Updated on 2023/01/05

写真a

 
Mashimo Tomoaki
 
Organization
Faculty of Natural Science and Technology Professor
Position
Professor
Profile

1976年5月、京都府生まれ。2008年、東京農工大学機械システム工学専攻で博士号を取得(指導教員:遠山茂樹教授)。その後、ロボット研究で世界的に有名な、米国カーネギーメロン大学 Robotics Instituteへ留学(アドバイザー:金出武雄教授)。この間、日本学術振興会の特別研究員と海外特別研究員。2011年から、豊橋技術科学大学、テニュアトラック助教を経て、2016年准教授。2022年より、岡山大学教授。

External link

Degree

  • 博士(工学) ( 2008.3   東京農工大学 )

Research Interests

  • Micro robot

  • Ultrasonic motor

  • Actuator

  • Piezoelectricity

  • Micro motor

Research Areas

  • Informatics / Mechanics and mechatronics  / Robotics

  • Informatics / Robotics and intelligent system  / Robotics

Education

  • Tokyo University of Agriculture and Technology   工学府   機械システム工学専攻(博士)

    - 2008.3

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Research History

  • Okayama University   学術研究院・自然科学学域   Professor

    2022.4

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    Country:Japan

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  • Toyohashi University of Technology   Mechanical Engineering Department   Associate Professor

    2016.1 - 2022.3

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  • Toyohashi University of Technology   エレクトロニクス先端研究所   Assistant Professor

    2011.1 - 2015.12

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  • Japan Society for Promotion of Science

    2009.4 - 2010.11

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  • Carnegie Mellon University   Robotics Institute   Post doctoral fellow

    2008.5 - 2010.11

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  • Japan Society for Promotion of Science

    2007.4 - 2009.3

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Professional Memberships

Committee Memberships

  • 日本機械学会・中国四国支部   商議員  

    2023.1   

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  • 国際会議IWPMA   Advisory Committee  

    2022.4 - 2022.10   

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  • 電気学会・人間支援システムのためのアクチュエーション技術調査専門委員会   委員  

    2020.7   

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  • ROBOMECH Journal   Editor  

    2019.6   

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  • 国際会議IROS   Associate Editor  

    2019.4 - 2019.11   

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  • 精密工学会・超精密位置決め専門委員会   会計監査  

    2019.2   

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  • 国際会議IWPMA   幹事  

    2018.9   

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    Committee type:Academic society

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  • 日本機械学会・ロボティクス・メカトロニクス部門   欧文誌委員会委員  

    2016.4   

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  • 精密工学会・次世代センサ・アクチュエータ委員会   総務  

    2014.4   

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  • 電気学会・多自由度新世代アクチュエータの性能評価調査専門委員会   委員  

    2013.4   

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  • 超音波医学会・中部地方会運営委員会   委員  

    2013.4 - 2018.3   

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Papers

  • Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives Reviewed

    Mohamed M. Khalil, Tomoaki Mashimo

    IEEE Robotics and Automation Letters   7 ( 3 )   7628 - 7635   2022.7

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/lra.2022.3183897

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  • Performance improvement of micro-ultrasonic motors using the thickness shear mode piezoelectric elements Reviewed

    Tomoaki Mashimo, Yoshinari Oba

    Sensors and Actuators A: Physical   335   113347 - 113347   2022.3

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.sna.2021.113347

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  • Design of a Micro Linear Ultrasonic Motor with a Preload Mechanism Reviewed

    Shunsuke Izuhara, Tomoaki Mashimo

    Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering   88 ( 1 )   51 - 56   2022.1

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)  

    We present a micro linear piezoelectric ultrasonic motor, which can be used for zooming and autofocusing features in camera modules inside cellphones and endoscopes, it consists of a cuboid stator with a hole and an elastic cylindrical slider. The motor design, in which the slider inserted into the stator hole expands outward, enables a hollow structure for an optimal preload for enhancing the motor thrust force, (n this study, we model the relationship between the dimensions and the preload to quantify the preload value and clarify the design methodology. The size of the prototype stator with piezoelectric elements measures 2,6 mm in height and width and 2.2 mm in depth (the length in slider travel direction). There is a hole of 1,7 mm in diameter at the stator center, and the slider inserted into the hole operates when voltages are applied to the piezoelectric elements. Applying an optimized preload, we evaluate the fundamental characteristics of the motor in experiments, A thrust force of approximately 40 mN and a resolution of about 1 μm were obtained, which may satisfy the specification of a certain type of camera modules.

    DOI: 10.2493/JJSPE.88.51

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  • Lift Generation by a Miniature Piezoelectric Ultrasonic Motor-Driven Rotary-Wing for Pico Air Vehicles Reviewed

    Eric TanKai Chiang, Takateru Urakubo, Tomoaki Mashimo

    IEEE Access   10   13210 - 13218   2022

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/access.2022.3146866

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  • Design and characterization of a thin linear ultrasonic motor for miniature focus systems Reviewed

    Shunsuke Izuhara, Tomoaki Mashimo

    Sensors and Actuators A: Physical   329   112797 - 112797   2021.10

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.sna.2021.112797

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  • Comparison study of bending and three-wave vibration modes for micro ultrasonic motors Reviewed

    Eric TanKai Chiang, Tomoaki Mashimo

    Sensors and Actuators A: Physical   329   112801 - 112801   2021.10

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    DOI: 10.1016/j.sna.2021.112801

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  • A Millimeter-Scale Rolling Microrobot Driven by a Micro-Geared Ultrasonic Motor Reviewed

    Rudolf Yoga Hutama, Mohamed M. Khalil, Tomoaki Mashimo

    IEEE Robotics and Automation Letters   6 ( 4 )   8158 - 8164   2021.10

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/lra.2021.3104227

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  • Switching Between Continuum and Discrete States in a Continuum Robot With Dislocatable Joints Reviewed

    Ayato Kanada, Tomoaki Mashimo

    IEEE Access   9   34859 - 34867   2021

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/access.2021.3062284

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  • CRACKS IN BRIDGE FLOOR DETECTED BY 2-DIMENSIONAL COMPLEX DISCRETE WAVELET PACKET TRANSFORM Reviewed

    Zhong Zhang, Ohzora Hamata, Takuma Akiduki, Tomoaki Mashimo, Taiki Saito, Kazuhiro Hayashi

    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL   16 ( 6 )   2007 - 2019   2020.12

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:ICIC INTERNATIONAL  

    Bridge inspection is usually done visually on-site, and for this reason is problematic in places inaccessible to inspectors. In this paper we propose a solution through the analysis of features in captured images that suggest potential problems. We focus on the ability to detect cracks, and a complex-valued Haar wavelet is designed and applied to a 2D-CWPT, which is then combined with an anisotropic diffusion filter. A detection method for linear cracks is proposed through interpolation of the crack loss area and extraction processing according to the shape feature. The main results are: 1) we confirm that the complex-valued Haar wavelet is more effective for edge enhancement than the complex-valued Meyer wavelet; 2) quantitative evaluation of the proposed method for crack detection using the correct rate, sensitivity, specificity, precision rate, and F-value confirms the effectiveness of the method.

    DOI: 10.24507/ijicic.16.06.2007

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  • Characterization of bulk piezoelectric element-based ultrasonic motors Reviewed

    Shunsuke Izuhara, Tomoaki Mashimo

    ROBOMECH Journal   7 ( 1 )   2020.12

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Springer Science and Business Media LLC  

    Abstract

    We propose miniature ultrasonic motors using stators made of a single bulk piezoelectric element. The bulk piezoelectric stator has the potential to increase output by reducing the dissipation that occurs in the adhesion layer between the PZTs and a metallic component in the stator. In this paper, we build two kinds of bulk piezoelectric stators: a cubic bulk stator with a side length of 4.2 mm and a hole of 3 mm in diameter, and a cylindrical bulk stator with an outer diameter of 4.2 mm and the same hole diameter. We evaluate their electrical and mechanical characteristics, such as impedance and vibration velocity. The experiments clarify the advantages of the bulk piezoelectric stators, such as low dissipation. The cubic bulk stator, which shows higher performance than the cylindrical one, is compared with a similar-shaped stator using a bronze cube and thin piezoelectric plates. The performance measures of the cubic bulk ultrasonic motor are optimized by the preload between the stator and rotor.

    DOI: 10.1186/s40648-020-00179-w

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    Other Link: https://link.springer.com/article/10.1186/s40648-020-00179-w/fulltext.html

  • Self-Sensing and Feedback Control for a Twin Coil Spring-Based Flexible Ultrasonic Motor Reviewed

    Yunosuke Sato, Ayato Kanada, Tomoaki Mashimo

    IEEE Robotics and Automation Letters   5 ( 4 )   5425 - 5431   2020.10

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/lra.2020.3008118

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  • Linear piezoelectric motor using a hollow rectangular stator Reviewed

    Shunsuke Izuhara, Tomoaki Mashimo

    Sensors and Actuators A: Physical   309   112002 - 112002   2020.7

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Elsevier BV  

    We propose a linear piezoelectric motor using a hollow rectangular stator that can translate a load placed inside it by a direct-drive. This stator structure enables a quick response and high resolution by few components. These advantages are suited for controlling autofocus and zoom mechanisms in imaging devices. In this study, we verify the feasibility of the driving principle that uses two vibration modes in the bending and longitudinal direction of a hollow rectangular plate. We design a hollow linear piezoelectric motor by a finite element method analysis and evaluate the performance of the prototype motor by experiments. In the prototype motor, the stator measures 60 mm in height and width and 4.1 mm in thickness (the length in slider travel direction), and a slider with a side length of 42 mm is inserted into the stator. The performance parameters of the linear motion, such as thrust force and speed, are evaluated experimentally. By optimizing the preload between the stator and the slider, the motor thrust force has improved to over 0.5 N at 70 Vp-p, which is a practical force for moving a certain lens unit. (C) 2020 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2020.112002

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  • Design and Experiments of Flexible Ultrasonic Motor Using a Coil Spring Slider Reviewed

