Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.mechmachtheory.2025.106044

researchmap

Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-96081-9_35

researchmap

Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-94608-0_25

researchmap

Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-91179-8_5

researchmap

Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-91151-4_46

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.mechmachtheory.2024.105908

researchmap

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.43.319

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Frontiers Media SA  

Introduction

Transferring a patient from one place to another is one of the most strenuous works in nursing care. To address this issue, we proposed a concept for a lifting assistance device that uses two cables to perform operations such as translation, rotation, and stay. It facilitates direct touch between the caregiver and the care receiver, allowing intuitive adjustments of position and posture based on the caregiver’s intention, detected through variations in cable tension.

Methods

To investigate the effectiveness of this concept, lifting experiments using a fabricated prototype were conducted. Twelve subjects, including four physical therapists (PTs) and eight subjects having no transfer experience, acted as caregivers, and a dummy was used as the care receiver.

Results

Results show that regardless of the transfer experience, the caregiver’s intention detection and adjustment of the care receiver’s position and posture were successfully achieved with an accuracy of over 70%.

Discussion

Survey feedback collected after the lifting experiments confirmed that utilizing direct touch between the caregiver and the care receiver was highly valued by all subjects, with a 5-point Likert scale rating both PTs (average score: 4.8 points) and non-experienced subjects (average score: 4.3 points).

DOI： 10.3389/fbioe.2025.1556501

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/icm62621.2025.10934949

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/icm62621.2025.10934923

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

There is an urgent need for a gait assisting device that simultaneously compensates for the loss of gait function reducing ankle plantarflexion torque and limited dorsiflexion range of motion (ROM). In this work, a walking assistance is proposed by using a device with an independent link attached on the ankle joint. We investigated the effect of the independent link on ankle joint torque and the assisted motion range via analysis. The results of the analysis revealed that the proposed device could assist patients with limited ankle dorsiflexion ROM and low plantarflexion strength simultaneously. For patients with mild dorsiflexion ROM limitation of the ankle joint (7° or more), it was found that walking within the limited ROM is possible and that a large assisting torque is possible by front side link assistance. The ankle torque load can be reduced by 60% under the conditions of this work. For patients with severe ankle dorsiflexion ROM limitation (2° or more, 6° or less), it was found that walking within the ROM was possible and that torque assistance is possible by back side link assistance. The ankle joint torque load can be reduced by 30% under the proposed conditions in this work.

DOI： 10.3390/robotics14020020

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-67383-2_21

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications, they must be operated at reduced speed, or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, their full potential cannot be realized. Against this background, this publication is concerned with the mechanical design of an active dynamic balancing unit for the reduction of frame vibrations. In the first part of this publication, the main design requirements for an active dynamic balancing mechanism are discussed, followed by a presentation of possible mechanism designs. Subsequently, one the most promising mechanisms is described in detail and its kinematics and dynamics equations are derived. Finally, the dimensions of a prototype mechanism designed to experimentally validate the concept of active dynamic balancing are defined using the example of Suisui Bot, a low-cost Delta robot.

DOI： 10.3390/robotics13090129

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64553-2_4

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64553-2_32

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64569-3_9

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64569-3_10

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/embc53108.2024.10782011

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/embc53108.2024.10782645

researchmap

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/transjsme.24-00059

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/AMC58169.2024.10505443

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.sna.2023.114842

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45705-0_62

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45705-0_11

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45770-8_76

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45770-8_70

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45770-8_26

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32322-5_34

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32439-0_18

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32439-0_17

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32439-0_16

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/ichms56717.2022.9980804

researchmap

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

In order to develop a cable-driven continuum robot having a large workspace without using a large number of segments, which leads to construction complexity and requires the use of many actuators, this paper presents a mechanism design for increasing the orientation workspace volume of a one-segment continuum robot by realizing multiple elastic rod shapes of different lengths, which have one inflection point. The proposed design is that an elastic rod of variable length is used as a backbone and two cables are routed in parallel to the elastic rod and the other two cables are connected to the tip of the elastic rod attachment point on the end disk. This design was obtained by deriving cable routings that meet the necessary conditions for the elastic rod to be in static equilibrium in the shape with one inflection point. Then, numerical analysis and experiments were performed to investigate the effectiveness of the proposed design on the increase of the orientation workspace volume. Considering that the length of the elastic rod is variable and the elastic rod deforms into the shape with one inflection point, the procedure for static analysis to derive the relationship between the length of the elastic rod, each cable tension and the position, orientation of the end disk, was presented. By this procedure, forward and inverse static analyses were conducted. Through the numerical calculation of the orientation workspace based on the static analysis, it was shown that the orientation workspace volume was increased by the proposed design. Furthermore, using the experimental apparatus based on the proposed design, a large orientation workspace was realized and measured configurations were in good agreement with the numerical calculation results.

DOI： 10.1299/transjsme.22-00205

CiNii Research

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-031-10776-4_29

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-031-10776-4_28

researchmap

Language：Japanese   Publisher：Japanese Council of IFToMM  

A fall prevention device that aims to protect user from injury when fall happens has been proposed. In the previous research, Origami Spring was proposed as an extendable mechanism to implement the fall prevention device and an extendable rigid link mechanism based on Origami Spring has been developed. However, the extendable mechanism was too large to equip for people because of the thickness of links and actuators. Also, the repeatability of its extension motion was rather low due to rattling and less constraints. In this research, improvement of portability of the extendable mechanism and repeatability has been investigated from mechanical design point of view. From the perspective of portability, a new prototype of the extendable mechanism has been fabricated by using thin links and thin actuators. As for the improvement of repeatability, constraint elements using spiral spring has been designed to implement desired relative motion between links. The feasibility of desired relative motion of the extendable mechanism was confirmed by kineto-static analysis of a planar model. Through experimental study of extension, effectiveness of proposed elements was validated.

DOI： 10.57272/jciftomm.5.0_9

CiNii Research

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-031-06409-8_35

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-031-06409-8_5

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-031-06409-8_9

researchmap

Authorship：Last author   Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-031-08140-8_25

researchmap

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/transjsme.21-00339

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers ({IEEE})  

DOI： 10.1109/LRA.2022.3144778

researchmap

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：SAGE Publications  

This paper proposes a concept of an extendable continuum robot arm having many moving plates along a flexible feed screw and deploying each of them at a certain contactable area. The mechanism aims to bear a practical working load by utilizing a bracing on surrounding walls. In general, a narrow and confined workspace of human labor is composed of many discontinuous areas instead. Therefore, the mechanism deploys intermediate plates at certain supportable areas, and pushes rest of plates forward. To bend the arm in such workspace, tendon-driving technique is employed. In this paper, a basic composition of the arm is proposed and its feasibility is demonstrated by using a planar prototype. Subsequently, a simple geometric calculation scheme to obtain a configuration of the arm to avoid two kinds of insufficient conditions, that result in the failure of the arm to bear neither the external load nor its own weight, is proposed. Achievability of the solution of the geometric calculation is then evaluated by a static simulation including feedback control loop, and several experimental results with a spatial prototype performed to demonstrate the feasibility of the proposed concept are finally presented and discussed.

DOI： 10.1177/09544062221080009

researchmap

Other Link： https://journals.sagepub.com/doi/full-xml/10.1177/09544062221080009

Authorship：Last author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/transjsme.21-00188

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to make assist devices light, compact and easy to customize, we proposed to apply redundant motors (RMs). RM consists of many small motors with reduction gears in parallel instead of one large geared motor. Thanks to the composition of RM, compact design will be enabled by arranging many small motors with in the allowable space, and its mass can be reduced by distributing load torque to multiple working teeth pairs. This paper presents a theoretical analysis result to show the mass-reduction principle of an actuator by RM concept. Practical design and construction of RM is discussed.

DOI： 10.1299/jsmermd.2022.2p1-l11

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

An independent arm type assist device is proposed to provide assistance to the ankle joint plantar flexion torque while being driven independently of the ankle joint motion. A structure of the device was proposed and the required specifications were determined using walking data. Based on these specifications, a redundant motor actuator for this assist device was designed with a focus on light weight and compactness. Using this actuator, a prototype of the assist device was designed, and the ankle joint plantar flexion torque assistance was investigated experimentally.

DOI： 10.1299/jsmemdt.2022.21.1a33

CiNii Research

researchmap

Authorship：Last author   Language：English  

DOI： 10.1007/978-3-030-91892-7_57

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2021.3062355

Scopus

researchmap

Publishing type：Research paper (scientific journal)  

DOI： 10.3390/machines9010014

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Taylor and Francis Ltd.  

