Tahara Kenji

タハラケンジ | Tahara Kenji

Affiliation and department：
Job title：教授
Homepage URL (2)： http://www.kt.mech.kyushu-u.ac.jp/ , http://www.kt.mech.kyushu-u.ac.jp/index_e.html

Research field (3)： Intelligent robotics , Mechanics and mechatronics , Robotics and intelligent systems

Research keywords (5)： Manipulation , Soft Robotics , artificial muscle actuator , Musculoskeletal System , Multifingered Robotic Hand

Research theme for competitive and other funds (26)：

2024 - 2028 Design and Control Theory of Soft Robotics with Integrated Soft-Rigid Structures for Achieving Desired Motions
2021 - 2024 Super multi-musculoskeletal soft robotics that combines musculoskeletal potential method and soft actuator
2020 - 2024 確率モデルベース制御とセンサフィードバックの融合によるソフトロボティクス制御工学
2020 - 2023 Silent Driven Robotic Hand using Liquid-Cooled Artificial Muscle Actuators
2017 - 2022 Development of self-sensing polymer artificial muscle and its control-oriented modeling based on physics

2018 - 2020 戦略的イノベーション創造プログラム(SIP)第2期/フィジカル空間デジタルデータ処理基盤/サブテーマIII: Society5.0実現のための社会実装技術/CPS構築のためのセンサリッチ柔軟エンドエフェクタシステム開発と実用化

2016 - 2019 Motor control strategy robust to time-delay and noise of sensory information in sensorimotor integration

2016 - 2018 Dexterous object manipulation by combining sensory feedback and proprioceptive information(Fostering Joint International Research)

2014 - 2017 Clarification of potential significance of endoskeleton's muscular arrangement and its appreciation for motion-generation of Robotics

2014 - 2017 Compounding mobility by soft and hemispheric torsionall feet

2015 - 2017 高分子人工筋肉アクチュエータによる柔らかな運動支援装具の研究開発

2013 - 2016 Dexterous object manipulation by combining sensory-feedback control and proprioceptive feed-forward control

2014 - 2016 内骨格生物における筋肉配置の潜在的意義の解明とロボットの動作生成への応用

2015 - 2016 次世代ロボット中核技術開発(革新的ロボット要素技術分野) 「高分子人工筋肉アクチュエータによる柔らかな運動支援装具の研究開発」

2012 - 2014 無段階可変剛性機構を有するパラレルリンク機構の制御法確立と,人の腕・脚運動の能動補助装具への応用

2012 - 2013 多指ロボットハンドの高知能・機能化について

2011 - 2013 Mechanical analysis of the active tactile sensing based on the dynamics of the tactile receptors

2012 - 2012 指先捻転機構を持つ多指ハンドを用いた視覚情報欠損に頑健な物体把持手法

2012 - 2012 Iterative Learning Control for a Musculoskeletal Arm: Utilizing Multiple Space Variables to Improve the Robustness

2012 - 日揮・実吉奨学会研究助成金/無段階可変剛性機構を有するパラレルリンクの制御法確立と,人の腕・脚運動の能補助装具への応用

2011 - 2011 Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface

2011 - 2011 無段変速機構を有するパラレルリンクマニピュレータの開発

2011 - 技術交流助成

2008 - 2010 Dynamic contact modeling of a soft fingertip and realization of dynamic object grasping for a multi-fingered robotic hand

2008 - 2010 Control of muscular internal force based on physiological hypotheses and its application to robotics

2006 - 2007 筋骨格冗長システムによる自然な動作の実現とロボットへの応用

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Papers (173)：

Ha Thang Long Doan, Hikaru Arita, Kenji Tahara. Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand. ROBOMECH Journal. 2024
Shunsuke Tokiwa, Hikaru Arita, Yosuke Suzuki, Kenji Tahara. Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control. IEEE Robotics and Automation Letters. 2024
Sumitaka Honji, Hikaru Arita, Kenji Tahara. Real-time State Estimation of a Soft Finger using Stochastic Viscoelastic Parameters. Journal of the Robotics Society of Japan. 2024. 42. 4. 402-405
Sumitaka Honji, Hikaru Arita, Kenji Tahara. Stochastic approach for modeling soft fingers with creep behavior. Advanced Robotics. 2023
Ha Thang Long Doan, Hikaru Arita, Kenji Tahara. External Sensor-Less in-Hand Object Position Manipulation for an Under-Actuated Hand Using Data-Driven-Based Methods to Compensate for the Nonlinearity of Self-Locking Mechanism. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2023

