研究者詳細 - 小川原　光一

Misc - 小川原　光一

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点滅周期が異なる複数の LED を用いた小型近接覚センサの開発

浅野智紀, 小川原光一 (担当区分：最終著者,　責任著者 )

日本機械学会関西支部第100期定時総会講演会 1 - 3 2025年03月

荷物台の姿勢が装着者の股関節と膝関節に連動するパワーアシストスーツの開発

松井駿弥, 小川原光一 (担当区分：最終著者 )

日本機械学会関西支部第100期定時総会講演会 1 - 2 2025年03月

自重補償機構を用いた冗長自由度ロボットアームの開発

石田陸登, 小川原光一 (担当区分：最終著者,　責任著者 )

日本機械学会関西支部第98期定時総会講演会 1 - 4 2023年03月

ロボット指に搭載可能な波長が異なる複数のLEDを利用した小型近接覚センサの開発

加藤颯, 小川原光一 (担当区分：最終著者 )

日本機械学会関西支部第97期定時総会講演会 2022年03月

RGB-Dカメラと2台のロボットアームによる計測視点数を考慮した持ち替えに基づく全周3次元形状計測法

曽我幸慧, 小川原光一 (担当区分：最終著者 )

日本機械学会関西支部第97期定時総会講演会 2022年03月

深層学習に基づく複数の長方形布の分離と形状推定

曽根川大輝, 小川原光一 (担当区分：最終著者 )

第22回計測自動制御学会システムインテグレーション部門講演会講演論文集 2B2-14 2021年12月

受動型アクチュエータを用いた移乗介護用パワーアシストスーツの開発

福永幸大, 小川原光一 (担当区分：最終著者 )

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 2P3-C13 2021年06月

Today in Japan, as the population ages and the number of people using nursing homes increases, back pain and other symptoms caused by the increased burden on caregivers have become a problem. Therefore, several devices have been developed to reduce the burden of transfer care, which is particularly burdensome, but they are not practical and have not been adopted in nursing homes. Therefore, in this study, we developed a power assist suit with only passive actuators to reduce the burden of transfer care. We conducted lifting experiments using a developed power assist suit and confirmed the assisting effect from ElectroMyoGraphy (EMG) values with and without the power assist suit.

DOI

Multi-label Image Classification with Visual Explanations

Haoqi Gao, Liangzhi Li, Bowen Wang, Yuta Nakashima, Ryo Kawasaki, Koichi Ogawara, Hajime Nagahara

Responsible Computer Vision CVPR 2021 Workshop 2021年06月 [査読有り]

リンクとラチェット機構を用いたパワーアシストスーツの持ち手の開発

堀口皓生, 小川原光一 (担当区分：最終著者 )

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 2P3-C14 2021年06月

The L-shaped gripper commonly used in power assist suits has the problem of not being able to stably hold arbitrarily shaped objects. To solve this problem, we developed a gripper with a wire-driven ratchet mechanism. However, we could not confirm its effectiveness in reducing the burden on the hands and arms for irregularly shaped objects such as rice bags. This is because the mechanism using a wire did not work as expected due to friction between the wire and the wire guide. Therefore, in this study, we solved these problems by developing a gripper with a link-driven ratchet mechanism, which does not use a wire. We conducted experiments to compare the proposed gripper with our previous gripper by measuring the surface EMG of the wearer's arms when lifting objects of various shapes.

DOI

対照学習を用いた潜在表現空間上での目標条件付き強化学習

山田貴哉, 小川原光一 (担当区分：最終著者 )

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 1P1-I15 2021年06月

The goal-conditioned reinforcement learning approach is useful when an agent wants to adaptively achieve arbitrary goals in various environments. Furthermore, it is desirable to be able to learn the behavior of an agent from observations from on-board sensors such as RGB cameras. Since it is difficult for agents to learn directly from images, previous research has shown that the learning process can be accelerated by learning latent representations using VAEs and performing goal-conditioned reinforcement learning in the latent space. However, latent representations learned using VAEs with image reconstruction loss contain information irrelevant to the task to be accomplished. In goal-conditioned reinforcement learning, the reward function is defined as the distance to the goal state, so latent representations that capture the distance between states are appropriate. In this study, we propose a method for maintaining the similarity between states in the latent space using contrastive learning and performing goal-conditioned reinforcement learning in the latent space given image observations. We compared the proposed method with that using latent representations obtained from VAEs, and show that our method outperformed the other.

