Introduction

We are engaged in the creation of new systems by highly controlling the flow of power, based on foundational disciplines such as power electronics, control engineering, and robotics. By using the methodology of system design engineering and the concept of analogy as our core, we promote various research related to electricity, aiming to realize next-generation electrical systems.

■Force Detection
・Research Objective: To propose a model-free detection method for penetration and automatic stop control in dental implant surgery based on the differential value of torque.
- Title: Model-Free Detection of Penetration and Automatic Stop Control in Dental Implant Surgery Based on Differential Value of Torque, Kido Yusuke, Kawana Hiromasa, Asoda Seiji, Nozaki Takahiro, Murakami Toshiyuki （2022 IEEE 17th International Conference on Advanced Motion Control (AMC)） 144-149 Feb. 2022
・Research Objective: Development of a force control system for manipulators using a single force/torque sensor at the base frame to accurately estimate contact force and position.
- Title: Force Control at Arbitrary Position of Manipulator Based on Estimated Contact State by Force/Torque Sensor Installed at Base Frame, Handa Hinako, Nozaki Takahiro （2022 IEEE 17th International Conference on Advanced Motion Control (AMC)） 420-425 Feb. 2022
■Force Control
・Research Objective: Development of an optical sensor capable of measuring distance and two-axis forces to overcome the limitations of existing proximity and tactile sensors.
- Title: Development of Optical Distance, Normal Force, Shear Force Sensor, Baba Tomoaki, Murakami Toshiyuki, Krebs Hermano Igo, Nozaki Takahiro （IEEJ Journal of Industry Applications） 12 （ 5 ） 894-900 Sep. 2023
・Research Objective: To develop a neural network-based explicit force control system with a disturbance observer to enhance performance in human support robots.
- Title: Development of Neural Network-based Explicit Force Control with Disturbance Observer, Okano Toshiaki, Nozaki Takahiro, Murakami Toshiyuki （IEEJ Journal of Industry Applications） 10 （ 2 ） 153-164 Mar. 2021
・Research Objective: To synthesize a decentralized robust force controller for compliant robots driven by Series Elastic Actuators that can precisely track desired force trajectories and safely interact with different environments.
- Title: A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators, Sariyildiz Emre, Mutlu Rahim, Nozaki Takahiro, Murakami Toshiyuki （2019 IEEE International Conference on Mechatronics (ICM)） 661-666 Mar. 2019
■Establishment of Basic Principles for Contact Site/Contact Force Calculation
・Research Objective: To propose a method for estimating contact force and position on a manipulator with a high reduction ratio mechanism using a single force/torque sensor on the base frame.
- Title: Identification of Contact Position and Force Estimation on Manipulator Using Force Sensor Implemented on Base Frame, Handa Hinako, Nozaki Takahiro, Murakami Toshiyuki （IEEJ Journal of Industry Applications） 10 （ 3 ） 324-330 May. 2021
■Grasping and Manipulation with a 3-Link Manipulator
・Research Objective: To propose a novel motion recognition method based on haptic data using a dynamic programming pattern-matching algorithm.
- Title: Recognition of Grasping Motion Based on Modal Space Haptic Information Using DP Pattern-Matching Algorithm, Nozaki Takahiro, Mizoguchi Takahiro, Saito Yuki, Yashiro Daisuke, Ohnishi Kouhei （IEEE Transactions on Industrial Informatics） 9 （ 4 ） 2043-2051 Nov. 2013
■Neurorehabilitation and Physical Function Recovery
・Research Objective: Design and evaluation of a remote actuated finger exoskeleton using a motion-copying system for tendon rehabilitation.
- Title: Design and Evaluation of a Remote Actuated Finger Exoskeleton Using Motion-Copying System for Tendon Rehabilitation, Lemerle Simon, Nozaki Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Informatics） 14 （ 11 ） 5167-5177 Nov. 2018
・Research Objective: To design and test a wearable finger exoskeleton using a flexible actuator for rehabilitation after neurological trauma.
