研究者詳細 - 大西　公平

論文 - 大西　公平

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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年12月

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年

ISSN 21635137

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年12月

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年

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年

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年

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年

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年05月

共著, 最終著者

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年02月

共著, 最終著者

Object Detection in Motion Reproduction System with Segmentation Algorithm

X Sun, T Nozaki, T Murakami, K Ohnishi

2022年02月

共著, 最終著者

Performance Impruvement of Bilateral Teleoperation with Hydraulic Actuator by Friction Compensation

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

2022年02月

共著, 最終著者

Quantification of Force/Tactile Sensation

Ohnishi K., Saito Y.

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

共著, 最終著者, ISSN 21871094

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年

ISSN 21624704

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年08月

ISSN 10834435

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年06月

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年03月

ISSN 9781728144429

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年03月

ISSN 21871094

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年01月

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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年

ISSN 09120289

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年10月

ISSN 9781728154145

© 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年07月

ISSN 21871094

©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年07月

ISSN 9781728167947

© 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年06月

ISSN 04247760

© 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年03月

ISSN 02780046

© 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年01月

ISSN 9781728166674

© 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年

ISSN 09153942

© 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年

ISSN 02780046

© 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年

ISSN 09120289

© 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年

ISSN 14785951

© 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年

ISSN 0924090X

© 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年

ISSN 13645706

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年12月

ISSN 9781728140315

© 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年10月

ISSN 9781728148786

© 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年10月

ISSN 9781728148786

© 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年10月

ISSN 9781728148786

© 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年07月

ISSN 9781728129273

© 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年06月

ISSN 9781728136660

© 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年06月

ISSN 9781728136660

© 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年05月

ISSN 9781538669594

© 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年05月

ISSN 9781538669594

© 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年05月

ISSN 9781538669594

© 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年05月

ISSN 9781538669594

© 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年01月

ISSN 00939994

© 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年

ISSN 21871094

© 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年

ISSN 01691864

© 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年

ISSN 09136339

© 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年12月

ISSN 9781509066841

© 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年12月

ISSN 15513203

© 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年11月

ISSN 01691864

© 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年11月

ISSN 15513203

© 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年10月

ISSN 10834435

© 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年08月

ISSN 9781538618547

© 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年08月

ISSN 9781538618547

© 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年08月

ISSN 9781538618547

© 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年08月

ISSN 9781538637050

© 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年08月

ISSN 9781538637050

© 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年06月

ISSN 9781538619469

© 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年05月

ISSN 02780046

© 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.

Access to Document (DOI)

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年

ISSN 21871094

© 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.

Access to Document (DOI)

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年

ISSN 21871094

© 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.

Access to Document (DOI)

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

大西公平

IEEJ Journal of industry Applications(accepted for publication) （IEEE） 2017年12月

研究論文（学術雑誌）, 共著

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

大西公平

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年12月

共著

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

大西公平

IEEJ Journal of industry Application 5 （ 5 ） 370 - 377 2016年09月

共著

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

大西公平

IEEJ Journal of industry Applications （IEEJ） 5 （ 3 ） 199 - 205 2016年05月

研究論文（学術雑誌）

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

大西公平

IEEJ Journal of Industry Applications （IEEJ） 4 （ 5 ） 514 - 525 2015年09月

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

大西公平

IEEJ Journal of Industry Applications 4 （ 5 ） 574 - 581 2015年09月

共著

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

大西公平

IEEJ Journal of Industry Applications （IEEJ） 4 （ 5 ） 526 - 534 2015年09月

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

大西公平

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年08月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 135 （ 7 ） 755 - 764 2015年07月

共著

力触覚通信ー超成熟社会発展を後押しする新しい通信

大西公平

電子情報通信学会誌（電子情報学会） 98 （ 5 ） 361 - 368 2015年05月

共著

An Adaptive Reaction Force Observer Design

大西公平

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

共著

Electro-Hydraulic Transmission System for Minimally invasive Robotics

大西公平

IEEE Transaction on Industrial Electronics （IEEE） 2015年

共著

Heartbeat Synchronization with Haptic Feedback for Tele-surgical Robot

大西公平

IEEE Transaction on industrial Electronics （IEEE） 61 （ 7 ） 3753 - 3764 2014年07月

共著

A Guide to design Disturbance Observer

大西公平

ASME Journal of Dynamic System, Measurement and Control 136 （ 2 ） 1 - 10 2014年03月

