Publications | Soft Robotics Lab. (Hirai Lab.) | Department Robotics

[Books] [Book Chapters] [Articles] [Conferences] [Keynotes] [Oral Presentations] [Awards]

Books

Zhongkui Wang and Shinichi Hirai, Food Manipulation Technology: A Soft Robotics Approach, ISBN 978-1-003372431, CRC Press, 10.1201/9781003372431, June, 2025
Van Ho and Shinichi Hirai, Mechanics of Localized Slippage in Tactile Sensing, ISBN 978-3-319-04122-3, Springer, Springer Tracts in Advanced Robotics 99, 10.1007/978-3-319-04123-0, 2014
Takahiro Inoue and Shinichi Hirai, Mechanics and Control of Soft-fingered Manipulation, ISBN 978-1-84800-980-6, Springer, 10.1007/978-1-84800-981-3, 2009
Shinichi Hirai, Analysis and Planning of Manipulation Using the Theory of Polyhedral Convex Cones, Ph.D dissertation, Kyoto University, 1991 (repository) (programs)

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Book Chapters

Shinichi Hirai, 6 Soft Hands for Grasping and Manipulation, Thrishantha Nanayakkara eds., Handbook on Soft Robotics, 978-3-031-68619-1, Springer Nature Switzerland, pp.179-226, 10.1007/978-3-031-68620-7_6, Dec., 2024
Shinichi Hirai, 4.1 Soft Robot Hands, Koichi Suzumori, Kenjiro Fukuda, Ryuma Niiyama, Kohei Nakajima eds., The Science of Soft Robots - Design, Materials and Information Processing, 978-981-19-5173-2, Springer Singapore, pp.60-64, https://doi.org/10.1007/978-981-19-5174-9, Sept., 2023
Shinichi Hirai, 13.1 The Physics of Soft Bodies, Koichi Suzumori, Kenjiro Fukuda, Ryuma Niiyama, Kohei Nakajima eds., The Science of Soft Robots - Design, Materials and Information Processing, 978-981-19-5173-2, Springer Singapore, pp.280-289, https://doi.org/10.1007/978-981-19-5174-9, Sept., 2023
Shinichi Hirai, 13.4 Controlling Soft Robots, Koichi Suzumori, Kenjiro Fukuda, Ryuma Niiyama, Kohei Nakajima eds., The Science of Soft Robots - Design, Materials and Information Processing, 978-981-19-5173-2, Springer Singapore, pp.309-317, https://doi.org/10.1007/978-981-19-5174-9, Sept., 2023
Takahiro Inoue and Shinichi Hirai, Why Humans can Manipulate Objects Despite a Time Delay in the Nervous System, Ravi Balasubramanian and Veronica J. Santos eds., The Human Hand as an Inspiration for Robot Hand Development, 978-3-319-03016-6, Springer International Publishing, Springer Tracts in Advanced Robotics 95, pp.289-313, 10.1007/978-3-319-03017-3_14, 2014
Van Ho and Shinichi Hirai, Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon, Hugh Durrant-Whyte, Nicholas Roy, and Pieter Abbeel eds., Robotics: Science and Systems VII, 9780262306881, The MIT Press, pp.129-136, 2012
Yuuki Kataoka and Shinichi Hirai, Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points, Sabina Jeschke, Honghai Liu, and Daniel Schilberg eds., Intelligent Robotics and Applications, 978-3-642-25485-7, Springer Berlin Heidelberg, Lecture Notes in Computer Science 7101, pp.496-508, 10.1007/978-3-642-25486-4_50, 2011
Takahiro Inoue and Shinichi Hirai, Experimental Investigation of Mechanics in Soft-fingered Grasping and Manipulation, Oussama Khatib, Vijay Kumar, and Daniela Rus eds., Experimental Robotics X, 978-3-540-77456-3, Springer Berlin Heidelberg, Springer Tracts in Advanced Robotics 39, pp.13-22, 10.1007/978-3-540-77457-0_2, 2008
Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai, Fishbone Model for Belt Object Deformation, Wolfram Burgard, Oliver Brock, and Cyrill Stachniss eds., Robotics: Science and Systems III, 9780262524841, The MIT Press, pp.89-96, 2007
Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping by a Deformable Robot, Marcelo H. Ang Jr. and Oussama Khatib eds., Experimental Robotics IX, 978-3-540-28816-9, Springer, Springer Tracts in Advanced Robotics 21, pp.281-290, 10.1007/11552246_27, 2006
Shinichi Hirai, Indirect Simultaneous Positioning of Deformable Objects without Physical Parameters or Time-Derivatives, Eiji Arai and Tatsuo Arai eds., Mechatronics for Safety, Security and Dependability in a New Era, 978-0-08-044963-0, Elsevier Science Ltd, pp.81-86, 2006
Hidefumi Wakamatsu, Tsunenori Kato, Akira Tsumaya, Keiichi Shirase, Eiji Arai, and Shinichi Hirai, Planning of Knotting Manipulation, Eiji Arai and Tatsuo Arai eds., Mechatronics for Safety, Security and Dependability in a New Era, 978-0-08-044963-0, Elsevier Science Ltd, pp.87-92, 2006
Takahiro Wada, Shinichi Hirai, Hiroshige Mori, and Sadao Kawamura, Robust Manipulation of Deformable Objects Using Model Based Technique, Hans-Hellmut Nagel and Francisco J. Perales López eds., Articulated Motion and Deformable Objects, 978-3-540-67912-7, Springer-Verlag, Lecture Note in Computer Science 1899, pp.1-14, 10.1007/10722604_1, 2000
Shinichi Hirai, Energy-Based Modeling of Deformable Linear Objects, Dominik Henrich and Heinz Wörn eds., Robot Manipulation of Deformable Objects, 978-1447111931, Springer-Verlag, Advanced Manufacturing Series, pp.11-28, 10.1007/978-1-4471-0749-1_3, 2000

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Articles

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2025

Takahiro Matsuno and Shinichi Hirai, Food samples with built-in sensors for evaluating robot grippers that can estimate the success or failure of pick-and-place, Advanced Robotics, 10.1080/01691864.2025.2509271, 2025
Zaiyang Liu, Zhe Qiu, Yang Tian, Shugen Ma, Hidemitsu Furukawa, Shinichi Hirai, and Zhongkui Wang, SFEM-4DP: A Strain-based Finite Element Model for 4D Printing, International Journal of Mechanical Sciences, Vol.302, https://doi.org/10.1016/j.ijmecsci.2025.110497, 2025
Zhe Qiu, Zaiyang Liu, Qinshang Xie, Yitong Xue, Hidemitsu Furukawa, Yang Tian, Shinichi Hirai, and Zhongkui Wang, Development and Applications of an Unplugged Robotic Actuator Based on 4D Printed Hydrogel, Sensors and Actuators: A. Physical, Vol.394, https://doi.org/10.1016/j.sna.2025.116806, 2025
Yoshiki Mori, Hiroki Fukada, Emika Kameda, Taichi Matsuo, Wenjie Shen, Tadashi Matsuo, Zhongkui Wang, Shinichi Hirai, Hisako Masuoka, Chiharu Sugimoto, and Nobutaka Shimada, ROS2-Based Robot System with Quantitative Granular Food Handling Using a Regression Coefficient Estimation-Based Deep Learning Model, Advanced Robotics, 10.1080/01691864.2025.2528824, 2025

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2024

Yumiko Kobayashi, Kazuya Ikoma, Masahiro Maki, Kan Imai, Masamitsu Kido, Naoki Okubo, Yasutaka Sotozono, Zhongkui Wang, Shinichi Hirai, Masaki Tanaka, and Kenji Takahashi, Determining the changes in morphology and loading status following medial displacement calcaneal osteotomy for flatfoot using patient-specific finite element models, Scientific Reports, Vol.14, No.1, 10.1038/s41598-024-65565-5, June, 2024
Yuki Satake, Hiroyuki Ishii, and Shinichi Hirai, On-demand Branching Mechanism using Heat Cutting for Soft Inflatable Growing Robot, IEEE Robotics and Automation Letters, 10.1109/LRA.2024.3469817, Sept., 2024

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2023

Zhe Qiu, Hannibal Paul, Zhongkui Wang, Shinichi Hirai, and Sadao Kawamura, An Evaluation System of Robotic End-Effectors for Food Handling, Foods, Vol.12, No.22, 10.3390/foods12224062, Nov., 2023

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2022

Zhongkui Wang, Shinichi Hirai, and Sadao Kawamura, Challenges and Opportunities in Robotic Food Handling: A Review, Frontiers in Robotics and AI, https://doi.org/10.3389/frobt.2021.789107, Jan., 2022
Muhammad Hisyam Rosle, Zhongkui Wang, Md Nahin Islam Shiblee, Kumkum Ahmed, Hidemitsu Furukawa, and Shinichi Hirai, Soft Resistive Tactile Sensor based on CNT-PDMS-Gel to Estimate Contact Force, IEEE Sensors Letters, Vol.6, No.3, pp.1-4, 10.1109/LSENS.2022.3151659, Mar., 2022
Takahiro Matsuno and Shinichi Hirai, Analysis of Soft Contact in Force Sensing and Elastic Jumping, Journal of Robotics and Mechatronics, Vol.34, No.2, Special Issue on Science of Soft Robots, pp.285-287, 10.20965/jrm.2022.p0285, Apr., 2022
Sachin, Zhongkui Wang, and Shinichi Hirai, Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact, IEEE Transactions on Robotics, Vol.38, No.5, pp.2720-2733, 10.1109/TRO.2022.3160048, Oct., 2022
Sachin, Zhongkui Wang, Takahiro Matsuno, and Shinichi Hirai, Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper, IEEE Robotics and Automation Letters, Vol.7, No.4, pp.10359-10366, 10.1109/LRA.2022.3183794, Oct., 2022

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2021

Zhongkui Wang, Haruki Furuta, Shinichi Hirai, and Sadao Kawamura, A Scooping-Binding Robotic Gripper for Handling Various Food Products, Frontiers in Robotics and AI, 10.3389/frobt.2021.640805, Feb., 2021
Takahiro Matsuno, Takehiro Yabushita, Atsushi Mitani, and Shinichi Hirai, Measurement algorithm for oral care simulator using a single force sensor, Advanced Robotics, Vol.35, No.11, pp.723-732 , 10.1080/01691864.2021.1925587, May, 2021
Takahiro Matsuno and Shinichi Hirai, Reducing the Influence of the Contact Area on a Soft Capacitive Force Sensor, IEEE Robotics and Automation Letters, Vol.6, Issue 3, pp.5824-5831, 10.1109/LRA.2021.3086429, June, 2021
Zhongkui Wang, Yui Makiyama, and Shinichi Hirai, A Soft Needle Gripper Capable of Grasping and Piercing for Handling Food Materials, Journal of Robotics and Mechatronics, Vol.33, No.4, pp.935-943, 10.20965/jrm.2021.p0935, Aug., 2021
Zhongkui Wang, Ryo Kanegae, and Shinichi Hirai, Circular Shell Gripper for Handling Food Products, Soft Robotics, Vol.8, Issue 5, https://doi.org/10.1089/soro.2019.0140, Oct., 2021

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2020

Muhammad Hisyam Rosle, Ryo Kojima, Keung Or, Zhongkui Wang, and Shinichi Hirai, Soft Tactile Fingertip to Estimate Orientation and the Contact State of Thin Rectangular Objects, IEEE Robotics and Automation Letters, Vol.5, Issue 1, pp.159-166, 10.1109/LRA.2019.2950118, Jan., 2020
Zhongkui Wang, Keung Or, and Shinichi Hirai, A dual-mode soft gripper for food packaging, Robotics and Autonomous Systems, Vol.125, 10.1016/j.robot.2020.103427, Mar., 2020
Mizuho Shibata, Kosei Demura, Shinichi Hirai, and Akihiro Matsumoto, Comparative Study of Robotics Curricula, IEEE Transactions on Education, Vol.64, No.3, (Open Access), pp.283-291, 10.1109/TE.2020.3041667, Dec., 2020

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2019

Qiukai Qi, Shinichi Hirai, and Van Anh Ho, Wrinkled Soft Sensor With Variable Afferent Morphology, IEEE Robotics and Automation Letters, Vol.4, Issue 2, pp.1908-1915, 10.1109/LRA.2019.2898712, Apr., 2019
Takahiro Matsuno, Zhongkui Wang, Kaspar Althoefer, and Shinichi Hirai, Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin, IEEE Robotics and Automation Letters, Vol.4, Issue 2, pp.2212-2219, 10.1109/LRA.2019.2901991, Apr., 2019
Muhammad Hisyam Rosle, Zhongkui Wang, and Shinichi Hirai, Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects, Sensors, Vol.19, No.18, 10.3390/s19184056, Sept., 2019

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2018

Zhongkui Wang, Masamitsu Kido, Kan Imai, Kazuya Ikoma, and Shinichi Hirai, Towards Patient-Specific Medializing Calcaneal Osteotomy for Adult Flatfoot: A Finite Element Study, Computer Methods in Biomechanics and Biomedical Engineering, Vol.21, Issue 4, pp.332-343, 10.1080/10255842.2018.1452202, Mar., 2018
Takahiro Matsuno, Shinichi Hirai, and Zhongkui Wang, Vibration Analysis of Food Material for Non-contact Viscoelasticity Measurement, International Journal of Food Engineering, Vol.4, No.4, pp.283-287, 10.18178/ijfe.4.4.283-287, Dec., 2018

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2017

Zhongkui Wang and Shinichi Hirai, Soft Gripper Dynamics Using a Line-Segment Model with an Optimization-Based Parameter Identification Method, IEEE Robotics and Automation Letters, Vol.2, Issue 2, pp.624-631, 10.1109/LRA.2017.2650149, Jan., 2017
Zhongkui Wang, Yuuki Torigoe, and Shinichi Hirai, A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling, IEEE Robotics and Automation Letters, Vol.2, Issue 4, pp.1909-1916, 10.1109/LRA.2017.2714141, Oct., 2017
Van Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, and Koji Shibuya, Wrin'Tac: Tactile Sensing System with Wrinkle's Morphological Change, IEEE Transactions on Industrial Informatics, Vol.13, Issue 5, pp.2496-2506, 10.1109/TII.2017.2718660, June, 2017
Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura and Shinichi Hirai, Comparison of different soft grippers for lunch box packaging, Robotics and Biomimetics, Vol.4, No.10, 10.1186/s40638-017-0067-1, Nov., 2017
Takahiro Matsuno, Zhongkui Wang, and Shinichi Hirai, Grasping state estimation of printable soft gripper using electro-conductive yarn, Robotics and Biomimetics, Vol.4, No.13, 10.1186/s40638-017-0072-4, Dec., 2017
Javier Molina and Shinichi Hirai, Aerial pruning mechanism, initial real environment test, Robotics and Biomimetics, Vol.4, No.15, 10.1186/s40638-017-0073-3, Dec., 2017

