NAGAI ROBOTICS LAB. Publication

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Journal Paper (international)

Journal Paper (domestic)

Conference Paper (international)

Article

Book

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Journal Paper (international)

T. N. Le, H. Dobashi and K. Nagai: "Configuration of Redundant Drive Wire Mechanism Using Double Actuator Modules," ROBOMECH Journal, vol.3, no.25, DOI 10.1186/s40648-016-0063-1, pp.1-16, 2016.

T. N. Le, H. Dobashi and K. Nagai: "Kinematical and Static Force Analysis on Redundant Drive Wire Mechanism with Velocity Constraint Modules to Reduce the Number of Actuators," ROBOMECH Journal, vol.3, no.22, DOI 10.1186/s40648-016-0057-z, pp.1-22, 2016.

Y. Hayashi, K. Nagai, K. Ito, S. J. Nasuto, R. C. V. Loureiro and W. S. Harwin: "Analysis of EEG signal to detect motor command generation towards stroke rehabilitation," Converging Clinical and Engineering Research on Neurorehabilitation, pp.569-573, 2013.

R. C. V. Loureiro, W. S. Harwin, K. Nagai and M. Johnson: "Advances in upper limb stroke rehabilitation: a technology push," Medical & Biological Engineering & Computing, vol.49, no.10, pp.1103-1118, 2011.

K. Nagai and I. Nakanishi: "Force Analysis of Exoskeletal Robotic Orthoses for Judgment on Mechanical Safety and Possibility of Assistance," Journal of Robotics and Mechatronics, vol.16, no.5, pp.473-481, 2004.

K. Nagai, I. Nakanishi, H. Hanafusa, Y. Takahashi and H. Bunki: "Experimental Study on Adjustment of Assisting Functions of A Power Assistive Device for Independent Transfer," International Journal of Human-friendly Welfare Robotic Systems, vol.4, no.3, pp.2-7, 2003.

T. Yoshikawa and K. Nagai: "Manipulating and Grasping Forces in Manipulation by Multifingered Robot Hands," IEEE Transactions on Robotics and Automation, vol.7, no.1, pp.67-77, 1991.

T. Yoshikawa and K. Nagai: "Analysis of Multi-fingered Grasping and Manipulation," Dextrous Robot Hands, pp.187-208, 1990.

Y. Nakamura, T. Yoshikawa and K. Nagai: "Dynamics and Stability in Coordination of Multiple Robotic Mechanisms," The International Journal of Robotics Research, vol.8, no.2, pp.44-61, 1989.

Journal Paper (domestic)

K. Nagai, H. Dobashi, T. Sashinaka, K. Yamaguchi: "Introducing Kinematical Redundant Degree of Freedom into High Speed Parallel Mechanism with Driving Force Redundancy for Producing Precise Motions," Journal of the Robotics Society of Japan, vol.33, no.5, pp.379-386, 2015. (in Japanese)

K. Nagai, K. Kitayama, K. Ito, R. C. V. Loureiro, W. S. Harwin: "Structural Analysis of an Escort Type Rehabilitation Robot," Journal of the Robotics Society of Japan, vol.30, no.1, pp.53-61, 2012. (in Japanese)

K. Nagai, H. Yoshida, D. Yoshimori: "Kinematical Analysis of Parallel Mechanisms Using Multi-Wire Driven Method," Journal of the Robotics Society of Japan, vol.29, no.9, pp.821-828, 2011. (in Japanese)

K. Nagai, Y. Dake, Y. Nishibu, A. Yamanaka: "Development of a Four DOF High Speed Parallel Mechanism Based on Virtual Force Redundancy Concept," Journal of the Robotics Society of Japan, vol.28, no.6, pp.766-773, 2010. (in Japanese)

T. Yamaguchi, M. Higuchi, Y. Fukutani, K. Nagai: "Development of Active Flexible Fixture for Assembly(1st Report)-Manufacture of Prototype of Active Flexible Fixture on Plane Level-," Journal of the Japan Society for Precision Engineering, vol.71, no.12, pp.1563-1567, 2005. (in Japanese)

K. Nagai, Y. Ito, M. Yazaki, K. Higuchi, S. Abe: "Development of a Small Six-Component Force/Torque　Sensor Based on the Double-Cross Structure," Journal of the Robotics Society of Japan, vol.22, no.3, pp.361-369, 2004. (in Japanese)

