Full paper (Peer reviewed) on International conference
Last update 2020/09
129. Ahmad Alminnawi, Yo Kobayashi, Tomohiro Otani, Masao Tanaka, "Shape Memory Alloy Actuated Ankle-Foot Orthosis for Reduction of Locomotion Force ", Proceedings of 2021 World Automation Congress (WAC) , 2021
128. Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita, "Evaluation of Virtual Shadow’s Direction in Laparoscopic Surgery", Proceedings of The 8th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2020) , 2020
127. Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita, "Accuracy of Virtual Shadow for Forceps Position Cognition in Laparoscopic Surgery", Proceedings of the 5th International Conference on Design Engineering and Science (ICDES2020), 2020
126. Tatsuya Arakawa, Tomohiro Otani, Yo Kobayashi, Masao Tanaka, Computational study on motion criterion and myscle activity pattern in elderly gait with muscle weakness, 5th International Conference on Biomedical and Bioinfomatics Engineering (ICBBE), 118-121, 2018
125. Naomi Okamura, Ritaro Kasai, Yo Kobayahsi, Shigeki Sugano, Masakatsu G Fujie, "Investigation of Effective Intensity of Static Stretching Exercise Based on Spring-Pot Viscoelastic Model: Intensity Based on Maximum Tolerance Joint Torque Affects Viscoelastic Ratio of Muscle During Static Stretching", 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR), 433-438, 2018
124. Akira Kato, Masato Hirabayashi, Yuya Matsurnoto, Yasutaka Nakashima, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Continuous Wrist Joint Control Using Muscle Deformation Measured on Forearm Skin", 2018 IEEE International Conference on Robotics and Automation (ICRA), 1818-1824, 2018
123. Naomi Okamura, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Similarity evaluation of multiple muscles hardness change due to static stretching using wearable indentation testers: A pilot study", 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 18-23, 2017
122. Tamon Miyake, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance", 2017 International Conference on Rehabilitation Robotics (ICORR), 320-325, 2017
121. Naomi Okamura, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Change detection technique for muscle tone during static stretching by continuous muscle viscoelasticity monitoring using wearable indentation tester", 2017 International Conference on Rehabilitation Robotics (ICORR), 1686-1691, 2017
120. Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G Fujie, "Motor command detection for a repetitive facilitation exercise assistance system" , 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR), 267-272, 2017
119. Omar Salah, Salvatore Sessa, Ahmed MR Fath El-Bab, Yo Kobayashi, Atsuo Takanishi, Makasatsu Fujie, "Modeling and simulation for support robot tracking a human sit to stand motion", 2016 28th International Conference on Microelectronics (ICM), 81-84, 2016
118. Yang CAO, Yo Kobayashi, Satoshi Miura, Kazuya Kawamura, Masakatsu G. Fujie, Shigeki Sugano,"Pupil Variation for Use in Zoom Control", Proceedings of 2016 IEEE Conference on Robotics and Biomimetics (ROBIO), pp.479-484, 2016
117. Tamon Miyake, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Relation between magnitude of applied torque during pre-swing phase and toe clearance change to prevent trip of elderly people", IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.002448-002453, 2016
116. Akira Kato, Yuya Matsumoto, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Joint angle estimation using the distribution of the muscle bulge on the forearm skin surface of an upper limb amputee", IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.001490-001495, 2016
115. Tamon Miyake, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Relationship between magnitude of applied torque in pre-swing phase and gait change for prevention of trip in elderly people", IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC), pp.6154-6157, 2016
114. Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Wrist joint angle estimation by means of muscle bulge based on deformation of the forearm skin surface", Proceedings of 2016 World Automation Congress (WAC) - ISORA 2016, 2016
113. Satoshi Miura, Junichi Takazawa, Kazuya Kawamura, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, "Brain Wave Measurement while Touching Task of a Virtual Arm for Intuitive Robotic Surgery", Proceedings of 2016 World Automation Congress (WAC) - ISORA 2016, 2016
112. Yang Cao, Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie, "Pupil Variation Applied to the Control of an Endoscope", Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA'16), pp.531-538, 2016
111. Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G Fujie, Shuji Hashimoto, Hiroshi Yamakawa, "Design of four-arm four-crawler disaster response robot OCTOPUS", 2016 IEEE international conference on robotics and automation (ICRA), 2840-2845, 2016
110. Yang Cao, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G Fujie, "Development of an endoscopic manipulator control system with intention recognition based on pupil movement", 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1637-1642, 2015
109. Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Estimating a joint angle by means of muscle bulge movement along longitudinal direction of the forearm", 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 614-619, 2015
108. Yang Cao, Yo Kobayashi, Bo Zhang, Quanquan Liu, Shigeki Sugano, Masakatsu G Fujie, "Evaluating proficiency on a laparoscopic suturing task through pupil size", 2015 IEEE International Conference on Systems, Man, and Cybernetics, 677-681, 2015
107. Yasutaka Nakashima, Kazuya Takizawa, Yuya Matsumoto, Satoshi Miura, Yo Kobayashi, Masakatsu G. Fujie, "Foot Pressure and Posture Information-Based Visual Feedback System for Well-Balanced Gait in Older People", Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015), pp.004163-004168,2015.
