Bio-Robotics & Human-Mechatronics Laboratory (Waseda Univ.)

		Bio-Robotics & Human-Mechatronics Laboratory --- top (Takafumi Matsumaru Laboratory)
		Graduate School of Information, Production and Systems (IPS), Waseda University

[home] = https://sem-matsumaru.w.waseda.jp/
# Contents: [top] [aim] [theme] [publications] [member] [event] [grant]

[YouTube (brhmlab waseda)] = https://www.youtube.com/@brhmlabwaseda919/videos
[Personal (Takafumi Matsumaru)] = https://matsumaru.w.waseda.jp/

Message

Education Policy of School: ENG WebPage, JPN WebPage.
Laboratory Policy: pdf (117 kB) --- Those who apply for or belong to our laboratory are deemed to have understood and agreed to this policy.
[supplement1] About research: pdf (129 kB), Check points: pdf (57 kB).
[supplement2] Presentation Tech: pdf (44 kB), Presentation Check: pdf (119 kB).
[supplement3] To complete Master's program: pdf (169 kB), Schedule (FY2025): pdf (78 kB).
[tips1] Video-on-demand content to help you write and submit effective English-language academic papers. (sorry only for Waseda students)
[tips2] Video-on-demand content to help you plan, create, and deliver effective research presentations in English. (sorry only for Waseda students)
[tips3] Tips for Making a Good Robot Video - IEEE Robotics and Automation Society.
[tips4] Research and Writing: pdf (80 kB).
[reference] "CAMPUS NOW", no.244 (2022.7): WebPage, pdf (12kB). (sorry only in Japanese)

Laboratory Intro:
(2025.5) YouTube(EN) YouTube(JP)
(2025.6) "Inside Laboratory" repoerted by HE, Xin (D4) and HAN, Pengcheng (D1)
(EN) = https://www.waseda.jp/fsci/gips/news-en/2025/06/03/30640/
(JP) = https://www.waseda.jp/fsci/gips/news/2025/06/03/30609/
(2024.9) pdf (632 kB), (2023.3) pdf (119 kB), (2019.4) pdf (2,295 kB), (2017.11) pdf (925 kB), (2014.2) pdf (1,124 kB), (2013.11) pdf (447 kB), (2011.4) pdf (2,593 kB).
For those who are considering affiliation to Bio-Robotics and Human-Mechatronics laboratory: (2022.2) pdf, Acceptance condition: (2025.3) pdf.
"Research on bio-robots and human-mechatronics (Doctoral program) Spring semester" (FY2025)
"Research on bio-robots and human-mechatronics (Doctoral program) Fall semester" (FY2025)
"Research on bio-robots and human-mechatronics (Master's Course) Spring semester" (FY2025)
"Research on bio-robots and human-mechatronics (Master's Course) Fall semester" (FY2025)
"Robotics and Mechatronics Advanced Seminar" (Fall, FY2025)
"Robotics and Mechatronics Exercise A" (Fall, FY2025)
"Robotics and Mechatronics Exercise B" (Spring, FY2025)
"Robotics and Mechatronics Exercise C" (Spring, FY2025)
"Robotics and Mechatronics Exercise D" (Fall, FY2025)
[reference] Syllubus Search

2025 Fall semester by Prof. Matsumaru:
"Bioengieering (BIE)" --- Syllabus (FY2025), Instructions (17-Sep-2025).
"Robotics (RBT)" --- Syllabus (FY2025), Instructions (17-Sep-2025).
2025 Spring semester by Prof. Matsumaru:
"Human-Robot Interaction (HRI)" --- Syllabus (FY2025), Instructions (14-Mar-2025).
2024 Fall semester by Prof. Matsumaru:
"Bioengieering (BIE)" --- Syllabus (2024), Instructions (03-Sep-2024).
"Robotics (RBT)" --- Syllabus (2024), Instructions (04-Sep-2024).
2024 Spring semester by Prof. Matsumaru:
"Human-Robot Interaction (HRI)" --- Syllabus (2024), Instructions (28-Feb-2024).

