非一様生体組織モデリング Heads: 平井　慎一 Contact: 王　忠奎 Date: 2005〜 Mailing address: 立命館大学ロボティクス学科 〒525-8577　滋賀県草津市野路東1-1-1 Supported by: 2005〜2007 科学研究費補助金 (No.17206024) 内部センシングに基づく柔軟物のリアリティベースモデリングに関する研究 Associated lab/group: 田中研究室(情報学部 知能情報学科) 登尾研究室(大阪電気通信大学 情報工学科) Virtual Rheology Project

研究内容

本研究の目的は，生体組織の内部の変形計測を基にして，非一様な特性を示す生体組織の力学モデルを構築する手法を確立することである．CTやMRIによる内部変形計測から変形場を求め，力学パラメータを推定する．

担当

	名前	学年	学位
	張　緒冰	PD	工学博士
	王　忠奎	助手	工学博士
	王　莉娟	D2	工学修士
	森　厚郎	M2
	木下　正稔	M1
	谷口　祐介	M1
	崎口　佳紀	B4
	張　鵬林	武漢大学	工学博士
	阿部　慶之	Graduated	工学修士
	浪間　一希	Graduated	工学修士
	遠藤　和美	Graduated	工学修士
	村松　潤治	Graduated	工学修士
	小松　史範	Graduated

研究発表

• Zhongkui Wang and Shinichi Hirai, Modeling and Estimation of Rheological Properties of Food Products for Manufacturing Simulations, Journal of Food Engineering, Vol.102, Issue 2, pp.136-144, 2011
• Zhongkui Wang, Kazuki Namima, and Shinichi Hirai, Physical Parameter Identification of Uniform Rheological Deformation Based on FE Simulation, 生体医工学, Vol.47, No.1, pp.1-6, 2009
• Penglin Zhang, Shinichi Hirai, and Kazumi Endo, A Feature Matching-based Approach to Deformation Fields Measurement from MR Images of Non-rigid Object, Int. J. of Innovative Computing, Information and Control, Vol.4, No.7, pp.1607-1615, July, 2008

• Zhongkui Wang and Shinichi Hirai, Green Strain Based FE Modeling of Rheological Objects for Handling Large Deformation and Rotation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4762-4767, Shanghai, China, May 9-13, 2011
• Zhongkui Wang and Shinichi Hirai, Modeling and Parameter Estimation of Rheological Objects for Simultaneous Reproduction of Force and Deformation, 1st Int. Conf. on Applied Bionics and Biomechanics (ICABB-2010), Venice, Italy, Oct. 14-16, 2010
• Zhongkui Wang, Shinichi Hirai, Modeling and Property Estimation of Japanese Sweets for Their Manufacturing Simulation, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), pp.3536-3541, Taipei, Oct. 18-22, 2010
• Zhongkui Wang and Shinichi Hirai, Contact Modeling and Parameter Switching for Simultaneous Reproduction of Rheological Force and Deformation, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2010), pp.726-731, Tianjin, China, Dec. 14-18, 2010
• Zhongkui Wang, Kazuki Namima, and Shinichi Hirai, Physical Parameter Identification of Rheological Object Based on Measurement of Deformation and Force, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1238-1243, Kobe, May 12-17, 2009
• Zhongkui Wang and Shinichi Hirai, Modeling and Parameter Identification of Rheological Object Based on FE Method and Nonlinear Optimization, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2009), pp.1968-1973, St. Louis, U.S.A., Oct. 11-15, 2009
• Kazuki Namima, Zhongkui Wang, and Shinichi Hirai, Simulation of Soft Fingertip Deformation under Contact and Rolling Constraints using FEM and CSM, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2009), pp.1585-1590, Guilin, China, Dec. 19-23, 2009
• Penglin Zhang, Shinichi Hirai, and Kazumi Endo, A Method for Non-rigid 3D Deformation Fields Measurement: Application to Human Calf MR Volumetric Images, Workshop on Modeling, Identification, and Control of Deformable Soft Objects, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, U.S.A., November, 2007
• Yasuyo Kita, Shinichi Tokumoto, and Shinichi Hirai, On Compression Model for Integrative Analysis of Different View Breast Xrays, Workshop on Modeling, Identification, and Control of Deformable Soft Objects, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, U.S.A., November, 2007
• Penglin Zhang, Shinichi Hirai, Kazumi Endo, and Shigerhiro Morikawa, Local Deformation Measurement of Biological Tissues Based on Feature Tracking of 3D MR Volumetric Images, 2007 IEEE/ICME Int. Conf. on Complex Medical Engineering (CME2007), May 23-25, Beijing, 2007
• Junji Muramatsu, Takashi Ikuta, Shinichi Hirai, and Shigehiro Morikawa, Validation of FE Deformation Models using Ultrasonic and MR Images, Proc. 9th Int. Conf. on Control, Automation, Robotics and Vision, pp.1091-1096, Singapore, December, 2006

