Papers
25
Total Citations
556
H-Index
9
About
Toru Tsumugiwa is a robotics researcher whose work has significantly advanced the field of human-robot interaction, with a particular focus on impedance control, cooperative task systems, and robot compliance. His most influential contribution, a 2003 paper on variable impedance control for human-robot cooperative calligraphic tasks, has garnered over 257 citations and introduced a groundbreaking method for estimating human arm stiffness to dynamically adjust robot behavior, addressing critical instability challenges in shared control systems. Building on this foundation, Tsumugiwa developed strategies for adjusting impedance parameters based on working process identification, explored virtual stiffness terms to enhance precision in cooperative positioning tasks such as peg-in-hole assembly, and conducted rigorous stability analyses that examine the interplay between robot impedance characteristics, time delays, and control parameters. His switching control frameworks, which toggle between position and torque control modes during cooperative tasks, further demonstrate his versatility and practical engineering insight. Complementing his control research, Tsumugiwa also advanced robot compliance measurement methodologies, including work on the 7-DOF Mitsubishi PA-10 manipulator. With a cumulative body of work exceeding 490 citations, his research provides an essential theoretical and applied foundation for students and engineers designing safe, intuitive, and stable human-robot collaborative systems.
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- 10Compliance measurement for the Mitsubishi PA-10 robot8 citations · 2014