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2016

Van Ho, Hisayoshi Honda, and Shinichi Hirai, Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon, IEEE Robotics and Automation Letters, Vol.1, Issue 1, pp.585-592, 10.1109/LRA.2016.2524068, Feb., 2016
Mizuho Shibata and Shinichi Hirai, A Pinching Strategy for Fabrics Using Wiping Deformation, Robotics, Vol.5, No.10, 10.3390/robotics5020010, Apr., 2016
Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, Magnetic and Mechanical Modelling of a Soft Three-Axis Force Sensor, IEEE Sensors Journal, Vol.16, Issue 13, pp.5298-5307, 10.1109/JSEN.2016.2550605, Apr., 2016
Wenjuan Du, Shugen Ma, Bin Li, Minghui Wang, and Shinichi Hirai, Force Analytic Method for Rolling Gaits of Tensegrity Robots, IEEE/ASME Transactions on Mechatronics, Vol.21, Issue 5, pp.2249-2259, 10.1109/TMECH.2016.2519559, Oct., 2016
Van Anh Ho and Shinichi Hirai, Design and Analysis of a Soft-Fingered Hand with Contact Feedback, IEEE Robotics and Automation Letters, Vol.2, Issue 2, pp.491-498, 10.1109/LRA.2016.2645120, Dec., 2016

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2015

Van Anh Ho and Shinichi Hirai, A Novel Model for Assessing Sliding Mechanics and Tactile Sensation of Human-Like Fingertips during Slip Action, Robotics and Autonomous Systems, Vol.63, No.3, "Special Issue on Advances in Tactile Sensing and Touch-based Human Robot Interaction (eds. Fulvio Mastrogiovanni, Lorenzo Natale, Giorgio Cannata, Giorgio Metta)", pp.253-267, 10.1016/j.robot.2014.09.009, Jan., 2015
Takahiro Inoue, Ryuichi Miyata, and Shinichi Hirai, Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces, Journal of Robotics and Mechatronics, Vol.27, No.5, pp.552-562, 10.20965/jrm.2015.p0552, Oct., 2015

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2014

Xubing Zhang, Penglin Zhang, and Shinichi Hirai, Matching of Feature Points Based on TSSC Method from MR Images of Nonrigid Deformed Tissues, Bio-Medical Materials and Engineering, Vol.24, No.1, pp.1227-1237, 10.3233/BME-130924, Jan., 2014

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2013

Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Effect of Geometry Parameters of Saw-tooth Surface on the Feeding Velocity of Micro-parts, IEEJ Trans. on Electrical and Electronic Engineering, Vol.8, Issue S1, pp.S102-S105, 10.1002/tee.21925, Sept., 2013
Van Anh Ho, Masaaki Makikawa, and Shinichi Hirai, Flexible Fabric Sensor toward a Humanoid Robotic Skin: Fabrication, Characterization, and Perceptions, IEEE Sensors Journal, Vol.13, No.10, Special Issue on Flexible Sensors and Sensing Systems, pp.4065-4080, 10.1109/JSEN.2013.2272336, Oct., 2013

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2012

Zhongkui Wang and Shinichi Hirai, Finite Element Modeling and Physical Property Estimation of Rheological Food Objects, Journal of Food Research, Vol.1, No.1, pp.48-67, 10.5539/jfr.v1n1p48, Feb., 2012
Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, A Study on the Motion of Micro-Parts on a Saw-Tooth Surface by the PTV Method, Journal of System Design and Dynamics, Vol.6, No.1, pp.73-80, 10.1299/jsdd.6.73, Feb., 2012
Zhongkui Wang, Lijuan Wang, Van Anh Ho, Shigehiro Morikawa, and Shinichi Hirai, A 3-D Nonhomogeneous FE Model of Human Fingertip Based on MRI Measurements, IEEE Trans. on Instrumentation and Measurement, Vol.61, No.12, pp.3147-3157, 10.1109/TIM.2012.2205102, Dec., 2012
Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Experiment and Simulation of Micro-part Dynamics with Roughness Effect, IEEJ Trans. on Electrical and Electronic Engineering, Vol.7, Issue S1, pp.S173-S178, 10.1002/tee.21820, Dec., 2012

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2011

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, 10.1016/j.jfoodeng.2010.08.011, Jan., 2011
Van Anh Ho and Shinichi Hirai, Modeling and Analysis of a Frictional Sliding Soft Fingertip, and Experimental Validations, Advanced Robotics, Vol.25, No.3-4, pp.291-311, 10.1163/016918610X552123, Feb., 2011
Van Ho, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Development and Analysis of a Sliding Tactile Soft Fingertip Embedded With a Microforce/Moment Sensor, IEEE Trans. on Robotics, Vol.27, No.3, Special Issue on Robotics Sense of Touch, pp.411-424, 10.1109/TRO.2010.2103470, June, 2011

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2010

Sumadi Jien, Shinichi Hirai, and Kenshin Honda, Miniaturization Design of Piezoelectric Vibration-Driven Pneumatic Unconstrained Valves, Journal of Robotics and Mechatronics, Vol.22, No.1, pp.91-99, 10.20965/jrm.2010.p0091, Feb., 2010

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2009

Atsushi Mitani and Shinichi Hirai, Submillimeter Micropart Feeding Along an Asymmetric Femtosecond-Laser-Microfabricated Surface, Int. J. of Automation Technology, Vol.3, No.2, pp.151-156, 10.20965/ijat.2009.p0151, Mar., 2009
Zhongkui Wang, Kazuki Namima, and Shinichi Hirai, Physical Parameter Identification of Uniform Rheological Deformation Based on FE Simulation, Transactions of Japanese Society for Medical and Biological Engineering, Vol.47, No.1, pp.1-6, 10.11239/jsmbe.47.1, Sept., 2009
Sumadi Jien, Shinichi Hirai, and Kenshin Honda, Miniaturized Unconstrained On-Off Pneumatic Poppet Valve - Experiment and Simulation -, IEEE/ASME Transactions on Mechatronics, Vol.14, Issue 5, pp.626-635, 10.1109/TMECH.2009.2011049, Oct., 2009

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2008

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

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2007

Anand Vaz and Shinichi Hirai, A Bond Graph Approach to the Analysis of Prosthesis for a Partially Impaired Hand, ASME Journal of Dynamic Systems, Measurement, and Control, Vol.129, Issue 1, pp.105-113, 10.1115/1.2397160, Jan., 2007
Atsushi Mitani, Toshiatsu Yoshimura, and Shinichi Hirai, Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface using only Horizontal Vibration: Effects of saw-tooth pitch, vibration frequency and humidity, International Journal of Automation Technology, Vol.1, No.1, pp.27-34, 10.20965/ijat.2007.p0027, Sept., 2007

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2006

Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai, Knotting/Unknotting Manipulation of Deformable Linear Objects, International Journal of Robotics Research, Vol.25, No.4, pp.371-395, 10.1177/0278364906064819, Apr., 2006
Tatsuhiko Tsuboi and Shinichi Hirai, Detection of planar motion objects using Radon transform and one-dimensional phase-only matched filtering, Systems and Computers in Japan, Vol.37, No.5, pp.56-66, 10.1002/scj.20398, May, 2006
Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping by a Deformable Robot, International Journal of Robotics Research, Vol.25, No.5-6, pp.603-620, 10.1177/0278364906065386, May, 2006
Mizuho Shibata and Shinichi Hirai, Modeling and Stability Analysis of Dynamic Control Through a Soft Interface, Journal of Robotics and Mechatronics, Vol.18, No.3, pp.242-248, 10.20965/jrm.2006.p0242, June, 2006
Takahiro Inoue and Shinichi Hirai, Elastic Model of Deformable Fingertip for Soft-Fingered Manipulation, IEEE Transactions on Robotics, Vol.22, No.6, pp.1273-1279, 10.1109/TRO.2006.886274, Dec., 2006
Atsushi Mitani, Naoto Sugano, and Shinichi Hirai, Microparts Feeding by a Saw-Tooth Surface, IEEE/ASME Transactions on Mechatronics, Vol.11, No.6, pp.671-681, 10.1109/TMECH.2006.886197, Dec., 2006

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2005

Shinichi Hirai, Masakazu Zakoji, Akihiro Masubuchi, and Tatsuhiko Tsuboi, Realtime FPGA-Based Vision System, Journal of Robotics and Mechatronics, Vol.17, No.4, Special Issue on VLSI Computing for Real-World Intelligent Systems, pp.401-409, 10.20965/jrm.2005.p0401, Aug., 2005

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2004

Hidefumi Wakamatsu and Shinichi Hirai, Static Modeling of Linear Object Deformation Based on Differential Geometry, International Journal of Robotics Research, Vol.23, No.3, pp.293-311, 10.1177/0278364904041882, Mar., 2004

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2001

Takahiro Wada, Brenan J. McCarragher, Hidefumi Wakamatsu, and Shinichi Hirai, Modeling of Shape Bifurcation Phenomena in Manipulations of Deformable String Objects, Advanced Robotics, Vol.15, No.8, pp.833-846, 10.1163/156855301317198151, 2001
Osamu Tabata, Satoshi Konishi, Pierre Cusin, Yuichi Ito, Fumie Kawai, Shinichi Hirai, and Sadao Kawamura, Micro fabricated tunable bending stiffness devices, Sensors and Actuators A: Physical, Vol.89, Issues 1-2, pp.119-123, 10.1016/S0924-4247(00)00538-0, Mar., 2001

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2000

Shinichi Hirai and Takahiro Wada, Indirect Simultaneous Positioning of Deformable Objects with Multi Pinching Fingers Based on Uncertain Model, Robotica, Vol.18, No.1, Millennium Issue on Grasping and Manipulation, pp.3-11, 10.1017/S0263574799002362, Jan., 2000

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1998

Shinichi Hirai, Transferring Human Motion to Mechanical Manipulator in Insertion of Deformable Tubes, Journal of Robotics and Mechatronics, Vol.10, No.3, Special Issue on Handling of Flexible Object, pp.209-213, 10.20965/jrm.1998.p0209, June, 1998

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1994

Shinichi Hirai, Identification of Contact States Based on a Geometric Model for Manipulative Operations, Advanced Robotics, Vol.8, No.2, pp.139-155, 10.1163/156855394X00428, 1994

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1993

Shinichi Hirai and Haruhiko Asada, Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones, International Journal of Robotics Research, Vol.12, No.5, pp.434-447, 10.1177/027836499301200504, Oct., 1993

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Conferences

[2020] [2015] [2010] [2005] [2000] [1995] [1990]

2025

Hiroki Aoyama, Zhongkui Wang, and Shinichi Hirai, Demolding-Free Casting for Fabricating Inflatable Soft-Rigid Structures, 2025 IEEE Int. Conf. on Soft Robotics (RoboSoft 2025), SwissTech Convention Center, Lausanne, Switzerland, Apr. 23-26, 2025
Yuki Satake, Hiroyuki Ishii, and Shinichi Hirai, On-demand Branching Mechanism using Heat Cutting for Soft Inflatable Growing Robot, 2025 IEEE Int. Conf. on Soft Robotics (RoboSoft 2025), SwissTech Convention Center, Lausanne, Switzerland, Apr. 23-26, 2025
Sota Katsuno, Zhongkui Wang, and Shinichi Hirai, Modeling of Food Shapes with Variations Based on Spherical Harmonics for Food Manipulation Experiments, 2025 IEEE Int. Conf. on Real-time Computing and Robotics (RCAR 2025), Toyama International Conference Center, Toyama, Japan, June 1-6, 2025
Kanta Yamauchi, Takahiro Matsuno, Ryuma Niiyama, and Shinichi Hirai, A Snap Mechanism Imitating the Thoracic Joint of a Click Beetle, 2025 IEEE Int. Conf. on Real-time Computing and Robotics (RCAR 2025), Toyama International Conference Center, Toyama, Japan, June 1-6, 2025

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2024

Takahiro Matsuno, Zhongkui Wang, and Shinichi Hirai, Gluing-Free Soft Robotic Hands for Cake Topping, 2024 IEEE/SICE Int. Symp. on System Integration (SII 2024), 10.1109/SII58957.2024.10417199, Vinpearl Resort and Spa, Dao Reu Island, Ha Long, Vietnam, Jan. 8-11, 2024
Kenta Hanamura, Zhongkui Wang, and Shinichi Hirai, Fabric Manipulation by Pulling-Driven Soft Hand with Closing-Approaching Coupling, 2024 IEEE/SICE Int. Symp. on System Integration (SII 2024), 10.1109/SII58957.2024.10417554, Vinpearl Resort and Spa, Dao Reu Island, Ha Long, Vietnam, Jan. 8-11, 2024
Issei Nate, Zhongkui Wang, and Shinichi Hirai, Origami-Based Robotic Gripper for Transporting Solids with Liquids, 2024 IEEE/SICE Int. Symp. on System Integration (SII 2024), 10.1109/SII58957.2024.10417497, Vinpearl Resort and Spa, Dao Reu Island, Ha Long, Vietnam, Jan. 8-11, 2024
Yitong Xue, Zhe Qiu, Huayan Zhang, Zhongkui Wang, and Shinichi Hirai, A Synthetic Dataset for Robotic Food Handling System, 2024 IEEE/SICE Int. Symp. on System Integration (SII 2024), 10.1109/SII58957.2024.10417293, Vinpearl Resort and Spa, Dao Reu Island, Ha Long, Vietnam, Jan. 8-11, 2024
Shengyang Zhang, Yoshiki Mori, Zhe Qiu, Zhongkui Wang, and Shinichi Hirai, An Empirical Model of Soft Bellows Actuator, 2024 IEEE/SICE Int. Symp. on System Integration (SII 2024), 10.1109/SII58957.2024.10417331, Vinpearl Resort and Spa, Dao Reu Island, Ha Long, Vietnam, Jan. 8-11, 2024
Yuki Mimori,Zhongkui Wang, and Shinichi Hirai, Fiber-Reinforced Membrane Modeling Based on Constant Edge-Length Constraints, 2024 IEEE/SICE Int. Symp. on System Integration (SII 2024), 10.1109/SII58957.2024.10417309, Vinpearl Resort and Spa, Dao Reu Island, Ha Long, Vietnam, Jan. 8-11, 2024
Issei Nate and Shinichi Hirai, Passive Underwater Robot Hand Utilizing Water Resistance, 2024 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2024), 10.1109/IROS58592.2024.10802745, Abu Dhabi National Exhibition Centre (ADNEC), Abu Dhabi, UAE, Oct. 14-18, 2024

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2023

Oki Morikage, Zhongkui Wang, Shinichi Hirai, and Akira Nonaka, A Soft Gripper for Automating Split Operation of Silkworm, 2023 IEEE Int. Conf. on Soft Robotics (RoboSoft 2023), 10.1109/RoboSoft55895.2023.10122050, Sands Expo and Convention Centre, Singapore, Apr. 3-7, 2023
Issei Nate, Zhongkui Wang, and Shinichi Hirai, Passive Robotic Gripper Using a Contact-Based Locking Mechanism, IEEE Int. Conf. on Robotics and Automation (ICRA 2023), 10.1109/ICRA48891.2023.10160922, ExCeL London, London, UK, May 29 - June 2, 2023

