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International Symposium Series

Harmonic Drive International Symposium

We have been holding an international symposium at five-year intervals ever since 1991, when we celebrated the 20th anniversary of our founding. The overall theme is motion control. Along with customers from around the world, we invite experts from universities and research institutes. The program features presentations on the latest technology trends and customer application examples, as well as reports by HDSI about our research and development.
Out of consideration for the effects of the Great East Japan Earthquake, the 2011 event was not held.

Presentation by Jun Handa
of Harmonic Drive Systems Inc.

Harmonic Drive International Symposium 2019
(Aug 29-30,2019)

Keynote Speech
Fun Research of Computer Vision and Robotics
Takeo Kanade, U.A. and Helen Whitaker University Professor, CMU

Human Robot Symbiosis - the need for smart actuation
Prof Guang-Zhong Yang, Director, The Hamlyn Centre, Imperial College of London

Past Presentations

6th (2019)

Contents and Speakers
"General purpose electric actuator for outdoor service robots"
Kenji Ishida, President BRAVE ROBOTICS Inc. (Japan)
"Accessible Industrial and Medical Exoskeletons at suitX"
Dr. Homayoon Kazerooni CEO, Founder, SuitX (U.S.A)
"eVTOLs for future mobility solutions"
Sebastian Rivera, Strategic Sales Aerospace. Harmonic Drive AG (Germany)
"More electric aircraft Landing System"
Nicolas Nguyen, Deputy Program Chief Engineer, R&T Platform 5 (DELTA)
Safran Landing Systems (France)
"Research of Self-Standing Assist Control for Motorcycles in Stationary State"
Kazushi Akimoto, Frontier Robotics, Innovative Research Excellence
Honda R&D Co.,Ltd. (Japan)
"Performance Enhancement of Positioning System with HarmonicDrive®"
Masafumi Yamamoto, MT Development Dept. Harmonic Drive Systems Inc. (Japan)
"SRI Robotics Harmonic Drive Systems and SRI International"
Alexander Kernbaum, Ph.D. Senior Manager, Principal Research Engineer - Robotics
SRI International (U.S.A)
Keynote Speech
"Fun Research of Computer Vision and Robotics"
Takeo Kanade, U.A. and Helen Whitaker University Professor, CMU (U.S.A)
"Development of the Digit robot: background, process, and lessons learned"
Damion Shelton CEO & Jonathan Hurst CTO, Agility Robotics(U.S.A)
"Robotics in Intelligent Manufacturing"
Chia-Peng Day Ph.D. General Manager, Automation Intelligent Manufacturing
CAA Business Group, Foxconn Industrial Internet Co.,Ltd (China)
"Development of Human Friendly Wearable Robot [curare]"
Dr.Eng Minoru Hashimoto, President, AssistMotion Inc. (Japan)
(Specially Appointed Professor, Faculty of Textile Science and Technology,Shinshu University)
"Development of FHA-Mini Integrated Actuators"
Brian Coyne, VP of Engineering, Harmonic Drive LLC (U.S.A)
"Lightweight Actuators in Electric Vertical Takeoff and Landing Aircraft"
Jordi Gischler & Rob Thodal, Mechanical Engineer, Joby aviation (U.S.A)
"Development of world first mass production variable compression ratio engine"
Katsuya Moteki, Senior Engineer, Next Generation Powertrain and EV Engineering Group No.1,
Powertrain and EV Advanced Engineering Department,
Powertrain and EV Engineering Division, Nissan Motor Co.,Ltd. (Japan)
"Motorcycle Dynamics and Control of the MOTOROiD That Stand Upright Even When Stopped"
Toshimasa Morita, General Manager, Mobility Technology Center
"Development of 2K-H type Strain wave gearing - Dual HarmonicDrive®"
Jun Handa, RD Development Dept. Harmonic Drive Systems Inc. (Japan)
"Design of Human-Symbiotic Robot - Compliant Motion Generation - "
Prof Shigeki Sugano, Department of Modern Mechanical Engineering,
School of Creative Science and Engineering, Waseda University (Japan)
"Improvement of Lubrication Life of Paddle Drive Mechanism for Space Applications Abstract"
Nobuo Kenmochi, Associate Senior Administrator, Research Unit Ⅱ
Research and Development Directorate, Japan Aerospace Exploration Agency (Japan)
"Development of High-Accuracy Planetary Reducer with Helical-Gear"
Kouhei Isobe, Planetary Gear Development Dept.
Harmonic Drive Systems Inc. (Japan)
Keynote Speech
"Human Robot Symbiosis - the need for smart actuation"
Prof Guang-Zhong Yang, Director, The Hamlyn Centre,
Imperial College of London (United Kingdom)

