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Researcher Information

last modified:2017/05/23

Associate Professor WATANABE Tetsuyou

Mail Laboratory Website

Faculty, Affiliation

Faculty of Mechanical Engineering, Institute of Science and Engineering

College and School Educational Field

Division of Mechanical Science and Engineering, Graduate School of Natural Science and Technology
Division of Innovative Technology and Science, Graduate School of Natural Science and Technology
School of Mechanical Engineering, College of Science and Engineering

Laboratory

Human Machine Inovation Laboratory

Academic Background

【Academic background(Doctoral/Master's Degree)】
Kyoto University  Doctor 200303 Completed
【Degree】
Doctor of Philosophy in Engineering

Career

Year & Month of Birth

1974/04

Academic Society

IEEE
The Japan Society of Mechanical Engineers
The Robotics Society of Japan




Award


○Young Investigation Excellence Awards(2008/09/10)
○Young Investigation Excellence Awards(2008/09/10)
○Young Investigation Excellence Awards(2008/09/10)
○Young Investigation Excellence Awards(2008/09/10)
○Young Investigation Excellence Awards(2008/09/10)
○MAGDA outstanding presentation/paper award(2005/03)

Specialities

Intelligent mechanics/Mechanical systems

Speciality Keywords

Robotics, Robotic hands, Human assist, Medical Engineering

Research Themes

Medical application of robot technology

Medical application of robot technology Images are a type of information that can be conveniently measured. By extracting human movement from these images and analyzing them, we are developing methods of disease estimation, object manipulation procedure detection, and emotion detection etc., which are capable of application in various fields such as medical welfare, engineering, and psychology.

Adhesion Forces Reduction by Oscillation and Its Application to Micro Manipulation

Adhesion Forces Reduction by Oscillation and Its Application to Micro Manipulation In the micro region, for scale effect, the force (attracting force) proportional to the area and length of van der Waals attraction, surface tension, and electrostatic force become dominant compared to the force proportional to the force of gravity and inertia. These attracting forces create an adhesion force between the target object and tool. To cope with this adhesion force, we are proposing a method of mitigating adhesion force through vibration. By minutely vibrating the end-effector and contacting it (bringing it near to) with the physical object on the table (foundation), the adhesion force between the end-effector and physical object will become small compared to the force between the table (foundation) and physical object. By applying this method, we can manipulate objects in the same way as manipulation of the micro region. Based on this method, we are developing methods of automatically conducting various macro manipulation.

Object grasping and manipulation by robotic hand

Books

Papers

  •  Variable-grasping-mode underactuated soft gripper with environmental contact-based operation Toshihiro Nishimura, Kaori Mizushima, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe IEEE Robotics and Automation Letters 2 2 1164-1171 2017/01  
  •  Evaluation of walking balance based on pose difference between normal walk and walk under multi-task conditions, Journal of Robotics and Mechatronics Hiroyuki Maeda, Miho Shogenji, Tetsuyou Watanabe Journal of Robotics and Mechatronics 29 2 2017/04
  •  Fluorescence intensity and bright spot analyses using a confocal microscope for photodynamic diagnosis of brain tumors Takeshi Yoneyama, Tetsuyo Watanabe, Hiroyuki Kagawa, Yutaka Hayashi, Mitsutoshi Nakada Photodiagnosis and Photodynamic Therapy 17 13-21 2017/01
  •  Haptic threshold for pulling force feedback on surgeon's fingertip in medical robotic systems Hiroyuki Chinbe, Takeshi Yoneyama, Tetsuyou Watanabe, Nakada Mitsutoshi Proceedings of the Annual Conference of IEEE Industrial Electronics Society (IECON) 2016/10 
  •  Wheelchair Control Based on a Polynomial Function Approximating a User's Gaze Curve Sawako Furuya, Alexander Alexopoulos, Essameddin Badreddin, Tetsuyou Watanabe Proceedings of the IEEE/SICE International Symposium on System Integration (SII) 2016/12 

