My research is using smart material to build soft rigid variable hardware devices for physical human-robot interaction (pHRI). In my undergraduate period, I focused on Variable Impendence Actuators (VIA), such as a compliant hydraulic actuator achieving by using Magnetorheological Fluids (MRFs), and an inertia adjustable mechanism with flywheel. In my graduate school period, I focus on soft robotics using Magnetorheological Elastomers (MREs). With this new material, the pneumatic system can be eliminated. Now, in my PhD period, I start to focus on sensors and haptic displays by using smart materials.

Keywords:

pHRI, VIA, actuator, smart material, soft robotics, suction cup

IEEE

IEEE Robotics and Automation Society

The Japan Society of Mechanical Engineers

High School Diploma | The Affiliated High School of Shanxi University

2010.9 – 2013.8

Bachelor of Engineering in Mechanical Engineering | Waseda University

2013.10 – 2017.9

Laboratary：Intelligent Machine Lab. (Prof. Shigeki Sugano), Waseda University, Japan

Undergraduate thesis: Design of a pseudo-inertia adjustable mechanism based on bidirectional releasing of stored kinetic energy

Master of Engineering in Mechanical Engineering | Waseda University

2017.10 – 2019.9

Graduate thesis: Development of a vacuum suction cup by applying Magnetorheological Elastomers (MREs)

Doctor of Engineering in Mechanical Engineering (Expected) | Waseda University

2019.10 – 2022.9

International conferences | Peer-Reviewed

1. Mitsuhiro Kamezaki, Peizhi Zhang*, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, and Shigeki Sugano, “Experimental Characterization of a Magnetorheological Damper with Multiple Cylindrical Passages and Toroidal Magnetic Field Generator,” Proceedings of the 10th JFPS International Symposiums on Fluid Power (JFPS2017), paper no. 2B02, Oct. 24-27, 2017, Fukuoka, Japan.

2. Peizhi Zhang*, Mitsuhiro Kamezaki, Kenshiro Otsuki, Shan He, Gonzalo Aguirre Dominguez, and Shigeki Sugano, “Preliminary Design of a Pseudo-Inertia Adjustable Mechanism Based on Bidirectional Releasing of Stored Kinetic Energy,” Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2018), pp. 1136-1142, July 9-12, 2018, Auckland, New Zealand. (DOI: 10.1109/AIM.2018.8452679 )

3. Namiko Saito*, Peizhi Zhang*, Tamon Miyake, Shigeki Sugano, Kenji Mori, “A Life-linkage Services Platform Supporting Diverse Lifestyles based on Individual Demands”, IEEE International Symposium on Autonomous Decentralized Systems (ISADS2019), pp.9-14, April 8-10, 2019, Utrecht, The Netherlands. (*Authors contributed equally. DOI: 10.1109/ISADS45777.2019.9155840)

4. Peizhi Zhang*, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, and Shigeki Sugano, “Development of Anti-Sedimentation Magnetorheological Fluids and Preliminary Evaluation,” Proceedings of 2019 IEEE-RAS International Conference on Soft Robotics (Robosoft2019), paper no. M09, April 14-18, 2019, Seoul, Korea.

5. Peizhi Zhang*, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, and Shigeki Sugano, “Development of Anti-Sedimentation Magnetorheological Fluids and Its Implementation to a MRF Damper,” Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2019), pp. 400-405, July 8-12, 2019, Hong Kong, China. (DOI: 10.1109/AIM.2019.8868739)

6. Peizhi Zhang*, Mitsuhiro Kamezaki, Kenshiro Otsuki, Zhuoyi He, Hiroyuki Sakamoto, and Shigeki Sugano, "Development of a vacuum suction cup by applying magnetorheological elastomers for objects with flat surfaces," Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2019), pp. 400-405, July 6-10, 2020, Boston, MA, USA. (DOI: 10.1109/AIM43001.2020.9158872)

7. Zhuoyi He, Mitsuhiro Kamezaki, Peizhi Zhang, Sahil Shembekar, Ryuichiro Tsunoda, and Shigeki Sugano, "A Prototype Power Transmission System with Backdrivability and Responsiveness using Magnetorheological Fluid Direction Converter and Clutch," Proceedings of 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC). pp.3702-3707, Oct 11-14, Toronto, ON, Canada. (DOI: 10.1109/SMC42975.2020.9283494)

8. Peizhi Zhang*, Namiko Saito, Hiroki Shigemune, and Shigeki Sugano, "Development of a Lightweight Deformable Surface Mechanism (DSM) by Applying Shape-Memory Alloy (SMA) and the Sponge for Handling Objects," Proceedings of 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC). pp.3702-3707, Oct 11-14, Toronto, ON, Canada. (DOI: 10.1109/SMC42975.2020.9283459)

9. Sahil Shembekar, Mitsuhiro Kamezaki, Peizhi Zhang, Zhouyi He, Tsunoda Ryuichiro, Hiroyuki Sakamoto, and Shigeki Sugano, "Preliminary Development of a Powerful and Backdrivable Robot Gripper Using Magnetorheological Fluid," Proceedings of 2020 37th International Symposium on Automation and Robotics in Construction, pp. 1458-1463, Oct 27-28, Kitakyushu, Japan. (DOI: 10.22260/ISARC2020/0202)

Domestic conferences

1. 何山，亀﨑允啓，大槻健史郎，張裴之，アギーレ･ドミンゲス･ゴンサロ，菅野重樹，“磁性流体を利用した能受動型直動デバイスの開発と基本コントローラの設計”，日本機械学会ロボティクス･メカトロニクス講演会2017論文集(Robomec’17)，paper no. 1A1-H08，2017年5月10～13日，福島．(ポスター)

