2641 Yamazaki, Noda, Chiba 278-8510, Japan
Phone: +81-4-7124-1501 ext.3931
Fax: +81-4-7123-9814
Publications: Researchmap

Contents

• Profile
• Education
• Employment
• Professional activities
• Research subsidy
• Research Topics
• Publications
  • Selected Papar
  • Book Chapters
  • Degree Thesis

Profile

Hiroshi Takemura received his B.S. degree in engineering from Kyushu Institute of Technology, Fukuoka, Japan in 1999. He then went to Nara Institute of Science and Technology, Nara, Japan where he received his M.S. (2001) and Ph.D. (2003) degree in information engineering. During October 2003 - March 2004 and January 2005 - May 2005, he was employed as a lecturer (PT) at the Nara Institute of Science and Technology, Nara, Japan. During April 2004 - December 2004, he went to the University of Karlsruhe, Germany as a guest lecturer in Industrial Applications of Information & Microsystems. In 2005, he joined the Department of Mechanical Engineering at Tokyo University of Science, Chiba, Japan, where he is currently an Associate Professor. His research interests include robotics, medical device, biomechanics, gait analysis and human modeling.

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Education

• Ph.D. degree in Engineering, Sept. 2003
  Nara Institute of Science and Technology

• M.S. degree in Information Science, Mar. 2001
  Nara Institute of Science and Technology

• B.S. in Information Engineering, Mar. 1999
  Kyushu Institute of Technology

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Employment

• Professor, Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science
  Apr. 2019 - Present
  

• Associate Professor, Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science
  Apr. 2014 - Mar. 2019
  

• Visiting Researcher, National Institute of Advanced Industrial Science and Technology (AIST)
  Apr. 2010 - Present
  

• Junior Associate Professor, Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science
  Apr. 2010 - Mar. 2014
  

• Associate Visiting Researchers, University of Tokyo
  Jun. 2009 - Mar. 2010
  

• Visiting Scholar, Biomechanics Research Laboratory (BRL) in the Department of Mechanical Engineering, University of Michigan
  Apr. 2008 - Mar. 2009
  

• Visiting Researcher, Advanced Engineering Team, The Institute of Physical and Chemical Research (RIKEN)
  Aug. 2007 - Mar. 2010
  

• Researcher, Holistic Computational Science Research Center, Research Institute for Science and Technology, Tokyo University of Science
  May. 2006 - Mar. 2010
  

• Assistant Professor, Department of Mechanical Engineering, Faculty of Science and Technology, Tokyo University of Science
  Apr. 2005 - Mar. 2010
  

• Lecturer (PT), Graduate School of Information Science, Nara Institute of Science and Technology
  Jan. 2005 - Mar. 2005

• Guest Lecturer, SFB 588 "Humanoid Robots - Learning and Cooperating Multimodal Robots", Industrielle Anwendungen d. Infor. & Mikrosystemtechnik Universität Karlsruhe, GERMANY
  Apr. 2004 - Dec. 2004

• Lecturer (PT), Graduate School of Information Science, Nara Institute of Science and Technology
  Oct. 2003 - Mar. 2004

• COE Research Fellow, 21st Century COE Program, Graduate School of Information Science, Nara Institute of Science and Technology
  Oct. 2002 - Sept. 2003

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Professional activities

• International Program Committee Member of ICARCV2012 / The 12th International Conference on Control, Automation, Robotics and Vision
  - Nov. 2012
  

• TPC member of ICARCV2010 / The 11th International Conference on Control, Automation, Robotics and Vision
  - Nov. 2010
  

• IPC member of SMC2010 / The 2010 IEEE International Conference on Systems, Man, and Cybernetics
  - Oct. 2010
  

• TPC member of ROBOCOMM 2009 / Second International Conference on Robot Communication and Coordination
  - Apr. 2009
  

• PC member of AIM2008 / IEEE/ASME International Conference on Advanced Intelligent Mechatronics
  - Jul. 2008
  

• PC member of MFI2008 / IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
  - Aug. 2008
  

• TPC member of ROBOCOMM 2007 / First International Conference on Robot Communication and Coordination
  Oct. 2007
  

• Editorial board, Journal of the Robotics Society of Japan
  Apr. 2005 - Mar. 2007
  

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Research subsidy

• Research subsidy from Grant-in-Aid for Young Scientists (A), 2011-2013.

• Research subsidy from Grant-in-Aid for Young Scientists (B), 2009-2010.

• Research subsidy from Grant-in-Aid for Young Scientists (B), 2007-2008.

• Research subsidy from Futaba Electronics Memorial Foundation, July, 2007.

• Research subsidy from CASIO Foundation (CASIO COMPUTER CO.,LTD.), Dec. 2006.

• Research subsidy from Saneyoshi Scholarship Foundation, Sep. 2005.

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Research Topics

• Human Motion Measurement and its Application to Humanoid

• Analyze and Model the Human Walk M echanism

  • "How do humans walk?"

  • "How does human walk and humanoid walk differ?"

  • "Are toes really necessary for walk?"

• Adaptive Gait Generation of Quadruped Robot Based on Neural Oscillators

  • Simply put, I want to walk a robot like a living creature... in ANY environment!

  • To say a little more... Creatures have an inner rhythm occurrence system that is strongly related to its cyclic activities. My current research aims at using a system similar to such natural system in controlling the rhythmically generated gait of a legged robot. （abstract）

  • TITAN-VIII（images）

  • video:using camera
    climbing stairs（mpg 6M）, walking over obstacles（mpg 4M）

  • simulation:
    varying walking patterns（mpg 9M）, optimized and not（mpg 5M）, obstacles（mpg 3M）, slippery conditions（mpg 5M）, sticky conditions（mpg 5M）

  • movie:
    without SSM（mpg 2M）, with SSM（mpg 2M）, slope（mpg 4M）

  • Slip-adaptive walking:
    CPG-based slip-adaptive walking: Simulation （mpg 4M）
    CPG-based slip-adaptive walking: Real robot （mpg 7M）
    Based on force control （without force control:mpg 7M, mpg 5M ,with force control:mpg 5M ）

• Gait Generation of Quadruped Robot by Using Genetic Programming

  • A robot must be able to generate a walking pattern that is optimal (quick and stable) to the walking environment it stands in (sand, grass, mud, water-covered surface) without human guidance. I worked on the development of a walking mechanism that realizes this, and also conducted research on evolution algorithm based on genetic algorithm and artificial life. A prototype quadruped robot (image) was built, which learned basic walking（movie(8M) through (Genetic Programming:GP).

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Publications (selected)

1. Masataka Yamamoto, Koji Shimatani, Masaki Hasegawa, Yuichi Kurita, Yuto Ishige, and Hiroshi Takemura, Accuracy of Temporo-Spatial and Lower Limb Joint Kinematics Parameters Using OpenPose for Various Gait Patterns With Orthosis, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 29 pp. 2666-2675, 2021, https://doi.org/10.1109/tnsre.2021.3135879

2. Armando Levid Rodríguez-Santiago,José Aníbal Arias-Aguilar,Hiroshi Takemura,and Alberto Elías Petrilli-Barceló, A Deep Learning Architecture For 3D Mapping Urban Landscapes, Applied Sciences,11(23), 11551, 2021; https://doi.org/10.3390/app112311551 (6 December 2021)

3. Armando Levid Rodríguez-Santiago, José Aníbal Arias-Aguilar, Hiroshi Takemura, Alberto Elías Petrilli-Barcelo, High-Resolution Reconstructions of Aerial Images Based On Deep Learning, Computación y Sistemas, Vol. 25, No. 4, 2021, pp. 739–749. (Dec, 2021)

4. José Armando Sánchez-Rojas, José Aníbal Arias-Aguilar, Hiroshi Takemura and Alberto Elías Petrilli-Barceló, Staircase Detection Characterization and Approach Pipeline for Search and Rescue Robots,Applied Sciences 11(22), 10736, 2021. (14 November 2021); https://doi.org/10.3390/app112210736

5. Masataka Yamamoto, Koji Shimatani, Hitoshi Okano, and Hiroshi Takemura, Effect of Ankle-Foot Orthosis Stiffness on Muscle Force During Gait Through Mechanical Testing and Gait Simulation, IEEE Access, vol. 9, pp. 98039-98047, 2021, doi: 10.1109/ACCESS.2021.3095530.

