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

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

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

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

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

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

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

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

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

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

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

New hydraulic components for tough robots Reviewed

Koichi Suzumori, Hiroyuki Nabae, Ryo Sakurai, Takefumi Kanda, Sang Ho Hyon, Tohru Ide, Kiyohiro Hioki, Kazu Ito, Kiyoshi Inoue, Yoshiharu Hirota, Akina Yamamoto, Takahiro Ukida, Ryusuke Morita, Morizo Hemmi, Shingo Ohno, Norihisa Seno, Hayato Osaki, Shoki Ofuji, Harutsugu Mizui, Yuki Taniai, Sumihito Tanimoto, Shota Asao, Ahmad Athif Mohd Faudzi, Yohta Yamamoto, Satoshi Tadokoro

Springer Tracts in Advanced Robotics 128 401 - 451 2019

Publishing type：Part of collection (book)

Hydraulic components have tremendous potential for realizing “tough robots” owing to their “tough features,” including high power density and shock resistance, although their practical robotic usage faces some challenges. This chapter explains a series of studies on hydraulic robot components, focusing on high output density, large generative force, shock resistance, and environmental resistance to investigate reducing size, increasing intelligence, lowering weight, achieving multiple degrees of freedom, and lowering sliding friction. The studies are based on past hydraulics technologies with the aim of permitting hydraulic actuator technologies to take important roles in achieving tough robots to operate at disaster sites and under other extreme environments. The studies consist of research and development of compact, lightweight, and high-output actuators; rotating high-torque motors; low-sliding cylinders and motors; power packs; high-output McKibben artificial muscles; particle-excitation-type control valves; hybrid boosters; and hydraulic control systems to be undertaken along with research on their application to tough robots.

DOI： 10.1007/978-3-030-05321-5_8

Fabrication and Evaluation of Hydraulic Particle Excitation Valve Vibrated Perpendicularly to Direction of Flow Path Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA

JFPS International Journal of Fluid Power System 11 ( 2 ) 9 - 17 2018.12

A small three-way valve using particle excitation with piezoelectric transducers for hydraulic actuators Reviewed

Hayato Osaki, Takefumi Kanda, Shoki Ofuji, Norihisa Seno, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae

Advanced Robotics 32 ( 9 ) 500 - 510 2018.5

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

Robots composed of hydraulic actuators have been utilized in various fields and at disaster sites. However, the hydraulic control system for multiple-degree-of-freedom mechanisms is large because such systems require many control components. The purpose of this research was to develop a small hydraulic flow control valve. This paper describes the fabrication and evaluation of a small three-way valve by particle excitation using a piezoelectric transducer. This valve consists of two transducers and can switch the inlet and outlet ports by applying an AC voltage of different driving frequencies to each transducer because each transducer has different resonant frequencies. The flow rate was controlled by applying a voltage to the piezoelectric transducer. We evaluated the vibration characteristics of the fabricated three-way valve. The vibration velocity exhibited peaks at 120 and 155 kHz for the inlet and outlet port, respectively, and that of each transducer increased with the applied voltage. Therefore, this three-way valve can switch the opening port by changing the driving frequencies and continuously controlling the flow rate. As a result, we have succeeded in driving the novel small three-way valve.

DOI： 10.1080/01691864.2018.1454848

可変微細構造によるソフトマテリアル表面の接触角制御 Reviewed

森重佳久, 鈴森康一, 神田岳文, 脇元修一

設計工学 53 ( 10 ) 745 - 760 2018

流路に直交方向の加振を利用した油圧微粒子連振型制御弁の試作と評価 Reviewed

浮田貴宏, 鈴森康一, 難波江裕之, 神田岳文

日本フルードパワーシステム学会論文集 49 ( 1 ) 10 - 17 2018

Effect of Pre-emulsion State for a Generation of Nano-emultion by an Ultrasonic Vibration Device Reviewed

kenichi Onishi, Takefumi Kanda, Tsutomu Ono, Shohei Toyota, Yoshihiko Imai, Ken-ici Ogawara, Kazutaka Higaki, Koichi Suzumori

IEEJ Transaction on Sensors and Micromachines 138 ( 9 ) 394 - 400 2018

Fabrication and evaluation of a quench microreactor system for a miniaturization of crystals Reviewed

Nozomu Fujimoto, Takefumi Kanda, Toshiaki Kai, Yusaku Sakata, Yoshiaki Yamada, Norihisa Seno, Yoshiaki Nakazaki, Takafumi Otoyama

IEEJ Transactions on Sensors and Micromachines 138 ( 3 ) 87 - 92 2018

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

The microreactor has attracted attentions because the microrecter can realise a new phenomenon and a new reaction in the field of micro-chemical process. In this study, a temperature controlled microreactor system using a microchannel of stainless steel and a Peltier device has been developed. In this system, the temperature device made of the microchannel device has been controlled from 8.7°C to 65.8°C. The hot fluid has been quenched successfully. To evaluate the performance of this system, a recrystallization of alum has been used. In this temperature controlled microreactor system, the average particle diameter and standard deviation were 9.2 and 10.1um when air flow rate and solution flow rate were 452 and 2.4ml/min. These results show that the proposed system has realized the miniaturization and uniformization of the alum crystals. As a result, the effectiveness of this system has been indicated.

DOI： 10.1541/ieejsmas.138.87

Fabrication and Evaluation of Hydraulic Particle Excitation Valve Vibrated Perpedicularly to Direction of Flow Path Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA

TRANSACTION OF THE JAPAN FLUID POWER SYSTEM SOCIETY 49 ( 1 ) 10 - 17 2018

Optimization of orifice position in particle-excitation valve for proportional flow control Reviewed

Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori, Takefumi Kanda

ROBOMECH Journal 4 ( 1 ) 1 - 11 2017.12

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

This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, and has the following advantages: small size, lightweight, high response and continuous airflow control. However, in our previous models, the relationship between the driving voltage and the flow quantity was nonlinear. In this report, we improved the valve to realize proportional flow control. The valve consists of the orifice plate, that has some orifices, and steel particles to seal the orifices and piezoelectric transducer. It controls air flow by the voltage applied to the transducer. For proportional flow control, it is important to adjust the orifice position adequately. In this report, we optimized the orifice position, considering resonance condition of the valve. We designed the experimental prototype using a bolt-clamped Langevin type transducer and decided orifice position. And we evaluated its vibration properties and flow-rate characteristics. The experimental results showed that our designed prototype can proportionally control airflow.

