Updated on 2026/03/20

写真a

 
NAKAMURA Taro
 
Organization
Faculty of Science and Engineering Professor
Other responsible organization
Precision Engineering Course of Graduate School of Science and Engineering, Master's Program
Precision Engineering Course of Graduate School of Science and Engineering, Doctoral Program
Contact information
The inquiry by e-mail is 《here》
Homepage
https://sites.google.com/g.chuo-u.ac.jp/nakalab/
External link

Degree

  • 博士（工学） ( 信州大学 )

Education

  • 2003.3
     

    Shinshu University   Graduate School, Division of Engineering   doctor course   completed

Research History

  • 2013.4 - 　

    中央大学理工学部教授

  • 2007.4 - 2013.3

    中央大学理工学部准教授   Faculty of Science and Engineering

  • 2006.4 - 2007.3

    中央大学理工学部助教授   Faculty of Science and Engineering

  • 2004.4 - 2006.3

    中央大学理工学部専任講師   Faculty of Science and Engineering

Professional Memberships

  • 日本ロボット学会

  • 日本機械学会

  • 日本フルードパワーシステム学会

  • 電気学会

  • IEEE

  • ロボティクスシンポジア

  • 精密工学会

  • CLAWAR Program Committee

  • 日本設計工学会

  • 計測自動制御学会

  • IEEE

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Research Interests

  • メカトロニクス

  • ロボティクス

  • 機械システム

  • 機械システム,ロボティクス,メカトロニクス

  • 知能機械学

  • 知能機械学,ロボティクス,メカトロニクス

Research Areas

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Design engineering  / Design engineering/Machine functional elements/Tribology

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

  • Informatics / Mechanics and mechatronics  / Intelligent mechanics/Mechanical systems

  • Informatics / Robotics and intelligent system  / Intelligent mechanics/Mechanical systems

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

  • Manufacturing Technology (Mechanical Engineering, Electrical and Electronic Engineering, Chemical Engineering) / Control and system engineering  / 制御・システム工学

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Papers

  • Content-state-driven motility switching in an intestine-inspired soft-bodied robot via decentralised oscillator networks International journal

    Tomoki Hanamura, Ryosuke Adachi, Koya Tsurumi, Takaaki Tanno, Yusuke Tahara, Akihiro Ohnishi, Taro Nakamura, Takuya Umedachi

    BIOINSPIRATION & BIOMIMETICS   21 ( 2 )   2026.4

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    Language：English   Publishing type：Research paper (scientific journal)  

    DOI： 10.1088/1748-3190/ae3e7c

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  • Development of a Gel Urethra Model Simulator Using Agarose-PEG and Performance Evaluation of a Soft Growing Actuator for Urinary Catheter Insertion Assistance. Reviewed

    Kotaro Kishino, R. Sasaki, Fumio Ito, Hiroyuki Yamanaka, Mitsuru Komeya, Taro Nakamura

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   1362 - 1367   2026.1

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

    DOI： 10.1109/SII64115.2026.11404606

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#KishinoSIYKN26

  • Position and stiffness control based on a mechanical-equilibrium model for antagonistic joints using hyper-extension actuators. Reviewed

    A. Irie, Akihiro Kobayashi, Ryunosuke Sawahashi, Fumio Ito, Rie Nishihama, Taro Nakamura

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   1004 - 1009   2026.1

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    DOI： 10.1109/SII64115.2026.11404709

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#IrieKSINN26

  • An Anaerobic Digestion System Inspired by Intestinal Peristalsis - Development of a Peristaltic Bioreactor with Mixing via Rotational Flow and Negative Pressure Inflow. Reviewed

    G. Ueki, Takaaki Tanno, Fumio Ito, A. Ohnishi, K. Okuda, H. Yamamura, R. Kina, Taro Nakamura

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   1010 - 1015   2026.1

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    DOI： 10.1109/SII64115.2026.11404459

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#UekiTIOOYKN26

  • Walking Sensation in Low- and High-Viscosity Fluids Using a Lower-Limb Force-Feedback Exoskeleton with MR Fluid Brake -The Effect of Changes in Visual on Users' Subjective Evaluation-. Reviewed

    Tomotaka Sugino, K. Ogura, Ryunosuke Sawahashi, Rie Nishihama, Taro Nakamura 0001

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   426 - 431   2026.1

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    DOI： 10.1109/SII64115.2026.11404723

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#SuginoOSNN26

  • Utilization and Evaluation of a Pneumatic Cylinder-Based Acceleration Device for Long-Distance Ascent Sensation Presentation in Virtual Reality Environments.

    J. Hiura, Yuki Ishida, Ryunosuke Sawahashi, Rie Nishihama, Taro Nakamura 0001

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   679 - 684   2026.1

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    DOI： 10.1109/SII64115.2026.11404654

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#HiuraISNN26

  • Vibrotactile Feedback Enhancement for Polishing Tasks: A Perceptual Study of Signal Deformation Strategies.

    Amane Tamada, Shogo Sakairi, Natsuki Hayami, Naruhiro Mega, Rie Nishihama, Takako Yoshida, Taro Nakamura 0001, Manabu Okui

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   109 - 115   2026.1

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    DOI： 10.1109/SII64115.2026.11404669

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#TamadaSHMNYNO26

  • Hemodynamics of Active Ankle Motion in a Seated Position Using a Soft Robotic Wearable Actuator: A Comparative Study of Exercise Protocols and Cycles.

    Akihiro Kobayashi, A. Irie, Rie Nishihama, Taro Nakamura 0001

    2026 IEEE/SICE International Symposium on System Integration (SII 2026)   364 - 369   2026.1

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    DOI： 10.1109/SII64115.2026.11404655

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    Other Link： https://dblp.org/db/conf/sii/sii2026.html#KobayashiINN26

  • Autonomous Decentralized Control for Motion Switching in an Intestine-Inspired Peristaltic Mixing Pump Adaptive to Physical Phase Transitions of Mixed Materials

    Takaaki Tanno, Ryosuke Adachi, Koya Tsurumi, Fumio Ito, Tomoki Hanamura, Takuya Umedachi, Taro Nakamura

    IEEE ROBOTICS AND AUTOMATION LETTERS   10 ( 11 )   11498 - 11505   2025.11

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    DOI： 10.1109/LRA.2025.3610034

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  • Development of a hard matter crushing peristaltic bioreactor inspired by an avian gizzard structure for Fermentation Acceleration. Reviewed

    K. Kikyodani, Yuki Enomoto, Masataka Uchino, Kaho Nomura, Rie Nishihama, Taro Nakamura 0001

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)   10282 - 10288   2025.10

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    DOI： 10.1109/IROS60139.2025.11247495

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    Other Link： https://dblp.org/db/conf/iros/iros2025.html#KikyodaniEUNNN25

  • Development of a Cleaning Robot Capable of Self-Propelled Cleaning for Ducts in Real-World Environments Employing a Planetary Gear Mechanism. Reviewed

    Y. Ono, Y. Monma, Fumio Ito, Taro Nakamura

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)   18684 - 18691   2025.10

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    DOI： 10.1109/IROS60139.2025.11245996

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    Other Link： https://dblp.org/db/conf/iros/iros2025.html#OnoMIN25

  • Fundamental Verification of a Peristaltic Motion Type Device to Transport Feces in Microgravity Environments -Evaluation of Transport Performance using Simulated Feces of Different Bristol Scales-

    川野真生, 鵜澤匠吾, 山崎千秋, 伊藤文臣, 中村太郎

    日本ロボット学会誌   43 ( 8 )   2025.10

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  • Impulse force presentation during ball kicking by lower limb exoskeleton with MR fluid brake Reviewed

    Taiga Shimizu, Tomotaka Sugino, Ryunosuke Sawahashi, Rie Nishihama, Manabu Okui, Taro Nakamura

    ADVANCED ROBOTICS   39 ( 16 )   1014 - 1025   2025.8

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    DOI： 10.1080/01691864.2025.2540393

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  • Verification of combined pattern of intermittent pneumatic compression and ankle-assist exercises for preventing deep vein thrombosis

    Akihiro Kobayashi, Rie Nishihama, Taro Nakamura

    ADVANCED ROBOTICS   39 ( 15 )   936 - 946   2025.8

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    DOI： 10.1080/01691864.2025.2509272

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  • Development of a Peristaltic Mixing Conveyor with a Radial Independently Deformable Closing Mechanism

    丹野喬瑛, 伊藤文臣, 中村太郎

    日本ロボット学会誌   43 ( 6 )   2025.7

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  • Experimental comparison of energy efficiency of peristaltic mixing pump and propeller-type mixer in mixing under different viscosity conditions

    Kentaro Kikyodani, Yuki Enomoto, Masataka Uchino, Kaho Nomura, Rie Nishiama, Taro Nakamura

    IFAC Joint Symposia on Mechatronics & Robotics (IFAC 2025)   59 ( 17 )   185 - 190   2025.7

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    DOI： 10.1016/j.ifacol.2025.10.161

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  • In-Pipe Robot Position Estimation and Moving Speed Improvement via VOD-PIGs

    Kana Hiromoto, Yuta Naruse, Fumio Ito, Taro Nakamura

    IFAC Joint Symposia on Mechatronics & Robotics (IFAC 2025)   59 ( 17 )   173 - 178   2025.7

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    DOI： 10.1016/j.ifacol.2025.10.159

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  • Development of a Peristaltic Mixing Conveyor with a Radial Independently Deformable Closing Mechanism

    Takaaki Tanno, Ginga Ueki, Kentaro Kikyodani, Fumio Ito, Taro Nakamura

    IFAC Joint Symposia on Mechatronics & Robotics (IFAC 2025)   59 ( 17 )   179 - 184   2025.7

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    DOI： 10.1016/j.ifacol.2025.10.160

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  • HADEC - High-Response Artificial Muscle Actuator Using Dimethyl Ether Combustion.

    Kengo Mori, Koya Tsurumi, Ryunosuke Sawahashi, R. Enjo, Taro Nakamura 0001, Manabu Okui

    IEEE Robotics and Automation Letters   10 ( 7 )   6952 - 6959   2025.7

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    DOI： 10.1109/LRA.2025.3573177

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  • Development of a Peristaltic Sea Ice Drilling Robot for Exploration under Arctic Sea Ice -Basic Evaluation of Pneumatically Driven Propulsion Unit-

    武田侑佳, 大垣諭史, 長嶋洋渡, 鈴木陽介, 澤橋龍之介, 伊藤文臣, 吉田弘, 中村太郎

    日本ロボット学会誌   43 ( 6 )   2025.7

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  • Embodiment Under Constant Force Applied by a Force Feedback Device for Spatially Augmented Forearm

    Ryunosuke Sawahashi, Rie Nishihama, Taro Nakamura

    EXTENDED REALITY, XR SALENTO 2025, PT I   15737   421 - 435   2025.6

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

    DOI： 10.1007/978-3-031-97763-3_31

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    Other Link： https://dblp.org/db/conf/avr/xr2025-1.html#SawahashiNN25

  • Development of a Robot Combining a Hyper-Extension Unit and an Earthworm-Type Robot Enhancing Propulsion and Traction.

    Ryusei Okuma, Sogo Matsuo, Fumio Ito, Taro Nakamura 0001

    Journal of Robotics and Mechatronics   37 ( 1 )   86 - 98   2025.2

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press Ltd.  

    DOI： 10.20965/jrm.2025.p0086

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  • Construction of a Mixing State Estimation System in a Peristaltic Mixing Conveyor that Imitates Intestine - Proposal of an Estimation Method to Improve Generalizability for Mixture's Input Conditions -.

    Takaaki Tanno, Iori Terayama, Ryosuke Adachi, Rie Nishihama, Taro Nakamura 0001

    Journal of Robotics and Mechatronics   37 ( 1 )   172 - 184   2025.2

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    DOI： 10.20965/jrm.2025.p0172

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  • Experimental Verification of Fermentation Acceleration Effect by Peristaltic Pump - Facilitation of Fermentation of Lactic Acid Bacteria by Fibrous and Porous Fermentation Substrates -.

    Yuki Enomoto, Masataka Uchino, Kaho Nomura, Taro Nakamura 0001

    Journal of Robotics and Mechatronics   37 ( 1 )   185 - 189   2025.2

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    DOI： 10.20965/jrm.2025.p0185

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  • Development of a dropping motion presentation device with bellows actuator to improve the sensation of falling in a VR. Reviewed

    Yuki Ishida, Ryunosuke Sawahashi, Rie Nishihama, Taro Nakamura

    2025 IEEE/SICE International Symposium on System Integration (SII 2025)   1292 - 1297   2025.1

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

    DOI： 10.1109/SII59315.2025.10870952

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    Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2025.html#IshidaSNN25

  • Development of a Soft Growing Actuator for Automated Cystoscope Insertion. Reviewed

    Kotaro Kishino, Ryusei Okuma, Fumio Ito, Hiroyuki Yamanaka, Mitsuru Komeya, Taro Nakamura 0001

    2025 IEEE/SICE International Symposium on System Integration (SII 2025)   281 - 286   2025.1

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

    DOI： 10.1109/SII59315.2025.10870976

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    Other Link： https://dblp.uni-trier.de/db/conf/sii/sii2025.html#KishinoOIYKN25

  • Square Duct Cleaning Machine Using a Multistage Planetary Gear Mechanism for Removing Grease.

    Yosuke Momma, Takehiro Hitomi, Fumio Ito, Taro Nakamura 0001

    IEEE Access   13   1962 - 1973   2025

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    DOI： 10.1109/ACCESS.2024.3520349

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  • Evaluation of a Square Duct Cleaning Mechanism using a Planetary Gear Mechanism—Development of a Prototype of Cleaning Mechanism and Evaluation of a Cleaning Rate by Dust Cleaning Experiment— Reviewed

    Momma Yosuke, Yamanaka Yuta, Hitomi Takehiro, Ito Fumio, Nakamura Taro

    Journal of the Robotics Society of Japan   42 ( 9 )   912 - 915   2024.11

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    Authorship：Last author,　Corresponding author   Language：Japanese   Publishing type：Research paper (scientific journal)   Publisher：The Robotics Society of Japan  

    This paper describes the development of a cleaning mechanism using planetary gears to clean grease accumulated in kitchen ducts. We aim to develop a robot for cleaning grease in ventilation ducts, which can cause fires. Generally, ducts are cleaned by hand. However, small ducts that are inaccessible to humans have not been cleaned. In this study, we develop a cleaning mechanism using a planetary gear mechanism that can scrub the inner walls of square ducts. In a cleaning experiment, the proposed mechanism can scrub the inner wall of a small duct that was inaccessible to humans at a cleaning rate of more than 30% at once. This result shows the possibility of a proposed mechanism contributing to preventing duct fires by cleaning ducts that have not been cleaned.

    DOI： 10.7210/jrsj.42.912

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  • Multiple-Connected Variable Outer Diameter Pigs Using Pneumatic Artificial Muscle for Inspecting Narrow and Complex Pipeline, Including Many Bend Pipes.

    Yuta Naruse, Kana Hiromoto, Ryusei Okuma, Fumio Ito, Jun'ichi Watanabe, Taro Nakamura

    IEEE Robotics and Automation Letters   9 ( 11 )   10535 - 10542   2024.11

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    DOI： 10.1109/LRA.2024.3474472

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  • Development of a Peristaltic drilling robot for exploration under Arctic sea ice -A proposed method for estimating drilled hole diameter using pneumatic flow rate of propulsion unit-

    Yuka Takeda, Satoshi Ogaki, Hiroto Nagashima, Yosuke Suzuki, Ryunosuke Sawahashi, Fumio Ito, Hiroshi Yoshida, Taro Nakamura

    the 9th International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC2024)   2024.11

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  • Evaluation of a Wearable 3-DOF Device for Maintenance of Anti-Gravity Muscles in Microgravity Environment Reviewed

    Koki Tahara, Arisa Irie, Fumio Ito, Rie Nishihama, Taro Nakamura

    in: Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS2024), S12.P1   2024.11

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  • An underwater swimming robo;inspired by the polymorphic flagellar filament of a;bacteria;Basic experimental;verification of;he;relationship;between flagellar shape;swimming speed Reviewed

    F. Ito, D. Takagi, T. Nakamura

    the 9th International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC2024)   79 - 83   2024.11

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  • Investigation of a Toilet System for Human Space Exploration to Transport Feces - Experiments on transport of simulated feces using peristaltic flexible transfer system considering the toilet bowl - ", in: Proceedings of International Symposium on Artificial Intelligence Reviewed

    Masaki Kawano, Miku Tsubouchi, Chiaki Yamazaki, Fumio Ito, Taro Nakamura

    Robotics and Automation in Space (iSAIRAS2024), S8.P2   2024.11

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  • Construction of a System for Detecting the Degree of Mixing in Peristaltic Mixing Conveyor for Continuous Manufacturing of Solid Rocket Propellant -Construction of a Machine Learning Model Focused on Initial Placement of Materials and Verification of Discrimination Accuracy- Reviewed

    T. Tanno, I. Terayama, R. Adachi, R. Nishihama, T. Nakamura

    in: Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS2024), S10.P3   2024.11

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  • Development of Augmented Jump SLIP model and Its Optimization based on Impulse Analysis (2024.11)

    The 8th International Conference on, Advanced Mechatronics(ICA, T

    Saizo Kamei, Takashi Kusaka, Taro Nakamura, Fumio Ito, Takashi Itsuno, Riku Takakuwa and Takayuki Tanaka   2024.11

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  • Construction of a Mixing Degree Detection System using a Peristaltic Mixing Conveyor that Imitates the Intestines -Generalizability Verification by Various Sensors using Machine Learning- Reviewed

    寺山伊織, 澤橋龍之介, 丹野喬瑛, 中村太郎

    日本ロボット学会誌   42 ( 9 )   924 - 927   2024.11

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  • Knee Joint Assist in Seated Motion Focusing on Variable Viscosity Property in Exoskeleton Assistive Device: Comparison of Variable and Constant Viscosity Coefficients.

    Yusuke Shimoda, Tomotaka Sugino, Manabu Okui, Rie Nishihama, Taro Nakamura

    IEEE Access   12   144208 - 144218   2024.10

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    DOI： 10.1109/ACCESS.2024.3471701

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  • Investigation of;Arm;Stiffness Effects on Cavitation;Impact in;a;Mantis Shrimp-Inspired;Striking Mechanism Reviewed

    Fumio Ito, Shunichi Kurumaya, Kagaya Katsushi, Taro Nakamura

    IEEE/RSJ International Conference on Intelligent Robots;Systems (IROS2024)   2024.10

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  • Peristaltic Soft Robot for Long-distance Pipe Inspection with an Endoskeletal Structure for Propulsion and Traction Amplification.

    Ryusei Okuma, Y. Naruse, Fumio Ito, Taro Nakamura 0001

    IEEE International Conference on Intelligent Robots and Systems (IROS2024))   4053 - 4060   2024.10

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    Authorship：Last author,　Corresponding author   Publishing type：Research paper (international conference proceedings)  

    DOI： 10.1109/IROS58592.2024.10801920

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    Other Link： https://dblp.uni-trier.de/db/conf/iros/iros2024.html#OkumaNIN24

  • Development of Automatic Wire Installation System Using Wire Pushing Mechanism - Verification of Relationship between Timing of System Pushing and Pulling and Wire Traction Speed - Reviewed

    Sogo Matsuo, Ryusei Okuma, Fumio Ito, Taro Nakamura

    the 12th JFPS International Symposium on Fluid Power in Hiroshima (JFPS)   2024.10

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  • Development of an Evaluation Simulator for Gastrointestinal Stents Capable of Reproducing Three-Dimentional Intestinal Behavior

    Masaki Kawano, Haruto Shimotori, Taro Nakamura

    the 12th JFPS International Symposium on Fluid Power in Hiroshima (JFPS)   2024.10

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  • Development of a peristaltic flexible transfer system for transporting feces under microgravity: Construction and validation of transport models

    M. Kawano, S. Uzawa, C. Yamazaki, T. Nakamura

    IEEE International Conference on Intelligent Robots and Systems (IROS2024))   4527 - 4533   2024.10

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)  

    DOI： 10.1109/IROS58592.2024.10802587

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  • Exoskeleton-type Assist Device Focusing on the Variable Viscosity Characteristics of the Knee Joint During Stair Descent. Reviewed

    Tomotaka Sugino, Yusuke Shimoda, Manabu Okui, Rie Nishihama, Taro Nakamura 0001

    10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics(BioRob)   648 - 655   2024.9

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    Authorship：Last author,　Corresponding author   Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/BioRob60516.2024.10719795

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    Other Link： https://dblp.uni-trier.de/db/conf/biorob/biorob2024.html#SuginoSONN24

  • Development of a Flexible Propulsion Mechanism Using a Braided Structure of Metal Plate for a Lunar Exploration Drilling Robot.

    Ryunosuke Sawahashi, Hiroto Nagashima, Chikage Fujikawa, Takashi Kubota, Taro Nakamura 0001

    CLAWAR   1115 LNNS   41 - 52   2024.9

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    DOI： 10.1007/978-3-031-71301-9_4

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  • Proposal for a Series-Driven Catapult Using Soft Actuators to Increase the Jumping Height of Hyper Jumping Humanoid Robot

    Takeshi Itsuno, Yusuke Ishii, Masahiro Doi, Hiroyuki Kondo, Fumio Ito, Taro Nakamura

    WALKING ROBOTS INTO REAL WORLD, CLAWAR 2024 CONFERENCE, VOL 1   1114   266 - 277   2024.9

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    DOI： 10.1007/978-3-031-70722-3_27

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  • Basic Study on a Peristaltic Motion-Type In-Pipe Inspection Robot Using a Hyper-Extension Unit for Improving Locomotion Speed

    Ryusei Okuma, Sogo Matsuo, Fumio Ito, Taro Nakamura

    WALKING ROBOTS INTO REAL WORLD, CLAWAR 2024 CONFERENCE, VOL 1   1114   105 - 116   2024.9

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    DOI： 10.1007/978-3-031-70722-3_12

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  • Rotary Push-in Mechanism for Variable Outer Diameter PIGs with Multiple-Connected Using Pneumatic Artificial Muscles

    Kana Hiromoto, Yuta Naruse, Fumio Ito, Jun'ichi Watanabe, Taro Nakamura

    WALKING ROBOTS INTO REAL WORLD, CLAWAR 2024 CONFERENCE, VOL 1   1114   96 - 104   2024.9

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    DOI： 10.1007/978-3-031-70722-3_11

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  • Evaluation of Cleaning Performance of. Square-Duct Cleaning Machine with Multistage Planetary Gear MechanismーEvaluation of Cleaning Rate by Grease Cleaning Experiment and Proposal of Operation Methods of the Cleaning Machineー

    Yosuke Momma, Fumio Ito, Taro Nakamura

    WALKING ROBOTS INTO REAL WORLD, CLAWAR 2024 CONFERENCE, VOL 1   1114   117 - 127   2024.9

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    DOI： 10.1007/978-3-031-70722-3_13

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  • Effect of Force Feedback during Interaction with Straight-line Movement in a VR Space by an Upper-limb Wearable Force Feedback Device. Reviewed

    N. Hayami, Ryunosuke Sawahashi, Jonah Komatsu, Rie Nishihama, Manabu Okui, T. Nakamura

    IEEE International Conference on Advanced Intelligent Mechatronics(AIM)   205 - 210   2024.7

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    DOI： 10.1109/AIM55361.2024.10637007

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  • Discrimination of Solid-Liquid Mixtures using a Multisensing System in a Peristaltic Mixing Conveyor that Imitates Intestinal Function. Reviewed

    Takaaki Tanno, Iori Terayama, Ryosuke Adachi, Taro Nakamura

    2024 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM2024)   88 - 93   2024.7

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    DOI： 10.1109/AIM55361.2024.10637206

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  • Knee Joint Assist Method Focusing on Joint Viscosity Properties Using IMU - Based Exoskeleton Assist Device Reviewed

    Tomotaka Sugino, Yusuke Shimoda, Manabu Okui, Taro Nakamura

    International Conference on Human System Interaction, HSI   2024.7

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    DOI： 10.1109/HSI61632.2024.10613543

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  • Endoskeletal Deep Vein Thrombosis Prevention Device Using a Combining Intermittent Pneumatic Compression and Assisted Ankle Exercises Reviewed

    Akihiro Kobayashi, Manabu Okui, Taro Nakamura

    International Conference on Human System Interaction, HSI   2024.7

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    DOI： 10.1109/HSI61632.2024.10613593

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  • Experimental Verification of Fermentation Acceleration by Peristaltic Pump -Initial Investigation of Fermentation Acceleration of Lactic Acid Bacteria by Fermentation Substrate made of Gel Material-

    Yuki Enomoto, Masataka Uchino, Kaho Nomura, Taro Nakamura

    2024 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM2024)   303 - 308   2024.7

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    DOI： 10.1109/AIM55361.2024.10637128

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    Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2024.html#EnomotoUN024

  • MD-LUFFY: Massively Deformed Linearly-elongation-actuator Using Flexible Fiber and Yarn Fundamental Characteristics on Elongation/contraction and Expansion rate

    Fumio Ito, Takeshi Itsuno, Taro Nakamura

    2024 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM2024)   148 - 153   2024.7

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    DOI： 10.1109/AIM55361.2024.10637060

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  • An initial prototype combining intermittent pneumatic compression and ankle exercises -Tentative verification of the basic characteristics and blood flow improving effects-

    A.Kobayashi, M.Okui, T.Nakamura

    in IEEE ICRA 2024 Workshop on Nursing Robotics   2024.5

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  • A Design Method for Instantaneous Force Generation Based on a Mantis Shrimp With Exoskeleton Spring Reviewed

    F. Ito, Y. Ishii, S. Kurumaya, K. Kagaya, T. Nakamura

    IEEE/ASME Transactions on Mechatronics   29 ( 2 )   960 - 971   2024.4

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    DOI： 10.1109/tmech.2023.3347727

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  • Fluid-Driven Soft Actuators for Soft Robots.

    Taro Nakamura

    J. Robotics Mechatronics   36 ( 2 )   251 - 259   2024.4

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    DOI： 10.20965/jrm.2024.p0251

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  • Construction of Motion Mode Switching System by Machine Learning for Peristaltic Mixing Conveyor Based on Intestinal Movement Reviewed

    Iori Terayama, Sana Oshino, Rie Nishihama, Manabu Okui, Ryosuke Adachi, Taro Nakamura

    IEEE Access   12   25980 - 25992   2024.3

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    DOI： 10.1109/access.2024.3366457

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  • Initial Study Toward Motion Generation by Autonomous Decentralized Control for Peristaltic Mixing and Conveying Device Imitating Intestines. Reviewed

    Ryosuke Adachi, Iori Terayama, Takaaki Tanno, Tomoki Hanamura, Takuya Umedachi, Taro Nakamura

    ICIT   1 - 6   2024.3

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    DOI： 10.1109/ICIT58233.2024.10540957

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  • Investigation of a Cleaning Method to Improve the Cleaning Rate of a Duct Cleaning Robot using a Planetary Gear Mechanism—Control Design based on Geometric Cleaning Trajectory— Reviewed

    Hitomi Takehiro, Yamanaka Yuta, Ito Fumio, Nakamura Taro

    Journal of the Robotics Society of Japan   42 ( 2 )   185 - 188   2024.3

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    In this paper, a cleaning method is designed to improve the cleaning performance of a duct cleaning mechanism using a planetary gear mechanism. The objective of this study is to develop a self-propelled robot that can clean grease accumulated in kitchen ventilation ducts to reduce the risk of duct fires. In a previous study, a planetary gear cleaning mechanism and cleaning method were designed. In an grease cleaning experiment, the robot achieved its cleaning target of an average grease thickness of 0.1 mm or less. However, the non-uniformity of the brush bristle width prevented uniform cleaning of the entire inside of the pipe, and the remaining grease could ignite, resulting in a low risk reduction effect for duct fires. In this presentation, we propose a cleaning method that can clean the inside of ducts without gaps even when spiral brushes with non-uniform brush bristle widths are used, and describe the evaluation of the cleaning performance. As a result, the cleaning rate was improved by 25.4% compared to the conventional method, and the inside of the pipe was cleaned uniformly. Therefore, it is expected that duct cleaning using this mechanism will reduce the risk of duct fires.

    DOI： 10.7210/jrsj.42.185

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  • Weight Sensory Presentation Considering Impulsive Force of Ball Kicking by a Force Feedback Exoskeleton using MR Fluid Brakes. Reviewed

    Taiga Shimizu, Ryunosuke Sawahashi, Taro Nakamura 0001

    ICIT   1 - 7   2024.3

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    DOI： 10.1109/ICIT58233.2024.10540821

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  • Development of Peristaltic Transfer System to Transport Feces in Space: Proposal of Drive Method using Air Inflow into the Transfer Channel

    S. Uzawa, H. Kumamoto, C. Yamazaki, M. Okui, T. Nakamura

    Journal of Evolving Space Activities   2 ( 121 )   2024.3

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  • Development of a Posture Keeping Training Device for Maintenance of Antigravity Muscles in a Microgravity Environment

    Y. Shimoda, T. Fujita, M. Okui, R. Nishihama, D. Masuda, N. Nakate, K. Okada, T. Nakamura

    Journal of Evolving Space Activities   2   2024.3

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  • 微小重力下での排泄物の搬送を目的とした蠕動運動型搬送装置の開発 ―連続搬送手法を用いた水使用量の削減― Reviewed

    鵜澤匠吾, 川野真生, 山崎千秋, 奥井学, 中村太郎

    日本ロボット学会誌   42 ( 5 )   2024.1

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  • 北極海氷下探査における氷床掘削のための蠕動運動型掘削ロボットの開発-室内および実地環境における掘削機構の基礎特性比較 Reviewed

    武田侑佳, 床井亮祐, 藤川千雅, 長嶋洋渡, 澤橋龍之介, 奥井学, 吉田弘, 中村太郎

    日本ロボット学会誌   42 ( 6 )   2024.1

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  • モータと人工筋肉のハイブリッド方式による脚型跳躍ロボット ―人工筋肉による追従性向上を考慮した跳躍高さの増加 Reviewed

    石井優丞, 伊藤文臣, 大澤崚, 土井将弘, 近藤寛之, 奥井学, 中村太郎

    日本ロボット学会誌   42 ( 4 )   2024.1

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  • Development of Dynamic Posture Keeping Training Device for Maintenance of Antigravity Muscles in a Microgravity Environment - Validation of Training Effects Based on a 2DOF Kinetic Model Considering Lumbar Flexion-. Reviewed

    Koki Tahara, Yusuke Shimoda, Ryunosuke Sawahashi, Rie Nishihama, Daisuke Masuda, Taro Nakamura 0001

    SII   863 - 868   2024.1

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    DOI： 10.1109/SII58957.2024.10417700

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  • Evaluation of Cleaning Performance of Square-Duct Cleaning Machine with Planetary Gear Mechanism: - Prototyping Cleaning Machine and Evaluation of Cleaning Rate by Grease Cleaning Experiment -.

    Y. Momma, Yuta Yamanaka, Takehiro Hitomi, Fumio Ito, Taro Nakamura

    SII   753 - 758   2024.1

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    DOI： 10.1109/SII58957.2024.10417399

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  • Experimental Verification of the Effect of Peristaltic Mixing Pumps on Fermentation Acceleration: Initial Investigation of the Acceleration of Lactic Acid Fermentation by a High Viscosity Fermentation Substrate.

    Yuki Enomoto, Masataka Uchino, Kaho Nomura, Ryunosuke Sawahashi, Taro Nakamura 0001

    SII   1381 - 1386   2024.1

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    DOI： 10.1109/SII58957.2024.10417527

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  • Development of a Peristaltic Ice Drilling Robot for Arctic Under-sea Ice Exploration - Evaluation of Excavation Performance of an Excavation Unit -

    Satoshi Ogaki, Yuka Takeda, Hiroto Nagashima, Yosuke Suzuki, Ryunosuke Sawahashi, Fumio Ito, Hiroshi Yoshida, Taro Nakamura

    2025 IEEE UNDERWATER TECHNOLOGY, UT   ( 127 )   2024

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    DOI： 10.1109/UT61067.2025.10947391

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  • Proposal of a Moving Speed Enhancing Method for Peristaltic Motion Type In-Pipe Inspection Robot with Linear Antagonistic Mechanism Using Endoskeletal Type Artificial Muscles. Reviewed

    R. Okuma, Y. Naruse, Fumio Ito, Taro Nakamura

    ROBIO2023   1 - 6   2023.12

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    DOI： 10.1109/ROBIO58561.2023.10354779

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  • Development and Basic Characteristics of a Peristaltic Flexible Pump Based on the Intestinal Transport Function*.

    M. Kawano, Shogo Uzawa, Chiaki Yamazaki, Taro Nakamura

    ROBIO   1 - 6   2023.12

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    DOI： 10.1109/ROBIO58561.2023.10354762

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  • Development of an Evaluation Simulator for Gastrointestinal Stents by Applying a Peristaltic Pump: Prototype fabrication of evaluation simulators and characteristic tests.

    Shogo Uzawa, Takeru Hashiguchi, Manabu Okui, Taro Nakamura 0001

    ROBIO   1 - 6   2023.12

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    DOI： 10.1109/ROBIO58561.2023.10354781

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  • Validation of a lower limb exoskeleton assist device focusing on viscous properties: verification of assist effectiveness by measuring muscle activity Reviewed

    Yusuke Shimoda, Tomotaka Sugino, Manabu Okui, Rie Nishihama, Taro Nakamura

    ROBOMECH Journal   10 ( 1 )   2023.10

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    Abstract

    Because exoskeletal assistive devices are worn directly by a person, enhancing cooperation is important. However, existing assistive devices have problems in terms of their cooperation with human behaviors. This is because existing assistive devices are driven by estimating the wearer’s movement intention based on predetermined movement time and device angle information. Although these methods are expected to work as expected, in practice, it is difficult to achieve the expected behavior. Therefore, an assistance method is required to reduce such misalignment with time and misalignment between the device and wearer. Therefore, this study focused on the viscoelastic properties that generate force in response to movement and are expected to enhance coordination. In a previous study, the authors confirmed the effects of viscoelastic properties or an assistive device with variable stiffness. However, viscous characteristics during movement have not been considered. In this study, we aimed to improve the coordination by focusing on the viscous characteristics. The viscous torque outputs in response to the angular velocity are expected to be driven in response to actual human motion. In this study, the viscous torque was calculated as the product of the command viscosity coefficient and the joint angular velocity and was applied to a lower-limb exoskeleton-type assist device equipped with a magneto-viscous fluid brake and a planetary gear mechanism. In addition, a viscous command that changes the torque according to speed (proposed method), a time command that changes the output value according to the passage of time, and an angle command that changes the command value according to the angle information of the device were applied to the assist device, and surface EMG measurements and command signals were compared. The target movement was a seated movement, and the left and right vastus medialis and semimembranosus muscles were measured. More than half of the subjects showed a decrease in myopotential for five subjects for all three command methods, confirming the effectiveness of the viscous command.

    DOI： 10.1186/s40648-023-00262-y

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  • Shoe-Type-Force-Feedback Device and Falling Sensation with Two-Step Dropping Reviewed

    Y. Ishida, R. Sawahashi, R. Nishihama, T. Nakamura

    the IEEE International Conference on Systems, Man, and Cybernetics (SMC2023)   2023.10

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  • Components and Basic Evaluation of Earthworm-Type Ice-Drilling Robot for Exploration Under Arctic-Sea-Ice Reviewed

    Y. Takeda, R. Tokoi, C. Fujikawa, M. Okui, H. Yoshida, T. Nakamura

    IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society   2023.10

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  • Proposal for a lifting support device for LP gas delivery operations Reviewed

    K. Oba, R. Sawahashi, M. Okui, R. Nishihama, T. Nakamura

    IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society   2023.10

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  • Development of an Earthworm-type Electrical Wire Installation Assistance Robot using Artificial Muscles Reviewed

    F. Ito, I. Horiuchi, K. Tsuru, T. Nakamura

    Proc. of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)   2023.10

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  • Traction Amplified Actuation System for Inspecting Narrow and Complex Pipes Using Enhanced Linear Antagonistic Mechanism-Bend Pipe Passage Model and Force Comparison Reviewed

    F. Ito, Y. Naruse, K. Takaya, J. Watanabe, T. Nakamura

    IEEE Access   11   76156 - 76165   2023.7

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    DOI： 10.1109/access.2023.3297147

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  • Verification of Assistive Strategy with Variable Viscosity Using Exoskeleton Device with MR Brake in Seated Motion Reviewed

    Yusuke Shimoda, Ryunosuke Sawahashi, Tetsuhito Fujita, Manabu Okui, Rie Nishihama, Taro Nakamura

    2023.6

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  • Development of a Posture Keeping Training Device for Maintenance of Antigravity Muscles in a Microgravity Environment Reviewed

    Tetsuhito Fujita, Yusuke Shimoda, Manabu Okui, Rie Nishihama, Daisuke Masuda, Naoya Nakate, Kuniko Okada, Taro Nakamura

    2023.6

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  • Presentation of Underwater Sensation by Drag in Knee Motion with a Lower Limb Exoskeleton Using MR Fluid Brakes Reviewed

    R. Sawahashi, T. Masuda, T. shimizu, R. Nishihama, M. Okui, T. Nakamura

    2023.6

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  • Development of a three-dimensional force feedback system using magnetorheological fluid brakes for welding instruction Reviewed

    R. Sawahashi, M. Oba, M. Okui, T. Nakamura

    the 18th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2023)   2023.6

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  • Presentation of sensation of knee movement in water with a lower limb exoskeleton using magnetorheological fluid brakes Reviewed

    R. Sawahashi, T. Masuda, T. Shimizu, R. Nishihama, M. Okui, T. Nakamura

    the 18th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2023)   2023.6

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  • Development of Peristaltic Transfer System to Transport Feces in Space: Proposal of Drive Method using Air Inflow into the Transfer Channel Reviewed

    S. Uzawa, H. Kumamoto, C. Yamazaki, M. Okui, T. Nakamura

    2023.6

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  • Proposal of a Method for Measuring Inside Diameter of Tubes Using a Drive Unit of a Robot for Inspection of Small Tubes Reviewed

    H. Nagashima, K. Uchiyama, F. Ito, M. Okui, T. Nakamura

    2023.6

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  • Estimating Changing Drive Timing Effects of Exosuit on Jumping Height for Augmenting Human Instantaneous Force Reviewed

    Y. Ishii, F. Ito, T. Nakamura

    the 32nd International Symposium on Industrial Electronics (ISIE2023)   2023.6

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  • Development of an Earthworm-Type Electrical Wire Installation Assistance Robot Using Artificial Muscles Reviewed

    F. Ito, I. Horiuchi, K. Tsuru, T. Nakamura

    IEEE Robotics and Automation Letters   8 ( 5 )   2999 - 3006   2023.5

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    DOI： 10.1109/lra.2023.3264725

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  • Anomaly detection from images in pipes using GAN

    Shigeki Yumoto, Takumi Kitsukawa, Alessandro Moro, Sarthak Pathak, Taro Nakamura, Kazunori Umeda

    ROBOMECH Journal   10 ( 1 )   2023.3

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    Publishing type：Research paper (scientific journal)   Publisher：Springer Science and Business Media LLC  

    Abstract

    In recent years, the number of pipes that have exceeded their service life has increased. For this reason, earthworm-type robots equipped with cameras have been developed to perform regularly inspections of sewer pipes. However, inspection methods have not yet been established. This paper proposes a method for anomaly detection from images in pipes using Generative Adversarial Network (GAN). A model that combines f-AnoGAN and Lightweight GAN is used to detect anomalies by taking the difference between input images and generated images. Since the GANs are only trained with non-defective images, they are able to convert an image containing defects into one without them. Subtraction images is used to estimate the location of anomalies. Experiments were conducted using actual images of cast iron pipes to confirm the effectiveness of the proposed method. It was also validated using sewer-ml, a public dataset.

    DOI： 10.1186/s40648-023-00246-y

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    Other Link： https://link.springer.com/article/10.1186/s40648-023-00246-y/fulltext.html

  • Development of a Bimanual Wearable Force Feedback Device with Pneumatic Artificial Muscles, MR Fluid Brakes, and Sensibility Evaluation Based on Pushing Motion Reviewed

    Ryunosuke Sawahashi, Jonah Komatsu, Rie Nishihama, Manabu Okui, Taro Nakamura

    Journal of Robotics and Mechatronics   35 ( 1 )   180 - 193   2023.2

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    In a virtual reality (VR) space, wearing a head-mounted display can help with the visualization of objects; however, users cannot experience realistic tactile sensations. Recently, several force feedback devices have been developed, including wearable devices that use straight-fiber-type pneumatic muscles and magnetorheological fluids. This allows the devices to render elastic, frictional, and viscous forces during spatially unrestricted movement. Nevertheless, a problem remains in that previous devices could handle many bilateral upper limb movement tasks. Therefore, this study aims to develop a device that can handle movements that interact with both arms. Based on experiments concerning the pushing motion in a VR space, the influence of the pseudo force sense was determined to not be small. In addition, we confirmed that the force sensation presented by this system was more realistic when the robot was operated with both arms than when operated with the right arm.

    DOI： 10.20965/jrm.2023.p0180

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  • Discrimination of Powder Particle Size and Input Amounts for the Estimation of Mixing Using a Peristaltic Mixing Conveyor Imitating an Intestinal Tube Reviewed

    Iori Terayama, Sana Oshino, Rie Nishihama, Manabu Okui, Taro Nakamura

    2023 IEEE/SICE International Symposium on System Integration (SII)   2023.1

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    DOI： 10.1109/sii55687.2023.10039173

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  • Proposal of Duct Cleaning Unit Using Planetary Gear Mechanism for Kitchen Ventilation Ducts and Design of Grease Cleaning Brush for Square Ducts: Model Design and Simulation of Effective Cleaning Range Reviewed

    T. Hitomi, Y. Monma, F. Ito, T. Nakamura

    2023 IEEE/SICE International Symposium on System Integration (SII)   2023.1

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    DOI： 10.1109/sii55687.2023.10039449

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  • Development of Shoulder Mechanism for a Wearable Upper Limb Force-Feedback Device with Pneumatic Artificial Muscles and MR Brakes Reviewed

    J. Komatsu, R. Sawahashi, T. Masuda, M. Okui, T. Nakamura

    2023 IEEE/SICE International Symposium on System Integration (SII)   2023.1

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    DOI： 10.1109/sii55687.2023.10039212

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  • Prolonging rubber fatigue life using hysteresis of strain-induced crystallization of natural rubber Reviewed

    Manabu Okui, Akihiro Kojima, Itsuki Hisamichi, Shotaro Kuriyama, Tomohisa Kojima, Tomoaki Tsuji, Taro Nakamura

    Polymer Testing   117   107800 - 107800   2023.1

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    Authorship：Last author,　Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

    DOI： 10.1016/j.polymertesting.2022.107800

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  • Experimental evaluation of the white cane device with forcefeedback function using air jets Reviewed

    H. Oshima, R. Sawahashi, M.Okui, R. Nishihama, T. Nakamura

    2023 IEEE/SICE International Symposium on System Integration, SII 2023   2023.1

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    DOI： 10.1109/SII55687.2023.10039470

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  • Control of single-stroke movement of a drum-playing robot by reinforcement learning using a realistic artificial muscle-driven robot Reviewed

    Manabu Okui, Shiori Nakamura, Seigo Kimura, Ryuji Suzuki, Rie Nishihama, Taro Nakamura

    IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society   2022.10

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    DOI： 10.1109/iecon49645.2022.9968757

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  • Distributed Deployment With Multiple Moving Robots for Long Distance Complex Pipe Inspection

    Hiroto Sato, Kousuke Uchiyama, Fumio Ito, Ryunosuke Sawahashi, Taro Nakamura

    IEEE Robotics and Automation Letters   7 ( 4 )   11252 - 11259   2022.10

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    Authorship：Last author,　Corresponding author   Publishing type：Research paper (scientific journal)   Publisher：Institute of Electrical and Electronics Engineers (IEEE)  

    DOI： 10.1109/LRA.2022.3191962

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  • Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis Shrimp - Design and Control Method of Cavitation by Simulation and Experiment

    Fumio Ito, Yusuke Ishii, Shunichi Kurumaya, Katsushi Kagaya, Taro Nakamura

    IEEE Robotics and Automation Letters   7 ( 4 )   9342 - 9349   2022.10

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.1109/LRA.2022.3190614

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  • Development of Semi-active Force Feedback Shoes with MR Brake Rendering a Falling Sensation and Descent Acceleration Measurement Reviewed

    R. Sawahashi, T.Tanaka, T. Masuda, M. Okui, R.Nishihama, T. Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022-October   2022.10

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    DOI： 10.1109/IECON49645.2022.9968554

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  • Prototype of an exoskeletal lower limb force-feedback device for moving extensively in VR space Reviewed

    T. Masuda, R. Sawahashi, J. Komatsu, M. Okui, R. Nishihama, T. Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022-October   2022.10

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    DOI： 10.1109/IECON49645.2022.9968915

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  • Proposal of posture guidance method using air jetting with table tennis racket type device Reviewed

    R. Suzuki, R. Sawahashi, M. Okui, R. Nishihama, T. Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022-October   2022.10

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    DOI： 10.1109/IECON49645.2022.9968815

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  • Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis Shrimp - Design and Control Method of Cavitation by Simulation and Experiment Reviewed

    F. Ito, Y. Ishii, S. Kurumaya, K. Kagaya, T. Nakamura

    In Proc. of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)   2022.10

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    DOI： 10.1109/LRA.2022.3190614

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  • Ice-drilling and Gripping Experiments in Actual Conditions for Developing Earthworm-type Ice-drilling Robot for Extensive Under-sea-ice Surveys Reviewed

    R. Tokoi, C. Fujikawa, W. Toyama, M. Okui, H. Yoshida, T. Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022-October   2022.10

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    DOI： 10.1109/IECON49645.2022.9968618

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  • Development of anisotropic short-fiber oriented rubber and its application to elongation actuators Reviewed

    Hiromasa Kunisada, Kiichi Fujitani, Fumio Ito, Manabu Okui, Taro Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022-October   2022.10

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    DOI： 10.1109/IECON49645.2022.9969096

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  • Mixing Determination for Solid Rocket Fuel Production by Peristaltic Mixing Pump Using Packing Method Reviewed

    S. Oshino, I.Terayama, R. Nishihama, M. Okui, T. Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022-October   2022.10

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    DOI： 10.1109/IECON49645.2022.9968625

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  • Antislip Anchoring Mechanism for Peristaltic Pipe Inspection Robots Traveling in Low-Friction Environments

    K. Uchiyama, H. Sato, F. Ito, T. Nakamura

    Proceedings of the 48th Annual Conference of the IEEE Industrial Electronics Society (IECON2022)   2022.10

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    DOI： 10.1109/IECON49645.2022.9968391

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  • Distributed deployment with multiple moving robots for long distance complex pipe inspection Reviewed

    H. Sato, K. Uchiyama, F. Ito, R. Sawahashi, T. Nakamura

    In Proc. of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)   7 ( 4 )   11252 - 11259   2022.10

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    DOI： 10.1109/LRA.2022.3191962

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  • Development of Peristaltic Transfer System to Transport Feces in Space: Proposal of Driving Method Using Pressure Difference in Peristaltic Pump Reviewed

    Shogo Uzawa, Hiroya Kumamoto, Chiaki Yamazaki, Manabu Okui, Taro Nakamura

    IEEE Access   10   128399 - 128407   2022.10

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    DOI： 10.1109/access.2022.3227068

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  • Body Guidance by Force Feedback Device Using Air-jet

    Sawahashi Ryunosuke, Yasui Takumi, Okui Manabu, Nishihama Rie, Nakamura rtual Taro

    Transactions of the Virtual Reality Society of Japan   27 ( 3 )   264 - 273   2022.9

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    Language：Japanese   Publisher：THE VIRTUAL REALITY SOCIETY OF JAPAN  

    Various haptic devices for application to virtual reality have been developed. Most of them have to be stationary on a desk, thus users cannot move around. To overcome this shortcoming, we propose a wearable force feedback device that uses air jet. In this paper, a prototype for hand position guidance which is able to provide force in any direction is developed, and its performance to guide the wearer’s hand is evaluated by experiments.

    DOI： 10.18974/tvrsj.27.3_264

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  • シャコ規範型瞬発力発生機構の開発ー瞬間的動作に伴うキャビテーション発生とそのコントロールー

    伊藤文臣, 石井優丞, 車谷駿一, 加賀谷勝史, 中村太郎

    日本ロボット学会誌   40 ( 7 )   639 - 642   2022.9

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  • Confirmation of Variable Diameter TRM Operation. Reviewed

    Yuta Naruse, Kazuki Takaya, Fumio Ito, Jun'ichi Watanabe, Taro Nakamura 0001

    CLAWAR   349 - 357   2022.9

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    DOI： 10.1007/978-3-031-15226-9_33

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    Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#NaruseTIW022

  • Evaluation of Support Device for Manual Handling of Gas Cylinders. Reviewed

    Kiyotaka Oba, Manabu Okui, Rie Nishihama, Taro Nakamura 0001

    CLAWAR   550 - 559   2022.9

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    DOI： 10.1007/978-3-031-15226-9_50

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    Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#ObaON022

  • Effect on Jumping Height by Changing Jumping Powered Exoskeleton Attachment Position for Augmentation of Human Instantaneous Movements. Reviewed

    Yusuke Ishii, Fumio Ito, Shunichi Kurumaya, Taro Nakamura 0001

    CLAWAR   537 - 549   2022.9

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    DOI： 10.1007/978-3-031-15226-9_49

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    Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#IshiiIK022

  • Grasping Characteristics of Flexible Propulsion Unit Using Braid Mechanism for Lunar Exploration Robot. Reviewed

    Chikage Fujikawa, Ryosuke Tokoi, Wataru Toyama, Manabu Okui, Tomoaki Tsuji, Taro Nakamura 0001, Takashi Kubota

    CLAWAR   33 - 41   2022.9

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    DOI： 10.1007/978-3-031-15226-9_6

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    Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2022.html#FujikawaTTOT0K22

  • Assist Effectiveness Study based on Viscosity: Comparison of Assumed Command Signal and Actual Command Signal. Reviewed

    Yusuke Shimoda, Tetsuhito Fujita, Katsuki Machida, Manabu Okui, Rie Nishihama, Taro Nakamura

    RO-MAN   686 - 692   2022.8

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    DOI： 10.1109/RO-MAN53752.2022.9900630

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    Other Link： https://dblp.uni-trier.de/db/conf/ro-man/ro-man2022.html#ShimodaFMONN22

  • Proposal of a Square-Duct Cleaning Mechanism Using a Noncircular Brush with a Planetary Gear Mechanism: Brush-Trajectory Design and Simulation

    Y. Yamanaka, T. Hitomi, F. Ito, T. Nakamura

    In Proc. of the 23rd IEEE Int. Conf. on Industrial Technology (ICIT)   2022.8

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    DOI： 10.1109/ICIT48603.2022.10002720

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  • Instantaneous force generation mechanism based on the striking motion of the mantis shrimp - The effect of the diameter of the artificial muscle on the motion of the mechanism

    F. Ito, R. Ono, Y. Ishii, S. Kurumaya, K. Kagaya, T. Nakamura

    In Proc. of the 23rd IEEE Int. Conf. on Industrial Technology(ICIT)   2022.8

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  • Peristaltic Mixing Pump Based on Bowel Peristalsis Using Pneumatic Artificial Rubber Muscles and Prospects for Practical Applications.

    Taro Nakamura

    Journal of Robotics and Mechatronics   34 ( 2 )   276 - 278   2022.4

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    DOI： 10.20965/jrm.2022.p0276

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  • Development of Variable Viscoelastic Joint Module Performance Evaluation and Proposal of Application Examples Reviewed

    T. Fujita, Y. Shimoda, K. Machida, M. Okui, R. Nishihama, T. Nakamura

    Actuators   11 ( 3 )   2022.3

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    DOI： 10.3390/act11030089

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  • Body Guidance by Force Feedback Device Using Air-jet

    澤橋龍之介, 保井拓巳, 奥井学, 西濱里英, 中村太郎

    日本バーチャルリアリティ学会論文誌(Web)   27 ( 3 )   2022

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  • Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe.

    Hiroto Sato, Kousuke Uchiyama, Yuki Mano, Fumio Ito, Shunichi Kurumaya, Manabu Okui, Yasuyuki Yamada, Taro Nakamura 0001

    IEEE Access   9   165271 - 165285   2021.12

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    DOI： 10.1109/ACCESS.2021.3135035

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  • Development of a Rotary Cleaning Mechanism Using Planetary Gears for Removing Grease Deposited in Kitchen Ventilation Ducts.

    Takehiro Hitomi, Yuta Yamanaka, Fumio Ito, Taro Nakamura 0001

    SII   473 - 478   2021.12

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    DOI： 10.1109/SII52469.2022.9708739

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    Other Link： https://dblp.uni-trier.de/rec/conf/sii/2022

  • Proposal of a decentralized peristaltic movement generation based on actual intestines and verification by content transfer experiment.

    Daisuke Matsui, Sana Oshino, I. Terayama, Rie Nishihama, Manabu Okui, Taro Nakamura 0001

    SII   65 - 70   2021.12

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    DOI： 10.1109/SII52469.2022.9708865

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  • Sensory Evaluation of Friction and Viscosity Rendering with a Wearable 4 Degrees of Freedom Force Feedback Device Composed of Pneumatic Artificial Muscles and Magnetorheological Fluid Clutches Reviewed

    M. Okui, T. Tanaka, Y. Onozuka, T. Nakamura

    Journal of Drive and Control   18 ( 4 )   77 - 83   2021.12

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  • Investigation of Constant Velocity Motion with Physical Interaction System for Long Term Stay in Microgravity Space Reviewed

    T. Fujita, K. Machida, Y. Shimoda, M. Okui, R. Nishihama, T. Nakamura

    Proc. 11th JFPS International Symposium on Fluid Power   58 - 65   2021.10

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  • Pneumatic Source Proposal for Improving Portability and Responsiveness of Artificial Muscle via Dimethyl Ether Phase Change and Combustion Reviewed

    R. Enjo, M. Okui, T. Nakamura

    169 - 174   2021.10

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  • In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism.

    Fumio Ito, K. Takaya, Masashi Kamata, Manabu Okui, Yasuyuki Yamada, Taro Nakamura 0001

    IEEE Access   9   131245 - 131259   2021.9

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    DOI： 10.1109/ACCESS.2021.3114698

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  • Wave Propagation Type Pipe Inspection Robot with the Linear Antagonistic Mechanism for Enhancing Traction Force -Increasing Tractive Force with a Small Number of Drive Units using Superposition of Linear Antagonistic Mechanisms-

    伊藤文臣, 多加谷一輝, 佐藤広都, 渡邉淳一, 中村太郎

    日本ロボット学会誌   39 ( 7 )   2021.9

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    J-GLOBAL

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  • Generalization Capability of Mixture Estimation Model for Peristaltic Continuous Mixing Conveyor.

    Sana Oshino, Rie Nishihama, Kota Wakamatsu, Katsuma Inoue, Daisuke Matsui, Manabu Okui, Kohei Nakajima, Yasuo Kuniyoshi, Taro Nakamura 0001

    IEEE Access   9   138866 - 138875   2021.9

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    DOI： 10.1109/ACCESS.2021.3112614

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  • Evaluation of Optimal Cleaning Tools for the Development of a Cleaning Robot for Grease from Ventilation Ducts.

    Yuta Yamanaka, Takehiro Hitomi, Fumio Ito, Taro Nakamura 0001

    Robotics for Sustainable Future - CLAWAR 2021(CLAWAR)   324 LNNS   348 - 356   2021.8

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    DOI： 10.1007/978-3-030-86294-7_31

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  • Excavation Experiment of Earth Worm Type Seabed Exploration Robot in Actual Sea Area.

    Manabu Okui, Ryosuke Tokoi, Wataru Toyama, Kazuki Tsumura, Keita Isaka, Tomoki Watanabe, Taro Nakamura 0001, Hiroshi Yoshida

    Robotics for Sustainable Future - CLAWAR 2021(CLAWAR)   324 LNNS   337 - 347   2021.8

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    DOI： 10.1007/978-3-030-86294-7_30

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  • Residual Water Removal Mechanism for Obtaining Clear Images with Sewer Pipe Inspection Robot.

    Kosuke Uchiyama, Hiroto Sato, Fumio Ito, Shunichi Kurumaya, Taro Nakamura 0001

    Robotics for Sustainable Future - CLAWAR 2021(CLAWAR)   143 - 153   2021.8

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    DOI： 10.1007/978-3-030-86294-7_13

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  • Dropping Sensation for Development of Lower Limb Force Feedback Device Reviewed

    T. Masuda, T. Tanaka, R. Sawahashi, M. Okui, R. Nishihama, T. Nakamura

    2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021   398 - 405   2021.8

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    DOI： 10.1109/RO-MAN50785.2021.9515498

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  • Improved Conveying Efficiency of a Peristaltic movement type Pump Using a Watering System for Vertical Conveying of Excavated Soil at Construction Sites.

    Hirochika Oshima, Haruka Adachi, Daisuke Matsui, Kota Wakamatsu, Hiroya Kumamoto, Sana Oshino, Masahiro Ueda, Taro Nakamura 0001

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM)   1006 - 1012   2021.7

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    DOI： 10.1109/AIM46487.2021.9517503

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  • Estimating deformation of pipe from its internal image Reviewed

    K. Kosuge, A. Oyama, H. Sato, K. Uchiyama, T.Nakamura, K. Umeda

    Proc. 7th International Conference on Advanced Mechatronics (ICAM)   2021.7

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  • Propulsion Unit Control Method for Visualization of Grasping State of Earthworm-type Lunar Excavation Robot.

    Ryosuke Tokoi, Wataru Toyama, Tomoki Watanabe, Kazuki Tsumura, Manabu Okui, Hirotaka Sawada, Takashi Kubota, Taro Nakamura 0001

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM)   2021-July   675 - 681   2021.7

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    DOI： 10.1109/AIM46487.2021.9517536

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  • Construction of Distributed Sensing System for Peristaltic Continuous Mixing Conveyor Imitating Intestines: Internal State Measurement Using Accelerometer.

    Sana Oshino, Kota Wakamatsu, Daisuke Matsui, Rie Nishihama, Manabu Okui, Taro Nakamura 0001

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics(AIM)   86 - 92   2021.7

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    DOI： 10.1109/AIM46487.2021.9517474

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    Other Link： https://dblp.uni-trier.de/rec/conf/aimech/2021

  • Detection of Rust from Images in Pipes Using Deep Learning Reviewed

    A. Oyama, H. Sato, K. Kosuge, K. Uchiyama, T. Nakamura, K. Umeda

    Proc. 18th International Conference on Ubiquitous Robots (UR)   2021.7

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  • Instantaneous force generation mechanism based on the striking motion of mantis shrimp -Analytical and experimental verification of the increase in instantaneous force using exoskeleton spring mechanism-

    Fumio Ito, Shunichi Kurumaya, Riki Ono, Katsushi Kagaya, Taro Nakamura

    IEEE Robotics and Automation Letters   6 ( 4 )   1 - 1   2021.7

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    DOI： 10.1109/lra.2021.3094740

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  • Development of a Wearable Four-Degrees-of-Freedom Force Feedback Device with a Clutch Mechanism Using Artificial Muscle Contraction Reviewed

    Ryunosuke Sawahashi, Yuki Onozuka, Toshinari Tanaka, Manabu Okui, Taro Nakamura

    2021 IEE International Conference on Industrial Technology (ICIT)   2021-March   47 - 54   2021.3

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    DOI： 10.1109/ICIT46573.2021.9453574

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  • Instantaneous Force Generation Mechanism with the Exoskeleton Spring Inspired by the Striking Motion of Odontodactylus scyllarus:—Modeling and Numerical Simulation of Instantaneous Force Generation Mechanism—

    Ito Fumio, Kurumaya Shunichi, Kagaya Katsushi, Nakamura Taro

    Journal of the Robotics Society of Japan   39 ( 2 )   181 - 184   2021.3

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    <p>In this paper, the authors described the modeling method of the instantaneous force generation mechanism inspired by the striking motion of Odontodactylus scyllarus and the evaluation of the mechanism. Animals use the contraction of living muscle as actuators to perform various movements. Some arthropods produce instantaneous movements by using the combined force of the exoskeleton spring and muscle force. Few reports deal with such an instantaneous force generation mechanism of the combined force in the numerical simulation. Our purpose of this study was to construct the instantaneous force generation mechanism by the combined force of elastic elements of the exoskeleton and pneumatic artificial muscles, inspired by the instantaneous force generation mechanism of Odontodactylus scyllarus. In the previous study, we have confirmed that the instantaneous force generation device and the possibility of generating instantaneous force by the physical model. In this paper, the authors further constructed a model of the proposed mechanism as a translational rotation system and performed a dynamic analysis by numerical simulation, confirming the effectiveness of the proposed model. </p>

    DOI： 10.7210/jrsj.39.181

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  • Development of Front-Actuation-Type Excavating Unit for Lunar Excavating Exploration Robot “LEAVO”

    Tomoki WATANABE, Ami FUJIWARA, Naoaki TADAMI, Keita ISAKA, Megan BARTHELEMY, Manabu OKUI, Hirotaka SAWADA, Takashi KUBOTA, Taro NAKAMURA

    TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN   19 ( 2 )   211 - 216   2021.3

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    DOI： 10.2322/tastj.19.211

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  • Verification of the “AB-Wear” Semi-Exoskeleton-Type Power-Assist Suit in Providing Assistance to the Lower Back Reviewed

    Yuta Yamanaka, Masashi Kashima, Hirokazu Arakawa, Rie Nishihama, Kazuya Yokoyama, Taro Nakamura

    2021 IEEE International Conference on Industrial Technology (ICIT)   2021-March   111 - 117   2021.3

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    DOI： 10.1109/ICIT46573.2021.9453629

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  • Packaging of Mixed Materials in Peristaltic Mixer for Solid Propellant Production

    Kota WAKAMATSU, Daiki HAGIWARA, Haruka ADACHI, Kyota ASHIGAKI, Akihiro IWASAKI, Yasuyuki YAMADA, Hiroto HABU, Taro NAKAMURA

    TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN   19 ( 2 )   205 - 210   2021.3

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    DOI： 10.2322/tastj.19.205

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  • Development of an exoskeleton-type assist suit utilizing variable stiffness control devices based on human joint characteristics

    Seigo Kimura, Ryuji Suzuki, Katsuki Machida, Masashi Kashima, Manabu Okui, Rie Nishihama, Taro Nakamura

    Actuators   10 ( 1 )   1 - 20   2021.1

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    DOI： 10.3390/act10010017

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  • Horizontal Drilling with Seabed Robotic Explorer.

    Ryosuke Tokoi, Wataru Toyama, Kazuki Tsumura, Tomoki Watanabe, Manabu Okui, Taro Nakamura 0001, Hiroshi Yoshida

    Robotics for Sustainable Future - CLAWAR 2021(CLAWAR)   329 - 336   2021

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    DOI： 10.1007/978-3-030-86294-7_29

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    Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2021.html#TokoiTTWO0Y21

  • Prolonging the Fatigue Life of Soft Rubber Actuators by Inhibiting Crack Extension Using the Hysteresis of Strain-Induced Crystallization of Natural Rubber

    Manabu Okui, Akihiro Kojima, Itsuki Hisamichi, Shotaro Kuriyama, Tomohisa Kojima, Tomoaki Tsuji, Taro Nakamura

    SSRN Electronic Journal   2021

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    DOI： 10.2139/ssrn.3996748

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  • Compact Rotary Valve Mechanism for Pneumatic Mobile Robot with Periodic Air Supplying

    Mano Yuki, Sato Hiroto, Ito Fumio, Okui Manabu, Yamada Yasuyuki, Nakamura Taro

    Journal of the Robotics Society of Japan   38 ( 10 )   965 - 974   2020.12

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    <p>In recent years, the aging of pipelines has been severe and has caused fatal accidents. The pipe diameters are small, and the layouts are complex. Pneumatically driven mobile robots have become popular as inspection methods. Various types of robots have been studied, like earthworm-type robots, inchworm-type robots, and spiral-tube-type robots. Typically, they make periodic movements; however, they have challenges because they are driven by existing pneumatic valve technologies, which are limited to small mobile robots. Small pneumatic valves have low flow rates and limit the performance of pneumatic actuators. Therefore, we focused on the structure of the ball valve and periodic motion. Furthermore, in this paper, we developed the Compact Rotary Valve Mechanism for pneumatic mobile robots in pipe inspection, which generates periodic air pressure. </p>

    DOI： 10.7210/jrsj.38.965

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  • Development of Soft Pneumatic Actuators Using High-Strain Elastic Materials with Stress Anisotropy of Short Fibers

    Akihiro Kojima, Manabu Okui, Taro Nakamura

    Proceedings of The 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications   64 ( 1 )   41 - 41   2020.11

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    In recent years, soft robots, such as those with high human affinity and those that excellently imitate the movements of natural creatures, have gained considerable attention. In soft robots, structurally flexible soft actuators need to be used, not conventional motors or hydraulic/pneumatic cylinders. Various types of soft actuators have been developed depending on the driving principle. A pneumatic rubber artificial muscle is a kind of soft actuator that acquires power through injection of a working fluid, such as air, into an elastic structure, such as rubber. In this study, the authors developed an actuator, namely, the straight-fiber-type artificial muscle, which exhibits excellent contraction characteristics. This artificial muscle consists of a rubber tube that contains reinforcing fibers arranged in the axial direction. When air pressure is applied to the rubber tube, the artificial muscle expands only in the radial direction and contracts in the axial direction due to the restraining effect of the reinforcing fiber. While this artificial muscle exhibits excellent contraction properties, it has some drawbacks. One is the difficulty in enclosing the reinforced fibers that have accumulated in the rubber tube, making this artificial muscle difficult to manufacture. In this study, we investigated short-fiber-reinforced artificial muscles that can be easily manufactured. First, a short-fiber-reinforced rubber was prepared, and anisotropy was evaluated via a tensile test. Then, the short-fiber-reinforced artificial muscles were prepared, and their contractions rates were evaluated. The results confirmed that a short-fiber-reinforced rubber can be useful for the manufacture of artificial muscles.

    DOI： 10.3390/iecat2020-08526

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  • Two-degree-of-freedom pipe selection mechanism using contraction and extension unit composed of single tube and its application to a gas pipe inspection robot

    伊藤文臣, 佐藤広都, 眞野雄貴, 奥井学, 中村太郎

    日本機械学会論文集(Web)   86 ( 891 )   2020.11

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    DOI： 10.1299/transjsme.20-00052

    J-GLOBAL

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  • Proposal of Motion Judgment Algorithm Based on Joint Angle of Variable Elastic Assist Suit with High Back Drivability.

    Seigo Kimura, Ryuji Suzuki, Katsuki Machida, Rie Nishihama, Manabu Okui, Taro Nakamura 0001

    Journal of Robotics and Mechatronics   32 ( 5 )   863 - 875   2020.10

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    DOI： 10.20965/jrm.2020.p0863

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  • Path restriction and speed regulation via force feedback-type welding teaching device using magnetorheological brakes

    Manabu Okui, Soichiro Sugibayashi, Ryuji Suzuki, Taro Nakamura

    Smart Materials and Structures   29 ( 10 )   2020.10

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    DOI： 10.1088/1361-665X/aba846

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  • Influence of vertical acceleration for inducing sensation of dropping by lower limb force feedback device.

    T. Tanaka, Yuki Onozuka, Manabu Okui, Rie Nishihama, Taro Nakamura 0001

    Proceeding of 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020)   392 - 397   2020.9

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    DOI： 10.1109/RO-MAN47096.2020.9223476

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    Other Link： https://dblp.uni-trier.de/db/conf/ro-man/ro-man2020.html#TanakaOONN20

  • Overhead Work Assist with Passive Gravity Compensation Mechanism and Horizontal Link Mechanism for Agriculture.

