ABC
1
1小枝 正直，鈴木 征一郎，松本 吉央，小笠原 司："ステレオカメラを用いた頭部位置・姿勢計測とレーザレンジファインダを用いた自己位置・姿勢計測の拡張現実感への応用"，計測自動制御学会論文誌，Vol.40, No.7, pp.755-761, 2004.7.
Authors: M. Koeda, S. Suzuki, Y. Matsumoto and T. Ogasawara
Title: Application of Head Tracking Method Using Stereo Camera Pair and Localization Method Using Laser Range Finder to Augmented Reality
Abstract: Augmented Reality(AR) allows the user to see the real world,with annotations superimposed on the real scene. Therefore, it iseffective to guide a user intuitive way. In this paper, we describe anapplication of head tracking method using a stereo camera pair andlocalization method using a laser range finder to AR. It is importantto measure the position and the orientation of a user accurately inorder to build an AR system. In our approach, the head position andorientation of the user is measured by a pair of stereo cameras, andthe position of the user is estimated by a laser range finder. Weconducted experiments to evaluate the usefulness of these methods forAR, and the effectiveness was confirmed. Finally we developed anAR-based guidance system for a wheelchair using both measurementmethods. An experiment to guide the user was conducted and theusability of this system was confirmed.
Key words: Augmented Reality, Face Measurement, Localization, Laser Range Finder, Wheelchair
2
2小枝 正直，松本 吉央，小笠原 司："小型無人ヘリコプタを用いた拡張現実感による被災者捜索支援システム"，計測自動制御学会論文誌，Vol.41, No.12, pp.1019-1025, 2005.12.Authors: M. Koeda, Y. Matsumoto and T. Ogasawara
Title: AR-Based Assistance System to Search Disaster Victims Using Teleoperated Unmanned Helicopter
Abstract: In this paper, we introduce an immersive teleoperating system for an unmanned helicopter and an AR-based assistance system for searching disaster victims.In this system, an operator carries a backpack with a laptop PCand controls the helicopter remotely while watching a surrounding view of the helicopterthrough a head mounted display(HMD). Virtual buildings and textual annotations assistthe search operation of disaster victimsindicating the position to search rapidly and intensively.The position and the attitude of the helicopter is measured by a GPSand a gyroscope, and transmitted to the operator's PC via a wireless LAN.Using this system, we conducted experiments to find persons andverified the feasibility.
Key words: Unmanned Helicopter, Teleoperation, Rescue, Augmented Reality
3
3吉川 恒夫，小枝 正直，杉橋 宗隆："力覚人工現実感技術を用いた手の器用度と利き手度の定量的評価法の提案"，ヒューマンインタフェース学会論文誌，Vol.10, No.3, pp.345-351, 2008.8.Authors: T. Yoshikawa, M. Koeda and M. Sugihashi
Title: A Quantitative Evaluation Method of Handedness Using Haptic Virtual Reality Technology
Abstract: This paper proposes a method for evaluating quantitatively thedegree of handedness of a person by using the haptic virtual realitytechnology. A handedness evaluation system has been developedconsisting of two PHANToM OMNI haptic devices, a graphics display,and a computer for virtual space calculation and control. To observe theskillfulness of two hands of a person, three virtual tasks have beendeveloped: positioning task, force control task, and manipulationtask. Ten male subjects aged from 22 to 23 years old have taken thetest. The obtained performance data from these tasks have beenanalyzed using the factor analysis. Since the obtained factorscores for the right and left hands of each subject can be regarded as theskillfulness of the right and left hand, it is proposed to define thedegree of handedness of the subject based on the difference of thesefactor scores. The proposed degree of handedness and the result ofconventional LQ method did not contradict to each other. Thecalculated degrees of handedness, however, differ largely among thesubjects. From this result, it is expected that the proposed method can be usefulfor detailed and quantitative evaluation of handedness.
Key words: Dominant hand, Virtual reality, Haptic device, Quantitative
4
4吉川 恒夫，小枝 正直，里井 喬行："視覚障害者のための力覚提示装置を用いた仮想触地図"，ヒューマンインタフェース学会論文誌，Vol.11, No.1, pp.155-162, 2009.2.Authors: T. Yoshikawa, M. Koeda and T. Satoi
Title: Virtual Haptic Map Using Force Display Device for Visually Impaired
Abstract: In this paper, we propose a virtual haptic map using a haptic device.The virtual haptic map includes haptically-displayed roads andbuildings which are automatically constructed from a numerical map.This system aims to give map information and support outdooractivities to visually disabled persons. The features of this systemare that customized maps such as a concavo-convex shape of the objectsor friction of surfaces are easy to construct in accordance with theuser's conditions. To evaluate the usability of this system, recognitionexperiments using simple virtual haptic maps were conducted by tenblindfolded subjects. In the experiments, recognition rates werecompared between two expression methods. One method was to make thearea of road concaved, and the other was to make it convexed. As aresult, high recognition rates were confirmed in both methods, and it shows thatthis system has reasonable usability. Additionally, we found thatconcaved areas were touched for a long time than convexed areas.This result suggests that important information should be displayed by concave parts.