    Ayato Kanada, Tomoaki Mashimo

    IEEE/ASME Transactions on Mechatronics   25 ( 1 )   468 - 476   2020.2

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    Authorship:Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/tmech.2019.2959614

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  • Review: Recent Advances in Micromotors Reviewed

    Tomoaki Mashimo, Shunsuke Izuhara

    IEEE Access   8   213489 - 213501   2020

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/access.2020.3041457

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  • High-Speed Visual Feedback Control of Miniature Rotating Mirror System Using a Micro Ultrasonic Motor Reviewed

    Tomoaki Mashimo, Shunsuke Izuhara, Shiro Arai, Zhong Zhang, Hiromasa Oku

    IEEE Access   8   38546 - 38553   2020

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/access.2019.2957298

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  • Research on surface defects detection of reflected curved surface based on convolutional neural networks Reviewed

    Zhong Zhang, Borui Zhang, Takuma Akiduki, Tomoaki Mashimo, Tianbiao Yu

    ICIC Express Letters, Part B: Applications   10 ( 7 )   627 - 634   2019.7

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    © 2019, ICIC International. All rights reserved. Surface inspection relying on computer vision has been widely used in many fields. However, the existing computer vision-based industrial parts surface defect detection methods mostly adopt an image registration algorithm. This method is limited by environmental factors, and the image preprocessing process is complex. On the other hand, with the rapid development of deep learning, the appearance of Convolutional Neural Network (CNN) has led to the rapid development of computer vision research based on deep learning. CNNs have excellent performance for image processing and do not require a manual image extraction feature. In this study, the two type CNNs are trained through a large number of pictures, and then they are integrated to an ensemble CNN for the surface defect detection, and encouragement results are obtained.

    DOI: 10.24507/icicelb.10.07.627

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  • A new risk estimation model of bayesian network for adapting to driving environment changing Reviewed

    Zhong Zhang, Taira Furuichi, Takuma Ueda, Takuma Akiduki, Tomoaki Mashimo

    ICIC Express Letters, Part B: Applications   10 ( 6 )   515 - 521   2019.6

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    © 2019, ICIC International. All rights reserved. In recent years, research on automated driving of automobiles is being promoted, and accidents caused by human error by driving support systems are also expected to decrease. However, most of the accidents occur because the risk that the driver feels subjectively is too small. Therefore, to reduce the number of traffic accidents, it is necessary to raise danger perception while driving. There are two kinds of risk in the driving environment: the subjective risk felt by the driver and the objective risk existing in the driving environment. In this research, we construct a model to estimate each risk value by using two pieces of information: traffic environment information obtained from the front image of the vehicle and driving operation information of the driver. Furthermore, by combining them the risk of adapting to the driving environment is determined, and acts to raise drivers’ perception of danger.

    DOI: 10.24507/icicelb.10.06.515

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  • Reachability Improvement of a Climbing Robot based on Large Deformations induced by Tri-Tube Soft Actuators Reviewed

    A. Kanada, F. Giardina, T. Howison, T. Mashimo, F. Iida

    Soft Robotics   6 ( 4 )   483 - 494   2019

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Mary Ann Liebert Inc  

    DOI: 10.1089/soro.2018.0115

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    Other Link: https://www.liebertpub.com/doi/pdf/10.1089/soro.2018.0115

  • Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification Reviewed

    Takateru Urakubo, Eri Kitagawa, Xianglong Wan, Tomoaki Mashimo

    Advanced Robotics   32 ( 11 )   623 - 634   2018.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Informa UK Limited  

    DOI: 10.1080/01691864.2018.1476180

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  • Micro-Flat Ultrasonic Motor for a Miniature Direct-Drive Two-Link Reviewed

    K. Miyoshi, T. Mashimo

    Advanced Robotics   2018

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  • Design and Evaluation of Micro Linear Ultrasonic Motor Reviewed

    S. Iduhara, T. Mashimo

    Sensors and Actuators A: Physical   278   60 - 66   2018

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    We propose a micro linear ultrasonic motor, which is one of the smallest linear actuators that can generate practical force. Such a small actuation mechanism can be used for a wide range of applications, such as auto-focus systems used in thinner cell phones and smaller endoscopes. In this paper, we design the micro linear ultrasonic motor and evaluate the performance of the prototype motor. The size of the prototype stator with piezoelectric elements measures 2.6 mm in height, 2.6 mm in width, and 2.2 mm in depth (the length in slider travel direction). There is a hole of 1.4 mm in diameter at the stator center, and the slider inserted into the hole moves back and forth when voltages are applied to the piezoelectric elements. By optimizing the preload between the stator and slider experimentally, the motor thrust force has been improved to over 10 mN, which is a practical force for moving small objects. Experiments clarify the output characteristics in response to the input voltages. Finally, a maximum thrust force of 20 mN has been obtained at applied voltages with an amplitude of 150 Vp-p. (C) 2018 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2018.05.022

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  • Micro Geared Ultrasonic Motor Reviewed

    T. Mashimo, T. Urakubo, Y. Shimizu

    IEEE/ASME Transactions on Mechatronics   2018

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  • Scaling of piezoelectric ultrasonic motors at submillimeter range Reviewed

    Tomoaki Mashimo

    IEEE/ASME Transactions on Mechatronics   22 ( 3 )   1238 - 1246   2017.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers Inc.  

    The scaling of physical effects is of great interest not only to understand the behavior in microengineering but also to design next-generation micromachines. This study presents the scaling of piezoelectric ultrasonic motors using theoretical and experimental methodologies. The motor performance parameters, such as torque, angular velocity, and efficiency, are modeled to predict how they behave at millimeter to submillimeter scales. Two types of ultrasonic motors are examined as case studies: Typical traveling wave ultrasonic motors using a ring stator and micro ultrasonic motors using a cubic stator. Although the miniaturization of the ring stator is limited because of its complicity, the simple cubic stator design enables miniaturization even up to a side length of 0.5 mm, which is the smallest ultrasonic motor reported to date. Using several prototype micro ultrasonic motors, the scaling of the motor performance parameters predicted by the models are experimentally confirmed. It is shown that the ultrasonic motors are advantageous to other driving-principle-based motors at millimeter to submillimeter range.

    DOI: 10.1109/TMECH.2017.2691805

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  • Miniature preload mechanisms for a micro ultrasonic motor Reviewed

    Tomoaki Mashimo

    SENSORS AND ACTUATORS A-PHYSICAL   257   106 - 112   2017.4

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    We propose the smallest preload generation mechanisms that provide force between the rotor and the one cubic millimeter stator in a micro ultrasonic motor. Miniaturizing the preload mechanism is key for implementation of a micro ultrasonic motor with the best performance into micro devices. In this paper, we evaluate two kinds of preloads that exert in the axial and radial directions: an axial preload mechanism and a radial preload mechanism. The experiments clarify how both preload mechanisms improve motor performance measures such as angular velocity, torque, and efficiency. The micro ultrasonic motors with both preload mechanisms generated torque over 10 plslin at the experimentally optimized preload of approximately 6 g. By designing the miniature preload mechanisms using a micro coil spring, the preload mechanisms are miniaturized with similar motor performance. At present, they represent the smallest and most powerful ultrasonic motors with preload mechanisms. (C) 2017 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2017.02.009

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  • Micro Ultrasonic Motor Using a Cube With a Side Length of 0.5 mm Reviewed

    Tomoaki Mashimo

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   21 ( 2 )   1189 - 1192   2016.4

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    Actuator miniaturization to submillimeter scales encounters difficult fabrication and serious torque dissipation caused by adhesion forces. This study presents a design for micro ultrasonic motors that enables microfabrication and motor actuation. The stator prototype, which is the smallest ultrasonic motor reported to date, comprises a metallic cube with a side length of 0.5 mm and a through-hole of 0.33-mm diameter at its center, and two piezoelectric elements adhered to its sides. Under two different applied voltages, the stator generates a driving force and transfers it to the rotor inserted in the through-hole. Performance assessments show that this micromotor generates an average angular velocity of 123 rad/s and a peak torque of 0.2 mu N.m. This torque value exceeds that of the existing micromotors.

    DOI: 10.1109/TMECH.2015.2511782

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  • Study of rotary-linear ultrasonic motor output shafts Reviewed

    Ayato Kanada, Tomoaki Mashimo, Kazuhiko Terashima

    International Journal of Automation Technology   10 ( 4 )   549 - 556   2016

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

    We propose output shafts with a preload generation mechanism to improve the output torque and thrust force of the rotary-linear ultrasonic motor. The stator is comprised of a single metallic cube with a throughhole, and the output shafts are inserted into the hole to generate motion in both its circumferential and axial directions arbitrarily. In this paper, two design concepts for optimizing the preload using the output shafts are examined. The first involves a cylinder shaft with micron-order accuracy diameter realization. The cylinder shaft makes contact with the entire inner surface of the stator and generates a preload between the stator and shaft. The second concept employs a spring shaft having a slightly larger diameter than the stator hole, which expands in the radial direction and generates the preload. Experiments show that these design concepts improve the output torque and thrust force.

    DOI: 10.20965/ijat.2016.p0549

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  • Performance Evaluation of a Micro Ultrasonic Motor Using a One-Cubic-Millimeter Stator Reviewed

    Tomoaki Mashimo

    IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   62 ( 10 )   1819 - 1826   2015.10

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    A piezoelectric ultrasonic motor has two significant advantages, high energy density and simple structure, and these advantages can help in the miniaturization of the motor. We build a prototype micro ultrasonic motor using a stator with a volume of approximately 1 cubic millimeter. To evaluate its representative performance values (torque, angular velocity, and energy efficiency), we built an experimental setup and operated the prototype motor by varying experimental conditions, such as the preload between the stator and rotor and the amplitude of voltages applied to motor. The performance values obtained at the millimeter to sub-millimeter scale are discussed analytically using the macro scale models of ultrasonic motors. Experimentally, the prototype motor has generated a torque of more than 10 mu Nm with a 1-cubic-millimeter stator. The motor described herein is now the smallest micro ultrasonic motor with a practical torque, although its efficiency is still low.

