Accessibility and Mobility Lab 慶應義塾大学 理工学研究科 English

慶應義塾大学 理工学研究科

Accessibility and Mobility Lab

視覚障害者の移動アクセシビリティを高める、人とロボットの協調移動システムの研究

Accessibility and Mobility Labは、視覚障害者の安全で主体的な移動を支えるための知能ロボット、空間理解、インタラクション技術を研究するラボです。AIスーツケースの社会実装を見据え、単なる自動化ではなく、利用者の意思と周囲の社会環境を尊重しながら移動を支援するソーシャルナビゲーションを探究します。

研究を見る 業績を見る

ミッション

研究ミッション

私たちは、視覚障害者の移動を「誘導される体験」ではなく「自分で選びながら移動できる体験」へと拡張することを目指します。ロボティクス、機械学習、ヒューマンコンピュータインタラクションを横断し、実世界で使えるアクセシブルな移動支援技術を構築します。

研究

研究内容

01 / 研究領域

アクティブマッピング

未知の環境でロボットを運用するために、効率よく安全に空間地図を獲得・更新する手法を研究します。継続的な運用を見据え、環境変化への追従や利用者向け情報提示も含めて扱います。

02 / 研究領域

シェアードコントロール

ロボットと視覚障害者が移動の主導権を分担し、状況に応じて介入の度合いを調整する研究です。利用者の意図や不安、周囲の歩行者との関係を考慮しながら、安心感と主体性の両立を目指します。

03 / 研究領域

E2Eモデルナビゲーション

センサ入力から移動制御までを学習ベースで結び、複雑な屋内外環境でも柔軟に行動できる移動ロボットを実現します。実運用を意識し、頑健性、説明可能性、介入しやすさを重視します。

メンバー

メンバー

Scholar

研究業績

最終更新: 2026-03-25 17:40 UTC

2026

  1. How Does Delegation in Social Interaction Evolve Over Time? Navigation with a Robot for Blind People

    R Hata, M Kuribayashi, A Wang, H Takagi, C Asakawa / arXiv preprint arXiv:2601.19851, 2026

  2. MotionBuddy: Exploring Tactile-Based Motion Learning with a Tabletop Humanoid Robot for Blind People

    K Tanaka, X Wang, H Takagi, Y Ochiai, C Asakawa / Proceedings of the 21st ACM/IEEE International Conference on Human-Robot …, 2026

  3. Robot-Assisted Group Tours for Blind People

    Y Hu, M Kuribayashi, A Wang, S Kayukawa, D Sato, B Mutlu, H Takagi, ... / arXiv preprint arXiv:2602.04458, 2026

  4. Touching Movement: 3D Tactile Poses for Supporting Blind People in Learning Body Movements

    K Tanaka, X Wang, H Takagi, Y Ochiai, C Asakawa / Proceedings of the Twentieth International Conference on Tangible, Embedded …, 2026

  5. 自律型ナビゲーションロボット AI スーツケースの社会実装に向けて

    高木啓伸， 佐藤大介， 浅川智恵子 / 電子情報通信学会誌= The journal of the Institute of Electronics, Information …, 2026

2025

  1. A Method to Estimate User Position and Orientation Based on Relative Position Measurement Between a Navigation Robot and a Smartphone

    S Ogiso, D Sato, R Ichikari, T Miura, M Kourogi, T Okuma, T Kurata, ... / 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), 1586-1593, 2025

  2. Beyond omakase: Designing shared control for navigation robots with blind people

    R Kamikubo, S Kayukawa, Y Kaniwa, A Wang, H Kacorri, H Takagi, ... / Proceedings of the 2025 CHI Conference on Human Factors in Computing Systems …, 2025

  3. Engaging Visually Impaired People in Science Museums Through an Immersive Workshop: Practices, Challenges, and Opportunities

    X Wang, S Kayukawa, H Takagi, C Asakawa / Proceedings of the 27th International ACM SIGACCESS Conference on Computers …, 2025

  4. Field trials of autonomous navigation robot for visually impaired people

    H Takagi, K Naito, D Sato, M Murata, S Kayukawa, C Asakawa / Proceedings of the Extended Abstracts of the CHI Conference on Human Factors …, 2025

  5. Investigating “Touch and Talk” for Blind and Low Vision People: Science Communication Assistance Through Exploring Multiple Tactile Objects

