Updated on 2022/12/27

写真a

 
WAKIMOTO Shuichi
 
Organization
Faculty of Natural Science and Technology Associate Professor
Position
Associate Professor
External link

Degree

  • Doctor (Engineering) ( Okayama University )

Research Interests

  • Actuator Mechatoronics

  • アクチュエータ

  • メカトロニクス

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Design engineering

  • Informatics / Mechanics and mechatronics

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Machine elements and tribology

  • Informatics / Robotics and intelligent system

Education

  • Okayama University   大学院自然科学研究科  

    2002 - 2007

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    Country: Japan

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  • Okayama University    

    - 2007

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  • Okayama University    

    - 2002

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  • Okayama University   工学部  

    1998 - 2002

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    Country: Japan

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Research History

  • 岡山大学自然科学研究科産業創成工学専攻 准教授

    2013

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  • - Associate Professor,Industrial Innovation Sciences,Graduate School of Natural Science and Technology,Okayama University

    2013

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  • Associate Professor,Research Core for Interdisciplinary Sciences,Okayama University

    2011 - 2013

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  • Okayama University   Research Core for Interdisciplinary Science

    2011 - 2013

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  • Okayama University   Research Core for Interdisciplinary Science

    2009 - 2011

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  • Assistant Professor,Research Core for Interdisciplinary Sciences,Okayama University

    2009 - 2011

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  • Okayama University   The Graduate School of Natural Science and Technology   Assistant Professor

    2007 - 2009

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  • Postdoctoral Fellowships of Japan Society for the Promotion of Science

    2004 - 2007

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  • 日本学術振興会特別研究員(DC1)

    2004 - 2007

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Professional Memberships

 

Papers

  • Displacement Sensing of an Active String Actuator Using a Step-Index Multimode Optical Fiber Sensor Reviewed

    Weihang Tian, Shuichi Wakimoto, Takefumi Kanda, Daisuke Yamaguchi

    Sensors   22 ( 9 )   3232 - 3232   2022.4

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

    A thin McKibben artificial muscle is a pneumatic actuator with an outer diameter of only 1.8 mm. We fabricated a string-shaped actuator called an “active string actuator,” which achieves a high contractile displacement by accumulating thin McKibben artificial muscles. To control the displacement, the length of the active string actuator should be estimated. However, this is difficult because bulky and rigid sensors are unsuitable for the sensor element of the active string actuator. Therefore, in this study, we propose a new sensing method for estimating the length of an active string actuator. The proposed sensing system is simple and comprises only three components: a step-index multimode optical fiber, a light emitter, and a light receiver. A step-index multimode optical fiber was combined with the active string actuator, and the length was estimated from the change in the amount of light propagating in the optical fiber when the active string actuator was driven. Fundamental experiments were conducted in this study, and the results demonstrated that the optical fiber sensor value changed with the actuator length. This suggests that it is possible to estimate the displacement of an active string actuator using an optical fiber sensor.

    DOI: 10.3390/s22093232

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  • Core–Shell Droplet Generation Device Using a Flexural Bolt-Clamped Langevin-Type Ultrasonic Transducer Reviewed

    Kentaro Omori, Nozomu Fujimoto, Takefumi Kanda, Shuichi Wakimoto, Norihisa Seno

    Actuators   10 ( 3 )   55 - 55   2021.3

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

    Droplets with a core–shell structure formed from two immiscible liquids are used in various industrial field owing to their useful physical and chemical characteristics. Efficient generation of uniform core–shell droplets plays an important role in terms of productivity. In this study, monodisperse core-shell droplets were efficiently generated using a flexural bolt-clamped Langevin-type transducer and two micropore plates. Water and silicone oil were used as core and shell phases, respectively, to form core–shell droplets in air. When the applied pressure of the core phase, the applied pressure of the shell phase, and the vibration velocity in the micropore were 200 kPa, 150 kPa, and 8.2 mm/s, respectively, the average diameter and coefficient of variation of the droplets were 207.7 μm and 1.6%, respectively. A production rate of 29,000 core–shell droplets per second was achieved. This result shows that the developed device is effective for generating monodisperse core–shell droplets.

    DOI: 10.3390/act10030055

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  • Evaluation of a Mechanomyogram Sensor Using Piezoelectric Polymer by Muscle Isometric Contraction Reviewed

    Hiroaki Ishizuka, Kiyoka Kashihara, Takefumi Kanda, Shuichi Wakimoto, Hisao Oka

    IEEJ Transactions on Sensors and Micromachines   141 ( 2 )   44 - 49   2021.2

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical Engineers of Japan (IEE Japan)  

    DOI: 10.1541/ieejsmas.141.44

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  • A small three-way valve using particle excitation driven by a single piezoelectric transducer for hydraulic actuator Reviewed

    Hikaru Yamamoto, Takefumi Kanda, Shuichi Wakimoto, Yusuke Ota, Hatuto Takami, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae

    Sensors and Actuators A: Physical   316   112363 - 112363   2020.12

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

    DOI: 10.1016/j.sna.2020.112363

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  • Active Cloth Fabricated by a Flat String Machine and its Application to a Safe Wheelchair System Reviewed

    Makoto Takada, Shuichi Wakimoto, Takero Oshikawa, Takeji Ueda, Takefumi Kanda

    Journal of Robotics and Mechatronics   32 ( 5 )   1010 - 1018   2020.10

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

    In this study, a pneumatically contracting active cloth has been developed; its application is proposed for a safe sitting-posture recovery system for wheelchair users to avoid fall-related accidents. The active cloth consists of thin artificial muscles knitted via a flat string machine. The safe wheelchair system is configured with an active cloth and seating pressure sensor. The seating pressure sensor, located on the seating surface of the wheelchair, estimates the inclination of the upper body of the user; when this reaches an angle that is dangerous for falling from the wheelchair, the active cloth contracts to correct the posture of the upper body. In this paper, we clarify the fabrication process and fundamental characteristics of the active cloth and indicate its potential as a mechanical element for welfare apparatuses by demonstrating a safe wheelchair system.

    DOI: 10.20965/jrm.2020.p1010

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  • Realistic and Highly Functional Pediatric Externally Powered Prosthetic Hand Using Pneumatic Soft Actuators Reviewed

    Hironari Taniguchi, Nobuo Takemoto, Ren Yakami, Shuichi Wakimoto, Takero Oshikawa, Kosuke Morinaga, Takefumi Kanda

    Journal of Robotics and Mechatronics   32 ( 5 )   1034 - 1043   2020.10

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

    It is known that introducing a pediatric externally powered prosthetic hand from an early age has certain merits such as the recovery of body image. However, this process is not popular in Japan. The high cost and technological problems of the hand have resulted in difficulty in its popularization. The pediatric prosthetic hand must be lighter and smaller than the adult one. Furthermore, parents of users prefer a prosthetic hand, such as a human arm and hand. We developed a prosthetic hand that demonstrates certain functionalities and appearances similar to a real human hand. The prosthetic hand consists of miniature McKibben actuators and is manufactured from acrylonitrile-butadiene-styrene resin and covered by a silicon glove. It has flexible joint structures and can grasp objects of various shapes. In this paper, we present a prototype of the pediatric prosthetic hand and the results of gripping experiments, bending and extension of finger experiments, and user tests.

    DOI: 10.20965/jrm.2020.p1034

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  • Establishment of fabrication process for smart artificial muscles with the inductance sensor Reviewed

    Sota KOGAWA, Shuichi WAKIMOTO, Takefumi KANDA, Kento OMURA, Katsunori ANDO

    TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY   51 ( 2 )   25 - 31   2020

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Fluid Power Systems Society  

    DOI: 10.5739/jfps.51.25

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  • Design and Evaluation of a Cylindrical Micromixer Using Ultrasonic Vibration in Torsional Vibration Mode Reviewed

    Hiroaki Ishizuka, Takefumi Kanda, Seren Miyake, Shin-ichiro Kawasaki, Shuichi Wakimoto, Norihisa Seno, Tatsuya Fujii

    2019 IEEE International Ultrasonics Symposium (IUS2019)   Moc11.6(1) - Moc11.6(3)   2019

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    Language:English   Publishing type:Research paper (international conference proceedings)  

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  • A Soft Master-Slave Robot Mimikicking Octopus Arm Structure Using Thin Artificial Muscles and Wore Encoders Reviewed

    Shota Furukawa, Shuichi Wakimoto, Takefumi Kanda, Hiroki Hagihara

    Actuators   8 ( 2 )   40(1) - (13)   2019

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  • Modeling and System Integration for a Thin Oneumatinc Rubber 3-DOF Actuator Reviewed

    Shuhei Kawamura, Mizuki Sudani, Mingcong Deng, Yuichi Noge, Shuichi Wakimoto

    Actuators   8 ( 2 )   32(1) - (16)   2019

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  • McKibben artificial muscle realizing variable contraction characteristics using helical shape-memory polymer fibers Reviewed

    Shigeyoshi Yahara, Shuichi Wakimoto, Takdefumi Kanda, Kouya Matsuhisa

    Sensors and Actuators A   295   637 - 642   2019

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  • Modelling adn Operator-Based Nonlinear Control for a Miniature Pneumnatic Bending Rubber Atuator Considering Bellows Reviewed

    Mizuki Sudani, Mingcong Deng, Shuichi Wakimoto

    Actuators   7 ( 2 )   26(1)-26(13)   2018

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  • 可変微細構造によるソフトマテリアル表面の接触角制御 Reviewed

    森重佳久, 鈴森康一, 神田岳文, 脇元修一

    設計工学   53 ( 10 )   745 - 760   2018

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  • Novel three-way valve for pneumatic and hydraulic actuators using piezoelectric transducers Reviewed

    Takefumi Kanda, Hayato Osaki, Shoki Ofuji, Norihisa Seno, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae, Shuichi Wakimoto

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  • A miniature pneumatic bending rubber actuator controlled by using the PSO-SVR-based motion estimation method with the generalized Gaussian Kernel Reviewed

    Kou Fujita, Mingcong Deng, Shuichi Wakimoto

    Actuators   6 ( 1 )   235 - 241   2017.3

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

    Soft actuators have been employed in various fields recently. A miniature pneumatic bending rubber actuator is one of the soft actuators. This actuator will be used for medical and biological fields. Its flexibility and high safety are suitable for fragile objects. However, its modeling is difficult due to its nonlinearity. There are no suitable sensors to measure the output of this actuator. In this paper, the particle swarm optimization-support vector regression (PSO-SVR)-based estimation method with the generalized Gaussian kernel is proposed. An experimental result with the operator-based robust nonlinear control system is employed to verify the effectiveness of the proposed method.

    DOI: 10.3390/act6010006

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  • Musculoskeletal lower-limb robot driven by multifilament muscles Reviewed

    Shunichi Kurumaya, Koichi Suzumori, Hiroyuki Nabae, Shuichi Wakimoto

    ROBOMECH Journal   3 ( 1 )   (2016)3:18(1)-(2016)3:18(15)   2016.12

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

    This paper presents a redundant musculoskeletal robot using thin McKibben muscles that is based on human anatomy. The purpose of this robot is to achieve motions and characteristics that are very similar to a human body. We use a thin McKibben muscle, which is compliant and flexible, as the actuator of a musculoskeletal robot. Using a bundle of thin McKibben muscles, we develop a multifilament muscle that has characteristics similar to those of human muscles. In contrast, the actuators of conventional musculoskeletal robots are very heavy, not densely attached and have poor backdrivability. Because multifilament muscles are light and can be densely attached, we can attach them to the musculoskeletal robot as skeletal muscle and achieve a redundant system that is equivalent to a human drive mechanism. In this paper, we report a method for fabricating multifilament muscles that imitate various muscles, the development of a lower-limb muscle mechanism for the redundant musculoskeletal robot with thin McKibben muscles and experimental results showing that the proposed musculoskeletal robot achieves humanlike motions that have not yet been reported for other robots.

    DOI: 10.1186/s40648-016-0061-3

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  • New concept and fundamental experiments of a smart pneumatic artificial muscle with a conductive fiber Reviewed

    Shuichi Wakimoto, Jumpei Misumi, Koichi Suzumori

    SENSORS AND ACTUATORS A-PHYSICAL   250   48 - 54   2016.10

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

    A McKibben artificial muscle consisting of a rubber tube and a mesh sleeve made from fibers is a promising actuator as an artificial muscle because of its high power, low weight, and flexibility. However, an external pressure sensor or an expensive electro/pneumatic regulator is generally required to control the pneumatic pressure to drive the actuator.
    A novel smart McKibben-type artificial muscle with a pressure-sensing function has been proposed and developed in this study. One fiber on the sleeve of the actuator is converted from a normal to a conductive material. The applied pressure is estimated by observing the electrical resistance of the conductive fiber. Therefore, the fiber works as both a sensor and an actuator element.
    The fabrication process of the smart artificial muscle is established in this report, and the basic characteristics are clarified. Moreover, a compact driving control system of the smart artificial muscle, which uses a small rotary pump without external sensors, electro/pneumatic regulator, or valves, is proposed. (C) 2016 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2016.08.004

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  • Development of a rubber soft actuator driven with gas/liquid phase change Reviewed

    Hiroki Matsuoka, Takefumi Kanda, Shuichi Wakimoto, Koichi Suzumori, Pierre Lambert

    International Journal of Automation Technology   10 ( 4 )   517 - 524   2016

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  • Omnidirectional soft robot platform with flexible actuators for medical assistive device Reviewed

    Mohamed Najib Ribuan, Shuichi Wakimoto, Koichi Suzumori, Takefumi Kanda

    International Journal of Automation Technology   10 ( 4 )   494 - 502   2016

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

    This manuscript explains the employment of flexible actuators to act as a soft robot and transporting agent to assist medical X-ray examinations. Although soft robots from silicone material can be transparence and a human compliance used as medical assistive devices, soft robots have some problems: they tend to be sluggish, have long and imprecise gait trajectories, and need their control parameters to be adjusted for motion diversion. A soft robot with omnidirectional locomotion has been created, one that has a combination of pneumatic rubber legs that form a soft robot platform and an associated hardware setup. Tests have confirmed its omnidirectional locomotion ability
    it has a maximum speed of 6.90 mm/s in forward locomotion and a maximum payload of 70 g. These features indicate that the robot can be used as a medical assistive device for fluoroscopy examinations.

    DOI: 10.20965/ijat.2016.p0494

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  • 湾曲型空圧アクチュエータを用いた手指拘縮予防支援装置の開発 Reviewed

    宮川豊美, 脇元修一

    設計工学   51 ( 5 )   344 - 356   2016

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  • Development of a hose-free FMA driven by a built-in Gas/Liquid chemical reactor Reviewed

    Akira Wada, Hidehiro Kametani, Koichi Suzumori, Shuichi Wakimoto

    International Journal of Automation Technology   10 ( 4 )   511 - 516   2016

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

    Although pneumatic rubber actuators have unique advantages, (e.g., compliance, lightness, and cheapness) they require an air compressor, valves, and air supply hoses, limiting their use in portable devices. In our previous paper, we proposed the basic working principle of a novel pneumatic source for rubber actuators. This was based on the reversible chemical reaction of water electrolysis/synthesis, using a proton-exchange membrane fuel cell (PEMFC). In the current study, we developed a small PEMFC reactor based on this principle and applied it to a flexible micro actuator (FMA), which is a typical pneumatic rubber actuator, thereby realizing a hose-free pneumatic actuator without a compressor. The results of the driving experiments show that the proposed actuator can be successfully controlled by electric current control.

    DOI: 10.20965/ijat.2016.p0511

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  • Characteristics of a Pneumatic bellows actuator for Colonoscopy Reviewed

    Shuichi Wakimoto, Hidehiro Kametani

    International Journal of Automation Technology   10 ( 4 )   479 - 486   2016

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

    Since colonoscopic insertion requires a high level of skill on the part of the examining physician, the patient may experience pain if the physician is not so highly skilled. In this study, our objective is to realize an easy-to-execute endoscopic insertion that does not rely on the physician’s skill. We develop a pneumatic actuator that gives the endoscope self-propulsion capability. The actuator is configured with three bellows made of polyethylene film. By applying pneumatic pressure to the bellows in a specific sequence to extend and contract them, the end of the actuator moves elliptically. Thus, the endoscope can be given propulsion performance by attaching several actuators and driving them in different phases. In this paper, the basic characteristics of the actuator are determined geometrically from the characteristics of the bellows, and then those characteristics are compared to the results of experiments. In addition, experiments are conducted in which a rod, used as a dummy endoscope, is transported through a pipe and inserted in an intestinal tractmodel. The experiments confirmand validate the proposed concept.

    DOI: 10.20965/ijat.2016.p0479

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  • Modeling of Multifilament Muscle Regarding Physical Interaction between Muscle Fibers

    KURUMAYA Shunichi, SUZUMORI Koichi, NABAE Hiroyuki, WAKIMOTO Shuichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2016 ( 0 )   2P1 - 13b4   2016

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    Language:Japanese   Publisher:The Japan Society of Mechanical Engineers  

    <p>Muscles of creatures have bundle structure consisting of a large number of thin muscle fibers. Using a bundle of thin McKibben muscles, we have developed a multifilament muscle that has characteristics similar to those of human muscles. It is reported that bundling thin McKibben muscles causes physical interaction between muscle fibers with their radical expansion, resulting in the increase of the muscle contraction ratio. It is only confirmed as an experimental result. In this paper, we propose a simple model to reveal this interesting phenomenon. The analytical result successfully expresses the increase in contraction due to bundling thin McKibben muscles.</p>

    DOI: 10.1299/jsmermd.2016.2P1-13b4

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  • Simulations of Fiber Braided Bending Actuator : Investigation on Position of Fiber Layer Placement and Air Chamber Diameter Reviewed

    Ili Najaa, Aimi Moh, Nordin,Ahmad 'Athif Mohd Faudzi, Shuichi Wakimoto, Koichi Suzumori

    Proc. of The 10th Asian Control Conference 2015(ASCC2015)   2015

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  • New pneumatic rubber leg mechanism for omnidirectional locomotion Reviewed

    Mohamed Najib Ribuan, Koichi Suzumori, Shuichi Wakimoto

    International Journal of Automation Technology   8 ( 2 )   222 - 230   2014

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

    This paper describes a new pneumatic rubber leg mechanism for omnidirectional locomotion. The new mechanism was adopted from a pneumatic balloon actuator where translation and bending motions are produced as a result of balloon deformation. It was constructed using five chambers: one on the top and centered over four bottom chambers arranged in a square. Several possible designs were simulated to achieve the optimal design using a non-linear finite element analysis that considered the design parameters and the geometrical and material non-linearity of the elements. Prototyping was then performed using a rapid and efficient silicone rubber molding fabrication process based on computer-aided design and manufacturing. The experimental results were in good agreement with the analytical results. In conclusion, we have established a new rubber leg mechanism with a high degree of freedom to realize omnidirectional locomotion for a soft robot base, delicate object conveyance, and / or microscope stage applications.

