Research Officer, Centre for Garment Production Limited (April 2023 - Current)
Visiting Research Associate, The University of Hong Kong (April 2022- Current)
Post-doctoral Fellow, Centre for Garment Production Limited (April 2022 - March 2023)
Research Post Graduate Exchange Student, The University of Hong Kong (June 2021 - March 2022)
Doctor of Engineering, Hirata, Weng, and Salazar Laboratory/Tamura Laboratory, Tohoku University (April 2021 - March 2022)
Doctor of Engineering, Kosuge, Kinugawa/ Arai Laboratory, Tohoku University (April 2019 - March 2021)
Master of Engineering, Kosuge, Kinugawa/ Arai Laboratory, Tohoku University (April 2017 - March 2019)
Bachelor of Engineering, Nanophotonics Laboratory, Nagoya Institute of Technology (NITech) (April 2013 - March 2017)
Automated Straight-line Sewing of Stretchable Fabrics of Different Lengths
Bingchen Jin, Akinari Kobayashi, Dipankar Bhattacharya, Akira Seino, Fuyuki Tokuda, Norman Tien, Kazuhiro Kosuge
(Under Review)
RollUP: Rolling-up End-effector for Fabric Handling
Akinari Kobayashi, Dong Wenbo, Akira Seino, Fuyuki Tokuda, Kazuhiro Kosuge
TechRxiv, https://doi.org/10.36227/techrxiv.174702104.47540163/v1, 2025.
(Under Review)
[pdf]
Automated Action Generation based on Action Field for Robotic Garment Manipulation
Hu Cheng, Fuyuki Tokuda, Kazuhiro Kosuge
arXiv, https://arxiv.org/abs/2505.03537, 2025.
(Under Review)
[pdf]
Fixture-Free Automated Sewing System Using Dual-Arm Manipulator and High-Speed Fabric Edge Detection
Kai Tang, Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge
TechRxiv, https://doi.org/10.36227/techrxiv.174060153.31442362/v1, 2025.
(Under Review)
[pdf]
SIS: Seam-Informed Strategy for T-shirt Unfolding
Xuzhao Huang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Dayuan Chen, Yasuhisa Hirata, Norman C. Tien, Kazuhiro Kosuge
IEEE Robotics and Automation Letters (RA-L), Early Access, 2025.
[pdf]
Passive Actuator-Less Gripper for Pick-and-Place of a Piece of Fabric
Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Kazuhiro Kosuge
IEEE/ASME Transactions on Mechatronics (TMECH), Early Access, 2025.
[pdf]
Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System
Fuyuki Tokuda, Ryo Murakami, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge
IEEE Transactions on Automation Science and Engineering (TASE), vol. 22, pp.7927-7940, 2025.
[pdf]
Time-Scaling Modeling and Control of Robotic Sewing System
Kai Tang, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 29, no. 4, pp. 3166-3174, 2024.
[pdf]
Fabric Dynamic Motion Modeling and Collision Avoidance using Oriented Bounding Box
Letian Li, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Norman C. Tien, Kazuhiro Kosuge
TechRxiv, https://doi.org/10.36227/techrxiv.172418221.11003722/v2, 2024.
(Under Review)
[pdf]
Convolutional Neural Network based Visual Servoing for Eye-to-Hand Manipulator
Fuyuki Tokuda, Shogo Arai, Kazuhiro Kosuge
IEEE Access, vol. 9, pp. 91820-91835, 2021.
[pdf]
Deep Learning-based Fast Grasp Planning for Robotic Bin-picking by Small Data Set without GPU
Shogo Arai, Zhuang Feng, Fuyuki Tokuda, Adam Purnomo, Kazuhiro Kosuge
TechRxiv, https://doi.org/10.36227/techrxiv.14384864.v1, 2024.
[pdf]
6D Pose Estimation of Occlusion-Free Objects for Robotic Bin-Picking Using PPF-MEAM With 2D Images (Occlusion-Free PPF-MEAM)
Diyi Liu, Shogo Arai, Yajun Xu, Fuyuki Tokuda, Kazuhiro Kosuge
IEEE Access, vol. 9, pp. 50857-50871, 2021.
