ものづくり技術（機械・電気電子・化学工学） / 制御、システム工学  / 制御・システム工学

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年1月

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年1月

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年1月

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年11月

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

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年10月

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

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

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025)   18684 - 18691   2025年10月

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

日本ロボット学会誌   43 ( 8 )   2025年10月

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

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

ADVANCED ROBOTICS   39 ( 16 )   1014 - 1025   2025年8月

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年8月

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

日本ロボット学会誌   43 ( 6 )   2025年7月

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年7月

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年7月

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年7月

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年7月

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

日本ロボット学会誌   43 ( 6 )   2025年7月

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年6月

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年2月

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年2月

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年2月

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

Yuki Ishida, Ryunosuke Sawahashi, Rie Nishihama, Taro Nakamura

2025 IEEE/SICE International Symposium on System Integration (SII 2025)   1292 - 1297   2025年1月

Development of a Soft Growing Actuator for Automated Cystoscope Insertion. 査読

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年1月

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年

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— 査読

門間 洋介, 山中 雄太, 人見 峻広, 伊藤 文臣, 中村 太郎

日本ロボット学会誌   42 ( 9 )   912 - 915   2024年11月

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年11月

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年11月

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

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年11月

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

F. Ito, D. Takagi, T. Nakamura

the 9th International Symposium on Aero-aqua Bio-Mechanisms (ISABMEC2024)   79 - 83   2024年11月

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 査読

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

Robotics and Automation in Space (iSAIRAS2024), S8.P2   2024年11月

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- 査読

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年11月

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年11月

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 -機械学習を用いた各種センサによる汎化性検証- 査読

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年11月

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年10月

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

Fumio Ito, Shunichi Kurumaya, Kagaya Katsushi, Taro Nakamura

IEEE/RSJ International Conference on Intelligent Robots;Systems (IROS2024)   2024年10月

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年10月

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

Sogo Matsuo, Ryusei Okuma, Fumio Ito, Taro Nakamura

the 12th JFPS International Symposium on Fluid Power in Hiroshima (JFPS)   2024年10月

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年10月

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年10月

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

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年9月

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年9月

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年9月

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年9月

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年9月

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年9月

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

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

IEEE International Conference on Advanced Intelligent Mechatronics(AIM)   205 - 210   2024年7月

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

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

in 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2024)   88 - 93   2024年7月

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

Tomotaka Sugino, Yusuke Shimoda, Manabu Okui, Taro Nakamura

International Conference on Human System Interaction, HSI   2024年7月

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

Akihiro Kobayashi, Manabu Okui, Taro Nakamura

International Conference on Human System Interaction, HSI   2024年7月

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年7月

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年7月

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年5月

A Design Method for Instantaneous Force Generation Based on a Mantis Shrimp with Exoskeleton Spring 査読

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

IEEE/ASME Transactions on Mechatronics   29 ( 2 )   960 - 971   2024年4月

Fluid-Driven Soft Actuators for Soft Robots.

Taro Nakamura

J. Robotics Mechatronics   36 ( 2 )   251 - 259   2024年4月

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

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

IEEE Access   12   25980 - 25992   2024年3月

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

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

ICIT   1 - 6   2024年3月

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— 査読

人見 峻広, 山中 雄太, 伊藤 文臣, 中村 太郎

日本ロボット学会誌   42 ( 2 )   185 - 188   2024年3月

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

Taiga Shimizu, Ryunosuke Sawahashi, Taro Nakamura 0001

ICIT   1 - 7   2024年3月

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年3月

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年3月

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― 査読

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年1月

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 査読

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年1月

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 査読

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年1月

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-. 査読

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

SII   863 - 868   2024年1月

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年1月

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年1月

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年

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

ROBIO   1 - 6   2023年12月

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年12月

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年12月

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

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

ROBOMECH Journal   10 ( 1 )   2023年10月

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

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

the IEEE International Conference on Systems, Man, and Cybernetics (SMC2023)   2023年10月

