YOKOGAWA Ryuichi

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Name
YOKOGAWA Ryuichi
Affiliation
Doshisha University
Section
Faculty of Life and Medical Sciences Department of Biomedical Engineering
Degree
Doctor of Engineering(Doshisha University), Master of Engineering(Doshisha University)

Research Interests

 
 

Research Areas

 
 

Academic & Professional Experience

 
1989
 - 
1991
Research Assistant Faculty of
 
 
   
 
Engineering,Doshisha University
 
1991
 - 
1996
Assistant Professor,Faculty of
 
 
   
 
Engineering, Doshisha University
 
1996
 - 
2002
Associate Professor, Faculty of
 
 
   
 
Engineering, Doshisha University
 
2002
 - 
2008
Professor, Faculty of
 
 
   
 
Engineering, Doshisha University
 
2008
   
 
- Professor,
 
 
   
 
Faculty of Life and Medical Sciences,
 
 
   
 
Doshisha University
 
1998
 - 
2000
Accademic visitor, Oxford University U.K.
 
2002
 - 
2006
A member of the Innovative Cluster Creation Project promoted by MEXT
 

Education

 
 
 - 
1989
Graduate School, Division of Engineering, Doshisha University
 
 
 - 
1988
Graduate School, Division of Engineering, Doshisha University
 
 
 - 
1986
Faculty of Engineering, Doshisha University
 

Published Papers

 
Toru Tsumugiwa, Miho Yura, Atsushi Kamiyoshi, Ryuichi Yokogawa
Journal of Robotics and Mechatronics   30 863-872   Dec 2018
© 2018, Fuji Technology Press. All rights reserved. There have been numerous studies on the physical human-robot cooperative task system with impedance/admittance control in robot motion control. However, the problem of stability persists, wherein...
Toru Tsumugiwa, Atsushi Shibata, Ryuichi Yokogawa
IEEE Transactions on Human-Machine Systems   48 161-171   Apr 2018
© 2018 IEEE. There have been numerous studies on human-machine cooperative systems. In such studies, it is generally preferable to consider human maneuverability and motion during machine operation as well as considering mechanical parameters. How...
Kazue Sugiura, Toru Tsumugiwa, Ryuichi Yokogawa
Artificial Life and Robotics   23 140-145   Mar 2018
© 2017, ISAROB. In recent years, there have been many studies on human–machine cooperative systems. Studies evaluating human maneuverability by questionnaire and operating performance have been reported; however, quantitative analyses of human per...
Ryuichi Yokogawa
Journal of Robotics and Mechatronics   DOIi: 10.20965/jrm.2017.p0746 746-756   Aug 2017
© 2017, Fuji Technology Press. All rights reserved. This paper presents an evaluation of the maneuverability of impedance-controlled robot motion during a human-robot cooperative positioning task. The objectives of this study are to reveal the res...
Changes in brain activation associated with backlash magnitude: a step toward quantitative evaluation of maneuverability
Ryuichi Yokogawa, Kazue Sugiura, Toru Tsumugiwa, Ryuichi Yokogawa
Artificial Life and Robotics   DOI: 10.1007/s10015-017-0406-x    2017
Toru Tsumugiwa, Yasuhiro Fukui, Ryuichi Yokogawa
Advanced Robotics   28(14) 919-928   Jan 2014
In this study, we measure the compliance characteristics of the 7-degree-of-freedom (DOF) vertical multiarticulated Mitsubishi PA-10 robot. To determine the compliance characteristics of the robot, numerical values of joint compliance are identifi...
Toshiya Morita, Toru Tsumugiwa, Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 3584-3596   Dec 2013
The purpose of this study is to develop motion control algorithm of a walking support robot to prevent user's fall by measuring relative distance between the user and the robot. The proposed algorithm is composed of following three steps: (i) User...
Ryo Inoue, Toru Tsumugiwa, Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 2981-2991   Oct 2013
The purpose of this study is to develop a human-robot cooperative system that comes in contact with external environment without the contact stability problem. The system is composed of a force-and-displacement detection interface, a shock absorbe...
Kentaro Okamoto, Toru Tsumugiwa, Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 2394-2407   Aug 2013