共著

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

大西公平

IEEE Transaction on Industrial Elecronics （IEEE） 61 （ 2 ） 1022 - 1032 2014年03月

共著

多自由度異構造バイラテラル制御系の通信遅延補償法

大西公平

電気学会論文誌産業部門誌（電気学会） 134 （ 3 ） 317 - 324 2014年03月

共著

Stiffness Transmission of Scaling Bilateral Control System by Gyrator Element Integration

大西公平

IEEE transaction on Industrial Electronics 61 （ 2 ） 1033 - 1043 2014年02月

共著

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

大西公平

IEEJ Journal of Industry Application （IEEJ） 3 （ 1 ） 1 - 9 2014年01月

共著

On the Explicit Robust Force Control via Disturbance Observer

大西公平

IEEE transaction on industrial Electronics （IEEE） 2014年

共著

Stability and Robustness of Disturbance Observer based Motion Control Systems

大西公平

IEEE Transaction on Industrial Electronics （IEEE） 2014年

共著

An Adaptive Reaction Torque Observer Design

大西公平

IEEE transaction on Mechatronics （IEEE） 2014年

共著

motion Expression by Elemental Separation of Haptic information

大西公平

IEEE Transaction on Industrial Electronics （IEEE） 2014年

共著

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

大西公平

IEEE Transaction on Industrial Imfomatics （IEEE） 9 （ 4 ） 2043 - 2051 2013年11月

共著

Analysis the Rubustness of Control Systems Based on Disturbance Observer

大西公平

International Journal of Control 86 （ 8 ） 1733 - 1743 2013年10月

共著

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

大西公平

Electronics and Communications in Japan 96 （ 12 ） 15 - 23 2013年09月

共著

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

大西公平

Electronics and Communication in Japan 96 （ 8 ） 41 - 49 2013年08月

共著

Bandwidth Constraints of Disturbance Observer in Presence of Real Parametric Uncertainties

大西公平

European Journal of Control 19 （ 3 ） 199 - 205 2013年05月

共著

腱駆動型球体関節による力覚伝達

大西公平

電気学会論文誌産業応用部門誌（電気学会） 133 （ 3 ） 307 - 313 2013年03月

共著

ロボット切削システムのための骨密度分類法

大西公平

電気学会論文誌産業応用部門氏 133 （ 3 ） 328 - 334 2013年03月

共著

バイラテラル遠隔操作における伝達データ適正化手法

大西公平

電気学会論文誌産業応用部門誌（電気学会） 133 （ 3 ） 314 - 319 2013年03月

共著

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

大西公平・鈴木敦

IEEE Transaction on Industrial Electronics （IEEE） 60 177 - 190 2013年01月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 2013年

共著

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

大西公平

IEEE Transaction on Industrial Electronics （IEEE） 2013年

共著

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

大西公平

IEEE Transaction on Industrial electronics （IEEE） 2013年

共著

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

大西公平

IEEE Transaction on industrial electronics 2013年

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 2013年

共著

New Nonlinear Tracking Differential-estimators:Theory and Practice

大西公平

Internatinal Journal of Innovative Computing Information and Control 8/10 0 - 10 2012年10月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 132 （ 9 ） 858 - 864 2012年09月

共著

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

大西公平

The International Journal of Medical Robotics and Computer Assisted Surgery 8 （ 2 ） 221 - 229 2012年07月

共著

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

大西公平

IEEE Transaction on Mechanics 17 （ 3 ） 488 - 498 2012年06月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 132/3 374 - 380 2012年03月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 132/3 397 - 403 2012年03月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 132 （ 3 ） 374 - 380 2012年03月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 132 （ 3 ） 397 - 403 2012年03月

