宇治土公 雄介の写真
Yusuke Ujitoko / 宇治土公 雄介
  • NTT Communication Science Laboratories, Distinguished Researcher / NTT株式会社 コミュニケーション科学基礎研究所 特別研究員
  • The University of Electro-Communications, Associate Professor / 電気通信大学 大学院情報理工学研究科 連携准教授

物体や他者に触れた感触を人に感じさせる触覚提示システムは医療、エンタメなど多岐にわたる分野での応用が期待されています。私は社会で実際に活用される触覚提示システムの実現をめざして触覚の基礎的な研究に取り組んでいます。現在は、人の知覚特性の理解、知覚特性に基づく触覚提示技術の提案、触覚提示のニーズや応用シナリオの体系化、触覚提示システムの満たすべき仕様の検討を主なテーマとしています。

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Work experience
Apr 2025 - The University of Electro-Communications / 電気通信大学
Oct 2020 - Communication Science Laboratories, NTT, Inc. / NTT株式会社 コミュニケーション科学基礎研究所
Apr 2016 - Sep 2020 R&D Group, Hitachi, Ltd. / 株式会社日立製作所 研究開発グループ
Education
Sep 2020 Ph.D. in Engineering, The University of Electro-Communications / 電気通信大学 博士(工学)
Mar 2016 M.A.Sc., The University of Tokyo / 東京大学 修士(学際情報学)
Mar 2014 B.E., The University of Tokyo / 東京大学 学士(機械工学)
Research Topic
Publication
Journal Paper
  1. Ujitoko, Y., & Ban, Y. (2026, XXX). Eliciting Pleasantness With Haptic Feedback: The Role of Physical and Pseudo-Haptic Resistance in Virtual Archery. IEEE Transactions on Visualization and Computer Graphics. https://doi.org/10.1109/tvcg.2025.3648732
  2. Yokosaka, T., Ujitoko, Y., & Kawabe, T. (2025, XXX). Asymmetric Playback Speeds for Ascent and Descent Phases Produce Natural Jump Impressions. Royal Society Open Science.
  3. Ujitoko, Y., & Morisaki, T. (2025, September). Exploring Acceptable Weight Criteria for Finger-Worn Haptic Device Design. IEEE Transactions on Haptics, 18(3), 615-625. https://doi.org/10.1109/TOH.2025.3580216
  4. Kawabe, T., & Ujitoko, Y. (2025, July). Visual Features Involved in Determining Apparent Elasticity Elicit Touch Desire. IEEE Transactions on Visualization and Computer Graphics, 31(10), 9530-9536. https://doi.org/10.1109/TVCG.2025.3590469
  5. Shimamura, K., Shimomura, Y., Ban, Y., Ujitoko, Y., & Warisawa, S. I. (2024, December). Effect of virtual object material on the pseudo-haptic weight. IEEE Access, 12, 183143-183152. https://doi.org/10.1109/ACCESS.2024.3511078
  6. Ujitoko, Y., Takenaka, Y., & Hirota, K. (2024, September). Spatiotemporal motion features resulting from tactile interface layouts influence tactile speed perception. iScience, 27(9), 110803. https://doi.org/10.1016/j.isci.2024.110803
  7. Yokosaka, T., Ujitoko, Y., & Kawabe, T. (2024, September). Computational account for the naturalness perception of others’ jumping motion based on a vertical projectile motion model. Proceedings of the Royal Society B: Biological Sciences, 291(2031). https://doi.org/10.1098/rspb.2024.1490
  8. Ujitoko, Y., Ban, Y., & Yokosaka, T. (2024, January). Elucidating Diurnal Patterns in Touch Desire Using Social Media Data Toward Design of Haptic Applications and Displays. IEEE Transactions on Visualization and Computer Graphics, 30(12), 7593-7600. https://doi.org/10.1109/TVCG.2024.3355413, [pdf]
  9. Ujitoko, Y., Takenaka, Y., & Hirota, K. (2024, January). Effect of Normal Force Intensity on Tactile Motion Speed Perception Based on Spatiotemporal Cue. IEEE Transactions on Haptics, 18(3), 73-79. https://doi.org/10.1109/TOH.2024.3352042, [pdf]
  10. Ujitoko, Y., & Ban, Y. (2023, August). Toward Designing Haptic Displays for Desired Touch Targets: A Study of User Expectation for Haptic Properties via Crowdsourcing. IEEE Transactions on Haptics, 16(4), 726-735 https://doi.org/10.1109/toh.2023.3310662, [pdf]
