Updated on 2024/02/01

写真a

 
MOROMUGI Shunji
 
Organization
Faculty of Science and Engineering Associate Professor
Other responsible organization
Electrical, Electronic, and Communication Engineering Course of Graduate School of Science and Engineering, Master's Program
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • Ph.D. in Civil Engineering ( University of California-Irvine )

  • 修士(工学) ( 電気通信大学 )

Education

  • 2003.6
     

    Ph.D course in Dept. of Civil&Environmental Engineering, University of California-Irvine (USA)   Civil&Environmental Engineering   doctor course   completed

  • 1999.3
     

    The University of Electro-Communications   Graduate School, Division of Information Systems   master course   completed

  • 1997.3
     

    Nagasaki University   Faculty of Engineering   graduated

  • 1992.3
     

    鹿児島県立加治木高等学校   graduated

Research History

  • 2014.4 - Now

    ~ 中央大学 理工学部電気電子情報通信工学科 准教授

  • 2011.4 - 2014.3

    長崎大学大学院工学研究科   Graduate school of Engineering   助教

  • 2008.9 - 2014.3

    こころ医療福祉専門学校   非常勤講師

  • 2011.10 - 2011.12

    Center for Sensory-Motor Interaction, Aalborg University, Denmark   Visiting Researcher

  • 2007.4 - 2011.3

    Nagasaki University   工学部機械システム工学科   助教

  • 2010.3 - 2010.11

    University of California - Irvine   "Dept. of Biomedical Engineering, The Henry Samueli School of Engineering,"   Visiting Researcher

  • 2002.4 - 2007.3

    Nagasaki University   工学部機械システム工学科   助手

  • 2002 - 2007

    Research Associate,Mechanical Systems Engineering,Faculty of Engineering,Nagasaki University

  • 2007 -  

    Assistant Professor,Mechanical Systems Engineering,Faculty of Engineering,Nagasaki University

  • 2005.5 - 2005.8

    大韓民国 科学技術院(KAIST) 機械工学研究所 客員研究員

  • 2005.2 - 2005.4

    上海交通大学(中華人民共和国)   机器人研究所   客員研究員

  • 2005.2 - 2005.4

    中華人民共和国 上海交通大学 机器人研究所 客員研究員

  • 2004.11 - 2005.1

    清華大学(中華人民共和国)   机械工程学院   客員研究員

  • 2004.11 - 2005.1

    中華人民共和国 清華大学 机械工程学院 客員研究員

  • 2004 - 2005

    Visiting Researcher,Dept. of Precision Instruments&Mechanology, Tsinghua University

  • 2005 -  

    Visiting Researcher,KAIST (Korea Advanced Institute of Science & Technology)

  • 1999.4 - 2000.3

    University of California -Irvine   "Dept. of Civil&Environmental Engineering,"   Jr.Specialist

  • 1999.4 - 2000.3

    University of California -Irvine   Dept. of Civil&Environmental Engineering,   Jr.Specialist

  • 1999 - 2000

    Engineering Staff,Dept of Civil & Environmental Engineering, University of California, Irvine

  • Nagasaki University Graduate school of Engineering   Assistant Professor

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Professional Memberships

  • 2020.8 - Now

    電気学会

  • 日本コンピュータ外科学会

  • 計測自動制御学会

  • Institute of Electrical and Electronic Engineers

  • 日本機械学会

  • 日本ロボット学会

  • 日本生体医工学会

  • 日本睡眠学会

  • The Robotics Society of Japan

  • The Japan Society of Mechanical Engineering

  • INTERNATIONAL SOCIETY FOR PROSTHETICS AND ORTHOTICS

  • IEEE

  • The Society of Instrument and Control Engineering

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Research Interests

  • 医療福祉工学

  • Biological Information Instrumentation

  • Welfare Engineering

  • Biomedical Engineering

  • Robitcs

Research Areas

  • Life Science / Biomedical engineering

  • Informatics / Mechanics and mechatronics

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering

  • Life Science / Rehabilitation science  / リハビリテーション科学・福祉工学

Papers

  • 畜養魚の水槽内での体長及び体重の測定を目的とする体形測定手法の基礎的検討

    長久保 晴奈, 野口 景斗, 芝谷 琉, 染谷 健太, 諸麥 俊司

    第32 回バイオフロンティア講演会講演予稿集   1D14   2022.12

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    Language:Japanese   Publishing type:Research paper (other academic)   Publisher:日本機械学会  

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  • Design of a surgical instrument to locally excise liver tissue Reviewed

    Takuya Higashi, Hiroki Aihara, Misa Funahashi, Masaaki Hidaka, Taiichiro Kosaka, Susumu Eguchi, Chiaki Endo, Jun Tsuchiya, Shunji Moromugi

    Proc. of IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech 2022)   575 - 577   2022.3

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  • A head-mounted device for easy quantification of vestibulo-ocular reflex through active head rotations Reviewed

    Kota Takeishi, Kaito Komine, Shunji Moromugi

    Proc. of IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech 2022)   231 - 234   2022.3

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  • A prototype of a head-mounted input device for robotic laparoscope holders using lower jaw exercises as command signals detected by a photoreflector array Reviewed

    Takato Omori, Masato Arai, Shunji Moromugi

    Proc. of 30th IEEE International Symposium on Industrial Electronics (ISIE 2021)   1 - 6   2021.6

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  • A robotic laparoscope holder operated by jaw movements and triaxial head rotations Reviewed

    Masato Arai, Takato Omori, Shunji Moromugi, Tomohiko Adachi, Taiichiro Kosaka, Shinichiro Ono, Susumu Eguchi

    Proc. of 2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)   A1-5   2019.9

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:IMEKO Technical Committee on Robotics  

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  • Exotendon Glove System for Finger Rehabilitation after Stroke Reviewed

    Shunji Moromugi, Toshio Higashi, Ryo Ishikawa, Seiya Kudo, Naoki Iso, Shirou Ooso, Takeaki Shirotani, Murray J. Lawn, Takakazu Ishimatsu

    REPLACE, REPAIR, RESTORE, RELIEVE - BRIDGING CLINICAL AND ENGINEERING SOLUTIONS IN NEUROREHABILITATION   7   93 - 102   2014

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:SPRINGER INT PUBLISHING AG  

    An innovative electric-powered glove system has been prototyped to support finger rehabilitation for people with motor impairment on their fingers after a stroke. This glove system is composed of a leather glove which has a unique actuation mechanism called an exotendon system, a muscle activity sensor is fixed on the upper forearm to detect user's efforts during finger exercises and a controller including a microcomputer and a drive unit. An evaluation has been conducted based on A-B design of a single subject study and it has been observed that finger exercises carried out using the prototyped glove system has effectively improved the finger functionality of a stroke patient.

    DOI: 10.1007/978-3-319-08072-7_19

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  • Chewing number is related to incremental increases in body weight from 20 years of age in Japanese middle-aged adults

    Hideki Fukuda, Toshiyuki Saito, Masato Mizuta, Shunji Moromugi, Takakazu Ishimatsu, Shinobu Nishikado, Hiroshi Takagi, Yoshihiko Konomi

    Gerodontology   30 ( 3 )   214 - 219   2013.9

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    Publishing type:Research paper (scientific journal)  

    Chewing number is related to incremental increases in body weight from 20 years of age in Japanese middle-aged adults Background: Eating habits are associated with both current obesity and incremental increases in body weight from young adulthood, but no study has focused on chewing number during meals among community residents. Objective: This study focused on the relationship between chewing number and incremental increases in body weight from 20 years of age. Methods: A total of 93 persons aged 35-61 years participated. The subjects were asked to set the device and record their chewing number during each meal on a particular day. They were also asked whether their body weight had increased by 10 kg or more since they were 20 years old. Results: The body weight of 28 subjects (30%) had increased more than 10 kg since the age of 20 years. Total chewing number showed a relationship with such body weight increases. The odds ratio of weight increments of more than 10 kg for the lowest tertile group was 4.6 [95% confidence interval (CI), 1.3-16.2] relative to the highest tertile group (Model 1). The odds ratio of weight increments for the lowest tertile group increased to 6.3 (95% CI, 1.6-25.4) in Model 2 and to 9.1 (95% CI, 1.7-49.8) in Model 3. Conclusion: Although this study was limited because it did not consider all risk factors, categorical chewing number was related independently to body weight increments of more than 10 kg from 20 years of age. © 2012 John Wiley & Sons A/S and The Gerodontology Society.

    DOI: 10.1111/j.1741-2358.2012.00666.x

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  • Input Devices to Support Communication for People with Serious Disability Reviewed

    Chao Zhang, Shinichi Kumano, Kenichi Takashima, Motohiro Tanaka, Shunji Moromugi, Takakazu Ishimatsu

    2013 IEEE NINTH INTERNATIONAL CONFERENCE ON MOBILE AD-HOC AND SENSOR NETWORKS (MSN 2013)   454 - 460   2013

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    Persons suffering from intractable disease like ALS (Amyotrophic Lateral Sclerosis) and spinal cord injury often show deterioration in muscular function. Some of these patients are obliged to use artificial respirators and cannot have verbal communication with others. In order to support their communication, there exist various input devices like touch sensor input devices, capacitance sensor input devices and also vision input devices. In addition, computer controlled environment is helpful for such patients. By developing proper computer controlled environment which is controlled by the proper input device, even the patient with serious disability can live sound life. Due to the infrared network system, the computer controlled environment could be well organized.

    DOI: 10.1109/MSN.2013.94

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  • A medication calendar to assist old people with drug dose Reviewed

    Joel Palomino, Haruo Nakashima, Shunji Moromugi, Takakazu Ishimatsu, Motohiro Tanaka, Masayuki Honda

    Proceedings - 5th International Conference on Intelligent Networks and Intelligent Systems, ICINIS 2012   290 - 293   2012

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    For elderly patients, dosing is crucial for their healthy life. Many of theme are requested to take medicine regulary without any mistake. To assist their daily drug dosing, a medication calendar to guide them is proposed. The calendar has 28 pockets, with reed switches attached on the back. With the use of a microprocesor the reed switch signal is read and used to guide the users with their drug dose with a voice command. © 2012 IEEE.

    DOI: 10.1109/ICINIS.2012.95

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  • Environmental Control System For Spinal Cord Injured Reviewed

    Haruo Nakashima, Masatomo Shibata, Motohiro Tanaka, Shunji Moromugi, Takakazu Ishimatsu

    2012 IEEE SENSORS PROCEEDINGS   1846 - 1849   2012

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    In this paper, Environmental Control System for spinal cord injured to support their living is proposed. A distinguished feature of this system is that an original image processing technique is introduced as a smart input device. In addition, infrared signal emitter and receiver system are developed to reduce the cables and devices around the bed. These two features established the well-organized nursing environment.

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  • Computerized environment for people with serious disability

    Chao Zhang, Haruo Nkashima, Motohoro Tanaka, Shunji Moromugi, Takakazu Ishimatsu

    Proceedings - 5th International Conference on Intelligent Networks and Intelligent Systems, ICINIS 2012   286 - 289   2012

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    Persons suffering from intractable disease like ALS (Amyotrophic Lateral Sclerosis) and spinal cord injured present symptoms of muscular deteriorations. These patients are often obliged to use artificial respirators in the case the breathing action becomes impossible. It should be noticed that using the artificial respirator means that uttering voice is impossible. In order to support their daily lives, computerized environment is proposed, where various home electric appliances can be controlled by computer. Furthermore, the computer has original vision input device. A distinct advantage of this computerized environment is that the most of the home electric appliances needs no to be connected by the cables. © 2012 IEEE.

    DOI: 10.1109/ICINIS.2012.96

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  • "Future Dream!" Review of The 2007 Robotics-Mechatronics Design Competition

    Taisuke Sakaki, Ryuichi Oguro, Shinichi Sagara, Kanta Aoki, Nobuhiro Ushimi, Takanori Kiyota, Ryo Kikuuwe, Makoto Iwamura, Manabu Fukushima, Keiji Imado, Hidetaka Ikeuchi, Shunji Moromugi

    JOURNAL OF ROBOTICS AND MECHATRONICS   21 ( 2 )   245 - 251   2009.4

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    Language:English   Publisher:FUJI TECHNOLOGY PRESS LTD  

    We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Fifteen teams from six universities joined the competition, whose subject was "Health, care and communication aids for the elderly." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design.

