研究者詳細 - 下岡　綜

論文 - 下岡　綜

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Development of Extension Type Flexible Pneumatic Actuator with Displacement Sensor Using Ring-shaped Magnet and Hall Sensor for Tetrahedral-type Soft Mechanism 査読

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

Proc. 11th JFPS International Symposium on Fluid Power 215 - 222 2021年10月

Analysis and Improvement of Cilia Type Pipe Inspection Robot Using Extension Type Flexible Pneumatic Actuators 査読

Takashi SHINOHARA, Keichi KUSUNOSE, Tetsuya AKAGI, Shujiro DOHTA, Takumi KOBAYASHI, So SHIMOOKA

JFPS International Journal of Fluid Power System 14 ( 1 ) 19 - 27 2021年8月

Development of Small-sized Servo Valve using Gate Mechanism and Diaphragm 査読

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

JFPS International Journal of Fluid Power System 14 ( 1 ) 1 - 9 2021年8月

Development of Low-cost Pressure Control Type Valves Using Buckled Tubes and Gate-mechanism 査読

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

JFPS International Journal of Fluid Power System 14 ( 1 ) 28 - 34 2021年8月

Development of intelligent rubber artificial muscle with integrated pneumatic driving system and built-in inner diameter sensor 査読

So Shimooka, Tetsuya Akagi, Shujiro Dohta, Shinsaku Fujimoto, Wataru Kobayashi

International Journal of Mechanical Engineering and Robotics Research 9 ( 1 ) 136 - 142 2020年1月

担当区分：筆頭著者掲載種別：研究論文（学術雑誌）

© 2020 by the authors. A high-power flexible actuator with a built-in displacement sensor that can support bathing is attractive as a wearable actuator. In the previous study, a rubber artificial muscle with the inner diameter sensor was proposed and tested. The sensor could measure the axial length of the rubber artificial muscle based on the geometric model of the muscle, indirectly. The position control of the muscle using the tested sensor based on the model and the identified parameter was successfully carried out. However, a measuring error caused by a setting error of the sensor was also observed. In this paper, to decrease the measuring error based on the sensor's setting position error in the muscle, an improved inner diameter sensor with radially arranged three photo reflectors was proposed and tested. To get larger generated force, the muscle with larger diameter compared with the previous one was also used. In addition, to realize the wearable actuator that can be easily operated, an intelligent rubber article muscle with an integrated pneumatic driving system and the built-in inner diameter sensor was proposed and tested. The position control of the tested muscle was also carried out. As a result, it could be confirmed that the tested muscle controlled by giving reference electric signal was be realized.

DOI： 10.18178/ijmerr.9.1.136-142

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Development of portable rehabilitation device driven by low-cost servo valve using tap water 査読

Hideyuki Obayashi, Tetsuya Akagi, Shujiro Dohta, Wataru Kobayashi, Yasuko Matsui, So Shimooka, Takashi Shinohara, Mohd Aliff

International Journal of Mechanical Engineering and Robotics Research 9 ( 3 ) 353 - 359 2020年

掲載種別：研究論文（学術雑誌）

© 2020 by the authors. Wearable driving systems for labor assistance and rehabilitation, such as power assist suits, have received much attentions and many studies have been done actively. In this study, the final target is to develop a low-cost home rehabilitation device driven by fluidic actuators and low-cost control valves. In the device, the size and cost of control valves become serious concerns. In the previous study, to realize a home rehabilitation device, the flexible spherical actuator that was able to give passive exercise to patients was developed. To drive the actuator, control valves are required. However, a servo valve that can control flow rate in analogue way is very expensive compared with other elements in the pneumatic driving system. Therefore, a low-cost servo valve using buckled tubes was proposed and tested. This valve can control both gas and liquid flow. In this paper, the development of the spherical actuator driven by servo valves using buckled tubes is described as a low-cost home rehabilitation device. The construction and operating principle of the spherical actuator and the servo valve using buckled tube is also described. In addition, the position control using the tested devices is carried out.

