Nagase Lab. Robotics LaboratoryMechanical Engineering and Robotics Course, Ryukoku University
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査読付き学術論文 -Refereed Paper-
  1. 永瀬純也, 海野耀，"円筒状湾曲型クローラのステアリング機構の開発"，日本機械学会論文集，Vol.89, No.922, DOI: 10.1299/transjsme.23-00079，2023．
  2. Toshiyuki Satoh, Shun Nishizawa, Jun-ya Nagase, Naoki Saito, Norihiko Saga, "Artificial bee colony algorithm-based design of discrete-time stable unknown input estimator", Information Sciences, Volume 634, Pages 621-649, 2023
  3. Norihiko Saga, Kunio Shimada, Douhaku Inamori, Naoki Saito, Toshiyuki Satoh and Jun-ya Nagase, "Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle", Sensors, 22(22), 8975, 2022.
  4. Jun-ya Nagase, Sungna Yang, Toshiyuki Satoh, Norihiko Saga, "Asymptotically Stable Single-legged Passive Dynamic Hopping", IEEJ Transactions on Electrical and Electronic Engineering, Vol. 17, No. 8, pp.1234-1236, DOI:10.1002/tee.23615, 2022.
  5. Norihiko Saga, Reina Umeki, Naoki Saito, Jun-ya Nagase, Toshiyuki Satoh, "Development of a Meal Support Device for Functional Recovery Using EMG Signals", IEEE Access, Vol.8, pp.79586-79593, 2020
  6. Jun-ya Nagase, Fumika Fukunaga, Keiji Ogawa, Norihiko Saga, "Funicular Flexible Crawler for Colonoscopy", IEEE Transactions on Medical Robotics and Bionics, Vol.1, No.1, pp.22-29, 2019.[論文pdf]
  7. Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase, Norihiko Saga, "Predictive functional control of an axis positioning system with an estimator-based internal model", Control Engineering Practice, 2019.
  8. Jun-ya Nagase, Fumika Fukunaga, Kan Ishida, Norihiko Saga, "Steering System of Cylindrical Elastic Crawler Robot", IEEJ Transactions on Electrical and Electronics Engineering, Vol.7, No.5, pp.441-442, 2018.
  9. 嵯峨 宣彦, 手銭 聡, 佐藤 俊之, 永瀬 純也, 遠藤 匠，"ミミズの筋構造を模した蠕動運動型ロボットの開発，日本機械学会論文集"，Vol.84, No.861, pp.1-14, 2018.
  10. 佐藤俊之, 永瀬純也, 嵯峨宣彦, 齋藤直樹, "零位相誤差追従コントローラを用いた外乱オブザーバ併用型 Predictive Functional Control 制御系の追従性能改善", 日本機械学会論文集, Vol.83, No.853, 2017.
  11. Jun-ya Nagase, Kazuki Hamada, Toshiyuki Satoh and Norihiko Saga, "Model Predictive Control for Tendon-driven Balloon Actuator on Simulation", IEEJ Transactions on Electrical and Electronics Engineering, Volume 11, Issue S1, Pages S180-S182, 2016.
  12. Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norohiko Saga, "Predictive Functional Control Using State Estimator-Based Internal Model for Ramp Disturbance Rejection", International Journal of Automation and Control, Volume 10, No. 3, pp. 267-285, 2016.
  13. 永瀬純也, 濱田一貴, 佐藤俊之, 嵯峨宣彦, "バルーン型腱駆動アクチュエータを用いた手指ピンチ動作リハビリテーションデバイスの設計", 設計工学, Vol.51, No.1, pp.41-50, 2016.
  14. Norihiko Saga, Satoshi Tesen, Toshiyuki Sato, Jun-ya Nagase, "Acquisition of earthworm-like movement patterns of many-segmented peristaltic crawling robots", International Journal of Advanced Robotic Systems, Sage Publication, doi/10.1177/1729881416657740, 2016.
  15. Jun-ya Nagase, Kazuki Hamada, Toshiyuki Satoh and Norihiko Saga, "Model Predictive Control for Tendon-Driven Balloon Actuator under Constraints on Simulation", Applied Mechanics and Materials, Vols.789-790, pp.613-618, 2015.
