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JRM

Journal of Robotics and Mechatronics

ISSN : 0915-3942(Print) / 1883-8049(Online)
DOI : 10.20965/jrm.issn.1883-8049
Editors-in-Chief : Koichi Osuka (Osaka University)
Deputy Editors-in-Chief :Takayuki Tanaka (Hokkaido University)
Akio Namiki (Chiba University)

Indexed in ESCI, Scopus, Compendex (Ei), DOAJ

Journal Impact Factor: 1.1 (2022)

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2024-06-19T15:16:29+0000

Vol.36 (2024)

No.3

(Jun)

Special Issue on Control and Applications of Multi-Agent Systems
Special Issue on Activity of Research Center – Osaka Electro-Communication University: The Fundamental Mechatronics Research Institute

Special Issue on Control and Applications of Multi-Agent Systems

Editorial: p. 507
Control and Applications of Multi-Agent Systems
Koichi Osuka, Yusuke Tsunoda, Wataru Imahayashi, and Takumi Aotani

“Multi-agent systems (MAS)” have been extensively studied across various fields, including robotics, economics, biology, and computer science. A distinctive feature of these systems is the ability of multiple agents, each with different characteristics, to perform system-wide tasks through local bottom-up interactions. Furthermore, design and control methods for system networks based on graph theory are being developed. Recent applications of these methods include autonomous driving technology, smart grids, and understanding social systems.

This special issue aims to deepen the understanding of MAS, focusing on their control and applications. It features 16 papers, including one review paper. The accepted papers cover a wide range of topics, including reinforcement learning, autonomous mobility systems, and machine learning, presenting the latest research findings on MAS.

These studies provide valuable insights into various aspects and potential applications of MAS. We hope that this issue will be beneficial to our readers and contribute to the advancement of future research.

Review: pp. 508-516
Learning Agents in Robot Navigation: Trends and Next Challenges
Abstract
Fumito Uwano
Paper: pp. 517-525
Consensus Control of Multi-Agent System with Virtual Agents Considering Obstacle Avoidance
Abstract
Hiroki Kimura and Atsushi Okuyama
Paper: pp. 526-537
Multi-Robot Patrol with Continuous Connectivity and Assessment of Base Station Situation Awareness
Abstract
Kazuho Kobayashi, Seiya Ueno, and Takehiro Higuchi
Paper: pp. 538-545
Collective Transport Behavior in a Robotic Swarm with Hierarchical Imitation Learning
Abstract
Ziyao Han, Fan Yi, and Kazuhiro Ohkura
Paper: pp. 546-554
Designing Decentralized Systems with High Survivability Inspired by Altruistic Social Interactions of Vampire Bats
Abstract
Takeshi Kano, Shokichi Kawamura, Taishi Mikami, Daiki Wakita, and Akio Ishiguro
Paper: pp. 555-567
Preventing the Diffusion of Disinformation on Disaster SNS by Collective Debunking with Penalties
Abstract
Masao Kubo, Hiroshi Sato, Saori Iwanaga, and Akihiro Yamaguchi
Paper: pp. 568-579
Exploration of Space Under Debris Using Primitive Mobility Algorithms
Abstract
Nelson Andrés Sánchez Otálora and Naoki Wakamiya
Paper: pp. 580-588
Enhanced Naive Agent in Angry Birds AI Competition via Exploitation-Oriented Learning
Abstract
Kazuteru Miyazaki
Paper: pp. 589-602
A Study for Comparative Analysis of Dueling DQN and Centralized Critic Approaches in Multi-Agent Reinforcement Learning
Abstract
Masashi Sugimoto, Kaito Hasegawa, Yuuki Ishida, Rikuto Ohnishi, Kouki Nakagami, Shinji Tsuzuki, Shiro Urushihara, and Hitoshi Sori
Paper: pp. 603-617
Unveiling Multi-Agent Strategies: A Data-Driven Approach for Extracting and Evaluating Team Tactics from Football Event and Freeze-Frame Data
Abstract
Calvin Yeung, Rory Bunker, and Keisuke Fujii
Paper: pp. 618-627
Noncooperative Population-Based Search Relying on Spatial and/or Temporal Scale-Free Behaviors of Individuals
Abstract
Kei Ohnishi
Paper: pp. 628-641
Automatic Route Design by Stepwise Subdivision of Virtual Walls —Reduces Route Length and Speeds Up Execution Time—
Abstract
Yuki Itoh, Junya Hoshino, Tenta Suzuki, Kenji Matsuda, Kaito Kumagae, Mao Tobisawa, Tomohiro Harada, Jyouhei Matsuoka, Toshinori Kagawa, and Kiyohiko Hattori
Paper: pp. 642-657
Acquisition of Cooperative Control of Multiple Vehicles Through Reinforcement Learning Utilizing Vehicle-to-Vehicle Communication and Map Information
Abstract
Tenta Suzuki, Kenji Matsuda, Kaito Kumagae, Mao Tobisawa, Junya Hoshino, Yuki Itoh, Tomohiro Harada, Jyouhei Matsuoka, Toshinori Kagawa, and Kiyohiko Hattori
Paper: pp. 658-668
Enhancing Multi-Agent Cooperation Through Action-Probability-Based Communication
Abstract
Yidong Bai and Toshiharu Sugawara
Paper: pp. 669-679
Filtering Function to Mitigate the Impact of Cyber Attacks in Cooperative Adaptive Cruise Control
Abstract
Takuma Fujimoto, Kenji Sawada, Yuki Minami, and Katsuhiko Sando
Paper: pp. 680-688
Innovation Sharing Distributed Kalman Filter with Packet Loss
Abstract
Shuo Huang and Kaoru Yamamoto

Special Issue on Activity of Research Center – Osaka Electro-Communication University: The Fundamental Mechatronics Research Institute

Institute Overview: pp. 690-693
Osaka Electro-Communication University: The Fundamental Mechatronics Research Institute
Abstract
Masatsugu Iribe
Paper: pp. 694-703
Use of Mixed Reality in Attachment of Surgical Site Measurement Robot to Surgical Bed
Abstract
Miho Asano, Yoshito Yamada, Takahiro Kunii, Masanao Koeda, and Hiroshi Noborio
Paper: pp. 704-710
Change in Muscular Activity According to Trunk Posture When Landing on Feet
Abstract
Masanobu Manno, Takuya Koide, Hiroshi Takahama, and Tomohiko Fujikawa
Paper: pp. 711-719
Function of Bi-Articular Femoral Muscles During the Transition from Sitting to Standing Up
Abstract
Takuya Koide, Masanobu Manno, Hiroshi Takahama, and Tomohiko Fujikawa

Regular Papers

Paper: pp. 721-731
Dataset Generation and Automation to Detect Colony of Morning Glory at Growing Season Using Alignment of Two Season’s Orthomosaic Images Taken by Drone
Abstract
Yuki Hirata, Satoki Tsuichihara, Yasutake Takahashi, and Aki Mizuguchi
Paper: pp. 732-745
Ground Adaptability of Crawler Mobile Robots with Sub-Crawler Rotary Joint Compliance
Abstract
Ayaka Watanabe, Tomonori Mitsuhashi, Masayuki Okugawa, Katsuji Ogane, Tetsuya Kimura, Tetsuya Kinugasa, and Yoshikazu Ohtsubo
Paper: pp. 746-757
Vehicle Self-Position Estimation Using Lighting Recognition in Expressway Tunnel for Visual Inspection Flow
Abstract
Yushi Moko, Yuka Hiruma, Tomohiko Hayakawa, Yushan Ke, Yoshimasa Onishi, and Masatoshi Ishikawa
Paper: pp. 758-768
Motion Planning for Throwing Manipulation Using Bayesian Optimization
Abstract
Tasuku Yamawaki, Chihaya Yamamoto, and Masahito Yashima
Paper: pp. 769-778
Development and Application of Shape-Memory Polymer and Alloy Composite Sheets
Abstract
Kazuto Takashima, Yuta Okamura, Junya Nagaishi, Hiroki Cho, Toshiro Noritsugu, and Toshiharu Mukai
Paper: pp. 779-786
Automatic Lane-Changing System on Congested Highway
Abstract
Hanwool Woo, Hiroto Tetsuka, and Jongseong Gwak

No.2

(Apr)

Review on Fluid-Driven Soft Actuators for Soft Robots
Special Issue on Advanced Robotic Technology and System for DX in Construction Industry

Review on Fluid-Driven Soft Actuators for Soft Robots

Review: pp. 251-259
Fluid-Driven Soft Actuators for Soft Robots
Abstract
Taro Nakamura

Special Issue on Advanced Robotic Technology and System for DX in Construction Industry

Editorial: pp. 261-262
Advanced Robotic Technology and System for DX in Construction Industry
Takayuki Tanaka, Fumihiro Inoue, Hisashi Osumi, and Hiroki Murakami

In recent years, the labor shortage caused by the decline in the working-age population has become increasingly severe across various industries. The construction industry is also facing an urgent situation. Improving productivity is critical in response to this situation. In addition, domestic infrastructure is aging, and climate-change-related incidents such as heavy rainfall and landslides are becoming more common on a global scale. To address these challenges, digital transformation (DX) deployment must be accelerated, and robotic technologies must be efficiently utilized.

Although various construction robot technologies have been developed to date, the robotization of construction and inspection work cannot be achieved using standalone technologies, regardless of their technological superiority. Today’s construction robots must function not only as standalone tools but also as part of a system integrated into construction and inspection methods, or even as a robotic system that operates throughout the construction site.

From this perspective, we published a special issue titled “Advanced Robotic Technology and System for DX in Construction Industry.” It includes papers and development reports on robotics, mechatronics, and information system technologies relevant to the construction industry.

We hope that this special issue will arouse interest in construction robots among researchers and engineers and accelerate the development of construction robots, related technologies, and DX in the construction industry.

Finally, we express our sincere gratitude to the editorial board of the Journal of Robotics and Mechatronics, the editorial team at Fuji Technology Press Ltd., and all of the reviewers.

Paper: pp. 263-272
Development of a Highly Efficient Trajectory Planning Algorithm in Backfilling Task for Autonomous Excavators by Imitation of Experts and Numerical Optimization
Abstract
Ryuji Tsuzuki, Kosuke Hara, and Dotaro Usui
Paper: pp. 273-283
Bayesian Optimization for Digging Control of Wheel-Loader Using Robot Manipulator
Abstract
Motoki Koyama, Hiroaki Muranaka, Masato Ishikawa, and Yuki Takagi
Paper: pp. 284-293
Study of Force Control for Construction Automation
Abstract
Toshifumi Hiramatsu, Miyuki Saiki, Naohiro Hara, Masaki Yamada, and Hisashi Sugiura
Paper: pp. 294-308
Dynamic Visualization of Construction Sites with Machine-Borne Sensors Toward Automated Earth Moving
Abstract
Ryo Nakamura, Masato Domae, Takaaki Morimoto, Takeya Izumikawa, and Hiromitsu Fujii
Paper: pp. 309-319
Visual Presentation Interface to Reduce Effect of Machine Switching for Teleoperated Hydraulic Excavators
Abstract
Masaki Nagai, Junya Masunaga, Masaru Ito, Chiaki Raima, Seiji Saiki, Yoichiro Yamazaki, and Yuichi Kurita
Paper: pp. 320-333
Automatic Calibration of Environmentally Installed 3D-LiDAR Group Used for Localization of Construction Vehicles
Abstract
Masahiro Inagawa, Keiichi Yoshizawa, Tomohito Kawabe, and Toshinobu Takei
Paper: pp. 334-342
Development and Evaluation of Mobility and Excavation Rover Toward Lunar Base Construction
Abstract
Masataku Sutoh
Paper: pp. 343-352
Lightweight Encoder with Attention Mechanism for Pipe Recognition Network
Abstract
Yang Tian, Xinyu Li, and Shugen Ma
Paper: pp. 353-364
Automatic Findings Generation for Distress Images Using In-Context Few-Shot Learning of Visual Language Model Based on Image Similarity and Text Diversity
Abstract
Yuto Watanabe, Naoki Ogawa, Keisuke Maeda, Takahiro Ogawa, and Miki Haseyama
Development Report: pp. 365-374
Development of Wireless Communication Status Monitor Function for Mobile Robot Tele-Operation
Abstract
Fumiya Shibukawa, Shunichi Yamazaki, Yoshiharu Kaneshima, Hiroki Murakami, Daisuke Endo, Takeshi Hashimoto, and Genki Yamauchi

Regular Papers

Paper: pp. 375-387
Data Fusion for Sparse Semantic Localization Based on Object Detection
Abstract
Irem Uygur, Renato Miyagusuku, Sarthak Pathak, Hajime Asama, and Atsushi Yamashita
Paper: pp. 388-395
Water Droplet Detection System on Toilet Floor Using Heat Absorption Capacity of Liquid
Abstract
Rama Okta Wiyagi and Kazuyoshi Wada
Paper: pp. 396-405
Development of Two-Finger Robot that Performs In-Hand Rotation Using Center of Pressure Information
Abstract
Aulia Khilmi Rizgi, Ryohei Kurata, Naoyuki Takesue, Yoshiyuki Toso, Shinichi Kawabata, Akira Tsunoda, and Daichi Suzuki
Paper: pp. 406-414
Cam-Like Mechanism in Intertarsal Joints of Ratites and its Design Framework
Abstract
Kazuki Ito, Sayaka Hida, Tetsuya Kinugasa, Kentaro Chiba, Yu Okuda, Miwa Ichikawa, Tsukasa Okoshi, Ryuji Takasaki, Ryota Hayashi, Koji Yoshida, and Koichi Osuka
Paper: pp. 415-425
GREEMA: Proposal and Experimental Verification of Growing Robot by Eating Environmental Material for Landslide Disaster
Abstract
Yusuke Tsunoda, Yuya Sato, and Koichi Osuka
Paper: pp. 426-437
RGBD-Wheel SLAM System Considering Planar Motion Constraints
Abstract
Shinnosuke Kitajima and Kazuo Nakazawa
Paper: pp. 438-448
Automatic Hand-Eye Calibration Method of Welding Robot Based on Linear Structured Light
Abstract
Li Dongmin, Wang Yu, Ma Wenping, Liu Xiujie, Ding Guowei, Zhang Guohui, and Fang Jiaqi
Paper: pp. 449-457
Development of Formation Control System for Multiple AUVs with Sonar Interference Avoidance Function
Abstract
Akihiro Okamoto, Masahiko Sasano, Kangsoo Kim, and Toshifumi Fujiwara
Paper: pp. 458-471
Design of a Quasi-Passive Dynamic Walking Robot Based on Anatomy Trains Theory
Abstract
Hiroki Nishii, Shoei Hattori, Akira Fukuhara, Hisashi Ishihara, Takeshi Kano, Akio Ishiguro, and Koichi Osuka
Paper: pp. 472-482
Wrong Fix Detection for RTK Positioning Based on Relative Position Between Multiple Antennas
Abstract
Tomohito Takubo, Masaya Sato, and Atsushi Ueno
Paper: pp. 483-493
An Admittance Controller with a Jerk Limiter for Position-Controlled Robots
Abstract
Ryusei Mae and Ryo Kikuuwe

No.1

(Feb)

Journal of Robotics and Mechatronics Best Paper Award 2023
Special Issue on Robotic, Mechatronic and Information Systems for Decommissioning

Journal of Robotics and Mechatronics Best Paper Award 2023

Award: pp. 1-2
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2023

We are pleased to announce that the 16th Journal of Robotics and Mechatronics Best Paper Award (JRM Best Paper Award 2023) has been decided by the JRM editorial committee. The following paper won the JRM Best Paper Award 2023, severely selected from among all 113 papers published in Vol.34 (2022). The Best Paper Award ceremony was held on December 26, 2023 in hybrid style (both on-site and online; venue: Gakushi-Kaikan, Tokyo, Japan), attended by the authors and JRM editorial committee members who took part in the selection process. The award winners were given certificates and a JPY100,000 honorarium. Editorial committee members who participated online also congratulated them through Zoom. We congratulate the winners and sincerely wish them success in the future.

Title: Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force

Authors: Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko, Xin Jiang, Atsuhiro Nakagawa, and Masaru Uchiyama

Journal of Robotics and Mechatronics, Vol.34, No.6, pp. 1284-1296, December 2022

Special Issue on Robotic, Mechatronic and Information Systems for Decommissioning

Editorial: pp. 7-8
Robotic, Mechatronic and Information Systems for Decommissioning
Kuniaki Kawabata, Fumiaki Abe, Satoshi Okada, and Takayuki Tanaka

The Fukushima Daiichi Nuclear Power Plant accident, triggered by the Great East Japan Earthquake and the tsunami, has had a major impact on societies across the world. The subsequent focus on decommissioning efforts has attracted worldwide attention. It has been consistently asserted since the aftermath of the accident that the decommissioning of the Fukushima Daiichi Nuclear Power Plant will take approximately 30 to 40 years. The promotion of decommissioning work means that we will continue to face the problems with uncertainties in the work, as sometimes referred to as Unknown Unknowns.

Typical elemental technologies required in remotely operated robotic systems for decommissioning include mobile mechanisms and their control, handling mechanisms and their control, information communication, operation interface (information presentation and command input), shielding (radiation resistance) and so on. Although many tasks using remotely operated robotic systems have been carried out with noteworthy results, there are lingering issues yet to be clarified. To ensure the safe and effective execution of various types of decommissioning tasks over a period of several decades, continuous research and development of each elemental technology are imperative, and these technologies must be integrated into a system appropriately to the assumed tasks. In addition, human resource development and the transfer of knowledge and experience are also important issues.

From such viewpoint, this special issue is titled “Robotic, Mechatronic and Information Systems for Decommissioning.” It contains papers and development reports on robotics, mechatronics, information processing, and information systems technologies relevant to decommissioning work. It also features recent activities of nuclear emergency response organizations.

We hope this special issue will acquaint readers with the latest research and development results and organizational activities related to decommissioning. At the same time, we hope that we were able to provide readers interested in robots, mechatronics, and information technology with an opportunity t...<more>

Review: pp. 9-20
Development and Application of Robotics for Decommissioning of Fukushima Daiichi NPS by IRID
Abstract
Naoaki Okuzumi, Kenji Matsuzaki, and Satoshi Okada
Paper: pp. 21-29
Enhancement of Control Stability Using Double Pulleys for Coupled Tendon-Driven Long-Reach Manipulator “Super Dragon”
Abstract
Yuki Shizume, Atsushi Takata, and Gen Endo
Paper: pp. 30-38
Dynamics-Based Control and Path Planning Method for Long-Reach Coupled Tendon-Driven Manipulator
Abstract
Atsushi Takata and Gen Endo
Paper: pp. 39-48
Development of Remote Construction System of Modularized Rail Structure for Inexperienced Operators
Abstract
Hikaru Terashima, Koki Honda, Ryota Yokomura, and Rui Fukui
Paper: pp. 49-62
Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning
Abstract
Tatsuya Hashimoto, Yuichi Tazaki, Fumiya Matsuda, Katsumasa Kitajima, Hikaru Nagano, and Yasuyoshi Yokokohji
Paper: pp. 63-70
Discrimination of Plant Structures in 3D Point Cloud Through Back-Projection of Labels Derived from 2D Semantic Segmentation
Abstract
Takashi Imabuchi and Kuniaki Kawabata
Paper: pp. 71-78
Integration of Multiple Sensors into an ROV for Remote Measurement in the Fukushima Daiichi Nuclear Power Station
Abstract
So Kamada and Kazuya Nishimura
Paper: pp. 79-87
Development of Unmanned Remote System to Find Radiation Sources Based on 4π Gamma Imaging
Abstract
Atsushi Mukai, Minato Kanda, Kenji Shimazoe, Fumihiko Ishida, Eiji Takada, Yusuke Tamura, Hanwool Woo, Hiroyuki Takahashi, Mizuki Uenomachi, Hajime Asama, Jun Kawarabayashi, Kosuke Tanabe, Ken’ichi Tsuchiya, Kei Kamada, and Hideki Tomita
Paper: pp. 88-94
Assessment of Radiation Tolerance of Flash Memory by γ-Ray Irradiation
Abstract
Kenichiro Takakura, Kensuke Matsumoto, Kousei Tateishi, Masashi Yoneoka, Isao Tsunoda, Shigekazu Suzuki, and Shinji Kawatsuma
Paper: pp. 95-106
Development of a Decommissioning Robot with a Simple Structure Capable of Traversing Steps Using Two Different Drive Systems
Abstract
Riku Miura, Seiya Tozaki, Ibuki Mikado, Toma Takei, Shuichiro Ogake, Kazuma Kobayashi, Satoshi Mitsui, Toshifumi Satake, and Naoki Igo
Development Report: pp. 107-114
Development of Zeolite Removal Robot for Decommissioning
Abstract
Daisaku Uchijima, Kenichi Tao, Koju Nishizawa, Shiro Kikuchi, Tomoki Sakaue, and Hajime Hanaoka
Development Report: pp. 115-124
A Study on the Effects of Photogrammetry by the Camera Angle of View Using Computer Simulation
Abstract
Keita Nakamura, Toshihide Hanari, Taku Matsumoto, Kuniaki Kawabata, and Hiroshi Yashiro
Development Report: pp. 125-133
Japan Atomic Energy Agency: Contribution to the Decommissioning of the Fukushima Daiichi Nuclear Power Station and the Reconstruction of Fukushima Prefecture at the Naraha Center for Remote Control Technology Development
Abstract
Kyoichi Morimoto, Takahiro Ohno, Satomi Kakutani, Moeka Yoshida, and Soichiro Suzuki
Development Report: pp. 134-138
KHG: The German Emergency Response Organization for Nuclear Accidents
Abstract
Sebastian Friedrich, Uwe Süss, and Michael Gustmann
Development Report: pp. 139-147
Determinants of Performance for Robotics Teleoperated Activities: From Emergency Response to Decommissioning
Abstract
Philippe Fauquet-Alekhine and Julien Bleuze

Regular Papers

Paper: pp. 149-157
Automatic Design of Serial Linkage Using Virtual Screw Joint
Abstract
Atsushi Takata
Paper: pp. 158-167
babypapa: Multiple Communication Robots to Enrich Relationship Between Parents and Child–Design and Evaluation of KANSEI Model to Control Closeness—
Abstract
Satoru Suzuki, Noriaki Imaoka, and Takeshi Ando
Paper: pp. 168-180
Proposal of Learning Support Model for Teacher-Type Robot Supporting Learning According to Learner’s Perplexed Facial Expressions
Abstract
Kohei Okawa, Felix Jimenez, Shuichi Akizuki, and Tomohiro Yoshikawa
Paper: pp. 181-189
Motion Evaluation of Variable-Stiffness Link Based on Shape-Memory Alloy and Jamming Transition Phenomenon
Abstract
Kazuto Takashima, Hidetaka Suzuki, Toshiki Imazawa, and Hiroki Cho
Paper: pp. 190-200
One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys
Abstract
Takumi Matsuda, Yang Weng, Yuki Sekimori, Takashi Sakamaki, and Toshihiro Maki
Paper: pp. 201-210
A Method of Detection and Identification for Axillary Buds
Abstract
Manabu Kawaguchi and Naoyuki Takesue
Paper: pp. 211-228
Demonstration of Autonomous Driving Control for a Retrofitted Wheel Loader
Abstract
Tomohito Kawabe, Masahiro Inagawa, Toshinobu Takei, Hiroto Murayama, Keiichi Yoshizawa, Munehiro Ishibashi, and Keiji Nagatani
Paper: pp. 229-238
Development and Validation of an Instrument for Wave Height Measurement with Encoder Sensors and Accelerometer
Abstract
Devit Suwardiyanto, Endi Sailul Haq, Mohamad Dimyati Ayatullah, and Bayu Rudiyanto

Vol.35 (2023)

No.6

(Dec)

Special Issue on Autonomous Robotics Challenge

Special Issue on Autonomous Robotics Challenge

Editorial: p. 1405
Autonomous Robotics Challenge
Akihisa Ohya, Koichi Ozaki, Tomohito Takubo, Shin’ichi Yuta, and Yoshihiro Takita

The Tsukuba Challenge and the Nakanoshima Robot Challenge are both technical challenges in which mobile robots run autonomously in real outdoor environments. They have been held almost every year since 2007 and 2018, respectively, and many robots have participated in these public experiments. The autonomous navigation of a mobile robot in the real world, that is, not on test tracks but in environments normally used by everyday people, poses a great many challenges. The robots have to deal with environments that change with the time of day, the weather, the season, etc., and they have to deal with unexpected stationary obstacles as well as moving ones, including people, bicycles, etc. These days, demonstration tests of delivery robots are being conducted in many places, but there are still many problems that need to be solved. In this special issue, we have gathered papers detailing the insights gained from running mobile robots in the two outdoor experiments, the Tsukuba Challenge and the Nakanoshima Robot Challenge. To run a robot with a high success rate in a real environment, it is very important to devise the robot configuration, the sensor data processing, and the behavior control based on the knowledge gained from many experiences. We hope that sharing the successes and failures in the papers in this special issue will lead to further technological improvements in the future.

