2025
205.
Yusuke Kawashima, Ryuma Niiyama
Motion Assistance System for Telesports by Seamlessly Blending Manual and Automatic Throwing Controls Proceedings Article
In: IEEE/SICE International Symposium on System Integrations (SII), pp. 1318-1323 (FriP1T2.5), 2025.
Abstract | BibTeX | タグ: | Links:
@inproceedings{Kawashima2025_SII,
title = {Motion Assistance System for Telesports by Seamlessly Blending Manual and Automatic Throwing Controls},
author = {Yusuke Kawashima, Ryuma Niiyama},
doi = {10.1109/SII59315.2025.10871100},
year = {2025},
date = {2025-01-24},
urldate = {2025-01-24},
booktitle = {IEEE/SICE International Symposium on System Integrations (SII)},
pages = {1318-1323 (FriP1T2.5)},
abstract = {Telesport, which involves playing sports via avatar robots, has the potential to provide people with physical limitations with the chance to participate in sports, as it allows them to replace their bodies with robots. However, the delay in the teleoperation system makes real-time operation difficult, and it is challenging to operate the agile robot as intended. In this study, we focused on overhand throwing and treated the problem of it being difficult to throw the ball in the intended direction and speed using manual control. In order to accurately realise the agile movements that a user intends, we propose an assistance system that intervenes with automatic control based on the estimated future user's intent for manual control. Furthermore, this assistance system blends manual and automatic control seamlessly to prevent the user from feeling disconnected from the robot due to the intervention of automatic control. The assistance system was evaluated by measuring the direction and speed of the ball thrown overhand, and by assessing whether the user's intent was reflected. As a result, by making the assistance system effective, manual and automatic control were seamlessly blended, and it was confirmed that the throwing motion intended by the user was accurately reflected in the robot.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Telesport, which involves playing sports via avatar robots, has the potential to provide people with physical limitations with the chance to participate in sports, as it allows them to replace their bodies with robots. However, the delay in the teleoperation system makes real-time operation difficult, and it is challenging to operate the agile robot as intended. In this study, we focused on overhand throwing and treated the problem of it being difficult to throw the ball in the intended direction and speed using manual control. In order to accurately realise the agile movements that a user intends, we propose an assistance system that intervenes with automatic control based on the estimated future user's intent for manual control. Furthermore, this assistance system blends manual and automatic control seamlessly to prevent the user from feeling disconnected from the robot due to the intervention of automatic control. The assistance system was evaluated by measuring the direction and speed of the ball thrown overhand, and by assessing whether the user's intent was reflected. As a result, by making the assistance system effective, manual and automatic control were seamlessly blended, and it was confirmed that the throwing motion intended by the user was accurately reflected in the robot.
2024
206.
Yusuke Kawashima, Yoshiaki Abe, Takeru Hashimoto, Shunichi Kasahara, Ryuma Niiyama
AgiLimb: Embodied Agile Robotic Arm by Integrating Digital Reflex and Seamless Action Takeover Proceedings Article
In: pp. 1-2, 2024.
Abstract | BibTeX | タグ: | Links:
@inproceedings{nokey,
title = {AgiLimb: Embodied Agile Robotic Arm by Integrating Digital Reflex and Seamless Action Takeover},
author = {Yusuke Kawashima, Yoshiaki Abe, Takeru Hashimoto, Shunichi Kasahara, Ryuma Niiyama},
doi = {https://doi.org/10.1145/3681755.3688951},
year = {2024},
date = {2024-11-19},
urldate = {2024-11-19},
number = {2},
pages = {1-2},
abstract = {Performing sports skills with a human-operated robot is a challenging task. The key to human-robot-human (HRH) interaction is to combine the physical capabilities of a robot with the flexibility of a human. We developed the AgiLimb system to enable operators to transcend their own perceptual and physical abilities in a robotic experience while maintaining a sense of agency. The system introduced fast vision-based digital reflex to overcome the delay in human higher-order visual feedback. In addition, the system incorporates action takeover mechanism to improve the accuracy of the motion. The basis for agile motion is a quasi-direct-drive robot manipulator designed specifically for this application. In the demonstration, visitors will experience operating the AgiLimb system that moves and reacts like their own body.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Performing sports skills with a human-operated robot is a challenging task. The key to human-robot-human (HRH) interaction is to combine the physical capabilities of a robot with the flexibility of a human. We developed the AgiLimb system to enable operators to transcend their own perceptual and physical abilities in a robotic experience while maintaining a sense of agency. The system introduced fast vision-based digital reflex to overcome the delay in human higher-order visual feedback. In addition, the system incorporates action takeover mechanism to improve the accuracy of the motion. The basis for agile motion is a quasi-direct-drive robot manipulator designed specifically for this application. In the demonstration, visitors will experience operating the AgiLimb system that moves and reacts like their own body.