Achievements of collaborative research with Warsaw University of Technology (WUT), Poland.
- Xin He, Teresa Zielinska, Takafumi Matsumaru, Vibekananda Dutta: "Robotic artistic writing -- reproduction of signs drawn on the surface of plastically deformable materials", IEEE Sensors Journal, Vol.25, No.10, pp.18090-18105, (2025.05), https://doi.org/10.1109/JSEN.2025.3555571.
  - YouTube
- Xin He, Teresa Zielinska, Vibekananda Dutta, Takafumi Matsumaru, Robert Sitnik: "From Seeing to Recognising - an Extended Self-Organizing Map for Human Postures Identification", IEEE Robotics and Automation Letters, Vol.9, Issue 9, pp.7899-7906, (2024.07), https://doi.org/10.1109/LRA.2024.3433201.
  - 2024 Excellent Atudent Award (IEEE Fukuoka Section) (2025.02): site
  - YouTube

Academic journal paper based on Master's project (in descending order).
- HAN, Pengcheng (2025 Mar, M).
  - Pengcheng Han, Xin He, Takafumi Matsumaru, Vibekananda Dutta: "Spatio-temporal Transformer with Kolmogorov-Arnold Network for Skeleton-Based Hand Gesture Recognition", Sensors (MDPI), Vol.25, Issue 3, 702 (23 pages), (2025.01.24). https://doi.org/10.3390/s25030702
- MA, Zhikun (2025 Mar, M).
  - Zhikun Ma, Qicong Sun, Takafumi Matsumaru: "Bidirectional Planning for Autonomous Driving Framework with Large Language Mode", Sensors (MDPI), Vol.24, Issue 20, 6723 (24 pages), (2024.10.19). https://doi.org/10.3390/s24206723
- TAN, Xuhang (2023 Sept, M).
  - Xuhang Tan, Jicheng Tong, Takafumi Matsumaru, Vibekananda Dutta, Xin He: "An End-to-End Air Writing Recognition Method Based on Transformer", IEEE Access, Vol.11, pp.109885-109898 (14 pages), (2023.10.04). https://doi.org/10.1109/ACCESS.2023.3321807
    - YouTube
- XU, Shizhuo (2022 Sept, M).
  - Shizhuo Xu, Vibekananda Dutta, Xin He, Takafumi Matsumaru: "A Transformer-Based Model for Super-resolution of Anime Image", Sensors (MDPI), Vol.22, Issue 21, 8126 (31 pages), (2022.10.24). https://doi.org/10.3390/s22218126
- LI, Shengyin (2022 Sept, M).
  - Shengyin Li, Vibekananda Dutta, Xin He, Takafumi Matsumaru: "Deep Learning Based One-Class Detection System for Fake Faces Generated by GAN Network", Sensors (MDPI), Vol.22, Issue 20, 7767 (24 pages), (2022.10.13). https://doi.org/10.3390/s22207767
    - YouTube
- HE, Xin (2021 Sept, M).
  - Xin He, Takafumi Matsumaru: "A Estimation of Flat Object Deformation Using RGB-D Sensor for Robot Reproduction", Sensors (MDPI), Vol.21, Issue 1, 105 (36 pages), (2020.12.26). https://doi.org/10.3390/s21010105
- MORIKAWA, Ami (2020 Mar, M).
  - Takafumi Matsumaru, Ami Morikawa: "An Object Model and Interaction Method for a Simulated Experience of Pottery on a Potter's Wheel", Sensors (MDPI), Vol.20, Issue 11, 3091 (23 pages), (2020.05.29). https://doi.org/10.3390/s20113091
- ZHU, Chen (2019 Sept, M).
  - Chen Zhu, Takafumi Matsumaru: "Image Processing for Picking Task of Random Ordered PET Drinking Bottles", Journal of Robotics, Networking and Artificial Life (JRNAL), Vol.6, Issue 1, pp.38-41, (2019.06.14). https://doi.org/10.2991/jrnal.k.190531.008
- SEPTIANA, Asyifa Imanda (2018 Sept, M).
  - Takafumi Matsumaru, Asyifa Imanda Septiana, Kazuki Horiuchi: "Three-dimensional Aerial Image Interface, 3DAII", Journal of Robotics and Mechatronics (JRM), Vol.31, No.5, pp.650-670, (2019.10.20). https://doi.org/10.20965/jrm.2019.p0657
- FARID, Ahmed (2018 Sept, M).
  - Ahmed Farid, Takafumi Matsumaru: "Path Planning in Outdoor Pedestrian Settings Using 2D Digital Maps", Journal of Robotics and Mechatronics (JRM), Vol.31, No.3, pp.464-473, (2019.06.20). https://doi.org/10.20965/jrm.2019.p0464
- NARITA, Masashi (2016 Mar, M).
  - Takafumi Matsumaru, Masashi Narita: "Calligraphy-Stroke Learning Support System Using Projector and Motion Sensor", Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII), Vol.21, No.4, pp.697-708, (2017.07.20). https://doi.org/10.20965/jaciii.2017.p0697

