Doctoral Dissertation

Orochi is a wearable robot that is designed for daily tasks. Orochi's versatility is enabled by its two different end-effectors and flexible body that resembles a snake-formfactor.

Designing Serpentine-Shaped Robotic Appendages for Augmenting Daily Interactions

Augmenting humans with robotic appendages have long been envisioned in sci-fi and pop-media. However, we are yet to see anyone using such wearables in our daily lives. Therefore, this doctoral dissertation uses a user-centric approach to explore and validate the usability of such systems within our daily lives, with emphasis on the versatile snake formfactor. The outcomes of this dissertation establishes an understanding and provides design considerations that cover requirements, expectations and deployability domains of these novel wearable systems.

Supervisor: Prof. Tatsuo Nakajima , (Download)

 

Master’s Thesis

A Tangible Augmented reality environment for web browsing. It comprises both tangible components (printed fiducial markers) as well as augmented reality contents with positional and temporal registration to the fiducial markers.

Augmented Reality Interaction Paradigms for Daily Productive Tasks

Supervisor: Prof. Tatsuo Nakajima

(Download)

Conferences and Journal Papers

  • 2024

  • Abdullah Iskandar, Hala Khazer Shebli Aburajouh, Eman Hussain Al-Shaer, Fatima Thabit Al-Yafei, Bushra Ahmad Al-Arqaban, Moneera Al-Yousef, Pinchu Yang, Osama Halabi, Mohammed Al-Sada and Tatsuo Nakajima, V-TX: A VR-Based Deployment and Evaluation System for Wearable Telexistence Robotic Systems, The 23rd International Conference on Cyberworlds (CW2024), Kofu, Yamanshi, Japan (2024).

  • DOI: TBD (Download)

  • Tamon Miyake, Mohammed Al-Sada, Abdullah Iskandar, Shunya Itano, Mitsuhiro Kamezaki, Tatsuo Nakajima, and Shigeki Sugano, “Development and Evaluation of a Treadmill-based Video-see-through and Optical-see-through Mixed Reality Systems for Obstacle Negotiation Training,” Transactions on Visualization and Computer Graphics, vol. x, no. y, pp. 1-15,  July 2024.

    DOI: https://doi.org/10.1109/TVCG.2024.3424206  (Download)

  • Hala Aburajouh, Eman Abdulrahman, Nayla Al-Zeyara, Wasmiya Al-Dosari, Mohammed Al-Sada, and Osama Halabi. 2024. I-Shoe: Smart Insole for Gait Monitoring. In Distributed, Ambient and Pervasive Interactions: 12th International Conference, DAPI 2024, Held as Part of the 26th HCI International Conference, HCII 2024, Washington, DC, USA, June 29 – July 4, 2024, Proceedings, Part II. Springer-Verlag, Berlin, Heidelberg, 325–335.

    DOI: https://doi.org/10.1007/978-3-031-60012-8_20

  • Yuichiro Hiramoto, Mohammed Al-Sada, and Tatsuo Nakajima. 2024. Design and Implementation of a Virtual Reality Tennis Serve Practice System for Creative Tennis Serve Practice. In Virtual, Augmented and Mixed Reality: 16th International Conference, VAMR 2024, Held as Part of the 26th HCI International Conference, HCII 2024, Washington, DC, USA, June 29 – July 4, 2024, Proceedings, Part III. Springer-Verlag, Berlin, Heidelberg, 84–102.

    DOI: https://doi.org/10.1007/978-3-031-61047-9_5

  • 2023

  • Abdulla Iskandar, Mohammed Al-Sada, Osama Halabi and Tatsuo Nakajima, “Exploring User Requirements and Expectations of Daily Used Wearable Telexistence Robotic Systems”, The 13th International Conference on the Internet of Things, Nagoya, Japan (2023).

  • Abdulla Iskandar, Mohammed Al-Sada, Osama Halabi and Tatsuo Nakajima, "Investigating Requirements and Expectations of Wearable Telexistence Robotic Systems," 2023 IEEE 29th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), Niigata, Japan, 2023, pp. 265-266,

    DOI: 10.1109/RTCSA58653.2023.00040., (Download)

  • Kodai Fuchino, Mohammed Al-Sada, Tatsuo Nakajima, “T2Remoter: a Remote Table Tennis Coaching System Combining VR and Robotics”, The 29th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications(RTCSA’23), Niigata, Japan.