Paper: pp. 1406-1418
Dataset Creation for Semantic Segmentation Using Colored Point Clouds Considering Shadows on Traversable Area
Abstract
Marin Wada, Yuriko Ueda, Junya Morioka, Miho Adachi, and Ryusuke Miyamoto
Paper: pp. 1419-1434
Practical Implementation of Visual Navigation Based on Semantic Segmentation for Human-Centric Environments
Abstract
Miho Adachi, Kazufumi Honda, Junfeng Xue, Hiroaki Sudo, Yuriko Ueda, Yuki Yuda, Marin Wada, and Ryusuke Miyamoto
Paper: pp. 1435-1449
Self-Localization Using Trajectory Attractors in Outdoor Environments
Abstract
Ken Yamane and Mitsunori Akutsu
Paper: pp. 1450-1459
Data Augmentation for Semantic Segmentation Using a Real Image Dataset Captured Around the Tsukuba City Hall
Abstract
Yuriko Ueda, Miho Adachi, Junya Morioka, Marin Wada, and Ryusuke Miyamoto
Paper: pp. 1460-1468
Path Planning Using a Flow of Pedestrian Traffic in an Unknown Environment
Abstract
Kiichiro Ishikawa, Kei Otomo, Hayato Osaki, and Taiga Odaka
Paper: pp. 1469-1479
Trial of Utilization of an Environmental Map Generated by a High-Precision 3D Scanner for a Mobile Robot
Abstract
Rikuto Sekine, Tetsuo Tomizawa, and Susumu Tarao
Paper: pp. 1480-1488
Robust Posegraph Optimization Using Proximity Points
Abstract
Yuichi Tazaki, Kotaro Wada, Hikaru Nagano, and Yasuyoshi Yokokohji
Paper: pp. 1489-1502
Implementation of Brute-Force Value Iteration for Mobile Robot Path Planning and Obstacle Bypassing
Abstract
Ryuichi Ueda, Leon Tonouchi, Tatsuhiro Ikebe, and Yasuo Hayashibara
Paper: pp. 1503-1513
Detection and Measurement of Opening and Closing Automatic Sliding Glass Doors
Abstract
Kazuma Yagi, Yitao Ho, Akihisa Nagata, Takayuki Kiga, Masato Suzuki, Tomokazu Takahashi, Kazuyo Tsuzuki, Seiji Aoyagi, Yasuhiko Arai, and Yasushi Mae
Development Report: pp. 1514-1523
Experimental Study of Seamless Switch Between GNSS- and LiDAR-Based Self-Localization
Abstract
Tadahiro Hasegawa, Haruki Miyoshi, and Shin’ichi Yuta
Development Report: pp. 1524-1531
Application of Object Grasping Using Dual-Arm Autonomous Mobile Robot—Path Planning by Spline Curve and Object Recognition by YOLO—
Abstract
Naoya Mukai, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi
Development Report: pp. 1532-1539
Simplified System Integration of Robust Mobile Robot for Initial Pose Estimation for the Nakanoshima Robot Challenge
Abstract
Tomohiro Umetani, Seo Takeda, Ryusei Yamamoto, and Yuki Shirakata
Development Report: pp. 1540-1549
Navit(oo)n: Open Source Mobile Robot Project for Nakanoshima Robot Challenge
Abstract
Shunya Hara, Toshihiko Shimizu, Masayoshi Ozawa, Masahiko Sakai, Tadahiro Oyama, and Amar Julien Samuel

Regular Papers

Paper: pp. 1551-1561
Reliability Improvement of a Crawler-Type Ceiling Mobile Robot in Starting, Accelerating, and Traveling Phase at High Speed
Abstract
Rei Ezaka, Takehito Yoshida, Yudai Yamada, Shin’ichi Warisawa, and Rui Fukui
Paper: pp. 1562-1572
Navigation System for Personal Mobility Vehicles Following a Cluster of Pedestrians in a Corridor Using Median of Candidate Vectors Observer
Abstract
Nobutomo Matsunaga, Ikuo Yamamoto, and Hiroshi Okajima
Paper: pp. 1573-1582
Door Opening and Closing Considering Forces Using a Mobile Manipulator with an Admittance Controlled Arm
Abstract
Yasuhiko Fukumoto, Morio Jinnai, Shinnosuke Bando, Makoto Takenaka, and Hiroaki Kobayashi
Paper: pp. 1583-1592
Robust Cooperative Transport System with Model Error Compensator Using Multiple Robots with Suction Cups
Abstract
Nobutomo Matsunaga, Kazuhi Murata, and Hiroshi Okajima
Paper: pp. 1593-1603
Learning Variable Admittance Control for Human-Robot Collaborative Manipulation
Abstract
Tasuku Yamawaki, Liem Duc Tran, and Masahito Yashima
Paper: pp. 1604-1614
Proposal for Navigation System Using Three-Dimensional Maps—Self-Localization Using a 3D Map and Slope Detection Using a 2D Laser Range Finder and 3D Map
Abstract
Neng Chen, Shinichiro Suga, Masato Suzuki, Tomokazu Takahashi, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi
Paper: pp. 1615-1621
An Inchworm Robot with Self-Healing Ability Using SMA Actuators
Abstract
Haruya Fukuchi and Hideyuki Sawada
Paper: pp. 1622-1628
Improved Visual Robot Place Recognition of Scan-Context Descriptors by Combining with CNN and SVM
Abstract
Minying Ye and Kanji Tanaka
Paper: pp. 1629-1637
Development of Mobility Type Upper Limb Power Assist System —Mechanism and Design of Power Assist Device—
Abstract
Hiroyuki Inoue and Hiroshi Shimura
Paper: pp. 1638-1644
Experimental Development of Fins for Underwater Robots
Abstract
Bagus Yunanto and Naoyuki Takesue
Paper: pp. 1645-1654
Point Cloud Estimation During Aerial-Aquatic Transition in Monocular Camera-Based Localization and Mapping
Abstract
Photchara Ratsamee, Pudit Tempattarachoke, Laphonchai Jirachuphun, Masafumi Miwa, and Komsoon Somprasong
Paper: pp. 1655-1662
High-Resolution Point Cloud Registration Method for Three-Dimensional Piping Measurements
Abstract
Jin Akiyama, Yuan Zong, Naoki Shinada, Taro Suzuki, and Yoshiharu Amano
Development Report: pp. 1663-1674
Development of Human-Size Swallowing Robot
Abstract
Hisaki Sato, Hiroshi Kobayashi, Kenta Matsumoto, Takuya Hashimoto, and Yukihiro Michiwaki
Development Report: pp. 1675-1683
Development and Evaluation of Arm Lifting Assist Devices
Abstract
Ryota Jitsukawa, Hiroshi Kobayashi, Kenta Matsumoto, and Takuya Hashimoto

No.5

(Oct)

Special Issue on Bio-MEMS

Special Issue on Bio-MEMS

Editorial: pp. 1121-1122
Bio-MEMS
Shoichiro Fujisawa, Katsuya Sato, Kazuyuki Minami, Kazuaki Nagayama, Ryo Sudo, Hiromi Miyoshi, Yuta Nakashima, Kennedy Omondi Okeyo, and Tasuku Nakahara

A Micro Electro-Mechanical System (MEMS) is a micro-sized mechatronic device based on semiconductor integrated-circuit manufacturing technology. MEMS technology is inherently a very powerful tool for researchers to manipulate and measure the microscopic biological components of biological tissues since their basic constituent units, cells and intracellular microstructures, are also micron or even submicron in size.

MEMS technology applied to medicine and life sciences is called Bio-MEMS. Many Bio-MEMS devices and technologies have been developed in recent years, including microfluidic devices for cell culture, manipulation, and measurement, as well as lab-on-a-chip devices for chemical reactions and analyses on MEMS devices.

This special issue consists of 13 papers: 1 review article, 1 letter, and 11 research papers. These papers include studies on mechanical stress on cells using MEMS devices, the control of cell functions through microfabrication techniques, cell measurement and in vivo microenvironment simulation using microfluidic devices, and basic research on wearable devices and self-assembling microstructures using MEMS technologies. The editorial committee members are confident that this special issue will make a significant contribution to the further development of Bio-MEMS.

We sincerely appreciate the excellent contributions of the authors and the time and effort of the reviewers. We would also like to thank the editorial board of the Journal of Robotics and Mechatronics for their support of this special issue.

Review: pp. 1123-1130
Bio-MEMS Devices for Medical and Healthcare Measurements from the Body Surface
Abstract
Yoichi Haga and Noriko Tsuruoka
Letter: pp. 1131-1134
Wearable Biosensor Utilizing Chitosan Biopolymer for Uric Acid Monitoring
Abstract
Mizuki Sato, Tatsuya Kamiyama, Kenta Iitani, Kazuyoshi Yano, Kohji Mitsubayashi, and Takahiro Arakawa
Paper: pp. 1135-1142
Difference in the Osteoblastic Calcium Signaling Response Between Compression and Stretching Mechanical Stimuli
Abstract
Katsuya Sato, Tasuku Nakahara, and Kazuyuki Minami
Paper: pp. 1143-1150
Fabrication of a Magnetically Driven Cell-Stretching Device for Predefined Cell Alignment in Vitro
Abstract
Tasuku Nakahara, Sora Ono, and Kazuyuki Minami
Paper: pp. 1151-1157
Evaluation of the Basic Designs of a Micro Device that Provides Vibrational Stimulation to Cells
Abstract
Kazuyuki Minami, Tasuku Nakahara, and Katsuya Sato
Paper: pp. 1158-1164
Deformation and Trapping of Cell Nucleus Using Micropillar Substrates Possibly Affect UV Radiation Resistance of DNA
Abstract
Kazuaki Nagayama, Chiaki Sagawa, and Akiko Sato
Paper: pp. 1165-1176
Analysis of Inward Vascular Remodeling Focusing on Endothelial–Perivascular Crosstalk in a Microfluidic Device
Abstract
Ryosuke Murai, Masafumi Watanabe, and Ryo Sudo
Paper: pp. 1177-1184
Image-Based Gel Encapsulation of Suspended Single Cells for Parallel Single-Cell Screening
Abstract
Venkatesh Kumar Panneer Selvam, Muhammad Luqman Arief Bin Kamaludin, Ghulam Murtaza, Rifat Hussain Chowdhury, Tanmay Debnath, Shunya Okamoto, Takayuki Shibata, Tuhin Subhra Santra, and Moeto Nagai
Paper: pp. 1185-1192
Development of Cell Micropatterning Technique Using Laser Processing of Alginate Gel
Abstract
Haruhiko Takemoto, Keito Sonoda, Kanae Ike, Yoichi Saito, Yoshitaka Nakanishi, and Yuta Nakashima
Paper: pp. 1193-1202
Development of a Microfluidic Ion Current Measurement System for Single-Microplastic Detection
Abstract
Yuta Kishimoto, Sachiko Ide, Toyohiro Naito, Yuta Nakashima, Yoshitaka Nakanishi, and Noritada Kaji
Paper: pp. 1203-1212
Analysis of Separation Efficiency Focusing on Particle Concentration and Size Using a Spiral Microfluidic Device
Abstract
Mitsuhiro Horade, Syunsuke Mukae, Tasuku Yamawaki, Masahito Yashima, Shuichi Murakami, and Tsunemasa Saiki
Paper: pp. 1213-1218
Control of Osmotic-Engine-Driven Liposomes Using Biological Nanopores
Abstract
Hinata Shibuya, Shun Okada, and Kan Shoji
Paper: pp. 1219-1226
Patterning-Based Self-Assembly of Specific and Functional Structures
Abstract
Taichi Kokubu, Tatsuya Hikida, and Hiroaki Suzuki

Regular Papers

Paper: pp. 1227-1242
Generation of Inverted Locomotion Gait for Multi-Legged Robots Using a Spherical Magnetic Joint and Adjustable Sleeve
Abstract
Harn Sison, Photchara Ratsamee, Manabu Higashida, Yuki Uranishi, and Haruo Takemura
Paper: pp. 1243-1250
Household Disaster Map Generation and Changing-Layout Design Simulation Using the Environmental Recognition Map of Cleaning Robots
Abstract
Soichiro Takata, Akari Kimura, and Riki Tanahashi
Paper: pp. 1251-1266
Demonstration of Snow Removal Work by Wheel Loader in an Environment Surrounded by Obstacles
Abstract
Hiroto Murayama, Tomohito Kawabe, Masahiro Inagawa, Keiichi Yoshizawa, Munehiro Ishibashi, Toshinobu Takei, and Keiji Nagatani
Paper: pp. 1267-1280
Requirement Development of a Robot that Supports Construction Management Using Tracked Vehicle for Rough Terrain
Abstract
Aiko Ohtsuka, Atsuo Kawaguchi, Masuyoshi Yachida, Koichi Kudo, Ryota Yamashina, Takayuki Fujii, and Yoshitaka Yanagihara
Paper: pp. 1281-1289
Image Search Strategy via Visual Servoing for Robotic Kidney Ultrasound Imaging
Abstract
Takumi Fujibayashi, Norihiro Koizumi, Yu Nishiyama, Jiayi Zhou, Hiroyuki Tsukihara, Kiyoshi Yoshinaka, and Ryosuke Tsumura
Paper: pp. 1290-1299
Decentralized Control Mechanism Underlying Morphology-Dependent Quadruped Turning
Abstract
Hayato Amaike, Akira Fukuhara, Takeshi Kano, and Akio Ishiguro
Paper: pp. 1300-1311
Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot
Abstract
Katutoshi Kodama, Akihiro Morinaga, and Ikuo Yamamoto
Paper: pp. 1312-1320
Development of Compact 3-Degree-of-Freedom Oscillatory Actuator
Abstract
Akira Heya, Ryosuke Nakamura, and Katsuhiro Hirata
Paper: pp. 1321-1330
Visual Emotion Recognition Through Multimodal Cyclic-Label Dequantized Gaussian Process Latent Variable Model
Abstract
Naoki Saito, Keisuke Maeda, Takahiro Ogawa, Satoshi Asamizu, and Miki Haseyama
Paper: pp. 1331-1339
Speech-Driven Avatar Robot System with Changing Complexion for the Visualization of an Interactive Atmosphere
Abstract
Yoshihiro Sejima, Liheng Yang, Saki Inagaki, and Daiki Morita
Paper: pp. 1340-1353
Local Curvature Estimation and Grasp Stability Prediction Based on Proximity Sensors on a Multi-Fingered Robot Hand
Abstract
Yosuke Suzuki, Ryoya Yoshida, Tokuo Tsuji, Toshihiro Nishimura, and Tetsuyou Watanabe
Paper: pp. 1354-1365
Estimation of Road Surface Plane and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera
Abstract
Tomoyu Sakuda, Hikaru Chikugo, Kento Arai, Sarthak Pathak, and Kazunori Umeda
Paper: pp. 1366-1373
Development of Tensegrity Manipulator Driven by 40 Pneumatic Cylinders for Investigating Functionality in Hyper-Redundant Musculoskeletal Systems
Abstract
Yuhei Yoshimitsu and Shuhei Ikemoto
Paper: pp. 1374-1384
Experimental Evaluation of Highly Accurate 3D Measurement Using Stereo Camera and Line Laser
Abstract
Shunya Nonaka, Sarthak Pathak, and Kazunori Umeda
Paper: pp. 1385-1392
Behavior Learning System for Robot Soccer Using Neural Network
Abstract
Moeko Tominaga, Yasunori Takemura, and Kazuo Ishii

No.4

(Aug)

Special Issue on Design of Swarm Intelligence Through Interdisciplinary Approach

Special Issue on Design of Swarm Intelligence Through Interdisciplinary Approach

Editorial: p. 889
Design of Swarm Intelligence Through Interdisciplinary Approach
Takeshi Kano and Yuichiro Sueoka

In biological and social systems, a “swarm” refers to a group of individual units that behave as a single intelligent entity. “Swarm behavior,” the collective result of the local interactions among the group members, exhibits what is called “swarm intelligence.” By identifying the design principles of such swarm intelligence, we may be able to create swarm robots that are highly adaptable, fault tolerant, and dimensionally flexible.

An interdisciplinary approach, including disciplines ranging from technology to biology to the mathematical sciences, for example, is used to elucidate the design principles of swarm intelligence. We believe that such knowledge will lead to transformations in the field of swarm robotics.

This special issue highlights 19 exciting papers, including 13 research papers, five review papers, and one letter. Some papers focus on understanding the mechanism of real swarm phenomena, while the other papers focus on designing intelligent swarm systems. The keywords of the papers are as follows.

• Swarm intelligence

• Interdisciplinary approach

• Decentralized control

• Swarm robot

• Collective behavior

We would like to express our gratitude to all authors and reviewers, and we hope that this special issue contributes to future research and development in swarm intelligence.