International conference paper based on Master's project (in descending order).
- HE, Xin (2021 Sept, M).
  - Xin He, Vibekananda Dutta, Takafumi Matsumaru: "Reproduction of Flat and Flexible Object Deformation using RGB-D Sensor and Robotic Manipulator", 2022 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022), [Xishuangbanna, China] (05-09 Dec 2022), pp.1257-1262, (2022.12.09.Fri). https://doi.org/10.1109/ROBIO55434.2022.10011851
    - YouTube
- NI, Xiaohan (2021 Sept, M).
  - Xiaohan Ni, Xin He, Takafumi Matsumaru: "Training a Robotic Arm Movement with Deep Reinforcement Learning", 2021 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2021), [Hainan, Sanya, China] (27-31 Dec 2021), pp.595-600, (2021.12.28.Tue). https://doi.org/10.1109/ROBIO54168.2021.9739340
    - YouTube
- LUAN, Kaixiang (2020 Sept, M).
  - Kaixiang Luan, Takafumi Matsumaru: "Dynamic Hand Gesture Recognition for Robot Arm Teaching based on Improved LRCN Model", 2019 IEEE International Conference on Robotics and Biomimetics (IEEE Robio 2019) [Dali, Yunnan, China] (6-8 Dec 2019), pp.1269-1274, (2019.12.07). https://doi.org/10.1109/ROBIO49542.2019.8961787
- ZHU, Chen (2019 Sept, M).
  - Chen Zhu, Takafumi Matsumaru: "Brand Recognition with Partial Visible Image in the Bottle Random Picking Task based on Inception V3", 2019 28th IEEE International Conference on Robot and Human Interactive Communication (IEEE Ro-Man 2019), (14-18 Oct 2019), [New Delhi, India], pp.1-6 (6pages), (2019.10.16.Wed). https://doi.org/10.1109/RO-MAN46459.2019.8956374
- ZHU, Chen (2019 Sept, M).
  - Chen Zhu, Takafumi Matsumaru: "Image Processing for Picking Task of Random Ordered PET Drinking Bottles", 2019 International Conference on Artificial Life and Robotics (ICAROB 2019), (10-13 Jan 2019), [Beppu, Japan], pp.634-637, (2019.01.12.Sat). https://doi.org/10.5954/ICAROB.2019.GS2-4
- HORIUCHI, Kazuki (2019 Mar, M).
  - Kazuki Horiuchi, Takafumi Matsumaru: "Short Range Fingertip Pointing Operation Interface by Depth Camera", 2018 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2018), (12-15 Dec 2018), [Kuala Lumpur, Malaysia], pp.132-137, (2018.12.13.Thu). https://doi.org/10.1109/ROBIO.2018.8665254
- FARID, Ahmed (2018 Sept, M).
  - Ahmed Farid, Takafumi Matsumaru: "Path Planning of Sidewalks & Street Crossings in Pedestrian Environments Using 2D Map Visual Inference", In: Vigen Arakelian, Philippe Wenger (eds): "ROMANSY 22 - Robot Design, Dynamics and Control", CISM International Centre for Mechanical Sciences (Courses and Lectures), Vol.584, Chapter 32, pp.247-255, Springer, Cham, Switzerland, (June 2018). https://doi.org/10.1007/978-3-319-78963-7_32
- SEPTIANA, Asyifa Imanda (2018 Sept, M).
  - Asyifa Imanda Septiana, Mahfud Jiono, Takafumi Matsumaru: "Measuring Performance of Aerial Projection of 3D Hologram Object (3DHO)", 2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017), [Macau SAR, China], (5-8 Dec 2017), pp.2081-2086, (2017.12.08.Fri). https://doi.org/10.1109/ROBIO.2017.8324726
- JIONO, Mahfud (2017 Sept, M).
  - Mahfud Jiono, Takafumi Matsumaru: "Interactive Aerial Projection of 3D Hologram Object", 2016 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2016), [Qingdao, China], (3-7 Dec 2016), pp.1930-1935, (2016.12.06.Tue). https://doi.org/10.1109/ROBIO.2016.7866611

