Yutaka Sato, He Jiaou, Hiroyuki Kobayashi, Y. Muramatsu, T. Hashimoto, Hiroshi Kobayashi
We have been developing the wearable muscle suit for direct and physical motion supports. The use of the McKibben artificial muscle has opened the way to the introduction of “muscle suits” compact, lightweight, reliable, wearable “assist-bots” enabling manual worker to lift and carry weights. Since back pain is the most serious problem for manual worker, improvement of the back support muscle suit under the feasibility study and quantitative estimation are shown in this paper. The structure of the upper body frame, the method to attach to the body, and the axes addition were explained as for the improvement. In the experiments, we investigated quantitative performance results and efficiency of the back support muscle suit in terms of vertical lifting of heavy weights by employing integral electromyography (IEMG). The results indicated that the values of IEMG were reduced by at least 30% by using the muscle suit. Furthermore, we confirmed that the values of IEMG decreased as much as the case of vertical lifting by adjusting right and left forces supplied even in the case where weights are not at the front.
{"title":"Development and quantitative performance estimation of the back support muscle suit","authors":"Yutaka Sato, He Jiaou, Hiroyuki Kobayashi, Y. Muramatsu, T. Hashimoto, Hiroshi Kobayashi","doi":"10.1299/KIKAIC.78.2987","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.2987","url":null,"abstract":"We have been developing the wearable muscle suit for direct and physical motion supports. The use of the McKibben artificial muscle has opened the way to the introduction of “muscle suits” compact, lightweight, reliable, wearable “assist-bots” enabling manual worker to lift and carry weights. Since back pain is the most serious problem for manual worker, improvement of the back support muscle suit under the feasibility study and quantitative estimation are shown in this paper. The structure of the upper body frame, the method to attach to the body, and the axes addition were explained as for the improvement. In the experiments, we investigated quantitative performance results and efficiency of the back support muscle suit in terms of vertical lifting of heavy weights by employing integral electromyography (IEMG). The results indicated that the values of IEMG were reduced by at least 30% by using the muscle suit. Furthermore, we confirmed that the values of IEMG decreased as much as the case of vertical lifting by adjusting right and left forces supplied even in the case where weights are not at the front.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126604552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper describes experimental and analytical study on the behavior of a falling water sheet. The observation of water sheet displacement and air pressure variation in the chamber implies that one of the causes of oscillation is downward squeeze action of a water sheet on an air chamber. We propose a simplified analytical model. Analytical results agree well with experimental ones. Further analytical results explain the occurrence of multiple modes of oscillation in a condition. In addition, we explain the instability mechanism using the work done by a falling water sheet on an enclosed chamber.
{"title":"Mechanism of self-excited vibration of a falling water sheet","authors":"H. Mori, T. Nagamine, R. Ito, Yuichi Sato","doi":"10.1299/KIKAIC.78.2720","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.2720","url":null,"abstract":"This paper describes experimental and analytical study on the behavior of a falling water sheet. The observation of water sheet displacement and air pressure variation in the chamber implies that one of the causes of oscillation is downward squeeze action of a water sheet on an air chamber. We propose a simplified analytical model. Analytical results agree well with experimental ones. Further analytical results explain the occurrence of multiple modes of oscillation in a condition. In addition, we explain the instability mechanism using the work done by a falling water sheet on an enclosed chamber.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130815151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper describes a transportable system for estimating three dimensional motion distance and making three dimensional map in the building environment. This system takes three dimensional laser reflecting points information, and integrates them to make a map in the point cloud format after the estimation of sensing position using the three dimensional motion estimation. It estimates the self-location using the information of surfaces of walls, posts and ceilings as feature of the in-building environment. We have developed the prototype system using a three dimensional scanning unit with the roundly swinging mechanism, and an posture sensor unit. The experimental results have shown the effectiveness of the method of three dimensional motion distance estimation designed for this system.
