H. Harry Asada

Affiliations:
  • MIT, Cambridge, USA


According to our database1, H. Harry Asada authored at least 269 papers between 1981 and 2022.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of four.

Timeline

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Online presence:

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Bibliography

2022
Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators.
IEEE Robotics Autom. Lett., 2022

Horizontal Insertion of a Ring Onto a Shaft Using a Gantry Crane With Minimal Sensors.
IEEE Robotics Autom. Lett., 2022

Model Predictive Control and Transfer Learning of Hybrid Systems Using Lifting Linearization Applied to Cable Suspension Systems.
IEEE Robotics Autom. Lett., 2022

Global, Unified Representation of Heterogenous Robot Dynamics Using Composition Operators.
CoRR, 2022

A Fast Gear-Shifting Actuator for Robotic Tasks with Contacts.
CoRR, 2022

Musculoskeletal Load Analysis for the Design and Control of a Wearable Robot Bracing the Human Body While Crawling on a Floor.
IEEE Access, 2022

Monitoring the Mental State of Cooperativeness for Guiding an Elderly Person in Sit-to-Stand Assistance.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021
Inherent Haptic Feedback From Supernumerary Robotic Limbs.
IEEE Trans. Haptics, 2021

Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support.
IEEE Robotics Autom. Lett., 2021

Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation.
IEEE Robotics Autom. Lett., 2021

Safe Tumbling of Heavy Objects Using a Two-Cable Crane.
IEEE Robotics Autom. Lett., 2021

Modeling and Balance Control of Supernumerary Robotic Limb for Overhead Tasks.
IEEE Robotics Autom. Lett., 2021

Control Strategy for Jam and Wedge-Free 3D Precision Insertion of Heavy Objects Suspended With a Multi-Cable Crane.
IEEE Robotics Autom. Lett., 2021

Physics-Based Causal Lifting Linearization of Nonlinear Control Systems Underpinned by the Koopman Operator.
CoRR, 2021

Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance.
CoRR, 2021

Gear Ratio Optimization of a Multifunctional Walker Robot Using Dual-Motor Actuation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

2020
Autonomous Excavation of Rocks Using a Gaussian Process Model and Unscented Kalman Filter.
IEEE Robotics Autom. Lett., 2020

A Data-Driven Approach to Prediction and Optimal Bucket-Filling Control for Autonomous Excavators.
IEEE Robotics Autom. Lett., 2020

Design of a Novel Mutliple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure.
IEEE Robotics Autom. Lett., 2020

Precision Assembly of Heavy Objects Suspended With Multiple Cables From a Crane.
IEEE Robotics Autom. Lett., 2020

Leveraging the Human Operator in the Design and Control of Supernumerary Robotic Limbs.
IEEE Robotics Autom. Lett., 2020

Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance.
Proceedings of the 3rd IEEE International Conference on Soft Robotics, 2020

Stable Crawling Policy for Wearable SuperLimbs Attached to a Human with Tuned Impedance.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

MPC Performances for Nonlinear Systems Using Several Linearization Models.
Proceedings of the 2020 American Control Conference, 2020

Design and Time-Optimal Control of a High-Speed High-Torque Dual-Motor Actuator.
Proceedings of the 2020 American Control Conference, 2020

2019
A Model-Free Extremum-Seeking Approach to Autonomous Excavator Control Based on Output Power Maximization.
IEEE Robotics Autom. Lett., 2019

A Robotic Microscope System to Examine T Cell Receptor Acuity Against Tumor Neoantigens: A New Tool for Cancer Immunotherapy Research.
IEEE Robotics Autom. Lett., 2019

Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition With Extra Robotic Legs.
IEEE Robotics Autom. Lett., 2019

Multi-cell ECM compaction is predictable via superposition of nonlinear cell dynamics linearized in augmented state space.
PLoS Comput. Biol., 2019

Seamless Manual-to-Autopilot Transition: An Intuitive Programming Approach to Robotic Welding.
Proceedings of the 28th IEEE International Conference on Robot and Human Interactive Communication, 2019

Design of a Growing Robot Inspired by Plant Growth.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

