Faculty Profiles - KANDA Takefumi

Papers - KANDA Takefumi

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Length Estimation of Pneumatic Artificial Muscle with Optical Fiber Sensor Using Machine Learning Reviewed

Yilei Ni, Shuichi Wakimoto, Weihang Tian, Yuichiro Toda, Takefumi Kanda, Daisuke Yamaguchi

Sensors 25 ( 7 ) 2221 - 2221 2025.4

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

A McKibben artificial muscle is a soft actuator driven by air pressure, characterized by its flexibility, lightweight design, and high power-to-weight ratio. We have developed a smart artificial muscle that is capable of sensing its motion. To enable this sensing function, an optical fiber was integrated into the sleeve consisting of multiple fibers and serving as a component of the McKibben artificial muscle. By measuring the macrobending loss of the optical fiber, the length of the smart artificial muscle is expected to be estimated. However, experimental results indicated that the sensor’s characteristics depend not only on the length but also on the load and the applied air pressure. This dependency arises because the stress applied to the optical fiber increases, causing microbending loss. In this study, we employed a machine learning model, primarily composed of Long Short-Term Memory (LSTM) neural networks, to estimate the length of the smart artificial muscle. The experimental results demonstrate that the length estimation obtained through machine learning exhibits a smaller error. This suggests that machine learning is a feasible approach to enhancing the length measurement accuracy of the smart artificial muscle.

DOI： 10.3390/s25072221

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Temperature Control Condition of Droplet in Nanoparticle Generation System Reviewed

Koki Okamoto, Takefumi Kanda, Naoki Kawamoto, Nozomu Fujimoto, Shuichi Wakimoto, Daisuke Yamaguchi, Yusaku Sakata, Norihisa Seno, Yoshiaki Nakazaki, Takafumi Otoyama

IEEJ Transactions on Sensors and Micromachines 144 ( 6 ) 141 - 148 2024.6

Development of a smart artificial muscle using optical fibres Reviewed

Weihang Tian, Shuichi Wakimoto, Daisuke Yamaguchi, Takefumi Kanda

Smart Materials and Structures 33 ( 5 ) 055047 - 055047 2024.4

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

Abstract

A McKibben artificial muscle is a fluid-driven soft actuator comprising sleeve fibres and rubber tube. However, as typical bulky and rigid displacement sensors are unsuitable as sensor elements in soft actuators, displacement sensing is challenging for the McKibben artificial muscle. Therefore, we propose an optical fibre-based smart artificial muscle (OSAM) to estimate self-displacement from the bending loss of the optical fibre used as the sleeve fibre. The optical fibre can be effortlessly integrated into the OSAM sleeve using a braiding machine, which is generally used for manufacturing strings, easing the mass production process. The radius of curvature of the optical fibre changed when the OSAM was driven. The displacement of the artificial muscle was estimated based on the sensor output. To demonstrate the usefulness of OSAM, displacement feedback control experiments were conducted using the optical fibre sensor integrated into OSAM. From the results, OSAM’s displacement showed a good response to the target displacement. Therefore, the developed artificial muscle can facilitate displacement feedback control without requiring external sensors, which in turn can improve the performance of rehabilitation and wearable devices.

DOI： 10.1088/1361-665x/ad3ec9

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Other Link： https://iopscience.iop.org/article/10.1088/1361-665X/ad3ec9/pdf

Fabrication Process for Twisting Artificial Muscles by Utilizing Braiding Technology and Water-Soluble Fibers Reviewed

Weihang Tian, Shuichi Wakimoto, Daisuke Yamaguchi, Takefumi Kanda

IEEE Robotics and Automation Letters 9 ( 4 ) 3147 - 3154 2024.4

Texturing to Dramatically Increase Thermal Deformation of Bilayer Film and Application to Actuator Reviewed

Daisuke Yamaguchi, Yuki Takahara, Shuichi Wakimoto, Takefumi Kanda

IEEJ Transactions on Electrical and Electronic Engineering 19 ( 5 ) 882 - 887 2024.3