Key words: Virtual reality, Haptic device, Virtual haptic map, Visually impaired
5
5Tsuneo Yoshikawa, Masanao Koeda and Munetaka Sugihashi: "A Quantitative Evaluation Method of Handedness Using Haptic Virtual Reality Technology",Advances in Human-Robot Interaction,InTech,ISBN 978-9533070209, pp.179-190, 2009.12.A method is proposed for evaluating quantitatively thehandedness anddexterity of a person from his/her performance of some test tasksin the virtual world that are constructed using haptic virtual reality technology.The merits of virtual test tasks over real tasks are that it is easierto provide a large variety of tasks, to change the values of parametersof these tasks,and to obtain detailed position and force data for evaluation.We prepare three test tasks: accurate positioning task, accurate force control task,and skillful manipulation task. Performance data for these test taskstaken from a group of subjects are analyzed using the factor analysis.Since the obtained factor scores for the right and left hands of each subjectcan be regarded as the skillfulness of the right and left hand,it is proposed to define the degree of handedness of the subjectbased on the difference of these factor scores.
6
6小島 篤博，小枝 正直，山内 仁："レスキューロボットコンテストのための競技運営支援システムの開発と評価"，電子情報通信学会論文誌，Vol. J93-D, No. 10, pp. 2317-2325, 2010.10.Authors: A. Kojima, M. Koeda and H. Yamauchi
Title: Development and Evaluation of Game Management System for Rescue Robot Contest
Abstract: Rescue Robot Contest has been held yearly on the theme of rescueactivities under large-scale disasters. We developed a computersystem for managing the contest. The main feature of the systemis that it is designed to integrate some important functions,such as Web-based information entry, realtime sensor recording,and display screen for audience, under database-centric architecture.We also combine common middleware and programming languageseffectively such as Java, PHP, PostgreSQL, and VisualBasic. Inthis paper, we describe the development and evaluation of the system as a case study.Key words: Rescue Robot Contest, game management, system development, database
7
7Masanao Koeda, Mako Matsuyama, Munetaka Sugihashi and Tsuneo Yoshikawa:"Handedness and Dexterity Evaluation System Using Haptic Virtual Reality Technology",Virtual Reality,InTech,ISBN 978-953-307-518-1, pp.215-234, 2010.12.In this study, the problems of the tests of the previous method were modified, and we describe the following points:1. A new test task was added to measure combined dexterity of position and force control of fingertips,2. The learning effect of each test was investigated,3. Three test tasks in the real space were conducted.By using this system, experiments to measure handedness and dexterity were conducted to 12 subjects,and the performance of the new system is discussed.
8
8Masanao Koeda, Toshitatsu Ito and Tsuneo Yoshikawa:"Shuffle turning in humanoid robots through load distribution control of the soles",Robotica, Volume 29, Issue 07, pp. 1017-1024,2011.12.This paper proposes a novel shuffle turning method for a humanoid robotthat controls the load distribution of the soles of the robot's feet.Turning motions of a humanoid robot are conventionally performed through a repeated foot stepping motion.However, this motion is inefficient and time-consuming.In our method, the feet are slid along the floor without a stepping movement.In order to reduce the friction with the floor and to achieve the correct shuffle turning motion,a non-uniform load distribution of the soles is controlled.Experiments using a humanoid robot were conducted on two floors with differing friction amounts,and the validity of the proposed method was verified.
9
9山内 仁，小島 篤博，小枝 正直："レスキューロボットコンテスト競技運営支援システムのデータベース設計と実装"，計測自動制御学会論文集，Vol. 47, No. 2, pp. 134-139, 2011.2.Authors: H. Yamauchi, A. Kojima and M. Koeda
Title: Database Design and Implementation of Game Management System for Rescue Robot Contest
Abstract: The Rescue Robot Contest is one of the robot contests concerning lifesaving in urban disasters.In this contest, loads of rescue dummies simulating disaster victims,and contest progression status are presented to audiences, and team members operating robots.This presentation is important for both robot activity evaluation and production effect.For these purposes, a game management system for Rescue Robot Contest is originally constructed and operated.In this system, a database system is employed as base system.And this system's role is for both recording all data and events, and real-time processing for the presentation.In this paper, design and implementation of the tables and built-in functions of the databasewhich is foundation of this system are presented.For real-time processing, embedded functions and trigger functions are implemented.These functions generate unique latest records into specific tables which stores only latest data for quick access.
Key Words: Rescue Robot Contest, real-time system, database design
10
10Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Katsuhiko Onishi, Masanao Koeda, Shigeki Nankaku, Kosuke Matsui, Masanori Kon and Masaki Kaibori: "Image-based Initial Position/Orientation Adjustment System between Real and Virtual Livers", Jurnal Teknologi, Medical Engineering, Vol.77, No.6, pp.41-45, 2015.11.
11
11Kaoru Watanabe, Masahiro Yagi, Kentaro Ota, Katsuhiko Onishi, Masanao Koeda, Shigeki Nankaku, Hiroshi Noborio, Masanori Kon, Kosuke Matsui and Masaki Kaibori: "Parameter Identification of Depth-Depth-Matching Algorithm for Liver Following", Jurnal Teknologi, Medical Engineering, Vol.77, No.6, pp.35-39, 2015.11.
