Tsuji laboratory

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

Journal Papers

2019/10K. 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.
2019/09R. 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).
2019/03K. 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/).
2019/03J. 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/).
2019/03S. 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/).
2019/03M. 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/).
2018/07K. 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/)
2018/02K. Umeda, T. Sakuma, K. Tsuda, S. Sakaino, and T. Tsuji: “Reaction Force Estimation of Electro-hydrostatic Actuator Using Reaction Force Observer,”IEEJ Journal of Industry Applications, Vol. 7, No. 3, 2018.
2017/12S. Sakaino, T. Tsuji: “Resonance Suppression of Electro-hydrostatic Actuator by Full State Feedback Controller Using Load-side Information and Relative Velocity,”IFAC-PapersOnLine, Vol. 50, No. 1, pp. 12065-12070, 2017.
2017/07T. 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.
2017/07T. 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, pp. 22-28, 2018.
2017/07K. 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, pp. 320-327, 2017.
2017/06T. Tsuji, K. Kutsuzawa, and S. Sakaino: “Acceleration Control for Dynamic Manipulation of a Robot Turning Over Objects,”IEEE Robotics and Automation Letters, vol. 2, No. 4, pp. 2328-2335, 2017.
2017/05T. Tsuji, T. Seki, S. Sakaino: “Intrinsic Contact Sensing for Touch Interface with Movable Structure,”IEEE Trans. on Industrial Electronics, Vol. 64, No. 9, pp. 7342-7349, 2017.
2017/05S. 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.
2017/05S. 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.
2017/04K. 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.
2017/02H. 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.
2017/02N. 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.
2017/02T. 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
2017/01S. 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.
2016/12K. 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
2016/09T. 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
2016/08T. Yamazaki, S. Sakaino, T. Tsuji: “Estimation and Kinetic Modeling of Human Arm using Wearable Robot Arm, ” IEEJ Transactions on Industry Applications, Vol. 136,No. 4, pp. 254-262. (in Japanese)
2016/03T. 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
2016/03T. Tsuji, J. Okuma, S. Sakaino: “Dynamic Object Manipulation Considering Contact Condition of Robot with Tool, ” IEEE Trans. on Industrial Electronics, Vol. 63, No. 3, pp. 1972-1980
2015/04T. Tsuji, K. Ogata: “Rehabilitation Systems Based on Visualization Techniques: A Review, ” Journal of Robotics and Mechatronics, Vol. 27, No. 2, pp. 122-125
2014/09T. Tsuji, N. Kurita, S. Sakaino: “Whole-body tactile sensing through a force sensor using soft materials in contact areas, ” ROBOMECH Journal, 1-11
2014/08T. Tsuji, T. Yokoo, Y. Hasegawa, K. Abe, Y. Sakurai, S. Ishii: “Development of Rehabilitation Support Robot with Guidance Control Based on Biarticular Muscle Mechanism, ” IEEJ Journal of Industry Applications, Vol. 3,No. 4, pp. 350-357
2014/05T. Tsuji, N. Kurita, S. Sakaino: “Whole-Body Haptics of Non-Convex-Shaped End-Effector Based on Variation in External Force Vector during Contact, ” IEEJ Transactions on Industry Applications, Vol. 134,No. 5, pp. 517-525. (in Japanese)
2013/11D. Takahashi, S. Sakaino, T. Tsuji, Y. Kaneko: “Bilateral Control of a Velocity Control System using Electric and Hydraulic Actuators, ” IEEJ Transactions on Industry Applications, Vol. 133,No. 11,pp. 1065-1072. (in Japanese)
2013/06T. 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
2013/01M. 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
2011/09R. Hanyu, T. Tsuji: “Development of a whole-body haptic sensor with multiple supporting points and its application to a manipulator, ” IEEJ Trans. on Industry Applications, Vol. 131-D, No. 9, pp. 1128-1134. (in Japanese)
2010/07T. Tsuji: “Motion Control and Musculo-skeletal Model of a Lancelet Robot, ” Journal of the Robotics Society of Japan, Vol. 28, No. 6, pp. 695-698. (in Japanese)
2010/04T. Tsuji, T. Ito: “Command Recognition of Robots Based on Feature Quantity Extraction from Haptic Information, ” Journal of the Robotics Society of Japan, Vol. 28, No. 3, pp. 79-86. (in Japanese)