- Title: Wearable finger exoskeleton using flexible actuator for rehabilitation, Lemerle Simon, Fukushima Satoshi, Saito Yuki, Nozaki Takahiro, Ohnishi Kouhei （2017 IEEE International Conference on Mechatronics (ICM)） 244-249 Feb. 2017
■Prosthetic Development
・Research Objective: To develop a haptic prosthetic hand that can artificially replace human sensation using haptic transplant technology for intuitive operation and precise force adjustment.
- Title: Artificial Replacement of Human Sensation Using Haptic Transplant Technology, Fukushima Satoshi, Sekiguchi Hiromu, Saito Yuki, Iida Wataru, Nozaki Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Electronics） 65 （ 5 ） 3985-3994 May. 2018
・Research Objective: Development of a haptic prosthetic hand to enable intuitive operation for upper limb amputees.
- Title: Development of haptic prosthetic hand for realization of intuitive operation, Fukushima Satoshi, Nozaki Takahiro, Ohnishi Kouhei （IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society） 6403-6408 Oct. 2016
■Development of Actuator-Equipped Interfaces
・Research Objective: To develop a mechanism that allows continuous change of reduction ratio in robotic actuators using a linear electro-hydrostatic actuator with high-speed path switching.
- Title: Continuously Variable Transmission by High-speed Path Switching of Linear Electro-hydrostatic Actuator, Sugihara Kei, Nozaki Takahiro, Murakami Toshiyuki （IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society） 3603-3608 Oct. 2019
・Research Objective: To propose and analyze a novel structured planar direct drive motor with 2 Degrees Of Freedom for industrial equipment.
- Title: Design and analysis of cross-coupled 2 DOFs planar direct drive motor, Yamaguchi Shuhei, Tanaka Shodai, Shimono Tomoyuki, Fujimoto Yasutaka, Nozaki Takahiro, Mizoguchi Takahiro （2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe)） 1-8 Sep. 2015
■High Environmental Adaptability Motion Realization
・Research Objective: To propose and evaluate a novel self-balancing electric motorcycle without a handlebar by comparing three different steering modes.
- Title: A self-balancing performance comparison of three modes of handleless electric motorcycles, Yang Chuan, Kim Seonghye, Nozaki Takahiro, Murakami Toshiyuki （2015 IEEE 13th International Conference on Industrial Informatics (INDIN)） 352-357 Jul. 2015
・Research Objective: Development of a visual servo system for ball dribbling using the bipedal robot 'Nao'.
- Title: Visual servo system for ball dribbling by using bipedal robot "Nao", Tamura Kazuya, Nozaki Takahiro, Kawamura Atsuo （IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society） 003461-003466 Nov. 2015
・Research Objective: To propose a method for storing and reproducing a task based on the controlled variable of the task, enabling reproduction even when environmental conditions differ from the storage phase.
- Title: Realization of storage and reproduction of water pouring task based on controlled variable of task, Hiramatsu Daisuke, Shimono Tomoyuki, Kawamura Atsuo, Nozaki Takahiro, Asano Yosuke （IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society） 004223-004228 Nov. 2015
■Study of Methods to Amplify and Transmit Force Haptic
・Research Objective: To realize sensorless motion transmission for haptic teleoperation using two types of voltage compensation.
- Title: Position and torque sensorless motion transmission for haptic teleoperation using two types of voltage compensation, Akutsu Shuhei, Sekiguchi Hiromu, Nozaki Takahiro, Murakami Toshiyuki （2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)） 1-6 Nov. 2017
・Research Objective: To propose a novel bilateral control design integrating gyrator element to improve tactile sense transmission under velocity scaling.
- Title: Stiffness Transmission of Scaling Bilateral Control System by Gyrator Element Integration, Mizoguchi Takahiro, Nozaki Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Electronics） 61 （ 2 ） 1033-1043 Feb. 2014
・Research Objective: To provide a surgeon with the means for feeling the tactile sensation of the remote organ and synchronizing with its motion in telesurgical robots.