DOI： 10.1080/09544828.2020.1851662

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The water jet impact acoustic method is the wall inspection method to detect the concrete flaking by analyzing the sound generated by the water hit on the structure. The authors are developing the completely constrained planar CDPR (cable-driven parallel robot) to move and position the device for this method facing the wall. In general, the planar CDPR has relatively low rotational stiffness about the axes on the motion plane, which gives a non-negligible effect on the positioning accuracy of the water jet. Therefore, in this paper, the fin-like chains which mechanically improve the rotational stiffness about the axes on the motion plane are proposed. They are rigid-body chains, which can rotate only around the normal axis of the motion plane. The effect of the mechanism is discussed through the analysis using the stiffness matrix and the stiffness measurement experiments using the prototype.

DOI： 10.1299/jsmemdt.2021.20.1207

CiNii Research

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-55807-9_69

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-55807-9_68

Scopus

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1007/978-3-030-58380-4_62

Scopus

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1007/978-3-030-58380-4_14

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

As a device for pasting film objects on curved surfaces, this paper proposed a device, composed of a shape adaptable mechanism and an elastic electrostatic chuck, which is operated by two robot arms. As the shape adaptable mechanism generating a wide range of variable curvature radii, a single-DOF scissor mechanism with an elastic element was presented. It was shown through a numerical analysis and prototyping that the proposed scissor mechanism without an elastic element can generate pure circular curves of curvature from zero to a certain value. Forward kineto-static analysis has been conducted for the proposed elastic scissor mechanism to clarify the effect of the location and characteristics of the elastic element in the mechanism on its generated shape. The results showed that the proposed mechanism can generate a wide range of multiple curvature radii.

DOI： 10.1299/jsmemecj.2021.s114-05

CiNii Research

researchmap

Language：Japanese   Publisher：The Robotics Society of Japan  

This paper describes the kinematics, motion planning and mechanism optimization of the dual-arm type cable traversing robot on spatially-structured cable way. Since the inverse kinematics cannot be perfectly defined due to one of the orientation parameters is determined by static condition, its inverse kinematics algorithm utilizing both the kinematics of 3R serial spherical mechanism and the static equilibrium condition of the whole system was developed. The motion planning method to traverse cable node is based on the kinematics and Spherical Linear Interpolation using quaternion. Furthermore, mechanism optimization for avoidance of collision with cables and improvement of characteristics is also conducted.

DOI： 10.7210/jrsj.39.767

CiNii Research

researchmap

Publishing type：Research paper (scientific journal)   Publisher：{MDPI} {AG}  

DOI： 10.3390/robotics9040096

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

DOI： 10.3390/ROBOTICS9030067

Scopus

researchmap

Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with the target food according to the size and the stiffness. By solely using position control of the driving motor, the above feature is enabled without relying on force sensors. The gripper was designed based on the concept of planar 2-DOF under-actuated mechanism composed of a pair of four-bar chains having a torsion spring at one of the passive joints. To clarify the gripping motion and relationship among the contact force, food’s size and stiffness, and gripping position, kineto-elasto-static analysis of the mechanism was carried out. It was found from the result of the analysis that the mechanism was able to change its gripping force according to the contact position with the target object, and this mechanical characteristic was utilized in its grasp planning in which the position for the gripping the object was determined to realize a simple control system, and sensitivity of the contact force due to the error of the stiffness value was revealed. Using a three-dimensional (3D) printed prototype, an experiment to measure the gripping force by changing the contact position was conducted to validate the mechanism feature that can change its gripping force according to the size and the stiffness and the contact force from the analysis results. Finally, the gripper prototype was implemented to a 6-DOF robotic arm and an experiment to grasp real food was carried out to demonstrate the feasibility of the proposed grasp planning.

DOI： 10.3390/robotics9030050

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

DOI： 10.3390/ROBOTICS9020036

Scopus

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2020.2970976

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-30036-4_10

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Mobility device is important for the people with disabilities. In the previous research, we developed a hands-free mobility, a nonholonomic mobility, which included the operation system using interactive learning system between human and robot, and found that when discussing interactive learning system between human and robot, we need to consider the individual motor learning ability and its stage. The purpose of this study is to suggest a simple parameter related to human motor learning ability and the stage of the motor learning. we proposed two parameters related to motor learning and its stage and assessed these parameters through the experiment in the virtual space. From the results, it is confirmed that the proposed parameters are related to the stage of motor learning and motor learning ability.

DOI： 10.1299/jsmermd.2020.2a2-c16

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this research, a concept of robotic wheelchair which automatically follows a human caregiver side by side is proposed. This concept is aiming to promote the communication between a wheelchair rider and his/her caregiver since they can talk face-to-face while advancing forward. This research focuses on a derivation of a motion control law to achieve the autonomous side-following by the robotic wheelchair, determination of parameter values of virtual spring and dampers connecting the robot and caregiver to establish the side-following which is suitable for comfortable communication, based on an impedance method. The determination of the parameter values has been done by considering the two physical conditions regarding the communication, loudness of the voice, elevation angle of one’s neck to see other’s face, and convergence of the relative position and orientation are considered. Finally, an experimental prototype robotic wheelchair having a LRF and a bird’s eye view camera, and four-active caster modules is fabricated to perform side-following motion control experiment in a room-environment. The obtained results demonstrated that the prototype wheelchair robot converged to a commanded relative position against a human subject, and proposed the feasibility and effectiveness of the proposed method.

DOI： 10.1299/jsmermd.2020.1p2-f12

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to realize a high speed and high space use efficiency transportation system in a vertical plane, authors conceived a concept to compose the system by multiple vertical rails and multiple self-propelled loading platforms so that such platforms can independently move along each rail and transfer between them. This paper focuses on the design of drive mechanism for such a self-propelled loading platform utilizing the friction force between the rail and the driving wheels. In order to enable to generate a large grip force enough to support and move the platform with payload without using additional actuators while flat rails with small unevenness and gaps are used, the following three principles of operation are applied: the friction drive wheels with less vibration and noise, grip force generation using self-servo effect, and wheel load equalizing based on the rocker-bogie. Through the kineto-static analysis of the proposed mechanism, the relationship between the design parameters such as the angle of the self-servo link and the dimensions of the wheel load equalizer link, operating conditions such as the loading weight, the eccentricity of the center of gravity, and the inclination of the body, and the grip force and the wheel load is studied, and the design parameters and their tendency which enable to run vertically have been clarified. Furthermore, based on the knowledge obtained through the analysis, a prototype was designed, and the stable and high-speed vertical running and running over unevenness and gap has been successfully achieved. From the above, it was shown that the design of drive mechanism based on the principle proposed in this paper was effective as the mechanism that can run on flat vertical rail.

DOI： 10.1299/transjsme.20-00141

CiNii Research

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-30036-4_16

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/IROS40897.2019.8967618

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2019a.0_363

CiNii Research

researchmap

Publishing type：Research paper (scientific journal)   Publisher：MDPI AG  

This paper proposes a new shape memory alloy (SMA)-driven compliant rotary actuator that can perform both passive and self-actuated motions. This SMA actuator is suitable as a redundant actuation part in a parallel robot joint to assist with singularity postures where the robot might lose the ability to maintain the position and orientation of the end effector. The double helical compliant joint (DHCJ) was chosen as a candidate mechanism; it can act in soft compliance with linear characteristics and a wide range of motion. The experimental results validated that the proposed model can be used to simulate the DHCJ behavior. The use of this mechanism exhibits advantages such as one-axis rotational motion, linear behavior even for a compliant mechanism, stiffness in the other axes of motion, and compact size. SMA leaves (strips) were used as actuation parts, and a single SMA leaf was tested before combining with the double helical frame as an SMA actuator. The prototype was fabricated, and necessary parameters such as deflection angle, temperature, torque, and stress–strain were collected to define the model for a controller. This actuator is controlled by a feedforward controller and provides rotational motion for both forward and reverse sides with a maximal range of 40 degrees.

DOI： 10.3390/robotics8010012

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Elsevier  

DOI： 10.1016/B978-0-12-815659-9.00002-0

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-17677-8_17

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-00329-6_15

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-20751-9_35

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-20131-9_33

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Origami Spring is one of the extendable Origamis which changes from a flat to a tower configuration. The important feature of the Origami Spring is that its whole structure simultaneously extends/contracts with a slight bending as a parasitic motion of the extension/contraction when only one of the segments is actuated. Therefore, such an observed macro motion of the Origami Spring can be regarded as a single DOF motion. Based on its folding diagram, the mobility of the Origami Spring was revealed to be three by the kinematic model obtained with regarding its folds as revolute joints. In order to figure out the discrepancy between the observation and mobility analysis, kinematic analysis of the Origami Spring has been carried out taking into consideration the collision and deformation of components. As the result of the analysis, it was clarified that the Origami Spring has actually three DOFs while one of the three DOFs generates a simple extension-contraction motion and the other two DOFs contribute to adjustments of its configuration to avoid collision of components within a small motion range. It was also presented that the observed behavior of the Origami Spring during extension and contraction can be explained by the internal energy based on deformation of components. Finally, the observed single DOF macro motion is reproduced with a model in which the deformation of the components is considered.

