Researcher Database

（Last updated : 2023-03-02 11:51:37）

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HIRAI Shinichi

Department / Course College of Science and Engineering Department of Robotics

Title / Position Professor

Other Affiliations
1.	Graduate School of Science and Engineering
2.	Research Organization of Science and Technology Robotics Research Center

Academic background
1.	1987/04/01～1990/03/31	Applied Mathematics and Physics │ Graduate School, Division of Engineering │ Kyoto University Applied Mathematics and Phycics Doctor of Engineering
2.	1987/04/01～1990/03/31	Doctorial Course │ Applied Mathematics and Physics │ Graduate School, Division of Engineering │ Kyoto University │ Accomplished credits for doctoral program Applied Mathematics and Phycics Doctor of Engineering
3.	1985/04/01～1987/03/31	Master Course │ Applied Mathematics and Physics │ Faculty of Engineering │ Kyoto University │ Completed Applied Mathematics and Physics Master of Engineeering

Committee and society
1.	2016/01 ～ 2016/12	2016 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2016), IEEE Robotics and Automation Society Editor
2.	2015/01 ～ 2015/12	2015 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2015), IEEE Robotics and Automation Society Editor
3.	2014/04 ～ 2018/03	IEEE Transactions on Robotics, IEEE Robotics and Automation Society Associate Editor
4.	2014/01 ～ 2014/12	2014 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2014), IEEE Robotics and Automation Society Editor
5.	2013/01 ～ 2013/06	2013 Robotics: Science and Systems (RSS 2013), Robotics: Science and Systems Area Chair
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Research activities
1.		The Robotics Society of Japan
2.		The Japan Society of Mechanical Engineers
3.		The Society for Nursing Science and Engineering
4.		The Society of Instrument and Control Engineers
5.		Information Processing Society of Japan

Subject of research
1.	Food Manipulation
2.	Soft Sensors
3.	Pneumatic System
4.	Soft Contact
5.	Biomechanical Modeling
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Research summary
Soft Robotics Laboratory is investigating robots with novel functions brought by soft materials and its related technologies including soft sensors and actuators. [Food Manipulation] We will realize robotic food manipulation. To that end, we will conduct research on soft grippers for food handling, sensors for food handling, and measurement and modeling of food properties. [Soft Sensors] We will develop soft sensors composed of soft materials for force, tactile, and proximity sensing. Sensors are composed of soft materials such as conductive cloth, conductive yarn, and elastomer. We will conduct research on sensor materials and structures as well as sensing algorithms. [Pneumatic System] We will develop a small and lightweight pneumatic system. We will conduct research on small pneumatic valves and the control of pneumatic actuators using small pneumatic valves. [Soft Contact] We will elucidate the dynamics of contact between a soft body and a soft environment. When a soft robot moves in contact with the environment, a dynamic interaction occurs between the soft robot and the environment. This interaction, which will be referred to as soft contact, will be analyzed and formulated. [Biomechanical Modeling] We will conduct biomechanical modeling of the human body for surgical simulation and development of nursing equipments. A human body model is constructed from CT images or MR images to simulate the behavior of the human body via finite element method. An actual model of the human body is also created using 3D printing technology.

Research summary(Photo/Image)
1. Food Manipulation	2. Soft Sensors
3. Pneumatic System	4. Soft Contact
5. Biomechanical Modeling

Present specialized field
Intelligent Mechanics and Machine System, Mechanics and Control Engineering, System Engineering (Keyword：Robotics, Soft Robotics, Automation, Object Handling, Deformation Modeling, Micro Valve, Force and Tactile Sensing, Grasping, Manipulation, Mechanical System Control)

Books
1.	2014/01	Mechanics of Localized Slippage in Tactile Sensing │ (Co-authored)
2.	2014/01	Why Humans can Manipulate Objects Despite a Time Delay in the Nervous System │ ,pp.289-313 (Co-authored)
3.	2012	Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon │ ,pp.129-136 (Co-authored)
4.	2009/01	Mechanics and Control of Soft-fingered Manipulation │ (Co-authored)
5.	2008	Experimental Investigation of Mechanics in Soft-fingered Grasping and Manipulation │ ,pp.13-22 (Co-authored)
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Papers
1.	2022/04/22	Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact │ (Co-authored)
2.	2022/04/20	Analysis of Soft Contact in Force Sensing and Elastic Jumping │ Journal of Robotics and Mechatronics │ 34 (2),pp.285-287 (Co-authored)
3.	2022/02/16	Soft Resistive Tactile Sensor based on CNT-PDMS-Gel to Estimate Contact Force │ (Co-authored)
4.	2022/01/13	Challenges and Opportunities in Robotic Food Handling: A Review │ Frontiers in Robotics and AI │ (Co-authored)
5.	2021/08/20	A Soft Needle Gripper Capable of Grasping and Piercing for Handling Food Materials │ Journal of Robotics and Mechatronics │ 33 (4),pp.935-943 (Co-authored)
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Academic conference presentation
1.	2022/11/29	Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product (2022 IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids 2022))
2.	2022/07/13	Jellyfish Grasping and Transportation with a Wire-Driven Gripper and Deep Learning Based Recognition (2022 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2022))
3.	2022/04/07	Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor (2022 IEEE Int. Conf. on Soft Robotics (RoboSoft 2022))
4.	2021/11/27	Multi-Fingered Soft Gripper Driven by Bellows Actuator for Handling Food Materials (IEEE 27th Int. Conf. on Mechatronics and Machine Vision in Practice (M2VIP 2021))
5.	2021/09/30	Reducing the Influence of the Contact Area on a Soft Capacitive Force Sensor (2021 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2021))
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Winning science prize
1.	2020/06/25	2020 17th Int. Conf. on Ubiquitous Robots (UR 2020) IEEE UR 2020 Best Paper Award (3D Printing an Assembled Biomimetic Robotic Finger)
2.	2018/08/03	2018 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2018) IEEE RCAR 2018 Best Paper Award on Robotics (A Soft Gripper with Adjustable Stiffness and Variable Working Length for Handling Food Material)
3.	2017/12/13	2017 IEEE/SICE Int. Symp. on System Integration SII 2017 Finalist for Best Conference Paper Award (Deformation Estimation of a Plate Spring Using Asymmetric and Symmetric Conductive Patterns)
4.	2017/07/15	2017 IEEE Int. Conf. on Real-time Computing and Robotics (IEEE RCAR 2017) IEEE RCAR 2017 Best Conference Paper Finalist (Real-time Curvature Estimation of Printable Soft Gripper using Electro-conductive Yarn)
5.	2017/02/09	2017 3rd Int. Conf. on Mechatronics and Robotics Engineering (ICMRE 2017) Best Presentation Award of 2017 3rd Int. Conf. on Mechatronics and Robotics Engineering (ICMRE 2017) (Kinematic Analysis of a Novel Skew-gripper for Aerial Pruning Tasks)
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Acquisition patent
1.	2000	物体識別計測装置，物体識別計測方法及びコンピュータ読取可能な記録媒体（2000-264168）

Teaching achievements

●Prepared Textbook and Other Teaching Materials

1.	2019/11/28	Numerical Methods for Mechanical Systems —Matlab version—

Message
1.	Soft Robotics Laboratory is investigating robots with noval functions brought by soft materials and its related technologies including soft sensors and actuators.

Home Page
Soft Robotics Laboratory, Department of Robotics, Ritsumeikan University
Soft Robotics Lab., Dept. of Robotics, Ritsumeikan Univ.