Faculty Profiles - KANDA Takefumi

Pneumatic Valve Operated by Multiplex Pneumatic Transmission Reviewed

Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto

JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING 2 ( 2 ) 222 - 229 2008

Language：English Publishing type：Research paper (scientific journal) Publisher：JAPAN SOC MECHANICAL ENGINEERS

A pneumatic system has several advantages, which are cheapness, lightweight, and reliability to human and environment. These advantages are adapted to some research areas, such as industrial lines, medical and nursing cares, and rehabilitation tools. However, the pneumatic system needs several devices; compressor, air tube, and control valve. This research aim to downsize pneumatic system. In this paper, a new method of multiplex pneumatic transmission for multi-pneumatic servo system is proposed. The valve for this system consists of two vibrators supported by springs, which was designed with simple and cheap structure. The working principle of the valve is vibrators resonance from multiplex pneumatic transmission and it is possible to work as ON/OFF valves without electric wire. Dynamic simulation was used to confirm the working principle of the resonance driving system. A prototype device confirming the principle was designed and developed based on the simulation. The experiments show that this new control system works very well to control two separated valves through single pneumatic tube.

DOI： 10.1299/jamdsm.2.222

Web of Science

Development of Rescue Robots using Ultra High Pressure Hydraulic Small Actuators and Field Tests for Verification of their Possibilities Reviewed

MORI Mayuko, SUZUMORI Koichi, TANAKA Junichi, KANDA Takefumi

JRSJ 25 ( 5 ) 761 - 769 2007

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

We aim at the development of rescue robots which are driven by ultra high pressure hydraulic small actuators. They are small-sized and have simple mechanisms, and can realize high-powered operations. This report shows the designs of two high powered small rescue robots-Jack Robot and Cutter Robot-and the results of the field tests carried out to verify in the possibilities. We carried out the field tests in the three types of field; collapsed house type, rubble type and traffic accident type. As the experimental results, the potential of high-powered small robots in disaster areas were shown.

DOI： 10.7210/jrsj.25.761

Other Link： https://jlc.jst.go.jp/DN/JALC/00297900618?from=CiNii

3 Elastic Pectoral Fin Actuators for Biomimetic Underwater Vehicle Reviewed

Ariyoshi Tomokazu, Kato Naomi, Suzuki Hiroyoshi, Ando Yoshito, Suzumori Koichi, Kanda Takefumi, Endo Satoshi

Journal of the Japan Society of Naval Architects and Ocean Engineers ( 第5号 ) 15 - 25 2007

Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Naval Architects and Ocean Engineers

This paper describes the developments of new pectoral fins made of elastic materials with the functions of flexibility and multifunctionality for biomimetic underwater vehicles to use as not only a propulsive device, but also other applications such as grippers, avoiding damages to environment by rigid fins. We developed two types of elastic pectoral fins, an actively controlled pneumatic fin and a passively controlled flexible fin in this study. We carried out the verification tests for generating the propulsive forces and FEM analyses of the behaviors of two elastic pectoral fins.

DOI： 10.2534/jjasnaoe.5.15

Other Link： http://dl.ndl.go.jp/info:ndljp/pid/10784045

螺旋状層流界面形成マイクロロータリーリアクタの開発 Reviewed

古澤宏明, 鈴森康一, 神田岳文, 山田嘉昭, 阪田祐作, 武藤明徳

電気学会論文誌E（センサ・マイクロマシン準部門誌） 127 ( 2 ) 47 - 52 2007

Development of micro rotary reactor causing spiral laminar flow interfaces

Hiroaki Furusawa, Koichi Suzumori, Takefumi Kanda, Yoshiaki Yamada, Yusaku Sakata, Akinori Muto

IEEJ Transactions on Sensors and Micromachines 127 ( 2 ) 47 - 52 2007

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

Recently, research and development of the micro-fluidic systems such as μTAS and Lab-on-chip have been activated in the field of chemical technology and biotechnology. Micro-fluidic systems are realized by micromachine technology and MEMS technology. These are essential elements for miniaturization of chemical analysis reaction systems. Furthermore, micro-fluidic systems can be applied to home medical care system. Micro mixing device is an essential element for a realization of these systems. Normally, mixing of different fluids depends on turbulent flow and diffusion. But it is difficult to generate turbulent flow in minute space. Micro mixer is important to improve reaction efficiency. The aim of this research is a development of a micro rotary reactor which will be built into micro-fluidic systems. The full length and the diameter of this reactor are 59mm and 15mm, respectively. This reactor is driven by an electromagnetic actuator. Therefore, the structure of this reactor becomes very simple and it is easy to miniaturize this reactor. This reactor aims at combing two liquids and forming spiral laminar flow interfaces. Forming spiral laminar flow interfaces increase reaction surface area and reaction distance of two liquids. This paper shows the structure and the characteristics of this reactor.

