2-D forward dynamics simulation of gait adaptation to muscle weakness in elderly gait.

Tatsuya Arakawa, Tomohiro Otani, Yo Kobayashi, Masao Tanaka

Gait & posture　Vol. 85　p. 71-77　2021/03　Research paper (scientific journal)

Shape Memory Alloy Actuated Ankle Foot Orthosis for Reduction of Locomotion Force.

Ahmad Alminnawi, Yo Kobayashi, Tomohiro Otani, Masao Tanaka

2021 World Automation Congress(WAC)　p. 271-276　2021　Research paper (international conference proceedings)

Using Operator Gaze Tracking to Design Wrist Mechanism for Surgical Robots

Satoshi Miura, Ryutaro Ohta, Yang Cao, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

IEEE Transactions on Human-Machine Systems　Vol. 51　No. 4　p. 1-8　2021　Research paper (scientific journal)

Mechanical effects of distributed fibre orientation in the periodontal ligament of an idealised geometry.

Tomohiro Otani, Taiki Koga, Kazunori Nozaki, Yo Kobayashi, Masao Tanaka

Computer methods in biomechanics and biomedical engineering　p. 1-10　2020/11/23　Research paper (scientific journal)

Non-minimum phase viscoelastic properties of soft biological tissues.

Yo Kobayashi, Naomi Okamura, Mariko Tsukune, Masakatsu G Fujie, Masao Tanaka

Journal of the mechanical behavior of biomedical materials　Vol. 110　p. 103795-103795　2020/10　Research paper (scientific journal)

Gait event detection based on inter-joint coordination using only angular information

Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

Advanced Robotics　Vol. 34　No. 18　p. 1190-1200　2020/09/16　Research paper (scientific journal)

Computational Study of Kinematics of the Anterior Cruciate Ligament Double-Bundle Structure during Passive Knee Flexion–Extension

Tomohiro Otani, Yo Kobayashi, Masao Tanaka

Medical Engineering & Physics　Vol. 83　p. 56-63　2020/07　Research paper (scientific journal)

Infants Show Physiological Responses Specific to Parental Hugs.

Sachine Yoshida, Yoshihiro Kawahara, Takuya Sasatani, Ken Kiyono, Yo Kobayashi, Hiromasa Funato

iScience　Vol. 23　No. 4　p. 100996-100996　2020/04/24　Research paper (scientific journal)

Determination of the gain for a walking speed amplifying belt using brain activity

Satoshi Miura, Yuki Yokoo, Yasutaka Nakashima, Yoshikazu Ogaya, Misato Nihei, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

IEEE Transactions on Human-Machine Systems　Vol. 50　No. 2　p. 154-164　2020/04　Research paper (scientific journal)

Evaluation of Virtual Shadow's Direction in Laparoscopic Surgery.

Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao 0006, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita

8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics(BioRob)　p. 205-211　2020　Research paper (international conference proceedings)

Effectiveness of Mechanical Design Optimization Using a Human-in-the-Loop Simulator for the Development of a Pediatric Surgical Robot

Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Satoshi Ieiri, Makoto Hashizume, Masakatsu G. Fujie

Applied Sciences　Vol. 9　No. 19　2019/10　Research paper (scientific journal)

Using Brain Activation to Evaluate Arrangements Aiding Hand-Eye Coordination in Surgical Robot Systems

Satoshi Miura, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

IEEE Transactions on Biomedical Engineering　Vol. 66　No. 8　p. 2352-2361　2019/08　Research paper (scientific journal)

One-DOF Wire-Driven Robot Assisting Both Hip and Knee Flexion Motion

Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

JOURNAL OF ROBOTICS AND MECHATRONICS　Vol. 31　No. 1　p. 135-142　2019/02　Research paper (scientific journal)

Modeling optimizes the effect of the vertical stripe illusion for foot clearance on upstairs

Satoshi Miura, Ryota Fukumoto, Yo Kobayashi, Masakatsu Fujie

Journal of Biomechanical Science and Engineering　Vol. 14　No. 1　2019　Research paper (scientific journal)

Intermittent Force Application of Wire-Driven Gait Training Robot to Encourage User to Learn an Induced Gait

Miyake T, Kobayashi Y, Fujie M.G, Sugano S

2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018　p. 433-438　2019　Research paper (international conference proceedings)

Motor command detection for a repetitive facilitation exercise assistance system

Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G. Fujie

2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017　Vol. 2017-July　p. 267-272　2018/03/09　Research paper (international conference proceedings)

Motor command detection for a repetitive facilitation exercise assistance system

Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G. Fujie

2017 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2017　Vol. 2017-July　p. 267-272　2018/03/09　Research paper (international conference proceedings)

Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot

Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

MECHANICAL ENGINEERING JOURNAL　Vol. 5　No. 4　2018　Research paper (scientific journal)

Intermittent Force Application of Wire-Driven Gait Training Robot to Encourage User to Learn an Induced Gait.

Tamon Miyake,Array, Masakatsu G. Fujie, Shigeki Sugano

IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, December 12-15, 2018　p. 433-438　2018　Research paper (international conference proceedings)

Investigation of Effective Intensity of Static Stretching Exercise Based on Spring-Pot Viscoelastic Model: Intensity Based on Maximum Tolerance Joint Torque Affects Viscoelastic Ratio of Muscle During Static Stretching.

Naomi Okamura, Ritaro Kasai, Yo Kobayashi, Shigeki Sugano, Masakatsu, G. Fujie

IEEE International Conference on Real-time Computing and Robotics, RCAR 2018, Kandima, Maldives, August 1-5, 2018　p. 433-438　2018

Similarity evaluation of multiple muscles hardness change due to static stretching using wearable indentation testers: A pilot study

Okamura N, Kobayashi Y, Fujie M.G, Sugano S

2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017　Vol. 2018-January　p. 18-23　2018

Estimating wrist joint angle with limited skin deformation information

Akira Kato, Yuya Matsumoto, Ryu Kato, Yo Kobayashi, Hiroshi Yokoi, Masakatsu G. Fujie, Shigeki Sugano

Journal of Biomechanical Science and Engineering　Vol. 13　No. 2　2018　Research paper (scientific journal)

Continuous Wrist Joint Control Using Muscle Deformation Measured on Forearm Skin

Kato A, Hirabayashi M, Matsurnoto Y, Nakashima Y, Kobayashi Y, Fujie M.G, Sugano S

Proceedings - IEEE International Conference on Robotics and Automation　p. 1818-1824　2018

Computational study on motion criterion and muscle activity pattern in elderly gait with muscle weakness

Arakawa T, Otani T, Tanaka M, Kobayashi Y

ACM International Conference Proceeding Series　p. 118-121　2018

Algorithm to demodulate an electromyogram signal modulated by essential tremor

Yuya Matsumoto, Masatoshi Seki, Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

ROBOMECH Journal　Vol. 4　No. 1　2017/12/01　Research paper (scientific journal)

Development of angle information system to facilitate the adjustment of needle-holding posture

Yang Cao, Li Liu, Satoshi Miura, Masaki Seki, Yo Kobayashi, Kazuya Kawamura, Masakatsu G. Fujie

International Journal of Computer Assisted Radiology and Surgery　Vol. 12　No. 11　p. 2003-2013　2017/11/01　Research paper (scientific journal)

Change detection technique for muscle tone during static stretching by continuous muscle viscoelasticity monitoring using wearable indentation tester

Naomi Okamura, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

IEEE International Conference on Rehabilitation Robotics　p. 1686-1691　2017/08/11　Research paper (international conference proceedings)

Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance

Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

IEEE International Conference on Rehabilitation Robotics　p. 320-325　2017/08/11　Research paper (international conference proceedings)

Ultrathin epidermal strain sensor based on an elastomer nanosheet with an inkjet-printed conductive polymer

Tetsu Yuma, Yamagishi Kento, Kato Akira, Matsumoto Yuya, Tsukune Mariko, Kobayashi Yo, Fujie Masakatsu, Takeoka Shinji, Fujie Toshinori

Appl. Phys. Express　Vol. 10　No. 8　p. 87201-87201　2017/07

Simple empirical model for identifying rheological properties of soft biological tissues

Yo Kobayashi, Mariko Tsukune, Tomoyuki Miyashita, Masakatsu G. Fujie

PHYSICAL REVIEW E　Vol. 95　No. 2　2017/02　Research paper (scientific journal)

Optimization problem of motion speed and muscle fatigue for development of the typing assisting device

MIURA Satoshi, SUZUKI Tomohiro, KOBAYASHI Yo, G. FUJIE Masakatsu

Transactions of the JSME (in Japanese)　Vol. 83　No. 850　p. 16-00414-16-00414　2017

Probabilistic neural network applied to eye tracking control to alter the direction of an endoscopic manipulator

Cao Yang, Miura Satoshi, Liu Quanquan, Kobayashi Yo, Kawamura Kazuya, Sugano Shigeki, Fujie Masakatsu G

MECHANICAL ENGINEERING JOURNAL　Vol. 4　No. 4　2017　Research paper (scientific journal)

Accuracy to detection timing for assisting repetitive facilitation exercise system using MRCP and SVM.

