Tsuji laboratory

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

News

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.
An article on a new cooking support system developed by our laboratory has been published in EMIRA. article
A dissertation defense by Kyo Kutsuzawa, a Ph.D. candidate in our lab, will be held on January 22 (Wed), 14:40-16:10.
The summary is available here (in Japanese).
Ryuya Tamura in our lab was awarded in The Institute of Electrical Engineers of Japan.
"[in Japanese] 半導体歪ゲージを用いたハイダイナミックレンジ一軸力覚センサの開発"
Handouts in the International Robot Exhibition 2019 are available here. Each handout is also available via Projects page or Downloads page.
We presented 1 study in The Institute of Electrical Engineers of Japan, Tokyo.
We have released videos(Japanese) introducing our research.
https://youtu.be/_MhhfgEAxsI The assembly robot with HDR force sensor
https://youtu.be/uwB69NpG6fk The robot that realizes dynamic skill movement by machine learning
https://youtu.be/fQbkWFSCRCo Realization of ultra-realism using visual and tactile reproduction VR ―Virtual reality technology indistinguishable from reality―
We will be exhibited at the International Robot Exhibition 2019 (2019/12/18 ~ 12/21). Details are on the Projects page.
We presented 2 studies in IROS2019, Macau.
We presented 3 studies in IECON2019, Lisbon.
The publication of the following paper has been accepted 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.
The publication of the following paper has been accepted in MDPI Sensors.
R. Koike, S. Sakaino, and T. Tsuji: “Hysteresis Compensation in Force/Torque Sensors Using Time Series Information,”
MDPI Sensors, Vol.19, No.19, 4259, 2019. (Open Access: https://www.mdpi.com/1424-8220/19/19/4259).
Kyo Kutsuzawa in our lab was awarded in SAMCON2019.
"Simultaneous Estimation of Contact Position and Tool Shape using Particle Filter"
We presented 7 studies in ROBOMECH2019, Hiroshima.
【For students】Click here to download file explained at the lecture.
We presented 1 study in ICRA2019, Montreal.
Junya Tsunoda in our lab was awarded in ICM2019.
"Angle Measurement Using Moir`e Patterns Enlarging the Rotation in the Linear Motion"
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We presented 1 study in ICM2019, Ilmenau.
The publication of the following paper has been accepted in MDPI Sensors.
K. Kubota, M. Sekiya, and T. Tsuji: “Robot-Assisted Eccentric Contraction Training of the Tibialis Anterior Muscle Based on Position and Force Sensing,”
MDPI Sensors, Vol.19, No.6, 1288, 2019. (Open Access: https://www.mdpi.com/1424-8220/19/6/1288/).
We presented 3 studies in SAMCON 2019, Chiba.
The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
  • J. Tsunoda, S. Sakaino, and T. Tsuji: “Development of an Angle Measurement System Using Monocular Camera and Moir`e Patterns,”
    IEEJ Journal of Industry Applications, Vol.8, No.2, pp.200-206, 2019.
    (Open Access: https://www.jstage.jst.go.jp/article/ieejjia/8/2/8_200/_article/-char/ja/).
  • S. Sakaino, T. Sakuma, and T. Tsuji: "A Control Strategy for Electro-hydrostatic Actuator Considering Static Friction, Resonance, and Oil Leakage,”
    IEEJ Journal of Industry Applications, Vol.8, No.2, pp.279-286, 2019.
    (Open Access: https://www.jstage.jst.go.jp/article/ieejjia/8/2/8_279/_article/-char/ja/).
  • The publication of the following paper has been accepted in IEEE Transactions on Neural Systems & Rehabilitation Engineering.
    M. Sekiya, S. Sakaino, and T. Tsuji: “Linear Logistic Regression forEstimation of Lower Limb Muscle Activations.”
    IEEE Transactions on Neural Systems & Rehabilitation Engineering, Vol.27, No.3, 2019.
    (Open Access: https://ieeexplore.ieee.org/document/8637973/).
    We presented 4 studies in IECON 2018, Washington D.C..
    We presented 2 studies in IROS 2018, Madrid.
    We presented 2 studies in Mecatronics2018, Mie.
    Kyo Kutsuzawa in our lab was awarded in RSJ2018.
    rsjkutsuzawa
    We presented 1 study in RSJ2018, Aichi.