    DOI: 10.20965/ijat.2014.p0222

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  • 腹臥位用遠隔圧迫枕の開発と有用性評価 Reviewed

    澁谷光一, 鷲見和幸, 渡邊敏充, 脇元修一, 鈴森康一, 岡久雄

    日本診療放射線技師会誌   61 ( 738 )   21 - 25   2014

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  • Simulations of Two Patterns Fiber Weaves Reinforced in Rubber Actuator Reviewed

    Ili Najaa Aimi Moh, Nordin, A.A.M.Faudzi, M.R.M.Razif, E.Natarajan, S.wakimoto, K.Suzumori

    Jurnal Teknologi   69 ( 3 )   133 - 138   2014

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  • Characteristics Analysis and Modeling of a Miniature Pneumatic Curling Rubber Actuator Reviewed

    A.Wang, M.Deng, S.Wakimoto, T.Kawashima

    International Journal of Innovative Computing,Information and Control   10 ( 3 )   1029 - 1039   2014

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  • 作業療法士の施術を目指した手指関節用リハビリ装置の開発 Reviewed

    谷口浩成, 脇元修一, 鈴森康一

    日本機械学会論文集   80 ( 820 )   2014

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  • New mobile pressure control system for pneumatic actuators, using reversible chemical reactions of water Reviewed

    Koichi Suzumori, Akira Wada, Shuichi Wakimoto

    SENSORS AND ACTUATORS A-PHYSICAL   201   148 - 153   2013.10

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

    Recently, the need for mobile gas sources and portable gas controllers that are silent and have high efficiency for pneumatic actuators has become important. Conventional air compressors and their control systems are large, heavy, noisy, and of low efficiency. This paper proposes a new mobile pressure control system using reversible chemical reactions. This device, consisting of a proton-exchange membrane fuel cell and a current controller, can control gas pressures using an electric current. This report shows the basic mechanism and experimental results using the first prototype based on the electrolysis/synthesis of water; this new idea has great potential. The prototype system achieved a pressure of 0.5 MPaG, which can drive most general pneumatic actuators. (C) 2013 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2013.07.008

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  • ロバスト右既約分解およびSVR推定を併用した大湾曲ラバーアクチュエータのセンサレス非線形制御 Reviewed

    川島敏弘, Aihui Wang, 脇元修一, 鄧明聡

    電気学会論文誌C(電子・情報・システム部門誌)   133 ( 10 )   1924 - 1929   2013

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  • マイクロ吸盤の集積による吸着性柔軟ロボットスキン Reviewed

    真鍋諒一, 鈴森康一, 脇元修一

    日本ロボット学会誌   31 ( 1 )   98 - 106   2013

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  • 柔軟ゴムデバイスを用いた空気圧剛性可変フィンガの予測機能制御 Reviewed

    永瀬純也, 佐藤俊之, 脇元修一, 嵯峨宣彦, 鈴森康一

    計測自動制御学会論文集   48 ( 8 )   470 - 478   2012

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  • A method of designing and fabricating Mckibben muscles driven by 7 MPa hydraulics Reviewed

    Kazuhiro Iwata, Koichi Suzumori, Shuichi Wakimoto

    International Journal of Automation Technology   6 ( 4 )   482 - 487   2012

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

    Research has recently been increasing on light weight and high-power robot hands that use artificial muscles. By applying ultra high strength PBO fiber sleeves to McKibben artificial muscles, new hydraulic artificial muscles have been developed in our laboratory. In this research, to apply this technology to a high-power robot easily, we have developed new, thin, hydraulic artificial muscles. While the hydraulic artificial muscles reported in our previous paper were driven by a maximum water pressure of 4 MPa, the newly developed thin muscles are driven by water with a maximum pressure of 7 MPa, resulting in very high force capability. This paper details the materials and structure of the new artificial muscles and reports the results of experiments on them. The muscles developed in this work are based on a sleeve and rubber tube design. The movements of the muscles depend on the angle of the knit of sleeve: an angle of less than 54.5 deg produces contraction while an angle of more than 54.5 deg produces extension. Based on this idea, we optimize, using FEM analysis, the angle of knit of the sleeve of each muscle. As a result, a high powered artificial muscle 21 mm in diameter which generates 8 kN of contraction force has been successfully developed.

    DOI: 10.20965/ijat.2012.p0482

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  • APPLICATION OF NEW BRAIDED SOFT ACTUATOR DESIGN IN BIOMIMETIC ROBOT LOCOMOTION Reviewed

    M.F. A. ‘ATHIF, M.N. ILI, NAJAA AIMI, R. NUR FATIHA, M.R. M. RUSYDI, D.HIROOKA, S. WAKIMOTO, K. SUZUMORI

    Proc. of The 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines,Baltimore   165 - 172   2012

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  • Predictive Functional Control of Stiffness-changeable Finger Using Soft Rubber Device

    Jun-ya NAGASE, Toshiyuki SATOH, Shuichi WAKIMOTO, Norihiko SAGA, Koichi SUZUMORI

    Transactions of the Society of Instrument and Control Engineers   48 ( 8 )   470 - 478   2012

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    Publishing type:Research paper (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    DOI: 10.9746/sicetr.48.470

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  • Erratum: Predictive Functional Control of Stiffness-changeable Finger Using Soft Rubber Device [Transactions of the Society of Instrument and Control Engineers Vol.48 (2012) No.8 pp.470-478]

    Jun-ya NAGASE, Toshiyuki SATOH, Shuichi WAKIMOTO, Norihiko SAGA, Koichi SUZUMORI

    Transactions of the Society of Instrument and Control Engineers   48 ( 10 )   686 - 686   2012

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    Publishing type:Research paper (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    DOI: 10.9746/sicetr.48.686

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  • 大腸内視鏡挿入支援を目指したラバーチューブアクチュエータの設計と基礎駆動特性 Reviewed

    脇元修一, 尾崎健, 鈴森康一

    日本ロボット学会誌   29 ( 7 )   619 - 625   2011

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  • Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices Reviewed

    Shuichi Wakimoto, Issei Kumagai, Koichi Suzumori

    International Journal of Automation Technology   5 ( 4 )   551 - 558   2011

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  • Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube Reviewed

    Shuichi Wakimoto, Koichi Suzumori, Keiko Ogura

    ADVANCED ROBOTICS   25 ( 9-10 )   1311 - 1330   2011

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

    Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments. (C) Koninklijke Brill NV, Leiden, 2011

    DOI: 10.1163/016918611X574731

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  • Development of Contraction and Extension Artificial Muscles with Different Braid Angles and Their Application to Stiffness Changeable Bending Rubber Mechanism by Their Combination Reviewed

    Kazuhiro Iwata, Koichi Suzumori, Shuichi Wakimoto

    Journal of Robotics and Mechatronics   23 ( 4 )   582 - 588   2011

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  • Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators Reviewed

    Jun-ya Nagase, Shuichi Wakimoto, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

    Smart Materials and Structures   20 ( 10 )   105015-1-105015-9   2011

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  • 空気圧剛性可変フィンガを有するバルーン型腱駆動ロボットハンドの開発 Reviewed

    永瀬純也, 脇元修一, 嵯峨宣彦, 鈴森康一

    設計工学(公益社団法人 日本設計工学会誌)   46 ( 9 )   517 - 523   2011

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  • Multiplex pneumatic control method for multi-drive system Reviewed

    Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto

    SENSORS AND ACTUATORS A-PHYSICAL   164 ( 1-2 )   88 - 94   2010.11

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    Pneumatic actuators have several advantages such as light weight safety low cost and high compliance However many pneumatic actuators have complicated systems that include a compressor air tubes and pneumatic valves with electrical wires This research proposes a new control method for a multiplex pneumatic transmission constructed with special resonant valves and air tubes with a control system driven by air vibration in air tubes without electrical wires The control is simplified and effective for pneumatic systems having many degrees of freedom In this paper the development of a primitive model of the resonant valve and a prototype valve is described In addition two control methods which are a superimposing method and a time-sharing method are shown and the independent driving of four actuators is realized by using one of the control methods with air tubes only (c) 2010 Elsevier B V All rights reserved

    DOI: 10.1016/j.sna.2010.09.004

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  • Development of an Intelligent Chair Tool System Applying New Intelligent Pneumatic Actuators Reviewed

    Ahmad &apos;Athif Mohd Faudzi, Koichi Suzumori, Shuichi Wakimoto

    ADVANCED ROBOTICS   24 ( 10 )   1503 - 1528   2010

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    This paper develops an Intelligent Chair Tool (ICT) - a new chair-type human and machine interaction seating system powered by 36 intelligent pneumatic actuators. This tool can be used to facilitate investigation of chair shapes from spring and damping effects of seating and backrest surfaces. Each actuator used consists of five extensive elements of encoder, laser strip rod, pressure sensor, valves and PSoC microcontroller incorporated in a single device. By using the ICT, different shapes, spring and damping characteristics can be obtained to aid the design of chairs from the control inputs, i.e., position x, stiffness k(s) and viscous coefficient c. Several control algorithms are presented to realize the communication and control system, and to obtain all data in real-time. The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system. The specification, development design and experimental evaluation of the ICT control system and actuator used are presented and discussed. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010

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  • 水圧マッキベン型人工筋を用いた不定形重量物用ハンドの開発 Reviewed

    盛真唯子, 鈴森康一, 脇元修一, 神田岳文, 高橋正幸, 細谷高司, 竹松愛実

    フルードパワーシステム   41 ( 3 )   59 - 66   2010

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  • Pneumatic Rubber Tube Actuator for Assisting Colonoscope Insertion - Applying Positive and Negative Pressure - Reviewed

    S. Wakimoto, K. Suzumori, K. Ozaki

    ACTUATOR 10, CONFERENCE PROCEEDINGS   101 - 104   2010

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    This study aims at development of a novel pneumatic rubber tube actuator to assist colonoscope insertion. The actuator can be wound around a conventional colonoscope, and the scope can have propelling ability. In this reports, a new control method was applied to the actuator for improving its driving performance. In the control, the actuator is driven by not only positive pneumatic pressure but also negative pressure. As the results of the new control experiments, increase of propellant speed could be confirmed.

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  • Intelligent actuators for mechatronics with multi-degrees of freedom making mechatronic systems simple, smart and reliable Reviewed

    Koichi Suzumori, Shuichi Wakimoto

    Next-Generation Actuators Leading Breakthroughs   165 - 176   2010

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    This chapter details intelligent servo actuators for mechatronic systems with multi-degrees of freedom. The intelligent actuators are equipped with micro sensors and a micro controller, realizing local control functions of motion, force, and compliance, a communicating function, and a motion generating function. Three examples of intelligent actuators are described: (1) an intelligent electrical motor and its application to a snake-like robot
    (2) pneumatic intelligent cylinders and their application to active polyhedron linkage mechanisms
    and (3) a new control method, called multiplex pneumatic transmission drive, for pneumatic systems. © 2010 Springer-Verlag London.

    DOI: 10.1007/978-1-84882-991-6_15

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  • J1102-1-1 The development of the large intestine endoscope changing its stiffness : 2^<nd> report : Improvement of stiffness change device and fundamental insertion experiments

    KUMAGAI Issei, WAKIMOTO Shuichi, SUZUMORI Koichi

    The proceedings of the JSME annual meeting   2010   349 - 350   2010

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    Recently, the need of colonoscopy is increasing because of the rise of colonic disorder including cancer of the colon. However, current colonoscopy depends on doctor's skill strongly. Therefore, a large intestine endoscope that does not depend on the technique of doctor with high safety is required. In this research, we aim at development of the device that changes own stiffness by air pressure and applying it to the large intestine endoscope that is possible to be inserted into the colon safety without techniques of doctors. This device consists of fiber-reinforced silicone rubber and is able to change the stiffness by air pressure. In this report, we increased reinforced fibers and introduced new drive system which used negative pressure by the improvement of the device. And we developed the prototype of the endoscope. We verified the effectiveness by insertion experiments in U-shaped route.

    DOI: 10.1299/jsmemecjo.2010.7.0_349

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  • Design and Control of New Intelligent Pneumatic Cylinder for Intelligent Chair Tool Application Reviewed

    Ahmad `Athif Mohd Faudzi, K. Suzumori, S. Wakimoto

    Proc. of 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   1909 - 1914   2009

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  • Development of an Intelligent Pneumatic Cylinder for Distributed Physical Human-Machine Interaction Reviewed

    Ahmad &apos;Athif Mohd Faudzi, Koichi Suzumori, Shuichi Wakimoto

    ADVANCED ROBOTICS   23 ( 1-2 )   203 - 225   2009

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    Pneumatic systems are well known for their advantages and simplicity, and have been applied in various applications. This paper presents the development and experimental evaluation of an intelligent pneumatic cylinder and its control system. The cylinder is designed to have an optical encoder, pressure sensor, valve and a Programmable System on a Chip (PSoC) as the central processing unit. The PSoC will handle I(2)C communication, input and output data from the analogue to digital converter, counter program and pulse width modulation (PWM) duty cycle. An application tool for a distributed physical human-machine interaction is proposed using an intelligent pneumatic cylinder. The system applied 36 links of the actuator to form an Intelligent Chair Tool (ICT). The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system driven by PWM to an on/off valve. In this research, four control approaches, i.e., position control, force control, compliance control and viscosity control, were constructed and experimented. The physical properties of various objects were also detected by the intelligent cylinder through the detecting function experiment. Finally, an emulation experiment using mass was carried out and the results clearly show the ability of the intelligent cylinder, and the control approaches towards realization of the future ICT application. (c) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2009

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  • Flexible displacement sensor using injected conductive paste Reviewed

    Kenji Kure, Takefumi Kanda, Koichi Suzumori, Shuichi Wakimoto

    SENSORS AND ACTUATORS A-PHYSICAL   143 ( 2 )   272 - 278   2008.5

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    This paper reports on the fabrication procedure and the evaluation of a sensor with a flexible structure. Recently, because welfare robots with soft structures are being developed, there has been considerable progress in developing various soft actuators. Usually, however, sensors have high stiffness and diminish the compliance of soft actuators. In this study, a soft actuator's displacement was detected with a flexible displacement sensor using deposited conductive paste film. When the film was deformed, the sensor's electrical resistance changed, making a large deformation detectable. Initially, a flat type displacement sensor was fabricated, and its basic characteristics were evaluated. Then, an optimal wave patterning method that improved on the sensor signal's linearity was proposed. Finally, the flexible displacement sensor was formed onto the surface of a flexible microactuator (FMA). A servo control for the soft actuator was constructed with the flexible displacement sensor and high positioning accuracy was demonstrated. (c) 2007 Elsevier B.V. All rights reserved.

    DOI: 10.1016/j.sna.2007.11.031

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  • A NEW PNEUMATIC CONTROL SYSTEM USING MULTIPLEX PNEUMATIC TRANSMISSION Reviewed

    NISHIOKA Yasutaka, SUZUMORI Koichi, KANDA Takefumi, WAKIMOTO Shuichi

    Proceedings of the JFPS International Symposium on Fluid Power   2008 ( 7 )   439 - 442   2008

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    The purpose of this research is simplifying and downsizing of pneumatic system consisting of many pneumatic actuators. For this purpose a new method of multiplex pneumatic transmission for multi-pneumatic servo system is proposed. The pneumatic valve for this system has a simple structure consisting of two vibrators supported by springs. The working principle of the valve is based on vibrator resonance caused by multiplex pneumatic vibration in air supply line and this makes the valve work as an ON/OFF valve without electric wire or independent pneumatic tubes. Valve control needs superimposed only an air supply tube for its independent control, making this pneumatic system suitable for the system having many degrees of freedom.<BR>Two prototype valves have been developed to confirm the basic function and adapted to the pneumatic system consisting of two pneumatic cylinders. The prototype valve has been designed based on the result of a dynamic simulation and it was confirmed by basic experiments. In the experiment, the independent control for two pneumatic cylinders with prototype valves has been successfully realized.

    DOI: 10.5739/isfp.2008.439

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  • Pneumatic Valve Operated by Multiplex Pneumatic Transmission Reviewed

    Yasutaka Nishioka, Koichi Suzumori, Takefumi Kanda, Shuichi Wakimoto

    Journal of Advanced Mechanical Design, Systems, and Manufacturing   2 ( 2 )   222 - 229   2008

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  • ペーストインジェクションを用いたインテリジェントFMAの開発 (第1報,導電性ペーストによる柔軟変位センサの作製とFMAへの応用) Reviewed

    久禮健司, 神田岳文, 鈴森康一, 脇元修一

    日本機械学会論文集(C編)   2006

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  • 生物を模倣した水陸両用柔軟索状ロボット Reviewed

    脇元修一, 鈴森康一, 神田岳文

    日本機械学会論文集(C編)   2006

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  • 4104 Development of Intelligent Rubber-actuator : 5^<th> report: Sensor modeling and Servo Control

    WAKIMOTO Shuichi, SUZUMORI Koichi, KANDA Takefumi

    The proceedings of the JSME annual meeting   2006   115 - 116   2006

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    This study aims at development of Intelligent McKibben actuator with embedded soft displacement/pressure sensors and micro valves. In this report, a soft pressure sensor made of rubber and conductive film was developed and embedded in McKibben actuator. By measuring the electrical resistance of the conductive film which changes following the deformation of the rubber with internal pressure change of the actuator, the pressure can be estimated The results of fundamental experiments to clear the characteristics of the sensor showed that it has drift phenomenon by influence of the rubber creep behavior. Therefore, we tried to apply the mechanical model to the sensor model. A 2-Voigt mechanical model which consists of two springs and two dampers could agree the sensor characteristics. Using the model, we carried out the servo control experiments. The results indicated the high efficacy of the model. Furthermore we expect that the modeling method will be able to contribute to improving accuracy of several soft mechanisms.