6. Naho SUEISHI, Tomoko OHSHIMA, Takashi OIKAWA, Hiroshi TAKEMURA, Mai KASAI, Katsuhisa KITANO, Nobuko MAEDA, Yoshiki NAKAMURA,Plaque-removal effect of ultrafine bubble water: Oral application in patients undergoing orthodontic treatment, Dental Materials Journal, 2021 Volume 40 Issue 2 Pages 272-278,April, 2021.https://doi.org/10.4012/dmj.2018-355

7. Toshihiro Takamatsu, Yuichi Kitagawa, Kohei Akimoto, Ren Iwanami, Yuto Endo, Kenji Takashima , Kyohei Okubo, Masakazu Umezawa, Takeshi Kuwata, Daiki Sato, Tomohiro Kadota, Tomohiro Mitsui, Hiroaki Ikematsu, Hideo Yokota, Kohei Soga and Hiroshi Takemura,Over 1000 nm Near-Infrared Multispectral Imaging System for Laparoscopic In Vivo Imaging, Sensors, 2021,April, 21(8), 2649; https://doi.org/10.3390/s21082649.

8. Ryo Amma, Genki Hisano, Hiroto Murata, Matthew J. Major, Hiroshi Takemura & Hiroaki Hobara. Inter-limb weight transfer strategy during walking after unilateral transfemoral amputation. Scientific Reports 11, 4793, Feb.(2021). https://doi.org/10.1038/s41598-021-84357-9

9. Kohei Akimoto, Reiichirou Ike, Kosuke Maeda, Naoki Hosokawa, Toshihiro Takamatsu, Kohei Soga, Hideo Yokota, Daiki Sato, Takeshi Kuwata, Hiroaki Ikematsu, Hiroshi Takemura, Hyperspectral Image based on Deep Neural Network for Tumor Lesion Classification. European Journal of Applied Sciences, Volume 9 No 1,February 2021,pp:273-281. DOI: https://doi.org/10.14738/aivp.91.9475

10. Hiroto Murata, Genki Hisano, Daisuke Ichimura, Hiroshi Takemura, Hiroaki Hobara, External Mechanical Work in Runners With Unilateral Transfemoral Amputation. Front. Bioeng. Biotechnol. 9:793651, December 2021. doi: https://doi.org/10.3389/fbioe.2021.793651 (IF: 5.890 in 2020)

11. Yuya Oishi, Hiroaki Kurokawa, Shinichi Kosugi, Yasuhito Tanaka, Yuto Ishige, Masataka Yamamoto, Hiroshi Takemura, "Geometric Shape Statistical Analysis of Tibial Plafond with Ankle Osteoarthritis", Journal of Bioinformatics and Neuroscience (JBINS), 7 (2): 328-333, December 31, 2021.

12. Yuto Ishige, Masataka Yamamoto, Koji Shimatani, Yuya Oishi, Hiroshi Takemura, "Evaluation of Markerless Gait Analysis Method Including Out of Camera Plane Rotate Motion During Gait", Journal of Bioinformatics and Neuroscience (JBINS), 7 (2): 345-351, December 31, 2021.

13. D. Sato, T. Takamatsu, M. Umezawa, Y. Kitagawa, K. Maeda, N. Hosokawa, K. Okubo, M. Kamimura, T. Kadota, T. Akimoto, T. Kinoshita, T. Yano, T. Kuwata, H. Ikematsu, H. Takemura, H. Yokota, K. Soga, Distinction of surgically resected gastrointestinal stromal tumor by near-infrared hyperspectral imaging, Scientific Reports, Oct., 2020.(10.1038/s41598-020-79021-7)

14. Takuya Fujinuma, Hiroshi Takemura, Shinichi Kosugi, Hiroaki Kurokawa, Yasuhito Tanaka and Satoki Tsuichihara,Quantitative Evaluation Method For Tibiofibular Joint Alignment In Ankle Osteoarthritis Based On 3D Bone Size, Journal of Musculoskeletal Research, Vol.23,No.03,Sept., 2020. (DOI: 10.1142/S0218957720500116)

15. A. Akagi, S. Tsuichihara, S. Kosugi, and H. Takemura, “Development of a Rehabilitation and Training Device Considering the Ankle Degree of Freedom,” Journal of Robotics and Mechatronics, Vol.32, No.3, pp. 673-682, 2020. (doi: 10.20965/jrm.2020.p0673) 2020.06

16. Sakata H, Hashizume S, Amma R, Hisano G, Murata H, Takemura H, Usui F, Hobara H, "Anterior-posterior ground reaction forces across a range of running speeds in unilateral transfemoral amputees", Sports Biomechanics, Oct., 2020.(DOI:10.1080/14763141.2020.1822434)

17. Marie Kijima Hiroyuki Yamagishi Yasushi Hara Mai Kasai Yasunari Takami Hiroshi Takemura Yusuke Miyanari Yoichi Shinkai Ryushin Mizuta,Histone H1 quantity determines the efficiency of chromatin condensation in both apoptotic and live cells,Biochemical and Biophysical Research Communications,2019.

18. Yuta Namiki Satoru Hashizume Akihiko Murai Yoshiyuki Kobayashi Hiroshi Takemura Hiroaki Hobara,Joint moments during sprinting in unilateral transfemoral amputees wearing running-specific prostheses,Biology Open, vol.8, No.2,2019.

19. Babita Shashni, Hidehiko Matsuura, Riku Saito, Takuma Hirata, Shinya Ariyasu, Kenta Nomura, Hiroshi Takemura, Kazunori Akimoto, Naoyuki Aikawa, Atsuo Yasumori and Shin Aoki, “Simple and Convenient Method for the Isolation, Culture, and Re-collection of Cancer Cells from Blood by Using Glass-Bead Filters”, ACS Biomaterials Science & Engineering, 2019, 5 (2), 438-452 (DOI: 10.1021/acsbiomaterials.8b01335) (IF: 4.432 in 2018)

20. Hiroyuki Sakata, Satoru Hashizume, Hiroshi Takemura, Hiroaki Hobara,“A limb-specific strategy across a range of running speeds in transfemoral amputees”, Medicine & Science in Sports & Exercise, 2020, In press (IF: 4.478 in 2019).

21. Masahiro Shigeta, Reiichirou Ike, Hiroshi Takemura, and Hayato Ohwada, Automatic Measurement and Determination of Body Condition Score of Cows Based on 3D Images Using CNN, Journal of Robotics and Mechatronics Vol.30 No.2, pp. 206-213, 2018

22. Masahiro Shigeta, Akira Sawatome, Hiroko Ichikawa, Hiroshi Takemura, "Correlation between Autistic Traits and Gait Characteristics while Two Persons Walk Toward Each Other",Advanced Biomedical Engineering, Vol.7, p.55-62, 2018.

23. Lai WJ, Midorikawa Y, Kanno Z, Takemura H, Suga K, Soga K, Ono T, Uo M., A new orthodontic force system for moment control utilizing the flexibility of common wires: Evaluation of the effect of contractile force and hook length, Journal of the Formosan Medical Association, 117(1), pp.71–79, Jan. 2018.

24. Makimoto A, Sano Y, Hashizume S, Murai A, Kobayashi Y, Takemura H, Hobara H.,Ground Reaction Forces During Sprinting in Unilateral Transfemoral Amputees. Journal of Applied Biomechanics, 33(6), pp.406-409, Dec. 2017.

25. Naho Sueishi, Tomoko Ohshima, Takashi Oikawa, Hiroshi Takemura, Mai Kasai, Nobuko Maeda, Yoshiki Nakamura, "Quantification of dental plaque in oral cavity was enabled by a novel algorithm of image processing," Journal of Oral Biosciences,Volume 59, Issue 3, August 2017, Pages 157-162.