A Mobile Extendable Robot Arm: Singularity Analysis and Design.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Design of a Fail-Safe Wearable Robot with Novel Extendable Arms for Ergonomic Accommodation during Floor Work.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018
Triple Scissor Extender Robot Arm: A Solution to the Last One Foot Problem of Manipulation.
IEEE Robotics Autom. Lett., 2018

Localized Manipulation of Magnetic Particles in an Ensemble.
IEEE Access, 2018

Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Decoupled Motion Control of Wearable Robot for Rejecting Human Induced Disturbances.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Causality in Dual Faceted Linearization of Nolnlinear Dynamical Systems.
Proceedings of the 2018 Annual American Control Conference, 2018

2017
Cyborg and Bionic Systems [TC Spotlight].
IEEE Robotics Autom. Mag., 2017

Design and Analysis of 6-DOF Triple Scissor Extender Robots With Applications in Aircraft Assembly.
IEEE Robotics Autom. Lett., 2017

Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators.
IEEE Robotics Autom. Lett., 2017

Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices.
Int. J. Robotics Res., 2017

Supernumerary Robotic Limbs for Human Augmentation in Overhead Assembly Tasks.
Proceedings of the Robotics: Science and Systems XIII, 2017

A multi-track elevator system for E-commerce fulfillment centers.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Independent, voluntary control of extra robotic limbs.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

The MantisBot: Design and impedance control of supernumerary robotic limbs for near-ground work.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Latent space superposition of multiple solutions to predict emergent behaviors of nonlinear cellular systems.
Proceedings of the 2017 American Control Conference, 2017

Dynamic modeling of cancer cell migration in an extracellular matrix fiber network.
Proceedings of the 2017 American Control Conference, 2017

Precise linearization of nonlinear, non-autonomous systems based on physical system modeling theory.
Proceedings of the 2017 American Control Conference, 2017

2016
Implicit and Intuitive Grasp Posture Control for Wearable Robotic Fingers: A Data-Driven Method Using Partial Least Squares.
IEEE Trans. Robotics, 2016

Supernumerary Robotic Limbs for Human Body Support.
IEEE Trans. Robotics, 2016

Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance.
Proceedings of the International Symposium on Experimental Robotics, 2016

Triple Scissor Extender: A 6-DOF lifting and positioning robot.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A practical optimal control approach for two-speed actuators.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Localized manipulation of magnetic particles in a group.
Proceedings of the IEEE International Conference on Information and Automation, 2016

Image classification of unlabeled malaria parasites in red blood cells.
Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016

Detecting cell division of Pseudomonas aeruginosa bacteria from bright-field microscopy images with hidden conditional random fields.
Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2016

Approximated stochastic model predictive control using statistical linearization of nonlinear dynamical system in latent space.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

A reduced order systems approach to prediction of emergent behaviors of cellular systems.
Proceedings of the 2016 American Control Conference, 2016

Dynamic modeling of collective cell migration on an elastic substrate of extracellular matrix fiber network.
Proceedings of the 2016 American Control Conference, 2016

A data-driven approach to precise linearization of nonlinear dynamical systems in augmented latent space.
Proceedings of the 2016 American Control Conference, 2016

2015
Cell Invasion Dynamics into a Three Dimensional Extracellular Matrix Fibre Network.
PLoS Comput. Biol., 2015

Automatic detection of endothelial cells in 3D angiogenic sprouts from experimental phase contrast images.
Proceedings of the Medical Imaging 2015: Image Processing, 2015

Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices.
Proceedings of the Robotics Research, 2015

A two-speed actuator for robotics with fast seamless gear shifting.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

"Hold-and-manipulate" with a single hand being assisted by wearable extra fingers.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Harmonic analysis of a PZT poly-actuator.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Design and control of Supernumerary Robotic Limbs for balance augmentation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A self stabilizing underwater sub-surface inspection robot using hydrodynamic ground effect.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Automated tracking of cells from phase contrast images by multiple hypothesis Kalman filters.
Proceedings of the 2015 IEEE International Conference on Acoustics, 2015

Multi-model selection of integrated mechanistic-empirical models describing T-cell response.
Proceedings of the American Control Conference, 2015

2014
High-Gain, High Transmissibility PZT Displacement Amplification Using a Rolling-Contact Buckling Mechanism and Preload Compensation Springs.
IEEE Trans. Robotics, 2014

