著者

久保 敏

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.80, no.707, pp.1032-1036, 1977-10-05 (Released:2017-06-21)

著者

佐藤 侑 郭 士傑 稲田 誠生 向井 利春

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:18848354)

巻号頁・発行日

vol.78, no.789, pp.1899-1912, 2012 (Released:2012-05-25)

参考文献数

21

被引用文献数

3 9

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With a record-low birthrate and a rapidly-growing elderly population, Japan faces a severe demographic challenge, compounded by a chronic lack of nursing care staff. Among nursing care tasks, patient transfer is one of the most physically strenuous tasks. To free caregivers from such heavy physical work and to compensate for the lack of nursing care staff, we have developed two prototype robots, RIBA and RIBA-II, which were designed to come in direct contact with patients and conduct transfer tasks such as lifting and moving a patient from a bed or the floor to a wheelchair and back. This paper, focusing on RIBA-II, describes the motion design, handling method, safety measures, as well as the verification experiment conducted on healthy subjects. RIBA-II, who's whole body including the joints is covered with soft materials to realize a safe and easy contact with humans, has the ability to lift up a human up to 80kg with a certain safety factor from the floor and transfer him/her to a normal wheelchair with armrests. The robot is not an autonomous one but a robot operated by a caregiver to ensure safety. When conducting a transfer task, the caregiver handles the robot by stroking the rubber tactile sensors installed on the robot arms and, at the same time, confirms safety. The purpose of the robot is not only relieving caregivers from heavy physical works but also to replace the transfer task conducted by two caregivers by one robot and one caregiver. The feasibility has been demonstrated by the verification experiment as described in this paper.

著者

橋本 新助

出版者

一般社団法人 日本機械学会

雑誌

機械學會誌 (ISSN:24331546)

巻号頁・発行日

vol.39, no.235, pp.623-627, 1936-11-01 (Released:2017-08-01)

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鉄道省流線形車輌一般に就て略述し特に新製大阪神戸間急行用流線形電車の構造及び性能に就き詳述し、最近の実驗数値に基き同電車の消費電力量の節約及び走行抵抗の減少を示し、最後に流線形鉄道車輌の將来を述べたものである。

著者

増田 糧 河村 清美 永岡 真 増渕 匡彦 小森 啓介

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B編 (ISSN:18848346)

巻号頁・発行日

vol.78, no.793, pp.1584-1597, 2012 (Released:2012-09-25)

参考文献数

25

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A liquid fuel injection nozzle with a novel fuel atomization strategy which actively utilizes the effect of collapse of cavitation bubbles in a liquid jet is proposed. The nozzle comprises two orifices and an intermediate cavity between the orifices. The role of the upstream first orifice is to generate the cavitation bubbles at both inlet and exit of the orifice. The intermediate cavity is placed to hold the cavitation bubble within it. The role of the downstream second orifice is to mix the cavitation bubbles and liquid fuel, and to inject the mixture into atmosphere. Each size and relative positions of the first orifice, the intermediate cavity and the second orifice were studied using multi-phase computational fluid dynamics. Finally, a poppet type nozzle whose void fraction at the nozzle exit is 0.5 was designed.

著者

池谷 仁夫

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.114, no.1109, pp.258-261, 2011-04-05 (Released:2017-06-21)

被引用文献数

1 1

著者

嶋脇 聡 酒井 直隆

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:18848354)

巻号頁・発行日

vol.78, no.787, pp.883-891, 2012 (Released:2012-03-25)

参考文献数

27

---

Finger deformities refer to the symptoms where a flexed or extended joint becomes fixed in one direction and is prevented from returning to a normal state due to muscle or tendon abnormalities around the joint as a result of trauma or a pathological abnormality. The deformities exist in numerous forms, and their causes are known to be either a muscle imbalance or tendon rupture. We focused on the finger deformity forms of the boutonnière and swan-neck deformity. To clarify the formation mechanisms of these deformities, conventional studies have used cadaveric fingers whereas in this study we used the finite element method to model the mechanism of human finger flexion and extension (extensor tendons, flexor tendons, phalanges, tendon pulleys, and ligaments). Using this model, flexion angles of the distal interphalangeal (DIP) and the proximal interphalangeal (PIP) joint were calculated with conditions for a tendon (central band, lateral band, flexor digitorum superficialis tendon) rupture and tendon tension abnormalities. The results have shown that the conditions which most resembled the boutonnière deformity were those of the central band removal model, and the conditions which most resembled the swan-neck deformity were those of the flexor digitorum superficialis tendon removal model and the tendon tension abnormalities. These results are in agreement with those from clinical observations and cadaveric finger experiments, and demonstrated that the finite element method was effective for clarifying the mechanisms for finger deformity formations.

