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Akimoto　Toshinari　

    Department of Biomedical Engineering　Associate Professor
    Course of Biomedical Engineering　Associate Professor
    Research Institute of Industrial Technology　Researcher
    Research Center for Biomedical Engineering　Researcher
    Course of Biomedical Engineering　Associate Professor
Last Updated :2025/04/22

Researcher Information

Degree

  • Doctor of Engineering（2008/03 Toyo University）
  • Master of Engineering（2005/03 Toyo University）

Research funding number

  • 10511462

J-Global ID

Association Memberships

  • 生体医工学会   電気学会   精密工学会   日本機械学会   

Published Papers

Conference Activities & Talks

  • サックス演奏ロボットの開発と解析
    茂呂 来美; 秋元 俊成
    第 52 回 可視化情報シンポジウム  2025/07
  • 外耳道における加圧減圧を用いた静脈圧可視化手法の評価
    小枝 恭; 秋元 俊成
    第 52 回 可視化情報シンポジウム  2025/07
  • 皮膚表面画像からの脈波の可視化とノイズ低減
    松井 彗; 秋元 俊成
    第 52 回 可視化情報シンポジウム  2025/07
  • 動脈血酸素飽和度の非接触計測における光源の影響解析
    松井彗; 秋元俊成
    ロボティクス・メカトロニクス 講演会 2024 in Utsunomiya  2025/05
  • 電磁波の透過による体水分量計測の基礎検討
    茂呂来美; 秋元俊成
    バイオメトリクス研究会  2025/03
  • 透析内シャント狭窄スクリーニング装置開発に向けた数値流体 力学計算によるシャント血管内流れの検討
    信太 宗也; 鈴木 裕; 秋元 俊成; 窪田 佳寛
    第 52 回 可視化情報シンポジウム  2024/07
  • 電波を用いた周波数スイープによる生理食塩水の水量計測
    茂呂来美; 秋元俊成
    ロボティクス・メカトロニクス 講演会 2024 in Utsunomiya  2024/05
  • 外耳道内圧による静脈血行動態計測装置の開発  [Not invited]
    小枝恭; 秋元俊成
    ロボティクス・メカトロニクス 講演会 2024 in Utsunomiya  2024/05
  • Investigation of optics system for non-contact measurement of arterial blood oxygen saturation using a cold mirror  [Not invited]
    松井 彗; 秋元 俊成
    LIFE2023 (第22回日本生活支援工学会、JSME福祉工学シンポジウム2023、第38回ライフサポート学会）  2023/09
  • Basic Study of Body Water Content Measurement by Radio-Frequency Sweep  [Not invited]
    茂呂 来美; 秋元 俊成
    LIFE2023 (第22回日本生活支援工学会、JSME福祉工学シンポジウム2023、第38回ライフサポート学会）  2023/09
  • KOEDA Kyo; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023  The Japan Society of Mechanical Engineers
     
    In recent years, with the spread of smart farming, various agriculture-related robots and systems have been developed. However, the increasing complexity of robots and systems has led to various problems, such as the difficulty of operation and the high cost of capital investment. Therefore, we thought that a platform for agricultural robots that is relatively inexpensive and can be used by farmers who have no knowledge of robots or programming could solve these problems. In this paper, we report on the development of a relatively inexpensive and easy-to-use platform for agricultural robots, and on the verification of its applicability in actual fields.
  • AKIMOTO Toshinari; MORO Kurumi
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2023  The Japan Society of Mechanical Engineers
     
    Monitoring of body and bladder water content can help prevent diseases and incontinence caused by water deficiency. Current methods for measuring body water content are not suitable for use in daily life. In this study, we propose a method using the phase difference of transmitted radio waves. Radio waves in a material have a characteristic that the propagation speed changes depending on the frequency and the electrical properties of the material. As a basic experiment, radio waves of different frequencies were irradiated while increasing the amount of water, and the changes in the phase difference of the transmitted radio waves were measured. This technique can capture changes in water content based on the difference in phase difference due to frequency, and is expected to be used for non-contact measurement over long periods of time in daily life.
  • MATSUI Kei; AKIMOTO Toshinari
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2023  The Japan Society of Mechanical Engineers
     
    The purpose of this study is to propose a non-contact method of measuring arterial blood oxygen saturation and to evaluate the system. In this presentation, a camera was used to measure arterial blood oxygen saturation in a non-contact manner. In order to realize stable measurement, we investigated a method of using a cold mirror (a mirror that reflects visible light and transmits infrared light) to measure the light after spectroscopy with a camera. We believe that the use of a cold mirror for spectroscopy of infrared and visible light will increase the sensitivity of the sensor and reduce noise, and we report on the design, prototyping, and measurement experiments of the device.
  • MORO Kurumi; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2022  The Japan Society of Mechanical Engineers
     
