Research

Many researchers have long envisioned wearable systems that enhance human abilities. Practical research in this area began in the early 2000s, driven by advances in design and control technologies. Recently, the development of wearable systems has accelerated with the incorporation of microelectromechanical sensors, wireless networks, battery technologies, and more.   Wearable exoskeleton systems have been developed for various applications, including military use, daily life support, and rehabilitation. However, these systems typically feature rigid structures and actuators, similar to those used in conventional robotics. While this approach may be effective from a 'robotic' perspective, it has not seen widespread practical application because these systems are often heavy, rigid, and uncomfortable to wear from a 'human' standpoint. Their performance and effectiveness are also limited by the bulkiness of the actuators and transmission systems.   To address these challenges, we are focused on developing innovative and practical wearable systems through comprehensive research that prioritizes human-centered design and control. Our approach views the wearable system from the perspective of a 'human,' not a 'robot.' Additionally, we draw inspiration from the structures and mechanisms found in animals and plants, leading to the creation of biomimetic wearable systems that enhance human-robot interaction and contribute to the emerging field of biomimetic robotics research. Soft Sensors and Actuators Research Group Bio-inspired Robots Research Group Tele-operation Research Group Virtual Reality Research Group   In Soft Sensors & Actuators Research Group, we focus on developing soft sensors using conductive liquid metal to measure and analyze human body movements. We also study hybrid actuators to achieve variable stiffness. Additionally, we are developing machine learning algorithms to interpret and derive meaningful insights from human body motions.   In Tele-operation Research Group, we focus on developing various force transmission mechanisms and control algorithms for wearable human-robot interaction systems. These systems are utilized as remote control interfaces, known as the interActive and intuitiVe control interfAce for a Tele-operAted Robot (AVATAR) system, which has been applied to remote operations, including the dismantling of nuclear power plants.   Wearable human-robot interaction systems designed for precise force transmission have been specifically developed for the human hand, which serves as the primary interface for interacting with the external environment. In Virtual Reality Research Group, we are developing a wearable system for the hand that can simultaneously measure the 3D movement of all fingers and accurately transmit force to enhance immersion and realism in virtual reality. The structures and control algorithms we develop are also being applied to wearable rehabilitation systems for stroke patients.   Our fundamental research into biological systems for wearable human-robot interactions involves analyzing the mechanisms and structures of animals and plants, naturally leading us to biomimetic robot research. In Bio-inspired Robots Research Group, we conduct biomimetic research focused on improving locomotion. We abstract, analyze, and apply the core principles of living organisms rather than merely mimicking their mechanisms or structures. Additionally, we are exploring innovative manufacturing methods to bring these novel mechanisms and structures to life.