    DOI: 10.1299/jsmemecjo.2006.4.0_115

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  • インテリジェントMcKibben型アクチュエータの開発(第1報,柔軟変位センサの内蔵による位置サーボ系の実現) Reviewed

    脇元修一, 鈴森康一, 神田岳文

    日本機械学会論文集(C編)   2005

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  • Development of Intelligent McKibben Actuator with Built-in Soft Conductive Rubber Sensor Reviewed

    S. Wakimoto, K. Suzumori, T. Kanda

    Proc. of Transducers 2005   2005

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  • Development of Intelligent Rubber-actuator : 2th report; Application to Antagonistic Mechanism with Nonlinearity Compensation

    WAKIMOTO Shuichi, SUZUMORI Koichi, KANDA Takefumi

    The proceedings of the JSME annual meeting   2004   261 - 262   2004

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    This study aims at development of soft intelligent rubber actuator of McKibben style. McKibben rubber actuator is an artificial muscle, which is pneumatically driven. At present, almost servo systems using this rubber actuator are driven with external potentiometer or encoder. So the systems tend to grow in size and to takeaway from compliance. In the first report, a soft displacement sensor was developed, and it was incorporated in rubber actuator. We named its actuator Intelligent Rubber-actuator. In this report. We fabricated a robot arm system configured by two Intelligent Rubber-actuators set antagonistically. Experiments with its system show that Intelligent Rubber-actuator has high possibility for application of several robot systems.

    DOI: 10.1299/jsmemecjo.2004.4.0_261

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  • In-Pipe Inspection Micro Robot adaptable to Changes in Pipe Diameter Reviewed

    Shuichi Wakimoto, Koichi Suzumori, Masanori Takata, Jun Nakajima

    Journal of Robotics and Mechatoronics   2003

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  • Development of Joints for Power Microrobot for Searching inside Debris Reviewed

    Koichi Suzumori, Masanori Takata, Shuichi Wakimoto

    Journal of Robotics and Mechatoronics   2003

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Books

  • 実用化に向けたソフトアクチュエータの開発と応用・制御技術

    株式会社シーエムシー出版  2017 

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  • ソフトアクチュエータの材料・構成・応用技術

    S&T出版株式会社  2016 

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  • パワーアシスト・ロボットに関する材料、電子機器、制御と実用化、その最新技術

    株式会社 技術情報協会  2015 

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  • Actuator アクチュエータが未来を創る

    産業図書株式会社  2011  ( ISBN:9784782841013

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  • Next-Generation Actuators Leading Breakthroughs

    Springer  2010 

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  • ロボット研究者からのメッセージ

    オーム社  2007 

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MISC

  • Thin Artificial Muscle -From Research to Practical Use -

    Shuichi WAKIMOTO

    Chemical Engineering of Japan   86 ( 1 )   30 - 32   2022.1

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  • 学術論文賞受賞について

    脇元 修一

    日本フルードパワーシステム学会誌   52 ( E1 )   E18 - E20   2021.8

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  • 紐製作技術を利用したマッキベン型人工筋肉の高機能化・集積化

    脇元修一

    油空圧技術   59 ( 13 )   6 - 10   2020.12

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  • (解説)空気圧ソフトアクチュエータの高機能化

    脇元修一

    月刊ファインケミカル   48 ( 2 )   14 - 21   2019.2

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  • (解説)日本機械学会2018年度年次大会におけるフルードパワー技術研究

    脇元修一

    日本フルードパワーシステム学会誌   50 ( 1 )   38 - 39   2019.1

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  • (解説)細径McKibben型人工筋の開発と用途開拓

    脇元 修一

    計測と制御   57   812 - 815   2018.11

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  • 量産可能な最小径空圧人工筋肉の次世代ロボットへの展開

    脇元修一, 鈴森康一, 清板祝士, 河野一俊

    山陽技術雑誌   66   5 - 10   2018.5

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  • (解説)空気圧駆動細径人工筋の基礎特性と応用例

    脇元修一

    加工技術   51 ( 12 )   35 - 40   2016

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  • 1A1-B06 Driving of light driven SMA manipulator

    USAKI Keita, KANDA Takefumi, WAKIMOTO Shuichi, SUGIMORI Koichi

    2015   "1A1 - B06(1)"-"1A1-B06(2)"   2015.5

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    The purpose of this study is to develop a light-driven SMA actuator. The shape memory alloy (SMA) actuator has many features such as a dynamic displacement value and a large generative force. Driven by the light, the SMA actuator can be downsized and used in many specific environments. In the previous study, the operation was limited to one direction moving. The actuator for driving on both directions is fabricated by replacing the SMA wire to the SMA plate. However SMA plate actuator cannot generate restitution force. To design the actuator structure, driving condition was simulated. Attaching a copper film as bias, the SMA plate actuator can recover the deformation to the initial state. Furthermore, SMA gripping actuator was fabricated and evaluated experimentally.

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  • (解説)表面改質技術により実現する小型空圧ソフトアクチュエータ

    脇元修一

    油空圧技術   54 ( 6 )   36 - 40   2015

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  • (解説)農業ロボットの収穫機構用アクチュエータ

    門田充司, 脇元修一

    日本ロボット学会誌   33 ( 9 )   680 - 683   2015

  • (解説)バブラアクチュエータの開発と内視鏡誘導への応用

    鈴森康一, 脇元修一

    フルードパワーシステム   45 ( 1 )   16 - 19   2014

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  • (解説)X線検査用腹部圧迫アクチュエータの開発

    鈴森康一, 脇元修一

    日本機械学会 機素潤滑設計部門ニュースレター   ( 33 )   2 - 3   2014

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  • (解説)日本機械学会2013年度年次大会におけるフルードパワー技術研究

    脇元修一

    フルードパワーシステム   45 ( 1 )   32 - 33   2014

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  • (解説)空気圧ソフトアクチュエータの概要と開発事例

    脇元修一

    自動化推進   43 ( 1 )   9 - 9   2014

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  • (解説)ソフトラバーアクチュエータ

    脇元修一

    油空圧技術   51 ( 6 )   37 - 41   2012

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  • (解説)IEEE International Conference on Robotics and Automation (ICRA) におけるフルードパワー技術の研究動向

    脇元修一

    フルードパワーシステム   42 ( 5 )   294 - 295   2011

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  • Design of Fluid-Drive Soft Mechanism

    SUZUMORI Koichi, WAKIMOTO Shuichi

    JRSJ   29 ( 6 )   484 - 487   2011

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    Language:Japanese   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.29.484

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  • New pneumatic actuators

    WAKIMOTO Shuichi, SUZUMORI Koichi

    Journal of the Japan Society for Precision Engineering   77 ( 9 )   828 - 831   2011

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    DOI: 10.2493/jjspe.77.828

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  • 生物を模倣した水陸両用柔軟ロボット(McKibben型アクチュエ-タによる柔軟メカニズム)

    鈴森康一, 脇元修一

    油空圧技術   45 ( 11 )   51 - 56   2006.10

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  • 2P1-S-081 A FLEXIBLE DISPLACEMENT SENSOR FOR FMA USING INJECTION SYSTEM(Mechanism and Control for Actuator 5,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Kure Kenji, Kanda Takefumi, Suzumori Kouichi, Wakimoto Shuichi

    2005   223 - 223   2005.6

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  • 1P2-S-080 Development of Artificial Muscles Using a Bundle of McKibben Muscle Fibers(Mechanism and Control for Actuator 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Suzumori Koichi, Takeda Jungo, Wakimoto Shuichi, Kanda Takefumi, Kusumoto Koji

    2005   136 - 136   2005.6

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  • Development of Intelligent Rubber actuator : First report, Basic Experiment of Servo System using Conductive Rubber

    Wakimoto S, Suzumori k, Kanda T

    2004   147 - 147   2004.6

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  • pipe inspection robot adaptive to pipe diameter : 4th report : Applying intelligent actuator to the 3rd prototype

    Tsujino K, Nakajima J, Ochi J, Suzumori K, Kanda T, Wakimoto S

    2004   145 - 146   2004.6

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  • Physical Man-Machine Interaction using Active Mouse : 2nd Report : 2nd Prototype realizing physical interaction

    Suzumori K., Kanda T., Hashimoto T., Ochi J., Wakimoto S.

    2003   105 - 106   2003

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  • Development of Micro Power Rescue Robot : 1st Report : Mechanism of joint units

    Takata M., Suzumori K., Kanda T., Wakimoto S.

    2003   72 - 72   2003

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Presentations

  • A study on the finger joint structure of a pediatric power prosthesis using pneumatic soft actuator

    Gou KAYANO, Hironari TANIGUCHI, Ren YAKAMI, Shuichi WAKIMOTO, Kosuke MORINAGA

    The 23rd SICE System Integration Division Annual Conference  2022.12.16 

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    Event date: 2022.12.14 - 2022.12.16

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  • Prototype Inchworm Robot with Polyimide Film Actuator

    Yutaro TANAKA, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    The 23rd SICE System Integration Division Annual Conference  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

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  • Manufacturing and Characterization of Polyimide Film Actuator with Texture

    Kazutaka SATO, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    The 23rd SICE System Integration Division Annual Conference  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

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  • An evaluation of Particle-excitation Type Flow Control Valve for Hydraulic Artificial Muscle

    Yuma MIZOKUCHI, Yusuke OTA, Takefumi KANDA, Shuichi WAKIMOTO, Daisuke YAMAGUCHI, Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki NABAE

    The 23rd SICE System Integration Division Annual Conference  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

    Language:Japanese   Presentation type:Poster presentation  

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  • Prototype of planar pneumatic artificial muscle made of polyimide film by laser welding method

    Ryo MORIGAKI, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    The 23rd SICE System Integration Division Annual Conference  2022.12.14 

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    Event date: 2022.12.14 - 2022.12.16

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  • Estimation of Curvature Motion of Pneumatic Soft Manipulator by Recurrent Neural Networks

    Yorifumi YOSHIMOTO, Takahiro UKIDA, Yoshie YAMAMOTO, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    The 21st Machine Design and Tribology Division Meeting in JSME  2022.12.5 

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    Event date: 2022.12.5 - 2022.12.6

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • A Study on MMG Sensor Using Piezoelectric Polymer Nanofiber by Electrospinning

    Rintaro Abe, Koa Yasuda, Takefumi Kanda, Shuichi Wakimoto, Hisao Oka

    Future Technologies from TOKUSHIMA, The 39th Sensor Symposium on Sensors, Micromachine and Application Systems  2022.11.15 

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    Event date: 2022.11.14 - 2022.11.16

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Study of droplet generation devices using piezoelectric thin film transducers

    Yoshiki YAMAKAWA, Kentaro OMORI, Takefumi KANDA, Shuichi WAKIMOTO, Daisuke YAMAGUCHI

    Future Technologies from TOKUSHIMA, The 13th Symposium on Micro-Nano Engineering  2022.11.14 

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    Event date: 2022.11.14 - 2022.11.16

    Language:Japanese   Presentation type:Poster presentation  

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  • Realization of uneven shape of rubber by laser processing and prototyping soft actuator

    Tomoya KAWAGUCHI, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    The Proceedings on Autumn Conference of Japan Fluid Power Society 2022  2022.11.10 

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    Event date: 2022.11.10

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  • Droplet generation and cooling flow system using microfluidic devices for nanoparticle generation

    Naoki Kawamoto, Nozomu Fujimoto, Takefumi Kanda, Yusaku Sakata, Norihisa Seno, Shuichi Wakimoto, Daisuke Yamaguchi, Yoshiaki Nakazaki, Takafumi Otoyama

    Workshop on Piezoelectric Materials and Applications in Actuators 2022 (IWPMA 2022)  2022.10.26 

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    Event date: 2022.10.24 - 2022.10.26

    Language:English   Presentation type:Oral presentation (general)  

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  • A Flow Control Valve for A Hydraulic Actuator using Piezoelectric Transducer

    Takefumi Kanda, Kairi Yagi, Daisuke Yamaguchi, Shuichi Wakimoto, Koichi Suzumori, Hiroyuki Nabae

    Workshop on Piezoelectric Materials and Applications in Actuators 2022 (IWPMA 2022)  2022.10.25 

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    Event date: 2022.10.24 - 2022.10.26

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  • Prototype Inchworm Type Mobile Robot Using Textured Actuator

    Yutaro TANAKA, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    Workshop on Piezoelectric Materials and Applications in Actuators 2022 (IWPMA 2022)  2022.10.24 

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    Event date: 2022.10.24 - 2022.10.26

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  • Acoustic Levitation Using Piezoelectric Actuator under a Cryogenic Environment

    Koa Yasuda, Takumi Nishida, Takefumi Kanda, Daisuke Yamaguchi, Shuichi Wakimoto

    Workshop on Piezoelectric Materials and Applications in Actuators 2022 (IWPMA 2022)  2022.10.24 

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    Event date: 2022.10.24 - 2022.10.26

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  • Evaluation of Preload Mechanism for Micro Cryogenic Actuator without Bolt-clamping

    Takefumi Kanda, Kairi Yagi, Daisuke Yamaguchi, Shuichi Wakimoto

    2022 IEEE International Ultrasonics Symposium (IUS)  2022.10.12 

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    Event date: 2022.10.10 - 2022.10.13

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  • Fundamental characteristics of string-shaped actuators configured with multiple shape memory alloy wires

    Yoshinori MIYAKE, Shuichi WAKIMOTO, Daisuke YAMAGUCHI, Takefumi KANDA

    2022 JSME Annual Conference  2022.9.12 

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    Event date: 2022.9.11 - 2022.9.14

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  • Structure of Shape Memory Polymer Sleeve for an Endoscope Steering Mechanism using a 3D printer

    Haruki NAKANO, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    2022 JSME Annual Conference  2022.9.12 

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    Event date: 2022.9.11 - 2022.9.14

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  • Examination and Characterization of Film Actuator with Texturing on Polyimide Film

    Kazutaka SATO, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    2022 JSME Annual Conference  2022.9.12 

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    Event date: 2022.9.10 - 2022.9.14

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  • Study on piezoelectric transducers for cryogenic environment with a preload mechanism using thermal stress

    Takefumi Kanda, Kairi Yagi, Daisuke Yamaguchi, Shuichi Wakimoto

    The Japan Society for Precision Engineering Annual Autumn Meeting  2022.9.7 

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    Event date: 2022.9.7 - 2022.9.9

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  • Improvement of pneumatically driven prosthetic hand for use in daily life

    R. Yakami, H.Taniguchi, S.Wakimoto, K.Morinaga

    18th International Conference on New Actuator Systems and Applications (Actuator 2022)  2022.6.30 

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    Event date: 2022.6.28 - 2022.6.30

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  • A Microchannel Device for Droplet Classification by Manipulation using Piezoelectric Vibrator

    Takefumi Kanda, Shoko Seo, Yoshiki Ohara, Shuichi Wakimoto

    18th International Conference on New Actuator Systems and Applications (Actuator 2022)  2022.6.29 

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    Event date: 2022.6.28 - 2022.6.30

    Language:English   Presentation type:Oral presentation (general)  

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  • Proposal of an Endoscope Steering Mechanism with Curvature Fixation Function using Shape Memory Polymer

    Haruki NAKANO, Shuicni WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    2022 JSME CONFERECE ON ROBOTICS AND MECHATRONICS  2022.6.3 

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    Event date: 2022.6.1 - 2022.6.4

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  • Prototype of Micro Mobile Robot Using Polyimide Film Actuator

    Yutaro TANAKA, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    2022 JSME CONFERECE ON ROBOTICS AND MECHATRONICS  2022.6.3 

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    Event date: 2022.6.1 - 2022.6.4

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  • Study on Metamaterial Structure for Particle Manipulation Device

    Ao FUJIOKA, Fumiya TAKAKI, Takefumi KANDA, Shuichi WAKIMOTO, Daisuke YAMAGUCHI

    2022 JSME CONFERECE ON ROBOTICS AND MECHATRONICS  2022.6.3 

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    Event date: 2022.6.1 - 2022.6.4

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  • Evaluation of textured actuator by changing of textured structure

    Kazutaka SATO, Yutaro TANAKA, Daisuke Yamaguchi, Shuichi Wakimoto, Takefumi Kanda

    2022 JSME CONFERECE ON ROBOTICS AND MECHATRONICS  2022.6.3 

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    Event date: 2022.6.1 - 2022.6.4

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  • Surface processing condition of an optical fiber sensor combined with a curved artificial muscle

    Weihang TIAN, Kazuya NAGAOKA, Shuichi WAKIMOTO, Daisuke YAMAGUCHI, Takefumi KANDA

    The Proceedings on Spring Conference of Japan Fluid Power Society 2022  2022.5.26 

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    Event date: 2022.5.26 - 2022.5.27

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  • Study on Cylindrical Mixer using Ultrasonic Oscillation

    Takefumi KANDA, Hiroaki ISHIZUKA, Hideaki ONODA, Shuichi WAKIMOTO, Daisuke YAMAGUCHI, Shin-ichiro KAWASAKI, Tatsuya FUJII

    The 34th Symposium on Electromagnetics and Dynamics  2022.5.12 

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    Event date: 2022.5.11 - 2022.5.13

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  • 紐製造技術を応用した高機能集積人工筋肉メカニズムの開発

    脇元修一

    令和3年度大学等シーズ発信会  2022.3.16 

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    Event date: 2022.3.16

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  • レーザを用いたポリイミドフィルム同士の溶着条件の検討

    森垣遼, 山口大介, 脇元修一, 神田岳文

    2022年度精密工学会春季大会学術講演会  2022.3.17 

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    Event date: 2022.3.15 - 2022.3.17

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  • ポリイミドフィルム溶着におけるラピッドプロトタイピングとソフトアクチュエータへの応用