K. Nagai, B. Masuhara, K. Yamanaka: "Force Sensorless Compliance Control Using a Limitation Algorithm and Dither for Manipulators with Harmonic Drive Gears," Journal of the Robotics Society of Japan, vol.22, no.3, pp.353-360, 2004. (in Japanese)

K. Nagai and T. Yoshikawa: "Grasping and Manipulation by Robotic Arm/Multifingered-Hand Mechanisms," Journal of the Robotics Society of Japan, Vo.13, no.7, pp.994-1005, 1995. (in Japanese)

K. Nagai and T. Yoshikawa: "Impedance Control of Redundant Macro Micro Manipulators," Journal of the Robotics Society of Japan, vol.12, no.5, pp.766-772, 1994. (in Japanese)

K. Nagai and T. Yoshikawa: "Dynamic Manipulation/Grasping Control of Multifingered Robot Hands," Transactions of the Society of Instrument and Control Engineers, vol.30, no.1, pp.39-47, 1994. (in Japanese)

K. Nagai and T. Yoshikawa: "Adaptive Grasping by Multifingered Hands," Journal of the Robotics Society of Japan, vol.11, no.1, pp.111-120, 1993. (in Japanese)

M. A. Adli, K. Nagai, K. Miyata and H. Hanafusa: "Analysis of Internal Force Effect in Parallel Manipulators," Transactions of the Society of Instrument and Control Engineers, vol.27, no.11, pp.1266-1273, 1991.

T. Yoshikawa and K. Nagai: "Manipulating and Grasping Forces of Multi-Fingered Hands," Transactions of the Society of Instrument and Control Engineers, vol.23, no.11, pp.1206-1213, 1987. (in Japanese)

Y. Nakamura, T. Yoshikawa and K. Nagai: "Mechanics of Coordinative Manipulation by Multiple Robotic Mechanisms," Journal of the Robotics Society of Japan, vol.4, no.5, pp.23-32, 1986. (in Japanese)

Conference Paper (international)

H. Dobashi and H. Kawai: "Orientational Transition Analysis toward Reorientation of Parts by Parallel Gripper Allowing Release Motion in Unstable Orientations," Proc. of the 2016 IEEE/SICE International Symposium on System Integration, pp.87-94, 2016.

K. Nagai, T. Goto, T. Shimizu, H. Dobashi, K. Ito, Y. Hayashi, R. C. V. Loureiro, S. J. Nasuto and W. S. Harwin: "Feasibility Study on EEG Driven Robotic System to Realize Efficient Stroke Rehabilitation," Proc. of the 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, pp.199-204, 2015.

T. Shimizu, H. Dobashi, K. Ito and K. Nagai: "Consideration on a New BCI Method Using EEG to Detect Motion Intention," Proc. of the 2014 IEEE/SICE International Symposium on System Integration, pp.785-789, 2014.

T. Goto, H. Dobashi and K. Nagai: "Consideration on Mechanical Properties of a Redundant Drive Manipulator for Reducing the Endpoint Inertia," Proc. of the 2014 IEEE/SICE International Symposium on System Integration, pp.767-772, 2014.

T. N. Le, H. Dobashi and K. Nagai: "Proposal of Redundant Drive Wire Mechanism for Producing High Acceleration and High Precision Motions," Proc. of the 7th Vietnamese-Japanese Students' Scientific Exchange Meeting, pp.76-77, 2014.

Y. Hayashi, K. Nagai, K. Ito, S. Nasuto, R. Loureiro and W. Harwin: "Analysis of EEG Signal to Detect Motor Command Generation Towards Stroke Rehabilitation," Proc. of ICNR2012, pp.568-573, 2012.

K. Nagai, T. Nhat Le, Y. Hayashi and K. Ito: "Kinematical Analysis of Redundant Drive Wire Mechanisms with Velocity Constraint," Proc. of the 2012 IEEE International Conference on Mechatronics and Automation, pp.1496-1501, 2012.

Y. Hayashi, K. Nagai, K. Ito, S. J. Nasuto and W. S. Harwin: "A Feasible Study of EEG-driven Assistive Robotic System for Stroke Rehabilitation," Proc. of 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, WePaa2.7, 2012.

K. Nagai, T. Nhat Le, Y. Hayashi and K. Ito: "Proposal of a Redundant Drive Wire Mechanism for Producing Motions with High Acceleration and High Precision," Proc. of SI International 2011, pp.1049-1054, 2011.