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2022

Takahiro Matsuno, Rikuya Miyagoshi, Keita Shimizu, Mana Ishihara, Shuya Watanabe, Jun Shintake, Kaspar Althoefer, and Shinichi Hirai, Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor, 2022 IEEE Int. Conf. on Soft Robotics (RoboSoft 2022), 10.1109/RoboSoft54090.2022.9762078, University of Edinburgh (online), United Kingdoms, Apr. 4-8, 2022
Issei Nate, Wang Zhongkui, Yosuke Watanabe, Md Nahin Islam Shiblee, Masaru Kawakami, Hidemitsu Furukawa, and Shinichi Hirai, Jellyfish Grasping and Transportation with a Wire-Driven Gripper and Deep Learning Based Recognition, 2022 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2022), 10.1109/AIM52237.2022.9863266, Royton Sapporo, Sapporo, Hokkaido, Japan, July 11-15, 2022
Sachin, Wang Zhongkui, Takahiro Matsuno, and Shinichi Hirai, Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper, 2022 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2022), 10.1109/LRA.2022.3183794, Kyoto International Conference Center, Kyoto, Japan., Oct. 23-27, 2022
Hiroki Aoyama, Wang Zhongkui, and Shinichi Hirai, Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product, 2022 IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2022), 10.1109/Humanoids53995.2022.10000125, Okinawa Convention Center, Ginowan, Okinawa, Japan, Nov. 28-30, 2022
Hannibal Paul, Zhe Qiu, Zhongkui Wang, Shinichi Hirai, and Sadao Kawamura, A ROS 2 Based Robotic System to Pick-and-Place Granular Food Materials, 2022 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), pp.99-104, 10.1109/ROBIO55434.2022.10011782, Sheraton Grand Xishuangbanna Hotel, Yunnan Province, China, Dec. 5-9, 2022

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2021

Mana Ishihara, Takahiro Matsuno, Kaspar Althoefer, and Shinichi Hirai, Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor, IEEE/SICE Int. Symp. on System Integration 2021 (SII2021), pp.87-92, 10.1109/IEEECONF49454.2021.9382706, online, Jan. 11-14, 2021

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2020

Takahiro Matsuno and Shinichi Hirai, Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot, 2020 IEEE Int. Conf. on Soft Robotics (RoboSoft 2020), pp.58-63, 10.1109/RoboSoft48309.2020.9116037, online, May 15 - June 15, 2020
Maryam Tebyani, Ash Robbins, William Asper, Sri Kurniawan, Mircea Teodorescu, Zhongkui Wang, and Shinichi Hirai, 3D Printing an Assembled Biomimetic Robotic Finger, 2020 17th Int. Conf. on Ubiquitous Robots (UR 2020), pp.526-532, 10.1109/UR49135.2020.9144774, online, June 22-26, 2020 Best Paper Award
Muhammad Hisyam Rosle, Koji Shiratsuchi, and Shinichi Hirai, Failure State Estimation Using Soft Tactile Fingertip in Insertion Tasks, 2020 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2020), pp.910-915, 10.1109/AIM43001.2020.9158971, online, July 6-10, 2020
Takahiro Matsuno and Shinichi Hirai, Deformed Shape Estimation of an Asymmetric Conductive Pattern Printed Plate without using Resistance Model, 2020 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2020), pp.87-92, 10.1109/RCAR49640.2020.9303254, online, Sept. 28-29, 2020 Best Paper in Robotics Award Finalist
Takahiro Matsuno, Tatsuro Katsuma, Zhongkui Wang, and Shinichi Hirai, Novel Quick Return Mechanism and Dish Shape Deformable Body Structure for Circular Jumping Robot, 2020 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2020), pp.210-215, 10.1109/RCAR49640.2020.9303033, online, Sept. 28-29, 2020
Yui Makiyama, Zhongkui Wang, and Shinichi Hirai, A Pneumatic Needle Gripper for Handling Shredded Food Products, 2020 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2020), pp.183-187, 10.1109/RCAR49640.2020.9303279, online, Sept. 28-29, 2020
Ryo Kanegae, Zhongkui Wang, and Shinichi Hirai, Easily Fabricatable Shell Gripper for Packaging Multiple Cucumbers Simultaneously, 2020 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2020), pp.188-192, 10.1109/RCAR49640.2020.9303297, online, Sept. 28-29, 2020

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2019

Takahiro Matsuno and Shinichi Hirai, Grasping Force Measurable Soft Finger Using Electro Conductive Material, 2019 IEEE/SICE Int. Symp. on System Integration (SII), pp.683-688, 10.1109/SII.2019.8700361, Sorbonne Université, Paris, France, Jan. 14-16, 2019
Yoshiyuki Kuriyama, Yuusuke Okino, Zhongkui Wang, and Shinichi Hirai, A Wrapping Gripper for Packaging Chopped and Granular Food Materials, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.114-119, 10.1109/ROBOSOFT.2019.8722745, COEX, Seoul, Korea, Apr. 14-18, 2019
Yuki Mimori, Zhongkui Wang, and Shinichi Hirai, A Novel Binding Hand with Closed Loop Thread Capable of Grasping Small-Diameter Objects, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.310-315, 10.1109/ROBOSOFT.2019.8722733, COEX, Seoul, Korea, Apr. 14-18, 2019
Ikumi Okada, Zhongkui Wang, and Shinichi Hirai, Gripping Force Modeling of a Binding Hand, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.671-676, 10.1109/ROBOSOFT.2019.8722808, COEX, Seoul, Korea, Apr. 14-18, 2019
Takahiro Matsuno and Shinichi Hirai, Numerical Analysis of Contact Area Influence in a Capacitive Soft Force Sensor, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), pp.725-730, 10.1109/ROBOSOFT.2019.8722765, COEX, Seoul, Korea, Apr. 14-18, 2019
Takahiro Matsuno, Zhongkui Wang, Kaspar Althoefer, Shinichi Hirai, Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin, 2019 IEEE Int. Conf. on Robotics and Automation (ICRA 2019), pp.2212-2219, 10.1109/LRA.2019.2901991, Palais des congrès de Montréal, Montréal, Canada, May 20-24, 2019
Shinichi Hirai and Takahiro Matsuno, Morphological Design of Soft Capacitive Force Sensor, 30th International Symposium on Micro-Nano Mechatronics and Human Science (MHS 2019), pp.141-143, 10.1109/MHS48134.2019.9249299, Toyoda Auditorium, Nagoya University, Nagoya, Japan, Dec. 1-4, 2019

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2018

Takahiro Matsuno, Shinichi Hirai, and Zhongkui Wang, Vibration analysis of food material for noncontact viscoelasticity measurement, 2018 5th Int. Conf. on Chemical and Food Engineering (ICCFE 2018), Cinnamon Lakeside Colombo, Colombo, Sri Lanka, Apr. 4-6, 2018
Takahiro Matsuno and Shinichi Hirai, Estimating Deformation of a Thin Flexible Plate Using a Minimum Number of Angular Measurement, The First IEEE-RAS Int. Conf. on Soft Robotics (RoboSoft 2018), Grand Hotel Palazzo, Livorno, Italy, Apr. 24-28, 2018
Zhongkui Wang and Shinichi Hirai, Chamber Dimension Optimization of a Bellow-Type Soft Actuator for Food Material Handling, The First IEEE-RAS Int. Conf. on Soft Robotics (RoboSoft 2018), Grand Hotel Palazzo, Livorno, Italy, Apr. 24-28, 2018
Zhongkui Wang, Shouta Yamae, Masamitsu Kido, Kan Imai, Kazuya Ikoma, and Shinichi Hirai, A Plug-In for Automating Flatfoot Finite Element Modeling, KES Int. Conf. on Innovation in Medicine and Healthcare (KES-InMed-18), 10.1007/978-3-319-92231-7_26, Mantra on View Hotel, Gold Coast, Australia, June 20-22, 2018
Zhongkui Wang and Shinichi Hirai, A Soft Gripper with Adjustable Stiffness and Variable Working Length for Handling Food Material, 2018 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2018), Smoked Grill House in Kandima Maldives, Dhaalu Atoll, Republic of Maldives, Aug. 1-5, 2018 Best Paper Award on Robotics
Zhongkui Wang and Shinichi Hirai, Geometry and Material Optimization of A Soft Pneumatic Gripper for Handling Deformable Object, 2018 IEEE Int. Conf. on Robotics and Biomimetics (IEEE ROBIO 2018), Kuala Lumpur Convention Centre, Kuala Lumpur, Malaysia, Dec. 12-15, 2018
Muhammad Hisyam bin Rosle, Ryo Kojima, Zhongkui Wang and Shinichi Hirai, Soft Fingertip with Tactile Sensation for Detecting Grasping Orientation of Thin Object, 2018 IEEE Int. Conf. on Robotics and Biomimetics (IEEE ROBIO 2018), Kuala Lumpur Convention Centre, Kuala Lumpur, Malaysia, Dec. 12-15, 2018

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2017

Javier Molina Mendez and Shinichi Hirai, Kinematic Analysis of a Novel Skew-gripper for Aerial Pruning Tasks, 2017 3rd Int. Conf. on Mechatronics and Robotics Engineering (ICMRE 2017), 10.1145/3068796.3068802, Novotel Paris Gare de Lyon, Paris, France, Feb. 8-12, 2017 Best Presentation Award
Van Ho and Shinichi Hirai, Design and Analysis of a Soft-Fingered Hand with Contact Feedback, 2017 IEEE Int. Conf. on Robotics and Automation (ICRA 2017), 10.1109/LRA.2016.2645120, Sands Expo and Convention Centre, Singapore, May 29 - June 3, 2017
Van Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, and Koji Shibuya, Morphological Computation in Tactile Sensing: The Role of Wrinkle, 2017 IEEE Int. Conf. on Robotics and Automation (ICRA 2017), 10.1109/ICRA.2017.7989579, Sands Expo and Convention Centre, Singapore, May 29 - June 3, 2017
Zhongkui Wang and Shinichi Hirai, Soft Gripper Dynamics Using a Line-Segment Model with Optimization-Based Parameter Identification Method, 2017 IEEE Int. Conf. on Robotics and Automation (ICRA 2017), 10.1109/LRA.2017.2650149, Sands Expo and Convention Centre, Singapore, May 29 - June 3, 2017
Javier Molina Mendez and Shinichi Hirai, Dynamic Landing Gear for Balancing a Multirotor Helicopter, 2017 Int. Conf. on Unmanned Aircraft Systems (ICUAS'17), 10.1109/ICUAS.2017.7991346, Miami Marriott, Biscayne Bay, Miami, FL, USA, June 13-16, 2017
Zhongkui Wang, Kosuke Kadoma, and Shinichi Hirai, An Indentation-type Instrument for Measuring Soft Tissue Elasticity, Int. Conf. on Innovation in Medicine and Healthcare (KES-InMed-17), 10.1007/978-3-319-59397-5_13, Anantara Vilamoura Algarve Resort, Vilamoura, Portugal, June 21-23, 2017
Javier Molina Mendez and Shinichi Hirai, Pruning Tree-Branches Close to Electrical Power Lines Using a Skew-Gripper and a Multirotor Helicopter, IEEE Int. Conf. on Advanced Intelligent Mechatronics (AIM 2017), 10.1109/AIM.2017.8014169, Sheraton Munich Arabellapark Hotel, Munich, Germany, July 3-7, 2017
Takahiro Matsuno, Zhongkui Wang, and Shinichi Hirai, Real-time Curvature Estimation of Printable Soft Gripper using Electro-conductive Yarn, 2017 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2017), pp.5-10, 10.1109/RCAR.2017.8311827, Southern Beach Hotel & Resort Okinawa, Itoman, Japan, July 14-18, 2017 Best Conference Paper Finalist
Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura, and Shinichi Hirai, Fabrication and Performance Comparison of Different Soft Pneumatic Actuators for Lunch Box Packaging, 2017 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2017), pp.22-27, 10.1109/RCAR.2017.8311830, Southern Beach Hotel & Resort Okinawa, Itoman, Japan, July 14-18, 2017
Javier Molina Mendez and Shinichi Hirai, Aerial Pruning Mechanism, Initial Real Environment Test, 2017 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2017), pp.127-132, 10.1109/RCAR.2017.8311847, Southern Beach Hotel & Resort Okinawa, Itoman, Japan, July 14-18, 2017
Zhongkui Wang and Shinichi Hirai, A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling, 2017 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2017), 10.1109/LRA.2017.2714141, Vancouver Convention Centre, Vancouver, BC, Canada, Sept. 24-28, 2017
Mingzhu Zhu, Wang Zhongkui, Sadao Kawamura and Shinichi Hirai, Design and Fabrication of a Soft-bodied Gripper with Integrated Curvature Sensors, 2017 IEEE 24th Int. Conf. on Mechatronics and Machine Vision in Practice (M2VIP2017), 10.1109/M2VIP.2017.8211521, Massey University, Auckland, New Zealand, Nov. 21-23, 2017 Best Paper Award
Takahiro Matsuno and Shinichi Hirai, Deformation Estimation of a Plate Spring Using Asymmetric and Symmetric Conductive Patterns, 2017 IEEE/SICE Int. Symp. on System Integration, pp.368-373, 10.1109/SII.2017.8279240, Howard Plaza Hotel, Taipei, Taiwan, Dec. 11-14, 2017 Finalist for Best Conference Paper Award

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2016

Van Ho, Hisayoshi Honda, and Shinichi Hirai, Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon, Proc. IEEE Int. Conf. on Robotics and Automation, pp.585-592, 10.1109/LRA.2016.2524068, Stockholm Waterfront Congress Center, Stockholm, Sweden, May 16-21, 2016
Van Ho and Shinichi Hirai, From Localized Shearing to Localized Slippage Perception, 2016 International Symposium on Experimental Robotics (ISER 2016), 10.1007/978-3-319-50115-4_39, International House of Japan, Tokyo, Japan, Oct. 3-6, 2016
Van Anh Ho, Shinichi Hirai, and Koki Naraki, Fabric Interface with Proximity and Tactile Sensation for Human-Robot Interaction, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.238-245, 10.1109/IROS.2016.7759061, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
Takahiro Inoue, Ryuichi Miyata, and Shinichi Hirai, Force Control on Antagonistic Twist-drive Actuator Robot, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.3830-3835, 10.1109/IROS.2016.7759563, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
Hideyasu Yamashita, Van Anh Ho, Koji Shibuya, and Shinichi Hirai, Morphological Computation in Tactile Sensing: A New Approach in Implementation, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.3501-3502, 10.1109/ICRA.2017.7989579, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, A Soft Three Axis Force Sensor Useful for Robot Grippers, 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2016), pp.5556-5563, 10.1109/IROS.2016.7759817, Daejeon Convention Center, Daejeon, Korea, Oct. 9-14, 2016
Takahiro Inoue and Shinichi Hirai, Static and Dynamic Performances of a Round-Belt Twist Actuator Mechanism, 2016 IEEE Conf. on Robotics and Biomimetics (ROBIO 2016), pp.702-707, 10.1109/ROBIO.2016.7866405, Shangri-La Hotel, Qingdao, China, Dec. 3-7, 2016
Zhongkui Wang, Damith Suresh Chathuranga, and Shinichi Hirai, 3D Printed Soft Gripper for Automatic Lunch Box Packing, 2016 IEEE Conf. on Robotics and Biomimetics (ROBIO 2016), pp.503-508, 10.1109/ROBIO.2016.7866372, Shangri-La Hotel, Qingdao, China, Dec. 3-7, 2016
Van Anh Ho, Hideyasu Yamashita, Koji Shibuya, Zhongkui Wang, Shinichi Hirai, Junya Nagase, and Kazuyoshi Tsutsumi, Function-Selectable Tactile Sensing System with Morphological Change, Proc. 2016 IEEE/SICE Int. Symp. on System Integration (SII 2016), pp.415-420, 10.1109/SII.2016.7844034, Sapporo Convention Center, Sapporo, Japan, Dec. 13-15, 2016 Finalist of Best Conference Paper Award
Zhongkui Wang and Shinichi Hirai, A 3D Printed Soft Gripper Integrated with Curvature Sensor for Studying Soft Grasping, Proc. 2016 IEEE/SICE Int. Symp. on System Integration (SII 2016), pp.629-633, 10.1109/SII.2016.7844069, Sapporo Convention Center, Sapporo, Japan, Dec. 13-15, 2016

