Junki Togashi

Papers

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About

Junki Togashi is a robotics researcher focused on the design and control of low-cost, lightweight, and highly compliant robot arms. His major contributions lie in the development of elastic tendon-driven robotic systems, where he has pioneered the use of elastic strings and rubber tendons to create inherently safe, flexible manipulators. Togashi’s work addresses the challenge of achieving precise positioning and gravity compensation in these compliant systems. His most cited paper, “Control of Low-Cost Customizable Robot Arm Actuated by Elastic Tendons” (2016, 8 citations), introduces a novel winding device that simplifies string tension control, enabling a robot arm with very low stiffness. Earlier foundational work, “A low cost and lightweight wire driven robot arm by using elastic strings” (2014, 6 citations), demonstrated a prototype two-link arm with compliant joints. A notable achievement is his exploration of tendon elasticity nonlinearity to compensate for unknown payload gravity, detailed in his 2018 paper (3 citations). Togashi’s research is particularly impactful for applications requiring safe human-robot interaction, offering a path toward affordable, customizable, and inherently compliant robotic arms.