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

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

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  [General Introduction]
  [Research Subject]       * From newest to oldest.
  -   Human Activity / Action / Posture Recognition
  -   Robotization of Manual Works
  -   Learning Support System
  -   3D Projection and Sensing Integration System
  -   Camera Data Application
  -   Projecting Desktop Interface
  -   Projecting Wall Interface
  -   Image-Projective Desktop Arm Trainer, IDAT
  -   Human Detecting/Following Mobile Robot --- Robot Companion/Partner Robot
  -   Walking Trainer Mobile Robot System
  -   Interaction with Human Symbiotic Robot
  -   Preliminary Announcement of Mobile Robot Intention
  -   Remote Operation System of Mobile Robot
  -   Form and Movement of Human Synergetic Robot
  -   Measurement and Analysis of Human Motion and Behavior
  -   Systematic Learning on Mechatronics

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[General introduction]
    pdf (632 kB)     --- general introduction of BRHM lab. (Sep-2024)
    pdf (119 kB)     --- general introduction of BRHM lab. (Mar-2023)
    pdf (2,295 kB)     --- general introduction of BRHM lab. (Apr-2019)
    pdf (925 kB)     --- general introduction of BRHM lab. (Nov-2017)
    pdf (1,124 kB)     --- general introduction of BRHM lab. (Feb-2014)
    pdf (447 kB)     --- general introduction of BRHM lab. (Nov-2013)
    pdf (2,593 kB)     --- general introduction of BRHM lab. (Apr-2011)

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[Research Subject]       * From newest to oldest.

• Human Activity / Action / Posture Recognition
  • Probabilistic approach
        probabilistic neural network (PNN), probabilistic distribution functions (PDF), k Nearest Neighbors (kNN), Gray Wolf optimization (GWO) --- (see YouTube, Aug-2023)
  • Self-Organizing Map (SOM)
        both in supervised (as a classifier) or unsupervised (clustering) mode

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• Robotization of Manual Works
  • Object Deformation
        Flat Object Deformation (Introduction) --- (see YouTube, Feb-2021)  
        Flat Object Deformation (Details) --- (see YouTube, Feb-2021)  
             
        Flat and Flexible Object Deformation (Presentation) --- (see YouTube, Dec-2022)  
        Flat and Flexible Object Deformation (Supplement) --- (see YouTube, Dec-2022)  
  
  • Random Picking
       

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• Learning Support System
  • 'Smart' Pedagogy
        End-to-End Development of a Technology-Enhanced Learning (TEL) System --- (see YouTube, Feb-2024)  
  
  • SAKSHAR: Image-projective Desktop Varnamala Trainer (IDVT)
        Akshar --- (see YouTube, Jun-2014)  
        A system for Interactive Learning --- (see YouTube, Aug-2014)  
        Normal LCD Screen converted to Touch Screen --- (see YouTube, Nov-2015)  
       
  
  • Calligraphy-Stroke Learning Support System (CSLSS)
        Using Projector and Motion Sensor --- (see YouTube, Nov-2015)  
       
  

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• 3D Projection and Sensing Integration System
  • Three-dimensional Aerial Image Interface, 3DAII
        Feasibility model --- (see YouTube, Nov-2016)  
        Interaction with an object --- (see YouTube, Mar-2017)  
  
  • Application) Remote operation
        6 DoF manipulator --- (see YouTube, Jul-2017)  
             
  
  • Working model
        Prototype building --- (see YouTube, Nov-2017)  
        Prototype demonstration --- (see YouTube, Nov-2017)  
  
  • Application) Simulated Experience of Pottery on a Potter's Wheel
        Object Model and Interaction Method --- (see YouTube, Jan-2020)  
       
  

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• Camera Data Application
  • AR system with Single Camera
        Feature Tracking and Synchronous Scene Generation --- (see YouTube, Apr-2016)  
  
  • RGB-D Visual SLAM
        ORB-SHOT SLAM (1) --- (see YouTube, Jul-2016)  
        ORB-SHOT SLAM (2) --- (see YouTube, Jul-2016)  
        ORB-SHOT SLAM (3) --- (see YouTube, Jul-2016)  
  

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• Projecting Desktop Interface  
  • Hand/Finger detection & Fingertip touch/release recognition
        using RGB-D sensor (Xtion) --- (see YouTube, Jan-2013)  
  