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

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

IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society   2023年10月

Proposal for a lifting support device for LP gas delivery operations 査読

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

IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society   2023年10月

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

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

Proc. of the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)   2023年10月

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

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

IEEE Access   11   76156 - 76165   2023年7月

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

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

the 18th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR)   2023年6月

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

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

the 34th ISTS   2023年6月

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

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

the 32nd IEEE International Symposium on Industrial Electronics (ISIE2023)   2023年6月

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

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

the 18th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2023)   2023年6月

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

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

the 18th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2023)   2023年6月

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

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

in the 34th ISTS   2023年6月

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

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

the 32nd International Symposium on Industrial Electronics (ISIE2023)   2023年6月

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

Y. Ishii, F. Ito, T. Nakamura

the 32nd International Symposium on Industrial Electronics (ISIE2023)   2023年6月

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

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

IEEE Robotics and Automation Letters   8 ( 5 )   2999 - 3006   2023年5月

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年3月

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

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

Journal of Robotics and Mechatronics   35 ( 1 )   180 - 193   2023年2月

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

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

2023 IEEE/SICE International Symposium on System Integration (SII)   2023年1月

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 査読

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

2023 IEEE/SICE International Symposium on System Integration (SII)   2023年1月

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

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

2023 IEEE/SICE International Symposium on System Integration (SII)   2023年1月

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

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

Polymer Testing   117   107800 - 107800   2023年1月

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

SII 2023 IEEE/SICE International Symposium on System Integration   2023年1月

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

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

IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society   2022年10月

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年10月

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年10月

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

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年10月

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

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年10月

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

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年10月

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

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年10月

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

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年10月

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

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年10月

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

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年10月

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年10月

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

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年10月

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

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

IEEE Access   10   128399 - 128407   2022年10月

空気噴出を利用した力覚装置による身体誘導

澤橋 龍之介, 保井 拓巳, 奥井 学, 西濵 里英, 中村 太郎

日本バーチャルリアリティ学会論文誌   27 ( 3 )   264 - 273   2022年9月

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年9月

Confirmation of Variable Diameter TRM Operation. 査読

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

CLAWAR   349 - 357   2022年9月

Evaluation of Support Device for Manual Handling of Gas Cylinders. 査読

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

CLAWAR   550 - 559   2022年9月

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

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

CLAWAR   537 - 549   2022年9月

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

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

CLAWAR   33 - 41   2022年9月

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

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

RO-MAN   686 - 692   2022年8月

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年8月

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年8月

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年4月

Development of Variable Viscoelastic Joint Module Performance Evaluation and Proposal of Application Examples, 査読

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

11 ( 3 )   2022年3月

空気噴出を利用した力覚装置による身体誘導

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年

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年12月

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年12月

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年12月

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 査読

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

Journal of Drive and Control   18 ( 4 )   77 - 83   2021年12月

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

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

Proc. 11th JFPS International Symposium on Fluid Power   58 - 65   2021年10月

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

R. Enjo, M. Okui, T. Nakamura

Proc. 11th JFPS International Symposium on Fluid Power   169 - 174   2021年10月

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年9月

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

日本ロボット学会誌   39 ( 7 )   2021年9月

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年9月

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年8月

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年8月

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年8月

Dropping Sensation for Development of Lower Limb Force Feedback Device 査読

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

Proc. 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN 2021)   398 - 405   2021年8月

