Ming Ding

Ming Ding
Nagoya University | Meidai · Institutes of Innovation for Future Society

Ph.D.

About

128
Publications
9,093
Reads
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663
Citations
Citations since 2017
55 Research Items
431 Citations
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2017201820192020202120222023020406080
2017201820192020202120222023020406080
2017201820192020202120222023020406080
Introduction
Robot Contrl, Motion Control, Human-machine Interface, Human Modeling, Biomechanics, Muscle Force Control, Power-assist Device, Programming, Computer Graphics
Additional affiliations
November 2019 - present
Nagoya University
Position
  • Professor (Associate)
May 2015 - October 2019
Nara Institute of Science and Technology
Position
  • Professor (Assistant)
March 2014 - April 2015
Nagoya University
Position
  • Research Assistant
Education
April 2007 - March 2010
April 2005 - March 2007
September 1998 - July 2002

Publications

Publications (128)
Article
Full-text available
Pleasant touching is an important aspect of social interactions that is widely used as a caregiving technique. To address the problems resulting from a lack of available human caregivers, previous research has attempted to develop robots that can perform this kind of pleasant touch. However, it remains unclear whether robots can provide such a plea...
Article
Full-text available
Dental hygienist students require a self-learning simulator to learn the correctness of hand-scaling techniques. An essential technique in hand scaling is the maintenance of contact between the tip of the hand-scaler blade and the tooth. However, imaging-based methods cannot effectively reveal this contact because the gingiva and buccal mucosa conc...
Conference Paper
The motion ability of patients in the acute phase of stroke is difficult to define with existing indexes such as the Brunnstrom stage. Hence, for designing a novel evaluation index for stroke rehabilitation in the acute phase, we focused on the differences between the skin deformations in active and passive movements. Skin deformation reflects the...
Preprint
Full-text available
Pleasant touching is an important aspect of social interactions that is widely used as a caregiving technique. To address problems resulting from a lack of available human caregivers, previous research has attempted to develop robots that can perform this kind of pleasant touch. However, it remains unclear whether robots can provide such a pleasant...
Preprint
Full-text available
Affective touch offers positive psychological and physiological benefits such as the mitigation of stress and pain. If a robot could realize human-like affective touch, it would open up new application areas, including supporting care work. In this research, we focused on the gentle stroking motion of a robot to evoke the same emotions that human t...
Article
To enable high-fidelity control of a walking assist device, it is effective to predict the future human motion from wearable sensors. Since changes in plantar forces are related to the walking cycle, we focus on planter forces to control. In this research, we proposed a method for predicting future plantar forces from the data measured by IMU senso...
Article
In this paper, we develop a system which can evaluate the quality of upper-limb rehabilitation and provide the movement feedback by measuring and presenting the skin deformation of the upper-arm. The system consists of a distance sensor array which can measure the skin deformation of the upperarm and a software. In addition, we investigate the rela...
Article
Human touch skills are expected to provide emotional responses. In this study, we develop a human-imitation hand and generate gentle stroke motions on the back of a human to consider that the stroke motion of the robot provides a human emotion responses. By comparing with a stroke motion of a human, we evaluate the stroke motion of the robot and th...
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
Full-text available
Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we propose a novel method to prevent the time-delay when controlling a walking assist exoskeleton by predicting t...
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...
Preprint
Many kinds of lower-limb exoskeletons were developed for walking assistance. However, time-delay arised from the computation time and the communication delays is still a general problem when controlling these exoskeletons. In this research, we proposed a novel method to prevent the time-delay when controlling a walking assist exoskeleton by predict...
Conference Paper
In dental hygienist education, many skills are taught that cannot be acquired without repeated training. To make this training more efficient, we need to measure the students' skills and show correction points in real-time. In this research, we focus on hand scaling work, which is one of the most important tasks of dental hygienists. We developed a...
Article
Upper limb motions play an important role in Activities of Daily Living (ADLs). Studies on the upper limb motion estimation have been conducted and applied to various fields. In this research, we develop a distance sensor array which can measure the upper arm deformation. An estimation method is proposed to calculate the elbow joint angle and the l...
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
To enable on-time and high-fidelity lower-limb exoskeleton control, it is effective to predict the future human motion from the observed status. In this research, we propose a novel method to predict future plantar force during the gait using IMU and plantar sensors. Deep neural networks (DNN) are used to learn the non-linear relationship between t...