  • Yuichiro Hiramoto, Mohammed Al-Sada and Tatsuo Nakajima, “Designing a 3D Human Pose Estimation-based VR Tennis Training System”, The 29th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications(RTCSA’23), Niigata, Japan.

  • Daichi Watanabe, Mohammed Al-Sada, Kodai Fuchino and Tatsuo Nakajima, A Robot Arm-based Haptic Feedback System for Augmented Reality Applications, The 29th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications(RTCSA’23), Niigata, Japan.

2022

  • Abdullah Iskandar, Mohammed Al-Sada, Tamon Miyake, Yamen Saraiji, Osama Halabi, and Tatsuo Nakajima. 2022. "Piton: Investigating the Controllability of a Wearable Telexistence Robot" Sensors 22, no. 21: 8574.

    DOI: https://doi.org/10.3390/s22218574, (Download)

  • Somaya Eltanbouly, Muraam Abdel-Ghani, Hoda Helmy, Abdullah Iskandar, Mohammed Al-Sada, Tatsuo Nakajima, and Osama Halabi. "Assistive Telexistence System Using Motion Blending." In 2022 International Conference on Cyberworlds (CW), pp. 102-109. IEEE, 2022.

    DOI:10.1109/CW55638.2022.00023, (Download)

  • Kodai Fuchino, Mohammed Al-Sada, Tamon Miyake, Tatsuo Nakajima. (2022). T2Snaker: a Robotic Coach for Table Tennis. Augmented Human International Conference 2022, Kashiwanoha, Chiba, Japan

    DOI: 10.1145/3519391.3524029 , (Download)

  • Kodai, F., Iskandar, A., Al-Sada, M., & Nakajima, T. Exploring Wearable Robotic Appendages for Daily use. 情報処理学会 第84回全国大会 2022, Ehime, Matsuyama, Japan

  • Pin-Chu Yang, Satoshi Funabashi, Mohammed Al-Sada and Tetsuya Ogata, "Generating Humanoid Robot Motions based on a Procedural Animation IK Rig Method," 2022 IEEE/SICE International Symposium on System Integration (SII), 2022, pp. 491-498,

    DOI: 10.1109/SII52469.2022.9708820 , (Download)

2021

  • Mohammed Al-Sada, Pin-Chu Yang, Chang Chieh Chiu, Tito Pradhono Tomo, Mhd Yamen Saraiji, Tetsuya Ogata, and Tatsuo Nakajima. 2021. From Anime To Reality: Embodying An Anime Character As A Humanoid Robot. Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing Systems. Association for Computing Machinery, New York, NY, USA, Article 176, 1–5.

    DOI: https://doi.org/10.1145/3411763.3451543 , (Download)

  • Y. Muranaka, M. Al-Sada and T. Nakajima, "Unobtrusive notification based on auditory changes in ambient music," 2021 IEEE 3rd Global Conference on Life Sciences and Technologies (LifeTech), 2021, pp. 231-234,

    DOI: https://ieeexplore.ieee.org/document/9391913 , (Download)

  • T. Miyake, M. Al-Sada, T. Zhong, W. Wang and S. Sugano, "Feasibility Evaluation of Mixed Reality Obstacles on Treadmill using HoloLens to Elicit Real Obstacle Negotiation," 2021 IEEE/SICE International Symposium on System Integration (SII), 2021, pp. 756-761,

    DOI: 10.1109/IEEECONF49454.2021.9382780

  • Al-Remaihi, R., Al-Raeesi, A., Al-Kubaisi, R., Al-Sada, M., Nakajima, T., Halabi, O. (2021). A Cost-Effective Immersive Telexistence Platform for Generic Telemanipulation Tasks. In: , et al. HCI International 2021 - Late Breaking Papers: Multimodality, eXtended Reality, and Artificial Intelligence. HCII 2021. Lecture Notes in Computer Science(), vol 13095. Springer, Cham.

