetic flux density and thrust force, the validity of derived mathematical model is confirmed. In addition, the cause of difference among three results is also discussed.

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Control Structure Determination of Bilateral System based on Reproducibility and Operationality

Tanida K., Okano T., Murakami T., Ohnishi K.

IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  8 ( 5 ) 767 - 777 2019

ISSN  21871094

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© 2019 The Institute of Electrical Engineers of Japan. The 4ch bilateral control is a teleoperation method that transmits the position and force information between the master and slave, and the reproducibility and operationality are often used to evaluate it. Conventionally, the reproducibility and operationality have been utilized only for performance evaluation, although many controllers based on the 4ch bilateral control scheme have been proposed. Therefore, the aim of this paper is to determine the controller structure based on the target reproducibility and operationality in advance. The contribution of this paper is to develop an appropriate controller from the reproducibility and operationality through numerical computations and analyses. The structure of the proposed controller is verified through simulations and experiments.

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Simultaneous bipedal locomotion based on haptics for teleoperation

Prasanga D., Tanida K., Ohnishi K., Murakami T.

Advanced Robotics (Advanced Robotics)  33 ( 15-16 ) 824 - 839 2019

ISSN  01691864

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© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. This paper proposes a novel, simultaneous bipedal locomotion method using haptics for remote operation of biped robots. In general, traditional biped walking methods require very high computational power and advanced controllers to perform the required task. However, in this proposed method, a master exoskeleton attached to the human’s lower body is used to obtain the trajectory and haptic information to generate the trajectory of the slave biped robot in real time. Lateral motion of the center of mass of the biped is constrained in this experiment. Also, it is considered that no communication delay is presented in between the two systems in this experiment, and they are not discussed in this paper. Since a direct motion transmission is used in the proposed method, this method is quite straight forward and a simultaneous walking can be realized at the same time with high performance. Also, it does not require an exact dynamic model of the biped or specific method to plan the trajectory. The gait pattern of the biped is directly determined by that of the human. Also, the operator can feel the remote environment through the exoskeleton robot. Results obtained from the experiments validate the proposed method.

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Development of small-diameter haptic flexible gripping forceps robot

Matsunaga T., Ohnishi K., Wada N., Kitagawa Y.

IEEJ Transactions on Industry Applications (IEEJ Transactions on Industry Applications)  139 ( 12 ) 966 - 972 2019

ISSN  09136339

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© 2019 The Institute of Electrical Engineers of Japan. Robotic technologies are being increasingly utilized for medical treatments to support surgeons and reduce the burden to patients. Flexible endoscopic surgical systems with an endoscope and flexible forceps robots are state-of-the-art devices that are expected to realize more difficult and less invasive surgery. Surgeons teleoperate these flexible forceps robots as their own hands and conduct various medical tasks. The wire-driven mechanism is applied to many flexible forceps robots to transmit the driving force to the tip of the robots in a narrow space. However, the flexible structure makes it difficult to control the wire-driven robots and implement the haptic technologies to realize safer surgery. In this paper, a force sensor-less, small-diameter flexible forceps robot with the ability to transmit haptic sensation is presented. The driving part at the tip of the flexible part, composed of a small actuator with a reduction mechanism, realizes the miniaturization of the robot. Haptic information is estimated by low resolution position information. The bending of the flexible part with electric wires does not deteriorate the performance of the end effector. The performance of the haptic flexible forceps robot is evaluated through experiments.

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Fiber suspended micro force transmission system using scaling bilateral control

Hangai S., Nozaki T., Ohnishi K.

Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society)     4575 - 4580 2018.12

ISSN  9781509066841

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© 2018 IEEE. In this paper, friction-reduced scaling bilateral control system for micro force transmission is proposed. Recently, demand for micro manipulation is drastically increasing in the fields of medical or biological science. In order to support micro manipulation, many researchers are trying to apply force feedback to the manipulation. One of the methods is bilateral control with Reaction Force Observer(RFOB). Bilateral control system is composed of a master robot and slave robot. Slave robot tracks master robot's motion and transmits reaction force to operator at master side. In the conventional bilateral control system, if reaction force is smaller than frictional force of machine structure, operator cannot distinguish the slight reaction force at hand. In this paper, actuator is supported by fiber to reduce the frictional force. Furthermore, disturbance arisen by fiber tension is modeled, and compensated. Experiments are conducted to validate the proposal.

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Development of flexible haptic forceps based on the electrohydraulic transmission system

Ogawa K., Ibrahim M., Ohnishi K.

IEEE Transactions on Industrial Informatics (IEEE Transactions on Industrial Informatics)  14 ( 12 ) 5256 - 5267 2018.12

ISSN  15513203

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© 2018 IEEE. Minimally invasive surgery (MIS) has many benefits, e.g., unnecessary trauma and blood loss can be minimized by opening tiny surgery scars, recovery process of patients can be lessened, and the possibilities of complications can be decreased. The natural orifice transluminal surgery (NOTES) is one of the MIS surgical methodologies. NOTES surgery is performed using an endoscope. This methodology does not rely on making holes to patients' body to insert the medical instruments. Although some medical robots for NOTES have been proposed, current robots mainly suffer from the absence/limitation of haptic feedback to the surgeon's hands. In order to overcome this problem, this paper proposes electro hydraulic transmission system (EHTS) based forceps. The EHTS is a remote actuation system using fluid energy. By using the EHTS, the classical position and force transmission losses will not be influenced by the tube's shape. The validity of the proposal and its advantages have been experimentally verified and presented in this paper.

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An estimation method of end-point impedance based on bilateral control system

Okano T., Ohnishi K., Murakami T.

Advanced Robotics (Advanced Robotics)  32 ( 21 ) 1151 - 1167 2018.11

ISSN  01691864

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© 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan. This paper aims at developing an estimation method of end-point impedance. Human operators are constantly changing their end-point impedance for adapting to the surrounded environment and executing some complicated tasks, and it is highly meaningful to investigate these variations for the further understanding of human motion. Most of the conventional researches, however, have considered non-contact-point impedance or tasks that is only holding the vibrated sticks due to the experimental constraints. This paper proposes the estimation method of end-point impedance by using bilateral control system. The extra signal is added to the force controller for the impedance estimation. In addition, the effect of the bilateral controller is estimated and removed from the impedance estimation process for securing the applicability of moving tasks. The proposed method was validated through simulations and an experiment. The experimental result showed that the end-point stiffness can be estimated properly even if the operator robot was moving and changed its end-point impedance.

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Design and Evaluation of a Remote Actuated Finger Exoskeleton Using Motion-Copying System for Tendon Rehabilitation

Lemerle S., Nozaki T., Ohnishi K.

IEEE Transactions on Industrial Informatics (IEEE Transactions on Industrial Informatics)  14 ( 11 ) 5167 - 5177 2018.11

ISSN  15513203

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© 2017 IEEE. Hand recovery process is a major issue in the rehabilitation field as hands are vital to perform most daily activities. This paper presents the design and evaluation of a one actuated degree-of-freedom exoskeleton finger using flexible actuator to assist patients in rehabilitation process and more specifically in tendon recovery protocols. The control strategy based on the motion-copying system is used to be able to take advantages of the sensation of the patient. The wearability and adaptability of the device are improved, compared to other specific devices, mainly by the use of remote actuation and light-weight materials. Evaluation of the device in terms of wearability, adaptability, repeatability and accuracy of the position estimation are conducted. All these criteria are confirmed. The next step is to test the device in actual recovery protocols to evaluate its efficiency.

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A Stability Analysis for the Acceleration-Based Robust Position Control of Robot Manipulators via Disturbance Observer

Sariyildiz E., Sekiguchi H., Nozaki T., Ugurlu B., Ohnishi K.

IEEE/ASME Transactions on Mechatronics (IEEE/ASME Transactions on Mechatronics)  23 ( 5 ) 2369 - 2378 2018.10

ISSN  10834435

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© 1996-2012 IEEE. This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the design of a DOb, then the position error asymptotically goes to zero in regulation control and is uniformly ultimately bounded in trajectory-tracking control. As the bandwidth of a DOb and the nominal inertia matrix are increased, the bound of error shrinks, i.e., the robust stability and performance of the position control system are improved. However, neither the bandwidth of the DOb nor the nominal inertia matrix can be freely increased due to practical design constraints, e.g., the robust position controller becomes more noise-sensitive when they are increased. The proposed stability analysis provides insights into the dynamic behavior of DOb-based robust motion control systems. It is theoretically and experimentally proved that nondiagonal elements of the nominal inertia matrix are useful in improving the stability and in adjusting the tradeoff between robustness and noise sensitivity. The validity of the proposal is verified by simulation and experimental results.

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Comparative study of soft motion for motion copying system with environmental variations

Okano T., Oboe R., Ohnishi K., Murakami T.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM)  2018-July   646 - 651 2018.08

ISSN  9781538618547

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© 2018 IEEE. Technologies for the skill succession and machine automation are strongly demanded in some developed countries under the circumstance of declining working population due to the lower birth rate and the aged society. Motion copying system (MCS) is one of the methods for the skill succession and machine automation. MCS is able to play back the saved motion in the case that the environmental conditions between the saving and the loading phases are the same. Conventionally, the pure position controller, the pure force controller, or Hybrid Position and Force Control (HPFC) is applied to MCS. The reproduction performance is, however, degraded when the environmental variations happen. In such case, impedance control is applicable to MCS instead of HPFC. The purpose of this paper is to conduct the comparative study of some control strategies: position control, force control, HPFC, the Position-Based Impedance Control (PBIC), and the Force-Based Impedance Control (FBIC), and clarify which control strategy is appropriate for the tasks. Simulations were conducted for supporting the argument.

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Improvement of supporting robot for lower limb and evaluation of output force in vertical direction

Inamura N., Shimono T., Mizoguchi T., Nozaki T., Ishii S., Ohnishi K.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM)  2018-July   1240 - 1245 2018.08

ISSN  9781538618547

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© 2018 IEEE. There are many falling accidents of elderly people. The main reason of these accidents is that their muscle of lower limb weaken with aging. The purpose of this research is to provide them an assisting robot that can support their weight. As the robot consists of belt and rotational motor, adjusting to subject and subject's posture is easy. Thanks to the structure, hip and knee joints' extensor torques are generated by the belt pulling up when the motor rotates. We also created an evaluation apparatus that simulates human lower limb with pulleys and links to conduct an experiment. In this paper, we consider when to assist during stance phase of walking, and the experiment was conducted in order to confirm whether the apparatus follows the motion equations. Experimental results show that there are some error between calculated force and measured force. This error may be resulted from friction between belt and pulleys.

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Identification method of environmental stiffness using haptic forceps for brain surgery

Aoki M., Shimon T., Matsunaga T., Mizoguchi T., Shibao S., Sasaki H., Ohnishi K.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM)  2018-July   207 - 212 2018.08

ISSN  9781538618547

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© 2018 IEEE. In surgical field, a technique of haptic transmission solves various problems such as limitation of visual field in minimally invasive surgery (MIS), operation mistakes, and so on. Generally, haptic transmission is used in large-scale robots whose end-effector is located in the remote side from the operator. In order to naturally utilize the technique of haptic transmission, it should be implemented in the tools which are frequently used by surgeons. This paper proposes a master-slave integrated haptic forceps like a pincet. The identification method of the environmental stiffness that the developed forceps contacts is proposed in order to consider the safety of operation. Assuming neurosurgery, the experiments using imitation models of brain tissue verified that the slight difference of the stiffness between a healthy tissue and a tumor can be recognized. Experimental results showed that the proposed forceps can be operated properly and the environmental stiffness is measured accurately. It also showed that by the scaling method of the bilateral control system, the identifications of the environmental stiffness became clearer.

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Compensation Method for Environmental Variations of Motion Reproduction System Based on the Different Control Impedance

Okano T., Ohnishi K., Murakami T.

IEEE International Symposium on Industrial Electronics (IEEE International Symposium on Industrial Electronics)  2018-June   1045 - 1050 2018.08

ISSN  9781538637050

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© 2018 IEEE. Some developed countries will encounter the shortage of working population, and machine automation is considered as one of the promising methods to overcome its issue. This paper considers Motion Reproduction System (MRS) as a method of the machine automation. MRS can be easily repeated the executed motion; however, this system is sensitive to environmental variations. One of simple countermeasures is introducing compensation values that are designed based on the environmental variations, but these values contain errors and degrade the motion reproduction. This paper proposes the modification of control impedance on the basis of the type of environmental variations, and the trustworthy information is much more weighted. The effectiveness of the proposal is verified through simulation and experiments.

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Evaluation of Gait Phase Detection Methods for Walking Assist Robot

Tawaki Y., Okano T., Murakami T., Ohnishi K.

IEEE International Symposium on Industrial Electronics (IEEE International Symposium on Industrial Electronics)  2018-June   1051 - 1056 2018.08

ISSN  9781538637050

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© 2018 IEEE. Lower paralysis interrupts the mobility and depresses quality of life. Some incomplete paraplegia have an ability to walk in rehabilitation. However, incomplete paraplegia consumes larger energy for the gait motion than able-bodied people. Therefore, it is difficult for them to walk a long time. To solve this problem, many walking assist exoskeletons have been developed. In the case of walking assist, assist timing is one of the essential factors. The mismatch of assist timing interferes user's motion, thus it is required to adjust the assist timing. To control the assist timing, gait phase detection methods are used. Gait motion is divided into several phases. Many researchers introduce the gait phase detection method to control the assist timing. However, there is a mismatch between assist torque and ideal torque which is required by the user. There are no researches to evaluate the gait phase detection methods based on the analysis of the transition of assist torque required by the user. The purposes of this research are to propose the novel FSBM and evaluate the gait phase detection methods. In the experiment, a subject walks on the treadmill with wearing knee exoskeleton. The motor of the exoskeleton is controlled by the bilateral controller. Therefore, the assist torque can be adjusted to be suited to the user by manipulating master side motor. After the experiment, the assist torque and detected gait phases of proposed FSBM are compared to the conventional methods.

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Time delay compensation for force controller in bilateral teleoperation system under time delay

Tashiro T., Shimono T., Mizoguchi T., Ohnishi K.

Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018 (Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control, AMC 2018)     649 - 654 2018.06

ISSN  9781538619469

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© 2018 IEEE. Time delay compensation is very important in the teleoperation field because time delay deteriorates the system performance and stability. Therefore, a lot of research about time delay compensation have been proposed and developed. One of the effective methods, communication disturbance observer (CDOB) has realized the time delay compensation for the position tracking in bilateral teleoperation. Thanks to CDOB, the smooth operation has been achieved. However, the precise force matching has not been achieved yet by any methods. To solve this problem, the time delay compensation method for the force control system has been proposed. This method realizes the precise contact force control under time delay. Therefore, the time delay compensation method is extended to bilateral teleoperation in this paper. In other words, the time delay compensation for the force controller in the bilateral teleoperation system is proposed toward the precise force matching. The validity is confirmed by the experiments.

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Artificial Replacement of Human Sensation Using Haptic Transplant Technology

Fukushima S., Sekiguchi H., Saito Y., Iida W., Nozaki T., Ohnishi K.

IEEE Transactions on Industrial Electronics (IEEE Transactions on Industrial Electronics)  65 ( 5 ) 3985 - 3994 2018.05

ISSN  02780046

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© 2018 IEEE. This study proposes a novel prosthetic hand that can artificially replace human sensation using haptic transplant technology. Conventional motorized prostheses are unable to precisely control the grasping force of the hand due to the lack of force sensation. In this paper, a haptic prosthetic hand is developed that allows for intuitive operation and precise force adjustment. These functions are realized by artificially transplanting the tactile sensation of a healthy part of the user's body to the amputated part of their body. The haptic transplant technology transmits the force sensation of the prosthesis to the master interface attached to the amputee's healthy part of body using bilateral control without a force sensor. Furthermore, variable compliance control is proposed for flexible adaptation to the shape of the object being grasped. The effectiveness of the proposed system was experimentally verified by comparing the controllability of the proposed system with that of a myoelectric prosthesis. In summary, an artificial replacement for human sensation was developed, and the intuitive operability and flexibility of the proposed system were confirmed.

