Updated on 2025/08/31

写真a

 
ITO Fumio
 
Organization
Faculty of Science and Engineering Research Associate
Contact information
The inquiry by e-mail is 《here
External link

Degree

  • 博士(工学) ( 中央大学 )

  • 修士(工学) ( 中央大学 )

Education

  • 2024.3
     

    Chuo University   doctor course   completed

  • 2021.3
     

    Chuo University   master course   completed

  • 2019.3
     

    Chuo University   graduated

Research History

  • 2024.4 - Now

    Hosei University   Faculty of Engineering and Design Department of Art and Technology   (University) Concurrent Lecturer

  • 2024.4 - Now

    Chuo University   Faculty of Science and Engineering Department of Precision Mechanics   Assistant Professor   Assistant professor

  • 2024.9    

    一般財団法人 沖縄県公衆衛生協会   沖縄県委託事業 子ども科学技術人材育成事業 ハイレベル型体験プログラム   講師

  • 2021.4 - 2024.3

    日本学術振興会 特別研究員DC1

Professional Memberships

  • 2019.7 - Now

    IEEE(The Institute of Electrical and Electronics Engineers, Inc.)

  • 2019.4 - Now

    計測自動制御学会

  • 2019.4 - Now

    日本機械学会

  • 2019.4 - Now

    日本フルードパワー学会

Research Interests

  • メカトロニクス

  • キャビテーション

  • バクテリア

  • 空気圧

  • ロボティクス

Research Areas

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

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

Papers

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MISC

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Presentations

  • 自律分散制御を用いた蠕動運動型ミキシングポンプによる混合および搬送運動の生成

    丹野喬瑛, 足立凌輔, 伊藤文臣, 花村朋樹, 梅舘拓也, 中村太郎

    2025.6 

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

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

    SII  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-

    伊藤誠矢, 西浜里英, 澤橋龍之介, 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 

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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 

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  • Development of Series-Driven Catapult to Increase Human Jumping Height

    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

    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 

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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-

    榎本優喜, 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 

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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-

    大熊琉聖, 松尾壮悟, 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 

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  • Robot position estimation method in piping using VOD-PIG

    廣本果南, 成瀬雄太, 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 

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  • Proposal of a hybrid drilling mechanism using intermittent air jets and spiral drills

    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

    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 

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  • Development of a Peristaltic Ice Drilling Robot for Investigations under Arctic Ice-Study of Auger Shape for Ice Excavation-

    大垣諭史, 武田侑佳, 長嶋洋渡, 鈴木陽介, 澤橋龍之介, 伊藤文臣, 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)  2024 

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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 

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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 

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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 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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, 西浜里英, 桝田大輔, 中村太郎

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2024 

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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 

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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 

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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 

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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 

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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 

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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 

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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 

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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 

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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 

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  • Verification of performance in a straight pipe inspection using a connected variable outer diameter PIG.

    成瀬雄太, 伊藤文臣, 渡邉淳一, 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 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022 

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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

    日本ロボット学会学術講演会予稿集(CD-ROM)  2022 

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  • Design of a grease collection unit to improve the cleaning performance of duct cleaning mechanism using planetary gear mechanism

    人見峻広, 門間洋介, 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)  2022 

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  • Prototype Cleaning Mechanism for Square Ducts Using Planetary Gear Mechanism and Verification of Brush Trajectory

    人見峻広, 門間洋介, 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)  2022 

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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 

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  • Design of Grease Cleaning Mechanism Using a Planetary Gear Mechanism for cleaning in kitchen ventilation ducts

    人見峻広, 山中雄太, 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)  2021 

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  • Investigation of a Mechanism Capable of Cleaning Grease from Rectangular Ducts Using a Planetary Gear Mechanism

    山中雄太, 人見峻広, 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)  2021 

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  • Development of Short Fiber Reinforced Pneumatic Rubber Artificial Muscle: Evaluation of the effect of fiber concentration on tensile properties using carbon fibers

    國定大真, 藤谷希一, 伊藤文臣, 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 

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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  The Japan Society of Mechanical Engineers

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    Event date: 2021    

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    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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  • 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  The Japan Society of Mechanical Engineers

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    Event date: 2021    

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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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  • 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  The Japan Society of Mechanical Engineers

