Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

In this paper, we propose a visualization system for the teleoperation of excavation works using a hydraulic excavator. An arbitrary viewpoint visualization system is a visualization system that enables teleoperators to observe the environment around a machine by combining multiple camera images. However, when applied to machines with arms (such as hydraulic excavators), a part of the field of view is shielded by the image of the excavator’s arm; hence, an occlusion occurs behind the arm. Furthermore, it is difficult for teleoperators to understand the three-dimensional (3D) condition of the excavating point because the current system approximates the surrounding environment with a predetermined shape. To solve these problems, we propose two methods: (1) a method to reduce the occluded region and expand the field of view, and (2) a method to measure and integrate the 3D information of the excavating point to the image. In addition, we conduct experiments using a real hydraulic excavator, and we demonstrate that an image with sufficient accuracy can be presented in real-time.

DOI： 10.20965/jrm.2020.p1233

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Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

In recent years, aging of bridges has become a growing concern, and the danger of bridge collapse is increasing. To appropriately maintain bridges, it is necessary to perform inspections to accurately understand their current state. Until now, bridge inspections have involved a visual inspection in which inspection personnel come close to the bridges to perform inspection and hammering tests to investigate abnormal noises by hammering the bridges with an inspection hammer. Meanwhile, as there are a large number of bridges (for example, 730,000 bridges in Japan), and many of these are constructed at elevated spots; the issue is that the visual inspections are laborious and require huge cost. Another issue is the wide disparity in the quality of visual inspections due to the experience, knowledge, and competence of inspectors. Accordingly, the authors are trying to resolve or ameliorate these issues using unmanned aerial vehicle (UAV) technology, artificial intelligence (AI) technology, and telecommunications technology. This is discussed first in this paper. Next, the authors discuss the future prospects of bridge inspection using robot technology such as a 3-D model of bridges. The goal of this paper is to show the areas in which deployment of the UAV, robots, telecommunications, and AI is beneficial and the requirements of these technologies.

DOI： 10.20965/jrm.2020.p1244

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

<p>Several disease presentations are linked to a mismatch between the real body and the body's internal representation of itself. In order to develop effective rehabilitation therapies, it is necessary to understand the mechanisms underlying changes in body representation. In this study, we focused on changes in body representation of the upper limb as a large part of the body and investigated the conditions under which such changes occur. Participants were presented four conditions which differentially affected their sense of ownership and agency, including a movement condition related to their sense of agency, and a visual hand information condition related to the sense of ownership. In the experiment, participants were asked to move their upper limb forward and backward on a manipulandum. Results of the study showed that visual hand position affected changes in body representation relevant to both conscious and unconscious body parts. In addition, changes in the representation of the unconscious body part occurred with, and were dependent on, active movement.</p>

DOI： 10.20965/jaciii.2019.p0196

CiNii Books

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Language：English   Publishing type：Research paper (scientific journal)  

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

Human cognitive mechanisms have been studied for the design of user-friendly interfaces. One of the key issues is a sense of agency, which is defined as the sense that "I am the one who is causing this action." The user interface is important
it can alter the feeling of sense of agency. In this research, we focus on a prime stimulus and evaluate the effect thereof by experiments with participants. A ball moves in a circle on a monitor at a constant speed and participants stop it by pushing a key. They were given both prime stimulus and feedback stimulus and indicated if they were the agent who stopped the ball, i.e., they felt a sense of agency. From the results of the experiment, we found that the prime stimulus can have both a positive and negative influence on the sense of agency when human prediction is unreliable.

DOI： 10.20965/jaciii.2017.p1161

Scopus

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)  

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：FRONTIERS MEDIA SA  

Body representation refers to perception, memory, and cognition related to the body and is updated continuously by sensory input. The present study examined the influence of goals on body representation updating with two experiments of the rubber hand paradigm. In the experiments, participants moved their hidden left hands forward and backward either in response to instruction to touch a virtual object or without any specific goal, while a virtual left hand was presented 250 mm above the real hand and moved in synchrony with the real hand. Participants then provided information concerning the perceived heights of their real left hands and rated their sense of agency and ownership of the virtual hand. Results of Experiment 1 showed that when participants moved their hands with the goal of touching a virtual object and received feedback indicating goal attainment, the perceived positions of their real hands shifted more toward that of the virtual hand relative to that in the condition without a goal, indicating that their body representations underwent greater modification. Furthermore, results of Experiment 2 showed that the effect of goal directed movement occurred in the active condition, in which participants moved their own hands, but did not occur in the passive condition, in which participants' hands were moved by the experimenter. Therefore, we concluded that the sense of agency probably contributed to the updating of body representation involving goal directed movement.

DOI： 10.3389/fnhum.2016.00329

Web of Science

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Instrument and Control Engineers  

Recently, the rubber hand illusion (RHI), which is one of phenomena that the sense of ownership (SOO) is extended to the objects over the external area, attracts much attention to explain the brain mechanism of self body recognition of human. However, most previous research have only focused on the conditions for the occurrence of the RHI. In this study, we measured electromyography (EMG) of the arm and skin conductance response (SCR) of the end of the finger when the strong hit with a hammer is given to the fake hand in order to examine whether the RHI is in fact occurred at a certain time during the experiment. As a result, we showed that the measurement of EMG could satisfy above requirement. Also, it is implied that the measurement of EMG gets closer to the same tendency of subject's introspection report than that of SCR.