DOI： 10.1299/transjsme.19-00005

CiNii Research

researchmap

Other Link： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17H03162/

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to enable designing assistive devices/tools which are connected to some part of human body directly or through some attachment parts, such as wearable power-assist suits, joint rehabilitation devices and walking sticks, taking into consideration the deformation of the connection parts and slippage between them, the concept “dynamic pair” is introduced. The dynamic pair is a kinemato-dynamic model of the connection parts between the assist device and human body. By introducing the dynamic pairs to the model of the human-device system, an effective and practical design of the assistive devices will be made possible. Demonstrative examples on the rehabilitation devices and stick walking are shown and discussed.

DOI： 10.1299/jsmemecj.2019.s11405

DOI： 10.1299/transjsme.20-00063_references_DOI_UaUL0uS52sB5YEXMJp2KToeKzCu

CiNii Research

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-319-98020-1_28

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-00365-4_20

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, the authors propose a reconfigurable multi robot system which consists of many robotic dolly units capable of transporting a heavy object in a group and a central unit for measuring the object's motion and distributing the acquired information to all dolly units. The system has no hierarchical control structure or supervising host computer, but is capable of achieving cooperative transportation by individual autonomous motion control of each dolly unit. A systematic calibration method of the position of each dolly unit and alignment of its local coordinate against the central unit's coordinate, and subsequent motion control algorithm to trace a target path given by a user are proposed. Result of the proposed methods is demonstrated by a series of experiments. Additionally, a feedback control scheme to reduce the effect of position estimation error is also proposed and demonstrated.

DOI： 10.1299/jsmermd.2018.1p2-f17

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with targets according to the size and the stiffness of the object. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper was designed based on the concept of underactuation and a planar mechanism with 2 degrees of freedom made of a combination of 2 four-bar linkage mechanisms with a torsion spring at a passive joint. To clarify the gripping motion and the relationship among the contact force, object's size and stiffness, a simulation based on combined displacement and static force analysis was performed. Finally, to verify the theoretical analysis, a simple prototype was manufactured and an experiment to measure the contact force has been conducted.

DOI： 10.1299/jsmemdt.2018.18.2a2-2

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, clanking effort reduction method for the single-DOF human-powered joint mechanism having regenerative servo clutches, by the power assist using regenerative energy and continuously variable transmission is proposed. Through the experiments, it was confirmed that the assist motor compensated external torque immediately and CVT reduced the clanking torque and power of assist motor, when an external force applied on the output shaft and its torque suddenly changed.

DOI： 10.1299/jsmermd.2018.2a2-j10

CiNii Research

researchmap

Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/jamdsm.2018jamdsm0017

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This research focuses on developing a lower limb operated personal mobility vehicle for the elderly to provide transportation and to improve flail and sarcopenia. In this paper, the design of a pedal mechanism to apply an effective exercise load to the lower limbs is described. In order to realize an effective exercise load to improve the gait function, we designed a motion path of the foot so that the flexion motions of hip and knee joints is combined with the normal gait in order to stimulate those joints more and center of the rotation is located at around the thenar. Next, we applied a planar four-bar mechanism to the pedal mechanism. Using the curve comparison method, the kinematic constants were determined so that the difference between the path generated by the mechanism and the desired one would be minimized. The designed mechanism was illustrated to show the validity of the design process.

DOI： 10.1299/jsmemdt.2018.18.2a1-3

CiNii Research

researchmap

Other Link： http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100766249

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/IROS.2017.8206539

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The present paper discusses a systematic approach to figure out a practical and functional design of sextuple 3D-magnetic tweezer system to perform physical property measurement of biological cell specimens. The authors carried out static and dynamical analyses of the electromagnetic system by using a theoretical model described with closed-loop magnetic circuit using concentrated magnetic charges and finite element analysis. From obtained results, suitable material, optimum tip radius of magnetic poles and number of turns of the driving coil are decided so that maximum magnetic field gradient at the workspace center and allowable anisotropy at outside edge of the workspace can be achieved while desired frequency can also be established. The above design process was applied for drawing out a prototype live-cell experiment system. By using a fabricated prototype, a series of output force measurement experiments were carried out with artificial specimens, silicon oil and grass micro-pipette, the maximum force strength of 140 pN were measured when exertion current of 225A-turns were given. Finally, the prototype system was used to measure the stiffness distribution of yeast cells having two different culturing condition to demonstrate the capability for live-cell experiments.

DOI： 10.1299/jsmermd.2017.2p2-o03

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to assess living space for assisting stable walks by elderly people, this paper proposed an evaluation index for single support object which is calculated from four fundamental measures expressing capability of balance recovery corresponding to the support object, derived from the directionality of generative force by human’s upper extremity and the directionality of reaction force corresponding to the surface shapes of objects. Experiments were carried out to (1) obtain the parameters necessary to calculate the fundamental measures and (2) carry out organoleptic evaluation of the support objects. Compared to the results obtained in these experiments (1) and (2), effects of the indices were discussed, and an effective index among the four for evaluating the effect of the support objects was clarified and proposed. Assessment of sample support object using the proposed index was shown as a demonstration.

DOI： 10.1299/jsmeshd.2017.a-25

CiNii Research

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-3-319-45450-4_19

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>The goal of this study is to propose the concept "Human-powered robotics," which is a methodology to design the robotic system which can control the joint by directly using a power applied by the operator. This paper illustrates the proposal of the driving assist method not to lose safety using regenerative energy on 1-DOF human-powered joint control system using servo clutches with regenerative brakes and differential gears. We proposed an assist control system keeping unchanged the torque of input shaft and reducing the load of friction in the mechanism. We evaluated the proposed control system by using a prototype.</p>

DOI： 10.1299/jsmermd.2017.2A2-L04

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>The present paper discusses an approach for quantitative evaluation of physical property of obstacles called "ease of movement" in order to make it possible disaster response manipulators to deal with harsh environment. The physical property evaluates how much force is necessary to make translation and rotation of target obstacle with respect to each force direction and force application location. Evaluation scheme of this property called "haptic sensing" is discussed under the consideration of combining visual and haptic information acquired from physical contact of a manipulator having tactile sensation with variable stiffness function and vision sensors. In order to carry out the proposed evaluation scheme, a prototype manipulator having a variable stiffness shoulder joint was developed, and its capability for force measurement was validated. Consequently, the prototype manipulator with an image sensor was used to perform ease-of-movement measurement experiment. By using obtained result, it was demonstrated that optimum force application point and force application direction can be found to make different kind motion (translation and rotation) of the obstacle.</p>

DOI： 10.1299/jsmermd.2017.2A2-I09

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>In order to improve living space for stable walks by elderly people, this paper discussed assessment of living space with unique-shaped support objects. Four evaluation indices expressing capability of balance recovery corresponding to the support object were derived based on directionality of generative force by human's upper extremity and directionality of reaction force depending on surface shapes of the objects. Experiments were carried out to (1) obtain the parameters necessary to calculate the proposed indices and (2) carry out organoleptic evaluation of the support objects. Compared to the results obtained in these experiments (1) and (2), effects of the proposed indices were discussed, and an effective index among the four for evaluating the effect of the support objects was clarified. Assessment of a support object using the index was shown as an example.</p>

DOI： 10.1299/transjsme.17-00282

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper discusses a development of an exoskeleton-type walking assist machine having essentially minimum number of joints in order to guarantee the intrinsic safety, simple and inexpensive structure, and can be divided into two pieces so that a part of the apparatus can be detached, when that part becomes unnecessary due to a recovery of body function. Since the obtained mechanism was designed to achieve target human gaits obtained by a number of motion capture experiments, including changings of step lengths and turnings of walking directions. In the determination of the mechanism composition, at first, a most practical composition was chosen among four candidates that were found by taking different selections of possible attachment locations between the device and a human's lower limb into account. Subsequently, the number of joints of the determined composition was synthesized by using only revolute joints so that the device could establish the required DOF for generating the motion of human gait. After that, dimensions of the obtained mechanism were determined through an optimization process considering a minimization of required driving torque which was calculated by a static analysis of the mechanism.

DOI： 10.1299/jsmemecj.2016.s1120106

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmemecj.2016.f112003

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The goal of this study is to propose the concept “Man-powered robotics,” which is a methodology to design the robotic system which can control the joint by directly using a power of human's motion as its power source. This paper illustrates the design of the prototype of 1-DOF human-powered joint control system using servo clutches with regenerative brakes and differential gears. This system can measure the angle and the torque of output shaft with encoder and torque sensor, and can control output angle with PD control system. We evaluated the ability of torque and angle outputting.