Article
To improve quality of life (QOL), it is important to analyze our daily activities. Among the criteria related to QOL, time-usage studies are drawing attention in the home economics field. Time-usage analysis extracts both activities and their intentions. In this paper, we propose a method for estimating gazed objects using a mobile robot to support...
Article
Research on aerial manipulation which consists of manipulation of objects with multicopters has been attracting attention in recent years. Commonly, the aerial manipulation is performed with a manipulator mounted on a multicopter. And, the motion of the manipulator affects the attitude control of the multicopter. Therefore, the combined control of...
Article
The universal gripper has attracted attention due to its simple structure and advanced grasping ability of irregularly shaped objects. In this research, we propose a novel design for a granular-jamming-based gripper, which uses a transparent filling and semi-transparent membrane to perform optical sensing to detect both the deformation and the obje...
Conference Paper
In this research, a scooping motion generation method is proposed to scoop the semi-liquid objects from different containers automatically for meal support purpose. A spoon equipped robot arm is used. Based on the pre-measured shape of the containers, the robot arm can move the spoon to trace the inner surface of containers continuously. We also co...
Conference Paper
In this research, we propose a new method to estimate the operating force exerted when moving an object with the hands by observing the human motion only. The required force for moving the object can be estimated without equipping any sensors on the object or on the human body. From the measured joint angles, we calculate the center of mass and the...
Chapter
In this paper, we explore the efficiency of vibration feedback techniques in pedestrian navigation systems. For vibration feedback technology, many researchers have provided a variety of different modes of vibration, such as vibration belt, vibrating bracelet and vibration shoes. And there are some researchers to discuss the perception of the human...
Article
Analyzation of the rowing motion of a boat is necessary for improving athlete’s rowing technique. In this research, a system is developed to measure the rowing motion only by attached the sensors on the boat and the oars. A distance sensor and two IMU sensors are used to measure the motion of the seat, oar, and boat. From the measured data, the mov...
Article
Measurement of whole body motion using motion capture play important role in fields of rehabilitation, imitation learning, and human-robot interaction. However, the measurement requires a large number of markers and sensors to be worn and there are many limitation on the measurement environment. In this paper, we propose a novel method to estimate...
Conference Paper
International robotics competitions bring together the research community to solve real-world, current problems such as drilling in aircraft manufacturing (Airbus Shopfloor Challenge) and warehouse automation (Amazon Robotics Challenge). In this paper, we discuss our approaches to these competitions and describe the technical difficulties, design p...
Conference Paper
The Amazon Robotics Challenge (ARC) has become one of the biggest robotic competitions in the field of warehouse automation and manipulation. In this paper, we present our solution to the ARC 2017 which uses both learning-based and feature-based techniques for object recognition and grasp point estimation in unstructured collections of objects and...
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...
Article
In order to improve the quality of life, it is necessary to record and review daily-life activities by oneself. In this research, we focus on review of eating habits because they are closely related to health. For this purpose, we propose a system to summarize eating scenes by detecting eating motions. The user reviews her/his eating habits by watc...
Article
Manipulation of thin, easily deformable objects is part of daily life tasks as well as industrial applications, such as paper folding, gift wrapping, bed making and seat manufacturing. Independent from the following manipulation approach all these tasks require a pick up process before. In this paper we propose a design of a robotic gripper with an...
Article
Robots are expected to perform a variety of household tasks. Tasks such as bed making and tucking textile layers during seat manufacture represent a particular challenge, as they require both sensitive manipulation and strong pushing capabilities. In this paper, we present a robotic solution for automated bed making with a force-sensing robot arm a...
Article
Full-text available
Designing a sit-to-stand (STS) assistive system that mimics the normal transfer is important for improving the quality of life for elderly and mobility impaired people while reducing the burden on the caregivers. This paper presents a robotic-based STS assisting system that can provide assistance at the shoulder and the buttock. The minimum jerk cr...
Article
We propose STARE, a wearable system to perform realtime, simultaneous eye tracking and focused object recognition for daily-life applications in varied illumination environments. Our proposed method uses a single camera sensor to evaluate the gaze direction and requires neither a front-facing camera nor infrared sensors. To achieve this, we describ...
Article
We propose STARE, a wearable system to perform realtime, simultaneous eye tracking and focused object recognition for daily-life applications in varied illumination environments. Our proposed method uses a single camera sensor to evaluate the gaze direction and requires neither a front-facing camera nor infrared sensors. To achieve this, we describ...
