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Tomoya Takahashi

10 accepted papers

2026

SCU-Hand with Integrated Single-Sheet Valve: A Funnel-Shaped Robotic Hand for Milligram-Scale Powder Handling

Tomoya Takahashi, Yusaku Nakajima, Cristian Camilo Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya +2
ICRA 2026poster

Laboratory Automation (LA) has the potential to accelerate solid-state materials discovery by enabling continuous robotic operation without human intervention. While robotic systems have been developed for tasks such as powder grinding and X-ray diffraction (XRD) analysis, fully automating powder ha…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

Simulation-Driven Evolutionary Motion Parameterization for Contact-Rich Granular Scooping with a Soft Conical Robotic Hand

Yongliang Wang, Cristian Camilo Beltran-Hernandez, Tomoya Takahashi, Masashi Hamaya
ICRA 2026poster

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape to maintain consistent contact with container surfaces durin…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Pose Estimation of a Cable-Driven Serpentine Manipulator Utilizing Intrinsic Dynamics via Physical Reservoir Computing

Kazutoshi Tanaka, Tomoya Takahashi, Masashi Hamaya
IROS 2025

Cable-driven serpentine manipulators hold great potential in unstructured environments, offering obstacle avoidance, multi-directional force application, and a lightweight design. By placing all motors and sensors at the base and employing plastic links, we can further reduce the arm’s weight. To de

Cited by 0Source ↗Scholar ↗
2025

SCU-Hand: Soft Conical Universal Robotic Hand for Scooping Granular Media from Containers of Various Sizes

Tomoya Takahashi, Cristian C. Beltran-Hernandez, Yuki Kuroda, Kazutoshi Tanaka, Masashi Hamaya, Yoshitaka Ushiku
ICRA 2025

Automating small-scale experiments in materials science presents challenges due to the heterogeneous nature of experimental setups. This study introduces the SCU-Hand (Soft Conical Universal Robot Hand), a novel end-effector designed to automate the task of scooping powdered samples from various con

Cited by 4Source ↗Scholar ↗
2025

WAVE: Worm Gear-based Adaptive Variable Elasticity for Decoupling Actuators from External Forces

Moses Gladson Selvamuthu, Tomoya Takahashi, Riichiro Tadakuma, Kazutoshi Tanaka
IROS 2025

Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that integrates a non-backdrivable worm gear. By decoupling the driv

Cited by 0Source ↗Scholar ↗
2023

Inflated Bendable Eversion Cantilever Mechanism With Inner Skeleton for Increased Stiffness

Tomoya Takahashi, Masahiro Watanabe, Kazuki Abe, Kenjiro Tadakuma, Naoto Saiki, Masashi Konyo +1
RA-L 2023

Inflatable structures used in soft robotics applications have unique characteristics. In particular, the tip-extension structure, which extends the structure from its tip, can grow without creating friction with the environment. However, these inflatable structures need high pressure to maintain the

Cited by 13Source ↗Scholar ↗
2021

Eversion Robotic Mechanism With Hydraulic Skeletonto Realize Steering Function

Tomoya Takahashi, Kenjiro Tadakuma, Masahiro Watanabe, Eri Takane, Natsumi Hookabe, Hiroshi Kajihara +3
RA-L 2021

For rescue or endoscope applications, snake-like robots have been extensively studied to access and explore confined spaces, such as small-diameter holes or complicated debris. Among them, eversion robot which can evert their flexible surface membrane to extend, exhibit high-mobility performance, ev

Cited by 26Source ↗Scholar ↗
2021

Two-Sheet Type Rotary-Driven Thin Bending Mechanism Realizing High Stiffness

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Eri Takane, Masashi Konyo, Satoshi Tadokoro
RA-L 2021

Thin construction is an advantage in the design of mechanisms. Among them, the soft-bending thin sheet actuator can fit into the shape of an object and grasp it after inserting a finger into a narrow space. However, to facilitate bending, these mechanisms are thin or made of soft materials, which le

Cited by 2Source ↗Scholar ↗
2020

Radial-Layer Jamming Mechanism for String Configuration

Rio Mukaide, Masahiro Watanabe, Kenjiro Tadakuma, Yu Ozawa, Tomoya Takahashi, Masashi Konyo +1
RA-L 2020

In the soft robotics field, soft structures are required for safe human interactions, adaptive shape grippers, and haptic interfaces. Conversely, rigid structures are necessary for high force transmission devices and precise position control applications. The tunable stiffness mechanism is a crucial

Cited by 22Source ↗Scholar ↗
2020

Retraction Mechanism of Soft Torus Robot With a Hydrostatic Skeleton

Tomoya Takahashi, Masahiro Watanabe, Kenjiro Tadakuma, Masashi Konyo, Satoshi Tadokoro
RA-L 2020

Soft robots have attracted much attention in recent years owing to their high adaptability. Long articulated soft robots enable diverse operations, and tip-extending robots that navigate their environment through growth are highly effective in robotic search applications. Robots that extend from the

Cited by 17Source ↗Scholar ↗