記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

The kinesthetic illusion (KI) is an illusion that when a suitable vibration stimulus is applied to tendons or muscles. In KI, the participants feel as if their stimulated tendons or muscles were stretched and their related limbs moves in the exteded direction. In the previous study, we investigated the effect of strengthening the moving image in the process of repeating experiments performed by naïve persons who have not experienced the KI so far. An experiment in which a vibration stimulus was applied to the Flexor Carpal Radius (FCR) muscle tendon of the right hand was repeated 5 times to confirm the training effect on KI, which was evaluated by the magnitude estimation method. In this study, we investigated the effect of the rubber hand illusion (RHI) on the KI with displaying a movie of the wrist extension movement on a display placed in front of the arm.

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記述言語：英語   掲載種別：研究論文（学術雑誌）

A tactile record and playback system will progress tactileology—a new cross-disciplinary field related to tactile sensations—as it will enhance its use in the instruction, archiving, and analysis of human manipulation. In this paper, we describe two key devices for achieving tactileology: a tactile sensor capturing human tactile sense (fingernail color sensor) and a robotic tactile sensor, both of which can detect not only normal force but also tangential force. This is beneficial because people manipulate objects and tools in various ways, such as grasping, picking, and rubbing. The fingernail color sensor registers the three-dimensional (3D) force applied to a fingertip by detecting the fingernail color change caused by blood distribution under the fingernail, which can be observed with green illumination and a miniature camera. Since detecting this color change is more complicated than using a robotic sensor, the relationships between the image and 3D force are learned using a convolutional neural network (CNN). In the robotic sensor, the 3D force applied to a robotic finger transforms into a bright area using an illuminated acrylic core, a rubber robotic finger skin, and a miniature camera. We measure normal force and tangential force by the brightness and movement of the bright area, respectively. Using a force gauge or an electronic scale for measurement, we perform a series of evaluation experiments. The experimental results show that the precision of both the fingernail color sensor and the robotic tactile sensor are sufficient for our system.

DOI： 10.3390/philosophies6030054

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

Time-evolving tactile sensations are important in communication between animals as well as humans. In recent years, this research area has been defined as “tactileology,” and various studies have been conducted. This study utilized the tactile Gestalt theory to investigate these sensations. Since humans recognize shapes with their visual sense and melodies with their auditory sense based on the Prägnanz principle in the Gestalt theory, this study assumed that a time-evolving texture sensation is induced by a tactile Gestalt. Therefore, the operation of such a tactile Gestalt was investigated. Two psychophysical experiments were conducted to clarify the operation of a tactile Gestalt using a tactile illusion phenomenon called the velvet hand illusion (VHI). It was confirmed that the VHI is induced in a tactile Gestalt when the laws of closure and common fate are satisfied. Furthermore, it was clarified that the tactile Gestalt could be formulated using the proposed factors, which included the laws of elasticity and translation, and it had the same properties as a visual Gestalt. For example, the strongest Gestalt factor had the highest priority among multiple competing factors.

DOI： 10.3390/philosophies6030060

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

Due to increasing demand for rehabilitation and therapy for cerebrovascular diseases, patients require advanced development of medical rehabilitation robots. In our laboratory, we focus on the formation capability of the substitute neural path caused by brain plasticity using the kinesthetic illusion (KI), which is effective for therapies using robots. In KI, people perceive an illusionary limb movement without an actual movement when a vibration stimulus is applied to a limb's tendons. In previous research, the optimal frequency that induces the maximum KI has a correlation factor of about 0.5 with the tendon's natural frequency when a human subject is in a state of laxity. However, we do not know whether the above finding can be applied to actual rehabilitation because muscles and tendons are sometimes in tonus during rehabilitation, a state that varies the natural frequency. In this study, we investigate the correlation between the optimal and natural frequencies of tendon by systematically changing their tension to clarify the effects on the illusion induced by the muscle and the tendon when they are in tonus. We identified a negative correlation between the optimal and natural frequencies when they are in tonus, although a positive correlation appeared when they are in laxity. This result suggests that KI's optimal frequency should be changed based on the degree of the tendon and muscle tonus. Therefore, our present findings provide a suitable vibration frequency that induces KI due to the degree of the tendon and muscle tonus during robot therapies.