show all

  •  Force-Sensing Silicone Retractor for Attachment to Surgical Suction Pipes etsuyou Watanabe, Takanobu Iwai, Yoshinori Fujihira, Lina Wakako, Hiroyuki Kagawa and Takeshi Yoneyama Sensors 16 7 1133 2016/07 
  •  Stiffness Measurement System Using Endoscopes with a Visualization Method Tetsuyou Watanabe, Toshio Koyama, Takeshi Yoneyama, and Mitsutoshi Nakada IEEE Sensors Journal 16 15 5889 - 5897 2016/05  
  •  Bent Sheet Grasping Stability for Sheet Manipulation  Yoshinori Fujihira, Toshihiro Nishimura, and Tetsuyou Watanabe IEEE Robotics and Automation Letters 1 1 415-422 2016/01  
  •  New Condition for Tofu Stable Grasping with Fluid Fingertips Toshihiro Nishimura, Yoshinori Fujihira, Ryota Adachi, Tetsuyou Watanabe Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics (CASE) 2016 
  •  Incompressible Liquid Based Force Sensible Silicone Retractor Attachable to Surgical Suction Instruments Toshio Koyama, Takeshi.Yoneyama, Mitsutoshi Nakada, Tetsuyou Watanabe Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 1398-1404 2016 
  •  Gait Analysis Using Support Vector Machine as a Classification Method for Lumbar Spinal Canal Stenosis  "Hiroyuki Hayashi, Yasumitsu Toribatake, Hideki Murakami, Takeshi Yoneyama, Tetsuyou Watanabe, and Hiroyuki Tsuchiya " Orthopedics 38 11 e959-e964 2015/11 
  •  Differences in gait characteristics of patients with lumbar spinal canal stenosis (L4 radiculopathy) and those with osteoarthritis of the hip  "Noriaki Yokogawa, Yasumitsu Toribatake, Hideki Murakami, Hiroyuki Hayashi, Takeshi Yoneyama, Tetsuyou Watanabe, and Hiroyuki Tsuchiya " PLOS ONE 10 4 e0124745 2015/04 
  •  Stability Evaluation of Soft-finger Grasp Considering the Contact Surface 52 2 83-91 2015/02
  •  Possibility of human detection through vision-based safety system  Kobayashi, Takeshi and Watanabe, Tetsuyou Proceedings of The 6th International Conference on Advanced Mechatronics (ICAM2015) 2015
  •  Performance evaluation of the silicone retractor with force sensing function for surgical suction devices  Koyama, Toshio and Iwai, Takanobu and Hayashi, Yutaka and Nakada, Mitsutoshi and Kagawa, Hiroyuki and Yoneyama, Takeshi and Watanabe, Tetsuyou Proceedings of The 6th International Conference on Advanced Mechatronics (ICAM2015) 2015
  •  Identification of Danger State for Grasping Delicate Tofu with Fingertips Containing Viscoelastic Fluid  Ryota Adachi, Yoshinori Fujihira, and Tetsuyou Watanabe Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 497-503 2015 
  •  Visualization Method Based Stiffness Sensing System for Endoscopes  Takanobu Iwai, Toshio Koyama, Hiroyuki Kagawa, Takeshi Yoneyama, Tetsuyou Watanabe Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 6449-6452 2015 
  •  The effect of behavioral preferences on skill acquisition in determining unspecified, suitable action patterns to control humanoid robots  Taiki Takayama, Tetsuyou Watanabe Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 7586-7589 2015 
  •  Silicone retractor with embedded force-sensing function for attachment to surgical suction pipes  Toshio Koyama, Takanobu.Iwai, Takeshi.Yoneyama, Hiroyuki.Kagawa, Yutaka.Hayashi, Mitsutoshi Nakada, Tetsuyou Watanabe Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 145-150 2015 
  •  Experimental Investigation of Effect of Fingertip Stiffness on Resistible Force in Grasping  Yoshinori Fujihira and Tetsuyou Watanabe Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 4334-4340 2015 
  •  Delicate Food Grasping by Robotic Gripper with Viscoelastic Fluid-based Deformable Fingertips  Tetsuyou Watanabe, Ryoji Maruyama, Masahiro Uchida Transaction on Control and Mechanical Systems 3 3 2014/09
  •  Design of Flexible Micro Manipulator for Neurosurgery  Katsuyuki Tanaka, Takeshi Yoneyama, Tetsuyou Watanabe, Hiroyuki Kagawa, Yoshinori Fujihira, Takuya Hanyu, Yusuke Kanada, Yutaka Hayashi, Mitsutoshi Nakada Proceedings of International Conference on Precision Engineering (ICPE) 2014
  •  Three-axis force visualizing system for fiberscopes utilizing highly elastic fabric  Takanobu Iwai, Yoshinori Fujihira, Lina Wakako, Hiroyuki Kagawa, Takeshi Yoneyama, Tetsuyou Watanabe Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 1110-1115 2014 
  •  Experimental investigation of effect of fingertip stiffness on friction while grasping an object etsuyou Watanabe, Yoshinori Fujihira Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 889-894 2014 
  •  Identification of the causative disease of intermittent claudication through walking motion analysis: Feature analysis and differentiation  Watanabe T., Yoneyama T., Hayashi H., Toribatake Y. Scientific World Journal 2014 Article ID 861529 2014/07 
  •  Touchscreen User Motion Anticipation for Usability Improvement Tetsuyou Watanabe, Sawako Furuya Proceedings of the Seventh International Conference on Advances in Computer-Human Interactions (ACHI) 264-270 2014/03 