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

The effect of adding texture to increase the deformation of a bilayer actuator by a factor of over 100 was demonstrated. A bilayer actuator is driven by the difference in thermal deformation. Therefore, two films or plates with a large difference in thermal expansion coefficient are required. The newly developed textured film actuator (TFA) obtained large deformation even in a case involving a combination of two films with a small difference in thermal expansion coefficient. The TFA was fabricated by transferring the texture when laminating two PI films with different coefficients of thermal expansion. A TFA with thin‐film electrodes was heated by applying electric power. Thereby, it unfolded from a curled state. The maximum generated force and curvature of the TFA were 7.4 mN and 0.19 mm⁻¹, respectively, at 0.38 W. The manufacturing process for the TFA is simple and convenient, as it does not require adhesives or special materials. In thermal drive bilayer actuator fabrication, the range of material selection is expanded substantially. In addition, large deformations are generated with less energy. Therefore, the energy consumption is likely to be reduced. © 2024 Institute of Electrical Engineer of Japan and Wiley Periodicals LLC.

DOI： 10.1002/tee.24056

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A Microchannel Device for Droplet Classification by Manipulation Using Piezoelectric Vibrator Reviewed

Ao Fujioka, Shoko Seo, Takefumi Kanda, Shuichi Wakimoto, Daisuke Yamaguchi

Actuators 13 ( 3 ) 95 - 95 2024.2

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

Emulsion formulations should be monodispersed in terms of their stability. Therefore, there is a need for a device that can classify droplets of the desired size from polydispersed emulsions in a fluidized bed manufacturing system. In the previous study, we evaluated the fabrication of a droplet manipulation device using acoustic radiation forces through simulation using the finite element method. In this study, particle manipulation experiments using 1, 6, and 10 µm polystyrene particles were first estimated and evaluated in comparison with their theoretical particle behavior. Based on the results we obtained, the driving conditions and droplet behavior were derived, and the droplet manipulation device using ultrasonic waves to shrink monodisperse emulsions was evaluated. As a result, the droplet classification effect in the microchannel was confirmed to be consistent with the droplet behavior prediction, and the microchannel structure with a constriction component improved its classification effect.

DOI： 10.3390/act13030095

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Evaluation of transducer for cryogenic actuators by equivalent circuit model Reviewed

Kazuki Kubo, Kairi Yagi, Takefumi Kanda, Koa Yasuda, Daisuke Yamaguchi, Shuichi Wakimoto

Japanese Journal of Applied Physics 63 ( 3 ) 03SP03 - 03SP03 2024.2

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

Abstract

Cryogenic environments are increasingly used in scientific and industrial fields. Recently, cryogenic environments are also used for storage and supply of liquid hydrogen, which is considered essential for the realization of a decarbonized society. Actuators to drive a valve that controls such a low-temperature fluid are required. In this study, a piezoelectric transducer that can be driven in the cryogenic environment has been fabricated and evaluated. Although the performance of piezoelectric elements degrades at cryogenic temperatures in general, the application of a preload can suppress the degradation of performance. Equivalent circuits were used for evaluation, and force factors and figures of merit were compared. As a result, the force factor was as high as that at RT even at cryogenic temperatures, and a high figure of merit was obtained. The result indicates that the transducer can be used for the driving of micro actuator at cryogenic temperature.

DOI： 10.35848/1347-4065/ad1e9b

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Other Link： https://iopscience.iop.org/article/10.35848/1347-4065/ad1e9b/pdf

A study on MMG sensor using piezoelectric polymer nanofibers by electrospinning Reviewed