  11. Ban, Y., & Ujitoko, Y. (2023, August). Age and Gender Differences in the Pseudo-Haptic Effect on Computer Mouse Operation in a Desktop Environment. IEEE Transactions on Visualization and Computer Graphics, 30(8), 5566-5580. https://doi.org/10.1109/tvcg.2023.3295389, [pdf]
  12. Ban, Y., Yoshida, T., & Ujitoko, Y. (2023, May). Impact of Synchronizing Visual Cues with Switch of Foot Contact State on the Presence of Virtual Flight while Seated. IEEE Access, 11, 44531-44543. https://doi.org/10.1109/ACCESS.2023.3272986, [pdf]
  13. Ujitoko, Y., & Kawabe, T. (2023, April). Specifying Visual Parameters for Haptic-Visual Sequential Matching of Material Softness. IEEE Transactions on Haptics, 16(2), 287-295. https://doi.org/10.1109/TOH.2023.3269016, [pdf]
  14. Yokosaka, T., Ujitoko, Y., & Kawabe, T. (2023, April). Force illusion induced by visual illusion: Illusory curve in cursor path is interpreted as unintended force. Journal of Vision, 23(4), 5-5. https://doi.org/10.1167/jov.23.4.5
  15. Kawabe, T., & Ujitoko, Y. (2023, April). Pseudo-Haptic Heaviness Influenced by the Range of the C/D Ratio and the Position of the C/D Ratio Within a Given Range. IEEE Transactions on Haptics, 16(2), 345-350. https://doi.org/10.1109/TOH.2023.3266494, [pdf]
  16. Ujitoko, Y., Kaneko, S., Yokosaka, T., & Kawabe, T. (2023, April). Falling and heaviness: Heaviness judgment for a visual object which users lift up is influenced by the presentation of the object's falling or staying still. Frontiers in psychology, 14, 1042188. https://doi.org/10.3389/fpsyg.2023.1042188
  17. Kawabe, T., & Ujitoko, Y. (2023, March). Softness Perception of Visual Objects Controlled by Touchless Inputs: The Role of Effective Distance of Hand Movements. IEEE Transactions on Visualization and Computer Graphics, 30(7), 4154-4169. https://doi.org/10.1109/TVCG.2023.3254522, [pdf]
  18. Ujitoko, Y., Yokosaka, T., Ban, Y., & Ho, H. N. (2022, December). Tracking changes in touch desire and touch avoidance before and after the COVID-19 outbreak. Frontiers in Psychology, 13, 1016909. https://doi.org/10.3389/fpsyg.2022.1016909
  19. Ujitoko, Y., Tokuhisa, R., & Hirota, K. (2022, October). Vibrotactile Spatiotemporal Pattern Recognition in Two-Dimensional Space Around Hand. IEEE Transactions on Haptics, 15(4), 718-728. https://doi.org/10.1109/TOH.2022.3213313, [pdf]
  20. Kawabe, T., Ujitoko, Y., Yokosaka, T., & Kuroki, S. (2022, September). Underestimation in temporal numerosity judgments computationally explained by population coding model. Scientific Reports, 12(1), 15632. https://doi.org/10.1038/s41598-022-19941-8
  21. Ujitoko, Y., & Kuroki, S. (2022, June). Sinusoidal Vibration Source Localization in Two-Dimensional Space Around the Hand. Frontiers in Psychology, 13, 878397. https://doi.org/10.3389/fpsyg.2022.878397
  22. Kawabe, T., Ujitoko, Y., & Yokosaka, T. (2022, May). The relationship between illusory heaviness sensation and the motion speed of visual feedback in gesture-based touchless inputs. Frontiers in Psychology, 13, 811881. https://doi.org/10.3389/fpsyg.2022.811881
  23. Ujitoko, Y., & Kawabe, T. (2022, April). Visual estimation of the force applied by another person. Scientific reports, 12(1), 6216. https://doi.org/10.1038/s41598-022-10243-7
  24. Ujitoko, Y., & Kawabe, T. (2022, February). Perceptual judgments for the softness of materials under indentation. Scientific reports, 12(1), 1761. https://doi.org/10.1038/s41598-022-05864-x