26. Kenta Nomura, Teru Yonezawa, Shinichi Kosugi, Yasuhito Tanaka, Hiroshi Mizoguchi, Hiroshi Takemura, THREEDIMENSIONAL POSTURE ESTIMATION OF FOOT BONES BY USING PLANTAR PLATE, Journal of Musculoskeletal Research, Vol. 20, No. 1 (2017) 1750011-11 (11 pages)

27. Yoko Sano, Atsushi Makimoto, Satoru Hashizume, Akihiko Murai, Yoshiyuki Kobayashi, Hiroshi Takemura, Hiroaki Hobara, Leg stiffness during sprinting in transfemoral amputees with running-specific prosthesis, Gait & Posture, Vol. 56, p65–67, May 4, 2017.

28. Ryo Tanabe, Yoko Sasaki, and Hiroshi Takemura, “Probabilistic 3D sound source mapping system based on Monte Carlo Localization using microphone array and LIDAR”, Journal of Robotics and Mechatronics, vol.29 no.1, pp. 94-104, February 20, 2017．

29. Kenta Nomura, Shinichi Kosugi, Yasuhito Tanaka, Hiroshi Takemura, “Calculation of Talocrural Joint Axis Motion by Approximating Trochlea Tali with Conical Side Surface”, Journal of Biomedical Engineering and Medical Imaging, vol.4 no.2, 2017．

30. Mai Kasai, Yuya Yasuda, Hiroshi Mizoguchi, Kohei Soga, Kazuhiro Kaneko, Hiroshi Takemura, In vivo tumor wavelength band selection using Hierarchical clustering and PCA with NIR-Hyperspectral Data, Journal of Biomedical Engineering and Medical Imaging, Vol 4, No 1,pp.1-12，(2017).

31. W. Lai, Y. Midorikawa, Z. Kanno, H. Takemura, K. Suga, K. Soga, T. Ono, M. Uo, Development and modification of a device for three-dimensional measurement of orthodontic force system: The V-bend system re-visited, DENTAL MATERIALS JOURNAL, Vol. 35 (2016), No. 6 pp. 908-917.

32. Mai Kasai, Yuya Yasuda, Hiroshi Takemura, Hiroshi Mizoguchi, Kohei Soga, Kazuhiro Kaneko, "In Vivo Tumor Spatial Classification using PCA and K-Means with NIR-Hyperspectral Data",Journal of Biomedical Engineering and Medical Imaging Society for Science and Education,2016, Vol.3, No.1, pp. 45-55.

33. Ryuichi Yoshida, Tsugunosuke Sakai, Yuki Ishi, Tomohiro Nakayama, Takeki Ogitsu, Hiroshi Takemura, Etsuji Yamaguchi, Shigenori Inagaki, Yoshiaki Takeda, Miki Namatame, Masanori Sugimoto, Fusako Kusunoki, and Hiroshi Mizoguchi, "Electrodermal Activity-based Feasibility Study on the Relationship Between Attention and Blinking", International Journal on Smart Sensing and Intelligent Systems (S2IS), Vol.9, No.1, pp.21-31,2016.

34. Yuka Iijima, Koji Imai, Takeshi Yamakoshi, Hiroshi Mizoguchi, and Hiroshi Takemura, "Development of Plantar-Pressure Estimation Method Based on Continuous Plantar Images", Journal of Biomedical Engineering and Medical Imaging Society for Science and Education, 2016, Vol.3, No.1, pp. 35-44.

35. T. Zako, M. Ito, H. Hyodo, M. Yoshimoto, M. Watanabe, H. Takemura, H. Kishimoto, K. Kaneko, K. Soga and M. Maeda, "Extra-luminal detection of assumed colonic tumor site by near-infrared laparoscopy" Surgical Endoscopy, pp,1-7,2015.

36. Yuka IIJIMA, Takayuki SHIINA, Hiroshi TSUBO, Takumi ISHIKAWA, Takeshi YAMAKOSHI, Yoshiyuki MIDORIKAWA, Hiroshi MIZOGUCHI, Hiroshi TAKEMURA, "Evaluation of Estimating Plantar Pressure Distribution Based on Plantar Images by Image Processing",The 2015 World Congress of International Society for Posture & Gait Research(ISPGR2015), June 28 - July 2, 2015, P2-V-132 (Seville)

37. Akira SAWATOME, Mitsunori TADA, Hiroshi TAKEMURA, Makiko Kouchi, Masaaki MOCHIMARU, "Stability of gait in children evaluated by inclination angle between CoM and CoP", The 2015 World Congress of International Society for Posture & Gait Research (ISPGR2015), June 28 - July 2, 2015, P2-I-52 (Seville)

38. Hiroshi Takemura,Takayuki Shina,Yoshinori Kondo,Yuka Iijima,Hiroshi Tsubo,Yoshiyuki Midorikawa,Yusuke Fujino,Hiroshi Mizoguchi,Takeshi Yamakoshi, "Influence of vibrating lower-leg tendon for gait in patients with diabetic neuropathy", The 2015 World Congress of International Society for Posture & Gait Research (ISPGR2015), June 28 - July 2, 2015, P1-K-59 (Seville)

39. Takumi Ishikawa, Junko Takahashi, Mai Kasai, Takayuki Shiina, Yuka Iijima, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata, "Support system for pathologists and researchers," Journal of Pathology Informatics, Vol.6, Isseue 1, pp.34-40, 2015.

40. Yuka IIJIMA, Takayuki SHIINA, Takumi ISHIKAWA, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Development of Gait Analysis System Based on Continuous Plantar Images Obtained Using CaTTaP Device", ABE Advanced Biomedical Engineering, Vol.4 , pp.119-125, 2015. ( Accepted for publication on April 1, 2015.Accepted Manuscript No. S14003).

41. Yuka IIJIMA, Takayuki SHIINA, Hiroshi TSUBO, Takumi ISHIKAWA, Takeshi YAMAKOSHI, Yoshiyuki MIDORIKAWA, Hiroshi MIZOGUCHI, Hiroshi TAKEMURA, "Evaluation of Estimating Plantar Pressure Distribution Based on Plantar Images by Image Processing",International Society for Posture & Gait Research(ISPGR2015), June 28 - July 2, 2015, P2-V-132 (Seville)

42. Akira SAWATOME, Mitsunori TADA, Hiroshi TAKEMURA, Makiko Kouchi, Masaaki MOCHIMARU, "Stability of gait in children evaluated by inclination angle between CoM and CoP", International Society for Posture & Gait Research (ISPGR2015), June 28 - July 2, 2015, P2-I-52 (Seville)

43. Hiroshi Takemura,Takayuki Shina,Yoshinori Kondo,Yuka Iijima,Hiroshi Tsubo,Yoshiyuki Midorikawa,Yusuke Fujino,Hiroshi Mizoguchi,Takeshi Yamakoshi,"Influence of vibrating lower-leg tendon for gait in patients with diabetic neuropathy",International Society for Posture & Gait Research (ISPGR2015), June 28 - July 2, 2015, P1-K-59 (Seville)

44. Teru Yonezawa, Kenta Nomura, Takayuki Onodera, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura, "Development and Performance Evaluation of Parallel Link Type Human Ankle Rehabilitation Assistive Device", 2014 IEEE International Conferenece on Robotics and Biomimetics (ROBIO2014), pp.802-807, December 5-10, 2014, (Padma Resort Bali, Legian, Bali, Indonesia)

45. Yamakoshi Takeshi, Obara Akira, Shina Takayuki, Hiroshi Takemura, Hiroshi Mizoguchi,"Effect of gait and lift up motion of lower leg by wearable device using small vibration" Proceedings of The 9th Asian-Pacific Conference on Medical and Biological Engineering (APCMBE 2014), B6-0375-1, Octorber 9-12, 2014, (National Cheng Kung University, Tainan, Taiwan).