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    Event date: 2021    

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    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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  • Double-elbow pipe inspection test using wave propagation type pipe inspection robot

    TAKAYA Kazuki, ITO Fumio, WATANABE Jun’ichi, NAKAMURA Taro

    The Proceedings of Mechanical Engineering Congress, Japan  2021  The Japan Society of Mechanical Engineers

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    Event date: 2021    

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    In this paper, the authors report the results of an inspection test on a double-elbow pipe using a wave propagation type pipe inspection robot. In previous study, we developed a small and powerful robot to inspect pipes in the factory, and conducted an inspection test in a real field. In the test, it was confirmed the developed robot didn’t stably passage a double-elbow pipe (two 90-degree bent pipes installed close to 100-300 mm). It was confirmed that the path of the robot changed in the curved pipes and the displacement of the actuator was not effcientry converted into the amount of movement of the robot. In this study ,we increased the maximum extension length of the extension unit from 25 mm to 60 mm to solve the above problem. In the experiments of passage a double-elbow pipes in the lablatory, the redesigned robot was successfully pass the double-elbow pipes 10 times in a row.

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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  The Japan Society of Mechanical Engineers

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    Event date: 2021    

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    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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  • 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 

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  • Integrated molding of pneumatic artificial muscle by 3D printer-Multi-segment molding and simple production-

    ITO Fumio, KOJIMA Akihiro, OKUI Manabu, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020    

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    This paper describes multi-segmentation of artificial muscles integrally molded by a 3D printer and simplification of post-processing. In recent years, with the improvement in performance of 3D printers, it has become possible to integrally mold flexible and hard materials. From this, attention has been focused on the integral molding of actuators that makes effective use of the complex structure of 3D printers. Most of the actuators using 3D printers use air pressure, and in consideration of the material properties, pistons using a bellows structure are common. However, the output of the piston is small because the pressure receiving area is small. Therefore, the pneumatic artificial muscle was integrally molded using the structural advantage. In this paper, we focused on the contraction length of the artificial muscle, and integrally molded the artificial muscle with the increased number of segments. In addition, the design was changed to reduce post-processing after molding. We also discussed the effect of increasing the number of segments on contraction by measuring the contraction of the artificial muscle.

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  • Proposal of Pipeline-Shape Measurement Method Using IMU Sensor Focusing on Velocity Change Due to Peristaltic Motion

    SATO Hiroto, MANO Yuki, ITO Fumio, YASUI Takumi, OKUI Manabu, NISHIHAMA Rie, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020    

    Language:Japanese  

    In the inspection of sewer pipes, it is necessary to identify the damaged part, and a pipe diagram is indispensable, but it is often dissipated and many pipe maps do not exist. Therefore, it is required to create pipeline diagrams. Therefore, the authors used an IMU sensor that measures three-axis acceleration and three-axis angular velocity, and corrected the cumulative error that occurred at that time by using the traveling characteristics of the earthworm's peristaltic motion, which is a periodic motion of progression and stopping. We tried to measure the pipe length and the pipe shape. In this report, we conducted a basic evaluation experiment to measure the pipe length with high accuracy, and investigated the effectiveness of this method.

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  • Proposal and evaluation of a high-rigidity joint attachment for a peristaltic robot for pipe inspection in an actual environment

    YASUI Takumi, SATO Hiroto, MANO Yuki, ITO Fumio, NAKAMURA Taro

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2020  The Japan Society of Mechanical Engineers

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    Event date: 2020    

    Language:Japanese  

    In the recent years, aged pipes are increasing, and many road collapse accidents occur. Therefore, it is necessary to inspect the condition of the pipe to efficiently determine whether a replacement or repair is necessary. However, pressure pipes that are capable of coping with complex terrains, the pipelines are complicated and are difficult to inspect with the existing inspection equipment. Therefore, based on the earthworm's peristaltic movement and artificial muscles, the authors developed a peristaltic robot in a previous research for inspecting the inside of a pressure-feeding pipe. However, owing to the unevenness its joint, the robot was unable to maneuver through the corners of a curved pipe. Therefore, in this study, we developed a high rigid joint attachment that enables the robot to pass through a curved pipe, and evaluated its effectiveness through traveling experiments by using a curved pipe.

