Profile photo of Kenta Yokoe

Kenta Yokoe

横江 健太
Ph.D. (Engineering)
Assistant Professor
Cyber Robotics Laboratory
Department of Mechanical Systems Engineering
Graduate School of Engineering, Nagoya University
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Research

Immersive Micromanipulation System
Immersive Micromanipulation System
Postural Guidance in Immersive Environments Using Wearable Haptic Device
Postural Guidance in Immersive Environments Using Wearable Haptic Device
Hand Positional Guidance in Immersive Environments Using Wearable Haptic Device
Hand Positional Guidance in Immersive Environments Using Wearable Haptic Device
Immersive Colonoscopy System
Immersive Colonoscopy System

Immersive Micromanipulation System

We are developing operation interfaces that enable easy micromanipulation by immersing users in the micro world using virtual reality and mixed reality technologies. Our goal is to create a system that allows even beginners to perform micromanipulation tasks with ease.

References

Immersive Colonoscopy System

We are developing an examination system that uses head movements to control the pan and tilt of a colonoscope, with the video projected onto a Head Mounted Display (HMD). This system aims to simplify endoscope operation and reduce the workload on practitioners.

References

Biography

  • April 2017 - March 2021 Bachelor's Course, Department of Mechanical and Aerospace Engineering, Nagoya University
  • April 2021 - March 2023 Master's Course, Department of Micro-Nano Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University
  • April 2023 - May 2025 Doctoral Course, Department of Micro-Nano Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University
  • April 2023 - May 2025 JSPS Research Fellow (DC1)
  • June 2025 - July 2025 JSPS Research Fellow (PD)
  • August 2025 - Present Assistant Professor, Department of Mechanical Systems Engineering, Graduate School of Engineering, Nagoya University

Peer-Reviewed Journal Papers

1
K. Yokoe, S. Saito, Y. Funabora, T. Isomura, and T. Aoyama
"Immersive Micromanipulation Integrating Pipette and Injector Operations with McKibben-Based Haptic Sensations for Workload Reduction,"
IEEE Access, vol. 14, pp. 116393-116404, Jul. 2026.
doi: 10.1109/ACCESS.2026.3717843
2
K. Yokoe, T. Hara, and T. Aoyama
"Automatic Field-of-View Adjustment for a View-Expansive Microscope via LSTM-Based Gaze and Pipette Motion Interpretation,"
IEEE Access, vol. 13, pp. 182915-182923, Oct. 2025.
doi: 10.1109/ACCESS.2025.3624246
3
K. Yokoe, Y. Funabora, and T. Aoyama
"Intuitive Hand Positional Guidance Using McKibben-Based Surface Tactile Sensations to Shoulder and Elbow,"
IEEE Robotics and Automation Letters, vol. 10, no. 4, pp. 3254–3261, Feb. 2025.
doi: 10.1109/lra.2025.3540579
4
Y. Peng, Y. Sakai, Y. Funabora, K. Yokoe, T. Aoyama, and S. Doki
"Funabot-Sleeve: A Wearable Device Employing McKibben Artificial Muscles for Haptic Sensation in the Forearm,"
IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1944-1951, Feb. 2025.
doi: 10.1109/lra.2025.3528229
5
K. Yokoe, T. Aoyama, Y. Funabora, M. Takeuchi, and Y. Hasegawa
"Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space,"
IEEE Transactions on Haptics, vol. 18, no. 1, pp. 244-254, Dec. 2024.
doi: 10.1109/toh.2024.3522897
6
Y. Peng, Y. Sakai, K. Nakagawa, Y. Funabora, T. Aoyama, K. Yokoe, and S. Doki
"Funabot-Suit: A bio-inspired and McKibben muscle-actuated suit for natural kinesthetic perception,"
Biomimetic Intelligence and Robotics, vol. 3, no. 4, p. 100127, 2023.
doi: 10.1016/j.birob.2023.100127
7
T. Aoyama, S. Takeno, K. Yokoe, K. Hano, M. Takeuchi, and Y. Hasegawa
"Micromanipulation System Capable of Simultaneously Presenting High-Resolution and Large Field-of-View Images in Real-Time,"
IEEE Access, vol. 11, pp. 34274-34285, 2023.
doi: 10.1109/access.2023.3264785
8
K. Yokoe, T. Aoyama, T. Fujishiro, M. Takeuchi, and Y. Hasegawa
"An immersive micromanipulation system using real-time 3D imaging microscope and 3D operation interface for high-speed and accurate micro-manipulation,"
ROBOMECH Journal, vol. 9, no. 16, Jun. 2022. ROBOMECH Journal Best Paper
doi: 10.1186/s40648-022-00228-6

