ハンド班

ハンド班

研究テーマ

触覚センサ搭載多指ハンドによる巧みな操りの実現

研究概要

本研究では、人の手を模した多指ロボットハンドに多量の触覚センサを搭載し、深層学習によって巧みな操り動作を実現することを目指す。人間は 5 本の指（多指）を用い、手全体から伝わる感覚（触覚）を使って様々な作業を行うが、これをロボットに行わせることは、人のような操り動作の生成を目指す学術的問いと人の手のようなハンドであるからこその社会課題への適応に対する重要な取り組みとなる。
特に、ロボットマニピュレーション研究の多くは視覚情報に重きがあり、オクルージョンなどの課題や繊細で巧みな操り動作を行うことは難しいと考えられる。より巧みな操りを達成するために、触覚や深部感覚などの身体から得られる情報を活用することを目指し、深層学習制御を中心としたソフトウェア的な側面と人間の手の構造・機能を重要視したハードウェア的な側面の両方のアプローチを取る。これにより、柔らかいや滑りやすいといった難易度の高い物体を、乱雑で動作を阻まれるような複雑な環境下で、複数の物体を複数の指が連携して巧みに操るような、挑戦的な多指ハンドタスクの達成を目指している。

成果・発表（学会発表・論文等）

国際学会

  • Shardul Kulkarni, Satoshi Funabashi, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano, “Tactile Object Property Recognition with Geodesical Spatial Graph Edge Features and Multi-Thread Graph Convolutional Network,” in the IEEE Robotics and Automation Letters (RA-L),. DOI: 10.1109/LRA.2024.3367271.
  • Satoshi Funabashi, Gang Yan, Fei Hongyi, Alexander Schmitz, Lorenzo Jamone, Tetsuya Ogata, Shigeki Sugano, “Tactile Transfer Learning and Object Recognition With a Multifingered Hand Using Morphology Specific Convolutional Neural Networks,” in the IEEE Transactions on Neural Networks and Learning Systems. DOI: 10.1109/TNNLS.2022.3215723 (IF: 10.451)
  • Satoshi Funabashi, Tomoki Isobe, Fei Hongyi Atsumu Hiramoto, Alexander Schmitz, Shigeki Sugano and Tetsuya Ogata, “Multi-Fingered In-Hand Manipulation with Various Object Properties Using Graph Convolutional Networks and Distributed Tactile Sensors,” in the IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 2102-2109, April 2022, DOI: 10.1109/LRA.2022.3142417
  • Gang Yan, Alexander Schmitz, Satoshi Funabashi, Sophon Somlor, Tito Pradhono Tomo, Shigeki Sugano, “A Robotic Grasping State Perception Framework with Multi-Phase Tactile Information and Ensemble Learning,” in the IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 3, pp. 6822-6829, July 2022. DOI: 10.1109/LRA.2022.3151260
  • Tamon Miyake, Tomoyuki Suzuki, Satoshi Funabashi, Namiko Saito, Mitsuhiro Kamezaki, Takahiro Shoda, Tsutomu Saigo and Shigeki Sugano, “Bayesian Estimation of Model Parameters of Equivalent Circuit Model for Detecting Degradation Parts of Lithium-ion Battery,” IEEE Access, vol. 9, pp. 159699-159713, 2021. DOI:10.1109/ACCESS.2021.3131190
  • Namiko Saito, Tetsuya Ogata, Satoshi Funabashi, Hiroki Mori, Shigeki Sugano, “How to select and use tools? : Active Perception of Target Objects Using Multimodal Deep Learning,” in the IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 2517-2524, April 2021. DOI: 10.1109/LRA.2021.3062004 (ICRA2021 Cognitive Robotics Best Paper Award)
  • Tamon Miyake, Shintaro Yamamoto, Satoshi Hosono, Satoshi Funabashi, Zhengxue Cheng, Cheng Zhang, Emi Tamaki, Shigeki Sugano, “Gait Phase Detection based on Muscle Deformation with Static Standing-Based Calibration,” Sensors 2021, 21, 1081. DOI: 10.3390/s21041081
  • Satoshi Funabashi, Alexander Schmitz, Shun Ogasa and Shigeki Sugano, “Morphology-Specific Stepwise Learning of In-Hand Manipulation with a Four-Fingered Hand,” in IEEE Transactions on Industrial Informatics, vol. 16, no. 1, pp. 433-441, Jan. 2020. DOI: 10.1109/TII.2019.2893713 (IF: 11.648)
  • Shardul Kulkarni, Satoshi Funabashi, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano, “Multifingered Object Recognition with Tactile Sensors and Graph Convolutional Networks using Topological Graph Segmentation,” IEEE/SICE International Symposium on System Integration (SII) (SII 2025) to be held in Munich, Germany on Jan. 21-24, 2025, DOI: 10.1109/SII59315.2025.10870913. (SII2025 Best Paper Award)