- Title: Heartbeat Synchronization With Haptic Feedback for Telesurgical Robot, Nakajima Yu, Nozaki Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Electronics） 61 （ 7 ） 3753-3764 Jul. 2014
■Prototype Development and Clinical Testing
・Research Objective: Development of an assisting robot to support the weight of elderly people by generating extensor torques in hip and knee joints.
- Title: Improvement of Supporting Robot for Lower Limb and Evaluation of Output Force in Vertical Direction, Inamura Natsuki, Shimono Tomoyuki, Mizoguchi Takahiro, Nozaki Takahiro, Ishii Shinichiro, Ohnishi Kouhei （2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)） 1240-1245 Jul. 2018
・Research Objective: To develop a decoupling strategy for position and force control using a modal space disturbance observer in a multidegree-of-freedom system.
- Title: Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer, Nozaki Takahiro, Mizoguchi Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Electronics） 61 （ 2 ） 1022-1032 Feb. 2014
■Study of Human Motion Features
・Research Objective: To reveal the concealed features of human motions through a method of elemental separation of haptic information.
- Title: Motion Expression by Elemental Separation of Haptic Information, Nozaki Takahiro, Mizoguchi Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Electronics） 61 （ 11 ） 6192-6201 Nov. 2014
・Research Objective: To investigate the behavior of power factor in mechanical systems during workspace motion and compare it between different robot structures and coordinates.
- Title: Free motion mechanical power factor; comparison between robots in different structure and coordinate, Mizoguchi Takahiro, Nozaki Takahiro, Ohnishi Kouhei （2014 International Power Electronics Conference (IPEC-Hiroshima 2014 - ECCE ASIA)） 1660-1664 May. 2014
・Research Objective: Realization of a system that can accommodate the difference in environmental location.
- Title: Motion reproduction using time-scaling for adaptation to difference in environmental location, Nozaki Takahiro, Mizoguchi Takahiro, Ohnishi Kouhei （2014 IEEE International Conference on Industrial Technology (ICIT)） Feb. 2014
■Simulation and Experimental Validation
・Research Objective: Improvement of position estimation method for IPMSM in low-speed range using disturbance observers and conducting stability analysis.
- Title: Improvement and Analysis of Position and Speed Estimator in Low Speed Range for IPMSM Based on Disturbance Observer, Nakatsuka Ryosuke, Nozaki Takahiro （2022 IEEE 17th International Conference on Advanced Motion Control (AMC)） 225-230 Feb. 2022
・Research Objective: To analyze and derive design constraints for the robust stability and performance of disturbance observer-based digital motion control systems in the discrete-time domain.
- Title: Stability and Robustness of the Disturbance Observer-Based Motion Control Systems in Discrete-Time Domain, Sariyildiz Emre, Hangai Satoshi, Uzunovic Tarik, Nozaki Takahiro, Ohnishi Kouhei （IEEE/ASME Transactions on Mechatronics） 26 （ 4 ） 2139-2150 Aug. 2021
・Research Objective: Development of a microsurgery-assisted robot for high-precision thread traction and tension control.
- Title: Development of a microsurgery‐assisted robot for high‐precision thread traction and tension control, and confirmation of its applicability, Hangai Satoshi, Nozaki Takahiro, Soma Tomoya, Miyashita Hidetaka, Asoda Seiji, Yazawa Masaki, Sato Kazuki, Kawana Hiromasa, Ohnishi Kouhei, Kobayashi Eiji （The International Journal of Medical Robotics and Computer Assisted Surgery） 17 （ 2 ） Apr. 2021
■Development of Contactless Power Supply Systems
・Research Objective: To propose a variable impedance circuit for controllable power distribution in wireless power transfer systems via magnetic resonant coupling.
