21 accepted papers
In this paper, we developed an autonomous decentralized control method that incorporates phase-difference adjustment based on a sigmoid function, enabling the design of both increases and decreases in discrepancy. The method was applied to a peristaltic mixing pump capable of mixing and transporting…
This paper introduces a high-response artificial muscle actuator using dimethyl ether combustion (HADEC), which is a novel method to enhance the responsiveness and force output of pneumatic actuators. The HADEC system integrates a McKibben-type artificial muscle filled with a combustible mixture of …
In this paper, we developed an autonomous decentralized control method that incorporates phase-difference adjustment based on a sigmoid function, enabling the design of both increases and decreases in discrepancy. The method was applied to a peristaltic mixing pump capable of mixing and transporting
This study develops an autonomous cleaning robot designed to remove accumulated grease in restaurant kitchen ducts, where human access and manual cleaning are not feasible. Prior studies have developed cleaning mechanisms for round ducts employing planetary gear systems, demonstrating their efficien
In this work, we developed a peristaltic bioreactor with an enhanced crushing capability, inspired by the structure of the avian gizzard. Existing peristaltic bioreactors have limited ability to crush boluses, which makes the fermentation of substances such as agar gel time-consuming. To improve cru
This paper introduces a high-response artificial muscle actuator using dimethyl ether combustion (HADEC), which is a novel method to enhance the responsiveness and force output of pneumatic actuators. The HADEC system integrates a McKibben-type artificial muscle filled with a combustible mixture of
This letter proposes a moving mechanism applied Multiple-connected Variable Outer Diameter PIGs (Multi-VOD PIGs) for in-pipe inspection. This study aims to inspect the inside of long, narrow, and complex piping. Related studies include wheeled, snake, and worm robots. However, these robots have larg
In this study, an earthworm-type electrical wire installation assistance robot is proposed using pneumatic artificial muscles. This letter contributes to describing the design and experiments regarding a robot that can safely and automatically install electrical wires in complex conduits within a li
In this study, we propose a method to reduce the traveling load by designing a distributed robot arrangement that considers the shape of a pipeline for a cabled in-pipe mobile robot. The objective of this study is to establish a method to reduce the friction acting on the wires of a self-propelled i
In this letter, we describe simulations and experiments on the occurrence of cavitation with an instantaneous force generation mechanism based on the motion of the mantis shrimp. This study aims to strengthen the striking force of the developed mechanism by realizing the mechanism of cavitation occu
We developed a robot generating instantaneous force inspired by the smashing mantis shrimp, and conducted dynamic analysis using the mechanistic model. We compared the performance with and without the elastic elements of the exoskeleton to examine the contribution of each spring element. Previously,
Recently, in the search for alternatives to conventional robots, various types of soft actuators and their applications have been studied. In particular, pneumatic soft actuators have the advantage of being lightweight and high power. One of the uses of these soft actuators is as a substitute for an…
Currently, researchers are actively conducting studies and experiments on soft robots due to their increasing abilities to cooperate with humans. Particular attention is being paid to pneumatic artificial muscles because of their flexibility and relatively light weight as actuators. Among the multip
For unmanned rescue, observation, and/or research, vehicles with high terrain adaptability, high speed, and high reliability are needed to reach hard-to-reach-locations. In order to extend the areas that can be explored, we propose a method and a robot capable of running on the surface of water with…
Currently, serious accidents are caused frequently by the aging of sewer pipes. Therefore, to inspect sewer pipes, we developed a peristaltic crawling robot that reproduces the locomotion of an earthworm. This robot can drive for more than 100m, and it can be used for the maintenance of sewer pipes…
This letter proposes a novel hybrid pneumatic power source for the development of a portable pneumatic source. The hybrid pneumatic source achieves a lightweight system by combining two pneumatic sources: one that can generate high pressure/small suppliable flow and one that can generate small press
A range of pneumatically-driven devices have been developed. However, these require a large air compressor, making them heavy, bulky, and therefore inappropriate for use in portable devices. In this study, we proposed and tested a portable pneumatic power source using the chemical reaction between s…
Unmanned rescue, observation, and/or research vehicles with high terrain adaptability, high speed, and high reliability are needed in difficult-to-reach locations. However, for most vehicles, high performance over rough terrain reduces the travel speed and/or requires complex mechanisms. We have dev…
In recent years in Japan, over half of all workers suffered from lower back pain. This has become a social problem that needs to be addressed. To reduce its occurrence, we developed a flexible, high-output waist assist suit called “AB-Wear” in a previous study. The AB-Wear suit can assist human moti…
In this study, a variable viscoelastic joint system comprising antagonized artificial muscles and magneto-rheological fluid brakes is proposed. This system enables human assisting devices such as robotic exoskeletons to retain structural softness when compared with the existing devices driven by mot…
Unmanned rescue, observation and/or research vehicles with high terrain adaptability, high speed, and high reliability are needed to reach difficult locations. However, most vehicles achieve improved performance over rough terrain at the expense of low speed and/or complex mechanisms. We developed a…