2. 亀﨑允啓，大槻健史郎，張裴之，何山，アギーレ･ドミンゲス･ゴンサロ，菅野重樹，“磁性流体を用いた逆可動性を有するベーン形ロータリアクチュエータの開発”，日本機械学会ロボティクス･メカトロニクス講演会2017論文集(Robomec’17)，paper no. 1A1-H09，2017年5月10～13日，福島．(ポスター)

3. 大槻健史郎*，亀﨑允啓，張裴之，何卓頤，菅野重樹，坂本裕之，“分離沈降抑制型磁気粘弾性流体の試製とMRダンパー機構への実装および評価”，第36回日本ロボット学会学術講演会論文集(RSJ2018)，paper no. 3P2-02，2018年9月5～8日，春日井，愛知．

4. 張裴之*，亀﨑允啓，大槻健史郎，何卓頤，菅野重樹，“運動エネルギーの双方向充放機構による擬似慣性可変システムの提案”，日本機械学会ロボティクス･メカトロニクス講演会2019論文集(Robomech’19)，paper no. 1P1-K06，2019年6月5～8日，広島．(ポスター)．

5. 張裴之*，亀﨑允啓，何卓頤，角田龍一朗，シェンベカル・サヒル，坂本裕之，菅野重樹，“MRエラストマーを用いたサクションカップユニットの開発”，第37回日本ロボット学会学術講演会論文集(RSJ2019)， 2019年9月3～7日，東京．

6. 大槻 健史郎，亀﨑允啓，張裴之，何卓頤，坂本裕之，菅野重樹，“磁気粘性流体を用いた低摺動ベーン形ロータ リアクチュエータの開発”，第37回日本ロボット学会学術講演会論文集(RSJ2019)， 2019年9月3～7日，東京．

7. 何 卓頤，亀﨑允啓，張 裴之，シェムベカール サヒル，角田 龍一朗，菅野 重樹，“ギア・クラッチ・ブレーキを組み合わせた逆可動性と高応答性を有する動力伝達機構の試作”，第38回日本ロボット学会学術講演会論文集(RSJ2020)， 2020年10月9～11日，オンライン．

8. 角田龍一朗，亀﨑允啓，張裴之，シェンベカル サヒル，何卓頤，菅野重樹，“磁気粘性流体を作動流体とした逆可動性と高出力性を有するロボットアームの開発”，第38回日本ロボット学会学術講演会論文集(RSJ2020)， 2020年10月9～11日，オンライン．

9. 角田龍一朗，亀﨑允啓，何山，張裴之，大槻健史郎，アギーレ ゴンサロ，菅野重樹，“異なるコンテキスト下での自律移動ロボットの行動に対する人の行動・心象分析”，第21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論文集(SI2020)， 2020年12月16～19日，福岡．

• 回転型コンプライアント駆動装置

発明者：亀﨑允啓，ゴンサロアギーレ，大槻健史郎，張裴之，菅野重樹，出願人：学校法人 早稲田大学，特願2016-216808，出願日2016年11月5日，特開2018-071776，公開日2018年5月10日．

• アクチュエータシステム

発明者：亀崎允啓，大槻健史郎，張裴之，菅野重樹，出願人：学校法人 早稲田大学，特願2019-38184，出願日2019年3月4日，特開2020-143686，公開日2020年9月10日.

• 方向変換装置及び動力伝達システム

発明者：亀崎允啓，何 卓イ，張裴之，菅野重樹，出願人：学校法人 早稲田大学，特願2020-131382，出願日2020年8月3日．

Scholarship

Waseda University Partial Tuition-Waiver Scholarship for Privately Financed International Students

2013.10 – 2014.9

Honor Scholarship for Privately Financed International Students

2013.10 – 2014.3

The student support from Waseda University for Leading Graduate Schools

2017.9 – 2020.4

一貫制博士学費支援奨学金 （三菱奨学金）

2017 – 2019

博士後期課程若手研究者養成奨学金

2019– 2020

Awards

文部科学省博士課程教育リーディングプログラム 実体情報学博士プログラム合格

2017.9

Tsukuba-Waseda-Tsinghua Leading Summer School 2017: First prize

2017.10

Graduate students

Sahil Shembekar (Sugano Lab., Waseda University) 2019.4 – 2021.2

Graduate thesis: Permanent Magnet Elastomer (PME) Infused Soft Robot Skin For Tactile Sensing Application

He Zhuoyi (Sugano Lab., Waseda University) 2019.10 – 2021.9

Graduate thesis: Development of a Bionic Muscle Pump by Reconfigurable Elastic Module using Permanent Magnetic Elastomer

Undergraduate students

He Zhuoyi (Sugano Lab., Waseda University) 2018.4 – 2019.9

Undergraduate thesis: Development of A Backdrivable Transmission System using Magnetorheological Fluid(MRF) Clutch and Direction Convertor

Ryuichiro Tsunoda (Sugano Lab., Waseda University) 2019.4 – 2020.2

Undergraduate thesis: Development of a Robot Arm with High Backdrivability and High Power using Magnetorheological Fluid

Yutaro Hattori (Sugano Lab., Waseda University) 2020.4 – 2021.2

Undergraduate thesis: Development of a 3-axis Wearable Haptic Device Capable of Presenting Contact Force and Continuous Shear Force