DOI： 10.1017/S0263574721001107

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担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（研究会，シンポジウム資料等）

<p>To improve the tactile VR technology, we researched the haptic device technology that can provide the material feeling to the palm of hand. We adopted Velvet Hand Illusion (VHI), which is one of the tactile illusion phenomena, and tried to control this sensation. Since it is necessary to create the model of VHI mechanism, we tried to formulate it by applying law of pragnanz in Gestalt theory, which is famous for visual research, to VHI. In the formulation, we focused on the basic VHI stimulus in which two parallel lines (wires) reciprocated between the palms and formulated the VHI intensity by using the phase difference of two parallel lines movement and the speed difference of the two lines as explanatory variables. We conducted the psychophysical experiment and verified this formulation. It was found that our proposed model can explain the relationship between VHI intensity and the stimulus conditions when there was no velocity difference between the two lines. On the other hand, in the condition that included phase and velocity difference, our model explained the relationship between them in only large velocity difference condition. This result suggests that the phase difference and the velocity difference are interrelated, and we should clarify the relationship between them to improve the prediction accuracy of VHI in the future.</p>

DOI： 10.1299/jsmeiip.2021.iip1b2-4

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CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmeiip/2021/0/2021_IIP1B2-4/_pdf

記述言語：日本語   掲載種別：研究論文（研究会，シンポジウム資料等）

<p>In our previous study, we developed a fingernail color sensor capable of identifying the magnitude and direction of the force acted on fingers. The prototype is equipped with a small CMOS camera and green LEDs, and collected a dataset of vertical force and shear force acting on the index finger and fingernail color images using an electronic balance and a load cell. The dataset was trained by CNN to estimate forces from the images. In this study we produced individual CNN models, which learned individual fingernail color change data. RMSEs for nine human subjects were 0.12, 0.12 and 0.29 [N] for <i>F_x</i>, <i>F_y</i> and <i>F_z</i>, respectively. RMSEs of <i>F_x</i> and <i>F_y</i> are significantly smaller than those of previous studies.</p>

DOI： 10.1299/jsmemecj.2021.j162-02

CiNii Research

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

<p>To develop a tactile display, we focused on the Velvet Hand Illusion (VHI), which is a tactile illusion phenomenon. The most important feature of VHI is that VHI is not generated in one wire but is generated in two or more wires. This means that we recognize the area surrounded by wires as a Gestalt and a smooth surface sensation is generated in the Gestalt. We assume that the VHI mechanism is related to the law of closure and the law of common fate in Gestalt theory. In this paper, we investigate the relationship between VHI and the law of closure by means of variation in a phase difference of two wires' cyclic movement, and formulate VHI variation, taking into account the law of closure. We try to divide the law of closure into two factors: one of them is a factor of translation and the other is a factor of elasticity. We formulate the tactile Gestalt and verify the validity of this formulation by comparing the result of the psychophysical experiment to the estimation via the formulation. This work shows that the law of closure in the tactile Gestalt consists of the translation factor and the elasticity factor, and the VHI mechanism is described by the formulation of the tactile Gestalt.</p>

DOI： 10.1299/jamdsm.2020jamdsm0088

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その他リンク： https://ci.nii.ac.jp/naid/130007882189

記述言語：日本語   掲載種別：研究論文（研究会，シンポジウム資料等）

<p>There is an illusion phenomenon called Velvet Hand Illusion (VHI), in which two steel wires are sandwiched between both hands and rubbed back and forth to create a smooth sensation on the palm. In order to quantitatively evaluate the touch feeling of VHI, a series of psychophysical experiments was performed using the SD method and factor analysis to obtain the psychophysical dimension of tactile perception. As a result, it was found that the difference in VHI sensation between the dot-matrix VHI and the wire VHI was caused by the influence of each stimulating material. It was also clarified that VHI was a phenomenon caused by integration rather than lateral inhibition.</p>

DOI： 10.1299/jsmemecj.2020.j16204

CiNii Article

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmemecj/2020/0/2020_J16204/_pdf