2010/03T. Ito, T. Tsuji: “Command Recognition of Robot with Low Dimension Whole-Body Haptic Sensor, ” IEEJ Trans. on Industry Applications, Vol. 130-D, No. 3, pp. 293-299. (in Japanese)
2010/03T. Tsuji, R. Inoda: “Removal of Specular Reflection Based on High-Speed Camera Images, " IEEJ Trans. on Industry Applications, Vol. 130-D, No.3, pp. 261-267. (in Japanese)
2010/03T. Tsuji, H. Tashiro, S. Abe: “A Counting Method of People at Elevator Lobby Focusing on Top of Moving Objects, " IEEJ Trans. on Industry Applications, Vol. 130-D, No.3, pp. 334-340. (in Japanese)
2010/03K. Natori, T. Tsuji, K. Ohnishi, A. Hace, K. Jezernik: “ Time-Delay Compensation by Communication Disturbance Observer for Bilateral Teleoperation Under Time-Varying Delay, " IEEE Trans. on Industrial Electronics, Vol. 57, No. 3, pp. 1050-1062,
2009/06H. Uchidate, R. Inoda, T. Tsuji, S. Abe: “Counting People and Recognition of Wheelchairs at Elevator Lobby by Real-time Image Processing, ” IEEJ Trans. on Industry Applications, Vol. 129-D, No. 6, pp. 578-584. (in Japanese)
2009/05T. Tsuji, Y. Kaneko, S. Abe: "Whole-body Force Sensation by Force Sensor with Shell-shaped End-effector, " IEEE Trans. on Industrial Electronics Vol. 56, No. 5, pp. 1375-1382
2009/02T. Tsuji, T. Hashimoto, H. Kobayashi, M. Mizuochi, K. Ohnishi: “A Wide-range Velocity Measurement Method for Motion Control, ” IEEE Trans. on Industrial Electronics, Vol. 56, No. 2, pp. 510-519
2009/01Y. Nishikawa, T. Tsuji, Y, Kaneko, S. Abe: “kdm-tree: A Region Splitting Tree Structure Suitable for Frequent Update of Moving Objects, ” The IEICE Trans. on information and systems, Vol. J92-D, No. 1, pp. 1-11. (in Japanese)
2009/01T. Hashimoto, S. Hiramatsu, T. Tsuji, H. Kobayashi: “Dynamic Display of Facial Expressions on the Face Robot with a Life Mask(Mechanical Systems), ” Trans. of the Japan Society of Mechanical Engineers, Vol.75, No.749, pp.113-121. (in Japanese)
2008/12S.Miyata, T. Tsuji, T. Hashimoto, H. Kobayashi: "Development of Pneumatic Artificial Muscle Manipulator with Feedforward and Feedback Control(Mechanical Systems)," Trans. of the Japan Society of Mechanical Engineers,Vol. 74, No. 748, pp. 3004-3011,2008(in Japanese)
2008/06H. Kobayashi, T. Tsuji, Y. Awano, K. Mizuno, H. Kawamura, Z. Onuki, and A. Ishimaru: "Development of the Breast Pump with a Baby-Like Peristaltic Motion, " Journal of Robotics and Mechatronics, Vol. 20, No. 3, pp. 456-465
2008/06T. Suzuki, M. Shibuya, K.Ohnishi, T. Tsuji: "ZMP Reference Trajectory Generation for Biped Robot based on Virutual Supporting Point," IEEJ Trans. on Industry Applications, Vol. 128-D, No. 6, pp. 687-693, 2008.(in Japanese)
2007/11T. Hashimoto, S, Hiramatsu, T. Tsuji, K. Ohnishi: "Research on Realistic Nod with Receptionist Robot SAYA That Has Human-like Appearance(Mechanical Systems)," Trans. of the Japan Society of Mechanical Engineers,Vol. 73, No.735, pp.3046-3054,2007.(in Japanese)
2007/11T. Tsuji, K. Ohnishi, A. Sabanovic: “A controller design method based on functionality, ” IEEE Trans. on Industrial Electronics. Vol. 54, No. 6, pp. 3335-3343
2007/09T. Tsuji, K. Ohnishi: "A Controller Design Method for Human-Assist Robot with Force Filtering Process," IEEJ Trans. on Industry Application,Vol. 127-D, No. 9, pp.1000-1008,2007.(in Japanese)
2007/06H. Kobayashi, T.Tsuji, Y,Awano, K.Mizuno, H. Kawamura ,Z. Onuki, A. Ishimura: "Development of the Breast Pump with a Baby-like Peristaltic Motion," Trans. of the Japan Society of Mechanical Engineers, Vol. 73, No. 730, pp. 1817-1826,2007.(in Japanese)
2007/06R.Kubo, A. Kato, T. Tsuji, K. Ohnishi: "A Structure of Bilateral Control Systems Based on Grasping/Manipulating Control Scheme," IEEJ Trans. on Industry Applications. Vol. 127-D, No. 6, pp. 563-570, 2007.(in Japanese)
2007/05E. Ohashi, T. Aiko, T. Tsuji, K. Ohnishi: “Collision Avoidance Method of Humanoid Robot with Arm Force, ” IEEE Trans. on Industrial Electronics, Vol. 54, No. 3, pp. 1632-1641
2007/04M. Mizuochi, T. Tsuji, K. Ohnishi: "Multirate Sampling Method for Acceleration Control System, " IEEE Trans. on Industrial Electronics, Vol. 54, No. 3, pp. 1462-1471
