Last Updated :2018/10/01

Affiliations, Positions
Graduate School of Engineering, ., Professor
Web Site
Other Contact Details
1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan, Japan
TEL : (+81)82-424-7573 FAX : (+81)
My main research interest is on the control, simulation, and analysis of dynamical mechanical systems, especially of robotic systems. The research themes range from the fundamentals of computational and control theory to the development of various control and computing techniques intended for industrial applications.

Basic Information

Major Professional Backgrounds

  • 2017/10/01, Hiroshima University, Graduate School of Engineering , Professor
  • 2014/09/12, 2015/03/17, Institut National de Recherche en Informatique et Automatique (INRIA), France, Visiting Researcher
  • 2007/03/01, 2017/09/30, Kyushu University, Faculty of Engineering, Associate Professor
  • 2003/04/01, 2007/02/28, Nagoya Institute of Technology, Faculty of Engineering, Endowed-Chair Research Associate

Educational Backgrounds

  • Kyoto University, Graduate School of Engineering, Department of Mechanical Engineering, Japan, 2000/04, 2003/07
  • Kyoto University, Graduate School of Engineering, Department of Mechanical Engineering, Japan, 1998/04, 2000/03
  • Kyoto University, Faculty of Engineering, Department of Engineering Science, Japan, 1994/04, 1998/03

Academic Degrees

  • Ph.D. (Eng.), Kyoto University
  • M.S. (Eng.), Kyoto University

Research Fields

  • Engineering;Mechanical engineering;Dynamics / Control

Research Keywords

  • Machinery Dynamics, Robotics, Robot Control, Realtime Physics Simulation, Computer Graphics

Affiliated Academic Societies

  • Robotics Society of Japan
  • Japan Society of Mechanical Engineers
  • IEEE
  • Society of Instrument and Control Engineers

Educational Activity

Course in Charge

  1. 2018, Liberal Arts Education Program1, 1Term, Industry and Technology
  2. 2018, Liberal Arts Education Program1, 4Term, Industry and Technology
  3. 2018, Undergraduate Education, 2Term, Dynamics of Vibrations I
  4. 2018, Undergraduate Education, 4Term, Mechanism and Kinematics
  5. 2018, Undergraduate Education, 3Term, Dynamics of Vibrations II
  6. 2018, Graduate Education (Master's Program) , 1Term, Advanced Machinery Dynamics
  7. 2018, Graduate Education (Master's Program) , Year, Mechanical Systems Engineering Research II
  8. 2018, Graduate Education (Master's Program) , Year, Mechanical Systems Engineering Seminar II
  9. 2018, Graduate Education (Master's Program) , First Semester, Mechanical Systems Engineering Research IA
  10. 2018, Graduate Education (Master's Program) , Second Semester, Mechanical Systems Engineering Research IB
  11. 2018, Graduate Education (Master's Program) , First Semester, Mechanical Systems Engineering Seminar IA
  12. 2018, Graduate Education (Master's Program) , Second Semester, Mechanical Systems Engineering Seminar IB