• 平井慎一, 仮想レオロジー物体のリアルタイム変形シミュレーション, 日本計算工学会誌「計算工学」, Vol.13, No.3, pp.1865-1868, 2008
• 平井慎一, レオロジー物体の動的変形シミュレーションと力学特性の同定, 日本食品機械工業会「ふーま」, Vol.92, pp.26-29, 2007

• Zhongkui Wang and Shinichi Hirai, Finite Element Modeling of Rheological Objects for Simultaneously Reproducing their Deformation and Force Behaviors, 6th Joint Workshop on Machine Perception and Robotics (MPR2010), Fukuoka, Oct. 8-9, 2010
• 中川 智史, 山口 哲, 平井 慎一, 田中 弘美, 連続体力学に基づくオンラインリメッシュ型変形シミュレーション, 情報処理学会 第71回全国大会, Kusatsu, March 10-12, 2009
• Zhongkui Wang and Shinichi Hirai, Parameter Estimation of Rheological Object Based on FE Simulation and Nonlinear Optimization, 5th Joint Workshop on Machine Perception and Robotics (MPR2009), Kyoto, Oct. 4-5, 2009
• Yoshiyuki Abe, Zhongkui Wang, Kazuki Namima, Shigehiro Morikawa, and Shinichi Hirai, Inner Displacement Measurement of Grasping by Robotic Hand, 5th Joint Workshop on Machine Perception and Robotics (MPR2009), Kyoto, Oct. 4-5, 2009
• 阿部 慶之, 平井 慎一, ロボットハンドによる把持の内部変位計測, 計測自動制御学会システムインテグレーション部門学術講演会, pp.625-628, 豊洲, Dec. 24-26, 2009
• Zhongkui Wang and Shinichi Hirai, Physical Parameter Identification of Uniform Rheological Deformation through FE Model Simulation, ロボティクス・メカトロニクス'08講演会予稿集CD-ROM, Nagano, June, 2008
• Zhongkui Wang, Kazuki Namima, Shinichi Hirai, Physical Parameter Identification of Isotropic Uniform Deformation Based on FE Simulation, 生体医工学シンポジウム2008 (BMES2008), Toyonaka, Sept., 2008
• 浪間一希, 王忠奎, 平井慎一, アクティブ虚血ダイナミクスのシミュレーション, 生体医工学シンポジウム2008 (BMES2008), Toyonaka, Sept., 2008
• Zhongkui Wang and Shinichi Hirai, Physical Parameter Identification of Rheological Object Based on FE Dynamic Model, 4th Joint Workshop on Machine Perception and Robotics (MPR2008), Beijing, China, November, 2008
• 遠藤和美, 張鵬林, 平井慎一, 徳本真一, 柔軟物の内部変形計測による非一様FEモデルのパラメータ同定法の検証, 計測自動制御学会システムインテグレーション部門学術講演会, pp.1170-1171, 2007
• Penglin Zhang, Shinichi Hirai, and Kazumi Endo, A Feature Tracking-based Approach for Local Deformation Fields Measurement of Biological Tissue from MR Volumes, 3rd Joint Workshop on Machine Perception and Robotics (MPR2007), Kusatsu, November, 2007
• Kazumi Endo, Penglin Zhang, Shinichi Hirai, and Shinichi Tokumoto, Identification of Nonuniform Physical Parameters through Measurement of Inner Deformation, 3rd Joint Workshop on Machine Perception and Robotics (MPR2007), Kusatsu, November, 2007
• 遠藤和美, 村松潤治, 平井慎一, 柔軟物の内部変形計測によるFEモデルの力学パラメータ同定, ロボティクス・メカトロニクス'07講演会予稿集CD-ROM, 2007
• 遠藤和美, 張鵬林, 村松潤治, 平井慎一, 森川茂廣, MRIボリュームデータにおける3次元ブロックマッチングを用いたFEモデルパラメータの同定, 計測自動制御学会システムインテグレーション部門学術講演会, pp.1036-1037, 2006
• 徳本真一, 平井慎一, CTスキャナを用いたパラメータ同定のための柔軟物の内部変形計測, 計測自動制御学会システムインテグレーション部門学術講演会, pp.73-74, 2006

参考資料

fingertip model

simulating bacon deformation (AVI 11.0MB)

keep shape in bacon deformation

final shape in bacon deformation

• 1D Elastic Deformation
• 2D/3D Elastic Deformation
• Inelastic Deformation

関連サイト

• Virtual Rheology Project
• 日本バーチャルリアリティ学会