    Yasuyuki Yamada, Hirokazu Arakawa, Taro Watanabe, Shunya Fukuyama, Rie Nishihama, Isao Kikutani, Taro Nakamura 0001

    Proceeding of 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2020)   104 - 111   2020.9

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    DOI： 10.1109/RO-MAN47096.2020.9223612

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  • Antagonistic drive mechanism to increase impulsive force inspired by exoskeleton spring system of mantis shrimp

    Shunichi Kurumaya, Fumio Ito, Riki Ono, Katushi Kagaya, Taro Nakamura

    Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020   175 - 182   2020.8

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    DOI： 10.13180/clawar.2020.24-26.08.63

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  • Development of a negative-pressure-driven soft linear actuator for fixation part of wearable assistive devices

    Manabu Okui, Ryuto Enjo, Daisuke Inoue, Yasuyuki Yamada, Taro Nakamura

    Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020   23 - 30   2020.8

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    DOI： 10.13180/clawar.2020.24-26.08.30

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  • Wearable Air-Jet Force Feedback Device without Exoskeletal Structure and Its Application to Elastic Ball Rendering.

    Manabu Okui, Toru Masuda, T. Tamura, Yuki Onozuka, Taro Nakamura 0001

    Proc. of The 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)   276 - 281   2020.7

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    DOI： 10.1109/AIM43001.2020.9158981

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  • Soil Transportation by Peristaltic Movement-Type Pump Inspired from the Lubrication System of the Large Intestine and Ceramic Art.

    H. Adachi, D. Matsui, K. Wakamatsu, D. Hagiwara, M. Ueda, Yasuyuki Yamada, Taro Nakamura 0001

    Proc. of The 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)   1056 - 1062   2020.7

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    DOI： 10.1109/AIM43001.2020.9158954

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  • Variable Viscoelastic Joint Module with Built-in Pneumatic Power Source.

    Katsuki Machida, Seigo Kimura, Ryuji Suzuki, Kazuya Yokoyama, Manabu Okui, Taro Nakamura 0001

    Proc. of The 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)   1048 - 1055   2020.7

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    DOI： 10.1109/AIM43001.2020.9158861

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  • Effect of penetration force on drilling efficiency for seabed drilling robot.

    Wataru Toyama, Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Manabu Okui, Hiroshi Yoshida, Taro Nakamura 0001

    Proc. of The 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)   1908 - 1913   2020.7

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    DOI： 10.1109/AIM43001.2020.9158934

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  • Proposal for Pipeline-Shape Measurement Method Based on Highly Accurate Pipeline Length Measurement by IMU Sensor Using Peristaltic Motion Characteristics.

    Hiroto Sato, Yuki Mano, Fumio Ito, Takumi Yasui, Manabu Okui, Rie Nishihama, Taro Nakamura 0001

    Proc. of The 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020)   874 - 881   2020.7

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    DOI： 10.1109/AIM43001.2020.9158972

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  • Mixing State Estimation of Peristaltic Continuous Mixing Conveyor with Distributed Sensing System Based on Soft Intestine Motion. Reviewed

    K. Wakamatsu, Katsuma Inoue, D. Hagiwara, H. Adachi, D. Matsui, S. Kurumaya, Rie Nishihama, Manabu Okui, Kohei Nakajima, Yasuo Kuniyoshi, Taro Nakamura 0001

    2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020   208 - 214   2020.5

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    DOI： 10.1109/RoboSoft48309.2020.9116058

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  • Development of a locomotion robot using deformable dielectric elastomer actuator without pre-stretch Reviewed

    H. Kumamoto, T. Hayashi, Y. Yonehara, M. Okui, T. Nakamura

    Proceedings of SPIE - The International Society for Optical Engineering   11375   2020.4

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    DOI： 10.1117/12.2558422

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  • TasKi: Overhead Work Assistance Device with Passive Gravity Compensation Mechanism. Reviewed

    Yasuyuki Yamada, Hirokazu Arakawa, Taro Watanabe, Shunya Fukuyama, Rie Nishihama, Isao Kikutani, Taro Nakamura 0001

    J. Robotics Mechatronics   32 ( 1 )   138 - 148   2020.2

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    DOI： 10.20965/jrm.2020.p0138

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  • Development of Assist Suit for Squat Lifting Support Considering Gait and Quantitative Evaluation by Three-Dimensional Motion Analysis. Reviewed

    Masashi Kashima, Hirokazu Arakawa, Seigo Kimura, Rie Nishihama, Kazuya Yokoyama, Isao Kikutani, Taro Nakamura 0001

    J. Robotics Mechatronics   32 ( 1 )   209 - 219   2020.2

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    DOI： 10.20965/jrm.2020.p0209

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  • Soil Discharging Mechanism Utilizing Water Jetting to Improve Excavation Depth for Seabed Drilling Explorer. Reviewed

    Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Wataru Toyama, Manabu Okui, Hiroshi Yoshida, Taro Nakamura 0001

    IEEE Access   8   28560 - 28570   2020.2

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    DOI： 10.1109/ACCESS.2020.2972572

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  • Grasp efficient powder transport performance of peristaltic motion type conveyor based on soft actuation. Reviewed

    Daiki Hagiwara, Kota Wakamatsu, Kyota Ashigaki, Kai Negishi, Shun Yoshihama, Koichi Kato, Yasuyuki Yamada, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   80 - 86   2020.1

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    DOI： 10.1109/SII46433.2020.9026224

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  • Clay Drilling Performance of Seabed Robotic Explorer Using Peristaltic Motion. Reviewed

    Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Wataru Toyama, Manabu Okui, Hiroshi Yoshida, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1340 - 1347   2020.1

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    DOI： 10.1109/SII46433.2020.9026231

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  • Actuatable Flexible Large Structure Using a Laminated Foam-based Soft Actuator. Reviewed

    Yasuyuki Yamada, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   74 - 79   2020.1

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    DOI： 10.1109/SII46433.2020.9026003

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  • Noninflatable Pneumatic Artificial Muscle Requiring Low Space and Consumption Flow Rate. Reviewed

    Manabu Okui, Fumio Ito, Akihiro Kojima, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   495 - 499   2020.1

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    DOI： 10.1109/SII46433.2020.9026201

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  • Fundamental characteristics for rendering elasticity of a force feedback method using elastic spring and magneto-rheological fluid clutch. Reviewed

    M. Ooba, Yuki Onozuka, Manabu Okui, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1150 - 1155   2020.1

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    DOI： 10.1109/SII46433.2020.9025927

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  • Dielectric elastomer actuator that can be deformed without pre-stretching and its application to flexible wave-generating device. Reviewed

    T. Hayashi, H. Kumamoto, Manabu Okui, Y. Yonehara, H. Takeuchi, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1218 - 1223   2020.1

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    DOI： 10.1109/SII46433.2020.9026285

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  • Proposal for 3D-printed pneumatic artificial muscles -Effect of leaf spring stiffness on contraction amount and contraction force-. Reviewed

    Fumio Ito, Akihiro Kojima, Manabu Okui, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   1163 - 1167   2020.1

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    DOI： 10.1109/SII46433.2020.9026165

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  • Content Detection for Continuous and Efficient Production of Solid Rocket Fuel by Peristaltic Mixer. Reviewed

    K. Wakamatsu, D. Hagiwara, H. Adachi, Kyota Ashigaki, Akihiro Iwasaki, Yasuyuki Yamada, Hiroto Habu, Taro Nakamura 0001

    Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   471 - 476   2020.1

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    DOI： 10.1109/SII46433.2020.9025893

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  • Replicate the human joint viscosity variation during handshake movements with a handshake manipulator Reviewed

    K. Dai, R. Nishihama, M. Okui, T. Nakamura

    session7-1, The 17th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2019)   2019.12

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  • Assistive method that controls joint stiffness and antagonized angle based on human joint stiffness characteristics and its application to an exoskeleton Reviewed

    Seigo Kimura, Ryuji Suzuki, Masashi Kashima, Manabu Okui, Rie Nishihama, Taro Nakamura

    2019 19th International Conference on Advanced Robotics, ICAR 2019   553 - 559   2019.12

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    DOI： 10.1109/ICAR46387.2019.8981664

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  • Proposal of a force feedback method using elastic spring and magneto-rheological clutch aimed to rendering friction and elasticity Reviewed

    M. Ooba, Y. Onozuka, M. Okui, T. Nakamura

    2019.12

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  • FEM Analysis of 3D Printable Pleated Pneumatic Artificial muscle Reviewed

    S. Kuriyama, I. Hisamichi, F. Ito, A. Kojima, M. Okui, T. Kojima, T. Nakamura, T. Tsuji

    Proceedings of the 10th TSME International Conference on Mechanical Engineering   1 ( 1 )   149 - 155   2019.12

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  • Development of a Peristaltic-Movement Duct-Cleaning Robot for Application to Actual Environment-Examination of Brush Type and Installation Method to Improve Cleaning Efficiency- Reviewed

    F Ito, T Kawaguchi, Y Yamada, T Nakamura

    Journal of Robotics and Mechatronics   31 ( 6 )   781 - 793   2019.12

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  • Watanabe T., Fujiwara A., Tadami N., Isaka, K., Barthelemy M., Okui M., Sawada H., Kubota T., Nakamura T. Reviewed

    Development of Front-Actuation-Type Excavating Unit for Lunar Excavating Exploration Robot “LEAVO”

    32nd International Symposium on Space Technology and Sience (32nd ISTS)   2019.11

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  • Proposal of a Peristaltic Motion Type Duct Cleaning Robot for Traveling in a Flexible Pipe. Reviewed

    Fumio Ito, Takahiko Kawaguchi, Masashi Kamata, Yasuyuki Yamada, Taro Nakamura

    Proc. of The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)   6614 - 6621   2019.11

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    DOI： 10.1109/IROS40897.2019.8967648

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  • Laminated foam-based soft actuator for actuatable flexible structure. Reviewed

    Yasuyuki Yamada, Taro Nakamura

    Proc. of The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)   4359 - 4364   2019.11

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    DOI： 10.1109/IROS40897.2019.8967522

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  • Three-dimensional mapping of pipeline from inside images using earthworm robot equipped with camera

    Akira Oyama, Hirotaka Iida, Yonghoon Ji, Kazunori Umeda, Yuki Mano, Takumi Yasui, Taro Nakamura

    IFAC-PapersOnLine   52   87 - 90   2019.10

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    DOI： 10.1016/j.ifacol.2019.11.053

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  • Evaluation experiment of squat motion with variable viscoelastic assistive suit “Airsist I”

    Ryuji Suzuki, Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

    IFAC-PapersOnLine   52 ( 22 )   73 - 77   2019.10

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    DOI： 10.1016/j.ifacol.2019.11.050

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  • Path rendering and velocity restriction with welding-assisting device composed of magnetorheological brakes Reviewed

    M. Okui, R. Suzuki, S. Morita, T. Nakamura

    IFAC-PapersOnLine   52 ( 22 )   108 - 111   2019.10

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    DOI： 10.1016/j.ifacol.2019.11.057

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  • Rendering friction and viscosity using a wearable 4 degrees of freedom force feedback device with magnetorheological fluid clutches and pneumatic artificial muscles. Reviewed

    Yuki Onozuka, Minoru Oba, Manabu Okui, Taro Nakamura

    IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society, Lisbon, Portugal, October 14-17, 2019   705 - 710   2019.10

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    DOI： 10.1109/IECON.2019.8927514

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  • Proposal of bellows-integrated robot for improving flexibility and sealability of peristaltic motion robot Reviewed

    F. Ito, T. Kawaguchi, Y. Yamada, and T. Nakamura

    in Proceedings of 22nd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)   37 - 44   2019.8

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  • Soil discharging mechanism for seafloor drilling robot Reviewed

    K. Isaka, N. Tadami, A. Fujiwara, T. Watanabe, M. Okui, H. Yoshida, M. Sugesawa and T. Nakamura

    in Proceedings of 22nd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)   219 - 225   2019.8

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  • Motion judgment algorithm based on joint angular velocity with variable viscoelastic assistive suit Reviewed

    R. Suzuki, S. Kimura, M. Okui, R. Nishihama, and T. Nakamura

    in Proceedings of 22nd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)   117 - 124   2019.8

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  • Development of joint attachment for passing curved pipe of peristaltic motion robot for in-pipe inspection Reviewed

    T.Yasui,Y.Mano,F.Ito,T.Nakamura

    in Proceedings of 22nd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)   45 - 52   2019.8

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  • Proposal of Passive Type Power Assist Suit for Squat Lifting Considering Walking*. Reviewed

    Masashi Kashima, Hirokazu Arakawa, Seigo Kimura, Rie Nishihama, Kazuya Yokoyama, Isao Kikutani, Taro Nakamura

    in Proceedings of Advanced Intelligent Mechatronics (AIM)   114 - 119   2019.7

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    DOI： 10.1109/AIM.2019.8868604

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  • Straight-Fiber-Type Artificial Muscle Deformation Under Pressurization Reviewed

    Akihiro Kojima, Manabu Okui, Itsuki Hisamichi, Tomoaki Tsuji, Taro Nakamura

    IEEE Robotics and Automation Letters   4 ( 3 )   2592 - 2598   2019.7

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    DOI： 10.1109/lra.2019.2902016

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  • Research of human-robot handshakes under variable stiffness conditions. Reviewed

    Kejia Dai, Yage Liu, Manabu Okui, Rie Nishihama, Taro Nakamura

    4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Toyonaka, Japan, July 3-5, 2019   744 - 749   2019.7

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    DOI： 10.1109/ICARM.2019.8833897

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  • Development of Seafloor Drilling Robot based on Earthworm Locomotion:—Study on Gripping Torque Improvement and Drilling Torque Reduction— Reviewed

    Isaka Keita, Tadami Naoaki, Fujiwara Ami, Watanabe Tomoki, Sugesawa Makoto, Yamada Yasuyuki, Yoshida Hiroshi, Nakamura Taro

    Journal of the Robotics Society of Japan   37 ( 4 )   330 - 340   2019.7

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    &lt;p&gt;Seabed mineral resources were found on the bottom of the ocean. To utilize these resources, it is necessary to collect and analyze samples. Therefore, we intend to develop a seafloor robotic explorer that can excavate and sample the seafloor soil. In a previous study, we developed a drilling robot and experimentally demonstrated the ability of this robot to produce curved boreholes with a turning radius of 1,670[mm], and a depth of 613[mm] in land environment. However, an underwater excavation has not been successful. It is necessary to improve the gripping torque and to reduce the drilling resistance for underwater excavation. In this paper, we present a propulsion unit with the setae that imitates an earthworm&#039;s setae. As a result, the drilling robot succeeded in drilling into the ground while underwater. In addition, we aim to reduce the drilling resistance. We adjusted the penetration speed and the rotational speed of the drilling robot based on the drilling properties of underwater ground. We also consider the shape of the earth auger to reduce the drilling resistance. As a result, we succeeded in reducing the drilling resistance, which both lowered the excavation energy by 39.2% and reduced the completion time. &lt;/p&gt;

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  • Development of Underwater Drilling Robot Based on Earthworm Locomotion. Reviewed

    Keita Isaka, Kazuki Tsumura, Tomoki Watanabe, Wataru Toyama, Makoto Sugesawa, Yasuyuki Yamada, Hiroshi Yoshida, Taro Nakamura

    IEEE Access   7   103127 - 103141   2019.7

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    DOI： 10.1109/ACCESS.2019.2930994

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  • Ralationship between Blade Shape and Locomotive Performance of Blade-Type Crawler based on Wharf Roach Locomotion for Lunar Surface Exploration" Reviewed

    Haruka Adachi, Ami Fujiwara, Yasuyuki Yamada, Yoshihito Kazama, Yasuharu Kunii, Taro Nakamura

    32nd International Symposium on Space Technology and Sience (32nd ISTS)   2019.6

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  • Packaging of Mixed Materials in Peristaltic Mixer for Solid Propellant Production Reviewed

    Kota Wakamatsu, Daiki Hagiwara, Haruka Adachi, Kyota Ashigaki, Akihiro Iwasaki, Yasuyuki Yamada, Hiroto Habu, Taro Nakamura

    32nd International Symposium on Space Technology and Sience (32nd ISTS)   2019.6

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  • Development of Front-Actuation-Type Excavating Unit for Lunar Excavating Exploration Robot “LEAVO” Reviewed

    Tomoki Watanabe, Ami Fujiwara, Naoaki Tadami, Keita Isaka, Megan Barthelemy, Manabu Okui, Hirotaka Sawada, Takashi Kubota, Taro Nakamura

    32nd International Symposium on Space Technology and Sience (32nd ISTS)   19 ( 2 )   211 - 216   2019.6

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    DOI： 10.2322/tastj.19.211

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  • Variable viscoelasticity handshake manipulator for physical human-robot interaction using artificial muscle and MR brake Reviewed

    KEJIA DAI, Yage Liu, Manabu Okui, Yasuyuki Yamada, Taro Nakamura

    Smart Materials and Structures   28 ( 6 )   2019.5

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    DOI： 10.1088/1361-665X/ab0d9b

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  • Delta-Type 4-DOF Force-Feedback Device Composed of Pneumatic Artificial Muscles and Magnetorheological Clutch and its Application to Lid Opening Reviewed

    M. Okui, M. Kobayashi, Y. Yamada, T. Nakamura

    2019 Smart Mater. Struct   2019.4

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  • ファッション性と快適性の両立を目指したハイヒールの検討 Reviewed

    山田泰之, 西濵里英, 中村太郎

    日本靴医学会機関誌, 靴の医学   32 ( 2 )   2019.3

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  • Measurement of strain distribution of dielectric elastomer actuator with plural pairs of electrodes via the image correlation method Reviewed

    T. Hayashi, M. Okui, Y. Yonehara, T. Nakamura

    SPIE, Smart Structures Nondestructive Evaluation, 10966-31   10966   2019.3

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    DOI： 10.1117/12.2514194

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  • Strain-induced crystallization to prolong the lifetime of pneumatic artificial muscles Reviewed

    A.Kojima, M.Okui, I,Hisamichi, N.Tadami, T.Tsuji, T.Nakamura

    SPIE, Smart Structures Nondestructive Evaluation, 10965-30   10965   2019.3

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    DOI： 10.1117/12.2513246

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  • Study on Drilling Resistance Reduction of a Seafloor Robotic Explorer Based on the Drilling Properties of Underwater Ground. Reviewed

    K. Isaka, N. Tadami, A. Fujiwara,T, Watanabe,M. Sugesawa, Y. Yamada, H, Yoshida,T. Nakamura

    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019   718 - 723   2019.1

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    DOI： 10.1109/SII.2019.8700347

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  • Development of Negative Pressure Adsorption Type Traveling-wave Wall-climbing Robot for Aircraft Inspection and Running Experiment

    萩原大輝, 只見侃朗, 天川貴文, 山田泰之, 山田泰之, 中村太郎

    計測自動制御学会論文集   55 ( 1 )   59‐67(J‐STAGE)   2019.1

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    DOI： 10.9746/sicetr.55.59

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  • Deformation Measurement of Dielectric Elastomer using Slide Ring Material on a 2-D Plane. Reviewed

    T. Hayashi, M. Okui, Y. Yonehara, T. Nakamura

    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019   712 - 717   2019.1

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    DOI： 10.1109/SII.2019.8700353

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  • Proposed Pneumatic Artificial Skin Muscle that Provides Assistance in Daily Activities. Reviewed

    Yasuyuki Yamada, Taro Nakamura

    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019   2019 ( SII )   104 - 111   2019.1

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    DOI： 10.1109/SII.2019.8700416

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  • Soil transport experiment with a multi-unit peristaltic transport machine for compact automatic transportation of excavated soil. Reviewed

    D. Hagiwara, Kyota Ashigaki, K. Wkamatsu, M. Ueda, Yasuyuki Yamada, T. Nakamura

    IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019   724 - 728   2019.1

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    DOI： 10.1109/SII.2019.8700462

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  • MRブレーキと弾性バネを用いたパッシブ型可変粘弾性提示装置の開発

    大場 実, 小野塚 祐樹, 奥井 学, 中村 太郎

    フルードパワーシステム講演会講演論文集 = The proceedings Conference of Japan Fluid Power System Society   71 - 73   2019

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  • Prolonging the fatigue life of the Straight fiber type pneumatic artificial muscle by the strain-induced crystallization of Natural rubber Reviewed

    KOJIMA Akihiro, OKUI Manabu, HISAMICHI Itsuki, TADAMI Naoaki, TSUJI Tomoaki, NAKAMURA Taro

    TRANSACTIONS OF THE JAPAN FLUID POWER SYSTEM SOCIETY   50 ( 2 )   46 - 52   2019

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    <p>Pneumatic rubber artificial muscle is attracting attention as an actuator having high cooperativeness with human because of its feature of being flexible and lightweight. The authors have developed Straight fiber type pneumatic artificial muscle (SF-ARM), which is a high power, highly displaced pneumatic rubber artificial muscle. Although SF-ARM has excellent contraction characteristics, it has a problem of short fatigue life. Therefore, in this study, focusing on strain-induced crystallization of natural rubber, the fatigue life of SF-ARM has been extended. First, strain-induced crystallization of natural rubber were confirmed by wide angle X-ray diffraction. Next, analysis of strain concentration in the vicinity of the crack was performed by the finite element method. Finally, a fatigue life test of SF-ARM was carried out to confirm the effect of prolonging the fatigue life by using strain-induced crystallization.</p>

    DOI： 10.5739/jfps.50.46

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  • Road Ability of In-pipe Mobile Robot Equipped with Flexible Brush Wheel Reviewed

    TADAMI Naoaki, ITO Fumio, KAMATA Masashi, KAWAGUCHI Takahiko, YAMADA Yasuyuki, NAKAMURA Taro

    Transactions of the Society of Instrument and Control Engineers   55 ( 11 )   692 - 699   2019

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    <p>There are many pipe-systems such as a water pipe, a gas pipe and a ventilation duct in a plant, factory and house. The inspection of these pipe-systems is necessary to prevent accidents and malfunctions. However, many pipes are very narrow, and it is difficult for people to inspect directly. In this study, a brush wheel type robot which has the simple and compact drive mechanism and does not need large space to move, is proposed. When moving inside of a pipe, this robot uses the elastic force of a brush wheel to hold the robot in pipe. Additionally, the robot can move a vertical pipe and a curved pipe by replacing the brush wheels. This paper reports the robot's structure, the drive mechanism, the operation principle, the prototype evaluation and three type pipe running experiments.</p>

    DOI： 10.9746/sicetr.55.692

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  • Traveling-wave-type wall-climbing robot for airplane surface inspection

    D. Hagiwara, N. Tadami, T. Amakawa, Y. Yamada, T. Nakamura

    Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018   163 - 170   2019

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  • Distributed driving system for the excavation unit of a lunar earthwarm-type “leavo” excavation robot

    Ami Fujiwara, Toyoharu Nakatake, Naoaki Tadami, Keita Isaka, Yasuyuki Yamada, Taro Nakamura, Hirotaka Sawada, Takashi Kubota

    Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018   97 - 104   2019

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  • Auxiliary Effect Verification of Power Assist Suit "AB-Wear" for Assisting the Lower Back using the Deflection of a Flat Spring

    H. Arakawa, S. Mohri, K. Yokoyama, Y. Yamada, I. Kikutani, T. Nakamura

    Proc. of The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018)   2018.10

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  • Development of High-Speed Type Peristaltic Crawling Robot for Long-Distance and Complex-Line Sewer Pipe Inspection. Reviewed

    Yuki Mano, Ryutaro Ishikawa, Yasuyuki Yamada, Taro Nakamura

    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018   2018 ( IROS )   8177 - 8183   2018.10

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    DOI： 10.1109/IROS.2018.8593436

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  • Blade-Type Crawler Capable of Running on the Surface of Water as Bio-Inspired by a Basilisk Lizard. Reviewed

    Yasuyuki Yamada, Taro Nakamura

    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, October 1-5, 2018   2018 ( IROS )   1 - 9   2018.10

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    DOI： 10.1109/IROS.2018.8594397

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  • Proposal of Non-Rotating Joint Drive Type Power Assist Suit for Lower Limbs Considering Squat Lifting. Reviewed

    Hirokazu Arakawa, Shun Mohri, Yasuyuki Yamada, Kazuya Yokoyama, Isao Kikutani, Taro Nakamura

    JRM   30 ( 5 )   752 - 761   2018.10

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    DOI： 10.20965/jrm.2018.p0752

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  • Material Properties of Fiber-Reinforced Rubber Tube Reviewed

    I.Hisamichi, A. Kojima, S. Kobayashi, M. Okui, T. Nakamura, T. Tsuji

    The 6th Asian Coference on Mechanics of Functional Materials and Structures (ACMFMS2018)   2018.10

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  • Underwater Excavation by Excavation Robot Equipped with Propulsion Unit Based on Earthworm Setae Reviewed

    Naoaki Tadami, Keita Isaka, Toyoharu Nakatake, Ami Fujiwara, Yasuyuki Yamada, Taro Nakamura, Makoto Sugesawa, Hiroshi Yoshida

    Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO 2018)   2018.10

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  • Development of a Peristaltic Crawling Motion Type Duct Cleaning Robot Compatible with Cleaning Efficiency and Running Speed by Cleaning joint

    T. Kawaguchi, Y. Tanise, M. Kamata, Y. Yamada, T. Nakamura

    Proc. of The 21th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), Panama, Panamacity   2018.9

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  • 空気圧人工筋肉を用いた腸管の蠕動運動を模擬したポンプの開発と応用 (特集 バイオミメティクスにみられるフルードパワー)

    山田 泰之, 中村 太郎

    フルードパワーシステム = Journal of the Japan Fluid Power System Society : 日本フルードパワーシステム学会誌   49 ( 5 )   216 - 218   2018.9

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  • Distributed Driving System for The Excavation Unit of a Lunar Earthworm-Type “LEAVO” Excavation Robot

    A. Fujiwara, T. Nakatake, T. Tadami, K. Isaka, Y. Yamada, T. Nakamura, H. Sawada, T. Kubota

    Proc. of The 21th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), Panama, Panamacity   2018.9

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  • Proposal of Propulsion Unit Based on Earthworm Setae for Underwater Excavation Robot

    TADAMI Naoaki, ISAKA Keita, NAKATAKE Toyoharu, FUJIWARA Ami, YAMADA Yasuyuki, NAKAMURA Taro, SUGESAWA Makoto, YOSHIDA Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   2018   2P1-A07   2018.9

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    In this paper, we developed a propulsion unit with bristles imitating the setae of earthworm. This propulsion unit is installed in SEAVO: sub-seafloor excavation robot. To realize underwater excavation by SEAVO, it is necessary to move the soft and fluid sedimentary layer of seafloor surface. As a solution, we focused on the setae of earthworm which live in mud and soft soil. Then, we developed the propulsion unit with bristles imitating the earthworm's setae and measured the performance of the setae-attached propulsion unit. Comparing the measurement result of the bristlesattached propulsion unit with the previous propulsion unit, we confirmed the usefulness of the bristles-attached propulsion unit.

    DOI： 10.1299/jsmermd.2018.2p1-a07

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  • Proposal of air compressing device using walking vibration energy regeneration for pneumatic driven assistive device

    Manabu Okui, Yasuyuki Yamada, Taro Nakamura

    Robotics Transforming the Future - Proceedings of the 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018   36 - 43   2018.9

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  • Hollow Pneumatic Artificial Muscles with Air Cylinder: Improvement for compatibility of high durability and high efficiency. Reviewed

    Yasuyuki Yamada, Akihiro Kojima, Yutaro Higashi, Manabu Okui, Taro Nakamura

    7th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018, Enschede, The Netherlands, August 26-29, 2018   2018 ( BioRob )   865 - 870   2018.8

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    DOI： 10.1109/BIOROB.2018.8487219

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  • Proposal of Non-rotating Joint Drive Type Mechanical Assist Device for Squat Lifting by using Leaf and Compression Spring

    H. Arakawa, S. Mohri, K. Yokoyama, Y. Yamada, I. Kikutani, T. Nakamura

    IEEE Conference Proceedings   2018 ( BioRob )   2018.8

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  • Proposal of One-inch Pipe Inspection Robot "PI-RO I". Reviewed

    Masashi Kamata, Kana Tachibana, Yuki Tanise, Takahiko Kawaguchi, Yasuyuki Yamada, Taro Nakamura

    7th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018, Enschede, The Netherlands, August 26-29, 2018   2018 ( BioRob )   1315 - 1320   2018.8

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    DOI： 10.1109/BIOROB.2018.8487902

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  • Proposal of A Variable Viscoelastic Control Strategy for an Assistive Suit with MR Brakes and Straight-Fiber-Type Artificial Muscles

    R. Suzuki, M. Okui, S. Iikawa, Y. Yamada, T. Nakamura

    2018.7

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  • Development of Contraction Force Control System of Peristaltic Crawling Robot for Sewer Pipe Inspection. Reviewed

    Yuki Mano, Ryutaro Ishikawa, Yasuyuki Yamada, Taro Nakamura

    2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, July 9-12, 2018   2018 ( AIM )   936 - 941   2018.7

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    DOI： 10.1109/AIM.2018.8452392

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  • An Exoskeleton Type 4-DOF Force Feedback Device Using Magnetorheological Fluid Clutches and Artificial Muscles. Reviewed

    Yuki Onozuka, Ryo Suzuki, Yasuyuki Yamada, Taro Nakamura

    2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, July 9-12, 2018   2018 ( AIM )   869 - 874   2018.7

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    DOI： 10.1109/AIM.2018.8452696

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  • Water jetting excavation and consideration of earth auger shape to reduce drilling torque for seabed robotic explorer Reviewed

    K. Isaka, N. Tadami, A. Fujiwara, T. Nakatake, M. Sugesawa, Y. Yamada, H. Yosida, T. Nakamura

    The 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2018   2P1-B09   2018.7

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    Marine resources exist on the seabed, and sampling is useful for a detailed study of these resources. In general, a pipe-shaped sampler is used to collect marine resources for investigation. However, this is inefficient for investigating sediments, which are widely distributed, because the sampling range is limited to the pipe penetration part. A wide area exploration can be made possible by deploying multiple robots to autonomously search beneath the seabed. In a previous study, we developed a seabed robotic explorer called "SEAVO" and experimentally demonstrated the ability of SEAVO to produce curved boreholes with a turning radius of 1.67 m, and a depth of 613 mm, in the land environment. However, underwater excavation has not been successful. Reduction in the drilling torque is necessary for underwater excavation. In this paper, we propose a water jetting excavation method to reduce the drilling torque.

    DOI： 10.1299/jsmermd.2018.2p1-b09

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  • Soil Transport Experiment by Peristaltic Transport Machine for Compact Automatic Transportation System of Excavated Soil Reviewed

    Kyota Ashigaki, Daiki Hagiwara, Kai Negishi, Shun Yoshihama, Masahiro Ueda, TAKENAKA Corp, Hiroto Habu (JAX, Taro Nakamura

    The 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)   2018.7

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  • Delta Type 4 DOF Force Feedback Device Composed of Pneumatic Artificial Muscles and MR Clutches and Its Application to Lid Opening Operation

    M. Okui, M. Kobayashi, Y. Yamada, T. Nakamura

    2018.7

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  • Development of Both-Ends Supported Flexible Auger for Lunar Earthworm-Type Excavation Robot LEAVO Reviewed

    A. Fujiwara, T. Nakatake, N. Tadami, K. Isaka, Y. Yamada, T. Nakamura, H. Sawada, T. Kubota

    The 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics（AIM）, WCT3.4   2018   2A2-A08   2018.7

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    For lunar underground explorations, we have developed lunar earthworm-type excavation robot “LEAVO” and achieved vertical excavation with it. Then, we now wrestle about curving excavation to make the LEAVO be able to collect some samples in particular layer efficiently. To achieve the curving excavation, it is necessary for the LEAVO's excavation unit to excavate target diameter borehole certainly because the LEAVO become to be inoperable in the excessively large or small diameter borehole. To excavate target diameter borehole certainty, in this paper, we develop the “both-ends supported flexible auger” as the LEAVO's flexible excavation unit and carry out its characteristics test. Moreover, we confirm its usefulness in the axis runout check and excavation test.

    DOI： 10.1299/jsmermd.2018.2a2-a08

    DOI： 10.2322/tastj.19.211_references_DOI_4nb5xJuaOYkd4ciEK3vIF4vm7C9

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  • Development of a Wearable 4-DOF Force Feedback Device for Upper-Limb Using MR Clutches and Pneumatic Artificial Muscles

    Y. Onozuka, R. Suzuki, M. Okui, Y. Yamada, T. Nakamura

    2018.7

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  • Proposal of Welding Assisting Device Using Magneto Rheological Brake

    M. Okui, R. Suzuki, Y. Yamada, T. Nakamura

    2018.7

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  • ミミズの蠕動運動を模倣した圧送管内検査用ロボットの開発 (「月刊下水道」創刊40周年記念特集 編集部が選ぶ 魅せたい下水道) -- (知ってほしい! こんな下水道)

    眞野 雄貴, 中村 太郎

    月刊下水道 = Journal of sewerage, monthly   41 ( 7 )   45 - 50   2018.6

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  • 軸方向繊維強化型空気圧式ゴム人工筋肉の長寿命高効率化のための形状検討 Reviewed

    山田泰之, 小島明寛, 奥井学, 中村太郎

    計測自動制御学会論文集   54 ( 6 )   2018.6

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  • Morphological change in peristaltic crawling motion of a narrow pipe inspection robot inspired by earthworm’s locomotion Reviewed

    M. Kamata, S. Yamazaki, Y. Tanise, Y. Yamada, T. Nakamura

    Advanced Robotics   32 ( 7 )   386 - 397   2018.4

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    DOI： 10.1080/01691864.2017.1417158

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  • Novel feedforward controller for straight-fiber-type artificial muscle based on an experimental identification model. Reviewed

    Ryuji Suzuki, Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

    IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, April 24-28, 2018   2018 ( RoboSoft )   31 - 38   2018.4

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    DOI： 10.1109/ROBOSOFT.2018.8404893

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  • Development of Hybrid Pneumatic Power Source based on Gas Compressing Methods Evaluation Reviewed

    奥井学, 名倉裕貴, 山田泰之, 中村太郎

    日本ロボット学会誌   36 ( 3 )   233 - 241   2018.4

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    DOI： 10.7210/jrsj.36.233

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  • Hybrid Pneumatic Source Based on Evaluation of Air Compression Methods for Portability Reviewed

    Manabu Okui, Yuki Nagura, Yasuyuki Yamada, Taro Nakamura

    IEEE ROBOTICS AND AUTOMATION LETTERS   3 ( 2 )   819 - 826   2018.4

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    DOI： 10.1109/LRA.2018.2792145

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  • Prolonging the lifetime of straight-fiber-type pneumatic rubber artificial muscle by shape consideration and material development. Reviewed

    Akihiro Kojima, Manabu Okui, Yasuyuki Yamada, Taro Nakamura

    IEEE International Conference on Soft Robotics, RoboSoft 2018, Livorno, Italy, April 24-28, 2018   2018 ( RoboSoft )   188 - 195   2018.4

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    DOI： 10.1109/ROBOSOFT.2018.8404918

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  • MRブレーキと空気圧人工筋肉を用いた装着型1自由度力覚提示装置の開発と拡張現実空間での評価 Reviewed

    鈴木 遼, 江川 正和, 山田 泰之, 中村 太郎

    日本バーチャルリアリティ学会論文誌   23 ( 1 )   45 - 54   2018.3

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    DOI： 10.18974/tvrsj.23.1_45

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  • Fundamental characteristic of novel actuation system with variable viscoelastic joints and magneto-rheological clutches for human assistance

    Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

    Journal of Intelligent Material Systems and Structures   29 ( 1 )   82 - 90   2018.1

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    DOI： 10.1177/1045389X17705216

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  • 軸方向繊維強化型空気圧ゴム人工筋肉の長寿命化のための材料とアスペクト比の検討 Reviewed

    小島 明寛, 奥井 学, 山田 泰之, 中村 太郎

    日本機械学会論文集   84 ( 857 )   pp.17-00299   2018.1

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  • Tubular Peristalsis Conveyor for High-speed Powder Conveyance - Conveyance of Toner for Printer - Reviewed

    山田秦之, 吉浜舜, 芦垣恭太, 加藤弘一, 中村太郎

    計測自動制御学会論文集   54 ( 1 )   2018.1

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    DOI： 10.9746/sicetr.54.2

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  • Development of Assistive Device with Variable Viscoelastic Joint:—Effect of Viscoelasticity on Human Movement and Proposal of Viscoelastic Controller— Reviewed

    Iikawa Shingo, Okui Manabu, Suzuki Ryuji, Yamada Yasuyuki, Nakamura Taro

    Journal of the Robotics Society of Japan   36 ( 8 )   567 - 575   2018

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    <p>Recently, assisting human motion with a wearable robot is studied widely. These assisting systems are proposed from various points of view. Our study has proposed an assisting system that the torque, angle, and the viscoelasticity of the joint are variable because the human muscle has the characteristic of variable viscoelasticity. This system consists of antagonized muscle that the stiffness is variable and magneto-rheological fluid brake that the viscosity is variable. Therefore, the system enables the wearable assistive device such as exoskeletons to be structurally soft and to provide the wearer with a high back-drivability. We have proposed the assisting method by changing the viscoelasticity of the device joint according to the viscoelasticity of wearer's muscle. But suitable viscoelasticity of the joint for the assistive motion is not well known. In this paper, an experiment is conducted to examine how the viscoelasticity of the joint affects to human motion when assisting. Also, based on the results from the experiments, we propose the control method for the joint viscoelasticity of the device that responds to the assistive motion and confirm the effects with the experiments. </p>

    DOI： 10.7210/jrsj.36.567

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  • GerWalk: Lightweight Mobile Robot with Buoyant Balloon Body and Bamboo Rimless Wheel. Reviewed

    Yasuyuki Yamada, Taro Nakamura

    IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, December 12-15, 2018   2018 ( ROBIO )   1814 - 1821   2018

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    DOI： 10.1109/ROBIO.2018.8664749

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  • Considering Mixing Process of Rocket Solid Propellant Using Mixing Transport Device Simulating Peristaltic Movement of Intestinal Tract. Reviewed

    Kyota Ashigaki, Akihiro Iwasaki, D. Hagiwara, Kai Negishi, Kotaro Matsumoto, Yasuyuki Yamada, Hiroto Habu, Taro Nakamura

    7th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018, Enschede, The Netherlands, August 26-29, 2018   2018-August   1291 - 1296   2018

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    DOI： 10.1109/BIOROB.2018.8487789

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  • Study of an Automatic Material Input Method for the Continuous Production of Solid Propellant by a Peristaltic Mixer Reviewed

    ASHIGAKI Kyota, YOSHIHAMA Shun, IWASAKI Akihiro, TAGAMI Kengo, YAMADA Yasuyuki, HABU Hiroto, NAKAMURA Taro

    TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES, AEROSPACE TECHNOLOGY JAPAN   16 ( 7 )   662 - 667   2018

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    <p>In recent years, because development of space technology has been increasing for the purpose of improving social infrastructure, the expansion of space transportation system based on low-cost and high-frequency rockets is important. Due to the compactness, inexpensiveness, and easy-handling properties of solid propellants used in solid-fuel rockets, numerous studies on solid propellants have been conducted. However, solid propellants are highly viscous slurries and highly explosive. As there is no device capable of continuously and safely transporting the solid propellant, the process of manufacturing the solid propellant is a batch process. We focused on the movement of human intestines that knead and transport with a small force, as part of the development process. In this paper, we developed a peristaltic pump, Mk. III, for kneading a solid propellant. The pump was comprised of a heating system, an input device for the powder and fluid, and a rapid exhaust valve. An investigation into the amount of input of the raw materials was undertaken, and the tendency of kneading at the point of introduction of the powder and highly viscous fluid was determined.</p>

    DOI： 10.2322/tastj.16.662

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  • Deformation characteristic of the axially fiber reinforced cylindrical rubber subjected to inner pressure

    TSUJI Tomoaki, KOJIMA Akihiro, OKUI Manabu, HISAMICHI Itsuki, NAKAMURA Taro

    Transactions of the JSME (in Japanese)   84 ( 868 )   18 - 00351-18-00351   2018

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    <p>The cylindrical rubber is axially reinforced by the fiber and closed by the rigid ends. When the inner pressure is applied to this fiber reinforced rubber cylinder, the diameter expands and the length shrinks. Such the cylinder can be used as the soft actuator, that is, the artificial muscle. In this paper, this problem is analyzed theoretically. Firstly, the differential equation, which is satisfied the cylinder's profile, is derived. Secondary, the solution is obtained as the closed form, when the rubber is soft enough compared to the fiber. Finally, it is found that the profile of the rubber cylinder is given by the incomplete elliptic integral, when the inner pressure is large enough. Moreover, the spring constant, the contraction ratio and the maximum stress are obtained with respect to the length of the cylinder. The spring constant is linearly increasing with the inclement of the initial length of the cylinder. The contraction ratio is increasing with the inclement of the initial length of the cylinder and converged to 54.3%. The maximum stress is related to the elastic modulus of the rubber and is not related to the inner pressure. When the length of the cylinder is through three to five times larger than the initial diameter of the cylinder, the rubber has the small maximum stress and the large contraction ratio.</p>

    DOI： 10.1299/transjsme.18-00351

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  • Triangular cross-section peristaltic conveyor for transporting powders at high speed in printers Reviewed

    Yasuyuki Yamada, Kyota Ashigaki, Shun Yoshihama, Kai Negishi, Koichi Kato, Taro Nakamura

    ADVANCED ROBOTICS   32 ( 12 )   646 - 658   2018

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    DOI： 10.1080/01691864.2018.1491089

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  • The influence of prolonging lifetime of strain-induced crystallization by fatigue life test of straight-fiber-type pneumatic artificial muscle

    小島 明寛, 奥井 学, 辻 知章, 中村 太郎

    フルードパワーシステム講演会講演論文集 = The proceedings Conference of Japan Fluid Power System Society   1 - 3   2018

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  • Both-end supported earth auger for a bending excavation of peristaltic-type lunar excavation robot

    Ami Fujiwara, Toyoharu Nakatake, Mamoru Nagai, Naoaki Tadami, Yasuyuki Yamada, Taro Nakamura, Hirotaka Sawada, Takashi Kubota

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017   73 - 80   2018

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    DOI： 10.1142/9789813231047_0012

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  • Development of a peristaltic crawling robot for practical use and field experiment evaluation

    Ryutaro Ishikawa, Takeru Tomita, Yasuyuki Yamada, Taro Nakamura

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017   81 - 88   2018

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    DOI： 10.1142/9789813231047_0013

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  • Proposal of a fixation method for wearable assistive systems using jamming transition and the expansion of an elastic bag

    Manabu Okui, Kazuya Sekido, Shingo Iikawa, Yasuyuki Yamda, Taro Nakamura

    International Conference on Control, Automation and Systems   2017-   1466 - 1468   2017.12

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    Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：IEEE Computer Society  

    DOI： 10.23919/ICCAS.2017.8204222

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  • Research on Horizontal, Inclined, and Vertical Conveyance of Powder by Peristaltic Conveyor for Developing High-Speed Printing Machine

    Kyota Ashigaki, Shun Yoshihama, Koichi Kato, Yasuyuki Yamada, Taro Nakamura

    2017 IEEE/SICE International Symposium on System Integration   2017.12

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  • Proposal of a Fixation Method for Wearable Assistive Systems Using Jamming Transition and the Expansion of an Elastic Bag

    M. Okui, K.Sekido, S.Iikawa, Y.Yamada, T. Nakamura

    Proc. of the 17th International Conference on Control, Automation and Systems (ICCAS 2017), Jeju, Korea, pp. 1466-1468   1466 - 1468   2017.10

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  • Proposal of Non-rotating Joint Drive Type High Output Power Assist Suit for Squat Lifting

    S. Mohri, H. Inose, H. Arakawa, K. Yokoyama, Y. Yamada, I. Kikutani, T. Nakamura

    Proc. 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Lisbon, Portugal, pp. 1222-1227   2017 ( RO-MAN )   2017.9

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  • Development of Omnidirectional Wall-climbing Robot for Aircraft Inspection

    T. Amakawa, T. Yamaguchi, T. Tadami, Y. Yamada, Member, IEEE, T. Nakamura, Member, IEEE, Chuo University

    Proc. of The 20th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2017), Porto, Portugal, pp.269-276   2017.9

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  • Verification of Effective Assistance by Endoskeleton-type Power Assist Suit based on Musculoskeletal Simulation Reviewed

    Inose Hiroki, Mohri Shun, Yamada Yasuyuki, Yokoyama Kazuya, Kikutani Isao, Nakamura Taro

    Journal of the Robotics Society of Japan   35 ( 7 )   557 - 565   2017.9

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    Recently, low back pain of laborer is social issue in Japan. This problem is caused by excessive load on waist joint or uncomfortable posture of heavy labor, such as lifting up heavy objects. To resolve the problem, we have developed endoskeleton-type power assist suit. In previous study, the design and operation method of the assist suit was designed using simple static model. However, this method is insufficient for designing the assist suit because structure of human body is more complex than the model practically. Therefore, we use the musculoskeletal model to design the assist suit and its operation method in this paper. Firstly, motion of worker is analyzed using 3D motion capturing and this results are applied to musculoskeletal model &ldquo;Anybody&rdquo;. Secondly, with these simulation results, the assist suit and its operation method are designed. Finally, effectiveness of the assist suits confirmed by measurement of electromyography and assistive force.

    DOI： 10.7210/jrsj.35.557

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  • Variable viscoelastic joint system and its application to exoskeleton

    M. Okui, S.Iikawa, Y.Yamada, T. Nakamura

    Proc. of The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Vancouver, Canada, pp.3897-3902   2017 ( IROS )   2017.9

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  • A pneumatic power source using a sodium bicarbonate and citric acid reaction of for use in mobile devices

    M. Okui, S.Iikawa, Y.Yamada, T. Nakamura

    Proc. of The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Vancouver, Canada, pp.1040-1045   2017.9

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    DOI： 10.1109/iros.2017.8202272

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  • Curved Excavation by a Sub-safloor Excavation Robot

    N. Tadami, M. Nagai, T. Nakatake, A. Fujiwara, Y. Yamada, T. Nakamura, H. Yoshida, JAMSTEC, H. Sawada, T. Kubota, JAXA

    Proc. of The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Vancouver, Canada, pp.4950-4955   2017.9

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  • Development of an air duct cleaning robot for housing based on peristaltic crawling motion Reviewed

    Y. Tanise, K. Taniguchi, S. Yamazaki, M. Kamata, Y. Yamada, T. Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1267 - 1272   2017.8

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    DOI： 10.1109/AIM.2017.8014192

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  • Development of an adhesion unit for a traveling-wave-type, omnidirectional wall-climbing robot in airplane body inspection Reviewed

    T. Amakawa, T. Yamaguchi, Y. Yamada, T. Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   291 - 296   2017.8

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    DOI： 10.1109/AIM.2017.8014032

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  • Development of non-rotating joint drive type gastrocnemius-reinforcing power assist suit for squat lifting Reviewed

    Shun Mohri, Hiroki Inose, Hirokazu Arakawa, Kazuya Yokoyama, Yasuyuki Yamada, Isao Kikutani, Taro Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   851 - 856   2017.8

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    DOI： 10.1109/AIM.2017.8014124

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  • Development of pneumatically driven peristaltic-type robot for long distance inspection in half-inch pipes Reviewed

    M. Kamata, S. Yamazaki, Y. Tanise, Y. Yamada, T. Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   309 - 314   2017.8

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    DOI： 10.1109/AIM.2017.8014035

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  • Investigation of odometry method of pipe line shape by peristaltic crawling robot combined with inner sensor Reviewed

    Ryutaro Ishikawa, Takeru Tomita, Yasuyuki Yamada, Taro Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1279 - 1284   2017.8

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    DOI： 10.1109/AIM.2017.8014194

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  • Development of 4-degrees of freedom force feedback device with pneumatic artificial muscles and magnetorheological clutches Reviewed

    H. Mori, M. Kobayashi, Y. Yamada, T. Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   76 - 81   2017.8

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    DOI： 10.1109/AIM.2017.8013998

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  • Shape consideration for prolonging the lifetime of the Straight-fiber-type pneumatic artificial muscle

    Akihiro KOJIMA, Manabu OKUI, Yasuyuki YAMADA, Taro NAKAMURA

    Proc. of The 11th International Convention on Rehabilitation Engineering and Assistive Technology(i-CREATe2017), KOBE, JAPAN, PT5-3   2017.8

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  • Blade-type crawler vehicle with gyro wheel for stably traversing uneven terrain at high speed Reviewed

    Yasuyuki Yamada, Hirotaka Sawada, Takashi Kubota, Taro Nakamura

    Proceedings - IEEE International Conference on Robotics and Automation   4776 - 4781   2017.7

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    DOI： 10.1109/ICRA.2017.7989555

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  • Semi-endoskeleton-type waist assist AB-wear suit equipped with compressive force reduction mechanism Reviewed

    Hiroki Inose, Shun Mohri, Hirokazu Arakawa, Manabu Okui, Katsuya Koide, Yasuyuki Yamada, Isao Kikutani, Taro Nakamura

    Proceedings - IEEE International Conference on Robotics and Automation   6014 - 6019   2017.7

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    DOI： 10.1109/ICRA.2017.7989711

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  • Development of a Curving Excavation Method for a Lunar-subsurface Explorer Using a Peristaltic Crawling Mechanism Reviewed

    Toyoharu Nakatake, Ami Fujiwara, Masashi Konno, Mamoru Nagai, Naoaki Tadami, Yasuyuki Yamada, Taro Nakamura, Hirotaka Sawada, Takashi Kubota

    IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, July 3-7, 2017   1261 - 1266   2017.7

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  • 蠕動運動型混合搬送機による固体推進薬連続製造の検討 Reviewed

    山田 泰之, 吉浜 舜, 岩崎 祥大, 芦垣 恭太, 松本 幸太郎, 羽生 宏人, 中村 太郎

    日本機械学会論文集   83 ( 850 )   pp.16-00576   2017.6

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  • Proposal of Exoskeleton with Variable Viscoelastic Joint System named Airsist I

    M. Okui, S.Iikawa, Y. Yamada, T. Nakamura

    The 2017 IEEE International Conference on Robotics and Automation (ICRA)   2017.5

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  • Proposal of Portable Pneumatic Power Source Using Chemical Reaction of Sodium Bicarbonate and Citric Acid with Small Sized Pressure Booster Reviewed

    奥井学, 名倉裕貴, 飯川伸吾, 山田泰之, 中村太郎

    日本フルードパワーシステム学会論文集   48 ( 3 )   2017.5

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    DOI： 10.5739/jfps.48.17

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  • Throwing motion with instantaneous force using a variable viscoelastic joint manipulator Reviewed

    Hiroki Tomori, Tatsuo Majima, Hikaru Ishihara, Taro Nakamura

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   28 ( 8 )   999 - 1009   2017.5

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    DOI： 10.1177/1045389X16641202

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  • Fundamental characteristic of novel actuation system with variable viscoelastic joints and MR clutches for human assistance Reviewed

    Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

    Journal of Intelligent Material Systems and Structures   2017.5

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  • Experimental Verification of the Hill-climbing Performance of Blade-Type Crawler for High-speed Rough-terrain Reviewed

    35 ( 2 )   153 - 159   2017.4

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    DOI： 10.7210/jrsj.35.153

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  • Soil-Circulating System for a Peristaltic-Type Lunar Excavation Robot Reviewed

    35 ( 3 )   230 - 238   2017.4

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    DOI： 10.7210/jrsj.35.230

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  • Development and Verification of Effective Motion Assistance of Endoskeleton-Type Power Assist Suit Using Pneumatic Actuators considering Shape of Waist Reviewed

    Inose Hiroki, Mohri Shun, Yamada Yasuyuki, Yokoyama Kazuya, Kikutani Isao, Nakamura Taro

    Journal of the Robotics Society of Japan   35 ( 1 )   70 - 77   2017.1

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    Recently, about 60% of worker suffers from low back pain in Japan. Hard working such as lifting and carrying provides a load to waist joint, and worker gets low back pain. So, we developed a power assist suit to reduce the load of waist joint. This assist suit has various futures; endoskeleton, high output and flexibility, because this device moves using two pneumatic actuators. This device generates active and passive assistive force. These forces can assist human motions according as situations. First of all, we analyzed the human motion by motion capturing software. The analysis results are substituted into human link model, and load of human body is estimated. Thus, we decided design and operation method of the assist suit using analysis results and a static assist suit model. The motion of wearer is &ldquo;lifting up motion&rdquo; and &ldquo;carrying motion&rdquo; in evaluation experiments, because these motions are frequently performed in manufacturing plant work. Each assistive force assists these motions, and effectiveness of assist suit was confirmed from decrease of electromyography (EMG) in wearing.

    DOI： 10.7210/jrsj.35.70

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  • DEVELOPMENT OF A FLEXIBLE EXCAVATION UNIT FOR A PERISTALTIC CRAWLING SEABED EXCAVATION ROBOT

    Mamoru Nagai, Chiharu Hirabayashi, Yasuyuki Yamada, Taro Nakamura, Hiroshi Yoshida

    ADVANCES IN COOPERATIVE ROBOTICS   97 - 105   2017

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  • DEVELOPMENT OF A LONG-DISTANCE PRESSURE FEED PIPE INSPECTION ROBOT BASED ON PERISTALTIC CRAWLING OF THE EARTHWORM Reviewed

    Takeru Tomita, Ryutaro Ishikawa, Yasuyuki Yamada, Taro Nakamura

    ADVANCES IN COOPERATIVE ROBOTICS   88 - 96   2017

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  • Proposing an adhesion unit for a traveling-wave-type, omnidirectional wall-climbing robot in airplane body inspection applications Reviewed

    Takafumi Amakawa, Tomohiro Yamaguchi, Yasuyuki Yamada, Taro Nakamura

    2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)   178 - 183   2017

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  • DEVELOPMENT OF NEGATIVE PRESSURE SUCTION MECHANISM IN OMNIDIRECTIONAL WALL-CLIMBING ROBOT FOR INSPECTION OF AIRPLANES

    Tomohiro Yamaguchi, Takafumi Amakawa, Tetsuhide Go, Yasuyuki Yamada, Taro Nakamura

    ADVANCES IN COOPERATIVE ROBOTICS   106 - 114   2017

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  • Portability and antagonistic stiffness control for an shape memory alloy artificial muscle actuator protected by a rolled film tube Reviewed

    Toshiya Ishikawa, Taro Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2016-   220 - 227   2016.9

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    DOI： 10.1109/AIM.2016.7576770

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  • Powder conveyance experiments with peristaltic conveyor using a pneumatic artificial muscle Reviewed

    S. Yoshihama, S. Takano, Y. Yamada, T. Nakamura, K. Kato

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2016-   1539 - 1544   2016.9

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    DOI： 10.1109/AIM.2016.7576989

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  • Development of an automatic soil-releasing mechanism for a peristaltic-type lunar excavation robot

    Toyoharu Nakatake, Masashi Konno, Yasuyuki Yamada, Taro Nakamura, Takashi Kubota

    The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016)   115 - 123   2016.9

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  • Mobilizing and Antagonistic Stiffness Control for SMA Artificial Muscle Actuator Protected by Rolled Film Tube Reviewed

    ISHIKAWA Toshiya, NAKAMURA Taro

    Transactions of the Society of Instrument and Control Engineers   52 ( 3 )   103 - 112   2016.3

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    The endoskeleton humanoid robot needs an artificial muscle that is comparable with a human muscle from a viewpoint of form, flexibility, output force, output displacement and the responses. For this realizing, we are studying a Shape Memory Alloy (SMA) actuator that protected by a rolled film tube have the high heat resistance and the high flexibility. In this study, this actuator is inserted into a natural rubber tube for mobilizing and experimented about its antagonistic stiffness control.

    DOI： 10.9746/sicetr.52.103

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  • Performance evaluation of composite propellant slurry mixing by peristaltic continuous mixer

    Akihiro Iwasaki, Shun Yoshihama, Kana Otake, Naomasa Hosomi, Natsuyo Uegaki, Kotaro Matsumoto, Yasuyuki Yamada, Soichiro Yamaguchi, Taro Nakamura, Hiroto Habu

    Proceedings of the International Astronautical Congress, IAC   2016.1

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  • Development of the Attachment for the Cable of Peristaltic Crawling Robot to Reduce Friction in Elbow Pipe Reviewed

    Ryutaro Ishikawa, Takeru Tomita, Yasuyuki Yamada, Taro Nakamura

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I   9834   589 - 595   2016

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    DOI： 10.1007/978-3-319-43506-0_51

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  • Verification of throwing operation by a manipulator with variable viscoelastic joints with straight-fiber-type artificial muscles and magnetorheological brakes Reviewed

    T. Nagayama, H. Ishihara, H. Tomori, T. Nakamura

    ADVANCED ROBOTICS   30 ( 21 )   1365 - 1379   2016

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    DOI： 10.1080/01691864.2016.1217272

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  • The Continuous Mixing Process of Composite Solid Propellant Slurry by the Artificial Muscle Actuator Reviewed

    Akihiro Iwasaki, Kotaro Matsumoto, Ryosuke Ban, Shun Yoshihama, Hiroto Habu, Taro Nakamura

    Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan   14 ( ists30 )   a_107 - a_110   2016

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  • Blade-type Crawler Vehicle with Wings in Ground Effect for Traversing Uneven Terrain at High Speed Reviewed

    Yasuyuki Yamada, Gen Endo, Taro Nakamura

    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)   3575 - 3580   2016

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  • Development of a 1-DOF Wearable Force Feedback Device with Soft Actuators and Comparative Evaluation of the Actual Objects and Virtual Objects in the AR Space Reviewed

    Ryo Suzuki, Masakazu Egawa, Yasuyuki Yamada, Taro Nakamura

    2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)   2016

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  • Development of axial extension actuator for narrow pipe inspection endoscopic robot Reviewed

    S. Yamazaki, Y. Tanise, Y. Yamada, T. Nakamura

    2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)   634 - 639   2016

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  • The Verification of Permissible Resistant Torque Considering Back-Drivability to Develop a Wearable Assist Suit Reviewed

    Shingo Iikawa, Manabu Okui, Yasuyuki Yamada, Taro Nakamura

    2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)   2016

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  • Development of a Peristaltic Crawling Robot for Long-distance Complex Line Sewer Pipe Inspections Reviewed

    Rvutaro Ishikawa, Takcru Tomita, Yasuyuki Yamada, Taro Nakamura

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   413 - 418   2016

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  • Vertical jumping motion simulation with consideration for landing using a monopedal robot with artificial muscles and magnetorheological brakes Reviewed

    Takahiro Nagayama, Hikaru Ishihara, Hiroki Tomori, Yasuyuki Yamada, Taro Nakamura

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   660 - 665   2016

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  • 1st Prototype of a Variable Viscoelastic Joint System with a Clutch Composed of Pneumtic Air Muscle And Magneto Rheological Brake Reviewed

    Auth Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

    2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)   2016

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  • Development of Endoskeleton Type Knee Auxiliary Power Assist Suit using Pneumatic Artificial Muscles Reviewed

    Shun Mohri, Hiroki Inose, Kazuya Yokoyama, Yasuyuki Yamada, Isao Kikutani, Taro Nakamura

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   107 - 112   2016

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  • Optimization of Throwing Motion by 2-DOF Variable Viscoelastic Joint Manipulator Reviewed

    Hiroki Tomori, Hikaru Ishihara, Takahiro Nagayama, Taro Nakamura

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I   9834   577 - 588   2016

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    DOI： 10.1007/978-3-319-43506-0_50

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  • Development of a Lightweight Power-assist Suit Using Pneumatic Artificial Muscles and Balloon-amplification Mechanism Reviewed

    Hiroki Inose, Shun Mohri, Yasuyuki Yamada, Taro Nakamura, Kazuya Yokoyama, Isao Kikutani

    2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV)   2016

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  • High-Speed Response of the Pneumatic Actuator Used in a Peristaltic Crawling Robot Inspecting Long-Distance Gas Pipes Reviewed

    Yuki Tanise, Tatsuya Kishi, Shota Yamazaki, Yasuyuki Yamada, Taro Nakamura

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   1234 - 1239   2016

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  • Force Feedback Device with Pneumatic Artificial Muscles and Magnetorheological Clutches Reduction of sticking phenomenon for MR clutch and display of viscous torque Reviewed

    Masatoshi Kobayashi, Junya Hirano, Taro Nakamura, Yasuyuki Yamada

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   698 - 703   2016

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  • Soil Circulating System for a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism Reviewed

    T. Nakatake, M. Konno, A. Mizushina, Y. Yamada, T. Nakamura, T. Kubota

    2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   407 - 412   2016

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  • Effective Motion Assistance Using a Passive Force Endoskeleton Power Assist Suit Reviewed

    Hiroki Inose, Shun Mohri, Yasuyuki Yamada, Taro Nakamura, Kazuya Yokoyama, Isao Kikutani

    PROCEEDINGS OF THE IECON 2016 - 42ND ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   542 - 547   2016

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  • Development of seabed excavation robot with peristaltic crawling Reviewed

    M. Nagai, A. Mizushina, T. Nakamura, F. Sugimoto, K. Watari, H. Nakajo, H. Yoshida

    IEEE International Conference on Intelligent Robots and Systems   2015-   3869 - 3874   2015.12

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    DOI： 10.1109/IROS.2015.7353921

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  • Development of a peristaltic crawling robot for inspection of force main sewer pipes

    Takeru Tomita, Tomoya Tanaka, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015),1A2-12   2015   82 - 83   2015.12

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    In recent years, accidents wherein roads have collapsed because of aging sewer pipes have been widely reported. To prevent such accidents it is necessary to inspect sewer pipes. We have developed a sewer pipe inspection robot inspired by peristalsis, the method that earthworms use to move. This robot comprises seven units, six joints, and a head part with a camera for inspection. In this study, we conducted field tests using actual sewer pipes, and confirmed the functioning, usefulness and potential of the robot.

    DOI： 10.1299/jsmeicam.2015.6.82

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  • Verification of effective motion assistance by a power-assist suit during crouching positions

    Hiroki Inose, Shun Mouri, Taro Nakamura(Chuo Univ, Hiroya Imamura, Isao Kikutani(Nabtesco

    the 6th International Conference on Advanced Mechatronics(ICAM2015)   2015   60 - 61   2015.12

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    Lower back pain has become a serious problem in many workplaces. It is caused by lifting of heavy objects and adopting bad postures such as crouching. We have developed a power-assist suit that effectively eases the lifting-up motion. In this study, we evaluate the effectiveness of the assist suit in crouching positions. To this end, we selected two motion patterns of the assist suit and verified their effectiveness using a force sensor, motion analysis, and electromyography.

    DOI： 10.1299/jsmeicam.2015.6.60

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  • Mixing of Solid Propellant by Peristaltic Pump Based on Bowel Peristalsis

    S. Yoshihama, R. Ban, T. Nakamura, A. Iwasaki, H. Habu

    2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2015-December   3862 - 3868   2015.12

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    DOI： 10.1109/IROS.2015.7353920

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  • Improvement in SMA Artificial Muscle Actuator Protected by Rolled Film Tube

    Toshiya Ishikawa, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015),1P1-01   2015   121 - 122   2015.12

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    Recently, improvement in robots with human affinity is necessary. This improvement can be achieved by designing a telescopic actuator comparable to that of a human muscle cell. We study a shape memory alloy (SMA) actuator protected by a rolled film tube. In the present study, the actuator is inserted into a natural rubber tube and investigated the characteristics.

    DOI： 10.1299/jsmeicam.2015.6.121

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  • Versatile ladder-climbing carrying device using slider crank mechanism

    Yasuyuki Yamada(Chuo Univ, Ryota Yokoto(Keio Uni, Taro Nakamura(Chuo

    the 6th International Conference on Advanced Mechatronics(ICAM2015),1A2-07   2015   72 - 73   2015.12

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    Ladders are used in various places and for a variety of applications because ladders do not need to be installed in large spaces or specific structures. However, humans carrying heavy loads when using a ladder are subject to fatigue and the risk of falling. In this study, we proposed a robot that is capable of climbing various types of ladders using a simple link mechanism.

    DOI： 10.1299/jsmeicam.2015.6.72

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  • Magnetic Field Analysis of the Permanent Magnetic Adhesion Mechanism of a Traveling-Wave-Type Omni-directional Wall Climbing Robot

    Tomohiro Yamaguchi, Tetsuhide Go, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015),2A1-03   2015   241 - 242   2015.12

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    This study describes the development of an omni-directional wall climbing robot with permanent magnets for the purpose of inspecting the walls of ships and gas tanks. The robot travels omnidirectionally and achieves stable movement through its large contact area. We equipped our traveling-wave-type omni-directional robot with a permanent magnetic adhesion mechanism and confirmed its wall-climbing ability. In this study, we analyze the magnetic field of the permanent magnetic adhesion mechanism by using finite element method. An improvement of the permanent magnetic adhesion mechanism based on the results of the analysis is foreseen.

    DOI： 10.1299/jsmeicam.2015.6.241

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  • An automatic Soil-Releasing Mechanism for a Lunar Subsurface Excavation Robot

    Masahiko Konno, Ippei Sawada, Toyoharu Nakatake, Taro Nakamura(Chuo Univ, Takashi Kubota(JAX

    the 6th International Conference on Advanced Mechatronics(ICAM2015)   2015   183 - 184   2015.12

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    We have been developing a lunar subsurface excavation robot using peristaltic crawling based on an earthworm's locomotion. The robot is designed to discharge the excavated soil from the borehole to the ground surface. However, the soil-discharging process is not yet automated. This paper develops and tests two promising soil-discharging mechanisms for automatic soil discharge.

    DOI： 10.1299/jsmeicam.2015.6.183

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  • Junmping and Landing Simulation for a 2-DOF One-Legged Robot with Pneumatic Artificial Muscles and a MR Brake

    Hikaru Ishihara, Takahiro Nagayama, Hiroki Tomori, Taro Nakamura, Chuo

    the 6th International Conference on Advanced Mechatronics(ICAM2015),2A2-02   2015   300 - 301   2015.12

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    We developed a one-legged robot with straight fiber-type artificial muscles and a magnetorheological brake for jumping. In this study, we produced a one-legged robot with 2-DOF, structured the jumping model considering landing and calculated the jumping height by simulation. The result of the simulation shows that the robot was able to jump safely.

    DOI： 10.1299/jsmeicam.2015.6.300

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  • A 1-DOFWearable Force Feedback Device with Pneumatic Artificial Muscles and MR Brake

    Masakazu Egawa, Takumi Watanabe, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015),2A1-04   2015   243 - 244   2015.12

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    A wearable force feedback device enables us to dynamically interact with a virtual object while moving in a wide virtual space. We have developed a wearable force feedback device with a pneumatic artificial muscle and a magnetorheological (MR) brake. These mechanical elements show quick response by feed-forward control and have high power density. In this paper, we tackled on weight saving of the device, and measured basic property again. Afterward, we evaluated whether operators could perceive the difference when rendered different magnitudes of frictional force or elastic force. The operators were rendered one of the five levels of force, and replied which level this force was.

    DOI： 10.1299/jsmeicam.2015.6.243

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  • Development of a peristaltic crawling robot for long-distance sewer pipe inspection with consideration of complex pipe line

    Takeru Tomita, Tomoya Tanaka, Taro Nakamura

    the IEEE International Conference on Intelligent Robots and Systems   2742 - 2747   2015.10

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  • Development of a wearable haptic device with pneumatic artificial muscles and MR brake Reviewed

    Masakazu Egawa, Takumi Watanabe, Taro Nakamura

    2015 IEEE Virtual Reality Conference, VR 2015 - Proceedings   173 - 174   2015.8

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    DOI： 10.1109/VR.2015.7223351

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  • Development of Homo-Robot Using Pneumatic Artificial Muscles

    Shota Yamazki, Tatsuya Kishi, Taro Nakamura

    the 8th International Conference on Intelligent Robotics and Applications   9244   390 - 401   2015.8

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  • Development of a Peristaltic Crawling Inspection Robot for Half-Inch Pipes Using Pneumatic Artificial Muscles Reviewed

    KISHI Tatsuya, IKEUCHI Megumi, NAKAMURA Taro

    SICE JCMSI   8 ( 4 )   256 - 264   2015.7

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    This paper describes the development of an in-pipe inspection robot for use in half-inch pipes. Half-inch pipes are commonly used in factories and residences, and in-pipe inspection is essential for preventing accidents caused by burst pipes or corrosion. In-pipe inspection is currently endoscopically conducted; however, endoscopes cannot be inserted into pipes that are more than 15m long or that have complex shapes, such as elbows. Therefore, various in-pipe inspection robots have been developed, though very few can travel inside half-inch pipes, and none can pass through a 90° elbow. Moreover, no study reports in-pipe robots making long-distance runs within half-inch pipes. The authors have developed a peristaltic crawling inspection robot with pneumatic artificial muscles for use in half-inch pipes; they seek to enable the robot to pass through a 90° elbow and have studied the robot's ability to travel long distances of more than 15m.

