研究者詳細 - 下岡　綜

論文 - 下岡　綜

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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

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

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

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

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

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

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

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

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

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

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 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

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

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

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

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

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

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

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

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

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

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

超音波センサ内蔵型ゴム人工筋の試作と位置決め制御査読

下岡綜,堂田周治郎,赤木徹也,守分善法

岡山理科大学紀要 51 ( 51 ) 63 - 68 2015年11月

Position Control of Rubber Artificial Muscle Using Built-in Ultrasonic Sensor and Quasi-Servo Valve 査読

So Shimooka, Shujiro Dohta, Tetsuya Akagi and Yoshinori Moriwake

International Journal of Mechanical Engineering and Robotics Research 4 ( 4 ) 304 - 308 2015年10月

低コスト圧力制御型疑似サーボ弁の性能評価と応用査読

下岡綜, 堂田周治郎, 赤木徹也, 守分善法

岡山理科大学紀要 50 55 - 60 2014年11月

Application of Pressure Control Type Quasi-Servo Valve for Positioning of Rubber Artificial Muscle 査読

So Shimooka, Shujiro Dohta, Tetsuya Akagi, Yoshinori Moriwake

International Forum on Systems and Mechatronics Proceedings ( D01 ) 1 - 6 2014年10月

Estimation of pressure control performance in low-cost quasi-servo valve using embedded controller 査読

So Shimooka, Shujiro Dohta, Tetsuya Akagi, Yoshinori Moriwake, Feifei Zhao

Lecture Notes in Electrical Engineering 293 ( 1 ) 359 - 366 2014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 2014. In our previous study, a small-sized and light-weight pressure control type quasi-servo valve was developed to reduce the burden of the user in a powerassisted system. The valve consists of inexpensive on/off control valves and embedded controller. In this study, the pressure control performances using four kinds of control scheme were investigated and compared by experiment and simulation. The frequencies up to 5 Hz were applied to the tested pressure control system. As an index of control performance, we used the mean absolute error. As a result, the sliding mode controller gave smaller error on the whole and PD controller gave the good performance in the higher frequency. It was confirmed that the introducing the dead zone to a control input and the lowering the supply pressure were effective to suppress the impulsive pressure change.

DOI： 10.1007/978-3-319-04573-3_44

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