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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 

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    Event date: 2019    

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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 

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    Event date: 2019    

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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 

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    Event date: 2019    

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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 

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    Event date: 2019    

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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 

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  • 3Dプリンタによる空気圧人工筋肉の一体成型-板ばね合成の変更による収縮特性への影響-

    伊藤文臣, 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)  2019 

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    Event date: 2019    

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  • Proposal on Speed Improvement Focusing on Dynamic Characteristics of Unit in peristaltic motion Type Duct Cleaning Robot

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    Event date: 2019    

    Language:Japanese  

    Periodic cleaning is necessary for the duct which performs ventilation inside the house. However, existing duct cleaning tools are difficult to clean thoroughly. Therefore, a duct cleaning robot is required. In the previous study, we focused on a peristaltic motion type robot and developed a peristaltic motion type duct cleaning robot for 75 A duct. We conducted a cleaning experiment. The usefulness of a peristaltic motion type robot was confirmed from a speed of 6.1 mm / s and a cleaning rate of 99%. Therefore, in this paper, we first develop robots that are compatible with 50 A ducts that are popular in Japan. However, it is difficult to achieve the target speed simply by miniaturizing the conventional robot. Therefore, we propose speed improvement by the control method focusing on the dynamic characteristics of the unit. Finally, we conduct a driving experiment and confirm its usefulness.

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  • Proposal of Peristaltic Motion Type Duct Cleaning Robot with High Contraction Unit

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019  The Japan Society of Mechanical Engineers

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    Event date: 2019    

    Language:Japanese  

    Ventilation ducts has become important in urban high airtight houses. However, due to the long-term use of ducts, dust accumulates inside. Therefore, cleaning inside the duct is required. In the conventional cleaning method, there is a method of pushing the cleaning tool inside the duct. In this method, the deep portion of the duct cannot be cleaned by the friction between the cleaning tool and the inner wall of the duct. Also, cleaning time is limited. Therefore, the authors propose a peristaltic motion type robot for duct cleaning using a high contraction unit as a method of cleaning up to the deepest part of a duct in a limited time.

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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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    Event date: 2019    

    Language:Japanese  

    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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  • 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  2019  東京 : 日本フルードパワーシステム学会

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    Event date: 2019    

    Language:Japanese  

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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  2019  東京 : 日本フルードパワーシステム学会

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    Event date: 2019    

    Language:Japanese  

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    Other Link: http://id.ndl.go.jp/bib/030105300

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Awards

  • JSME Award for Excellence in Interdisciplinary Research

    2025.6   The Japan Society of Mechanical Engineers   Development of Augmented Jump SLIP model and Its Optimization based on Impulse Analysis

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

  • 日本機械学会奨励賞(研究)

    2025.3   日本機械学会   多様な発生力を強化する生物規範型ソフトロボットの研究

    伊藤文臣

  • IEEE TOWERS Kansai Young Professionals Affinity Group Award (supporter award)

    2022.11   IEEE   Occurrence and control of cavitation caused by instantaneous movement.

    Fumio Ito

  • SICE International Young Authors Award (SIYA-IROS2022)

    2022.10   SICE   Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis Shrimp - Design and Control Method of Cavitation by Simulation and Experiment.

    Fumio Ito

  • Industrial Robot and CLAWAR2022 Highly Commended Paper Award

    2022.9   CLAWAR Association   Confirmation of variable diameter TRM operation.

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

  • Best Student Paper

    2021.8   CLAWAR Association   Residual Water Removal Mechanism for obtaining Clear Images with Sewer Pipe Inspection Robot

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

  • Chuo University

    2021.3   Chuo University  

    Fumio Ito

  • JSME Miura Award

    2021.3   The Japan Society of Mechanical Engineers  

    Fumio Ito

  • IEEE Robotics and Automation Society Japan Joint Chapter Young Award (IROS2019)

    2019.11   IEEE   Proposal of a Peristaltic Motion Type Duct Cleaning Robot for Traveling in a Flexible Pipe.

    F. Ito, T. Kawaguchi, M. Kamata, Y. Yamada, 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.

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

  • CLAWAR Association Best Technical Paper Award

    2019.8   CLAWAR Association   Proposal of bellows-integrated robot for improving flexibility and sealability of peristaltic motion robot.