  25. Hirota, K., Ujitoko, Y., Sakurai, S., & Nojima, T. (2022, February). Deformation matching: Force computation based on deformation optimization. IEEE Transactions on Haptics, 15(2), 267-279. https://doi.org/10.1109/TOH.2022.3142053, [pdf]
  26. Ujitoko, Y., Ban, Y., & Yokosaka, T. (2021, August). Getting insights from twitter: what people want to touch in daily life. IEEE Transactions on Haptics, 15(1), 142-153. https://doi.org/10.1109/TOH.2021.3105979, [pdf]
  27. Ujitoko, Y., Tokuhisa, R., Sakurai, S., & Hirota, K. (2021, June). Impact vibration source localization in two-dimensional space around hand. IEEE Transactions on Haptics, 14(4), 862-873. https://doi.org/10.1109/TOH.2021.3085756, [pdf]
  28. Ota, Y., Ujitoko, Y., Sakurai, S., Nojima, T., & Hirota, K. (2021, May). Inside Touch: Presentation of Tactile Feeling Inside Virtual Object Using Finger-Mounted Pin-Array Display. IEEE Access, 9, 75150-75157. https://doi.org/10.1109/ACCESS.2021.3082100, [pdf]
  29. Ujitoko, Y., & Ban, Y. (2021, May). Survey of pseudo-haptics: Haptic feedback design and application proposals. IEEE Transactions on Haptics, 14(4), 699-711. https://doi.org/10.1109/TOH.2021.3077619, [pdf]
  30. Kawabe, T., Ujitoko, Y., Yokosaka, T., & Kuroki, S. (2021, April). Sense of resistance for a cursor moved by user’s keystrokes. Frontiers in Psychology, 12, 652781. https://doi.org/10.3389/fpsyg.2021.652781
  31. Ujitoko, Y., Taniguchi, T., Sakurai, S., & Hirota, K. (2020, August). Development of finger-mounted high-density pin-array haptic display. IEEE Access, 8, 145107-145114. https://doi.org/10.1109/ACCESS.2020.3015058, [pdf]
  32. 宇治土公雄介, 伴祐樹, & 広田光一. (2020, February). 敵対的学習を用いた触覚提示向け振動の自動生成. 情報処理学会論文誌コンシューマ・デバイス & システム (CDS), 10(1), 1-14. http://id.nii.ac.jp/1001/00203573/
  33. Ujitoko, Y., Ban, Y., & Hirota, K. (2020, January). GAN-based fine-tuning of vibrotactile signals to render material surfaces. IEEE Access, 8, 16656-16661. https://doi.org/10.1109/ACCESS.2020.2968185, [pdf]
  34. Ban, Y., Ujitoko, Y., & Minamizawa, K. (2020, January). Edge vibration improves ability to discriminate roughness difference of adjoining areas. IEEE Transactions on Haptics, 13(1), 211-218. https://doi.org/10.1109/TOH.2020.2970057, [pdf]
  35. 伴祐樹, & 宇治土公雄介. (2019, December). バーチャル紐を用いることによるタッチスクリーンでの Pseudo-haptics 効果の向上. 日本バーチャルリアリティ学会論文誌, 24(4), 389-399. https://doi.org/10.18974/tvrsj.24.4_389
  36. Ujitoko, Y., Sakurai, S., & Hirota, K. (2019, November). Influence of sparse contact point and finger penetration in object on shape recognition. IEEE Transactions on Haptics, 13(2), 425-435. https://doi.org/10.1109/TOH.2019.2954882, [pdf]
  37. Ujitoko, Y., Ban, Y., & Hirota, K. (2019, February). Modulating fine roughness perception of vibrotactile textured surface using pseudo-haptic effect. IEEE Transactions on Visualization and Computer Graphics, 25(5), 1981-1990. https://doi.org/10.1109/TVCG.2019.2898820, [pdf]
  38. 堀田勇樹, 宇治土公雄介, 福島悠史, 成沢文雄, & 林正人. (2018, May). アプリケーションの不具合解析を効率化する走行制御向け ECU プラットフォームの検討. 情報処理学会論文誌コンシューマ・デバイス & システム (CDS), 8(2), 24-33. http://id.nii.ac.jp/1001/00189475/
  39. 宇治土公雄介, 鳴海拓志, 伴祐樹, 谷川智洋, 広田光一, & 廣瀬通孝. (2017, September). 背景移動量操作を利用した視触覚間相互作用生起によるタッチパネルでの擬似触力覚提示. 日本バーチャルリアリティ学会論文誌, 22(3), 305-313. https://doi.org/10.18974/tvrsj.22.3_305
Conference Proceeding
  1. Ujitoko, Y., & Ban, Y. (2025, October). A Work-in-Progress Study on Effect of Post-Operation Visual Feedback on Perceived Pleasantness During Membrane Penetration with Force Feedback. In 2025 IEEE ISMAR.
