We are developing a novel user interface, especially haptics, with non-grounded less-constraints using a human structure or/and recognition mechanisms. In addition, we also focus on developing a ubiquitous healthcare and advanced medical systems. 

Haptic Interfaces and Interaction Mechanism

Non-grounded encountered haptic display (K. Yamaguchi, G. Kato, Y. Kuroda, K. Kiyokawa, et al., 2016)



non-grounded encountered-type haptic interface has been proposed. The device requires no grounding, thus the work space is not limited. 

Kotaro Yamaguchi, Ginga Kato, Yoshihiro Kuroda, Kiyoshi Kiyokawa, and Haruo Takemura. A Non-grounded and Encountered-type Haptic Display Using a Drone. ACM Spatial User Interaction (SUI '16), pp.43-46, 2016. (BibTEX)

HapSticks: Non-grounded haptic interface (G. Kato, Y. Kuroda, I. Nisky, K. Kiyokawa, et al., 2015)


A non-grounded and handheld (no needs to wear) haptic device has been proposed. The proposed mechanism can display external force on the tip of the tool. We demonstrated interaction with the developed chopstiks-like device, as called HapSticks. We confirmed the effectiveness by comparing the JNDs of the weight discrimination with the real weights.     

Pseudo haptic glove (Y. Shigeta, Y. Kuroda, et al., 2012)


A novel compact haptic glove by finger-joint compression has been proposed. The joint compression increases rotation friction, which works as a mechanical resistance when grasping. The proposed mechanism will reduce the size of the device on the back of the finger compared with existing exoskeleton haptic glove.

Medical Engineering / Physics-based Modeling

Large deformable model with haptic feedback (Y. Kuroda, et al., 2013)


Large deformable finite element model has been proposed. The stiffness matrix needs to be updated in case of large deformation due to non-linearity. We propose a method to update the stiffness matrix interactively with low computational cost for large deformation. 

TVRSJ 2013 (Paper Award)

Electrosurgery simulation (S. Tanaka, Y. Kuroda, et al., 2013)

We developed an electrosurgical cutting simulation system with consideration of a series of physical phases: electrical, thermal, and structural phases. Especially, the structural change based on the vaporization and mechanical rupture is modeled. The experiments using porcine livers compared the simulated temperature change with the measured one in electrosurgical cutting, and the effectiveness of the proposed model was found.

Multi-finger haptic interaction for liver exclusion simulation (Y. Kuroda, M. Hirai, 2007)

Liver exclusion simulator with multi-finger interface

We propose an organ exclusion training simulator with multi-finger haptic device and stress visualization. The method was applied to surgical exclusion which is an important manipulation of pushing aside organ to make a hidden tissue visible or to enlarge workspace. The system equips FEM-based soft tissue deformation and CyberForce haptic device. Real-time simulation was achieved with a prototype system and training trial has been conducted. The results suggested the effectiveness of the system and stress visualization. 

TVRSJ 2006 (in Japanese)

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