start-ver=1.4 cd-journal=joma no-vol=13 cd-vols= no-issue=3 article-no= start-page=95 end-page= dt-received= dt-revised= dt-accepted= dt-pub-year=2024 dt-pub=20240228 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=A Microchannel Device for Droplet Classification by Manipulation Using Piezoelectric Vibrator en-subtitle= kn-subtitle= en-abstract= kn-abstract=Emulsion formulations should be monodispersed in terms of their stability. Therefore, there is a need for a device that can classify droplets of the desired size from polydispersed emulsions in a fluidized bed manufacturing system. In the previous study, we evaluated the fabrication of a droplet manipulation device using acoustic radiation forces through simulation using the finite element method. In this study, particle manipulation experiments using 1, 6, and 10 mu m polystyrene particles were first estimated and evaluated in comparison with their theoretical particle behavior. Based on the results we obtained, the driving conditions and droplet behavior were derived, and the droplet manipulation device using ultrasonic waves to shrink monodisperse emulsions was evaluated. As a result, the droplet classification effect in the microchannel was confirmed to be consistent with the droplet behavior prediction, and the microchannel structure with a constriction component improved its classification effect. en-copyright= kn-copyright= en-aut-name=FujiokaAo en-aut-sei=Fujioka en-aut-mei=Ao kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=SeoShoko en-aut-sei=Seo en-aut-mei=Shoko kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=YamaguchiDaisuke en-aut-sei=Yamaguchi en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= affil-num=1 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=2 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=3 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=4 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=5 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= en-keyword=piezoelectric element kn-keyword=piezoelectric element en-keyword=microchannel kn-keyword=microchannel en-keyword=particle manipulation kn-keyword=particle manipulation en-keyword=emulsion kn-keyword=emulsion en-keyword=droplet kn-keyword=droplet END start-ver=1.4 cd-journal=joma no-vol=63 cd-vols= no-issue=3 article-no= start-page=03SP03 end-page= dt-received= dt-revised= dt-accepted= dt-pub-year=2024 dt-pub=20240207 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Evaluation of transducer for cryogenic actuators by equivalent circuit model en-subtitle= kn-subtitle= en-abstract= kn-abstract=Cryogenic environments are increasingly used in scientific and industrial fields. Recently, cryogenic environments are also used for storage and supply of liquid hydrogen, which is considered essential for the realization of a decarbonized society. Actuators to drive a valve that controls such a low-temperature fluid are required. In this study, a piezoelectric transducer that can be driven in the cryogenic environment has been fabricated and evaluated. Although the performance of piezoelectric elements degrades at cryogenic temperatures in general, the application of a preload can suppress the degradation of performance. Equivalent circuits were used for evaluation, and force factors and figures of merit were compared. As a result, the force factor was as high as that at RT even at cryogenic temperatures, and a high figure of merit was obtained. The result indicates that the transducer can be used for the driving of micro actuator at cryogenic temperature. en-copyright= kn-copyright= en-aut-name=KuboKazuki en-aut-sei=Kubo en-aut-mei=Kazuki kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=YagiKairi en-aut-sei=Yagi en-aut-mei=Kairi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=YasudaKoa en-aut-sei=Yasuda en-aut-mei=Koa kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=YamaguchiDaisuke en-aut-sei=Yamaguchi en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=6 ORCID= affil-num=1 en-affil=Graduate School of Environment, Life, Natural, Science and Technology, Okayama University kn-affil= affil-num=2 en-affil=Graduate School of Environment, Life, Natural, Science and Technology, Okayama University kn-affil= affil-num=3 en-affil=Graduate School of Environment, Life, Natural, Science and Technology, Okayama University kn-affil= affil-num=4 en-affil=Graduate School of Environment, Life, Natural, Science and Technology, Okayama University kn-affil= affil-num=5 en-affil=Graduate School of Environment, Life, Natural, Science and Technology, Okayama University kn-affil= affil-num=6 en-affil=Graduate School of Environment, Life, Natural, Science and Technology, Okayama University kn-affil= en-keyword=cryogenic kn-keyword=cryogenic en-keyword=ultrasonic kn-keyword=ultrasonic en-keyword=piezoelectric kn-keyword=piezoelectric en-keyword=transducer kn-keyword=transducer END start-ver=1.4 cd-journal=joma no-vol=22 cd-vols= no-issue=9 article-no= start-page=3232 end-page= dt-received= dt-revised= dt-accepted= dt-pub-year=2022 dt-pub=20220422 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Displacement Sensing of an Active String Actuator Using a Step-Index Multimode Optical Fiber Sensor en-subtitle= kn-subtitle= en-abstract= kn-abstract=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. en-copyright= kn-copyright= en-aut-name=TianWeihang