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Papers

International

[1] Atsushi Suzuki, and Kouhei Ohnishi:
"Frequency-Domain Damping Design for Time-Delayed Bilateral Teleoperation System Based on Modal Space Analysis,"
IEEE Transaction on Industrial Electronics, vol. 60, no. 1, pp. 177-190, Jan, 2013.

[2] Yusuke Kasahara, Hiromasa Kawana, Shin Usuda, and Kouhei Ohnishi:
"Telerobotic-assisted Bone-drilling System Using Bilateral Control with Feed Operation Scaling and Cutting Force Scaling,"
The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 8, no. 2, pp. 221-229, Jul, 2012.

[3] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi:
"Wireless Haptic Communication under Varying Delay by Switching-Channel Bilateral Control with Energy Monitor,"
IEEE Transactions on Mechatronics, vol. 17, no. 3, pp. 488-498, Jun, 2012.

[4] Takahiro Nozaki, Takahiro Mizoguchi, Yuki Saito, Tomohiro Nakano, and Kouhei Ohnishi:
"Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates,"
IEEJ Journal of Industry Applications, vol. 2, no. 1, pp. 1-6, Jan, 2012.

[5] Takahiro Nozaki, Takahiro Mizoguchi, Yuki Saito, Tomohiro Nakano, and Kouhei Ohnishi:
"Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates,"
IEEJ Journal of Industry Applications, vol. 2, no. 1, pp. 67-73, Jan, 2012.


Japanese

[1] 嶌本慶太, 谷田和貴, 野崎貴裕, 大西公平:
"腱駆動型球体関節機構による力覚伝達,"
電気学会論文誌産業応用部門誌, vol. 133, no. 3, pp. 307-313, Mar, 2013.

[2] 兪浩洋, 斉藤佑貴, 笠原佑介, 河奈裕正, 臼田慎, 大西公平:
"ロボット切削システムのための骨密度分類法,"
電気学会論文誌産業応用部門誌, vol. 133, no. 3, pp. 328-334, Mar, 2013.

[3] 水落麻里子, 大西公平:
"バイラテラル遠隔操作における伝送データ適正化手法,"
電気学会論文誌産業応用部門誌, vol. 133, no. 3, pp. 314-19, Mar, 2013.

[4] 鈴木敦, 大西公平:
"通信遅延下におけるバイラテラル遠隔操作の再現性と操作性,"
電気学会論文誌産業応用部門誌, 2013. (accepted for publication)

[5] 野崎貴裕, 溝口貴弘, 鈴木祐介, 矢代大祐, 大西公平:
"マスタ・スレーブ同機構型ロボットハンドを用いた触覚情報に基づく人間の複合動作認識,"
電気学会論文誌産業応用部門誌, vol. 132, no. 9, pp. 868-864, Sep, 2012.

Conferences

International

[1] Daiki Suzuki, and Kouhei Ohnishi:
"A Skill Proficiency Evaluation Method of Individual Based on Accuracy and Repeatability,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[2] Davide Cattin, Emre Sariyildiz, and Kouhei Ohnishi:
"A Null-Space-based Control for Cable Driven Manipulators,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[3] Emre Sariyildiz, and Kouhei Ohnishi:
"Robust Stability Anaylsis of the System with Disturbance Observer: The Real Parametric Uncertainity Approach II,,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[4] Kento Watanabe, Keita Shimamoto, and Kouhei Ohnishi:
"Bilateral Control with 2-DOF Haptic Spherical Interface,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[5] Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi:
"A Design Method of Bilateral Control System with Transfer Impedance and Admittance,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[6] Keita Shimamoto, and Kouhei Ohnishi:
"Motion Control for Tendon-Driven Spherical Joint,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[7] Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi:
"Bilateral Control Method for Tendon-driven Mechanism Considering Wire Elongation,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, IECON2012, Montreal, Canada, 25th Oct - 28th Oct, 2013.