    長﨑あかり, 山口大介, 脇元修一, 神田岳文

    2022年度精密工学会春季大会学術講演会  2022.3.15 

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    Event date: 2022.3.15 - 2022.3.17

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  • ポリイミド製空気室を用いた空圧ワブルモータの試作

    平賀暉章, 山口大介, 脇元修一, 神田岳文

    2022年度精密工学会春季大会学術講演会  2022.3.15 

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    Event date: 2022.3.15 - 2022.3.17

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  • Characterization of IPMC Sensor Combined with Bending Type Pneumatic Soft Actuator

    Masato SAKUMA, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI, Tetsuya HORIUCHI, Kinji ASAKA

    The 22nd SICE System Integration Division Annual Conference  2021.12.17 

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    Event date: 2021.12.15 - 2021.12.17

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  • Prototype of a pneumatic soft actuator using laser welding method of polyimide(PI)film

    Ryo MORIGAKI, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    The 22nd SICE System Integration Division Annual Conference  2021.12.16 

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    Event date: 2021.12.15 - 2021.12.17

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  • Basic Study on Bending / Twisting Control of a Pneumatic Soft Manipulator with Flexible Strain Sensors

    Yoshie YAMAMOTO, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI, Takahiro UKIDA

    The 22nd SICE System Integration Division Annual Conference  2021.12.16 

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    Event date: 2021.12.15 - 2021.12.17

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  • 空気圧ソフトアクチュエータの研究開発 Invited

    脇元修一

    第144回フルードパワーシステム特別研修会  2021.12.14 

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    Event date: 2021.12.14

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

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  • Improvement of Hand Joints of Child Pneumatic Prosthetic Hand to Ensure Grasping

    Daima Chikano, Kotaro Matsuura, Kosuke Morinaga, Shigekazu Ishihara, Hironari Taniguchi, Shuichi Wakimoto

    2021.12.11 

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    Event date: 2021.12.11

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  • Computational strength assurance of the prosthetic arm for 12 years old female pare-athlete

    Hiroto Nishiwaki, Kotaro Matsuura, Kosuke Morinaga, Shigekazu Ishihara, Hironari Taniguchi, Shuichi Wakimoto, Satoshi Muraki

    2021.12.11 

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    Event date: 2021.12.11

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  • Examination of an optical fiber sensor combination for a flat-string type integrated artificial muscle

    LEE UK, Weihang TIAN, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    The 20th Machine Design and Tribology Division Meeting in JSME  2021.12.7 

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    Event date: 2021.12.5 - 2021.12.7

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  • Development of soft actuator made of polyimide film using printed electronics technology

    Akari NAGASAKI, Daisuke YAMAGUCHI, Shuichi WAKIMOTO, Takefumi KANDA

    The 20th Machine Design and Tribology Division Meeting in JSME  2021.12.7 

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    Event date: 2021.12.5 - 2021.12.7

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  • Core-shell droplet generation device using micro lever driven by a piezoelectric element

    Kentaro Omori, Takefumi Kanda, Nozomu Fujimoto, Shuichi Wakimoto

    The 38th SENSOR SYMPOSIUM on Sensors,Micromachines and Applied Systems  2021.11.11 

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    Event date: 2021.11.9 - 2021.11.11

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  • Displacement Sensing of an Active String Actuator by an Optical Fiber

    Tian Weihang, Shuichi Wakimoto, Kazuya Nagaoka, Yorifumi Yoshimoto, Takefumi Kanda, Daisuke Yamaguchi

    8th International Electronic Conference on Sensors and Applications  2021.11.1 

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    Event date: 2021.11.1 - 2021.11.15

    Language:English  

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  • A soft robot arm with flexible sensors for master-slave operation

    Yoshie Yamamoto, Shuichi Wakimoto, Takefumi Kanda, Daisuke Yamaguchi

    8th International Electronic Conference on Sensors and Applications  2021.11.1 

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    Event date: 2021.11.1 - 2021.11.11

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  • Study for evaluation of preload mechanism in ultrasonic transducer for cryogenic environment

    Kairi Yagi, Takumi Nishida, Takefumi Kanda, Daisuke Yamaguchi, Shuichi Wakimoto

    The Japan Society for Precision Engineering Annual Autumn Meeting  2021.9.23 

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    Event date: 2021.9.21 - 2021.9.27

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  • A Transducer for Micro Cryogenic Actuator Using Novel Preload Mechanism Without Bolt-Clamping

    Takefumi Kanda, Kairi Yagi, Takumi Nishida, Daisuke Yamaguchi, Shuichi Wakimoto

    IEEE International Ultrasonic Symposium(IUS2021)  2021.9.16 

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    Event date: 2021.9.10 - 2021.9.16

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  • Development of a Device to Prevent Back Pain using Integrated Artificial Muscles which are Knitted into Flat String

    Yuiki YAMASAKI, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    Mechanical Engineering Congress 2021  2021.9.8 

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    Event date: 2021.9.5 - 2021.9.8

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  • Development of a Pneumatically Driven Pediatric Power Prosthetic Hand for CYBATHLON

    Ren YAKAMI, Hironari TANIGUCHI, Kosuke MORINAGA, Shuichi WAKIMOTO

    Mechanical Engineering Congress 2021  2021.9.8 

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  • Experimental Investigation of a Bending Mechanism using Smart Artificial Muscles with an Optical Fiber

    Yorifumi YOSHIMOTO, Weihang TIAN, Kazuya NAGAOKA, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    Mechanical Engineering Congress 2021  2021.9.7 

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  • Fabrication of “Active String” using Thin Artificial Muscles by String Production Process

    Weihang TIAN, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI

    Mechanical Engineering Congress 2021  2021.9.7 

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    Event date: 2021.9.5 - 2021.9.8

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  • Study of droplet generation using vibration of cantilevers

    Kentaro OMORI, Nozomu FUJIMOTO, Takefumi KANDA, Shuichi WAKIMOTO, Norihisa SENO

    The Robotics and Mechatronics Conference 2021 in Osaka  2021.6.7 

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    Event date: 2021.6.8

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  • User experience testing of a pediatric forearm power prosthesis using pneumatic artificial muscles

    Ren YAKAMI, Hironari TANIGUCHI, Kosuke MORINAGA, Shuichi WAKIMOTO

    The Robotics and Mechatronics Conference 2021 in Osaka  2021.6.8 

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    Event date: 2021.6.6 - 2021.6.8

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  • Fabrication of an Integrated Structure of Shape Memory Alloy Wires by Stringing Process

    Yutaro TANAKA, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI, Masato SAKUMA

    The Robotics and Mechatronics Conference 2021 in Osaka  2021.6.8 

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    Event date: 2021.6.6 - 2021.6.8

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  • Improvement of sensor characteristics of an optical fiber for bending type smart artificial muscle

    Kazuya NAGAOKA, Shuichi WAKIMOTO, Takefumi KANDA, Daisuke YAMAGUCHI, Hiroaki MATSUDA

    The Robotics and Mechatronics Conference 2021 in Osaka  2021.6.8 

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  • Study on condition of nanoparticles generation by a microchannel structure of quenching microfluidics

    Naohiro TAHARA, Nozomu FUJIMOTO, Takefumi KANDA, Kentato OMORI, Yusaku SAKATA, Norihisa SENO, Shuichi WAKIMOTO, Yoshiaki NAKAZAKI, Takafumi OTOYAMA

    The Robotics and Mechatronics Conference 2021 in Osaka  2021.6.7 

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  • Manipulation of droplets in a microchannel by ultrasonic vibration for the generation of monodisperse emulsions

    Yoshiki OHARA, Shoko SEO, Takefumi KANDA, Kazuki HARITA, Tsutomu ONO, Takaichi WATANABE, Shuichi WAKIMOTO

    The Robotics and Mechatronics Conference 2021 in Osaka  2021.6.7 

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  • Prototype of a 3 unit serial type soft robotic arm configured with thin artificial muscles

    Tomoya Kawaguchi, Yoshie Yamamoto, Shuichi Wakimoto, Takefumi Kanda, Daisuke Yamaguchi

    2021.5.28 

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  • Control of a smart artificial muscle with inductance displacement sensor

    Wei-hang Tian, Katsunori Ando, Shuichi Wakimoto, Takefumi Kanda

    The 65th Annual Conference of the Institute of Systems, Control and Information Engineers (SCI’21)  2021.5.28 

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    Event date: 2021.5.26 - 2021.5.28

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  • Experimental investigation on improving the bending function of the flexible steering mechanism for thoracoscope

    Shuji Imura, Yoshie Yamamoto, Shuichi Wakimoto, Takefumi Kanda, Yusuke Muranishi, Toshihiko Sato

    The 65th Annual Conference of the Institute of Systems, Control and Information Engineers (SCI’21)  2021.5.28 

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  • Utilizing a robot teaching kit to develop a new experiment menu foe students

    Tetsushi Kamekawa, Takayuki Matsuno, Shuichi Wakimoto, Kunihisa Okano, Daisuke Yamaguchi

    The 65th Annual Conference of the Institute of Systems, Control and Information Engineers (SCI’21)  2021.5.27 

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    Event date: 2021.5.26 - 2021.5.28

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  • Heat compressed air molding of polyimide film using resin mold manufactured by 3D

    Daiki Miyakae, Daisuke Yamaguchi, Shuichi Wakimoto, Takefumi Kanda

    The Japan Society for Precision Engineering Annual Spring Meeting  2021.3.16 

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    Event date: 2021.3.16 - 2021.3.22

    Language:Japanese  

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  • 極低温環境用超音波振動子での熱応力を利用した予圧印加の検討

    八木海吏, 西田匠, 神田岳文, 山口大介, 脇元修一

    2021年度精密工学会春季大会学術講演会  2021.3.16 

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    Event date: 2021.3.16 - 2021.3.22

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  • 極限環境用空圧アクチュエータ材料としてのポリイミドフィルムの特性評価

    木村圭吾, 山口大介, 脇元修一, 神田岳文

    2021年度精密工学会春季大会学術講演会  2021.3.16 

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    Event date: 2021.3.16 - 2021.3.22

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  • ボルトの締結力を利用した溶着装置によるテクスチャリングと湾曲アクチュエータの製作

    高原悠希, 山口大介, 脇元修一, 神田岳文

    2021年度精密工学会春季大会学術講演会  2021.3.16 

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    Event date: 2021.3.16 - 2021.3.22

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  • Comparison of smart artificial muscle with different functional fibers

    Shuichi Wakimoto, Sota Kogawa, Hiroaki Matsuda, Kazuya Nagaoka, Takefumi Kanda

    ACTUATOR2021  2021.2.19 

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    Event date: 2021.2.17 - 2021.2.19

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  • Core-shell droplet generation device using a flexural vibration by a bolt-clamped Langevin type ultrasonic transducer

    Kentaro Omori, Nozomu Fujimoto, Takefumi Kanda, Shuichi Wakimoto, Norihisa Seno

    ACTUATOR2021  2021.2.18 

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  • Displacement control of McKibben artificial muscle with optical fiber sensor

    Hiroaki MATSUDA, Shuichi WAKIMOTO, Takefumi KANDA, Souta KOGAWA, Kazuya NAGAOKA, Yorifumi YOSHIMOTO

    The 21st SICE System Integration Division Annual Conference  2020.12.17 

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    Event date: 2020.12.16 - 2020.12.18

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  • Study on Responsiveness of Flow Control Valve using Particle Excitation for Hydraulic Artificial Muscle

    Yusuke Ota, Haruto Takami, Takefumi Kanda, Shuichi Wakimoto, Koichi Suzumori, Hiroyuki Nabae, Takahiro Ukida

    The 21st SICE System Integration Division Annual Conference  2020.12.17 

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    Event date: 2020.12.16 - 2020.12.18

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  • Integration method of functional fivers to pneumatic artificial muscles using braided cord fabrication process

    Shuichi WAKIMOTO, Kazuya NAGAOKA, Masato SAKUMA, Katsunori ANDO, Hiroaki MATSUDA, Takefumi KANDA

    Autumn Conference of Japan Fluid Power System Society 2020  2020.12.9 

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    Event date: 2020.12.8 - 2020.12.9

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  • Study on Particle Excitation Type Flow Control Valve for Artificial Muscle

    Takefumi KANDA, Yusuke OTA, Kou HASHIMOTO, Shuichi WAKIMOTO, Koichi SUZUMORI, Takahiro UKIDA, Hiroyuki NABAE

    Autumn Conference of Japan Fluid Power System Society 2020  2020.12.9 

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    Event date: 2020.12.8 - 2020.12.9

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  • A study on a piezoelectric polymer-based sensor for mechanomyogram measurement during the exercise

    Rintaro Abe, Hiroaki Ishizuka, Takefumi Kanda, Shuichi Wakimoto, Hisao Oka

    The 37th SENSOR SYMPOSIUM on Sensors, Micromachines and Applied Systems  2020.10.28 

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    Event date: 2020.10.26 - 2020.10.28

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Numerical simulation on nanoparticles generation by quenching of micro-droplets generated using an ultrasonic transducer and a micropore

    Nozomu Fujimoto, Takefumi Kanda, Kentaro Omori, Naohiro Tahara, Yusaku Sakata, Norihisa Seno, Shuichi Wakimoto, Yoshiaki Nakazaki, Takafumi Otoyama

    The 37th SENSOR SYMPOSIUM on Sensors, Micromachines and Applied Systems  2020.10.26 

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    Event date: 2020.10.26 - 2020.10.28

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • “Study on Improvement of Flow Control Valve Using Particle Excitation by Piezoelectric Transducer

    Takami, Haruto, Kanda, Takefumi, Wakimoto, Shuichi, Yamamoto, Hikaru, Suzumori, Koichi, Ukida, Takahiro, Nabae, Hiroyuki

    International Workshop on Piezoelectric Materials and Applications in Actuators(IWPMA2020)  2020.9.23 

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    Event date: 2020.9.22 - 2020.9.25

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  • Fabrication and Evaluation of Shape Memory Polymer Fibers for Application to Artificial Muscles

    Masato SAKUMA, Shuichi WAKIMOTO, Koya MATSUSHITA, Takefumi KANDA

    Mechanical Engineering Congress,2020  2020.9.16 

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    Event date: 2020.9.13 - 2020.9.16

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • Fabrication of;u;ber;actuator;made of high-flexible silicone;rubber for assisting colonoscope insertion

    Masato UDAKA, Shuichi WAKIMOTO, Keita HARADA, Takefumi KANDA

    Mechanical Engineering Congress,2020  2020.9.16 

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    Event date: 2020.9.13 - 2020.9.16

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • センサ統合による空気圧人工筋肉の高機能化 Invited

    脇元修一

    日本ロボット学会 第128回ソフトロボットのこれまでとこれから  2020.9.10 

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    Event date: 2020.9.10

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

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  • Particle Excitation by Using a Piezoelectric Vibrator for a Hydraulic Valve

    Takefumi Kanda, Kou Hashimoto, Hikaru Yamamoto, Shuichi Wakimoto, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae

    IEEE International Ultrasonics Symposium(IUS2020)  2020.9.11 

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    Event date: 2020.9.8 - 2020.9.11

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  • Study on a Preload Mechanism of a Piezoelectric for Cryogenic Environment

    Takefumi Kanda, Kairi Yagi, Takumi Nishida, Daisuke Yamaguchi, Shuichi Wakimoto

    The Japan Society for Precision Engineering Annual Autumn Meeting  2020.9.1 

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    Event date: 2020.9.1 - 2020.9.7

    Language:Japanese  

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  • ナノ粒子生成のための急冷マイクロ流路デバイスの評価

    藤本望夢, 神田岳文, 大森健太郎, 田原尚宙, 髙木郁哉, 阪田祐作, 妹尾典久, 脇元修一, 中崎義晃, 音山貴史

    ロボティクス・メカトロニクス講演会2020  2020.5.29 

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    Event date: 2020.5.27 - 2020.5.29

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  • 超音波振動による局所的なぬれ性勾配上の液滴挙動

    髙木郁哉, 大森健太郎, 藤本望夢, 神田岳文, 脇元修一

    ロボティクス・メカトロニクス講演会2020  2020.5.29 

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    Event date: 2020.5.27 - 2020.5.29

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  • 製紐機によるSMP繊維を複合した空圧ラバーアクチュエータの製作手法

    作間祐仁, 脇元修一, 松下航也, 神田岳文

    ロボティクス・メカトロニクス講演会2020  2020.5.29 

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    Event date: 2020.5.27 - 2020.5.29

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  • 微粒子励振型制御三方弁を用いたシリンダの位置制御

    太田唯佑, 山本陽光, 髙見春人, 神田岳文, 脇元修一, 鈴森康一, 浮田貴宏, 難波江裕之

    ロボティクス・メカトロニクス講演会2020  2020.5.29 

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    Event date: 2020.5.27 - 2020.5.29

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  • 光ファイバセンサの特性を考慮した空気圧スマート人工筋の設計

    脇元修一, 小川草太, 神田岳文, 松田大成, 長岡和弥

    ロボティクス・メカトロニクス講演会2020  2020.5.28 

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    Event date: 2020.5.27 - 2020.5.29

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  • 空気圧人工筋のラバーコーティングによるソフトマニピュレータの構造改善

    山本好恵, 脇元修一, 萩原弘貴, 神田岳文

    ロボティクス・メカトロニクス講演会2020  2020.5.28 

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    Event date: 2020.5.27

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  • 三相スラグ流の生成を目的とした流体制御デバイスの検討

    田原尚宙, 藤本望夢, 大森健太郎, 神田岳文, 脇元修一, 武藤明憲

    第32回「電磁力関連のダイナミクス」シンポジウム(SEAD32)  2020.5.21 

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    Event date: 2020.5.20 - 2020.5.22

    Language:Japanese   Presentation type:Oral presentation (general)  

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  • 極低温環境における超音波振動子を用いた物体の浮上の測定

    西田匠, 神田岳文, 脇元修一, 上西宏典

    第32回「電磁力関連のダイナミクス」シンポジウム(SEAD32)  2020.5.21 

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    Event date: 2020.5.20 - 2020.5.22

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  • Study on a Bolt-clamped Type Transducer for Emulsion Generation on Microchannel Device