記述言語：日本語   掲載種別：研究論文（研究会，シンポジウム資料等）

<p>The kinesthetic illusion (KI) is an illusion that when a suitable vibration stimulus is applied to tendons or muscles, the stimuli tend to feel as if the stimulated tendons or muscles were stretched to move related limbs. In the previous study, we investigated the process of strengthening the moving image in the process of repeating experiments performed by naïve persons who have not experienced the motion illusion so far. An experiment in which a vibration stimulus was applied to the Flexor Carpal Radius (FCR) tendon of the right hand was repeated 5 times to confirm the training effect on KI, which was evaluated by the magnitude estimation method. In the present study, we investigated the effect of the rubber hand illusion (RHI) on the KI with displaying a movie of the wrist extension movement on a display placed in front of the arm.</p>

DOI： 10.1299/jsmemecj.2020.j16202

CiNii Article

CiNii Research

その他リンク： https://www.jstage.jst.go.jp/article/jsmemecj/2020/0/2020_J16202/_pdf

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2019 IEEE. VHI (Velvet Hand Illusion) is an illusion phenomenon to make someone feel a smooth sensation like velvet fabric and it is expected to be applied to haptic devices. To achieve this goal, it is very important to elucidate the mechanism of VHI. In this research, we investigate whether the brain activation related to VHI can be measured with NIRS. As a result, it is confirmed that the right middle frontal gyrus plays an important role in illusion occurrence which is same as the previous fMRI research.

DOI： 10.1109/MHS48134.2019.9249323

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2019 IEEE. To develop devices of neurorehabilitation for the stroke patients, we focus on the Kinesthetic Illusion (KI), which is a proprioceptive illusion phenomena. In KI, we feel the joint movement sensation without actual movement, when the vibrating stimulation is applied to a specific tendon. In KI research, it is very important to clarify the optimal condition to induce the stronger illusion, which has not yet been clarified. In this study, we try to clarify the optimal condition for inducing KI from the view point of vibration engineering. This result will contribute toward development of a new mechatronics system inducing KI. In order to the abovementioned investigation, we assume that there is an important relationship between a natural frequency of the specific tendon and the optimal frequency for KI. We focus on the tendon of the Flexor Carpi Radialis muscle (FCR) which is related to the wrist joint movement in the extended direction and conduct a series of psychophysical experiments. As a result, a correlation of R = 0.50 is found between the optimal frequency for KI and a natural frequency of the tendon. This result demonstrates that the joint moving sensation of limbs can be controlled through a basic vibrating stimulation to induce KI by means of applying the natural frequency of the specific tendon.

DOI： 10.1109/AIM.2019.8868657

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記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）

DOI： 10.4139/sfj.70.127

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その他リンク： http://id.ndl.go.jp/bib/029565280

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2019 IEEE. Smoothness is one of the important factors in controlling texture sensation in tactile VR. In previous research, the authors utilized Velvet Hand Illusion (VHI), which is a tactile illusion phenomena, to generate a smooth texture on a dot-matrix display. Since the dot-matrix display can generate arbitrary figures, we are attempting to evaluate our new hypothesis of the VHI mechanism using this display. In our hypothesis, a cognitive mechanism called Gestalt grouping [3] is related to VHI occurrence. If tactile Gestalt were elucidated, we could understand the tactile sensation mechanism deeply and the various devices would be developed in the VR research field. In this paper, we investigate the relationship between tactile Gestalt and VHI through psychophysical experiments. In these experiments, the appearance intensity of tactile Gestalt is controlled by means of density and length of the lines formed on the dot-matrix display. It is concluded that the law of closure stated in the principle of Prägnanz is an essential condition related to tactile Gestalt to generate VHI.