Conference Paper
Full-text available
The Amazon Robotics Challenge has become one of the biggest robotic challenges in the field of warehouse automation and manipulation. In this paper, we present an overview of materials available for newcomers to the challenge, what we learned from the previous editions and discuss the new challenges within the Amazon Robotics Challenge 2017. We als...
Conference Paper
To improve the general image of robots, in this study we describe a method of achieving “elegant motions based on women’s sense” in an android robot. There have been many books published in Japan containing advice for women on how to have elegant manners. Our approach was to quantify the elegant motions that are qualitatively expressed in these eti...
Conference Paper
This paper introduces a method to identify the focused object in eye images captured from a single camera in order to enable intuitive eye-based interactions using wearable devices. The proposed method relies on a 3D eye model reconstruction to evaluate the gaze direction from the eye images. The gaze direction is then used in combination with deep...
Conference Paper
Full-text available
General purpose robot hands are often badly suited for manipulating textiles and thin objects. One challenging task is the pushing (tucking) of textiles into small openings, which is an integral part of important tasks in manufacturing and is still largely unautomated. Current robot grippers are almost exclusively designed for grasping objects, or...
Conference Paper
This paper introduces a method to identify the focused object in eye images captured from a single camera in order to enable intuitive eye-based interactions using wearable devices. Indeed, eye images allow to not only obtain natural user responses from eye movements, but also the scene reflected on the cornea without the need for additional sensor...
Conference Paper
When manipulating textiles and thin objects, one challenging task is to push (tuck) of textiles into small openings. Further, for a number of manufacturing tasks it poses an obstacle to automation. However, current robot grippers are almost exclusively designed for grasping objects, or imitate the human hand with very fine mechanisms that break eas...
Article
Full-text available
Moving a patient between a bed and a wheel-chair is one of the most burdensome nursing-care tasks for caregivers. Various kinds of transfer assistant robots have been proposed previously. However, designing comfortable transfer motions for individuals has not been intensively studied due to the difficulty of modeling such physical human-robot inter...
Conference Paper
Full-text available
This paper introduces a method to estimate gaze direction using images of the eye captured by a single high-sensitivity camera. The purpose is to develop wearable devices that enable intuitive eye-based interactions and applications. Indeed, camera-based solutions, as opposed to commercially available infrared-based ones, allow wearable devices to...
Conference Paper
Full-text available
The industry's recent growing interest in virtual reality, augmented reality and smart wearable devices has created a new momentum for eye tracking. Eye movements in particular are viewed as a way to obtain natural user responses from wearable devices alongside gaze information used to analyze interests and behaviors. This paper extends our previou...
Conference Paper
Transferring is one of care motions for transferring a patient between a bed and a wheelchair, which is a heavy burden task for caregivers. Various kinds of transferring assistant robots have been proposed previously. However, designing comfortable transfer motions for individuals has not been intensively studied maybe due to its difficulty in mode...
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
Robot manipulators that close sufficiently fast to catch objects are often expensive and mechanically complicated. We present a low-cost robotic manipulator that can close its spring-loaded grippers near instantaneously as well as in a slow and controlled manner. We confirm experimentally that the speed of the manipulator is sufficient to catch obj...
Conference Paper
Full-text available
This paper describes the design and implementation of RT-middleware components for a ball-catching task by humanoid robots. We create a component to get the position of a thrown reflective ball from a motion capture device. We also create component to estimate the trajectory and the point where it will fall. The estimation is used to catch the ball...
Article
Driving assistant is very effective to reduce the traffic accident by warning driver and supporting his operation. In order to give accurate alarm and support, driver's status has to be measured correctly and speedily. In this research, we proposed a novel method to estimate the driving posture only from the pressure distribution between driver and...
Article
This paper presents evaluation of venous return promoting effects of our developed "parallel link type human ankle rehabilitation assistive device (PHARAD)" that can measure accurately foot motions in six degrees of freedom (6-DOF) and reproduce ankle joint motions. The PHARAD performs passive exercise by controlling the foot plate in 6-DOF. The pa...
Article
In this research, we controlled a verification device to lift subjects up from side and front and evaluated the comfort feeling for every position of robot arms. Based on the obtained distribution of subjects' comfort feeling, lifting-up motions were generated from the start position to the most comfortable position by passing very more comfortable...
Article
This paper presents a novel rehabilitation assistive device called a 'parallel link type human ankle rehabilitation assistive device (PHARAD).' It can accurately measure foot motions in six degrees of freedom and reproduce the ankle joint motions. By reproducing the input motions of the ankle joint, PHARAD conducts passive exercises for ankle rehab...
