担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Elsevier BV  

DOI： 10.1016/j.mechmachtheory.2025.106044

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掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-96081-9_35

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掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-94608-0_25

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掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-91179-8_5

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掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-91151-4_46

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Elsevier BV  

DOI： 10.1016/j.mechmachtheory.2024.105908

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.7210/jrsj.43.319

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/icm62621.2025.10934949

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/icm62621.2025.10934923

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-67383-2_21

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64553-2_4

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64553-2_32

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64569-3_9

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-64569-3_10

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/embc53108.2024.10782011

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/embc53108.2024.10782645

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担当区分：最終著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/transjsme.24-00059

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/AMC58169.2024.10505443

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Elsevier BV  

DOI： 10.1016/j.sna.2023.114842

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45705-0_62

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45705-0_11

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45770-8_76

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45770-8_70

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-45770-8_26

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32322-5_34

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32439-0_18

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32439-0_17

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Nature Switzerland  

DOI： 10.1007/978-3-031-32439-0_16

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：IEEE  

DOI： 10.1109/ichms56717.2022.9980804

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担当区分：最終著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.22-00205

CiNii Research

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-031-10776-4_29

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-031-10776-4_28

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記述言語：日本語   出版者・発行元：日本IFToMM会議  

DOI： 10.57272/jciftomm.5.0_9

CiNii Research

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-031-06409-8_35

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-031-06409-8_5

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-031-06409-8_9

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担当区分：最終著者   記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-031-08140-8_25

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担当区分：最終著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/transjsme.21-00339

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers ({IEEE})  

DOI： 10.1109/LRA.2022.3144778

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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その他リンク： https://journals.sagepub.com/doi/full-xml/10.1177/09544062221080009

担当区分：最終著者   記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/transjsme.21-00188

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2022.2p1-l11

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemdt.2022.21.1a33

CiNii Research

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担当区分：最終著者   記述言語：英語  

DOI： 10.1007/978-3-030-91892-7_57

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2021.3062355

Scopus

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掲載種別：研究論文（学術雑誌）  

DOI： 10.3390/machines9010014

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Taylor and Francis Ltd.  

DOI： 10.1080/09544828.2020.1851662

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemdt.2021.20.1207

CiNii Research

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-55807-9_69

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-55807-9_68

Scopus

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1007/978-3-030-58380-4_62

Scopus

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Science and Business Media Deutschland GmbH  

DOI： 10.1007/978-3-030-58380-4_14

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemecj.2021.s114-05

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本ロボット学会  

DOI： 10.7210/jrsj.39.767

CiNii Research

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掲載種別：研究論文（学術雑誌）   出版者・発行元：{MDPI} {AG}  

DOI： 10.3390/robotics9040096

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MDPI AG  

DOI： 10.3390/ROBOTICS9030067

Scopus

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掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：MDPI AG  

DOI： 10.3390/ROBOTICS9020036

Scopus

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/LRA.2020.2970976

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-30036-4_10

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2020.2a2-c16

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2020.1p2-f12

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.20-00141

CiNii Research

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-30036-4_16

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/IROS40897.2019.8967618

Scopus

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記述言語：日本語   出版者・発行元：公益社団法人 精密工学会  

本研究は磁場を制御する磁気テザー技術により複数の磁性粒子を含むマイクロ弾性機構を非接触駆動することを考え，同機構の解析と設計・製作および駆動に関する技術を開発した．具体的には，磁性粒子を混合した紫外線硬化樹脂液滴を多数連結して構成されるマイクロ弾性機構を剛体とねじりばねの直列連鎖の結合体とみなして解析を行い，一様磁場の入切を用いて開閉できるグリッパを設計・試作し，ガラス球の把持・開放実験を行った．

DOI： 10.11522/pscjspe.2019a.0_363

CiNii Research

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掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Elsevier  

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

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-17677-8_17

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-00329-6_15

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-20751-9_35

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-20131-9_33

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/transjsme.19-00005

CiNii Research

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その他リンク： https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17H03162/

記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemecj.2019.s11405

DOI： 10.1299/transjsme.20-00063_references_DOI_UaUL0uS52sB5YEXMJp2KToeKzCu

CiNii Research

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-319-98020-1_28

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Springer Science and Business Media B.V.  

