Yasutaka Nakashima
The University of Tokyo, Kyushu University, Waseda University, Tokyo University of Science
Papers
23
Total Citations
213
H-Index
8
About
Yasutaka Nakashima is a robotics researcher whose work spans humanoid robotics, medical and rehabilitation engineering, and human-robot interaction. His most influential contribution, "Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots" (2009, 78 citations), established foundational principles for designing inherently flexible actuators that mimic human mechanical impedance — a critical safety consideration for physical human-robot contact. This work remains a benchmark in compliant actuation design. Nakashima has also made notable strides in bio-inspired robotics, developing a woodpecker-tongue-inspired manipulator capable of navigating confined, unstructured environments — a creative engineering solution with significant implications for industrial and field robotics. In rehabilitation engineering, he has addressed conditions such as essential tremor and post-stroke hemiplegia, developing exoskeletons, functional electrical stimulation systems, and gait-phase estimation algorithms using treadmill motor current — reducing the need for complex sensor setups. A distinctive thread in his research is the quantitative evaluation of surgical robot operability through brain activity measurement, particularly examining neural correlates of embodiment and intuitive control in master-slave systems. Across these diverse domains, Nakashima exemplifies interdisciplinary innovation, bridging mechanical design, neuroscience, and clinical rehabilitation to advance human-centered robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5An algorithm of walk phase estimation with only treadmill motor current14 citations · 2009
- 6Treadmill motor current value based walk phase estimation12 citations · 2009
- 7
- 8Evaluation of Hand-Eye Coordination Based on Brain Activity8 citations · 2015
- 9
- 10