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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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Biography

Research

Immersive Micromanipulation System

Research image of immersive micromanipulation system

Research on systems that enable even beginners to perform micromanipulation tasks easily, based on virtual reality and mixed reality technologies

Surface Haptic Sensations Using Wearable Devices

Research image of haptic presentation system

Research on tactile feedback in immersive environments using wearable devices composed of McKibben artificial muscles and clothing

Peer-Reviewed Journal Papers

1
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
2
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
3
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
4
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
5
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
6
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.
doi: 10.1186/s40648-022-00228-6

International Conference

1
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 (ToH Paper), O12.4, Jul. 2025.
doi: 10.1109/toh.2024.3522897
2
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
3
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.
4
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
5
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.
6
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.
7
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.
doi: 10.1109/mhs56725.2022.10092066
8
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
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.
2
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.
3
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.
4
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.
5
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.
6
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.
7
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.
8
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.
doi: 10.1299/jsmermd.2021.1P3-J06

Awards

1
Best Paper Award in MHS
November 2023
2
Certificate of Merit for ROBOMECH Journal Best Paper
June 2023
3
SICE Outstanding Student Award
March 2023
4
Best Paper Award in MHS
November 2022
5
The Japan Society of Mechanical Engineers Young Engineers Fellow Award
June 2022

Grants

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

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