    DOI: 10.20965/jrm.2009.p0245

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  • Load control based on PIC microcomputer for a training machine suited to elderly people

    Hongbo Wang, Takakazu Ishimatsu, Fumio Kasagami, Shunji Moromugi

    International Journal of Intelligent Systems Technologies and Applications   7 ( 4 )   382 - 395   2009

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    This paper presents a load control method based on PIC microcomputer for a training machine suited to elderly people. The training machine allows the elderly people to maintain their physical ability through exercise close to ordinary motion that appears in daily life such as extending or flexing legs. The system configuration of the training machine and the muscle stiffness sensor used for human-machine interface are described. The hardware and software of the motor controller based on PIC microcomputer are introduced and the load control method with the control function of reverse current is proposed. Several experiments are conducted to evaluate the training system and the results indicate the effectiveness of the control system. © 2009 Inderscience Enterprises Ltd.

    DOI: 10.1504/IJISTA.2009.028054

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  • Robotics-mechatronics design competition in Kyushu Area, Japan

    Taisuke Sakaki, Takanori Kiyota, Hitoshi Kino, Shinichi Sagara, Ryuichi Oguro, Shunji Moromugi, Keiji Imado, Hidetaka Ikeuchi, Manabu Fukushima, Takeshi Ikeda, Kanta Aoki, Nobuhiro Ushimi

    ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings   1677 - 1682   2009

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    We describe a unique competition based on the novel concept of robotics and mechatronics products that included evaluation of the products' engineering function and interface design. Seventy-seven students of eleven teams from seven universities in the Kyushu area participated in the competition, whose subject was " Health care, life supporting and communication or other technical aids for the elderly or disabled." Many of the plans presented ideas that balanced function and design, showing the results of collaboration among students studying engineering and students studying product design. © 2009 SICE.

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  • Vision Based Pointing Device with Slight Body Movement Reviewed

    Motohiro Tanaka, Motoki Hara, Yoshitaka Morito, Taichi Sakamoto, Kazuya Miyamori, Shunji Moromugi, Takakazu Ishimatsu

    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4   1695 - +   2008

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    It is widely acknowledged that computer is powerful tool to improve the quality of life of the people with disability. One problem is how the user manipulates the computer using suitable input device designed for him or her. This paper proposes tow pointing devices based on vision for the people with disability as input devices. These devices detect the position of the marks attached on the users head. According to the head movements, computer cursor on the computer display is moved in two-dimensionally. A distinct advantage of these devices is that various strategies could be installed based on the situation of the users. The pointing device was applied to a drawing tool of the painting software for an patients successfully.

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  • Robotic chair at steep and narrow stairways Reviewed

    Masahiro Imazato, Masahiro Yamaguchi, Shunji Moromugi, Takakazu Ishimatsu

    ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2   6794   2008

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    Language:English   Publishing type:Research paper (international conference proceedings)   Publisher:SPIE-INT SOC OPTICAL ENGINEERING  

    A robotic chair is developed to support mobility of elderly and disabled people living in the house where steep and narrow stair-ways are installed. In order to deal with such mobility problem the developed robotic chair has a compact original configuration. The robotic chair vertically moves by actuation of electric cylinders and horizontally moves by push-pull operation given by a care-giver. In order to navigate safely every action of the chair is checked by the operator. Up-and-down motions of the robotic chair on the stairway are executed through combinations of motor and cylinder actuations. Performance of the robotic chair was evaluated through two kinds of experiments. The excellent ability of the robotic chair could be confirmed through these experiments.

    DOI: 10.1117/12.783963

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  • Sensing and robotic system for supporting serious disabled Reviewed

    T. Hamada, T. Tomozawa, S. Hiraya, M. Imazato, M. Tanaka, S. Moromugi, T. Ishimatsu

    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6   1570 - +   2007

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    Due to the rapid increase of the population of elderly people, many countries have serious social problems. Technical approach is highly required to deal with such problems. One of serious problem can be found at nursing care of patients suffered by intractable disease like ALS (Amyotrophic Lateral Sclerosis) and cerebral infraction. They need intensive cares by care-workers. As a typical symptom of ALS patients their muscular functions deteriorate rapidly. In two or three years after the onset of the disease, patients are often obliged to use artificial respirators since even the breathing action becomes impossible. Once they start to use the artificial respirator, uttering voice becomes impossible. Therefore, communication with family and friends becomes difficult In this presentation activity to support daily lives of these serious patients in Nagasaki area are explained. We developed and offered communication system using original switching devices. These switches are developed considering individual symptom of the patients. Using the internet function of the system, the patients are able to join the social activity.

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Books

  • ロボット制御学ハンドブック

    松野文俊, 大須賀公一, 松原 仁, 野田五十樹, 稲見昌彦( Role: Contributor第23章パワーアシストロボット内、23.3 センサ・アクチュエータとモデリング、分担執筆)

    近代科学社  2017.12 

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    Total pages:3   Responsible for pages:748-750   Language:Japanese   Book type:Scholarly book

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  • Technological Advancements in Biomedicine for Healthcare Applications

    Editor: Jinglong Wu, Authors, researchers including, S. Moromugi( Role: ContributorChapter11: Strength- training machine with dynamic resistance control function based on user' s muscle activity level)

    IGI Global  2012.10 

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    Responsible for pages:102-110   Language:English   Book type:Scholarly book

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  • 安全安心工学入門 -安全安心は長崎から-

    長崎大学工学部安全安心工学入門編集委員会, 諸麥俊司ほ( Role: Contributor6章4節:ニーズ対応のために製作した機器について)

    古今書院  2010.3 

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    Responsible for pages:105-106   Language:Japanese   Book type:Scholarly book

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  • International Journal of Automation Technology, Vol. 3, No. 6

    S. Moromugi, T. Noritsugu( Role: EditSpecial Issue on Robotic Technology to Extend Worker’s Physical Abilities and Skills と題する特集号を編纂)

    Fuji Technology Press Ltd.  2009.11 

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  • International Journal of Automation Technology, Vol. 2, No. 4

    K. Terashima, S. Moromugi( Role: EditSpecial Issue on Casting Technology Automation and Control と題する特集号を編纂)

    Fuji Technology Press Ltd.  2008.7 

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MISC

  • 腰痛リスク姿勢の即時通知機能による作業姿勢矯正を目的とする 腰ベルト式腰痛予防装置の開発

    諸麥 俊司, 西村 潤子, 鈴木 駿介

    電気学会制御研究会「人間中心型システムのための情報・制御技術,および制御一般」研究会資料   53 - 54   2020.10

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    Language:Japanese   Publishing type:Research paper, summary (national, other academic conference)   Publisher:電気学会  

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  • 慢性期脳卒中患者に対するパワーグローブシステムを用いた上肢機能訓練の効果

    宮崎 浩平, 磯 直樹, 大曽 史朗, 諸麦 俊司, 東 登志夫

    日本作業療法学会抄録集   53回   OA - 1   2019.9

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    Language:Japanese   Publisher:(一社)日本作業療法士協会  

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  • 慢性期脳卒中患者に対するパワーグローブシステムを用いた上肢機能訓練の効果

    宮崎 浩平, 磯 直樹, 大曽 史朗, 諸麦 俊司, 東 登志夫

    日本作業療法学会抄録集   53回   OA - 1   2019.9

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  • 腰痛リスク姿勢を検知して即時に知らせる装着型腰痛予防装置

    西村 潤子, 諸麥 俊司, 東 登志夫

    リハ工学カンファレンス講演論文集   33回   137 - 138   2018.8

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  • 電動式手袋による手指麻痺者の生活改善に関する研究

    小原 大知, 梶 紘煕, 諸麥 俊司, 東 登志夫, 和田 太, 田中 基大

    リハ工学カンファレンス講演論文集   33回   135 - 136   2018.8

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  • A head-mounted interface to operate a robotic laparoscope holder through head and jaw movements

    Shunji Moromugi, Ryo Ezure, Kotaro Oshima, Ryoji Tsukamoto, Hyangi Kim, Tomohiko Adachi, Tamotsu Kuroki, Shinichiro Ohno, Amane Kitazato

    Proc. of 22nd International Symposium on Artificial Life and Robotics (AROB 2017)   256 - 261   2017.1

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  • A pilot study of upper airway management using a remote-controlled artificial muscle device during propofol anesthesia

    Shinji Kurata, Takurou Sanuki, Ichiro Okayasu, Mari Kawai, Shunji Moromugi, Takao Ayuse

    JOURNAL OF CLINICAL ANESTHESIA   29   75 - 82   2016.3

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    Language:English   Publisher:ELSEVIER SCIENCE INC  

    Study objective: To test the hypothesis that the jaw closure using a pneumatic actuator device affect airway collapsibility and resistance during propofol anesthesia.
    Design: Prospective, randomized study.
    Setting: University-affiliated hospital.
    Patients: Six male subjects were included in the present study.
    Intervention: We used pressure-flow relationships to evaluate critical closing pressure (Paul-) and upper airway resistance in different conditions of body and head position. Anesthesia was induced and maintained with a propofol infusion, targeting a constant blood concentration of 1.5 to 2.0 mu g/mL to establish an adequate depth of anesthesia, with patients breathing spontaneously through a nasal mask. An air-inflatable pneumatic actuator was used to achieve jaw closure. Nasal mask pressure was intermittently reduced to evaluate upper airway collapsibility (passive P-CRIT) and upstream resistance under 4 different conditions: (1) neutral occlusion at 0-cm head elevation (baseline), (2) jaw closure at 0-cm head elevation, (3) neutral occlusion at 6-cm head elevation, and (4) jaw closure at 6-cm head elevation. Pour and upstream resistance under each condition were compared using 1-way analysis of variance. P < .05 was considered significant.
    Measurements: The pressure and inspiratory flow at the subjects' nose mask were recorded. Polysomonographic parameters (electroencephalograms, electrooculograms, submental electromyograms, and plethysmogram) were also recorded.
    Main results: The combination of 6-cm head elevation with jaw closure using the pneumatic actuator decreased upper airway collapsibility (P-CRIT approximate to -3.0 cm H2O) compared to the baseline position (P-CRIT approximate to -1.2 cm H2O; P = .0003).
    Conclusion: We demonstrated that jaw closure using an air-inflatable pneumatic actuator device can produce substantial decreases in upper airway collapsibility and maintain upper airway patency during propofol anesthesia. (C) 2016 Elsevier Inc. All rights reserved.

    DOI: 10.1016/j.jclinane.2015.10.016

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  • 頭部姿勢変換による気道開通を行うSAS治療器具の覚醒度評価の試み Reviewed

    林裕樹, 河邊雄太, 尾戸隆之, 鮎瀬卓郎, 諸麥俊司

    第21回ロボティクスシンポジア予稿集   488 - 493   2016.3

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  • 頭部傾斜と奥歯の噛み締めを操作入力に用いることで術者の簡便な内視鏡操作を実現するロボット型支援器具の開発 Reviewed

    大島幸太郎, 伊藤大希, 村木侑太, 安藤凜太郎, 金香紀, 黒木保, 足立智彦, 北里周, 諸麥俊司

    第21回ロボティクスシンポジア予稿集   482 - 487   2016.3

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  • A Prototype of a Laparoscope Holder Operated by a Surgeon Through Head and Jaw Movements

    Shunji Moromugi, Tamotsu Kuroki, Tomohiko Adachi, Kotaro Oshima, Daiki Ito, Hyan Gi Kim, Amane Kitasato, Shinichiro Ohno

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I   9834   609 - 618   2016

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    A robotic device that allows a surgeon to operate a laparoscope by itself through commands based on the head and the jaw movements has been prototyped. This robotic device has a unique head-mounted interface to measure surgeon's head inclination angles in horizontal and vertical directions and detects the degree of contraction of temporal muscles that always acts under jaw movements by using sensors. Surgeons can easily operate the robotic device and control the area of scope view inside of the abdominal cavity through the head inclination angle and the voluntary effort of bite with back teeth during the surgical operations with both hands. The excellent operability of a prototype has been presented through an evaluation test under a simulated surgery task inside a training box. In addition, the high potential of the proposed system to make the surgeons possible to perform an extirpative surgery of cancer on gallbladder or liver under its own laparoscope operation through a test of an animal model.

