Robot Control Research Team

In the development of robots for nursing and care, which support care workers with strong force, we focus on fundamental researches and their applications on robust and flexible control, e.g., interaction control between human and robot, simultaneous optimization of structure and control, control for smart materials, etc.

Research Fields

Engineering / Mathematics / Multidisciplinary

Research Subjects

• Mechanism and feedback conytrol for security and comfort
• Improvement of comfort due to sensitivity feedback technology of the person cared
• Communication network to enhance safety and reliability
• Giant power generation by using multi-actuators and dynamics
• Sensor integrated impedance control to support standing and walking

Publications

1. T.Mukai, S.Hirano, H.Nakashima, M.Yoshida, S.Guo and Y.Hayakawa
   Manipulation Using Tactile Information for a Nursing-Care Assistant Robot in Whole-Body Contact with the Object (in Japanese)
   Transaction of the Japan Society of Mechanical Engineers Series C, Vol.77, No.782, pp.3794-3807, 2011
2. Z.Zyada, Y.Hayakawa, and S.Hosoe
   Fuzzy nonprehensible manipulation control of a two-rigid-link object by two cooperative arms
   Preprints of the 18th IFAC World Congress, pp.14614-14621, 2011
3. A.Nakashima, and Y.Hayakawa
   Stability analysis of multi-fingered grasp under destabilizing gravity effect
   Preprints of the 18th IFAC World Congress, pp.14667-14674, 2011
4. T.Mukai, S.Hirano, H.Nakashima, Y.Sakaida, and S.Guo
   Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors
   Journal of Robotics and Mechatronics, Vol.23, No.3, pp.360-369, 2011
5. M.Yoshida, S.Arimoto, K.Tahara and H.Sugiyama
   Modeling and Control of a Pair of Robot Fingers with Soft Tips and Orderless Saddle-joint Actuators (in Japanese)
   Journal of the Robotics Society of Japan, Vol.29, No.10, pp.943-953, 2011
6. S.Arimoto and M.Yoshida
   A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces
   Modelling and Simulation in Engineering, Vol.2011, Article ID 684034, 2011
7. K.Tahara, S.Arimoto and M.Yoshida
   Externally Sensorless Position and Attitude Control of a Grasped Object Using a Virtual Frame by a Triple Soft-Fingered Hand (in Japanese)
   Journal of the Robotics Society of Japan, Vol.29, No.1, pp.89-98, 2011
8. F.Zhao, C.Jiang and H.Sawada
   A novel Braille display using the vibration of SMA wires and the evaluation of Braille presentations
   Journal of Biomechanical Science and Engineering Vol.7 4 pp416-432 2012
9. C.Jiang,M.Deng and Y.Hayakawa
   Operator-based parallel compensation control for hysteresis using ELM-based stop-type PI model
   Proceedings of 2012 IEEE International Conference on Mechatronics and Automation pp2054-2058, 2012
10. C.Jiang and M.Deng
    ELM-based parallel compensation control for perturbed plants with hysteresis using robust right coprime factorization
    Proceedings of the 2012 International Conference on Advanced Mechatronic Systems pp1-5, 2012