  16. Yusuke Hashimoto, Toshiyuki Sato, Jun-ya Nagase, Norihiko Saga, "Predictive Functional Control for a Pneumatic Cylinder", Applied Mechanics and Materials, Vols.789-790, pp.932-938, 2015.
  17. Toshiyuki Satoh, Hiroki Hara, Taishi Sogawa, Naoki Saito, Jun-ya Nagase and Norihiko Saga, "Predictive Functional Control of a Table Drive System Using Disturbance Observer and Preview Feedforward Controller", Applied Mechanics and Materials, Vols.789-790, pp.993-1002, 2015.
  18. 佐藤俊之, 阿部梨恵, 齋藤直樹, 永瀬純也, 嵯峨宣彦, "外乱オブザーバ併用型モデル予測制御による２リンク・マニピュレータの制御", 日本機械学会論文集, Vol.81, No.827, pp.1-17, 2015.
  19. Yusuke Hashimoto, Toshiyuki Satoh, Jun-ya Nagase and Norihiko Saga, "Comparison Between PFC and PID Control Systems for a Pneumatic Cylinder", IEEJ Transactions on Electrical and Electronics Engineering, Vol.10, pp.605-607, 2015.
  20. 永瀬 純也, 重本 佳孝, "管内走行を目的とした円筒状湾曲型弾性クローラの開発", 日本ロボット学会誌, Vol.33, No.1, pp.55-62, 2015.
  21. Jun-ya Nagase, Koichi Suzumori and Norihiko Saga, "Development of ameba-inspired crawler mechanism using worm gear", International Journal of Biomechatronics and Biomedical Robotics, Vol.3, No.2, pp.92-99, 2014.
  22. Norihiko Saga, Satoshi Tesen, Hiroki Dobashi and Jun-ya Nagase, "Design of a Peristaltic Crawling Robot Using 3-D Link mechanisms", International Journal of Biomechatronics and Biomedical Robotics, Vol.2, No.2-4, pp.118-123, 2014.
  23. Toshiyuki Satoh, Hiroki Hara, Naoki Saito, Jun-ya Nagase, Norihiko Saga, "Disturbance Observer-Based Predictive Functional Critical Control of a Table Drive System", International Journal of Computer, Information, Systems and Control Engineering, Vol.7, No.12, pp.972-977, 2013.
  24. Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori, "Predictive Functional Control with Disturbance Observer for Tendon-driven Balloon Actuator", International Journal of Computer, Information Science and Engineering, Vol.7, No.12, pp.627-632, 2013.
  25. 佐藤 俊之, 原 裕樹, 永瀬 純也, 齋藤 直樹, 嵯峨 宣彦, "ランプ状外乱抑圧のための状態推定器に基づくPredictive Functional Control制御系の設計", 日本機械学会論文集(C編),Vol.79, No.808, pp.4890-4900, 2013.
  26. Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga and KoichiSuzumori, "Predictive Functional Control of Tendon-driven Actuator using Pneumatic Balloon", Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol. 7, No. 4, pp.752-762, 2013
  27. Jun-ya NAGASE, Koichi SUZUMORI, Norihiko SAGA, "Development of Worm-Rack Driven Cylindrical Crawler Unit", Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol. 7 No. 3, pp.422-431, 2013.
  28. 永瀬 純也, 佐藤 俊之, 脇元 修一, 嵯峨 宣彦, 鈴森 康一, "柔軟ゴムデバイスを用いた空気圧剛性可変フィンガの予測機能制御", 計測自動制御学会論文集, Vol.48, No.8, pp.470-478, 2012.
  29. 永瀬 純也, 佐藤 俊之, 嵯峨 宣彦, 鈴森 康一, "空気圧バルーン型腱駆動アクチュエータのモデル予測制御", 日本フルードパワーシステム学会論文集, Vol.43, No.2, pp.30-38, 2012.
  30. Jun-ya NAGASE, Norihiko SAGA, Toshiyuki SATOH, Koichi SUZUMORI, "Development and Control of a Multi-Fingered Robotic Hand Using a Pneumatic Tendon-driven Actuator", Journal of Intelligent Material Systems and Structures, Vol.23, No.3, pp.339-346, 2012.
  31. 永瀬純也, 脇元修一, 嵯峨宣彦, 鈴森康一, "空気圧剛性可変フィンガを有するバルーン型腱駆動ロボットハンドの開発", 設計工学, Vol.46, No.9, pp.41-47, 2011.