    DOI： 10.9746/jcmsi.8.256

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  • Development of insertion-type peristalsis pump using pneumatic artificial muscles Reviewed

    Ryosuke Ban, Yoshiki Kimura, Taro Nakamura

    ADVANCED ROBOTICS   29 ( 13 )   877 - 888   2015.7

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    DOI： 10.1080/01691864.2015.1052847

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  • Study on Geotechnical Tests with a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism Reviewed

    MIZUSHINA Asuka, OMORI Hayato, KITAMOTO Hiroyuki, NAKAMURA Taro, OSUMI Hisashi, KUBOTA Takashi

    SICE JCMSI   8 ( 4 )   242 - 249   2015.7

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    Recently, planetary investigations have accumulated basic data through various aerospace explorations. However, the investigations of underground such as moonquakes, heat, and conditions of the soil have not revealed much. Therefore, the authors have developed a novel, small planetary subsurface excavation robot that uses the peristaltic crawling of an earthworm as its underground propulsion method. In this study, the authors focused on two types of geotechnical tests: pressure meter and shearing tests using the excavation robot. These tests were conducted by measuring displacement and force in the radial and vertical directions inside the soil, using the excavation robot's own hardware system. This paper describes these geotechnical tests, which used the propulsion unit of the robot and measured the soil parameters, e.g., internal friction angle, adhesibility, and elastic constant. From the experiments, the authors evaluated and discussed results by comparing with reference data. The authors confirmed that the propulsion unit could measure the soil parameters and propel itself underground at the same time.

    DOI： 10.9746/jcmsi.8.242

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  • Variable Impedance Control with Variable Viscoelasticity Joint Manipulator for Instantaneous Force Reviewed

    TOMORI Hiroki, NAGAI Suguru, MAJIMA Tatsuo, NAKAMURA Taro

    Transactions of the Society of Instrument and Control Engineers   51 ( 6 )   380 - 389   2015.5

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    Humans perform various motion such as jumping or throwing without high vibration, via variable viscoelasticity characteristics. On the other hand, highly rigid actuators such as geared motors or hydraulic actuators are widely used in industrial robots. It is difficult that they have variable viscoelasticity for them. In addition, to obtain high-speed motion, it is necessary to increase the actuator output as the robot weight increases. We have developed a one-degree-of-freedom manipulator with a variable rheological joint using a straight-fiber-type artificial muscle and a magnetorheological (MR) brake. With the generation of instantaneous force, the dead and rise times decreased compared to the conventional method. After the generation of an arbitrary instantaneous force, we controlled the robot's arm position by applying an equilibrium force on the joint. Furthermore, we controlled the vibrations of the arm by controlling the MR brake using an evaluation function. By this impedance control, response of the arm was improved without large loss of power.

    DOI： 10.9746/sicetr.51.380

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  • Development of an Endoscopic Support Device Using Veering-out Tube with Stiffening Capability by Granular Jamming:—Application to a Large Intestine of Dead Swine— Reviewed

    YANAGIDA Takaichi, KAMAGATA Teppei, NAKAMURA Taro

    Transactions of the Society of Instrument and Control Engineers   51 ( 5 )   290 - 296   2015.5

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    This paper describes a development of an colonoscopic device that veering-out a latex tube with jamming by granular materials and an application to a large intestine of dead swine. Recently, colorectal cancer is increasing. However, the cancer can be cured completely if it is discovered and treated early with a large intestine endoscope. A conventional endoscope can screen and heal the inside of the intestine, but such surgery is difficult for doctors. In this study, in order an attempt to solve these problems, we propose an endoscopic device that veering-out a latex tube with jamming by granular materials. This device can pass through the sigmoid colon of dead swine that is set like a human without difficult operation. Unlike other endoscopic robots, our device can support the endoscope. Thus we can easily perform various functions of the conventional endoscope. Here we explain our device using rice as jamming material. Next, we describe our experiment confirming the efficacy in large intestine model. We also confirm the availability of the endoscopic support device for use in the large intestine of a dead swine.

    DOI： 10.9746/sicetr.51.290

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  • Development of Traveling Wave Type Omni-directional Wall Climbing Robot Using an Adhesion Device with Permanent Magnet Reviewed

    GO Tetsuhide, OSAWA Tatsuya, OGAWA Teruyoshi, NAKAMURA Taro

    Transactions of the Society of Instrument and Control Engineers   51 ( 5 )   282 - 289   2015.5

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    We have developed the traveling wave type omni-directional mobile robot that imitates the snail locomotion mechanism. An advantage of this movement mechanism is that it enables stable motion because of a large contact area. We think that this stable motion is applicable to wall climbing. In this paper, we developed magnetic adhesion mechanism that can be switched adhesion and installed it in the robot. Furthermore, we confirmed the performance of this robot through experiments.

    DOI： 10.9746/sicetr.51.282

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  • Proposed locomotion strategy for a traveling-wave-type omnidirectional wall-climbing robot for spherical surfaces Reviewed

    T. Go, T. Osawa, T. Nakamura

    2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015   2223 - 2228   2015

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    DOI： 10.1109/ROBIO.2015.7419104

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  • Dynamic Characteristic Model for Pneumatic Artificial Muscles Considering Length of Air Tube Reviewed

    Shota Yamazaki, Tatsuya Kishi, Taro Nakamura

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2015, PT I   9244   390 - 401   2015

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    DOI： 10.1007/978-3-319-22879-2_36

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  • Wave-transmitting method for a travelling-wave-type omnidirectional mobile robot Reviewed

    Masashi Konno, Yutaka Mizota, Taro Nakamura

    INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL   42 ( 1 )   19 - 24   2015

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    DOI： 10.1108/IR-10-2014-0401

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  • Throwing operations by manipulator with a 2-DOF variable viscoelastic joint using pneumatic artificial muscles and a magnetorheological brake Reviewed

    T. Nagayama, H. Ishihara, H. Tomori, T. Nakamura

    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   2324 - 2329   2015

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  • Improved Automatic Soil-Releasing Mechanism for a Lunar Subsurface Explorer

    Konno Masashi, Sawada Ippei, Nakatake Toyoharu, Nakamura Taro, Kubota Takashi

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM   2015 ( 0 )   298 - 299   2015

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    We have been developing a lunar subsurface excavation robot using peristaltic crawling based on an earthworm&#039;s locomotion. In existing robots, the excavated soil must be manually removed by humans. To overcome this limitation, we have been developing a mechanism that automatically removes the excavated soil. This paper presents our new automatic soil-release mechanism and demonstrates the performance of the mechanism using a prototype.

    DOI： 10.1299/jsmeicam.2015.6.298

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  • Development of an endskeleton type power assist suit using pneumatic artificial muscles with amplification mechanism Reviewed

    Hiroki Inose, Kazuya Yokoyama, Hiroya Imamura, Isao Kikutani, Taro Nakamura

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   4708 - 4713   2015

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  • Development of Delta-Type Parallel-Link Robot Using Pneumatic Artificial Muscles and MR Clutches for Force Feedback Device Reviewed

    Masatoshi Kobayashi, Junya Hirano, Taro Nakamura

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2015, PT I   9244   410 - 420   2015

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    DOI： 10.1007/978-3-319-22879-2_38

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  • Landing Method for a One-legged Robot with Artificial Muscles and an MR Brake Reviewed

    Hikaru Ishihara, Takahiro Nagayama, Hiroki Tomori, Taro Nakamura

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY   1879 - 1884   2015

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  • Development of a Hydraulic Artificial Muscle for a Deep-Seafloor Excavation Robot with a Peristaltic Crawling Mechanism Reviewed

    Mamoru Nagai, Asuka Mizushina, Taro Nakamura, Fumitaka Sugimoto, Kensuke Watari, Hidehiko Nakajo, Hiroshi Yoshida

    INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2015, PT I   9244   379 - 389   2015

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    DOI： 10.1007/978-3-319-22879-2_35

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  • Development of semi-active-type haptic device using variable viscoelastic elements Reviewed

    Masakazu Egawa, Takumi Watanabe, Taro Nakamura

    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)   9244   421 - 432   2015

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    DOI： 10.1007/978-3-319-22879-2_39

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  • Vibration Reduction for Water Strider Robot using Leg Springs

    Ryo Shimano, Taro Nakamura

    Proceedings of The Sixth International Symposium on Aero Aqua Bio-Mechanisms   240 - 245   2014.11

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  • Satellite, Planetary or Terrestrial Subsurface Explorer Robot Based on Earthworm Locomotion Reviewed

    Hayato Omori, Hiroyuki Kitamoto, Asuka Mizushina, Taro Nakamura, Takashi Kubota

    JOURNAL OF ROBOTICS AND MECHATRONICS   26 ( 5 )   660 - 661   2014.10

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    DOI： 10.20965/jrm.2014.p0660

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  • Development of a Jumping Robot with Pneumatic Artificial Muscles and MR Brake

    H. Ishihara, H. Tomori, T. Majima, T. Nakamura

    14th International Conference on Electrorheological Fluids and Magnetorheological Suspensions(ERMR 2014)   118   2014.7

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  • DEVELOPMENT OF A HEXAPOD WALKING ROBOT USING A STRAIGHT TYPE ARTIFICIAL MUSCLE THAT CAN CARRY A LOAD OF 300 N

    Ryo Shimano, Hiroki Tomori, Takahumi Miyanaga, Taro Nakamura

    Proceedings of the Seventeenth International Conference on Climbing and Walking Robots   393 - 400   2014.7

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  • Development of Semi-Active Haptic Device Using ER Device and Artificial Muscles

    Masakazu Egawa, Hiroki Tomori, Taro Nakamura

    14th International Conference on Electrorheological Fluids and Magnetorheological Suspensions(ERMR 2014)   117   2014.7

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  • Development of a Peristaltic Crawling Subsurface Robot for Satellite and Planets : Cutting Experiments of the Front Part of the Excavation Unit for the Model of the Excavation Resistance Reviewed

    49 ( 5 )   p.31 - 264   2014.5

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  • Development of a peristaltic crawling robot for long-distance inspection of sewer pipes Reviewed

    T. Tanaka, K. Harigaya, T. Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1552 - 1557   2014

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    DOI： 10.1109/AIM.2014.6878304

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  • Evaluation of Energy Efficiency of Insertion-Type Peristalsis Pump Using Pneumatic Artificial Muscles Reviewed

    Ryosuke Ban, Yoshiki Kimura, Taro Nakamura

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014   315 - 320   2014

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  • DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE ROBOT WITH A SPIRAL-TYPE TRAVELING-WAVE-PROPAGATION MECHANISM Reviewed

    Masashi Konno, Yutaka Mizota, Taro Nakamura

    MOBILE SERVICE ROBOTICS   191 - 198   2014

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  • Development of delta robot driven by pneumatic artificial muscles Reviewed

    Junya Hirano, Dai Tanaka, Takumi Watanabe, Taro Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1400 - 1405   2014

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    DOI： 10.1109/AIM.2014.6878278

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  • Development of Traveling Wave Type Omnidirectional Wall Climbing Robot using Permanent Magnetic Adhesion Mechanism and Proposal of Locomotion Strategy for the Robot Reviewed

    Tetsuhide Go, Tatsuya Osawa, Teruyoshi Ogawa, Taro Nakamura

    2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   1000 - 1005   2014

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  • Development of a passive switching cam mechanism for walking assistance using pneumatic artificial muscle Reviewed

    Takuma Kawamura, Marie Noma, Taro Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1486 - 1491   2014

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    DOI： 10.1109/AIM.2014.6878293

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  • Development of an In-pipe Inspection Rovot using Pneumatic Artificial Muscles Based on an earthwarm’s peristaltic crawling Reviewed

    Megumi Ikeuchi, Tatsuya Kishi, Taro Nakamura

    2013 International Workshop on Soft Robotics and Morphological Compulation   24   2013.7

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  • Development of an earthworm inspired robot attached to a colonoscope using bellows-type artificial rubber muscles Reviewed

    Takaichi Yanagida, Kazunori Adachi, Taro Nakamura

    2013 International Workshop on Soft Robotics and Morphological Computation   31   2013.7

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  • Propulsion mechanism for a lunar subterranean excavator using peristaltic crawling Reviewed

    Hiroyuki Kitamoto, Hayato Omori, Hiroaki Nagai, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    Journal of Robotics and Mechatronics   25 ( 3 )   p.466 - 475   2013.6

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    DOI： 10.20965/jrm.2013.p0466

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  • Development of a Novel Bio-Inspired Planetary Subsurface Explorer: Initial Experimental Study by Prototype Excavator With Propulsion and Excavation Units Reviewed

    Hayato Omori, Taro Murakami, Hiroaki Nagai, Taro Nakamura, Takashi Kubota

    IEEE-ASME TRANSACTIONS ON MECHATRONICS   18 ( 2 )   459 - 470   2013.4

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    DOI： 10.1109/TMECH.2012.2222429

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  • Development of Pneumatic Control System for Walking Assist using Dual On/Off valves

    Kenta Takanaka, Taro Nakmura

    the 2013 IEEE International Conference on Mechatronics (ICM)   138 - 143   2013.2

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  • Derivation of mathematical models of the peristaltic crawling robot for maintenance of a mixing tank Reviewed

    Yosuke Morishita, Daisuke Sannohe, Tatsuya Osawa, Tomoya Tanaka, Taro Nakamura

    Nature-Inspired Mobile Robotics   265 - 272   2013.1

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    DOI： 10.1142/9789814525534_0035

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  • Development of two types of maintenance robots for a jacket inside a mixing tank Reviewed

    Tomoya Tanaka, Taro Nakamura, Daisuke Sannohe, Yousuke Morisita, Mitsugu Tanaka

    Nature-Inspired Mobile Robotics   207 - 214   2013.1

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    DOI： 10.1142/9789814525534_0028

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  • Development of a wall climbing robot using the mobile mechanism of traveling waves propagation Reviewed

    Yutaka Mizota, Kazutoshi Takahashi, Yusuke Goto, Taro Nakamura

    Nature-Inspired Mobile Robotics   241 - 248   2013.1

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    DOI： 10.1142/9789814525534_0032

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  • Development of hexapod robot supported mechanically using pneumatic rubber artificial muscles Reviewed

    H. Tomori, Y. Hirata, T. Nakamura, H. Osumi

    Nature-Inspired Mobile Robotics   435 - 442   2013.1

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    DOI： 10.1142/9789814525534_0055

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  • Development of Endoscopic Device to Veer Out a Latex Tube with Jamming by Granular Materials Reviewed

    Takaichi Yanagida, Kazunori Adachi, Taro Nakamura

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   1474 - 1479   2013

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  • Development of a wall climbing robot using the mobile mechanism of continuous traveling waves propagation - Development of a mechanism of wave-absorbing Reviewed

    Yutaka Mizota, Yusuke Goto, Taro Nakamura

    2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013   1508 - 1513   2013

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    DOI： 10.1109/ROBIO.2013.6739680

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  • Development and control of 7-DOF artificial muscle manipulator considering redundancy Reviewed

    Takumi Watanabe, Dai Tanaka, Daich Kamo, Taro Nakamura

    IECON Proceedings (Industrial Electronics Conference)   4091 - 4096   2013

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    DOI： 10.1109/IECON.2013.6699791

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  • Development of a peristaltic crawling robot for sewer pipe inspection Reviewed

    Kensuke Harigaya, Kazunori Adachi, Takaichi Yanagida, Masato Yokojima, Taro Nakamura

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)   2013

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  • Validation of the Measuring Condition for a Planetary Subsurface Explorer Robot That Uses Peristaltic Crawling Reviewed

    Hayato Omori, Taro Murakami, Hiroaki Nagai, Taro Nakamura, Takashi Kubota

    2013 IEEE AEROSPACE CONFERENCE   2013

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  • Development of two Types of 2-DOF Wrist Joint Driven by Pneumatic Artificial Muscles Reviewed

    Dai Tanaka, Daichi Kamo, Masanori Maehara, Taro Nakamura

    2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)   2013

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  • Development of a 7-DOF manipulator actuated by straight-fiber-type pneumatic artificial muscle Reviewed

    Dai Tanaka, Daichi Kamo, Takumi Watanabe, Masanori Maehara, Taro Nakamura

    2013 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM): MECHATRONICS FOR HUMAN WELLBEING   300 - 306   2013

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  • Development of a Peristaltic Crawling Inspection Robot for 1-inch Gas Pipes with Continuous Elbows Reviewed

    Tatsuya Kishi, Megumi Ikeuchi, Taro Nakamura

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   3297 - 3302   2013

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  • Development of an Insertion-type Peristalsis Pump Reviewed

    Ryosuke Ban, Yoshiki Kimura, Taro Nakamura

    2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)   1710 - 1715   2013

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  • Piaget for the Smart Control of Complex Robotized Applications in Industry.

    Hayato Omori, Jean-Daniel Dessimoz, Hiroki Tomori, Taro Nakamura 0001, Hisashi Osumi

    ICINCO 2013 - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics   528 - 535   2013

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    DOI： 10.5220/0004425405280535

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  • Development of 1-DOF manipulator with variable rheological joint for instantaneous force Reviewed

    T. Majima, S. Nagai, H. Tomori, T. Nakamura

    Journal of Physics: Conference Series   412 ( 1 )   2013

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    DOI： 10.1088/1742-6596/412/1/012048

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  • Development of bellows-type artificial rubber muscle and application to peristaltic crawling endoscopic robot Reviewed

    Takaichi Yanagida, Kazunori Adachi, Taro Nakamura

    Journal of Robotics and Mechatronics   25 ( 4 )   748 - 754   2013

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    DOI： 10.20965/jrm.2013.p0748

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  • Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake Reviewed

    H. Tomori, Y. Midorikawa, T. Nakamura

    13TH INTERNATIONAL CONFERENCE ON ELECTRORHEOLOGICAL FLUIDS AND MAGNETORHEOLOGICAL SUSPENSIONS (ERMR2012)   412   2013

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    DOI： 10.1088/1742-6596/412/1/012053

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  • Development of a manipulator with an opposed-placement-type ER clutch contributing to collision force reduction Reviewed

    A. Inoue, N. Kanno, M. Yoshikawa, T. Nakamura

    13TH INTERNATIONAL CONFERENCE ON ELECTRORHEOLOGICAL FLUIDS AND MAGNETORHEOLOGICAL SUSPENSIONS (ERMR2012)   412   2013

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    DOI： 10.1088/1742-6596/412/1/012012

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  • A Discharging Mechanism for a Lunar Subsurface Explorer with the Peristaltic Crawling Mechanism Reviewed

    Asuka Mizushina, Hayato Omori, Hiroyuki Kitamoto, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    PROCEEDINGS OF 6TH INTERNATIONAL CONFERENCE ON RECENT ADVANCES IN SPACE TECHNOLOGIES (RAST 2013)   955 - 960   2013

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  • Soil cutting experiments and evaluation of an earth auger for a planetary subsurface explorer Reviewed

    Hayato Omori, Hiroyuki Kitamoto, Asuka Mizushina, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    RAST 2013 - Proceedings of 6th International Conference on Recent Advances in Space Technologies   941 - 947   2013

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    DOI： 10.1109/RAST.2013.6581350

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  • Development and Control of 1-DOF Manipulator Using Electrostrictive Rubber Actuator Reviewed

    H. Tomori, H. Oshika, T. Nakamura, H. Osumi, K. Hashimoto, A. Nozawa

    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013)   4085 - 4090   2013

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  • Variable Impedance Control with an Artificial Muscle Manipulator Using Instantaneous Force and MR Brake Reviewed

    H. Tomori, S. Nagai, T. Majima, T. Nakamura

    2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   5396 - 5403   2013

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  • DEVELOPMENT OF A PERISTALTIC CRAWLING INSPECTION ROBOT WITH PNEUMATIC ARTIFICIAL MUSCLES FOR A 25A ELBOW PIPE Reviewed

    Tatsuya Kishi, Taro Nakamura, Megumi Ikeuchi

    NATURE INSPIRED MOBILE ROBOTICS   301 - 308   2013

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  • Development of an exsufflation system for peristaltic pump based on bowel peristalsis Reviewed

    Yoshiki Kimura, Kunihiro Saito, Taro Nakamura

    2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013   1235 - 1240   2013

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    DOI： 10.1109/AIM.2013.6584263

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  • Development of an orthosis for walking assistance using pneumatic artificial muscle: A quantitative assessment of the effect of assistance Reviewed

    T. Kawamura, K. Takanaka, T. Nakamura, H. Osumi

    IEEE International Conference on Rehabilitation Robotics   2013

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    DOI： 10.1109/ICORR.2013.6650350

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  • Dynamic characteristics control of 2-DOF manipulator with artificial muscles and differential gear using disturbance observer

    T. Watanabe, D. Kamo, D. Tanaka, T. Nakamura, H. Osumi

    ICINCO 2013 - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics   2   122 - 129   2013

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  • 大腸内視鏡搭載型蠕動運動ロボットの開発

    柳田隆一, 安達和紀, 中村太郎

    日本コンピュータ外科学会誌   392 - 393   2012.10

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  • Experimental study on a new type of subsurface explorer robot with peristaltic crawling mechanism Reviewed

    Takashi Kubota, Hayato Omori, Hiroyuki Kitamura, Taro Nakamura

    Proceedings of the International Astronautical Congress (IAC)   2   1234 - 1239   2012.10

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  • DEVELOPMENT OF A PROPULSION MECHANISM FOR A LUNAR SUBSURFACE EXCAVASION ROBOT WITH PERISTALTIC CRAWLING MECHANISM Reviewed

    Hiroyuki Kitamoto, Hayato Omori, Hiroaki Nagai, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space   2012.9

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  • PATH PLANNING WITH ROBOT’S TRANSFORMATION FOR TRAVELING-WAVE-TYPE MOBILE ROBOT (TORO-IV) Reviewed

    TATSUYA OSAWA, TERUYOSHI OGAWA, TARO NAKAMURA

    Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines   199 - 206   2012.7

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  • Derivation of Mathematical Models of an Ultrasonic Motor and Influence of Temperature Characteristics Reviewed

    18 ( 15 )   15 - 25   2012.6

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  • Construction of a nonlinear dynamic characteristic model of pneumatic artificial rubber muscle manipulator using the magnetorheological (MR) brake Reviewed

    Hiroki Tomori, Yuichiro Midorikawa, Taro Nakamura

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   23 ( 9 )   1011 - 1018   2012.6

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    DOI： 10.1177/1045389X12438621

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  • 軸方向繊維強化型人工筋肉を用いた小腸検査用多段式蠕動運動型ロボットの開発 : 第1報, 小型ロボットにおける弾性管内の走行と内視鏡との切り離しに関する検討

    安達 和紀, 横島 真人, 樋高 裕也, 中村 太郎

    日本フルードパワーシステム学会論文集   43 ( 3 )   77 - 84   2012.5

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    There are diseases of the small intestine such as Crohn's disease or Polyp that cause Intussusception. These diseases were not discovered before using an conventional endoscope and the small intestine was called "The Dark Continent". Recently, these diseases are inspected by a Double-Balloon Endoscope or Capsule Endoscope. However, the method used for these inspections have a few problems. Therefore, we proposed a new method of inspecting the small intestine. Utilizing our past research, we developed a robot for the small intestine using peristaltic crawling. The robot is attached to a conventional endoscope. When the endoscope reaches the small intestine, the robot is detached from the endoscope and moves forward and observes and treats the afflictions. In this paper, we fabricated the prototype and experimented in an acrylic pipe and elastic tube. In addition, we confirmed that the robot and endoscope can be separated in any place.

    DOI： 10.5739/jfps.43.77

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  • End-Effector Stiffness Control of 6-DOF Artificial Muscle Manipulator Considering Instantaneous Load Reviewed

    TOMORI Hiroki, TANAKA Daisuke, MAEHARA Masanori, KAMO Daichi, NAKAMURA Taro

    Transactions of The Japan Hydraulics & Pneumatics Society   43 ( 3 )   70 - 84   2012.5

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    Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. Therefore, we developed a 6-DOF artificial muscle manipulator, which has a wider moveable range than that using McKibben-type artificial muscle. However, this manipulator vibrates when receiving a sudden load, because the artificial muscle is flexible. For this problem, we suggest that control of joint stiffness is effective. In this paper, we controlled joint stiffness of the 6-DOF artificial muscle manipulator, and obtained a compliance ellipse of the end-effector. In addition, this manipulator controlled vibration of the end-effector by changing joint stiffness depending on the position of the end-effector.

    DOI： 10.5739/jfps.43.70

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  • Subsurface Explorer Robot with Peristaltic Crawling Mechanism Reviewed

    Takashi Kubota, Hayato Omori, Taro Murakami, Hiroaki Nagai, Taro Nakamura

    ASCE Earth and Space 2012 Conference   15 - 18   2012.4

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  • Nonlinear model of artificial muscle manipulator with MR fluid Reviewed

    Hiroki Tomori, Taro Nakamura

    <I>International symposium on Advanced Motion Control 2012 (AMC 2012)</I>   2012.3

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  • Estimation of Joint Stiffness Using Instantaneous Loads via an Electromyogram and Application to a Master-Slave System with an Artificial Muscle Manipulator Reviewed

    Taro Nakamura, Masanori Maehara, Daisuke Tanaka, Hiroyuki Maeda

    ADVANCED ROBOTICS   26 ( 7 )   799 - 816   2012

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    DOI： 10.1163/156855312X626334

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  • Development of Peristaltic Crawling Robot with Artificial Rubber Muscles Attached to Large Intestine Endoscope Reviewed

    Taro Nakamura, Yuya Hidaka, Masato Yokojima, Kazunori Adachi

    ADVANCED ROBOTICS   26 ( 10 )   1161 - 1182   2012

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    DOI： 10.1080/01691864.2012.687139

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  • DEVELOPMENT OF A PERISTALTIC CRAWLING ROBOT WITH BELLOWS-TYPE ARTIFICIAL RUBBER MUSCLES FOR SEWER PIPE INSPECTION Reviewed

    Takaichi Yanagida, Taro Nakamura, Masato Yokojima, Kazunori Adachi

    ADAPTIVE MOBILE ROBOTICS   631 - 638   2012

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  • Development of an In-pipe Inspection Robot for Narrow Pipes and Elbows using Pneumatic Artificial Muscles Reviewed

    Megumi Ikeuchi, Taro Nakamura, Dai Matsubara

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   926 - 931   2012

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  • USING PNEUMATIC ARTIFICIAL MUSCLE IN DEVELOPMENT OF IN-PIPE INSPECTION ROBOT FOR NARROW PIPES BASED ON AN EARTHWORM'S PERISTALTIC CRAWLING MOTION Reviewed

    Megumi Ikeuchi, Shota Horii, Dai Matsubara, Taro Nakamura

    ADAPTIVE MOBILE ROBOTICS   191 - 198   2012

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  • Motion Control of Instantaneous Force for an Artificial Muscle Manipulator with Variable Rheological Joint Reviewed

    Hiroki Tomori, Suguru Nagai, Tatsuo Majima, Taro Nakamura

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)   2012

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  • Path tracking method for traveling-wave-type omnidirectional mobile robot (TORoIII) Reviewed

    Teruyoshi Ogawa, Taro Nakamura

    Journal of Robotics and Mechatronics   24 ( 2 )   340 - 346   2012

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    DOI： 10.20965/jrm.2012.p0340

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  • Development of a peristaltic crawling robot attached to a large intestine endoscope using bellows - type artificial rubber muscles Reviewed

    Takaichi Yanagida, Kazunori Adachi, Masato Yokojima, Taro Nakamura

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)   2935 - 2940   2012

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  • Development of a peristaltic pump based on bowel peristalsis improvement of closing area rates and suction pressure measurement Reviewed

    Kunihiro Saito, Yoshihiro Hirayama, Yoshiki Kimura, Taro Nakamura

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics   949 - 954   2012

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    DOI： 10.1109/BioRob.2012.6290682

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  • Derivation of nonlinear dynamic model of novel pneumatic artificial muscle manipulator with a magnetorheological brake Reviewed

    Hiroki Tomori, Yuichiro Midorikawa, Taro Nakamura

    International Workshop on Advanced Motion Control, AMC   2012

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    DOI： 10.1109/AMC.2012.6197020

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  • Development of peristaltic crawling robot moving between two narrow, vertical planes Reviewed

    Daisuke Sannohe, Yosuke Morishita, Shota Horii, Taro Nakamura

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics   1365 - 1370   2012

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    DOI： 10.1109/BioRob.2012.6290726

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  • High-Speed Reversal Control of One-Degree-of-Freedom Manipulator by Energy Dissipation Effect of ER Clutches Reviewed

    Taro Nakamura, Masahiro Yoshikawa, Kazuhiko Boku

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   22 ( 15 )   1739 - 1743   2011.10

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    DOI： 10.1177/1045389X11420589

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  • DEVELOPMENT OF AN OMNIDIRECTIONAL WALL-CLIMBING ROBOT BY USING TRAVELING WAVE PROPAGATION Reviewed

    TARO NAKAMURA, AND TORU HAYAKAWA

    <I>Proceedings of CLAWAR 2011: the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines</I>   165 - 172   2011.9

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  • PROPOSED OMN-IDIRECTIONAL LOCOMOTION STRATEGYFOR TRAVELING-WAVE-TYPE MOBILE ROBOT (TOROIII) Reviewed

    TERUYOSHI OGAWA, MASAYUKI YAMAMOTO, AND TARO NAKAMURA

    <I>Proceedings of CLAWAR 2011: the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines</I>   127 - 134   2011.9

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  • Orbit Tracking Control of 6-DOF Lubber Artificial Muscle Manipulator Considering Nonlinear Dynamics Model Reviewed

    TOMORI Hiroki, MAEDA Hiroyuki, NAKAMURA Taro

    TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series A   77 ( 779 )   2742 - 2755   2011.8

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    Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these muscles have highly nonlinear characteristics, as well as high compliance and a strong hysteresis characteristic. Hence, it is difficult to control the artificial muscle manipulator. In this study, we developed nonlinear dynamics model of the artificial muscle, investigate nonlinear dynamics characteristics of the muscle. In addition, considering nonlinear dynamic characteristics of the artificial muscle, we implore control speck of 6-DOF artificial muscle manipulator.

    DOI： 10.1299/kikaic.77.2742

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  • POSITION AND VIBRATION CONTROL OF VARIABLE RHEOLOGICAL JOINTS USING ARTIFICIAL MUSCLES AND MAGNETO-RHEOLOGICAL BRAKE Reviewed

    Taro Nakamura, Yuichiro Midorikawa, Hiroki Tomori

    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS   8 ( 1 )   205 - 222   2011.3

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    DOI： 10.1142/S021984361100240X

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  • Development of a Peristaltic Pump Based on Bowel Peristalsis using Artificial Rubber Muscle Reviewed

    Taro Nakamura, Kazuyuki Suzuki

    ADVANCED ROBOTICS   25 ( 3-4 )   371 - 385   2011

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    DOI： 10.1163/016918610X552196

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  • The position and vibration control of the artificial muscle manipulator by variable viscosity coefficient using MR brake Reviewed

    Suguru Nagai, Hiroki Tomori, Yuichiro Midorikawa, Taro Nakamura

    IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY   2011

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  • HIGH SPEED SWITCHING CONTROL OF 1DOF MANIPULATOR USING ER CLUTCH Reviewed

    Masahiro Yoshikawa, Kazuhiko Boku, Taro Nakamura

    ELECTRO-RHEOLOGICAL FLUIDS AND MAGNETO-RHEOLOGICAL SUSPENSIONS   68 - 73   2011

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  • Development of a manipulator with straight-fiber-type artificial muscle and differential gear mechanism Reviewed

    Daichi Kamo, Masanori Maehara, Daisuke Tanaka, Taro Nakamura

    IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY   2011

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  • NONLINEAR DYNAMIC CHARACTERISTIC MODEL OF ARTIFICIAL RUBBER MUSCLE MANIPULATOR USING MR BRAKE Reviewed

    Hiroki Tomori, Yuichiro Midorikawa, Taro Nakamura

    ELECTRO-RHEOLOGICAL FLUIDS AND MAGNETO-RHEOLOGICAL SUSPENSIONS   136 - 141   2011

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  • Development of a Peristaltic Pump Based on Bowel Peristalsis Verification of the basic characteristic considered change of motion patterns Reviewed

    Yoshihiro Hirayama, Kazuyuki Suzuki, Taro Nakamura

    2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)   748 - 753   2011

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  • Development of endoscopic robot and experiment in the large intestine of dead swine Reviewed

    Kazunori Adachi, Masato Yokojima, Yuya Hidaka, Taro Nakamura

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   467 - 472   2011

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    DOI： 10.1109/ROBIO.2011.6181330

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  • Development of multistage type endoscopic robot based on peristaltic crawling for inspecting the small intestine Reviewed

    K. Adachi, M. Yokojima, Y. Hidaka, T. Nakamura

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   904 - 909   2011

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    DOI： 10.1109/AIM.2011.6027001

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  • Planetary subsurface explorer robot with propulsion units for peristaltic crawling Reviewed

    H. Omori, T. Murakami, H. Nagai, T. Nakamura, T. Kubota

    Proceedings - IEEE International Conference on Robotics and Automation   649 - 654   2011

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    DOI： 10.1109/ICRA.2011.5979824

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  • Self-localization and 3-D model construction of pipe by earthworm robot equipped with omni-directional rangefinder Reviewed

    Atsushi Yamashita, Kenki Matsui, Ryosuke Kawanishi, Toru Kaneko, Taro Murakami, Hayato Omori, Taro Nakamura, Hajime Asama

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011   1017 - 1023   2011

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    DOI： 10.1109/ROBIO.2011.6181421

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    Other Link： https://dblp.uni-trier.de/rec/conf/robio/2011

  • High-Speed Reverse Control of a Soft Manipulator using an Electrorheological Clutch Reviewed

    Akio Inoue, Masahiro Yoshikawa, Taro Nakamura

    IECON 2011: 37TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY   2011

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  • Joint Stiffness and Position Control of an Artificial Muscle Manipulator for Instantaneous Loads Using a Mechanical Equilibrium Model Reviewed

    Taro Nakamura, Daisuke Tanaka, Hiroyuki Maeda

    ADVANCED ROBOTICS   25 ( 3-4 )   387 - 406   2011

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    DOI： 10.1163/016918610X552169

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  • Theoretical comparison of McKibben-type artificial muscle and novel straight-fiber-type artificial muscle Reviewed

    Hiroki Tomori, Taro Nakamura

    International Journal of Automation Technology   5 ( 4 )   544 - 550   2011

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    DOI： 10.20965/ijat.2011.p0544

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  • Development of an Elephant’s Trunk-Type Hyper-Redundant Manipulator Constituted of 3-RRS Parallel Link Mechanisms Reviewed

    Tomori Ohtaka, Atsushi Kusumoto, Taro Nakamura

    <I>Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)</I>   2010.10

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  • Development of 3-DOF Soft Manipulator with ER Fluid Clutches Reviewed

    Kazuhiko Boku, Taro Nakamura

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   21 ( 15 )   1563 - 1567   2010.10

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    DOI： 10.1177/1045389X09351758

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  • Development of an In-Pipe Peristaltic Crawling Mobile Robot and Derivation of Theoretical Model Reviewed

    Shota Horii, Taro Nakamura, Kohei Aoki

    <I>Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)</I>   2010.10

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  • Peristaltic Crawling Robot with Artificial Rubber Muscles Attached to Large Intestine Endoscope (2010.10) Reviewed

    Yuya Hidaka, Masato Yokojima, Taro Nakamura

    <I>Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)</I>   2010.10

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  • DEVELOPMENT OF AN IN-PIPE MOBILE ROBOT FOR USE AS AN INDUSTRIAL ENDOSCOPE BASED ON AN EARTHWORM’S PERISTALTIC CRAWLING Reviewed

    SHOTA HORII, TARO NAKAMURA, KOHEI AOKI

    <I>Proceedings of International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines|rn| (CLAWAR2010)</I>   141   141 - 149   2010.8

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  • An Earth Auger as Excavator for Planetary Underground Explorer Robot Using Peristaltic Crawling Reviewed

    H. Omori, T. Murakami, H. Nagai, T. Nakamura|rn, T. Kubota

    <I>Proceedings of The 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space]</I> (i-SAIRAS2010)   784   784 - 789   2010.8

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  • 等価伝達関数を用いたリライアブル制御手法の故障個所判定 Reviewed

    石川薫, 中村太郎, 大隅久

    計測自動制御学会産業論文集   9 ( 8 )   53 - 60   2010.8

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  • Development of mobile robots based on peristaltic crawling of an earthworm Reviewed

    Hayato Omori, Taro Nakamura, Tomohide Iwanaga, Takeshi Hayakawa

    Robotics : Current and Future Challenges   230 - 299   2010.2

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  • Estimation of joint stiffness using EMG and application to master-slave system with an artificial muscle manipulator Reviewed

    M. Maehara, D. Tanaka, H. Maeda, T. Nakamura

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication   743 - 748   2010

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    DOI： 10.1109/ROMAN.2010.5598703

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  • Development of a Peristaltic Pump Based on Bowel Peristalsis Using for Artificial Rubber Muscle Reviewed

    Kazuyuki Suzuki, Taro Nakamura

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)   2010

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  • PERISTALTIC CRAWLING ROBOT WITH ARTIFICIAL RUBBER MUSCLES FOR LARGE INTESTINE ENDOSCOPY Reviewed

    Yuya Hidaka, Taro Nakamura, Yuki Hori

    MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES   225 - 232   2010

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  • Locomotion strategies for an omni-directional mobile robot using traveling waves propagation Reviewed

    Taro Nakamura, Kuniaki Sato

    Proceedings - IEEE International Conference on Robotics and Automation   3769 - 3774   2010

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    DOI： 10.1109/ROBOT.2010.5509838

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  • DEVELOPMENT OF AN EXCAVATION ROBOT BASED ON AN EARTHWORM'S PERISTALTIC CRAWLING Reviewed

    Hiroaki Nagai, Taro Nakamura, Hayato Omori, Taro Murakami

    EMERGING TRENDS IN MOBILE ROBOTICS   1089 - 1096   2010

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  • Development of a wave propagation type wall-climbing robot using a fan and slider cranks Reviewed

    T. Hayakawa, T. Nakamura, H. Suzuki

    Proceedings of <I>12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines</I>|rn|(CLAWAR2009)   439   439 - 446   2009.9

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  • 位置サーボ系における電流フィードバック欠損時の等価伝達関数を用いたリライアブル制御 Reviewed

    石川薫, 中村太郎, 大隅久

    計測自動制御学会産業論文集   9 ( 16 )   2009.8

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  • Excavation Mechanism for a Planetary Underground Explorer Robot Reviewed

    Hayato Omori, Taro Nakamura, Takayuki Yada, rn|Taro Murakami, Hiroaki Nagai

    <I>Proceedings of The joint conference of the 41st International Symposium on Robotics (ISR 2010)</I>   1273 - 1279   2009.6

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  • Variable Rheological Joints Using an Artificial Muscle Soft Actuator and Magneto-Rheological Fluids Brake Reviewed

    Yuichiro Midorikawa, Taro Nakamura

    INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGS   5928   504 - 514   2009

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  • Development of 3 DOF manipulator using ER fluid clutches for reduction of collision force Reviewed

    Kazuhiko Boku, Taro Nakamura

    Journal of Physics: Conference Series   149 ( 1 )   p.012002   2009

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    DOI： 10.1088/1742-6596/149/1/012002

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  • Reliable control using disturbance observer and equivalent transfer function for position servo system in current feedback loop failure Reviewed

    Kaoru Ishikawa, Taro Nakamura, Hisashi Osumi

    IEEJ Transactions on Electronics, Information and Systems   129 ( 12 )   2194 - 2200   2009

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    DOI： 10.1541/ieejeiss.129.2194

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  • Reliable Control During Current Loop Failure Using ETF for Position Servo System including Disturbance Observer Reviewed

    K. Ishikawa, T. Nakamura, H. Osumi

    ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7   1041 - 1046   2009

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  • An underground explorer robot based on peristaltic crawling of earthworms Reviewed

    Hayato Omori, Taro Nakamura, Takayuki Yada

    INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL   36 ( 4 )   358 - 364   2009

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    DOI： 10.1108/01439910910957129

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  • Development of a 6-DOF Manipulator Actuated with a Straight-Fiber-Type Artificial Muscle Reviewed

    Hiroyuki Maeda, Hidekazu Nagai, Taro Nakamura

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS   607 - 612   2009

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  • Joint Stiffness and Position Control of an Artificial Muscle Manipulator Considering Instantaneous Load Reviewed

    Daisuke Tanaka, Hiroyuki Maeda, Taro Nakamura

    IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6   2128 - 2133   2009

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  • Reliable control using ETF and FDI during current loop failure for position servo system including disturbance observer Reviewed

    Atsutoshi Karino, Kaoru Ishikawa, Taro Nakamura

    IECON Proceedings (Industrial Electronics Conference)   3156 - 3161   2009

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    DOI： 10.1109/IECON.2009.5415305

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  • Development of an underground explorer robot based on peristaltic crawling of earthworms Reviewed

    Hayato Omori, Taro Nakamura, Takayuki Yada

    <I>Proceedings of 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines</I> (CLAWAR2008)   1053 - 1060   2008.9

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  • Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment Reviewed

    Taro Nakamura, Yuki Akamatsu, Yuta Kusaka

    Journal of Robotics and Mechatronics   20 ( 4 )   634 - 640   2008.4

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  • Reliable Control Using Equivalent Transfer Function for Position Servo System in Current Loop Failure Reviewed

    Kaoru Ishikawa, Taro Nakamura, Hisashi Osumi

    IECON 2008: 34TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-5, PROCEEDINGS   284 - 288   2008

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  • Position and Compliance Control of an Artificial Muscle Manipulator using a Mechanical Equilibrium Model Reviewed

    Hiroyuki Maeda, Hidekazu Nagai, Hirotomo Saito, Taro Nakamura

    IECON 2008: 34TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-5, PROCEEDINGS   3317 - 3322   2008

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  • Development of an omni-directional mobile robot using traveling waves based on snail locomotion Reviewed

    Taro Nakamura, Kuniaki Satoh

    INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL   35 ( 3 )   206 - 210   2008

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    DOI： 10.1108/01439910810868516

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  • Locomotion and Turning Patterns of a Peristaltic Crawling Earthworm Robot Composed of Flexible Units Reviewed

    Hayato Omori, Takeshi Hayakawa, Taro Nakamura

    2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS   1630 - 1635   2008

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  • Locomotion strategy for a peristaltic crawling robot in a 2-dimensional space Reviewed

    Taro Nakamura, Tomohide Iwanaga

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9   238 - 243   2008

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  • Development of an amphibious hexapod robot based on a water strider Reviewed

    Soh Fujii, Taro Nakamura

    <I>Proceedings of 10th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines</I>(CLAWAR2007)   135 - 143   2007.7

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  • Mathematical model of pneumatic artificial muscle reinforced by straight fibers Reviewed

    Norihiko Saga, Taro Nakamura, Kenji Yaegashii

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   18 ( 2 )   175 - 180   2007.2

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    DOI： 10.1177/1045389X06063462

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  • Earth-worm typed drilling robot for subsurface planetary exploration Reviewed

    Takashi Kubota, Kenji Nagaoka, Satoru Tanaka, Taro Nakamura

    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5   1394 - +   2007

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  • Position and force control based on mathematical models of pneumatic artificial muscles reinforced by straight glass fibers Reviewed

    Taro Nakamura, Hitomi Shinohara

    Proceedings - IEEE International Conference on Robotics and Automation   4361 - 4366   2007

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    DOI： 10.1109/ROBOT.2007.364151

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  • Development of a soft manipulator with flexible joints using smart fluid and pneumatics cushion for collision with human Reviewed

    Yuki Akamatsu, Taro Nakamura, Yuta Kusaka

    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3   488 - 493   2007

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  • DEVELOPMENT OF AN OMNI-DIRECTIONAL MOBILE ROBOT BASED ON SNAIL LOCOMOTION Reviewed

    Kuniaki Satoh, Taro Nakamura

    ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS   144 - 152   2007

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  • Experimental comparisons between McKibben Type artificial muscles and Straight fibers type artificial muscles Reviewed

    Taro Nakamura

    Proceedings of SPIE - The International Society for Optical Engineering   6414   2007

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    DOI： 10.1117/12.698845

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  • Derivation of a mathematical model for artificial muscles Reviewed

    Hitomi Shinohara, Taro Nakamura

    <I>Proceedings of 4th IFAC Symposium on Mechatronic system</I>(Mechatronics2006)   266 - 270   2006.9

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  • Development of pneumatic cushion with an impact sensor Reviewed

    Yosuke EGUCHI, Taro NAKAMURA

    <I>Proceedings of 4th IFAC Symposium on Mechatronic systems</I>(Mechatronics2006)   1002 - 1005   2006.9

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  • Peristaltic Crawling Robot Based on the Locomotion Mechanism of Earthworms Reviewed

    Taro Nakamura, Takashi Kato, Tomohide Iwanaga, Yoichi Muranaka

    <I>Proceedings of 4th IFAC Symposium on Mechatronic systems</I>(Mechatronics2006)   139 - 144   2006.9

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  • Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion Reviewed

    Taro Nakamura, Takashi Kato, Tomohide Iwanaga, Yoichi Muranaka

    Journal of Robotics and Mechatronics   18 ( 3 )   299 - 304   2006.5

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    DOI： 10.20965/jrm.2006.p0299

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  • Development of a Peristaltic Crawling Robot Using Servo Motors Based on the Locomotion Mechanism of Earthworms Reviewed

    Taro Nakamura, Takashi Kato, Tomohide Iwanaga, Yoichi Muranaka

    <I>Proceedings of IEEE International Conference on Robotics and Automation</I>(ICRA2006)   4342   4342 - 4344   2006.4

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  • Development of Peristaltic Crawling Robot Using Artificial Muscle Actuator Reviewed

    SAGA Norihiko, UEDA Shinya, NAKAMURA Taro

    Transactions of the Society of Instrument and Control Engineers   41 ( 12 )   1013 - 1018   2005.12

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    At present, there are various kinds of locomotion mechanisms of robots such as bipedal locomotion, locomotion on wheels, and meandering. All of these mechanisms need a lot of space. But the locomotion mechanism which needs only a slight amount of space is the peristaltic crawling of earthworms. Moreover, this is more stable than any other locomotion mechanisms. Therefore, we pay attention to the peristaltic crawling of earthworms, which will replace the mechanisms of locomotion on wheels or on foot, aiming to develop an earthworm type robot mobile on unleveled ground, narrow roads, in a heap of rubble, or inside the tubes of nuclear power plants. This paper reports on the characters of pneumatic artificial muscle actuator suggested by us, the design of an experimental peristaltic crawling type robot using the actuators, and their evaluation results.

    DOI： 10.9746/sicetr1965.41.1013

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  • Development of a Manipulator with Flexible Joints Using Smart Fluid:Reduction of Contact Forces on a Human Body and Vibration Control Reviewed

    NAKAMURA Taro, SAGA Norihiko, NAKAZAWA Masaru, KAWAMURA Takashi

    Transactions of the Society of Instrument and Control Engineers   40 ( 10 )   1060 - 1066   2004.10

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    Recently, as robots and humans have increasingly come to share common spaces especially in the fields of the medicine and home automation, it has become necessary to consider the frequent physical contact of robots and humans. However, many robot joints have actuators with high-ratio gear trains. Therefore, when this type robot comes in to human contact, such a robot may cause pain.<br>This study describes the development of a manipulator using a smart flexible joint composed of an ER fluid. Further, a torque controller designed in light of human pain tolerance is applied to the soft manipulator. Simulation and experimental results demonstrate the effectiveness of the manipulator.

    DOI： 10.9746/sicetr1965.40.1060

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  • Viscous Coefficient Control of Homogeneous ER Fluid Using a Sliding Mode Control Method Reviewed

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa

    IEEJ Transactions on Industry Applications   124 ( 2 )   247 - 254   2004.9

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    DOI： 10.1541/ieejias.124.247

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  • Development of a peristaltic crawling robot using magnetic fluid on the basis of the locomotion mechanism of the earthworm Reviewed

    Norihiko Saga, Taro Nakamura

    Smart Materials and Structures   13 ( 3 )   566 - 569   2004.6

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    DOI： 10.1088/0964-1726/13/3/016

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  • A Prototype of Peristaltic Robot Using Pneumatic Artificial Muscle Reviewed

    Norihiko Saga, Taro Nakamura

    <I>Intelligent autonomous system</I>   8 ( 1 )   85 - 95   2004.3

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  • Variable viscous control of a homogeneous ER fluid device considering its dynamic characteristics Reviewed

    T Nakamura, N Saga, M Nakazawa

    MECHATRONICS   14 ( 1 )   55 - 68   2004.2

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    DOI： 10.1016/S0957-4158(02)00095-8

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  • Study on Electro-Magnetic Noise of Brushless Alternator for Hybrid Electric Vehicle Reviewed

    Norihiko Saga, Junya Nagase, Taro Nakamura

    <I>The 2<SUP>nd</SUP> International Conference on Mechatronics and Information Technology</I>(ICMIT2003)   565 - 569   2003.12

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  • Thermal effects of a homogeneous ER fluid device Reviewed

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa

    Journal of Intelligent Material Systems and Structures   14 ( 2 )   87 - 91   2003.2

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    DOI： 10.1177/1045389X03014002003

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  • Development of a pneumatic artificial muscle based on biomechanical characteristics

    T Nakamura, N Saga, K Yaegashi

    2003 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1 AND 2, PROCEEDINGS   729 - 734   2003

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  • Study on peristaltic crawling robot using artificial muscle actuator Reviewed

    N Saga, T Nakamura, S Ueda

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2   679 - 684   2003

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    DOI： 10.1109/aim.2003.1225176

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  • Development of a soft manipulator using a smart flexible joint for safe contact with humans Reviewed

    T Nakamura, N Saga, M Nakazawa, T Kawamura

    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2   441 - 446   2003

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    DOI： 10.1109/aim.2003.1225136

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  • Viscous Control of a Rotating Device Using Smart Fluid Reviewed

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa, Takashi Kawamura

    <I>Proceedings of Seventh International Conference on Control, Automation, Robotics and Vision </I>(ICARCV2002)   447 - 452   2002.12

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  • Variable Damping Control of a Semi-Active Device Using Homogeneous ER Fluid

    NAKAMURA Taro, SAGA Norihiko, NAKAZAWA Masasu

    IEEJ Transactions on Industry Applications   122 ( 11 )   1045 - 1050   2002.11

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    The purpose of this study is to apply the variable damping impedance control to semi-active system using the homogeneous ER (Electro-rheorogical) fluid. A homogeneous ER fluid is constituted by liquid crystal or polymer liquid crystal, and it can change the apparent viscosity under a Newtonian fluid by applying the electric field. Then, when the fluid is applied for device of the machine system, the system can be used as a variable viscous damper. However, these systems have a lot of parameter variations or nonlinear elements. Therefore, some feedback compensations are necessary for these systems to keep up more precisely viscosity.&lt;br&gt;In this paper, we apply the force-based damping control to the homogeneous ER clutch in order to use the characteristics of the fluid enough. We apply the damping control based on the force control to keep up more precisely viscosity. The result of our experiment clearly has shown that the viscosity of the clutch is more certainly controlled by the force-based impedance control.

    DOI： 10.1541/ieejias.122.1045

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  • Impedance control of a single shaft-type clutch using homogeneous electrorheological fluid Reviewed

    T Nakamura, N Saga, M Nakazawa

    JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   13 ( 7-8 )   465 - 469   2002.7

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    DOI： 10.1106/104538902029068

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  • Elucidation of propulsive force of microrobot using magnetic fluid Reviewed

    N Saga, T Nakamura

    JOURNAL OF APPLIED PHYSICS   91 ( 10 )   7003 - 7005   2002.5

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    DOI： 10.1063/1.1452197

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  • Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm Reviewed

    N Saga, T Nakamura

    SMART STRUCTURES, DEVICES, AND SYSTEMS   4935   369 - 377   2002

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    DOI： 10.1117/12.476128

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  • Position Control of an Oil Hydraulic System

    Taro Nakamura, Norihiko Saga, Yoshio Takahashi

    <I>Proceedings of the first International Science Forum</I>   331 - 334   2001.10

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  • Development and Fundamental Characteristic of One-Shaft Type ER Clutch

    Norihiko Saga, Taro Nakamura, Masaru Nakazawa

    IEEJ Transactions on Industry Applications   121 ( 10 )   1055 - 1060   2001.9

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    DOI： 10.1541/ieejias.121.1055

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  • Development and Evaluation of One Shaft type ER Clutch Reviewed

    Journal of Robotics and Mechatronics   13 ( 4 )   432 - 437   2001.8

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  • Impedance Control of a One Shaft Type Clutch Using Homogeneous Electrorheological Fluid Reviewed

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa

    <I>Proceedings of Eighth International Conference on Electrorheological Fluids and Magnetorheological Suspensions </I>(ERMR2001)   153 - 259   2001.7

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  • Study on Temperature Characteristics of a Clutch Using Homogeneous ER Fluid

    Taro Nakamura, Norihiko Saga, Yoshio Takahashi, Masaru Nakazawa

    IEEJ Transactions on Industry Applications   121 ( 12 )   1243 - 1249   2001

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    DOI： 10.1541/ieejias.121.1243

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  • Development and Experiment of ER Clutch for Robot Arms Reviewed

    Norihiko Saga, Taro Nakamura, Yoshio Takahashi

    <I>Proceedings of the fifth international conference on motion and vibration control </I>(MOVIC2000)   2   649 - 654   2000.12

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  • Performance Evaluation of Several Robust Controls Application to Electrical Oil Hydraulic System Reviewed

    Taro Nakamura, Yoshihiro Sasaki, Norihiro Saga, Yoshio Takahashi

    <I>Proceedings of Sixth Triennial International Symposium on Fluid Control, Measurement and Visualization </I>(FLUCOME2000)   110   1 - 6   2000.9

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  • 電気油圧サーボ系のロバスト制御に関する研究（比例弁・油圧シリンダ系の位置制御） Reviewed

    佐々木芳弘, 中村太郎, 高橋義雄

    日本油圧学会論文集   31 ( 2 )   44 - 49   2000.3

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  • 電気油圧サーボ系のロバスト制御系設計

    中村 太郎, 佐々木 芳宏, 高橋 義雄

    油空圧講演論文集   10 ( 2 )   73 - 75   1998.11

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Books

  • ロボット工学ハンドブック 第3版

    日本ロボット学会（PP245-247）

    コロナ社  2023.3  （ ISBN:9784339046793 ）

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    Total pages：ix, 1072p   Language：Japanese  

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  • Robotics for Sustainable Future CLAWAR 2021

    （ Role： Edit）

    2021.9 

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  • 生物の優れた機能から着想を得た新しいものづくり―バイオミメティクスからの発展―

    中村太郎, 山田泰之（ Role： Joint author「ソフトアクチュエーションによる生物型ロボティクス・メカトロニクス」）

    シーエムシー出版  2018.11 

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  • 動物の特殊な機能を規範としたロボット

    中村太郎（ Role： Joint author動物の特殊な機能を規範としたロボット）

    丸善出版  2018.9 

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  • オーグメンテッド・ヒューマン Augmented Human～AIと人体科学の融合による人機一体、究極のIFが創る未来～

    （ Role： Joint author）

    S&T出版  2018.1 

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  • 実用化に向けたソフトアクチュエータの開発と応用・制御技術

    中村 太郎, 戸森 央貴（ Role： Joint author開発研究編第3章）

    シーエムシー出版  2017.3 

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  • ソフトアクチュエータの材料・構成・応用技術

    （ Role： Joint author8章）

    &T 出版  2016.11 

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  • 先生、物理っておもしろいんですか？

    パリティ編集委員会編（ Role： Joint author担当：ロボットの動きをデザインする）

    丸善出版  2015.5 

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    Total pages：216   Language：Japanese   Book type：Scholarly book

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

    （ Role： Joint author担当：空気圧ゴム人口筋肉の開発とロボットシステムへの応用）

    技術情報協会  2015.4 

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    Total pages：590   Language：Japanese   Book type：Scholarly book

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  • 生物模倣技術と新材料・新製品開発への応用

    （ Role： Joint author担当：ミミズの蠕動運動を規範としたロボット設計と様々な分野への応用）

    技術情報協会  2014.7 

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  • 筋機能改善の理学療法とそのメカニズム(第3版)

    望月久, 山田茂編著（ Role： Joint author担当：第13章「人工筋肉の開発と拮抗関節への応用」）

    ナップ  2014.5 

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  • 図解 人工筋肉 ソフトアクチュエータが拓く世界

    （ Role： Sole author）

    日刊工業新聞社  2011.11 

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  • 日本機械学会教科書：ロボティクス

    中村太郎, 日本機械学会編, ロボティクスメカトロニクス部門出版委員会（ Role： Joint author）

    一般公益法人 日本機械学会  2011.9 

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  • ロボットテクノロジー

    中村太郎, 日本ロボット学会編（ Role： Joint author）

    ホーム社  2011.8 

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MISC

  • Whole-body force feedback suit for VR/AR spaces using MR device

    中村太郎

    油空圧技術   65 ( 2 )   2026.2

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  • Robust Image-Based Workload Estimation Using Ordinal Distances Between Body Joints Against Occlusion and Body Size Variations

    西浜里英, 中村太郎, 山中正雄

    画像ラボ   36 ( 11 )   2025.11

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  • 非破壊検査の最前線 ミミズ型管内走行ロボットによる小口径配管の点検・清掃

    市橋徹, 中村太郎

    溶接技術   73 ( 10 )   2025.10

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  • Development and Social Implementation of a Oil dust Cleaning and Inspection Robot for Preventing Duct Fires

    中村太郎

    計測と制御   64 ( 10 )   2025

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  • ミミズ型管内走行ロボットの社会実装を目指して

    梅田清, 中村太郎

    精密工学会誌   90 ( 11 )   825 - 829   2024.11

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  • 生物を規範とした波動伝播機構による壁面・パイプ・狭隘空間を登攀するロボット Reviewed

    中村太郎

    日本ロボット学会誌   42 ( 7 )   624 - 629   2024.9

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  • Open Innovation Case Study of Pipe Inspection Using an Earthworm-Type Pipe Travelling Robot

    梅田清, 中村太郎

    検査技術   29 ( 4 )   2024.4

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  • 実用的なソフトロボットを目指して—ソフトロボティクスの持続的な発展に向けて—

    中村 太郎

    日本ロボット学会誌   42 ( 6 )   513 - 516   2024.4

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  • VR/AR空間におけるフルードパワーを用いたウェアラブルな全身型力覚提示システム—特集 触覚技術と応用技術

    澤橋 龍之介, 中村 太郎

    フルードパワーシステム：日本フルードパワーシステム学会誌   55 ( 2 )   76 - 80   2024.3

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  • MR流体ブレーキの装着型力覚提示装置への応用—特集 機能性流体フルードパワーシステムのフロンティア展開

    澤橋 龍之介, 奥井 学, 中村 太郎

    フルードパワーシステム = Journal of the Japan Fluid Power System Society : 日本フルードパワーシステム学会誌 / 日本フルードパワーシステム学会 編   54 ( 6 )   259 - 263   2023.11

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  • DMEの燃焼により駆動する人工筋肉アクチュエータ—特集 ゴム人工筋を駆動する圧力源の新展開

    奥井 学, 澤橋 龍之介, 中村 太郎

    フルードパワーシステム = Journal of the Japan Fluid Power System Society : 日本フルードパワーシステム学会誌 / 日本フルードパワーシステム学会 編   54 ( 5 )   211 - 214   2023.9

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    Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I033074245

  • ソフトロボット技術を用いた蠕ぜん動運動機構の事業化

    梅田清, 中村太郎

    日本フルードパワーシステム学会誌   Vol54 ( No.1 )   16 - 20   2023.1

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  • ソフトロボットで配管のスマート化に挑戦: 空気圧人工筋肉を用いた生物型ロボットの実用化に向けて

    梅田清, 中村太郎

    配管技術   Vol.64 ( No.14 )   74 - 80   2022.12

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  • ミミズの動きを規範とした蠕動運動型ロボットとその実用化 : 伸縮運動によるソフトロボット索状体—Peristaltic Mobile Robot Based on Earthworm and Its Practical Application—特集 索状ロボットの昨日・今日・明日

    中村 太郎, 伊藤 文臣

    日本ロボット学会誌 = Journal of the Robotics Society of Japan / 日本ロボット学会 編   40 ( 4 )   304 - 309   2022.5

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  • Development and Practical Application of Bio-Inspired Soft Robot using Pneumatic Artificial Muscle

    中村太郎

    油空圧技術   61 ( 3 )   2022.2

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  • 磁気機能性流体のバイオロボティクスへの応用

    奥井学, 中村太郎

    日本AEM学会誌   29 ( 4 )   629 - 634   2021.12

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  • 中央大学 理工学部 精密機械工学科 中村研究室 (特集 フルードパワーを支える研究室)

    伊藤 文臣, 中村 太郎

    油空気圧技術   60 ( 11 )   82 - 85   2021.10

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  • Straight Fiber Type Artificial Muscle and its Application to Assistive Device

    奥井学, 中村太郎, 中村太郎

    機能材料   41 ( 9 )   5 - 14   2021.9

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  • Robotics for Sustainable Future - CLAWAR 2021, Virtual Event, Japan, 30 August - 1 September 2021.