Review: pp. 890-895
Review of Interdisciplinary Approach to Swarm Intelligence
Abstract
Takeshi Kano
Review: pp. 896-900
Swarm Behavior of Adult-Born Neurons During Migration in a Non-Permissive Environment
Abstract
Naoko Kaneko and Taisei Ishimaru
Review: pp. 901-910
Honey Bee Waggle Dance as a Model of Swarm Intelligence
Abstract
Ryuichi Okada, Hidetoshi Ikeno, Hitoshi Aonuma, Midori Sakura, and Etsuro Ito
Paper: pp. 911-917
Swarm Search Algorithm Based on Chemotactic Behaviors of Caenorhabditis elegans Nematodes
Abstract
Seiya Nomoto, Yuya Hattori, and Daisuke Kurabayashi
Letter: pp. 918-921
Group Chase and Escape with Chemotaxis
Abstract
Chikoo Oosawa
Review: pp. 922-930
Toward Comparative Collective Behavior to Discover Fundamental Mechanisms Underlying Behavior in Human Crowds and Nonhuman Animal Groups
Abstract
Hisashi Murakami, Masato S. Abe, and Yuta Nishiyama
Paper: pp. 931-937
Quantitative Analysis of the Coordinated Movement of Cells in a Freely Moving Cell Population
Abstract
Daiki Umetsu, Satoshi Yamaji, Daiki Wakita, and Takeshi Kano
Paper: pp. 938-947
Effect of Robotic Pile-Up Mechanism on Cooperative Transportation for Versatile Objects
Abstract
Yuichiro Sueoka, Wei Jie Yong, Naoto Takebe, Yasuhiro Sugimoto, and Koichi Osuka
Paper: pp. 948-956
Exploration of a Simple Navigation Method for Swarm Robots Pioneered by Heterogeneity
Abstract
Yuichiro Sueoka, Mitsuki Okada, Yusuke Tsunoda, Yasuhiro Sugimoto, and Koichi Osuka
Paper: pp. 957-968
Experimental Analysis of Shepherding-Type Robot Navigation Utilizing Sound-Obstacle-Interaction
Abstract
Yusuke Tsunoda, Le Trong Nghia, Yuichiro Sueoka, and Koichi Osuka
Paper: pp. 969-976
Cooperative Passing Based on Chaos Theory for Multiple Robot Swarms
Abstract
Kohei Yamagishi and Tsuyoshi Suzuki
Paper: pp. 977-987
Generating Collective Behavior of a Multi-Legged Robotic Swarm Using Deep Reinforcement Learning
Abstract
Daichi Morimoto, Yukiha Iwamoto, Motoaki Hiraga, and Kazuhiro Ohkura
Paper: pp. 988-996
When Less Is More in Embodied Evolution: Robotic Swarms Have Better Evolvability with Constrained Communication
Abstract
Motoaki Hiraga, Daichi Morimoto, Yoshiaki Katada, and Kazuhiro Ohkura
Paper: pp. 997-1006
MBEANN for Robotic Swarm Controller Design and the Behavior Analysis for Cooperative Transport
Abstract
Yoshiaki Katada, Takumi Hirokawa, Motoaki Hiraga, and Kazuhiro Ohkura
Paper: pp. 1007-1015
Evolutionary Design of Cooperative Transport Behavior for a Heterogeneous Robotic Swarm
Abstract
Razzaq Asad, Tomohiro Hayakawa, and Toshiyuki Yasuda
Paper: pp. 1016-1027
Consensus Building in Box-Pushing Problem by BRT Agent that Votes with Frequency Proportional to Profit
Abstract
Masao Kubo, Hiroshi Sato, and Akihiro Yamaguchi
Paper: pp. 1028-1037
Bi-Connectivity Control for Multi-Robot Network Considering Line-of-Sight Communication
Abstract
Toru Murayama and Aoi Iwasaki
Paper: pp. 1038-1046
Tension Control of a McKibben Pneumatic Actuator Using a Dynamic Quantizer
Abstract
Yasuhiro Sugimoto, Keisuke Naniwa, Daisuke Nakanishi, and Koichi Osuka
Review: pp. 1047-1051
Biomolecular Motor-Based Swarm Robot: An Innovation in Molecular Delivery
Abstract
Mousumi Akter and Akira Kakugo

Regular Papers

Paper: pp. 1053-1062
A Two-Step Fire Blanket Release Mechanism for Unmanned Aerial Vehicles
Abstract
Photchara Ratsamee, Thanarat Hanwong, Harn Sison, and Kaned Thungod
Paper: pp. 1063-1072
Modeling and Optimization of an Arc-Shaped Sliding Locomotion Robot with Wobbling Mass
Abstract
Cong Yan, Longchuan Li, Wataru Yanagimoto, Zhicheng Feng, and Isao Tokuda
Paper: pp. 1073-1083
Development of Action-Intention Indicator for Sidewalk Vehicles
Abstract
Tomoyuki Ohkubo, Riku Yamamoto, and Kazuyuki Kobayashi
Paper: pp. 1084-1091
Autonomous Navigation System for Multi-Quadrotor Coordination and Human Detection in Search and Rescue
Abstract
Jeane Marina Dsouza, Rayyan Muhammad Rafikh, and Vishnu G. Nair
Paper: pp. 1092-1100
Environmental Mapping of Underwater Structures Based on Remotely Operated Vehicles with Sonar System
Abstract
Bochen Ma, Tiancheng Du, and Tasuku Miyoshi
Development Report: pp. 1101-1108
Implementation Study of an Adhesion Hand with Stefan Adhesion
Abstract
Shoi Higa and Yuki Inoue

No.3

(Jun)

Special Issue on Humancentric Robotic Technology and its Applications for Coexistence with Humans

Special Issue on Humancentric Robotic Technology and its Applications for Coexistence with Humans

Editorial: pp. 531-532
Humancentric Robotic Technology and its Applications for Coexistence with Humans
Shoichiro Fujisawa, Takayuki Tanaka, Masahiro Takaiwa, Toru Yamamoto, Kanya Tanaka, and Tamio Tanikawa

In today’s super-aging society, it is essential to maintain and improve the quality of life of the elderly and to counter the shortage of young workers. Such problems are becoming evident in several areas, not just in the manufacturing sector but also in the fields of transport/mobility and healthcare/welfare. In these fields, there is an abundance of situations that cannot be solved simply by replacing human workers with robots. In the manufacturing sector, for instance, the transmission of skills and knowledge is threatened as the members of the baby boomer generation, who have both knowledge and experience, have reached retirement age at a time when the younger population is declining. Another example is the provision of care with human warmth at nursing sites. As we evolve toward Society 5.0, which is represented by a digital transformation and which encompasses elements such as digital twins, it will be critical to pioneer robotic technologies that allow robots to work with humans to achieve a prosperous coexistence and create an affluent society. For this special issue, which features humancentric robotic systems coexisting and working together with humans, we invited researchers to submit papers covering a wide range of topics, including element technologies as well as operating and evaluation methods.

This special issue on Humancentric Robotic Technology and its Applications for Coexistence with Humans includes two review papers, 29 regular papers, and two development reports that cover the following topics.

• Research on rehabilitation equipment and training systems

• Research on power assist and support actuators

• Research on human-robot interaction systems

• Research on motor characteristics and the musculoskeletal system

• Research on the utilization and development of vital signs and sensors

• Research on IoT technology and smart technologies

We thank all authors and reviewers of the papers, as well as the Editorial Board of the Journal of Robotics and Mechatronics, for their help with this special issue.

Review: pp. 533-546
Toward a Prosperous Future Where Humans and Robots Cooperate
Abstract
Masayo Iwai, Masaki Haruna, and Tamio Tanikawa
Review: pp. 547-555
Motor Characteristics of Human Adaptations to External Assistive Forces
Abstract
Wen Liang Yeoh, Jeewon Choi, Ping Yeap Loh, Osamu Fukuda, and Satoshi Muraki
Paper: pp. 556-564
Device Design of Ankle Joint Stretching System Controlled by the Healthy Side Ankle Joint Movement for Self-Rehabilitation
Abstract
Hideki Toda and Hiroaki Kawamoto
Paper: pp. 565-576
Development of Ankle-Joint Rehabilitation Device for Bedridden Patient Using Fan-Shaped Pneumatic Soft Actuator Driven at Low Pressure
Abstract
So Shimooka, Rui Suzuki, Takenori Uehara, Takahiro Hirayama, and Akio Gofuku
Paper: pp. 577-585
Development of Flexion Posture Formation Mechanism in Wearable Type of Flexor Tendon Rehabilitation Equipment
Abstract
Takeshi Ikeda, Yuki Matsutani, Masanori Sato, Seiji Furuno, and Fusaomi Nagata
Paper: pp. 586-600
Telerehabilitation System Based on OpenPose and 3D Reconstruction with Monocular Camera
Abstract
Keisuke Osawa, Yu You, Yi Sun, Tai-Qi Wang, Shun Zhang, Megumi Shimodozono, and Eiichiro Tanaka
Paper: pp. 601-611
A Stepper Motor-Powered Lower Limb Exoskeleton with Multiple Assistance Functions for Daily Use by the Elderly
Abstract
Yifan Fang, Bingkai Hou, Xiuyuan Wu, Yuntian Wang, Keisuke Osawa, and Eiichiro Tanaka
Development Report: pp. 612-621
Stair-Climbing Training System Using Visual VR Display for Total Knee Arthroplasty Patients
Abstract
Yuichi Kurita, Takumi Okumura, Ryota Imai, Tomohiko Nishigami, So Tanaka, and Takanori Taniguchi
Paper: pp. 622-632
Application of Noncircular Pulleys to Straight-Fiber-Type Pneumatic Artificial Muscle Manipulator
Abstract
Riku Tanaka, Teppei Abe, and Hiroki Tomori
Paper: pp. 633-640
Slide-Gate Type Multi-Port Switching Valve
Abstract
Takumi Kobayashi, Tetsuya Akagi, Shujiro Dohta, Feifei Cho, Takashi Shinohara, and Masashi Yokota
Paper: pp. 641-649
Variable Step Type Pneumatic Linear Stepping Actuator for Passive Exercise Device of Hip Joint
Abstract
Takashi Shinohara, Kota Oe, Tetsuya Akagi, Shujiro Dohta, Feifei Cho, Wataru Kobayashi, and So Shimooka
Paper: pp. 650-660
Design of an Extremely Lightweight Soft Actuator on a Pneumatic Corset for Support Lumbar Burden
Abstract
Yasutaka Nishioka, Masahiro Nishihara, Toshihiko Yasuda, and Mitsuhiro Yamano
Paper: pp. 661-668
Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators
Abstract
Feifei Cho, Kenta Hase, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara, and Masashi Yokota
Paper: pp. 669-683
Development of an Ankle Assistive Robot with Instantly Gait-Adaptive Method
Abstract
Ming-Yang Xu, Yi-Fan Hua, Yun-Fan Li, Jyun-Rong Zhuang, Keisuke Osawa, Kei Nakagawa, Hee-Hyol Lee, Louis Yuge, and Eiichiro Tanaka
Paper: pp. 684-693
Support Effect and Simulation Evaluation of Lifting Motion Using Non-Wearing Type Power Assist Device
Abstract
Masashi Yokota and Masahiro Takaiwa
Paper: pp. 694-702
Parameter Setting and Driver Acceptability Evaluation of Steering Assistance System Using Impedance Control by Damping Ratio
Abstract
Soichiro Hayakawa and Ryojun Ikeura
Paper: pp. 703-710
Design of a Database-Driven Assist Control for a Hydraulic Excavator Considering Human Operation
Abstract
Kei Hiraoka, Toru Yamamoto, Masatoshi Kozui, Kazushige Koiwai, and Koji Yamashita
Paper: pp. 711-722
Advanced Musical Saw Manipulation by an Industrial Cooperative Humanoid Robot with Passive Sound Feedback
Abstract
Hiroaki Hanai, Atsuyuki Miura, Toshiki Hirogaki, and Eiichi Aoyama
Paper: pp. 723-733
Pocketable-Bones: Self-Augment Mobile Robot Mediating our Sociality
Abstract
Naoki Ohshima, Katsuya Iwasaki, Ryosuke Mayumi, Komei Hasegawa, and Michio Okada
Paper: pp. 734-742
Through-Hole Detection and Finger Insertion Planning as Preceding Motion for Hooking and Caging a Ring-Shaped Objects
Abstract
Koshi Makihara, Takuya Otsubo, and Satoshi Makita
Paper: pp. 743-750
Development of a Gaze-Driven Electric Wheelchair with 360° Camera and Novel Gaze Interface
Abstract
Junji Kawata, Jiro Morimoto, Yoshio Kaji, Mineo Higuchi, and Shoichiro Fujisawa
Paper: pp. 751-761
Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles
Abstract
Hiroaki Ochi, Koichi Komada, Kenji Tahara, and Hitoshi Kino
Paper: pp. 762-770
Musculoskeletal Model Capable of Reproducing Lumbar Extension Motion Strategy Based on the Equilibrium Point Hypothesis
Abstract
Masahiro Sato, Michihiro Yoshida, Takashi Kusaka, Yusuke Suzuki, and Takayuki Tanaka
Paper: pp. 771-779
Development of High Dynamic Range Six-Axis Force Sensor with Simple Structure
Abstract
Takamasa Kawahara and Toshiaki Tsuji
Paper: pp. 780-787
Indoor Positioning Scheme Using Off-the-Shelf Lighting Fixtures’ Fingerprints
Abstract
Hiroyuki Kobayashi
Paper: pp. 788-798
Estimation Model for Emotions Based on Pulse
Abstract
Jiro Morimoto, Akihiro Murakawa, Hiroki Fujita, Makoto Horio, Junji Kawata, Yoshio Kaji, Mineo Higuchi, and Shoichiro Fujisawa
Development Report: pp. 799-809
Excretion Detection Systems with Gas Sensors - Development of Excretion Detection Device with Non-Suction Utilizing Floor Cushion –
Abstract
Shohei Sugano, Kazushiro Tanimoto, Toshiki Kobayashi, and Yoshimi Ui
Paper: pp. 810-822
A Correction Method for Muscle Stiffness Sensors to Measure Transversus Abdominis Activity
Abstract
Shunsuke Nakamae, Takayuki Tanaka, and Koji Shimatani
Paper: pp. 823-833
Influence of Combined Vibration and Electrical Stimulation on Latency of Kinesthetic Illusion
Abstract
Koki Honda, Yasutaka Nakashima, Chen Hua, and Motoji Yamamoto
Paper: pp. 834-843
A Human-Centered and Adaptive Robotic System Using Deep Learning and Adaptive Predictive Controllers
Abstract
Sari Toyoguchi, Enrique Coronado, and Gentiane Venture
Paper: pp. 844-858
Investigation of the Development of Robots for Training Dialect Communication Listening in Nursing Care Situations: A Case Study of Mikawa Dialects
Abstract
Tomoe Ozeki, Tetsuya Mouri, and Hayate Fukui
Paper: pp. 859-866
Development of a Human-Centric System Using an IoT-Based Socially Embedded Robot Partner
Abstract
Jinseok Woo, Taiki Sato, and Yasuhiro Ohyama
Paper: pp. 867-878
Grid Map Correction for Fall Risk Alert System Using Smartphone
Abstract
Daigo Katayama, Kazuo Ishii, Shinsuke Yasukawa, Yuya Nishida, Satoshi Nakadomari, Koichi Wada, Akane Befu, and Chikako Yamada

No.2

(Apr)

Special Issue on Navigation and Control Technologies for Autonomous Mobility

Special Issue on Navigation and Control Technologies for Autonomous Mobility

Editorial: pp. 229-230
Navigation and Control Technologies for Autonomous Mobility
Yuki Minami, Hiroshi Okajima, Kenji Sawada, and Kazuma Sekiguchi

Autonomous mobility, as exemplified by self-driving cars, autonomous mobile robots, drones, etc., is essential to the acceleration and practical application of transportation services and the automation of delivery, guidance, security, and inspection. Therefore, in recent years, expectations have been building for autonomous mobility to grow as a technology that not only improves the convenience and comfort of transportation and the efficiency of logistics but also leads to solutions to various social problems. Various technological elements are required to ensure the safety and quality of autonomous mobility. For example, technology is needed to create environmental maps and automatically determine obstacles based on data acquired by cameras and sensors such as LiDAR. Technologies for planning appropriate routes and controlling robots safely and comfortably are also essential.

This special issue highlights 24 exciting papers, including 20 research papers, three letters, and one development report. They are related to “recognition,” “decision and planning,” and “control” technologies for autonomous mobile robots, such as self-driving cars and drones. The papers’ keywords are as follows:

• Collision avoidance, path planning, path tracking control

• Motion control, attitude control

• Measurement, position and posture estimation, modeling

• Point cloud processing

We would like to express our gratitude to all authors and reviewers, and we hope that this special issue contributes to future research and development in autonomous mobility.

Paper: pp. 231-239
Pedestrian Avoidance Method Considering Passenger Comfort for Autonomous Personal Mobility Vehicles
Abstract
Hiroshi Yoshitake, Yosuke Isono, and Motoki Shino
Paper: pp. 240-254
Study on Collision Avoidance Strategies Based on Social Force Model Considering Stochastic Motion of Pedestrians in Mixed Traffic Scenario
Abstract
Yan Zhang, Xun Shen, and Pongsathorn Raksincharoensak
Paper: pp. 255-261
Study on Control for Prevention of Collision Caused by Failure of Localization for Map-Based Automated Driving Vehicle
Abstract
Shun Nishimura and Manabu Omae
Paper: pp. 262-270
MGV Obstacle Avoidance Trajectory Generation Considering Vehicle Shape
Abstract
Yoshihide Arai, Takashi Sago, Yuki Ueyama, and Masanori Harada
Paper: pp. 271-278
Optimization of Drone-Based Surface-Wave Seismic Surveys Using a Multiple Traveling Salesman Problem
Abstract
Yohei Hamasato, Akinori Sakaguchi, Takeshi Tsuji, and Kaoru Yamamoto
Development Report: pp. 279-287
Development of Autonomous Moving Robot Using Appropriate Technology for Tsukuba Challenge
Abstract
Yuta Kanuki, Naoya Ohta, and Nobuaki Nakazawa
Paper: pp. 288-297
Gesture Interface and Transfer Method for AMR by Using Recognition of Pointing Direction and Object Recognition
Abstract
Takahiro Ikeda, Naoki Noda, Satoshi Ueki, and Hironao Yamada
Paper: pp. 298-307
Continuous-Time Receding-Horizon Estimation via Primal-Dual Dynamics on Vehicle Path-Following Control
Abstract
Kaito Sato and Kenji Sawada
Paper: pp. 308-316
Yaw-Rate Controller Tuning for Autonomous Driving: Virtual Internal Model Tuning Approach
Abstract
Motoya Suzuki and Shuichi Yahagi
Paper: pp. 317-327
Horizontal Fixed Attitude Flight of Quad Rotor Helicopter with Tilting Rotor
Abstract
Akitaka Imamura
Paper: pp. 328-337
Autonomous Flight Using UWB-Based Positioning System with Optical Flow Sensors in a GPS-Denied Environment
Abstract
Yoshiyuki Higashi and Kenta Yamazaki
Letter: pp. 338-342
Speed Control of a Mobile Robot Using Confidence of an Image Recognition Model
Abstract
Hiroto Kawahata, Yuki Minami, and Masato Ishikawa
Letter: pp. 343-346
Speed Control of Mobile Robots Using Vibration Stimuli from Bumpy Road Surface
Abstract
Ryosuke Mizoguchi, Yuki Minami, and Masato Ishikawa
Paper: pp. 347-361
Turning at Intersections Using Virtual LiDAR Signals Obtained from a Segmentation Result
Abstract
Miho Adachi, Kazufumi Honda, and Ryusuke Miyamoto
Paper: pp. 362-370
Body Stiffness Control for Using Body-Environment Interaction with a Closed-Link Deformable Mobile Robot
Abstract
Yuichiro Sueoka, Naoto Takebe, Yasuhiro Sugimoto, and Koichi Osuka
Paper: pp. 371-379
Azimuth Angle Detection Method Combining AKAZE Features and Optical Flow for Measuring Movement Accuracy
Abstract
Kazuteru Tobita and Kazuhiro Mima
Letter: pp. 380-386
Initial Localization of Mobile Robot Based on Expansion Resetting Without Manual Pose Adjustment in Robot Challenge Experiment
Abstract
Seo Takeda and Tomohiro Umetani
Paper: pp. 387-397
Localization System for Vehicle Navigation Based on GNSS/IMU Using Time-Series Optimization with Road Gradient Constrain
Abstract
Aoki Takanose, Kaito Kondo, Yuta Hoda, Junichi Meguro, and Kazuya Takeda
Paper: pp. 398-407
Detection and Localization of Thin Vertical Board for UAV Perching
Abstract
Takamasa Kominami, Hannibal Paul, and Kazuhiro Shimonomura
Paper: pp. 408-416
Differential Flatness-Based Parameter Estimation for Suspended Load Drones
Abstract
Wataru Eikyu, Kazuma Sekiguchi, and Kenichiro Nonaka
Paper: pp. 417-423
Aerodynamic Drag of a Tilt-Rotor UAV During Forward Flight in Rotary-Wing Mode
Abstract
Takateru Urakubo, Koki Wada, Kohtaro Sabe, Shinji Hirai, and Masafumi Miwa
Paper: pp. 424-434
Optimal Clustering of Point Cloud by 2D-LiDAR Using Kalman Filter
Abstract
Shuncong Shen, Mai Saito, Yuka Uzawa, and Toshio Ito
Paper: pp. 435-444
Error Covariance Estimation of 3D Point Cloud Registration Considering Surrounding Environment
Abstract
Koki Aoki, Tomoya Sato, Eijiro Takeuchi, Yoshiki Ninomiya, and Junichi Meguro
Paper: pp. 445-459
GPU-Accelerated 3D Normal Distributions Transform
Abstract
Anh Nguyen, Abraham Monrroy Cano, Masato Edahiro, and Shinpei Kato

Regular Papers

Paper: pp. 461-469
Application and Mechanical Evaluation of Polyarylate Fiber Rope in Wire Drive Mechanism of Robotic Surgical Instruments
Abstract
Kanta Nojima, Kotaro Tadano, and Daisuke Haraguchi
Paper: pp. 470-482
A Map Creation for LiDAR Localization Based on the Design Drawings and Tablet Scan Data
Abstract
Satoshi Ito, Ryutaro Kaneko, Takumi Saito, and Yuji Nakamura
Paper: pp. 483-491
Development of a Spherical Shell Robot with Rolling and Legged Locomotion
Abstract
Ryo Abe and Chisato Kanamori
Paper: pp. 492-500
Welding Line Detection Using Point Clouds from Optimal Shooting Position
Abstract
Tomohito Takubo, Erika Miyake, Atsushi Ueno, and Masaki Kubo
Paper: pp. 501-509
Vision-Based Robot Arm Control Interface for Retrieving Objects from the Floor
Abstract
Laijun Yang, Ryota Sakamoto, Norihiko Kato, and Ken’ichi Yano
Paper: pp. 510-520
Investigation of Obstacle Prediction Network for Improving Home-Care Robot Navigation Performance
Abstract
Mohamad Yani, Azhar Aulia Saputra, Wei Hong Chin, and Naoyuki Kubota

No.1

(Feb)

Congratulations! JRM Best Paper Award 2022
Special Issue on Developments and Learning from the World Robot Challenge

Congratulations! JRM Best Paper Award 2022

Award: pp. 1-2
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2022
Editorial Office

Special Issue on Developments and Learning from the World Robot Challenge

Editorial: p. 7
Developments and Learning from the World Robot Challenge
Gentiane Venture

The World Robot Challenge was organized to stimulate and gather findings in robotics and their applications to three important fields: Industrial Robotics, Service Robotics, and Disaster Robotics, which constituted three categories for the competition. Researchers and professionals from all over the world in the field of robotics were provided a unique opportunity to showcase their work by solving unprecedented problems, on the spot. Computer vision, robust control, navigation, and manipulation are some of the key elements to create robots that could solve the challenges proposed during the competition.

This special issue provides some examples of the work developed and performed in that aim, that could serve for the future of robotics applications in the three designated fields but not only.

The three first papers are the results of the convenience store challenge for Service Robotics. In this challenge, identifying objects and pose estimation of object are crucial for the acquisition of knowledge and robot manipulation, shelfing and logistics, as detailed in the first two papers. Robot’s navigation is also paramount for cleaning and operating in the human environment, such is the topic of the third paper.

The Industrial Robotics challenge focuses on parts pick and place and assembly of complex elements. The fourth and 5th papers of this special issue deal with this topic.

Finally the Disaster Robotics challenge presents the more versatile components as a disaster area may be of multiform and of very complex nature, depending of the nature of the disaster, whether it is indoor or outdoor etc. The last three papers of the special issue deal with such a various nature for plant inspection, for the control of robots in disaster area, or the rescue robot in confined spaces such as tunnels.

We hope this collection of work carefully selected, will provide the reader with insights for the future developments of robots.