    The pulse oximeters currently in widespread use measure pulse rate and blood oxygen saturation by contacting the skin surface. Therefore, it can be a burden to users with weak skin. Therefore, we conducted a basic experiment aiming at non-contact measurement of blood oxygen saturation and realized non-contact measurement of pulse wave by measuring light using an XYZ camera. In addition, we investigated whether it was possible to measure oxygen saturation by measuring the tendency of oxygen saturation to change with breath holding. In this paper, we report the results of these two experiments.
  • KOEDA Kyo; TAKEDA Koji; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2022  The Japan Society of Mechanical Engineers
     
    In recent, 3D printers have been attracting attention worldwide, and the main materials used are ABS, PLA, and acrylic resins. In addition, there have already been many reports, mainly from overseas, on the construction of full-scale pedestrian bridges and simple houses using cement-based materials. Although extrusion deposition method is the mainstream of current 3D printers for construction, there are some problems. Therefore, we thought that we could solve this problem by using the powder deposition method. We created an experimental machine that ejects powder at any location, and we sculpted by manually sprinkling water at any location where we wanted to solidify. The purpose of this study is to verify whether modeling is possible using binder jetting. Experiments were conducted to form basic objects of rectangular and arc systems using binder jetting, and we report that we succeeded in forming the target shapes.
  • TAKEDA Koji; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021  The Japan Society of Mechanical Engineers
     
    There are problems such as a shortage of workers and construction equipment, waste, and the inability to secure accommodation facilities required by workers when building temporary housing. Therefore, if it is possible to build a building using a 3D printer, we thought that it would not only solve these problems but could also be used at construction sites. In recent years, 3D printer has attracted worldwide attention, and 3D printer for home use have become so popular that they are sold. ABS, PLA , and acrylic resin are used as the main materials for 3D printer. Also, many cases have already been reported, mainly abroad countries, in which construction materials such as cement-based materials are used to construct members that make up full-scale pedestrian bridges and simple dwellings. The purpose of this research is to develop a super-large binder jetting concrete 3D printer.
  • ITO Yusei; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of Mechanical Engineering Congress, Japan  2021  The Japan Society of Mechanical Engineers
     
    The simple measurement of body water content has the potential to be applied to new prevention methods and risk assessment for various diseases, and also important as a clinical indicator. In this study, we conducted a physical model experiment using water balloons with a non-contact water content measurement device using microwaves. We measured the phase difference of water accumulation in the physical model. The physical model was considered as a sphere, and the change in the diameter was theoretically calculated. The theoretical value of the diameter and the measured phase difference were compared and evaluated. It was suggested that the volume change in the physical model could be measured by the phase difference, which would make it possible to measure the water content.
  • KARIYA Kengo; YAMAUCHI Kazuki; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers
     
    The pulse oximeter needs to come into contact with the skin during measurement. Therefore, long-term measurement places a heavy burden on the patient. Many non-contact oxygen saturations using cameras have been studied. However, switching by high-speed blinking cannot catch up with the response of the image sensor. Therefore, we thought that the accuracy of the camera measurement could be improved by measuring the LED constantly. In this study, we propose a spectroscopic measurement method using a cold mirror as a means of measuring blood oxygen saturation. In the experiment, we report the results of pulse wave measurement on the reflection side and the transmission side of the mirror and the tendency of oxygen saturation change due to breath holding.
  • YAMAUCHI Kazuki; KARIYA Kengo; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers
     
    Elderly people are increasing every year, and the demand for nursing care is also increasing. There is urination problem of elderly person in the care spot. The reason is that it is difficult to express intention, and the time that the patient can endure after urinating due to aging muscle weakness is short. To solve this problem, I thought it was necessary to measure urine volume in the bladder. In this study, we measure urine volume in the bladder from the change in phase when radio waves pass through water. In this paper, we measure the phase change when a radio wave transmitted from a moving antenna passes through a plastic bottle filled with water using a phase detection circuit, and show the results and discussion.
  • ITO Yusei; KANAMARU Tomoya; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers
     
    In a previous study, we developed a non-contact device that measures the volume of bodily fluids using microwave transmission. This device detects the phase difference between the radio waves that pass through the measurement target and the radio waves that don’t. Measuring body fluid volume has the potential to evaluate body tissue, diagnose various diseases, and prevent diseases. They are considered important information in clinical. In this study, using the developed device, we conducted a postural change experiment and considered the utility of the device by measuring changes in body fluid volume in the lower limbs. The results showed that this device could easily measure changes in fluid volume.
  • MARUYAMA Keisuke; YAMAUCHI Kazuki; HINO Yoshikazu; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers
     
    In this study, we propose using the propagation velocity of radio waves as a means to measure the body water content of the human in a no-ncontact manner. The propagation velocity is depending on the medium, and it reduce speed in the water compared to in the air. Using this property, we considered to measure the body water content by measuring the propagation time until the radio wave to be transmitted passes through the human body. If this measurement becomes possible, it can be expected to measure body water content in non-contact. We conducted an experiment to irradiate water to microwave as a basic experiment and evaluated the propagation delay time accompanying the increase in water content, so we report the result in this paper.
  • MARUYAMA Keisuke; NEGISHI Tomoya; HINO Yoshikazu; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers
     