International Conference

1
K. Yokoe and T. Aoyama
"Haptic Weight Rendering via McKibben Artificial Muscles in a Hand-Tracked Environment,"
in Proceedings of the 2026 IEEE 35th International Conference on Robot and Human Interactive Communication (RO-MAN), Kitakyushu Japan, Aug. 2026, WeE09.4 / WeCP10.4.
2
M. Tanaka, K. Yokoe, K. Hano, M. Takasu, and T. Aoyama
"Expert-Trained AI for Automatic Suction Pressure Adjustment in Oocyte Rotation,"
in Proceedings of the 2026 23rd International Conference on Ubiquitous Robots (UR), Jul. 2026, FriPS1.11.
3
K. Miyajima, K. Yokoe, and T. Aoyama
"Viscous Force Feedback Based on FOV for Precise Micromanipulation Using View-Expansive Microscope,"
in Proceedings of the 2026 23rd International Conference on Ubiquitous Robots (UR), Jul. 2026, FriPS1.10.
4
T. Kim, K. Yokoe, and T. Aoyama
"Automatic Angle Knob Control for Colonoscopy Using a Monocular Depth Foundation Model,"
in Proceedings of the 2026 23rd International Conference on Ubiquitous Robots (UR), Jul. 2026, FriPS1.7.
5
H. Hagiwara, K. Yokoe, R. Mori, and T. Aoyama
"Oocyte Rotation Assistive System with Operational Scene Switching Based on AI Ambiguity in Polar Body Detection,"
in Proceedings of the 2026 23rd International Conference on Ubiquitous Robots (UR), Jul. 2026, FriPS1.6.
6
K. Yokoe, S. Saito, Y. Funabora, T. Isomura, and T. Aoyama
"McKibben-Based Haptic Sensations for Reducing Cognitive Workload in Immersive Micromanipulation,"
in Proceedings of the 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), Apr. 2026, pp. 338-339.
7
S. Kanamori, K. Yokoe, Y. Funabora, and T. Aoyama
"Subjective Evaluation of Kinesthetic Sensations Invoked by a Fabric Robotic Suit using Virtual Muscle Connection,"
in Proceedings of the 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft), Apr. 2026, pp. 1620-1621.
8
S. Wakahara, K. Yokoe, and T. Aoyama
"Haptic Training System for Micromanipulation Based on Expert–Novice Operation Similarity,"
in Proceedings of the 36th 2025 International Symposium on Micro-NanoMechatronics and Human Science, Nov. 2025, MoP2-3-3.
9
K. Yokoe, T. Ito, and T. Aoyama
"Immersive Operation Interface to Simplify Colonoscopy Using Head and Hand Motion,"
in Proceedings of the 36th 2025 International Symposium on Micro-NanoMechatronics and Human Science, Nov. 2025, MoA1-1-6. Best Paper Award
10
S. Kanamori, K. Yokoe, Y. Funabora, and T. Aoyama
"McKibben Artificial Muscle Arrangement for Fabric Robotic Suits Enabling Elbow Angle Guidance during High-Speed Movements,"
in Proceedings of the 36th 2025 International Symposium on Micro-NanoMechatronics and Human Science, Nov. 2025, MoA2-1-6.
11
K. Yokoe, Y. Funabora, and T. Aoyama
"Intuitive Hand Positional Guidance Using McKibben-Based Surface Tactile Sensations to Shoulder and Elbow,"
in Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (Presentation of RA-L Paper), Oct. 2025, WeDT20.1. SICE International Young Authors Award
