Tomoyuki Shimono

Yokohama National University, Yokohama, Kanagawa, Japan

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Publications (63)26.09 Total impact

  • N. Motoi, T. Shimono, R. Kubo, A. Kawamura
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    ABSTRACT: This paper proposes a task realization method by using a force-based variable compliance controller for flexible motion control systems. In recent years, the robots working in human life space are desirable. Considering the robots working in human life space, they should achieve the safety motion. From this viewpoint, one of the key technologies is flexible motion control system. Of course, task realization instead of human beings is important. Therefore, it is necessary to propose the realization method of several tasks for the flexible motion control systems. In this paper, two robot tasks are defined: “approach task” and “pushing task.” The approach task is the motion for a robot to approach an environment and not to contact the environment. On the other hand, the pushing task is the motion for the robot to contact and push the environment in order to achieve the several tasks. For the realization of the several tasks to the environment, it is necessary to achieve both the position control during the approach task and the force control during the pushing task. Therefore, the controller has to be modified depending on the contact state, which means whether the robot is in contact with the environment or not. In order to modify the controller, the variable compliance gain which is varied according to the contact state is proposed. Focusing on the approach task, the position control which is equivalent to the conventional position-based compliance method is achieved by using the proposed method. On the other hand, the proposed controller is suitable for the pushing task compared with the conventional position-based compliance controller since the proposed controller is based on the force control. Therefore, several tasks which include the position tracking and the contact with the environment are actualized by using the proposed method. In addition, the performance analysis by a Bode diagram and stability analysis by root loci are co- ducted. The validity of the proposed method is confirmed from the experimental results.
    IEEE Transactions on Industrial Electronics 01/2014; 61(2):1009-1021. · 5.17 Impact Factor
  • H. Ohkubo, T. Shimono
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    ABSTRACT: This paper proposes the control interface of robotic wheelchair by combination use of electromyogram (EMG) signals and functionally different effective muscle (FEM) theory. One of the conventional control interfaces of the robotic wheelchair is a joystick. However, there is many people unable to operate a joystick like sufferers from rheumatism. Sufferers from rheumatism can not move his joints but move muscles. Therefore, EMG signals have potential to become the helpful interface for sufferers from rheumatism. FEM theory represents the relation between the direction of output force at the end effector such as a wrist (or an ankle) and the collaborative control by 3 pairs of 6 muscles composed of the mono-articular muscles and the bi-articular muscles of human arm (or leg). An experiment using the mobile independent two wheel driven robot shows the validity of the proposed interface.
    Mechatronics (ICM), 2013 IEEE International Conference on; 01/2013
  • Naoki Motoi, Tomoyuki Shimono, Ryogo Kubo, Atsuo Kawamura
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    ABSTRACT: This paper proposes the design method of the variable compliance gain for the force-based compliance controller considering both position information and force information. The force-based variable compliance controller is effective since it is possible for this controller to realize both the compliant contact motion and the precise position control. However, the chattering occurs at the moment of the controller modification between the position control and the force control. In order to solve this chattering problem, the modification method considering both position information and force information is proposed. As a result, the smooth controller modification between the position control and the force control is actualized. In addition, the position control during the non-contact motion is analyzed by modeling the controller as a second order system. From this analysis, the precise position control is obtained by setting the parameters to achieve a critical damping. The validity of the proposed method is confirmed by the experimental results.
    Industrial Electronics (ISIE), 2013 IEEE International Symposium on; 01/2013
  • N. Togashi, T. Shimono, N. Motoi
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    ABSTRACT: This paper proposes a disturbance observer (DOB) design method for bilateral control systems with multi-degree-of-freedom (MDOF). DOB is one of the robust control methods based on acceleration. DOB uses the nominal mass or nominal inertia for the estimation of disturbance force. A control performance of the bilateral control with DOB is changed according to the design of the nominal mass in DOB. This paper firstly discusses the relationship between nominal mass in DOB and the control performance. Then, the design method of bilateral control with low nominal parameter is proposed. The effectiveness of proposed method is confirmed from the experimental results.
