Publications and Presentations

Invited Talks *Presenter is underlined.

1. Satoshi Funabashi., Angela Faragasso, “Skill Transfer of Multi-Fingered Hand with Tactile Sensors”, IEEE International Conference on Robotics and Automation (ICRA 2025), 3rd Workshop on Human-Centric Multilateral Teleoperation, 2025,

2. 船橋賢, "ロボットマニピュレーションのための触覚に対する機械学習の応用",  2025年電子情報通信学会総合大会「[DI-1] パターン認識・メディア理解（PRMU）技術の産業応用」, 電子情報通信学会, https://pub.confit.atlas.jp/ja/event/general2025/session/371A01-03

3. 船橋賢, "人のように繊細なマニピュレーションを目指した触覚情報処理",  ロボット工学セミナー 第153回 「力触覚・近接覚を活用したラスト1センチのロボットマニピュレーション」, 日本ロボット学会,  https://www.rsj.or.jp/event/seminar/news/2024/s153.html?fbclid=IwZXh0bgNhZW0CMTEAAR3OFrUzYJ0phaj9e4KeOJcQwGiJFXYzlt066ypEuyCkE63Ud2LGJMFOWdg_aem_jAXMERc0FLmXqMcKYKb5Zw, 2024.

4. 船橋賢, "身体構造を捉える深層学習によるロボットの巧みな操り", 第9回次世代ロボット研究機構シンポジウム【AIとロボット技術が切り開く未来　～破壊的イノベーションを招くAIとロボットの融合～ 】, https://www.waseda.jp/inst/fro/news/2024/02/01/1495/, 2024.

5. Satoshi Funabashi,  " Hand Morphology from Tactile Sensing with Spatial Deep Learning for Dexterous Tasks", NeurIPS | 2023 Thirty-seventh Conference on Neural Information Processing Systems, 1st Workshop on Touch Processing: a new Sensing Modality for AI.

6. Alexander S., Satoshi F., Shu M., , Andreas G., Tito P. T., Sophon S., Shigeki S., “Object Recognition via Active Exploration on a Multi-Fingered Tactile Robot Hand”, IEEE International Conference on Robotics and Automation (ICRA 2018), Workshop on Active touch for perception and interaction: How nature inspires robotics, 2018.

Journal Articles | Peer-Reviewed 

1. Shardul Kulkarni, Satoshi Funabashi, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano, “Tactile Object Property Recognition with Geodesical Spatial Graph Edge Features and Multi-Thread Graph Convolutional Network,” in the  IEEE Robotics and Automation Letters (RA-L),. DOI: 10.1109/LRA.2024.3367271.

2. Satoshi Funabashi,  Gang Yan, Fei Hongyi, Alexander Schmitz, Lorenzo Jamone, Tetsuya Ogata, Shigeki Sugano, “Tactile Transfer Learning and Object Recognition With a Multifingered Hand Using Morphology Specific Convolutional Neural Networks,” in the  IEEE Transactions on Neural Networks and Learning Systems. DOI:  10.1109/TNNLS.2022.3215723  (IF: 10.451)

3. Satoshi Funabashi, Tomoki Isobe, Fei Hongyi  Atsumu Hiramoto, Alexander Schmitz , Shigeki Sugano and Tetsuya Ogata, “Multi-Fingered In-Hand Manipulation with Various Object Properties Using Graph Convolutional Networks and Distributed Tactile Sensors,” in the IEEE Robotics and Automation Letters (RA-L),  vol. 7, no. 2, pp. 2102-2109, April 2022,   DOI: 10.1109/LRA.2022.3142417

4. Gang Yan, Alexander Schmitz, Satoshi Funabashi, Sophon Somlor, Tito Pradhono Tomo, Shigeki Sugano, “A Robotic Grasping State Perception Framework with Multi-Phase Tactile Information and Ensemble Learning,” in the IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 3, pp. 6822-6829, July 2022.  DOI:  10.1109/LRA.2022.3151260

