Publications

Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator

F. Tokuda^{1, 2}, A. Seino^{1, 2}, A. Kobayashi^{1, 2}, T. Kai^{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) 2 (2025) 1522 - 1529

DOI: 110.1109/LRA.2025.3643335

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Automated Straight-Line Sewing of Stretchable Fabrics With Different Lengths

B. Jin^{1, 2}, A. Kobayashi^{1, 2}, D. Bhattacharya^{1, 3}, A. Seino^{1, 2}, F. Tokuda^{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) 11 (2025) 12165 - 12172

DOI: 110.1109/LRA.2025.3619791

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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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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 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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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 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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