{"title":"Transportable sensor system for three dimensional motion distance estimation and mapping using the in-building shape feature","authors":"M. Matsumoto, S. Yuta","doi":"10.1299/KIKAIC.78.3013","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.3013","url":null,"abstract":"This paper describes a transportable system for estimating three dimensional motion distance and making three dimensional map in the building environment. This system takes three dimensional laser reflecting points information, and integrates them to make a map in the point cloud format after the estimation of sensing position using the three dimensional motion estimation. It estimates the self-location using the information of surfaces of walls, posts and ceilings as feature of the in-building environment. We have developed the prototype system using a three dimensional scanning unit with the roundly swinging mechanism, and an posture sensor unit. The experimental results have shown the effectiveness of the method of three dimensional motion distance estimation designed for this system.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131349299","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Y. Matsumoto, Tatsuhiko N. Ikeda, T. Narukawa, Masaki Takahashi
Recently, biped robots are flourished all over the world. Japan, as a leading country of biped robots, plans to send them into the moon. The project is greatly magnificent, but there are lots of problems to operate biped robots on lunar surface. One of the biggest problems is the difference of gravity between the moon and the earth. Therefore, it is necessary to develop control methods concerning the reduced gravity. This paper proposes a novel control method to generate gait under variable gravity. Previous study shows a method to generate gait based on passive dynamic walking. Proposed method expands the previous study and enables to control robots’ step length and velocity on any slope angle under variable gravity. The concept of the proposed method is to generate gait based on natural relativities of passive dynamic walking: the step length depends on the slope angle and the velocity depends on the gravity. To generate control inputs, we derive the passive dynamic walking that corresponds to the desired gait in terms of step length and velocity. Then we apply this referential passive dynamic walking to previous method and we obtain control inputs. With proposed method, it is shown that simulation results under variable gravity conform to the desired gait.
{"title":"Walking control for a compass-like biped robot under variable gravity based on passive dynamic walking","authors":"Y. Matsumoto, Tatsuhiko N. Ikeda, T. Narukawa, Masaki Takahashi","doi":"10.1299/KIKAIC.78.2496","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.2496","url":null,"abstract":"Recently, biped robots are flourished all over the world. Japan, as a leading country of biped robots, plans to send them into the moon. The project is greatly magnificent, but there are lots of problems to operate biped robots on lunar surface. One of the biggest problems is the difference of gravity between the moon and the earth. Therefore, it is necessary to develop control methods concerning the reduced gravity. This paper proposes a novel control method to generate gait under variable gravity. Previous study shows a method to generate gait based on passive dynamic walking. Proposed method expands the previous study and enables to control robots’ step length and velocity on any slope angle under variable gravity. The concept of the proposed method is to generate gait based on natural relativities of passive dynamic walking: the step length depends on the slope angle and the velocity depends on the gravity. To generate control inputs, we derive the passive dynamic walking that corresponds to the desired gait in terms of step length and velocity. Then we apply this referential passive dynamic walking to previous method and we obtain control inputs. With proposed method, it is shown that simulation results under variable gravity conform to the desired gait.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115841720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A high expectation is placed on the introduction of Clean Energy Vehicle (CEV) to reduce CO2 emissions and energy consumption in the automotive sector. However, each CEV has its pros and cons. Therefore, the type and the number of CEV need to be considered before considering the way of introducing CEV. Many studies have been done on this topic, but their portfolios leave trucks and buses out of consideration. Also, past studies took energy security and infrastructure cost out of consideration. This study presents new optimization model which obtains optimal CEV portfolio of passenger car, truck, and bus in Japan, considering economy, CO2 emissions, and energy security. Simulation indicates that HEV, NGV, EV in passenger car and NGV, DHV in truck should be introduced, and especially NGV in truck is required in order to achieve the oil dependency rate designed by the government.