2006/08K. Nishimura, T. Tsuji, K.Ohnishi: "Sensorless Oscillation Control of a Suspended Load with Flywheels," IEEJ Trans. on Industry Applications. Vol. 126-D, No. 8, pp. 1119-1125, 2006.(in Japanese)
2006/05T.Tsuji, K.Natori, H.Nishi, K.Ohnishi: “Controller Design Method of Bilateral Control System, ”European Power Electronics and Drives Journal, Vol. 16, No. 2, pp.22-28
2006/05T.Tsuji, H.Nishi, K.Ohnishi: “A Controller Design Method of Decentralized Control System, ” IEEJ Trans. on Industry Applications, Vol. 126-D, No. 5, pp. 630-638 (FANUC FA & Robot Foundation Original Paper Award)
2006/03M. Mizuochi, T. Tsuji, H. Nishi ,K .Ohnishi: "Realization of Acceleration Control Using Multirate Sampling Method," IEEJ Trans. on Industry Applications, Vol. 241-D, No. 6, pp. 549-555, 2006.(in Japanese)(FANUC FA & Robot Foundation Original Paper Award)
2006/02K. Natori, T. Tsuji, T. Yakou, K. Ohnishi: "Bilateral Teleoperation through Networks ," IEEJ Trans. on Industry Applications, Vol. 126, No. 2, pp. 161-167, 2006.(in Japanese)
2005/06T. Tsuji, K. Ohnishi: "Oscillation Control of Suspended Load with Flywheels," IEEJ Trans. on Industry Applications, Vol. 125-D, No. 6, pp. 548-553, 2005.(in Japanese)
2004/06T. Tsuji, K. Ohnishi: "A Global Step Planning Method for Biped Robot Considering Obstacles," IEEJ Trans. on Industry Applications, Vol. 124-D, No. 6, pp. 549-555, 2004.(in Japanese)
2003/10D. Ito, T. Kageyama, J. Suzuki, T. Tsuji, M. Morisawa, K. Ohnishi: "A Design of Decentralized Control System in Unstructured Environment," IEEJ Trans. on Industry Applications, Vol. 123-D, No. 10, pp. 1219-1226, 2003.(in Japanese)
2002/11T. Tsuji, K. Ohnishi: "A Trajectory Planning of Biped Robot Taking Environment into Account," IEEJ Trans. on Industry Applications, Vol. 122-D, No.11, pp. 1076-1081, 2002.(in Japanese)

Proceeding Papers for International Conferences

2019/11M. Oikawa, K. Kutsuzawa, S. Sakaino, and T. Tsuji:“Admittance Control Based on Stiffness Ellipse for Collision Force Control of Object Manipulation,” the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), TuPS1.39, 2019.
2019/11K. Fujimoto, S. Sakaino, and T. Tsuji:“Time Series Motion Generation Considering Long Short-Term Motion,” the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), ThBT6.1, 2019.
2019/10T. Kitamura, Y. Hasegawa, S. Sakaino, and T. Tsuji:“Control Using High-carrier Frequency PWM in Functional Electrical Stimulation,”in proceedings of the 45th International Conference on Industrial Electronics, Control and Instrumentation (IECON2019), pp. 5218-5223, 2019.
2019/10R. Tamura, S. Sakaino, and T. Tsuji:“Development of compact high dynamic range six-axis force sensor with cross-arch structure,”in proceedings of the 45th International Conference on Industrial Electronics, Control and Instrumentation (IECON2019), pp. 3463-3468, 2019.
2019/10K. Sato, M. Oikawa, K. Kutsuzawa, S. Sakaino, and T. Tsuji:“Success/Failure Identification of Skill Movement by Neural Network Using Force Information,”in proceedings of the 45th International Conference on Industrial Electronics, Control and Instrumentation (IECON2019), pp. 3495-3500, 2019.
2019/05D. Okumura, S. Sakaino, and T. Tsuji:“Miniaturization of multistage high dynamic range six-axis force sensor,”The IEEE international Conference on Robotics and Automation (ICRA2019), pp. 4297--4302, 2019.
2019/03J.Tsunoda, S.Sakaino, and T. Tsuji:“Angle Measurement Using Moir`e Patterns Enlarging the Rotation in the Linear Motion,”The IEEE international Conference on Mechatronics (ICM2019), TTROB.
2019/03K. Kutsuzawa, S. Sakaino, and T. Tsuji:“Simultaneous Estimation of Contact Position and Tool Shape using Particle Filter,”the 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2019), SS3-6.
2019/03Y. Kato, S. Sakaino, and T. Tsuji:“Driving Support System with Using Haptic Bio Feedback through Steering Wheel,”the 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2019), TT7-4.
2019/03T. Kitamura, Y. Hasegawa, S. Sakaino, and T. Tsuji:“Estimation of Relationship between Stimulating Current and Exerted Force Considering Muscle Length,”the 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2019), SS3-1.
2018/10R. Koike, S. Sakaino, and T. Tsuji:“Hysteresis Compensation in Force/Torque Sensor based on Machine Learning,”The 44th International Conference on Industrial Electronics, Control and Instrumentation(IECON2018), pp. 2769-2774.