- Title: Selective Wireless Power Transfer via Magnetic Resonant Coupling by Using Variable Impedance Circuit, Nakagawa Takahiro, Sugimoto Tomoya, Nozaki Takahiro, Murakami Toshiyuki （IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society） 4834-4839 Oct. 2018
・Research Objective: To propose a method for selective wireless power transfer to a single receiver among multiple receivers using magnetic resonance coupling.
- Title: Selective wireless power transfer for multiple receivers by using magnetic resonance coupling, Nakagawa Takahiro, Furusato Koichi, Nozaki Takahiro, Murakami Toshiyuki, Imura Takehiro （2017 International Symposium on Antennas and Propagation (ISAP)） 1-3 Oct. 2017
・Research Objective: To study the efficiency of a novel contactless power supply system for electric trains using an air-gapped coaxial transformer.
- Title: Efficiency study of coaxial contactless power transmission for electric railway, Moriki Kenta, Kawamura Atsuo, Shimono Tomoyuki, Nozaki Takahiro, Ikeda Kunio, Sato Junichi, Hayashiya Hitoshi, Yamamoto Hiroshi （2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe)） 1-10 Sep. 2015
■Force Detection / 力の検出
・Research Objective: To propose a method for recognizing the configuration of objects by using a neural network with time-series contact state response data.
- Title: Recognition of Environmental Impedance Configuration by Neural Network Using Time-Series Contact State Response, Yane Kazuki, Nozaki Takahiro （2022 IEEE 17th International Conference on Advanced Motion Control (AMC)） 426-431 Feb. 2022
・Research Objective: To realize sensorless estimation of position and force of solenoid actuators for haptic devices.
- Title: Real-time position sensorless estimation of position and force of solenoid actuator for haptic devices, Nagai Sakahisa, Nozaki Takahiro, Kawamura Atsuo （2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe)） 1-9 Sep. 2015
■Control System Simplification
・Research Objective: To propose a circuit that can independently and simultaneously drive multiple AC motors using amplitude modulation with only one power supply.
- Title: Independent Drive of Multiple AC Motors Using Amplitude Modulation, Yamada Yuki, Nozaki Takahiro, Murakami Toshiyuki （2020 IEEE International Conference on Industrial Technology (ICIT)） 181-186 Feb. 2020
・Research Objective: To design a robust state-space controller for trajectory tracking control of multi-mass resonant systems by combining Differential Flatness and a higher order Disturbance Observer.
- Title: A robust state-space controller design for multi-mass resonant systems, Sariyildiz Emre, Yu Haoyong, Nozaki Takahiro, Murakami Toshiyuki （IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society） 488-493 Oct. 2016
・Research Objective: To design a robust force controller for Series Elastic Actuators using Sliding Mode Control and Disturbance Observer to improve robustness and reduce chattering.
- Title: Robust force control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer, Sariyildiz Emre, Yu Haoyong, Nozaki Takahiro, Murakami Toshiyuki （IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society） 619-624 Oct. 2016
■Development of Power Factor Methods in Mechanical Systems
・Research Objective: To propose a method for vertical angle adjustment using mechanical power factor feedback to improve the operation of remote control robots in tunnel construction.
- Title: Vertical Adjustment Method with Mechanical Power Factor Feedback, Shimada Taiyo, Yane Kazuki, Kotani Izumi, Kozu Saki, Nozaki Takahiro （2024 IEEE 33rd International Symposium on Industrial Electronics (ISIE)） 1-6 Jun. 2024
・Research Objective: To propose a novel method for estimating power factor in mechanical systems without requiring Fourier transformation or complex calculations.
- Title: DC signal based estimation of power factor in mechanical system, Mizoguchi Takahiro, Tanida Kazuki, Nozaki Takahiro, Shimono Tomoyuki, Ohnishi Kouhei （2015 IEEE 13th International Conference on Industrial Informatics (INDIN)） 364-369 Jul. 2015
・Research Objective: To calculate the mechanical power factor in real-time using short-time Fourier transformation.