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Disturbance observer and kalman filter based motion control realization

Phuong T., Ohishi K., Mitsantisuk C., Yokokura Y., Ohnishi K., Oboe R., Sabanovic A.

IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  7 ( 1 ) 1 - 14 2018

ISSN  21871094

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© 2018 The Institute of Electrical Engineers of Japan. Many effective robot-manipulator control schemes using a disturbance observer have been reported in the literature in the past decades. Besides, the disturbance observer combined with the Kalman filter has attracted the attention of researchers in the field of motion control. The major advantage of a motion control system based on the Kalman filter and disturbance observer is the realization of high robustness against disturbance and parameter variations, effective noise suppression and wideband force sensing. This paper presents a survey of motion control based on the Kalman filter and disturbance observer, which have been previously introduced by the authors. Several control schemes, as well as formulations and applications of the Kalman filter and disturbance observer, are described in the paper. The performance and effectiveness of the control schemes are evaluated to give a useful and comprehensive design of the Kalman filter and disturbance observer in various motion control applications.

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Active motion evaluation by mechanical power factor analysis based on specific frequency component

Osada S., Shimono T., Mizoguchi T., Ohnishi K.

IEEJ Journal of Industry Applications (IEEJ Journal of Industry Applications)  7 ( 3 ) 244 - 249 2018

ISSN  21871094

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© 2018 The Institute of Electrical Engineers of Japan. This paper proposes a new approach of mechanical power factor analysis for evaluating human active motion. The mechanical power factor is affected by the motion trajectory of an evaluation object. Therefore, in active motion, unified evaluation is difficult using the conventional analysis method. In this study, the power factor evaluation of active motion is realized by applying the perturbation from the evaluation system and using its frequency component for power factor calculation.

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Frequency-Based Analysis of the Relationship between Cutting Force and CT Number for Inplant-Surgery-Teaching Robot

OHNISHI KOUHEI

IEEJ Journal of industry Applications(accepted for publication) (IEEE)   2017.12

Research paper (scientific journal), Joint Work

軟性内視鏡ロボットに搭載可能な小型ハプティック鉗子ロボットの開発

OHNISHI KOUHEI

日本コンピュータ外科学会論文誌(accepted for publication) (日本コンピュータ外科学会)   2016.12

Joint Work

A Bilateral Control System to Synchronize with Haptic and Visual Sense for Teleoperation over Network

OHNISHI KOUHEI

IEEJ Journal of industry Application 5 ( 5 ) 370 - 377 2016.09

Joint Work

An Allocation Method of High Pass Filter for Bilateral Teleoperation System Over Network Considering Stability and Performance

OHNISHI KOUHEI

IEEJ Journal of industry Applications (IEEJ)  5 ( 3 ) 199 - 205 2016.05

Research paper (scientific journal)

Vompensation of Backlash for Geared Drive Systems and Thrust Wires Used in Teleoperation

OHNISHI KOUHEI

IEEJ Journal of Industry Applications (IEEJ)  4 ( 5 ) 514 - 525 2015.09

A Two Flow Expression Method of Four-Channel Bilateral Control System with Time Delay and Validation of Model-Free Time Delay Compensator

OHNISHI KOUHEI

IEEJ Journal of Industry Applications 4 ( 5 ) 574 - 581 2015.09

Joint Work

A Structural Approsch to Improve the Stabilith of Bilateral Control System wiht Time Delay

OHNISHI KOUHEI

IEEJ Journal of Industry Applications (IEEJ)  4 ( 5 ) 526 - 534 2015.09

力センサレス臓器触診デバイスによる生態の硬さ測定法

OHNISHI KOUHEI

日本コンピュータ外科学会論文誌 (日本コンピュータ外科学会)  17 ( 2 ) 91 - 100 2015.08

Joint Work

官能評価に基づく機能モードごとの通信遅延補償設計法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  135 ( 7 ) 755 - 764 2015.07

Joint Work

力触覚通信ー超成熟社会発展を後押しする新しい通信

OHNISHI KOUHEI

電子情報通信学会誌 (電子情報学会)  98 ( 5 ) 361 - 368 2015.05

Joint Work

An Adaptive Reaction Force Observer Design

OHNISHI KOUHEI

IEEE Transaction on Mechatronics (IEEE)  20   750 - 760 2015

Joint Work

Electro-Hydraulic Transmission System for Minimally invasive Robotics

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics (IEEE)   2015

Joint Work

Heartbeat Synchronization with Haptic Feedback for Tele-surgical Robot

OHNISHI KOUHEI

IEEE Transaction on industrial Electronics (IEEE)  61 ( 7 ) 3753 - 3764 2014.07

Joint Work

A Guide to design Disturbance Observer

OHNISHI KOUHEI

ASME Journal of Dynamic System, Measurement and Control 136 ( 2 ) 1 - 10 2014.03

Joint Work

Decoupling Strategy for Position and Force Control Based on Model Space Disturbance Observer

OHNISHI KOUHEI

IEEE Transaction on Industrial Elecronics (IEEE)  61 ( 2 ) 1022 - 1032 2014.03

Joint Work

多自由度異構造バイラテラル制御系の通信遅延補償法

OHNISHI KOUHEI

電気学会論文誌産業部門誌 (電気学会)  134 ( 3 ) 317 - 324 2014.03

Joint Work

Stiffness Transmission of Scaling Bilateral Control System by Gyrator Element Integration

OHNISHI KOUHEI

IEEE transaction on Industrial Electronics 61 ( 2 ) 1033 - 1043 2014.02

Joint Work

Motion-copying system with variable-impedance based on scaled bilateral control in one degree of freedom robot

OHNISHI KOUHEI

IEEJ Journal of Industry Application (IEEJ)  3 ( 1 ) 1 - 9 2014.01

Joint Work

On the Explicit Robust Force Control via Disturbance Observer

OHNISHI KOUHEI

IEEE transaction on industrial Electronics (IEEE)   2014

Joint Work

Stability and Robustness of Disturbance Observer based Motion Control Systems

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics (IEEE)   2014

Joint Work

An Adaptive Reaction Torque Observer Design

OHNISHI KOUHEI

IEEE transaction on Mechatronics (IEEE)   2014

Joint Work

motion Expression by Elemental Separation of Haptic information

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics (IEEE)   2014

Joint Work

Recognition of Grasping Motion Based on Model Space Haptic Information Using DP Pattern-Matching Algotithm

OHNISHI KOUHEI

IEEE Transaction on Industrial Imfomatics (IEEE)  9 ( 4 ) 2043 - 2051 2013.11

Joint Work

Analysis the Rubustness of Control Systems Based on Disturbance Observer

OHNISHI KOUHEI

International Journal of Control 86 ( 8 ) 1733 - 1743 2013.10

Joint Work

Recognition of Human combined motion from haptic information using similarly structured master and slave robot hands

OHNISHI KOUHEI

Electronics and Communications in Japan 96 ( 12 ) 15 - 23 2013.09

Joint Work

An object-coordinate-based bilateral control system using visual information

OHNISHI KOUHEI

Electronics and Communication in Japan 96 ( 8 ) 41 - 49 2013.08

Joint Work

Bandwidth Constraints of Disturbance Observer in Presence of Real Parametric Uncertainties

OHNISHI KOUHEI

European Journal of Control 19 ( 3 ) 199 - 205 2013.05

Joint Work

腱駆動型球体関節による力覚伝達

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  133 ( 3 ) 307 - 313 2013.03

Joint Work

ロボット切削システムのための骨密度分類法

OHNISHI KOUHEI

電気学会論文誌産業応用部門氏 133 ( 3 ) 328 - 334 2013.03

Joint Work

バイラテラル遠隔操作における伝達データ適正化手法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  133 ( 3 ) 314 - 319 2013.03

Joint Work

Frequency-Domain Damping Design for Time-Delayed Bilateral Teleoperation System Besed on Model Space Analysis

OHNISHI KOUHEI・ATSUSHI SUZUKI

IEEE Transaction on Industrial Electronics (IEEE)  60   177 - 190 2013.01

Joint Work

低周波モデル誤差フィードバックによる通信外乱オブザーバーを用いたむだ時間制御系の定常精度改善手法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)   2013

Joint Work

Biped Walking Pattern generation by Using Preview Control Based on Three-Mass Model

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics (IEEE)   2013

Joint Work

A Novel Motion Equation for General Task description and Analysis of Mobil-Hapto

OHNISHI KOUHEI

IEEE Transaction on Industrial electronics (IEEE)   2013

Joint Work

Force-Based Disturbancce Obserber For Dynamic Force control and aPosition/Force hybrid Controller

OHNISHI KOUHEI

IEEE Transaction on industrial electronics  2013

Joint Work

通信遅延下におけるバイラテラル遠隔操作の再現性と操作性

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)   2013

Joint Work

New Nonlinear Tracking Differential-estimators:Theory and Practice

OHNISHI KOUHEI

Internatinal Journal of Innovative Computing Information and Control 8/10   0 - 10 2012.10

Joint Work

マスタ・スレープ同機構型ロボットハンド用いた触角情報に基づく人間の複合動作認識

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  132 ( 9 ) 858 - 864 2012.09

Joint Work

Telerobotic-assisted Bone-drilling System Using Bilateral Control with Feed Operation Scaling and Cutting Force Scaling

OHNISHI KOUHEI

The International Journal of Medical Robotics and Computer Assisted Surgery 8 ( 2 ) 221 - 229 2012.07

Joint Work

Wireless Haptic Communication under Varying Delay by switching-Channel Bilateral Control with Energy Monitor

OHNISHI KOUHEI

IEEE Transaction on Mechanics 17 ( 3 ) 488 - 498 2012.06

Joint Work

視覚情報を用いた物体座標系におけるバイラテラル制御

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  132/3   374 - 380 2012.03

Joint Work

レキシブルアクチュエータを用いた二関節筋機構を備えたリンクマニュピュレータの開発

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  132/3   397 - 403 2012.03

Joint Work

視覚情報を用いた物体座標系におけるバイラテラル制御

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  132 ( 3 ) 374 - 380 2012.03

Joint Work

レキシブルアクチュエータを用いた二関節筋機構を備えた2リンクマニピュレータの開発

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  132 ( 3 ) 397 - 403 2012.03

Joint Work

Haptic Transmission by Weighting Control Under Time- Varying Communication Delay

OHNISHI KOUHEI

IET Control Theory and Application 6/3   420 - 429 2012.02

Joint Work

Bilateral Control Method Based on Trasfomation Matrix Relating Motion Features and Tool Coordinates

OHNISHI KOUHEI

IEEJ Journal of Industry Applocations 2 ( 1 ) 67 - 73 2012.01

Joint Work

Bilateral Control Method based On Transaction Matrix Relating Motion Features and Tool Coordinates

OHNISHI KOUHEI

IEEJ Journal of Industry Application 2 ( 1 ) 1 - 6 2012.01

Joint Work

Abstraction of Action Components Unconstrained by Alignment of Haptic Sensing Points

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics (IEEE)  58 ( 8 ) 3196 - 3204 2011.08

Joint Work

Muti-DOF Micro Bilateral Controller Using Oblique Coodinate Control

OHNISHI KOUHEI

IEEE Transaction on Industrial Informatics (IEEE)  7/3 ( 3 ) 446 - 454 2011.08

Joint Work

Precise Position/Force Hybrid Control with Model Mass Decoupling and Bilateral Communication Between different Structure

OHNISHI KOUHEI

IEEE Transaction on Industrial Informatic (IEEE)  7 ( 2 ) 266 - 276 2011.05

Joint Work

Precise Position/Force Hybrid Control with Model Mass Decoupling and Bilateral Communication Between different Structure

OHNISHI KOUHEI

IEEE Transaction on Industrial Informatic (IEEE)  7 ( 2 ) 266 - 276 2011.05

Joint Work

Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots

OHNISHI KOUHEI

IEEE Transaction on Industral Electronics 58 ( 4 ) 1385 - 1396 2011.04

Joint Work

歩幅伸長のための爪先関節と踵関節を用いた2足歩行ロボットの膝伸展歩行法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  131 ( 3 ) 283-290 2011.03

Research paper (scientific journal), Joint Work, Accepted

通信外乱オブザーバを用いた通信遅延下におけるバイラテラル遠隔操作の適応的性能調整手法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  131 ( 3 ) 244-251 2011.03

Research paper (scientific journal), Joint Work, Accepted

腱駆動を用いたマスタ・スレーブ型多自由度ロボットハンドによる力覚伝達

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  131 ( 3 ) 297-303 2011.03

Research paper (scientific journal), Joint Work, Accepted

ジャイレータ作用による力で速度を操作するバイラテラル制御系の一構成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  131 ( 3 ) 304-310 2011.03

Research paper (scientific journal), Joint Work, Accepted

Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics 58 ( 2 ) 436-443 2011.02

Research paper (scientific journal), Joint Work, Accepted

Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimensional Biped Robots

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics 58 ( 2 ) 376-383 2011.02

Research paper (scientific journal), Joint Work, Accepted

触覚鉗子による手術基本動作における力覚の測定

OHNISHI KOUHEI

日本コンピュータ外科学会誌 12 ( 3 ) 388-389 2010.11

Research paper (scientific journal), Joint Work, Accepted

触覚を有する8自由度手術用両腕ロボットの開発

OHNISHI KOUHEI

日本コンピュータ外科学会誌 12 ( 3 ) 208-209 2010.11

Research paper (scientific journal), Joint Work

バイラテラル制御に基づくロボットドリル切削システムを用いた骨組織ドリル切削における切削力の伝送と再現

OHNISHI KOUHEI

日本コンピュータ外科学会誌 12 ( 3 ) 214-215 2010.11

Research paper (scientific journal), Joint Work, Accepted

バイラテラル遠隔操作の基本原理について

OHNISHI KOUHEI

日本コンピュータ外科学会誌 12 ( 3 ) 220-221 2010.11

Research paper (scientific journal), Joint Work, Accepted

拡張軌道エネルギーに基づくヒューマノイドロボットの押し動作を考慮した軌道生成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 9 ) 1094-1101 2010.09

Research paper (scientific journal), Single Work, Accepted

Stable and Transparent Time-Delayed Teleoperation by Direct Acceleration Waves,

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 57 ( 9 ) 3228-3238 2010.09

Research paper (scientific journal), Single Work, Accepted

動作アセンブリシステムによる触覚データベースのための動作情報量の削減法," 電気学会産業応用部門誌

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 9 ) 1043-1050 2010.09

Research paper (scientific journal), Single Work

2足歩行ロボットのための極零相殺によるZMP補償法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 9 ) 1067-1074 2010.09

Research paper (scientific journal), Joint Work, Accepted

触覚伝達率を実装したマルチラテラル制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 8 ) 875-883 2010.08

Research paper (scientific journal), Joint Work, Accepted

離散コサイン変換を用いた力覚情報の非可逆圧縮

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 8 ) 945-952 2010.08

Research paper (scientific journal), Joint Work

Delay-independent L2 Stability of Four-Channel Bilateral Teleoperators with Damping Injection,