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

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Research Projects

  • 細管内の高粘性流体を効率的に遊泳するための鞭毛変形モデルの構築と遊泳機構の開発

    Grant number:25K17564  2025.4 - 2028.3

    日本学術振興会  科学研究費助成事業  若手研究  中央大学

    伊藤 文臣

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    Grant amount: \4810000 ( Direct Cost: \3700000 、 Indirect Cost: \1110000 )

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  • 複数鞭毛とボディの相互作用に基づく狭所用高粘性流体内遊泳ロボットの開発

    2025.9 - 2026.10

    公益財団法人永守財団  公益財団法人永守財団 研究助成 2025  中央大学

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    Authorship:Principal investigator 

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  • テッポウエビのキャビテーションジェット生成原理に基づく衝撃発生機構の開発

    Grant number:24K22941  2024.7 - 2026.3

    日本学術振興会  科学研究費助成事業  研究活動スタート支援  中央大学

    伊藤 文臣

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    Authorship:Principal investigator 

    Grant amount: \2860000 ( Direct Cost: \2200000 、 Indirect Cost: \660000 )

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  • 高粘度流体を含む細径管内の検査・移動を目的とした鞭毛の極性多形性に着想を得たバクテリア規範型配管検査ロボットの開発

    2024.10 - 2025.10

    一般社団法人機械システム振興協会  令和6年度 先端的研究分野における共同調査・研究制度(先端共同プロジェクト)  中央大学

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  • シャコの打撃動作を規範とした外骨格弾性要素と空気圧人工筋肉による瞬発力発生手法

    Grant number:22KJ2769  2023.3 - 2024.3

    日本学術振興会  科学研究費助成事業  特別研究員奨励費  中央大学

    伊藤 文臣

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    Grant amount: \3100000 ( Direct Cost: \3100000 )

    本研究の目的は,シャコやバッタにみられる外骨格ばねの要素を模倣することで,高応答性と高出力密度,コンプライアンス特性を兼ね備えた高応答人工筋肉駆動機構の設計論を確立することである.本研究では,1年目に外骨格ばねと人工筋肉の複合力に基づく打撃機構のモデルを構築する.2年目に,打撃機構に取り入れた2種類の外骨格の弾性要素に関する多目的最適設計論について,1年目に構築したモデルをもとにまとめる.3年目に,2年目に構築した設計論に基づいたモンハナシャコの打撃動作を規範とした打撃ロボットの開発をする.
    1年目では,モンハナシャコにみられる2種類の外骨格の弾性要素と空気圧人工筋肉の複合力を考慮に入れた打撃機構のモデルを構築した.さらに,2種類の外骨格の弾性要素の有無による打撃機構の動作をシミュレーションから推定した.また,このモデルの妥当性を検証するため,開発した実機による打撃実験を行った.
    このシミュレーションと実験の結果から,2種類の外骨格の弾性要素が打撃動作に対して異なる作用をすることが明らかとなった.一方の外骨格の弾性要素は,空気圧人工筋肉と同方向へのトルクを発生することで打撃の効果を高め,一方の外骨格の弾性要素は空気圧人工筋肉の収縮応答を補うことで,打撃の効果を高めた.以上の結果から,あるコンプライアンス特性を有する空気圧人工筋肉に対して,打撃効果を高めるための2種類の外骨格の弾性要素に適切な組み合わせが存在することが明らかとなった.以上の結果をもとに,今後の研究では,2種類の外骨格の弾性要素の適切な組み合わせに関する多目的な最適設計論についてまとめた.

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Teaching Experience

  • Introduction to precision mechanical engineering

    2024.4 - Now   Institution:Chuo University

  • Mechatoronics

    2024.4 - Now   Institution:Hosei University

  • CAD/CAM/CAE

    2024.4 - Now   Institution:Chuo University

  • Mechatoronics

    2024.9      

Committee Memberships

  • 2025.4 - Now

    日本ロボット学会   編集委員  

  • 2021.4 - 2024.3

    日本ロボット学会   学生編集委員  

Social Activities

  • さくらサイエンスプログラム

    Role(s): Organizing member

    国立研究開発法人 科学技術振興機構(JST)  さくらサイエンスプログラム  2025.1 - 2025.2

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    Type:Seminar, workshop

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