News
Event:

Exhibition (2025.04)
- Metaverse EXPO of DOIC (Digital Open Innovation Campus) for EXPO 2025 Osaka, Kansai with Prof. Kamata and Prof. Hashimoto
Special Talk/Lecture (2025.02)
- YouTube: "Remote operation / Teleoperation of Robots" by Prof. Takafumi MATSUMARU, Waseda-IPS, 27-Feb-2025
- YouTube: "Humanoid Robot Research and its Applications" by Prof. Kenji HASHIMOTO, Waseda-IPS, 25-Feb-2025
Special Talk/Lecture (2025.01)
- YouTube: "CETE Research and Activities" by Prof. Rajlaxmi CHOUHAN, IIT Jodhpur, 16-Jan-2025
- YouTube: "Game-based Learning & Gamification in Engineering Education" by Prof. Rajlaxmi CHOUHAN, IIT Jodhpur, 15-Jan-2025
Special Talk/Lecture (2024.09)
- YouTube: "Rehabilitation Robots" by Takafumi MATSUMARU, Waseda-IPS, 26-Sep-2024
- YouTube: "Affinity of Human Symbiotic Robots" by Prof. Takafumi MATSUMARU, Waseda-IPS, 25-Sep-2024
- YouTube: "Tokenization of Skeleton-based Transformer Model for Cross-View Gait Recognition" by Mr. Tatsuya KAWAKAMI, Waseda-IPS, 24-Sep-2024
Special Talk/Lecture (2024.07)
- YouTube: "Final Report: A 5-day Academic Visit to IPS Waseda" by Mr. Arun VALSAN BINDU, Mr. Barun Mahaldar BRINCHI MAHALDAR, Digital Humanities, IIT Jodhpur, 26-Jul-2024
- YouTube: "Digital Humanities - an introduction" by Mr. Arun VALSAN BINDU, Mr. Barun Mahaldar BRINCHI MAHALDAR, Digital Humanities, IIT Jodhpur, 25-Jul-2024
Special Talk/Lecture (2024.02)
- YouTube: "The role of human factors in full body motion dynamics analysis for service robotics applications" by Dr. Vibekananda DUTTA, Faculty of Mechatronics, WUT, 28-Feb-2024
- YouTube: "The role of human factors in full body motion dynamics analysis" by Dr. Vibekananda DUTTA, Faculty of Mechatronics, WUT, 22-Feb-2024
Special Talk/Lecture (2024.02)
- YouTube: "Calligraphy-Stroke Learning Support System using Projector and Motion Sensor" by Prof. Takafumi MATSUMARU, Waseda-IPS, 13-Feb-2024
- YouTube: "Preliminary Announcement and Indication of a Robotï¿½fs Upcoming Movement and Intention"by Prof. Takafumi MATSUMARU, Waseda-IPS, 12-Feb-2024
Special Talk/Lecture (2023.12)
- YouTube: "Exploring SMART Pedagogy through the End-to-end development of a Technology-enhanced Learning System" by Dr. Rachel PHILIP, SoLA, IIT Jodhpur, 20-Dec-2023
- YouTube: "Social Inequalities and Education" by Dr. Rachel PHILIP, SoLA, IIT Jodhpur, 19-Dec-2023
July-September 2023, Visiting Professor, Warsaw University of Technology (WUT) (Doctoral School).
March-April 2023, Visiting Professor, Warsaw University of Technology (WUT) (Doctoral School).
Talk and demonstlation at Wasedasai 2022
[Time & Date] 11h00-12h00 05(Sat),06(Sun)-Nov-2022
[Venue] 302, Building 3, Waseda Campus
[Project] Mechanical Science from Kitakyushu Campus
- YouTube: Image-projecting Desktop Arm Trainer, IDAT-3 (2) by hammer
Special Talk/Lecture (2022.08)
- YouTube: "Final Talk of the Internship Program" by Dr. Vibekananda DUTTA, Faculty of Mechatronics, WUT, 31-Aug-2022
- YouTube: "Human Movements Study for its Application in Assistive Robotic Tool" by Dr. Vibekananda DUTTA, Faculty of Mechatronics, WUT, 03-Aug-2022