    The number of heat stroke patients is increasing every year, and it is expected that they will continue to increase due to the effects of global warming. In case of heat stroke it may die if treatment is delayed. One of the causes of treatment delay is that it is difficult to recognize as heat stroke. As a countermeasure, I thought that it is necessary to measure body water content. In this research, we measure body water content from energy attenuation during radio wave propagation. By using radio waves, it becomes possible to measure non-contact or measure only the water content of a limited part. In this paper, we show the measurement result and consideration of the reception intensity accompanying the water content change of the microwave transmitted using the directional antenna.
  • HINO Yoshikazu; MARUYAMA Keisuke; NEGISHI Tomoya; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers
     
    At present, noncontact oxygen saturation measurement using cameras is actively performed.However, since it requires a camera and a personal computer, the apparatus becomes large and expensive.Therefore, we proposed a simple and inexpensive measurement method using pulse oximetry and camera lens.The method proposed in this research is a combination of a pulse oximeter and a camera lens.In order to evaluate the proposed method, pulse waves necessary for calculating oxygen saturation were measured.Since it was possible to measure with a measurement distance of 200 mm, experiments were conducted to determine whether pulse waves can be measured by the same measurement method as in pulse oximeter.Since we were able to measure pulse waves with red light and infrared light used for measurement, we can say that the possibility of oxygen saturation measurement by the proposed method was obtained.
  • NEGISHI Tomoya; HINO Yoshikazu; MARUYAMA Keisuke; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers
     
    At present, development of a robotic steering system using a master slave is being carried out. However, the master slave requires one controller per robot. Therefore, if the same controller can be used for different robots, it is not necessary to newly manufacture the controller. In order to realize this, we model a current robot maneuvering system in the dynamics simulator with the same joint arrangement as the robot. By operating this produced model with the same controller, a system that does not require a new controller is made. I reported the robot being maneuvered with the system actually manufactured.
  • 設樂 勇; 原 正東; 大塚 智晴; 松村 勝裕; 犬木 拓也; 秋元 俊成; 平栗 健史
    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報  2017/05  電子情報通信学会
  • NEGISHI Tomoya; AKIMOTO Toshinari
    The Proceedings of Conference of Kanto Branch  2017  The Japan Society of Mechanical Engineers
  • NEGISIHI Tomoya; AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017  The Japan Society of Mechanical Engineers
     
    We have developed a robot that plays a trumpet that is used in brass and jazz etc. The sound that the robot produced this time is different from the sound that people make, it looks like an electronic sound. In this research, we analyzed the sound for the purpose of making a trumpet performance robot close to human performance, so we report it.
  • 平栗 健史; 原 正東; 設樂 勇; 大塚 智晴; 秋元 俊成; 佐藤 光栄
    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報  2016/11  電子情報通信学会
  • 原 正東; 設樂 勇; 犬木 拓也; 松村 勝裕; 秋元 俊成; 佐藤 光栄; 平栗 健史
    電子情報通信学会技術研究報告 = IEICE technical report : 信学技報  2016/11  電子情報通信学会
  • TASHIRO Daiki; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014  The Japan Society of Mechanical Engineers
     
    The increasing of the people who need the care is serious problem in an aging society. This problem is significant for the transferring. To solve this problem, we developed the wheelchair which can move omni-direction. This wheelchair supposed to use outside in real situation. The operating in real situation needs to overcome the bump. The wheelchair realized the omni-directional movement with three pair of wheels without using an omniwheel. The wheelchair we developed realized the simply controlled in a complicated narrow space as few input as. This omni-directional function will be installed to the transfer equipment for patient.
  • NOGUCHI Masahira; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2014  The Japan Society of Mechanical Engineers
     
    The objectives of this study are the development of device to measure the pressure in the ear canal, and the understanding of the relation between pressure in an ear canal and venous hemodynamics by using our device. We carried out the measurement of pressure in ear canal with the changing of position by using a tilt bed to verify the device we developed. The results showed that the good agreement of the change of pressure in an ear canal with the change of position. The change of pressure in ear canal showed the same reaction of venous hemodynamics during the change of position. Thus, the developed device to measure the pressure in ear canal performed the measurement of venous hemodynamics.
  • LEE Chungjong; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2012  The Japan Society of Mechanical Engineers
     
    The purpose of this study is to generate the map to estimate the robot position by using stereo cameras and odometry. When creating a map image of the feature points is calculated using the Speeded Up Robust Feature(SURF). Matching of feature points obtained from the cameras using Fast Library for Approximate Nearest Neighbors(FLANN). Accuracy of the map is raised by using the Distance-Based Outlier. And processing time of image processing can significantly reduce the by the use of Graphics Processing Unit(GPU). Self-localization experiments were performed using the map. The robot position and orientation can be estimated with the stereo cameras and odometry.
  • ARAI Hirofumi; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers
     