  • T. Ueno, S. Funabashi, H. Ito, A. Schmitz, S. Kulkarni, T. Ogata, and S. Sugano, “Multi-Fingered Dragging of Unknown Objects and Orientations Using Distributed Tactile Information Through Vision-Transformer and LSTM,” 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI:10.1109/IROS58592.2024.10802283.
  • Gang Yan, Jinsong HE, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano, “Exploratory Motion Guided Tactile Learning for Shape-Consistent Robotic Insertion,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS.), DOI: 10.1109/IROS58592.2024.10801550.
  • Keigo Torii, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano, “Encircling Skin Structure for Covering the Palmar and Dorsal Side of Robot Hand Joints with Thick 3-Axis Tactile Sensors,” 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). DOI: 10.1109/Humanoids57100.2023.10375145.
  • Prathamesh Sathe, Alexander Schmitz, Satoshi Funabashi, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano, “Design and Development of ExoGlove Towards Human Hand to Robot Hand Skill Transfer,” 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO). DOI: 10.1109/ROBIO58561.2023.10354582.
  • Prathamesh Sathe, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Satoshi Funabashi and Sugano Shigeki, “FingerTac -An Interchangeable and Wearable Tactile Sensor for the Fingertips of Human and Robot Hands,” 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS55552.2023.10342285.
  • Gang Yan, ZHIDA QIN, Satoshi Funabashi, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Lorenzo Jamone, Shigeki Sugano, ” Vision-Touch Fusion for Predicting Grasping Stability using Self Attention and Past Visual Images,” Proceedings of the 2023 IEEE International Conference on Development and Learning (ICDL 2023) DOI: 10.1109/ICDL55364.2023.10364461.
  • Gang Yan, Yuyeol Jun, Satoshi Funabashi, Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shigeki Sugano, ” Geometric Transformation: Tactile Data Augmentation for Robotic Learning,” Proceedings of the 2023 IEEE International Conference on Development and Learning (ICDL 2023) DOI: 10.1109/ICDL55364.2023.10364376.
  • Gang Yan, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Satoshi Funabashi, Shigeki Sugano, ” Detection of Slip from Vision and Touch,” 2022 International Conference on Robotics and Automation (ICRA). DOI: 10.1109/ICRA46639.2022.9811589
  • Pin-Chu Yang, Satoshi Funabashi, Mohammed Al-Sada, Tetsuya Ogata, ” Generating Humanoid Robot Motions based on a Procedural Animation IK Rig Method,” 2022 IEEE/SICE International Symposium on System Integration (SII) (SII 2022) . DOI: 10.1109/SII52469.2022.9708820
  • Gagan Khullar, Alexander Schmitz, Chincheng Hsu, Prathamesh Sathe, Satoshi Funabashi and Shigeki Sugano, ” A Multi-Fingered Robot Hand with Remote Center of Motion Mechanisms for Covering Joints with Soft Skin,” IEEE International Conference on Robotics and Biomimetics (ROBIO). DOI: 10.1109/ROBIO54168.2021.9739600 (ROBIO2021 Biomimetics Best Paper Award)
  • Satoshi Funabashi, Yuta Kage, Hiroyuki Oka, Yoshihiro Sakamoto, Shigeki Sugano, “Object Picking Using a Two-Fingered Gripper Measuring the Deformation and Slip Detection Based on a 3-Axis Tactile Sensing,” 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS51168.2021.9636354
  • Gang Yan, Alexander Schmitz, Satoshi Funabashi, Sophon Somlor, Tito Pradhono Tomo, Shigeki Sugano, “SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction,” 2021 International Conference on Robotics and Automation (ICRA). DOI: 10.1109/ICRA48506.2021.9561397