    DOI: https://doi.org/10.1007/978-3-030-90963-5_16

2020

  • Yang, Pin-Chu, Mohammed Al-Sada, Chang-Chieh Chiu, Kevin Kuo, Tito Pradhono Tomo, Kanata Suzuki, Nelson Yalta, Kuo-Hao Shu, and Tetsuya Ogata. "HATSUKI: An anime character like robot figure platform with anime-style expressions and imitation learning based action generation." In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pp. 384-391. IEEE, 2020.

    DOI: 10.1109/RO-MAN47096.2020.9223558 , (Download)

  • Y. Muranaka, M. Al-Sada and T. Nakajima, "A Home Appliance Control System with Hand Gesture based on Pose Estimation," 2020 IEEE 9th Global Conference on Consumer Electronics (GCCE), 2020, pp. 752-755,

    DOI: 10.1109/GCCE50665.2020.9291877.

2019

  • Mohammed Al-Sada, Keren Jiang, Shubhankar Ranade, Mohammed Kalkattawi, and Tatsuo Nakajima. 2020. HapticSnakes: multi-haptic feedback wearable robots for immersive virtual reality. Virtual Real. 24, 2 (Jun 2020), 191–209.

    DOI:https://doi.org/10.1007/s10055-019-00404-x, (Download)

  • Mohammed Al-Sada and Tatsuo Nakajima. (2019). Multipurpose Daily Worn Robotic Appendages. 1ST INTERNATIONAL CONFERENCE ON VISUALIZATION AND COMPUTER-HUMAN INTERACTION (2019), Doha, Qatar.

  • Mohammed Al-Sada, Thomas Höglund, Mohamed Khamis, Jaryd Urbani, and Tatsuo Nakajima. 2019. Orochi: Investigating Requirements and Expectations for Multipurpose Daily Used Supernumerary Robotic Limbs. In Proceedings of the 10th Augmented Human International Conference 2019 (AH2019). Association for Computing Machinery, New York, NY, USA, Article 37, 1–9.

    DOI:https://doi.org/10.1145/3311823.3311850 , (Download)

  • Mohammed Al-Sada, "Design Space of Multipurpose Daily Worn Snake-Shaped Robotic Appendages," 2019 IEEE International Conference on Pervasive Computing and Communications Workshops (PerCom Workshops), 2019, pp. 455-456.

    DOI:https://doi.ieeecomputersociety.org/10.1109/PERCOMW.2019.8730745

  • Jiang, K., Piao, X., Al-Sada, M., Höglund, T., Ranade, S., Nakajima, T. (2019). A Robotic Haptic Feedback Device for Immersive Virtual Reality Applications. In: , et al. Ambient Intelligence – Software and Applications –, 9th International Symposium on Ambient Intelligence. ISAmI2018 2018. Advances in Intelligent Systems and Computing, vol 806. Springer, Cham.

    DOI:https://doi.org/10.1007/978-3-030-01746-0_17

2018

  • J. Urbani, M. Al-Sada, T. Nakajima and T. Höglund, "Exploring Augmented Reality Interaction for Everyday Multipurpose Wearable Robots," 2018 IEEE 24th International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA), 2018, pp. 209-216,

    DOI:10.1109/RTCSA.2018.00033

  • Toyama, S., Al Sada, M., Nakajima, T. (2018). VRowser: A Virtual Reality Parallel Web Browser. In: Chen, J., Fragomeni, G. (eds) Virtual, Augmented and Mixed Reality: Interaction, Navigation, Visualization, Embodiment, and Simulation. VAMR 2018. Lecture Notes in Computer Science(), vol 10909. Springer, Cham.

    DOI:https://doi.org/10.1007/978-3-319-91581-4_17

  • Mohammed Al-Sada, Keren Jiang, Shubhankar Ranade, Xinlei Piao, Thomas Höglund, and Tatsuo Nakajima. 2018. HapticSerpent: A Wearable Haptic Feedback Robot for VR. In Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems (CHI EA '18). Association for Computing Machinery, New York, NY, USA, Paper LBW624, 1–6. 

