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Fan-Shaped Pneumatic Soft Actuator that Can Operate Bending Motion for Ankle-Joint Rehabilitation Device

So Shimooka, Hirosato Yokoya, Masanori Hamada, Shun Shiomi, Takenori Uehara, Takahiro Hirayama, Tetsushi Kamegawa

Journal of Robotics and Mechatronics 37 ( 1 ) 43 - 53 2025年2月

担当区分：筆頭著者掲載種別：研究論文（学術雑誌）出版者・発行元：Fuji Technology Press Ltd.

Nowadays, owing to declining birthrates and an aging population, patients and the elderly requiring rehabilitation are not getting enough physical activity. In addressing this issue, devices for rehabilitating them have been researched and developed. However, rehabilitation devices are almost exclusively used for patients who can get up, rather than those who are bedridden. In this study, we aim to develop a rehabilitation device that can provide passive exercise for bedridden patients. The ankle joint was selected as the target joint because the patients who have undergone surgery for cerebrovascular disease remain bedridden, and early recovery in the acute stage is highly desirable. We proposed and tested a fan-shaped pneumatic soft actuator (FPSA) that can expand and bend stably at angles when supply pressure is applied as an actuator for a rehabilitation device to encourage patient exercise. However, the previous FPSA’s movement deviates from the arch of the foot owing to increased supply pressure. In the ideal case, FPSA should push the arch of the foot in an arc motion. This study proposes and tests the FPSA that can operate a bending motion to provide passive exercise to the ankle joint using tensile springs and a winding mechanism powered by a servo motor. The proposed FPSA has a significant advantage of exhibiting no hysteresis in its pressure-displacement characteristics. The configuration and static analytical model of the improved FPSA are described.

DOI： 10.20965/jrm.2025.p0043

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Development of simple attitude measuring sensor for tetrahedral-shaped soft actuator and control system

Feifei CHO, Yuma ADACHI, Tetsuya AKAGI, Shujiro DOHTA, So SHIMOOKA, Takashi SHINOHARA

Mechanical Engineering Journal 24-00339 2025年

Development of ladder climbing inspection robot with horizontal mobile function 査読

Yuma ADACHI, Takashi SHINOHARA, Tetsuya AKAGI, Shujiro DOHTA, So SHIMOOKA, Feifei CHO, Masashi YOKOTA, Takumi ISHIBASHI

Mechanical Engineering Journal 24-00303 2024年

Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device 査読

So Shimooka, Hiroki Himuro, Akio Gofuku

Actuators 12 ( 11 ) 424 - 424 2023年11月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：MDPI AG

Rehabilitation devices for passive exercise have been actively researched and developed in accordance with Japan’s aging society. A previous study proposed and tested an extension-type flexible pneumatic actuator (EFPA) with reinforced stiffness that could achieve passive exercise in patients. In addition, a rehabilitation device for shoulder joints with an embedded controller and small valves was proposed and tested. Joints such as the shoulder and scapula were subjected to passive exercise utilizing the tested device. However, it is difficult for patients with contractions to perform the same exercise because the reinforced EFPA can buckle. Here, to realize an EFPA with a higher stiffness, a flexible actuator in the shape of a hexagonal pyramid is proposed and tested. The hexagonal pyramid shape of a flexible actuator has a high stiffness in the direction of motion and flexibility in other directions; hereafter, this characteristic is called anisotropic stiffness. The characteristics of the hexagonal pyramid shape of the EFPA are described and compared with those of a previously reinforced EFPA. An analytical model was proposed to predict and design the shape of the hexagonal pyramid EFPA. The validity of the model is also described.

DOI： 10.3390/act12110424

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A soft rotary actuator with a flexible shaft using flexible pneumatic actuators 査読

So Shimooka, Miku Kawanaka, Akio Gofuku

Sensors and Actuators A: Physical 361 114603 - 114603 2023年8月

Variable Step Type Pneumatic Linear Stepping Actuator for Passive Exercise Device of Hip Joint 査読

Takashi Shinohara, Kota Oe, Tetsuya Akagi, Shujiro Dohta, Feifei Cho, Wataru Kobayashi, So Shimooka

Journal of Robotics and Mechatronics 35 ( 3 ) 641 - 649 2023年6月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Fuji Technology Press Ltd.