DOI： 10.1109/VR.2019.8798033

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（学術雑誌）

© 2019 The Japan Society of Mechanical Engineers In haptic virtual reality (VR), there are two important challenges: one is the difficulty of reproducing a surface feeling with haptic devices, and the other is the presentation method used for the display. We developed a tactile mouse using palm presentation for the former challenge to tackle the issue, “which tactile perception is superior for texture recognition, active or passive touch?” In a psychophysical experiment, two oblique edges of dot-patterns are presented consecutively as simple textures, and human subjects compare them to determine which is larger. We evaluated the precision of perception using the difference threshold of the edge angles calculated by the constant stimuli method. Experimental results show that the perception precision at low edge movement speeds (45 and 90 mm/s) was higher than that at high speeds (130 and 170 mm/s), and moreover, that there was no significant difference in precision of the edge angle perception between active and passive touches. The former finding seems to be caused by how well the mechanoreceptive unit handles uneven surfaces. The latter finding is due to the mechanism of the efference copy of a motor signal provided from the motor cortex not having a significant influence on texture recognition. The tactile image deterioration induced by the object movement might be compensated for with information processing in the central nervous system, which keeps stable tactile image without help from the efference copy. This work contributes to developing the haptic device which provides visually impaired persons with the tactile map.

DOI： 10.1299/jamdsm.2019jamdsm0051

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記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）

<p>　Actuation provides motion control of an object and acquires reaction force as <i>information</i> through the <i>motion</i>. We advocate a new network structure called informotion, which is a coin combining information and motion to express those intrinsic characteristics possessed by actuation. After we will summarize <i>informotionology</i> which becomes one of academic fields of the informotion, we will progress the control method of informotion network systems causing complex systems’ behavior due to variety of actuators, and then we introduce emotion control, which is one of the most effective applications of the informotion network. Using variety of actuators we will control human emotion such as comfort feeling, courage and confidence. In this report, we describe two examples. One of them is Kinesthetic Illusion (KI) inducing movement feeling of limbs, which is controlled through vibration caused by a voice coil motor. KI has a possibility to enhance peaceful feeling on distal radius fracture patients. The other is Velvet Hand Illusion (VHI) inducing soft and smooth virtual surfaces, which is controlled through an array of piezoelectric ceramic actuators. VHI strength is related to integration processing of information in brain followed through Gestalts.</p>

DOI： 10.14243/jsaem.27.383

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その他リンク： http://id.ndl.go.jp/bib/030144643

担当区分：筆頭著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）

<p>Smoothness is one of the important factors in controlling texture sensation in tactile VR. In previous research, we created the feeling of smoothness by utilizing Velvet Hand Illusion (VHI) which is one tactile illusion phenomenon. We adopted a dot-matrix display as a haptic device to clarify that VHI can be created in the dot-matrix display with the two parallel moving lines formed by the stimulus pins. From this result, it was clarified that we can perceive apparent motion in tactile sensation as well as visual sensation. In our more recent research we focus on the tactile Gestalt which consists of the two parallel moving lines. The tactile Gestalt is different from the visual Gestalt because we can recognize not only shapes such as a letter and a figure, but also smoothness in the tactile Gestalt. Since the dot-matrix display can create various dot patterns, it is possible to clarify the condition of the tactile Gestalt to generate VHI feeling. Therefore, in this research, we aim to clarify the basic characteristics of tactile Gestalt using the dot-matrix display. We investigate the relationship between the pins distance forming a line and VHI occurrence, and the absolute threshold of line length which is the trigger to generate VHI. As a result, the threshold of the distance between pins forming the line coincides with two point threshold of the palm. Also, the absolute threshold of the parallel line length is about 28 mm.</p>

DOI： 10.18974/tvrsj.24.1_43

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CiNii Research

記述言語：日本語   掲載種別：記事・総説・解説・論説等（学術雑誌）

<p>In this paper, to put this research in context, we first provide a brief survey of the internet of things (IoT) and IoT-like networks. We then introduce our new actuator-sensor network, which is capable of obtaining environmental information through actuator movement configurations which rely on tribological contact. We coin a new word "informotion" which integrates "information" and "motion" to express the abovementioned situation; networks composed of informotion elements are called informotion network systems (INS), the controls of which are based on bio-inspired rules. As an example of INS developed in our laboratory,we introduce an actuator array capable of controlling smooth tactile feeling using the velvet hand illusion. If we accumulate adequate successful findings related to feeling control generated by INS, in future work we will work to increase the ease or comfort for individuals manipulating mechanical or robotic systems by improving the smoothness of tactile feel.</p>

DOI： 10.18914/tribologist.63.09_580

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その他リンク： http://id.ndl.go.jp/bib/029264331

