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<div id="header"><h1>三重大学工学部電気電子工学科電気システム工学講座モーションコントロール分野</h1>
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<h2>2024年度</h2>
【査読付き原著論文】</br>
[1] Yuto Ikeda, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Angle Controller for Motor with Reduction Gear that utilizes Torsional Torque Estimator including Backlash Model and High-Pass Filter", IEEJ Journal of Industry Applications, Vol. 13, No. 3, May 2024</br>
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【国内会議論文】<br>
[1] 野場匡大郎, 矢代大祐, 弓場井一裕, 駒田諭, "ダブルエンコーダと減速機を内蔵したモータの軸ねじれ現象に非線形ばね定数モデルを用いた負荷トルク制御", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 宇都宮, May 29th--Jun. 1st, 2024</br>
[2] 西村仁志, 矢代大祐, 弓場井一裕, 駒田諭, "多慣性系モデルとリファレンスガバナに基づくモータ駆動軸流式羽根車の角速度制御", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 宇都宮, May 29th--Jun. 1st, 2024</br>
[3] 岡野凌大, 矢代大祐, 弓場井一裕, 駒田諭, "ダブルエンコーダ内蔵モータを有する多関節ロボットのための周波数整形した軸ねじれトルクを用いた位置制御", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 宇都宮, May 29th--Jun. 1st, 2024</br>

<h2>2023年度</h2>
【査読付き原著論文】</br>
[1] Yusuke Tsuji, Daisuke Yashiro, Yuki Kato, Shinichiro Bando, Kazuhiro Yubai, and Satoshi Komada, "Design of a Thrust Controller for Propeller Driven Systems Operating at Multiple Wind Velocities and Propeller Angular Velocities", IEEJ Journal of Industry Applications, Vol. 12, No. 6, pp. 1060-1067, Nov. 2023(10.1541/ieejjia.23000763)</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Hiroto Takai, Daisuke Yashiro, Rikuto Sakai, Kotaro Takeda, Kazuhiro Yubai, and Satoshi Komada, "Estimation of Plantar/Dorsiflexion Torque During Isokinetic Contraction Using Surface Electromyogram of Agonist Muscles, Ankle/Knee Joint Angles, and Ankle Angular Velocity", Proceedings of the SICE Annual Conference 2023, Tsu, Japan, Sep. 6th--9th, 2023</br>
[2] Yuto Ikeda, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Robustness of Load Side Angle Controller for Electromagnetic Motor with Reduction Gear that utilizes Torsional Torque Estimator including Backlash Model and High Pass Filter Against Inertia Variation", Proceedings of the 49th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Oct. 16th-19th, 2023</br>
[3] Hiroto Takai, Daisuke Yashiro, Satoshi Komada, Kazuhiro Yubai, and Kotaro Takeda, "Estimation of Elastic and Viscous Torque at Ankle Joint Using Time-Varying Elastic Coefficient Model During Passive Plantar/Dorsiflexion", Proceedings of the 49th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Oct. 16th-19th, 2023</br>
[4] Yuto Ikeda, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Load Side Angle Control Using Backlash Model for Torsional Torque Estimation of Double Motor with Reduction Gear", Proceedings of the 10th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Kyoto, Mar. 2nd--4th, 2024</br>
[5] Hiroto Takai, Daisuke Yashiro, Kotaro Takeda, Kazuhiro Yubai, and Satoshi Komada, "Modeling of Ankle Joint Elastic Torque-Angle Characteristics Using Time-Varying Elastic Coefficient During Passive Plantar and Dorsiflexion", Proceedings of the 10th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Kyoto, Mar. 2nd--4th, 2024</br>
[6] Tokutaro Kitamura, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Soft Sensor Design Method Using Experimental Data for Mechanical Systems with Coulomb Friction", Proceedings of the 10th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Kyoto, Mar. 2nd--4th, 2024</br>
[7] Junpei Morimoto, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Frequency Response Based Track Following Controller Design in Dual Stage Actuator HDD Using Sensitivity Decoupling Structure", Proceedings of the 10th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Kyoto, Mar. 2nd--4th, 2024</br>
[8] Kyotaro Noba, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Contact Force Control Using a Variable Spring Constant Model to Represent Axial Torsion Phenomena for an Articulated Robot with Motors with Built-In Double Encoders", Proceedings of the 10th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Kyoto, Mar. 2nd--4th, 2024</br>
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【国内会議論文】<br>
[1] 伴藤信一郎, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ推進機のための加速度センサと位置センサを用いる加速度推定器を内蔵する推進力制御器の設計", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 名古屋, Jun. 28st--July 1st, 2023</br>
[2] 野場匡大郎, 矢代大祐, 弓場井一裕, 駒田諭, "ダブルエンコーダ内蔵モータを有する多関節ロボットの軸ねじれトルク推定にバックラッシュモデルを用いた接触力制御", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 名古屋, Jun. 28st--July 1st, 2023</br>
[3] 高井寛人, 矢代大祐, 弓場井一裕, 駒田諭, "他動底背屈時における足関節粘性トルクの推定", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 名古屋, Jun. 28st--July 1st, 2023</br>
[4] 池田遊斗, 矢代大祐, 弓場井一裕, 駒田諭, "減速機付き電磁モータのねじれトルク推定にバックラッシュモデルとハイパスフィルタを用いた負荷側角度制御器の慣性変動に対する検証", 電気・電子・情報関係学会東海支部連合大会講演論文集, 豊橋, Aug. 28th--29th, 2023</br>
[5] 遠藤健史, 弓場井一裕, 矢代大祐, 駒田諭, "時間・周波数領域の制約を同時に満たす応答推定を用いたデータ駆動型制御器調整法", 電気学会電子・情報,システム部門大会講演論文集, 札幌, Aug. 30th--Sep. 2nd, 2023</br>
[6] 水谷力也, 弓場井一裕, 矢代大祐, 駒田諭,"L1正則化を考慮した周波数応答に基づくゲインスケジュールド制御器設計とAICによる比較検討", 電気学会電子・情報・システム部門大会講演論文集, 札幌, Aug. 30th--Sep. 2nd, 2023</br>
[7] 北村徳太郎, 弓場井一裕, 矢代大祐, 駒田諭, "耐故障制御のための入出力データを用いたソフトセンサ設計法"電気学会電子・情報・システム部門大会講演論文集, 札幌, Aug. 30th--Sep. 2nd, 2023</br>
[8] 森本純平, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いた周期外乱を抑制するピークフィルタの設計法", 電気学会電子・情報・システム部門大会講演論文集, 札幌, Aug. 30th--Sep. 2nd, 2023</br>
[9] 伴藤信一郎, 矢代大祐, 弓場井一裕, 駒田諭, "電動プロペラ機のための加速度センサと位置センサを用いたむだ時間モデルを含む速度推定器を内蔵した推進力制御器の設計", 第66回自動制御連合講演会論文集, Vol. 66, 仙台, Oct. 7th--8th, 2023</br>
[10] 野場匡大郎, 矢代大祐, 弓場井一裕, 駒田諭, "ダブルエンコーダ内蔵モータを有する多関節ロボットの負荷トルク推定に非線形ばねモデルを用いた接触力制御", 第66回自動制御連合講演会論文集, Vol. 66, 仙台, Oct. 7th--8th, 2023</br>
[11] 池田遊斗, 矢代大祐, 弓場井一裕, 駒田諭, "駆動側/負荷側エンコーダを有する減速機付きダブルモータのねじれトルク推定にバックラッシュモデルを用いた負荷側角度制御", 第66回自動制御連合講演会論文集, Vol. 66, 仙台, Oct. 7th--8th, 2023</br>
[12] 高井寛人, 矢代大祐, 弓場井一裕, 駒田諭, 武田湖太郎, "他動底背屈時の粘弾性トルク－足関節角度特性の計測", 第28回日本基礎理学療法学会学術大会抄録集, 広島, Dec. 2nd--3rd, 2023</br>
[13] 北村徳太郎, 弓場井一裕, 矢代大祐, 駒田諭, "二慣性系負荷側センサ故障のための入出力データを用いたソフトセンサ設計法", 電気学会東海支部第三回若手セミナー予稿集, pp.5-6, 名古屋, Dec. 8th, 2023</br>
[14] 北村徳太郎, 弓場井一裕, 矢代大祐, 駒田諭, "クーロン摩擦を含む機械システムに対するデータ駆動型ソフトセンサ設計法", 電気学会制御研究会資料, No. CT-24-038, 松江, Jan. 5th--7th, 2024</br>
[15] 森本純平, 弓場井一裕, 矢代大祐, 駒田諭, "感度非干渉化構造を用いた周波数応答に基づく二段アクチュエータHDDの制御器設計", 電気学会制御研究会資料, No. CT-24-007, 松江, Jan. 5th--7th, 2024</br>
[16] 水谷力也, 弓場井一裕, 矢代大祐, 駒田諭, "L1正則化を考慮した周波数応答に基づくゲインスケジュールド制御器設計とベイズ最適化による正則化パラメータの探索", 令和6年度電気学会全国大会講演論文集, 徳島, No. K403-A4, Mar. 14th--16th, 2024</br>

<h2>2022年度</h2>
【査読付き原著論文】</br>
[1] Yuki Nishii, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of a contact-force controller including airframe's velocity and acceleration feedback controllers for one-degree-of-freedom propeller-driven systems", Electrical Engineering in Japan, Vol. 215, No. 2, Jun. 2022(10.1002/eej.23379)</br>
[2] 近藤大智, 矢代大祐, 弓場井一裕, 駒田諭, "モータ/負荷側エンコーダ及び減速機付きモータを用いたトルク制御系のばね定数最適化", 電気学会論文誌産業応用部門誌, Vol. 143-D, No. 1, Jan. 2023</br>
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【招待講演】</br>
[1] 矢代大祐, "モータ駆動システムの高速・高精度制御," 中部経済産業局主催 Meet up Chubu, Online, Oct. 13th, 2022</br>
[2] 矢代大祐, "力加減を数値化して制御するロボット技術," 三重大学と地元企業との連携セミナー, 四日市商工会議所, Nov. 21th, 2022</br>
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【査読付き国際会議論文】</br>
[1] Tsubasa Takahashi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Position  Control of a Two-Degree-of-Freedom Parallel Robot Including Torsion Springs and Motor/Load-Side Encoders", Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society, Brussels, Oct. 17th-20th, 2022</br>
[2] Yuto Ikeda, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of a Torsion Torque Estimator Including a Backlash Model for a Load-Side Angle Control System that Consists of a Motor, a Reduction Gear, a Spring, and Motor/Load-Side Encoders", Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society, Brussels, Oct. 17th-20th, 2022</br>
[3] Yuto Ikeda, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Load Side Angle Control Using HPF with Backlash Model for Torsional Torque Estimation of Electromagnetic Motor with Reduction Gear with Drive and Load Side Encoders", Proceedings of the 9th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Nanjing, China, Mar. 24th--26th, 2023</br>
[4] Hiroto Takai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Identification of Gravity Term in Ankle Joint Torque During Passive Plantar Flexion and Dorsiflexion", Proceedings of the 9th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Nanjing, China, Mar. 24th--26th, 2023</br>
[5] Tsubasa Takahashi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Position Control Using Differential Value of Shaft Torsion Torque for Low Stiffness 2DOF Parallel Robot", Proceedings of the 9th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Nanjing, China, Mar. 24th--26th, 2023</br>
[6] Yusuke Tsuji, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Performance Evaluation of Gain-Scheduled Thrust Controller Using Wind Velocity and Propeller Angular Velocity for Propeller Driven Systems Under Variable Wind Direction", Proceedings of the 9th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Nanjing, China, Mar. 24th--26th, 2023</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 池田遊斗, 矢代大祐, 弓場井一裕, 駒田諭, "駆動側/負荷側エンコーダを有する減速機付き電磁モータのねじれトルク推定にバックラッシュモデルを用いた負荷側角度制御", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 札幌, Jun. 1st--4th, 2022</br>
[2] 高井寛人, 矢代大祐, 弓場井一裕, 駒田諭, "高速他動底背屈時の足関節粘弾性トルクの推定", 機械学会ロボティクス・メカトロニクス講演会講演論文集, 札幌, Jun. 1st--4th, 2022</br>
[3] 池田遊斗, 矢代大祐, 弓場井一裕, 駒田諭, "駆動側/負荷側エンコーダを有する減速機付き電磁モータのバックラッシュ幅同定に計測誤差モデルを用いた負荷側角度制御", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Aug. 29th--30th, 2022</br>
[4] 高井寛人, 矢代大祐, 弓場井一裕, 駒田諭, "表面筋電位と足・膝関節角度を用いた等尺性収縮時の足関節筋収縮トルクの推定", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Aug. 29th--30th, 2022</br>
[5] 辻裕介, 矢代大祐, 弓場井一裕, 駒田諭, "風速とプロペラ角速度を用いたゲインスケジュールド軸流羽根車推力制御器の変動風向下での性能検証", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Aug. 29th--30th, 2022</br>
[6] 高橋翼, 矢代大祐, 弓場井一裕, 駒田諭, "軸ねじれトルクの微分値を用いた2自由度パラレルロボットの位置制御", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Aug. 29th--30th, 2022</br>
[7] 辻󠄀裕介, 矢代大祐, 弓場井一裕, 駒田諭, "軸流羽根車のための流速とプロペラ角速度を用いたゲインスケジュールド推力制御器の変動風向下での性能検証", 第65回自動制御連合講演会論文集, Vol. 65, No. 1A1-4, 宇都宮, Nov. 12th--13th, 2022</br>
[8] 池田遊斗, 矢代大祐, 弓場井一裕, 駒田諭, "駆動側/負荷側エンコーダを有する減速機付き電磁モータのねじれトルク推定にバックラッシュモデルとHPFを用いた負荷側角度制御", 第65回自動制御連合講演会論文集, Vol. 65, No. 2C1-3, 宇都宮, Nov. 12th--13th, 2022</br>
[9] 辻裕介, 矢代大祐, 駒田諭, 弓場井一裕, "軸流羽根車のための風速とプロペラ角速度を用いたゲインスケジュールド推力制御器の風向反転時における性能検証", 電気学会メカトロニクス制御研究会資料, No. MEC-22-033, 東京, Dec. 3rd, 2022</br>
[10] 高井寛人, 矢代大祐, 駒田諭, 弓場井一裕, "他動底背屈時の足関節トルク含まれる重力項の同定", 電気学会メカトロニクス制御研究会資料, No. MEC-22-039, 東京, Dec. 3rd, 2022</br>
[11] 遠藤健史, 弓場井一裕, 矢代大祐, 駒田諭, "応答予測を用いた時間領域での制約を満たすデータ駆動型制御器調整法", 電気学会制御研究会資料, No. CT-23-017, 愛媛, Feb. 4th--5th, 2023</br>
[12] 水谷力也, 弓場井一裕, 矢代大祐, 駒田諭, "L1正則化を考慮した周波数応答に基づくゲインスケジュールド制御器の設計", 電気学会制御研究会資料, No. CT-23-018, 愛媛, Feb. 4th--5th, 2023</br>

<h2>2021年度</h2>
【査読付き原著論文】</br>
[1] Taiga Sakatoku, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Data-Driven Controller Tuning with Closed-Loop Response  Estimation", IEEJ Transactions on Electrical and Electronic Engineering, Vol. 16, No.10, pp. 1397-1406, Oct. 2021(10.1002/tee.23436)</br>
[2] 近藤大智, 矢代大祐, 弓場井一裕, 駒田諭, "減速機とモータ／負荷側エンコーダを有する電磁モータの不感帯付バネモデルを用いた負荷トルク制御", 電気学会論文誌産業応用部門誌, Vol. 141-D, No. 9, pp. 700-708, Sep. 2021(10.1541/ieejias.141.700)</br>
[3] Daichi Kondo, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Load torque control of an electromagnetic motor with a reduction gear and motor/load-side encoders using a spring model including a dead zone", Electrical Engineering in Japan, Vol. 214, No. 4, Dec. 2021(10.1002/eej.23360)</br>
[4] 伊東航平, 弓場井一裕, 矢代大祐, 駒田諭, "数値最適化による周波数応答に基づいたロバスト性能を満たす制御器設計", 電気学会論文誌電子・情報・システム部門誌, Vol. 141, No. 12, pp. 1360-1370, Dec. 2021(10.1541/ieejeiss.141.1360)</br>
[5] 西井勇輝, 矢代大祐, 弓場井一裕, 駒田諭, "1自由度プロペラ推進システムのための機体速度・加速度フィードバック制御器を含む接触力制御器の設計", 電気学会論文誌産業応用部門誌, Vol. 142-D, No. 2, pp. 76-85, Feb. 2022(10.1541/ieejias.142.76)</br>
[6] 長岡佑馬, 北俣康介, 矢代大祐, 弓場井一裕, 駒田諭, 武田湖太郎, "時変弾性係数を用いた他動底背屈時の足関節トルクの推定", 電気学会論文誌産業応用部門誌, Vol. 142-D, No. 3, pp. 232-240, Mar. 2022(10.1541/ieejias.142.232)</br>
<hr size="1" width="100%" color="#000000" align="left">
【招待講演】</br>
[1] 矢代大祐, "モータ駆動システムの高精度制御," 三重大学大学院工学研究科研究紹介電気電子工学セミナー, Online, Oct. 6th, 2021</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Masaya Inukai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Feedforward Controller using Airframe's Velocity for Contact Force Control of Propeller Driven System", Proceedings of the IEEE 17th International Workshop on Advanced Motion Control, Padova, Italy, Feb. 18th-20th, 2022</br>
[2] Yuki Kato, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Performance Evaluation of a Gain-scheduled Propeller Thrust Controller Using Wind Velocity and Rotor Angular Velocity Under Fluctuating Wind", Proceedings of the IEEE 17th International Workshop on Advanced Motion Control, Padova, Italy, Feb. 18th-20th, 2022</br>
[3] Weijie Ren, Satoshi Komada, Kazuhiro Yubai, and Daisuke Yashiro, "Zonotopic Kalman Observer-based Sensor Fault Estimation for Discrete-Time Takagi-Sugeno Fuzzy Systems", Proceedings of the IEEE 17th International Workshop on Advanced Motion Control, Padova, Italy, Feb. 18th-20th, 2022</br>
[4] Kohei Ito, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "A Tuning Method of Gain-Scheduled Model Error Compensator Using Frequency Response by Numerical Optimization", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
[5] Tsubasa Takahashi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Position Control Using Link Bending Moment for a 6-Degree-Of-Freedom Parallel Robot", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