Miura S, Takazawa J, Kobayashi Y, Fujie MG

Robotics and biomimetics　Vol. 4　No. 1　p. 12-12　2017　Research paper (scientific journal)

High path tracking control of an intelligent walking-support robot under time-varying friction and unknown parameters

Yina Wang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie, Takeshi Ando

ADVANCED ROBOTICS　Vol. 31　No. 14　p. 739-752　2017　Research paper (scientific journal)

Similarity evaluation of multiple muscles hardness change due to static stretching using wearable indentation testers: A pilot study.

Naomi Okamura,Array, Masakatsu G. Fujie, Shigeki Sugano

IEEE International Conference on Cyborg and Bionic Systems, CBS 2017, Beijing, China, October 17-19, 2017　p. 18-23　2017

Special issue on innovative technology for nursing care and nosotrophy

Mori, T., Kobayashi, Y.

Journal of Robotics and Mechatronics　Vol. 29　No. 2　p. 287-287　2017　Research paper (scientific journal)

An image processing method for changing endoscope direction based on pupil movement

Yang Cao, Satoshi Miura, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie

ROBOMECH Journal　Vol. 3　No. 1　2016/12/01　Research paper (scientific journal)

A method for using one finger to press three separate keys on a three-dimensional keyboard designed to be mounted on a mouse

Tomohiro Suzuki, Satoshi Miura, Yo Kobayashi, Masakatsu G. Fujie

ROBOMECH Journal　Vol. 3　No. 1　2016/12/01　Research paper (scientific journal)

Brain wave measurement while touching task of a virtual arm for intuitive robotic surgery

Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, Kazuya Kawamura

World Automation Congress Proceedings　Vol. 2016-　2016/10/04　Research paper (international conference proceedings)

Virtually transparent surgical instruments in endoscopic surgery with augmentation of obscured regions

Yuta Koreeda, Yo Kobayashi, Satoshi Ieiri, Yuya Nishio, Kazuya Kawamura, Satoshi Obata, Ryota Souzaki, Makoto Hashizume, Masakatsu G. Fujie

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　Vol. 11　No. 10　p. 1927-1936　2016/10　Research paper (scientific journal)

Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation

Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Satoshi Ieiri, Makoto Hashizume, Masakatsu G. Fujie

ADVANCED ROBOTICS　Vol. 30　No. 7　p. 476-488　2016/04　Research paper (scientific journal)

Modeling and simulation for support robot tracking a human sit to stand motion

Omar Salah, Salvatore Sessa, Ahmed M. R. Fath El-Bab, Yo Kobayashi, Atsuo Takanishi, Makasatsu Fujie

2016 28TH INTERNATIONAL CONFERENCE ON MICROELECTRONICS (ICM 2016)　p. 81-84　2016　Research paper (international conference proceedings)

Wrist Joint Angle Estimation by Means of Muscle Bulge Based on Deformation of the Forearm Skin Surface

Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

2016 WORLD AUTOMATION CONGRESS (WAC)　2016　Research paper (international conference proceedings)

Pupil Variation Applied to the Eye Tracking Control of an Endoscopic Manipulator.

Yang Cao 0006, Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie

IEEE Robotics Autom. Lett.　Vol. 1　No. 1　p. 531-538　2016　Research paper (scientific journal)

Design of Four-Arm Four-Crawler Disaster Response Robot OCTOPUS

Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G. Fujie, Shuji Hashimoto, Hiroshi Yamakawa

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 2840-2845　2016　Research paper (international conference proceedings)

Relationship between Magnitude of Applied Torque in Pre-Swing Phase and Gait Change for Prevention of Trip in Elderly People

Tamon Miyake, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2016　p. 6154-6157　2016　Research paper (international conference proceedings)

Online Event Classification for Liver Needle Insertion Based on Force Patterns

Inko Elgezua, Sangha Song, Yo Kobayashi, Masakatsu G. Fujie

INTELLIGENT AUTONOMOUS SYSTEMS 13　Vol. 302　p. 1144-1156　2016　Research paper (international conference proceedings)

Relation between Magnitude of Applied Torque during Pre-Swing Phase and Toe Clearance Change to Prevent Trip of Elderly People

Taman Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　p. 2448-2453　2016　Research paper (international conference proceedings)

Joint Angle Estimation using the Distribution of the Muscle Bulge on the Forearm Skin Surface of an Upper Limb Amputee

Akira Kato, Yuya Matsumoto, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　p. 1490-1495　2016　Research paper (international conference proceedings)

Pupil Variation for Use in Zoom Control

Yang Cao, Yo Kobayashi, Satoshi Miura, Kazuya Kawamura, Masakatsu G. Fujie, Shigeki Sugano

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)　p. 479-484　2016　Research paper (international conference proceedings)

Investigation of the Effect of Joint Angle on Muscle Hardness in Static Stretching of the Gastrocnemius

Naomi Okamura, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie

Proceedings of the 2015 JSME/RMD International Conference on Advanced Mechatronics (ICAM2015)　Vol. 2015　p. 267-268　2015/11

The Influence of Applying Torque in the Pre-swing Phase on the Minimum Toe Clearance for Prevention of Falls in Elderly People

Tamon Miyake, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie

Proceedings of the 2015 JSME International Conference on Advanced Mechatronics　Vol. 2015　p. 2 pages-252　2015/11

The effect of forceps manipulation for expert pediatric surgeons using an endoscopic pseudo-viewpoint alternating system: the phenomenon of economical slow and fast performance in endoscopic surgery

Satoshi Ieiri, Takahiro Jimbo, Yuta Koreeda, Satoshi Obata, Munenori Uemura, Ryota Souzaki, Yo Kobayashi, Masakatsu G. Fujie, Makoto Hashizume, Tomoaki Taguchi

PEDIATRIC SURGERY INTERNATIONAL　Vol. 31　No. 10　p. 971-976　2015/10　Research paper (scientific journal)

Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery

Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatus G. Fujie

MECHATRONICS　Vol. 28　p. 4-17　2015/06　Research paper (scientific journal)

Brain Activation in Parietal area during Manipulation with a Surgical Robot Simulator

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima, Masakatsu Fujie

International Journal of Computer Assisted Radiology and Surgery (IJCARS)　Vol. 10　No. 6　p. 783-790　2015/06

Development of a robotic system with six-degrees-of-freedom robotic tool manipulators for single-port surgery

Yo Kobayashi, Yuta Sekiguchi, Takehiko Noguchi, Yu Takahashi, Quanquan Liu, Susumu Oguri, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume, Masaktsu G. Fujie

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY　Vol. 11　No. 2　p. 235-246　2015/06　Research paper (scientific journal)

Development and testing of an endoscopic pseudo-viewpoint alternating system

Y. Koreeda, S. Obata, Y. Nishio, S. Miura, Y. Kobayashi, K. Kawamura, R. Souzaki, S. Ieiri, M. Hashizume, M. G. Fujie

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　Vol. 10　No. 5　p. 619-628　2015/05　Research paper (scientific journal)

Automated palpation for breast tissue discrimination based on viscoelastic biomechanical properties

Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, G. Masakatsu Fujie

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　Vol. 10　No. 5　p. 593-601　2015/05　Research paper (scientific journal)

Feasibility Study on Joint Angle Estimation by Means of Muscle Bulge Movement Longitudinally along the Forearm

Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2015)　2015/03

Development of Gait Training System to Encourage Swinging the Upper Limbs Based on the Phase Change of the Shoulder Horizontal Rotation at Heel Contact

Yasutaka Nakashima, Shinya Kawano, Yuya Matumoto, Yo Kobayashi, Masakatsu G. Fujie, Motoji Yamamoto

2015 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　p. 933-936　2015　Research paper (international conference proceedings)

Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation

Miura, Satoshi, Matsumoto, Yuya, Kobayashi, Yo, Kawamura, Kazuya, Nakashima, Yasutaka, Fujie, Masakatsu G

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS　Vol. 2015　p. 17-20　2015

Estimation technique of the destined target with gesture recognition for the development of in-car interface of automated driving vehicle

NAKAYAMA Masayuki, MIURA Satoshi, KAWANO Shinya, KOREEDA Yuta, YAMAMOTO Akihiro, FUKUMOTO Ryota, SAKUMA Tsuyoshi, NAKASHIMA Yasutaka, KOBAYASHI Yo, G. FUJIE Masakatsu

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A　Vol. 81　No. 832　p. 15-00088-15-00088　2015

Foot pressure and posture information-based visual feedback system for well-balanced gait in older people

Yasutaka Nakashima, Yuya Matsumoto, Yo Kobayashi, Kazuya Takizawa, Satoshi Miura, Masakatsu G. Fujie

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society　p. 4163-4168　2015　Research paper (international conference proceedings)

Evaluating Proficiency on a Laparoscopic Suturing Task through Pupil Size

Yang Cao, Yo Kobayashi, Bo Zhang, Quanquan Liu, Shigeki Sugano, Masakatsu G. Fujie

2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS　p. 677-681　2015　Research paper (international conference proceedings)

Development of an endoscopic manipulator control system with intention recognition based on pupil movement.

Yang Cao 0006, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie

2015 IEEE International Conference on Robotics and Biomimetics, ROBIO 2015, Zhuhai, China, December 6-9, 2015　p. 1637-1642　2015　Research paper (international conference proceedings)

Estimating a Joint Angle by Means of Muscle Bulge Movement along Longitudinal Direction of the Forearm

Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G. Fujie

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)　p. 614-619　2015　Research paper (international conference proceedings)

Method for Estimating the Temperature Distribution Associated with the Vessel Cooling Effect in Radio Frequency Ablation

Xiaowei Lu, Hayato Kikuchi, Kazumasa Hirooka, Yosuke Isobe, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2015　p. 4836-4839　2015　Research paper (international conference proceedings)

A Robotic Gait Training System Integrating Split-Belt Treadmill, Footprint Sensing and Synchronous EEG Recording for Neuro-Motor Recovery

Yi-Hung Liu, Bo Zhang, Quanquan Liu, Wei-Chun Hsu, Yu-Tsung Hsiao, Jui-Yiao Su, Yo Kobayashi, Masakatsu G. Fujie

2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2015　p. 3573-3577　2015　Research paper (international conference proceedings)

Visual and somatic sensory feedback of brain activity for intuitive surgical robot manipulation.

Satoshi Miura, Yuya Matsumoto, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima, Masakatsu G. Fujie

37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015, Milan, Italy, August 25-29, 2015　Vol. 2015　p. 17-20　2015　Research paper (international conference proceedings)

Evaluation of Hand-Eye Coordination Based on Brain Activity.

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo, Masakatsu G. Fujie

JACIII　Vol. 19　No. 1　p. 143-151　2015　Research paper (scientific journal)

Brain activation in parietal area during manipulation with a surgical robot simulator.

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima, Masakatsu G. Fujie

Int. J. Comput. Assist. Radiol. Surg.　Vol. 10　No. 6　p. 783-790　2015　Research paper (scientific journal)

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

Yo Kobayashi, Maya Hatano, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Makoto Hashizume, Masakatsu G Fujie

ROBOMECH Journal　Vol. 1　No. 1　2014/12/01　Research paper (scientific journal)

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Yo Kobayashi, Ryutaro Hamano, Hiroki Watanabe, Takuma Koike, Jaesung Hong, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G Fujie

Afrika Matematika　Vol. 1　No. 1　p. 1-7　2014/11/16　Research paper (scientific journal)

Directional control of an omnidirectional walking support walker: adaptation to individual differences with fuzzy learning

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie

ADVANCED ROBOTICS　Vol. 28　No. 7　p. 479-485　2014/04　Research paper (scientific journal)

Trajectory planning to improve the motion performance for a nonholonomic wheeled mobile robot

Wang Y, Wang S, Jiang Y, Hamakuchi K, Ishida K, Kobayashi Y, Fujie M.G

ICIC Express Letters　Vol. 8　No. 1　p. 295-301　2014

Sit to Stand Sensing Using Wearable IMUs Based on Adaptive Neuro Fuzzy and Kalman Filter.

Omar Salah, Ahmed A. Ramadan, Salvatore Sessa, Ahmed M. R. Fath El-Bab, Ahmed Abo-Ismail, M. Zecca, Yo Kobayashi, A. Takanishi, M. Fujie

2014 IEEE Healthcare Innovation Conference (HIC)　p. 288-291　2014　Research paper (international conference proceedings)

Motion control method of seat-style Omnidirectional mobile walker using a digital acceleration control method

Shen B, Wang S, Jiang Y, Wang Y, Tan R, Ishida K, Kobayashi Y, Fujie M.G

ICIC Express Letters　Vol. 8　No. 1　p. 87-93　2014

Functional Electrical Stimulation Based on a Pelvis Support Robot for Gait Rehabilitation of Hemiplegic Patients after Stroke

Jing Ye, Yasutaka Nakashima, Bo Zhang, Yo Kobayashi, Masakatsu G. Fujie

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 3098-3101　2014　Research paper (international conference proceedings)

Evaluation of Treadmill Velocity Control Based on User's Intention of Acceleration or Deceleration

Yasutaka Nakashima, Yo Kobayashi, Takeshi Ando, Masakatsu G. Fujie

2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING　p. 555-560　2014　Research paper (international conference proceedings)

Effect of the thickness and nonlinear elasticity of tissue on the success of surgical stapling for laparoscopic liver resection

Mariko Tsukune, Yo Kobayashi, Yuichiro Otsuka, Testuya Maeda, Nozomu Yamazaki, Hiroki Watanabe, Takeshi Ando, Hironori Kaneko, Masakatsu G. Fujie

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 353-356　2014　Research paper (international conference proceedings)

Development of a Novel Gait Rehabilitation System by integrating Functional Electrical Stimulation and a Split Belt Treadmill for Hemiparetic Patients after Stroke

Jing Ye, Yasutaka Nakashima, Inko Elgezua, Bo Zhang, Yo Kobayashi, Masakatsu G. Fujie

2014 5TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　p. 701-706　2014　Research paper (international conference proceedings)

Development of a Filtering algorithm to Demodulate Electromyogram Signal of Essential Tremor Patients

Yuya Matsumoto, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, Hiroshi Iijima, Masanori Nagaoka

2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING　p. 567-572　2014　Research paper (international conference proceedings)

Modeling of Lung's Electrical Impedance using Fractional Calculus for Analysis of heat generation during RF-Ablation

Nozomu Yamazaki, Yo Kobayashi, Hayato Kikuchi, Yosuke Isobe, XiaoWei Lu, Tomoyuki Miyashita, Masakatsu G. Fujie

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2014　p. 5323-5328　2014　Research paper (international conference proceedings)

Method for Estimation of Structural Composition of Skin Layers based on Light Propagation Simulation for Liposuction Applications

Sangha Song, Inko Elguezua, Yo Kobayashi, Masakatsu G. Fujie

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2014　p. 6565-6568　2014　Research paper (international conference proceedings)

A Study of Viscoelasticity Index for Evaluating Muscle Hypotonicity during Static Stretching

Naomi Okamura, Mariko Tsukune, Yo Kobayashi, Masakatsu G. Fujie

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2014　p. 6919-6922　2014　Research paper (international conference proceedings)

A Novel Smart Surgical Robotic System with Eye-hand Coordination for Surgical Assistance

Quanquan Liu, Yo Kobayashi, Bo Zhang, Masakatsu G. Fujie

2014 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC)　Vol. 2014-January　No. January　p. 1175-1180　2014　Research paper (international conference proceedings)

Estimation of Needle Tissue Interaction based on Non-linear Elastic Modulus and Friction Force Patterns

Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　p. 4315-4320　2014　Research paper (international conference proceedings)

Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor

Yuya Matsumoto, Motoyuki Amemiya, Daisuke Kaneishi, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　p. 2055-2062　2014　Research paper (international conference proceedings)

Development of a Smart Surgical Robot with Bended Forceps for Infant Congenital Esophageal Atresia Surgery