[pdf]
A Convolutional Neural Network for Point Cloud Instance Segmentation in Cluttered Scene Trained by Synthetic Data Without Color
Yajun Xu, Shogo Arai, Fuyuki Tokuda, Kazuhiro Kosuge
IEEE Access, vol. 8, pp. 70262-70269, 2020.
[pdf]
The effect of annealing graphene in O2 and N2 flow
Fuyuki Tokuda, Mitsuhiro Honda, Yo Ichikawa
AIP Conference Proceedings, American Institute of Physics, vol. 1963, 020004, 2018.
[pdf]
Effects of carbon defects on ZnO nanorods directly grown on graphene
Mitsuhiro Honda, Fuyuki Tokuda, Yo Ichikawa
Japanese Journal of Applied Physics, vol. 56, 110306, 2017.
[pdf]
Robotic Sewing System for Fully Automated Fabric Picking, Stacking, Loading, Sewing, and Unloading
Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Kazuhiro Kosuge
IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2025.
PALGRIP-Twin for Handling a Piece of Fabric
Akira Seino, Akinari Kobayashi, Fuyuki Tokuda, Kazuhiro Kosuge
IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2025.
Precise Top-Layer Fabric Segmentation for Fabric Destacking with Edge- and Shape-Aware Deep Networks
Wenbo Dong, Dipankar Bhattacharya, Akinari Kobayashi, Akira Seino, Fuyuki Tokuda, Xuzhao Huang, Kai Tang, Norman C. Tien, Kazuhiro Kosuge
IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2025.
Fabric Flattening and Alignment System Using Real-time Mesh-based State Estimation and Visual Servoing
Edmund Lo, Xuzhao Huang, Kai Tang, Akira Seino, Fuyuki Tokuda, Kazuhiro Kosuge
IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2025.
Modeling of Dynamic Fabric Motion Using Multiple Oriented Bounding Boxes
Letian Li, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Norman C. Tien, and Kazuhiro Kosuge
IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2025.
Partial Fabric Flattening for Seam Line Region Using Dual-Arm Manipulation
Youchun Ma, Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Bingchen Jin, Kazuhiro Kosuge
IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2025.
Fabric Manipulation Using Rubbing Motion for Local Edge Alignment
Itsuki Yokota, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge
TechRxiv, https://doi.org/10.36227/techrxiv.174284725.51284240/v1, 2025.
2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM),
[pdf]
CNN-based Visual Servoing for Simultaneous Positioning and Flattening of Soft Fabric Parts
Fuyuki Tokuda, Akira Seino, Akinari Kobayashi, Kazuhiro Kosuge
2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, May 2023.
[pdf]
Robot End-effector for Fabric Folding
Akira Seino, Junya Terayama, Fuyuki Tokuda, Akinari Kobayashi, Kazuhiro Kosuge
2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, USA, June 2023.
[pdf]
Deep-Learning based Robust Edge Detection for Point Pair Feature-based Pose Estimation with Multiple Edge Appearance Models
Diyi Liu , Shogo Arai, Fuyuki Tokuda, Yaiun Xu, Jun Kinugawa, Kazuhiro Kosuge
2019 IEEE International Conference on Robotics and Biomimetics, Dali, China, December 2019.
[pdf]