[6] Kentaro Tanaka, Satoshi Komada, Daisuke Yashiro, and Kazuhiro Yubai, "Determining Optimal Tension Considering Tension Limit for Variable Stiffness Tendon Arms", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
[7] Yuma Nagaoka, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Estimation of Ankle Dorsiflexion Torque During Isometric Contraction Using Ankle/Knee Joint Angles, Surface Electromyogram of Tibialis Anterior and Triceps Surae", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
[8] Takumi Shinzaki, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Disturbance Observer Including Delay Compensator for Full Closed Control System with Camera and Accelerometer", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
[9] Daichi Kondo, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Optimization of Spring Constant of Load Torque Control System Using an Electromagnetic Motor with a Reduction Gear and Motor/Load-Side Encoders", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
[10] Naoki Nakayama, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Tuning of Youla Parameter with Passivity-based Stability Constraint", Proceedings of the 8th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Saitama, Mar. 8th--10th, 2022</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 新崎拓海, 矢代大祐, 弓場井一裕, 駒田諭, "カメラと加速度センサを用いたモーター駆動系の制御器設計", 機械学会ロボティクス・メカトロニクス講演会講演論文集, Online, Jun. 6th--8th, 2021</br>
[2] 高橋翼, 矢代大祐, 弓場井一裕, 駒田諭, "6自由度パラレルロボットのためのリンク曲げモーメントを用いた位置制御", 機械学会ロボティクス・メカトロニクス講演会講演論文集, Online, Jun. 6th--8th, 2021</br>
[3] 辻裕介, 矢代大祐, 弓場井一裕, 駒田諭, "クアッドティルトロータ機の接触力制御", 機械学会ロボティクス・メカトロニクス講演会演論文集, Online, Jun. 6th--8th, 2021</br>
[4] 長岡佑馬, 矢代大祐, 弓場井一裕, 駒田諭, "筋電図と足・膝関節角度を用いた足関節筋発揮トルクの推定", 機械学会ロボティクス・メカトロニクス講演会講演論文集, Online, Jun. 6th--8th, 2021</br>
[5] 長岡佑馬, 矢代大祐, 弓場井一裕, 駒田諭, "表面筋電位と足・膝関節角度を用いた等尺性収縮時の足背屈トルクの推定", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[6] 新崎拓海, 矢代大祐, 弓場井一裕, 駒田諭, "カメラと加速度センサを用いたモーター駆動系の遅延補償器を含む制御器設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[7] 犬飼将也, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ推進システムのための機体速度フィードバック制御器と機体外乱オブザーバを用いた接触力制御器の設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[8] 近藤大智, 矢代大祐, 弓場井一裕, 駒田諭, "減速機，ばね，およびモータ/負荷側エンコーダを有する電磁モータを用いた負荷トルク制御系のばね定数の最適化", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[9] 高橋翼, 矢代大祐, 弓場井一裕, 駒田諭, "6自由度パラレルロボットのためのリンク曲げモーメントを用いた位置制御系のカメラによる性能評価", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[10] 加藤勇樹, 矢代大祐, 弓場井一裕, 駒田諭, "風速とロータ角速度を用いたゲインスケジュールドプロペラ推力制御器の斜め流入風に対する性能評価", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[11] 辻裕介, 矢代大祐, 弓場井一裕, 駒田諭, "クアッドティルトロータ機の水平方向への接触力制御", 電気・電子・情報関係学会東海支部連合大会講演論文集, Online, Sep. 7th--8th, 2021</br>
[12] 加藤勇樹, 矢代大祐, 弓場井一裕, 駒田諭, "風速とロータ角速度を用いたゲインスケジュールドプロペラ推力制御器の変動風下での性能評価", 第64回自動制御連合講演会論文集, Vol. 64, No. 2I1-3, Online, Nov. 13th--14th, 2021</br>
[13] 犬飼将也, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ推進システムの接触力制御のための機体速度を用いたフィードフォワード制御器の設計", 第64回自動制御連合講演会論文集, Vol. 64, No. 2I1-2, Online, Nov. 13th--14th, 2021</br>
[14] 中山尚貴, 弓場井一裕, 矢代大祐, 駒田諭, "受動性に基づく安定制約を満たすYoulaパラメータの調整 ", 第64回自動制御連合講演会論文集, Vol. 64, No. 1A3-3, Online, Nov. 13th--14th, 2021</br>
[15] 近藤大智, 矢代大祐, 弓場井一裕, 駒田諭, "減速機およびモータ/負荷側エンコーダを有する電磁モータを用いた負荷トルク制御系のばね定数の最適化", 電気学会メカトロニクス制御研究会資料, No. MEC-21-018, Online, Dec. 11th, 2021</br>
[16] 長岡佑馬, 矢代大祐, 駒田諭, 弓場井一裕, "前脛骨筋・下腿三頭筋の表面筋電位と足・膝関節角度を用いた等尺性収縮時の足背屈トルクの推定", 電気学会メカトロニクス制御研究会資料, No. MEC-21-012, Online, Dec. 11th, 2021</br>
[17] 伊東航平, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いた数値最適化によるモデル誤差抑制補償器のゲインスケジュールド設計", 電気学会制御研究会資料, No. CT-22-036, 兵庫, Jan. 8th--9th, 2022</br>
	
<h2>2020年度</h2>
【査読付き原著論文】</br>
[1] 中村俊哉, 矢代大祐, 弓場井一裕, 駒田諭, "角速度飽和のある超音波モータを用いた直列弾性アクチュエータのトルク制御", 電気学会論文誌産業応用部門誌, Vol. 140-D, No. 5, pp. 378-386, May 2020(10.1541/ieejias.140.378)</br>
[2] 林佑樹, 矢代大祐, 弓場井一裕, 駒田諭, "ロータ角速度を用いたクワッドロータの接触力制御", 電気学会論文誌産業応用部門誌, Vol. 140-D, No. 9, pp. 662--672, Sep. 2020(10.1541/ieejias.140.662)</br>
[3] Taiga Sakatoku, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Constraints to Guarantee Gain and Phase Margins for Data-Driven Controller Tuning Methods", Journal of Marine Science and Technology-Taiwan, Vol. 28, No. 5, pp. 385-393, Oct. 2020(10.6119/JMST.202010_28(5).0008)</br>
[4] Toshiya Nakamura, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Torque Control of a Series Elastic Actuator Using an Ultrasonic Motor with Angular-Velocity Saturation", Electrical Engineering in Japan, Sep. 2020(10.1002/eej.23297)</br>
[5] 酒徳大雅, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データを用いた閉ループ応答の推定", 電気学会論文誌電子・情報・システム部門誌, Vol. 141, No. 3, pp. 396-397, Mar. 2021(10.1541/ieejeiss.141.396)</br>
<hr size="1" width="100%" color="#000000" align="left">
【招待講演】</br>
[1] 矢代大祐, "角速度飽和のある超音波モータを用いた直列弾性アクチュエータのトルク制御," 電気学会産業応用部門産業計測制御技術委員会人間支援システムのためのアクチュエーション技術に関する調査専門委員会, Online, Sep. 18th, 2020</br>
[2] Daisuke Yashiro, "Force Control of Propeller-Driven Systems Using Rotor Angular Velocity", Proceedings of 7th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 10th--12th, 2021</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Yuki Kato, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Gain Scheduled Rotor Thrust Controller Using Airspeed and Rotor Angular Velocity", Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Oct. 18th-21th, 2020</br>
[2] Daichi Kondo, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Load Torque Control of Electromagnetic Motor with Reduction Gear and Motor/Load-Side Encoders", Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Oct. 18th-21th, 2020</br>
[3] Yuki Nishii, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of a Contact Force Controller Including State Feedback Controllers for Propeller-Driven Systems", Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Oct. 18th-21th, 2020</br>
[4] Masaya Inukai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Adaptive Controller for Bilateral Control Systems Including a Propeller Driven System", Proceedings of the 46th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Oct. 18th-21th, 2020</br>
[5] Taiga Sakatoku, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Proposal of Estimation of Closed-loop Response Using Input and Output Data", Proceedings of 2020 International Automatic Control Conference, Hsinchu, Taiwan, Nov. 4th--7th, 2020</br>
[6] Yuki Nishii, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Estimation and Compensation of Airframe's Disturbance Force using Rotor Angular Velocity for Propeller-driven Systems", Proceedings of IEEE International Conference on Mechatronics, Chiba, Japan, Mar. 7th-9th, 2021</br>
[7] Daichi Kondo, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Load Torque Control of an Electromagnetic Motor with a Reduction Gear, a Spring, and Motor/Load-Side Encoders",Proceedings of the IEEE International Conference on Mechatronics, Chiba, Japan, Mar. 7th-9th, 2021</br>
[8] Kohei Ito, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Frequency-Response-Based Controller Design for Robust Performance by Numerical Optimization", Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Mar. 10th--12th, 2021</br>
[9] Taiga Sakatoku, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Controller Tuning with Estimated Closed-Loop Response Using Input/Output Data", Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Mar. 10th--12th, 2021</br>
[10] Yuki Kato, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of a Gain-scheduled Rotor Thrust Controller Using Wind Velocity and Rotor Angular Velocity", Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 10th--12th, 2021</br>
[11] Kosuke Kitabata, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Estimation of Ankle Torque in Passive Plantar-Dorsiflexion Using Ankle/Knee Angle", Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Chiba, Mar. 10th--12th, 2021</br>
[12] Yuma Nagaoka, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Estimation Ankle Joint Exertion Torque Using Electromyogram and Ankle/Knee Joint Angles", Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Chiba, Mar. 10th--12th, 2021</br>
[13] Shinnosuke Kato, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Control of Humanoid Robots Using Divided Coordinate Transformations", Proceedings of the 7th IEEJ International Workshop on Sensing, Actuation, Motion, Control and Optimization, Chiba, Mar. 10th--12th, 2021</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 近藤大智, 矢代大祐, 弓場井一裕, 駒田諭, "減速機を有する電磁モータのモータ/負荷側エンコーダを用いた負荷トルク制御器の設計", 機械学会ロボティクス・メカトロニクス講演会演論文集, Online, May. 27th&#8211;30th, 2020</br>
[2] 加藤勇樹, 矢代大祐, 弓場井一裕, 駒田諭, "対気速度とロータ角速度を用いたゲインスケジュールドロータ推力制御器の設計", 機械学会ロボティクス・メカトロニクス講演会演論文集, Online, May. 27th&#8211;30th, 2020</br>
[3] 犬飼将也, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ推進システムを内包するバイラテラル制御系の適応制御器の設計", 機械学会ロボティクス・メカトロニクス講演会演論文集, Online, May. 27th&#8211;30th, 2020</br>
[4] 酒徳大雅, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データを用いた応答推定の雑音の影響低減に関する検討", 電気学会制御研究会資料, No. CT-20-86, pp. 27--31, Online, Aug. 1st, 2020</br>
[5] 伊東航平, 弓場井一裕, 矢代大祐, 駒田諭, "凸最適化を用いたロバスト性能を満たす周波数応答に基づく制御器設計", 電気学会制御研究会資料, No. CT-20-87, pp. 33--38, Online, Aug. 1st, 2020</br>
[6] 加藤勇樹, 矢代大祐, 弓場井一裕, 駒田諭, "風速とロータ角速度を用いたゲインスケジュールドロータ推力制御器の設計", 電気学会東海支部若手セミナー大学院生発表会予稿集, Online, Nov. 7th, 2020</br>
[7] 酒徳大雅, 弓場井一裕, 矢代大祐, 駒田諭, "雑音の影響を考慮した入出力データを用いた閉ループ応答推定と制御器調整", 第63回自動制御連合講演会論文集, No. 2B3-4, Online, Nov. 21st--22nd, 2020</br>
[8] 西井勇輝, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ推進システムのためのロータ角速度を用いた 外乱オブザーバの設計", 第63回自動制御連合講演会論文集, No. 2E2-1, Online, Nov. 21st--22th, 2020</br>
[9] 近藤大智, 矢代大祐, 弓場井一裕, 駒田諭, "減速機,ばね,およびモータ/負荷側エンコーダを有する電磁モータの負荷トルク制御", 電気学会メカトロニクス制御研究会資料, No. MEC-20-020, pp. 1--6, Online, Dec. 12th, 2020</br>

<h2>2019年度</h2>
【査読付き原著論文】</br>
[1] 伊達宗充, 弓場井一裕, 矢代大祐, 駒田諭, "閉ループの安定性と安定余裕を保証するNCbTの提案", 電気学会論文誌電子・情報・システム部門誌, Vol. 139-C, No. 4, pp. 460-468, Apr. 2019(10.1541/ieejeiss.139.460)</br>
[2] 柳川晃佑, 弓場井一裕, 矢代大祐, 駒田諭, "一度のデータ取得によるデータ駆動出力相補感度整形", 電気学会論文誌電子・情報・システム部門誌, Vol. 139-C, No. 8, pp. 874-881, Aug. 2019(10.1541/ieejeiss.139.874)</br>
[3] Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Adaptive Controller using Object Position for Bilateral Control System with Communication Delay", IEEJ Journal of Industry Applications, Vol. 9, No. 2, pp. 149-158, Mar. 2020(10.1541/ieejjia.9.149)</br>
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【招待講演】</br>
[1] 矢代大祐, "人やモノと接触するロボットのための力覚制御技術," 日本VR学会ハプティクス研究会触覚講習会, 京都, Oct. 30th, 2019</br>
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【査読付き国際会議論文】</br>
[1] Akifumi Morita, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Data-Driven Tuning of Stable Minimum Phase H∞ Controller", Proceedings of 2019 International Automatic Control Conference, Keelung, Taiwan, Nov. 13th-16th, 2019</br>
[2] Akifumi Morita, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Multivariable H∞ Controller Design Using  Data-driven Tuning", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[3] Toshiya Nakamura, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Torque Controller for Ultrasonic Motor with Angular-Velocity Saturation", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[4] Yuki Hayashi, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of Contact Force Controller for Quadrotor with Rotor Angular Encoder", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[5] Atsushi Hotta, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Frequency-Responses-Based Fractional Order Controller Design to Guarantee Robustness against Gain Variation", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[6] Shotaro Tsujii, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "A Data-Driven Design Method of Gain-Scheduled Force Controller for Variable Environments", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[7] Yuki Nishii, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "System identification of Thrust Control System using Tilt-rotor Aircraft with Propeller Angular Encorder", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[8] Daiki Kawaguchi, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Investigation of the influence of contralateral limb and upper body on lower limb muscle strength measurement", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[9] Akimasa Sobue, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Study on Advantages of Using Low Stiffness Focusing on Low Load Torque Control", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[10] Tomoki Tomita, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "An Optimal Posture Determination Method Using Tension Adjustment for Tendon Driven Arm with Nonlinear Springs", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>
[11] Kosuke Kitabata, Daisuke Yashiro, Satoshi Komada, Kazuhiro Yubai, "Modeling of Ankle Elastic Torque during Passive Plantar-dorsiflexion", Proceedings of the 6th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 14th-16th, 2020</br>

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【国内会議論文】<br>
[1] 酒徳大雅, 弓場井一裕, 矢代大祐, 駒田諭, "ゲイン・位相余裕を保証するデータ駆動型制御器設計法", システム制御情報学会研究発表講演会講演論文集, 大阪, May. 22nd, 2019</br>
[2] 西井勇輝, 矢代大祐, 弓場井一裕, 駒田諭, "スライディングモード制御法に基づくUAVの接触力制御", 機械学会ロボティクス・メカトロニクス講演会演論文集, 広島, Jun. 6th, 2019</br>
[3] 北俣康介, 矢代大祐, 弓場井一裕, 駒田諭, "EMGと足関節角度を用いた底屈筋による足関節発揮トルクの推定", 機械学会ロボティクス・メカトロニクス講演会演論文集, 広島, Jun. 7th, 2019</br>
[4] 林佑樹, 矢代大祐, 弓場井一裕, 駒田諭, "ロータ角速度を用いたクワッドロータUAVの接触力制御", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Sep. 9th, 2019</br>
[5] 中村俊哉, 矢代大祐, 弓場井一裕, 駒田諭, "角速度飽和のある超音波モータを用いたトルク制御系の積分器を持たない制御器設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Sep. 10th, 2019</br>