    Mechatronics (ICM), 2013 IEEE International Conference on; 01/2013
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    ABSTRACT: This paper presents a newly-developed haptic interface for arm self-rehabilitation based on bilateral control. The purpose of this research is the improvement of the physical function of patients' arm with hemiplegia. In order to acquire enough motion range for the rehabilitation, the X-Y tables with two degrees-of-freedom are utilized as the haptic system. The developed interface realizes the rehabilitation environment on the basis of the integration of the bilateral control system for haptic transmission between arms and the virtual reality for visual guidance. This integration can provide the self-rehabilitation suitable for the patients with hemiplegia. In this paper, the results of bilateral control in the presented haptic system and the results of basic evaluation for the physicality of the human arm in the reaching task are presented. From these experimental results, the utility of the developed interface is verified.
    Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on; 01/2013
  • B. Kwon, N. Motoi, T. Shimono, A. Kawamura
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    ABSTRACT: This paper develops the grasping/manipulating simulation system considering the micro/macro collision model. Previous haptics, especially the bilateral control systems, mainly focused on transmitting the sense of touch and position tracking. In order to expand haptic technology, it is necessary to consider the dynamics motion, such as the impulse force against the environment. For this reason, a collision model is implemented into an environment for a grasping/manipulating simulation system. By applying the collision model, the reaction force, which occurs between the robot and the environment, can be predicted. This implies more accurate interpretation of the dynamics between the robot and the object is available. The simulation platform is confirmed to be valid by comparing the experimental result with the simulation result of grasping/manipulating control. From these results, the relation between the environmental parameters and sampling period of the controller is clarified.
    Mechatronics (ICM), 2013 IEEE International Conference on; 01/2013
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    ABSTRACT: This paper proposes a motion control method based on environmental mode for a dual arm robot. By controlling mode information, particular features or trends can be given to robot's motion. Then a distinctive complex motion can be realized. In addition, because environmental mode is information based on the coordinate system which is fixed in the environment, environment-based motion can be realized. Because of these two advantages, it is thought that the proposed method makes a contribution to realization of interactive motion between robots and ambient environment like human being's complex motion.
    Mechatronics (ICM), 2013 IEEE International Conference on; 01/2013
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    ABSTRACT: This paper presents a new haptic bilateral control method with vision-based guidance. The vision-based guidance is realized by the visual force compliance controller which can translate the visual information to assistive force. Integration of an imaging modality effectively further consolidates the servoing procedures. Such information needs to be efficiently rendered to the operator at master system. Particularly, the proposed approach provides real-time visualization and force feedback based guidance for the navigation task. The details concerning the method of implementation of this theory will be explained. Finally, the experimental evaluation of the functionality of this visual compliance controller based on force control is described and discussed.
    Industrial Electronics (ISIE), 2013 IEEE International Symposium on; 01/2013
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    ABSTRACT: This paper shows the experimental measurement results of the myoelectric signals of upper limb for the evaluation of the individual physical function. The evaluation is based on the functionally effective muscular strength (FEMS) theory. FEMS theory can express the relationship between each muscle strength and the force distribution of the arm end-effector. Then, the measurement experiments are conducted on two human subjects. One is the young healthy subject and the other is the old patient with rheumatic disease. The comparative experimental result can demonstrate the difference of the individual physical function of the upper limb.
    Humanitarian Technology Conference (R10-HTC), 2013 IEEE Region 10; 01/2013
  • Kouhei Ohnishi, Tomoyuki Shimono, Kenji Natori
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    ABSTRACT: This paper introduces the principle of real-world haptic and its technology applied to high-grade surgery and/or welfare areas. The existing technology has depended on force sensors, which leads to a trade-off issue between stability and performance. The implementation and realization of a better system has been an unsolved problem for a long time. The authors invented a novel technology that works without force sensors. Modal decomposition and acceleration-based bilateral control(ABC method)are its key concepts. This idea has been actualized with three dof robotic forceps. Several experimental results found by the application of haptic forceps mounted on a 6 dof industrial robot are shown.