  • Virtual Keyboard/Virtual Xylophone
        using RGB-D sensor (Xtion) --- (see YouTube, Dec-2013)  
  
  • Near-field Touch Interface
        using Time-of-flight (TOF) Camera --- (see YouTube, Jul-2015)  
  
• Projecting Wall Interface  
  • Sensor/Screen Coordinate Calibration + Laser Spot Detection
  • Evaluation & Feature extraction Experiments
  • Automatic tracking of Projected screen by active head of camera
• Image-Projective Desktop Arm Trainer, IDAT  
  • Application: Touch Game
        HFAMRO-2 mole whacking (at fixed position) --- (see YouTube, Feb-2011)
        HFAMRO-2 balloon breaking --- (see YouTube, Feb-2011)
        HFAMRO-2 fish catching --- (see YouTube, Feb-2011)
        HFAMRO-2 mole whacking (at random position) --- (see YouTube, Feb-2011)
  
  • Image-projective Desktop Arm Trainer (IDAT) -1
        IDAT-1 (reflection type) mole whacking --- (see YouTube, Nov-2011)
        IDAT-1 (reflection type) balloon breaking --- (see YouTube, Nov-2011)
        IDAT-1 (reflection type) fish catching --- (see YouTube, Nov-2011)
  
  • Image-projective Desktop Arm Trainer (IDAT) -3
        IDAT-3 (integrated type) by hand --- (see YouTube, Jun-2012)
        IDAT-3 (integrated type) by hammer --- (see YouTube, Jun-2012)
        IDAT-3 (integrated type) by hand keeping --- (see YouTube, Jun-2012)
        IDAT-3 (integrated type) by hand pausing --- (see YouTube, Jun-2012)
  
  • IDAT-3 (rev.2)
        Hand-eye coordination training --- (see YouTube, Sept-2014)
        Opposing type: Air Hockey --- (see YouTube, Sept-2014)
  

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• Human Detecting/Following Mobile Robot --- Robot Companion/Partner Robot
  • Human Detection using Laser Range Scanner
        Result-1) rotating, walking, interrupted --- (see YouTube, Feb-2014)
        Result-2) embrace --- (see YouTube, Feb-2014)
        Result-3) once target lost... --- (see YouTube, Feb-2014)
  
  • Human Following using Laser Range Scanner
        Result-1) an interrupter goes across --- (see YouTube, Sep-2013)
        Result-2) an interrupter walks parallel --- (see YouTube, Sep-2013)
        Result-3) walk parallel and turn a corner --- (see YouTube, Sep-2013)
  
  • Remote Operation using cell phone
        Bringing the mobile robot --- (see YouTube, Sep-2013)
  
  • Total demonstration
        Remote-operation/Detecting/Following --- (see YouTube, Sep-2013)
  
• Walking Trainer Mobile Robot System  
  • Mobility Function Maintenance and Recovery Exercise
        HFAMRO-3 basic movement --- (see YouTube, Nov-2011)
        HFAMRO-3 animal (dog) --- (see YouTube, Nov-2011)
        HFAMRO-3 animal (cat) --- (see YouTube, Nov-2011)
        HFAMRO-3 animal (pig) --- (see YouTube, Nov-2011)
        HFAMRO-3 bomb (success) --- (see YouTube, Nov-2011)
        HFAMRO-3 bomb (failure) --- (see YouTube, Nov-2011)
        HFAMRO-3 gait training --- (see YouTube, Nov-2011)
  
  • For Subject using Walking Aid
        HFAMRO-3 (with Walker) gait (straight) --- (see YouTube, Jul-2012)
        HFAMRO-3 (with Walker) gait (curve) --- (see YouTube, Jul-2012)
        HFAMRO-3 (with Walker) animal (dog) --- (see YouTube, Jul-2012)
        HFAMRO-3 (with Walker) animal (cat) --- (see YouTube, Jul-2012)
        HFAMRO-3 (with Walker) animal (pig) --- (see YouTube, Jul-2012)
        HFAMRO-3 (with Walker) bomb (success) --- (see YouTube, Jul-2012)
        HFAMRO-3 (with Walker) bomb (failure) --- (see YouTube, Jul-2012)
  