12
12Hiroshi Noborio, Kaoru Watanabe, Masanori Yagi, Yasuhiro Ida, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kosuke Matsui and Masaki Kaibori: "Experimental Results of 2D Depth-Depth Matching Algorithm Based on Depth Camera Kinect v1", Journal of Bioinformatics and Neuroscience (JBINS), Vol.1, Issue 1, pp.38-44, 2015.12.
13
13Daiki Yano, Masanao Koeda, Mayuko Doi, Kodai Okumoto, Shogo Yoshida, Katsuhiko Onishi, Hiroshi Noborio and Kaoru Watanabe: "Accuracy verification of knife tip positioning with position and orientation estimation of the actual liver for liver surgery support system", Journal of Bioinformatics and Neurosciences (JBINS), Vol.3, Issue 3, pp.79-84, 2017.12.
14
14Masanao Koeda, Daiki Yano, Mayuko Doi, Katsuhiko Onishi and Hiroshi Noborio: "Calibration of Surgical Knife-Tip Position with Marker-Based Optical Tracking Camera and Precise Evaluation of Its Measurement Accuracy", Journal of Bioinformatics and Neurosciences (JBINS), Vol.4, Issue 1, pp. 155-159, 2018.12.
15
15Hiroshi Noborio, Shota Uchibori, Masanao Koeda and Kaoru Watanabe: "Two-Dimensional DICOM Feature Points and Their Mapping Extraction for Identifying Brain Shifts", International Journal of Pharma Medicine and Biological Sciences (IJPMBS), Vol. 8, No. 3, pp. 71-78, DOI: 10.18178/ijpmbs.8.3.71-78, 2019.7.
16
16山内 仁，福田 忠生，小枝 正直，太田 俊介："3軸加速度およびボディ内圧計測によるダメージ計測機能を有したレスキューダミーの開発"，計測自動制御学会論文集，Vol. 57, No. 1, pp. 11-18, 2021.1.
17
17Hiroshi Noborio, Katsuhiko Onishi, Masanao Koeda, Kaoru Watanabe and Miho Asano, "Depth-Depth Matching of Virtual and Real Images for a Surgical Navigation System," International Journal of Pharma Medicine and Biological Sciences, doi: 10.18178/ijpmbs.10.2.40-48, Vol. 10, No. 2, pp. 40-48, April 2021.
18
18Masanao Koeda, Yuto Kaihara, Atsuro Sawada, Akihiro Hamada,Toshihiro Magaribuchi, Osamu Ogawa, Katsuhiko Onishi and Hiroshi Noborio: "Stereo Visual SLAM with Removing Noisy Feature Points by Partial Image Blurring for AR Surgical Support System and Its Accuracy Verification", Journal of Bioinformatics and Neuroscience (JBINS), 9 (1): pp. 434-439, December 29, 2023 e-ISSN: 2432-5422, p-ISSN: 2188-8116 Applied Science and Computer Science Publications
19
19Kaoru Watanabe, Takumi Mori, Hiroshi Noborio and Masanao Koeda, "Comparison of Four Automatic Detection Algorithm with Initial Parameters for DICOM Artificial Brain Shift", International Journal of Pharma Medicine and Biological Sciences, Vol. 13, No. 3, pp.74-79, June 2024.
20
20Miho Asano, Yoshito Yamada, Takahiro Kunii, Masanao Koeda and Hiroshi Noborio, "Use of Mixed Reality in Attachment of Surgical Site Measurement Robot to Surgical Bed", Journal of Robotics and Mechatronics, Vol.36, No.3, pp. 694-703, 2024.6.
21
21Masanao Koeda, Toshihiro Magaribuchi, Atsuro Sawada, Katsuhiko Onishi and Hiroshi Noborio, "Point cloud matching-based augmented reality surgical navigation system for robot-assisted laparoscopic partial nephrectomy", Journal of Bioinformatics and Neuroscience (JBINS), 12 (1), pp.650-653, 2025.12.
22
22Miho Asano, Satoshi Numata, Tsuneo Jozen, Hiroshi Noborio, Kaoru Watanabe, Masanao Koeda, "The Effect of Positional and Postural Errors When Attaching a Depth Camera to an Operating Light on Organ Tracking", International Journal of Pharma Medicine and Biological Sciences (IJPMBS), 14 (4), pp. 129-136, doi: 10.18178/ijpmbs.14.4.129-136
, 2025.11.
23
23Toshihiro Magaribuchi, Masanao Koeda, Shinya Somiya, Akihiro Hamada, Atsushi Sengiku, Kimihiko Masui, Takashi Kobayashi, and Atsuro Sawada, "Evaluation of our new three-dimensional navigation system in robot-assisted partial nephrectomy", Scientific Reports, https://doi.org/10.1038/s41598-026-57504-3, 2026.6.
24
24
25
25
26
26
27
27
28
28
29
29
30
30
31
31