著者

松月 基将 水野 明哲 柳 寛孝

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2016 (ISSN:24242667)

巻号頁・発行日

pp.S0540204, 2016 (Released:2017-06-19)

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This paper describes measures to suppress the temperature increase inside tunnels on urban roads. The Yamate Tunnel is a long tunnel extending a total of 18km in the center of Tokyo. The tunnel interior temperature has increased during the summer. Motorcycle riders have complained about the heat inside the tunnel. So we investigated and analyzed the causes of the temperature increase. To suppress the increase of the temperature, we installed mist spraying equipment inside the tunnel. This system successfully cooled the inside of the tunnel. Furthermore, we compared the calculated value to the measured value of the temperature in the tunnel.

著者

長山 尭拓 石原 ひかる 奥井 学 山田 泰之 中村 太郎 名波 正善 岡村 成浩 原 以起

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2016 (ISSN:24242667)

巻号頁・発行日

pp.S1510201, 2016 (Released:2017-06-19)

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To achieve dynamic motion, such as jumping and running, generating large instantaneous force and decreasing impact force at the time of the landing are needed. However, when increasing the instantaneous force of actuators such as motors and hydraulic actuators, the weight of robot also tend to increase. Therefore, in this study, we focused on the variable viscoelastic element with the human muscle. In this paper, we developed a bipedal jumping robot with variable viscoelastic joints. In this robot, we adopted straight-fiber-type artificial muscle as a variable elastic element and the magnetorheological fluid (MR) brake as a variable viscous-friction element. Moreover, we conducted the bending and stretching operation experiment by this robot. In this experiment, we used the experimental parameters which were determined based on human bending and stretching operation. As a result, it was confirmed that this robot realized the bending and stretching operation.

著者

吉川 慧 槇田 諭

出版者

一般社団法人 日本機械学会

雑誌

年次大会 2016 (ISSN:24242667)

巻号頁・発行日

pp.G2300101, 2016 (Released:2017-06-19)

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This study investigates elastic behavior attributed to flexor digitorum tendon, using ultrasonographic images. The tendon is stretched during finger extension both by muscle strength and external forces applied to the fingertip. The elastic force exerted by the stretched tendon can work as torque for flexsion of the finger. Our experimental scheme includes measuring changed MP joint angle and each corresponding exerted fingertip force and displacement of image feature on flexor digitorum in the ultrasonographic image. The measurement results of the relationship among the exerted fingertip force, flexion angle and ultrasonographic images show that extension or displacement of the tendon is proportional to the flexion angle. In addition, a hysteresis of the fingertip force in stretching and shortening cycle can be observed. The hysteresis addressed in the related studies may be caused mainly by behavior of flexor digitorum muscles.