Kenji Kawashima 研究室

主宰者：Kenji Kawashima

東京大学

AI 要約（直近 5 年の研究成果）

本研究室は、柔軟な構造を持つロボットシステムと遠隔操作技術の開発を中心に展開しています。空気圧駆動素子（人工筋肉）を用いた軟質アクチュエータの設計・制御に関する研究では、非線形性や遅滞現象といった本来は制御を困難にする特性を逆に利用し、計算資源が限られた環境でも効率的に動作を推定・制御できる手法を提案しています。また、タッチセンサやカ覚フィードバック機能を備えた外科手術支援ロボットシステムの開発により、遠隔での正確な操作と安全性の向上に取り組んでいます。研究の手法としては、数値シミュレーション、材料レベルでの物理解析、動物実験を含む多層的なアプローチを採用しています。物理リザーバ計算という新しい計算パラダイムを実装し、ウェアラブルデバイスや義肢装具の動作認識に応用する研究も進めています。さらにネットワーク経由の遠隔操作システムにおける暗号化制御と攻撃検知についても研究を行い、医療応用を念頭においた安全で信頼性の高いロボットシステムの実現を目指しています。

※ AI（Claude）が、公開されている論文要旨から研究の問い・手法・主要な発見を事実情報として抽出・再構成して自動生成しています。誤りを含む可能性があるため、正確性は研究室公式情報でご確認ください。

外部リンク

研究成果（108 件）

[2026] End-to-End Triaxial Force Estimation via Sequential Multi-Electrode Excitation on a Minimal LIG-Based Soft Sensor
DOI: https://doi.org/10.1109/robosoft67810.2026.11522829
[2025] Controlling Pneumatic Bending Actuator With Gain-Scheduled Feedforward and Physical Reservoir Computing State Estimation
DOI: https://doi.org/10.1109/lra.2025.3528661
[2025] In Silico Exfoliation of ReaxFF Graphite—Temperature, Speed, Angle Dependence, and the Effect of Gold Overlayer
DOI: https://doi.org/10.3390/c11030059
[2025] Comparative Analysis of Distribution-based Ground Truth Designs for Enhanced Accuracy in Bleeding Alert Map
DOI: https://doi.org/10.18494/sam5507
[2025] In vivo evaluation of tissue damage from varying grasping forces using the Saroa surgical system
DOI: https://doi.org/10.1038/s41598-025-95310-5
[2025] Detection and Cancellation of Multiplicative FDI Attack on Bilateral Encrypted Control System in Variable Periodic Motion
DOI: https://doi.org/10.1109/sii59315.2025.10870880
[2025] Controlling Pneumatic Bending Actuator With Gain-Scheduled Feedforward and Physical Reservoir Computing State Estimation
DOI: https://doi.org/10.1109/lra.2025.3528661
[2025] Detection and Cancellation of Multiplicative FDI Attack on Bilateral Encrypted Control System in Variable Periodic Motion
DOI: https://doi.org/10.1109/sii59315.2025.10870880
[2025] Comparative Analysis of Distribution-based Ground Truth Designs for Enhanced Accuracy in Bleeding Alert Map
DOI: https://doi.org/10.18494/sam5507
[2024] Gait Perception via Actual and Estimated Pneumatic Physical Reservoir Output
DOI: https://doi.org/10.1002/aisy.202400278

