掲載種別：研究論文（学術雑誌）   出版者・発行元：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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掲載種別：研究論文（学術雑誌）   出版者・発行元：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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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）   出版者・発行元：富士技術出版株式会社  

<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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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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）   出版者・発行元：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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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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その他リンク： https://jlc.jst.go.jp/DN/JLC/20011858278?from=CiNii

記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/kikaic.79.617

Scopus

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開催年月日： 2024年1月 　 　

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会議種別：シンポジウム・ワークショップ パネル（公募）  

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開催年月日： 2023年1月 　 　

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開催年月日： 2023年 　 　

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開催年月日： 2023年 　 　

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開催年月日： 2023年 　 　

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開催年月日： 2023年 　 　

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会議種別：シンポジウム・ワークショップ パネル（公募）  

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開催年月日： 2022年6月 　 　

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開催年月日： 2020年10月 　 　

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開催年月日： 2020年10月 　 　

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開催年月日： 2020年10月 　 　

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開催年月日： 2020年7月 　 　

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開催年月日： 2020年7月 　 　

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開催年月日： 2020年5月 　 　

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開催年月日： 2019年7月 　 　

記述言語：英語  

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開催年月日： 2018年12月 　 　

記述言語：英語  

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開催年月日： 2018年12月 　 　

記述言語：英語  

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開催年月日： 2018年12月 　 　

記述言語：英語  

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開催年月日： 2018年12月 　 　

記述言語：英語  

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開催年月日： 2018年10月 　 　

記述言語：英語  

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開催年月日： 2018年1月 　 　

記述言語：日本語  

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開催年月日： 2017年12月 　 　

記述言語：英語  

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開催年月日： 2016年12月 　 　

記述言語：日本語  

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開催年月日： 2016年5月 　 　

記述言語：英語  

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開催年月日： 2016年3月 　 　

記述言語：日本語  

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開催年月日： 2016年3月 　 　

記述言語：日本語  

身体図式とは身体に関する脳内の知覚と記憶をさす．本研究では，身体を動かす際に，動作目標の存在が身体図式の変容に与える影響を調べた．実験参加者に左手を遮蔽された状態で前後に動かしてもらい，垂直上の位置に同期に運動する仮想の手を提示した．仮想の手の位置は本物の手の位置知覚を影響する．実験の結果，仮想物体を触るという目標を与えた場合，目標を与えない場合と比べて，身体図式の変容が大きかったことがわかった．

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開催年月日： 2016年 　 　

記述言語：英語  

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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開催年月日： 2015年12月 　 　

記述言語：英語  

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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開催年月日： 2015年11月 　 　

記述言語：英語  

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開催年月日： 2015年11月 　 　

記述言語：英語  

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開催年月日： 2015年3月 　 　

記述言語：日本語  

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開催年月日： 2014年2月 　 　

記述言語：日本語  

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開催年月日： 2014年1月 　 　

記述言語：日本語  

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開催年月日： 2013年9月 　 　

記述言語：日本語  

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開催年月日： 2011年12月 　 　

記述言語：英語  

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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開催年月日： 2011年9月 　 　

記述言語：日本語  

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開催年月日： 2010年6月 　 　

記述言語：日本語  

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