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About

Masayoshi Iwatani is a leading figure in the field of robotic manipulation, specializing in the precise modeling and compensation of friction in robotic joints. His research directly addresses one of the most persistent challenges in robotics: the nonlinear and rate-dependent behavior of friction that degrades accuracy and control in compliant transmissions. Iwatani’s major contributions include the development of novel identification procedures for rate-dependent friction, particularly for manipulators with limited motion ranges—a common constraint in surgical and collaborative robots. He is best known for his work on elastoplastic friction compensators, where he identified and resolved a critical flaw in existing models: the generation of non-zero output force during static friction, which undermines system stability. His most cited paper (21 citations) presents a robust identification procedure for rate-dependency in robotic joints, while subsequent works (13 and 5 citations) introduce improved compensators and force estimators that enable force-sensorless admittance control. Iwatani’s innovations have direct implications for safer, more responsive human-robot interaction and high-precision automation, making his work essential reading for researchers in control systems, haptics, and medical robotics.