K. Nagai, Y. Dake, Y. Shiigi, R. C. V. Loureiro, W. Harwin: "Design of Redundant Drive Joints with Double Actuation Using Spring in the Secod Actuator to Avoid Excessive Active Torques," Proc. of the 2010 IEEE International Conference on robotics and Automation, pp.805-812, 2010.

K. Nagai, Z. Liu: "Re-Design of Force Redundant Parallel Mechanisms by Introducing Kinematical Redundancy," Proc. of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5895-5904, 2009.

Y. Ikegami, K. Nagai, R. Loureiro and W. Harwin: "Design of Redundant Drive Joint with Adjustable Stiffness and Damping Mechanism to Improve Joint Admittance," Proc. of the 2009 IEEE 11th International Conference on Rehabilitation Robotics, pp.202-210, 2009.

K. Nagai, Y. Shiigi, Y. Ikegami, R. C. V. Loureiro and W. S. Harwin: "Impedance Control of Redundant Drive Joints with Double Actuation," Proc. of the 2009 IEEE International Conference on Robotics and Automation, pp.1528-1534, 2009.

K. Nagai, Y. Nishibu, Y. Dake and A. Yamanaka: "Design of a High Speed Parallel Mechanism Based on Virtual Force Redundancy Concept," Proc. of the 2009 International Conference on Industrial Technology, pp.1209-1214, 2009.

K. Nagai and Z. Liu: "Introducing Kinematical a Redundancy into Parallel Mechanism with Force Redundancy," Proc. of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.534-539, 2008.

K. Nagai, Y. Ikegami, R. C. V. Loureiro and W. S. Harwin: "Proposal of an Admittance Enhanced Redundant Joint Mechanism to Improve Backdrivability," Proc. of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.504-509, 2008.

K. Nagai and Z. Liu: "A Systematic Approach to Stiffness Analysis of Parallel Mechanisms," Proc. of the 2008 IEEE International Conference on Robotics and Automation, pp.1543-1548, 2008.

K. Nagai, Z. Liu: "A Systematic Approach to Stiffness Analysis of Parallel Mechanisms and its Comparison with FEM," Proc. of SICE Annual Conference 2007, pp.1087-1094, 2007.

K. Nagai, Y. Kojima, S. Yonemoto, T. Okubo, R. C. V. Loureiro and W. S. Harwin: "Structural Design of an Escort Type Rehabilitation Robot for Post-Stroke Therapies of Upper-Limb," Proc. of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, pp.1121-1128, 2007.

R. C. V. Loureiro, K. Nagai, F. M. Campos and W. S. Harwin: "Manageable Machine-Mediated Therapies for Quantitative and Repeatable Neuro-Rehabilitation," Proc. of the IEEE SMC UK-RI Chapter Conference 2005 on Applied Cybernetics, pp.10, 2005.

K. Nagai and I. Nakanishi: "Force Analysis of Exoskeletal Robotic Orthoses and its Application to Mechanical Design," Proc. of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1648-1655, 2004.

K. Nagai and R. Oura: "Parallel Mechanism "NINJA" with Ultra High Acceleration Performance," Conference Digest of 2004 IEEE International Conference on Robotics and Automation, pp.37(Video O), 2004.

K. Nagai and I. Nakanishi: "Analysis of Exoskeletal Robotics Orthoses Concerning Possibility of Assistance and User's Safety," Proc. of the 2003 IEEE International Workshop on Robot and Human Interactive Communication, pp.73-78, 2003.

K. Nagai, M. Matsumoto, K. Kimura and B. Masuhara: "Development of Parallel Manipulator "NINJA” with Ultra-High-Acceleration," Proc. of the IEEE International Conference on Robotics and Automation, pp.3678-3685, 2003.

K. Nagai, I. Nakanishi and H. Hanafusa: "Assistance of Self-Transfer of Patients Using a Power-Assisting Device," Proc. of the 2003 IEEE International Conference on Robotics and Automation, pp.4008-4015, 2003.

K. Nagai, I. Nakanishi, H. Hanafusa, Y. Takahashi and H. Bunki: "Consideration on Independent Transfer Using an Assisting Device with Functions of Power Assistance and Motion Guidance," Proc. of the 7th European Conference for the Advancement of Assistive Technology, pp.852－856, 2003.

K. Nagai, I. Nakanishi, H. Hanafusa, Y. Takahashi and H. Bunki: "Experimental Study on Adjustment of Assisting Functions of a Power-Assisting Device for Independent Transfer," Proc. of the ICORR 2003 (The 8th International Conference on Rehabilitation Robotics), Human-friendly Welfare Robot System Engineering Research Center (HWRS-ERC), pp.124-127, 2003.