106. Kenoh Murakami, Kenji Yoshida, Kazuya Kawamura, Mariko Tsukune, Yo Kobayashi, Masakatsu Fujie, Riwa Kishimoto, Takayuki Obata, Tadashi Yamaguchi, "Viscoelasticity and shear wave velocity of liver tissue evaluated by dynamic mechanical analysis, "2015 IEEE International Ultrasonics Symposium, 10.1109/ULTSYM.2015.0289, 2015
105. Xiaowei Lu, Hayato Kikuchi, Kazumasa Hirooka, Yosuke Isobe, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G Fujie , "Method for estimating the temperature distribution associated with the vessel cooling effect in radio frequency ablation", Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2015), 4836-4839, 2015
104. Satoshi Miura, Yuya Matsumoto, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima, Masakatsu G. Fujie, "Visual and Somatic Sensory Feedback of Brain Activity for Intuitive Surgical Robot Manipulation", Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2015), WeAT1.5, 2015
103. Yi-Hung Liu, Bo Zhang, Quanquan Liu, Wei-Chun Hsu, Yu-Tsung Hsiao, Jui-Yiao Su, Yo Kobayashi, Masakatsu G. Fujie,"A Robotic Gait Training System Integrating Split-Belt Treadmill, Footprint Sensing and Synchronous EEG Recording for Neuro-Motor Recovery", Proceedings of the37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC 2015),ThBPoT18.3, 2015
102. Yasutaka Nakashima, Shinya Kawano, Yuya Matsumoto, Yo Kobayashi, Masakatsu G. Fujie, Motoji Yamamoto, "Development of Gait Training System to Encourage Swinging the Upper Limbs Based on the Phase Change of the Shoulder Horizontal Rotation at Heel Contact", Proceedings of the 2015 IEEE / ASME International Conference on Advanced Intelligent Mechatronics(AIM 2015), pp. 933-936, 2015
101. Omar Salah, Ahmed A Ramadan, Salvatore Sessa, Ahmed MR Fath El-Bab, Ahmed Abo-Ismail, M Zecca, Yo Kobayashi, A Takanishi, M Fujie, "Sit to stand sensing using wearable IMUs based on adaptive Neuro Fuzzy and Kalman Filter", 2014 IEEE Healthcare Innovation Conference (HIC), pp. 288-291, 2014
100. Quanquan Liu, Yo Kobayashi, Bo Zhang, Masakatsu G. Fujie, "A Novel Smart Surgical Robotic System with Eye-hand Coordination for Surgical Assistance", Proceeding of 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014), pp. 1175-1180 2014
099. Yuya Matsumoto, Motoyuki Amemiya, Daisuke Kaneishi, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka and Masakatsu G. Fujie, "Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE/RSJ IROS2014), pp. 2055-2062 2014
098. Inko Elgezua, Sangha Song, Yo Kobayashi, Masakatsu G. Fujie, "Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns", IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE/RSJ IROS2014), pp.4315-4320, 2014
097. Sangha Song, Inko Elguezua, Yo Kobayashi, Masakatsu G. Fujie, "Method for Estimation of Structural Composition of Skin Layers based on Light Propagation Simulation for Liposuction Applications", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 6565-6568, 2014
096. Naomi Okamura, Mariko Tsukune, Yo Kobayashi, Masakatsu G. Fujie, "A Study of Viscoelasticity Index for Evaluating Muscle Hypotonicity during Static Stretching", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 6919-6923, 2014
095. Nozomu Yamazaki, Yo Kobayashi, Hayato Kikuchi, Yosuke Isobe, XiaoWei Lu, Tomoyuki Miyashita, Masakatsu G. Fujie, "Modeling of Lung’s Electrical Impedance using Fractional Calculus for Analysis of heat generation during RF-Ablation", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 5323-5328, 2014
094. Mariko Tsukune, Yo Kobayashi, Yuichiro Otsuka, Testuya Maeda, Nozomu Yamazaki, Hiroki Watanabe, Takeshi Ando, Hironori Kaneko and Masakatsu G. Fujie, "Effect of the thickness and nonlinear elasticity of tissue on the success of surgical stapling for laparoscopic liver resection", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 353-356, 2014
093. Jing Ye, Yasutaka Nakashima, Inko Elgezua, Bo Zhang, Yo Kobayashi, Masakatsu G. Fujie, "Development of a Novel Gait Rehabilitation System by integrating Functional Electrical Stimulation and a Split Belt Treadmill for Hemiparetic Patients after Stroke", 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014),pp. 701-706, 2014