Paper: pp. 8-17
PYNet: Poseclass and Yaw Angle Output Network for Object Pose Estimation
Abstract
Kohei Fujita and Tsuyoshi Tasaki
Paper: pp. 18-29
Multifunctional Shelf and Magnetic Marker for Stock and Disposal Tasks in Convenience Stores
Abstract
Tomohito Takubo, Takeshi Nakamura, Riko Sugiyama, and Atsushi Ueno
Paper: pp. 30-42
Coverage Motion Planning Based on 3D Model’s Curved Shape for Home Cleaning Robot
Abstract
Yuki Sakata and Takuo Suzuki
Development Report: pp. 43-50
Autonomous Pick and Place for Mechanical Assembly WRS 2020 Assembly Challenge
Abstract
Nahid Sidki
Paper: pp. 51-64
Development of a Flexible Assembly System for the World Robot Summit 2020 Assembly Challenge
Abstract
Lizhou Xu, Farshad Nozad Heravi, Marcel Gabriel Lahoud, Gabriele Marchello, Mariapaola D’Imperio, Syed Haider Jawad Abidi, Mohammad Farajtabar, Michele Martini, Silvio Cocuzza, Massimiliano Scaccia, and Ferdinando Cannella
Development Report: pp. 65-73
Development of Automatic Inspection Systems for WRS2020 Plant Disaster Prevention Challenge Using Image Processing
Abstract
Yuya Shimizu, Tetsushi Kamegawa, Yongdong Wang, Hajime Tamura, Taiga Teshima, Sota Nakano, Yuki Tada, Daiki Nakano, Yuichi Sasaki, Taiga Sekito, Keisuke Utsumi, Rai Nagao, and Mizuki Semba
Development Report: pp. 74-84
Concept and Implementation of the Intuitive Controller MISORI-2: Development of a Robot Manual Controller Without Laptop and Game Controller
Abstract
Keita Nakamura, Junichi Yamazaki, and Makoto Yashiro
Development Report: pp. 85-98
Disaster Rescue via Multi-Robot Collaboration: Development, Control, and Deployment
Abstract
Yutaka Watanobe, Raihan Kabir, Ryuma Aoba, Ayato Ohashi, Shunsuke Ogata, Mizuki Shiga, Kota Tsuruno, Tsuyoshi Anazawa, and Keitaro Naruse

Regular Papers

Paper: pp. 99-112
Study on an Add-on Type Electric Wheelchair Using Active Caster with the Differential Mechanism
Abstract
Taisei Nakayama and Masayoshi Wada
Paper: pp. 113-124
Development of Pneumatic Artificial Rubber Muscle Using Segmented Shape-Memory Polymer Sheets
Abstract
Kazuto Takashima, Yuta Okamura, Daiki Iwamoto, Toshiro Noritsugu, and Toshiharu Mukai
Paper: pp. 125-135
Projection Mapping-Based Interactive Gimmick Picture Book with Visual Illusion Effects
Abstract
Sayaka Toda and Hiromitsu Fujii
Paper: pp. 136-144
Autonomous Motion Control of a Mobile Robot Using Marker Recognition via Deep Learning in GPS-Denied Environments
Abstract
Takashi Shimoda, Shoya Koga, and Kazuya Sato
Paper: pp. 145-152
Training Simulator for Manual Lathe Operation Using Motion Capture – Addition of Teaching Function and Evaluation of Training Effectiveness –
Abstract
Nobuyoshi Hashimoto
Paper: pp. 153-159
Performance Evaluation of Image Registration for Map Images
Abstract
Kazuma Kashiwabara, Keisuke Kazama, and Yoshitaka Marumo
Paper: pp. 160-170
Model Predictive Leg Configuration Control for Leg/Wheel Mobile Robots that Adapts to Changes in Ground Level
Abstract
Naoki Takahashi and Kenichiro Nonaka
Paper: pp. 171-179
Risk Factor Attitude Survey and Step of Road Detection Method About Wheelchair of Elderly Person
Abstract
Takashi Asakawa and Hidehiro Saeki
Paper: pp. 180-193
Development of a Bimanual Wearable Force Feedback Device with Pneumatic Artificial Muscles, MR Fluid Brakes, and Sensibility Evaluation Based on Pushing Motion
Abstract
Ryunosuke Sawahashi, Jonah Komatsu, Rie Nishihama, Manabu Okui, and Taro Nakamura
Development Report: pp. 194-205
Method to Achieve High Speed and High Recognition Rate of Goal from Long Distance for CanSat
Abstract
Miho Akiyama, Hiroshi Ninomiya, and Takuya Saito
Letter: pp. 206-211
Monitoring System Using Ceiling Camera and Mobile Robot
Abstract
Junji Satake, Futoshi Jogo, Kurumi Hiraki, Kohei Iwasaki, and Taisei Shirouzu
Letter: pp. 212-217
Identification of Shaft Stiffness and Inertias in Flexible Drive Systems
Abstract
Rached Dhaouadi and Ishaq Hafez

Vol.34 (2022)

No.6

(Dec)

Special Issue on Robotics for Medical Applications

Special Issue on Robotics for Medical Applications

Editorial: p. 1215
Robotics for Medical Applications
Kenji Kawashima, Jumpei Arata, Kanako Harada, and Kotaro Tadano

In recent years, the field of robots for medical applications has been expanding rapidly. Robots effectively augment their operators’ skills, enabling them to achieve accuracy and high precision during complex procedures. The use of robots improves the quality of life of patients and the quality of medical research. Therefore, the research and development of robots for medical applications will become more active in aging societies. This special issue focuses on the design and control of robots as well as integrated technologies for robots for medical applications. These include navigation, simulator, image guidance, training, and validation technologies for robots.

The special issue consists of 17 papers with various studies related to medical robots. There are 7 papers on assistant robots, including their passive and active controls, devices, and sensors. There are 10 papers related to minimally invasive surgery and neurosurgery involving robots, including papers on sensors, actuators, navigation, haptic display devices, the mechanical design of devices, and other topics. The editors are confident that this special issue will greatly contribute to further progress in robotics

We sincerely thank the authors for their fine contributions and the reviewers for their generous contributions of time and effort. We would also like to thank the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue.

Paper: pp. 1216-1224
Automation of Intraoperative Tool Changing for Robot-Assisted Laparoscopic Surgery
Abstract
Dongbo Zhou, Yura Aoyama, Hayato Takeyama, Kotaro Tadano, and Daisuke Haraguchi
Paper: pp. 1225-1232
Compact Variable Stiffness Actuator for Surgical Robots
Abstract
Toshiro Osaka, Kenichiro Seto, D. S. V. Bandara, Hirofumi Nogami, and Jumpei Arata
Review: pp. 1233-1244
Micro-Robotic Medical Tools Employing SMA Actuators for Use in the Human Body
Abstract
Yoichi Haga, Takashi Mineta, Tadao Matsunaga, and Noriko Tsuruoka
Paper: pp. 1245-1252
Real-Time Suture Thread Detection with an Image Classifier
Abstract
Kyotaro Horio, Kanako Harada, Jun Muto, Hirofumi Nakatomi, Nobuhito Saito, Akio Morita, Eiju Watanabe, and Mamoru Mitsuishi
Paper: pp. 1253-1267
Basic Experiments Toward Mixed Reality Dynamic Navigation for Laparoscopic Surgery
Abstract
Xiaoshuai Chen, Daisuke Sakai, Hiroaki Fukuoka, Ryosuke Shirai, Koki Ebina, Sayaka Shibuya, Kazuya Sase, Teppei Tsujita, Takashige Abe, Kazuhiko Oka, and Atsushi Konno
Paper: pp. 1268-1276
Improvement of Haptic Interface for Teleoperation Endoscopic Surgery Simulators Using Magnetorheological Fluid Devices
Abstract
Tetsumasa Takano, Asaka Ikeda, Isao Abe, and Takehito Kikuchi
Paper: pp. 1277-1283
Development of Integrated Leader Controller for Forceps/Retractor Manipulation in Single-Port Water-Filled Laparo-Endoscopic Surgery
Abstract
Kazuya Kawamura and Yuma Shimura
Paper: pp. 1284-1296
Development of Haptic Interface for Neurosurgical Simulators with Micro Scissors Module for Displaying the Cutting Force
Abstract
Teppei Tsujita, Yuto Inoue, Yutaka Takagi, Atsushi Konno, Satoko Abiko, Xin Jiang, Atsuhiro Nakagawa, and Masaru Uchiyama
Paper: pp. 1297-1305
Development of a Force Sensor for a Neuroendovascular Intervention Support Robot System
Abstract
Hiroki Tadauchi, Yoshitaka Nagano, Shigeru Miyachi, Reo Kawaguchi, Tomotaka Ohshima, and Naoki Matsuo
Paper: pp. 1306-1317
Moving Particle Semi-Implicit and Finite Element Method Coupled Analysis for Brain Shift Estimation
Abstract
Akito Ema, Xiaoshuai Chen, Kazuya Sase, Teppei Tsujita, and Atsushi Konno
Paper: pp. 1318-1328
Development of Intraoperative Plantar Pressure Measurement System Considering Weight Bearing Axis and Center of Pressure
Abstract
Izumu Hosoi, Takumi Matsumoto, Song Ho Chang, Qi An, Ichiro Sakuma, and Etsuko Kobayashi
Paper: pp. 1329-1337
Development of a Novel Rollator Equipped with a Motor-Driven Chest Support Pad and Investigation of its Effectiveness
Abstract
Jian Huang and Noriho Koyachi
Paper: pp. 1338-1347
Extraction and Evaluation of Greeting Speech-Timing and Characteristic Upper Body Motion for Robots to Gain Attention of Older Adults
Abstract
Mizuki Enoki, Tomoki Inaishi, and Hiroshi Noguchi
Paper: pp. 1348-1360
Development of a Three-Layer Fabric Mechanism for a Passive-Type Assistive Suit
Abstract
Chi Lok Wan, Toshifumi Ishioka, Chiaki Kanda, Keisuke Osawa, Kenji Kodama, and Eiichiro Tanaka
Paper: pp. 1361-1370
Adapting Balance Training by Changing the Direction of the Tensile Load on the Lumbar Region
Abstract
Tetsuro Miyazaki, Takuro Aoki, Junya Aizawa, Toshihiro Kawase, Maina Sogabe, and Kenji Kawashima
Paper: pp. 1371-1382
A Remote Rehabilitation and Evaluation System Based on Azure Kinect
Abstract
Tai-Qi Wang, Yu You, Keisuke Osawa, Megumi Shimodozono, and Eiichiro Tanaka
Paper: pp. 1383-1397
Development of Automatic Controlled Walking Assistive Device Based on Fatigue and Emotion Detection
Abstract
Yunfan Li, Yukai Gong, Jyun-Rong Zhuang, Junyan Yang, Keisuke Osawa, Kei Nakagawa, Hee-hyol Lee, Louis Yuge, and Eiichiro Tanaka

Regular Papers

Paper: pp. 1399-1410
Simultaneous Execution of Dereverberation, Denoising, and Speaker Separation Using a Neural Beamformer for Adapting Robots to Real Environments
Abstract
Daichi Nagano and Kazuo Nakazawa
Paper: pp. 1411-1423
Effect of Viewpoint Change on Robot Hand Operation by Gesture- and Button-Based Methods
Abstract
Qiang Yao, Tatsuro Terakawa, Masaharu Komori, Hirotaka Fujita, and Ikko Yasuda
Paper: pp. 1424-1430
Wrapping Objects with an Automatic Contraction Ring
Abstract
Takashi Mitsuda
Paper: pp. 1431-1440
Development of a Front-Wheel-Steering-Drive Dual-Wheel Caster Drive Mechanism for Omni-Directional Wheelchairs with High Step Climbing Performance
Abstract
Yuki Ueno, Issei Ikemura, Tsukuru Tanaka, and Yoshiki Matsuo
Paper: pp. 1441-1450
Inspection of the Most Suitable Approach and Information Projection Method for Interactions in the Night Flight of a Projector-Mounted Drone
Abstract
Ryosuke Kakiuchi, Dinh Tuan Tran, and Joo-Ho Lee
Paper: pp. 1451-1462
Characterization of Postural Control in Post-Stroke Patients by Musculoskeletal Simulation
Abstract
Kohei Kaminishi, Dongdong Li, Ryosuke Chiba, Kaoru Takakusaki, Masahiko Mukaino, and Jun Ota

No.5

(Oct)

Special Issue on High-Speed Vision and its Applications

Special Issue on High-Speed Vision and its Applications

Editorial: p. 911
High-Speed Vision and its Applications
Masatoshi Ishikawa, Idaku Ishii, Hiromasa Oku, Akio Namiki, Yuji Yamakawa, and Tomohiko Hayakawa

In recent years, advances in CMOS imagers and AI have rapidly expanded the application fields of image processing. Spatial resolution, sensitivity, dynamic range, etc. for devices have dramatically improved, while various recognition functions have been implemented with the introduction of learning-based information processing, making progress day by day. However, the temporal resolution or temporal dynamics of an image has been limited to the video rate level of processing, because image processing has been required to realize the functions of the human eye. In the case of processing for high-speed moving objects or controlling machine dynamics as machine eyes, rather than processing in the range visible to the human eye, high-speed vision, i.e., high-speed image processing in a bandwidth that covers the dynamics of the object, and a system that utilizes such processing, are required. This special issue summarizes such advanced research on high-speed vision, highlighting its current status and future development in the areas of devices, systems, and application developments.

High-speed vision has entered a new era, as the basic technology and various applications have been developed and new functions are being added one after another. We hope that this timely special issue will help its readers grasp this major technological trend and create new system values.

Review: pp. 912-935
High-Speed Vision and its Applications Toward High-Speed Intelligent Systems
Abstract
Masatoshi Ishikawa
Paper: pp. 936-945
Fully Automated Bead Art Assembly for Smart Manufacturing Using Dynamic Compensation Approach
Abstract
Kenichi Murakami, Shouren Huang, Masatoshi Ishikawa, and Yuji Yamakawa
Paper: pp. 946-955
Robotic Assistance for Peg-and-Hole Alignment by Mimicking Annular Solar Eclipse Process
Abstract
Shouren Huang, Kenichi Murakami, Masatoshi Ishikawa, and Yuji Yamakawa
Paper: pp. 956-964
Development of Air Hockey Robot with High-Speed Vision and High-Speed Wrist
Abstract
Koichiro Tadokoro, Shotaro Fukuda, and Akio Namiki
Paper: pp. 965-974
Robotic Pouring Based on Real-Time Observation and Visual Feedback by a High-Speed Vision System
Abstract
Hairui Zhu and Yuji Yamakawa
Paper: pp. 975-984
Real-Time Inspection of Rod Straightness and Appearance by Non-Telecentric Camera Array
Abstract
Leo Miyashita and Masatoshi Ishikawa
Paper: pp. 985-996
Angle of View Switching Method at High-Speed Using Motion Blur Compensation for Infrastructure Inspection
Abstract
Yuriko Ezaki, Yushi Moko, Tomohiko Hayakawa, and Masatoshi Ishikawa
Paper: pp. 997-1010
Tunnel Lining Surface Monitoring System Deployable at Maximum Vehicle Speed of 100 km/h Using View Angle Compensation Based on Self-Localization Using White Line Recognition
Abstract
Tomohiko Hayakawa, Yushi Moko, Kenta Morishita, Yuka Hiruma, and Masatoshi Ishikawa
Paper: pp. 1011-1023
Real-Time Vibration Visualization Using GPU-Based High-Speed Vision
Abstract
Feiyue Wang, Shaopeng Hu, Kohei Shimasaki, and Idaku Ishii
Paper: pp. 1024-1032
Acquisition and Visualization of Micro-Vibration of a Sound Wave in 3D Space
Abstract
Ryusuke Sagawa, Yusuke Higuchi, Ryo Furukawa, and Hiroshi Kawasaki
Paper: pp. 1033-1042
Tracking of Overlapped Vehicles with Spatio-Temporal Shared Filter for High-Speed Stereo Vision
Abstract
Taku Senoo, Atsushi Konno, Yunzhuo Wang, Masahiro Hirano, Norimasa Kishi, and Masatoshi Ishikawa
Paper: pp. 1043-1052
Seamless Multiple-Target Tracking Method Across Overlapped Multiple Camera Views Using High-Speed Image Capture
Abstract
Hyuno Kim, Yuji Yamakawa, and Masatoshi Ishikawa
Paper: pp. 1053-1062
Multi-Thread AI Cameras Using High-Speed Active Vision System
Abstract
Mingjun Jiang, Zihan Zhang, Kohei Shimasaki, Shaopeng Hu, and Idaku Ishii
Paper: pp. 1063-1072
Real-Time Marker-Based Tracking and Pose Estimation for a Rotating Object Using High-Speed Vision
Abstract
Xiao Liang, Masahiro Hirano, and Yuji Yamakawa
Paper: pp. 1073-1084
Multiple High-Speed Vision for Identical Objects Tracking
Abstract
Masahiro Hirano, Keigo Iwakuma, and Yuji Yamakawa
Paper: pp. 1085-1095
EmnDash: A Robust High-Speed Spatial Tracking System Using a Vector-Graphics Laser Display with M-Sequence Dashed Markers
Abstract
Tomohiro Sueishi, Ryota Nishizono, and Masatoshi Ishikawa
Paper: pp. 1096-1110
Structured Light Field by Two Projectors Placed in Parallel for High-Speed and Precise 3D Feedback
Abstract
Hiromu Kijima and Hiromasa Oku
Paper: pp. 1111-1121
High-Speed Depth-Normal Measurement and Fusion Based on Multiband Sensing and Block Parallelization
Abstract
Leo Miyashita, Yohta Kimura, Satoshi Tabata, and Masatoshi Ishikawa
Paper: pp. 1122-1132
Development of a Multi-User Remote Video Monitoring System Using a Single Mirror-Drive Pan-Tilt Mechanism
Abstract
Ananta Adhi Wardana, Shaopeng Hu, Kohei Shimasaki, and Idaku Ishii
Paper: pp. 1133-1140
Portable High-Speed Optical Gaze Controller with Vision Chip
Abstract
Leo Miyashita and Masatoshi Ishikawa
Paper: pp. 1141-1151
Evaluation of Perceptual Difference in Dynamic Projection Mapping with and without Movement of the Target Surface
Abstract
Shunya Fukuda, Shingo Kagami, and Koichi Hashimoto
Paper: pp. 1152-1163
Clear Fundus Images Through High-Speed Tracking Using Glare-Free IR Color Technology
Abstract
Motoshi Sobue, Hirokazu Takata, Hironari Takehara, Makito Haruta, Hiroyuki Tashiro, Kiyotaka Sasagawa, Ryo Kawasaki, and Jun Ohta
Paper: pp. 1164-1174
High-Speed and Low-Latency 3D Fluorescence Imaging for Robotic Microscope
Abstract
Kazuki Yamato, Masatoshi Iuchi, and Hiromasa Oku
Paper: pp. 1175-1183
Development of Aerial Interface by Integrating Omnidirectional Aerial Display, Motion Tracking, and Virtual Reality Space Construction
Abstract
Masaki Yasugi, Mayu Adachi, Kosuke Inoue, Nao Ninomiya, Shiro Suyama, and Hirotsugu Yamamoto

Regular Papers

Paper: pp. 1185-1191
Development of Experimental Multi-Robot System for Network Connectivity Controls
Abstract
Toki Hiasa and Toru Murayama
Paper: pp. 1192-1204
Waypoint-Based Human-Tracking Navigation for Museum Guide Robot
Abstract
Kaito Ichihara, Tadahiro Hasegawa, Shin’ichi Yuta, Hirohisa Ichikawa, and Yoshihide Naruse

No.4

(Aug)

Special Issue on Systems Science of Hyper-Adaptability

Special Issue on Systems Science of Hyper-Adaptability

Editorial: p. 699
Systems Science of Hyper-Adaptability
Toshiyuki Kondo, Jun Ota, Ryosuke Chiba, Qi An, and Kyo Kutsuzawa

“Hyper-adaptability” is the capability of the central nervous system (brain and spinal cord) to manage the impairment of sensory, motor, and cognitive functions by reactivating and recruiting pre-existing networks that are latent but available. In studying hyper-adaptability, interdisciplinary research that integrates mathematical modeling and robotic technologies with neuroscience findings is important. Thanks to support from Japan’s Ministry of Education, Culture, Sports, Science and Technology (MEXT) in the form of Grant-in-Aid for Scientific Research on Innovative Areas, the Hyper-adaptability Research Project started in July 2019.

The research works reported in this special issue are the latest achievements of the Hyper-adaptability Research Project. The special issue consists of three review articles and 10 research papers. These contributions cover a wide range of hyper-adaptability research activities, including neurophysiological experiments, functional neuroimaging, mathematical modeling of brain and musculoskeletal systems, cognitive psychological experiments, and robotic / virtual reality interventions for neurorehabilitation, carried out to clarify the mechanisms of hyper-adaptability.

We thank the authors for submitting their latest achievements and the reviewers for dedicating their time and effort to the review process. We also thank the editorial board of the Journal of Robotics and Mechatronics for supporting the publication of this special issue.

