AIConfPaper
← Search

Yasuhisa Hirata

36 accepted papers

2026

A Versatile Underactuated Robotic Hand for Cloth Manipulation

Xinhao Chen, Alberto Elías Petrilli Barceló, Saeed Shiry Ghidary, Dayuan Chen, Jose Victorio Salazar Luces, Yasuhisa Hirata
ICRA 2026poster

Traditional cloth manipulation often employs low- DOF grippers to simplify hardware. However, this approach presents significant challenges for algorithms due to the complex and dynamic behavior of fabrics. To address these limitations, we propose a novel approach based on a human-hand-like de- sign…

Cited by 0Source ↗Scholar ↗
2026

Perception of Social Robots As Communication Partners in Healthcare for Older Adults

Hana Yamamoto, Carlotta Julia Mayer, Charlotte Raithel, Theresa Buchner, Christian Werner, Yasuhisa Hirata +2
ICRA 2026poster

Addressing the global caregiver shortage through socially assistive robots necessitates a deep understanding of their psychological and physiological impacts on older adults. This study addresses whether social robots can serve as effective interaction partners compared to humans, and if "positive p…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

Real-Time Geometric-Registration-Based Precision Localization for Autonomous Docking in Unstructured Factory Environment

Sebastian Fernando Chinchilla Gutierrez, Manaru Watanabe, Masahiro Ooyama, Takayuki Yamada, Tomoaki Yamada, Naoto Toshiki +4
ICRA 2026poster

In factory distribution processes, autonomous mobile robots must dock precisely at base stations. However, this task is challenging due to the dynamic and unstructured nature of factory environments, as well as the sparse point clouds caused by sensor occlusions and distance limitations. To address …

Cited by 0Source ↗Scholar ↗
2026

Real-Time Sit-To-Stand Phase Classification with a Mobile Assistive Robot from Close Proximity Utilizing 3D Visual Skeleton Recognition

Anas Mahdi, Zonghao Dong, Jonathan Feng-Shun Lin, Yue Hu, Yasuhisa Hirata, Katja Mombaur
ICRA 2026poster

Sit-to-stand (STS) transfer is a fundamental but challenging movement that plays a vital role in older adults’ daily activities. The decline in muscular strength and coordination ability can result in difficulties performing STS and, therefore, the need for mobility assistance by humans or assistive…

Cited by 0Source ↗Scholar ↗
2026

SIS: Seam-Informed Strategy for T-Shirt Unfolding

Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Dayuan Chen, Yasuhisa Hirata +2
ICRA 2026poster

Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

The Empirical Turn in Robot Ethics: Reconciling Theoretical Thought Experiments with Practical Reality

Yueh-Hsuan Weng, David Torabi, Jim Torresen, Zonghao Dong, Yasuhisa Hirata
ICRA 2026poster

The inclusion of robots in daily life presents significant ethical, legal, and social implications (ELSI) that stem from their interactions with humans. Social robots are able to operate in environments that are rich in cultural norms, emotions, and social cues, leading to critical questions about p…

Cited by 0Scholar ↗
2025

A Versatile Underactuated Robotic Hand for Cloth Manipulation

Xinhao Chen, Alberto Elías Petrilli-Barceló, Saeed Shiry Ghidary, Dayuan Chen, Jose Victorio Salazar Luces, Yasuhisa Hirata
RA-L 2025

Traditional cloth manipulationg often employs low-DOF grippers to simplify hardware. However, this approach presents significant challenges for algorithms due to the complex and dynamic behavior of fabrics. To address these limitations, we propose a novel approach based on a human-hand-like design t

Cited by 2Source ↗Scholar ↗
2025

Enhancing Object Search in Indoor Spaces via Personalized Object-Factored Ontologies

Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata
IROS 2025

Personalization is critical for the advancement of service robots. Robots need to develop tailored understandings of the environments they are put in. Moreover, they need to be aware of changes in the environment to facilitate long-term deployment. Long-Term understanding as well as personalization

Cited by 1Source ↗Scholar ↗
2025

Real-Time Geometric-Registration-Based Precision Localization for Autonomous Docking in Unstructured Factory Environment

Sebastian Fernando Chinchilla Gutierrez, Manaru Watanabe, Masahiro Ooyama, Takayuki Yamada, Tomoaki Yamada, Naoto Toshiki +4
RA-L 2025

In factory distribution processes, autonomous mobile robots must dock precisely at base stations. However, this task is challenging due to the dynamic and unstructured nature of factory environments, as well as the sparse point clouds caused by sensor occlusions and distance limitations. To address

Cited by 2Source ↗Scholar ↗
2025

Real-Time Sit-to-Stand Phase Classification With a Mobile Assistive Robot From Close Proximity Utilizing 3D Visual Skeleton Recognition

Anas Mahdi, Zonghao Dong, Jonathan Feng-Shun Lin, Yue Hu, Yasuhisa Hirata, Katja D. Mombaur
RA-L 2025

Sit-to-stand (STS) transfer is a fundamental but challenging movement that plays a vital role in older adults' daily activities. The decline in muscular strength and coordination ability can result in difficulties performing STS and, therefore, the need for mobility assistance by humans or assistive

