日本語
College of Information Science and Engineering  /
Department of Information Science and Engineering

 Takahiro   WADA  Professor

■Concurrent affiliation
Research Organization of Science and Technology   /
Advanced Robotics Research Center
Graduate School of Information Science and Engineering
■Graduate school/University/other
03/1994  Ritsumeikan University  College of Science and Engineering  Department of Mechanical Engineering  Graduated
03/1996  Ritsumeikan University  Graduate School of Science and Engineering  Department of Information Systems Science  Master's course  Completed
03/1999  Ritsumeikan University  Graduate School of Science and Engineering  Science and Engineering Major  Doctoral course second term (Doctoral)  Completed
■Academic degrees
Ph.D. (03/1999 Ritsumeikan University)  
■Career history
04/01/1999-03/31/2000  Assistant professor, Department of Robotics, Ritsumeikan University
04/01/2000-03/31/2003  Assistant Professor, Department of Intelligent Mechanical Systems, Kagawa University
04/01/2003-03/31/2007  Associate Professor, Department of Intelligent Mechanical Systems, Kagawa University
07/2006-01/2007  Visiting Scholar, University of Michigan Transportation Research Institute (UMTRI)
04/01/2007-03/31/2012  Associate Professor, Department of Intelligent Mechanical Systems, Kagawa University
04/01/2012-  Professor, Department of Human and Computer Intelligence, Ritsumeikan University
04/01/2012-  Visiting Professor, Kagawa University
■Committee history
11/2017-  国土交通省自動車局  第6期先進安全自動車(ASV)推進検討会 将来技術実用化分科会
10/2013-  IEEE System, Man, and Cybernetics Society  IEEE SMC Technical Committee on Shared Control
2007-  自動車技術会 ヒューマンファクター部門委員会 委員
01/2012-03/2016  Technical Committee, Advanced Safety Vehicle, Driver assistance system WG
2010-2017  自動車技術会・日本ロボット学会 合同 カー・ロボティクス調査研究委員会 幹事
03/2012-03/2014  Chair, Technical Committee on Smart Mobility Systems, Society for Instrument and Control Engineers
11/2012-01/2014  Annual Meeting of System and Information Division, SICE  Local Arrangement Committee Chair
04/2014-  日本機械学会 ロボティクス・メカトロニクス部門  運営委員会 委員
2008-  計測自動制御学会 マンマシンシステム部会 委員
2010-  日本機械学会 交通・物流部門 第2技術委員会 委員
2011-2013  Journal of Mechanical Systems for Transportation and Logistics, Editor
01/2011-03/2013  交通予防安全コンソーシアム 代表
2012-2013  日本人間工学会 代議員
2010-2010  計測自動制御学会 評議員
2008-2017  自動車技術会・日本ロボット学会 合同 カー・ロボティクス調査研究委員会
2009-2010  計測自動制御学会 論文集委員会
2008-2009  Institute of Complex Medical Engineering, Secretariat
2009-03/2014  Institute of Complex Medical Engineering, Secretariat,Treasurer
2006-2007  日本機械学会 ロボティクス・メカトロニクス部門 第6地区技術委員会 委員長
2011-  International Technical Committee, The 2011 IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2011)
2010-  Associate Editor, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)
2009-2009  Associate Editor, The 2009 IEEE/RSJ International Conference on Intelligent Robots and System (IROS2009)
■Academic society memberships
The Society of Instrument and Control Engineeers  
Robotics Society of Japan  
Society of Automotive Engineers of Japan  
IEEE (RAS, ITSS, SMC)  
The Japan Society of Mechanical Engineers  
Human Factors and Ergonomics Society (HFES)  
SAE (Society of Automotive Engineers)  
Japan Ergonomics Society  
■Subject of research
Modeling Sesory-motor system of humans and its application to motion control of intelligent mechanical systems
Driver State Estimation Method for Driver Assistance Systems
Modeling of Motion Sickness and Its Application to Comfortable Vehicle Motion Control
Modeling driver's perceptual risk of collision and its application to driver assistance system
Development of Trans-femoral Prosthesis for Stair Ascent
Development of Power Assist System
Evaluation of Driver Assistance Systems
■Research summary


 The main targets of our research are intelligent mechanical system and robot having physical interaction with human beings, such as rehabilitation robot, prosthetic limbs, machines operated by humans such as automobile and construction machine, and remotely operated underwater vehicles.

Research questions we have with such robots operated by humans, and intelligent mechanical systems with physical interaction with humans, are
"What is the movement of a vehicle that a person feels comfortable?",
"What is the control method for an easy-to-walk prosthesis ?",
"What is a robot we can easily operate?".

These questions can not be answered by control theory. In this laboratory, we are conducting research on human modeling (Biological cybernetics) to develop the theory that answers them, and developing it to motion control etc as follows:

Computational model of human motion perception,
Calculation model to predict car sickness,
Computational model of sensory motor system.