  32. Jun-ya Nagase, Shuichi Wakimoto, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori, "Design of variable-stiffness robotic hand using pneumatic soft rubber actuators", Smart Materials and Structures, Vol.20, No.10, 105015(pp.1-9),doi:10.1088/0964-1726/20/10/105015, 2011
  33. Norihiko SAGA, Naoki SAITO and Jun-ya NAGASE, "Ankle Rehabilitation Device to Prevent Contracture Using a Pneumatic Balloon Actuator", Int. J. of Automation Technology, Vol.5, No.4, pp.538-543, 2011.
  34. Jun-ya NAGASE, Norihiko SAGA, "Two Tendon Driven Systems Using Pneumatic Balloons", Advanced Robotics, Vol. 25, No. 9-10, pp.1349-1361, 2011.
  35. 永瀬 純也, 嵯峨 宣彦, "空気圧バルーンを用いた腱駆動ロボットハンドの開発", 計測自動制御学会産業論文集, Vol.9, No.11, pp.76-83, 2010.
  36. 齊藤 直樹, 嵯峨 宣彦, 永瀬 純也, "空気圧バルーン型腱駆動システムの腱配置と出力特性変化に関する考察", 日本機械学会論文集(C編), Vol.74, No.743, pp.1804-1809, 2008.
  37. Norihiko SAGA, Jun-ya NAGASE, Takashi SAIKAWA, "Pneumatic artificial muscles based on biomechanical characteristics of human muscles", Applied Bionics and Biomechanics, Vol.3 No.3, pp.191-197, 2006.
  38. Norihiko SAGA, Jun-ya NAGASE, Yasumasa KONDO, "Development of a Tendon-Driven System Using a Pneumatic Balloon", Journal of Robotics and Mechatronics, Vol.18 No.2, pp.139-145, 2006.
  39. 嵯峨 宣彦, 永瀬 純也, "自動車用ブラシレス型発電機の電磁騒音に関する検討", 日本AEM学会誌. Vol.13, No.2, pp. 177-182, 2005.
査読付き国際会議プロシーディングス -Proceedings of International Conference-
  1. Shun Nishizawa, Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase, Norihiko Saga, "Design of ABC algorithm-based Unknown-Input Estimator considering stability of initial colony.",IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, DOI: 10.1109/IECON48115.2021.9589626, 2021.
  2. Toshiyuki Satoh, Shun Nishizawa, Naoki Saito, Jun-ya Nagase, Norihiko Saga, "Design of Unknown Input Estimator with Artificial Bee Colony Algorithm.", IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, DOI: 10.1109/IECON43393.2020.9255230, 2020.
  3. Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase, Norihiko Saga, "Performance Enhancement of Predictive Functional Control Using Disturbance Observer and Zero Phase Error Tracking Controller.", 15th International Conference on Control, Automation, Robotics and Vision (ICARCV),DOI: 10.1109/ICARCV.2018.8581128, 2018
  4. Jun-ya Nagase, Fumika Fukunaga and Keiji Ogawa,"Development of a Funicular Flexible Crawler for Colonoscopy", 2018 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede(Netherlands), pp.859-864, 2018.
  5. Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norihiko Saga, "An application of predictive functional control with a state observer-type internal model", Proc. of 2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), pp.1-6, 2017
  6. Jun-ya Nagase and Fumika Fukunaga, "Development of a novel crawler mechanism for pipe inspection", 42nd Annual Conference of the IEEE Industrial Electronics Society , IECON 2016, Firenze(Italy), pp. 5873- 5878, 2016.
  7. Fumika Fukunaga and Jun-ya Nagase, "Cylindrical elastic crawler mechanism for pipe inspection inspired by amoeba locomotion", 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pp.424-429, 2016.
  8. Jun-ya Nagase and Fumika Fukunaga, "Development of cylindrical elastic crawler for 25A pipe inspection", 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2016), Paris(France), pp.1-3, 2016.
  9. Jun-ya Nagase and Fumika Fukunaga, "Cylindrical Crawler Mechanism for Colonoscopy", 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC), Orland(USA), 2016.
  10. Jun-ya Nagase, Fumika Fukunaga and Yoshitaka Shigemoto,"Cylindrical Elastic Crawler Mechanism for Pipe Inspection", Proc. of The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines(Clawar), pp.304-311, 2016.