en-aut-sei=Tian en-aut-mei=Weihang kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=YamaguchiDaisuke en-aut-sei=Yamaguchi en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=2 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=3 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=4 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= en-keyword=thin artificial muscle kn-keyword=thin artificial muscle en-keyword=active string actuator kn-keyword=active string actuator en-keyword=step-index multimode optical fiber kn-keyword=step-index multimode optical fiber en-keyword=displacement sensing kn-keyword=displacement sensing END start-ver=1.4 cd-journal=joma no-vol=10 cd-vols= no-issue=3 article-no= start-page=55 end-page= dt-received= dt-revised= dt-accepted= dt-pub-year=2021 dt-pub=20210309 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Core-Shell Droplet Generation Device Using a Flexural Bolt-Clamped Langevin-Type Ultrasonic Transducer en-subtitle= kn-subtitle= en-abstract= kn-abstract=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 mu m 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. en-copyright= kn-copyright= en-aut-name=OmoriKentaro en-aut-sei=Omori en-aut-mei=Kentaro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=FujimotoNozomu en-aut-sei=Fujimoto en-aut-mei=Nozomu kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=SenoNorihisa en-aut-sei=Seno en-aut-mei=Norihisa kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= affil-num=1 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=2 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=3 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=4 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= affil-num=5 en-affil=Graduate School of Natural Science and Technology, Okayama University kn-affil= en-keyword=core-shell droplet kn-keyword=core-shell droplet en-keyword=microfluidic device kn-keyword=microfluidic device en-keyword=ultrasonic transducer kn-keyword=ultrasonic transducer END start-ver=1.4 cd-journal=joma no-vol=184 cd-vols= no-issue= article-no= start-page=134 end-page=140 dt-received= dt-revised= dt-accepted= dt-pub-year=2012 dt-pub=201209 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=An ultrasonic motor for cryogenic temperature using bolt-clamped Langevin-type transducer en-subtitle= kn-subtitle= en-abstract= kn-abstract=In this study, a small ultrasonic motor driven under cryogenic temperature conditions has been fabricated and evaluated. Since transducer performance generally decreases at cryogenic temperatures, we designed and fabricated a bolt-clamped Langevin-type transducer for operation at cryogenic temperature. We simulated the influence of thermal stress on the transducer. The results from simulation were used to design the transducer, and it was then used to fabricate an ultrasonic motor for cryogenic temperature. The maximum diameter and the height of the motor are 30 mm and 38.7 mm. To enable the motor to be driven at cryogenic temperature, we evaluated the relationship between the contact pre-load and the lowest rotatable temperature. The motor's driving performance was evaluated at both room temperature and cryogenic temperatures. In a 4.5 K helium gas ambient, the rotation speed and starting torque were 133 rpm and 0.03 mu N m when the applied voltage was 50 Vp-p. en-copyright= kn-copyright= en-aut-name=YamaguchiDaisuke en-aut-sei=Yamaguchi en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama Univ affil-num=2 en-affil= kn-affil=Okayama Univ affil-num=3 en-affil= kn-affil=Okayama Univ en-keyword=Ultrasonic motor kn-keyword=Ultrasonic motor en-keyword=Cryogenic environment kn-keyword=Cryogenic environment en-keyword=Piezoelectric transducer kn-keyword=Piezoelectric transducer en-keyword=Actuator kn-keyword=Actuator END start-ver=1.4 cd-journal=joma no-vol=164 cd-vols= no-issue=1-2 article-no= start-page=88 end-page=94 dt-received= dt-revised= dt-accepted= dt-pub-year=2010 dt-pub=201012 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Multiplex pneumatic control method for multi-drive system en-subtitle= kn-subtitle= en-abstract= kn-abstract=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. en-copyright= kn-copyright= en-aut-name=NishiokaYasutaka en-aut-sei=Nishioka en-aut-mei=Yasutaka kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=Graduate School of Natural Science and Technology, Okayama University affil-num=2 en-affil= kn-affil=Graduate School of Natural Science and Technology, Okayama University affil-num=3 en-affil= kn-affil=Graduate School of Natural Science and Technology, Okayama University affil-num=4 en-affil= kn-affil=Research Core for Interdisciplinary Sciences, Okayama University en-keyword=Pneumatic kn-keyword=Pneumatic en-keyword=Valve kn-keyword=Valve en-keyword=Actuator kn-keyword=Actuator en-keyword=Multi-DOF kn-keyword=Multi-DOF en-keyword=Resonant kn-keyword=Resonant en-keyword=Mechatronics kn-keyword=Mechatronics END start-ver=1.4 cd-journal=joma no-vol=127 cd-vols= no-issue=1 article-no= start-page=131 end-page=138 dt-received= dt-revised= dt-accepted= dt-pub-year=2006 dt-pub=20062 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=A micro ultrasonic motor using a micro-machined cylindrical bulk PZT transducer en-subtitle= kn-subtitle= en-abstract= kn-abstract=