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年7月

Estimating deformation of pipe from its internal image 査読

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

Proc. 7th International Conference on Advanced Mechatronics (ICAM)   2021年7月

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年7月

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年7月

Detection of Rust from Images in Pipes Using Deep Learning 査読

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

Proc. 18th International Conference on Ubiquitous Robots (UR)   2021年7月

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年7月

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

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

2021 IEE International Conference on Industrial Technology (ICIT)   2021-March   47 - 54   2021年3月

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

日本ロボット学会誌   39 ( 2 )   181 - 184   2021年3月

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年3月

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

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年3月

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年3月

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年1月

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年

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年

周期的空気圧印加により駆動する管内移動ロボットのための小型回転型バルブ機構

眞野 雄貴, 佐藤 広都, 伊藤 文臣, 奥井 学, 山田 泰之, 中村 太郎

日本ロボット学会誌   38 ( 10 )   965 - 974   2020年12月

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年11月

単一チューブによる伸縮機構を利用した2自由度管路選択機構の提案とそのガス管検査用ロボットへの適用

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年11月

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年10月

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年10月

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年9月

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年9月

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年8月

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年8月

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年7月

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年7月

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年7月

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年7月

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年7月

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

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年5月

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

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

Proceedings of SPIE - The International Society for Optical Engineering   11375   2020年4月

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

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

J. Robotics Mechatronics   32 ( 1 )   138 - 148   2020年2月

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

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

J. Robotics Mechatronics   32 ( 1 )   209 - 219   2020年2月

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

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

IEEE Access   8   28560 - 28570   2020年2月

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

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年1月

Clay Drilling Performance of Seabed Robotic Explorer Using Peristaltic Motion. 査読

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年1月

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

Yasuyuki Yamada, Taro Nakamura 0001

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020   74 - 79   2020年1月

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

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年1月

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

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年1月

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

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年1月

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

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年1月

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

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年1月

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

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

session7-1, The 17th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2019)   2019年12月

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

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

2019 19th International Conference on Advanced Robotics, ICAR 2019   553 - 559   2019年12月

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

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

session14-4, The 17th International Conference on Electrorheological Fluids and Magnetorheological Suspensions (ERMR2019)   2019年12月

FEM Analysis of 3D Printable Pleated Pneumatic Artificial muscle 査読

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年12月

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

F Ito, T Kawaguchi, Y Yamada, T Nakamura

Journal of Robotics and Mechatronics   31 ( 6 )   781 - 793   2019年12月

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

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

32nd International Symposium on Space Technology and Sience (32nd ISTS)   2019年11月

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

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年11月

Laminated foam-based soft actuator for actuatable flexible structure. 査読

Yasuyuki Yamada, Taro Nakamura

Proc. of The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)   4359 - 4364   2019年11月

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年10月

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年10月

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

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

IFAC-PapersOnLine   52 ( 22 )   108 - 111   2019年10月

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

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年10月

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

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年8月

Soil discharging mechanism for seafloor drilling robot 査読

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年8月

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

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年8月

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

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年8月

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

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

in Proceedings of Advanced Intelligent Mechatronics (AIM)   114 - 119   2019年7月

Straight-Fiber-Type Artificial Muscle Deformation Under Pressurization 査読

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

IEEE Robotics and Automation Letters   4 ( 3 )   2592 - 2598   2019年7月

Research of human-robot handshakes under variable stiffness conditions. 査読

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年7月

ミミズの移動方法を模倣した海底探査用掘削ロボットの開発:—把持トルク向上機構の提案と掘削抵抗軽減に関する研究— 査読

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

日本ロボット学会誌   37 ( 4 )   330 - 340   2019年7月

Development of Underwater Drilling Robot Based on Earthworm Locomotion. 査読

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

IEEE Access   7   103127 - 103141   2019年7月

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

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

32nd International Symposium on Space Technology and Sience (32nd ISTS)   2019年6月

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

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年6月

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

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年6月

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

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

Smart Materials and Structures   28 ( 6 )   2019年5月

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

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

2019 Smart Mater. Struct   2019年4月

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 査読

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年3月

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

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

SPIE, Smart Structures Nondestructive Evaluation, 10966-31   10966   2019年3月

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

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

SPIE, Smart Structures Nondestructive Evaluation, 10965-30   10965   2019年3月

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

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年1月

航空機点検のための負圧吸着型進行波壁面移動装置の開発と走行実験

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年1月

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

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年1月

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

Yasuyuki Yamada, Taro Nakamura

IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, January 14-16, 2019   2019 ( SII )   104 - 111   2019年1月