Control-Configured Design of Spheroidal, Appendage-Free, Underwater Vehicles.
IEEE Trans. Robotics, 2014

A Bayesian filtering approach to incorporate 2D/3D time-lapse confocal images for tracking angiogenic sprouting cells interacting with the gel matrix.
Medical Image Anal., 2014

Bio-Artificial Synergies for Grasp Posture Control of Supernumerary Robotic Fingers.
Proceedings of the Robotics: Science and Systems X, 2014

Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Harmonic PZT poly-actuators.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Bracing the human body with supernumerary Robotic Limbs for physical assistance and load reduction.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Supernumerary Robotic Limbs for aircraft fuselage assembly: Body stabilization and guidance by bracing.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Design for precision multi-directional maneuverability: Egg-shaped underwater robots for infrastructure inspection.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

A robot on the shoulder: Coordinated human-wearable robot control using Coloured Petri Nets and Partial Least Squares predictions.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Segmentation of densely populated cell nuclei from confocal image stacks using 3D non-parametric shape priors.
Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014

An information-theoretic approach to integrated mechanistic-empirical modeling of cellular response based on intracellular signaling dynamics.
Proceedings of the American Control Conference, 2014

Closed loop position control of a linear PZT poly-actuator.
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014

2013
Dynamic Modeling of Cell Migration and Spreading Behaviors on Fibronectin Coated Planar Substrates and Micropatterned Geometries.
PLoS Comput. Biol., 2013

Maximizing output work of PZT stacks while gaining large displacement amplification.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Dynamic analysis and state estimation for wearable robotic limbs subject to human-induced disturbances.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2D data-driven stalk cell prediction model based on tip-stalk cell interaction in angiogenesis.
Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013

Engineered muscle systems having individually addressable distributed muscle actuators controlled by optical stimuli.
Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2013

Optogenetic control of live skeletal muscles: Non-invasive, wireless, and precise activation of muscle tissues.
Proceedings of the American Control Conference, 2013

2012
Subject-Specific Estimation of Central Aortic Blood Pressure Using an Individualized Transfer Function: A Preliminary Feasibility Study.
IEEE Trans. Inf. Technol. Biomed., 2012

Demonstration-based control of supernumerary robotic limbs.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

A dual-use visible light approach to integrated communication and localization of underwater robots with application to non-destructive nuclear reactor inspection.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A compact, maneuverable, underwater robot for direct inspection of nuclear power piping systems.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Controlling the locomotion of a separated inner robot from an outer robot using electropermanent magnets.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Valve-PWM control of integrated pump-valve propulsion systems for highly maneuverable underwater vehicles.
Proceedings of the American Control Conference, 2012

2011
Design and Control of Paired Mobile Robots Working Across a Thin Plate With Application to Aircraft Manufacturing.
IEEE Trans Autom. Sci. Eng., 2011

Stochastic modeling and identification of emergent behaviors of an Endothelial Cell population in angiogenic pattern formation.
Int. J. Robotics Res., 2011

Editorial: Special Issue on Stochasticity in Robotics and Bio-Systems.
Int. J. Robotics Res., 2011

Simultaneous tracking of cell nuclei and conduit parameters from time-lapse confocal microscopy images.
Proceedings of the 8th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, 2011

Stochastic tracking of migrating live cells interacting with 3D gel environment using augmented-space particle filters.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Co-fabrication of live skeletal muscles as actuators in A millimeter scale mechanical system.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

A compact underwater vehicle using high-bandwidth coanda-effect valves for low speed precision maneuvering in cluttered environments.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Flip-and-slide magnetic paired robots for aircraft manufacturing and maintenance.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Molecular signaling observer and predictor: A framework for closed-loop control of cell behaviors having long time delay.
Proceedings of the American Control Conference, 2011

2010
A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies.
IEEE Trans. Robotics, 2010

Identification of Multichannel Cardiovascular Dynamics Using Dual Laguerre Basis Functions for Noninvasive Cardiovascular Monitoring.
IEEE Trans. Control. Syst. Technol., 2010

