Bio-Robotics and Human-Mechatronics (T. Matsumaru) Lab

2023

Biographical information• 1985

Laboratory Introduction
2023.03.24.

Bio-Robotics and Human-Mechatronics laboratory
Graduate School of Information, Production and Systems, Waseda University

http://www.waseda.jp/sem-matsumaru/

Takafumi MATSUMARU
http://www.f.waseda.jp/matsumaru/
matsumaru@waseda.jp

Bio-Robotics andHuman-Mechatronics Laboratory
Bio-Robotics and Human-Mechatronics (T. Matsumaru) Lab

B.S., Mechanical Engineering, Waseda University.
"Development of articulated manipulator aiming at force control",(Supervised by late Prof. I.Kato).
• 1987 M.S., Mechanical Engineering, Waseda University.
"Basic theory of multi d.o.f. compliance control on articulated manipulator", Ichiro Kato
1926-1994(Supervised by late Prof. I.Kato).
• 1987-99 Corporate Research & Development Center, Toshiba Corporation.
• Research on robots for specialized operations.
• Developing mechatronics systems using robotic technologies.
• 1998 Ph.D., Mechanical Engineering, Waseda University.
"Research on structure and control of working robot in a narrow space",(supervised by Prof. S.Sugano).
• 1999-2010 Associated Professor, Shizuoka University.
• Education and Research on Bio-Robotics and Human-Mechatronics.
• Invited Professor (2003). LSC - CNRS, Evry France, Visiting Fellow (2002).
Shizuoka Industrial Research Institute, Shizuoka Japan, etc.
• 2010- Professor, Waseda University.
• Research and Education on Bio-Robotics and Human-Mechatronics.

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Bio-Robotics and Human-Mechatronics (T. Matsumaru) Lab2023Questions• Various subjects between human and mechatronics systems (robotsand other systems).
• To make mechatronic systems more useful / friendly for users.
• Developing original functions and producing real-world systems.
• Integrating various knowledge
Humanand technologies into systems(selection / combination areRobotics &Bio-Engineering
Ergonomics (interface, …)
based on engineering sense). Mechatronics
Medicine & biology
Mechanics (dynamics, …)(physiology, System Integrator (SIer).
Electronics (circuits, …)
biomimetics,...)
Control (software, …)
Psychology(emotion, ...)• Work on elemental::
technologies by ourselves if
Mechatronics system
necessary.

Better interaction / relationship between human and robots
3• What is your purpose of admission?
• Tourism in Japan.
✕• Earning a degree.
△• Personal growth.
◯• Request --- Change your Mindset.
• Passive.
✕ Waiting, Being given, ..
• Active.
◯ Act, Acquire, ..
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2023

Bio-Robotics and Human-Mechatronics (T. Matsumaru) Lab

2023

ResearchGraduate vs. Undergraduate• Graduate school.
• Undergraduate school.
• Research.
• Learning.
• Unknown issues.
• Existing facts.
• Chaotic, Trial and error.
• Systematized, Formulaic.
• Proposal.
• Memory.
novelty, uniqueness,certainty, responsiveness,• Different result.
• Same result.
because of you (individuality).
no matter who does (uniform).
• No correct answer.
• A correct answer,
make it correct.
always same

• <Definition>• Reveal something unknown or new (in some sense) based not only on theperson himself but also based on the accumulation of previous research.
• <Basis of judgment>• Critical examination of previous research and conventional technology.
• <Resources/accumulation>• Emphasis on facts/theories,• Utilization of data/theories.
• <Action/attitude>• Logical/critical examination,• Hypothesis-testing examination,• Logical reasoning,• Critical analysis.
• <External Attitude>• Explanation of the process,• Ability of expression and persuasion.
• <Research activities>

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Laboratory
A place for research and learning.
1. "Learning Community".
The presence of seniors and peers in addition to advisors.
A) You can learn as many times as you want.
• You can listen to explanations and review them many times, andyou can have a simulated experience. We look at other people's
behavior and correct ourselves.
B) Peer review.
• Critical review by peers (classmates).
C) Support.
• They encourage yourself to study hard together. Train each otherto think critically with attention to details.
2. You can learn not only "research methods" but also "the significanceand value (goals) of research" and "the process of research refinement".
• The presence of an advisor who conducts research on his own
and shows you the "ability to persevere" and the way of thinking. 7• Cultivation of professionals with a research mindset and research methods.
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Bio-Robotics and Human-Mechatronics (T. Matsumaru) Lab

2023

Activities• Advises and suggestions in response to proposals and reports:• Students need to be active.
• Things do not progress while waiting for instructions from others.
• First, think thoroughly and prepare your own answer.

• Lab meetings are the main venue for reporting and discussion.
• Present and share with all members, learn from each other, and advance.
• One-on-one individual guidance and support will not be provided.

• Daily activities such as discussion/consultation, mutual learning,and mutual checking among lab members (persuasiveness).
• A training to explain to others and make them to understand and agree .
• Activities to increase the number of consenters and supporters.

• Skills to report (expression)• Main points in appropriate few words in a short time.
• From essential matters,• Firstly outline/conclusion, then details such as grounds, causality, and8soon.

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Thesis for a degree

Bio-Robotics and Human-Mechatronics (T. Matsumaru) Lab

2023

Schedule• Master's thesis = Research paper.
• Both research content (uniqueness/novelty and usefulness/benefit) and expressions with enough information.
• not an activity report (a list of your actions).
• To think items (information and grounds) by yourself, and to constantly collect and accumulate them.

• Emphasizing arguments and conclusions.
• Visualize = Write it down. Use it to organize your thoughts.
• Actual tasks, evidence information, structure of persuasive logic, etc. required will be different depending on theconclusion to be asserted.

• Guidance (instruction, advice, suggestion) can be given after the information on the grounds
for your assertions and conclusions and your persuasive logic are presented.
• If you think out your claims and conclusions well, you will be improved by the advice and suggestions obtained.
• Only on the midway progress, no one can discuss to determine whether adequacy/insufficient or pass/fail.

• Ability to persuade.
• Ability to think about the necessary ground information and collect and record it,• Ability to critically analyze the resulting data, etc.

• Approved by professional examination.
• Such as acceptance at international conferences and academic journals. A peer-review experience valuable.
• Claims for originality/novelty and usefulness/benefit must be the same both inside and outside the school.
• Utilize experts outside the school.

• 1S --- Setting your research topic.
• Deepening the research concept, collecting information (literaturesurvey, etc.), acquiring skills (algorithms, tools, etc.)• 2S --- Implementation.
• 3S --- Experiment.
• Results and analysis.
• Writing full-length manuscript.

• 4S --- Update.
• Additions and revisions.
• Thesis completion.

• Guidance (correction of sentences, detailed comments, etc.) will not be provided for thedetails of your documents (including doctoral dissertations).
• A degree is given for individual ability. A thesis is an object for judging your abilities.
• Apply your items in the guidelines by yourself, consider them, and create your own draft answer.

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