    DOI: 10.1109/TUFFC.2014.006834

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  • Dynamic Analysis of an Ultrasonic Motor using Point Contact Model Reviewed

    T. Mashimo, K. Terashima

    Sensors and Actuators A: Physical   233   15 - 21   2015

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

    We propose the dynamic modeling of a traveling wave ultrasonic motor using a point contact model between the stator and rotor. This model can simply and accurately estimate the transient response of the rotor motion. In this paper, we model the dynamic behavior of the motor torque and angular velocity based on the vibration amplitude of the elliptical motion generated in the ultrasonic motor. The use of a recent high-speed camera with a high-power lens (high-speed microscope) enables the observation of elliptical motion and the measurement of vibration amplitudes. We build a synchronous motor drive system including the high-speed microscope and verify the model experimentally. The proposed model has been in good agreement with the experimental results. (C) 2015 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2015.05.009

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  • 特異姿勢付近における2リンクロボットアームの動力学的性質に関する考察 Reviewed

    浦久保孝光, 万象隆, 真下智昭

    システム制御情報学会論文誌   28 ( 9 )   377 - 383   2015

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

    For a serial linkage mechanism, the kinematic relationship between the end effector and the joint angles is nonlinear. The kinematics highly affects the dynamics of the mechanism near singular configurations where the relationship is singular. In this paper, we examine dynamic characteristics of singular configurations for a two-link robot arm, and show that the singular configurations are advantageous in reducing the joint torques necessary to achieve the task of pulling a heavy object.

    DOI: 10.5687/iscie.28.377

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    Other Link: https://jlc.jst.go.jp/DN/JLC/20015547284?from=CiNii

  • Study on the Responsiveness of Ultrasonic Motors in Change of Elliptical Motion Reviewed

    Takahito Yamashita, Tomoaki Mashimo, Kazuhiko Terashima

    Journal of the Robotics Society of Japan   33 ( 9 )   696 - 703   2015

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

    DOI: 10.7210/jrsj.33.696

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  • Experimental Verification of Elliptical Motion Model in Travelling Wave Ultrasonic Motors Reviewed

    T. Mashimo, K. Terashima

    IEEE/ASME Transactions on Mechatronics   20 ( 6 )   2699 - 2707   2015

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

    We propose a model of a traveling wave ultrasonic motor that includes the elliptical motion amplitudes of the stator and verify this model experimentally using a high-speed camera with a high-power lens (i.e., a high-speed microscope). This approach makes it easy to estimate the motor characteristics, such as the rotational speed and torque. In this paper, we build a mechanical model of the stator and rotor that incorporates the elliptical motion amplitudes. The elliptical motion of a few microns at ultrasonic frequencies is captured and measured by the high-speed microscope. When modeling parameters are determined from the observed vibration amplitudes, the model can predict the motor characteristics. We study how the observed elliptical motion is related to the motor output by varying the frequency of applied voltages, and verify the proposed model by comparison with the experimental results.

    DOI: 10.1109/TMECH.2015.2392126

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  • Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency Reviewed

    T. Mashimo, T. Urakubo, T. Kanade

    ASME Journal of Mechanisms and Robotics   7 ( 3 )   2015

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    We propose a mechanism that exploits the singular configuration in a closed-loop four-bar linkage that can produce a high impulsive torque (a high torque for a short period in time) at the start of motion and high angular velocity during the successive motion. Such characteristics make the mechanism suitable for executing with high energy efficiency a certain class of tasks, such as lifting heavy objects. In this paper, we define the singularity-based linkage mechanism (SLM), analyze its characteristics of torque generation and energy efficiency theoretically, and then confirm them experimentally by using an SLM prototype. The performance of the SLM is compared with that of a comparable size parallelogram mechanism (PM). It is shown that the energy efficiency of the SLM comes from the fact that it achieves the high acceleration of the output link in the neighborhood of the singular configuration by providing energy with low current and high voltage to the motor; whereas the typical PM requires high current to produce the comparable impulsive torque.

    DOI: 10.1115/1.4028930

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  • Micro ultrasonic motor using a one cubic millimeter stator Reviewed

    Tomoaki Mashimo

    SENSORS AND ACTUATORS A-PHYSICAL   213   102 - 107   2014.7

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    Ultrasonic motors are expected to be used as micro-actuators, and the miniaturization of these devices is an interesting subject. We present a micro ultrasonic motor using a stator with a volume of approximately 1 mm(3), which is one of the smallest ultrasonic motors. The stator consists of a metallic cube with a through-hole and piezoelectric elements adhered to its sides; the simplicity of the stator allows it to be miniaturized without special machining processes. The vibration mode that the stator generates for rotation is three waves around the circumference of the hole. This vibration mode can generate certain vibration amplitudes and driving torques even when the stator is miniaturized. In this paper, we build a prototype micro ultrasonic motor and examine its basic characteristics, including impedances and vibration amplitudes. The basic motor performance, such as its torque and rotational speed, is demonstrated experimentally. (C) 2014 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2014.03.018

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  • Piezoelectric Rotational Mixer Based on a First Bending Vibration Mode Reviewed

    Tomoaki Mashimo

    IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   60 ( 10 )   2098 - 2104   2013.10

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    We propose a miniature piezoelectric mixer that can rotate a liquid inside a hole of several millimeters diameter. The mixer has dimensions 14 x 14 x 10 mm with a through-hole (7 mm), and piezoelectric elements bonded to its four identical sides. When the first bending vibration mode of the mixer is excited by ac voltages, rotational flow of liquid is generated by the rotation of an acoustic field (acoustic streaming) in the through-hole. This technology is useful in automating mixing processes such as the mixing by hand of a few drops of blood in medical testing. In this paper, we verify the driving principle experimentally and examine the characteristics of a prototype mixer, including the induced flow velocity, under changes of the amplitude and frequency of the applied voltages. A plastic test tube, used to prevent contamination, is inserted to the through-hole, and the liquid inside the tube is mixed by rotation of the acoustic field.

    DOI: 10.1109/TUFFC.2013.2800

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  • Spherical ultrasonic motor drive system for camera orientation in pipe inspection Reviewed

    Masahiko Hoshina, Tomoaki Mashimo, Naoki Fukaya, Osamu Matsubara, Shigeki Toyama

    ADVANCED ROBOTICS   27 ( 3 )   199 - 209   2013.2

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    We propose a camera actuating system using a spherical ultrasonic motor for inspection of the inside wall of a small pipe. The spherical ultrasonic motor has advantages that include three degrees of freedom, high responsiveness and high accuracy all within a compact body. We describe here the development of an outer rotor spherical ultrasonic motor (OR-SUSM) that enables a camera to rotate by more than 360 degrees along the side of the pipe. All components, including the OR-SUSM, the sensing system, and the electric circuits, are designed to be assembled in the pipe inspection device with outer diameter of 52mm. To control the system, the phase difference and frequency of the applied voltages are used. The rotational direction is determined by the phase difference and the angular velocity is controlled by the frequency. The completed system can be controlled to within 2 degrees in an experimental pipe inspection test.

    DOI: 10.1080/01691864.2012.754077

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  • Vibration Analysis of Cubic Rotary-Linear Piezoelectric Actuator Reviewed

    Tomoaki Mashimo, Shigeki Toyama

    IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   58 ( 4 )   844 - 848   2011.4

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    Cubic design of a stator in a rotary-linear piezoelectric actuator is sophisticated and interesting, but the vibration theory of the cubic stator remains unclear when using the finite element method (FEM). In this paper, we analyze the vibration behavior of the cubic stator by applying the energy method, which distinguishes the component of mechanical energy. By changing the design of the stator (especially the length in the direction of the through-hole axis), we clarify how the vibration modes are in accordance at one equal frequency in cubic shape. The behavior of the vibration modes is discussed using conventional vibration theory of a beam and a plate.

    DOI: 10.1109/TUFFC.2011.1877

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  • Rotary-Linear Piezoelectric Microactuator With a Cubic Stator of Side Length 3.5 mm Reviewed

    Tomoaki Mashimo, Shigeki Toyama

    IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   57 ( 8 )   1825 - 1830   2010.8

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    We report a miniature rotary-linear piezoelectric actuator with a single cubic stator of side length 3.5 mm which can generate rotary motion around the center axis and linear motion in the axial direction. The stator is fabricated as a single metallic cube of side length 3.5 mm with a 2.5-mm-diameter through-hole and four piezoelectric elements bonded to the sides of the stator. The simplicity makes the actuator compact without any special manufacturing. In the design for miniaturization, the modal analysis using the finite element method indicates the natural frequency of the stator from the side length 14 mm to 3.5 mm. In the experiments, rotary motion of 24 rad/s and 2.5 mu Nm were obtained at a resonant frequency of 280 kHz, and linear motion of 80 mm/s and 2.6 mN was observed at 305 kHz by driving the system at an applied voltage of 42 V(rms).

    DOI: 10.1109/TUFFC.2010.1621

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  • Development of micro ultrasonic motor for surgery Reviewed

    S. Toyama, T. Mashimo

    Journal of Vibroengineering   11 ( 1 )   27 - 33   2009

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    We present a micro ultrasonic motor having rotary and linear motions for endovascular diagnosis and surgery. The stator prototype is a cube of side 3.5mm, and the main body is fabricated as a single metallic cube with a through-hole at the center. Four piezoelectric elements are bonded to the sides of the stator. When AC voltage is applied to the piezoelectric elements, the circumference of the stator generates elliptical motions. We can obtain the Output from a shaft inserted through the hole. We developed the first prototype of the stator, and determined the rotary-linear motion.

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  • Design and Implementation of a Spherical Ultrasonic Motor Reviewed

    T. Mashimo, S. Toyama, H. Ishida

    IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control   56 ( 11 )   2514 - 2521   2009

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    We present a mechanical design and implementation of spherical ultrasonic motor (SUSM) that is an actuator with multiple rotational degrees of freedom (multi-DOF). The motor is constructed of 3 annular stators and a spherical rotor and is much smaller and simpler than conventional multi-DOF mechanisms such as gimbals using servomotors. We designed a novel SUSM using experimental data from a single annular stator and a finite element method. The SUSM using a spherical rotor of diameter 20 mm without any reduction gear has demonstrated advantages of high responsiveness, good accuracy, and high torque at low speed. The dynamic implementation of SUSM was consistent with the driving model of SUSM based on a friction drive.