Cited by 3Source ↗Scholar ↗
2025

SIS: Seam-Informed Strategy for T-Shirt Unfolding

Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Dayuan Chen, Yasuhisa Hirata +2
RA-L 2025

Seams are information-rich components of garments. The presence of different types of seams and their combinations helps to select grasping points for garment handling. In this paper, we propose a new Seam-Informed Strategy (SIS) for finding actions for handling a garment, such as grasping and unfol

Cited by 4Source ↗code ↗Scholar ↗
2025

Task Planning for a Factory Robot Using Large Language Model

Yosuke Tsushima, Shu Yamamoto, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata
RA-L 2025

In recent years, automation has significantly advanced the automobile manufacturing industry. However, many tasks still involve human intervention, so there is a demand for the development of robots to support workers. Additionally, as the human-centric approach, such as Industry 5.0, is gaining att

Cited by 3Source ↗Scholar ↗
2024

Concept and Prototype Development of Adaptive Touch Walking Support Robot for Maximizing Human Physical Potential

Junya Terayama, Ankit A. Ravankar, Jose Victorio Salazar Luces, Seyed Amir Tafrishi, Yasuhisa Hirata
RA-L 2024

We propose a new walking support robot concept, “Nimbus Guardian,” designed to enhance the mobility of both healthy and frail elderly individuals who can walk independently. The proposed robot differs from traditional walker-type or cane-type aids by offering adaptive, minimal touch support based on

Cited by 6Source ↗Scholar ↗
2023

Running Guidance for Visually Impaired People Using Sensory Augmentation Technology Based Robotic System

Zhenyu Liao, Jose V. Salazar Luces, Ankit A. Ravankar, Yasuhisa Hirata
RA-L 2023

Participating in sports is of great significance to people's physical and mental well-being. While physical activity is commonplace for healthy individuals, it presents challenges for those with visual impairments, as they can not rely on visual cues to perceive essential information related to spor

Cited by 5Source ↗Scholar ↗
2022

A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots

Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata
ICRA 2022poster

Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular for differential wheeled vehicles since the vehicle velocity…

Cited by 6Source ↗Scholar ↗
2022

Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks

Hirokazu Kondo, Jose Victorio Salazar Luces, Yasuhisa Hirata
IROS 2022poster

Robotic automation is steadily growing in different industries around the world. However, in some industries, such as garment manufacturing, most tasks are still predominantly manual, due to the flexible nature of clothes. Garment and clothes are easily deformed when some force is applied, so it is…

Cited by 2Source ↗Scholar ↗
2022

Immersive Virtual Walking System Using an Avatar Robot

Kengkij Promsutipong, Jose V. Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata
ICRA 2022poster

The ongoing COVID-19 pandemic has enforced governments across the world to impose social restrictions on the movement of people and confined them to their homes to avoid the spread of the disease. This not only forbids them from leaving their homes but also greatly reduces their physical activities.…

Cited by 9Source ↗Scholar ↗
2022

PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum

Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata
IROS 2022poster

Quantifying the safety of the human body ori-entation is an important issue in human-robot interaction. Knowing the changing physical constraints on human motion can improve inspection of safe human motions and bring essential information about stability and normality of human body orientations with…

Cited by 4Source ↗Scholar ↗
2021

Control and Evaluation of Body Weight Support Walker for Overground Gait Training

Zonghao Dong, Jose Victorio Salazar Luces, Yasuhisa Hirata
RA-L 2021

Gait rehabilitation training under robot-assisted partial Body Weight Support (BWS) is a promising technique that helps patients who suffer from a traumatic or congenital brain injury like stroke or cerebral palsy to become independent in daily life activities. In recent years, robotic BWS systems h

Cited by 12Source ↗Scholar ↗
2021

Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback

Zhenyu Liao, Jose Salazar, Yasuhisa Hirata
IROS 2021poster

For the visually impaired people, some outdoor activities like running or soccer are difficult, due to not being able to clearly see the environment. Recently, multiple researchers have contributed to help the visually impaired people run outdoors using robotic systems with different types of feedba…

Cited by 10Source ↗Scholar ↗
2020

Human Navigation Using Phantom Tactile Sensation Based Vibrotactile Feedback

Zhenyu Liao, Jose V. Salazar Luces, Yasuhisa Hirata
RA-L 2020

In recent years, multiple navigation systems using vibrotactile feedback have been studied, due to their ability to convey information while keeping free the visual and auditory channels, besides eliciting rapid responses from users. In the current stage, most navigation systems with vibrotactile fe

Cited by 31Source ↗Scholar ↗
2020

Improvement in Measurement Area of 3D LiDAR for a Mobile Robot Using a Mirror Mounted on a Manipulator

Kazuki Matsubara, Keiji Nagatani, Yasuhisa Hirata
RA-L 2020

Light Detection and Ranging (LiDAR) is widely employed in mobile robots to acquire environmental information. However, it has a limited laser irradiation direction and cannot measure the backside of an object. In this study, a method that expands the LiDAR measurement range to various directions usi

