Takeaki Ozawa

The University of Tokyo, The University of Osaka

Papers

Total Citations

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About

Takeaki Ozawa is a leading figure in the field of robotic manipulation and rehabilitation engineering, with a focus on the intersection of contact mechanics and haptic systems. His foundational work on object stability in robotic contact tasks, published in 2002, established a rigorous framework for analyzing the forces and moments applied by multiple robots—whether serial-link or wire-driven—during manipulation. By representing the resultant force/moment space as a polyhedral convex region, Ozawa provided a critical tool for ensuring stable and safe interactions in complex robotic tasks, a contribution that remains influential in the design of dexterous robotic hands and cooperative manipulation systems. In the domain of rehabilitation robotics, Ozawa developed the PLEMO-P1, a quasi-3DOF upper limb rehabilitation system utilizing ER brakes, which offers safe, passive haptic feedback for motor function training. This device, detailed in his 2009 paper, has been pivotal in advancing neuron-rehabilitation by enabling precise, quantifiable therapy for patients with upper limb impairments. With over 12 citations for his early work and 11 for his rehabilitation system, Ozawa’s research has shaped both theoretical and applied aspects of robotics, bridging the gap between fundamental mechanics and practical therapeutic devices.