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 8 ) 953-964 2010.08

Research paper (scientific journal), Single Work

Task Description and Control for Redundant System by Oblique Coordinate

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 8 ) 1015-1021 2010.08

Research paper (scientific journal), Joint Work

フレキシブルアクチュエータを用いたマスタ・スレーブ同機構型ロボットハンドによる力覚伝達

OHNISHI KOUHEI

精密工学会誌 76 ( 8 ) 938-944 2010.08

Research paper (scientific journal), Joint Work

Shadow Robot for Teaching Motion

OHNISHI KOUHEI

Robotics and Autonomous Systems 58 ( 7 ) 840-846 2010.07

Research paper (scientific journal), Joint Work

Motion Control Systems With Network Delay

OHNISHI KOUHEI

AUTOMATIKA 51 ( 2 ) 119-126 2010.06

Research paper (scientific journal), Joint Work, Accepted

Motion Control for Real-World Haptics,

OHNISHI KOUHEI

IEEE Industrial Electronics Magazine, 4 ( 2 ) 16-19 2010.06

Research paper (scientific journal), Joint Work

Newly developed haptic forceps enables sensitive, real-time measurements of organ elasticity,

OHNISHI KOUHEI

Minimally Invasive Therapy & Allied Technologies 19 ( 3 ) 16-19 2010.06

Research paper (scientific journal), Joint Work

GA最適化によるニューロコントローラを用いたクレーンシステムの吊に荷の振動制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 5 ) 889-894 2010.05

Research paper (scientific journal), Joint Work

２足歩行ロボットのための仮想平面法を用いた歩行安定化制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 5 ) 685-691 2010.05

Research paper (scientific journal), Single Work, Accepted

モード仕事率に基づく触覚動作認識の一手法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 4 ) 477-484 2010.04

Research paper (scientific journal), Single Work, Accepted

モード変換に基づいた2足歩行ロボットの未知段差における歩行制御

OHNISHI KOUHEI

IEEJ Trans. on Industry Applications (電気学会)  130 ( 4 ) 468-476 2010.04

Research paper (scientific journal), Joint Work, Accepted

Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay

OHNISHI KOUHEI

IEEE Transactions on Industrial 57 ( 3 ) 1050-1062 2010.03

Research paper (scientific journal), Joint Work, Accepted

ネットワークを介したサーボ制御のためのPI制御器を用いた端末間フロー制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 3 ) 268-276 2010.03

Research paper (scientific journal), Joint Work, Accepted

2足歩行ロボットの歩行安定化のためのZMP外乱オブザーバの一設計法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 3 ) 283-292 2010.03

Research paper (scientific journal), Joint Work, Accepted

斜交座標制御を用いた高度なハイブリッド制御の実現

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 3 ) 300-306 2010.03

Research paper (scientific journal), Joint Work, Accepted

通信遅延下におけるモード空間の性能解析に基づいた速度差減衰によるバイラテラル遠隔操作の安定性向上手法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  130 ( 2 ) 243-250 2010.02

Research paper (scientific journal), Joint Work, Accepted

Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

OHNISHI KOUHEI

IEEE Transaction on Industral Electronics IEEE Transaction on Industrial Electronics 58 ( 2 ) 436 - 443 2010.02

Joint Work

Real-Time Walking Trajectory Generation Method With Three-Mass Models at Constant Body Height for Three-Dimensional Biped Robots

OHNISHI KOUHEI

IEEE Transaction on industrial Electronics 58 ( 2 ) 376 - 383 2010.02

Joint Work

An Expression of System Connection Considering Transmission Delay

OHNISHI KOUHEI

Electrical Engineering in Japan 170 ( 1 ) 45-54 2010.01

Research paper (scientific journal), Joint Work, Accepted

Asymmetric Multilateral Teleoperation through Scaled Consensus Reaching on Graphs

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 10 ) 972-980 2009.10

Research paper (scientific journal), Joint Work, Accepted

A Walking Stabilization Method Based on Environmental Modes on Each Foot for Biped Robot

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 10 ) 3964-3974 2009.10

Research paper (scientific journal), Joint Work, Accepted

環境モードに基づく二足歩行ロボットの不整地適応法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 9 ) 881-889 2009.09

Research paper (scientific journal), Joint Work, Accepted

GA最適化による直接勾配降下制御器を用いた旋回クレーンの振れ止め制御

OHNISHI KOUHEI

システム制御情報学会論文誌 22 ( 8 ) 303-310 2009.08

Research paper (scientific journal), Joint Work, Accepted

Infinite-Mode Networks for Motion Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 8 ) 2933-2944 2009.08

Research paper (scientific journal), Joint Work, Accepted

一定通信遅延下におけるマルチラテラル制御系の操作性

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 8 ) 802-810 2009.08

Research paper (scientific journal), Joint Work, Accepted

近未来の新たな手術(特集 近未来の新たな手術--ロボット手術とNOTES)

OHNISHI KOUHEI

外科治療 101 ( 1 ) 1-5 2009.07

Research paper (scientific journal), Joint Work, Accepted

変動通信遅延を伴うL2安定なバイラテラル制御系

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 7 ) 674-681 2009.07

Research paper (scientific journal), Joint Work, Accepted

大きさの異なるマスタ・スレーブのバイラテラル制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 7 ) 682-690 2009.07

Research paper (scientific journal), Joint Work, Accepted

ZMPを規範とした2足歩行ロボットの胴体軌道生成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 7 ) 738-747 2009.07

Research paper (scientific journal), Joint Work, Accepted

フレキシブルアクチュエータを用いたバイラテラルシステムによる高精度力覚伝達

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 7 ) 748-755 2009.07

Research paper (scientific journal), Joint Work, Accepted

２足歩行ロボットの不整地における安定性指標

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  129 ( 6 ) 571 - 577 2009.07

Joint Work

操作対象の周辺環境を考慮したバイラテラル制御系の一構成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 6 ) 649-657 2009.06

Research paper (scientific journal), Joint Work, Accepted

接触環境情報に基づく自律的制御を用いたバイラテラル遠隔操作手法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 6 ) 548-554 2009.06

Research paper (scientific journal), Joint Work, Accepted

2足歩行ロボットの不整地における安定性指標

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 6 ) 571-577 2009.06

Research paper (scientific journal), Joint Work, Accepted

ネットワークを介したバイラテラル遠隔操作のための視触覚同期化手法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 6 ) 585-592 2009.06

Research paper (scientific journal), Joint Work, Accepted

バイラテラル制御による環境剛性の動的推定法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 6 ) 601-607 2009.06

Research paper (scientific journal), Joint Work, Accepted

運動量に基づいた力制御の安定性解析

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 6 ) 614-621 2009.06

Research paper (scientific journal), Joint Work, Accepted

Mechanical Recognition of Unknown Environmental Using Active/Passive Contact Notion

OHNISHI KOUHEI

IEEE Transaction on Industrial Electronics (IEEE)  56 ( 5 ) 1364 - 1374 2009.05

Single Work

A Method for Motion Abstraction Based on Haptic Information Directionally to Haptic Motion Display System

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 5 ) 1356 - 1363 2009.05

Joint Work

バイラテラル遠隔操作システムにおける異次数の通信外乱オブザーバによる通信遅延補償

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 4 ) 353-362 2009.04

Research paper (scientific journal), Joint Work, Accepted

バイラテラル遠隔操作システムにおける異次数の通信外乱オブザーバによる通信遅延補償

OHNISHI KOUHEI

電気学会論文誌産業ぷ用部門誌 (電気学会)  129 ( 4 ) 353 - 362 2009.04

制御ゲインスケーリングを考慮したミクロマクロバイラテラル制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 2 ) 150-157 2009.03

Research paper (scientific journal), Joint Work, Accepted

Mechanical Recognition of Unknown Environment Using Active/Passive Contact Motion

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 5 ) 1364-1374 2009.03

Research paper (scientific journal), Joint Work, Accepted

A Method for Motion Abstraction Based on Haptic Information Directionality and an Application to Haptic Motion Display System

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 5 ) 1356-1363 2009.03

Research paper (scientific journal), Joint Work, Accepted

作用力の方向性に基づいたハプティック動作の抽出および提示の一手法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 1 ) 59-66 2009.03

Research paper (scientific journal), Joint Work, Accepted

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 1 ) 54-61 2009.03

Research paper (scientific journal), Joint Work, Accepted

Flexible Controller Design of Bilateral Grasping Systems Based on a Multilateral Control Scheme

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 1 ) 62-68 2009.03

Research paper (scientific journal), Joint Work, Accepted

Verification of Flexible Actuator From Position and Force Transfer Characteristic and Its Application to Bilateral Teleoperation System

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 1 ) 36-42 2009.03

Research paper (scientific journal), Joint Work, Accepted

A Wide-Range Velocity Measurement Method for Motion Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 2 ) 510-519 2009.03

Research paper (scientific journal), Joint Work, Accepted

Haptic motion control for physical human support

OHNISHI KOUHEI

IEEJ Transactions on Electrical and Electronic Engineering (電気学会)  4 ( 2 ) 166-175 2009.03

Research paper (scientific journal), Joint Work, Accepted

Haptics for medical applications

OHNISHI KOUHEI

Journal of Artificial Life and Robotics 13 ( 2 ) 383-389 2009.03

Research paper (scientific journal), Joint Work, Accepted

Implementation of Bilateral Control System Based on Acceleration Control Using FPGA for Multi-DOF Haptic Endoscopic Surgery Robot

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 56 ( 3 ) 618-627 2009.03

Research paper (scientific journal), Joint Work, Accepted

バイラテラル遠隔操作における環境情報の帯域圧縮伝送方式

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  129 ( 3 ) 319-324 2009.03

Research paper (scientific journal), Joint Work, Accepted

バイラテラル制御による環境剛性の動的推定法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  129 ( 6 ) 601 - 607 2009.01

Joint Work

接触環境情報に基づく自律的制御を用いたバイラテラル遠隔操作手法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  129 ( 6 ) 548 - 554 2009.01

Joint Work

ネットワークを介したバイラテラル遠隔操作のための視聴覚周期化手法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  129 ( 6 ) 585 - 592 2009.01

Joint Work

2足歩行ロボットの不整地における安定性指標

OHNISHI KOUHEI

電気学会論文誌応用産業部門誌 (電気学会)  129 ( 6 ) 571 - 577 2009.01

Joint Work

操作対象の周辺環境を考慮したバイラテラル制御系の一構成法

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  129 ( 6 ) 649 - 657 2009.01

Single Work

運動量に基づいた制御の安定的解析

OHNISHI KOUHEI

電気学会論文誌産業応用部門誌 (電気学会)  129 ( 6 ) 614 - 621 2009.01

Joint Work

周波数特性に基づいた環境の抽出および再現の一構成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 11 ) 1254-1261 2008.03

Research paper (scientific journal), Joint Work, Accepted

A Design Method of Communication Disturbance Observer for Time-Delay Compensation, Taking the Dynamic Property of Network Disturbance Into Account

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 55 ( 5 ) 2152-2168 2008.03

Research paper (scientific journal), Joint Work, Accepted

2足歩行ロボットにおける片脚支持期の重心速度変動幅最小化のための目標ZMP軌道

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 5 ) 661-668 2008.03

Research paper (scientific journal), Joint Work, Accepted

想支点を用いた倒立振子モデルによる2足ロボットのZMP参照軌道生成

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 6 ) 687-693 2008.03

Research paper (scientific journal), Joint Work, Accepted

運動量を基にした動的力制御の一構成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 6 ) 694-700 2008.03

Research paper (scientific journal), Joint Work, Accepted

ヒューマノイドロボットの未知対象物に対する押し動作制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 6 ) 709-717 2008.03

Research paper (scientific journal), Joint Work, Accepted

通信外乱オブザーバを用いたむだ時間制御系のモデル誤差に対するロバスト性 ― 2重積分の制御対象とPD制御器を用いた構成例における検証 ―

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 6 ) 726-732 2008.03

Research paper (scientific journal), Joint Work, Accepted

規格化行列を用いた加速度制御に基づくミクロ／マクロバイラテラル制御による実世界力覚伝達

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 6 ) 726-732 2008.03

Research paper (scientific journal), Joint Work, Accepted

バイラテラル遠隔操作における操作性向上のための重力補償

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  128 ( 6 ) 767-774 2008.03

Research paper (scientific journal), Joint Work, Accepted

Improvement of Tactile Sensation of a Bilateral Forceps Robot by a Switching Virtual Model

OHNISHI KOUHEI

Transactions on Advanced Robotics 22 ( 8 ) 789-806 2008.03

Research paper (scientific journal), Joint Work, Accepted

Stability Analysis and Practical Design Procedure of Time Delayed Control Systems With Communication Disturbance Observer

OHNISHI KOUHEI

IEEE Transactions on Industrial Informatics 4 ( 3 ) 185-197 2008.03

Research paper (scientific journal), Joint Work, Accepted

An analysis of parameter variations of disturbance observer for motion control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 6 ) 3413-3421 2007.12

Research paper (scientific journal), Joint Work, Accepted

A controller design method based on functionality

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 6 ) 3335-3343 2007.12

Research paper (scientific journal), Joint Work, Accepted

Absolute stabilization of multimass resonant system by phase-lead compensator based on disturbance observer

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 6 ) 3389-3396 2007.12

Research paper (scientific journal), Joint Work, Accepted

力覚情報を選別する人間支援型ロボットの制御器設計法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 9 ) 1000-1008 2007.09

Research paper (scientific journal), Joint Work, Accepted

一足跳躍ロボットの離床軌道生成と制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 8 ) 884-889 2007.08

Research paper (scientific journal), Joint Work, Accepted

Improvement of Performances in Bilateral Teleoperation by Using FPGA

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 4 ) 1876-1884 2007.08

Research paper (scientific journal), Joint Work, Accepted

操作性を向上させるためのバイラテラル制御系の一考察

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 8 ) 851-857 2007.08

Research paper (scientific journal), Joint Work, Accepted

伝達遅延を考慮したシステム結合の一表現法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 6 ) 635-642 2007.06

Research paper (scientific journal), Joint Work, Accepted

Multirate Sampling Method for Acceleration Control System

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 3 ) 1462-1471 2007.06

Research paper (scientific journal), Joint Work, Accepted

Collision Avoidance Method of Humanoid Robot With Arm Force,

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 3 ) 1632-1641 2007.06

Research paper (scientific journal), Joint Work, Accepted

把持・操り理論に基づくバイラテラル制御系の一構成法

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 6 ) 563-570 2007.06

Research paper (scientific journal), Joint Work, Accepted

Real-Time Gait Planning for Pushing Motion of Humanoid Robot

OHNISHI KOUHEI

IEEE Transactions on Industrial Informatics 3 ( 2 ) 154-163 2007.05

Research paper (scientific journal), Joint Work, Accepted

FPGAを用いた多自由度バイラテラル鉗子ロボットシステムの構築

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  127 ( 5 ) 518-527 2007.05

Research paper (scientific journal), Joint Work, Accepted

Dexterous Manipulation in Constrained Bilateral Teleoperation using Controlled Supporting Point

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 2 ) 1113-1121 2007.04

Research paper (scientific journal), Joint Work, Accepted

Transmission of Force Sensation by Environment Quarrier Based on Multilateral Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 2 ) 898-906 2007.04

Research paper (scientific journal), Joint Work, Accepted

Abstraction and Reproduction of Force Sensation from Real Environment by Bilateral Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 2 ) 907-918 2007.04

Research paper (scientific journal), Joint Work, Accepted

Force Servoing of Flexible Manipulator Based on Resonance Ratio Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 1 ) 539-547 2007.02

Research paper (scientific journal), Joint Work, Accepted

Modeling of Force Sensing and Validation of Disturbance Observer for Force Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 54 ( 1 ) 530-538 2007.02

