Tadashi Yamashita

About

Tadashi Yamashita is a pioneering figure in robotics, whose research has fundamentally shaped the understanding of actuation, control, and human-robot interaction. His work spans tendon-driven mechanisms, force control, and the biomechanics of human gait. Yamashita’s most influential contribution is his foundational 1991 paper on tendon-sheath transmission characteristics, which formulated the apparent tendon-stiffness and equivalent backlash in robotic finger joints—a cornerstone for force control in dexterous hands, cited 134 times. He also developed a novel rotary acceleration sensor (1995, 32 citations) capable of sensing angular acceleration independently of speed, enabling robust motor and vibration control. In biomechanics, his analysis of human abnormal walking using multi-body models (2000, 30 citations) provided insights into compensatory actions and walking aids. Yamashita further advanced precision robotics with repetitive control to reduce speed ripple in strain wave gearing (2002, 26 citations), critical for harmonic drive actuators. His work on peg-and-hole tasks with force sensors (2002) and antagonistically driven joints for compliant actuation (1995) demonstrates a consistent focus on practical, sensor-driven robotic systems. With a career spanning from adaptive control for flexible arms (1986) to steady human walking simulation (1988), Yamashita’s research remains essential for students and engineers in robotics, biomechanics, and control systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Basic considerations on transmission characteristics for tendon drive robots

   134 citations · 1991
2. 2
   A novel rotary acceleration sensor

   32 citations · 1995
3. 3
   Analysis of human abnormal walking using a multi-body model: Joint models for abnormal walking and walking aids to reduce compensatory action

   30 citations · 2000
4. 4
   Repetitive control to reduce speed ripple caused by strain wave gearing

   26 citations · 2002
5. 5
   Peg-and-hole task by robot with force sensor: Simulation and experiment

   15 citations · 2002
6. 6
   Control of Stiffness and Torque by Antagonistically Driven Joint: Experimental Study Using Air Actuated Mechanism.

   10 citations · 1995
7. 7
   Vibration Suppression for a Speed Control System with Gear.

   8 citations · 1994
8. 8
   Adaptive Control for a Robot ARM and a Robot Drive System with Elasticity

   3 citations · 1991
9. 9
   Simulation of Steady Human Walking and its Application to Artificial Locomotive System

   3 citations · 1988
10. 10
    Design of Adaptive Control System for Flexible Robotic ARM

    3 citations · 1986

Key Collaborators

Contact & Links