Faculty Profiles - NAKAJIMA Shuro

Published Papers - NAKAJIMA Shuro

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How the CYBATHLON Competition Has Advanced Assistive Technologies

Lukas Jaeger, Roberto de, Souza Baptista, Chiara Basla, Patricia Capsi-Morales, Yong Kuk Kim, Shuro Nakajima, Cristina Piazza, Michael Sommerhalder, Luca Tonin, Giacomo Valle, Robert Riener, and Roland Sigris

Annual Review of Control, Robotics, and Autonomous Systems 6 447 - 476 2023.05 [Refereed]

Stair-climbing gait for a four-wheeled vehicle

Shuro Nakajima （Part： Lead author,　Corresponding author )

ROBOMECH Journal ( Springer Nature ) 7 article 20:1 - 8 2020.04 [Refereed]

DOI

A New Personal Mobility Vehicle for Daily Life Improvements on a new RT-Mover that enable greater mobility are showcased at the Cybathlon

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE ROBOTICS & AUTOMATION MAGAZINE ( IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ) 24 ( 4 ) 37 - 48 2017.12 [Refereed]

DOI

Proposal of a personal mobility vehicle capable of traversing rough terrain

Shuro Nakajima （Part： Lead author,　Corresponding author )

Disability and Rehabilitation: Assistive Technology ( Informa Healthcare ) 9 ( 3 ) 248 - 259 2014 [Refereed]

Purpose: Personal mobility vehicles (PMVs) are now being actively developed. Most PMVs are wheel-driven, a mode of transport notable for its efficiency. However, such vehicles tend to have little mobility over rough terrain. We propose a new type of PMV, a vehicle that traverses relatively smooth terrain by wheel but is capable of negotiating rough terrain by using its wheel mechanisms as legs. Method: The PMV we propose is intended to provide its user with a degree of outdoor mobility in daily urban life, say when going to a neighbourhood shop or simply taking a stroll. We do not consider elevators and other infrastructural elements that should be barrier-free, but rather focus on unimproved terrains that act as barriers to transport
for example, the steps that often act as de facto boundaries around building entrances. Results: We developed a new type of PMV and implemented a new algorithm to realize the capability to move on rough terrain. We experimentally compared the capability of a commercially available PMV and the developed PMV. Conclusions: Through an experiment involving the traversing of a representative terrain and a comparative experiment using a stock PMV, we demonstrated the features of the proposed PMV. © 2014 Informa UK Ltd.

DOI

RT-Mover: a rough terrain mobile robot with a simple leg-wheel hybrid mechanism

Shuro Nakajima （Part： Lead author,　Corresponding author )

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH ( SAGE PUBLICATIONS LTD ) 30 ( 13 ) 1609 - 1626 2011.11 [Refereed]

There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism. In this paper, the mechanical design concept is discussed. With an emphasis on minimizing the number of drive shafts, a mechanism is designed for a four-wheeled mobile body that is widely used in practical locomotive machinery. Also, strategies for moving on rough terrain are proposed. The kinematics, stability, and control of RT-Mover are also described in detail. Some typical cases of rough terrain for wheel mode and leg mode are selected, and the robot's ability of locomotion is assessed through simulations and experiments. In each case, the robot is able to move over rough terrain while maintaining the horizontal orientation of its platform.

DOI

Adaptive Gait for Large Rough Terrain of a Leg-Wheel Robot (Fifth Report: Integrated Gait).

Shuro Nakajima, Eiji Nakano （Part： Lead author )

Journal of Robotics and Mechatronics 21 ( 3 ) 419 - 426 2009 [Refereed]

DOI

Motion control technique for practical use of a leg-wheel robot on unknown outdoor rough terrains.

Shuro Nakajima, Eiji Nakano, Takayuki Takahashi （Part： Lead author )

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004 ( IEEE ) 1353 - 1358 2004 [Refereed]

DOI

Proposal of a Gait Vector and a Similarity between Gait Vectors

Issei Maeda, Kenichi Tokuda, Shuro Nakajima （Part： Corresponding author )

Transactions of the Society of Instrument and Control Engineers vol.58 ( no.12 ) pp.548 - 557 2022.12 [Refereed]

Human machine interface to provide a driver with information on a next motion of personal mobility vehicles

Kojiro Maeda, Shuro Nakajima （Part： Corresponding author )

The SICE Annual Conference 2021 Paper FrB05.2 2021.09 [Refereed]

Gait emergence by discrete leg motion period control using contact signals and CPGs

Issei MAEDA, Shun MAEOKA, Kenichi TOKUDA, Shuro NAKAJIMA （Part： Corresponding author )