Research paper (scientific journal), Joint Work, Accepted

工作機械用テーブルの仮想モータ制御

OHNISHI KOUHEI

精密工学会誌 73 ( 1 ) 150-155 2007.01

Research paper (scientific journal), Joint Work, Accepted

Virtual tool for bilaterally controlled forceps robot-for minimally invasive surgery

OHNISHI KOUHEI

Transactions on International Journal of Medical Robotics and Computer Assisted Surgery 3 ( 3 ) 271-280 2007

Research paper (scientific journal), Joint Work, Accepted,  ISSN  1478-5951

A Realization of Haptic Training System by Multilateral Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 53 ( 6 ) 1935-1942 2006.12

Research paper (scientific journal), Joint Work, Accepted

位相進み補償に基づく多慣性共振系の振動抑制制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  126 ( 12 ) 1601-1607 2006.12

Research paper (scientific journal), Joint Work, Accepted

ジッタバッファを用いたネットワークバイラテラル制御システム

OHNISHI KOUHEI

電気学会産業応用部門誌 126 ( 12 ) 1737-1738 2006.12

Research paper (scientific journal), Joint Work, Accepted

Pushing Operation by Flexible Manipulator Taking Environmental Information into Account

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 53 ( 5 ) 1688-1697 2006.10

Research paper (scientific journal), Joint Work, Accepted

パラレルメカニズムを用いた平面状エンドエフェクタの姿勢制御と接触位置の推定

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  126 ( 9 ) 1243-1250 2006.09

Research paper (scientific journal), Joint Work, Accepted

Pushing Operation by Flexible Manipulator Taking Environmental Information into Account

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 53 ( 5 ) 1688-1697 2006.08

Research paper (scientific journal), Joint Work, Accepted

Semi-Autonomous Wheelchair Based on Quarry of Environmental Information

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 53 ( 4 ) 1373-1382 2006.08

Research paper (scientific journal), Joint Work, Accepted

環境モデルに基づく実世界力覚情報再現のための双方向モーションコントロール

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  126 ( 8 ) 1059-1068 2006.08

Research paper (scientific journal), Joint Work, Accepted

フライホイールによる吊り荷のセンサレス振動制御

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  126 ( 8 ) 1119-1125 2006.08

Research paper (scientific journal), Joint Work, Accepted

Analysis and Experimental Validation of Force Bandwidth for Force Control

OHNISHI KOUHEI

IEEE Transactions on Industrial Electronics 53 ( 3 ) 693-699 2006.06

Research paper (scientific journal), Joint Work, Accepted

A Controller Design Method of Decentralized Control System

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  126 ( 5 ) 630-638 2006.05

Research paper (scientific journal), Joint Work, Accepted

Controller Design Method of Bilateral Control System

OHNISHI KOUHEI

European Power Electronics and Drives Journal 16 ( 2 ) 22-28 2006.05

Research paper (scientific journal), Joint Work, Accepted

Quarry of Modal Information from Environment for Advanced Motion Control

OHNISHI KOUHEI

電気学会産業応用部門誌 (電気学会)  126 ( 4 ) 372-378 2006.04

Research paper (scientific journal), Joint Work, Accepted

Robust Network Motion Control System Based on Disturbance Observer

OHNISHI KOUHEI

Journal for Control, Measurement, Electronics, Computing and Communications, Automatika 47 ( 1-2 ) 5-10 2006

Research paper (scientific journal), Joint Work, Accepted

A Design of decentraized Control System inUnstructured Environment

OHNISHI KOUHEI,ITO DAIKI,KAGEYAMA TAKASHI,SUZUKI JUN,TJI TOSHIAKI,MORISAWA MITUHARU

電気学会論文誌Ｄ（産業応用部門誌） Vol123 ( 10 )  2003.10

Research paper (scientific journal), Single Work

Trajectory Tracking Control of Mobil Roboto by Time Based Spline Approach

OHNISHI KOUHEI・MURAKAMI TOSHIYUKI・MIYATA JYUNICHI

電気学会論文誌Ｄ（産業応用部門誌）２００３ Ｖｏｌ１２３ ( ７月 ) 778-783 2003.07

Research paper (scientific journal), Joint Work

A Trajectroy Planning of Biped Robot Taking Environment into Account

TOSHIAKI TSUJI OHNISHI KOUHEI

Trans. IEE of Japan 122 ( 11 ) 1076-1081 2002.11

Research paper (scientific journal), Joint Work, Accepted

Human Interaction by a Wheelchair

S. Katsura, K. Ohnishi

The 28th Annual Conference of the IEEE Industrial Electronics Society (IEcon'02)  2002.11

Joint Work

　View Summary

本論文では、コンプライアンス制御に基づき、車椅子ロボットに搭乗している人間の意思とロボットの意思の衝突を回避した協調手法を提案している。提案手法の有効性は、実機を用いた実験により示している。

２足歩行ロボットの環境に応じた軌道計画法

辻 俊明,大西 公平

電気学会論文誌D Vol.122-D ( No.11 ) 1076-1081 2002.11

Joint Work

　View Summary

実環境で想定される大きな外乱に対して,受動的に軌道を変更する手法を本論文では提案している。この手法では,遊脚の踏み出し位置を調整することで軌道変更後の歩行の安定性を維持できる。シミュレーション及び実験によって本手法の有効性を示している。

コンプライアンス制御の基づく環境外乱を考慮した車椅子型移動ロボットの一構成法

桂 誠一郎,大西 公平

電気学会論文誌D Vol.122-D ( No.9 ) 942-947 2002.09

Joint Work

　View Summary

本論文では,環境変動に応じてアシスト比を可変にするパワーアシスト制御を提案している。提案手法により,人間の操作性を大幅に向上させることができる。提案手法の有効性は実機を用いた実験により示している。

Motion Control Talking Environmental Information into Account

K. Ohnishi, M. Morisawa

10th International Power Electronics and Motion Control Conference (EPE-PEMC'02)  2002.09

Joint Work

　View Summary

本論文では、環境との相互作用を伴うモーションコントロールの環境モードの抽出法、モード伝達の解析法、およびモードのロバスト制御の設計法について提案している。実用的な具体例により提案手法の有用性を示している。

Trajectry Planning and Environment Recognition for Unknown Environment

A. Kato, T. Murakami, K. Ohnishi

7th International Workshop on Advanced Motion Control (AMC2002)    578-82 2002.07

Joint Work

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本論文では、カメラを用いた軌道生成法として三次元マップを導入した手法を提案している。提案手法では、三次元マップを導入することで画像情報から簡便に軌道を生成することができる。提案手法に対する有効性を計算機による数値シミュレーションにより確認した。

Connection Design for Motion Control System

M. Morisawa, K. Ohnishi

7th International Workshop on Advanced Motion Control(AMC '02)<基調>    28-33 2002.07

Joint Work

　View Summary

本論文では、開放環境に適応するのに適した環境のモードを抽出する手法を提案している。提案手法は、アダマール行列を用いて少ない計算量によって環境を各モードに分解している点に特徴がある。いくつかの実験結果により提案手法の有効性を示している。

Bilateral Robot System on the Real Time Network Structure

Y. Uchimura, K. Ohnishi, T. Yakoh

7th International Workshop on Advanced Motion Control(AMC2002)    63-68 2002.07

Joint Work

A Decentralized Real-Time Control for Biped Robot

J. Suzuki, D. Itoh, T. Kageyama, M. Morisawa, K. Ohnishi

7th International Workshop on Advanced Motion Control(AMC2002)    69-73 2002.07

Joint Work

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本論文では、リアルタイムな分散制御を歩行ロボットに適用している。提案手法により、複雑な未知環境下でも歩行が実現できる。提案手法の有効性はシミュレーションにより示している。

An Archtecture of Decentralized Control for Multi-Degrees of Freedom Parallel Manipulator

T. Kageyama, K. Ohnishi

7th International Workshop on Advanced Motion Control (AMC2002)    74-79 2002.07

Joint Work

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論文では、３つの3リンクアームからなるパラレルマニピュレータを、各アームをサブシステムとする分散システムとして制御する手法を提案している。サブシステム間での情報伝達による、適切な駆動間接の選択と一つの関節の故障に対する補償をシミュレーション上で行い、その有効性を示している。

An Approach to Generation of Smooth Walking Pattern for Biped Robot

D. Itoh, T. Murakami, K. Ohnishi

7th International Workshop on Advanced Motion Control(AMC2002)    98-103 2002.07

Joint Work

　View Summary

本論文では多様な環境下での２足歩行ロボットの歩容生成手法を提案した。本手法では着地点及び歩行測度指令に応じた重心軌道及び遊脚先端軌道を生成している。本手法の有効性をシミュレーション結果により示した。

Design Guidelines for Disturbance Observer's Filter in Discrete Time

I. Godler, H. Honda, K. Ohnishi

7th Internationl Workshop on Advanced Motion Control (AMC2002)    390-395 2002.07

Joint Work

Position and Force Control of Flexible Manipulator with Position Sensitive Device

J. Suzuki, T. Murakami, K. Ohnishi

7th International Workshop on Advanced Motion Control (AMC2002)    414-419 2002.07

Joint Work

　View Summary

本論文ではフレキシブルマニピュレータの制御手法として、共振比に基く位置制御と力制御を提案している。PSDセンサを用いることによって、高精度な制御を実現している。提案手法の有効性は実機実験により示している。

A Control of Biped Robot whichi Applies Inverter Pendulum Mode with Virtual Supporting Point

T. Tsuji, K. Ohnishi

7th International Workshop on Advanced Motion Control (AMC2002)    478-483 2002.07

Joint Work

　View Summary

本論文では、２足歩行ロボットの軌道計画法に倒立振子モードを用い、倒立振子のモデルを仮想的に調整できる仮想支点という概念を提案している。仮想支点を応用することで安定性が向上し、多様な動作が可能になることを実験により示している。

Cooperative Motion Control by Human and Mobile Manipulator

E. Yamanaka, T. Murakami, K. Ohnishi

7th International Workshop on Advanced Motion Control (AMC2002)    494-499 2002.07

Joint Work

　View Summary

本論文では、移動マニピュレータの手先に人間が与える力指令をマニピュレータと台車に分配している。台車のインピーダンス入力を各システムの等価質量によって決定し、ロボットの可操作性を考慮した制御を行っている。

A Wheelchair Type Mobile Robot Talking Environmental Disturbance into Account

S. Katsura, K. Ohnishi

7th International Workshop on Advanced Motion Control (AMC2002)    500-505 2002.07

Joint Work

　View Summary

本論文では、環境からの外力を周波数成分に基いてモード分解を行い、モードごとへの適応手法を提案している。また、人間の入力と環境からの外力を統合させた2自由度力制御系を構成している。提案手法の有効性は実機を用いた実験により示している。

Dynamics Model of Decentralized Systems With Informational Connection

Y. Fujimoto, K. Ohnishi

IEEE Transactions on Industrial Electronics Vol.49 ( No.3 )  2002.06

Joint Work

可変速歩行のためのトルクリミットを考慮した２足歩行ロボットの歩容制御

伊藤 大樹,村上 俊之,大西 公平

電気学会論文誌D Vol.122-D ( No.5 ) 489-494 2002.05

Joint Work

　View Summary

歩行ロボットを駆動する際にはモータのトルク飽和が問題となる。本論文では可変速歩行により飽和入力が指令された際に歩容を変更し飽和範囲内とする一手法を提案した。本手法の有効性は実機実験により示した。

Modeling of Swiching Conditions of a Multilevel Inverter Structure with Neural Networks in Control Environment

K. Gulez, N. Mutoh, F. Harashima, K. Ohnishi, H. Pastaci

Power Conversion Conference-Osaka(PCC-Osaka 2002)  2002.04

Joint Work

Visual Feedback Using Virtual Object Points in Stereo Vision Based Manipulator

D. Purwanto, T. Murakami, K. Ohnishi

電気学会論文誌D Vol.122-D ( No.4 ) 403-410 2002.04

Joint Work

摩擦によるアーム外乱を考慮したフレキシブルマニピュレータの防振制御

鈴木 純,村上 俊之,大西 公平

電気学会論文誌D Vol.122-D ( No.3 ) 235-240 2002.03

Joint Work

　View Summary

本論文では,フレキシブルマニピュレータの制御手法として摩擦によるアーム外乱を考慮した防振制御を提案している。提案手法の有効性は実機実験により示している。

Motion Control Talking Environmental Information into Account

M. Morisawa, K. Ohnishi

EPE Journal Vol.12 ( No.4 )  2002

Joint Work

　View Summary

本論文では、環境との相互作用を伴うモーションコントロールの環境モードの抽出法、モード伝達の解析法、およびモードのロバスト制御の設計法について提案している。実用的な具体例により提案手法の有用性を示している。

確立ポテンシャル場に基づく自律移動ロボットの動的障害物回避

桂 誠一郎, 大西 公平

電気学会論文誌D Vol.121-D ( No.12 ) 1284-1290 2001.12

Joint Work

　View Summary

本論文では,障害物の動きを確率的に解析した確立ポテンシャル場を生成し,オンラインで障害物回避を行う新しい自律移動ロボットの軌道計画法を提案している。提案手法の有効性は,実機を用いた実験により示している。

確率ポテンシャル場に基づく自律移動ロボットの動的障害物回避

桂誠一郎, 大西公平

電気学会論文誌D Vol.121-D ( No.12,2001 ) 1284-1290 2001.12

Research paper (conference, symposium, etc.), Joint Work

An Approximation to EMI Noise Problem to Design an Appropriate EMI Filter Including Double-Lisn

K.Gulez, N.Mutoh, M.Ogata, F.Harashima, K.Ohnish

InternationalConfernce onIndusrial Electronics(IECON'2000)    1217-1222 2001.12

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，EMIフィルタの新しい設計を示した。

An Approach to Stable Walking onUnknown Slippy Floor for BipedRobot

H.Yamamoto, K.Ohnishi

InternationalConfernce onIndusrial Electronics(IECON'2000)    1293-1298 2001.12

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，2足歩行ロボットが未知の悪環境の路面上でも歩行することができる制御系を提案している。提案手法によって，床の摩擦が小さいときでもスリップすること性をシミュレーションにより示されている。なく歩行することができる。提案手法の有効性をシミュレーションにより示されている。

A　Wlaking Pattern Generation for Biped　 Robot with ParallelMechanism by Considering ContactForce　

M.Morisawa, K.Ohnishi

InternationalConfernce onIndusrial Electronics(IECON'2000)　    1378-1383 2001.12

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，パラレルメカニズムを用いた2足歩行ロボットの歩行パターンの生成法について提案している。パラレルメカニズムを用いることで，重さが軽い足で構成することが実現でき，提案した歩行バターンによって接触力の影響は小さくできる。

ツインドライブシステムを用いたセンサレスバイラテラルロボットマニピュレータ

林田宣弘, 矢向高弘, 村上俊之,

精密工学会誌 Vol.67 ( No.11,2001 ) 1834-1838 2001.11

Research paper (conference, symposium, etc.), Joint Work

Determination of Time Based Spline Trajectory its Application to Continuous Circular Path Planning in Mobile Robot

J.Miyata, T.Murakami, K.Ohnishi

5th France-Japan Congresspp    231-235 2001.10

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，時間スプライン曲線による連続的な軌道に基づいた移動ロボットの制御系の構成を提案している。提案手法によって，適切な軌道を生成できる点に特徴がある。提案手法の有効性を実機実験により示されている。

A Realization of Compliant Motion by a Decentralized Control in Red undant Manipulator

H.Hattori, K.Ohnishi

IEEE/ASME InternationalConfernce on Advanced Interlligent Mechatronics(AIM'01)　    799-803 2001.07