Quanquan Liu, Yo Kobayashi, Bo Zhang, Takehiko Noguchi, Yu Takahashi, Yuya Nishio, Yang Cao, Satoshi Ieiri, Kazutaka Toyoda, Munenori Uemura, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 2430-2435　2014　Research paper (international conference proceedings)

Speed control of an omnidirectional walker by forearm pressures

Yinlai Jiang, Shuoyu Wang, Renpeng Tan, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie

Proceedings of the 8th International Conference on Body Area Networks, BodyNets 2013　p. 307-312　2013/10/29　Research paper (international conference proceedings)

Use of puncture force measurement to investigate the conditions of blood vessel needle insertion

Yo Kobayashi, Ryutaro Hamano, Hiroki Watanabe, Jaesung Hong, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

MEDICAL ENGINEERING & PHYSICS　Vol. 35　No. 5　p. 684-689　2013/05　Research paper (scientific journal)

Developing a method to plan robotic straight needle insertion using a probability-based assessment of puncture occurrence

Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

ADVANCED ROBOTICS　Vol. 27　No. 6　p. 417-430　2013/04　Research paper (scientific journal)

Development of a coagulation area presenting system in liver radio frequency ablation (Modeling for temperature-dependence of viscoelasticity in liver tissue)

Xiaowei Lu, Mariko Tsukune, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C　Vol. 79　No. 807　p. 4381-4388　2013　Research paper (scientific journal)

Development of Robotic Heart-Beat Simulator Using Parallel Mechanism Based on In Vivo Measurement

TOYODA Kazutaka, OKAMOTO Jun, OKADA Kaoru, UMEDA Takeshi, KAWAMURA Kazuya, KOBAYASHI Yo, TAKEMURA Hirofumi, FUJIE Masakatsu G.

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 79　No. 800　p. 1066-1078　2013

Survey on Current State-of-the-Art in Needle Insertion Robots: Open Challenges for Application in Real Surgery

Inko Elgezua, Yo Kobayashi, Makatsu G. Fujie

FIRST CIRP CONFERENCE ON BIOMANUFACTURING　Vol. 5　p. 94-99　2013　Research paper (international conference proceedings)

Simulation of light propagation through multi-layer tissue with a tilted boundary using a radial-beam light-emitting diode for liposuction

Sangha Song, Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie

International Conference on Control, Automation and Systems　p. 294-299　2013　Research paper (international conference proceedings)

Monte-carlo simulation of light propagation considering characteristic of Near-infrared LED and evaluation on tissue phantom

Sangha Song, Yo Kobayashi, Masakatsu G. Fujie

Procedia CIRP　Vol. 5　p. 25-30　2013　Research paper (international conference proceedings)

Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality.

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie

J. Robotics Mechatronics　Vol. 25　No. 1　p. 162-171　2013　Research paper (scientific journal)

Improving the motion performance for an intelligent walking support machine by RLS algorithm

Wang Y, Wang S, Tan R, Jiang Y, Ishida K, Kobayashi Y, Fujie M.G

ICIC Express Letters　Vol. 7　No. 4　p. 1177-1182　2013

Event classification in percutaneous treatments based on needle insertion force pattern analysis

Inko Elgezua, Sangha Song, Yo Kobayashi, Masakatsu G. Fujie

International Conference on Control, Automation and Systems　p. 288-293　2013　Research paper (international conference proceedings)

Development of an exoskeleton to support eating movements in patients with essential tremor

Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Yasutaka Nakashima, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

Journal of Robotics and Mechatronics　Vol. 25　No. 6　p. 949-958　2013　Research paper (scientific journal)

Development of a Novel FES Control System Based on Treadmill Motor Current Variation for Gait Rehabilitation of Hemiplegic Patients after Stroke

Jing Ye, Yasutaka Nakashima, Takao Watanabe, Masatoshi Seki, Bo Zhang, Quanquan Liu, Yuki Yokoo, Yo Kobayashi, Qixin Cao, Masakatsu G. Fujie

2013 13TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2013)　p. 635-640　2013　Research paper (international conference proceedings)

Study on Method to Simulate Light Propagation on Tissue with Characteristics of Radial-beam LED based on Monte-carlo Method

Sangha Song, Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie

2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2013　p. 25-28　2013　Research paper (international conference proceedings)

Derivation of the relationship between the rate of temperature rise and viscoelasticity for constructing a coagulation model for liver radio frequency ablation

Xiaowei Lu, Hiraki Watanabe, Yosuke Isobe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS　Vol. 2013　p. 382-385　2013　Research paper (international conference proceedings)

The relation between temperature distribution for lung RFA and electromagnetic wave frequency dependence of electrical conductivity with changing a lung's internal air volumes

Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2013　p. 386-391　2013　Research paper (international conference proceedings)

Real-time temperature control system based on the finite element method for liver radiofrequency ablation: Effect of the time interval on control

Yosuke Isobe, Hiroki Watanabe, Nozomu Yamazaki, Xiaowei Lu, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS　Vol. 2013　p. 392-396　2013　Research paper (international conference proceedings)

Boundary condition generating large strain on breast tumor for nonlinear elasticity estimation

Mariko Tsukune, Maya Hatano, Yo Kobayashi, Tomoyuki Miyashita, M. G. Fujie

Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS　Vol. 2013　p. 4863-4866　2013　Research paper (international conference proceedings)

Development of a 6-DOF Manipulator Driven by Flexible Shaft for Minimally Invasive Surgical Application

Quanquan Liu, Yo Kobayashi, Takahiko Noguchi, Elgezua Inko, Yuta Sekiguchi, Bo Zhang, Jing Ye, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2013　p. 6261-6264　2013　Research paper (international conference proceedings)

Design of an Insertable Surgical Robot with multi-level endoscopic control for Single Port Access Surgery

Quanquan Liu, Yo Kobayashi, Bo Zhang, Jing Ye, Elgezua Inko, Yang Cao, Yuta Sekiguchi, Qixin Cao, Makoto Hashizume, Masakatsu G. Fujie

2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013　p. 750-755　2013　Research paper (international conference proceedings)

Development of a Novel Gait Rehabilitation System Based on FES and Treadmill-Walk for Convalescent Hemiplegic Stroke Survivors

Jing Ye, Yasutaka Nakashima, Takao Watanabe, Masatoshi Seki, Bo Zhang, Quanquan Liu, Yuki Yokoo, Yo Kobayashi, Qixin Cao, Masakatsu G. Fujie

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 977-982　2013　Research paper (international conference proceedings)

Brain Activity Measurement to Evaluate Hand-Eye Coordination for Slave and Endoscope in a Surgical Robot

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo, Masakatsu G. Fujie

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 4356-4362　2013　Research paper (international conference proceedings)

Screw Theory Based-Design and Tracking Control of an Endoscopic Parallel Manipulator for Laparoscopic Surgery

Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatus G. Fujie

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 2491-2496　2013　Research paper (international conference proceedings)

Robust grip force estimation under electric feedback using muscle stiffness and electromyography for powered prosthetic hand

Masahiro Kasuya, Masatoshi Seki, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Hiroshi Yokoi

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 93-98　2013　Research paper (international conference proceedings)

Fractional Impedance Control for Reproducing the Material Properties of Muscle

KOBAYASHI YO, WATANABE TAKAO, ANDO TAKESHI, SEKI MASATOSHI, FUJIE MASAKATSU

バイオメカニズム　Vol. 21　2012/08/31

Enhanced Targeting in Breast Tissue Using a Robotic Tissue Preloading-Based Needle Insertion System

Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie

IEEE TRANSACTIONS ON ROBOTICS　Vol. 28　No. 3　p. 710-722　2012/06　Research paper (scientific journal)

Development of a needle insertion manipulator for central venous catheterization

Yo Kobayashi, Jaesung Hong, Ryutaro Hamano, Kaoru Okada, Masakatsu G. Fujie, Makoto Hashizume

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY　Vol. 8　No. 1　p. 34-44　2012/03　Research paper (scientific journal)

Combined collision avoidance and prevention of soft tissue damage control method for surgical robots

Inko Elgezua, Yo Kobayashi, Sangha Song, Masakatsu G. Fujie

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　p. 1217-1222　2012　Research paper (international conference proceedings)

Gait-controlled mobility-aid robot: Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force

Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　p. 1305-1310　2012　Research paper (international conference proceedings)

Tremor frequency based filter to extract voluntary movement of patients with essential tremor

Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　p. 1415-1422　2012　Research paper (international conference proceedings)

Study of Design Method for Surgical Robot Using Surgeon's Operation Manner

Hiroto Seno, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

COMPUTER AIDED SURGERY　Vol. 3　p. 10-19　2012　Research paper (international conference proceedings)