DOI： 10.18178/ijmerr.9.3.353-359

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Development and Attitude Control of Washable Portable Rehabilitation Device for Wrist without Position Sensor 査読

So SHIMOOKA, Yusuke HANE, Tetsuya AKAGI, Shujiro DOHTA, Wataru KOBAYASHI, Takashi SHINOHARA, Yasuko MATSUI

JFPS International Journal of Fluid Power System 13 ( 3 ) 25 - 34 2020年

Development of Reinforced Extension Type Flexible Pneumatic Actuator with Circumferential Restraints and Its Application for Rehabilitation Device 査読

S. Shimooka, T. Akagi, S. Dohta, T. Shinohara, Y. Hane, M. Aliff

International Journal of Automotive and Mechanical Engineering 17 ( 3 ) 8116 - 8127 2020年

掲載種別：研究論文（学術雑誌）

© 2020 Based on super-aging society in Japan, a welfare pneumatic device to give passive exercise for the temporally injured elderly and disabled has been actively researched and developed. In previous study, based on opinions of Physical Therapist (PT) and Occupational Therapist (OT), a home-based rehabilitation device that could give passive exercise for patients using extension type flexible pneumatic actuators (EFPA), built-in quasi-servo valves and built-in displacement sensors using a wire type linear potentiometer was proposed and tested. However, the device did not have enough force and stiffness to drive shoulders with both arms. In this study, to get enough generated force and stiffness of the device, a parallel arranged EFPA reinforced with circumferential restraint was proposed and tested. The rehabilitation device for shoulder joint using the improved actuator was also proposed and tested. The built-in attitude control system using valves, sensors and an embedded controller was also developed. As a result, it can be confirmed that the device can give passive exercise with larger moving area and enough force and torque to move patient's shoulder joint.

DOI： 10.15282/IJAME.17.3.2020.05.0609

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Development of a tetrahedral-shaped soft robot arm as a wrist rehabilitation device using extension type flexible pneumatic actuators 査読

Wei Hang Tian, Cian Cheng Jhan, Misaki Inokuma, Tetsuya Akagi, Shujiro Dohta, So Shimooka

Journal of Robotics and Mechatronics 32 ( 5 ) 931 - 938 2020年

掲載種別：研究論文（学術雑誌）

© 2020, Fuji Technology Press. All rights reserved. Based on aging Japanese society, there has been a strong desire for development of rehabilitation devices that patients can use at home. The purpose of this study is to develop a home-based compact, lightweight, flexible, and safe rehabilitation device. In this study, a flexible robot arm for wrist rehabilitation that can be used, while patients hold the top of the robot arm, is proposed and tested. The proposed robot arm consists of three extension type flexible pneumatic actuators (EFPAs) restrained by 22 PET sheets. To achieve suitable bending stiffness of the robot arm, three EFPAs are restrained so as to form a tetrahedral shape. The robot arm can bend toward each radial direction. In this paper, the construction and operational principles of the tested robot arm are described. Additionally, the analytical model of the robot arm for attitude control is also described. In addition, the tracking control using the robot arm for the desired orbit is performed. As a result, the tested robot arm can trace the desired orbit based on the model. It is confirmed that the robot arm has the possibility for application as a wrist rehabilitation device for patients.

DOI： 10.20965/jrm.2020.p0931

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Flexible Displacement Sensors Using Ultrasonic Sensor for Soft Actuator with Long Stroke 査読

So Shimooka, Tetsuya Akagi, Shujiro Dohta, Wataru kobayashi and Takashi Shinohara

International Journal of Mechanical Engineering and Robotics Research 8 ( 6 ) 982 - 986 2019年11月

担当区分：筆頭著者掲載種別：研究論文（学術雑誌）

Today, a welfare pneumatic equipment to support a nursing care and a self-reliance of the elderly and the disabled is actively researched and developed by many researchers. In the previous study, a portable rehabilitation device with a larger moving area which can give passive exercise for human shoulder was proposed and tested. As an actuator of the device, an extension type flexible actuator was tested. The actuator can extend more than twice of its original length. However, a flexible displacement sensor that can cover the actuator's moving area and be deformed according to the shape of the actuator has not been realized yet. In this study, various flexible displacement sensors using ultrasonic sensors for the actuator are proposed and tested. One is a displacement sensor that ultrasonic sensors are installed into the chamber of the actuator. As a result, it is confirmed that the sensor can not measure the displacement exactly under the condition when a higher supplied pressure is applied to the chamber. Therefore, a displacement sensor using a rubber tube and the ultrasonic sensor is proposed and tested as a sensor without influence of applied pressure. As a result, the sensor can successfully measure the displacement. However, the sensor requires the force to pull the tube. The pulling force causes local deformation of the actuator. Finally, the slide type displacement sensor without pulling force is proposed and tested. As a result, it is confirmed that the tested sensor can measure successfully and exactly.

