著者

佐藤 帆紡 川畑 共良 田中 文英 山海 嘉之

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.762, pp.227-235, 2010

参考文献数

23

被引用文献数

7 22

---

In the super aged society, it is expected that from now on the physical burden to caregivers will certainly increase. Transferring care-receivers between wheelchairs and beds is one of the heaviest physical labor to caregivers. To reduce the burden of the caregivers, we introduce Robot Suit HAL, which supports and expands the physical capability of humans during the daily activities. Particularly, in this paper we develop the upper half body of the HAL to support the wearer's force at upper limbs. We built a mechanism which locks the backdrivability of the power units of the HAL to assist the movement of the wearer's upper limbs. Through the demonstration of a transferring-care task with the HAL, we confirmed that the physical load on the upper limbs of the wearer was decreased and thus the wearer's trunk inclination angle was reduced, which contributes alleviating the physical load on around the lumber spine of the caregivers as well.

著者

山本 利一 星野 孝仁

出版者

The Japan Society of Mechanical Engineers

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.77, no.780, pp.3175-3183, 2011

被引用文献数

1

---

The energy supply and demand balance being very unstable in Japan today, utilization of renewable energies as alternative for fossil fuels is an important issue. In this study through experiments in wave power energy conversion teaching materials for learning were developed, interest and concern were heightened and efforts were made to bring awareness of the issues closer to home. We were able to verify the students' gaining of a deeper understanding of energy problems and grasping of energy conservation concepts through the experiments in the classroom activities. The force of the wave is converted into the motion of the steel balls and the electricity is generated. This contrivance which the steel balls move quickly even in the case of the small wave has been made the equipment. The lessons practice was carried out using this teaching tool for junior high school students. In the experiment lesson, its results verified educational effect, showing that students gained higher awareness of energy issues and also were able to effect concrete instances of energy conservation that they were able to do themselves.

著者

村田 昌弥

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.52, no.476, pp.1351-1354, 1986-04-25 (Released:2008-02-21)

参考文献数

6

---

The Ladder Chart have been used to the presentation of programs on the Programable Sequence Controller (P.C.) as same as on the electric sequence circuits consisted of relaies. But, it is unsuitable method for the presentation of programs on P.C. because which involves new codes of micro computor never seen in sequnce circuits of relaies. The new description method using Boolean Algebra and the new symbols for new codes is prefered. This method gives a logical presentation and the convenience of progam coding.

著者

佐藤 建吉

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.746, pp.2411-2417, 2008-10-25 (Released:2011-03-04)

参考文献数

9

---

The father and son, Marc Isambard Brunel and Isambard Kingdom Brunel, were well known as the great engineers of England in the 19th century. They were worked in the fields of mechanical and civil engineering, which were broadly developed in the post-industrial revolution age. Marc, the father, engaged in his jobs that were relating to over twenty his patents. Isambard, the son, also engaged innovatively in the wider fields by denying the system of patent. In this paper, firstly, the engineer's spirits of the father and son have been discussed, and secondly, the above clear difference between their views on patents has been discussed. The aim of this paper is to give a chance to think how today's Japanese engineers should behave toward patents and the patent system.

著者

藤井 文武 西野 誠 和田 憲造

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.742, pp.1493-1500, 2008-06-25 (Released:2011-03-04)

参考文献数

12

---

A new control algorithm to achieve trajectory following motion of a motorcycle is proposed in this paper. Presented algorithm is comprised of a feedforward term and a feedback term, the former of which intends to balance forces acting on a motorcycle that have adverse effects for roll motion stabilization, and the latter controls the steering and human lean angle to achieve trajectory following. What is to be emphasized is that the proposed control law is comparably simpler than the ones presented in the foregoing works on motorcycle motion control. Results of both numerical and actual experiments have been described to illustrate the effectiveness of the proposed algorithm.

著者

小林 正和 川上 拓也 東 正毅

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.764, pp.1000-1008, 2010

参考文献数

17

---

To maximize designers' creativity during collaborative design processes, this paper focuses on designers' individual differences, especially differences in their idea evaluations, and proposes an analytical method for revealing their differences. During creative group activity, when a designer represents an idea using some words or a short sentence, the others imagine the concrete image of the idea form the presented words and evaluate the concretized idea in their mind. However, the results of their concretizations and evaluations vary among designers in most cases. Such differences or diversities seem to be undesirable, but they have a huge potential for leading new ideas during divergent processes of exploring ideas. Therefore, the method proposed here reveals designers' individual differences by analyzing the results of their idea evaluations and encourages their further idea explanations. In addition, to confirm the effectiveness of the proposed method, the case study is carried out and its results and detailed processes are analyzed.

著者

武田 行生 舟橋 宏明

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.560, pp.p1142-1147, 1993-04

被引用文献数

8

---

When all input links, except one, are fixed in a mechanism of parallel manipulator with N degrees of freedom (dof), N kinds of mechanisms with a single dof can be obtained, and pressure angles corresponding to each mechanism can be defined. In order to transmit power efficiently from input links to the output link, all of the values of cosines of the pressure angles must be as big as possible. Then, the present paper proposes a new transmission index (TI) for parallel manipulators based on the power transmitted from input links to the output link, which is defined as the minimum value of cosines of the pressure angles. For planar and spatial parallel manipulators, static force analyses are carried out, and the relationships between TI and joint forces are studied. Working spaces of parallel manipulators with consideration of motion transmissibility are also shown.