5. Tamon Miyake, Tomoyuki Suzuki, Satoshi Funabashi, Namiko Saito, Mitsuhiro Kamezaki, Takahiro Shoda, Tsutomu Saigo and Shigeki Sugano, “Bayesian Estimation of Model Parameters of Equivalent Circuit Model for Detecting Degradation Parts of Lithium-ion Battery,” IEEE Access, vol. 9, pp. 159699-159713, 2021. DOI:10.1109/ACCESS.2021.3131190

6. Namiko Saito, Tetsuya Ogata, Satoshi Funabashi, Hiroki Mori, Shigeki Sugano, “How to select and use tools? : Active Perception of Target Objects Using Multimodal Deep Learning,” in the IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 2, pp. 2517-2524, April 2021.  DOI: 10.1109/LRA.2021.3062004 (ICRA2021 Cognitive Robotics Best Paper Award)

7. Tamon Miyake, Shintaro Yamamoto, Satoshi Hosono, Satoshi Funabashi, Zhengxue Cheng, Cheng Zhang, Emi Tamaki, Shigeki Sugano, “Gait Phase Detection based on Muscle Deformation with Static Standing-Based Calibration,” Sensors 2021, 21, 1081. DOI: 10.3390/s21041081

8. Satoshi Funabashi, Alexander Schmitz, Shun Ogasa and Shigeki Sugano, “Morphology-Specific Stepwise Learning of In-Hand Manipulation with a Four-Fingered Hand,” in IEEE Transactions on Industrial Informatics, vol. 16, no. 1, pp. 433-441, Jan. 2020. DOI: 10.1109/TII.2019.2893713 (IF: 11.648) 

International Conference Papers | Peer-Reviewed *Presenter is underlined.

1. S. Funabashi, A. Hiramoto, N. Chiba, A. Schmitz, S. Kulkarni and T. Ogata, "Focused Blind Switching Manipulation Based on Constrained and Regional Touch States of Multi-Fingered Hand Using Deep Learning," 2025 International Conference on Robotics and Automation (ICRA). DOI: 10.1109/ICRA55743.2025.11127786.

2. Shardul Kulkarni, Satoshi Funabashi, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano, "Multifingered Object Recognition with Tactile Sensors and Graph Convolutional Networks using Topological Graph Segmentation," IEEE/SICE International Symposium on System Integration (SII) (SII 2025) to be held in Munich, Germany on Jan. 21-24, 2025, DOI: 10.1109/SII59315.2025.10870913. (SII2025 Best Paper Award)

3. T. Ueno, S. Funabashi, H. Ito, A. Schmitz, S. Kulkarni, T. Ogata, and S. Sugano, "Multi-Fingered Dragging of Unknown Objects and Orientations Using Distributed Tactile Information Through Vision-Transformer and LSTM," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI:10.1109/IROS58592.2024.10802283.

4. Gang Yan, Jinsong HE, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano, "Exploratory Motion Guided Tactile Learning for Shape-Consistent Robotic Insertion," 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS.), DOI: 10.1109/IROS58592.2024.10801550.

5. Keigo Torii, Satoshi Funabashi, Alexander Schmitz, Shigeki Sugano, "Encircling Skin Structure for Covering the Palmar and Dorsal Side of Robot Hand Joints with Thick 3-Axis Tactile Sensors," 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). DOI: 10.1109/Humanoids57100.2023.10375145.

6. Prathamesh Sathe, Alexander Schmitz, Satoshi Funabashi, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano, "Design and Development of ExoGlove Towards Human Hand to Robot Hand Skill Transfer," 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO). DOI: 10.1109/ROBIO58561.2023.10354582.

7. Prathamesh Sathe, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Satoshi Funabashi and Sugano Shigeki, "FingerTac -An Interchangeable and Wearable Tactile Sensor for the Fingertips of Human and Robot Hands," 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS55552.2023.10342285.

8. Gang Yan, ZHIDA QIN, Satoshi Funabashi, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Lorenzo Jamone, Shigeki Sugano, " Vision-Touch Fusion for Predicting Grasping Stability using Self Attention and Past Visual Images," Proceedings of the 2023 IEEE International Conference on Development and Learning (ICDL 2023) DOI: 10.1109/ICDL55364.2023.10364461.