  •  Force Sensor Attachable to Thin Fiberscopes/Endoscopes Utilizing High Elasticity Fabric Tetsuyou Watanabe, Takanobu Iwai, Yoshinori Fujihira, Lina Wakako, Hiroyuki Kagawa and Takeshi Yoneyama Sensors 14 3 5207-5220 2014/03 
  •  Gripping Force Feedback System for Neurosurgery Yoshinori Fujihira, Takuya Hanyu, Yusuke Kanada, Takeshi Yoneyama, Tetsuyou Watanabe and Hiroyuki Kagawa International Journal of Automation Technology 8 1 83-94 2014/01 
  •  非圧縮性流体指からなるロボットハンドによる壊れやすい対象物の把持 内田真裕,渡辺哲陽,丸山量志 2013/09 
  •  Effect of visual cues on line drawing performance Proceedings of IEEE International Conference on System, Man and Cybernetics (SMC) 2013/10 
  •  Study on differentiation factors for main disease identification of intermittent claudication  Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2012 4696-4699 2013/08 
  •  Discrimination of a Brain Tumor Region through MicroscaleEvaluation of Fluorescence Using Confocal Microscopy  Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2013 2013/06
  •  Force feedback manipulating system for neurosurgery  Procedia CIRP 2013 6409-6412 2013/06
  •  Main disease classification of intermittent claudication via L1-regularized SVM Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2013 6409-6412 2013/06 
  •  Force-detecting gripper and force feedback system for neurosurgery applications Takeshi Yoneyama, Tetsuyou Watanabe, Hiroyuki Kagawa, Junichiro Hamada, Yutaka Hayashi, Mitsutoshi Nakada International Journal for Computer Assisted Radiology and Surgery 2013/01
  •  Grasp input optimization taking contact position and object information uncertainties into consideration Papat Fungtammasan and Tetsuyou Watanabe IEEE Transactions on robotics 28 5 1170-1177 2012/06 
  •  Force detecting gripper and force feedback system for neurosurgery  Proceedings of international congress and exhibition on computer assisted radiology and surgery (CARS) 2012 2012/06
  •  Evaluation of differences in the gait characteristics of patients with lumbar spinal canal stenosis (L4 radiculopathy) and osteoarthritis of the hip by using a new motion analysis method  Proceedings of EuroSpine 2012 2012/01
  •  脳腫瘍摘出手術のための力検出多自由度微細マニピュレータの開発 50 4 329-339 2012/08
  •  New Method of Motion Analysis to Clarify Differentiation between Lumbar Spinal Canal Stenosis and Osteoarthritis of the Hip Joint  Yasumitsu Toribatake, Noriaki Yokogawa, Hiroyuki Hayashi, Takeshi Yoneyama, Tetsuyou Watanabe, Yui Sano Jounral of Spine Research 2 2 220-222 2011/02
  •  Force Detecting Gripper and Flexible Micro Manipulator for Neurosurgery  Proceedings of International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2011 2011/08
  •  Key posture Extraction from Object Manipulations Experiments  Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT) 2011 2011/08
  •  Softness Effects on Manipulability and Grasp Stability  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2011 1398-1404 2011/09 
  •  Grasp input optimization taking contact position uncertainty into consideration  Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 2011 2011/12
  •  Mechanism of tweezers grasping system  Proceedings of 2011 IEEE/SICE International Symposium on System Integration (SII) 2011 744-749 2011/12
  •  Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators  The ASME Journal of Mechanisms and Robotics 3 4 2011/09
  •  Comparison of walking between Hip Osteoarthritis and Lumbar Spinal Canal Stenosis Transactions of Japanese Society for Medical and Biological Engineering 49 1 34-39 2011/02
  •  Adhesion Forces Reduction by Oscillation and Its Application to Micro Manipulation Tetsuyou Watanabe and ZhongWei Jiang Cutting Edge Robotics 2009 199-214 2010/09
  •  Development of a Multi-fingered Robot Hand with Softness-changeable Skin Mechanism  Proceedings of the International Symposium on Robotics (ISR) 2010 606-612 2010/06 
  •  Walking Motion Analysis of Intermittent Claudication and its Application to Medical Diagnosis  Proceedings of the 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2010 448-453 2010/09 
  •  Manipulability Measures taking Necessary Joint Torques for Grasping into consideration  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010 598-603 2010/10 
  •  Walking Motion Analysis of Intermittent Claudication and Its Application to Medical Diagnosis(Mechanical Systems) Transactions of the Japan Society of Mechanical Engineers. C 76 772 3446-3452 2010/12
  •  Operation Range based Manipulability Measures for Grasping System WATANABE Tetsuyou Journal of the Robotics Society of Japan 28 8 923-929 2010/10
  •  Gait Characteristics of Patients with Intermittent Claudication due to Lumbar Radiculopathy Journal of spine research 1 7 1290-1294 2010/07
  •  Task Based Hybrid Closure Grasping Optimization for Autonomous Robot Hand Design and Control of Intelligent Robotic Systems 425-451 2009/02
  •  Study on Adhesion Force Reduction and State Estimation by Piezo-transducer  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2009 2009/05 