Review: pp. 700-709
Motor Cortex Plasticity During Functional Recovery Following Brain Damage
Abstract
Noriyuki Higo
Review: pp. 710-717
Neurophysiological Perspective on Allostasis and Homeostasis: Dynamic Adaptation in Viable Systems
Abstract
Hajime Mushiake
Review: pp. 718-725
Impact of the Upper Limb Physiotherapy on Behavioral and Brain Adaptations in Post-Stroke Patients
Abstract
Wataru Kuwahara, Yu Miyawaki, and Fuminari Kaneko
Paper: pp. 726-738
Time Series Analyses of the Responses to Sensory Stimuli of Children with Severe and Multiple Disabilities
Abstract
Eiko Matsuda, Tatsuki Takenaga, Mamoru Iwabuchi, and Kenryu Nakamura
Paper: pp. 739-745
Cerebral Activity-Based Quantitative Evaluation for Attention Levels
Abstract
Saki Niiyama, Shiro Yano, and Toshiyuki Kondo
Paper: pp. 746-755
Olfactory Cues to Reduce Retrograde Interference During the Simultaneous Learning of Conflicting Motor Tasks
Abstract
Eiko Matsuda, Daichi Misawa, Shiro Yano, and Toshiyuki Kondo
Paper: pp. 756-766
Effects of Frequent Changes in Extended Self-Avatar Movements on Adaptation Performance
Abstract
Agata Marta Soccini, Alessandro Clocchiatti, and Tetsunari Inamura
Paper: pp. 767-776
Analysis of Muscle Activity in the Sit-to-Stand Motion When Knee Movability is Disturbed
Abstract
Kazunori Yoshida, Qi An, Hiroyuki Hamada, Hiroshi Yamakawa, Yusuke Tamura, Atsushi Yamashita, and Hajime Asama
Paper: pp. 777-785
Sensorimotor Activities and Their Functional Connectivity Elicited by Robot-Assisted Passive Movements of Lower Limbs
Abstract
Takeshi Sakurada, Ayaka Horiuchi, and Takashi Komeda
Paper: pp. 786-794
Grid-Based Estimation of Transformation Between Partial Relationships Using a Genetic Algorithm
Abstract
Sota Nakamura, Yuichi Kobayashi, and Taisei Matsuura
Paper: pp. 795-807
The Understanding of ON-Edge Motion Detection Through the Simulation Based on the Connectome of Drosophila’s Optic Lobe
Abstract
Munehiro Hayashi, Tomoki Kazawa, Hayato Tsunoda, and Ryohei Kanzaki
Paper: pp. 808-816
Effects of the Mechanical Closed-Loop Between the Body and the Ground on the Postural Balance of Gaits
Abstract
Shuya Ishikawa and Yusuke Ikemoto
Paper: pp. 817-827
A Motor Adaptation Model Assuming Update of Internal Model in the Motor Cortex
Abstract
Sho Furubayashi, Takahiro Hasegawa, and Eizo Miyashita

Regular Papers

Paper: pp. 829-843
Proposal and Experimental Verification of an Implicit Control Based Navigation Scheme in Unknown Environment for a Centipede Type Robot
Abstract
Runze Xiao, Yusuke Tsunoda, and Koichi Osuka
Paper: pp. 844-856
Instantaneous Reaction and Vibration Suppression Using Two-Degree-of-Freedom Admittance Control with H Feedback Controller in Surgical Training Simulator with Chiseling Operation
Abstract
Kentaro Masuyama, Yoshiyuki Noda, Yasumi Ito, Yoshiyuki Kagiyama, and Koichiro Ueki
Paper: pp. 857-866
Development and Evaluation of Dorsiflexion Support Unit Using Elastomer Embedded Flexible Joint
Abstract
Takehito Kikuchi, Toma Ono, Maki Nakahara, Isao Abe, Kenichiro Tanaka, Yasushi Matsumoto, and Naoki Chijiwa
Paper: pp. 867-876
Mobile Robot Localization Through Online SLAM with Modifications
Abstract
Satoshi Hoshino and Yuta Kurihara
Paper: pp. 877-886
Localization Method Using Camera and LiDAR and its Application to Autonomous Mowing in Orchards
Abstract
Hiroki Kurita, Masaki Oku, Takeshi Nakamura, Takeshi Yoshida, and Takanori Fukao
Paper: pp. 887-896
Self-Localization of the Autonomous Robot for View-Based Navigation Using Street View Images
Abstract
Nobuhiko Matsuzaki and Sadayoshi Mikami

No.3

(Jun)

Special Issue on Creative Robot Contest for Decommissioning

Special Issue on Creative Robot Contest for Decommissioning

Editorial: p. 497
Creative Robot Contest for Decommissioning
Osamu Yamashita, Shigekazu Suzuki, and Tomoharu Doi

The decommissioning of the Fukushima Daiichi Nuclear Power Plant, the plant affected by the Great East Japan Earthquake, will continue for a long time to come, but few young people are willing to take on the challenge because they tend to have the impression that decommissioning work is a post-accident cleanup. However, decommissioning is the most important issue for Fukushima and is of global importance.

Therefore, the National Institute of Technology, Fukushima College (Fukushima KOSEN), which is located closest to the Fukushima Daiichi Nuclear Power Plant, established a council of cooperation and started the Creative Robot Contest for Decommissioning in cooperation with other National Institute of Technologies (KOSEN) to increase the awareness and interest in decommissioning among the young.

The robot contest, themed on issues related to the decommissioning of the Fukushima Daiichi Nuclear Power Plant, has been held annually since 2016 for students of KOSEN across Japan, and the 7th Creative Robot Contest for Decommissioning is scheduled to be held in December 2022.

Although the ideas and robots developed by KOSEN students from all over Japan to solve the problems involved in the decommissioning will not directly contribute to future decommissioning work, the ideas and technologies learned can be used in other fields, and the participating students are expected to be active in a wide range of fields as well.

This special issue contains review papers of the Creative Robot Contest for Decommissioning, development reports, and research papers on the robots developed. A total of eight papers are included: two review papers, two research papers, and four development reports on decommissioning robots designed by students.

At the same time, we hope that young people in Japan and abroad will also become interested in the robots introduced in this special issue, and that the decommissioning work of Fukushima Daiichi Nuclear Power Plant will proceed safely and securely by combining the wisdom of the whole world.

Review: pp. 498-508
Creative Robot Contests for Decommissioning as Conceived by College of Technology or KOSEN Educators
Abstract
Tomoharu Doi, Mitsuyoshi Shimaoka, and Shigekazu Suzuki
Development Report: pp. 509-522
Robots Climbing Up and Down a Steep Stairs and Robots Retrieving Objects from High Places
Abstract
Naoki Igo, Shota Yamaguchi, Noriyuki Kimura, Kazuma Ueda, Kenji Iseya, Kazuma Kobayashi, Toyoaki Tomura, Satoshi Mitsui, and Toshifumi Satake
Paper: pp. 523-526
Design and Fabricate of Reconnaissance Robots for Nuclear Power Plants that Underwent Accidents
Abstract
Yohei Kobayashi, Shunsuke Kanai, Chihiro Kikumoto, and Kohtaro Sakoda
Development Report: pp. 527-536
Activities of the Creative Robot Contest for Decommissioning at National Institute of Technology (NIT), Tsuruoka College
Abstract
Jeyeon Kim, Hikaru Sato, Akihiro Enta, Daisuke Sato, Hideto Kimura, and Masato Sato
Review: pp. 537-543
Development of Robot Simulating Fuel Debris Retrieval
Abstract
Shigekazu Suzuki, Hiroha Toba, Takumi Takeda, Yuta Togashi, and Takahiro Akao
Development Report: pp. 544-550
Design and Manufacture of a New Debris Retrieval Robot
Abstract
Yohei Kobayashi, Ryotaro Kayawake, Keito Sagane, Kazuaki Murai, and Yasuo Utsumi
Development Report: pp. 551-558
Development of Multi-Articulated Tracked Vehicle with a Sensorless Salvaging Bucket for Decommissioning
Abstract
Junji Hirasawa, Shun Isobe, Yusuke Kuramochi, Mitsuhiro Nishino, and Yoshihisa Nihei
Paper: pp. 559-567
Research on Debris Removal Robot
Abstract
Yohei Kobayashi, Kenta Morita, and Shigekazu Suzuki

Regular Papers

Paper: pp. 569-575
Electric Field Strength Simulation Using 2D-Environment Map Generated by Tele-Operated Mobile Robot
Abstract
SungHee Kim, Yasushi Hada, and Koji Kanayama
Paper: pp. 576-587
Hydraulic Robotic Leg for HYDROïD Robot: Modeling and Control
Abstract
Ahmed Abdellatif Hamed Ibrahim, Anas Ammounah, Samer Alfayad, Sami Tliba, Fethi Ben Ouezdou, and Stéphane Delaplace
Paper: pp. 588-598
Multi-Legged Inspection Robot with Twist-Based Crouching and Fine Adjustment Mechanism
Abstract
Maroay Phlernjai and Photchara Ratsamee
Paper: pp. 599-606
An Innovative Spiral Pulley that Optimizes Cable Tension Variation for Superior Balancing Performance
Abstract
Tian Shen and Ken’ichi Yano
Paper: pp. 607-614
Planning the Shortest Carrying Trajectory Including Path and Attitude Change Considering Gripping Constraints
Abstract
Takahiro Ario and Ikuo Mizuuchi
Paper: pp. 615-621
Human-Gait-Based Tracking Control for Lower Limb Exoskeleton Robot
Abstract
Yongping Dan, Yifei Ge, Aihui Wang, and Zhuo Li
Paper: pp. 622-630
Analysis of Measuring Precision of 3D Model of Ishigaki Stone in Kumamoto Castle Using Automatic CMG Crane System
Abstract
Nobutomo Matsunaga, Masaki Kuwahara, Hiroshi Okajima, and Gou Koutaki
Paper: pp. 631-644
Development of a Real-Time Simulator for a Semi-Autonomous Tele-Robot in an Unknown Narrow Path
Abstract
Nattawat Pinrath and Nobuto Matsuhira
Paper: pp. 645-653
Method of Studying a Process of Turning in an Orthotic Robot
Abstract
Mateusz Janowski, Danuta Jasińska-Choromańska, and Marcin Zaczyk
Paper: pp. 654-663
Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry
Abstract
Ryoji Miura, Daichi Usagawa, Keigo Noguchi, Satoshi Iwaki, and Tetsushi Ikeda
Paper: pp. 664-676
Data-Driven Model-Free Adaptive Displacement Control for Tap-Water-Driven Artificial Muscle and Parameter Design Using Virtual Reference Feedback Tuning
Abstract
Satoshi Tsuruhara and Kazuhisa Ito
Development Report: pp. 677-682
Redesigned Microcantilevers for Sensitivity Improvement of Microelectromechanical System Tactile Sensors
Abstract
Ren Kaneta, Takumi Hasegawa, Jun Kido, Takashi Abe, and Masayuki Sohgawa

No.2

(Apr)

Special Issue on Science of Soft Robots

Special Issue on Science of Soft Robots

Editorial: pp. 193-194
Science of Soft Robots
Koichi Suzumori, Ryuma Niiyama, Kenjiro Fukuda, and Kohei Nakajima

The science of soft robots, or soft robotics, is currently one of the most active fields in robotics. While traditional robots consist of rigid bodies, powerful servomotors, and carefully coded programs to realize power, precision, and reliability, soft robots consist of soft and flexible bodies, actuators, and intelligence for adaptability. They are not rigid, but instead flexible toward their surroundings. These differences have the potential to make soft robotics a great new field in robotics.

A JSPS KAKENHI project “Science of Soft Robots” has been in progress in Japan since 2018. Part of this special issue is made in collaboration with this project. This special issue consists of 46 works in total: 2 review papers, 29 letters, and 15 papers. One review paper, 29 letters, and 3 research papers report research activities from the JSPS KAKENHI project, and the other review paper and 12 research papers have been contributed from outside the project. As this issue will make clear, the science of soft robots is a very interdisciplinary academic field, a collaboration of many researchers from various fields, such as mechanical/electrical engineering, computer science, material sciences, biology, zoology, medicine, and nursing, among others. We believe interdisciplinary work to be a key point for the exploration of soft robotics.

The editors thank all of the authors and reviewers of the contributions, and are confident that this special issue will greatly contribute to further progress in robotics.

Review: pp. 195-201
Overview of the Kakenhi Grant-in-Aid for Scientific Research on Innovative Areas: Science of Soft Robots
Abstract
Koichi Suzumori
Review: pp. 202-211
Review of Electronics-Free Robotics: Toward a Highly Decentralized Control Architecture
Abstract
Yoichi Masuda and Masato Ishikawa
Letter: pp. 212-218
Ostrich-Inspired Soft Robotics: A Flexible Bipedal Manipulator for Aggressive Physical Interaction
Abstract
Hiromi Mochiyama, Megu Gunji, and Ryuma Niiyama
Letter: pp. 219-222
Toward Self-Modifying Bio-Soft Robots
Abstract
Takuya Umedachi and Masahiro Shimizu
Letter: pp. 223-226
Biomimetic Soft Wings for Soft Robot Science
Abstract
Hiroto Tanaka, Toshiyuki Nakata, and Takeshi Yamasaki
Letter: pp. 227-230
Flexible Thin-Film Device for Powering Soft Robots
Abstract
Tatsuhiro Horii, Toshinori Fujie, and Kenjiro Fukuda
Letter: pp. 231-233
Three-Dimensional Ion Polymer–Metal Composite Soft Robots
Abstract
Tetsuya Horiuchi, Hiroyuki Nabae, and Koichi Suzumori
Letter: pp. 234-239
From a Deployable Soft Mechanism Inspired by a Nemertea Proboscis to a Robotic Blood Vessel Mechanism
Abstract
Kenjiro Tadakuma, Masaru Kawakami, and Hidemitsu Furukawa
Letter: pp. 240-248
Durable Pneumatic Artificial Muscles with Electric Conductivity for Reliable Physical Reservoir Computing
Abstract
Ryo Sakurai, Mitsuhiro Nishida, Taketomo Jo, Yasumichi Wakao, and Kohei Nakajima
Letter: pp. 249-252
Self-Actuating and Nonelectronic Machines
Abstract
Shingo Maeda, Hiroki Shigemune, and Hideyuki Sawada
Letter: pp. 253-256
Controllable Biological Rhythms and Patterns
Abstract
Hiroshi Ito, Takuma Sugi, and Ken H. Nagai
Letter: pp. 257-259
Environmental Response Sensors Produced Using Bilayer-Type Organic Semiconductors
Abstract
Shunto Arai
Letter: pp. 260-262
Biohybrid Soft Robots Driven by Contractions of Skeletal Muscle Tissue
Abstract
Yuya Morimoto and Shoji Takeuchi
Letter: pp. 263-265
Evaluating Axon Conduction Characteristics of Cultured Sensory Neurons Toward Soft Robot Control
Abstract
Kenta Shimba, Kiyoshi Kotani, and Yasuhiko Jimbo
Letter: pp. 266-269
Development of High-Durability Flexible Fabrics Using High-Strength Synthetic Fibers and its Application to Soft Robots
Abstract
Gen Endo, Kaisei Yamagishi, Yuta Yamanaka, and Kenjiro Tadakuma
Letter: pp. 270-272
Green Robotics: Toward Realization of Environmentally Friendly Soft Robots
Abstract
Jun Shintake
Letter: pp. 273-275
Development of a PVC Gel Actuator with a Particulate Structure
Abstract
Aya Suzuki and Minoru Hashimoto
Letter: pp. 276-278
Peristaltic Mixing Pump Based on Bowel Peristalsis Using Pneumatic Artificial Rubber Muscles and Prospects for Practical Applications
Abstract
Taro Nakamura
Letter: pp. 279-284
Development of Living “Bio-Robots” for Autonomous Actuations
Abstract
Kazuya Furusawa, Ryo Teramae, Hirono Ohashi, and Masahiro Shimizu
Letter: pp. 285-287
Analysis of Soft Contact in Force Sensing and Elastic Jumping
Abstract
Takahiro Matsuno and Shinichi Hirai
Letter: pp. 288-290
Development of Microdevices Combining Machine and Life Systems
Abstract
Yo Tanaka
Letter: pp. 291-293
Soft Microrobot for Embryo Transfer in Assisted Reproductive Technology
Abstract
Susumu Koseki, Kazuhiro Kawamura, Futoshi Inoue, and Masashi Ikeuchi
Letter: pp. 294-297
Development of a Soft Robot with Pressure Ulcer Prevention Functions
Abstract
Shoko Miyagawa, Ryohei Yuasa, Hiroyuki Nabae, Hidemitsu Furukawa, and Masaru Kawakami
Letter: pp. 298-300
Soft Microswimmer Powered by Fluid Oscillation
Abstract
Takuji Ishikawa, Takeru Morita, and Toshihiro Omori
Letter: pp. 301-303
Motion Hacking – Understanding by Controlling Animals
Abstract
Dai Owaki and Volker Dürr
Letter: pp. 304-309
Flexible Shoulder in Quadruped Animals and Robots Guiding Science of Soft Robotics
Abstract
Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, and Akio Ishiguro
Letter: pp. 310-315
In-Situ X-Ray Analyses of Structural Change During Drawing and Shrinking of Linear Low-Density Polyethylene Film
Abstract
Hiroaki Yoshizawa, Ayaka Takazawa, Masaki Kakiage, Takeshi Yamanobe, Naoki Hayashi, Maki Hiraoka, Hiroyasu Masunaga, Kouki Aoyama, and Hiroki Uehara
Letter: pp. 316-318
Neural Interface for Biohybrid Prosthetic Hands to Realize Sensory and Motor Functions
Abstract
Tohru Yagi, Zugui Peng, and Shoichiro Kanno
Letter: pp. 319-321
Exploring the Bio-Functional Breaking Point of Living Tissue Subjected to External Physical Pressure
Abstract
Shotaro Tanaka and Fumio Nakamura
Letter: pp. 322-324
Flexible Light-Induced Self-Written Optical Waveguide Using Gel Material
Abstract
Ryo Futawatari, Hidetaka Terasawa, and Okihiro Sugihara
Letter: pp. 325-327
Design Research of Wearable Soft Avatar Robot for Interactive Social Presence
Abstract
Young ah Seong
Paper: pp. 328-338
Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator
Abstract
Kenji Misu, Masahiro Ikeda, Keung Or, Mitsuhito Ando, Megu Gunji, Hiromi Mochiyama, and Ryuma Niiyama
Paper: pp. 339-350
Local Discrimination Based on Piezoelectric Sensing in Robots Composed of Soft Matter with Different Physical Properties
Abstract
Ikuma Sudo, Jun Ogawa, Yosuke Watanabe, MD Nahin Islam Shiblee, Ajit Khosla, Masaru Kawakami, and Hidemitsu Furukawa
Paper: pp. 351-360
Low-Voltage Activation Based on Electrohydrodynamics in Positioning Systems for Untethered Robots
Abstract
Keita Abe, Yumeta Seki, Yu Kuwajima, Ayato Minaminosono, Shingo Maeda, and Hiroki Shigemune
Paper: pp. 361-372
Hermetically-Sealed Flexible Mobile Robot “MOLOOP” for Narrow Terrain Exploration
Abstract
Hitoshi Kimura, Mokutaro Kataoka, and Norio Inou
Paper: pp. 373-381
Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators
Abstract
So Shimooka, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara, and Takumi Kobayashi
Paper: pp. 382-389
Development of Flexible Electro-Hydraulic Spherical Actuator
Abstract
Wataru Kobayashi, Hiroaki Tamaki, Tetsuya Akagi, Shujiro Dohta, and So Shimooka
Paper: pp. 390-401
Development of Endoskeleton Type Knee Joint Assist Orthosis Using McKibben Type Artificial Muscle
Abstract
Kiichi Uchiyama, Takumi Ito, and Hiroki Tomori
Paper: pp. 402-412
Proposal of Manufacturing Method for New Passive Elastic Joint and Prototype of Human Phantom
Abstract
Masahiro Ikeda, Ryuma Niiyama, and Yasuo Kuniyoshi
Paper: pp. 413-421
Echo State Network for Soft Actuator Control
Abstract
Cedric Caremel, Matthew Ishige, Tung D. Ta, and Yoshihiro Kawahara
Paper: pp. 422-429
Micro Flow Control Valve with Stable Condition Using Particle-Excitation
Abstract
Daisuke Hirooka, Naomichi Furushiro, and Tomomi Yamaguchi
Paper: pp. 430-443
Vacuum End Effector Equipped with an Expansion and Contraction Mechanism Using a Wound Thin Metal Plate
Abstract
Junya Tanaka
Paper: pp. 444-453
Development and Application of Silicone Outer Shell-Type Pneumatic Soft Actuators
Abstract
Yasuhiro Hayakawa, Keisuke Kida, Yuma Nakanishi, Hiroaki Ichii, and Yasunobu Hirota
Paper: pp. 454-465
Development of Self-Powered 5-Finger Pneumatically Driven Hand Prosthesis Using Supination of Forearm
Abstract
Kotaro Nishikawa, Kentaro Hirata, and Masahiro Takaiwa
Paper: pp. 466-477
Variable-Stiffness and Deformable Link Using Shape-Memory Material and Jamming Transition Phenomenon
Abstract
Kazuto Takashima, Toshiki Imazawa, and Hiroki Cho
Paper: pp. 478-485
Development of Flexible Deformation Mobile Robot Composed of Multiple Units and Pneumatic Self-Excited Valve
Abstract
Takuya Hada, Kenta Iguchi, and Takeshi Aoki

No.1

(Feb)

Congratulations! JRM Best Paper Award 2021
Special Issue on Activity of Research Center – Kindai University: Advanced Robotic Technology Research Center

Congratulations! JRM Best Paper Award 2021

Award: pp. 1-2
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2021
Editorial Office

Special Issue on Activity of Research Center – Kindai University: Advanced Robotic Technology Research Center

Institute Overview: pp. 6-9
Kindai University: Advanced Robotic Technology Research Center in Fundamental Technology for Next Generation Research Institute
Abstract
Noriho Koyachi, Jian Huang, Junya Tatsuno, Atsushi Shirai, Mizuho Shibata, Nobuyasu Tomokuni, Masaharu Tagami, and Yuki Matsutani
Paper: pp. 10-17
Automatic Transplanting Equipment for Chain Pot Seedlings in Shaft Tillage Cultivation
Abstract
Junya Tatsuno, Kiyoshi Tajima, and Masayoshi Kato
Paper: pp. 18-27
Measurements and Analyses of Walk Using a Novel Rollator Equipped with a Rotatable Chest Pad
Abstract
Jian Huang, Hiroaki Ashida, Yuetong He, Noriho Koyachi, and Takashi Harada
Paper: pp. 28-39
Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise
Abstract
Masaharu Tagami, Masaki Hasegawa, Wataru Tanahara, and Yasutaka Tagawa
Paper: pp. 40-46
Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold
Abstract
Mizuho Shibata
Development Report: pp. 47-53
A Balance Control for the Miniature Motorcycle Robot with Inertial Rotor and Steering
Abstract
Nobuyasu Tomokuni

Regular Papers

Paper: pp. 55-63
Analysis of Timing and Effect of Visual Cue on Turn-Taking in Human-Robot Interaction
Abstract
Takenori Obo and Kazuma Takizawa
Paper: pp. 64-71
Development of an Underwater Robot for Detecting Shallow Water in a Port
Abstract
Ririka Itoh and Tadatsugi Okazaki
Paper: pp. 72-85
Gait Rehabilitation and Locomotion Support System Using a Distributed Controlled Robot System
Abstract
Katsuhiko Nishizawa, Toru Tsumugiwa, and Ryuichi Yokogawa
Paper: pp. 86-100
Local and Global Path Planning for Autonomous Mobile Robots Using Hierarchized Maps
Abstract
Nobuyuki Matsui, Isuru Jayarathne, Hiroaki Kageyama, Keitaro Naruse, Kazuki Urabe, Ryota Sakamoto, Tomoaki Mashiko, Seiya Kumada, Yuichi Yaguchi, Makoto Yashiro, Yasutsugu Ishibashi, and Miki Yutani
Paper: pp. 101-110
Mechanism and Effect of Tread Swing for Lower Limbs Strength Training Device
Abstract
Takumi Tamamoto, Ken’ichi Koyanagi, Yoshinori Kimura, Maki Koyanagi, Akio Inoue, Tomoaki Murabayashi, Toru Oshima, Takuya Tsukagoshi, and Kentaro Noda
Paper: pp. 111-120
Mobile Robot Localization Using Map Based on Cadastral Data for Autonomous Navigation
Abstract
Satoshi Hoshino and Hideaki Yagi
Paper: pp. 121-130
High-Dorsiflexion Assistive System for Passive Swing Phase Dorsiflexion Training and Preventing Compensatory Movements
Abstract
Jing-Chen Hong, Hiroki Ohashi, and Hiroyasu Iwata
Paper: pp. 131-139
Thermally Driven Vehicle Using Bimetal Rings
Abstract
Akira Okuno, Shunsuke Yoshimoto, and Akio Yamamoto
Paper: pp. 140-148
Development of Haptic Pointing Devices Under the Variable Admittance Control Theory
Abstract
Toru Tsumugiwa, Gen Asai, Atsushi Kamiyoshi, and Ryuichi Yokogawa
Paper: pp. 149-158
CameraRoach: A WiFi- and Camera-Enabled Cyborg Cockroach for Search and Rescue
Abstract
Sriranjan Rasakatla, Wataru Tenma, Takeshi Suzuki, Bipin Indurkhya, and Ikuo Mizuuchi
Development Report: pp. 159-166
Adaptation of a Small Robot for Paddy Fields to the Water Depth Change Using Variable Legs
Abstract
Kentaro Kameyama and Takuya Wada
Development Report: pp. 167-176
Development of Train-Boarding Assistance Device for Wheelchair
Abstract
Keunyoung Kim, Hiroshi Kobayashi, Kenta Matsumoto, and Takuya Hashimoto

Vol.33 (2021)

No.6

(Dec)

Special Issue on Field Robotics with Vision Systems

Special Issue on Field Robotics with Vision Systems

Editorial: p. 1215
Field Robotics with Vision Systems
Takanori Fukao, Yuichi Tsumaki, and Keita Kurashiki

Field robotics has been undergoing rapid progress in recent years. It addresses a wide range of activities performed in outdoor environments, and its applications are being developed in areas where it was previously considered difficult to apply. This rapid progress is largely supported by AI-based improvements in computer vision systems with monocular cameras, stereo cameras, RGB-D cameras, LiDAR systems, and/or other sensors. Field robotics is impelled by an application-driven approach by its nature, and it contributes to the resolution of social problems and the creation of new innovations, including autonomous driving to reduce casualties, autonomous working machines/robots to resolve the problems of labor shortages or dangers, disaster-response robots to aid rescue parties, various kinds of aerial robots to do searches or make deliveries, underwater robots to perform search missions, etc.

