Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Zhejiang University Press  

DOI： 10.1631/bdm.2400152

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Other Link： https://link.springer.com/article/10.1631/bdm.2400152/fulltext.html

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

DOI： 10.1145/3706599.3721200

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Other Link： https://dl.acm.org/doi/pdf/10.1145/3706599.3721200

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

DOI： 10.1109/robosoft63089.2025.11020944

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Wiley  

Abstract

Soft fluidic systems can be a versatile tool to design human–machine interfaces such as hydraulic actuators, liquid displays, and thermal haptics. Yet the bulkiness, noise, and rigidity of pumps and valves required for fluid circulation prevent their use in flexible and portable devices. This study introduces an electrohydrodynamic (EHD) driven flexible pump with resilience against dielectric breakdown. Previous EHD pumps, despite their excellent features such as quietness and high power density, suffer from dielectric breakdowns and subsequent permanent failures. This pump with novel electrode construction has the passive resilience to recover the insulation essential for EHD without any external input in the event of dielectric breakdown. The passive resilience of our pump is demonstrated in various scenarios. Notably, this pump withstands 100 dielectric breakdowns and maintains 90% of its performance. An active resilient system is also configured to enable continuous pumping. This system automatically removes bubbles and other impurities to recover flow generation. This pumps drive various soft fluid‐driven human‐machine interfaces like soft actuators, prosthetic hands, and tube‐format displays. The combination of passive resilience inherent in the pump and active resilience configured by the system ensures adaptability and robustness, setting the stage for the next generation of human–machine interfaces.

DOI： 10.1002/advs.202416502

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

DOI： 10.1145/3689050.3705977

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Other Link： https://dl.acm.org/doi/abs/10.1145/3689050.3705977

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

DOI： 10.1145/3689050.3704934

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

DOI： 10.1016/j.measurement.2024.116616

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

DOI： 10.7210/jrsj.42.740

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Physical Society of Japan  

DOI： 10.7566/jpsj.93.083801

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

DOI： 10.1109/icma61710.2024.10633032

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Authorship：Lead author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

DOI： 10.7210/jrsj.42.436

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

DOI： 10.1016/j.mechatronics.2024.103142

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2024.3383919

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

A Belousov–Zhabotinsky (BZ) gel is a unique biomimetic system that undergoes autonomous volume oscillations induced by the redox oscillation of the BZ reaction. In a previous study, researchers reported that the oscillations of two BZ gels coupled by compression were synchronized by a mechanical interaction. They mathematically explained the synchronization behavior using a phase oscillator model. As a different approach to the previous study, a physicochemical investigation of the phenomenon will lead to a better understanding of the functional biological rhythms essential for life. In this study, we construct a simple phenomenological model to understand the synchronization of BZ gels. The model consists of two parts. One is the dynamics of the chemical reactions in the BZ gels. We use a phenomenological model based on the Oregonator for the BZ reaction. The other is the dynamics of the mechanical deformation of the BZ gel. Using approximations, we extract the parameters essential for the synchronization of a mechanical interaction. Thus, we can derive a novel equation for the deformation dynamics of mechanically coupled BZ gels. By combining these two parts, we perform numerical calculations. This allows us to find that the synchronization of the two BZ gels is less likely to occur under stronger compression. We explain this trend through one physicochemical parameter in our model: the volume fraction of the BZ gel in the reduced state.

DOI： 10.1063/5.0193892

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

DOI： 10.1109/iciprob62548.2024.10543659

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：American Chemical Society (ACS)  

DOI： 10.1021/acsami.3c19320

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

Abstract

This study proposes an active vibration control technique for pipe structures using dielectric elastomer actuators (DEAs). Vibrations in pipe structures must be eliminated to improve their mechanical reliability, and active vibration control techniques can be applied for effective vibration suppression. Soft actuators, which can completely fit pipe structures with complex-shaped surfaces, are required to transfer their vibration reduction forces to the target. DEA is suitable for this kind of target structure because DEA is characterized by high stretchability, flexibility, large deformation, and fast response. By applying the DEA, the effectiveness of vibration control for the pipe structure was experimentally demonstrated. A stacked DEA was fabricated and attached to the target structure. Its shape and placement were determined based on a modal analysis of the target structure. A control system, in which the controller for the active vibration control was designed based on H_∞ control theory, was composed. The vibration control experiment was conducted using the controller with a digital control system, and the vibration reduction effect was evaluated based on the frequency response of the target pipe structure.

DOI： 10.1088/1361-665x/ad2880

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Other Link： https://iopscience.iop.org/article/10.1088/1361-665X/ad2880/pdf

Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：American Association for the Advancement of Science (AAAS)  

The conventional electrohydrodynamic (EHD) pump is limited to pumping functional and dielectric liquids, which restricts its applications in fields like microfluidics, food safety, and materials production. In this study, we present a flexible water pump driven by EHD fluid, achieved by integrating valveless elements into the fluidic channel. Our approach leverages the water–EHD interface to propel the immiscible aqueous liquid and reciprocate this process using the nozzle–diffuser system. All components of the water pump are digitally fabricated and assembled. The valveless parts are created using a laser cutting machine. Additionally, we develop a model for the EHD pump and nozzle–diffuser system to predict the generated flow rate, considering factors such as the asymmetrical performance of the EHD pump, pulse frequency, applied voltage, and structural parameters. Finally, we experimentally characterize the flow rates of both the EHD pump and water pump and apply the newly developed device to air bubble manipulation and droplet generation. This research broadens the range of specialized liquids pumped by EHD pumps to include other aqueous liquids or mixtures.

DOI： 10.34133/cbsystems.0091

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：American Chemical Society (ACS)  

DOI： 10.1021/acsami.3c15274

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2023.3331077

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

DOI： 10.1016/j.birob.2023.100139

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

DOI： 10.1016/j.birob.2023.100114

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

We developed a simulator to practice the digital disimpaction technique, a kind of excretory care that is commonly performed by home-care nurses in Japan. The key point of this study is that the requirements for creating a simulation model were not known in advance, so we adopted a rapid prototyping method, in which product development is carried out by repeatedly creating and testing simple prototypes and a user-participatory design method, where feedback is obtained directly from users. We proceeded with the development of the simulator and the definition of requirements simultaneously, repeating the process of creation, trial use, and feedback from interviews with skilled nurses. Digital disimpaction is a complex procedure involving interaction with a living body, in which a finger stimulates the rectum and facilitates the excretion of feces leveraging the rectum's natural biological response. Digital disimpaction is performed primarily by a nurse. Since digital disimpaction is an embarrassing and sometimes painful procedure for the patient, a smooth and comfortable technique is desirable. On the other hand, only a limited set of circumstances are provided to learn the digital disimpaction technique. The requirement for a "procedure requiring non-visible interaction," such as digital disimpaction, is hard to acquire through a simple interview because it is performed based on subjective sensation. Further, while the movement of the finger within the body is crucial, it is essentially impossible to learn through observation of a skilled nurse as it is not visible from the outside. For this reason, we created a simple rectal model as a first prototype. We improved the model by extracting requirements from observations and feedback on actual trial use by skilled nurses. From the first user experience of the simple 3D printed model, requirements were extracted regarding the texture of the rectum, the interaction between finger movement and rectal response, and the characteristics of the feces. A rectal model with a mucosal structure and a fecal model was created based on the obtained requirements. Through the second user experience, the process was repeated, where requirements were again extracted regarding the shape of the rectal model, the characteristics of the mucosa, and the rectal response with the finger movement. We redesigned the model to meet these refined requirements and developed a buttock model covering the rectal model.The results of the third user experience confirmed that the simulator mostly reproduced the intestinal setting as perceived by the nurses during the actual digital disimpaction procedure. This study suggests that the combination of rapid prototyping and user-participatory design can be used to systemize subjects for which requirements are hard to define in advance, such as care procedures based on tacit knowledge.