  2. Morisaki, T., & Ujitoko, Y. (2024, June). Towards Intensifying Perceived Pressure in Midair Haptics: Comparing Perceived Pressure Intensity and Skin Displacement between LM and AM Stimuli. EuroHaptics 2024 (pp. 107-119). https://doi.org/10.1007/978-3-031-70058-3_9
  3. Kawagishi, T., Ban, Y., Ujitoko, Y., & Warisawa, S. I. (2023, July). Enhancing Perceived Resistance and Propulsion by Combining Pseudo-haptics and Pulling Illusion. In 2023 IEEE World Haptics Conference (WHC) (pp. 403-409). IEEE. https://doi.org/10.1109/WHC56415.2023.10224457
  4. Kawabe, T., Ujitoko, Y., & Yokosaka, T. (2021, July). Pseudo-heaviness during mid-air gestures is tuned to visual speed. In 2021 IEEE World Haptics Conference (WHC) (pp. 580-580). IEEE. https://doi.org/10.1109/WHC49131.2021.9517261
  5. Ban, Y., & Ujitoko, Y. (2021, July). Hit-Stop in VR: Combination of Pseudo-haptics and Vibration Enhances Impact Sensation. In 2021 IEEE World Haptics Conference (WHC) (pp. 991-996). IEEE. https://doi.org/10.1109/WHC49131.2021.9517129
  6. Ota, Y., Ujitoko, Y., Ban, Y., Sakurai, S., & Hirota, K. (2020, September). Surface roughness judgment during finger exploration is changeable by visual oscillations. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (pp. 33-41). Cham: Springer International Publishing. https://doi.org/10.1007/978-3-030-58147-3_4
  7. Ujitoko, Y., Sakurai, S., & Hirota, K. (2020, March). Vibrator transparency: Re-using vibrotactile signal assets for different black box vibrators without re-designing. In 2020 IEEE Haptics Symposium (HAPTICS) (pp. 882-889). IEEE. https://doi.org/10.1109/HAPTICS45997.2020.ras.HAP20.80.00957e94
  8. Ban, Y., & Ujitoko, Y. (2019, November). Automated Vibrotactile Generation based on Texture Images or Material Attributes using GAN. In Proceedings of the International Display Workshops (p. 16). https://doi.org/10.36463/idw.2019.0016
  9. Sugamoto, N., Ueta, K., Ujitoko, Y., Sakurai, S., Nojima, T., & Hirota, K. (2019). Inclination Manipulator. In SIGGRAPH Asia 2019 Emerging Technologies (pp. 23-24). https://doi.org/10.1145/3355049.3360541
  10. Ujitoko, Y., Ban, Y., & Hirota, K. (2019, July). Presenting static friction sensation at stick-slip transition using pseudo-haptic effect. In 2019 IEEE World Haptics Conference (WHC) (pp. 181-186). IEEE. https://doi.org/10.1109/WHC.2019.8816100
  11. Ban, Y., & Ujitoko, Y. (2018). TactGAN: Vibrotactile designing driven by GAN-based automatic generation. In SIGGRAPH Asia 2018 Emerging Technologies (pp. 1-2). https://doi.org/10.1145/3275476.3275484
  12. Ujitoko, Y., & Ban, Y. (2018). Vibrotactile signal generation from texture images or attributes using generative adversarial network. In Haptics: Science, Technology, and Applications: 11th International Conference, EuroHaptics 2018, Pisa, Italy, June 13-16, 2018, Proceedings, Part II 11 (pp. 25-36). Springer International Publishing. https://doi.org/10.1007/978-3-319-93399-3_3
  13. Ban, Y., & Ujitoko, Y. (2018, March). Enhancing the pseudo-haptic effect on the touch panel using the virtual string. In 2018 IEEE Haptics Symposium (HAPTICS) (pp. 278-283). IEEE. https://doi.org/10.1109/HAPTICS.2018.8357188