DOI： 10.1186/s40648-017-0093-3

Nanoparticles generation system using an ultrasonic torsional transducer Reviewed

Nozomu Fujimoto, Takefumi Kanda

IEEE International Ultrasonics Symposium, IUS 2017.10

Language：English Publishing type：Research paper (international conference proceedings) Publisher：IEEE Computer Society

Nanoparticles have been required in the fields such as medicine, foods and electronic materials. By re-crystallization process, nanoparticles can be formed by quenching a solution. We have generated mono-disperse droplets by using a torsional bolt-clamped Langevin-type transducer and a micropore plate to form fine nanoparticles by quenching the droplets.

DOI： 10.1109/ULTSYM.2017.8092016

Particle-excitation flow-control valve using piezo vibration-improvement for a high flow rate and research on controllability Reviewed

Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori, Takefumi Kanda

IEEJ Transactions on Sensors and Micromachines 137 ( 1 ) 32 - 37 2017

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

This paper describes an improved particle-excitation flow-control valve with high flow rate and controllability. The proposed control valve has a small volume, is lightweight, and can smoothly control the airflow through particle excitation. Pneumatic actuators, which have many advantages, are widely used in automation machine equipment and are expected to be used in robots. In general, such highly controllable pneumatic-control devices used as proportional valves are large-scale, heavy, and exhibit low response. We have developed a new flow-control valve called a particle-excitation flow-control valve, which has a simple structure with a lead zirconium titanate (PZT) resonance mode, large control-flow rate, and is lightweight. Further, this valve is expected to be highly responsive because it is driven by a PZT vibrator. In this study, we designed an experimental prototype to increase the maximum flow rate and measured its flow control and response characteristics. Moreover, we showed that this control valve has high controllability and control flow rate.

DOI： 10.1541/ieejsmas.137.32

Analysis of Flow Control Valve in Hydraulic System using Particle Excitation Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA

The Japan Fluid Power System Society 2C12(1)-2C12(8) 2017

Hydraulic Control by Flow Control Valve Using PArticle Excitation Reviewed

Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE, Takefumi KANDA, Shoki OFUJI

JFPS International Journal of Fluid Power System 10 ( 3 ) 38 - 46 2017

Development of a gas/liquid phase change actuator for high temperatures Reviewed

Hiroki Matsuoka, Koichi Suzumori, Takefumi Kanda

ROBOMECH Journal 3 ( 1 ) 1 - 7 2016.12

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

Gas/liquid phase changes produce large volume changes in working fluids. These volume changes are used as the driving power sources in actuators such as micro-pumps and valves. Most of these actuators are utilized in ordinary temperature environments. However, the temperature range in which the phase change actuator can operate depends on the characteristics of the working fluid. We hypothesized that proper selection of the working fluid and the structure of the actuator can enable such actuators to be applied not only in ordinary environments but also in high temperature environments. Consequently, in this paper, we discuss the design and fabrication of a new gas/liquid phase change actuator for use in high temperature environments. Our proposed actuator consists of a bellow body, spring, heater, and working fluid. We used the Inconel super alloy, which is highly heat and corrosion resistant, for the bellow and moving parts of the actuator. For the working fluid, we prepared triethylene glycol, which has a boiling point of 287.3 °C and very low vapor pressure at ordinary temperature. As a result, our proposed actuator can be utilized in high temperature environments up to 300.0 °C. The results of several experiments conducted confirm that our proposed actuator generates 1.67 mm maximum displacement in a 300.0 °C atmospheric environment. In addition, we confirmed that the operation of the actuator is stable in that environment. Our results confirm that a gas/liquid phase change actuator can be used in high temperature environments.

DOI： 10.1186/s40648-016-0041-7

Production of nanoemulsion using a microchannel device oscillated by piezoelectric transducer Invited Reviewed

Takefumi Kanda

16th International Conference on Nanotechnology - IEEE NANO 2016 718 - 719 2016.11

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

An ultrasonic emulsification device has been fabricated and evaluated. The device is for the generation of nano-sized droplets for drags and consists of a piezoelectric device and metal plates. Microchannel plates made of stainless steel has been used for the device. The oscillation frequency was over 2 MHz and sub-micron size droplets has been obtained successfully. Additionally, the state in the microchannel has been evaluated using a micro cavitation sensor installed in the channel.

DOI： 10.1109/NANO.2016.7751382

Piezoelectric Transducer Design for Particle Excitation Hydraulic Control Valve Reviewed

Takahiro Ukida, Koichi Suzumori, Hiroyuki Nabae, Takefumi Kanda

Proceedings of Symposium on Ultrasonic Electronics Vol. 37 2016.11

Special issue on innovative actuators Reviewed

Takeshi Morita, Takefumi Kanda, Kenjiro Takemura

International Journal of Automation Technology 10 ( 4 ) 469 2016.7

A piezoelectric polymer cavitation sensor installed in an emulsion generation microchannel device and an evaluation of cavitation state Reviewed

Takefumi Kanda, Masaki Yabumoto, Koichi Suzumori

JAPANESE JOURNAL OF APPLIED PHYSICS 55 ( 7 ) 07KE07-1-07KE07-6 2016.7

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

In previous works, ultrasonic emulsification was realized using small microchannel devices oscillated by piezoelectric transducers. By using the devices, the emulsification in the flow process was also realized. In these devices, the driving frequency was higher than 2 MHz. This value is higher than the maximum audible field. On the other hand, the frequency is too high to utilize the cavitation effect. This is because the cavitation threshold depends on the frequency. The aim of this study is to confirm the cavitation state in the microchannel device using a piezoelectric polymer sensor. A micropatterned cavitation detection sensor has been fabricated by a photolithography technique and evaluated in a high-intensity ultrasound field. The emulsification state in the microchannel device has been evaluated using the fabricated sensor. (C) 2016 The Japan Society of Applied Physics

DOI： 10.7567/JJAP.55.07KE07

Water flow control valve using particle excitation

Ofuji Shoki, Kanda Takefumi, Seno Norihisa, Suzumori Koichi, Ukida Takahiro, Nabae Hiroyuki

Proceedings of JSPE Semestrial Meeting 2016 385 - 386 2016

Development of a rubber soft actuator driven with gas/liquid phase change Reviewed

Hiroki Matsuoka, Takefumi Kanda, Shuichi Wakimoto, Koichi Suzumori, Pierre Lambert

International Journal of Automation Technology 10 ( 4 ) 517 - 524 2016

Highly Responsive and Stable Flow Control Valve using a PZT transducer Reviewed

Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori, Takefumi Kanda

2016 IEEE INTERNATIONAL ULTRASONICS SYMPOSIUM (IUS) 2016

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

Pneumatic actuators are widely used because they are lightweight and inexpensive. However, highly controllable devices for pneumatic actuators generally have large volume and low response and are heavy. We have developed the flow control valves that have highly controllable using PZT elements. These control valves can downsize the control valve with high response. Using a PZT transducer, we introduced a new mechanism of the control valve for stable continuous flow rate. In this report, we proposed a new mechanism to realize stable continuous flow with a PZT transducer. We designed prototype using a bolt-clamped Langevin transducer (BLT) and show the characteristics of the valve.