DOI： 10.54941/ahfe1004131

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

DOI： 10.1117/12.2657681

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

DOI： 10.1145/3544548.3581353

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Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3569009.3573122

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Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/CBS55922.2023.10115362

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Other Link： https://dblp.uni-trier.de/db/conf/cbs/cbs2023.html#MinaminosonoOOHM23

Publishing type：Research paper (international conference proceedings)   Publisher：ACM  

DOI： 10.1145/3544549.3583928

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Other Link： https://dblp.uni-trier.de/db/conf/chi/chi2023a.html#MoritaJAMKHMK23a

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

DOI： 10.1109/access.2023.3247631

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Authorship：Last author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Abstract

The circadian rhythm is a fundamental physiological function for a wide range of organisms. The molecular machinery for generating rhythms has been elucidated over the last few decades. Nevertheless, the mechanism for temperature compensation of the oscillation period, which is a prominent property of the circadian rhythm, is still controversial. In this study, we propose a new mechanism through a chemically synthetic approach (i.e., we realized temperature compensation by the Belousov–Zhabotinsky (BZ) gels). The BZ gels are prepared by embedding a metal catalyst of the BZ reaction into the gel polymer. We made the body of BZ gels using a temperature-sensitive polymer gel, which enabled temperature compensation of the oscillation by using temperature dependence of volume. Moreover, we constructed a simple mathematical model for the BZ oscillation in temperature-sensitive gels. The model can reproduce temperature compensation of BZ gels, even though all reactions are temperature sensitive according to the Arrhenius rule. Our finding hints that a soft body coupling may be underlying temperature-compensated biological functions, including circadian rhythms.

DOI： 10.1038/s41598-022-27014-z

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Other Link： https://www.nature.com/articles/s41598-022-27014-z

Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

DOI： 10.1109/mhs56725.2022.10092034

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

DOI： 10.1016/j.matdes.2022.111146

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Abstract

Gel actuators have potential in soft robotics. Although gel actuators can realize various motions like contraction, expansion, and bending, most require external inputs such as batteries and circuits. Herein we propose a periodical torsional motion hydrogel driven by chemical energy from the Belousov-Zhabotinsky (BZ) reaction. Our BZ gel system exhibits autonomous motion without a battery. The elastic moduli of the redox states of the BZ gel are investigated using stress–strain analysis. An experimental system, which integrates the BZ gel and two PDMS (dimethylpolysiloxane) rotators, is designed to evaluate torsion angles. The experimental pre-twist angle dependence of the rotary motion is compared with a theoretical rotation model. The results agree qualitatively. This study should contribute to the development of soft actuators without external components.

DOI： 10.1038/s41598-022-21198-0

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Other Link： https://www.nature.com/articles/s41598-022-21198-0

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

DOI： 10.1016/j.cej.2022.136506

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

DOI： 10.1145/3491102.3502096

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Authorship：Lead author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

We here introduce three types of self-actuating and nonelectronic machines using chemical reactions and physicochemical transformations. Our strategy is to develop completely artificial and autonomous machines that do not rely on electronic components. We herein demonstrate Belousov-Zhabotinsky gel machines, active droplet machines, and paper machines.

DOI： 10.20965/jrm.2022.p0249

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

In recent years, untethered soft robots, free of the lines that restrict their mobility, have been studied extensively. Our research team has been focusing on the electrohydrodynamic phenomena (EHD) as a driving mechanism for untethered robots. EHD is a phenomenon in which a flow is generated by applying a high voltage to a dielectric liquid. We propose a method to drive a robot in an untethered manner using EHD by vertically stacking two types of liquids: conductive and dielectric. This method is simpler, more energy-efficient, and quieter than conventional systems. Although a lower voltage would prevent the enlargement of the system by limiting the electronic components, the generation of EHD requires a high voltage. Therefore, in this study, to realize the low voltage drive of untethered robots dominated by the electrostatic actuator, we tackled the reduction of the driving voltage by investigating the phenomenon. As a result, we achieved low voltage driving at 15 V and successfully drove with off-the-shelf batteries (18 V). We also investigated the output current flowing through the system to reduce power consumption. Therefore, in addition to improving the energy efficiency of the system, we confirmed that the difference of the generated current depended on the thickness of the dielectric liquid and the concentration of the conductive liquid.

DOI： 10.20965/jrm.2022.p0351

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

DOI： 10.1016/j.ohx.2022.e00287

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1021/acsami.1c21076

Web of Science

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IOP Publishing  

<title>Abstract</title>
To increase safety and reduce the electric circuit cost, dielectric elastomer actuators (DEAs) must operate below the kV range. The simplest strategy to reduce the voltage operation is to decrease the dielectric elastomer membrane thickness. This research aims to demonstrate DEAs with a nanometric uniform thickness that can operate at a low voltage (below 70 V) and a high frequency. We use the roll-to-roll process to fabricate a 600 nm thick stretchable PDMS (polydimethylsiloxane) nanosheet and a 200 nm thick conductive nanosheet. These nanosheet-DEAs are tested in high-frequency operations of DC voltage below 70 V and in a frequency range of 1–30 kHz.

DOI： 10.35848/1882-0786/ac3d41

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Other Link： https://iopscience.iop.org/article/10.35848/1882-0786/ac3d41/pdf

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

DOI： 10.1016/j.postharvbio.2021.111697

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

DOI： 10.3390/mi12121452

Scopus

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

DOI： 10.7566/jpsj.90.114003

Web of Science

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

DOI： 10.3389/frobt.2021.773056

Scopus

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

DOI： 10.1002/aisy.202100131

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Other Link： https://onlinelibrary.wiley.com/doi/full-xml/10.1002/aisy.202100131

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

DOI： 10.1016/j.sna.2021.113168

Scopus

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

DOI： 10.20965/jrm.2021.p0968

Scopus

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

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

DOI： 10.1016/j.snb.2021.129769

Web of Science

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

DOI： 10.1002/aisy.202100004

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Other Link： https://onlinelibrary.wiley.com/doi/full-xml/10.1002/aisy.202100004

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

DOI： 10.1016/j.sna.2021.112830

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Trans Tech Publications, Ltd.  

Dielectric elastomer actuator (DEA) is a compact device that consists of stretchable electrodes and elastomers. This device is energy efficient in performance and holds great promise in the development of soft actuators. DEAs performance relies significantly on the mechanical properties of its elastomers. This present study focuses on evaluating the soft material made of Sylgard 184 as the elastomers for DEAs. Sylgard 184 is a silicone elastomer that comes with two main parts (elastomers and its curing agent). A specific mixing ratio between elastomers and curing agent is essential to produce solid and reliable silicone elastomer. The recommended ratio for the elastomer solution was ten parts for the elastomers and one part for the curing agent (10:1). Producing softer elastomers was possible by reducing the curing agent. However, the performance of the material was unknown. We performed a series of cyclic tensile tests to understand the mechanical characteristic of the elastomer made of Sylgard 184. The result shows that reducing the curing agent did not have a significant effect on its cyclic performance. Furthermore, the use of a 30:1 ratio in the application of DEAs and deformable linear actuator indicates stable performance for both devices.