  14. Narumi, T., Ujitoko, Y., Ban, Y., Tanikawa, T., Hirota, K., & Hirose, M. (2017, June). Resistive swipe: Visuo-haptic interaction during swipe gestures to scroll background images on touch interfaces. In 2017 IEEE World Haptics Conference (WHC) (pp. 334-339). IEEE. https://doi.org/10.1109/WHC.2017.7989924
  15. Ujitoko, Y., & Hirota, K. (2015). Application of the Locomotion Interface Using Anthropomorphic Finger Motion. In Human Interface and the Management of Information. Information and Knowledge in Context: 17th International Conference, HCI International 2015, Los Angeles, CA, USA, August 2-7, 2015, Proceedings, Part II 17 (pp. 666-674). Springer International Publishing. https://doi.org/10.1007/978-3-319-20618-9_65
  16. Ujitoko, Y., Ban, Y., Narumi, T., Tanikawa, T., Hirota, K., & Hirose, M. (2015). Yubi-toko: finger walking in snowy scene using pseudo-haptic technique on touchpad. In SIGGRAPH Asia 2015 Emerging Technologies (pp. 1-3). https://doi.org/10.1145/2818466.2818491
  17. Ujitoko, Y., & Hirota, K. (2015, March). Impact of illusory resistance on finger walking behavior. In 2015 IEEE Virtual Reality (VR) (pp. 301-302). IEEE. https://doi.org/10.1109/VR.2015.7223415
  18. Ujitoko, Y., & Hirota, K. (2015). The scaling of the haptic perception on the fingertip using an interface of anthropomorphic finger motions. Haptic Interaction: Perception, Devices and Applications, 3-5. https://doi.org/10.1007/978-4-431-55690-9_1
  19. Hirota, K., Ujitoko, Y., Kiriyama, K., & Tagawa, K. (2015). Object Manipulation by Deformable Hand. Haptic Interaction: Perception, Devices and Applications, 145-148. https://doi.org/10.1007/978-4-431-55690-9_27
  20. Ujitoko, Y., & Hirota, K. (2014, December). Interpretation of tactile sensation using an anthropomorphic finger motion interface to operate a virtual avatar. In Proceedings of the 24th International Conference on Artificial Reality and Telexistence and the 19th Eurographics Symposium on Virtual Environments (pp. 13-20). https://doi.org/10.2312/ve.20141359
Invited talk
  • Dec 2022 日本バーチャルリアリティ学会ハプティクス研究会 触覚講習会2022、クロスモーダル知覚に基づく擬似触覚提示
  • Dec 2022 ヒューマンインタフェース学会トップカンファレンス・アドバンスト・ワークショップ2022 https://jp.his.gr.jp/events/top-conference-aws/
  • Dec 2021 日本バーチャルリアリティ学会ハプティクス研究会 触覚講習会2021、クロスモーダル知覚に基づく擬似触覚提示
  • Dec 2021 株式会社 豊田中央研究所「触覚技術の応用とその事例」講演会、クロスモーダル知覚に基づく擬似触覚提示
Award
  • 2024 Eurohaptics 2024 Best Paper Award Finalist (Tao Morisaki, Yusuke Ujitoko)
  • 2024 IEEE Haptics Symposium 2024 Outstanding Reviewer Award
  • 2021 IEEE World Haptics 2021 Best Video Presentation Award Honorable Mention
  • 2021 電気通信大学学生表彰（研究部門）
  • 2020 IEEE Haptics Symposium 2020 Best Paper Award Second Honorable Mention (Yusuke Ujitoko, Sho Sakurai, Koichi Hirota: Vibrator Transparency: Re-using Vibrotactile Signal Assets for Different Black Box Vibrators without Re-designing, IEEE HAPTICS 2020, pp.882-889, March, 2020)
  • 2018 日本VR学会論文賞（宇治土公雄介, 鳴海拓志, 伴祐樹, 谷川智洋, 広田光一, 廣瀬通孝:背景移動量操作を利用した視触覚間相互作用生起によるタッチパネルでの擬似触力覚提示, 日本バーチャルリアリティ学会論文誌, Vol.22, No.3, pp.305-313, 2017年9月.）
  • 2016 東京大学大学院学際情報学府学際情報学専攻 専攻長賞
Registered Patent
  • 河邉隆寛, 横坂拓巳, 宇治土公雄介, "擬似触覚提示装置、擬似触覚提示方法、およびプログラム", JP(No. 7605340), WO(WO2023/079627).