    DOI: 10.1007/978-3-319-43506-0_53

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  • 腹腔鏡下経皮腹膜外閉鎖法(LPEC法)の新規デバイスの開発 Reviewed

    小坂 太一郎, 大畠 雅之, 山根 裕介, 田浦 康明, 高槻 光寿, 黒木 保, 永安 武, 江口 晋, 諸麥 俊司

    日本小児外科学会雑誌   51 ( 6 )   1116 - 1116   2015.10

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  • 鼠径ヘルニアに対する腹腔鏡下経皮的腹膜外閉鎖法(LPEC法)における新規デバイス(ラパヘルジャケット)の開発

    小坂 太一郎, 黒木 保, 山根 裕介, 田浦 康明, 高槻 光寿, 大畠 雅之, 諸麥 俊司, 石松 隆和, 江口 晋

    日本小児外科学会雑誌   51 ( 6 )   1030 - 1035   2015.10

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    【目的】今回我々は腹腔鏡下経皮的腹膜外閉鎖法(以下LPEC法)の腹膜-腹膜前筋膜深葉間の剥離操作(以下腹膜外剥離操作)の安全性向上を目的とした新規デバイスを開発した。新規デバイスはテフロンの外筒と手元のスイッチで構成され、既存のラパヘルクロージャーに装着し使用する。腹膜外剥離の際は針先先端を外筒に収納して鈍的剥離が施行可能である。本デバイスをラパヘルジャケットと命名し、安全性、有用性を検討した。【方法】9例の鼠径ヘルニア(男児4例 女児5例)に対しLPEC法施行時にラパヘルジャケットを使用した。両側の腹膜鞘状突起開存を4例に認め、13回の腹膜外剥離操作を実施。【結果】1回の腹膜外剥離操作に要した時間は女児症例で平均8.0分(4〜15分)、男児症例で平均10.3分(7〜13分)、鈍的剥離による血腫発生は認めなかった。本デバイスを用いたことによる有害事象は認めなかった。【結論】LPEC法の安全性向上を目的とした新規デバイスを開発し、臨床使用でその安全性と有用性を確認した。ラパヘルジャケットはLPEC法の安全性の向上の一助となり得る。(著者抄録)

    DOI: 10.11164/jjsps.51.6_1030

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  • 皮膚圧力分布測定に基づく腱駆動式電動グローブの接触部構造改良の検討

    金香紀, 大島幸太朗, 宮永祐介, 安藤凜太郎, 諸麥俊司, 東登志夫, 石松隆和, 武岡敦史, 石原正博

    生活生命支援医療福祉工学系学会連合大会(LIFE2015)講演予稿集   2015.9

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  • 閉口頭部拳上法を用いた睡眠時無呼吸症候群治療器具の開発

    林裕樹, 河邊雄太, 尾戸隆之, 諸麥俊司, 鮎瀬卓郎, 石松隆和

    生活生命支援医療福祉工学系学会連合大会(LIFE2015)講演予稿集   2015.9

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  • 脳血管障害患者に対するパワーグローブシステムを用いた上肢機能訓練の効果

    大曽 史朗, 磯 直樹, 森内 剛史, 諸麥 俊司, 東 登志夫

    日本作業療法学会抄録集   49回   O1124 - O1124   2015.6

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  • Development of Robotic Unicycles Reviewed

    Hisanobu Suzuki, Shunji Moromugi, Takeshi Okura

    Journal of Robotics and Mechatronics   26 ( 5 )   540 - 549   2014.10

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  • Performance Assessment of a Brain-Computer Interface Driven Hand Orthosis International coauthorship International journal

    Christine E. King, Kunal R. Dave, Po T. Wang, Masato Mizuta, David J. Reinkensmeyer, An H. Do, Shunji Moromugi, Zoran Nenadic

    ANNALS OF BIOMEDICAL ENGINEERING   42 ( 10 )   2095 - 2105   2014.10

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    Stroke survivors are typically affected by hand motor impairment. Despite intensive rehabilitation and spontaneous recovery, improvements typically plateau a year after a stroke. Therefore, novel approaches capable of restoring or augmenting lost motor behaviors are needed. Brain-computer interfaces (BCIs) may offer one such approach by using neurophysiological activity underlying hand movements to control an upper extremity orthosis. To test the performance of such a system, we developed an electroencephalogram-based BCI controlled electrically actuated hand orthosis. Six able-bodied participants voluntarily grasped/relaxed one hand to elicit BCI-mediated closing/opening of the orthosis mounted on the opposite hand. Following a short training/calibration procedure, participants demonstrated real-time, online control of the orthosis by following computer cues. Their performances resulted in an average of 1.15 (standard deviation: 0.85) false alarms and 0.22 (0.36) omissions per minute. Analysis of signals from electrogoniometers mounted on both hands revealed an average correlation between voluntary and BCI-mediated movements of 0.58 (0.13), with all but one online performance being statistically significant. This suggests that a BCI driven hand orthosis is feasible, and therefore should be tested in stroke individuals with hand weakness. If proven viable, this technology may provide a novel approach to the neuro-rehabilitation of hand function after stroke.

    DOI: 10.1007/s10439-014-1066-9

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  • 頸髄損傷者の把持機能を再建するパワーグローブシステムの開発

    東 登志夫, 諸麦 俊司, 石原 正博, 穐山 富太郎, 石松 隆和

    日本作業療法学会抄録集   48回   PCI - 18   2014.6

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  • Electric-powered glove for CCI patients to extend their upper-extremity function

    S. Kudo, K. Oshima, M. Arizono, Y. Hayashi, S. Moromugi, T. Higashi, A. Takeoka, M. Ishihara, T. Ishimatsu

    2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   638 - 643   2014

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    An electric-powered hand orthosis has been developed to support daily activities of people with motor impairment in hand fingers. This system is composed of an orthotic part, a head-mounted interface to detect user's commands, and a controller. One major feature of this system is that the orthotic part is basically made of soft and lightweight materials only. It is expected that this feature allows users to frequently and continuously use the system in their daily life. A prototype has been made and tested. It was demonstrated that the system has an excellent operability and has promising performance to support daily activities of people with finger disability through the tests.

    DOI: 10.1109/SII.2014.7028113

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  • A Remote-Controlled Airbag Device Can Improve Upper Airway Collapsibility by Producing Head Elevation With Jaw Closure in Normal Subjects Under Propofol Anesthesia

    Satoru Ishizaka, Shunji Moromugi, Masato Kobayashi, Hiroki Kajihara, Kazuya Koga, Hirofumi Sugahara, Takakazu Ishimatsu, Shinji Kurata, Jason P. Kirkness, Kumiko Oi, Takao Ayuse

    IEEE Journal of Translational Engineering in Health and Medicine   2   p.2600109   2014

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    Continuous maintenance of an appropriate position of the mandible and head purely by manual manipulation is difficult, although the maneuver can restore airway patency during sleep and anesthesia. The aim of this paper was to examine the effect of head elevation with jaw closure using a remote-controlled airbag device, such as the airbag system, on passive upper airway collapsibility during propofol anesthesia. Seven male subjects were studied. Propofol infusion was used for anesthesia induction and maintenance, with a target blood propofol concentration of 1.5-2 μg/ml. Nasal mask pressure (PN) was intermittently reduced to evaluate upper airway collapsibility (passive PCRIT) and upstream resistance (RUS) at three different head and jaw positions, jaw opening position in the supine position, jaw opening position in the sniffing position with 6-cm head elevation, and jaw closure at a 6-cm height sniffing position. The 6-cm height sniffing position with jaw closure was achieved by an airbag device that was attached to the subject's head-like headgear. Patient demographics, (PCRIT) and (RUS) in each condition were compared using one-way ANOVA with a post hoc Tukey test. (P &lt
    0.05) was considered significant. We also confirmed the effects of our airbag device on improvement of upper airway collapsibility in three obstructive sleep apnea patients in a clinical study. The combination of 6-cm head elevation with jaw closure using the air-inflatable robotic airbag system decreased upper airway collapsibility ((PCRIT ∼ -3.4)-cm H2O) compared with the baseline position (PCRIT ∼ -0.8-cm H2O, P = 0.0001). In the clinical study, there was improvement of upper airway obstruction in sleep apnea patients, including decreased apnea and hypopnea duration and increased the lowest level of oxygen saturation. We demonstrated that establishment of head elevation with jaw closure achieved by a remote-controlled airbag device using an inflatable airbag system can produce substantial decreases in upper airway collapsibility and maintain upper airway patency during propofol anesthesia and sleep.

    DOI: 10.1109/JTEHM.2014.2321062

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  • Pneumatically driven prehension orthosis with force control function Reviewed

    S.Moromugi, T.Tanaka, T.Higashi, M.Q.Feng, T.Ishimatsu

    Journal of Robotics and Mechatronics   25 ( 6 )   973 - 982   2013.12

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    A prehension orthosis with a pneumatic actuator has been developed to compensate for the disability of cervical cord injury patients and support their daily activities. One major feature of this orthosis is that the user can continually pinch or hold a target object using a finely adjusted finger force. The movement and force applied to the fingers can be controlled by continuous instructional signals from the user through the activity of a command muscle, which is selected from among the muscles without functional impairment in the user's body. The level of muscle activity can be obtained by using an original sensor that detects the hardness of the target muscle through contact with the skin. The level of muscle activity can be estimated by the hardness information of the muscle. This sensor is easily fixed to a user's body by using an elastic belt and even works over clothing. Therefore, the user can wear the system very easily. This feature allows the system to be very user friendly. Users can handle fragile objects such as an egg or sculpted-glass by using this prehension orthosis because of its finger force control function. Excellent dexterity in the finger force control has been demonstrated through evaluation tests conducted with various subjects, including a spinal cord injury patient.

    DOI: 10.20965/jrm.2013.p0973

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  • 技術紹介:手指麻痺者の快適な把持作業を実現する

    諸麥俊司

    地域リハビリテーション   8 ( 1 )   25 - 28   2013.1

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    Language:Japanese   Publishing type:Article, review, commentary, editorial, etc. (other)   Publisher:三輪書店  

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    Other Link: http://search.jamas.or.jp/link/ui/2013091342

  • Interference effect between cavities in an infinite solid under tension

    Md.A.Hasib, A.Saimoto, T.Ishimatsu, Y.Ogiya, A.Koyama, F.Motomura, S.Moromugi

    Proc. of 12th Joint Symposium among Sister Universities in Mechanical Engineering   47 - 50   2012.8

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  • A pneumatically actuated device for airway opening to prevent snoring

    S. Moromugi

    Proc. of 12th Joint Symposium among Sister Universities in Mechanical Engineering   79 - 82   2012.8

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  • Stress analysis for general 2D inclusion problems by embedded force doublet

    S.Ueno, A.Saimoto, T.Ishimatsu, Y.Ogiya, A.Koyama, F.Motomura, S.Moromugi

    Proc. of 12th Joint Symposium among Sister Universities in Mechanical Engineering   19 - 22   2012.8

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  • Development of environmental control system for people with disability through voice commands

    K.Takashima, H.Koga, T.Kobae, T.Ishimatsu, S.Moromugi

    Proc. of 12th Joint Symposium among Sister Universities in Mechanical Engineering   245 - 248   2012.8

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  • Motion Principle and Control of a Human Riding Type Robotic Unicycle (Part 1, Mechanisms, Satability Principles and Simulation) Reviewed

    H.Suzuki, S.Moromugi, K.Yamafuji

    International Journal of Mechanics and Control   12 ( 2 )   1 - 12   2011.12

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  • Motion Principle and Control of a Human Riding Type Robotic Unicycle (Part 2, Motion Principles, Direction Control, Experiments and Simulation) Reviewed

    H.Suzuki, S.Moromugi, K.Yamafuji

    International Journal of Mechanics and Control   12 ( 2 )   13 - 20   2011.12

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    The stability and drive principles of the robotic unicycle proposed in our previous paper were verified by experiments in this paper. The robot is accelerated or decelerated depending on location of the compound center of gravity of the body. Inclination in the roll direction is compensated with that in the pitch direction by rotating the robot due to reaction torque of the overhead rotor. Based on the proposed acceleration control rule, the robot can run with a specified velocity. Combining the acceleration control rule and a specified yaw angular velocity, the direction control rule is proposed. Using that rule, drive simulation of tracing a circle and "8" character was carried out. Role of the overhead rotor rotation is very important. The robot can perform motions dynamically similar to those in human riding a unicycle.