doi: 10.1109/lra.2025.3540579
12
Y. Peng, Y. Sakai, Y. Funabora, K. Yokoe, T. Aoyama, and S. Doki
"Funabot-Sleeve: A Wearable Device Employing McKibben Artificial Muscles for Haptic Sensation in the Forearm,"
in Proceedings of the 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (Presentation of RA-L Paper), Oct. 2025, ThCT25.5.
doi: 10.1109/lra.2025.3528229
13
K. Yokoe, T. Aoyama, Y. Funabora, M. Takeuchi, and Y. Hasegawa
"Intuitive Directional Sense Presentation to the Torso Using McKibben-Based Surface Haptic Sensation in Immersive Space,"
in Proceedings of the 2025 IEEE World Haptics Conference (Presentation of ToH Paper), O12.4, Jul. 2025.
doi: 10.1109/toh.2024.3522897
14
K. Yokoe, T. Aoyama, Y. Funabora, M. Takeuchi, and Y. Hasegawa
"Wearable Fabric Actuator Inducing Shoulder Movements for Directional Guidance of Hand Movements,"
in Proceedings of the 2024 IEEE International Conference on Cyborg and Bionic Systems, Nagoya Japan, Nov. 2024, ThReP4T2.2.
doi: 10.1109/cbs61689.2024.10860490
15
T. Ito, T. Aoyama, K. Yokoe, T. Yamamura, M. Hiramatsu, H. Kawashima, M. Takeuchi, and Y. Hasegawa
"Head-Movement Controlled Colonoscope Interface with HeadMounted Display for Simplified the Pan and Tilt Operation,"
in Proceedings of the 35th 2024 International Symposium on Micro-NanoMechatronics and Human Science, Nov. 2024, SuA1-1-7.
16
K. Yokoe, T. Aoyama, Y. Funabora, M. Takeuchi, and Y. Hasegawa
"Elbow Angle Guidance System Based on Surface Haptic Sensations Elicited by Lightweight Wearable Fabric Actuator,"
in Proceeding of the 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Boston MA USA: IEEE, Jul. 2024, pp. 1447–1454.
doi: 10.1109/aim55361.2024.10637238
17
K. Yokoe, T. Aoyama, Y. Funabora, M. Takeuchi, and Y. Hasegawa
"Shoulder-Wearable Fabric Actuator for Directional Sensations,"
in Proceeding of the 2023 International Symposium on Micro-NanoMehatronics and Human Science, Nagoya Japan, Nov. 2023, MP2-2-5. Best Paper Award
18
K. Yokoe, T. Aoyama, Y. Funabora, M. Takeuchi, and Y. Hasegawa
"Mixed-Reality-Based Immersive Micromanipulation System for Teleoperation and Collaborative Operation,"
in Proceedings of SICE Annual Conference 2022, Kumamoto Japan, Sep. 2022, pp. 1238–1239.
19
K. Yokoe, T. Aoyama, Y. Funabora, K. Nakagawa, Y. Sakai, M. Takeuchi, and Y. Hasegawa
"Control Method of Fabric Actuator Suit for Gaze Guidance in Immersive Spaces,"
in Proceeding of the 2022 International Symposium on Micro-NanoMehatronics and Human Science, Nagoya Japan, 2022, TA2_1_5. Best Paper Award
doi: 10.1109/mhs56725.2022.10092066
20
K. Yokoe, T. Aoyama, T. Fujishiro, M. Takeuchi, and Y. Hasegawa
"High-Speed and High-Accuracy Immersive Micro Manipulation System Using 3D Imaging Microscope and Glove-Type Operation Interfaces,"
in Proceedings of the 2021 IEEE International Conference on Advanced Robotics and Its Social Impacts, Jul. 2021, FrPA.9.