DOI： 10.4028/www.scientific.net/kem.884.430

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：IOP Publishing  

DOI： 10.1088/1361-665x/abf991

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Other Link： https://iopscience.iop.org/article/10.1088/1361-665X/abf991/pdf

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

DOI： 10.1246/cl.200842

Web of Science

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Wiley  

DOI： 10.1002/adem.202001181

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Other Link： https://onlinelibrary.wiley.com/doi/full-xml/10.1002/adem.202001181

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

DOI： 10.1016/j.ijmecsci.2020.106049

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

DOI： 10.1002/aisy.202000153

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Other Link： https://onlinelibrary.wiley.com/doi/full-xml/10.1002/aisy.202000153

Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)  

DOI： 10.1016/j.colsurfa.2020.125561

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In recent years, research on soft robotics has progressed with the goal of coexisting society between humans and machines. Dielectric Elastomer Actuator shows excellent performance in the kind of soft actuator. In this study, we focused on DEA using liquid metal electrodes, and we challenged to investigate characteristics of the heating wire and DEA with gallium. In the results, we have found that if the resistance of the electrodes is too low, the heating wire will not generate enough heat. Furthermore, we confirmed DEA with gallium operated smoothly. When these technologies collaborate, novel controlling way of actuator will be suggested.

DOI： 10.1299/jsmermd.2021.2p2-j12

CiNii Research

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Dielectric elastomer actuators (DEA) have a high energy density and low power consumption. Therefore, DEA is expected as one of the best artificial muscles available. We focused on the Cockcroft Walton circuit, which is a voltage boost circuit consisting of a capacitor and a diode. In this research, we constructed a Cockcroft Walton circuit using DEA as a capacitor and investigated the output voltage. We found that the Cockcroft Walton circuit with DEA replacing the capacitor can boost the voltage. In the future, optimization of DEA as capacitors and development of dielectric elastomer diodes (DEDs) will lead to the integration of actuator and circuits.

DOI： 10.1299/jsmermd.2021.2p2-j08

CiNii Research

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Publishing type：Research paper (international conference proceedings)  

DOI： 10.1109/RoboSoft51838.2021.9479343

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Other Link： https://dblp.uni-trier.de/db/conf/robosoft/robosoft2021.html#MurakamiMWOSM21

Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

DOI： 10.1038/s41598-020-69804-3

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PubMed

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Other Link： http://www.nature.com/articles/s41598-020-69804-3

Language：English   Publishing type：Research paper (scientific journal)   Publisher：American Association for the Advancement of Science (AAAS)  

The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics. In particular, electrohydrodynamic (EHD) actuators, which have expandable integrability to adapt to the flexible motion of soft robots, have received much attention in the field of soft robotics. Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood. We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera. In addition, we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique. Results indicate the importance of considering flow generated by electrostatic energy, which tends to be ignored in constructing and evaluating EHD devices, and by the body force generated by the ion-drag force. By considering these effects, we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.

DOI： 10.34133/2021/5158282

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Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

DOI： 10.20965/jrm.2020.p0939

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

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

DOI： 10.1299/jsmedmc.2020.354

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

DOI： 10.1299/jsmedmc.2020.355

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Authorship：Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：The Chemical Society of Japan  

DOI： 10.1246/cl.200219

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

DOI： 10.1016/j.eml.2020.100830

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

DOI： 10.3389/frobt.2019.00152

Scopus

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Language：Japanese   Publisher：The Society of Instrument and Control Engineers  

DOI： 10.11499/sicejl.58.798

CiNii Books

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Language：English  

This study evaluates the basic characteristics of smart structures composed of dielectric elastomer actuators (DEAs) to suppress vibrations. A DEA, which is a lightweight, flexible polymer that can induce high deformations, should realize next-generation actuators. Additionally, DEA can achieve vibration control of structures with complex shapes or curved surfaces. Herein the performance and efficacy of DEAs are evaluated as an actuator for vibration control at high frequencies. First, the appropriate DEA structure is considered. Second, the control system for the smart structure using the DEA is modeled and designed as an actuator. Third, a method to determine DEA&#039;s optimum arrangement and shape is discussed by focusing on the structure&#039;s strain energy. Finally, a control simulation and a control experiment validate the vibration suppression effects and the efficacy of the DEA.

DOI： 10.1016/j.ijmecsci.2019.05.019

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Language：English  

A balloon dielectric elastomer actuator (DEA) speaker is constructed by forming a disk-shaped DEA film into a sphere using air, increasing its surface area by 3033%. Sound is generated via expansion and contraction. Shaping the DEA film into a sphere decreases the film thickness and applies a significant amount of pre-strain (prestretch) to the film. In the experiment, sound pressure levels in an audible frequency response up to 16 kHz is the approximately same as both our previous hemispherical DEA speaker and this balloon DEA speaker, allowing an actuating voltage of the balloon speaker lower (800 V p-p signal with an offset of 400 V) than that of our previous hemispherical DEA speaker (2 kV). This is the first time to achieve the audible frequency response of the acrylic balloon DEA speaker. Furthermore, the acoustic radiation pattern of the speaker extends over a 270° range. Compared to polyhedron loudspeakers, which are currently used as omnidirectional sound sources in general acoustic tests, a balloon DEA speaker is compact and lightweight. Therefore, balloon DEA speakers have sufficient potential to contribute to the proper assessment of indoor acoustic characteristics using a scale model.

DOI： 10.1016/j.apacoust.2018.12.032

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Authorship：Lead author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)  

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

DOI： 10.1039/c9ra07789h

Scopus

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Language：Japanese  

CiNii Books

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

DOI： 10.3389/frobt.2019.00001

Scopus

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

Machines made of soft materials bridge life sciences and engineering1. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices1,2,3. Flexible or stretchable counterparts of most key mechatronic components have been developed4,5, principally using fluidically driven systems6,7,8; other reported mechanisms include electrostatic9,10,11,12, stimuli-responsive gels13,14 and thermally responsive materials such as liquid metals15,16,17 and shape-memory polymers18. Despite the widespread use of fluidic actuation, there have been few soft counterparts of pumps or compressors, limiting the portability and autonomy of soft machines4,8. Here we describe a class of soft-matter bidirectional pumps based on charge-injection electrohydrodynamics19. These solid-state pumps are flexible, stretchable, modular, scalable, quiet and rapid. By integrating the pump into a glove, we demonstrate wearable active thermal management. Embedding the pump in an inflatable structure produces a self-contained fluidic ‘muscle’. The stretchable pumps have potential uses in wearable laboratory-on-a-chip and microfluidic sensors, thermally active clothing and autonomous soft robots.