[6] 長瀬瑛, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データを用いたYoulaパラメータの分母・分子多項式調整", 自動制御連合講演会論文集, 札幌, Nov. 9th, 2019</br>
[7] 森田晃史, 弓場井一裕, 矢代大祐, 駒田諭, "データを用いた安定かつ最小位相なH∞制御器の設計", 自動制御連合講演会論文集, 札幌, Nov. 9th, 2019</br>
[8] 西井勇輝, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ角加速度制御器を有するティルトロータ機のシステム同定", 自動制御連合講演会論文集, 札幌, Nov. 10th, 2019</br>
[9] 林佑樹, 矢代大祐, 弓場井一裕, 駒田諭, "ロータ角速度を用いたクワッドロータUAVの接触力制御器の設計", 電気学会メカトロニクス制御研究会資料, 東京, No. MEC-19-017-024, pp. 33-38, Dec. 14th, 2019</br>
[10] 森田晃史, 弓場井一裕, 矢代大祐, 駒田諭, "データを用いたH∞多変数制御器の設計", 電気学会制御研究会資料, 広島, Jan. 4th-5th, 2020</br>
[11] 酒徳大雅, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データを用いた閉ループ応答の推定と制御器の再調整", 電気学会制御研究会資料, 広島, Jan. 4th-5th, 2020</br>
[12] 堀田敦, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いたゲイン変動にロバストな非整数次制御器設計法", 電気学会制御研究会資料, 広島, Jan. 4th-5th, 2020</br>
[13] 辻井祥太郎, 弓場井一裕, 矢代大祐, 駒田諭, "データ駆動型制御器設計法と機械学習に基づいた適応的力制御器の設計法の提案", 電気学会制御研究会資料, 広島, Jan. 4th-5th, 2020</br>

<h2>2018年度</h2>
【査読付き原著論文】</br>
[1] 米本大輝, 矢代大祐, 弓場井一裕, 駒田諭, "超音波モータと線形ばねを有する腱駆動機構による力制御系の設計", 電気学会論文誌産業応用部門誌, Vol. 138-D, No. 4, pp. 298-305, Apr. 2018(10.1541/ieejias.138.298)</br>
[2] 宇佐美朋大, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いたH∞ループ整形法における固定次数制御器設計法のMIMOシステムへの拡張", 電気学会論文誌電子・情報・システム部門誌, Vol. 138-C, No. 4, pp. 319-328, Apr. 2018(10.1541/ieejeiss.138.319)</br>
[3] 山際創太, 矢代大祐, 弓場井一裕, 駒田諭, "地面効果を考慮したプロペラ推進システムのバイラテラル制御", 電気学会論文誌産業応用部門誌, Vol. 138-D, No. 7, pp. 574-581, Jul. 2018(10.1541/ieejias.138.574 )</br>
[4] Tomohiro Usami, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Fully parameterized fixed-order controller design for H loop shaping method using frequency responsesextension to MIMO systems", Electrical Engineering in Japan, Vol. 204, No. 4, pp. 43-54, Sep. 2018(10.1002/eej.23110)</br>
[5] Daiki Yonemoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of force control system using tendon‐driven mechanism including linear springs and ultrasonic motor", Electrical Engineering in Japan, Vol. 205, No. 1, pp. 36-45, Oct. 2018(10.1002/eej.23115)</br>	
[6] 岡村雅行, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いた固定次数Youlaパラメータの設計法", 電気学会論文誌電子・情報・システム部門誌, Vol. 138-C, No. 12, pp. 1469-1477, Dec. 2018(10.1541/ieejeiss.138.1469 )</br>
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【招待講演】</br>
[1] 矢代大祐, "ハプティクスのための無人ヘリコプタの一設計案," 平成30年電気学会産業応用部門大会論文集, 横浜, Aug. 28th-30th, 2018</br>
[2] Daisuke Yashiro, "Position/Force Hybrid Control of Electric Rotorcraft", Proceedings 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
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【査読付き国際会議論文】</br>
[1] Kosuke Yanagawa, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Output Complementary Sensitivity Shaping for MIMO Systems without Multiple Experiments", Proceedings of the 37th Chinese Control Conference, No. FrB19-5, pp. 182-187, Wuhan, China, Jul. 25th-27th, 2018</br>
[2] Masayuki Okamura, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Fully-Parameterized Youla Parameter Design Method in GIMC Structure Using Frequency Responses", Proceedings of the 37th Chinese Control Conference, No. FrB19-4, pp. 170-175, Wuhan, China, Jul. 25th-27th, 2018</br>
[3] Masayuki Okamura, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Frequency-Responses-Based Design of Fully-Parameterized Youla Parameter Achieving Nominal Performance", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[4] Atsushi Hotta, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "A Fundamental Study on Frequency-Responses-Based Fractional Order PID Controller Tuning", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[5] Shotaro Tsujii, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "A Study on Design Method of the Switching System for Force Control", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[6] Tomoki Tomita, Satoshi Komada, Kazuhiro Yubai and Daisuke Yashiro, "Optimal Posture Determination Methods for Variable Stiffness Tendon Driven Arms", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[7] Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Numerical Validation of 3-DOF Controller Based Loop Shaping for 2-Inertia System with Motor/Load-Side Encoders", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[8] Yuki Hayashi, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Contact Force Control of Quadrotor Based on Rotor Angular Acceleration Control", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[9] Toshiya Nakamura, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Controller Design of Indirect Force Control System with Velocity-Saturating Closed Loop Ultrasonic Motor Velocity Control System in Inner Loop", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[10] Akimasa Sobue, Satoshi Komada, Kazuhiro Yubai and Daisuke Yashiro, "Analysis of Force/Stiffness Control of Variable Stiffness Tendon Driven Arms", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[11] Haruki Ban, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Modeling of Relation between Ankle Plantar Flexion Torque and iEMG", Proceedings of 12th France-Japan Congress, 10th Europe-Asia Congress on Mecatronics, Tsu, Japan, Sep. 10th-12th, 2018</br>
[12] Atsuki Oguri, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Modeling of ankle angle-torque characteristic during passive dorsiflexion", Proceedings of 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[13] Daiki Yonemoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of Torque Control System Using Motor/Load Side Encoders and Ultrasonic Motor Based Closeloop Angle Control System", Proceedings of 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[14] Sota Yamagiwa, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of Gain Scheduling Controller for Bilateral Control System Using Propeller Driven System", Proceedings of 5th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[15] Kosuke Yanagawa, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Data-Driven Controller Parameter Update Ensuring Closed-Loop Stability", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[16] Munemitsu Date, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Experimental Study on NCbT Guaranteeing Gain and Phase Margins", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[17] Masayuki Okamura, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Design method of Fixed-Order Youla Parameter Based on ν-gap Using Frequency Responses", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[18] Shotaro Tsujii, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "A Fundamental Study on Switching Control System with Multiple Modes for Force Control", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[19] Hiromi Kishi, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Visual servoing of robot arms using simple transformation through multiple coordinate systems from binocular visual space", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[20] Masahiro Fujisaki, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "A Method of Tension Transformation Considering Tension Limit for Tendon Driven Manipulator with Redundant Tendon", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[21] Takashi Fuyuki, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Study on Walking Assist Device that Use a Tendon Driven Mechanism Focused on Gait Cycle", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[22] Shuhei Madokoro, Daiki Kawaguchi, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Investigation on Measurement Conditions of the Lower Limb Muscle Strength Evaluation Device Capable of Muscle Strength Evaluation for Each Muscle Group", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[23] Tomoki Tomita, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Optimal Posture Determination Methods of Static Task for Variable Stiffness Tendon Driven Arm", Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[24] Akifumi Morita, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Data-Driven Tuning of Stable Minimum Phase H∞ Controller",  Proceedings of the 5th IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization, Chiba, Mar. 4th-6th, 2019</br>
[25] Yuki Hayashi, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Experimental Validation of Contact Force Control of Quadrotor Based on Rotor Angular Acceleration Control", Proceedings of IEEE International Conference on Mechatronics, Ilmenau, Germany, Mar. 18th-20th, 2019</br>
[26] Toshiya Nakamura, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Torque Control of 2-Inertia System Using Ultrasonic Motor with Angular Velocity Saturation", Proceedings of IEEE International Conference on Mechatronics, Ilmenau, Germany, Mar. 18th-20th, 2019</br>
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【国内会議論文】<br>
[1] 中村俊哉, 矢代大祐, 弓場井一裕, 駒田諭, "速度飽和する閉ループ超音波モータ速度制御系をインナーループに持つ間接力制御系の制御器設計", 機械学会ロボティクス・メカトロニクス講演会演論文集, 北九州, May. 2nd-5th, 2018</br>
[2] 林佑樹, 矢代大祐, 弓場井一裕, 駒田諭, "ロータ角加速度制御に基づくクワッドロータの接触力制御", 機械学会ロボティクス・メカトロニクス講演会演論文集, 北九州, May. 2nd-5th, 2018</br>
[3] 小栗淳生, 矢代大祐, 弓場井一裕, 駒田諭, 武田湖太郎, "他動背屈時の足関節角度-負荷トルク特性のモデリング", 第57回日本生体医工学会大会抄録集, 札幌, Jun. 19th-21st, 2018</br>
[4] 林佑樹, 矢代大祐, 弓場井一裕, 駒田諭, "ロータ角加速度制御に基づくクワッドロータヘリコプタの接触力制御", 電気学会メカトロニクス制御研究会資料, 東京, No. MEC-18-015-022.024-025, pp. 31-36, Sep. 25th, 2018</br>
[5] 中村俊哉, 矢代大祐, 弓場井一裕, 駒田諭, "速度飽和のある超音波モータを用いた2慣性系のトルク制御", 電気学会メカトロニクス制御研究会資料, 東京, No. MEC-18-015-022.024-025, pp. 37-42, Sep. 25th, 2018</br>
[6] 辻井祥太郎, 弓場井一裕, 矢代大祐, 駒田諭, "データ駆動型制御器設計法に基づいた切替型力制御器の設計法", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Sep. 3rd-4th, 2018</br>
[7] 森田晃史, 弓場井一裕, 矢代大祐, 駒田諭, "不安定な極零相殺を回避した感度最小化のためのデータ駆動型制御器設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Sep. 3rd-4th, 2018</br>
[8] 堀田敦, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いた非整数次PID制御器調整法", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Sep. 3rd-4th, 2018</br>
[9] 川口大貴, 間所修平, 駒田諭, 弓場井一裕, 矢代大祐 "下肢筋力評価装置の測定精度の検証", 日本人間工学会東海支部研究大会論文集, pp. 74-75, 三重, Oct. 20th, 2018</br>
[10] 山際創太, 矢代大祐, 弓場井一裕, 駒田諭, "プロペラ推進システムを用いたバイラテラル制御系のゲインスケジューリング制御器の設計", 電気学会メカトロニクス制御研究会資料, 東京, No. MEC-18-026-033, pp. 37-42, Dec. 8th, 2018</br>
[11] 藤崎正洋, 駒田諭, 弓場井一裕, 矢代大祐, "冗長腱を持つ腱駆動機構における張力リミッタを考慮した張力変換手法に関する研究", 電気学会メカトロニクス制御研究会資料, 東京, No. MEC-18-026-033, pp. 31-35, Dec. 8th, 2018</br>
[12] 柳川晃佑, 弓場井一裕, 矢代大祐, 駒田諭, "データ駆動型制御器設計における閉ループシステムの安定性を保証する解更新法", 電気学会制御研究会資料, No. CT-19-014, pp. 59-63, 広島, Jan. 5th-6th, 2019</br>
[13] 伊達宗充, 弓場井一裕, 矢代大祐, 駒田諭, “閉ループの安定性と指定された安定余裕を同時に保証するNCbTの実機検証, 電気学会制御研究会資料, No. CT-19-013, pp. 53-58, 広島, Jan. 5th-6th, 2019</br>
[14] 岡村雅行，弓場井一裕，矢代大祐，駒田諭, ""周波数応答を用いたν-Gapに基づく固定次数Youlaパラメータの設計", 電気学会制御研究会資料, No. CT-19-021，pp. 97-102，広島，Jan. 5th-6th, 2019</br>

<h2>2017年度</h2>
【査読付き原著論文】</br>
[1] 堀智貴, 弓場井一裕, 矢代大祐, 駒田諭, "非反証制御に基づく感度最小化のためのデータ駆動制御器設計", 電気学会論文誌電子・情報・システム部門誌, Vol. 137-C, No. 10, pp. 1364-1372, Oct. 2017(10.1541/ieejeiss.137.1364)</br>
[2] Shogo Shinoda, Kazuhiro Yubai,Daisuke Yashiro, Junji Hirai, "Multivariable Controller Design Achieving Diagonal Dominance Using Frequency Response Data", Electronics and Communications in Japan, Vol. 100, No. 10, pp. 12-23, Oct. 2017(10.1002/ecj.11970)</br>
[3] Tomoki Hori, Kazuhiro Yubai,Daisuke Yashiro, Satoshi Komada, "Data-Driven H_inf Controller Tuning for Sensitivity Minimization", International Journal of Advanced Mechatronic Systems, Vol. 7, No. 6, pp. 337-349, 2017(10.1504/IJAMECHS.2017.099312)</br>
<hr size="1" width="100%" color="#000000" align="left">
【招待講演】</br>
[1] Daisuke Yashiro, "Fast Stiffness Estimation using Acceleration-based Impedance Control and its Application to Bilateral Control", Proceedings of 20th World Congress of the International Federation of Automatic Control, Toulouse, Jul. 9th-14th, 2017</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Yosuke Tsuchiya, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Contact Force Control of Tilt-Rotor Helicopter in 2-dimensional Space", Proceedings of IEEE International Conference on Industrial Technology, Lyon, Feb. 19th-22th, 2018</br>
[2] Tomohiro Usami, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada, "Low-Order Multivariable Weighting Function Design for H-infinity Loop Shaping Method based on mu-gap", Proceedings of IEEE International Conference on Industrial Technology, Lyon, Feb. 19th-22th, 2018</br>