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

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年1月

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年

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 査読

小島 明寛, 奥井 学, 久道 樹, 只見 侃朗, 辻 知章, 中村 太郎

日本フルードパワーシステム学会論文集   50 ( 2 )   46 - 52   2019年

柔軟なブラシホイールを用いた車輪型管内移動ロボットの走行特性 査読

只見 侃朗, 伊藤 文臣, 鎌田 将司, 河口 貴彦, 山田 泰之, 中村 太郎

計測自動制御学会論文集   55 ( 11 )   692 - 699   2019年

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年

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年

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年10月

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

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年10月

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

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年10月

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

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

JRM   30 ( 5 )   752 - 761   2018年10月

Material Properties of Fiber-Reinforced Rubber Tube 査読

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年10月

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

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年10月

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年9月

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年9月

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年9月

Proposal of Propulsion Unit based on Earthworm Setae for Underwater Excavation Robot

N. Tadami, K. Isaka, T. Nakatake, A. Fujiwara, Y. Yamada, T. Nakamura, Chuo University, M. Sugesawa, H. Yoshida JAMSTEC

Proc. of The 21th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), Panama, Panamacity   2018   2P1-A07   2018年9月

Proposal of Air Compressing Device using Walking Vibration Energy Regeneration for Pneumatic Driven Assistive Device

M. Okui, Y. Yasuyuki, T. Nakamura

Proc. of The 21th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2018), Panama, Panamacity   36 - 43   2018年9月

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

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年8月

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

The 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), MoB2.6, University of Twente, (The Netherlands)   2018 ( BioRob )   2018年8月

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

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年8月

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

16th International Conference on Electrorheological Fluids and Magnetorheological Suspensions, G-2-6   2018年7月

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

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年7月

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

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年7月

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

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年7月

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

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年7月

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

16th International Conference on Electrorheological Fluids and Magnetorheological Suspensions, P-2   2018年7月

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

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年7月

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

16th International Conference on Electrorheological Fluids and Magnetorheological Suspensions, G-2-2   2018年7月

Proposal of Welding Assisting Device Using Magneto Rheological Brake

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

16th International Conference on Electrorheological Fluids and Magnetorheological Suspensions, I-1-1   2018年7月