共著

Haptic Transmission by Weighting Control Under Time- Varying Communication Delay

大西公平

IET Control Theory and Application 6/3 420 - 429 2012年02月

共著

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

大西公平

IEEJ Journal of Industry Applocations 2 （ 1 ） 67 - 73 2012年01月

共著

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

大西公平

IEEJ Journal of Industry Application 2 （ 1 ） 1 - 6 2012年01月

共著

Abstraction of Action Components Unconstrained by Alignment of Haptic Sensing Points

大西公平

IEEE Transaction on Industrial Electronics （IEEE） 58 （ 8 ） 3196 - 3204 2011年08月

共著

Muti-DOF Micro Bilateral Controller Using Oblique Coodinate Control

大西公平

IEEE Transaction on Industrial Informatics （IEEE） 7/3 （ 3 ） 446 - 454 2011年08月

共著

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

大西公平

IEEE Transaction on Industrial Informatic （IEEE） 7 （ 2 ） 266 - 276 2011年05月

共著

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

大西公平

IEEE Transaction on Industrial Informatic （IEEE） 7 （ 2 ） 266 - 276 2011年05月

共著

Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots

大西公平

IEEE Transaction on Industral Electronics 58 （ 4 ） 1385 - 1396 2011年04月

共著

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

大西公平

電気学会産業応用部門誌（電気学会） 131 （ 3 ） 283-290 2011年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 131 （ 3 ） 244-251 2011年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 131 （ 3 ） 297-303 2011年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 131 （ 3 ） 304-310 2011年03月

研究論文（学術雑誌）, 共著, 査読有り

Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

大西公平

IEEE Transaction on Industrial Electronics 58 （ 2 ） 436-443 2011年02月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transaction on Industrial Electronics 58 （ 2 ） 376-383 2011年02月

研究論文（学術雑誌）, 共著, 査読有り

触覚鉗子による手術基本動作における力覚の測定

大西公平

日本コンピュータ外科学会誌 12 （ 3 ） 388-389 2010年11月

研究論文（学術雑誌）, 共著, 査読有り

触覚を有する8自由度手術用両腕ロボットの開発

大西公平

日本コンピュータ外科学会誌 12 （ 3 ） 208-209 2010年11月

研究論文（学術雑誌）, 共著

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

大西公平

日本コンピュータ外科学会誌 12 （ 3 ） 214-215 2010年11月

研究論文（学術雑誌）, 共著, 査読有り

バイラテラル遠隔操作の基本原理について

大西公平

日本コンピュータ外科学会誌 12 （ 3 ） 220-221 2010年11月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 9 ） 1094-1101 2010年09月

研究論文（学術雑誌）, 単著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 57 （ 9 ） 3228-3238 2010年09月

研究論文（学術雑誌）, 単著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 9 ） 1043-1050 2010年09月

研究論文（学術雑誌）, 単著

2足歩行ロボットのための極零相殺によるZMP補償法

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 9 ） 1067-1074 2010年09月

研究論文（学術雑誌）, 共著, 査読有り

触覚伝達率を実装したマルチラテラル制御

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 8 ） 875-883 2010年08月

研究論文（学術雑誌）, 共著, 査読有り

離散コサイン変換を用いた力覚情報の非可逆圧縮

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 8 ） 945-952 2010年08月

研究論文（学術雑誌）, 共著

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 8 ） 953-964 2010年08月

研究論文（学術雑誌）, 単著

Task Description and Control for Redundant System by Oblique Coordinate

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 8 ） 1015-1021 2010年08月

研究論文（学術雑誌）, 共著

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

大西公平

精密工学会誌 76 （ 8 ） 938-944 2010年08月

研究論文（学術雑誌）, 共著

Shadow Robot for Teaching Motion

大西公平

Robotics and Autonomous Systems 58 （ 7 ） 840-846 2010年07月

研究論文（学術雑誌）, 共著

Motion Control Systems With Network Delay

大西公平

AUTOMATIKA 51 （ 2 ） 119-126 2010年06月

研究論文（学術雑誌）, 共著, 査読有り

Motion Control for Real-World Haptics,

大西公平

IEEE Industrial Electronics Magazine, 4 （ 2 ） 16-19 2010年06月

研究論文（学術雑誌）, 共著

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

大西公平

Minimally Invasive Therapy & Allied Technologies 19 （ 3 ） 16-19 2010年06月

研究論文（学術雑誌）, 共著

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 5 ） 889-894 2010年05月

研究論文（学術雑誌）, 共著

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 5 ） 685-691 2010年05月

研究論文（学術雑誌）, 単著, 査読有り

モード仕事率に基づく触覚動作認識の一手法

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 4 ） 477-484 2010年04月

研究論文（学術雑誌）, 単著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 4 ） 468-476 2010年04月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial 57 （ 3 ） 1050-1062 2010年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 3 ） 268-276 2010年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 3 ） 283-292 2010年03月

