Robot Motion Research Team

Journal

G.Nishida, T.Tsuzuki, H.Nakamura, and Y.Yamamoto：”Global Asymptotical Stabilization of Morse-Smale Systems using Weak Control-Lyapunov Functions”, SICE Journal of Control, Measurement, and System Integration, Vol.2, No.1, pp.43-49, 2009.1

M.Takesada, K.Akataki, Y.Itoh, K.Mita, T.Sato, and K.Minato: “Relationship between mechanomyographic activity and muscle length during single twitch contraction of Quadriceps femoris muscle”, Transactions of Japanese Society for Medical and Biological Engineering, Vol.47, No.5, pp.444-449，2009 (in Japanese)

G.Nishida, K.Takagi, B.Maschke, and T.Osada："Multi-scale distributed parameter modeling of ionic polymer-metal composite soft actuator", Control Engineering Practice, Vol.19, Issue 4, pp.321-334, 2011.4

T.Mukai, S.Hirano, H.Nakashima, Y.Sakaida, and S.Guo: "Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors", Journal of Robotics and Mechatronics, pp.360-369, 2011.6

G.Nishida："Stokes-Dirac Differential and Field Implicit Lagrangian Representations", Trans.of the Society of Instrument and Control Engineers, Vol.47, No.12, pp.621-630, 2011.12 (in Japanese)

G.Nishida and M.Yamakita："Virtual Lagrangian Construction Method for Systems of Partial Differential Equations", Trans.of the Society of Instrument and Control Engineers, Vol.48, No.5, pp.257-264, 2012.5 (in Japanese)

D.Chugo, K.Fujita, Y.Sakaida, and S.Yokota：”A Depressurization Assistance System for a Seated Patient on a Wheelchair ”, Journal of Robotics and Mechatronics, Vol.24, No.5, pp.718-730, 2012.10

Y.Itoh, K.Akataki, K.Mita, M.Watakabe, and H.Nonaka: “Frequency response model of skeletal muscle and its association with contractile properties of skeletal muscle”, Journal of Electromyography and Kinesiology，Vol.23, No. 3, pp. 572–579，2013.6

Y.Mori, T.Tanaka, S.Kaneko, and Y.Katagiri: “KI-VPA Model-Based Correction Method of Change in Vibratory Perception Caused by Adaptation for Vibration Alert Interface”, The Transactions of Human Interface Society, Vol.15, No.3, pp.107-114 , 2013.8 (in Japanese)


Y.Mori, R.Ikeura, and M.Ding: “Estimation of Care Receiver’s Position Based on Tactile Information for Transfer Assist Using Dual Arm Robot”, Journal of Robotics and Mechatronics, Vol.26, No.6, pp.743-749, 2014.12

K.Ashida, Y.Morita, R.Ikeura, K.Yokoyama, M.Ding and Y.Mori : “Effective rocking motion for inducing sleep in adults - Verification of effect of mother’s embrace and rocking motion -”, The 2015 International Conference on Artificial Life and Robotics (ICAROB 2015), pp.41-46, 2015.1

Book

G.Nishida and N.Sakamoto："Hamiltonian Representation of Magnetohydrodynamics for Boundary Energy Controls", Topics in Magnetohydrodynamics, InTech, ISBN: 978-953-51-0211-3, pp.167-188, 2012.3

International conference

G.Nishida, B.Maschke, and M.Yamakita：”Topological Geometry and Control for D istributed Port-Hamiltonian Systems with Non-Integrable Structures”, The 47th IEEE Conference on Decision and Control, pp.1291-1297, 2008.12

G.Nishida and H.Nakamura：”Variational Structure of Infinite-dimensional Homogeneous Systems with Dilations”, European Control Conference 2009 - ECC'09, 2009.8

G.Nishida, D. Ichishima, K.Kashima, K.Fujimoto, M.Yamakita, and R.Ikeura：”Scaling reduction of port-Hamiltonian systems for numerical calculation”, ICROS-SICE International Joint Conference 2009(ICCAS-SICE 2009), 2009.8

