A5080890924- Soft Robotics and Applications
- Prosthetics and Rehabilitation Robotics
- Modular Robots and Swarm Intelligence
- Muscle activation and electromyography studies
- Robotic Locomotion and Control
- Advanced Sensor and Energy Harvesting Materials
- Stroke Rehabilitation and Recovery
- Belt Conveyor Systems Engineering
- Robotic Path Planning Algorithms
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Power Line Inspection Robots
- Balance, Gait, and Falls Prevention
- Organ Transplantation Techniques and Outcomes
- Hydraulic and Pneumatic Systems
- Tactile and Sensory Interactions
- Dielectric materials and actuators
- Planetary Science and Exploration
- Liver Disease and Transplantation
- Soil Mechanics and Vehicle Dynamics
- Educational Robotics and Engineering
- Underwater Vehicles and Communication Systems
- Micro and Nano Robotics
- Control and Dynamics of Mobile Robots
- Vibration Control and Rheological Fluids
Chuo University
2016-2025
Waseda University
2006-2025
Ōtani University
2024
Ibaraki Prefectural Livestock Center
2024
Uwajima City Hospital
2023
Kyoto University
1996-2021
Hokkaido Research Organization
2021
The University of Tokyo
2011-2020
Ehime University
2002-2020
Ehime University Hospital
2018-2019
Background. Anatomical variations in right liver lobe are common. However, clinical implications and surgical management of these living donor transplantation have not been analyzed systematically. Methods. Surgical anatomy vascular biliary structures 120 grafts were reevaluated by reviewing the results preoperative (computerized tomography Doppler ultrasonography) intraoperative (cholangiography) imaging as well findings. The data relation to anatomical variations. Results. incidence...
Based on very detailed full-field finite element analysis of the near tip region a thin isotropic elastic plate, three-dimensional stress state in vicinity through-crack front is characterized. The computed field reveals strong effects within radial distance about one-half thickness from crack-tip. Further away tip, through-thickess variation quantities decreases and, at approximately 1.5 times thickness, in-plane stresses merge with dominant two-dimensional plane solutions. These...
Objective To assess the feasibility and safety of duct-to-duct biliary anastomosis for living donor liver transplantation (LDLT) utilizing right lobe. Summary Background Data Biliary tract complications remain one most serious problems after transplantation. Roux-en-Y hepaticojejunostomy has been a standard procedure reconstruction in LDLT with partial hepatic graft. However, end-to-end choledochocholedochostomy is technique choice yields more physiologic bilioenteric continuity than can be...
This paper reports on the position and force control of pneumatic artificial muscles reinforced by straight glass fibers. type muscle has a greater contraction ratio power longer lifetime than conventional McKibben types. However, these are highly non-linear; hence, it is difficult to use them in mechanical system. Furthermore, this actuator high compliance characteristic. Though characteristic useful for human interactions, cannot be easily controlled. In paper, mathematical model proposed,...
Presents a prototype microrobot based on magnetic principles. Miniature items are to be transported and assembled in hazardous environments. A can remotely operated with 3 DOF an enclosed environment by transferring energy optical signals from outside. The drive unit consists of 8 electromagnets (4 pairs), 2 permanent magnets, return yoke pole piece. is manipulated under the piece regulating field. It head, body (electronic circuit batteries), copper alloy ribbon ringers. shape memory...
Various aspects of stress fields near an interface crack in three-dimensional bimaterial plates are investigated. Due to the nature resulting deformation field, effects more critical a plate than homogeneous plate. In close vicinity front, field is characterized by asymptotic K-field, and its domain size very small fraction thickness. Unlike case, always consists all three modes fracture, must propagate under mixed-mode conditions. Furthermore, computational results have shown that two phase...
In the field of bio-engineering aim developing new machines which utilize motion and control organisms as a model is attracting attention. This technology pursued by paying attention to various shapes movements autonomous system that act in response environment surrounding them, mechanically elucidating locomotion mechanism, propulsive nerve sensation for these organisms. On other hand, hydrodynamics, magnetic fluid changes its apparent viscosity depending on has been developed, utilization...
This paper reports the development of a pneumatic artificial muscle based on biomechanical characteristics. A wearable device and rehabilitation robot which assists human should have characteristics similar to those muscle. In addition, because be light, an actuator with high power/weight ratio is needed. At present, McKibben type widely used as muscle, but in fact its physical model highly nonlinear. Further, heat mechanical loss this are large friction caused by expansion contraction...
Robots have entered human life, and closer relationships are being formed between humans robots. It is desirable that these robots be flexible lightweight. With this as our goal, we developed an artificial muscle actuator using straight-fiber-type muscles derived from the McKibben-type muscles, which excellent contraction rate force characteristics. In study, compared steady state dynamic characteristic of straightfiber-type verified usefulness muscles.
Infrastructure pipes require inspection in order to prevent accidents. However, it is difficult inspect a 1-in-diameter gas pipe because long, narrow and complicated. Therefore, an earthworm-type robot was developed this 1-in pipe. The moved by peristaltic crawling with pneumatic artificial muscles displayed its suitability as experiments. speed extremely slow be practically utilized. A major cause for the small distance covered single motion of robot. study, we axial extension actuator...
In this paper, a drilling robot based on earthworm locomotion was developed for seafloor exploration. Seabed mineral resources are found the bottom of ocean. The herein can excavate and obtain samples soil. This paper inspired by results previous study, in which land successfully demonstrated ability to create curved boreholes 1670-mm turning radius 613-mm depth. By principle, is propelled without rubbing side against wall borehole. That is, movement not affected earth pressure, thus it...
This paper focuses on soft actuators that utilize fluid power to drive robots and describes their features applications. First, it discusses how function as elemental technology in robots. is followed by an introduction the driving principle of fluid-driven actuators. It also classifies these based source active mode operation. Furthermore, overview provided materials employed control evaluation methods for them. Finally, currently reported applications actuators, such wearable devices,...
This study proposes a cleaning machine using multistage planetary gear mechanism to remove accumulated grease from kitchen ducts with various geometries, including circular and square configurations. The contributions of this encompass the design machine, that can scrub off at four corners near central regions inner wall once—a task has been difficult in past. Furthermore, velocity simulations estimated relative brushes duct wall. Additionally, results experiment conducted proposed were...