Ibaraki University's
Graduate School of Science and Engineering (Engineering)
Department of Mechanical Engineering


MORI Yoshikazu

  • Birth:1969


  1. Tokyo Metropolitan University 1998/04-2005/03

Academic background

  1. Tohoku University Engineering Second Section of Mechanical Engineering 1993 Graduated Japan
  2. Tohoku University Information Sciences System Information Sciences Doctor course 1998 Completed Japan

Academic degrees

  1. Dr. Information Sciences Tohoku University

Current state of research and teaching activities

(1)Development of Straight Style Transfer Equipment "ABLE" for Lower Limbs Disabled
We developed a straight style transfer equipment for a person with disabled legs. People who use wheelchairs can live without some environmental improvements by using this equipment. Other advantages of this equipment are as follows: (1) getting over a step including stairs and (2) removing the mental pain caused by the difference height of eyes. This equipment consists of three modules: elastic crutches, mobile platforms and powered prostheses. We designed and produced the elastic crutches and mobile platforms. And we examined the performance of the elastic crutches when a person stood up from a chair.

(2)Companion Robot "SELF" that does not bore Human
We quantitatively analyzed weariness and impression that a human sensed for a robot when the human interacted with the robot through some movements. A red ball and a blue ball were displayed on a simulation screen. The human moved the red ball with a mouse and the computer moved the blue ball. By using this model, the impression that the action of the robot gave to the human was examined. Next, we analyzed the relationship between robot's interactive characteristics and produced impressions about the robot in human-robot-interaction experiments by using methods of information theory.

(3)Feasibility Study on an Excavation-type Demining Robot "PEACE"
In this study we propose a design of an excavation type mine removal robot that disposes a farm polluted by mines efficiently and safely. On the dangerous area the robot automatically takes in the soil in which mines are laid. The soil including mines is crushed up and is separated and discharged. The robot has a big bucket on its front. The robot goes ahead keeping the height of the bucket from the ground by the up and down motion of the bucket and the forward motion of the body. The possibility of the motion was confirmed through simulations, and the basic motion was tested by the 1/10 size experimental model.

(4)Position Estimation Using an Acceleration Sensor for a Mobile Robot
This research aims at the development of an inertial navigation system for ground vehicles including mobile robots. A high performance but cheap accelerometer is needed for this purpose. However, conventional sensors contain some drift and noise components in their outputs. Therefore, a new accelerometer, "Inductcoder" was developed, which causes little drift and receives little noise. Two types of systems were tested. The one consists of two springs and an iron ball, and the other consists of a cantilever beam and an iron weight.

Research Areas

  1. Intelligent Mechanics/Mechanical System
  2. Sensitivity Informatics/Soft Computing

Subject of research

  1. Companion Robot "SELF" that does not bore Human 1999-2006
  2. Development of a Straight Style Transfer System "ABLE" for Lower Limbs Disabled 2001-2006


  1. 認知機能を持つエージェント技術とその応用「人に好印象を与えるエージェントの行動」 森 善一,他9名 (社)電気学会 2009/11/30
  2. ABLE: A Standing Style Transfer System for Lower Limbs Disabled Y. Mori Robotics Research Trends,NOVA-book 2008/07
  3. PEACE: An Excavation-Type Demining Robot for Anti-Personnel Mines Y. Mori Humanitarian Demining: Innovative Solutions and the Challenges of Technology 2008/02
  4. Feasibility Study on an Excavation-Type Demining Robot "PEACE" Yoshikazu Mori Advanced Robotic Systems 2006/12 10:3-86611-314-5


  1. Research paper (scientific journal) Joint Energy evaluation of a bio-inspired gait modulation method for quadrupedal locomotion Yasuhiro Fukuoka, Kota Fukino, Yasushi Habu and Yoshikazu Mori Bioinspiration & Biomimetics 2015 10.1088/1748-3190/10/4/046017
  2. Research paper (international conference proceedings) Joint Development of information collection system with omnidirectional images Naoji Shiroma, Kenji Itou, Tomohiro Kai, Kousuke Inoue, Yasuhiro Fukuoka and Yoshikazu Mori ICIIBMS 2015, Track2: Artificial Intelligence, Robotics and Human-Computer Interaction 28-30 2015/11/28
  3. Research paper (international conference proceedings) Joint Feasibility Study of a Pair of 2-DOF Step-climbing Units for a Manual Wheelchair User 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015) 196-201 2015/07/21
  4. (MISC) Introduction and explanation (international conference proceedings) Joint Portable Robot Inspiring Walking in Elderly People Y. Kumahara, Y. Mori Proc. of the Second International Conference on Human-Agent Interaction 145-148 2014
  5. Research paper (scientific journal) Joint Monitoring System for Elderly People Using Passive RFID Tags Y. Mori, S. Kido Journal of Robotics and Mechatronics 26/ 5, 649-655 2014

Research presentations

  1. Poster presentation 様々な路面に対応可能な脚型ロボットの開発-ブレイブボードを用いた平地走行の検討- 2016年度精密工学会秋季大会 2016/09/07
  2. Poster presentation 自走用車いす使用者による単独操作可能な段差移動補助機 2016年度精密工学会秋季大会 2016/09/07
  3. Poster presentation 片麻痺障がい者のための車輪型歩行アシスト機 ロボティクス・メカトロニクス講演会2016 2016/06/10
  4. Poster presentation フリー/駆動切替機能を持つ補助機の機構と制御 ロボティクス・メカトロニクス講演会2016 2016/06/10
  5. Poster presentation 自走用車いす使用者のための携帯式段差移動補助機 ロボティクス・メカトロニクス講演会2016 2016/06/10

Intellectual property rights

  1. Patent 伸縮杖 特願2007-333908 2007/12
  2. Patent 伸縮松葉杖およびそれを用いた直立式移動装置 特願2002-088944 2002/03 特開2003-284751
  3. Patent 段差乗り越え機構を備えた歩行器 特願2011-5897 特開2012-143488 2012/08/02
  4. Patent 車椅子及び車椅子用補助装置 特願2009-191653 2009/08/21 特開2011-41670 2011/03/03
  5. Patent 伸縮杖 特願2007-104311 2007/03/14 特開2008-220909 2008/09/25


  1. Innovation Award 2010 – For practical innovation in the field of robotics ,13th Int. Conf. on Climbing and Walking Robots and the Support Technologies for Mobile Machines CLAWAR 2010 2010/08/31
  2. 第7回ヤングベンチャービジネスプランコンテストいばらき,優秀賞 研究室発!斬新・使える・低コストな福祉介護用品の開発 2008/02/01
  3. 第51回茨城県発明工夫展,県知事賞 簡易操作型伸縮ロフストランドクラッチ 2007/11/19
  4. 第一回感性ロボティクスシンポジウム(感性工学会),ベストプレゼンテーション賞 2006
  5. 日本機械学会ロボティクス・メカトロニクス部門福祉工学シンポジウム,プレゼンテーション賞 2004

Alloted class

  1. 知能システム工学実験IA
  2. 知能システム工学実験IB
  3. メカトロニクス特論II
  4. ロボット工学(Aコース)
  5. ロボット工学(Bコース)

Memberships of academic societies

  1. 日本生体医工学会
  2. HumanInterface学会
  3. 日本感性工学会
  4. 日本機械学会
  5. 日本ロボット学会