DOI： 10.1299/jsmermd.2016.2a2-14b1

CiNii Research

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer International Publishing  

DOI： 10.1007/978-3-319-33714-2_45

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a dynamic analysis method for parallel robots with passive spherical joints having a friction torque. We applied the d'Alembert's principle to the dynamic analysis by modeling the friction torque of the joints as external moments. Dynamics of a Delta robot were formulated based on this method. On the other hand, an identification strategy of the friction torque at spherical joints from measured driving torques of the actuators was presented. As a result of numerical analysis using the presented method, step change was observed in the calculated driving torque at the time when the direction of relative angular velocity of paring elements of spherical joint significantly changed.

DOI： 10.1299/jsmermd.2016.2p2-13b5

CiNii Research

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-3-319-33714-2_26

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to fabricate welfare devices of complicated 3-D shapes which can fit each user by a pipe bender based on the penetration bending method, the authors have already developed a pipe bender using a 3-RPSR parallel mechanism as a moveable-die drive mechanism and a determination method of the reference trajectory of the moveable-die drive mechanism corresponding to the target shape of the bent pipe has been established. In the trajectory determination, curvature and torsion at each point along the target curve are used based on the Frenet=Serret Formula. In the present paper, a method is proposed to obtain the curvature and torsion of the target shape from 3-D point cloud data measured by 3-D scanner. A procedure to calculate these values using the differential value of the unit tangent vector and bi-normal obtained with the principal component analysis of measured 3-D point cloud is presented. Experimental results are presented to show the applicability of the proposed method.

DOI： 10.1299/jsmemecj.2016.s1120103

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a kinematic characterization of the Origami Spring, which can change its shape from a flat, contracted state to a solid, extended state. Through observation using a real model, the Origami Spring was modelled by spherical 6R linkage with 3 degrees of freedom (DOF). To obtain a kinematic model, which enables kinematic design of the Origami Spring for real applications, mobility analysis and displacement analysis have been performed. To reveal the actual behavior of the Origami Spring: it behaves like a single DOF, displacement analysis has been formulated as an optimization problem with a single input using objective functions taking into consideration the collisions of links. Numerical examples were presented to discuss the kinematic characteristics of the Origami Spring.

DOI： 10.1299/jsmemdt.2016.16.b1-5

CiNii Research

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.mechmachtheory.2014.02.011

Web of Science

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-3-319-18126-4_12

Web of Science

researchmap

Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society of Mechanical Engineers  

The authors have been developing a pipe bender based on the penetration bending method using a 3-RPSR parallel mechanism as the movable-die drive mechanism and a fixed die on the ground. In this paper, a theoretical model to estimate the curvature of bent pipe in the penetration bending process has been developed by constructing an algorithm to calculate the center line of the bent pipe from the pose of the movable die taking into consideration the springback effect of the pipe and clearances at the dies. Based on this model, maps of estimated curvature radius of bent pipe and bending force have been obtained, and a bending strategy to perform precise bending, in which the pose of the movable die is determined so that the tilt of the movable die is maximized, has been proposed. Improvement of accuracy in radius of curvature of bent pipe based on the proposed model and bending strategy has been shown by experimental results obtained by our prototype pipe bender. In experiments, error of 2% and 4% in bent pipes with shapes of uniform curvature and clothoid curve was achieved while error without the proposed method was around 10-20%.

DOI： 10.1299/transjsme.2014trans0343

researchmap

Language：English  

researchmap

Language：English  

researchmap

Language：English  

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-94-007-7214-4_18

Web of Science

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：Kluwer Academic Publishers  

DOI： 10.1007/978-3-319-07058-2_4

Scopus

researchmap

Language：English  

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

researchmap

Language：English  

researchmap

Language：English  

researchmap

Language：English   Publishing type：Part of collection (book)   Publisher：Springer Netherlands  

DOI： 10.1007/978-94-007-4620-6_32

Scopus

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s11465-012-0340-5

Scopus

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jamdsm.6.76

Web of Science

researchmap

Language：Japanese   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/kikaic.78.2034

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A rotational parallel mechanism is proposed that can perform rotational output motion around two axes and fine translational motion to compensate for position error of a target point, the center of rotation of the output link. This mechanism is composed of three connecting chains: one is a constraint chain without actuation and two are actuation chains, each with two actuators. The structures of the constraint and actuation chains were synthesized so that the mechanism can perform fine translational motion for position compensation while achieving a rotational output motion within a large workspace. Dimensional synthesis was carried out taking into account singularity with respect to actuation torque and output velocity, and rotational output motion coupled with translational compensation motion for position error. Based on the synthesis results, a prototype mechanism was designed and built. Experimental results regarding compensation for position error of the target point are shown to support our structural and dimensional syntheses.

DOI： 10.1299/kikaic.77.2537

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s11012-010-9400-2

Web of Science

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1007/s12206-009-1177-7

Web of Science

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

DOI： 10.1007/978-90-481-9689-0_37

Web of Science

researchmap

Language：English  

DOI： 10.20965/ijat.2010.p0346

researchmap

Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.76.727

Scopus

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jamdsm.4.444

Web of Science

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1155/2010/485358

Web of Science

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Double Ball Joint was developed for the improvement of the precision of a parallel link mechanism. Double Ball Joint agreed with the function of two Ball Joint or more and those centers of gyrations were matched as it was. It is effective for the simplification of the mechanism and the simplification of the high precision and the inverse kinematics calculation, etc. It reports on the parallel link positioning stage where Double Ball Joint was used is produced and the operation experiment and the performance assessment were done.

DOI： 10.1299/jsmemecjo.2009.4.0_191

CiNii Books

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.mechmachtheory.2006.12.002

Web of Science

researchmap

Language：English   Publisher：The Japan Society of Mechanical Engineers  

Design of a lower-dof parallel mechanism, a 3-URU pure rotational parallel mechanism with consideration of workspace and the position error of the center of platform rotation, was presented. The uncompensatable error determined by the position error of the center of platform rotation of this mechanism was used as an evaluation index for design. Design of the 3-URU mechanism with large workspace subject to minimization of the uncompenstable error was carried out. An example of mechanism with a large inclination angle of the platform upto 1.3 rad was shown.

DOI： 10.1299/jsmemecjo.2008.4.0_183

CiNii Books

researchmap

Language：Japanese  

DOI： 10.1299/kikaic.74.3069

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jamdsm.2.998

Web of Science

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jamdsm.2.874

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposes a walking assist machine for people with walking difficulties, in which crutches are operated by the user and motion of the leg and foot relative to the upper body is generated by a wearable mechanism. Based on healthy person's walking using crutches that we had experimentally measured, a composition of the walking assist machine was proposed. It is mainly composed of two telescopic links with linear actuator and foot plate. In order to attach it with the user's body and support his/her weight, a waist harness is utilized. Some other elements such as belts are also utilized in order to avoid overload on his joints and muscles. Desired velocity of the linear actuator was determined through simulations. Experimental study was done to show the effectiveness of the proposed walking assist machine.

DOI： 10.1299/jsmemecjo.2008.7.0_207

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.2493/jjspe.73.293

CiNii Books

researchmap

Other Link： https://jlc.jst.go.jp/DN/JALC/00341626044?from=CiNii

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jamdsm.1.81

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The purpose of this research is a contribution to the mechanism synthesis in a system design by evaluating positioning accuracy of parallel mechanisms after kinematic calibration. In order to realize high positioning accuracy of a mechanism after kinematic calibration, it is necessary to select the optimal measurement condition based on considering the operation performed by the mechanism in the system. So, we developed an evaluation method of the positioning accuracy of a mechanism after kinematic calibration and proposed an estimation index for the positioning accuracy of a mechanism after kinematic calibration. The effectiveness of the method and index was confirmed through simulations.

DOI： 10.1299/jsmemecjo.2007.4.0_21

CiNii Books

researchmap

Language：English  

researchmap

Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1299/jamdsm.1.141

Web of Science

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：American Society of Mechanical Engineers  

DOI： 10.1115/detc2006-99340

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A study about mobility and workspace of a 3-5R translational parallel mechanism that has three identical connecting chains is presented. Mobility analysis based on the screw theory was carried out to show if the proposed mechanism enables pane translational output motion. Effect of location of connecting chains on the size and shape of working space of the mechanism were also investigated.

