主な研究業績

学術論文誌および特許

  1.   Takahiro Nozaki, Shuhei Shimizu, Toshiyuki Murakami, and Roberto Oboe, “Impedance Field Expression of Bilateral Control for Reducing Data Traffic in Haptic Transmission,” IEEE Transactions on Industrial Electronics.【査読有り】(accepted for publication)
  2.   Satoshi Fukushima, Hiromu Sekiguchi, Yuki Saito, Wataru Iida, Takahiro Nozaki, and Kouhei Ohnishi, “Artificial Replacement of Human Sensation Using Haptic Transplant Technology,” IEEE Transactions on Industrial Electronics.【査読有り】(accepted for publication)
  3.   斉藤 佑貴, 中井 一真, 関口 弘武, 福島 聡, 野崎 貴裕, 大西 公平, “接点切替によるインピーダンス変動を用いたブラシ付きDCモータのセンサレス角度推定法,” 電気学会論文誌産業応用部門誌.【査読有り】(accepted for publication)
  4.   大西 公平, 斉藤 佑貴, 福島 聡, 松永 卓也, 野崎 貴裕, “リアルハプティクスの拓く未来社会,” 日本AEM学会誌, vol. 25, no. 1, pp. 9-16, Mar. 2017.【解説論文】
  5.   松永 卓也, 富塚 大輔, 野崎 貴裕, 斉藤 佑貴, 小川 健司, 大西 公平, 和田 則仁, 北川 雄光, “軟性内視鏡ロボットに搭載可能な小型ハプティック鉗子ロボットの開発,” 日本コンピュータ外科学会誌, vol. 19, no. 3, pp. 123-130, Jul. 2017.【査読有り】
  6.   Sakahisa Nagai, Takahiro Nozaki, and Atsuo Kawamura, “Environmental Robust Position Control for Compact Solenoid actuators by Sensorless Simultaneous Estimation of Position and Force,” IEEE Transactions on Industrial Electronics, vol. 63, no. 8, pp. 5078-5086, Aug. 2016.【査読有り】
  7.   Sakahisa Nagai, Takahiro Nozaki, and Atsuo Kawamura, “Real-time Sensorless Estimation of Position and Force for Solenoid Actuators”, IEEJ Journal of Industry Applications, vol. 5, no. 2, pp. 32-38, Mar. 2016.【査読有り】
  8.   Yu Hosoyamada, Masashi Takeda, Takahiro Nozaki, Naoki Motoi, and Atsuo Kawamura, “High Efficiency Series Chopper Power Train for Electric Vehicles Using a Motor Test Bench”, IEEJ Journal of Industry Applications, vol. 4, no. 4, pp. 460-468, Jul. 2015.【査読有り】
  9.   清水 就平, 大野 嘉紀, 野崎 貴裕, 大西 公平, “官能評価に基づく機能モードごとの通信遅延補償設計法,” 電気学会論文誌産業応用部門誌, vol. 135-D, no. 7, pp. 755-764, Jul. 2015.【査読有り】
  10. 神原 義幸, 魚住 誠二, 野崎 貴裕, 大西 公平, “直流電動機における位置センサレス運動制御,” 電気学会論文誌産業応用部門誌, vol. 135-D, no. 3, pp. 205-211, Mar. 2015.【査読有り】
  11. (特許申請)電力供給装置、及び電力供給システム, 発明者(野崎 貴裕, 藤本 康孝, 下野 誠通, 水島 清也, 永井 栄寿), 出願番号:特願2015-11613
  12. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, “Motion Expression by Elemental Separation of Haptic Information,” IEEE Transactions on Industrial Electronics, vol. 61, no. 11, pp. 6192-6201, Nov. 2014. 【査読有り】
  13. Yu Nakajima, Takahiro Nozaki, and Kouhei Ohnishi, “Heartbeat Synchronization with Haptic Feedback for Telesurgical Robot.” IEEE Transactions on Industrial Electronics, vol. 61, no. 7, pp. 3753-3764, Jul. 2014.【査読有り】
  14. 大西 公平, 兪 浩洋, 野崎 貴裕, 溝口 貴弘, “ハプティックロボットによる口腔外科・歯科手術支援技術,” 日中医学, vol. 29, no. 1, pp. 20-24, May 2014.【査読なし】