092. Yuya Matsumoto, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, "Development of a Filtering algorithm to Demodulate Electromyogram Signal of Essential Tremor Patients", World Automation Congress 2014, 1569917645
091. Yasutaka Nakashima, Yo Kobayashi, Takeshi Ando, Masakatsu G. Fujie, "Evaluation of Treadmill Velocity Control Based on User's Intention of Acceleration or Deceleration", World Automation Congress 2014, 1569917627, 2014
090. Quanquan Liu, Yo Kobayashi, Bo Zhang, Takehiko Noguchi, Yu Takahashi, Yuya Nishio, Yang Cao, Satoshi Ieiri, Kazutaka Toyoda, Munenori Uemura, Morimasa Tomikawa, Makoto Hashizume and Masakatsu G.Fujie, “Development of a Smart Surgical Robot with Bended Forceps for Infant Congenital Esophageal Atresia Surgery”, in Proceedings of IEEE International Conference on Robotics and Automation (ICRA’14), pp.2430-2435, 2014
089. Quanquan Liu, Yo Kobayashi, Bo Zhang, Jing Ye, Elgezua Inko, Yang Cao, Yuta Sekiguchi, Qixin Cao, Makoto Hashizume and Masakatsu G. Fujie, “Design of an Insertable Surgical Robot with Multi-Level Endoscopic Control for Single Port Access Surgery”, in Proceedings of The 10th IEEE International Conference Robotics and Biomimetics (ROBIO 2013) , pp.750-755, 2013
088. Jing Ye, Yasutaka Nakashima, Takao Watanabe, Masatoshi Seki, Bo Zhang, Quanquan Liu, Yuki Yokoo, Yo Kobayashi, Qixin Cao and Masakatsu G. Fujie, “Development of a Novel Gait Rehabilitation System Based on FES and Treadmill-Walk for Convalescent Hemiplegic Stroke Survivors”, in Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013) , pp. 977-982, 2013
087. Quanquan Liu, Yo Kobayashi, Takahiko Noguchi, Elgezua Inko, Yuta Sekiguchi, Bo Zhang, Jing Ye, Kazutaka Toyoda, Makoto Hashizume and Masakatsu G.Fujie, ”Development of a 6-DOF Manipulator Driven by Flexible Shaft for Minimally Invasive Surgical Application”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 6261-6264, 2013
086. Sangha Song, Inko Elgezua, Yo Kobayashi and Masakatsu G. Fujie, “Study on Method to Simulate Light Propagation on Tissue with Characteristics of Radial-beam LED based on Monte-carlo Method”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 25-28, 2013
085. Yosuke Isobe, HirokiWatanabe, Nozomu Yamazaki, XiaoWei Lu, Yo Kobayashi, TomoyukiMiyashita, Makoto Hashizume and Masakatsu G. Fujie, ”Real-Time Temperature Control System Based on the Finite Element Method for Liver Radiofrequency Ablation: Effect of the Time Interval on Control”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 392-396, 2013
084. Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “The relation between temperature distribution for lung RFA and electromagnetic wave frequency dependence of electrical conductivity with changing a lung's internal air volumes”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 386-391, 2013
083. Xiaowei Lu, Hiraki Watanabe, Yosuke Isobe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita and Masakatsu G. Fujie, “Derivation of the Relationship between the Rate of Temperature Rise and Viscoelasticity for Constructing a Coagulation Model for Liver Radio Frequency Ablation”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 382-385, 2013
082. Mariko Tsukune, Maya Hatano, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, ”Boundary Condition Generating Large Strain on Breast Tumor for Nonlinear Elasticity Estimation”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 4863-4866, 2013
081. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie, “Brain Activity Measurement to Evaluate Hand-Eye Coordination for Slave and Endoscope in a Surgical Robot”, in Proceedings of IEEE International Conference on Robotics and Automation (ICRA’13), pp.4341-4347, 2013
080. Yuki Yokoo, Yasutaka Nakashima, Satoshi Miura, Yoshikazu Ogaya, Takeshi Ando, Yo Kobayashi and Masakatsu Fujie, “Brain Activity Measurement Based Evaluation of Active Control of a Treadmill”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1201 - 1206, 2012
079. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu Fujie, “Configuration of Slave and Endoscope in Surgical Robot based on Brain Activity Measurement”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1195 - 1200, 2012
078. Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Yo Kobayashi and Masakatsu Fujie, “An Improved Adaptive Controller with Parameter Optimization by GA for an Omni-directional Walker”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1211 - 1214, 2012
077. Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi and Masakatsu Fujie, “User Directional Intention Identification for a Walking Support Walker - Adaptation to Individual Differences with Fuzzy Learning”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1207 - 1210, 2012
076. Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Hiroki Watanabe, Yu Tomono, Yuta Sekiguchi, Hiroto Seno, Masakatsu G. Fujie, Kazutaka Toyoda, Makoto Hashizume, “Application of Control Modes of a Master Manipulator for a Robotic System to Assist with Single Port Endoscopic Surgery”, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’12), pp.1270 - 1276, 2012
075. Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatsu Fujie, “Kinematic Analysis and Control of limited 4-DOF Parallel Manipulator Based on Screw Theory”, in Proceedings of 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC’12) , pp.47 - 52, 2012
074. Sangha Song, Yo Kobayashi, Masakatsu G. Fujie, “Detection of Dermis and Fascia on Skin Layers for Liposuction Surgery Robot using Texture and Geometric Information”, 12th International Conference on Control, Automation and Systems (ICCAS 2012), pp.1546 - 1551, 2012
073. Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatsu Fujie, ”Design and workspace analysis of a new endoscopic parallel manipulator”, 12th International Conference on Control, Automation and Systems (ICCAS 2012), pp.688 - 693, 2012
072. Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Development of a temperature distribution simulator for lung RFA based on air dependence of thermal and electrical properties”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp.5699-5702, 2012
071. Yusuke Katsuyama, Nozomu Yamazaki, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita, “A study on estimation of the deformation behavior in the collapse process of lung”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 2817- 2822, 2012
070. XiaoWei Lu, Mariko Tsukune, Hiroki Watanabe, Yosuke Isobe, Yo Kobayashi, Nozomu Yamazaki, Tomoyuki Miyashita, Masakatsu G. Fujie, “A Method for Deriving the Coagulation Boundary of Liver Tissue Using a Relational Model of Viscoelasticity and Temperature in Radiofrequency Ablation”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 187-190, 2012
069. Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, XiaoWei Lu, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie, ”Validation of Accuracy of Liver Model with Temperature-Dependent Thermal Conductivity by Comparing the Simulation and in vitro RF Ablation Experiment”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 5712-5717, 2012
068. Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, “Analysis of EMG Signals of Patients with Essential Tremor Focusing on the Change of Tremor Frequency”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 2244-2250, 2012
067. Satoshi MIURA, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki YOKOO, Masakatsu G. Fujie, “Intuitive Operability Evaluation of Robotic Surgery Using　Brain Activity Measurement to Determine Immersive Reality”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp.337-343, 2012
066. Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, “Tremor Frequency Based Filter to Extract Voluntary Movement of Patients with Essential Tremor”, in Proceedings of 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’12), pp. 1415-1422, 2012
065. Inko Elgezua Fernandez, Yo Kobayashi, Sangha Song, Masakatsu G. Fujie, “Combined Collision Avoidance and Prevention of Soft Tissue Damage Control Method for Surgical Robots”, in Proceedings of 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’12), pp. 1217-1222, 2012
064. Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, ” Gait-Controlled Mobility-Aid Robot: Treadmill Motor Current Based Anteroposterior Force Estimation Using Frictional Model Reflects Characteristics of Ground Reaction Force”, in Proceedings of 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’12), pp. 1305-1310, 2012