    In this paper, we purposed we a new approach for robot Self-Localization in indoor and outdoor. The approach is based on RSSI of mobile phone. First, we repeated experiment six times that is RSSI reproducibility measurement of PHS when the robot was moved 1000 mm in straight. Second, we measured RSSI of PHS in 2D small area (300mm×300mm). The result shows recognized RSSI of PHS in different environments and it is able to Self-Localization with high-resolution and sufficient accuracy. Alternatively, it make a RSSI map, we could detect a change of RSSI in 2D small area. The experimental results indicate that the robot is possible to localize accurately based on our proposed method and by applying the localization result to compensate the odometry, the cumulative error can be eliminated.
  • FUKUI Rie; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers
     
    We purpose to designed system that be able to measure long time and non-invasive the bowel motility. It is because there is no device that is appropriate for measurements of the bowel motility. Therefore, the method of using the sound was devised and examined it. The sound of bowel is assumed to be in activity. Moreover, it made comparative study of the cycle of the interdigestive migrating motility complex(MMC) with the sleep cycle. As a result, the periodicity of the bowel motility was able to be measured according to the borborygmi. Additionally, the measurement of the bowel motility by the borborygmi was able to be confirmed. The relativity of the interdigestive migrating motility complex(MMC) and sleep cycle was not able to be confirmed.
  • MIYAGI Keisuke; SAKURAI Ryota; AKIMOTO Toshinari; TERADA Nobuyuki
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2010  The Japan Society of Mechanical Engineers
     
    In recent years, communication network and computer technology enable to create a home network. Therefore, we are developing intelligent house that supports daily life of the elderly people. The elderly people are supported to utilize network that indoor environment control. We propose to reduce the operation burden of elderly people. In this paper, we report robot as man-machine interface to communicate between humans and network. Then, we describe the house of voice control, emotional recognition using voice, development of fall detection using LRF. Our experimental results were confirmed that it was valid for house control system and fall detection system.
  • AKIMOTO Toshinari
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    I designed and developed 24 degrees of freedom remote controller for humanoid robot. The operation was enabled by using four 6-axis force sensors and method of inverse kinematics. The basic function is to enable a remote control for humanoid robots with large degrees of freedom in real time. As a result, I succeeded in controlling the both hands both feet at the same time.
  • FUKUDA Kazuhito; IWASA Yuki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    In RoboCup middle-size league (MSL), we have been using the positions of color goals and corner poles as landmarks, and localized the position of mobile robots. According to the change of the regulation of RoboCup MSL, we obliged to use other objects as landmarks since color information has been removed. This paper describes the self-localization method based on position of lamps on the ceiling as the landmarks. Provided that the ceiling is horizontal and the lamps on the ceiling are allocated along a straight line, the position of a mobile robot can be specified. We conducted experiments in the corridor and confirmed the validity of the idea.
  • KONDO Shuhei; IWASA Yuki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    We participate RoboCup humanoid league and middle-size league. Color information is specified in RoboCup regulations in order to ease object recognition, yet color recognition is one of the big issues because illumination condition varies depending on the competition site. We examined a simple yet robust color recognition technique against illumination condition change. The position of specified color area is once taught by human operator, and the corresponding cubic region in HSV space is used as a color template and is used for color recognition. Depending on the change of illumination change, the different region in HSV space of the specified area is used for color matching. We conducted color recognition experiments in both indoor and outdoor environment.
  • MIYAUCHI Yuji; Ogino Takashi; Akimoto Toshinari; Matsumoto Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2009  The Japan Society of Mechanical Engineers
     
    We are involved in the research into navigation of mobile robots for indoor and outdoor use. In order to localize the position of a mobile robot, 3D map rather than 2D map is preferred especially for outdoor application. In order to build 3D map of an unknown environment, we combined two laser scanners for different orientation, and obtained 3D environmental information .We applied 2D scan matching method for the horizontal scan information, and the other scan information is incorporated for 3D map building. We evaluated the performance of scan matching method for the translation and rotation motion of our mobile robot, and then conducted 3D map building experiments in the university campus and confirmed that 3D map was obtained in a quite enough resolution.
  • SEKIGUCHI,Toru; AKIMOTO,Toshinari; MATSUMOTO,Akihiro
    日本機械学会関東支部ブロック合同講演会講演論文集  2008/09  日本機械学会関東支部
     