    DOI: 10.1109/TUFFC.2009.1338

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  • 単一ステータによる回転直動圧電アクチュエータの開発(第2報)−TRモータの特性− Reviewed

    真下智昭, 遠山茂樹

    精密工学会誌   2009

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  • Rotary-Linear Piezoelectric Actuator using a Single Stator Reviewed

    T. Mashimo, S. Toyama

    IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control   2009

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  • 単一ステータによる回転直動圧電アクチュエータの開発(第1報)−駆動原理と有限要素法を用いたステータの設計− Reviewed

    真下智昭, 遠山茂樹

    精密工学会誌   2008

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  • 球面超音波モータを用いたMRI環境下手術支援マニピュレータの開発(第2報)−光ファイバを用いた姿勢センシングの開発− Reviewed

    真下智昭, 粟賀宏介, 遠山茂樹

    精密工学会誌   74 ( 4 )   400 - 404   2008

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    We present theoretical and experimental analyses of an optical attitude sensing system for an MRI-compatible surgical assist manipulator using a spherical ultrasonic motor. In the system, a laser light passes through an optical fiber to a flat mirror of a spherical rotor; the reflection from the mirror is caught by optical fibers. The observed light intensity is converted to attitude information by a neural network, and the rotation of the spherical rotor is detected. The system uses optical fibers and allows the spherical rotor to be miniaturized and inexpensive. In this report, we developed the optical attitude sensing system and tested the drive of spherical ultrasonic motor with the sensing system. As the result, the attitude sensing resolution was less than 0.5°. The sensing system has indicated the feasibility for the control of the manipulator.

    DOI: 10.2493/jjspe.74.400

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  • 超音波を用いた血栓吸引カテーテルの開発 Reviewed

    高見沢悟, 真下智昭, 遠山茂樹

    ライフサポート学会誌   18   74 - 74   2008

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    DOI: 10.5136/lifesupport.18.Supplement_74

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  • 球面超音波モータを用いたMRI環境下手術支援マニピュレータの開発(第1報)−MRI対応球面超音波モータの試作− Reviewed

    真下智昭, 遠山茂樹, 石田寛

    精密工学会誌   73 ( 2 )   275 - 280   2007

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    In this paper we report the development of a novel actuator for surgical assist manipulator to perform minimally invasive surgery with magnetic resonance imaging (MRI) guidance. The actuator, which is called the spherical ultrasonic motor (SUSM), is constructed of a spherical rotor and three ring-type stators, and has multi-degrees of freedom. In this study, the principle of the SUSM is described. A novel SUSM composed of non-magnetic materials has been constructed, the stator of which was designed using the finite element method. Evaluation of the driving characteristics revealed the SUSM to have good responsiveness and high positioning accuracy. In MRI environment, the noise effects of the SUSM on MRI images were examined. The results demonstrate the feasibility of the surgical assist manipulator using the SUSM.

    DOI: 10.2493/jjspe.73.275

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Books

  • 新世代アクチュエータの性能評価とそれを活かす多自由度構成の提案

    真下智昭( Role: Contributor)

    多自由度新世代アクチュエータの性能評価調査専門委員会編,電気学会産業応用部門  2016.4 

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  • 今後の高齢化社会に求められる生活支援(福祉・介護・リハビリ)ロボット技術

    真下智昭( Role: Contributor)

    情報機構  2015.10 

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  • 次世代医療・ヘルスケア機器のデバイス技術と最新開発事例集

    真下智昭( Role: Contributor)

    技術情報協会  2014.5 

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  • (解説)内視鏡への応用を目指したフレキシブル超音波モータの開発 Invited

    金田礼人, 真下智昭

    システム/制御/情報   66 ( 2 )   2022.3

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  • (解説)マイクロ超音波モータの開発〜回転型および直動型の原理と特徴〜 Invited

    真下智昭, 出原俊介

    機械設計   66 ( 3 )   2022.3

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  • (解説)フィジカルケアロボットによる手技療法における身体の状態推定と制御 Invited

    田崎良佑, 秋月拓磨, 真下智昭, 大村廉, 本名敦夫, 北崎充晃

    システム/制御/情報   66 ( 2 )   2022.3

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  • (解説)マイクロ超音波モータを用いたマイクロロボットの開発を目指して Invited

    真下 智昭

    日本ロボット学会   2018

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  • (解説)マイクロ超音波モータの予圧機構に関する研究 Invited

    真下 智昭

    超音波テクノ   29 ( 4 )   100 - 103   2017

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  • (解説)世界最小の超音波モータの開発を目指して Invited

    真下 智昭

    超音波テクノ   27 ( 1 )   67 - 71   2015

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  • (解説)医療ロボットのためのマイクロ超音波モータ Invited

    真下 智昭

    日本ロボット学会誌   2015

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  • (解説)特集 超音波によるアクチュエーション技術 マイクロ超音波モータの高出力化に関する研究開発 Invited

    超音波テクノ   27 ( 5 )   1 - 5   2015

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  • (解説)超音波モータを用いたロボットの開発と制御 Invited

    真下 智昭

    システム制御情報学会誌   2013

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  • (解説)曲げ振動モードによる圧電式小型攪拌機の開発 =駆動原理の検証と撹拌性能の調査= Invited

    真下 智昭

    超音波テクノ   24 ( 4 )   42 - 45   2012

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  • アウターロータ型球面超音波モータを用いた管内検査ロボットの開発

    保科真彦, 松原修, 遠山茂樹, 真下智昭, 深谷直樹

    精密工学会大会学術講演会講演論文集   2010 ( 0 )   ROMBUNNO.F21 - 468   2010.3

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    水道やガスなどのインフラ配管は老朽化のため検査が必要とされている.この検査には目視が有力であり,その際カメラを駆動し傷を正視することが望ましい.そこで,カメラ用アクチュエータとして小型,多自由度という特徴を持つ球面超音波モータを用いた管内検査ロボットを開発した.モータの改良により内径50mmの管に挿入可能でかつ±90度以上の広い視野角を持つことを実現した.

    DOI: 10.11522/pscjspe.2010S.0.467.0

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Presentations

  • Assessment of Muscle Fatigue Based on the Reaction Force of Muscles for a Basis of Developing a Massage Robot

    Yasutaka Yasumoto, Takuma Akiduki, Tomoaki Mashimo, Ryosuke Tasaki, Ren Ohmura, Atsuo Honna, Michiteru Kitazaki

    IEEE Transactions on Systems, Man, and Cybernetics: Systems  2020.10.11 

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    Massage therapy is crucial in the field of physical activities and sports to recover muscle fatigue and reduce stress. However, the physical workload on massage therapists is demanding, and the number of therapists is limited. To solve these problems, a massage robot that can move with human-like flexibility and delicacy was develop using a five-fingered robotic hand that mimicking a human hand. Moreover, the aim of this research is to develop a method of online estimation of a user's fatigue based on the muscle hardness in order to evaluate the effect of massaging from tactile information of the robot hand finger-tips to perform appropriate treatment. In this paper, we constructed a system about to measure muscle hardness based on reaction forces and measuring changes in muscle hardness and subjective fatigue over time before and after exercise. Then, the experiment of measuring muscle fatigue was conducted. As a result, the correlation coefficient between changes in muscle hardness and subjective fatigue highly correlated with five of the seven experimental participants. The result suggests the possibility that changes in the reaction force of muscles can be used as a measure for muscle fatigue recovery.

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  • Study on Surface Measurement Method for 3D Parts Using Phase Shift Technique

    YOKOSAWA Oriza, ZHONG Zhang, AKIDUKI Takuma, MASHIMO Tomoaki

    The Proceedings of Conference of Tokai Branch  2020  The Japan Society of Mechanical Engineers

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  • Effect of Motion and Hand Shape of a Massage Robot on Social Impression: Exploratory study in a Virtual Environment.

    Kyosuke Yamamoto, Yuki Kato, Ryosuke Tasaki, Takuma Akiduki, Tomoaki Mashimo, Atsuo Honna, Michiteru Kitazaki

    30th International Conference on Artificial Reality and Telexistence, 25th Eurographics Symposium on Virtual Environments, ICAT-EGVE 2020 - Posters and Demos  2020  Eurographics Association

  • Assessment of Muscle Fatigue Based on the Reaction Force of Muscles for a Basis of Developing a Massage Robot.

    Yasutaka Yasumoto, Takuma Akiduki, Tomoaki Mashimo, Ryosuke Tasaki, Ren Ohmura, Atsuo Honna, Michiteru Kitazaki

    2020 IEEE International Conference on Systems, Man, and Cybernetics(SMC)  2020  IEEE

  • A design of tactile sensor for detecting contact hardness using piezoelectric elements

    Akiduki Takuma, Battumur Regzen, Mashimo Tomoaki, Zhang Zhong

    Proceedings of the Japan Joint Automatic Control Conference  2020  The Japan Joint Automatic Control Conference

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  • Development of quantitative evaluation method of surface defect inspector skill

    HIRAYAMA Shun, SHO Chu, MASHIMO Tomoaki, AKIDUKI Takuma

    The Proceedings of Conference of Tokai Branch  2019  The Japan Society of Mechanical Engineers

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  • Study on Extraction of Driver’s Gazing Object using Vehicle-mounted Monocular Camera

    OKUDA Yutaka, AKIDUKI Takuma, Zhang Zhong, MASHIMO Tomoaki

    The Proceedings of Conference of Tokai Branch  2019  The Japan Society of Mechanical Engineers

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  • Development of defect inspection technology for specular reflection surface using optical flow

    TERUYA Morikazu, ZHANG Zhong, MASHIMO Tomoaki, AKIDUKI Takuma

    The Proceedings of Conference of Tokai Branch  2019  The Japan Society of Mechanical Engineers

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  • Study on Examination for Appearance of the Luster Part Using the Stripe Pattern

    HOSHINO Masaya, ZHANG Zhong, MASHIMO Tomoaki, AKIDUKI Takuma

    The Proceedings of Conference of Tokai Branch  2019  The Japan Society of Mechanical Engineers

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  • Miniature Robot Finger Using a Micro Linear Ultrasonic Motor and a Closed-Loop Linkage

    Shunsuke Izuhara, Tomoaki Mashimo

    IEEE International Conference on Intelligent Robots and Systems  2018.12.27 

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    Event date: 2018.12.27

    To prioritize miniaturization, the actuators of micro robot hands are placed far from the end effectors, but such mechanisms restrict controllability and dexterity. We propose a miniature robot finger driven by a new micro linear ultrasonic motor as a key component for micro robot hands. It enables dexterous and multiple motions for micro hands used in limited spaces. In this paper, we build a new micro linear ultrasonic motor involving a cuboid stator with a side length of approximately 2 mm, making it one of the smallest linear motors. The micro linear ultrasonic motor prototype shows an output torque of approximately 7.75 mN at low voltage operation, which is sufficient force to handle tiny objects. The miniature finger, a closed-loop six-bar-linkage mechanism, is built by micro fabrication and connected to the motor prototype. The first demonstration of the miniature finger is shown under a high-speed camera with a high power lens.