    We presented 1 study in JIASC2018, Yokohama.
    The publication of the following paper has been accepted in Robotics and Automation Letters.
    K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Sequence-to-Sequence Model for Trajectory Planning of Nonprehensile Manipulation Including Contact Model,”
    IEEE Robotics and Automation Letters, 2018. (Open Access: https://ieeexplore.ieee.org/document/8410030/).
    We presented 8 studies in ROBOMECH2018, Kitakyusyu.
    We presented 2 studies in SAMCON2018, Tokyo.
    We presented 3 studies in AMC2018, Tokyo.
    We published the video of HDR Force/Torque sensor "World's best performance with dynamic range 0.01N-1000N" developed in this laboratory.
    Click here to see the video of the Force/Torque sensor
    Click here for past videos
    Force Visualization Cutting Board
    Haptic desk
    Rehabilitation support robot
    We presented 6 studies in IECON 2017, China.
    The publication of the following paper has been accepted in Advanced Robotics.
    T. Sakuma, K. Tsuda, K. Umeda, S. Sakaino, T. Tsuji: “Modeling and Resonance Suppression Control for Electro-hydrostatic Actuator as a Two-Mass Resonant System,”
    Advanced Robotics, 1-11, 2017.
    The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
    T. Tsuji, K. Kutsuzawa, and S. Sakaino: “Optimized Trajectory Generation based on Model Predictive Control for Turning Over Pancakes,”
    IEEJ Journal of Industry Applications, Vol. 7, No. 1, 2018.
    The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
    K. Tsuda, T. Sakuma, K. Umeda, S. Sakaino, T. Tsuji: “Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System,”
    IEEJ Journal of Industry Applications, Vol. 6, No. 5, 2017.
    The publication of the following paper has been accepted in IEEE Trans. on Industrial Electronics.
    T. Tsuji, T. Seki, S. Sakaino: “Intrinsic Contact Sensing for Touch Interface with Movable Structure,”
    IEEE Trans. on Industrial Electronics, Vol. 64, 2017.
    The publication of the following paper has been accepted in IEEE Transactions on Industrial Electronics.
    S. Sakaino, T. Furuya, T. Tsuji: “Bilateral Control between Electric and Hydraulic Actuators Using Linearization of Hydraulic Actuator,”
    IEEE Transactions on Industrial Electronics, Vol. 64, No. 6, pp. 4631-4641, 2017.
    The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
    S. Sakaino, H. Kawajiri, T. Tsuji: “Determination of Torque Distribution Ratio for Electric Bicycle with Independently Driven Front and Rear Wheels,”
    IEEJ Journal of Industry Applications, Vol. 6, No. 3, pp. 223-230, 2017.
    The publication of the following paper has been accepted in Journal of Robotics and Mechatronics.
    K. Kutsuzawa, S. Sakaino, T. Tsuji: “A Control System for a Tool Use Robot: Drawing a Circle by Educing Functions of a Compass,”
    Journal of Robotics and Mechatronics, Vol. 29, No. 2, pp.395-405, 2017.
    We presented 5 studies in ROBOMECH2017, Fukushima.
    We presented 4 studies in SAMCON2017, Nigata.
    The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
    H. Kitamura, S. Sakaino, T. Tsuji: “Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force,”
    IEEJ Journal of Industry Applications, Vol. 6, No. 2, pp. 150-159, 2017.
    The publication of the following paper has been accepted in IEEE Trans. Industrial Electronics.
    N. Tojo, T. Mizoguchi, T. Kaneko, T. Tsuji, T. Shimono: “Estimation of Antagonistic Output Ratios Based on Force Distribution at End Effector of Limb,”
    IEEE Trans. Industrial Electronics, Vol. 64, No. 2, pp. 1783-1792, 2017.
    The publication of the following paper has been accepted in Electrical Engineering in Japan.
    T. Yamazaki, S. Sakaino, T. Tsuji: "Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm,"
    Electrical Engineering in Japan, Vol. 199, No. 3, pp. 57-67, 2017.
    The following paper has been published in Advanced Robotics.
    K. Ogata, T. Umino, T. Nakayama, E. Ono, T. Tsuji: "Dummy humanoid robot simulating several trunk postures and abdominal shapes-Report of element technologies,"
    Advanced Robotics, pp. 1-8, 2017.
    The following paper has been published in ROBOMECH Journal.