DOI

1台のモータで荷物の昇降動作と膝の固定・解放動作を行うウインチ型パワーアシストスーツの開発

原亨成, 小川原光一 (担当区分：最終著者 )

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2021 2P3-C11 2021年06月

In this paper, we present a mechanical design of a winch-type power assist suit that realizes luggage lifting movement and knee fixation-and-release movement with a single motor. To solve the problems of our previous power assist suit, we realized the descent of a load of 20kg, reduced the weight, improved the safety, and strengthened the rigidity. We developed a prototype power assist suit and verified if it works as designed. We also conducted lifting experiments and confirmed that it could lift a load of 5kg. We measured the surface electromyogram (EMG) and confirmed that it reduced the burden on the wearer's arms and back when lifting a load.

DOI

Adaptive Data Generation and Bidirectional Mapping for Polyp Images

Haoqi Gao, Koichi Ogawara (担当区分：最終著者 )

49th Anual IEEE Applied Imagery Pattern Recognition (AIPR) workshop 2020年10月

直動部と回転部から構成されるラチェット機構を用いたパワーアシストスーツの持ち手の開発

堀口皓生, 小川原光一, 鈴木新, 菊地邦友

ロボティクス・メカトロニクス講演会2019 講演論文集 ( 一般社団法人日本機械学会 ) 1A1-I10 1 - 4 2019年06月

L-shaped grippers typically used for power assist suits have a problem in stably holding objects of arbitrary shape. To solve this problem, we developed a gripper with a ratchet mechanism consisting of linear motion and rotational motion parts. The gripper can be deformed according to the shape of the wearer's hand and the shape of the object to be held, and the shape of the gripper can be fixed due to the rachet mechanism, thus objects of arbitrary shape can be held stably by this gripper and the burden of the wearers is reduced. We carried out experiments where four types of objects were held by the developed gripper. We showed that the developed gripper has reduced the wearer's burden for two types of objects among four.

DOI

弾性要素を利用して把持物体の6自由度運動を実現する多指ロボットハンドの開発

和唐昂希, 南方隆秀, 小川原光一

日本機械学会関西学生会学生員卒業研究発表講演会講演前刷集 12P13 1 - 1 2019年03月

装着者の脚の内側に配置したリンク機構により重量物の支持運搬を支援するパワーアシストスーツの開発

坪井和広, 原亨成, 小川原光一, 鈴木新, 菊地邦友

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P1 - I03 2019年

In this paper, we present a power assist suit that supports and transports heavy objects with a single motor. The leg mechanism of the power assist suit is made of upper and lower parallel links and springs. It is designed to be located inside the wearer's legs so that the power assist suit becomes small and light-weight, and the stability during transportation is improved. We measured the surface electromyogram (EMG) during luggage lifting experiments and confirmed that the burden of the wearer's back and legs is reduced when wearing the developed power assist suit.

DOI

線形な荷物の昇降動作と非線形な膝の固定・解放動作を両立するパワーアシストスーツ用ワイヤ駆動機構の開発

原亨成, 坪井和広, 小川原光一, 鈴木新, 菊地邦友

ロボティクス・メカトロニクス講演会講演概要集 ( 一般社団法人日本機械学会 ) 2019 ( 0 ) 1P1 - I09 2019年

In this paper, we present a mechanical design of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement using a motor. The nonlinear fixation-and-release movement is realized by a mechanism using a piston and a crankshaft. We developed an algorithm to find the design parameters that minimize the error from the optimal wire movement. We developed a prototype wire drive mechanism and verified that it works as designed. In addition, we carried out lifting experiments and confirmed that luggage up to 20 kg can be lifted. We measured the surface electromyogram (EMG) and confirmed that the burden of the wearer's arms was reduced during luggage lifting.

DOI

遠隔操作のための複数3次元視覚情報統合・提示システムの開発～過去の映像の提示による作業対象の視認性の向上～

岩橋知久, 小川原光一

第19回計測自動制御学会システムインテグレーション部門講演会講演論文集 2C1-05 1675 - 1679 2018年12月

RGB-Dカメラと双腕ロボットによる把持の可否を考慮した持ち替えに基づく全周3次元形状計測法の開発

原田稜, 小川原光一

第19回計測自動制御学会システムインテグレーション部門講演会講演論文集 3D2-08 2986 - 2990 2018年12月

多視点から得られるRGB-D画像とカメラの姿勢を用いた深層学習に基づく物体の種類と姿勢の推定

井堰啓太, 小川原光一

第19回計測自動制御学会システムインテグレーション部門講演会講演論文集 3D2-09 2991 - 2994 2018年12月

隣接特徴点の位置制約を用いた深層学習に基づく任意に変形した長方形布の形状推定

今川涼介, 小川原光一

第19回計測自動制御学会システムインテグレーション部門講演会講演論文集 3D2-05 2970 - 2975 2018年12月

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