論文 - 真下　智昭

Micro Linear Ultrasonic Motor With a Hall Sensor-Based Feedback Control System 査読

Shunsuke Izuhara, Tomoaki Mashimo

IEEE Access   12   131656 - 131663   2024年

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担当区分：最終著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2024.3454295

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Earthworm-Inspired Robot Design: Reducing the Number of Actuators Through Embedded Motor Between Segments 査読

William Leonard Liem, Ayato Kanada, Tomoaki Mashimo

IEEE Access   12   114636 - 114644   2024年

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2024.3445330

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A Suspended Pollination Robot With a Flexible Multi-Degrees-of-Freedom Manipulator for Self-Pollinated Plants 査読

Naoya Masuda, Mohamed M. Khalil, Seitaro Toda, Kotaro Takayama, Ayato Kanada, Tomoaki Mashimo

IEEE Access   12   142449 - 142458   2024年

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2024.3469784

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Fabrication and characterization of a submillimeter-scale ultrasonic motor 査読

Kohei Kikuchi, Mudassir Hussain, Tomoaki Mashimo

Sensors and Actuators A: Physical   360   114524 - 114524   2023年10月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Elsevier BV  

DOI： 10.1016/j.sna.2023.114524

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Tilting ultrasonic motor using extension and shear vibration modes 査読

Shunsuke Izuhara, Tomoaki Mashimo

Sensors and Actuators A: Physical   357   114390 - 114390   2023年8月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Elsevier BV  

DOI： 10.1016/j.sna.2023.114390

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Miniature camera module with a hollow linear ultrasonic motor-based focus feature 査読

Naoya Masuda, Shunsuke Izuhara, Tomoaki Mashimo

Sensors and Actuators A: Physical   354   114248 - 114248   2023年5月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Elsevier BV  

DOI： 10.1016/j.sna.2023.114248

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A Closed-Loop Micro-Ultrasonic Motor Control System With Extremum Seeking 査読

Mohamed M. Khalil, Naoya Masuda, Kotaro Takayama, Tomoaki Mashimo

IEEE Access   11   22329 - 22341   2023年4月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/access.2023.3252003

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A Palm-Sized Omnidirectional Mobile Robot Driven by 2-DOF Torus Wheels 査読

Yunosuke Sato, Ayato Kanada, Tomoaki Mashimo

IEEE Robotics and Automation Letters   8 ( 1 )   105 - 112   2023年1月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Institute of Electrical and Electronics Engineers (IEEE)  

DOI： 10.1109/lra.2022.3223296

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

Mohamed M. Khalil, Tomoaki Mashimo

IEEE Robotics and Automation Letters   7 ( 3 )   7628 - 7635   2022年7月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/lra.2022.3183897

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

Tomoaki Mashimo, Yoshinari Oba

Sensors and Actuators A: Physical   335   113347 - 113347   2022年3月

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.sna.2021.113347

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Design of a Micro Linear Ultrasonic Motor with a Preload Mechanism 査読

Shunsuke Izuhara, Tomoaki Mashimo

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering   88 ( 1 )   51 - 56   2022年1月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

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 査読

Eric TanKai Chiang, Takateru Urakubo, Tomoaki Mashimo

IEEE Access   10   13210 - 13218   2022年

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/access.2022.3146866

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

Shunsuke Izuhara, Tomoaki Mashimo

Sensors and Actuators A: Physical   329   112797 - 112797   2021年10月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.sna.2021.112797

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

Eric TanKai Chiang, Tomoaki Mashimo

Sensors and Actuators A: Physical   329   112801 - 112801   2021年10月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.sna.2021.112801

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

Rudolf Yoga Hutama, Mohamed M. Khalil, Tomoaki Mashimo

IEEE Robotics and Automation Letters   6 ( 4 )   8158 - 8164   2021年10月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/lra.2021.3104227

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

Ayato Kanada, Tomoaki Mashimo

IEEE Access   9   34859 - 34867   2021年

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/access.2021.3062284

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

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年12月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.24507/ijicic.16.06.2007

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Characterization of bulk piezoelectric element-based ultrasonic motors 査読

Shunsuke Izuhara, Tomoaki Mashimo

ROBOMECH Journal   7 ( 1 )   2020年12月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1186/s40648-020-00179-w

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その他リンク： 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 査読

Yunosuke Sato, Ayato Kanada, Tomoaki Mashimo

IEEE Robotics and Automation Letters   5 ( 4 )   5425 - 5431   2020年10月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/lra.2020.3008118

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Linear piezoelectric motor using a hollow rectangular stator 査読