[3] Daiki Yonemoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Analysis of Indirect Force Control System which Includes Close-loop Velocity Control System Using Ultrasonic Motor", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[4] Tomoya Ohashi, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Determination Method of Optimal Fiber Length of Muscle Groups of Limbs", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[5] Shuhei Madokoro, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Study on estimation of lower limb muscle tension considering Inter-knee joint force", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[6] Yutaka Fukumori, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Development of a Lower Limb Assisting Device Using Tendons", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[7] Takahiro Kawai, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, Akinobu Nisimura, "Muscle Power Evaluation for 2 Joints of Lower Limbs in Sagittal Plane", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[8] Masahiro Fujisaki, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Tension Conversion Considering Tension Limit for Variable Stiffness Tendon Arms", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[9] Takashi Fuyuki, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Study on control of power assist device in tendon driven mechanism using elastic element", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[10] Yutaka Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Analysis of Adaptive Controller on Object Coordination System for Bilateral Control System with Time Delay", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[11] Tomohiro Usami, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Design of Weighting Function for H∞ Loop Shaping Method Using Frequency Responses for stable MIMO plant", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[12] Tomoki Hori, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Fully Parametrized H∞ Controller Tuning for Sensitivity Minimization Using InputOutput Data", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[13] Munemitsu Date, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Stability Guaranteed NCbT Based on Nyquist Stability Criterion", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[14] Sota Igaki, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Analysis of Approximation Error of Binocular Visual Space Visual Servoing Using Simplified Coordinate Transformations", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[15] Hiromi Kishi, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Visual servoing of robot arms using simple transformation from binocular visual space by active cameras", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[16] Koichiro Nagazoe, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Design of tendon driven mechanism based on tendon arrangement", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[17] Akihisa Hirata, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Posture Determination of Tendon Drive Arms with Nonlinear Springs Considering Maximum Force and Stiffness in Work Space", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[18] Yosuke Inaba, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Controller Design for Power Assist System using Environmental Observer", Proceedings of 4th IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 6th-8th, 2018</br>
[19] Mingxuan Su, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of Adaptive Controller on Task Coordinate System for Bilateral Control System with Communication Delay", Proceedings of the 15th IEEE International Workshop on Advanced Motion Control, Mar. 9th-11th, 2018</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読なし国際会議論文】</br>
[1] Tomohiro Usami, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Design of Low-Order Multivariable Weighting Function for H-infinity Loop Shaping Method Using", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[2] Tomoki Hori, Kazuhiro Yubai , Daisuke Yashiro, Satoshi Komada, "Fully Parameterized Data-Driven H-infinity Controller Tuning for Sensitivity Minimization", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[3] Naoki Yamamoto, Kazuhiro Yubai , Daisuke Yashiro, Satoshi Komada, "Design of Force Control System Based on Unfalsified Control", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[4] Tomoya Ohashi, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Determination Method of Optimal Fiber Length of Muscle Groups of Limbs", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[5] Akihisa Hirata, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Posture Determination of Tendon Drive Arms with Nonlinear Springs Considering Stiffness andMaximum Force in Task Space", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[6] Yutaka Fukumori, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Development of a Lower Limb Assisting Device Using Tendons", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[7] Souta Igaki, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Analysis of Approximation Error of Binocular Visual Space Visual Servoing Using SimplifiedCoordinate Transformations", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[8] Takahiro Kawai, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Muscle Power Evaluation for 2 Joints of Lower Limbs in Sagittal Plane", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[9] Munemitsu Date, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Stability Guaranteed NCbT by Nyquist Stability Criterion", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[10] Kosuke Yanagawa, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Output Complementary Sensitivity Shaping Method for MIMO Systems Using One-shot", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[11] Masayuki Okamura, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Design of Youla Parameter in GIMC Structure Usimg Frequency Responses", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[12] Shuhei Madokoro, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Study on Estimation of Lower Limb Muscle Tension Considering Inter-Knee Joint Force", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[13] Takashi Fuyuki, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Study on Control of Power Assist Device in Tendon Driven Mechanism Using Elastic Element", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[14] Koichiro Nagazoe, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Study on Relationship between Tendon Arrangement and Force of Tendon Driven Mechanisms", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[15] Masahiro Fujisaki, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Tension Conversion Considering Tension Limit for Variable Stiffness Tendon Arms", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[16] Hiromi Kishi, Satoshi Komada, Kazuhiro Yubai, Daisuke Yashiro, "Visual Servoing of Robot Arms Using Simple Transformation from Binocular Visual Space by Active", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[17] Atsuki Oguri, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Modeling of Ankle Torque-Angle Characteristic during Passive Dorsiflexion", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[18] Souta Yamagiwa, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Analysis of Bilateral Control System Using Propeller Driven System Influenced by Ground Effect", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[19] Daiki Yonemoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Analysis of Indirect Force Control System which Includes Close-loop Velocity Control System Using Ultrasonic Motor", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[20] Yosuke Inaba, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Controller Design for Power-Assist-System Using Environmental Observer", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[21] Yosuke Tsuchiya, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Contact Force Control of Tilt-Rotor Helicopter in 2-dimensional Space", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[22] Yutaka Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of Adaptive Controller on Object Coordination System for Bilateral Control System with Time Delay", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
[23] Mingxuan Su, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Design of Adaptive Controller in Task Space for Bilateral Control System with Communication Delay", Proceedings of the 7th International Symposium for Sustainability by Engineering at MIU, Dec. 21st-22nd, 2017</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 小栗淳生, 矢代大祐, 弓場井一裕, 駒田諭, "機器の動力学を考慮した麻痺側足関節の痙性の特徴量推定", 機械学会ロボティクス・メカトロニクス講演会演論文集, 郡山, May. 10th-13th, 2017</br>
[2] 米本大輝, 矢代大祐, 弓場井一裕, 駒田諭, "超音波モータと線形ばねを有する腱駆動機構による力制御系の性能解析", 機械学会ロボティクス・メカトロニクス講演会演論文集, 郡山, May. 10th-13th, 2017</br>
[3] 山際創太, 矢代大祐, 弓場井一裕, 駒田諭, "地面効果を考慮したプロペラ推進システムのバイラテラル制御", 機械学会ロボティクス・メカトロニクス講演会演論文集, 郡山, May. 10th-13th, 2017</br>
[4] 岡村雅行, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いた極調整可能なYoulaパラメータの設計法", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Aug. 28th, 2017</br>
[5] 伊達宗充, 弓場井一裕, 矢代大祐, 駒田諭, "ナイキストの安定判別を用いた安定性を保証するNCbT", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Aug. 28th, 2017</br>
[6] 柳川晃佑, 弓場井一裕, 矢代大祐, 駒田諭, "一組の入出力データを用いたMIMOシステムに対するNCbTによる出力相補感度整形", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Aug. 28th, 2017</br>
[7] 藤崎正洋, 駒田諭, 矢代大祐, 弓場井一裕, "剛性可変腱駆動アームにおける張力リミッタを考慮した張力変換法", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Aug. 28th, 2017</br>
[8] 間所修平, 駒田諭, 矢代大祐, 弓場井一裕, "膝関節トルクより推定された筋張力‐収縮速度特性の相関に関する研究 ", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Aug. 28th, 2017</br>
[9] 小栗淳生, 矢代大祐, 弓場井一裕, 駒田諭, "機器の動力学を考慮した麻痺側足関節の痙性の特徴量推定", 平成29年電気学会産業応用部門大会論文集, 函館, Aug. 29th, 2017</br>
[10] 山際創太, 矢代大祐, 弓場井一裕, 駒田諭, "地面効果を考慮したプロペラ推進システムのバイラテラル制御", 平成29年電気学会産業応用部門大会論文集, 函館, Aug. 29th, 2017(電気学会産業応用部門優秀論文発表賞)</br>
[11] 米本大輝, 矢代大祐, 弓場井一裕, 駒田諭, "超音波モータと線形ばねを有する腱駆動機構による力制御系の設計", 平成29年電気学会産業応用部門大会論文集, 函館, Aug. 29th, 2017</br>
[12] 山尾創, 小山昌人, 矢代大祐, 石田宗秋, "永久磁石同期電動機における振動抑制制御器のモデル同定", 平成29年電気学会産業応用部門大会論文集, 函館, Aug. 29th, 2017</br>
[13] 宇佐美朋大, 弓場井一裕, 矢代大祐, 駒田諭, "周波数応答を用いたH∞ループ整形法における性能レベルを保証する低次重み関数の設計", 第60回自動制御連合講演会論文集, 東京, Nov. 10th, 2017</br>
[14] 山本直輝, 弓場井一裕, 矢代大祐, 駒田諭, "非反証制御に基づく切り替え型力制御器の提案", 電気学会メカトロニクス制御研究会資料, 東京, Vol. MEC-17, No. 15-22, pp. 29-32, Dec. 9th, 2017</br>
[15] 堀智貴, 弓場井一裕, 駒田諭, 矢代大祐, "ロバスト性を考慮した感度最小化のためのデータ駆動型制御器設計", 電気学会メカトロニクス制御研究会資料, 東京, Vol. MEC-17, No. 15-22, pp. 33-38, Dec. 9th, 2017(電気学会メカトロニクス制御技術委員会優秀論文賞受賞)</br>
[16] 岡村雅行, 弓場井一裕, 駒田諭, 矢代大祐, "周波数応答を用いたGIMC構造におけるYoulaパラメータの設計", 電気学会研究会資料, No. CT-18-035, pp. 137-142, Jan., 2018</br>
[17] 伊達宗充, 弓場井一裕, 駒田諭, 矢代大祐, "ナイキストの安定判別を用いた安定性を保証するNCbT", 電気学会研究会資料, No. CT-18-019, pp. 59-64, Jan., 2018</br>
[18] 柳川晃佑, 弓場井一裕, 駒田諭, 矢代大祐, "MIMOシステムに対する一度のデータ取得による出力相補感度整形法", 電気学会研究会資料, No. CT-18-017, pp. 51-56, Jan., 2018</br>

<h2>2016年度</h2>
【査読付き原著論文】</br>
[1] 篠田翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いた対角優勢を実現する多変数制御器設計", 電気学会論文誌電子・情報・システム部門誌, Vol. 136-C, No. 5, pp. 650-658, May. 2016(10.1541/ieejeiss.136.650)</br>
[2] 駒田諭, 橋本賢人, 矢代大祐, 平井淳之, "複数座標系間の簡易な変換を用いた筋骨格アームのビジュアルサーボ", 電気学会論文誌産業応用部門誌, Vol. 136-D, No. 6, pp. 392-398, Jun. 2016(10.1541/ieejias.136.392)</br>
[3] Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Fast Estimation of Environment's Stiffness for Bilateral Control Systems with Communication Delay", IEEJ Journal of Industry Applications, Vol. 5, No. 6, pp. 422-428, Nov. 2016(10.1541/ieejjia.5.422)</br>
[4] Takayuki Kubo, Kazuhiro Yubai,Daisuke Yashiro, Junji Hirai, "Design of Suboptimal Weight Using Frequency Responses Guaranteeing Performance Level of Controller for H-infinity Loop Shaping Method", Electrical Engineering in Japan, Vol. 197, No. 3, pp. 39-49, Nov. 2016(10.1002/eej.22858)</br>
[5] Ryota Matsuo, Kazuhiro Yubai,Daisuke Yashiro, Junji Hirai, "Data-Driven Controller Tuning for Nonminimum Phase Plants with Stability Constraints", Electrical Engineering in Japan, Vol. 197, No. 4, pp. 44-52, Dec. 2016(10.1002/eej.22880)</br>
[6] Kazuhiro Yubai, Shogo Shinoda, Daisuke Yashiro, and Junji Hirai, "Multivariable Controller Tuning for Suppression of Closed-Loop Interaction Using Frequency Response Data Set", International Journal of Advanced Mechatronic Systems, Vol. 7, No. 2, pp. 71--80, 2016(10.1504/IJAMECHS.2016.082627)</br>
[7] 弓場井一裕, 千賀一輝, 矢代大祐, 駒田諭, "凸最適化による制御仕様を保証する周波数応答を用いた多変数固定構造制御器設計法", 電気学会論文誌電子・情報・システム部門誌, Vol. 137-C, No. 2, pp. 279-287, Feb. 2017(10.1541/ieejeiss.137.279)</br>
<hr size="1" width="100%" color="#000000" align="left">
【著書等】</br>
[1] 中村新男, 西田信彦, 矢代大祐, 他, "豊田研究報告", (財)豊田理化学研究所, No. 69, May 2016</br>
[2] 大石潔, 大西公平, 矢代大祐, 他, "電気学会技術報告-実世界ハプティクスの最新技術", (社)電気学会, No. 1377, Jul. 2016</br>
<hr size="1" width="100%" color="#000000" align="left">
【招待講演】</br>
[1] 矢代大祐, "モータ制御とその応用," 科学技術振興機構 サイエンス・パートナーシップ・プログラム, 津, Aug. 8th, 2016</br>
[2] 矢代大祐, "車とICT," 三重県産業支援センター 自動走行システムの要素技術基礎講座, 津, Dec. 16th-17th, 2016</br>
[3] 矢代大祐, "超音波モータを用いた腱駆動機構による力制御系の設計," 平成29年電気学会全国大会, 富山, Mar. 15th, 2017</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Satoshi Komada, Hironobu Toyoda, Daisuke Yashiro, Junji Hirai, "Visual servoing of musculoskeletal arms using binocular visual space", Proceedings of 2016 11th France-Japan & 9th Europe-Asia Congress on Mechatronics, pp. 302--307, Jun., 2016(10.1109/IECON.2016.7793720 )</br>
[2] Daisuke Yashiro, Masato Adachi, Kazuhiro Yubai, and Satoshi Komada, "Sliding Mode Control Based Force Control of Single-rotor Helicopter", Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, Firenze, Oct. 23-26, 2016(10.1109/IECON.2016.7793720 )</br>
[3] Yutaka Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Adaptive Controller Designed in Work Space for Bilateral Control System with Time Delay", Proceedings of the Annual Conference of the IEEE Industrial Electronics Society, Firenze, Oct. 23-26, 2016(10.1109/IECON.2016.7793461 )</br>
[4] Naoya Iwamoto, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "A Direct Tuning of Disturbance Observer from Experimental Data Evaluating Noise Rejection", Proceedings of 2016 CACS International Automatic Control Conference, pp. 50-55, Taichung, Taiwan, Nov. 9th-11th, 2016</br>
[5] Kazuki Nakamura, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Controller Design Method Achieving Maximization of Control Bandwidth By Using Nyquist Diagram", Proceedings of 2016 CACS International Automatic Control Conference, pp. 44-49, Taichung, Taiwan, Nov. 9th-11th, 2016</br>
[6] Tomohiro Usami, Kazuhiro Yubai,Daisuke Yashiro, Satoshi Komada, "Multivariable Fixed-Structural Controller Design for H-infinite Loop Shaping Method by Iterative LMI Optimization Using Frequency Response Data", Proceedings of 2016 International Conference on Advanced Mechatronic Systems, pp. 218-223, Melbourne, Nov. 30th-Dec. 3rd, 2016</br>