K. Nagai, H. Hanafusa, Y. Takahashi, H. Bunki, I. Nakanishi, T. Yoshinaga and T. Ehara: "Development of a Power Assistive Device for Self-Supported Transfer Motion," Proc. of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.2, pp.1433-1438, 2002.

K. Nagai, B. Masuhara and K. Yamanaka: "Sensorless Compliance Control Using Limitation Algorithm and Dither for Manipulator with Harmonic Drive Gears," Proc. of 8th IEEE International Conference on Methods and Models in Automation and Robotics, vol.2, pp.1007-1014, 2002.

K. Nagai, B. Masuhara and K. Yamanaka: "Sensor-less Compliance Control Using Limitation Algorithm and Dither for Manipulators with Harmonic Drive Gears," Video Proc. of to the 2001 IEEE International Conference on Robotics and Automation, 2001.

K. Nagai, I. Nakanishi and T. Takagoshi: "Consideration of an Adaptive Algorithm for Power Assisting Control of Robotic Orthotics," Proc. of Seventh International Conference on Rehabilitation Robotics, pp.16-23, 2001.

E. Nakano, M. Asada, S. Tadokoro, K.Nagai, Y. Masutani and H, Kitano: "The Outline of the International Robot Games Festival," Proc. of the 2000 IEEE Internationall Conference on Robotics and Automation, pp.820-825, 2000.

K. Nagai and I. Nakanishi: "Power Assist Control of Robotic Orthoses with Macro-micro Structure in Human Care," Proc. of the 1999 IEEE International Conference on Systems, Man, and Cybernetics, pp.Ⅳ-1049－Ⅳ1054, 1999.

K. Nagai and I. Nakanishi: "Power Assisting Control of Robotic Orthoses Considering Human Characteristics on Assisted Motions," Proc. of Eighth International Conference Workshop on Robot and Human Interaction pp.1-6, 1999.

K. Nagai, I. Nakanishi and T. Kishida: "Design of Robotic Orthosis Assisting Human Motion in Production Engineering and Human Care," Proc. of Sixth International Conference of Rehabilitation Robotics, pp.270-275, 1999.

K. Nagai, Y. Eto, D. Asai and M. Yazaki: "Development of a Three-fingered Robotic Hand-Wrist for Compliant Motion," Proc. of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.1, pp.476-481, 1998.

K. Nagai, I. Nakanishi, H. Hanafusa, S. Kawamura, M. Makikawa and N. Tejima: "Mechanical Design of a Robotic Orthosis Assisting Human Motion," Proc. of the 3rd Internationall Conference on Advanced Mechatronics, pp.436-441, 1998.

K. Nagai, I. Nakanishi, H. Hanafusa, S. Kawamura, M. Makikawa and N. Tejima: "Development of an 8 DOF Robotic Orthosis for Assisting Human Upper Limb Motion," Proc. of the 1998 IEEE International. Conference on Robotics and Automation (ICRA'98), vo.4, pp.3486-3491, 1998

K. Nagai, Y. Nakagawa, S. Iwasa and K. Ohno: "Development of a Redundant Macro-micro Manipulator and Contour Tasks Utilizing its Compliant Motion," Proc. of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, vo1, pp.279-284, 1997.

K. Nagai, S. Iwasa, Y. Nakagawa and K. Ohno: "Development of a Redundant Macro-micro Manipulator for Compliant Motion," Proc. of the 8th International Conference on Advanced Robotics, pp.707-712, 1997.

K. Nagai, S. Iwasa, K. Watanabe and H. Hanafusa: "Cooperative Control of Dual-Arm Robots for Reasonable Motion Distribution," Proc. of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.1, pp.54-61, 1995.

K. Nagai and Tsuneo Yoshikawa: "Grasping and Manipulation by Arm Multifingered-Hand Mechanisms," Proc. of the 1995 IEEE International Conference on Robotics and Automation, pp.1040-1047, 1995.

K. Nagai and T. Yoshikawa: "Impedance Control of Redundant Macro Micro Manipulators," Proc. of the 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.2, pp.1438-1445, 1994.

K. Nagai and T. Yoshikawa: "Dynamic Manipulation/Grasping Control of Multifingered Robot Hands," Proc. of the 1993 IEEE International Conference on Robotics and Automation, vol.3, pp.1027-1033, 1993.