Article
Full-text available
We investigated the most effective rocking motion for inducing sleep in adults. We prepared ten types of rocking motions, including two types of mother’s rocking motions. The sleep-inducing effect of all the rocking motions was evaluated using Thurstone’s paired comparison method (Case V). From statistical analysis of the subjective experimental re...
Article
div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/07.jpg"" width=""300"" />Position estimation by forearms For a robot that uses two arms to lift and transfer a care receiver from a bed to a wheelchair, we report a method of estimating the positioning of the care receiver. The maneuver for such a task involves a high DOF...
Article
This paper presents a novel ankle motion measuring device that can measure three-dimensional motions without a motion capture system (MCS). We adapted a parallel link mechanism for the device using six wire-type displacement sensors to measure the ankle joint motions in six degrees of freedom (six-DOF). We define the motions of a foot plate which i...
Conference Paper
Full-text available
In our research center, we have developed a nursing-care assistant robot. This robot can lift up and transfer patient between bed and wheelchair using two human like arms. In this research, in order to generate comfortable lift-up motion automatically for this robot, we proposed a new method by reducing patient's load and pain feeling during liftin...
Article
This paper describes effect of elapsed time for position estimation of care receiver in nursing care robot with dual arms. A lot of care givers have lower back pain due to transferring a care receiver between bed and wheelchair. Our robot lifts up and transfers a care receiver from bed to wheelchair using its two arms to reduce burden of care giver...
Article
This paper presents a novel range of motion (ROM) measuring device for human ankle joint. We adapted parallel link mechanism for the device using 6 wire type potentiometers in order to measure ankle joint motions in 6 degree of freedom (6DOF). Foot postures, three-dimensional posture (x, y, z) and euler angle (θ, φ, ψ), is calculated by solving for...
Article
In this research, in order to verify the automatic generation method of comfortable lift-up motion for nursing-care assistant robot, we measured human posture and contact forces during lifting-ups using different motions. In order to generate various lift-up motions accurately, an evaluation device is developed. From the measured subjects' postures...
Article
In this research, we developed a novel ankle-foot assistive device for rehabilitation. This device uses a Stewart Platform Mechanism (SPM) to measure and assist the movements of a human ankle joint in six Degrees Of Freedom(DOFs). The SPM adapts to the displacement of the rotation axis of a human ankle joint during the movements of a human foot. In...
Article
In this research, we propose a novel ankle–foot assist device for rehabilitation. The developed device applies a Stewart platform mechanism to measure and assist the movements of a human ankle joint in six DOF. The Stewart platform mechanism adapts to the displacement of the rotation axis of a human ankle joint during the movement of a human foot....
Article
This article reports on the results of experiments that involved the use of a wearable sensorimotor enhancement device for preventing falls. The brief exposure of the tactile receptors to sub-sensory vibration is known to enhance tactile sensitivity, a phenomenon called "stochastic resonance" (SR) in the somatosensory system. Applying white-noise v...
Article
The number of physically disabled people in need of rehabilitation is increasing. Unfortunately, there is a shortage of physical therapists specializing in such rehabilitation. This has increased the demand for rehabilitation assist devices that can lessen the burden of physical therapists. In this study, the authors develop a device that can assis...
Conference Paper
In our research center, we have developed a nursing-care assistant robot - RIBA. This robot can lift up and transfer patient between bed and wheelchair using two human like arms. In this research, we proposed a new method to generate comfortable lifting-up motion automatically for using this robot. This method can reduce the pain feeling of patient...
Conference Paper
Caregivers in nursing-care environments develop strain injuries while transferring patients from a bed to a wheelchair. We have developed a nursing-care robot, RIBA, which can perform transfer tasks using its two arms. RIBA must lift the appropriate part of the care receiver's body and transfer the care receiver between the bed and the wheelchair w...
Conference Paper
Nowadays serving robots are more and more popular in human society. However, most of them are designed for the special people or for the special scenario. There is little robot designed to apply appropriate interface for different people that can accommodate age-related and body-related in physical interaction. We propose that user-centered design...
Article
This study develops a relaxed formulation of a method for controlling individual muscle forces using exoskeleton robots. Past studies have developed a muscle-force control method with very strict limitations on the conditions. These conditions will be removed, and the problem will be reformulated as a constrained optimization of several parameters....