Toshimitsu Tsuboi — accepted AI-conference papers

2026

Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation

Haiyun Zhang, Stefano Dalla Gasperina, Saad N. Yousaf, Job D. Ramirez, Toshimitsu Tsuboi, Tetsuya Narita +1

RA-L 2026

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These issues lead to kinematic misalignments that degrade tracking

Cited by 1 Source ↗Scholar ↗

2020

3D-CNN Based Heuristic Guided Task-Space Planner for Faster Motion Planning

Ryo Terasawa, Yuka Ariki, Takuya Narihira, Toshimitsu Tsuboi, Kenichiro Nagasaka

ICRA 2020poster

Motion planning is important in a wide variety of applications such as robotic manipulation. However, it is still challenging to reliably find a collision-free path within a reasonable time. To address the issue, this paper proposes a novel framework which combines a sampling-based planner and deep…

Cited by 31 Source ↗Scholar ↗

2020

Theoretical Derivation and Realization of Adaptive Grasping Based on Rotational Incipient Slip Detection

Tetsuya Narita, Satoko Nagakari, William Conus, Toshimitsu Tsuboi, Kenichiro Nagasaka

ICRA 2020poster

Manipulating objects whose physical properties are unknown remains one of the greatest challenges in robotics. Controlling grasp force is an essential aspect of handling unknown objects without slipping or crushing them. Although extensive research has been carried out on grasp force control, unknow…

Cited by 15 Source ↗Scholar ↗