The purpose of this study is to investigate proficiency process of a human motion skill for the robot operation and a relationship between the activity level of the higher brain function and the human-robot cooperative positioning operation in whi...
Kosuke Irino, Toru Tsumugiwa, Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79 2048-2061   Jul 2013
The purpose of this paper is to develop a mechanical regulator and a robot motion control scheme for a human-robot cooperative task in stiff environment. The proposed mechanical regulator realizes the stable motion of the robot in the stiff enviro...
Nobuyuki Kinoshita, Toru Tsumugiwa, Ryuichi Yokogawa
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C   79(808) 4705-4720   Jan 2013
This paper presents development and evaluation of a mechanical regulator and a robot motion control scheme for a human-robot cooperative task system. There are contact stability problems that a control system becomes unstable when the robot using ...
YOKOGAWA Ryuichi, Yojiro Yamasaki, Toru Tsumugiwa, Ryuichi Yokogawa
International Journal of Advanced Mechatronic Systems   Volume 4(Issue 1) 32-40   Feb 2012
In this paper, we first propose a method of work control to maintain a constant amount of work done by the robot on an object. The work control has a function that can appropriately and autonomously changes the target value of torque for grasping ...
Yojiro Yamasaki, Toru Tsumugiwa, Ryuichi Yokogawa
ICIC Express Letters   6(1) 907-916   Jun 2010
In this paper, a method for changing the control mode based, on positionand, force errors called the SCOME method is applied to a two-fingered robothand composed of elastic joints. This robot is called, a, chopsticks-type robotand, a, cylindrical ...
Toru Tsumugiwa, Yuki Watanabe, Ryuichi Yokogawa
2009 Proc.IEEE/RSJ Int.Conf. on Intelligent Robots and Systems   467-472   Dec 2009
The development of a robot motion control scheme and a mechanical load adjuster with a motion measurement interface is addressed in this paper. To improve the efficiency of a task involving human-robot cooperation, we designed a novel robot contro...
Toru Tsumugiwa, Yuki Watanabe, Ryuichi Yokogawa
2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR2009)   (2009) 121-126   Nov 2009
The development of a rehabilitation-load adjusting device is addressed in this paper. From the viewpoint of improving the efficiency of robotic assistive rehabilitation, we designed a robot control system, in which a multi load state can be provid...
Toru Tsumugiwa, Ryuichi Yokogawa
2009 IEEE International Conference on Robotics and Automation   (2009) 3377-3382   Nov 2009
In this paper we address a robot motion control scheme for a human-robot cooperative task. From the viewpoint of improving the operative efficiency of the cooperative task, we designed a novel robot control system, in which inherent dynamics of th...
A Study on a Method for Switching Control Mode of Robot Manipulators (1st Report, A proposal of a Method for Switching Control Mode Based on Position and Force Errors)
74(740) 862-875   2008
Evaluation and Control of Redundant Manipulators Based on a Kinematic Accuracy Index Considering Task-directions
74(742) 1485-1492   2008
Position Detecting Device for Measurement of Human Motion in Human-Machine Interaction
2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics   195   2007
Stability Analysis for Impedance Control of Robot for Human-Robot Cooperative Task System
Journal of Advanced Mechanical Design, Systems and Manufacturing   1(1) 113-121   2007
Toru Tsumugiwa, Ryuichi Yokogawa, Atsushi Kamiyoshi, Hiroshi Shibata
Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics   239-244   Dec 2006
This paper presents the development of a human-robot interface and a modified impedance controller, which generate robot motion which is appropriate for a human-robot interaction. The proposed control system enables a human operator to interact wi...