    CLAWAR   324   2021.9

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    DOI： 10.1007/978-3-030-86294-7

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  • Peristaltic Mixing Pump Based on Soft Large Intestine Mechanism, Which can Convey with Mixing (Practical Application of Soft Robot Technology with Soft Matter)

    56 ( 9 )   439 - 444   2021.9

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  • 進化する人工筋肉の最新動向

    中村太郎

    機能材料   41 ( 9 )   3 - 4   2021.9

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  • MRブレーキと空気圧人工筋肉を用いた装着型1自由度力覚提示装置の開発と拡張現実空間での評価 Reviewed

    鈴木, 遼, 江川, 正和, 山田, 泰之, 中村, 太郎

    中央大学理工学研究所論文集   26   14 - 14   2021.3

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  • Research and Development of Peristaltic Transportation System for Lifting Excavated Soil in Deep Underground and Extreme Environments

    Ueda Masahiro, Nakamura Taro

    Journal of the Robotics Society of Japan   39 ( 2 )   115 - 119   2021.3

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    DOI： 10.7210/jrsj.39.115

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  • 地下・地下構造物 大深度・極限環境に適用する掘削物揚重用ぜん動ポンプの研究開発

    上田昌弘, 中村太郎

    建設機械施工   73 ( 2 )   16 - 21   2021.2

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  • 蠕動運動ポンプの効率的な制御手法に関する基礎的研究

    中村, 太郎

    中央大学理工学研究所年報   27   10 - 10   2020.12

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  • Workload Estimation from Images Using Structural Features of the Body and Machine Learning

    多加谷一輝, 西浜里英, 中村太郎, 山中正雄

    画像ラボ   31 ( 9 )   2020.9

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  • 社会の安全を支え産業分野で活躍するポンプと関連商品

    中村太郎

    日刊工業新聞   11 - 11   2020.7

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  • Research and Development of Peristaltic Transportation System for Lifting Excavated Soil

    上田昌弘, 中村太郎

    配管技術   62 ( 9 )   2020.7

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  • 生物規範型ソフトロボット

    奥井学, 中村太郎

    機械の研究   71 ( 12 )   925‐934   2019.12

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  • クエン酸と炭酸水素ナトリウムの化学反応を利用した空気圧源—Pneumatic Source Using Chemical Reaction of Citric Acid and Sodium Bicarbonate—特集 ロボットに役立つフルードパワーの要素技術

    奥井 学, 中村 太郎

    フルードパワーシステム = Journal of the Japan Fluid Power System Society : 日本フルードパワーシステム学会誌 / 日本フルードパワーシステム学会 編   50 ( 2 )   78 - 81   2019.11

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  • ルポルタージュ 企業サイドから見たフルードパワー研究室訪問(第79回)中央大学 理工学部 精密機械工学科 中村研究室 中村太郎教授

    中村 太郎, 佐藤 俊明, 大橋 彰

    フルードパワー = Fluid power   33 ( 4 )   38 - 43   2019.10

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  • 高エネルギー物質研究の実績と今後について

    羽生宏人, 羽生宏人, 羽生宏人, 松永浩貴, 塩田謙人, 伊里友一朗, 勝身俊之, 山田泰之, 山田泰之, 松本幸太郎, 岩崎祥大, 伊東山登, 中村太郎, 中村太郎, 三宅淳巳

    火薬学会年会講演要旨集   2019   86‐87   2019.5

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  • 蠕動運動型ロボットの紹介 ミミズロボットの実用化に向けた改良

    内海克哉, 眞野雄貴, 中村太郎, 中村太郎

    検査技術   24 ( 3 )   25‐28   2019.3

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  • Kneading of AP Composite Propellant by Peristaltic Muscle Mixer

    萩原大輝, 芦垣恭太, 若松康太, 岩崎祥大, 野副克彦, 田上賢悟, 山田泰之, 羽生宏人, 中村太郎

    宇宙航空研究開発機構研究開発報告 JAXA-RR-(Web)   ( 18-006 )   41‐44 (WEB ONLY)   2019.2

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  • 人の運動アシストから見たソフトロボティクス

    奥井 学, 中村 太郎

    日本ロボット学会誌   37 ( 1 )   34 - 37   2019.1

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  • 蠕動運動型人工筋肉混合器を用いた安全な固体ロケット推進薬連続ミキシングプロセスの研究及びロケット燃焼試験による技術実証

    岩崎祥大, 芦垣恭太, 萩原大輝, 田上賢悟, 野副克彦, 山田泰之, 中村太郎, 羽生宏人

    日本化学会春季年会講演予稿集(CD-ROM)   99th   2019

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  • Continuous production of solid propellant and ground combustion test using a peristaltic mixer

    若松康太, 萩原大輝, 足立遼, 芦垣恭太, 岩崎祥大, 野副克彦, 山田泰之, 羽生宏人, 中村太郎

    宇宙科学技術連合講演会講演集(CD-ROM)   63rd   2019

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  • ダクト清掃のための連続柔軟内壁構造を有したミミズ型ロボットの提案—Proposal of earthworm type robot with continuous flexible inner wall structure

    伊藤 文臣, 河口 貴彦, 山田 泰之, 中村 太郎

    フルードパワーシステム講演会講演論文集 = The proceedings Conference of Japan Fluid Power System Society   17 - 19   2019

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    Language：Japanese   Publisher：東京 : 日本フルードパワーシステム学会  

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    Other Link： http://id.ndl.go.jp/bib/029781898

  • 単一チューブによる圧力差を利用した2自由度管路選択機構の提案—Proposal of 2-DOF line selection mechanism with single tube pressure difference

    伊藤 文臣, 佐藤 広都, 奥井 学, 中村 太郎

    フルードパワーシステム講演会講演論文集 = The proceedings Conference of Japan Fluid Power System Society   106 - 108   2019

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    Other Link： http://id.ndl.go.jp/bib/030105300

  • ミミズのようなロボットが地中を掘削!?〈家屋沈下修正工事・深海底資源探査のための地中屈曲掘削〉

    井坂惠太, 中村太郎

    配管技術   60 ( 13 )   21‐26   2018.11

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  • 空気圧人工筋肉を用いた腸管の蠕動運動を模擬したポンプの開発と応用

    山田泰之, 中村太郎

    日本フルードパワーシステム学会論文集   49 ( 5 )   8 - 10   2018.9

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  • 空気圧人工筋肉を用いた柔らかい生物型ロボットの開発と応用事例

    山田泰之, 中村太郎

    油空圧技術   Vol.57, No.7, (2018.7)   2018.7

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  • 大腸の動きに着目した「蠕動運動」でロケット燃料を作るー中央大学発ベンチャー企業「Solaris」：事業化への挑戦ー

    中村太郎

    YOMIURI ONLINE   2018.7

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  • 可変粘弾性下肢アシスト装具Airsist I (特集 ロボティクス分野におけるフルードパワー技術(1))

    奥井 学, 中村 太郎

    油空圧技術   57 ( 6 )   19 - 23   2018.6

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  • 蠕動運動型ラバー混合器を用いたコンポジット推進薬捏和技術の研究

    岩崎祥大, 芦垣恭太, 萩原大輝, 松本幸太郎, 田上賢悟, 山田泰之, 中村太郎, 羽生宏人

    火薬学会年会講演要旨集   2018   51‐52   2018.5

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  • 蠕動運動型ラバー混合器の分散捏和効率に関する検討

    岩崎 祥大, 芦垣 恭太, 松本 幸太郎, 山田 泰之, 中村 太郎, 羽生 宏人

    高エネルギー物質研究会 平成29年度研究成果報告書   JAXA-RR-17-008   51 - 56   2018.3

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  • Development and performance evaluation of peristaltic mixing transporter Mark. III for continuous kneading of solid propellant

    芦垣恭太, 山田泰之, 岩崎祥大, 松本幸太郎, 羽生宏人, 中村太郎

    宇宙航空研究開発機構研究開発報告 JAXA-RR-(Web)   ( 17-008 )   57‐60 (WEB ONLY)   2018.1

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  • 生物・生体の機能を模範としたソフトロボティクス

    中村 太郎

    システム制御情報学会誌   61 ( 7 )   265 - 270   2017.7

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    DOI： 10.11509/isciesci.61.7_265

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  • Bio-Inspired Soft Robotics using Pneumatic Artificial Muscle and Its Applications

    56 ( 7 )   19 - 24   2017.7

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  • 蠕動運動型混合器によるコンポジット推進薬捏和における可塑剤の効果

    岩崎祥大, 松本幸太郎, 山田泰之, 中村太郎, 羽生宏人

    火薬学会年会講演要旨集   2017   108‐109   2017.5

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  • Collaboration between Kansei Affective Engineering and Artificial Intelligence Technology : Interdisciplinary Issues on Social Implementation of New Technologies

    15 ( 1 )   32 - 35   2017.5

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  • 空気圧システムを用いた大腸内視鏡挿入デバイスの開発

    中村 太郎

    計測自動制御学会誌   56   281 - 285   2017.4

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    DOI： 10.11499/sicejl.56.281

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  • Kneading of AP Composite Propellant by Peristaltic Muscle Mixer

    岩崎祥大, 吉浜舜, 大竹可那, 細見直正, 上垣那津世, 芦垣恭太, 松本幸太郎, 山田泰之, 田上賢悟, 山口聡一朗, 中村太郎, 羽生宏人

    宇宙航空研究開発機構研究開発報告 JAXA-RR-(Web)   ( 16-006 )   53‐61 (WEB ONLY)   2017.3

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  • 蠕動運動型混合器を用いて捏和したAP系コンポジット推進薬の燃焼特性

    岩崎祥大, 吉浜舜, 芦垣恭太, 松本幸太郎, 山田泰之, 中村太郎, 羽生宏人

    火薬学会秋季研究発表講演会講演要旨集   2016   25‐26   2016.11

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  • Introduction of peristalsis type robot "earthworm robot"

    21 ( 7 )   28 - 31   2016.7

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  • ミミズに蠕動運動を用いた圧送管検査用ロボットの開発

    冨田 健, 石川 龍太郎, 中村 太郎, 高田 淳

    環境浄化技術   15 ( 4 )   62 - 65   2016.7

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  • 蠕動運動型混合器のコンポジット推進薬スラリ捏和性能

    岩崎祥大, 吉浜舜, 松本幸太郎, 山田泰之, 篠原裕和, 寺嶋隆史, 中村太郎, 羽生宏人

    火薬学会年会講演要旨集   2016   3‐6   2016.5

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  • コンポジットロケット推進薬の連続捏和装置

    岩崎祥大, 吉浜舜, 松本幸太郎, 山田泰之, 中村太郎, 羽生宏人

    化学工学会年会研究発表講演要旨集(CD-ROM)   81st   ROMBUNNO.B305   2016.3

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  • 蠕動運動ポンプを用いた固体推進薬スラリ連続捏和に関する研究

    岩崎 翔大, 松本 幸太郎, 吉浜 舜, 山田 泰之, 中村 太郎, 羽生 宏人

    高エネルギー物質研究会平成27年度研究成果報告書   41 - 47   2016.3

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  • 固体推進薬連続捏和に関する研究

    岩崎祥大, 吉浜舜, 中村太郎, 羽生宏人

    火薬学会年会講演要旨集   2015   83 - 84   2015.5

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  • 人工筋肉アクチュエータによる固体推進薬の連続捏和

    岩崎 祥大, 伴 遼介, 吉浜 舜, 中村 太郎, 羽生 宏人

    高エネルギー物質研究会平成26年度研究成果報告書   41 - 47   2015.3

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  • 人工筋肉アクチュエータによる固体推進薬の捏和

    岩崎 祥大, 伴 遼介, 吉浜 舜, 中村 太郎, 羽生 宏人

    宇宙航空研究開発機構研究開発報告   14 ( 14-005 )   41 - 48   2015.3

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    本研究は固体ロケットの製造プロセスからの抜本的な低コスト化を目標としている.その低コスト化へ繋がるアイデアとしてプロセスの連続プロセス化を目指し,特に固体ロケット推進薬捏和工程に注目した.捏和機に蠕動運動ポンプを用いることでロケット推進薬スラリの流動性を用いた捏和が可能となるだけでなく,安全な捏和を行うことができる.

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  • EM Field Telemetry and a Robot for Under-Sea-Floor Explorations

    133   159 - 161   2015

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  • ロボット分野に使われるマテリアル求められるマテリアル 空気圧ゴム人工筋肉の開発とロボットシステムへの応用

    中村太郎

    月刊Material Stage   13 ( 7 )   25 - 29   2013.10

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  • Variable Stiffness Mechanism using Pneumatic Artificial Muscle Actuator

    NAKAMURA Taro

    JRSJ   31 ( 6 )   572 - 576   2013.7

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    DOI： 10.7210/jrsj.31.572

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  • 宇宙を目指すミミズ型ロボット ―ミミズ型ロボットは月の夢をみるか？

    中村太郎

    科学   82 ( 8 )   p.905   2012.8

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  • S152014 Locomotion Strategy in curve form for Traveling-wave-type Omnidirectional Mobile Robot (TORoIII)

    OGAWA Teruyoshi, YAMAMOTO Masayuki, NAKAMURA Taro

    Mechanical Engineering Congress, Japan   2011   "S152014 - 1"-"S152014-3"   2011.9

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    An omnidirectional movement mechanism that can move a robot in a narrow complicated passage is needed. However, existing mechanisms cannot achieve stable operations. We noted that a snail uses traveling waves and can achieve a stable operation because of a large landing area. Therefore, we previously developed a traveling-wave-type mobile robot (TORoIII) using a snail's locomotion mechanism. In this paper, we proposed locomotion strategy in curve form to move the robot in the narrower passage. In addition, we conducted the locomotion experiment. As a result, the locomotion of TORoIII could be controlled. Also, this paper explains the mechanism of TORoIII and modeling the shape of the robot.

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  • 生物の運動機構を規範としたロボット設計とその応用例

    中村 太郎

    設計工学   46 ( 6 )   308 - 316   2011.6

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  • 天然ゴムとマイクロカーボン繊維を用いた高出力ゴム--人工筋肉の開発と応用 (特集 "柔らかい"を支える最新技術)

    中村 太郎

    ポリファイル   48 ( 6 )   30 - 35   2011.6

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  • 生物の運動機構を規範としたロボット設計とその応用例

    中村太郎

    設計工学会誌   46 ( 6 )   12 - 20   2011.6

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  • 天然ゴムとマイクロカーボン繊維を用いた高出力ゴム人工筋肉の開発と応用

    中村太郎

    <I>Polyfile </I>   ( 6 )   42 - 47   2011.5

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  • 自転車のススメ

    中村太郎

    機械技術   55 ( 2 )   p.16   2011.2

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  • 平成21年度の機能性流体分野の研究動向

    中村太郎

    フルードパワーシステム学会誌   41 ( 19 )   2010.7

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  • 高出力人工筋肉の開発とロボットへの応用, 研究

    中村太郎

    Chuo Online:YOMIURI ONLINE   2010.3

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  • ロボットの“動き”をデザインする

    中村太郎

    物理科学雑誌パリティ   24 ( 9 )   p.63   2009.8

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  • 最新ロボット事情，バイオメカトロニクス－可能性が広がる生物型ロボット－

    中村太郎

    ロボコンマガジン   63   112 - 115   2009.5

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  • 緩衝機能を有する３自由度ソフトマニピュレータ

    朴和彦, 中村太郎

    油空圧技術   45 ( 12 )   21 - 26   2008.11

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  • 新聞記事：空気圧システムの研究動向

    中村太郎

    フジサンケイビジネスアイ   2008.10

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  • ミミズ型の蠕動運動型ロボット

    草のみどり   2008.7

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  • 動物に学ぶ－ミミズに学ぶ蠕動運動型ロボット

    中村太郎

    物理科学雑誌パリティ   23 ( 2 )   58 - 63   2008.2

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  • 軸方向繊維強化型空気圧ゴム人工筋肉の開発2007.5

    中村太郎

    日本機械学会誌   110 ( 1062 )   p.73   2007.5

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  • 対人衝突時に安全確保が可能なマニピュレータの開発（衝突力検知機能を有する空気圧緩衝材の開発）

    中村太郎

    油空圧技術   45 ( 11 )   35 - 40   2006.8

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  • 平成17年度機能性流体の研究動向

    中村太郎

    フルードパワーシステム学会誌   37 ( E1 )   23 - 27   2006.8

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  • 軸方向繊維強化された空気圧人工筋肉の開発

    中村太郎

    マテリアルステージ   6 ( 7 )   67 - 71   2006.8

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  • MR 流体ダンパを用いた振動制御の最前線に迫る

    中村太郎

    精密工学会誌   72 ( 7 )   819 - 812   2006.5

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  • 生物・生体を規範としたロボットを目指して

    中村太郎

    精密工学会誌   71 ( 11 )   1371 - 1372   2005.11

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  • Review of Geometrical Tolerance(Introduction to Precision Engineering)

    NAKAMURA Taro

    Journal of the Japan Society of Precision Engineering   71 ( 4 )   447 - 450   2005.4

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    DOI： 10.2493/jjspe.71.447

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  • Review of Size Tolerance and System of Fits(Introduction to Precision Engineering)

    NAKAMURA Taro

    Journal of the Japan Society of Precision Engineering   71 ( 3 )   327 - 330   2005.3

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    DOI： 10.2493/jjspe.71.327

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  • Viscous Control of Homogeneous ER Fluid Using a Variable Structure Control

    NAKAMURA T.

    IEEE/ASME Trans. Mechatron.   10 ( 2 )   154 - 160   2005

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  • 機能性流体を用いたメカトロニクス機器の応用に関する研究

    中村太郎

    フルードパワーシステム学会 機能性流体を用いたフルードパワーシステムに関する研究委員会   55 - 58   2003.5

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  • 医療・介護福祉分野（W1)他

    中村太郎

    日本フルードパワーシステム学会 水圧駆動システム研究委員会 資料   B-63   2002.6

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  • Study of Performance Evaluation of Robust Control for Electrical Hydraulic Servo System (2nd Report)

    NAKAMURA Taro, SASAKI Yoshihiro, SAGA Norihiko, TAKAHASHI Yoshio

    IEEJ Transactions on Industry Applications   120 ( 6 )   916 - 921   2000.7

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    Hydraulic control systems are used in most industries where heavy objects are manipulated or large forces are exerted on their surroundings. Recently, a positioning control of electrical hydraulic servo system is been applying a robust control theory which is strong for parameter variations or nonlinear elements, instead of as usual a PID control used in widely industries. The purpose of this research is to evaluate several robust control performances and investigate their aptitude for the oil hydraulic system.&lt;br&gt;In the first paper, we proposed several evaluation methods and standard of designs considering a characteristic of the electrical hydraulic system, and decided system parameters for three kinds of robust control systems which are a Disturbance Observer, a Sliding Mode Control (SMC) and a &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;&amp;infin;&lt;/sub&gt; control, according to the several standard of designs. Next, we applied them to the actual electrical hydraulic servo system, and evaluated the difference of the control performance from the point of view of a robustness for load variations as the parameter variations, a characteristic of disturbance cancellation and a control input.&lt;br&gt;In this paper, the control performance of the robust control systems is evaluated, when they are applied to the positioning control of the electrical hydraulic servo system included of the several parameter variations or the nonlinear elements, which are not only the load variations, but also a oil temperature variations, a pressure variations, and a desired value variations. As a result, all of them have shown good robustness in the load variations, the oil temperature variations, the pressure variations. but the &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;&amp;infin;&lt;/sub&gt; control has shown better performance in the desired value variations than other control systems. Further, the SMC has shown good performance in the control input, because it has been smaller than other control systems in the control input.

    DOI： 10.1541/ieejias.120.916

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  • Study of Performance Evaluation of Robust Control for Electrical Hydraulic Servo System (1st Report) -Experimental Comparisons with Robustness, Control Input and Disturbance Cancellation-

    NAKAMURA Taro, SASAKI Yoshihiro, SAGA Norihiko, TAKAHASHI Yoshio

    IEEJ Transactions on Industry Applications   120 ( 3 )   423 - 429   2000.3

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    In this paper, controller performance of three kinds of robust control systems which are Disturbance Observer, Sliding Mode Control (SMC) and &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;&amp;infin;&lt;/sub&gt; control are evaluated, when they are applied to positioning control of electrical hydraulic servo system.&lt;br&gt;We propose several evaluation methods and standard of design considering characteristic of electrical hydraulic system, and decide system parameters for each robust control systems according to the several standard of design. Next, we apply them to actual electrical hydraulic servo system, and evaluate the difference of control performance from the point of view of robustness for parameter variations, characteristic of disturbance cancellation and control input. As a result, all of them has shown good robustness, but &lt;i&gt;H&lt;/i&gt;&lt;sub&gt;&amp;infin;&lt;/sub&gt; control shows worse performance in characteristic of disturbance cancellation and control input than other control systems.

    DOI： 10.1541/ieejias.120.423

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  • Study on Electromagnetic Noise of Alternator at High-Speed Rotation

    Norihiko Saga, Taro Nakamura, Yoshio Takahashi

    IEEJ Transactions on Industry Applications   120 ( 6 )   810 - 815   2000

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    DOI： 10.1541/ieejias.120.810

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  • 油圧システムのロバスト制御の性能評価について

    中村太郎

    フルードパワーシステム学会 油空圧駆動システムに対する運用と評価に関する研究委員会 資料   1 - 7   1999.9

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Presentations

  • シグモイド関数による位相差調整を用いた自律分散制御手法の提案と蠕動運動型ミキシングポンプへの適用-内容物の硬化に応じた運動切替機能の検証-

    丹野喬瑛, 足立凌輔, 伊藤文臣, 花村朋樹, 梅舘拓也, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2025.9 

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  • 齟齬関数に基づく局所フィードバックを用いた自律分散制御型ポンプにおける混合および搬送運動の切り替え-ユニット入れ替え時の運動パタン切り替えの検証-

    鶴見光哉, 足立凌輔, 丹野喬瑛, 伊藤文臣, 花村朋樹, 梅舘拓也, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2025.9 

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  • Effects of Spatial Body Augmentation Using an Upper-limb Wearable Force Feedback Device on Embodiment During Destructive Actions by a Giant Avatar

    澤橋龍之介, 西浜里英, 中村太郎

    日本バーチャルリアリティ学会大会論文集(CD-ROM)  2025.9 

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  • Verification of landing sensation when climbing stairs using a wearable force feedback device

    小倉栞太, 杉野智孝, 澤橋龍之介, 西浜里英, 中村太郎

    日本バーチャルリアリティ学会大会論文集(CD-ROM)  2025.9 

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  • Presentation of Falling Sensation in Virtual Space Using an Air Cylinder-Type Acceleration Display Device: Verification of Landing Sensation

    日浦仁太, 澤橋龍之介, 西浜里英, 中村太郎

    日本バーチャルリアリティ学会大会論文集(CD-ROM)  2025.9 

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  • 大口径配管検査のための円周状にブラシを有する軽量ミミズ型移動ロボットの開発-推進方向切り替えとモデル化-

    廣本果南, 伊藤文臣, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2025.9 

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  • Mechanisms of motor skill acquisition with jump extension devices

    亀井佐以蔵, 日下聖, 中村太郎, 伊藤文臣, 伊津野武史, 高桑凛空, 田中孝之

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2025 

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  • Proposal for supportive orthotics to reduce the physical burden of LP-gas delivery work-Prototype of the orthosis with the chipped disc-shaped LP-gas cylinders holding plate-

    2024.12 

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  • PWM 制御による力覚振動刺激を用いた下肢外骨格型力覚提示装置が膝の運動感覚に与える影響

    清水大雅, 杉野智孝, 澤橋龍之介, 西濵里英, 中村太郎

    第25回計測自動制御学会システムインテグレーション部門講演会, 1A6-08  2024.12 

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  • Transport feces in space using a flexible transfer system based on the behavior of the intestinal tract-Experiments on transport of simulated soft and hard feces focusing on differences in physical characteristics of feces-

    川野真生, 坪内美空, 山崎千秋, 伊藤文臣, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2024.12 

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  • Development of a Peristaltic Ice Drilling Robot for Investigations under Arctic Ice-Study of Auger Shape for Ice Excavation-

    2024.12 

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  • 膀胱鏡の自動挿入のための反転伸長アクチュエータの開発

    岸野 浩太郎, 大熊 琉聖, 伊藤 文臣, 山中 弘行, 古目谷 暢, 中村 太郎

    第25回計測自動制御学会システムインテグレーション部門講演会, 2C4-08  2024.12 

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  • Robot position estimation method in piping using VOD-PIG

    2024.12 

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  • 間欠的な空気噴射と螺旋ドリルを用いたハイブリッド掘削機構の提案

    長嶋洋渡, 伊藤文臣, 澤橋龍之介, 武田侑佳, 大垣諭史, 鈴木陽介, 中村太郎

    第25回計測自動制御学会システムインテグレーション部門講演会, 2E2-03  2024.12 

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  • マルチモーダルな感覚提示によるVR空間内での落下感覚向上効果の検証

    石田裕己, 澤橋龍之介, 西濵里英, 中村太郎

    第25回計測自動制御学会システムインテグレーション部門講演会, 1A6-12  2024.12 

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  • 人間の跳躍高さを増大させる直列駆動型カタパルトの開発

    伊津野 武史, 高桑 凛空, 伊藤 文臣, 亀井 佐以蔵, 日下 聖, 田中 孝之, 中村 太郎

    第25回計測自動制御学会システムインテグレーション部門講演会, 2C1-12  2024.12 

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  • Proposal of crushing and mixing method using bird sandbag structure as norm for peristaltic mixing device-Validation of the use of a mesh structure to accelerate the crushing of high-hardness materials-

    2024.12 

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  • Development of Earthworm-type In-pipe Inspection Robot with Hyper-extension Unit in the Front Part-Comparison of Travel Speeds in the Pipe by Motion Pattern Based on Experiments and Models-

    2024.12 

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  • 外骨格型力覚提示装置を用いたボールキック時の重量感覚の提示

    清水大雅, 杉野智孝, 澤橋龍之介, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers (TOWERS 2024)  2024.11 

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  • 前頭部に超伸長ユニットを搭載した蠕動運動型管内検査ロボットの開発

    大熊琉聖,松尾壮悟,伊藤文臣,中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • 電線押込機構を使用した自動電線施工システムの提案

    大熊琉聖, 松尾壮悟, 伊藤文臣, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024), (2024.11)  2024.11 

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  • 間欠的空気圧迫と足関節補助運動の併用の暫定的検証

    小林晃大, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • 蠕動運動型混合装置のための鳥類の砂嚢構造を規範とした混合方法の提案証

    榎本優喜, 内野昌孝, 野村佳歩, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • 蠕動運動によるゲル状基質の発酵促進効果の検証

    榎本優喜, 内野昌孝, 野村佳歩, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • VOD-PIGを用いた長距離細径複雑配管内の自動検査のための送り込み機構の開発

    廣本果南, 成瀬雄太, 伊藤文臣, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • 蠕動運動型搬送システム ー搬送モデルの構築ー

    川野真生, 廣本果南, 山崎千秋, 中村太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • 北極海氷下探査のための蠕動運動型掘削ロボットの空気圧駆動推進機構の開発と特性評価

    武田 侑佳, 大垣 諭史, 長嶋 洋渡, 鈴木 陽介, 澤橋 龍之介, 伊藤 文臣, 吉田弘, 中村 太郎

    The 21th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2024)  2024.11 

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  • MR流体ブレーキを用いた全身装着型力覚提示装置によるVR空間での水中動作感覚提示

    澤橋龍之介, 杉野智孝, 清水大雅, 早見夏樹, 西濵里英, 中村太郎

    第42回日本ロボット学会学術講演会, 3K1-04  2024.9 

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  • 宇宙滞在中の抗重力筋維持のための装着型3自由度訓練装置の開発

    田原光貴, 入江亜里沙, 伊藤文臣, 西濵里英, 桝田大輔, 中村太郎

    第42回日本ロボット学会学術講演会, 2K2-03  2024.9 

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  • 蠕動運動型ポンプを用いたワイン醸造への応用

    田原 祐助, 山下 晃平, 足立 凌輔, 榎本 優喜, 丹野 喬瑛, 花村 朋樹, 大西 章博, 梅舘 拓也, 中村 太郎

    2024年度日本味と匂学会第58回大会,A-17  2024.9 

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  • 北極海氷下探査のための蠕動運動型掘削ロボットの開発-空気圧駆動型推進機構の基礎特性評価-

    武田侑佳, 大垣諭史, 長嶋洋渡, 鈴木陽介, 澤橋龍之介, 伊藤文臣, 吉田弘, 中村太郎

    第42回日本ロボット学会学術講演会  2024.9 

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  • 微小重力環境下での排泄物搬送に向けた蠕動運動型装置の基礎的検証-異なるブリストルスケールの模擬便を用いた搬送性能の評価-

    川野真生, 鵜澤匠吾, 山崎千秋, 伊藤文臣, 中村太郎

    第42回日本ロボット学会学術講演会  2024.9 

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  • 蠕動運動型混合装置のための鳥類の砂嚢構造を規範とした混合方法の提案-高硬度物質の破砕促進効果の検証-

    榎本優喜, 伊藤文臣, 中村太郎

    第42回日本ロボット学会学術講演会  2024.9 

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  • 鞭毛の多形性に着想を得た水中遊泳ロボット-鞭毛形状と遊泳速度に関する基礎検証-

    伊藤文臣, TAKAGI Daisuke, 中村太郎

    第42回日本ロボット学会学術講演会  2024.9 

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  • 跳躍運動向上のための靴型デバイスによる運動介入のモデル化と力学的解析

    亀井佐以蔵, 日下聖, 中村太郎, 伊藤文臣, 伊津野武史, 高桑凛空, 田中孝之

    第42回日本ロボット学会学術講演会  2024.9 

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  • 半径方向への独立変形可能な閉塞機構をもつ蠕動運動型混合搬送装置の開発

    丹野喬瑛, 伊藤文臣, 中村太郎

    第42回日本ロボット学会学術講演会  2024.9 

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  • Construction of a Sensing System that Simulates Enteric Nerves in a Peristaltic Mixing Conveyor that Imitates the Intestines -Mixing Ratios Discrimination of Solid-Liquid Mixtures by Multimodal Sensing-

    T. Tanno, T. Nakamura

    in 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2024)  2024.7 

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  • Simulated Stick-Slip Vibration Presentation by Exoskeleton-Type Force Feedback Device Using MR Fluid Brake

    清水大雅, 杉野智孝, 澤橋龍之介, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • Development of a Bimanual force feedback device using MR fluid braking: Force feedback for Bimanual movements

    早見夏樹, 澤橋龍之介, 西浜里英, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • Control of air supply and exhaust for the autonomous decentralized control of a peristaltic mixing and conveying device based on the human intestine.

    足立凌輔, 丹野喬瑛, 花村朋樹, 梅舘拓也, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • Knee Joint Assist Method Focusing on Viscous Characteristics in Seated Motion by Exoskeleton-Type Assist Device Using MR Fluid Brake and IMU

    杉野智孝, 下田祐輔, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • Development of a Peristaltic Drilling Robot for Exploration under Arctic Sea Ice-Development of a Pneumatically Driven Propulsion Unit-

    武田侑佳, 長嶋洋渡, 澤橋龍之介, 伊藤文臣, 吉田弘, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • Development of elongation-actuator Using Flexible Fiber and Yarn-Effect of double helix structure of long yarn on elongation, expansion rate, and twisting-

    伊津野武史, 伊藤文臣, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • Development of a pneumatic excavation robot with intermittent air jets.

    長嶋洋渡, 伊藤文臣, 澤橋龍之介, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2024.6 

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  • 自動電線施工ロボットの開発 ―押込・引張の動作タイミングが牽引速度に与える影響―

    松尾壮悟, 大熊琉聖, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2024，2P1-C03  2024.5 

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  • 蠕動運動によるゲル化された発酵基質の乳酸発酵促進効果の検証ー蠕動運動ポンプによる牛乳寒天の発酵実験ー

    榎本優喜, 内野昌孝, 野村佳歩, 中村太郎

    ロボティクス・メカトロニクス講演会2024，1P2-I06  2024.5 

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  • 月・惑星地中探査ロボットにおける編組構造を用いた屈曲可能な推進機構の開発

    澤橋龍之介, 藤川千雅, 中村太郎, 久保田孝

    ロボティクス・メカトロニクス講演会2024，2A2-F10  2024.5 

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  • MRブレーキを用いた力覚提示装置による身体の空間的拡張ー動的な腕伸長感覚提示ー

    澤橋龍之介, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2024，1P2-J03  2024.5 

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  • モンハナシャコの打撃動作を規範とした高速打撃機構―キャビテーション発生による打撃強化の実験的検証―

    伊藤文臣, 車谷駿一, 加賀谷勝史, 中村太郎

    ロボティクス・メカトロニクス講演会2024，1P2-I05  2024.5 

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  • 軸方向収縮可能な消化管ステント評価試験のための 腸管挙動を模した蠕動運動装置の開発

    川野真生, 下鳥晴翔, 中村太郎

    ロボティクス・メカトロニクス講演会2024，2P2-H01  2024.5 

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  • 災害時対応トイレのためのフレキシブルな蠕動運動型ポンプの開発 ―水溶性固形物を含んだ搬送特性の基礎的検証―

    川野真生, 鵜澤匠吾, 中村太郎

    ロボティクス・メカトロニクス講演会2024，2A2-P02  2024.5 

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  • 複合型遊星歯車機構を用いた角型の厨房ダクト内清掃装置の性能評価ー自走式清掃装置の開発と粉塵清掃実験による清掃性能の評価ー

    門間洋介,伊藤文臣,中村太郎

    ロボティクス・メカトロニクス講演会2024, 2A1-O08  2024.5 

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  • 前頭部に超伸長型押し込み引き込み機構を有する蠕動運動型管内移動ロボットの開発

    大熊琉聖, 松尾壮悟, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2024，2P2-B05  2024.5 

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  • MRブレーキを用いた装着型上肢双腕力学提示装置の開発

    早見夏樹, 小松丈也, 澤橋龍之介, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2P2-R02  2024.5 

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  • 長繊維と短繊維を複合した超伸長型空気圧アクチュエータの開発―短繊維の配向方向が伸長・膨張率に与える影響―

    伊津野武史, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2024,2P1-K03  2024.5 

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  • IPCと他動運動を併用したウェアラブルな深部静脈血栓症予防装置―初期試作機の開発と基礎特性―

    小林晃大, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2A2-I06  2024.5 

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  • 装着型アシスト装置における装着者と装置のずれの軽減手法―膝関節運動におけるIMUとエンコーダによる角度計測値の比較―

    杉野智孝, 下田祐輔, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 1P1-D07  2024.5 

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  • 長距離細径管内検査ロボットのための配線送り込み機構の開発

    廣本果南, 成瀬雄太, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2P2-B06  2024.5 

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  • 腸を模擬した蠕動運動型混合搬送装置における腸管神経を模擬したセンシングシステム構築―マルチモーダルセンシングによる固液混合物の混合割合判別―

    丹野喬瑛, 寺山伊織, 足立凌輔, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2P1-L10  2024.5 

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  • 微小重力環境下における抗重力筋維持のための装着型3自由度装置の開発

    田原光貴, 澤橋龍之介, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2A2-F09  2024.5 

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  • 北極海氷下探査のための蠕動運動型掘削ロボットの開発―実環境における推進機構の把持特性―

    武田侑佳, 床井亮祐, 藤川千雅, 長嶋洋渡, 澤橋龍之介, 奥井学, 吉田弘, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2A1-G05  2024.5 

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  • 間欠的な空気噴射を用いたハイブリッド掘削機構の提案

    長嶋洋渡, 伊藤文臣, 澤橋龍之介, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 2A1-G04  2024.5 

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  • 外骨格型下肢力覚提示装置によるボール足蹴における反力の大きさと重量感覚の関係解明

    清水大雅, 澤橋龍之介, 中村太郎

    ロボティクス・メカトロニクス講演会2024, 1P1-R01  2024.5 

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  • Generation of segmented motion by autonomous decentralized control of peristaltic mixing and conveying equipment

    足立凌輔, 寺山伊織, 丹野喬瑛, 花村朋樹, 梅舘拓也, 中村太郎

    2024.5 

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  • Development of a mathematical model of a peristaltic pump for mixing and transferring contents of different viscosities and introduction of autonomous decentralized control

    花村朋樹, 足立凌輔, 中村太郎, 梅舘拓也

    2024.5 

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  • 人間の腸を模した蠕動運動型混合搬送装置の自律分散制御による運動生成へ向けた初期検討

    足立凌輔, 寺山伊織, 丹野喬瑛, 花村朋樹, 梅舘拓也, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 微小重力環境における抗重力筋維持のための動的姿勢保持訓練装置の提案

    田原光貴, 下田祐輔, 澤橋龍之介, 西濵里英, 桝田大輔, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 蠕動運動ポンプによる発酵促進効果の実験的検証 ―繊維質・多孔質系発酵基質による乳酸菌の発酵促進効果―

    榎本優喜, 内野昌孝, 野村佳歩, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • Knee joint assist by viscosity control using an exoskeleton-type assist device in stair descent

    2023.12 

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  • LPガス配送作業のサポート装置の開発～クローラ機構による持ち上げ動作アシスト～

    大場清貴, 澤橋龍之介, 西濵里英, 奥井学, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 超伸長型空気圧アクチュエータの基礎特性―長繊維の材料特性が伸長・膨張率に与える影響―

    伊津野武史, 伊藤文臣, 中村 太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 腸管を模した蠕動運動型フレキシブルポンプによる高粘性流体搬送の基礎的検証

    川野真生, 鵜澤匠吾, 山崎千秋, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 腸を模倣した蠕動運動型混合搬送装置による混合度検知システム構築-マルチモーダルセンシングによる機械学習の回帰分析を使用した混合状態推定-

    寺山伊織, 澤橋龍之介, 丹野喬瑛, 西濵里英, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 腸を模擬した蠕動運動型混合搬送装置における薄型感圧センサを用いた搬送物体の材料判別

    丹野喬瑛, 寺山伊織, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • モータと人工筋肉のハイブリッド駆動による脚型跳躍ロボット―モータラッチを考慮した人工筋肉プーリ径の設計と跳躍実験―

    石井優丞, 伊藤文臣, 土井将弘, 近藤寛之, 中村太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12 

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  • 角度を柔軟に変更可能な蠕動運動型フレキシブルポンプの開発

    川野真生, 鵜澤匠吾, 山崎千秋, 奥井学, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 蠕動運動ポンプによる発酵促進効果の実験的検証-発酵基質の硬度による影響-

    榎本優喜, 内野昌孝, 野村佳歩, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 蠕動運動ポンプによる発酵促進効果の実験的検証-発酵基質の粘度による影響-

    榎本優喜, 内野昌孝, 野村佳歩, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 微小重力環境下での排泄物の搬送を目的とした蠕動運動型搬送装置の開発

    鵜澤匠吾, 川野真生, 山崎千秋, 奥井学, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 医療用消化管ステントの評価試験を目的とした蠕動運動シミュレーターの開発

    鵜澤匠吾, 橋口雄, 奥井学, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 外骨格型アシスト装置を用いた粘性による着座アシストの検証

    下田祐輔, 奥井学, 西濵里英, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 蠕動運動型配管検査ロボットの推進力増加機構の提案

    大熊琉聖, 成瀬雄太, 伊藤文臣, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • 長距離検査のための内骨格を搭載した管内検査ロボットの提案

    大熊琉聖, 成瀬雄太, 伊藤文臣, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  2023.10 

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  • Proposal for Stable Rubber Tube Closure Mechanism in Peristaltic Mixing Conveyor

    2023.10 

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  • Mixing Degree Detection System Using Machine Learning in Peristaltic Pump

    2023.10 

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  • 内骨格を有する空気圧人工筋肉を用いた伸長型直動瞬発機構の開発

    石井優丞, 伊藤文臣, 大澤崚, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2023)  2023.10 

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  • モータと人工筋肉のハイブリッド方式による跳躍ロボット―モータラッチの駆動検証―

    石井優丞, 伊藤文臣, 大澤崚, 土井将弘, 近藤寛之, 奥井学, 中村太郎

    The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2023)  2023.10 

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  • ジメチルエーテルの燃焼を利用した小型ソフトアクチュエータの開発-DME燃焼駆動型人工筋肉を用いたロボットアームの繰り返し瞬発動作-

    澤橋龍之介, 奥井学, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 内骨格を有する伸長型空気圧人工筋肉を用いた瞬発力発生機構の開発と基礎特性の検証

    石井優丞, 大澤崚, 伊藤文臣, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • シャコを規範とした偏心回転打撃による瞬発力の検証

    伊藤文臣, 車谷駿一, 加賀谷勝史, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 遊星歯車機構を用いた角型ダクト清掃機構の性能評価-清掃機構の試作と粉塵の清掃実験による清掃率の評価-

    門間洋介, 山中雄太, 人見峻広, 伊藤文臣, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 配管内検査を目的とした可変外形PIGによる配管内移動機構の基礎検討

    成瀬雄太, 廣本果南, 大熊琉聖, 伊藤文臣, 渡邉淳一, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • ゴム材料の伸展により450%伸長する超伸長型空気圧ソフトアクチュエータの開発-ピッチの変化と変化と最大伸長率の関係-

    伊藤文臣, 伊津野武史, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 電線押込機構を搭載した管内移動型電線施工ロボット

    伊藤文臣, 吉田梨沙子, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • Legged Jumping Robot with Hybrid Motor and Artificial Muscle Drive System-Design of Artificial Muscle Pulley Diameter Considering Motor Latch Mechanism and Jumping Experiments-

    石井優丞, 伊藤文臣, 土井将弘, 近藤寛之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2023.9 

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  • Basic Characteristics of Hyperextensible Pneumatic Actuatours-Influence of Material Properties of Long Fibers on Elongation and Expansion Rate-

    伊津野武史, 伊藤文臣, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2023.9 

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  • Development of support equipment for LP gas delivery operations-Lifting motion assist by crawler mechanism-

    大場清貴, 澤橋龍之介, 西浜里英, 奥井学, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2023.9 

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  • 微小重力下での排泄物の搬送を目的とした蠕動運動型搬送装置の開発―連続搬送手法を用いた水使用量の削減―

    鵜澤匠吾, 川野真生, 山崎千秋, 奥井学, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 蠕動運動型混合搬送装置による発酵促進効果の実験的検証―発酵基質の粘度と硬度による影響―

    榎本 優喜, 鵜澤 匠吾, 内野 昌孝, 野村 佳歩, 中村 太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 内骨格を有する蠕動運動型移動ロボットの速度向上の検討

    大熊琉聖, 成瀬雄太, 伊藤文臣, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 腸を模倣した蠕動運動型混合搬送装置による混合度検知システムの構築-機械学習を用いたマルチセンシングによる汎化性検証-

    寺山伊織, 澤橋龍之介, 丹野喬瑛, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • 北極海氷下探査における氷床掘削のための蠕動運動型掘削 ロボットの開発 ～室内および実地環境における掘削機構の基礎特性比較～

    武田侑佳, 床井亮祐, 藤川千雅, 長嶋洋渡, 澤橋龍之介, 奥井学, 吉田弘, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • モータと人工筋肉のハイブリッド方式による脚型跳躍ロボット―人工筋肉による追従性向上を考慮した跳躍高さの増加―

    石井優丞, 伊藤文臣, 大澤崚, 土井将弘, 近藤寛之, 奥井学, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2023.9 

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  • Development of Compact Soft-Actuator via Dimethyl Ether Combustion: Continuous Drive of DME Combustion Drive Artificial Muscle

    澤橋龍之介, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2023.9 

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  • 複合型遊星歯車機構を用いた角形の厨房ダクト内清掃装置の開発

    門間洋介, 人見峻広, 伊藤文臣, 中村太郎

    ロボティクスメカトロニクス講演会2023  2023.6 

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  • 蠕動運動ポンプによる発酵促進効果の実験的検証

    榎本優喜, 鵜澤匠吾, 内野昌孝, 野村佳歩, 森脇美雅, 澤橋龍之介, 中村太郎

    ロボティクスメカトロニクス講演会2023  2023.6 

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  • 靴型落下感覚提示装置による２段階落下の実現

    下田祐輔, 藤田鋼人, 奥井学, 西濵里英, 中村太郎

    ロボティクスメカトロニクス講演会2023  2023.6 

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  • 自律分散型蠕動運動混合搬送装置の機械学習による子雲合度推定と運動モード切替システムの構築

    足立凌輔, 押野紗奈, 寺山伊織, 西濱里英, 奥井学, 中村太郎

    ロボティクスメカトロニクス講演会2023  2023.6 

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  • 空気圧人工筋肉を用いた管内検査ロボットによる実験同定モデルを用いた配管内径推定手法の提案

    長嶋洋渡, 内山航輔, 伊藤文臣, 奥井学, 中村太郎

    ロボティクスメカトロニクス講演会2023  2023.6 

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  • LPガス配送業務の負担軽減を目的としたサポート装置の開発ーガス容器の持ち上げサポート装置の提案

    大場清貴, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • MR流体デバイスを用いた外骨格型アシスト装置による膝関節における粘性アシスト効果の検証

    下田祐輔, 藤田鋼人, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 長距離管内検査のための連結型可変外径PIGを用いた配管内移動機構の提案

    成瀬雄太, 伊藤文臣, 渡邉淳一, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 腸を模した蠕動運動型混合搬送装置における 安定したゴムチューブ閉塞機構の提案

    寺山伊織, 足立凌輔, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • モータと人工筋肉を用いたハイブリッド方式による跳躍ロボット―人工筋肉の配置を考慮したモータラッチ機構の駆動検証―

    石井優丞, 大澤崚, 伊藤文臣, 奥井学, 土井将弘, 近藤寛之, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 内骨格構造を有する空気圧人工筋肉を用いた伸長型直動瞬発機構の開発

    大澤崚, 石井優丞, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • MR 流体ブレーキを用いた力覚提示装置による拡張腕の屈曲動作における操作性の検証

    澤橋龍之介, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • MR 流体ブレーキを用いた装着型上肢力覚提示装置による直進移動下の力覚提示

    澤橋龍之介, 小松丈也, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 蠕動運動型ポンプを応用した消化管ステント用評価試験機の開発 ―評価試験機のプロトタイプ製作と特性実験―

    鵜澤匠吾, 橋口雄, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 微小重力下での排泄物搬送を目的とした蠕動運動型搬送装置の開発 ―曲管を有する搬送経路での模擬便搬送実験―

    鵜澤匠吾, 熊本寛也, 山崎千秋, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 腸管の蠕動運動を規範とした蠕動運動型フレキシブルポンプの開発 ―水の揚重試験による単体ユニットの性能評価―

    鵜澤匠吾, 山崎千秋, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 自動電線施工のための押し込み機構の開発―構成要素の基礎特性計測とロボットの駆動検証実験―

    伊藤文臣, 吉田梨沙子, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • MR流体ブレーキを用いた下肢外骨格型力覚提示装置による撃力提示―ボールキックにおける撃力感覚の提示手法―

    伊藤文臣, 車谷駿一, 加賀谷勝史, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 北極海氷下探査のための蠕動運動型掘削ロボットにおける推進機構の開発―推進機構の力学モデルの構築と氷壁面に対する把持特性の検証―

    武田侑佳, 床井亮祐, 藤川千雅, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 長距離管内検査のための内骨格型人工筋肉を用いた直列拮抗駆動機構の提案

    大熊琉聖, 成瀬雄太, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2023  2023.6 

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  • 短繊維配向型ソフトアクチュエータのための画像計測による繊維配向度測定とその基礎特性

    國定大真, 藤谷希一, 伊藤文臣, 奥井学, 中村太郎

    ロボティクスメカトロニクス講演会2023  2023.6 

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  • 細径管内の検査を目的とした連結型可変外径 PIG による直管内移動性能の検証

    成瀬雄太, 伊藤文臣, 渡邉淳一, 中村太郎

    2023年春季フルードパワーシステム講演会  2023.5 

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  • ジメチルエーテルの燃焼を利用した小型ソフトアクチュエータの開発─DME 燃焼駆動人工筋肉の連続駆動─

    澤橋龍之介, 奥井学, 中村太郎

    2023年春季フルードパワーシステム講演会  2023.5 

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  • ミミズ型ロボットによる氷衛星エンケラドス内移動探査の初期検討

    稲原慶太, 藤川千雅, 中村太郎, 久保田孝

    第23回宇宙科学シンポジウム  2023.1 

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  • 空気圧人工筋肉と磁気粘性流体ブレーキを用いた単軸力覚提示装置によるVR空間における拡張身体に対する仮想物体の力学的特性の提示

    澤橋龍之介, 西濵里英, 奥井学, 中村太郎

    システムインテグレーション部門講演会2022(SI2022)  2022.12 

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  • 腸を模擬した蠕動運動型ポンプにおける固体ロケット燃料製造に向けた混合進行度の推定

    押野紗菜, 寺山伊織, 鵜澤匠吾, 西濵里英, 奥井学, 中村太郎

    システムインテグレーション部門講演会2022(SI2022)  2022.12 

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  • 腸を模した蠕動運動型混合搬送装置による粉体粒子径判別

    寺山伊織, 押野紗菜, 西濵里英, 奥井学, 中村太郎

    システムインテグレーション部門講演会2022(SI2022)  2022.12 

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  • 遊星歯車機構を用いたダクト清掃機構の清掃性能向上を目的とした油塵回収ユニットの提案

    人見 峻広, 門間 洋介, 伊藤 文臣, 中村 太郎

    システムインテグレーション部門講演会2022(SI2022)  2022.12 

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  • 遊星歯車機構を用いた角ダクト用清掃機構の試作とブラシ軌跡の検証

    人見 峻広, 門間 洋介, 伊藤 文臣, 中村 太郎

    システムインテグレーション部門講演会2022(SI2022)  2022.12 

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  • Measuring Internal State by Accelerometer in Peristaltic Pump Simulating Intestine

    押野紗菜, 寺山伊織, 鵜澤匠吾, 西濵里英, 奥井学, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • Improving Mixing Estimation Accuracy Using Distributed Sensing System in Peristaltic Pump

    押野紗菜, 寺山伊織, 鵜澤匠吾, 西濵里英, 奥井学, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • Proposal of Duct Cleaning Mechanism Using Planetary Gear Mechanism to Prevent Duct Fires in Restaurants

    人見 峻広, 門間 洋介, 伊藤 文臣, 中村 太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • 空気圧アクチュエータと磁気粘性流体ブレーキを用いた下肢力覚提示装置の開発

    澤橋龍之介, 増田大貴, 小松丈也, 石田裕己, 清水大雅, 西濵里英, 奥井学, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2022)  2022.11 

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  • ジメチルエーテルの燃焼を利用した小型ソフトアクチュエータの開発─DME 燃焼駆動人工筋肉の基礎特性

    澤橋龍之介, 圓城竜斗, 奥井学, 中村太郎

    2022年秋季フルードパワーシステム講演会  2022.11 

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  • VR 空間内における落下時の現実感向上のための靴型力覚提示装置の開発に関する基礎検討

    石田裕己, 澤橋龍之介, 奥井学, 中村太郎

    2022年秋季フルードパワーシステム講演会  2022.11 

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  • Occurrence and control of cavitation caused by instantaneous movement

    伊藤文臣, 石井優丞, 車谷駿一, 加賀谷勝史, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2022)  2022.11 

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  • Impact Mechanism Based on the Striking Motion of Mantis Shrimp- Pulley shape design considering the force of the exoskeleton and the actuator

    伊藤文臣, 石井優丞, 車谷駿一, 加賀谷勝史, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2022)  2022.11 

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  • Ice Drilling and Gripping Experiments in Actual Conditions for Developing Ice Drilling Robot

    床井亮祐, 藤川千雅, 外山渡, 奥井学, 吉田弘, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • Friction rendering experiment using an upper limb force feedback device with pneumatic artificial muscles, magnetorheological fluid brakes and a bevel gear mechanism

    小松丈也, 澤橋龍之介, 増田大貴, 奥井学, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • ”Preliminary experiment to install an accelerometer capable of acquiring high-frequency components in a peristaltic mixing and conveyor that imitates the intestines

    寺山伊織, 押野紗菜, 西濵里英, 奥井学, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • A proposal for distributed peristaltic generation by a peristaltic mixing conveyor imitating an intestinal tube

    寺山伊織, 押野紗菜, 西濵里英, 奥井学, 中村太郎

    The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS)  2022.11 

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  • MR流体ブレーキを用いたセミアクティブな靴型力覚提示装置の開発

    澤橋龍之介, 増田大貴, 田中俊也, 奥井学, 中村太郎

    第40回日本ロボット学会学術講演会, 2F1-08  2022.9 

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  • 長距離・複雑な細径管内の検査のための複数の蠕動運動型移動ロボットによる協調制御手法の提案

    伊藤文臣, 内山 航輔, 佐藤 広都, 澤橋 龍之介, 中村 太郎

    第40回日本ロボット学会学術講演会, 3G1-05  2022.9 

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  • 管内移動ロボットの必要牽引力推定のための配線張力モデルの提案-簡易モデルの構築と実験による検証-

    伊藤文臣, 内山 航輔, 佐藤 広都, 澤橋 龍之介, 中村 太郎

    第40回日本ロボット学会学術講演会, 3G1-04  2022.9 

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  • ソフトアクチュエータのための導電性ペーストを用いたひずみセンサの開発～ソフトグリッパの変形及び内部検知～

    藤谷希一, 奥井学, 中村太郎

    第40回日本ロボット学会学術講演会, 4K2-01  2022.9 

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  • 遊星歯車機構を用いたダクト清掃ロボットの清掃率 向上を目的とした清掃手法の検討-幾何学的な清 掃軌跡に基づいた制御設計

    人見峻広, 山中雄太, 伊藤文臣, 中村太郎

    第40回日本ロボット学会学術講演会, 本郷, 東京, 3G2-01  2022.9 

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  • 空気噴出を用いた白杖型力覚提示装置による誘導検証

    大島煕恭, 澤橋龍之介, 奥井学, 西濱里英, 中村太郎

    第27回バーチャルリアリティ学会大会，1F5-3  2022.9 

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  • MR流体ブレーキを用いた下肢外骨格型力覚提示装置の開発と座位における水中での膝の運動感覚の評価

    澤橋龍之介, 増田大貴, 西濵里英, 奥井学, 中村太郎

    第27回日本バーチャルリアリティ学会大会, 1F2-1  2022.9 

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  • シャコの打撃動作を規範とした瞬発力発生機構―外骨格の弾性要素とアクチュエータの発生力を考慮したプーリ形状の設計―

    伊藤文臣, 石井優丞, 車谷駿一, 加賀谷勝史, 中村太郎

    ロボティクスメカトロニクス講演会2022，2A1-S10  2022.6 

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  • 空気圧人工筋肉を利用した管内移動型電線施工補助ロボット―実地環境における電線施工補助実験①―

    伊藤文臣, 堀内樹, 中村太郎

    ロボティクスメカトロニクス講演会2022，2P1-D02  2022.6 

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  • 腸を規範とした蠕動運動型混合搬送装置による固体ロケット燃料製造に向けた混合度推定

    押野紗菜, 寺山伊織, 松井大育, 大島煕恭, 熊本寛也, 鵜澤匠吾, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 1A1-K07  2022.6 

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  • 空気圧人工筋肉と磁気粘性流体ブレーキを用いた双腕装着型力覚提示装置による粘弾性力提示

    澤橋龍之介, 小松丈也, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2P2-E11  2022.6 

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  • ジメチルエーテルの燃焼により駆動する人工筋肉アクチュエータの筋骨格系への応用

    奥井学, 圓城竜斗, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2A1-L09  2022.6 

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  • 抗重力筋維持のための不安定系姿勢維持トレーニング装置の開発

    藤田鋼人, 町田勝紀, 下田祐輔, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 1A1-R09  2022.6 

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  • VR空間内を自由に移動可能な装着型下肢力覚提示装置の開発

    増田大貴, 田中俊成, 澤橋龍之介, 小松丈也, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2P2-D04  2022.6 

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  • VR空間内で落下感覚を提示可能な装着型足底装置の開発

    増田大貴, 田中俊成, 澤橋龍之介, 小松丈也, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2P2-D05  2022.6 

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  • 遊星歯車機構を用いたダクト清掃ロボットの清掃性能評価

    人見峻広, 山中雄太, 伊藤文臣, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2P1-D03  2022.6 

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  • 管内検査ロボットの移動性能向上のための牽引配線押し込み用可変外径;PIG の検討

    成瀬雄太, 多加谷一輝, 伊藤文臣, 渡邉淳一, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2P1-L03  2022.6 

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  • 人間の跳躍力を強化するパワードスーツの研究―スーツ接続位置の変更による影響推定―

    石井優丞, 伊藤文臣, 車谷駿一, 中村太郎

    ロボティクスメカトロニクス講演会2022, 2A1-I04  2022.6 

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  • LPガス配送サポート装置の開発

    大場清貴, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 1P1-K02  2022.6 

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  • 膝関節の可変粘性に着目したアシスト装置の開発―膝関節の関節粘性特性変化の計測―

    下田祐輔, 町田勝紀, 藤田鋼人, 奥井学, 西濵里英, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2A1-N11  2022.6 

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  • 空気圧人工筋肉・磁気粘性流体ブレーキ・傘歯車機構を有した上肢力覚提示装置による摩擦提示実験

    小松丈也, 澤橋龍之介, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2P2-D03  2022.6 

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  • 月探査ロボットにおける編組機構を用いた推進機構の開発

    藤川千雅, 床井亮祐, 外山渡, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 1A1-K05  2022.6 

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  • 蠕動運動型搬送装置の宇宙トイレ応用―管路内空気流入を利用した移送方式の提案―

    鵜澤匠吾, 熊本寛也, 山崎千秋, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 1A1-K04  2022.6 

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  • 腸を規範とした蠕動運動型混合搬送装置へ触覚機能を搭載するための初期検討と予備実験

    寺山伊織, 押野紗菜, 松井大育, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, 2A1-S11  2022.6 

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  • 短繊維配向ゴムシートを用いた人工筋肉の開発

    國定大真, 藤谷希一, 伊藤文臣, 奥井学, 中村太郎

    ロボティクスメカトロニクス講演会2022, 2A1-S12  2022.6 

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  • ソフトアクチュエータのための導電性ペーストを用いたひずみセンサの開発

    藤谷希一, 外山渡, 奥井学, 中村太郎

    ロボティクスメカトロニクス講演会2022，2A2-R02  2022.6 

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  • 移動ロボットの防滑のための管壁把持機構の開発

    内山航輔, 佐藤広都, 伊藤文臣, 中村太郎

    ロボティクスメカトロニクス講演会2022，R05-2A2  2022.6 

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  • 蠕動運動型搬送装置による連続混合搬送 - 流動化処理土の生成に向けた土砂混合 -

    大島煕恭, 鵜澤匠吾, 松井大育, 熊本寛也, 押野紗菜, 寺山伊織, 上田昌弘, 中村太郎

    ロボティクスメカトロニクス講演会2022，E02-1A1  2022.6 

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  • 空気噴出による運動教示デバイス

    鈴木麟, 澤橋龍之介, 西濵里英, 奥井学, 中村太郎

    ロボティクス・メカトロニクス講演会2022, N10-2A1  2022.6 

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  • Estimation of Transported Object for a Peristaltic Continuous Mixing and Conveyer Using Accelerometer

    寺山伊織, 押野紗菜, 西浜里英, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2022.5 

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  • Development of Wearable Force Feedback Device Using Air-jet and Evaluation of Generating Force

    澤橋龍之介, 保井拓巳, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2022.5 

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  • ソフトアクチュエータのための導電性ペーストを用いたひずみセンサの開発~ソフトグリッパの変形及び内部検知~

    藤谷希一, 奥井学, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022 

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  • Development of Compact Soft-Actuator via Dimethyl Ether Combustion: Basic Characteristics of DME Combustion Drive Artificial Muscle

    澤橋龍之介, 圓城竜斗, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2022 

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  • Basic study of development of force feedback shoes to improve the reality of falling in a virtual reality

    石田裕己, 澤橋龍之介, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集(CD-ROM)  2022 

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  • Development of Strain Sensors Using Conductive Paste for Soft Actuators-Investigation of the relationship between time and resistance during elongation-

    藤谷希一, 外山渡, 奥井学, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2021.12 

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  • 空気圧人工筋肉と磁気粘性流体ブレーキを用いた両上肢装着型力覚提示装置による弾性力提示実験

    澤橋龍之介, 奥井学, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2F2-05  2021.12 

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  • 短繊維補強空気圧式ゴム人工筋肉の開発 炭素繊維を使用した繊維濃度の引張特性への影響の評価

    國定大真, 藤谷希一, 伊藤文臣, 奥井学, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2E2-09  2021.12 

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  • 強化学習による打楽器演奏ロボットのシングルストローク動作獲得のシミュレーションによる検証

    山崎伶, 西濵里英, 奥井学, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 3D1-06  2021.12 

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  • 空気圧人工筋肉・磁気粘性流体ブレーキ・傘歯車機構を用いた装着型4自由度力覚提示装置の開発

    小松丈也, 澤橋龍之介, 奥井学, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2F1-13  2021.12 

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  • 遊星歯車機構を用いた角ダクトの油塵を清掃可能な機構の検討

    山中雄太, 人見峻広, 伊藤文臣, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2G1-05  2021.12 

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  • 身体の構造的特徴と機械学習を用いた作業負荷ラベル推定のための多様な身体形状でのデータセット作成

    西濵里英, 山中正雄, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2A5-03  2021.12 

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  • 蠕動運動を規範とした海底探査用掘削ロボットの能動屈曲機構の開発

    外山渡, 津村一輝, 渡邊友貴, 床井亮祐, 吉田弘, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2B4-01  2021.12 

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  • 宇宙トイレのための蠕動運動型搬送装置の内側ゴムチューブの開発

    熊本寛也, 鵜澤匠吾, 松井大育, 押野紗菜, 大島煕恭, 中村太郎

    システムインテグレーション部門講演会2021(SI2021),2E1-05  2021.12 

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  • 厨房換気ダクト内の清掃を目的とした遊星歯車機構を用いた油塵清掃機構の設計

    人見峻広, 山中雄太, 伊藤文臣, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 2G1-06  2021.12 

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  • 腸管を規範とした蠕動運動型混合搬送装置を用いた分散型蠕動運動生成の提案

    松井大育, 押野紗菜, 寺山伊織, 西濵里英, 奥井学, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 1C5-05  2021.12 

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  • 柔軟ひずみセンサを用いた蠕動運動型混合搬送装置における内部挙動計測

    押野紗菜, 松井大育, 寺山伊織, 熊本寛也, 大島煕恭, 西濵里英, 奥井学, 中村太郎

    システムインテグレーション部門講演会2021(SI2021), 3D1-04  2021.12 

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  • Development of a Wearable Force Feedback Device with a Clutch Mechanism Using Pneumatic Artificial Muscle Contraction

    R. Sawahashi, Y. Onozuke, M. Okui, T. Nakamura

    2021.11 

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  • 複雑管を走行可能な直列拮抗駆動機構を搭載した波動伝播型管内検査ロボットの開発-アクチュエータの伸長長さを考慮した移動高効率化-

    多加谷一輝, 伊藤文臣, 成瀬雄太, 渡邉淳一, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • シャコ規範型瞬発力発生機構の開発-瞬発的動作に伴うキャビテーション発生とそのコントロール-

    伊藤文臣, 石井優丞, 車谷駿一, 加賀谷勝史, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2021.9 

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  • 波動伝播型管内検査ロボットによるダブルエルボ管検査試験

    多加谷一輝, 伊藤文臣, 渡邉淳一, 中村太郎

    日本機械学会 2021年度年次大会, S151-11  2021.9 

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  • 側弯症装具用エアーパッドの開発

    宮川拓也, 水谷公洋, 川上紀明, 中村太郎, 奥井学, 西浜里英, 風間祐人

    日本義肢装具士協会学術大会プログラム・講演集(Web)  2021.7 

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  • Construction of Distributed Sensing System for Peristaltic Continuous Mixing Conveyor Simulating Intestines-Internal State Measurement by Accelerometer-

    OSHINO Sana, WAKAMATSU Kota, MATSUI Daiki, ADACHI Haruka, KUMAMOTO Hiroya, OSHIMA Hirochika, NISHIHAMA Rie, OKUI Manabu, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

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    Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2021.html#OshinoWMNON21

  • Improved Conveying Efficiency of a Peristaltic Pump for Vertical Conveying of Excavated Soil at Construction Sites

    Oshima Hirochika, ADACHI Haruka, WAKAMATSU Kota, MATSUI Daisuke, kumamoto Hiroya, Osino Sana, UEDA Masahiro, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Other Link： https://dblp.uni-trier.de/db/conf/aimech/aim2021.html#OshimaAMWKOUN21

  • A Study on Horizontal Drilling with Seabed Robotic Explorer

    TOKOI Ryosuke, TOYAMA Wataru, TSUMURA Kazuki, WATANABE Tomoki, OKUI Manabu, NAKAMURA Taro, YOSHIDA Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Other Link： https://dblp.uni-trier.de/db/conf/clawar/clawar2021.html#TokoiTTWO0Y21

  • Examination of a Continuous Representation of Mixing and Transport Using Peristaltic Mixing Conveyor Simulating Intestinal-Proposal on Continuous Segmental and Peristaltic Movements Pattern-

    MATSUI Daisuke, OSHINO Sana, WAKAMATSU Kota, NISHIHAMA Rie, OKUI Manabu, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    The mixing and transporting process of a solid–liquid mixture and a high-viscosity fluid is separate batch processes, leading to an increase in maintenance costs and disposal costs. To achieve continuous mixing and transporting process, the authors have developed a pneumatic peristaltic mixing conveyor based on the movement of transporting bolus in the intestinal tract. The proposed conveyer is possible to mix and transport with one device continuously, however, it has not been studied to mix and transport at the same time like the actual intestine does. In this paper, we proposed a congruence which is able to continuously switch between segmental and peristaltic movement in order to achieve a continuous mixing and transporting.

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  • Improving the Accuracy of Mixture Estimation in Peristaltic Continuous Mixing Conveyor Simulating Intestines with Distributed Sensing System

    OSHINO Sana, WAKAMATSU Kota, INOUE Katsuma, MATSUI Daiki, NISHIHAMA Rie, OKUI Manabu, NAKAJIMA Kohei, KUNIYOSHI Yasuo, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    We proposed herein a method for estimating the mixing state of the contents of a peristaltic continuous mixing conveyor simulating the intestine, developed for mixing and conveying powders and liquids. This study serves to improve a previously proposed method for estimating the mixing state using a logistic regression model with the pneumatic factor sensors installed in the device as inputs. To improve the estimation method, we changed the method of acquiring training data and labeling in the learning model. Moreover, comparison of the estimation accuracy and the result of the proposed method was better than that of the previous method.

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  • Proposal for Improving the Portability and Responsiveness of Pneumatic Artificial Muscles that uses Combustion of Dimethyl Ether-Evaluation of the responsiveness of using combustion -

    ENJO Ryuto, OKUI Manabu, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Pneumatic drive systems are widely used in assistance devices and flexible drive robots owing to their characteristics of light weight, high output, and flexibility. However, those devices cannot perform instantaneous operation because those devices have low responsiveness. Then we focus on the physical properties of flammable dimethyl ether (DME), and we considered using combustion of DME to improve the responsiveness of pneumatic drive systems. We developed artificial muscle which is driven by burning DME inside the device. In this paper, we conducted the experiment to investigate the response time and displacement of artificial muscle when DME burned in the device.

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  • Application of a force feedback method using air jetting to hand position guidance

    OKUI Manabu, YASUI Takumi, NISHIHAMA Rie, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese   Presentation type：Oral presentation (general)  

    Various haptic devices for application to virtual reality have been developed. Most of them have to be stationary on a desk, thus users cannot move around. To overcome this shortcoming, we propose a wearable force feedback device that uses air jet. In this paper, a prototype for hand position guidance which is able to provide force in any direction is developed, and its performance is evaluated by experiments.

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  • Development of a Bimanual Wearable Force Feedback Device Composed of Pneumatic Artificial Muscles and Magnetorheological Fluid Brakes

    SAWAHASHI Ryunosuke, MAI Iki, NISHIHAMA Rie, OKUI Manabu, Nakamura Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

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    In a virtual reality (VR) space, wearing a head-mounted display can help with the visualization of objects, however, users cannot experience realistic tactile sensations. Recently, several force feedback devices have been developed, including wearable devices that use straight-fiber-type pneumatic muscles and magnetorheological fluids. This allows the devices to render elastic, frictional, and viscous forces during spatially unrestricted movement. Nevertheless, there are two problems. One is that there were items with low scores in the subjective evaluation regarding the discrimination of device weight and force magnitude. The other is the inability to handle many bilateral upper limb movement tasks. Therefore, this study aims to develop a device that can handle movements that interact with both arms.

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  • Inspection test in an actual environment of wave propagation type pipe inspection robot

    Takaya Kazuki, Ito Fumio, Sato Hiroto, Watanabe Jun’ichi, Nakamura Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    This paper describes the results of an inspection test in an actual environment using a wave propagation type pipe inspection robot, PI-Ro II. it has been difficult to inspect pipes with thin, long, and complicated layouts from the viewpoint of both propulsive force (force to push the robot deeper into the pipe) and traction force (force to pull the robot into the pipe). Therefore, we developed PI-Ro II, a compact robot with a mechanism that enables both propulsion and traction forces, and confirmed its inspection performance in a mockup. However, it is difficult to perfectly reproduce the piping conditions actually used in factories with this mockup. To solve this problem, we conducted an inspection test using PI-Ro II in a pipe used in an actual factory, and succeeded in acquiring images of the inside of the pipe and inspecting 3.8 m of pipe, including passage through two consecutive 90-degree bends.

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  • Development of a pneumatic artificial muscle driven drum playing robot for reinforcement learning using real robot

    OKUI Manabu, NAKAMURA Shiori, NISHIHAMA Rie, KIMURA Seigo, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

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    Pneumatic artificial muscles are advantageous owing to dynamic stiffness. However, the drawback of this is their poor controllability. In this paper, a reinforcement learning-based control system using a real robot is proposed to improve controllability. The proposed system is aimed to generate dynamic motion patterns that utilize the body structure and variable stiffness characteristics. We propose a reinforcement learning-based realistic drum-playing robot, and confirm its effectiveness through experiments.

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  • Prototype of Soft Robotic Finger with Flexible Exoskeleton

    KURUMAYA Shunichi, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

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    PneuFinger, soft robotic finger with flexible exoskeleton is designed and two prototypes with different lengths is made. Grasping experiments using a soft robot gripper of two finger type with PneuFingers applied was conducted．In the experiments, four objects with different properties (textile, small tomato, circular saw, and detergent container) was successfully grasped and a maximum payload of 1 kg was achieved.

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  • A Study on Pipeline Shape Correction Method Using Position and Orientation Information of the Beginning and End of a Pipeline

    SATO Hiroto, UHIYAMA Kousuke, ITO Fumio, OKUI Manabu, NISHIHAMA Rie, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    In the inspection of sewage pipes, it is necessary to prepare a pipeline map in order to efficiently identify the damaged areas, which are often lost so it is necessary to prepare a pipeline map at the same time as the inspection. The authors have previously developed a peristaltic robot for sewer pipe inspection and have estimated the pipe shape using IMU sensors. However, the accuracy of the estimated map was not enough to be put into practice. In this study, we try to improve the estimation accuracy by measuring the information of the position and orientation of the start and end points of the pipeline to constrain the estimated pipeline shape. The authors represent the pipe geometry with only three parameters, and the correction is performed by iterative calculation using the inverse Jacobian matrix.

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  • Verification of Training Effects Using Wearable Variable Viscoelastic Joints

    FUJITA Tetsuhito, MACHIDA Katsuki, KIMURA Seigo, OKUI Manabu, NISHIHAMA Rie, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    In this paper, we proposed the application of a device using a variable viscoelastic joint for training and rehabilitation. By varying the antagonistic angle of the device with respect to the human motion, the training effects with different loads were verified. The proposed device can switch between training and rehabilitation by changing the antagonistic angle. However, the training effect using the variable viscoelastic joint has not been confirmed yet. Therefore, we measured the muscle potential during the movement when the antagonistic angle of the device was changed. As a result, the value of the EMG increased as the angle of the knee joint and the antagonistic angle of the device during the movement increased. It was confirmed that the variable viscoelastic joint can be applied to training.

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  • Examination of cleaning tools for the development of a cleaning robot for grease in exhaust ducts

    YAMANAKA Yuta, ITO Fumio, SATO Hiroto, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    In this study, the authors started to develop a robot that can clean grease dust in ventilation ducts. In this paper, we investigated the required specifications of the robot, constructed a model of the cleaning brush, and developed grease dust samples. We also conducted cleaning experiments to confirm the cleaning performance of cleaning tools with different bristle and stiffnesses. Form the experiments, we confirmed that the contact area of the brushes affected on the cleaning performance and the cleaning performance of the nylon brush was 68%, which was the highest compared to other brushes.

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  • Application consideration of the peristaltic conveyance system to space toilet

    KUMAMOTO Hiroya, MATSUI Daisuke, OSHINO Sana, OSHIMA Hirochika, WAKAMATSU Kota, ADACHI Haruka, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    With the advancement of space technology, long-term and deep space exploration is being planned with the long-term goal of exploring the Moon and Mars. In order for humans to stay in space for a long time, a regenerative Environmental Control and Life Support System (ECLSS) is required. In the ECLSS, there is a space toilet to reuse excrement. Since the space toilet is used under the microgravity environment, it is difficult to transport and collect excrement by using gravity. Therefore, the authors focused on the peristaltic movement of the intestine. In this paper, we present a new type of peristaltic motion, which is capable of transporting gas-solid-liquid multiphase flow under microgravity conditions. In this paper, a new peristaltic pump is constructed, and comparison experiments with existing peristaltic pumps and confirmation of its performance are carried out.