著者

大島 裕子 小泉 孝之 辻内 伸好

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.728, pp.1172-1179, 2007-04-25 (Released:2011-03-04)

参考文献数

12

---

At present, many products are demanded both facilities and comforts. It is necessary for realizing comforts to measure human sensitivities. Therefore, many various sensory evaluation methods are proposed. Scheffe's paired comparison is one of these sensory evaluation methods, and is used widely. Especially, Nakaya's method, that is developed based on Schffe's paired comparison, evaluates human sensitivities and enables to add a relative score to the samples. However, the conventional Nakaya's method can separate the main effects, differences among individuals and combination effects. If there will be other factors that have an effect on the samples' evaluation, the effects will be neglected in Nakaya's method. Therefore the main effect tends to be hard to be detected by Nakaya's method. In this paper, we propose a new sensory evaluation method that enables to separate multiple effects. As this new method enables separate many effects, the relative error variance value is smaller, and it will make us to search factors easily and correctly that affect human sensitivities. This new method is applied to the loudspeakers' psycho-acoustic evaluation, and it is clarified this new method is useful for sensory evaluation when the difference is small and when there are a few panelists.

著者

小黒 芳男

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.51, no.464, pp.p893-900, 1985-04

---

5名の男子被験者に運搬物の重量の違う7通りの歩行を伴う肩かつぎ形運搬作業を行わせ,歩幅,遊脚時間および歩行速度について,運搬物の重量の違いとの関係を明らかにした.一般的には,運搬物の重量が増せば,1歩当たりの歩幅は短かくなり,歩行速度も遅くなる.また,1歩当たりの遊脚時間値は相対的に影響を受け難いが,同一歩行距離に対する歩行数は,1歩当たりの歩幅が短かくなった分だけ多くなるので所要時間値は増加する.

著者

小池 関也 下嶋 浩

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.575, pp.p2323-2330, 1994-07

被引用文献数

2

---

This paper presents a simple hybrid method for controlling both the motion and contact force of a manipulator without calculating inverse dynamics. The contact force is converted into a velocity vector according to the force/velocity conversion law. The velocity vector which is tangent to the constraint surface is calculated by the velocity servo. The desired velocity vecotor is obtained as a sum of the above two velocity vectors. The desired axial velocity vector is calculated from the desired velocity vector using inverse Jacobian matrix. Motion and force control is performed using DC motors whose desired values are the above desired axial velocity vector. The stability of the motion control system is also considered.

著者

下嶋 浩 雉本 信哉 佐藤 治 前田 秀 斎藤 敦

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.562, pp.p1803-1808, 1993-06

---

Motions of human arms are analyzed kinetically and kinematically with respect to smoothness. A kinematic arm model with 6 degrees of freedom is suggested and spatial motions are simulated considering the sum of the weighted square of joint displacements, which approximately equals kinetic energy of the whole arm. A low-pass filter is applied for smoothing the kinetic state variables, i. e. , displacement, velocity, and acceleration, and the smoothing transfomation is optimized from the aspect of characteristics of response and vibration. Such transformation is also applied to the human arm model, and the effects are investigated through simulations.

著者

佐藤 治 下嶋 浩 李 丁 長友 聖二

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.572, pp.p1344-1350, 1994-04

---

Equations of motion of a closed-type manipulator are derived in consideration of characteristics of the step motors. Vibration control is achieved using two types of forcing functions. The first is the function of the pulse width modulation to avoid exciting resonance, and the second is the bang-bang control function on each step function. Dynamic characteristics of the system controlled by these method are analyzed theoretically and investigated experimentally.

著者

雉本 信哉 下嶋 浩 田窪 崇行

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.571, pp.p850-855, 1994-03

被引用文献数

1

---

An approach for active noise control using structural vibration was proposed. No acoustic instruments such as loud speakers and microphones are necessary in this approach. The adaptive FIR filter using the LMS algorithm was used in the control system. Both a computer simulation and an experiment were carried out. The importance of using a howling canceler with the adaptive FIR filter was shown by the simulation. In the experiment, the vibration of the sidewalls of the duct was used for control. Good results were acquired using the simple controller.

著者

浅見 敏彦 桃瀬 一成 細川 〓延

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.566, pp.p2962-2967, 1993-10

被引用文献数

3

---

This paper proposes an expression for design of optimal dynamic absorbers attached to damped linear systems. The classical expressions were derived from the assumption that the primary system has no damping. There are two optimization criteria in the design of the dynamic absorber : the fixed-points theory and the minimum variance criterion. In the fixed points theory, the dynamic absorber is optimally tuned and damped with respect to the primary system so that the two resonant amplitudes of the main mass are equal. In the latter criterion, however, the area under the power spectrum density curve of the main mass is adjusted to take the minimum value. The new expression proposed in this paper is based on the minimum variance criterion. A perturbation method is used to obtain the expression, and the accuracy of the perturbation solution is discussed.