Because of the elderly society in Japan, a passive exercise device that can be used in homes or hospitals without assistance is desirable. In the device, a soft actuator that can move with both longer strokes and a larger force is useful. In the previous study, a pneumatic linear stepping actuator (PLSA) that can push and pull a flexible rod while changing the gripping position of a tube was developed. In this study, a variable step type PLSA is proposed and tested. Moreover, the development of a passive exercise device for the hip joint using three PLSAs and one connecter connected with three flexible rods and a knee supporter is described. The tracking position control of the knee supporter based on an analytical model is also described. The control system using developed actuators is also introduced.

DOI： 10.20965/jrm.2023.p0641

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Development of Ankle-Joint Rehabilitation Device for Bedridden Patient Using Fan-Shaped Pneumatic Soft Actuator Driven at Low Pressure 査読

So Shimooka, Rui Suzuki, Takenori Uehara, Takahiro Hirayama, Akio Gofuku

Journal of Robotics and Mechatronics 35 ( 3 ) 565 - 576 2023年6月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Fuji Technology Press Ltd.

Recently, the number of older people and the reduction in infant birth rates in Japan have increased. Elderly against the younger increased to more than 28.9% in 2020. According to the Japanese aging society, a welfare pneumatic device to rehabilitate the temporally injured elderly and the disabled has been actively researched and developed. However, the developed rehabilitation device is almost always used for a patient who is not bedridden. Therefore, the joint of a bedridden patient is given only a passive exercise, by a physical therapist (PT). In this study, in order to reduce the burden of PTs, we aim to develop a rehabilitation device that can be used by anyone assisting the bedridden patient. The target joint was decided to be an ankle-joint because it is difficult for patients with contractions to walk. Therefore, a fan-shaped pneumatic soft actuator (FPSA) using a no-stretch hose with weaved bellows and silicone rubber string was proposed and tested. In addition, the characteristics of FPSA with different pitches and lengths are measured. To predict the bending angle of FPSA, a simplified shape analytical model of it is proposed. It can be confirmed that a calculated bending angle of FPSA using the model generally agrees with the experimental result. The proposed analytical model is a first-stage model that does not include the influence of external forces on FPSA. The ankle-joint rehabilitation device using FPSAs is proposed and tested, where an ankle-joint is changed from a plantarflexion to a dorsiflexion motion by pressurizing both FPSAs on the tested device. And it can be confirmed that a range of motion (“ROM” for short) is satisfied in an inversion and eversion driven by operating one or another FPSA on the device.

DOI： 10.20965/jrm.2023.p0565

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全方向に均一に減速可能な球面減速機の小型化に向けた逐次二次計画法の適用と最適解の妥当性の検討査読

利根川浩一, 五福明夫, 笠島永吉, 矢野智昭, 下岡綜

日本AEM学会誌 31 ( 2 ) 120 - 126 2023年

Design of Servo Valve using Buckled Tubes for Desired Operation of Flexible Robot Arm based of Static Analytical Model 査読

Takumi KOBAYASHI, Hideyuki OBAYASHI, Tetsuya AKAGI, Shujiro DOHTA, Wataru KOBAYASHI, Takashi SHINOHARA, So SHIMOOKA

JFPS International Journal of Fluid Power System 15 ( 3 ) 86 - 94 2022年12月

全方向に均一に減速可能な球面減速機の小型化へ向けた中間球配置の検討査読

利根川浩一, 五福明夫, 笠島永吉, 矢野智昭, 下岡綜

日本AEM学会誌 30 ( 2 ) 103 - 108 2022年6月

Development of Automatic Ladder Climbing Inspection Robot Using Extension Type Flexible Pneumatic Actuators 査読

So Shimooka, Koki Katayama, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara, Takumi Kobayashi, Mohd Aliff

International Journal of Automotive and Mechanical Engineering 19 ( 1 ) 9593 - 9605 2022年5月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Universiti Malaysia Pahang Publishing

Recently, old and dilapidated infrastructures such as bridges, chimneys and tunnels have become very serious in Japan. Inspection of the infrastructure was done by climbing the ladders that were set up. However, the inspection becomes dangerous as it is necessary to climb into very high areas and unpredictable weather and conditions. In this study, a lightweight inspection robot that can climb ladders in adverse weather conditions was proposed and tested. To grasp a ladder pillar without hurting, the wrapping motion is required. Therefore, the flexible robot arm that can grasp the ladder pillar while approaching and release it while going away was also proposed and tested. The automatic ladder-climbing inspection robot that consists of two pillar grasping flexible robot arms and a lifting robot arm was proposed and tested. The control system of the robot, driven by four on/off valves and an embedded controller, was also constructed. The ladder climbing experiment using the tested robot was carried out. As a result, it could be confirmed that the robot can climb up and down a ladder with soft gripping the ladder, and the soft robot can be also operated by using only four valves.