2018/10M. Kawazawa, S. Sakaino, and T. Tsuji:“High Backdrivability Control Based on Estimation of Shaft Torsion Using Load Side Angle Sensor,”The 44th International Conference on Industrial Electronics, Control and Instrumentation(IECON2018), pp. 5457-5462.
2018/10T. Kitamura, Y. Hasegawa, S. Sakaino, and T. Tsuji:“Estimation of Relationship between Stimulation Current and Force Exerted during Isometric Contraction,”The 44th International Conference on Industrial Electronics, Control and Instrumentation(IECON2018), pp. 5080-5085.
2018/10Y. Hasegawa, T. Kitamura, S. Sakaino, and T. Tsuji:“Bilateral Control of Two Finger Joints Using Functional Electrical Stimulation,”The 44th International Conference on Industrial Electronics, Control and Instrumentation(IECON2018), pp. 5433-5438.
2018/10K. Kutsuzawa, S. Sakaino, and T. Tsuji:“Sequence-to-Sequence Model forTrajectory Planning of Nonprehensile Manipulation Including Contact Model,”The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018), pp. 3648-3653.
2018/10T. Adachi, K. Fujimoto, S. Sakaino, and T. Tsuji:“Imitation Learning forObject Manipulation Based on Position/Force Information Using BilateralControl,”The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018), pp. 3648-3653.
2018/09Y. Okubo, J. Tsunoda, S. Sakaino, and T. Tsuji: “Desktop upper limb rehabilitation robot using omnidirectional drive gear, ” 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, 2018.
2018/09D. Furuta, K. Kutsuzawa, S. Sakaino, and T. Tsuji: “LSTM learning of inverse dynamics with contact in various enviroments, ” 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, 2018.
2018/03K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Deformation of Contact Motion by Neural Networks to Adapt for Various Environment Change, ” The 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2018), 2018.
2018/03J. Tsunoda, S. Sakaino, and T, Tsuji: “Development of an Angle Measurement System Using Monocular Camera and Moir`e Patterns, ” The 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2018), 2018.
2018/03K. Morito, J. Tsunoda, S. Sakaino, and T, Tsuji: “Reaction Force Observer Using Load Dependent Friction Model, ” The 15th International Workshop on Advanced Motion Control, 2018.
2018/03T. Okamoto, K. Kutsuzawa, S. Sakaino, and T, Tsuji: “Trajectory planning by variable length chunk of sequence-to-sequence using hierarchical decoder, ” The 15th International Workshop on Advanced Motion Control, 2018.
2018/03K. I, K. Umeda, K. Tsuda, S. Sakaino, and T, Tsuji: “Force Control of Electro-Hydrostatic Actuator Using Pressure Control Considering Torque Efficiency, ” The 15th International Workshop on Advanced Motion Control, 2018.
2017/12K. Tsuda, K. Umeda, S. Sakaino, and T. Tsuji: “Analysis on Rigidity of Hydraulic Hoses for Electro-hydrostatic Actuators, ” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 2828-2833, 2017.
2017/12K. Sekino, S. Sakaino, and T. Tsuji: “Frontal Posture Control of Jumping Biped Robot Using Stiffness Bias Control, ” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 6727-6732, 2017.
2017/12T. Kitamura, H. Mizoguchi, N. Mizukami, S. Sakaino, and T. Tsuji: “Chattering Reduction of Functional Electrical Stimulation with the Smith Compensator, ” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 7577-7582, 2017.
2017/12 R. Koike, S. Sakaino, and T. Tsuji: “Contact Point Estimation in Tactile Interface Using Particle Filter,” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 8267-8272, 2017.
2017/12 D. Furuta, K. Kutsuzawa, T. Okamoto, S. Sakaino, and T. Tsuji: “Model predictive control based deep neural network for dynamic manipulation,” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 5215-5220, 2017.
2017/12K. Kutsuzawa, S. Sakaino, and T. Tsuji: “Sequence-to-Sequence Models for Trajectory Deformation of Dynamic Manipulation, ” Proc. of the 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 5227-5232, 2017.
2017/07M. Sekiya and T. Tsuji: “Inverse Estimation of Multiple Muscle Activations Based on Linear Logistic Regression, ” Proc. 2017 IEEE International Conference on Rehabilitation Robotics (ICORR2017).
2017/06D. Okumura, S. Sakaino, and T. Tsuji: “Development of a multistage six-axis force sensor with a high dynamic range, ” The 26th IEEE International Symposium on Industrial Electronics(ISIE 2017).
2017/03K. Kutsuzawa, S. Sakaino, T. Tsuji: “Learning Identity Mapping of Trajectories by Sequence-to-Sequence Model with Time Series Chunking, ” in Proceedings of SAMCON 2017, SS2-1, 2017.
2017/03T. Kitamura, N. Mizukami, S. Sakaino, T. Tsuji: “Bilateral Control of Two-Link Human Arms Using Antagonist Muscle Stimulation, ” in Proceedings of SAMCON 2017, SS1-3, 2017.