In this special issue on “Field Robotics with Vision Systems,” we highlight sixteen interesting papers, including one review paper, fourteen research papers, and one development report. They cover various application areas, ranging from underwater to space environments, and they propose interesting integration methods or element technologies to use in outdoor environments where vision systems and robot systems have great difficulty performing robustly.

We thank all authors and reviewers, and we hope that this special issue contributes to future research and development in area of field robotics, which promises new innovations.

Review: pp. 1216-1222
Field Robotics: Applications and Fundamentals
Abstract
Takanori Fukao
Paper: pp. 1223-1233
Development of AUV MONACA - Hover-Capable Platform for Detailed Observation Under Ice –
Abstract
Hirokazu Yamagata, Shuma Kochii, Hiroshi Yoshida, Yoshifumi Nogi, and Toshihiro Maki
Paper: pp. 1234-1247
Numerical and Experimental Analysis of Portable Underwater Robots with a Movable Float Device
Abstract
Norimitsu Sakagami, Mizuho Shibata, Tomohiro Ueda, Kensei Ishizu, Kenshiro Yokoi, and Sadao Kawamura
Paper: pp. 1248-1254
An Optimal Design Methodology for the Trajectory of Hydraulic Excavators Based on Genetic Algorithm
Abstract
Takamichi Yuasa, Masato Ishikawa, and Satoshi Ogawa
Paper: pp. 1255-1264
On the Geometric Featureless Visual Velocity of UGV in an Agriculture Scale
Abstract
Satoru Sakai and Daiki Nakabayashi
Paper: pp. 1265-1273
Robotic Forklift for Stacking Multiple Pallets with RGB-D Cameras
Abstract
Ryosuke Iinuma, Yusuke Hori, Hiroyuki Onoyama, Yukihiro Kubo, and Takanori Fukao
Paper: pp. 1274-1283
Tomato Recognition for Harvesting Robots Considering Overlapping Leaves and Stems
Abstract
Takeshi Ikeda, Ryo Fukuzaki, Masanori Sato, Seiji Furuno, and Fusaomi Nagata
Paper: pp. 1284-1293
Autonomous Path Travel Control of Mobile Robot Using Internal and External Camera Images in GPS-Denied Environments
Abstract
Keita Yamada, Shoya Koga, Takashi Shimoda, and Kazuya Sato
Paper: pp. 1294-1302
CNN-Based Terrain Classification with Moisture Content Using RGB-IR Images
Abstract
Tomoya Goto and Genya Ishigami
Paper: pp. 1303-1314
Development of an Automatic Tracking Camera System Integrating Image Processing and Machine Learning
Abstract
Masato Fujitake, Makito Inoue, and Takashi Yoshimi
Paper: pp. 1315-1325
Spread Spectrum Sound with TDMA and INS Hybrid Navigation System for Indoor Environment
Abstract
Romprakhun Tientadakul, Hiroaki Nakanishi, Tomoo Shiigi, Zichen Huang, Lok Wai Jacky Tsay, and Naoshi Kondo
Paper: pp. 1326-1337
LPWAN-Based Real-Time 2D SLAM and Object Localization for Teleoperation Robot Control
Abstract
Alfin Junaedy, Hiroyuki Masuta, Kei Sawai, Tatsuo Motoyoshi, and Noboru Takagi
Paper: pp. 1338-1348
Human Tracking of a Crawler Robot in Climbing Stairs
Abstract
Yasuaki Orita, Kiyotsugu Takaba, and Takanori Fukao
Paper: pp. 1349-1358
Attractive Force Estimation of a Magnetic Adsorption Unit for Inspection UAVs
Abstract
Yoshiyuki Higashi, Kenta Yamazaki, Arata Masuda, Nanako Miura, and Yuichi Sawada
Paper: pp. 1359-1372
A Novel Method for Goal Recognition from 10 m Distance Using Deep Learning in CanSat
Abstract
Miho Akiyama and Takuya Saito
Development Report: pp. 1373-1383
Image Mosaicking and Localization Using a Camera Mounted on a Hanging-Type Wall Climbing Robot
Abstract
Shigenori Sano, Daisuke Takaki, Atsunori Ishida, and Teruhiro Ishida

Regular Papers

Paper: pp. 1385-1397
Visual SLAM Framework Based on Segmentation with the Improvement of Loop Closure Detection in Dynamic Environments
Abstract
Leyuan Sun, Rohan P. Singh, and Fumio Kanehiro
Paper: pp. 1398-1407
Development of Tele-Operated Underfloor Mobile Manipulator
Abstract
Shunsuke Sato, Tianlin Song, and Yasumichi Aiyama
Paper: pp. 1408-1422
Improved 3D Human Motion Capture Using Kinect Skeleton and Depth Sensor
Abstract
Alireza Bilesan, Shunsuke Komizunai, Teppei Tsujita, and Atsushi Konno
Paper: pp. 1423-1428
Intelligent Path Planning Approach for Autonomous Mobile Robot
Abstract
Ibrahim M. Al-Adwan

No.5

(Oct)

Special Issue on Augmenting the Human Body and Being

Special Issue on Augmenting the Human Body and Being

Editorial: pp. 985-986
Augmenting the Human Body and Being
Masahiko Inami, Hiroyasu Iwata, Minao Kukita, Yuichi Kurita, Kouta Minamizawa, Masaaki Mochimaru, Takuji Narumi, Junichi Rekimoto, and Kenji Suzuki

Information technologies, such as IoT, artificial intelligence (AI), and virtual reality (VR), have seen so much development that there is now a wide variety of digital equipment incorporated into the infrastructure of daily life. From the agrarian society (Society 1.0) through the information society (Society 4.0), humankind has created farmlands and cities by structuring natural environments physically and has built information environments by structuring them informationally. However, despite the rapid development of information environments, it may be fair to say that the perspectives of the human body have not changed at all since the industrial revolution.

In the context of these recent technological developments, greater attention is being paid to human augmentation studies. These studies aim for a new embodiment of “human-computer integration,” one which can physically and informationally compensate or augment our innate sensory functions, motor functions, and intellectual processing functions by using digital equipment and information systems at will, as if they were our hands and feet. It has also been proposed that the technical systems that enable us to freely do what we want by utilizing human augmentations be called “JIZAI” (freedomization) as opposed to “automation.”

The term “JIZAI body” used in these studies represents the new body image of humans who will utilize engineering and informatics technologies to act at will in the upcoming “super smart society” or “Society 5.0.” In these studies, human augmentation technologies are an important component of JIZAI, but JIZAI is not the same as human augmentation. JIZAI is different in scope from human augmentation, as it aims to enable humans to move freely among the five new human body images: “strengthened sense” (augmented perception), “strengthened physical body” (body augmentation), “separately-designed mind and body” (out of body transform), “shadow cloning,” and “assembling.” In the society of the future...<more>

Review: pp. 987-1003
Transparency in Human-Machine Mutual Action
Abstract
Hiroto Saito, Arata Horie, Azumi Maekawa, Seito Matsubara, Sohei Wakisaka, Zendai Kashino, Shunichi Kasahara, and Masahiko Inami
Review: pp. 1004-1012
Virtual Mirror and Beyond: The Psychological Basis for Avatar Embodiment via a Mirror
Abstract
Yasuyuki Inoue and Michiteru Kitazaki
Paper: pp. 1013-1028
Manipulating Sense of Participation in Multipartite Conversations by Manipulating Head Attitude and Gaze Direction
Abstract
Kenta Higashi, Naoya Isoyama, Nobuchika Sakata, and Kiyoshi Kiyokawa
Paper: pp. 1029-1042
Effect of the Opponent’s Appearance on Interpersonal Cognition that Affects User-to-User Relationship in Virtual Whole-Body Interaction
Abstract
Sho Sakurai, Takumi Goto, Takuya Nojima, and Koichi Hirota
Paper: pp. 1043-1050
Local Peak Method: An Electrotactile Stimulation Method Focusing on Surface Structures for Texture Rendering
Abstract
Akimu Hirai, Masaya Nakayama, and Takefumi Ogawa
Paper: pp. 1051-1062
Electrical Muscle Stimulation to Develop and Implement Menstrual Simulator System
Abstract
Chihiro Asada, Kotori Tsutsumi, Yuichi Tamura, Naoya Hara, Wataru Omori, Yuta Otsuka, and Katsunari Sato
Paper: pp. 1063-1074
Leveraging Motor Babbling for Efficient Robot Learning
Abstract
Kei Kase, Noboru Matsumoto, and Tetsuya Ogata
Paper: pp. 1075-1081
Dynamic Brake Control for a Wearable Impulsive Force Display by a String and a Brake System
Abstract
Satoshi Saga and Naoto Ikeda
Paper: pp. 1082-1095
Device-Free Handwritten Character Recognition Method Using Acoustic Signal
Abstract
Atsushi Ogura, Hiroki Watanabe, and Masanori Sugimoto
Paper: pp. 1096-1103
Training to Improve the Landing of an Uninjured Leg in Crutch Walk Using AR Technology to Present an Obstacle
Abstract
Naoaki Tsuda, Takuya Ehiro, Yoshihiko Nomura, and Norihiko Kato
Paper: pp. 1104-1116
Bilaterally Shared Haptic Perception for Human-Robot Collaboration in Grasping Operation
Abstract
Yoshihiro Tanaka, Shogo Shiraki, Kazuki Katayama, Kouta Minamizawa, and Domenico Prattichizzo
Paper: pp. 1117-1127
Analysis of Hot-Cold Confusion on Fingers
Abstract
Satoshi Hashiguchi
Paper: pp. 1128-1134
Anodal Galvanic Taste Stimulation to the Chin Enhances Salty Taste of NaCl Water Solution
Abstract
Hiromi Nakamura, Tomohiro Amemiya, Jun Rekimoto, Hideyuki Ando, and Kazuma Aoyama
Paper: pp. 1135-1143
VIDVIP: Dataset for Object Detection During Sidewalk Travel
Abstract
Tetsuaki Baba

Regular Papers

Paper: pp. 1145-1154
Development of Automatic Chair Transport System - Chair Recognition and Approach Strategy –
Abstract
Koshiro Miyauchi and Nobuaki Nakazawa
Paper: pp. 1155-1168
Geometric Correction Method Applying the Holographic Ray Direction Control Technology
Abstract
Kenta Tanaka, Motoyasu Sano, Yumi Horimai, Hideyoshi Horimai, and Yusuke Aoki
Paper: pp. 1169-1177
Active Steering Wheel System for Ultra-Compact Mobility Vehicles: Operability Evaluation with Steering Burden in Various Drivers
Abstract
Daigo Uchino, Takamasa Hirai, Shugo Arai, Keigo Ikeda, Taro Kato, Xiaojun Liu, Ayato Endo, Hideaki Kato, and Takayoshi Narita
Paper: pp. 1178-1189
Easy-Riding Compact Electric Shopping Vehicle
Abstract
Takeharu Hayashi, Yoshihiko Takahashi, and Satoru Yamaguchi
Paper: pp. 1190-1203
Inter-Module Physical Interactions: A Force-Transmissive Modular Structure for Whole-Body Robot Motion
Abstract
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro

No.4

(Aug)

Special Issue on Nursing Robots and Support Systems for Welfare Sites

Special Issue on Nursing Robots and Support Systems for Welfare Sites

Editorial: pp. 711-712
Nursing Robots and Support Systems for Welfare Sites
Shoichiro Fujisawa, Masahiro Takaiwa, Yasuhisa Hirata, Shinya Kotosaka, and Daisuke Chugo

Japan’s population is aging at a speed unprecedented in the world, and its shortage of caregivers has become a major issue. At the same time, the Internet of Things (IoT) is expected to create unprecedented new value by connecting all people and things, allowing them to share various kinds of knowledge and information. In addition, as artificial intelligence (AI) and big data are undergoing a transformation that is changing the value of human labor, robots incorporating these innovative technologies are expected to solve the problems of the aging society. On the other hand, in the field of nursing care, the relationship between the caregiver and the care-receiver is basically a person-to-person connection. There is a question of how people and technology can coexist and produce new creations in such fields.

This special issue on Nursing Robots and Support Systems for Welfare Sites includes one review paper and 23 other interesting papers that cover the following topics:
     · Research on independence support and systems to watch over the elderly.
     · Research on support systems for diet, recreation, medication, etc. for people with dementia.
     · Research on control and sensor systems for vital signs and excretion.
     · Research on rehabilitation equipment for the physically handicapped.
     · Research on assistive technologies for mobility support.
     · Research on upper and lower limb power assistance devices and robots.

We thank all authors and reviewers of the papers as well as the Editorial Board of the Journal of Robotics and Mechatronics for their help with this special issue.

Review: pp. 713-718
Development and Dissemination of Nursing Robots and Support Systems for Welfare Sites
Abstract
Yuji Higashi
Paper: pp. 719-729
Effectiveness of Continuous Grip Strength Measurement Using Social Assistive Robots on Older Adults at Home
Abstract
Mio Nakamura, Kohki Okajima, Yoshio Matsumoto, Tomoki Tanaka, Katsuya Iijima, and Misato Nihei
Paper: pp. 730-738
Method to Record and Analyze the Operation of Seal Robot in Elderly Care
Abstract
Kohei Kuramochi, Kazuyoshi Wada, Koji Kimita, Haruka Kurokawa, Kaoru Inoue, and Yoshiki Shimomura
Paper: pp. 739-746
Development of a Care Robot Based on Needs Survey
Abstract
Junji Kawata, Jiro Morimoto, Yoshio Kaji, Mineo Higuchi, Kajiro Matsumoto, Masayuki Booka, and Shoichiro Fujisawa
Paper: pp. 747-755
Impression Survey and Grounded Theory Analysis of the Development of Medication Support Robots for Patients with Schizophrenia
Abstract
Tomoe Ozeki, Tetsuya Mouri, Hiroko Sugiura, Yuu Yano, and Kunie Miyosawa
Paper: pp. 756-767
Object Grasping Instructions to Support Robot by Laser Beam One Drag Operations
Abstract
Momonosuke Shintani, Yuta Fukui, Kosuke Morioka, Kenji Ishihata, Satoshi Iwaki, Tetsushi Ikeda, and Tim C. Lüth
Paper: pp. 768-776
Development of a Spoon Motion Navigation Algorithm for the Mealtime Assistant Simulator
Abstract
Atsushi Mitani and Masumi Muramatsu
Paper: pp. 777-783
Speech Analysis to Evaluate Robot-Assisted Recreation of Older Adults with Dementia
Abstract
Tomoko Nariai, Shiroh Itai, and Hiroaki Kojima
Paper: pp. 784-803
Use of Robotic Pet in a Distributed Layout Elderly Housing with Services: A Case Study on Elderly People with Cognitive Impairment
Abstract
Yoko Hori, Ken Kato, Mia Kobayashi, Yuriko Inoue, Kecheng Lai, Akitaka Sugishita, Yoshihiro Okamoto, Satoko Kamiya, and Takanori Shibata
Paper: pp. 804-813
An Electrolarynx Control Method Using Myoelectric Signals from the Neck
Abstract
Katsutoshi Oe
Development Report: pp. 814-825
Excretion Detection Systems with Gas Sensors – Development of Prototype Devices Integrating Sensor and Operation Functions –
Abstract
Shohei Sugano, Yoshimi Ui, Kazushiro Tanimoto, Kenta Nakano, and Ken Tomiyama
Paper: pp. 826-832
Unconstrained Measurement of Heart Rate Considering Harmonics of Respiratory Signal Using Flexible Tactile Sensor Sheet
Abstract
Kazuya Matsuo, Toshiharu Mukai, and Shijie Guo
Paper: pp. 833-842
Impedance Control Considering Velocity Saturation of a Series Elasticity System with a Motor
Abstract
Ren Fukui, Yasuhito Kusakabe, Ryojun Ikeura, and Soichiro Hayakawa
Paper: pp. 843-850
Ankle Joint Stretching Device Using Tension Rod for Self Rehabilitation
Abstract
Hideki Toda and Shin Sugihara
Paper: pp. 851-857
Facilitative Exercise for Surface Myoelectric Activity Using Robot Arm Control System – Training Scheme with Gradually Increasing Difficulty Level –
Abstract
Ryota Hayashi, Naoki Shimoda, Tetsuya Kinugasa, and Koji Yoshida
Paper: pp. 858-867
Classification of Care Assistive Technology Based on the Relationship Between Users and Technologies
Abstract
Hiroyasu Miwa, Kentaro Watanabe, and Marketta Niemelä
Paper: pp. 868-876
Evaluation of Muscle Activity and Human Standing Stability Index Using the Swash Plate in a Disturbance Application
Abstract
Tsutomu Togoe, Pham Hoang Tung, Koki Honda, Yasutaka Nakashima, and Motoji Yamamoto
Paper: pp. 877-886
Development of a Tele-Rehabilitation System Using an Upper Limb Assistive Device
Abstract
Eiichiro Tanaka, Wei-Liang Lian, Yun-Ting Liao, Hao Yang, Li-Ning Li, Hee-Hyol Lee, and Megumi Shimodozono
Paper: pp. 887-892
Development and Clinical Evaluation of Bed with Standing-Up Function
Abstract
Katsuhiro Manabe
Letter: pp. 893-899
Development of Transfer-Assisting Robot System Using Posture-Supporting Wear and Support Robot
Abstract
Fumio Mizuno, Kento Narita, and Sho Hamada
Development Report: pp. 900-910
Design of an Indoor Robotic Walking Care Device for Daily-Activity Activation of the Elderly
Abstract
Seonghee Jeong, Hiroki Aoyama, Satoshi Takahara, and Yoshiyuki Takaoka
Paper: pp. 911-918
User-Adaptive Brake Assist System for Rolling Walkers
Abstract
Tetsuya Hirotomi
Paper: pp. 919-926
Development and Control of Power-Assisted Lumbar Suit Based on Upper-Body Acceleration
Abstract
Hiroshi Suzuki, Ayaka Sumoto, Takahiro Kitajima, Akinobu Kuwahara, and Takashi Yasuno
Paper: pp. 927-934
Gait Rehabilitation System Using a Non-Wearing Type Pneumatic Power Assist Device
Abstract
Masashi Yokota and Masahiro Takaiwa

Regular Papers

Paper: pp. 935-943
A Soft Needle Gripper Capable of Grasping and Piercing for Handling Food Materials
Abstract
Zhongkui Wang, Yui Makiyama, and Shinichi Hirai
Paper: pp. 944-954
New Method of Path Optimization for Medical Logistics Robots
Abstract
Hui Jin, Qingsong He, Miao He, Fangchao Hu, and Shiqing Lu
Paper: pp. 955-967
Design of Fin-Curvature-Based Feedback Controller for Efficient Swimming
Abstract
Fumiaki Nose, Yuichiro Sueoka, Daisuke Nakanishi, Yasuhiro Sugimoto, and Koichi Osuka
Development Report: pp. 968-974
Soft Robotic Gripper Based on Multi-Layers of Dielectric Elastomer Actuators
Abstract
Witchuda Thongking, Ardi Wiranata, Ayato Minaminosono, Zebing Mao, and Shingo Maeda

No.3

(Jun)

Special Issue on Bio-Logging and Robotics
Special Issue on Activity of Research Center – Osaka University: Komatsu MIRAI Construction Equipment Cooperative Research Center

Special Issue on Bio-Logging and Robotics

Editorial: p. 445
Bio-Logging and Robotics
Koichi Osuka, Koichi Hashimoto, Midori Sakura, and Shizuko Hiryu

In the studies done to date on the swarm behaviors of animals, many different observational techniques have been developed, indicating the importance of such detailed observations. The techniques of researchers aiming to capture the swarm behavior of animals, which is normally visually unobservable, have included attaching microsensors to honey bees or ants and data loggers (micro recorders) to birds or mammals. Such techniques, collectively known as “bio-logging,” can go far in clarifying why we feel animals that exhibit swarm behaviors seem to have a sort of collective intelligence, or “swarm intelligence.” Furthermore, studies on the swarm behaviors of animals may provide important clues to researchers in the field of swarm robotics. It is in this context that this special issue presents papers on bio-logging technologies, the collective behaviors of animals, and various advanced measurement technologies related to them.

