著者

遠藤 玄 谷 篤 福島 E.文彦 広瀬 茂男 入部 正継 田窪 敏夫

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.30, no.8, pp.779-787, 2012 (Released:2012-11-15)

参考文献数

15

被引用文献数

1

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Home oxygen therapy (HOT) is a medical treatment for patients suffering from severe lung diseases. Although a walk in an outdoor environment is recommended for the patients to keep physical strength, patients always have to carry a portable oxygen supplier which is not sufficiently light weight for the patients. Our ultimate goal is to develop a mobile robot carrying an oxygen tank and follows a foregoing patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we improve mobile platform mechanisms and active wheels to maximize the negotiating step height, and to allocate sufficient luggage area in the main body carrying an actual oxygen tank. The following control algorithm is also improved and demonstrate its effectiveness in an outdoor following experiment.

著者

遠藤 玄 山田 浩也 矢島 明 尾形 勝 広瀬 茂男

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.28, no.1, pp.77-84, 2010 (Released:2012-01-25)

参考文献数

10

被引用文献数

9 8

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We propose a new weight compensation mechanism with a non-circular pulley and a spring. We show the basic principle and numerical design method to derive the shape of the non-circular pulley. After demonstration of the weight compensation for an inverted/ordinary pendulum system, we extend the same mechanism to a parallel four-bar linkage system, analyzing the required torques with transposed Jacobian matrices. Finally, we develop a 3 D.O.F manipulator with relatively small output actuators and verify that the weight compensation mechanism greatly contributes to decrease static torques to keep the same posture within manipulator's work space.

著者

遠藤 玄 遠藤 豊子

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.2008, pp."2P1-I01(1)"-"2P1-I01(3)", 2008-06-06

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We propose a robot FOR a pet, not for an owner. Our ultimate goal is to develop a robot that contributes to create and maintain better relation between the pet and the owner while keeping good pet's health condition. In this paper, we propose the robot for the pet and discuss current situation of pet industry. We investigate literatures in the context of animal robot interaction and we discuss a possibility to create a new home robot market. Finally, we show an initial example of ongoing interaction experiment using a tele-operated robot with the dog.

著者

阪口 啓 李 還幇 川嶋 健嗣 遠藤 玄 畑中 健志 林 和則

出版者

公益社団法人 計測自動制御学会

雑誌

計測と制御 (ISSN:04534662)

巻号頁・発行日

vol.60, no.9, pp.647-654, 2021-09-10 (Released:2021-09-16)

参考文献数

32

著者

平光 立拓 難波江 裕之 鈴森 康一 遠藤 玄

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.84, no.862, pp.18-00083, 2018 (Released:2018-06-25)

参考文献数

10

被引用文献数

1

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Pneumatic artificial muscles have many advantages. They have high force mass ratio, high compliance and simple structures. Especially, the flexibility contributes to compose novel mechanisms. The flexibility of pneumatic artificial muscles releases us from the spatially strict design required for rigid mechanical elements: it could actualize compact mechanisms made of a fewer parts. Our research group developed a thin McKibben actuator. The thin McKibben actuators is more flexible than conventional McKibben actuators. Authors succeeded in manufacturing novel soft mechanisms that are made of only braided artificial muscles. We aim to establish a design method for these novel mechanisms. We already have fabricated a cylindrical mechanism made of helical muscles. In this paper, we report a geometric model for the cylindrical mechanism. We focus on only deformation of a side surface in the coordinate system of muscles to simulate the movements of the cylindrical mechanism. The movement was verified by an experiment, and besides, it was simulated successfully in the geometric model that was created. The deformation of height and radius directions changed according to muscles alignment.

著者

洗 津 山田 浩也 遠藤 玄 デベネスト パウロ グアラニエリ ミケーレ 風間 裕人 長友 一郎 広瀬 茂男

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.2013, pp."1A2-P20(1)"-"1A2-P20(2)", 2013-05-22

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For the decommissioning of the Fukushima Daiichi nuclear power plant, we need robot arms which have long and slender shape, wide motion range, and radiation-tolerant system. However, existing robot arms are not capable of satisfying those requirements. In particular, the extremely large torque generated by the arm weight is the most difficult problem in the development of such long and slender arms. Therefore, in order to satisfy those requirements, we propose a new robot arm named "3D CT-Arm". The 3D CT-Arm uses a "coupled tendon drive", in which the all joints are driven by motors located on the base through wires and pulleys, and the all motors support the torque on the base joint. Thus, the 3D CT-Arm can maintain its posture even when it extends the arm horizontally. In this paper, we introduce the concept of 3D CT-Arm and show the design and test of a prototype.

著者

遠藤 玄 福島 E.文彦 桑原 裕之 広瀬 茂男

出版者

一般社団法人 日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.31, no.2, pp.198-205, 2013 (Released:2013-04-15)

参考文献数

11

被引用文献数

1

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This paper introduces the outline of a creativity education course “machine creation” that has been conducted at the Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, for 21 years. The course is designed to provide students with extensive opportunities to work with real objects to bridge classroom lectures and hands-on experiences. The students work as a team within a time limitation under budget to create a “street performance robot” which can entertain audience. We assume that students can efficiently learn about a process of product development through this course from planning of the robot to the final presentation of the robot. To evaluate this assumption, we carried out questionnaire survey for the current students and alumni who are currently working as engineers in the real world. The results suggest that this course can provide a valuable experience for students and many alumni agree with our educational methodology.