9. Gang Yan, Yuyeol Jun, Satoshi Funabashi, Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, Shigeki Sugano, " Geometric Transformation: Tactile Data Augmentation for Robotic Learning," Proceedings of the 2023 IEEE International Conference on Development and Learning (ICDL 2023) DOI: 10.1109/ICDL55364.2023.10364376.

10. Gang Yan, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Satoshi Funabashi, Shigeki Sugano, " Detection of Slip from Vision and Touch," 2022 International Conference on Robotics and Automation (ICRA). DOI:  10.1109/ICRA46639.2022.9811589

11. Pin-Chu Yang, Satoshi Funabashi, Mohammed Al-Sada, Tetsuya Ogata, " Generating Humanoid Robot Motions based on a Procedural Animation IK Rig Method," 2022 IEEE/SICE International Symposium on System Integration (SII) (SII 2022) . DOI: 10.1109/SII52469.2022.9708820

12. Gagan Khullar, Alexander Schmitz, Chincheng Hsu, Prathamesh Sathe, Satoshi Funabashi and Shigeki Sugano,  " A Multi-Fingered Robot Hand with Remote Center of Motion Mechanisms for Covering Joints with Soft Skin,"  IEEE International Conference on Robotics and Biomimetics (ROBIO).  DOI: 10.1109/ROBIO54168.2021.9739600 (ROBIO2021 Biomimetics Best Paper Award)

13. Satoshi Funabashi, Yuta Kage, Hiroyuki Oka, Yoshihiro Sakamoto, Shigeki Sugano, "Object Picking Using a Two-Fingered Gripper Measuring the Deformation and Slip Detection Based on a 3-Axis Tactile Sensing,"  2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS51168.2021.9636354

14. Gang Yan, Alexander Schmitz, Satoshi Funabashi, Sophon Somlor, Tito Pradhono Tomo, Shigeki Sugano, "SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction," 2021 International Conference on Robotics and Automation (ICRA). DOI:  10.1109/ICRA48506.2021.9561397

15. Shardul Kulkarni, Alexander Schmitz, Satoshi Funabashi, Shigeki Sugano, "Development and Evaluation of a Linear Series Clutch Actuator for Vertical Joint Application with Static Balancing", 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI:10.1109/IROS45743.2020.9341293

16. Satoshi Funabashi, Tomoki Isobe, Shun Ogasa, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo and Shigeki Sugano, "Stable In-Grasp Manipulation with a Low-Cost Robot Hand by Using 3-Axis Tactile Sensors with a CNN", 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). DOI: 10.1109/IROS45743.2020.9341362

17. Satoshi Funabashi, Shun Ogasa, Tomoki Isobe, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo and Shigeki Sugano, "Variable In-Hand Manipulations for Tactile-Driven Robot Hand via CNN-LSTM", 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  DOI: 10.1109/IROS45743.2020.9341484

18. Tamon Miyake, Zhengxue Cheng, Satoshi Hosono, Shintaro Yamamoto, Satoshi Funabashi, Cheng Zhang and Emi Tamaki, "Heel-Contact Gait Phase Detection Based on Specific Poses with Muscle Deformation", 2019 IEEE International Conferernce on Robotics and Biomimetics (ROBIO 2019), Dali， Yunnan, China, 2019. DOI: 10.1109/ROBIO49542.2019.8961661

19. Satoshi Funabashi, Gang Yan, Andreas Geier, Alexander Schmitz, Tetsuya Ogata, Shigeki Sugano, "Morphology-Specific Convolutional Neural Networks for Tactile Object Recognition with a Multi-Fingered Hand," 2019 International Conference on Robotics and Automation (ICRA 2019),  Montreal, QC, Canada, 2019, pp. 57-63. DOI:10.1109/ICRA.2019.8793901