063. Maya Hatano, Yo Kobayashi, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Makoto Hashizume, Masakatsu G. Fujie, “Geometry Effect of Preloading Probe on Accurate Needle Insertion for Breast Tumor Treatment”, in Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA’12), pp. 1933-1938, 2012
062. Satoshi Miura, Yo Kobayashi, Masatoshi Seki, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie, “Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Identify Hand-Eye Coordination”, in Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA’12), pp. 4546-4552, 2012
061. Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka and Masakatsu G. Fujie, “The Weight Load Inconsistency Effect on Voluntary Movement Recognition of Essential Tremor Patient”, 2011 IEEE International Conference on Robotics and Biomimetics (Robio’11), pp. 901-907, 2011
060. Takao Watanabe, Yo Kobayashi, Masakatsu G. Fujie, "Pelvic Motion Analysis for Gait Phase Estimation during Gait Training with Body Weight Support", in Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC’11), pp. 3219-3223, 2011
059. Bo Zhang, Yo Kobayashi, Yoshinari Maeda, Toshio Chiba, and Masakatsu G. Fujie, “Development of a Robotic Manipulator System for Congenital Diaphragmatic Hernia”, in Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC’11), pp. 723-728, 2011
058. Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, “Development of Robotic Upper Limb Orthosis with Tremor Suppressiblity and Elbow Joint Movability -Extraction of Elbow Flexion Movement Using Powerd Sine wave Filter-”, in Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC’11), pp.729-735, 2011
057. Hiroki Watanabe, Kazuki Kanou, Yo Kobayashi, Masakatsu G. Fujie, “Development of a “Steerable Drill” for ACL Reconstruction to Create the Arbitrary Trajectory of a Bone Tunnel”, in Proceedings of 2011 IEEE International Conference on Intelligent Robots and Systems (IROS’11), pp.955-960, 2011
056. Takao Watanabe, Yo Kobayashi and Masakatsu G. Fujie, “Pelvis Motion Analysis for Gait Phase Estimation Toward Leg-Dependent Body Weight Support at Different Walking Speed”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.1590-1593, 2011
055. Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, ”Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7487-7491, 2011
054. Takeharu Hoshi, Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Development and evaluation of an identification method for the biomechanical parameters using robotic force measurements, medical images, and FEA”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.5386-5391, 2011
053. Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie, “In Vivo Experiments of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7045-7048, 2011
052. Hiroto Seno, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Basic Study of Design Method for Surgical Robot using Workspace Reproduction System”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.4542-4545, 2011
051. Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie, “Estimation of Intraoperative Blood Flow During Liver RF Ablation Using a Finite Element Method-based Biomechanical Simulation”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7441-7445, 2011
050. Nozomu Yamazaki, Hiroki Watanabe, Masatoshi Seki, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Modeling the Internal Pressure dependence of Thermal Conductivity of Lung and in vitro Measurement of Temperature during RFA”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.5753-5757, 2011
049. Kazuya Kawamura, Hiroto Seno, Yo Kobayashi and Masakatsu G. Fujie, “Pilot Study on Effectiveness of Simulation for Surgical Robot Design Using Manipulability”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.4538-, 4541, 2011
048. Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita and Masakatsu G. Fujie, “Evaluation and comparison of the nonlinear elastic properties of the soft tissues of the breast”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7405-7408, 2011
047. Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi and Masakatsu G. Fujie, “Treadmill Motor Current Based Anteroposterior Force Estimation Using Ground Reaction Force Approximation Depending on Gait Cycle”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.1583-1589, 2011