- Title: A method to derive on time mechanical power factor, Mizoguchi Takahiro, Nozaki Takahiro, Ohnishi Kouhei （2014 IEEE International Conference on Industrial Technology (ICIT)） 73-78 Feb. 2014
■New Category: Fastening Technology
・Research Objective: To control the pushing position based on the rotary angle to reduce the reaction force for fast screw-tightening.
- Title: Position control in normal direction for the fast screw-tightening, Ogawa Shohei, Shimono Tomoyuki, Kawamura Atsuo, Nozaki Takahiro （IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society） 003429-003433 Nov. 2015
■Visual Servo Systems
・Research Objective: To improve the estimation accuracy of neural networks by converting robot-acquired data to images and using them in combination with camera images to make the interaction between the robot and the environment explicit.
- Title: Preliminary Study of Object Recognition by Converting Physical Responses to Images in Two Dimensions, Yane Kazuki, Nozaki Takahiro （2023 IEEE International Conference on Mechatronics (ICM)） 1-6 Mar. 2023
・Research Objective: To develop a method for a robot to understand and identify a target object in a motion copying system using position, force data, and environmental information.
- Title: A Method to Make a Robot Understand What was a Target Object in Motion Copying System, Sun Xiaobai, Nozaki Takahiro, Murakami Toshiyuki, Ohnishi Kouhei （2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)） 241-246 Sep. 2020
■System Miniaturization and Weight Reduction
・Research Objective: To develop a meal assistance device for patients with spinal cord injury addressing issues of cost, size, complexity, appearance, and user experience.
- Title: Development of meal assistance device for patients with spinal cord injury, Nozaki Takahiro, Murakami Toshiyuki, Shimono Tomoyuki, Ohnishi Kouhei, Oboe Roberto （2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)） 388-393 Apr. 2016
・Research Objective: To introduce and verify the effectiveness of a cooperation control system for the Intelligent Tension Pole (ITP) using a human-based Inertial Measurement Unit (IMU) to assist walking and standing up.
- Title: Cooperation control of ITP with human based inertial measurement unit, Hanaoka Ryo, Nozaki Takahiro, Murakami Toshiyuki （IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society） 5778-5783 Oct. 2016
・Research Objective: To propose a time delay compensation method for bilateral control systems with tendon-driven mechanisms using modal decomposition and communication disturbance observer.
- Title: Time delay compensation for tendon-driven bilateral control using modal decomposition and communication disturbance observer, Shimamoto Keita, Ohno Yoshiki, Nozaki Takahiro, Ohnishi Kouhei （2014 IEEE International Conference on Industrial Technology (ICIT)） 29-34 Feb. 2014
■New Category: Bilateral Control Systems
・Research Objective: To develop an admittance-based bilateral control system that maintains control performance without increasing position error despite communication delays.
- Title: Admittance Control-based Bilateral Control System Considering Position Error, Kimura Shuhei, Nozaki Takahiro, Murakami Toshiyuki （2021 IEEE International Conference on Mechatronics (ICM)） 1-6 Mar. 2021
・Research Objective: To propose a bilateral control system using environmental information about the position and posture of a target obtained by a camera to reduce the workload of operators in teleoperation.
- Title: Object-Coordinate-Based Bilateral Control System Using Visual Information, Nakajima Yu, Nozaki Takahiro, Oyamada Yuji, Ohnishi Kouhei （IEEJ Transactions on Industry Applications） 132 （ 3 ） 374-380
■Bilateral Control Systems
・Research Objective: To construct a scaled admittance bilateral control using a piezoelectric actuator and a linear motor, and to evaluate its performance and robustness compared to conventional scaled 4-channel bilateral control.
- Title: Realization of Scaled Admittance Bilateral Control with Different Inertias Using Piezoelectric Actuator, Kozu Saki, Kotani Izumi, Seki Kenta, Motoi Naoki, Nozaki Takahiro （2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)） 1103-1108 Jul. 2024
・Research Objective: To construct a bilateral control system with an electric motor as the master and a hydraulic actuator as the slave, achieving stable control and improved performance through friction compensation.