2021
202.
Yuhu Liu, Satoshi Nishikawa, Young ah Seong, Ryuma Niiyama, Yasuo Kuniyoshi
ThermoCaress: A Wearable Haptic Device with Illusory Moving Thermal Stimulation Proceedings Article
In: ACM Proceedings of the CHI Conference on Human Factors in Computing Systems（CHI）, pp. 1-12 (214), 2021.
Abstract | BibTeX | タグ: | Links:
@inproceedings{Liu2021_CHI,
title = {ThermoCaress: A Wearable Haptic Device with Illusory Moving Thermal Stimulation},
author = {Yuhu Liu, Satoshi Nishikawa, Young ah Seong, Ryuma Niiyama, Yasuo Kuniyoshi},
doi = {10.1145/3411764.3445777},
year = {2021},
date = {2021-05-10},
urldate = {2021-05-10},
booktitle = {ACM Proceedings of the CHI Conference on Human Factors in Computing Systems（CHI）},
number = {214},
pages = {1-12 (214)},
abstract = {We propose ThermoCaress, a haptic device to create a stroking sensation on the forearm using pressure force and present thermal feedback simultaneously. In our method, based on the phenomenon of thermal referral, by overlapping a stroke of pressure force, users feel as if the thermal stimulation moves although the position of temperature source is static. We designed the device to be compact and soft, using microblowers and inflatable pouches for presenting pressure force and water for presenting thermal feedback. Our user study showed that the device succeeded in generating thermal referrals and creating a moving thermal illusion. The results also suggested that cold temperature enhance the pleasantness of stroking. Our findings contribute to expanding the potential of thermal haptic devices.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We propose ThermoCaress, a haptic device to create a stroking sensation on the forearm using pressure force and present thermal feedback simultaneously. In our method, based on the phenomenon of thermal referral, by overlapping a stroke of pressure force, users feel as if the thermal stimulation moves although the position of temperature source is static. We designed the device to be compact and soft, using microblowers and inflatable pouches for presenting pressure force and water for presenting thermal feedback. Our user study showed that the device succeeded in generating thermal referrals and creating a moving thermal illusion. The results also suggested that cold temperature enhance the pleasantness of stroking. Our findings contribute to expanding the potential of thermal haptic devices.
207.
Yuta Horii, Katsuma Inoue, Satoshi Nishikawa, Kohei Nakajima, Ryuma Niiyama, Yasuo Kuniyoshi
Physical reservoir computing in a soft swimming robot Proceedings Article
In: Conference on Artificial Life（ALIFE）, pp. 92-100 (isal 2021; 92), 2021.
Abstract | BibTeX | タグ: | Links:
@inproceedings{Horii2021_ALIFE,
title = {Physical reservoir computing in a soft swimming robot},
author = {Yuta Horii, Katsuma Inoue, Satoshi Nishikawa, Kohei Nakajima, Ryuma Niiyama, Yasuo Kuniyoshi},
doi = {10.1162/isal_a_00426},
year = {2021},
date = {2021-07-19},
urldate = {2021-07-19},
booktitle = {Conference on Artificial Life（ALIFE）},
volume = {33},
pages = {92-100 (isal 2021; 92)},
abstract = {In recent years, swimming robots have been developed to achieve efficient propulsion and high maneuverability that are possessed naturally by fish. Previous studies have attempted to achieve swimming similar to fish by control based on physical models and top-down architectures, but have encountered problems due to the high complexity of the underwater environment. Several research works have tried to overcome these problems by exploiting embodiment—that is, by mimicking the physical properties of fish. To achieve more intelligent swimming from the perspective of the embodiment, we focused on a framework called physical reservoir computing (PRC). This framework allows us to utilize physical dynamics as a computational resource. In this study, we propose a soft sheet-like swimming robot and a PRC-based architecture that can be used to emulate swimming motions by exploiting its own body dynamics for closed-loop control. Through experiments, we demonstrated that our system satisfies the properties required for learning swimming motion through supervised learning. We also succeeded in robust motion generation and environmental state estimation, opening up future prospects for more intelligent robot control and sensing.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
In recent years, swimming robots have been developed to achieve efficient propulsion and high maneuverability that are possessed naturally by fish. Previous studies have attempted to achieve swimming similar to fish by control based on physical models and top-down architectures, but have encountered problems due to the high complexity of the underwater environment. Several research works have tried to overcome these problems by exploiting embodiment—that is, by mimicking the physical properties of fish. To achieve more intelligent swimming from the perspective of the embodiment, we focused on a framework called physical reservoir computing (PRC). This framework allows us to utilize physical dynamics as a computational resource. In this study, we propose a soft sheet-like swimming robot and a PRC-based architecture that can be used to emulate swimming motions by exploiting its own body dynamics for closed-loop control. Through experiments, we demonstrated that our system satisfies the properties required for learning swimming motion through supervised learning. We also succeeded in robust motion generation and environmental state estimation, opening up future prospects for more intelligent robot control and sensing.