DOI： 10.1299/jsmemecjo.2006.4.0_151

CiNii Books

researchmap

Publishing type：Research paper (international conference proceedings)  

Scopus

researchmap

Language：English   Publishing type：Research paper (international conference proceedings)  

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.2493/jjspe.63.1651

CiNii Books

researchmap

Other Link： https://jlc.jst.go.jp/DN/JALC/00050417568?from=CiNii

Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.10.745

CiNii Books

researchmap

researchmap

researchmap

researchmap

researchmap

researchmap

Language：Japanese   Publisher：一般社団法人 日本機械学会  

identifier:oai:t2r2.star.titech.ac.jp:50617887

CiNii Research

researchmap

Language：Japanese   Publisher：一般社団法人日本機械学会  

identifier:oai:t2r2.star.titech.ac.jp:50602235

CiNii Research

researchmap

Language：Japanese   Publisher：公益社団法人 計測自動制御学会  

identifier:oai:t2r2.star.titech.ac.jp:50602904

CiNii Research

researchmap

Language：Japanese   Publisher：バイオメカニズム学会  

identifier:oai:t2r2.star.titech.ac.jp:50600754

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineer  

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Research

researchmap

J-GLOBAL

researchmap

Language：Japanese   Publisher：Society of Instrument and Control Engineers  

CiNii Research

researchmap

Language：Japanese   Publisher：一般社団法人日本機械学会  

CiNii Research

researchmap

Language：Japanese   Publisher：一般社団法人日本機械学会  

CiNii Research

researchmap

Language：English   Publisher：Japan Society of Mechanical Engineers  

CiNii Research

researchmap

Language：Japanese   Publisher：LIFE  

CiNii Research

researchmap

Language：Japanese   Publisher：一般社団法人 日本機械学会  

CiNii Research

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

<p>In this research, a new mobility vehicle for elderly is being developed, which combines lower limbs exercise effective for improvement of walking function, operation method enabling free upper limb movement, and movement support. This report summarizes the following three points; clarified target person and needs of movement activity, survey results of existing movement means and movement supporting equipment, and advantages of maintaining walking function and being able to freely use upper limbs during operation. Furthermore, after discussing the development requirements, the following points are regarded as functional requirements; mobility support is possible, giving passengers a suitable and sustainable load for maintaining lower limb function, being "hands-free" - not binding upper limbs for operation. Based on them, the concept of the new vehicle is proposed.</p>

DOI： 10.1299/jsmermd.2018.2A2-K07

researchmap

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, a motion planning scheme of a variable stiffness manipulator able to vary stiffness of shoulder joint by changing effective length of leaf spring which has been designed and built to perform a stability sensing of robot's surrounding objects with unpredictable mechanical properties by touching them, was proposed. An analysis scheme to calculate an external force exerted on end-effector by using measured angular displacement and given stiffness while subtracting gravitational force is firstly explained. Subsequently, a motion planning scheme to determine how to configure the manipulator is proposed on purpose to widen dynamic range of stiffness by changing the length of a moment arm between the end-effector and the joint with variable stiffness mechanism. The scheme utilizes this principle to selectively achieve high measurement sensitivity and large output force. Capability of a prototype robot to achieve wide range stiffness and effectiveness of the scheme are experimentally demonstrated.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, a leg driving mechanism for our Walking Assist Machine using Crutches (WAMC) was proposed. The mechanism is composed of passive coil springs and translating cams to achieve large acceleration while realizing various gaits. Capability of the mechanism was confirmed by dynamic simulations considering the effect of user's dynamic characteristic. On the basis of the calculation results, a prototype mechanism was designed and fabricated. Results of driving experiments using the prototype demonstrated the possibility for generating high velocity and acceleration. Finally, one forward step in swing to gait was successfully achieved by WAMC with the prototype mechanism.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a kinematic design of a rotational parallel mechanism, which can perform rotational output motion around two-axes and translational motion of the target point, the center of rotation of the output link. It has an asymmetrical structure and is composed of three connecting chains; one target point control chain with actuators for changing the target point position (TPC), and two rotational motion generating chains having a single input joint in each chain for generating rotational output motion (RMCs). In our previous study, structural synthesis has been carried out and kinematic structures have been clarified in which translational and rotational output motions are fully decoupled, and displacement analysis of one of the structures has been formulated. In the present paper, optimal design of this mechanism was performed taking into consideration actuation and constraint characteristics, and motion range of passive joints in the mechanism. Numerical examples were given to show the effect of the kinematic parameters on the characteristics of the mechanism. Based on the analysis, kinematic parameters have been determined and a prototype mechanism has been designed and built. Experimental results were shown to support the proposed design.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, a new motion control algorithm of walking machine using crutches for determining reasonable gait style, initial configuration and actuator input trajectory to achieve various desired step length will be discussed. First of all, two different gaits, swing-to- and dragging-gait and typical pattern of actuator input trajectory regarding those two gaits were defined. Seondly, some dominant parameters, maximum stroke and dicerelation of linear actuator, were chosen to investigate reasonable parameter region called gait feasible region to achieve the avobe-proposed gaits. In addition, initial condition of the apparatus to start walking were also determined. By using a prototype walking machine, effectiveness of the proposed methodology has been demonstrated by achieving several different desired step lengths in the swing-to- and dragging gaits.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper discusses the development of H-WAMC, especially the method for decision of the desired trajectory of leg motion generator. First of all, the desired trajectory was determined based on the motion of human knee joint and ankle joint during human walking. Next, the effectiveness of the slider-crank mechanism on the reduction of driving energy was evaluated by the comparison of the driving energy of slider-crank mechanism with the energy of ball-screw. Finally, the validity of the desired trajectory was demonstrated by the measurement of posture and grand reaction forces the human walking with and without using prototype leg motion generator.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, design of an evaluation apparatus which is aiming to contribute for development of flexure hinges that can achieve large displacement and high stiffness was discussed. As the most important function of the apparatus, measurement of target joints' drift in rotation axis in 3D space was featured since that problem spoils the precision of flexure hinges. In order to achieve continuum drift measurement while exerting only the torque around functional axis of the joint, a spatial mechanism based on the expanded Oldham's coupling mechanism was employed. Displacement analysis and static analysis of the mechanism were performed to investigate essential specification of sensors such as spatial resolution and to investigate the forces and torques acting on the target flexure joint. Based on the obtained results, a suitable design of the apparatus was figured out to fabricate an actual experimental setup.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The authors have developed a penetration pipe bending model which can accurately predict the shape of a bent pipe. In this model, the centerline of the pipe which contacts the movable-die was calculated by considering the springback of the pipe and the clearance between the pipe and fixed-die. Using the model,the distribution of the resulting radii within the workspace of the movable-die drive mechanism was calculated in order to determine the optimal position and orientation of the movable die for achieving precise bending. Throughout several experiments,the precise pipe bending was successfully performed to demonstrate the effectiveness of the proposed methods.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To achieve precise and stable pipe/thin plate bending based on the penetration bending method,a grip-and-feed mechanism was proposed. This mechanism is driven by an actuator and composed of two cam mechanisms and a chain-drive mechanism. One of the cam mechanisms was designed to generate a periodic grip-and-release motion of grippers, which circulate along a track, by a grooved cam mechanism.The other was designed to constrain the grippers'orientation during feeding to achieve a stable gripping. These mechanisms are synchronously driven by an actuator. Thickness of the rubber attached on the gripper was investigated through experiments. The fundamental performance of the proposed feeder was demonstrated by applying it to fabrication of a circular-shaped pipe. The results are shown to support the proposed mechanism.

CiNii Books

researchmap

Language：Japanese   Publishing type：Lecture material (seminar, tutorial, course, lecture, etc.)  