46. Yoshinori Kondo, Hiroshi Takemura, Hiroshi Mizoguchi, Kohei Soga, Hidehiro Kishimoto, Kazuhiro Kaneko, "Development of Wide Wavelength Range Transparent Image Detection Device System by Head-Scanning Mechanism," Proceedings of The 9th Asian-Pacific Conference on Medical and Biological Engineering (APCMBE 2014), C5-0428-1, Octorber 9-12, 2014, (National Cheng Kung University, Tainan, Taiwan).

47. Takumi Ishikawa, Junko Takahashi, Yuka Iijima, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata, "Beyond Supporting Pathological Diagnosis: Concept of Support System for Pathologist and Researcher," Proceedings of The 9th Asian-Pacific Conference on Medical and Biological Engineering (APCMBE 2014), C3-0516-1, Octorber 9-12, 2014, (National Cheng Kung University, Tainan, Taiwan).

48. Teru Yonezawa, Takayuki Onodera, Ming Ding, Hiroshi Mizoguchi, Hiroshi Takemura, Takeki Ogitsu, "Development of Three-dimensional Motion Measuring Device for the Human Ankle Joint by Using Parallel Link Mechanism", Proceedings of The 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’14),pp.4358-4361, August 26-30, 2014,(Chicago, Illinois, USA).

49. Takayuki Shiina, Akira Obara, Yuka Iijima, Takumi Ishikawa, Hiroshi Takemura ,Hiroshi Mizoguchi, Shinichi Kosugi," Estimation of foot shape deformation based on plantar skin deformation measurement" The 3rd International Digital Human Modeling Symposium 2014 (DHM2014) Sympsium Program and Paper AbstractsK,p.17, May 20-22,2014.(AIST Tokyo Waterfront in Odaiba),

50. Akria SAWATOME, Mitsunori TADA, Yui ENDO, Hiroshi TAKEMURA, Makiko KOUCHI, Masaaki MOCHIMARU,"Visualization of maturing gait pattern in children by using whole body Dhaiba model", 3rd International Digital Human Modeling Symposium(DHM), Sympsium Program and Paper Abstracts,p.29 #47(USB),May 20-22,2014,(Odaiba,Tokyo,Japan)

51. Masayuki Watanabe, Hiroshi Takemura, Hiroshi Mizoguchi, Hiroshi Hyodo, Kohei Soga, Tamotsu Zako, Hidehiro Kishimoto, Masaaki Ito, Kazuhiro Kaneko, "Development of real-time image composite systemfor novel laparoscope with NIR camera" International Symposium on Technologies against Cancer 2014(ISTC2014) ABSTRACT BOOK ,p.23,March 8-9,2014.(Tokyo University of Science Katsushika Campus,Japan),

52. Takumi Ishikawa, Junko Takahashi, Yuka Iijima, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata,"Support System Making Supervised Data Base for Development of Auto Pathological Diagnosis," International Symposium on Technologies against Cancer 2014(ISTC2014) ABSTRACT BOOK,pp.22,March 8-9,2014.(Tokyo University of Science Katsushika Campus,Japan),

53. Yoshinori Kondo, Hiroshi Takemura,Hiroshi Mizoguchi, Kohei Soga,Hidehiro Kishimoto and KazuhiriKaneko,"Wide Wavelength Range Tranasparent Image Detection byHead-Scanning Mechanism ",International Symposium on Technologies against Cancer 2014(ISTC2014) ABSTRACT BOOK,pp.21,March 8-9,2014.(Tokyo University of Science Katsushika Campus,Japan),

54. Hiroshi Hisahara, Yuki Ishii, Masahito Ota, Takeki Ogitsu, Hiroshi Takemura and Hiroshi Mizoguchi,"Human Avoidance Function for Robotic Vaccum Cleaner Through Use of Environmetal Sensors -Roomba Making Way for Humans-", Intelligent Systems, Modelling and Simulation(ISMS2014), pp.64-67(CD-ROM), 27-29 January 2014. (Langkawi, Malaysia)

55. Tomoki Taguchi, Takahiro Naladai, Ryohei Egusa, Miki Namatame, Fusako Kusunoki, Masanori Sugimoto, Etsuji Yamaguchi, Shigenori Inagaki, Yoshiaki Takeda and Hiroshi Mizoguchi, "Investigation on Optimal Microphone Arrangement of Spherecal Microphone Array to Achieve Shape Beamforming", Intelligent Systems, Modelling and Simulation(ISMS2014), pp.330-333(CD-ROM), 27-29 January 2014. (Langkawi, Malaysia)

56. Obara Akira,Yamakoshi Takeshi,Shina Takayuki,Takemura Hiroshi,Mizoguchi Hiroshi,"Influence of Lower-Leg Muscle Spindle Function in Irregular Surface Walking", Proceedings of The 15th International Conference on Biomedical Engineering (ICBME2013) , pp. 387-390, December 4-7, 2013, (Singapore)

57. Takayuki ONODERA, Eiji SUZUKI, Ming DING, Hiroshi TAKEMURA and Hiroshi MIZOGUCHI, "Force, Stiffness and Viscous Damping Control of a Stewart-Platform-Type Ankle-Foot Rehabilitation Assist Device with Pneumatic Actuator," Journal of Robotics and Mechatronics, Vol.26, No.6, pp. 897-905, 2013.

58. Satoshi KUDOH, Akira OBARA, Yuu SATOH, Ming DING, Hiroshi MIZOGUCHI and Hiroshi TAKEMURA, "Enhancement of Plantar Tactile Sensitivity by Wearable Stabilization Device based on Stochastic Resonance for Fall Prevention," Journal of Robotics and Mechatronics, Vol.26, No.6,pp.888-896, 2013.

59. Takayuki Adachi, Masafumi Goseki, Hiroshi Takemura, Hiroshi Mizoguchi, Fusako Kusunoki, Masanori Sugimoto, Etsuji Yamaguchi, Shigenori Inagaki, and Yoshiaki Takeda, "Integration of Ultrasonic Sensors and Kinect Sensors for People Distinction and 3D Localization", Journal of Robotics and Mechatronics, Vol.25, No.4, pp.762-766, August 2013.

60. Obara Akira,Yamakoshi Takeshi,Shina Takayuki,Takemura Hiroshi,Mizoguchi Hiroshi,"Influence of Lower-Leg Muscle Spindle Function in Irregular Surface Walking", Proceedings of The 15th International Conference on Biomedical Engineering (ICBME2013) , pp. 387-390, December 4-7, 2013, (Singapore)

61. Takayuki Shiina, Akira Obara, Hiroshi Takemura, and Hiroshi Mizoguchi,"Measurement of Undetectable Walking Feature by Appearance Based on Plantar Skin Deformation",Proceedings of The 15th International Conference on Biomedical Engineering (ICBME2013) , pp. 116-119, December 4-7, 2013, (Singapore)

62. Takayuki Onodera, Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi, " Performance Evaluation of Novel Ankle-Foot Assist Device for Ankle-Foot Rehabilitation ", Proceedings of The 15th International Conference on Biomedical Engineering (ICBME2013) , pp. 492-495, December 4-7, 2013, (Singapore)

63. Masayuki Watanabe, Hiroshi Takemura, Hiroshi Mizoguchi, Hiroshi Hyodo, Kohei Soga, Tamotsu Zako, Hidehiro Kishimoto, Masaaki Ito, Kazuhiro Kaneko, "Development of Novel Endoscope with NIR camera Using Real-time Composite Method", Proceedings of The 15th International Conference on Biomedical Engineering (ICBME2013) , pp.128-131, December 4-7, 2013, (Singapore)

64. Takumi Ishikawa, Junko Takahashi, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata, "Gastric Lymph Node Cancer Detection using Multiple Feature Support Vector Machine for Pathology Diagnosis Support System", Proceedings of The 15th International Conference on Biomedical Engineering (ICBME2013) , pp.120-123, December 4-7, 2013, (Singapore)

