Tsuji laboratory

This is a home page of Tsuji laboratory at Saitama University who research Robotics.

Main Researches

Recent News

We presented 1 study in JSRMR2022.
We will hold an open lab information session.
Monday, October 10, 16:30-, Location: Practical Training & Research Experiment Laboratory 1st Floor, Electrical Equipment Lab(電気機器実験室).
We presented 3 studies in RSJ 2022.
The publication of the following paper has been accepted in Robotics and Automation Letters.
Y. Kato, P. Balatti, J. M. Gandarias, M. Leonori, T. Tsuji, and A. Ajoudani: “A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration,”
IEEE Robotics and Automation Letters, Vol. 7, No. 4, pp. 9461-9468, 2022.
We presented 1 study in AIM2022.
We presented 4 studies in ROBOMECH2022.
We presented 2 studies in ICRA2022.
We presented 3 studies in SAMCON2022.
The publication of the following papers have been accepted in Robotics and Automation Letters.
・T. Horikoshi, S. Sakaino, and T. Tsuji: "High Dynamic Range Force Sensing of a Robot Hand Combining Signals on Tip and Wrist,"
IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3210-3217, 2022.
・Y. Nogi, S. Sakaino, and T. Tsuji: "Force Control of Grinding Process Based on Frequency Analysis,"
IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3250-3256, 2022.
We presented 1 study in ICCAS2021.
We presented 3 studies in IROS2021.
We presented 3 studies in RSJ 2021.
The publication of the following paper has been accepted in Robotics and Automation Letters.
R. Tamura, T.Horikoshi, S. Sakaino, and T. Tsuji: “High Dynamic Range 6-Axis Force Sensor Employing a Semiconductor-Metallic Foil Strain Gauge Combination,”
IEEE Robotics and Automation Letters, Vol. 6, No. 4, pp. 6243-6249, 2021.
Click here to watch the video for an overview.
The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
T. Kitamura, S. Sakaino, M. Hara, and T. Tsuji: “Bilateral Control of Human Upper Limbs Using Functional Electrical Stimulation Based on Dynamic Model Approximation,”
IEEJ Journal of Industry Applications, Vol. 10, No. 4, pp. 443-456, 2021.
The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
R. Tamura, S. Sakaino, and T. Tsuji: “High Dynamic Range Uniaxial Force/Torque Sensor Using Metal Foil and Semiconductor Strain Gauge,”
IEEJ Journal of Industry Applications, 2021.
We presented 4 studies in ROBOMECH2021.
The publication of the following paper has been accepted in Transactions of the Japanese Society for Medical and Biological Engineering.
K. Kubota, Y. Okubo, Y. Lee, Y. Kaneko, and T. Tsuji, “Verification of the Motor Function Improvement Effects in Patients with Chronic Stroke Hemiplegia using Tabletop Omni-Directional Driving Rehabilitation Robot”
Transactions of the Japanese Society for Medical and Biological Engineering, Vol. 59, No. 1, pp.1-6, 2021.(in Japanese)
The publication of the following paper has been accepted in Robotics and Automation Letters.
T. Tsuji, K. Sato, and S. Sakaino “Contact Feature Recognition Based on MFCC of Force Signals”
IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5153-5158, 2021.
The publication of the following paper has been accepted in Journal of the Robotics Society of Japan.
T. Tsuji, K. Sato, and S. Sakaino, “Recognision of Contact Event Based on MFCC of Force Signals”
Journal of the Robotics Society of Japan, Vol. 39, No. 2, pp. 173-176, 2021.(in Japanese)
We presented 2 studies in SAMCON2021.
We presented 2 studies in ICM2021.
The publication of the following paper has been accepted in Robotics and Automation Letters.
M. Oikawa, T. Kusakabe, K. Kutsuzawa, S. Sakaino, and T. Tsuji “Reinforcement Learning for Robotic Assembly Using Non-Diagonal Stiffness Matrix”
IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2737-2744, 2021.
The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
S. Sakaino, T. Kitamura, N. Mizukami, and T. Tsuji “High-Precision Control for Functional Electrical Stimulation Utilizing a High-Resolution Encoder”
IEEJ Journal of Industry Applications, Vol. 10, No. 2, pp. 124-133, 2021.
The publication of the following paper has been accepted in IEEE Access.
A. Sasagawa, K. Fujimoto, S. Sakaino, and T. Tsuji “Motion Generation Using Bilateral Control-based Imitation Learning with Autoregressive Learning”
IEEE Access, Vol. 9, 2021.(Open Access: https://ieeexplore.ieee.org/document/9344611).
The publication of the following paper has been accepted in Robotics and Automation Letters.
A. Sasagawa, K. Fujimoto, S. Sakaino, and T. Tsuji “Imitation Learning Based on Bilateral Control for Human–Robot Cooperation”
IEEE Robotics and Automation Letters, Vol. 5, No. 4, pp. 6169-6176, 2020.
The following paper was awarded in Advanced Robotics.
K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Trajectory adjustment for nonprehensile manipulation using latent space of trained sequence-to-sequence model,”
Advanced Robotics, Vol. 33, Issue 21, pp. 1144-1154, 2019.
We presented 3 studies in RSJ 2020.
Information for open recruitment of research collaborators.
The summary is available here(in Japanese).
We presented 1 study in AIM2020.
We presented 5 studies in ROBOMECH2020.
The following paper was awarded in SAMCON2020.
T. Tsuji, D. Okumura, R. Tamura, and S. Sakaino "High dynamic range six-axis force / torque sensors for dexterous robots"
the 6th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2020), IS-7.
The publication of the following papers have been accepted in IEEJ SAMCON2020.
・T. Horikoshi, S. Sakaino, and T. Tsuji "Highly backdrivable Motion Control of a Robot with HDR 6-axis F/T Sensor"
the 6th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2020), P-18.
・T. Tsuji, D. Okumura, R. Tamura, and S. Sakaino "High dynamic range six-axis force / torque sensors for dexterous robots"
the 6th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2020), IS-7.
The publication of the following papers have been accepted in IEEE Access.
・D. Furuta, K. Kutsuzawa, S. Sakaino, and T. Tsuji "Motion Planning with Success Judgement Model based on Learning from Demonstration"
IEEE Access, 2020. (Open Access: https://ieeexplore.ieee.org/document/9064769).
・Y. Hasegawa, T. Kitamura, S. Sakaino, and T. Tsuji "Bilateral Control of Elbow and Shoulder Joints Using Functional Electrical Stimulation Between Humans and Robots"
IEEE Access, 2020. (Open Access: https://ieeexplore.ieee.org/abstract/document/8962009).
The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
K. Kutsuzawa, S. Sakaino, and T. Tsuji, "Simultaneous Estimation of Contact Position and Tool Shape using Unscented Particle Filter"
IEEJ Journal of Industry Applications, vol. 9, no. 5, May 2020.