Nonlinear Reaction Force Analysis for Characterization of Breast Tissues

Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Yasuyuki Shiraishi, Tomoyuki Miyashita, Tomoyuki Yambe, Masakatu G. Fujie

COMPUTER AIDED SURGERY　Vol. 3　p. 125-134　2012　Research paper (international conference proceedings)

Development of real-time muscle stiffness sensor and estimation algorithm for subtle EMG prosthetic hand control

Masahiro Kasuya, Masatoshi Seki, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Hiroshi Yokoi

IWMST2012　p. 116-121　2012　Research paper (international conference proceedings)

Validation of Accuracy of Liver Model with Temperature-Dependent Thermal Conductivity by Comparing the Simulation and in vitro RF Ablation Experiment

Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, XiaoWei Lu, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 5712-5717　2012　Research paper (international conference proceedings)

User Directional Intention Identification for a Walking Support Walker Adaptation to Individual Differences with Fuzzy Learning

Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie

6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS　p. 1207-1210　2012　Research paper (international conference proceedings)

Tremor Frequency Based Filter to Extract Voluntary Movement of Patients with Essential Tremor

Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　p. 1415-1422　2012　Research paper (international conference proceedings)

Intuitive Operability Evaluation of Surgical Robot Using Brain Activity Measurement to Determine Immersive Reality

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 337-343　2012　Research paper (international conference proceedings)

Gait-controlled Mobility-aid Robot: Treadmill Motor Current Based Anteroposterior Force Estimation Using Frictional Model Reflects Characteristics of Ground Reaction Force

Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　p. 1305-1310　2012　Research paper (international conference proceedings)

Frictional force modeling ranging from hyper to slow relative velocity between a needle and liver tissue

Yo Kobayashi, Takahiro Sato, Takeharu Hoshi, Masakatsu G. Fujie

Journal of Biomechanical Science and Engineering　Vol. 7　No. 3　p. 305-317　2012　Research paper (scientific journal)

Development of a temperature distribution simulator for lung RFA based on air dependence of thermal and electrical properties

Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 5699-5702　2012　Research paper (international conference proceedings)

Detection of Dermis and Fascia on Skin Layers for Liposuction Surgery Robot using Texture and Geometric Information

Sangha Song, Yo Kobayashi, Masakatsu G. Fujie

2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)　p. 1546-1551　2012　Research paper (international conference proceedings)

Design and Workspace Analysis of a New Endoscopic Parallel Manipulator

Khalil Ibrahim, Ahmed Ramadan, M. Fanni, Yo Kobayashi, A. A. Abo-Ismail, Masakatus G. Fujie

2012 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)　p. 688-693　2012　Research paper (international conference proceedings)

Control System Simulation for Endoscopic Surgical Manipulator Based on Virtual Chain Approach

Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatus G. Fujie

2012 FIRST INTERNATIONAL CONFERENCE ON INNOVATIVE ENGINEERING SYSTEMS (ICIES)　p. 25-30　2012　Research paper (international conference proceedings)

Configuration of Slave and Endoscope in Surgical Robot based on Brain Activity Measurement

Satoshi Miura, Yo Kobayashi, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo, Masakatsu G. Fujie, Kazuya Kawamura

6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS　p. 1195-1200　2012　Research paper (international conference proceedings)

Combined Collision Avoidance and Prevention of Soft Tissue Damage Control Method for Surgical Robots

Inko Elgezua, Yo Kobayashi, Ieee Member, Sangha Song, Masakatsu G. Fujie

2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　p. 1217-1222　2012　Research paper (international conference proceedings)

Brain Activity Measurement Based Evaluation of Active Control of a Treadmill

Yuki Yokoo, Yasutaka Nakashima, Satoshi Miura, Yoshikazu Ogaya, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS　p. 1201-1206　2012　Research paper (international conference proceedings)

Analysis of EMG signals of Patients with Essential Tremor Focusing on the Change of Tremor Frequency

Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 2244-2250　2012　Research paper (international conference proceedings)

An Improved Adaptive Controller with Parameter Optimization by GA for an Omni-directional Walker

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Yo Kobayashi, Masakatsu G. Fujie

6TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS, AND THE 13TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS　p. 1211-1214　2012　Research paper (international conference proceedings)

A study on estimation of the deformation behavior in the collapse process of lung

Yusuke Katsuyama, Nozomu Yamazaki, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 2817-2822　2012　Research paper (international conference proceedings)

A Method for Deriving the Coagulation Boundary of Liver Tissue Using a Relational Model of Viscoelasticity and Temperature in Radio Frequency Ablation

XiaoWei Lu, Mariko Tsukune, Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 187-190　2012　Research paper (international conference proceedings)

A Method for Deriving the Coagulation Boundary of Liver Tissue Using a Relational Model of Viscoelasticity and Temperature in Radio Frequency Ablation

XiaoWei Lu, Mariko Tsukune, Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 187-190　2012　Research paper (international conference proceedings)

Intuitive Operability Evaluation of Surgical Robot Using Brain Activity Measurement to Determine Immersive Reality

Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 337-343　2012　Research paper (international conference proceedings)

Analysis of EMG signals of Patients with Essential Tremor Focusing on the Change of Tremor Frequency

Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 2244-2250　2012　Research paper (international conference proceedings)

A study on estimation of the deformation behavior in the collapse process of lung

Yusuke Katsuyama, Nozomu Yamazaki, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 2817-2822　2012　Research paper (international conference proceedings)

Development of a temperature distribution simulator for lung RFA based on air dependence of thermal and electrical properties

Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 5699-5702　2012　Research paper (international conference proceedings)

Validation of Accuracy of Liver Model with Temperature-Dependent Thermal Conductivity by Comparing the Simulation and in vitro RF Ablation Experiment

Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, XiaoWei Lu, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2012　p. 5712-5717　2012　Research paper (international conference proceedings)

Intuitive Operability Evaluation of Robotic Surgery using Brain Activity Measurement to Identify Hand-Eye Coordination

Satoshi Miura, Yo Kobayashi, Masatoshi Seki, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　Vol. 2012 Vol.6　p. 4546-4552　2012　Research paper (international conference proceedings)

Soft Interaction Between Body Weight Support System and Human Using Impedance Control Based on Fractional Calculus

Yo Kobayashi, Takao Watanabe, Masatoshi Seki, Takeshi Ando, Masakatsu G. Fujie

ADVANCED ROBOTICS　Vol. 26　No. 11-12　p. 1253-1269　2012　Research paper (scientific journal)

Geometry Effect of Preloading Probe on Accurate Needle Insertion for Breast Tumor Treatment

Maya Hatano, Yo Kobayashi, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Makoto Hashizume, Masakatsu G. Fujie

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　Vol. 2012 Vol.3　p. 1933-1938　2012　Research paper (international conference proceedings)

Modeling of viscoelastic and nonlinear material properties of liver tissue using fractional calculations

Yo Kobayashi, Atsushi Kato, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

Journal of Biomechanical Science and Engineering　Vol. 7　No. 2　p. 177-187　2012　Research paper (scientific journal)

Kinematic Analysis and Control of limited 4-DOF Parallel Manipulator Based on Screw Theory

Khalil Ibrahim, Ahmed A. Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed A. Abo Ismail, Masakatus G. Fujie

PROCEEDINGS 2012 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　p. 47-52　2012　Research paper (international conference proceedings)

Application of Control Modes of a Master Manipulator for a Robotic System to Assist with Single Port Endoscopic Surgery

Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Hiroki Watanabe, Yu Tomono, Yuta Sekiguchi, Hiroto Seno, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 1270-1276　2012　Research paper (international conference proceedings)

Development of Master-Slave Surgical Robot System with Heartbeat Synchronization Mechanism (Evaluation of Position Synchronization Performance and Synchronization Suture Operability)

TOYODA Kazutaka, OKAMOTO Jun, KAWAMURA Kazuya, KOBAYASHI Yo, TAKEMURA Hirofumi, FUJIE Masakatsu G.