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  • Motion Analysis for Body Load Estimation in LP Gas Delivery

    Okuni Shotaro, Susumu Kashima, Nishihama Rie, Okui Manabu, Nakamura Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    In transporting LP gas tanks, the load of workers is high due to handling heavy LP gas tanks. In previous studies, the physical load of workers when handling LP gas tanks was not evaluated quantitatively. This study aimed to evaluate the physical load in handling the LP gas by motion capture system and muscle potential. In this paper, a posture with carrying on the shoulder the LP gas tank was evaluated from the viewpoint of load torque of joints, muscle potential, and compression force of intervertebral discs.

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  • Study on improvement of drilling efficiency of drilling robot for seabed exploration- Effect of rotational speed on drilling efficiency -

    TOYAMA Wataru, TSUMURA Kazuki, WATANABE Tomoki, TOKOI Ryosuke, OKUI Manabu, NAKAMURA Taro, YOSHIDA Hiroshi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    Valuable seabed mineral resources such as rare earth elements are deposited 2–3 meters into the deep seafloor, and sampling and analyzing the seafloor is necessary to clarify how they are generated and distributed. We have developed a seafloor robotic explorer that can excavate horizontally and collect samples of rare earth elements, which may enable wide-area exploration as multiple robots could be simultaneously implemented to autonomously search beneath the seabed. The seafloor robotic explorer may excavate sediments such as clay and sand before reaching the rare earth layer. In previous studies, it has been discovered that the rotation speed, penetration force, and characteristics of the sediment affected the excavation resistance. Therefore, we assumed that controlling the rotation speed and penetration force would enable an efficient excavation according to the ground characteristics. Therefore, in this paper, we examined the effect of rotational speed on drilling efficiency using dry silica sand ground.

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  • Estimating deformation of pipe from its internal image

    KOSUGE Kaito, OYAMA Akira, SATO Hiroto, UCHIYAMA Kosuke, NAKAMURA Taro, UMEDA Kazunori

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    In recent years, the number of pipes that have exceeded their service life has been increasing. Thus, regular inspection of the pipes is required. In particular, a flexible pipe made of vinyl chloride shows its unique degradation, such as oblatening. In this paper, we propose a method of estimating the degree of oblatening of a pipe from its internal image captured by an earthworm robot. Covariance matrix of the image is used to obtain the degree of oblatening.

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  • Development of strain sensors based on conductive paste for soft actuators- Investigation of basic properties of conductive paste and development of measurement equipment-

    Fujitani Kiichi, Toyama Wataru, Okui Manabu, Nakamura Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    Currently, soft actuators are being actively researched. Genellary, soft actuators are more difficult to control than ordinary actuators because of their flexibility. Therefore, there is a need for a sensor that can be unified with the soft actuator and measure the change in shape of large deformations without interfering with the deformation of the soft actuator. In this study, we propose a strain sensor that can measure the displacement of a soft actuator based on a conductive paste with silver as a filler. This paper describes the investigation of the basic properties of conductive pastes using silver filler and the measurement equipment.

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  • Evaluation of Viscous Properties of Joint Modules with Variable Viscoelastic Properties

    MACHIDA Katsuki, FUJITA Tetsuhito, KIMURA Seigo, OKUI Manabu, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    The authors have developed a variable viscoelastic joint module that mimics the principle of human joint drive. It is composed of antagonized pneumatic artificial muscles and a magnetorheological fluid brake. In the previous research, the joint module is developed and the variable stiffness performance is evaluated. In this paper, the variable viscous element of the joint module is evaluated by experiment. Result confirmed that the module has variable viscosity characteristics and it can be applied to robotic systems.

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  • Influence of acceleration time on droppong sensation for development of lower limb force feedback device

    TANAKA Toshinari, MASUDA Taiki, SAWAHASHI Ryunosuke, OKUI Manabu, NISHIHAMA Rie, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    The purpose of this study is to investigate the effects on human fall sensation when a VR fall sensation presentation device is used to decelerate the device during descent. A questionnaire survey using VAS was conducted to evaluate the effects of acceleration and deceleration on the sensation of falling. A questionnaire using VAS was used to evaluate the sensation of falling and the sense of reality depending on the amount of acceleration and the amount of deceleration. The results suggest that, within the range of acceleration used in this experiment, the deceleration of the device does not significantly impair the sense of falling and the sense of reality.

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  • Proposal of Residual Water Removal Mechanism for Obtaining Clear Images in Pipes by Piping Robot

    UCHIYAMA Kosuke, SATO Hiroto, ITO Fumio, KURUMAYA Shunichi, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021.6  The Japan Society of Mechanical Engineers

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    Event date： 2021.6 　 　

    Language：Japanese  

    In this paper, a water suction unit which removes residual water was designed and developed to obtain clear images of the inside of sewer pipes from the camera. When PEW-RO V, which was developed in a previous study, inspects sewer pipes, it cannot inspect inside of sewer pipes taken by its camera in residual water. Residual water removal mechanism consists of the water suction pump and the water suction unit. In the experiment, the location of the pump was determined and PEW-RO V with the water suction unit successfully drained the residual water to a level where the camera could acquire images.

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  • シャコの打撃動作に基づいた瞬発力を有するマニピュレータデザイン-シミュレーションによる人工筋肉径の瞬発力への影響検討-

    伊藤文臣, 小野理己, 車谷駿一, 加賀谷勝史, 中村太郎

    ロボティクス・メカトロニクス講演会講演概要集 , 2A1-D12  2021.6  一般社団法人 日本機械学会

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  • 空気圧人工筋肉を利用した管内移動型電線施工補助ロボット-補助ロボットの提案とその動作試験-

    伊藤文臣, 鶴慧士, 佐藤広都, 多加谷一輝, 中村太郎

    ロボティクス・メカトロニクス講演会講演概要集, 1P1-K05  2021.6  一般社団法人 日本機械学会

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  • Effect of deceleration on fall sensation for development of lower limb force feedback device

    MASUDA Taiki, TANAKA Toshinari, Sawahashi Ryunosuke, OKUI Manabu, NISHIHAMA Rie, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2021  The Japan Society of Mechanical Engineers

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    Event date： 2021 　 　

    Language：Japanese  

    The purpose of this study is to investigate the effects on human fall sensation when a VR fall sensation presentation device is used to decelerate the device during descent. A questionnaire survey using VAS was conducted to evaluate the effects of acceleration and deceleration on the sensation of falling. A questionnaire using VAS was used to evaluate the sensation of falling and the sense of reality depending on the amount of acceleration and the amount of deceleration. The results suggest that, within the range of acceleration used in this experiment, the deceleration of the device does not significantly impair the sense of falling and the sense of reality.

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  • Quantitative Evaluation of a Wearable Feedback Device with a Clutch Mechanism Using Artificial Muscle Contraction

    2020.12 

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    Event date： 2020.12 - 　

    Language：Japanese   Presentation type：Oral presentation (general)  

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  • Development of information transmission interface by force feedback using air-jet : Evaluation of the basic characteristics of nozzles

    2020.12 

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    Event date： 2020.12 - 　

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  • 住宅換気ダクト清掃用蠕動運動型ロボットの開発-住宅換気ダクトの特性を考慮したロボットの詳細設計-

    伊藤文臣, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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    Event date： 2020.10 - 　

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  • スケール効果と給排気速度に基づくぜん動ポンプの性能予測

    上田昌弘, 河野貴穂, 山内亮太, 杉本南, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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  • 牽引力を強化するための直列拮抗駆動機構を搭載した波動伝播型管内検査ロボット-直列拮抗駆動機構の重ね合わせを用いた少数駆動ユニットによる高牽引力化-

    伊藤文臣, 多加谷一輝, 佐藤広都, 渡邉淳一, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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  • 蠕動運動型搬送装置における土砂搬送のための加水システムの開発 高含水比土砂の分布と土砂搬送の関係の調査

    足立遼, 若松康太, 松井大育, 大島熙恭, 上田昌弘, 山田泰之, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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  • モンハナシャコの打撃を規範とした外骨格ばねによる瞬発力発生機構-瞬発力発生機構のモデル化と数値シミュレーション-

    伊藤文臣, 車谷駿一, 加賀谷勝史, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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  • Deformation control of laminated foam based soft actuator using pressure propagation difference

    山田泰之, 大庭広明, 船井翔, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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    Event date： 2020.5 - 　

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  • Integrated molding of pneumatic artificial muscle by 3D printer-Multi-segment molding and simple production-

    伊藤文臣, 小島明寛, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Proposal of Pipeline Shape Measurement Method Using IMU Sensor Focusing on Velocity Change Due to Peristaltic Motion

    佐藤広都, 眞野雄貴, 伊藤文臣, 保井拓巳, 奥井学, 西浜里英, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Proposal and evaluation of a high-rigidity joint attachment for a peristaltic robot for pipe inspection in an actual environment

    保井拓巳, 佐藤広都, 眞野雄貴, 伊藤文臣, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Prototype of Fitting Mechanism for Assist suits with Thin Mckibben Muscles

    車谷駿一, 西浜里英, 鈴木隆二, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Influence on falling sensation for development of lower limb force feedback device

    田中俊也, 小野塚祐樹, 奥井学, 西浜里英, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Proposal for a Compact Pressure Source that Uses Two-stage Dimethyl Ethel Phase Change and Combustion-Measurement of pressure and DME molor ratio when DME gas burned-

    圓城竜斗, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Development and evaluation of a breastplate for improving the wearability of assist suit AB-Wear for lower back support

    山中雄太, 鹿島将, 西浜里英, 横山和也, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Study on drilling efficiency of drilling robot for seabed exploration-Effect of penetration force on drilling efficiency-

    外山渡, 井坂惠太, 津村一輝, 渡邉友貴, 奥井学, 中村太郎, 吉田弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • A development of propulsion unit corresponding to distributed driving system for lunar excavating exploration robot

    渡邊友貴, 外山渡, 井坂惠太, 津村一輝, 奥井学, 中村太郎, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Evaluation of basic characteristics of variable stiffness assist suit based on the one-sided spring antagonized joint

    木村成吾, 町田勝紀, 鈴木隆二, 鹿島将, 奥井学, 西濱里英, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Excavation performance experiment in the actual sea area of the seabed exploration robot with seawater resistant processing.

    津村一輝, 井坂惠太, 渡邊友貴, 外山渡, 奥井学, 中村太郎, 吉田弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Mixing and Transport Test of the Material in a Film for Continuous Solid Propellant Production using Peristaltic Mixer

    若松康太, 足立遼, 松井大育, 萩原大輝, 岩崎祥大, 山田泰之, 羽生宏人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Influence on joint torque by motion speed during upper limb lifting

    多加谷一輝, 西浜里英, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Development of bending unit using dielectric elastomer actuator which is able to deform without pre-stretch

    熊本寛也, 林拓宗, 米原悠二, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Home & office application by Human Centered Design

    小幡雄三, 横澤卓, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Development of an Automatic Water Injection Control System of Peristaltic Transport Machine for Excavated Soil Vertically Transportation

    松井大育, 足立遼, 若松康太, 萩原大輝, 上田昌弘, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Proposal of Ring Structure to Reduce Expansion Diameter for Peristaltic Mixing Pump

    足立遼, 若松康太, 松井大育, 萩原大輝, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Application of wearable force feed back device using air jet to VR

    益田俊顕, 田村朋則, 小野塚祐樹, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Development of a joint drive module with variable viscoelastic properties

    町田勝紀, 木村成吾, 鈴木隆二, 横山和也, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Life cycle design of robot: Biodegradable in the food chain by being consumed by predation

    船井翔, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2020.5 

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  • Construction and Validity Evaluation of Extension Amount Model of Two-degree-of-freedom pipe selection mechanism using contraction and extension unit composed of single tube

    伊藤文臣, 佐藤広都, 眞野雄貴, 奥井学, 中村太郎

    ロボティクスシンポジア予稿集  2020.3 

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  • Proposal of Compact Rotary Valve Mechanism for Pneumatic Mobile Robot With Periodic Air Supplying

    眞野雄貴, 佐藤広都, 伊藤文臣, 奥井学, 山田泰之, 中村太郎

    ロボティクスシンポジア予稿集  2020.3 

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  • Content Detection for Continuous and Efficient Production by Peristaltic Mixer

    K. Wakamatsu, H. Adachi, D. Matsui, H. Kumamoto, H. Habu, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • Mixing State Estimation of Peristaltic Continuous Mixing Conveyor

    K. Wakamatsu, H. Adachi, D. Matsui, H. Kumamoto, K. Nakajima, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • Packaging of Mixed Materials in Peristaltic Mixer for Solid Propellant Production

    H. Kumamoto, K. Wakamatsu, H. Adachi, D. Matsui, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • Development of a locomotion robot using deformable DEA without pre-stretch

    H. Kumamoto, Y. Yonehara, M. Okui, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • Development of;an;Automatic Water;Injection Control;System of Peristaltic Transport;Machine for;Excavated Soil Vertically Transportation

    D. Matsui, H. Adachi, K. Wakamatsu, U. Masahiro, Y. Yamada, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • Grasp Efficient Powder Transport Performance of Peristaltic Conveyor Simulating Intestinal Movement Method

    D. Matsui, K. Wakamatsu, H. Adachi, K. Kato, Y. Yamada, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • Development of a breastplate to improve the wearability of the lumbar assist suit, AB-Wear

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • A development of propulsion unit for lunar exploration robot "LEAVO"

    T. Watanabe, W. Toyama, M. Okui, H.Sawada, T. Kubota, T. Nakamura

    The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS 2020)  2020.11 

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  • 空気圧人工筋肉を用いた打楽器演奏ロボットの開発に向けた打楽器演奏動作の解析

    奥井学, 西浜里英, 鈴木隆二, 中村栞莉, 木村成吾, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2020.10 

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  • 人体の部位の構造的特徴に基づく画像からの作業負担推定手法

    多加谷一輝, 西濱里英, 朝倉高也, 加畑俊之介, 山中正雄, 中村太郎

    動的画像処理実用化ワークショップ2020  2020.3 

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    Language：Japanese   Presentation type：Poster presentation  

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  • MR流体ブレーキを用いた溶接教示を目的とした力覚提示装置の提案ー実地実験での溶接ラインの評価ー

    鈴木隆二, 奥井学, 森田晋也, 杉林宗一郎, 中村太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，3C2-06  2019.12 

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  • 3Dプリンタによる空気圧人工筋肉の一体成型 - 板バネの剛性変更による収縮特性への影響 -

    伊藤文臣, 奥井学, 中村太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，1B5-07  2019.12 

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  • 圧送管内検査用蠕動運動型ロボットの実地実験による実環境走行性能の評価

    眞野雄貴, 保井拓巳, 山田泰之, 中村太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，2C1-01  2019.12 

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  • 蠕動運動型搬送装置のための直接加水方式による効率的な搬送

    萩原大輝, 若松康太, 足立遼, 松井大育, 上田 昌弘, 車谷駿一, 山田泰之, 奥井学, 中村 太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，3C1-02  2019.12 

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  • 蠕動運動型捏和装置を用いた固体推進薬連続製造に向けた検討

    若松康太, 萩原大輝, 足立遼, 松井大育, 山田泰之, 奥井学, 中村太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，2B5-10  2019.12 

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  • 海底探査用掘削ロボットの粘土掘削特性に関する研究

    井坂惠太, 津村一輝, 渡邊友貴, 外山渡, 奥井学, 吉田弘, 中村太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，3C5-02  2019.12 

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  • 腸管を規範とした蠕動運動型コンベアの効率的な粉体搬送性能の把握

    松井 大育, 萩原 大輝, 若松 康太, 足立 遼, 加藤 弘一, 山田 泰之, 奥井 学, 中村太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，2C1-02  2019.12 

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  • 空気噴出を利用したウェアラブル力覚提示手法の弾性体提示への応用

    田村 朋則, 益田 俊顕, 奥井 学, 中村 太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，1A2-09  2019.12 

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  • プレストレッチ無く変形可能な DEA と柔軟な波発生デバイスへの応用

    林 拓宗, 熊本 寛也, 米原 悠二, 竹内 宏充, 奥井 学, 中村 太郎

    第20回計測自動制御学会システムインテグレーション部門講演会，1B2-02  2019.12 

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  • Proposal of a running method in different diameter pipes for peristaltic sewage pipe inspection robot

    保井拓巳, 眞野雄貴, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集  2019.10 

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  • Proposal of 2‐DOF line selection mechanism with single tube pressure difference

    伊藤文臣, 佐藤広都, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集  2019.10 

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  • Instruction of Proceedings of JFPS Symposium

    大場実, 小野塚祐樹, 奥井学, 中村太郎

    フルードパワーシステム講演会講演論文集  2019.10 

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  • 効率的な土砂搬送のための加水機構を有した蠕動運動型搬送装置の開発

    萩原大輝, 若松康太, 足立遼, 松井大育, 上田昌弘, 車谷駿一, 山田泰之, 山田泰之, 中村太郎

    建設ロボットシンポジウム論文集(CD-ROM)  2019.10 

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  • 柔軟ダクト内走行を考慮に入れたミミズ型ダクト清掃ロボットのモデル化と検証

    伊藤文臣, 河口貴彦, 山田泰之, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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  • 海底探査掘削ロボットのための掘削深度向上化を図る水噴射排土機構

    井坂惠太, 津村一輝, 渡邊友貴, 外山渡, 奥井学, 菅澤誠, 吉田弘, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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  • 発泡体積層構造を用いたソフトアクチュエータの開発 曲げ運動の過渡特性の検討

    山田泰之, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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  • 外骨格ばねに着想を得た拮抗駆動機構の試作

    車谷駿一, 伊藤文臣, 加賀谷勝史, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2019.9 

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  • 月探査用型掘削ロボットにおける連動チャック機構を利用した把持機構の提案

    BARTHELEMY Megan, 渡邊友貴, 藤原杏実, 只見侃朗, 井坂惠太, 奥井学, 中村太郎, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 高収縮ユニットを用いた蠕動運動型ダクト清掃ロボットの提案

    伊藤文臣, 河口貴彦, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 空気圧管内検査用蠕動運動型ロボットのための回転整流機構を用いた空気圧切替弁の提案

    眞野雄貴, 保井拓巳, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 空気噴出を利用したウェアラブル力覚提示装置の提案

    奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 周波数特性の異なる三種のアクチュエータを用いた力触覚提示デバイスの開発

    林拓宗, 小野塚祐樹, 奥井学, 米原悠二, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 片側ばね拮抗関節による剛性と拮抗角度の制御によるアシストとその立ち上がりと歩行への応用

    木村成吾, 鈴木隆二, 鹿島将, 奥井学, 西濱里英, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 海底探査掘削ロボットのための水噴射排土機構の提案

    井坂惠太, 只見侃朗, 藤原杏実, 渡邊友貴, 奥井学, 中村太郎, 菅澤誠, 吉田弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 上向き作業補助装置TasKiにおける肩幅と着用感の関係

    西浜里英, 福山竣也, 荒川大和, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 圧送管内検査用蠕動運動型ロボットの曲管通過のためのジョイントアタッチメントの開発

    保井拓巳, 眞野雄貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 月面探査用蠕動運動型掘削ロボットLEAVOにおける分散駆動型掘削システムの開発

    渡邊友貴, 藤原杏実, BARTHELEMY Megan, 只見侃朗, 井坂惠太, 山田泰之, 奥井学, 中村太郎, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 深部静脈血栓(DVT)予防機器の開発―空気圧アクチュエータを用いた足関節他動運動と間欠的空気圧迫による静脈血流改善の提案―

    根岸海, 奥井学, 西浜里英, 赤堀直樹, 柳拓也, 本名敦夫, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 空気圧人工筋肉と磁気粘性流体を用いた可変粘弾性特性を有する外骨格アシストスーツの開発―第3報:動作判別アルゴリズムの提案―

    鈴木隆二, 奥井学, 木村成吾, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 弾性バネと磁気粘性流体クラッチを用いた力覚提示手法の基礎特性

    大場実, 小野塚祐樹, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 掘削土砂搬送のための蠕動運動型搬送機における搬送可能土砂の含水率と液性限界の関係

    萩原大輝, 若松康太, 足立遥, 芦垣恭太, 上田昌弘, 奥井学, 山田泰之, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 混合搬送量の増加のためのジャバラ構造を用いた蠕動運動型混合搬送装置の開発―蠕動運動駆動発生に必要な圧縮空気量の比較―

    足立遼, 萩原大輝, 若松康太, 芦垣恭太, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 圧電ワイヤセンサを用いた空気圧人工筋肉のセンシングに関する研究―圧電ワイヤセンサの基礎特性評価―

    LIU Yage, DAI Kejia, 奥井学, 西浜里英, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 空気圧ゴム人工筋肉と磁気粘性流体クラッチを用いた装着型4自由度力覚提示装置による粘性提示

    小野塚祐樹, 大場実, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 3Dプリンタを利用した印刷可能な空気圧アクチュエータの検討―Pleated Pneumatic Artificial Muscles の試作評価―

    小島明寛, 伊藤文臣, 奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 歩行を考慮したSquat Lifting支援用下肢パワーアシストスーツの提案

    鹿島将, 荒川大和, 西浜里英, 中村太郎, 横山和也, 菊谷功

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • サスペンション付きハイヒールの提案

    西浜里英, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 住宅ダクト用蠕動運動型ロボットにおけるユニットの動特性に着目した速度向上の提案

    河口貴彦, 伊藤文臣, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 固体推進薬製造に向けた蠕動運動型混合搬送装置における材料梱包化の提案

    若松康太, 萩原大輝, 足立遼, 芦垣恭太, 岩崎祥大, 山田泰之, 羽生宏人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 不整地探査用小型クローラにおける走行性能の調査―はね形状と走行速度の関係―

    足立遼, 藤原杏実, 山田泰之, 風間祐人, 國井康晴, 前田孝雄, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 蠕動運動型混合搬送装置における内部状態把握に向けたセンシングの検討

    若松康太, 萩原大輝, 足立遼, 芦垣恭太, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • 柔軟構造体を駆動可能とする発泡体積層構造を用いたソフトアクチュエータの開発

    山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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  • Proposal of earthworm type robot with continuous flexible inner wall structure for duct cleaning

    伊藤文臣, 河口貴彦, 山田泰之, 中村太郎

    フルードパワーシステム講演会講演論文集  2019.5 

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  • Motion Analysis for Assisting by Controlling of Joint Stiffness and Antagonized Angle Using Pneumatic Artificial Muscle and Spring

    木村成吾, 鈴木隆二, 鹿島将, 奥井学, 西濱里英, 中村太郎

    フルードパワーシステム講演会講演論文集  2019.5 

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  • ソフトロボティクスための高出力型空気圧ゴム人工筋肉の開発とその応用事例

    中村太郎

    日本材料科学会学術講演大会講演  2019.5 

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  • 柔軟なブラシホイールによる車輪型管内移動ロボットの提案

    只見侃朗, 伊藤文臣, 鎌田将司, 河口貴彦, 山田泰之, 中村太郎

    第24回ロボティクスシンポジア  2019.3 

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  • 不整地探査用小型クローラにおける走行性能の調査-はね形状と走行速度の関係-

    足立遼, 藤原杏実, 山田泰之, 風間祐人, 國井康晴, 前田孝雄, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2019.6 

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    Event date： 2019 　 　

    Language：Japanese   Presentation type：Oral presentation (general)  

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  • Printable pneumatic actuator using 3D printer-Preparation and evaluation of Pleated Pneumatic Artificial Muscles-

    KOJIMA Akihiro, ITO Fumio, OKUI Manabu, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    The pneumatic soft actuator converts the input energy by utilizing structural deformation or material deformation according to the applied pressure to obtain the output. Although various forms of operation are conceivable, in practice it was difficult to freely design under manufacturing constraints. In recent years, with the development of 3D printers, flexible materials such as rubber as well as hard materials such as conventional resin can be printed. It is now possible to manufacture an actuator having a complicated shape combining a resin material and a rubber material that have been difficult to produce. In this paper, Pleated Pneumatic Artificial Muscles using 3D printer which can design freely using resin and rubber material with fabricated and evaluated contraction characteristics.

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  • 腸の運動手法を模擬した蠕動運動型搬送装置の搬送メカニズムの検討

    芦垣恭太, 萩原大輝, 若松康太, 足立遥, 加藤弘一, 山田泰之, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018.12 

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  • 蠕動運動型搬送機による掘削土砂搬送に向けた複数ユニット搬送実験

    萩原大輝, 芦垣恭太, 若松康太, 上田昌弘, 山田泰之, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018.12 

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  • 空気圧ゴム人工筋肉と磁気粘性流体クラッチを用いた装着型4自由度力覚提示装置による摩擦提示実験

    小野塚祐樹, 大場実, 奥井学, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018.12 

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  • 海底探査用掘削ロボットの掘削抵抗軽減化に関する研究

    井坂惠太, 只見侃朗, 藤原杏実, 渡邊友貴, 菅澤誠, 山田泰之, 山田泰之, 吉田弘, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2018.12 

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  • 圧送管内検査用蠕動運動型ロボットの曲管通過実験の報告

    眞野雄貴, 保井拓巳, 山田泰之, 中村太郎

    第19回計測自動制御学会システムインテグレーション部門講演会  2018.12 

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  • 軸方向繊維強化型人工筋肉の耐久試験による伸張結晶化の長寿命化への影響確認

    小島明寛, 奥井学, 辻知章, 中村太郎

    平成30年秋季フルードパワーシステム講演会  2018.10 

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  • 蠕動運動型捏和装置を用いた固体推進薬混合メカニズムの検討

    芦垣 恭太, 萩原 大輝, 岩崎 祥大, 若松 康太, 松本 幸太郎, 山田 泰之, 羽生 宏人, 中村 太郎

    第62回宇宙科学技術連合講演会  2018.10 

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  • Auxiliary Effect Verification of Power Assist Suit "AB-Wear" for Assisting the Lower Back using the Deflection of a Flat Spring International conference

    H. Arakawa, S. Mohri, K. Yokoyama, Y. Yamada, I. Kikutani, T. Nakamura

    Proc. of The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018)  2018.10 

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  • 可変粘弾性制御則を適用した装着型アシストスーツAirsist Iのスクワット動作における装着評価実験

    鈴木隆二, 奥井学, 飯川伸吾, 山田泰之, 中村太郎

    第36回日本ロボット学会学術講演会,1A1-01  2018.9 

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  • ミミズの剛毛を模倣した推進機構を有する海底探査用掘削ロボットの開発

    井坂惠太, 只見侃朗, 藤原杏実, 渡邊友貴, 菅澤誠, 山田泰之, 吉田弘, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9 

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  • 腸管を規範とした蠕動運動型コンベアの波長長さと搬送量の関係

    萩原大輝, 根岸海, 芦垣恭太, 若松康太, 加藤弘一, 山田泰之, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2018.9 

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  • 自重補償を用いた上向き作業補助装置TasKiの開発～農作業を想定したアシスト効果検証～

    荒川大和, 山田泰之, 渡邉太朗, 浜崎充良, 菊谷功, 中村太郎

    第36回日本ロボット学会学術講演会, 1P2-15  2018.9 

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  • LayerCAKE:発泡体積層構造を用いたソフトアクチュエータ ～Kawaiiと優しいを備えたアクチュエータの提案～

    山田泰之, 中村太郎

    第36回日本ロボット学会学術講演会，1P1-05  2018.9 

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  • 圧送管内検査用蠕動運動型ロボットの高速化の検討

    眞野雄貴, 石川龍太郎, 山田奏之, 中村太郎

    第36回日本ロボット学会学術講演会，1P1-11  2018.9 

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  • スライドリングマテリアルを誘電層に用いた誘電エラストマの2次元平面の変形測定

    林拓宗, 奥井学, 米原悠二, 中村太郎

    第36回日本ロボット学会学術講演会，1P1-04  2018.9 

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  • 板ばねのたわみを利用した腰部補助用アシストスーツAB-Wearの補助効果検証

    荒川大和, 毛利駿, 横山和也, 山田泰之, 菊谷功, 中村太郎

    第36回日本ロボット学会学術講演会, 1P2-12  2018.9 

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  • 脊柱側彎症のための空気圧人工筋肉を用いた矯正装具の提案

    奥井学, 風間祐人, 水谷公洋, 宮川拓也, 川上紀明, 中村太郎

    第36回日本ロボット学会学術講演会，1P1-12  2018.9 

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  • 蠕動運動×ソフトアクチュエータの可能性(固体ロケット燃料製造や管内検査の実現)

    山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2018.9 

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  • 軸方向繊維強化型人工筋肉の応力振幅低減による長寿命化の検討

    小島明寛, 奥井学, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2018，2A2-G15  2018.6 

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  • 海底探査掘削ロボットのための掘削トルク低減化を図る水噴射掘削手法の提案

    井坂惠太, 只見侃朗, 中武豊晴, 藤原杏実, 山田泰之, 中村太郎, 菅澤誠, 吉田弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 軸方向繊維強化型人工筋肉の応力振幅の低減による長寿命化の検討

    小島明寛, 奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 配管内画像からの配管3次元地図作成

    田中宏樹, 山野史登, 菱木暁彦, 梅田和昇, 石川龍太郎, 眞野雄貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 空気圧ゴム人工筋肉と磁気粘性流体クラッチを用いた装着型4自由度力覚提示装置の開発と弾性力提示実験

    小野塚祐樹, 鈴木遼, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 直列弾性要素を伴う跳躍力増幅装具の解析的検討

    中西智哉, 山田泰之, 中村太郎, 川嶋健嗣

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 月探査用蠕動運動型掘削ロボット“LEAVO“における屈曲掘削実現に向けた両端支持フレキシブルオーガの開発

    藤原杏実, 中武豊晴, 只見侃朗, 井坂惠太, 山田泰之, 中村太郎, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 軸方向繊維強化型人工筋肉の実験同定モデルに基づくフィードフォワードコントローラを適用した,可変剛性拮抗関節の評価実験

    鈴木隆二, 飯川伸吾, 奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 高速印刷技術の実現へ向けた蠕動運動型粉体搬送装置の開発

    芦垣恭太, 萩原大輝, 根岸海, 加藤弘一, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 蠕動運動型搬送装置を用いた土砂搬送の提案

    芦垣恭太, 萩原大輝, 上田昌弘, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 空気圧駆動ウェアラブルアシストシステムのためのハイブリッド型携帯空気圧源の開発

    奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 腰痛予防を目的とした接地型重量物持ち上げ補助装置の提案

    奥井学, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 高い推進力と牽引力を有する1インチ管検査ロボットの提案

    鎌田将司, 橘夏奈, 谷瀬友基, 河口貴彦, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 自重補償を用いた上向き作業補助装置TasKiの開発~収穫作業を想定した効果検討~

    山田泰之, 荒川大和, 渡邉太朗, 毛利駿, 浜崎充良, 菊谷功, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 中性浮力ボディと竹製リムレスホイールを有した不整地移動ロボットGerWalkの開発

    山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 固体推進薬の安全かつ連続的製造のための蠕動運動型混合搬送装置~実用組成推進薬の製造試験及び地上燃焼試験の報告~

    山田泰之, 芦垣恭太, 岩崎祥大, 萩原大輝, 根岸海, 吉浜舜, 松本幸太郎, 野副克彦, 羽生宏人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 飛行機点検等高所作業を目的とした進行波型壁面移動装置の摩擦切り替え手法の検討

    萩原大輝, 只見侃朗, 天川貴文, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 腸の搬送手法を模擬した粉体搬送手法の検討―弾性管路の形状位相変化による搬送量向上―

    萩原大輝, 芦垣恭太, 根岸海, 加藤弘一, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 水中掘削ロボットのためのミミズの剛毛を模倣した推進ユニットの提案

    只見侃朗, 井坂恵太, 中武豊晴, 藤原杏実, 山田泰之, 中村太郎, 菅澤誠, 吉田弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • ダクト清掃用蠕動運動型ロボットに用いる新機構の提案―清掃ジョイントの提案と評価―

    河口貴彦, 谷瀬友基, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 板ばねのたわみを利用した腰部補助用アシストスーツ“AB‐Wear“の提案

    荒川大和, 毛利駿, 渡邉太朗, 山田泰之, 横山和也, 菊谷功, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 圧送管内検査用蠕動運動型ロボットの牽引力制御方法の検討

    眞野雄貴, 石川龍太郎, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018.6 

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  • 腸管を規範とした蠕動運動型粉体搬送装置の周波数と搬送量の関係

    萩原大輝, 芦垣恭太, 根岸海, 若松康太, 加藤弘一, 山田泰之, 中村太郎

    平成30年春季フルードパワーシステム講演会, pp. 76-78  2018.5 

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  • ミミズの移動方法を模倣した流体圧駆動推進機構を有する海底探査用掘削ロボットの開発

    井坂惠太, 只見侃朗, 藤原杏実, 渡邉友貴, 山田泰之, 菅澤誠, 吉田弘, 中村太郎

    平成30年春季フルードパワーシステム講演会, pp.60-62  2018.5 

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  • 駆動ブラシを搭載した蠕動運動型ダクト清掃ロボットの開発

    河口貴彦, 谷瀬友基, 鎌田将司, 山田泰之, 中村太郎

    平成30年春季フルードパワーシステム講演会  2018.5 

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  • 可変直径型空気圧人工筋肉ホイール“MUSCLE WHEEL”の開発

    毛利駿, 荒川大和, 風間祐人, 山田泰之, 中村太郎

    ロボティクスシンポジア予稿集  2018.3 

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  • Peristaltic Continuous Mixing Conveyor for Composite Propellant Slurry Mixing: ～ Manufacturing test and burning test of solid rocket with practical composition propellant ～

    YAMADA Yasuyuki, ASHIGAKI Kyota, IWASAKI Akihiro, HAGIWARA Daiki, NEGISHI Kai, YOSHIHAMA Shun, MATUMOTO Kotaro, NOZOE Katsuhiko, HABU Hiroto, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    In recent years, the demand for rocket launching has increased due to the development of space technology. However, using inexpensive rockets is not always possible. Although the cost of solid-propellant rockets is relatively reasonable, safely manufacturing a large amount of solid propellant is difficult, and the manufacturing process is disjointed. Therefore, to achieve safe and continues manufacturing of solid propellant, we have developed the peristaltic mixing conveyor with pneumatic artificial muscle. In Dec.2017, we succeed manufacturing of the over 1kg practical composition propellant by our system, and in Feb.2018, we succeed burning test of it on ground.

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  • 腸の搬送手法を模擬した粉体搬送手法の検討-弾性管路の形状位相変化による搬送量向上-

    萩原大輝, 芦垣恭太, 根岸海, 加藤弘一, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • 板ばねのたわみを利用した腰部補助用アシストスーツ“AB-Wear“の提案

    荒川大和, 毛利駿, 渡邉太朗, 山田泰之, 横山和也, 菊谷功, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • ダクト清掃用蠕動運動型ロボットに用いる新機構の提案-清掃ジョイントの提案と評価-

    河口貴彦, 谷瀬友基, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2018 

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  • Peristaltic Continuous Mixing Conveyor for Composite Propellant Slurry Mixing:～ Manufacturing test and burning test of solid rocket with practical composition propellant ～

    YAMADA Yasuyuki, NAKAMURA Taro, ASHIGAKI Kyota, IWASAKI Akihiro, HAGIWARA Daiki, NEGISHI Kai, YOSHIHAMA Shun, MATUMOTO Kotaro, NOZOE Katsuhiko, HABU Hiroto

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date： 2018 　 　

    Language：Japanese  

    &lt;p&gt;In recent years, the demand for rocket launching has increased due to the development of space technology. However, using inexpensive rockets is not always possible. Although the cost of solid-propellant rockets is relatively reasonable, safely manufacturing a large amount of solid propellant is difficult, and the manufacturing process is disjointed. Therefore, to achieve safe and continues manufacturing of solid propellant, we have developed the peristaltic mixing conveyor with pneumatic artificial muscle. In Dec.2017, we succeed manufacturing of the over 1kg practical composition propellant by our system, and in Feb.2018, we succeed burning test of it on ground.&lt;/p&gt;

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  • Subjective evaluation of a wearable 4 DOF force feedback device in virtual reality space

    2018 

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  • Evaluation experiment of a variable elastic antagonistic joint with the feedforward controller of a straight-fiber-type artificial muscle based on the experimental identification model

    SUZUKI Ryuji, IIKAWA Shingo, OKUI Manabu, YAMADA Yasuyuki, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2018  The Japan Society of Mechanical Engineers

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    Event date： 2018 　 　

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    <p>In this paper, evaluation experiment of an antagonistic joint with two artificial muscles is conducted with feedforward controller which is based on the experimental identification model. The previous controller was based on a mechanical equilibrium model which we can understand the characteristics of the artificial muscle. However, the accuracy of the controller was poor, and the calculation is too complex that the sequential calculation cannot keep up with a real time control on a microcontroller. Thus, this paper proposes an experimental identification model whose calculation is simpler, and has a better accuracy than the previous one. Also, the parameters in the model are easily identified by the measurement experiment of the artificial muscle. And apply the feedforward controller which is based on an experimental identification model to the antagonist joint with two artificial muscles.</p>

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  • 腸管の蠕動運動を模擬した混合搬送装置によるロケット固体推進薬の混合プロセス検討

    芦垣恭太, 岩崎祥大, 松本幸太郎, 山田泰之, 羽生宏人, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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  • 日常生活で利用可能な人工皮膚筋肉を用いたパワーアシストジャケットの提案

    山田秦之, 小島明寛, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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  • 飛行機点検等高所作業を目的とした進行波型壁面移動ロボットの提案

    天川貴文, 萩原大輝, 只見侃朗, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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  • 圧送管内検査用蠕動運動型ロボットの速度向上ユニットの提案

    眞野雄貴, 石川龍太郎, 谷瀬友基, 河口貴彦, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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  • 可変直径型空気圧人工筋肉ホイール“Muscle Wheel”の提案

    毛利駿, 荒川大和, 風間祐人, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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  • 上向き作業補助における機械式自重補償の作業負担軽減効果の検討

    渡邉太朗, 山田泰之, 毛利駿, 荒川大和, 浜崎充良, 菊谷功, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2017.12 

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  • 飛行機点検等の高所作業を目的とした進行波型壁面移動ロボットの提案

    萩原大輝, 只見侃朗, 山田泰之, 中村太郎

    第18回計測自動制御学会システムインテグレーション部門講演会, 1A5-10  2017.12 

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  • 日常生活で利用可能な人口皮膚筋肉を用いたパワーアシストジャケットの提案

    山田泰之, 小島明寛, 中村太郎

    第18回計測自動制御学会システムインテグレーション部門講演会, 2A1-04  2017.12 

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  • 腸管の蠕動運動を模擬した混合搬送装置によるロケット固体推進薬の混合プロセスの検討

    芦垣恭太, 岩崎祥太, 松本幸太郎, 山田泰之, 羽生宏人, 中村太郎

    第18回計測自動制御学会システムインテグレーション部門講演会，1A2-03  2017.12 

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  • 蠕動運動型捏和装置による固体推進薬の連続化に向けたプロセス検討

    芦垣恭太, 岩崎祥大, 松本幸太郎, 山田泰之, 羽生宏人, 中村太郎

    第61回宇宙科学技術連合講演会，3K01  2017.10 

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  • 生物模倣型探査ロボットの研究開発

    久保田孝, 澤田弘崇, 中村太郎, 山田泰之, 袴田武史, 吉田和哉, 渡辺公貴, 加藤國彦, 羽柴健太

    第61回宇宙科学技術連合講演会  2017.10 

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  • ワイヤ長調製機構を備えた非回転駆動型腓腹筋補強用パワーアシストスーツの開発

    毛利駿, 荒川大和, 山田泰之, 横山和也, 菊谷功, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017.9 

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  • 背骨の圧縮を低減する機構を搭載したパワーアシストスーツの補助効果検証

    荒川大和, 毛利駿, 山田泰之, 横山和也, 菊谷功, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017.9 

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  • ジャミング転移現象を利用した確実な力の伝達のためのアシスト装具固定方法の提案

    奥井学, 関戸和弥, 飯川伸吾, 山田泰之, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017.9 

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  • 短繊維補強空気圧式ゴム人工筋肉の開発

    小島明寛, 奥井学, 山田泰之, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2017.9 

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  • ワイヤ長調製機構を備えた非回転駆動腓腹筋補強用パワーアシストスーツの開発

    毛利駿, 荒川大和, 山田泰之, 横山和也, 菊谷功, 中村太郎

    第35回日本ロボット学会学術講演会(RSJ2017), 2C1-03  2017.9 

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  • 携帯可能な空気圧源の開発を目的とした圧縮空気生成手法の評価

    奥井学, 名倉裕貴, 飯川伸吾, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P1-D02  2017.6 

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  • 自重補償を用いた上向き作業補助装置TasKi の提案

    山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 1A1-B02  2017.6 

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  • 空気圧ゴム人工筋肉を用いた2 関節を有する跳躍力増幅装具の開発

    森彪生, 長山尭拓, 山田泰之, 中村太郎, 名波正善, 原以起

    ロボティクス・メカトロニクス講演会2017, 1P1-K07  2017.6 

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  • 空気圧人工筋肉と磁気粘性流体を用いた 可変粘弾性特性を有する外骨格アシストスーツの開発 -第2報：可変粘弾性下肢装具Air-Sist I の開発-

    奥井学, 飯川伸吾, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 1P1-K08  2017.6 

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  • 背骨の圧縮を低減する機構を搭載したパワーアシストスーツの定量的評価

    荒川大和, 猪瀬洸樹, 毛利駿, 山田泰之, 小出勝也, 菊谷功, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 1P1-L07  2017.6 

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  • 月面探査用蠕動運動型掘削ロボットにおける屈曲掘削機構のための両端支持アースオーガの提案

    藤原杏実, 中武豊晴, 只見侃朗, 永井守, 山田泰之, 中村太郎, 澤田弘崇, 久保田孝

    ロボティクス・メカトロニクス講演会2017, 2P2-A09  2017.6 

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  • 蠕動運動形月面掘削ロボットにおける屈曲掘削手法の検討

    中武豊晴, 藤原杏実, 金野将志, 永井守, 只見侃朗, 山田泰之, 中村太郎, 澤田弘崇, 久保田孝

    ロボティクス・メカトロニクス講演会2017, 2P2-A08  2017.6 

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  • 蠕動運動型混合搬送機による固体推進薬の連続的製造の提案

    山田泰之, 吉浜舜, 岩崎祥大, 芦垣恭太, 松本幸太郎, 羽生宏人, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P2-A07  2017.6 

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  • MRクラッチと空気圧人工筋肉を用いた装着型4 自由度力覚提示装置の提案

    鈴木遼, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P1-O04  2017.6 

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  • ダクト清掃用蠕動運動型ロボットの開発 -清掃ユニットの開発と評価-

    谷瀬友基, 谷口紘亮, 山崎翔太, 鎌田将司, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P1-L05  2017.6 

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  • 海底下探査における三次元移動のための移動機構の開発

    只見侃朗, 永井守, 中武豊晴, 藤原杏実, 山田泰之, 中村太郎, 吉田弘, 澤田弘崇, 久保田孝

    ロボティクス・メカトロニクス講演会2017, 2P1-L04  2017.6 

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  • 伸長ユニットを用いた15A 管検査用ロボットの開発

    鎌田将司, 山崎翔太, 谷瀬友基, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P1-L03  2017.6 

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  • 印刷用トナーの水平・垂直搬送のための蠕動運動型コンベア

    山田泰之, 吉浜舜, 芦垣恭太, 加藤弘一, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P1-L02  2017.6 

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  • 蠕動運動型ポンプを用いた固液分離機構の開発

    芦垣恭太, 吉浜舜, 伴遼介, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2P1-L01  2017.6 

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  • はね付クローラの不整地走行の安定性向上のための ジャイロプリセッションスタビライザ

    山田泰之, 澤田弘崇, 久保田孝, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2A1-F07  2017.6 

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  • 空気圧人工筋肉とMR ブレーキを用いた高い表現力を有する打楽器演奏ロボットの提案

    森彪生, 奥井学, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2A2-F05  2017.6 

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  • 固体推進薬連続混合に向けた加温機構の検討 -蠕動運動型ポンプによるプロセス連続化技術を用いた固体推進薬の研究-

    芦垣恭太, 吉浜舜, 岩崎祥大, 山田泰之, 羽生宏人, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 2A1-C06  2017.6 

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  • 可変粘弾性関節を有する膝用アシスト装置の開発と主観評価 -バックドライバビリティ性の評価-

    飯川伸吾, 奥井学, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 1P2-J08  2017.6 

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  • 下肢用パワーアシストスーツにおけるテンショナーを用いた人工筋収縮力伝達機構の提案

    毛利駿, 猪瀬洸樹, 荒川大和, 山田泰之, 横山和也, 菊谷功, 中村太郎

    ロボティクス・メカトロニクス講演会2017, 1P1-M07  2017.6 

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  • Study of an Automatic Material Input Method for the Continuous Production of Solid Propellant by a Peristaltic Mixer International conference

    Kyota Ashigaki, Shun Yoshihama, Akihiro Iwasaki, Kengo Tagami, Yasuyuki Yamada, Hiroto Habu, Taro Nakamura

    31st International Symposium on Space Technology and Sience (31st ISTS), 2017-a-27, Matsuyama  2017.6 

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  • Continuous Kneading of AP Composite Propellant Slurry by an Peristaltic Artificial Muscle Mixer

    Akihiro Iwasaki, Shun Yoshihama, Naomasa Hosomi, Kyota Ashigaki, Kana Otake, Kotaro Matsumoto, Yasuyuki Yamada, Soichiro Yamaguchi, Taro Nakamura, Hiroto Habu

    31st International Symposium on Space Technology and Sience (31st ISTS), 2017-a-26, Matsuyama  2017.6 

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  • 飛行機点検を目的とした進行波型全方向壁面移動ロボットのユニットの提案

    天川貴文, 山口智大, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 分岐管に対応した下水管検査用蠕動運動型ロボットの開発

    石川龍太郎, 冨田健, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 伸長ユニットを用いた15A管内検査用ロボットの開発

    鎌田将司, 山崎翔太, 谷瀬友基, 山田泰之, 中村太郎

    ロボティクス・メカトロニクス講演会2017，2P1‐L0  2017.5 

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  • 月面探査用蠕動運動型掘削ロボットにおける屈曲掘削機構のための両端支持アースオーガの提案

    藤原杏実, 中武豊晴, 只見侃朗, 永井守, 山田泰之, 中村太郎, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 背骨の圧縮を低減する機構を搭載したパワーアシストスーツの定量的評価

    荒川大和, 猪瀬洸樹, 毛利駿, 山田泰之, 小出勝也, 菊谷功, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 空気圧人工筋肉と磁気粘性流体を用いた可変粘弾性特性を有する外骨格アシストスーツの開発―第2報:可変粘弾性下肢装具Air‐Sist Iの開発―

    奥井学, 飯川伸吾, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 空気圧ゴム人工筋肉を用いた2関節を有する跳躍力増幅装具の開発

    森彪生, 長山尭拓, 山田泰之, 中村太郎, 名波正善, 原以起

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 自重補償を用いた上向き作業補助装置TasKiの提案

    山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 携帯可能な空気圧源の開発を目的とした圧縮空気生成手法の評価

    奥井学, 名倉裕貴, 飯川伸吾, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 下肢用パワーアシストスーツにおけるテンショナーを用いた人工筋収縮力伝達機構の提案

    毛利駿, 猪瀬洸樹, 荒川大和, 山田泰之, 横山和也, 菊谷功, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 可変粘弾性関節を有する膝用アシスト装置の開発と主観評価―バックドライバビリティ性の評価―

    飯川伸吾, 奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 固体推進薬連続混合に向けた加温機構の検討―蠕動運動型ポンプによるプロセス連続化技術を用いた固体推進薬の研究―

    芦垣恭太, 吉浜舜, 岩崎祥大, 山田泰之, 羽生宏人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 空気圧人工筋肉とMRブレーキを用いた高い表現力を有する打楽器演奏ロボットの提案

    森彪生, 奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • はね付クローラの不整地走行の安定性向上のためのジャイロプリセッションスタビライザ

    山田泰之, 澤田弘崇, 久保田孝, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 蠕動運動型ポンプを用いた固液分離機構の開発

    芦垣恭太, 吉浜舜, 伴遼介, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 印刷用トナーの水平・垂直搬送のための蠕動運動型コンベア

    山田泰之, 吉浜舜, 芦垣恭太, 加藤弘一, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 海底下探査における三次元移動のための移動機構の開発

    只見侃朗, 永井守, 中武豊晴, 藤原杏実, 山田泰之, 中村太郎, 吉田弘, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • ダクト清掃用蠕動運動型ロボットの開発―清掃ユニットの開発と評価―

    谷瀬友基, 谷口紘亮, 山崎翔太, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • MRクラッチと空気圧人工筋肉を用いた装着型4自由度力覚提示装置の提案

    鈴木遼, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • 蠕動運動型混合搬送機による固体推進薬の連続的製造の提案

    山田泰之, 吉浜舜, 岩崎祥大, 芦垣恭太, 松本幸太郎, 羽生宏人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • Development of an exoskeleton with variable viscoelasticity composed of antagonized artificial muscle and magneto-rheological fluid brake-Development of lower exoskeleton “Airsist I”-

    OKUI Manabu, IIKAWA Shingo, YAMADA Yasuyuki, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2017.5  The Japan Society of Mechanical Engineers

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    In this study, a variable viscoelastic joint system comprising antagonized artificial muscles and magneto-rheological fluid brakes is proposed. This system enables human assisting devices such as robotic exoskeletons to retain structural softness when compared with the existing devices driven by motors and reduction gears, which can only achieve superficial softness. The authors had proposed the system and showed its effectiveness via experiments using a prototype with one degree of freedom in their previous works. In this study, as the next step in designing the human assisting device, a lower body assistive prototype “Airsist I” is introduced. In addition, a control method that can cooperate with the wearer without the need for an additional operation is proposed.

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  • Proposal of Exoskeleton with Variable Viscoelastic Joint System named Airsist I International conference

    M. Okui, S.Iikawa, Y. Yamada, T. Nakamura

    The 2017 IEEE International Conference on Robotics and Automation (ICRA2017)  2017.5 

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  • Semi-Endoskelton-Type Waist Assist AB-Wear Suit Equipped with Compressive Force Reduction Mechanism International conference

    Hiroki Inose, Shun Mohri, Hirokazu Arakawa, Manabu Okui, Yasuyuki Yamada, Taro Nakamura

    Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA2017), Singapore, Singapore, pp.6014-6019  2017.5 

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  • Blade-type Crawler Vehicle with Gyro Wheel for Stably Traversing Uneven Terrain at High Speed International conference

    Yasuyuki Yamada, Hirotaka Sawada, Takashi Kubota, Taro Nakamura

    Proceedings of 2017 IEEE International Conference on Robotics and Automation (ICRA2017)  2017.5 

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  • 蠕動運動型混合器によるコンポジット推進薬捏和における可塑剤の効果

    岩崎 祥大, 松本 幸太郎, 山田 泰之, 中村 太郎, 羽生 宏人

    火薬学会2017年度春季研究発表会  2017.5 

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  • 蠕動運動形月面掘削ロボットにおける屈曲掘削手法の検討

    中武豊晴, 藤原杏実, 金野将志, 永井守, 只見侃朗, 山田泰之, 中村太郎, 澤田弘崇, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017.5 

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  • Study of process for continuous solid propellant by peristaltic kneading device

    芦垣恭太, 岩崎祥大, 松本幸太郎, 山田泰之, 羽生宏人, 中村太郎

    宇宙科学技術連合講演会講演集(CD-ROM)  2017.10 

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    Event date： 2017 　 　

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  • 粉体高速搬送のための蠕動運動コンベアの開発

    山田 泰之, 吉浜 舜, 芦垣 恭太, 加藤 弘一, 中村 太郎

    第22回ロボティクスシンポジア, 6A1  2017.3 

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  • スクワットリフティングを考慮した非回転関節駆動型腓腹筋補強用パワーアシストスーツの開発

    毛利 駿, 猪瀬 洸樹, 山田 泰之, 横山 和也, 菊谷 功, 中村 太郎

    第22回ロボティクスシンポジア, 4A2  2017.3 

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  • 蠕動運動型搬送機による掘削土砂搬送に向けた単一ユニットの性能評価

    芦垣恭太, 吉浜舜, 上田昌弘, 山田泰之, 中村太郎

    建設ロボットシンポジウム論文集(CD-ROM)  2017 

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  • ダクト清掃用蠕動運動型ロボットの開発-清掃ユニットの開発と評価-

    谷瀬友基, 谷口紘亮, 山崎翔太, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2017 

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  • 単一チューブ型蠕動運動ポンプの開発

    芦垣恭太, 吉浜舜, 山田泰之, 中村太郎

    第17回計測自動制御学会システムインテグレーション部門講演会, 3J1-4  2016.12 

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  • 軸方向伸長型ユニットを用いた細管検査用ロボットの開発―新たな動作方法の提案および直管・エルボ管通過実験の実施―

    山崎翔太, 谷瀬友基, 鎌田将司, 山田泰之, 中村太郎

    第17回計測自動制御学会システムインテグレーション部門講演会，3J3-4  2016.12 

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  • 旅客機点検のための全方向壁面移動ロボットの吸着機構の提案

    天川貴文, 山口智大, 山田泰之, 中村太郎

    第17回計測自動制御学会システムインテグレーション部門講演会, 3F1-3  2016.12 

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  • 軸方向繊維強化型空気圧式ゴム人工筋肉の長寿命化のための形状検討

    小島明寛, 奥井学, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 外骨格アシスト装置のための人間の関節駆動原理を規範とした可変粘弾性関節の提案

    奥井学, 飯川伸吾, 山田秦之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 蠕動運動型海底掘削ロボットのための能動屈曲機構の提案

    永井守, 只見侃朗, 山田泰之, 中村太郎, 吉田弘

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 背骨の負荷を軽減する機構を有した柔軟・高出力な準内骨格型腰部補助装具AB‐Wear

    猪瀬洸樹, 毛利駿, 山田泰之, 菊谷功, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 飛行機の点検を目的とした全方向壁面移動ロボットの必要吸着力の導出

    山口智大, 天川貴文, 呉哲英, 山田泰之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 空気圧ゴム人工筋肉を用いた跳躍力増幅装具の開発

    森彪生, 長山尭拓, 奥井学, 山田泰之, 中村太郎, 名波正善, 原以起

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 粉体の高速搬送を可能とする管式蠕動運動型コンベアの開発

    吉浜舜, 芦垣恭太, 加藤弘一, 山田秦之, 中村太郎

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2016.12 

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  • 軸方向伸長型ユニットを用いた細管検査用ロボットの開発

    山崎 翔太, 谷瀬 友基, 鎌田 将司, 山田 泰之, 中村 太郎

    第17回計測自動制御学会システムインテグレーション部門講演会, 3J3-4  2016.12 

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  • 旅客機機体面の被雷点検を目的とした全方向壁面移動ロボットの可変吸着機構の提案

    天川 貴文, 山口 智大, 山田 泰之, 中村 太郎

    第17回計測自動制御学会システムインテグレーション部門講演会, 3F1-3  2016.12 

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  • 単一チューブ型蠕動運動型ポンプの開発

    芦垣 恭太, 吉浜 舜, 山田 泰之, 中村 太郎

    第17回計測自動制御学会システムインテグレーション部門講演会, 3J1-4  2016.12 

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  • Development of a 1-DOF Wearable Force Feedback Device with Soft Actuators and Comparative Evaluation of the Actual Objects and Virtual Objects in the AR Space International conference

    Ryo Suzuki, Masakazu Egawa, Yasuyuki Yamada, Taro Nakamura

    The 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), P0220, Phuket, Thailand  2016.12 

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  • Development of Axial Extension Actuator for Narrow Pipe Inspection Endoscopic Robot International conference

    Shota Yamazaki, Yuki Tanise, Yasuyuki Yamada, Taro Nakamura

    2016 IEEE/SICE International Symposium on System Integration (SII 2016), Sapporo, Japan  2016.12 

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  • The Verification of Permissible Resistant Torque Considering Back-Drivability to Develop a Wearable Assist Suit International conference

    Shingo Iikawa, Manabu Okui, Yasuyuki Yamada, Taro Nakamura

    Proceedings of The 14th International Conference on Control, Automation, Robotics and Vision, (ICARCV 2016), P0203, Phuket, Thailand  2016.11 

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  • 1st Prototype of a Variable Viscoelastic Joint System with a Clutch Composed of Pneumtic Air Muscle And Magneto Rheological Brake International conference

    Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

    Proceedings of The 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), P0158, Phuket, Thailand  2016.11 

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  • Development of a Lightweight Power-assist Suit Using Pneumatic Artificial Muscles and Balloon-amplification Mechanism International conference

    Hiroki Inose, Shun Mohri, Yasuyuki Yamada, Taro Nakamura, Kazuya Yokoyama, Isao Kikutani

    Proceedings of The 14th International Conference on Control, Automation, Robotics and Vision (ICARCV 2016), P0191, Phuket, Thailand  2016.11 

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  • Force Feedback Device with Pneumatic Artificial Muscles and Magnetorheological Clutches International conference

    Masatoshi Kobayashi, Junya Hirano, Taro Nakamura, Yasuyuki Yamada

    Proceedings of the 42st Annual Conference of the IEEE Industrial Electronics Society (IECON2016)  2016.10 

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  • Vertical jumping motion simulation with consideration for landing using a monopedal robot with artificial muscles and magnetorheological brakes International conference

    Takahiro Nagayama, Hikaru Ishihara, Hiroki Tomori, Yasuyuki Yamada, Taro Nakamura

    Proceedings of the 42st Annual Conference of the IEEE Industrial Electronics Society, (IECON2016)  2016.10 

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  • Proceedings of the 42st Annual Conference of the IEEE Industrial Electronics Society (IECON2016) International conference

    Hiroki Inose, Shun Mohri, Yasuyuki Yamada, Taro Nakamura, Kazuya Yokoyama, Isao Kikutani

    Proceedings of the 42st Annual Conference of the IEEE Industrial Electronics Society (IECON2016)  2016.10 

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  • Blade-type Crawler Vehicle with Wings in Ground Effect International conference

    Yasuyuki Yamada, Gen Endo, Taro Nakamura

    The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)  2016.10 

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  • ダクト清掃用蠕動運動型ロボットの走行性能の向上

    谷瀬友基, 山崎翔太, 谷口紘亮, 鎌田将司, 山田泰之, 中村太郎

    日本機械学会2016年度年次大会  2016.9 

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  • Squat Liftingを考慮に入れた膝部補助用パワーアシストスーツの提案

    毛利駿, 猪瀬洸樹, 山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 可変粘弾性特性を有する外骨格型アシストスーツの提案(人工筋肉の拮抗配置のための省スペースプーリの開発)

    奥井学, 飯川伸吾, 山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 内骨格型パワーアシストスーツの筋骨格シミュレーションを用いた定量的評価

    猪瀬洸樹, 毛利駿, 山田泰之, 小出勝也, 横山和也, 菊谷功, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 空気圧ゴム人工筋肉と磁気粘性流体ブレーキを用いた二脚跳躍ロボットの開発

    長山尭拓, 石原ひかる, 奥井学, 山田泰之, 中村太郎, 名波正善, 岡村成浩, 原以起

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 蠕動運動型コンベアによる粉末搬送技術の研究

    吉浜舜, 加藤弘一, 山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 先頭部の改良による蠕動運動型ロボットの曲管の通過性能の改善

    石川龍太郎, 冨田健, 山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • バシリスクリザードを規範とした水面上を走行可能なはね付クローラ車両

    山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 軸方向伸長ユニットを使用した25A管内を検査可能なミミズ型ロボットの開発

    山崎翔太, 谷瀬友基, 鎌田将司, 谷口紘亮, 山田泰之, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • 巻フィルムチューブ式SMA人工筋肉アクチュエータの開発(SMA長方形断面素線コイルばねの試作)

    石川敏也, 中村太郎

    日本機械学会年次大会講演論文集(CD-ROM)  2016.9 

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  • Development of the Attachment for the Cable of Peristaltic Crawling Robot to Reduce Friction in Elbow Pipe International conference

    Ryutaro Ishikawa, Takeru Tomita, Yasuyuki Yamada, Taro Nakamura

    , The 9th International Conference on Intelligent Robotics and Applications (ICIRA2016)  2016.9 

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  • Development of an automatic soil-releasing mechanism for a peristaltic-type lunar excavation robot International conference

    Toyoharu Nakatake, Masashi Konno, Yasuyuki Yamada, Taro Nakamura, Takashi Kubota

    The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016)  2016.9 

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  • Development of negative pressure suction mechanism in omnidirectional wall-climbing robot for inspection of airplanes International conference

    Tomohiro Yamaguchi, Takafumi Amakawa, Tetsuhide Go, Yasuyuki Yamada, Taro Nakamura

    The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016)  2016.9 

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  • Development of a long-distance pressure feed pipe inspection robot based on peristaltic crawling of the earthworm International conference

    Takeru Tomita, Ryutaro Ishikawa, Yasuyuki Yamada, Taro Nakamura

    The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016)  2016.9 

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  • Development of a Flexible Excavation Unit for a Peristaltic Crawling Seabed Excavation Robot International conference

    Mamoru Nagai, Chiharu Hirabayashi, Yasuyuki Yamada, Taro Nakamura, Hiroshi Yoshida

    The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016)  2016.9 

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  • 長距離ガス管検査用蠕動運動型ロボットに用いる空気圧アクチュエータの高速応答化

    谷瀬 友基, 山崎 翔太, 山田 泰之, 中村 太郎

    日本機械学会2016年度年次大会  2016.9 

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  • Soil Circulating System for a Lunar Subsurface Explorer Robot Using a Peristaltic Crawling Mechanism International conference

    T. Nakatake, M. Konno, A. Mizushina, Y. Yamada, T. Nakamura, T. Kubota

    2016 IEEE International Conference on Advanced Intelligent Mechatronics(AIM2016)  2016.7 

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  • High-Speed Response of the Pneumatic Actuator Used in a Peristaltic Crawling Robot Inspecting Long-Distance Gas Pipes International conference

    Yuki Tanise, Tatsuya Kishi, Shota Yamazaki, Yasuyuki Yamada, Taro Nakamura

    2016 IEEE International Conference on Advanced Intelligent Mechatronics  2016.7 

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  • Powder Conveyance Experiments with Peristaltic Conveyor using a Pneumatic Artificial Muscle International conference

    S.Yoshihama, S.Takano, Y.Yamada, T.Nakamura, K.Kato

    2016 IEEE International Conference on Advanced Intelligent Mechatronics(AIM2016)  2016.7 

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  • Portability and Antagonistic Stiffness Control for an Shape Memory Alloy Artificial Muscle Actuator Protected by a Rolled Film Tube International conference

    Toshiya Ishikawa, Taro Nakamura

    2016 IEEE International Conference on Advanced Intelligent Mechatronics(AIM2016)  2016.7 

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  • Development of Endoskeleton Type Knee Auxiliary Power Assist Suitusing Pneumatic Artificial Muscles International conference

    Shun Mohri, Hiroki Inose, Kazuya Yokoyama, Yasuyuki Yamada, Isao Kikutani, Taro Nakamura

    2016 IEEE International Conference on Advanced Intelligent Mechatronics(AIM2016)  2016.7 

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  • 空気圧人工筋肉と磁気粘性流体を用いた可変粘弾性特性とクラッチを有する外骨格アシストスーツの開発―第1報:膝関節向け試作機による提案手法の有効性検証―

    奥井学, 飯川伸吾, 山田泰之, 中村太郎, 岸本將裕

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • フナ虫を規範としてはね付クローラの開発―横方向移動の不整地踏破性検証―

    山田泰之, 遠藤玄, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 継続放水可能な無人消火飛行体の提案

    山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 循環制御型高揚力翼の開発―スモークワイヤ法による翼周流の可視化による剥離抑制効果の検証―

    山田泰之, 高山明正, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • Squat Liftingを考慮に入れた空気圧人工筋肉を用いた膝部補助用内骨格型パワーアシストスーツの開発

    毛利駿, 猪瀬洸樹, 山田泰之, 中村太郎, 横山和也, 菊谷功

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 飛行機の点検を目的とした全方向壁面移動ロボットの吸着方法の提案

    山口智大, 呉哲英, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 仮想重力機構を用いた操作補助効果の検証

    山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 蠕動運動型月面掘削ロボットにおける屈曲掘削手法の提案

    中武豊晴, 金野将志, 山田泰之, 中村太郎, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • Squat Lifting を考慮に入れた空気圧人工筋肉を用いた膝部補助用パワーアシストスーツの開発

    毛利 駿, 猪瀬 洸樹, 山田 泰之, 中村 太郎, 横山 和也, 菊谷 功

    ロボティクス・メカトロニクス講演会2016  2016.6 

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  • 外骨格型アシストスーツにおけるバックドライバビリティ性を考慮した人が許容できる抵抗トルクの検証

    飯川伸吾, 奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 内骨格型アシストスーツのパッシブな補助力を利用した補助効果検証

    猪瀬洸樹, 毛利駿, 山田泰之, 中村太郎, 横山和也, 菊谷功

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 空気圧人工筋肉と磁気粘性流体を用いた可変粘弾性特性とクラッチを有する外骨格型アシストスーツの開発

    奥井 学, 飯川 伸吾, 山田 泰之, 中村 太郎, 岸本 將裕

    ロボティクス・メカトロニクス講演会2016  2016.6 

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  • 空気圧人工筋肉とMRブレーキを用いた跳躍ロボットによる着地を考慮した垂直跳躍実験

    長山尭拓, 石原ひかる, 戸森央貴, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • ダクト内清掃用蠕動運動型ロボットの開発

    谷瀬友基, 山崎翔太, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 複雑な管路を考慮した圧送管検査用蠕動運動型ロボットの開発

    石川龍太郎, 冨田健, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 25Aガス管検査用ロボットに用いる軸方向伸長型ユニットの開発

    山崎翔太, 谷瀬友基, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 空気圧人工筋肉を用いた粉末搬送用蠕動運動型コンベアの開発

    吉浜舜, 高野傑, 加藤弘一, 山田秦之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 継続放水可能な無人消化飛行隊の提案

    山田 泰之, 中村 太郎

    ロボティクス・メカトロニクス講演会2016  2016.6 

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  • フナ虫を規範としてはね付クローラの開発

    山田 泰之, 遠藤 玄, 中村 太郎

    ロボティクス・メカトロニクス講演会2016  2016.6 

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  • 炭酸水素ナトリウムとクエン酸の化学反応を用いた携帯型空圧源の提案

    奥井学, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • MRブレーキと人工筋肉を用いた装着型1自由度力覚提示装置の開発とAR空間への適用

    鈴木遼, 江川正和, 山田泰之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016.6 

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  • 循環制御型高揚力翼の開発 -スモークワイヤ法による翼周流の可視化による剥離抑制効果の検証-

    山田 泰之, 高山 明正, 中村 太郎

    ロボティクス・メカトロニクス講演会2016  2016.6 

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  • 蠕動運動型混合器のコンポジット推進薬スラリ捏和性能

    岩崎 祥大, 吉浜 舜, 松本 幸太郎, 山田 泰之, 篠原 裕和, 寺嶋 隆史, 中村 太郎, 羽生 宏人

    火薬学会2016年度春季研究発表会  2016.5 

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  • コンポジットロケット推進薬の連続捏和装置

    岩崎 祥大, 吉浜 舜, 松本 幸太郎, 山田 泰之, 羽生 宏人, 中村 太郎

    化学工学会春季研究講演発表会第81年会  2016.3 

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  • 不整地での高速移動のためのはね付きクローラ

    山田 泰之, 東 良一, 遠藤 玄, 中村 太郎

    第21回ロボティクスシンポジア  2016.3 

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  • 海底掘削ロボットのための屈曲可能な掘削ユニットの開発

    永井 守, 平林 千晴, 中村 太郎, 吉田

    第21回ロボティクスシンポジア  2016.3 

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  • バルーン型増大機構を併用した空気圧人工筋肉による内骨格型パワーアシストスーツの開発