    We are designing a rehabilitation unit for the ankle joint motion. In order to ease rehabilitation and training exercise, the motions must be soft yet repetitive. We adopted McKibben type pneumatic actuators in order to softly drive gimbal mechanism for two dimensional motion for ankle joint. This rehabilitation unit for ankle joint is used for two purposes: to expand the motion range of ankle and to strengthen the muscles for moving ankle. This time, we applied the rehabilitation unit to the person of single fracture of ankle in our research group. Range of motion of ankle and iEMG for ankle muscles are measured for two weeks. The experimental results show that this rehabilitation unit helps to recover the motion range and muscles for ankle.
  • YAMADA Takumi; AKIMOTO Toshinari; MATSUMOTO Akihiro; TAKARADA Keitaro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    We are developing a quasi-passive dynamic walking robot with swinging torso. Our experimental approach over several years to the real walking is really successful so far, and the robot walks not only on the horizontal plane but also on the gentle slope, yet the theoretical analysis of motion of this robot has been left unsolved. This time, we modeled the robot as underactuated mechanical links and formalized motion equations from the viewpoint of sagittal and lateral plane. We made discussions on the several assumptions in the modeling for the simulation experiments of the robot.
  • TAKEUCHI Kentaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    Based on the past experiments of the leg orthosis with powered knee joint for the spinal cord injured, we realized the necessity of stiffness/compliance design, smooth control of the mechanism, and energy saving concept. We are designing several types of quasi-passive walking machine from this viewpoint, and made many experiments so far. This time we designed ankle driven type of quasi-passive walking machine assuming to be applicable to the leg orthosis in the future. We described the design considerations of the driving mechanism and kinematic structure, and showed the basic experiments to evaluate the validity of machine design.
  • OGINO Takashi; AKIMOTO Toshinari; TOMONO Masahiro; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    For the future cohabitation of humans and robots, we are making research on home use robots, where positions of robot, human and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the performance of the map building by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We implemented the motion extraction algorithm for the human following application.
  • SUGIE Hiroki; MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    We are involved in the development of "toilet assist" that supports excretion care for elderly and handicapped people. The "toilet assist" is a mobile toilet robot that moves to the appropriate position autonomously and supports stand-up/sit-down by lifting up/down the toilet seat. In this report, we used the prototype toilet assist with omnidirectional motion mechanism and two laser range sensors in the limited space of the toilet room in the care house. We confirmed by experiments the validity of the previously developed localization method in the environment where human exists in the working space. Using this localization algorithm, we controlled the toilet assist using various speed for the given trajectory, and compared final positioning accuracy. We confirmed the slow measurement and calculation time for the localization affects the result of the positioning as well as big inertia of the toilet robot.
  • OGINO Takashi; AKIMOTO Toshinari; TOMONO Masahiro; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    For the future cohabitation of humans and robots, we are making research on home use robots, where human motion and environment must be precisely recognized. We used omnidirectional mobile robot with laser range sensor for this purpose, and made experiments on map building and human following. First, we adopted scan matching algorithm for the localization of mobile robot in the stable environment, and confirmed the map building capability by experiments. Next, we applied this algorithm to the mixed environment of human and robot, and succeeded to extract human motion and robot motion along with the map building at the same time. We confirmed the adaptability of scan matching algorithm to the human motion recognition which is the key to the human following by robots.
  • IWASA Yuuki; YAMADA Takumi; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    We started to participate in RoboCup humanoid league. Based on the previous experience, more lightweight robots are needed for this application. Then we adopted a commercial legged robot "e-nuvo" by ZMP Inc., and added two arms as well as a camera, a board PC and batteries. Total weight of the new humanoid robot is 1.8kg, which is only 0.5kg bigger than the weight of the original e-nuvo. Two arms are driven by the same processor with other leg angles and incorporated in the same architecture, so that the arms are controlled in the same software system. We adopted OpenCV on Windows for the image processing library, and implemented image recognition modules to detect ball and goal positions. We are now developing the total software system that is sufficient for the RoboCup competition.
  • SEKIGUCHI Toru; TAKAHASHI Yuji; OYAMA Yusuke; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2008  The Japan Society of Mechanical Engineers
     
    We are designing a rehabilitation device for the ankle joint motion. In order to ease rehabilitation and training exercise, the motions must be soft yet repetitive. We adopted McKibben type pneumatic actuators in order to drive softly gimbal mechanism for two dimensional motion for ankle joint. Users put their soles onto the gimbal mechanism. In the passive mode, users just let ankle move according the motion of the mechanism for a consecutive period of time, which helps widen the motion range of ankles for the rehabilitation. And in the active mode, users can exert ankle torque against the motion of the mechanism, which helps to train the muscle force. By using the goniometers and EMG sensors, we measured the ankle motion and leg muscle activation, and evaluated the usage of the rehabilitation device.
  • OYAMA Yuusuke; KANAMOTO Kaname; ISHII Yoshikazu; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2008  The Japan Society of Mechanical Engineers
     
    We are making research on a kicking mechanism that can kick a ball like a professional soccer player. We measured human kicking motion by using high speed camera as well as electromyograph sensors and analyzed the motion of knee and ankle. Based on the modeling as a two-link mechanism, we decided the design parameters for the control of the kicking mechanism, and manufactured a first prototype kicking machine. Next, we simulated human kicking motion using MATLAB/Simulink, then we made some real kicking experiments using the same motion algorithm. Currently, the maximum kicking speed is set below the desired value so that the kicking impact force may not damage to the mechanism. We show these design considerations of this first prototype of kicking machine in this report.
  • OYAMA Yuusuke; KANAMOTO Kaname; ISHII Yoshikazu; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2008  The Japan Society of Mechanical Engineers
     