5th (2015)

Contents and Speakers
Development of Humanoid Robot "ASIMO"
Satoshi Shigemi, Operating Officer Chief Operating Officer Fundamental Technology Research Center, Honda R&D Co., Ltd.
Development of Small Gear Measuring Machine
Hiroshi Yamazaki, Harmonic Drive Systems Inc.
Autonomous Grasping Hand Using Proxirnity Sensor
Prof. Makoto Shimojo, Dept. of Mechanical Engineering and Intelligent Systems, Graduate School of Informatics and Engineering, The University of Electro-Communications
The Second Robotic Revolution - Human-Robot-Collaboration
Dr. Albrecht Hoene, Head of projects, KUKA Roboter GmbH
Beamline optics for SPring-8 and SACLA
Haruhiko Ohashi, Japan Synchrotron Radiation Research Institute (IASRI) Optics Group
NASA Johnson Space Center: Robotics Technology Development
Lyndon B.J.Bridgwater, Senior Robotic Systems Engineer, National Aeronautics and Space Administration
Designing the Next 100 Years
Ken Kiyoyuki Okuyama, Industrial Designer CEO, Ken Okuyama Design Co.,Ltd.
Development of『i-ROAD』
Akihiro Yanaka, TOYOTA MOTOR CORPORATION Group Manager Sports Vehicle Managent Div. Project General Manager Prodact Planning Dept. Project General Manager ITS Planning Div.
Development of Magnetic Encoder
Tsukasa Koto, Harmonic Drive Systems Inc.
Honor Lecture
鸿富锦精密工业(深圳)有限公司 AR事业处 总经理 博士 戴家鹏
鸿富锦精密工业(深圳)有限公司 工程部 設計課長 龙波
In-System Measurement and Correction of Systematic Errors of a Strain Wave Gear in a Planetary Scanner
Dipl.-Ing. Thomas Ingendoh, Image Access, Gcrmany CEO
Fast and Precise Control for Positioning Devices with Straiîn Wave Gearings
Prof. Makoto Iwasaki, Department of Computer Science & Engineering Nagoya Institute of Technology
Honor Lecture
Hirofumi Tanaka, Medicaroid Corporation Director
Future of Robotics (Service Robots Are Here)
Steve Cousins, Savioke CEO
Subsea Valve Actuator
Ralf Falk, Harmonic Drive AG R&D Servo Drives
A New Class of Robots for Industrial Environments
Rodney Brooks, Rethink Robotics Chairman, Founder, and Chief Tecnology Officer
Collaborative Robots
Enrico Krog Iversen, Universal Robots A/S CEO
High Speed Robots by High Speed Vision
Prof. Masatoshi Ishikawa, Department of Crcative Informatics/Departrnent of Information Physics and Computing Graduate School of Information Science and Technology The University of Tokyo

4th (2006)

Contents and Speakers
Technology for Detecting Absolute Output Shaft Rotational Position of an Actuator with Magnetic Sensors
Muneo Mitamura, Harmonic Drive Systems Inc.
The Use of Harmonic Drive Gears in Active Inceptor Systems
Adam Taylor, BAE Systems, Kent, United Kingdom
Ultra-precision Processing Machine and Repeatability
Takeshi Itatsu, Assistant to Depugy Manager, Production Department, Nagase Integrex Co., Ltd.
Humanoid Robot Control System
Toru Takenaka, Senior Chief Engineer, Second Laboratory, Fundamental Technology Research Center, Honda R&D Co., Ltd.
Design and Control of a Second-Generation Robotic Surgical Manipulator
William C. Nowlin, Intuitive Surgical, Inc.
Subaru Telescope Probes Outer Space
Keiichi Kodaira, President, The Graduate University for Advanced Studies (Sokendai)
Development of the World's Smallest HarmonicDrive® and AC Servo Actuator
Toshiyuki Abe, Harmonic Drive Systems Inc.
Adaptive structural systems for product optimization with the design example of a smart interface
Tobias Melz, Fraunhofer Institut, Darmstadt, Germany
Sensing, Planning and Uses for Mobile Robots
William L. "Red" Whittaker, Carnegie Mellon University
Research on A Rotary Input/Linear Output HarmonicDrive® (Harmonic Linear Drive)
Stephani Moune, Harmonic Drive Systems Inc.
HarmonicDrive® Actuator Speed Correction Control
Yoshifumi Okitsu, Harmonic Drive Systems Inc.
Modeling of and Compensation for Nonlinear Friction in a High-speed, High-precision Positioning Control System
Makoto Iwasaki, Assistant Professor, Department of Computer Science and Engineering, Graduate School of Engineering, Nagoya Institute of Technology
Haptic Feedback Systems for Virtual Reality and Telepresence Applications
Marc Ueberle, Technical University Munich Institute of Automatic Control Engineering, Munich, Germany
Ultra-fast Hyper-human Technology and Its Applications
Makoto Kaneko, Professor, Robotics Laboratory, Department of Artificial Complex Systems Engineering, Graduate School of Engineering, Hiroshima University
Active Force Feedback Applications Using Harmonic Drive Gears
Andreas Kayser, Harmonic Drive AG
Man-Machine Synergy Effector
Katsuya Kaneoka, Lecturer, Department of Robotics, College of Science and Engineering, Ritsumeikan University

