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=20 cd-vols= no-issue=10 article-no= start-page= end-page= dt-received= dt-revised= dt-accepted= dt-pub-year=2011 dt-pub=201110 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators en-subtitle= kn-subtitle= en-abstract= kn-abstract=In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly people. In particular, robots that are intended for use in the field of medical care and welfare are expected to be safe when operating in a human environment because they often come into contact with people. Furthermore, robots must perform various tasks such as regrasping, grasping of soft objects, and tasks using frictional force. Given these demands and circumstances, a tendon-driven robot hand with a stiffness changing finger has been developed. The finger surface stiffness can be altered by adjusting the input pressure depending on the task. Additionally, the coefficient of static friction can be altered by changing the surface stiffness merely by adjusting the input air pressure. This report describes the basic structure, driving mechanism, and basic properties of the proposed robot hand. en-copyright= kn-copyright= en-aut-name=NagaseJun-ya en-aut-sei=Nagase en-aut-mei=Jun-ya 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=SatohToshiyuki en-aut-sei=Satoh en-aut-mei=Toshiyuki kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=SagaNorihiko en-aut-sei=Saga en-aut-mei=Norihiko 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=School of Science and Technology, Kwansei Gakuin University affil-num=2 en-affil= kn-affil=Research Core for Interdisciplinary Sciences, Okayama University affil-num=3 en-affil= kn-affil=Faculty of Systems Science and Technology, Akita Prefectural University affil-num=4 en-affil= kn-affil=School of Science and Technology, Kwansei Gakuin University affil-num=5 en-affil= kn-affil=Graduate School of Natural Science and Technology, Okayama University END start-ver=1.4 cd-journal=joma no-vol=29 cd-vols= no-issue=7 article-no= start-page=619 end-page=625 dt-received= dt-revised= dt-accepted= dt-pub-year=2011 dt-pub=20110915 dt-online= en-article= kn-article= en-subject= kn-subject= en-title=Design and Basic Characteristics of Pneumatic Rubber Tube Actuator for Colonoscope Insertion kn-title=‘å’°“àŽ‹‹¾‘}“üŽx‰‡‚ð–ÚŽw‚µ‚½ƒ‰ƒo[ƒ`ƒ…[ƒuƒAƒNƒ`ƒ…ƒG[ƒ^‚ÌÝŒv‚ÆŠî‘b‹ì“®“Á« en-subtitle= kn-subtitle= en-abstract= kn-abstract=Colonoscopy is an important medical action to detect disorders like colon cancer. However generally it is difficult to insert a scope into the colon, because the colon is flexible and complex shape. This study aims at development of an actuator which can add propelling ability to a colonoscope. We focus on rubber pneumatic actuators, because advantages of them, for example, high compliance, low cost, water proof, and so on, agree with the required properties of medical devices. In this paper, we design a novel rubber actuator consisting of three air chambers by nonlinear FEM (finite element method) and fabricate the actuator employing the design by extrusion molding method. Basic characteristics of the actuator are clarified by a motion capture system, and functional motion leading assisting colonoscope insertion is observed. Actually using dummy endoscope, transportation ability by the actuators is confirmed experimentally and insertion experiments into a large intestine phantom are conducted. en-copyright= kn-copyright= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name=˜eŒ³Cˆê kn-aut-sei=˜eŒ³ kn-aut-mei=Cˆê aut-affil-num=1 ORCID= en-aut-name=OzakiKen en-aut-sei=Ozaki en-aut-mei=Ken kn-aut-name=”ö茒 kn-aut-sei=”öè kn-aut-mei=Œ’ aut-affil-num=2 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name=—éXNˆê kn-aut-sei=—éX kn-aut-mei=Nˆê aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=‰ªŽR‘åŠw affil-num=2 en-affil= kn-affil=‰ªŽR‘åŠw affil-num=3 en-affil= kn-affil=‰ªŽR‘åŠw en-keyword=Soft Actuator kn-keyword=Soft Actuator en-keyword=Colonoscope Robot kn-keyword=Colonoscope Robot