著者

佐野 嘉則 堀 貴之 早川 拓人 藪田 哲郎

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:18848354)

巻号頁・発行日

vol.78, no.790, pp.2171-2186, 2012 (Released:2012-06-25)

参考文献数

11

---

It is one of great functions required for a robot to perform a task instead of a human. Particularly, if a human skilled task is realized to a robot, and moreover it might be applied widely, it is possible for a robot to accept many demands. Here, we adopt the yoyo manipulation as a skilled task with the limber motion of the human upper limbs, which is intended to realize with a 9DOF redundant finger-arm robot system. Unlike conventional method using the yoyo dynamic model, human skills in the yoyo manipulation are extracted by measuring the yoyo operation of a human being with a motion capture system, and are implemented to the robot system. In this way, the yoyo operation can be performed by the robot whose results are friendly understood as human being knowledge. Furthermore, this study tries without a vision sensor, as it were, in the blindfold. Here, we show that continued control of the yoyo can be obtained using both force sensor and position control in its difficulty condition.

著者

杉本 靖博 浪花 啓右 青沼 仁志 大須賀 公一

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.2P2-F01, 2019

---

<p>Research that attempts to elucidate adaptive gait realization mechanism is underway through walking experiment with zombified crickets, based on the interesting behavior of <i>Ampulex compressa</i>. In this research, it is important to prepare a large number of experimental individuals with the same quality (degree of zombification). In this study, we developed a new system to support and semi-automate the injection for cricket zombification. The developed system consists of two cameras, micromanipulator and syringe pump and these devices are operated from PC in order to inject the injection needle at the same position and depth and inject the same amount of liquid medicine. The validity and practicality of the developed system were confirmed by verification experiments.</p>

著者

高木 正平

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.113, no.1097, pp.262-265, 2010-04-05 (Released:2017-06-21)

参考文献数

6

被引用文献数

1

著者

高田 宗一朗

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.87, no.893, pp.19-00271, 2021 (Released:2021-01-25)

参考文献数

15

被引用文献数

1

---

This paper discusses the new identification method of a linear single-degree-of-freedom system using Gaussian random vibration response. The propose method is based on the method of Maximum Likelihood Estimation (MLE). The likelihood function of the proposed method is composed from the analytical solution of Fokker-Planck equation. The estimation formulas of unknown parameter are obtained by maximization of the original likelihood function. The obtained estimators represent the population variance estimation problem of multivariate Gaussian model. Furthermore, the numerical identifications are conducted using the random vibration response by calculation result of the 4th Runge-Kutta method. In the result, the estimation performance of the propose method is confirmed in terms of the dependency of sample number and dependency of the damping coefficient. Especially, the proposed method is implied the application to identification problem of the large damping system. Quantification of the large damping characteristic is the important problem, because it is the difficult problem in the conventional identification method. Moreover, the benchmark tests are conducted with Half-Power Method (HPM) based on the spectral analysis and Auto-Regressive Method (ARM) based on the time series analysis, respectively. The results of the benchmark test are shown in the accuracy of the propose method is higher than its of HPM and ARM, respectively. Finally, the expansion to the recursive estimation algorithm is conducted using MLE estimator of recurrence form. In addition, the operation of the recursive algorithm is confirmed.

著者

ハン ビンイク 水内 郁夫

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.2014, pp._1A1-O03_1-_1A1-O03_4, 2014

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This paper focuses on making a table tennis robot cheaper and smaller. Unlike previous studies that used high-speed cameras to predict ball's trajectory, we propose using a depth camera (cheaper than a high-speed camera) to measure ball's velocity and position, and predicting ball's trajectory by using rotating ball's equations of motion that is based on aerodynamics. By using the equations of motion, we can also calculate ball's rotational states through ball's velocity and acceleration. We developed a tabletop type omni-directional mobile robot equipped with an arm and a depth camera, with consideration of cost and size.