DOI： 10.15282/ijame.19.1.2022.21.0740

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Development of Flexible Electro-Hydraulic Spherical Actuator 査読

Wataru Kobayashi, Hiroaki Tamaki, Tetsuya Akagi, Shujiro Dohta, So Shimooka

JOURNAL OF ROBOTICS AND MECHATRONICS 34 ( 2 ) 382 - 389 2022年4月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：FUJI TECHNOLOGY PRESS LTD

Voluntary rehabilitation at home helps to prevent the joint contracture after medical treatment. Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electrohydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multiposition control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.

DOI： 10.20965/jrm.2022.p0382

Web of Science

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Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators 査読

So Shimooka, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara, Takumi Kobayashi

JOURNAL OF ROBOTICS AND MECHATRONICS 34 ( 2 ) 373 - 381 2022年4月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：FUJI TECHNOLOGY PRESS LTD

Recently, several pneumatic soft actuators have been applied to wearable and welfare devices to provide nursing care and physical support for the elderly and disabled. In this study, as a wearable soft actuator for holding body, a spiral shaped soft holding actuator that can wrap a user according to their body shape was proposed and tested. The construction and operating principle of the tested soft actuator with circumferential restraint mechanism using three extension type flexible pneumatic actuators (EFPAs) has been discussed. As a result, it was found that the tested actuator could hold elbows and knees when the joint is in motion. An analytical model of the spiral actuator was also proposed to achieve an optimal design. It can be confirmed that the proposed analytical model can predict the shape of the actuator when various EFPAs are pressurized.

DOI： 10.20965/jrm.2022.p0373

Web of Science

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Development of Pipe Inspection Robot using Soft Actuators, Microcontroller and LabVIEW 査読

Mohd Aliff, Mohammad Imran, Sairul Izwan, Mohd Ismail, Nor Samsiah, Tetsuya Akagi, Shujiro Dohta, Weihang Tian, So Shimooka, Ahmad Athif

International Journal of Advanced Computer Science and Applications 13 ( 3 ) 349 - 354 2022年3月

Development of Six-Legged Mobile Robot Using Tetrahedral Shaped Pneumatic Soft Actuators 査読

Kenta HASE, Tetsuya AKAGI, Shujiro DOHTA, Takashi SHINOHARA, Wataru KOBAYASHI, So SHIMOOKA

JFPS International Journal of Fluid Power System 15 ( 1 ) 33 - 39 2022年

Development of Pneumatic Drive Pipe Inspection Robot using Radial Bending Type Soft Actuator 査読

Takashi SHINOHARA, Hikaru FURUYA, Tetsuya AKAGI, Shujiro DOHTA, Takumi KOBAYASHI, So SHIMOOKA

JFPS International Journal of Fluid Power System 15 ( 1 ) 7 - 16 2022年

Development of Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators with Simple 3D Coordinate Measuring System 査読

Weihang Tian, Yoshio Suzuki, Tetsuya Akagi, Shujiro Dohta, Wataru Kobayashi, Takashi Shinohara, So Shimooka, Aliff Mohd

International Journal of Automotive and Mechanical Engineering 18 ( 4 ) 9158 - 9169 2021年12月

Development of Tetrahedral-type Soft Actuator Driven by Low-cost Servo Valves Using RC Servo Motors 査読

Takumi KOBAYASHI, Kenshiro TAKEUCHI, Tetsuya AKAGI, Shujiro DOHTA, Takashi SHINOHARA, So SHIMOOKA

JFPS International Journal of Fluid Power System 14 ( 2 ) 35 - 42 2021年12月

Development of flexible ankle rehabilitation device for preventing the disuse syndrome for bedridden patient

So Shimooka, Tatsumi Tsubaki, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara

Proc. STSS/ISOFIC/ISSNP 2021 STSS-25 2021年11月

Development of Pneumatic Variable Linear Stepping Actuator and Soft Stepping Actuator with Bending Motion for Rehabilitation Device of Hip Joint 査読

Kota OE, Tetsuya AKAGI, Shujiro DOHTA, Takashi SHINOHARA, Wataru KOBAYASHI, So SHIMOOKA

Proc. 11th JFPS International Symposium on Fluid Power 206 - 214 2021年10月

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