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年6月

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 査読

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年6月

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

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

Advanced Robotics   32 ( 7 )   386 - 397   2018年4月

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

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年4月

圧縮空気生成手法の携帯性評価に基づくハイブリッド型携帯空気圧源の開発 査読

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年4月

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

Manabu Okui, Yuki Nagura, Yasuyuki Yamada, Taro Nakamura

IEEE Robotics and Automation Letters   3 ( 2 )   819 - 826   2018年4月

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

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年4月

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 査読

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年3月

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年1月

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 査読

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年1月

印刷機用トナーの高速搬送のための管式蠕動運動型コンベア 査読

山田 泰之, 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年1月

可変粘弾性関節を有するアシストスーツの開発:—粘弾性が人の動作に与える影響と粘弾性制御則の提案— 査読

飯川 伸吾, 奥井 学, 鈴木 隆二, 山田 泰之, 中村 太郎

日本ロボット学会誌   36 ( 8 )   567 - 575   2018年

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

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年

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

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年

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

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年

内圧を受ける軸方向繊維強化ゴム円筒の変形特性

辻 知章, 小島 明寛, 奥井 学, 久道 樹, 中村 太郎

日本機械学会論文集   84 ( 868 )   18 - 00351-18-00351   2018年

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

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

ADVANCED ROBOTICS   32 ( 12 )   646 - 658   2018年

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

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年

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年

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年

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年12月

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年12月

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年10月

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年9月

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年9月

筋骨格シミュレーションに基づいた内骨格型パワーアシストスーツの補助効果検証 査読

猪瀬 洸樹, 毛利 駿, 山田 泰之, 横山 和也, 菊谷 功, 中村 太郎

日本ロボット学会誌論文集   35 ( 7 )   557 - 565   2017年9月

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年9月

201802224779945784

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年9月

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年9月

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

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

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1267 - 1272   2017年8月

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

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

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   291 - 296   2017年8月

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

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年8月

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

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

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   309 - 314   2017年8月

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

Ryutaro Ishikawa, Takeru Tomita, Yasuyuki Yamada, Taro Nakamura

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   1279 - 1284   2017年8月

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

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

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   76 - 81   2017年8月

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年8月

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

Yasuyuki Yamada, Hirotaka Sawada, Takashi Kubota, Taro Nakamura

Proceedings - IEEE International Conference on Robotics and Automation   4776 - 4781   2017年7月

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

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年7月

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

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年7月

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 査読

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年6月

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年5月

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 査読

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年5月

Throwing motion with instantaneous force using a variable viscoelastic joint manipulator 査読

Hiroki Tomori, Tatsuo Majima, Hikaru Ishihara, Taro Nakamura

JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES   28 ( 8 )   999 - 1009   2017年5月

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

Manabu Okui, Shingo Iikawa, Yasuyuki Yamada, Taro Nakamura

Journal of Intelligent Material Systems and Structures   2017年5月

不整地を高速移動可能なはね付きクローラの登坂性能検証 査読

山田 泰之, 遠藤 玄, 中村 太郎

日本ロボット学会誌論文集   35 ( 2 )   153 - 159   2017年4月

落下土循環システムを搭載した蠕動運動形月面掘削ロボットの掘削性能向上の検討 査読

中武豊晴, 金野将志, 水品明日香, 山田泰之, 中村太郎, 久保田孝

日本ロボット学会誌論文集   35 ( 3 )   230 - 238   2017年4月

腰部の形状を考慮した空気圧アクチュエータによる内骨格型パワーアシストスーツの開発および補助効果検証 査読

猪瀬洸樹, 毛利駿, 山田泰之, 横山和也, 菊谷功, 中村太郎

日本ロボット学会誌   35 ( 1 )   70 - 77   2017年1月

Development of a Flexible Propulsion Unit for ａ Seabed 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 20th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2017), Porto, Portugal   97 - 105   2017年

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

Takeru Tomita, Ryutaro Ishikawa, Yasuyuki Yamada, Taro Nakamura

ADVANCES IN COOPERATIVE ROBOTICS   88 - 96   2017年

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

Takafumi Amakawa, Tomohiro Yamaguchi, Yasuyuki Yamada, Taro Nakamura

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

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年

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

Toshiya Ishikawa, Taro Nakamura

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2016-   220 - 227   2016年9月

Powder conveyance experiments with peristaltic conveyor using a pneumatic artificial muscle 査読

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

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2016-   1539 - 1544   2016年9月

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年9月

巻フィルムチューブ式SMA人工筋肉アクチュエータのモバイル化と拮抗配置による剛性制御手法の検討 査読

石川 敏也, 中村 太郎

計測自動制御学会論文集   52 ( 3 )   103 - 112   2016年3月

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年1月

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

Ryutaro Ishikawa, Takeru Tomita, Yasuyuki Yamada, Taro Nakamura

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

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

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

ADVANCED ROBOTICS   30 ( 21 )   1365 - 1379   2016年

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

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

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

Yasuyuki Yamada, Gen Endo, Taro Nakamura

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

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 査読

Ryo Suzuki, Masakazu Egawa, Yasuyuki Yamada, Taro Nakamura

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

Development of axial extension actuator for narrow pipe inspection endoscopic robot 査読

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

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