046. Yo Kobayashi, Mariko Tsukune, Takeharu Hoshi, Yasuyuki Shiraishi, Tomoyuki Yambe and Masakatsu G. Fujie, ” Palpation Nonlinear Reaction Force Analysis for Characterization of Breast Tissues”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7393-7396, 2011
045. Yo Kobayashi, Pedro Moreira, Philippe Poignet, Nabil Zemiti, Chao Liu and Masakatsu G. Fujie, ”Haptic Feedback Control in Medical Robots through Fractional Viscoelastic Tissue Model”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.6704-6708, 2011
044. Bo Zhang, Yo Kobayashi, Yoshinari Maeda, Toshio Chiba, Masakatsu G. Fujie, “Development of 6-DOF Wire-Driven Robotic Manipulator for Minimally Invasive Fetal Surgery”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA’11), pp.2892-2897, 2011
043. Takeshi Ando, Yu Ogawa, Yasutaka Nakashima, Eiichi Ohki, Yo Kobayashi, Misato Nihei, Masakatsu G. Fujie, “Stable Turning Movement of a Gait-Based Personal Mobility Tread-Walk 1”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA’11), pp.4157-4162, 2011
042. Maya Hatano, Yo Kobayashi, Ryutaro Hamano, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie, “In Vitro and In Vivo Validation of Robotic Palpation-Based Needle Insertion Method for Breast Tumor Treatment”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA’11), pp.392-397, 2011
041. Hiroki Watanabe, Yo Kobayashi, Masakatsu G. Fuije, “Organ Biomechanical Simulators for Model based Control of Robotic RF Ablation System”, Proceeding of the 2010 IEEE International Symposium on Micro-NanoMechatoronics and Human Science, pp.95-100, 2010
040. Takeharu Hoshi, Yo Kobayashi, Masakatsu G. Fujie, “Quantitative Palpation to Identify the Material Parameters of Tissues Using Reactive Force Measurement and the Finite Element Simulation”, in Proceedings of 2010 IEEE International Conference on Intelligent Robots and Systems (IROS’10), pp.2822-2828, 2010
039. Yo Kobayashi, Takeshi Ando, Masatoshi Seki, Takao Watanabe, Masaktsu G. Fujie, ”Fractional Impedance Control for Reproducing the Material Properties of Muscle”, in Proceedings of 2010 IEEE International Conference on Intelligent Robots and Systems (IROS’10), pp.5498-5504, 2010
038. Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie, “Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery”, in Proceedings of 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’10), pp.120-125, 2010
037. Yo Kobayashi, Takao Watanabe, Takeshi Ando, Masatoshi Seki, Masaktsu G. Fujie, ”Fractional Impedance Control for Reproducing the Material Properties of Muscle and its Application in a Body Weight Support System”, in Proceedings of 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’10), 553-559, 2010
036. Hiroki Watanabe, Nozomu Yamazaki , Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie, “Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp. 3222-3228, 2010
035. Yasutaka Nakashima, Eiichi Ohki, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, “Drive Motor Current Based Real-time Estimation of Anteroposterior Force”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp.979-983, 2010
034. Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Pilot Study on Verification of Effectiveness on Operability of Assistance System for Robotic Tele-surgery using Simulation”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp.2308-2312, 2010
033. Yo Kobayashi, Yu Tomono, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie, ” Design of a Surgical Robot with Dynamic Vision Field Control for Single Port Endoscopic Surgery”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp.979-983, 2010
032. Takao Watanabe, Eiichi Ohki, Yo Kobayashi and Masakatsu G. Fujie, “Leg-dependent Force Control for Body Weight Support by Gait Cycle Estimation from Pelvic Movement”, in Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA’10), pp.2235- 2240, 2010
031. Takeharu Hoshi, Yo Kobayashi and Masakatsu G. Fujie, “Method to Generate Distribution Maps of the Material Parameters of the Human Body Using Robotic and Dynamic Simulation Systems”, in Proceedings of 2009 IEEE/SICE International sympojium on system integration (SII’09), pp.60-66, 2009
030. Hiroki Watanabe, Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie and Makoto Hashizume, “Integrated System for RFA Therapy with Biomechanical Simulation and Needle Insertion Robot”, in Proceedings of 2009 IEEE/SICE International sympojium on system integration (SII’09), pp.54-59, 2009
