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Dive into the research topics where Yoshiyuki Ohmura is active.

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Featured researches published by Yoshiyuki Ohmura.


Lecture Notes in Computer Science | 2004

From Humanoid Embodiment to Theory of Mind

Yasuo Kuniyoshi; Yasuaki Yorozu; Yoshiyuki Ohmura; Koji Terada; Takuya Otani; Akihiko Nagakubo; Tomoyuki Yamamoto

We propose to investigate the foundations of communication and symbolic behavior by means or a robotics approach, i.e. by studying how these behaviors might emerge from the physical dynamics of an agent and its sensory-motor interactions with the real world. In this perspective, the human-robot interface problem can be viewed as one of coupling the interaction dynamics of all agents. Through a number of case studies we will show that within this interaction dynamics there is sparse global structure, i.e. a structure that can be characterized by only a small number of points in phase space, and that it is best to interact with the agent, i.e. interfere with its dynamics, at these points. We introduce a humanoid robot with the capability for dynamic full-body movement. The preliminary results of two experiments, sitting and standing up, are presented. Lastly, experiments with self exploratory learning of embodiment and visual motor learning of neonatal imitation abilities are introduced.


Robotics and Autonomous Systems | 2004

Embodied basis of invariant features in execution and perception of whole-body dynamic actions—knacks and focuses of Roll-and-Rise motion

Yasuo Kuniyoshi; Yoshiyuki Ohmura; Koji Terada; Akihiko Nagakubo; Shinichiro Eitoku; Tomoyuki Yamamoto

Abstract This paper attempts to discover the invariant features in a whole-body dynamic task under perturbations. Our hypothesis is that the features are useful both for execution and recognition of a task, and have their origin in human embodiment. For the sake of concreteness, we focus on a particular task named “Roll-and-Rise” motion, and carried out a multi-approach investigation. First, an analysis of motion capture data of human performance is presented to show its invariant features. Next, we show that such invariants emerge from the underlying physics of the task, using simulation data. These invariants are actually useful for generating robot motion, which has been successfully realized with an adult-size real humanoid robot. The experimental data are analyzed to confirm the temporal localization of invariant features. Lastly, we present a psychological experiment which confirms that these timings are actually important points where human observers extract crucial information about the task.


international conference on robotics and automation | 2009

Wearable motion capture suit with full-body tactile sensors

Yuki Fujimori; Yoshiyuki Ohmura; Tatsuya Harada; Yasuo Kuniyoshi

This paper presents a system for capturing human movement and tactile data and methods for analyzing this data. We cannot fully capture the essence of motion without tactile information, and sometimes the lack of such information causes critical problems. To achieve a better understanding of motion behavior, we developed a wearable motion capture suit with full-body tactile sensors. We also developed a motion sensor which can estimate its orientation with its inner CPU. We also built a tactile sensor module which can fit many kinds of body shapes. With this system, we can measure a users movement and tactile information simultaneously. By integrating tactile data with motion data, we can achieve many kinds of meaningful insights. We demonstrate the effectiveness of this system with experiments. We captured two motions: stretching after sitting on a chair and laying down on a bed. By recognizing the contact point from the tactile data and fitting it into the environment, we were able to estimate the motion trajectories.


intelligent robots and systems | 2003

Analysis and control of whole body dynamic humanoid motion - towards experiments on a roll-and-rise motion

Koji Terada; Yoshiyuki Ohmura; Yasuo Kuniyoshi

We propose that highly dynamic whole-body motions should be analyzed, realized and exploited for extending the capability of humanoid robots in the real world. Such motions are very different from the todays standard humanoid behaviors such as stable ZMP-based biped walking, and upper-body motion assuming the stability of the lower-body. The kind of motions we are interested are not locally stable states. Sometimes they include diverging trajectories. In this paper, we focus on one example of such motions: a roll-and-rise motion, in which the robot stands up in one action from lying state. It first swings up both of its legs high, swings them down, rolling forward and up on both feet, then extends the legs to achieve the standing posture. Analysis of the dynamics governing the motions is carried out, and some boundary conditions for successful motions are presented. Our current goal is to identify essential minimum control laws that assure the success of the task. In search of them, a series of systematic simulation experiments are carried out to plot the parameter regions which define success or failure. Experiments with real adult-size humanoid robot are also presented.


ieee-ras international conference on humanoid robots | 2011

High-density conformable tactile sensing glove

Takashi Sagisaka; Yoshiyuki Ohmura; Yasuo Kuniyoshi; Akihiko Nagakubo; Kazuyuki Ozaki