研究論文（学術雑誌）, 共著, 査読有り

斜交座標制御を用いた高度なハイブリッド制御の実現

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 3 ） 300-306 2010年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 130 （ 2 ） 243-250 2010年02月

研究論文（学術雑誌）, 共著, 査読有り

Performance Analysis of Bilateral Control System With Communication Bandwidth Constraint

大西公平

IEEE Transaction on Industral Electronics IEEE Transaction on Industrial Electronics 58 （ 2 ） 436 - 443 2010年02月

共著

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

大西公平

IEEE Transaction on industrial Electronics 58 （ 2 ） 376 - 383 2010年02月

共著

An Expression of System Connection Considering Transmission Delay

大西公平

Electrical Engineering in Japan 170 （ 1 ） 45-54 2010年01月

研究論文（学術雑誌）, 共著, 査読有り

Asymmetric Multilateral Teleoperation through Scaled Consensus Reaching on Graphs

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 10 ） 972-980 2009年10月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 56 （ 10 ） 3964-3974 2009年10月

研究論文（学術雑誌）, 共著, 査読有り

環境モードに基づく二足歩行ロボットの不整地適応法

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 9 ） 881-889 2009年09月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

システム制御情報学会論文誌 22 （ 8 ） 303-310 2009年08月

研究論文（学術雑誌）, 共著, 査読有り

Infinite-Mode Networks for Motion Control

大西公平

IEEE Transactions on Industrial Electronics 56 （ 8 ） 2933-2944 2009年08月

研究論文（学術雑誌）, 共著, 査読有り

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大西公平

電気学会産業応用部門誌（電気学会） 129 （ 8 ） 802-810 2009年08月

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大西公平

外科治療 101 （ 1 ） 1-5 2009年07月

研究論文（学術雑誌）, 共著, 査読有り

変動通信遅延を伴うL2安定なバイラテラル制御系

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 7 ） 674-681 2009年07月

研究論文（学術雑誌）, 共著, 査読有り

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大西公平

電気学会産業応用部門誌（電気学会） 129 （ 7 ） 682-690 2009年07月

研究論文（学術雑誌）, 共著, 査読有り

ZMPを規範とした2足歩行ロボットの胴体軌道生成法

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 7 ） 738-747 2009年07月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 7 ） 748-755 2009年07月

研究論文（学術雑誌）, 共著, 査読有り

２足歩行ロボットの不整地における安定性指標

大西公平

電気学会論文誌産業応用部門誌（電気学会） 129 （ 6 ） 571 - 577 2009年07月

共著

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 6 ） 649-657 2009年06月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 6 ） 548-554 2009年06月

研究論文（学術雑誌）, 共著, 査読有り

2足歩行ロボットの不整地における安定性指標

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 6 ） 571-577 2009年06月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 6 ） 585-592 2009年06月

研究論文（学術雑誌）, 共著, 査読有り

バイラテラル制御による環境剛性の動的推定法

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 6 ） 601-607 2009年06月

研究論文（学術雑誌）, 共著, 査読有り

運動量に基づいた力制御の安定性解析

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 6 ） 614-621 2009年06月

研究論文（学術雑誌）, 共著, 査読有り

Mechanical Recognition of Unknown Environmental Using Active/Passive Contact Notion

大西公平

IEEE Transaction on Industrial Electronics （IEEE） 56 （ 5 ） 1364 - 1374 2009年05月

単著

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

大西公平

IEEE Transactions on Industrial Electronics 56 （ 5 ） 1356 - 1363 2009年05月

共著

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 4 ） 353-362 2009年04月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会論文誌産業ぷ用部門誌（電気学会） 129 （ 4 ） 353 - 362 2009年04月