65. Takumi Ishikawa, Junko Takahashi, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata, "Gastric Lymph Node Cancer Detection of Multiple Feature Classifer for Pathology Diagnosis Support System", Proc. of 2013 IEEE International Conference on System, Man, and Cybernetics (SMC2013), pp.2611-2616, October 13-16, 2013, (Manchester, UK)

66. Takumi Ishikawa, Junko Takahashi, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata, "Gastric Lymph Node Cancer Detection of Multiple Feature Classifer for Pathology Diagnosis Support System", Proc. of 2013 IEEE International Conference on System, Man, and Cybernetics (SMC2013), pp.2611-2616, October 13-16, 2013, (Manchester, UK)

67. Yuki Ishii, Hiroshi Hisahara, Masahito Ota, Takeki Ogitsu, Hiroshi Takemura, Hiroshi Mizoguchi, "Robust Discriminator between Bicycle Rider and Pusher based on CHLAC of Leg Movement from Video Sequence," Proc. of 2013 IEEE International Conference on System, Man, and Cybernetics (SMC2013), pp.3598-3602, October 13-16, 2013, (Manchester, UK)

68. Naruyuki Hisatsuka, Ippei Samejima, Satoshi Kagami, Makiko Kouchi, Hiroshi Takemura, "A Hand Grasped Object Segmentation Method using Kinect Sensor and Body Dimension Database," Proc. of 2013 IEEE International Conference on System, Man, and Cybernetics (SMC2013), pp.3108-3113, October 13-16, 2013, (Manchester, UK)

69. Akira Obara，Takayuki Shiina，Hiroshi Takemura，Hiroshi Mizoguchi,"GAIT DIFFERENCE ON IRREGULAR SURFACE UNDER COOLING LOWER-LEG MUSCLE",24th Congress of The International Society of Biomechaics (ISB2013) , pp.BGL-WALKING1.08(CD-ROM), August 4-9, 2013. ( Natal, Burazil)

70. Takayuki Shiina，Akira Obara，Hiroshi Takemura，Hiroshi Mizoguchi,"EVALUATION OF WALKING STABILITY BASED ON PLANTAR SKIN DEFORMATION MEASURED BY FEATURE POINTS"，24th Congress of The International Society of Biomechaics (ISB2013) , pp. BGL-WALKING3.03(CD-ROM), August 4-9, 2013. ( Natal, Burazil)

71. Takayuki Shiina，Akira Obara，Hiroshi Takemura，Hiroshi Mizoguchi,"WALKING STABILITY MEASURMENT BASED ON PLANTAR SKIN DEFORMATION"，2013 Congress of International Society for Posture and Gait Research , Jun 22-26, 2013. ( Akita view hotel, Akita)

72. Akira OBARA, Takayuki SHINA, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI,"Effect of icing lower-leg muscle during walking on irregular surface",2013 Congress of International Society for Posture and Gait Research(ISPGR2013),Jun 22-26,2013.( Akita view hotel, Akita)

73. Miho Morita, Hiroshi Takemura, and Hiroshi Mizoguchi, “Human Detection Method Combined with HLAC and HOG Based on Feature Co-occurrence” TSEST Transaction on Control and Mechanical Systems, Vol. 1, No. 7, PP. 325-329, Nov., 2012.

74. Yuma NIHEI, Ippei SAMEJIMA, Naotaka HATAO, Hiroshi TAKEMURA, Satoshi KAGAMI, "Map Integration of Human Trajectory with Sitting Standing Position using LRF and Kinect Sensor," 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012),pp.1250-1255,Dec. 10-14 2012.(Guangzhou,China)

75. Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi,"Posture Control Using New Ankle-Foot Assist Device with Stewart Platform Type Parallel Link Mechanisms," 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012),1385-1390, Dec. 10-14 2012.(Guangzhou,China)

76. Takayuki Onodera, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi,"Design and Development of Stewart Platform-Type Assist Device For Ankle–Foot Rehabilitation," The 2012 International Conference on Innovative Engineering Systems (ICIES 2012),pp.1-6,Dec. 7-9 2012.(Alexandria, Egypt) Best Paper Finalist

77. Masafumi Goseki, Takayuki Adachi, Hiroshi Takemura, Hiroshi Mizoguchi,Fusako Kusunoki, Masanori Sugimoto, Etsuji Yamaguchi, Shigenori Inagaki,Yoshiaki Takeda, "Full-body Interactive “Board”game for Learning Vegetation Succession Based on Identification of People and 3D Position Measurement," Proceedings of The 20th International Conference on Computers in Education(ICCE2012), 2012.

78. Taketo Matsunaga, Koji Kitamura, Yoshifumi Nishida, Hiroshi Takemura,　"Situational Analysis Based on Graph Structuralization," The 2012 International Conference on Information and Knowledge Engineering (IKE'12),pp.122-128,July 18 2012. (Las Vegas)

79. Taketo Matsunaga, Koji Kitamura, Yoshifumi Nishida, Hiroshi Takemura, Tatsuhiro Yamanaka, "Development of High Risk Behavior Map of Playground Equipment Based on Situation Data Mining", 2012 AAP National Conference and Exhibition Council on Injury, Violence and Poison Prevention, #18016, October 22 2012. (New Orleans)

80. Masafumi Goseki, Ryohei Egusa, Takayuki Adachi, Hiroshi Takemura, Hiroshi Mizoguchi, Miki Namatame, Fusako Kusunoki,Shigenori Inagaki, "Puppet Show for Entertaining Hearing-Impaired,Together with Normal-Hearing People - A novel application of human sensing technology to inclusive education -", International Conferece on Innovative Engineering Systems, pp.121-124 Dec. 7-9, 2012 (Alexandria, Egypt).

81. Masahito Ota, Hiroshi Hisahara, Hiroshi Takemura, Hiroshi Mizoguchi, "Recovery Function of Target Disappearance for Human Following Robot", International Conferece on Innovative Engineering Systems, pp.125-128, Dec. 7-9, 2012 (Alexandria, Egypt).

82. Junko Takahashi, Hiroshi Takemura, Hiroshi Mizoguchi, Takeshi Kuwata,"System to Detect Abnormal Cells in Pathological Images using Higher-order Local Autocorrelation Features and Color Spaces," The 2012 International Conference of Information Science and Computer Applications (ICISCA 2012), pp.284-288, 19 - 20 November 2012. (Bali Indonesia)

83. Ming Ding, Takayuki Onodera, Ryojun Ikeura, Hiroshi Takemura, Hiroshi Mizoguchi, "Position, Force and Stiffness Control of a Stewart-Platform-Type Ankle-Foot Assist Device",2012 ASME Dynamic Systems and Control Conference, Ft. Lauderdale, FL, pp. 11-18, Oct. 17-19, 2012.

84. Yuichi Kurita, Yamato Sueda, Toshio Tsuji, Minoru Hattori, Masakazu Tokunaga, Hiroyuki Egi, Hideki Ohdan, Hiroshi Takemura, Jun Ueda, Improvement of tactile sensitivity by stochastic resonance: application to vibrating forceps, 2012 ASME Dynamic Systems and Control Conference, Ft. Lauderdale, FL, Oct. 17-19, 2012.

85. Takayuki Adachi, Masafumi Goseki, Hiroshi Takemura, Hiroshi Mizoguchi, Fusako Kusunoki, Masanori Sugimoto, Etsuji Yamaguchi, Shigenori Inagaki, Yoshiaki Takeda, "Study on Identification of People and 3D Position Measurement with Ultrasonic Sensors and Kinect Sensors",International Symposium on Nonlinear Theory and its Applications(NOLTA),pp.247-250, October 22-26, 2012.

86. Masahito Ota, Hiroshi Takemura, Hiroshi Mizoguchi,"Movement Continuation Based Prediction of Target Logarithmic Trajectory at Corner for Human Following Robot Losing Target",International Symposium on Nonlinear Theory and its Applications(NOLTA),pp.187-190, October 22-26, 2012.

