Researcher Database

（Last updated : 2022-07-08 16:33:41）　

WADA Takahiro

Department / Course Research Organization of Science and Technology

Title / Position Professor

Other Affiliations
1.	Research Organization of Science and Technology Robotics Research Center

Academic background
1.	～1999/03	Doctoral Program (2nd Semester) │ Science and Engineering Major │ Graduate School of Science and Engineering │ Ritsumeikan University │ Completed Ph.D.
2.	～1994/03	Department of Mechanical Engineering │ College of Science and Engineering │ Ritsumeikan University │ Graduated
3.	～1996/03	Master Course │ Department of Information Systems Science │ Graduate School of Science and Engineering │ Ritsumeikan University │ Completed

Business career
1.	2012/04/01	Professor │ Department of Human and Computer Intelligence │ Ritsumeikan University
2.	2012/04/01	Visiting Professor │ │ Kagawa University
3.	2007/04/01 ～ 2012/03/31	Associate Professor │ Department of Intelligent Mechanical Systems │ Kagawa University
4.	2006/07 ～ 2007/01	Visiting Scholar │ │ University of Michigan Transportation Research Institute (UMTRI)
5.	2003/04/01 ～ 2007/03/31	Associate Professor │ Department of Intelligent Mechanical Systems │ Kagawa University
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Committee and society
1.	2017/01	IEEE System, Man, and Cybernetics Society Chair of IEEE SMC Technical Committee on Shared Control
2.	2013/10	IEEE System, Man, and Cybernetics Society IEEE SMC Technical Committee on Shared Control
3.	2012/11 ～ 2014/01	Annual Meeting of System and Information Division, SICE Local Arrangement Committee Chair

Research activities
1.		The Society of Instrument and Control Engineeers
2.		Robotics Society of Japan
3.		Society of Automotive Engineers of Japan
4.		IEEE (RAS, ITSS, SMC)
5.		The Japan Society of Mechanical Engineers
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Subject of research
1.	Modeling Sesory-motor system of humans and its application to motion control of intelligent mechanical systems
2.	Driver State Estimation Method for Driver Assistance Systems
3.	Modeling of Motion Sickness and Its Application to Comfortable Vehicle Motion Control
4.	Modeling driver's perceptual risk of collision and its application to driver assistance system
5.	Development of Trans-femoral Prosthesis for Stair Ascent
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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.

Present specialized field
Human interface and interaction, Intelligent robotics, Intelligent mechanics/ Mechanical systems (Keyword：Human Robotics, Human Machine Systems, Robotics, Biological Cybernetics, System Control Theory, Driver Assistance Systems, Human Modeling, Cybernetic modeling)

Books
1.	2011	Early Detection and Rehabilitation Technologies for Dementia: Neuroscience and Biomedical Applications │ ,pp.172-182
2.	2009	Intelligent Robotics and Applications, Second International Conference, ICIRA 2009, Springer-Verlag, Lecture Notes in Artificial Intelligence, No.5928 │ ,pp.215-225
3.	2007	Complex Medical Engineering │ ,pp.93-105
4.	2000	First Int. Workshop on Articulated Motion and Deformable Objects (AMDO 2000), Lecture Note in Computer Science, No.1899 │ ,pp.1-14
5.	2000	Robot Manipulation of Deformable Objects │ ,pp.73-90

Papers
1.	2021	Computational Model of Motion Sickness Describing the Effects of Learning Exogenous Motion Dynamics │ Frontiers in Systems Neuroscience │
2.	2021	Analysis of Driver's Cognitive Characteristics for Speed Control Using Deep Learning │
3.	2020/03	Auditory Assist Method to Indicate Steering Start Timing in Reverse Parking for Improvement of Driver Performance │ IEEE Transactions on Intelligent Vehicles │ 5 (1),pp.32-40
4.	2020	Assistance Method for Merging based on a Probability Regression Model │ IEEE Transactions on Intelligent Transportation Systems │
5.	2020	Autonomous Driving Learning Preference of Collision Avoidance Maneuvers │ IEEE Transactions on Intelligent Transportation Systems │
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Academic conference presentation
1.	2020/10	A Computational Model of Motion Sickness Considering Visual and Vestibular Information
2.	2020/10	Analyzing the Influence of Mental Workload on Vestibulo-Ocular Reflex While Driving Using a Computational Model
3.	2020/10	Haptic Shared Control for Path Tracking Tasks of Underwater Vehicles
4.	2020/10	Investigation of Visual Information Influencing Driver's Steering Control based on CNN
5.	2020/10	Lane-Change Control of Automated Vehicles to Reduce Motion Sickness Based on a Computational Model
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Winning science prize
1.	2019/09	IEEE Systems, Man, and Cybernetics Society Finalist for the Best Paper Award (Franklin V. Taylor Memorial Award) In IEEE International Conference on Systems, Man, and Cybernetics (SMC), for “Comfort and Usability of Automated Driving Systems for Collision Avoidance by Learning Drivers’ Preference at an Opportune Time” (“Comfort and Usability of Automated Driving Systems for Collision Avoidance by Learning Drivers’ Preference at an Opportune Time”)
2.	2016/12	System and Information Division, SICE Best Paper Award (Modeling Driver's Decision Making in Merging)
3.	2017/09	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 (Shared Authority Model: Connecting Automated and Manual Driving for Smooth Authority Transfer)
4.	2010/07	Organizing Committee of IEEE/ICME International Conference on Complex Medical Engineering Takahiro Wada, Toyokazu Takeuchi, Masahiro Sekimoto, Yuuki Shiba, and Suguru Arimoto, Best Paper Award of IEEE/ICME International Conference on Complex Medical Engineering 2010, "Evaluation of Inertia Matching of Trans-Femoral Prosthesis based on Riemannian Distance (Evaluation of Inertia Matching of Trans-Femoral Prosthesis based on Riemannian Distance)
5.	2015/12	SI Division, SICE Shun Yoshida, Takahiro Wada, Koh Inoue
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Home Page
Shared Control Technical Committee, IEEE SMC
Takahiro Wada in Google Scholar
Takahiro Wada in Linkedin
Takahiro Wada in Research gate
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