    Takefumi Kanda, Kazuki Harita, Shoko Seo, Yoshiki Ohara, Shuichi Wakimoto

    2020.3.17 

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    Event date: 2020.3.17 - 2020.3.19

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  • A FLOW-TYPE NANOPARTICLE GENERATION SYSTEM USING A MICROCHANNEL DEVICE FOR GENERATING AND QUENCHING DROPLETS

    Nozomu Fujimoto, Takefumi Kanda, Kentaro Omori, Naohiro Tahara, Yusaku Sakata, Norihisa Seno, Shuichi Wakimoto, Yoshiaki Nakazaki, Takafumi Otoyama

    The 33rd International Conference on Micro Electro Mechanical Systems (IEEE MEMS 2020)  2020.1.21 

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    Event date: 2020.1.18 - 2020.1.22

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  • アリコロニー最適化による多出力サポートベクトル回帰を用いた3-DOFマイクロハンドのモデリング

    川村周平, 鄧明聡, 野下裕市, 脇元修一

    スマートシステムと制御技術シンポジウム2020  2020.1.4 

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    Event date: 2020.1.4 - 2020.1.5

    Language:Japanese  

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  • 製紐技術を利用した空気圧人工筋の用途開拓

    脇元修一

    第24回岡山リサーチパーク研究・展示発表会  2019.12.17 

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    Event date: 2019.12.17

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  • A curved type smart artificial muscle using an optical fiber sensor as a reinforce fiber

    Kazuya NAGAOKA, Shuichi WAKIMOTO, Takefumi KANDA, Sora KOGAWA, Hiroaki MATSUDA

    THE 20th SICE SYSTEM INTEGRATION DIVISION ANNUAL CONFERENCE (SI2019)  2019.12.14 

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    Event date: 2019.12.12 - 2019.12.14

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  • Cylinder control using particle excitation type control three-way valve

    Hikaru Yamamoto, Takefumi Kanda, Shuichi Wakimoto, Koichi Suzumori, Hiroyuki Nabae, Takefumi Kanda

    THE 20th SICE SYSTEM INTEGRATION DIVISION ANNUAL CONFERENCE (SI2019)  2019.12.14 

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    Event date: 2019.12.12 - 2019.12.14

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  • Development of a variable stiffness device for knee fixation for safe transferring wheelchair user

    Takero OSHIKAEA, Shuichi WAKIMOTO, Takeji UEDA, Takefumi KANDA

    THE 20th SICE SYSTEM INTEGRATION DIVISION ANNUAL CONFERENCE (SI2019)  2019.12.14 

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    Event date: 2019.12.12 - 2019.12.14

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  • Investigation of composite structure of IPMC sensor and bending type bellows actuator

    Manabu MURAI, Shuichi WAKIMOTO, Kinji ASAKA, Tetsuya HORIUCHI, Hiroki HAGIHARA, Takefumi KANDA

    THE 20th SICE SYSTEM INTEGRATION DIVISION ANNUAL CONFERENCE (SI2019)  2019.12.12 

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    Event date: 2019.12.12 - 2019.12.14

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  • Automatic production process of SMP reinforced ficer and applicate for an artificial muscle

    Koya MATSUSHITA, Masato SAKUMA, Shuichi WAKIMOTO, Takefumi KANDA

    THE 20th SICE SYSTEM INTEGRATION DIVISION ANNUAL CONFERENCE (SI2019)  2019.12.12 

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    Event date: 2019.12.12 - 2019.12.14

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  • Study on ultrasonic transducer material for a sample spinning in NMR spectroscopy

    Masato Kanno;Marie Obayashi;Takahiro Yano;Takefumi Kanda;Shuichi Wakimoto;Kiyonori Takegoshi

    30th 2019 International Symposoium on Micro-NanoMechatronics and Human Science  2019.12.3 

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    Event date: 2019.12.1 - 2019.12.4

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  • マイクロ流路を用いた微小液滴生成・急冷によるフロー式ナノ粒子生成システム

    藤本望夢, 神田岳文, 大森健太郎, 田原尚宙, 阪田祐作, 妹尾典久, 脇元修一, 中崎義晃, 音山貴史

    第36回「センサ・マイクロマシンと応用システム」シンポジウム  2019 

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  • 細径空圧人工筋を用いた車椅子転落防止用装置の開発

    脇元修一

    平成30年度特別電源所在県科学技術振興事業研究成果発表会  2019 

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  • 極低温環境下における超音波振動子を用いた物体の浮上

    上西宏典, 神田岳文, 脇元修一

    2019年度精密工学会春季大会  2019 

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  • 超音波振動を利用した円筒型マイクロミキサの試作および混合性能の評価

    石塚博章, 神田岳文, 三宅星連, 露木俊介, 川崎慎一朗, 脇元修一, 妹尾典久

    第31回「電磁力関連のダイナミクス」シンポジウム  2019 

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  • 凹面振動子を用いた集束超音波による液滴吐出デバイスの研究

    安藤克倫, 神田岳文, 脇元修一, 上西宏典, 中岡佑太, 田沼千秋

    第31回「電磁力関連のダイナミクス」シンポジウム  2019 

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  • 光ファイバを編み込んだ変位推定機能を有するMcKibben型人工筋の提案と試作

    脇元修一, 大村健人, 神田岳文, 小川草太

    ロボティクス・メカトロニクス講演会2019  2019 

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  • 胸腔鏡下手術用柔軟ステアリング機構の開発

    奥村慎司, 脇元修一, 神田岳文, 村西祐介, 佐藤寿彦

    ロボティクス・メカトロニクス講演会2019  2019 

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  • 流体駆動インチワームロボットの自立化に向けて駆動機構の開発

    松田大成, 脇元修一, 神田岳文

    2019 

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  • ボルト締めランジュバン型振動子を用いたコアシェル液滴生成

    大森健太郎, 藤本望夢, 神田岳文, 脇元修一, 妹尾典久

    ロボティクス・メカトロニクス講演会2019  2019 

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  • 高圧人工筋用微粒子励振型制御弁の試作・評価

    山本陽光, 橋本航, 神田岳文, 脇元修一, 妹尾典久, 森重佳久, 高見春人, 鈴森康一, 浮田貴宏, 難波江裕之

    ロボティクス・メカトロニクス講演会2019  2019 

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  • 液滴生成および急冷可能なマイクロ流路デバイスを用いたナノ粒子生成システムの試作

    藤本望夢, 神田岳文, 大森健太郎, 阪田祐作, 山田嘉昭, 妹尾典久, 脇元修一, 中崎義晃, 音山貴史

    令和元年度電気学会センサ・マイクロマシン部門総合研究会  2019 

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  • マイクロ流体デバイスによる微小液滴を用いたナノ粒子生成条件の検討

    藤本望夢, 大森健太郎, 神田岳文, 阪田祐作, 山田嘉昭, 妹尾典久, 脇元修一, 中崎義晃, 音山貴史

    ロボティクス・メカトロニクス講演会2019  2019 

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  • Composite sttucture of McKibben artificial muscle and optical fiber sensor

    Sota KOGAWA, Shuichi WAKIMOTO, Takefumi KANDA, Kento OMURA

    International Workshop on Piezoelectric Materials and Applications in Actuators 2019 & ENHANCE Workshop (IWPMA2019)  2019 

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  • 空気圧ソフトアクチュエータの基礎と応用

    脇元修一

    「中国四国機素潤滑設計部門技術研究会」第71回,「中国四国支部MD&T研究会」第69回例会  2019 

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  • ラバーコーティングによる空気圧人工筋の特性改善

    萩原弘貴, 脇元修一, 神田岳文, 山本好恵

    第37回日本ロボット学会学術講演会  2019 

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  • 細径人工筋による平紐型集積構造の提案と特性評価

    高田諒, 脇元修一, 神田岳文, 鈴森康一

    第37回日本ロボット学会学術講演会  2019 

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  • 極低温環境下駆動用矩形型振動子の構造の検討

    西田匠, 神田岳文, 脇元修一

    2019年度精密工学会秋季大会  2019 

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  • たわみ振動デバイスによるコアシェル液滴生成条件の検討

    大森健太郎, 藤本望夢, 神田岳文, 脇元修一, 妹尾典久

    2019年度精密工学会秋季大会  2019 

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  • 微粒子励振型制御弁の流量特性改善に関する研究

    髙見春人, 神田岳文, 脇元修一, 山本陽光, 鈴森康一, 浮田貴宏, 難波江裕之

    2019年度精密工学会秋季大会  2019 

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  • インダクタンス変化型変位センサを一体化したスマート人工筋の磁性流体による駆動

    小川草太, 脇元修一, 神田岳文, 大村健人, 大村健人

    日本機械学会2019年度年次大会  2019 

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  • ジャミング転移現象を利用した柔軟ロボットアームの可変剛性機能の検証

    井村修司, 脇元修一, 神田岳文

    日本機械学会2019年度年次大会  2019 

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  • 圧電高分子を用いた筋音センサの等尺性収縮による評価

    石塚博章, 柏原斉佳, 神田岳文, 脇元修一, 岡久雄

    第36回「センサ・マイクロマシンと応用システム」シンポジウム  2019 

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  • 柔軟ひずみセンサを用いたウェアラブルインタフェースによる3自由度ソフトマニピュレータの操作

    萩原弘貴, 脇元修一, 神田岳文, 古川匠太

    日本機械学会2019年度年次大会  2019 

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  • Proposal of a flexible leg mechanisum with a soft actuator system diven by air and water pressure

    2018 JSME Conference on Robotics and Mechatronics  2018 

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  • インダクタンス変化による変位センサを一体化したスマート人工筋の製作手法

    小川草太, 脇元修一, 神田岳文, 大村健人

    フルードパワーシステム学会秋季講演会  2018 

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  • Fundamental Design of a Soft Master-Slave Manipulator with Pneumatic Artificial Muscles

    S. Furukawa, S. Wakimoto, T. Kanda, H. Hagihara

    International Multi-Conference on Engineering and Technology Innovation  2018 

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  • Fabrication of a cryogenic valve by using piezoelectric and driving of a soft actuator

    2018 JSME Conference on Robotics and Mechatronics  2018 

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  • Design of power upper limb prosthesis for children using small diameter McKibben type artifiial muscle

    2018 JSME Conference on Robotics and Mechatronics  2018 

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  • Fabrication of a particle excitation three-way valve using a single piezoelectric vibrator

    2018 JSME Conference on Robotics and Mechatronics  2018 

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  • Nanoparticles generation using micro droplets by a microreacter

    2018 JSME Conference on Robotics and Mechatronics  2018 

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  • Development of a Fall Preventive Wearable Device for Wheel Chair

    2018 JSME Conference on Robotics and Mechatronics  2018 

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  • タコの筋肉構造を模倣した柔軟ロボットマニピュレータの制御

    平成29年度特別電源所在県科学技術振興事業研究発表会  2018 

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  • Fabrication of a nanoparticle generation system using micro droplets by a microchannel

    Technical Meeting on Sensors and Micromachines 2018  2018 

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  • 導電性繊維を複合製作した空圧人工筋の駆動システムのモデル化

    第18回機素潤滑設計部門講演会 (MDT2018)  2018 

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  • タコの腕構造を模倣した柔軟マニピュレータの開発 ~マスタースレーブ方式による湾曲・ねじれ動作の制御~

    第18回機素潤滑設計部門講演会 (MDT2018)  2018 

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  • 空圧・水圧駆動が可能なアクチュエータシステムによる柔軟脚構造の提案

    日本機械学会 ロボティクス・メカトロニクス講演会2018  2018 

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  • 超音波振動子を用いた水の噴霧実験

    第30回「電磁力関連のダイナミクス」シンポジウム  2018 

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  • 単一の圧電振動子により駆動する微粒子励振型三方弁の試作

    日本機械学会 ロボティクス・メカトロニクス講演会2018  2018 

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  • 圧電振動子による極低温用バルブの試作とソフトアクチュエータの駆動

    日本機械学会 ロボティクス・メカトロニクス講演会2018  2018 

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  • 車椅子転落防止用ウェアラブル装置の開発

    日本機械学会 ロボティクス・メカトロニクス講演会2018  2018 

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  • 細径McKibben型人工筋を使用した小児用義手の設計

    日本機械学会 ロボティクス・メカトロニクス講演会2018  2018 

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  • 2液3相構造のマイクロ流路の液滴を用いたナノ粒子生成システムの試作

    平成30年度電気学会センサ・マイクロマシン部門総合研究会  2018 

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  • マイクロリアクタによる微小液滴を用いたナノ粒子生成

    日本機械学会 ロボティクス・メカトロニクス講演会2018  2018 

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  • 超音波ねじり振動子を利用したマイクロミキサの試作および混合性能の評価

    2018年度精密工学会秋季大会  2018 

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  • 単一の圧電振動子によって駆動する微粒子励振型三方弁の特性評価

    2018年度精密工学会秋季大会  2018 

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  • 超音波ねじり振動子と微小孔板による液滴を用いたナノ粒子生成条件の検討

    第30回「電磁力関連のダイナミクス」シンポジウム  2018 

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  • Development of a Small Three-way Valve using Particle Excitation by a Piezoelectric Vibrator for the Driving of Fluidic Actuator

    Kou Hashimoto, Hayato Osaki, Takefumi Kanda, Shuichi Wakimoto, Hikaru Yamamoto, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018 

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  • Fudamental design of a myoelectric prosthesis hand for children using pneumatic articiak muscles

    Koyo ASANO, Nobuo TAKEMOTO, Hironari TANIGUCHI, Shuichi WAKIMOTI, Kosuke MORINAGA, Takefumi KANDA

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018 

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  • A Piezoelectric Ceramic Sensor for Measuring Mechanomyogram during Exercise

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018 

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  • Evaluation of an Ultrasonic Motor using Titanium for Sample Spinning in High Magnetic Field

    Marie Obayashi, Takahiro Yano, Takefumi Kanda, Shuichi Wakimoto, Kiyonori Takegoshi, Tatsuya Matsunaga

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018 

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  • A McKibben artificial musucle with variable cotraction characteristics by SMP material

    Shigeyoshi Yahara, Shuichi Wakimoto, Takefumi Kanda

    International Workshop on Piezoelectric Materials and Applications in Actuators (IWPMA2018)  2018 

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  • 細径McKibben型人工筋を用いた小児用空圧筋電義手の設計

    浅野晧洋, 竹本薫生, 脇元修一, 谷口浩成, 森永浩介, 神田岳文

    計測自動制御学会システムインテグレーション部門講演会  2018 

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  • 柔軟歪みセンサを用いたソフトマニピュレータ用ウェアラブルインターフェースの試作

    萩原弘貴, 脇元修一, 神田岳文, 古川匠太

    計測自動制御学会システムインテグレーション部門講演会  2018 

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  • 人工筋アクチュエータ制御を目的とした微粒子励振型流量制御弁の高圧化

    橋本航, 神田岳文, 脇元修一, 森重佳久, 山本陽光, 高見春人, 鈴森康一, 難波江祐之, 浮田貴宏

    計測自動制御学会システムインテグレーション部門講演会  2018 

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  • インダクタンス変化型変位センサを内蔵したスマート人工筋の磁性粉体によるセンサ特性の向上

    小川草太, 脇元修一, 大村健人, 神田岳文

    計測自動制御学会システムインテグレーション部門講演会  2018 

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  • Design and Fundamental Evaluation of a Wearable Support Device for Preventing Fall Accidents from Wheel Chairs

    K. Ishida, S. Wakimoto, T. Ueda, T. Kanda

    International Multi-Conference on Engineering and Technology Innovation  2018 

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  • Modeling of a pneumatic artificial muscle fabricated with a conductive fiber

    The 18th Machine Design and Tribology Division Meeting in JSME  2018 

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  • Development of a flexible manipulator imitating octopus arm structure ~ Control of bending and torsional motions by master-slave system~

    The 18th Machine Design and Tribology Division Meeting in JSME  2018 

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  • A water spraying experiment using a Langevin-type ultrasonic torsional transducer

    The 30th Symposium on Electromagnetics and Dynamics(SEAD28)  2018 

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  • Study on a condition of nanoparticles generation using droplets by ab ultrasonic torsional transducer and micropore plate

    The 30th Symposium on Electromagnetics and Dynamics(SEAD28)  2018 

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  • Characterisitics of a Straight Fiber Type Rubber Actuator with Shape MemoryPolymer Fiber

    2017 JSME Conference on Robotics and Mechatronics  2017 

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  • Control of a robotic joint with pneumatic smart artificiak muscle

    2017 JSME Conference on Robotics and Mechatronics  2017 

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  • Development of manipulator imitating octopus arm robot

    The 35th annual conference of the Robotics Society of Japan  2017 

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  • Shape Change of Water Droplet Influenced by the Drop Volume on a Defouming Rubber Sheet with Micro Surface Strutures

    Mechanical Engineering Congress, 2017 JAPAN (MECJ-17)  2017 

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  • Improvement of McKibben type artificial muscle usgin shape memory polymer fibers

    The 18th SICE System Integration Division Annual Conference  2017 

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  • Development of a thin pneumatic rubber actuator generating 3-DOF motion

    The 18th SICE System Integration Division Annual Conference  2017 

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  • 繊維状形状記憶ポリマーを複合した軸方向繊維強化型ラバーアクチュエータの駆動特性

    日本機械学会 ロボティクス・メカトロニクス講演会2017  2017 

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  • 吸盤吸着機構の高効率化を実現する受動開閉バルブの開発

    平成28年度特別電源所在県科学技術振興事業研究発表会  2017 

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  • 収縮特性が変更可能ならせん状形状記憶ポリマー複合McKibben型人工筋肉

    日本機械学会 ロボティクス・メカトロニクス講演会2017  2017 

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  • 空圧スマート人口筋による拮抗駆動関節の制御

    日本機械学会 ロボティクス・メカトロニクス講演会2017  2017 

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  • A Small Built-Valve for Smart Artificial Muscle

    The 29th Symposium on Electromagnetics and Dynamics(SEAD28)  2017 

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  • McKibben type artificial muscle with hekical shape memory polymaer foibers realizaing variable contraction characteristics

    2017 JSME Conference on Robotics and Mechatronics  2017 

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  • 変形するゴム微細表面構造上における水滴形状の滴下体積による変化

