Kenji Tahara
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View article: Enabling external sensorless in-hand object position manipulation by linkage-based underactuated hands with mechanical stoppers
Enabling external sensorless in-hand object position manipulation by linkage-based underactuated hands with mechanical stoppers Open
Adaptive linkage-based underactuated hands are becoming popular because of their self-adaptability during power grasping without the need for complex sensing and control. Accordingly, they are widely used in unstructured spaces where it is…
View article: Effect of presenting robot hand stiffness to human arm on human-robot collaborative assembly tasks
Effect of presenting robot hand stiffness to human arm on human-robot collaborative assembly tasks Open
In response to the growing need for flexibility in handling complex tasks, research on human–robot collaboration (HRC) has garnered considerable attention. Recent studies on HRC have achieved smooth handover tasks between humans and robots…
View article: A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges
A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges Open
This paper explores an eclectic range of path-planning methodologies engineered for rolling surfaces. Our focus is on the kinematic intricacies of rolling contact systems, which are investigated through a motion planning lens. Beyond summa…
View article: State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body
State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body Open
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
View article: Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control
Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control Open
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to r…
View article: Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand
Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand Open
Detecting contact when fingers are approaching an object and estimating the magnitude of the force the fingers are exerting on the object after contact are important tasks for a multi-fingered robotic hand to stably grasp objects. However,…
View article: Effect of Presenting Stiffness of Robot Hand to Human on Human-Robot Handovers
Effect of Presenting Stiffness of Robot Hand to Human on Human-Robot Handovers Open
In the present study, we focus on the object handover task as a major example of collaborative work between a human and a robot. To achieve a smooth handover between two different agents, their mutual communication is indispensable for und…
View article: Real-time State Estimation of a Soft Finger using Stochastic Viscoelastic Parameters
Real-time State Estimation of a Soft Finger using Stochastic Viscoelastic Parameters Open
State estimation is one of the key techniques to control soft robots, which is difficult to use sensors like traditional robots. Though modeling is an important process to achieve this, that of soft robots is challenging because of their h…
View article: Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control Open
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
View article: Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles
Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles Open
Muscles in the musculoskeletal system can only transmit forces in the tensile direction, thereby resulting in redundant actuation. This redundancy creates an internal force among the muscles. The musculoskeletal potential method uses a pot…
View article: Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior
Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior Open
Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behavior…
View article: Basic study of sensorless path tracking control based on the musculoskeletal potential method
Basic study of sensorless path tracking control based on the musculoskeletal potential method Open
In a musculoskeletal system, the musculoskeletal potential method utilizes the potential property generated by the internal force between muscles; posture control can be achieved by the step input of muscular tension balancing at the desir…
View article: Antagonistic Total Torque Control of Rotational Straight Twisted Polymeric Fiber Actuator
Antagonistic Total Torque Control of Rotational Straight Twisted Polymeric Fiber Actuator Open
A Straight Twisted Polymeric Fiber Actuator (STPFA) has attracted attention as a new rotational actuator because it is soft, lightweight, silent, and inexpensive. It can rotate when heating, and be back when cooling. However, it is difficu…
View article: Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control Open
This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…
View article: Basic Study of Sensorless Path Tracking Control Based on the Musculoskeletal Potential Method
Basic Study of Sensorless Path Tracking Control Based on the Musculoskeletal Potential Method Open
In a musculoskeletal system, the musculoskeletal potential method utilizes the potential property generated by the internal force between muscles; posture control can be achieved by the step input of muscular tension balancing at the desir…
View article: Sensorless Grasping Stiffness Control Considering Rolling Constraints by a Multi-fingered Robotic Hand
Sensorless Grasping Stiffness Control Considering Rolling Constraints by a Multi-fingered Robotic Hand Open
This paper proposes a grasping stiffness control method using a multi-fingered robot hand. This method does not need any information of a grasped object, such as geometry and attitude. The grasping stiffness is derived from geometrical con…
View article: Experimental Verification of Series Admittance Impedance Control
Experimental Verification of Series Admittance Impedance Control Open
In this paper, a new force controller that connects admittance and impedance controllers in series is verified experimentally. Until now, the serially combined admittance impedance controller has been proposed and its effectiveness has bee…
View article: Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System
Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System Open
This study proposes two novel methods for determining the muscular internal force (MIF) based on joint stiffness, using an MIF feedforward controller for the musculoskeletal system. The controller was developed in a previous study, where w…
View article: Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity
Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity Open
Muscle contractions (or equivalent mechanical elements) are responsible for joint movement in systems with musculoskeletal structure. Because muscles can only transmit force in the tensile direction in such systems, the internal force exis…
View article: Set-Point Control of a Musculoskeletal System Under Gravity by a Combination of Feed-Forward and Feedback Manners Considering Output Limitation of Muscular Forces
Set-Point Control of a Musculoskeletal System Under Gravity by a Combination of Feed-Forward and Feedback Manners Considering Output Limitation of Muscular Forces Open
This paper proposes a new control method for musculoskeletal systems, which combines a feed-forward input with a feedback input, while considering an output limit. Our previous research proposed a set-point control that used a complementar…
View article: Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire Open
To achieve the control of a small-sized robot manipulator, we focus on an actuator using a shape memory alloy (SMA). By providing an adjusted voltage, an SMA wire can itself generate heat, contract, and control its length. However, a stron…
View article: Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback
Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback Open
In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed. TPF actuator is one of the soft actuato…
View article: Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback
Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback Open
A twisted polymeric fiber (TPF) actuator often referred to as a fishing line/sewing thread artificial muscle, is one of the soft actuators which is made by twisting and heating a nylon fishing line. There are mainly two types of the TPF ac…