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2015

Hisashi Iwamasa and Shinichi Hirai, Binding of Food Materials with a Tension-Sensitive Elastic Thread, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4298-4303, 10.1109/ICRA.2015.7139792, Washington State Convention Center, Seattle, Washington, USA, May 26-30, 2015
Damith Suresh Chathuranga, Zhongkui Wang, and Shinichi Hirai, An Anthropomorphic Tactile Sensor System with its Applications in Dexterous Manipulations, 5th Annual IEEE Int. Conf. on CYBER Technology in Automation, Control, and Intelligent Systems, pp.1085-1090, 10.1109/CYBER.2015.7288096, Shenyang Royal Wanxin Hotel, Shenyang, China, June 8-12, 2015
Zhongkui Wang, Damith Suresh Chathuranga, and Shinichi Hirai, Study on Fingertip Slippage using FE Model for Developing Human-Like Tactile Sensor, 2015 Int. Conf. on Real-time Computing and Robotics (RCAR 2015), Empark Grand Hotel, Changsha, China, June 23-26, 2015 Finalist for Best Conference Paper Award
Phuong Le, Zhongkui Wang, and Shinichi Hirai, Origami Structure Toward Floating Aerial Robot, IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2015), pp.1565-1569, 10.1109/AIM.2015.7222765, Busan Exhibition Convention Center (BEXCO), Busan, Korea, July 7-11, 2015
Wang Zhongkui, Damith Suresh Chathuranga Katudampe Vithanage, and Shinichi Hirai, Study on the Human Perception of Incipient and Overall Slippages Using A 2D FE Fingertip Model, The 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), 10.1109/EMBC.2015.7319702, MiCo - Milano Congressi, Milano, Italy, Aug. 25-29, 2015
Damith Suresh Chathuranga Katudampe Vithanage, Wang Zhongkui, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, Disposable Soft 3 Axis Force Sensor for Biomedical Applications, The 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), 10.1109/EMBC.2015.7319642, MiCo - Milano Congressi, Milano, Italy, Aug. 25-29, 2015
Helge Arne Wurdemann, Sina Sareh, Ali Shafti, Yohan Noh, Angela Faragasso, Damith Suresh Chathuranga Katudampe Vithanage, Hongbin Liu, Shinichi Hirai, and Kaspar Althoefer, Embedded Electro-Conductive Yarn for Shape Sensing of Soft Robotic Manipulators, The 37th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2015), 10.1109/EMBC.2015.7320255, MiCo - Milano Congressi, Milano, Italy, Aug. 25-29, 2015
Van Anh Ho and Shinichi Hirai, Measuring McKibben Actuator Shrinkage using Fiber Sensor, The 24th Int. Symp. on Robot and Human Interactive Communication (RO-MAN 2015), 10.1109/ROMAN.2015.7333585, Kobe Int. Conf. Center, Kobe, Japan, Aug. 31 - Sept. 4, 2015
Shinichi Hirai and Kazuhiro Kato, Micro Pneumatic Valves for Robotic Wearable Systems, The 24th Int. Symp. on Robot and Human Interactive Communication (RO-MAN 2015), 10.1109/ROMAN.2015.7333584, Kobe Int. Conf. Center, Kobe, Japan, Aug. 31 - Sept. 4, 2015
Zhongkui Wang, Kan Imai, Masamitsu Kido, Kazuya Ikoma, and Shinichi Hirai, Study of Surgical Simulation of Flatfoot Using a Finite Element Model, Innovation in Medicine and Healthcare 2015 (InMed 2015), 10.1007/978-3-319-23024-5_32, Ritsumeikan University (Suzaku Campus), Kyoto, Japan, Sept. 11-12, 2015
Damith Suresh Chathuranga Katudampe Vithanage, Zhongkui Wang, Yohan Noh, Thrishantha Nanayakkara, and Shinichi Hirai, Robust Real Time Material Classification Algorithm Using Soft Three Axis Tactile Sensor: Evaluation of the Algorithm, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2015), 10.1109/IROS.2015.7353655, Congress Center Hamburg (CCH), Hamburg, Germany, Sept. 28 - Oct. 2, 2015
Syohei Shimahara, Robert Ladig, Suphachart Leewiwatwong, Shinichi Hirai, and Kazuhiro Shimonomura, Aerial Manipulation for the Workspace above the Airframe, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2015), 10.1109/IROS.2015.7353559, Congress Center Hamburg (CCH), Hamburg, Germany, Sept. 28 - Oct. 2, 2015
Takahiro Inoue, Sizuka Yamamoto, Ryuichi Miyata, and Shinichi Hirai, A Robotic Joint Design by Agonist and Antagonist Arrangement with Twisting Small-Diameter Round-Belts, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2015), 10.1109/IROS.2015.7353604, Congress Center Hamburg (CCH), Hamburg, Germany, Sept. 28 - Oct. 2, 2015

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2014

Wenjuan Du, Shugen Ma, Bin Li, Minghui Wang, and Shinichi Hirai, Dynamic Simulation for 6-strut Tensegrity Robots, 2014 IEEE International Conference on Information and Automation (ICIA), pp.870-875, 10.1109/ICInfA.2014.6932774, Hulunbeir Hotel, Hailar, China, July 26-31, 2014
Shinichi Hirai and Ryo Imuta, Dynamic Modeling of Tensegrity Robots Rolling over the Ground, The 5th International Conference on Computational Methods (ICCM2014), Fitzwilliam College, Cambridge, England, July 28-30, 2014
Zhongkui Wang, Kan Imai, Masamitsu Kido, Kazuya Ikoma, and Shinichi Hirai, A Finite Element Model of Flatfoot (Pes Planus) for Improving Surgical Plan, 36th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), 10.1109/EMBC.2014.6943723, Sheraton Hotel & Towers, Chicago, Illinois, USA, Aug. 26-30, 2014
Van Anh Ho, Sho Imai, and Shinichi Hirai, Multimodal Flexible Sensor for Healthcare Systems, 36th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), 10.1109/EMBC.2014.6944990, Sheraton Hotel & Towers, Chicago, Illinois, USA, Aug. 26-30, 2014
Phuong Hoai Le, Javier Molina Mendez, and Shinichi Hirai, Application of Japanese Origami Ball for Floating Multirotor Aerial Robot, 12th Int. Conf. on Robotics, Automation and Mechatronics (ICRAM 2014), Holiday Inn Paris Montparnasse, Paris, France, Oct. 30-31, 2014
Damith Suresh Chathuranga, Zhongkui Wang, and Shinichi Hirai, Challenges in Developing Soft Tactile Sensors for Robots that Detect Incipient Slip, 7th Int. Conf. on Information and Automation for Sustainability (ICIAfS), 10.1109/ICIAFS.2014.7069577, Galadari Hotel, Lotus Rd, Colombo, Sri Lanka, Dec. 22-24, 2014

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2013

Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Experiment of Micro-parts Feeding on Saw-tooth with the Effect of the Surface Geometry Parameters, Int. Conf. on Material, Mechatronics and Automation (ICMMA2013), pp.99-104, Singapore, Apr. 21-22, 2013
Van Anh Ho and Shinichi Hirai, Toward a Platform of Human-Like Fingertip Model in Hapti Environment for Studying Sliding Tactile Mechanism, Robotics: Science and Systems 2013, Technische Universität Berlin, Berlin, Germany, June 24-28, 2013
Zhongkui Wang, Juho Pokki, Olgaç Ergeneman, Bradley J. Nelson, and Shinichi Hirai, Viscoelastic Interaction between Intraocular Microrobots and Vitreous Humor: A Finite Element Approach, 35th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), 10.1109/EMBC.2013.6610655, Osaka International Convention Center, Osaka, Japan, July 3-7, 2013
Shinichi Hirai, Yuusuke Koizumi, and Mizuho Shibata, Active Shaping of a Tensegrity Robot via Pre-pressure, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), pp.19-25, 10.1109/AIM.2013.6584062, Wollongong, Australia, July 9-12, 2013
Phuong Le, Thien Dinh, Atsushi Mitani, and Shinichi Hirai, Simulation Model for Sub-Millimeter Part Feeding on the Asymmetrical Saw-Tooth Surface with Air Drag, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), pp.608-611, 10.1109/AIM.2013.6584159, Wollongong, Australia, July 9-12, 2013
Atsushi Mitani, Phuong Le, Yasutaka Matsuo, and Shinichi Hirai, Improvement of Sawtooth Shape Generated By Anisotropic Etching Process of Single-Crystal Silicon For Microparts Feeding Using Horizontal and Symmetric Vibrations, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), pp.967-972, 10.1109/AIM.2013.6584219, Wollongong, Australia, July 9-12, 2013
Damith Suresh Chathuranga Katudampe Vithanage, Van Ho, and Shinichi Hirai, Investigation of the Bio-mimetic Fingertip's Ability to Discriminate Fabrics Based on Surface Textures, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), pp.1667-1674, 10.1109/AIM.2013.6584336, Wollongong, Australia, July 9-12, 2013
Zhongkui Wang, Juho Pokki, Olgaç Ergeneman, Bradley J. Nelson, and Shinichi Hirai, Study of biomechanical properties of vitreous humor by a finite element model, EUROMECH Colloquium 533 Biomechanics of the Eye, Genoa, Italy, July 22-24, 2013

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2012

Yuusuke Koizumi, Mizuho Shibata, and Shinichi Hirai, Rolling Tensegrity Driven by Pneumatic Soft Actuators, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1988-1993, 10.1109/ICRA.2012.6224834, St. Paul, U.S.A., May 14-18, 2012
Paul Umbanhowar, Thomas H. Vose, Atsushi Mitani, Shinichi Hirai, and Kevin M. Lynch, The Effect of Anisotropic Friction on Vibratory Velocity Fields, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2584-2591, 10.1109/ICRA.2012.6225273, St. Paul, U.S.A., May 14-18, 2012
Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Path Planning for Belt Object Manipulation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4334-4339, 10.1109/ICRA.2012.6224624, St. Paul, U.S.A., May 14-18, 2012
Phuong Le, Xuan Thien Dinh, Atsushi Mitani, and Shinichi Hirai, Experiment and Simulation of Micro-parts Dynamics with Roughness Effect, 2012 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2012), pp.586-591, 10.1109/AIM.2012.6265939, Kaohsiung, Taiwan, July 11-14, 2012
Mizuho Shibata and Shinichi Hirai, Fabric Manipulation Utilizing Contacts with the Environment, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.438-443, 10.1109/CoASE.2012.6386350, Seoul, Korea, Aug. 20-24, 2012
Hidefumi Wakamatsu, Masayuki Aoki, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Property Identification of a Deformable Belt Object from Its Static Images Toward Its Manipulation, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.444-449, 10.1109/CoASE.2012.6386360, Seoul, Korea, Aug. 20-24, 2012
Van Anh Ho, Tatsuya Nagatani, Akio Noda, and Shinichi Hirai, What Can Be Inferred From a Tactile Arrayed Sensor in Autonomous In-Hand Manipulation?, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.457-464, 10.1109/CoASE.2012.6386384, Seoul, Korea, Aug. 20-24, 2012
Lijuan Wang, Zhongkui Wang, and Shinichi Hirai, Modeling and Simulation of Friction Forces during Needle Insertion Using Local Constraint Method, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4926-4932, 10.1109/IROS.2012.6385756, Vilamoura, Algarve, Portugal, Oct. 7-12, 2012
Van Anh Ho, Takahiro Araki, Masaaki Makikawa, and Shinichi Hirai, Experimental Investigation of Surface Identification Ability of a Low-Profile Fabric Tactile Sensor, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4497-4504, 10.1109/IROS.2012.6385538, Vilamoura, Algarve, Portugal, Oct. 7-12, 2012
Jorge Armendariz, Felipe Alberto Machorro-Fernandez, Vicente Parra-Vega, Rodolfo García Rodríguez, and Shinichi Hirai, Improving Physical Human-Robot Interaction through Viscoelastic Soft Fingertips, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2977-2984, 10.1109/IROS.2012.6386054, Vilamoura, Algarve, Portugal, Oct. 7-12, 2012
Shinichi Hirai and Ryo Imuta, Dynamic Simulation of Six-strut Tensegrity Robot Rolling, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), pp.198-204, 10.1109/ROBIO.2012.6490966, Guangzhou, China, Dec. 11-14, 2012
Katudampe Vithanage Damith Suresh Chathuranga, Van Anh Ho, and Shinichi Hirai, A Bio-mimetic Fingertip That Detects Force and Vibration Modalities and its Application to Surface Identification, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), pp.575-581, 10.1109/ROBIO.2012.6491028, Guangzhou, China, Dec. 11-14, 2012