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  • Effect of Head Elevation on Passive Upper Airway Collapsibility in Normal Subjects during Propofol Anesthesia

    Masato Kobayashi, Takao Ayuse, Yuko Hoshino, Shinji Kurata, Shunji Moromugi, Hartmut Schneider, Jason P. Kirkness, Alan R. Schwartz, Kumiko Oi

    ANESTHESIOLOGY   115 ( 2 )   273 - 281   2011.8

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    Background: Head elevation can restore airway patency during anesthesia, although its effect may be offset by concomitant bite opening or accidental neck flexion. The aim of this study is to examine the effect of head elevation on the passive upper airway collapsibility during propofol anesthesia.
    Method: Twenty male subjects were studied, randomized to one of two experimental groups: fixed-jaw or free-jaw. Propofol infusion was used for induction and to maintain blood at a constant target concentration between 1.5 and 2.0 mu g/ml. Nasal mask pressure (P-N) was intermittently reduced to evaluate the upper airway collapsibility (passive P-CRIT) and upstream resistance (R-US) at each level of head elevation (0, 3, 6, and 9 cm). The authors measured the Frankfort plane (head flexion) and the mandible plane (jaw opening) angles at each level of head elevation. Analysis of variance was used to determine the effect of head elevation on P-CRIT, head flexion, and jaw opening within each group.
    Results: In both groups the Frankfort plane and mandible plane angles increased with head elevation (P < 0.05), although the mandible plane angle was smaller in the free-jaw group (i.e., increased jaw opening). In the fixed-jaw group, head elevation decreased upper airway collapsibility (P-CRIT similar to -7 cm H2O at greater than 6 cm elevation) compared with the baseline position (P-CRIT similar to -3 cm H2O at 0 cm elevation; P < 0.05).
    Conclusion: Elevating the head position by 6 cm while ensuring mouth closure (centric occlusion) produces substantial decreases in upper airway collapsibility and maintains upper airway patency during anesthesia.

    DOI: 10.1097/ALN.0b013e318223ba6d

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  • Noninvasive Brain-Computer Interface Driven Hand Orthosis

    Christine E. King, Po T. Wang, Masato Mizuta, David J. Reinkensmeyer, An H. Do, Shunji Moromugi, Zoran Nenadic

    2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)   5786 - 5789   2011

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    Neurological conditions, such as stroke, can leave the affected individual with hand motor impairment despite intensive treatments. Novel technologies, such as brain-computer interface (BCI), may be able to restore or augment impaired motor behaviors by engaging relevant cortical areas. Here, we developed and tested an electroencephalogram (EEG) based BCI system for control of hand orthosis. An able-bodied subject performed contralateral hand grasping to achieve continuous online control of the hand orthosis, suggesting that the integration of a noninvasive BCI with a hand orthosis is feasible. The adoption of this technology to stroke survivors may provide a novel neurorehabilitation therapy for hand motor impairment in this population.

    DOI: 10.1109/IEMBS.2011.6091432

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  • Vision device to support independent life for people with serious disability

    Haruo Nakashima, Masatomo Shibata, Motohiro Tanaka, Shunji Moromugi, Takakazu Ishimatsu

    2011 International Conference on Multimedia Technology, ICMT 2011   6160 - 6163   2011

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    Persons suffering from intractable disease like ALS (Amyotrophic Lateral Sclerosis) and spinal cord injured present symptoms of muscular deteriorations. These patients are often obliged to use artificial respirators once the breathing action becomes impossible. It is important to understand that using the artificial respirator means that uttering voice becomes impossible. For human being talking and discussing with friends using voice is necessary to enjoy his life with family and friends. In order to support their communication, a vision input device to use vision is proposed. A distinct advantage of this vision device is that the devices can be settled apart from the bed of the patient. The device is developed for patients who have ability to move his head intentionally. © 2011 IEEE.

    DOI: 10.1109/ICMT.2011.6001809

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  • A Drive Unit Actuated By SMA Springs under Temperature Control to Operate a Powered Glove Reviewed

    S.Moromugi, T. Ikeda, Y. Yoshimi, K. Kitamura, T. Ishimatsu

    Proc. of 4th Asia International Symposium on Mechatronics   2010.12

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  • Measuring of Number-of-Chewing using Flexible Capacitive Sensor Reviewed

    M. Mizuta, S. Moromugi

    Proc. of 4th Asia International Symposium on Mechatronics   2010.12

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  • Tele-care system for man and machine in isolated island

    K.Miura, Y. Yamaguchi, H. Nakashima, K. Endo, T. Takakura, Y. Nakamura, S. Moromugi

    Proc. of SICE Annual Conference 2010   1982 - 1985   2010.8

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  • An electrical prehension orthosis operated through activity of mastication muscle

    S. Moromugi

    Proc. of SICE Annual Conference 2010   2030 - 2033   2010.8

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    An electrical prehension orthosis is under development to support daily activity of cervical spinal cord injury patients. The prehension orthosis has an electric motor to open/close user's fingers, the second and the third fingers, toward a thumb fixed at opposite position. The prehension orthosis also has a unique interface for controlling it. The interface is a sensor to detect deformation (swelling) of human body surface. In this study this sensor is used to detect activity of mastication muscle. The activity of mastication muscle can be obtained by using this sensor because the mastication muscle always swells as it acts. The sensor is fixed at the user's head by using a belt and detects user's efforts for chewing. User can operate the electrical prehansion orthosis through gentle chewing even at the bimanual-handling tasks. Excellent operability of fingers has been demonstrated by a target user. The details of the system and results of evaluation tests are reported in this paper. © 2010 SICE.

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  • Assistive device for people with upper limb disability

    Y. Tomimatsu, J. Nan, M. T akashima, S. Moromugi, T. Ishimatsu

    Proc. of ICROS- SICE International Joint Conference 2009   781 - 784   2009.8

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    An assistive device is developed to help the peoples with disability to have a self-supporting life. This device uses two motors to lift up the user's arm and to bend the elbow joint. The force can be easily adjusted by the electric motor control. The control mode can be selected based on the user's ability. An original human interface to use a muscle activity sensor is introduced to enable the human friendly operation of the assistive device. © 2009 SICE.

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  • A tendon- driven glove to restore finger function for disabled

    S. Moromugi, K. Kawakami, K. Nakamura, T. Sakamoto, T. Ishimatsu

    Proc. of ICROS- SICE International Joint Conference 2009   794 - 797   2009.8

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    An innovative glove system actuated by electric motors has been developed to restore finger functions for disabled people. This glove system is composed of a leather glove having external tendons built-in, an actuation unit and a sensor to detect user's intentions for finger operations. Fingers are operated by actuation of the thin tendons made of polyethylene. The driving force of the tendon is transferred to the glove from the actuation unit by using bowden cables. It was demonstrated that the glove system can drive user's paralyzed fingers. The details of the system and results of the evaluation experiments are reported in this paper. © 2009 SICE.

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  • Assessment of Treatment Apparatus Employing Air-Bag Actuation for Sleep Apnea Syndrome

    T. Ayuse, S. Moromugi, M. Kobayashi, T. Ishimatsu, K. Oi

    AMERICAN JOURNAL OF RESPIRATORY AND CRITICAL CARE MEDICINE   179   2009

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  • Electric assistive device for people with upper limb disability Reviewed

    S. Moromugi, J. Nan, M. Takashima, M. Kawano, T. Ishimatasu

    Proc. of 3rd Asia International Symposium on Mechatronics   460 - 463   2008.8

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  • Decoration of metal surface by dimples using ball-end milling process

    Shinichi Kogusu, Takakazu Ishimatsu, Yasuhiko Ougiya, Takanori Yazawa, Shunji Moromugi

    2008 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-5   1212 - +   2008

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    Structured surfaces are often employed to enhance physical properties of metal products. Dimples are usually generated on metal surface by a ball-end milling with a combination of tool movements in horizontal and vertical directions. It is important to note that only horizontal tool movements of ball-end milling with high feed rate can also generate the dimpled surface. Authors already proposed a technique to generate desired dimple shape on the metal surfaces using a machining center. Following the technique, decorating process of the metal surface has been achieved. In the generation processes deformation of the dimples is observed. The deformation of the dimples is considered using numerical model and the mechanism to cause the deformation is analyzed. In the experiment decorations are successfully achieved with various shapes of dimples on a metal surface by using a sub-millimeter ball-end mill.

    DOI: 10.1109/ICIT.2008.4608539

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  • Powered glove with electro-pneumatic actuation unit for disabled

    Kosuke Kawakami, Shinichi Kumano, Shunji Moromugi, Takakazu Ishimatsu

    ICMIT 2007: MECHATRONICS, MEMS, AND SMART MATERIALS, PTS 1 AND 2   6794   2008

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    Authors have been developing a powered glove for people suffering from paralysis on their fingers to support their daily activity. Small air cylinders are used as actuators for this glove. Pneumatically-driven system has high advantages in case soft actuation is preferable. However, there are some problems to be solved in the pneumatically-driven system if the system is supposed to be used in our daily life. Huge air compressor is needed and solenoid valves emit loud sound for example. These problems are hurdles to commercialize the powered glove. To solve these problems authors have developed a new actuation unit by integrating an electric cylinder and an air cylinder. This actuation unit has advantages of both the electric actuation and the pneumatic actuation. Its advanced grip control ability has demonstrated through several experiments. The experimental results are reported in this paper.

    DOI: 10.1117/12.783875

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  • Computer controlled training system for standing up motion

    Yoji Nishi, Tadasuke Matsumoto, Taichi Sakamoto, Takanori Nagano, Shunji Moromugi, Takakazu Ishimatsu

    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4   1703 - +   2008

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    An advanced training machine is proposed for elderly people to maintain their lower limb strength. The training machine allows users to have a safe and effective training through exercise during standing up motion. The standing up ability by using own legs is the most important for elderly people to keep the level of their quality of life because they would be confined to bed if they lose the standing up ability. The training machine automatically adjusts loading level based on user's muscle activity to provide effective and safe training. The detail of control system, mechanical design and sensing device to monitor user's muscle activity is described. Several experiments have been conducted to evaluate the proposed training system.

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  • Treatment apparatus employing air-bag actuation for sleep apnea syndrome

    Shunji Moromugi, Takao Ayuse, Taichi Sakamoto, Yusuke Tomimatsu, Takakazu Ishimatsu

    2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4   1715 - +   2008

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    A new treatment apparatus for Sleep Apnea Syndrome (SAS) has been proposed. Objective Sleep Apnea (OSA) is the most common case of the SAS. Airway of OSA patient is frequently obstructed during sleep because of tongue swallowing. This apparatus is composed of a pneumatically actuated flexible vest and a controller including an air pressure control unit. The flexible vest has sensors to detect airway obstructions and two airbags to conduct head tilt -chin lift maneuvers that are needed for airway establishment. It was demonstrated that the proposed treatment apparatus successfully detects the airway obstruction and automatically establish the airway by conducting the chin lift-head tilt maneuvers.