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，冗長マニピュレータの複雑な運動を実現する分散的な制御手法を提案している。マニピュレータは幾つかのサブシステムにわけ，仮想インピーダンスを用いることに特徴がある。提案手法の有効性を実機による実験により示される。

An Approach to Vibration Controlby Streo Vision System in Mobile Manipulator

G.Hidaka, T.Murakami, K.Ohnishi

IEEE/ASME InternationalConfernce on AdvancedInterlligent Mechatronics(AIM'01)　    601-605 2001.07

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，移動マニピュレターにステレオカメラを載せることによって，移動マニピュレータの振動を推定する手法を提案している。画像平面に射影された特徴点の動きによって振動を推定していることに特徴がある。提案手法の有効性をシミュレーションにより示されている。

Position-Velocity-BasedTrajectory Controlfor Manipulator and Its Application to Visual Tracking System

D.Purwanto, T.Murakami, K.Ohnishi

電気学会論文誌D Vol.121-D ( No.8,2001 ) 894-901 2001.03

Research paper (conference, symposium, etc.), Joint Work

複数台ハンドアイシステムにおける複数対象物追従制御

矢向高弘, 青木貴史, 大西公平

精密工学会誌 Vol.67 ( No.3,2001 ) 473-477 2001.03

Research paper (conference, symposium, etc.), Joint Work

仮想力伝播に基づく強調マニピュレータの分解制御

矢向高弘, 伊東正尚, 大西公平

精密工学会誌 Vol.67 ( No.2,2001 ) 241-245 2001.02

Research paper (conference, symposium, etc.), Joint Work

A Co-Operative Transferring Task by Mobile Manipulators

K.Yasui, T.Murakami, K.Ohnishi

Journalof Robotics and Mechatronics Vol.12 ( No.6,2000 ) 712-717 2000.12

Research paper (conference, symposium, etc.), Joint Work

Motion Controller Algorithm Based on Sliding Mode Controller/Observer Scheme

E.Leksono, A.Wijayanto, K.Ohnishi

IEEE InternationalConference on IndustrialElectronics (IECON2000)    1532-1537 2000.10

Research paper (conference, symposium, etc.), Joint Work, Accepted

モーションコントロール入門

大西公平

計測と制御 第39巻 ( 第10号2000 ) 605-607 2000.10

Research paper (scientific journal), Single Work

An Approach to Tracking Motion ofMobile Robot for Moving Object

M.Morisawa, T.Yakoh, T.Murakami,K.Ohnishi

IEEE International Conference on Industrial Electronics (IECON2000)    2614-2619 2000.10

Research paper (conference, symposium, etc.), Joint Work, Accepted

Analysis and Synthesis of Decentralized System with Informational Connection

Y.Fujimoto, T.Yakoh, K.Ohnishi

IEEE InternationalConference on IndustrialElectronics (IECON2000)    2602-2607 2000.10

Research paper (conference, symposium, etc.), Joint Work, Accepted

DESIGN OF A HONN (HIGH ORDER NEURAL NETWORK) BY USING A DSP BASED SYSTEM FOR THEPERFORMANCEINCREASINGOFANINDUCTION MOTORUNDER CHANGEABLE LOAD

K.Gulez, N.Mutoh, F.Harashima, K.Ohnishi,H.Pastaci

IEEE InternationalConference on IndustrialElectronics (IECON2000)    2315-2320 2000.10

Research paper (conference, symposium, etc.), Joint Work, Accepted

A Motion Control of Co-oerative Mobile Manipulators in Transferring Task

K.Yasui, T.Murakami, K.Ohnishi

International Power Electronics Conference(IPEC-Tokyo 2000) Vol.3   1225-1230 2000.04

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，移動マニピュレータを複数台用いて対象物を把持し，運搬を実現するための手法を提案している。提案手法では,それぞれのマニピュレータと対象物の間にコンプライアンス制御を用いることで, 対象物の把持，運搬を行っている。提案手法の有効性をシミュレーションにより示されている。

A Force Control of Grasped Object with Environmental Effect in Co-operative Motion System

H.Kondo, T.Murakami, K.Ohnishi

International Power Electronics Conference(IPEC-Tokyo 2000) Vol.1   349-354 2000.04

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，複数台マニピュレータによる対象物を把持するための外力を考慮した制御手法を提案している。提案した手法では，内力と外力を独立に制御できる点に特徴がある。提案した手法の有効性は実機実験により示されている。

Application Of Limited Authority Control To VisualTracking System

D.Purwanto, T.Murakami, K. Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    590-594 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論では，３次元対象物の位置，姿勢を実時間で認識し，最適な報告から対象物を認識するためのビジュアルフィードバック制御手法を提案している．提案手法の有効性は実機実験により示されている．

Following Control of Flexible Manipulator

M.Sugita, T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    47-51 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，１リンクフレキシブルマニピュレータにおいて環境との接触を伴う動作における安定化制御手法を提案している．提案手法の有効性は数値シミュレーションにより示されている．

New Representation of Systems with Effect Variables

K.Ueno, T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    216-221 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，システム結合の状態を示すための新しい表現手法を提案している．特に，システム間の物理的，情報的結合状態を統一的に表現するための漸化式の表現を示している．

Motion Control of Unconstrained Object by Multiple Mobile Robots

T.Yajima,T.Yakoh,T.Murakami, Kouhei Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    120-125 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，複数台移動ロボットによる対象物押し作業に伴う位置と力のハイブリッド制御手法を提案している．特に，対象物の安定な運搬走行を実現するための力分配法について示している．

A Tracking Control to Multiple Objects for Plural Hand-Eye Systems Automatic Generation of Motion Sequence in Programmable Logical Control transform

T.Aoki, T.Murakami, K.Ohnishi

IEEE. International　 Conference on Advanced Motion Control 　　　(AMC2000)    1-6 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，複数の対象物に対してビジュアルサーボ制御を行うための軌道計画アルゴリズムを提案している．提案手法の有効性は実機実験により示されている．

A Friction Compensation in Twin Drive System

N.Hayashida, T.Yakoh, T.Murakami K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    187-192　 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，フリクションフリーな駆動が期待できるツインドライブシステムの新しい機構を提案し，その制御手法を示している．提案する手法の有効性は実機実験により確認されている．

A Motion Control of Mobile Manipulator with External Force

F.Inoue,T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    98-103 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，移動マニピュレータの制御手法として外力を考慮した制御系を提案している．移動マニピュレータは固定座標を有さないため，外力による不安動作が生じやすいが，提案手法により安定化を行える．

An Estimation of Slope for MobileManipulator

K.Kumeno, T.Murakami,and K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    104-109 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

移動マニピュレータの安定走行を行うためには，路面状況の変化に対しても適切な軌道計画を行う必要がある．本論文では，特に路面の傾斜を推定することによって，傾斜路面でも安定した動作が行える手法を提案している．

A Power-Assistant PlatformTalkingEnvironmentalDisturbance into　Account

A.? Nagami, T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    152-157 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，車椅子型移動ロボットの制御において，人の押し作業をアシストする制御手法を提案している．特に，路面状況の変化による未知外乱の影響も考慮した制御系構成を示している．

Control of A Wheeled Mobile Robot withTwoImageProcessing Grades

T.Nakashima,T.Yakoh, T.Murakami,K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    586-589 2000.03

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，移動ロボットの軌道計画において２段階の画像処理プロセスを設定し，３次元的な軌道計画をより高速に実現する手法を提案している．本手法の有効性は数値シミュレーションににより示されている.

情報結合システムの動的モデル

藤本康孝，石　建信, 矢向高弘,大西公平

電気学会論文誌D Vol.119-D ( No.12,2000 ) 19-28 2000.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

本論文では，システム結合の新しい表現方法とその安定解析手法を提案している．また，提案手法の有効性はネットワークプロトコル通信を仮定したシミュレーションにより示されている。

自律分散制御におけるシステムのダイナミカル結合の一表現法

石　建信., 藤本康孝,矢向高弘,.大西公平

電気学会論文誌D Vol.120-D ( No.1,2000 ) 80-87 2000.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

本論文では，システム結合の新しい表現方法を提案している．特に，システム結合の階層構造を明確にするための可到達性を明確にし，階層構造の数値的に表現する手法を示している。

自律分散制御におけるシステムのダイナミカル結合の一表現法

石　建信., 藤本康孝,矢向高弘,.大西公平

電気学会論文誌D Vol.120-D ( No.1, 1999 ) 19-28 2000.01

Research paper (conference, symposium, etc.), Single Work

　View Summary

本論文では，システム結合の新しい表現方法を提案している．特に，システム結合の階層構造を明確にするための可到達性を明確にし，階層構造の数値的に表現する手法を示している。'

An Approach to Biped Robot with Parallel Mechanism

M.Morisawa,T.Yakoh, T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000)    537-541 2000

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，２足歩行ロボットを構成する上で従来のシリアルリンク方式とは異なるパラレルリンク方による構築手法を提案している．提案手法の有効性は３Ｄシミュレーションにより確認されている．

環境変動を考慮した３次元２足歩行ロボットの可変コンプライアンス

西川直樹，藤本康孝，村上俊之，大西公平

電気学会論文誌D Vol.119-D ( No.121999 ) 1477-1483 1999.12

Research paper (conference, symposium, etc.), Joint Work

　View Summary

固定座標を有さない２足歩行ロボットにおいて，環境外乱に対して安定な歩行動作を実現するため，腰点を基点としたコンプライアンス制御と作業空間オブザーバによる霊空間制御の併用を提案している。提案手法の有効性は実機実験いより実証されている．

推定反力フィードバックと複数の加速度フィードバックに基づくフレキシブルマニピュレータの振動抑制制御

木野卓，森田登，村上俊之，大西公平

電気学会論文誌D Vol.119-D ( No.121999 ) 1477-1483 1999.12

Research paper (conference, symposium, etc.), Joint Work

　View Summary

１リンしてモデル化し，従来提案している共振比制御クフレキシブルマニピュレータを３慣性系としてモデル化し，従来提案している共振比制御と加速度フィードバックの組み合わせにより，防振のみならずアーム外乱に対してもロバストな防振制御手法を提案している．提案手法の有効性は実機実験により評価を行っている．

Hybrid Position/Force Control of a Mobile Manipulator Based on CooperativeTask Sharing

Y.Umeda, D.Nakamura, T.Murakami, K.Ohnishi

IEEE International Symposium on IndustrialElectronics(ISIE’99)    139-144 1999.07

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

本論文では，移動マニピュレータの制御のための位置と力のハイブリッド制御手法を提案している．特に，位置と力の制御を滑らかに行うための台車とマニピュレータ部の最適動作計画を明確にしている．

情報結合システムの動的モデル

藤本康孝，石　建信, 矢向高弘,大西公平

電気学会論文誌D Vol.119-D ( No.12 ) 1507-1513 1999

Research paper (conference, symposium, etc.), Joint Work

　View Summary

本論文では，システム結合の新しい表現方法とその安定解析手法を提案している．また，提案手法の有効性はネットワークプロトコル通信を仮定したシミュレーションにより示されている。

産業オートメーションのシステム・制御を考慮した電動力応用の大学院教育課程での新しい講義法

森田登, 澤孝一郎, 大西公平

電気学会論文誌A Vol.119-A ( No.8/91999 ) 1076-1083 1999

Research paper (conference, symposium, etc.), Joint Work

Configuration Control of a Mobile Manipulator in Pushing Operation

D.Nakamura, T.Murakami, and K.Ohnishi

IEEE. International Conference on Avanced Motion Control (AMC'98)    446-450 1998.07

Joint Work, Accepted

　View Summary

本論文では，移動マニピュレータの押し作業において常に操作性の良い状態で台車およびマニピュレータの制御を実現するためのアルゴリズムを提案している．提案手法の有効性は2リンクスカラ型マニピュレータを搭載した移動マニピュレータによる実機実験により示されている．

An Approach to Biped Robot Control According to Surface Condition of Ground

T.Ono, T.Murakami, and K.Ohnishi

IEEE. International Conference on Avanced Motion Control (AMC'98)    129-134 1998.07

Joint Work, Accepted

　View Summary

本論文では，2足歩行ロボットの制御を実現するにあたり，床面の傾斜を考慮した手法を提案している．提案手法では，床面の傾斜が任意に変化したとしても安定な歩行を継続できる点に特徴がある．提案手法の有効性は実機実験により示されている．

A Realization of Stable Walking Motion for a Biped Robot by Impedance Control

N.Nishikawa, T.Murakami, and K.Ohnishi

IEEE. International Conference on Avanced Motion Control (AMC'98)    82-87 1998.07

Joint Work, Accepted

　View Summary

本論文では，2足歩行システムを冗長マニピュレータとみなし，フロンタル平面およびサジタル平面において安定歩行動作を実現するための制御系構成法を提案している．提案手法の有効性は10自由度2足歩行ロボットを用いた実機実験により示されている．

An Approach to Dynamical Expression of System Connection in Autonomous Motion System

T.Seki, N.Oda, T.Murakami, and K.Ohnishi

IEEE. International Conference on Avanced Motion Control(AMC'98)    147-152 1998.07

Joint Work, Accepted

　View Summary

本論文では，サブシステム分解に基づいた自律分散制御を実現するためのシステム結合表現を示している．提案手法は全てのシステムの統一的表現を与える．提案手法の有効性はシミュレーションにより示されている．

Autonomous Decentralized Approach in the PTP Control of Redundant Manipulators

Y.Yan, T.Yamamoto, T.Murakami,and K.Ohnishi

IEEE. International Conference on Avanced Motion Control (AMC'98)    153-158 1998.07

Joint Work, Accepted

　View Summary

本論文では，冗長マニピュレータの制御において自律分散制御による制御系構成手法を提案している．提案手法では，故障関節が存在したとしても安定な動作制御が実現できる点に特徴がある．提案手法の有効性はシミュレーションにより確認されている．

外力を考慮した複数台マニピュレータのロバストな協調運動制御

エディレクソノ，村上俊之，大西公平

精密工学会誌 Vol.64 ( No.5 ) 690-694 1998.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

複数台マニピュレータを用いた安定な把持作業を行なうためには，外力に対してロバストな制御系構成を行なう必要がある．本論文では，作業空間オブザーバと関節空間オブザーバを利用した運動制御系の応答を比較し，両制御系の外力に対するロバスト性の評価を行なっている．

外力を考慮した複数台マニピュレータのロバストな協調運動制御

エディレクソノ，村上俊之，大西公平

精密工学会誌 Vol.64 ( No.5 ) 690-694 1998.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

複数台マニピュレータを用いた安定な把持作業を行なうためには，外力に対してロバストな制御系構成を行なう必要がある．本論文では，作業空間オブザーバと関節空間オブザーバを利用した運動制御系の応答を比較し，両制御系の外力に対するロバスト性の評価を行なっている．

階層インピーダンス冗長マニピュレータの分散制御

空尾謙嗣，村上俊之，大西公平

電気学会論文誌D Vol.118-D ( No.1 ) 31-37 1998.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

冗長マニピュレータの制御では，その自由度の増加に伴い制御系の構成が急激に複雑化することが知られている．そこで，提案手法ではシステムの分割化に基づいた階層インピーダンスと呼ばれる新しい概念を導入することによって制御系の簡略化を行なっている．さらに本制御系の特徴は，予め階層構造の分割数を設定せずとも制御系の設計が可能な点にある．

作業空間での外乱オブザーバに基づいた可変コンプライアンスゲインを有する複数台マニピュレータの協調制御

エディレクソノ，村上俊之，大西公平

電気学会論文誌D Vol.118-D ( No.1 ) 16-23 1998.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

複数台のマニピュレータを用いて同一の対象物に対する把持作業を実現しようとした場合，安定な把持だけではなく，外力に対しても安定化を行なわなければならない．提案手法では，可変インピーダンスを導入し，安定把持と外力に対するインピーダンス応答を同時に実現する手法を示している．

