Keisuke YagiLecturer
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Paper
- 〔Major achievements〕Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
Yoshinobu Onozawa; Keisuke Yagi; Yoshikazu Mori, Corresponding, Abstract
We developed a small jumping mechanism inspired by planthopper. The planthopper jump is characterized by two functions of the hind legs; the leg synchronization using physical contact of the trochanter head and the power amplification using a torque reversal latch. The proposed jump mechanism adopts the unique leg synchronization strategy of the planthopper, and the nymphal and adult models of the hind legs are designed. However, the power amplification is modified to incorporate two torque reversal structures in a single-motion axis. The mechanisms were fabricated by 3D printer with polylactic acid (PLA) material and equipped with extension springs. They weighed 26 g and performed 260 cm vertical jump within one rotation in the frontal plane. The jump height is over 40 times greater than the body length. The experimental findings indicate that the precise synchronization of the rapid leg movement is an effective approach for the design of a jumping mechanism., ASME International
Journal of Mechanisms and Robotics, 03 Sep. 2024, [Reviewed] - Model Following Approach for Plant-Input-Mapping Discretization of a Current Regulator for Stepping Motors
Shuya Sawahata; Keisuke Yagi, Last
Proceedings of 63rd Annual Conference of the Society of Instrument and Control Engineers (SICE2024), Aug. 2024, [Reviewed] - 〔Major achievements〕A Neural Network-based Wrist Impedance Estimation Method Using EMG Signal and Wrist Angular Position
Naoya Okada; Keisuke Yagi; Yoshikazu Mori, Corresponding
Proceedings of 63rd Annual Conference of the Society of Instrument and Control Engineers (SICE2024), Aug. 2024, [Reviewed] - 〔Major achievements〕A Wearable Device for Ankle Impedance Estimation Durign Walking
Keisuke Yagi, Lead
46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2024), Jul. 2024, [Reviewed] - Estimation of Time-varying Wrist Impedance in Peg-in-hole Task
Keisuke Yagi; Motoki Uchikoshi; Nobumichi Miyahara; and Yoshikazu Mori, Lead
Proceedings of SICE Annual Conference, Sep. 2023, [Reviewed] - 〔Major achievements〕Development of an impulsive motion generator inspired by cocking slip joint of snapping shrimp
Kiichi Tajima; Keisuke Yagi; Yoshikazu Mori, Corresponding
Bioinspiration & Biomimetics, Sep. 2023, [Reviewed] - ユニバーサルビーチで使用できる水陸両用車いすの開発
森 善一; 山中 裕登; 岡野 佑哉; 矢木 啓介
ライフサポート学会誌, Aug. 2023, [Reviewed] - Tele-Snap: a joint impedance estimation system using snap motor and openPose for remote rehabilitation diagnosis
Yuki Endo; Keisuke Yagi; Yoshikazu Mori; Toshinobu Takei; and Hiromi Mochiyama, Corresponding
Advanced Robotics, Apr. 2023, [Reviewed] - Variable-Damper Control Using MR Fluid for Lower Back Support Exoskeleton
Maxwell Kennard; Keisuke Yagi; Modar Hassan; Hideki Kadone; Hiromi Mochiyama; Kenji Suzuki
IEEE/ASME Transactions on Mechatronics, Aug. 2022, [Reviewed] - Experimental Verification of the Feedback Linearization Plant-Input-Mapping Discretization
Ryuya Tsuchida; Keisuke Yagi; and Yoshikazu Mori
Proc. of SICE International Symposium on Control Systems 2022, Mar. 2022, [Reviewed] - Development of a Boots-type Perturbation Device for Ankle Joint Impedance Estimation
Keisuke Yagi; Shohei Ito; Yoshikazu Mori, Lead
2022 IEEE/SICE International Symposium on System Integration (SII), Jan. 2022, [Reviewed] - 〔Major achievements〕Plant-Input-Mapping Discretization Method for a Feedback System in the State-Space Form
Keisuke Yagi; Hiroaki Muto; and Yoshikazu Mori, Lead
Journal of Dynamic Systems, Measurement, and Control, Sep. 2021, [Reviewed] - Feasibility Study of a Wheel-Type Walking Assist Orthosis for Persons with Hemiparesis
Y. Mori; Y. Yonekura; E. Komatsu; K. Yagi
Proc. of The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts, Jul. 2021, [Reviewed] - Remote Impedance Diagnosis with Snap Motor
H. Mochiyama; T. Takei; K. Yagi; M. Ando