Y.Sakaida, H.Masuda, D.Chugo, and R.Ikeura：”Transfer Motion Analysis for Motion Planning of Care Giver Robot”, ICROS-SICE International Joint Conference 2009(ICCAS-SICE 2009), 2009.8

K.Takagi, I.Jikuya, G.Nishida, B.Maschke, and K.Asaka：”A Study on theDiscretization of a Distributed RC Circuit Model”, ICROS-SICE International Joint Conference 2009(ICCAS-SICE 2009), pp.677-680, 2009.8

H.Kobayashi, Y.Morita, Y.Sakaida, K.Yokoyama, R.Ikeura and H.Masuda: “Motion Analysis of Mother's Embracing and Rocking a Baby for Developing Care Giver Robot - The Friendly Relationship between Human and Robot -”, 2009 International Conference on Mechatronics and Information Technology (ICMIT2009), pp.386-387 , 2009.12

G.Nishida, M.Sugiura, M.Yamakita, B.Maschke, and R.Ikeura：”Boundary Detection of Variational Symmetry Breaking using Port-Representation of Conservation Laws”, 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, pp.2861-2868, 2009.12

D.Chugo, H.Ozaki, Y.Sakaida, S.Yokota, and K.Takase：” Force Assistance System for Seating Motion”, The Seventh IASTED International Conference on Biomedical Engineering BioMed2010, pp. 111-117, 2010.2

Y.Itoh, M.Takesada, K.Akataki, M.Watakabe, H.Nonaka, and K.Mita: “A Frequency Response Model of Skeletal Muscle and Biochemical Properties Reflected by the Mode Elements”, The XVIII Congress of the International Society of Electrophysiology and Kinesiology，p137，2010.6 (Abstract only)

M.Takesada, K.Akataki, Y.Itoh, K.Mita, T.Sato, and K.Minato: “Effect of Muscle Length on Mechanomyographic Activities during Single Twitch Contraction of Quadriceps Femoris Muscles”, The XVIII Congress of the International Society of Electrophysiology and Kinesiology，p483，2010.6 (Abstract only)

Y.Sakaida, D.Chugo, and R.Ikeura：”The Analysis of Upper Arm Movement When a Human Lift Up a Dummy Doll”, SICE Annual Conference 2010(SICE 2010), pp.1711-1716, 2010.8

G.Nishida, B.Maschke, M.Yamakita, and K.Ito：”Variational Structure of Distributed Parameter Systems with Boundary Connections”, 8th IFAC Symposium on Nonlinear Control Systems, pp.843-848, 2010. 9

G.Nishida and N.Sakamoto：”Port-Based Modeling of Magnetohydrodynamics Equations for Tokamaks”, 2010 IEEE Multi-Conference on Systems and Control (MSC), pp.842-847, 2010.9

Y.Sakaida, D.Chugo, and R.Ikeura：”The Analysis of Lift-Up Motion for Motion Planning of Nursing-Care Assistant Robot”, 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010), 6pages, 2010.10

D.Chugo, K.Fujita, Y.Sakaida, S.Yokota and K.Takase：”A Rehabilitation Robotic Cushion for Depressurization Assistance”, 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010), 6pages, 2010.10

T.Mukai, S.Hirano, H.Nakashima, Y.Kato, Y.Sakaida, S.Guo, and S.Hosoe: "Development of a Nursing-Care Assistant Robot RIBA That Can Lift a Human in Its Arms", 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2010), pp.5996-6001, 2010.10.