researchmap

Language：Japanese   Publishing type：Meeting report  

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

When developing new wearable devices for motion assistance of aged or physically handicapped persons, we have to take into consideration functionality, safety, size, mass, usability, cost and adaptability to physique of each user. This article presents some human-motion-assist devices that are under development in the laboratory of the author. A walking assist machine using crutches and a joint rehabilitation/drive device capable of adapting to joint axis fluctuation are shown. Some other related works are also addressed.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to realize self-rehabilitation by user oneself to achieve early recovery and improvement of QOL, this paper proposes a spatial rehabilitation mechanism which can adapt to fluctuation of the rotational axis of human joint while preventing exertion of unnecessary shearing force. Kinetostatic analysis of the mechanism is performed to achieve large-enough range of motion to establish practical rehabilitation treatment, and to evaluate magnitude of the residual shearing force caused by friction of cylindrical joints and the effect of the gravity. Experiments to demonstrate the effectiveness of the proposed mechanism and the kinetostatic analysis is proposed. Compensation of the shearing force by adding springs at passive joints of the mechanism is proposed and spring constant and initial offset of each spring are determined based on kinetostatic analysis. An effective solution is shown in which for reducing the shearing force is reduced by 80% by adding springs on two cylindrical- and one revolute joints.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to realize self-rehabilitation at home by user oneself for early recovery to improve QOL, this paper discusses the development of a spatial rehabilitation mechanism for ankle joint which can adapt to fluctuation of rotational axis of human joint while preventing exertion of unnecessary shearing force. Kinetostatic analysis of the mechanism was performed to achieve large-enough range of motion to establish practical rehabilitation treatment, and to evaluate amplitude of the residual shearing force caused by friction on cylindrical joints and the gravity. Compensation of the shearing force was achieved by adding passive coil springs on certain joints. Optimum spring constant and initial offset of each spring were determined based on the slope and offset of a line, fitted to the ideal force distribution obtained from the theoretical analysis. By adding springs on two cylindrical and one revolute joints, the shearing force was reduced by 80%.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposes a rotational parallel mechanism, which can perform rotational output motion around two orthogonal axes and translational motion of the center of rotation of the output link called "target point". This mechanism is composed of three connecting chains; one target point control chain with actuators for changing the target point, and two rotational motion control chains having single actuator on each chain for generating rotational motion. Structures of these chains were clarified for achieving position-orientation decoupled feature. To enlarge the orientation workspace without singularity configurations, adjustment method of design parameters were figured out based on the equations determining the existence of solution, and the equation of transmission characteristics about input velocity and input torque.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, a concept of estimating a body's mobility and elasticity by conducting haptic sensing was proposed. A method of measuring the force applied to the body was proposed to be used in haptic sensing. In order to conduct haptic sensing a variable stiffness mechanism (VSM) using linear spring was proposed and installed in an experimental 3DOF variable stiffness manipulator. Experiments using a prototype of the VSM were conducted, and the effectiveness of the proposed VSM and the force estimation method was investigated experimentally. As a result, a modulation of the resolution of the estimated force was achieved.

CiNii Books

researchmap

Language：Japanese  

CiNii Books

J-GLOBAL

researchmap

Language：Japanese  

researchmap

Language：Japanese  

DOI： 10.11522/pscjspe.2013S.0.811.0

J-GLOBAL

researchmap

Language：Japanese  

DOI： 10.11522/pscjspe.2013S.0.1095.0

J-GLOBAL

researchmap

Language：Japanese  

DOI： 10.11522/pscjspe.2013S.0.979.0

J-GLOBAL

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese  

DOI： 10.11522/pscjspe.2013S.0.977.0

J-GLOBAL

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese  

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper discusses the development of a complex three dimensional penetration pipe bender using 3-RPSR parallel mechanism. Since the pipe bending is processed by penetrating a pipe into a fixed die and a movable die supported by a moving plate, traveling range of orientation angle should be as large as possible and mechanical stiffness of the moving plate should be as high as possible. Therefore, the authors apply 3-RPSR parallel mechanism to the movable-die drive mechanism. Regarding the pipe bending task, firstly, desired shape of a pipe is converted to a freeform curve described by Frenet-Seret formula. Subsequently, position and orientation of the moving plate is calculated by using the curvature and torsion of this curve. Through several experiments, bending pipes to helix of various changing curvature and torsion were successfully performed to demonstrate the effectiveness of the proposed methodology.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The present paper describes the development of a laser pointer with stabilizing mechanism that aiming to suppress user's tremor effect. This paper discusses the recognition scheme of user's intentional motion to estimate essential desired motion related to user's intention from onboard sensors' information. In experiment, it was seen that measured acceleration profiles had different characteristics in-between "Stationary" phase and "Moving" phase. By applying a machine learning scheme (Random Forests), a recognition scheme was proposed. The proposed scheme successfully categorized the current state into three-groups, "stationary", "right / left-ward" and "up / down-ward" with high accuracy.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, the authors developed a mechanism for a step-climbing machine having torque assist mechanism. The mechanism reserves kinetic energy in spring, and releases it at appropriate timing to assist electric motors. The approach will be effective to achieve light-weight and low-energy consumption walking-assistance. After designing and fabricating a prototype torque assist mechanism, evaluation of essential driving force and energy consumption were carried out. Finally, step-climbing experiment using the prototype was demonstrated.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.30.124

J-GLOBAL

researchmap

Language：Japanese  

DOI： 10.1299/kikaic.78.2034

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to clarify the relationship between space-suits knee loading and generated human gait, an orthosis that can simulate space-suits knee flexion torque was designed and manufactured. First, upright configuration of human with the orthosis was captured and organoleptic evaluation was carried out on easiness to keep upright configuration. To figure out the determination rule of upright configuration, optimized upright-configurations based on four evaluation indices were clarified by simulation under static condition. The result was compared with the measured data. Second, generated human gait with the orthosis was captured. To figure out the determination rule of generated gait, optimized gaits based on four evaluation indices were clarified by simulation under dynamic condition. Finally, these optimization results showed good agreement with the trend obtained by experiments. As the conclusion, it was clarified that the knee flexion torque exerted from the orthosis is a dominant factor in making decision of upright configuration and generated gait under space-suits knee loading.

DOI： 10.1299/kikaic.78.2131

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Taking two crutches, which have different shapes of the tip, we investigated the effect of the shape of crutch on energy consumption during crutch gait. We carried out experiments using motion capture system. We calculated an energy consumption and upper limb load by 2D model using experimentally measured data. From the result, we found a greate difference in energy consumption. Energy consumption decreased by 56.4% by using a crutch with a special shape. This reason was investigated with respect to the movement of the contact point of crutch and floor and force applied at the contact point.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the use of a laser pointer, tremor counteracts human's control and leads to less accuracy. The objective of this study is to develop a laser pointer with active suppression of the effect of user's tremor. We measured human tremor in the use of a laser pointer and analyzed it in time and frequency domains. As the result, difference in acceleration between in stationary and moving situations was clarified. This result leads to recognition of user's intention if he/she desires to keep or move the pointing position or not. Additionally, we proposed a control strategy to suppress user's tremor effect which combines feedforward based on BMFLC and feedback controllers. Result of the simulation applied this strategy showed its effectiveness.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the use of a laser pointer, tremor counteracts human&#039;s control and leads to less accuracy. The objective of this study is to develop a laser pointer with active suppression of the effect of user&#039;s tremor. We measured human tremor in the use of a laser pointer and analyzed it in time and frequency domains. As the result, difference in acceleration between in stationary and moving situations was clarified. This result leads to recognition of user&#039;s intention if he/she desires to keep or move the pointing position or not. Additionally, we proposed a control strategy to suppress user&#039;s tremor effect which combines feedforward based on BMFLC and feedback controllers. Result of the simulation applied this strategy showed its effectiveness.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Taking two crutches, which have different shapes of the tip, we investigated the effect of the shape of crutch on energy consumption during crutch gait. We carried out experiments using motion capture system. We calculated an energy consumption and upper limb load by 2D model using experimentally measured data. From the result, we found a greate difference in energy consumption. Energy consumption decreased by 56.4% by using a crutch with a special shape. This reason was investigated with respect to the movement of the contact point of crutch and floor and force applied at the contact point.

CiNii Books

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

For oxide-CMP process in semiconductor manufacturing, which requires high precision, Run-to-Run control has been developed. The Run-to-Run control is a kind of repetitive control to adjust polishing time at every start of lot work in a work sequence. Film-thickness is controlled based on a process model, which expresses the relation between polishing time and polished thickness. In this paper, process model for oxide-film CMP with ceria slurry and the Run-to-Run control method in high volume manufacturing is described. In this CMP, relationship between polished thickness and polishing time is nonlinear. Control calculation is found to be concise by using a variable, which is film-thickness before CMP divided by removal-rate, for polishing-time correction. Parameters in the model are estimated with two steps to evaluate controllability. Run-to-Run control simulation is applied in order to determine the best parameter set, which achieves the largest process capability index Cpk. A result of high-precision film-thickness, whose Cpk is 1.39, is obtained.

DOI： 10.2493/jjspe.77.868

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publishing type：Meeting report  

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a method for stiffness analysis of parallel mechanism. We propose to introduce virtual screw joints to represent elastic deformation characteristics of links and joints in the mechanism. Each virtual screw joint is determined based on the relationship between infinite displacement of output link and elastic deformation of each component of mechanism. By this idea, precise modeling of elastic deformation characteristics of links and joints, taking into consideration the non-diagonal elements of compliance matrix of a component, is achieved. The pose error of the output link calculated by the proposed method was compared with experimental results and validity of the proposed method was discussed.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, in order to improve energy efficiency and ride quality of a Walking Assist Machine using Crutches (WAMC), relationships among motion parameters, energy efficiency and ride quality of WAMC have been theoretically and experimentally investigated. On the basis of the results, foot-driving mechanism without any additional actuators has been proposed. Results of dynamic simulations show that the reduction effect of energy consumption and improvement of ride-quality of WAMC can be achieved by introducing this mechanism. Design parameters of the foot-driving mechanism have been determined by the simulation results. A prototype of WAMC with foot-driving mechanism has been designed and fabricated, and its energy consumption and ride quality have been experimentally investigated. The results show that the WAMC with the proposed foot-driving mechanism reduces energy consumption by 43% with improved ride quality.