    DOI: 10.1109/ICCAS.2008.4694430

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  • Human Joint Movement Estimation with a Sensor Fusion

    TSUTSUI Yoichiro, TANAKA Takayuki, KANEKO Shun'ichi, FENG Maria Q., MOROMUGI Shunji

    電気学会研究会資料. GID, 一般産業研究会   2007 ( 1 )   23 - 28   2007.8

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  • A robot chair for mobility at steep and narrow stairways

    M. Yamagachi, M. Imazato, S. Moromugi, T. Ishimatsu

    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6   1232 - 1235   2007

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    A robot chair is developed to support mobility of elderly and disabled people living in the house where steep and narrow stairways are installed. In order to deal with such mobility problem the developed robot chair has a compact original configuration. The robot chair is vertically moved by actuation of electric cylinders and horizontally moved by push-pull operation given by an attendant. In order to navigate safely every action of the chair is checked by the operator. Up and down motions of the robot chair on the stairway are executed through combinations of motor and cylinder actuations. Performance of the robot chair was evaluated through two kinds of experiments. The excellent ability of the robot chair could be confirmed through these experiments.

    DOI: 10.1109/ICCAS.2007.4406762

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  • Compact vision sensor for motion control

    N. Kawano, M. Tanaka, D. Yamanaka, T. Hamada, S. Moromugi, T. Ishimatsu

    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6   1865 - +   2007

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    Authors are developing a rotorcraft with autonomous controller for the remote sensing of agricultural fields. Accurate position sensing is essential to the development of the autonomous control system. One major method for the position sensing is to use the image processing technique. Among the image processing techniques labeling processing is most practical and is widely used for detecting the position of target objects. The labeling technique often requires high computing performance. In order to make our remote sensing system available at various practical fields, our labeling technique should be realized in compact system with enough processing speed. In this study, a FPGA based compact vision sensor to achieve fast labeling procedures is proposed. A feature of our vision sensor is that labeling process is simplified and fastened by introducing the horizontal center line information on behalf of contour data of the target objects. Therefore the performance of the processing speed and memory usage are enhanced. Due to our original technique, real-time labeling process could be achieved on the FPGA based compact vision sensor. Through several experiments, the excellent performance of the prototyped vision sensor on target detection was demonstrated.

    DOI: 10.1109/ICCAS.2007.4406890

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  • A robot chair for mobility at steep and narrow stairways

    M. Yamagachi, M. Imazato, S. Moromugi, T. Ishimatsu

    2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6   1232 - 1235   2007

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    Language:English   Publisher:IEEE  

    A robot chair is developed to support mobility of elderly and disabled people living in the house where steep and narrow stairways are installed. In order to deal with such mobility problem the developed robot chair has a compact original configuration. The robot chair is vertically moved by actuation of electric cylinders and horizontally moved by push-pull operation given by an attendant. In order to navigate safely every action of the chair is checked by the operator. Up and down motions of the robot chair on the stairway are executed through combinations of motor and cylinder actuations. Performance of the robot chair was evaluated through two kinds of experiments. The excellent ability of the robot chair could be confirmed through these experiments.

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  • A training machine with dynamic load-control function based on muscle activity information

    Shunji Moromugi, Sung Jae Yoon, Seok-Hwan Kim, Motohiro Tanaka, Yasuhiko Ohgiya, Nobuou Matsuzaka, Takakazu Ishimatsu

    Artificial Life and Robotics   10 ( 2 )   126 - 130   2006.11

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    An advanced physical training machine for the elderly is proposed. This machine has a self-tuning loading-level function based on the muscular condition of the user. The loading force is generated by an electric motor. A controller calculates the proper loading force for the user at every moment based on the user's muscle activity level. Muscle activity is measured by a muscle stiffness sensor, which was developed as a man-machine interface in a wearable device to assist a disabled person's body motions. By using this sensor, a reliable measurement of muscle activity is available, and the easy installation does not disturb the user's body motions. An experimental training machine was prototyped, and its excellent abilities in both controlling the loading force and measuring the muscle activity throughout the periods of the training is demonstrated. The experimental results are reported in this article. © ISAROB 2006.

    DOI: 10.1007/s10015-005-0379-z

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  • A training machine with dynamic load-control function based on muscle activity information

    Shunji Moromugi, Sung Jae Yoon, Seok-Hwan Kim, Motohiro Tanaka, Yasuhiko Ohgiya, Nobuou Matsuzaka, Takakazu Ishimatsu

    Artificial Life and Robotics   10 ( 2 )   126 - 130   2006.11

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    An advanced physical training machine for the elderly is proposed. This machine has a self-tuning loading-level function based on the muscular condition of the user. The loading force is generated by an electric motor. A controller calculates the proper loading force for the user at every moment based on the user's muscle activity level. Muscle activity is measured by a muscle stiffness sensor, which was developed as a man-machine interface in a wearable device to assist a disabled person's body motions. By using this sensor, a reliable measurement of muscle activity is available, and the easy installation does not disturb the user's body motions. An experimental training machine was prototyped, and its excellent abilities in both controlling the loading force and measuring the muscle activity throughout the periods of the training is demonstrated. The experimental results are reported in this article. © ISAROB 2006.

    DOI: 10.1007/s10015-005-0379-z

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  • Robust Joint Torque Estimation for Using EMG Sensor Suit and High-speed Calibration

    SUZUKI Yousuke, TANAKA Takayuki, FENG Maria Q., MOROMUGI Shunji

    42 ( 8 )   982 - 990   2006.8

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  • Monitoring system of body movements for a bedridden patient

    Lu Xiao Dong, Motohiro Tanaka, Miki Ushijima, Shunji Moromugi, Takakazu Ishimatsu

    Artificial Life and Robotics   10 ( 1 )   55 - 58   2006.7

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    In this article a system to detect the physical behavior of bedridden elderly people is proposed. This system is used to prevent elderly people from falling down and injuring themselves. The basic idea of our approach is to measure the body movements of the person using an acceleration sensor. Based on the data measured, dangerous actions are recorded and warning signals to the care workers are generated via wireless signals. A feature of the system is that the sensor is compactly assembled as a wearable unit. Another feature of the system is that it adopts a simplified wireless network system. Owing to its network capability, the system can monitor the physical movements of many patients. The applicability of the system is now being examined at hospitals. © ISAROB 2006.

    DOI: 10.1007/s10015-005-0378-0

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  • Monitoring system of body movements for a bedridden patient

    Lu Xiao Dong, Motohiro Tanaka, Miki Ushijima, Shunji Moromugi, Takakazu Ishimatsu

    Artificial Life and Robotics   10 ( 1 )   55 - 58   2006.7

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    In this article a system to detect the physical behavior of bedridden elderly people is proposed. This system is used to prevent elderly people from falling down and injuring themselves. The basic idea of our approach is to measure the body movements of the person using an acceleration sensor. Based on the data measured, dangerous actions are recorded and warning signals to the care workers are generated via wireless signals. A feature of the system is that the sensor is compactly assembled as a wearable unit. Another feature of the system is that it adopts a simplified wireless network system. Owing to its network capability, the system can monitor the physical movements of many patients. The applicability of the system is now being examined at hospitals. © ISAROB 2006.

    DOI: 10.1007/s10015-005-0378-0

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  • Development of an effective training machine using muscle activity information

    Shunji Moromugi, Seok-Hwan Kim, Sung J. Yoon, Nobuou Matsuzaka, Takakazu Ishimatsu, Murray J. Lawn

    IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11   2807 - +   2006

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    In the field of providing safe and effective equipment for physical training appropriate adjustment of loading levels for the targeted users is very important. Most training machines to date offer only fixed and coarse load adjustment. This paper details an advanced leg muscle training machine that has an intelligent load control system. The load control is provided by monitoring the user's muscular condition by means of a muscle stiffness sensor as well as pressure being exerted on the machine. The loading can then be adapted continuously to optimally suit the user's needs. The prototype demonstrated that the proposed machine has excellent load control abilities providing effective and safe training using dynamic load control and automatic restriction of loading levels based on the user's muscle contraction levels.

    DOI: 10.1109/IECON.2006.347975

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  • A sensor to measure hardness of human tissue

    Shunji Moromugi, Shinichi Kumano, Mitsuaki Ueda, Takakazu Ishimatsu, Maria Q. Feng, Takayuki Tanaka

    2006 IEEE SENSORS, VOLS 1-3   388 - +   2006

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    An innovative sensor is developed to evaluate hardness of human soft tissue. This sensor provides easy and accurate hardness measurements based on a unique sensing mechanism. Hardness of soft materials is often evaluated by using international standards of hardness such as IRHD (International Rubber Hardness Degree) and durometer hardness. However the conventional scales based on these standards requires a stable pressuring condition to the target. Therefore, these scales cannot be used for targets that are in motion or targets that require quick measurement such as human muscles during exercises and a liver exposed at a surgery. The prototyped sensor has a compact body and allows continuous hardness measurement with an arbitrary pressing force. This sensor always monitors the force exerted on the sensor and automatically eliminates the unintended effect from the fluctuation of the pressing force. Therefore, continuous time series of the hardness data is real-timely available. This paper reports results of a test as well as the detail of the mechanism and data processing technique of the latest version of the sensor.

    DOI: 10.1109/ICSENS.2007.355487

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  • 生活支援に向けた工学的技術の応用‐パワーアシストスーツの開発‐ Reviewed

    諸麦俊司

    理学療法学   32 ( 4 )   241 - 244   2005.6

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  • Wearable sensor network system for walking assistance

    S. Moromugi, H. Owatari, Y. Fukuda, S. H. Kim, M. Tanaka, T. Ishimatsu

    Proc. of International Conference on Control, Automation and Systems 2005   1169 - 1172   2005.6

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  • Development of compact platform for low altitude remote sensing - art. no. 604135

    M Tanaka, D Yamanaka, S Kumano, T Ishimatsu, M Ueda, S Moromugi, K Onodera, K Sugiyama

    ICMIT 2005: Information Systems and Signal Processing   6041   4135 - 4135   2005

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    In this paper we propose a platform that is applicable to low altitude remote sensing. Basic idea of the platform is based on the model helicopter. On big difference from the conventional model helicopter is that our platform has four main rotors. Furthermore, vision control strategy is introduced so that operator can use the platform without any specialized intensive knowledge.

    DOI: 10.1117/12.664497

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  • Integral ultrasonic muscle activity sensor for detecting human motion

    T Koyama, T Tanaka, S Kaneko

    INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOL 1-4, PROCEEDINGS   1669 - 1674   2005

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    We have designed the Ultrasonic Muscle Activity Sensor as a small sensor device, and the sensor can be built in the Sensor Suit for human machine systems. Measuring a change of the ultrasonic in muscles with this sensor, we have shown it's possible to estimate muscle force. In this study, we aim to design the algorithm that estimates the joint torque of knee with ultrasonic muscle activity sensor. Beside, in order to attain the generality of sensor suit, we also aim to examine the influence of constitutional differences, such as a physique index and a rate of body fat. Furthermore, we tried to obtain the basic data in order to the construction of system which can adjust individual difference.

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  • Soft sensor suits as man-machine interface for wearable power amplifier

    Y Suzuki, T Tanaka, S Kaneko, S Moromugi, M Feng

    INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOL 1-4, PROCEEDINGS   1680 - 1685   2005

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    The authors have developed innovative soft sensor suits embedded with electromyogram (EMG) and a variety of sensors for measuring human muscle activities. The sensor suits serve as a man-machine interface for human power amplification. This paper focuses on the EMG part of the sensor suits to study the fundamental issue of torque estimation based on the sensor readings. An innovative auto-calibration system is developed in this study based on multi-regression analysis and neural networks, where an universal database, rather than individual database for each operator, is proposed and as a result, the calibration time is dramatically decreased. The calibration system can also compensate for sensor positioning errors. In the end, the sensor suits are applied as a man-machine interface for a soft power amplifier composed of artificial muscles. The artificial muscles are successfully controlled using the torque information estimated by the EMG sensor suits. The relation between torque estimation errors on sensor suits and maneuverability of power amplifier is experimentally verified.

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  • Development of a training machine for elderly people with muscle activity sensor - art. no. 60401Z

    SH Kim, SJ Yoon, M Tanaka, S Moromugi

    ICMIT 2005: Mechatronics, MEMS, and Smart Materials   6040   Z401 - Z401   2005

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    Two kinds of advanced training machines for the elderly people were proposed. One was for the stooping/stretching motion, and the other was for the stretching astride motion. The proposed training machine adopted power-assisting technology for safe and effective training for elderly people. As the interface between user and the system, Muscle Stiffness Sensor(MSS) and Step Force Sensor(SFS) were used to measure muscle activity level and load to lower limb.

