ヤギ ケイスケ矢木 啓介講師Keisuke Yagi
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論文
- 〔主要な業績〕Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
Yoshinobu Onozawa; Keisuke Yagi; Yoshikazu Mori, 責任著者, 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, 2024年09月03日, ［査読有り］ - Model Following Approach for Plant-Input-Mapping Discretization of a Current Regulator for Stepping Motors
Shuya Sawahata; Keisuke Yagi, ラスト(シニア)オーサー
Proceedings of 63rd Annual Conference of the Society of Instrument and Control Engineers (SICE2024), 2024年08月, ［査読有り］ - 〔主要な業績〕A Neural Network-based Wrist Impedance Estimation Method Using EMG Signal and Wrist Angular Position
Naoya Okada; Keisuke Yagi; Yoshikazu Mori, 責任著者
Proceedings of 63rd Annual Conference of the Society of Instrument and Control Engineers (SICE2024), 2024年08月, ［査読有り］ - 〔主要な業績〕A Wearable Device for Ankle Impedance Estimation Durign Walking
Keisuke Yagi, 筆頭著者
46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2024), 2024年07月, ［査読有り］ - Estimation of Time-varying Wrist Impedance in Peg-in-hole Task
Keisuke Yagi; Motoki Uchikoshi; Nobumichi Miyahara; and Yoshikazu Mori, 筆頭著者
Proceedings of SICE Annual Conference, 2023年09月, ［査読有り］ - 〔主要な業績〕Development of an impulsive motion generator inspired by cocking slip joint of snapping shrimp
Kiichi Tajima; Keisuke Yagi; Yoshikazu Mori, 責任著者
Bioinspiration & Biomimetics, 2023年09月, ［査読有り］ - 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, 2023年08月, ［査読有り］ - 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, 責任著者
Advanced Robotics, 2023年04月, ［査読有り］ - 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, 2022年08月, ［査読有り］ - 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, 2022年03月, ［査読有り］ - Development of a Boots-type Perturbation Device for Ankle Joint Impedance Estimation
Keisuke Yagi; Shohei Ito; Yoshikazu Mori, 筆頭著者
2022 IEEE/SICE International Symposium on System Integration (SII), 2022年01月, ［査読有り］ - 〔主要な業績〕Plant-Input-Mapping Discretization Method for a Feedback System in the State-Space Form
Keisuke Yagi; Hiroaki Muto; and Yoshikazu Mori, 筆頭著者
Journal of Dynamic Systems, Measurement, and Control, 2021年09月, ［査読有り］ - 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, 2021年07月, ［査読有り］ - 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, 2021年07月, ［査読有り］ - 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), 2020年09月, ［査読有り］ - Dynamic Model for Using Casterboard by a Humanoid Robot
R. Fukai; K. Yagi; Y. Mori, 責任著者
Advanced Robotics, 2020年04月, ［査読有り］ - パーキンソン病患者の自立起居動作補助器の開発
小島祥平; 森善一; 矢木啓介
ライフサポート学会誌, 2019年, ［査読有り］ - Human Wrist Impedance Estimation Based on Impulse Response Induced by Snap-Through Buckling of Closed-Elastica
Keisuke Yagi; Hiromi Mochiyama, 筆頭著者
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'19), 2019年, ［査読有り］ - 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年, ［査読有り］ - 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年, ［査読有り］ - 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年, ［査読有り］ - 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, 2018年04月27日, ［査読有り］ - Human Joint Impedance Estimation With a New Wearable Device Utilizing Snap-Through Buckling of Closed-Elastica
Keisuke Yagi; Kenji Suzuki; Hiromi Mochiyama, 筆頭著者
IEEE Robotics and Automation Letters, 2018年, ［査読有り］ - 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年, ［査読有り］ - Tarsusmeter: Development of a Wearable Device for Ankle Joint Impedance Estimation
M. Hassan; K. Yagi; K. Hsiao; H. Mochiyama; K. Suzuki, IEEE
Proceedings of Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'17), 2017年, ［査読有り］ - 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年, ［査読有り］ - 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年, ［査読有り］ - A Study on Loss-of-Synchronism in Stepping Motors based on Equilibrium Rotor-Angles
K. Yagi and N. Hori, 筆頭著者
Proceedings of IEEE IECON'15, 2015年, ［査読有り］ - Design of a fail-safe mechanism for a five-phase stepping motor
M. Ishizawa; K. Yagi; N. Hori, 責任著者
Proceedings of SICE Annual Conference 2013, 2013年, ［査読有り］ - 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年, ［査読有り］ - Prediction of loss-of-synchronism for a five-phase stepping motor
K. Yagi; N. Hori, 筆頭著者
Proceedings of SICE Annual Conference 2011, 2011年, ［査読有り］
MISC
- 電車を利用する自律搬送ロボットのアーム操作システムの開発
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年 - Estimation of Human Wrist Impedance in Juggling of Sticks
IEEE/RSJ International Conference on Intelligent robots and systems 2021, 2021年09月, ［査読有り］
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