  11. Yusuke Hashimoto，Norihiko Saga，Jun-Ya Nagase，Toshiyuki Satoh, "Development and Control of Support Function for Upper Limb Support Device",Proc. of the 2016 IEEE International Conference on Industrial Technology (ICIT), pp.1566-1571, 2016.
  12. Toshiyuki Satoh, Tatsuya Omori, Naoki Saito, Jun-ya Nagase and Norihiko Saga, "Model predictive control for mechatronics: A disturbance observer approach", Proc. of 42nd Annual Conference of the IEEE Industrial Electronics Society (IECON), pp.209-214, 2016.
  13. Van Anh Ho, Hideyasu Yamashita, Koji Shibuya, Zhongkui Wang, Shinichi Hirai, Junya Nagase and Kazuyoshi Tsutsumi, "Function-selectable tactile sensing system with morphological change", Proc. of 2016 IEEE/SICE International Symposium on System Integration (SII), pp. 415-420, 2016.
  14. Yusuke Hashimoto, Yasutaka Nakanishi, Norihiko Saga, Jun-Ya Nagase and Toshiyuki Satoh, "Development of Gait Assistive Device Using Pneumatic Artificial Muscle", Proc. of 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems (SCIS) and 17th International Symposium on Advanced Intelligent Systems (ISIS), pp.710-713, 2016.
  15. Hiroki Hara, Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norihiko Saga, "Disturbance Observer-Based Predictive Functional Control Using Zero Phase Error Tracking Controller", Proceedings of World Congress on Industrial Control Systems Security(WCICSS 2015), London, UK, pp. 19-20, 2015.
  16. Rie Abe, Toshiyuki Satoh, Naoki Saito, Jun-ya Nagase and Norihiko Saga, "Disturbance Observer-Based Model Predictive Control Using Time-Varying Constraints", Proceedings of World Congress on Industrial Control Systems Security(WCICSS 2015), London, UK, pp. 26-27, 2015.
  17. Toshiyuki Satoh, Rie Abe, Naoki Saito, Jun-ya Nagase and Norihiko Saga, "Model Predictive Control for Mechatronic Systems Based on Disturbance Observer and Time-Variant Input Constraints", Proc. of the 14th Mechatronics Forum International Conference(Mechatronics2014), Karlstad(Sweden), pp. 255-262, 2014.
  18. Norihiko Saga, Yu Kinoshita, Jun-ya Nagase and Toshiyuki Satoh, "Basic Experiments on Four-Flapping-Wing Type Robot", Proc. of the 14th Mechatronics Forum International Conference(Mechatronics2014), Karlstad(Sweden), pp. 354-360, 2014.
  19. Jun-ya Nagase, Kazuki Hamada, Takumi Ikeda, Toshiyuki Satoh and Norihiko Saga, "Design of Finger Rehabilitation Device for Pinching Motions using Pneumatic Actuator", Proc. of the 14th Mechatronics Forum International Conference(Mechatronics2014), Karlstad(Sweden), pp. 326-331, 2014.
  20. Jun-ya Nagase, Kazuki Hamada, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori, "Comparison between PFC and PID Control System for Tendon-driven Balloon Actuator", Proc. of the 39th Annual Conference of the IEEE Industrial Electronics Society(IECON2013), Vienna(Austlia), pp. 3396-3341, 2013.
  21. Toshiyuki Satoh, Hiroki Hara, Naoki Saito, Jun-ya Nagase, Norihiko Saga, "Disturbance Observer-Based Predictive Functional Critical Control of a Table Drive System", Proc. of The 34th International Conference on Automation and Mechatronics(ICAM2013), Melbourne(Australia), pp.1388-1393, 2013.
  22. Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga and Koichi Suzumori, "Predictive Functional Control with Disturbance Observer for Tendon-driven Balloon Actuator", Proc. of The 34th International Conference on Automation and Mechatronics(ICAM2013), Melbourne(Australia), pp.1364-1368, 2013.
  23. Hikaru Nozari, Satoshi Tesen, Norihiko Saga, Jun-ya Nagase and Hiroki Dobashi, "New design of peristaltic crawling robot with an earthworm muscular structure", Proc. of 16th International Conference on Climbing and Walking Robots(CLAWAR2013), Sydney(Australia),pp.392-398, 2013.