The effect of annealing graphene in O2 and N2 flow
Fuyuki Tokuda, Mitsuhiro Honda, Yo Ichikawa
2017 International Conference on Nanoscience and Nanotechnology, Shah Alam, Malaysia, February 2017.
CNN を用いたビジュアルサーボによる把持物体の位置決め
徳田冬樹，荒井翔悟，小菅一弘
ロボティクス・メカトロニクス講演会 2020，2A1–M09，金沢，2020 年 5 月（ポスター発表，査読無し）
CNN に基づくビジュアルフィードバック制御による把持物体の位置決め
徳田冬樹，荒井翔悟，小菅一弘
計測自動制御学会東北支部 55 周年記念学術講演会，P02，仙台，2019 年 12 月（ポスター発表，査読無し）
優秀発表奨励賞受賞
畳み込みニューラルネットワークによるビジュアルフィードバック制御
徳田冬樹，荒井翔悟，小菅一弘
第 37 回日本ロボット学会学術講演会，1D2–01，東京，2019 年 9 月（口頭発表，査読無し）
画像ヤコビアンレスビジュアルサーボによる物体の位置決め
徳田冬樹，荒井翔悟，小菅一弘
第 24 回ロボティクスシンポジア，5C4，富山，2019 年 3 月（口頭発表，査読有り）
イメージヤコビアンを用いないビジュアルサーボによる位置決め
徳田冬樹，荒井翔悟，小菅一弘
第 36 回日本ロボット学会学術講演会，2E2–05，愛知，2018 年 9 月（口頭発表，査読無し）
CAD データに基づく機械学習を用いたビジュアルサーボ
徳田冬樹，荒井翔悟，小菅一弘
ロボティクス・メカトロニクス講演会 2018，2A2–J15，福岡，2018 年 6 月（ポスター発表，査読無し）
グラフェン上への配向性 ZnO ナノロッドの直接合成
徳田冬樹，本田光裕，奥村竜二，市川洋
第 63 回応用物理学会春季学術講演会，21a–H111–6，東京，2016 年 3 月（口頭発表，査読無し）
Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System,
Fuyuki Tokuda, Ryo Murakami, Akira Seino, Akinari Kobayashi, Mitsuhiro Hayashibe, Kazuhiro Kosuge
IEEE International Conference on Robotics and Automation (ICRA), Atlanta, USA, 20 May 2025.
(Invited Presentation of TASE paper)
Fixture-Free Sewing System
Fuyuki Tokuda
IEEE/SICE International Symposium on System Integrations (SII), Munich, Germany, 21 January 2025.
(Workshop presentation)
[program]
Fixture Free Sewing of Fabric Parts
Fuyuki Tokuda
IEEE International Conference on Robotics and Biomimetics (ROBIO), Bangkok, Thailand, 12 December 2024.
(Workshop presentation)
[program]
Kazuhiro Kosuge, Kai Tang, Akira Seino, Fuyuki Tokuda, Akinari Kobayashi, Hoi Pang NG, “Automated sewing system and controlling method thereof,” PCT/CN2024/076693, February 2024.
Kazuhiro Kosuge, Fuyuki Tokuda, “System and methods for sewing and un-wrinkling fabrics,” PCT/CN2022/118736, September 2022.
矢野巧人，濃野真広，小菅一弘，荒井翔悟，徳田冬樹，「ロボット制御装置」，特開2021-109291，2021 年 8 月
Fuyuki Tokuda, Kazuhiro Kosuge, “Smart Fixture-free 2D Sewing System with Automatic Fabric Alignment,”
The 9th International Invention Innovation Competition in Canada (iCAN), Tronto, Canada, August 2024.
Gold Medal Award / Organizer’s Choice Award / Inventors College Organization Award of Excellence
Akinari Kobayashi, Fuyuki Tokuda, Kazuhiro Kosuge, “Smart Fixture-free 2D Sewing System with Automatic
Fabric Alignment,” The 49th International Exhibition of Inventions Geneva, Geneva, Switzerland, April 2024.
Silver Medal Award
The 9th International Invention Innovation Competition in Canada (iCAN),
Gold Medal Award/ Organizer’s Choice Award / Inventors College Organization Award of Excellence, August 2024.
[pdf]
International Conference on Nanoscience and Nanotechnology 2017,
Best Oral Presentation Award, February 2017.
[pdf]
日本学術振興会特別研究員 DC2 採択，2021 年 4 月 – 2022 年 3 月
東北大学 機械科学技術国際共同大学院プログラム（RA 支給や海外留学費用負担など），2018 年 4 月 – 2022 年 3 月
Object Positioning Using Convolutional Neural Networks
Fuyuki Tokuda
Doctoral Dissertation, Tohoku University, March 2022.
Image-Jacobian-Less Visual Servoing
Fuyuki Tokuda
Master's Thesis, Tohoku University, March 2019.
グラフェン上への ZnO ナノロッドの直接合成
徳田冬樹
学士論文，名古屋工業大学，2017 年 3 月