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2011

Atsushi Mitani and Shinichi Hirai, Feeding Submillimeter Microparts Using An Asymmetric Fabricated Surface With Symmetric Vibrations: Effects of Feeder Surface Materials on Feeding, Int. Conf. on Material, Mechatronics and Automation (ICMMA2011), pp.1297-1302, 10.4028/www.scientific.net/KEM.467-469.1297, Melbourne, Australia, Jan. 16-17, 2011
Atsushi Mitani and Shinichi Hirai, Evaluation of Feeder Surface Materials for Microparts Feeding Using an Asymmetric Fabricated Surface With Symmetric Vibrations, Proc. IEEE Int. Conf. on Mechatronics (ICM2011), pp.13-18, 10.1109/ICMECH.2011.5971277, Istanbul, Turkey, Apr. 13-15, 2011
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, 10.1109/ICRA.2011.5979732, Shanghai, China, May 9-13, 2011
Van Ho and Shinichi Hirai, Three-Dimensional Modeling and Simulation of the Sliding Motion of a Soft Fingertip with Friction, Focusing on Stick-Slip Transition, Proc. IEEE Int. Conf. on Robotics and Automation, pp.5233-5239, 10.1109/ICRA.2011.5979901, Shanghai, China, May 9-13, 2011
Van Ho and Shinichi Hirai, Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon, Robotics: Science and Systems VII, pp.129-136, Los Angeles, CA, U.S.A., June 27 - July 1, 2011
Van Ho, Daisuke Kondo, Shima Okada, Takahiro Araki, Emi Fujita, Masaaki Makikawa, and Shinichi Hirai, Development of a Low-Profile Sensor Using Electro-conductive Yarns in Recognition of Slippage, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2011), pp.1946-1953, 10.1109/IROS.2011.6094497, San Francisco, California, U.S.A., Sept. 25-30, 2011
Zhongkui Wang, Yoshiyuki Abe, Shinichi Hirai, and Shigehiro Morikawa, A 3D FE Dynamic Model of Human Fingertip Based on MRI Data, 2011 IEEE Int. Symp. on Haptic Audio-Visual Environments and Games (HAVE 2011), pp.8-12, 10.1109/HAVE.2011.6088383, Yanshan Univ., Qinhuangdao, Hebei, China, Oct. 15-16, 2011
Lijuan Wang and Shinichi Hirai, A Local Constraint Method for Needle Insertion Modeling and Simulation, 2011 IEEE Int. Symp. on Haptic Audio-Visual Environments and Games (HAVE 2011), pp.39-44, 10.1109/HAVE.2011.6088389, Yanshan Univ., Qinhuangdao, Hebei, China, Oct. 15-16, 2011
Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Measurement of the Motion of Micro-Parts on a Vibratory Surface, International Tribology Conference, Hiroshima, Japan, Oct. 30 - Nov. 3, 2011
Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, A Study on the Motion of Micro-parts on a Saw-tooth Surface by the PTV Method, Proc. ASME 2011 Int. Mechanical Engineering Congress & Exposition (IMECE2011), Vol.7, pp.985-990, 10.1115/IMECE2011-64689, Denver, Colorado, U.S.A., Nov. 11-17, 2011
Yuuki Kataoka and Shinichi Hirai, Dynamic Insertion of Bendable Flat Cables with Variation based on Shape Returning Points, 4th International Conference on Intelligent Robotics and Applications (ICIRA 2011), pp.496-508, 10.1007/978-3-642-25486-4_50, Aachen, Germany, Dec. 6-8, 2011
Xubing Zhang and Shinichi Hirai, TPS-SURF-SAC Matching Approach of Feature Point Applied to Deformation Measurement of Nonrigid Tissues from MR Images, IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2011), pp.551-556, 10.1109/ROBIO.2011.6181344, Phuket Island, Thailand, Dec. 7-11, 2011 Finalists of T. J. Tarn Best Paper in Robotics
Masayuki Tatsumi, Kazuhiro Izusawa, and Shinichi Hirai, Miniaturized Unconstrained Valves with Pressure Control for Driving a Robot Finger, IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2011), pp.1528-1533, 10.1109/ROBIO.2011.6181506, Phuket Island, Thailand, Dec. 7-11, 2011

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2010

Yujiro Yamazaki, Takahiro Inoue, and Shinichi Hirai, Two-Phased Controller for a Pair of 2-DOF Soft Fingertips Based on the Qualitative Relationship between Joint Angles and Object Location, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4294-4301, 10.1109/ROBOT.2010.5509253, Anchorage, Alaska, U.S.A., May 3-8, 2010
Van Ho, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Design of a Small-Scale Tactile Sensor with Three Sensing Points for Using in Robotic Fingertips, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4855-4860, 10.1109/ROBOT.2010.5509134, Anchorage, Alaska, U.S.A., May 3-8, 2010
Van Ho and Shinichi Hirai, Two-Dimensional Dynamic Modeling of a Sliding Motion of a Soft Fingertip Focusing on Stick-To-Slip Transition, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4315-4321, 10.1109/ROBOT.2010.5509330, Anchorage, Alaska, U.S.A., May 3-8, 2010
Takahiro Inoue and Shinichi Hirai, Robotic Manipulation with Large Time Delay on Visual Feedback Systems, IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2010), pp.1111-1115, 10.1109/AIM.2010.5695912, Montreal, Canada, July 7-9, 2010
Yuya Asano, Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Deformation Path Planning for Belt Object Manipulation, Proc. 2010 Int. Symp. on Flexible Automation (ISFA2010), Tokyo, Japan, July 12-14, 2010
Mizuho Shibata and Shinichi Hirai, Moving strategy of tensegrity robots with semiregular polyhedral body, Proc. 13th Int. Conf. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2010), Nagoya, Japan, Aug. 31 - Sept. 3, 2010
Yuuki Kataoka and Shinichi Hirai, Vision-Guided Individual Modeling of Bendable Cables for Their Insertion, World Automation Congress, ISORA 2010 12th Int. Symp. on Robotics and Applications, Kobe, Japan, Sept. 19-23, 2010
Mizuho Shibata, Tsuyoshi Ota, and Shinichi Hirai, Robotic Unfolding of Hemmed Fabric using Pinching Slip Motion, Int. Conf. on Advanced Mechatronics (ICAM2010), Suita, Japan, Oct. 4-6, 2010
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, 10.1109/IROS.2010.5649833, Taipei, Oct. 18-22, 2010
Yuya Asano, Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, Shinichi Hirai, Deformation Path Planning for Manipulation of Flexible Circuit Boards, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), pp.5386-5391, 10.1109/IROS.2010.5651132, Taipei, Oct. 18-22, 2010
Takahiro Inoue, Shinichi Hirai, Daisuke Takizawa, Modelless and Grasping-Forceless Control by Robotic Fingers Capable of Mechanically Coupled Movement, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), pp.5875-5879, 10.1109/IROS.2010.5652829, Taipei, Oct. 18-22, 2010
Penglin Zhang and Shinichi Hirai, A Local Geometric Preserving Approach For Interior Deformation Fields Measurement From MR Volumetric Images of Human Tissues, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2010), pp.437-441, 10.1109/ROBIO.2010.5723366, Tianjin, China, Dec. 14-18, 2010
Xubing Zhang, Shinichi Hirai and Penglin Zhang, SURF and Spatial Association Correspondence Applied in Extraction and Matching of Feature Points from MR Images of Deformed Tissues, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2010), pp.448-453, 10.1109/ROBIO.2010.5723368, Tianjin, China, Dec. 14-18, 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, 10.1109/ROBIO.2010.5723416, Tianjin, China, Dec. 14-18, 2010

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2009

Takaniro Inoue and Shinichi Hirai, Parallel-distributed Model of Soft Fingertips in Three-dimensional Grasping and Manipulation, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2008), pp.895-902, 10.1109/ROBIO.2009.4913118, Bangkok, Thailand, Feb. 21-26, 2009
Mizuho Shibata, Tsuyoshi Ota, and Shinichi Hirai, Wiping Motion for Deformable Object Handling, Proc. IEEE Int. Conf. on Robotics and Automation, pp.134-139, 10.1109/ROBOT.2009.5152448, Kobe, Japan, May 12-17, 2009
Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, and Shinichi Hirai, Deformation Modeling of Belt Object with Angles, Proc. IEEE Int. Conf. on Robotics and Automation, pp.606-611, 10.1109/ROBOT.2009.5152257, Kobe, Japan, May 12-17, 2009
Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Analysis of Sliding of a Soft Fingertip Embedded with a Novel Micro Force/Moment Sensor: Simulation, Experiment, and Application, Proc. IEEE Int. Conf. on Robotics and Automation, pp.889-894, 10.1109/ROBOT.2009.5152458, Kobe, Japan, May 12-17, 2009
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, 10.1109/ROBOT.2009.5152345, Kobe, Japan, May 12-17, 2009
Takahiro Inoue and Shinichi Hirai, Parallel-distributed Model in Three-dimensional Soft-fingered Grasping and Manipulation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2092-2097, 10.1109/ROBOT.2009.5152451, Kobe, Japan, May 12-17, 2009
Mizuho Shibata, Fumio Saijyo, and Shinichi Hirai, Crawling by Body Deformation of Tensegrity Structure Robots, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4375-4380, 10.1109/ROBOT.2009.5152752, Kobe, Japan, May 12-17, 2009
Jien Sumadi, Shinichi Hirai, Yoichiro Ogawa, Masahiko Ito, and Kenshin Honda, Pressure Control Valve for McKibben Artificial Muscle Actuators with Miniaturized Unconstrained Pneumatic On/Off Valves, Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2009), 10.1109/AIM.2009.5229882, Singapore, July 14-17, 2009
Atsushi Mitnai and Shinichi Hirai, Evaluation of Asymmetric Surfaces by Femtosecond Laser Process for Microparts Feeding, Proc. World Tribology Congress 2009, Kyoto, Japan, Sept. 6-11, 2009
Mizuho Shibata and Shinichi Hirai, Rolling Locomotion of Deformable Tensegrity Structure, Proc. 12th Int. Conf. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2009), Istanbul, Turkey, Sept. 9-11, 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, 10.1109/IROS.2009.5354630, St. Louis, MO, U.S.A., Oct. 11-15, 2009
Takahiro Yoshimura, Mizuho Shibata, and Shinichi Hirai, Stochastic Static Analysis of Link Driven by Actuator Bundles, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2009), pp.5685-5690, 10.1109/IROS.2009.5354217, St. Louis, MO, U.S.A., Oct. 11-15, 2009
Mizuho Shibata, Tsuyoshi Ota, and Shinichi Hirai, Virtual Rope Theory for Fabric Manipulation, Proc. IEEE Int. Symposium on Assembly and Manufacturing (ISAM 2009), pp.28-33, 10.1109/ISAM.2009.5376934, Suwon, Korea, Nov. 17-20, 2009
Yujiro Yamazaki, Takaihro Inoue, and Shinichi Hirai, Two-Phased Force and Coordinates Controller for a Pair of 2-DOF Soft Fingers, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2009), pp.931-937, 10.1109/ROBIO.2009.5420495, Guilin, China, Dec. 19-23, 2009 Finalist of 2009 IEEE Int. Conf. on Robotics and Biomimetics Best Paper in Biomimetics
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, 10.1109/ROBIO.2009.5420393, Guilin, China, Dec. 19-23, 2009

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2008

Sumadi Jien, Yoichiro Ogawa, Shinichi Hirai, and Kenshin Honda, Performance Evaluation of a Miniaturized Unconstrained Digital On-Off Switching Valve, 2008 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2008), pp.659-664, 10.1109/AIM.2008.4601738, Xi'an, China, July 2-5, 2008
Atsushi Mitani and Shinichi Hirai, Analysis of Contact between Feeder Surface and Microparts Based on Measurements for Microparts Feeder Using an Asymmetric Surface, 2008 IEEE Conf. on Automation Science and Engineering, pp.720-725, 10.1109/COASE.2008.4626469, Washington D.C., U.S.A., Aug. 23-26, 2008
Mizuho Shibata, Tsuyoshi Ota, Yoshimasa Endo, and Shinichi Hirai, Handling of Hemmed Fabrics by a Single-Armed Robot, 2008 IEEE Conf. on Automation Science and Engineering, pp.882-887, 10.1109/COASE.2008.4626476, Washington D.C., U.S.A., Aug. 23-26, 2008
Takahiro Inoue and Shinichi Hirai, Task-selection Control by Thumb and Forefinger Based on Softfinger Contact, Third Asia International Symposium on Mechatronics (AISM2008), Sapporo, Japan, Aug. 27-31, 2008
Atsushi Mitani, Toshiatsu Yoshimura, and Shinichi Hirai, Feeding of Submillimeter Microparts Along an Asymmetric Fabricated Surface by Double-Pulsed Femtosecond Laser Process, Third Asia International Symposium on Mechatronics (AISM2008), Sapporo, Japan, Aug. 27-31, 2008
Yasuaki Matsumoto, Hisashi Nakanishi, and Shinichi Hirai, Rolling Locomotion of a Deformable Soft Robot with Built-in Power Source, Proc. 11th Int. Conf. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), pp.365-372, Coimbra, Portugal, Sept. 8-10, 2008
Masayuki Miyazaki and Shinichi Hirai, Jumping via Robot Body Deformation - Mechanics and Mechanism for Higher Jumping -, Proc. 11th Int. Conf. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2008), pp.373-380, Coimbra, Portugal, Sept. 8-10, 2008
Atsushi Mitani and Shinichi Hirai, Application of Asymmteric Surface Fabricated by Femtosecond Laser Process for Microparts Feeding, SPIE International Symposium on Optomechatronic Technologies (ISOT 2008), San Diego, CA, U.S.A., Nov. 17-19, 2008
Van Ho Anh, Viet Dzung Dao, Susumu Sugiyama, and Shinichi Hirai, Force/Moment Sensing During Sliding Motion using a Micro Sensor Embedded in a Soft Fingertip, Proc. 10th Int. Conf. on Control, Automation, Robotics and Vision (ICARCV 2008), pp.161-166, 10.1109/ICARCV.2008.4795510, Hanoi, Vietnam, Dec. 17-20, 2008

[Conferences][Page Top]

2007

Takahiro Inoue and Shinichi Hirai, Dynamic Stable Manipulation via Soft-Fingered Hand, Proc. IEEE Int. Conf. on Robotics and Automation, pp.586-591, 10.1109/ROBOT.2007.363050, Rome, Italy, Apr. 10-14, 2007
Kazuhiro Shimizu and Shinichi Hirai, Realtime and Robust Motion Tracking by Matched Filter on CMOS+FPGA Vision System, Proc. IEEE Int. Conf. on Robotics and Automation, pp.788-793, 10.1109/ROBOT.2007.363082, Rome, Italy, Apr. 10-14, 2007
Yoshinari Matsuyama and Shinichi Hirai, Analysis of Circular Robot Jumping by Body Deformation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1968-1973, 10.1109/ROBOT.2007.363610, Rome, Italy, Apr. 10-14, 2007
Mizuho Shibata, Takahiro Yoshimura, and Shinichi Hirai, Loosely Coupled Joint Driven by SMA Coil Actuators, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4460-4465, 10.1109/ROBOT.2007.364166, Rome, Italy, Apr. 10-14, 2007
Takaniro Inoue and Shinichi Hirai, How Hemispherical Soft Fingertips Enhance Dexterity in Grasping and Manipulation, Workshop on Contact Interface in Robotic Manipulation: Modeling and Application, IEEE Int. Conf. on Robotics and Automation, Rome, Italy, Apr. 10-14, 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), pp.707-712, 10.1109/ICCME.2007.4381829, Beijing, China, May 23-27, 2007
Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai, Fishbone Model for Belt Object Deformation, Robotics: Science and Systems III, Atlanta, GA, U.S.A., June 27-30, 2007
Atsushi Mitani, Toshiatsu Yoshimura, and Shinichi Hirai, Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface using only Horizontal and Symmetric Vibration, JSME-KSME Joint International Conference on Manufacturing, Machine Design and Tribology (ICMDT2007), Sapporo, Japan, July 1-4, 2007
Hidefumi Wakamatsu, Tatsuya Yamasaki, Eiji Arai, Shinichi Hirai, Modeling of Flexible Belt Objects toward Their Manipulation, 2007 IEEE Int. Symp. on Assembly and Manufacturing (ISAM2007), pp.1-6, 10.1109/ISAM.2007.4288440, Ann Arbor, Michigan, U.S.A., July 22-25, 2007
Takahiro Inoue and Shinichi Hirai, Stable Manipulation Mechanisms on Soft Fingers, 2007 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2007), 10.1109/AIM.2007.4412407, ETH Zurich, Switzerland, Sept. 4-7, 2007
Atsushi Mitani, Toshiatsu Yoshimura, and Shinichi Hirai, Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface using only Horizontal Vibration: Effects of saw-tooth pitch, vibration frequency, and humidity, 2007 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2007), 10.1109/AIM.2007.4412424, ETH Zurich, Switzerland, Sept. 4-7, 2007
Hiroshi Takayama, Jien Sumadi, and Shinichi Hirai, Unconstrained Pneumatic On-Off Poppet Valve Driven by Piezoelectric Actuator, 2007 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2007), 10.1109/AIM.2007.4412445, ETH Zurich, Switzerland, Sept. 4-7, 2007
Nakanishi Hisashi and Shinichi Hirai, Passive Crawling of a Soft Robot, 2007 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM2007), 10.1109/AIM.2007.4412483, ETH Zurich, Switzerland, Sept. 4-7, 2007
Atsushi Mitani, Toshiatsu Yoshimura, and Shinichi Hirai, Feeding of Submillimeter-Sized Microparts Along a Saw-Tooth Surface Using Only Horizontal Vibration: Analysis of Convexities on the Surface of Microparts, The 3rd annual IEEE Conference on Automation Science and Engineering (CASE 2007), pp.69-76, 10.1109/COASE.2007.4341707, Scottsdale, Arizona, U.S.A., Sept. 22-25, 2007
Mizuho Shibata, Takahiro Yoshimura, and Shinichi Hirai, Angle Control of a Loosely Coupled Mechanism in 3D Space Using Length Sensors, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1178-1183, 10.1109/IROS.2007.4399093, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 2007
Takahiro Inoue and Shinichi Hirai, A Two-Phased Object Orientation Controller on Soft Finger Operations, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2528-2533, 10.1109/IROS.2007.4399136, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 2007
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, CA, U.S.A., Oct. 29 - Nov. 2, 2007
Hidefumi Wakamatsu, Eiji Arai, and Shinichi Hirai, Modeling of Linear and Belt Object Deformation Based on Differential Geometry, Workshop on Modeling, Identification, and Control of Deformable Soft Objects, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 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, CA, U.S.A., Oct. 29 - Nov. 2, 2007
Mizuho Shibata, Takahiro Yoshimura, Shinichi Hirai, Control of Loosely Coupled Joint by Soft Actuators via Deformable Cartilage, Workshop on Modeling, Identification, and Control of Deformable Soft Objects, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 2007
Takaniro Inoue and Shinichi Hirai, Two-stage Control via Virtual Desired Values in Soft-fingered Manipulation with Time Delay, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2007), pp.577-583, 10.1109/ROBIO.2007.4522226, Sanya, China, Dec. 15-18, 2007