- Title: Performance Improvement of Bilateral Teleoperation with Hydraulic Actuator by Friction Compensation, Saito Yuki, Asai Hiroshi, Kitamura Tomoya, Iida Wataru, Nozaki Takahiro, Ohnishi Kouhei （2022 IEEE 17th International Conference on Advanced Motion Control (AMC)） 250-255 Feb. 2022
・Research Objective: To realize prediction-based traffic reduction in a four-channel bilateral control system by transmitting and extrapolating equilibrium force data to maintain haptic transmission performance on band-limited networks.
- Title: Haptic Data Prediction and Extrapolation for Communication Traffic Reduction of Four-Channel Bilateral Control System, Hangai Satoshi, Nozaki Takahiro （IEEE Transactions on Industrial Informatics） 17 （ 4 ） 2611-2620 Apr. 2021
■New Category: Unified Control of Multirobot Systems
・Research Objective: To propose a task projection control method for achieving unified control of multirobot systems.
- Title: A design method of bilateral control system based on interactive parameters, Mizoguchi Takahiro, Nozaki Takahiro, Ohnishi Kouhei （IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society） 4382-4387 Oct. 2012
■Unified Control of Multirobot Systems
・Research Objective: To develop a novel walking assist control approach using IMUs to track posture and estimate COM and ZMP motions for synchronization with a differential mobile robot.
- Title: Novel walking assist device based on generic human motion tracking criteria, El Dine Kamal Mohy, Yang Chuan, Nozaki Takahiro, Murakami Toshiyuki （2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)） 38-43 Apr. 2016
■New Category: Variable Tension Control
・Research Objective: To propose variable tension control to improve the performance of tendon-driven bilateral control in a master-slave robot hand.
- Title: Transmission of Force Sensations by Hand of Multi-DOF Master-Slave Robot Using Tendon-Driven Mechanism, Nozaki Takahiro, Suzuki Yusuke, Ohnishi Kouhei （IEEJ Transactions on Industry Applications） 131 （ 3 ） 297-303
■Method Evaluation and Demonstration
・Research Objective: To estimate joint moments using inexpensive and wearable sensors.
- Title: Measurement of Joint Moments using Wearable Sensors, Fukutoku Kaiki, Nozaki Takahiro, Murakami Toshiyuki （IEEJ Journal of Industry Applications） 9 （ 2 ） 125-131 Mar. 2020
・Research Objective: Development of a three-axis seating posture holding assist chair and proposal of a variable compliance control method to support children with cerebral palsy.
- Title: Development of Three-Axis Seating Posture Holding Assist Chair and Proposed Variable Compliance Control, Togashi Nobuyuki, Shimono Tomoyuki, Nozaki Takahiro, Shibata Toshio, Aoyama Yuuki, Kitahashi Yuki （2019 IEEE International Conference on Mechatronics (ICM)） 455-460 Mar. 2019
・Research Objective: To explain bilateral control for haptic teleoperation using an equivalent circuit model to clarify control strategy and its physical meanings.
- Title: Design of Bilateral Control Based on Equivalent Circuit Model, Akutsu Shuhei, Nozaki Takahiro, Murakami Toshiyuki （2019 IEEE International Conference on Industrial Technology (ICIT)） 1351-1356 Feb. 2019
■New Category: High-Precision Control Systems
・Research Objective: To achieve high-precision position and force control for the Twist Drive system using acceleration-based control.
- Title: Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer, Nozaki Takahiro, Mizoguchi Takahiro, Ohnishi Kouhei （IEEE Transactions on Industrial Electronics） 61 （ 2 ） 1022-1032 Feb. 2014
■High-Precision Control Systems
・Research Objective: To investigate how the synergy between observer gain and velocity feedback gain affects the bandwidth of reproducibility in four-channel acceleration-based bilateral control.