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 2 ） 150-157 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

Mechanical Recognition of Unknown Environment Using Active/Passive Contact Motion

大西公平

IEEE Transactions on Industrial Electronics 56 （ 5 ） 1364-1374 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 56 （ 5 ） 1356-1363 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 1 ） 59-66 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

A Bipedal Locomotion Planning Based on Virtual Linear Inverted Pendulum Mode

大西公平

IEEE Transactions on Industrial Electronics 56 （ 1 ） 54-61 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 56 （ 1 ） 62-68 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 56 （ 1 ） 36-42 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

A Wide-Range Velocity Measurement Method for Motion Control

大西公平

IEEE Transactions on Industrial Electronics 56 （ 2 ） 510-519 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

Haptic motion control for physical human support

大西公平

IEEJ Transactions on Electrical and Electronic Engineering （電気学会） 4 （ 2 ） 166-175 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

Haptics for medical applications

大西公平

Journal of Artificial Life and Robotics 13 （ 2 ） 383-389 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 56 （ 3 ） 618-627 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 129 （ 3 ） 319-324 2009年03月

研究論文（学術雑誌）, 共著, 査読有り

バイラテラル制御による環境剛性の動的推定法

大西公平

電気学会論文誌産業応用部門誌（電気学会） 129 （ 6 ） 601 - 607 2009年01月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 129 （ 6 ） 548 - 554 2009年01月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 129 （ 6 ） 585 - 592 2009年01月

共著

2足歩行ロボットの不整地における安定性指標

大西公平

電気学会論文誌応用産業部門誌（電気学会） 129 （ 6 ） 571 - 577 2009年01月

共著

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

大西公平

電気学会論文誌産業応用部門誌（電気学会） 129 （ 6 ） 649 - 657 2009年01月

単著

運動量に基づいた制御の安定的解析

大西公平

電気学会論文誌産業応用部門誌（電気学会） 129 （ 6 ） 614 - 621 2009年01月

共著

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

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 11 ） 1254-1261 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 55 （ 5 ） 2152-2168 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 5 ） 661-668 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 6 ） 687-693 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

運動量を基にした動的力制御の一構成法

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 6 ） 694-700 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 6 ） 709-717 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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 ―

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 6 ） 726-732 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 6 ） 726-732 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 128 （ 6 ） 767-774 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

Transactions on Advanced Robotics 22 （ 8 ） 789-806 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Informatics 4 （ 3 ） 185-197 2008年03月

研究論文（学術雑誌）, 共著, 査読有り

An analysis of parameter variations of disturbance observer for motion control

大西公平

IEEE Transactions on Industrial Electronics 54 （ 6 ） 3413-3421 2007年12月

研究論文（学術雑誌）, 共著, 査読有り

A controller design method based on functionality

大西公平

IEEE Transactions on Industrial Electronics 54 （ 6 ） 3335-3343 2007年12月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 54 （ 6 ） 3389-3396 2007年12月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 9 ） 1000-1008 2007年09月

研究論文（学術雑誌）, 共著, 査読有り

一足跳躍ロボットの離床軌道生成と制御

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 8 ） 884-889 2007年08月

研究論文（学術雑誌）, 共著, 査読有り

Improvement of Performances in Bilateral Teleoperation by Using FPGA

大西公平

IEEE Transactions on Industrial Electronics 54 （ 4 ） 1876-1884 2007年08月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 8 ） 851-857 2007年08月

研究論文（学術雑誌）, 共著, 査読有り

伝達遅延を考慮したシステム結合の一表現法

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 6 ） 635-642 2007年06月

研究論文（学術雑誌）, 共著, 査読有り

Multirate Sampling Method for Acceleration Control System

大西公平

IEEE Transactions on Industrial Electronics 54 （ 3 ） 1462-1471 2007年06月

研究論文（学術雑誌）, 共著, 査読有り

Collision Avoidance Method of Humanoid Robot With Arm Force,

大西公平

IEEE Transactions on Industrial Electronics 54 （ 3 ） 1632-1641 2007年06月

研究論文（学術雑誌）, 共著, 査読有り

把持・操り理論に基づくバイラテラル制御系の一構成法

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 6 ） 563-570 2007年06月

研究論文（学術雑誌）, 共著, 査読有り

Real-Time Gait Planning for Pushing Motion of Humanoid Robot

大西公平

IEEE Transactions on Industrial Informatics 3 （ 2 ） 154-163 2007年05月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 127 （ 5 ） 518-527 2007年05月