続きを表示（残り 98 件）

[2024] New three-dimensional flat band candidate materials Pb2As2O7 and Pb2Sn2O7
DOI: https://doi.org/10.1038/s41598-024-77977-4
[2024] Evaluating the benefit of contact‐force feedback in robotic surgery using the Saroa surgical system: A preclinical study
DOI: https://doi.org/10.1111/ases.13395
[2024] Study of the Use of Rubber Actuators in Fitness Equipment to Support Safe and Effective Human Exercise
DOI: https://doi.org/10.1299/jsmeshd.2024.u00018
[2024] Detection and Cancellation of Multiplicative FDI Attack on Bilateral Encrypted Control System
DOI: https://doi.org/10.1109/access.2024.3438287
[2024] New three-dimensional flat band candidate materials Pb2As2O7 and Pb2Sn2O7
DOI: https://doi.org/10.1038/s41598-024-77977-4
[2024] Evaluating the benefit of contact‐force feedback in robotic surgery using the Saroa surgical system: A preclinical study
DOI: https://doi.org/10.1111/ases.13395
[2024] Walking Condition Estimation Using Physical Reservoir Computing with External Echo State Network
DOI: https://doi.org/10.1109/biorob60516.2024.10719718
[2024] A Pneumatically Driven Arm Muscle Training System Realizing Wide Motion Range and Large Moment Arm
DOI: https://doi.org/10.1109/biorob60516.2024.10719783
[2024] 1C1-6　Study of the use of safe and human-friendly rubber actuators
DOI: https://doi.org/10.5100/jje.60.1c1-6
[2024] Walking Condition Estimation Using Physical Reservoir Computing with External Echo State Network
DOI: https://doi.org/10.1109/biorob60516.2024.10719718
[2024] A Pneumatically Driven Arm Muscle Training System Realizing Wide Motion Range and Large Moment Arm
DOI: https://doi.org/10.1109/biorob60516.2024.10719783
[2024] Attack detection method for encrypted wave‐variable‐based bilateral control systems
DOI: https://doi.org/10.1049/cth2.12697
[2024] 1C1-6　Study of the use of safe and human-friendly rubber actuators
DOI: https://doi.org/10.5100/jje.60.1c1-6
[2024] Ensuring communication redundancy and establishing a telementoring system for robotic telesurgery using multiple communication lines
DOI: https://doi.org/10.1007/s11701-023-01792-8
[2024] Detection and Cancellation of Multiplicative FDI Attack on Bilateral Encrypted Control System
DOI: https://doi.org/10.1109/access.2024.3438287
[2024] Attack detection method for encrypted wave‐variable‐based bilateral control systems
DOI: https://doi.org/10.1049/cth2.12697
[2024] Ensuring communication redundancy and establishing a telementoring system for robotic telesurgery using multiple communication lines
DOI: https://doi.org/10.1007/s11701-023-01792-8
[2024] Study of the Use of Rubber Actuators in Fitness Equipment to Support Safe and Effective Human Exercise
DOI: https://doi.org/10.1299/jsmeshd.2024.u00018
[2024] Control Pneumatic Soft Bending Actuator With Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing
DOI: https://doi.org/10.1109/lra.2024.3523229
[2024] Gait Perception via Actual and Estimated Pneumatic Physical Reservoir Output
DOI: https://doi.org/10.1002/aisy.202400278
[2024] Control Pneumatic Soft Bending Actuator With Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing
DOI: https://doi.org/10.1109/lra.2024.3523229
[2023] Confidence-aware self-supervised learning for dense monocular depth estimation in dynamic laparoscopic scene
DOI: https://doi.org/10.1038/s41598-023-42713-x
[2023] Effects of a force feedback function in a surgical robot on the suturing procedure
DOI: https://doi.org/10.1007/s00464-023-10617-6
[2023] Trajectory Tracking Control of Dual-PAM Soft Actuator With Hysteresis Compensator
DOI: https://doi.org/10.1109/lra.2023.3334098
[2023] Limit Cycle Generation with Pneumatically Driven Physical Reservoir Computing
DOI: https://doi.org/10.1109/icra48891.2023.10161315
[2023] Telesurgery and telesurgical support using a double-surgeon cockpit system allowing manipulation from two locations
DOI: https://doi.org/10.1007/s00464-023-10061-6
[2023] Effects of a force feedback function in a surgical robot on the suturing procedure
DOI: https://doi.org/10.1007/s00464-023-10617-6
[2023] A Pneumatically Driven Arm Motion Teaching System Using Visual and Torque Feedback
DOI: https://doi.org/10.1109/robio58561.2023.10354627
[2023] Real-time telementoring with 3D drawing annotation in robotic surgery
DOI: https://doi.org/10.1007/s00464-023-10521-z
[2023] Field experiment of a telesurgery system using a surgical robot with haptic feedback
DOI: https://doi.org/10.1007/s00595-023-02732-7
[2023] A Pneumatically Driven Arm Motion Teaching System Using Visual and Torque Feedback
DOI: https://doi.org/10.1109/robio58561.2023.10354627
[2023] Real-time telementoring with 3D drawing annotation in robotic surgery
DOI: https://doi.org/10.1007/s00464-023-10521-z
[2023] Confidence-aware self-supervised learning for dense monocular depth estimation in dynamic laparoscopic scene
