著者

神野 誠 中澤 和夫 松日楽 信人 宮川 豊美 砂押 貴光 羽藤 武宏 森川 康英 小澤 壯治 古川 俊治 北島 政樹

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.2002, 2002

被引用文献数

3

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筆者らは, 腹腔鏡下手術を対象とし, マスタとスレーブが一体化され, 簡単・コンパクトでかつ操作性を優れた手術支援用マニピュレータを開発している。試作した一体型マスタとスレーブマニピュレータについて, ファントムを用い腹腔鏡下で彎曲針による縫合結紮作業を実施し, 従来の鉗子では不可能な方向からの縫合作業が容易であることが確認できた。さらに, 縫合時の各関節角動作データ, 作業時間および作業精度を取得し, 操作性の定量的評価を行った。

著者

神野 誠 中澤 和夫 松日楽 信人 宮川 豊美 砂押 貴光 羽藤 武宏 森川 康英 小澤 壯治 古川 俊治 北島 政樹

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.2003, 2003

被引用文献数

3

---

筆者らは, マスタとスレーブが一体化され, 簡単・コンパクトでかつ操作性に優れた腹腔鏡下手術支援用ロボット鉗子を開発している。これまで外径12mmのタイプを試作してきたが, 今回, 外径10mmおよび5mmについて試作したので, その結果について報告する。

著者

永島 唯哉 池田 生馬 岩附 信行

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 (ISSN:21879761)

巻号頁・発行日

vol.85, no.873, pp.18-00439, 2019 (Released:2019-05-25)

参考文献数

13

被引用文献数

1

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When one rides a car on a gravel road, a noise due to collision of gravels rolled up by tires makes him uncomfortable. The collisions are assumed as random impacts with respect to mass, collision time, position, velocity, angle and so on. In order to probabilistically estimate the noise, the time history of impact force in the case where a force sensor on a rigid pendulum hits a peripherally clamped thin rectangular plate is precisely measured for various impact speeds, angles and positions. The vibration response and sound pressure radiating from the plate are then estimated with the measured impact forces based on Rayleigh-Ritz method and impulse response method. It was then revealed that the time history of impact force could be represented with a certain time function for any impact speeds, angles and positions and that the component of the impact force perpendicular to the plate determined the maximum of the impact force. The time history of impact force can also be approximated as a superposition of the extreme function and Gaussian function. The estimated vibration acceleration of the plate and sound pressure agree very well the measured values. The noise generated by random impacts was estimated probabilistically. It was found that the noise strongly depends on the natural vibration modes of the plate.

著者

竹田 貴博 小菅 一弘 平田 泰久

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.2005, 2005

著者

大石 康広 小菅 一弘 平田 泰久

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.2005, 2005

著者

小池 良典 平田 泰久 小菅 一弘

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.2009, pp._1A2-D18_1-_1A2-D18_2, 2009

被引用文献数

1

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In this research, we develop a Passive Dance partner Robot (PDR) for realizing the effective human-robot cooperation. Different from the active-type robot with servo motors, passive robot is controlled by the servo brakes attached to the wheels of the robot and its driving force is the actual force/moment applied by a human. In this paper, we propose a motion control algorithm of the PDR for realizing the ballroom dance with a male dancer based on the estimation of the next dance step intended by him.

著者

萬 礼応 谷川 あゆみ 高橋 正樹

出版者

一般社団法人 日本機械学会

雑誌

Dynamics & Design Conference

巻号頁・発行日

vol.2017, 2017

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In this paper, dual-task performance assessment robot (DAR) using projection is developed. Falling is a common problem in the growing elderly population. Fall-risk assessment systems have proven to be helpful in community-based fall prevention programs. One of the risk factors of falling is the deterioration of a person’s dual-task performance. For example, gait training, which enhances both motor and cognitive functions, is a multi-target stepping task (MTST), in which participants step on assigned colored targets. To evaluate the dual-task performance during MTST in human living space, projection mapping and robot navigation to maintain a safe distance from the participant are key technologies. Projection mapping is used to evaluate the long-distance dual-task performance, where MTST target images are displayed on the floor by the moving DAR. To evaluate the accuracy of the projected target position, experiments for MTST target projection using the moving DAR and video analysis are carried out. Additionally, to verify the validity of the MTST by the moving DAR at a constant speed, experiments with several young participants are carried out.

著者

野島 武敏

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.66, no.647, pp.2463-2469, 2000-07-25 (Released:2008-02-26)

参考文献数

8

被引用文献数

4 5

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The aim of this paper is to invent foldable (or developable) conical shells in their axial direction. Foldable conical shells with several different types of folding patterns have newly been designed by geometrical considerations with the help of Origami concept. By using thin polypropylane sheet as well as papers, the designed conical shells with prescribed folding lines were actually manufactured, and it was verified that the shells are fully folded as expected. The designed models will make it possible to construct foldable/developable structures such as tents and dome-roof or to manufacture new types of industrial products.

著者

石原 康正 藤本 真作 逢坂 一正

出版者

一般社団法人 日本機械学会

雑誌

中国四国支部総会・講演会 講演論文集

巻号頁・発行日

vol.2001, pp.307-308, 2001

著者

金元 敏明 服部 裕司 津田 洋介 稲田 裕治 今野 優子 池田 浩太

出版者

一般社団法人 日本機械学会

雑誌

動力・エネルギー技術の最前線講演論文集 : シンポジウム

巻号頁・発行日

vol.2005, pp.73-74, 2005

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The authors invented the superior wind turbine generator, which is composed of the tandem wind rotors and the double rotational armatures type generator without the conventional stator, and have discussed the wonderful advantages in the generating mode. The large-sized front wind rotor and the small-sized rear wind rotor drive respectively the inner and the outer armatures of the generator, in keeping the rotational torque counter-balanced. Such operating conditions enable to make the output higher than one of the conventional turbine and to keep the output constant in the rated operation mode without the brake and/or the pitch control mechanism. Continuously, this paper discusses the experimental results using the cambered blades.