G.Nishida, B.Maschke, and R.Ikeura：”Discretized Hamiltonian Systems with Distributed Energy Flows on Divisible Meshes”, 18th World Congress of the International Federation of Automatic Control (IFAC), pp.13474-13479, 2011.8-9

G.Nishida and R.Ikeura：”Boundary Controls and Interconnection for Scalable Hamiltonian Systems Governed by Molecular Dynamics”, 5th International Scientific Conference on Physics and Control (Physcon 2011), pp., 2011.9

Y.Sakaida, D.Chugo, and R.Ikeura：”The Analysis of Lift Up Skill by Human”, SICE Annual Conference 2011, pp.2494-2499, 2011.9

Y.Sakaida, D.Chugo, and R.Ikeura：”Development of Sanding Up and Walking Motion Apply for Nursing-care Assistant Robot”, 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines(Clawar2011), 2011.9

K.Yamaguchi, H.Kobayashi, Y.Morita, Y.Sakaida, R.Ikeura, and K.Yokoyama: “Motion Analysis of Mother's Embracing and Rocking a Baby and Development of Excitation Apparatus”, 2011 11th International Conference on Control Automation and Systems (ICCCAS2011), pp.1792-1796, 2011.10

M.Ding, T.Iida, H.Takemura and H.Mizoguchi: “Displacement Estimation for Foot Rotation Axis Using a Stewart-Platform-Type Assist Device”, 4th International Conference on Intelligent Robotics and Applications(ICIRA2011) , pp.221.229, 2011.12

Y.Itoh, M.Takesada, K.Akataki, M.Watakabe, and K.Mita: “Design of Air-coupled MMG sensor with condenser microphone”, The XIX Congress of the International Society of Electrophysiology and Kinesiology，p499，2012.7 (Abstract only)

M.Ding, T.Onodera, R.Ikeura, H.Takemura and H.Mizoguchi: “Position Force And Stiffness Control of a Stewart-Platform-Type Ankle-Foot Assist Device”, ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference(DSCC2012-MOVIC2012), 8pages(DSCC2012-MOVIC2012-8566), 2012.10

M.Ding, R.Ikeura, T.Mukai, H.Nakashima, S.Hirano, K.Matsuo, M.Sun, C.Jiang, and S.Hosoe: “Comfort Estimation During Lift-up Using Nursing-care Robot - RIBA”, 2012 First International Conference on Innovative Engineering Systems (ICIES), pp.246-250, 2012.12

T.Onodera, M.Ding, H.Takemura, and H.Mizoguchi: “Design and Development of Stewart Platform-Type Assist Device For Ankle–Foot Rehabilitation”, 2012 First International Conference on Innovative Engineering Systems (ICIES), pp.1-6, 2012.12

Y.Mori, R.Ikeura, T.Mukai, and S.Hosoe："Position Gap Detection of Care-receiver using Tactile Sensor in Robot Arm of Care Support Robot RIBA", The 13th SICE System Integration Division Annual Conference(SI2012)，pp.2701-2702，2012.12

D.Chugo, K.Shioatni, Y.Sakaida, S.Yokota, and H.Hashimoto：”An Automatic Adjustable Backrest for a Posture Coordination of a Seated Patient on a Wheelchair”, 6th International Conference on Human System Interaction(HSI2013), no.58, 6pages, 2013.6

D.Zhang, S.Inagaki, T.Suzuki, and R.Ikeura：”A Constrained ECM Algorithm and Its Application on Driver Modeling and Identification”, 2nd 2013 IEEE Conference on Control, Systems and Industrial Informatics (ICCSII), pp.142-149, 2013.6

Y.Morita, K.Yamaguchi, K.Ashida, R.Ikeura, and K.Yokoyama: “Verification of Sleep-Inducing Effect by Excitation Apparatus Simulating Mother's Embrace and Rocking Motion”, 9th International Workshop on Robot Motion and Control (ROMOCO2013), pp.80-856, 2013.7

Y.Mori, T.Tanaka, and S.Kaneko: “Correction Method Based on KI-VPA Model for Changes in Vibratory Perception Caused by Adaptation”, 15th International Conference, HCI International 2013, pp.107-116, 2013.7