3rd (2001)

Contents and Speakers
Development of a Lattice Encoder Device
Kazuhiro Hane, Professor, Department of Electronics and Mechanical Engineering, Graduate School of Engineering, Tohoku University Yoshinori Ito*, Harmonic Drive Systems Inc.
Toward the Establishment of a Rotary Encoder Angle Standard and Traceability System in Japan
Tadashi Masuda, Professor, Department of Mechanical Engineering, Faculty of Science and Technology, Shizuoka Institute of Science and Technology
Nanometer Resolution Linear Actuator
R. Nalbandian, Moog, Inc.
The Use of Harmonic Drives on NASA's Mars Exploration Rover
S. Krishnan*and C. Voorhees, Jet Propulsion Laboratory, California Institute of Technology
Development of the Humanoid Robot ASIMO
Yuji Haikawa, Chief Researcher, Fifith Laboratory, Fundamental Technology Research Center (Wako City, Saitama Prefecture), Honda R&D Co., Ltd.
Evolution of PolyBot: A Modular Reconfigurable Robot
D. G. Duff*, M. Yim, and K. Roufas, XEROX-PARC
How Research and Development Take Place: Optical Communication as Example
Junichi Nishizawa, President, Iwate University

2nd (1996)

Contents and Speakers
Development of New HarmonicDrive® SHF Series
Naomi Shirasawa*, Noboru Takizawa, and Yoshihide Kiyosawa, Harmonic Drive Systems Inc.
Relation of HarmonicDrive® Mounting Error to Angular Transmission Error
Takahiro Okura*, Hideo Asawa, and Yoshihide Kiyosawa, Harmonic Drive Systems Inc.
Development of a New Type of Planetary Gear Reducer
Norio Shirokoshi*, Hiroshi Kameda, Yoshihiro Tanioka, and Hiroshi Nakagawa, Harmonic Drive Systems Inc.
Numerical Analysis of Cogging Torque and Gap Magnet Flux Distribution of BLDC Motor
Yuji Akiyama*, Professor, Department of Electrical and Electronic Engineering, Kanagawa Institute of Technology Kiyoto Kobayashi, Harmonic Drive Systems Inc.
Development of HarmonicDrive® for Aerospace Use
Yoshifumi Notomi* and Noburo Kenmochi, Main Managers in charge of Design No.4 Office, Komukai Works Space Design Department, Toshiba Corporation
Drive Mechanism with Three Degrees of Freedom for Omnidirectional Robot
Hajime Asama*, Hayato Kaetsu, and Isao Endo, Biochemical Systems Laboratory, RIKEN Masatoshi Sato, School of Science and Engineering, Toyo University
Robots and Humans
Masahiro Mori, Emeritus Professor, Tokyo Institute of Technology; President, Jizai Research Institute

1st (1991)

Contents and Speakers
New HarmonicDrive® Research
Yoshihide Kiyosawa*, Noboru Takizawa, Takahiro Okura, and Yoshito Yamamoto, Harmonic Drive Systems Inc.
Research on HarmonicDrive® Lubrication
Hiroshi Takizawa, Harmonic Drive Systems Inc.
Research on HarmonicDrive® for Aerospace Use
Hideo Yasue*, Hiroshi Takizawa, and Hiroshi Nakagawa Harmonic Drive Systems Inc.
Quality Control of HarmonicDrive® for Aerospace Use
Hideto Sakurai* and Masaru Koyama, Harmonic Drive Systems Inc.
Application of Harmonic Drive in Space
E. Schaeffer, President, Schaeffer Magnetics, Inc.
Control of Elastic Robots Using Mechatronic Tools
W. Moritz, Institute of Automation Engineering, University of Paderborn
The Innovation in the History of Technology and Its Influence on My Gear Research
Takashi Nakada, Member, The Japan Academy; Emeritus Professor, Tokyo Institute of Technology

* An asterisk by a name in the 1st to 3rd symposiums indicates the speaker in the case of joint research.