    猪瀬 洸樹, 毛利 駿, 中村 太郎, 横山 和也, 菊谷 功

    第21回ロボティクスシンポジア  2016.3 

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  • 軸方向伸長型ユニットを用いた細管検査用ロボットの開発-新たな動作方法の提案および直管・エルボ管通過実験の実施-

    山崎翔太, 谷瀬友基, 鎌田将司, 山田泰之, 中村太郎

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

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  • 背骨の負荷を軽減する機構を有した柔軟・高出力な準内骨格型腰部補助装具AB-Wear

    猪瀬洸樹, 毛利駿, 山田泰之, 菊谷功, 中村太郎

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

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  • フナ虫を規範としてはね付クローラの開発-横方向移動の不整地踏破性検証-

    山田泰之, 遠藤玄, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2016 

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  • 不整地での高速移動のためのはね付きクローラ-登坂性能の実証的検証-

    山田泰之, 東良一, 遠藤玄, 中村太郎

    ロボティクスシンポジア予稿集  2016 

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  • 加温機能を備えた蠕動運動型ポンプによる固体推進薬捏和

    吉浜 舜, 山田 泰之, 岩崎 祥大, 松本 幸太郎, 羽生 宏人, 中村 太郎

    平成27年度宇宙輸送シンポジウム  2016.1 

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  • 固体推進薬連続捏和システムに関する各要素研究概況

    岩崎 祥大, 吉浜 舜, 大竹 可那, 細見 直正, 上垣 那津世, 松本 幸太郎, 山田 泰之, 山口 聡一朗, 中村 太郎, 寺嶋 隆史, 小島 明寛, 羽生 宏人

    平成27年度 宇宙輸送シンポジウム  2016.1 

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    平成27年度宇宙輸送シンポジウム（2016年1月14日-15日. 宇宙航空研究開発機構宇宙科学研究所（JAXA)(ISAS)）, 相模原市, 神奈川県著者人数: 11名資料番号: SA6000050033レポート番号: STCP-2015-034

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  • Development of a Peristaltic Crawling Robot for Long-distance Complex Line Sewer Pipe Inspections International conference

    Ryutaro Ishikawa, Takeru Tomita, Member, IEEE, Yasuyuki Yamada, Taro Nakamura

    2016 IEEE International Conference on Advanced Intelligent Mechatronics(AIM2016)  2016 

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  • Performance Evaluation of Composite Propellant Slurry Mixing by Peristaltic Continuous Mixer

    67th International Astronautical Congress (IAC)  2016 

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  • 月探査用蠕動運動式堀削ロボットの開発―外側開閉式掘削土砂自動処理機構の開発および動作実験―

    金野将志, 中武豊晴, 中村太郎, 久保田孝

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)  2015.12 

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  • Proposed Locomotion Strategy for a Traveling-Wave-Type Omnidirectional Wall-Climbing Robot for Spherical Surfaces

    Tetsuhide Go, Tatsuya Osawa, Taro Nakamura

    the 2015 IEEE International Conference on Robotics and Biomimetics, (ROBIO 2015)  2015.12 

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  • Throwing Operations by Manipulator with a 2-DOF Variable Viscoelastic Joint Using Pneumatic Artificial Muscles and a Magnetorheological Brake

    Takahiro Nagayama, Hikaru Ishihara, Hiroki Tomori, Taro Nakamura

    the 2015 IEEE International Conference on Robotics and Biomimetics, (ROBIO 2015)  2015.12 

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  • Verification of effective motion assistance by a power-assist suit during crouching positions

    Hiroki Inose, Shun Mouri, Taro Nakamura(Chuo Univ, Hiroya Imamura, Isao Kikutani(Nabtesco

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • Versatile ladder-climbing carrying device using slider crank mechanism

    Yasuyuki Yamada(Chuo Univ, Ryota Yokoto(Keio Uni, Taro Nakamura(Chuo

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • Development of a peristaltic crawling robot for inspection of force main sewer pipes

    Takeru Tomita, Tomoya Tanaka, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • Improvement in SMA Artificial Muscle Actuator Protected by Rolled Film Tube

    Toshiya Ishikawa, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • An automatic Soil-Releasing Mechanism for a Lunar Subsurface Excavation Robot

    Masahiko Konno, Ippei Sawada, Toyoharu Nakatake, Taro Nakamura(Chuo Univ, Takashi Kubota(JAX

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • Magnetic Field Analysis of the Permanent Magnetic Adhesion Mechanism of a Traveling-Wave-Type Omni-directional Wall Climbing Robot

    Tomohiro Yamaguchi, Tetsuhide Go, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • A 1-DOFWearable Force Feedback Device with Pneumatic Artificial Muscles and MR Brake

    Masakazu Egawa, Takumi Watanabe, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • Improvement Automatic Soil-Releasing Mechanism for a Lunar Subsurface Explorer

    Masahiko Konno, Ippei Sawada, Toyoharu Nakatake, Taro Nakamura, Chuo Univ, Takashi Kubota(JAX

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • Junmping and Landing Simulation for a 2-DOF One-Legged Robot with Pneumatic Artificial Muscles and a MR Brake

    Hikaru Ishihara, Takahiro Nagayama, Hiroki Tomori, Taro Nakamura

    the 6th International Conference on Advanced Mechatronics(ICAM2015)  2015.12 

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  • 圧送管路の視覚調査機器の開発について

    内海 克哉, 高田 淳, 冨田 健, 石川 龍太郎, 中村 太郎

    第26回非開削技術研究発表会  2015.11 

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  • Development of an endskeleton type power assist suit using pneumatic artificial muscles with amplification mechanism

    Hiroki Inose, Taro Nakamura, Yokoyama Kazuya, Hiroya Imamura, Isao Kikutani

    the 41st Annual Conference of the IEEE Industrial Electronics Society, (IECON2015)  2015.11 

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  • Landing Method for a One-legged Robot with Artificial Muscles and an MR Brake

    Hikaru Ishihara, Takahiro Nagayama, Hiroki Tomori, Taro Nakamura

    the 41st Annual Conference of the IEEE Industrial Electronics Society, (IECON2015)  2015.11 

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  • 月面探査用蠕動運動型掘削ロボットの開発-カムを用いた外側開閉式排出土運搬機構の提案

    金野 将志, 中武 豊晴, 中村 太郎, 久保田 孝

    第59回宇宙科学技術連合講演会  2015.10 

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  • 空気圧人工筋肉を用いた蠕動運動型ポンプによる固体推進剤の連続捏和プロセスに関する検討

    吉浜 舜, 岩崎 祥大, 松本 幸太郎, 羽生 宏人, 中村 太郎

    第59回宇宙科学技術連合講演会  2015.10 

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  • Development of Seabed Excavation Robot with Peristaltic Crawling

    M. Nagai, A. Mizushina, T. Nakamura, F. Sugimoto, K. Watari, H. Nakajo, H. Yoshida

    the IEEE International Conference on Intelligent Robots and Systems  2015.10 

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  • Mixing of Solid Propellant by Peristaltic Pump Based on Bowel Peristalsis

    S. Yoshihama, R. Ban, T. Nakamura(Chuo University, A. Iwasaki(The, Graduate University for, Advanced Studies, H. Habu, JA

    the IEEE International Conference on Intelligent Robots and Systems  2015.10 

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  • Development of a peristaltic crawling robot for long-distance sewer pipe inspection with consideration of complex pipe line

    Takeru Tomita, Tomoya Tanaka, Taro Nakamura

    the IEEE International Conference on Intelligent Robots and Systems  2015.10 

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  • 蠕動運動型月面掘削ロボットにおける 落下土循環システムの開発

    金野 将志, 水品 明日香, 中村 太郎, 久保田 孝

    第33回日本ロボット学会学術講演会  2015.9 

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  • 中腰姿勢の作業におけるパワーアシストスーツの補助効果検証

    猪瀬 洸樹, 毛利 駿, 中村 太郎, 横山 和也, 菊谷 功

    第33回日本ロボット学会学術講演  2015.9 

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  • Development of Delta-type Parallel-link Robot Using Pneumatic Artificial Muscles and MR Clutches for Force Feedback Device

    Masatoshi Kobayashi, Junya Hirano, Taro Nakamura

    8th International Conference on Intelligent Robotics and Applications (ICIRA2015)  2015.8 

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  • Development of a Hydraulic Artificial Muscle for a Deep-Seafloor Excavation Robot with a Peristaltic Crawling Mechanism

    M. Nagai, A. Mizushina, T. Nakamura, F. Sugimoto, K. Watari, H. Nakajo, H. Yoshida

    8th International Conference on Intelligent Robotics and Applications (ICIRA2015)  2015.8 

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  • Development of Semi-Active-Type Haptic Device Using Variable Viscoelastic Elements

    Masakazu Egawa, Takumi Watanabe, Taro Nakamura

    8th International Conference on Intelligent Robotics and Applications (ICIRA2015)  2015.8 

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  • Dynamic Characteristic Model for Pneumatic Artificial Muscles Considering Length of Air Tube

    Shota Yamazaki, Tatsuya Kishi, Taro Nakamura

    8th International Conference on Intelligent Robotics and Applications (ICIRA2015)  2015.8 

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  • 圧送管内検査のための蠕動運動型ロボットの開発

    冨田 健, 田中 友也, 中村 太郎

    第52回下水道研究発表会  2015.7 

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  • The Continuous Mixing Process of Composite Solid Propellant Slurry by the Artificial Muscle Actuator

    Akihiro Iwasaki, Ryosuke Ban, Shun Yoshihama, Taro Nakamura, Hiroto Habu

    the 30th International Symposium on Space Technology and Science  2015.7 

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  • 2A2-V08 Perceptual Evaluation of Stiffness and Friction by Wearable Force Feedback Device with Pneumatic Artificial Muscles and MR Brakes

    EGAWA Masakazu, WATANABE Takumi, NAKAMURA Taro

    2015.5  The Japan Society of Mechanical Engineers

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    Event date： 2015.5 　 　

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    Wearable force feedback device enables us to dynamically interact with virtual object while moving in wide virtual space. We have developed wearable force feedback device with variable viscoelastic elements; pneumatic artificial muscles and MR brakes. These mechanical elements show quick response by feed-forward control and high power density. In this paper, we tackled on weight saving of the device, and measured basic property again. Afterward, we evaluated whether a subject can distinguish when rendered different frictional force or elastic force. The subject was rendered one of five grade force, and replied which grade that was. A percentage of correct answers were lower at rendering elastic force. This is because the reaction force was change with angular displacement. In addition, the percentage didn't change respect to fixed state and wearing state. The subject could recognize the difference in the size of the force though the device was loaded.

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  • 1P2-U07 Automatically soil releasing mechanism with a lunar and planet underground explorer robot using peristaltic crawling

    KONNO Masashi, SAWADA Ippei, MIZUSHINA Asuka, NAKAMURA Taro, KUBOTA Takashi

    2015.5  The Japan Society of Mechanical Engineers

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    Event date： 2015.5 　 　

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    Various excavation robots have been developed for in-ground planetary investigations. However, there are no reports of any robots designed to discharge excavated soil. Soil discharging is necessary for excavation robots to achieve greater depths and more sustainable excavations. We previously developed a lunar explorer excavation robot that adopted peristaltic crawling as its propulsion mechanism and this robot incorporates a soil-discharging unit. This unit can convey the excavated soil to the ground surface from the borehole during excavation. However, the soil that is carried by the discharging unit is removed by a dust collector with human hand from the unit. In the future, from the viewpoint of automaticity, the soil should be removed automatically. Therefore, in this paper, we propose a novel discharging unit that removes the soil automatically.

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  • 固体推進剤製造のための蠕動運動型ポンプによる混合機能に関する検討

    吉浜舜, 伴遼介, 岩崎祥大, 羽生宏人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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    Language：Japanese   Presentation type：Poster presentation  

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  • 長距離用空気圧チューブを用いたゴム人工筋肉における動特性モデルの導出

    山崎翔太, 岸達也, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 空気圧人工筋肉とMRブレーキを用いた跳躍動作における着地を考慮した直立型一脚ロボットの開発

    石原ひかる, 長山尭拓, 戸森央貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 深海底探査のための蠕動運動型掘削ロボットの開発

    永井守, 水品明日香, 中村太郎, 杉本文孝, 渡健介, 中條秀彦, 吉田弘

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 空気圧人工筋肉とMRブレーキを用いた可変粘弾性関節を有するマニピュレータによる投擲実験

    長山尭拓, 石原ひかる, 戸森央貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 圧送管内における長距離検査のための蠕動運動型ロボットの開発

    冨田健, 田中友也, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 月・惑星探査用蠕動運動型掘削ロボットにおける排出土自動処理機構の開発

    金野将志, 澤田一平, 水品明日香, 中村太郎, 久保田孝

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 空気圧人工筋肉とMRクラッチを用いた力覚提示装置の開発

    小林雅俊, 平野淳也, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 空気圧人工筋肉を用いた内骨格型パワーアシストスーツの開発

    猪瀬洸樹, 河村拓磨, 中村太郎, 横山和也, 今村洋弥, 菊谷功

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 空気圧人工筋肉とMRブレーキを用いた装着型力覚提示装置における剛性・摩擦の知覚評価

    江川正和, 渡辺拓巳, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2015.5 

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  • 固体推進薬連続捏和に関する研究

    岩崎 祥大, 吉浜 舜, 中村 太郎, 羽生 宏人

    火薬学会2015年度春季研究発表会・ 講演番号28  2015.5 

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  • 永久磁石による磁気吸着機構を用いた進行波型全方向壁面移動ロボットの開発

    呉 哲英, 大澤 達也, 小川 曜義, 中村 太郎

    第19回ロボティックシンポジア  2015.3 

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  • 可粘性繰り出しチューブを用いた大腸内視鏡挿入支援デバイスの開発―摘出した豚の大腸への応用―

    柳田 隆一, 鎌形 徹平, 中村 太郎

    第19回ロボティックシンポジア  2015.3 

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  • Development of a Wearable Haptic Device with Pneumatic Artificial Muscles and MR brake

    Masakazu Egawa, Takumi Watanabe, Taro Nakamura

    IEEE Virtual Reality Conference 2015  2015.3 

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  • The mixing of solid propellant by an artificial muscle actuator

    Iwasaki Akihiro, Ban Ryosuke, Yoshihama Shun, Nakamura Taro, Habu Hiroto

    平成26年度宇宙輸送シンポジウム: 講演集録 = Proceedings of Space Transportation Symposium FY2014  2015.1  宇宙航空研究開発機構宇宙科学研究所(JAXA)(ISAS)

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    Event date： 2015.1 　 　

    Language：Japanese  

    Space Transportation Symposium FY2014 (January 15-16, 2015. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)(ISAS)), Sagamihara, Kanagawa Japan

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  • 1P2-V04 Study on Mixing Function by Peristaltic Pump for Solid Propellant Manufacture

    YOSHIHAMA Shun, BAN Ryosuke, IWASAKI Akihiro, HABU Hiroto, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2015  The Japan Society of Mechanical Engineers

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    Event date： 2015 　 　

    Language：Japanese  

    In recent years, demand for launch of the rockets has increased from space development. Although the solid propellant rockets relatively reasonable, it is difficult to safely manufacture a large of solid propellant, and the manufacturing process is non-constant. Therefore, we consider it is more reasonable if it is possible to manufacture the solid propellant safely and continuously. We focused on the movements to mix of the intestinal tract. We have developed a peristaltic pump that based on bowel peristaltic using straight-fiber-type artificial muscle. In this paper, we show it is possible to mix one high viscous fluid and another one same by measuring luminance value, the glass beads that same diameter to be used micro particles in actual manufaction and sodium polyacrylate aqueous solution resemble HTPB (Hydroxyl Terminated Poly-Butadiene) by measuring the glass beads in the solid-liquid mixed fluid.

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  • 空気圧人工筋肉を用いた腸管構造を模した蠕動運動型ポンプによる高粘性流体およびマイクロ粒子混合実験

    伴 遼介, 吉浜 舜, 中村 太郎, 羽生 宏人, 岩崎 祥大

    平成26年度宇宙輸送シンポジウム  2015.1 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 空気圧人工筋肉を用いた腸管構造を模した蠕動運動ポンプによる高粘性流体およびマイクロ粒子混合実験

    伴 遼介, 吉浜 舜, 中村 太郎, 羽生 宏人, 岩崎 祥大

    平成26年度宇宙輸送シンポジウム  2015.1 

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  • ER流体デバイスと空気圧人工筋肉を用いた1自由度力覚提示装置-剛性提示におけるヒステリシス補償

    江川 正和, 渡辺 拓巳, 中村 太郎

    第15回計測自動制御学会システムインテグレーション部門講演会  2014.12 

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  • 歩行アシスト装具に用いる軸方向繊維強化型人工筋肉の収縮力の効率的な伝達機構に関する研究

    河村 拓磨, 中村 太郎

    第15回計測自動制御学会システムインテグレーション部門講演会  2014.12 

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  • 蠕動運動型月面掘削ロボットのアースオーガの形状検討

    水品 明日香, 金野 将志, 中村 太郎

    第15回人計測自動制御学会システムインテグレーション部門講演会  2014.12 

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  • 巻フィルムチューブ式SMAアクチュエータによる拮抗型人工筋肉の開発

    石川 敏也, 中村 太郎

    第15回計測自動制御学会システムインテグレーション部門講演会  2014.12 

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  • 下水管内での長距離走行を可能とする蠕動運動型ロボットの速度向上手法の検討

    田中 友也, 富田 健, 中村 太郎

    第15回計測自動制御学会システムインテグレーション部門講演会  2014.12 

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  • Evaluation of Energy Efficiency of Insertion-Type Peristalsis Pump Using Pneumatic Artificial Muscles

    Ryousuke Ban, Taro Nakamura

    Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics  2014.12 

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  • Vibration Reduction for Water Strider Robot using Leg Springs

    Ryo Shimano, Taro Nakamura

    Proceedings of The Sixth International Symposium on Aero Aqua Bio-Mechanisms  2014.11 

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  • 下水管(100A管)内長距離検査用ミミズロボットの開発―90°エルボ管通過のための多自由度関節の適用検討―

    田中友也, 針谷健介, 冨田健, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 月の地中探査用蠕動運動型掘削ロボットにおける排出ユニットの落下土低減手法の検討

    水品明日香, 大森隼人, 北本博之, 中村太郎, 久保田孝

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 螺旋式波動伝播機構を用いた非ホロノミック全方向移動ロボットのモデル化および走行実験

    金野将志, 溝田裕, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 空気圧ゴム人工筋肉とMRブレーキを用いた装着型力覚提示デバイスの開発

    渡辺拓巳, 江川正和, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 空気圧人工筋肉とMRブレーキを用いた跳躍ロボットのための着地手法の提案

    石原ひかる, 戸森央貴, 間島達雄, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 家庭用ガス管内検査用蠕動運動型ロボットの開発

    岸達也, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 2自由度可変粘弾性マニピュレータを用いた投擲運動のPSO手法による最適化

    戸森央貴, 間島達雄, 石原ひかる, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 管内挿入型蠕動運動型ポンプのエネルギー効率の評価

    伴遼介, 木村義規, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2014.9 

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  • 下水管(100A管)内長距離検査用ミミズロボットの開発

    田中 友也, 針谷 健介, 富田 健, 中村 太郎

    第32回日本ロボット学会学術講演会  2014.9 

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  • 月の地中探査用蠕動運動型掘削ロボットにおける排出ユニットの落下度低減手法の検討

    水品 明日香, 大森 隼人, 北本 博之, 中村 太郎, 久保田 孝

    第32回日本ロボット学会学術講演会  2014.9 

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  • 月の地中探査用蠕動運動型ロボットによる掘削手法および土質調査手法の検討

    水品明日香, 大森隼人, 北本博之, 中村太郎, 大隅久, 久保田孝

    建設ロボットシンポジウム論文集(CD-ROM)  2014.8 

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  • Throwing Motion with Instantaneous Force using a Variable Viscoelasticity Joint Manipulator

    H. Tomori, T. Majima, H. Ishihara, T. Nakamura

    14th International Conference on Electrorheological Fluids and Magnetorheological Suspensions(ERMR 2014)  2014.7 

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  • Development of a Jumping Robot with Pneumatic Artificial Muscles and MR Brake

    H. Ishihara, H. Tomori, T. Majima, T. Nakamura

    14th International Conference on Electrorheological Fluids and Magnetorheological Suspensions(ERMR 2014)  2014.7 

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  • Development of Semi-Active Haptic Device Using ER Device and Artificial Muscles

    Masakazu Egawa, Hiroki Tomori, Taro Nakamura

    14th International Conference on Electrorheological Fluids and Magnetorheological Suspensions(ERMR 2014)  2014.7 

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  • Development of a Peristaltic Crawling Robot for Long-Distance Inspection of Sewer Pipes

    Tanaka Tomoya, Harigaya, Kensuke, Nakamura Taro

    2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics(AIM2014)  2014.7 

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  • Development of a Passive Switching Cam Mechanism for Walking Assistance Using Pneumatic Artificial Muscle

    Kawamura Takumi, Noma Marie, Nakamura Taro

    2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics(AIM2014)  2014.7 

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  • Development of Delta Robot Driven by Pneumatic Artificial Muscles

    Hirano Junya, Tanaka Dai, Watanabe Takumi, Nakamura Taro

    2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics(AIM2014)  2014.7 

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  • Development of Traveling Wave Type Omnidirectional Wall Climbing Robot Using Permanent Magnetic Adhesion Mechanism and Proposal of Locomotion Strategy for the Robot

    Go Tetsuhide, Osawa Tatsuya, Ogawa Teruyoshi, Nakamura Taro

    2014 IEEE ASME International Conference on Advanced Intelligent Mechatronics(AIM2014)  2014.7 

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  • DEVELOPMENT OF A HEXAPOD WALKING ROBOT USING A STRAIGHT TYPE ARTIFICIAL MUSCLE THAT CAN CARRY A LOAD OF 300 N

    Ryo Shimano, Hiroki Tomori, Takahumi Miyanaga, Taro Nakamura

    Proceedings of the Seventeenth International Conference on Climbing and Walking Robots(CLAWAR2014)  2014.7 

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  • DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE ROBOT WITH A SPIRAL-TYPE TRAVELING-WAVE-PROPAGATION MECHANISM

    Masashi Konno, Yutaka Mizota, Taro Nakamura

    Proceedings of the Seventeenth International Conference on Climbing and Walking Robots(CLAWAR2014)  2014.7 

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  • 1P2-O04 Development of a traveling wave type omni-directional wall climbing robot corresponding to the curved surface(Mobile Robot with Special Mechanism (2))

    Go Tetsuhide, OSAWA Tatsuya, OGAWA Teruyoshi, NAKAMURA Taro

    2014.5  The Japan Society of Mechanical Engineers

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    The traveling wave type omni-directional wall climbing robot imitates the snail locomotion mechanism. This movement mechanism enables stable motion because of a large contact area. Moreover, because of the magnetic adhesion mechanism used in this robot, this robot can climb ferromagnetic walls. However, this robot can move only on flat surfaces. In this paper, we developed universal joints for moving on curved surfaces and also the traveling wave type omni-directional wall climbing robot using universal joints. Furthermore, we confirmed the performance of this robot through experiments.

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  • 螺旋式波動伝播機構を用いた全方向移動ロボットの開発

    金野将志, 溝田裕, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • 空気圧人工筋肉を用いたデルタ型パラレルリンクロボットの開発

    平野淳也, 田中大, 渡辺拓巳, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • ERクラッチと空気圧人工筋肉を用いた1自由度力覚提示装置

    江川正和, 戸森央貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • 空気圧ゴム人工筋肉とMRブレーキを用いた可変粘弾性関節を有するマニピュレータによる投擲動作の検討

    戸森央貴, 間島達雄, 石原ひかる, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • 300[N]の荷重を搬送可能な人工筋肉を用いた6脚型ロボットの開発

    島野諒, 戸森央貴, 宮永隆史, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • 空気圧人工筋肉とMRブレーキを用いた跳躍ロボットの開発

    石原ひかる, 間島達雄, 戸森央貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • 曲面に対応する進行波型全方向壁面移動ロボットの開発

    呉哲英, 大澤達也, 小川曜義, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)  2014.5 

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  • Development of a Peristaltic Crawling Subsurface Robot for Satellite and Planets (Cutting Experiments of the Front Part of the Excavation Unit for the Model of the Excavation Resistance)

    大森隼人, 北本博之, 水品明日香, 中村太郎, 久保田孝

    設計工学  2014.5 

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  • 螺旋式波動伝播機構を用いた全方向ロボットの開発

    金野 将志, 溝田 裕, 中村 太郎

    ロボティクス・メカトロニクス講演会2014  2014.5 

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  • 空気圧人工筋肉を用いた細管検査用蠕動運動型ロボットの開発―エルボ管を含んだ長距離細管走行への適用―

    池内愛, 岸達也, 中村太郎

    ロボティクスシンポジア予稿集  2014.3 

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  • 蠕動運動を用いた惑星探査用埋没型掘削ロボットの開発―推進ユニットによる土質環境計測の検討―

    北本博之, 大森隼人, 水品明日香, 中村太郎, 大隅久, 久保田孝

    ロボティクスシンポジア予稿集  2014.3 

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  • 空気圧ゴム人工筋肉マニピュレータによる瞬発力のための可変インピーダンス制御

    戸森央貴, 永井豪, 間島達雄, 中村太郎

    ロボティクスシンポジア予稿集  2014.3 

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  • 可変剛性繰り出しチューブを用いた大腸内視鏡挿入支援デバイスの開発

    柳田隆一, 鎌形徹平, 中村太郎

    ロボティクスシンポジア予稿集  2014.3 

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  • 永久磁石を用いた回転式磁気吸着機構の開発と進行波型全方向壁面移動ロボットへの応用

    大澤達也, 小川曜義, 鈴木陽祐, 呉哲英, 中村太郎

    ロボティクスシンポジア予稿集  2014.3 

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  • 人工筋肉アクチュエータによる固体推進薬の混合

    岩崎祥大, 羽生宏人, 中村太郎, 堀恵一

    宇宙科学技術連合講演会講演集(CD-ROM)  2014 

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  • Development of a Wall Climbing Robot Using the Mobile Mechanism of Continuous Traveling Waves Propagation -Development of a Mechanism of wave-absorbing

    Yutaka Mizota, Yusuke Goto, Taro Nakamura

    the IEEE International Conference on Robotics and Biomimetics (ROBIO)  2013.12 

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  • Development of an Insertion-type Peristalsis Pump

    Ryosuke Ban, Yoshiki Kimura, Taro Nakamura

    the IEEE International Conference on Robotics and Biomimetics (ROBIO)  2013.12 

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  • Development of Endoscopic Device to Veer Out a Latex Tube with Jamming by Granular Materials

    Takaichi Yanagida, Kazunori Adachi, Taro Nakamura

    the IEEE International Conference on Robotics and Biomimetics (ROBIO)  2013.12 

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  • 下水管(100A管)内における100 [m]以上の長距離走行・検査が可能な蠕動運動型ロボットの開発

    田中友也, 針谷健介, 内山光一, 中村太郎

    第14回システムインテグレーション部門講演会(SI2013)  2013.12 

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  • 空気圧ゴム人工筋肉を用いた歩行アシスト装具の軽量化を考慮した機構の開発

    河村拓磨, 野間鞠依, 中村太郎

    第14回システムインテグレーション部門講演会(SI2013)  2013.12 

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  • 曲管に対応した管内挿入型蠕動運動ポンプの開発

    伴 遼介, 木村 義規, 中村 太郎

    第14回システムインテグレーション部門講演会(SI2013)  2013.12 

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  • Development and Control of 1-DOF Manipulator Using Electrostrictive Rubber Actuator

    H.Tomori, H.Oshika, T.Nakamura, H. Osumi

    IEEE 39th Annual Conference of Industrial Electronics, (IECON2013)  2013.11 

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  • Development and Control of 7-DOF Artificial Muscle Manipulator Considering Redundancy

    Takumi Watanabe, Dai Tanaka, Daich Kamo, Taro Nakamura

    IEEE 39th Annual Conference of Industrial Electronics, (IECON2013)  2013.11 

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  • 蠕動運動を規範とした惑星地中探査ロボットの構想と開発

    大森隼人, 北本博之, 水品明日香, 中村太郎, 久保田孝, A

    第57回宇宙科学技術連合講演会  2013.10 

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  • ジャミング転移現象発生粒子梱包繰り出しチューブを用いた大腸内視鏡挿入支援装置の開発

    柳田隆一, 安達和紀, 中村太郎

    日本コンピュータ外科学会2013  2013.9 

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  • Development of an Exsufflation System for Peristaltic Pump Based on Bowel Peristalsis

    Kimura Yoshiki, Saito Kunihiro, Nakamura Taro

    2013 IEEE ASME International Conference on Advanced Intelligent Mechatronics  2013.7 

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  • Development of a 7-DOF Manipulator Actuated by Straight-Fiber-Type Pneumatic Artificial Muscle

    Tanaka Dai, Kamo Daichi, Watanabe Takumi, Maehara Masanori, Nakamura Taro

    2013 IEEE ASME International Conference on Advanced Intelligent Mechatronics  2013.7 

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  • DERIVATION OF MATHEMATICAL MODELS OF THE PERISTALTIC CRAWLING ROBOT FOR MAINTENANCE OF A MIXING TANK

    Yusuke Morishita, Daisuke Sannouhe, Tatsuya Osawa, Tomoya Tanaka, Taro Nakamura

    the Sixteenth International Conference on Climbing and Walking Robots  2013.7 

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  • DEVELOPMENT OF A WALL CLIMBING ROBOT USING THE MOBILE MECHANISM OF TRAVELING WAVES PROPAGATION

    Yutaka Mizota, Kazutoshi Takahashi, Yusuke Goto, Taro Nakamura

    the Sixteenth International Conference on Climbing and Walking Robots  2013.7 

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  • DEVELOPMENT OF A PERISTALTIC CRAWLING INSPECTION ROBOT WITH PNEUMATIC ARTIFICIAL MUSCLES FOR A 25A ELBOW PIPE

    Tatsuya Kishi, Taro Nakamura, Megumi Ikeuchi

    the Sixteenth International Conference on Climbing and Walking Robots  2013.7 

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  • DEVELOPMENT OF TWO TYPES OF MAINTENANCE ROBOTS FOR A JACKET INSIDE A MIXING TANK

    Tomoya Tanaka, Taro Nakamura, Daisuke Sannohe, Yousuke Morisita, Mitsugu Tanaka

    the Sixteenth International Conference on Climbing and Walking Robots  2013.7 

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  • DEVELOPMENT OF HEXAPOD ROBOT SUPPORTED MECHANICALLY USINGPNEUMATIC RUBBER ARTIFICIAL MUSCLES

    Hiroki Tomori, Yuusuke Hirata, Taro Nakamura, Hisanori Osumi

    the Sixteenth International Conference on Climbing and Walking Robots  2013.7 

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  • Development of an earthworm inspired robot attached to a colonoscope using bellows-type artificial rubber muscles

    Takaichi Yanagida, Kazunori Adachi, Taro Nakamura

    2013 International Workshop on Soft Robotics and Morphological Computation  2013.7 

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  • Development of an In-pipe Inspection Rovot using Pneumatic Artificial Muscles Based on an earthwarm’s peristaltic crawling

    Megumi Ikeuchi, Tatsuya Kishi, Taro Nakamura

    2013 International Workshop on Soft Robotics and Morphological Compulation  2013.7 

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  • Motion control of instantaneous force for an artificial muscle manipulator with variable rheological joint

    Tatsuo Majima, Suguru Nagai, Hiroki Tomori, Taro Nakamura

    2013 International Workshop on Soft Robotics and Morphological Computation  2013.7 

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  • A Discharging Mechanism for a Lunar Subsurface Explorer with the Peristaltic Crawling Mechanism

    Asuka Mizushina, Hayato Omori, Hiroyuki Kitamoto, Taro Nakamura, Hisashi Osumi

    6th International Conference on Recent Advances  2013.6 

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  • Soil Cutting Experiments and Evaluation of an Earth Auger for a Planetary Subsurface Explorer

    Hayato Omori, Hiroyuki Kitamoto, Asuka Mizushina, Taro Nakamura, Hisashi Osumi

    6th International Conference on Recent Advances  2013.6 

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  • Development of an orthosis for walking assistance using pneumatic artificial muscle

    Takuma Kawamura, Kenta Takanaka, Taro Nakamura, Hisashi Osumi

    2013 IEEE International Conference on Rehabilitation Robotics  2013.6 

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  • 2P1-M07 Excavation Evaluation of Excavation Mechanisms for Planetary Underground Explorer Robot(Space Engineering and Robotics and Mechatronics)

    OMORI Hayato, Kitamoto Hiroyuki, Mizushina Asuka, NAKAMURA Taro, KUBOTA Takashi, Osumi Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Planetary subsurface exploration has a possibility to find trace of life ,new substances and origin of our planet. We have therefore developed a planetary subsurface explorer robot which has a propulsion unit and excavation. The prototype robot showed good excavation performance. However, both units were separately controlled to achieve the excavation. In order to combine the systems, the process of excavation is required to reveal. This paper describes the process of the cutting resistance from experiments for the first step. A 6 axial force sensor measures the resistance against the excavation part. We carried out two experiments, e.g. the pushing force experiment and rotation speed. They showed good excavation results.

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  • 2P1-M04 Development of a Discharging Unit for a Planetary Subsurface Excavation Robot with Peristaltic Crawling Mechanism(Space Engineering and Robotics and Mechatronics)

    MIZUSHINA Asuka, OMORI Hayato, KITAMOTO Hiroyuki, NAKAMURA Taro, KUBOTA Takashi, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Event date： 2013.5 　 　

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    It is important to investigate the underground of the planets in terms of the elucidation of the planet's origin and a development of the bases that human can work on the planets. Therefore, we have developed a planetary subsurface excavation robot with peristaltic crawling mechanism. This robot consists of two units; a propulsion unit and an excavation unit. The propulsion unit has three subunits using a peristaltic motion. The excavation unit has an earth auger. But, the existing robot can't excavate without a discharging unit because the soil isn't smoothly discharged from a spout when it reaches below surface. So, we develop a discharging unit to solve this problem. Then, we have an excavating experiment with the robot in order to check the capacity of the discharging unit. Thus, we confirmed that the robot could discharge the soil by the discharging unit.

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  • 2A2-D04 Dynamic characteristics control of 2-degree of freedom manipulator with artificial muscle and differential gear by disturbance observer(Mechanism and Control for Actuator (2))

    WATANABE Takumi, KAMO Daichi, TANAKA Dai, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Recently, the demand for robots that operate in the fields of nursing and human life have increased due to the aging population and falling birthrates. Since these robots are intended to operate near humans, they are preferable to be light, soft and safe. To satisfy these requirements, we adopt a pneumatic artificial muscle as an actuator of robot manipulator. However, the McKibben-type artificial muscles that are most commonly used have several drawbacks. Therefore, we developed a straight-fiber-type artificial muscle, and developed two degrees of freedom artificial muscle manipulator with a differential gear mechanism. However, the interference occurs in unintended directions in this mechanism because the rotation speed of right and left gears respectively differs. To address this problem, we introduce the disturbance observer (DOB) in the control system. We control the response of right and left gears by disturbance observer and reduce the interference.

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  • 1A1-P19 Development of the maintenance robot in the mixing tank(Mobile Manipulation Robot)

    TANAKA Tomoya, SANNOHE Daisuke, MORISHITA Yosuke, NAKAMURA Taro, OSUMI Hisashi, TANAKA Mitsugu

    2013.5  The Japan Society of Mechanical Engineers

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    In this study, we developed two types of maintenance robots using a pneumatics artificial rubber muscle for a jacket inside a mixing tank. One is an excavation robot for cleaning the inside of the jacket, and the other is a polishing robot for inspecting the walls. The excavation robot consists of five units and four joints. This robot mimics the peristaltic crawling motion of an earthworm. On the other hand, the polishing robot consists of five units, a metal brush and two wing parts. This robot polishes the walls inside the jacket. Three types of experiments were performed with the two robots. One of the experiments was a driving test inside a various vertical walls. Second was an excavation test inside the jacket. Third was to eliminate sediment on the local walls.

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  • 1A1-D04 Development of Orthosis for Walking Assistance with Pneumatic Rubber Artificial Muscle : Quantitative evaluation of the assistant effect(Rehabilitation Robotics and Mechatronics (1))

    KAWAMURA Takuma, TAKANAKA Kenta, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Event date： 2013.5 　 　

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    In recent years, the population that requires assistance with walking has increased owing to a decrease in leg muscular power with age. To prevent muscle weakness and expand their sphere of activities, we develop the orthosis for walking assistance using a pneumatic artificial muscle to assist leg muscular power. In order to judge the availability of the orthosis, we measure the effect on assistance quantitatively. EMG and step length are measured with assistance on healthy subject. We observed that the EMG of the sartorius muscle, which helps swing the leg forward, decreased. And step length is increased as a result of assistance. I think these results mean that a person with little muscular strength can walk like a healthy person.

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  • 2A1-P01 Development of a peristaltic crawling robot for pipe inspection which can pass through 1-inch gas pipe with continuous elbow pipe(Mobile Robot with Special Mechanism (1))

    KISHI Tatsuya, IKEUCHI Megumi, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Event date： 2013.5 　 　

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    The 1-inch gas pipes are used in houses and between gas meters and the main pipe which lies under the road, and requires regular inspection. However, an endoscope has the limit of the scope on inspection. In addition, in-pipe robots cannot pass through a 90-degree elbow, whose radius of curvature equals its inside diameter. In this study, we developed the peristaltic crawling robot with pneumatic artificial muscles for 1-inch gas pipes. This robot can pass through the elbow horizontally and vertically. In addition, this robot can be equipped an endoscope. However, this robot cannot pass through the continuous elbows. It lies in the actual environment certainly. In this paper, to use a robot in the actual environment, we developed the robot which can pass through the continuous elbows. We experimentally confirmed that the robot can pass through the continuous elbows.

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  • 2A1-P08 Development of an omni-directional wall climbing robot equipped with permanent magnet unit(Mobile Robot with Special Mechanism (1))

    OSAWA Tatsuya, OGAWA Teruyoshi, SUZUKI Yousuke, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Event date： 2013.5 　 　

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    The traveling wave type omni-directional mobile robot imitates the snail locomotion mechanism. An advantage of this movement mechanism is that it enables stable motion because of a large contact area. We think that this stable motion is applicable to wall climbing. In this paper, we developed magnetic adhesion mechanism for moving on ferromagnetic surface and also the traveling wave type omni-directional wall climbing robot using developed magnetic adhesion mechanism. Furthermore, we confirmed the performance of this robot through experiments.

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  • 2A2-D02 Motion control of instantaneous force for manipulator with variable viscoelasticity joint(Mechanism and Control for Actuator (2))

    MAJIMA Tatsuo, TOMORI Hiroki, NAGAI Suguru, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Event date： 2013.5 　 　

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    Highly rigid actuators such as a geared motor or hydraulic actuator are widely used in industrial robots. To obtain high-speed motion, it is necessary to increase the actuator output as the robot weight increases. In contrast, humans perform motions with instantaneous force-as in a jump or throw-via variable viscoelastic characteristics. Therefore, we developed a manipulator with variable viscoelastic joint using an artificial muscle and a magnetorheological(MR) brake. Furthermore, we generated instantaneous force, and the dead and rise times decreased compared to the conventional method. In this paper, we controlled the arm position after arbitrary instantaneous force by applying equilibrium of force to the joint. Furthermore, we controlled the arm vibrations by controlling the MR brake using an evaluation function. The results obtained were quite satisfactory.

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  • 2A2-F04 Development of a tube insertion type peristaltic pump(Biorobotics (1))

    KIMURA Yoshiki, BAN Ryosuke, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    A pump capable of transporting high-viscosity fluids and solid-liquid mixtures is required in various industrial settings. Turbine-type pumps, piston-type pumps and squeeze-type pumps are often used to transport high-viscosity fluids and solid-liquid mixture. However, these types of pumps have disadvantages. Hence, an innovative transport system is desired. In this paper, we focus on bowel peristalsis as a model for a mechanism that can transport fluids, such as sludge with little water. We developed a peristaltic pump based on the bowel mechanism by using an artificial rubber muscle, and confirmed its capabilities. But this pump changes diameter and length when it transport fluid. So we developed New peristaltic pump and we measure flow rate.

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  • 2A2-F06 The development of a conveying equipment using the mobile mechanism of traveling waves propagation(Biorobotics (1))

    MIZOTA Yutaka, TAKAHASHI Kazutoshi, NAKAMURA Taro, OSUMI Hisashi

    2013.5  The Japan Society of Mechanical Engineers

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    Event date： 2013.5 　 　

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    In a past study, we developed the mobile mechanism of traveling wave propagation for wall climbing robot. This mobile mechanism is able to use the conveying equipment. In case of using this conveying equipment, the conveyance direction changes by the shape of the carriers. Carriers of the shape to step over the waves more than two is conveyed to the opposite direction of the generated wave. On the other hand, carriers of the shape that is smaller than a wave is conveyed to the direction of the generated wave. In this paper, we developed a conveying equipment using the mobile mechanism of traveling wave propagation and performed the experiment.

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  • 下水管内検査用蠕動運動型ミミズロボットの開発

    針谷 健介, 内山 光一, 田中 友也, 中村 太郎, 大隅 久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 蠕動運動型掘削ロボットの排出ユニットの開発

    水品 明日香, 大森 隼人, 北本 博之, 中村 太郎, 久保田 孝(JA, 大隅 久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 蠕動運動型掘削ロボットの排出ユニットの開発

    水品明日香, 大森隼人, 北本博之, 中村太郎, 久保田孝(JA, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 惑星地中探査ロボットの掘削機構による掘削の評価

    大森隼人, 北本博之, 水品明日香, 中村太郎, 久保田孝(JA, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 撹拌槽内のメンテナンスロボットの開発

    田中友也, 三戸大輔, 森下陽介, 中村太郎, 大隅久, 田中貢, NGKケミテック

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 下水管内検査用蠕動運動型ミミズロボットの開発

    針谷健介, 内山光一, 田中友也, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 連続したエルボ管を有する1インチガス管通過可能な蠕動運動型検査ロボットの開発

    岸達也, 池内愛, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 繰り出し式チューブを用いたジャミング転移現象による剛性変化可能な大腸内視鏡支援装置の開発

    柳田隆一, 安達和紀, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 螺旋型波動伝播式移動機構を用いた搬送装置の開発

    溝田裕, 高橋一聡, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 永久磁石による回転式磁気吸着機構を用いた全方向壁面移動ロボットの開発

    大澤達也, 小川曜義, 鈴木陽祐, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 無通電時での支持可能な人工筋肉搭載型6 脚自立移動ロボットの開発

    戸森央貴, 平田祐介, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 管内挿入型蠕動運動型ポンプの開発

    木村義規, 伴遼介, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 空気圧ゴム人工筋肉を用いた歩行アシスト装具の開発

    河村 拓磨, 高中 健太, 中村 太郎, 大隅 久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 可変粘弾性関節を有するマニピュレータによる瞬発力を伴う運動の制御

    間島達雄, 戸森央貴, 永井豪, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • 外乱オブザーバーを用いた差動歯車型2自由度人工筋肉マニピュレータの動特性制御

    渡辺拓巳, 加茂大地, 田中大, 中村太郎, 大隅久

    ロボティクス・メカトロニクス講演会2013  2013.5 

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  • Validation of the Measuring Condition for a Planetary Subsurface Explorer Robot That Uses Peristaltic Crawling

    Hayato Omori, Taro Murakami, Hiroaki Nagai, Taro Nakamura

    the 2013 IEEE AEROSPACE CONFERENCE  2013.3 

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  • 軸方向繊維強化型人工筋肉を用いた7自由度マニピュレータの制御

    加茂 大地, 渡辺 拓巳, 田中 大, 中村 太郎, 大隅 久

    第18回ロボティクスシンポジア  2013.3 

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  • 可変粘弾性関節を有する空気圧ゴム人工筋肉マニピュレータの瞬発力を伴う振動制御

    戸森 央貴, 永井 豪, 間島 達雄, 中村 太郎, 大隅 久

    第18回ロボティクスシンポジア  2013.3 

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  • 進行波型全方向移動ロボットの変形とオドメトリを利用した省スペース移動計画

    小川 曜義, 大澤 達也, 中村 太郎, 大隅 久

    第18回ロボティクスシンポジア  2013.3 

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  • Development of a peristaltic crawling robot for sewer pipe inspection

    Kensuke Harigaya, Kazunori Adachi, Takaichi Yanagida, Masato Yokojima, Taro Nakamura

    the 2013 IEEE International Conference on Mechatronics (ICM)  2013.2 

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  • Development of two Types of 2-DOF Wrist Joint Driven by Pneumatic Artificial Muscles

    Dai Tanaka, Daichi Kamo, Masanori Maehara, Taro Nakamura

    the 2013 IEEE International Conference on Mechatronics (ICM)  2013.2 

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  • Development of Pneumatic Control System for Walking Assist using Dual On/Off valves

    Kenta Takanaka, Taro Nakmura

    the 2013 IEEE International Conference on Mechatronics (ICM)  2013.2 

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  • Variable Impedance Control with an Artificial Muscle Manipulator Using Instantaneous Force and MR Brake

    2013 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), pp.5396-5403  2013 

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  • Development of a Peristaltic Crawling Inspection Robot for 1-inch Gas Pipes with Continuous Elbows

    The 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013)  2013 

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  • 歩行アシストを考慮したOn/Off弁によるDuty比相違型圧力制御システムの開発

    髙中健太, 中村太郎

    第13回システムインテグレーション部門講演会  2012.12 

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  • 撹拌槽のジャケット内メンテナンス手法および掘削用ロボットの開発

    森下陽介, 三戸大輔, 田中友也, 中村太郎, 田中貢

    第13回システムインテグレーション部門講演会  2012.12 

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  • Motion Control of Instantaneous Force for an Artificial Muscle Manipulator with Variable Rheological Joint

    Hiroki Tomori, Suguru Nagai, Tatsuo Majima, Taro Nakamura

    Proceedings of 2012 IEEE International Conference on Robotics and Biomimetics  2012.12 

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  • 波動伝播式移動機構における波の打ち消し機構の開発

    溝田裕, 高橋一聡, 中村太郎

    第13回システムインテグレーション部門講演会  2012.10 

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  • Development of a peristaltic crawling robot attached to a large intestine endoscope using bellows - type artificial rubber muscles

    Takaichi Yanagida, Kazunori Adachi, Masato Yokojima, Taro Nakamura

    Proceedings of The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  2012.10 

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  • Development of an In-pipe Inspection Robot for Narrow Pipes and Elbows using Pneumatic Artificial Muscles

    Megumi Ikeuchi, Taro Nakamura, Dai Matsubara

    Proceedings of The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  2012.10 

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  • 月・惑星探査のための蠕動運動型掘削ロボットにおける 地中環境計測手法の検討

    大森隼人, 村上太郎, 長井弘明, 中村太郎, 久保田孝, 大隅久

    日本ロボット学会第30回記念学術講演会講演論文集  2012.9 

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  • 大腸内視鏡搭載型ミミズロボットによる大腸内動作実験

    安達和紀, 柳田隆一, 横島真人, 中村太郎, 大隅久

    日本ロボット学会第30回記念学術講演会講演論文集  2012.9 

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  • 蠕動運動型ポンプにおける吸排気システムの構築

    斉藤 邦広, 平山 義浩, 木村 義規, 中村 太郎, 大隅 久

    日本ロボット学会第30回記念学術講演会講演論文集  2012.9 

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  • MRブレーキ搭載型空気圧ゴム人口筋肉マニピュレータによる瞬発力発注手法の検討および運動制御

    永井豪, 戸森央貴, 間島達雄, 中村太郎, 大隅久

    日本ロボット学会第30回記念学術講演会講演論文集  2012.9 

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  • Development of a Propulsion Mechanism for a Lunar Subsurface Excavation Robot with Peristaltic Crawling Mechanism

    Kitamoto, H, Omori, H, Nagai, H, Nakamura, T, Osumi, H, Kubota, T

    Proceedings of The 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space] (i-SAIRAS2012)  2012.9 

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  • DEVELOPMENT OF A PROPULSION MECHANISM FOR A LUNAR SUBSURFACE EXCAVASION ROBOT WITH PERISTALTIC CRAWLING MECHANISM

    Hiroyuki Kitamoto, Hayato Omori, Hiroaki Nagai, Taro Nakamura, Hisashi Osumi, Takashi Kubota

    Proceedings of International Symposium on Artificial Intelligence, Robotics and Automation in Space  2012.9 

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  • Development of 1-DOF Manipulator with Variable Rheological Joint for Instantaneous Force

    T. Majima, H. Tomori, S. Nagai, T. Nakamura

    Processing of novel ER and MR materials  2012.7 

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  • Development of Manipulator with the Opposed Placement Type ER Clutch Contributing to Collision Force Reduction

    Akio.Inoue, N. Kanno, M. Yoshikawa, T. Nakamura

    Processing of novel ER and MR materials  2012.7 

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  • Vibration Control of an Artificial, Muscle Manipulator with a Magnetorheological Fluid Brake

    H. Tomori, Y. Midorikawa, S. Nagai, T. Nakamura

    Processing of novel ER and MR materials  2012.7 

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  • DEVELOPMENT OF A PERISTALTIC CRAWLING ROBOT WITH BELLOWS-TYPE ARTIFICIAL RUBBER MUSCLES FOR SEWER PIPE INSPECTION

    TAKAICHI YANAGIDA, TARO NAKAMURA, MASATO YOKOJIMA, KAZUNORI ADACHI

    Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2012.7 

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  • PATH PLANNING WITH ROBOT’S TRANSFORMATION FOR TRAVELING-WAVE-TYPE MOBILE ROBOT (TORO-IV)

    TATSUYA OSAWA, TERUYOSHI OGAWA, TARO NAKAMURA

    Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2012.7 

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  • USING PNEUMATIC ARTIFICIAL MUSCLE IN DEVELOPMENT OF IN-PIPE INSPECTION ROBOT FOR NARROW PIPES BASED ON AN EARTHWORM’S PERISTALTIC CRAWLING MOTION

    MEGUMI IKEUCHI, SHOTA HORII, DAI MATSUBARA, TARO NAKAMURA

    Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2012.7 

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  • Development of 1-DOF Manipulator with Variable Rheological Joint for Instantaneous Force

    T. Majima, H. Tomori, S. Nagai, T. Nakamura

    Processing of novel ER and MR materials  2012.6 

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  • Development of Manipulator with the Opposed Placement Type ER Clutch Contributing to Collision Force Reduction

    A. N. Kanno, M. Yoshikawa, T. Nakamura

    Processing of novel ER and MR materials  2012.6 

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  • Vibration Control of an Artificial, Muscle Manipulator with a Magnetorheological Fluid Brake

    H. Tomori, Y. Midorikawa, S. Nagai, T. Nakamura

    Processing of novel ER and MR materials  2012.6 

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  • Development of Peristaltic Crawling Robot Moving between Two Narrow, Vertical Planes

    Daisuke Sannohe, Yosuke Morishita, Shota Horii, Taro Nakamura

    Proceedings of the 2012 IEEE RAS & EMBS: International Conference on Biomedical Robotics and Biomechatronics  2012.6 

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  • Development of a Peristaltic Pump Based on Bowel Peristalsis Improvement of closing area rates and suction pressure measurement

    Kunihiro Saito, Yoshihiro Hirayama, Yoshiki Kimura, Taro Nakamura

    Proceedings of the 2012 IEEE RAS & EMBS: International Conference on Biomedical Robotics and Biomimetics  2012.6 

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  • 月面探査における蠕動運動型掘削ロボットの開発

    北本博之, 大森隼人, 長井弘明, 中村太郎, 大隅久, 久保田孝

    ロボティクス・メカトロニクス講演会'12講演論文集, 1／日本機械学会  2012.5 

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  • 衝撃力低減を目的とした対抗配置型 ER クラッチを有するマニピュレータの開発

    井上明男, 菅野展寛, 吉川昌宏, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 攪拌槽ジャケット内検査用空気圧式蠕動運動型ロボットの開発

    森下陽介, 三戸大輔, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 螺旋型波動伝播式移動機構を用いた壁面登攀ロボットの開発

    高橋一聡, 後藤佑輔, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 空気圧人工筋肉を用いた 2 自由度手首機構の開発

    田中大, 加茂大地, 前原正典, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 空気圧人工筋肉を用いた曲管・細管走行可能な蠕動運動型工業用内視鏡ロボットの開発

    池内愛, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 進行波形全方向移動ロボット(TORo-Ⅳ)の変形を考慮した経路計画

    大澤達也, 小川曜義, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • ベローズ型人工筋肉を用いた大腸内視鏡搭載型蠕動運動ロボットの開発

    柳田隆一, 安達和紀, 横島真人, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 月面探査における蠕動運動型掘削ロボットの開発

    北本 博之, 大森 隼人, 長井 弘明, 中村 太郎, 大隅 久, 久保田 孝(JA, A

    ロボティクス・メカトロニクス講演会'12講演論文集, 1／日本機械学会  2012.5 

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  • 無通電時において支持が可能な人工筋肉搭載型 6 脚移動ロボットの開発

    戸森央貴, 平田祐介, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 1 自由度可変粘弾性マニピュレータによる瞬発力を伴う挙動の制御

    間島達雄, 永井豪, 戸森央貴, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 蠕動運動型ポンプの新型内側チューブの開発

    木村義規, 斉藤邦広, 平山義浩, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • 空気圧人工筋肉を用いた歩行アシスト装具システムの開発

    針谷健介, 高中健太, 中村太郎

    ロボティクス・メカトロニクス講演会'12講演論文集／日本機械学会  2012.5 

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  • Subsurface Explorer Robot with Peristaltic Crawling Mechanism

    Takashi Kubota, Hayato Omori, Taro Murakami, Hiroaki Nagai, Taro Nakamura

    ASCE Earth and Space 2012 Conference  2012.4 

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  • Nonlinear model of artificial muscle manipulator with MR fluid

    Hiroki Tomori, Taro Nakamura

    International symposium on Advanced Motion Control 2012 (AMC 2012)  2012.3 

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  • Development of Endoscopic Robot and Experiment in the Large Intestine of Dead Swine

    Kazunori Adachi, Masato Yokojima, Yuya Hidaka, Taro Nakamura

    Proceedings of the 2011 IEEE: international Conference on Robotics and Biomimetics, (ROBIO 2011)  2011.12 

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  • 狭小垂直２平面空間を移動する蠕動運動型ロボットの開発

    三戸大輔, 森下陽介, 堀井翔太, 中村太郎

    第１２回 計測自動制御学会 システムインテグレーション部門 講演会 (SI 2011)／計測自動制御学会  2011.12 

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  • High-Speed Reverse Control of a Soft Manipulator using an Electrorheological Clutch

    AKIO INOUE, MASAHIRO YOSHIKAWA, TARO NAKAMURA

    Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society, (IECON2011)  2011.11 

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  • Development of a manipulator with straight-fiber-type artificial muscle and differential gear mechanism

    Daichi Kamo, Masanori Maehara, Daisuke Tanaka, Taro Nakamura

    Proceedings of the 37th Annual Conference of the IEEE Industrial Electronic Society, (IECON2011)  2011.11 

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  • The position and vibration control of the artificial muscle manipulator by variable viscosity coefficient using MR brake

    Suguru Nagai, Hiroki Tomori, Yuichiro Midorikawa, Taro Nakamura

    Proceedings of the 37th Annual Conference of the IEEE Industrial Electronic Society, (IECON2011)  2011.11 

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  • DEVELOPMENT OF AN OMNIDIRECTIONAL WALL-CLIMBING ROBOT BY USING TRAVELING WAVE PROPAGATION

    TARO NAKAMURA, AND TORU HAYAKAWA

    Proceedings of CLAWAR 2011: the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2011.9 

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  • PROPOSED OMN-IDIRECTIONAL LOCOMOTION STRATEGYFOR TRAVELING-WAVE-TYPE MOBILE ROBOT (TOROIII)

    TERUYOSHI OGAWA, MASAYUKI YAMAMOTO, AND TARO NAKAMURA

    Proceedings of CLAWAR 2011: the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2011.9 

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  • 進行波型全方向移動ロボット(TORoIII)における曲線形態での移動手法の提案

    小川 曜義, 山本 雅之, 中村 太郎

    日本機械学会2011年度年次大会／日本機械学会  2011.9 

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  • 腸管構造を規範とした蠕動運動型ポンプの開発（曲管ユニットの製作と性能評価）

    斉藤 邦広, 平山 義浩, 中村 太郎

    日本機械学会2011年度年次大会／日本機械学会  2011.9 

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  • 大腸内視鏡搭載型ロボットの開発と死んだ豚の大腸内動作実験

    横島 真人, 樋高 裕也, 安達 和紀, 中村 太郎

    日本機械学会2011年度年次大会／日本機械学会  2011.9 

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  • Development of Multistage Type Endoscopic Robot Based on Peristaltic Crawling for Inspecting the Small Intestine(2011.7)

    K. Adachi, M. Yokojima, Y. Hidaka, T. Nakamura

    Proceedings of 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011)  2011.7 

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  • Development of a Peristaltic Pump Based on Bowel Peristalsis Verification of the basic characteristic considered change of motion patterns

    Yoshihiro Hirayama, Kazuyuki Suzuki, Taro Nakamura

    Proceedings of 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011)  2011.7 

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  • Planetary Subsurface Explorer Robot with Propulsion Units for Peristaltic Crawling

    H. Omori, T. Murakami, H. Nagai, T. Nakamura, T. Kubota

    Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011)  2011.5 

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  • 月・惑星の地中探査ロボットの開発 推進・掘削機構を備えた蠕動運動型地中探査ロボットの試作と掘削実験

    大森 隼人, 村上 太郎, 長井 弘明, 中村 太郎

    ロボティクス・メカトロニクス講演会'11講演論文集／日本機械学会  2011.5 

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  • ワイヤ型空気圧ゴム人工筋肉内蔵型ロボットハンドの開発

    木村 大和人, 中村 太郎

    ロボティクス・メカトロニクス講演会'11講演論文集／日本機械学会  2011.5 

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  • 腸管構造を規範とした蠕動運動型ポンプの開発 ユニットの幾何学的形状モデルの導出

    平山 義浩, 鈴木 一将, 西村 拓真, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • 人工筋肉搭載型水陸両用 6 脚歩行ロボットの開発

    戸森 央貴, 児島 佑毅, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • ポテンシャル法を用いた進行波形全方向移動ロボット(TORoIII)の経路追従制御

    小川 曜義, 山本 雅之, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • 蠕動運動を規範とした細管・曲管走行型工業用内視鏡ロボットの開発

    堀井 翔太, 三浦 祐二, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • 差動歯車機構を用いた人工筋肉マニピュレータの開発

    加茂 大地, 前原 正典, 田中 大資, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • ER クラッチの印加電場制御による 1 リンクアームのエネルギ消散

    井上 明男, 吉川 昌宏, 中村 太

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • ＭＲブレーキを用いた可変粘性係数による人工筋肉マニピュレータの位置及び振動制御

    永井 豪, 戸森 央貴, 緑川 雄一郎, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • ファン・デュアルホーキンスリンクを用いた壁面登攀ロボットの開発

    高橋 一聡, 早川 徹, 中村 太郎

    ロボティクス・メカトロニクス講演会'1１講演論文集／日本機械学会  2011.5 

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  • 蠕動運動を規範とした小腸検査用多段式内視鏡ロボットの開発

    安達 和紀, 横島 真人, 樋高 裕也, 中村 太郎

    ロボティクス・メカトロニクス講演会'11講演論文集／日本機械学会  2011.5 

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  • 全方位レンジファインダ搭載ミミズ型ロボットの自己位置推定と配管の3次元モデル生成

    松井建樹, 川西亮輔, 山下淳, 金子透, 村上太郎, 大森隼人, 中村太郎

    ロボティクスシンポジア予稿集  2011.3 

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  • 腸管構造を規範とした蠕動運動型ポンプの開発 –運動パターンの変化を考慮した基本特性の検証

    平山 義浩, 鈴木 一将, 中村 太郎

    第16回ロボティクスシンポジア予稿集／日本機会学会、|rn|計測自動制御学会、日本ロボット学会  2011.3 

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  • 進行波型全方向移動ロボット(TORoIII)における全方向移動手法の開発

    山本 雅之, 小川 曜義, 中村 太郎

    第16回ロボティクスシンポジア予稿集／日本機会学会、|rn|計測自動制御学会、日本ロボット学会  2011.3 

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  • 月・惑星の地中探査ロボットの開発 -推進・掘削機構を備えた蠕動運動型ロボット

    大森 隼人, 村上 太郎, 長井 弘明, 中村 太郎

    第16回ロボティクスシンポジア予稿集／日本機会学会、|rn|計測自動制御学会、日本ロボット学会  2011.3 

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  • 可変粘弾性関節を有する人工筋肉マニピュレータ非線形動特性モデルの検討

    緑川 雄一郎, 戸森 央貴, 永井 豪, 中村 太

    第16回ロボティクスシンポジア予稿集／日本機会学会、計測自動制御学会、日本ロボット学会  2011.3 

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  • Peristaltic Crawling Robot with Artificial Rubber Muscles Attached to Large Intestine Endoscope (2010.10)

    Yuya Hidaka, Masato Yokojima, Taro Nakamura

    Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)  2010.10 

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  • Development of a Peristaltic Pump Based on Bowel Peristalsis Using for Artificial Rubber Muscle

    Kazuyuki Suzuki, Taro Nakamura

    Proceedings of IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS2010)  2010.10 

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  • Development of an In-Pipe Peristaltic Crawling Mobile Robot and Derivation of Theoretical Model

    Shota Horii, Taro Nakamura, Kohei Aoki

    Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)  2010.10 

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  • Development of an Elephant’s Trunk-Type Hyper-Redundant Manipulator Constituted of 3-RRS Parallel Link Mechanisms

    Tomori Ohtaka, Atsushi Kusumoto, Taro Nakamura

    Proceedings of 1st International Conference on Applied Bionics and Biomechanics (ICABB-2010)  2010.10 

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  • 全方位レンジファインダ搭載ミミズ型ロボットによる配管の3次元モデル生成

    松井建樹, 山下淳, 金子透, 村上太郎, 大森隼人, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2010.9 

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  • Estimation of Joint Stiffness Using EMG and Application to Master-Slave System with an Artificial Muscle Manipulator

    M. Maehara, D. Tanaka, H. Maeda, T. Nakamura

    Proceedings of 19th IEEE International Symposium on Robot and Human Interactive Communication  2010.9 

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  • 人工筋肉を用いた内視鏡搭載型チューブスライド式ミミズロボットの開発

    横島 真人, 樋高 裕也, 中村 太郎

    第28回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2010.9 

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  • ミミズの蠕動運動を用いた埋没型月探査ロボットの開発

    村上 太郎, 大森 隼人, 長井 弘明, 中村 太郎

    第28回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2010.9 

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  • 表面筋電位を用いた人工筋肉マニピュレータの関節剛性制御

    田中 大資, 前原 正典, 中村 太郎

    第28回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2010.9 

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  • DEVELOPMENT OF AN EXCAVATION ROBOT BASED ON AN EARTHWORM'S PERISTALTIC CRAWLING (2010.8)

    HIROAKI NAGAI, TARO NAKAMURA, HAYATO OMORI, TARO MURAKAMI

    Proceedings of 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines(CLAWAR2010)  2010.8 

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  • An Earth Auger as Excavator for Planetary Underground Explorer Robot Using Peristaltic Crawling

    H. Omori, T. Murakami, H. Nagai, T. Nakamura, T. Kubota

    Proceedings of The 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space] (i-SAIRAS2010)  2010.8 

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  • HIGH SPEED SWITCHING CONTOROL OF 1DOF MANIPULATOR USING ER CLUTCH

    M. YOSHIKAWA, K. BOKU, T. NAKAMURA

    Proceedings of The 12th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2010)  2010.8 

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  • DEVELOPMENT OF AN IN-PIPE MOBILE ROBOT FOR USE AS AN INDUSTRIAL ENDOSCOPE BASED ON AN EARTHWORM’S PERISTALTIC CRAWLING

    SHOTA HORII, TARO NAKAMURA, KOHEI AOKI

    Proceedings of International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)  2010.8 

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  • Nonlinear Dynamic Characteristic Model of Artificial Rubber Muscle Manipulator Using MR Brake

    H.TOMORI, Y.MIDORIKAWA, T.NAKAMURA

    Proceedings of The 12th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2010)  2010.8 

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  • 蠕動運動型掘削ロボットの開発

    長井 弘明, 大森 隼人, 村上 太郎, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • 筋電位を用いた人間の関節剛性の推定と人工筋肉マニピュレータへの適用

    前原 正典, 田中 大資, 前田 浩之, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • 空気圧人工筋肉を用いた大腸内視鏡搭載型蠕動運動ロボットの開発

    横島 真人, 樋高 裕也, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • ERクラッチによるモータの高速逆転制御

    吉川 昌宏, 朴 和彦, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • ワイヤー型人工筋肉を用いたロボットフィンガーの開発

    木村 大和人, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • ファン‐スライダ・クランク機構を用いた, 壁面登攀ロボットの開発

    早川徹, 鈴木隼人, 中村太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • 腸管構造を規範とした蠕動運動型ポンプの開発

    鈴木 一将, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • 蠕動運動型工業用内視鏡ロボット

    堀井 翔太, 青木 孝平, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • ゾウの鼻を模したパラレルメカニズム連結型超冗長マニピュレータの形状把握

    楠本 篤志, 大高 ともり, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010.6 

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  • 1自由度人工筋肉マニピュレータの非線形動特性モデルの検討

    戸森 央貴, 緑川 雄一郎, 前田 浩之, 中村 太郎

    ロボティクス・メカトロニクス講演会'10講演論文集, (2010.6)／日本機械学会  2010.6 

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  • 軸方向繊維強化型人工筋肉を用いた大腸内視鏡搭載型推進機構の開発

    横島真人, 樋高裕也, 中村太郎

    平成22年度フルードパワーシステム講演会講演論文集／日本フルードパワーシステム学会  2010.5 

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  • Locomotion Strategies for an Omni-Directional Mobile Robot Using Traveling Waves Propagation (2010.4)

    Taro Nakamura, Kuniaki Sato

    Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA2010)  2010.4 

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  • 波動伝播型全方向移動ロボットTORoIIの移動手法の検討

    程優平, 山本雅之, 佐藤邦昭, 中村太郎

    第15回ロボティクスシンポジア予稿集／日本機会学会、|rn|計測自動制御学会、日本ロボット学会  2010.3 

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  • 動特性モデルを考慮に入れた6自由度ゴム人工筋肉マニピュレータの軌道追従制御

    戸森央貴, 前田浩之, 中村太郎

    第15回ロボティクスシンポジア予稿集／日本機会学会、計測自動制御学会、日本ロボット学会  2010.3 

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  • 多重フィードバックループ系における等価伝達関数を用いたリライアブル制御手法の故障箇所判定

    石川薫, 中村太郎, 大隅久

    第15回ロボティクスシンポジア予稿集／日本機会学会、計測自動制御学会、日本ロボット学会  2010.3 

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  • 2P1-D25 An In-pipe Mobile Robot for Use as an Industrial Endoscope Based on an Earthworm's Peristaltic Crawling

    HORII Shota, AOKI Kohei, NAKAMURA Taro

    2010  The Japan Society of Mechanical Engineers

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    Recently, the number of pipe accidents has been increasing. Because most of these were caused by corrosions or deteriorations, in-pipe inspections have been performed with fiber scopes to prevent such problems; however, such pipes cannot inspect in pipes over 14[m] long or in complex pipes. Therefore, in-pipe inspection robots are required for such uses. In this paper, we propose the development of the robot that mimics the peristaltic crawling of earthworms as a locomotion mechanism. In addition, we performed two experiments in a 27[mm] diameter acrylic pipe and a 28[mm] diameter aluminum pipe to examine 1) the locomotion speed of the robot and 2) the relationship between propulsive force and motion patterns.