M.Sun, H.Nakashima, S.Hirano, K.Matsuo, M.Ding, C.Jiang, T.Mukai, and G.Qin: “Adaptive User-Centered Design for Safety and Comfort of Physical Human Nursing-Care Robot Interaction”, 4th International Conference, DHM 2013 Held as Part of HCI International 2013, pp.246-250, 2013.7

D.Zhang, S.Inagaki, and T.Suzuki：”Robust Human Motion Modeling Strategy and Its Application on Driver Identification and Gait Recognition”, SICE Annual Conference 2013, pp.1274-1281, 2013.9

D.Zhang, R.Ikeura, S.Inagaki, and T.Suzuki：”Adaptive Gait Recognition Model and Automatic Velocity-robust Feature Selection Based on A New Constrained Expectation Conditional-Maximization Learning Algorithm”, 2013 IEEE 2nd Global Conference on Consumer Electronics (GCCE) , pp. 417-421, 2013.10

M.Ding, R.Ikeura, Y.Mori, and T.Mukai: “Measurement of Human Body Stiffness for Lifting-Up Motion Generation Using Nursing-Care Assistant Robot - RIBA”, IEEE SENSORS 2013, pp.1212-1215, 2013.11

Y.Mori, R.Ikeura, and M.Ding: “Using Tactile Sensors to Estimate Care Receiver Position on Dual Arms of Robot”, IEEE SENSORS 2013, pp.1242-1245, 2013.11

D.Zhang, R.Ikeura, and Y.Mori：”Motion Reproduction by Human Demonstration Based on Discrete Hidden Markov Model for Nursing-care Assistant Robot”, 2014 IEEE International Conference on Systems, Man, and Cybernetics（SMC2014）, pp.856-860, 2014.10

K.Yasuda, S.Takahashi, Y.Kusakabe, R.Ikeura, S.Hayakawa and H.Sawai：”Impedance Control of a Series Elastic Drive System added with another Actuatort”, 2014 IEEE International Conference on Robotics and Biomimetics（ROBIO2014）, pp.2304-2309, 2014.12

K.Ashida, Y.Morita, R.Ikeura, K.Yokoyama, M.Ding and Y.Mori : “Effective rocking motion for inducing sleep in adults - Verification of effect of mother’s embrace and rocking motion -”, The 2015 International Conference on Artificial Life and Robotics (ICAROB 2015), pp.41-46, 2015.1

Domestic conference

Y.Itoh, K.Akataki, K.Mita, and M.Watanabe: “Frequency response of biceps brachii muscle during isometric twitch contraction”, IEICE on Technical Committee on ME and Bio Cybernetics(MBE), pp.1-4, 2008.10 (in Japanese)

K.Takagi, B.Maschke, G.Nishida, and K.Asaka: “A Numerical Study on the Hamiltonian Discretization of the Transmission Line: Toward the Modeling for the Fractal-Like Rough Electrodes of Ionic Polymer Actuators”, 9th SICE System Integration Division Annual Conference (SI2008), pp.293-294, 2008.12

G.Nishida and B.Maschke: “Symplectic and Dirac structure for distributed port-representations”, SICE 9th Annual Conference on Control Systems，pp.WB1-4-1〜WB1-4-8，2009.3 (in Japanese)

Y.Sakaida, H.Masuda, D.Chugo, and R.Ikeura: “Transfer Motion Analysis for Motion Planning of Care Giver Robot”, 2009 JSME Conference on Robotics and Mechatronics(ROBOMEC2009), pp. 1A1-M11-1〜1A1-M11-2, 2009.5 (in Japanese)

G.Nishida, B.Maschke, M.Yamakita, and R.Ikeura: “Generalization of passivity based controls on global structures”, 38th SICE Symposium on Control Theory, pp.263-270, 2009.9 (in Japanese)