作業空間での外乱オブザーバに基づいた可変コンプライアンスゲインを有する複数台マニピュレータの協調制御

エディ　レクソノ、村上　俊之　大西　公平

電気学会論文誌D部門誌 １１８巻 ( １号 )  1998.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

複数台のマニピュレータを用いて同一の対象物に対する把持作業を実現しようとした場合，安定な把持だけではなく，外力に対しても安定化を行なわなければならない．提案手法では，可変インピーダンスを導入し，安定把持と外力に対するインピーダンス応答を同時に実現する手法を示している．

An Approach to Biped Robot Control Utilized Redundancy in Double Support Phase

N.Sonoda, T.Murakami, and K.Ohnishi

International Conference on Industrial Electronics (IECON'97)    1332-1336 1997.11

Joint Work, Accepted

　View Summary

本論文では，2足歩行ロボットの制御を実現するため冗長マニピュレータとみなした制御手法を適用し2足支持状態での姿勢制御を実現している．提案手法では，制御系の構造を変えること無しに，1足支持状態から2足支持状態へ変更できる点に特徴がある．提案手法の有効性は実機実験により示されている．

Robust Motion Control in Redundant Motion Systems

N.Oda, T.Murakami, and K.Ohnishi

IEEE. International Conference on Avanced Motion Control(AMC'98)    135-140 1997.11

Joint Work, Accepted

　View Summary

本論文では，冗長マニピュレータにおけるロバスト制御手法を提案している．提案手法では，制御系の構成を複雑化せずにロバスト性を向上している点に特徴がある．提案手法の有効性は実機実験により示されている．

A Motion Control Strategy of Mobile Manipulator in Contact Task

O.Kawaguchi, T.Murakami, and K.Ohnishi

International Conference on Industrial Electronics (IECON'97)    1327-1331 1997.11

Joint Work, Accepted

　View Summary

本論文では，移動マニピュレータを用いて接触を伴なうタスクを実現するための動作計画ならびに制御系構成手法を提案している．提案手法では，接触作業を複数のモードに分割して実現している．提案手法の有効性は実機実験により示されている．

Cooperative Motion Control of Multimanipulator Based on Workspace Disturbance Observer with Variable Compliance Gain

Edi Leksono, T.Murakami, and K.Ohnishi

International Conference on Industrial Electronics (IECON'97)    1379-1384 1997.11

Joint Work, Accepted

　View Summary

本論文では，協調マニピュレータの把持制御において作業空間オブザーバと可変コンプライアンスゲインを用いた手法を提案している．提案手法では，制御系の簡略化を行なえる点にある．有効性は実機実験により示されている．

A Force Based Motion Control Strategy for Hyper-Redundant Manipulator

N.Oda, T.Murakami, and K.Ohnishi

International Conference on Industrial Electronics (IECON'97)    1385-1390 1997.11

Joint Work, Accepted

　View Summary

本論文では，超冗長マニピュレータ制御を実現するため，力制御をベースとした手法を提案している．提案手法では，マニピュレータの任意のポイントに対して力制御が実現できる点に特徴がある．提案手法の有効性は実機実験により示されている．

インピーダンス制御による2足歩行ロボットの歩行制御

空尾謙嗣，村上俊之，大西公平

電気学会論文誌D Vol.117-D ( No.10 ) 1227-1233 1997.10

Research paper (conference, symposium, etc.), Joint Work

　View Summary

環境適応型の移動システムとして注目されている2足歩行ロボットの制御では，固定座標点を持たないため，安定な運動制御系の構成が非常に困難になっている．そこで，提案手法では腰の座標点を中心とした接触脚に対するインピーダンス制御系を構成することによって，安定な歩行を実現している．

ゼロ空間による冗長マニピュレータの拡張コンプライアンス制御

小田尚樹，太田秀樹，村上　俊之，大西公平

精密工学会誌 Vol.63 ( No.10 ) 1432-1438 1997.10

Research paper (conference, symposium, etc.), Joint Work

　View Summary

従来から提案されている冗長マニピュレータの制御手法では，位置情報に基づいた姿勢制御は問題なく実現することが出来たが，力情報に基づいた姿勢制御を実現することは出来なかった．提案手法では，冗長マニピュレータの姿勢制御において力情報に基づいたコンプライアンス制御を示している．

A Vibration Control of Flexible Manipulator with Acceleration Sensors

M.Kino, K.Takahashi, T.Murakami,and K.Ohnishi

2nd Asian Control Conference ASCC'97 Vol.1   625-628 1997.07

Joint Work, Accepted

　View Summary

本論文では，加速度センサを用いた振動抑制制御を提案している．特に，振動抑制と外乱抑圧を同時に実現するための制御系構成を提案している．提案手法の有効性は実機実験により示されている．

「電圧形コンバータの瞬時ひずみ最小化制御」　

陳 芸峰、 藤川 淳、小林 弘和、大西 公平、アシフ・サバノビッチ

電気学会論文誌Ｄ（産業応用部門誌） vol. 117-D ( No.7 ) 823-830 1997.07

Research paper (conference, symposium, etc.), Joint Work

　View Summary

空間電圧ベクトルの瞬時ひずみが最小になるようなＰＷＭインバータの制御方法の提案をしたものである。

A Compliant Control Strategy in Hyper-Redundant Manipulator

N.Oda, T.Murakami, and K.Ohnishi

2nd Asian Control Conference ASCC'97 Vol.1   633-636 1997.07

Joint Work, Accepted

　View Summary

本論文では，超冗長マニピュレータのコンプライアンス制御手法を提案している．提案手法では，マニピュレータの先端位置だけではなく，姿勢に対するコンプライアンス制御も実現できる点に特徴がある．提案手法の有効性は実機実験により示されている．

A Realization of Stable Walking Motion for a Biped Robot by Impedance Control

K.Sorao, T.Murakami, and K.Ohnishi

2nd Asian Control Conference ASCC'97 Vol.3   311-314 1997.07

Joint Work

　View Summary

本論文では，インピーダンス制御によって2足歩行ロボットの安定運動制御を実現するための一手法を提案している．提案手法では，センサレスによるインピーダンス制御を実現している点に特徴がある．提案手法の有効性は実機実験により示されている．

An Approach of Visual Servoing Control Considering Compensation of Time-Dely

Y.Iwazaki, T.Murakami, and K.Ohnishi

IEEE. ISIE'97 Vol.1   723-728 1997.07

Joint Work, Accepted

　View Summary

本論文では，画像情報に基づいたビジュアルフィードバック制御においてサンプリング時間による時間遅れ補償を行なうため，スミス法に基づいた制御系構成法を提案している．提案手法の有効性は実機実験により示されている．

Internal Force Control for Cooperating Manipulators in Considering for Parameters of a Grasped Object

O.Yumita, T.Murakami, and K.Ohnishi

IEEE. ISIE'97 Vol.1   895-900 1997.07

Joint Work, Accepted

　View Summary

本論文では，協調マニピュレータの把持制御において対象物の動特性を考慮した安定把持手法を提案している．提案手法では，把持物体の動特性を表わすパラメータを同定することにより，安定把持を実現する手法を示している．提案手法の有効性は実機実験により示されている．

システム結合の一考察

大西公平　小田尚樹

電気学会論文誌Ｄ（産業応用部門誌） 117巻 ( ３号 )  1997.03

Research paper (conference, symposium, etc.), Joint Work

　View Summary

システム結合の考え方をドネイタ、レセプタから展開して結合行列、発展方程式を定義した。

フレキシブルアームのための推定反力に基づいた力センサレス制御

柴田　昌明，磯村　賢一，村上　俊之，大西　公平

精密工学会誌 Vol.63 ( No.2 ) 198-202 1997.02

Research paper (conference, symposium, etc.), Joint Work

　View Summary

ロボットの軽量化，高速動作を実現しようとした場合，機械剛性の低下による振動発生を無視することは出来ない．さらに未知対象物との接触を伴なう力制御では対象物の動特性をも加味した力フィードバックを行なわなければならない．提案手法では，上記を考慮に入れた力センサレス制御系の一構成法を示している．

A Decentralized Control Strategy for Redundant Manipulator

H.Ohta, N.Oda, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.2   821-825 1996.10

Joint Work, Accepted

　View Summary

本論文では，冗長マニピュレータの制御手法として階層インピーダンスに基づいた手法を提案している．提案手法では，システムをサブシステム分解し，各システムに階層インピーダンスを適用している．提案手法の有効性は実機実験により示されている．

A Decentralized Control Strategy for Redundant Manipulator Based on Hierachical Impedance

H.Ohta, N.Oda, T.Murakami, and K.Ohnishi

3rd Japan-France Congress, Proceedings of Advanced Intelligent Mechatronics(AIM'97)  1996.10

Joint Work, Accepted

　View Summary

本論文では，冗長マニピュレータの制御手法として階層インピーダンスに基づいた手法を提案している．提案手法では，システムをサブシステム分解し，各システムに階層インピーダンスを適用している．提案手法の有効性は実機実験により示されている．

A Control of a Mobile Manipulator with Considering Constraint Forces between Wheels and a Road

H.Hattori, N.Oda, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.2   767-772 1996.10

Joint Work, Accepted

　View Summary

本論文では，移動マニピュレータにおいてスリップを起こさないための制御を実現するため，車輪の拘束制御手法を提案している．提案手法では，スリップモデルに基づいて零空間指令を用いてスリップ拘束を行なっている点に特徴がある．

A Vibration Control of Two-Link Flexible Manipulator

K.Talahashi, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.2   359-364 1996.10

Joint Work, Accepted

　View Summary

本論文では，加速度情報をベースとしたスライディング制御手法を提案している．提案手法では，振動抑制およびモデル誤差による外乱を抑圧することが出来る．提案手法の有効性は2リンクフレキシブルマニピュレータを用いた実機実験により示されている．

Stable Grasping for Two Robot Arms in Cooperative Control System

H.Fujii, E.Leksono, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.1   382-387 1996.10

Joint Work, Accepted

　View Summary

本論文では，協調マニピュレータを用いた安定な把持作業を実現するため，分散制御手法を提案している．提案手法では，マニピュレータの数が増えたとしても適用できる点にある．提案手法の有効性は2台のマニピュレータを用いた協調把持実験により示されている．

Vibration Control of Flexible Arm Robot by Visual Feedback

S.Fukushima, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.2   475-480 1996.10

Joint Work

　View Summary

本論文では，画像情報を用いた振動抑制制御手法を提案している．提案手法を用いることによって，内界センサでは検出不可能な振動モードを抑制することが可能である．提案手法の有効性は実機実験により示されている．

Observer-Based Control of Multiple Coordinated Robots Hoding an Object with Environmental Contact

B.Boonsupthip,T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.1   405-410 1996.10

Joint Work, Accepted

　View Summary

本論文では，協調マニピュレータの安定な把持制御を実現するに当たり，外力を考慮した手法を提案している．提案手法では，マニピュレータの先端に設置された力センサにより検出される力成分を内力と外力に分解することにより安定な把持制御を実現している．提案手法の有効性は実機実験により示されている．

An Approach to Stable Walking Control Utilized Redundancy for Biped Robot

N.Sonoda, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.2   453-458 1996.10

Joint Work, Accepted

　View Summary

本論文では，2足歩行ロボットの制御を実現するにあたり，歩行システムを冗長マニピュレータとみなし，遊脚制御と姿勢制御を同時に実現する手法を提案している．提案手法では，2足歩行システムの姿勢制御を零空間を用いている点に特徴があり，その有効性は実機実験により示されている．

Sensorless Impedance Control of a Biped Robot

K.Sorao, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.2   459-464 1996.10

Joint Work, Accepted

　View Summary

本論文では，安定歩行制御を実現するためインピーダンス制御に基づいた手法を提案している．提案手法では，床面からの反力を推定することによってセンサレスインピーダンス制御を実現している．提案手法の有効性は実機実験により示されている．

3D Sharp Measurement of an Object Using the Active Vision System

H.Goudo, T.Murakami, and K.Ohnishi

3rd Japan-France Congress Vol.1   150-155 1996.10

Joint Work, Accepted

　View Summary

本論文では，アクティブビジョンシステムに基づいた3次元情報を復元する手法を示している．提案手法では，簡単なアルゴリズムで3次元情報を抽出できる点に特徴がある．提案手法の有効性は実機実験により示されている．

Cooperative Control of Multimanipulator Based on Workspace Disturbance Observer Considering the Interaction with External Force Environment

E.Leksono, T.Murakami, and K.Ohnishi

3rd Japan-France Congress, Proceedings of Advanced Intelligent Mechatronics (AIM'97)  1996.10

Joint Work, Accepted

　View Summary

本論文では，協調マニピュレータの制御において外力を考慮した手法を提案している．特に，可変コンプライアンス制御を導入し，外力に対しても安定把持が実現できる手法を提案している．提案手法の有効性は実機実験により示されている．

A Motion Control of a Flexible Link Manipulator

M.Matsuoka, T.Murakami, and K.Ohnishi

The Third International Conference on Motion and Control(MOVIC'96) Vol.2   340-345 1996.09

Joint Work, Accepted

　View Summary

本論文では，振動抑制を行ないつつ負荷外乱に対してロバストな制御系構成法を示している．特に，多リンクフレキシブルマニピュレータへの拡張が容易なアルゴリズムとしているところに特徴がある．提案手法の有効性は実機実験により示される．

Hybrid Position/Force Cooperative Control of Multimanipulator Based on Workspace Disturbance Observer

Edi Leksono, T.Murakami, and K.Ohnishi

IEEE. International Conference on IndustrialElectronics(IECON'96) Vol.3   1873-1878 1996.08

Joint Work, Accepted

　View Summary

本論文では，協調マニピュレータの制御において作業空間オブザーバに基づいた手法を提案している．提案手法では，制御系設計のための座標系設定を適切に行なうことによって位置と力のハイブリッド制御を実現している．提案手法の有効性は実機実験により示されている．

Observer Based Local Torque Optimization in Redundant Manipulator

N.Oda, T.Murakami, and K.Ohnishi

IEEE. International Conference on Industrial Electronics (IECON'96) Vol.3   1915-1921 1996.08

Joint Work, Accepted

　View Summary

本論文では，冗長マニピュレータにおいてトルク最適化制御を行なうための制御系の構成法を提案している．提案手法ではトルク最適化と同時に制御系の構成を簡略化できる点に特徴がある．提案手法の有効性は実機実験により示されている．

A Construction of Visual Servo Controller by Kalman Filter and Created Window

H.Minamide, T.Murakami, and K.Ohnishi

IEEE. International Conference on Avanced Motion Control(AMC'96) Vol.1   359-364 1996.03

Joint Work, Accepted

　View Summary

本論文では，カルマンフィルタを用いたビジュアルサーボ制御系の構成法を提案してる．提案手法を用いることによって，応答性を改善することが出来，ノイズに対して低感度な制御系を構成することが出来る．提案手法の有効性は実機実験により示されている．

オブザーバに基づく冗長マニピュレータの局所トルク最適化

小田　尚樹，村上　俊之，大西　公平

日本機会学会論文集Ｃ Vol.62 ( No.602 ) 48-54 1996.02

Research paper (conference, symposium, etc.), Joint Work

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本論文では，冗長マニピュレータの新たな制御手法として，局所トルク最適化指標に基づいた零空間の利用法を提案している．提案手法では，従来から用いられている零空間指令の直接計算を行なわずとも局所トルク最適化を実現できるところに特徴がある．アルゴリズムの有効性はシミュレーションおよび実機実験により検証を行なっている．