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  • 2P1-D29 The development of the wall-climbing robot using fan-slider crank mechanism

    HAYAKAWA Toru, SUZUKI Hayato, NAKAMURA Taro

    2010  The Japan Society of Mechanical Engineers

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    In recent years, robots that can substitute for humans in dangerous activities, contributing to safety, cost reduction and efficiency have been developed. For example, a wall-climbing robot can clean and inspect high places, and approach disaster sites where a person cannot reach. In this study, the locomotion of snails is used as an effective wall-climbing mechanism. A snail moves by generating travelling waves with its muscle elasticity and propagating the wave in the direction of movement. Since this locomotion mechanism is in contact with a large area of ground, it is extremely stable. This is advantageous in climbing unstable walls. The proposed robot uses several slider cranks for locomotion and a fan to adhere to the wall by suction. We confirmed that this robot successfully climbs various walls.

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  • 2A2-C18 Development of the robot finger using wire type artificial muscle

    KIMURA Yamato, NAKAMURA Taro

    2010  The Japan Society of Mechanical Engineers

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    Event date： 2010 　 　

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    In recent years, the robot has been in the field of medical scene and human life. These robots operate in an environment close to human, it is necessary to achieve the coordination of work and ensure the safety of people, when these robots contact with humans. Therefore, these robots be flexible and lightweight, it is desirable to have the characteristics a close to human behavior. For this reason, we have studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles. In this paper, we propose a new robot finger by artificial muscle actuator that is thin straight type like a wire.

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  • 2A1-A12 Grasping the whole shape of the elephant's trunk type hyper-redundant manipulator constituted of 3-RRS parallel link mechanisms

    KUSUMOTO Atsushi, OTAKA Tomori, NAKAMURA Taro

    2010  The Japan Society of Mechanical Engineers

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    Event date： 2010 　 　

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    In a nuclear reactor and a chemical plant, since it is very complicated environment with apparatus, it cannot fully function by the manipulator of 6 degree of freedom (DOF). But, trunk can wrap and catch in the thing of any form at the intricate place. The manipulator that has such a function having far more DOF is called a hyper-redundant manipulator. We made the hyper-redundant manipulator constituted of several 3-RRS parallel link mechanisms. This manipulator can be used in the intricate environments described above. It is necessary to understand the whole shape to control this manipulator. In order to grasp the whole shape of this manipulator, the degree of rotation angle of a servo motor and the angle between arm and rod are required. In this report, we did the design improvement to measure the above-mentioned two angles, led the forward kinematics, and grasped the shape of this manipulator.

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  • 蠕動運動型掘削ロボットの開発

    ロボティクス・メカトロニクス講演会'10講演論文集／日本機械学会  2010 

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  • Variable Rheological Joints Using an Artificial Muscle Soft Actuator and Magneto-Rheological Fluids Brake

    Y. Midorikawa, T. Nakamura

    International conference on intelligent Robotics and Automation 2009 (ICIRA 2009)  2009.12 

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  • MR ブレーキを用いた可変粘弾性を有する関節の検討

    緑川 雄一郎, 戸森 央貴, 中村 太郎

    第10回システムインテグレーション部門講演会(SI2009)／計測自動制御学会  2009.12 

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  • Joint Stiffness and Position Control of an Artificial Muscle Manipulator Considering Instantaneous Load

    D. Tanaka, H. Maeda, T. Nakamura

    Proceedings of IEEE 35th Annual Conference of Industrial Electronics (IECON2009)  2009.11 

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  • Reliable Control Using ETF and FDI during Current Loop Failure for Position Servo System including Disturbance Observer

    A. Karino, K. Ishikawa, T. Nakamura

    Proceedings of IEEE 354th Annual Conference of Industrial Electronics (IECON2009)  2009.11 

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  • 力学的平衡モデルを考慮した軸方向繊維強化型人工筋肉マニピュレータの制御（拮抗構造による剛性と角度の制御

    前田浩之, 中村太郎

    福祉工学シンポジウム2009／福祉工学会  2009.11 

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  • Development of a 6-DOF Manipulator Actuated with a Straight-Fiber-Type Artificial Muscle

    Maeda, H. Nagai, H, Nakamura, T

    Proceedings of IEEE/RSJ 2009 International Conference on Intelligent Robots and Systems (IROS2009)  2009.10 

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  • Development of a wave propagation type wall-climbing robot using a fan and slider cranks

    T. Hayakawa, T. Nakamura, H. Suzuki

    Proceedings of 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2009)  2009.9 

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  • Peristaltic crawling robot with artificial rubber muscles for large intestine endoscopy

    Y. Hidaka, T. Nakamura, Y. Hori

    Proceedings of 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2009)  2009.9 

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  • ゾウの鼻を模した3－RRSパラレルメカニズム連結型超冗長マニピュレータの開発～センサ計測によるパラレルメカニズムの順運動学の算出と検証～

    大高ともり, 中村太郎

    第27回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2009.9 

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  • 人工筋肉を用いた大腸内視鏡搭載型ミミズロボット－ 理論速度の導出と動作パターンによる速度比較 －

    樋高裕也, 中村太郎

    第27回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2009.9 

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  • 運動学に基づくオドメトリを用いた進行波型全方向移動ロボット（TORoII）の移動経路推定

    山本 雅之, 程 優平, 中村 太郎

    第27回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2009.9 

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  • アメンボを規範とした6脚水陸両用型移動ロボットHARo－IIの開発

    森岡 秀徳, 木村 憲吾, 中村 太郎

    第27回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2009.9 

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  • 人工筋肉マニピュレータの突発的な負荷を考慮した関節剛性制御

    田中大資, 前田浩之, 中村太郎

    第27回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2009.9 

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  • 腸管構造を規範とした蠕動運動型ポンプの開発―ユニットの膨張を考慮した幾何学的モデルの検討―

    鈴木 一将, 中村, 太郎

    第27回日本ロボット学会学術講演会講演論文集／日本ロボット学会  2009.9 

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  • Excavation Mechanism for a Planetary Underground Explorer Robot

    Hayato Omori, Taro Nakamura, Takayuki Yada, Taro Murakami, Hiroaki Nagai

    Proceedings of The joint conference of the 41st International Symposium on Robotics (ISR 2010)  2009.6 

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  • ＥＲクラッチを関節に適用したソフトマニピュレータのモデル化

    朴和彦, 中村太郎

    平成21年度フルードパワーシステム講演会講演論文集／日本フルードパワーシステム学会  2009.6 

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  • 1A2-M02 Compliance control of Artificial Muscle Manipulators

    TANAKA Daisuke, NAKAMURA Taro

    2009.5  The Japan Society of Mechanical Engineers

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    In recent years, the robot has been in the field of medical scene and human life. These robots operate in an environment close to human, it is necessary to achieve the coordination of work and ensure the safety of people, when these robots contact with humans. Therefore, these robots be flexible and lightweight, it is desirable to have the characteristics a close to human behavior. For this reason, we have studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles. In this study, we propose a new method of joint stiffness control to make a delicate operation on the artificial muscles manipulator, consider the position control and stiffness control separately.

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  • 2A2-F18 Development of the artificial muscle manipulator with MR brake

    MIDORIKAWA Yuichiro, NAKAMURA Taro

    2009.5  The Japan Society of Mechanical Engineers

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    In recent times, the chances of robot-human contact have increased; hence, safety is necessitated with regard to such contact. Thus, manipulators using a pneumatic rubber artificial muscle, which is lightweight and flexible, are studied. However, this artificial muscle manipulator has faults such as slow response and limited instantaneous power due to operation by air pressure. Because of these faults, uncontrollable vibrations can occur, leading to instability in the arm when an object is held and lifted. In this study, an artificial muscle manipulator with 1 DOF and a variable rheological joint mechanism using MR fluid is developed. Vibration control of the arm using MR fluid is realized when an object is held and lifted, confirming the reduction in vibration due to the MR effect.

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  • 2P1-A15 The development of super-thin-type pneumatic rubber artificial muscle and the application to the robot hand

    NAKATANI Mari, NAKAMURA Taro

    2009.5  The Japan Society of Mechanical Engineers

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    This paper reports the development of thin straight fibers type artificial muscles. The straight fiber types of artificial muscle have greater contraction ratio and power and a longer lifetime than McKibben types. And the thin straight type artificial muscle is a micro miniaturization of the straight type artificial muscle that is examined ahead in this laboratory. Its outside diameter is from 1.0 to 3.8 millimeters. Therefore it can work in a limited space. For example, it is expected that the muscle would be used for the direction control in the point part of industrial endoscopes. And the robot hand that uses thin type artificial muscles to drive is developed.

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  • Reliable Control During Current Loop Failure Using ETF for Position Servo System Including Disturbance observer

    Kaoru Ishikawa, Taro Nakamura, Hisashi Osumi

    Proceedings of IEEE International Conference on Robotics and Automation（ICRA 2009）  2009.5 

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  • ファン－スライダクランク機構を用いた波動伝播式壁面登攀ロボットの開発

    早川徹, 鈴木隼人, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • 進行波を用いた全方向移動ロボットの移動手法

    山本雅之, 佐藤邦昭, 程優平, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009 ／日本機械学会  2009.5 

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  • 蠕動運動機構を併用した月地中探査ロボットの掘削機構の検討

    村上太郎, 大森隼人, 矢田剛之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • 腸を規範とした蠕動運動型ポンプの開発

    鈴木一将, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • 人工筋肉マニピュレータの関節剛性制御

    田中大資, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • 空気圧人工筋肉を用いた大腸内視鏡搭載型蠕動運動ロボットの開発

    樋高裕也, 堀裕貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • MRブレーキを用いた人工筋肉マニピュレータの開発

    緑川雄一郎, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • 超細型空気圧ゴム人工筋肉の開発とロボットハンドへの応用

    仲谷麻里, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • ゾウの鼻を模したパラレルメカニズム連結型超冗長マニピュレータの開発

    大高ともり, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集 Vol.2009／日本機械学会  2009.5 

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  • 人間を含めた環境との衝突を考慮した3自由度ソフトマニピュレータの開発と制御

    朴和彦, 日下雄太, 赤松雄貴, 中村太郎

    ロボティクスシンポジア予稿集／日本機械学会、計測自動制御学会、日本ロボット学会  2009.3 

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  • Position and compliance control of an artificial muscle manipulator using a mechanical equilibrium model

    Maeda, H. Nagai, H. Saito, H. Nakamura, T

    Proceedings of IEEE 34th Annual Conference of Industrial Electronics, (IECON2008)  2008.11 

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  • Reliable control using equivalent transfer function for position servo system in current loop failure

    Ishikawa, K. Nakamura, T. Osumi, H

    Proceedings of IEEE 34th Annual Conference of Industrial Electronics, (IECON2008)  2008.11 

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  • MRブレーキを用いた人工筋肉マニピュレータの開発

    緑川雄一郎, 中村太郎

    ＪＦＰＳ機能性流体を活用した次世代型フルードパワーシステムに関する公開シンポジウム／日本フルードパワーシステム学会  2008.11 

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  • 関節にERクラッチを搭載した３自由度ソフトマニピュレータの制御

    朴和彦, 日下雄太, 中村太郎

    ＪＦＰＳ機能性を活用した次世代型フルードパワーシステムに関する公開シンポジウム／日本フルードパワーシステム学会  2008.11 

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  • Locomotion and Turning Patterns of a Peristaltic crawling Earthworm Robot Composed of Flexible Units

    Hayato Omori, Takeshi Hayakawa, Taro Nakamura

    Proceedings of IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems  2008.9 

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  • Development of an underground explorer robot based on peristaltic crawling of earthworms

    Hayato Omori, Taro Nakamura, Takayuki Yada

    Proceedings of 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines  2008.9 

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  • 等価伝達関数を用いたリライアブル制御のロバスト化に関する基礎検討

    狩野敦俊, 浅野翔吾, 石川薫, 中村太郎

    日本ロボット学会学術講演会予稿集／日本ロボット学会  2008.9 

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  • Development of 3 DOF Manipulator Using ER Fluid Clutches for Reduction of Collision Force

    Kazuhiko Boku, Taro Nakamura

    Proceedings of 11th International Conference on Electrorheological Fluids and Magneto rheological Suspensions(ERMR2008)  2008.8 

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  • Development of 3 DOF Soft Manipulator with ER fluid clutches

    of 11th International Conference on Electrorheological Fluids and Magnetorheological Suspensions  2008.8 

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  • 2P2-H13 Development of a peristaltic crawling robot based on earthworm using high contraction units

    AOKI Kouhei, NAKAMURA Taro

    2008.6  The Japan Society of Mechanical Engineers

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    Attention is currently focused on earthworm's locomotion mechanism is called a peristaltic crawling. The amount of space required by this locomotion mechanism is smaller than that of other locomotion mechanisms. Further, it is possible that the locomotion mechanism move on unleveled ground and inside a tube. In this study, we developed the peristaltic crawling robot that can run not only the in a tube but also on a plane surface. And it can actively and passively change the direction. Further we discussed the robot can adapt to variable environment by applying high extension and contraction units to the robot.

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  • 1A1-B11 Development of thin straight fibers type artificial muscle

    NAKATANI Mari, NAKAMURA Taro

    2008.6  The Japan Society of Mechanical Engineers

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    This paper reports the development of thin straight fibers type artificial muscles. The straight fiber types of artificial muscle have greater contraction ratio and power and a longer lifetime than McKibben types. And the thin straight type artificial muscle is a micro miniaturization of the straight type artificial muscle that is examined ahead in this laboratory. It has the outside diameter of 1.2 millimeters and the inside diameter of 0.5 millimeters. Therefore it can work in a limited space. For example, it is expected that the muscles would be used for the direction control in the point part of industrial endoscopes.

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  • 公差・はめあい

    2008.6 

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  • 高伸縮型ユニットを用いたミミズのような蠕動運動型ロボットの開発

    青木孝平, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集Vol.2008／日本機械学会  2008.6 

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  • 進行波を用いた変形型全方向移動ロボットの開発

    程優平, 佐藤邦昭, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集Vol.2008／日本機械学会  2008.6 

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  • 月面での地震計設置のための蠕動運動型掘削ロボットの開発-レゴリス中での推進機構の検討-

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集Vol.2008,日本機械学会  2008.6 

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  • 関節の柔らかさを考慮した,6自由度人工筋肉マニピュレータの位置制御

    斉藤大奉, 永井秀和, 前田浩之, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集日本機械学会Vol.2008／日本機械学会  2008.6 

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  • 衝突時の安全性を考慮した平面3自由度ソフトマニピュレータの開発

    日下雄太, 朴和彦, 赤松雄貴, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集Vol.2008／日本機械学会  2008.6 

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  • 軸方向に繊維強化された細型の空気圧人工筋肉の開発

    仲谷麻里, 中村太郎

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集Vol.2008／日本機械学会  2008.6 

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  • Locomotion strategy for a peristaltic crawling robot in a 2-dimensional space

    Taro Nakamura, Tomohide Iwanaga

    Proceedings of IEEE International Conference on Robotics and Automation（ICRA 2008）  2008.5 

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  • アメンボを規範とした水上移動型ロボットのモデル化と位置制御

    中村太郎, 飯沼啓輔, 藤井壮宇, 木村憲吾

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集／日本機械学会  2008.5 

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  • 力学的平衡モデルを考慮したゴム人工筋肉マニピュレータの角度制御

    前田浩之, 中村太郎

    フルードパワーシステム講演会講演論文集,日本フルードパワーシステム学会  2008.5 

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  • 緩衝機能を有する3自由度ソフトマニピュレータ

    朴和彦, 赤松雄貴, 日下雄太, 中村太郎

    フルードパワーシステム講演会講演論文集,日本フルードパワーシステム  2008.5 

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  • 力学的平衡モデルに基づいた軸方向繊維強化型ゴム人工筋の可変剛性制御

    中村太郎, 篠原ひとみ

    ロボティクスシンポジア予稿集／日本機械学会、計測自動制御学会、日本ロボット学会  2008.3 

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  • ER流体を用いた柔軟関節マニピュレータの開発

    日本レオロジー学会  2007.12 

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  • Development of a Soft Manipulator with Flexible Joints Using Smart Fluid and Pneumatics cushion for Collision with human

    Yuki Akamatsu, Taro Nakamura, Yuta Kusaka

    IEEE/ASME International Conference on Advanced Intelligence Mechatronics  2007.11 

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  • ミミズを規範とした蠕動運動型ロボットの2次元空間内での移動手法の検討

    中村太郎, 岩永智秀

    第25回日本ロボット学会学術講演会予稿集,日本ロボット学会／日本機械学会  2007.9 

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  • Development of an amphibious hexapod robot based on a water strider

    Soh Fujii, Taro Nakamura

    Proceedings of 7th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines(CLAWAR2007)  2007.7 

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  • Development of an omni-directional mobile robot based on snail Iocomotion

    Kuniaki Sato, Taro Nakamura

    Proceedings of 7th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines(CLAWAR2007)  2007.7 

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  • ソフトアクチュエータの基礎と応用,空気圧人工筋肉の基礎と応用～人工筋の作り方から制御法まで～

    2007.5 

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  • アメンボを規範とした水陸両用型移動ロボットの開発

    飯沼啓輔, 藤井壮宇, 中村太郎

    ロボティクスメカトロニクス講演会07(ROBOMEC'07)／日本機械学会  2007.5 

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  • カタツムリの移動様式を用いた進行波型全方向移動ロボットの開発

    今井梢平, 佐藤邦昭, 中村太郎

    ロボティクスメカトロニクス講演会'07(ROBOMEC'07)／日本機械学会  2007.5 

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  • ミミズを規範とした蠕動運動型ロボットの開発―柔軟な機構をもつ蠕動運動型ロボットでの方向制御の検討―

    舟橋幸祐, 岩永智秀, 加藤隆士, 早川剛史, 中村太郎

    ロボティクスメカトロニクス講演会'07(ROBOMEC'07)／日本機械学会  2007.5 

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  • 対人衝突時の安全性を考慮したソフトマニピュレータの開発

    日下雄太, 赤松雄貴, 中村太郎

    ロボティクスメカトロニクス講演会'07(ROBOMEC'07)／日本機械学会  2007.5 

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  • 空気圧ゴム人工筋を用いた6自由度マニピュレータの開発と制御

    斉藤大奉, 島村健史, 永井秀和, 中村太郎

    ロボティクスメカトロニクス講演会07(ROBOMEC'07)／日本機械学会  2007.5 

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  • Position and Force Control Based on Mathematical Models of Pneumatic Artificial Muscles Reinforced by Straight Glass Fibers

    Taro Nakamura, Hitomi Shinohara

    Proceedings of IEEE International Conference on Robotics and Automation(ICRA2007)  2007.4 

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  • 対人衝突時に安全確保が可能な柔軟マニピュレータの開発

    中村太郎, 赤松雄貴, 日下雄太

    第12回ロボティクスシンポジア／日本ロボット学会、計測自動制御学会、日本機会学会  2007.3 

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  • Experimental Comparisons between McKibben type Artificial Muscles and Straight Fibers Type Artificial Muscles

    Taro Nakamura

    SPIE International Conference on Smart Structures,Devices and Systems III,2006  2006.12 

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  • 人間との衝突を考慮したソフトマニピュレータの開発

    赤松雄貴, 中村太郎

    第7回計測自動制御学会システムインテグレーション部門講演会（SI2006）／計測自動制御学会  2006.12 

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  • 対人衝突時の安全確保が可能なマニピュレータの開発－衝撃力センサを有する空気圧緩衝材の開発－

    江口洋介, 中村太郎

    第6回システムインテグレーション部門学術講演会（SI2005）講演論文集／計測自動制御学会  2006.12 

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  • 人工筋肉を用いた6軸人間共存型マニピュレータの開発

    永井秀和, 島村健史, 中村太郎

    第7回計測自動制御学会システムインテグレーション部門講演会（SI2006）／計測自動制御学会  2006.12 

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  • Development of pneumatic cushion with an impact sensor

    Yosuke EGUCHI, Taro NAKAMURA

    Proceedings of 4th IFAC Symposium on Mechatronic systems(Mechatronics2006)  2006.9 

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  • Derivation of a mathematical model for artificial muscles

    Hitomi Shinohara, Taro Nakamura

    Proceedings of 4th IFAC Symposium on Mechatronic system(Mechatronics2006)  2006.9 

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  • Peristaltic Crawling Robot Based on the Locomotion Mechanism of Earthworms

    Taro Nakamura, Takashi Kato, Tomohide Iwanaga, Yoichi Muranaka

    Proceedings of 4th IFAC Symposium on Mechatronic systems(Mechatronics2006)  2006.9 

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  • 関節に粘弾性を有する人工筋肉マニピュレータの開発

    中村太郎, 島村健史, 永井秀和

    ロボティクスメカトロニクス講演会'06(ROBOMEC'06)／日本機械学会  2006.5 

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  • みみずを規範とした方向転換可能な蠕動運動型移動ロボットの開発

    岩永智秀, 鈴木航, 中村太郎

    ロボティクスメカトロニクス講演会2006  2006.5 

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  • カタツムリのような進行波を利用した移動ロボットの開発

    三田村祐樹, 今井梢平, 中村太郎

    ロボティクスメカトロニクス講演会(ROBOMEC'06)／日本機械学会  2006.5 

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  • アメンボを規範とした水上移動ロボットの開発

    中村太郎, 小俣貴寛, 飯沼啓輔, 藤井壮宇

    ロボティクスメカトロニクス講演会'06(ROBOMEC'06)／日本機械学会  2006.5 

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  • 機能性流体を用いた柔軟関節マニピュレータの開発

    赤松雄貴, 中村太郎

    平成18年春季フルードパワーシステム講演会講演論文集／日本フルードパワーシステム学会  2006.5 

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  • Development of a Peristaltic Crawling Robot Using Servo Motors Based on the Locomotion Mechanism of Earthworms

    Taro Nakamura, Takashi Kato, Tomohide Iwanaga, Yoichi Muranaka

    proceedings of IEEE International Conference on Robotics and Automation(ICRA2006)  2006.4 

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  • 軸方向繊維強化型ゴム人工筋肉の数字モデルの導出とフィードフォワード線形化の試み

    中村太郎, 篠原ひとみ

    第11回ロボティクスシンポジア／日本ロボット学会、計測自動制御学会、日本機会学会  2006.3 

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  • 1P1-B24 Development of an artificial muscle manipulator with rheological joints

    NAKAMURA Taro, SHIMAMURA Kenji, NAGAI Hidekazu

    2006  The Japan Society of Mechanical Engineers

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    In this study, we developed an artificial muscle manipulator with rheological joints. This paper is discussed as follows matters: (i) Compensation of Influence by individual difference of artificial muscle, (ii) Rigidity of elbow joint, (iii) Step response of joint angle control. The experimental results show that rigidity is expressed with the function of initial pressure.

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  • 機能性流体を活用した次世代型フルードパワーシステムに関する研究委員会

    フルードパワーシステム学会  2006 

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  • バイオメカトロニクス

    北九州ロボット応用技術講演会  2006 

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  • 周辺環境との衝突を考慮した人間共存型マニピュレータ

    平成18年度新技術説明会  2006 

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  • 生物、生態を規範としたロボットを目指して

    関東関西10私大フォーラム  2006 

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  • ミミズを規範とした蠕動運動型ロボットの開発と移動パターンに関する検討

    加藤隆士, 岩永智秀, 中村太郎

    第23回日本ロボット学会学術講演会講演論文集／日本露ポット学会  2005.9 

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  • 1A1-N-068 Development of a Peristaltic Crawling Robot like an earthworm : On the comparison of locomotion styles(Bio-mechatronics/mimetics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Nakamura Taro, Iwanaga Tomohide, Kato Takashi

    2005.6  The Japan Society of Mechanical Engineers

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  • 1P2-S-082 Fundamental and Biomechanical Characteristics of a Soft Actuator Driven(Mechanism and Control for Actuator 3,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    Nakamura Taro, Shimamura Kenji

    2005.6  The Japan Society of Mechanical Engineers

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  • ミミズを模倣した蠕動運動型ロボットの開発―移動様式の比較に関する検討―

    中村太郎, 岩永智秀, 加藤隆士

    日本機械学会ロボティクス・メカトロニクス講演会／日本機械学会  2005.6 

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  • 水圧駆動式ソフトアクチュエータの開発とその生物学的特性

    中村太郎, 島村健史

    日本機械学会ロボティクス・メカトロニクス講演会／日本機械学会  2005.6 

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  • 軸方向に強化された空気圧人工筋肉の開発と生体筋肉との比較に関する研究

    篠原ひとみ, 中村太郎

    平成17年フルードパワーシステム講演会講演論文集／日本フルードパワーシステム学会  2005.5 

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  • 蠕動運動型移動ロボットの開発

    中村太郎, 加藤隆士, 岩永智秀, 久保田昌義

    第16回エアロ・アクアバイオメカニズム研究会／エアロ・アクアバイオメカニズム研究会  2005.3 

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  • 蠕動運動型移動ロボットの開発

    第16回エアロ・アクアバイオメカニズム研究会／エアロ・アクアバイオメカニズム研究会  2005 

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  • Mathematical Model of Pneumatic Artificial Muscle Reinforced by Straight Fibers

    Norihiko Saga, Taro Nakamura, Kenji Yaegashi

    Second World Congress Biomimetics, Artificial Muscle and Nano-Bio (Nano-Bio 2004)  2004.12 

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  • 軸方向に繊維強化された人工筋のモデル化と生体力学的特性について

    中村太郎, 八重樫憲司, 嵯峨宣彦

    日本機械学会ロボティクス・メカトロニクス講演会2004,日本機械学会 日本機械学会  2004.6 

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  • A Prototype of Peristaltic Robot Using Pneumatic Artificial Muscle

    Norihiko Saga, Taro Nakamura

    The 8th Conference on Intelligent autonomous system (IAS-8)  2004.3 

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  • Biomechanical Characteristics and Mathematical model for Straight Fibers Artificial Muscle

    Nakamura T, Yaegashi K, Saga N

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2004 

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  • Study on Electro-Magnetic Noise of Brushless Alternator for Hybrid Electric Vehicle

    Norihiko Saga, Junya Nagase, Taro Nakamura

    The 2nd International Conference on Mechatronics and Information Technology(ICMIT2003)  2003.12 

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  • Development of Pneumatic Artificial Muscle based on Biomechanical Characteristics

    Taro Nakamura, Norihiko Saga, Kenji Yaegashi

    IEEE International Conference on Industrial Technology Proceedings (ICIT2003)  2003.12 

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  • 軸方向に繊維強化された人工筋の生物学的特性に関する検討

    八重樫憲司, 中村太郎, 嵯峨宣彦

    計測自動制御学会システムインテグレーション部門大会講演／計測自動制御学会  2003.12 

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  • Development of a Soft Manipulator Using a Smart Flexible Joint for Contact with Human

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa, Takashi Kawamura

    IEEE/ASME International Conference on Advanced Inrtelligence Mechatronics (AIM2003)  2003.7 

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  • Study on Peristaltic Crawling Robot Using Artificial Muscle Actuator

    Norihiko Saga, Taro Nakamura, Shinya Ueda

    IEEE/ASME International Conference on Advanced Intelligence Mechatronics (AIM2003)  2003.7 

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  • 人工筋アクチュエータを用いた蠕動運動型ロボットの開発

    上田晋也, 嵯峨宣彦, 中村太郎

    計測自動制御学会 東北支部 第210回研究集会／日本機械学会  2003.7 

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  • 蠕動運動型ロボットの開発

    嵯峨宣彦, 中村太郎, 上田晋也

    日本機械学会ロボティクス・メカトロニクス講演会,日本機械学会  2003.5 

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  • ケブラー繊維強化型人工筋アクチュエータの開発

    嵯峨宣彦, 中村太郎, 粟野克行

    日本機械学会ロボティクス・メカトロニクス講演会,日本機械学会  2003.5 

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  • 人間との安全な接触を考慮したソフトマニピュレータの開発

    中村太郎, 嵯峨宣彦, 中沢賢, 河村隆

    日本機械学会ロボティクス・メカトロニクス講演会,日本機械学会  2003.5 

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  • 第6回流体計測制御・可視化に関する国際会議成果報告

    中村太郎

    助成研究・国際交流活動報告集,財団法人 御器谷科学技術財団  2003.2 

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  • Development of a Soft Manipulator Using a Smart Flexible Joint for Safe Contact with Humans

    Nakamura T, Saga N, Nakazawa M, Kawamura T, Takahashi Y

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2003 

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    人間との協調活動が必要とされる医療福祉等の分野では, フェイルセーフ含めた安全性の観点から十分に検討する必要がある。本研究では, ロボットの関節一つに非線形特性を有するバネとER流体を適用したソフトマニピュレータを開発し, 解析的及び実験的に検討した。

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  • Development of Artificial Muscle Actuator Reinforced by Kevlar Fiber

    Saga N, Awano K, Nakamura T

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2003 

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    対人接触を前提としたロボットのため, 軽量で柔らかい人工筋アクチュエータを開発している。現在, ヒステリシス等の従来型の欠点を克服しつつある, 我々の提案する新しい人工筋アクチュエータについて, 空気・水圧駆動時の特性を報告する。

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  • Development of Peristaltic Crawling Robot : Peristaltic crawling robot using artificial muscle actuators

    Saga N, Nakamura T, Ueda S

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2003 

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    不整地および瓦礫内走行を目指し, ミミズの移動機構に着目した蠕動運動型ロボットを開発している。この蠕動運動型ロボットは人工筋アクチュエータで構成されている。この試作機について報告する。

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  • Study on Peristaltic Crawling Robot Using Artificial Muscle Acruator

    IEEE/ASME International Conference on Advanced Inrtelligence Mechatronics (AIM2003)  2003 

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  • 蠕動運動型ロボットの開発

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

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  • Viscous Control of a Rotating Device Using Smart Fluid

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa, Takashi Kawamura

    Proceedings of Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV2002)  2002.12 

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  • Development of Artificial Muscle Actuator Reinforced by Kevlar Fiber

    Norihiko Saga, Taro Nakamura, Junichi Uehara, Takashi Iwade

    IEEE International Conference on Industrial Technology Proceedings (ICIT2002)  2002.12 

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  • Development of peristaltic crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm

    Norihiko Saga, Taro Nakamura

    Proceedings of SPIE, Smart structures, Devices, and Systems  2002.12 

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  • 機能性体を用いた柔軟関節ロボットアームの開発

    中村太郎, 嵯峨宣彦, 中沢賢, 河村隆

    計測自動制御学会システムインテグレーション部門大会講演論文集,計測自動制御学会  2002.12 

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  • Variable Damping Control of a Semi-Active Device Using Homogeneous ER Fluid

    NAKAMURA Taro, SAGA Norihiko, NAKAZAWA Masasu

    IEEJ Transactions on Industry Applications  2002.11 

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    The purpose of this study is to apply the variable damping impedance control to semi-active system using the homogeneous ER (Electro-rheorogical) fluid. A homogeneous ER fluid is constituted by liquid crystal or polymer liquid crystal, and it can change the apparent viscosity under a Newtonian fluid by applying the electric field. Then, when the fluid is applied for device of the machine system, the system can be used as a variable viscous damper. However, these systems have a lot of parameter variations or nonlinear elements. Therefore, some feedback compensations are necessary for these systems to keep up more precisely viscosity.<br>In this paper, we apply the force-based damping control to the homogeneous ER clutch in order to use the characteristics of the fluid enough. We apply the damping control based on the force control to keep up more precisely viscosity. The result of our experiment clearly has shown that the viscosity of the clutch is more certainly controlled by the force-based impedance control.

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  • 均一系電気粘性流体を用いたセミアクティブ機構の可変粘性制御

    中村太郎, 嵯峨宣彦, 中沢賢

    電気学会論文誌D  2002.11 

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  • スズムシの発音メカニズムの解明

    嵯峨宣彦, 中村太郎

    秋田県立大学システム科学技術学部第3回研究発表会,秋田県立大学  2002.10 

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  • 磁性流体を用いた蠕動運動型ロボット

    嵯峨宣彦, 中村太郎, 上田晋也

    日本機械学会2002年度年次大会講演論文集（Ⅵ）,日本機械学会  2002.9 

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  • ERクラッチのロータ・ダイナミクス

    嵯峨宣彦, 中村太郎

    第14回電磁力関連のダイナミックス講演論文集,日本AEM学会  2002.5 

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  • Development of Peristaltic Crawling Robot Using Magnetic Fluid

    SAGA Norihiko, NAKAMURA Taro, UEDA Shinya

    The proceedings of the JSME annual meeting  2002 

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    Using a magnetic fluid, the earthworm-type robot was developed for running the peristaltic movement. In this earthworm-type robot, a cell equivalent to a segment of the earthworm is composed of a natural rubber tube into which a water-based magnetic fluid is sealed up. The cells are connected with rod-like elastic bodies of natural rubber. It was confirmed that this robot can travel in an acrylic tube (inner diameter : 12mm, outer diameter : 14mm) by providing a shifting magnetic field from the exterior. This article will describe the pattern of the peristaltic movement of an earthworm, how our earthworm-type robot moves, the mechanism of its movement.

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  • 均一系ER流体の温度特性に関する検討

    中村太郎, 嵯峨宣彦, 中沢賢, 高橋義雄

    電気学会論文誌D  2001.12 

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  • Study of Temperature Characteristics of a Clutch using Homogeneous ER Fluid

    NAKAMURA Taro, NAKAZAWA Masaru, SAGA Norihiko, TAKAHASHI Yoshio

    IEEJ Transactions on Industry Applications  2001.12 

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    Recently, it is popular to study about ER fluid in a field of mechatronics and fluid mechanics. An ER fluid is one of the smart fluid, and it has the character that the apparent viscosity can be controlled according to strength of an applied electric field. We also have already developed of the one shaft type ER clutch using a homogeneous ER fluid that is one of the ER fluids. The homogeneous ER fluid has a character that the particle does not subside and the gap between electrodes can be narrowed due to be able to get the shearing stress in the same electric field. In addition, it also has a character that its viscosity is susceptible to the temperature variation. However, there are no reports about the temperature characteristics for the clutch using the homogeneous ER fluid.<br>In this paper, we study about thermal characteristics of the clutch using the homogeneous ER fluid. First, we discuss about the torque performances of the homogeneous ER clutch for the increasing its temperature. Here, it was found that the output torque of the clutch depends on the temperature variation. Next, we also discuss about an exothermic element of the homogeneous ER fluid given by the clutch. The result of experiment and simulation clearly shows that the most of exothermic elements of the homogeneous ER fluid is caused by the dissipation of viscosity energy in the fluid. As a result, suitable using method for the homogeneous ER clutch seems reasonable to drive the clutch with low rotating speed for the short time.

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  • 一軸型ERクラッチの開発とその基礎特性

    嵯峨宣彦, 中村太郎, 中沢賢

    電気学会論文誌D  2001.10 

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  • Position Control of an Oil Hydraulic System

    Taro Nakamura, Norihiko Saga, Yoshio Takahashi

    Proceedings of the first International Science Forum  2001.10 

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  • 均一系電気粘性流体を用いたセミアクティブ機構の可変粘性制御

    中村太郎, 嵯峨宣彦, 中沢賢

    平成13年度電気学会産業応用部門大会講演論文集,電気学会  2001.8 

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  • Thermal Effects of a Homogeneous ER Fluid Device

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa

    Proceedings of Eighth International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2001)  2001.7 

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  • Impedance Control of a One Shaft Type Clutch Using Homogeneous Electrorheological Fluid

    Taro Nakamura, Norihiko Saga, Masaru Nakazawa

    Proceedings of Eighth International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2001)  2001.7 

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  • 適合原理を用いたDCサーボモータの速度制御

    佐藤俊之, 中村太郎, 高橋武彦, 嵯峨宣彦

    日本機械学会北陸信越支部講演会講演論文集,日本機械学会  2001.3 

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  • 715 Speed Control of DC Servo-Motors Using The Principle of Matching

    SATOH Toshiyuki, NAKAMURA Taro, TAKAHASHI Takehiko, SAGA Norihiko

    The Proceedings of Conference of Hokuriku-Shinetsu Branch  2001 

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  • Development and Experiment of ER Clutch for Robot Arms

    Norihiko Saga, Taro Nakamura, Yoshio Takahashi

    Proceedings of the fifth international conference on motion and vibration control (MOVIC2000)  2000.12 

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  • 磁性流体を用いた蠕動運動型マイクロマシンに関する研究

    嵯峨宣彦, 中村太郎

    精密工学会東北支部大会講演論文集,精密工学会  2000.11 

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  • Performance Evaluation of Several Robust Controls Application to Electrical Oil Hydraulic System

    Taro Nakamura, Yoshihiro Sasaki, Norihiro Saga, Yoshio Takahashi

    Proceedings of Sixth Triennial International Symposium on Fluid Control, Measurement and Visualization (FLUCOME2000)  2000.9 

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  • 柔らかい接触を実現するためのロボットアームの開発 -第1報 関節用ERクラッチとその基礎特性-

    齋藤直樹, 中村太郎, 嵯峨宣彦, 岡野秀晴

    第18回日本ロボット学会学術講演会予稿集,日本ロボット学会  2000.9 

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  • 一軸型ERクラッチの開発とその基礎特性

    中村太郎, 嵯峨宣彦, 西村昭二, 井上昭夫, 高橋義雄

    平成12年度電気学会産業応用部門大会講演論文集,電気学会  2000.8 

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  • 電気油圧サーボ系のロバスト制御に関する性能評価（第2報） -各種パラメータ変動に対する実験的比較-

    中村太郎, 佐々木芳弘, 嵯峨宣彦, 高橋義雄

    電気学会論文誌D  2000.7 

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  • Study of Performance Evaluation of Robust Control for Electrical Hydraulic Servo System (2nd Report)

    NAKAMURA Taro, SASAKI Yoshihiro, SAGA Norihiko, TAKAHASHI Yoshio

    IEEJ Transactions on Industry Applications  2000.7 

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    Hydraulic control systems are used in most industries where heavy objects are manipulated or large forces are exerted on their surroundings. Recently, a positioning control of electrical hydraulic servo system is been applying a robust control theory which is strong for parameter variations or nonlinear elements, instead of as usual a PID control used in widely industries. The purpose of this research is to evaluate several robust control performances and investigate their aptitude for the oil hydraulic system.<br>In the first paper, we proposed several evaluation methods and standard of designs considering a characteristic of the electrical hydraulic system, and decided system parameters for three kinds of robust control systems which are a Disturbance Observer, a Sliding Mode Control (SMC) and a H&infin; control, according to the several standard of designs. Next, we applied them to the actual electrical hydraulic servo system, and evaluated the difference of the control performance from the point of view of a robustness for load variations as the parameter variations, a characteristic of disturbance cancellation and a control input.<br>In this paper, the control performance of the robust control systems is evaluated, when they are applied to the positioning control of the electrical hydraulic servo system included of the several parameter variations or the nonlinear elements, which are not only the load variations, but also a oil temperature variations, a pressure variations, and a desired value variations. As a result, all of them have shown good robustness in the load variations, the oil temperature variations, the pressure variations. but the H&infin; control has shown better performance in the desired value variations than other control systems. Further, the SMC has shown good performance in the control input, because it has been smaller than other control systems in the control input.

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  • 自動車用発電機における高速電磁騒音に関する検討

    嵯峨宣彦, 中村太郎, 高橋義雄

    電気学会論文誌D  2000.6 

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  • Study on Electromagnetic Noise of Alternator at high-Speed Rotation

    SAGA Norihiko, NAKAMURA Taro, TAKAHASHI Yoshio

    IEEJ Transactions on Industry Applications  2000.6 

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    Language：Japanese  

    Reduction of the noise emitted from the automobile alternator has recently become a serious issue, and tangible especially concerning with improvement of the engine noise. In order to design a quiet automobile alternator, a designer needs to anticipate all important resonant frequencies. We simulated the electromagnetic vibration behavior of the rotor using experimental modal analysis and finite element method analysis. The results obtained are applicable to alternator design for reduction.

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  • 電気油圧サーボ系のロバスト制御に関する研究（比例弁・油圧シリンダ系の位置制御）

    佐々木芳弘, 中村太郎, 高橋義雄

    日本油圧学会論文集  2000.3 

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  • 電気油圧サーボ系のロバスト制御に関する性能評価（第1報） -ロバスト性・制御入力・外乱抑圧特性に対する実験的比較-

    中村太郎, 佐々木芳弘, 嵯峨宣彦, 高橋義雄

    電気学会論文誌D  2000.3 

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  • Study of Performance Evaluation of Robust Control for Electrical Hydraulic Servo System (1st Report) -Experimental Comparisons with Robustness, Control Input and Disturbance Cancellation-

    NAKAMURA Taro, SASAKI Yoshihiro, SAGA Norihiko, TAKAHASHI Yoshio

    IEEJ Transactions on Industry Applications  2000.3 

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    Language：Japanese  

    In this paper, controller performance of three kinds of robust control systems which are Disturbance Observer, Sliding Mode Control (SMC) and H&infin; control are evaluated, when they are applied to positioning control of electrical hydraulic servo system.<br>We propose several evaluation methods and standard of design considering characteristic of electrical hydraulic system, and decide system parameters for each robust control systems according to the several standard of design. Next, we apply them to actual electrical hydraulic servo system, and evaluate the difference of control performance from the point of view of robustness for parameter variations, characteristic of disturbance cancellation and control input. As a result, all of them has shown good robustness, but H&infin; control shows worse performance in characteristic of disturbance cancellation and control input than other control systems.

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  • 油圧システムのロバスト制御の性能評価について

    中村太郎

    フルードパワーシステム学会 油空圧駆動システムに対する運用と評価に関する研究委員会 資料  1999.9 

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  • 電気油圧サーボ系のロバスト制御に関する性能評価 -ロバスト性・制御入力・外乱抑圧特性に対する実験的比較-

    中村太郎, 佐々木芳宏, 嵯峨宣彦, 高橋義雄

    平成11年度電気学会産業応用部門大会講演論文集,電気学会  1999.8 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 自動車用発電機における高速電磁騒音に関する検討

    嵯峨宣彦, 中村太郎, 高橋義雄

    平成11年度電気学会産業応用部門大会講演論文集,電気学会  1999.8 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • Robust Control System Design of Electrical Hydraulic Servo System

    中村 太郎, 佐々木 芳宏, 高橋 義雄

    油空圧講演論文集  1998.11 

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  • 外乱オブザーバを併用した油圧サーボ系の2自由度最適制御

    中村太郎, 佐々木芳宏, 高橋義雄

    日本機械学会第76期全国大会講演論文集,日本機械学会  1998.8 

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    Language：Japanese   Presentation type：Oral presentation (general)  

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  • 油圧ターボ系の位置ベース型インピーダンス制御

    中村太郎, 佐々木芳宏, 高橋義雄

    日本機械学会東北支部秋田地方講演会講演論文集,日本機械学会  1998.7 

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  • 比例弁・油圧シリンダ系の位置制御（外乱推定補償と用いたスライディングモード制御系の適用）

    中村太郎, 佐々木芳宏, 高橋義雄

    計測自動制御学会第169回研究集会資料集,計測自動制御学会  1997.7 

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Works

  • 空気圧人工筋肉を用いた蠕動運動による連続捏和・搬送技術の実用化検討

    2019.4 - 　

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  • 平成２９年度補正ものづくり・商業・サービス経営力向上支援補助金

    2018.10 - 　

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  • 新産業創出新技術先導研究プログラム

    2018.7 - 　

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  • 東京都立産業技術研究センターの公募型研究開発事業

    2018.4 - 　

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  • 下水道技術研究開発（GAIAプロジェクト）

    2017.10 - 　

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  • 広域な深海底下探査を可能にする、ミミズの蠕動運動を規範とした埋没型掘削ロボットの開発

    2017.4 - 　

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  • 空気圧駆動アシストシステムのモバイル化を目指したハイブリッド小型空気圧源の開発

    2017.4 - 　

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  • 異種・複数小型ロボットを用いた確率的領域誘導による環境探査システムと要素技術の検討

    2017.4 - 　

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  • 地中・地表面探査を目的とした昆虫タイプ小型移動ロボット

    2016.4 - 　

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  • 超高出力密度を実現する流体系スマートアクチュエータシステムの開発と実用化検討

    2016.4 - 　

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  • 指行性歩行を規範とした弾性ヒールを有したハイヒールの歩行解析と設計理論の提案

    2016.4 - 　

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  • 腸管構造に学ぶ固液混合/高粘度流体の搬送をかのにする蠕動運動ポンプの高機能化に関する研究

    2015.4 - 　

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  • 巻フィルムチューブ式 SMA 人工筋肉アクチュエータを用いた柔軟性の高いロボットハンドの開発

    2015.4 - 　

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  • 外部刺激により調整可能な突発性脊椎側弯症のためのインプラントデバイスの開

    2015.4 - 　

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  • 宇宙産業技術情報基盤整備研究開発事業（民生品を活用した宇宙機器の軌道上実証）

    2015.4 - 　

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  • 次世代ロボット中核技術開発

    2015.4 - 　

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  • 可変粘弾性機構を用いた装着型力覚提示デバイスの開発と知能化空間への応用

    2014.4 - 　

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  • 腸管構造に学ぶ固液混合/高粘度流体の搬送を可能にする蠕動運動ポンプの高機能化に関する研究(2013年度)

    2013.4 - 　

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  • 空気圧ゴム人工筋肉とMR流体を関節に有する可変粘弾性マニピュレータの開発と制御

    2013.4 - 　

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  • 人工筋肉とＭＲ流体を適用した2自由度マニピュレータの開発

    2011.4 - 　

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  • 可変粘弾性関節を有するゴム人工筋マニピュレータの開発と制御

    2011.4 - 　

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  • ゴム人工筋肉を用いた固液混合流体の搬送を可能にする蠕動運動ポンプの開発

    2009.4 - 　

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  • 空気圧人工筋肉を用いた腸のような蠕動（ぜんどう）運動ポンプの開発

    2009.4 - 　

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  • 空気圧人工筋肉を用いた人間共存型ロボットの開発

    2008 - 2009

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  • 空気圧人工筋肉と機能性流体を用いた可変粘弾性を有する人間共存型マニピュレータの開発

    2008.4 - 　

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  • マイクロ繊維層を有する高収縮型人工筋肉の製作方法の検討

    2008.4 - 　

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  • スマートアクチュエータの制御とロボットへの適用

    2008.4 - 　

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  • 国際会議派遣

    2006.4 - 　

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  • 人工筋肉と機能性流体を用いた高機能ウェアラブルデバイスの開発

    2005.4 - 　

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  • 超音波モータの適応的制御とロボットへの応用に関する研究

    2005.4 - 　

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  • 研究者海外研修助成

    2003.12 - 　

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  • 国際交流助成

    2003.6 - 　

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  • 国際会議出席旅費援助

    2002.12 - 　

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  • 機能性流体を用いた柔軟関節マニピュレータ科学技術振興事業団特許化支援 契約

    2002.12 - 　

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  • 高機能性流体を用いた新エネルギ変換装置の開発

    2002.4 - 　

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  • マイクロマシン及びマイクロマシンシステム 科学技術振興事業団特許化支援 契約

    2000.9 - 　

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  • 国際研究集会派遣研究者

    2000.8 - 　

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  • 磁性流体を用いた蠕動運動型ロボットの開発

    2000.4 - 　

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Awards

  • Best Industrial Robotics Research for Application Papers (Mujin Inc.) finalist

    2024.10   2024 IEEE/RSJ International Conference in Intelligent Robots and Systems (IROS 2024)   Peristaltic Soft Robot for Long-distance Pipe Inspection with an Endoskeletal Structure for Propulsion and Traction Amplification

    Ryusei Okuma, Yuta Naruse, Fumio Ito, Taro Nakamura

  • Second Best paper presentation for Track6

    2024.7   16th International Conference on Human System Interaction (HSI 2024)   Knee Joint Assist Method Focusing on Joint Viscosity Properties Using IMU-Based Exoskeleton Assist Device

    Tomotake Sugino, Yusuke Shimoda, Manabu Okui, Taro Nakamura

  • Second Best paper presentation for Track2

    2024.7   16th International Conference on Human System Interaction (HSI 2024)   Endoskeletal Deep Vein Thrombosis Prevention Device Using a Combining Intermittent Pneumatic Compression and Assisted Ankle Exercises

    Akihiko Kobayashi, Manabu Okui, Taro Nakamura

  • Best Student Paper Prize

    2024.3   The 25th IEEE International Conference on Industrial Technology(ICIT 2024)   Weight Sensory Presentation Considering Impulsive Force of Ball Kicking by a Force Feedback Exoskeleton Using MR Fluid Brakes

    T.Shimizu, R.Sawahashi, T.Nakamura

  • 第24回計測自動制御学会システムインテグレーション部門講演会 優秀講演賞

    2023.12   計測自動制御学会   腸を模倣した蠕動運動型混合搬送装置による混合度検知システム構築マルチモーダルセンシングによる機械学習の回帰分析を使用した混合状態推定

    寺山 伊織 , 澤橋 龍之介 , 丹野 喬瑛 , 西濵 里英 , 中村 太郎

  • 第24回計測自動制御学会システムインテグレーション部門講演会 (SI2023) 優秀講演賞

    2023.12   計測自動制御学会   人間の腸を模した蠕動運動型混合搬送装置の自律分散制御による運動生成へ向けた初期検討

    足立 凌輔 、寺山 伊織 、 丹野 喬瑛 、 花村 朋樹 、 梅舘 拓也 、 中村 太郎

  • IEEE SMC Best Student Paper Award - Finalist

    2023.10   IEEE International Conference on Systems, Man, and Cybernetics (SMC2023)   Shoe-Type-Force-Feedback Device and Falling Sensation with Two-Step Dropping

  • Outstanding Poster Presentation Award

    2023.10   The 20th IEEE Transdisciplinary-Oriented Workshop for Emerging Reseachers(TOWERS 2023)  

  • 日本機械学会 ロボティクス・メカトロニクス部門 学術業績賞

    2023.6   日本機械学会  

    中村太郎

  • リバネス研究アワード2023 社会実装部門 受賞

    2023.3   リバネス   生物型ソフトロボティクス研究の発展とその技術の社会実装の推進

    中村太郎

  • 第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022) 優秀講演賞

    2022.12   計測自動制御学会   遊星歯車機構を用いたダクト清掃機構の清掃性能向上を目的とした油塵回収ユニットの提案

    人見 峻広、門間 洋介、伊藤 文臣、中村 太郎

  • 第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022) 優秀講演賞

    2022.12   計測自動制御学会   遊星歯車機構を用いた角ダクト用清掃機構の試作とブラシ軌跡の検証

    人見 峻広、門間 洋介、伊藤 文臣、中村 太郎

  • 第23回計測自動制御学会システムインテグレーション部門講演会 (SI2022) 優秀講演賞

    2022.12   計測自動制御学会   腸を模した蠕動運動型混合搬送装置による粉体粒子径判別

    寺山伊織,押野紗菜,西濵里英,奥井学,中村太郎

  • The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS), IEEE TOWERS WIE Best Award (サポーター賞)

    2022.11   IEEE   Measuring Internal State by Accelerometer in Peristaltic Pump Simulating Intestine

    押野紗菜, 寺山伊織,鵜澤匠吾,西濵里英,奥井学, 中村太郎

  • The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS), IEEE TOWERS WJ build Award (スポンサー賞)

    2022.11   IEEE   Ice Drilling and Gripping Experiments in Actual Conditions for Developing Ice Drilling Robot

    床井亮祐, 藤川千雅, 外山渡, 奥井学, 吉田弘, 中村太郎

  • The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS), IEEE TOWERS Best Award (ワークショップ賞)

    2022.11   IEEE   Development of a Lower Limb Force Feedback Device Using Pneumatic Actuators and Magnetorhological fluid brakes

    澤橋龍之介, 増田大貴, 小松丈也, 石田裕己, 清水大雅, 西濵里英, 奥井学, 中村太郎

  • The 19th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS), IEEE TOWERS Kansai Young Professionals Affinity Group Award (サポーター賞)

    2022.11   IEEE   Occurrence and control of cavitation caused by instantaneous movement

    伊藤文臣, 石井優丞, 車谷駿一, 加賀谷勝史, 中村太郎

  • SICE International Young Authors Award(SIYA-IROS2022)

    2022.10   計測自動制御学会   Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis Shrimp - Design and Control Method of Cavitation by Simulation and Experiment

    Fumio Ito, Yusuke Ishii, Shunichi Kurumaya, Katsushi Kagaya, Taro Nakamura

  • Industrial Robot and CLAWAR2022 Highly Commended Paper Award

    2022.9   The 25th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR2022)   Confirmation of Variable Diameter TRM Operation

  • 精密工学会誌インパクト賞

    2022.7   精密工学会   もう一度復習したい寸法公差・はめあい（精密工学会誌 71巻3号(2005年3月号)掲載）

    中村 太郎

  • 第22回計測自動制御学会システムインテグレーション部門講演会 優秀講演賞

    2021.12   計測自動制御学会   宇宙トイレのための蠕動運動型搬送装置の内側ゴムチューブ開発

    熊本寛也, 鵜澤匠吾, 松井大育, 押野紗菜, 大島煕恭, 中村太郎

  • 第22回計測自動制御学会システムインテグレーション部門講演会 優秀講演賞

    2021.12   計測自動制御学会   厨房換気ダクト内の清掃を目的とした遊星歯車機構を用いた油塵清掃機構の設計

    山中雄太, 人見峻広, 伊藤文臣, 中村太郎

  • CLAWAR Association Ltd Best Student Paper

    2021.9   CLAWAR Association Ltd   Residual Water Removal Mechanism for obtaining Clear Images with Sewer Pipe Inspection Robot

    K. Uchiyama, H. Sato, F. Ito, S. Kurumaya, T. Nakamura

  • 2021年度日本機械学会ロボメカ部門 部門優秀論文表彰

    2021.6   日本機械学会   蠕動運動型混合搬送機による個体推進薬連続製造の検討

    山田 泰之, 吉浜 舜, 岩崎 祥大, 芦垣 恭太, 松本 幸太郎, 羽生 宏人, 中村 太郎

  • 2020年度 計測自動制御学会 学術奨励賞 研究奨励賞

    2021.2   計測自動制御学会   腸管を規範とした蠕動運動型コンベアの効率的な粉体搬送性能の把握 ―単一ユニットの連続動作時の内側チューブ管路の測定― (SI2019）

    松井大育 , 萩原大輝 , 若松康太 , 足立遼 , 加藤弘一 , 山田泰之 , 奥井学 , 中村太郎

  • 2020年度 計測自動制御学会SI部門賞 若手奨励賞

    2020.12   計測自動制御学会   蠕動運動型搬送装置のための直接加水方式による効率的な搬送 (SI2019）

  • The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS) Sponsor's Special Awards アカリク賞

    2020.11   IEEE   Content Detection for Continuous and Efficient Production by Peristaltic Mixer

    K. Wakamatsu , H. Adachi , D. Matsui , H. Kumamoto , H. Habu , T. Nakamura

  • The 17th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS) Towers Supporter's Group賞,

    2020.11   IEEE   A development of propulsion unit for lunar exploration robot "LEAVO"

    T. Watanabe , W. Toyama , M. Okui , H.Sawada , T. Kubota , T. Nakamura

  • 2019年度SMC高田賞

    2020.4   日本フルードパワーシステム学会   天然ゴムの伸張結晶化を用いた軸方向繊維強化型空気圧人工筋肉の長寿命化

    小島 明寛 , 奥井 学, 久道 樹, 只見 侃朗, 辻 知章, 中村 太郎

  • 第20回計測自動制御学会システムインテグレーション部門講演会 (SI2019) 優秀講演賞

    2019.12   計測自動制御学会   蠕動運動型捏和装置を用いた固体推進薬連続製造に向けた検討

    若松康太, 萩原大輝, 足立遼, 松井大育, 山田泰之, 奥井学, 中村太郎

  • 第20回計測自動制御学会システムインテグレーション部門講演会 (SI2019) 優秀講演賞

    2019.12   計測自動制御学会   MR流体ブレーキを用いた溶接教示を目的とした力覚提示装置の提案ー実地実験での溶接ラインの評価ー

    鈴木隆二, 奥井学, 森田晋也, 杉林宗一郎, 中村太郎

  • 第20回計測自動制御学会システムインテグレーション部門講演会 (SI2019) 優秀講演賞

    2019.12   計測自動制御学会   蠕動運動型搬送装置のための直接加水方式による効率的な搬送

    萩原大輝, 若松康太, 足立遼, 松井大育, 上田 昌弘, 車谷駿一, 山田泰之, 奥井学, 中村 太郎

  • 第20回計測自動制御学会システムインテグレーション部門講演会 (SI2019) 優秀講演賞

    2019.12   計測自動制御学会   海底探査用掘削ロボットの粘土掘削特性に関する研究

    井坂惠太, 津村一輝, 渡邊友貴, 外山渡, 奥井学, 吉田弘, 中村太郎

  • Best Technical Paper Award (Third Prize)

    2019.8   CLAWAR Association   Motion judgment algorithm based on joint angular velocity with variable viscoelastic assistive suit

    R.Suzuki, S.Kimura, M.Okui, R.Nishihama, T.Nakamura

  • Industrial Robot Highly Commended Paper Award

    2019.8   CLAWAR Association   Development of joint attachment for passing curved pipe of peristaltic motion robot for in-pipe inspection

    Takumi Yasui, Yuki Mano, Fumio Ito, Taro Nakamura

  • Best Technical Paper Award (Second Prize)

    2019.8   CLAWAR Association   Proposal of bellows-integrated robot for improving flexibility and sealability of peristaltic motion robot

    Fumio Ito, Takahiko Kawaguchi, Taro Nakamura, Yasuyuki Yamada

  • ロボティクス・メカトロニクス部門ROBOMECH表彰(産業・実用分野)

    2019.6   日本機械学会   固体推進薬の安全かつ連続的製造のための蠕動運動型混合搬送装置 ～実用組成推進薬の製造試験及び地上燃焼試験の報告～

    山田,芦垣, 岩崎, 萩原, 根岸, 吉浜, 松本, 野副, 羽生, 中村

  • システムインテグレーション部門講演会 SI2018優秀講演賞

    2019.3   計測自動制御学会  

    中村 太郎

  • 第19回計測自動制御学会 システムインテグレーション部門講演会 SI2017優秀講演賞

    2019.3   計測自動制御学会   腸の運動手法を模擬した蠕動運動型搬送装置の搬送メカニズムの検討

  • CLAWAR Association Best Technical Paper Award

    2018.9   CLAWAR Association Ltd   Proposal of Propulsion Unit based on Earthworm Setae for Underwater Excavation Robot

    只見 侃朗

  • 日本フルードパワーシステム学会 平成29年度学術論文賞

    2018.5   日本フルードパワーシステム学会   炭酸水素ナトリウムとクエン酸の化学反応を用いた小型増圧ポンプを有する携帯型空気圧源の提案

    奥井学, 名倉裕貴, 飯川伸吾, 山田泰之, 中村太郎

  • CLAWAR2017 CLAWAR Association Best Technical Paper Award

    2017.9   CLAWAR   Development of a Flexible Propulsion Unit for a Seabed Excavation Robot

    只見

  • CLAWAR2017 Winner of the Industrial Robot Innovation Award

    2017.9   CLAWAR   Development of Omnidirectional Wall-climbing Robot for Aircraft Inspection

    天川

  • リバネス研究費 日本財団海底探査推進賞

    2017.8   広域な深海底下探査を可能にする、ミミズの蠕動運動を規範とした埋没型掘削ロボットの開発

    只見

  • The 26th IEEE International Symposium on Robot and Human Interactive Communication(Roman2017)The Best Paper Nomination Award

    2017.8   IEEE   Proposal of Non-Rotating Joint Drive Type High Output Power Assist Suit for Squat Lifting

    毛利駿, 共著者, 猪瀬洸樹, 荒川大和, 横山和也, 菊谷功, 山田泰之, 中村太郎

  • 平成29年 火薬学会春季研究発表会 企業特別賞

    2017.5   蠕動運動型混合器によるコンポジット推進薬捏和における可塑剤の効果

    岩崎

  • 日本原子力学会共同主催 廃炉のためのロボット技術コンペ 最優秀賞

    2017.3   日本ロボット学会  

    山田, 中村

  • 第18回計測自動制御学会 システムインテグレーション部門講演会 SI2017優秀講演賞

    2017  

  • The 13th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers (TOWERS) TOWERS Best Award

    2016.12   IEEE   Report on a field work of a peristaltic crawling robot for sewer pipe inspection

    冨田

  • CLAWAR2016(The 19th International Conference on Climbing and Walking Robots) Best Technical Paper Award (The 1st Winner)

    2016.9   CLAWAR   Development of a long-distance pressure feed pipe inspection robot based on peristaltic crawling of the earthworm

    富田

  • 2016年度CPDポイント賞受賞

    2016.9   計測自動制御学会  

  • システムインテグレーション部門 部門貢献表彰

    2016.1   計測自動制御学会   SI2014に実行委員長およびプログラム委員長として貢献

  • リバネス研究費安川電機自動化賞

    2015.12   リバネス   巻フィルムチューブ式 SMA 人工筋肉アクチュエータを用いた柔軟性の高いロボットハンドの開発

    中村太郎, 石川敏也

  • 計測自動制御学会 システムインテグレーション部門 部門貢献表彰

    2015.1   計測自動制御学会   SI2014に実行委員長およびプログラム委員長として貢献

  • IEEE/ASME International Coference on Avanced Intelligent Mechatronics 2014 (AIM2014) Best Student Paper Award

    2014.7   Development of Traveling Wave Type Omnidirectional Wall Climbing Robot Using Permanent Magnetic Adhesion Mechanism and Proposal of Locomotion Strategy for the Robot

    呉

  • 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2014) Industrial Robot Innovation Award 2014 - For Practice innovation in the field of robots Highly Commended

    2014.7   CLAWAR   DEVELOPMENT OF AN OMNIDIRECTIONAL MOBILE ROBOT WITH A SPIRAL-TYPE TRAVELING-WAVE-PROPAGATION MECHANISM

  • 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2014) CLAWAER Best Technical paper Award Highly commended paper

    2014.7   CLAWAR   DEVELOPMENT OF A HEXAPOD WALKING ROBOT USING A STRAIGHT TYPE ARTIFICIAL MUSCLE THAT CAN CARRY A LOAD OF 300 N

  • 第16回リバネス研究費ナブテスコ奨励賞

    2013.12   リバネス   空気圧ゴム人工筋肉とMR流体を関節に有する可変粘弾性マニピュレータの開発と制御

  • 積水化学 自然に学ぶものづくり賞 本賞

    2013.10   積水化学工業   腸管構造に学ぶ固液混合/高粘度流体の搬送を可能にする蠕動運動ポンプの高機能化に関する研究

  • CLAWAR2013(16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines)

    2013.7   CLAWAR   Development of a wall climbing robot using the mobile mechanism of traveling waves propagation

  • 第16回リバネス研究費ナブテスコ奨励賞(2013年度)

    2013.4  

  • CLAWAR2013(16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines) ベストテクニカルペーパーアワード

    2013  

  • The Best Technical Paper Award 2012 Highly commended paper

    2012.7   CLAWAER ASSOCIATION   DEVELOPMENT OF A PERISTALTIC CRAWLING ROBOT WITH BELLOWS-TYPE ARTIFICIAL RUBBER MUSCLES FOR SEWER PIPE INSPECTION

    TAKAICHI YANAGIDA, TARO NAKAMURA, MASATO YOKOJIMA AND, KAZUNORI ADACHI

  • The Most Interesting Reading Award

    2012.5   社団法人 日本設計工学会   生物の運動機構を規範としたロボット設計とその応用例

    中村太郎

  • 学術奨励賞

    2012.3   中央大学   ミミズのような蠕動運動型ロボットの開発とその応用

    中村太郎

  • The BEST TECHNICAL PAPER AWARD 2011|rn|Highly commended paper

    2011.9   CLAWAER ASSOCIATION   PROPOSED OMNIDIRECTIONAL LOCOMOTION STRATEGYFOR TRAVELING-WAVE-TYPE MOBILE ROBOT (TOROIII)

    TERUYOSHI OGAWA, rn|MASAYUKI YAMAMOTO, rn|AND TARO NAKAMURA

  • The Best Technical Paper Award 2011 Highly commended paper

    2011.9   CLAWAER ASSOCIATION   DEVELOPMENT OF AN OMNI-|rn|DIRECTIONAL WALL-CLIMBING ROBOT BY USING TRAVELING WAVE PROPAGATION

    TARO NAKAMURA|rn|AND TORU HAYAKAWA

  • 文部科学大臣表彰 若手科学者賞

    2011.4   文部科学省 (文部科学大臣)   ミミズのような蠕動運動を用いた移動機構の開発とその応用

    中村太郎

  • 学術奨励賞

    2011.3   中央大学   ミミズの蠕動運動型ロボットの開発

    中村太郎

  • The BEST TECHNICAL PAPER AWARD 2011 Highly commended paper

    2011  

  • 日本機械学会 奨励賞

    2010.4   一般公益法人 日本機械学会   ミミズの移動手法を規範とした蠕動運動型移動機構の開発とその応用の研究

    中村太郎

  • 学術奨励賞

    2010.3   中央大学   人工筋肉の開発とモデル化に関する研究

    中村太郎

  • 日本ロボット学会 研究奨励賞

    2009.9   社団法人 日本ロボット学会   力学的平衡モデルに基づいた軸方向繊維強化型ゴム人工筋肉の可変剛性制御

    中村太郎

  • 学術奨励賞

    2009.3   中央大学   ミミズの月地中探査ロボットの研究

    中村太郎

  • The Industrial Robot Innovation Award

    2008.9   Emerald Publishing   Development of an underground explorer robot based on peristaltic crawling of earthworms

    Hayato Omori, Taro Nakamura, Takayuki Yada

  • 中央大学 学術奨励賞

    2008.3   中央大学   カタツムリの全方向移動ロボットの研究

    中村太郎

  • The Industrial Robot Innovation Award

    2008  

  • The Industrial Robot Highly Commended Award

    2007   CLAWAR2007(11th International conference on Climbing and Walking Robots)   Development of an omni-directional mobile robot based on snail locomotion

    Kuniaki Satoh, Taro Nakamura

▼display all

Research Projects

  • 蠕動運動のダイナミックな物理的拡散効果による発酵促進メカニズムの創成

    Grant number：24H00300  2024.4 - 2029.3

    日本学術振興会  科学研究費助成事業  基盤研究(A)  中央大学

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

    Grant amount： \47710000 （ Direct Cost: \36700000 、 Indirect Cost： \11010000 ）

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  • 二重過程理論に基づく研磨技能の模倣学習の研究開発

    2024.4 - 2027.3

    国立研究開発法人新エネルギー・産業技術総合開発機構(通称:NEDO)  新産業創出新技術先導研究プログラム  新産業創出新技術先導研究プログラム 

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    Authorship：Coinvestigator(s)  Grant type：Competitive

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  • 人の跳躍動作を考慮した直列/並列型可変弾性要素による革新的な外骨格型跳躍増幅機構

    Grant number：23K18496  2023.6 - 2026.3

    日本学術振興会  科学研究費助成事業  挑戦的研究(萌芽)  中央大学

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    Authorship：Principal investigator 

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  • VR/AR空間における広域な移動と重力感覚の提示が可能な全身型力覚提示スーツ

    Grant number：19H01127  2019.4 - 2024.3

    日本学術振興会  科学研究費助成事業 基盤研究(A)  基盤研究(A)  中央大学

    中村 太郎, 奥井 学, 西濱 里英

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    Authorship：Principal investigator  Grant type：Competitive

    Grant amount： \44070000 （ Direct Cost: \33900000 、 Indirect Cost： \10170000 ）

    本研究では、「広域な移動」と「重力感覚の提示」を可能にする全身型力覚提示スーツを 提案し、本スーツをVR/AR空間に適用した時の視覚と力覚における人間の感覚や知覚の相互 作用の効果について明らかにする。
    2019年度は、下肢動作の重力知覚の基本的な動作解析と視覚と力覚情報の相互作用による提示効果の解明とその制御方式の確立について検討した。特に装着型でユーザが靴のように装着することができ,水中や泥寧の上の歩行感覚,また落下感覚を提示可能な装置の開発を目指す. 本年度では,装置開発の第一段階として落下感覚提示のために必要となる人間の落下感覚の評価をおこなった.
    現実空間での落下感覚と同様の落下感覚を仮想空間で実現するには,装置で提示する降下加速度,降下速度,降下高さ等の条件を現実空間での条件と一致させるのが望ましい.しか
    し,その条件を満たすためには,装置の巨大化に加え,ユーザの危険も増すため,ユーザが装着し仮想体験をする装置には適さない.そこで,著者らは,現実空間での降下加速度,降下
    速度,降下高さ等の条件と装置で提示する降下加速度,降下速度,降下高さ等の条件が異なる条件下でもユーザの落下感覚覚を満足させる装置の開発を目指す.

    researchmap

  • 腸管神経機能を規範とした蠕動運動型柔軟機構の食品/化学系製造プロセスへの社会展開

    Grant number：21H00329  2021.4 - 2023.3

    日本学術振興会  科学研究費助成事業 新学術領域研究(研究領域提案型)  新学術領域研究(研究領域提案型)  中央大学

    中村 太郎

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    Authorship：Principal investigator 

    Grant amount： \6500000 （ Direct Cost: \5000000 、 Indirect Cost： \1500000 ）

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  • 宇宙トイレのための蠕動ポンプを用いた革新的混合搬送・処理システムの開発

    2021.4 - 2022.3

    Taro Nakamura

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    Authorship：Principal investigator 

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  • 悪条件下における下水道圧送管路内の保守点検ロボットの実装化に向けた技術開発

    2020.4 - 2022.3

    Taro Nakamura

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    Authorship：Principal investigator  Grant type：Competitive

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  • An innovative pneumatic soft actuator using staple fibers

    Grant number：19K21948  2019.6 - 2022.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Research (Exploratory)  Grant-in-Aid for Challenging Research (Exploratory)  Chuo University

    Nakamura Taro

    　 More details

    Grant amount： \6370000 （ Direct Cost: \4900000 、 Indirect Cost： \1470000 ）

    We developed a short-fiber rubber sheet with mechanical anisotropy by orienting short fibers in only one direction. Furthermore, a short-fiber reinforced soft actuator was developed using this rubber sheet.
    First, the "wrapping method" was proposed as a method to orient the short fibers. Anisotropic stiffness of the rubber sheet was experimentally investigated. As a result, it was confirmed that the performance was sufficient for application to soft actuators.
    Furthermore, contraction and extension type soft actuators were developed using these sheets, and their usefulness was demonstrated by experiments.

