Fengyu Li 李豊羽

Fengyu Li 李豊羽

Nagoya University

H-index: 3

Asia-Japan

About Fengyu Li 李豊羽

Fengyu Li 李豊羽, With an exceptional h-index of 3 and a recent h-index of 3 (since 2020), a distinguished researcher at Nagoya University,

His recent articles reflect a diverse array of research interests and contributions to the field:

Evaluation of a Finger Dummy with a Built-in Sensor System for Safety Assessment

Framework to Estimate Operating Intention for a Leader–Follower Robot

Improvement of Intention Estimation Method for Leader-Follower Robot

手指ダミーにおける内部のせん断ひずみ計測

ロボットを用いたリハビリテーションにおけるモチベーションの新たな評価法の提案

リーダーフォロワ型ロボットにおける操作意図推定精度の改善

MEMS 力センサを用いた心筋細胞の拍動計測

等身大マスコットロボットの非言語コミュニケーションに向けたジェスチャの開発

Fengyu Li 李豊羽 Information

University

Nagoya University

Position

___

Citations(all)

16

Citations(since 2020)

16

Cited By

5

hIndex(all)

3

hIndex(since 2020)

3

i10Index(all)

0

i10Index(since 2020)

0

Email

University Profile Page

Nagoya University

Top articles of Fengyu Li 李豊羽

Evaluation of a Finger Dummy with a Built-in Sensor System for Safety Assessment

Authors

Fengyu Li

Published Date

2024/1/8

Labor shortages and low productivity demand more collaborative operation systems using industrial robots in the current global manufacturing industry. Injuries will possibly occur due to the closer interaction between the robot system and humans. In the field of skin contact safety, the techniques and methods of quantitative assessment are expected. A human dummy consisting of built-in sensors is a solution to obtain the internal physical field. In this study, a dummy finger equipped with a built-in film sensor for contact safety assessment is proposed and evaluated by experiment. The strain measurement model and strain energy sensing principle, which are the most general assessment indexes, are explained. Two kinds of contact conditions on the finger dummy, press and press with slip, are conducted for evaluation. Shear strain and vibration are both successfully measured and reflected in the signal …

Framework to Estimate Operating Intention for a Leader–Follower Robot

Authors

Zihang Lyu,Ken’ichi Koyanagi,Katsuki Nagahara,Hiroyuki Masuta,Fengyu Li,Ahmed Almassri,Takuya Tsukagoshi,Kentaro Noda,Toru Oshima

Journal

Machines

Published Date

2023/9/21

The teleoperation feature of a leader–follower robot is used to operate the robot in a working environment that is dangerous to the operator. This paper proposes a method for estimating the intended operation of the operator of the leader–follower robot and generating behaviors for the follower robot. By generating partially autonomous robot behavior, our proposed method decreases the burden on the operator and realizes a safe controller that is robust against misoperation or disturbances. Owing to the impact of misoperation on estimation and the potential for unintended movement of the follower robot, our proposed estimation method relies on historical values of intended operation. The proposed method was verified through simulation using real operation inputs to the leader system based on practical scenarios, including misoperation.

Improvement of Intention Estimation Method for Leader-Follower Robot

Authors

Zihang Lyu,Ken’Ichi Koyanagi,Fengyu Li,Takuya Tsukagoshi,Kentaro Noda,Toru Oshima

Published Date

2023/8/6

A leader-follower robot has the feature of remote operation so that it can be applied to a work environment that is dangerous to its operator. However, there still is a risk that the operator of this robot may make an erroneous operation due to many reasons, such as fatigue. Based on the feature of remote operation, the follower robot will faithfully perform the erroneous operation, which may be dangerous. In this research, we are aiming to develop a method that can suppress the effect of erroneous operation by estimating the operator’s correct intention and using the correct intention to operate the leader-follower robot. In this report, we list and evaluate the effect of the previous intention estimation method, then carry out a method to improve the previous intention estimation method by applying a Kalman filter.

手指ダミーにおける内部のせん断ひずみ計測

Authors

李豊羽, 小柳健一, 大島徹, 塚越拓哉, 野田堅太郎

Published Date

2023

Labor shortages and low productivity have a high demand for constructing collaborative operation systems using industrial robots in the current global manufacturing industry. However, it results in that injuries possibly occurring due to contact between the robot system and humans. In the field of skin contact safety, measurement of internal stress or strain distribution inside the skin. Herein, a human dummy consisting of built-in sensors is a solution to obtain the internal physical field. In this study, we focus on the measurement of the internal shear strain of the finger, which is often in contact with human-robot interaction. We propose a design of a finger dummy with a built-in piezoelectric film sensor and aim to reconstruct a detection principle for measuring the internal shear strain based on the elliptical geometry of the finger. To fabricate a finger dummy for the measurement experiment, we also proposed a method for investigating unknown dimensions related to the human body. The internal shear strain was measured and evaluated on the finger dummy with 3 kinds of arrangement angles. These methods are considered to be a reference for constructing other various human body dummies for safety evaluation.

