著者

塚越 秀行 佐々木 正志 北川 能 田中 崇裕

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.40, no.8, pp.859-866, 2004-08-31 (Released:2009-03-27)

参考文献数

15

被引用文献数

1 5

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This paper describes the numerical analysis and design for a higher jumping rescue robot using a pneumatic cylinder. First, the basic equations for jumping are derived and the simulation is performed. Then, the relationship between the jumping height and the pressure-receiving area of the cylinder is considered when the volume or the stroke of the cylinder is kept constant. This allows calculation of the optimal cross sectional area. In addition, the jumping height is also affected by the weight ratio between the rod and the cylinder tube. Based on these results, a robot equipped with a cylinder of the appropriate dimensions controlled by a well-selected valve is reengineered and demonstrated. Experimental results show that the improved robot can jump considerably higher than the former design with the same energy efficiency, as shown in the following video. http://www.cm.ctrl.titech.ac.jp/study/jump/home.html.

著者

修 震 留 滄海 北川 能 塚越 秀行 小西 健一郎

出版者

The Japan Fluid Power System Society

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.41, no.2, pp.36-42, 2010-03-15

参考文献数

11

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This study focuses on an at-home wrist rehabilitation system aimed at achieving a situation where a home-stay patient can receive rehabilitation from a therapist in a clinic. In a former report, a pneumatic driven at-home wrist rehabilitation system, which could be used for passive exercise, was developed. Using the same system that was developed, this paper discusses the realization of rehabilitation by active exercise based on the wrist characteristics obtained in passive exercise. Firstly, game-based active-resistive exercise is proposed. Then game-based active assistive exercise using the wrist characteristics obtained in passive exercise to set up the assist torque is proposed. From the experimental results in the clinic, the validity of rehabilitation by active exercises developed in this paper is verified. From the above, it is clarified that both passive and active exercise could be carried on by the at-home wrist rehabilitation system developed in this research.

著者

修 震 留 滄海 北川 能 塚越 秀行 小西 健一郎

出版者

The Japan Fluid Power System Society

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.41, no.1, pp.14-19, 2010-01-15

参考文献数

11

被引用文献数

1

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This study focuses on the at-home wrist rehabilitation system aiming to achieve the situation where home-stay patients can accept rehabilitation from therapist in clinic. As the first stage, this paper discusses the development of the wrist rehabilitation by remote passive exercise for stroke patients. Firstly, based on the dynamic model of passive exercise, rehabilitation by remote passive exercise is proposed. Secondly, pneumatic pseudo-therapist which can realize the therapist's rehabilitation actions and pneumatic pseudo-patient which can realize the patient's resistance are designed and fabricated. Finally, based on the experimental result in clinic, the validity of the rehabilitation system developed in this paper is verified.

著者

森 庸太朗 塚越 秀行 北川 能

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.41, no.5, pp.98-105, 2010 (Released:2013-09-11)

参考文献数

10

被引用文献数

3 4

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This paper proposes a novel fluid powered actuator sliding along a flexible tube. The actuator named Λ-drive is composed of a flat tube and a slider. In the slider, the tube is bent and then the buckling point occurs, which helps to cut off the fluid passage and to seal in order to provide the driving force to the slider without generating large friction. In this paper, after the conventional sliding actuators are compared, the design method of the proposed actuator for making stable drive possible, the classification of the driving mode, and the analysis of the output force are discussed. Moreover, the validity of the proposed analysis can be verified through the experiment of the linear and the spiral motion by the developed prototype. Finally, as one of the applications of the actuator, the active drive of the zipper is proposed and its feasibility is discussed.

著者

小林 厚史 塚越 秀行

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2019, pp.2A2-R03, 2019

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<p>This paper describes the development of a flexible cable type robot aimed to travel in the sand available for rescue operation or marine resource exploration. To realize it, we have developed a robot made of soft tube material driven by pneumatics, inspired by the garden eel capable of diving in the sand quickly and deeply. In this study, we propose a new structure thinner than the previous one, aiming to dive into 350mm of depth with the reduction of consumed air, enhancement of response, and improvement of insertability. Finally, we verify the validity of the proposed structure through the experiment by the prototype.</p>

著者

古川 和明 塚越 秀行 北川 能

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2000, 2000

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本研究では, まったく新しい機構の空圧直動アクチュエータを提案している。従来までのシルンダなどの直動アクチュエータには, その機構上, 伸縮できるストローク長が最長でも収納長さと同等に抑えられてしまう。本アクチュエータは, カメレオンの舌のように伸びる機構により, 収納長さに対してストローク長の比率を極めて大きくとることのできるものになっている。講演においてはその具体的な機構や駆動制御手法等について説明する。

著者

広瀬 茂男 塚越 秀行 米田 完

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.16, no.8, pp.1076-1082, 1998-11-15

被引用文献数

10 23

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We discuss some suitable stability margin concepts for walking robots which are expected to walk around on irregular terrains. Several stability margin ideas have been proposed before, but those can be roughly divided into three kinds.We came to the conclusion that a stability margin concept based on energy considerations is the most practical to adopt and that its validity could be recognized through simple experiments. But the existing energy stability margin is inadequate for practical use because this margin varies with the weight of the robot which can't affect its resistance to tumbling caused by slipping from steps or the sudden stop. Therefore, we'll propose an improved one here, called the normalized energy stability margin, the NE stability margin for short. Considering this margin, we'll introduce a novel tool called the SNE contour which connects the points on the slope which have the same NE stability margin, so as to derive a stable gait for walking robots. In the final part of this paper, we focus on the features of the SNE contour which shed new light on the solution for the stable posture.

著者

北川 能 塚越 秀行

出版者

東京工業大学

雑誌

基盤研究(B)

巻号頁・発行日

1999

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本研究は、土砂崩れなどの災害現場において生き埋めになった被災者の救出作業機能を従来の油圧パワーショベルに付加することを目的としているため、i)力制御しながら土砂・瓦礫などを撤去できる油圧ショベル先端のマスター・スレーブ制御系の構築、ii)i)の作業に時間を要する場合に備えた、瓦礫内部に直接延命用の飲料水を搬送できる駆動式生命線「能動ホース」の開発、これら2本を柱に本年度の研究を遂行してきた。その結果、以下のような研究実績を納めることができた。i)においては、11年度提案した臨場感の優れたマスター・スレーブ制御系「パラレルインピーダンス制御系」、12度はマスターとスレーブ間の通信遅れ補償した制御系を開発した。この制御系は、スレーブの受ける土砂・瓦礫等の対称物のインピーダンス特性変化にも適応できる機能があり、さまざまな瓦礫内に被災者が存在する場合の識別などにも発展する技術となり得る。本年度はこれらを総合的にまとめ、各状況に応じた制御系の適用法を明らかにした。またii)においては、11〜14年にかけて開発した「象の鼻」のように柔軟かつ大きな屈曲力を生成できるアクチュエータに関して、本年度は口径45mmの小型湾曲ユニットを開発し方向操舵の機能を有することを確認し、さらに瓦礫内への推進力を生成することのできる推進ユニットを2種類開発した。これらを連結して瓦礫内の推進、および延命用水供給作業の有効性も確認された。今後はさらに防塵対策も行っていく予定である。