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 77　No. 778　p. 2363-2375　2011

Treadmill Motor Current Based Anteroposterior Force Estimation Using Ground Reaction Force Approximation Depending on Gait Cycle

Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 1583-1589　2011　Research paper (international conference proceedings)

Pilot Study on Effectiveness of Simulation for Surgical Robot Design Using Manipulability

Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 4538-4541　2011　Research paper (international conference proceedings)

Pilot Study of Design Method for Surgical Robot using Workspace Reproduction System

Hiroto Seno, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 4542-4545　2011　Research paper (international conference proceedings)

Pelvis Motion Analysis for Gait Phase Estimation toward Leg-dependent Body Weight Support at Different Walking Speed

Takao Watanabe, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 1590-1593　2011　Research paper (international conference proceedings)

Palpation Nonlinear Reaction Force Analysis for Characterization of Breast Tissues

Yo Kobayashi, Mariko Tsukune, Takeharu Hoshi, Tomoyuki Miyashita, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7393-7396　2011　Research paper (international conference proceedings)

Modeling the Internal Pressure Dependence of Thermal Conductivity and in vitro Temperature Measurement for Lung RFA

Nozomu Yamazaki, Hiroki Watanabe, Masatoshi Seki, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 5753-5757　2011　Research paper (international conference proceedings)

In Vivo Experiments of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery

Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7045-7048　2011　Research paper (international conference proceedings)

Haptic Feedback Control in Medical Robots through Fractional Viscoelastic Tissue Model

Yo Kobayashi, Pedro Moreira, Chao Liu, Philippe Poignet, Nabil Zemiti, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 6704-6708　2011　Research paper (international conference proceedings)

Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation

Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7487-7491　2011　Research paper (international conference proceedings)

Evaluation and comparison of the nonlinear elastic properties of the soft tissues of the breast

Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7405-7408　2011　Research paper (international conference proceedings)

Estimation of Intraoperative Blood Flow during Liver RF Ablation Using a Finite Element Method-based Biomechanical Simulation

Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7441-7445　2011　Research paper (international conference proceedings)

Development of a tool manipulator driven by a flexible shaft for Single-Port Endoscopic Surgery

Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie

Journal of Robotics and Mechatronics　Vol. 23　No. 6　p. 1115-1124　2011　Research paper (scientific journal)

Development of a "Steerable Drill" for ACL Reconstruction to Create the Arbitrary Trajectory of a Bone Tunnel

Hiroki Watanabe, Kazuki Kanou, Yo Kobayashi, Masakatsu G. Fujie

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 955-960　2011　Research paper (international conference proceedings)

Development and Evaluation of an Identification Method for the Biomechanical Parameters Using Robotic Force Measurements, Medical Images, and FEA

Takeharu Hoshi, Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 5386-5391　2011　Research paper (international conference proceedings)

Pelvic Motion Analysis for Gait Phase Estimation during Gait Training with Body Weight Support

Takao Watanabe, Yo Kobayashi, Masakatsu G. Fujie

2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　p. 3219-3223　2011　Research paper (international conference proceedings)

Development of Master-Slave Surgical Robot System with Heartbeat Synchronization Mechanism (Evaluation of Position Synchronization Performance and Synchronization Suture Operability)

TOYODA KAZUTAKA, OKAMOTO JUN, KAWAMURA KAZUYA, KOBAYASHI YO, TAKEMURA HIROFUMI, FUJIE MASAKATSU

日本機械学会論文集 C編(Web)　Vol. 77　No. 778　p. WEB ONLY 2363-2375-2375　2011

Development of a Robotic Manipulator System for Congenital Diaphragmatic Hernia Bending Control of the Robotic Manipulator to Approach Fetal Trachea

Bo Zhang, Yoshinari Maeda, Toshio Chiba, Yo Kobayashi, Masakatsu G. Fujie

2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　Vol. 2011 Vol.1　p. 723-728　2011　Research paper (international conference proceedings)

Development of Robotic Upper Limb Orthosis with Tremor Suppressiblity and Elbow Joint Movability

Masatoshi Seki, Yuya Matsumoto, Hiroshi Iijima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, Masanori Nagaoka

2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　Vol. 2011 Vol.1　p. 729-735　2011　Research paper (international conference proceedings)

Stable Turning Movement of a Gait-controlled Personal Mobility "Tread-Walk 1"

Takeshi Ando, Yu Ogawa, Yasutaka Nakashima, Eiichi Ohki, Yo Kobayashi, Misato Nihei, Masakatsu G. Fujie

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　Vol. 2011 Vol.5　p. 4157-4162-4162　2011　Research paper (international conference proceedings)

Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery

Bo Zhang, Yo Kobayashi, Yoshinari Maeda, Toshio Chiba, Masakatsu G. Fujie

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　Vol. 2011 Vol.4　p. 2892-2897-2897　2011　Research paper (international conference proceedings)

In vitro and in vivo Validation of Robotic Palpation-based Needle Insertion Method for Breast Tumor treatment

Maya Hatano, Yo Kobayashi, Ryutaro Hamano, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　Vol. 2011 Vol.1　p. 392-397-397　2011　Research paper (international conference proceedings)

Development of needle insertion manipulator for central venous catheterization

Yo Kobayashi, Hong Jaesung, Ryutaro Hamano, Makoto Hashizume, Kaoru Okada, Masakatsu G. Fujie

IEEJ Transactions on Electronics, Information and Systems　Vol. 131　No. 4　p. 870-879　2011　Research paper (scientific journal)

Development of a Robotic Manipulator System for Congenital Diaphragmatic Hernia Bending Control of the Robotic Manipulator to Approach Fetal Trachea

Bo Zhang, Yoshinari Maeda, Toshio Chiba, Yo Kobayashi, Masakatsu G. Fujie

2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　p. 723-728　2011　Research paper (international conference proceedings)

The weight load inconsistency effect on voluntary movement recognition of essential tremor patient

Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　p. 901-907　2011　Research paper (international conference proceedings)

Development of a "Steerable Drill" for ACL Reconstruction to Create the Arbitrary Trajectory of a Bone Tunnel

Hiroki Watanabe, Kazuki Kanou, Yo Kobayashi, Masakatsu G. Fujie

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 955-960　2011　Research paper (international conference proceedings)

Treadmill Motor Current Based Anteroposterior Force Estimation Using Ground Reaction Force Approximation Depending on Gait Cycle

Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 1583-1589　2011　Research paper (international conference proceedings)

Pelvis Motion Analysis for Gait Phase Estimation toward Leg-dependent Body Weight Support at Different Walking Speed

Takao Watanabe, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 1590-1593　2011　Research paper (international conference proceedings)

Pilot Study on Effectiveness of Simulation for Surgical Robot Design Using Manipulability

Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 4538-4541　2011　Research paper (international conference proceedings)

Pilot Study of Design Method for Surgical Robot using Workspace Reproduction System

Hiroto Seno, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 4542-4545　2011　Research paper (international conference proceedings)

Development and Evaluation of an Identification Method for the Biomechanical Parameters Using Robotic Force Measurements, Medical Images, and FEA

Takeharu Hoshi, Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 5386-5391　2011　Research paper (international conference proceedings)

Modeling the Internal Pressure Dependence of Thermal Conductivity and in vitro Temperature Measurement for Lung RFA

Nozomu Yamazaki, Hiroki Watanabe, Masatoshi Seki, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 5753-5757　2011　Research paper (international conference proceedings)

Haptic Feedback Control in Medical Robots through Fractional Viscoelastic Tissue Model

Yo Kobayashi, Pedro Moreira, Chao Liu, Philippe Poignet, Nabil Zemiti, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 6704-6708　2011　Research paper (international conference proceedings)

In Vivo Experiments of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery

Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7045-7048　2011　Research paper (international conference proceedings)

Palpation Nonlinear Reaction Force Analysis for Characterization of Breast Tissues

Yo Kobayashi, Mariko Tsukune, Takeharu Hoshi, Tomoyuki Miyashita, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7393-7396　2011　Research paper (international conference proceedings)

Evaluation and comparison of the nonlinear elastic properties of the soft tissues of the breast

Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7405-7408　2011　Research paper (international conference proceedings)

Estimation of Intraoperative Blood Flow during Liver RF Ablation Using a Finite Element Method-based Biomechanical Simulation

Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7441-7445　2011　Research paper (international conference proceedings)

Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation

Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2011　p. 7487-7491　2011　Research paper (international conference proceedings)

A surgical robot with vision field control for single port endoscopic surgery

Yo Kobayashi, Yu Tomono, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY　Vol. 6　No. 4　p. 454-464　2010/12　Research paper (scientific journal)

A Robotic System with Vision Field Control for Single Port Surgery

KOBAYASHI Y, TOMONO Y, SEKIGUCHI Y, WATANABE H, TOYODA K, KONISHI K, TOMIKAWA M, IEIRI S, TANOUE K, HASHIZUME M, FUJIE M

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　Vol. 12　No. 3　p. 204-205　2010/11/02