  15. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, “Stiffness Transmission of Scaling Bilateral Control System by Gyrator Element Integration,” IEEE Transactions on Industrial Electronics, vol. 61, no. 2, pp. 1033-1043, Feb. 2014.【査読有り】
  16. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, “Decoupling Strategy for Position and Force Control Based on Modal Space Disturbance Observer,” IEEE Transactions on Industrial Electronics, vol. 61, no. 2, pp. 1022-1032, Feb. 2014.【査読有り】
  17. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, “Motion-Copying System with Variable Impedance Based on Scaled Bilateral Control in One-Degree-of-Freedom Robot,” IEEJ Journal of Industry Applications, vol. 3, no. 1, pp. 1-9, Jan. 2014.【査読有り】
  18. Takahiro Nozaki, Takahiro Mizoguchi, Yusuke Suzuki, Daisuke Yashiro, and Kouhei Ohnishi, “Recognition of Human Combined Motion from Haptic Information Using Similarly Structured Master and Slave Robot Hands,” Electronics and Communications in Japan, vol. 96, no. 12, pp. 12-23, Dec. 2013.【査読なし】
  19. Takahiro Nozaki, Takahiro Mizoguchi, Yuki Saito, Daisuke Yashiro, and Kouhei Ohnishi, “Recognition of Grasping Motion Based on Modal Space Haptic Information Using DP Pattern-Matching Algorithm,” IEEE Transactions on Industrial Informatics, vol. 9, no. 4, pp. 2043-2051, Nov. 2013.【査読有り】
  20. Yu Nakajima, Takahiro Nozaki, Yuji Oyamada, and Kouhei Ohnishi, “An Object-Coordinate-Based Bilateral Control System Using Visual Information,” Electronics and Communications in Japan, vol. 96, no. 8, pp. 41-49, Aug. 2013.【査読なし】
  21. 嶌本 慶太, 谷田 和貴, 野崎 貴裕, 大西 公平, “腱駆動型球体関節機構による力覚伝達,” 電気学会論文誌産業応用部門誌, vol. 133-D, no. 3, pp. 307-313, Mar. 2013.【査読有り】
  22. Takahiro Nozaki, Takahiro Mizoguchi, Yuki Saito, Tomohiro Nakano, and Kouhei Ohnishi, “Bilateral Control Method Based on Transformation Matrix Relating Motion Features and Tool Coordinates”, IEEJ Journal of Industry Applications, vol. 2, no. 1, pp. 67-73, Jan. 2013.【査読有り】
  23. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, “Real-World Haptics for Motion Realization”, IEEJ Journal of Industry Applications, vol. 2, no. 1, pp. 1-6, Jan. 2013.【査読有り】
  24. (特許申請)位置・力制御装置、位置・力制御方法及びプログラム, 発明者(大西 公平, 境野 翔, 野崎 貴裕), 出願番号:特願2013-194704
  25. 野崎 貴裕, 溝口 貴弘, 鈴木 祐介, 矢代 大祐, 大西 公平, “マスタ・スレーブ同機構型ロボットハンドを用いた触覚情報に基づく人間の複合動作認識,” 電気学会論文誌産業応用部門誌, vol. 132-D, no. 9, pp. 858-864, Sep. 2012.【査読有り】
  26. 斉藤 佑貴, 元岡 渉, 野崎 貴裕, 矢代 大祐, 大西 公平, “フレキシブルアクチュエータを用いた二関節筋機構を備えた2リンクマニピュレータの開発,” 電気学会論文誌産業応用部門誌, vol. 132-D, no. 3, pp. 397-403, Mar. 2012.【査読有り】
  27. 中島 悠, 野崎 貴裕, 小山田 雄仁, 大西 公平, “視覚情報を用いた物体座標系におけるバイラテラル制御,” 電気学会論文誌産業応用部門誌, vol. 132-D, no. 3, pp. 374-380, Mar. 2012.【査読有り】
  28. 野崎 貴裕, 鈴木 祐介, 大西 公平, “腱駆動を用いたマスタ・スレーブ型多自由度ロボットハンドによる力覚伝達,” 電気学会論文誌産業応用部門誌, vol. 131-D, no. 3, pp. 297-303, Mar. 2011.【査読有り】