In this paper, a micro ultrasonic motor using a micro-machined bulk piezoelectric transducer is introduced. The cylindrical shaped bulk piezoelectric transducer, a diameter of 0.8 mm and a height of 2.2 mm, was developed as stator transducer for traveling wave type ultrasonic motor. The transducer was made of lead zirconate titanate (PZT) bulk ceramics, and formed by micro machining, Ni plating and laser beam cutting process. Using this stator transducer, we have fabricated a cylindrical micro ultrasonic motor, a diameter of 2.0 mm and a height of 5.9 mm. We have also evaluated some characteristics and succeeded in driving the micro ultrasonic motor.

en-copyright= kn-copyright= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=MakinoAkira en-aut-sei=Makino en-aut-mei=Akira kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=OnoTomohisa en-aut-sei=Ono en-aut-mei=Tomohisa kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=MoritaTakeshi en-aut-sei=Morita en-aut-mei=Takeshi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= en-aut-name=KurosawaMinoru Kuribayashi en-aut-sei=Kurosawa en-aut-mei=Minoru Kuribayashi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=6 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University affil-num=5 en-affil= kn-affil=University of Tokyo affil-num=6 en-affil= kn-affil=Tokyo Institute of Technology en-keyword=Piezoelectric actuator kn-keyword=Piezoelectric actuator en-keyword=Ultrasonic motor kn-keyword=Ultrasonic motor en-keyword=Micro motor kn-keyword=Micro motor en-keyword=Bulk piezoelectric material kn-keyword=Bulk piezoelectric material en-keyword=Micro machining kn-keyword=Micro machining END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=21 end-page=22 dt-received= dt-revised= dt-accepted= dt-pub-year=2004 dt-pub=200411 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Nutation motor : a new direct-drive stepping motor for robots en-subtitle= kn-subtitle= en-abstract= kn-abstract=

A new type of stepping motor, named nutation motor was developed. This motor has a reduction mechanism consisting of a pair of bevel gears, realizing high torque and high resolution stepping motion. Three prototypes, two pneumatic nutation motors and an electric nutation motor, were designed, developed, and tested. We show the basic driving principle and the experimental results in this paper.

en-copyright= kn-copyright= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=UzukaKazuo en-aut-sei=Uzuka en-aut-mei=Kazuo kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=EnomotoIsao en-aut-sei=Enomoto en-aut-mei=Isao kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=TOK Bearings Corporation Limited affil-num=4 en-affil= kn-affil=TOK Bearings Corporation Limited en-keyword=Actuator kn-keyword=Actuator en-keyword=Motor kn-keyword=Motor en-keyword=Reduction gear kn-keyword=Reduction gear END start-ver=1.4 cd-journal=joma no-vol=4 cd-vols= no-issue= article-no= start-page=3895 end-page=3900 dt-received= dt-revised= dt-accepted= dt-pub-year=2004 dt-pub=200410 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Active link mechanisms for physical man-machine interaction en-subtitle= kn-subtitle= en-abstract= kn-abstract=