  •  Grasp Motion Planning for box opening task by multi-fingered hands and arms  Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2009) 2009 1-7 2009/12 
  •  Study on Estimation and Relaxation of Adhesion State by Piezo-Transducer(Mechanical Systems) Transactions of the Japan Society of Mechanical Engineers. C 75 752 964-969 2009/04
  •  Joint Torque-velocity Pair Based Manipulability for Grasping System WATANABE Tetsuyou Journal of the Robotics Society of Japan 27 3 358-367 2009/04
  •  Adhesion state detection by vision and its application to automatic micro manipulation  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2008 458-463 2008/09 
  •  Joint Torque-velocity Pair Based Manipulability for Grasping System  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2008 2264-2270 2008/09 
  •  Study on Development About Micro-Stirrer for Cerebral Thrombus Dissolution Which Has Sensor Ability(Mechanical Systems) Transactions of the Japan Society of Mechanical Engineers. C 74 743 1798-1803 2008/07
  •  Joint Torque-Velocity Pair Based Manipulability for Manipulators(Mechanical Systems) WATANABE Tetsuyou Transactions of the Japan Society of Mechanical Engineers. C 74 748 3012-3018 2008/12
  •  Adhesion Forces Relaxation by Oscillation and Its Application to Micro Manipulation(Mechanical Systems) Transactions of the Japan Society of Mechanical Engineers. C 74 737 23-30 2008/01
  •  Adhesion State Detection by Vision and Its Application to Automatic Micro Manipulation(Mechanical Systems) Transactions of the Japan Society of Mechanical Engineers. C 74 747 2755-2762 2008/11
  •  Joint Torque-velocity Pair Based Manipulability for manipulators  Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT)(Proceedings of SPIE) 6794 679427-1-679427-7 2007/12
  •  Object Manipulation under Hybrid Active/Passive Closure Journal of the Robotics Society of Japan 25 4 643-650 2007/04
  •  Mechanism of Micro Manipulation using Oscillation  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2006 661-668 2006/05 
  •  Study on Design of Micro-stirrer for Thrombus Dissolution  Proceedings of the ASME/JSME Joint Conference on Micromechatronics for Information and Precision Equipment (MIPE) 2006 S22_01 2006/06
  •  Towards Whole Arm Manipulation by Contact State Transition  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2006 5682-5687 2006/10 
  •  On the Design of a Tactile Sensor Segment for Braille Pattern Recognition : Sensor Structure and Design Parameters Journal of the Japan Society of Applied Electromagnetics 14 3 333-338 2006/09
  •  Mechanics of Hybrid Active/Passive-Closure Grasps Journal of the Robotics Society of Japan 24 1 131-139 2006/01
  •  Object Manipulation under Hybrid Active/Passive Closure  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2005 1025-1032 2005/04 
  •  Mechanics of Hybrid Active/Passive-Closure Grasps  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2004 1252-1257 2004/04 
  •  Micromanipulation using squeeze effect  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2004 3357-3362 2004/09 
  •  Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets Journal of the Robotics Society of Japan 22 3 370-376 2004/04
  •  Optimization of Grasping by Using a Required External Force Set  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2003 1127-1132 2003/09 
  •  Optimization of Grasping an Object by Using Required Acceleration and Equilibrium-Force Sets  Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2003 338-343 2003/07 
  •  Study on In-vivo Measuring Method of Solubility for Cerebral Thrombus Dissolution  Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT) 2003 356-361 2003/12
  •  Development of Vital Signs Measuring Network System for Mental Stress Estimation  Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT) 2003 345-350 2003/12
  •  Optimization of Grasping by Using a Required External Force Set Journal of the Robotics Society of Japan 21 3 97-102 2003/04
  •  Optimization of Power Grasps for Multiple Objects Transactions of the Japan Society of Mechanical Engineers. C 68 668 1223-1230 2002/04
  •  Dynamic Control of Multifingered Hands for Pivoting Operation  Proceedings of the International Symposium on Robotics (ISR) 2001 1260-1265 2001/04 
  •  Optimization of Power Grasps for Multiple Objects  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2001 1786-1791 2001/05 
  •  Dynamic Control of Soft-finger Hands for Pivoting an Object in Contact with the Environment  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2000 324-329 2000/11 
  •  Design of a Desirable Trajectory and Convergent Control for 3-D.O.F Manipulator with a Nonholonomic Constraint  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2000 2684-2689 2000/04 
  •  Design of a Desirable Trajectory and Convergent Control for 3 - D.O.F Manipulator with a Nonholonomic Constraint Journal of the Robotics Society of Japan 18 4 584-589 2000/05

