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=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=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=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=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=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=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