CiNii Books

researchmap

Publisher：The Japan Society of Mechanical Engineers  

A rotational parallel mechanism is proposed that can perform rotational output motion around two axes and fine translational motion to compensate for position error of a target point, the center of rotation of the output link. This mechanism is composed of three connecting chains: one is a constraint chain without actuation and two are actuation chains, each with two actuators. The structures of the constraint and actuation chains were synthesized so that the mechanism can perform fine translational motion for position compensation while achieving a rotational output motion within a large workspace. Dimensional synthesis was carried out taking into account singularity with respect to actuation torque and output velocity, and rotational output motion coupled with translational compensation motion for position error. Based on the synthesis results, a prototype mechanism was designed and built. Experimental results regarding compensation for position error of the target point are shown to support our structural and dimensional syntheses.

DOI： 10.1299/kikaic.77.2537

researchmap

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

For oxide-CMP process in semiconductor manufacturing, which requires high precision, Run-to-Run control has been developed. The Run-to-Run control is a kind of repetitive control to adjust polishing time at every start of lot work in a work sequence. Film-thickness is controlled based on a process model, which expresses the relation between polishing time and polished thickness. In this paper, process model for oxide-film CMP with ceria slurry and the Run-to-Run control method in high volume manufacturing is described. In this CMP, relationship between polished thickness and polishing time is nonlinear. Control calculation is found to be concise by using a variable, which is film-thickness before CMP divided by removal-rate, for polishing-time correction. Parameters in the model are estimated with two steps to evaluate controllability. Run-to-Run control simulation is applied in order to determine the best parameter set, which achieves the largest process capability index Cpk. A result of high-precision film-thickness, whose Cpk is 1.39, is obtained.

DOI： 10.2493/jjspe.77.868

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to analyze the relationship between space-suits knee loading and upright position, we designed and developed orthosis that modeled space-suits knee flexion torque. We captured upright motion with the orthosis and make organoleptic evaluation on ease to keep upright position. To figure out the determination rule of upright position, optimization was conducted under static condition simulation for upright position about each 4 evaluation indices. Comparison of the optimized result with the measured data showed the trend that the knee flexion torque exerted from the orthosis is an important source in making decision of upright position.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to realize stable walking by elderly people with supporting objects, we evaluated balance recovery capability by planar-shaped objects. Human arm and other body segments were modeled by a serial mechanism with seven dof and an inverted pendulum with a single dof. An evaluation index expressing capability of balance recovery by supporting object was proposed using these models. To formulate this index, manipulating-force ellipsoid of the serial mechanism and a friction cone (RFCS) at the contact point of the hand of human with the supporting object was integrated. Another index to express the degree of effective use of reaction force and frictional force was also presented. To obtain necessary parameter values to calculate the indices, experiments using motion capture system were conducted. An example of application of the proposed indices to determination of the height of supporting objects to help human to achieve stable walking with the help of supporting objects was shown.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have been developing a casting manipulator which includes a flexible light wire in the link mechanism to enlarge the workspace of the manipulator. In this paper we focus on the motion of collecting an object in the casting manipulation. We propose a method of moving the object in the air by multiple cooperative motions of swing of the arm and wind of the wire. We discuss how to pull the object effectively by using the mechanical device which changes the apparent elasticity of the wire and how to transform a ballistic trajectory to a circular motion. We then develop the motion generator which provides the optimal collect motion. We confirm the effectiveness of the proposed method through simulations, and realize the quick motion of collecting the object on the dynamic simulator.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Casting Manipulator is a robot manipulator which throws gripper linked flexible string. The mid-air position and attitude of its gripper are controlled by flexible string's tension. In order to realize large work space and precisely position and attitude control of gripper, real out mechanism with large dynamic range tension control characteristics was proposed. The mechanism is composed modified spinning reel system which controls tension by torque and effective radius of its rotor. Rotor torque is controlled by a hysteresis brake and its effective radius is controlled by a ling driven by slider-crank mechanism. The relationships between rotor torque, effective radius and tension have been investigated theoretically and experimentally. And results show that proposed mechanism controls tension by rotor torque and its effective radius.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The present paper proposes a new six-dof parallel mechanism with three connecting chains, which can have a large orientation angle of the output link. Each connecting chain is composed of a serial chain with revolute, prismatic, spherical and revolute joints from the base. All the three revolute joints on the base coincide. By this structure, the output link can perform a full rotation around the vertical axis. Orienting capability of this mechanism was demonstrated. Equations for kinematic analysis were derived. A design example of this mechanism for a pipe-bender was shown.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents a rehabilitation device using parallel mechanism driven by impedance controller. In order to enable rehabilitation task by this manipulator without force sensor on the output link, which contributes to reduction of cost and moving mass, external force on the output link is estimated by motor torque. In order to achieve rehabilitation taking into consideration both enlargement of motion range and prevention of excessive load on the joint, we proposed to use estimated external force with appropriate threshold and filtering, obtained from motor torque, in the impedance controller. Experimental results showed the effectiveness of the proposed control system.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

According to development demand of 6 axis precision stage corresponding to vacuum chamber, a parallel mechanism stage has been developed. This parallel mechanism stage has vacuum adaptability as low degasification and low generation of heat. Moreover, Double Ball Joint was used for precise positioning. This paper reports on the design of parallel mechanism stage corresponding to the use in the vacuum chamber.

CiNii Books

researchmap

Language：Japanese  

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Draw bending is a method of bending a straight pipe into complex 3-dimensional shaped pipe. This method needs a gripper, which grasps complex 3-dimensional shaped pipe with large gripping force and small contact pressure. The purpose of this research is to develop this gripper. In the present paper, the gripper which can grasp a 2-dimensional shaped pipe with large curvature is proposed. The gripper is composed of multiple gripping units. Relationship between kinematic parameters of the gripper and the minimum radius of curvature is geometrically analyzed. Relationship between the parameters and the maximum pulling force is theoretically and experimentally investigated. The result shows that the proposed gripper can grasp a 2-dimensional shaped pipe which has large curvature.

CiNii Books

J-GLOBAL

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper discusses the motion of a walking assist machine using crutches when it is used to assist people walking with walking difficulties to ascend or descend steps. Firstly, from the result of analysis of the motion of ascending and descending by a healthy person with crutches, a parameterized velocity profile as the reference of the actuator of the machine was proposed. Secondly, values of parameters were determined through dynamic simulation taking stability, and power and energy consumption of actuator into consideration. Finally, parameterized velocity was determined from the result of simulation and user's feeling. The effectiveness of motion was discussed with experimental results.

CiNii Books

researchmap

Language：English  

DOI： 10.1007/s12206-009-1177-7

Web of Science

researchmap

Language：English  

DOI： 10.1299/jamdsm.4.444

Web of Science

researchmap

Language：English  

DOI： 10.1155/2010/485358

Web of Science

researchmap

researchmap

DOI： 10.20965/ijat.2010.p0346

researchmap

Language：Japanese   Publisher：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.76.727

Scopus

researchmap

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to enable optimization of the kinemetic calibration condition of parallel mechanism considering its task, we proposed an evaluation method of output pose error after calibration and error evaluation index. The index is derived from linearization of relationship between positioning-error and measurement errors. It depends on kinematic parameters of the mechanism, calibration condition and error evaluation conditions specified by the task. Simulations considering measurement error for the Stewart platform were done to clarify the relationship between the proposed index and positioning-error of the mechanism after calibration. Effectiveness of the calibration conditions selected by the proposed index was confirmed through comparison with conventional method. Results of experiments using a Stewart platform were shown to support the proposed method.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper develops the method for motion planning based on dynamic property of underactuated manipulators that have one actuated joint and some underactuated joints with brakes. First, this method separates motion into conveyance and assembly. As regards assembly, path tracking control method using gravity and on-off control of brakes is suggested. Then initial orientation for assembling motion that makes the control method possible is cleared. And as regards conveyance, algorithm for on-off control of brakes to realize the initial orientation for assembling motion in consideration of interference with objects is suggested. Finally results of simulations and experiments using the method for motion planning that consists of these two motions are shown and its efficacy is clarified.

CiNii Books

researchmap

Language：Japanese   Publisher：一般社団法人日本機械学会  

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, we discussed about a kinamatic design of a 3-5R translational parallel manipulator with a large utility workspace. We defined the utility workspace as a closed area, from any point to other points in which the mechanism can move without suffering from singularity and workspace boundary. A computational algorithm of the volume of the utility workspace was proposed. We investigated the utility workspace of 3-5R translational parallel mechanisms having RRRRR, RRRRR and RRRRR chains with consideration of actuation and constraint singularities. Based on the theoretical results, we designed and built a 3-RUU translational parallel manipulator (one of the 3- RRRRR manipulator) and we conducted experiments to examine its performance.