2016/10S. Sakaino, T. Tsuji: “Oil leakage and friction compensation for electro-hydrostatic actuator using drive-side and load-side encoders, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
2016/10K. Kutsuzawa, S. Sakaino, T. Tsuji: “Estimation of individual force at three contact points on an end-effector by a six-axis force/torque sensor, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
2016/10N. Totsu, S. Sakaino, T. Tsuji: “Development of a desk-type tactile interface using force sensors and an acceleration sensor, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
2016/10K. Tsuda, S. Sakaino, T. Tsuji: “Bilateral Control between Electric and Electro-hydrostatic Actuators Using Feedback Modulator, ” The 42th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 16)
2016/10T. Kaneko, M. Sekiya, K. Ogata, S. Sakaino, T. Tsuji: “Force control of a jumping musculoskeletal robot with pneumatic artificial muscles, ” The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2016), pp. 5813-5818
2016/10K. Kutsuzawa, S. Sakaino, T. Tsuji: “Contact Force Estimation for Multiple Points of Contact, ” The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2016)
2016/10T. Okamoto, K. Kutsuzawa, S. Sakaino, T. Tsuji: “Trajectory Planning Method for Object Manipulation Considering Dynamic Constraint with Object, ” The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2016)
2016/08S. Itoh, K. Kubota, K. Ogata, T. Tsuji: “Exercise System for Eccentric Tibialis Anterior Contraction to Improve Ambulatory Function, ” The IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society(EMBC'16), pp. 5845-5848
2016/06J. Okuma, R. Matsuzaki, S. Sakaino, T. Tsuji: “Recognition of Contact Conditions by Robots Using Tools, ” The 2016 IEEE International Symposium on Industrial Electronics(ISIE2016)
2016/04T. Kitamura, N. Mizukami, S. Sakaino, T. Tsuji: “Bilateral Control Using Functional Electrical Stimulation with Reaction Torque Observer, ” The 2016 IEEE 14th International Workshop on Advanced Motion Control(AMC2016)
2016/04M. Sekiya, S. Itoh, K. Ogata, T. Tsuji: “Estimation of Lower-Extremity Muscle Forces by Using Task-Space Information, ” The 2016 IEEE 14th International Workshop on Advanced Motion Control(AMC2016)
2016/04Y. Hirabayashi, K. Ogata, Y. Hasegawa, T. Tsuji: “Consideration of Force Visualization for Hemiplegia Based on a Force Direction Teaching System, ” The 2016 IEEE 14th International Workshop on Advanced Motion Control(AMC2016)
2016/03S. Sakaino, T. Kitamura, T. Tsuji: “A New Possibility of Bilateral Control -Functional Electrical Stimulation-, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), IS1-3
2016/03H. Kitamura, S. Sakaino, T. Tsuji: “Development of chair-type tactile interface utilizing body motion, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), V-2
2016/03H. Mizoguchi, T. Kitamura, S. Sakaino, T. Tsuji: “Bilateral Control Using Functional Electrical Stimulation Considering Muscle Length, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), TT8-6
2016/03H. Kawajiri, S. Sakaino, T. Tsuji: “Determination of Torque Distribution Ratio for Front and Rear Wheels Independently Driven Bicycle, ” The IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization(SAMCON2016), TT5-4
2015/12N. Totsu, D. Okumura, S. Sakaino, T. Tsuji: “Development of a Haptic Cutting Board with a Force Visualization System, ” The 6th International Conference on Advanced Mechatronics(ICAM2015), 1P2-18
2015/12K. Kutsuzawa, S. Sakaino, T. Tsuji: “Estimation of Individual Contact Force when Two Contact Points Exist during Robotic Tool Use, ” The 6th International Conference on Advanced Mechatronics(ICAM2015), 1A1-24
2015/11S. Iwata, K. Ogata, S. Sakaino, T. Tsuji: “Specular Reflection Removal with High-Speed Camera for Video Imaging, ” The 41th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 15), pp. 1735-1740
2015/11T. Kitamura, S. Sakaino, T. Tsuji: “Bilateral Control Using Functional Electrical Stimulation, ” The 41th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 15), pp. 2336-2341
2015/11T. Seki, S. Sakaino, T. Tsuji: “A Method for Converting End Effectors of Various Forms into Tactile Interfaces, ” The 41th International Conference on Industrial Electronics, Control and Instrumentation(IECON' 15), pp. 1759-1764