Transactions of the JSME (in Japanese) 87 ( 897 ) 1 - 13 2021.05 [Refereed]

The Development of a Personal Mobility Vehicle that can be Transformed Mutually between Front/Rear Steering Mode and Differential Wh]eeled Mode

Shin Sawada, Shuro Nakajima （Part： Corresponding author )

自動車技術会論文集 51 ( 6 ) 1056 - 1061 2020.11 [Refereed]

Methodology of climbing and descending stairs for four-wheeled vehicles

Shuro Nakajima, Shin Sawada （Part： Lead author,　Corresponding author )

Proceedings of 2020 IEEE Intelligent Transportation Systems Conference 2238 - 2243 2020.09 [Refereed]

高機能電動車いすにおける段差昇り動作時の中断に対する乗り心地の良い安全確保動作の検討

前田孝次朗, 中嶋秀朗（Part： Corresponding author )

日本機械学会論文集 86 ( 881 ) 19-00281 - 19-00293 2020.01 [Refereed]

User Test Report of Personal Mobility Vehicle, RT-Mover PType WA.

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE International Conference on Consumer Electronics, ICCE 2019, Las Vegas, NV, USA, January 11-13, 2019 ( IEEE ) 1 - 2 2019.03 [Refereed]

© 2019 IEEE. The demands for continued development in Personal Mobility Vehicles (PMVs) are increasing due to the need to improve users' lives. For example, wheelchair users, including people with disabilities, need powered wheelchairs for their daily activities, and elderly people expect to use mobile platforms for a better quality of life. We have developed RT-Mover-type PMVs, which has two drive modes, in accordance with the terrain encountered in daily activities: wheel mode and leg motion mode. The latest version of RT-Mover-type PMVs is the RT-Mover PType WA (P-WA). In this paper, one set of results of user tests of P-WA in a real environment is described. The scenario discussed in this paper is climbing up and down a sidewalk on a slope. In the scenario, the sidewalk has a height of 14.5 cm and a slope of approximately 10 degrees. Through these tests, P-WA shows its potential for use in our daily lives.

DOI

車いすユーザによるPType WA使用レポート

中嶋秀朗（Part： Lead author,　Corresponding author )

地域ケアリング 20 ( 11 ) 52‐57 2018.10 [Invited]

Step up/down motion for a four-wheel-type vehicle

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC ( Institute of Electrical and Electronics Engineers Inc. ) 2018- 1 - 6 2018.03 [Refereed]

DOI

Performance of Mobile Platform and Lessons Learned through Cybathlon

中嶋秀朗（Part： Lead author,　Corresponding author )

日本ロボット学会誌 35 ( 10 ) 739‐749(J‐STAGE) 2017.12 [Refereed]

DOI

Evaluation of the Mobility Performance of a Personal Mobility Vehicle for Steps

Shuro Nakajima （Part： Lead author,　Corresponding author )

IEEE ACCESS ( IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ) 5 9748 - 9756 2017 [Refereed]

There is increasing demand for continued development in personal mobility vehicles, because many people want to use them to improve their life. For example, wheelchair users, including people with disabilities, need powered wheelchairs for their daily activities, and elderly people expect to use mobile platforms for better quality of life. There are two main research targets for these types of vehicles: more intelligence and higher mobility performance. This paper discusses the latter topic. The vehicle proposed in this paper has high mobility performance on rough terrain; notably, it has the capability of traversing steps obliquely, even though conventional vehicles are supposed to move on steps only from the very front of the steps, not obliquely. Its performance for climbing up/down steps is evaluated in this paper, which is an evaluation for climbing up steps that consists of seven patterns of approach angles to the step for one step and two steps. Tests for climbing down steps were also conducted. Through those tests, the ability of our vehicle to traverse steps obliquely was confirmed.

DOI

Concept of a personal mobility vehicle for daily life

Shuro Nakajima （Part： Lead author,　Corresponding author )

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) ( IEEE ) 1492 - 1497 2016 [Refereed]

This paper describes the concept of a Personal Mobility Vehicle (PMV) for daily life. Although powered wheelchairs, which is one category of PMVs, already exist commercially, some capabilities of them are not adapted for a certain scenarios of our daily life. In this paper, we pick up the necessary features that are not performed enough by conventional wheelchairs and discuss how to solve them. We developed a brand new PMV, named RT-Mover PType WA, and show its primitive motions.

DOI

Mobility Support System for Personal Mobility Vehicles.

Taro Fujikawa, Makiko Ishikawa, Shuro Nakajima （Part： Last author,　Corresponding author )

Journal of Robotics and Mechatronics 27 ( 6 ) 715 - 716 2015.12 [Refereed]

DOI

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Published Papers - NAKAJIMA Shuro