    DOI:https://doi.org/10.1145/3170427.3188518 , (Download)

2017

  • Keisuke Irie, Mohammed Al Sada, Yuki Yamada, Kota Gushima, and Tatsuo Nakajima. 2017. Pervasive HoloMoL: A Mobile Pervasive Game with Mixed Reality Enhanced Method of Loci. In Proceedings of the 15th International Conference on Advances in Mobile Computing & Multimedia (MoMM2017). Association for Computing Machinery, New York, NY, USA, 141–145.

    DOI: https://doi.org/10.1145/3151848.3151869

  • S. Ranade, M. Zhang, M. Al-Sada, J. Urbani and T. Nakajima, "Clash tanks: An investigation of virtual and augmented reality gaming experience," 2017 Tenth International Conference on Mobile Computing and Ubiquitous Network (ICMU), 2017, pp. 1-6,

    DOI: 10.23919/ICMU.2017.8330112

  • Yuki Yamada, Keisuke Irie, Kota Gushima, Fumiko Ishizawa, Mohammed Al Sada, and Tatsuo Nakajima. 2017. HoloMoL: human memory augmentation with mixed-reality technologies. In Proceedings of the 21st International Academic Mindtrek Conference (AcademicMindtrek '17). Association for Computing Machinery, New York, NY, USA, 235–238.

    DOI:https://doi.org/10.1145/3131085.3131097

  • Urbani, Jaryd & Al-Sada, Mohammed & Ranade, Shubhankar & Zhang, Mingshu & Nakajima, Tatsuo. (2017). WAR Bots: Combining Virtual and Augmented Realities for an Immersive and Enjoyable Gaming Experience. Entertainment Computing – ICEC 2017 - 16th IFIP TC 14 International Conference, Proceedings

    DOI: 379-382. 10.1007/978-3-319-66715-7_44

  • Mohammed Al-Sada, Mohammed Khamis, Akira Kato, Shigeki Sugano, Tatsuo Nakajima and Florian Alt. “Challenges and Opportunities of Supernumerary Robotic Limbs.” (2017). In Extended Abstracts of the 2017 CHI Conference on Human Factors in Computing Systems (CHI EA '17). (Download)

2016 and before

  • Mohammed Al-Sada, Fumiko Ishizawa, Junichi Tsurukawa, and Tatsuo Nakajima. 2016. Input Forager: a user-driven interaction adaptation approach for head worn displays. In Proceedings of the 15th International Conference on Mobile and Ubiquitous Multimedia (MUM '16). Association for Computing Machinery, New York, NY, USA, 115–122.

    DOI:https://doi.org/10.1145/3012709.3012719

  • Mohammed Al-Sada, Shuma Toyama, and Tatsuo Nakajima. 2016. A Mobile VR Input Adaptation Architecture. In Proceedings of the 13th International Conference on Mobile and Ubiquitous Systems: Computing, Networking and Services (MOBIQUITOUS 2016). Association for Computing Machinery, New York, NY, USA, 286–287.

    DOI:https://doi.org/10.1145/2994374.3004073

  • Junichi Tsurukawa, Mohammed Al-Sada, and Tatsuo Nakajima. 2015. Filtering visual information for reducing visual cognitive load. In Adjunct Proceedings of the 2015 ACM International Joint Conference on Pervasive and Ubiquitous Computing and Proceedings of the 2015 ACM International Symposium on Wearable Computers (UbiComp/ISWC'15 Adjunct). Association for Computing Machinery, New York, NY, USA, 33–36.

    DOI:https://doi.org/10.1145/2800835.2800852

  • Mohammed Al-Sada and Tatsuo Nakajima. 2015. Parallel Web Browsing in Tangible Augmented Reality Environments. In Proceedings of the 33rd Annual ACM Conference Extended Abstracts on Human Factors in Computing Systems (CHI EA '15). Association for Computing Machinery, New York, NY, USA, 953–958.

    DOI:https://doi.org/10.1145/2702613.2732746

  • Kohki Ikeuchi, Mohammed AlSada, and Tatsuo Nakajima. 2015. Providing ambient information as comfortable sound for reducing cognitive overload. In Proceedings of the 12th International Conference on Advances in Computer Entertainment Technology (ACE '15). Association for Computing Machinery, New York, NY, USA, Article 29, 1–5.

    DOI;https://doi.org/10.1145/2832932.2832985 , (Download)