Masahiro Yoshikawa

Masahiro Yoshikawa
Osaka Institute of Technology · Department of Robotics

PhD

About

53
Publications
8,025
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
448
Citations
Additional affiliations
July 2013 - October 2015
Nara Institute of Science and Technology
Position
  • Professor (Assistant)

Publications

Publications (53)
Conference Paper
Full-text available
There are body-powered hooks and myoelectric prosthetic hands that trans-radial amputees can use for work. Though the body-powered hooks have good workability for complex operations, the design of the hook is unappealing and the harness is cumbersome. The myoelectric prosthetic hand has a natural appearance similar to the human hand and intuitive o...
Conference Paper
Full-text available
This paper reports a new myoelectric interface for robotic hand control consisting of two main parts. The first part concerns the motion classification using electromyogram (EMG) signals of a support vector machine (SVM). Because there has been little research on the application of the SVM to motion classification using EMG signals, its effectivene...
Article
Full-text available
To test whether the phantom limb awareness could be altered by observing mirror reflection-induced visual feedback (MVF) in unilateral forearm amputees. Ten unilateral forearm amputees were asked to perform bilateral (intact and phantom) synchronous wrist motions with and without MVF. During wrist motion, electromyographic activities in the extenso...
Article
We recently realized that we had some mistakes in calculations regarding our published manuscript [1] . We would like to amend the mistakes, as indicated below.
Article
The upper limb motion plays a very important role when manipulating various daily objects. Therefore, the measurement of upper limb motion helps to understand human dexterity. The richer the measurement is, such as that including poses and joint torque, the deeper the understanding is. In this paper, we propose a novel method to simultaneously esti...
Conference Paper
Prosthetic hands are developed to replace lost hands. However, it has been hard to ensure the same level grasping and manipulating objects as human hands and the cosmetic appearance is also important. In a previous work, Rehand II: an electric and cosmetic prosthetic hand was developed. Its function is limited to simple object grasping, but it has...
Article
Several people, particularly the elderly population, have difficulties in swallowing; therefore, to address this issue, we built an oral motion classification system based on the muscle activity pattern of the suprahyoid muscles and tested it on 12 elderly people (seven males and five females) without a history of dysphagia and five healthy young m...
Article
Full-text available
Studies on hand motion recognition based on biosignals have become popular as such recognition can be applied to various input interfaces and motion measurements for human–robot/computer interaction. In recent years, many machine-learning-based technologies have been developed to analyze such biosignals more accurately. Among various possible biosi...
Conference Paper
Children with congenital forearm deficiency have difficulty in daily activities and body balance problem. Since most electric prostheses have been developed for adult amputees, it is necessary to develop a compact and lightweight electric prosthesis for children to manipulate various daily objects. In this paper, we report a compact and lightweight...
Conference Paper
Five-fingered electric prosthetic hands have been commercialized to assist the activities of forearm amputees in their daily life. Since the five-fingered electric prosthetic hands use a complicated mechanism and several actuators, the total weight is 1 kg or more. Although some hands are covered with a dedicated silicon glove, the appearance of th...
Conference Paper
Recently, many five-fingered prosthetic hands have been commercialized. However, most five-fingered prosthetic hands have heavyweight problems. In addition, their fingers with high rigidity are difficult to fit the object to be grasped. This paper reports a five-fingered prosthetic hand driven with curved pneumatic artificial muscles. By using the...
Chapter
We aim at developing a prosthetic hand having vibration-based sensors and actuators that provide feedback to enhance body recognition. Detection of skin-propagated vibration on the prosthetic hand is reasonable because of a small number of sensors thanks to a large receptive field by the propagation and a high-temporal response. However, limiting t...
Article
In this study, we propose a method for hand joint angle estimation based on forearm deformation measured with a distance sensor array. The developed distance sensor array can fit the forearm to measure small deformation, since it was made based on a 3D model of the forearm. We show experimentally that the proposed method can estimate not only the a...
Conference Paper
This paper describes the influence of the appearance and synchronizing operation of android to the extension of “personal space” from an operator to the android. We proposed a hypothesis that the extension of personal space from an operator to the android is affected by their agency and sympathy to the android. To verify this hypothesis, we conduct...