研究論文（学術雑誌）, 共著, 査読有り

Dexterous Manipulation in Constrained Bilateral Teleoperation using Controlled Supporting Point

大西公平

IEEE Transactions on Industrial Electronics 54 （ 2 ） 1113-1121 2007年04月

研究論文（学術雑誌）, 共著, 査読有り

Transmission of Force Sensation by Environment Quarrier Based on Multilateral Control

大西公平

IEEE Transactions on Industrial Electronics 54 （ 2 ） 898-906 2007年04月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 54 （ 2 ） 907-918 2007年04月

研究論文（学術雑誌）, 共著, 査読有り

Force Servoing of Flexible Manipulator Based on Resonance Ratio Control

大西公平

IEEE Transactions on Industrial Electronics 54 （ 1 ） 539-547 2007年02月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

IEEE Transactions on Industrial Electronics 54 （ 1 ） 530-538 2007年02月

研究論文（学術雑誌）, 共著, 査読有り

工作機械用テーブルの仮想モータ制御

大西公平

精密工学会誌 73 （ 1 ） 150-155 2007年01月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

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

研究論文（学術雑誌）, 共著, 査読有り, ISSN 1478-5951

A Realization of Haptic Training System by Multilateral Control

大西公平

IEEE Transactions on Industrial Electronics 53 （ 6 ） 1935-1942 2006年12月

研究論文（学術雑誌）, 共著, 査読有り

位相進み補償に基づく多慣性共振系の振動抑制制御

大西公平

電気学会産業応用部門誌（電気学会） 126 （ 12 ） 1601-1607 2006年12月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌 126 （ 12 ） 1737-1738 2006年12月

研究論文（学術雑誌）, 共著, 査読有り

Pushing Operation by Flexible Manipulator Taking Environmental Information into Account

大西公平

IEEE Transactions on Industrial Electronics 53 （ 5 ） 1688-1697 2006年10月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 126 （ 9 ） 1243-1250 2006年09月

研究論文（学術雑誌）, 共著, 査読有り

Pushing Operation by Flexible Manipulator Taking Environmental Information into Account

大西公平

IEEE Transactions on Industrial Electronics 53 （ 5 ） 1688-1697 2006年08月

研究論文（学術雑誌）, 共著, 査読有り

Semi-Autonomous Wheelchair Based on Quarry of Environmental Information

大西公平

IEEE Transactions on Industrial Electronics 53 （ 4 ） 1373-1382 2006年08月

研究論文（学術雑誌）, 共著, 査読有り

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

大西公平

電気学会産業応用部門誌（電気学会） 126 （ 8 ） 1059-1068 2006年08月

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フライホイールによる吊り荷のセンサレス振動制御

大西公平

電気学会産業応用部門誌（電気学会） 126 （ 8 ） 1119-1125 2006年08月

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Analysis and Experimental Validation of Force Bandwidth for Force Control

大西公平

IEEE Transactions on Industrial Electronics 53 （ 3 ） 693-699 2006年06月

研究論文（学術雑誌）, 共著, 査読有り

A Controller Design Method of Decentralized Control System

大西公平

電気学会産業応用部門誌（電気学会） 126 （ 5 ） 630-638 2006年05月

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Controller Design Method of Bilateral Control System

大西公平

European Power Electronics and Drives Journal 16 （ 2 ） 22-28 2006年05月

研究論文（学術雑誌）, 共著, 査読有り

Quarry of Modal Information from Environment for Advanced Motion Control

大西公平

電気学会産業応用部門誌（電気学会） 126 （ 4 ） 372-378 2006年04月

研究論文（学術雑誌）, 共著, 査読有り

Robust Network Motion Control System Based on Disturbance Observer

大西公平

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

研究論文（学術雑誌）, 共著, 査読有り

環境適応のための分散制御設計

大西公平,　伊藤　大樹、景山　貴史、鈴木　純、辻　俊明、森澤　光春、

電気学会論文誌Ｄ（産業応用部門誌） Vol123 （ 10 ） 2003年10月

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電気学会論文誌Ｄ（産業応用部門誌）２００３Ｖｏｌ１２３（７月） 778-783 2003年07月