Shunsuke Izuhara, Tomoaki Mashimo

Sensors and Actuators A: Physical   309   112002 - 112002   2020年7月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.sna.2020.112002

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

Ayato Kanada, Tomoaki Mashimo

IEEE/ASME Transactions on Mechatronics   25 ( 1 )   468 - 476   2020年2月

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担当区分：責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/tmech.2019.2959614

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

Takateru Urakubo, Xianglong Wan, Tomoaki Mashimo

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1193 - 1198   2020年1月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

Kinematic singularity of a robot arm can be dynamically advantageous in achieving tasks with the arm. In this paper, we examine dynamic features of singular configurations by theoretical analysis and numerical simulations, for a two-link robot arm that performs dynamic tasks such as lifting heavy objects and opening heavy doors. If no friction torque is applied to the joints, the mechanical energy necessary for the tasks can be generated from joint torques at a high rate near a singular configuration. Even when the joints suffer from viscous friction, the singular configuration has an advantage in supplying energy for a highly dynamic task whose duration is short. As the duration of task becomes longer, the arm configuration that can supply the energy at the highest rate becomes away from the singular configuration.

DOI： 10.1109/SII46433.2020.9026178

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Review: Recent Advances in Micromotors 査読

Tomoaki Mashimo, Shunsuke Izuhara

IEEE Access   8   213489 - 213501   2020年

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

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 査読

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

IEEE Access   8   38546 - 38553   2020年

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担当区分：筆頭著者,　責任著者   記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/access.2019.2957298

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

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

ICIC Express Letters, Part B: Applications   10 ( 7 )   627 - 634   2019年7月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

© 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 査読

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

ICIC Express Letters, Part B: Applications   10 ( 6 )   515 - 521   2019年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

© 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 査読

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

Soft Robotics   6 ( 4 )   483 - 494   2019年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1089/soro.2018.0115

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その他リンク： https://www.liebertpub.com/doi/pdf/10.1089/soro.2018.0115

Mobile Continuum Robot with Unlimited Extensible Sections

Ayato Kanada, Tomoaki Mashimo

IEEE International Conference on Intelligent Robots and Systems   7117 - 7122   2018年12月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）   出版者・発行元：Institute of Electrical and Electronics Engineers Inc.  

Typical continuum robots, such as pneumatic and tendon-driven robots, have a restricted section length and require a large external component for pulleys and a compressor, making them unsuitable for locomotion. This paper presents a new mobile continuum robot design with virtually unlimited extensible sections. A driving unit, which has a mechanism similar to the rack-and-pinion, consists of three DC motors with gears, each of which moves each flexible tube. The rotation of the motor translates the flexible tube, which has a helical groove on the surface that meshes with the gear. The long flexible tube provides a large traveling distance as long as it does not buckle. The elongation and bending motion of each section may be controlled during operation by varying the speed of each flexible tube. This design not only allows the expansion of the robot to otherwise unreachable work areas but also improves the locomotion velocity by generating a large traveling distance of the flexible tubes. The most important point in this paper is to use multiple driving units for locomotion. Since all the driving units can be mounted on the same tubes, by increasing the number of them, the robot can take various forms without expanding its diameter. A preliminary prototype was built, and its crawling locomotion performance was tested using two operating sequences. The results indicate that earthworm-like locomotion can be achieved with good performance by elongating the sections even when the ground is slippery. The proposed design can be easily be rebuilt by anyone with access to a basic 3D printer.

DOI： 10.1109/IROS.2018.8594340

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

Takateru Urakubo, Eri Kitagawa, Xianglong Wan, Tomoaki Mashimo

Advanced Robotics   32 ( 11 )   623 - 634   2018年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：Informa UK Limited  

DOI： 10.1080/01691864.2018.1476180

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Design and Evaluation of Micro Linear Ultrasonic Motor 査読

S. Iduhara, T. Mashimo

Sensors and Actuators A: Physical   278   60 - 66   2018年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1016/j.sna.2018.05.022

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Micro Geared Ultrasonic Motor 査読

T. Mashimo, T. Urakubo, Y. Shimizu

IEEE/ASME Transactions on Mechatronics   2018年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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

K. Miyoshi, T. Mashimo

Advanced Robotics   2018年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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Scaling of piezoelectric ultrasonic motors at submillimeter range 査読

Tomoaki Mashimo

IEEE/ASME Transactions on Mechatronics   22 ( 3 )   1238 - 1246   2017年6月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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 査読

Tomoaki Mashimo

SENSORS AND ACTUATORS A-PHYSICAL   257   106 - 112   2017年4月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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Micro Ultrasonic Motor Using a Cube With a Side Length of 0.5 mm 査読