    Gan to kagaku ryoho. Cancer & chemotherapy 07/2012; 39(7):1035-8.
  • Naoki Motoi, Ryogo Kubo, Tomoyuki Shimono, Atsuo Kawamura
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    ABSTRACT: This paper proposes the force-based variable compliance control method for a bilateral system which consists of master and slave robots with different degree of freedom (DOF). In order to control the bilateral system with this assumption, “bilateral control between master and slave robots for task realization” and “automation control for adaptation to environment in contact with a slave robot” are necessary. In this paper, “automation control for adaptation to environment in contact with a slave robot” is focused on. Considering the automatic control of slave system, the control method should be switched according to the contact condition. In the case of non-contact motion, the position of the slave system is not decided by using the conventional force controller. Therefore, unexpected contact between the slave system and the object may occur. In order to avoid this unexpected contact motion, the position of slave system should be controlled in the case of non-contact motion. When the slave system contacts the object, the force control should be implemented to achieve the stable contact. In this paper, the force-based variable compliance control method is proposed to achieve 2 desired motion. The validity of the proposed method is confirmed by the experimental results.
    01/2012;
  • T. Shimono, T. Yamashita
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    ABSTRACT: In the motion control method based on workspace observer with the constant nominal equivalent mass, the posture change of the system may cause the fluctuation of cut-off frequency of workspace observer due to the variation of the equivalent mass in workspace. This paper investigates the effect of the cut-off frequency fluctuation in workspace observer to the motion control performance. The utility of a suppression method of cut-off frequency fluctuation based on workspace observer with the estimated equivalent mass is discussed. Then, a multi-degrees-of-freedom (MDOF) bilateral motion control method based on workspace observer with the estimated equivalent mass is proposed. The validity of the proposed control method is verified from the experimental results on a two-degrees-of-freedom master-slave system with different configurations.
    Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on; 01/2012
  • Nobuyuki Togashi, Tomoyuki Shimono, Naoki Motoi
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    ABSTRACT: This paper proposes a manipulability servoing control method in null space for redundant bilateral control system with different degrees of freedom (DOF). In the redundant bilateral system, the error of manipulability in work space is arised by different DOF between master and slave systems. As a result, it is difficult to achieve the precise motion control. In order to solve this problem, a bilateral control method based on null space with the manipulability measure is proposed. This paper verifies the effectiveness of the proposed method by simulation and experimental results.
    01/2012;
  • Hiromi Ohkubo, Tomoyuki Shimono, Naoki Moti
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    ABSTRACT: Recently, a lot of robots and industrial machines with disturbance observer (DOB) have been put to practical use all over the world. By using DOB, acceleration control is achieved. As a result, DOB is contributed to robust position and force control. In other front, DOB is utilized as the reaction force observer (RFOB) for estimation of the external force. As a result, DOB is a key technology for motion control. Therefore, it is necessary to improve the performance of DOB to realize high advanced motion control system. The performance of DOB depends on motion control frequency, current control frequency of motor driver and the resolution of encoder. This paper focuses on motion control frequency and current control frequency. The purpose of this paper is realization of high-performance DOB based on fast motion control frequency and fast current control frequency.
    01/2012;
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    ABSTRACT: This paper proposes the switching control method to realize stable landing for a biped robot. If the landing of the biped robot is unstable, the robot may fall down. Therefore, it is necessary for the biped robot to realize stable landing. In order to achieve the stable landing, force controller should be implemented at the moment of landing. Since force control enables the sole to softly contact the ground. If the landing state becomes stable, control method needs to change position control for the biped robot moving. In other words, the controller should be switched according to the contact condition between the sole and the ground. Therefore, switching control method which consists of position control and force control is proposed. Zero Moment Point (ZMP) is used as index to switch the controller. Position control is applied when ZMP exists in the area around the center of the foot. Force control is used when ZMP exists around the edge of the foot. The validity of the proposed method is confirmed from the simulation results by using the model of inverted pendulum with a sole.