担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2018 IEEE. To enhance the reality of touch feeling in VR, one effective presentation is the texture sensation of a virtual object. Although the texture sensation makes persons perceive a virtual object to be a real one, research on texture sensation has not always progressed due to the difficulty of developing a stimulus presentation device. To compensate for this hardware problem, we focus on the Velvet Hand Illusion (VHI), which is one of the tactile illusion phenomena, as a method of presenting texture sensation. In our previous study, VHI was generated by a tactile display using a refreshable braille display (dot-matrix display). Since the dot-matrix display can provide various dot patterns through combinations of stimulus-pin protrusions, it can be applied to clarify the essential stimulus conditions for VHI through a series of psychophysical experiments. We expect to obtain the essential conditions for VHI, which will then become the fundamentals of the VHI model. In the psychophysical experiments, two parallel lines formed by the dot-matrix display were reciprocated on the subject's palm. First, we investigated the relationship between the interval of pins forming lines and the VHI strength. Second, we investigated the relationship between the length of two parallel lines and the strength of VHI. As a result, VHI hardly occurred when the interval between pins forming lines was more than a two-point threshold. Consequently, it was clarified that the sensation of touching a line is an essential condition for VHI and that line length of 29 mm is the absolute threshold of VHI.

DOI： 10.1109/CIVEMSA.2018.8439948

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. We develop a new rehabilitation device that combines the effects of two illusions: The kinesthetic illusion (KI) and the rubber hand illusion (RHI). We investigate whether KI can be reinforced with RHI where the former is caused by applying the oscillator's vibration to the flexor carpi radialis muscle (FCR) of a right hand. RHI is caused by showing moving images of a right hand overlapped on the subject's hand through a display pad. The illusion's vividness is induced in the right hand was represented by the left hand and measured by a rotary encoder, which can measure the joint angle of the flexion and the extension motion of the right wrist. We conducted experiments that quantitatively compared the KI strength that was reinforced by the visual stimulus with the pure KI strength, where the enhanced KI strength was about 1.4 to 1.5 times stronger than the unenhanced KI.

DOI： 10.1109/MHS.2017.8305179

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2017 IEEE. We developed a tactile mouse that presents convex dot-patterns on a human palm to obtain the design parameters of haptic devices for virtual reality (VR). In a tactile VR study, we focused on the following issue, 'which tactile perception is superior, active or passive touch?', because it is related to the design of haptic devices that can present detailed information in tactile VR. This study evaluates the differences in perception precision between active and passive touch to clarify the best presentation method in VR through a series of psychophysical experiments using a tactile mouse. Since the presentation precision of virtual figures depends on the sharpness of the edges generated by dot-patterns, our experiment subjects evaluate the slope of the oblique edges. In a psychophysical experiment, two oblique edges of dot-patterns are presented consecutively and subjects compare them to determine which is larger. We evaluate the perception precision using the difference threshold of the edge angles calculated by the simplified constant stimuli method. Experimental results show that the perception precision at low speed (45 and 90 mm/s) of edge movement is better than at high speed (130 and 170 mm/s) and also that there is no significant difference between active and passive touching.

DOI： 10.1109/IRIS.2017.8250103

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記述言語：英語   掲載種別：研究論文（学術雑誌）

© 2018 Japanese Society of Tribologists. All Rights Reserved. In this paper, to put this research in context, we first provide a brief survey of the internet of things (IoT) and IoT-like networks. We then introduce our new actuator-sensor network, which is capable of obtaining environmental information through actuator movement configurations which rely on tribological contact. We coin a new word "informotion" which integrates "information" and "motion" to express the abovementioned situation; networks composed of informotion elements are called informotion network systems (INS), the controls of which are based on bio-inspired rules. As an example of INS developed in our laboratory, we introduce an actuator array capable of controlling smooth tactile feeling using the velvet hand illusion. If we accumulate adequate successful findings related to feeling control generated by INS, in future work we will work to increase the ease or comfort for individuals manipulating mechanical or robotic systems by improving the smoothness of tactile feel.