DOI： 10.1541/ieejsmas.127.47

フィジカルマンマシンインタラクション用アクティブ多面体の開発 Reviewed

越智淳平, 鈴森康一, 神田岳文

日本ロボット学会誌 2006

ペーストインジェクションを用いたインテリジェントFMAの開発（第1報，導電性ペーストによる柔軟変位センサの作製とFMAへの応用） Reviewed

久禮健司, 神田岳文, 鈴森康一, 脇元修一

日本機械学会論文集（C編） 2006

生物を模倣した水陸両用柔軟索状ロボット Reviewed

脇元修一, 鈴森康一, 神田岳文

日本機械学会論文集（C編） 2006

A micro ultrasonic motor using a micro-machined cylindrical bulk PZT transducer Reviewed

Takefumi Kanda, Akira Makino, Tomohisa Ono, Koichi Suzumori, Takeshi Morita, Minoru Kuribayashi Kurosawa

Sensors and Actuators A 2006

A Cylindrical Micro-Ultrasonic Motor Using Micromachined Bulk Piezoelectric Vibrator with Glass Case Reviewed

Takefumi Kanda, Akira Makino, Yoshitaka Oomori, Koichi Suzumori

Japanese Journal of Applied Physics 2006

4104 Development of Intelligent Rubber-actuator : 5^<th> report: Sensor modeling and Servo Control

WAKIMOTO Shuichi, SUZUMORI Koichi, KANDA Takefumi

The proceedings of the JSME annual meeting 2006 115 - 116 2006

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

This study aims at development of Intelligent McKibben actuator with embedded soft displacement/pressure sensors and micro valves. In this report, a soft pressure sensor made of rubber and conductive film was developed and embedded in McKibben actuator. By measuring the electrical resistance of the conductive film which changes following the deformation of the rubber with internal pressure change of the actuator, the pressure can be estimated The results of fundamental experiments to clear the characteristics of the sensor showed that it has drift phenomenon by influence of the rubber creep behavior. Therefore, we tried to apply the mechanical model to the sensor model. A 2-Voigt mechanical model which consists of two springs and two dampers could agree the sensor characteristics. Using the model, we carried out the servo control experiments. The results indicated the high efficacy of the model. Furthermore we expect that the modeling method will be able to contribute to improving accuracy of several soft mechanisms.

DOI： 10.1299/jsmemecjo.2006.4.0_115

4103 Research and Development of Micro Screw Pump to Control Minute Amounts of Liquids

FURUSAWA Hiroaki, SUZUMORI Koichi, KANDA Takefumi, YAMADA Yoshiaki

The proceedings of the JSME annual meeting 2006 113 - 114 2006

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

In recent years, research and development of the micro-fluidic systems have been activated in the field of chemical technology and biotechnology. Micro-fluidic systems are realized by micromachine technology and MEMS technology. Micro pump is an essential element for miniaturization of chemical analysis reaction systems. The aim of this research is development of a micro screw pump which will be incorporated in micro-fluidic systems. This pump aims to control minute amounts of liquids. This pump is 16mm in diameter and 41mm in length. The features of this pump are (1) the pump has built-in actuator, (2) liquid can be flowed in bidiretion by the pump, (3) the pump is nonpulsatile pump. In this paper, the structure and the characteristics of this pump are shown.

DOI： 10.1299/jsmemecjo.2006.4.0_113

Development of intelligent FMA by using paste injection (1st Report, fabrication of flexible displacement sensor with conductive paste and FMA using the sensor)

Kenji Kure, Takefumi Kanda, Koichi Suzumori, Shuichi Wakimoto

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 72 ( 8 ) 2512 - 2518 2006

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

Recently, practical use of soft actuators is expected in the field of welfare robot. However, feedback control system for soft actuator has not been realized because appropriate sensor did not exist. Potentiometers or optical encoders which are generally used as displacement sensors have high stiffness and such sensors diminish the compliance of soft actuator. This paper presents fabrication of flexible displacement sensor and FMA (Flexible Microactuator) using this sensor. The flexible displacement sensor was fabricated by depositing conductive paste on the surface of rubber. A paste injection system was utilized to deposit the paste and it realized precise control of thickness, width and pattern of the film. Firstly, an experiment on flat type flexible displacement sensor was carried out to evaluate and improve the sensor. The experimental result showed enough linearity and detecting range. Then Intelligent FMA was fabricated by depositing conductive paste on the surface of FMA. Servo control system for Intelligent FMA was set up and high positioning accuracy was confimed by servo driving experiment.