    日本機械学会2017年度年次大会  2017 

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  • らせん状形状記憶ポリマーを用いた空気圧人工筋の特性改善

    第18回計測自動制御学会システムインテグレーション部門講演会  2017 

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  • 多自由度扁平ソフトアクチュエータの開発

    第18回計測自動制御学会システムインテグレーション部門講演会  2017 

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  • スマート人工筋の実現を目的とした小型内蔵バルブの試作

    第29回「電磁力関連のダイナミクス」シンポジウム  2017 

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  • タコの腕構造を模倣したマニピュレータの開発

    第35回日本ロボット学会学術講演会  2017 

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  • ジャミング転移による可変剛性機能を有する細径人工筋集積柔軟マニピュレータの試作

    第34回日本ロボット学会学術講演会  2016 

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  • 圧電振動子駆動小型流量制御弁一体型ソフトアクチュエータの試作・評価

    第17回計測自動制御学会システムインテグレーション部門講演会  2016 

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  • 細径人工筋肉を利用した胃X線透視検査用圧迫位置可変システムの提案

    日本機械学会 ロボティクス・メカトロニクス講演会2016  2016 

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  • 導電性繊維を複合した湾曲型空圧人口筋の試作

    第17回計測自動制御学会システムインテグレーション部門講演会  2016 

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  • Development of gas/liquid phase change drive soft rubber actuator

    The 28th Symposium on Electromagnetics and Dynamics(SEAD28)  2016 

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  • Development of a Passive soft valve for wall adhesive mechanism

    2016 JSME Conference on Robotics and Mechatronics  2016 

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  • Moving mechanism with thin artificial muscle for abdominal push device in stomach X-ray examination

    2016 JSME Conference on Robotics and Mechatronics  2016 

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  • Fabrication of Pneumatic Rubber Actuators with Shape Memory Polymer Fibers

    2016 JSME Conference on Robotics and Mechatronics  2016 

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  • Fabrication and Basic Characteristics of Pneumatic Smart Artificial Muscle with Conductive Fiber Sensor

    2016 JSME Conference on Robotics and Mechatronics  2016 

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  • Trial Production of a Bending Type Pneumatic Artificial Muscle with Conductive Fibers

    The 17th SICE System Integration Division Annual Conference  2016 

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  • Modeling of Multifilament Muscle Regarding Physical Interaction between Muscle Fibers

    2016 JSME Conference on Robotics and Mechatronics  2016 

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  • 気液相変化駆動ソフトラバーアクチュエータの開発

    第28回「電磁力関連のダイナミクス」シンポジウム  2016 

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  • Basic Study on a Soft Actuator Integrate with Small Flow Valves by Piezoelectric Vibrators

    The 17th SICE System Integration Division Annual Conference  2016 

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  • 糸状センサを内蔵した空圧駆動スマート人工筋の製作と基礎特性

    日本機械学会 ロボティクス・メカトロニクス講演会2016  2016 

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  • 壁面吸着機構への応用を目指した受動型柔軟バルブの開発

    日本機械学会 ロボティクス・メカトロニクス講演会2016  2016 

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  • 多繊維構造人工筋における筋繊維間干渉のモデリング

    日本機械学会 ロボティクス・メカトロニクス講演会2016  2016 

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  • 繊維形状記憶ポリマーを複合した空気圧ラバーアクチュエータの試作

    日本機械学会 ロボティクス・メカトロニクス講演会2016  2016 

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  • ソフトアクチュエータ用圧電高分子センサの作製と評価

    第32回「センサ・マイクロマシンと応用システム」シンポジウム  2015 

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  • A new pneumatic actuator using gas-liquid reversible chemical reaction -3rd report:Realizing high response by increasing gas generation area ratio-

    2015 JSME Conference on Robotics and Mechatronics  2015 

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  • Multiplex Pneumatic Actuator Drive Utilizing Acoustic Communication in Air Supply Line -3rd report:Development of small control modules and independent control of ten pneumatic actuators-

    2015 JSME Conference on Robotics and Mechatronics  2015 

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  • Driving of light driven SMA manipulator

    2015 JSME Conference on Robotics and Mechatronics  2015 

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  • Redundant Musculoskeletal Robot with Thin McKibben Artificial Muscles 3rd Report Application to Upper Limb Muscle Mechanism

    2015 JSME Conference on Robotics and Mechatronics  2015 

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  • Research on Bundle Mechanism of Thin McKibben Artificial Muscles -1st report:Static characteristics of contraction ratio and contraction force-

    2015 JSME Conference on Robotics and Mechatronics  2015 

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  • Shape Change of Water Droplet on Deforming Rubber Sheet with Micro Surface Structures

    Mechanical Engineering Congress,2015 Japan(MECJ-15)  2015 

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  • Redundant Musculoskeletal Robot with Thin McKibben Artificial Muscles 2nd Report Application to Lower Limb Muscle Mechanism

    2015 JSME Conference on Robotics and Mechatronics  2015 

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  • Fabrication and Evaluation of Piezoelectric Polymer Sensors for Soft Actuators

    The 32nd SENSOR SYMPOSIUM on Sensors,Micromachines and Applied Systems  2015 

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  • Gas/liquid phase change driven rubber soft actuator

    Mechanical Engineering Congress,2015 Japan(MECJ-15)  2015 

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  • 空圧配管内音響通信を利用した空圧アクチュエータの多重駆動システム -第3報 小型制御モジュールの開発と10アクチュエータの独立制御―

    日本機械学会 ロボティクス・メカトロニクス講演会2015  2015 

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  • 胃X線検査腹臥用遠隔圧迫メカニズム

    中央西日本 メディカル・イノベーション2015  2015 

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  • 光加熱を用いたSMAマニピュレータの駆動方法に関する研究

    日本機械学会 ロボティクス・メカトロニクス講演会2015  2015 

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  • 気液可逆反応を利用したガス圧アクチュエータ ―第3報 電極面積比増加による応答性向上―

    日本機械学会 ロボティクス・メカトロニクス講演会2015  2015 

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  • 細径McKibben型人工筋の集積化に関する研究 ―第1報:収縮率と収縮力の静特性の測定―

    日本機械学会 ロボティクス・メカトロニクス講演会2015  2015 

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  • 細径マッキベン人工筋を用いた筋骨格ロボット機構の研究 第2報 下肢骨格ロボット機構の試作

    日本機械学会 ロボティクス・メカトロニクス講演会2015  2015 

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  • 細径マッキベン人工筋を用いた筋骨格ロボットの研究 第3報 上肢骨格ロボット機構の試作

    日本機械学会 ロボティクス・メカトロニクス講演会2015  2015 

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  • 空圧配管内音響通信を利用した空圧アクチュエータの多重駆動システム -第4報 中継システムを用いた長距離通信の実現ー

    第33回日本ロボット学会学術講演会  2015 

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  • 細径マッキベン人工筋を用いた筋骨格ロボット機構の研究 第4報 股関節筋骨格ロボット機構の試作

    第33回日本ロボット学会学術講演会  2015 

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  • タコの腕構造を模倣した柔軟マニピュレータの試作

    第33回日本ロボット学会学術講演会  2015 

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  • 多自由度扁平ソフトアクチュエータの開発

    第33回日本ロボット学会学術講演会  2015 

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  • ゴム微細表面構造の変形による水滴の形状変化

    日本機械学会2015年度年次大会  2015 

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  • 細径マッキベン人工筋を用いた筋骨格ロボットの研究 第5報 筋骨格ロボット肩甲上腕関節への適用

    第33回日本ロボット学会学術講演会  2015 

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  • 気液相変化型ラバーソフトアクチュエータの開発

    日本機械学会2015年度年次大会  2015 

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  • ゴム微細円柱アレイのピッチ増減による水滴の形状変化

    第15回 公益社団法人 計測自動制御学会 システムインテグレーション部門 講演会  2014 

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  • Pneumatic soft mechanism for pushing the abdomen in stomach X-ray examination-3rd report:Variable pushing position mechanism-

    2014JSME Conference on Robotics and Mechatronics  2014 

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  • Medical device to prevent the contracture of ankle joints based on a physical therapy

    2014JSME Conference on Robotics and Mechatronics  2014 

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  • Development of octopus arm imitation mechanism with an integrated small-diameter McKibben artificial muscles

    2014JSME Conference on Robotics and Mechatronics  2014 

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  • Pneumatic Soft Actuators for Medical Applications

    Mechanical Engineering Congress,2014 Japan(MECJ-14)  2014 

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  • Integrated micro suction cups with shape adaptability

    2014JSME Conference on Robotics and Mechatronics  2014 

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  • Integrated micro suction cups with shape adaptability

    Mechanical Engineering Congress,2014 Japan(MECJ-14)  2014 

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  • Development of 3-DOF rehabilitation device for ankle joints using pneumatic soft actuators

    Mechanical Engineering Congress,2014 Japan(MECJ-14)  2014 

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  • A handling mechanism for droplet using hydrophobic/hydrophilic rubber materials

    Mechanical Engineering Congress,2014 Japan(MECJ-14)  2014 

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  • Shape Change of Water Droplet Involved with Pitch Change of Rubbber Micropillar Array

    The 15th SICE System Integration Division Annual Conference  2014 

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  • Active textile woven with thin pneumatic muscles

    The 15th SICE SI System Integration Division Annual Conference  2014 

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  • 胃X線透視検査用圧迫ソフトメカニズムー第3報;圧迫位置可変メカニズムー

    日本機械学会 ロボティクス・メカトロニクス講演会2014  2014 

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  • 心筋細胞把持を目的とした流体駆動マイクログリッパ

    第14回機素潤滑設計部門講演会  2014 

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  • 理学療法士の施術を指向した足首関節の拘縮予防に向けた医療機器の検討

    日本機械学会 ロボティクス・メカトロニクス講演会2014  2014 

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  • 細径McKibben型人工筋肉を集積したタコ腕模倣メカニズムの開発

    日本機械学会 ロボティクス・メカトロニクス講演会2014  2014 

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  • 細径McKibben型人口筋を集積したタコ腕模倣メカニズムの複合駆動特性

    第32回日本ロボット学会学術講演会  2014 

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  • 形状適応性を持つ集積型マイクロ吸盤の研究

    日本機械学会 ロボティクス・メカトロニクス講演会2014  2014 

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  • 螺旋状ワイヤロット構造をもつ新しいメカナムホイールの試作

    第32回日本ロボット学会学術講演会  2014 

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  • 多繊維構造マッキベン人工筋の開発と筋骨格ロボットへの適用

    第32回日本ロボット学会学術講演会  2014 

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  • 医療応用を目指した空気圧ソフトアクチュエータ

    日本機械学会2014年度年次大会  2014 

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  • 形状適応性を持つ集積型マイクロ吸盤の研究

    日本機械学会2014年度年次大会  2014 

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  • 空気圧アクチュエータを用いて3自由度の動作を実現する足首関節用リハビリ装置の開発

    日本機械学会2014年度年次大会  2014 

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  • 細径空圧人工筋肉を用いた能動織布の試作

    第15回 公益社団法人 計測自動制御学会 システムインテグレーション部門 講演会  2014 

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  • 親水・撥水性ラバー材料を用いた液滴ハンドリングメカニズムの検討

    日本機械学会2014年度年次大会  2014 

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  • マイクロ吸盤集積型吸着デバイスの研究

    第15回 公益社団法人 計測自動制御学会 システムインテグレーション部門 講演会  2014 

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  • Behavior Analysis of the artificial muscle composite bending actuator using the simple analytical model

    The Proceedings on Autumn Conference of Japan Fluid Power System Society 2013  2013 

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  • 生体模倣ロボット機構実現に向けた多繊維構造マッキベン人工筋

    第14回 計測自動制御学会 システムインテグレーション部門講演会(SICE SI 2013)  2013 

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  • バイアス付加型2方向湾曲ラバーアクチュエータの変位特性

    第14回 計測自動制御学会 システムインテグレーション部門講演会(SICE SI 2013)  2013 

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  • 電気で駆動可能な「空圧ラバーアクチュエータ」

    第31回日本ロボット学会学術講演会  2013 

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  • 異硬度ゴム複合による空気圧ラバーアクチュエータの開発

    第31回日本ロボット学会学術講演会  2013 

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  • 作動流体の相変化を利用した高温環境用アクチュエータの開発

    日本機械学会2013年度年次大会  2013 

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  • 可逆化学反応現象を利用したガス圧制御システムの開発(―第3 報: エネルギー回生の実現―)

    日本機械学会2013年度年次大会  2013 

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  • 腹臥位圧迫用遠隔圧迫枕の開発

    第29回 日本診療放射線技師学術大会  2013 

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  • 軟弱土壌におけるメカナム移動機構の適用可能性

    日本機械学会2013年度年次大会  2013 

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  • 空気圧駆動進行波ラバーアクチュエータ

    第2回ネイチャー・インダストリー・アワード(NIA)~若手研究者からの発信~  2013 

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  • 簡易解析モデルを用いた人工筋複合湾曲メカニズムの挙動解析

    平成25年秋季フルードパワーシステム講演会  2013 

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  • 微小物体把持用空気圧駆動マイクログリッパー

    第14回 計測自動制御学会 システムインテグレーション部門講演会(SICE SI 2013)  2013 

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  • 湾曲型空圧アクチュエータを用いた手指拘縮予防装置の開発

    2013年度精密工学会東北支部学術講演会  2013 

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  • Verification test of Mecanum Vehicle in Farm Field

    2013JSME Conference on Robotics and Mechatronics (ROBOMEC 2013)  2013 

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  • Traveling soft mechanism for abdomen-pressing in X-ray stomach diagnosis

    2013JSME Conference on Robotics and Mechatronics (ROBOMEC 2013)  2013 

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  • Development of a micro pneumatic actuator realizing bidirectional bending motions

    2013JSME Conference on Robotics and Mechatronics (ROBOMEC 2013)  2013 

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  • 2 方向湾曲動作を実現する空気圧マイクロラバーアクチュエータの開発

    日本機械学会 ロボティクス・メカトロニクス講演会2013  2013 

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  • ハウス圃場内全方向移動機構の実験的検証

    日本機械学会 ロボティクス・メカトロニクス講演会2013  2013 

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  • 可逆化学反応を利用した携帯空圧システム用ガス圧源の研究

    平成25年春季フルードパワーシステム講演会  2013 

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  • 伸縮人工筋複合によるエレファントトランクアクチュエータ

    日本機械学会 ロボティクス・メカトロニクス講演会2013  2013 

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  • 2方向湾曲動作を実現可能とする空気圧駆動ラバーアクチュエータの高出力化に関する研究

    第31回日本ロボット学会学術講演会  2013 

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  • 胃X線透視検査用圧迫ソフトメカニズム(第2報 人間ドック検診への適用試験)

    第31回日本ロボット学会学術講演会  2013 

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  • A new gas source for mobile pneumatic systems using reversible chemical reactions

    Spring Conference of Japan Fluid Power System Society 2013  2013 

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  • Elephant trunk actuator consisting of extending/contracting muscles

    2013JSME Conference on Robotics and Mechatronics (ROBOMEC 2013)  2013 

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  • 胃X 線透視検査用移動型圧迫ソフトメカニズム

    日本機械学会 ロボティクス・メカトロニクス講演会2013  2013 

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  • Investigation of assisting effect for colonoscopy by rubber tube acutuator

    Spring Conference of Japan Fluid Power System Society 2012  2012 

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  • A Functional Adhesive Robot Skin with Integrated Micro Rubber Suction Cups

    The 2012 IEEE International conference on robotics and automation  2012 

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  • Improvement of fin shape rubber actuator for assisting colonoscope insertion and phantom experiments

    2012 Conference on Robotics and Mechatronics  2012 

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  • Development of occlusal sound listening system with suction cup

    2012 JSME Conference on Robotics and Mechatronics  2012 

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  • A new mobile pressure control system for pneumatic actuators using reversible chemical reactions

    2012 Coference on Robotics and Mechatronics  2012 

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  • Flexible actuator showing structural color

    2012 Conference on Robotics and Mechatronics  2012 

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  • Gripping detection by the piezoelectric polymer flexible sensor for soft actuators

    2012 

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  • Abdomen-pressing soft mechanism for X-ray stomach diagnosis

    2012 JSME Conference on Robotics and Mechatronics  2012 

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  • SVRに基づく大湾曲ラバーアクチュエータのロバスト非線形制御

    電気学会制御研究会  2012 

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  • 環境刺激で生じる植物生体電位の利用法

    第53回日本植物生理学会年会  2012 

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  • ラバーチューブアクチュエータによる大腸内視鏡挿入支援効果の検討

    平成24年春季フルードパワーシステム講演会  2012 

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  • 柔軟ラバーデバイスを用いた可変剛性型大腸内視鏡の開発-最適駆動パターンに関する実験的検討-

    第12回 日本機械学会 機素潤滑設計部門講演会  2012 

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  • 大腸内視鏡挿入支援用アクチュエーターのフィンの改良とファントム実験

    ロボティクス・メカトロニクス講演会2012  2012 

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  • 吸盤デバイスを用いた咬合音聴診システムの開発

    ロボティクス・メカトロニクス講演会 2012  2012 

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  • 構造色による発色特性を持つフレキシブルアクチュエータ

    ロボティクス・メカトロニクス講演会2012  2012 

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  • The elucidation of the non-axis directional characteristics of McKibben type artificial muscles

    2012 JSME Conference on Robotics and Mechatronics  2012 

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  • Development of Variable Stiffness Colonoscope using Soft Rubber Devices -Investigation of optimum stiffness change pattern-

    The 12th. Machine Design and Tribology Division Meeting in JSME  2012 

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  • 胃X線検査用腹臥位圧迫ソフトメカニズム

    日本機械学会ロボティクス・メカトロニクス講演会2012  2012 

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  • McKibben 型人工筋の非軸方向特性の解明

    日本機械学会ロボティクス・メカトロニクス講演会2012  2012 

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  • 腸壁負荷計測ファントムを用いた剛性変化大腸内視鏡の最適駆動パターンに関する実験的検討

    日本機械学会 2012年度年次大会  2012 

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  • 咬合調整時の使用を目的とした歯面吸着型咬合音検出装置の開発