A multi-cell piezoelectric device for tunable resonance actuation and energy harvesting.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Scaling up shape memory alloy actuators using a recruitment control architecture.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Phased-array piezoelectric actuators using a buckling mechanism having large displacement amplification and nonlinear stiffness.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Continuous path tracing by a cable-suspended, under-actuated robot: The Winch-Bot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Tracking of cell population from time lapse and end point confocal microscopy images with multiple hypothesis Kalman smoothing filters.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2010

Kalman filter for inhomogeneous population Markov chains with application to stochastic recruitment control of muscle actuators.
Proceedings of the American Control Conference, 2010

Estimation of state-transition probability matrices in asynchronous population Markov processes.
Proceedings of the American Control Conference, 2010

2009
Nonlinear Feedback Control of a Gravity-Assisted Underactuated Manipulator With Application to Aircraft Assembly.
IEEE Trans. Robotics, 2009

A Stochastic Broadcast Feedback Approach to Regulating Cell Population Morphology for Microfluidic Angiogenesis Platforms.
IEEE Trans. Biomed. Eng., 2009

Cellular muscle actuators with variable resonant frequencies.
Proceedings of the Robotics: Science and Systems V, University of Washington, Seattle, USA, June 28, 2009

Mag-Foot: A steel bridge inspection robot.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

A variable stiffness PZT cellular actuator with tunable resonance for cyclic motion tasks.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Nonlinear, large-strain PZT actuators using controlled structural buckling.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Actuation and position estimation of a passive mobile end effector from across a thin wall for heavy-duty aircraft manufacturing.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

The Winch-Bot: A cable-suspended, under-actuated robot utilizing parametric self-excitation.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Stable control of distributed hysteretic systems using cellular broadcast stochastic feedback.
Proceedings of the American Control Conference, 2009

Stochastic control of population dynamics using Kalman filtering with applications to artificial muscle recruitment.
Proceedings of the American Control Conference, 2009

2008
Cuffless Blood Pressure Monitoring Using Hydrostatic Pressure Changes.
IEEE Trans. Biomed. Eng., 2008

Stochastic Recruitment: A Limited-Feedback Control Policy for Large Ensemble Systems.
Proceedings of the Robotics: Science and Systems IV, 2008

Design of a semi-passive heavy-duty mobile robotic system for automated assembly inside an aircraft body.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

An optical external localization system and applications to indoor tracking.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Static lumped parameter model for nested PZT cellular actuators with exponential strain amplification mechanisms.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Dynamic analysis of a high-bandwidth, large-strain, PZT cellular muscle actuator with layered strain amplification.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Concurrent multi-link deployment of a gravity-assisted underactuated snake robot for aircraft assembly.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Synergistic design of a humanoid hand with hybrid DC motor - SMA array actuators embedded in the palm.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

Broadcast feedback control of cell populations using stochastic Lyapunov functions with application to angiogenesis regulation.
Proceedings of the American Control Conference, 2008

Stochastic recruitment: Controlling state distribution among swarms of hybrid agents.
Proceedings of the American Control Conference, 2008

Physiologic-State-Adaptive Recovery of Aortic Blood Pressure and Flow Using Blind 2-Channel IIR Cardiovascular System Identification.
Proceedings of the American Control Conference, 2008

2007
Conductive Fabric Garment for a Cable-Free Body Area Network.
IEEE Pervasive Comput., 2007

Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological Muscle Control.
Int. J. Robotics Res., 2007

Closed Loop Control of a Gravity-assisted Underactuated Robot Arm with Application to Aircraft Wing-.
Proceedings of the Robotics: Science and Systems III, 2007

Design of PZT cellular actuators with power-law strain amplification.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Inter-finger coordination and postural synergies in robot hands via mechanical implementation of principal components analysis.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Broadcast Feedback for Stochastic Cellular Actuator Systems Consisting of Nonuniform Actuator Units.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

A Humanoid Foot with Polypyrrole Conducting Polymer Artificial Muscles for Energy Dissipation and Storage.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Stochastic Optimal Control Laws for Cellular Artificial Muscles.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

SBC Hand: A Lightweight Robotic Hand with an SMA Actuator Array implementing C-segmentation.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007

Broadcast Feedback of Large-Scale, Distributed Stochastic Control Systems Inspired by Biological Muscle Control.
Proceedings of the American Control Conference, 2007

Sensitivity and Variance Analysis of Arterial Pressure Transfer Dynamics Estimated from Adaptive Multi-Channel System Identification.
Proceedings of the American Control Conference, 2007