87. Tomoki Taguchi, Masafumi Goseki, Hiroshi Takemura, Isao Nakase, Kazuhiro Fukui, Fusako Kusunoki, Shigenori Inagaki, Hiroshi Mizoguchi,"Investigation on Optimal Arrangement of Microphone Array with 3-Dimensional Directivity",International Symposium on Nonlinear Theory and its Applications(NOLTA), pp.251-254, October 22-26, 2012.

88. Miho Morita , Hiroshi Takemura, Hiroshi, Mizoguchi,"Robust Human Detector based on HLAC and HOG using RGB-D",International Symposium on Nonlinear Theory and its Applications(NOLTA),pp.110-113, October 22-26, 2012.

89. Hiroshi Takemura, Takayuki Onodera, Ding Ming and Hiroshi Mizoguchi, "Design and Control of Wearable Stewart-Platform-Type Ankle-Foot Assistive Device", The International Journal of Advanced Robotic Systems, Vol.9, 202,pp.1-7,2012. (ISSN:1729-8806)

90. A. Takahashi, J. Suzuki, H. Takemura, "Finite Element Modeling and Simulation of Human Gait with a Spontaneous Plantar Flexion." International Journal of Aerospace and Lightweight Structures, No.2, pp.171-185, 2012.

91. Ming Ding, Kotaro Hirasawa, Yuichi Kurita, Hiroshi Takemura, Hiroshi Mizoguchi, Jun Takamatsu, Tsukasa Ogasawara, "Pinpointed muscle force control via optimising human motion and external force,"International Journal of Mechatronics and Automation,Vol. 2, No.3 pp.147-156, 2012.

92. Akira Obara, Hiroshi Takemura, Hiroshi Mizoguchi, "GAIT DIFFERENCE ON STIFFNESS CHANGE SURFACE UNDER LOWER-LEG MUSCLE", 2012 Northwest Biomechanics Symposium (NWBS2012), May 18-19,2012. (University of Oregon in Eugene, OR, USA)

93. Ryoma Arai, Ming Ding, Hiroshi Takemura and Hiroshi Mizoguchi, "Mobile Robot System Realizing Autonomous Locomotion -- Combination of Person Following and Autonomous Returning --", Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp.1367-1372, December 7-11, 2011. (Movenpick Resort & Spa - Karon Beach, Phuket, Thailand)

94. Yusuke Kitano, Ming Ding, Hiroshi Takemura and Hiroshi Mizoguchi, "Constant execution time multiple human detectors regardless of target number increase based on CHLAC", Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp.2658-2663, December 7-11, 2011. (Movenpick Resort & Spa - Karon Beach, Phuket, Thailand)

95. Yuta Kimura,Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi, "Quantitative Evaluations of Stable and Adaptive Tracking using The Updating HS-histogram Method" Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp.???-???, December 7-11, 2011. (Movenpick Resort & Spa - Karon Beach, Phuket, Thailand)

96. Masafumi Goseki, Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi, " Visualizing Sound Pressure Distribution by Kinect and Microphone Array," Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp.1243-1248, December 7-11, 2011. (Movenpick Resort & Spa - Karon Beach, Phuket, Thailand)

97. Miho Morita,Ming Ding, Hiroshi Takemura, and Hiroshi Mizoguchi, "Human Detection Method Based on Feature Co-occurrence of HLAC and HOG" Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp.1689-1694, December 7-11, 2011. (Movenpick Resort & Spa - Karon Beach, Phuket, Thailand)

98. Tomohiro Iida, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi, "Development and Validation of Lower Limb Musculoskeletal Model for Pinpointed Muscle Force Control", Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO2011), pp.1355-1360, 2011. (Dec. 7-11, 2011, Phuket, Thailand)

99. Ming Ding, Tomohiro Iida, Hiroshi Takemura and Hiroshi Mizoguchi,"Displacement Estimation For Foot Rotation Axis Using A Stewart-Platform-Type Assist Device", Proceedings 4th International Conference Intelligent Robotics and Applications, pp.221-229, 2011. (Aachen, Germany, December 6-8) Springer's Lecture Notes in Artificial Intelligence(LNIA7101)

100. Ryosuke Osaki, Hiroshi Takemura, Ming Ding, Hiroshi Hyodo, Kohei Soga and Hiroshi Mizoguchi, "3D bioimaging sensor of breast cancer cell using rare-earth-doped ceramic nanophosphors and near-infrared", Proceedings of the 10th IEEE International Conference on Sensors (Sensors 2011) pp.1784-1787, 2011. (Oct. 28-31, University of Limerick, Limerick, Ireland)

101. Ming Ding, Takayuki Onodera, Hiroshi Takemura and Hiroshi Mizoguchi, "Development of a New Foot-ankle Assist Device with Stewart Platform Mechanism," Proceedings of International Biomechanics Conference & Annual Meeting of Taiwanese Society of Biomechanics(TSB2011). pp. TSB2011-059, 2011. (Oct. 20-21, National Chiao University, Hsinchu, Taiwan)

102. Ryosuke Osaki, Hiroshi Takemura, Ming Ding, Hiroshi Hyodo, Kohei Soga and Hiroshi Mizoguchi, "3D fluorescence bioimaging of breast cancer using rare-earth-doped ceramic nanophosphors and near-infrared", Proceedings of International Biomechanics Conference & Annual Meeting of Taiwanese Society of Biomechanics(TSB2011). pp. TSB2011-056, 2011. (Oct. 20-21, National Chiao University, Hsinchu, Taiwan)

103. Satoshi Kudoh, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi, "Improvement of Plantar Tactile Sensitivity by Stochastic Resonance for Prevention of Falling", The 4th International Congress on Image and Signal Processing (CISP2011), pp.187-190, 2011. (October 15-17, Shanghai, Chaina)

104. A. Takahashi, J. Suzuki, H. Takemura, "Finite Element Modeling and Simulation of Plantar Deformation during Gait", Mechanical Engineering Symposium 2011. (Jiuzhaigou, China)

105. Yusuke Kitano, Ming Ding, Hiroshi Takemura, Hiroshi Mizoguchi, "Constant execution time multiple human detector regardless of target number increase based on HLAC", Proceedings of the 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011), pp.13-18, July 3-7, 2011. (Budapest, Hungary)

106. Shinichiro SUZUKI, Akira CHAKI, Kentaro SEKIGUCHI, Ming DING,Hiroshi TAKEMURA and Hiroshi MIZOGUCHI,"Effect of Reduced Plantar Sensation on Human Gaits on Various Terrains," Journal of Robotics and Mechatronics, Vol.23, No.2, pp.258-265, 2011.

107. Ming Ding, Kotaro Hirasawa, Yuichi Kurita, Hiroshi Takemura, Jun Takamatsu, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Pinpointed Muscle Force Control in Consideration of Human Motion and External Force", Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO2010), December 14-18, 2010. (Hotel Nikko Tianjin, Tianjin, China) Best Paper Finalist

108. Yusuke Kitano, Hiroshi Takemura, and Hiroshi Mizoguchi, "Face-Recognition based on Higher-Order Local Auto Correlation Feature for Sound Spot Control 〜Whispering to Particular Person〜", 2010 IEEE International Conference on Systems, Man, and Cybernetics (SMC2010), pp.2312-2315, October 10-13, 2010. (Military Museum, Istanbul, Turkey)

109. Yuta Kimura, Hiroshi Takemura, and Hiroshi Mizoguchi, "Quantitative Evaluation Methods of Robust Detecting and Tracking with Color Camera under Illumination Changes", 2010 IEEE International Conference on Systems, Man, and Cybernetics (SMC2010), pp.2263-2266, October 10-13, 2010. (Military Museum, Istanbul, Turkey)

110. A. Chaki, S. Suzuki, K. Sekiguchi, H. Takemura, and H. Mizoguchi, "Feature Point Extraction and Tracking from Plantar Image for Plantar Skin Deformation Measurement," Proceedings of the 1st International Conference on Applied Bionics and Biomechanics, Venice, Italy, October 14-16,2010.