ロボットを用いたリハビリテーションにおけるモチベーションの新たな評価法の提案

Authors

宮本樹, 小柳健一, 大島徹, 塚越拓哉, 野田堅太郎, 李豊羽

Published Date

2023

This study aims to alleviate the increasing burden on therapists caused by the aging society through the use of robotic rehabilitation. Motivation is an essential aspect of rehabilitation using such robots, yet few studies have investigated it. In this study, we propose a method for evaluating motivation during rehabilitation using electroencephalograms (EEGs), specifically by examining the power spectrum ratio of β/α and event-related potentials of P300. Our results by healthy students indicate that the β/α scores improved in almost all subjects during training compared to rest, and we successfully obtained P300 from EEG data. Thus, our proposed method may provide an effective means of evaluating motivation during rehabilitation using rehabilitation robots.

リーダーフォロワ型ロボットにおける操作意図推定精度の改善

Authors

呂子航, 小柳健一, 李豊羽, 塚越拓哉, 野田堅太郎, 大島徹

Published Date

2023

A leader-follower robot has the feature of remote operation, so that it can be applied to a work environment which is dangerous to its operator. However, there still be a risk that the operator of this robot may make an erroneous operation due to many reasons, such as fatigue. Based on the feature of remote operation, the follower robot will faithfully perform the erroneous operation, which may be dangerous. In this research, we are aiming to develop a method that can suppress the effect of erroneous operation by estimating the operator’s correct intention, and using the correct intention to operate the leader-follower robot. In this report, we carry out a method that improves the accuracy of intention estimation method by applying a kalman filter.

MEMS 力センサを用いた心筋細胞の拍動計測

Authors

池上, 塚越, 松平, 謙英, 平山, 高橋, 英俊, グエン,タン,ヴィン, 玉本, 李豊羽, 野田, 堅太郎, 小柳, 大島, 下山勲

Journal

電子情報通信学会技術研究報告; 信学技報

Published Date

2022/8/11

抄録 (和) Si 製の培養基板と力センサを MEMS プロセスで作製して, ヒト iPS 細胞由来心筋細胞の拍動力と拍動周期を計測した. 培養基板は可動式となっているため, 心筋細胞を播種すると細胞の拍動に併せて変位する. 培養基板に力センサを接触させることで細胞の動きを高時間分解能で計測した. 培養温度や力学的伸展刺激の強さを変えたときに, 細胞のふるまいがどのように変化するかを実験で調べた. 本報告ではその結果をデータと共に報告する.

等身大マスコットロボットの非言語コミュニケーションに向けたジェスチャの開発

Authors

TATSUYA TAKAHASHI,KEN'ICHI KOYANAGI,HIROYUKI MASUTA,HOU RI,KENTARO NODA,TAKUYA TSUKAGOSHI,TOORU OSHIMA

Journal

日本ロボット学会学術講演会予稿集 (CD-ROM)

Published Date

2022

尾形哲也, 菅野重樹:“人間とロボットの情緒的コミュニケーションの実験的評価-アーム・ハンドによる人間との物理的インタラクション”, システム制御情報学会論文誌, vol. 13, no. 12, pp. 566-574, 2000.

リーダーフォロワ型ロボットにおける操作意図推定手法の実験的検証

Authors

呂子航, 小柳健一, 李豊羽, 塚越拓哉, 野田堅太郎, 大島徹

Published Date

2022

A leader-follower robot that maintains the safety of operator by remote control is effective for in extreme environments. The follower robot needs to respond to the motion of the operator, but it is also necessary to estimate the operation intention in order to maintain safety. In this research, during operation under several situations, the current operation intention is estimated from sensory input and the history of operation intention. In addition, the operation target value is determined by the operation intention for the controlling of the follower robot’s motion and some sensors’ values. That the operation target values can be calculated is verified by simulated experiments.

指の曲げ状態を用いたハイブリッド型力覚提示グローブの制御系構築

Authors

竹田真之介, 小柳健一, 李豊羽, 塚越拓哉, 野田堅太郎, 大島徹

Published Date

2022

Force-display devices can be classified into two types according to the difference in the method of force generation: active type and passive type. Active type devices use actuators such as motors and pneumatic artificial muscles, and are capable of active force presentation. However, pneumatic artificial muscles have limitations of pressure propagation speed due to air compressibility, and so have difficulty to present force sensation at high speed. Passive devices cannot present the force sensation acting during stoppage. The purpose of this study is to develop a hybrid force-display glove with a balloon actuator as an active element and an electro adhesive gel (EAG) brake as a passive element, which compensates for the shortcomings of both mechanisms, and to construct a force presentation system integrating the above two to realize effective rehabilitation for hemiplegia of the fingers, a typical sequela of rheumatism and stroke. This paper describes the overall concept of a hybrid force-display system for a glove with excellent real-time performance, and the determination of grasping VR objects using the measured voltage of bending sensors attached to each finger and the bending angle of the finger model.