DOI： 10.18178/IJMERR.8.6.982-986

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Improvement of Home Portable Rehabilitation Device for Upper-Limbs 査読

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

JFPS International Journal of Fluid Power System 12 ( 1 ) 10 - 18 2019年

Development of tetrahedral type rehabilitation device using flexible pneumatic actuators 査読

Yoshio Suzuki, Tetsuya Akagi, Shujiro Dohta, Wataru Kobayashi, Hiroaki Tamaki, Yasuko Matsui, So Shimooka

International Journal of Mechanical Engineering and Robotics Research 7 ( 4 ) 409 - 414 2018年7月

掲載種別：研究論文（学術雑誌）

© 2018 Int. J. Mech. Eng. Rob. Res. Rehabilitation devices help to recover physical ability of patients. This study aims to develop a home rehabilitation device which can be safe to use while patients are holding it by hands. In the previous study, as a portable rehabilitation device, the flexible spherical actuator that was able to give motions to patients while handling it was developed. The device can give rehabilitation motion for upper limb by only changing the relative position of patient's hands. However, the tested device cannot give absolute position for hands for rehabilitation of shoulders. In this study, we aim to develop a low-cost and simple home rehabilitation device for shoulder that can change absolute position of the device. In this paper, to realize position change of the flexible spherical actuator, the development of a tetrahedral type rehabilitation device using extension type flexible pneumatic actuators is described. The construction and the operating principle of the tested device is also described. The attitude control using the tested device and an embedded controller is also carried out. As a result, it can be confirmed that the absolute position of the object can trace the desired coordinate relatively well.

DOI： 10.18178/ijmerr.7.4.409-414

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駆動ユニットを有する変位センサ一体型ゴム人工筋の試作

下岡綜, 赤木徹也, 堂田周治郎, 小林亘

岡山理科大学紀要 53 75 - 82 2018年2月

Development of Portable Rehabilitation Device Using Flexible-Extension-Type Soft Actuator with Built-In Small-Sized Quasi-Servo Valve and Displacement Sensor 査読

So SHIMOOKA, Shujiro DOHTA, Tetsuya AKAGI, Wataru KOBAYASHI, Masataka YONEDA

JFPS International Journal of Fluid Power System 11 ( 2 ) 18 - 25 2018年

Improvement of a Pneumatic Control Valve with Self-Holding Function 査読

Shujiro Dohta, Tetsuya Akagi, Wataru Kobayashi, So Shimooka, Yusuke Masago

IOP Conference Series: Materials Science and Engineering 249 ( 1 ) 2017年10月

掲載種別：研究論文（国際会議プロシーディングス）

© 2017 Published under licence by IOP Publishing Ltd. The purpose of this study is to develop a small-sized, lightweight and low-cost control valve with low energy consumption and to apply it to the assistive system. We have developed some control valves; a tiny on/off valve using a vibration motor, and an on/off valve with self-holding function. We have also proposed and tested the digital servo valve with self-holding function using permanent magnets and a small-sized servo motor. In this paper, in order to improve the valve, an analytical model of the digital servo valve is proposed. And the simulated results by using the analytical model and identified parameters were compared with the experimental results. Then, the improved digital servo valve was designed based on the calculated results and tested. As a result, we realized the digital servo valve that can control the flow rate more precisely while maintaining its volume and weight compared with the previous valve. As an application of the improved valve, a position control system of rubber artificial muscle was built and the position control was performed successfully.