    DOI: 10.1117/12.664241

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  • Muscle stiffness sensor to control assisting device for disabled Reviewed

    S.Moromugi

    Journal of Artificial Life and Robotics   8 ( 1 )   42 - 45   2004.12

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    Language:English   Publisher:人工生命とロボット国際学会  

    DOI: 10.1007/s10015-004-0286-8

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  • 技術紹介:生活支援に向けた工学的技術の応用①~パワーアシストスーツを中心として~

    諸麥俊司

    理学療法学   31 ( Supplement No.3 )   p.60   2004.10

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  • Training machine for active rehabilitation /training of elderly people

    S. Moromugi, T. Koujitani, S. H. Kim, N. Matsuzaka, T. Ishimatsu

    Proc. of International Conference on Control, Automation and Systems 2004   1648 - 1652   2004.8

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  • Application of vision Sensor to communication Device for Person with serious disability

    Motohiro Tanaka, Yuki Yamanaka, Shunji Moromugi, Youichi Shimomoto, Yasuhiko Ohgiya, Takakazu Ishimatsu

    Proc. of International Conference on Control, Automation and Systems 2004   1634 - 1637   2004.8

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  • Development of advanced walking assist system employing stiffness sensor

    Seok- Hwan Kim, Shunji Moromugi, Takakazu Ishimatsu

    Proc. of International Conference on Control, Automation and Systems 2004   1638 - 1641   2004.8

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  • Muscle stiffness sensor to control assisting device for disabled

    8 ( 1 )   42 - 45   2004

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  • Soft Power Suit for Knee Motion Assistance Reviewed

    S.Moromugi

    International Journal of Human-friendly Welfare Robotic Systems   4 ( 4 )   13 - 19   2003.12

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  • A communication device for disabled with slight movement capabilities Reviewed

    Y.Fukuda, M.Tanaka, S.Moromugi, T.Ishimatsu

    International Journal of Human-friendly Welfare Robotic Systems   4 ( 4 )   7 - 12   2003.12

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  • Device for Assisting Grasping Function (2nd Report: Maneuverability Evaluation)

    S. Moromugi, A. Okamoto, S. H. Kim, H. Tanaka, T. Ishimatsu, Y. Koujina

    Proceeding of International Conference on Control, Automation and Systems 2003   2665 - 2669   2003.10

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  • Wearable Sensor Suit

    Yamaguti R., Tanaka T., Hori S., Moromugi S., Feng M. Q.

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2003 ( 0 )   84 - 84   2003

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    人間の全身に渡る動作を計測する為に, センサを内蔵した着衣方のセンサスーツを開発し最適なセンシングアルゴリズムを構築する研究である。本稿では筋肉の状態を測る超音波センサの高性能化を報告する。

    DOI: 10.1299/jsmermd.2003.84_3

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  • Ultrasonic sensor disk for detecting muscular force

    T Tanaka, S Hori, R Yamaguchi, MQ Feng, S Moromugi

    RO-MAN 2003: 12TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, PROCEEDINGS   291 - 295   2003

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    Recently, many researchers are studying and developing various kinds of man-machine systems. Especially, a wearable robot, such as an exoskeleton power suit, is one of the most remarkable fields. In this field, more accurate and reliable sensing system for detecting human motion intention is strongly required.
    In most of conventional man-machine systems, torque sensors, tactile pressure sensors and EMG sensors are utilized in a man-machine interface to detect human motion intention. These sensors, however, have some limitations. For example, it is hard to install and secure torque sensors on the joints of a human body. It is not easy to correlate the data from a tactile pressure sensor to the human motion intention. Although the EMG sensor can detect human motion intention, the sensor system is complex and expensive, and suffers from electric noise.
    We have been developing an innovative sensor suit which, just like a wet suit, can. be conveniently put on by an, operator to detect his or her motion intention by noninvasively monitoring his or her muscle conditions such as the shape, the stiffness and the density. This sensor suit is made of soft and elastic fabrics embedded with arrays of AEMS sensors such as strain gauges, ultrasonic sensors and optical fiber sensors, to measure different kinds of human muscle conditions. In the previous paper, the muscle stiffness sensor for detecting musclar force was developed according to the fact that the muscle gains its stiffness as it is activated Its sperior performance was reported through experiments in which the sensor was applied for the assisting device for the disable.
    In this paper, the ultrasonic sensor disk is proposed as one of the sensor disks embedding the sensor suit. This sensor is based on an original principle and noninvasively detects activity of specific muscle. It is clear that the square of ultrasonic transmission speed is in proportion to the, elasticity of the object and in inverse proportion to the density. It is estimated that the elasticity and density of the muscle increase or decrease as the muscle is energized. Then, it is hereby expected that the muscular activity is measured by the ultrasonic sensor. In this study, the feasibility of an ultrasonic sensor for detecting muscular force is shown through experiments.

    DOI: 10.1109/ROMAN.2003.1251860

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  • Communication device to use slight movement for serious disabled

    4 ( 4 )   7 - 12   2003

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  • Soft Power Suit for Knee Motion Assistance

    4 ( 4 )   13 - 19   2003

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  • Wearable Sensor Suit (1st Report, Concept and Ultrasonic Sensor Disk)

    TANAKA TAKAYUKI, YAMAGUCHI RYUSUKE, MOROMUGI SHUNJI, FENG M Q

    日本ロボット学会学術講演会予稿集(CD-ROM)   20th   1F24   2002.10

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  • Device for Assisting Grasping Function

    S. Moromugi, K. Izumi, A. Yoshimochi, T. Ishimatsu, T. Tanaka, Maria Q. Feng

    Proceeding of International Conference on Control, Automation and Systems 2002   1250 - 1254   2002.10

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  • 806 Ultrasonic Muscle Power Sensor for Wearable Human Power Amplifying System

    KUSHIDA Takuya, TANAKA Takayuki, FENG Maria Q, MOROMUGI Shunji

    日本機械学会関東支部総会講演会講演論文集   2001 ( 7 )   289 - 290   2001.3

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    Language:Japanese   Publisher:一般社団法人日本機械学会  

    We have been developing the wearable human poweramplifying device. In order to correctly control the amplifying system, innovative sensors to recognize human motion are required to fubricated. In this paper, we propose the ultrasonic muscle power sensor by which human muscle power is directly measured. Trial manufacturing, experimental results and effectiveness of the proposed sensor are reported.

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  • Development of a robotic system which assists unmanned production based on cooperation between off-line robots and on-line robots. Part 3. Development of an off-line robot, autonomous navigation, and detection of faulty workpieces in a vibrating parts feeder

    HZ Yang, K Yamafuji, T Tanaka, S Moromugi

    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY   16 ( 8 )   582 - 590   2000

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    Remarkable advances in robotics and intelligent technology have made unmanned production realisable. Based on the off-line robot concept proposed in our first paper, an offline robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulating and resolving production troubles. A virtual pilot plant for production composed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed and tests for production simulation have been undertaken. In this paper, autonomous navigation of the developed robot in the virtual pilot plant is investigated Then a search for faulty parts in a parts feeder using the developed real-time image ex-traction method is carried out.

    DOI: 10.1007/s001700070048

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  • Development of a robotic system which assists unmanned production based on cooperation between off-line robots and on-line robots. Part 3. Development of an off-line robot, autonomous navigation, and detection of faulty workpieces in a vibrating parts feeder

    HZ Yang, K Yamafuji, T Tanaka, S Moromugi

    INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY   16 ( 8 )   582 - 590   2000

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    Remarkable advances in robotics and intelligent technology have made unmanned production realisable. Based on the off-line robot concept proposed in our first paper, an offline robot and peripheral devices have been developed for the realisation of unmanned production. The developed robot has a power-wheeled steering (PWS) type mobile platform on which a double-arm manipulator is installed. In order to detect and recognise 3D objects, double CCD cameras are mounted on the top of the robot. Two types of robot end-effectors are developed to handle workpieces and conduct trouble shooting actions. A newly developed production trouble simulator is very useful in simulating and resolving production troubles. A virtual pilot plant for production composed of the off-line robot, two on-line robots, a vibrating bowl feeder, a belt conveyor and a production trouble simulator has been constructed and tests for production simulation have been undertaken. In this paper, autonomous navigation of the developed robot in the virtual pilot plant is investigated Then a search for faulty parts in a parts feeder using the developed real-time image ex-traction method is carried out.

    DOI: 10.1007/s001700070048

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  • Dynamic Working Control of the One-legged Robot with Controlling Rotor

    S. Moromugi, K. Yamafuji, T. Tanaka, S. V. Ulyanov, L. V. Litvintsev

    Proc. 2nd International Workshop on Advanced Mechatronics   242 - 247   1997.12

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Presentations

  • 電動グローブによる他動運動と視覚誘導性自己運動錯覚を併用した上肢機能回復訓練装置の開発

    井手 拓夢, 豊福 大也, 諸麥 俊司

    電気学会 電子・情報・システム部門 制御研究会  2022.12 

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  • カメラ画像を用いた水槽内養殖魚のサイズ測定システムに関する技術的検討

    野口景斗, 芝谷琉, 瀬川裕也, 横尾和也, 諸麥俊司

    第23回 計測自動制御学会 システムインテグレーション部門講演会  2022.12 

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  • 手術器具振動抑制装置の定量的評価を目的とする生理的振戦再現装置の開発

    田中将勝, 諸麥俊司, 柴田裕一郎, 北岡 隆, 上松聖典

    2022年電気学会 電子・情報・システム部門大会  2022.8 

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  • 永久磁石と磁気センサを用いた外耳道変形検出による表情識別を目的とした耳栓型インターフェースの試作

    永瀬立朗, 諸麥俊司

    2022年 電気学会 電子・情報・システム部門大会  2022.8 

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  • 電気刺激下の筋活動にみられる疲労効果の観察

    橋本遼司, 鈴木駿介, 宇田川 希, 諸麥俊司

    2022年 電気学会 電子・情報・システム部門大会  2022.8 

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  • Design of a surgical instrument to locally excise liver tissue

    Takuya Higashi, Hiroki Aihara, Misa Funahashi, Masaaki Hidaka, Taiichiro Kosaka, Susumu Eguchi, Chiaki Endo, Jun Tsuchiya, Shunji Moromugi

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    Event date: 2022.3    

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  • A head-mounted device for easy quantification of vestibulo-ocular reflex through active head rotations

    Kota Takeishi, Kaito Komine, Shunji Moromugi

    IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech 2022) 

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  • 畜養魚の水槽内での体長及び体重の測定を目的とする体形測定手法の基礎的検討

    長久保 晴奈, 野口 景斗, 芝谷 琉, 染谷 健太, 諸麥 俊司

    日本機械学会 第32 回バイオフロンティア講演会 

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  • 睡眠時の呼吸に好適な頭部姿勢範囲を特定するヘッドキャップ型測定装置の試作

    諸麥俊司, 鮎瀬卓郎, 渡辺虎太郎

    日本睡眠学会第46回定期学術集会  2021.9 

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  • A prototype of a head-mounted input device for robotic laparoscope holders using lower jaw exercises as command signals detected by a photoreflector array

    Takato Omori, Masato Arai, Shunji Moromugi

    30th IEEE International Symposium on Industrial Electronics(ISIE 2021) 

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  • A robotic laparoscope holder operated by jaw movements and triaxial head rotations International conference

    Masato Arai, Takato Omori, Shunji Moromugi, Tomohiko Adachi, Taiichiro Kosaka, Shinichiro Ono, Susumu Eguchi

    2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)  ( Houston, USA )   2019.9  IMEKO Technical Committee on Robotics

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  • 腰痛リスク姿勢を検知して即時に知らせる装着型腰痛予防装置

    西村潤子, 諸麥俊司, 東登志夫

    第33回リハ工学カンファレンス in あつぎ  2018.8 

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    開発した筋収縮センサの衣服の上から筋活動量を検出可能なセンサの特徴を活かし、利用者に負担が少ない新しい腰痛予防装置を試作した.試作機の機能検証試験の結果を報告する.