Rintaro Abe, Koa Yasuda, Takefumi Kanda, Shuichi Wakimoto, Hisao Oka

Electronics and Communications in Japan 106 ( 4 ) e12432(1) - e12432(9) 2023.11

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

Abstract

In the fields of medical and sports science, it is required to evaluate muscle activity qualitatively and quantitatively. Currently, mechanomyogram (MMG) that can reflect the mechanical activity of muscle fibers is attracting attention. The purpose of this study is to develop a sensor that can measure MMG during exercise. In this study, a small and flexible MMG sensor using P(VDF/TrFE), which is a piezoelectric polymer material, spun into nanofibers by the electrospinning method has been fabricated and evaluated. By the fabricated electrospinning equipment and the obtained fabrication conditions of the nanofibers MMG sensor has been fabricated by using piezoelectric polymer fibers. By using nanofiber nonwoven fabric for the sensor element, the flexible sensor has been realized. In a sound wave reception experiment assuming MMG measurement, the P(VDF/TrFE) nonwoven fabric element showed that the element detected the sound pressure. Additionally, MMG during isometric contraction and pedaling motion has been measured using the fabricated sensor. The results show that the proposed sensor is effective for measuring MMG during exercise.

DOI： 10.1002/ecj.12434

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A Study on MMG Sensor Using Piezoelectric Polymer Nanofibers by Electrospinning Reviewed

Rintaro Abe, Koa Yasuda, Takefumi Kanda, Shuichi Wakimoto, Hisao Oka

IEEJ Transactions on Sensors and Micromachines 143 ( 10 ) 313 - 320 2023.10

Displacement Sensing of an Active String Actuator Using a Step-Index Multimode Optical Fiber Sensor Reviewed

Weihang Tian, Shuichi Wakimoto, Takefumi Kanda, Daisuke Yamaguchi

Sensors 22 ( 9 ) 3232 - 3232 2022.4

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

A thin McKibben artificial muscle is a pneumatic actuator with an outer diameter of only 1.8 mm. We fabricated a string-shaped actuator called an “active string actuator,” which achieves a high contractile displacement by accumulating thin McKibben artificial muscles. To control the displacement, the length of the active string actuator should be estimated. However, this is difficult because bulky and rigid sensors are unsuitable for the sensor element of the active string actuator. Therefore, in this study, we propose a new sensing method for estimating the length of an active string actuator. The proposed sensing system is simple and comprises only three components: a step-index multimode optical fiber, a light emitter, and a light receiver. A step-index multimode optical fiber was combined with the active string actuator, and the length was estimated from the change in the amount of light propagating in the optical fiber when the active string actuator was driven. Fundamental experiments were conducted in this study, and the results demonstrated that the optical fiber sensor value changed with the actuator length. This suggests that it is possible to estimate the displacement of an active string actuator using an optical fiber sensor.

DOI： 10.3390/s22093232

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Core–Shell Droplet Generation Device Using a Flexural Bolt-Clamped Langevin-Type Ultrasonic Transducer Reviewed

Kentaro Omori, Nozomu Fujimoto, Takefumi Kanda, Shuichi Wakimoto, Norihisa Seno

Actuators 10 ( 3 ) 55(1) - 55(10) 2021.3

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

Droplets with a core–shell structure formed from two immiscible liquids are used in various industrial field owing to their useful physical and chemical characteristics. Efficient generation of uniform core–shell droplets plays an important role in terms of productivity. In this study, monodisperse core-shell droplets were efficiently generated using a flexural bolt-clamped Langevin-type transducer and two micropore plates. Water and silicone oil were used as core and shell phases, respectively, to form core–shell droplets in air. When the applied pressure of the core phase, the applied pressure of the shell phase, and the vibration velocity in the micropore were 200 kPa, 150 kPa, and 8.2 mm/s, respectively, the average diameter and coefficient of variation of the droplets were 207.7 μm and 1.6%, respectively. A production rate of 29,000 core–shell droplets per second was achieved. This result shows that the developed device is effective for generating monodisperse core–shell droplets.