Control of a Mobile Manipulator Based on Equivalent Mass Matrix

K.Shibata, T.Murakami, and K.Ohnishi

IEEE. International Conference on Industrial Electronics(IECON'95) Vol.2   1330-1335 1995.11

Research paper (conference, symposium, etc.), Joint Work, Accepted

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本論文では，移動マニピュレータを冗長マニピュレータとみなし，等価質量行列を利用した制御手法を提案している．提案手法を用いることによって，移動マニピュレータ統合的な制御を実現することができる．提案手法の有効性は実機実験により示されている．

Vibration Control of Multiple Mass System by Estimated Reaction Torque

S.Nomura, T.Murakami, and K.Ohnishi

IEEE. International Conference on Industrial Electronics(IECON'95) Vol.2   1091-1095 1995.11

Research paper (conference, symposium, etc.), Joint Work, Accepted

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本論文では，多慣性系の振動抑制制御として推定反力を用いた手法を提案している．提案手法では全ての振動極を安定化できる特徴があり，シミュレーションおよび実機実験によりその有効性を示している．

A Robust Impedance Control Strategy for Redundant Manipulator

N.Oda, H.Ohta, T.Murakami, and K.Ohnishi

IEEE. International Conference on Industrial Electronics(IECON'95) Vol.2   1254-1259 1995.11

Research paper (conference, symposium, etc.), Joint Work, Accepted

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本論文では，冗長マニピュレータの制御手法としてロバスト制御を導入した手法を提案している．提案手法では，位置応答，力応答のロバスト性を向上しつつ，制御系の構成を簡略化している点に特徴がある．提案手法の有効性は実機実験により示している．

Vibration Suppression and Disturbance Rejection Control of A Flexible Link Arm

M.Matsuoka, T.Murakami, and K.Ohnishi

IEEE. International Conference on Industrial Electronics(IECON'95) Vol.2   1260-1265 1995.11

Research paper (conference, symposium, etc.), Joint Work, Accepted

　View Summary

一般には，振動抑制と外乱抑圧を同時に実現することは出来ない．本論文ではフレキシブルリンクマニピュレータの振動抑圧ならびに外乱抑圧特性を同時に向上させるための手法を提案している．提案手法の有効性は実機実験により示されている．

An Adaptive Force Control of　　　Flexible Link Arm by Estimated　　　Reaction Force

K.Isomura, T.Murakami, and K.Ohnishi

IFAC Workshop on Motion Control    656-663 1995.10

Joint Work, Accepted

　View Summary

近年，宇宙空間において有効なロボットとして，小型軽量なフレキシブルマニピュレータが注目されている．本論文では，このフレキシブルマニピュレータを利用した力制御アルゴリズムを提案している．同時に，アームのフレキシビリティを活用したアーム接触位置の推定アルゴリズムも提案している．提案する手法の有効性はフレキシブルマニピュレータを用いた実機実験により確認されている．

A Realization of TickTackToe Motion of Multidegree of Freedom Robot Hand by Visual Feedback

P.P.Indrianita, T.Murakami and K.Ohnishi

Japan Industry Applications Society Conference    E-11-E-16 1995.08

Joint Work, Accepted

　View Summary

多自由度ロボットにおいて，外界の状況を認識する認識アルゴリズム，先端動作を決める軌道計画，さらに計画された動作を確実に実現する動作制御アルゴリズムの３つを有機的に融合することは，外部環境の変化に応じた柔軟な動作を実現する際に非常に重要である．本論文では，Tick Tack Toe動作を例に取り，上記の事項を実現するための制御アルゴリズムを提案している．

Impedance Control Based on Fuzzy　Logic in Multidegree-of-Freedom　Manipulator

T.Murakami, M.Shibata and K.Ohnishi

International Power Electronics Conference (IPEC-Yokohama'95) Vol.3   1752-1757 1995.04

Joint Work, Accepted

　View Summary

本論文では，多自由度マニピュレータの動作制御において，位置制御と力制御を実現する動作方向が一致する場合の制御アルゴリズムを提案している．特に，ファジー論理に基づいた位置指令，力指令の調整アルゴリズムにより，制御系の構造を変えずに，位置制御と力制御の変換を可能にしている．提案する手法の有効性はダイレクトドライブロボットを用いた実機実験により確認されている．

A Novel Rotary Acceleration Sensor

Ivan Godler, Akira Akahane, Kouhei Ohnishi and Tadashi Yamashita

IEEE Control Systems Magazine, 1995 Feb. issue    56-60 1995.02

Joint Work

　View Summary

スリットのモワレを用いて回転形加速度計を作製し，その実用性を確認した。

多自由度垂直多関節ロボットにおける絶対位置の一推定法

柴田昌明，大森芳行，村上俊之，大西公平

電気学会論文誌 115巻 ( D-1 号 ) 88-89 1995.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

軸センサーからロボットの絶対位置を推定する実用的方法を示した。

Estimation, Identification and 　 Sensorless Control in Motion Control Systems

Kouhei Ohnishi, Nobuyuki Matsui, Yoich Hori

Proceedings of the IEEE Vol.82 ( No.8 ) 1253 1994.08

Research paper (conference, symposium, etc.), Joint Work

　View Summary

モーションコントロールシステムにおける速度・加速度等の機械的変動の推定及び電流磁束等の電気的変動の推定について，新しい解析法を示し，センサレス制御の方法を示した。

分散アクチュエータのシステムデザイン

大西公平，村上俊之

日本機械学会誌 97巻 ( ４号 ) 290-293 1994.04

Research paper (conference, symposium, etc.), Joint Work

　View Summary

分散アクチュエータシステムのシステム的制御設計法を示した。

ミリマシン技術による多自由度システムの制御

村上俊之，大西公平

精密工学会誌 Vol.60 ( No.3 ) 352-357 1994.03

Research paper (conference, symposium, etc.), Joint Work

　View Summary

ミリマシンを用いた多自由度運動システムを解析した。

減速機を含む速度制御系における振動の抑制

イヴァン　ゴドレール, 大西公平，山下忠

精密工学会誌 Vol.60 ( No.3 ) 86-90 1994.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

ハーモニックドライブギアのスプラインの剛性低下による振動を抑制する方法を示した。

共振比制御による２慣性共振系の振動抑制制御

結城和明，村上俊之, 大西公平

電気学会論文誌 Vol. 113 ( No.10 ) 1162- 1169 1993.10

Research paper (conference, symposium, etc.), Joint Work

　View Summary

共振比という全く新しい概念を創造し制振制御に新しい道をつけた。

Sliding Modes in Three-PhaseSwitching Power Converters Contr

N. Sabanovic, A. Sabanovic, N. Ohnishi

電気学会論文誌 113巻 ( D-7 号 ) 883 1993.07

Research paper (conference, symposium, etc.), Joint Work

　View Summary

空間ベクトルによる３相コンバータのスイッチング特性について解析した。

反作用力推定オブザーバに基づいた多自由度ロボットの力センサレスコンプライアンス制御

村上俊之, 中村亮, 郁方銘，大西公平

日本ロボット学会誌 11巻 ( ５号 ) 165 1993.07

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱オブザーバを用いた力センサレス方式によるコンプライアンス制御を示した。

外乱オブザーバによるロバスト・モーションコントロール

大西公平

日本ロボット学会誌 11巻 ( ４号 ) 486 1993.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱オブザーバによるロバスト・モーションコントロールを総括し今後の発展の方向を示した。

ロバスト制御に基づいた多自由度ロボットの安定性および作業空間での非干渉制御に関する一考察

村上俊之，大西公平

電気学会論文誌 113 巻 ( D-5 号 ) 639 1993.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱オブザーバを用いたロボット制御において軸間の干渉を抑圧し安定性を確保する方法を示した。

Sliding Modes in Power Converters and Motion Control Systems

A. Sabanovic, N. Sabanovic, K. Ohnishi

Int. J. Control Vol. 57 ( No.5 ) 1237 1993.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

状態すべり法を用いて３相コンバータとロボットの新しい制御法を示した。

Torque Sensorless Control in Multidegree-of-Freedome Manipulator

T. Murakami, F. Yu, K. Ohnishi

IEEE Trans. on Industrial Electronics Vol.40 ( No.2 ) 259 1993.04

Research paper (conference, symposium, etc.), Joint Work

　View Summary

トルクセンサのない多自由度ロボットの力制御について外乱オブザーバを用いた新しい方法を示した。

作業環境のパラメータ推定に基づいた多自由度マニピュレータの力制御

村上俊之，大西公平

電気学会論文誌 113巻 ( D-4 号 ) 503 1993.04

Research paper (conference, symposium, etc.), Joint Work

　View Summary

環境推定アルゴリズムをもつ力制御法の実現について提案している。

外乱オブザーバによる多自由度ロボットの動特性同定法

村上俊之, 大西公平

日本ロボット学会誌 Vol.11 ( No.1 ) 131-139 1993.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱オブザーバを用いてパラメトリックにロボット係数と同定する方法を示した。

多自由度マニピュレータの作業空間における力コントローラの一構成法

村上俊之，大西公平

電気学会論文誌 Vol.112-D ( No.5 ) 453 -458 1992.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

多自由度マニピュレータの力制御を作業空間で簡単に実現する方法を示した。

減速機付ＤＣモータのトルク制御の研究

金子健二，鈴木夏夫，大西公平，谷江和雄

日本機械学会論文集　 58巻 ( 546 号Ｃ編 ) 484 1992.02

Research paper (conference, symposium, etc.), Joint Work

　View Summary

ハーモニックドライブギアの制振制御について新しいセミクローズドループを提案。

疑似筋肉システムの一構成法

村上俊之, 石橋広純，大西公平

電気学会論文誌 Vol 111-D ( No.12 ) 1038 1991.12

Research paper (conference, symposium, etc.), Joint Work

　View Summary

マイクロアクチュエータを用いた人工筋肉の制御法を提案した。

Disturbance Observer-Based MotionControl of Direct Drive Motors

Satoshi Komada, Muneaki Ishida, Kouhei Ohnishi, Takamasa Hori

IEEE Transactions on Energy Conversion Vol.6 ( No.3 ) 553-559 1991.09

Research paper (conference, symposium, etc.), Joint Work

　View Summary

直接駆動ロボットに外乱オブザーバを適用し高性能化を図った。

The Method of AccelerationMeasurement Using Silicon Beam

Kouhei Ohnishi

IEEE Japan-IAS'91 5th  1991.08

Joint Work

　View Summary

シリコン上に加速度センサーを構成して加速度を測定する方法を示した。

Sensorless Drive of Induction Motor with PAM Inverter

大西公平

3rd International Warkshop on Microcomputer Control of Electrical Drives 0-1  1991.07

Single Work

　View Summary

ＰＡＭインバータによる新しい誘導機駆動を示した。

A Force Control of Network of Actuators Advanced Robotics Proc. Kouhei Ohnishi

Toshiyuki Murakami, Hirozumi Ishibashi,

5th Int. Conf. on 1195  1991.06

Joint Work

　View Summary

アクチュエータのネットワーク制御の提案をした。

フレキシブルジョイントのモーションコントロール

金子健二，大西公平

電気学会論文誌 Vol.111-D ( No.4 ) 282 -288 1991.04

Research paper (conference, symposium, etc.), Joint Work

　View Summary

フレキシブルジョイントの新しいモーションコントロールを示した。

Media Control of Microactuators

Proc. of One day Forum in Mems  1991.01

Research paper (conference, symposium, etc.), Single Work

　View Summary

集合体ＭＥＭＳの制御を提案した。

ロバスト制御（１）

機械設計1990年12月別冊    145-146 1990.12

Research paper (scientific journal), Single Work

　View Summary

モーションコントロールのロバスト制御を簡単に紹介した。

A Motion Control of Flexible Joint Based on Velocity Estimation

Kenji Kaneko, Shin'ichi Kondo, Kouhei Ohnishi

IEEE Industrial Electronics Cos. Conf. Proc.    279-284 1990.11

Joint Work

　View Summary

フレキシブル関節のモーションコントロールを提案した。

A Robust Force Control Based on 　 Continuous Switching of Local Control Rules.

Yutaka Uchimura, Yoshimitu Umahashi, Kouhei Ohnishi

IEEE Industrial Electronics Soc. Conf. Proc.    285-289 1990.11

Joint Work

　View Summary

力制御のロバスト制御について提案した。

外乱オブザーバによる障害物との衝突検知およびその回避モーション

村上俊之，高倉晋司，大西公平

電気学会論文誌Ｄ 11号   1155-1162 1990.11

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱オブザーバを用いて衝突時の瞬時検知と回避動作方法を提案した。

Motion Control of Linear Synchronous Motors Based on Disturbance Observer

Satoshi Komada, Muneaki Ishida, Kouhei, Ohnishi, Takamasa Hori

IEEE Industrial Electronics Soc. Conf.　Proc.    154-159 1990.11

Joint Work

　View Summary

リニア周期機の超精密制御に関する制御法を提案した。

Force Feedback Control of Robot Manipulator by the Acceleration Tracing Orientation Method

駒田　諭, 大西公平

IEEE Trans. on Industrial Electronics Vol.37 ( No.1 ) 6--12 1990.02

Research paper (conference, symposium, etc.), Joint Work

　View Summary

各関節軸を加速度制御とすることによりロボットの力制御がどうなるかを解析し, 制御系の設計法を与えた。

Network Motion Control 　 Michromechatronics

村上俊之

The Thirol Toyota Conference Proc.    10-1/ 10-14 1989.10

Joint Work

　View Summary

マイクロアクチュエータを用いたネットワークモーションシステムの制御原理について理論的展開を示した。

加速度に基づく多自由度ロボットの力フィードバック制御

駒田　諭, 村上俊之，大西公平

電気学会論文誌 109 巻 ( D-5?号 ) 325-332 1989.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

加速度を関節空間と作業空間の両方で用いることによりロバストな力制御が可能であり, その設計手法と実験を示した。

外乱推定オブザーバを用いたロボットハンドのバイラテラルサーボ制御

稲玉　哲, 駒田　諭，大西公平

電気学会論文誌 109 巻 ( D-4 号 ) 281-288 1989.04

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱オブザーバーを用いて, 力センサーなしにバイラテラルサーボ系が設計できることを示し, それをロボットに応用した。

An Advanced Approach to Servo Control in Industrial Robot

村上俊之，大西公平

IEEE International Workshop on Intelligent Robots an Systems, Proc.    379 1988.11

Joint Work

　View Summary

産業用ロボットのサーボ制御にインテリジェンスを付加する手法を述べた。

二次励磁誘導発電機を用いた孤立電源用不規則入力発電システム

金　文煥, 中村賢亮, 宮地邦夫，大西公平

電気学会論文誌 108 巻 ( D-11号 ) 1056 1988.10

Research paper (conference, symposium, etc.), Joint Work

　View Summary

離島などに適用可能な孤立発電として自然エネルギーを利用する二次励磁方式誘導発電機のシステム解析と制御方法を示した。

Linear Adaptive Control System　Taking Disturbance Supprssion into Account

大石　潔，大西公平

11th Triennial World Congress of the International Measurement Confederation    207 1988.10