en-keyword=Soft Mechanism kn-keyword=Soft Mechanism END start-ver=1.4 cd-journal=joma no-vol=46 cd-vols= no-issue=9 article-no= start-page=517 end-page=523 dt-received= dt-revised= dt-accepted= dt-pub-year=2011 dt-pub=20110905 dt-online= en-article= kn-article= en-subject= kn-subject= en-title=Development of Balloon Type Tendon-driven Robot Hand with Stiffness Change Finger kn-title=‹ó‹Cˆ³„«‰Â•ÏƒtƒBƒ“ƒK‚ð—L‚·‚éƒoƒ‹[ƒ“Œ^äF‹ì“®ƒƒ{ƒbƒgƒnƒ“ƒh‚ÌŠJ”­ en-subtitle= kn-subtitle= en-abstract= kn-abstract= en-copyright= kn-copyright= en-aut-name=NagaseJun-ya en-aut-sei=Nagase en-aut-mei=Jun-ya kn-aut-name=‰i£ƒ–ç kn-aut-sei=‰i£ kn-aut-mei=ƒ–ç aut-affil-num=1 ORCID= en-aut-name=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name=˜eŒ³Cˆê kn-aut-sei=˜eŒ³ kn-aut-mei=Cˆê aut-affil-num=2 ORCID= en-aut-name=SagaNorihiko en-aut-sei=Saga en-aut-mei=Norihiko kn-aut-name=µ‰ãé•F kn-aut-sei=µ‰ã kn-aut-mei=é•F aut-affil-num=3 ORCID= en-aut-name=SuzumoriKoichi en-aut-sei=Suzumori en-aut-mei=Koichi kn-aut-name=—éXNˆê kn-aut-sei=—éX kn-aut-mei=Nˆê aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=ŠÖ¼Šw‰@‘åŠw affil-num=2 en-affil= kn-affil=‰ªŽR‘åŠw affil-num=3 en-affil= kn-affil=ŠÖ¼Šw‰@‘åŠw affil-num=4 en-affil= kn-affil=‰ªŽR‘åŠw en-keyword=stiffness change device kn-keyword=stiffness change device en-keyword=flexible finger kn-keyword=flexible finger en-keyword=pneumatic balloon kn-keyword=pneumatic balloon en-keyword=robot hand kn-keyword=robot hand en-keyword=tendon-driven kn-keyword=tendon-driven END start-ver=1.4 cd-journal=joma no-vol=25 cd-vols= no-issue=9-10 article-no= start-page=1311 end-page=1330 dt-received= dt-revised= dt-accepted= dt-pub-year=2011 dt-pub=2011 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube en-subtitle= kn-subtitle= en-abstract= kn-abstract=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. 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=OguraKeiko en-aut-sei=Ogura en-aut-mei=Keiko kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Research Core for Interdisciplinary Sciences, 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 en-keyword=Soft actuator kn-keyword=Soft actuator en-keyword=pneumatic actuator kn-keyword=pneumatic actuator en-keyword=bidirectional motion kn-keyword=bidirectional motion en-keyword=nonlinear analysis kn-keyword=nonlinear analysis 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=24 cd-vols= no-issue=10 article-no= start-page=1503 end-page=1528 dt-received= dt-revised= dt-accepted= dt-pub-year=2010 dt-pub=2010 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Development of an Intelligent Chair Tool System Applying New Intelligent Pneumatic Actuators en-subtitle= kn-subtitle= en-abstract= kn-abstract=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. en-copyright= kn-copyright= en-aut-name=FaudziAhmad 'Athif Mohd en-aut-sei=Faudzi en-aut-mei=Ahmad 'Athif Mohd 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=WakimotoShuichi en-aut-sei=Wakimoto en-aut-mei=Shuichi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 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=Research Core for Interdisciplinary Sciences, Okayama University en-keyword=Intelligent Chair Tool kn-keyword=Intelligent Chair Tool en-keyword=seating system kn-keyword=seating system en-keyword=intelligent pneumatic actuator kn-keyword=intelligent pneumatic actuator en-keyword=physical human machine interaction kn-keyword=physical human machine interaction en-keyword=control application in mechatronics kn-keyword=control application in 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=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=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=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= 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= cd-vols= no-issue= article-no= start-page=15 end-page=21 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=New actuators and their applications: from nano actuators to mega actuators en-subtitle= kn-subtitle= en-abstract= kn-abstract=