DOI： 10.3390/act10030055

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Evaluation of a Mechanomyogram Sensor Using Piezoelectric Polymer by Muscle Isometric Contraction Reviewed

Hiroaki Ishizuka, Kiyoka Kashihara, Takefumi Kanda, Shuichi Wakimoto, Hisao Oka

IEEJ Transactions on Sensors and Micromachines 141 ( 2 ) 44 - 49 2021.2

A small three-way valve using particle excitation driven by a single piezoelectric transducer for hydraulic actuator Reviewed

Hikaru Yamamoto, Takefumi Kanda, Shuichi Wakimoto, Yusuke Ota, Hatuto Takami, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae

Sensors and Actuators A: Physical 316 112363 - 112363 2020.12

Active Cloth Fabricated by a Flat String Machine and its Application to a Safe Wheelchair System Reviewed

Makoto Takada, Shuichi Wakimoto, Takero Oshikawa, Takeji Ueda, Takefumi Kanda

Journal of Robotics and Mechatronics 32 ( 5 ) 1010 - 1018 2020.10

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

In this study, a pneumatically contracting active cloth has been developed; its application is proposed for a safe sitting-posture recovery system for wheelchair users to avoid fall-related accidents. The active cloth consists of thin artificial muscles knitted via a flat string machine. The safe wheelchair system is configured with an active cloth and seating pressure sensor. The seating pressure sensor, located on the seating surface of the wheelchair, estimates the inclination of the upper body of the user; when this reaches an angle that is dangerous for falling from the wheelchair, the active cloth contracts to correct the posture of the upper body. In this paper, we clarify the fabrication process and fundamental characteristics of the active cloth and indicate its potential as a mechanical element for welfare apparatuses by demonstrating a safe wheelchair system.

DOI： 10.20965/jrm.2020.p1010

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Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators Reviewed

Hironari Taniguchi, Nobuo Takemoto, Ren Yakami, Shuichi Wakimoto, Takero Oshikawa, Kosuke Morinaga, Takefumi Kanda

Journal of Robotics and Mechatronics 32 ( 5 ) 1034 - 1043 2020.10

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

It is known that introducing a pediatric externally powered prosthetic hand from an early age has certain merits such as the recovery of body image. However, this process is not popular in Japan. The high cost and technological problems of the hand have resulted in difficulty in its popularization. The pediatric prosthetic hand must be lighter and smaller than the adult one. Furthermore, parents of users prefer a prosthetic hand, such as a human arm and hand. We developed a prosthetic hand that demonstrates certain functionalities and appearances similar to a real human hand. The prosthetic hand consists of miniature McKibben actuators and is manufactured from acrylonitrile-butadiene-styrene resin and covered by a silicon glove. It has flexible joint structures and can grasp objects of various shapes. In this paper, we present a prototype of the pediatric prosthetic hand and the results of gripping experiments, bending and extension of finger experiments, and user tests.

DOI： 10.20965/jrm.2020.p1034

Web of Science

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Establishment of fabrication process for smart artificial muscles with the inductance sensor Reviewed

Sota KOGAWA, Shuichi WAKIMOTO, Takefumi KANDA, Kento OMURA, Katsunori ANDO

TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY 51 ( 2 ) 25 - 31 2020.10

Nanoparticles generation using monodisperse droplets by an ultrasonic transducer Reviewed

Nozomu Fujimoto, Takefumi Kanda, Masaya Katsuta, Yusaku Sakata, Yoshiaki Yamada, Norihisa Seno, Yoshiaki Nakazaki, Takafumi Otoyama

Electronics and Communications in Japan 103 ( 7 ) 49 - 55 2020.7

Nanoparticles Generation using Mono-disperse Droplets by an Ultrasonic Transducer Reviewed

Nozomu Fujimoto, Takefumi Kanda, Masaya Katsuda, Yusaku Sakata, Yoshiaki Yamada, Norihisa Seno, Yoshiaki Nakazaki, Takafumi Otoyama

IEEJ Transaction on Sensors and Micromachines 140 ( 2 ) 37 - 42 2020.2

McKibben artificial muscle realizing variable contraction characteristics using helical shape-memory polumer fibers Reviewed

Sigeyoshi Yahara, Shuichi Wakimoto, Takefumi Kanda, Kouya Matsushita

Sensors and Actuators A : Physical 295 637 - 642 2019.8

A Soft master-Slave Robot Mimicking Octopus Arm Structure Using Thin Artificial Muscles and Wire Encoders Reviewed

Shota, Furukawa, Shichi Wakimoto, Takefumi Kanda, Hiroki Hagihara

actuators 8 ( 2 ) 40(1) - 40(13) 2019.5

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