2015/09T. Kaneko, K. Ogata, S. Sakaino, T. Tsuji: “Impact Force Control Based on Stiffness Ellipse Method Using Biped Robot Equipped with Biarticular Muscles, ” The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2015), pp. 2246-2251
2015/08S. Itoh, M. Sekiya, K. Ogata, T. Tsuji: “Ankle Training Robot Force Visualization for Eccentric Contraction Training, ” The 2015 IEEE International Conference on Rehabilitation Robotics(ICORR2015)
2015/03T. Tsuji: “Whole-body tactile sensing technique using force sensors fixed at supporting points, ” The 2015 IEEE International Conference on Robotics and Automation(ICRA2015)
2015/03S. Sakaino, T. Furuya, T. Tsuji: “Bilateral Control between Electric and Hydraulic ActuatorsTaking Oil Compression into Account, ” The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control, IS6-1
2015/03T. Tsuji, S. Itoh, Y. Hasegawa, T. Shimono: “Development of Upper Limb Rehabilitation Assistance System with Visualized Force Information, ” The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control, IS5-5
2015/03N. Tojo, T. Shimono, T. Tsuji, Y. Hasegawa, S. Ishii: “An Evaluation of Individual Physical Performance by Haptic Rehabilitation Robot, ” The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control, IS5-2
2015/03T. Tsuji, S. Sakaino: “Haptic Signal Processing of a Desk-Type Interface Using Force Sensors, ” The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control, IS4-5
2015/03H. Kawajiri, H. Mizoguchi, S. Sakaino, T. Tsuji: “Sensorless Pedaling Torque Estimation by Front and Rear Wheels Independently Driven Power Assist Bicycle, ” Proc. 2015 IEEE International Conference on Mechatronics, pp. 364-369
2015/03T. Tsuji, S. Itoh, S. Sakaino, Y. Hasegawa: “Development of an Upper Limb Rehabilitation Robot with Motion Guide Control by Pneumatic Artificial Muscles, ” Proc. 2015 IEEE International Conference on Mechatronics, pp. 426-431
2014/11T. Tsuji, N. Kurita, S. Sakaino: “Development of a desk-type tactile interface using force sensors, ” Proc. The 40th Int. Conf. on Industrial Electronics, Control and Instrumentation(IECON' 14), pp. 5248-5253
2014/09T. Tsuji, C. Momiki, S. Sakaino: “Development and Evaluation of an Operation Interface for Physical Therapy Devices Based on Rehabilitation Database, ” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3543-3548
2014/05R. Matsuzaki, J. Okuma, S. Sakaino, T. Tsuji: “Contact State Recognition Based on Haptic Signal Processing for Robotic Tool Use, ” Int. Power Electronics Conference (IPEC-Hiroshima 2014), pp. 1978-1983
2014/03T. Kaneko, S. Ito, S. Sakaino, T. Tsuji: “Haptic Data Compression for Rehabilitation Databases, ” Proc. IEEE Workshop on Advanced Motion Control (in press)
2014/03S. Sakaino, T. Tsuji: “Position/Force Decoupled Bilateral Communication without Force Controller in Slave Side by Using Multirate Control, ” Proc. IEEE Workshop on Advanced Motion Control (in press)
2013/11D. Takahashi, T. Furuya, S. Sakaino, T. Tsuji: “Experimental Evaluation of Bilateral Control of Velocity Control System Using Electric and Hydraulic Actuators, ” Proc. 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4118-4123
2013/11N. Kurita, H. Hasunuma, S. Sakaino, T. Tsuji: “Simplified Whole-Body Tactile Sensing System Using Soft Material at Contact Areas, ” Proc. of the 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4262-4267
2013/10T. Tsuji, C. Momiki, S. Sakaino: “Stiffness Control of a Pneumatic Rehabilitation Robot for Exercise Therapy with Multiple Stages, ” Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1480-1485
2013/08T. Tsuji, N. Kurita, M. Yamada, S. Sakaino, Y. Kaneko: “Rehabilitation Database Based on Haptic Signal Processing, ” Proc. IEEE Humanitarian Technology Conference 2013, pp. 13-18
2013/02R. Matsuzaki, M. Kamibayashi, S. Sakaino, T. Tsuji: “Classification of a Hybrid Control System for Robotic Tool Use, ” Proc. 2013 IEEE International Conference on Mechatronics, pp. 712-717
2012/10S. Sakaino, T. Tsuji: “An Extended Jacobian Matrix and Multirate Control for Bilateral Control between Different Time Resolution Systems, ” Proc. 38th Annual Conference of the IEEE Industrial Electronics Society, pp. 2656-2661
2012/10N. Kurita, S. Sakaino, T. Tsuji: “Whole-body Force Sensation by Force Sensor with End-effector of Arbitrary Shape, ” Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5428-5433