Joint Work

　View Summary

外乱の抑圧効果を持つ線形適応制御系の設計手法を示した。

Robust Force and ComplianceControl of Robotic Manipulator

駒田　諭, 森瀬　勝，大西公平

IEEE Industrial Electronics Soc. Conf. Proc. Robotics and Vision    20 1988.10

Joint Work

　View Summary

ロボットの力制御及びコンプライアンス制御についての統一的な制御方法を提示した。

Fast Motion Control of Mechanica Manipulator for Path Tracking

星仲智幸，大西公平

IEEE Industrial Electronics Soc. Conf. Proc. Robotics and Vision    163 1988.10

Joint Work

　View Summary

高速に軌道追従を行うロボットマニピュレータに逆動力学を用いない新しい制御方法を適用した。

ディジタルサーボ系のワインドアップ現象の防止

中尾真人, 金　文煥, 大石　潔，大西公平

電気学会論文誌 108 巻 ( D-7 巻 ) 678 1988.07

Research paper (conference, symposium, etc.), Joint Work

　View Summary

直列積分を持っているディジタルサーボ系にリミッタが働くときに蓄積する積分誤差が系に与える過渡的な擾乱を防止する手法を示した。

多段階電磁石アクチュエータの位置制御

久住洋之，大西公平

電気学会論文誌 108 巻 ( D-5 巻 ) 509 1988.05

Research paper (conference, symposium, etc.), Joint Work

　View Summary

多段階電磁石アクチュエータの位置制御に関する基礎的な研究成果を示し, 制御法についての考察と実験を示した。

Decoupling Control of an Induction Motor Operated with a PAM Inverter

木本兼一, 亀子幸大, 橋本欣也，大西公平

IEEE Power Elec　 Specialist Con. Record    1091 1988.04

Joint Work

　View Summary

ＰＡＭインバータを用いて誘導電動機を高速に応答させる新しい制御方法と実験結果を示した。

Linear Adaptive Position Control　 System of Brushless DC Servo Motor

大石潔, 堀田正明, 谷口勝則，大西公平

IEEE Power Elec　 Specialist Con. Record    191 1988.04

Joint Work

　View Summary

ブラシレスモータに線形適応制御を適用して, 位置サーボ系を組むための原理と制御アルゴリズムを示した。

Adaptive DC Servo Drive Control Taking Force Disturbance into Account

大石潔, 大西公平，宮地邦夫

IEEE Trans. on Industry Applications Vol.IA-21 ( No.1 ) 241 1988.02

Research paper (conference, symposium, etc.), Joint Work

　View Summary

外乱トルクを状態変数とみなしてこれを推定してフィードバックする適応制御系を付加してＤＣサーボ系の性能を高めた。

外乱抑圧形線形適応制御を用いたＤＣサーボモータのロバスト制御

大石潔，大西公平

電気学会論文誌 108 巻 ( D-1 号 ) 39 1988.01

Research paper (conference, symposium, etc.), Joint Work

　View Summary

ＤＣサーボモータに線形適応制御系を適用して外乱抑圧効果を高めた。

Bilateral Robot Hand Based on Estimated Force Feedback

駒田論, 稲玉哲，大西公平

IEEE Industrial Electronics Soc. Conf. Proc.    602 1987.10

Joint Work

　View Summary

力センサを用いずにバイラテラルハンドを構成するための原理, 制御アルゴリズム及び, 実験結果を提示した。

The Secondary Excited InductionGenerator in Random Wave Input System

金文煥, 庭屋晶浩, 大西公平，宮地邦夫

IEEE Int. Workshop on Control Systems an New Energy Applic., Proc.    145 1987.09

Joint Work

　View Summary

不規則波入力発電システムにおいて二次励磁誘導発電機を孤立電源として使用する方法など新しい制御方法を示した。

An Approach to Suppression of Wind-Up Phenomena in Digital Servo Drive System

金文煥, 中尾直人, 大石潔，大西公平

European Conf. on Power Elec. and Applica. Proc.    853 1987.09

Joint Work

　View Summary

ディジタルサーボシステムで問題となる積分形アルゴリズムによるワイドアップ現象の発生のメカニズムと防止法を示した。

A Robust Decentralized Joint Control Based on Interference 　 Estimation

中尾真人, 大西公平，宮地邦夫

IEEE Concil on Robotics and Automation Int. Conf. on Robotics and Automation Proc.    326 1987.04

Joint Work

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ロボットマニピュレータの関節制御に初めて加速度制御が有効であることを示したもので, 併せて実現方法をも示した。

自然エネルギー利用における不規則波シミュレータ駆動二次励磁誘導発電機の適用

金文煥, 庭屋晶浩, 大西公平，宮地邦夫

日本シミュレーション学会誌 ６巻 ( １号 ) 50 1987.03

Research paper (conference, symposium, etc.), Joint Work

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巻線形誘導発電機にパワースペクトル密度が等しいような不規則波シミュレータを適用した。

高いスチフネスを持つ直流サーボ制御系の設計法

大石潔, 中尾真人, 宮崎信雄, 玉置研二, 大西公平，宮地邦夫

電気学会論文誌 107 巻 ( C-3 号 ) 292 1987.03

Research paper (conference, symposium, etc.), Joint Work

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外乱トルクに対してスチフネスを上げ, 抑圧効果を高めるサーボシステムの設計法を示した。

A Decentralized Joint Control of Robotic Manipulator

中尾真人, 大西公平，宮地邦夫

IEEE Industrial Electronics, Int. Workshop on Ind. Automation Sys. Proc.    50 1987.02

Joint Work

　View Summary

ロボットマニピュレータの分散形関節制御方法の原理と実現方法を示した。

Microprocessor Controlled DC Motor for Load Insensitive Position Servo System

大石潔, 中尾真人, 大西公平，宮地邦夫

IEEE Trans. on Industrial Electronics Vol.IE-34 ( No.1 ) 44 1987.02

Research paper (conference, symposium, etc.), Joint Work

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状態観測器を用いた位置サーボ系の解析と設計手法を与えた。

メカトロニクスにおける新しいサーボ技術

電気学会論文誌 107 巻 ( D-1 号 ) 83 1987.01

Research paper (conference, symposium, etc.), Single Work

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メカトロニクス技術において中心となるサーボ技術についての新しい流れを紹介し, 今後の展望を示した。

他励直流機のＩ?ＰＤ形速度制御における外乱抑圧特性に関する一考察

玉置研二, 大石潔, 大西公平，宮地邦夫

計測自動制御学会論文集 22巻 ( 11号 ) 1231 1986.11

Research paper (conference, symposium, etc.), Joint Work

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Ｉ?ＰＤ制御と状態観測器及び受動的適応製制御の差異について論じた。

受動的適応制御を用いたＤＣサーボモータの二自由度制御

玉置研二, 大石潔, 大西公平，宮地邦夫

計測自動制御学会論文集 22巻 ( 11号 ) 1175 1986.11

Research paper (conference, symposium, etc.), Joint Work

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受動的適応制御を用いてＤＣサーボモータのロバストネスを高めた。

Adaptive DC Servo Drive Control Taking External Force Suppression into Account

大石潔, 玉置研二, 大西公平，宮地邦夫

IEEE Industry Applications Soc. Ann. Mt. Conf. Rec.    277 1986.10

Joint Work

　View Summary

直流サーボ系のパラメータ変動と負荷変化に対して適応制御を二重に付けて回転速度と位置の変動を大幅に減らす制御原理を示し, 併せて実験結果を提示した。

Microprocessor-based Robust Control of A DC servo Motor

玉置研二, 大石潔, 大西公平，宮地邦夫

IEEE Control Systems Magazine 1986-Oct. issue    30 1986.10

Research paper (conference, symposium, etc.), Joint Work

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相補的補償器によりＤＣサーボシステムのパラメータ感度を低減し, かつ外乱抑圧効果を高めた。

High Stiff Position Servo System　and Its Application to Manipulator Motion Control

中尾真人, 大石潔, 大西公平，宮地邦夫

IEEE Industrial Electronics Soc. Conf. Proc.    28 1986.10

Joint Work

　View Summary

状態観測器をマニピュレータに関節に付加することにより制御剛性を上げて結果的に逆動力学を用いずとも関節間での干渉が無くなることを示した。

Model Reference Adaptive System　Against Rotor Resistance Variation in Induction Motor Drive

大西公平，上田洋三, 宮地邦夫

IEEE Trans. on Industrial Electronics Vol.IE-33 ( No.3 ) 217 1986.08

Research paper (conference, symposium, etc.), Joint Work

　View Summary

誘導電動機のベクトル制御において問題となる二次抵抗変動の補償方法を示した。

Secondary Excited InductionGenerator System Driven By the Random Wave Simulator

金文煥, 庭屋晶浩, 安藤直明，大西公平

Jap. Soc. for Simulation Tech Conf. on Recent Advances of Complex Systems    454 1986.07

Joint Work

　View Summary

不規則波シミュレータを用いて二次励磁誘導発電機を駆動して, 自然エネルギー利用における発電機の特性を明らかにした。

Manipulator Motion Control having　High Stiffness

中尾真人, 大石潔, 宮地邦夫

SICE Annual Conf. Rec.    955 1986.07

Joint Work

　View Summary

高いスチフネスを持つロボットマニピュレータの位置サーボシステムについて特性と制御原理を明らかにした。

DC Electromagnets Used Position　 Control for Manipulator

金子博夫, 久住洋之, 宮地邦夫

SICE Annual Conf. Rec.    959 1986.07

Joint Work

　View Summary

電磁石を用いたロボットマニピュレータ用の新しいアクチュエータを堤案し, その特性を示した。

二慣性共振系を持つ他励直流機の一速度制御法

大石潔, 名井健, 大西公平，宮地邦夫

電気学会論文誌 106 巻 ( B-2 号 ) 111 1986.02

Research paper (conference, symposium, etc.), Joint Work

　View Summary

軸ねじり振動が問題となる他励直流機の駆動において状態観測器を用いて防振制御を行った。

Microprocessor Controlled DC Motor for Load Insensitive Position Servo System

大石潔, 中尾真人, 大西公平，宮地邦夫

IEEE Industrial Electronics Soc. Conf. Proc.    339 1984.11

Joint Work

　View Summary

状態観測器により負荷トルクを推定して, それをフィードバックすることによりサーボシステムの制御剛性を可変にし, 一種の二自由度システム設計理論を導いた。

制御電圧源による誘導機駆動の一方式

大西公平，宮地邦夫, 寺嶋正之

電気学会論文誌 104 巻 ( B-11号 ) 727 1984.11

Research paper (conference, symposium, etc.), Joint Work

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制御電圧源で駆動される誘導電動機の非干渉制御方法を示した。

Decoupling Control of Secondary 　 Flux and Secondary Current in 　 Induction Motor Drive with 　 Controlled Voltage Source and Its Comparison with Volts/Hertz 　 Control

大西公平，鈴木秀夫, 宮地邦夫, 寺嶋正之

IEEE Trans. on Industry Applications Vol. IA-21 ( No.1 ) 241 1984.11

Joint Work

　View Summary

誘導電動機のベクトル制御を拡張し, 電圧形インバータで正確に実行できるような制御手法を示し, 実験結果により有効性を明らかにした。

速度推定法に基づく他励直流機のディジタル速度制御法

大石潔, 大西公平，宮地邦夫

計測自動制御学会論文集 21巻   1217 1984.11

Research paper (conference, symposium, etc.), Joint Work

　View Summary

他励直流機の軸直結形速度センサを省略する目的に状態観測器を用いる方法を示した。

Microprocessor Used Robust Control of DC Servo Motor by means of Passive Adaptive Control

玉置研二, 大西公平，宮地邦夫

IEEE Industrial Electronics Soc. Conf. Proc.    211 1984.11

Joint Work

　View Summary

マイクロプロセッサを用いて線形適応制御系を構成して直流サーボモータのロバスト化を図った。

Fully Digital Controlled Decoupled 　 System in Induction Motor Drive

寺嶋正之, 野村昌克, 足利正，大西公平

IEEE Industrial Electronics Soc. Conf. Proc.    854 1984.10

Joint Work

　View Summary

全ディジタル制御器にて誘導電動機のベクトル制御を電圧源形電源で実現する場合の問題点を指摘し, その解決方法を提示した。

Microprocessor-Used Speed Control of DC Motor without Speed Sensor

大石潔, 大西公平，宮地邦夫

IEEE Industrial Electronics Soc. Conf. Proc.    468 1984.10

Joint Work

　View Summary

マイクロプロセッサを用いて速度検出器が無くても速度制御が出来る条件と実現方法を示した。

A Microcomputer Based Secondary Current Control System of Wound Rotor Induction Generator for 　 Random Wave Input Generation 　 System

金文煥, 野田英司, 大西公平，宮地邦夫

IEEE Industrial Electronics Soc. Conf. Proc.    175 1984.10

Joint Work

　View Summary

マイクロコンピュータにより不規則入力発電システムに用いる巻線形誘導発電機の制御を行った。

状態観測器を用いた他励直流機の一制御法

大石潔, 大西公平，宮地邦夫

電気学会論文誌 104巻 ( B-6 号 ) 373 1984.06

Research paper (conference, symposium, etc.), Joint Work

　View Summary

他励直流機の速度制御に状態観測器を用いてインパクトドロップを抑制する制御方法を示した。

誘導機のベクトル制御

内野広, 黒沢良一，大西公平

計測自動制御学会誌 22巻 ( ４号 ) 356 1983.04

Research paper (conference, symposium, etc.), Joint Work

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誘導電動機のベクトル制御を制御理論的に考察し二次磁束と二次電流の直交性について物理的に明確な定義を与えた。

Torque-Speed Regulation of DC Motor Based on Load Torque Estimation Metho

大石潔, 大西公平，宮地邦夫

Int. Power Elec Conf. (IPEC) Conf. Rec.    1209 1983.03

Joint Work

　View Summary

負荷トルクを推定して直流機のトルクと速度を制御する方法を示した。

Decoupling Control of Secondary Flux and Secondary Current in Induction Motor Drive with Controlled Voltage Source and Its Comparison with Volt/Herz Control

大西公平，鈴木秀夫, 宮地邦夫

IEEE Industry Applications Soc. Ann. Mt. Conf. Rec.    678 1982.10

Joint Work

　View Summary

誘導電動機の非干渉化制御手法の実現方法について設計法を示した。

Principles of Costant Magnitude　Regulation of Secondary Flux Based on Slip Frequency Control in 　 Induction Motor Drive

大西公平，宮地邦夫

International Con. on Elect. Machines Proc. Prt.1    203 1981.09

Joint Work

　View Summary

電圧型ベクトル制御の原理を示した。

吸引力形磁気浮上台車の非干渉モデル

大西公平, 正田英介，山村昌

計測自動制御学会論文集 ６巻   671 1981.09

Research paper (conference, symposium, etc.), Joint Work

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一車両における多数の電磁石が配置されたボディーと台車の運動学的解析理論とモデルを示した。

吸引力形磁気浮上台車の集合制御と独立制御

山村昌, 大西公平，長尾聡子

電気学会論文誌 101 巻 ( B- 2 号 ) 109 1981.02

Research paper (conference, symposium, etc.), Joint Work

　View Summary

磁気浮上車両を支える台車の運動モードに分解してそれぞれ独立して制御する集合制御と電磁石ごとに制御する独立制御について論じた。

吸引力形常電導磁気浮上の制御系理論

山村昌, 大西公平，正田英介

電気学会論文誌 99巻 ( B-11号 ) 752 1979.11

Research paper (conference, symposium, etc.), Joint Work

　View Summary

多点支持における吸引形磁気浮上方式の制御系の設計理論と解析手法を示した。

磁気浮上式鉄道（低公害鉄道）

山村昌，大西公平

電気学会雑誌 99巻 ( 9号 ) 814 1979.09

Research paper (scientific journal), Joint Work

　View Summary

吸引形磁気浮上鉄道についての従来の成果をまとめ, 第二世代の突極形電磁石を用いる浮上方式を提案した。

吸引電磁石磁気浮上方式の最適制御

大西公平，山村昌, 林武人

電気学会論文誌 98巻 ( B-4号 ) 387 1978.04

Research paper (conference, symposium, etc.), Joint Work

　View Summary

吸引電磁石磁気浮上方式の最適制御系の設計手法を示した。