Salvador Rivera Chequer, Toru Tsumugiwa, Ryuichi Yokogawa, Hiroshi Shibata
Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics   1059-1064   Dec 2006
This study presents the methodology to obtain moment arm values, tendon action lines and joint centers of an index finger to use them in a tendon driven system robot application. Based on MRI experiments an analysis is performed to study the influ...
Stability Analysis for Impedance Control of Robot for Human-Robot Cooperative Task System
Transaction of the Japan Society of Mechanical Engineers C   71(707) 2267-2272   2005
Koji Hagihara, Masakazu Miyagawa, Nobuharu Nishino, Hiroshi Shibata, Ryuichi Yokogawa
Proceedings of the IASTED International Conference on Robotics and Applications   212-215   Dec 2004
Simple structured indoor monitoring airship is developed, whose front has an ultrasonic sensor, in which sensor elements are allocated in cross form, for avoiding walls automatically, and whose bottom has propellers for driving itself, and a camer...
Toru Tsumugiwa, Ryuichi Yokogawa, Kazunobu Yoshida
Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems   2004 3883-3888   Dec 2004
This paper presents stability analysis for an impedance control of a specific robot system in a human-robot cooperative task system. In the stability analysis, we consider these conditions such as an impedance characteristic of the robot, time del...
Ryuichi Yokogawa, Kei Hara
Transactions of The ASME Journal of Biomechanical Engineering   126(2) 212-219   Apr 2004
Tip-pinch, in which the tips of the index finger and thumb pick up and hold a very fine object, plays an important role in the function of the hand. The objective of this study was to investigate how human subjects affect manipulabilities of the t...
A Control Strategy for Human-Robot Cooperative Carrying and Peg-in-Hole Task
70(689) 69-76   2004
Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara
Proc. 2003 IEEE International Conference on Robotics and Automation   2003 2741-2746   Dec 2003
This paper presents a measurement method and its results for a compliance of a vertical-multi-articulated robot. In order to calculate the compliance of a robot, a stiffness of each joint of the robot is required. In this paper, a stiffness of eac...
Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Task. Human-Robot Cooperative Calligraphic Task.
38(4) 45-51   2003
Measurement for Compliance of Vertical-Multi-Articulated Robot (Application to 7-DOF Robot PA-10)
69(688) 3293-3300   2003
Ryuichi Yokogawa, Kei Hara
Transactions of The ASME Journal of Biomechanical Engineering   124(3) 302-307   Jun 2002
The purpose of the present study is to investigate whether distribution patterns of the maximum fingertip force in all directions from 0 deg to 360 deg around the index fingertip are the same among subjects. Distributions of the maximum index fing...
Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara
Proc. 2002 IEEE International Conference on Robotics and Automation   2002 644-650   Jan 2002
This paper presents a novel variable impedance control method for a human-robot cooperative task. There is a possibility that an impedance control system based on a positioning control of a robot with time delay of the robot and a human operator b...
Souji Sakamoto, Tsutao Katayama, Ryuichi Yokogawa, Takahiro Kimura
Journal of Materials Processing Technology   119 58-64   Dec 2001
The PC-based intelligent CAD system for cold forging process design has been developed in past research. The conventional system carries out the data input for every specific shape, and the process planning reasoning is carried out on the basis of...
Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara
IEEE International Conference on Intelligent Robots and Systems   3 1564-1569   Dec 2001
This paper presents a novel strategy of adjusting impedance parameters of a robot's end effector in a man-machine cooperation-work. In the proposed strategy, the impedance parameters are settled with regard to a working process of a human operator...