Media coverage:

Simulated Experience of Pottery on a Potter's Wheel is introduced in IEEE Spectrum (electric version): Video Friday, 26-Mar-2021.

Academic society:

Prof. Takafumi Matsumaru is a Senior Member of IEEE: pdf, 20-Feb-2021.

Cherry Blossoms - University of Washington:

YouTube: at the "Quad", 08-Mar-2016
YouTube: at the "Quad", 05-Mar-2016

FIGHT Song - Waseda University:

Waseda-sai Official Theme Song
« 2025 » YouTube
« 2024 » YouTube
« 2023 » YouTube
School closure FIGHT Song by SHARPwaseda
« Virtual Chorus » YouTube (31-Aug-2020)
« A waseda student » YouTube (07-Jul-2020)
« Lyric version » YouTube (27-Jun-2020)

INTRODUCTION of Information Architecture Research Field in Waseda-IPS
General introduction of Information Architecture Group:

(Jul 2022).
pdf (180 kB) --- Members of Information Architecture Group (27 July 2022)
(Aug 2019).
pdf (2,186 kB) --- Introduction of Research Field: Information Architecture (23 August 2019)

INTRODUCTION of BRHM lab.
General introduction of BRHM lab.:

(Spt 2024).
pdf (632 kB) --- Introduction of BRHM lab. (13-September-2024)
(Apr 2019).
pdf (2,295 kB) --- Introduction of BRHM lab. (04-April-2019)

Student's introduction:

(Jun 2025). "Inside Laboratory" repoerted by HE, Xin (D4) and HAN, Pengcheng (D1)
[English] = https://www.waseda.jp/fsci/gips/news-en/2025/06/03/30640/
[Japanese] = https://www.waseda.jp/fsci/gips/news/2025/06/03/30609/
(Jan 2022). "Inside Laboratory" repoerted by HE, Xin (D1) and LI, Shengyin (M2)
[English] = https://www.waseda.jp/fsci/gips/news-en/2022/01/06/22126/
[Japanese] = https://www.waseda.jp/fsci/gips/news/2022/01/06/22123/
(Dec 2018). "Inside Laboratory" repoerted by CHEN, Zhu (M2) and MORIKAWA, Ami (M1)
[English] = https://www.waseda.jp/fsci/gips/news-en/2018/12/26/14643/
[Japanese] = https://www.waseda.jp/fsci/gips/news/2018/12/26/14640/
(May 2016). "Inside Laboratory" repoerted by FANG, Pengcheng (M2) and CHAI, Zheng (M2)
[English] = http://www.waseda.jp/fsci/gips/news-en/2016/05/19/6725/
[Japanese] = http://www.waseda.jp/fsci/gips/news/2016/05/19/6720/