  • 宇治土公雄介, 広田光一, "振動信号生成装置、振動提示装置、それらの方法、およびプログラム", JP(No. 7642942).
  • 宇治土公雄介, 堀田勇樹, "車載制御装置、サーバ、検証システム", JP(No. 7465147), WO(WO2021/229861), DE(No. 112021001592).
  • 宇治土公雄介, 堀田勇樹, "演算装置、演算方法", JP(No. 7149189), WO(WO2020/145057).
  • 宇治土公雄介, 堀田勇樹, 成沢文雄, "演算装置、ログ記録方法、ログ記録システム", JP(No. 703960), WO(WO2018/198770), DE(No. 112018001810).
News release
May 2025 日本電信電話株式会社、デバイスの装着なしに超音波で空中にリアルな触感を創出 ～触れずにつるつる・ざらざらとした多彩な触り心地を演出～ https://group.ntt/jp/newsrelease/2025/05/13/250513b.html
Mar 2025 日本電信電話株式会社、同じ速さのはずなのに、手で感じる速さが変わる新たな触覚錯覚を発見 ～XRでの豊かな触体験につながる世界初の成果～ https://group.ntt/jp/newsrelease/2025/03/19/250319b.html
Feb 2025 日本電信電話株式会社、人のジャンプ動作と物体の跳ね返りにおいて、脳で感じる「自然な見え方」が異なることを発見 ～メタバース空間や映像表現におけるキャラクタの動きのリアリティ向上に期待～ https://group.ntt/jp/newsrelease/2025/02/17/250217b.html
Sep 2024 日本電信電話株式会社、資生堂とNTT、化粧品の触り心地を遠隔・非接触で体験できる技術開発に向けた共同研究を開始 ～両社の強みを活かし一人ひとりの多様なニーズに応え、新たな体験の機会創出をめざす～ https://group.ntt/jp/newsrelease/2024/09/18/240918a.html
May 2022 日本電信電話株式会社、新型コロナウイルス感染拡大時に、何かに触りたいという欲求に変化が生じたことを発見 ～ソーシャルメディア上のテキストデータの解析により見えてきた触りたさの変化～ https://group.ntt/jp/newsrelease/2022/05/27/220527a.html
Aug 2017 株式会社日立製作所、日立オートモティブシステムズ株式会社、自動運転用アプリケーションを開発する過程で発生する不具合を短時間に再現する技術を開発 https://www.hitachi.co.jp/rd/news/press/2017/0830.html
Academic service
Oct 2025 Program Committee, IEEE Haptics Symposium 2026
Apr 2025 - Mar 2029 日本VR学会論文委員会 委員
July 2025 Program Committee, IEEE World Haptics Conference 2025
Sep 2024 Program Committee, ICAT-EGVE 2024
Aug 2024 Program Committee, AsiaHaptics 2024
Jan 2024 - 触覚部会 幹事
Dec 2023 日本VR学会論文誌 第28巻第4号「社会とハプティクス」特集 ゲストエディタ https://www.jstage.jst.go.jp/browse/tvrsj/28/4/_contents/-char/ja
Mar 2022 - 日本VR学会ハプティクス研究委員会 委員
Feb 2021 - Dec 2023 触覚部会 委員
Jan 2020 - Mar 2024 触覚若手の会 幹事
Teaching
  • 2025 電気通信大学 後学期 ユビキタスネットワーク 第9回「触覚提示・触覚知覚」
Budget
Apr 2024 - Mar 2026 日本学術振興会 科学研究費助成事業 若手研究 触感類似物を活用した代替触覚提示システムの構築 (代表者)
Apr 2021 - Mar 2024 日本学術振興会 科学研究費助成事業 基盤研究(B) Pseudo-haptics実用化に向けた効果の不安定要因解明と安定化制御法開発 (分担者)