学会発表

国際学会

  1.   Norihito Wada, Kyoko Okuda, Kazumi Kuboi, Tetsuya Nakamura, Tadateru Maehata, Takuya Matsunaga, Takahiro Nozaki, Kouhei Ohnishi, Naohisa Yahagi, and Yuko Kitagawa, "A Nobel Grasping Forceps System Having Real Haptic Feedback in a Flexible Master-Slave Robotic Surgey - Impact on Tissue Damage," SAGES 2017 annual meeting, Houston, USA, ETP712 , 22th Mar - 25th Mar, 2017.
  2.   Shuhei Akutsu, Hiromu Sekiguchi, Takahiro Nozaki, and Toshiyuki Murakami, "Position and Torque Sensorless Motion Transmission Using Voltage Compensation," IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, SAMCON2017, Nagaoka, Japan, TT4-4, 6th Mar - 8th Mar, 2017.
  3.   Satoshi Fukushima, Hiromu Sekiguchi, Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi," Haptic Telepresence System with Multi-Degrees of Freedom Exoskeleton and Humanoid Robot," IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, SAMCON2017, Nagaoka, Japan, SS1-4, 6th Mar - 8th Mar, 2017.
  4.   Satoshi Fukushima, Takahiro Nozaki, Kouhei Ohnishi, "Development of haptic prosthetic hand for realization of intuitive operation" , The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  5.   Kazuma Nakai, Takahiro Nozaki, Toshiyuki Murakami, "Robust Sensorless Control for Brushless DC Motor Against Sudden Disturbance and Validation Under Change of Back Electromotive Force Constant" , The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  6.   Ryo Hanaoka, Takahiro Nozaki, Toshiyuki Murakami, "Cooperation Control of ITP with Human Based Inertial Measurement Unit" , The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  7.   Seonghye Kim, Takahiro Nozaki, Toshiyuki Murakami, "An Approach to Categorization Analysis for Human Motion by Kinect and IMU" , The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  8.   Emre Sariyildiz, Takahiro Nozaki, Haoyong Haoyong, "Robust Force Control of Series Elastic Actuators using Sliding Mode Control and Disturbance Observer" , The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  9.   Emre Sariyildiz, Takahiro Nozaki, Haoyong Haoyong, Toshiyuki Murakami, "A Robust State-Space Controller Design for Multi-Mass Resonant Systems" , The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  10. Emre Sariyildiz, Haoyong Yu, Takahiro Nozaki, and Toshiyuki Murakami, "Robust Vibration Control of Two-Mass Resonant Systems in State Space" , Proceedings of the 14th IEEE International Workshop on Advanced Motion Control, pp. 587-592, Auckland, New Zealand, 22nd-24th, Apl. 2016.
  11. Takahiro Nozaki, Toshiyuki Murakami,Tomoyuki Shimono, Kouhei Ohnishi, and Roberto Oboe, "Development of Meal Assistance Device for Patients with Spinal Cord Injury" , Proceedings of the 14th IEEE International Workshop on Advanced Motion Control, pp. 388-393, Auckland, New Zealand, 22nd-24th, Apl. 2016.
  12. Takahiro Ishikawa, Takahiro Nozaki, and Toshiyuki Murakami, "Position Control System Based on Inertia Measurement Unit Sensor Fusion with Kalman Filter" , Proceedings of the 14th IEEE International Workshop on Advanced Motion Control, pp. 153-159, Auckland, New Zealand, 22nd-24th, Apl. 2016.
  13. Kamal Mohy El Dine, Chuan Yang, Takahiro Nozaki, and Toshiyuki Murakami, "Novel Walking Assist Device Based on Generic Human Motion Tracking Criteria" , Proceedings of the 14th IEEE International Workshop on Advanced Motion Control, pp. 38-43, Auckland, New Zealand, 22nd-24th, Apl. 2016.
  14. Kenta Moriki, Atsuo Kawamura, Tomoyuki Shimono, Takahiro Nozaki, Kunio Ikeda, Junichi Sato, Hitoshi Hayashiya, and Hiroshi Yamamoto, "Technological Feasibility of Coaxial Contactless Power Transmission for Traction Power Supply" , Proceedings of the 16th International Power Electronics and Motion Control Conference and Exposition, pp. 1153-1158, Sep. 2014.
  15. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "Free Motion Mechanical Power Factor; Comparison Between Robots in Different Structure and Coordinate" , Proceedings of the International Power Electronics Conference, pp. 1660-1664, May 2014.
  16. Kouhei Ohnishi, Takahiro Nozaki, and Takahiro Mizoguchi, "Haptics for Industries" , Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 11-12, Mar. 2014.
  17. Takahiro Nozaki, Kazuki Tanida, Takahiro Mizoguchi, Tomohiro Nakano, Yuki Saito, and Kouhei Ohnishi, "Extraction and Realization of Human Actions" , Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 705-710, Mar. 2014.
  18. Seinan Kyo, Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, "Experimental Evaluation of Motion Reproduction System with Selected Information" , Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 92-97, Mar. 2014.
  19. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "A Method to Derive On Time Mechanical Power Factor" , Proceedings of the IEEE International Conference on Industrial Technology, RB-626, pp. 73-78, Feb. 2014.
  20. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, "Motion Reproduction Using Time-Scaling for Adaptation to Difference in Environmental Location" , Proceedings of the IEEE International Conference on Industrial Technology, RB-408, pp. 45-50, Feb. 2014.