著者

木村 真也 相山 康道

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会関東支部総会講演会講演論文集 2010.16 (ISSN:24242691)

巻号頁・発行日

pp.215-216, 2010-03-09 (Released:2017-06-19)

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In our study, our purpose is to give human dexterousness about force sense to robot and we use Jenga game as its target. This paper describes our strategic implementation how robot remove blocks from Jenga tower. At first, we suggest Jenga statics model. A block which can be removed most safely is chosen, using this model. Robot judges that it can remove a block and removes after measuring actual static force and comparing it with model's value.

著者

可成 理高 後藤 大雄 加藤 英二 村上 清人 米本 浩一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会九州支部講演論文集 2011.64 (ISSN:24242780)

巻号頁・発行日

pp.317-318, 2011-03-17 (Released:2017-06-19)

著者

岡西 直樹 福谷 格 渡部 英一

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.56, no.525, pp.1558-1564, 1990-05-25 (Released:2008-03-28)

参考文献数

4

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To improve the volumetric efficiency of a crankcase-supercharged 4-stroke cycle engine in the high speed range, rotary disc valves were used at both the inlet and the outlet sides of the crankcase in an investigation of the effects of opening angle and timing of disc valves on the volumetric efficiency. As a result it was found that a volumetric efficiency of 120% was possible over a wide engine speed range of 3000-6000 rpm, which was not poss ble by using the reed valve system.

著者

近藤 亜希子 土岐 仁 廣瀬 圭

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:18848354)

巻号頁・発行日

vol.79, no.803, pp.2351-2361, 2013 (Released:2013-07-25)

参考文献数

13

被引用文献数

1 2

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This paper proposes the measurement method of 3D posture using inertial sensors. The proposed method estimates the 3D posture (Roll-Pitch-Yaw angles in local coordinate) using the 3-axis angular velocity and the 3-axis acceleration. The 3D posture is compensated for the drift error of gyro sensor output by the translational and gravity accelerations of accelerometer output. The nonlinear state equation and the nonlinear measurement equation were established to estimate 3D posture. The Extended Kalman filter and the Unscented Kalman filter are applied to these equations. The measurement experiment was conducted to clarify the accuracy of proposed method using the experimental setup installing the rotary encoders. The results of the Unscented Kalman filter indicated higher than those by the Extended Kalman filter. In addition, the proposed method estimated the 3D posture compensating the drift error of gyro sensor in the measurement experiment generating the translational acceleration. Therefore, the proposed method can be used for the measurement of body motion.

著者

丸山 卓 Boyko STOIMENOV 加藤 康司

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会東北支部秋季講演会講演論文集 2003.39 (ISSN:24242721)

巻号頁・発行日

pp.287-288, 2003-09-05 (Released:2017-06-19)

著者

原 乙末生 吉川 晴十 池田 正二 吉城 肇蔚 上西 甚藏 俵 信次 三橋 鉄太郎 山下 興家 横山 勝任 俵 國一 關 敏郎 川島 周三 高瀬 孝夫 高尾 善一郎 荒木 彬 錦織 清治 中村 義雄 荒牧 寅雄 工藤 治人 土肥 晋一 喜多 正司 小林 利夫 林 健三

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.45, no.305, pp.525-545, 1942-08-01 (Released:2017-06-21)

著者

下間 頼一 緒方 正則

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:00214728)

巻号頁・発行日

vol.99, no.930, pp.396-402, 1996

参考文献数

12

著者

稲場 匡

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会誌 (ISSN:24242675)

巻号頁・発行日

vol.114, no.1111, pp.422-423, 2011-06-05 (Released:2017-06-21)

著者

染矢 聡 吉田 智 李 艶栄 岡本 孝司

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 B編 (ISSN:03875016)

巻号頁・発行日

vol.75, no.758, pp.1983-1988, 2009-10-25 (Released:2017-06-09)

参考文献数

7

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It is known that flying fish perform long-range flight in the air in order to escape from predators such as tuna and swordfish. During the unsteady flight, ground effect enables the flying fish execute to flight for the maximum range and longest time. In this study, it was investigated a basic characteristic of the flow around the flying fish fin in ground effect, in order to understand the flying fish gliding performance quantitatively. The streamwise velocity profiles around the airfoil model were measured by a high time-resolved PIV (particle image velocimetry) in an open loop wind tunnel. A moving ground essential to generate the ground effect was supplied using a rotating disk. Two plates were put in tandem as the test wing model of a pectoral fin and a ventral fin of the flying fish. It was found that decreasing the height of the airfoil model caused a larger difference between the velocity in the suction surface side and that in the pressure surface side of the pectoral fin model.