Hiroshi Tachiya

2 accepted papers

2026

Parallel Mechanism-Type Skill-Assist Arm Using a Passive-State Actuator to Aid Movement of Limbs

Kengo Tanaka, Hiroaki Kozuka, Hiroshi Tachiya

RA-L 2026

Robotic arms equipped with passive-state actuators to assist beginners in performing upper-limb motions have been-developed for tasks such as welding requiring precise positioning. The arms are equipped with position-controlled actuators, one of which can be switched to a passive-state actuator by t

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2025

Skill-Assist Arm Using Passive Joints to Aid Spatial Movement of Human Limbs

Hiroaki Kozuka, Hiroshi Tachiya

RA-L 2025

Robots that assist with limb movement in rehabilitation or training have been studied to effectively recover the motor function of hemiplegic limbs or to effectively train manual tasks. However, because many of these robots use force control, they are unsuitable for precise positioning. Therefore, t

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