Domestic Conference

1
Kim Taehyeong, 横江 健太, 青山 忠義
"大腸内視鏡先端角度自動制御における単眼深度推定と複数特徴量統合による頑健な挿入方向推定,"
第44回日本ロボット学会学術講演会, 2026年9月, 1K3-05.
2
浅野 稜太, 横江 健太, 青山 忠義
"McKibben人工筋による面状触覚を用いたピエゾICSIにおける透明帯へのピペット穿刺深さ提示,"
第44回日本ロボット学会学術講演会, 2026年9月, 1A4-02.
3
横江 健太, 青山 忠義
"McKibben型人工筋による腋窩周辺部への面状力触覚を用いた没入型環境におけるハンズフリー重量提示,"
ロボティクス・メカトロニクス講演会 2026, 2026年7月, 2P1-X03.
4
小嶋 一輝, 横江 健太, 青山 忠義
"布型ロボティックスーツの肘角度誘導精度向上のための非対称周期力触覚提示,"
ロボティクス・メカトロニクス講演会 2026, 2026年7月, 2A1-K10.
5
大島 崚汰, 横江 健太, 青山 忠義
"マルチタスク学習型CNN–LSTMを用いた除核作業における吸引圧制御システム,"
ロボティクス・メカトロニクス講演会 2026, 2026年6月, 1P1-G08.
6
天野 翔馬, 横江 健太, 杷野 一輝, 高須 正規, 青山 忠義
"体細胞核移植の電気融合におけるGMM–LSTMを用いた卵子回転操作の自動化,"
ロボティクス・メカトロニクス講演会 2026, 2026年6月, 1P1-F09.
7
朴 正根, 横江 健太, 青山 忠義
"力覚提示を伴う顕微授精遠隔操作における可変ウィンドウSavitzky-Golayフィルタを用いた遅延補償と安定化,"
ロボティクス・メカトロニクス講演会 2026, 2026年6月, 1A1-X06.
8
Kim Taehyeong, 横江 健太, 青山 忠義
"単眼深度推定の基盤モデルを用いた大腸内視鏡の自動パン・チルト制御,"
第26回公益社団法人計測自動制御学会システムインテグレーション部門講演会, 2025年12月, 1B6-01.
9
萩原 颯人, 森 涼哉, 林 雄一郎, 森 健策, 横江 健太, 青山 忠義
"AIによる極体検出のあいまい性に応じた支援タスクの切り替えに基づく胚の回転操作支援,"
第26回公益社団法人計測自動制御学会システムインテグレーション部門講演会, 2025年12月, 1D6-01.
10
田中 基貴, 横江 健太, 杷野 一輝, 高須 正規, 青山 忠義
"顕微授精におけるAIのあいまい性に応じたヒト–AI協調型吸引圧調整システム,"
第26回公益社団法人計測自動制御学会システムインテグレーション部門講演会, 2025年12月, 2D3-01. Outstanding Presentation Award
11
金森 翔大, 横江 健太, 舟洞 佑記, 青山 忠義
"卓球スイングの肘関節角度を誘導する布型ロボティクススーツにおける知覚性能の検証,"
第68回自動制御連合講演会, 2025年11月, 11F-4.
12
横江 健太, 伊藤 輝亮, 青山 忠義
"大腸内視鏡検査の簡便化に向けた頭部・手指動作による没入型操作インターフェース,"
第43回日本ロボット学会学術講演会, 2025年9月, 3B1-01.
13
金森 翔大, 横江 健太, 舟洞 佑記, 青山 忠義
"卓球スイング教示に向けた仮想筋肉接続法に基づく肘関節角度誘導精度を向上する布型ロボティックスーツの筋配向設計,"
ロボティクス・メカトロニクス講演会 2025, 2025年6月, 1P1-J06.
14
横江 健太, 青山 忠義, 舟洞 佑記, 竹内 大, 長谷川 泰久
"肩部と肘部の動作を誘発する面状触覚提示を用いた没入型環境における手指位置誘導,"
第 42 回日本ロボット学会学術講演会, 2024年9月, 1E3–07.
15
横江 健太, 青山 忠義, 舟洞 佑記, 竹内 大, 長谷川 泰久
"肩部動作を誘発させる面状力触覚提示による手指の方向誘導,"
ロボティクス・メカトロニクス講演会 2024, 2024年5月, 2P2–Q01.
16
伊藤 輝亮, 青山 忠義, 横江 健太, 竹内 大, 長谷川 泰久
"HMD を用いた大腸内視鏡のアングル操作インタフェース,"
ロボティクス・メカトロニクス講演会 2024, 2024年5月, 2P2–I01.
17
横江 健太, 青山 忠義, 舟洞 佑記, 竹内 大, 長谷川 泰久
"布状アクチュエータを用いた肩部への方向提示,"
第 41 回日本ロボット学会学術講演会, 2023年9月, 3I3–01.
18
横江 健太, 青山 忠義, 舟洞 佑記, 竹内 大, 長谷川 泰久
"没入空間における体幹誘導のための面状力触覚提示,"
第 28 回ロボティクスシンポジア, 2023年3月, pp. 75–77.
19
横江 健太, 青山 忠義, 舟洞 佑記, 中川 滉貴, 坂井 佑輔, 竹内 大, 長谷川 泰久
"布状アクチュエータスーツにより生成される身体感覚を用いた没入型環境下における視線誘導,"
第 22 回公益社団法人計測自動制御学会システムインテグレーション部門講演会, 2021年12月, 3A1–04.
20
横江 健太, 青山 忠義, 藤城 俊希, 竹内 大, 長谷川 泰久
"実時間 3 次元画像呈示顕微鏡とグローブ型操作インタフェースを用いた没入型マイクロマニピュレーションシステム,"
ロボティクス・メカトロニクス講演会 2021, 2021年6月, 1P3–J06. JSME Young Engineers Fellow Award
doi: 10.1299/jsmermd.2021.1P3-J06