2006
Architecture design of a multiaxis cellular actuator array using segmented binary control of shape memory alloy.
IEEE Trans. Robotics, 2006

Feedback Control of Stochastic Cellular Actuators.
Proceedings of the Experimental Robotics, 2006

A Broadcast-probability Approach to the Control of vast DOF Cellular Actuators.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Dynamics and Control of a Gravity-assisted Underactuated Robot Arm for Assembly Operations inside an Aircraft Wing-box.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Design of Vast DOF Artificial Muscle Actuators with a Cellular Array Structure and its Application to a Five-fingered Robotic Hand.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Noise Cancellation Model Validation for Reduced Motion Artifact Wearable PPG Sensors Using MEMS Accelerometers.
Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

Wearable, Cuff-less PPG-Based Blood Pressure Monitor with Novel Height Sensor.
Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

A Cellular Control Architecture for Compliant Artificial Muscles.
Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

Adaptive blood pressure estimation from wearable PPG sensors using peripheral artery pulse wave velocity measurements and multi-channel blind identification of local arterial dynamics.
Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

Reconstruction of Central Aortic Pressure Waveform Using Adaptive Multi-Channel Identification.
Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

Dimensionality reduction of cellular actuator arrays using the concept of synergy for driving a robotic hand.
Proceedings of the 28th International Conference of the IEEE Engineering in Medicine and Biology Society, 2006

DC Behavior of Conductive Fabric Networks with Application to Wearable Sensor Nodes.
Proceedings of the 2006 International Workshop on Wearable and Implantable Body Sensor Networks (BSN 2006), 2006

Iterative learning control of shape memory alloy actuators with thermoelectric temperature regulation for a multifunctional car seat.
Proceedings of the American Control Conference, 2006

2005
Laguerre-model blind system identification: cardiovascular dynamics estimated from multiple peripheral circulatory signals.
IEEE Trans. Biomed. Eng., 2005

Repositioning of a rigid body with a flexible sheet and its application to an automated rehabilitation bed.
IEEE Trans Autom. Sci. Eng., 2005

Electrostatic analysis and design of a cable-free body area network of sensor nodes using 2D communication over conductive fabric sheets.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

An underactuated robot with a hyper-articulated deployable arm working inside an aircraft wing-box.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Multi-Segment State Coordination for Reducing Latency Time of Shape Memory Alloy Actuator Systems.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Design of a Reconfigurable Robot Arm for Assembly Operations inside an Aircraft Wing-Box.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

Multi-Axis SMA Actuator Array for Driving Anthropomorphic Robot Hand.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004
Measurement of finger posture and three-axis fingertip touch force using fingernail sensors.
IEEE Trans. Robotics Autom., 2004

Segmentation architecture of multi-axis SMA array actuators inspired by biological muscles.
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004

Wearable DC Powerline Communication Network using Conductive Fabrics.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Segmented Binary Control of Shape Memory Alloy Actuator Systems using the Peltier Effect.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

Wearable Conductive Fiber Sensors for Measuring Joint Movements.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

A Vast DOF Robotic Car Seat using SMA Actuators with a Matrix Drive System.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Reduced cable smart motors communicating over the DC power bus-line for high degree of freedom systems.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Kinematics and control of rigid body manipulation with a flexible sheet and its application to a rehabilitation bed.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Design and control of vast DOF wet SMA array actuators.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Flexible material handling system using smart-carriers and powerline communication.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Maneuvering a bed sheet for repositioning a bedridden patient.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Wet Shape Memory Alloy Actuators for Active Vasculated Robotic Flesh.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Large-scale servo control using a matrix wire network for driving a large number of actuators.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

A new feedback linearization approach to advanced control of multi-unit HVAC systems.
Proceedings of the American Control Conference, 2003

A recursive frequency tracking method for passive telemetry sensors.
Proceedings of the American Control Conference, 2003

2002
Design and architecture of a physiological digital human model.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

One-Wire Smart Motors Communicating over the DC Power Bus-Line with Application to Endless Rotary Joints.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Filter Design and Calibration for Fingernail Sensors to Measure Fingertip Forces and Finger Posture.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