    A Tsutsui, X Wang, H Takagi, C Asakawa / Proceedings of the 27th International ACM SIGACCESS Conference on Computers …, 2025

  6. Memory-Maze: Scenario Driven Visual Language Navigation Benchmark for Guiding Blind People

    M Kuribayashi, K Uehara, A Wang, D Sato, RA Ribeiro, S Chu, ... / IEEE Robotics and Automation Letters, 2025

  7. More than One Step at a Time: Designing Procedural Feedback for Non-visual Makeup Routines

    F Mingzhe Li, A Oharazawa, C Qingyu Zhu, M Fan, D Sato, C Asakawa, ... / arXiv e-prints, arXiv: 2507.03942, 2025

  8. Wanderguide: Indoor map-less robotic guide for exploration by blind people

    M Kuribayashi, K Uehara, A Wang, S Morishima, C Asakawa / Proceedings of the 2025 CHI Conference on Human Factors in Computing Systems …, 2025

2024

  1. A Journey in Accessibility: Digital-World to Real-World

    C Asakawa / Proceedings of the 26th International ACM SIGACCESS Conference on Computers …, 2024

  2. Chitchatguide: Conversational interaction using large language models for assisting people with visual impairments to explore a shopping mall

    Y Kaniwa, M Kuribayashi, S Kayukawa, D Sato, H Takagi, C Asakawa, ... / Proceedings of the ACM on Human-Computer Interaction 8 (MHCI), 1-25, 2024

  3. ChitChatGuide: How Can A Guidance System with Large Language Models Impact Shopping Mall Experiences for People with Visual Impairments?

    Y Kaniwa, M Kuribayashi, S Kayukawa, D Sato, H Takagi, C Asakawa, ... / International Conference on Human-Computer Interaction with Mobile Devices …, 2024

  4. Direct or immersive? Comparing smartphone-based museum guide systems for blind visitors

    X Wang, S Kayukawa, H Takagi, G Masoero, C Asakawa / Proceedings of the 21st International Web for All Conference, 10-22, 2024

  5. Memory-maze: Scenario driven benchmark and visual language navigation model for guiding blind people

    M Kuribayashi, K Uehara, A Wang, D Sato, RA Ribeiro, S Chu, ... / ICRA 2025 Workshop: Human-Centered Robot Learning in the Era of Big Data and …, 2024

  6. Snap&Nav: Smartphone-based indoor navigation system for blind people via floor map analysis and intersection detection

    M Kubota, M Kuribayashi, S Kayukawa, H Takagi, C Asakawa, ... / Proceedings of the ACM on Human-Computer Interaction 8 (MHCI), 1-22, 2024

  7. TBD pedestrian data collection: Towards rich, portable, and large-scale natural pedestrian data

    A Wang, D Sato, Y Corzo, S Simkin, A Biswas, A Steinfeld / 2024 IEEE International Conference on Robotics and Automation (ICRA), 637-644, 2024

  8. " We are at the mercy of others' opinion": Supporting Blind People in Recreational Window Shopping with AI-infused Technology

    R Kamikubo, H Kacorri, C Asakawa / Proceedings of the 21st International Web for All Conference, 45-58, 2024

  9. 視覚障害者用ナビゲーション・ロボット 「AI スーツケース」 の実用化に向けて

    高木啓伸， 村田将之， 佐藤大介 / ロボット/日本ロボット工業会 編, 20-25, 2024

2023

  1. 3DMovieMap: An interactive route viewer for multi-level buildings

    S Kayukawa, K Higuchi, S Morishima, K Sakurada / Extended Abstracts of the 2023 CHI Conference on Human Factors in Computing …, 2023

  2. asEars: Designing and evaluating the user experience of wearable assistive devices for single-sided deafness

    K Takaki, E Nozaki, T Kanai, A Hautasaari, A Kashio, D Sato, ... / Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems …, 2023

  3. Enhancing blind visitor’s autonomy in a science museum using an autonomous navigation robot

    S Kayukawa, D Sato, M Murata, T Ishihara, H Takagi, S Morishima, ... / Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems …, 2023

  4. Interaction techniques with a navigation robot for the visually impaired

    C Asakawa / Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot …, 2023

  5. Pathfinder: Designing a map-less navigation system for blind people in unfamiliar buildings

    M Kuribayashi, T Ishihara, D Sato, J Vongkulbhisal, K Ram, S Kayukawa, ... / Proceedings of the 2023 CHI Conference on Human Factors in Computing Systems …, 2023