H.Masuda, Y.Sakaida, and R.Ikeura: “Analysis of Lift Up Motion for Transfer Support Operation”, The 27th Annual Conference of The Robotics Society of Japan, 2pages(RSJ2009AC2C1-02 ), 2009.9 (in Japanese)

M.Takesada, K.Akataki, Y.Itoh, K.Mita, and K.Minato: “Effect of muscle length on evoked mechanomyogram”, The 24th Symposium on Biological and Physiological Engineering, pp.241-244, 2009.9 (in Japanese)

Y.Itoh, K.Akataki, M.Takesada, and K.Mita: “Study on assessment of diaphragm using mechanomyography”, The 24th Symposium on Biological and Physiological Engineering, pp.245-246, 2009.9 (in Japanese)

M.Takesada, K.Akataki, Y.Itoh, K.Mita, T.Sato, and K.Minato: “筋長に対する誘発筋音図応答の変化”, BMES2009, pp.466-467, 2009.9 (in Japanese)

H.Kobayashi, Y.Morita, Y.Sakaida, K.Yokoyama, R.Ikeura and H.Masuda: “Analysis of Mother's Embracing and Rocking a Baby for Developing Care Giver Robot”, Tokai-Section Joint Conference on Electrical and Related Engineering, 1page(O-0008), 2009.9 (in Japanese)

H.Kobayashi, Y.Morita, Y.Sakaida, K.Yokoyama, R.Ikeura and H.Masuda: “Frequency Analysis of Mother's Embracing and Rocking a Baby”, 10th SICE System Integration Division Annual Conference (SI2009), pp.423-424, 2009.12 (in Japanese)

Y.Itoh, M.Takesada, K.Akataki, M.Watakabe, H.Nonaka, and K.Mita: “A study on association between frequency response model and biochemical activity of skeletal muscle”, 第11回日本電気生理運動学会(Japanese Society of Electrophysiology and Kinesiology; JSEK)，pp.47-48，2009.11 (in Japanese)

G.Nishida, B.Maschke, and M.Yamakita: “Boundary Connections of Virtual Lagrangians on Global Manifolds”, SICE 10th Annual Conference on Control Systems, 6pages，No.166-2-3，2010.3 (in Japanese)

Y.Nishimura, G.Nishida, Y.Wakasa, K.Tanaka, and Y.Yamashita: “On Approximate Method of Optimal Regulator Problems for Input-Affine Systems with Input Constraints using Canonical Quantization”, SICE 10th Annual Conference on Control Systems, 4pages，No.182-2-3，2010.3 (in Japanese)

G.Nishida, K.Takagi, and B.Maschke: “Boundary Multi-Scale Coupling of Distributed Parameter Systems”, SICE 1st Plantmodeling Sympoium，pp.49-56，2010.4

Y.Sakaida, D.Chugo, and R.Ikeura: “The Analysis of Upper Arm Movement When a Human Lift Up a Dummy Doll”, 2010 JSME Conference on Robotics and Mechatronics(ROBOMEC2010), pp. 1A1-D13(1)〜1A1 -D13(2), 2010.6 (in Japanese)

T.Mukai, S.Hirano, H.Nakashima, and Y.Sakaida: “Realization of Patient-Transfer Tasks Using Nursing-Care Assistant Robot RIBA and Its Safety Mesures”, 2010 JSME Conference on Robotics and Mechatronics(ROBOMEC2010), pp.1A1-E24(1)-1A1-E24(4), 2010.6(in Japanese)

M.Takesada, K.Akataki, Y.Itoh, K.Mita, T.Sato, and K.Minato: “Effect of muscle length on mechanomyographic activities during single twitch contraction of quadriceps femoris muscle”, The 49th Annual Conference of Japan Soc. ME & BE, PS2-7-1, 2010.6

Y.Itoh, K.Akataki, M.Takesada, and K.Mita: “Study on characteristics of single motor unit mechanomyographic activation”, The 25th Symposium on Biological and Physiological Engineering, pp.499-500, 2010.9 (in Japanese)