<p>In this paper, we propose a new type of haptic interface, named active link mechanism. This device realizes physical man-machine interaction (PMI) between machines and persons. Two prototypes were developed to demonstrate the potential of the active link mechanisms. Developed interface devices are an active tetrahedron and an active icosahedron. Nine-DOF micro spherical joints and pressure control pneumatic cylinders were developed to realize the active tetrahedron, while fifteen-DOF micro spherical joints and intelligent pneumatic cylinders were developed for the active icosahedron. The tetrahedron successfully realizes "virtual touch"; the operators feel actions, forces, and shapes of the virtual objects in PC and also move and deform them. Real time PMI is realized by building the developed devices into MSC.Visual-Nastran4D. MSC.VisuaI-Nastran4D is a mechanism analysis software, which can make motion analysis in real time. The active icosahedron also realized dynamic interaction with virtual objects in PC, showing the potential of the devices as a haptic interface.</p>

en-copyright= kn-copyright= en-aut-name=OchiJumpei en-aut-sei=Ochi en-aut-mei=Jumpei kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=HashimotoTatsuya en-aut-sei=Hashimoto en-aut-mei=Tatsuya kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University en-keyword=computer vision kn-keyword=computer vision en-keyword=haptic interfaces kn-keyword=haptic interfaces en-keyword=man-machine systems kn-keyword=man-machine systems en-keyword=pneumatic actuators kn-keyword=pneumatic actuators en-keyword=pressure control kn-keyword=pressure control en-keyword=tactile sensors kn-keyword=tactile sensors en-keyword=virtual reality kn-keyword=virtual reality END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=175 end-page=180 dt-received= dt-revised= dt-accepted= dt-pub-year=2004 dt-pub=200411 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of active icosahedron and its application to virtual clay modeling en-subtitle= kn-subtitle= en-abstract= kn-abstract=

We have developed an active link mechanism for physical man-machine interaction. We report an active icosahedron consisting of intelligent cylinders and its application to virtual clay modeling. Intelligent pneumatic cylinders are newly developed to realize active link mechanisms. This cylinder aims at a novel cylinder in which various sensors and control devices are built. Active link mechanisms are highly integrated and enhanced by intelligent cylinders. A control system is built for the active icosahedron. In the control system, a key element is a control program implementing drawing of a virtual model on display and controlling of active links. Virtual clays are deformed by the program based on the apex positions converted from cylinder lengths. The active icosahedron realized dynamic interaction with virtual objects in PC, showing the potential of the devices as a haptic interface.

en-copyright= kn-copyright= en-aut-name=OchiJumpei en-aut-sei=Ochi en-aut-mei=Jumpei kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=HashimotoTatsuya en-aut-sei=Hashimoto en-aut-mei=Tatsuya kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=TanakaJunichi en-aut-sei=Tanaka en-aut-mei=Junichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University affil-num=5 en-affil= kn-affil=Okayama University en-keyword=haptic interfaces kn-keyword=haptic interfaces en-keyword=man-machine systems kn-keyword=man-machine systems en-keyword=virtual reality kn-keyword=virtual reality END start-ver=1.4 cd-journal=joma no-vol=1 cd-vols= no-issue= article-no= start-page=721 end-page=724 dt-received= dt-revised= dt-accepted= dt-pub-year=2005 dt-pub=20056 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=A cylindrical micro ultrasonic motor using micro-machined piezoelectric vibrator en-subtitle= kn-subtitle= en-abstract= kn-abstract=

A micro ultrasonic motor using a micro-machined cylindrical bulk piezoelectric vibrator is introduced. This motor consists of the vibrator, a glass case and a rotor. The diameter of the piezoelectric vibrator is 0.8 mm and that of the motor case is 1.8 mm. Since the stator transducer is fixed at the end of the cylinder, it is easy to support the vibrator and the structure of the motor is not complicated. In addition, the vibrator and rotor are supported by the glass case. This is important for the micro ultrasonic motor because it is difficult to support the vibrator when the vibrator is miniaturized. We have fabricated and evaluated the cylindrical shaped traveling type micro ultrasonic motor using this vibrator.

en-copyright= kn-copyright= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=MakinoAkira en-aut-sei=Makino en-aut-mei=Akira kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=OomoriYoshitaka en-aut-sei=Oomori en-aut-mei=Yoshitaka kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University en-keyword=Micro motor kn-keyword=Micro motor en-keyword=Ultrasonic motor kn-keyword=Ultrasonic motor en-keyword=Piezoelectric kn-keyword=Piezoelectric END start-ver=1.4 cd-journal=joma no-vol=1 cd-vols= no-issue= article-no= start-page=745 end-page=748 dt-received= dt-revised= dt-accepted= dt-pub-year=2005 dt-pub=20056 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of intelligent McKibben actuator with built-in soft conductive rubber sensor en-subtitle= kn-subtitle= en-abstract= kn-abstract=