The present report describes R&D activities on new actuators undertaken at our laboratory at Okayama University for the past three years. These activities include various types of actuators, such as electromagnetic, electrostatic, piezoelectric, pneumatic, and hydraulic actuators, ranging in size and force from the nano to the mega range. These actuators are described in four categories: microactuators, power, intelligence, and novel principle.

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= affil-num=1 en-affil= kn-affil=Okayama University en-keyword=electromagnetic actuators kn-keyword=electromagnetic actuators en-keyword=electrostatic actuators kn-keyword=electrostatic actuators en-keyword=hydraulic actuators kn-keyword=hydraulic actuators en-keyword=nanostructured materials kn-keyword=nanostructured materials en-keyword=piezoelectric actuators kn-keyword=piezoelectric actuators en-keyword=pneumatic actuators kn-keyword=pneumatic actuators 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=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=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=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 start-ver=1.4 cd-journal=joma no-vol=2 cd-vols= no-issue= article-no= start-page=2735 end-page=2740 dt-received= dt-revised= dt-accepted= dt-pub-year=2003 dt-pub=20030914 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=A miniature inspection robot negotiating pipes of widely varying diameter en-subtitle= kn-subtitle= en-abstract= kn-abstract=

The purpose of this research is to realize a small robot which can negotiate pipes whose diameter varies widely during the robot's course. A new in-pipe locomotion mechanism named "snaking drive" is proposed in this paper and its potential and fundamental characteristics are shown with experimental data of the prototype model. First, in the sections 2 to 5, the basic traveling characteristics of the snaking drive mechanism are discussed: a theoretical formula of the fundamental characteristics and control algorithm are derived, the motions of the robot are simulated on a PC, and the prototype model was designed, developed, and tested. Next, in the sections 6 and 7, additional control algorithms for the front link are derived. They are necessary for steering at T-branches and L-bends of pipes, and also for camera view stabilization. Their performances are also shown by software simulation and experiments. The prototype robots moved in pipes whose diameter varies between 55 mm to 331 mm with the maximum speed of 22 mm/s. The paper also shows that the prototype negotiates T-branches and L-bends of pipes with inspection capability through a camera mounted on the robot.

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=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=TanakaMasanori en-aut-sei=Tanaka en-aut-mei=Masanori 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=inspection kn-keyword=inspection en-keyword=mobile robots kn-keyword=mobile robots en-keyword=motion control kn-keyword=motion control en-keyword=pipelines kn-keyword=pipelines en-keyword=robot kinematics kn-keyword=robot kinematics END start-ver=1.4 cd-journal=joma no-vol=2 cd-vols= no-issue= article-no= start-page=2031 end-page=2036 dt-received= dt-revised= dt-accepted= dt-pub-year=2002 dt-pub=200210 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Pneumatic direct-drive stepping motor for robots en-subtitle= kn-subtitle= en-abstract= kn-abstract=

A new type of pneumatic stepping motor, named pneumatic nutation motor, was developed. This motor achieves stepping positioning of 720 steps/rotation without any electrical devices or sensors mounted on the servo mechanisms. This makes the motor possible to be used under hazardous conditions such as in water and in strong magnetic fields where conventional electromagnetic motors cannot be used. The motor torque is so big that the motor can be used as a direct motor. In this report, the driving principle and design of this motor are presented. Its characteristics are analyzed experimentally and theoretically. The motors were applied to a parallel linkage mechanism with six degrees of freedom. The mechanism shows that the pneumatic nutation motors can be used as a direct servo motor for robot mechanisms.

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=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=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 Co‚’poration Limited en-keyword=pneumatic control equipment kn-keyword=pneumatic control equipment en-keyword=robots kn-keyword=robots en-keyword=servomotors kn-keyword=servomotors en-keyword=stepping motors kn-keyword=stepping motors END