Yasuyuki Funahashi

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We propose a new method for analyzing the stability of grasps. The characteristic points in this paper are to consider the curvature of both hand and object at contact points and the grasp with friction and frictionless contact. From this analysis, it is shown that the grasp using round fingers is more stable than using sharp fingers. Moreover, we establish(More)
We propose an equivalent circuit model of a discrete formulation to describe the interaction between the red cone syncytium and the H1 horizontal cell syncytium in lower vertebrate retinas. Analytical solutions of the model provide intuitive understandings of spatio-temporal properties of light-induced responses in reference to membrane impedance, strength(More)
A neural network model was formulated to describe the spatiotemporal properties of the photoreceptor and horizontal cell responses to light in the vertebrate retina. The model consists of two layers, one of which represents the photoreceptor syncytium and the other the horizontal cell syncytium. Each syncytium is an array of elemental neurons, each of which(More)
This paper discusses a method for identification of contact conditions from the information of 6-axes force sensor equipped with a robot hand. The previous paper has the following problems. (1) The noise of sensing force was not considered. (2) Hence, the estimates obtained by the previous method are biased from true value, and the identification of contact(More)