[7] Tomoki Hori, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Data-driven Controller Tuning for Sensitivity Minimization", Proceedings of 2016 International Conference on Advanced Mechatronic, pp. 132-137, Melbourne, Nov. 30th-Dec. 3rd, 2016</br>
[8] Naoki Yamamoto, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Direct Design Method of Force Controller Based on Input/Output Data", Proceedings of 2016 International Conference on Advanced Mechatronic, pp. 126-131, Melbourne, Nov. 30th-Dec. 3rd, 2016</br>
[9] Kazuki Nakamura, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Fully Parameterized Controller Design Method for High Control Bandwidth Using Frequency Response Data Sets", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 6th, 2017</br>
[10] Shogo Aoki, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "Direct Tuning of State Feedback Gains with Stability Constraint Based on Nyquist Criterion Considering Inter-grid Behavior", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 6th, 2017</br>
[11] Yuki Mizutani, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, Akinobu Nishimura, "Development of Muscular Force Evaluation Method for Lower Limbs based on Output Force Distribution", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 6th, 2017</br>
[12] Naoya Iwamoto, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, "A Direct Tuning of Disturbance Observer by Experimental Data Sets Satisfying Nyquist Stability Criterion", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 6th, 2017</br>
[13] Daichi Sugita, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, Sebastien Laporte, "Estimation of Muscle Force Considering Tibiofemoral Joint and Patellofemoral Joint Compressive Forces", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 6th, 2017</br>
[14] Keita Takewaka, Kazuhiro Yubai, Daisuke Yashiro, Satoshi Komada, Sebastien Laporte, "Sensitivity Shaping Method for MIMO Systems Using Input/Output Data", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 6th, 2017</br>
[15] Tatsuya Kageyama, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Validation of Position Control Characteristics for Variable Mechanical Stiffness of Tendon Arms with Nonlinear Springs", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[16] Hiroaki Asai, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Motion Reproduction Using Linear Motor for Moving Object", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[17] Tomoya Ohashi, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Determination Method of Optimal Fiber Length for each Muscle Group", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[18] Takahiro Kawai, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, Akinobu Nisimura, "Accuracy Improvement of Lower Limb Muscle Evaluation Equipment Enabling Separation of Mono- and Bi- Articular Muscles", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[19] Akihisa Hirata, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Posture Determination of Tendon Arms with Nonlinear Springs Considering Force and Stiffness in Task Space", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[20] Yutaka Fukumori, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Development of a 3-joint Low-weight Powered Walk Assist Robot Using Series Elastic Actuators", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[21] Sota Igaki, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai, "Study on binocular visual space visual servoing using simple coordinate transformations", Proceedings of 3rd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Nagaoka, Mar. 7th, 2017</br>
[22] Yu Imai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "A Performance Evaluation of Distributed Control with STDMA Switches", Proceedings of IEEE International Conference on Industrial Technology, Tronto, Mar. 22nd-25th, 2017</br>
[23] Yosuke Tsuchiya, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Contact Force Control of Dual-Rotor Helicopter with Protect Frame", Proceedings of IEEE International Conference on Industrial Technology, Tronto, Mar. 22nd-25th, 2017</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読なし国際会議論文】</br>
[1] Kazuki Nakamura, Kazuhiro Yubai, Daisuke Yashiro, and Satoshi Komada, "Fully Parameterized Controller Design Method to Achieve High Control Bandwidth Using Frequency Response Data Sets", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[2] Shogo Aoki, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada, "Direct Tuning of State Feedback Gains with Stability Constraint Considering Inter-Grid Behavior", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[3] Keita Takewaka, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada, "Sensitivity Shaping Method for MIMO Systems Using Input/Output Data", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[4] Naoya Iwamoto, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada, "A Direct Tuning of Disturbance Observer from Input/Output Data Satisfying Nyquist Stability Criterion", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[5] Tatsuya Kageyama, Satoshi Komada, Daisuke Yashiro and Kazuhiro Yubai, "Validation of Position Control Characteristics for Variable Mechanical Stiffness of Tendon Arms", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[6] Daichi Sugita, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai and Sebastien Laporte, "Estimation of Muscle Tension Considering Tibiofemoral Joint and Patellofemoral Joint Compressive Forces", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[7] Yuki Mizutani, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai and Akinobu Nishimura, "Development of Muscular Force Evaluation Method for Lower Limbs based on Output Force Distribution", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[8] Hiroaki Asai, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Motion Reproduction Using Linear Motor for Moving Object", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[9] Yu Imai, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "A Performance Evaluation of Distributed Control through STDMA Switches", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[10] Sota Igaki, Satoshi Komada, Daisuke Yashiro and Kazuhiro Yubai, "Study on Binocular Visual Space Visual Servoing Using Simple Coordinate Transformations", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[11] Akihisa Hirata, Satoshi Komada, Daisuke Yashiro and Kazuhiro Yubai, "Posture Determination of Tendon Arms with Nonlinear Springs Considering Force and Stiffness in Task Space", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[12] Yutaka Fukumori, Satoshi Komada, Daisuke Yashiro and Kazuhiro Yubai, "Development of a 3-joint Low-weight PoweredWalk Assist Robot Using Series Elastic Actuators", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[13] Tomoya Ohashi, Satoshi Komada, Daisuke Yashiro and Kazuhiro Yubai, "Determination Method of Optimal Fiber Length for each Muscle Group Using Musculoskeletal Model", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[14] Takahiro Kawai, Satoshi Komada, Daisuke Yashiro, Kazuhiro Yubai and Akinobu Nishimura, "Accuracy Improvement of Lower Limb Muscle Strength Evaluation Equipment Enabling Separation of Mono- and Bi- Articular Muscles", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[15] Tomohiro Usami, Kazuhiro Yubai, Daisuke Yashiro and Satoshi Komada, "Multivariable Fixed-Structural Controller Tuning Based on H∞ Loop Shaping Method Using Frequency Responses", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[16] Tomoki Hori, Kazuhiro Yuba, Daisuke Yashiro and Satoshi Komada, "Direct Sensitivity Minimization Based on Input/Output Data", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[17] Naoki Yamamoto, Kazuhiro Yubai, Daisuke Yashiro and Satoshi komada, "Direct Design Method of Force Controller Based on Data-Driven Controller Tuning", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[18] Yosuke Inaba, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Analysis of Force Control System for the Power Assist Device", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[19] Yosuke Tsuchiya, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Contact Force Control of Dual-Rotor Helicopter with Protect Frame", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
[20] Yutaka Yamamoto, Daisuke Yashiro, Kazuhiro Yubai and Satoshi Komada, "Evaluation of Adaptive Controller in Workspace for Bilateral Control System with Time Delay", Proceedings of the 6th International Symposium for Sustainability by Engineering at MIU, Dec. 21st, 2016</br>
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【国内会議論文】<br>
[1] 青木翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "安定性を考慮した状態フィードバックゲインのデータ駆動型調整", システム制御情報学会研究発表講演会講演論文集, 神戸, Vol. 60, No. 345-3, May. 24th, 2016</br>
[2] 土屋洋輔, 矢代大祐, 弓場井一裕, 駒田諭, "デュアルロータヘリコプタの力制御", 機械学会ロボティクス・メカトロニクス講演会演論文集, 横浜, Jun. 9th, 2016</br>
[3] 稲葉洋介, 矢代大祐, 弓場井一裕, 駒田諭, "ハプティックグローブの計測値に応じて肩関節の動作を保存・再現するアシスト装置の開発", 機械学会ロボティクス・メカトロニクス講演会演論文集, 横浜, Jun. 9th, 2016</br>
[4] 山本優, 矢代大祐, 弓場井一裕, 駒田諭, "作業空間における適応制御を用いたむだ時間のあるバイラテラル制御系の設計", 機械学会ロボティクス・メカトロニクス講演会演論文集, 横浜, Jun. 10th, 2016</br>
[5] 堀智貴, 川戸裕貴, 弓場井一裕, 矢代大祐, 駒田諭, "感度最小化のためのデータ駆動型制御器設計", 電気学会電子・情報・システム部門大会講演論文集, 神戸, Aug. 31st, 2016</br>
[6] 竹若恵太, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データを用いたMIMOシステムに対する感度整形", 電気・電子・情報関係学会東海支部連合大会講演論文集, 豊田, Sep. 12th-13th, 2016</br>
[7] 堀智貴, 弓場井一裕, 矢代大祐, 駒田諭, "安定性を考慮した4SID法に基づく制御器の直接設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, 豊田, Sep. 12th-13th, 2016</br>
[8] 山本直輝, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データに基づく力制御器の直接設計法に関する基礎検討", 電気・電子・情報関係学会東海支部連合大会講演論文集, 豊田, Sep. 12th-13th, 2016</br>
[9] 宇佐美朋大, 弓場井一裕, 矢代大祐, 駒田諭, "H-infiniteループ整形法における周波数応答を用いた多変数固定構造制御器設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, 豊田, Sep. 12th-13th, 2016</br>
[10] 平田暁久, 駒田諭, 矢代大祐, 弓場井一裕, "非線形バネを用いた腱駆動機構の剛性指令を考慮した姿勢選択", 電気・電子・情報関係学会東海支部連合大会講演論文集, 豊田, Sep. 12th-13th, 2016</br>
[11] 大橋知弥, 駒田諭, 弓場井一裕, 矢代大祐, 能勢公貴, "筋骨格モデルを用いた下肢の姿勢に対する筋群トルク変換手法", 平成28年電気学会産業応用部門大会論文集, 前橋, Vol. II2-30, pp. 187-192, Sep. 1st-3rd, 2016</br>
[12] 土屋洋輔, 矢代大祐, 弓場井一裕, 駒田諭, "デュアルロータヘリコプタの接触力制御", 電気学会メカトロニクス制御研究会資料, 東京, Vol. MEC-16, No. 2-17, pp. 79-84, Sep. 3rd, 2016</br>
[13] 中村和樹, 弓場井一裕, 矢代大祐, 駒田諭, "広帯域化を実現する周波数応答を用いた制御器設計法の提案", 電気学会メカトロニクス制御研究会資料, 東京, Vol. MEC-16, No. 18-26, pp. 27-32, Sep. 29th, 2016</br>
[14] 宇佐美朋大, 弓場井一裕, 矢代大祐, 駒田諭, "H-infiniteループ整形法における周波数応答を用いた極調整可能な固定次数制御器設計", 電気学会メカトロニクス制御研究会資料, 東京, Vol. MEC-16, No. 27-38, pp. 13-18, Dec. 11th, 2016</br>
[15] 山本直輝, 弓場井一裕, 矢代大祐, 駒田諭, "入出力データに基づく力制御器設計法の提案とその実機検証", 電気学会メカトロニクス制御研究会資料, 東京, Vol. MEC-16, No. 27-38, pp. 43-48, Dec. 11th, 2016</br>
[16] 矢代大祐, "バイラテラル遠隔操作システムの高機能化に関するH28年度の成果," 三重県戦略産業雇用創造プロジェクト 次世代自動車・航空機等関連技術共同開発の成果発表会, 津, Mar. 30th, 2017</br>
<h2>2015年度</h2>
【査読付き原著論文】</br>
[1] 久保貴之, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いたH∞ループ整形法における制御器の性能レベルを保証する準最適重みの設計", 電気学会論文誌電子・情報・システム部門誌, Vol. 135-C, No. 7, pp. 856-864, Jul. 2015</br>
[2] 駒田諭, 石田翔平, 矢代大祐, 平井淳之, "コサイン調律に基づく肢の出力分布描画と筋力評価手法", 電気学会論文誌産業応用部門誌, Vol. 135-D, No. 10, pp. 1033-1039, Oct. 2015</br>
[3] Satoshi Komada, Shohei Ishida, Daisuke Yashiro, Junji Hirai, and Akinobu Nishimura, "Drawing Methods of Output Force Distribution by Measurement of its Sides", IEEJ Journal of Industry Applications, Vol. 5, No. 2, pp. 47-52, Mar. 2016</br>
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【著書等】</br>
[1] 野波健蔵, 赤坂剛史, 矢代大祐, 他, "飛躍するドローン", (株)エヌ・ティー・エス, Jan. 2016</br>
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【招待講演】</br>
[1] 矢代大祐, "信頼性の高いバイラテラル遠隔操作の実現に向けて," 電気・電子・情報関係学会東海支部連合大会, 名古屋, Sep. 28th-29th, 2015</br>
[2] Daisuke Yashiro, "Bilateral Control of Single-Rotor Helicopter", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1]Shogo Shinoda, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Multivariable Controller Design Evaluating Closed-Loop Interaction by Iterative LMI Optimization Using Frequency Response Data", Proceedings of 2015 International Conference on Advanced Mechatronic Systems, pp. 429-434, Beijing, China, Aug. 22th-25th, 2015</br>
[2] Shogo Shinoda, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Multivariable Controller Tuning Based on Closed-Loop Interaction Using Frequency Responses", Proceedings of International Automatic Control Conference, pp. 516-521, Yilan, Taiwan, Nov. 18th-20th, 2015</br>
[3] Haruki Matsumoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Data-Driven Controller Tuning Using Closed-Loop Data by TS4SID Method", Proceedings of 2015 CACS International Automatic Control Conference, Yilan, Taiwan, Nov. 18th-20th, 2015</br>