Misc

 
Effect of mechanical backlash on higher brain functions and surface potential signals
Kazue Sugiura, Toru Tsumugiwa, Ryuichi Yokogawa
AROB 22nd 2017   130-134   2017
Transition of muscle contraction of lower limbs during cycling exercise
Masaya Fujita, Toru Tsumugiwa, Ryuichi Yokogawa
AROB 22nd 2017   279-282
Force analysis of the index finger and thumb in turning the cylindrical object
Hiroto Nishimura, Toru Tsumugiwa, Ryuichi Yokogawa
AROB 22nd 2017   275-278   2017
Development of Wearable Haptic Device Using Variable Structure Control for End Effector of Haptic Device
YOKOGAWA Ryuichi, Takashi Kinugawa, Toru Tsumugiwa, Ryuichi Yokogawa
SICE Annual Conference 2013   279-281   2013
Development of the Walking-Support Robot Equipped with Force Detecting System
YOKOGAWA Ryuichi, Katsuhiko Nishizawa, Toru Tsumugiwa, Ryuichi Yokogawa
SICE Annual Conference 2013   2696-2698   2013
Grasp and Transport Control for a Chopsticks-type Robot Using Work Done on an Object
Y. Yamasaki, T. Tsumugiwa, and R. Yokogawa
2010 International Conference on Modelling, Identification and Control (ICMIC2010)   269-275
269-275
Grasp and Transport Control for a Chopsticks-type Robot Using Work Done on an Object
2010 International Conference on Modelling, Identification and Control (ICMIC2010)   269-275   2010
Toru Tsumugiwa, Atsushi Sakamoto, Ryuichi Yokogawa, Kei Hara
Proc. 2003 IEEE International Conference on Robotics and Automation   2003 1933-1939   Dec 2003
This paper presents a novel control method for a human-robot cooperative task. There is a problem that a cooperative fitting task, i.e. peg-in-hole task, could not be performed precisely using a conventional impedance control. A proposed controlle...
Human thumb analysis based on measurement
47 531-532   2003
Proposal of the Model Airship with the Ultrasonic Sensor System Avoids an Obstacle in 3-Dimensional Space
47 185-186   2003
A Study on Control Method to Grasp and Carry a Flexible Object by Dual Robot-Arm
2003 00-00   2003
Switching Control of Impedance Control/Torque Control for Human-Robot Cooperative Task(Human-Robot Cooperative Bolting Task)
2003 00-00   2003
Measuring System of Human Upper Limb Joint Torque in Human Arm Movement using Three-Dimension Measuring Device OPTOTRAK3020(Quantitative Evaluation Method of Human Motion in Human-Robot Cooperative Task)
2003 00-00   2003
Toru Tsumugiwa, Ryuichi Yokogawa, Kei Hara
IEEE International Conference on Intelligent Robots and Systems   2 1075-1081   Jan 2002
This paper presents a novel variable impedance control for a human-robot cooperative task. There is a problem that a cooperative positioning task could not be performed easily using a conventional position based impedance control. A proposed contr...
Stability Analysis for Impedance Control System in Human-Robot Cooperative Task System(Analysis Method as regards Time Delay of Human Movement and Compliance of Robot)
2003 43467   2003
Control Method for Human-Robot Cooperative Carrying Task with Translation-Rotary Motion.
68(666) 483-490   2002
Measurement for Compliance of Vertical-Multi-Articulated Robot PA-10
20 134-134   2002
Variable Impedance Control with Virtual Stiffness for Human-Robot Cooperative Task.
2002(1) 187-188   2002
A Control of a Planar 3-DOF Robot with Elastic Joints Using a Method for Changing Control Mode Based on Potision and Force Errors.
2002(4) 43467   2002
Variable Impedance Control Based on Estimation of Human Characteristic for Human-Robot Cooperative Task. Cooperative Spoon in Mouth Task for Eating.
2002(3) 43467   2002
Control method for Human-Robot Cooperative task handling Flexible object such as Towel or Sheet.
2002(3) 43467   2002
Variable Impedance Control with Stiffness Coefficient Based on Estimation of Human Arm Characteristic for Human-Robot Cooperative Task. Human-Robot Cooperative Pouring out Wine.
2002(3) 43467   2002
Variable Impedance Control for Human-Robot Cooperative Peg-in-hole Task.
2002(3) 43467   2002
Research on the ultrasonic sensor for recognizing 3-dimensional space.
77(8) 57-58   2002
VARIABLE IMPEDANCE CONTROL BASED ON ESTIMATION OF HUMAN ARM STIFFNESS FOR HUMAN-ROBOT COOPERATIVE TASK - Human-Robot Cooperative Calligraphic Task -
2002 The 6th International Conference on Motion and Vibration Control   403-409   2002
Construction of PC-based Intelligent CAD System for Cold Forging Process Design-ntegration of CAD System and Development of Input Method
Journal of Materials Processing Technology   119(1) 58-64   2001
Static-Related Diagraming between the Fingertip's Manipulating Force Set and the Muscle Forces Using a Musculoskeletal Model.
Transaction of the Japan Society of Mechanical Engineers C   67(658) 1919-1925   2001
A Variable Impedance Control with Regard to a Working Process for a Man-machine Cooperation-work System
Proc. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems   3 1564-1569   2001
Measurement of Index Finger's Postures and Its Fingertip Force Distributions in the Flexion/Extension Plane.
Transaction of the Japan Society of Mechanical Engineers C   67(657) 1607-1612   2001