    S. Sakaino, T. Tsuji:"Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer,"
    ROBOMECH Journal, Vol.4, No. 1, 2017.
    The publication of the following paper has been accepted in Journal of Robotics and Mechatronics.
    K. Kutsuzawa, S. Sakaino, T. Tsuji: "A Control System for a Tool Use Robot: Drawing a Circle by Bringing Out Functions of a Compass,"
    Journal of Robotics and Mechatronics, Vol. 29, No. 2.
    The publication of the following paper has been accepted in IEEJ Journal of Industry Applications.
    H. Kitamura, S. Sakaino, T. Tsuji: "Contact Point Calculation on a Haptic Interface Utilizing Differentiated Force,"
    IEEJ Journal of Industry Applications, Vol. 6, No. 2.
    An article on the force sensor developed by our laboratory and WACOH-TECH has been published in Nikkan Kougyou Shinbun. article
    The following paper has been published in IEEE Transactions on Industrial Electronics.
    N. Tojo, T. Shimono, T. Kaneko, T. Tsuji, T. Mizoguchi: "Estimation of Antagonistic Output Ratios Based on Force Distribution at End Effector of Limb,"
    IEEE Trans. on Industrial Electronics, 2016.
    The following paper has been published in IEEE Transactions on Industrial Electronics.
    T. Tsuji, T. Seki, S. Sakaino: "Intrinsic Contact Sensing for Touch Interface with Movable Structure,"
    IEEE Trans. on Industrial Electronics, 2016.
    Kyo Kutsuzawa in our lab was awarded in IECON 2016 for his paper entitled
    "Estimation of individual force at three contact points on an end-effector by a six-axis force/torque sensor."
    ieconkutsuzawa
    We presented 4 studies in IECON 2016, Firenze.
    We presented 3 studies in IROS 2016, Daejeon.
    We presented 3 studies in RSJ 2016.
    We presented 1 study in LIFE 2016.
    The following paper has been published in IEEJ Journal of Industry Applications.
    T. Kitamura, N. Mizukami, H. Mizoguchi, S. Sakaino, T. Tsuji: "Bilateral Control in the Vertical Direction Using Functional Electrical Stimulation"
    IEEJ Journal of Industry Applications, Vol. 5, No. 5, pp. 398-404, 2016.
    We presented 1 study in EMBC 2016, Florida.
    The following paper has been published in IEEJ Transactions on Industry Applications.
    T. Yamazaki, T. Tsuji, S. Sakaino: "Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm,"
    IEEJ Trans. on Industry Applications, Vol. 136, No. 4, pp. 254-262, 2016
    We had 8 poster-presentations in ROBOMECH 2016.
    We presented 1 study in ISIE 2016, California.
    We presented 3 studies in AMC 2016, Auckland.
    An article on our Rehabilitation system "FOVI-Bar" has been published in Nikkan Kougyou Shinbun. article
    The following paper has been published in IEEE Transactions on Industrial Electronics.
    T. Tsuji, T. Kaneko, S. Sakaino: "Motion Matching in Rehabilitation Databases with Force and Position Information,"
    IEEE Trans. on Industrial Electronics, Vol. 63,No. 3, pp. 1935-1942, Mar. 2016.
    T. Tsuji, J. Ohkuma, S. Sakaino: "Dynamic Object Manipulation Considering Contact Condition of Robot with Tool,"
    IEEE Trans. on Industrial Electronics , Vol. 63,No. 3, pp. 1972-1980, Mar. 2016.
    Hiroyuki Kitamura in our lab was awarded in IEEJ SAMCON 2016.
    samconkitamura
    We presented 4 studies in IEEJ SAMCON 2016.
    We presented 2 studies in SICE SI 2015.
    We presented 2 studies in ICAM 2015.
    Prof. Toshiaki Tsuji won the Best Lecture Award.
    We presented 3 studies in IECON 2015.
    An article on our Rehabilitation system "FOVI-Bar" was published in Nihon Keizai Shinbun.
    We demonstrated 2 studies in CEATEC JAPAN 2015.
    We presented 1 study in IROS 2015, Hamburg.
    Kunihiro Ogata in our lab was awarded from RSJ.
    We presented 1 study in LIFE 2015.
    We presented 2 studies in RSJ 2015.
    We had 1 poster-presentation in ICORR 2015, Singapore.