CiNii Books

researchmap

Language：English  

DOI： 10.1016/j.mechmachtheory.2006.12.002

Web of Science

researchmap

Language：English  

DOI： 10.1299/jamdsm.2.874

Web of Science

researchmap

DOI： 10.1299/kikaic.74.3069

researchmap

Language：English  

DOI： 10.1299/jamdsm.2.998

Web of Science

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to synthesize a parallel mechanism which satisfies conditions on output velocity characteristics and motion transmissibility given as design specifications, this paper focused on instantaneous center/screw axis. Output velocity characteristics, such as isotropy and translational/rotational velocities ratio, of planar mechanism with three degrees of freedom were generally investigated using three instantaneous centers of the output link. Input-output velocity relationship and transmission index of planar 3-RPR parallel mechanism were formulated using three centers. A kinematic synthesis method of this mechanism and a synthesis example were presented.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we discuss about workspace of a 3-5R (three connecting chain, five revolute joints in each connecting chain) translational spatial parallel mechanism with consideration of singularity. At first, we derive the conditions of two singularities: actuation and constraint singularities. Secondly, we analyze the workspace of a mechanism with one type of connecting chain with consideration of singularity. In order to enlarge the area, which does not include any singularity in the workspace, ratio of link lengths and angle of adjacent revolute joints are investigated. Numerical examples are shown.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper concerns the evaluation of kinematic and static characteristics of 3-URU-type pure rotational parallel mechanism. Its kinematic characteristics are represented by the relationship between the output velocity and input velocity. Static characteristics are represented by the relationships between output force and constraint force, and between output moment and input torque. Based on these relationships, we propose evaluation indices, each of which is nondimensional quantity. The effectiveness of these indices is numerically confirmed. We also propose an index to evaluate these three characteristics for a prescribed workspace. Finally we show an example of kinematic synthesis based on this index.

CiNii Books

researchmap

Language：English  

DOI： 10.1299/jamdsm.1.81

Web of Science

researchmap

researchmap

researchmap

Language：English  

DOI： 10.1299/jamdsm.1.141

Web of Science

researchmap

researchmap

Language：English  

DOI： 10.1016/j.mechmachtheory.2006.03.009

Web of Science

researchmap

Language：English  

DOI： 10.1016/j.mechmachtheory.2006.03.009

Scopus

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have already proposed a disk brake for robotic use in which the braking torque is generated both by PZT-actuator and solenoid. The action of the solenoid is transmitted to friction pads through a wedge mechanism. A prototype brake of total mass 1.2kg has been manufactured and realized 2.4N・m braking torque. But braking torque of the prototype brake was sensitive to the manufacturing error of brake parts, and experiential fine tune-up was needed to realize such a large braking torque. In this paper, in order to make clear the relation between manufacturing error and brake application force, we proposed a contact model which can take into account of uneven contact with lower computing cost than FEM. Dynamic simulations with this proposed contact model and experiments have been carried out to investigate relationship between manufacturing error and brake application force. Based on these analyses, we proposed a method to minimize effects of manufacturing error on brake application force.

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, singularity analysis of a 3-URU non-overcontrained spherical parallel mechanism with three degrees of freedom has been theoretically discussed. Based on the screw and reciprocal screw of each connecting chain, condition for constraint singularity has been derived, and some concrete conditions have been presented. Deriving the velocity relationship between input and output based on the concept of reciprocal product, conditions for actuation singularity and reach limit singularity have been derived. Condition for local-mobility singularity has been also derived, and an example has been presented. Numerical calculation technique to accurately find these singular points in the workspace has been also discussed.

CiNii Books

researchmap

DOI： 10.1299/kikaic.72.3641

researchmap

DOI： 10.1299/kikaic.72.3641

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

researchmap

DOI： 10.20965/jrm.2005.p0189

researchmap

researchmap

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, we proposed a new structure of spatial in-parallel actuated mechanism with six degrees of freedom in which the position and orientation of the output link are decoupled. A number synthesis of the positioning sub-mechanism has been carried out, and fifteen mechanisms have been clarified. For four of the new mechanisms, fundamental equations for kinematic analysis have been derived, and their forward/inverse displacement analysis has been investigated. Based on the equations, their workspace and swing angle have been investigated. A prototype mechanism that was designed for a shoulder complex was shown. Experimental results are shown to support the theoretical results mentioned above.

DOI： 10.1299/kikaic.71.1717

CiNii Books

researchmap

Language：Japanese   Publisher：一般社団法人日本機械学会  

DOI： 10.1299/jsmemecjsm.2005.8.0_198

CiNii Books

researchmap

Language：Japanese   Publisher：一般社団法人日本機械学会  

DOI： 10.1299/jsmemecjsm.2005.8.0_40

CiNii Books

researchmap

DOI： 10.1299/kikaic.71.1717

researchmap

DOI： 10.20965/jrm.2005.p0189

researchmap

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.2493/jjspe.71.1363

CiNii Books

researchmap

Other Link： https://jlc.jst.go.jp/DN/JALC/00369043076?from=CiNii

Language：English  

DOI： 10.1115/1.1767822

Scopus

researchmap

Language：English  

DOI： 10.1115/1.1767822

Web of Science

researchmap

researchmap

researchmap

researchmap

researchmap

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the present paper, singular point of in-parallel actuated mechanisms at which connecting chain has local mobility has been investigated. Based on inverse kinematics, the presence of such singular point has been revealed. Kinematic relationship among output velocity and joint velocities of both active and passive joints in the connecting chain that has local mobility has been derived. A method of trajectory planning considering kinematic characteristics at the singular point has been shown. Numerical examples of a planar in-parallel actuated mechanism with three dof have been shown and discussed.

CiNii Books

researchmap

DOI： 10.11522/pscjspe.2004S.0.815.0

researchmap

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

alternative vehicle of a wheel chair that is driven by human cranking and actuators. One of the requirement to a power assisting system of the walking chair is that human power is utilized as much as possible while long distance movement can be achieved without much fatigue by human, hi this paper, we investigated kinetostatic characteristics of upper part of a human body through experiment. We proposed a model composed of 3-dof translations associated with the shoulder. 3-dof rotations associated with upper arm's flexion-extension, abduction-adduction and rotation, and a single dof associated with elbow's bending and stretching, hi the model, constraints on the maximum joint torque have been introduced in simultaneous actuation of multiple joints. Then, we applied the proposed model to design an appropriate axis position of the crank driven by human.

DOI： 10.1299/jsmemecjo.2004.4.0_221

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to develop high precision micro parallel manipulators, a concept of micro parallel manipulators with digital actuation system has been proposed. The digital actuation system is composed of a series of bi-stable-pair mechanisms with simple actuators. Because each bi-stable-pair mechanism with a simple actuator has only two states with high repeatability, sensors for feedback of actuators are not needed for positioning tasks of micro parallel manipulators with digital actuation system. A composition of bi-stable-pair mechanism for wide-range of stroke requirements has been proposed. Some experimental results with macro-size bi-stable-pair mechanisms have been also shown and discussed.

DOI： 10.1299/jsmemecjo.2004.4.0_71

CiNii Books

researchmap

researchmap

researchmap

researchmap

researchmap

researchmap

researchmap

researchmap

DOI： 10.11522/pscjspe.2004A.0.540.0

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

alternative vehicle of a wheel chair that is driven by human cranking and actuators. One of the requirement to a power assisting system of the walking chair is that human power is utilized as much as possible while long distance movement can be achieved without much fatigue by human, hi this paper, we investigated kinetostatic characteristics of upper part of a human body through experiment. We proposed a model composed of 3-dof translations associated with the shoulder. 3-dof rotations associated with upper arm's flexion-extension, abduction-adduction and rotation, and a single dof associated with elbow's bending and stretching, hi the model, constraints on the maximum joint torque have been introduced in simultaneous actuation of multiple joints. Then, we applied the proposed model to design an appropriate axis position of the crank driven by human.

DOI： 10.1299/jsmemecjo.2004.4.0_221

CiNii Books

researchmap

Language：English  

DOI： 10.1299/kikaic.69.1691

Scopus

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

CiNii Books

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A kinematic calibration of a spatial in-parallel actuated mechanism with six degrees of freedom that has three connecting chains is discussed in the paper. With consideration of practical measurement devices, four measurement methods of displacement error for kinematic calibration are considered. Effects of the measurement methods on the quality of calibration are investigated through simulations and discussed.

CiNii Books

researchmap

researchmap

DOI： 10.1299/kikaic.69.1885

researchmap

researchmap

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers