Hiroki Mukai

Papers

Total Citations

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About

Hiroki Mukai is a robotics researcher whose work focuses on the intersection of force sensing and contact mechanics, particularly for robotic manipulation. His key contributions lie in developing robust methods for determining contact points between a robot and an object using 6-axis force/moment sensors. His most-cited paper, "Contact point sensing from force measurements disturbed by noise" (2009, 2 citations), addresses a fundamental challenge in this area: while contact point location can be directly calculated from force/moment equations in ideal, noiseless conditions, real-world sensor noise makes this unreliable. Mukai's work provides a more practical, noise-tolerant approach to this problem, enabling more precise and stable robotic interactions. Though his citation count is modest, his research is significant for advancing the reliability of force-based sensing in robotics, a critical component for tasks like assembly, grasping, and human-robot collaboration. His contributions help bridge the gap between theoretical models and real-world robotic applications, making him a notable figure in the field of robotic force control and sensor-based manipulation.