[4] Yu Imai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "A Performance Analysis of Distributed Control over Multi-hop Network using STDMA Routers", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[5] Tatsuya Kageyama, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "A Study on Mechanical Stiffness in Force Control of Tendon Arm", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[6] Takeru Aoyama, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Torque Control Using Resonance Ratio Control for Tendon-Driven Mechanism Including USM and Linear Spring", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[7] Naoya Iwamoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "A Direct Tuning Disturbance Observer by Input/Output Data from Some Deviated Plants Satisfying Stability Constraint", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[8] Kazuki Nakamura, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Controller Design for Phase Stabilization Based on Circle Condition by Using Nyquist Diagram", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[9] Shogo Aoki, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Direct Tuning of State Feedback Gains with Stability Constraint Based on Nyquist Criterion Using Experimental Data", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[10] Shogo Shinoda, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Fully Parameterized Multivariable Controller Design Minimizing Closed-Loop Interaction by Iterative LMI Optimization", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[11] Haruki Matsumoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Data-Driven Controller Tuning Using Closed-Loop Data by CL-MOESP Method", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[12] Keita Takewaka, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Feedforward Controller Design for NMP System Using Input/Output Data", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[13] Ryota Isobe, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Control Performance and Stability Evaluation Based on Unfalsified Control for a Reconfigurable Robot", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[14] Satoshi Shibata, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Quantitative Evaluation of Hemiplegic Ankle Spasticity Using Angular Velocity Control System with Torque Sensor and EMG", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[15] Masato Adachi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Feedback Linearization Based Force Controller for 1-DOF Electric Helicopter", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[16] Yosuke Futamura, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Modeling of Nonlinear Spring SAT Considering Extension and Contraction Movement for Stiffness Control of Tendon Mechanisms", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[17] Daichi Sugita, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, Sebastien Laporte, "Estimated Muscular Strength of Limbs by Using Bone-on-Bone Stress", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[18] Yuki Mizutani, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Muscular Power Evaluation Equipment of Lower Limb", Proceedings of 2nd IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization, Tokyo, Mar. 7th-8th, 2016</br>
[19] Daisuke Yashiro, "Influence of Time-Varying Communication Delay in Adaptive Controller Based Bilateral Control System", Proceedings of the 14th IEEE International Workshop on Advanced Motion Control, Apr. 22nd-24th, 2016</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読なし国際会議論文】</br>
[1] Daigo Ito, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Muscle Activity Estimation of Lower Limbs Considered Bone-on-Bone Force", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[2] Koki Nose, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Estimation of Functionally Effective Muscle Force for Posture Change of Lower Limbs", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[3] Hironobu Toyoda, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Control of Musculoskeletal Arm Using Visual Space", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[4] Haruki Matsumoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Data-Driven Controller Tuning Method Based on CL-MOESP", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[5] Ryota Isobe, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Performance Criterion Based on Unfalsified Control for a Reconfigurable Robot", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[6] Shogo Shinoda, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Design of Fully Parameterized Multivariable Controller Suppressing Closed-Loop Interaction via Iterative LMI Optimization Using Frequency Responses", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[7] Takeru Aoyama, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Torque Control Using Resonance Ratio Control for Tendon-Driven Mechanism Including USM and Linear Spring", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[8] Masato Adachi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Feedback Linearization Based Force Controller  for 1-DOF Electric Helicopter", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[9] Satoshi Shibata, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Quantitative Evaluation of Hemiplegic Ankle Spasticity Using Angular Velocity Control System with Torque Sensor", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[10] Hironari Asai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Saving and Loading of Pushing Motion on Moving Object Taking Measuring Delay of Object's Position into Account", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[11] Yu Imai, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "A Performance Analysis of Distributed Control over Mesh Network using STDMA Routers", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[12] Yosuke Futamura, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Modeling of Nonlinear Spring SAT Considered Extension and Contraction Movement for Stiffness Control of Tendon Mechanisms", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[13] Tatsuya Kageyama, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "A Study on Tendon Driven Mechanism with Non-linear Springs", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[14] Daichi Sugita, Satoshi Komada, Daisuke Yashiro, Junji Hirai, and Sebastien Laporte, "Estimated Muscular Strength of Limbs Based on Cosine Tuning by Using Bone-on-Bone Stress", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[15] Kazuki Nakamura, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Controller Design for Phase Stabilization Based on Circle Condition Using Frequency Response Data", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[16] Shogo Aoki, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Direct Tuning of State Feedback Gains with Nyquist-Criterion Based Stability Constraint", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[17] Naoya Iwamoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "A Direct Tuning of Disturbance Observer Using Input/Output Data Satisfying Stability Criterion Based on Zeros Estimation", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
[18] Keita Takewaka, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Tracking Controller Design for Nonminimum Phase System Using Input/Output Data", Proceedings of the 5th International Symposium for Sustainability by Engineering at MIU, Dec. 4th, 2015</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 松本治樹, 弓場井一裕, 矢代大祐, 平井淳之, "TS4SID法に基づくデータ駆動型制御器設計法", 電気学会制御研究会資料, Vol. CT-15, No. 53-56, pp. 1-6, Apr. 17th, 2015</br>
[2] 弓場井一裕, 久保貴之, 矢代大祐, 平井淳之, "周波数応答を用いたH∞ループ整形法による固定構造制御器設計", 電気学会制御研究会資料, Vol. CT-15, No. 53-56, pp. 19-24, Apr. 17th, 2015</br>
[3] 中村和樹, 弓場井一裕, 矢代大祐, 平井淳之, "位相安定化を実現する周波数応答を用いた制御器設計法の提案", システム制御情報学会研究発表講演会講演論文集, Vol. 59, p. ROMBUNNO.124-1, May 20th, 2015</br>
[4] 篠田翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "LMIを用いた対角優勢を実現する多変数制御器設計", システム制御情報学会研究発表講演会講演論文集, Vol. 59, p. ROMBUNNO.124-2, May 20th, 2015</br>
[5] 竹若恵太, 弓場井一裕, 矢代大祐, 平井淳之, "非最小位相系に対する入出力データを用いた2自由度制御系の設計", システム制御情報学会研究発表講演会講演論文集, Vol. 59, p. ROMBUNNO.261-2, May 20th, 2015</br>
[6] 門脇亮, 矢代大祐, 弓場井一裕, 駒田諭, "動力学を考慮した腱駆動型回転2 自由度関節の位置・力制御", 機械学会ロボティクス・メカトロニクス講演会演論文集, May 19th, 2015</br>
[7] 浅井裕成, 矢代大祐, 弓場井一裕, 駒田諭, "移動物体に対する熟練動作の保存・再現のためのむだ時間補償器の設計", 機械学会ロボティクス・メカトロニクス講演会演論文集, May 19th, 2015</br>
[8] 今井優, 矢代大祐, 弓場井一裕, 駒田諭, "マルチホップネットワークを介したフィードバック制御系の性能解析", 電子情報通信学会高信頼制御通信研究会資料, May 29th, 2015</br>
[9] 矢代大祐, "むだ時間を有するバイラテラル制御系のための環境剛性推定法", 電気学会メカトロニクス制御研究会資料, Aug. 5th, 2015</br>
[10] 駒田諭, 石田翔平, 矢代大祐, 平井淳之, "コサイン調律に基づく肢の出力分布描画と筋力評価手法の提案", 平成27年電気学会産業応用部門大会, 2-S12-3, pp. II-35-40, Sep. 2nd-4th, 2015</br>
[11] 中村和樹, 弓場井一裕, 矢代大祐, 平井淳之, "位相安定化を実現する制御器設計法の提案-HDDベンチマーク問題への適用", 電気学会メカトロニクス制御研究会資料, Vol. MEC-15, No. 13-28, pp. 77-82, Sep. 10th, 2015</br>
[12] 浅井裕成, 矢代大祐, 弓場井一裕, 駒田諭, "カメラの計測遅延を考慮した移動物体への押し込み動作の保存と再現", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2015, p. ROMBUNNO.G1-4, Sep. 18th, 2015</br>
[13] 門脇亮, 矢代大祐, 弓場井一裕, 駒田諭, "動力学を考慮した腱駆動型回転2自由度関節の力制御", 電気・電子・情報関係学会東海支部連合大会講演論文集, 名古屋, Vol. 2015, p. ROMBUNNO.G2-4, Sep. 18th, 2015</br>
[14] 青山孟, 矢代大祐, 弓場井一裕, 駒田諭, "線形ばねと超音波モータからなる腱駆動機構の力制御", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2015, p. ROMBUNNO.G2-5, 名古屋, Sep. 18th, 2015</br>
[15] 柴田聡氏, 矢代大祐, 弓場井一裕, 駒田諭, "脳卒中片麻痺足関節の痙縮評価装置の開発", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2015, p. ROMBUNNO.G2-6, Sep. 18th, 2015</br>
[16] 松本治樹, 弓場井一裕, 矢代大祐, 平井淳之, "TS4SID法に基づく積分器を持つ制御器のデータ駆動型設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2015, p. ROMBUNNO.O1-2, Sep. 18th, 2015</br>
[17] 岩本直也, 弓場井一裕, 矢代大祐, 平井淳之, "零点推定に基づく安定判別を用いた外乱オブザーバの入出力データによる直接調整法", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2015, p. ROMBUNNO.O1-3, Sep. 18th, 2015</br>
[18] 青木翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "安定性を考慮した状態フィードバックゲインの直接調整法 ", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2015, p. ROMBUNNO.O1-4, Sep. 18th, 2015</br>
[19] 青木翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "安定性を考慮した入出力データを用いた状態フィードバックゲインの再調整", 自動制御連合講演会論文集, Vol. 58, No. 1I2-6, Nov. 14th, 2015</br>
[20] 岩本直也, 弓場井一裕, 矢代大祐, 平井淳之, "複数変動を考慮した内部安定性を保証する外乱オブザーバの実験データからの直接設計法", 自動制御連合講演会論文集, Vol. 58, No. 2I1-1, Nov. 15th, 2015</br>
[21] 竹若恵太, 弓場井一裕, 矢代大祐, 平井淳之, "入出力データを用いたマルチレートフィードフォワード制御器の設計法", 自動制御連合講演会論文集, Vol. 58, No. 2I1-3, Nov. 15th, 2015</br>
[22] 中村和樹, 弓場井一裕, 矢代大祐, 平井淳之, "円条件に基づく位相安定化制御器の設計", 電気学会メカトロニクス制御研究会資料, Vol. MEC-15, pp. 91-96, 東京, Dec., 2015</br>
[23] 篠田翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いた閉ループの相互干渉を評価する多変数制御器調整", 電気学会メカトロニクス研究会資料, MEC-15, pp. 97-102, 東京, Dec. 12th, 2015</br>

<h2>2014年度</h2>
【査読付き原著論文】</br>
[1] Daisuke Yashiro and Takahiro Yakoh, "Feedback Controller with Low-Pass Filter based Delay Regulation for Networked Control System", IEEE Transactions on Industrial Electronics, Vol. 61, No. 7, pp. 3744-3752, July 2014(10.1109/TIE.2013.2287214 )</br>
[2] 松尾亮太, 弓場井一裕, 矢代大祐, 平井淳之, "安定性を考慮した非最小位相系に対するデータ駆動型制御器調整法", 電気学会論文誌電子・情報・システム部門誌, Vol. 134-C, No. 12, pp. 1802-1808, Dec. 2014(10.1541/ieejeiss.134.1802)</br>
[3] 矢代大祐, 日恵野直, 弓場井一裕, 駒田諭, "むだ時間を有するバイラテラル制御系のマスタ位置制御器設計法", 電気学会論文誌産業応用部門誌, Vol. 135-D, No. 3, pp. 268-275, Mar. 2015(10.1541/ieejias.135.268)</br>
<hr size="1" width="100%" color="#000000" align="left">
【招待講演】</br>
[1] Satoshi Komada, Santiago Turpin, Kento Hashimoto, Daisuke Yashiro, and Junji Hirai, "Hand Position Estimation in Binocular Visual Space Using Linear Approximation of Kinematics," The 2014 International Power Electronics Conference -ECCE Asia-, Hiroshima, May, 2014</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Takayuki Kubo, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Design of Suboptimal Weight Using Frequency Responses Guaranteeing Performance Level of Controller for H Infinity Loop Shaping Method", Proceedings of CACS International Automatic Control Conference, No. THB01_03, pp.290--295, Kaohsiung, Taiwan, Nov. 24th-26th, 2014(awarded the best paper in theory)</br>
[2] Taichi Mouri, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, and Roberto Oboe, "Suppression of Performance Degradation of Reconfigurable Robot by Quantization Error Based on Quantization Error Observer", Proceedings of CACS International Automatic Control Conference, No. THB02-01, pp.252--255, Kaohsiung, Taiwan, Nov. 24th-26th, Nov. 2014(awarded as best paper)</br>
[3] Takayuki Kubo, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Weight Optimization for H Infinity Loop Shaping Method Using Frequency Response Data of SISO Stable Plant", Proceedings of IEEE International Conference on Mechatronics, Nagoya, Mar. 6th-8th, 2015</br>
[4] Taichi Mouri, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Suppression of Performance Degradation in a Reconfigurable Robot with Wireless Transmission Based on Quantization Error Observer", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[5] Shogo Shinoda, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Design of Multivariable Controller Attaining Diagonal Dominance Using Frequency Responses", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[6] Haruki Matsumoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Two Stage Data-Driven Controller Tuning Method Using Closed-Loop Data Considering Closed-Loop Stability", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[7] Ryota Isobe, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Estimation of Controller Performance Using Information of Local Intelligence for a Reconfigurable Robot", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[8] Takayuki Kubo, Kazuhiro Yubai, Alireza Karimi, Daisuke Yashiro, and Junji Hirai, "Fixed-order SISO Controller Design for H∞ Loop Shaping Method Using Frequency Responses", Proceedings of IEEE International Conference on Industrial Technology, Seville, Spain, Mar. 17-19, 2015</br>
[9] Takeru Aoyama, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Position Controller for Two-mass System Including Non-linear Actuator and Linear Spring", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9th-10th, 2015</br>