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  • Miniature Robot Finger using a Micro Linear Ultrasonic Motor and a Closed-loop Linkage

    Shunsuke Izuhara, Tomoaki Mashimo

    2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)  2018  IEEE

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    Event date: 2018

    Language:English  

    To prioritize miniaturization, the actuators of micro robot hands are placed far from the end effectors, but such mechanisms restrict controllability and dexterity. We propose a miniature robot finger driven by a new micro linear ultrasonic motor as a key component for micro robot hands. It enables dexterous and multiple motions for micro hands used in limited spaces. In this paper, we build a new micro linear ultrasonic motor involving a cuboid stator with a side length of approximately 2 mm, making it one of the smallest linear motors. The micro linear ultrasonic motor prototype shows an output torque of approximately 7.75 mN at low voltage operation, which is sufficient force to handle tiny objects. The miniature finger, a closed-loop six-bar-linkage mechanism, is built by micro fabrication and connected to the motor prototype. The first demonstration of the miniature finger is shown under a high-speed camera with a high power lens.

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  • Study on High Speed Method for Variable Filter Band Discrete Wavelet Transform

    嵐悠也, ZHANG Zhong, 戸田浩, 真下智昭, 秋月拓磨

    可視化情報シンポジウム(CD-ROM)  2018 

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  • Feature Extraction of Nasopharyngeal Mucosal Lesions by Color Manipulation in the Color Space

    伊藤賢也, ZHANG Zhong, 秋月拓磨, 真下智昭, 堀畑聡, 丹羽秀夫

    可視化情報シンポジウム(CD-ROM)  2018 

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  • Study on Construction Method of Real Signal Mother Wavelet using Principal Component Analysis

    大木悠平, ZHANG Zhong, 秋月拓磨, 真下智昭

    可視化情報シンポジウム(CD-ROM)  2018 

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  • Miniature Robot Finger Using a Micro Linear Ultrasonic Motor and a Closed-Loop Linkage.

    Shunsuke Izuhara, Tomoaki Mashimo

    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS)  2018  IEEE

  • 2A2-O06 Study of torque control for the USM(Mechanism and Control for Actuator (2))

    YAMASHITA Takahito, MASHIMO Tomoaki, TERASHIMA Kazuhiko

    2014.5.24  The Japan Society of Mechanical Engineers

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    Event date: 2014.5.24

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    We propose a torque control strategy of a robot arm using ultrasonic motors. The ultrasonic motor (USM) is an actuator that has advantages such as low speed, high torque (good response time), and high-accuracy positioning without gear. These characteristics are suited for a wide range of robot arms from industrial robots to personal robots. In this report, we show the control strategy that changes the torque by changing phase of two AC voltages that applied the USM. In experiment, one of robot arm's joints becomes back-drivable, or generates any torque by the proposed control strategy

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  • 2A1-D01 Development of Ultrasonic Motor Robot Arm : Propose a method of torque control for the USM(Mechanism and Control for Actuator (1))

    YAMASHITA Takahito, MASHIMO Tomoaki, TERASHIMA Kazuhiko, Takesue Naoyuki

    2013.5.22  The Japan Society of Mechanical Engineers

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    Event date: 2013.5.22

    Language:Japanese  

    We propose a torque control strategy of a robot arm using ultrasonic motors. The ultrasonic motor (USM) is an actuator that has advantages such as low speed, high torque (good response time), and high-accuracy positioning without gear. These characteristics are suited for a wide range of robot arms from industrial robots to personal robots. In this report, we show the control strategy that changes the torque by changing AC voltages from the USM driver. In experiment, one of robot arm's joints changes the torque by the proposed control strategy from zero (back-drivable) to peak as if a torsional spring.

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  • A Small In-Pipe Inspection Robot with Integrated Holding Force Mechanism

    M. M. Khalil, N. Masuda, K. Takayama, T. Mashimo

    IEEE 7th International Conference on Robotics and Automation Engineering  2022.11 

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  • Development of a Miniature Focus Mechanism Using Micro Linear Ultrasonic Motor-Driven Autofocus

    Naoya Masuda, Shunsuke Izuhara, Tomoaki Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators  2022.10 

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  • Design and evaluation of swing motion ultrasonic motor

    Izuhara, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators  2022.10 

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    Language:Venda   Presentation type:Oral presentation (general)  

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  • Caterpillar-Inspired Insect-Scale Climbing Robot Using Dry Adhesives

    M. M. Khalil, T. Mashimo

    IEEE/RSJ International Conference on Intelligent Robots and Systems  2022.10 

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  • Development of Peristaltic Locomotion Robot Using Flexible Ultrasonic Motors

    William Leonard Liem, Ayato Kanada, Tomoaki Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators  2022.10 

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  • 血管内治療のためのサブミリ超音波モータの開発ロボット学会

    菊池航平, 真下智昭

    日本ロボット学会学術講演会  2022.9 

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  • インセクトスケール歩行ロボットのためのマイクロギヤードモータ開発

    馬場晃志郎, 真下智昭

    日本ロボット学会学術講演会  2022.9 

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  • 広視野内視鏡のための小型球面超音波モータの開発

    中村隼大, 出原俊介, 真下智昭

    日本ロボット学会学術講演会  2022.9 

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  • Micro Linear Ultrasonic Motor Using a Thin Stator

    S. Izuhara, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2020)  2021.10 

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  • Minimize Temperature Influence on Micro Ultrasonic Motors

    M. Khalil, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators  2021.10 

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  • Fabrication and Performance Improvement of Submillimeter-Scale Ultrasonic Motor

    K. Kikuchi, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators  2021.10 

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  • 小型圧電素子を用いた指腹力覚センサの試作

    山本晴喜, 秋月拓磨, 本名敦夫, 真下智昭

    ロボティクス・メカトロニクス講演会  2021.5 

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  • 1mm ⾓ステータを⽤いた厚さ0.3mmの⼩型中空リニア超⾳波モータの試作

    出原俊介, 真下智昭

    精密工学会春季大会  2021.3 

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  • 広視野カメラシステムのためのマイクロ球⾯超⾳波モータの開発

    中村隼大, 出原俊介, 真下智昭

    精密工学会春季大会  2021.3 

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  • Experimental Characterization of Submillimeter Scale Ultrasonic Motors International conference

    M. Hussain, T. Mashimo

    2020.9.24 

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  • Miniature Hollow Linear Ultrasonic Motor International conference

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2020)  2020.9.24 

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  • 小型中空リニア超音波モータの試作と評価

    出原俊介, 真下智昭

    精密工学会秋季大会  2020.9 

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  • 揺動型超音波モータの試作と評価

    比嘉祐一, 出原俊介, 真下智昭

    度精密工学会秋季大会  2020.9 

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  • 小型中空リニア超音波モータの開発

    出原俊介, 真下智昭

    ロボティクス・メカトロニクス講演会  2020.5 

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  • セルフセンシングフレキシブル超音波モータ

    佐藤悠之輔, 金田礼人, 真下智昭

    ロボティクス・メカトロニクス講演会  2020.5 

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  • 視覚フィードバックを用いたマイクロ2リンクマニピュレータの開発

    岩間祐太, 真下智昭

    ロボティクス・メカトロニクス講演会  2020.5 

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  • 圧電アクチュエータのスケール則に関する研究

    大貝篤史, 真下智昭

    2020年度精密工学会秋季学術講演会  2020.3 

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    Venue:東京  

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  • 中空ステータを用いたリニア超音波モータの開発

    出原俊介, 真下智昭

    2020年度精密工学会秋季学術講演会  2020.3 

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    Venue:東京  

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  • Efficient Energy Supply from Joint Torques near Singular Configurations for a Two-link Robot Arm with Joint Friction

    T. Urakubo, X. Wan, T. Mashimo

    IEEE;SICE International;Symposium on;System Integration  2020.1 

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  • Development of Micro Ultrasonic Actuator and Micro Rotor Blade for Micro Aerial Vehicle International conference

    ETK. Chiang, Tomoaki Mashimo

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)  2019.11 

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    Venue:Macao  

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  • Design of Flexible Ultrasonic Motor International conference

    A.Kanada, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2019)  2019.10 

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    Venue:Ryon  

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  • Visual Feedback Control of Micro Ultrasonic Motor International conference

    S. Izuhara, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2019)  2019.10 

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    Venue:Ryon  

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  • フレキシブル超音波モータの原理と設計

    金田礼人, 真下智昭

    第 37回日本ロボット学会学術講演会  2019.9 

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    Venue:東京  

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  • (招待講演)圧電アクチュエータ・超音波モータの基礎と最新研究事例・応用事例 Invited

    R&D支援センター  2019.9 

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  • マイクロ超音波モータの視覚フィードバック制御に関する研究