DOI： 10.1038/s41586-019-1479-6

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Other Link： http://www.nature.com/articles/s41586-019-1479-6

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

DOI： 10.1364/AO.57.010541

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Authorship：Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Wiley  

DOI： 10.1002/admt.201800304

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DOI： 10.3390/act7030051

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DOI： 10.1177/1077546317710158

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

DOI： 10.1109/JMEMS.2018.2793314

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DOI： 10.1002/advs.201600495

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DOI： 10.1246/cl.170217

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DOI： 10.1016/j.postharvbio.2017.01.014

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DOI： 10.1109/LRA.2017.2658942

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DOI： 10.1109/TMECH.2016.2593912

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DOI： 10.1063/1.4964305

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DOI： 10.1007/s11340-015-0089-y

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：American Physical Society  

DOI： 10.1103/PhysRevE.93.010501

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DOI： 10.1121/1.4934550

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DOI： 10.1063/1.4919585

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DOI： 10.1080/01691864.2013.876934

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DOI： 10.1021/jp410367v

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DOI： 10.1246/cl.130905

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DOI： 10.1002/macp.201200448

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DOI： 10.1246/cl.2012.1526

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

CiNii Books

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

DOI： 10.3390/polym3010299

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DOI： 10.3390/polym3010405

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DOI： 10.3390/ijms11020704

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DOI： 10.3390/ijms11010052

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DOI： 10.1016/j.jconrel.2009.04.029

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DOI： 10.1021/jp811228y

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DOI： 10.1021/la8029006

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DOI： 10.1002/marc.200700717

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DOI： 10.1002/anie.200801347

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DOI： 10.1163/156855308X344855

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

DOI： 10.1295/koron.65.634

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DOI： 10.1002/adma.200700625

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DOI： 10.2494/photopolymer.19.441

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DOI： 10.1021/jp055157y

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Language：Japanese   Publisher：芝浦工業大学連携推進部  

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, non-contact vibration testing for polymer materials using shockwave generated by laser-induced breakdown is proposed. A high-power Nd:YAG pulse laser is used to generate a laser-induced breakdown. Vibration testing is generally demonstrated using contact devices such as an impulse hammer for applying input and an accelerometer for measuring output. Since these devices are attached to target polymer material's excitation and measurement points, the load cell mass and the accelerometer mass affect the dynamic characteristics of the target. The shockwave generated by this method is basically highly reproducible because it is defined by the specification of the laser and the optical system. In addition, laser Doppler vibrometer is used to measure a response of the target in this experiment. We validated this method for non-contact vibration testing by comparing the time responses and power spectra of polymer materials obtained by laser-induced breakdown and impact testing.

CiNii Books

CiNii Research

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)  

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Language：Japanese   Publisher：芝浦工業大学連携推進部  

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Language：English   Publishing type：Article, review, commentary, editorial, etc. (other)   Publisher：InTech  

DOI： 10.5772/18342

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)   Publisher：エヌ・ティー・エス  

CiNii Books

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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)   Publisher：シーエムシー出版  

CiNii Books

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Event date： 2023

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Event date： 2019.9

Language：Japanese  

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Event date： 2019

Language：Japanese  

<p>In this study, we performed a flow visualization experiment of electrohydrodynamic (EHD) which is known to be a simple system with high power generation soft actuators. There is no comparison between actual phenomena and theory on how flow occurs in EHD because EHD tend to use specific low electric conductive flow which deteriorate the experimental setup. The purpose of this study was to observe the flow in the device by the Schlieren method and compare it with the simulation results obtained from the theoretical formula. In general, the electric field intensity at generated EHD is known to be 106-107 V / m. Based on this parameter, we fabricated a simple EHD device for observation. Novec 7300 was filled in the channel, and a voltage of 3 kV was applied, followed by observation with a Schlieren optical system. The results show that vortices are generated from both method of experimental observation and simulation.</p>

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Event date： 2019

Language：Japanese  

<p>We have developed a small actuator which does not require mechanical elements by using Electrohydrodynamic (EHD) actuation which is a phenomenon favorable for downsizing. One of the advantages of this actuator is that it can be driven with little electric power. In this study, we propose a novel concept of "virtual valve" which is unlike conventional mechanical valve and a fluid itself is controlled locally by EHD. The pressure gap produces "virtual valve" in fluidic channel to control fluid. The advantage of this valve is no disturbance of fluid upstream and downstream of the channel because of short response time. Also, generated pressure can be controlled by the applied electric field. This device contributes to a new compact mechanical design, especially in microdevice.</p>

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Event date： 2019

Language：Japanese  

<p>A gel is composed of three-dimensionally crosslinked polymer chain and solvents such as water. Especially, a stimuli responsive polymer gel is known to generate volume change by external stimulation. A BZ gel contains metal catalyst for Belousov - Zhabotinsky (BZ) reaction, and generates autonomous motion coupled with the BZ reaction. BZ reaction demonstrates chemical oscillation and chemical waves. In this study, we investigated chemical waves in BZ gels under strain.</p>

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Event date： 2019

Language：Japanese  

<p>A BZ gel swells and contract repeatedly without stimulus. Herein, we aimed at control the oscillating of BZ gel by induction of the oxidation using silver ion. In order to induce oxidation in BZ gel, we made the BZ gel contact the silver periodically. As a result, we found that oscillating of BZ gel changes depending on the contact period of the silver wire. Hereafter, we would investigate the relationship between the contact period of silver wire and the reaction period of BZ gel.</p>

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Event date： 2019

Language：Japanese  

<p>In recent years, medical micropumps have been studied, and problem for the micropump include the complexity of their structure and leakage current in micropumps. In this study, we develop a micropump driven only by chemical energy without electronic devices. The pumps include oscillating gel driven by the oscillatory BZ reaction, and the gel swells and shrinks autonomously driven gel using BZ reaction (BZ gel). We believe that BZ gels could be useful for the medical micropumps.</p>

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Event date： 2019

Language：Japanese  

<p>The Stimulation Responsive polymer gels are actuated by temperature. Added Metal complex that causes to make Belousov-Zhabotinsky reaction to the gels, and causing BZ reaction, there are doing periodic swell-deswell motion. They were named as Self Actuated Gels. Gels are sensitive to temperature, so we researched Stress-strain characteristics of Oxidized state and Reduced state in Self Actuated Gels with temperature of different solutions. The solution's temperature is 10°C and 30°C in experiments. As a result, the true-strain in 10°C until broken the gel were 0.63 (oxidized) and 0.67 (reduced). At 30°C is 1.11 (oxidized) and 1.24 (reduced).In addition, when 10°C and true-strain is 0.6 ,there was about 5 kPa that the difference of true-stress. At 30°C (true-strain was 0.6), is about 13kPa that the difference of true-stress. From this result, we could estimate the true-strain of until broken the gels, and known the measure of the mechanical energy that can be taken out.</p>

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Event date： 2019

Language：Japanese  

<p>In this research, we focus on a self-propelled phenomenon of an oil droplet due to surface activation reaction. It is known that the behavior of a self-propelled oil droplet varies depending on its shape. When an oil droplet is spherical shape, the droplet shows stochastic behavior such as curvilinear motion and direction change, and when the oil droplet is boomerang shape, the droplet moves steadily in linear locomotion. Therefore, we focused on the shape of the oil droplet running straightly, and attempt the direction control by deforming the oil droplet into the boomerang shape using the exoskeleton frame. Furthermore, we exploit a method to transport an overwater object.</p>

