Summary of Research Project Results Under the JSPS FY2000
"Research for the future Program"



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

7.Projetct Leader
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

[Reference Articles]
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


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