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  • 蠕動運動による柔らかい駆動に適応した生物的創発性の高い分散型制御系の確立

    Grant number：19H05334  2019.4 - 2021.3

    日本学術振興会  科学研究費助成事業 新学術領域研究(研究領域提案型)  新学術領域研究(研究領域提案型)  中央大学

    中村 太郎

    　 More details

    Grant amount： \10400000 （ Direct Cost: \8000000 、 Indirect Cost： \2400000 ）

    蠕動運動は構造的柔軟性が高いゆえに「外部環境や外部刺激の変化に影響を受けやすいソフトロ ボット機構」である．本研究では蠕動運動型駆動システムに対して，外部環境の変化に柔軟に適応 できる制御系設計の確立を目的とする．特に本申請では，大腸の柔らかい運動機能を規範とした「蠕 動運動型ポンプ」に着目し，高粘度・固液流体の連続的な混合・搬送プロセスに生物的創発性の高 い制御系を適用する． 生物の独特の動きである蠕動運動は「柔軟駆動」「非骨格機構」「分散制御系」であり，ソフトロ ボット学のキーテクノロジーとして注目を浴びている．実際の生体大腸の運動は「第2の脳」と称 されるほど多数の神経ネットワークを駆使して効率よく駆動しているが，その詳細な仕組みについ てはわかっていないことも多い．そこで本蠕動ポンプにおいてもこれらの複雑なパラメータと 被搬送流体の流動との相関関係が，自律分散制御やAI系の深層学習等の生物学的創発性の高い制 御法の適用により明らかになれば，理学的興味として「生体大腸の蠕動運動による搬送・混合プロ セスの解明」，工学的興味として「蠕動ポンプの柔らかい運動に適した，さらなる効率的な搬送・ 混合手法の確立」につながると考えた．
    本申請では特に「環境からの外的刺激を分散的にセンシングする方式の確立」「自律分散制御や深層学習を用いた生物学的創発性の高い制御法の適用」について検討する
    2019年度は、特に「蠕動ポンプの柔らかい運動に適した，さらなる効率的な搬送・ 混合手法の確立」について検討する。

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  • 小計・長距離で複雑な下水道圧送管内の保守点検を可能にする蠕動運動型ロボットの開発

    2017.4 - 2021.3

    国土交通省  下水道技術研究開発(GAIAプロジェクト) 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 空気圧人工筋肉を用いた蠕動運動による連続捏和・搬送技術の実用化検討

    2018.4 - 2020.3

    JAXA  宇宙探査イノベーションハブ「課題解決型」 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 人間との親和性が高いウェアラブルアシスト機器のための可変粘弾性特性を有する革新的ソフトアクチュエータシステムの開発

    2015.4 - 2020.3

    国立研究開発法人新エネルギー産業技術総合開発機構(NEDO)  次世代ロボット中核技術開発 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 大深度・極限環境に適応する掘削物揚重用ぜん動ポンプの開発研究

    2018.6 - 2019.6

    国立研究開発法人新エネルギー産業技術総合開発機構(NEDO)  新産業創出新技術先導研究プログラム 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 新産業創出新技術先導研究プログラム

    2018.7 - 2019.3

    国立研究開発法人新エネルギー・産業技術総合開発機構(通称:NEDO) 

    　 More details

    Grant type：Competitive

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  • 異種・複数小型ロボットを用いた確率的領域誘導による環境探査システムと要素技術の検討

    2017.4 - 2019.3

    JAXA  探査ハブ 広域未踏峰探査「アイデア型」 

    國井 康晴

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    Grant type：Competitive

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  • 可変粘弾性機構を用いた装着型力覚提示デバイスの開発と知能化空間への応用

    2014.4 - 2019.3

    Chuo University  Grant-in-Aid for Young Scientists (A) 

    中村 太郎

    　 More details

    Grant type：Competitive

    Grant amount： \22620000 （ Direct Cost: \17400000 、 Indirect Cost： \5220000 ）

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  • 平成２９年度補正ものづくり・商業・サービス経営力向上支援補助金

    2018.10 - 2019.1

    平成２９年度補正ものづくり・商業・サービス経営力向上支援補助金 

    　 More details

    Grant type：Competitive

    researchmap

  • 住宅用ダクト掃除ロボットによる 清掃サービスの事業化

    2017.10 - 2018.9

    東京都立産業技術研究センター  公募型研究開発事業 

    中村 太郎

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    Grant type：Competitive

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  • 超高出力密度を実現する流体系スマートアクチュエータシステムの開発と実用化検討

    2016.4 - 2018.3

    JAXA  宇宙探査イノベーションハブ「課題解決型」 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 外部刺激により調整可能な突発性脊椎側弯症のためのインプラントデバイスの開発

    2015.4 - 2018.3

    日本学術振興会  挑戦的萌芽研究(科研費) 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 蠕動運動ポンプを用いた固体ロケット推進薬の連続捏和・搬送プロセスに関する研究

    2015.4 - 2018.3

    経済産業省  宇宙産業技術情報基盤整備研究開発事業(民生品を活用した宇宙機器の軌道上実証) 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 地中・地表面探査を目的とした昆虫タイプ小型移動ロボット

    2016.4 - 2017.3

    JAXA 宇宙探査イノベーションハブ「アイデア型」 

    　 More details

    Grant type：Competitive

    researchmap

  • 極限地域への到達を実現する小型移動機構・カメラ・地中検査技術システム

    2016.4 - 2017.3

    JAXA  宇宙探査イノベーションハブ「アイデア型」 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 空気圧駆動アシストシステムのモバイル化を目指したハイブリッド小型空気圧源の開発

    2017 - 　

    財団法人油空圧機器技術振興財団 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 広域な深海底下探査を可能にする、ミミズの蠕動運動を模範とした埋没型掘削ロボットの開発

    2017 - 　

    日本財団  リバネス研究費 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 巻フィルムチューブ式 SMA 人工筋肉アクチュエータを用いた柔軟性の高いロボットハンドの開発

    2015.4 - 2016.3

    安川電機  リバネス研究費 

    　 More details

    Grant type：Competitive

    安川電機自動化賞受賞

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  • 空気圧ゴム人工筋肉とMR流体を関節に有する可変粘弾性マニピュレータの開発と制御

    2013.4 - 2014.3

    ナブテスコ  リバネス研究費 

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

    ナブテスコ奨励賞

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  • Development of variable impedance manipulator with PAM and MR Brake

    Grant number：23760139  2011.4 - 2014.3

    Chuo University  Grants-in-Aid for Scientific Research  Grant-in-Aid for Young Scientists (B)  Chuo University

    中村 太郎

    　 More details

    Grant type：Competitive

    Grant amount： \3900000 （ Direct Cost: \3000000 、 Indirect Cost： \900000 ）

    In this study, we developed one-degree-of-freedom manipulator with a variable impedance joint using straight fiber type artificial muscle and magnetorheological brake.
    With the generation of instantaneous force, the dead and rise time decreased compared to the conventional method. Further, we controlled the vibration of the arm by controlling the MR brake using evaluation functions

    researchmap

  • 腸管構造に学ぶ固液混合/高粘度流体の搬送を可能にする蠕動運動ポンプの高機能化に関する研究

    2013 - 　

    積水化学工業  自然に学ぶものづくり本賞 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 人工筋肉とＭＲ流体を適用した2自由度マニピュレータの開発

    2011.4 - 2012.3

    総合工学振興会 

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    Authorship：Principal investigator  Grant type：Competitive

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  • 空気圧人工筋肉を用いた腸のような蠕動運動ポンプの開発

    2009 - 2010

    財団法人 一樹工業技術奨励会 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • スマートアクチュエータの制御とロボットへの適用

    2008.4 - 2009.3

    中央大学  中央大学特別研究費 

    中村太郎

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    Grant type：Competitive

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  • ゴム人工筋肉を用いた固液混合流体の搬送を可能にする蠕動運動ポンプの開発

    2009 - 　

    科学技術振興機構(JST)  シーズ発掘 

    中村 太郎

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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  • 空気圧人工筋肉と機能性流体を用いた可変粘弾性を有する人間共存型マニピュレータの開発

    2008 - 　

    財団法人油空圧機器技術振興財団 

    中村 太郎

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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  • マイクロ繊維層を有する高収縮型人工筋肉の製作方法の検討

    2008 - 　

    科学技術振興機構(JST)  シーズ発掘 

    中村 太郎

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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  • 超音波モータの適応的制御とロボットへの応用に関する研究

    2005.4 - 2007.3

    本学研究所からの研究費 

    　 More details

    Grant type：Competitive

    Grant amount： \1200000

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  • 国際会議派遣

    2006 - 　

    御器谷科学技術振興財団 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 人工筋肉と機能性流体を用いた高機能ウェアラブルデバイスの開発

    2005 - 　

    立石科学技術振興財団 

    中村 太郎

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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  • 研究者海外研修助成

    2003.12 - 　

    財団法人スズキ財団 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • 国際交流助成

    2003.6 - 　

    財団法人本荘由利産業科学技術振興財団 

    中村 太郎

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    Authorship：Principal investigator  Grant type：Competitive

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  • Study on Peristaltic Crawling Micro-Machine Using Magnetic Fluid

    Grant number：13650284  2001.4 - 2003.3

    Akita Prefectural University  Grants-in-Aid for Scientific Research  Grant-in-Aid for Scientific Research (C)  Akita Prefectural University

    嵯峨 宣彦

    　 More details

    Authorship：Coinvestigator(s)  Grant type：Competitive

    Grant amount： \3100000 （ Direct Cost: \3100000 ）

    Attention was paid to the peristaltic crawling of earthworm as transport function in place of wheels or ambulation, and based on these observations a micro robot running inside a tube using magnetic fluid was developed. In this micro robot, a cell corresponding to earthworm's segment is composed of a natural rubber tube sealed with water-based magnetic fluid, and the cells are connected with elastic rods made of natural rubber.
    Moreover, we propose an earthworm type robot that adopts a soft artificial muscle actuator in order to resolve these disadvantageous problematic points. In this configuration, a cell equivalent to a segment of the earthworm is composed of the new artificial muscle actuator, and the cells are connected with the attachments. This paper presents the new artificial muscle actuator, and the cells are connected with the attachments. This paper presents the analytical result of the peristaltic crawling of an actual earthworm and the evaluation result of transport mechanism of a prototype micro robot moved by magnetic field and air pressure.

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  • 磁性流体を用いた蠕動運動型ロボットの開発

    2000.4 - 2003.3

    文部科学省  科学研究費補助金（日本学術振興会・文部科学省）－基盤研究(C) 

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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  • 機能性流体を用いた柔軟関節マニピュレータ科学技術振興事業団特許化支援 契約

    2002.12 　 　

    科学技術振興事業団 

    　 More details

    Grant type：Competitive

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  • 国際会議出席旅費援助

    2002.12 - 　

    財団法人井上科学技術振興財団 

    中村 太郎

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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  • マイクロマシン及びマイクロマシンシステム 科学技術振興事業団特許化支援 契約

    2000.9 　 　

    科学技術振興事業団 

    　 More details

    Grant type：Competitive

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  • 国際研究集会派遣研究者

    2000.8 - 　

    財団法人御器谷科学技術財団 

    中村 太郎

    　 More details

    Authorship：Principal investigator  Grant type：Competitive

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▼display all

Intellectual property rights

  • 流体圧アクチュエータ用筒状部材

    伊藤　文臣,伊津野　武史

    　More details

    Application no：特願2024-070038  Date applied：2024.4.23

    Announcement no：特開2025-038856  Date announced：2025.3.19

    Applicant (Organization)：学校法人中央大学

  • 人工筋アクチュエータ装置

    澤橋　龍之介,奥井　学

    　More details

    Application no：特願2024-008101  Date applied：2024.1.23

    Announcement no：特開2025-113776  Date announced：2025.8.4

    Applicant (Organization)：学校法人中央大学

  • 異方変形弾性体及びこれを使用した推進機構

    伊藤　文臣

    　More details

    Application no：特願2023-211814  Date applied：2023.12.15

    Announcement no：特開2025-095662  Date announced：2025.6.26

    Applicant (Organization)：学校法人中央大学

  • 管内径推定装置

    長嶋　洋渡,伊藤　文臣,内山　航輔

    　More details

    Application no：特願2023-195960  Date applied：2023.11.17

    Announcement no：特開2025-082547  Date announced：2025.5.29

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット及びポンプ

    寺山　伊織

    　More details

    Application no：特願2023-184442  Date applied：2023.10.27

    Announcement no：特開2025-073541  Date announced：2025.5.13

    Applicant (Organization)：学校法人中央大学

  • Lpガス配送作業のサポート装置

    中村 太郎,大場 清貴,奥井 学

    　More details

    Application no：特願2023-105402  Date applied：2023.6.27

    Announcement no：特開2025-005269  Date announced：2025.1.16

  • 生体内留置具試験方法、生体内留置具試験装置及び生体留置具試験システム

    中村 太郎,鵜澤 匠吾,橋口 雄,横田 知明,坪井 健吾

    　More details

    Application no：特願2023-105449  Date applied：2023.6.27

    Announcement no：特開2025-005296  Date announced：2025.1.16

  • 流体圧アクチュエータ

    中村 太郎,鵜澤 匠吾

    　More details

    Application no：特願2023-105445  Date applied：2023.6.27

    Announcement no：特開2025-005293  Date announced：2025.1.16

  • トレーニング装置

    中村 太郎,藤田 鋼人,下田 祐輔,奥井 学,西濱 里英

    　More details

    Application no：特願2023-093989  Date applied：2023.6.7

    Announcement no：特開2024-175901  Date announced：2024.12.19

  • 清掃装置

    中村 太郎,山中 雄太,人見 峻広,伊藤 文臣

    　More details

    Application no：特願2023-067027  Date applied：2023.4.17

    Announcement no：特開2024-153250  Date announced：2024.10.29

  • 管内移動装置

    中村 太郎,成瀬 雄太,多加谷 一輝,伊藤 文臣

    　More details

    Application no：特願2023-030860  Date applied：2023.3.1

    Announcement no：特開2024-123443  Date announced：2024.9.12

  • 管内移動ロボット

    中村 太郎,内山 航輔,佐藤 広都,伊藤 文臣,澤橋 龍之介

    　More details

    Application no：特願2023-015986  Date applied：2023.2.6

    Announcement no：特開2024-111466  Date announced：2024.8.19

  • リニアアクチュエータ、リニアアクチュエータ連結体、ロボット、跳躍支援スーツ、移動装置及び清掃装置

    中村 太郎,伊藤 文臣,石井 優丞,大澤 崚

    　More details

    Application no：特願2023-013266  Date applied：2023.1.31

    Announcement no：特開2024-108737  Date announced：2024.8.13

  • 移動装置

    中村 太郎,伊藤 文臣,吉田 梨沙子

    　More details

    Application no：特願2023-013270  Date applied：2023.1.31

    Announcement no：特開2024-108741  Date announced：2024.8.13

  • 支援具

    中村 太郎,大場 清貴,奥井 学,西濱 里英,大井 貴大

    　More details

    Application no：特願2022-156575  Date applied：2022.9.29

    Announcement no：特開2024-050013  Date announced：2024.4.10

  • 移送方法及びポンプ装置

    熊本 寛也,鵜澤 匠吾

    　More details

    Application no：特願2022-117688  Date applied：2022.7.25

    Announcement no：特開2024-015563  Date announced：2024.2.6

    Applicant (Organization)：学校法人中央大学

  • 移送方法及びポンプ装置

    中村 太郎,熊本 寛也,鵜澤 匠吾

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    Application no：特願2022-117688  Date applied：2022.7.25

    Announcement no：特開2024-015563  Date announced：2024.2.6

  • 運動変換機構及び運動変換機構を用いた清掃装置

    山中 雄太,人見 峻広,伊藤 文臣

    　More details

    Application no：特願2022-113216  Date applied：2022.7.14

    Announcement no：特開2024-011313  Date announced：2024.1.25

    Applicant (Organization)：学校法人中央大学

  • 運動変換機構及び運動変換機構を用いた清掃装置

    中村 太郎,山中 雄太,人見 峻広,伊藤 文臣

    　More details

    Application no：特願2022-113216  Date applied：2022.7.14

    Announcement no：特開2024-011313  Date announced：2024.1.25

  • ポンプ装置

    奥井 学,西濱 里英,松井 大育,押野,紗菜,寺山 伊織

    　More details

    Application no：特願2022-097042  Date applied：2022.6.16

    Announcement no：特開2023-183497  Date announced：2023.12.28

    Applicant (Organization)：学校法人中央大学

  • 清掃装置

    山中 雄太,人見 峻広,伊藤 文臣

    　More details

    Application no：特願2022-097040  Date applied：2022.6.16

    Announcement no：特開2023-183495  Date announced：2023.12.28

    Applicant (Organization)：学校法人中央大学

  • 清掃装置

    中村 太郎,山中 雄太,人見 峻広,伊藤 文臣

    　More details

    Application no：特願2022-097040  Date applied：2022.6.16

    Announcement no：特開2023-183495  Date announced：2023.12.28

  • ポンプ装置

    中村 太郎,奥井 学,西濱 里英,松井 大育,押野 紗菜,寺山 伊織

    　More details

    Application no：特願2022-097042  Date applied：2022.6.16

    Announcement no：特開2023-183497  Date announced：2023.12.28

  • 管内移動ロボット

    伊藤 文臣,多加谷 一輝

    　More details

    Application no：特願2022-046747  Date applied：2022.3.23

    Announcement no：特開2023-140750  Date announced：2023.10.5

    Applicant (Organization)：学校法人中央大学

  • 自走式ロボット

    山田 泰之,谷瀬 友基,石川 龍太郎,眞野 雄貴,河口 貴彦,鎌田 将司,橘 夏奈

    　More details

    Application no：特願2022-006416  Date applied：2022.1.19

    Announcement no：特開2022-058664  Date announced：2022.4.12

    Registration no：特許第7301418号  Date registered：2023.6.23 

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット及びポンプ装置

    熊本 寛也,鵜澤 匠吾

    　More details

    Application no：特願2021-117676  Date applied：2021.7.16

    Announcement no：特開2023-013467  Date announced：2023.1.26

    Applicant (Organization)：学校法人中央大学

  • 通線ロボット

    鶴 慧士,伊藤 文臣,太田 隆三,三浦 英樹,栗山 翼

    　More details

    Application no：特願2021-094222  Date applied：2021.6.4

    Announcement no：特開2022-186144  Date announced：2022.12.15

    Registration no：特許7709701号  Date registered：2025.7.9 

    Applicant (Organization)：学校法人中央大学、裕幸計装株式会社

  • 管内検査装置

    内山 航輔,佐藤 広都,伊藤 文臣,車谷 駿一

    　More details

    Application no：特願2021-092373  Date applied：2021.6.1

    Announcement no：特開2022-184489  Date announced：2022.12.13

    Registration no：特許7683914号  Date registered：2025.5.19 

    Applicant (Organization)：学校法人中央大学

  • 下肢力覚提示装置及び該装置を用いた下肢力覚提示方法

    田中 俊也,増田 大貴,奥井 学,西濱 里英

    　More details

    Application no：特願2021-092448  Date applied：2021.6.1

    Announcement no：特開2022-184532  Date announced：2022.12.13

    Registration no：特許7709723号  Date registered：2025.7.9 

    Applicant (Organization)：学校法人中央大学

  • 人工筋アクチュエータ及びその作動方法

    奥井 学,圓城 竜斗

    　More details

    Application no：特願2021-042622  Date applied：2021.3.16

    Announcement no：特開2022-142448  Date announced：2022.9.30

    Registration no：特許7560876号  Date registered：2024.9.25 

    Applicant (Organization)：学校法人中央大学

  • 自走式ロボット

    伊藤 文臣,多加谷 一輝

    　More details

    Application no：特願2020-170452  Date applied：2020.10.8

    Announcement no：特開2022-062439  Date announced：2022.4.20

    Registration no：特許7526477号  Date registered：2024.7.24 

    Applicant (Organization)：学校法人中央大学

  • 人工筋肉ユニット及びそれを用いた把持装置

    車谷 駿一

    　More details

    Application no：特願2020-165495  Date applied：2020.9.30

    Announcement no：特開2022-057312  Date announced：2022.4.11

    Applicant (Organization)：学校法人中央大学

  • 分散液の製造方法及び製造装置

    奥井 学,足立 遼,松井 大育,加藤 弘一

    　More details

    Application no：特願2020-158774  Date applied：2020.9.23

    Announcement no：特開2022-052396  Date announced：2022.4.4

    Applicant (Organization)：学校法人中央大学、株式会社リコー

  • 身体動作アシスト装置用装着衣

    西濵 里英,山中 雄太,鹿島 将

    　More details

    Application no：特願2020-091317  Date applied：2020.5.26

    Announcement no：特開2021-186896  Date announced：2021.12.13

    Registration no：特許第7493222号  Date registered：2024.5.23 

    Applicant (Organization)：学校法人中央大学

  • フィッティング機構及び該フィッティング機構を備えたアシスト装置

    車谷 駿一

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    Application no：特願2020-090424  Date applied：2020.5.25

    Announcement no：特開2021-184790  Date announced：2021.12.9

    Applicant (Organization)：学校法人中央大学

  • 後弯矯正装具

    奥井 学,西濵 里英,風間 祐人,水谷 公洋,宮川 拓也,川上 紀明

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    Application no：特願2020-074207  Date applied：2020.4.17

    Announcement no：特開2021-171063  Date announced：2021.11.1

    Applicant (Organization)：学校法人中央大学、株式会社ソラリス、松本義肢製作所、川上紀明（個人）

  • 管路形状推定方法及び管路形状推定装置

    佐藤 広都,眞野 雄貴

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    Application no：特願2020-067261  Date applied：2020.4.3

    Announcement no：特開2021-162547  Date announced：2021.10.11

    Registration no：特許第7509405号  Date registered：2024.6.24 

    Applicant (Organization)：学校法人中央大学

  • 流体圧アクチュエータ駆動システム及び流体圧アクチュエータ駆動方法

    奥井 学,圓城 竜斗

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    Application no：特願2020-046919  Date applied：2020.3.17

    Announcement no：特開2021-148164  Date announced：2021.9.27

    Registration no：特許第7431441号  Date registered：2024.2.6 

    Applicant (Organization)：学校法人中央大学

  • アクチュエータの製造方法及びアクチュエータ

    奥井 学,小島 明寛

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    Application no：特願2020-045104  Date applied：2020.3.16

    Announcement no：特開2021-148130  Date announced：2021.9.27

    Registration no：特許第7410564号  Date registered：2023.12.26 

    Applicant (Organization)：学校法人中央大学

  • 流体圧アクチュエータ

    奥井 学,小島 明寛,厨 義典

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    Application no：特願2020-032738  Date applied：2020.2.28

    Announcement no：特開2021-134873  Date announced：2021.9.13

    Registration no：特許7573255号  Date registered：2024.10.17 

    Applicant (Organization)：学校法人中央大学、株式会社ブリヂストン

  • クラッチ機構及び力覚提示装置

    小野塚 祐樹

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    Application no：特願2020-024951  Date applied：2020.2.18

    Announcement no：特開2021-131584  Date announced：2021.9.9

    Registration no：特許第7402508号  Date registered：2023.12.13 

    Applicant (Organization)：学校法人中央大学

  • 動作判別装置及び動作判別プログラム

    鈴木 隆二,奥井 学,木村 成吾,町田 勝紀

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    Application no：特願2020-024340  Date applied：2020.2.17

    Announcement no：特開2021-126446  Date announced：2021.9.2

    Registration no：特許第7474466号  Date registered：2024.4.17 

    Applicant (Organization)：学校法人中央大学

  • 空気分配装置

    山田 泰之,眞野 雄貴,石川 龍太郎

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    Application no：特願2020-015486  Date applied：2020.1.31

    Announcement no：特開2020-201473  Date announced：2020.12.17

    Registration no：特許第7402507号  Date registered：2023.12.13 

    Applicant (Organization)：学校法人中央大学

  • 土砂搬送方法

    山田 泰之,萩原 大輝,若松 康太,足立 遼,上田 昌弘,山川 昭次,佐久間 康如,藤崎 幸市郎

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    Application no：特願2020-010295  Date applied：2020.1.24

    Announcement no：特開2021-116587  Date announced：2021.8.10

    Applicant (Organization)：学校法人中央大学、株式会社竹中工務店

  • 液体分離装置、及び液体分離方法

    山田 泰之,萩原 大輝,若松 康太,足立 遼,上田 昌弘,山川 昭次,佐久間 康如,藤崎 幸市郎

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    Application no：特願2020-009966  Date applied：2020.1.24

    Announcement no：特開2021-116728  Date announced：2021.8.10

    Applicant (Organization)：学校法人中央大学、株式会社竹中工務店

  • ポンプユニット及びポンプ並びに搬送物の特性検出方法

    山田 泰之,若松 康太,萩原 大輝,足立 遼,松井 大育

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    Application no：特願2019-238223  Date applied：2019.12.27

    Announcement no：特開2021-105392  Date announced：2021.7.26

    Registration no：特許第7509397号  Date registered：2024.6.24 

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット

    山田 泰之

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    Application no：特願2019-236321  Date applied：2019.12.26

    Announcement no：特開2021-105349  Date announced：2021.7.26

    Applicant (Organization)：学校法人中央大学

  • アクチュエータ

    辻 知章,奥井 学,小島 明寛,久道 樹,伊藤 文臣,栗山 正太郎

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    Application no：特願2019-221070  Date applied：2019.12.6

    Announcement no：特開2021-089059  Date announced：2021.6.10

    Registration no：特許第7340853号  Date registered：2023.8.31 

    Applicant (Organization)：学校法人中央大学

  • クッション部材及びクッションシステム

    奥井 学,西濱 里英,風間 祐人,水谷 公洋,宮川 拓也,川上 紀明

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    Application no：特願2019-159942  Date applied：2019.9.2

    Announcement no：特開2020-036895  Date announced：2020.3.12

    Applicant (Organization)：学校法人中央大学、株式会社ソラリス、株式会社松本義肢製作所、川上　紀明

  • 側弯矯正装具

    奥井 学,西濱 里英,風間 祐人,水谷 公洋,宮川 拓也,川上 紀明

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    Application no：特願2019-159940  Date applied：2019.9.2

    Announcement no：特開2020-036893  Date announced：2020.3.12

    Applicant (Organization)：学校法人中央大学、株式会社ソラリス、株式会社松本義肢製作所、川上　紀明

  • 側弯矯正装具

    奥井 学,西濱 里英,風間 祐人,水谷 公洋,宮川 拓也,川上 紀明

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    Application no：特願2019-159941  Date applied：2019.9.2

    Announcement no：特開2020-036894  Date announced：2020.3.12

    Applicant (Organization)：学校法人中央大学、株式会社ソラリス、株式会社松本義肢製作所、川上　紀明

  • 搬送装置及び土砂搬送方法

    山田 泰之,萩原 大輝,若松 康太,足立 遼,上田 昌弘,山川 昭次,佐久間 康如,藤崎 幸市郎

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    Application no：特願2019-158765  Date applied：2019.8.30

    Announcement no：特開2021-38677  Date announced：2021.3.11

    Registration no：特許第7357868号  Date registered：2023.9.29 

    Applicant (Organization)：学校法人中央大学、株式会社竹中工務店

  • 搬送装置

    山田 泰之,萩原 大輝,若松 康太,足立 遼,上田 昌弘,山川 昭次,佐久間 康如,藤崎 幸市郎

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    Application no：特願2019-158764  Date applied：2019.8.30

    Announcement no：特開2021-38676  Date announced：2021.3.11

    Registration no：特許第7357867号  Date registered：2023.9.29 

    Applicant (Organization)：学校法人中央大学、株式会社竹中工務店

  • 自走式ロボット

    保井 拓己,眞野 雄貴,伊藤 文臣

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    Application no：特願2019-154122  Date applied：2019.8.26

    Announcement no：特開2021-033092  Date announced：2021.3.1

    Registration no：特許第7301358号  Date registered：2023.6.23 

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット及びポンプ

    山田 泰之,足立 遼

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    Application no：特願2019-154121  Date applied：2019.8.26

    Announcement no：特開2020-033995  Date announced：2020.3.5

    Registration no：特許第7343897号  Date registered：2023.9.5 

    Applicant (Organization)：学校法人中央大学

  • 動作装置用ゴム部材の製造方法、動作装置用ゴム部材およびこれを用いた動作装置

    奥井 学,小島 明寛

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    Application no：特願2019-139177  Date applied：2019.7.29

    Announcement no：特開2021-20400  Date announced：2021.2.18

    Registration no：特許第7365037号  Date registered：2023.10.11 

    Applicant (Organization)：学校法人中央大学

  • 血栓予防装置

    奥井 学,西濱 里英,根岸 海,原嶋 芳之

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    Application no：特願2019-104610  Date applied：2019.6.4

    Announcement no：特開2020-195678  Date announced：2020.12.10

    Registration no：特許第7303964号  Date registered：2023.6.28 

    Applicant (Organization)：学校法人中央大学、株式会社リッコー

  • 管路選択装置

    鎌田 将司,伊藤 文臣

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    Application no：特願2019-099394  Date applied：2019.5.28

    Announcement no：特開2020-194079  Date announced：2020.12.3

    Registration no：特許第7179335号  Date registered：2022.11.18 

    Applicant (Organization)：学校法人中央大学

  • アクチュエータ

    山田 泰之,伊藤 文臣,鎌田 将司,河口 貴彦

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    Application no：特願2019-099698  Date applied：2019.5.28

    Announcement no：特開2020-193667  Date announced：2020.12.3

    Registration no：特許第7256528号  Date registered：2023.4.4 

    Applicant (Organization)：学校法人中央大学

  • アシスト装置

    山田 泰之,荒川 大和,毛利 駿,鹿島 将

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    Application no：特願2019-052972  Date applied：2019.3.20

    Announcement no：特開2020-32159  Date announced：2020.3.5

    Applicant (Organization)：学校法人中央大学

  • 管路内走行装置

    山田 泰之,河口 貴彦,鎌田 将司,只見 侃朗,伊藤 文臣

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    Application no：特願2019-045486  Date applied：2019.3.13

    Announcement no：特開2020-146621  Date announced：2020.9.17

    Registration no：特許第7298868号  Date registered：2023.6.19 

    Applicant (Organization)：学校法人中央大学

  • ポンプ、搬送、混錬方法及び混合物の製造方法

    山田 泰之,羽生 宏人,岩崎 祥大

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    Application no：特願2019-560593  Date applied：2018.12.21

    Announcement no：WO2019/124545  Date announced：2019.6.27

    Registration no：特許第7260086号  Date registered：2023.4.10 

    Applicant (Organization)：学校法人中央大学,国立研究開発法人宇宙航空研究開発機構

  • 腕動作補助装置

    山田 泰之

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    Application no：特願2018-154921  Date applied：2018.8.21

    Announcement no：特開2020-028932  Date announced：2020.2.27

    Registration no：特許第7180864号  Date registered：2022.11.21 

    Applicant (Organization)：学校法人中央大学

  • 筋力補助装置及び操作装置

    山田 泰之,毛利 駿,荒川 大和,菊谷 功,横山 和也

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    Application no：特願2018-147154  Date applied：2018.8.3

    Announcement no：特開2020-19128  Date announced：2020.2.6

    Registration no：特許第6849192号  Date registered：2021.3.8 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • 触覚提示装置及び触覚提示方法

    山田 泰之,奥井 学,林 拓宗

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    Application no：特願2018-132321  Date applied：2018.7.12

    Announcement no：特開2020-09363  Date announced：2020.1.16

    Registration no：特許第7109777号  Date registered：2022.7.22 

    Applicant (Organization)：学校法人中央大学

  • 筋力補助装置用の装着具及び筋力補助装置

    山田 泰之,毛利 駿,荒川 大和,菊谷 功,横山 和也

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    Application no：特願2018-129497  Date applied：2018.7.6

    Announcement no：特開2020-006474  Date announced：2020.1.6

    Registration no：特許第6933841号  Date registered：2021.8.24 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • ポンプ

    山田 泰之

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    Application no：特願2018-128422  Date applied：2018.7.5

    Announcement no：特開2020-007938  Date announced：2020.1.6

    Registration no：特許第7133204号  Date registered：2022.8.31 

    Applicant (Organization)：学校法人中央大学

  • 掘削推進装置

    山田 泰之,只見 侃朗,井坂 恵太,藤原 杏実,渡邊 友貴

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    Application no：特願2018-106473  Date applied：2018.6.1

    Announcement no：特開2019-210666  Date announced：2019.12.12

    Registration no：特許第7164148号  Date registered：2022.10.24 

    Applicant (Organization)：学校法人中央大学

  • アクチュエータの制御方法及びアクチュエータ

    山田 泰之,奥井 学,小島 明寛,辻 知章,只見 侃朗,久道 樹

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    Application no：特願2018-105262  Date applied：2018.5.31

    Announcement no：特開2019-210965  Date announced：2019.12.12

    Registration no：特許第7175491号  Date registered：2022.11.11 

    Applicant (Organization)：学校法人中央大学

  • 混練方法

    山田 泰之,羽生 宏人,岩崎 祥大

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    Application no：特願2018-097411  Date applied：2018.5.21

    Announcement no：特開2019-202247  Date announced：2019.11.28

    Registration no：特許第7168951号  Date registered：2022.11.1 

    Applicant (Organization)：学校法人中央大学、国立研究開発法人宇宙航空研究開発機構

  • 自走ロボット

    山田 泰之,鎌田 将司,橘 夏奈

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    Application no：特願2018-096573  Date applied：2018.5.18

    Announcement no：特開2019-198952  Date announced：2019.11.21

    Registration no：特許第7241377号  Date registered：2023.3.9 

    Applicant (Organization)：学校法人中央大学

  • アシスト装置

    山田 泰之,奥井 学

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    Application no：特願2018-096578  Date applied：2018.5.18

    Announcement no：特開2019-198953  Date announced：2019.11.21

    Registration no：特許第7161743号  Date registered：2022.10.19 

    Applicant (Organization)：学校法人中央大学

  • 動作アシスト装置

    山田 泰之,猪瀬 洸樹,毛利 駿,菊谷 功,横山 和也

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    Application no：PCT/JP2018/009623  Date applied：2018.3.13

    Announcement no：WO2018/168817  Date announced：2018.9.20

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • 動作アシスト装置

    山田 泰之,猪瀬 洸樹,毛利 駿,菊谷 功,横山 和也

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    Application no：特願2019-506028  Date applied：2018.3.13

    Announcement no：再公表2018-168817  Date announced：2019.11.21

    Registration no：特許第6761107号  Date registered：2020.9.7 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • アシスト装置の制御方法及びアシスト装置

    山田 泰之,奥井 学,飯川 伸吾,鈴木 隆二

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    Application no：特願2018-011931  Date applied：2018.1.26

    Announcement no：特開2019-126668  Date announced：2019.8.1

    Registration no：特許第7142338号  Date registered：2022.9.15 

    Applicant (Organization)：学校法人中央大学

  • マッサージ装置

    山田 泰之,奥井 学

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    Application no：特願2017-246480  Date applied：2017.12.22

    Announcement no：特開2019-111082  Date announced：2019.7.11

    Applicant (Organization)：学校法人中央大学

  • アクチュエータ及び自走式ロボット

    山田 泰之,谷瀬 友基,石川 龍太郎,眞野 雄貴,河口 貴彦,鎌田 将司,橘 夏奈

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    Application no：特願2017-242833  Date applied：2017.12.19

    Announcement no：特開2019-108945  Date announced：2019.7.4

    Registration no：特許第7016520号  Date registered：2022.1.28 

    Applicant (Organization)：学校法人中央大学

  • 走行ロボット

    山田 泰之,毛利 駿,風間 祐人

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    Application no：特願2017-234456  Date applied：2017.12.6

    Announcement no：特開2019-99052  Date announced：2019.6.24

    Registration no：特許第6953001号  Date registered：2021.10.1 

    Applicant (Organization)：学校法人中央大学

  • 筋力補助装置

    山田 泰之,猪瀬 洸樹,荒川 大和,菊谷 功,横山 和也

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    Application no：PCT/JP2017/042465  Date applied：2017.11.27

    Announcement no：WO2018/105430  Date announced：2018.6.14

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • 筋力補助装置

    山田 泰之,猪瀬 洸樹,荒川 大和,菊谷 功,横山 和也

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    Application no：特願2018-554927  Date applied：2017.11.27

    Announcement no：再公表2018-105430  Date announced：2019.10.31

    Registration no：特許第6759360号  Date registered：2020.9.4 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • ユニット被覆部材

    渥美 安司,石川 敏也

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    Application no：特願2017-222418  Date applied：2017.11.20

    Announcement no：特開2019-94790  Date announced：2019.6.20

    Applicant (Organization)：学校法人中央大学、金子コード株式会社、石川　敏也（個人）

  • 人工筋肉アクチュエータ

    渥美 安司,石川 敏也

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    Application no：特願2017-222417  Date applied：2017.11.20

    Announcement no：特開2019-94789  Date announced：2019.6.20

    Applicant (Organization)：学校法人中央大学、金子コード株式会社、石川　敏也（個人）

  • アクチュエータ

    山田 泰之

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    Application no：特願2017-211332  Date applied：2017.10.31

    Announcement no：特開2019-82238  Date announced：2019.5.30

    Applicant (Organization)：学校法人中央大学

  • 筒ユニット及び搬送装置

    山田 泰之,吉浜 舜,芦垣 恭太

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    Application no：PCT/JP2017/034165  Date applied：2017.9.21

    Announcement no：WO2018/056378  Date announced：2018.3.29

    Applicant (Organization)：学校法人中央大学

  • 流体注入式アクチュエータの製造方法及び流体注入式アクチュエータ

    山田 泰之,奥井 学,小島 明寛

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    Application no：特願2017-173545  Date applied：2017.9.8

    Announcement no：特開2019-49308  Date announced：2019.3.28

    Registration no：特許第7015515号  Date registered：2022.1.16 

    Applicant (Organization)：学校法人中央大学

  • 動作アシスト装置

    毛利 駿,猪瀬 洸樹,菊谷 功,横山 和也

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    Application no：PCT/JP2017/021205  Date applied：2017.6.7

    Announcement no：WO2017/213198  Date announced：2017.12.14

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • スクリュー機構及び当該スクリュー機構を備えた掘削装置

    山田 泰之,藤原 杏実,井坂 恵太,中武 豊晴,只見 侃朗

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    Application no：特願2017-093442  Date applied：2017.5.9

    Announcement no：特開2018-188899  Date announced：2018.11.29

    Registration no：特許第6991547号  Date registered：2021.12.10 

    Applicant (Organization)：学校法人中央大学

  • スクリュー回転体

    山田 泰之,藤原 杏実,井坂 恵太,中武 豊晴,只見 侃朗

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    Application no：特願2017-093441  Date applied：2017.5.9

    Announcement no：特開2018-188898  Date announced：2018.11.29

    Registration no：特許第6852892号  Date registered：2021.3.15 

    Applicant (Organization)：学校法人中央大学

  • 壁面吸着走行装置

    山田 泰之,山口 智大,天川 貴文,関口 智大,松山 吉成,西方 友美,鹿内 真樹,菊地 毅,三上 昇悟

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    Application no：特願2017-085517  Date applied：2017.4.24

    Announcement no：特開2018-184036  Date announced：2018.11.22

    Applicant (Organization)：学校法人中央大学、パナソニック株式会社

  • 流体圧アクチュエータ駆動システム

    奥井 学,山田 泰之,飯川 伸吾,名倉 裕貴

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    Application no：特願2017-081673  Date applied：2017.4.17

    Announcement no：特開2017-215036  Date announced：2017.12.7

    Registration no：特許第6875730号  Date registered：2021.4.27 

    Applicant (Organization)：学校法人中央大学

  • 装着具の装着方法及び装着具

    山田 泰之,奥井 学,関戸 和弥

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    Application no：特願2017-051685  Date applied：2017.3.16

    Announcement no：特開2018-153358  Date announced：2018.10.4

    Applicant (Organization)：学校法人中央大学

  • アクチュエータ

    山田 泰之,奥井 学

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    Application no：特願2017-051679  Date applied：2017.3.16

    Announcement no：特開2018-155298  Date announced：2018.10.4

    Registration no：特許第6873468号  Date registered：2021.4.23 

    Applicant (Organization)：学校法人 中央大学

  • 自重補償装置および力覚提示装置

    山田 泰之

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    Application no：特願2017-037180  Date applied：2017.2.28

    Announcement no：特開2018-140475  Date announced：2018.9.13

    Registration no：特許第6854509号  Date registered：2021.3.18 

    Applicant (Organization)：学校法人中央大学

  • 壁面吸着装置及び壁面移動装置

    山田 泰之,山口 智大,天川 貴文

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    Application no：特願2017-028305  Date applied：2017.2.17

    Announcement no：特開2018-131165  Date announced：2018.8.23

    Registration no：特許第6792871号  Date registered：2020.11.11 

    Applicant (Organization)：学校法人中央大学

  • 壁面吸着装置及び壁面移動装置

    山田 泰之,山口 智大,天川 貴文

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    Application no：特願2017-027208  Date applied：2017.2.16

    Announcement no：特開2018-131107  Date announced：2018.8.23

    Registration no：特許第6792870号  Date registered：2020.11.11 

    Applicant (Organization)：学校法人中央大学

  • 壁面吸着装置及び壁面移動装置

    山田 泰之,山口 智大,天川 貴文

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    Application no：特願2017-023592  Date applied：2017.2.10

    Announcement no：特開2018-126850  Date announced：2018.8.16

    Registration no：特許第6840382号  Date registered：2021.2.19 

    Applicant (Organization)：学校法人中央大学

  • 流体搬送装置、流体搬送システム、画像形成装置及び流体搬送方法

    山田 泰之,吉浜 舜,芦垣 恭太,加藤 弘一,松本 純一,山崎 晃一

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    Application no：特願2016-240242  Date applied：2016.12.12

    Announcement no：特開2018-96252  Date announced：2018.6.21

    Registration no：特許第6809887号  Date registered：2020.12.14 

    Applicant (Organization)：学校法人中央大学、株式会社リコー

  • 筒ユニット及び搬送装置

    山田 泰之,吉浜 舜,芦垣 恭太

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    Application no：特願2016-237120  Date applied：2016.12.6

    Announcement no：特開2018-91288  Date announced：2018.6.14

    Registration no：特許第6860193号  Date registered：2021.3.30 

    Applicant (Organization)：学校法人 中央大学

  • 筒ユニット及び搬送装置

    山田 泰之,吉浜 舜,芦垣 恭太

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    Application no：特願2016-237121  Date applied：2016.12.6

    Announcement no：特開2018-53890  Date announced：2018.4.5

    Registration no：特許第6840380号  Date registered：2021.2.19 

    Applicant (Organization)：学校法人 中央大学

  • 流体装置

    山田 泰之,奥井 学

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    Application no：特願2016-215450  Date applied：2016.11.2

    Announcement no：特開2018-071740  Date announced：2018.5.10

    Registration no：特許第6854504号  Date registered：2021.3.18 

    Applicant (Organization)：学校法人 中央大学

  • 清掃用移動体

    山田 泰之,谷瀬 友基,谷口 紘亮,大廻 和彦,清水 晋

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    Application no：特願2016-209027  Date applied：2016.10.25

    Announcement no：特開2018-69125  Date announced：2018.5.10

    Registration no：特許第6810417号  Date registered：2020.12.15 

    Applicant (Organization)：学校法人中央大学、日本ウイントン株式会社

  • 管ユニット

    山田 泰之,吉浜 舜,芦垣 恭太

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    Application no：特願2016-201836  Date applied：2016.10.13

    Announcement no：特開2018-62904  Date announced：2018.4.19

    Registration no：特許第6852867号  Date registered：2021.3.15 

    Applicant (Organization)：学校法人中央大学

  • 揺動体

    山田 泰之,奥井 学,風間 祐人,佐藤 良昭

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    Application no：特願2016-200304  Date applied：2016.10.11

    Announcement no：特開2018-61613  Date announced：2018.4.19

    Registration no：特許第6781457号  Date registered：2020.10.20 

    Applicant (Organization)：学校法人中央大学

  • 管体

    山田 泰之,吉濱 舜,芦垣 恭太

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    Application no：特願2016-188567  Date applied：2016.9.27

    Announcement no：特開2018-53755  Date announced：2018.4.5

    Registration no：特許第6727506号  Date registered：2020.7.3 

    Applicant (Organization)：学校法人中央大学

  • 上腕補償機構のための肩関節追従機構

    山田 泰之

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    Application no：特願2016-136163  Date applied：2016.7.8

    Announcement no：特開2018-1391  Date announced：2018.1.11

    Registration no：特許第6811980号  Date registered：2020.12.18 

    Applicant (Organization)：学校法人中央大学

  • 管内移動体及び管内移動体の制御方法

    山﨑 翔太,谷瀬 友基,平田 康夫,小林 英一

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    Application no：特願2016-134255  Date applied：2016.7.6

    Announcement no：特開2018-5077  Date announced：2018.1.11

    Registration no：特許第6912052号  Date registered：2021.7.12 

    Applicant (Organization)：学校法人中央大学、オリンパス株式会社

  • ソフトアクチュエータ

    田上 賢悟,風間 祐人

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    Application no：特願2016-128120  Date applied：2016.6.28

    Announcement no：特開2018-3888  Date announced：2018.1.11

    Applicant (Organization)：学校法人中央大学

  • プーリ及びリンク機構

    山田 泰之,奥井 学,森 彪生

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    Application no：特願2016-126474  Date applied：2016.6.27

    Announcement no：特開2018-3855  Date announced：2018.1.11

    Registration no：特許第6757027号  Date registered：2020.9.1 

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット及びポンプ

    山田 泰之,吉浜 舜,芦垣 恭太

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    Application no：特願2016-122098  Date applied：2016.6.20

    Announcement no：特開2017-227140  Date announced：2017.12.28

    Registration no：特許第6852863号  Date registered：2021.3.15 

    Applicant (Organization)：学校法人中央大学

  • 粉体搬送装置、粉体搬送方法及び画像形成装置

    山田 泰之,吉浜 舜,加藤 弘一,松本 純一

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    Application no：特願2016-112261  Date applied：2016.6.3

    Announcement no：特開2017-219594  Date announced：2017.12.14

    Registration no：特許第6885680号  Date registered：2021.5.17 

    Applicant (Organization)：学校法人中央大学、株式会社リコー

  • 掘削具、掘削具を用いた掘削装置

    永井 守,平林 千晴

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    Application no：特願2016-047319  Date applied：2016.3.10

    Announcement no：特開2017-160716  Date announced：2017.9.14

    Registration no：特許第6856189号  Date registered：2021.3.22 

    Applicant (Organization)：学校法人中央大学

  • 筒状体、及び、掘削装置

    冨田 健,永井 守,平林 千晴

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    Application no：特願2016-047322  Date applied：2016.3.10

    Announcement no：特開2017-160717  Date announced：2017.9.14

    Registration no：特許第6815620号  Date registered：2020.12.25 

    Applicant (Organization)：学校法人中央大学

  • 伸縮ユニット及び自動掘削推進装置

    金野 将志,中武 豊晴

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    Application no：特願2016-029264  Date applied：2016.2.19

    Announcement no：特開2017-145644  Date announced：2017.8.24

    Applicant (Organization)：学校法人中央大学

  • 排出対象物の排出方法、排出対象物の排出方法に使用する排出対象物収容排出装置、並びに、排出対象物収容排出装置を使用した掘削推進装置

    金野 将志,中武 豊晴

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    Application no：特願2015-196999  Date applied：2015.10.2

    Announcement no：特開2017-66838  Date announced：2017.4.6

    Registration no：特許第6653501号  Date registered：2020.1.30 

    Applicant (Organization)：学校法人中央大学

  • 筋力補助装置

    猪瀬 洸樹,菊谷 功,今村 洋弥,横山 和也

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    Application no：特願2015-043926  Date applied：2015.3.5

    Announcement no：特開2016-159111  Date announced：2016.9.5

    Registration no：特許第6564586号  Date registered：2019.8.2 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • 筋力補助装置

    猪瀬 洸樹,菊谷 功,今村 洋弥,横山 和也

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    Application no：特願2015-043898  Date applied：2015.3.5

    Announcement no：特開2016-159109  Date announced：2016.9.5

    Registration no：特許第6490455号  Date registered：2019.3.8 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • 筋力補助装置

    猪瀬 洸樹,菊谷 功,今村 洋弥,横山 和也

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    Application no：特願2015-043932  Date applied：2015.3.5

    Announcement no：特開2016-159113  Date announced：2016.9.5

    Registration no：特許第6548917号  Date registered：2019.7.5 

    Applicant (Organization)：学校法人中央大学、ナブテスコ株式会社

  • 切替弁及び筒状伸縮体並びに推進装置

    岸 達也,山﨑 翔太,秋月 政博

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    Application no：特願2015-028494  Date applied：2015.2.17

    Announcement no：特開2016-151644  Date announced：2016.8.22

    Registration no：特許第6618687号  Date registered：2019.11.22 

    Applicant (Organization)：学校法人中央大学

  • 自動掘削推進装置

    水品 明日香,金野 将志

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    Application no：特願2014-252453  Date applied：2014.12.12

    Announcement no：特開2016-113796  Date announced：2016.6.23

    Registration no：特許第6455924号  Date registered：2018.12.28 

    Applicant (Organization)：学校法人中央大学

  • 管状移動体

    田中 友也,冨田 健,高田 淳,金川 護

    　More details

    Application no：特願2014-251041  Date applied：2014.12.11

    Announcement no：特開2016-114090  Date announced：2016.6.23

    Registration no：特許第6631769号  Date registered：2019.12.20 

    Applicant (Organization)：学校法人中央大学、管清工業株式会社

  • ポンプユニット及び固液分離装置

    伴 遼介,吉濱 舜

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    Application no：特願2014-250230  Date applied：2014.12.10

    Announcement no：特開2016-109107  Date announced：2016.6.20

    Registration no：特許第6422759号  Date registered：2018.10.26 

    Applicant (Organization)：学校法人中央大学

  • 力覚提示装置

    渡辺 拓巳,江川 正和

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    Application no：特願2014-107221  Date applied：2014.5.23

    Announcement no：特開2015-222542  Date announced：2015.12.10

    Registration no：特許第6415110号  Date registered：2018.10.12 

    Applicant (Organization)：学校法人中央大学

  • 管状移動体

    針谷 健介,田中 友也,高田 淳,金川 護

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    Application no：特願2014-029904  Date applied：2014.2.19

    Announcement no：特開2015-152169  Date announced：2015.8.24

    Registration no：特許第6436331号  Date registered：2018.11.22 

    Applicant (Organization)：学校法人中央大学、管清工業株式会社

  • 進行波伝達機構、移動装置及び搬送装置

    溝田 裕,金野 将志

    　More details

    Application no：特願2014-029834  Date applied：2014.2.19

    Announcement no：特開2015-151120  Date announced：2015.8.24

    Registration no：特許第6332788号  Date registered：2018.5.11 

    Applicant (Organization)：学校法人中央大学

  • 管状移動体

    針谷 健介,田中 友也,高田 淳,金川 護

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    Application no：特願2014-029917  Date applied：2014.2.19

    Announcement no：特開2015-151121  Date announced：2015.8.24

    Registration no：特許第6399384号  Date registered：2018.9.14 

    Applicant (Organization)：学校法人中央大学、管清工業株式会社

  • 弾性収縮体

    岡裏 幸伸

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    Application no：特願2013-114963  Date applied：2013.5.31

    Announcement no：特開2014-234839  Date announced：2014.12.15

    Applicant (Organization)：学校法人中央大学,ＴＯＹＯ　ＴＩＲＥ株式会社

  • 弾性収縮体

    岡裏 幸伸

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    Application no：特願2013-114962  Date applied：2013.5.31

    Announcement no：特開2014-234838  Date announced：2014.12.15

    Applicant (Organization)：学校法人中央大学,ＴＯＹＯ　ＴＩＲＥ株式会社

  • 管体内探査装置

    針谷 健介,田中 友也,内山 光一,高田 淳,金川 護

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    Application no：特願2013-107484  Date applied：2013.5.21

    Announcement no：特開2014-228658  Date announced：2014.12.8

    Registration no：特許第6245550号  Date registered：2017.11.24 

    Applicant (Organization)：学校法人中央大学、管清工業株式会社

  • 伸縮ユニット、管体内移動体、及び管体内探査装置

    岸 達也,池内 愛,隅田 和哉,山向 健太,岡堀 哲郎

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    Application no：特願2013-076214  Date applied：2013.4.1

    Announcement no：特開2014-200324  Date announced：2014.10.27

    Registration no：特許第6195103号  Date registered：2017.8.25 

    Applicant (Organization)：学校法人中央大学、東京航空計器株式会社

  • 内視鏡の挿入方法及び内視鏡挿入補助装置

    安達 和紀、柳田 隆一

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    Application no：特願2013-030861  Date applied：2013.2.20

    Announcement no：特開2014-158602  Date announced：2014.9.4

    Applicant (Organization)：学校法人中央大学

  • 遊星歯車装置

    井上 明男,稲葉 宏輝

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    Application no：特願2013-030856  Date applied：2013.2.20

    Announcement no：特開2014-159839  Date announced：2014.9.4

    Registration no：特許第6153106号  Date registered：2017.6.9 

    Applicant (Organization)：学校法人中央大学

  • 磁気吸着機構、伸縮ユニット、及び、全方向移動機構

    小川 曜義,大澤 達也,鈴木 陽祐

    　More details

    Application no：特願2013-030859  Date applied：2013.2.20

    Announcement no：特開2014-159058  Date announced：2014.9.4

    Registration no：特許第6176560号  Date registered：2017.7.21 

    Applicant (Organization)：学校法人中央大学

  • 波動伝播式移動装置及びそれを用いた登攀装置

    溝田 裕,高橋 一聡

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    Application no：特願2012-262417  Date applied：2012.11.30

    Announcement no：特開2014-108649  Date announced：2014.6.12

    Registration no：特許第5979759号  Date registered：2016.8.5 

    Applicant (Organization)：学校法人中央大学

  • 未加硫ゴムチューブの成型方法及びゴムチューブの製造方法

    浅図 真吾

    　More details

    Application no：特願2012-256470  Date applied：2012.11.22

    Announcement no：特開2014-104582  Date announced：2014.6.9

    Applicant (Organization)：学校法人中央大学,ＴＯＹＯ　ＴＩＲＥ株式会社

  • ポンプユニット及び流体の搬送方法

    木村 義規,柳田 隆一,安達 和紀

    　More details

    Application no：特願2012-143491  Date applied：2012.6.26

    Announcement no：特開2014-5807  Date announced：2014.1.16

    Registration no：特許第6078842号  Date registered：2017.1.27 

    Applicant (Organization)：学校法人中央大学

  • 関節装置及びリンク機構

    田中 大,加茂 大地,前原 正典

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    Application no：特願2012-120053  Date applied：2012.5.25

    Announcement no：特開2013-244562  Date announced：2013.12.9

    Registration no：特許第5954706号  Date registered：2016.6.24 

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット

    平山 義浩,斉藤 邦広,木村 義規

    　More details

    Application no：特願2012-037807  Date applied：2012.2.23

    Announcement no：特開2013-174139  Date announced：2013.9.5

    Applicant (Organization)：学校法人中央大学

  • ポンプユニット

    平山 義浩,斉藤 邦広,木村 義規

    　More details

    Application no：特願2012-037817  Date applied：2012.2.23

    Announcement no：特開2013-174140  Date announced：2013.9.5

    Registration no：特許第5991608号  Date registered：2016.8.26 

    Applicant (Organization)：学校法人中央大学

  • 曲管ポンプ

    平山 義浩,鈴木 一将

    　More details

    Application no：特願2012-037735  Date applied：2012.2.23

    Announcement no：特開2013-174136  Date announced：2013.9.5

    Registration no：特許第6004416号  Date registered：2016.9.16 

    Applicant (Organization)：学校法人中央大学

  • 進行波生成装置、壁面移動システム及び搬送システム

    後藤 佑輔,高橋 一聡

    　More details

    Application no：特願2012-023244  Date applied：2012.2.6

    Announcement no：特開2013-159243  Date announced：2013.8.19

    Registration no：特許第5858425号  Date registered：2015.12.25 

    Applicant (Organization)：学校法人中央大学

  • 蠕動運動ロボット

    丹羽 智明,堀井 翔太,三戸 大輔,池内 愛,田中 貢,水野 元重

    　More details

    Application no：特願2011-276954  Date applied：2011.12.19

    Announcement no：特開2013-126489  Date announced：2013.6.27

    Applicant (Organization)：学校法人中央大学、日本碍子株式会社、エヌジーケイ・ケミテック株式会社、池袋琺瑯工業株式会社

  • 蠕動運動ロボット

    堀井 翔太,三戸 大輔,森下 陽介,田中 貢,水野元重,丹羽 智明

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    Application no：特願2011-276953  Date applied：2011.12.19

    Announcement no：特開2013-126701  Date announced：2013.6.27

    Applicant (Organization)：学校法人中央大学、日本碍子株式会社、エヌジーケイ・ケミテック株式会社、池袋琺瑯工業株式会社

  • ジャケット内付着物除去方法およびジャケット内付着物除去装置

    堀井 翔太,三戸 大輔,田中 貢,水野 元重,丹羽 智明

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    Application no：特願2011-255096  Date applied：2011.11.22

    Announcement no：特開2013-109215  Date announced：2013.6.6

    Applicant (Organization)：学校法人中央大学、日本碍子株式会社、エヌジーケイ・ケミテック株式会社、池袋琺瑯工業株式会社

  • 流体供給装置

    横島 真人,安達 和紀,樋高 裕也,柳田 隆一

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    Application no：特願2011-194070  Date applied：2011.9.6

    Announcement no：特開2013-52188  Date announced：2013.3.21

    Registration no：特許第5863006号  Date registered：2016.1.8 

    Applicant (Organization)：学校法人中央大学

  • 人工筋肉に用いられる筒状体及び当該筒状体を備える人工筋肉並びに筒状体の製造方法

    樋髙 裕也,横島 真人,安達 和紀

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    Application no：特願2011-040934  Date applied：2011.2.25

    Announcement no：特開2012-176126  Date announced：2012.9.13

    Applicant (Organization)：学校法人中央大学

  • 人工筋肉に用いられる筒状体及び当該筒状体を備える人工筋肉並びに筒状体の製造方法

    樋髙 裕也,横島 真人,安達 和紀

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    Application no：特願2011-040933  Date applied：2011.2.25

    Announcement no：特開2012-176125  Date announced：2012.9.13

    Registration no：特許第5666944号  Date registered：2014.12.19 

    Applicant (Organization)：学校法人中央大学

  • 筒状体の製造方法

    樋髙 裕也

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    Application no：特願2011-040932  Date applied：2011.2.25

    Announcement no：特開2012-176124  Date announced：2012.9.13

    Applicant (Organization)：学校法人中央大学

  • 内視鏡推進装置及び内視鏡用カバー並びに内視鏡用の摩擦材

    樋髙 裕也,横島 真人,安達 和紀,山本 誠一

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    Application no：特願2010-230730  Date applied：2010.10.13

    Announcement no：特開2012-81130  Date announced：2012.4.26

    Applicant (Organization)：学校法人中央大学、富士フイルム株式会社

  • 内視鏡推進装置

    樋髙 裕也,横島 真人,安達 和紀,山本 誠一

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    Application no：特願2010-230729  Date applied：2010.10.13

    Announcement no：特開2012-81129  Date announced：2012.4.26

    Registration no：特許第5571524号  Date registered：2014.7.4 

    Applicant (Organization)：学校法人中央大学、富士フイルム株式会社

  • 内視鏡推進装置

    樋髙 裕也,横島 真人,安達 和紀,山本 誠一

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    Application no：特願2010-230731  Date applied：2010.10.13

    Announcement no：特開2012-81131  Date announced：2012.4.26

    Applicant (Organization)：学校法人中央大学、富士フイルム株式会社

  • 内視鏡推進装置及び内視鏡用カバー

    樋髙 裕也,横島 真人,安達 和紀,山本 誠一

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    Application no：特願2010-230732  Date applied：2010.10.13

    Announcement no：特開2012-81132  Date announced：2012.4.26

    Applicant (Organization)：学校法人中央大学、富士フイルム株式会社

  • 自動掘削推進装置

    大森 隼人,村上 太郎,長井 弘明

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    Application no：特願2010-035286  Date applied：2010.2.19

    Announcement no：特開2011-169056  Date announced：2011.9.1

    Registration no：特許第5554586号  Date registered：2014.6.6 

    Applicant (Organization)：学校法人中央大学

  • 流体注入型アクチュエータ

    緑川 雄一郎

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    Application no：特願2009-297928  Date applied：2009.12.28

    Announcement no：特開2011-137516  Date announced：2011.7.14

    Registration no：特許第5416580号  Date registered：2013.11.22 

    Applicant (Organization)：学校法人中央大学

  • 内視鏡挿入補助具

    樋髙 裕也,横島 真人,山本 誠一

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    Application no：特願2009-212106  Date applied：2009.9.14

    Announcement no：特開2011-56187  Date announced：2011.3.24

    Registration no：特許第5391006号  Date registered：2013.10.18 

    Applicant (Organization)：学校法人中央大学、富士フイルム株式会社

  • ポンプユニット、ポンプ及びポンプ装置

    鈴木 一将,今井 茂雄,村井 達典

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    Application no：特願2009-052188  Date applied：2009.3.5

    Announcement no：特開2010-203400  Date announced：2010.9.16

    Registration no：特許第5212987号  Date registered：2013.3.8 

    Applicant (Organization)：学校法人中央大学、株式会社LIXIL

  • ポンプユニット、ポンプ及びポンプ装置

    鈴木 一将,今井 茂雄,村井 達典

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    Application no：特願2009-046073  Date applied：2009.2.27

    Announcement no：特開2010-196689  Date announced：2010.9.9

    Registration no：特許第5371037号  Date registered：2013.9.27 

    Applicant (Organization)：学校法人中央大学、株式会社LIXIL

  • 管内自走装置および筒状伸縮体

    堀 裕貴，舟橋 幸祐

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    Application no：特願2008-094036  Date applied：2008.3.31

    Announcement no：特開2009-240713  Date announced：2009.10.22

    Registration no：特許第5246687号  Date registered：2013.4.19 

    Applicant (Organization)：学校法人中央大学

  • マイクロマシン及びマイクロマシンシステム

    中村太郎,嵯峨宣彦

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    Date applied：2006.11.6

    Registration no：特許第3893016号  Date registered：2006.11.6 

  • 全方向移動機構

    三田村 祐樹,佐藤 邦昭,今井 梢平

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    Application no：特願2006-278704  Date applied：2006.10.12

    Announcement no：特開2008-94267  Date announced：2008.4.24

    Registration no：特許第4998875号  Date registered：2012.5.25 

    Applicant (Organization)：学校法人中央大学

  • 全方向移動機構

    三田村 祐樹,佐藤 邦昭,今井 梢平

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    Application no：特願2006-278750  Date applied：2006.10.12

    Announcement no：特開2008-97349  Date announced：2008.4.24

    Registration no：特許第4854016号  Date registered：2011.11.4 

    Applicant (Organization)：学校法人中央大学

  • アクチュエータ、及び、ロボットハンド

    嵯峨 宣彦,粟野 克行

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    Application no：特願2004-352867  Date applied：2004.12.7

    Announcement no：特開2006-159333  Date announced：2006.6.22

    Applicant (Organization)：タマティーエルオー株式会社

  • 機能性流体を用いた柔軟関節マニピュレータ

    科学技術振興機構・中村太郎，嵯峨宣彦

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    Date applied：2002.12.17

    Announcement no：特開2004-195576 

  • マイクロマシン及びマイクロマシンシステム

    科学技術振興機構・中村太郎,嵯峨宣彦

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    Date applied：2000.7.26

    Announcement no：特開2002-036199 

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Committee Memberships

  • 2018.4 - Now

    JFPS   Editor  

  • 2013.4 - Now

    埼玉県立松山高等学校   スーパーサイエンスハイスクール 評価委員  

  • 2020.6 - 2021.10

    24th issue of the International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines   Program Chair  

  • 2015.4 - 2017.3

    日本機械学会   部門表彰委員会  

  • 2015.1 - 2016.1

    計測自動制御学会   計測自動制御学会 特別号ゲストエディタ  

  • 2016 - 　

    日本機械学会   バイオロボティクス研究会 主査  

  • 2013.4 - 2014.12

    計測自動制御学会   計測自動制御学会システムインテグレーション部門大会 プログラム委員長  

  • 2014 - 　

    計測自動制御学会   論文委員会 ゲストエディタ  

  • 2013 - 　

    ロボティクスシンポジア   第19回ロボティクスシンポジア プログラム委員長  

  • 2009.4 - 2011.3

    日本機械学会   ロボティクスメカトロニクス部門運営委員会  

  • 2009.4 - 2011.3

    日本ロボット学会   国際委員  

  • 2009.4 - 2010.3

    日本機械学会   ロボティクスメカトロニクス部門出版委員会  

  • 2007.4 - 2009.3

    日本ロボット学会   事業計画委員会  

  • 2009 - 　

    日本ロボット学会   編集委員会委員  

  • 2009 - 　

    日本フルードパワーシステム学会   機能性流体を核としたフルードパワーシステムの融合化に関する研究委員会幹事  

  • 2005.5 - 2007.12

    精密工学会   精密工学会会誌編集委員  

  • 2006 - 　

    精密工学会   事業部会事業企画委員会委員 第1グループ幹事  

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