Y.Sakaida, D.Chugo, and R.Ikeura: “The Lift Up Motion Analysis　- The Analysis of Trunk and Arms -”, 11th SICE System Integration Division Annual Conference (SI2010), pp. 654-655, 2010.12 (in Japanese)

Y.Itoh, M.Takesada, K.Akataki, M.Watakabe, and K.Mita: “Study on a mechanomyographic measurement sensor using double vibration simulator”, 第12回日本電気生理運動学会(Japanese Society of Electrophysiology and Kinesiology; JSEK)，pp.3-4，2011.3 (in Japanese)

M.Ding, T.Onodera, T.Iida, H.Takemura and H.Mizoguchi: “足首関節回転軸変位制御可能なスチュワートプラットホーム型下肢アシスト装置の開発”, The 29th Annual Conference of The Robotics Society of Japan, 2pages(RSJ20113H1-3), 2011.9 (in Japanese)

Y.Itoh, M.Takesada, K.Akataki,M.Watanabe, and K.Mita: “Effects of air chamber dimensions on condenser microphone output during mechanomyographic measurements ”, The 26th Symposium on Biological and Physiological Enginieering(BPES2011) , pp.407-409, 2011.9

M.Takesada, K.Akataki, Y.Itoh, K.Mita, T.Sato, and K.Minato: “Determination of Appropriate Recording Area of Mechanomyogram in Diaphragm and its Reliability”, The 26th Symposium on Biological and Physiological Enginieering(BPES2011) , pp.410-412, 2011.9

G.Nishida, D.Ichisimaa, and K.Fujimoto: “くりこみ群分子動力学法と境界制御の統合”, 40th SICE Symposium on Control Theory, pp.227-232，2011.9 (in Japanese)

G.Nishida, B.Maschke, and R.Ikeura: “Boundary energy controls in port representations”, SICE 2nd Plantmodeling Sympoium，pp.23-30，2011.10

Y.Sakaida, D.Chugo, and R.Ikeura: “The Analysis of Lift Up Motion by Human”, Technical Meeting on Innovative Industrial System, IEE Japan, pp.1-6, 2012.2 (in Japanese)

Y.Itoh, M.Takesada, K.Akataki, M.Watakabe, and K.Mita: “Study on a mechanomyographic condenser microphone”, The 1st Conference on Electrophysiology and Kinesiology/第12回日本電気生理運動学会(Japanese Society of Electrophysiology and Kinesiology; JSEK)，pp.6-7，2012.3 (in Japanese)

G.Nishida: “Passivity -based boundary energy controls for Euler-Lagrange equations”, SICE 12th Annual Conference on Control Systems, 6pages，No.166pages，No.P0119，2012.3 (in Japanese)

Y.Mori, T.Tanaka, and S.Kaneko: “Vibration Display Considering Adaptation to Vibration for Vibration Alert Interface”, 2012 JSME Conference on Robotics and Mechatronics(ROBOMEC2012), pp.1A1-M05(1) - 1A1-M05(3) , 2012.5 (in Japanese)

Y.Sanpei, T.Tanaka, Y.Mori, and S.Kaneko: “A Relative Vibration Sense Presentation Method for Improvement of the Sense Repeatability at the Time of Vibration Alert Interface Use”, 2012 JSME Conference on Robotics and Mechatronics(ROBOMEC2012), pp.1A1-E02(1) - 1A1-E02(4) , 2012.5 (in Japanese)

M.Ding, R.Ikeura, T.Mukai, H.Nakashima, S.Hirano, K.Matsuo, M.Sun, and C.Jiang： ”介護ロボットRIBAの抱上動作のモデル化と動作中の快適さ推定”, The 30th Annual Conference of The Robotics Society of Japan, 4pages(RSJ2012AC2K1-3), 2012.9 (in Japanese)

M.Ding, H.Takemura, H.Mizoguchi, and R.Ikeura： ”Position and Force Control of a Stewart-Platform-Type Ankle-Foot Assist Device with Pneumatic Control”, The 30th Annual Conference of The Robotics Society of Japan, 4pages(RSJ2012AC2D2-4), 2012.9.