111. S. Suzuki, A. Chaki, M. Ding, K. Sekiguchi, H. Takemura and H. Mizoguchi, "Influence of Plantar Insensitivity for Human Gait on Even and Uneven Terrain," Proceedings of the 1st International Conference on Applied Bionics and Biomechanics, Venice, Italy, October 14-16, 2010.

112. Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi,"Automatic Counting Robot Development Supporting Qualitative Asbestos Analysis – Asbestos, Air Bubbles, and Particles Classification Using Machine Learning –," Journal of Robotics and Mechatronics, Vol.22, No.4, pp.506-513, 2010.

113. Shinichiro Suzuki, Akira Chaki, Kentaro Sekiguchi, Hiroshi Takemura, and Hiroshi Mizoguchi,"Influence of Plantar Insensitive for Human Gait in Regular and Irregular Terrain", Proceedings of 6th World Congress of Biomechanics, pp.107-110, 2010. (August 1-6, 2010 Singapore)

114. Y. Kitano, H. Takemura, and H. Mizoguchi, "Integration of Speaker Array System and HLAC Based Face-Recognition System," Proceedings of the 25th International Technical Conference on Circuits/Systems, Computers and Communications, pp.598-599, 2010. (July 4-7, Pattaya, Thailand)

115. Yuta Kimura, Hiroshi Takemura, and Hiroshi Mizoguchi, "Quantitative Evaluation of Robust Visual Detecter and Tracker Using Color Information under Illumination," Proceedings of the 25th International Technical Conference on Circuits/Systems, Computers and Communications, pp.600-601, 2010. (July 4-7, Pattaya, Thailand)

116. Hiroshi Takemura, Zentaro Nemote, Keita Ito & Hiroshi Mizoguchi,"Development of Vision Based Person Following Module for Mobile Robots in RT-Middleware", Clmbing and Walking Robots, Editor by Behnam Miripour," pp.409-424, Climbing and Walking Robots, Behnam Miripour (Ed.), ISBN: 978-953-307-030-8, INTECH, 2010.

117. Seigen Hane, Hiroshi Takemura, and Hiroshi Mizoguchi, "Visually Realistic Environment for Safety Development of Vision-based Robot -Making Vision Program Applicable to Real Environment without Modification-," Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO2009), pp.1639-pp.1644, 2009. (Dec. 19 - 23, 2009,Guilin, China)

118. Hiroshi Takemura, Nemoto Zentaro, Hiroshi Mizoguchi, "Development of Vision Based Person Following Module for Mobile Robots In/Out Door Environment," Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO2009), pp.1675-pp.1680, 2009. (Dec. 19 - 23, 2009,Guilin, China)

119. Kenichi Ishizu, Hiroshi Takemura,Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, Hiroshi Mizoguchi, "Image Processing of Particle and Asbestos Detection for Asbestos Qualitative Analysis Support Method -Asbestos Classification Method by using Angle Value," Proceedings of the IASTED International Conference on Artificial Intelligence and Soft Computing (ASC 2009), pp683-022, 2009.

120. Kentaro Sekiguchi, Shinichiro Suzuki, Hiroshi Takemura, and Hiroshi Mizoguchi, "Walking Analysis by 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", IEEE SENSORS 2009 CONFERENCE (SENSORS 2009), pp.177-180, October 25-28, 2009. (Christchurch, New Zealand)

121. H. Kim, JK. Richardson, J. Nnodim, H. Takemura, JA. Ashton-Miller, “A shoe-based method for randomly perturbing the stance phase of gait and its effect on step width,” The annual meeting of the American Society of Biomechanics,in State College, PA 2009.

122. Kentaro Sekiguchi, Shinichiro Suzuki, Hiroshi Takemura, and Hiroshi Mizoguchi, "Development and Experiment of walking by 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", ICROS-SICE International Joint Conference 2009 (ICCAS-SICE 2009), pp.3831-3834, August 18-21, 2009. (Fukuoka International Congress Center, Japan)

123. Kentaro Sekiguchi, Shinichiro Suzuki, Masahiro Ueda, Hiroshi Takemura, and Hiroshi Mizoguchi, "Experiment for Walking Analysis by 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.1052-1057, July 5-8, 2009. (Jeju Island, Korea)

124. Kazuki Tada, Hiroshi Takemura, and Hiroshi Mizoguchi, "Estimation of Head Position by Multiple Cameras for 3D Position Control of Sound Spot", The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.405-407, July 5-8, 2009. (Jeju Island, Korea)

125. Ryo Okumura, Hiroshi Takemura, Hiroshi Mizoguchi,"Path Planning in Consideration of Relative Velocity for Mobile robot -Efficiency Improvement by Selection of Interference Area-",The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009),pp.733-735,July 5-8,2009,(Jeju Island Korea)

126. Yoshitaka Yamauchi, Hiroshi Takemura, Satoshi Kagami, Hiroshi Mizoguchi,"Optimization of BBF Threshold Based on Background Image and 3D Model by using SIFT Features in 3D Objects Recognition",The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.736-739, July.5-8, 2009. (Jeju Island, Korea)

127. Shinichiro Suzuki, Kentaro Sekiguchi, Hiroshi Takemura, and Hiroshi Mizoguchi, "Influence of Plantar Sensation Decrease on Lower Limbs for Human Gait under Uneven Surface", The 24th International Technical Conference on Circuits/Systems, Computers and Communications(ITC-CSCC2009), pp.740-742, July 5-8, 2009. (Jeju Island, Korea)

128. Kuniaki KAWABATA, Soichiro MORISHITA, Hiroshi TAKEMURA, Kazuhiro HOTTA, Taketoshi MISHIMA, Hajime ASAMA, Hiroshi MIZOGUCHI and Haruhisa Takahashi,"Development of an Automated Microscopic System for Supporting Asbestos Qualitative Analysis by Dispersion Staining Method," Journal of Robotics and Mechatronics, Vol.21, No.2, pp.186-192, 2009.

129. Ken-ichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi, "Image Processing of Particle Detection for Asbestos Qualitative Analysis Support Method -Particle Counting System based on Classification of Background Area-", Proceedings of ICARCV2008, pp.868-873, December 17-20, 2008. (Melia Hotel, Hanoi, Vietnam)

130. Masahiro UEDA, Kentaro SEKIGUCHI, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Plantar 3-Axis Distributed Forces Sensor Based on Measurement of Silicone Rubber Deformation for Walking Analysis", The 7th Annual IEEE Conference on SENSORS (IEEE SENSORS 2008), pp. 945-948, October 26-29, 2008. (Grand Hotel Tiziano e Dei Congressi, Lecce, ITALY)

131. Kentaro Sekiguchi, Masahiro Ueda, Hiroshi Takemura, and Hiroshi Mizoguchi, "Development and Calibration of 6-axis Force Sensor for Simultaneous Measuring of Plantar Deformation", Proceedings of 2008 IEEE International Conference on Systems, Man and Cybernetics (SMC '08), pp.3138-3142, October 12-15, 2008. (Suntec Singapore International Convention Exhibition Centre, Singapore)

132. Kazuhiko Shinagawa, Kyosuke Horio, Hiroshi Takemura, Hiroshi Mizoguchi, “Sound spot generation and evaluation by large scale panel loudspeaker array” Proceedings of 2008 IEEE International Conference on Systems, Man and Cybernetics (SMC '08), pp.1164-1168, October 12-15, 2008. (Suntec Singapore International Convention Exhibition Centre, Singapore)

133. Kunihiro Mitsuhashi, Hiroshi Takemura, and Hiroshi Mizoguchi, "Tracking Control of Sound Spot around Head," Proceedings of SICE Annual Conference 2008 (SICE2008), pp.183-186, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

134. Kazuhiko Shinagawa, Ohtomo Yuuki, Hiroshi Takemura, and Hiroshi Mizoguchi, "Simultaneous generation of multiple three-dimensional sound spot by using 512 ch panel loudspeaker array," Proceedings of SICE Annual Conference 2008 (SICE2008), pp.179-182, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

135. Kentaro Sekiguchi, Masahiro Ueda, Hiroshi Takemura, and Hiroshi Mizoguchi, "Manufacture and Proofreading of 6-axis Force Sensor for Walking Analysis," Proceedings of SICE Annual Conference 2008(SICE2008), pp.2646-2649, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

136. Kenichi Ishizu, Hiroshi Takemura, Kuniaki Kawabata, Hajime Asama, Taketoshi Mishima, and Hiroshi Mizoguchi, “Image Processing of Particle Detection for Asbestos Qualitative Analysis Support Method -Particle Counting by Using Color Variance of Background- “, Proceedings of SICE Annual Conference 2008(SICE2008), pp.3202-3207, Aug.20-22, 2008. (Univ. of Electro-Communications, Chofu, Tokyo, Japan)

137. Hiroshi Takemura, Keita Ito, and Hiroshi Mizoguchi, "Person Following Mobile Robot under Varying Illumination Based on Distance and Color Information," Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics, pp.1500-1505, December 15 -18, 2007, Sanya, China.