This study aims at the development of an intelligent McKibben actuator, in which a soft rubber displacement sensor is integrated. Recently, the McKibben actuator has attracted engineers because of light weight, high output power and high compliance. But in the case of using it for servo control at present, the systems need encoders or potentiometers, therefore the systems tend to grow in size and take away from compliance which is an important advantage for a safe and secure mechanism. We have developed a soft displacement sensor and incorporated it in a McKibben actuator, named it the intelligent McKibben actuator, and proved its potential.

en-copyright= kn-copyright= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=Soft sensor kn-keyword=Soft sensor en-keyword=soft mechanism kn-keyword=soft mechanism en-keyword=McKibben actuator kn-keyword=McKibben actuator en-keyword=Intelligent actuator kn-keyword=Intelligent actuator END start-ver=1.4 cd-journal=joma no-vol=4 cd-vols= no-issue= article-no= start-page=3895 end-page=3900 dt-received= dt-revised= dt-accepted= dt-pub-year=2004 dt-pub=200410 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Active link mechanisms for physical man-machine interaction en-subtitle= kn-subtitle= en-abstract= kn-abstract=

In this paper, we propose a new type of haptic interface, named active link mechanism. This device realizes physical man-machine interaction (PMI) between machines and persons. Two prototypes were developed to demonstrate the potential of the active link mechanisms. Developed interface devices are an active tetrahedron and an active icosahedron. Nine-DOF micro spherical joints and pressure control pneumatic cylinders were developed to realize the active tetrahedron, while fifteen-DOF micro spherical joints and intelligent pneumatic cylinders were developed for the active icosahedron. The tetrahedron successfully realizes "virtual touch"; the operators feel actions, forces, and shapes of the virtual objects in PC and also move and deform them. Real time PMI is realized by building the developed devices into MSC.Visual-Nastran4D. MSC.VisuaI-Nastran4D is a mechanism analysis software, which can make motion analysis in real time. The active icosahedron also realized dynamic interaction with virtual objects in PC, showing the potential of the devices as a haptic interface.

en-copyright= kn-copyright= en-aut-name=OchiJ. en-aut-sei=Ochi en-aut-mei=J. kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=HashimotoTatsuya en-aut-sei=Hashimoto en-aut-mei=Tatsuya kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=TanakaJ. en-aut-sei=Tanaka en-aut-mei=J. kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University affil-num=5 en-affil= kn-affil=Okayama University en-keyword=active link mechanism; PMI; haptic interface kn-keyword=active link mechanism; PMI; haptic interface END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=487 end-page=492 dt-received= dt-revised= dt-accepted= dt-pub-year=2005 dt-pub=20058 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of intelligent McKibben actuator en-subtitle= kn-subtitle= en-abstract= kn-abstract=

The aim of this study is to develop an intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.

en-copyright= kn-copyright= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=Soft sensor kn-keyword=Soft sensor en-keyword=soft mechanism kn-keyword=soft mechanism en-keyword=McKibben actuator kn-keyword=McKibben actuator en-keyword=Intelligent actuator kn-keyword=Intelligent actuator END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=303 end-page=308 dt-received= dt-revised= dt-accepted= dt-pub-year=2003 dt-pub=200310 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=A micro snake-like robot for small pipe inspection en-subtitle= kn-subtitle= en-abstract= kn-abstract=

The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "snaking drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18 mm to 100 mm with the maximum speed of 36 mm/s. And the robot could negotiate T-branches and L-bends of pipes.

en-copyright= kn-copyright= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NakajimaJun en-aut-sei=Nakajima en-aut-mei=Jun kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=TanakaMasanori en-aut-sei=Tanaka en-aut-mei=Masanori kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=KandaTakefumi en-aut-sei=Kanda en-aut-mei=Takefumi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=5 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University affil-num=5 en-affil= kn-affil=Okayama University en-keyword=control engineering computing kn-keyword=control engineering computing en-keyword=industrial robots kn-keyword=industrial robots en-keyword=inspection kn-keyword=inspection en-keyword=microrobots kn-keyword=microrobots en-keyword=mobile robots kn-keyword=mobile robots en-keyword=robot vision kn-keyword=robot vision en-keyword=stability kn-keyword=stability END