- Title: Bandwidth Expansion of Bilateral Teleoperation Based on Synergy of Observer Gain and Velocity Feedback Gain, Shimmyo Shuhei, Saito Yuki, Nozaki Takahiro, Ohnishi Kouhei （IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society） 3597-3602 Oct. 2019
・Research Objective: To propose a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators using a disturbance observer.
- Title: A Stability Analysis for the Acceleration-Based Robust Position Control of Robot Manipulators via Disturbance Observer, Sariyildiz Emre, Sekiguchi Hiromu, Nozaki Takahiro, Ugurlu Barkan, Ohnishi Kouhei （IEEE/ASME Transactions on Mechatronics） 23 （ 5 ） 2369-2378 Oct. 2018
・Research Objective: To design and fabricate a multi-stage stiffness enhancing unit for a soft robotic finger and achieve robust motion control.
- Title: Design of a Multi-Stage Stiffness Enhancing Unit for a Soft Robotic Finger and its Robust Motion Control, Mutlu Rahim, Sariyildiz Emre, Nozaki Takahiro, Alici Gursel （IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society） 5074-5079 Oct. 2018
■Sensorless Motion Transmission and Voltage Compensation
・Research Objective: To achieve sensorless bilateral control using Hall ICs to enhance fault-tolerance of teleoperation systems.
- Title: Sensorless Bilateral Control Using Hall ICs, Akutsu Shuhei, Nozaki Takahiro, Murakami Toshiyuki （2019 IEEE International Conference on Mechatronics (ICM)） 243-248 Mar. 2019
・Research Objective: To develop a sensorless feedback position control system for compact solenoid actuators that enables simultaneous real-time estimation of position and force.
- Title: Environmental Robust Position Control for Compact Solenoid actuators by Sensorless Simultaneous Estimation of Position and Force, Nagai Sakahisa, Nozaki Takahiro, Kawamura Atsuo （IEEE Transactions on Industrial Electronics） 1-1
■Matrix Analysis and Applications
・Research Objective: To propose a design method of a bilateral controller using a velocity control driver to achieve haptic feedback in teleoperation.
- Title: A Controller Design Method of Bilateral Teleoperation for Velocity Control Driver, Saito Yuki, Shimmyo Shuhei, Nozaki Takahiro, Ohnishi Kouhei （IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society） 3585-3590 Oct. 2019
・Research Objective: To propose an online compensation method for gravity and friction in haptic robots using the least squares method with incremental position sensors.
- Title: Online compensation of gravity and friction for haptics with incremental position sensors, Fukushima Satoshi, Sekiguchi Hiromu, Saito Yuki, Nozaki Takahiro, Ohnishi Kouhei （2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)） 1-6 Nov. 2017
・Research Objective: To examine and compare two approaches for determining the power factor in mechanical systems, focusing on trajectory and environment.
- Title: Power factor analyses in mechanical system focusing on trajectory and environment, Mizoguchi Takahiro, Nozaki Takahiro, Ohnishi Kouhei （2013 IEEE International Symposium on Industrial Electronics） 1-6 May. 2013
■Motion Recognition Methods
・Research Objective: Proposal of a new visualization method for understanding features extracted by Convolutional Neural Networks in human motion recognition without using gradients.
- Title: Visualization of Important Human Motion Feature Using Convolutional Neural Network, Fukui Masashi, Kokubun Genki, Nozaki Takahiro （2020 IEEE International Conference on Industrial Technology (ICIT)） 406-411 Feb. 2020
・Research Objective: To propose a motion reproduction system that estimates motion commands from depth images using a Convolutional Neural Network (CNN) to adapt to environmental changes.
- Title: Grasping Point Estimation Based on Stored Motion and Depth Data in Motion Reproduction System, Sun Xiaobai, Nozaki Takahiro, Murakami Toshiyuki, Ohnishi Kouhei （2019 IEEE International Conference on Mechatronics (ICM)） 471-476 Mar. 2019
・Research Objective: Development of a position control system using IMU sensor fusion with a Kalman filter for accurate velocity estimation in a 2-link planar manipulator.