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Event date： 2019

Language：Japanese  

<p>We focused on the high elasticity of elastomer, and proposed a model for forming a three-dimensional structure using its characteristics. Furthermore, by exploiting elastomer as a dielectric elastomer actuator (DEA), we developed prototypes of a self-assembled actuator which can be driven by voltage application. We attempted several experiments to investigate basic characteristics of the actuator. Finally, we propose applications of the proposed actuator to the robots based on the experimental results.</p>

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Event date： 2019

Language：Japanese  

<p>This paper discusses the relationship between the characteristics of a flexible electrode and a stress distribution. We used the high-speed polarization camera to visualize a generated stress distribution of a dielectric elastomer actuator during an actuation. Carbon nanotube and acrylic rubber were used to make a flexible electrode and an elastomer film, respectively. In this experiment, by comparing a stress distribution due to the electrode orientation, it was investigated how electrode orientation affect a stress distribution.</p>

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Event date： 2019

Language：Japanese  

<p>In order to realize a vibration suppression of flexible structures like a membrane, we focus on introducing a smart structures technology to the membrane structure. In this study, a vibration control system using a DEA as an actuator for the membrane structure is proposed. A non-contact vibration test system using a high power Nd: YAG pulse laser for producing an ideal impulse excitation and laser Doppler vibrometers for measuring the response on the membrane is used for evaluating the vibration characteristics of the smart membrane structure. DEA is flexible, light and stretchable, and so it is suitable to be installed on the membrane structures as an actuator. Considering applications of DEA as space structures, a vacuum chamber is used in the control experiments. To confirm the effectiveness of the proposed method, the control experiments with H_∞ control for reducing multiple modes vibration are conducted in the vacuum chamber. It is verified by this study that the present active control method combined with the passive control mechanism due to DEA's damping effectively suppresses the vibration responses of the membrane structure in wide frequency range.</p>

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Event date： 2019

Language：Japanese  

<p>Compact and lightweight actuators have attracted attention for the human-machine coexistence society. However, these actuators based on conventional mechatronics mechanical elements such as motor make mechanical noise.. In this work, we propose an actuator driven by ElectroHydroDynamics(EHD). EHD is a fluidic phenomenon coupled with electrochemical reaction that can induce pressure through the application of a high-intensity electric field. The pump driven by EHD doesn't make mechanical noise because of it doesn't have drive part. Various EHD pumps have been developed in previous research, but all of them were not able to used any devices because of output pressure was not high. We succeeded in developing a pump driven by EHD increasing pressure by changing the electrode structure, fabricated by using a 3D printer and a cutting plotter. We obtained the pressure of 3458 Pa of EHD pump applying 8kV. EHD pump which we made was able to make approximately 9 times the output pressure campared to conventional.</p>

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Event date： 2019

Language：Japanese  

<p>Soft robots have a possibility to open up the coexisting society. For adapting external environment, Soft robots need sensing function of its strain or external force. The Dielectric elastomer sensors (DES) can sense large strain and consists of flexible elastomer, sandwiched two flexible electrodes. The construction of the DES is same as Dielectric elastomer actuators (DEAs). If communization of sensor and actuator is realized, the mechanisms of the Soft robot become simply. Herein we made a DES by using materials same as DEA. In the first experiment, the DES sensed strain of 40% maximum. We assumed that the path of the electrode was broken in the strain of 40%. Therefore, we made the electrodes after we applied the pre-stretch to the elastomer. In the result, the DES sensed the strain of 80%. We succeeded in improving the sensor's performance and noticed the importance of the pre-stretch.</p>

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Event date： 2018.12

Language：English   Presentation type：Oral presentation (invited, special)  

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Event date： 2018.12

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Event date： 2018

Language：Japanese  

<p>In this research, comparing and investigating the actuator using Electrohydrodynamic (EHD), which is electrically controllable and suitable for miniaturization. We fabricated a micro EHD device and gained the pressure of 24 Pa when the voltage was applied 25 V. It is generally known that EHD flow is occurred when the electric field intensity is 10⁶ to 10⁷ V / m. Required electric field intensity was calculated with this device for the applied voltage of 25 V, and it was confirmed that it is exceeded the calculated range of 10⁶ ~ 10⁷ V/m. EHD flow consider to be generate of when the applied voltage was 25 V. The difference between the actual phenomenon and the theory is under investigation. Observed EHD flow was visualized the Schlieren method and compared with the calculated results. This work was carried out to obtain efficient low voltage EHD device.</p>

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Event date： 2018

Language：Japanese  

<p>Dielectric elastomer actuators (DEAs) consist of simple structure and operate by low power. Since DEAs require a high voltage to drive, it is important to make compact control circuit for mounting in devices. Herein we have developed a DEA controller that can distribute high voltages to multiple DEAs generated by one booster. The controller can deliver the power to four DEAs using switching function which consists of microcomputer and MOSFET.In order to verify the function, we used a DEA motor which is required chaining control DEA. The maximum rotation speed of the motor was 30 rpm when we applied 1.8 kV to it. The DEA motor rotates when four DEAs deform. In the future, we will demonstrate that DEA is very light actuator, including circuit.</p>

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Event date： 2018

Language：Japanese  

<p>Propulsion using vibration is studied as a new locomotion method of the actuator. The locomotion with vibration has advantages such as simple structure and light weight. In this research, we propose to control an actuator with frequency by using Dielectric Elastomer Actuator(DEA), which has been studied as an artificial muscle. We analyzed vibration modes of the modeled actuator , and compared with experimental results. We found some relationship between vibration mode and operation.</p>

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Event date： 2018

Language：Japanese  

<p>Porous materials have been applied in various applications such as cushioning materials and adsorbing materials. Furthermore, it can be considered that it can be applied to packing etc. by making it into a thin film. Therefore, a method of manufacturing a porous material thin film will be described. Further, ultrasonic treatment in the conventional manufacturing process takes time to process and has a problem of product variation. Therefore, the mechanical evaluation of the effect of ultrasonic treatment was carried out.</p>

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Event date： 2018

Language：Japanese  

<p>In recent years, miniaturization of mechanical elements is interesting with improving machine function. If mechanical elements are miniaturized as the simple method, it is expected that physical and mechanical limitations exist. Therefore, researchers have been studying effective actuators and sensors in a minute space. Recent study of micro-actuators without mechanical elements is getting much attention especially on "chemical actuators" without mechanical elements. For the present study we focused on Electro-Hydro-Dynamic: EHD as chemical actuators. The functions of EHD are driven when the high electric field is applied to dielectric fluid. The development of micro-EHD pump was carried out which has a simple structure and easy to manufacture. This micro-EHD pump has little loss in terms of both of fluid effect and electro-chemical effect.</p>

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Event date： 2018

Language：Japanese  

<p>Polymer gels consist of chain molecules, and are three-dimensionally crosslinked materials containing a solvent such as water. Especially, it is known that stimuli-responsive polymer gels cause volume changes in response to external stimuli such as changes in temperature and pH. Previously, we developed BZ gels that generate autonomous motion driven by a chemical reaction network. BZ gels consist of stimuli responsive gels and a metal ion of Belousov - Zhabotinsky reaction. BZ gels are expected to be utilized as nano-micro machines and new soft actuators. Recently we found that behaviors of BZ gels strongly depend on mechanical condition. Herein we investigated mechanical waves under stretched condition of BZ gels.</p>

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Event date： 2018

Language：Japanese  

<p>This paper investigates active vibration control effects of Dielectric Elastomer Actuator (DEA) and magnitude of exciting force generated by multi-layer DEA. DEA attracts attention as a next-generation actuator because of lightness, flexibility and deformability. Frist, the state-space modeling of the system is conducted by system identification approach with the experimental modal analysis for control system design. Second, the vibration controller is designed by solving the H_∞ control problem and, finally, the closed-loop performance is evaluated by experiment.</p>

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Event date： 2017

Language：Japanese  

In this study, we propose a new metallization method which is based on the cavitation phenomena and electro-chemical properties of micro-bubbles. First of all, one point metallization experiment was carried out and it was confirmed that the metal is successfully fixed on a substrate. As a result, we confirmed that deposited material was seems to be nickel. Nickel which is initially ionic state in plating solution can be deposited by reduction reaction which is brought by electric charge on the bubble. This technology has possibility to metallize wide range of materials such as paper, polymer, metal and so on, and easy to apply to the 3D printing machine. Precise, robust and simple electrical circuit can be fabricated without any complicated procedures and pre-treatment and which can be contribute to micro-fabrication technology.