微粒子励振型流量制御弁による油圧制御 Reviewed

浮田貴宏, 鈴森康一, 難波江裕之, 神田岳文, 大藤翔輝

日本フルードパワーシステム学術論文集 47 ( 6 ) 39 - 46 2016

A Cryogenic Ultrasonic Actuator using a Torsional Transducer Reviewed

Takefumi Kanda, Masataka Kuroda, Daisuke Yamaguchi, Koichi Suzumori

2016 IEEE INTERNATIONAL ULTRASONICS SYMPOSIUM (IUS) 2016

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

In this study, a torsional transducer type ultrasonic motor which realizes the continuous rotation and the positioning of the angle in cryogenic temperature has been fabricated and evaluated. In the cryogenic temperature environment, the performance of the transducer falls. In order to drive the motor at cryogenic temperature, the torsional transducer is designed to generate the resonant stick-slip drive. The transducer can perform the resonant stick-slip drive by combining the first and the second vibration modes. The ultrasonic motor using the transducer was evaluated. The rotation speed and the starting torque are 111 rpm and 0.75 mNm at 4.5 K.

Microdroplet generation using an ultrasonic torsional transducer which has a micropore with a tapered nozzle Reviewed

Toru Kishi, Yusuke Kiyama, Takefumi Kanda, Koichi Suzumori, Norihisa Seno

Archive of Applied Mechanics 1 - 12 2016

Study of droplet manipulation condition in droplet manipulation device using ultrasonic vibration Reviewed

Kenichi Onishi, Takefumi Kanda, Naoya Ogawa, Koichi Suzumori

IEEJ Transactions on Sensors and Micromachines 136 ( 8 ) 348 - 356 2016

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

In this study, we have fabricated a droplet manipulation device which has a microchannel oscillated by piezoelectric actuator. This device can manipulate droplets by producing a pressure distribution of a standing acoustic field caused by ultrasonic vibration in the microchannel. The manipulated droplet's size has been estimated from the relationship between acoustic force and viscous force. The device has been designed by using a finite element method analysis. Fabricated device has been evaluated by observing droplets in manipulation experiment and measuring a manipulated droplet's distribution. When n-dodecane was used as dispersed phase, this device can manipulate a droplet whose diameter is larger than 20μm when the applied voltage and the driving frequency were 80Vp-p and 2.25MHz. When Silicone oil was used as dispersed phase, the manipulated droplets diameter was larger than 15μm. From these results, we have indicated that the microchannel device can manipulate droplets by using ultrasonic vibration.

DOI： 10.1541/ieejsmas.136.348

Omnidirectional soft robot platform with flexible actuators for medical assistive device Reviewed

Mohamed Najib Ribuan, Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

International Journal of Automation Technology 10 ( 4 ) 494 - 502 2016

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

This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associated hardware setup. Tests have confirmed its omnidirectional locomotion ability
it has a maximum speed of 6.90 mm/s in forward locomotion and a maximum payload of 70 g. These features indicate that the robot can be used as a medical assistive device for fluoroscopy examinations.

DOI： 10.20965/ijat.2016.p0494

Development of novel particle excitation flow control valve for stable flow characteristics Reviewed

Daisuke Hirooka, Tomomi Yamaguchi, Naomichi Furushiro, Koichi Suzumori, Takefumi Kanda

International Journal of Automation Technology 10 ( 4 ) 540 - 548 2016

Hydraulic control by flow control valve using particle excitation Reviewed

Takahiro Ukida, Koichi Suzumori, Hiroyuki Nabae, Takefumi Kanda, Shoki ofuji

Transaction of Japan Fluid Power System Society 47 ( 6 ) 39 - 46 2016

Droplets Generation in the Flowing Ambient Liquid by using an Ultrasonic Torsional Vibrator and a Micropore Plate

Yamada Tomoyasu, Mori Kota, Kanda Takefumi, Suzumori Koichi

Proceedings of JSPE Semestrial Meeting 2015 887 - 888 2015

Language：Japanese Publisher：The Japan Society for Precision Engineering

In many fields, such as electronic material and medicine, it is an important subject to generate small and monodispersity droplets of various liquids. In this study, to generate micro droplets for a chemical manufacturing process, we have designed and fabricated a system using a bolt-clamped Langevin-type transducer and the micropore plate in order to generate micro droplets. First, we observed the range of applied pressure to generate uniform droplets. As a result, the condition depends on the kinematic viscosity of continuous phase. Next, we investigated the droplet generation condition when the droplets are in monodisperse, when the droplets are generated in the flowing ambient liquid.

DOI： 10.11522/pscjspe.2015A.0_887

A study on temperature dependence of an ultrasonic motor for cryogenic environment Reviewed

Masahiro Nakazono, Takefumi Kanda, Daisuke Yamaguchi, Koichi Suzumori, Yuya Noguchi

Japanese Journal of Applied Physics 54 ( 7S1 ) 07HE15-1-07HE15-5 2015

微粒子励振型流量制御弁を用いた空気圧シリンダの速度制御 Reviewed

廣岡大祐, 山口智実, 古城直道, 鈴森康一, 神田岳文

日本フルードパワーシステム学会論文集 46 ( 2 ) 7 - 13 2015

Speed Control of Pneumatic Cylinder using Particle-Excitation Flow Control Valve Reviewed

Daisuke HIROOKA, Tomomi YAMAGUCHI, Naomichi FURUSHIRO, Koichi Suzumori, Takefumi Kanda

TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY 46 ( 2 ) 7 - 13 2015

Ultrasonic Motor for sample spinning of solid-state nuclear magnetic resonance spectrometer in high magnetic field Reviewed

Daisuke Yamaguchi, Koichi Suzumori, Dai Takeda, Takefumi Kanda

2014 IEEE INTERNATIONAL ULTRASONICS SYMPOSIUM (IUS) 870 - 873 2014

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

The aim of this paper is to realize a new sample spinning unit for a solid-state nuclear magnetic resonance (NMR). In the solid-state NMR analysis, a sample spinning in high magnetic field is an important function. We have designed and fabricated the sample spinning unit using a low-profile ultrasonic motor for high magnetic field. The unit could be driven in high magnetic flux at 9.4 T. Soli-state NMR analysis of glycine was measured using the unit. We have succeeded in applying the ultrasonic motor for solid-state NMR analysis.