    日本医用歯科機器学会  2012 

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  • 伸縮人工筋の放射状配置による全方向湾曲高出力ソフトマニピュレータ

    日本機械学会 2012年度年次大会  2012 

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  • 細径マッキベン型アクチュエーターの開発

    日本機械学会 2012年度年次大会  2012 

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  • 水の電気分解/合成反応を用いたガス圧制御システムの開発

    日本ロボット学会第30回記念学術講演会  2012 

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  • 作動流体の相変化を利用した高温環境用アクチュエーターの開発

    日本ロボット学会第30回記念学術講演会  2012 

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  • ソフトアクチュエータの変位検出のための圧電高分子柔軟センサに関する研究

    日本機械学会ロボティクス・メカトロニクス講演会2012  2012 

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  • 可逆化学反応現象を利用したガス圧制御システムの開発―第1報;水の分解/合成を利用した試作実験―

    日本機械学会ロボティクス・メカトロニクス講演会2012  2012 

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  • ソフトアクチュエータに搭載した圧電高分子柔軟センサによる把持検出

    第13回 計測自動制御学会 システムインテグレーション部門講演会  2012 

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  • Variable Stiffness Colonoscope driven by air pressure

    Akira Wada, Shuichi Wakimoto

    Symposium on Interdisciplinary Researches in Okayama  2012 

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  • 吸盤を用いた咬合音検出システムの開発と基礎実験

    第13回 計測自動制御学会 システムインテグレーション部門講演会  2012 

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  • マイクロ吸盤集積ラバーシートの開発

    第13回 計測自動制御学会 システムインテグレーション部門講演会  2012 

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  • Piezoelectric polymer flexible displacement sensor for soft actuators

    2012 JSME Robotics and Mechatronics Conference  2012 

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  • Miniature of McKibben Actuator

    Yohta Yamamoto, Shuichi Wakimoto

    Symposium on Interdisciplinary Researches in Okayama  2012 

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  • Rubber tube actuator for assisting colonoscope insertion

    Shuichi Wakimoto, Yohta Yamamoto, Koichi Suzumori

    Symposium on Interdisciplinary Researches in Okayama  2012 

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  • ゴム微細表面構造の変形による接触角変化

    第12回 公益社団法人 計測自動制御学会 システムインテグレーション部門 講演会(SI2011)  2011 

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  • Pneumatic micro gripper for stretching cardiomyocyte

    The 50th Annual Conference of Japanese Society for Medical and Biological Engineering  2011 

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  • Integrated micro suction cups on a rubber sheet

    2011 JSME Conference on Robotics and Mechatronics (ROBOMEC 2011)  2011 

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  • Flexible microactuator showing structural color -2nd report: Color by multi-grating pattern-

    2011 JSME Conference on Robotics and Mechatronics (ROBOMEC 2011)  2011 

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  • Predictive Functional Control of a Tendon-driven Actuator Using a Pneumatic Balloon

    2011 JSME Conference on Robotics and Mechatronics (ROBOMEC 2011)  2011 

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  • Research Project of Soft Fluid Actuator in Okayama University

    2011 JSME Conference on Robotics and Mechatronics (ROBOMEC 2011)  2011 

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  • The development of the area-variable compression cone for X-ray diagnosis of the stomach

    2011 JSME Conference on Robotics and Mechatronics (ROBOMEC 2011)  2011 

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  • Contact Angle on Deforming Rubber Sheet with Micro Surface Structures

    The 12th SICE System Integration Division Annual Conference  2011 

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  • The development of the area-variable compression cone for X-ray diagnosis of the stomach(2th report: pressing experiment to the body)

    The 29th Annual Conference of the Robotics Society of Japan  2011 

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  • 構造色による発色特性を持つフレキシブルマイクロアクチュエータ―第2報:マルチグレーティングパターンによる発色―

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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  • 心筋細胞把持・伸展用空気圧マイクログリッパーの基礎研究

    第50回日本生体医工学会大会  2011 

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  • 岡山大学におけるソフトフルードアクチュエータの研究

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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  • マイクロ吸盤集積ラバーシートの開発

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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  • 胃X線検査用面積可変圧迫筒の開発

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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  • 空気圧バルーン型腱駆動アクチュエータのモデル予測制御

    日本機械学会ロボティクス・メカトロニクス講演会2011  2011 

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  • 胃X線検査用面積可変圧迫筒の開発 (第2報 人への圧迫適用試験)

    第29回日本ロボット学会学術講演会  2011 

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  • 空圧駆動柔軟デバイスを用いた可変剛性型大腸内視鏡の開発 -第3報 導中部の開発と大腸ファントムへの挿入実験-

    第29回日本ロボット学会学術講演会  2011 

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  • マイクロ吸盤集積ラバーシートの開発 -第2報;非対称吸盤の微細集積化-

    第29回日本ロボット学会学術講演会  2011 

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  • 空気圧剛性可変フィンガを有するバルーン型腱駆動ロボットハンドの設計

    第11回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会  2010 

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  • 大湾曲ラバーアクチュエータのマイクロ化に関する研究(第2報 基礎実験と駆動特性評価)

    日本機械学会 第22回バイオエンジニアリング講演会  2010 

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  • Intelligent Actuators for Mechatronics with Multi-Degrees of Freedom -Making Mechatronic Systems Simple, Smart and Reliable-

    Koichi SUZUMORI, Shuichi WAKIMOTO

    3rd International Symposium on Next-Generation Actuators Leading Breakthroughs  2010 

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  • 化学反応による空圧アクチュエータ用携帯ガス圧源の開発

    日本機械学会 第22回バイオエンジニアリング講演会  2010 

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  • 高収縮力McKibben 型人工筋の開発と不定形重量物用ハンドへの応用

    ロボティクス・メカトロニクス講演会2010  2010 

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  • 空気疎密波の重畳による空圧アクチュエータ駆動システムの研究 第6報;時分割方式の提案とシリンダの独立制御実験

    平成22年春季フルードパワーシステム講演会  2010 

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  • 空気圧疎密波による多自由度空圧アクチュエータ駆動

    ロボティクス・メカトロニクス講演会2010  2010 

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  • 細型高収縮力人工筋の開発とテンセグリティ構造体への応用

    ロボティクス・メカトロニクス講演会2010  2010 

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  • 空圧駆動柔軟デバイスを用いた剛性変化型大腸内視鏡の開発 -第2報 剛性変化デバイスの改良と挿入基礎実験-

    日本機械学会 2010年度年次大会  2010 

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  • 収縮・剛性変化・伸長人工筋の組み合わせによる高剛性ラバーアクチュエータの実現

    ロボティクス・メカトロニクス講演会2010  2010 

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  • 大腸内視鏡誘導ラバーアクチュエータの新断面形状の導出と基礎実験

    第28回日本ロボット学会学術講演会  2010 

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  • 管径適応型管内移動ロボットの研究(第12報:グリップパッドの開発による推進力の増大)

    第53回自動制御連合講演会  2010 

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  • 管径適応型管内移動ロボットの研究 (第11報:実ガス管内への適用)

    第28回日本ロボット学会学術講演会  2010 

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  • 蛇腹構造を用いた直径400μm大湾曲ラバーアクチュエータの開発

    第11回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2010)  2010 

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  • 大腸内視鏡誘導ラバーチューブアクチュエータの開発 ―正・負圧印加による駆動特性評価―

    第11回 公益社団法人 計測自動制御学会 システムインテグレーション部門講演会(SI2010)  2010 

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  • 大腸内視鏡誘導多段型ラバーアクチュエータの 製作と基礎実験

    第27回日本ロボット学会学術講演会  2009 

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  • Development of High Force Intelligent Pneumatic Cylinder for Intelligent Chair Tool

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009 

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  • 空圧駆動柔軟デバイスを用いた剛性変化型大腸内視鏡の開発-剛性変化デバイスの開発と基礎特性の確認-

    日本機械学会ロボティクス・メカトロニクス講演会2009  2009 

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  • 高出力水圧人工筋を用いた高把持力を発揮する倣い動作可能パワーハンドの開発

    第27回日本ロボット学会学術講演会  2009 

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  • 空気疎密波の重畳による空圧アクチュエータ駆動システムの研究 第3報;小型化と漏れ流量の低減

    平成21年春季フルードパワーシステム講演会  2009 

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  • 空気疎密波の重畳による空圧アクチュエータ駆動システムの研究 (第4 報;複数のバルブの独立駆動)

    第27回日本ロボット学会学術講演会  2009 

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  • McKibben 型アクチュエータを用いた配管内検査用柔軟索状ロボットの改良

    第27回日本ロボット学会学術講演会  2009 

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  • 空気疎密波の重畳による空圧アクチュエータ駆動システムの研究 第5報;1本の圧力供給管に接続する5つの共振バルブの独立駆動

    平成21年秋季フルードパワーシステム講演会  2009 

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  • 大湾曲ラバーアクチュエータのマイクロ化に関する研究(第1報 蛇腹構造の最適化とマイクロラバーモールドプロセスの確立)

    第9回 (社)計測自動制御学会 システムインテグレーション部門 講演会  2008 

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  • 高強力PBO繊維を用いた水圧McKibben型人工筋の特性評価

    平成20年春季フルードパワーシステム講演会 講演論文集  2008 

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  • 圧電高分子柔軟センサによる大変形ソフトアクチュエータの変位検出

    第8回 機素潤滑設計部門講演会  2008 

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  • Control Approaches and Detecting Function of Intelligent Cylinder for Human Adaptive Mechanism

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008 

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  • 多自由度空気圧システムの簡素化を目的とした疎密波重畳駆動システムの研究

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008 

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  • 管径適応型管内移動ロボットの研究 ―第10報:管形状自動適応走行の実現―

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008 

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  • 高強力PBO繊維を用いた高水圧駆動McKibben型人工筋の開発

    日本機械学会ロボティクス・メカトロニクス講演会2008  2008 

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  • 空気疎密波重畳によるアクチュエータ駆動

    第26回 日本ロボット学会学術講演会  2008 

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  • 多自由度メカトロニクス用インテリジェントアクチュエータ

    「ブレイクスルーを生み出す次世代アクチュエータ研究」第5回公開シンポジウム  2008 

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  • 大変形可能な薄肉多段構造ラバチュエータの開発とその評価

    第8回 (社)計測自動制御学会 システムインテグレーション部門 講演会  2007 

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  • 超高強力PBO繊維を用いた超高出力水圧人工筋の開発

    第25回日本ロボット学会学術講演会  2007 

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  • ポリマセンサ一体型FMAのドリフト補償法

    第25回日本ロボット学会学術講演会  2007 

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  • 導電性樹脂膜による高コンプライアントロボットの機能性向上

    日本機械学会ロボティクス・メカトロニクス講演会2007  2007 

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  • 空気疎密波の重畳による空圧アクチュエータ駆動システムの研究(第2報;機能検証用バルブを用いた2シリンダの独立駆動実験)

    平成19年秋季フルードパワーシステム講演会  2007 

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  • 圧電高分子柔軟変位センサを用いたインテリジェントFMAの開発

    第8回 (社)計測自動制御学会 システムインテグレーション部門 講演会  2007 

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  • 導電性塗料を用いた柔軟変位センサ(設計最適化とFMAへの応用)

    第7回計測自動制御学会システムインテグレーション部門講演会  2006 

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  • センサ一体型ソフトアクチュエータの製作とセンサのモデリング

    平成18年 秋季フルードパワーシステム講演会  2006 

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  • インテリジェントラバチュエータの開発(第4報:柔軟圧力センサの開発と圧力制御)

    日本機械学会ロボティクス・メカトロニクス講演会2006  2006 

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  • 導電性塗料のパターニングによる柔軟変位センサの設計最適化と評価

    日本機械学会ロボティクス・メカトロニクス講演会2006  2006 

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  • インテリジェントラバチュエータの開発(第5報:モデル化とサーボ制御)

    日本機械学会2006年度年次大会  2006 

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  • 機能性ペーストのインジェクションによるパターニングを用いた変位センサ

    第18回「電磁力関連のダイナミクス」シンポジウム  2006 

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  • 導電性塗料のパターニングによる柔軟変位センサ

    第23回日本ロボット学会学術講演会  2005 

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  • 生物を模倣した水陸両用柔軟索状ロボット

    (社)計測自動制御学会 第6回システムインテグレーション部門学術講演会  2005 

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  • 細径McKibben型筋繊維バンドルによる人工筋の開発

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005 

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  • インジェクションシステムを用いた柔軟変位センサの作製とFMAへの応用

    日本機械学会ロボティクス・メカトロニクス講演会2005  2005 

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  • インテリジェントラバチュエータの開発(第3報:センサの改良による制御特性の改善)

    (社)計測自動制御学会 第5回システムインテグレーション部門学術講演会 (SI2004)  2004 

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  • インテリジェントラバチュエータの開発(第1報:導電性ゴムセンサの内蔵とサーボ実験)

    日本機械学会ロボティクス・メカトロニクス講演会2004  2004 

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  • 管径適応型管内移動ロボットの研究(第4報:インテリジェントアクチュエータの開発と第3号機への適応)

    日本機械学会ロボティクス・メカトロニクス講演会2004  2004 

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  • インテリジェントラバチュエータの開発(第2報:拮抗型駆動機構による非線形特製の補償)

    日本機械学会2004年度年次大会  2004 

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  • 機能性ペーストのインジェクションによるパターニングを用いた変位センサ

    第18回「電磁力関連のダイナミクス」シンポジウム  2003 

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  • アクティブマウスを用いたフィジカルマンマシンインタラクション(第2報:第2号機の試作とフィジカルインタラクションの実現)

    日本機械学会ロボティクス・メカトロニクス講演会2003  2003 

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  • 狭隘部に侵入する柔軟マイクロロボットの研究

    第21回日本ロボット学会学術講演会  2003 

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  • 管径適応型管内移動ロボットの研究 (第3報:ロボットの小型化とパイプ内走行実験)

    第21回日本ロボット学会学術講演会  2003 

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  • 環境適応型オールポリマー移動ロボットの試作と実験

    第4回(社)計測自動制御学会システムインテグレーション部門学術講演会 (SI2003)  2003 

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  • マイクロパワーレスキューロボットの開発

    日本機械学会ロボティクス・メカトロニクス講演会2003  2003 

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  • 管径適応型管内移動ロボットの研究(第2報:カメラ姿勢保持と分岐管ステアリング)

    日本ロボット学会創立20周年記念学術講演会  2002 

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  • 管径適応型管内移動ロボットの研究(第1報:二次元モデルの試作と実験)

    日本機械学会ロボティクス・メカトロニクス講演会2002  2002 

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Industrial property rights

  • マッキベン人工筋

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    Application no:特願2015-180967  Date applied:2015.9.14

    国際出願PCT/JP2016/070215

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  • マッキベン人工筋

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    Application no:特願2015-052462  Date applied:2015.3.16

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  • 走行車両

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    Application no:特願2013-220683  Date applied:2013.10.23

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Works

  • テクノフロンティア2022

    2022.7.20
    -
    2022.7.22

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  • テクノフロンティア2021

    2021.6.23
    -
    2021.6.25

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  • OTEX2020

    2020.1.23
    -
    2020.1.24

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  • テクノフロンティア2019

    2019.4.17
    -
    2019.4.19

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  • テクノ・フロンティア2018

    2018

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  • おかやまテクノロジー展2018

    2018

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  • 岡山大学 知恵の見本市2017

    2017

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  • 第21回 岡山リサーチパーク研究・展示発表会

    2017

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  • テクノ・フロンティア2017

    2017

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  • 岡山大学 知恵の見本市2016

    2016

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  • 第20回 岡山リサーチパーク研究・展示発表会

    2016

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  • サイエンス実感フェア2016

    2016

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  • テクノ・フロンティア2016

    2016

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  • 第12回中四国放射線医療技術フォーラム (CSFRT2016)

    2016

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  • テクノ・フロンティア2015

    2015

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  • 中央西日本 メディカル・イノベーション2015

    2015

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  • ナノ・マイクロビジネス展、ロボテック次世代ロボット製造技術展

    2014

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  • 岡山大学 知恵の見本市2014

    2014

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  • テクノ・フロンティア2014

    2014

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  • 岡山大学知恵の見本市2012

    2012

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  • 岡山大学2011 知恵の見本市

    2011

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  • 第15回岡山リサーチパーク研究・展示発表会

    2010

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  • テクノフロンティア2009

    2009

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    Work type:Artistic work  

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  • セミコン・ジャパン2009

    2009

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  • 第20回 マイクロマシン/ MEMS展

    2009

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  • 彩の国ビジネスアリーナ2009

    2009

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    Work type:Artistic work  

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  • 第5回公開シンポジウム

    2008

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    Work type:Artistic work  

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  • 消防防災ロボット・高度な資機材等の研究開発,実用事例展示

    2008

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  • テクノフロンティア2008

    2008

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  • セミコン・ジャパン2008

    2008

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  • 第19回 マイクロマシン/ MEMS展

    2008

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  • 第18回 マイクロマシン/MEMS展

    2007

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  • テクノフロンティア2007

    2007

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  • セミコン・ジャパン2007

    2007

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  • 科研・特定 アクチュエータ研究 第3回公開シンポジウム 展示

    2006

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  • 日本学術会議中国・四国地区会議公開学術講演会

    2006

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  • 第10回岡山リサーチーパーク研究・展示発表会

    2006

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  • 第19回国土建設フェア

    2006

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  • テクノフロンティア2006

    2006

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  • セミコン・ジャパン2006

    2006

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  • マイクロマシン展

    2006

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  • 大都市大災害軽減化プロジェクト展示会

    2006

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  • レスキューロボット・システムのデモンストレーション

    2005

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  • セミコン・ジャパン2005

    2005

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  • 科研・特定 アクチュエータ研究 第2回公開シンポジウム 展示

    2005

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  • 国連防災世界会議 総合防災展

    2005

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  • テクノフロンティア2005

    2005

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  • 第9回岡山リサーチパーク研究・展示発表会

    2005

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  • 第16回マイクロマシン展

    2005

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  • 震災復興10年イベント ロボット×レスキュー2004