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Event date： 2017

Language：Japanese  

<p>Designing and manufacturing actuators made of soft materials are one of the most important theme for future robotics. Soft robots mostly operate using compressor, and generate unique motions. Air is transferred to soft actuators from the external compressor. The size of soft robots using compressor tends to be large at present. We focused on ElectroHydroDynamics (EHD) which induces fluid flows by electrical potential to miniaturize the size of soft robots. EHD is a fluidic phenomenon coupled with electrochemical reaction. In this paper, we can control directions of fluidic flow in our EHD pumps using symmetrical structure. we fabricated EHD pumps by 3D printer. The plate electrodes are parallel to flow path. We obtained pressure of 381 Pa with 6 kV. We expand the possibility to miniaturize the size of soft robots.</p>

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Event date： 2017

Language：Japanese  

<p>Porous materials have excellent properties as heat insulation, cushion, and adsorption. If porous materials were soft and high mechanical strength, they could deform largely with collapsing the internal pores. Porous materials are also suitable for integration with actuators because they are easy to deform by external force. In addition, it is assumed that porous material doesn't have closed cell structures but open cell ones, they are easily deformed by external force. Also, the smaller the porous materials are, the more available fields increase. Herein we synthesized porous elastomer like thin film and investigated the mechanical properties.</p>

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Event date： 2017

Language：Japanese  

<p>Coupling polymer gel and Belousov-Zhabotinsky (BZ) reaction makes it possible to create a active polymer gel that swells and shrinks repeatedly (BZ gel). BZ gels are expected as chemical actuators in field of soft robotics. We have studied some chemical actuators using BZ gels. However, they generate only a small force. Herein we attempt to obtain more force using multiple BZ gels. In order to synchronize the period of BZ reaction, we added external force of periodic step waves to two BZ gels, and obtained force of the two gels 1.62 times larger than single one.</p>

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Event date： 2017

Language：Japanese  

Micro-lenses of small mechanical elements are used for image pickup devices and displays, and finer lenses are required to improve their performance. Several researches have been conducted on liquid driven micro-lenses to provide variable focus and various lens functions. However, it is anticipated that there is a limit to miniaturization of mechanical elements when mechanical elements are used under hydraulically powered. Therefore, in this research, we aim to develop compact lens with various focal length combining our small and simple micro EHD pump and micro-lenses which we have developed in the past. We found that it was possible to control the focal point of the lens with working solution of the micro EHD pump. In the future, we would integrate micro-lenses with the micro EHD pumps.

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Event date： 2017

Language：Japanese  

<p>We proposes soft adhesive devices using electrostatic force. The devices are flexible since they consist of a compliant electrode sandwiched between silicon layers. When high voltage is applied, adhesive force due to electrostatic force between an electrode and a wall surface is produced. We mixed barium titanate (BaTiO₃) which has high dialectic constant with the silicon layers, and the dielectric constant of them increased. When the concentration of BaTiO₃ increased, their breakdown strength didn't decrease. Electroadhesive force to a wall surface was improved because dielectric constant of silicon layer increased.</p>

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Event date： 2017

Language：Japanese  

<p>We develop a microfluidic pump which is driven by electrohydrodynamic (EHD) conduction pumping. Ring-shaped pumps were conducted in previous researches on EHD conduction, and they require 3D shapes of electrode pairs. It is difficult for them to miniaturize the devices. Herein we propose a novel fluidic mechanism to obtain one-directional flow in micro-channels with non-parallel electrodes which induce an asymmetric electric field. One of advantages is that the design can be easily and precisely fabricated using microelectromechanical systems (MEMS) processing techniques. In this study, we demonstrate microfluidic pump driven by an EHD conduction, and it is an integration with a micro-channel. We achieved generated pressure of 130 Pa in a micro-field.</p>

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Event date： 2017

Language：Japanese  

<p>We have successfully injected fluorescent reagent to plant cell by bubble-injector. Bubble-injector can perforate and transport reagent into small objects by cavitation of micro-bubbles induced by electrolysis. Bubble-injector enables to inject only to the selected location of raw plant cell that is difficult by conventional injection methods such as particle-gun, electroporation and Whisker method. For the present study, flow condition of the reagent droplet which is holding between injector and plant object is evaluated by using FEM analysis.</p>

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Event date： 2017

Language：Japanese  

<p>We propose a charge inkjet device which is ejected by using electrically-induced bubble. The device was made of directional micro-bubble generator, opposed-electrode, reagent supply and coaxially tube. When a pulse voltage is applied to the device, a micro-bubble is generated. Then the thrust force to liquid phase is generated to eject the mono-dispersed droplet from the device. The charged quantities was evaluated and found out that the charge quantity was increased with the applied voltage increased. Also, we have evaluated the polarity of charged droplet. This device is expected to apply to wide range of inkjet technology such as forming complicated micro-scale 3D-structure.</p>

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Event date： 2017

Language：Japanese  

<p>For the present study, the collateral damage area was evaluated for the electrically induced bubble injector (needle-free injector) which was invented in our laboratory. It was confirmed that the input power is closely related to the depth of the injection area. However, the perforation depth of conventional bubble injector is limited as general use of injector. Therefore for the present study, evaluation and amplification of shock wave which is generated in cavitation phenomena is carried out. Also, the reflector to focusing shockwave is designed and fabricated to amplify the injection performance of bubble injector.</p>

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Event date： 2016

Language：Japanese  

<p>For the present study, local temperature controlled micro-fluidic channel to culture cells was fabricated and evaluated. Inverted microscope is widely used to observed cells such-as time-lapse images for long time. On-chip transparent micro-electrode (ITO) as heater is promising method to observe cells with local temperature control. Thermo-sensitive gel was also employed to immobilize and to obtain positioning of cells with temperature control by fabricated fine Au sensor to prevent from excessive temperature rise. This study has potential to contribute to study temperature response of cells and provide new cellular response and functions.</p>