2012/10T. Tsuji, T. Yokoo, S. Sakaino: “High Bandwidth Attitude Control Based on Musculoskeletal System with Biarticular Muscles, ” Proc. 38th Annual Conference of the IEEE Industrial Electronics Society, pp. 5428-5433
2012/03T. Yokoo, S. Sakaino, S. Abe, T. Tsuji: “Development of a Physical Therapy Robot for Rehabilitation Databases, ” Proc. 12th IEEE International Workshop on Advanced Motion Control, pp. 1-6
2011/11T. Tsuji: “An image-correction method for specular reflection removal using a high-speed stroboscope, ” Proc. 37th Int. Conf. on Industrial Electronics, Control and Instrumentation (IECON'11), pp. 4498-4503
2011/05T. Tsuji, J. Arakawa: “Real-time personal identification based on haptic information, ” Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011), pp. 1354-1359
2010/11T. Tsuji, T. Yokoh, M. Kamibayashi: “Swimming Motion of a Lancelet Robot with Flexible Notochord Mechanism, ” The 8th France-Japan and the 6th Europe-Asia Congress on Mechatronics(MECATRONICS2010), pp. 421-424
2010/10R. Hanyu, T. Tsuji, S. Abe: “Command Recognition Based on Haptic Information for a Robot Arm, ” The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2010), pp. 4662-4667
2010/10T. Tsuji: “High-Speed Stroboscope for Specular Reflection Removal of DC Illumination, ” The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2010), pp. 2704-2709
2010/10T. Tsuji, R. Hanyu: “Fault Tolerance Measurement Using a Six-Axis Force/Torque Sensing System with Redundancy, ” The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2010), pp. 1890-1895
2010/07T. Tsuji: “Investigation of a Lancelet Robot with Tri-articular Muscle Mechanism, ” International Symposium on Application of Biomechanical Control System to Precision Engineering (ISAB2010), pp. 64-67
2010/05T. Tsuji, T. Ito: “Specular Reflection Removal on High-speed Camera for Robot Vision, ”The 2010 IEEE International Conference on Robotics and Automation (ICRA2010), pp. 1542-1547
2010/03R. Hanyu, T. Tsuji: “A Simplified Whole-Body Haptic Sensing System with Multiple Supporting Points, ”The 11th IEEE Int. Workshop on Advanced Motion Control (AMC'10), pp. 691-696
2010/03T. Tsuji, T. Ito: “A Model of Antagonistic Triarticular Muscle Mechanism for Lancelet Robot, ”The 11th IEEE Int. Workshop on Advanced Motion Control (AMC'10), pp. 496-501
2009/11T.Tsuji, T.Ito, 〝Application of a shell-Shaped Force Sensor to a Touch Panel Interface, " The 35th Int. Conf. on Industrial Electronics, Control and Instrumentation, IECON2009, pp. 4275-4280
2009/10 T. Tsuji, T. Ito: “Command Recognition by Haptic Interface on Human Support Robot, ”The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2009), pp. 3178-3183
2009/04T. Tsuji: “Impedance Control of Mobile Robot with Shell-shaped Force Sensor, ”The IEEE Int. Conf on Mechatronics (ICM2009), pp. 1-6 
2008/03N. Iiyama, K. Ohnishi, T. Tsuji: “An Approach to Estimate Velocity for Acceleration Control, ”10th IEEE Int. Workshop on Advanced Motion Control (AMC'08), pp. 687-692 
2007/08H. Kobayashi, H. Nozaki, T. Tsuji: “Development of Power Assist System for Caregiver by Muscle Suit, ” The 2007 IEEE International Conference on Mechatronics and Automation (IEEE ICMA2007), pp. 180-185
2007/08H. Kobayashi, H. Suzuki, H. Nozaki, T. Tsuji: “Development of Power Assist System for Manual Worker by Muscle Suit, ” 16th IEEE RO-MAN International Conference on Robot & Human Interactive Communication, pp. 332-337 
2007/08H. Kobayashi , T. Karato , T. Tsuji: “Development of Active Walker as a New Ortosis, ” The 2007 IEEE International Conference on Mechatronics and Automation (IEEE ICMA2007), pp. 186-191 
2007/08T. Hashimoto , S. Hiramatsu , T. Tsuji, H. Kobayashi: “Realization and Evaluation of Realistic Nod with Receptionist Robot SAYA, ” 16th IEEE RO-MAN International Conference on Robot & Human Interactive Communication, pp. 326-331 
2007/06T. Tsuji, H. Kobayashi: “Robust Acceleration Control Based on Acceleration Measurement Using Optical Encoder, ”The IEEE Int. Symp. on Industrial Electronics, (ISIE '07-Vigo), pp. 3108-3113
2006/10T. Hashimoto, S. Hiramatsu, T. Tsuji, H. Kobayashi: “Development of The Face Robot SAYA for Rich Fatial Expressions, ” SICE-ICCAS2006, pp. 5423-5428 