DOI： 10.1109/ULTSYM.2014.0214

Ultrasonic motor using two sector-shaped piezoelectric transducers for sample spinning in high magnetic field Reviewed

Daisuke Yamaguchi, Takefumi Kanda, Koichi Suzumori, Kazuya Fujisawa, Kiyonori Takegoshi, Takashi Mizuno

Journal of Robotics and Mechatronics 25 ( 2 ) 384 - 391 2013

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

This paper presents the design, fabrication process, and evaluation of an ultrasonic motor for sample spinning in a high magnetic field of solid-state Nuclear Magnetic Resonance (NMR). To decrease effects of the magnetic field on rotation, all motor components are made of materials that have low magnetic permeability. The motor, including the sample casing, is a maximum 31 mm in diameter and 50 mm high. The motor has two sector-shaped piezoelectric transducers. One transducer generates two different vibration modes, longitudinal and flexural, when two sinusoidal voltages are applied to transducers. To confirm that transducers can be driven in a high magnetic field, the effect of the magnetic field on the transducer was evaluated. The motor was driven at a frequency of 329.0 kHz. The maximum rotation speed and starting torque were 1.50 × 103 rpm and 26 μ Nm when applied voltage was 40 Vp-p. The rotation speed, controlled by a proportional-integral control system, was 1.20 × 103 rpm in a 7.0-T magnetic field. The motor was also applied to the sample spinning system of a high-resolution NMR spectrometer. We succeeded in obtaining 1 H-NMR signals of H2 O. The motor can therefore be used for a sample spinning system in a high magnetic field.

DOI： 10.20965/jrm.2013.p0384

An Ultrasonic Motor Using a Titanium Transducer for a Cryogenic Environment Reviewed

Dai Takeda, Daisuke Yamaguchi, Takefumi Kanda, Koichi Suzumori, Yuya Noguchi

Japanese Journal of Applied Physics 52 ( 7 ) 07HE13-1-07HE13-6 2013

Light-driven actuator using hydrothermally deposited PLZT film Reviewed

Daisuke Yamaguchi, Akimasa Tonokai, Takefumi Kanda, Koichi Suzumori

IEEJ Transactions on Sensors and Micromachines 133 ( 8 ) 330 - 336 2013

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

Light-driven actuators result in the miniaturization of micro-devices because such actuators can be driven by a non-contact energy supply. PLZT is a ferroelectric material that exhibits a photostrictive effect. We have succeeded in driving a photoresponse actuator by using the PLZT film. The PLZT film was deposited on a titanium substrate by using the hydrothermal method. The PLZT film was evaluated by x-ray diffraction and piezoelectricity. The actuator has a simple structure in which an indium tin oxide (ITO) transparent electrode is deposited on the surface of the PLZT film. The actuator is driven by the ultraviolet (UV) light. To confirm the driven phenomenon, the photoresponse drive was evaluated by measuring the displacement, electric current and surface temperature. As an example of a light-driven application using the PLZT film actuator, we also fabricated and evaluated a light-driven valve. We have succeeded in changing the flow rate when the intensity of the UV light increased. © 2013 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejsmas.133.330

Evaluation of generated micro droplets using micropore plates oscillated by ultrasonic torsional transducers Reviewed

Yusuke Kiyama, Yoshiyuki Tominaga, Takefumi Kanda, Koichi Suzumori, Toru Kishi, Yoshiaki Yamada, Norihisa Seno

SENSORS AND ACTUATORS A-PHYSICAL 185 92 - 100 2012.10

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

This paper reports on generating micro and uniform droplets in various viscosity liquids by using a micropore plate oscillated by an ultrasonic torsional transducer. When the micropore plate was not oscillated, generated droplet diameter was not stable. On the other hand, when the micropore plate was oscillated, generated droplets became small and uniform by ruffling the liquid column surface. Droplets were generated experimentally in the air by using pure water and silicone oil of various viscosities and then evaluated. We have designed the ultrasonic torsional transducer and a droplet generation device to apply a high pressure for the use of higher viscosity liquids. We have succeeded in generating droplets by using pure water when the ultrasonic torsional transducer and the micropore plate that had an 18-mu m-diameter micropore were used. The average diameter of droplets was 30.0 mu m and the standard deviation was 0.98. We have also succeeded in generating 50-cSt silicone oil droplets by using the droplet generation device and the micropore plate that had the 50-mu m-diameter micropore. The average diameter of droplets was 98.0 mu m and the standard deviation was 0.76. (C) 2012 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.sna.2012.08.007

An ultrasonic motor for cryogenic temperature using bolt-clamped Langevin-type transducer Reviewed

Daisuke Yamaguchi, Takefumi Kanda, Koichi Suzumori

SENSORS AND ACTUATORS A-PHYSICAL 184 134 - 140 2012.9

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

In this study, a small ultrasonic motor driven under cryogenic temperature conditions has been fabricated and evaluated.
Since transducer performance generally decreases at cryogenic temperatures, we designed and fabricated a bolt-clamped Langevin-type transducer for operation at cryogenic temperature. We simulated the influence of thermal stress on the transducer. The results from simulation were used to design the transducer, and it was then used to fabricate an ultrasonic motor for cryogenic temperature. The maximum diameter and the height of the motor are 30 mm and 38.7 mm.
To enable the motor to be driven at cryogenic temperature, we evaluated the relationship between the contact pre-load and the lowest rotatable temperature. The motor's driving performance was evaluated at both room temperature and cryogenic temperatures. In a 4.5 K helium gas ambient, the rotation speed and starting torque were 133 rpm and 0.03 mu N m when the applied voltage was 50 Vp-p. (C) 2012 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.sna.2012.06.024

An Ultrasonic Motor for Use at Ultralow Temperature Using Lead Magnesium Niobate-Lead Titanate Single Crystal Reviewed

Daisuke Yamaguchi, Takefumi Kanda, Koichi Suzumori, Masataka Kuroda, Dai Takeda

JAPANESE JOURNAL OF APPLIED PHYSICS 51 ( 7 ) 07GE09-1-07GE09-6 2012.7

Language：English Publishing type：Research paper (scientific journal) Publisher：JAPAN SOC APPLIED PHYSICS

In this study, an ultrasonic motor for use at ultralow temperatures has been fabricated and evaluated. The motor has a bolt-clamped Langevin-type transducer using lead magnesium niobate-lead titanate (PMN-PT) single crystal. The transducer is proposed as an oscillator for use at ultralow temperatures by simulation of the thermal stress and evaluation of the pre-load. The thermal effect of the transducer was evaluated when the temperature was changed. As a result, the pre-load of the transducer was concluded to be affected by thermal stress. In addition, the ultrasonic motor using the transducer was fabricated and evaluated. By adjusting the contact pre-load between the rotor and the transducer, the motor has successfully rotated at an ultralow temperature. The rotation speed was 144 rpm at 4.4 K when the applied voltage was 150 Vp-p. This rotation speed is larger than that of previous same size actuators that can be used at ultralow temperatures. (C) 2012 The Japan Society of Applied Physics