    We are making research on a kicking mechanism that can kick a ball like a professional soccer player. We measured the human kicking motion for the purpose of searching optimal control algorithm of the kicking mechanism that is designed in parallel with this measurement. We analyzed several human kicks with/without approach steps of the free kick using a high speed camera, goniometers, and electro myoelectric signals (EMG). We confirmed from the experiments that the legs motion is like a whip in order to use kinetic energy effectively as literature says. The result of the analysis is feedbacked to the control of the current version of the kicking mechanism as well as the mechanical design of the next version.
  • OYAMA,Yusuke; AKIMOTO,Toshinari; MATSUMOTO,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2007/09  日本機械学会関東支部
  • KANAMOTO Kaname; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2007  The Japan Society of Mechanical Engineers
     
    The purpose of this research is to realize a kicking mechanism that can kick a soccer ball like professional soccer player. First we observed human kicking action by high speed camera, and estimated that the contact time of ball and foot during kicking action is 0.01 second. Next we calculated the force given to the ball and the motion of leg. In order to realize the desired kicking speed and necessary torque by two link mechanism that simulates human leg, the suitable combination of AC motors for hip and knee joints were selected from enormous numbers of combination of two motors. Finally the mechanical design of robot leg was performed.
  • MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2007  The Japan Society of Mechanical Engineers
     
    We are involved in the development project of mobile toilet robot that assists defecating behavior of the handicapped/aged persons. The current mobile toilet robot has differential drive wheel mechanism, and is equipped with laser range sensors instead of vision sensors. By considering the working space of the mobile toilet, we adopted template matching method for localization where laser range sensor data were converted to vision images and then compared. We experimented on the method for the mobile toilet, and evaluated the localization results.
  • MAEDA Hiroki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2007  The Japan Society of Mechanical Engineers
     
    We are involved in the development project of mobile toilet robot that assists defecating behavior of the handicapped/aged persons. The current mobile toilet robot has differential drive wheel mechanism, and is equipped with laser range sensors instead of vision sensors. We developed a localization method of mobile robot by pattern matching between two environmental maps of grid map format, and experimentally evaluated the performance of the method. Next, the path planning for the mobile robot in the narrow space is designed and experimentally evaluated using the developed localization method. We obtained satisfactory result that shows the validity of the approach.
  • YAMADA Takumi; TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2007  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed flat plane walking as well as slope climbing by experiments. We analyzed walking condition and succeeded slope climbing of variable inclination angle. Then, we discussed the estimation algorithm of slope inclination angle without using inclination angle sensor. Next, we experimentally realized dynamic walking where inertial force was considered. From the heuristic searches by changing swinging period of torso, we found several patterns in the results. They were compared with walking speed and the walking pitch. Then we discussed the walking condition depending on the swinging of the torso, including the change of walking direction.
  • YAMADA Takumi; TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2007  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed flat plane walking as well as slope climbing by experiments. Past experiments were static walking, but this time we experimentally realized dynamic walking where inertial force was considered. From the heuristic searches by changing swinging period of torso, we found several patterns in the results. They were compared with walking speed and the walking pitch. Then we discussed the walking condition depending on the swinging of the torso.
  • 秋元 俊成; 長谷 亜蘭; 槇田 諭; 道畑 正岐; 丸山 裕; 小島 彰; 飯田 文明
    Journal of the Japan Society for Precision Engineering  2007  The Japan Society for Precision Engineering
  • KANAMOTO,Kaname; AKIMOTO,Toshinari; MATSUMOTO,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006/11  日本機械学会関東支部
  • MAEDA,Hiroki; AKIMOTO,Toshinari; MATSUMOTO,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006/11  日本機械学会関東支部
  • SHIMIZU,Hideaki; AKIMOTO,Toshinari; MATSUMOTO,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006/11  日本機械学会関東支部
  • TAKAHASHI,Yuji; YAMAMIYA,Yusuke; AKIMOTO,Toshinari; MATSUMOTO,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2006/11  日本機械学会関東支部
  • Akimoto Toshinari; Matsumoto Akihiro
    Proceedings of JSPE Semestrial Meeting  2006  The Japan Society for Precision Engineering
     
    本研究では，股関節にアクチュエータを持たず足首のみにアクチュエータを用いる足首駆動型準受動歩行機械を対象として，歩行条件の解析を拘束条件にペナルティー関数を導入した数値シミュレーションにより行い，準受動歩行において可変速制御を行う新たな歩行制御手法を提案するとともに，提案した制御手法が有効であるかを数値シミュレーションにより検証を行った．
  • KANAMOTO Kaname; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers
     