Measurement Method of Link Lengths of The Human Index Finger in The Flexion / Extension Movement
The First International Symposium on Measurement, Analysis and Modeling of Human Functions   1 475-480   2001
Variable Impedance Control Based on Estimation of Human Arm Stiffness for Human-Robot Cooperative Task.
19 329-330   2001
Recognition of 3-dimensional Object by Sensor Fusion Using Neural Networks
The Science and Engineering Review of Doshisha University   35(1) 113-127
K. Hara, R. Yokogawa, A. Yokogawa
Proc. IEEE Int. Conf. Robotics & Automation   2 1623-1628   Jan 1998
© 1998 IEEE. Static characteristics of the human finger are investigated using a mechanical planar model of the finger. They are represented by mapping a tendon force vector to a manipulating force vector of the fingertip. Force manipulability of ...
Automated Car Parking Using Neural Networks in Consideration of Humnan's Properties for Car Driving.
The Science and Engineering Review of Doshisha University   41(1) 69-75   2000
Kinematic Evaluation of Performance of a Manipulator for a Peg-in-hole Task
34(4) 116-122   1999
Kinematic Accuracy Index of Manipulators Considering Task-Directions
Transaction of the Japan Society of Mechanical Engineers C   65(630) 177-182   1999
Kei Hara, Ryuichi Yokogawa, Yoshihiro Kai
Proc. IEEE Int. Conf. Robotics & Automation 97   1 600-605   Jan 1997
The present paper deals with kinematic evaluation of task-performance of a manipulator for a peg-in-hole task. First, a condition of the manipulator for avoidance of jamming on the chamfer of a hole is derived. Secondly, strict conditions for the ...
Evaluation of Manipulator Postures Based on Maximum Insertion Force in a Peg-in-hole Task
34(5) 165-172   1999
Kinematic Evaluation of Task-Performance of a Manipulator for a Peg-in-hole Task(A Method of Evaluation Including a Condition for Avoidance of Jamming on a Chamfer)
Transaction of the Japan Society of Mechanical Engineers C   64(608) 604-609   1998
Kei Hara, Ryuichi Yokogawa, Yoshihiro Kai
Proc. IEEE Int. Conf. Robotics&Automation   1995(3) 970-975   Jan 1995
In a peg-in-hole task, the task-performable areas are graphically evaluated using gray scales from the manipulability and a DMA (dexterity measure for assembly) in the reachable areas of a manipulator. The DMA is represented as relation between a ...
Kinematic Design of Manipulators Based on Conditions for a Successful Peg-in-hole Task
Transaction of the Japan Society of Mechanical Engineers C   64(626) 176-181   1998
Trajectory Tracking Control for Robotic Deburring Using Hydraulic Shovel
Transaction of the Japan Society of Mechanical Engineers C   63(608) 1287-1294   1997
Kinematic Evaluation of Performance of a Hydraulic Shovel Arm for Deburring Task
32(7) 285-294   1997
Kinematic Evaluation of a Manipulator Including Compliant Elements for a Peg-in-hole Task
Transactions of the Japan Society of Mechanical Engineers C   62(594) 585-592   1996
Intelligent CAD System for Cold Forging Using Fuzzy Theory-Sorting Structure of Case Bases and Reasoning Engines
Journal of the JSTP   36(408) 35-40   1995
Design and Impedance Control of End-Effector for Peg-in-hole Assembly Task
1994JAPAN-U. S. A Symposium on Flexible Automation, Kobe Japan   1994 979-986   1994
Kei Hara, Ryuichi Yokogawa, Mikio Takenaka
Transactions of the Japan Society of Mechanical Engineers C   57(535) 818-825   Jan 1991
This paper deals with the recognition of 3-dimensional objects by sensor fusion using fuzzy pattern matching. This system consists of SCARA (selective compliance assembly robot arm), a laser sensor and ITV camera. First, the data on the 2-dimensio...
Design of Manipulator Linkage Viewed from Task Achievement
Proc.2nd Japan -France Congress on Mechatronics   380-383   1994
Precision Insertion by Heuristic Search with Fuzzy Pattern Matching
J. S. ME International Journal C   35(2)    1992
Kei Hara, Ryuichi Yokogawa
Fuzzy Sets and Systems   39(3) 205-214   Jan 1991
This paper deals with a precision inserting operation for chamferless parts under vague positional information by using approximate reasoning. The position of the parts is recognized by introducing two fuzzy sets. One is characterized by the membe...

Conference Activities & Talks

 
Stability analysis for human-robot cooperative task system with the variable impedance mechanism
Tomoyuki Uchida, Atsushi Kamiyoshi, Toru Tsumugiwa, Ryuichi Yokogawa
AROB 22nd 2017   2017   
Effect of mechanical interaction between leader and follower on brain activations during human-human cooperative transportation task
Masaki Ohata, Toru Tsumugiwa, Ryuichi Yokogawa
AROB 22nd 2017   2017   
Impedance Control Strategy using Virtual Stiffness Term for Human-Robot Cooperative Task (Power Assistance in Carrying Heavy Object)
Proc. 36th International Symposium on Robotics   2005   

Association Memberships

 
 

Research Grants & Projects

 
Force control of robot arm
Analysis of the human finger motion
Design of manipulator linkage on the object task