In Hori Laboratory, we are studying three themes: "Electric Vehicle", "Wireless Power Transfer System", "Human Friendly Motion control".

Electric Vehicle

By utilizing electric motor's quick torque generation, we aim to realize novel control techniques for EV. Effective adhesion control at tires based on quick torque reduction property, high performance vehicle dynamics control by 4-wheel-driven car, and road surface estimation using easily known motor torque are being researched. The test vehicle "UOT March-II" with independent 4 in-wheel motors and the new vehicle 'Cadwell-EV' were used for experiments. Recently, 'C-COMS' and 'C-COMS II' have been completed, which are driven only by super-capacitors. Actual research subjects are body slip angle estimation, optimal speed pattern generation, hybrid braking system, and so on. We plan to investigate novel energy supply and storage technologies for moving vehicles. Also, automatic MT system using super-capacitor will be included in our research scope.


Ryo Minaki , Nam Kanghyun , Wang Yafei , Yuki Kunieda , Kim Yunha , K.Palakon , NGUYEN Binh Minh ,

Yusuke Moriwaki , Kyoku Tei , Kenta Maeda

Wireless Power Transfer System

In this Wireless Power Transfer (WPT) team, we research a wireless power transfer technology that is based on Electromagnetic Resonance Coupling. Ever since the theories of wireless power transfer via electromagnetic resonance are proven, a wireless power transfer technique that has a large air gap and a high efficiency is achieved. With this technology, electricity can be obtained without a power cord anytime, anywhere. It can be said that the door to the realization of a ubiquitous society is opened. Our team studies the basic theories of electromagnetic resonance, and conducts researches to create a wireless power transfer system that has the three advantages of having a large air gap, high efficiency, and resistant to positional shifts.

The researches include topics such as:

(1)Explaining the electromagnetic resonance phenomenon using equivalent circuits

(2)Proposing antenna designs to achieve electromagnetic resonance

(3)Creating highly efficient power transfer systems with switching devices

(4)Improving the power transfer efficiency with techniques based on impedance matching theories

(5)Developing wireless charging systems for electric vehicles


Takehiro Imura , Takuya Koyanagi , Masaki Kato , BEH Teck Chuan , Yusuke Moriwaki

Human Friendly Motion Control

We are aiming to establish a new field of "Welfare Control Engineering" based on "Human Friendly Motion Control".

Present research themes are

(1) Power assist technology for human-care robot

(2) Force sensor-less impedance control for the electric train door to secure the safety

(3) Control of power assisted wheelchair based on the state observer

(4) Application of biarticular muscle structure to robotics

(5) Development of robot leg using the structure of bi-articular muscle mechanism

(6) Analysis of anima motion based on the biarticular muscle mechanics


Oh Sehoon , VALERIO Salvucci , Yasuto Kimura , Kim Kayoung , Wataru Ikarashi , Taku Shimizu