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

Copyright © 2018 ASME. In this research, as a different approach to the conventional one which enhances the performance with hardware of a haptic device, we adopt another approach to make the brain feel as if the person is touching the real thing via an illusion. Thus, we study Velvet Hand Illusion (VHI) which is an illusionary phenomenon concerning tactile touch. In VHI, a hexagonal wire mesh is sandwiched between both hands and rubbing the wire mesh without relative motion between both hands generates a smooth feeling, like velvet. The brain activation at this time is measured by PocketNIRS, which contains two channels measuring the bilateral prefrontal cortex. We obtained the result that the prefrontal cortex was activated to roughly two times larger when VHI occurred than when touching real velvet fabric. Since different responses can be obtained in the prefrontal cortex during brain activation between real velvet and VHI, it is possible to use pocketNIRS for the evaluation of VHI.

DOI： 10.1115/ISPS-MIPE2018-8540

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担当区分：筆頭著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）

© 2017 Proceedings of the International Display Workshops. All rights reserved. A kinesthetic illusion (Kl) is a psychological phenomenon caused by applying appropriate vibration to a specific tendon through the skin. This vibration causes a person to perceive that his joint is moving, even if there is actually no movement. In this study, we investigate how rubber hand illusion (RHI) effect increases the degree of Kl by stimulating the right wrist flexor group of human subjects to cause Kl and RHI in a series of psychophysical experiments. Since the optimum sight stimulation of RHI induces Kl, we use the maximum extension angle and the speed of the wrist movies to investigate the RHI influence on Kl using a paired comparison method. Since a significant difference was observed in the Kl degree rated by subjects if the movie of the extended wrist was presented to subjects, the visual stimulus reinforces the kinematic illusion.

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記述言語：英語   掲載種別：研究論文（学術雑誌）

© SAGE Publications Ltd, unless otherwise noted. Manuscript content on this site is licensed under Creative Commons Licenses. To enhance virtual reality (VR) generated by tactile displays, we have focused on a novel tactile illusion, called the Velvet Hand Illusion (VHI). In VHI, moving two parallel wires back and forth between the two hands leads humans to perceive a velvet-like surface between their hands. In earlier studies, we revealed that the intensity of VHI could be controlled by a ratio (r/D), where r and D are the wire stroke and wire distance, respectively. According to these findings, we investigate in this study whether a common tactile display is able to produce VHI, and whether the ratio can also control VHI intensity. We prepare a dot-matrix display as a tactile display in which moving one line of the display's pins is considered as a wire pattern. We investigate the VHI intensity with regard to changing the stroke r and the line distance D using paired comparison. Experimental results show that the VHI intensity is increased or decreased by changing r and D. We conclude that VHI can be created by the tactile display, and the intensity of VHI is controlled by changing the ratio of r/D.

DOI： 10.1177/1729881416658170

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開催期間： 2023年01月25日 - 2023年01月27日   記述言語：英語   開催地：Online  

開催期間： 2022年12月14日 - 2022年12月16日   記述言語：英語   国名：日本国  

開催期間： 2022年08月28日 - 2022年08月31日   記述言語：英語  

開催期間： 2022年08月28日 - 2022年08月31日   記述言語：英語   開催地：Nagoya University  

開催期間： 2022年03月07日 - 2022年03月08日   記述言語：英語   開催地：オンライン   国名：日本国  

開催期間： 2022年03月07日 - 2022年03月08日   記述言語：英語   開催地：オンライン  

開催期間： 2022年03月07日 - 2022年03月08日   記述言語：英語   開催地：オンライン  

開催期間： 2022年01月25日 - 2022年01月27日   記述言語：英語   開催地：Online   国名：日本国  

開催期間： 2021年09月08日   記述言語：日本語  

開催期間： 2021年03月08日   記述言語：日本語  

開催期間： 2021年01月21日   記述言語：英語  

開催期間： 2020年12月   記述言語：英語  

開催期間： 2020年09月16日   記述言語：日本語  

開催期間： 2020年09月14日   記述言語：日本語  

開催期間： 2020年09月14日   記述言語：日本語  

開催期間： 2019年12月   記述言語：英語  

開催期間： 2019年07月   記述言語：英語  

開催期間： 2019年04月25日   記述言語：英語  

開催期間： 2019年04月25日   記述言語：英語  

開催期間： 2019年03月27日   記述言語：英語  

開催期間： 2018年08月30日   記述言語：英語  

開催期間： 2018年06月12日   記述言語：英語