DOI: https://doi.org/10.1038/s41598-023-42713-x
[2023] Field experiment of a telesurgery system using a surgical robot with haptic feedback
DOI: https://doi.org/10.1007/s00595-023-02732-7
[2023] Research on Gait Change Using Visual and Force Sensory Stimuli Presentation System
DOI: https://doi.org/10.1109/ro-man57019.2023.10309585
[2023] Pneumatically Driven Ophthalmologic Surgery Robot with Intraocular Pressure Control
DOI: https://doi.org/10.1109/ro-man57019.2023.10309484
[2023] A quick response soft actuator by miniaturized liquid-to-gas phase change mechanism with environmental thermal source
DOI: https://doi.org/10.1016/j.sna.2023.114587
[2023] Research on Gait Change Using Visual and Force Sensory Stimuli Presentation System
DOI: https://doi.org/10.1109/ro-man57019.2023.10309585
[2023] Pneumatically Driven Ophthalmologic Surgery Robot with Intraocular Pressure Control
DOI: https://doi.org/10.1109/ro-man57019.2023.10309484
[2023] A quick response soft actuator by miniaturized liquid-to-gas phase change mechanism with environmental thermal source
DOI: https://doi.org/10.1016/j.sna.2023.114587
[2023] Bleeding alert map (BAM): The identification method of the bleeding source in real organs using datasets made on mimicking organs
DOI: https://doi.org/10.1016/j.array.2023.100308
[2023] Construction of redundant communications to enhance safety against communication interruptions during robotic remote surgery
DOI: https://doi.org/10.1038/s41598-023-37730-9
[2023] Bleeding alert map (BAM): The identification method of the bleeding source in real organs using datasets made on mimicking organs
DOI: https://doi.org/10.1016/j.array.2023.100308
[2023] Construction of redundant communications to enhance safety against communication interruptions during robotic remote surgery
DOI: https://doi.org/10.1038/s41598-023-37730-9
[2023] Limit Cycle Generation with Pneumatically Driven Physical Reservoir Computing
DOI: https://doi.org/10.1109/icra48891.2023.10161315
[2023] Telesurgery and telesurgical support using a double-surgeon cockpit system allowing manipulation from two locations
DOI: https://doi.org/10.1007/s00464-023-10061-6
[2023] Method for Extracting Intentional Motion Using Force Sensor in Hand-held Robotic Forceps and Its Effect on Performance
DOI: https://doi.org/10.18494/sam4330
[2023] Technical evaluation of robotic tele-cholecystectomy: a randomized single-blind controlled pilot study
DOI: https://doi.org/10.1007/s11701-023-01522-0
[2023] Method for Extracting Intentional Motion Using Force Sensor in Hand-held Robotic Forceps and Its Effect on Performance
DOI: https://doi.org/10.18494/sam4330
[2023] A False Data Injection Attack Model Targeting Passivity of Encrypted Wave Variable Based Bilateral Control System
DOI: https://doi.org/10.1109/sii55687.2023.10039338
[2023] Technical evaluation of robotic tele-cholecystectomy: a randomized single-blind controlled pilot study
DOI: https://doi.org/10.1007/s11701-023-01522-0
[2023] Posture Estimation by Clustering Pressure Information and Control Implementation for Pneumatically Driven Gait-Assistive Robot
DOI: https://doi.org/10.1109/access.2023.3265580
[2023] Synthesis of C-Axis Textured Cakfe4as4 Superconducting Bulk Via Spark Plasma Texturing Technique
DOI: https://doi.org/10.2139/ssrn.4367783
[2023] Posture Estimation by Clustering Pressure Information and Control Implementation for Pneumatically Driven Gait-Assistive Robot
DOI: https://doi.org/10.1109/access.2023.3265580
[2023] Synthesis of C-Axis Textured Cakfe4as4 Superconducting Bulk Via Spark Plasma Texturing Technique
DOI: https://doi.org/10.2139/ssrn.4367783
[2022] Optical-fiber-type Contact Force Detector for Improving Safety and Workability of Myocardial Biopsy
DOI: https://doi.org/10.18494/sam4049
[2022] Adapting Balance Training by Changing the Direction of the Tensile Load on the Lumbar Region
DOI: https://doi.org/10.20965/jrm.2022.p1361
[2022] Adapting Balance Training by Changing the Direction of the Tensile Load on the Lumbar Region
DOI: https://doi.org/10.20965/jrm.2022.p1361
[2022] Special Issue on Robotics for Medical Applications
DOI: https://doi.org/10.20965/jrm.2022.p1215
[2022] Optical-fiber-type Contact Force Detector for Improving Safety and Workability of Myocardial Biopsy
DOI: https://doi.org/10.18494/sam4049
[2022] Special Issue on Robotics for Medical Applications
DOI: https://doi.org/10.20965/jrm.2022.p1215
[2022] Maximum acceptable communication delay for the realization of telesurgery
DOI: https://doi.org/10.1371/journal.pone.0274328
[2022] A Coupled Spintronics Neuromorphic Approach for High‐Performance Reservoir Computing
DOI: https://doi.org/10.1002/aisy.202200123
[2022] Future Needle Position Estimation of Suturing Operation using Deep Learning
DOI: https://doi.org/10.1109/icma54519.2022.9855970
[2022] Maximum acceptable communication delay for the realization of telesurgery
