Toshiaki Tsuji

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— This paper focuses on realization of high performance motion control based on acceleration control. A high sampling frequency is known to be effective for improving the performance. Characteristics of acceleration control are investigated and the relationship between the performance and the sampling frequency of the system is discussed. Based on these(More)
Several flowers of Tulipa gesneriana exhibit a blue color in the bottom segments of the inner perianth. We have previously reported the inner-bottom tissue-specific iron accumulation and expression of the vacuolar iron transporter, TgVit1, in tulip cv. Murasakizuisho. To clarify whether the TgVit1-dependent iron accumulation and blue-color development in(More)
— Haptic sense is indispensable for skillful operation in a telerobotic system. Bilateral control attracts considerable interest because it transfers the haptic sense to a remote place. Although it is simply composed of two manipulators, its design is complicated. This study proposes an idea that provides a new framework on design of a bilateral control(More)
This paper describes a collision avoidance method of the biped robot with the upper body. We propose the method that the robot stops in front of an obstacle by generating arm force. When the robot detects the obstacle by the arm tip, it should stop short of the obstacle in order to avoid crush. Hence, in this paper, we propose the method of trajectory(More)
Android robots that have a human-like appearance have been developed recently. The purpose of android robots is to realize realistic communication between human and robot by implementation of human-like behaviors. Then knowledge and techniques for generating human-like natural motions and behaviors with android robot are required. In face-to-face(More)
—This paper discusses velocity measurement for motor drives with optical encoders. Although many methods on velocity measurement have been proposed, accurate measurement was not achieved in a high-speed range. This paper therefore proposes " synchronous-measurement method (S method) " that measures the velocity synchronized with alteration of pulse numbers(More)
In exercise therapy, the training program will differ depending on the degree of disability. In order to gradually transition from passive exercise to exercises with more voluntary movements, it is important to reduce the assistance provided by the therapist in stages. Since stiffness control is the key factor of assistance adjustment in robotic movement(More)