This special issue consists of one review article and 14 research papers. The subjects cover a wide range of areas, including control engineering, data science, and ecology. Thus, bio-logging is an interdisciplinary area that can expect to see much growth in the near future.

The editors are confident that this issue will greatly contribute to further progress in the field of bio-logging.

Paper: pp. 446-456
Development of Data Logger Separator for Bio-Logging of Wild Seabirds
Abstract
Takuma Abe, Natsumi Kubo, Kazuki Abe, Hirokazu Suzuki, Yuichi Mizutani, Ken Yoda, Riichiro Tadakuma, and Yuichi Tsumaki
Paper: pp. 457-465
The Lifelog Monitoring System for Honeybees: RFID and Camera Recordings in an Observation Hive
Abstract
Hiroyuki Ai and Shinya Takahashi
Paper: pp. 466-474
Seabird Biologging System with Compact Waterproof Airflow Sensor
Abstract
Hidetoshi Takahashi, Masaru Naruoka, Yoshinobu Inada, and Katsufumi Sato
Paper: pp. 475-483
Logger Attaching System for Sperm Whales Using a Drone
Abstract
Ryota Murakami, Takumi Toyoshima, Daichi Furusawa, Masaru Suzuki, Kazunari Masumoto, Sho Owada, Yuichi Tsumaki, and Kyoichi Mori
Paper: pp. 484-493
Vision-Based Finger Tapping Detection Without Fingertip Observation
Abstract
Shotaro Narita, Shingo Kagami, and Koichi Hashimoto
Paper: pp. 494-504
Auditory Virtual Reality for Insect Phonotaxis
Abstract
Noriyasu Ando, Hisashi Shidara, Naoto Hommaru, and Hiroto Ogawa
Review: pp. 505-514
Data-Driven Analysis for Understanding Team Sports Behaviors
Abstract
Keisuke Fujii
Paper: pp. 515-525
Localization of Flying Bats from Multichannel Audio Signals by Estimating Location Map with Convolutional Neural Networks
Abstract
Kazuki Fujimori, Bisser Raytchev, Kazufumi Kaneda, Yasufumi Yamada, Yu Teshima, Emyo Fujioka, Shizuko Hiryu, and Toru Tamaki
Paper: pp. 526-536
Application of Inertial and GNSS Integrated Navigation to Seabird Biologging
Abstract
Masaru Naruoka, Yusuke Goto, Henri Weimerskirch, Takashi Mukai, Taichi Sakamoto, Kentaro Q. Sakamoto, and Katsufumi Sato
Paper: pp. 537-546
Investigation of Preliminary Motions from a Static State and Their Predictability
Abstract
Chaoshun Xu, Masahiro Fujiwara, Yasutoshi Makino, and Hiroyuki Shinoda
Paper: pp. 547-555
Pose Estimation of Swimming Fish Using NACA Airfoil Model for Collective Behavior Analysis
Abstract
Hitoshi Habe, Yoshiki Takeuchi, Kei Terayama, and Masa-aki Sakagami
Paper: pp. 556-563
Three-Dimensional Trajectory Construction and Observation of Group Behavior of Wild Bats During Cave Emergence
Abstract
Emyo Fujioka, Mika Fukushiro, Kazusa Ushio, Kyosuke Kohyama, Hitoshi Habe, and Shizuko Hiryu
Paper: pp. 564-571
Absence of Jamming Avoidance and Flight Path Similarity in Paired Bent-Winged Bats, Miniopterus Fuliginosus
Abstract
Kazuma Hase, Saori Sugihara, Seiya Oka, and Shizuko Hiryu
Paper: pp. 572-581
A Pilot Study of the Effects of Human Intervention on Canine Group Movement Behavior
Abstract
Miho Nagasawa, Satomi Kuramochi, Azumi Hamamoto, Toshitaka Yamakawa, and Takefumi Kikusui
Paper: pp. 582-589
Influence of Labor Conditions and Interaction Among Individuals on Circadian Activity Rhythms in the Ant Camponotus Japonicus
Abstract
Masashi Shiraishi, Takumi Odan, Osamu Yamanaka, and Hiraku Nishimori

Special Issue on Activity of Research Center – Osaka University: Komatsu MIRAI Construction Equipment Cooperative Research Center

Institute Overview: pp. 592-598
Osaka University: Komatsu “MIRAI” (Japanese for “Future”) Construction Equipment Cooperative Research Center
Abstract
Koichi Osuka and Youjirou Ohbatake
Development Report: pp. 599-603
Perception of Vestibular Sensation During Turning Operation of Construction Machine
Abstract
Koji Okuda, Youjirou Ohbatake, and Daisuke Kondo
Development Report: pp. 604-609
Projection Screen with Wide-FOV and Motion Parallax Display for Teleoperation of Construction Machinery
Abstract
Daisuke Kondo
Development Report: pp. 610-617
FST-Convoy: A Leader Tracking Control of Vehicles Connected by Shape Sensor FST
Abstract
Daisuke Ura, Kotaro Masumoto, and Koichi Osuka

Regular Papers

Paper: pp. 619-628
Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity
Abstract
Hitoshi Kino, Hiroaki Ochi, and Kenji Tahara
Paper: pp. 629-642
Tracking and Visualizing Signs of Degradation for Early Failure Prediction of Rolling Bearings
Abstract
Sana Talmoudi, Tetsuya Kanada, and Yasuhisa Hirata
Paper: pp. 643-652
Stabilization Control of Inverted Two-Wheeled Luggage Transport Vehicle Using a Kalman Filter-Based Disturbance Observer
Abstract
Hironori Matsubara, Yuki Nagatsu, and Hideki Hashimoto
Paper: pp. 653-664
Characteristics of Pneumatic Artificial Rubber Muscle Using Two Shape-Memory Polymer Sheets
Abstract
Kazuto Takashima, Daiki Iwamoto, Shun Oshiro, Toshiro Noritsugu, and Toshiharu Mukai
Paper: pp. 665-675
Gap Traversing Motion via a Hexapod Tracked Mobile Robot Based on Gap Width Detection
Abstract
Taiga Sasaki and Toyomi Fujita
Paper: pp. 676-685
Proposal of Wheeled Gait-Training Walker with Dual-Assist Arms and Preliminary Pelvis-Handling Control
Abstract
Kenji Uegami, Hiroki Aoyama, Katsushi Ogawa, Kazuo Yonenobu, and Seonghee Jeong
Paper: pp. 686-697
Vision-Based Sensing Systems for Autonomous Driving: Centralized or Decentralized?
Abstract
Manato Hirabayashi, Yukihiro Saito, Kosuke Murakami, Akihito Ohsato, Shinpei Kato, and Masato Edahiro

No.2

(Apr)

Special Issue on Novel Technology of Autonomous Drone

Special Issue on Novel Technology of Autonomous Drone

Editorial: p. 195
Novel Technology of Autonomous Drone
Satoshi Suzuki and Kenzo Nonami

In the past three years, there has been rapid progress in the use of drones in society. Drones, which were previously used only experimentally in various industrial fields, are now being used in earnest in everyday operations. Drones are becoming indispensable tools in several industrial fields, such as surveying, inspection, and agriculture. At the same time, there has also been dramatic progress in autonomous drone technology. With the advancement of image processing, simultaneous localization and mapping (SLAM), and artificial intelligence technologies, many intelligent drones that apply these technologies are being researched. At the same time, our knowledge of multi-rotor helicopters, the main type of drones, has continued to deepen. As the strengths and weaknesses of multi-rotor helicopters have gradually become clearer, drones with alternate structures, such as flapping-wing drones, have come to attract renewed attention. In addition, the range of applications for drones, including passenger drones, has expanded greatly, and research on unprecedented drone operations, as well as research on systems and controls to ensure operational safety, is actively being conducted.

This special issue contains the latest review, research papers, and development reports on autonomous drones classified as follows from the abovementioned perspectives.
     · Research on drone airframes and structures
     · Research on drone navigation and recognition with a focus on image processing
     · Research on advanced drone controls
     · Research and development of drone applications

We hope that the readers will actively promote the use of drones in their own research and work, based on the information obtained from this special issue.

Review: pp. 196-204
Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force
Abstract
Robert Ladig, Hannibal Paul, Ryo Miyazaki, and Kazuhiro Shimonomura
Paper: pp. 205-215
The WiFly: Flapping-Wing Small Unmanned Aerial Vehicle with Center-of-Gravity Shift Mechanism
Abstract
Taichi Nozawa, Keita Nakamura, Ryosuke Katsuyama, Shunki Kuwajima, Ziyan Li, Akira Nomizu, Riku Okamoto, Toshitatsu Munakata, and Takanobu Watanabe
Paper: pp. 216-222
Motion Analysis of Butterfly-Style Flapping Robot Using CFD Based on 3D-CAD Model and Experimental Flight Data
Abstract
Keisuke Sanuki and Taro Fujikawa
Paper: pp. 223-230
Development of Landing Rebound Reduction Mechanism Utilizing Magnetic Damper for Multicopters
Abstract
Kazuki Niwa, Susumu Hara, and Kikuko Miyata
Paper: pp. 231-241
Aerial Manipulator Control Method Based on Generalized Jacobian
Abstract
Takahiro Ikeda, Kenichi Ohara, Akihiko Ichikawa, Satoshi Ashizawa, Takeo Oomichi, and Toshio Fukuda
Paper: pp. 242-253
Indoor Unmanned Aerial Vehicle Navigation System Using LED Panels and QR Codes
Abstract
Hiroyuki Ukida
Paper: pp. 254-262
Position Identification Using Image Processing for UAV Flights in Martian Atmosphere
Abstract
Shin-Ichiro Higashino, Toru Teruya, and Kazuhiko Yamada
Paper: pp. 263-273
Real-Time Visual Feedback Control of Multi-Camera UAV
Abstract
Dongqing He, Hsiu-Min Chuang, Jinyu Chen, Jinwei Li, and Akio Namiki
Paper: pp. 274-282
Feedback Control for a Drone with a Suspended Load via Hierarchical Linearization
Abstract
Kazuma Sekiguchi, Wataru Eikyu, and Kenichiro Nonaka
Paper: pp. 283-291
Optimal Position and Attitude Control of Quadcopter Using Stochastic Differential Dynamic Programming with Input Saturation Constraints
Abstract
Satoshi Satoh, Hironori Saijo, and Katsuhiko Yamada
Paper: pp. 292-300
Landing Site Detection for UAVs Based on CNNs Classification and Optical Flow from Monocular Camera Images
Abstract
Chihiro Kikumoto, Yoh Harimoto, Kazuki Isogaya, Takeshi Yoshida, and Takateru Urakubo
Paper: pp. 301-312
Development of a Remote-Controlled Drone System by Using Only Eye Movements: Design of a Control Screen Considering Operability and Microsaccades
Abstract
Atsunori Kogawa, Moeko Onda, and Yoshihiro Kai
Paper: pp. 313-321
Semi-Automatic Visual Support System with Drone for Teleoperated Construction Robot
Abstract
Takahiro Ikeda, Naoyuki Bando, and Hironao Yamada
Paper: pp. 322-328
Verification of Model Accuracy and Photo Shooting Efficiency of Large-Scale SfM for Flight Path Calculation
Abstract
Sho Yamauchi and Keiji Suzuki
Paper: pp. 329-338
Small Flying Object Classifications Based on Trajectories and Support Vector Machines
Abstract
Jalvin Jia Xiang Chan, Sutthiphong Srigrarom, Jiawei Cao, Pengfei Wang, and Photchara Ratsamee
Paper: pp. 339-347
Quadrotor Drone Hovering in Ground Effect
Abstract
Yasutada Tanabe, Hideaki Sugawara, Shigeru Sunada, Koichi Yonezawa, and Hiroshi Tokutake
Paper: pp. 348-362
Unmanned Aircraft System Traffic Management (UTM) Simulation of Drone Delivery Models in 2030 Japan
Abstract
Atsushi Oosedo, Hiroaki Hattori, Ippei Yasui, and Kenya Harada
Development Report: pp. 363-370
Propagation Measurements of Multi-Hop Command and Telemetry Communications System in the 169 MHz Band for Drones
Abstract
Ryu Miura, Toshinori Kagawa, Fumie Ono, Lin Shan, Takashi Matsuda, and Fumihide Kojima
Development Report: pp. 371-378
Precision Flight Drones with RTK-GNSS
Abstract
Masafumi Miwa and Tsuneo Ushiroda

Regular Papers

Paper: pp. 379-385
Optimal Swing Support During Walking Using Wireless Pneumatic Artificial Muscle Driver
Abstract
Haruki Toda, Mitsunori Tada, Tsubasa Maruyama, and Yuichi Kurita
Paper: pp. 386-399
FPGA Implementation of a Binarized Dual Stream Convolutional Neural Network for Service Robots
Abstract
Yuma Yoshimoto and Hakaru Tamukoh
Paper: pp. 400-409
Development of a Fish-Like Robot with a Continuous and High Frequency Snap-Through Buckling Mechanism Using a Triangular Cam
Abstract
Daisuke Nakanishi, Shoya Kobayashi, Kiichi Obara, Shotaro Matsumura, and Yuichiro Sueoka
Paper: pp. 410-420
Analysis of Autonomous Coordination Between Actuators in the Antagonist Musculoskeletal Model
Abstract
Takahiro Goto, Yasuhiro Sugimoto, Daisuke Nakanishi, Keisuke Naniwa, and Koichi Osuka
Development Report: pp. 421-431
Development of Condition Monitoring System for Electric Resistance Spot Welding Used to Manufacture Railway Car Bodies
Abstract
Masashi Oikawa, Kentaro Atsumi, Yosuke Otsuka, and Naoki Kawada

No.1

(Feb)

Congratulations! JRM Best Paper Award 2020
Special Issue on Activity of Research Center – Toyohashi University of Technology: Center for Human-Robot Symbiosis Research

Congratulations! JRM Best Paper Award 2020

Award: pp. 1-2
Congratulations! Journal of Robotics and Mechatronics Best Paper Award 2020
Editorial Office

Special Issue on Activity of Research Center – Toyohashi University of Technology: Center for Human-Robot Symbiosis Research

Institute Overview: pp. 6-10
Toyohashi University of Technology: The Direction the Center for Human-Robot Symbiosis Research Should Take and its Achievements to Date
Abstract
Kazuhiko Terashima
Paper: pp. 11-23
Generation of Optimal Coverage Paths for Mobile Robots Using Hybrid Genetic Algorithm
Abstract
Tobias Rainer Schäfle, Marcel Mitschke, and Naoki Uchiyama
Development Report: pp. 24-32
Design and Evaluation of Attention Guidance Through Eye Gazing of “NAMIDA” Driving Agent
Abstract
Shintaro Tamura, Naoki Ohshima, Komei Hasegawa, and Michio Okada
Paper: pp. 33-43
Development and Experimental Verification of a Person Tracking System of Mobile Robots Using Sensor Fusion of Inertial Measurement Unit and Laser Range Finder for Occlusion Avoidance
Abstract
Kazuhiro Funato, Ryosuke Tasaki, Hiroto Sakurai, and Kazuhiko Terashima

Regular Papers

Review: pp. 45-68
Soft Robotics: Research, Challenges, and Prospects
Abstract
Wenchuan Zhao, Yu Zhang, and Ning Wang
Paper: pp. 69-77
Study on Automatic Operation of Manual Wheelchair Prototype and Basic Experiments
Abstract
Kazuteru Tobita, Yoshihito Shikanai, and Kazuhiro Mima
Paper: pp. 78-87
Study on Pipetting Motion Optimization of Automatic Spheroid Culture System for Spheroid Formation
Abstract
Takeshi Shimoto, Chihiro Teshima, Toshiki Watanabe, Xiu-Ying Zhang, Atsushi Ishikawa, Hidehiko Higaki, and Koichi Nakayama
Paper: pp. 88-96
Human-Like Robust Adaptive PD Based Human Gait Tracking for Exoskeleton Robot
Abstract
Aihui Wang, Ningning Hu, Jun Yu, Junlan Lu, Yifei Ge, and Yan Wang
Paper: pp. 97-107
Effects of Presenting People Flow Information by Vibrotactile Stimulation for Visually Impaired People on Behavior Decision
Abstract
Kanon Fujino and Mihoko Niitsuma
Paper: pp. 108-118
Stabilization System for UAV Landing on Rough Ground by Adaptive 3D Sensing and High-Speed Landing Gear Adjustment
Abstract
Mikihiro Ikura, Leo Miyashita, and Masatoshi Ishikawa
Paper: pp. 119-128
Verification of Acoustic-Wave-Oriented Simple State Estimation and Application to Swarm Navigation
Abstract
Tomoha Kida, Yuichiro Sueoka, Hiro Shigeyoshi, Yusuke Tsunoda, Yasuhiro Sugimoto, and Koichi Osuka
Paper: pp. 129-140
Modulation of Velocity Perception by Engine Vibration While Driving
Abstract
Motoki Tachiiri, Yoshihiro Tanaka, and Akihito Sano
Paper: pp. 141-150
300-N Class Convex-Based Telescopic Manipulator and Trial for 3-DOF Parallel Mechanism Robot
Abstract
Takashi Kei Saito, Kento Onodera, Riku Seino, Takashi Okawa, and Yasushi Saito
Development Report: pp. 151-157
Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin
Abstract
Akihiro Okamoto, Motonobu Imasato, Shunka C. Hirao, Hidenori Sekiguchi, Takahiro Seta, Masahiko Sasano, and Toshifumi Fujiwara
Development Report: pp. 158-171
Study of Neural-Kinematics Architectures for Model-Less Calibration of Industrial Robots
Abstract
Monica Tiboni, Giovanni Legnani, and Nicola Pellegrini
Development Report: pp. 172-179
Development of the Second Prototype of an Oral Care Simulator
Abstract
Tomomi Daigo, Masumi Muramatsu, and Atsushi Mitani

Vol.32 (2020)

No.6

(Dec)

Special Issue on Real World Robot Challenge in Tsukuba and Osaka
Special Issue on Activity of Research Center – The University of Tokyo: Corporate Sponsored Research Program “Construction System Management for Innovation”

Special Issue on Real World Robot Challenge in Tsukuba and Osaka

Editorial: p. 1103
Real World Robot Challenge in Tsukuba and Osaka
Hisashi Date and Tomohito Takubo

The Tsukuba Challenge is an open experiment of autonomous mobile robots in the real world. In its third stage since 2018, it is now to be held on a new course that starts at the Tsukuba City Hall. New tasks that require functions expected for autonomous travel in the real world have now been added, including passing checkpoints announced a day before the event, starting two vehicles simultaneously, traveling in an unmeasured environment, and strictly observing stop lines in the course. Also, in the spirit of the Tsukuba Challenge, the Nakanoshima Challenge, an open demonstration experiment project, has been held in the city of Osaka since 2018. As the only event in which autonomous mobile robots travel in the urban area of Osaka, the Nakanoshima Challenge is expected to identify new issues peculiar to autonomous navigation in real urban environments and to find solutions to them.

This special issue includes a review paper on the Tsukuba Challenge, four research papers on the results of experiments done in the Tsukuba Challenge, four research papers related to the Nakanoshima Challenge, and three development reports. This special issue provides its readers with the frontline issues and the current status of development of autonomous mobile robots in real-world environments. We hope that the innovative efforts presented in this special issue will contribute to the development of science and industry.