2006/10M. Ogata, T. Karato, T. Tsuji, H. Kobayashi, K. Irie: “Development of Active Walker by using Hart Walker, ” SICE-ICCAS2006, pp. 5406-5410 
2006/08T. Tsuji, M. Mizuochi, K. Ohnishi: “Technical Issues on Velocity Measurement for Motion Control, ” EPE-PEMC '06, pp. 326-331 
2006/06 T. Tsuji, S. Miyata, T. Hashimoto, H. Kobayashi: “Controller Design for Robot with Pneumatic Artificial Muscles, ” SICE-ICCAS2006, pp. 5419-5422 
2006/03T. Tsuji, K. Ohnishi, A. Sabanovic: “A Controller Design Method based on Functionality, ” The 9th Int. Workshop on Advanced Motion Control, AMC'06, pp. 171-176 
2006/03K. Natori, T. Tsuji, K. Ohnishi: “Time Delay Compensation by Communication Disturbance Observer in Bilateral Teleoperation Systems, ” The 9th Int. Workshop on Advanced Motion Control, AMC'06, pp. 218-223 
2006/03M. Mizuochi, T. Tsuji, K. Ohnishi: “Improvement of Disturbance Suppression based on Disturbance Observer, ” The 9th Int. Workshop on Advanced Motion Control, AMC'06, pp. 229-234 
2005/11M. Mizuochi, T. Tsuji, K. Ohnishi: “Force Sensing and Force Control Using Multirate Sampling Method, ” The 31st Int. Conf. on Industrial Electronics, Control and Instrumentation, IECON'05, pp. 1919-1924 
2005/11T. Suzuki, T. Tsuji, K. Ohnishi: “Trajectory Planning of Biped Robot for Running Motion, ” The 31st Int. Conf. on Industrial Electronics, Control and Instrumentation, IECON'05 , pp. 1815-1820 
2005/10T. Tsuji, M. Mizuochi, H. Nishi, K. Ohnishi: “A Velocity Measurement Method for Acceleration Control, ” The 31st Int. Conf. on Industrial Electronics, Control and Instrumentation, IECON'05, pp. 1943-1948
2005/06 K. Natori, S. Katsura, T. Tsuji, K. Ohnishi: “Analysis of Bilateral Systems with Time Delay, ” IEEE Int. Symp. on Industrial Electronics, ISIE 2005, pp. 1511-1516
2005/06M. Mizuochi, T. Tsuji, K. Ohnishi: “Multirate Sampling Method for Acceleration Control System, ” IEEE Int. Symp. on Industrial Electronics, ISIE 2005, pp. 1629-1634
2005/06T. Tsuji, K. Ohnishi: “A Design Method of Decentralized Control System Applying System Connection, ” IEEE Int. Symp. on Industrial Electronics, ISIE 2005, pp. 1769-1774 (ISIE Student Forum Paper First Prize)
2005/04T. Tsuji, K. Ohnishi: “A Controller Design Method of Decentralized Control System, ” IEEJ Int. Power Electronics Conf., IPEC-Niigata 2005, pp. 1378-1385
2004/12T. Tsuji, K. Ohnishi: “Position/Force Scaling of Function-based Bilateral Control System, ” IEEE Int. Conf. on Industrial Technology, ICIT ’04-Tunisia, pp. 96-101
2004/12M. Ikebe, T. Tsuji, Y. Sato, K. Tsuji, K. Ohnishi: “Pushing Motion of Humanoid Robot on Dynamic Locomotion, ” IEEE Int. Conf. on Industrial Technology, ICIT ’04-Tunisia, pp. 90-95 (ICIT’04-Tunisia Best Presentation Award)
2004/12E. Ohashi, T. Aiko, T. Tsuji, K. Ohnishi: “Collision Avoidance Method of Humanoid Robot with Arm Force, ” IEEE Int. Conf. on Industrial Technology, ICIT ’04-Tunisia, pp. 1057-1062 (ICIT’04-Tunisia Best Presentation Award)
2004/11K. Natori, T. Tsuji, K. Ohnishi, A. Hace, K. Jezernik: “Robust Bilateral Control with Internet Communication, ” The 30th Annual Conf. of the IEEE Industrial Electronics Society, IECON '04-Busan, pp. 2321-2326
2004/09 T. Tsuji, K. Natori, K. Ohnishi: “Controller Design Method of Bilateral Control System, ” The 11th Int. Power Electronics and Motion Control Conf., EPE-PEMC '04-Riga, Vol. 4, pp. 123-128 
2004/09M. Abdul, A. Kato, T. Tsuji, K. Ohnishi: “RTLinux based Real-time Control Cooperation through Internet Protocol, ” Mechatronics & Robotics 2004, MechRob 2004, pp. 117-122
2004/03T. Tsuji, A. Kato, K. Ohnishi, A. Hace, K. Jezernik: “Safety Control of Teleoperation System under Time Varying Communication, ” The 8th Int. Workshop on Advanced Motion Control, AMC'04-Kawasaki, pp. 463-468 
2003/12T. Tsuji, K. Ohnishi: “Mechanism of Attitude Control Device for Floating Object, ” The 10th IEEE Int. Conf. on Industrial Technology ICIT'03-Maribor, pp. 250-255
2002/11T. Tsuji, K. Ohnishi: “Global Step Planning of Dynamic Biped Locomotion Considering Obstacles, ” The 28th Int. Conf. on Industrial Electronics, Control and Instrumentation, IECON'02, pp. 2445-2450
2002/06T. Tsuji, K. Ohnishi: “A Control of Biped Robot which Applies Inverted Pendulum Mode with Virtual Supporting Point, ” The 7th Int. Workshop on Advanced Motion Control, AMC'02- Maribor , pp.478-483