DOI： 10.1007/978-3-030-00365-4_20

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2018.1p2-f17

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemdt.2018.18.2a2-2

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2018.2a2-j10

CiNii Research

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掲載種別：研究論文（学術雑誌）   出版者・発行元：Japan Society of Mechanical Engineers  

DOI： 10.1299/jamdsm.2018jamdsm0017

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemdt.2018.18.2a1-3

CiNii Research

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その他リンク： http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100766249

記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

DOI： 10.1109/IROS.2017.8206539

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2017.2p2-o03

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmeshd.2017.a-25

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1007/978-3-319-45450-4_19

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

<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

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

<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

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

<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

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemecj.2016.s1120106

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemecj.2016.f112003

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2016.2a2-14b1

CiNii Research

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer International Publishing  

DOI： 10.1007/978-3-319-33714-2_45

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmermd.2016.2p2-13b5

CiNii Research

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Web of Science

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1007/978-3-319-33714-2_26

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemecj.2016.s1120103

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

DOI： 10.1299/jsmemdt.2016.16.b1-5

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.mechmachtheory.2014.02.011

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1007/978-3-319-18126-4_12

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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

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記述言語：英語  

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記述言語：英語  

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記述言語：英語  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1007/978-94-007-7214-4_18

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Kluwer Academic Publishers  

DOI： 10.1007/978-3-319-07058-2_4

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記述言語：英語  

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Web of Science

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記述言語：英語  

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記述言語：英語  

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記述言語：英語   掲載種別：論文集(書籍)内論文   出版者・発行元：Springer Netherlands  

DOI： 10.1007/978-94-007-4620-6_32

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s11465-012-0340-5

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/jamdsm.6.76

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/kikaic.78.2034

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記述言語：日本語   出版者・発行元：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

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s11012-010-9400-2

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1007/s12206-009-1177-7

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1007/978-90-481-9689-0_37

Web of Science

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記述言語：英語  

DOI： 10.20965/ijat.2010.p0346

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/kikaic.76.727

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/jamdsm.4.444

Web of Science

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1155/2010/485358

Web of Science

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Web of Science

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.mechmachtheory.2006.12.002

Web of Science

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記述言語：英語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：日本語  

DOI： 10.1299/kikaic.74.3069

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/jamdsm.2.998

Web of Science

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/jamdsm.2.874

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：日本語   出版者・発行元：公益社団法人精密工学会  

DOI： 10.2493/jjspe.73.293

CiNii Books

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その他リンク： https://jlc.jst.go.jp/DN/JALC/00341626044?from=CiNii

記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/jamdsm.1.81

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：英語  

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1299/jamdsm.1.141

Web of Science

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：American Society of Mechanical Engineers  

DOI： 10.1115/detc2006-99340

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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掲載種別：研究論文（国際会議プロシーディングス）  

Scopus

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

Scopus

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記述言語：日本語   出版者・発行元：公益社団法人精密工学会  

DOI： 10.2493/jjspe.63.1651

CiNii Books

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その他リンク： https://jlc.jst.go.jp/DN/JALC/00050417568?from=CiNii

記述言語：日本語   出版者・発行元：The Robotics Society of Japan  

DOI： 10.7210/jrsj.10.745

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

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

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

CiNii Research

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記述言語：日本語   出版者・発行元：公益社団法人 計測自動制御学会  

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

CiNii Research

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記述言語：日本語   出版者・発行元：バイオメカニズム学会  

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

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

CiNii Research

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J-GLOBAL

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記述言語：日本語   出版者・発行元：公益社団法人計測自動制御学会  

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

CiNii Research

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記述言語：英語   出版者・発行元：Japan Society of Mechanical Engineers  

CiNii Research

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記述言語：日本語  

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

CiNii Research

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

<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

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J-GLOBAL

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   掲載種別：講演資料等（セミナー，チュートリアル，講習，講義他）  