Workshop

1
T. Aoyama and K. Yokoe
"Augmented Haptics Technology for Teleoperation of In-Body Cybernetic Avatars,"
IROS2024 Workshop: Workshop on 'The Grand Challenge of Cybernetic Avatars: Dreams and Facts', 2024.

Awards

1
SI2025 Outstanding Presentation Award
February 16, 2026
2
Best Paper Award in MHS 2025
November 25, 2025
3
SICE International Young Authors Award in IROS 2025
October 22, 2025
4
Best Paper Award in MHS 2023
November 22, 2023
5
Certificate of Merit for ROBOMECH Journal Best Paper
June 29, 2023
6
SICE Outstanding Student Award
March 27, 2023
7
Best Paper Award in MHS 2022
November 30, 2022
8
The Japan Society of Mechanical Engineers Young Engineers Fellow Award
June 2, 2022

Grants

August 2026 - March 2028
Haptic Presentation for Inducing a Sense of Body Shrinkage
Nagoya University "Next-Generation Researcher × URA" Foundational Research Advancement Program (Daiichi-Sankyo "Habataku" Support Program for the Next Generation of Researchers)
Principal Investigator
1,000,000 JPY
April 2024 - March 2026
Remote Instruction System for Transmitting Human Motion Using Wearable Pneumatic Haptic Devices
Research Grant from the Fluid Power Technology Promotion Foundation
Principal Investigator
1,000,000 JPY
April 2023 - March 2026
Immersive Micromanipulation System with Surface Force Haptic Presentation to the Body
JSPS KAKENHI Grant-in-Aid for JSPS Fellows
Principal Investigator
3,000,000 JPY

Memberships

  • IEEE
  • IEEE Robotics and Automation Society
  • The Japan Society of Mechanical Engineers
  • The Society of Instrument and Control Engineers
  • ACM SIGCHI

Committee Service

  • January 2026 - December 2028 Committee Member, SICE Chubu Chapter
  • September 2026 - September 2027 Member, Local Arrangements Committee, 45th Annual Conference of the Robotics Society of Japan (RSJ2027)
  • April 2026 - December 2026 Chair, Organizational Operations Committee, 27th SICE System Integration Division Conference (SI2026)
  • August 2025 - Present Local Arrangement Co-Chairs of International Symposium on Micro-NanoMechatronics and Human Science

Contact

1 Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

Cyber Robotics Laboratory

Department of Mechanical Systems Engineering

Graduate School of Engineering, Nagoya University

Email: yokoe [at] nagoya-u.jp