    出原俊介, 真下智昭

    2019年度精密工学会秋季学術講演会  2019.9 

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    Venue:静岡  

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  • 柔軟チューブによって駆動するヘビ状ロボットの開発

    金田礼人, 真下智昭, 飯田史也

    第 37回日本ロボット学会学術講演会  2019.9 

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    Venue:東京  

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  • Miniaturization of Ultrasonic Motor and Rotor Blade for Rotary-Wing Micro Aerial Vehicle

    ETK. Chiang, Tomoaki Mashimo

    International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2019)  2019.8 

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    Venue:Kuala Lumpur  

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  • Development of Movement System Using Micro Gear Robot

    R.Hutama, Tomoaki Mashimo

    International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2019)  2019.8 

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    Venue:Kuala Lumpur  

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  • A Study on Development of Wavelet Deep Learning, International Conference on Wavelet Analysis and Pattern Recognition

    Z.Zhang, T.Sugino, T.Akiduki, T.Mashimo

    2019.7 

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    Venue:Kobe  

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  • マイクロ超音波モータの開発とマイクロロボットへの応用 Invited

    真下智昭

    名古屋大学マイクロ・ナノ機械理工学特別講義3  2019.5 

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  • 運転動作に着目したドライバの個人性分析手法の検討

    秋月拓磨, 小林一夢, ZHANG Zhong, 真下智昭, 高橋弘毅

    ロボティクス・メカトロニクス講演会2019  2019.5 

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    Venue:広島  

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  • 小型超音波モータを用いた羽ばたき飛行ロボット

    三原健司, 真下智昭

    ロボティクス・メカトロニクス講演会2019  2019.5 

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    Venue:広島  

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  • 柔軟なチューブによって駆動するヘビ状ロボットの開発

    金田礼人, 真下智昭

    ロボティクス・メカトロニクス講演会2019  2019.5 

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    Venue:広島  

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  • マイクロギヤードモータを用いた移動機構の開発

    ルドルフ・ヨガ フタマ, 真下智昭

    ロボティクス・メカトロニクス講演会2019  2019.5 

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    Venue:広島  

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  • マイクロ超音波モータを用いた回転翼系MAVの開発

    カイチアング・エリックタン, 真下智昭

    ロボティクス・メカトロニクス講演会2019  2019.5 

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    Venue:広島  

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  • Large Deformation Improve Reachability of a Soft Climbing Robot

    A.Kanada, F.Giardina, T.Howison, T.Mashimo, F, Iida

    2019.4 

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  • マイクロ超音波モータの開発とその応用 Invited

    真下智昭

    電子情報技術産業協会(JEITA)  2019.2 

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  • Miniature Robot Finger Using a Micro Linear Ultrasonic Motor and a Closed-Loop Linkage International conference

    S. Izuhara, T. Mashimo

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)  2018.10 

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    Venue:Madrid  

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  • (招待講演)圧電アクチュエータ・超音波モータの基礎と最新研究動向 Invited

    サイエンス&テクノロジーセミナー  2018.10 

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    Venue:東京都  

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  • Mobile Continuum Robot with Unlimited Extensible Sections International conference

    A. Kanada, T. Mashimo

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018)  2018.10 

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    Venue:Madrid  

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  • Design of Flapping Wing Micro Air Vehicle Using an Ultrasonic Motor International conference

    K. Mihara, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018.9 

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    Venue:Kobe  

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  • (招待講演)マイクロ超音波モータの開発とその応用 Invited

    精密工学会・超精密位置決め専門委員会  2018.9 

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    Venue:東京都  

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  • Micro Linear Ultrasonic Motor International conference

    S. Izuhara, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018.9 

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    Venue:Kobe  

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  • Micro Linear Motor with a Cuboid Stator with a Length of 2.2 mm International conference

    S. Izuhara, T. Mashimo

    International Conference on New Actuators and Drive Systems (ACTUATOR2018)  2018.6 

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    Venue:Bremen  

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  • マイクロリニア超音波モータの開発?設計と試作?

    出原俊介, 真下智昭

    ロボティクス・メカトロニクス講演会2018  2018.6 

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    Venue:北九州  

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  • 扁平型マイクロ超音波モータを用いた2リンク機構の開発

    三好健太, 真下智昭

    ロボティクス・メカトロニクス講演会2018  2018.6 

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    Venue:北九州  

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  • マイクロ超音波モータを用いた超小型パンチルトカメラの開発

    大江裕也, 真下智昭

    ロボティクス・メカトロニクス講演会2018  2018.6 

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    Venue:北九州  

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  • マイクロ超音波モータの性能評価

    真下智昭

    第30回電磁力関連のダイナミクスシンポジウム  2018.5 

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    Venue:長野  

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  • マイクロリニア超音波モータの試作と特性調査

    出原俊介, 真下智昭

    超音波研究会US  2018.5 

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    Venue:東京  

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  • Research on Surface Defects Detection of Reflected Curved Surface Based on Convolutional Neural Networks International conference

    Zhong Zhang, Borui Zhang, Takuma Akiduki, Tomoaki Mashimo, Tianbiao Yu

    13th International Conference on Innovative Computing, Information and Control (ICICIC2018)  2018 

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  • A new Risk Estimation Model of Bayesian Network for Adapting to Driving Environment Changing International conference

    Zhong Zhang, Taira Furuichi, Takuma Ueda, Takuma Akiduki, Tomoaki Mashimo

    13th International Conference on Innovative Computing, Information and Control (ICICIC2018)  2018 

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  • Micro Flat Ultrasonic Motor with a Micro Coil Preload Mechanism International conference

    K. Miyoshi, T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2017)  2017.9 

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    Venue:Washington D.C.  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの開発(第6報)

    真下智昭

    2017年度精密工学会秋季学術講演会  2017.9 

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    Venue:豊中  

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  • (招待講演)Micro ultrasonic motor with a one cubic millimeter stator Invited International conference

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2017)  2017.9 

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    Venue:ワシントンDC  

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  • Flexible Ultrasonic Motor using an Output Coil Spring International conference

    A. Kanada, T. Mashimo, K. Terashima

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017)  2017.9 

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    Venue:Vancouver  

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  • Micro ultrasonic motor with a one cubic millimeter stator International conference

    T. Mashimo

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2017)  2017.9 

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    Venue:Washington D.C.  

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  • マイクロリニア超音波モータを用いた小型ロボットハンドの試作

    出原俊介, 真下智昭

    ロボティクス・メカトロニクス講演会2017  2017.5 

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    Venue:福島  

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  • 次世代型人工筋肉を目指したフレキシブル超音波モータの開発

    金田礼人, 真下智昭, 寺嶋一彦

    ロボティクス・メカトロニクス講演会2017  2017.5 

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    Venue:福島  

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  • マイクロ超音波モータの高トルク化に関する研究

    真下智昭

    ロボティクス・メカトロニクス講演会2017  2017.5 

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    Venue:福島  

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  • マイクロ超音波モータの視覚フィードバックに関する研究

    新井詩朗, 真下智昭

    ロボティクス・メカトロニクス講演会2017  2017.5 

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    Venue:福島  

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  • コイルばねを出力軸とするフレキシブル超音波モータの開発

    金田礼人, 真下智昭, 寺嶋一彦

    2017年度精密工学会春季学術講演会  2017.3 

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    Venue:横浜  

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  • (招待講演)Micro Ultrasonic Motor Using One Cubic Millimeter Stator Invited International conference

    IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2017)  2017.3 

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    Venue:長岡市  

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  • Micro Ultrasonic Motor Using One Cubic Millimeter Stator International conference

    T. Mashimo

    IEEJ international workshop on Sensing, Actuation, Motion Control, and Optimization (SAMCON2017)  2017.3 

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    Venue:Nagaoka  

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  • 扁平型超音波モータの開発とリンク機構への応用に関する研究

    三好健太, 真下智昭, 寺嶋一彦

    2017年度精密工学会春季学術講演会  2017.3 

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    Venue:横浜  

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  • (招待講演)1mm角のマイクロ超音波モータの開発とその応用 Invited

    精密工学会・次世代センサ・アクチュエータ委員会  2016.10 

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    Venue:東京都  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの開発(第5報)

    真下智昭

    2016年度精密工学会秋季学術講演会  2016.9 

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    Venue:水戸  

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  • Improving the Torque and Thrust Force of a Rotary-linear Ultrasonic Motor International conference

    A. Kanada, T. Mashimo, K. Terashima

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2016)  2016.8 

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    Venue:Jeju  

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  • (招待講演)超音波モータの開発とロボットへの応用 Invited

    中央大学 アクチュエータ工学特論  2016.7 

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    Venue:東京都  

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  • (招待講演)1mm角のマイクロ超音波モータの開発 Invited

    生産加工研究会  2016.7 

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    Venue:豊橋市  

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  • Micro Ultrasonic Motor Using One Cubic Millimeter Stator International conference

    T. Mashimo

    International Conference on New Actuators and Drive Systems (ACTUATOR2016)  2016.6 

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    Venue:Bremen  

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  • 超音波モータを用いたマイクロリンク機構の開発

    三好健太, 真下智昭, 寺嶋一彦

    ロボティクス・メカトロニクス講演会2016  2016.6 

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    Venue:横浜  

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  • 回転直動超音波モータの出力軸に関する研究

    金田礼人, 真下智昭, 寺嶋一彦

    ロボティクス・メカトロニクス講演会2016  2016.6 

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    Venue:横浜  

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  • (招待講演)1mm角のマイクロ超音波モータの開発とその応用 Invited

    東京大学大学院新領域創成科学研究科人間環境学専攻講演  2016.4 

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    Language:Japanese   Presentation type:Oral presentation (invited, special)  

    Venue:柏市  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの開発(第3報)

    真下智昭

    2016年度精密工学会春季学術講演会  2016.3 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:野田  

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  • Study on a Preload Mechanism for Micro Ultrasonic Motor (2nd Report)

    真下智昭

    第36回超音波エレクトロニクスの基礎と応用に関するシンポジウム, (USE2015)  2015.11 

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    Language:Japanese   Presentation type:Poster presentation  

    Venue:つくば  

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  • (招待講演)Micro ultrasonic motor with a one cubic millimeter stator Invited International conference

    Universitat Stuttgart, Institut fur Systemdynamik  2015.9 

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    Venue:Stuttgart市  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの開発(第4報)

    真下智昭

    2015年度精密工学会秋季大会  2015.9 

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    Venue:仙台  

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  • 医療機器への応用を目指したマイクロ超音波モータの開発

    真下智昭

    第2回MERRO次世代-医・理・工連携-研究会  2015.7 

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    Venue:豊橋  

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  • マイクロ超音波モータに関する研究

    真下智昭

    ロボティクス・メカトロニクス講演会2015  2015.5 

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    Venue:京都  

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  • モバイルマニピュレータによる重量物引っ張り動作の動力学的考察

    北側恵理, 浦久保孝光, 万象隆, 真下智昭, 多田幸生

    第59回システム制御情報学会研究発表講演会  2015.5 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:大阪  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの開発(第3報)

    真下智昭

    2015年度精密工学会春季学術講演会  2015.3 

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    Language:Japanese   Presentation type:Oral presentation (general)  

    Venue:東京  

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  • Generation of Large Pulling Force by a Mobile Manipulator Through Singular Configuration International conference

    X. Wan, T. Urakubo, T. Mashimo

    IEEE Conference on Robotics and Biomimetics (ROBIO2015)  2015 

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    Venue:Zuhai  

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  • Study on Micro Ultrasonic Motor using a Preload Mechanism International conference

    T. Mashimo

    IEEE International Ultrasonics Symposium (IUS2015)  2015 

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    Venue:Taipei  

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  • High Response Master-Slave Control Eye Robot System International conference

    A. Kanada, T. Mashimo, T. Minami, K. Terashima

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015)  2015 

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    Venue:Hamburg  

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  • Master-Slave Eye Robot System Driven by Ultrasonic Motors for Camera Operation International conference

    A. Kanada, T. Mashimo, T. Minami, K. Terashima

    International Conference on Advanced Mechatronics (ICAM2015)  2015 

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    Venue:Tokyo  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの予圧特性

    真下智昭

    第 35 回超音波エレクトロニクスの基礎と応用に関するシンポジウム  2014.12 

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    Venue:東京  

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  • 1立方ミリメートルのステータを用いた小型超音波モータの評価

    真下智昭

    2014年度精密工学会秋季学術講演会  2014.9 

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    Venue:鳥取市  

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  • 圧電・超音波アクチュエータの全体からの位置づけ

    土屋\,青柳, 大橋\,竹村, 真下\,矢野

    平成26年産業応用部門大会シンポジウム  2014.8 

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    Venue:東京  

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  • 特異姿勢付近におけるリンク機構の動力学的性質に関する考察

    浦久保孝光, 万象隆, 真下智昭

    第58回システム制御情報学会研究発表講演会  2014.5 

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    Venue:京都  

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  • (招待講演)ロボットへの応用を目指した新しい超音波モータと関連技術の開発 Invited

    ETK. Chiang, Tomoaki Mashimo

    超音波モータ連絡会  2014.3 

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    Venue:東京都  

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  • 1ミリ立方メートルのステータを用いた小型超音波モータの試作

    真下智昭

    2014年度精密工学会春季学術講演会  2014.3 

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    Venue:東京  

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  • Safeness of a Robot Arm using Ultrasonic Motors with High Responsiveness and Backdrivability International conference

    T. Yamashita, T. Mashimo, N. Takesue, K. Terashima

    IEEE/SICE International Symposium on System Integration (SII2014)  2014 

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    Venue:Tokyo  

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  • Performance of Micro Ultrasonic Motor using One Cubic Millimeter Stator International conference

    T. Mashimo

    IEEE International Ultrasonics Symposium (IUS2014)  2014 

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    Venue:Chicago  

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  • Experimental Study on Efficient Use of Singular Configuration in Pulling Heavy Objects with Two-link Robot Arm International conference

    T. Urakubo, H. Yoshioka, T. Mashimo

    IEEE International Conference on Robotics and Automation (ICRA2014)  2014 

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    Venue:Hong Kong  

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  • Study on Torque Generation of the Ultrasonic Motor using a High-Speed Microscope International conference

    M. Takaoka, T. Mashimo, K. Terashima

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2013)  2013 

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    Venue:Hannover  

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  • High-speed Microscopic Observation of the Elliptical Motion in an Ultrasonic Motor Elliptical motion International conference

    T. Mashimo, M. Takaoka, K. Terashima

    IEEE International Ultrasonics Symposium (IUS2013)  2013 

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    Venue:Prague  

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  • (招待講演)医療機器への応用を目指した超音波アクチュエータに関する研究 Invited

    科学技術交流財団・マイクロ・ナノ医療機器開発研究会  2012.7 

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    Venue:名古屋市  

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  • Development of a Compact Piezoelectric Mixer International conference

    T. Mashimo

    International Conference on New Actuators and Drive Systems (Actuator2012)  2012 

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    Venue:Bremen  

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  • Development of a Miniature Piezoelectric Mixer International conference

    T. Mashimo, R. Shibuya, K. Terashima

    IEEE International Ultrasonics Symposium (IUS2012)  2012 

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    Venue:Dresden  

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  • Piezoelectric Micromixer using a Swirling Motion International conference

    T. Mashimo, R. Shibuya, K. Terashima

    International Conference on Miniaturized Systems for Chemistry and Life Sciences (μTAS2012)  2012 

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    Venue:Okinawa  

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  • (招待講演)人・ロボットの関節にまつわる3つの話題 Invited

    電子情報通信学会中国支部  2011.3 

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    Venue:鳥取市  

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  • Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration International conference

    T. Urakubo\, T, Mashimo, T. Kanade

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)  2010 

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    Venue:Taipei  

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  • Singularity-Based Mechanism with High Responsiveness International conference

    T. Mashimo, T. Urakubo, T. Kanade

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)  2010 

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    Venue:Taipei  

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  • Analysis of Task Feasibility for a Home Robot using Prismatic Joints International conference

    T. Mashimo, R. Diankov, T. Urakubo, T. Kanade

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)  2010 

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    Venue:Taipei  

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  • Pipe Inspection Robot with Spherical Ultrasonic Motor International conference

    S. Toyoma, T. Mashimo, M. Hoshina

    International Conference on New Actuators and Drive Systems (ACTUATOR2010)  2010 

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    Venue:Bremen  

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  • Development of Pipe Inspection Robot; Driving System and Control of Outer-rotor-typed Spherical Ultrasonic Motor International conference

    M. Hoshina, T. Mashimo, S. Toyama

    International Conference of Advanced Robotics (ICAR2009)  2009 

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    Venue:Munich  

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  • Optimal Door Opening by Two-Link Manipulator International conference

    T. Urakubo, T. Mashimo, T. Kanade

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)  2009 

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    Venue:St. Louis  

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  • Development of Spherical Ultrasonic Motor as a Camera Actuator for Pipe Inspection Robot International conference

    M. Hoshina, T. Mashimo, S. Toyama

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)  2009 

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    Venue:St. Louis  

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  • Development of micro ultrasonic motor for surgery International conference

    S. Toyama, T. Mashimo

    International Conference of Vibroengineering  2008 

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    Venue:Kaunas  

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  • Rotary-Linear Ultrasonic Motor for Endovascular Diagnosis and Surgery International conference

    T. Mashimo, S. Toyama

    International Conference on New Actuators and Drive Systems (ACTUATOR2008)  2008 

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    Venue:Bremen  

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  • Development of Rotary-Linear Piezoelectric Actuator for MRI Compatible Manipulator International conference

    T. Mashimo, S. Toyama, H. Matsuda

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008)  2008 

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    Venue:Nice  

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  • Micro Rotary-Linear Ultrasonic Motor for Endovascular Diagnosis and Surgery International conference

    T. Mashimo, S. Toyama

    IEEE International Conference on Robotics and Automation (ICRA2008)  2008 

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    Venue:Pasadena  

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  • Development of Phase Difference Control System for TR motor International conference

    A. Yoshida, T. Mashimo, S. Toyama

    International Conference on the Theory of Machines and Mechanisms  2008 

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    Venue:Liberec  

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  • Development of a Piping Inspection Robot using a Spherical Ultrasonic Motor International conference

    M. Hoshina, T. Mashimo, S. Toyama

    International Conference on the Theory of Machines and Mechanisms  2008 

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    Venue:Liberec  

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  • Three-dimensional Vibration Analysis of TR motor using Finite Element Method International conference

    S. Kure, T. Mashimo, S. Toyama

    International Conference on the Theory of Machines and Mechanisms  2008 

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    Venue:Liberec  

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  • MRI-Compatibility of a Manipulator using a Spherical Ultrasonic Motor International conference

    T. Mashimo, S. Toyama

    World Congress in Mechanism and Machine Science (IFToMM2007)  2007 

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    Venue:Besancon  

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  • Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers International conference

    T. Mashimo, K. Awaga, S. Toyama

    IEEE International Conference on Robotics and Automation (ICRA2007)  2007 

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    Venue:Roma  

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  • Manipulator System Using a Spherical Ultrasonic Motor for Surgical Robots International conference

    T. Mashimo, S. Toyama

    Asia International Symposium on Mechatronics (AISM2006)  2006 

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    Venue:Hong Kong  

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Awards

  • Highly Commended Paper Award

    2020.8   CLAWAR2019   Development of Movement System Using Micro Gear Motor

    Rudolf Yoga Hutama, Tomoaki Mashimo

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  • Best Technical Paper Award (1st Prize)

    2020.8   CLAWAR2019   Development of Movement System Using Micro Gear Motor

    Rodolf Yoga Hutama, Tomoaki Mashimo

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  • Highly Commended Paper Award