    We had 1 poster-presentation in ICRA 2015, Seattle.
    We had 8 poster-presentations in ROBOMECH 2015.
    We presented 4 studies in IEEJ SAMCON 2015.
    We presented 2 studies in IEEE ICM 2015.
    An article on our haptic technology was published in Nihon Keizai Shinbun.
    A video on Haptic Desk was released in TBS.
    We presented one studies in SICE SI 2014.
    Prof. Toshiaki Tsuji won Best Presentation Recognition from IEEE IECON for his study.
    "Development of a Desk-Type Tactile Interface Using Force Sensors"
    We demonstrated 2 studies in CEATEC JAPAN 2014.
    We presented 1 studies in IEEE/RSJ International Conference on Intelligent Robots and Systems.
    We presented 2 studies in RSJ 2014.
    We had 2 presentation in the Joint Technical Meeting on Industrical Instrumentation and Control and Mechatronics Control, IEEE Japan.
    We presented 1 study in IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago.
    We had 1 presentation in ROBOMECH 2014.
    We had 1 presentation in IPEC-Hiroshima 2014.
    Prof. Toshiaki Tsuji was awarded from JSME for his study.
    "Reseach of Haptic Signal Processing for Human Support Robot"
    A video on Rehabilitation support robot was released in TBS.
    We presented 2 studies in IEEE International Workshop AMC 2014, Yokohama.
    We had 7 oral-presentaions in the Joint Technical Meeting on Industrical Instrumentation and Control and Mechatronics Control, IEEE Japan.
    A video on Haptic desk was released in TV TOKYO.
    An article on haptic desk was published in Nikkei Sangyo Shinbun.
    nikkeidesk
    An article on Rehabilitation support robot "R-cloud" was published in Nikkei Sangyou Shinbun.
    nikkeiriha
    A video on Rehabilitation support robot was released in TV TOKYO.
    A video on Rehabilitation support robot was released in DIGINFO TV.
    We demonstrated 3 studies in international robot exhibition.
    An article on haptic desk has been published in Nikkan Kougyou Shinbun.
    nikkandesk
    We had 1 presentation and 2 lectures in IEEE IROS 2013.
    We had 1 oral-presentation and 3 poster-presentations in JST symposium.
    We presented 1 study in RSJ 2013.
    We had 1 oral-presentaion in IEEE R10-HTC 2013.
    The following paper has been pubiliehed in Journal of Robotics and Mechatronics.
    T. Tsuji, M. Yamada, Y. Kaneko: "A Robot Measuring Upper Limb Range of Motion for Rehabilitation Database,"
    Journal of Robotics and Mechatronics, Vol. 25, No. 3, pp. 515-520, 2013.
    We had 3 poster-presentations in ROBOMECH 2013.
    We had 9 oral-presentaions in the Joint Technical Meeting on Industrical Instrumentation and Control and Mechatronics Control, IEE Japan.
    We had one oral-presentation in IEEE ICM 2013.
    The following paper has been published in IEEJ Journal of Industry Applications.
    M. Kamibayashi, S. Sakaino, T. Tsuji: "Evaluation Indices of Stiffness Control for Its Performance Comparison,"
    IEEJ Journal of Industry Applications, Vol. 2, No. 1, pp.61-66
    We had 2 oral-presentations and 1 tutorial in IEEE IECON 2012, Montreal.
    We presented 1 study in IEEE/RSJ IROS 2012, Vilamoura.
    We presented 1 study in RSJ 2012, Sapporo.
    The following article has been published in the September issue on IEEJ Magazine.
    Toshiaki Tsuji, Kohei Ohnishi: "Motion Control Based on Musculoskeletal Actuators(in Japanese)"
    We presented two studies in JIASC 2012, Chiba.
    An article has been published in Saitama Shinbun.
    ss627
    We presented one study in ROBOMECH 2012, Shizuoka.
    We had a simposium presentation in PSJ.
    We presented 1 study in IEEE International Workshop AMC 2012, Sarajevo.
    We had a simposium presentation in 2012 IEEJ annual meeting.
    Naoyuki Kurita in our lab was awarded from IEEJ for his paper entitled
    "Whole-body Force Sensation by Force Sensor with Non-convex Shaped End-effector".
    kurita
    We presented 3 studies in IEEJ IIC 2012, Chiba.
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