DOI： 10.9746/sicetr.51.440

CiNii Books

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Other Link： https://jlc.jst.go.jp/DN/JLC/20011858278?from=CiNii

Language：Japanese   Publishing type：Research paper (scientific journal)  

In order for mobile robots to coexist with humans, both safety and efficiency should be satisfied. We propose a method to predict pedestrian movement for collision avoidance of mobile robots and pedestrians. In the proposed method, the pedestrian trajectories are measured and a database of human movement tendencies is generated. The database is applied to the prediction of future pedestrian movement. To decrease the initial time cost for database generation, environmental geometric configuration is considered in the form of virtual forces. To verify the usefulness of the proposed method, we generated the database based on five-hour observation and conducted three types of experiments based on the generated database. The first experiment showed the prediction performance of the proposed method and proved the method guaranteed the safety. The second experiment showed that the proposed method satisfied both the safety and efficiency through the comparative simulations. The third experiment showed the method could apply to the real mobile robot. © 2013 The Japan Society of Mechanical Engineers.

DOI： 10.1299/kikaic.79.617

Scopus

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Event date： 2024.1 　 　

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Presentation type：Symposium, workshop panel (public)  

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Event date： 2023.1 　 　

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Event date： 2023 　 　

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Presentation type：Symposium, workshop panel (public)  

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Event date： 2022.6 　 　

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Event date： 2020.10 　 　

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Event date： 2020.7 　 　

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Event date： 2020.5 　 　

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Event date： 2019.7 　 　

Language：English  

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Event date： 2018.12 　 　

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Event date： 2018.12 　 　

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Event date： 2018.12 　 　

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Event date： 2018.12 　 　

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Event date： 2018.10 　 　

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It is important to evaluate and maintain driver’s sense of agency (SoA), because poor SoA of assisted driver may result in slow and inaccurate response in case decisions are required from the driver. This study investigated the relationship between SoA and alpha-band power of EEG in a simulated driving environment.

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Event date： 2018.1 　 　

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Event date： 2017.12 　 　

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Event date： 2016.12 　 　

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Event date： 2016.3 　 　

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Event date： 2016.3 　 　

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Body representation refers to perception and memory in brain about status of one&prime;s body, such as position, posture, and appearance. In the present study, we examined the influence of an instructed goal on modification of body representation. Specifically, we asked participants to move their left hands back and forward, while their left hand was hidden from vision, and a virtual left hand was presented 33 cm vertically above the real hand. The virtual hand moved synchronously with the real hand. After moving their hands for serval minutes, participants would feel that the virtual hand seems like their own, and their perceived position of the real left hand would shift to the position of the virtual hand. According to the results, we found that when the participants moved their hands upon an instructed goal, the perceived position of their real hand shifted more to the virtual hand than that when they moved their hands without a goal and received feedback of goal attainment. The results showed that of body representation was modified more by the synchronous visual motion when there was an instructed goal for the motion.

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Event date： 2016 　 　

Language：English  

In recent Japanese society, we are facing a severe increase in the number of patients who suffer from motor paralysis and other dysfunctions. Establishing an effective rehabilitation system for them is important, and the key to attain this target is to clarify the mechanisms of one's body perception in the brain. The feeling of controlling our action and external event is an important aspect of body perception, and thus is a topic we have to investigate. This feeling is called the Sense of Agency (SoA), and in order to clarify the mechanism of the SoA, it is necessary to clarify neuro-physiological indices that reflect the arising of this feeling. Recent investigated the relationship between SoA and neural activity with event-related potential (ERP) but these studies focused only on the feedback processing after the action-feedback (e.g. N100, P300), while no study investigated the neural basis of the action-preceding part during SoA paradigm. In this research we focused on feedback-anticipation as an action-preceding factor of SoA, and the purpose of this research is to find a neuro-physiological indices which reflect this factor. We hypothesized that readiness potential (RP) would reflect this factor. In the Libet's clock task based experiment, two conditions which differed in the state of the anticipations for the feedback were prepared. In order to manipulate the anticipation, the probability of the tone occurrence was manipulated in each condition. Earlier and larger RP was observed when the feedback-anticipation was inconsistent in relative with the consistent condition, and additional experiment by increasing the sample size is needed. Our study is the first one that reveals the neural basis of the action-preceding factor of SoA, and we believe that our study will contribute to unravel the neural basis of the SoA.

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Event date： 2015.12 　 　

Language：English  

Sense of Agency (SoA) refers to the experience of controlling external events. SoA is considered to have predictive and postdictive aspect. Recent studies have investigated the relationship between SoA and event-related potentials, but these studies focused only on the postdictive aspect, while the brain activities related to the predictive aspect of SoA remain unclear. In the present study, we focused on readiness potential (RP) and examined the influence of prediction of SoA on RP. In the experiment, participants pressed a key to trigger a tone, and the event-related potentials before and after the key-press was recorded. In the normal predictive condition, all the tones were presented after key-press, thus participants could predict that their key-press would probably cause a tone. In contrast, in the low predictive condition, one third of the tones were presented before the key-presses, thus the causability of key-presses on tones were doubtful. The results indicated earlier RP in the normal predictive condition relative to the low predictive condition, although the difference did not reach significant level due to the small sample size. We will increase participants to confirm the difference in RP between the two predictive conditions in future work. We believe that our work provides important knowledge for the understanding of the neural basis of SoA.

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Event date： 2015.11 　 　

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Event date： 2015.3 　 　

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Event date： 2014.1 　 　

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Event date： 2013.9 　 　

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Event date： 2011.12 　 　

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In order to operate mobile robot that can coexist with human, it is necessary to strike a balance between safety and efficiency. It is effective to make a prediction about when and where human exist from data of pedestrian movement and environment. Then, we need to know how the configuration of environment effects pedestrian. This paper presents a measuring system of pedestrian movement tendency, and prediction system of pedestrian movement. We conducted the prediction experiment with real observed data, and proved that system can contribute to the balancing safety and efficiency of operating mobile robot. © 2011 IEEE.

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Event date： 2011.9 　 　

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Event date： 2010.6 　 　

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