INTRODUCTION of Courses / Lectures by Prof. Matsumaru

Human-Robot Interaction (HRI)
Syllabus --- 2025 --- 2024 --- 2023 --- 2022 --- 2021
pdf (158 kB) --- Instructions for 2025 Spring semester (14-March-2025)
pdf (115 kB) --- Instructions for 2024 Spring semester (28-February-2024)
pdf (98 kB) --- Instructions for 2023 Spring semester (13-April-2023)
pdf (62 kB) --- Instructions for 2022 Spring semester (21-March-2022)
pdf (63 kB) --- Instructions for 2021 Spring semester (03-April-2021)
Introduction movie (2019) --- YouTube: (01/15) first 30 min., 09-Apr-2019

# Waseda e-Teaching award (04-September-2023)
Bioengieering (BIE)
Syllabus --- 2025 --- 2024 --- 2023 --- 2022 --- 2021 --- 2020
pdf (218 kB) --- Instructions for 2025 Fall semester (17-September-2025)
pdf (138 kB) --- Instructions for 2024 Fall semester (03-September-2024)
pdf (103 kB) --- Instructions for 2023 Fall semester (25-August-2023)
pdf (67 kB) --- Instructions for 2022 Fall semester (02-September-2022)
pdf (60 kB) --- Instructions for 2021 Fall semester (09-September-2021)
pdf (30 kB) --- Instructions for 2020 Fall semester (20-September-2020)
Introduction movie (2018) --- YouTube: (01/15) first 30 min., 02-Oct-2018
Robotics (RBT)
Syllabus --- 2025 --- 2024 --- 2023 --- 2022 --- 2021 --- 2020
pdf (166 kB) --- Instructions for 2025 Fall semester (17-September-2025)
pdf (119 kB) --- Instructions for 2024 Fall semester (04-September-2024)
pdf (102 kB) --- Instructions for 2023 Fall semester (25-August-2022)
pdf (67 kB) --- Instructions for 2022 Fall semester (02-September-2022)
pdf (58 kB) --- Instructions for 2021 Fall semester (09-September-2021)
pdf (29 kB) --- Instructions for 2020 Fall semester (20-September-2020)
Introduction movie (2018) --- YouTube: (01/15) first 30 min., 03-Oct-2018

LEADER of BRHM lab
Takafumi MATSUMARU, Waseda University - Professor.

Introduction of Bio-Robotics and Human-Mechatronics Laboratory (2019.04)
[SlideShare] = https://www.slideshare.net/TakafumiMatsumaru/introduction-of-biorobotics-and-humanmechatronics-laboratory-201904-195919214
Lectured at VIU, Italy (2019.09)
- VIU Graduate Seminar Rethinking Manufacturing in the Era of Automation. September 9-13, 2019 --- Website, YouTube
  - Prof. Matsumaru appears in about 2m47s, 3m20s, 6m51s, 8m12s, 9m07s.

How Japanese society works? paying attention to manufacturing (2019.09)
- [SlideShare] = https://www.slideshare.net/TakafumiMatsumaru/how-japanese-society-works-paying-attention-to-manufacturing

White Paper on Manufacturing Industries in Japan (2019.09)
- [SlideShare] = https://www.slideshare.net/TakafumiMatsumaru/white-paper-on-manufacturing-industries-in-japan

Development of Production System and Robotic Manufacturing (2019.09)
- [SlideShare] = https://www.slideshare.net/TakafumiMatsumaru/development-of-production-system-and-robotic-manufacturing

Book "Seitai-Kino-Kogaku" (2020.07: 2nd printing)
[TDU press] = https://www.tdupress.jp/book/b349536.html
[Google Books] = https://books.google.co.jp/books?id=2IGMVtw3r28C
[Amazon Japan] [Rakuten] [Amazon France] [Amazon Italy] [Amazon UK] [AbeBooks UK]

Research project on PROJECTION Interface

20210207V_poster_J_200310WOI20_lab200205d