Review: pp. 1104-1111
Tsukuba Challenge 2019: Task Settings and Experimental Results
Abstract
Yoshitaka Hara, Tetsuo Tomizawa, Hisashi Date, Yoji Kuroda, and Takashi Tsubouchi
Paper: pp. 1112-1120
Development of Edge-Node Map Based Navigation System Without Requirement of Prior Sensor Data Collection
Abstract
Kazuki Takahashi, Jumpei Arima, Toshihiro Hayata, Yoshitaka Nagai, Naoya Sugiura, Ren Fukatsu, Wataru Yoshiuchi, and Yoji Kuroda
Paper: pp. 1121-1136
Automatic Generation of Multidestination Routes for Autonomous Wheelchairs
Abstract
Yusuke Mori and Katashi Nagao
Paper: pp. 1137-1153
Visual Navigation Based on Semantic Segmentation Using Only a Monocular Camera as an External Sensor
Abstract
Ryusuke Miyamoto, Miho Adachi, Hiroki Ishida, Takuto Watanabe, Kouchi Matsutani, Hayato Komatsuzaki, Shogo Sakata, Raimu Yokota, and Shingo Kobayashi
Paper: pp. 1154-1163
Prototyping Using a Mobile Robot Platform Equipped with Low-End In-Wheel Motors
Abstract
Susumu Tarao, Yasunori Fujiwara, Naoaki Tsuda, and Soichiro Takata
Paper: pp. 1164-1172
Toward Autonomous Garbage Collection Robots in Terrains with Different Elevations
Abstract
Renato Miyagusuku, Yuki Arai, Yasunari Kakigi, Takumi Takebayashi, Akinori Fukushima, and Koichi Ozaki
Paper: pp. 1173-1182
Autonomous Mobile Robot for Outdoor Slope Using 2D LiDAR with Uniaxial Gimbal Mechanism
Abstract
Shunya Hara, Toshihiko Shimizu, Masanori Konishi, Ryotaro Yamamura, and Shuhei Ikemoto
Paper: pp. 1183-1192
Outdoor Autonomous Navigation Utilizing Proximity Points of 3D Pointcloud
Abstract
Yuichi Tazaki and Yasuyoshi Yokokohji
Paper: pp. 1193-1199
Outdoor Human Detection with Stereo Omnidirectional Cameras
Abstract
Shunya Tanaka and Yuki Inoue
Development Report: pp. 1200-1210
Garbage Detection Using YOLOv3 in Nakanoshima Challenge
Abstract
Jingwei Xue, Zehao Li, Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi
Development Report: pp. 1211-1218
Rapid Development of a Mobile Robot for the Nakanoshima Challenge Using a Robot for Intelligent Environments
Abstract
Tomohiro Umetani, Yuya Kondo, and Takuma Tokuda
Development Report: pp. 1219-1228
Proposal of Robot Software Platform with High Sustainability
Abstract
Masahito Fukuda, Tomokazu Takahashi, Masato Suzuki, Yasushi Mae, Yasuhiko Arai, and Seiji Aoyagi

Special Issue on Activity of Research Center – The University of Tokyo: Corporate Sponsored Research Program “Construction System Management for Innovation”

Institute Overview: pp. 1230-1232
The University of Tokyo: Corporate Sponsored Research Program “Construction System Management for Innovation”
Abstract
Keiji Nagatani, Atsushi Yamashita, and Kazumasa Ozawa
Paper: pp. 1233-1243
Arbitrary Viewpoint Visualization for Teleoperated Hydraulic Excavators
Abstract
Tatsuki Nagano, Ryosuke Yajima, Shunsuke Hamasaki, Keiji Nagatani, Alessandro Moro, Hiroyuki Okamoto, Genki Yamauchi, Takeshi Hashimoto, Atsushi Yamashita, and Hajime Asama
Paper: pp. 1244-1258
Utilization of Unmanned Aerial Vehicle, Artificial Intelligence, and Remote Measurement Technology for Bridge Inspections
Abstract
Pang-jo Chun, Ji Dang, Shunsuke Hamasaki, Ryosuke Yajima, Toshihiro Kameda, Hideki Wada, Tatsuro Yamane, Shota Izumi, and Keiji Nagatani

Regular Papers

Paper: pp. 1259-1267
Numerical Investigation on Hydrodynamic Performance of a Ducted Propeller for Vectored Underwater Robot
Abstract
Rongmin Zhang and Shasha Zhou
Paper: pp. 1268-1278
Study on Arbitrary Direction Navigation System for Autonomous Multirotor with Arbitrary Configuration of Rotors
Abstract
Nobuto Hirakoso, Ryoichiro Tamura, and Yoichi Shigematsu
Paper: pp. 1279-1291
Tomato Growth State Map for the Automation of Monitoring and Harvesting
Abstract
Takuya Fujinaga, Shinsuke Yasukawa, and Kazuo Ishii
Development Report: pp. 1292-1300
Development of a Robot Simulator for Decommissioning Tasks Utilizing Remotely Operated Robots
Abstract
Kenta Suzuki and Kuniaki Kawabata

No.5

(Oct)

Special Issue on Fluid Powered System and its Application

Special Issue on Fluid Powered System and its Application

Editorial: p. 853
Fluid Powered System and its Application
Masahiro Takaiwa, Toshiro Noritsugu, Hideyuki Tsukagoshi, Kazuhisa Ito, and Yutaka Tanaka

It is well known that fluid-powered systems are used practically in almost all industrial fields, including construction, manufacturing, transportation, among others.

Nowadays, the rapid growth in the development of the mechanical elements in fluid-powered systems, such as control valves, actuators, and sensors, and the rapid growth in control strategies have given rise to pioneering in some novel application fields in ways that were thought to be impossible a decade ago. High-precision positioning control using the compressible fluid of pneumatic driving systems and multi-legged robots equipped with standalone hydraulic components are simple examples. Moreover, soft robotics based on fluid-powered technologies has attracted attention not only in academia but also in human support fields, which will become more important as Japan’s society ages.

This special issue on “Fluid Powered System and its Application” includes one review paper and 22 other interesting papers related to the state of the art in the development of mechanical elements, total drive systems, motion control theory, and concrete applications of fluid-powered systems.

We thank all of the authors and reviewers of the papers and hope this special issue helps readers to develop fluid powered systems that will contribute to developments in the academia and industry.

Review: pp. 854-862
New Robotics Pioneered by Fluid Power
Abstract
Koichi Suzumori
Paper: pp. 863-875
Proposal of Motion Judgment Algorithm Based on Joint Angle of Variable Elastic Assist Suit with High Back Drivability
Abstract
Seigo Kimura, Ryuji Suzuki, Katsuki Machida, Rie Nishihama, Manabu Okui, and Taro Nakamura
Paper: pp. 876-884
Investigation of Accumulator Parameters for a Novel Hybrid Architecture
Abstract
Seiji Hijikata, Kazuhisa Ito, and Hubertus Murrenhoff
Paper: pp. 885-893
Development of Semi-Crouching Assistive Device Using Pneumatic Artificial Muscle
Abstract
Naoki Saito, Daisuke Furukawa, Toshiyuki Satoh, and Norihiko Saga
Paper: pp. 894-902
Flexible Pneumatic Bending Actuator for a Robotic Tongue
Abstract
Nobutsuna Endo, Yuta Kizaki, and Norihiro Kamamichi
Paper: pp. 903-910
A Sliding Mode Controller Using an LS-SVM Model for a Water-Hydraulic Artificial Rubber Muscle
Abstract
Takahiro Kosaki, Yuta Kawahara, and Shigang Li
Paper: pp. 911-922
Experimental Study on Critical Design of Electro-Hydrostatic Actuators Small in Size and Light in Weight
Abstract
Mitsuo Komagata, Tianyi Ko, Ko Yamamoto, and Yoshihiko Nakamura
Paper: pp. 923-930
Development of Pneumatically Driven Hand Capable of Grasping Flexible Objects
Abstract
Kotaro Nishikawa, Kentaro Hirata, and Masahiro Takaiwa
Paper: pp. 931-938
Development of a Tetrahedral-Shaped Soft Robot Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators
Abstract
Wei-Hang Tian, Cian-Cheng Jhan, Misaki Inokuma, Tetsuya Akagi, Shujiro Dohta, and So Shimooka
Paper: pp. 939-946
Optimization of the Electrode Arrangement and Reliable Fabrication of Flexible EHD Pumps
Abstract
Yumeta Seki, Yu Kuwajima, Hiroki Shigemune, Yuhei Yamada, and Shingo Maeda
Paper: pp. 947-957
Study on Human Behavior Classification by Using High-Performance Shoes Equipped with Pneumatic Actuators
Abstract
Yasuhiro Hayakawa, Yuta Kimata, and Keisuke Kida
Paper: pp. 958-976
Disposable Robotic Finger Driven Pneumatically by Flat Tubes and a Hollow Link Mechanism
Abstract
Junya Tanaka and Nobuto Matsuhira
Paper: pp. 977-983
Viscosity Control of Magnetorheological Fluid by Power Saving Magnetizing Mechanism Using Movement of Permanent Magnet
Abstract
Jumpei Kawasaki, Yuki Nakamura, and Yasukazu Sato
Paper: pp. 984-993
Development of Hydraulic Pump Drive System Using Switched Reluctance Motor with Servo Function
Abstract
Ha Tham Phan, Seiya Itagaki, and Yasukazu Sato
Paper: pp. 994-999
Flowrate Measurement in a Pipe Using Kalman-Filtering Laminar Flowmeter
Abstract
Kazushi Sanada
Paper: pp. 1000-1009
Load Reduction Control on Tool-Insertion Port for Laparoscopic Surgical Robot Using Semi-Active Joints
Abstract
Koki Aizawa, Daisuke Haraguchi, and Kotaro Tadano
Paper: pp. 1010-1018
Active Cloth Fabricated by a Flat String Machine and its Application to a Safe Wheelchair System
Abstract
Makoto Takada, Shuichi Wakimoto, Takero Oshikawa, Takeji Ueda, and Takefumi Kanda
Paper: pp. 1019-1026
Concept and Prototype of Soft Actuator for Liquid Nitrogen Temperature Environments
Abstract
Daisuke Yamaguchi, Tatsuya Hanaki, Yuji Ishino, Masayuki Hara, Masaya Takasaki, and Takeshi Mizuno
Paper: pp. 1027-1033
Physical Table Identification for Nominal Hydraulic Cylinders and its Application to Pressure Estimation
Abstract
Satoru Sakai, Kazuki Nagai, and Yasuki Takahashi
Paper: pp. 1034-1043
Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators
Abstract
Hironari Taniguchi, Nobuo Takemoto, Ren Yakami, Shuichi Wakimoto, Takero Oshikawa, Kosuke Morinaga, and Takefumi Kanda
Paper: pp. 1044-1051
Development of Finger-Wrist Rehabilitation Device Using Pneumatically Driven Parallel Sticks
Abstract
Yasuko Matsui, Daiki Hosomi, and Masahiro Takaiwa
Paper: pp. 1052-1060
Development of Non-Wearing Type Pneumatic Power Assist Device – Basic Concept and Performance Evaluation –
Abstract
Masashi Yokota and Masahiro Takaiwa
Paper: pp. 1061-1070
Design and Modeling of Soft Pneumatic Helical Actuator with High Contraction Ratio
Abstract
Peizheng Yuan, Ginjiro Kawano, and Hideyuki Tsukagoshi

Regular Papers

Paper: pp. 1071-1079
Pallet Handling System with an Autonomous Forklift for Outdoor Fields
Abstract
Ryosuke Iinuma, Yusuke Kojima, Hiroyuki Onoyama, Takanori Fukao, Shingo Hattori, and Yasunori Nonogaki
Paper: pp. 1080-1087
Development of Ankle Support Shoes with Elastomer-Embedded Flexible Joints
Abstract
Takehito Kikuchi, Taiki Oshimoto, Isao Abe, Kenichiro Tanaka, Yasue Asaumi, and Naoki Chijiwa

No.4

(Aug)

Review on Autonomous Underwater Vehicle in Japan
Special Issue on Brain Machine/Computer Interface and its Application

Review on Autonomous Underwater Vehicle in Japan

Review: pp. 713-721
Development Timeline of the Autonomous Underwater Vehicle in Japan
Abstract
Tamaki Ura

Special Issue on Brain Machine/Computer Interface and its Application

Editorial: p. 723
Brain Machine/Computer Interface and its Application
Shoichiro Fujisawa, Minoru Fukumi, Jianting Cao, Yasue Mitsukura, and Shin-ichi Ito

Brain machine/computer interface (BMI/BCI) technologies are based on analyzing brain activity to control machines and support the communication of commands and messages. To sense brain activities, a functional NIRS and electroencephalogram (EEG) that has been developed for that purpose is often employed. Analysis techniques and algorithms for the NIRS and EEG signals have also been created, and human support systems in the form of BMI/BCI applications have been developed. In the field of rehabilitation, BMI/BCI is used to control environment control systems and electric wheelchairs. In medicine, BMI/BCI is used to assist in communications for patient support. In industry, BMI/BCI is used to analyze sensibility and develop novel games.

This special issue on Brain Machine/Computer Interface and its Application includes six interesting papers that cover the following topics: an EEG analysis method for human-wants detection, cognitive function using EEG analysis, auditory P300 detection, a wheelchair control BCI using SSVEP, a drone control BMI based on SSVEP that uses deep learning, and an improved CMAC model.

We thank all authors and reviewers of the papers and the Editorial Board of Journal of Robotics and Mechatronics for its help with this special issue.

Paper: pp. 724-730
Human-Wants Detection Based on Electroencephalogram Analysis During Exposure to Music
Abstract
Shin-ichi Ito, Momoyo Ito, and Minoru Fukumi
Paper: pp. 731-737
Convolutional Neural Network Transfer Learning Applied to the Affective Auditory P300-Based BCI
Abstract
Akinari Onishi
Paper: pp. 738-744
High Accuracy and Short Delay 1ch-SSVEP Quadcopter-BMI Using Deep Learning
Abstract
Kazumi Ishizuka, Nobuaki Kobayashi, and Ken Saito
Paper: pp. 745-752
Method to Expand the CMAC Model to Composite-Type Model
Abstract
Jiro Morimoto, Makoto Horio, Yoshio Kaji, Junji Kawata, Mineo Higuchi, and Shoichiro Fujisawa
Paper: pp. 753-760
EEG Variations During Measurement of Cognitive Functions Using Biosignal Acquisition Toolkit
Abstract
Yoshio Kaji, Yoshikazu Yamamoto, Junji Kawata, Jiro Morimoto, and Shoichiro Fujisawa
Development Report: pp. 761-767
Indirect Control of an Autonomous Wheelchair Using SSVEP BCI
Abstract
Danny Wee-Kiat Ng and Sing Yau Goh

Regular Papers

Paper: pp. 769-779
Proposal of a Behavioral Model for Robots Supporting Learning According to Learners’ Learning Performance
Abstract
Ryo Yoshizawa, Felix Jimenez, and Kazuhito Murakami
Paper: pp. 780-788
Improvement of the Mobility on the Step-Field for a Stair Climbable Robot with Passive Crawlers
Abstract
Junji Hirasawa
Paper: pp. 789-797
Hammering Acoustic Analysis Using Machine Learning Techniques for Piping Inspection
Abstract
Kou Ikeda and Akiya Kamimura
Paper: pp. 798-811
Effects of Gait Inducing Assist for Patients with Parkinson’s Disease on Double Support Phase During Gait
Abstract
Ai Higuchi, Junichiro Shiraishi, Yuichi Kurita, and Tomohiro Shibata
Paper: pp. 812-821
Novel Method for Analyzing Flexible Locomotion Patterns of Animals by Using Polar Histogram
Abstract
Keisuke Naniwa, Yasuhiro Sugimoto, Koichi Osuka, and Hitoshi Aonuma
Paper: pp. 822-831
Model-Based Analysis of Yo-yo Throwing Motion on Single-Link Manipulator
Abstract
Hokuto Miyakawa, Takuma Nemoto, and Masami Iwase
Development Report: pp. 832-839
Free-Flow Tunnel Inspection Support Devices Aiming at Labor Saving of Visual Checking
Abstract
Kazunori Hosotani and Hirofumi Yamamoto

No.3

(Jun)

Special Issue on Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents
Special Issue on Activity of Research Center – Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center

Special Issue on Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents

Editorial: p. 483
Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents
Hidehisa Yoshida and Pongsathorn Raksincharoensak

The Science Council of Japan’s 2008 Report, “Aiming for a Zero Traffic Accidents Society,” states that “it is necessary to establish various driver assistance technologies based on the fact that most drivers make mistakes”; “for advanced driver assistance system (ADAS) technologies, cooperation between human operation and machine assistance, and social acceptability need to be evaluated”; and “new driver assistance by introduction of robotics technology and application of automated driving in specific operating domain should be considered in the near future.” A wide array of robotic technologies is expected to contribute to developing intelligent and advanced technologies for passenger and transport vehicles, as well as creating a rich future for the transportation of people and logistics. Over the past decade, researchers and engineers have attempted to achieve these goals. In 2015, the government announced a policy to make practical use and deployment of automated driving technologies by the year of Tokyo Olympics and Paralympics. Now, looking toward the Tokyo Olympics and Paralympics, we organized a special issue of the JRM: “Innovative Robotics and Mechatronics Technology of Modern Passenger Cars for Zeroing Traffic Accidents.”

This special issue features 16 papers carefully written and reviewed by field specialists. We express our heartfelt appreciation to the authors and reviewers who have contributed their expertise to this issue.

We would also like to thank the members of the Journal of Robotics and Mechatronics board for giving us the unique opportunity to coordinate this issue.

Review: pp. 484-493
Evolution and Evaluation of Safety Offered by Active Safety, ADAS, and AD Systems
Abstract
Masao Nagai and Hidehisa Yoshida
Paper: pp. 494-502
Stereo Vision by Combination of Machine-Learning Techniques for Pedestrian Detection at Intersections Utilizing Surround-View Cameras
Abstract
Tokihiko Akita, Yuji Yamauchi, and Hironobu Fujiyoshi
Paper: pp. 503-519
Personalized Subjective Driving Risk: Analysis and Prediction
Abstract
Naren Bao, Alexander Carballo, Chiyomi Miyajima, Eijiro Takeuchi, and Kazuya Takeda
Paper: pp. 520-529
HMI Design when Using Level 2 Automated Driving Function - Effects of System Status Presentation Considering the Risk of Malfunction on Driver Behavior –
Abstract
Keisuke Suzuki, Joohyeong Lee, and Atsushi Kanbe
Paper: pp. 530-536
Safety Compensation for Improving Driver Takeover Performance in Conditionally Automated Driving
Abstract
Hua Yao, Suyang An, Huiping Zhou, and Makoto Itoh
Paper: pp. 537-547
Moving Horizon Estimation with Probabilistic Data Association for Object Tracking Considering System Noise Constraint
Abstract
Tomoya Kikuchi, Kenichiro Nonaka, and Kazuma Sekiguchi
Paper: pp. 548-560
Fast Euclidean Cluster Extraction Using GPUs
Abstract
Anh Nguyen, Abraham Monrroy Cano, Masato Edahiro, and Shinpei Kato
Paper: pp. 561-570
Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System
Abstract
Yutaka Hamaguchi and Pongsathorn Raksincharoensak
Paper: pp. 571-579
Tracking Control of a Micro Ground Vehicle Using the Course Coordinate
Abstract
Masanori Harada and Yuki Ueyama
Paper: pp. 580-587
Autonomous Motion Planning in Pedestrian Space Considering Passenger Comfort
Abstract
Hiroshi Yoshitake, Kenta Nishi, and Motoki Shino
Paper: pp. 588-597
Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior
Abstract
Hidehisa Yoshida, Kohei Yoshida, and Toyoyuki Honjo
Paper: pp. 598-604
Safety Evaluation of Green Light Optimal Speed Advisory (GLOSA) System in Real-World Signalized Intersection
Abstract
Hironori Suzuki and Yoshitaka Marumo
Paper: pp. 605-612
Effects of Demographic Characteristics on Trust in Driving Automation
Abstract
Jieun Lee, Genya Abe, Kenji Sato, and Makoto Itoh
Development Report: pp. 613-623
Lane-Marker-Based Map Construction and Map Precision Evaluation Methods Using On-Board Cameras for Autonomous Driving
Abstract
Kenta Maeda, Junya Takahashi, and Pongsathorn Raksincharoensak
Development Report: pp. 624-633
Mono-Camera-Based Robust Self-Localization Using LIDAR Intensity Map
Abstract
Kei Sato, Keisuke Yoneda, Ryo Yanase, and Naoki Suganuma
Letter: pp. 634-637
ACDR: Autonomous-Car Drive Recorder
Abstract
Zhi Wang, Daishi Watabe, Hideyasu Sai, Yukimichi Saito, and Masayoshi Wada

Special Issue on Activity of Research Center – Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center

Institute Overview: pp. 640-642
Hiroshima University: KOBELCO Construction Machinery Dream-Driven Co-Creation Research Center
Abstract
Toru Yamamoto and Kiyokazu Tanaka
Paper: pp. 643-651
Application of a MIMO-PID Controller for a Hydraulic Excavator Considering the Velocity of CoM
Abstract
Masatoshi Kozui, Toru Yamamoto, Masaki Akiyama, Kazushige Koiwai, and Yoichiro Yamazaki
Paper: pp. 652-661
Design of a Database-Driven Kansei Feedback Control System Using a Hydraulic Excavators Simulator
Abstract
Takuya Kinoshita, Hiroaki Ikeda, Toru Yamamoto, Maro G. Machizawa, Kiyokazu Tanaka, and Yoichiro Yamazaki
Development Report: pp. 662-671
Design and Practice of a Model-Based Development Education in Hydraulic Systems
Abstract
Mikiya Sako, Shin Wakitani, Masatoshi Kozui, Toru Yamamoto, Koji Yamashita, Kazushige Koiwai, and Yoichiro Yamazaki

Regular Papers

Paper: pp. 673-682
Development of a Rehabilitation and Training Device Considering the Ankle Degree of Freedom
Abstract
Asaki Akagi, Satoki Tsuichihara, Shinichi Kosugi, and Hiroshi Takemura
Paper: pp. 683-691
Long Range Six Degree-of-Freedom Magnetic Levitation Using Low Cost Sensing and Control
Abstract
Peter Berkelman and Yu-Sheng Lu
Paper: pp. 692-700
Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot
Abstract
Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, and Akio Gofuku

No.2

(Apr)

Special Issue on MEMS for Robotics and Mechatronics

Special Issue on MEMS for Robotics and Mechatronics

Editorial: pp. 279-280
MEMS for Robotics and Mechatronics
Masayoshi Esashi, Shuji Tanaka, Seiji Aoyagi, Takashi Mineta, Koichi Suzumori, Tetsuji Dohi, and Norihisa Miki

MEMS (Micro Electro Mechanical Systems) is a technology that is used to incorporate sensors, actuators, microstructures, and circuits on chips by using a combination of various technologies with semiconductor process. MEMS are also used in robotics and mechatronics since they can provide compact, low-cost functional components that play crucial roles in their respective systems. We would like to elaborate on the history of MEMS technology, whose initial development started around 1970.

In 1960s, Dr. Isemi Igarashi of Toyota Central R&D Labs., Inc. in Japan developed a semiconductor pressure sensor of piezo-resistance type. In 1980s, the pressure sensors were used to control automobile engines to clear exhaust gas regulations and thus contributed to solving environmental issues. In 1990s, semiconductor acceleration sensors were used for passive safety technologies to detect collision of automobiles and activate air bags, which resulted in decrease in traffic fatalities. In 2000s, an active safety system with gyro sensors was developed to detect and control spinning of a vehicle. In future, space recognition sensors with optical scanners to measure light propagation time and detect distance to an object will be used for autonomous driving.

For smartphones, a microphone, an acceleration sensor, and a gyro sensor are used in user interface, and a film bulk acoustic wave resonator (FBAR) is used in a wireless communication filter. For projectors, the built-in circuit of a mirror array system is used to move mirrors placed in an array. After the development of projectors, films have not been used in movie theaters.

MEMS are also widely used in medical and biological fields, such as blood pressure measurement. Esashi began research on a semiconductor ion sensor ISFET (ion sensitive field effect transistor) in 1971. ISFET detects ion concentration in electrolyte by exposing the insulating film of an insulated gate transistor to the liquid. He set up a prototyping facility when he was a graduate student and wrote only one paper on this research, although the prototyping facility was used afterwards. The ion ...<more>

Review: pp. 281-288
Application of Micro-Electro-Mechanical Systems (MEMS) as Sensors: A Review
Abstract
Ahmad Athif Mohd Faudzi, Yaser Sabzehmeidani, and Koichi Suzumori
Paper: pp. 289-296
PDMS Soft Skin Device with Deformable Micro-Diaphragm Array Fabricated with Rapid Substrate-Releasing Process
Abstract
Hideyuki Mitsui, Hiroshi Kashiwazaki, and Takashi Mineta