DOI： 10.1299/kikaic.72.2512

A bio-mimetic amphibious soft cord robot

Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 72 ( 2 ) 471 - 477 2006

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

Some living beings both on ground and in water can move by forming traveling waves along their bodies, therefore the mechanisms using the traveling waves have the amphibious possibility. Several robots have been developed using the mechanisms, but there are no amphibious robots. In this study, our goal is development of a bio-mimetic soft cord robot which can move on ground and in water. First, we took particular note of a millipede and an eel, because they are similar to point of using the traveling waves for moving, but their living environments are different
the millipede lives on the ground and the eel lives in water, and their moving principles were cleared theoretically and confirmed by computer simulation. As the result, the relations between their moving and the progressing directions of traveling waves were made clear. Second, a soft cord robot, 915 mm in length, 11 mm in width and 5 mm in height, which was based on the principles of the millipede and the eel was developed. Finally, the experiments of the robot were carried out, and they showed that the robot could move both on the ground and in water successfully. Moreover the robot could negotiate in the curve tube without special control algorithm because of its high compliance.

DOI： 10.1299/kikaic.72.471

Development of Active Links for Physical Man-Machine Interaction Reviewed

Jumpei Ochi, Koichi Suzumori, Junichi Tanaka, Takefumi Kanda

Journal of Robotics and Mechatronics 2005

触媒粒子攪拌機構によるマイクロリアクタ内化学反応促進 Reviewed

鈴森康一, 永田卓志, 神田岳文, 阪田祐作, 武藤明徳

電気学会論文誌Ｅセンサ・マイクロマシン準部門誌 2005

電磁アクチュエータ一体型マイクロリニアポンプ Reviewed

鈴森康一, 古澤宏明, 神田岳文, 山田嘉昭, 永田卓志

電気学会論文誌Ｅセンサ・マイクロマシン準部門誌 2005

Micro Linear Pump with Electromagnetic Actuator Reviewed

Koichi Suzumori, Hiroaki Furusawa, Takefumi Kanda, Takashi Nagata, Yoshiaki Yamada

IEEJ Transactions on Sensors and Micromachines 125 ( 12 ) 461 - 466 2005

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

In recent years, research and development of the micro-fluid systems have been activated in the field of chemical technology and biotechnology. Micro-fluid systems are realized by micromachine technology and MEMS technology. Micro pump is an essential element for miniaturization of chemical analysis reaction systems. The aim of this research is development of a micro linear pump which will be built into micro-fluid systems. This pump aims to take a sample of very-small-quantity of liquids. Taking a sample of very-small-quantity of liquids reduce the amount used and waste fluid of a reagent. Full length and diameter of this pump are 32.5mm and 6mm respectively. The features of this pump are (1) the pump is built with actuator, (2) the gap of 7μm between piston and cylinder is achieved through fine machining process, and (3) micro check-valves of 2mm diameter made of stainless-steel film are fabricated and integrated. In this paper, the structure and the characteristics of this pump were shown. And the characteristics after improvement of micro check-valves were shown. keyword: micro fluid system, micro lincar pump, sample of very small quantity, built in actuator, miniaturization. © 2005, The Institute of Electrical Engineers of Japan. All rights reserved.

DOI： 10.1541/ieejsmas.125.461

Shaking Catalysts Accelerating Chemical Reaction in Micro Reactors Reviewed

Koichi Suzumori, Takashi Nagata, Takefumi Kanda, Yusaku Sakata, Akinori Muto

IEEJ Transactions on Sensors and Micromachines 125 ( 12 ) 467 - 472 2005

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

Efficient uniform mixing is an essential process for chemical reaction. However, it is difficult to fabricate many tiny stirrers on reactor chips. This paper shows a new method promoting high-efficient chemical reaction in micro chamber. To stir chemicals and to accelerate reaction catalytic particles are driven electrostatically in micro chamber. Two driving methods have been evaluated,” AC drive and DC drive. Evaluation of chemical reactions revealed the effect of this developed devices. In addition conveyance system of catalytic particles is necessary for particles exchange. Keywords: micro reactor, electrostatic, shake, particles conveyance. © 2005, The Institute of Electrical Engineers of Japan. All rights reserved.

DOI： 10.1541/ieejsmas.125.467