  6. Touchpilot: designing a guidance system that assists blind people in learning complex 3d structures

    X Wang, S Kayukawa, H Takagi, C Asakawa / Proceedings of the 25th International ACM SIGACCESS Conference on Computers …, 2023

2022

  1. BentoMuseum: 3D and layered interactive museum map for blind visitors

    X Wang, S Kayukawa, H Takagi, C Asakawa / Proceedings of the 24th international ACM SIGACCESS conference on computers …, 2022

  2. Corridor-Walker: Mobile indoor walking assistance for blind people to avoid obstacles and recognize intersections

    M Kuribayashi, S Kayukawa, J Vongkulbhisal, C Asakawa, D Sato, ... / Proceedings of the ACM on Human-Computer Interaction 6 (MHCI), 1-22, 2022

  5. One-Shot Wayfinding Method for Blind People via OCR and Arrow Analysis

    Y Yamanaka¹, S Kayukawa, H Takagi, Y Nagaoka¹ / Mobile and Ubiquitous Systems: Computing, Networking and Services: 18th EAI …, 2022

  6. アクセシビリティのプラクティス―「誰一人取り残さない」 ための情報技術: 招待論文: 2. 自律型視覚障がい者ナビゲーションロボットの普及を目指して

    高木啓伸， 村田将之， 佐藤大介， 田中俊也， 籔内智浩， 粥川青汰， ... / 情報処理 63 (11), d12-d29, 2022

  7. 自律型視覚障がい者ナビゲーションロボットの普及を目指して

    高木啓伸， 村田将之， 佐藤大介， 田中俊也， 籔内智浩， 粥川青汰， ... / 情報処理 63 (11), d12-d29, 2022

2021

  1. Accessing passersby proxemic signals through a head-worn camera: opportunities and limitations for the blind

    K Lee, D Sato, S Asakawa, C Asakawa, H Kacorri / Proceedings of the 23rd International ACM SIGACCESS Conference on Computers …, 2021

  2. Designing a Smartphone-Based Assistance System for Blind People to Recognize Intersections and Obstacles in Indoor Corridors

    M Kuribayashi, S Kayukawa, D Sato, C Asakawa, H Takagi, S Morishima / Proceedings of the 18th EAI International Conference on Mobile and …, 2021

  3. Linechaser: a smartphone-based navigation system for blind people to stand in lines

    M Kuribayashi, S Kayukawa, H Takagi, C Asakawa, S Morishima / Proceedings of the 2021 CHI conference on human factors in computing systems …, 2021

  4. LineChaser: A Smartphone-Based Navigation System to Help Blind People to Stand in Lines

    M Kuribayashi, S Kayukawa, H Takagi, C Asakawa, S Morishima / ACM CHI Conference on Human Factors in Computing Systems, 2021

  5. New smartphone app to navigate blind people to stand in lines with distances

    H Takagi, C Asakawa, M Kuribayashi, S Kayukawa, AI Human-Centered / Accessed: Jan 27, 2025, 2021

  6. One-Shot Wayfinding Method for Blind People via OCR and Arrow Analysis with a 360-degree Smartphone Camera

    Y Yamanaka, S Kayukawa, H Takagi, Y Nagaoka, Y Hiratsuka, S Kurihara / Proceedings of the 18th EAI International Conference on Mobile and …, 2021

  7. Using speech data from interactions with a voice assistant to predict the risk of future accidents for older drivers: prospective cohort study

    Y Yamada, K Shinkawa, M Kobayashi, H Takagi, M Nemoto, K Nemoto, ... / Journal of medical internet research 23 (4), e27667, 2021

2020

  1. BlindPilot: A robotic local navigation system that leads blind people to a landmark object

    S Kayukawa, T Ishihara, H Takagi, S Morishima, C Asakawa / Extended abstracts of the 2020 CHI conference on human factors in computing …, 2020

  2. Guiding blind pedestrians in public spaces by understanding walking behavior of nearby pedestrians

    S Kayukawa, T Ishihara, H Takagi, S Morishima, C Asakawa / Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous …, 2020