    We have been participating RoboCup middle size league by using omnidirectional mobile robot with omnidirectional vision sensor. Ball handling technique as well as vision processing technique is the important issue of RoboCup robot. This time we designed and developed a small-sized ball kicking mechanism that enables loop shoot. We used CAD and CAE software for obtaining some design parameters of the kicking mechanism. Next, we measured the kicking capability by experiments and evaluated its performance. The trajectory of the kicked ball is not as good as we have expected by CAE, but enough satisfactory for the real RoboCup games.
  • AKIMOTO Toshinari; YATOMI Akira; MATSUMOTO Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed an ankle-driven type of quasi-passive dynamic walking machine by considering the possible application to orthosis with powered joint for the handicapped. In this paper we modeled the machine by paying attention to the double stance phase for accurate analysis of realistic motion. And we used the method of penalty function to formulate motion equation. By the numerical simulation of the model, we obtained different walking speed depending on the ankle torque pattern, which is novel in quasi-passive walking machine. Finally, we analyzed this model from the viewpoint of energy efficiency, and discussed the results for different walking patterns.
  • YATOMI Akira; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed an ankle-driven type quasi-passive dynamic walking machine by considering the possible application to orthosis with powered joint for the handicapped. We made considerations on stabilizing of walking from energy point of view. We calculated energy efficiency of this walking machine by two different evaluation methods from the literatures, and compared the results.
  • SHIMIZU Hideaki; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We participate in RoboCup competition using omnidirectional mobile robot with omnidirectional vision. In RoboCup environment, we assumed two goals as colored landmarks and implemented localization algorithms using omnidirectional images in two ways: with angle and distance and with angles only. We compared those algorithms by experiments and showed that experimental results are not always the same as mathematical solution. We also made numerical analysis of the localization algorithm for the evaluation of localization errors.
  • TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed it can climb up a slope in a certain condition from some experiments. First, we made the strategy of climbing up slope of variable inclination angle. Next, we verified the validity of the strategy by experiments. Finally, we discussed on the treatment of contiguous/noncontiguous change of inclination angle.
  • YAMAMIYA Yusuke; SUZUKI Takao; AKIMOTO Toshinari; TAKAHASHI Yuji; MATSUMOTO Akihiro
    The Proceedings of Conference of Kanto Branch  2006  The Japan Society of Mechanical Engineers
     
    We designed a rehabilitation unit for ankle and knee joint using pneumatic actuators. Joints are position controlled by allocating two actuators in an antagonistic way, and compliance is controlled by changing a air pressure of the actuators. We made experiments on changing compliance of the joint by using the simplified model of the rehabilitation unit, and confirmed the design policy.
  • TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro; YOKOI Hiroshi; ARAI Tamio
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2006  The Japan Society of Mechanical Engineers
     
    We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed it can climb up a slope in a certain condition from some experiments so far. We tried to use this walking robot for different slope inclination angle. First, we discussed the strategy of climbing up slope of variable inclination angle. We verified through presumption and experiments that the simplest way is to change the ankle angle depending on the slope inclination angle. Next, we verified the validity of the strategy by experiments of different slope inclination angle. Finally, we discussed on the treatment of contiguous/noncontiguous change of inclination angle with some experimental results.
  • Shimizu,Hideaki; Akimoto,Toshinari; Matsumoto,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2005/11  日本機械学会関東支部
     
    我々は全方位カメラを搭載した全方向移動ロボットを用いてロボットサッカー大会RoboCupに参加している.RoboCup環境において,2個のゴールをランドマークとし,ゴールへの方位角情報を用いて,幾何的にロボットの位置を計算する.我々はロボットによってゴールの一部分が隠れた場合でも対応できるようにしたので報告する.
  • Yamamiya,Yusuke; Suzuki,Takao; Akimoto,Toshinari; Matsumoto,Akihiro
    埼玉ブロック大会(講演会)講演論文集  2005/11  日本機械学会関東支部
     
    足首のリハビリは上下に動かしたり回したりと,柔軟な動作を行う.足首のリハビリ運動のような柔軟な動作を再現するためには人の筋肉のような動作が可能であることが望ましく,機械的親和性を考えると軽量・柔軟なソフトアクチュエータを使用することが望ましい.そこで,空気圧アクチュエータであるMcKibben型人工筋アクチュエータを使用した足首関節のリハビリユニットを試作し,関節の回転運動に関して位置制御および力制御の観点から実験を行ったので報告する.
  • Takarada,Keitaro; Akimoto,Toshinari; Matsumoto,Akihiro; Matsushita,Kojiro; Yokoi,Hiroshi; Arai,Tamio
    埼玉ブロック大会(講演会)講演論文集  2005/11  日本機械学会関東支部
     
    我々は,股関節にアクチュエータのない歩行ロボットの上半身をモーターによって左右に振ることで前進歩行するような上半身駆動型準受動歩行ロボットはついて研究している.この準受動歩行ロボットを使って登坂歩行の実験に成功した.この際,斜面の傾斜角に応じて足首の角度を変えることによって登坂する.このロボットの登坂歩行において登坂条件について考察し,実験によって確認したので報告する.
  • AKIMOTO Toshinari; YATOMI Akira; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2005  The Japan Society of Mechanical Engineers
     