To understand the human intelligence involved phys- ical manipulation of objects, detailed assessment of the states of contact between the surface of the hand and the objects is necessary. This paper proposes a tactile sensing glove based on a branch-shaped tactile sensor sheet that enables pressure measurement at 1052 points on a human hand without critically interfering with the movements of joints on the hand. The change in joint moveability by wearing the glove is evaluated in an experiment, and the result shows the effectiveness of proposed glove design. Finally, as a preliminary result, the data measured when manipulating everyday objects are shown. The glove for assessing human hand skills can contribute not only to the dexterity of robots but also to the implementation method of robotic tactile sensors.


international conference on human haptic sensing and touch enabled computer applications | 2012

Development and applications of high-density tactile sensing glove

Takashi Sagisaka; Yoshiyuki Ohmura; Akihiko Nagakubo; Kazuyuki Ozaki; Yasuo Kuniyoshi

To understand principles of human hand dexterity, investigation of dynamic contact control by the hand is essential. Here, we developed a novel high-density tactile sensing glove lined with flexible printed circuit boards (FPCs) which were embedded with 1-mm-sized pressure sensitive elements at 1052 points per hand. Those FPCs are arranged in such a way that did not interfere with natural hand movements. In order to demonstrate how the glove captures the hands sensation and action, we conducted two experiments while human subjects wore the glove. First, we investigated the relationship between pressure distribution and external force exerted on a grasped object. The results showed that the external force correlates to the pressure distribution and that the direction of the external force can be roughly estimated from the pressure distribution. Second, we observed object discrimination by a blindfold subject. As a result, the difference of exploratory patterns arises from difference of objects used in the task was successfully observed from the data of the glove.


ISRR | 2010

Whole Body Haptics for Augmented Humanoid Task Capabilities

Yasuo Kuniyoshi; Yoshiyuki Ohmura; Akihiko Nagakubo

A whole body tactile skin with a novel design is presented. It is installed on the entire surface of our adult-size humanoid robot. Experiments on various contact motion control, such as handling a 66kg human dummy, are realized.


intelligent robots and systems | 2009

Analyzing the “knack” of human piggyback motion based on simultaneous measurement of tactile and movement data as a basis for humanoid control

Kunihiro Ogata; Daisuke Shiramatsu; Yoshiyuki Ohmura; Yasuo Kuniyoshi

To help with care work and rescue operations, it is necessary for humanoid robots to have the ability to transport humans steadily and gently. In this research we consider “piggyback” motions for transporting humans. Most people can perform this motion, allowing us to measure and analyze piggyback motions of human subjects using tactile sensing and whole body movements to design whole body contact control. One interesting result of this investigation is that frictional forces are skillfully controlled by the carrier. In the first experiment, we study a “knack” that allows the carrier to reposition the rider. In the second experiment we verify the effectiveness of the knack in achieving the repositioning result. We also studied the principle of the repositioning motion, and found that it is similar in many ways to a jumping motion. Then we confirmed the validity of our modeling assumptions using a dynamical simulator.


Scientific Reports | 2018

Species-specific Posture of Human Foetus in Late First Trimester

Yoshiyuki Ohmura; Seiichi Morokuma; Kiyoko Kato; Yasuo Kuniyoshi

The ontogeny associated with the arm-hanging posture, which is considered ape-specific, remains unknown. To examine its ontogeny, we measured foetal movements of 62 human foetuses aged 10–20 gestation weeks using four-dimensional sonography. We observed that the first-trimester foetuses show this particular species-specific posture. After 11 weeks of gestation, all foetuses showed the arm-hanging posture, and the posture was most frequently observed at 14–16 weeks of gestation. Moreover, this posture often involved extension of both arms and both legs, indicating that it is not myogenic but neurogenic. Furthermore, early ontogeny suggests that it originates because of subcortical activity. Such posture extension bias and persistence indicates that vestibulospinal tract maturation involves the ontogeny of arm-hanging posture during 14–16 weeks of gestation.


Experimental Brain Research | 2018

Stapedial reflex threshold predicts individual loudness tolerance for people with autistic spectrum disorders

Yoshiyuki Ohmura; Itsuki Ichikawa; Shinichiro Kumagaya; Yasuo Kuniyoshi

People with autism spectrum disorder (ASD) frequently show the symptoms of oversensitivity to sound (hyperacusis). Although the previous studies have investigated methods for quantifying hyperacusis in ASD, appropriate physiological signs for quantifying hyperacusis in ASD remain poorly understood. Here, we investigated the relationship of loudness tolerance with the threshold of the stapedial reflex and with contralateral suppression of the distortion product otoacoustic emissions, which has been suggested to be related to hyperacusis in people without ASD. We tested an ASD group and a neurotypical group. The results revealed that only the stapedial reflex threshold was significantly correlated with loudness tolerance in both groups. In addition to reduced loudness tolerance, people with lower stapedial reflex thresholds also exhibited higher scores on the Social Responsiveness Scale-2.

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Akihiko Nagakubo

National Institute of Advanced Industrial Science and Technology

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Tomoyuki Yamamoto

Japan Advanced Institute of Science and Technology

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