  24. Jun-ya Nagase, Koichi Suzumori and Norihiko Saga, "Development of Worm-rack Driven Cylindrical Crawler Unit", Proc. of 16th International Conference on Climbing and Walking Robots(CLAWAR2013), Sydney(Australia), pp.327-334, 2013.
  25. Maiki Kitagawa, Norihiko Saga, Hiroyuki Nakamoto and Jun-ya Nagase, "Arm-Rest Supporting System for Assisting Activities of Daily Life", Proc. of 35th Annual International IEEE EMBS Conference, Osaka(Japan), pp.3060_FI, 2013.
  26. Jun-ya Nagase, Koichi Suzumori and Norihiko Saga, "Cylindrical Crawler Unit based on Worm Rack Mechanism for Rescue Robot", Proc. of 19th International Conference on Mechatronics and Machine Vision in Practice(M2VIP), Auckland(New Zealand), pp.235-238, 2012.
  27. Satoshi Tesen, Norihiko Saga, Hiroki Dobashi and Jun-ya Nagase, "Design of a Three Dimensional Running Peristaltic Crawling Robot", Proc. of 19th International Conference on Mechatronics and Machine Vision in Practice(M2VIP), Auckland(New Zealand), pp.473-476, 2012.
  28. Satoshi Tesen, Hiroki Dobashi, Norihiko Saga and Jun-ya Nagase, "Acquisition of a Peristaltic Crawling Robot’s Motion Pattern Using Reinforcement Learning", Proc. of The 6th International Conference on Soft Computing and Intelligent Systems,and The 13th International Symposium on Advanced Intelligent Systems(SCIS-ISIS), Kobe(Japan), pp.1462-1466, 2012.
  29. Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori, "Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator", Proc. of The 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control(Romansy2012), Paris(France), paper no.6, pp.1-8, 2012.
  30. Satoshi Tesen, Norihiko Saga, Toshiyuki Satoh, Jun-ya Nagase, "Peristaltic Crawling Robot for Running on Ground, in the Pipe Plumbing", Proc. of The 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (Romansy2012), Paris(France), paper no.5, pp.1-8, 2012.
  31. Jun-ya Nagase, Toshiyuki Satoh, Shuichi Wakimoto, Norihiko Saga, Koichi Suzumori, "Predictive functional control of a finger using a pneumatic tendon-driven actuator", Proc. of International Bionic Engineering Conference(BION2011), Boston(USA), P36, 2011.
  32. Kyohei Oki, Hiroyuki Nakamoto, Norihiko Saga, Jun-ya Nagase, "Development of Rehabilitation Support System Having Restoration of an Upper Limb Using a Pneumatic Cylinder", Proc. of International Bionic Engineering Conference(BION2011), Boston(USA), P28, 2011.
  33. Naoki Sugahara, Norihiko Saga, Jun-ya Nagase, "Development of the ankle joint contracture prevention device using a pneumatic cylinder", Proc. of International Bionic Engineering Conference(BION2011), Boston(USA), P33, 2011.
  34. Jun-ya NAGASE, Norihiko SAGA, Naoki SAITO, "Development of a Tendon Driven Robot Hand Using Pneumatic Balloons", Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB2010), Venice(Italy), (pp.1-6), 2010.
  35. Kyohei OKI, Norihiko SAGA and Jun-ya NAGASE, "Smart Actuator Using a Pneumatic Artificial Muscle and a Strain Gage type Bend Sensor", Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB2010), Venice(Italy), (pp.1-5), 2010.
  36. Jun-ya NAGASE, Norihiko SAGA, "Design of Tendon Driven Robot hand Using Pneumatic Balloon actuators", Proceedings of World Automation Congress (WAC2010),ISORA Track, Kobe(Japan), Paper No.262, (pp.1-6), 2010
  37. Norihiko SAGA, Jun-ya NAGASE, "Development of Two Types of Tendon Driven System Using a Pneumatic Balloon for Robot Hand", Proceedings of 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio, Osaka(Japan), 2009.
  38. Rika SATO, Jun-ya NAGASE, Norihiko SAGA, and Seiji CHONAN, "Development of a tendon driven system using a pneumatic balloon", Proc. Smart Structure and Materials 2006, SPIE, San Diego (USA), Vol.6414 ,pp.64141Y_1-8, 2006.