20. Satoshi Funabashi, Alexander Schmitz, Takashi Sato and Shigeki Sugano, “Versatile In-Hand Manipulation of Objects with Different Sizes and Shapes Using Neural Networks, ” The 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018) , Beijing, China, 2018, pp. 1-9.  DOI: 10.1109/HUMANOIDS.2018.8624961

21. S. Funabashi, S. Morikuni, A. Geier, A. Schmitz, S. Ogasa, T. P. Tomo,S. Somlor, and S. Sugano, “Object Recognition through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 2589-2595. DOI: 10.1109/IROS.2018.8594159

22. Satoshi Funabashi, Ryuya Sato, Tamon Miyake, Ryosuke Tsumura and Kinji Mori, "Inverse Innovation: Ripple Railway Model to Acquire Local Industries Based on User’s Viewpoint in Thailand," 2017 IEEE 13th International Symposium on Autonomous Decentralized System (ISADS), Bangkok, 2017, pp. 281-286. DOI: 10.1109/ISADS.2017.43

23. Keung Or, Alexander Schmitz, Satoshi Funabashi, Mami Tomura and Shigeki Sugano, "A study on fingertip designs and their influences on performing stable prehension for robot hands," 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, pp. 772-777. DOI: 10.1109/HUMANOIDS.2016.7803361

24. Keung Or, Mami Tomura, Alexander Schmitz, Satoshi Funabashi and Shigeki Sugano, "Position-force combination control with passive flexibility for versatile in-hand manipulation based on posture interpolation," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 2542-2547. DOI: 10.1109/IROS.2016.7759395

25. Keung Or, Shu Morikuni, Shun Ogasa, Satoshi Funabashi, Alexander Schmitz and Shigeki Sugano, "Development of robotic fingertip morphology for enhanced manipulation stability," 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Banff, AB, 2016, pp. 25-30. DOI: 10.1109/AIM.2016.7576738

26. Keung Or, Mami Tomura, Alexander Schmitz Satoshi Funabashi and Shigeki Sugano, "Interpolation control posture design for in-hand manipulation," 2015 IEEE/SICE International Symposium on System Integration (SII), Nagoya, 2015, pp. 187-192.  DOI: 10.1109/SII.2015.7404976

27. Satoshi Funabashi, Alexander Schmitz, Takashi Sato, Sophon Somlor and Shigeki Sugano, "Robust in-hand manipulation of variously sized and shaped objects," 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015, pp. 257-263. (Travel Awards)  DOI: 10.1109/IROS.2015.7353383

Workshops *Presenter is underlined.

1. Satoshi Funabashi, Fei Hongyi Alexander Schmitz Shigeki Sugano and Tetsuya Ogata,  "Vision-Guided Pre-Shaping from Tactile Memory for In-Hand Manipulation",  2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5th Workshop on Proximity Perception in Robotics, 2022.

2. Satoshi Funabashi,  "Manipulation and Recognition of a Humanoid Robot’s Hand with Tactile Sensing and Deep Learning", Artificial Intelligence Workshop on MIRAI 2.0 Research and Innovation week, University of Gothenburg, June 7-11, 2021.

3. S. Funabashi, G. Yang, F. Hongyi, A. Schmitz, L. Jamone, T. Ogata and S. Sugano, “Visualization of Tactile Features for Object Recognition with a Multi-Fingered Hand”, IEEE International Conference on Robotics and Automation (ICRA 2021), Workshop On ViTac 2021: Trends and Challenges in Visuo-Tactile Perception, 2021.

4. Satoshi Funabashi, Tomoki Isobe, Fei Hongyi, Tetsuya Ogata, Alexander Schmitz and Shigeki Sugano, “In-Hand Manipulation of Multi-Fingered Hand with Daily Objects Based on Graph Convolutional Network and 3-Axis Tactile Sensing”, IEEE International Conference on Robotics and Automation (ICRA 2021), Workshop On Representing and Manipulating Deformable Objects, 2021.