A Control Algorithm to Improve Operability of Walking Support Robot "Tread-Walk 2"-Estimation of Anteroposterior Force Using Motor Current Value Based on a Mechanical Model of Friction Forces in the Treadmill-

NAKASHIMA YASUTAKA, OKI EIICHI, ANDO TAKESHI, ANDO TAKESHI, KOBAYASHI YO, FUJIE MASAKATSU

日本ロボット学会誌　Vol. 28　No. 7　p. 776-782-782　2010/09/15

Intelligent Trunk Corset to Support Rollover of Cancer Bone Metastasis Patients

Takeshi Ando, Yo Kobayashi, Jun Okamoto, Mitsuru Takahashi, Masakatsu G. Fujie

IEEE-ASME TRANSACTIONS ON MECHATRONICS　Vol. 15　No. 2　p. 181-190　2010/04　Research paper (scientific journal)

Collapse Simulation of Lung for System to Navigate Tumor Position

KOBAYASHI Yo, YOSHIZAWA Aiko, OKAMOTO Jun, MIYASHITA Tomoyuki, YAMAKAWA Hiroshi, FUJIE Masakatsu G

Journal of Japan Society of Computer Aided Surgery　Vol. 12　No. 1　p. 13-21　2010/03/31

Fractional Impedance Control for Reproducing the Material Properties of Muscle and its Application in a Body Weight Support System

Yo Kobayashi, Takao Watanabe, Takeshi Ando, Masatoshi Seki, Masakatsu G. Fujie

2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS　p. 553-559　2010　Research paper (international conference proceedings)

Treadmill Motor Current Based Real-time Estimation of Anteroposterior Force during Gait

Yasutaka Nakashima, Eiichi Ohki, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 475-478　2010　Research paper (international conference proceedings)

Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation

Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 3222-3228　2010　Research paper (international conference proceedings)

Pilot Study on Verification of Effectiveness on Operability of Assistance System for Robotic Tele-surgery using Simulation

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 2308-2312　2010　Research paper (international conference proceedings)

Organ biomechanical simulators for model based control of robotic RF ablation system

Hiroki Watanabe, Yo Kobayashi, Masakatsu G. Fujie

2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010　p. 95-100　2010　Research paper (international conference proceedings)

Fractional Impedance Control for Reproducing the Material Properties of Muscle

Yo Kobayashi, Takeshi Ando, Takao Watanabe, Masatoshi Seki, Masakatsu G. Fujie

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　p. 553-559　2010　Research paper (international conference proceedings)

Development of patch-stabilizer with stabilizing force control for minimally invasive fetal surgery

Zhang B, Kobayashi Y, Chiba T, Fujie M.G

2010 World Automation Congress, WAC 2010　2010

Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery

Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie

2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS　p. 120-125　2010　Research paper (international conference proceedings)

Design of a Surgical Robot with Dynamic Vision Field Control for Single Port Endoscopic Surgery

Yo Kobayashi, Yuta Sekiguchi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 979-983　2010　Research paper (international conference proceedings)

Fractional Impedance Control for Reproducing the Material Properties of Muscle

Yo Kobayashi, Takeshi Ando, Takao Watanabe, Masatoshi Seki, Masakatsu G. Fujie

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　p. 5498-5504　2010　Research paper (international conference proceedings)

Quantitative Palpation to Identify the Material Parameters of Tissues Using Reactive Force Measurement and Finite Element Simulation

Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　p. 2822-2828　2010　Research paper (international conference proceedings)

Leg-dependent Force Control for Body Weight Support by Gait Cycle Estimation from Pelvic Movement

Takao Watanabe, Eiichi Ohki, Yo Kobayashi, Masakatsu G. Fujie

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　Vol. 2010 Vol.3　p. 2235-2240　2010　Research paper (international conference proceedings)

Development of an integrated needle insertion system with image guidance and deformation simulation

Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie

COMPUTERIZED MEDICAL IMAGING AND GRAPHICS　Vol. 34　No. 1　p. 9-18　2010/01　Research paper (scientific journal)

Treadmill Motor Current Based Real-time Estimation of Anteroposterior Force during Gait

Yasutaka Nakashima, Eiichi Ohki, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2010　p. 475-478　2010　Research paper (international conference proceedings)

Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation

Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2010　p. 3222-3228　2010　Research paper (international conference proceedings)

Pilot Study on Verification of Effectiveness on Operability of Assistance System for Robotic Tele-surgery using Simulation

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2010　p. 2308-2312　2010　Research paper (international conference proceedings)

Design of a Surgical Robot with Dynamic Vision Field Control for Single Port Endoscopic Surgery

Yo Kobayashi, Yuta Sekiguchi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　Vol. 2010　p. 979-983　2010　Research paper (international conference proceedings)

Operability Evaluation using an Simulation System for Gripping Motion in Robotic Tele-surgery

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　p. 5106-5109　2009　Research paper (international conference proceedings)

Modeling the Temperature Dependence of Thermophysical Properties: Study on the Effect of Temperature Dependence for RFA

Hiroki Watanabe, Yo Kobayashi, Makoto Hashizume, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　p. 5100-+　2009　Research paper (international conference proceedings)

Modeling of Friction Force based on Relative Velocity between Liver Tissue and Needle for Needle Insertion Simulation

Yo Kobayashi, Takahiro Sato, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　p. 5274-+　2009　Research paper (international conference proceedings)

Method to generate distribution maps of the material parameters of the human body using robotic and dynamic simulation systems

Takeharu Hoshi, Yo Kobayashi, Masakatsu G. Fujie

2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration　p. 60-66　2009　Research paper (international conference proceedings)

Kinematic Walking Analysis on a New Vehicle "Tread-Walk" with Active Velocity Control of Treadmill Belt

Takeshi Ando, Misato Nihei, Eiichi Ohki, Yasutaka Nakashima, Yo Kobayashi, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　p. 5977-+　2009　Research paper (international conference proceedings)

Integrated system for RFA therapy with biomechanical simulation and needle insertion robot

Hiroki Watanabe, Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie, Makoto Hashizume

2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration　p. 54-59　2009　Research paper (international conference proceedings)

Autonomous Avoidance based on Motion Delay of Master-Slave Surgical Robot

Shintaro Inoue, Kazutaka Toyoda, Yo Kobayashi, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　p. 5080-+　2009　Research paper (international conference proceedings)

Development of a Novel Approach, "Palpation Based Needle Insertion," for Breast Cancer Treatment

Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4　p. 505-+　2009　Research paper (international conference proceedings)

Development of a Palpation System to Help Provide Accurate Robotic Needle Insertion during the Treatment of Breast Cancer

Makiko Suzuki, Yo Kobayashi, Kazutaka Toyoda, Masakatsu G. Fujie

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4　p. 499-+　2009　Research paper (international conference proceedings)

A Robotic Palpation-Based Needle Insertion Method for Diagnostic Biopsy and Treatment of Breast Cancer

Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 5534-+　2009　Research paper (international conference proceedings)

Parameter Setting Method considering Variation of Organ Stiffness for the Control Method to Prevent Overload at Fragile Tissue

Yo Kobayashi, Atsushi Kato, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 2155-2161　2009　Research paper (international conference proceedings)

Developing a Planning Method for Straight Needle Insertion using Probability-Based Condition where a Puncture Occurs

Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7　p. 3886-+　2009　Research paper (international conference proceedings)

Relationships between center atom species (N, P) and ionic conductivity, viscosity, density, self-diffusion coefficient of quaternary cation room-temperature ionic liquids

Shiro Seki, Kikuko Hayamizu, Seiji Tsuzuki, Kenta Fujii, Yasuhiro Umebayashi, Takushi Mitsugi, Takeshi Kobayashi, Yasutaka Ohno, Yo Kobayashi, Yuichi Mita, Hajime Miyashiro, Shin-ichi Ishiguro

PHYSICAL CHEMISTRY CHEMICAL PHYSICS　Vol. 11　No. 18　p. 3509-3514　2009　Research paper (scientific journal)

Kinematic Walking Analysis on a New Vehicle "Tread-Walk" with Active Velocity Control of Treadmill Belt

Takeshi Ando, Misato Nihei, Eiichi Ohki, Yasutaka Nakashima, Yo Kobayashi, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　Vol. 2009　p. 5977-+　2009　Research paper (international conference proceedings)

Modeling the Temperature Dependence of Thermophysical Properties: Study on the Effect of Temperature Dependence for RFA

Hiroki Watanabe, Yo Kobayashi, Makoto Hashizume, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　Vol. 2009　p. 5100-+　2009　Research paper (international conference proceedings)

Operability Evaluation using an Simulation System for Gripping Motion in Robotic Tele-surgery

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　Vol. 2009　p. 5106-5109　2009　Research paper (international conference proceedings)

Autonomous Avoidance based on Motion Delay of Master-Slave Surgical Robot

Shintaro Inoue, Kazutaka Toyoda, Yo Kobayashi, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　Vol. 2009　p. 5080-+　2009　Research paper (international conference proceedings)

Modeling of Friction Force based on Relative Velocity between Liver Tissue and Needle for Needle Insertion Simulation

Yo Kobayashi, Takahiro Sato, Masakatsu G. Fujie

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　Vol. 2009　p. 5274-+　2009　Research paper (international conference proceedings)

1A2-L03 Development of a robotic patch-stabilizer using wire-driven for minimally invasive fetal surgery

ZHANG Bo, HARADA Kanako, KOBAYASHI Yo, OKAMOTO Jun, CHIBA Toshio, ENOSAWA Shin, FUJIE Masakatsu G.