The Marionette Bed: Automated Rolling and Repositioning of Bedridden Patients.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Understanding of Fingernail-Bone Interaction and Fingertip Hemodynamics for Fingernail Sensor Design.
Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2002

Blind multi-channel identification of ARMA systems: a least-squares approach.
Proceedings of the American Control Conference, 2002

On the nature and stability of differential-algebraic systems.
Proceedings of the American Control Conference, 2002

Decentralized hierarchical control of multiple time scale systems.
Proceedings of the American Control Conference, 2002

A source coding and modulation method for power saving and interference reduction in DS-CDMA sensor network systems.
Proceedings of the American Control Conference, 2002

2001
Photoplethysmograph fingernail sensors for measuring finger forces without haptic obstruction.
IEEE Trans. Robotics Autom., 2001

Artifact-resistant power-efficient design of finger-ring plethysmographic sensors.
IEEE Trans. Biomed. Eng., 2001

Design of surface wave active beds based on human tissue physiology.
Adv. Robotics, 2001

Finger Posture and Shear Force Measurement Using Fingernail Sensors: Initial Experimentation.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Reduced-Cable Smart motors Using DC Power Line Communication.
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Energy-optimal point-to-point wireless data communications.
Proceedings of the IEEE International Conference on Communications, 2001

A sliding observer for differential-algebraic (DAE) systems.
Proceedings of the American Control Conference, 2001

Co-simulation of algebraically coupled dynamic subsystems.
Proceedings of the American Control Conference, 2001

2000
Kinematic analysis and design of surface wave distributed actuators with application to a powered bed for bedridden patients.
IEEE Trans. Robotics Autom., 2000

Dynamics Analysis and Control of a Holonomic Vehicle with a Continuously Variable Transmission.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Surface Waves for Active Transport of Bedridden Patients.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Fingernail Touch Sensors: Spatially Distributed Measurement and Hemodynamic Modeling.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

Detection of Human Mistakes and Misperception for Human Perceptive Augmentation: Behavior Monitoring Using Hybrid Hidden Markov Models.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

A Unified Approach to Modeling and Realization of Constraint Robot Motion using Singularly Perturbed Sliding Manifolds.
Proceedings of the 2000 IEEE International Conference on Robotics and Automation, 2000

1999
Design and control of a variable footprint mechanism for holonomic omnidirectional vehicles and its application to wheelchairs.
IEEE Trans. Robotics Autom., 1999

A perturbation/correlation method for force guided robot assembly.
IEEE Trans. Robotics Autom., 1999

Minimum energy coding for RF transmission.
Proceedings of the 1999 IEEE Wireless Communications and Networking Conference, 1999

A semi-autonomous control architecture applied to robotic wheelchairs.
Proceedings of the Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999

Surface wave actuators for tangential transport of humans.
Proceedings of the Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999

A semi-active, flexible, beaded support surface for tangential transport and tissue therapy of bedridden patients.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Photo-Plethysmograph Nail Sensors for Measuring Finger Forces Without Haptic Obstruction: Modeling and Experimentation.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Virtual Switch Human-Machine Interface Using Fingernail Touch Sensors.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

Design and Control of an Active Mattress for Moving Bedridden Patients.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, 1999

1998
A Twenty-Four Hour Tele-Nursing System Using a Ring Sensor.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

A Holonomic Omnidirectional Vehicle with a Reconfigurable Footprint Mechanism and Its Application to Wheelchairs.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Hand-in-Glove Human-Machine Interface and Interactive Control: Task Process Modeling Using Dual Petri Nets.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

Docking Control of Holonomic Omnidirectional Vehicles with Applications to a Hybrid Wheelchair/Bed System.
Proceedings of the IEEE International Conference on Robotics and Automation, 1998

1997
Assembly automation using perturbation/correlation.
Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 1997

Robot impedance generation from logic task description through progressive learning.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

A reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS) for bedridden patients.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

Assembly automation using vibratory end effector: modeling and stability analysis.
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, 1997

1996
Progressive learning and its application to robot impedance learning.
IEEE Trans. Neural Networks, 1996

Trajectory synthesis for stable tuning of non-collocated systems using the progressive learning theory.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995
Adaptive Reinforcement Learning and Its Application to Robot Compliance Learning.
J. Robotics Mechatronics, 1995