研究論文（学術雑誌）, 共著

２足歩行ロボットの環境に応じた起動計画法

辻　俊明大西公平

電気学会論文誌　産業応用部門誌 122 （ 11 ） 1076-1081 2002年11月

研究論文（学術雑誌）, 共著, 査読有り

Human Interaction by a Wheelchair

S. Katsura, K. Ohnishi

The 28th Annual Conference of the IEEE Industrial Electronics Society (IEcon'02) 2002年11月

共著

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年11月

共著

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年09月

共著

Motion Control Talking Environmental Information into Account

K. Ohnishi, M. Morisawa

10th International Power Electronics and Motion Control Conference (EPE-PEMC'02) 2002年09月

共著

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年07月

共著

Connection Design for Motion Control System

M. Morisawa, K. Ohnishi

7th International Workshop on Advanced Motion Control(AMC '02)<基調> 28-33 2002年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

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年07月

共著

Dynamics Model of Decentralized Systems With Informational Connection

Y. Fujimoto, K. Ohnishi

IEEE Transactions on Industrial Electronics Vol.49 （ No.3 ） 2002年06月

共著

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年05月

共著

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年04月

共著

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年04月

共著

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年03月

共著

Motion Control Talking Environmental Information into Account

M. Morisawa, K. Ohnishi

EPE Journal Vol.12 （ No.4 ） 2002年

共著

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年12月

共著

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年12月

研究論文（研究会，シンポジウム資料等）, 共著

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年12月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

An Approach to Stable Walking onUnknown Slippy Floor for BipedRobot

H.Yamamoto, K.Ohnishi

InternationalConfernce onIndusrial Electronics(IECON'2000) 1293-1298 2001年12月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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

M.Morisawa, K.Ohnishi

InternationalConfernce onIndusrial Electronics(IECON'2000)　 1378-1383 2001年12月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年07月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年07月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著

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年03月

研究論文（研究会，シンポジウム資料等）, 共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年12月

研究論文（研究会，シンポジウム資料等）, 共著

Motion Controller Algorithm Based on Sliding Mode Controller/Observer Scheme

E.Leksono, A.Wijayanto, K.Ohnishi

IEEE InternationalConference on IndustrialElectronics (IECON2000) 1532-1537 2000年10月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年10月

研究論文（学術雑誌）, 単著

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年10月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

Analysis and Synthesis of Decentralized System with Informational Connection

Y.Fujimoto, T.Yakoh, K.Ohnishi

IEEE InternationalConference on IndustrialElectronics (IECON2000) 2602-2607 2000年10月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年10月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年04月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年04月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

Application Of Limited Authority Control To VisualTracking System

D.Purwanto, T.Murakami, K. Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000) 590-594 2000年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

Following Control of Flexible Manipulator

M.Sugita, T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000) 47-51 2000年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

New Representation of Systems with Effect Variables

K.Ueno, T.Murakami, K.Ohnishi

IEEE. International　 Conference on AdvancedMotion Control(AMC2000) 216-221 2000年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

An Estimation of Slope for MobileManipulator

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

IEEE. International　 Conference on AdvancedMotion Control(AMC2000) 104-109 2000年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

A Power-Assistant PlatformTalkingEnvironmentalDisturbance into　Account

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

IEEE. International　 Conference on AdvancedMotion Control(AMC2000) 152-157 2000年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 単著

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年

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年12月

研究論文（研究会，シンポジウム資料等）, 共著

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年12月

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年

研究論文（研究会，シンポジウム資料等）, 共著

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年

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

共著, 査読有り

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年07月

共著, 査読有り

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年07月

共著, 査読有り

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年07月

共著, 査読有り

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年07月

共著, 査読有り

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

共著, 査読有り

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年11月

共著, 査読有り

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年11月

共著, 査読有り

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年11月

共著, 査読有り

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年11月

共著, 査読有り

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年10月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