2019
201.
Young Ah Seong, Ryuma Niiyama, Yoshihiro Kawahara, Yasuo Kuniyoshi
Low-pressure Soft Inflatable Joint Driven by Inner Tendon Proceedings Article
In: IEEE International Conference on Soft Robotics (RoboSoft), pp. 37-42, 2019.
Abstract | BibTeX | タグ: | Links:
@inproceedings{Seong2019_RoboSoft,
title = {Low-pressure Soft Inflatable Joint Driven by Inner Tendon},
author = {Young Ah Seong, Ryuma Niiyama, Yoshihiro Kawahara, Yasuo Kuniyoshi},
doi = {10.1109/ROBOSOFT.2019.8722764},
year = {2019},
date = {2019-04-15},
urldate = {2019-04-15},
booktitle = {IEEE International Conference on Soft Robotics (RoboSoft)},
pages = {37-42},
abstract = {We propose a soft inflatable joint for soft robots. The joint can work with low-pressure air pumped with a blower and is actuated by inner tendons. This blower-inflated structure consists of cylindrical links and joints made of the same soft material. A patch is installed around the pivot to secure the range of motion. We provide a theoretical model of the inflatable joint for comparison with the experimental data. We test inflatable joints with diameters of 0.3 and 0.4m with inner pressure of 100, 150 and 200Pa. The results show the relationship between the tension force, flexion angle, and position of the inner tendon under different pressure conditions. We find that the joint mechanism exhibits a recovery force proportional to the bending angle. This study provides a soft and lightweight inflatable joint mechanism integrated with internal tendons for soft robots.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We propose a soft inflatable joint for soft robots. The joint can work with low-pressure air pumped with a blower and is actuated by inner tendons. This blower-inflated structure consists of cylindrical links and joints made of the same soft material. A patch is installed around the pivot to secure the range of motion. We provide a theoretical model of the inflatable joint for comparison with the experimental data. We test inflatable joints with diameters of 0.3 and 0.4m with inner pressure of 100, 150 and 200Pa. The results show the relationship between the tension force, flexion angle, and position of the inner tendon under different pressure conditions. We find that the joint mechanism exhibits a recovery force proportional to the bending angle. This study provides a soft and lightweight inflatable joint mechanism integrated with internal tendons for soft robots.
204.
Yuki Nakamura, Izumi Karino, Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi
Control of Pneumatic Cylinders Using Iterative Linear Quadratic Regulator with Deep Local Linear Dynamics for Explosive Motions Proceedings Article
In: International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines（CLAWAR）, pp. 125-132, 2019.
Abstract | BibTeX | タグ: | Links:
@inproceedings{Nakamura2019_CLAWAR,
title = {Control of Pneumatic Cylinders Using Iterative Linear Quadratic Regulator with Deep Local Linear Dynamics for Explosive Motions},
author = {Yuki Nakamura, Izumi Karino, Shotaro Mori, Kazutoshi Tanaka, Satoshi Nishikawa, Ryuma Niiyama, Yasuo Kuniyoshi},
doi = {10.13180/clawar.2019.26-28.08.13},
year = {2019},
date = {2019-08-27},
urldate = {2019-08-27},
booktitle = {International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines（CLAWAR）},
pages = {125-132},
abstract = { Apneumatic actuator is an attractive option for creating explosive robotic motions, such as jumping and running, because of its high power-to-weight ratio and compliance. However, control of pneumatic actuators su ers from the nonlinear dynamics of air and system identi cation problems.