  • Shardul Kulkarni, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano, “Development and Evaluation of a Linear Series Clutch Actuator for Vertical Joint Application with Static Balancing”, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS45743.2020.9341293
  • Satoshi Funabashi, Tomoki Isobe, Shun Ogasa, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo and Shigeki Sugano, “Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN”, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS45743.2020.9341362
  • Satoshi Funabashi, Shun Ogasa, Tomoki Isobe, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo and Shigeki Sugano, “Variable In-Hand Manipulations for Tactile-Driven Robot Hand via CNN-LSTM”, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS45743.2020.9341484
  • Tamon Miyake, Zhengxue Cheng, Satoshi Hosono, Shintaro Yamamoto, Satoshi Funabashi, Cheng Zhang and Emi Tamaki, “Heel-Contact Gait Phase Detection Based on Specific Poses with Muscle Deformation”, 2019 IEEE International Conferernce on Robotics and Biomimetics (ROBIO 2019), Dali ， Yunnan, China, 2019. DOI: 10.1109/ROBIO49542.2019.8961661
  • Satoshi Funabashi, Gang Yan, Andreas Geier, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano, “Morphology-Specific Convolutional Neural Networks for Tactile Object Recognition with a Multi-Fingered Hand,” 2019 International Conference on Robotics and Automation (ICRA 2019), Montreal, QC, Canada, 2019, pp. 57-63.DOI: 10.1109/ICRA.2019.8793901
  • Satoshi Funabashi, Alexander Schmitz, Takashi Sato and Shigeki Sugano, “Versatile In-Hand Manipulation of Objects with Different Sizes and Shapes Using Neural Networks, ” The 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018) , Beijing, China, 2018, pp. 1-9. DOI: 10.1109/HUMANOIDS.2018.8624961
  • S. Funabashi, S. Morikuni, A. Geier, A. Schmitz, S. Ogasa, T. P. Tomo,S. Somlor, and S. Sugano, “Object Recognition through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 2589-2595. DOI: 10.1109/IROS.2018.8594159
  • Satoshi Funabashi, Ryuya Sato, Tamon Miyake, Ryosuke Tsumura and Kinji Mori, “Inverse Innovation: Ripple Railway Model to Acquire Local Industries Based on User’s Viewpoint in Thailand,” 2017 IEEE 13th International Symposium on Autonomous Decentralized System (ISADS), Bangkok, 2017, pp. 281-286. DOI: 10.1109/ISADS.2017.43
  • Keung Or, Alexander Schmitz, Satoshi Funabashi, Mami Tomura and Shigeki Sugano, “A study on fingertip designs and their influences on performing stable prehension for robot hands,” 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, pp. 772-777. DOI: 10.1109/HUMANOIDS.2016.7803361
  • Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi and Shigeki Sugano, “Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation,” 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 2542-2547. DOI:10.1109/IROS.2016.7759395
  • Keung Or, Shu Morikuni, Shun Ogasa, Satoshi Funabashi, Alexander Schmitz and Shigeki Sugano, “Development of robotic fingertip morphology for enhanced manipulation stability,” 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, AB, 2016, pp. 25-30. DOI: 10.1109/AIM.2016.7576738
  • Keung Or, Mami Tomura, Alexander Schmitz Satoshi Funabashi and Shigeki Sugano, “Interpolation control posture design for in-hand manipulation,” 2015 IEEE/SICE International Symposium on System Integration (SII), Nagoya, 2015, pp. 187-192. DOI:10.1109/SII.2015.7404976
  • Satoshi Funabashi, Alexander Schmitz, Takashi Sato, Sophon Somlor and Shigeki Sugano, “Robust in-hand manipulation of variously sized and shaped objects,” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 257-263. (Travel Awards) DOI: 10.1109/IROS.2015.7353383
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