5. Satoshi Funabashi, Tomoki Isobe, Shun Ogasa, Tetsuya Ogata, Alexander Schmitz, Tito Pradhono Tomo, and Shigeki Sugano, “Dexterous In-Hand Manipulation with 3D Tactile Perception for a Soft Robot Hand Using Finger-Based CNN”, IEEE International Conference on Robotics and Automation (ICRA 2019), Workshop On Soft Haptic Interaction: Modeling, Design And Application, 2019.

6. Satoshi Funabashi, "In-Hand Manipulation based on 3D Tactile Sensing with a Reasonable Robot Hand using Deep Learning", Individual Research Workshop on Advanced Robotics and AI Technologies Waseda University Day, University of Bonn, May 13, 2019.

7. Satoshi F., Shu M., Alexander S., Andreas G., Tito P. T., Sophon S., Shigeki S., “Object Classification Through Active 3D Tactile Sensing by a Multi-Fingered Robot Hand”, IEEE International Conference on Robotics and Automation (ICRA 2018), Workshop on Active touch for perception and interaction: How nature inspires robotics, 2018.

8. Ryuya Sato, Tamon Miyake, Satoshi Funabashi, and Kinji Mori, “Innovation of Railway system,” The 3rd International Symposium on Railway System (ISRS) Workshop, Chulalongkorn University, Bangkok, Thailand, Sponsor: IEEE Thailand Section, 2016.

9. Ryuya Sato, Tamon Miyake, Satoshi Funabashi, and Kinji Mori, “Innovation of Railway system,” The 2nd International Symposium on Railway System (ISRS) Workshop, Chulalongkorn University, Bangkok, Thailand, Sponsor: IEEE Thailand Section, 2015.

10. Schmitz, A., Sato, T., Funabashi, S., Somlor, S. and Sugano, S. “TWENDY-ONE’s Hand: Combining the Benefits of Dexterity, Passive Compliance and Tactile Sensing”, IEEE International Conference on Robotics and Automation (ICRA 2015), Workshop on Robotic Hands, Grasping, and Manipulation, 2015. 

11. Sato,  T.,  Schmitz,  A.,  Funabashi,  S.,  Somlor,  S.  and  Sugano,  S.  (2015)  Compliance  and Learning  for  Robust  In-Hand  Manipulation  of  Variously  Sized  and  Shaped  Objects,  IEEE International Conference on Robotics and Automation (ICRA 2015), Workshop on “Compliant and Versatile Robot Control in Human Environments, 2015. 

Domestic Conference Papers *Presenter is underlined.

1. 浦島 将太, クルカーニ シャルドゥル,  船橋 賢, 千葉 直也,  シュミッツ アレクサンダー,  尾形 哲也,  "触覚センサを搭載した多指ロボットハンドのDeepSDFへの適用",  第43回日本ロボット学会学術講演会，RSJ2025, 1L5-02.

2. 趙浩宇，船橋賢，楊斯程，三宅太文，王語詩，簡培峻，横田平志，月田裕樹（矢崎総業），松本治，尾形哲也，菅野重樹，“SARNN を用いた深層学習によるロボットアームの配索動作の自動修正の実現”，日本機械学会, ROBOMECH2025, 1A1-M04. 

3. 上野 貴久，船橋 賢，伊藤 洋, Alexander Schmitz,  尾形 哲也, 菅野 重樹、"視覚的注目点のタスク関連性予測を用いた マニピュレーション手法の提案"，2024，第25回ＳＩＣＥシステムインテグレーション部門講演会，SI2024，優秀講演賞

4. Jeremy Siburian, Alexander Schmitz,, Tito Pradhono Tomo, Sophon Somlor, Gang Yan, Satoshi Funabashi, Shigeki Sugano,  "Comparative Study of Robotic Slip Detection Algorithms using Distributed 3-Axis Tactile Sensing",  第42回日本ロボット学会学術講演会，RSJ2024, 1G1-06

5. Kulkarni Shardul, 船橋賢, Alexander Schmitz, 尾形哲也, “エッジ情報とマルチスレッドグラフ畳込みネットワークによる多指ロボットハンドの物体特性認識”，日本機械学会, ROBOMECH2024, 1A1-O07. 