DOI： 10.1143/JJAP.51.07GE09

Hydrothermal Deposition of the PZT film and Applications of Piezoelectric Actuators Reviewed

Daichi Nakahira, Takefumi Kanda, Koichi Suzumori, Masao Kabuto, Yoshihiko Michihiro, Masahiro Ueno

2012 19TH INTERNATIONAL CONFERENCE MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP) 501 - 506 2012

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

In this paper, PZT film has been deposited on Ti substrate by using a hydrothermal method. The hydrothermal reaction solution was stirred by 2 types of methods. One mixing method was a rotation mixing method and the other was an ultrasonic vibration mixing method. Bimorph actuators were fabricated and evaluated with displacement measurement. Because of holding the autoclave, the ultrasonic vibration mixing device was less of a load to the substrate. Therefore, micropositioning stage has been fabricated on a comparatively large and high-aspect ratio titanium structure by using the ultrasonic vibration mixing device. The hydrothermal method can easily deposit on the three-dimensional substrate. Thus, we have deposited PZT film on a hemispherical shape Ti substrate and fabricated an ultrasonic transducer by using the rotation mixing device. The ultrasonic transducer was evaluated by under water experiment.

微粒子励振型空気流量制御弁の非線形性補償による流量制御 Reviewed

廣岡大祐, 鈴森康一, 神田岳文

日本フルードパワーシステム学会論文集 43 ( 5 ) 117 - 121 2012

Flow Rate Control using Particle Excitation Valve with Non-liner Compensation

Daisuke HIROOKA, Koichi SUZUMORI, Takefumi KANDA

Transactions of the Japan Fluid Power System Society 43 ( 5 ) 117 - 121 2012

Language：Japanese Publisher：The Japan Fluid Power System Society

The purpose of this study is the development of a valve that can precisely control pneumatic cylinders. The valve is lightweight and has simple structure. The valve uses a piezoelectric oscillator which is driven in the resonance mode, and it can control flow rate by controlling the amplitude of the particle excitation. In this report, we have designed a new prototype for the purpose of high controllability. We have applied a non-linear control algorithm to control Q-V nonlinearlity of this valve. We found that this control works well to realize linear Q-V characteristics.

DOI： 10.5739/jfps.43.117

Other Link： https://jlc.jst.go.jp/DN/JALC/10009556897?from=CiNii

Design and evaluation of orifice arrangement for particle-excitation flow control valve Reviewed

Daisuke Hirooka, Koichi Suzumori, Takefumi Kanda

SENSORS AND ACTUATORS A-PHYSICAL 171 ( 2 ) 283 - 291 2011.11

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

In this article, we report a new particle-excitation flow control valve. The purpose of this study is the development of a particle-excitation flow control valve that can precisely control pneumatic cylinders. We have reported this flow control valve principle. The valve, driven by a PZT vibrator, has a simple lightweight structure with large flow rate. We report the relationship between the orifice arrangement and flow rate characteristics of the valve. We have designed a new prototype for the purpose of high controllability. We have measured flow-rate characteristics and confirmed the conditions necessary for continuous adjustment of flow quantity. The control valve works successfully to realize a change in flow rate. (C) 2011 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.sna.2011.07.009

Design and Evaluation of Emulsion Generation Device Using Ultrasonic Vibration and Microchannel Reviewed

Takefumi Kanda, Takuya Harada, Yoshiyuki Tominaga, Koichi Suzumori, Tsutomu Ono, Sotaro Iwabuchi, Kazuyuki Ito, Ken-ichi Ogawara, Kazutaka Higaki, Yuta Yoshizawa

Japanese Journal of Applied Physics 50 ( 7 ) 07HE24-1-07HE24-6 2011

Micro droplet generation using micropore plates oscillated by ultrasonic torsional transducers

Yusuke Kiyama, Yoshiyuki Tominaga, Takefumi Kanda, Koichi Suzumori, Yoshiaki Yamada, Norihisa Seno

2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation" 88 - 93 2011

Language：English Publishing type：Research paper (international conference proceedings) Publisher：IEEE Computer Society

Monodisperse droplets have been an important subject in fields such as electronic materials, cosmetics productions and medical science. The goal of this study is to generate micro and uniform droplets in various viscosity liquids by using a micropore plate oscillated by an ultrasonic torsional transducer. When the micropore plate was not oscillated, droplets were generated irregularly. On the other hand, when the micropore plate was oscillated by the ultrasonic torsional transducer, droplets were generated regularly by ruffling liquid surface. We have generated droplets in the air by using pure water and silicone oil of various viscosities and evaluated droplets. We have designed the ultrasonic torsional transducer and a droplet generation device to apply a high pressure for the use of higher viscosity liquids. We have succeeded in generating droplets by using pure water when we used the ultrasonic torsional transducer. The average diameter of droplets was 30.0μm and the standard deviation was 0.98. We have also succeeded in generating 50cSt silicone oil droplets using the droplet generation device. The average diameter of droplets was 98.0μm and the standard deviation was 0.76. © 2011 IEEE.

DOI： 10.1109/MHS.2011.6102165

Multiplex pneumatic control method for multi-drive system Reviewed

Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto

SENSORS AND ACTUATORS A-PHYSICAL 164 ( 1-2 ) 88 - 94 2010.11

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

Pneumatic actuators have several advantages such as light weight safety low cost and high compliance However many pneumatic actuators have complicated systems that include a compressor air tubes and pneumatic valves with electrical wires This research proposes a new control method for a multiplex pneumatic transmission constructed with special resonant valves and air tubes with a control system driven by air vibration in air tubes without electrical wires The control is simplified and effective for pneumatic systems having many degrees of freedom In this paper the development of a primitive model of the resonant valve and a prototype valve is described In addition two control methods which are a superimposing method and a time-sharing method are shown and the independent driving of four actuators is realized by using one of the control methods with air tubes only (c) 2010 Elsevier B V All rights reserved

DOI： 10.1016/j.sna.2010.09.004

水圧マッキベン型人工筋を用いた不定形重量物用ハンドの開発 Reviewed

盛真唯子, 鈴森康一, 脇元修一, 神田岳文, 高橋正幸, 細谷高司, 竹松愛実

フルードパワーシステム 41 ( 3 ) 59 - 66 2010

An emulsion generating microchannel device oscillated by piezoelectric vibrator Reviewed

Takefumi Kanda, Koichi Suzumori, Takuya Harada, Tsutomu Ono, Sotaro Iwabuchi, Kazuyuki Ito, Ken-Ichi Ogawara, Kazutaka Higaki

2010 International Symposium on Micro-NanoMechatronics and Human Science: From Micro and Nano Scale Systems to Robotics and Mechatronics Systems, MHS 2010, Micro-Nano GCOE 2010, Bio-Manipulation 2010 13 - 18 2010

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

The goal of this study is to realize an emulsification device for the generation of sub-micron size monodisperse emulsions. We have fabricated and tested the device which consists of a microchannel plate and an ultrasonic vibrating plate. The device can realize continuous flow system and those plates are easily stacked. We have succeeded in generating emulsions which has a diameter of 80 nm. ©2010 IEEE.