Research Activities

Academic Papers

  1. An Amplitude- and Rate-Saturated Controller for Linear Plants, Asian Journal of Control, 20180725
  2. A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control, Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, 140(4), 041005, 20180401
  3. Some Stability Proofs on Proxy-Based Sliding Mode Control, IMA Journal of Mathematical Control and Information, 20171231
  4. A time-integration method for stable simulation of extremely deformable hyperelastic objects, Visual Computer, 33(10), 1335-1346, 20171001
  5. Stability enhancement of admittance control with acceleration feedback and friction compensation, Mechatronics, 45, 110-118, 20170801
  6. Some Improvements in Elastoplastic Friction Compensator, SICE Journal of Control, Measurement, and System Integration, 10(3), 141-148, 20170501
  7. A new representation of systems with frictional unilateral constraints and its Baumgarte-like relaxation, Multibody System Dynamics, 39(3), 267-290, 20170301
  8. An identification procedure for rate-dependency of friction in robotic joints with limited motion ranges, Mechatronics, 36, 36-44, 20160601
  9. Fundamental Problems Regarding Physics Simulators: From the Perspective of Relations Among Reality, Model, and Simulator, Journal of the Robotics Society of Japan, 34(6), 374-377, 2016
  10. Implicit Euler simulation of one-dimensional Burridge-Knopoff model of earthquakes with set-valued friction laws, Advances in Computational Mathematics, 41(6), 1039-1057, 20151201
  11. Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter, IEEE Transactions on Control Systems Technology, 23(6), 2182-2194, 20150101
  12. Friction compensation of geared actuators with high presliding stiffness, Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 137(1), 20150101
  13. Improving velocity feedback for position control by using a discrete-time sliding mode filtering with adaptive windowing, Advanced Robotics, 28(14), 943-953, 20140101
  14. A sliding-mode-like position controller for admittance control with bounded actuator force, IEEE/ASME Transactions on Mechatronics, 19(5), 1489-1500, 20140101
  15. A contact force model with nonlinear compliance and residual indentation, Journal of Applied Mechanics, Transactions ASME, 81(2), 20140101
  16. Friction Compensation of Harmonic Drive Gearing Based on Parallel Viscoelasto-plastic Friction Model, JRSJ, 32(5), 445-455, 2014
  17. A multistate friction model described by continuous differential equations, Tribology Letters, 51(3), 513-523, 20130901
  18. A differential algebraic method to approximate nonsmooth mechanical systems by ordinary differential equations, Journal of Applied Mathematics, 2013, 20130611
  19. Alternative proofs of four stability properties of rigid-link manipulators under PID position control, Robotica, 31(1), 113-122, 20130101
  20. Parameter selection guidelines for a parabolic sliding mode filter based on frequency and time domain characteristics, Journal of Control Science and Engineering, 2012, 20121201
  21. Finger-mounted tactile sensor for evaluating surfaces, Journal of Robotics and Mechatronics, 24(3), 430-440, 20120601
  22. Real-time quadratic sliding mode filter for removing noise, Advanced Robotics, 26(8-9), 877-896, 20120501
  23. Finger-Mounted Tactile Sensor for Evaluating Surfaces, TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A, 77(784), 4567-4580, 2011
  24. Proxy-based sliding mode control: A safer extension of PID position control, IEEE Transactions on Robotics, 26(4), 670-683, 20100801
  25. An edge-based computationally efficient formulation of Saint Venant-Kirchhoff tetrahedral finite elements, ACM Transactions on Graphics, 28(1), 20090101
  26. A control framework to generate nonenergy-storing virtual fixtures: Use of simulated plasticity, IEEE Transactions on Robotics, 24(4), 781-793, 20080801
  27. A guideline for low-force robotic guidance for enhancing human performance of positioning and trajectory tracking: It should be stiff and appropriately slow, IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans, 38(4), 945-957, 20080701
  28. A Control Framework to Generate Nonenergy-Storing Virtual Fixtures : Use of Simulated Plasticity, IEEE Transactions on Robotics, 24(4), 781-793, 2008
  29. Analysis and Experiment of Helical Spring-Type Pressure and Shear Sensor, Journal of System Design and Dynamics, 1(3), 629-637, 20070801
  30. Force-Dependent Variable Damping Control for Positioning Task Assist, Journal of Robotics Society of Japan, 25(2), 306-313, 20070301
  31. Impedance- and Admittance-Type Implementation of Geometric Haptic Rendering Algorithms Based on Mechanistic Interpretation, Journal of Robotics Society of Japan, 25(2), 314-323, 200703
  32. Admittance and impedance representations of friction based on implicit Euler integration, IEEE Transactions on Robotics, 22(6), 1176-1188, 20061201
  33. Kinesthetic Interface for Task Assistance(Using Virtual Coulomb Friction and Its Extensions), 45(5), 419-424, 20060510
  34. Analysis and experiment of helical spring-type pressure and shear sensor, Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 71(708), 2543-2548, 20050801
  35. Robot perception of impedance, Journal of Robotic Systems, 22(5), 231-247, 20050501
  36. Recognizing object surface properties using impedance perception, Robotica, 23(3), 387-396, 20050501
  37. Enhancing Haptic Detection of Surface Undulation, ACM Transactions on Applied Perception, 2(1), 46-67, 20050101
  38. Skill and Mathematical Principle of Haptics, JRSJ, 23(7), 805-810, 2005
  39. Recognizing Environment Surface Properties Using Impedance Perception, JRSJ, 22(2), 239-244, 20040315
  40. Robot Perception lf Impedance, JRSJ, 21(1), 103-108, 20030115
  41. Recognizing Cylindrical Curved Surface Using Impedance Perception, Transactions of the Society of Instrument and Control Engineers, 39(10), 970-977, 2003
  42. Haptic Display Device with Fingertip Pressing Function for Motor Skill Transfer from Human to Human, Transactions of the Virtual Reality Society of Japan, 5(1), 803-809, 20000301


  1. 2013年09月10日, Advanced Robotics Best Paper Award, Robotics Society of Japan


  1. Patent, US Patent 9855653, 2018/01/02, Master-slave system
  2. Patent, US Patent 7685886, Convexo concave amplifying device and convexo concave detecting method by use thereof, deformation sensing device and convexo concave detecting method by use thereof, and convexo concave position exhibiting device and convexo concave position exhibiting method