[8] Emre Sariyildiz, and Kouhei Ohnishi:
"A New Solution for the Robust Control of Non-minimum Phase Systems Using Disturbance Observer,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[9] Emre Sariyildiz, and Kouhei Ohnishi:
"Design Constraints on the Disturbance Observer Design in the Presence of Time Delay,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[10] Yoshitomo Matsumi, Yu Nakajima, Shinnosuke Yamaoka, and Kouhei Ohnishi:
"Oblique Coordinate Based Micro-Macro Bilateral Control Using a Piezoelectric Cantilever,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[11] Shinnosuke Yamaoka, and Kouhei Ohnishi:
"Reaction Force Estimation of Piezoelectric Actuator by Charge Observation,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[12] Takahiro Nozaki, Takahiro Mizoguchi and Kouhei Ohnishi:
"A Controller Design Method for Multirobot Systems Based on Task Projection Matrix,,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[13] Keita Shimamoto, Kento Watanabe and Kouhei Ohnishi:
"Improvement in Force Control with Force Projection for 2-DOF Tendon-Driven Spherical Joint Mechanisms,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[14] Yu Nakajima, and Kouhei Ohnishi:
"Motion Canceling Bilateral Control Analysis for Target with Two Layer Impedance Models,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[15] Kazuki Tanida, Takahiro Mizoguchi, and Kouhei Ohnishi:
"A Development of 3-DOF Haptic Surgical Trocar Robot using Tendon-drive,,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[16] Kento Watanabe, and Kouhei Ohnishi:
"A Design Method of Scaling Bilateral Control with Drift,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[17] Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi:
"The Power Factor in Mechanical System,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[18] Tomohiro Nakano, Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi:
"Variable Tension Control for Master-Slave Tendon-Driven Robot Hand,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[19] Yuki Saito, Uichiro Nishio, Takahiro Nozaki, and Kouhei Ohnishi:
"Acceleration based Position and Force Control for Twist Drive,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[20] Mariko Mizuochi, and Kouhei Ohnishi:
"Contact Detection using Dither in Force Sensorless Motion Control,"
in Proceeding 4th IEEE International Conference on Mechatronics, ICM2013, Vicenza, Italy, 27th Feb - 1st Mar, 2013.

[21] Kasun Prasanga, Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi:
"Realization of Bilaterally Controlled Different Motions for Laparoscopic Forceps Using an Independently Operated Tendon Driven System,"
Proceeding of the 6th International Conference on Information and Automation for Sustainability, ICIAfS2012, Beijing, China, 27th Sep - 29th Sep, 2012.

[22] Emre Sariyildiz, and Kouhei Ohnishi:
"Robust Stability Anaylsis of the System with Disturbance Observer : The Real Parametric Uncertainity Approach I,"
IEEE International Conference on Mechatronics and Automation, ICMA2012, Chengdun, China, 5th Aug - 8th Aug, 2012.

[23] Emre Sariyildiz, Kemal Ucak, Gulay Oke, Hakan Temeltas, and Kouhei Ohnishi :
"Support Vector Regression Based Inverse Kinematic Modeling for a 7-DOF Redundant Robot Arm,"
International Symposium on Innovations in Intelligent Systems and Applications, INISTA2012, Trabzon, Turkey, 2nd Jul - 4th Jul, 2012.

[24] Emre Sariyildiz, and Kouhei Ohnishi:
"Robust Stability and Performance Anaylsis of the Control Systems with Higher Order Disturbance Observer: Frequency Approach,"
Proceeding of the 5th International Conference on Human System Interaction, HSI2012, Perth, Australia, 6th Jun - 8th Jun, 2012.

[25] Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi:
"Examination of Stability and Characteristics of Gyrator type Bilateral Control; Toward Controller and Transfer Impedance Design,"
Proceeding of the 5th International Conference on Human System Interaction, HSI2012, Perth, Australia, 6th Jun - 8th Jun, 2012.