Y.Sanpei, T.Tanaka, Y.Mori, and S.Kaneko: “Influence of an Optical Flow on the Vibration Sense and Depth Perception of Vibration Alert Interface”, 2013 JSME Conference on Robotics and Mechatronics(ROBOMEC2013), pp.1A2-E03(1) - 1A2-E03(3) , 2013.5 (in Japanese)

K.Ashida, K.Yamaguchi, Y.Morita, N.Sato, R.Ikeura, and K.Yokoyama: “Influence of an Optical Flow on the Vibration Sense and Depth Perception of Vibration Alert Interface”, 2013 JSME Conference on Robotics and Mechatronics(ROBOMEC2013), pp.1A2-E03(1) - 1A2-E03(3) , 2013.5 (in Japanese)

Y.Mori, R.Ikeura, and M.Ding: “Using Tactile Sensors to Estimate Position of Care Receiver on Dual Arms of RIBA”, IEICE Technical Report, Vol.113, No.195, pp.1-4, 2013.8 (in Japanese)

M.Ding, R.Ikeura, Y.Mori, T.Mukai, and S.Hosoe： ”Motion Generation for Nursing-care Assistant Robot by Considering the Softness of Human Body”, The 31st Annual Conference of The Robotics Society of Japan, 2pages(RSJ2013AC3F2-02), 2013.9 (in Japanese)

Y.Itoh, S.Urata, S.Fujiwara, M.Yasubayashi, K.Kubo, K.Akataki, and K.Mita: “Mechanomyographic investigation of digastric muscle during swallowing reflex”, Life Engineering Symposium 2013(LE2013)，pp.157-158，2013.9

Y.Mori, R.Ikeura, and M.Ding："Estimation of Care Receiver Position Through Use of Contact at Start of Lift Up Motion", The 14th SICE System Integration Division Annual Conference(SI2013)，pp.2248-2251，2013.12 (in Japanese)

Y.Mori, R.Ikeura, and M.Ding："Effect of Elapsed Time on Position Estimation Based on Lifting Up Motion for Nursing Care Robot", 2014 JSME Conference on Robotics and Mechatronics(ROBOMECH2014)， No.14-2，pp.1P2-B04(1)-1P2-B04(2) , 2014.5 (in Japanese)

M.Ding, R.Ikeura, Y.Mori, and S.Hosoe： ”Experimental Evaluation of Comfort Lift-up Motion for using Nusing-Care Assistant Robot”, 2014 JSME Conference on Robotics and Mechatronics(ROBOMECH2014)， No.14-2，pp.3P1-N03(1)-3P1-N03(3) , 2014.5 (in Japanese)

Y.Itoh, S.Urata, S.Fujiwara, M.Yasubayashi, K.Kubo, K.Akataki, and K.Mita: “Electromyograhic and mechanomyographic activities of digastric muscle during swallowing reflex”, Life Engineering Symposium 2014(LE2014)，pp.228-231，2014.9

M.Ding, T.Mukai, S.Hirano，Y.Mori，S.Hosoe，S.Sato, S.Guo, I.Wada, and J.Mizutani： ”Clinical Trial of Transfer Motion using Nursing-care Assistant Robot - Validation by Measuring EMG Signals”, The 32nd Annual Conference of The Robotics Society of Japan, 3pages(RSJ2014AC1A2-02), 2014.9.

S.Takahashi, K.Yasuda, R.Ikeura, S.Hayakawa and H.Sawai："Development of Performance Improvement Techniques for Series Elasticity Actuator System with two Motors by Energy Storage", The 15th SICE System Integration Division Annual Conference(SI2014)，pp.2405-2406，2014.12 (in Japanese)