We propose a method combining deep-learning of local linear dynamics of the system and an iterative linear quadratic regulator (iLQR) for explosive motions by pneumatic robots. To verify the performance of the method, we performed a simple task to control the position and velocity of a one-degree-of-freedom slider driven by a push-pull pneumatic cylinder. The results show that the slider reached a target position with less than 1.4% error (3.5 mm against a 250 mm range of motion) with a task period of 0.5 s. The velocity was 1.09 m/s (starting from a negative position) and 0.551 m/s (starting from a positive position) against the target velocity of 1.00 m/s},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Apneumatic actuator is an attractive option for creating explosive robotic motions, such as jumping and running, because of its high power-to-weight ratio and compliance. However, control of pneumatic actuators su ers from the nonlinear dynamics of air and system identi cation problems.
We propose a method combining deep-learning of local linear dynamics of the system and an iterative linear quadratic regulator (iLQR) for explosive motions by pneumatic robots. To verify the performance of the method, we performed a simple task to control the position and velocity of a one-degree-of-freedom slider driven by a push-pull pneumatic cylinder. The results show that the slider reached a target position with less than 1.4% error (3.5 mm against a 250 mm range of motion) with a task period of 0.5 s. The velocity was 1.09 m/s (starting from a negative position) and 0.551 m/s (starting from a positive position) against the target velocity of 1.00 m/s
We propose a method combining deep-learning of local linear dynamics of the system and an iterative linear quadratic regulator (iLQR) for explosive motions by pneumatic robots. To verify the performance of the method, we performed a simple task to control the position and velocity of a one-degree-of-freedom slider driven by a push-pull pneumatic cylinder. The results show that the slider reached a target position with less than 1.4% error (3.5 mm against a 250 mm range of motion) with a task period of 0.5 s. The velocity was 1.09 m/s (starting from a negative position) and 0.551 m/s (starting from a positive position) against the target velocity of 1.00 m/s
2015
203.
Yuki Itotani, Tomoya Kikuno, Ryuma Niiyama, Yasuo Kuniyoshi
Scalable pneumatic actuator for easy creation of animated animal-shaped objects Proceedings Article
In: IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2489-2494, 2015.
Abstract | BibTeX | タグ: | Links:
@inproceedings{Itotani2015_ROBIO,
title = {Scalable pneumatic actuator for easy creation of animated animal-shaped objects},
author = {Yuki Itotani, Tomoya Kikuno, Ryuma Niiyama, Yasuo Kuniyoshi},
doi = {10.1109/ROBIO.2015.7419713},
year = {2015},
date = {2015-12-09},
urldate = {2015-12-09},
booktitle = {IEEE International Conference on Robotics and Biomimetics (ROBIO)},
pages = {2489-2494},
abstract = {We propose a simple compact pneumatic actuator that can be embedded in the joints of 3D articulated robotic objects and is scalable to the size of the joints. The main advantages of the proposed actuator are its enablement of interactive flopping movement control of real 3D robotic objects, and its simple design, fabrication method, and control process. The design process is facilitated by computer-aided joint detection, the fabrication method is simplified by digital fabrication such as 3D printing, and the control utilizes readily available modularized pneumatic control components and an interactive graphical user interface. We used the example of a cat to demonstrate the simple workflow for fabricating a robotic animal that uses the proposed actuator. The created robotic cat had five joints and used 10 actuators.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
We propose a simple compact pneumatic actuator that can be embedded in the joints of 3D articulated robotic objects and is scalable to the size of the joints. The main advantages of the proposed actuator are its enablement of interactive flopping movement control of real 3D robotic objects, and its simple design, fabrication method, and control process. The design process is facilitated by computer-aided joint detection, the fabrication method is simplified by digital fabrication such as 3D printing, and the control utilizes readily available modularized pneumatic control components and an interactive graphical user interface. We used the example of a cat to demonstrate the simple workflow for fabricating a robotic animal that uses the proposed actuator. The created robotic cat had five joints and used 10 actuators.