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408 results on '"Tamura, Yusuke"'

160. Gait analysis of patients with knee osteoarthritis by using elevation angle: confirmation of the planar law and analysis of angular difference in the approximate plane.

Author

Ishikawa, Yuki, An, Qi, Nakagawa, Junki, Oka, Hiroyuki, Yasui, Tetsuro, Tojima, Michio, Inokuchi, Haruhi, Haga, Nobuhiko, Yamakawa, Hiroshi, Tamura, Yusuke, Yamashita, Atsushi, and Asama, Hajime

Subjects
OSTEOARTHRITIS, KNEE diseases, DISEASE progression, GAIT in humans, PRINCIPAL components analysis
Abstract

Evaluating knee osteoarthritis is an important issue. Gait pattern has been suggested to be related to the progression of knee osteoarthritis; however, there are only a few studies elucidating the motion features associated with knee osteoarthritis. Therefore, our objective is to analyze the elevation angle of patients with knee osteoarthritis during gait and to clarify the movement features by an approximate plane of the elevation angle. As a result, the same planar law could be applied to patients with knee osteoarthritis as well as to healthy people. The patients have approximate plane slopes that differ from that of healthy people. Our validation results have shown that these angular differences can distinguish between the patients and healthy people. [ABSTRACT FROM PUBLISHER]

Published
2017
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161. Muscle synergy structure using different strategies in human standing-up motion.

Author

Yang, Ningjia, An, Qi, Yamakawa, Hiroshi, Tamura, Yusuke, Yamashita, Atsushi, and Asama, Hajime

Subjects
GAIT in humans, CIRCADIAN rhythms, MUSCLE physiology, BIOMECHANICS, MUSCULOSKELETAL system
Abstract

Standing-up motion is an important daily activity. It has been known that humans can employ different strategies to stand up from a chair, but it was not clear how people control their redundant muscles to achieve different strategies. This study employs the concept of muscle synergy which suggests that humans utilize the small number of modules (called muscle synergy) to generate the movements. This study uses two approaches to understand how humans generate different movements. Firstly, measurement experiment was performed to investigate the muscle synergy structure during different strategies. Next, the finding from the measurement experiment is validated through the forward dynamic simulation using our developed neuromusculoskeletal model. Both of our results from simulation study and measurement experiment showed that four muscle synergies could generate standing-up motion. However, they adaptively changed the start time of a certain synergy to achieve different strategies. [ABSTRACT FROM PUBLISHER]

Published
2017
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162. Handling of multiple heterogeneous objects with marks by a robot

Author

Katsuki, Rie, Ota, Jun, Tamura, Yusuke, Mizuta, Takahisa, Kito, Tomomi, Arai, Tamio, Ueyama, Tsuyoshi, and Nishiyama, Tsuyoshi

Subjects
Mark, Measurement, Manipulation, Motion Planning, Sensor
Abstract

This paper presents a robot system for handling various objects in home or office environments. A fixed manipulator utilizes marks on objects. A mark consists of two parts. One is the outer part, which indicates its 3 D pose, and the other is a QR code, which is stored information of an object (e.g. its size). A QR code is a kind of 2 D barcode. A user attaches several marks on objects. The manipulator accesses the information using a camera on its hand. The manipulator estimates pose of objects measuring marks and using least-squares method. Then, the robot can handle and convey the objects through planning a sequence of conveyance and a pose for grasp that is based on the pose of objects, candidates for grasp pose informed by the mark, and signals from proximity sensors. Experiments are conducted to verify the whole system.

Published
2004

195. Recovery Motion Learning for Arm Mounted Mobile Crawler Robot in Drive System’s Failure**This work was in part funded by ImPACT Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan)

Author

Ito, Tasuku, Kono, Hitoshi, Tamura, Yusuke, Yamashita, Atsushi, and Asama, Hajime

Abstract

In the disaster area, an arm mounted crawler robot is leveraged for missions such as searching victims. However, the robot system has possibility of failure of drive system at the extreme environment. Moreover, the robot needs to keep moving to repair the mechanism, if the drive system becomes failure. In response to this problem, it is important to realize the recovery motion. However, designing of recovery motion is difficult because the recovery motion depends on the environments and configurations of the robot. This paper describes the learning methodology of the recovery motion in the single-arm mounted crawler robot, and we confirmed that the proposed system can learn the recovery motion in computer simulation.

Published
2017
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