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Portfolio item number 1

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Design and control of a heavy-load, low-cost power-assisted cart using brakes and a differential gear system

Y. Wakabayashi¹, A. Seino¹, J. Kinugawa¹, K. Kosuge¹

1. School of Engineering, Tohoku University, Sendai, Miyagi, 980-8579, Japan

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (2017) 4 - 9

DOI: 10.1109/AIM.2017.8013986

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Control method of power-assisted cart with one motor, a differential gear, and brakes based on motion state of the cart

A. Seino¹, Y. Wakabayashi¹, J. Kinugawa¹, K. Kosuge¹

1. School of Engineering, Tohoku University, Sendai, Miyagi, 980-8579, Japan

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017) 2829-2834

DOI: 10.1109/IROS.2017.8206114

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Design and evaluation of a handle mechanism for a power-assisted cart with one motor, brakes and a differential gear

A. Seino¹, Y. Wakabayashi¹, J. Kinugawa¹, K. Kosuge¹

1. School of Engineering, Tohoku University, Sendai, Miyagi, 980-8579, Japan

2017 IEEE International Conference on Cyborg and Bionic Systems (CBS) (2017) 273-276

DOI: 10.1109/CBS.2017.8266114.

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Wheelchair lift which is installable both of steps and stairs

A. Seino¹, J. Kinugawa¹, Y. Wakabayashi², S. Itami³, B. Thanapat⁴, K. Kosuge¹

1. School of Engineering, Tohoku University, Sendai, Miyagi, 980-8579, Japan
2. Department of Control Engineering, National Institute of Technology, Maizuru College, Maizuru, Kyoto, 625-8511, Japan
3. Denso Corp., Kariya, Aichi, 448-8661, Japan
4. EASY BUY Public Co., Ltd., Bangkok, Thailand

Transaction on JSME (in Japanese) 874 (2019) 19-00063

DOI: 10.1299/transjsme.19-00063

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A Spring-Embedded Planetary-Geared Parallel Elastic Actuator

R. Chaichaowarat¹, J. Kinugawa¹, A. Seino¹, K. Kosuge¹

1. School of Engineering, Tohoku University, Sendai, Miyagi, 980-8579, Japan

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2020) 952-959

DOI: 10.1109/AIM43001.2020.9158998

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Long-Reach Compact Robotic Arm with LMPA Joints for Monitoring of Reactor Interior

A. Seino¹, N. Seto¹, L. Canete², T. Takahashi¹

1. Faculty of Symbiotic Systems Science, Fukushima University, Fukushima, Fukushima, 960-1296, Japan
2. University of San Carlos, Cebu, Philippines

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2020) 6384-6389

DOI: 10.1109/IROS45743.2020.9341567

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Non-Contact Temperature Sensing Using Resonance Frequency for the Robotic Arm with LMPA Joints

A. Seino¹, N. Seto¹, T. Takahashi¹

1. Faculty of Symbiotic Systems Science, Fukushima University, Fukushima, Fukushima, 960-1296, Japan

2021 IEEE/SICE International Symposium on System Integration (SII) (2021) 6017 - 6024

DOI: 10.1109/IEEECONF49454.2021.9382635

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Multiple Objects Detection Using an Airborne Ultrasonic Phased Array with MUSIC Method

S. Uehara¹, A. Seino¹, T. Takahashi¹

1. Faculty of Symbiotic Systems Science, Fukushima University, Fukushima, Fukushima, 960-1296, Japan

2021 IEEE/SICE International Symposium on System Integration (SII) (2021) 821-822

DOI: 10.1109/IEEECONF49454.2021.9382720

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Robot End-effector for Fabric Folding

A. Seino^{1, 2}, J. Terayama³, F. Tokuda^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 4}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. School of Engineering, Tohoku University, 6-6-01 Aobra Aramaki, Aoba-ku, Sendai, Miyagi, 980-8579, Japan
4. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

TechRxiv (2022)

DOI: 10.36227/techrxiv.21283725.v2

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CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts

F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

TechRxiv (2022)

DOI: 10.36227/techrxiv.21277191.v2

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CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts

F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2023 IEEE International Conference on Robotics and Automation (ICRA) (2023)

DOI: 10.1109/ICRA48891.2023.10160635

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Robot End-effector for Fabric Folding

A. Seino^{1, 2}, J. Terayama³, F. Tokuda^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 4}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. School of Engineering, Tohoku University, 6-6-01 Aobra Aramaki, Aoba-ku, Sendai, Miyagi, 980-8579, Japan
4. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2023)

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Time-Scaling Modeling and Control of Robotic Sewing System

K. Tang^{1, 3},F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, N. C. Tien^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

IEEE/ASME Transactions on Mechatronics (T-Mech) 4 (2024)

DOI: 10.1109/TMECH.2024.3398713

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Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System

F. Tokuda^{1, 2}, R. Murakami³, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, M. Hayashibe³, K. Kosuge^{1, 2, 4}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan
4. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

IEEE Transactions on Automation Science and Engineering (T-ASE) (2024) 7927-7940

DOI: 10.1109/TASE.2024.3474914

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Passive Actuator-Less Gripper for Pick-and-Place of a Piece of Fabric

A. Seino^{1, 2}, F. Tokuda^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

IEEE/ASME Transactions on Mechatronics (T-Mech) (2025)

DOI: 10.1109/TMECH.2025.3543557

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SIS: Seam-Informed Strategy for T-Shirt Unfolding