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Event date： 2016

Language：Japanese  

<p>For the present study, local temperature controlled micro-fluidic channel to culture cells was fabricated and evaluated. Inverted microscope is widely used to observe adherent cells such-as time-lapse images for long time. On-chip transparent micro-electrode (ITO) as heater is promising method to observe cells with local temperature control. Thermo-sensitive gel was also employed to immobilize and to obtain positioning of cells with temperature control by fabricated fine Au sensor to prevent from excessive temperature rising. By using feedback control, it keeps steady control of applied voltage from DC power supply to prevent from damaging cells due to by sudden temperature change. In our experimental results, fine Au sensor had high reproducibility and cells are successfully immobilized with thermo-sensitive gel in this chip. This study has potential to contribute to the studies such as temperature response of cells and new cellular response and functions.</p>

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Event date： 2016

Language：Japanese  

<p>Inkjet technology is attactting technlogy in wide field of engieering, such as print images, molding to a variety of objects. We have developed inkjet device that can ejects electrically-charged droplet by using thrust force of electrically-induced bubble. For the present study characteristics of electrically-charged droplet and the directivity of the ejection were investigated. The proposed bubble-induced inkjet device is composed of directional micro-bubble generator, opposite electrode and regent supply. When a pulse voltage is applied to the device, micro-bubble is generated and the thrust force is generated as growing the bubble. Finally, the thrust force can eject the droplet out of air-liquid interface. As a result, it succeeded in droplet ejection into air by the device and the droplet was considered to be charged. Moreover, it was confirmed that the coaxiallty structure of nozzle was considered to be important for the directional ejection of droplets.</p>

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Event date： 2016

Language：Japanese  

<p>We have succeeded in local and in-situ injection of reagent into a single plant cell by using the cavitation phenomena of micro-bubbles. Micro-bubbles were generated electrically by a novel device called "micro-bubble injector". This device provides minimally invasive processing and high accessibility compared to conventional injection techniques such as electroporation, sonoporation and particle-gun methods. One of the strong point of this device is injection to the material which has wide dynamic range of hardness. Thus, it enables to applied to plant cells which have been difficult to be injected due to hard cell wall for a long time. This technology contributes to the biological and medical researches developments.</p>

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Event date： 2016

Language：Japanese  

<p>For the present study, evaluation of area of collateral damage and quantification of injected reagent was carried out for the electrically induced bubble injector (needle-free injector).We confirmed that the input power is closely related to depth of the injection area, the depth has been achieved about 100~ 500 μm for applied voltage of 900~ 1500 V. However, it is necessary to have deeper perforation performance to fulfill the ability of hypodermic. Thus we propose a focusing shockwave which is derived from cavitation phenomena. A reflector made of PDMS was fabricated to assemble to bubble injector. This method will improve bubble injector's ability of deeper perforation with minimally-invasive performance. This study will contribute to minimally-invasive injection to skin in the bio-medical field.</p>

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Event date： 2016

Language：Japanese  

<p>For the present study, minimally-invasive embryo manipulation was carried out by using electrically induced bubbles with microfluidic chip. The procedure of somatic cell cloning consists of the removal of the nuclear from unfertilized egg and the injection of donor cells. Generally, these processes are carried out using a glass capillary called micro-injection, but this method tends to have a low reproducibility because skilled operator techniques are required. Also, high throughput embryo manipulations are required in livestock sector. Thus, this paper proposed a novel processing method of cloning with electrically-induced bubbles for minimally-invasiveness and high throughput process. By using this method, it is expected to perform injection of somatic cell in a short time and contribute to the high-throughput process of somatic cell cloning processes.</p>

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Event date： 2016

Language：Japanese  

<p>For the present study, evaluation of collateral damage area and quantity of injected reagent was carried out for the electrically induced bubble injector (needle-free injector) which was invented in our laboratory. It was confirmed that the input power is closely related to the depth of the injection area. The speed of the propagation of a bubble just before the cavitation phenomena is also closely related to the input power and scale of cavitation. The perforation depth has been achieved 100～500μm for the applied voltage of 900～1500V. This study will contribute to minimally-invasive injection to skin in the bio-medical field.</p>

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Event date： 2015

Language：Japanese  

Soft materials have distinct function and their characteristics are different from those of metals. Until now, we have developed the active BZ gels. BZ gels can oscillate in volume using non-linear chemical reaction and be innovative materials for medical devices. In previous study, it was found that the BZ gels could generate the large deformation under external load. Herein, we analyzed the mechanical behavior of pre-stretched BZ gels. For this purpose, we developed new tensile system for gels. We measured tensile force of BZ gels in swelling state and shrinking state. We could observe stress oscillation of pre-stretched BZ gel.

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Event date： 2015

Language：Japanese  

Inkjet printing and prototyping system have a good compatibility for a rapid fabrication and an easy design. We propose a prototyping system which uses a commercially available inkjet printer for printing circuits and structures on the printed robot. A gripper robot with a developed paper actuator was fabricated using inkjet printer. This paper show the printing method and experimental results.

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Event date： 2015

Language：Japanese  

An actuator to get the harmony of a human being and the machine includes a dielectric elastomer actuator. Because an actuator is flexible, it is said that the movement that was thought that it is impossible until now enabled. The dielectric elastomer actuators have flexible electrodes to the both sides of the elastomer. These actuators are driven by the high voltage. Previous studies, the electrodes of the actuator were made of the acrylic polymer and carbon particles. However, the deformation of the elastomer actuator was small. In this study, we created and investigated the flexible electrodes made from carbon nanotubes and carbon particles.

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Event date： 2015

Language：Japanese  

In recent years, we developed the application using self-oscillating polymer gels. The self-oscillating polymer gels are realized by incorporating the Belousov-Zhabotinsky (BZ) reaction to stimuli-responsive polymer gels. Self-oscillating polymer gels perform peristalsis and pulsatile motion, generating waves periodically propagated in the gels. However, BZ reaction generates carbon dioxide. Generation of carbon dioxide is a problem for the application. Recently, the bubble free BZ reaction has been found. The bubble free BZ reaction is realized by using 1.4-Cyclohexanedione (CHD). However, the physical and chemical condition for the self-oscillating polymer gels is not revealed. In this study, we investigated the concentration of the solution and examined the conditions that can be observed displacement of the self-oscillating polymer gels.

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Event date： 2015

Language：Japanese  

In recent years, polymer gels have been actively studied. Polymer gels are promising as functional materials, and cause a drastic volume change by external stimuli such as temperature, pH and electric field, etc. These smart gels have been applied to soft robots and micro pumps. Previously, we have studied the self-oscillating gel. Self-oscillating polymer gels generate the cyclic volume change. Self-oscillating motion of the gels is generated by the chemical energy of the Belouzov-Zhabotinsky (BZ) reaction. Normally, self-oscillating gel generate the local swelling waves. In this study, we found that the gel generated the local contraction wave under the stretched state.

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Event date： 2014

Language：Japanese  

Stimuli-responsive polymer gels have been applied to soft actuators. In most case, the mechanical motion is powered by external stimuli, for example, reversing the direction of electric field. On the other hand, many living creatures generate an active motion without external driving stimuli like self-beating of heart muscle. Here we show a novel active oscillating gel actuator driven by the chemical energy without switching of external stimuli. The self-oscillating motion is produced by the chemical energy of the Belouzov-Zhabotinsky(BZ) reaction occurring inside the gel. However, the displacement of the BZ gel is so small. In this study, we focus on the kinetics of the gels. In general, the relaxation time of shrinking or swelling is given by τ〜R^2, where R is the characteristic length. So, we created the hollow BZ gel and analyzed the motion.