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  • 電動式手袋による手指麻痺者の生活改善に関する研究

    小原 大知, 梶 紘熙, 諸麥 俊司, 東 登志夫, 和田 太, 田中 基大

    第33回リハ工学カンファレンス in あつぎ  2018.8 

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    本研究では軽度の手指麻痺者のADL 改善を目的と|rn|して革製の手袋をベースとする電動把持装具の開発|rn|に取組んだ。開発した装置を1 名の対象者に適用し、自宅での長期使用による臨床評価試験を実施した結果、本装置の利用により対象者のADL を向上させうることが示された。

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  • 運動努力に応じた多様な指運動を可能とする上肢リハビリ用電動グローブシステム

    梶紘煕, 東登志夫, 和田太, 磯直樹

    第33回リハ工学カンファレンス in あつぎ  2018.8 

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    片麻痺者の上肢機能回復訓練を支援する電動グローブの開発に取組み、医療機関での臨床試験を通してリハビリ効果の評価を実施した。被験者1名による臨床評価試験で、優れたリハビリ効果が示された。

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  • 筋活動量フィードバック機能を有する筋力トレーニング装置のための安定的負荷制御に関する研究

    富岡 諒, 諸麥 俊司

    計測自動制御学会第18回システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 硬さの変化から筋肉の活動量を得るセンサの開発

    西村 潤子, 大嶋 拓生, 諸麥 俊司, 東 登志夫

    計測自動制御学会第18回システムインテグレーション部門講演会  2017.12 

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  • 閉口頭部挙上法による睡眠時気道開通装置の開発と鼾解消実験による評価

    尾戸 隆之, 斎藤 啓太, 諸麥 俊司, 鮎瀬 卓郎

    計測自動制御学会第18回システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 体幹の筋収縮および傾斜角の検知機能と危険時の通知機能を有する腰痛予防装置の提案

    大嶋 拓生, 西村 潤子, 諸麥 俊司, 東 登志夫

    計測自動制御学会第18回システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 筋活動入力による自動-他動併用運動と多自由度指運動を特徴とする上肢機能回復訓練用腱駆動式電動グローブ

    宮永 祐介, 梶 紘熙, 濱向 洸生, 諸麥 俊司, 和田 太, 東 登志夫

    計測自動制御学会第18回システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 頭部運動と噛み締めを操作信号とするロボット型内視鏡操作支援器具の操作性改善の検討

    塚本 稜司, 江連 諒, 金 香紀, 安藤 凜太郎, 本田 拓海, 諸麥 俊司, 足立 智彦, 黒木 保, 大野 慎一郎, 北里 周

    計測自動制御学会第18回システムインテグレーション部門講演会(SI2017)  2017.12 

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  • 電動式グローブの活用による頸髄損傷者の就労機会拡大についての実験的検討

    堀澤里奈, 和田太, 村田知之

    第45回日本職業リハビリテーション学会栃木大会  2017.9 

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    開発した電動式把持装具が頸髄損傷者の就労機会拡大に寄与しうるかどうかの基礎的検討を目的として実在する2種類の業務を取り上げ、就労シミュレーション実験を実施した。職種によって有効である可能性が示された。

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  • 閉口頭部挙上法を用いた睡眠時無呼吸症候群治療器具の開発

    生活生命支援医療福祉工学系学会連合大会(LIFE2015)  2015 

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  • 皮膚圧力分布測定に基づく腱駆動式電動グローブの接触部構造改良の検討

    生活生命支援医療福祉工学系学会連合大会(LIFE2015)  2015 

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  • 顎運動と頭部の傾斜で操作する腹腔鏡下手術のための内視鏡操作支援器具の開発

    菅原宏文, 川端大介, 有薗美藍, 大島幸太郎, 諸麥俊司, 黒木保, 足立智彦, 北里周, 石松隆和

    第23回日本コンピュータ外科学会大会  2014.10 

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  • 頸髄損傷者の日常生活支援を目的とするパワーグローブ

    大島幸太郎, 三橋健史, 有薗美藍, 林裕樹, 諸麥俊司, 東登志夫, 武岡敦之, 石松隆和, 石原正博

    第32回日本ロボット学会学術講演会  2014.9 

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  • 腹腔鏡下手術における内視鏡操作を支援するロボットの開発

    黒木保, 菅原宏文, 古賀一也, 川端大介, 吉田裕也, 足立智彦, 北里周, 石松隆和

    第32回計測自動制御学会九州支部学術講演会  2013.11 

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  • マテリアルハンドリングにおける作業負担を軽減するパワーアシストロボット

    高嶋 恵佑, 立石 雄也, 大隈 将平, 諸麦 俊司

    第13回計測自動制御学会システムインテグレーション部門講演会  2012.12 

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  • 頚髄損傷者の生活支援を目的としたパワーグローブ

    諸麦俊司

    ロボティクス・メカトロニクス講演会2012  2012.5 

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  • 頸髄損傷者の上肢運動機能向上を目的としたパワーグローブの開発及びその評価

    松井秀樹, 池田統希, 木村健太郎, 諸麦俊司

    第54回自動制御連合講演会講演論文集  2011.11 

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  • 頭部筋活動を検知するパワーグローブ用入力インターフェース

    吉田裕也, 松井秀樹, 水田雅人, 諸麦俊司, 石松隆和

    第54回自動制御連合講演会  2011.11 

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  • 手指麻痺者用パワーグローブ -頚椎損傷者の自立的生活と社会参加の支援を目的として-

    諸麦俊司

    ロボティクス・メカトロニクス講演会2011講演論文集  2011.5 

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  • Development of a SMA-Based Drive Unit for Prehension Orthoses to Support Disabled People International conference

    Y.Yoshimi, S.Moromugi, K.Kitamura, T.Ikeda, T.Ishimatsu

    Final program with abstract of Annual Meeting & Exhibition 2011 of The Minerals, Metal & Materials Society(TMS)  2011.3 

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  • Powered glove for people with paralysis of finger

    2011 

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  • 障害者用把持グローブのためのSMAを用いた小型駆動装置の開発

    吉見幸春, 北村一浩, 諸麦俊司, 池田統希, 石松隆和

    日本機械学会M&M2010材料力学カンファレンス  2010.10 

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  • Exo-tendon glove operated through activation of mastication muscle International conference

    S.Moromugi, T.Ikeda, H.Matsui, M.Mizuta, T.Ishimatsu

    Proc. of 13th World Congress International Society for Prosthetics and Orthotics  2010.5 

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  • 九州地区競技会「フューチャードリーム!ロボメカ・デザインコンペ」の試み

    榊泰輔, 清田高徳, 木野仁, 相良慎一, 小黒龍一, 諸麦俊司

    第10回計測自動制御学会システムインテグレーション部門講演会  2009.12 

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  • 腱駆動式パワーアシストグローブの開発

    諸麦俊司, 池田統希, 松井秀樹, 宮崎祐樹, 石松隆和

    第10回計測自動制御学会システムインテグレーション部門講演会  2009.12 

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  • 自己診断機能を有する重度障害者の入力装置

    高倉拓也, 水田雅人, 田中基大, 諸麦俊司

    日本機械学会長崎講演会講演論文集  2009.10 

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  • 骨格構造を有しない障害者向けパワーグローブ

    諸麦俊司, 池田統希, 坂本大地, 田中基大, 石松隆和

    日本機械学会長崎講演会  2009.10 

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  • Assessment of treatment apparatus employing air-bag actuation for sleep apnea syndrome International conference

    M.Kobayashi, T.Ayuse, S.Moromugi

    Proc. of The 6th Congress of Asian Sleep Research Society  2009.10 

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  • 手指麻痺者の指動作を実現するための腱構造を有するパワーグローブの開発

    諸麦俊司, 池田統希, 松井秀樹, 宮崎祐樹, 石松隆和

    日本機械学会福祉工学シンポジウム2009  2009.9 

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  • 筋活動フィードバックによるダイナミックな運動負荷調整機能を有する安全で効果的な高齢者向け筋力トレーニング装置

    諸麦俊司, 西洋史, 遠藤一聡, 石松隆和

    日本機械学会福祉工学シンポジウム2009講演論文集  2009.9 

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  • 電動把持装具

    諸麦俊司, 小森健一, 柴田昌知, 熊野慎一, 石松隆和

    ロボティクス・メカトロニクス講演会2008  2008.6 

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  • 「フューチャードリーム!ロボメカデザインコンペ2007」におけるロボメカ教育

    榊 泰輔, 小黒龍一, 相良慎一, 青木幹太, 牛見宣博, 清田高徳, 菊植 亮, 岩村誠人, 福島 学, 今戸啓二, 池内秀隆, 諸麦俊司

    ロボティクス・メカトロニクス講演会2008講演論文集  2008.6 

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  • 重度障害者の生活をサポートする環境制御装置

    濱田知浩, 友澤超, 平屋成基, 田中基大, 諸麦俊司, 石松隆和

    第8回計測自動制御学会システムインテグレーション部門講演会論文集  2007.12 

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  • 安全性を重視した階段昇降機の開発

    石松隆和, 今里政博, 山口将広, 諸麦俊司

    日本機械学会沖縄講演会2007  2007.10 

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  • 電空ハイブリッド駆動装置を用いる手指麻痺者用パワーグローブ

    諸麦俊司, 川上浩介, 熊野慎一, 石松隆和

    日本機械学会沖縄講演会2007論文集  2007.10 

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  • Pneumatic Actuator Powered Glove Controlled by Muscle Stiffness Sensor International conference

    S.Moromugi, S.Kumano, M.Ninomiya, M.LAWN, T.Ishimatsu

    12th World Congress International Society for Prosthetics and Orthotics  2007.7 

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  • ウェアラブルセンサスーツ(第5 報、センサスーツのトルク推定誤差と増力装置の操作性との関係)

    鈴木洋輔, 田中孝之, 諸麦俊司, マリアQ. フェン

    第5回計測自動制御学会システムインテグレーション部門講演会  2004.12 

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  • 機械的安定性を有する歩行支援スーツ

    金碩煥, 諸麦俊司, 石松隆和

    第5回計測自動制御学会システムインテグレーション部門講演会  2004.11 

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  • ウェアラブル・センサスーツ(第 2 報、超音波筋力センサの高性能化)

    山口龍介, 田中孝之, 堀滋樹, 諸麦俊司, マリアQ.フェン

    ロボティクス・メカトロニクス講演会2003  2003.5 

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  • Ultrasonic Sensor Disk for Detecting Muscular Force

    2003 

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  • Device for Assisting Grasping Function

    2002 

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  • 装着型増力装置のための超音波を用いた筋情報計測

    櫛田拓也, 田中孝之, マリアQ.フェン, 諸麦俊司

    日本機械学会関東支部総会講演会  2001.3 

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Works

  • ロボット型内視鏡操作支援システムのAIによる高度化と各種医療機器統合インターフェースとしての展開

    2017.10 -  

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  • 電解レーザ微細複合加工技術の実用化による微細医療機器の開発

    2015.4 -  

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  • 筋活動入力で多自由度指運動が可能な電動グローブの開発と脳卒中リハビリでの効果検証

    2015.4 -  

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  • 一人手術を目指した装着型筋活動センサによる内視鏡下手術支援器具の開発

    2014.4 -  

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  • 手指麻痺者の日常生活支援のためのパワーグローブの社会実装