X. Huang^{1, 3}, A. Seino^{1, 2}, F. Tokuda^{1, 2}, A. Kobayashi^{1, 2}, D. Chen ⁴, Y. Hirata ⁴, N. C. Tien^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR
4. Department of Robotics, Graduate School of Engineering, Tohoku University, Japan

IEEE Robotics and Automation Letters (RA-L) 7 (2025) 7342 - 7349

DOI: 10.1109/LRA.2025.3574966

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Fabric Manipulation Using Rubbing Motion for Local Edge Alignment

I. Yokota¹ , A. Seino^{2, 3}, F. Tokuda^{2, 3}, A. Kobayashi^{2, 3}, M. Hayashibe¹ , K. Kosuge^{2, 3, 4}

1. School of Engineering, Tohoku University, 6-6-01 Aobra Aramaki, Aoba-ku, Sendai, Miyagi, 980-8579, Japan
2. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
3. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
4. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2025)

DOI: 10.1109/AIM64088.2025.11175901

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Fixture-Free Automated Sewing System Using Dual-Arm Manipulator and High-Speed Fabric Edge Detection

K. Tang^{1, 3}, X. Huang^{1, 3}, A. Seino^{1, 2}, F. Tokuda^{1, 2}, A. Kobayashi^{1, 2}, N. C. Tien^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

IEEE Robotics and Automation Letters (RA-L) 9 (2025) 8962 - 8969

DOI: 110.1109/LRA.2025.3592145

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PALGRIP-Twin for Handling a Piece of Fabric

A. Seino^{1, 2}, F. Tokuda^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE International Conference on Mechatronics and Automation (ICMA) (2025)

DOI: 10.1109/ICMA65362.2025.11120740

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Robotic Sewing System for Fully Automated Fabric Picking, Stacking, Loading, Sewing, and Unloading

F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE International Conference on Mechatronics and Automation (ICMA) (2025)

DOI: 10.1109/ICMA65362.2025.11120842

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Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks

W. Dong^{1, 3}, D. Bhattacharya^{1, 2}, A. Kobayashi^{1, 2}, A. Seino^{1, 2}, F. Tokuda^{1, 2}, X. Huang^{1, 3}, K. Tang^{1, 3}, N. C. Tien^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE International Conference on Mechatronics and Automation (ICMA) (2025)

DOI: 10.1109/ICMA65362.2025.11120697

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Fabric Flattening and Alignment System Using Real-Time Mesh-Based State Estimation and Visual Servoing

E. Lo^{1, 2}, X. Huang^{1, 3}, K. Tang^{1, 3}, A. Seino^{1, 2}, F. Tokuda^{1, 2},, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE International Conference on Mechatronics and Automation (ICMA) (2025)

DOI: 10.1109/ICMA65362.2025.11120640

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Modeling of Dynamic Fabric Motion Using Multiple Oriented Bounding Boxes

L. Li^{1, 3}, F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, N. C. Tien^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE International Conference on Mechatronics and Automation (ICMA) (2025)

DOI: 10.1109/ICMA65362.2025.11120544

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Partial Fabric Flattening for Seam Line Region Using Dual-Arm Manipulation

Y. Ma¹, F. Tokuda^{2, 3}, A. Seino^{2, 3}, A. Kobayashi^{2, 3}, M. Hayashibe¹, B. Jin^{2, 4}, K. Kosuge^{2, 3, 4}

1. School of Engineering, Tohoku University, 6-6-01 Aobra Aramaki, Aoba-ku, Sendai, Miyagi, 980-8579, Japan
2. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
3. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
4. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

2025 IEEE International Conference on Mechatronics and Automation (ICMA) (2025)

DOI: 10.1109/ICMA65362.2025.11120540

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Fabric Dynamic Motion Modeling and Collision Avoidance With Oriented Bounding Box

L. Li^{1, 3}, F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, N. C. Tien^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

IEEE Robotics and Automation Letters (RA-L) 9 (2025) 9542 - 9549

DOI: 10.1109/LRA.2025.3595026

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RollUP: Rolling-Up End-Effector for Fabric Handling

A. Kobayashi^{1, 2}, W. Dong^{1, 3}, A. Seino^{1, 2}, F. Tokuda^{1, 2}, K. Kosuge^{1, 2, 3}

1. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
2. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
3. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

IEEE Robotics and Automation Letters (RA-L) 9 (2025) 8962 - 8969

DOI: 110.1109/LRA.2025.3609086

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Fabric Flattening with Dual-Arm Manipulator via Hybrid Imitation and Reinforcement Learning

Y. Ma¹, F. Tokuda^{2, 3}, A. Seino^{2, 3}, A. Kobayashi^{2, 3}, M. Hayashibe¹, B. Jin^{2, 4}, K. Kosuge^{2, 3, 4}

1. School of Engineering, Tohoku University, 6-6-01 Aobra Aramaki, Aoba-ku, Sendai, Miyagi, 980-8579, Japan
2. Centre for Transformative Garment Production, Unites 1215 to 1220, 12/F, Building 19W, SPX1, Hong Kong Schience Park, Pak Shek Kok, N. T., Hong Kong SAR
3. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong SAR
4. Director of the JC STEM Lab of Robotics forSoft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR

Machines 10 (2025)

DOI: 10.3390/machines131

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Destacking of Fabric Part

Published: December 12, 2024

Destacking System of Fabric Part

Published: January 21, 2025

Destacking of Fabric Parts Using Passive Actuator-Less Gripper (PALGRIP)

Published: August 03, 2025

Fabric Handling with Passive Actuator Less Grippers

Published: August 10, 2025

CAD/CAM Exercise

Undergraduate course, Fuculty of Symbiotic Systems Science, Fukushima University, 2019 - 2021