    After the experimental development of the orthosis with powered joint for the handicapped, this paper deals with the passivity of dynamics in the control of the walking machine. First, the passive dynamic walking machine that walks down the slope is modeled and analyzed from the energy point of view. Then, ankle-driven type of quasi-passive dynamic walking machine is designed and developed by considering the possible application to the orthosis. Experiment of the walking on the horizontal plane is done, and the result is compared with the numerical analysis, that shows the validity of the idea.
  • Akimoto Toshinari; Yatomi Akira; Matsumoto Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers
  • SUZUKI Takao; YAMAMIYA Yusuke; AKIMOTO Toshinari; MATSUMOTO Akihiro
    The Proceedings of the Conference on Information, Intelligence and Precision Equipment : IIP  2005  The Japan Society of Mechanical Engineers
     
    The authors applied pneumatic actuators to the rehabilitation support of knee and ankle joint motion. Considering the characteristics of the actuator, the authors combined plural actuators as an antagonistic way. First, several layout of the actuators are examined for the knee joint motion and the motion is compared depending on the layout of the actuators. Next, the four actuators are combined for the two DoF motion of the ankle joint, and the motion is compared with and without load. Then, the authors have discussed the availability of the pneumatic actuator to the rehabilitation support, and have confirmed that the actuation is applicable to the coercive joint motion for expanding the joint angle range and the resistive motion for the training of muscles.
  • Suzuki Takao; Yamamiya Yusuke; Akimoto Toshinari; Matsumoto Akihiro
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers
  • Takarada Keitaro; Akimoto Toshinari; Matsumoto Akihiro; Matsushita Kojiro; Yokoi Hiroshi; Arai Tamio
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2005  The Japan Society of Mechanical Engineers
  • AKimoto T; Akimoto A; Ysohida K; Inoue H
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2004  The Japan Society of Mechanical Engineers
  • 松元 明弘; 田中 聡; 秋元 俊成; 太田 裕治
    Proceedings of JSPE Semestrial Meeting  2003  The Japan Society for Precision Engineering
     
    脊髄損傷者向け歩行補助装具の動力化に取り組んでおり，本来曲がらない膝関節を曲がるようにしてそのトルク補償をする方法を取っている．このために，受動的歩行の概念を導入して，スムーズな歩行になるような制御を行い，また省エネルギとなるような方法論について考察したので報告する．
  • Tanaka S.; Akimoto T.; Matsumoto A.; Ohta Y.
    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2003  The Japan Society of Mechanical Engineers
     
    私たちは脊髄損傷者用の歩行補助装具の開発を行っている。歩行補助装具を円滑に制御するには受動的歩行が適用できると考えられる。そこで受動的歩行機器の予備実験およびシミュレーションを行った。
  • Matsumoto Akihiro; Akimoto Toshinari; Yoshida Kunio; Inoue Hiroki; Kamijo Ken'ichi
    Proceedings of JSPE Semestrial Meeting  2003  The Japan Society for Precision Engineering
     
    近年、光通信などに使われる超小型部品の開発が盛んに行われている。しかし、それらの部品を組立る際の小型で安価な微小組立装置は開発されていない。そこで、レーザダイオードチップの組立を一例にして微小組立装置を設計した。微小組み立て装置による基礎的実験を行い,組み立てる際の精度についての問題点について解明するとともに,開発した微小組み立て装置の評価,及び精度向上の可能性について検討を行った。

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  • 日本学術振興会：科学研究費助成事業 基盤研究(C)
    Date (from‐to) : 2018/04 -2023/03 
    Author : 秋元 俊成
     
    本研究は、非接触での動脈血酸素飽和度の計測を実用レベルで実現し、そのシステムの評価を行う事を目的としている。 本年度は、昨年度に開発を行ったコールドミラー（可視光を反射し、赤外光を透過させるミラー）を利用した計測装置を利用した評価実験と装置の改良を行った。計測をより安定させる為に装置のアナログ回路にも改良を加えた。改良した装置を利用して、従来の計測装置（透過型パルスオキシメーター）を装着してもらい、試作機と同時に計測を行いながら息こらえによる計測実験を行った。この実験では、酸素飽和度の低下を記録し、透過型パルスオキシメーターによる計測結果と本装置による計測結果の比較を行った。計測実験の結果、新たに開発した装置によっても非接触で脈波を捉える事が可能であり血中酸素飽和度の変化も捉えることができた。実験の結果より、照明の状態により計測結果が大きく影響を受ける事が確認できたため、照明の設置方法と照明の種類についても検討を行った。また、コールドミラーの利用により分光後の光を計測する手法での可能性が見えてきた事から、高色分解能のカメラを利用した計測についても検討を行った。検討を行った結果、コールドミラーを利用する事はカメラを利用した計測にも有益である事が確認できた。 今後は、より安定してより離れた場所から計測できるように、レンズの種類・構成についても検討するとともに、計測の精度についても検証を行っていく予定である。また、距離を離した際の照明の当て方についても検討を行っていく予定である。

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