  21. Keita Shimamoto, Yoshiki Ohno, Takahiro Nozaki, and Kouhei Ohnishi, "Time Delay Compensation for Tendon-driven Bilateral Control Using Modal Decomposition and Communication Disturbance Observer" , Proceedings of the IEEE International Conference on Industrial Technology, RB-283, pp. 29-34, Feb. 2014.
  22. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "Power Factor Analyses in Mechanical System Focusing on Trajectory and Environment" , Proceedings of the IEEE International Symposium on Industrial Electronics, pp. 1-6, May 2013.
  23. Yuki Saito, Uichiro Nishio, Takahiro Nozaki, and Kouhei Ohnishi, "Acceleration-based Position and Force Control for Twist Drive" , Proceedings of the IEEE International Conference on Mechatronics, pp. 664-669, Feb. 2013.
  24. Tomohiro Nakano, Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi, "Variable Tension Control for Master-Slave Tendon-Driven Robot Hand" , Proceedings of the IEEE International Conference on Mechatronics, pp. 588-593, Feb. 2013.
  25. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "The Power Factor in Mechanical System" , Proceedings of the IEEE International Conference on Mechatronics, pp. 576-581, Feb. 2013.
  26. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, "A Controller Design Method for Multirobot Systems Based on Task Projection Matrix" , Proceedings of the IEEE International Conference on Mechatronics, pp. 213-218, Feb. 2013.
  27. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "A Design Method of Bilateral Control System based on Interactive Parameters" , Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, pp. 4382-4387, Oct. 2012.
  28. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, "Bilateral Control Method for Tendon-driven Mechanism Considering Wire Elongation" , Proceedings of the 38th Annual Conference of the IEEE Industrial Electronics Society, pp. 2662-2667, Oct. 2012.
  29. Kasun Prasanga, Yuki Saito, and Takahiro Nozaki, Kouhei Ohnishi, "Achievement of Real Haptic Sensation with Tendon Driven Segregated Jaws for Laparoscopic Forceps" , Proceedings of the 6th International Conference on Information and Automation for Sustainability, pp. 65-70, Sep. 2012.
  30. Yu Nakajima, Takahiro Nozaki, and Kouhei Ohnishi, "Synchronization Performance Improvement on Motion Canceling Bilateral Control Using an Extended Dual Sampling Rate Observer" , Proceedings of the 5th International Conference on Human System Interaction, pp. 160-167, Jun. 2012.
  31. Takahiro Nozaki, Takahiro Mizoguchi, Yu Nakajima, and Kouhei Ohnishi, "Real-Time Skill Providing System Using Human Haptic Information" , Proceedings of the 5th International Conference on Human System Interaction, pp. 144-151, Jun. 2012.
  32. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "Examination of Stability and Characteristics of Gyrator type Bilateral Control; Toward Controller and Transfer Impedance Design" , Proceedings of the 5th International Conference on Human System Interaction, pp. 116-123, Jun. 2012.
  33. Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, "Position/Force Decoupling for Micro-Macro Bilateral Control based on Modal Space Disturbance Observer" , Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (6 pages), Mar. 2012.
  34. Yu Nakajima, Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi, "Transparency Analysis of Motion Canceling Bilateral Control under Sensing Constraints" , Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (6 pages), Mar. 2012.
  35. Uichiro Nishio, Takahiro Nozaki, and Kouhei Ohnishi, "A Method of Joint Torque Control for a Tendon-Driven System" , Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (6 pages), Mar. 2012.
  36. Shinnosuke Yamaoka, Takahiro Nozaki,Daisuke Yashiro, and Kouhei Ohnishi, "Acceleration Control of Stacked Piezoelectric Actuator utilizing Disturbance Observer and Reaction Force Observer" , Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (6 pages), Mar. 2012.
  37. Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi, "Model-based Compensation of Wire Elongation for Tendon-driven Rotary Actuator" , Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (6 pages), Mar. 2012.
  38. Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi, "Scaling Bilateral Controls with Impedance Transmission Using Transfer Admittance" , Proceedings of the 12th IEEE International Workshop on Advanced Motion Control (6 pages), Mar. 2012.
  39. Takahiro Nozaki, Yusuke Suzuki, and Kouhei Ohnishi, "Motion Recognition using DP Matching based on Position and Force Information" , Proceedings of the 4th International Conference on Human System Interaction, pp. 104-109, May 2011.
  40. Wataru Motooka, Takahiro Nozaki, Takahiro Mizoguchi, Keisuke Sugawara, Fumiya Mitome, Keishi Okuda, Midori Miyagaki, Daisuke Yashiro, Takahiro Yakoh, Kouhei Ohnishi, Yasuhide Morikawa, and Naoki Shimojima, "Development of 16-DOF Telesurgical Forceps Master/Slave Robot with Haptics" , Proceedings of the 36th Annual Conference of the IEEE Industrial Electronics Society, pp. 2081-2086, Nov. 2010.
  41. Takahiro Nozaki and Kouhei Ohnishi, "Development of Haptic Data Acquisition Robot Hand," Proceedings of the International Symposium on Application of Biomechanical Control System to Precision Engineering, p. 122, Jul. 2010.