    2004

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  • 2004 産学官技術交流フェア

    2004

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  • レスキューロボット・デモンストレーション

    2003

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    Work type:Artistic work  

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  • 全国マルチメディア祭

    2002

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Awards

  • Academic Paper Award

    2021.6   The Japan Fluid Power System Society   Establishment of fabrication process for smart artificial muscles with the inductance sensor

    Sota KOGAWA, Shuichi WAKIMOTO, Takefumi KANDA, Kento OMURA, Katsunori ANDO

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  • 日本機械学会賞(技術)

    2021.4   日本機械学会   高品質・高耐久の細径人工筋肉の商品化

    鈴森康一, 脇元修一, 清板祝士, 河野一俊

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  • SI2019優秀講演賞

    2019.12   第20回計測自動制御学会システムインテグレーション部門講演会   微粒子励振型制御三方弁を用いたシリンダの速度制御

    山本陽光;神田岳文;脇元修一;鈴森康一;難波江裕之;浮田貴宏

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  • SI2018 優秀講演賞(2)

    2019   計測自動制御学会システムインテグレーション部門講演会  

    脇元 修一

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  • SI2018 優秀講演賞(1)

    2019   計測自動制御学会システムインテグレーション部門講演会  

    脇元 修一

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  • 第12回村川・難波技術奨励賞

    2017  

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    Country:Japan

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  • 知恵の見本市2016 優秀賞

    2016   岡山大学  

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    Country:Japan

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  • SI2016優秀講演賞

    2016   計測自動制御学会システムインテグレーション部門講演会  

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    Country:Japan

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  • SI2014優秀講演賞

    2014   計測自動制御学会システムインテグレーション部門講演会  

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    Country:Japan

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  • 論文顕彰

    2013   油空圧機器振興財団  

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    Country:Japan

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  • 第二回ネイチャー・インダストリー・アワード特別賞

    2013   一般社団法人 大阪科学技術センター  

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    Country:Japan

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  • CERTIFICATE OF APPRECIATION

    2012.10   14th Industrial Art and Technology Exhibition(INATEX)2012 (UTM)  

    Ahmad ‘Athif Mohd Faudzi, Ili Najaa, Aimi Moh, Nordin, Muhammad, Rusydi Muhammad Razif, Koichi Suzumori, Shuichi Wakimoto

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  • 研究奨励賞

    2012   日本ロボット学会  

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    Country:Japan

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  • 日本医用歯科機器学会 道具大賞 銀賞

    2012  

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    Country:Japan

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  • UTM(Universiti Teknologi Malaysia) BRONZE AWARD

    2011  

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  • Best Student Paper Finalist

    2008.7   2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics   Automatic Pipe Negotiation Control for snake-like Robot

    Akina Kuwada, Shuichi Wakimoto, Koichi Suzumori, Yudai Adomi

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  • ロボティクス・メカトロニクス講演会2008における優秀講演のノミネーション

    2008.6   日本機械学会ロボティクス・メカトロニクス部門   マルチルーメンチューブアクチュエータ

    鈴森康一,尾上久和,脇元修一,神田岳文

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  • SI2008優秀講演賞

    2008   計測自動制御学会システムインテグレーション部門講演会  

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    Country:Japan

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  • 大学院自然科学研究科長賞

    2007   岡山大学  

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    Country:Japan

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  • 年次大会 講演奨励賞

    2005   日本機械学会機素潤滑設計部門  

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    Country:Japan

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Research Projects

  • 紐製造技術を応用した高機能集積人工筋肉メカニズムの開発

    2021.06 - 2022.02

    岡山県  令和3年度特別電源所在県科学技術振興事業  受託研究

    脇元修一

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    Authorship:Principal investigator 

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  • 大腸内視鏡挿入支援を実現する空圧駆動高柔軟ラバーアクチュエータの開発

    Grant number:21K12727  2021.04 - 2026.03

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

    原田 馨太, 脇元 修一

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    Authorship:Coinvestigator(s) 

    Grant amount:\4160000 ( Direct expense: \3200000 、 Indirect expense:\960000 )

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  • 義手認識機能を持ち巧緻動作が可能な小児用前腕動力義手の開発

    Grant number:21K11203  2021.04 - 2024.03

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

    谷口 浩成, 脇元 修一, 森永 浩介

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    Authorship:Coinvestigator(s) 

    Grant amount:\4160000 ( Direct expense: \3200000 、 Indirect expense:\960000 )

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  • IPMCセンサを統合した空気圧ソフトフィンガの開発

    2021.04

    財団法人油空圧機器技術振興財団  研究助成金 

    脇元修一

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  • Realization of smart artificial muscles by braider technology and their applications to soft robots

    Grant number:20K04240  2020.04 - 2023.03

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

    脇元 修一

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    Authorship:Principal investigator 

    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

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  • 細径マッキベン型空気圧人工筋肉を用いた前腕欠損児のための動力義手の開発

    Grant number:18K10694  2018.04 - 2021.03

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

    谷口 浩成, 脇元 修一, 森永 浩介

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    Authorship:Coinvestigator(s) 

    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

    本年度は,昨年度までの研究状況を踏まえて,小児用動力義手の改良を行い,義手の基本性能評価およびユーザ評価を実施した.義手の改良において,使用しているアクチュエータの構成とサイズを変更した.その結果,昨年度のアクチュエータと比較して約2倍の発生力を実現し,性能を向上させることができた.次に,義手に用いる装飾用グローブと義手モデルとの適合性を向上させるために,義手の指および掌の形状変更を行った.これにより,装飾用グローブと義手との間の余分な隙間がなくなり,動作の改善が確認できた.また,拇指の関節構造を修正することにより,関節の可動域を調整した.これらの改良により,直径40mmの円柱把持における義手の指先発生力は,昨年度試作した義手と比較して約4倍の発生力を実現した.
    本年度に新たに改良し試作した義手の基本性能評価として,ボール,直方体,ドライバー(工具),カメラバックなどの物体把持実験を行った.その結果,様々な大きさおよび重量の物体に対して把持できることが確認された.ユーザ評価試験では,健常な20代の男性5名と,12歳と9歳の女児各1名ずつに対して,大阪工業大学ライフサイエンス実験倫理委員会の承認を得て(承認番号:2019-17)実施した.健常な上肢にハーネスを介して義手を取り付け,前腕部の筋電信号を取得し本年度試作した義手と昨年度試作した義手の2種類を操作してもらった.評価機器としてSHAPを使用し,物体移動に要する時間の測定を実施した.6種類の形状の物体それぞれに,金属製のものと木製のものがあり,形状に差異は無いが重量が異なる12種類の物体を移動させた.実験結果より,本年度試作した義手では,タスク全体の75%において昨年度試作した義手よりも優位性が認められた.しかし,女児を対象に試験を行う中で,義手本体の重量が重いという課題が明らかとなった.

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  • Development of high-functional pneumatic artificial muscles with functional fibers

    Grant number:17K06121  2017.04 - 2020.03

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

    Wakimoto Shuichi

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    Grant amount:\4680000 ( Direct expense: \3600000 、 Indirect expense:\1080000 )

    In the agriculture, medical, and welfare fields, soft robots with high safety are required. For improving the convenience of the soft robots, it is effective to enhance the functionality of the pneumatic artificial muscles that are used as the drive source of the soft robots. In this research, we have developed two kinds of artificial muscles, one has the sensor function, and the other can change the driving form, respectively. Both artificial muscles have functional fibers. The former artificial muscle can estimate its state by the embedded fiber sensor, and the latter artificial muscle can realize multiple movements such as contracting and bending by shape-memory polymer fiber.

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  • Development of Next-generation McKibben muscles

    Grant number:26249028  2014.04 - 2019.03

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

    Suzumori Koichi, Kitawaki Tomoki

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    Authorship:Coinvestigator(s) 

    Grant amount:\34840000 ( Direct expense: \26800000 、 Indirect expense:\8040000 )

    To realize robots with flexible and "living-like" characteristics, it is essential to realize an "artificial muscle" that has sufficient contracting capacity and can be accumulated to drive highly redundant mechanisms.
    In this research, we realized 1) “next-generation McKibben artificial muscle” characterized by “electric drive” and “multi-fiber structure”, and applied it to 2) “musculoskeletal robot mechanisms” to demonstrate its potential. Specifically, (1) we focused on the McKibben muscle and realized the artificial muscle with shape and characteristics similar to human muscles by the new driving method with chemical reaction of water and the diameter reduction. And (2) the muscles were applied to musculoskeletal robots and power suits to show that the realization of motion/force characteristics similar to humans and the realization of power support that fits the body.

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  • A soft robotic mechanism mimicking octopus arm structure with thin pneumatic artificial muscles

    Grant number:26420199  2014.04 - 2017.03

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

    Wakimoto Shuichi, MISUMI Jumpei, GOTO Keisuke, DOI Toshiyuki, GAURAV Maiti, MORI Kazuya

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    Authorship:Principal investigator 

    Grant amount:\5070000 ( Direct expense: \3900000 、 Indirect expense:\1170000 )

    A McKibben actuator which is flexible and driven pneumatically has the features of high output force and light weight. Therefore the actuator has high potential as an artificial muscle. In this research a soft robotic arm has been developed by integrating multiple thin McKibben actuators. This robotic arm mimics muscle configuration of an octopus arm and is configured with polymer materials without rigid materials.
    The robotic arm can realize bending, contracting, and torsional motions and stiffness change.

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  • role of mechanosensitive response of organelle in dynamic biomechanics of cardiomyocytes

    Grant number:23300167  2011.04 - 2014.03

    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)

    IRIBE Gentaro, WAKIMOTO Shuichi, NARUSE Keiji

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    Authorship:Coinvestigator(s) 

    Grant amount:\18720000 ( Direct expense: \14400000 、 Indirect expense:\4320000 )

    Calcium spark is diastolic spontaneous calcium releasing event from ryanodine receptors (RyR) on sarcoplasmic reticulum. We have previously reported that myocardial stretch increases calcium spark rate. It has been regarded that stretch-induced increase in reactive oxygen species (ROS) production from NADPH oxidase stimulates RyR to cause the phenomenon. However, the present study revealed that stretch-induced increase in ROS production is derived from mitochondria.

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  • Miniature pneumatic rubber actuator with sensor

    Grant number:23760137  2011 - 2013

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

    WAKIMOTO Shuichi

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    Grant amount:\4290000 ( Direct expense: \3300000 、 Indirect expense:\990000 )

    Actuators which use deformation of rubber structure by pneumatic pressure as output are called pneumatic rubber actuators, and in general they have advantages of light weight, flexible and low production cost. In this research, miniaturization and mounting the sensor for the pneumatic rubber actuators have been done. Two kinds of actuators, contracting type and bending type, are focused and mounting the sensor and miniaturization have been achieved respectively.

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  • Surface improvement ofsoft mechanisms by fabricating micro structures

    Grant number:22246019  2010.04 - 2014.03

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

    KOICHI SUZUMORI, WAKIMOTO Shuichi

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    Grant amount:\47060000 ( Direct expense: \36200000 、 Indirect expense:\10860000 )

    Fabricating micro structures ranging in size sub mm to several micro meters on soft mechanisms made of soft materials such as rubber realizes various functional physical properties. Focusing on this point we have made researches on giving functional surface improvements on soft mechanisms.
    (1) On optical properties: fabricating gratings with 1 to 2micron meter pitch enables grasping motion and stress of robots visually with color distribution images. (2) On hydrophilic/water-repellent properties: applying micro structures on the surface of micro robot fingers realizes very stable handling of micro parts. (3) On micro suction cups: integrated micro suction cups with various properties such as anisotropic sucking force and sucking on textured surfaces.

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  • Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices

    Grant number:20700408  2008 - 2010

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

    WAKIMOTO Shuichi

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    Authorship:Principal investigator 

    Grant amount:\4030000 ( Direct expense: \3100000 、 Indirect expense:\930000 )

    A colonoscope which can be inserted reliably and safely is required. In this study, variable stiffness device whose stiffness can be controlled was developed, and also a prototype colonoscope consisting of multi variable stiffness devices was manufactured. Using the colonoscope, insertion experiments into the colon phantom were conducted, and it can be inserted into the deepest part of the colon without special techniques.

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  • Establishment of Base Technology on Flexible Micro Mechanisms and their Applications

    Grant number:19206027  2007 - 2009

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

    SUZUMORI Koichi, KANDA Takefumi, WAKIMOTO Shuichi

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    Authorship:Coinvestigator(s) 

    Grant amount:\37700000 ( Direct expense: \29000000 、 Indirect expense:\8700000 )

    Conventional mechanisms are configured with rigid materials, metals, hard plastics and so on. This study has been done to realize novel mechanisms consisting of only soft materials. To achieve this purpose, the study have two aspects, namely, establishments of basic technology and realizations on actual soft mechanisms. As the basic technology, molding and bonding methods of rubber materials with high accuracy have been established, and as several new soft mechanisms of frictional rubber sheets, assisting actuators for colonoscopy, and micro check valves have been developed.

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  • 空圧式剛性変化ユニットを用いた大腸内視鏡の開発

    Grant number:19800026  2007

    日本学術振興会  科学研究費助成事業 若手研究(スタートアップ)  若手研究(スタートアップ)

    脇元 修一

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    Authorship:Principal investigator 

    Grant amount:\3115000 ( Direct expense: \2710000 、 Indirect expense:\405000 )

    大腸は複雑な形状であり、且つ柔軟性の高い器官である。このため、大腸内視鏡検査は医師の技量に大きく依存しており、麻酔を必要とするほどの苦痛を伴う場合もある。本研究では空気圧の印加によって剛性が調整可能なゴム製剛性変化ユニットの開発を行い、これを用いて内視鏡を構成する。大腸に局所的に過負荷が生じた場合、その部位にある内視鏡の剛性を低くすることで大腸へのダメージを回避することが可能である。本年度は1、剛性変化デバイスの基本設計と製作、2、デバイスの駆動実験、3、感圧センサの基礎特製の確認を行った。
    1、ゴム製剛性変化デバイスは内部の空気圧力を変化させることで、デバイス自体の硬さを調整する機能を有しており、本研究の基盤デバイスとなる。一般に空気圧ゴムデバイスは繊維強化の方法によってその挙動が決まる。本研究では理論計算によって、空気圧印加時に、形状変化を極めて小さく抑え、かつ剛性の大きな変化を実現させる繊維の編み角度を求めた。繊維にPBOを用いることでデバイスの高い柔軟性と強度を実現した。また、複数の剛性変化デバイスを直列に構成するためのゴム製ジョイントの開発を行った。
    2、剛性変化デバイスの特製評価を行った。空気圧0.4MPa印加時と非印加時を比較すると、デバイスのヤング率は5倍以上も変化することが可能であった。さらにデバイスの形状変化は極めて小さく、長手方向に対して約2%の伸びであることを確認した。
    3、剛性変化デバイスへ搭載する柔軟センサの検討を行った。2種類の導電性エラストマーを用いて基礎実験を行っており、それぞれ有効性を確認した。今後、剛性変化デバイスへの搭載性を考慮しセンサ形状の決定を行う。

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  • Intelligent Actuators for Mechatronics with Multi-Degrees-of-Freedom

    Grant number:16078209  2004 - 2008

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research on Priority Areas  Grant-in-Aid for Scientific Research on Priority Areas

    SUZUMORI Kouichi, WAKIMOTO Syuichi

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    Authorship:Coinvestigator(s) 

    Grant amount:\65300000 ( Direct expense: \65300000 )

    多自由度メカトロニクス機器を対象としたインテリジェントアクチュエータの研究を行った.具体的には,(1)通信/制御機能を内蔵した電磁モータの開発とロボットへの適用,(2)通信/制御機能を内蔵した空圧アクチュエータの開発と,リンク機構への適用,(3)空気供給管に粗密波を重畳する新しい制御方式の実現,に成功した.
    以上の3つのサブテーマを通して,多自由度のメカトロニクス機器用の新しいインテリジェントアクチュエータの設計法とシステム構築法を確立した.

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  • 柔軟機能要素の開発と高コンプライアントマイクロロボット構築に関する研究

    Grant number:04J04954  2004 - 2006

    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

    脇元 修一

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    Authorship:Principal investigator 

    Grant amount:\2800000 ( Direct expense: \2800000 )

    柔軟機能要素として、高分子材料を母材とした柔軟センサの開発を行い、ゴム製空気圧駆動ソフトアクチュエータであるMcKibben型アクチュエータとFMA(Flexible Microactuator)の制御を行った。柔軟センサは母材である高分子材料と導電性樹脂ペーストから成膜される導電性樹脂膜で構成されており、アクチュエータに内蔵、及び一体成形が可能である。そのため、センサの搭載によるソフトアクチュエータの柔軟性の低下、サイズの増加を防ぐことが可能である。なお、3次元位置決めロボットと液体精密吐出装置からなるペーストインジェクションシステムを構築することで、導電性樹脂膜は任意面に均一な厚みでパターニングすることが可能となっている。センサ特性は高分子材料の粘弾性特性の影響を受けるため、対に配置した2つのセンサの出力差を利用する手法と力学モデルによってセンサのモデル化を行う手法によりセンサ特性の改善を行い、ソフトアクチュエータの変位量と発生力の制御を実現した。
    また、高分子材料のみで構成される高コンプライアントロボットに柔軟センサを形成した。ロボットは、索状体形であり、非常に安価に製作が可能であるため、将来は大腸内視鏡用ロボットとしての応用が期待できる。人体に挿入することを目指すロボットにはロボットが進行する経路環境に対して、高い安全性を実現することが求められるが、これまで安全性は機構的な柔軟性によってのみ確保されていた。これに対して、柔軟センサを利用して力制御を行うことで、ロボットは通過する経路環境に応じて駆動状態を変化させ、経路壁への過剰な負荷を回避することが可能となり、制御性による安全性を付加することに成功した。

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Media Coverage

  • The beauty of movement explored through art and science Internet

    EPFL NEWS  https://actu.epfl.ch/news/the-beauty-of-movement-explored-through-art-and-sc/  2021.5

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  • BREAKING THE WALL TO OUR STARDUST ORIGINS, STARDUST SILICA: EXPLORING ARTIFICIAL LIFE FORMS Internet

    FALLING WALLS  https://falling-walls.com/discover/videos/stardust-silica-exploring-artificial-life-forms/  2021

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