| 1.Research Institution | Ritsumeikan University | |
| 2.Research Area | Physical and Engineering Science | |
| 3.Research Field | Micro-mechatronics and Soft-mechanics | |
| 4.Term of Project | FY1996〜FY2000 | |
| 5.Project Number | 96P00804 | |
| 6.Title of Project | Life support welfare robotics based on mechanical affinity to human being |
| Name | Institution,Department | Title of Position |
| Sadao, Kawamura | Ritsumeikan University, Science and Engineering | Professor |
8.Core Members
| Names | Institution,Department | Title of Position |
| Masaaki, Makikawa | Ritsumeikan University, Science and Engineering | Professor |
| Kiyoshi, Nagai | Ritsumeikan University, Science and Engineering | Associate Professor |
| Kenzo, Akazawa | Osaka University, Graduate School of Engineering | Professor |
9.Cooperating Researchers
| Names | Institution,Department | Title of Position |
| Shinichi, Hirai | Ritsumeikan University, Science and Engineering | Associate Professor |
| Tadao, Isaka | Ritsumeikan University, Science and Engineering | Associate Professor |
| Ryuhei, Okuno | Osaka University Graduate, School of Engineering | Assistant professor |
10.Summary of Research Results
|
The aim of this project is to develop mechanical outfits for supporting of human motions in welfare, displaying of force in virtual reality and sports training. To develop the mechanical outfit three steps are important: (1) Investigation of human motion from a biomechanical point of view (2) Development of new mechanical elements with small size, light weight, and softness (3) Integration of the developed elements. Through the three steps, several outfits have been realized and their performances have been demonstrated. |
11.Key Words
(1)mechanical impedance、(2)variable flexible elements、(3)pneumatic actuators
(4)flexible actuators、(5)outfit、(6)power assist
12.References
| Author | Title of Article | |||
| Takashi Mitsuda | Development of a Particle Mechanical Constraint of Variable Stiffness with Application to a Wearable Force Display | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the Society of instrument and control engineers | To be published | |||
| Author | Title of Article | |||
| Sadao Kawamura | Development of wearable elements with variable mechanical constraints | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the Japan Society of Mechanical Engineers | To be published | |||
| Author | Title of Article | |||
| Fumiaki Takemura | Design and Control of Hybrid Pneumatic/Electric Motor | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the Japan Society of Mechanical Engineers | To be published | |||
| Author | Title of Article | |||
| Osamu Tabata | MICROFABRICATED TUNABLE BENDING STIFFNESS DEVICES | |||
| Journal | Volume | Year | Pages Concerned | |
| Sensors and Actuators | 2001 | 119-123 | ||
| Author | Title of Article | |||
| Ryuhei Okuno | 3D-CG Simulator of ON-OFF Control and Biomimetic Myoelectric Hand | |||
| Journal | Volume | Year | Pages Concerned | |
| Biomechanism | Vol.15 | 2000 | 165-173 | |
| Author | Title of Article | |||
| Isao Kikutani | Relation between Muscle Activation Level and Muscle Viscoelasticity in Human Flexor pollicis Longus Muscle | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the institute of Electronics, Information and Communication Engineers | Vol.J83-II No.8 | 2000 | 1832-1840 | |
| Author | Title of Article | |||
| Sadao Kawamura | Development of an active orthsis for knee motion by using pneumatic actuators | |||
| Journal | Volume | Year | Pages Concerned | |
| Proceedings of IMCA2000 | 2000 | 615-620 | ||
| Author | Title of Article | |||
| Fumiaki Takemura | Modeling and Sliding Mode Control of a Vane-type Pneumatic Motor | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the Japan Society of Mechanical Engineers | Vol.66 No.652 | 2000 | 127-134 | |
| Author | Title of Article | |||
| Toshio Tuji | Impedance Training: Can We Regulate our Hand Impedance Through Training? | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the society of instrument and control engineers | Vol.35 No.10 | 1999 | 1300-1306 | |
| Author | Title of Article | |||
| Takanori Uchiyama | Muscle Activity - Joint Angle - Isometric Torque and Load Torque - Velocity Relations of Human Elbow Extensor Muscles | |||
| Journal | Volume | Year | Pages Concerned | |
| Biomechanism | Vol.14 | 1998 | 27-37 | |
| Author | Title of Article | |||
| S. R. Pandian | Practical Design of a Sliding Mode Controller for Pneumatic Actuators | |||
| Journal | Volume | Year | Pages Concerned | |
| Transactions of the ASME | Vol.119 | 1997 | 666-674 | |
| Author | Title of Article | |||
| Sadao Kawamura | The concept of soft variable mechanical constraint elements for development of machines with mechanical affinity with human being | |||
| Journal | Volume | Year | Pages Concerned | |
| Proceedings of the 18th Annual Conference of the Robotics Society of Japan | Vol.1 | 2000 | 459-460 | |
| Author | Title of Article | |||
| Han Hyun-Yong | Analysis of Human Jumping Motion and Development of Mechanism to Enhance Jumping Ability | |||
| Journal | Volume | Year | Pages Concerned | |
| Proceedings of 2000 JSME Conference on Robotics and Mechatronics | 2000 | 1P1-24-051 | ||