DOI： 10.1109/MHS.2010.5669586

Micro actuator system for narrow spaces under specific environment Reviewed

Takefumi Kanda

Next-Generation Actuators Leading Breakthroughs 375 - 385 2010

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

This chapter describes micro actuator systems for narrow spaces under specific environments. In the fields of scientific or medical instruments, there is a great demand for micro sensors and actuators. We have fabricated some micro sensors and actuators which can be used under such specific environment. Two types of micro actuator systems for narrow spaces have been fabricated and evaluated. Those are for precise tool control unit and attitude control unit. In the precise tool control unit, a micro servo motor using the micro ultrasonic motor and the magnetic encoder have been designed and fabricated. In the attitude control, flexible displacement sensor made of piezoelectric polymer and shape memory alloy actuator driven by optical source. © 2010 Springer-Verlag London.

DOI： 10.1007/978-1-84882-991-6_32

Emulsion Generating Microchannel Device Oscillated by 2.25MHz Ultrasonic Vibrator Reviewed

Takuya Harada, Takefumi Kanda, Koichi Suzumori, Tsutomu Ono, Sotaro Iwabuchi, Kazuyuki Ito, Ken-ichi Ogawara, Kazutaka Higaki

JAPANESE JOURNAL OF APPLIED PHYSICS 49 ( 7 ) 07HE13-1-07HE13-6 2010

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

In this study, a device using an ultrasonic vibration and a microchannel has been developed to obtain emulsions. The process of generating emulsions involves a Y-type microchannel and an ultrasonic device. Once micron-sized emulsions were generated by the Y-type microchannel, the micron-sized emulsions were sonicated using ultrasonic vibration to produce emulsions. Although the diameter of emulsions was 30 mu m using the Y-type microchannel, the diameter of the sonicated emulsions was about 200 nm. In addition, as the applied voltage was increased, sonicated emulsions became smaller and the distribution became sharper. (C) 2010 The Japan Society of Applied Physics

DOI： 10.1143/JJAP.49.07HE13

Cylindrical Micro Ultrasonic Motor and Its Application to High Intensity Magnetic Field Reviewed

Takefumi KANDA

Science and Industry 84 ( 6 ) 239 - 244 2010

超音波振動を組み込んだマイクロ流路によるナノエマルション調製

小野努, 岩渕草太郎, 伊東一行, 原田拓也, 神田岳文, 鈴森康一, 大河原賢一, 檜垣和孝, 妹尾典久, 高野和潔, 門脇信傑, 大森啓士

化学工学会研究発表講演要旨集 2010 55 - 55 2010

Experimental evaluation of multiplex penumatic control drive

Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto

2010 World Automation Congress, WAC 2010 2010

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

Pneumatic actuators have several advantages, which are high compliance, light weight, safety, and cheapness. However, a pneumatic system is complicated because of electric wires and air supply lines from solenoid valve and compressor. We aim to simplify pneumatic system and proposed a new control method. The developed pneumatic system which is called multiplex pneumatic system is driven by air resonance vibration remotely witbout electric wires. Valves of the system have different resonance systems inside it each. When many actuators are driven by the valves this system is possible to drive the actuators independently using only one air tube supply. This system will be effective to the pneumatic system having many degrees of freedom. In this paper, in this paper, the experimental evaluation of four prototype valves for independent control is described. In addition tbe independent control of four pneumatic cylinders using a time-sharing method for multi driving is succeeded. © 2010 TSI Press.

Dynamic characteristics of pneumatic flow control valve driven by PZT vibrator

Daisuke Hirooka, Koichi Suzumori, Takefumi Kanda

2010 World Automation Congress, WAC 2010 2010

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

Pneumatic actuators have several advantages, which are high compliance, light weight, safety, and low-cost. Valve that can realize a continuous flowing quantity control is necessary to control pneumatic actuators precisely, while in general, such a valve is large. This study aims at the development of a new flow control valve that has a lightweight and simple structure can control flow-rate continuously. This valve uses piezoelectric transducer which is driven at resonance mode and it can control flow-rate by controlling the amplitude of the particles excitation. The flow control valve in this report is 10 mm in diameter, 9 mm in height and 2.5 g. We had already achieved ON/OFF control of large flowing quantity with the valve. In this report, we research dynamic characteristics of the valve. As the results of experiments, we found that the valve response time is 29 ms and flow rate change is almost equal to control signal. © 2010 TSI Press.

Droplet generation using a torsional Langevin-type transducer and a micropore plate Reviewed

Takuya Harada, Naoyuki Ishikawa, Takefumi Kanda, Koichi Suzumori, Yoshiaki Yamada, Ken-Ichiro Sotowa

SENSORS AND ACTUATORS A-PHYSICAL 155 ( 1 ) 168 - 174 2009.10

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

This paper reports on droplet generation by using a torsional bolt-clamped Langevin-type transducer and a micropore plate. When the micropore plate was not oscillated, droplets were generated irregularly. On the other hand, when the micropore plate was oscillated, droplets were generated regularly. In addition, by changing the micropore diameter, the generated droplets' diameter was varied in proportion to the micropore area. Under the condition that the pore diameter, the vibrational amplitude and the resonance frequency were 16 mu m, 0.62 mu m(p-p) and 56 kHz, respectively, the average diameter of droplets was 26.8 mu m and the standard deviation was 1.4. Additionally, W/O (water-in-oil) emulsions were generated in air-liquid phase by the transducer. Under the same condition, generated average diameter of emulsions was 35.0 mu m, the standard deviation was 1.9 and the coefficient of variance was 5.5. From this result, monodisperse emulsions were generated. (C) 2009 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.sna.2009.08.007

Flow control valve for pneumatic actuators using particle excitation by PZT vibrator Reviewed