029. Yo Kobayashi, Atsushi Kato, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Parameter Setting Method considering Variation of Organ Stiffness for the Control Method to Prevent Overload at Fragile Tissue”, in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS’09), pp.2155-2161, 2009
028. Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie, “A Robotic Palpation-Based Needle Insertion Method for Diagnostic Biopsy and Treatment of Breast Cancer”, in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS’09), pp.5534-5539 , 2009
027. Bo Zhang, Yo Kobayashi, Toshio Chiba, Masakatsu G. Fujie, “Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5076-5079, 2009
026. Takeshi Ando, Misato Nihei, Eiichi Ohki, Yasutaka, Nakashima, Yo Kobayashi, Masakatsu G. Fujie, “Kinematic Walking Analysis on a New Vehicle “Tread-Walk” with Active Velocity Control of Treadmill Belt”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5977-5980, 2009
025. Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Operability Evaluation using an Simulation System for Gripping Motion in Robotic Tele-surgery”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5106-5109, 2009
024. Hiroki Watanabe, Yo Kobayashi, Makoto Hashizume, and Masakatsu G. Fujie, “Modeling the Temperature Dependence of Thermophysical Properties: Study on the Effect of Temperature Dependence for RFA” in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5100-5105, 2009
023. Shintaro Inoue, Kazutaka Toyoda, Yo Kobayashi, Masakatsu G. Fujie, “Autonomous Avoidance based on Motion Delay of Master-Slave Surgical Robot”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5080-5083, 2009
022. Yo Kobayashi, Takahiro Sato and Masakatsu G. Fujie, “Modeling of Friction Force based on Relative Velocity between Liver Tissue and Needle for Needle Insertion Simulation”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5274-5278, 2009
021. Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Developing a Planning Method for Straight Needle Insertion using Probability-Based Condition where a Puncture Occurs”, in Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA’09), pp.3482-3489, 2009
020. Makiko Suzuki, Yo Kobayashi, Kazutaka Toyoda and Masakatsu G. Fujie, “Development of a Palpation System to Help Provide Accurate Robotic Needle Insertion during the Treatment of Breast Cancer” in 2008 IEEE International Conference on Robotics and Biomimetics (Robio’08), pp. 499-504, 2008
019. Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie, “Development of a Novel Approach,“Palpation Based Needle Insertion,” for Breast Cancer Treatment” in 2008 IEEE International Conference on Robotics and Biomimetics (Robio’08), pp. 505-511, 2008
018. Takeharu Hoshi, Yo Kobayashi and Masakatsu G. Fujie, “Developing a system to identify the material parameters of an organ model for surgical robot control”, in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.730-735, 2008
017. Hiroki Watanabe, Yo Kobayashi and Masakatsu G. Fujie, “Modeling the Temperature Dependence of Thermal Conductivity: Developing a System for Robot-Assisted RFA Therapy”, in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.483-488, 2008
016. Takeshi Ando, Misato Nihei, Yo Kobayashi, Yuzo Kaneshige, Takenobu Inoue and Masaktsu G. Fujie, “A Steering System of a New Mobility-Aid Vehicle: Tread-Walk” , in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.415-420, 2008
015. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “In Virto Validation of a Viscoelastic and Nonlinear Liver Model for Needle Insertion”, in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.469-476, 2008
014. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Modeling of Conditions where a Punctures Occur during Needle Insertion with considerations of Probabilistic Distribution”, in Proceedings of 2008 IEEE International Conference on Intelligent Robots and Systems (IROS’08), pp.1433-1440, 2008
013. Kazuya Kawamura, Yo Kobayashi and Masakatsu G. Fujie,” Basic Study on Real-Time Simulation Using Mass Spring System for Robotic Surgery”, The 4th International Workshop on Medical Imaging and Augmented Reality (MIAR’08), pp.311-319, 2008.
012. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie,” Validation of Viscoelastic and Nonlinear Liver Model for Needle Insertion from in Vivo Experiments”, The 4th International Workshop on Medical Imaging and Augmented Reality (MIAR’08), pp.50-59, 2008.
011. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Deformation Simulation using a Viscoelastic and Nonlinear Organ Model for Control of a Needle Insertion Manipulator”, in Proceedings of 2007 IEEE International Conference on Intelligent Robots and Systems (IROS’07), pp1801-1808, 2007
010. Kazuya Kawamura, Yo Kobayashi and Masakatsu G. Fujie, “Real-time Simulation for Intra-operative navigation in Robotic Surgery –Using a mass spring system for a basic study of organ deformation”, in Proceeding of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’07), pp1237-1241, 2007
009. Takeharu Hoshi, Yo Kobayashi, Kazuya Kawamura and Masakatsu G. Fujie, “Developing an Intraoperative Methodology Using the Finite Element Method and the Extended Kalman Filter to Identify the Material Parameters of an Organ Model”, in Proceeding of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’07), pp469-474, 2007
008. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Viscoelastic and Nonlinear Organ Model for Control of Needle Insertion Manipulator”, in Proceeding of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’07), pp1242-1248, 2007
007. Kazutaka Toyoda, Takeshi Umeda , Mitsuhiro Oura , Yoriko Iwamori , Kazuya Kawamura , Yo Kobayashi, Haruna Okayasu , Jun Okamoto , Masakatsu G. Fujie, “Development of surgical robot system with heartbeat canceller for endoscopic off-pump coronary artery bypass”, in Proceeding of Computer Assisted Radiology and Surgery 2007 (CARS’07), pp241-24, 2007
006. Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Control Method for Surgical Robot to Prevent Overload at Vulnerable Tissue ”, in Proceeding of 2007 IEEE International Conference on Robotics and Automation (ICRA’07), pp.1893-1899, 2007
005. Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Development of Real-time Simulation for Workload Quantification in Robotic Tele-surgery”, in Proceeding of 2006 IEEE International Conference on Robotics and Biomimetics (Robio’06), pp.1420-1425, 2006
004. Mitsuhiro Oura, Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie,” Development of MRI Compatible Versatile Manipulator for Minimally Invasive Surgery”, Proceedings of 2006 IEEE Biomedical Robotics and Biomechatronics (BioRob’06), pp.176-181, 2006
003. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Position Control of Needle Tip with Force Feedback and Liver Model”,in Proceedings of Computer Assisted Radiology and Surgery 2005 (CARS’05) , pp.719-724, 2005
002. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Physical Properties of the Liver and the Development of an Intelligent Manipulator for Needle Insertion”, in Proceedings of 2005 IEEE International Conference on Robotics and Automation (ICRA’05), pp.1644-1651, 2005
001. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Physical Properties of the Liver for Needle Insertion Control”, in Proceedings of 2004 IEEE International Conference on Intelligent Robots and Systems (IROS’04), pp.2960-2966, 2004