  • Walking trainer with customizable trajectory design
        Foot-eye coordination training: 1-straight --- (see YouTube, Jul-2012)
        Foot-eye coordination training: 2-sigmoid --- (see YouTube, Jul-2012)
        Foot-eye coordination training: 1-straight with walking aid --- (see YouTube, Jul-2012)
        Foot-eye coordination training: 2-sigmoid with walking aid --- (see YouTube, Jul-2012)
  
• Interaction with Human Symbiotic Robot  (details)
  • Step-On Interface (SOI)
        SOI operation --- (see YouTube, Mar-2007)
        mobile robot operation --- (see YouTube, Mar-2007)
        public trial --- (see YourTube, Mar-2007)
  
  • Friendly Amusing Mobile (FAM) Function
        HFAMRO-1 basic movement --- (see YouTube, Mar-2007)
        HFAMRO-1 elemental movement --- (see YouTube, Mar-2007)
        HFAMRO-1 emotinal movement --- (see YouTube, Mar-2007)
        HFAMRO-2 from both sides --- (see YouTube, Nov-2009)
        HFAMRO-2 using stick --- (see YouTube, Nov-2009)
        HFAMRO-2 with announcement --- (see YouTube, Nov-2009)
  
  • Application: Playing "Light" Tag
        HFAMRO-2 animal (dog) --- (see YouTube, Nov-2009)
        HFAMRO-2 animal (cat) --- (see YouTube, Nov-2009)
        HFAMRO-2 animal (pig) --- (see YouTube, Nov-2009)
        HFAMRO-2 bomb (success) --- (see YouTube, Nov-2009)
        HFAMRO-2 bomb (failure) --- (see YouTube, Nov-2009)
        HFAMRO-2 gait training --- (see YouTube, Nov-2009)
  

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• Preliminary Announcement of Mobile Robot Intention  (details)
  • Method and Apparatus to Display both Direction and Speed of Movement: Four Kinds in Two Types
        Eyeball robot, PMR-2 --- (see YouTube, Nov-2005)
        Arrow robot, PMR-6 --- (see YouTube, Nov-2005)
        Light-ray robot, PMR-1 --- (see YouTube, Nov-2005)
        Projection robot, PMR-5 --- (see YouTube, Nov-2005)
        Eyeball robot, PMR-2R --- (see YouTube, Mar-2007)
        Arrow robot, PMR-6R --- (see YouTube, Mar-2007)
        Light-ray robot, PMR-1R --- (see YouTube, Mar-2007)
        Projection robot, PMR-5R --- (see YouTube, Mar-2007)
  
  • Experiments with Subjects in Simulated Interactive Situation: Human-Robot Motion Capture
        Passing each other (PMR-5) --- (see YouTube, Sep-2006)
        Passing each other (PMR-6) --- (see YouTube, Sep-2006)
  
  • Comparing Display Announcement with Voice Announcement
• Remote Operation System of Mobile Robot
  • Combination Control of Manual Operation and Autonomous Action
  • Environmental Map around Remote Robot: Line method, Cell method
        Method-1) Line & Hollow --- (see YouTube, Feb-2009)
        Method-2) Cell & Hollow --- (see YouTube, Feb-2009)
  
  • Operational Interface: Joystick, Pupil Mouse, HMD with Eye-gaze Tracking, Voice, Touch Screen
        Touch Screen (0) joystick --- (see YouTube, Feb-2011)
        Touch Screen (1) button type --- (see YouTube, Feb-2011)
        Touch Screen (2) virtual joystick type --- (see YouTube, Feb-2011)
        Touch Screen (3) route designation type --- (see YouTube, Feb-2011)
  

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• Form and Movement of Human Synergetic Robot
  • Emotional Motion: Four Basic Emotions on Teddy Bear Robot
        Discrimination and Implementation of Emotions on Robot Movement --- (see YouTube, Feb-2007)
  
  • Informative Motion: Hand-over Movement and Throw-over Movement for Humanoid
  • "Informative Kinesics on Human-Machine System"
• Measurement and Analysis of Human Motion and Behavior
  • Performance on Horizontal Bar
  • Weight Lifting Motion
• Systematic Learning on Mechatronics  (details)
  • LEGO Mind Storm
  • SONY Aibo

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Last updated: 30-March-2025
All rights reserved by Takafumi MATSUMARU

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