DOI： 10.1088/1757-899X/249/1/012002

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Miniaturization of a Quasi-Servo Valve and Its Application to Positon Control of a Rubber Artificial Muscle with Built-in Sensor 査読

Yoshinori Moriwake, Shujiro Dohta, Tetsuya Akagi, So Shimooka

MATEC Web of Conferences 82 2016年10月

掲載種別：研究論文（国際会議プロシーディングス）

© The Authors, published by EDP Sciences, 2016. Nowadays, the care and welfare pneumatic devices to support a nursing care and a self-reliance of the elderly and the disabled are actively researched and developed by many researchers. These wearable devices require many actuators and control valves for multi degrees of freedom. The total weight and volume of the wearable devices increases according to the degree of freedom. Our final goal is to develop a compact wearable actuator with built-in sensor, controller and control valve and to apply it to a wearable assisted device. In our previous study, a small-sized quasi-servo valve which consists of two on/off control valves and an embedded controller was developed. In this study, the quasi-servo valve composing of much smaller-sized (40% in mass, 42% in volume) on/off valves is proposed and tested. In addition, the rubber artificial muscle with an ultrasonic sensor as a built-in displacement sensor is proposed and a position control of the muscle is carried out using the tested tiny valve and built-in sensor. As a result, it was confirmed that the position control of the muscle can be realized using the tested ultrasonic sensor.

DOI： 10.1051/matecconf/20168201006

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Application of Pressure Control Type Quasi-Servo Valve to Force Control System 査読

Yoshinori Moriwake, Shujiro Dohta, Tetsuya Akagi, and So Shimooka

Journal of Automation and Control Engineering 4 ( 3 ) 209 - 212 2016年6月

Development of compact flexible displacement sensors using ultrasonic sensor for wearable actuators 査読

Tetsuya Akagi, Shujiro Dohta, Takafumi Morimoto, Yasuko Matsui, So Shimooka

MATEC Web of Conferences 51 2016年4月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：EDP Sciences

© 2016 Owned by the authors, published by EDP Sciences. In position control of wearable actuator such as a rubber artificial muscle, a compact flexible displacement sensor is much attractive and required. In this paper, two types of flexible displacement sensor using the ultrasonic sensor were introduced. One is a built-in displacement sensor for rubber artificial muscle. Another is a sensor that can measure the sliding displacement on a flexible tube for flexible robot. Both sensors use ultrasonic displacement sensors. The construction, operating principle and measuring performance of two sensors were also described.

DOI： 10.1051/matecconf/20165102002

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Analytical model of pipe inspection robot using flexible pneumatic cylinder 査読

Haojun Qiu, Shujiro Dohta, Tetsuya Akagi, So Shimooka, Shinsaku Fujimoto

Lecture Notes in Electrical Engineering 345 ( 1 ) 325 - 334 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Springer Verlag

© Springer International Publishing Switzerland 2016. A pipe inspection robot is useful to reduce the inspection cost. In our previous study, a novel pipe inspection robot using a flexible pneumatic cylinder that can be driven even if it bends has been proposed and tested. The built-in pneumatic driving system using a tiny embedded controller and small-sized valves have also been proposed and tested to decrease the mass of the robot for increasing inspection area. In this chapter, in order to find out the optimal driving pattern and length of the robot, an analytical model of the pipe inspection robot is proposed. The model consists of two on/off control valves and a sliding mechanism which is composed of a flexible pneumatic cylinder.

DOI： 10.1007/978-3-319-17314-6_43

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Analysis and simulation of small-sized quasi-servo valve using tiny on/off control valve 査読

So Shimooka, Shujiro Dohta, Tetsuya Akagi, Yoshinori Moriwake

Lecture Notes in Electrical Engineering 345 ( 1 ) 59 - 66 2016年

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Springer Verlag

© Springer International Publishing Switzerland 2016. Today, the care and welfare pneumatic equipment to support a nursing care and a self-reliance of the elderly and the disabled are actively researched and developed by many researchers. These wearable devices require many servo valves for multidegrees of freedom and precise control performance of the wearable actuator. The total weight of the wearable devices increases according to the degree of freedom. In our previous study, a small-sized and lightweight pressure control- type quasi-servo valve was developed t. The valve consists of two on/off control valves and an embedded controller. In this study, the quasi-servo valve composing of much smaller-sized (40% in mass, 42% in volume) on/off valves is proposed and tested. The analytical model of the tested valve is proposed and the system parameters are identified. As the result of the comparison between experimental results and simulated, it was confirmed that the proposed analytical model and the identified system parameters were valid.

DOI： 10.1007/978-3-319-17314-6_8

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