- Title: Position control system based on inertia measurement unit sensor fusion with Kalman filter, Ishikawa Takahiro, Nozaki Takahiro, Murakami Toshiyuki （2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)） 153-159 Apr. 2016
■Vector Expression Methods
・Research Objective: To propose a motion recognition method using haptic information from human hands measured by similarly structured master and slave robot hands.
- Title: Recognition of Human Combined Motion from Haptic Information Using Similarly Structured Master and Slave Robot Hands, Nozaki Takahiro, Mizoguchi Takahiro, Suzuki Yusuke, Yashiro Daisuke, Ohnishi Kouhei （Electronics and Communications in Japan） 96 （ 12 ） 15-23 Dec. 2013
■Coordinate Transformation Methods
・Research Objective: To introduce a solution using coordinate transformation for integrating velocity and force sources in production systems to enhance adaptability.
- Title: Haptics for industries, Ohnishi Kouhei, Nozaki Takahiro, Mizoguchi Takahiro （2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)） 11-12 Mar. 2014
・Research Objective: Reproduction of physical human actions using bilateral teleoperation systems with wearable tendon-driven robots.
- Title: Extraction and realization of human actions, Nozaki Takahiro, Tanida Kazuki, Mizoguchi Takahiro, Nakano Tomohiro, Saito Yuki, Ohnishi Kouhei （2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)） 705-710 Mar. 2014
■New Category: Compliance Adjustment Methods
・Research Objective: To propose and experimentally evaluate a compliance adjustment method in motion reproduction using motion data acquired in bilateral control.
- Title: Experimental evaluation of motion reproduction system with selected information, Kyo Seinan, Nozaki Takahiro, Mizoguchi Takahiro, Ohnishi Kouhei （2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)） 92-97 Mar. 2014
■Phase Difference Correction
・Research Objective: To propose new design tools for synthesizing high-performance robust force control systems using disturbance observer-based analysis and synthesis methods.
- Title: Discrete-Time Analysis and Synthesis of Disturbance Observer-Based Robust Force Control Systems, Sariyildiz Emre, Hangai Satoshi, Uzunovic Tarik, Nozaki Takahiro （IEEE Access） 9 148911-148924
・Research Objective: To propose a method for correcting operators' haptic sense in time-delayed teleoperation systems.
- Title: Impedance correction in time delayed teleoperation system, Mizoguchi Takahiro, Nozaki Takahiro, Ohnishi Kouhei （2014 IEEE 13th International Workshop on Advanced Motion Control (AMC)） 416-421 Mar. 2014
■Variable Tension Control
・Research Objective: To propose a friction-reduced scaling bilateral control system for micro force transmission using fiber support to enhance micro manipulation.
- Title: Fiber Suspended Micro Force Transmission System Using Scaling Bilateral Control, Hangai Satoshi, Nozaki Takahiro, Ohnishi Kouhei （IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society） 4575-4580 Oct. 2018
■Force Detection and Estimation
・Research Objective: Development of a novel optical sensor capable of simultaneously measuring millimetric distance, surface tilt, and contact force to enhance robotic object manipulation.
- Title: Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force, Nozaki Takahiro, Krebs Hermano Igo （IEEE Transactions on Industrial Electronics） 69 （ 5 ） 4938-4945 May. 2022
・Research Objective: To propose a novel teleoperation system configuration that reduces data traffic in haptic transmission by converting transmitted and received information int

Areas of Research

・Electronic devices, electronic equipment
・Power engineering
・Control, systems engineering

Social Contributions

・Enhancement of industrial safety and operational efficiency by improving the dexterity and safety of hydraulic-driven manipulators, reducing accidents and preventing damage to objects.
・Advancement in healthcare and rehabilitation through the development of systems aiding in the recovery of physical functions for patients with paralysis, addressing the needs of an aging global population.
・Improvement in the quality of life for individuals with physical disabilities by developing assistive devices that enhance their ability to perform tasks through tactile and force sensation substitution.