Article
Full-text available
We present an advanced robot education curriculum, “IT Triadic—RT (robot technology) course” for graduate students of NAIST. The goal of RT course is to educate students so that they acquire an ability to solve challenging and novel problems, such as “Create a robot helpful in the real world.” For this purpose, we design a curriculum centered on pr...
Conference Paper
Myoelectric prosthetic hands provide an appearance with five fingers and a grasping function to forearm amputees. However, they have problems in weight, appearance, and cost. This paper reports on the Rehand, a realistic electric prosthetic hand created with a 3D printer. It provides a realistic appearance that is same as the cosmetic prosthetic ha...
Conference Paper
Studies of upper limb motion analysis using surface electromyogram (sEMG) signals measured from the forearm plays an important role in various applications, such as human interfaces for controlling robotic exoskeletons, prosthetic hands, and evaluation of body functions. Though the sEMG signals have a lot of information about the activities of the...
Article
Full-text available
The research described herein was undertaken to develop and test a novel tongue interface based on classification of tongue motions from the surface electromyography (EMG) signals of the suprahyoid muscles detected at the underside of the jaw. The EMG signals are measured via 22 active surface electrodes mounted onto a special flexible boomerang-sh...
Article
Androids with human-like appearance are widely used as communication robots. Android motion is preferred to be human-like. To generate body motions for an android, human motions are directly measured with a motion capture device and transformed into motions for an android. In this paper, we propose a method to generate upper body (neck, torso and a...
Article
In this paper, we propose a method to recognize the type and load of a measured human motion motion. The operation type can be classified using K-means and the Dynamic Time Warping method. For each type of motion, the apparent load of the motion can also be recognized by calculating the difference of the absolute sum of the angular acceleration vec...
Article
Usual service robots seldom behave voluntarily and rather react passively. However, this behavior is unsatisfactory for users who expect proactive service from the robot. In this study, we develop a guidance robot that voluntarily approaches the user in indoor facilities. First, the robot identifies if a person looks lost. Next, the robot asks the...
Article
Electric prosthetic hands for trans-radial amputees require low cost and high functionality. We propose a 2-DOF electric prosthetic hand with end effectors which can be changed depending on the situation. As end effectors we have produced a three-fingered hand for grasping various kind of objects and an end effector with moving chopsticks for eatin...
Article
Recently, cleaning robots are becoming widely used. However, even if commercially-available cleaning robots can collect dust and small debris on the floor, they can not pick up trash such as PET bottles, cans, etc. We developed a cleaning robot intended for picking trash while dust collecting. This paper describes the architecture of the cleaning r...
Article
Though commercial prostheses are useful, they have issues in operability, appearance, cost, weight, and maintenance. To solve these issues, we are developing two types of electric prostheses created with a 3D printer. Finch is an electric prosthesis which has opposed three fingers specialized in daily work. Rehand is an electric prosthesis which ha...
Article
To help activity-of-daily-living (ADL) is important objectives for robots. So there are many kind of studies about ADL in the field of the robots. But most of robots cannot provide sufficient support with them, due to the limitation of dexterity of their own hand. We exemplify a humanoid HRP-4 and develop a hand extension for HRP-4. The hand can be...
Article
Full-text available
Internal (neuronal) representations in the brain are modified by our experiences, and this phenomenon is not unique to sensory and motor systems. Here, we show that different impressions obtained through social interaction with a variety of agents uniquely modulate activity of dorsal and ventral pathways of the brain network that mediates human soc...
Article
It is important to realize the robot handling soft objects. In this paper, we treat a string as an example of soft objects. Humans can create various figures with a string; we aim to develop a robot system that can do such a thing. We employ the string figures as the task. We propose a framework with which a robot can play string figures with a hum...
Article
Recently, it is demanded to detect temporal changes in large environment. Though a few years ago, only cameras was available for detection, the devices for measuring 3D shapes becomes common. 3D measurement devices enable us to detect temporal changes not only in 2D appearance but also in 3D shape. We propose a method for recognizing temporal chang...