[Conferences][Page Top]

2006

Kazuhiro Shimizu and Shinichi Hirai, CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2060-2065, 10.1109/ROBOT.2006.1642008, Orlando, FL, U.S.A., May 15-19, 2006 Finalist of 2006 IEEE Int. Conf. Robotics and Automation Vision Best Paper Award
Takahiro Inoue and Shinichi Hirai, Study on Hemispherical Soft-Fingered Handling for Fine Manipulation by Minimum D.O.F. Robotic Hand, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2454-2459, 10.1109/ROBOT.2006.1642070, Orlando, FL, U.S.A., May 15-19, 2006 Finalist of 2006 IEEE Int. Conf. Robotics and Automation Manipulation Best Paper Award
Mizuho Shibata and Shinichi Hirai, Soft Object Manipulation by Simultaneous Control of Motion and Deformation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2460-2465, 10.1109/ROBOT.2006.1642071, Orlando, FL, U.S.A., May 15-19, 2006
Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Manipulation Planning for Unraveling Linear Objects, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2485-2490, 10.1109/ROBOT.2006.1642075, Orlando, FL, U.S.A., May 15-19, 2006
Takaniro Inoue and Shinichi Hirai, Experimental Investigation of Mechanics in Soft-fingered Grasping and Manipulation, Proc. Int. Symp. on Experimental Robotics (ISER2006), Rio de Janeiro, Brazil, July 6-10, 2006
Kazuhiro Shimizu and Shinichi Hirai, Implementing Planar Motion Tracking Algorithms on CMOS+FPGA Vision System, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1366-1371, 10.1109/IROS.2006.281924, Beijing, China, Oct. 9-15, 2006
Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3873-3878, 10.1109/IROS.2006.281796, Beijing, China, Oct. 9-15, 2006
Ikuo Fujii, Takahiro Inoue, Dzung Viet Dao, Susumu Sugiyama, and Shinichi Hirai, Tactile Perception Using Micro Force/Moment Sensor Embedded in Soft Fingertip, Proc. IEEE Sensors, pp.558-562, 10.1109/ICSENS.2007.355529, Daegu, Korea, Oct. 22-25, 2006
Hidefumi Wakamatsu, Tatsuya Yamasaki,Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles, Proc. 9th Int. Conf. on Control, Automation, Robotics and Vision, pp.1085-1090, 10.1109/ICARCV.2006.345300, Singapore, Dec. 5-8, 2006
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, 10.1109/ICARCV.2006.345449, Singapore, Dec. 5-8, 2006

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2005

Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, and Shinichi Hirai, Circular/Spherical Robots for Crawling and Jumping, Proc. IEEE Int. Conf. on Robotics and Automation, pp.3595-3600, 10.1109/ROBOT.2005.1570667, Barcelona, Spain, Apr. 18-22, 2005
Takahiro Inoue and Shinichi Hirai, Quasi-Static Manipulation with Hemispherical Soft Fingertip via Two Rotational Fingers, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1935-1940, 10.1109/ROBOT.2005.1570396, Barcelona, Spain, Apr. 18-22, 2005 Finalist of 2005 IEEE Int. Conf. Robotics and Automation Manipulation Best Paper Award
Takahiro Inoue and Shinichi Hirai, Local Minimum of Elastic Potential Energy on Hemispherical Soft Fingertip, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2308-2313, 10.1109/ROBOT.2005.1570457, Barcelona, Spain, Apr. 18-22, 2005
Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2505-2510, 10.1109/ROBOT.2005.1570489, Barcelona, Spain, Apr. 18-22, 2005
Hidefumi Wakamatsu, Kousaku Takahashi and Shinichi Hirai, Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1028-1033, 10.1109/ROBOT.2005.1570251, Barcelona, Spain, Apr. 18-22, 2005
Atsushi Mitani, Naoto Sugano, and Shinichi Hirai, Micro-Parts Feeding by a Saw-tooth Surface, Proc. IEEE Int. Conf. on Robotics and Automation, pp.825-831, 10.1109/ROBOT.2005.1570219, Barcelona, Spain, Apr. 18-22, 2005
Mizuho Shibata and Shinichi Hirai, Stability Analysis for Dynamic Control on Contact with Soft Interface in Continuous-discrete Time System, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1628-1633, 10.1109/IROS.2005.1545211, Edmonton, Canada, Aug. 2-6, 2005
Ayumi Shiotsu, Masafumi Yamanaka, Yoshinari Matsuyama, Hisashi Nakanishi, Yoshiyuki Hara, Tatsuhiko Tsuboi, Takashi Iwade, Yuuta Sugiyama, and Shinichi Hirai, Crawling and Jumping Soft Robot KOHARO, Proc. 36th Int. Symp. on Robotics, Tokyo, Japan, Nov. 29 - Dec. 1, 2005
Shota Uehara and Shinichi Hirai, Unconstrained Vibrational Pneumatic Valves for Miniaturized Proportional Control Devices, 9th Int. Conf. on Mechatronics Technology (ICMT2005), Kuala Lumpur, Malaysia, Dec. 5-8, 2005

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2004

Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, and Shinichi Hirai, Planning of One-Handed Knotting/Raveling Manipulation of Linear Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1719-1725, 10.1109/ROBOT.2004.1308072, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
Byoung-Ho Kim and Shinichi Hirai, Characterizing the Dynamic Deformation of Soft Fingertips and Analyzing Its Significance for Multi-Fingered Operations, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.2944-2950, 10.1109/ROBOT.2004.1307508, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
Takahiro Inoue and Shinichi Hirai, Rotational Contact Model of Soft Fingertip for Tactile Sensing, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.2957-2962, 10.1109/ROBOT.2004.1307510, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
Naoki Ueda, Shinichi Hirai, and Hiromi T.Tanaka, Extracting Rheological Properties of Deformable Objects with Haptic Vision, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3902-3907, 10.1109/ROBOT.2004.1308876, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
Shinya Yamamoto and Shinich Hirai, Robust and Video-frame Rate Tracking of Planar Motion by Matched Filtering on FPGA, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.5, pp.4707-4712, 10.1109/ROBOT.2004.1302460, New Orleans, LA, U.S.A., Apr. 26 - May 1, 2004
Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping by a Deformable Robot, Proc. Int. Symp. on Experimental Robotics, Singapore, June 18-21, 2004
Anand Vaz and Shinichi Hirai, Application of Vector Bond Graphs to the Modeling of a Class of Hand Prostheses, Proc. 7th Biennial ASME Conference on Engineering Systems Design and Analysis (ESDA2004), Vol.3, pp.435-441, 10.1115/ESDA2004-58249, Manchester, United Kingdom, July 19-22, 2004
Shinichi Hirai, Indirect Simultaneous Positioning of Deformable Objects by Redundant Fingers without Physical Parameters, Complex Systems Intelligence and Modern Technological Applications (CSIMTA 2004), pp.509-514, Cherbourg, France, Sept. 19-22, 2004
Yuuta Sugiyama and Shinichi Hirai, Crawling and Jumping of Deformable Soft Robot, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3276-3281, 10.1109/IROS.2004.1389922, Sendai, Japan, Sept. 28 - Oct. 2, 2004
Mizuho Shibata and Shinichi Hirai, Stability and Graspability Analysis in Grasping Task Taking Fingertip Dynamics into Consideration, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3686-3691, 10.1109/IROS.2004.1389988, Sendai, Japan, Sept. 28 - Oct. 2, 2004
Ryo Nogami, Hiroshi Noborio, Seiji Tomokuni, and Shinichi Hirai, A Comparative Study of Rheology MSD Models whose Structures are Lattice and Truss, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3809-3616, 10.1109/IROS.2004.1390008, Sendai, Japan, Sept. 28 - Oct. 2, 2004
Anand Vaz and Shinichi Hirai, A Simplified Model for a Biomechanical Joint with Soft Cartilage, Proc. 2004 IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC 2004), Vol.1, pp.756-761, 10.1109/ICSMC.2004.1398393, The Hague, The Netherlands, Oct. 10-13, 2004
Anand Vaz and Shinichi Hirai, Modeling a Hand Prosthesis with Word Bond Graph Objects, Proc. Int. Conf. on Integrated Modeling & Analysis in Applied Control & Automation (IMAACA 2004), Genoa, Italy, Oct. 28-31, 2004
Shinichi Hirai, Syuichi Maeda, Ken Yamada, and Koji Sugita, Spreading and Isolation of Stacked Cards using Vacuum Hole Array, 8th Int. Conf. on Mechatronics Technology (ICMT2004), pp.139-144, Hanoi, Vietnam, Nov. 8-12, 2004
Shinichi Hirai, Syuichi Maeda, Ken Yamada, and Koji Sugita, Spreading and Isolation of Stacked Cards using Vacuum Hole Array, The 1st IEEE Technical Exhibition Based Conference on Robotics and Automation (TExCRA2004), pp.97-98, 10.1109/TEXCRA.2004.1425018, Tokyo, Japan, Nov. 18-19, 2004
Shinichi Hirai, Indirect Simultaneous Positioning of Deformable Objects without Physical Parameters and Time-Derivatives, Int. Conf. on Machine Automation (ICMA2004), pp.69-74, Suita, Japan, Nov. 24-26, 2004

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2003

Shinichi Hirai, Masakazu Zakouji, Tatsuhiko Tsuboi, Implementing Image Processing Algorithms on FPGA-based Realtime Vision System, Proc. 11th Synthesis and System Integration of Mixed Information Technologies (SASIMI 2003), pp.378-385, Hiroshima, Japan, Apr. 3-4, 2003
Anand Vaz and Shinichi Hirai, Bond Graph Modelling of a Hand Prosthesis during Contact Interaction, Proc. IASTED Applied Simulation and Modelling (ASM 2003), pp.313-318, Marbella, Spain, Sept. 3-5, 2003
Kwi-Ho Park, Byoung-Ho Kim, and Shinichi Hirai, Development of a Soft-fingertip and Its Modeling Based on Force Distribution, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.3169-3174, 10.1109/ROBOT.2003.1242078, Taipei, Sept. 14-19, 2003
Masafumi Kimura, Yuuta Sugiyama, Seiji Tomokuni, and Shinichi Hirai, Constructing Rheologically Deformable Virtual Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.3737-3743, 10.1109/ROBOT.2003.1242170, Taipei, Sept. 14-19, 2003
Hiromi Tanaka, Kiyotaka Kushihama, and Shinichi Hirai, A Vision-based Haptic Exploration, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.3441-3448, 10.1109/ROBOT.2003.1242122, Taipei, Sept. 14-19, 2003
Anand Vaz and Shinichi Hirai, Modeling Contact Interaction of a Hand Prosthesis with Soft Tissue at the Interface, Proc. IEEE Int. Conf. on Systems, Man, and Cybernetics, Vol.5, pp.4508-4513, 10.1109/ICSMC.2003.1245694, Washington D.C., Oct. 5-8, 2003
Takahiro Inoue and Shinichi Hirai, Modeling of Soft Fingertip for Object Manipulation Using Tactile Sensing, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp.2654-2659, 10.1109/IROS.2003.1249271, Las Vegas, NV, U.S.A., Oct. 27-31, 2003
Anand Vaz and Shinichi Hirai, Actuation of a Thumb Prosthesis using Remaining Natural Fingers, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.2, pp.1998-2003, 10.1109/IROS.2003.1248946, Las Vegas, NV, U.S.A., Oct. 27-31, 2003
Byoung-Ho Kim, Shinichi Hirai, and Takahiro Inoue, Analysis on the Fundamental Deformation Effect of Soft Fingertips for Soft-fingered Object Manipulations, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3698-3704, 10.1109/IROS.2003.1249730, Las Vegas, NV, U.S.A., Oct. 27-31, 2003
Hidefumi Wakamatsu, Akira Tsumaya, Keiichi Shirase, Eiji Arai, and Shinichi Hirai, Knotting/Raveling Manipulation of Linear Objects, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.4, pp.3156-3161, 10.1109/IROS.2003.1249642, Las Vegas, NV, U.S.A., Oct. 27-31, 2003
Naoki Ueda, Kiyotaka Kushihama, Shinichi Hirai, Hiromi T. Tanaka, Extracting Rheological Properties of Deformable Objects with Haptic Vision, Proc. 13th Int. Conf. on Artificial Reality and Telexistence (ICAT 2003), Tokyo, Japan, Dec., 2003