6. 島田将汰, 船橋賢, Alexander Schmitz, 尾形哲也, “触覚情報とその3次元座標を局所的に捉えた複数類似物体の同時認識”，日本機械学会, ROBOMECH2024, 1A1-O08. 

7. 平本温夢, 船橋賢, Alexander Schmitz, 尾形哲也, “触覚フィードバックを用いた複数動作切り替えによる巧みな操り動作の実現”，日本機械学会, ROBOMECH2024, 1P1-I05. 

8. 山田泰, 船橋賢, Alexander Schmitz, 尾形哲也, 菅野重樹, “器用な操り動作のための人の指形状を模した光学式センサ”，日本機械学会, ROBOMECH2024, 1P1-Q09. 

9. Prathamesh Sathe, Alexander Schmitz, 船橋賢, Tito Tomo Pradhono, Sophon Somlor, 菅野重樹, “人間とロボットの指先のための可換ウェアラブル触覚センサの開発”，日本機械学会, ROBOMECH2024, 1P2-E03. 

10. 秦志達, 延剛, 船橋賢, Alexander Schmitz, 菅野重樹, “自己注意機構に基づいた視覚と触覚融合学習で物体の把持安定性予測”，日本機械学会, ROBOMECH2023, 1A2-H12. 

11. 上野貴久, 船橋賢, 伊藤洋, Alexander Schmitz, 尾形哲也, 菅野重樹, “時系列情報とAttentionを用いた未知物体のロバストな手繰り寄せ把持動作の安定化手法の提案”，日本機械学会, ROBOMECH2023, 1A2-F20. 

12. 鳥居奎吾, 船橋賢, Alexander Schmitz, 菅野重樹, “肉厚触覚センサの表裏搭載を可能にしたハンド関節スキン収納構造の提案”，日本機械学会, ROBOMECH2023,  1A1-F21. 

13.  船橋 賢，磯部 智喜，Fei Hongyi，平本 温夢，Schmitz Alexander，菅野 重樹，尾形 哲也，“GCNと分布型触覚センサを用いた様々な物体に対する多指ロボットハンドによる操り動作の実現”，第40回日本ロボット学会学術講演会，RSJ2022，4B2-03．

14.  平本 温夢，船橋 賢，Alexander Schmitz，尾形 哲也，“触覚センサを搭載した多指ハンドの 繰り返し把持動作による物体の特性抽出”，第40回日本ロボット学会学術講演会，RSJ2022，2F2-07．

15. 延剛, シュミッツ アレクサンダー, ソムロア ソフォン, 船橋賢, トモ ティト プラドノ, 菅野重樹, “SCT-CNN: ロボット物体把持安定性予測の時空間 Attention CNN”，日本機械学会, ROBOMECH2021, 1P1-J03. 

16. 延剛, 船橋賢, シュミッツ アレクサンダー, ソムロア ソフォン, トモ ティト プラドノ, 菅野重樹, “ロボット多相触覚フィードバックからの把持結果の予測”，日本機械学会, ROBOMECH2021, 1A1-F13. 

17. 田有烈, 延剛, 船橋賢, シュミッツ アレクサンダー, 菅野重樹, “時系列3軸触覚情報を用いた物体把持結果の予測”，日本機械学会, ROBOMECH2021, 1P1-J13. 

18. 費鴻仡, 船橋賢, 菅野重樹, “MS-CNNによる多指ロボットハンドの物体特性認識”，日本機械学会, ROBOMECH2021, 2A1-J06. 

