研究者詳細 - 和田　親宗

論文 - 和田　親宗

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Development of Axillary Pressure Feedback System for Crutch Walking 査読有り国際誌

Chikamune Wada, Takayuki Nagasaki

39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society Paper FrBT16.2 2017年07月

Auto-grasping algorithm of robot gripper based on pressure sensor measurement 査読有り国際誌

Almassri A., Wada C., Wan Hasan W., Ahmad S.

Pertanika Journal of Science and Technology 25 ( S ) 113 - 122 2017年02月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017 Universiti Putra Malaysia Press. This paper presents an auto grasping algorithm of a proposed robotic gripper. The purpose is to enhance the grasping mechanism of the gripper. Earlier studies have introduced various methods to enhance the grasping mechanism, but most of the works have not looked at the weight measurement method. Thus, with this algorithm, the weight of the object is calculated based on modified Wheatstone Bridge Circuit (WBC) which is controlled by programmable interface controller (PIC) method. Having this approach introduces and improves the grasping mechanism through an auto grasping algorithm. Experimental results show that an auto grasping algorithm based on pressure sensor measurements leads to a more precise grasping measurement and consequently enhance the sensitivity measurement as well as accurate movement calibration. Furthermore, several different grasping objects based on the proposed method are examined to demonstrate the performance and robustness of our approach.

Scopus

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Artificial Neural Network Based Step-Length Prediction Using Ultrasonic Sensors from Simulation to Implementation in Shoe-Type Measurement Device 査読有り

Romy Budhi Widodo, Chikamune Wada

Journal of Advanced Computational Intelligence and Intelligent Informatics 21 ( 2 ) 321 - 329 2017年02月

Study of the Relationship Between Sit-to-Stand Activity and Seat Orientation 査読有り

Chikamune Wada, Shuichi Ino

Journal of Advanced Computational Intelligence and Intelligent Informatics 21 ( 2 ) 337 - 341 2017年02月

Real-time human motion analysis and grasping force using the OptiTrack system and flexi-force sensor 査読有り国際誌

Saidon N., Wada C., Ahmad S., Rahman R., Eguchi K., Tomiyama Y., Rahman F.

Pertanika Journal of Science and Technology 25 ( S ) 69 - 76 2017年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017 Universiti Putra Malaysia Press. Biologically inspired robotic hands have important applications in industry and biomedical robotics. The grasping capacity of robotic hands is crucial for a robotic system. This paper presents an experimental study on the finger force and movements of a human hand during the grasping operation in real-time. It focuses on two topics; measuring grasping force using Flexi-force sensors and analysing human hand action during grasping operation. The findings show that lifting required higher forces compared with grasp force in the static phase.

Scopus

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An estimation of knee and ankle joint angles during extension phase of standing up motion performed using an inertial sensor 査読有り

Jin F., Nagasaki T., Wada C.

Journal of Physical Therapy Science ( 理学療法科学学会 ) 29 ( 7 ) 1171 - 1175 2017年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

© 2017 The Society of Physical Therapy Science. Published by IPEC Inc. [Purpose] Motion capture system is difficult to use in daily life. The aim of this study was to propose an estimation model for knee and ankle joint angle measurements and locate body center of gravity (COG) of the extension phase during standing-up motion. [Subjects and Methods] Seven healthy male volunteers were enrolled. An estimation model was proposed for the knee and ankle joint angle measurements by combining the angle and acceleration of the trunk, based on readings from the inertial sensor attachment on the subject’s chest, during the extension phase. Joint angles and COG position were compared to those obtained by a motion capture system. [Results] The joint angles and COG position demonstrated high correlation coefficients which represent strong correlation between the proposed model and the motion capture system. The proposed model could estimate the joint angle during extension phase, with a maximum error of 4.58 degrees, as well as COG position in the horizontal and vertical directions with maximum errors of 4.48 cm and 3.19 cm, respectively. [Conclusion] The proposed system could be used instead of motion capture system to estimate knee and ankle joint angles; however, the estimation of the COG position was insufficient because of lacked accuracy.