Daisuke Hirooka, Koichi Suzumori, Takefumi Kanda

SENSORS AND ACTUATORS A-PHYSICAL 155 ( 2 ) 285 - 289 2009.10

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

This paper reports a new flow control valve for pneumatic actuators that has a lightweight and simple structure and uses particle excitation by PZT vibrator. The flow control valve in this report consists of an orifice plate which has plural orifices, PZT vibrator which is adhered on the orifice plate and iron particles. The valve is normally closed. because air flow carries the particles on to the orifice and particles seal the air flow. Because the orifice plate excitation by the PZT vibrator works to make the particles away from the orifice plate, the air flows through the orifices. It is driven at resonance mode and can be used as a variable speed controller for pneumatic actuators. The new flow control valve avoids the stopping shock of pneumatic actuators at the stroke ends while retaining the advantages of pneumatic actuators. (C) 2009 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.sna.2009.07.005

Realizing Spiral Laminar Flow Interfaces with Improved Micro Rotary Reactor Reviewed

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

Journal of Robotics and Mechatronics 21 ( 2 ) 179 - 185 2009

A cylindrical ultrasonic motor for NMR sample spinning in high magnetic field

Hiraku Maeda, Akihito Kobayashi, Takefumi Kanda, Koichi Suzumori, Kiyonori Takegoshi, Takashi Mizuno

Proceedings - IEEE Ultrasonics Symposium 2009

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

Recently, the demand for instruments that use high magnetic fields has increased in scientific and industrial fields. A high-resolution solid-state nuclear magnetic resonance (NMR) system is one such example. In a solid-state NMR, analytical samples are required to spin accurately at high speed in the high magnetic field. Ultrasonic motors have advantages in such environments. This research aims to develop a cylindrical micro ultrasonic motor for the solid-sate NMR. We fabricated a cylindrical ultrasonic motor mainly using nonmagnetic materials. The motor's maximum diameter and the height are 11 and 47.9 mm, including the sample case. We evaluated its driving performance in a magnetic field of 7 T. In addition, we successfully obtained the 1H-NMR signals of H2O with the motor. The result shows the NMR ultrasonic motor is available for the sample spinning of the solid-state NMR. ©2009 IEEE.

DOI： 10.1109/ULTSYM.2009.5441838

Pneumatic flow control valve using particle excitation by PZT transducer

Daisuke Hirooka, Koichi Suzumori, Takefumi Kanda

Proceedings - IEEE Ultrasonics Symposium 1624 - 1627 2009

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

This paper reports a flow control valve for pneumatic actuators. This flow control valve has a lightweight and simple structure using particle excitation by PZT transducer, which is driven at resonance mode and it can be used as a variable speed controller for pneumatic actuators. A PZT transducer has been used for controlling flow rate in this study. The flow control valve in this report consists of an orifice plate, a PZT transducer which is fixed on the orifice plate with the bolt, and the iron particles of 0.8mm diameter. From the experiments of flowing quantity evaluation, this flow control valve achieves a maximum flow rate of 62.65 L/min under applying voltage of 79.9 Vp-p and air pressure of 0.70 MPa. The results show that the ratio of the flow capacity /valve weight is about ten times larger than that of typical commercial valves. ©2009 IEEE.

DOI： 10.1109/ULTSYM.2009.5441678

Flexible displacement sensor using injected conductive paste Reviewed

Kenji Kure, Takefumi Kanda, Koichi Suzumori, Shuichi Wakimoto

SENSORS AND ACTUATORS A-PHYSICAL 143 ( 2 ) 272 - 278 2008.5

Language：English Publishing type：Research paper (scientific journal) Publisher：ELSEVIER SCIENCE SA

This paper reports on the fabrication procedure and the evaluation of a sensor with a flexible structure. Recently, because welfare robots with soft structures are being developed, there has been considerable progress in developing various soft actuators. Usually, however, sensors have high stiffness and diminish the compliance of soft actuators. In this study, a soft actuator's displacement was detected with a flexible displacement sensor using deposited conductive paste film. When the film was deformed, the sensor's electrical resistance changed, making a large deformation detectable. Initially, a flat type displacement sensor was fabricated, and its basic characteristics were evaluated. Then, an optimal wave patterning method that improved on the sensor signal's linearity was proposed. Finally, the flexible displacement sensor was formed onto the surface of a flexible microactuator (FMA). A servo control for the soft actuator was constructed with the flexible displacement sensor and high positioning accuracy was demonstrated. (c) 2007 Elsevier B.V. All rights reserved.

DOI： 10.1016/j.sna.2007.11.031

3202 The analysis and evaluation of low-profile micro ultrasonic motors driven by sector shaped piezoelectric vibrators

ICHIHARA Takashi, KANDA Takefumi, SUZUMORI Koichi

The proceedings of the JSME annual meeting 2008 149 - 150 2008

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

A low-profile micro ultrasonic motor has been designed and fabricated. This motor has two sector shaped vibrators. The vibrators generate elliptical motion by the 1st longitudinal mode and the 2nd bending mode. They are supported by planar elastic structure that combined with preload mechanism. Three types of pre-load systems were designed and evaluated. The diameter and thickness of one type was 9.8[mm] and 0.6[mm]. These vibrators have been oscillated around 340 [kHz]. The maximum rotation speed was 1.2 x 10^3 [rpm] and the maximum starting torque was 98.8[μNm] when the applied voltage was 20[V_<p-p>].

DOI： 10.1299/jsmemecjo.2008.7.0_149

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

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

インテリジェントMcKibben型アクチュエータの開発（第1報，柔軟変位センサの内蔵による位置サーボ系の実現） Reviewed

脇元修一, 鈴森康一, 神田岳文

日本機械学会論文集（Ｃ編） 2005

先鋭化ファイバーを接着した水熱合成法PZT膜プローブセンサ Reviewed

田村宙, 黒澤実, 神田岳文

信学技報 US2005-2,pp.7-12 2005

Development of intelligent McKibben actuator (1st report, realization of position servo system by soft displacement sensor)

Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C 71 ( 9 ) 2754 - 2760 2005

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

This study aims at development of Intelligent McKibben actuator, in which micro displacement/ pressure sensors and micro valves are integrated. In this first report, development of rubber displacement sensor and its application to servo system using McKibben actuator are reported. Recently McKibben actuator attracts engineers because of light weight, high output power and high compliance. But in case of servo control using it, the systems need encoders or potentiometers, so the systems tend to grow in size and to take away from compliance at present. To solve thus problems, soft rubber sensor was developed, which was made of rubber covered its surface with conductive resin thinly. Electrical resistance of rubber sensor changes in response to extending motion of the rubber. We built the rubber sensor into McKibben actuator and named it Intelligent McKibben actuator. Servo system using single Intelligent McKibben actuator was realized, and tested. Furthermore, we fabricated a robot arm system configured by two Intelligent McKibben actuators. Experimental results showed that the actuator has good potential for realizing polymer-made intelligent actuator.

