NAKATA Yoshihiro

J-GLOBAL         Last updated: Dec 5, 2019 at 04:39
NAKATA Yoshihiro
Osaka University
Graduate School of Engineering Science Department of Systems Innovation
Job title
Assistant Professor
Research funding number

Research Areas


Academic & Professional Experience

Aug 2013
Assistant professor, Osaka University
Apr 2013
Jul 2013
The University of Tokyo
Apr 2010
Mar 2013
Osaka University
Jan 2012
Sep 2012
Georgia Institute of Technology
Oct 2009
Mar 2010
Osaka University
Apr 2008
Sep 2009
Osaka University
Apr 2004
Mar 2008
Osaka University

Published Papers

Akira Heya, Yoshihiro Nakata, Masahiko Sakai, Hiroshi Ishiguro, and Katsuhiro Hirata
IEEE Transactions on Magentics   54(11) 1-5   Nov 2018   [Refereed]
Force-controllable actuators are essential for guaranteeing safety in human-robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frict...
Huthaifa Ahmad, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
Adaptive Behavior   26(6) 309-321   Sep 2018   [Refereed]
Realizing adaptability to environmental changes requires the robot’s body to change according to the environment. From this perspective, several studies have considered variable compliant actuation to change the physical characteristics of the rob...
26(1) 28-33   Mar 2018   [Refereed]
his paper describes the rotation angle sensorless drive of a helical teethed linear actuator (HTLA) for artificial muscle. The position control with vector controller is required the linear and rotary position of the mover of the HTLA. However, to...
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
Artificial Life and Robotics   22(4) 477-482   Dec 2017   [Refereed]
Humanoids are being applied into society gradually in the aspect of human–robot interaction recently. The human spine plays an important role when performing natural human upper body postures. However, most of the humanoids only show tense body po...
Kenta Maeda, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
Artificial Life and Robotics   22(4) 497-502   Dec 2017   [Refereed]
Android robots: humanoids with realistic human appearance can serve as a telecommunication medium (teleoperated humanoids). We have anticipated that if teleoperated humanoids acquired with not only their human appearances, but also an ability of t...
25(2) 224-229   Jul 2017   [Refereed]
This paper presents a novel magnetic lead screw actuator without helical permanent magnets. Magnetic lead screw actuator is high efficiency due to its non-contact transmission. It is expected to be applicable to interactive robots with human becau...
83(845) 1-11   Jan 2017   [Refereed]
Recently, robots are expected to support actions performed in a real-life environment in our daily lives. However, robots encounter several interferences while performing physical interactions, such as shaking hands, hugging, and holding various o...
Masahiko Sakai, Katsuhiro Hirata, and Yoshihiro Nakata
International Journal of Applied Electromagnetics and Mechanics   52(1-2) 571-578   Dec 2016   [Refereed]
This paper presents a helical teethed linear actuator (HTLA) for artificial muscles of human coexistence robots. The HTLA has small number of simple-shaped permanent magnets and coils. The advantages of this actuator are a high force constant and ...
34(9) 623-630   Nov 2016   [Refereed]
This paper presents a shoulder joint for a human-like robotic arm. This joint mechanism is composed of two ball joints laying back to back and the range of motion is larger than that of a usual ball joint. Since the joint is driven by the mutually...
Hideyuki Ryu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
IEEE Robotics and Automation Magazine   23(3) 85-92   Sep 2016   [Refereed]
Adaptive locomotion is crucial for robots that move across rough terrain and variable ground surfaces to complete various tasks [1]. Recent advances in numerical computation allow robots to operate in real environments by using complex control fra...
Hideyuki Ryu, Yoshihiro Nakata, Yuya Okadome, Yutaka Nakamura, and Hiroshi Ishiguro
Journal of Robotics and Mechatronics   28(2) 226-233   Apr 2016   [Refereed]
Under the effects of surroundings such as gravitational force, ambient temperature, and chemical substances, each animal has acquired an optimized body structure through its evolution. For example, vertebrate land animals have a sophisticated musc...
Kenji Urai, Yuya Okadome, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
Articial Life and Robotics   19(2) 193-200   Sep 2014   [Refereed]
Recently, robots are expected to support our daily lives in real environments. In such environments, however, there are a lot of obstacles and the motion of the robot is affected by them. In this research, we develop a musculoskeletal robotic arm ...
NAKATA Yoshihiro, ISHIGURO Hiroshi, HIRATA Katsuhiro
日本ロボット学会誌   31(6) 552-555   Jul 2013   [Invited]
Yoshihiro Nakata, Atsuhiro Ide, Yutaka Nakamura, Katsuhiro Hirata, and Hiroshi Ishiguro
Journal of Robotics and Mechatronics   25(1) 106-114   Feb 2013   [Refereed]
The compliance of muscles with external force and the structural stability given by biarticular muscles are important features of animals for realizing dynamic whole-body motion such as running and hopping in various environments. For this reason,...
NAKATA Yoshihiro, YU Tianyi, ISHIGURO Hiroshi, HIRATA Katsuhiro
Journal of the Japan Society of Applied Electromagnetics   20(1) 113-118   Mar 2012
We have been developing an electromagnetic linear actuator for an artificial muscle which has long stroke, quick response and large thrust using interior permanent magnets effectively. In this paper, we propose a novel small size cylindrical linea...
Yoshihiro Nakata, Hiroshi Ishiguro, and Katsuhiro Hirata
IEEJ Transactions on Industry Applications   131(2) 166-170   Feb 2011   [Refereed]
We have been studying an interior permanent magnet linear actuator for an artificial muscle. This actuator mainly consists of a mover and stator. The mover is composed of permanent magnets, magnetic cores and a non-magnetic shaft. The stator is co...
Magnetics Japan   5(8) 371-378   Aug 2010   [Invited]
NAKATA Yoshihiro, HIRATA Katsuhiro, ISHIGURO Hiroshi
Journal of the Japan Society of Applied Electromagnetics   17(2) 194-199   Jun 2009
We have been studying a new electromagnetic linear actuator for android using Halbach array of magnets. In this paper, the dynamic analysis method under the PID control is proposed employing the 3-D finite element method. This method is applied to...


KITANI Kenji, NAKATA Yoshihiro, HIRATA Katsuhiro
電気学会研究会資料. RM, 回転機研究会   2013(51) 37-42   Aug 2013
FUJIMOTO Tatsuya, NAKATA Yoshihiro, KITANI Kenji, HIRATA Katsuhiro
電気学会研究会資料. LD, リニアドライブ研究会   2013(22) 29-34   Mar 2013
NAKATA Yoshihiro, ISHIGURO Hiroshi, UEDA Jun
IEICE technical report. Neurocomputing   112(480) 31-36   Mar 2013
In the case of teaching specific limb movement for people, e.g. rehabilitation or teaching some difficult operations, verbal instructions or direct motion of the learner's joint are always used but these processes burden the instructors. This pape...
FUJIMOTO Tatsuya, NAKATA Yoshihiro, HIRATA Katsuhiro
電気学会研究会資料. RM, 回転機研究会   2012(65) 27-32   Aug 2012
FUJIMOTO Tatsuya, NAKATA Yoshihiro, HIRATA Katsuhiro
電気学会研究会資料. LD, リニアドライブ研究会   2012(37) 27-32   Aug 2012