    01/2012;
  • Yoshiyuki Hatta, Tomoyuki Shimono, Naoki Motoi
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    ABSTRACT: In recent years, haptic communication with teleoperation systems has been actively researched. One of the effective methods for haptic communication is bilateral motion control based on acceleration control. If the acceleration-based bilateral control is applied to a parallel multi-degrees-of-freedom (MDOF) system, complicated haptic human motion can be realized in the remote site. However it is difficult to understand whole motion of the system based only on information of each actuator. One of the effective methods for the motion recognition is modal decomposition based on Discrete Fourier series expansion (DFS). This modal decomposition is effective for the analysis of motion of parallel MDOF systems. However, in order to apply the modal decomposition, it is necessary that an arrangement of the parallel MDOF system is known. This paper proposes an arrangement identification method for parallel MDOF teleoperation systems based on Levenberg-Marquardt (LM) method. The method can estimate the arrangement, even if there is no visual information. Finally, the validity of the proposed method is confirmed by the experimental results.
    01/2012;
  • Tomoyuki Shimono, Yoshiyuki Hatta, Naoki Motoi
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    ABSTRACT: This paper proposes an evaluation index for the analysis of the motion complexity in parallel multi-degrees-of-freedom (MDOF) haptic system. Firstly, the modal decomposition based on discrete Fourier series expansion (DFS) is described. Modal information expresses a motion element that corresponds to a specific physical action. The modal information can be defined by the Fourier coefficients. This paper proposes a total harmonic distortion (THD) of the haptic modal information as a haptic motion index. The utility of the proposed index is confirmed from the experimental results on the bilateral motion control of MDOF haptic system.
    01/2012;
  • Yoshiyuki Hatta, Tomoyuki Shimono
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    ABSTRACT: In recent years, several methods for decomposing the whole motion of a parallel multi-degrees-of-freedom (MDOF) system into motion modes have been proposed. A motion mode is a motion element that corresponds to a specific physical action, such as grasping, manipulating, and rotating. Modal decomposition is effective for the expression and analysis of a complicated motion. However, conventional methods can extract motion modes only if the arrangement of actuators in the system has spatial linearity and symmetry. Therefore, the actuators cannot be arranged arbitrarily when the conventional methods are applied. In order to solve this problem, a novel method for modal decomposition is proposed; this method is based on the discrete Fourier series expansion. The proposed method is applied to a parallel MDOF bilateral system in which the arrangement of actuators is spatially asymmetric. Finally, the validity of the proposed method is confirmed on the basis of the experimental results.
    IEEJ Transactions on Industry Applications 01/2012; 132(3):366-373.
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    ABSTRACT: This paper proposes an abstraction method of inde- pendent components of human action from haptic information. First, the haptic information is obtained using a haptic device (haptic bilateral system). Second, the action components can be abstracted from the haptic information by using the proposed method. The proposed method achieves abstraction of the action components unconstrained by the alignment of sensing points with simple calculations. The proposed method is applied for grasping and manipulation motions by two- and three-finger robots. The validity of the proposed method is shown by the experimental results.
    IEEE Transactions on Industrial Electronics 01/2011; 58(8):3196-3204. · 5.17 Impact Factor
  • Yoshiyuki Hatta, Tomoyuki Shimono
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    ABSTRACT: ­freedom bilateral motion control system. The arrangement of sensing points can be estimated by bilateral motion control for grasping motion based on modal decomposition with Discrete Fourier Series Expansion (DFS). Even if the arrangement of sensing points in master system or slave system is unknown, the arrangement can be estimated by the proposed method. Finally, the validity of the proposed method is confirmed by the experimental results.
    01/2011;