In addition, with the advances inrobotics and control theory, work to be carried by robots has increased, but there are many work and functions that can not be achieved. For example, in a rehabilitation robot with physical interaction with humans, safe operation is not guaranteed in the sense that there are scenes where motion of human makes robots unstable. Moreover, with conventional smooth control, the positioning error becomes strictly zero after infinite time has elapsed, or it does not become strictly zero in finite time.
We, humans do not reach to control that achieve zero positioning error in finite time. We are, thus, studying the new control law of the robot including the finite time stabilization along with the theoretical proof. The stability analysis of theory law is scienticially and practically important. Researches includes:

Finite time control of robot manipulators,
Expanded passive velocity field control for rehabilitation,

By combining the human modeling and the robot control theory above mentioned, we are conducting researches on a comfortable and easy-to-use mechanical system for humans. Researches includes:

Vehicle control method based on motion perception model of humans,
Motion sickness reduction method in automated driving,
Haptic Shared Control for cooperative control of human machine systems, including automobile, construction machine control, rehabilitation etc.,
Knee prosthesis control method aiming at improvement of comfort based on kinematic synergy analysis,
Human factor research on automated vehicles, including control of motion sickness, transition of control authority by shared control.
■Research keywords
Human Robotics, Human Machine Systems, Robotics, Biological Cybernetics, System Control Theory, Driver Assistance Systems, Human Modeling, Cybernetic modeling 
■Research activities   (Even top three results are displayed. In View details, all results for public presentation are displayed.)

Books
自動車技術ハンドブック 第3分冊「人間工学編」  自動車技術会  03/2016  4904056612
交通事故低減のための 自動車の追突防止支援技術  Itoh, M., Marumo, Y., Hiraoka, T., Wada, T., Abe, G., Kitajima, S.  コロナ社  05/2015  978-4-339-04642-7
Early Detection and Rehabilitation Technologies for Dementia: Neuroscience and Biomedical Applications  Medical Information Science Reference  172-182  2011  9781609605599
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Papers
Simultaneous Achievement of Driver Assistance and Skill Development in Shared and Cooperative Controls  Takahiro Wada  Cognition, Technology & Work  2018  1435-5558  10.1007/s10111-018-0514-y
Assistance Method for Merging by Increasing Clarity of Decision Making  Yuki Suehiro, Takahiro Wada, Kohei Sonoda  IEEE Transactions on Intelligent Vehicles  2018
Analysis of Driver's Head Tilt Using a Mathematical Model of Motion Sickness  Takahiro Wada, Satoru Fujisawa, Shunichi Doi  International Journal of Industrial Ergonomics  63, 89--97  2018  10.1016/j.ergon.2016.11.003
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Research presentations
Modulation of Vestibulo-Ocular Reflex by Volition of Machine Operation  IEEE International Conference on Systems, Man, and Cybernetics  10/08/2018
Control Transferring between Automated and Manual Driving using Shared Control  9th Internatioanl Conference on Automotive User Interfaces and Interactive Vehicular Applications (Automotive-UI)  09/24/2017
Shared Authority Mode: Connecting Automated and Manual Driving for Smooth Authority Transfer  International Symposium on Future Active Safety Technology toward Zero Traffic Accident (FAST-zero)  09/19/2017
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Grants-in-Aid for Scientific Research (KAKENHI)
Link to Grants-in-Aid for Scientific Research -KAKENHI-

Competitive grants, etc. (exc. KAKENHI)
健康福祉機器開発における人間機械系設計・解析手法の研究  文部科学省 地域イノベーション戦略支援プログラム (研究機能・産業集積高度化地域)  2011  2015  Main representative
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Academic awards
Organizing Committee of The Fourth International Symposium on Future Active Safety Technology toward zero-traffic-accident  Wada, T., Kondo, R., Finalist for Best Paper Award, The International Symposium on Future Active Safety Technology toward zero-traffic-accident (FAST-zero'17), "Shared Authority Model: Connecting Automated and Manual Driving for Smooth Authority Transfer"  09/2017
System and Information Division, SICE  Best Paper Award  12/2016
SI Division, SICE  Shun Yoshida, Takahiro Wada, Koh Inoue  12/2015
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Intellectual property rights
膝継手  特願2012-83996
膝継手  特願2012-51306
動揺病低減装置および方法  特願2010-283228
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■Teaching experience   (Even top three results are displayed. In View details, all results for public presentation are displayed.)

Courses taught
2017  Research for Master  Seminar
2017  Research for Master  Seminar
2017  Research for Master  Seminar
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Teaching achievements
立命館慶祥高校において,情報技術に関する模擬講義を実施した.  06/2018-
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■URL
 Human Robotics Laboratory
 Takahiro Wada in Research gate
 Twitter
 Takahiro Wada in Linkedin
 Takahiro Wada in Google Scholar
 Shared Control Technical Committee, IEEE SMC
■Research keywords(on a multiple-choice system)
Human interface and interaction
Intelligent robotics
Intelligent mechanics/ Mechanical systems