Tomoaki Mashimo

IEEE-ASME TRANSACTIONS ON MECHATRONICS   21 ( 2 )   1189 - 1192   2016年4月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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 査読

Ayato Kanada, Tomoaki Mashimo, Kazuhiko Terashima

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

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

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 査読

Tomoaki Mashimo

IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   62 ( 10 )   1819 - 1826   2015年10月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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 査読

T. Mashimo, K. Terashima

Sensors and Actuators A: Physical   233   15 - 21   2015年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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 査読

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年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：一般社団法人 システム制御情報学会  

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

CiNii Article

CiNii Books

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その他リンク： https://jlc.jst.go.jp/DN/JLC/20015547284?from=CiNii

だ円運動の変化を考慮した超音波モータの応答性に関する研究 査読

山下貴仁, 真下智昭, 寺嶋一彦

日本ロボット学会誌   33 ( 9 )   696 - 703   2015年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

DOI： 10.7210/jrsj.33.696

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Experimental Verification of Elliptical Motion Model in Travelling Wave Ultrasonic Motors 査読

T. Mashimo, K. Terashima

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

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/TMECH.2015.2392126

Web of Science

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

T. Mashimo, T. Urakubo, T. Kanade

ASME Journal of Mechanisms and Robotics   7 ( 3 )   2015年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1115/1.4028930

Web of Science

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Micro ultrasonic motor using a one cubic millimeter stator 査読

Tomoaki Mashimo

SENSORS AND ACTUATORS A-PHYSICAL   213   102 - 107   2014年7月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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Piezoelectric Rotational Mixer Based on a First Bending Vibration Mode 査読

Tomoaki Mashimo

IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   60 ( 10 )   2098 - 2104   2013年10月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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Spherical ultrasonic motor drive system for camera orientation in pipe inspection 査読

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

ADVANCED ROBOTICS   27 ( 3 )   199 - 209   2013年2月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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Vibration Analysis of Cubic Rotary-Linear Piezoelectric Actuator 査読

Tomoaki Mashimo, Shigeki Toyama

IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   58 ( 4 )   844 - 848   2011年4月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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Rotary-Linear Piezoelectric Microactuator With a Cubic Stator of Side Length 3.5 mm 査読

Tomoaki Mashimo, Shigeki Toyama

IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL   57 ( 8 )   1825 - 1830   2010年8月

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記述言語：英語   掲載種別：研究論文（学術雑誌）   出版者・発行元：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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Development of spherical ultrasonic motor as a camera actuator for pipe inspection robot

Masahiko Hoshina, Tomoaki Mashimo, Shigeki Toyama

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009   2379 - 2384   2009年12月

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記述言語：英語   掲載種別：研究論文（国際会議プロシーディングス）  

We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the kinematics and characteristics of ultrasonic motors. The rotational directions were defined by the phase differences of the applied voltages, and the rotational speeds were changed with the frequencies. Additionally, we developed a very small position sensing system using rotary potentiometers. In the control experiment performed using the sensing system, the SUSM showed the returnability to the default position from several specified points, within an accuracy of 1°. © 2009 IEEE.

DOI： 10.1109/IROS.2009.5354315

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Design and Implementation of a Spherical Ultrasonic Motor 査読

T. Mashimo, S. Toyama, H. Ishida

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

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/TUFFC.2009.1338

Web of Science

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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− 査読

真下智昭, 遠山茂樹

精密工学会誌   2009年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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Rotary-Linear Piezoelectric Actuator using a Single Stator 査読

T. Mashimo, S. Toyama

IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control   2009年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

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Development of micro ultrasonic motor for surgery 査読

S. Toyama, T. Mashimo

Journal of Vibroengineering   11 ( 1 )   27 - 33   2009年

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記述言語：英語   掲載種別：研究論文（学術雑誌）  

Web of Science

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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− 査読

真下智昭, 粟賀宏介, 遠山茂樹

精密工学会誌   74 ( 4 )   400 - 404   2008年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：公益社団法人精密工学会  

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 査読

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年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：The Society of Life Support Engineering  

DOI： 10.5136/lifesupport.18.Supplement_74

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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− 査読

真下智昭, 遠山茂樹

精密工学会誌   2008年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）  

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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− 査読

真下智昭, 遠山茂樹, 石田寛

精密工学会誌   73 ( 2 )   275 - 280   2007年

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記述言語：日本語   掲載種別：研究論文（学術雑誌）   出版者・発行元：公益社団法人精密工学会  

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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