19. 平野菜々美，Tito Pradhono Tomo, Alexander Schmitz, 船橋賢，菅野重樹，“ロボットフィンガーに装着可能な小型6軸力覚センサの開発”，日本機械学会, ROBOMECH2020, 2A2-N09

20. 三宅太文，鈴木智幸，船橋賢，亀﨑允啓，荘田隆博，石居真，菅野重樹，”リチウムイオン電池の等価回路モデル解析による劣化箇所推定に関する研究”，第20回計測自動制御学会システムインテグレーション部門講演会，SI2019，3B3-03 

21. 磯部智喜, 船橋 賢, 小笠駿，尾形哲也, Alexander Schmitz, Tito Tomo, 菅野重樹, ”指固有のCNNを介する3軸触覚情報を利用した未学習物体の操り動作生成手法の提案“, 第37回日本ロボット学会学術講演会，RSJ2019, 3B2-04

22. 延剛, 船橋賢，Andreas Geier, Alexander Schmitz, 尾形哲也，菅野重樹, ”多指ロボットハンドの触覚センサの位置・サイズを考慮したCNN構造の解析“, 第37回日本ロボット学会学術講演会，RSJ2019, 1A1-05

23. 小笠駿, 船橋賢，磯部智喜, 尾形哲也, Alexander Schmitz, Tito Tomo, 菅野重樹, ”タスクと触覚情報を用いた単一学習器による複数操り動作の実現“, 第37回日本ロボット学会学術講演会，RSJ2019, 3B2-05

24. 船橋 賢, 小笠駿, Keung Or，Alexander Schmitz, 菅野重樹, ”指列動作に着目した神経回路モデルの段階的学習と多指ハンドの様々な物体の操り“, 第37回日本ロボット学会学術講演会，RSJ2019, 3B2-06

25. 磯部智喜, 船橋 賢, 小笠駿，尾形哲也, Alexander Schmitz, Tito Tomo, 菅野重樹, ”各指のCNNによる3軸触覚情報を用いた2指による操り動作生成手法の提案“, 日本機械学会, ROBOMECH2019, 1P2-C12

26. 船橋 賢, 小笠駿，磯部智喜, 尾形哲也, Alexander Schmitz, Tito Tomo, 菅野重樹, ”NNPBによる複数タスクに対する適応的操り動作⽣成⼿法の提案“, 日本機械学会, ROBOMECH2019, 1P2-C09

27. 船橋 賢, 延剛，Andreas Geier, Alexander Schmitz, 尾形哲也，菅野重樹, ”分布型触覚センサ搭載の多指ハンドに対するCNNを⽤いた物体認識⼿法の提案“, 日本機械学会, ROBOMECH2019, 1P1-T01

28. 船橋 賢, 小笠駿, Keung Or，Alexander Schmitz, 菅野重樹, ”指の動きに着⽬したニューラルネットワークによる4指ロボットハンド物体操り動作の段階的学習“, 日本機械学会, ROBOMECH2019, 1P1-C04

29. 草柳 晃介，許晉 誠，船橋 賢，Alexander Schmitz，菅野重樹，"触覚センサによる全面被覆を目指した多指ロボットハンドの関節の開発"，日本機械学会，ROBOMECH2018, 1P2-G14

30. 小笠 駿， 森國 秀，船橋 賢，アレクサンダー シュミッツ，ティト トモ， 菅野 重樹，"多指ロボットハンドの動作情報と3 軸分布型触覚センサによる物体認識手法の提案"，日本機械学会，ROBOMECH2018, 1P2-G16

31. 森国 秀，船橋 賢，他，“様々なサイズと形状の物体の操りに対するFNNによる制御手法の提案”，2016，第17回ＳＩＣＥシステムインテグレーション部門講演会，SI2016

32. 船橋 賢，戸村 摩美，Keung Or，Alexander Schmitz，菅野 重樹，”能動柔軟性と受動柔軟性による様々な物体の適応的な操りを目指したロボットハンドシステムの構築“，第34回日本ロボット学会学術講演会，RSJ2016，3A3-04, p211, 2016

33. 船橋 賢，戸村 摩美，Keung Or，Alexander Schmitz，菅野 重樹，” 線形補間制御を用いた柔軟肉による操り動作の実現“，日本機械学会，ROBOMECH2016, 2A2-04a5

34. 船橋 賢, 佐藤高志, Alexander Schmitz, 菅野重樹, ”物体のサイズや形状の変化を対象とするロボットハンドの操り能力向上を目指した Deep Learning による特徴抽出“, 日本機械学会, ROBOMECH2015, 1P2-O06