[26] Yu Nakajima, Takahiro Nozaki, and Kouhei Ohnishi:
"Synchronization Performance Improvement on Motion Canceling Bilateral Control Using an Extended Dual Sampling Rate Observer,"
Proceeding of the 5th International Conference on Human System Interaction, HSI2012, Perth, Australia, 6th Jun - 8th Jun, 2012.

[27] Takahiro Nozaki, Takahiro Mizoguchi, Yu Nakajima, and Kouhei Ohnishi:
"Realization of a Real-Time System for Searching and Reproducing Recorded Skillful Motions,"
Proceeding of the 5th International Conference on Human System Interaction, HSI2012, Perth, Australia, 6th Jun - 8th Jun, 2012.


Japanese

[1] 嶌本慶太, 鈴木大貴, 大西公平:
"4自由度腱駆動球体関節マニピュレータの位置制御手法,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[2] 鈴木大貴, 下島直樹, 松實良知, 大西公平:
"自動肝生検のための定量的な硬度評価手法,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[3] 魚住誠二, 佐藤晴哉, 鈴木大貴, 嶌本慶太, 野崎貴裕, 大西公平:
"把持物体の形状を考慮した機能モードの設計法,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[4] 谷田和貴, 大西公平:
"マルチ駆動と腱駆動を用いたバイラテラル把持・直動鉗子ロボットの開発,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[5] 小川健司, 魚住誠二, 兪浩洋, 和田則仁, 下島直樹, 浦岡俊夫, 矢作直久, 北川雄光, 大西公平:
"内視鏡挿入型フレキシブルアクチュエータを用いた低侵襲型肝硬度測定システムの開発,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[6] 上月涼平, 松實良知, 許倩南, 大西公平:
"バイラテラル制御系におけるスラストワイヤのバックラッシュ補償,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[7] 大野嘉紀, 嶌本慶太, 溝口貴弘, 渡邊権人, 大西公平:
"多自由度異構造バイラテラル制御系の通信遅延補償法,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[8] 溝口貴弘, 野崎貴裕, 大西公平:
"通信遅延下におけるジャイレータ型バイラテラル制御の動作特性,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[9] 許倩南, 鈴木大貴, 大西公平:
"モーションコピーシステムにおける再生時の環境位置変動に対する一補償法,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[10] ベシェフランシス, 岩田翔, 大西公平:
"環境の表面形状推定のための多自由度ハプティックデバイスの開発,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[11] 岩田翔, ベシェフランシス, 大西公平:
"複数のマスタ・スレーブシステムを用いた高倍率ミクロ・マクロバイラテラル制御,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[12] 野崎貴裕, 溝口貴弘, 大西公平:
"力覚情報を用いた多様体に基づく運動表現,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[13] 松實良知, 中島悠, 山岡紳之介, 嶌本慶太, 大西公平:
"圧電アクチュエータを用いた斜交座標バイラテラル制御系の特性解析,"
平成24年度電気学会産業計測制御研究会資料, 千葉, 8th Mar - 9th Mar, 2013.

[14] 野崎貴裕, 溝口貴弘, 大西公平, 森川康英, 小澤壯治:
"力増幅を伴うバイラテラル制御による動作特徴の抽出,"
日本コンピュータ外科学会誌, 徳島県, 1st Nov - 3rd Nov, 2012.

[15] 兪浩洋, 大西公平, 河奈裕正, 臼田慎:
"ロボットドリル切削システムを用いたCT値推定法,"
日本コンピュータ外科学会誌, 徳島県, 1st Nov - 3rd Nov, 2012.

[16] 渡邊権人, 大西公平:
"力覚提示球状インタフェースにおける作業空間制御の一構成法及び検証,"
平成24年度電気学会産業応用部門大会講演論文集, 千葉, 21st Aug - 23rd Aug, 2012.

[17] 斉藤佑貴, 西尾宇一郎, 野崎貴裕, 大西公平:
"ツイストドライブ機構における加速度制御の実現,"
平成24年度電気学会産業応用部門大会講演論文集, 千葉, 21st Aug - 23rd Aug, 2012.