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Event date： 2014

Language：Japanese  

Recently, there has been interests in printed robots and paper electronics. Printing is an adequate manufacturing method for the mass production; robots manufactured by printing can be low cost, rapid creatable and easy to design. Paper is one of the smart materials with high water absorbency and strength; it is easily mass-produced at low cost. Many inexpensive and flexible devices were created in paper electronics. We propose paper mechatronics that merges printed robots and paper electronics. We used a commercial ink jet printer with water-based ink for self-folding of paper. The paper is folded automatically along the printed line to make the robot body. The paper robot is equipped with a printed electro-thermal actuator that consists of epoxy resin covered by conductive ink. The experimental paper robot showed self-folding in 15 minutes to form the body and demonstrated a locomotion at 6.5 mm per step.

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Event date： 2014

Language：Japanese  

In recent years, self-oscillating gels are attracted attention as chemical actuators. Generally, in order to drive the actuator, the external device for controlling the stimuli such as temperature or electric field is required. On the other hand, living creatures have many phenomena that produces the constant rhythm autonomously without external control. The self-oscillating gels undergoes autonomous swelling- deswelling oscillation without any on-off switching by external stimuli. This process is produced by the chemical of the Belousov-Zhabotinsky (BZ) reaction in the polymer gel. We proposed a molding method for gels and demonstrated "self-moving gel" in one direction by introducting asymmetric shapes to the self-oscillating gel.

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Event date： 2014

Language：Japanese  

This paper proposes an adhesion device for wall surface by electrostatic force. This device has an electrode sprayed on silicone rubber and consequently it has flexibility. This characteristic allows the device to increase contact area at corrugated surface and generate greater adhesion force. To prevent the electric discharge from an electrode, the polydimethylsiloxane(PDMS) about 130μm thick is spread on the device by a spin coater at 500rpm, 30s. Two kinds of material, namely carbon and chromium, were employed for electrode of devices. Then their adhesion forces were compared with the conventional device by tension tester. These tests proved that adhesion force by our devices equal conventional. The maximum adhesion pressure was 0.12N/cm^2 at 2.0kV applied.

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Event date： 2014

Language：Japanese  

Many kinds of stimuli responsive gels have been studied and applied to soft actuators or artificial muscles from theoretical and applied point of view. In particular, electroactive polymers that change shape when stimulated electrically seem to be promising. However, the mechanical motion is driven by external inputs. In this study, we demonstrate the first example of a gel that moves autonomously, similar to a living creature, powered by the energy of oil-water-surfactants interactions. The polymer gels prepared here have reactive oil. This study is a new challenge for the direct energy transformation of chemical energy into regular spatial motion under isothermal conditions. Our results lead the novel chemical actuator driven by the chemical energy.

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Event date： 2014

Language：Japanese  

Recently, many researchers have developed the soft actuators by utilizing polymer gels. However, many gel actuators are controlled by the external physical and chemical inputs. Herein, we have designed novel autonomous gel motors powered by chemical energy. We have synthesized the gel with reactive oil. Gels are driven by the oilwater-surfactants interactions. In this system, gels show random motion. Our purpose is to control the random motion. We have achieved the rotational motion of the gels by changing shapes of the gels and boundary conditions. We realized the gel motors driven by the oil-water-surfactants interactions. These autonomous gel actuators could serve as a new framework for a chemical robot.

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Event date： 2013.8

Language：Japanese  

In this paper, non-contact vibration testing for polymer materials using shockwave generated by laser-induced breakdown is proposed. A high-power Nd:YAG pulse laser is used to generate a laser-induced breakdown. Vibration testing is generally demonstrated using contact devices such as an impulse hammer for applying input and an accelerometer for measuring output. Since these devices are attached to target polymer material's excitation and measurement points, the load cell mass and the accelerometer mass affect the dynamic characteristics of the target. The shockwave generated by this method is basically highly reproducible because it is defined by the specification of the laser and the optical system. In addition, laser Doppler vibrometer is used to measure a response of the target in this experiment. We validated this method for non-contact vibration testing by comparing the time responses and power spectra of polymer materials obtained by laser-induced breakdown and impact testing.

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Event date： 2013

Language：Japanese  

We have designed the elastomer actuators that does not require frames. In this paper, we have succeeded the actuation of the elastomer actuators with the oriented fibers. We investigated the effectiveness of the oriented fibers for the actuation performance. Especially, we investigated the amplitude-frequency response of the elastomer actuators by controlling the diameter and interval of the fibers.

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Event date： 2013

Language：Japanese  

In this paper, we report a self-running capsulized gel that demonstrates novel motion. The capsule is produced by wrapping oil-water system, where the oil droplet in the gel membrane moves autonomously in water. In order to fabricate the capsule gel with spherical hollow structure, we adopted the alginate gelation technique. When the oil droplet moves in the capsulized gel, the gel rotated autonomously because the center of gravity in the gel system changed. We attempt to fabricate novel soft robots and soft actuators by utilizing the capsulized gel system.

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Event date： 2013

Language：Japanese  

In recent years, stimulus response polymer gels that are respond to temperature, pH, and electric field have been studied. Therefore, these gels are expected for artificial muscles, micro pumps, and medical devices. We focus attention on the PNIPAAm gel (Poly N isopropylacrylamide), which is temperature sensitive polymer. The PNIPAAm gels exhibit swelling and contraction reversibly by changing temperature. However, the gel shows the very slow response to an exogenous stimulus. In this study, we succeeded in improving the performance of the response of the PNIPAAm gel by designing the fibrous structure inside the gel by using the Electro Spinning method.

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Event date： 2013

Language：English  

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Event date： 2012

Language：Japanese  

Recently stimuli-responsive polymer gels have been applied to soft actuators. Especially, electroactive polymers are said to be promising material. Its mechanical motion is controlled by the external stimuli such as a change in solvent composition, pH, temperature and electric field etc. On the other hand, living organisms exhibit an autonomous motion driven by the chemical energy. The gel actuator converts the chemical energy of the oscillatory reaction into the mechanical energy inside the gel. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it is alive.

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Event date： 2012

Language：Japanese  

In recent years, soft actuators having flexible movement attract attentions. There are some soft actuators such as McKibben actuator, shape-memory-alloy actuaor (SMA), functional fluid actuators, etc. But almost all of them are expansion and contraction type of actuators, so their application field is limited. If rotary type of soft actuator is realized, they will be easily applied to traditional robots, and also to soft robots. In this research, for the purpose of realizng a soft actuator which can output rotary motion, we developed an electrostatic motor made from flexible polyester films with electro conductive polymer electrodes fabricated by line patterning method.

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Event date： 2011

Language：English  

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Event date： 2011

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Event date： 2011

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Event date： 2010.8

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Event date： 2010.8

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Event date： 2010

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Event date： 2009.12

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Event date： 2009.12

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Event date： 2009.12

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Event date： 2008.4

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Event date： 2008.4

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Event date： 2007

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Event date： 2007

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Event date： 2006

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Language：Japanese   Presentation type：Oral presentation (general)  

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Venue：Livorno, Italy  

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Venue：九州大学  

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Venue：早稲田大学  

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Venue：秋田大学  

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Venue：大阪大学  

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Venue：Waseda University  

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Venue：Italy  

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Language：English   Presentation type：Symposium, workshop panel (nominated)  

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