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記述言語：日本語   掲載種別：会議報告等  

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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%.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：砥粒加工学会  

CiNii Books

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記述言語：日本語   出版者・発行元：砥粒加工学会  

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記述言語：日本語  

DOI： 10.11522/pscjspe.2013S.0.811.0

J-GLOBAL

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記述言語：日本語  

DOI： 10.11522/pscjspe.2013S.0.1095.0

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記述言語：日本語  

DOI： 10.11522/pscjspe.2013S.0.979.0

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記述言語：日本語  

J-GLOBAL

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記述言語：日本語  

DOI： 10.11522/pscjspe.2013S.0.977.0

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記述言語：日本語  

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記述言語：日本語  

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記述言語：日本語  

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人 日本ロボット学会  

DOI： 10.7210/jrsj.30.124

J-GLOBAL

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記述言語：日本語  

DOI： 10.1299/kikaic.78.2034

J-GLOBAL

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記述言語：日本語   出版者・発行元：一般社団法人 日本機械学会  

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

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語  

J-GLOBAL

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記述言語：日本語  

J-GLOBAL

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記述言語：日本語   出版者・発行元：公益社団法人 精密工学会  

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

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記述言語：日本語   掲載種別：会議報告等  

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記述言語：日本語  

J-GLOBAL

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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出版者・発行元：一般社団法人 日本機械学会  

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

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記述言語：日本語   出版者・発行元：公益社団法人 精密工学会  

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

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語  

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：英語  

DOI： 10.1007/s12206-009-1177-7

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記述言語：英語  

DOI： 10.1299/jamdsm.4.444

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記述言語：英語  

DOI： 10.1155/2010/485358

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DOI： 10.20965/ijat.2010.p0346

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記述言語：日本語   出版者・発行元：Japan Society of Mechanical Engineers  

DOI： 10.1299/kikaic.76.727

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：英語  

DOI： 10.1016/j.mechmachtheory.2006.12.002

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記述言語：英語  

DOI： 10.1299/jamdsm.2.874

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DOI： 10.1299/kikaic.74.3069

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記述言語：英語  

DOI： 10.1299/jamdsm.2.998

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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.

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記述言語：英語  

DOI： 10.1299/jamdsm.1.81

Web of Science

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記述言語：英語  

DOI： 10.1299/jamdsm.1.141

Web of Science

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記述言語：英語  

DOI： 10.1016/j.mechmachtheory.2006.03.009

Web of Science

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記述言語：英語  

DOI： 10.1016/j.mechmachtheory.2006.03.009

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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DOI： 10.1299/kikaic.72.3641

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DOI： 10.1299/kikaic.72.3641

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

CiNii Books

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DOI： 10.20965/jrm.2005.p0189

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

DOI： 10.1299/jsmemecjsm.2005.8.0_198

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

DOI： 10.1299/jsmemecjsm.2005.8.0_40

CiNii Books

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DOI： 10.1299/kikaic.71.1717

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DOI： 10.20965/jrm.2005.p0189

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記述言語：日本語   出版者・発行元：公益社団法人精密工学会  

DOI： 10.2493/jjspe.71.1363

CiNii Books

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その他リンク： https://jlc.jst.go.jp/DN/JALC/00369043076?from=CiNii

記述言語：英語  

DOI： 10.1115/1.1767822

Scopus

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記述言語：英語  

DOI： 10.1115/1.1767822

Web of Science

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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DOI： 10.11522/pscjspe.2004S.0.815.0

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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DOI： 10.11522/pscjspe.2004A.0.540.0

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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記述言語：英語  

DOI： 10.1299/kikaic.69.1691

Scopus

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

バシリスクトカゲのように水面上を高速な足部のパドリング運動により本体を水上に維持し移動する水上走行機械を実現するため, 足部が水から受ける力の実験解析を行い, それに基づき水上走行に必要な足部運動およびそれを現実する脚機構を提案する。

CiNii Books

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記述言語：日本語   出版者・発行元：一般社団法人日本機械学会  

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

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DOI： 10.1299/kikaic.69.1885

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