    2019.8   CLAWAR2019   Miniaturization of Ultrasonic Motor and Rotor Blade for Rotary-Wing Micro Aerial Vehicle

    Eric Tan Kai Chiang, Tomoaki Mashimo

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  • 第2回永守賞

    2016.9   永守財団   マイクロ超音波モータに関する研究開発

    真下智昭

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  • 学術賞

    2016.3   永井科学技術財団   医療機器への応用を目指したマイクロ超音波モータの研究開発

    真下智昭

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  • 奨励賞

    2014.12   超音波エレクトロニクスの基礎と応用に関するシンポジウム   1ミリ立方メートルのステータを用いた小型超音波モータの試作

    真下智昭

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  • Best Paper Award Finalist

    2014.12   IEEE/SICE International Symposium on System Integration   Safeness of a Robot Arm using Ultrasonic Motors with High Responsiveness and Backdrivability

    T.Yamashita, T.Mashimo, K.Terashima, N. Takesue

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  • 優秀賞

    2012.10   第5回ロボット大賞   球面超音波モータを使用した「管内検査ロボット」

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  • 成績優秀者表彰

    2008.3   東京農工大学  

    真下智昭

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  • 文部科学大臣賞

    2008.3   文部科学省  

    真下智昭

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  • テクノロジー部門 大賞

    2008.3   キャンパスベンチャーグランプリ全国大会   マイクロTRモータの開発と事業化

    真下智昭

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  • 学術研究活動表彰

    2008.3   東京農工大学  

    真下智昭

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  • Young Award

    2007.4   IEEE Robotics and Automation Society Japan Chapter   Development of a spherical ultrasonic motor with an attitude sensing system using optical fibers

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Research Projects

  • 肺末梢にアプローチ可能な鉗子ロボットの設計と実証

    Grant number:22H01446  2022.04 - 2025.03

    日本学術振興会  科学研究費助成事業 基盤研究(B)  基盤研究(B)

    真下 智昭

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    Grant amount:\17550000 ( Direct expense: \13500000 、 Indirect expense:\4050000 )

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  • 消化管内腔での生検と移動を行えるカプセルロボットの開発

    Grant number:19H02110  2019.04 - 2022.03

    日本学術振興会  科学研究費助成事業 基盤研究(B)  基盤研究(B)

    真下 智昭, 岡田 浩

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    Grant amount:\17550000 ( Direct expense: \13500000 、 Indirect expense:\4050000 )

    マイクロ超音波モータの効率の向上を目的として,せん断変形を生じる15モード素子と,単結晶圧電材料であるPMN-PTの,二種類の圧電材料について検討を行った.15モード素子を用いたマイクロ超音波モータでは,Q値および結合係数の改善が見られ,モータを試作し,駆動実験を行ったところ,40μNm以上のトルク,2%以上の効率が得られた.これらは,従来のモータと比べて,約3倍の性能である.単結晶圧電材料PMN-PTを用いて,マイクロ超音波モータの試作を行ったところ,トルク,効率ともに,従来比約2倍の性能向上が観察された.いずれも15V程度の電圧で駆動できるようになり,発熱も抑えられることが確認された.
    マイクロ超音波モータに,マイクロギアを取り付けたマイクロギアードモータの試作を行い,このモータを用いて車輪型マイクロロボットの開発を行った.約10mmの大きさでも力強く動かすことのできるマイクロロボットである.実験では,ギアの出力トルクに対してロボットが小さく軽いためスリップを起こす問題が生じた.移動面に適切な摩擦係数の材料を用いることで,マイクロロボットは安定して駆動できるようになった.デモでは,斜面を準備し,移動性能の評価を行った.
    マイクロ超音波モータにプロペラを取りついた移動機構の開発も行った.高い回転数を必要とするため,マイクロ超音波モータをベンディングモードで駆動することを考案し,20000rpm以上の高速回転を得た.プロペラを取り付けて,短時間の浮揚にも成功したが,液中駆動にも使えるアイデアである.
    扁平型モータを用いたマイクロハンドの設計開発を行った.試作したモータと機構で,小さいものであれば動かすことのできる出力が観察された.ハイスピードカメラを用いてこの機構を画像フィードバックするシステムの開発を行った.

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  • Study on a Biopsy Robot using Micro Ultrasonic Motors

    Grant number:16H06075  2016.04 - 2019.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)  Grant-in-Aid for Young Scientists (A)

    Mashimo Tomoaki

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    Grant amount:\24310000 ( Direct expense: \18700000 、 Indirect expense:\5610000 )

    We developed the micro ultrasonic motor with a one cubic millimeter stator that can generate over 10μNm and studied its application technologies for a medical microrobot. We attempted to improve the motor characteristics such as the motor output and stability, and coupled a new micro gear unit to the micro ultrasonic motor. The resulting torque shows 100mNm, which is 100 times larger than that without a gear. The micro ultrasonic motor-driven pan-tilt mechanism and linkage mechanisms are studied: the dynamics of the mechanisms are modeled and verified by experiments. There are two other achievements in this study: (1) We built a micro linear ultrasonic motor with 2mm stator, which is one of the smallest linear motor. (2) We derived the scaling law that shows how the micro ultrasonic motor behaves at smaller scale.

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  • Duplication of Motion and Force Sense between Remote Colony Using Telecopy Robot

    Grant number:15H03937  2015.04 - 2018.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)  Grant-in-Aid for Scientific Research (B)

    Takanori Miyoshi

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    Grant amount:\16640000 ( Direct expense: \12800000 、 Indirect expense:\3840000 )

    A robot that faithfully reproduces the master's motion and force sense in a remote place is defined as a telecopy robot. Consider an environment where its own copy robot exists in a remote place and a copy of a person (master) located in the remote place exists in front. Then, in this research, 1. Presentation of the concept of a telecopy robot and fabrication of a dual arm copy robot having an omnidirectional movement function to realize it. 2. Proposal and Implementation of 4ch Bilateral Control Algorithm Stable for Communication Delay. 3. Realization of bilateral remote control by copy robot, was carried out. Thus, it was proved that it is feasible to experience as if you are doing direct mechanical interaction with the remote master at the immediate copy robot.

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  • Capsule Medical Robot Using Micro Piezoelectric Actuators

    Grant number:25709017  2013.04 - 2016.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (A)  Grant-in-Aid for Young Scientists (A)

    Mashimo Tomoaki

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    Grant amount:\14430000 ( Direct expense: \11100000 、 Indirect expense:\3330000 )

    For the purpose of realizing a capsule medical robot, we build micro ultrasonic motors using new stators with an approximately one cubic millimeter. To evaluate its representative performance values, we built an experimental setup and operated the prototype motor by varying experimental conditions, such as the preload between the stator and rotor and the amplitude of voltages applied to motor. We designed a miniature preload mechanism using a micro coil spring to provide force between the stator and rotor along the radial direction of the rotor. Output torque obtained in experiments is much larger than comparable-sized ultrasonic motors. In addition, the prototype stator is miniaturized to the smallest size, a metallic cube with a side length of 0.5 mm. This proposed ultrasonic motor is the smallest and most powerful and suited for medical applications such as capsule robots.

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  • Development of the Rehabilitation Ultrasonic Motor using High-speed Microscope

    Grant number:24656113  2012.04 - 2014.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research  Grant-in-Aid for Challenging Exploratory Research

    MASHIMO Tomoaki, MIYOSHI Takanori, TERASHIMA Kazuhiko

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    Grant amount:\3770000 ( Direct expense: \2900000 、 Indirect expense:\870000 )

    We build a mechanical model with the amplitude of the elliptical motion generated in ultrasonic motors to predict the motor output such as torque and revolution. The high-speed camera with high-power lens that can observe the elliptical motion verifies how the elliptical motion relates the motor output experimentally. Such modeling approach is useful for control of the motor output such as the rotational speed and torque. Torque control and backdrivability, important characteristics in the view of human-machine interface, is examined in a robot system with original motor driver.

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  • 脳梗塞治療ロボットに関する研究

    Grant number:07J08111  2007 - 2008

    日本学術振興会  科学研究費助成事業 特別研究員奨励費  特別研究員奨励費

    真下 智昭

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    Grant amount:\1800000 ( Direct expense: \1800000 )

    脳血管内および循環器系血管内における治療や診断を可能にする脳梗塞治療ロボットの開発を目的として,MRIコンパチブルな手術支援マニピュレータおよび,マイクロ回転直動圧電アクチュエータ(以後,回転直動モータ)に関する研究開発を行った.
    MRIコンパチブル手術支援マニピュレータは,3自由度回転が可能な球面超音波モータを用いて,マニピュレータを試作した.手術支援マニピュレータのための新しい球面超音波モータを開発した.そのセンシングには,光ファイバをセンシングヘッドとして用いて,3次元空間における2自由度回転を検出可能なセンシングシステムの開発を行った.また球面超音波モータのMRIコンパチブルテストも実施した.
    また,シンプルな構造で回転と直動が得られる回転直動モータの設計開発を行った.現在までにステータを3.5mmまで小型化し回転直動駆動に成功し,その性能の評価を完了した.(成果は現在投稿中である).現在は2mmのステータに着手し,回転と直動の実現に成功した.血管内検査機器のアクチュエータとして十分な回転数(約1000rpm)と直進速度が得られている.しかし製作方法,与圧のかけ方の機構,トルクなどに課題が残る.
    また回転直動モータに同様の原理を用いて,流体を搬送,回転の駆動にも成功した.これの特長は脳梗塞治療ロボットの場合において,削り取った血栓の除去搬送,薬剤の投与等を可能にする.また脳梗塞治療ロボット以外の場合でも,食品工場,化学プラント,などへの応用が期待される.

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  • Micro Robotics (2022academic year) Late  - その他

  • Seminar in Mechatronic Systems (2022academic year) Year-round  - その他

  • Fundamental Mechatronics I (2022academic year) Third semester  - 木7~8

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  • Advanced Mechatronics (2022academic year) Prophase  - 火3,火4

  • Design of Robots (2022academic year) Fourth semester  - 金3~4

  • Research Works for Mechanical and Systems Engineering 1 (2022academic year) Prophase  - その他

  • Research Works for Mechanical and Systems Engineering 2 (2022academic year) Late  - その他

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