Article
In order for a service robot to provide a human with appropriate service, the robot needs to recognize human's behavior from both human's motion and object's functionality. In this paper, we first vectorize the object's shape and then recognize human's behavior by classifying the features of both object's shape and human's motion. Since several con...
Article
In this paper, we report the impression of our android robot obtained in experiments and reactions of people to the android in demonstrations in medical and nursing fields. Our newly developed android robot Actroid-F is utilized for this research. Since the total system for controlling the android is light and compact, it is easy to install in medi...
Article
Full-text available
Many assistive robots for elderly and disabled people have been developed in the past few decades. However, very few of them became commercially available. The major cause of the problem is that the cost-benefit ratio and the risk-benefit ratio of them are not good or not known. The evaluation of them should be done in the light of the impacts of a...
Conference Paper
Personal space is the area surrounding individuals into which intrusion by others causes discomfort and strangeness. We found that when other people approach a highly human-like android robot which is operated in synchronization with human motion, the operator sometimes feels as if he/she is approached. Based on this observation, we hypothesized th...
Conference Paper
In order to develop useful assistive devices, analyses and understanding of human functions are necessary. We recorded the activities of daily living, and classified the usage of both hands using the vocabulary of ICF (International Classification of Functioning, Disability and Health) approved by WHO. We confirmed that the usage of the non-dominan...
Conference Paper
Many hand motion recognition methods using Electromyogram (EMG) signals have been developed. Because most studies used only surface EMG signals from a forearm, available motion-related information was limited. In this paper, we report a SVM (Support Vector Machine) based hand motion recognition method using hybrid sensors. The hybrid sensor consist...
Conference Paper
With the aging population trends in developed countries, there is an increased expectation of the application of assistive robots. A variety of robots have been developed to address this challenge. Although there are many technical problems to be solved, the lack of objective evaluation indexes for evaluating the benefit to the users is one of the...
Article
In this paper, we report an android robot system to support medical and welfare fields using communication, and a demonstration experiment using this system at a pain clinic. An android which consist of the system is Actroid-F very similar to real female and can exhibit various facial expressions such as smile, anger and surprise. Since the android...
Article
多自由度筋電義手を操作するため,識別器を用いて筋電位信号から手の動作意図を推定する手法(動作識別法)が研究されてきた.しかし,前腕切断者について動作識別法の有効性は十分に調べられていない.そこで,本研究では筋電位に基づいて動作識別を行うための訓練を受けていない,幅広い属性を持つ7名の前腕切断者を対象に,動作識別法の有効性を検討した.決まった順序で提示される5種の動作例に従って筋収縮した時の筋電位を計測し,この筋電位から抽出される筋電位パターンに対して,4種の異なる識別器を用いた動作識別法により動作識別実験を行った.この結果,すべての動作識別法において91%以上の識別率を得た.最も識別率の高かったサポートベクターマシンを用いた動作識別法では,被験者平均で94.1%を示し,最も高い被験者で98....
Conference Paper
This paper presents a librarian robot that has sleep and wake functions. This robot is equipped with a laser range finder for tracking library users' behaviors, a microphone for conversation with a user and a stereo vision. A lot of processes run in parallel in this system, operations of these processes are controlled by our proposed mathematical a...
Conference Paper
We are studying an intelligent perceptual information processing system in which plural processing can run in parallel. Our proposed mathematical activation-input-modulation (AIM) model controls each execution frequency of plural processing independently based on degrees of stimuli detected by external sensors. When external stimuli are detected by...
Article
In this paper, we report a hand pose estimation using electromyogram (EMG) signals consisting of two methods. One is a method of hand motion classification with a support vector machine (SVM). The other is a method of operator's joint angle estimation based on EMG-Joint angle models, which express the linear relationships between the EMG signals an...
Conference Paper
Various interfaces using Electromyogram (EMG) signals for controlling a robot hand have been developed. However, there are few researches that apply support vector machines (SVMs) to EMG signal classification for estimating operator's hand motions. There is a possibility that the SVMs are effective classifiers. This paper proposes a real-time hand...
Conference Paper
We are studying a robot vision system that has sleep and wake functions. Our proposed mathematical Activation-Input-Modulation (AIM) model, that can express consciousness states such as waking or sleep, controls a ratio between external and internal information processing, run in parallel, based on degrees of stimuli obtained by external sensors. I...

Network

Cited By