Papers
12
Total Citations
95
H-Index
7
About
Ken Masuya is a robotics researcher whose work bridges two compelling frontiers: the state estimation of humanoid and biped robots, and the development of novel soft actuators. In humanoid robotics, Masuya has made foundational contributions to estimating a robot’s center of mass (COM) and performing dead reckoning using only internal sensors. His 2015 paper on COM motion estimation via a fusion of dynamics and kinematics (13 citations) and his work on anchoring pivot estimation for dead reckoning (13 citations) have been instrumental in enabling high-rate feedback control without external motion capture. His 2020 review on state estimation for humanoid robots (12 citations) serves as a key reference for researchers targeting COM, base kinematics, and external wrench estimation. In parallel, Masuya has pioneered soft robotic actuation, notably with his 2020 work on a low-cost coil-shaped optical fiber displacement sensor for twisted and coiled polymer fiber (TCPF) actuators (17 citations) and a 2021 paper on TCPF actuators fabricated from polymer-coated optical fiber (8 citations). These innovations advance the practicality of artificial muscles for robotics. With over 90 total citations, Masuya’s work is shaping both the control and actuation of next-generation robots.
Research Focus
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