[10] Shingo Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Bottleneck Link Bandwidth Estimation Method for Visual-Haptic Communication", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[11] Yosuke Futamura, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Modeling of Nonlinear Spring SAT for Stiffness Control of Tendon Mechanisms", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[12] Koki Nose, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Accuracy Improvement of Functionally Effective Muscle Force for Posture Change of Lower Limbs", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Mar. 9-10, 2015</br>
[13] Hironobu Toyoda, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Hand Position Estimation in Binocular Visual Space", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[14] Daigo Ito, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Comparison of Muscle Tension Estimation Method of Lower Limb in Oval Output Force Distribution", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
[15] Satoshi Komada, Shohei Ishida, Daisuke Yashiro, Junji Hirai, and Akinobu Nishimura, "Drawing Methods of Output Force Distribution by Measurement of Sides", Proceedings of 1st International Workshop on Sensing, Actuation, and Motion Control, Nagoya, Mar. 9-10, 2015</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読なし国際会議論文】</br>
[1] Shohei Ishida, Satoshi Komada, Daisuke Yashiro, Junji Hirai, and Akinobu Nishimura, "Tip Force of Limbs Based on Cosine Tuning", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[2] Masashi Oishi, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Joint Torque and Stiffness Conversion to Tendon Force Considering its　Limit for Redundant Tendon Arms with Nonlinear Springs", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[3] Takayuki Kubo, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "LMI-based Weight Optimization for H-infinity Loop Shaping Method Using Frequency Responses for SISO Stable Plants", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[4] Taichi Mouri, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "An Experimental Comparison between Quantization Error Observer and ΔΣ Modulator on Suppression of Performance Degradation by Quantization Error in a Reconfigurable Robot", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[5] Kouhei Matsui, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "EMG Sensorless Estimation of Lower Limb Muscle Force Taking Joint Viscoelasticity into Account", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[6] Daisuke Toyama, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Dimensional Scaling Bilateral Control of 1-DOF Flying Robot", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[7] Yosuke Ichikawa, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Low Latency Live Streaming Method for Visual-Haptic Synchronous Communication", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[8] Shingo Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Bottleneck Link Bandwidth Estimation Method for Visual-Haptic Communication", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[9] Takeru Aoyama, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Design of Force Control System Including Non-linear Actuator and Linear Spring", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[10] Masato Adachi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Lifting Based Signal Quantization for PWM Control", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[11] Shibata Satoshi, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Effect Verification of Rubber Sheet for Wheel with Built-in Force Sensor", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[12] Daigo Ito, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Muscle Group Tension Estimation of Lower Limbs Using Measured Maximum Muscle Force", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[13] Hironobu Toyoda, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Hand Position Estimation in Binocular Visual Space", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[14] Koki Nose, Satoshi Komada, Daisuke Yashiro, Junji Hirai, and Akinobu Nishimura, "Accuracy Improvement of Functionally Effective Muscle Force for Posture Change of Lower Limbs", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[15] Yosuke Futamura, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Modeling of Nonlinear Spring SAT for Control Performance Improvement of Tendon Mechanisms", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[16] Ryota Isobe, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Controller Performance Evaluation Based on Information of Local Intelligence for a Reconfigurable Robot", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[17] Shogo Shinoda, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Multivariable Controller Design Achieving Diagonal Dominance Using Frequency Response Data", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
[18] Haruki Matsumoto, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Data-Driven Controller Tuning Method Using Closed-Loop Data Guaranteeing Closed-Loop Stability", Proceedings of the 4th International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2014</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 石田翔平, 矢代大祐, 駒田諭, 平井淳之, 西村明展, "辺計測法による出力分布の描画方法", 電気学会産業応用部門大会講演論文集, Vol. 2014, p. ROMBUNNO.2-22, Aug. 26th-28th, 2014</br>
[2] 久保貴之, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いたH∞ループ整形法における制御器の性能レベルを保証する準最適重みの設計 ", 電気学会電子・情報・システム部門大会講演論文集, Vol. 2014, p. ROMBUNNO.TC16-6, Sep. 3rd, 2014</br>
[3] 久保貴之, 弓場井一裕, 矢代大祐, 平井淳之, "H∞ループ整形法における性能レベルを保証する準最適重みの周波数応答を用いた設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol.2014, p. ROMBUNNO.F2-2, Sep. 8th, 2014</br>
[4] 篠田翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答のみを用いた多変数制御器設計における保守性低減", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol.2014, p. ROMBUNNO.F2-3, Sep. 8th, 2014</br>
[5] 松本治樹, 弓場井一裕, 矢代大祐, 平井淳之, "安定性を考慮した閉ループデータに基づくデータ駆動型制御器設計法の提案", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2014, Sep. 8th, 2014</br>
[6] 磯部良太, 弓場井一裕, 矢代大祐, 平井淳之, "構造可変型ロボットの分散知能の情報に基づく制御性能判別", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2014, p. ROMBUNNO.F2-8, Sep. 8th, 2014</br>
[7] 石田翔平, 矢代大祐, 駒田諭, 平井淳之, 西村明展, "ベジェ曲線を用いたオーバル形の出力分布描画方法 及びコサイン調律に基づく下肢筋力評価方法", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2014, p. ROMBUNNO.J4-2, Sep. 9th, 2014</br>
[8] 磯部良太, 弓場井一裕, 矢代大祐, 平井淳之, "構造可変型ロボットの分散知能の情報に基づく制御性能判別", 電気・電子・情報関係学会東海支部連合大会講演論文集, Sep. 2014</br>
[9] 篠田翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答のみを用いた多変数制御器設計における保守性改善", 電気・電子・情報関係学会東海支部連合大会講演論文集, Sep. 2014</br>
[10] 松本治樹, 弓場井一裕, 矢代大祐, 平井淳之, "安定性を考慮した閉ループデータに基づくデータ駆動型制御器設計法の提案", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2014, p. ROMBUNNO.F2-7, Sep. 2014</br>
[11] 久保貴之, 弓場井一裕, 矢代大祐, 平井淳之, "安定な対象に対する周波数応答を用いたH∞ループ整形法における重み設計", 電気学会制御研究会講演論文集, Sep. 2014</br>
[12] 篠田翔吾, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いた固有値軌跡を評価する多変数制御器設計", 第57回自動制御連合講演会, 群馬, Nov. 10th-12th, 2014</br>
[13] 毛利太一, 弓場井一裕, 矢代大祐, 平井淳之, "量子化誤差オブザーバに基づく構造可変型ロボットの量子化誤差による制御性能の劣化の抑制", 電気学会メカトロニクス制御研究会資料, Vol. MEC-14, No. 159-173.175, pp. 35--38, Oct. 11th, 2014(部門優秀論文発表賞受賞)</br>
[14] 柴田聡氏, 矢代大祐, 弓場井一裕, 駒田諭, "圧力センサ内蔵型ホイールのセンサ感度に関する一考察", 電気学会メカトロニクス制御研究会資料, Vol. MEC-14, No. 159-173.175, pp. 55-60, Oct. 11th, 2014</br>
[15] 青山孟, 矢代大祐, 弓場井一裕, 駒田諭, "非線形性が強いアクチュエータから成る二慣性系を想定した力制御器の設計", 電気学会メカトロニクス制御研究会資料, Vol. MEC-14, No. 159-173.175, pp. 67-72, 横浜, Oct. 11th, 2014</br>
[16] 遠山大輔, 矢代大祐, 弓場井一裕, 駒田諭, "1自由度飛行ロボットのバイラテラル制御", 電気学会メカトロニクス制御研究会資料, Vol. MEC-14, No. 159&#8722;173.175, pp. 83-88, Oct. 11th, 2014</br>
[17] 市川陽介, 矢代大祐, 弓場井一裕, 駒田諭, "視触覚同期通信のための低遅延ライブストリーミング手法", 電子情報通信学会高信頼制御通信研究会資料, Vol. 114, No. 317, pp. 29-34, Nov. 20th, 2014</br>
[18] 山本新悟, 矢代大祐, 弓場井一裕, 駒田諭, "ボトルネックリンク帯域推定手法の視触覚通信への適用", 電子情報通信学会高信頼制御通信研究会資料, Vol. 114, No. 317, pp. 35-40, Nov. 20th, 2014</br>
[19] 遠山大輔, 矢代大祐, 弓場井一裕, 駒田諭, "1自由度飛行ロボットの速度・バイラテラル切り替え制御", 電気学会知覚情報研究会資料, Mar. 2--3, 2015</br>
[20] 矢代大祐, "データ駆動型制御を用いたむだ時間を有するバイラテラル制御系の一設計法", 電気学会知覚情報研究会資料, Mar. 2--3, 2015</br>

<h2>2013年度</h2>
【査読付き原著論文】</br>
[1] Daisuke Yashiro, Dapeng Tian, and Takahiro Yakoh, "End-to-End Flow Controller for Visual-Haptic Communication Under Bandwidth Change", Electronics and Communications in Japan, Vol. 96, No. 11, pp. 26-34, Nov. 2013(10.1002/ecj.11516)</br>
[2] Takahiro Nozaki, Yuki Saito, Takahiro Mizoguchi, Daisuke Yashiro, and Kouhei Ohnishi, "Recognition of Grasping Motion Based on Modal Space Haptic Information using DP Pattern-Matching Algorithm", IEEE Transactions on Industrial Informatics, Vol. 9, No. 4, pp. 2043-2051, Nov. 2013(10.1109/TII.2012.2232934)</br>
[3] Takahiro Nozaki, Takahiro Mizoguchi, Yusuke Suzuki, Daisuke Yashiro, and Kouhei Ohnishi, "Human Combination Motion Recognition Based on Haptic Information Using Similarly Structured Master-Slave Robot Hand", Electronics and Communications in Japan, Vol. 96, No. 12, pp. 15-23, Dec. 2013(10.1002/ecj.11566)</br>
[4] 遠山大輔, 矢代大祐, 弓場井一裕, 駒田諭, "3次元作業空間における用紙の位置変化にロバストな筆記動作の保存と再現", 電気学会論文誌産業応用部門誌, Vol. 134-D, No. 3, pp. 308-316, Mar. 2014(10.1541/ieejias.134.308)</br>
<hr size="1" width="100%" color="#000000" align="left">
【招待講演】</br>
[1] 矢代大祐, "生活空間での外乱オブザーバの活用を目指して," 電気学会東海支部若手セミナー, 名古屋, Dec. 17th, 2013</br>
[2] 矢代大祐, "テレハプティクスのための通信技術," 電気学会全国大会講演論文集, Vol.2014, p. ROMBUNNO.4-S22-6, 松山, Mar. 20th, 2014</br>
[3] 矢代大祐, "テレハプティクスのための通信技術," 電気学会実世界ハプティクス協同研究委員会, 松山, Mar. 21rd, 2014</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読付き国際会議論文】</br>
[1] Taiki Nishii, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Lower Limb Examinations for Muscular Tension Estimation  Methods for Each Muscle Group Based on Functionally  Different Effective Muscle Theory", Proceedings of the 35th Annual International IEEE Engineering in Medicine and Biology Conference, pp. 362-365, Osaka, Japan, July. 4th, 2013</br>
[2] Kento Hashimoto, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Control of Musculoskeletal Arm using a Visual Space", Proceedings of International Conference on Instrumentation, Control, Information Technology and System Integration, pp. 671-674, Nagoya, Japan, Sep. 14th-17th, 2013</br>
[3] Shohei Ishida, Satoshi Komada, Daisuke Yashiro, Junji Hirai, and Akinobu Nishimura, "Drawing Method of Output Force Distribution of Limbs Using Five Points Measurement", Proceedings of International Conference on Instrumentation, Control, Information Technology and System Integration, pp. 2263-2265, Nagoya, Japan, Sep. 14th-17th, 2013</br>
[4] Akihiro Doi, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Design of a PID Controller based on H-infinity Loop Shaping Method using Frequency Response", Proceedings of the 13th International Conference on Control, Automation and Systems, Gwangju, Korea, Oct. 20th-23rd, 2013</br>
[5] Kazuki Senga, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Design of Multivariable Fixed-structural Controller Satisfying Performance Constraint on Nyquist Diagram Using Frequency Responses", Proceedings of the 13th International Conference on Control, Automation and Systems, pp. 970-975, Gwangju, Korea, Oct. 20th-23rd, 2013</br>
[6] Ken Sakakibara, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "A Direct Tuning from Input/Output Data of the Youla Parameter in Consideration of Some Deviated Plants", Proceedings of the 13th International Conference on Control, Automation and Systems, Gwangju, Korea, Oct. 20th-23rd, 2013</br>
[7] Ryota Matsuo, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Tuning of Controller Parameters by FCbT with Stability Constraints", Proceedings of the 13th International Conference on Control, Automation and Systems, Gwangju, Korea, Oct. 20th-23rd, 2013</br>
[8] Tadashi Hieno, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Stability and Transparency of Adaptive Controller Based Four-Channel Bilateral Control System with Communication Delay", Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 314-319, Yokohama, Japan, Mar. 14th-16th, 2014</br>
[9] Daisuke Yashiro, "Link Scheduling for Distributed Control over Synchronous TDMA Network", Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 758-763, Yokohama, Japan, Mar. 14th-16th, 2014</br>
[10] Kento Hashimoto, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Visual Control of Musculoskeletal arm Using Multiple Reference Frame including Simple Coordinat Transformation", Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 214-218, Yokohama, Japan, Mar. 14th-16th, 2014</br>
[12] Masashi Oishi, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Consideration of Tension Limits in Joint Space for 3 Pairs of 6 Tendon Arms with Nonlinear Springs", Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 645-650, Yokohama, Japan, Mar. 14th-16th, 2014</br>
[13] Shingo Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, and Satoshi Komada, "Rate Control based on Queuing State Observer for Visual-Haptic Communication", Proceedings of the 13th IEEE International Workshop on Advanced Motion Control, pp. 569-574, Yokohama, Japan, Mar. 14th-16th, 2014</br>
<hr size="1" width="100%" color="#000000" align="left">
【査読なし国際会議論文】</br>
[1] Ryutarou Douzaki, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Study on position and stiffness control of tendon arms with nonlinear springs", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[2] Taiki Nishii, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Muscular activity estimation method by using output force at the tip of lower limbs", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[3] Tadashi Hieno, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Adaptive controller based four-channel bilateral control with communication delay", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[4] Kazuki Senga, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Multivariable Fixed-structural Controller Design by Convex Optimization Guaranteeing Desired Control Specifications on Nyquist 