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2002

Shinichi Hirai, Masamitsu Ukai, Ken Yamada, and Koji Sugita, Spreading and Isolating Multiple Stacked Cards Using Absorptive Hole Array, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1445-1450, 10.1109/ROBOT.2002.1014747, Washington D.C., U.S.A., May 11-15, 2002
Tatsuhiko Tsuboi, Masakazu Zakouji, Akihiro Masubuchi, and Shinichi Hirai, Parallel Processing of One-sided Radon Transform for the Realtime Detection of Position and Orientation of Planar Motion Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.2925-2930, 10.1109/ROBOT.2002.1013676, Washington D.C., U.S.A., May 11-15, 2002
Shinichi Tokumoto and Shinichi Hirai, Deformation Control of Rheological Food Dough Using a Forming Process Model, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1457-1464, 10.1109/ROBOT.2002.1014749, Washington D.C., U.S.A., May 11-15, 2002
Shinichi Hirai, Kiyoto Shimizu, and Sadao Kawamura, Vision-based Motion Control of Pneumatic Group Actuators, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.2842-2847, 10.1109/ROBOT.2002.1013663, Washington D.C., U.S.A., May 11-15, 2002
Toshiko Iguchi, Noriyuki Katsuyama, Hiroshi Noborio, and Shinichi Hirai, Computing and Calibrating Collision Impulses and its Application for Air Hockey Game, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.3, pp.2219-2226, 10.1109/IRDS.2002.1041597, Lausanne, Switzerland, Sept. 30 - Oct. 4, 2002
Akira Ishii, Susumu Sugimaya, Jun-ichi Sakai, Shinichi Hirai, and Toshihiko Ochi, Constant-magnification focusing using a varifocal mirror and its application to 3-D imaging, Optomechatronic Systems III, pp.238-245, 10.1117/12.467395, Stuttgart, Germany, Nov. 12-14, 2002
Shinichi Hirai, Tatsuhiko Tsuboi, Masakazu Zakouji, and Mizuho Shibata, Handling of Randomly Located Moving Parts using FPGA-based Realtime Vision, Proc. 7th Int. Conf. on Control, Automation, Robotics and Vision, Vol.3, pp.1150-1155, 10.1109/ICARCV.2002.1234935, Singapore, Dec. 2-5, 2002

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2001

Tatsuhiko Tsuboi, Akihiro Masubuchi, Shinichi Hirai, Shinya Yamamoto, Kazuhiko Ohnishi, and Suguru Arimoto, Video-frame Rate Detection of Position and Orientation of Planar Motion Objects using One-sided Radon Transform, Proc. IEEE Int.Conf. on Robotics and Automation, Vol.2, pp.1233-1238, 10.1109/ROBOT.2001.932779, Seoul, Korea, May 21-26, 2001
Shinichi Hirai, Tomohiro Masui, and Sadao Kawamura, Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes, Proc. IEEE Int.Conf. on Robotics and Automation, Vol.4, pp.3807-3812, 10.1109/ROBOT.2001.933211, Seoul, Korea, May 21-26, 2001
Shinichi Tokumoto, Takuya Saito, and Shinichi Hirai, Vision-based Automatic Forming of Rheological Objects Using Deformation Transition Graphs, Proc. IEEE Int.Conf. on Robotics and Automation, Vol.1, pp.812-817, 10.1109/ROBOT.2001.932650, Seoul, Korea, May 21-26, 2001 Finalist of 2001 IEEE Int. Conf. Robotics and Automation Kayamori Best Paper Award
Takahiro Wada, Shinichi Hirai, Sadao Kawamura, and Norimasa Kamiji, Robust Manipulation of Deformable Objects By a Simple PID Feedback, Proc. IEEE Int.Conf. on Robotics and Automation, Vol.1, pp.85-90, 10.1109/ROBOT.2001.932534, Seoul, Korea, May 21-26, 2001
Shinichi Hirai, Tatsuhiko Tsuboi, and Takahiro Wada, Robust Grasping Manipulation of Deformable Objects, Proc. IEEE Symp. on Assembly and Task Planning, pp.411-416, 10.1109/ISATP.2001.929069, Fukuoka, Japan, May 28-29, 2001
Shinichi Tokumoto, Shinichi Hirai, and Hiromi Tanaka, Constructing Virtual Rheological Objects, Proc. World Multiconference on Systemics, Cybernetics and Infomatics, pp.106-111, Orlando, FL, U.S.A., July 22-25, 2001
Hidefumi Wakamatsu, Ryo Teramoto,R, Keiichi Shirase, Eiji Arai, and Shinichi Hirai, Deformation Modeling and Path Generation for Linear Object Manipulation, Proc. World Multiconference on Systemics, Cybernetics and Infomatics, pp.112-117, Orlando, FL, U.S.A., July 22-25, 2001
Takahiro Wada, Shinichi Hirai, Sadao Kawamura, Norimasa Kamiji, and Kazuyoshi Tsukamoto, Robust Manipulation of Deformable Objects By A Simple Position Feedback, Proc. 5th Japan-France/3rd Asia-Europe Congress on Mechatronics, pp.187-191, Besancon, France, Oct., 2001

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2000

Osamu Tabata, Satoshi Konishi, Pierre Cusin, Yuichi Ito, Fumie Kawai, Shinichi Hirai, and Sadao Kawamura, Microfabricated Tunable Bending Stiffness Device, Proc. IEEE 13th Annual Int. Conf. on Micro ElectroMechinical Systems, pp.23-27, 10.1109/MEMSYS.2000.838484, Miyazaki, Japan, Jan. 23-27, 2000
Shinichi Tokumoto, Yoshiaki Fujita, and Shinichi Hirai, Deformation Transition Graphs in Forming Operations of Rheologic Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3071-3076, 10.1109/ROBOT.2000.845135, San Francisco, CA, U.S.A., Apr. 24-28, 2000
Takahiro Wada, Shinichi Hirai, Hiroshige Mori, and Sadao Kawamura, Robust Manipulation of Deformable Objects Using Model Based Technique, First Int. Workshop on Articulated Motion and Deformable Objects (AMDO 2000), pp.1-14, Palma de Mallorca, Spain, Sept. 7-9, 2000
Shinichi Hirai, Pierre Cusin, Hiroki Tanigawa, Tomohiro Masui, Satoshi Konishi, and Sadao Kawamura, Qualitative Synthesis of Deformable Cylindrical Actuators through Constraint Topology, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.197-202, 10.1109/IROS.2000.894604, Takamatsu, Japan, Oct. 31 - Nov. 5, 2000
Takahiro Wada, Brenan J. McCarragher, Hidefumi Wakamatsu, Shinichi Hirai, Takeshi Yonezawa, and Shinichi Tokumoto, Modeling of Hysteresis in Deformation of Rodlike Objects Toward Their Manipulation, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.203-208, 10.1109/IROS.2000.894605, Takamatsu, Japan, Oct. 31 - Nov. 5, 2000

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1999

Shinichi Hirai, Masaaki Niwa, and Sadao Kawamura, Development of Impulsive Object Sorting Device with Air Floating, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3065-3070, 10.1109/ROBOT.1999.774064, Detroit, MI, U.S.A., May 10-15, 1999
Shinichi Tokumoto, Yoshiaki Fujita, and Shinichi Hirai, Deformation Modeling of Viscoelastic Objects for Their Shape Control, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.1, pp.767-772, 10.1109/ROBOT.1999.770067, Detroit, MI, U.S.A., May 10-15, 1999
Takahiro Wada, Shinichi Hirai, and Sadao Kawamura, Planning and Control of Indirect Simultaneous Positioning Operations for Deformable Objects, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.2572-2577, 10.1109/ROBOT.1999.773984, Detroit, MI, U.S.A., May 10-15, 1999
Shinichi Hirai, Takahiro Wada, and Sadao Kawamura, Control and Planning in Indirect Simultaneous Positioning of Multiple Points on Deformable Objects, Proc. IEEE Int. Symp. on Assembly and Task Planning, pp.219-225, 10.1109/ISATP.1999.782962, Porto, Portugal, July 21-24, 1999

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1998

Jae Sung Song, Shinichi Hirai, Masahiko Onosato, and Kazuaki Iwata, Task-Based Design of a Compliant Hand for Assembly, Proc. 7th Japan-U.S.A. Symp. on Flexible Automation, pp.449-456, Otsu, Japan, July, 1998
Takahiro Wada, Shinichi Hirai, and Sadao Kawamura, Indirect Simultaneous Positioning Operations of Extensionally Deformable Objects, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.2, pp.1333-1338, 10.1109/IROS.1998.727484, Victoria, BC, Canada, Oct. 13-17, 1998
Hidefumi Wakamatsu, Shinichi Hirai, Brenan J. McCarragher, David Austin, Keiichi Shirase, and Eiji Arai, Analysis of Hysteresis in Deformation of Rodlike Objects Toward Their Manipulation, Proc. 4th Japan-France/2nd Asia-Europe Congress on Mechatronics, pp.412-416, Kokura, Japan, Oct. 6-8, 1998

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1997

Takahiro Wada, Shinichi Hirai, Tatsuya Hirano, and Sadao Kawamura, Modeling of Plain Knitted Fabrics for Their Deformation Control, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.1960-1965, 10.1109/ROBOT.1997.619085, Albuquerque, NM, U.S.A., Apr. 20-25, 1997
Hidefumi Wakamatsu, Takumi Matsumura, Eiji Arai, and Shinichi Hirai, Dynamic Analysis of Rodlike Object Deformation towards Their Dynamic Manipulation, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.196-201, 10.1109/IROS.1997.649050, Grenoble, France, Sept. 7-11, 1997

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1996

Shinichi Hirai, Hideaki Noguchi, and Kazuaki Iwata, Human-demonstration Based Approach to the Recognition of Process State Transitions in Insertion of Deformable Tubes, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.3, pp.2006-2011, 10.1109/ROBOT.1996.506166, Minneapolis, MN, U.S.A., Apr. 22-28, 1996
Hidefumi Wakamatsu, Shinichi Hirai, and Kazuaki Iwata, Static Analysis of Deformable Object Grasping Based on Bounded Force Closure, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.3324-3329, 10.1109/ROBOT.1996.509219, Minneapolis, MN, U.S.A., Apr. 22-28, 1996
Kazuaki Iwata, Shinichi Hirai, Kouji Teramoto, Soujiro Tsuchiya, and Kazuo Matsumoto, Development of Novel Assembly Machine based on Human Skill and Dexterity - Adaptive Motion Control utilizing Contacts among Assembly Parts, Proc. 28th CIRP Int. Seminar on Manufacturing Systems, Advances in Manufacturing Technology - Focus on Assembly Systems, pp.55-60, Johannesburg, South Africa, May 15-17, 1996
Shinichi Hirai and Hidefumi Wakamatsu, Modeling of Deformable Strings with Bend, Twist, and Extension in 3D Space, Proc. 2nd ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, pp.529-534, Vienna, Austria, Sept. 26-28, 1996
Shinichi Hirai, Takashi Inatsugi, and Kazuaki Iwata, Learning of Admittance Matrix Elements for Manipulative Operations, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.2, pp.763-768, 10.1109/IROS.1996.571048, Osaka, Japan, Nov. 4-8, 1996

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1995

Shinichi Hirai, Hidefumi Wakamatsu, and Kazuaki Iwata, Towards a Task Planning for Deformable Object Manipulation - Formulation and Computation of Linear Object Deformation, Proc. IEEE Int. Symp. on Assembly and Task Planning, pp.80-85, 10.1109/ISATP.1995.518754, Pittsburgh, PA, U.S.A., Aug. 10-11, 1995
Hidefumi Wakamatsu, Shinichi Hirai, and Kazuaki Iwata, Modeling of Linear Objects Considering Bend, Twist, and Extensional Deformations, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.1, pp.433-438, 10.1109/ROBOT.1995.525322, Nagoya, Japan, May 21-27, 1995
Shinichi Hirai, Hideaki Noguchi, and Kazuaki Iwata, Transplantation of Human Skillful Motion to Manipulators in Insertion of Deformable Tubes, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1900-1905, 10.1109/ROBOT.1995.525542, Nagoya, Japan, May 21-27, 1995

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1994

Kouji Teramoto, Kazuaki Iwata, and Shinichi Hirai, Development of Learning System with Process Model Selection for Control of Ball-end Milling, Proc. 7th Int. Conf. on Production/Precision Engineering, pp.461-466, Chiba, Japan, Sept. 15-17, 1994
Shinichi Hirai, Takeshi Hisa, and Kazuaki Iwata, A Model-Based Generation of Fixture Layout Candidates for Workpiece Holding, Proc. 5th Japan-U.S.A. Symp. on Flexible Automation, pp.595-602, Kobe, Japan, July 11-13, 1994
Shinichi Hirai, Hidefumi Wakamatsu, and Kazuaki Iwata, Modeling of Deformable Thin Parts for Their Manipulation, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.4, pp.2955-2960, 10.1109/ROBOT.1994.350890, San Diego, CA, U.S.A., May 8-13, 1994

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1992

Shinichi Hirai and Kazuaki Iwata, Planning of Control and Sensing Strategies for Manipulation, Proc. 2nd Int. Symp. on Measurement and Control in Robotics, pp.567-572, Tsukuba, Japan, Nov., 1992
Shinichi Hirai and Kazuaki Iwata, A Model-based Generation of Damping Control Law for Part-mating, Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol.1, pp.494-499, 10.1109/IROS.1992.587380, Raleigh, NC, U.S.A., July 7-10, 1992
Shinichi Hirai and Kazuaki Iwata, Recognition of Contact State Based on Geometric Model, Proc. IEEE Int. Conf. on Robotics and Automation, Vol.2, pp.1507-1512, 10.1109/ROBOT.1992.220038, Nice, France, May 12-14, 1992

[Conferences][Page Top]

1990

Shinichi Hirai and Haruhiko Asada, A Model-Based Approach to the Recognition of Assembly Process States Using the Theory of Polyhedral Convex Cones, Proc. 3rd Japan-U.S.A. Symp. on Flexible Automation, pp.809-816, Kyoto, Japan, July, 1990

[Conferences][Page Top]

1989

Haruhiko Asada and Shinichi Hirai, Towards a Symbolic-Level Force Feedback: Recognition of Assembly Process States, 5-th Int. Symp. on Robotics Research, pp.341-346, Tokyo, Japan, Aug. 28-31, 1989

[Conferences][Page Top]

1988

Shinichi Hirai, Haruhiko Asada, and Hidekatsu Tokumaru, Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones and Its Applications to Grasping and Assembly Operations, Proc. IEEE Int. Workshop on Intelligent Robots and Systems Program, pp.451-456, 10.1109/IROS.1988.593639, Tokyo, Japan, Oct. 31 - Nov. 2, 1988
Shinichi Hirai, Haruhiko Asada, and Hidekatsu Tokumaru, The Analysis of Quasi-Static Unbalance in Assembly Operations for Planning Manipulation Forces, Proc. U.S.A.-Japan Symp. on Flexible Automation, pp.19-26, Minneapolis, MN, U.S.A., July 18-20, 1988

[Conferences][Page Top]

Keynotes

Shinichi Hirai, Soft Robotic Approach to Food Material Handling, 2020 Asia-Pacific Conference on Robotics and Autonomous Systems (APCRAS 2020), May 26, 2020
Shinichi Hirai, Simulation of Deformation in Robotics, Asia Simulation Conference 2009, Oct. 7, 2009

[Keynotes][Page Top]

Lectures

Shinichi Hirai, Soft Robotic Hands for Food Material Handling, FOOMA 1Day Special Lectures, Nov. 16, 2017

[Lectures][Page Top]

Oral Presentations

[2020] [2015] [2010] [2005] [2000] [1995] [1990]

2024

Shinichi Hirai and Takahiro Matsuno, Finger Stroke Detection by Fabric Touch Panel with its Application to Stuffed Animal Robot, 2024 63rd Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Kochi University of Technology Eikokuji Campus, Kochi, Japan, Aug. 27-30, 2024

[Oral Presentation][Page Top]