Conference Presentations

  • Soft-hard hybrid fingertip structure improves stability and reduces uncertainty in object grasping (conference:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Closed-loop Grasping and Manipulation: Challenges and Progress)(2016/10/14)
  • Hand structure and dexterity (conference:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Dexterity Acquisition in Object Manipulation)(2016/10/10)
  • What are effective softness and materials for robotic fingertips? (conference:Annual World Congress of Advanced Materials)

Arts and Fieldwork

Patent

Theme to the desired joint research

Grant-in-Aid for Scientific Research

○「振動による凝着力緩和を利用した自動微小物体マニピュレーションシステムの開発」(2006-) 
○「細胞マイクロインジェクション自動化のための穿孔技能解析」(2004-) 
○「血管内微細振動子による血栓の破砕と低侵襲回収療法の開発」(2006-) 
○「薬物を内包したリポソームの放出透過特性の解析と計測評価に関する基礎研究」(2006-) 
○「操り空間モジュール化に基づく直接接触不可能物体のピンセットマニピュレーション」(2008-) 
○「薬物封入リポソームの放出特性の解析と制御技術に関する基礎研究」(2004-) 
○「共焦点顕微鏡プローブと摩擦検出微細鉗子を用いた脳腫瘍の術中診断・摘出システム」(2008-) 
○「スキーのための雪面特性評価法に関する研究」(2008-) 
○「提示情報制御による不器用さ改善の可能性」(2012-2013) 
○「破壊予測・防止法に基づく次世代脳神経外科手術サポートシステム」(2016-) 

Classes (Bachelors)

○Biorobotics(2017)
○Creative Design Exercise(2017)
○Creative Design Exercise(2017)
○Information Processing Exercise(2017)
○Creative Design Exercise(2016)
○Mechanical Engineering Laboratory I(2016)
○Mechanical Engineering Laboratory II(2016)
○Creative Design Exercise(2016)
○Thesis Report(2016)
○Biorobotics(2016)
○Information Processing Exercise(2016)
○Thesis Report(2016)
○Seminar in Mechanical Engineering(2016)

Classes (Graduate Schools)

○Advanced intellectual informative and Mechanical System(2017)
○Advanced intellectual informative and Mechanical System(2017)
○Advanced intellectual informative and Mechanical System(2017)
○Measurement and control B(2017)
○Measurement and control A(2017)
○Measurement and control A(2017)
○Measurement and control B(2017)
○Information-reinforced Mechatronics balanced with Environment B(2017)
○Information-reinforced Mechatronics balanced with Environment A(2017)
○Advanced intellectual informative and Mechanical System(2017)
○Advanced intellectual informative and Mechanical System(2016)
○Measurement and control A(2016)
○Information-reinforced Mechatronics balanced with Environment A(2016)
○Measurement and control B(2016)
○Information-reinforced Mechatronics balanced with Environment B(2016)

International Project

International Students

Lecture themes

Others (Social Activities)

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