Tomoyuki Shimono

Yokohama National University, Yokohama, Kanagawa, Japan

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Publications (76)34.61 Total impact

  • Naoki Motoi · Ryogo Kubo · Tomoyuki Shimono
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    ABSTRACT: This paper proposes a real-time modification method of position and force teaching information in a human-robot cooperative system. In this study, human motion is recorded using bilateral control to obtain position and force teaching information. When the recorded information is reproduced, a human operator can add an operation to modify the teaching information. Because of the ability to modify the teaching information, it is possible to create variations in the motion to accommodate environmental changes. On the other hand, without the modification by the operator, the original recorded motion is achieved. In the proposed method, the operator focuses on modifying the teaching information in order to realize the desired motion. The validity of the proposed method is confirmed by experimental results.
    IEEJ Transactions on Industry Applications 01/2015; 135(5):503-512. DOI:10.1541/ieejias.135.503
  • Mototsugu Omura · Tomoyuki Shimono · Yasutaka Fujimoto
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    ABSTRACT: This paper proposes a semicircular tubular linear synchronous motor called a “circular shaft motor” (CSM). A CSM can realize the direct-drive motion along the circumference of a circle. The design of the CSM is described. A magnetic field analysis was performed for the CSM model. The thrust characteristics of the prototype CSM system were measured in experiments. Angle control and force control were performed to demonstrate the utility of the developed CSM.
    IEEJ Transactions on Industry Applications 01/2015; 135(3):246-257. DOI:10.1541/ieejias.135.246
  • Muhammad Herman Jamaluddin · Tomoyuki Shimono · Naoki Motoi
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    ABSTRACT: This paper addresses a solution for solving the object's rotational effect during the navigation process by the haptic bilateral control system. The system utilizes the vision-based guidance which depends on the virtual force generated by the vision-based force compliance controller (VFCC). During object's navigation, the virtual force is generated and affected to the manipulator's horizontal trajectory movement. In this paper, the different rotational angle of an object's trajectory which reflects to different movement direction of produced force, will be studied and evaluated. The details concerning the implementation of this method will be discussed. Two sets of experiments are conducted to evaluate the effectiveness of the proposed technique.
    2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE); 06/2014
  • Mototsugu Omura · Tomoyuki Shimono · Yasutaka Fujimoto
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    ABSTRACT: This paper presents a new circular shaft motor (CSM) model for development of haptic forceps system which has multi-degrees-of-freedom (MDOF). The prototype of CSM has issues; it is difficult to construct the stator as designed and the thrust characteristics is not enough high. The proposed CSM model includes trapezoidal magnets which are magnetized in axial direction. This structure can facilitate construction of the stator and decrease thrust ripple. In addition, by increasing the number of coil turns and shortening the magnetic gap between magnets and coils, the thrust characteristic can be improved. In this paper, the structure of proposed CSM is described. Then, the improvement of thrust characteristic is verified by magnetic field analysis. Finally, a prototype of the proposed model is developed, then thrust characteristic of the prototype of the proposed model is verified by primary experiment.
    2014 International Power Electronics Conference (IPEC-Hiroshima 2014 ECCE-ASIA); 05/2014
  • Nobuyuki Togashi · Tomoyuki Shimono · Naoki Motoi · Naoki Oda
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    ABSTRACT: This paper investigates a design method for an equivalent mass matrix in motion control based on workspace observer. The equivalent mass matrix implemented in the control system is often designed as a diagonal matrix. On the other hand, a real equivalent mass matrix includes non-diagonal elements. Conventionally, assuming the cut-off frequency as infinity, these elements is ignored. However, actually, since the cut-off frequency is not infinity, the non-diagonal elements can not be ignored. Therefore, in order to improve the control performance, it may be necessary to implement the equivalent mass matrix including the non-diagonal elements. From the background, the experimental comparison about the equivalent mass matrix design is conducted.