  39. Norihiko SAGA, Jun-ya NAGASE, "Development of a Tendon Driven System Using a Pneumatic Balloon", Proceedings of IEEE International Conference of Mechatronics & Automation (ICMA2005), Toront(Canada), pp.1087-1092, 2005.
  40. Norihiko SAGA, Jun-ya NAGASE, "Study on Electro-Magnetic Noise of Brushless Alternator for Hybrid Electric Vehicles", Proceedings of The 2nd International Conference on Mechatronics and Information Technology (ICMIT2003), Jecheon(Korea), pp.565-570, 2003.
国内講演発表 -Proceedings of Domestic Conference-
under construction...
解説記事 -Commentary article-
  1. 永瀬 純也，"受動跳躍"，日本ロボット学会誌 Vol.41, No.2，pp.144-148，2023
  2. 永瀬 純也，"索状フレキシブルクローラ"，日本ロボット学会誌, Vol.40, No.4, p.300-303, 2022
  3. 永瀬 純也，"シンプルなクローラ機構の設計"，設計工学, Vol.52, No.10, pp.595-600，2017
取得特許 -Patent-
  1. 永瀬純也, クローラ型ロボット及びそれを連結した走行ロボット連結体, 特許第6109643号
受賞 -Award-
  1. 2018年8月：国際会議IEEE BioRob2018 "Best Paper Award"受賞
  2. 2016年9月：日本ロボット学会研究奨励賞
  3. 2016年6月：国際会議IEEE BioRob2016 "Finalist Best Conference Paper Award"受賞
  4. 2015年3月：国際会議ICRMM2015 "Excellent Paper Award"受賞
  5. 2013年11月：ネイチャー・インダストリー・アワード　日刊工業新聞社賞
  6. 2013年6月：公益財団法人 油空圧機器技術振興財団 学術論文顕彰
  7. 2006年3月：日本機械学会三浦賞
外部資金 -Grant-
-研究助成 (代表分)
  1. 平成29年度-31年度 科学研究費補助金「基盤研究（C)」， 課題番号:17K01429, 課題名：「医師の技量に依存しないクローラ型自走式大腸内視鏡デバイスの開発」（代表）
  2. 平成28年度 公益財団法人JKA RING!RING!プロジェクト「1インチの細管内走行を目的とした新しいクローラ型移動機構の開発補助事業」（代表）．
  3. 平成26-28年度 文部科学省 科学研究費「若手研究(B)」, 課題番号:26750172, 課題名:「アメーバの推進原理にヒントを得た自走式大腸内視鏡デバイスの開発」(代表).
  4. 公益財団法人　立石科学技術振興財団, 研究助成, 2014, 「運動学習に基づく脳機能再建を目指した手指リハビリデバイスの開発」(代表).
  5. 公益財団法人　高橋産業経済研究財団, 研究助成, 2013, 「高い推進力と柔軟性を有する自走式大腸内視鏡ロボットの開発」(代表).
  6. 平成23-25年度 文部科学省 科学研究費「若手研究(B)」, 課題番号:23760246, 課題名:「空気圧剛性可変フィンガを有するバルーン駆動型ロボットハンドの開発」(代表).
  7. 財団法人　一樹工業技術奨励会, 研究助成, 2011,「空気圧バルーンを用いた腱駆動ロボット」(代表).
-海外渡航助成
  1. 財団法人 御器谷科学技術財団, 国際交流助成, 2011. International Bionic Engineering Conference 2011に参加・発表.
  2. 財団法人 三豊科学技術振興協会, 国際交流助成, 2010, 1st International Conference on Applied Bionics and Biomechanicsに参加・発表.
  3. 財団法人 本荘由利産業科学技術振興財団, 国際学会参加助成, 2005, The 2005 IEEE International Conference on Mechatronics and Automationに参加・発表.
-出版助成
  1. 公益財団法人中部電気利用基礎研究振興財団, 出版助成, ,2010, "Two Tendon Driven Systems Using Pneumatic Balloons", Advanced Robotics, Vol. 25, No. 9-10, 2011.
新聞報道 -Press-
  1. 日刊工業新聞(2013年12月19日付)「ネイチャー・インダストリー・アワード　日刊工業新聞社賞　受賞記事(クローラロボットの研究)」
  2. 建通新聞(2013年3月8日付)「管路などを走行できる円筒形クローラロボット」
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