Conference Activities & Talks -

高分子アクチュエータを応用した異分野融合型デバイスの開発

菊地邦友  [Invited]

公益財団法人 科学技術交流財団 次世代アクチュエータ材料応用研究会 令和2年度第2回研究会  2021.01.29  

マルチマテリアル技術を用いたソフトアクチュエータ

第18回 若手研究者研究成果発表会  2019.12   一般社団法人和歌山情報サービス産業協会, 公益 財団法人 わかやま産業振興財団

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菊地邦友

微細加工技術を用いたイオン導電性高分子アクチュエータ作製プロセスの開発

菊地邦友  [Invited]

日本MRS研究会「ソフトアクチュエータ産業化研究会」シンポジウム 『ソフトアクチュエータ、ソフトセンサとプロセス技術』  2019.11  

ソフトアクチュエータ・センサの高機能化と応用デバイスに関する研究

菊地邦友

MOBIO産学連携オフィス連続企画 テーマ別大学・高専合同研究シーズ発表会『プラスチック・樹脂（材料・加工）編』  2019.06   ＭＯＢＩＯ入居・連携大学・高専 , ＭＯＢＩＯ（ものづくりビジネスセンター大阪）, 東大阪市, （公財）東大阪市産業創造勤労者支援機構

Development of a power assist suit that supports and transports heavy objects by a link mechanism located inside the wearer's legs

TSUBOI Kazuhiro, HARA Yukimasa, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019   The Japan Society of Mechanical Engineers

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<p>In this paper, we present a power assist suit that supports and transports heavy objects with a single motor. The leg mechanism of the power assist suit is made of upper and lower parallel links and springs. It is designed to be located inside the wearer's legs so that the power assist suit becomes small and light-weight, and the stability during transportation is improved. We measured the surface electromyogram (EMG) during luggage lifting experiments and confirmed that the burden of the wearer's back and legs is reduced when wearing the developed power assist suit.</p>

Development of a gripper for power assist suits with a ratchet mechanism consisting of linear motion and rotational motion parts

HORIGUCHI Koki, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019   The Japan Society of Mechanical Engineers

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<p>L-shaped grippers typically used for power assist suits have a problem in stably holding objects of arbitrary shape. To solve this problem, we developed a gripper with a ratchet mechanism consisting of linear motion and rotational motion parts. The gripper can be deformed according to the shape of the wearer's hand and the shape of the object to be held, and the shape of the gripper can be fixed due to the rachet mechanism, thus objects of arbitrary shape can be held stably by this gripper and the burden of the wearers is reduced. We carried out experiments where four types of objects were held by the developed gripper. We showed that the developed gripper has reduced the wearer's burden for two types of objects among four.</p>

Development of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement

HARA Yukimasa, TSUBOI Kazuhiro, OGAWARA Koichi, SUZUKI Arata, KIKUCHI Kunitomo

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2019   The Japan Society of Mechanical Engineers

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<p>In this paper, we present a mechanical design of a wire drive mechanism for power assist suits that realizes linear luggage lifting movement and nonlinear knee fixation-and-release movement using a motor. The nonlinear fixation-and-release movement is realized by a mechanism using a piston and a crankshaft. We developed an algorithm to find the design parameters that minimize the error from the optimal wire movement. We developed a prototype wire drive mechanism and verified that it works as designed. In addition, we carried out lifting experiments and confirmed that luggage up to 20 kg can be lifted. We measured the surface electromyogram (EMG) and confirmed that the burden of the wearer's arms was reduced during luggage lifting.</p>

熱溶解積層法を用いたイオン導電性高分子アクチュエータの作製時におけるマスク材料の影響

内田 周作, 菊地 邦友

第19回計測自動制御学会システムインテグレーション部門講演会 (SI2018)  2018.12   計測自動制御学会 SI (システムインテグレーション) 部門

導電性高分子ヒータにより駆動するコイル型熱可塑性高分子アクチュエータの駆動特性評価

生駒 啓人, 菊地 邦友, 奥崎 秀典

第28回日本MRS年次大会  2018.12   日本MRS

A Finite Element Analysis on Driving Characteristics of a Thermoplastic Polymer Actuator