138. Soh Nishimura, Hiroshi Takemura, Hiroshi Mizoguchi, "Development of Attachable Modules for Robotizing Daily Items -Person Following Shopping Cart Robot-," Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics,pp.1506-1511, December 15 -18, 2007, Sanya, China.

139. Zentaro Nemoto, Hiroshi Takemura, Hiroshi Mizoguchi, "Development of Small-sized Omni-directional Laser Range Scanner and Its Application to 3D Background Difference", The 33nd Annual Conference of the IEEE Industrial Electronics Society (IECON'2007), pp.2284-2289, Novembers 5-8, 2007 (Taipei, Taiwan).

140. Masahiro UEDA, Harutaka UNO, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Development of Optical 3-axis Distributed Forces Sensor for Walking Analysis", The 6th Annual IEEE Conference on SENSORS (IEEE SENSORS 2007), pp. 403-406, October 28-31, 2007 (Hayatt Regency Atlanta, Atlanta, Georgia, USA).

141. Kazuhiko Shinagawa, Yutaka Amemiya, Hiroshi Takemura, Satoshi Kagami and Hiroshi Mizoguchi, "Three Dimensional Simulation and Measurement of Sound Pressure Distribution Generated by 120 ch Plane Loudspeaker Array", Proceedings of 2007 IEEE International Conference on Systems, Man and Cybernetics (SMC '07), pp. 278-283, October 7-10, 2007 (Montreal, Canada).

142. Harutaka Uno, Hiroshi Takemura, and Hiroshi Mizoguchi, "An Effect on Walk and Plantar Contact Area from Ice Immersion Approach", Proceedings of 2007 IEEE International Conference on Systems, Man and Cybernetics (SMC '07), pp. 1524-1529, October 7-10, 2007, (Montreal, Canada).

143. Yuki Ohtomo, Hiroshi Takemura, and Hiroshi Mizoguchi, "Computers’ Synchronization for Large-Scale Loudspeaker Array System", SICE Annual Conference 2007, pp.672-675, Sept. 17-20, 2007, (Kagawa University, Japan).

144. Yu Fukasawa, Hiroshi Takemura, and Hiroshi Mizoguchi, "Implementation of Luggable Linear Speaker Array System and Formation of Sound Spot", SICE Annual Conference 2007, pp.668-671, Sept. 17-20, 2007, (Kagawa University, Japan).

145. Kyosuke Horio, Yuki Ohtomo,Hiroshi Takemura, and Hiroshi Mizoguchi, "Simultaneous Generation of Various Shaped Sound Spots with Multiple Linear Speaker Arrays ", SICE Annual Conference 2007, pp.676-679, Sept. 17-20, 2007, (Kagawa University, Japan)

146. Masahiro Ueda, Harutaka Uno, Hiroshi Takemura, and Hiroshi Mizoguchi, "Development of 3-axis Distributed Forces Sensor for Walking Analysis", SICE Annual Conference 2007, pp.720-723, Sept. 17-20, 2007, (Kagawa University, Japan).

147. Soh Nishimura, Keita Itou, Takashi Kikuchi, Hiroshi Takemura and Hiroshi Mizoguchi, "A Study of Robotizing Daily Items For an Autonomous Carrying System -Development of person following shopping cart robot-," The 9th International Conference on Control, Automation, Robotics and Vision (ICARCV 2006), pp.613-618,2006. (Singapore, 5-8th December 2006)

148. Hiroshi Mizoguchi, Takafumi Nakamura, Hiroshi Takemura and Satoshi Kagami, "Software-centered implementation of 128-channel loudspeaker array with stock PC and its application," The Journal of the Acoustical Society of America, Vol 120, No. 5, pp.3213, November 2006. Abstract

149. Keita ITOH, Takashi KIKUCHI, Hiroshi TAKEMURA, Hiroshi MIZOGUCHI, "Development of a Person Following Mobile Robot in Complicated Background by Using Distance and Color Information," The 32nd Annual Conference of the IEEE Industrial Electronics Society　(IECON'2006), pp.3839-3844, November 2006 (Paris, France).

150. Harutaka Uno, Hiroshi Takemura, Hiroshi Mizoguchi, and Tsukasa Ogasawara, "Development of Incipient Slip Measurement System for Walking Analysis with High-speed Camera" Proceedings of 2006 IEEE International Conference on Systems, Man and Cybernetics (SMC '06), pp. 2374-2379, October 9-12, 2006 (Taipei, Taiwan).

151. Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Slip-adaptive Walk of Quadruped Robot," Journal of Robotics and Autonomous Systems, Vol 53/2, pp.124--141, 2005. abstract

152. Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Momentum Compensation for the Dynamic Walk of Humanoids based on the Optimal Pelvic Rotation," 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2005),pp.485--492, 2005. (September 13-15, London, U.K.)

153. Hiroshi Takemura, Masaaki Obayashi, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi, Tsukasa Ogasawara, "Investigation of the Elastic Contact Model of the Plantar in Human Walking based on the Incipient Slip," Proceedings of 2005 International Technical Conference on Circuits/System, Computers and Communications (ITC-CSCC2005), pp.1175--1176, 2005. (July 4-7, Jeju, Korea)

154. Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Slip-adaptive Walk of Quadruped Robot Based on Force Control Utilizing Acceleration Signals of the Legs," Journal of the Robotics Society of Japan , Vol. 23, No. 1, pp. 124--130 2005 (in Japanese).

155. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Three Dimentional Adaptive Walking of Quadruped Robot using Sideways Sway Motion and Posture Reflex via Neural Oscillators," Journal of the Robotics Society of Japan , Vol. 22, No. 6, pp.106--112, 2004 (in Japanese).

156. Hiroya Iwaya, Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A Study of the Toe Function for Human Walking by the Existence of a Toe Using a Toe Pressure Measurement System," Transactions of the Japan Society of Mechanical Engineers (C), Vol.70, No.689, pp.212--220, 2004 (in Japanese).

157. Hiroshi Takemura, Abdelaziz Khiat, Hiroya Iwama, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Study of the Toes Role in Human Walk by a Toe Elimination and Pressure Measurement System," IEEE International Conference on Systems, Man & Cybernetics, pp.2569--2574, Washington, D.C., USA, 2003.

158. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "The Influence of Friction on Gait and Energy Efficiency of the Walking Robot Based on Rhythmic Control," 2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM2003) March 4-8, 2003, Kyoto, Japan.

159. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A study of a gait generation of a quadruped robot based on rhythmic control -optimization of CPG parameters by a fast dynamics simulation environment," Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR 2002), pp.759--766, 2002.

160. Hiroshi Takemura, Yoshio Matsumoto, Tsukasa Ogasawara, "Dynamic walking of an autonomous quadruped robot based on rhythm generation," Proceedings of 4th International Conference on Climbing and Walking Robots (CLAWAR 2001), pp.727--734, 2001.