    2013.10 -  

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Awards

  • 2012年度 日本機械学会教育賞

    2013.4   日本機械学会   フューチャードリーム!ロボメカ・デザインコンペによるデザイン・創造性教育

  • 2012年度 日本機械学会ロボティクス・メカトロニクス部門 部門一般表彰-ベストプレゼンテーション賞

    2012.5   日本機械学会   手指麻痺者用パワーグローブ - 頚椎損傷者の自立的生活と社会参加の支援を目的として-

  • 2008年度 計測自動制御学会 |rn|論文賞

    2008.8   計測自動制御学会   EMGセンサスーツのためのロバスト関節トルク推定と高速較正

Research Projects

  • 高速画像処理ハードウェアを基軸とした振戦抑制技術の確立と顕微鏡下手術支援への展開

    Grant number:20H04158  2020.4 - 2023.3

    日本学術振興会  科学研究費助成事業  基盤研究(B)  長崎大学

    柴田 裕一郎, 上松 聖典, 諸麥 俊司, 北岡 隆, 眞邉 泰斗

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    Grant amount: \17680000 ( Direct Cost: \13600000 、 Indirect Cost: \4080000 )

    これまでに検討してきた画像からの振動情報抽出アルゴリズムは、オプティカルフロー推定を基盤とするものであったが、各ピクセルの移動量が微小でなければ十分な精度が得られないという問題点があった。これに対する一般的な対処法は、解像度ピラミッドを用いた山登り法の導入であるが、これはハードウェア化する際のパイプラインの構造や制御を複雑という難しさがあった。また、輝度不変性の仮定から照明変化に弱い点や、画素値を保持するフレームバッファのメモリ使用量が大きいという問題点も顕在化してきた。そこで、画像を細かく分割した上で、特徴量マッチングによるオプティカルフロー推定と従来から使用していた適応フィルタBMFLCを組み合わせて各ブロックの平均振動成分を得るとともに、BMFLCの重みパラメータを用いたフィルタリングを行うことで、背景と振動領域を低コストで分離する新規の振戦抽出システムを設計した。この結果、従来法に比べて振動領域を効果的に抽出した振動成分推定と、より低い資源使用量を実現した。
    また、開発した構造や制御手法の定量的評価を実現するためには、抽出された振動の真値をどのように得るかが問題となっていたが、所望の振戦を再現できる装置を新たに開発した。さらに、磁気式3次元位置計測システムを用いて振動情報を高精度に測定できる環境を構築し、定量的な評価実験を行う環境を整備した。これらの実験環境を用いて、適応フィルタの種類が振動抑制に与える影響を評価した。
    機能安全を考慮したFPGA回路設計手法においては、ハードウェア資源の多様性を用いた異種冗長設計法に加えて、回路合成時の最適化戦略の多様性を用いた異種冗長設計の設計フローを確立し比較実験を行った。評価の結果、3重冗長設計の際にも提案する設計手法の機能安全面での優位性を確認した。

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  • 高速画像処理ハードウェアを基軸とした振戦抑制技術の確立と顕微鏡下手術支援への展開

    Grant number:20250264  2020.4 - 2023.3

    文部科学省  科学研究費助成事業 基盤研究(B) 

    柴田 裕一郎, 上松 聖典, 諸麥 俊司, 北岡 隆, 眞邉 泰斗

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    Authorship:Coinvestigator(s) 

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  • ロボット型内視鏡操作支援システムのAIによる高度化と各種医療機器統合インターフェースとしての展開

    2017.10 - 2020.3

    厚生労働省  厚生労働科学研究費 

    江口 晋, 長崎大学病院移植, 消化器外科, 小坂太一郎, 伊藤 信一郎, 足立 智彦, 長, 大学病院移植, 消化器外科, 柴田裕一郎, 喜安千弥, 薗田 光太郎

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    Grant type:Competitive

    Grant amount: \14000000 ( Direct Cost: \11000000 、 Indirect Cost: \3000000 )

    開発したロボット型内視鏡操作支援システムを他の手術関連機器とネットワークで接続し、またAIを組み込むことで術者らとコミュニケーションを取りながら、術中に外科医を適切にサポートするシステムとして発展させる。本システムは、外科医の負担軽減と精度の高い判断を支援すると同時に、各種術中のデータを体系的に統合・収集できるインターフェースとしても機能する。

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  • ロボット型内視鏡操作支援システムのAIによる高度化と各種医療機器統合インターフェースとしての展開

    2017 - 2019

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    Grant type:Competitive

    開発したロボット型内視鏡操作支援システムを他の手術関連機器とネットワークで接続し、またAIを組み込むことで術者らとコミュニケーションを取りながら、術中に外科医を適切にサポートするシステムとして発展させる。具体的には内視鏡操作の自動化・半自動化、術中ナビゲーション機能の搭載等を実現する。

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  • 筋活動入力で多自由度指運動が可能な電動グローブの開発と脳卒中リハビリでの効果検証

    2015.4 - 2018.3

    文部科学省  科学研究費補助金(日本学術振興会・文部科学省)-基盤研究(B) 

    諸麥俊司, 和田太, 東登志夫, 崎大学医歯薬学総合研

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    Grant type:Competitive

    Grant amount: \13650000 ( Direct Cost: \10500000 、 Indirect Cost: \3150000 )

    研究代表者らの開発した革製電動グローブ(パワードグローブ)に新たな機能を追加することで脳卒中後の上肢リハビリ用器具として展開する。またパワーグローブの特徴を活かしたリハビリプログラムを提案し、協力病院での回復期の脳卒中患者を対象とした臨床評価試験を通してその有効性を検証する。本研究は従来よりも効果の高い上肢リハビリ方法を実現し、脳卒中の後遺症に悩む人々の早期回復に貢献することを目的とする。
    開発したパワーグローブの機能に沿って、臨床評価試験を担当する医学研究者らとともに、パワーグローブを活用した上肢リハビリプログラムを作成した。リハビリプログラムは上肢機能のレベル別に5つのコースを設定し、各コースの訓練項目の構成と各詳細を決定した。被験者3名による臨床試験を実施し、提案するパワードグローブを用いたリハビリプログラムの有効性を確認した。

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  • 電解レーザ微細複合加工技術の実用化による微細医療機器の開発

    2015.4 - 2017.3

    関東経済産業局  平成28年度戦略的基盤技術高度化支援事業 

    遠藤 千昭

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    Grant type:Competitive

    Grant amount: \1997640

    微細加工技術であるDEEL加工技術を活用し、肝臓深部の腫瘍を最小限に切り取るための手術器具を開発する

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  • 一人手術を目指した装着型筋活動センサによる内視鏡下手術支援器具の開発

    2014.4 - 2017.3

    文部科学省  科学研究費補助金(日本学術振興会・文部科学省)-基盤研究(C) 

    黒木保, 長崎大学病院移植, 消化器外科

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    Grant type:Competitive

    頭部筋肉の動作を感知し術者の意志を正確・瞬時に反映するデバイス“装着型筋活動センサ”を適用することで携帯型内視鏡手術支援ロボットを完成させた。また、頭部の傾斜を検知する角度センサも組み込むことで、より自由度が増したインターフェースを構築した。こめかみにインターフェースを装着し携帯型内視鏡手術支援ロボットを作動させ、フレキシブル内視鏡の操作を可能とした。ブタを用いた動物実験を行った。ロボットとヒトで腹腔鏡下胆嚢摘出術を行った。手術時間はロボット:34分30秒、ヒト:24分26秒。ロボット操作時の機器停止などの問題点は指摘されなかった。今後は臨床応用に向けた産学官の連携が必要と思われる。

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  • 手指麻痺者の日常生活支援のためのパワーグローブの社会実装

    2013.10 - 2016.9

    科学技術振興機構  研究開発成果実装支援プログラム 

    諸麥俊司, 石原正博, 株式会社ブレースオンアール名古屋, 東 登志夫, 合研究科, 村田知之, 神奈川リハビリテーション病院, 田中基大, Zoran Nenadic、An Do(UC, Irvin

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    Grant type:Competitive

    Grant amount: \20000000 ( Direct Cost: \14000000 、 Indirect Cost: \6000000 )

    頚髄損傷者を始め、手指に麻痺を負う人々は介助を要する生活を余儀なくされ、生活の自立を大きく妨げられている。手指麻痺は生活の質の低下だけでなく、就労など社会参加機会の制限にもつながっている。本活動では、開発した能動装具、パワーグローブにさらなる改良を加え、実用的モデルを開発するとともに、各種工学的試験評価および臨床的試験評価を経て、その有効性や安全性を示す。さらに、補装具登録の申請や、認知度の向上、流通システムの整備等を含めた多角的な取り組みを通して、早期の社会実装を目指す。

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  • Development of treatment apparatus of sleep apnea syndrome by introducing manual technique for airway opening

    Grant number:22700576  2010 - 2011

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (B)  Nagasaki University

    MOROMUGI Shunji, AYUSE Takao

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    Grant amount: \3770000 ( Direct Cost: \2900000 、 Indirect Cost: \870000 )

    A new treatment apparatus of sleep apnea syndrome has been prototyped and tested with healthy subjects under medical researcher' s supervision. Excellent ability of the treatment apparatus for opening airway has been demonstrated through the test.

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  • Development of a soft power glove to restore grasping functions for people with finger paralysis

    Grant number:19700474  2006 - 2008

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (B)  Nagasaki University

    MOROMUGI Shunji

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    Grant amount: \2740000 ( Direct Cost: \2500000 、 Indirect Cost: \240000 )

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    Grant type:Competitive

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Intellectual property rights

  • 筋収縮検出センサ

    諸麥 俊司

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    Application no:特願2022-028706  Date applied:2022.2.25

    Announcement no:特開2023-124733  Date announced:2023.9.6

    Applicant (Organization):学校法人中央大学

  • 内視鏡操作支援システム及び内視鏡システム

    小坂 太一郎,江口 晋,足立 智彦

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    Application no:特願2020-028432  Date applied:2020.2.21

    Announcement no:特開2021-132669  Date announced:2021.9.13

    Applicant (Organization):学校法人中央大学、国立大学法人長崎大学

  • 計測装置及び計測方法

    鮎瀬 卓郎

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    Application no:特願2019-165410  Date applied:2019.9.11

    Announcement no:特開2021-040963  Date announced:2021.3.18

    Registration no:特許第7280580号  Date registered:2023.5.16 

    Applicant (Organization):学校法人中央大学、国立大学法人長崎大学

  • 筋収縮検出センサ

    西村 潤子

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    Application no:特願2019-029836  Date applied:2019.2.21

    Announcement no:特開2020-130739  Date announced:2020.8.31

    Registration no:特許第7186437号  Date registered:2022.12.1 

    Applicant (Organization):学校法人中央大学

  • 切除器具

    江口晋,日高 匡章,小坂 太一郎,土屋 淳,佐藤 洋

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    Application no:特願2019-023584  Date applied:2019.2.13

    Announcement no:特開2019-136511  Date announced:2019.8.22

    Registration no:特許第7300570号  Date registered:2023.6.22 

    Applicant (Organization):学校法人中央大学、国立大学法人長崎大学、高島産業株式会社

  • 筋収縮検出センサ

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    Application no:(US)16/500485  Date applied:2018.4.2

    Announcement no:WO2018/186348  Date announced:2018.10.11

    Applicant (Organization):学校法人中央大学

  • 筋収縮検出センサ

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    Application no:特願2019-511230  Date applied:2018.4.2

    Announcement no:再公表2018-186348  Date announced:2020.5.28

    Registration no:特許第6875755号  Date registered:2021.4.27 

    Applicant (Organization):学校法人中央大学

  • 頭部筋活動検知装置

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    Application no:特願2017-074761  Date applied:2017.4.4

    Announcement no:特開2018-175030  Date announced:2018.11.15

    Registration no:特許第6896266号  Date registered:2021.6.11 

    Applicant (Organization):学校法人中央大学

  • 腰痛予防装置

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    Application no:特願2017-074765  Date applied:2017.4.4

    Announcement no:特開2018-180648  Date announced:2018.11.15

    Registration no:特許第6883848号  Date registered:2021.5.13 

    Applicant (Organization):学校法人中央大学

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Committee Memberships

  • 2013 -  

    計測自動制御学会   第32回計測自動制御学会九州支部学術講演会(平成25年11月30日開催予定) 実行委員  

  • 2012 -  

    日本機械学会   第21回ロボティクスシンポジア(2016年3月開催予定)実行委員  

  • 2012 -  

    日本ロボット学会   第21回ロボティクスシンポジア(2016年3月開催予定)実行委員