著者

富田 雅樹 津田 洋介 福岡 佑樹 金元 敏明

出版者

一般社団法人 日本機械学会

雑誌

流体工学部門講演会講演論文集

巻号頁・発行日

vol.2003, 2003

著者

金元 敏明 富田 雅樹 津田 洋介 福岡 佑樹 稲田 裕治 今野 優子

出版者

一般社団法人 日本機械学会

雑誌

流体工学部門講演会講演論文集

巻号頁・発行日

vol.2004, 2004

著者

小林 喜久子 上田 伸幸 池森 寛

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

巻号頁・発行日

vol.2008, pp.373-374, 2008

著者

呉 景龍 古谷 慎平 楊 家家 高橋 智

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.77, no.777, pp.2062-2070, 2011 (Released:2011-05-25)

参考文献数

10

被引用文献数

2 3

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Driver safety is an important and often sensitive issue for seniors. Statistics show that the elderly are more likely than other drivers to receive traffic citations for failing to yield, turning improperly, and running red lights and stop signs all indications of decreased driving ability. Currently in Japan, half of the deceased in traffic accidents are elderly people. In present study, we focused on how the pedal placement affect on braking action in emergency. First, ten healthy young and ten elderly individuals were asked to perform a simple reaction experiment by foot. Then, the same subjects were instructed to complete a braking action experiment with different pedal placement condition. The results suggested that both simple reaction time and foot movement time of elderly subjects were significantly longer than that of young subjects. Moreover, the brake pedal force of elderly subjects was lower than that of young subjects. Thus, aging influenced both of simple reaction time and braking action in emergency. In addition, even the pedal placement changed characteristics of braking action of both young and elderly subjects, the most comfortable pedal placement of elderly subjects differed from young subjects.

著者

三木 次夫

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:00214728)

巻号頁・発行日

vol.97, no.907, 1994

参考文献数

1

著者

飯塚 幸三

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.82, no.731, pp.1083-1086, 1979-10-05 (Released:2017-06-21)

著者

村尾 佳紀 サラザル ホセ 平田 泰久

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.2017, pp.1P2-K07, 2017

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<p>We propose a novel method for motion guidance by creating a motion direction by using multiple vibration stimulations. In order to create the motion direction, we utilize a vibratactile illusion called Phantom Sensation. In this method, moving vibration stimulation on the user's skin, which is generated by controlled the position of Phantom Sensation, creates the motion direction. In this paper, we guide the user's wrist to the desired position using our proposal method. We control the produced direction and transmission time by the relationship between current position and desired position. We recognize that they can arrive at a desired position to move their wrist obeying the produced direction.</p>

著者

関根 康史 柴崎 宏武 伊藤 聡子 平川 晃洋

出版者

一般社団法人 日本機械学会

雑誌

交通・物流部門大会講演論文集 2017.26 (ISSN:24243175)

巻号頁・発行日

pp.1202, 2017 (Released:2018-06-25)

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Traffic accidents caused by the pedal operation error by the elderly drivers have become social problem, for example the collision with structure, vehicle or pedestrian. It is generally known that due to the weakening of the flexibility of the elderly's body, the angle at which the knees are placed inside decreases. As the result, in the sitting posture of elderly drivers, there is a difference in the posture of the legs with non-elderly drivers. This may be the hypothesis that it is one of the major causes of the increase in pedal operation errors by them. In this study, we focused attention on the posture of the leg when parking the vehicle with backward movement, and visually checked the sitting posture of the driver's leg and the behavior of the right foot, the driving in simulating the rearward turning motion experimentally verified by twisting the waist of a person. As this check, it is clarified the relationship between the posture of driver's leg or right foot and the foot location area on the brake pedal, which are assumed making effects of pedal operation error.

著者

古館 裕大 山本 一希 千葉 馨 石田 裕二 三上 貞芳

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.2017, pp.2P1-O10, 2017

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<p>A lot of rehabilitation devices for fingers are researched, currently. After leaving a hospital, an intervention by therapists decreases significantly. Therefore, the rehabilitation device is required functions not only the rehabilitation but also the automatic evaluation function. In this study, we aim to develop the finger rehabilitation device for home rehabilitation. Especially, in this report, we propose automatic evaluation system of the finger independent movement. Movements from index finger to little finger, are measured by pressure sensors on the prototype we developed. Measured data are used as time-series signals, states of each finger are quantified by calculating dissimilarities between healthy subject signals and patient signals. Finally, an entire finger movement is quantified by integrating all dissimilarities. From the experiment conducted with hemiplegia patients and healthy subjects, we could show the change of the integrated dissimilarity corresponding to the level of the hemiplegia.</p>

著者

石坪 智也 秋月 伸介 水野 雅之 関本 昌紘 川村 貞夫

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.2009, pp._2A1-G04_1-_2A1-G04_4, 2009

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We propose a new control method for forming feedforward torque-patterns of robot manipulators. In the proposed method, a feedforward torque-pattern can be composed of several other torque-patterns, which have already obtained by the iterative learning control method. Since the iterative learning control method does not need parameter identification of robot dynamics, the proposed method in this paper means that arbitrary feedforward input torque-patterns are formed without using parameter identification. The effectiveness of the proposed control method is demonstrated by several experimental results.