Cited by 6Source ↗Scholar ↗
2020

RoVaLL: Design and Development of a Multi-Terrain Towed Robot With Variable Lug-Length Wheels

Jose Victorio Salazar Luces, Shin Matsuzaki, Yasuhisa Hirata
RA-L 2020

Robotic systems play a very important role in exploration, allowing us to reach places that would otherwise be unsafe or unreachable to humans, such as volcanic areas, disaster sites or unknown areas in other planets. As the area to be explored increases, so does the time it takes for robots to expl

Cited by 15Source ↗Scholar ↗
2020

Wide Area Exploration System Using Passive-Follower Robots Towed by Multiple Winches

Jose Victorio Salazar Luces, Manami Hoshi, Yasuhisa Hirata
RA-L 2020

In this study, we propose a wide area exploration system that consists on passive wheeled robots equipped with exploration sensors that are pulled from a high position with wires fed out from two winches. The robots are driven by the pulling force from the winches and they are able to steer by contr

Cited by 2Source ↗Scholar ↗
2018

A Phantom-Sensation Based Paradigm for Continuous Vibrotactile Wrist Guidance in Two-Dimensional Space

Jose V. Salazar Luces, Keisuke Okabe, Yoshiki Murao, Yasuhisa Hirata
RA-L 2018

Vibrotactile feedback has long been used to improve the human motor learning process through information transfer. However, in most of the approaches described in the literature, only the joint angles of the limb are guided. To guide motions that involve multiple degrees of freedom (DOFs), the user

Cited by 34Source ↗Scholar ↗
2018

Control of Multiple Passive-Follower Type Robots Based on Feasible Braking Control Region Analysis

Yasuhisa Hirata, Ken Kimura, Shin Matsuzaki, Naoko Ogawa, Takashi Kubota
ICRA 2018poster

Ahstract- In this study, we propose a development and formation control of a passive mobile robot equipped only with servo brakes and no motors. The developed passive mobile robot can move forward by utilizing an external pulling force, and steers itself by controlling the servo brakes attached to e…

Cited by 10Source ↗Scholar ↗
2018

Path-Following Guidance Using Phantom Sensation Based Vibrotactile CuAround the Wrist

José Salazar, Keisuke Okabe, Yasuhisa Hirata
RA-L 2018

Vibrotactile feedback systems for supporting human motion have been widely researched, mainly owing to the low price and reduced size of vibration motors, which allow trainees to actively move while using them. Most existing vibrotactile feedback systems focus on providing information about the huma

Cited by 30Source ↗Scholar ↗
2018

State Estimation Using the CoG Candidates for Sit-to-Stand Support System User

Mizuki Takeda, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina
RA-L 2018

Various support systems have been developed to support elderly people, and the demand for indoor support system has increased. It is important to support not only walking but also to support sit-to-stand and stand-to-sit motions. We develop a support system for indoor use that depends on the user's

Cited by 13Source ↗Scholar ↗
2017

Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp)

Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge
IROS 2017poster

This study analyzed the precision grip force for the underactuated gripper for power and precision grasp (uGRIPP). uGRIPP is a robot hand developed for dual arm manipulation. It can grasp objects through power and precision grips. For a more detailed analysis of the performance on the grip force and…

Cited by 13Source ↗Scholar ↗
2017

Human CoG estimation for assistive robots using a small number of sensors

Mizuki Takeda, Yasuhisa Hirata, Kazuhiro Kosuge, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina
ICRA 2017poster

Various assistive machines have been developed to prevent falling accidents of the elderly. In order to achieve advanced support using robot technology, it is important to acquire data or real-time state estimation of user's various motions. However, a lot of expensive and sophisticated sensors util…

Cited by 16Source ↗Scholar ↗
2017

Position and orientation control of passive wire-driven motion support system using servo brakes

Yasuhisa Hirata, Ryo Shirai, Kazuhiro Kosuge
ICRA 2017poster

Wire-driven haptic devices can easily achieve highspeed operation because of the low inertia of light and thin wires. Therefore, it is expected to be widely used as a motion support system in fields such as sports training. However, usually these wires are driven by controlling each wire's tension u…

Cited by 14Source ↗Scholar ↗
2016

Cadence control of cycling wheelchair with Continuously Variable Transmission and servo brake

Yasuhisa Hirata, Shotaro Ando, Kazuhiro Kosuge
ICRA 2016

Cycling wheelchair was developed for the way of the lower-limb-disabled individuals moving. User can move by pedaling and easily realize free locomotion although they have handicaps. When they use the cycling wheelchair in outdoors, it is necessary to solve the problem of upward slope and downward s

Cited by 4Source ↗Scholar ↗
2015

Pedaling assistive control method of cycling wheelchair for hemiplegia patients

Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge
ICRA 2015poster

The cycling wheelchair is a new type of mobility aid for lower-limb-disabled individuals. Patients can drive the cycling wheelchair by pressing the front pedals with their lower limbs. The device enables patients to effectively rehabilitate their disabled legs and partake in outdoor activities. Howe…

Cited by 10Source ↗Scholar ↗