DOI: https://doi.org/10.1371/journal.pone.0274328
[2022] A Coupled Spintronics Neuromorphic Approach for High‐Performance Reservoir Computing
DOI: https://doi.org/10.1002/aisy.202200123
[2022] Future Needle Position Estimation of Suturing Operation using Deep Learning
DOI: https://doi.org/10.1109/icma54519.2022.9855970
[2022] Impact of the suboptimal communication network environment on telerobotic surgery performance and surgeon fatigue
DOI: https://doi.org/10.1371/journal.pone.0270039
[2022] Online Assistance Control of a Pneumatic Gait Assistive Suit Using Physical Reservoir Computing Exploiting Air Dynamics
DOI: https://doi.org/10.1109/icra46639.2022.9812377
[2022] Impact of the suboptimal communication network environment on telerobotic surgery performance and surgeon fatigue
DOI: https://doi.org/10.1371/journal.pone.0270039
[2022] Online Assistance Control of a Pneumatic Gait Assistive Suit Using Physical Reservoir Computing Exploiting Air Dynamics
DOI: https://doi.org/10.1109/icra46639.2022.9812377
[2022] Detection of Instruments Inserted into Eye in Cataract Surgery Using Single-shot Multibox Detector
DOI: https://doi.org/10.18494/sam3762
[2022] Multi-Joint Motion Estimation of a Soft Gait Assistive Suit Using Pneumatic Reservoir Computing
DOI: https://doi.org/10.1109/sii52469.2022.9708817
[2022] Estimating future forceps movement using deep learning for robotic camera control in laparoscopic surgery
DOI: https://doi.org/10.1504/ijma.2022.122323
[2022] Multi-Joint Motion Estimation of a Soft Gait Assistive Suit Using Pneumatic Reservoir Computing
DOI: https://doi.org/10.1109/sii52469.2022.9708817
[2022] Estimating future forceps movement using deep learning for robotic camera control in laparoscopic surgery
DOI: https://doi.org/10.1504/ijma.2022.122323
[2022] Detection of Instruments Inserted into Eye in Cataract Surgery Using Single-shot Multibox Detector
DOI: https://doi.org/10.18494/sam3762
[2021] External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor
DOI: https://doi.org/10.18494/sam.2021.3152
[2021] Forceps Motion Estimation in Laparoscopic Surgery using Deep Learning for Robotic Camera Control
DOI: https://doi.org/10.1109/icma52036.2021.9512757
[2021] Running Motion Assistance Using a Soft Gait-Assistive Suit and Its Experimental Validation
DOI: https://doi.org/10.1109/access.2021.3093209
[2021] Development of Surgical Robots in University-originated Venture
DOI: https://doi.org/10.7210/jrsj.39.206
[2021] Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton
[2021] Finite Element Method Analysis and Structure Design of Stiffness-tunable Beam-shaped Material
DOI: https://doi.org/10.18494/sam.2021.3333
[2021] Pneumatically Driven Vertical Articulated Robotic Arm for Surgical Task with Inertia Estimation
DOI: https://doi.org/10.18494/sam.2021.3153
[2021] Forceps Motion Estimation in Laparoscopic Surgery using Deep Learning for Robotic Camera Control
DOI: https://doi.org/10.1109/icma52036.2021.9512757
[2021] Development of Surgical Robots in University-originated Venture
DOI: https://doi.org/10.7210/jrsj.39.206
[2021] Pneumatically Driven Vertical Articulated Robotic Arm for Surgical Task with Inertia Estimation
DOI: https://doi.org/10.18494/sam.2021.3153
[2021] External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor
DOI: https://doi.org/10.18494/sam.2021.3152
[2021] Running Motion Assistance Using a Soft Gait-Assistive Suit and Its Experimental Validation
DOI: https://doi.org/10.1109/access.2021.3093209
[2021] A pneumatic rotary actuator for forceps tip rotation
DOI: https://doi.org/10.1016/j.sna.2021.113222
[2021] Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure
DOI: https://doi.org/10.3390/app11104581
[2021] Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure
DOI: https://doi.org/10.3390/app11104581
[2021] Social implementation of a remote surgery system in Japan: a field experiment using a newly developed surgical robot via a commercial network
DOI: https://doi.org/10.1007/s00595-021-02384-5
[2021] Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton
DOI: https://doi.org/10.18494/sam.2021.3345
[2021] A pneumatic rotary actuator for forceps tip rotation
DOI: https://doi.org/10.1016/j.sna.2021.113222
[2021] Finite Element Method Analysis and Structure Design of Stiffness-tunable Beam-shaped Material
DOI: https://doi.org/10.18494/sam.2021.3333
[2021] Social implementation of a remote surgery system in Japan: a field experiment using a newly developed surgical robot via a commercial network
DOI: https://doi.org/10.1007/s00595-021-02384-5
[2021] Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton
DOI: https://doi.org/10.18494/sam.2021.3345

科研費（0 件）

まだデータがありません（KAKEN 取り込み後に表示）。

所属学会・役職（0 件）

まだデータがありません（学会データ連携後に表示）。

AI 要約（直近 5 年の研究成果）

外部リンク

関連研究室(8 件)

研究成果（108 件）

科研費（0 件）

所属学会・役職（0 件）