M. A. Adli , K. Nagai and H. Hanafusa: "Selective Compliance Center via Internal Forces in Redundantly Actuated Closed Chain Manipulators," Proc. of the Japan・U.S.A. Symposium on Flexible Automation, vol.2, pp.1277-1281, 1992.

M. A. Adli, K. Nagai, K. Miyata and H. Hanafusa: "Apparent Structural Stiffness of Closed Mechanisms under the Effect of Internal Force during Dynamic Motion, " Proc. of the 1991 IEEE/RSJ International Workshop on Intelligent Robotics and Systems, vol.2, pp.773-778, 1991.

T. Yoshikawa and K. Nagai: "Evaluation and Determination of Grasping Forces for Multi-Fingered Hands," Proc. of the 1988 IEEE International Conference on Robotics and Automation, vol.1, pp.245-248, 1988.

T. Yoshikawa and K. Nagai: "Manipulating and Grasping Forces in Manipulation by Multi-Fingered Hands," Proc. of the 1987 IEEE International Conference on Robotics and Automation, vol.3, pp.1998-2004, 1987.

Y. Nakamura, K. Nagai and T. Yoshikawa: "Mechanics of Coordinative Manipulation by Multiple Robotic Mechanisms," Proc. of the 1987 IEEE International Conference on Robotics and Automation, vol.2, pp.991-998, 1987.

H. Hanafusa, T. Yoshikawa, Y. Nakamura　and K. Nagai: "Structural Analysis and Robust Prehension of Robotic Hand-Arm System," Proc. of the 1985 International Conference on Advanced Robotics, pp.311-318, 1985.

Article

K. Nagai: "Parallel Mechanisms for Producting Ultra High Speed Motions," Journal of the Robotics Society of Japan, vol.30, no.2, pp.130-133, 2012. (in Japanese)

K. Nagai: "Learning While Doing: Practical Robotics Education," IEEE Robotics and Automation Magazine, vol.8, no.2, pp.39-43, 2001.

K. Nagai and I. Nakanishi: "Mechanism and Control of Rehabilitation Robots and Assistive Devices with Power Assisting Function," Systems, Control and Information, vol.44, no.12, pp.688-695, 2000. (in Japanese)

K. Nagai: "Practical Education on Control of Robot Manipulators in Ritsumeikan University," Journal of the Robotics Society of Japan, vol.16 no.4, pp.452-455, 1998. (in Japanese)

K. Nagai: "Hybrid Position / Force Control for Manipulation and Grasping," Journal of the Robotics Society of Japan, vol.11, no.7, pp.992-997, 1993. (in Japanese)

K. Nagai and T. Yoshikawa: "Mechanics of Grasping and Manipulation by Multi-Fingered Robot Hands," Journal of Robotics and Mechatronics, vol.2, no.1, pp.12-16, 1990.

K. Nagai and T. Yoshikawa: "Mechanics of grasping and manipulation by multi-fingered robot hands," Journal of the Robotics Society of Japan, vol.7, no.5, pp.491-495, 1989. (in Japanese)

Book

K. Nagai and H. Dobashi: "Robot Mechanics", Corona Publishing Co. Ltd., 2015. (in Japanese)

Y. Shiraishi, K. Nagai, Y. Fukada, T. Tsumura, H. Noborio: "Robotics", Ohmsha, 1999. (in Japanese)

Patent

K. Nagai and Y. Ikegami: "Variable Reduction Mechanism," P2010-014145, Japan Patent Office, 2010.

K. Nagai and H. Tonotsuka: "Motion Transfer Mechanism and Differential Drive Device," P2008-54920, Japan Patent Office, 2008.

Y. Takahashi and K. Nagai: "Cell Structure for Cushions and Cushion for Preventing Pressure Ulcer," P2006-296640, Japan Patent Office, 2006.

K. Nagai, K. Okuyama, S. Takasu and T. Sueda: "Movement Device and Chip Mounter using the Movement Device," P2006-234099, Japan Patent Office, 2006.

K. Nagai: "Care Supporting Device," P2002-17795, Japan Patent Office, 2002.

K. Nagai: "Parallel Link Mechanism for Robot," P2001-121460, Japan Patent Office, 2001.

K. Nagai, I. Morita, Y. Nagao: "Assistive Device for Self-Supported Motion," P2001-8982, Japan Patent Office, 2001.

K. Nagai: "Force Sensor," P2000-266620, Japan Patent Office, 2000.