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MISC (126)：

HONJI Sumitaka, TAHARA Kenji. Sensorless Tip Force Estimation of the Wire-Driven Soft Gripper. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022. 2022. 2A1-R06
FUJIKI Takuto, TAHARA Kenji. Expansion of Stability Region by Series Admittance Impedance Control. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022. 2022. 2A2-K10
AKAMATSU Shu, TAHARA Kenji. Viscoelastic Drive Module using a DD Motor and Flexible Polymer Material. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2022. 2022. 2A1-M03
Nakanishi Jun, Tahara Kenji. The 34th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). Journal of the Robotics Society of Japan. 2022. 40. 5. 414-414
Yutaro Yoshida, Ryo Hayashi, Masato Iwasaki, Kenji Tahara. Sensorless Torque Control for Antagonistically Arranged Rotational-Type Twisted Polymeric Fiber Actuators. 2021 JSME Conference on Robotics and Mechatronics. 2021

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Patents (4)：

Books (18)：

Chapter 32: Modeling and control of fishing-line/sewing-thread artificial muscles (twisted and coiled polymer fibers, TCPFs)," K. Asaka and H. Okuzaki (Eds.): Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 2nd ed.
Springer 2019
Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 2nd Ed.
Springer 2018
Chapter 9: A Grasping and Manipulation Scheme That is Robust gainst Time Delays of Sensing Information: An Application of a Controller Based on Finger-Thumb Opposability Human-Inspired Dexterity in Robotic Manipulation, 1st Ed.
Academic Press 2018
Human Inspired Dexterity in Robotic Manipulation, 1st Ed.
Academic Press 2018
ロボットと解析力学
コロナ社 2018 ISBN:9784339045215

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Lectures and oral presentations (327)：

External sensorless object-orientation control using contact position estimation by the multi-fingered robot hand
(2020)
A Stbout temperature dependence of viscoelasticity of twisted coiled polymer fiber (TCPF)
(2020)
Transition Movement Control between Wheel and Walking Movement for a Biped Robot with Hemispheric Feet
(2020)
Environmental Adaptability of Admittance and Impedance Control with Independent Anisotropic Rigidity
(2020)
筋骨格構造および釣糸人工筋肉のモデル化と制御
(日本末梢神経学会 2019)

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Education (3)：

2000 - 2003 Ritsumeikan University Graduate School of Science and Engineering Integrated Science and Engineering
1998 - 2000 Ritsumeikan University Graduate School of Science and Engineering Information Science and Systems Engineering
1994 - 1998 Ritsumeikan University Faculty of Science and Engineering Department of Mechanical Engineering

Work history (6)：

2020/04 - 現在 Kyushu University Department of Mechanical Engineering, Faculty of Engineering Professor
2011/04 - 2020/03 Kyushu University Department of Mechanical Engineering, Faculty of Engineering Associate Professor
2017/02 - 2017/08 Stony Brook University Department of Mechanical Engineering Visiting Professor
2013/03 - 2014/02 EPFL Visiting Professor
2007/04 - 2011/03 Kyushu University Institute for Advanced Study Research Associate Professor

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Committee career (18)：

2021/04 - 2023/03 The Robotics Society of Japan Board of Directors (International Affairs)
2018/01 - 2022/03 The Society of Instrument and Control Engineers Technical Committee Member for Integrated Medical Engineering
2017/01 - 2022/03 The Society of Instrument and Control Engineers Technical Committee Member for Manipulation
2017/01 - 2022/03 The Society of Instrument and Control Engineers Technical Committee Member for Soft Materials
2016/04 - 2022/03 The Robotics Society of Japan Member of Special Interest Group of Open-Intelligence

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Awards (8)：

2021/06 - The Japan Society of Mechanical Engineers, Robotics and Mechatronics Division Certificate of Merit for ROBOMECH Journal Best Paper Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors
2021/06 - The Japan Society of Mechanical Engineers, Robotics and Mechatronics Division Certificate of Merit for ROBOMECH Outstanding Research Activity Sensorless Torque Control of a Twisted Polymeric Fiber Actuator
2016/10 - IEEE IES The Best Session Presentation Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force
2007/04 - IEEE RAS IEEE 2007 ICRA Best Manipulation paper Award Nomination Finalist
2006/12 - 計測自動制御学会SI部門優秀講演賞

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Association Membership(s) (4)：

The Japan Society of Mechanical Engineers , IEEE Robotics and Automation Society , The Society of Instrument and Control Engineers , The Robotics Society of Japan

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