2023

Shinichi Hirai and Takahiro Matsuno, Measurement and Modeling of Dynamic Viscoelasticity and Surface Stickiness, SICE Annual Conference 2023, Mie University, Tsu, Japan, Sept. 6-9, 2023

[Oral Presentation][Page Top]

2021

Takahiro Matsuno, Koki Arimoto, Tatsuro Katsuma, and Shinichi Hirai, Binding Hand Mechanism for an Aerial Working Robot, 2021 IEEE Int. Conf. on Soft Robotics (RoboSoft 2021), online, Apr. 12-16, 2021
Mana Ishihara, Takahiro Matsuno, Kaspar Althoefer, and Shinichi Hirai, Integration of a Conductive Fabric Based Proximity Sensor into Variable Stiffness Link with Two Axes and Two Links, 2021 IEEE Int. Conf. on Soft Robotics (RoboSoft 2021), online, Apr. 12-16, 2021
Takahiro Matsuno, Takehiro Yabushita, Atsushi Mitani, and Shinichi Hirai, Development of Measurable Oral Care Simulator for Nursing Education, 2021 IEEE Int. Conf. on Advanced Robotics and Its Social Impacts (ARSO), online, July 8-10, 2021

[Oral Presentation][Page Top]

2020

Takahiro Matsuno and Shinichi Hirai, Deformed Shape Optimization of a Circular Elastic Jumping Robot Using Genetic Algorithm, 2020 IEEE Int. Conf. on Soft Robotics (RoboSoft 2020), online, May 15 - June 15, 2020

[Oral Presentation][Page Top]

2019

Ryo Kanegae, Zhongkui Wang, and Shinichi Hirai, Annular Shell Gripper of Food Grasping, 2019 IEEE Int. Conf. on Soft Robotics (RoboSoft 2019), COEX, Seoul, Korea, Apr. 14-18, 2019
Shinichi Hirai, Goal-oriented Design of Soft Force Sensor, ICRA 2019 Workshop on Soft Haptic Interaction: Modeling, Design and Application, Palais des congrès de Montréal, Montréal, Canada, May 20-24, 2019
Shinichi Hirai, Soft Robotic Approach to Food Material Manipulation, Workshop on Robotic Food Manipulation (IEEE-RAS Int. Conf. on Humanoid Robots), Hilton Toronto, Toronto, Canada, Oct. 15-17, 2019

[Oral Presentation][Page Top]

2018

Shinichi Hirai, Fabric/Fiber Tactile Sensors, ICRA 2018 Workshop: Active touch for perception and interaction: How nature inspires robotics, Brisbane Convention & Exhibition Centre, Australia, May 25, 2018
Shinichi Hirai, Soft Robotic Automation, The 3rd Int. Workshop on Active Materials and Soft Mechatronics (AMSM2018), KAIST, Daejeon, South Korea, Oct. 23-26, 2018

[Oral Presentation][Page Top]

2017

Shinichi Hirai, Soft Robotics for Object Manipulation, IROS 2017 Workshop on Soft Morphological Design for Haptic Sensation, Interaction and Display, Vancouver Convention Centre, Vancouver, BC, Canada, Sept. 24, 2017
Zhongkui Wang and Shinichi Hirai, Soft Robotic Gripper for Packaging of Japanese Lunch Box, 13th Joint Workshop on Machine Perception and Robotics (MPR2017), Lee Shau Kee Institute of Humanities, Peking University, China, Oct. 16-17, 2017
Takahiro Matusno, Zhongkui Wang, and Shinichi Hirai, Grasping State Sensing of Soft Gripper for Food Handling, 13th Joint Workshop on Machine Perception and Robotics (MPR2017), Lee Shau Kee Institute of Humanities, Peking University, China, Oct. 16-17, 2017
Shinichi Hirai, Soft Robotics for Locomotion and Manipulation, 17th Int. Conf. on Control, Automation and Systems (ICCAS 2017), Ramada Plaza, Jeju, Korea, Oct. 18-21, 2017

[Oral Presentation][Page Top]

2016

Zhongkui Wang and Shinichi Hirai, A 3D Printed Soft Gripper and Its Application for Lunch Box Packing, 12th Joint Workshop on Machine Perception and Robotics (MPR2016), Osaka Ibaraki Campus (OIC), Ritsumeikan University, Japan, Nov. 11-14, 2016
Kosuke Kadoma, Zhongkui Wang, and Shinichi Hirai, Elasticity Measurement of Biological Tissure using a Probe-Type Instrument, 12th Joint Workshop on Machine Perception and Robotics (MPR2016), Osaka Ibaraki Campus (OIC), Ritsumeikan University, Japan, Nov. 11-14, 2016

[Oral Presentation][Page Top]

2015

Damith Suresh Chathuranga and Shinichi Hirai, Soft 3D Tactile Sensor for Artificial Fingertips - Design, Fabrication and Testing of the Sensor -, Robotics and Mechatronics Conference 2015, Miyakomesse, Kyoto, Japan, May 17-19, 2015
Javier Molina and Shinichi Hirai, Aerial Grasping and Load Transportation Using Multirotor Helicopters Towards Moving Long-size Payload, Robotics and Mechatronics Conference 2015, Miyakomesse, Kyoto, Japan, May 17-19, 2015
Han Yechen and Shinichi Hirai, Recognition of Underwater Creatures Using SIFT and Bag-of-words Model, Robotics and Mechatronics Conference 2015, Miyakomesse, Kyoto, Japan, May 17-19, 2015
Zhongkui Wang, Kan Imai, Masamitsu Kido, Kazuya Ikoma, and Shinichi Hirai, FE Modeling of a Flatfoot Deformity for Improving Surgical Planning, SIMULIA Community Conference, Berlin, Germany, May 18-21, 2015 "favorite" poster award
Zhongkui Wang, Kan Imai, Masamitsu Kido, Kazuya Ikoma, and Shinichi Hirai, Study on Surgical Simulation of Flatfoot Using FE Model towards Patient Specific Surgery, The 11th Joint Workshop on Machine Perception and Robotics (MPR2015), JR Hakata City Conference Rooms, Fukuoka November 26-27, Nov. 26-27, 2015
Kousuke Kadoma, Zhongkui Wang, and Shinichi Hirai, Development of Probe-Type Instrument for Measuring Soft Tissue Elasticity, The 11th Joint Workshop on Machine Perception and Robotics (MPR2015), JR Hakata City Conference Rooms, Fukuoka November 26-27, Nov. 26-27, 2015

[Oral Presentation][Page Top]

2013

Damith Suresh Chathuranga Katudampe Vithanage and Shinichi Hirai, A Bio-Mimetic Fingertip that can Detect Force and Vibration Modalities - Investigation of Bio-mimetic Fingertip's Ability to Discriminate Textures, Robotics and Mechatronics Conference 2013, Tsukuba International Congress Center, May 22-25, 2013
Yechen Han and Shinichi Hirai, Color Filter in SIFT Matching, Robotics and Mechatronics Conference 2013, Tsukuba International Congress Center, May 22-25, 2013
Van Anh Ho and Shinichi Hirai, Fabric Sensor Detecting Slippage, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013
Phuong Le and Shinichi Hirai, Investigation of the Effect of Dimensionless Geometry of Saw-tooth Surface on the Micropart Motion, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013
Damith Suresh Chathuranga Katudampe Vithanage and Shinichi Hirai, Surface Texture Discrimination Using MEMS Accelerometer Embedded Biomimetic Fingertip, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013

[Oral Presentation][Page Top]

2012

Muhammad Hisyam bin Rosle and Shinichi Hirai, Measurement of the Cable-end's Three Dimensional Position and Orientation based on Stereo Vision, Robotics and Mechatronics Conference 2012, Hamamatsu, Japan, May 28-29, 2012
Van Anh Ho, Zhongkui Wang, and Shinichi Hirai, Beam Bundle Model of Human Fingertip during Pre-Slide Phase, 30th Annual Conference of Robotics Society of Japan, Sapporo, Japan, Sept. 17-20, 2012
Lijuan Wang, Zhongkui Wang, and Shinichi Hirai, Modeling and Simulation of Friction Forces during Needle Insertion Using Local Constraint Method, 8th Joint Workshop on Machine Perception and Robotics (MPR2012), Fukuoka, Japan, Oct. 16-17, 2012

[Oral Presentation][Page Top]

2011

Van Anh Ho, Tatsuya Nagatan, Akio Noda, and Shinichi Hirai, From Tactile Data to Image Processing, and Application in Robotic In-Hand Manipulation, 29th Annual Conference of Robotics Society of Japan, Toyosu, Japan, Sept. 7-9, 2011
Zhongkui Wang and Shinichi Hirai, Modeling of Rheological Object with Square or Cubic Finite Element, 7th Joint Workshop on Machine Perception and Robotics (MPR2011), Beijing, China, Oct. 13-14, 2011
Xubing Zhang and Shinichi Hirai, TPS-SURF-SAC Based Matching of Feature Points in Nonrigid Deformed Tissues: Applied to Abdomen MR Images, 7th Joint Workshop on Machine Perception and Robotics (MPR2011), Beijing, China, Oct. 13-14, 2011
Van Anh Ho, Tatsuya Nagatani, Akio Noda, and Shinichi Hirai, Enhancement of Tactile Sensor's Ability in In-Hand Manipulation Utilizing Image Processing Tool, 12th SICE System Integration Division Annual Conference, pp.354-357, Kyoto, Japan, Dec. 23-25, 2011

[Oral Presentation][Page Top]

2010

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, Japan, Oct. 8-9, 2010
Xubing Zhang, Shinichi Hirai, and Penglin Zhang, The Feature Points Matching of Non-rigid Tissues Based on SURF, Spatial Association Correspondence and Clustering: Application to MR 2-D Slice Deformation Measurement, 6th Joint Workshop on Machine Perception and Robotics (MPR2010), Fukuoka, Japan, Oct. 8-9, 2010

[Oral Presentation][Page Top]

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, Japan, 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, Japan, Oct. 4-5, 2009

[Oral Presentation][Page Top]

2008

Zhongkui Wang and Shinichi Hirai, Physical Parameter Identification of Uniform Rheological Deformation through FE Model Simulation, Robotics and Mechatronics Conference 2008, Nagano, Japan, June 5-7, 2008
Atsushi Mitani, Hideya Tsuji, Toshiatsu Yoshimura, and Shinichi Hirai, Feeding of Submillimeter Microparts Along an Asymmetric Surface Microfabricated by Femtosecond Laser Process, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2008), Nice, France, Sept. 22-26, 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, Nov. 6-7, 2008

[Oral Presentation][Page Top]

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, Nov. 16-17, 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, Nov. 16-17, 2007

[Oral Presentation][Page Top]

2006

Takahiro Inoue and Shinichi Hirai, Experimental Exploration of Soft-fingered Grasping and Manipulation, 2nd Joint Workshop on Machine Perception and Robotics (MPR2006), Fukuoka, Nov., 2006

[Oral Presentation][Page Top]

2005

Shinichi Hirai, How Object Softness Contributes to Robotics, 1st Joint Workshop on Machine Perception and Robotics (MPR2005), Beijing, Sept., 2005

[Oral Presentation][Page Top]

2001

Shinichi Hirai and Sadao Kawamura, Pneumatic Active/Passive Devices for Wearable Robots, US/Japan Workshop on Exoskeleton Technologies, Maui, U.S.A., 2001

[Oral Presentation][Page Top]

1999

Shinichi Hirai, Design of Soft Actuators and Material for Human-Supporting Robots, EU-Japan Symposium on Human Friendly Robotics, 1999

[Oral Presentation][Page Top]

Awards

2024	SI2024 Excellent Presentation Award
	Proposal of LSTM network configuration and data collection method for estimating the diameter of grasped objects using a soft finger with built-in IPMC sensor

1990	SICE (Society of Instrument and Control Engineers) Best Paper Award
	Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones and Its Applications to Grasping and Assembly Operetions

[Awards][Page Top]

2024	SII 2024 Finalist Best Soft Robotic Paper Award
	Fabric Manipulation by Pulling-Driven Soft Hand with Closing-Approaching Coupling

2019	FOOMA Japan 2019 Academic Plaza (FOOMA AP) AP Award (Visitors Evaluation)
	Non-destructive Measurement of Food Viscoelasticity

2018	IEEE RCAR 2018 Best Paper Award on Robotics
	A Soft Gripper with Adjustable Stiffness and Variable Working Length for Handling Food Material

2018	FOOMA Japan 2018 Academic Plaza (FOOMA AP) AP Award Grand Prix
	Food Material Handling by Printable Soft Hands and Pre-stretched Soft Hands

2017	SII 2017 Finalist for Best Conference Paper Award
	Deformation Estimation of a Plate Spring Using Asymmetric and Symmetric Conductive Patterns

2017	IEEE RCAR 2017 Best Conference Paper Finalist
	Real-time Curvature Estimation of Printable Soft Gripper using Electro-conductive Yarn

2017	FOOMA Japan 2017 Academic Plaza (FOOMA AP) AP Award Grand Prix
	Soft Robotic Hands for Food Material Handling

2017	Best Presentation Award of 2017 3rd Int. Conf. on Mechatronics and Robotics Engineering (ICMRE 2017)
	Kinematic Analysis of a Novel Skew-gripper for Aerial Pruning Tasks

2016	FOOMA Japan 2016 Academic Plaza (FOOMA AP) Prize
	Lightweight Robotic Hands for Food Material Handling

2015	SIMULIA Community Conference "favorite" poster award
	FE Modeling of a Flatfoot Deformity for Improving Surgical Planning

2014	FOOMA Japan 2014 Academic Plaza (FOOMA AP) Prize
	Handling of Food Materials by Lightweight Robot System

2011	Finalists of T. J. Tarn Best Paper in Robotics
	TPS-SURF-SAC Matching Approach of Feature Point Applied to Deformation Measurement of Nonrigid Tissues from MR Images

2009	Finalist of 2009 IEEE Int. Conf. on Robotics and Biomimetics Best Paper in Biomimetics
	Two-Phased Force and Coordinates Controller for a Pair of 2-DOF Soft Fingers

2008	RSJ (Robotics Society of Japan) Best Paper Award
	Experimenatal Investigation of Mechanics in Soft-fingered Grasping and Manipulation

2007	Robotics Symposia Best Paper Award
	Dynamics of Object Manipulation by a Pair of Soft Fingertips

2006	SICE (Society of Instrument and Control Engineers) SI2006 Presentation Award
	Mechanical Energy Analysis of Jumping by Body Deformation of Circular Soft Robot

2006	Finalist of 2006 IEEE Int. Conf. Robotics and Automation Manipulation Best Paper Award
	Study on Hemispherical Soft-Fingered Handling for Fine Manipulation by Minimum D.O.F. Robotic Hand

2006	Finalist of 2006 IEEE Int. Conf. Robotics and Automation Vision Best Paper Award
	CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems

2005	Finalist of 2005 IEEE Int. Conf. Robotics and Automation Manipulation Best Paper Award
	Quasi-Static Manipulation with Hemispherical Soft Fingertip via Two Rotational Fingers

2001	Finalist of 2001 IEEE Int. Conf. Robotics and Automation Kayamori Best Paper Award
	Vision-based Automatic Forming of Rheological Objects Using Deformation Transition Graphs