Built-in sensor system for monitoring internal shear strain and stress distribution in soft materials

Authors

Fengyu Li,Yasuhiro Akiyama,Xianglong Wan,Shogo Okamoto,Yoji Yamada

Journal

IEEE Access

Published Date

2021/12/27

Soft robotics require flexible sensors that can realize sensitive measurements for which rigid sensors are not viable. Precise and quantitative measurement of the mechanical phenomena is necessary in all the sensors; however, in the field of soft robotics, the complex structure and physical properties of composite materials complicate the construction of a precise sensing model. In this study, a built-in sensor system for internal shear strain and stress distribution measurement is developed by embedding piezoelectric polyvinylidene fluoride polymer films within the objective soft material. Shear-strain sensing models are established by relating the piezoelectricity and cantilever bending mechanics. For validation, experiments are conducted in which the deflection of the embedded film sensors is monitored and digitized using a video camera. The shear-strain sensing model is validated by evaluating the agreement …

接触安全評価を目的とした軟組織内部のせん断ひずみ分布可視化システムの開発

Authors

李豊羽, 秋山靖博, 山田陽滋, 岡本正吾

Published Date

2020

The measurement of internal stress and strain distribution inside the soft material, which is demanded in the field of skin contact safety, are hard to be obtained nor estimated using conventional interactive force sensors except for limited situations. In this study, a shear strain sensor system based on the distributed built-in piezoelectric Polyvinylidene Fluoride (PVDF) polymer films is developed for measuring the shear strain field inside soft material and evaluated. The sensing principle is modelled by relating the local shear strain of substrate and the charge generation induced by piezoelectricity in the in-plane mode. The validity of this sensor system was tested by measuring the three-dimensional shear strain distribution of an artificial human tissue under simple shear deformation. An applicable consistency calibration method is also considered for this kind of multi-sensor system. The detected shear strain distributions by this sensor system show a good agreement with the numerical simulation of the substrate. The proposed sensor system using distributed built-in PVDF films is confirmed to sensitively detect the distribution of the shear strain inside soft material.

Measurement of shear strain field in a soft material using a sensor system consisting of distributed piezoelectric polymer film

Authors

Fengyu Li,Yasuhiro Akiyama,Xianglong Wan,Shogo Okamoto,Yoji Yamada

Journal

Sensors

Published Date

2020/6/19

Measurement of the internal stress and strain distributions within soft materials is necessary in the field of skin contact safety. However, conventional interactive force sensors cannot efficiently obtain or estimate these distributions. Herein, a shear strain sensor system consisting of distributed built-in piezoelectric polyvinylidene fluoride (PVDF) polymer films was developed to measure the internal shear strain field of a soft material. A shear strain sensing model was mathematically established, based on the piezoelectricity and mechanical behavior of a bending cantilever beam, to explain the sensing principle. An experiment in three-dimensional measurement of the shear strain distribution within an artificial skin was designed and conducted to assess the sensitivity of the sensing model. This sensor system could visualize the shear strain field and was sensitive to different contact conditions. The measurement results agreed well with the results of numerical simulation of the substrate, based on contact mechanics. The proposed sensor system was confirmed to provide a new sensing method for the field of shape analysis. The sensor system can be applied to develop sufficiently sensitive electronic skin and can significantly contribute to skin damage analysis and skin contact safety assessment.

See List of Professors in Fengyu Li 李豊羽 University(Nagoya University)

Fengyu Li 李豊羽 FAQs

What is Fengyu Li 李豊羽's h-index at Nagoya University?

The h-index of Fengyu Li 李豊羽 has been 3 since 2020 and 3 in total.

What are Fengyu Li 李豊羽's top articles?

The articles with the titles of

Evaluation of a Finger Dummy with a Built-in Sensor System for Safety Assessment

Framework to Estimate Operating Intention for a Leader–Follower Robot

Improvement of Intention Estimation Method for Leader-Follower Robot

手指ダミーにおける内部のせん断ひずみ計測

ロボットを用いたリハビリテーションにおけるモチベーションの新たな評価法の提案

リーダーフォロワ型ロボットにおける操作意図推定精度の改善

MEMS 力センサを用いた心筋細胞の拍動計測

等身大マスコットロボットの非言語コミュニケーションに向けたジェスチャの開発

...

are the top articles of Fengyu Li 李豊羽 at Nagoya University.

What is Fengyu Li 李豊羽's total number of citations?

Fengyu Li 李豊羽 has 16 citations in total.

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