DOI： 10.1589/jpts.29.1171

Scopus

CiNii Article

CiNii Research

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Attitude Estimation using Kalman Filtering: External Acceleration Compensation Considerations 査読有り国際誌

Romy B. Widodo, C. Wada

Journal of Sensors 2016 Article ID 6943040 2016年12月

担当区分：最終著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Attitude estimation is often inaccurate during highly dynamic motion due to the external acceleration. This paper proposes extended Kalman filter-based attitude estimation using a new algorithm to overcome the external acceleration. This algorithm is based on an external acceleration compensation model to be used as a modifying parameter in adjusting the measurement noise covariance matrix of the extended Kalman filter. The experiment was conducted to verify the estimation accuracy, that is, one-axis and multiple axes sensor movement. Five approaches were used to test the estimation of the attitude: (1) the KF-based model without compensating for external acceleration, (2) the proposed KF-based model which employs the external acceleration compensation model, (3) the two-step KF using weighted-based switching approach, (4) the KF-based model which uses the threshold-based approach, and (5) the KF-based model which uses the threshold-based approach combined with a softened part approach. The proposed algorithm showed high effectiveness during the one-axis test. When the testing conditions employed multiple axes, the estimation accuracy increased using the proposed approach and exhibited external acceleration rejection at the right timing. The proposed algorithm has fewer parameters that need to be set at the expense of the sharpness of signal edge transition.

DOI： 10.1155/2016/6943040

Scopus

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Wearable Robotic Hand Glove System Based on Multi Force Sensors for Rehabilitation Application 査読有り

Ahmed M. Almassri, W. Z. Wan Hasan, Chikamune Wada

Fourth International Symposium on Applied Engineering and Sciences (SAES2016) 87 2016年12月

Analysis of Foot Plantar Pressure using Platform System for Foot Health Screening 査読有り

A.M.M. Ghazali, W.Z.W. Hasan, M.N. Hamidun, S.A. Ahmed and C. Wada

Fourth International Symposium on Applied Engineering and Sciences (SAES2016) 89 2016年12月

Estimation of lower limb angle from inertial sensor to estimate extension phase during standing-up movement 査読有り

Fang Jin, Chikamune Wada

Fourth International Symposium on Applied Engineering and Sciences (SAES2016) 91 2016年12月

Improvement Study on a Shoe-type Measurement Device 査読有り

Romy Budhi Widodo, Chikamune Wada

Fourth International Symposium on Applied Engineering and Sciences (SAES2016) 92 2016年12月

Analysis of pressure exerted on the hand grip to estimate the pressure applied to the palm during double-crutch walking 査読有り

T. Nagasaki, H. Kato, H. Arizono, T. Onda, T. Oda, C. Wada

Fourth International Symposium on Applied Engineering and Sciences (SAES2016) 93 2016年12月

Trial Manufacture of Grasping Force Feedback System Using Pressure Stimulus for Prosthesis Limb 査読有り

Junya Hirakawa, Chikamune Wada

Fourth International Symposium on Applied Engineering and Sciences (SAES2016) 177 2016年12月

Physical Measurement for Human Assistive Technology 招待有り査読有り国際誌

Chikamune Wada

International Conference on Communication and Computing Systems2016 2016年09月

Estimating the Initial Trunk Angle for a Standing-Up Motion Guidance System Using an Inertial Sensor 査読有り

Chikamune Wada

International Workshop on Smart Info-Media Systems in Asia 2016 Paper ID: SS6-1 2016年09月

Development of Devices to Measure Loads on Care-Receivers’ Lower Limbs on Assisted Transfer 査読有り

Sota Nakano, Chikamune Wada

SICE Annual Conference 2016 Paper ID: Th2aPo4.8 2016年09月

Simulation of Ultrasonic Sensors in a Shoe-Type Measurement Device 査読有り

Romy Budhi Widodo, Chikamune Wada

SICE Annual Conference 2016 Paper ID: Fr2E.1 2016年09月

Real-time human motion analysis and grasping force using the OptiTrack system and Flexi-force sensor 査読有り国際誌

N. F. Elya Saidon, Chikamune Wada, Siti A. Ahmad, Ribhan Zafir Abdul Rahman, Kiyotaka Eguchi, Yoshiyuki Tomiyama, Farida Izni Abd Rahman

International Conference on Electrical & Electronic Technology 2016 Paper ID:1021 2016年08月

Auto-grasping Algorithm of Robot Gripper Based on Pressure Sensor Measurement 査読有り国際誌

Ahmed M. M. Almassri, W. Z. Wan Hasan, S.A. Ahmad, S. Shafie, M.N. Hamidun, Chikamune Wada

International Conference on Electrical & Electronic Technology 2016 Paper ID:1055 2016年08月

Influence of electrical stimulation on hip joint adductor muscle activity during maximum effort 査読有り

Sota Nakano, Chikamune Wada

Journal of Physical Therapy Science 28 ( 5 ) 1633 - 1635 2016年05月

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