    2014 IEEE 13th International Workshop on Advanced Motion Control (AMC); 03/2014
  • Muhammad Herman Jamaluddin · Tomoyuki Shimono · Naoki Motoi
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    ABSTRACT: This paper presents a technique for a robust tracking of the target object by integration of the vision-based disturbance observer with bilateral haptic system. As for the motion navigation task, the bilateral control of master-slave system is combined with the vision-based force compliance controller. The disturbance of the modelling error that occurs in the integration of the system will be compensated by the proposed vision-based disturbance observer. The concept of control structure between the integration of bilateral manipulator, vision-based force compliance controller and the proposed vision-based disturbance observer are described. Two experiments were conducted to compare the result of without and with the proposed integration method. From the experimental results, the robustness of the proposed system is confirmed.
    2014 IEEE 13th International Workshop on Advanced Motion Control (AMC); 03/2014
  • Chikara Morito · Tomoyuki Shimono
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    ABSTRACT: This paper presents an evaluation method of arm stiffness to show utility of the developed arm self-rehabilitation system. Purpose of this research is an improvement of the arm's physical function of patients with hemiplegia. Their arm character is high arm stiffness due to the strong paralysis. So, we aim that their arm stiffness will decrease after rehabilitation using our developed system. As mechanical property of stiffness, reaction force on hand is depend on the arm stiffness and displacement when the hand will be moved for some reason. In other words, we have to use the displacement and reaction force on hand to estimate arm stiffness. Our developed rehabilitation support system can measure the position and force response of patient's hand because of bilateral control. Arm stiffness changes depending on patient's arm posture. In this paper, the accuracy of the proposed arm stiffness estimation method is verified from the experimental results under the condition of several different arm postures.
    2014 IEEE 13th International Workshop on Advanced Motion Control (AMC); 03/2014
  • Naoki Motoi · Tomoyuki Shimono · Ryogo Kubo · Atsuo 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 02/2014; 61(2):1009-1021. DOI:10.1109/TIE.2013.2251738 · 6.50 Impact Factor
  • Naoki Motoi · Yoshiyuki Hatta · Tomoyuki Shimono · Atsuo Kawamura
    01/2014; 3(2):146-155. DOI:10.1541/ieejjia.3.146
  • Nobuyuki Togashi · Toru Yamashita · Tomoyuki Shimono · Naoki Motoi · Naoki Oda
    IEEJ Transactions on Industry Applications 01/2014; 134(2):115-126. DOI:10.1541/ieejias.134.115
  • Tomoyuki Shimono · Yoshiyuki Hatta · Naoki Motoi
    03/2013; 54(1). DOI:10.7305/automatika.54-1.300
  • M. Omura · T. Shimono · Y. Fujimoto
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    ABSTRACT: This paper presents a novel half-circle-shaped tubular linear permanent magnet machine named as “circular shaft motor (CSM)” for direct-drive applications. A CSM is a kind of the tubular synchronous actuator. Both the stator and the mover of a CSM are bent in a circle. A CSM can realize the motion along the circumference of a circle. In this paper, the design of a circular shaft motor is described. The prototype of CSM is introduced. Then, the measurement experimental results of the thrust characteristic are demonstrated. The utility of the developed CSM is confirmed from the results.
    Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE; 01/2013
  • Naoki Motoi · Tomoyuki Shimono · Ryogo Kubo · Atsuo Kawamura
    01/2013; 31(7):651-658. DOI:10.7210/jrsj.31.651
  • T. Shimono · H. Ohkubo · C. Morito · Y. Hasegawa · Y. Sakurai · S. Ishii
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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
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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
  • Muhammad Herman Jamaluddin · Tomoyuki Shimono · Naoki Motoi
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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
  • Naoki Motoi · Ryogo Kubo · Tomoyuki Shimono
    01/2013; 133(5):270-273. DOI:10.1541/ieejjournal.133.270
  • 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
  • T. Kenmochi · N. Motoi · T. Shimono · A. Kawamura
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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
  • 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