国内学会

  1.   稲村奈月, 下野誠通, 溝口貴弘, Zignoli Andrea, 野崎貴裕, 大西公平, 石井慎一郎, "Development of Belt-Driven Supporting Robot for Lower Limb Function," 平成29年電気学会産業応用部門大会, 函館, 2-12, 8月29日-8月31日, 2017年.
  2.   阿久津修平, 中川貴裕, 野崎 貴裕, “位置・力センサレス動作伝送の実現,” 平成29年電気学会産業応用部門大会, 函館, 2-S6-4, 8月29日-8月31日, 2017年.
  3.   野崎 貴裕, 福島 聡, 村上 俊之, “力触覚移植技術を用いた汎用人工手の開発 人に優しいモータ駆動技術の新展開,” LIFE2016, 1P2-C02, pp. 18-19, 9月4日-6日, 2016年.
  4.   野崎 貴裕, 福島 聡, 斉藤 佑貴, 飯田 亘, 村上 俊之, “力触覚を有する7自由度汎用人工手の開発,” 電気学会メカトロニクス制御研究会, MEC-16-017, pp. 61-66, 9月3日, 2016年.
  5.   福島 聡, 野崎 貴裕, 関口 弘武, 飯田 亘, 大西 公平, “ハプティック義手安全性向上のためのトルク制約制御,” 電気学会メカトロニクス制御研究会, MEC-16-012, pp. 91-94, 9月3日, 2016年.
  6.   野崎 貴裕, 中井 一真, 村上 俊之, “慣性負荷を用いたブラシレス DC モータの精密センサレス制御および給茶装置の開発,” 平成28年電気学会産業応用部門大会, 前橋, Ⅱ-S12-5, pp. 45-48, 8月30日-9月1日, 2016年.
  7.   中井 一真, 野崎 貴裕, 村上 俊之, “周期慣性負荷を用いた逆起電力定数変動にロバストなセンサレス制御の指令値追従性能に関する検証,” 平成28年電気学会産業応用部門大会, 前橋, Ⅲ-24, pp. 181-186, 8月30日-9月1日, 2016年.
  8.   野崎 貴裕, 福島 聡, “生活支援デバイスの開発と力触覚の重要性,” 第7回全国電動義手研究会, 第1部 演題②, 4月3日, 2016年.

受賞

  1.   Satoshi Fukushima, Best Paper Award in Session, The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  2.   Takahiro Nozaki, Best Paper Award in Session, The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 24th-27th, Oct. 2016.
  3.   野崎 貴裕, 若手プレゼンテーション賞, LIFE2016, 1P2-C02, pp. 18-19, 9月4日-6日, 2016年.
  4.   福島 聡, メカトロニクス制御技術委員会優秀論文発表賞, 電気学会メカトロニクス制御研究会, MEC-16-012, pp. 91-94, 9月3日, 2016年.