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　Vol. 2009　No. 0　p. _1A2-L03_1-_1A2-L03_2　2009

Development and validation of a viscoelastic and nonlinear liver model for needle insertion

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　Vol. 4　No. 1　p. 53-63　2009/01　Research paper (scientific journal)

Modeling the Temperature Dependence of Thermal Conductivity: Developing a System for Robot-Assisted REA Therapy

Hiroki Watanabe, Yo Kobayashi, Masakatsu G. Fujie

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2　p. 483-+　2008　Research paper (international conference proceedings)

In Vitro Validation of Viscoelastic and Nonlinear Physical Model of Liver for Needle Insertion Simulation

Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2　p. 469-+　2008　Research paper (international conference proceedings)

Developing a system to identify the material parameters of an organ model for surgical robot control

T. Hoshi, Y. Kobayashi, M. G. Fujie

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2　p. 818-+　2008　Research paper (international conference proceedings)

A Steering System of a New Mobility-Aid Vehicle: Tread-Walk

T. Ando, M. Nihei, Y. Kobayashi, Y. Kaneshige, T. Inoue, M. G. Fujie

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2　p. 414-+　2008　Research paper (international conference proceedings)

Basic study on real-time simulation using mass spring system for robotic surgery

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

MEDICAL IMAGING AND AUGMENTED REALITY, PROCEEDINGS　Vol. 5128　p. 311-+　2008　Research paper (international conference proceedings)

Validation of viscoelastic and nonlinear liver model for needle insertion from in vivo experiments

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie

MEDICAL IMAGING AND AUGMENTED REALITY, PROCEEDINGS　Vol. 5128　p. 50-+　2008　Research paper (international conference proceedings)

Modeling of Conditions where a Puncture Occurs during Needle Insertion considering Probability Distribution

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　p. 1433-+　2008　Research paper (international conference proceedings)

Development of surgical robot system with heartbeat canceller for endoscopic off-pump coronary artery bypass

K. Toyoda, T. Umeda, M. Oura, Y. Iwamori, K. Kawamura, Y. Kobayashi, H. Okayasu, J. Okamoto, M. Fujie

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　Vol. 2　p. S241-S243　2007/06　Research paper (scientific journal)

Real-time simulation for intra-operative navigation in robotic surgery. Using a mass spring system for a basic study of organ deformation.

Kazuya Kawamura, Yo Kobayashi, Masakatsu G Fujie

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference　Vol. 2007　p. 1237-41　2007　Research paper (scientific journal)

Viscoelastic and nonlinear organ model for control of needle insertion manipulator.

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G Fujie

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference　Vol. 2007　p. 1242-8　2007　Research paper (scientific journal)

Real-time simulation for intra-operative navigation in robotic surgery - Using a mass spring system for a basic study of organ deformation

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings　p. 1237-1241　2007　Research paper (international conference proceedings)

Viscoelastic and nonlinear organ model for control of needle insertion manipulator

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings　p. 1242-1248　2007　Research paper (international conference proceedings)

Developing an intraoperative methodology using the finite element method and the extended Kalman filter to identify the material parameters of an organ model

Takeharu Hoshi, Yo Kobayashi, Kazuya Kawamura, Masakatsu G. Fujie

Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings　p. 469-474　2007　Research paper (international conference proceedings)

Viscoelastic and nonlinear organ model for control of needle insertion manipulator

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

2007 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-16　p. 1242-+　2007　Research paper (international conference proceedings)

Real-time simulation for intra-operative navigation in robotic surgery - Using a mass spring system for a basic study of organ deformation

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2007 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-16　p. 1237-+　2007　Research paper (international conference proceedings)

Developing an intraoperative methodology using the finite element method and the extended Kalman filter to identify the material parameters of an organ model

Takeharu Hoshi, Yo Kobayashi, Kazuya Kawamura, Masakatsu G. Fujie

2007 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-16　p. 469-+　2007　Research paper (international conference proceedings)

Deformation simulation using a viscoelastic and nonlinear organ model for control of a needle insertion manipulator

Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　p. 1807-1814　2007　Research paper (international conference proceedings)

Control method for surgical robot to prevent overload at vulnerable tissue

Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　Vol. 2007 Vol.4　p. 1893-+　2007　Research paper (international conference proceedings)

Developing an intraoperative methodology using the finite element method and the extended Kalman filter to identify the material parameters of an organ model.

Hoshi T, Kobayashi Y, Kawamura K, Fujie MG

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference　Vol. 2007　p. 469-474　2007

Real-time simulation for intra-operative navigation in robotic surgery. Using a mass spring system for a basic study of organ deformation.

Kawamura K, Kobayashi Y, Fujie MG

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference　Vol. 2007　p. 1237-1241　2007

Viscoelastic and nonlinear organ model for control of needle insertion manipulator.

Kobayashi Y, Onishi A, Hoshi T, Kawamura K, Fujie MG

Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference　Vol. 2007　p. 1242-1248　2007

Position Control of Needle Tip Based on Physical Properties of Liver and Force Sensor

KOBAYASHI Yo, OKAMOTO Jun, FUJIE Masakatsu G

J Rob Mechatron　Vol. 18　No. 2　p. 167-176-176　2006/04/20

Modeling of Material Properties of Liver Including Viscoelasticity and Nonlinearity

KOBAYASHI Yo, OKAMOTO Jun, FUJIE Masakatsu G

Journal of Japan Society of Computer Aided Surgery　Vol. 7　No. 4　p. 559-565　2006/03/31

粘弾性・非線形性を考慮した肝臓の材料特性のモデリング

小林洋, 岡本淳, 藤江正克

日本コンピュータ外科学会誌　Vol. 7　No. 4　p. 559-565-565　2006/03/31

Dexterous master-slave surgical robot for minimally invasive surgery - Intuitive interface and interchangeable surgical instruments

K. Toyoda, M. Oura, T. Umeda, Y. Iwamori, K. Kawamura, Y. Kobayashi, H. Okayasu, J. Okamoto, M. Fujie

International Journal of Computer Assisted Radiology and Surgery　Vol. 1　No. 7　p. 503-504　2006　Research paper (scientific journal)

Development of MRI compatible versatile manipulator for minimally invasive surgery - Prototype of positioning manipulator

Mitsuhiro Oura, Yo Kobayashi, Jun Okamoto, G. Fujie Masakatsu

2006 1ST IEEE RAS-EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS, VOLS 1-3　Vol. 2006　p. 1114-+　2006　Research paper (international conference proceedings)

Development of real-time simulation for workload quantization in robotic tele-surgery

Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3　p. 1420-+　2006　Research paper (international conference proceedings)

Position control of needle tip with force feedback and liver model

Y Kobayashi, J Okamoto, MG Fujie

CARS 2005: COMPUTER ASSISTED RADIOLOGY AND SURGERY　Vol. 1281　p. 719-724　2005　Research paper (international conference proceedings)

Physical properties of the liver and the development of an intelligent manipulator for needle insertion

Y Kobayashi, J Okamoto, MG Fujie

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4　Vol. 2005　No. Vol.2　p. 1632-1639　2005　Research paper (international conference proceedings)

Physical properties of the liver for needle insertion control.

Yo Kobayashi, Jun Okamoto, Masakatsu, G. Fujie

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004　Vol. 3　p. 2960-2966　2004