共著, 査読有り

「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年07月

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

共著, 査読有り

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年07月

共著

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年07月

共著, 査読有り

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年07月

共著, 査読有り

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年03月

研究論文（研究会，シンポジウム資料等）, 共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

共著, 査読有り

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年10月

共著, 査読有り

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年10月

共著, 査読有り

A Vibration Control of Two-Link Flexible Manipulator

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

3rd Japan-France Congress Vol.2 359-364 1996年10月

共著, 査読有り

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年10月

共著, 査読有り

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年10月

共著

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年10月

共著, 査読有り

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年10月

共著, 査読有り

Sensorless Impedance Control of a Biped Robot

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

3rd Japan-France Congress Vol.2 459-464 1996年10月

共著, 査読有り

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年10月

共著, 査読有り

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年10月

共著, 査読有り

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年09月

共著, 査読有り

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年08月

共著, 査読有り

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年08月

共著, 査読有り

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年03月

共著, 査読有り

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年11月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年11月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年11月

研究論文（研究会，シンポジウム資料等）, 共著, 査読有り

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年10月

共著, 査読有り

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年08月

共著, 査読有り

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年04月

共著, 査読有り

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年02月

共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年08月

研究論文（研究会，シンポジウム資料等）, 共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

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年03月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

研究論文（研究会，シンポジウム資料等）, 共著

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

Sliding Modes in Power Converters and Motion Control Systems

A. Sabanovic, N. Sabanovic, K. Ohnishi

Int. J. Control Vol. 57 （ No.5 ） 1237 1993年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年12月

研究論文（研究会，シンポジウム資料等）, 共著

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年09月

研究論文（研究会，シンポジウム資料等）, 共著

The Method of AccelerationMeasurement Using Silicon Beam

Kouhei Ohnishi

IEEE Japan-IAS'91 5th 1991年08月

共著

Sensorless Drive of Induction Motor with PAM Inverter

大西公平

3rd International Warkshop on Microcomputer Control of Electrical Drives 0-1 1991年07月

単著

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

Toshiyuki Murakami, Hirozumi Ishibashi,

5th Int. Conf. on 1195 1991年06月

共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

Media Control of Microactuators

Proc. of One day Forum in Mems 1991年01月

研究論文（研究会，シンポジウム資料等）, 単著

ロバスト制御（１）

機械設計1990年12月別冊 145-146 1990年12月

研究論文（学術雑誌）, 単著

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年11月

共著

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年11月

共著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

Network Motion Control 　 Michromechatronics

村上俊之

The Thirol Toyota Conference Proc. 10-1/ 10-14 1989年10月

共著

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

共著

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年10月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

共著

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年10月

共著

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年10月

共著

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年07月

研究論文（研究会，シンポジウム資料等）, 共著

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年05月

研究論文（研究会，シンポジウム資料等）, 共著

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年04月

共著

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年04月

共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

共著

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年09月

共著

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年09月

共著

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年04月

共著

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年03月

研究論文（研究会，シンポジウム資料等）, 共著

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年03月

研究論文（研究会，シンポジウム資料等）, 共著

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年02月

共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年01月

研究論文（研究会，シンポジウム資料等）, 単著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

共著

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年10月

研究論文（研究会，シンポジウム資料等）, 共著

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年10月

共著

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年08月

研究論文（研究会，シンポジウム資料等）, 共著

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年07月

共著

Manipulator Motion Control having　High Stiffness

中尾真人, 大石潔, 宮地邦夫

SICE Annual Conf. Rec. 955 1986年07月

共著

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年07月

共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

共著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

共著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

共著

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年10月

共著

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年10月

共著

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年10月

共著

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年06月

研究論文（研究会，シンポジウム資料等）, 共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

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年03月

共著

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年10月

共著

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年09月

共著

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年09月

研究論文（研究会，シンポジウム資料等）, 共著

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年02月

研究論文（研究会，シンポジウム資料等）, 共著

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年11月

研究論文（研究会，シンポジウム資料等）, 共著

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年09月

研究論文（学術雑誌）, 共著

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年04月

研究論文（研究会，シンポジウム資料等）, 共著

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