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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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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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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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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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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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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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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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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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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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

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

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

© 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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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

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

DOI： 10.1080/01691864.2018.1476180

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

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

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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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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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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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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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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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

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

DOI： 10.7210/jrsj.33.696

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

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

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

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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Language：English   Publishing type：Research paper (scientific journal)   Publisher：TAYLOR & FRANCIS LTD  

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

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

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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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JOURNAL VIBROENGINEERING  

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

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

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society for Precision Engineering  

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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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Society of Life Support Engineering  

DOI： 10.5136/lifesupport.18.Supplement_74

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

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Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Japan Society for Precision Engineering  

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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Language：Japanese   Publishing type：Article, review, commentary, editorial, etc. (scientific journal)  

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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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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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Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2018.html#IzuharaM18

Event date： 2014.5.24

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 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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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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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：Venda   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

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Presentation type：Oral presentation (general)  

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Presentation type：Oral presentation (general)  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Macao  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Ryon  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Ryon  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：静岡  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kuala Lumpur  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kuala Lumpur  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kobe  

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Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：Japanese   Presentation type：Poster presentation  

Venue：広島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：広島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：広島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：広島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：広島  

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Language：English   Presentation type：Poster presentation  

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Presentation type：Public lecture, seminar, tutorial, course, or other speech  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Madrid  

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

Venue：東京都  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Madrid  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kobe  

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

Venue：東京都  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kobe  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Bremen  

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Language：Japanese   Presentation type：Poster presentation  

Venue：北九州  

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Language：Japanese   Presentation type：Poster presentation  

Venue：北九州  

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Language：Japanese   Presentation type：Poster presentation  

Venue：北九州  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：長野  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Presentation type：Oral presentation (general)  

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Presentation type：Oral presentation (general)  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Washington D.C.  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：豊中  

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

Venue：ﾜｼﾝﾄﾝDC  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Vancouver  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Washington D.C.  

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Language：Japanese   Presentation type：Poster presentation  

Venue：福島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：福島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：福島  

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Language：Japanese   Presentation type：Poster presentation  

Venue：福島  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：横浜  

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

Venue：長岡市  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Nagaoka  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：横浜  

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

Venue：東京都  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：水戸  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Jeju  

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

Venue：東京都  

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

Venue：豊橋市  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Bremen  

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Language：Japanese   Presentation type：Poster presentation  

Venue：横浜  

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Language：Japanese   Presentation type：Poster presentation  

Venue：横浜  

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

Venue：柏市  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：野田  

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Language：Japanese   Presentation type：Poster presentation  

Venue：つくば  

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

Venue：Stuttgart市  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：仙台  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：豊橋  

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Language：Japanese   Presentation type：Poster presentation  

Venue：京都  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：大阪  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Zuhai  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Hamburg  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Tokyo  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Taipei  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：鳥取市  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：京都  

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

Venue：東京都  

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Language：Japanese   Presentation type：Oral presentation (general)  

Venue：東京  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Tokyo  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Hong Kong  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Chicago  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Hannover  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Prague  

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

Venue：名古屋市  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Bremen  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Dresden  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Okinawa  

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

Venue：鳥取市  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Taipei  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Taipei  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Taipei  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Bremen  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Munich  

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Language：English   Presentation type：Oral presentation (general)  

Venue：St. Louis  

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Language：English   Presentation type：Oral presentation (general)  

Venue：St. Louis  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Kaunas  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Bremen  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Nice  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Pasadena  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Liberec  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Liberec  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Liberec  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Besancon  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Roma  

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Language：English   Presentation type：Oral presentation (general)  

Venue：Hong Kong  

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