Proc. of The 2021 IEEE International Conference on Advanced Robotics and its Social Impacts, Jul. 2021, [Reviewed] - A Study on the Plant-Input-Mapping Discretization for Nonlinear Control Systems Utilizing Feedback Linearization
Ryuya Tsuchida; Keisuke Yagi; Yoshikazu Mori
Proceedings of the 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Sep. 2020, [Reviewed] - Dynamic Model for Using Casterboard by a Humanoid Robot
R. Fukai; K. Yagi; Y. Mori, Corresponding
Advanced Robotics, Apr. 2020, [Reviewed] - Device Supporting Sitting Up Motion for Parkinson's Patients
小島祥平; 森善一; 矢木啓介
ライフサポート学会誌, 2019, [Reviewed] - Human Wrist Impedance Estimation Based on Impulse Response Induced by Snap-Through Buckling of Closed-Elastica
Keisuke Yagi; Hiromi Mochiyama, Lead
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'19), 2019, [Reviewed] - Development and Improvement of Semi-active Robotic Ankle Foot,Orthosis based on MR Fluid Technology
Modar Hassan; Keisuke Yagi; Hideki Kadone; Tomoyuki Ueno; Hiromi Mochiyama; Kenji Suzuki
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'19), 2019, [Reviewed] - Wearable Kinesthetic I/O Device for Sharing Wrist Joint Stiffness
Jun Nishida; Keisuke Yagi; Modar Hassan; Kenji Suzuki
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'19), 2019, [Reviewed] - MRLift: a Semi-active Lower Back Support Exoskeleton based on MR,Fluid and Force Retention Technology
Modar Hassan; Maxwell Kennard; Keisuke Yagi; Hideki Kadone; Hiromi Mochiyama; Kenji Suzuki
Proceedings of IEEE IROS2019, 2019, [Reviewed] - Plant-input-mapping discretization in state-space form
Keisuke Yagi; Noriyuki Hori, Institute of Electrical and Electronics Engineers Inc.
Proceedings of the IEEE International Conference on Industrial Technology, 27 Apr. 2018, [Reviewed] - Human Joint Impedance Estimation With a New Wearable Device Utilizing Snap-Through Buckling of Closed-Elastica
Keisuke Yagi; Kenji Suzuki; and Hiromi Mochiyama, Lead
IEEE Robotics and Automation Letters, 2018, [Reviewed] - On the Determination of Mapping Rule and Sampling Interval for Human Joint Impedance Estimation
Keisuke Yagi; Hiromi Mochiyama
2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2017, [Reviewed] - Tarsusmeter: Development of a Wearable Device for Ankle Joint Impedance Estimation
M. Hassan; K. Yagi; K. Hsiao; H. Mochiyama; and K. Suzuki, IEEE
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'17), 2017, [Reviewed] - Steady-state error-compensation by feedforward-gain tuning for digital pim current regulation of a stepping-motor driver
Keisuke Yagi; Noriyuki Hori, Acta Press
Proceedings of the IASTED International Conference on Modelling, Identification and Control, 2016, [Reviewed] - EXPERIMENTAL VERIFICATION OF A PRACTICAL DIGITAL DRIVER WITH SWITCHED GAIN-TUNING FOR FIVE-PHASE STEPPING-MOTORS
Keisuke Yagi; Noriyuki Hori; Meyer Nahon
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING, 2015, [Reviewed] - A Study on Loss-of-Synchronism in Stepping Motors based on Equilibrium Rotor-Angles
K. Yagi and N. Hori, Lead
Proceedings of IEEE IECON'15, 2015, [Reviewed] - Design of a fail-safe mechanism for a five-phase stepping motor
M. Ishizawa; K. Yagi; and N. Hori, Corresponding
Proceedings of SICE Annual Conference 2013, 2013, [Reviewed] - Prevention of loss-of-synchronism in stepping motors through self-tuning current regulation
Keisuke Yagi; Noriyuki Hori
Proceedings of the IASTED International Conference on Control and Applications, CA 2012, 2012, [Reviewed] - Prediction of loss-of-synchronism for a five-phase stepping motor
K. Yagi and N. Hori, Lead
Proceedings of SICE Annual Conference 2011, 2011, [Reviewed]
MISC
- Development of a Robot Arm Operation System for Autonomous Transport Robot Using Train
門脇尚音; 矢木啓介; 城間直司; 金子和暉; 小貫哲平; 泉岳志; 今野晋也
計測自動制御学会システムインテグレーション部門講演会(CD-ROM), 2023 - Estimation of Human Wrist Impedance in Juggling of Sticks
IEEE/RSJ International Conference on Intelligent robots and systems 2021, Sep. 2021, [Reviewed]
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