著者

新宮 正弘 江口 清 山海 嘉之

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.772, pp.3630-3639, 2010

参考文献数

24

被引用文献数

1 4

---

Polio survivors with severe limb paralysis cannot move their limbs voluntarily because they have a significantly reduced number of motor neurons due to the poliovirus infection. There is a danger that their ability to control their neuromuscular system, in particular fundamental abilities such as balancing flexors and extensors in the neuromuscular system may decrease dramatically in the long-term. If such polio survivors could improve their ability to balance, it would be possible for them to use the "Robot Suit HAL" wearable movement support device. HAL anticipates its wearer's intended movements through the measurement of bioelectrical signals, and generates assistive torques to support their movements. This study proposes a biofeedback training method using visual information, with the objective of restoring motor functions using HAL. A biofeedback system that feeds-back bioelectrical signals visually was developed, and tested with a polio survivor. The polio survivor was able to adjust the balance of their muscular control through the proposed training method, and voluntary motion was recorded to a paralyzed knee using a single-joint type HAL. These results suggest that polio survivors who have been paralyzed for a long time may improve their ability to control their neuromuscular system by using the proposed training method.

著者

田原 誠 野波 健蔵

出版者

The Japan Society of Mechanical Engineers

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.78, no.787, pp.872-882, 2012

被引用文献数

3

---

Recently, Quad-rotor type helicopters which are representative of Multi-rotor type helicopters have been extensively developed over the world. The Multi-rotors are expected to replace Single-rotor type helicopters as an industrial helicopter because of their simplicity of the structure and good maintainability. In this paper, we focused on the operation problems of previous industrial helicopters and applied the Multi-rotors by a generalized design method. The generalization of the design method is performed considering variation of requirements of airframe specifications. In addition, we considered using commercial components rather than customized components in each process, so we achieved cost reduction compared with previous study. At first, we introduce the required specifications of a small pesticide application in this study and present the airframe design method. And then, we tuned parameters with presented simulation model and implement a multi-rotor type helicopter following the design method. Finally, we show the flight result and present the effectiveness of the design method.

著者

小柳 志郎 吉岡 毅泰

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.53, no.492, pp.p1728-1734, 1987-08

---

The wavelength of hunting motion is one of basic quantities expressing the hunting motion characteristics of a railway vehicle. Though formulae for a single wheel-set and a rigid truck are well known, they are not applicable to a soft truck, in which horizontal suspension stiffness between the axle box and truck frame is small. In this paper, an approximate expression for the wavelength of a soft truck is presented and verified with measured data.

著者

河上 清源 田辺 秀敏 神蔵 貴久 永廣 健太郎 清水 浩 吉田 博一

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.72, no.719, pp.2123-2129, 2006-07-25 (Released:2011-03-04)

参考文献数

4

---

All wheel drive vehicles with in-wheel motors can control the yaw-moment of the vehicle by utilizing force distribution. When the power output of the in-wheel motor stops or the rotation clings, the vehicle becomes unstable by the unbalance of the right and left driving forces. The yaw rate and the lateral acceleration were measured when the motor broke down using an electric vehicle with in-wheel motors on all of its wheels. Not small influence was occurred on the test when the motor breaks down while accelerating. It was effective to stop the motor power output on the same axle when one of the motor broke down, Even if one motor were to break down, the control algorithm with high redundancy and safety features makes possible for the vehicle to keep running using the other motors.

著者

西沢 博幸 大澤 正敬 大年 浩太 平手 洋 中村 俊秋

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.572, pp.p1323-1328, 1994-04

---

PID (Proportional, Integral and Derivative) control is generally used in industrial products today, because of its simple algorithm and good adaptability on the scene. However, the matching of PID control parameters is difficult, thus we are looking forward to the development of auto-tuning of PID control parameters. In this study, we attempted fuzzy auto-tuning for a gasoline engine's electronic speed controller with PID control. Here fuzzy production rules are independently applied, and each rule is weighted by the degree of inputs of assumed parts. This fuzzy reasoning method is useful in simplifying the description of fuzzy production rules and provides a simple means of control similar to that performed by humans.

著者

中川 智皓 竹原 昭一郎 須田 義大

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 C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.749, pp.74-80, 2009

参考文献数

12

被引用文献数

2 2

---

In this research, the dynamic characteristics of a small wheel bicycle are investigated. The bicycle model is formulated by using multibody dynamics. Then, the stability of bicycles is analyzed by parametric study using the bicycle model. The effects of the parameters of tire diameter and head angle are examined by focusing on a small wheel bicycle. The straight-ahead stability and upstanding stability are evaluated at each parameter. The results show the tendency of stability at each parameter and the influential parameter to the small wheel bicycle is found. The driving experiment using the small wheel bicycle is performed. In the experiment, the stability of the small wheel bicycles with variable head angle is evaluated by the subjects. It is confirmed that varying head angle increases the stability of the small wheel bicycle. The results are corresponding with the simulation results and it is shown that the simulation captures the tendency of the stability and expresses the characteristics of the small wheel bicycle.