  3. Pedestrian detection with wearable cameras for the blind: A two-way perspective

    K Lee, D Sato, S Asakawa, H Kacorri, C Asakawa / Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems …, 2020

  4. Predicting future accident risks of older drivers by speech data from a voice-based dialogue system: a preliminary result

    Y Yamada, K Shinkawa, A Kosugi, M Kobayashi, H Takagi, M Nemoto, ... / International Conference on Applied Human Factors and Ergonomics, 131-137, 2020

  5. Recog: Supporting blind people in recognizing personal objects

    D Ahmetovic, D Sato, U Oh, T Ishihara, K Kitani, C Asakawa / Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems …, 2020

  6. Smartphone-based assistance for blind people to stand in lines

    S Kayukawa, H Takagi, J Guerreiro, S Morishima, C Asakawa / Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing …, 2020

  7. Virtual navigation for blind people: Transferring route knowledge to the real-World

    J Guerreiro, D Sato, D Ahmetovic, E Ohn-Bar, KM Kitani, C Asakawa / International Journal of Human-Computer Studies 135, 102369, 2020

2019

  1. A-EXP4: Online social policy learning for adaptive robot-pedestrian interaction

    P Jin, E Ohn-Bar, K Kitani, C Asakawa / 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2019

  2. Airport accessibility and navigation assistance for people with visual impairments

    J Guerreiro, D Ahmetovic, D Sato, K Kitani, C Asakawa / Proceedings of the 2019 CHI conference on human factors in computing systems …, 2019

  3. An independent and interactive museum experience for blind people

    S Asakawa, J Guerreiro, D Sato, H Takagi, D Ahmetovic, D Gonzalez, ... / Proceedings of the 16th International Web for All Conference, 1-9, 2019

  4. A Study on the Sense of Burden and Body Ownership on Virtual Slope

    R Shimamura, S Kayukawa, T Nakatsuka, S Miyakawa, S Morishima / Proceedings of the 2019 IEEE Conference on Virtual Reality and 3D User …, 2019

  5. BBeep: A Sonic Collision Avoidance System for Blind Travellers and Nearby Pedestrians

    S Kayukawa, K Higuchi, J Guerreiro, S Morishima, Y Sato, K Kitani, ... / Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems …, 2019

  6. Cabot: Designing and evaluating an autonomous navigation robot for blind people

    J Guerreiro, D Sato, S Asakawa, H Dong, KM Kitani, C Asakawa / Proceedings of the 21st international ACM SIGACCESS conference on computers …, 2019

  7. Deep learning compensation of rotation errors during navigation assistance for people with visual impairments or blindness

    D Ahmetovic, S Mascetti, C Bernareggi, J Guerreiro, U Oh, C Asakawa / ACM Transactions on Accessible Computing (TACCESS) 12 (4), 1-19, 2019

  8. Effects of age-related cognitive decline on elderly user interactions with voice-based dialogue systems

    M Kobayashi, A Kosugi, H Takagi, M Nemoto, K Nemoto, T Arai, ... / IFIP Conference on Human-Computer Interaction, 53-74, 2019

  9. Hacking blind navigation

    J Guerreiro, H Kacorri, JP Bigham, E Cutrell, D Sato, D Ahmetovic, ... / Extended Abstracts of the 2019 CHI Conference on Human Factors in Computing …, 2019

  10. Impact of expertise on interaction preferences for navigation assistance of visually impaired individuals

    D Ahmetovic, J Guerreiro, E Ohn-Bar, KM Kitani, C Asakawa / Proceedings of the 16th International Web for All Conference, 1-9, 2019

  11. NavCog3 in the wild: Large-scale blind indoor navigation assistant with semantic features

    D Sato, U Oh, J Guerreiro, D Ahmetovic, K Naito, H Takagi, KM Kitani, ... / ACM Transactions on Accessible Computing (TACCESS) 12 (3), 1-30, 2019

  12. Smartphone-based localization for blind navigation in building-scale indoor environments

    M Murata, D Ahmetovic, D Sato, H Takagi, KM Kitani, C Asakawa / Pervasive and Mobile Computing 57, 14-32, 2019

  13. Transcoding

    C Asakawa, H Takagi, K Fukuda / Web Accessibility: A Foundation for Research, 569-602, 2019

  14. Wayfinding

    D Sato, H Takagi, C Asakawa / Web Accessibility: A Foundation for Research, 677-700, 2019

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