Keisuke YagiLecturer
■Researcher basic information
Organization
Research Areas
External link
■Research activity information
Award
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]
Lead
Lectures, oral presentations, etc.
- ウンカ幼体の小型跳躍ロボットの開発
小ノ澤義伸; 矢木啓介; 森善一
ロボティクス・メカトロニクス講演会2023, 2023 - 機械学習による姿勢・表面筋電位情報を用いた関節インピーダンス推定法
岡田 尚也; 矢木 啓介; 森 善一
第40回日本ロボット学会学術講演会, Sep. 2022 - ペグインホールタスクを題材とした人の運動軌道と運動意識に関する研究
宮原宣道,矢木啓介; 森善一
日本機械学会2022年度茨城講演会, Aug. 2022 - ウンカ幼体の股関節構造に着想を得た小型跳躍機構の開発
ロボティクス・メカトロニクス講演会2022, Jun. 2022 - テッポウエビのCocking Slip Jointを模した高速運動デバイスの性能向上のための改良と運動解析
田島貴一,矢木啓介; 森善一
ロボティクス・メカトロニクス講演会2022, Jun. 2022 - スナップモータとOpenPoseを利用したリモート関節インピーダンス推定
遠藤友基; 矢木啓介; 森善一; 竹囲年延; 望山洋
第66回システム制御情報学会研究発表講演会, May 2022 - Peg-in-Hole作業中の手関節インピーダンス推定
打越元紀; 宮原宣道,矢木啓介; 森善一
ロボティクス・メカトロニクス講演会2021, Jun. 2021 - テッポウエビのハサミ関節構造を模した高速運動デバイスの開発
田島貴一,矢木啓介; 森善一
ロボティクス・メカトロニクス講演会2021, Jun. 2021 - 道具を操る曲芸における人の手関節の使い方
第38回日本ロボット学会学術講演会予稿集, Sep. 2020 - 周波数応答に基づく足関節の機械インピーダンス推定
伊藤 星平; 矢木 啓介; 森 善一
日本機会学会 2020茨城講演会, Aug. 2020 - Evaluation of the Impulsive Force Induced by the Snap-Through Buckling of Closed-Elastica
矢木 啓介; 森 善一; 望山 洋
第62回自動制御連合講演会, Nov. 2019 - Extention of global digital redesign method with the integral action to the state space form
武藤 寛明; 矢木 啓介; 森 善一
第62回自動制御連合講演会, Nov. 2019
Research Themes
Social Contribution Activities