Experimental Verification of Progressive Learning Control For High-Speed Direct-Drive Robots With Structure Flexibility and Non-Collocated Sensors.
Proceedings of the Experimental Robotics IV, The 4th International Symposium, Stanford, California, USA, June 30, 1995

Tuned dither for friction suppression during force-guided robotic assembly.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 1995

Progressive Learning for Robotic Assembly: Learning Impedance with an Excitation Scheduling Method.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

Design and Control of Ball Wheel Omnidirectional Vehicles.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

An Experimental Approach to Simultaneous Structure/Control Design Using Rapid Recursive Prototype Modification.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994
Recursive Experimental Structure Re-Desigu of a Robot Arm Using Rapid Prototyping.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Sequence Optimization for High Speed Robotic Assembly Using Simulated Annealing.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

Assembly of Parts with Irregular Surfaces Using Active Force Sensing.
Proceedings of the 1994 International Conference on Robotics and Automation, 1994

1993
Representation and learning of nonlinear compliance using neural nets.
IEEE Trans. Robotics Autom., 1993

Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones.
Int. J. Robotics Res., 1993

Reinforcement Learning of Assembly Robots.
Proceedings of the Experimental Robotics III, 1993

A Computer Integrated Development System for High Speed Robot Design Incorporating Structural Reconfiguration.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

A Discrete Event Approach to the Control of Robotic Assembly Tasks.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Teaching and Learning of Deburring Robots Using Neural Networks.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

1992
A Discrete Event Controller Using Petri Nets Applied To Assembly.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992

Hybrid linguistic/numeric control of deburring robots based on human skills.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

Design of a holonomic omnidirectional vehicle.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

Integrated structure/control design of a two-link nonrigid robot arm for high-speed positioning.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992

1991
Experimental Verification of Human Skill Transfer to Deburring Robots.
Proceedings of the Experimental Robotics II, 1991

A geometric representation of distributed compliance for the assembly of flexible parts.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

A control-configured flexible arm: integrated structure control design.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

Transfer of human skills to neural net robot controllers.
Proceedings of the 1991 IEEE International Conference on Robotics and Automation, 1991

1990
Design and control of minimum-phase flexible arms with torque transmission mechanisms.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

Teaching and learning of compliance using neural nets: representation and generation of nonlinear compliance.
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990

1989
Automatic program generation from teaching data for the hybrid control of robots.
IEEE Trans. Robotics Autom., 1989

Skill acquisition from human experts through pattern processing of teaching data.
Proceedings of the 1989 IEEE International Conference on Robotics and Automation, 1989

1988
Robot analysis and control.
Autom., 1988

Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones and Its Applications to Grasping and Assembly Operations.
Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '88, Proceedings. IROS 1988, Tokyo, Japan, October 31, 1988

The dynamic RCC hand for high-speed assembly.
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988

The direct teaching of tool manipulation skills via the impedance identification of human motions.
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988

1987
On the dynamic analysis of a manipulator and its end effector interacting with the environment.
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31, 1987

Direct teaching and automatic program generation for the hybrid control of robot manipulators.
Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31, 1987

1986
The design of open-loop manipulator arms with decoupled and configuration-invariant inertia tensors.
Proceedings of the 1986 IEEE International Conference on Robotics and Automation, 1986

1985
Kinematic analysis of workpart fixturing for flexible assembly with automatically reconfigurable fixtures.
IEEE J. Robotics Autom., 1985

A method for the design of hybrid position/Force controllers for manipulators constrained by contact with the environment.
Proceedings of the 1985 IEEE International Conference on Robotics and Automation, 1985

Optimal compliance design for grinding robot tool holders.
Proceedings of the 1985 IEEE International Conference on Robotics and Automation, 1985

Kinematic and static characterization of wrist joints and their optimal design.
Proceedings of the 1985 IEEE International Conference on Robotics and Automation, 1985

Kinematics of workpart fixturing.
Proceedings of the 1985 IEEE International Conference on Robotics and Automation, 1985

1984
Dynamic analysis and design of robot manipulators using inertia ellipsoids.
Proceedings of the 1984 IEEE International Conference on Robotics and Automation, 1984

1981
Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors.
Proceedings of the 7th International Joint Conference on Artificial Intelligence, 1981


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