Ryuto Kakitsuka, Kunitomo Kikuchi, Satoshi Tanaka

The SICE Annual Conference 2018 (SICE 2018)  2018.09   The Society of Instrument and Control Engineers (SICE)

Improvement of Driving Characteristics of Ionic Polymer-Metal Composite Applying Voltages Controlled by Using a Single Board Computer

Ryuichi Fukui, Kunitomo Kikuchi

The SICE Annual Conference 2018 (SICE 2018)  2018.09   The Society of Instrument and Control Engineers (SICE)

形状記憶ポリマーを用いた変形形状維持が可能なイオン導電性高分子アクチュエータの開発

硴塚 龍望, 菊地 邦友, 田中 聡志, 福井 龍一

第36回日本ロボット学会学術講演会 (RSJ2018)  2018.09   一般社団法人日本ロボット学会

Effects of Fabrication Conditions on Driving Characteristics of a Novel Coiled Thermoplastic Polymer Actuator Driven by a Conductive Polymer Heater

Hiroto Ikoma, Kutnitomo Kikuchi, Ryuichi Fukui, Hidenori Okuzaki

The SICE Annual Conference 2018 (SICE 2018)  2018.09   The Society of Instrument and Control Engineers (SICE)

マルチマテリアル技術を用いた絶縁処理が不要なイオン導電性高分子アクチュエータの提案

福井 龍一, 則岡 泰典, 内田 周作, 菊地 邦友

第36回日本ロボット学会学術講演会 (RSJ2018)  2018.09   一般社団法人日本ロボット学会

Development of a fabrication process incorporated with fused deposition molding 3D printing technique for Ionic polymer-metal composite

Taisuke Norioka, Syusake Uchida, Ryuto Kakitsuka, Kunitomo Kikuchi

Japan-China Joint Workshop on Recent Advances on Active Soft Materials 2018 (アクティブソフトマテリアルに関する日中共同ワークショップ2018)  2018.08   The Technical Committee on Soft Material, System Integration division, SICE, The Research Group for Industrialization of Soft Actuator, MRS-J, The Precise Measurement Technology Promotion Foundation

Development of a thermoplastic polymer actuator with PEDOT:PSS as a conductive polymer heater

Ryuto Kakitsuka, Kunitomo Kikuchi, Hidenori Okuzaki

Japan-China Joint Workshop on Recent Advances on Active Soft Materials 2018 (アクティブソフトマテリアルに関する日中共同ワークショップ2018)  2018.08   The Technical Committee on Soft Material, System Integration division, SICE, The Research Group for Industrialization of Soft Actuator, MRS-J, The Precise Measurement Technology Promotion Foundation

Development of a stiffness-controllable ionic polymer-metal composite incorporated with a shape memory polymer

Satoshi Tanaka, Ryuto Kakitsuka, Kunitomo Kikuchi

Japan-China Joint Workshop on Recent Advances on Active Soft Materials 2018 (アクティブソフトマテリアルに関する日中共同ワークショップ2018)  2018.08   The Technical Committee on Soft Material, System Integration division, SICE, The Research Group for Industrialization of Soft Actuator, MRS-J, The Precise Measurement Technology Promotion Foundation

シングルボードコンピュータを用いた印加電圧制御によるイオン導電性高分子金属接合体の揺れ戻り軽減

福井 龍一, 硴塚 龍望, 田中 聡志, 則岡 泰典, 松波 恭平, 菊地 邦友

日本機械学会 関西学生会2017年度学生員卒業研究発表講演会  2018.03   一般社団法人日本機械学会 関西支部

3Dプリンタにより印刷した屈曲動作シート型ナイロンアクチュエータの駆動特性評価

生駒 啓人, 菊地 邦友

第17回和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2018.03   (一社) 和歌山情報サービス産業協会 (WAKASA), 和歌山大学システム工学部, 近畿大学生物理工学部, （公財）わかやま産業振興財団

印加電圧制御により揺れ戻り軽減されたイオン導電性高分子金属接合体の動作特性評価

福井 龍一, 菊地 邦友

第17回和歌山大学システム工学部・近畿大学生物理工学部学生研究成果発表会  2018.03   (一社) 和歌山情報サービス産業協会 (WAKASA), 和歌山大学システム工学部, 近畿大学生物理工学部, （公財）わかやま産業振興財団