[18] 中島悠, 大西公平:
"ロボットハンドを用いた物体座標系におけるバイラテラル制御の一構成法,"
平成24年度電気学会産業応用部門大会講演論文集, 千葉, 21st Aug - 23rd Aug, 2012.

Other Achievements

Press Report

[1] 大西公平, 河奈裕正:
"歯科手術支援ロボ　慶大、インプラント用試作,"
日本経済新聞　夕刊1面, 30th Jul, 2012.

[2] 大西公平, 松実良知:
"ロボ、人力1/500に変換　バイオ実験など微細作業で活用,"
日経産業新聞, 26th Jul, 2012.

[3] 大西公平:
"医工連携による世界初の手術支援用両腕ロボットの開発,"
医療の扉 BS日テレ, 10th Jun, 2012.



Invited Lecture

[1] 大西公平:
"触覚を伝える手術支援ロボットの開発,"
第5回日本ロボット外科学会学術集会, 名古屋国際会議場, 19th Jan, 2013.

[2] Kouhei Ohnishi:
"Real-world Haptics for Future Society,"
The 2nd International Symposium for Sustainability by Engineering at MIU, Mie, 2nd Nov, 2012.

[3] Kouhei Ohnishi:
"Real world haptics as a basis of motion control,"
Proceedings of the 5th International Conference on Human System Interaction, Perth, 8th Jun, 2012.

[4] Kouhei Ohnishi:
"Real-World Haptics,"
21st IEEE International Symposium on Industrial Electronics, Hangzhou, 31st May, 2012.

[5] Kouhei Ohnishi:
"Force Transmission and Haptic Forceps,"
Proceedings of the 13th International Conference on Optimization of Electrical and Electronic Equipment, Brasov, 26th May, 2012.



Award

[1] 大野嘉紀:
SD卒業研究優秀発表賞, "ネットワークを介した多自由度異構造バイラテラル制御系における通信遅延補償法,"
慶應義塾大学, 10th Mar, 2013.

[2] 谷田和貴:
優秀論文発表賞, "マルチ駆動を用いた把持・左右動作鉗子ロボットの開発,"
平成23年度電気学会産業計測制御研究会資料, 7th Mar, 2013.

[3] 中野智啓:
優秀論文発表賞, "腱駆動マスタ・スレーブ型ロボットハンドの把持動作を考慮した腱配置とバイラテラル制御,"
平成23年度電気学会産業計測制御研究会資料, 7th Mar, 2013.

[4] 大西公平:
福澤賞,
慶應義塾大学, 9th Nov, 2012.

[5] Daiki Suzuki:
Best Oral Presentation, "A Skill Proficiency Evaluation Method of Individual Based on Accuracy and Repeatability,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, 28th Oct, 2012.

[6] Emre Sariyildiz:
Best Oral Presentation, "Robust Stability Anaylsis of the System with Disturbance Observer: The Real Parametric Uncertainity Approach II,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, 28th Oct, 2012.

[7] Takahiro Mizoguchi:
Best Oral Presentation, "A Design Method of Bilateral Control System with Transfer Impedance and Admittance,"
Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, 28th Oct, 2012.

[8] 境野翔:
部門優秀論文発表賞, "モバイルハプトにおける位置と速度の階層的拘束の実現,"
電気学会産業応用部門, 1st Oct, 2012.

[9] Kasun Prasanga:
Best Paper Award, "Realization of Bilaterally Controlled Different Motions for Laparoscopic Forceps Using an Independently Operated Tendon Driven System,"
Proceeding of the 6th International Conference on Information and Automation for Sustainability, 29th Sep, 2012.

[10] 大西公平, 青山藤詞郎, 柿沼康弘:
日本学術会議会長賞, "「外乱オブザーバ応用技術」の開発,"
産学官連携推進会議, 28th Sep, 2012.