DOI： 10.1299/kikaic.71.2754

Development of Electromagnetic Nutation Motor (Electromagnetic Investigation) Reviewed

Koichi SUZUMORI, Takashi NAGATA, Takefumi KANDA, Kazuo UZUKA, Isao ENOMOTO

Journal of Robotics and Mechatronics 2004

Development of Intelligent Rubber-actuator : 2th report; Application to Antagonistic Mechanism with Nonlinearity Compensation

WAKIMOTO Shuichi, SUZUMORI Koichi, KANDA Takefumi

The proceedings of the JSME annual meeting 2004 261 - 262 2004

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

This study aims at development of soft intelligent rubber actuator of McKibben style. McKibben rubber actuator is an artificial muscle, which is pneumatically driven. At present, almost servo systems using this rubber actuator are driven with external potentiometer or encoder. So the systems tend to grow in size and to takeaway from compliance. In the first report, a soft displacement sensor was developed, and it was incorporated in rubber actuator. We named its actuator Intelligent Rubber-actuator. In this report. We fabricated a robot arm system configured by two Intelligent Rubber-actuators set antagonistically. Experiments with its system show that Intelligent Rubber-actuator has high possibility for application of several robot systems.

DOI： 10.1299/jsmemecjo.2004.4.0_261

Development of New Functional fluidic devices for Micro Reactor

SUZUMORI Koichi, KANDA Takefumi, NAGATA Takashi, MITANI Shuichi, SAKATA Yusaku, MUTO Akinori

The proceedings of the JSME annual meeting 2004 259 - 260 2004

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

This paper shows two types of new functional fluidic devices for chemical micro reactors; (1) an active catalytic system and (2) a micro flask. The active catalytic system consists of a micro chamber with two electrode thin films and micro catalytic particles of 100 to 500 micron meter in diameter. Electrostatic force enables handling micro catalytic particles in micro chambers to realize uniform mixing and acceleration of chemical reactions. A micro flask is also fabricated using piezoelectric materials, which oscillates to work as a micro agitator and an ultrasonic cleaner. The potentials of these new functional fluidic devices in micro reactors are discussed.

DOI： 10.1299/jsmemecjo.2004.4.0_259

Development of intelligent cylinder : 2nd report; Adaptive control using intelligent pneumatic cylinder

SUZUMORI Koichi, KANDA Takefumi, TANAKA Junichi, MIYASHITA Yukihiro

The proceedings of the JSME annual meeting 2004 263 - 264 2004

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

We developed an intelligent pneumatic cylinder that realizes positioning servo control using a built-in reflective optical encoder. The developed cylinder is 133mm long, the cylinder's stroke is 40mm, and positioning resolution is 338*m. In this report, we report a new adaptive control algorithm for this cylinder. This algorithm is based on a way that controls switching timing of valve to minimize overshoot of cylinder rod. We compared the adaptive control with servo control from the view point of positioning and convergence speed. We realized high speed positioning control and convergence in any positions, which is difficult for conventional pneumatic cylinders.

DOI： 10.1299/jsmemecjo.2004.4.0_263

Vibration Velocity Limitation of Transducer Using Titanium-Based Hydrothermal Lead Zirconate Titanate Thick Film Reviewed

T. Kanda, Y. Kobayashi, M. K. Kurosawa, T. Higuchi

Jpn. J. Appl. Phys. 2003

Sensitivity of a miniaturized touch probe sensor using PZT thin film Reviewed

T. Kanda, M. K. Kurosawa, T. Higuchi

Ultrasonics, May 2002. 2002

Estimation of Resolution and Contact Force of a Longitudinally Vibrating Touch Probe Sensor using Lead Zirconate Titanate (PZT) Thin-Film Vibrator Reviewed

T. Kanda, T. Morita, M. K. Kurosawa, T. Higuchi

Jpn. J. Appl. Phys 2001

Performance of Hydrothermal PZT Film on High Intensity Operation Reviewed

T. Kanda, M. K. Kurosawa, H. Yasui, T. Higuchi

Sensors and Actuators A 2001

Estimation of the Hydrotheramally Deposited Lead Zirconate Titanate (PZT) Reviewed

T. Kanda, Y. Kobayashi, M. K. Kurosawa, H. Yasui, T. Higuchi

Jpn. J. Appl. Phys. 2001

A flat type touch probe sensor using PZT thin film vibrator Reviewed

T. Kanda, T. Morita, M. K. Kurosawa, T. Higuchi

Sensors and Actuators A 83, 67-75 2000

A rod-shaped vibro touch sensor using PZT thin film Reviewed

Takefumi Kanda, Takeshi Morita, Minoru Kuribayashi Kurosawa, Toshiro Higuchi

IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control 46 ( 4 ) 875 - 882 1999.7

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

We have fabricated a probe sensor. This sensor is for high precision coordinate measuring machines, surface roughness measuring tools, or scanning probe microscopes (SPM). This sensor consists of a rod vibrating in the axial direction. The longitudinal vibration was excited and also detected by PZT thin film. The PZT thin Him was fabricated by a hydrothermal method. The hydrothermal method uses the reaction process in hot and high pressure aqueous solutions. We made a 27.8-mm long sensor. Its resonance frequency was 116 kHz. The sensitivity and resolution were evaluated by experiments. We succeeded in oscillating the rod and detecting the contact. © 1999 IEEE.

DOI： 10.1109/58.775653

A rod-shaped vibro touch sensor using PZT thin film Reviewed

T. Kanda, T. Morita, M. K. Kurosawa, T. Higuchi

IEEE Trnas.Ultrasonics,Ferroelectrics and frequency Control 46(4), 875-882 1999

Single process to deposit lead zirconate titanate (PZT) thin film by a hydrothermal method Reviewed

T Morita, T Kanda, Y Yamagata, M Kurosawa, T Higuchi

JAPANESE JOURNAL OF APPLIED PHYSICS PART 1-REGULAR PAPERS SHORT NOTES & REVIEW PAPERS 36 ( 5B ) 2998 - 2999 1997.5

Language：English Publishing type：Research paper (scientific journal) Publisher：JAPAN J APPLIED PHYSICS

The hydrothermal method to deposit lead zirconate titanate (PZT) thin film is anew method reported by Tsurumi et al. in 1991. This method consists of two linked processes. We have found that the film deposited by the first process is not PZT but separated lead zirconate (PZ) and lead titanate (PT). In this paper, we report that a PZT thin film was successfully deposited by a single process. The chemical construction and composition of the film were analyzed. The Zr/(Zr+Ti) ratio of the PZT film was controlled by changing the ionic composition of the solution.

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