Diagram", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[5] Akihiro Doi, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Fixed-order controller design for H-infinity loop shaping method using frequency responses by convex optimization", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[6] Ryota Matsuo, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Data-driven controller tuning for non-minimum phase plants by safe update", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[7] Ken Sakakibara, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "A Direct tuning of the Youla parameter in consideration of some deviated plants from experimental data sets", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[8] Robert Lay, Satoshi Komada, Daisuke Yashiro, Junji Hirai, "Bi-articular movement of arms with nonlinear variable stiffness", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[9] Kento Hshimoto, Satoshi Komada, Daisuke Yashiro, Junji Hirai, "Visual control of a musculoskeletal arm using multiple reference frames including simple coordinates", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[10] Masashi Oishi, Satoshi Komada, Daisuke Yashiro, Junji Hirai, "Consideration of tension limits in working space for 3 pairs of 6 tendon arms with nonlinear springs", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[11] Shohei Ishida, Satoshi Komada, Daisuke Yashiro, Junji Hirai, "Evaluation of muscular strengths of lower limbs using 3 pairs of 6 muscle model considered cosine tuning", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[12] Takayuki Kubo, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Design of suboptimal weighting function for H-infinity loop shaping method guaranteeing performance by mu-Gap", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[13] Taichi Mouri, Kazuhiro Yubai, Daisuke Yashiro, Junji Hirai, "Suppression of performance degradation caused by quantization error for reconfigurable robots", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[14] Yosuke Ichikawa, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Low latency live streaming method for visual-haptic synchronous communication", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[15] Daisuke Toyama, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Saving and loading of writing motion in three-dimensional work space robust against position change of paper", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[16] Kouhei Matsui, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Online muscle force estimation of agonist and antagonist taking dynamics into account", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
[17] Shingo Yamamoto, Daisuke Yashiro, Kazuhiro Yubai, Satoshi Komada, "Rate control based on queuing state observer for visual-haptic communication", Proceedings of the 3rd International Symposium for Sustainability by Engineering at MIU, Dec. 3rd, 2013</br>
<hr size="1" width="100%" color="#000000" align="left">
【国内会議論文】<br>
[1] 遠山大輔, 矢代大祐, 弓場井一裕, 駒田諭, "環境平面の位置・姿勢変化に対応した動作の保存と再現", 日本ロボット学会学術講演会予稿集, Vol 31, Sep. 4th-6th, 2013</br>
[2] 土井章弘, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いたH-infinityループ整形法に基づく制御器の凸最適化による設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2013, Sep．18th, 2013</br>
[3] 松尾亮太, 弓場井一裕, 矢代大祐, 平井淳之, "FCbTによる安定性を考慮した非最小位相系に対する制御器パラメータ調整", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2013, Sep．18th, 2013</br>
[4] 久保貴之, 弓場井一裕, 矢代大祐, 平井淳之, "mu-gapによる性能保証に基づくH-infinityループ整形法の重み関数の設計", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2013, Sep．18th, 2013</br>
[5] 毛利太一, 弓場井一裕, 矢代大祐, 平井淳之, "構造可変型ロボットにおける量子化誤差による性能劣化の抑制", 電気・電子・情報関係学会東海支部連合大会講演論文集, Vol. 2013, Sep．18th, 2013</br>
[6] 千賀一輝, 弓場井一裕, 矢代大祐, 平井淳之, "Disk marginを指定可能な固定構造多変数制御器の周波数応答を用いた設計", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 122-143, pp. 19-24, Mar. 10th-11th, 2014</br>
[7] 松尾亮太, 弓場井一裕, 矢代大祐, 平井淳之, "一組の閉ループ入出力データを用いた安定性を保証するFCbTによる多変数制御器の直接調整", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 122-143, pp. 37-42, Mar. 10th-11th, 2014</br>
[8] 榊原健, 弓場井一裕, 矢代大祐, 平井淳之, "安定制約を満たす外乱オブザーバの実験データからの直接設計", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 122-143, pp. 101-106, Mar. 10th-11th, 2014</br>
[9] 土井章弘, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いたH∞ループ整形法の提案とその実機検証", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 122-143, pp. 7-12, Mar. 10th-11th, 2014</br>
[10] 久保貴之, 弓場井一裕, 矢代大祐, 平井淳之, "LMIを用いたH∞ループ整形法における制御器の性能レベルを保証する準最適重みの設計", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 122-143, pp. 97-100, Mar. 10th-11th, 2014</br>
[11] 柴田聡氏, 矢代大祐, 弓場井一裕, 駒田諭, "圧力センサ内蔵型ホイールを用いた路面パラメータのオンライン推定", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol.IIC-14, No. 78&#8722;86.88&#8722;90.92&#8722;98, pp. 67-71, Mar. 10th-11th, 2014</br>
[12] 八田裕司, 矢代大祐, 弓場井一裕, 駒田諭, "音声通信を伴う遠隔操作システムへのフィードバック型ジッタバッファの適用", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 35-55, pp.117-122, Mar. 10th-11th, 2014</br>
[13] 安達将翔, 矢代大祐, 弓場井一裕, 駒田諭, "最適動的量子化器によるDCモータのスイッチング脈動の抑制", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 56-76, pp. 85-90, Mar. 10th-11th, 2014</br>
[14] 青山孟, 矢代大祐, 弓場井一裕, 駒田諭, "線形バネを含む腱駆動機構の力制御", 電気学会産業計測制御/メカトロニクス制御合同研究会資料, Vol. IIC-14, No. 122-143, pp. 43-48, 東京, Mar. 10th-11th, 2014</br>

<h2>2012年度</h2>
【査読付き原著論文】</br>
[1] 矢代大祐, 田大鵬, 矢向高弘, "帯域変動を伴う視触覚通信のための端末間フロー制御", 電気学会論文誌産業応用部門誌, Vol. 132-D, No. 6, pp. 600-606, Jun. 2012(10.1541/ieejias.132.600)</br>
[2] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi, "Wireless Haptic Communication Under Varying Delay by Switching-Channel Bilateral Control With Energy Monitor",  IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 3, pp. 488-498, Jun. 2012(10.1109/TMECH.2012.2187459)</br>
[3] 野崎貴裕, 溝口貴弘, 鈴木祐介, 矢代大祐, 大西公平, "マスタ・スレーブ同機構型ロボットハンドを用いた触覚情報に基づく人間の複合動作認識", 電気学会論文誌産業応用部門誌, Vol. 132-D, No. 9, pp. 858-864, 2012(10.1541/ieejias.132.858)</br>
[4] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi, "Improving Transparency of Bilateral Control System by Sliding Mode Assist Disturbance Observer", IEEJ Transactions on Electrical and Electronic Engineering, Vol. 8, No. 3, pp. 277-283, May. 2013</br>
[5] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi, "New Nonlinear Tracking Dfferntial-Estimators: Theory and Practice", International Journal of Innovative Computing, Information and Control, Vol. 8, No. 12, pp. 8257-8271, Dec. 2012</br>
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【招待講演】</br>
[1] 矢代大祐, "低侵襲手術のための触覚鉗子," 電気学会知覚情報技術委員会『触覚提示デバイスの高度化』調査専門委員会, 浜松, May 23rd, 2012</br>
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【査読付き国際会議論文】</br>
[1] Kento Hashimoto, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Control of Musculoskeletal Arm using a Visual Space", Proceedings of the MECATRONICS congress (France-Japan and Europe-Asia) and REM workshop, Paris, France, pp. 433-436, Nov. 21st-23rd, 2012</br>
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【査読なし国際会議論文】</br>
[1] Masataka Ishizaki, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "A Shaping of Sensitivity function by H-infinity Model-matching using Model-free Controller Tuning", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 125-128, Nov. 2012</br>
[2] Ken Sakakibara, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "A Direct Tuning from Input/Output Data of the Youla Parameter in Consideration of Some Deviated Plants", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 113-116, Nov. 2012</br>
[3] Ryota Matsuo, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Tuning of Controller Parameters by FCbT with Stability  Constraints for Non-minimum Phase Plants", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 129-132, Nov. 2012</br>
[4] Yoshitaka Nishiguchi, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "A Study on Design of a Gain-Scheduling Controller Guarantees the Performance Condition on the Nyquist Diagram", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 121-124, Nov. 2012</br>
[5] Keigo Miyajima, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "A Decision Method of Grasp Position Regions for a Polygonal Shaped Objects using a Grasp Force Evalution Index Resisting External Force", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 60-63, Nov. 2012</br>
[6] Kazuyuki Yamamoto, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, Akinobu Nishimura, "An Estimation Method of Output Force Distribution Considering Variation of Joint Torque of Limbs according to Posture", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 64-67, Nov. 2012</br>
[7] Kazuki Senga, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Study on Design of Multivariable Fixed-order Controller Satisfying Robust Performance Condition Using Frequency Responses", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 117-120, Nov. 2012</br>
[8] Hiroyasu Kashiwagi, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Study on Stiffness Control of Tendon Mechanisms with Nonlinear Springs", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU 2012, pp. 77-78, Nov. 2012</br>
[9] Kento Hashimoto, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Control of Musculoskeletal Arm using a Visual Space", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 10-13, Nov. 2012</br>
[10] Taku Ogita, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Construction of Fault-tolerant Control System for a Force Sensor Fault in a Reconfigurable Robot", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 26-29, Nov. 2012</br>
[11] Akihiro Doi, Kazuhiro Yubai, Daisuke Yashiro, and Junji Hirai, "Design of a PID Controller based on H-infinity Loop Shaping Method using Frequency Responses", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 34-37, Nov. 2012</br>
[12] Mitsuhiro Terada, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Research for Improvement of Map Accuracy for ICL-SLAM Using the Line Quality", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 52-55, Nov. 2012</br>
[13] Taiki Nishii, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Lower Limb Examinations for Muscular Tension Estimation Methods for Each Muscle Group Based on Functionally Different Effective Muscle Theory", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 68-71, Nov. 2012</br>
[14] Tadashi Hieno, Satoshi Komada, Daisuke Yashiro, and Junji Hirai, "Centralized Controller with Adaptive Controller Based Bilateral Control under Communication Delay", Proceedings of the 2nd International Symposium for Sustainability by Engineering at MIU, pp. 137-140, Nov. 2012</br>
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【国内会議論文】<br>
[1] 山本和幸, 駒田諭, 矢代大祐, 平井淳之, 西村明展, "姿勢による肢の関節トルク変化を考慮した出力分布推定法", 生体医工学シンポジウム2012講演予稿集, pp. 1-4, Sep. 2012</br>
[2] 西井大騎, 駒田諭, 矢代大祐, 平井淳之, "機能別実効筋理論を用いた筋群別筋張力推定手法の下肢における検討", 生体医工学シンポジウム2012講演予稿集 pp. 5-8, Sep. 2012</br>
[3] 松尾亮太, 弓場井一裕, 矢代大祐, 平井淳之, "FCbTによる安定性を考慮した非最小位相系に対する制御器パラメータ調整", 第55回自動制御連合講演会講演論文集, pp. 1616-1620, Nov. 2012</br>
[4] 土井章弘, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を用いたH∞ループ整形法に基づくPID制御器の設計", 第55回自動制御連合講演会講演論文集, pp. 1578-1581, Nov. 2012</br>
[5] 日恵野直, 矢代大祐,　駒田諭, 平井淳之, "通信遅延下における中央制御器を用いた適応制御に基づくバイラテラル制御", 平成24年三重地区計測制御研究会講演会講演論文集, Dec. 2012</br>
[6] 山本和幸, 駒田諭, 矢代大祐, 平井淳次, 西村明展, "姿勢による肢の関節トルク変化を考慮した機能別実効筋力推定法", 平成24年三重地区計測制御研究会講演会講演論文集, Dec. 2012</br>
[7] 柏木宏康, 駒田諭, 矢代大祐, 平井淳之, "非線形バネを用いた腱駆動機構の剛性制御に関する研究", 平成24年三重地区計測制御研究講演論文集, Dec. 2012</br>
[8] 橋本賢人, 駒田諭, 矢代大祐, 平井淳之, "視空間を利用した生体筋骨格アームの制御", 平成24年三重地区計測制御研究講演論文集, Dec. 2012</br>
[9] 堂崎隆太郎, 駒田諭, 矢代大祐, 平井淳之, "非線形バネSATを用いた腱駆動機構の位置・剛性制御に関する研究", 平成24年三重地区計測制御研究講演論文集, Dec. 2012</br>
[10] 西井大騎, 駒田諭, 矢代大祐, 平井淳之, "機能別実効筋理論を用いた筋群別筋張力推定手法の下肢における検討", 平成24年三重地区計測制御研究講演論文集, Dec. 2012</br>
[11] 寺田光博, 駒田諭, 矢代大祐, 平井淳之, "ICL-SLAMにおける直線の品質を用いた地図精度の向上に関する研究", 平成24年三重地区計測制御研究講演論文集, Dec. 2012</br>
[12] 千賀一輝, 弓場井一裕, 矢代大祐, 平井淳之, "周波数応答を利用したNyquist線図上の性能制約を満たす多変数固定構造制御器の設計", 電気学会制御研究会資料, Vol. CT-12, No. 30-42, pp. 9-14, Dec. 2012</br>
[13] 橋本賢人, 駒田諭, 矢代大祐, 平井淳之, "視空間を利用した生体筋骨格アームの制御", 第13回計測自動制御学会システムインテグレーション部門講演会論文集, pp. 2378-2381, Dec. 2012</br>
[14] 宮嶋啓伍, 駒田諭, 矢代大祐, 平井淳之, "外力に抗する指先力評価指標を用いた多面体物体の指先配置範囲決定", 第13回計測自動制御学会システムインテグレーション部門講演会論文集, pp. 1812-1813, Dec. 2012</br>
[15] 荻田拓, 弓場井一裕, 矢代大祐, 平井淳之, "オブザーバに基づいた構造可変型ロボットの力センサ故障に対する耐故障制御系", 電気学会産業計測制御研究会資料, Vol. IIC-13, No. 33-48, pp. 55-60, 千葉, Mar. 7th-8th, 2013</br>
[16] 西口佳孝, 弓場井一裕, 矢代大祐, 平井淳之, "Nyquist線図を用いた所望の制御性能と安定性を保証する凸最適化に基づくフォロイング制御器の設計", 電気学会産業計測制御研究会資料, Vol. IIC-13, No. 89-90.92-101.103-110, pp. 79-84, 千葉, Mar. 7th-8th, 2013</br>
[17] 石崎将崇, 弓場井一裕, 矢代大祐, 平井淳之, "モデルフリー制御器設計法による感度制約を用いた感度関数の整形", 電気学会産業計測制御研究会資料, Vol. IIC-13, No. 89-90.92-101.103-110, pp. 19-24, 千葉, Mar. 7th-8th, 2013</br>
[18] 山本新悟, 矢代大祐, 弓場井一裕, 駒田諭, 平井淳之, "触覚通信のため通信機器内のキューの状態推定", 電気学会産業計測制御研究会資料, Vol. IIC-13, No. 65-67.69-88, pp. 107-112, 千葉, Mar. 7th-8th, 2013</br>
[19] 市川陽介, 矢代大祐, 弓場井一裕, 駒田諭, 平井淳之, "視触覚同期通信のための帯域制限を考慮した符号化手法", 電気学会産業計測制御研究会資料, Vol. IIC-13, No. 65-67.69-88, pp. 101-106, 千葉, Mar. 7th-8th, 2013</br>
[20] 松井康平, 矢代大祐, 弓場井一裕, 駒田諭, 平井淳之, "動力学を考慮した主動筋・拮抗筋のオンライン筋張力推定", 電気学会産業計測制御研究会資料, Vol.IIC-13, No. 49-50.52-64, pp. 43-48, 千葉, Mar. 7th-8th, 2013</br>
[21] 遠山大輔, 矢代大祐, 弓場井一裕, 駒田諭, 平井淳之, "3次元作業空間における用紙の位置変化にロバストな筆記動作の保存と再現", 電気学会産業計測制御研究会資料, Vol. IIC-13, No. 135-142.144-158, pp. 1-6, 千葉, Mar. 7th-8th, 2013</br>
[22] 矢代大祐, 市川陽介, 弓場井一裕, 駒田諭, 平井淳之, "通信制約下での視触覚通信のための画像処理", 電子情報通信学会コミュニケーションクオリティ研究会資料, Vol. 112, No.476, pp. 15-20, 博多, Mar. 11th-12th, 2013</br>
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