{"title":"Portfolio optimization for clean energy vehicles in Japan","authors":"Yosuke Arimori, M. Nakano","doi":"10.1299/KIKAIC.78.2571","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.2571","url":null,"abstract":"A high expectation is placed on the introduction of Clean Energy Vehicle (CEV) to reduce CO2 emissions and energy consumption in the automotive sector. However, each CEV has its pros and cons. Therefore, the type and the number of CEV need to be considered before considering the way of introducing CEV. Many studies have been done on this topic, but their portfolios leave trucks and buses out of consideration. Also, past studies took energy security and infrastructure cost out of consideration. This study presents new optimization model which obtains optimal CEV portfolio of passenger car, truck, and bus in Japan, considering economy, CO2 emissions, and energy security. Simulation indicates that HEV, NGV, EV in passenger car and NGV, DHV in truck should be introduced, and especially NGV in truck is required in order to achieve the oil dependency rate designed by the government.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"269 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121308758","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Non-contact vibration tests with detection-free input based on pulsed-laser ablation for underwater structures","authors":"N. Hosoya, S. Yahagi, I. Kajiwara","doi":"10.1299/KIKAIC.78.2426","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.2426","url":null,"abstract":"","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115194036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A waveform of a water surface caused by water sloshing in a tank often changes because of nonlinear effect of fluid. In the case of a small water depth, shallow water wave theory can be applied to this phenomenon. When Tsunami propagates on a sloping beach, soliton wave is generated because of nonlinear effect of fluid. This Tsunami phenomenon also can be evaluated based on shallow water wave theory. The purpose of this study is to establish a practical analytical model to analyze these phenomena. This model consists of masses, connecting nonlinear springs, connecting dampers, base support dampers, and base support springs. The characteristic of connecting nonlinear spring is derived from the gravitational pressure, and the base support damper and the base support spring are derived from the shear stress on a bottom. Water waves generated in a rectangle tank, on a sloping beach are analyzed numerically by using the proposed model in order to confirm the validity of the model. All numerical computational results agree very well with the experimental results. Especially, the phenomena that the distorted waves are generated by the nonlinear effect of fluid are numerically reproduced. Therefore, it is concluded that the proposed model is valid for the numerical analysis of nonlinear shallow water wave problem.
{"title":"Nonlinear shallow water wave analysis by concentrated mass model (1st report, suggestion and validity of analytic model)","authors":"S. Ishikawa, T. Kondou, K. Matsuzaki","doi":"10.1299/KIKAIC.78.1851","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.1851","url":null,"abstract":"A waveform of a water surface caused by water sloshing in a tank often changes because of nonlinear effect of fluid. In the case of a small water depth, shallow water wave theory can be applied to this phenomenon. When Tsunami propagates on a sloping beach, soliton wave is generated because of nonlinear effect of fluid. This Tsunami phenomenon also can be evaluated based on shallow water wave theory. The purpose of this study is to establish a practical analytical model to analyze these phenomena. This model consists of masses, connecting nonlinear springs, connecting dampers, base support dampers, and base support springs. The characteristic of connecting nonlinear spring is derived from the gravitational pressure, and the base support damper and the base support spring are derived from the shear stress on a bottom. Water waves generated in a rectangle tank, on a sloping beach are analyzed numerically by using the proposed model in order to confirm the validity of the model. All numerical computational results agree very well with the experimental results. Especially, the phenomena that the distorted waves are generated by the nonlinear effect of fluid are numerically reproduced. Therefore, it is concluded that the proposed model is valid for the numerical analysis of nonlinear shallow water wave problem.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115266777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tatsuhiko N. Ikeda, Y. Matsumoto, T. Narukawa, Masaki Takahashi, Shin Yamada, H. Ohshima, Meigen Liu
For the future manned exploration mission to the other planet, the change of motion characteristics due to the reduced gravity must be studied. Walking, especially, is the basic action of human life, and the efficient walking enables the exploration mission under the limited life-sustaining time and resources. To minimize the risk of injury and damaging of the life-supporting system, the safety of the walking must be studied. To simulate the micro-gravity on the earth, gravity compensation is required, and the wire suspension system is often used for gait analysis. In this system, a subject wears harness and will be suspended by the wire to apply an upward force to the center of mass of the subject. However, pulleys for many systems are fixed at a point and this will lead to inappropriate compensation. While the subject is underneath the pulley, the complete compensation can be achieved with suspension force parallel to the gravity. However, once the subject moved away from the initial position, the unloading force is no longer equal to the suspension force but fluctuate as the subject move. Considering this problem, this paper first represents the effect of force fluctuation to the gait property using the planar rimless wheel, one of the simplest models of locomotion. Gait under lunar gravity and under fixed point suspension is compared, and the effect of restoring force is analyzed. Then, a new gravity compensator with horizontal follower is proposed and its effectiveness is verified through rimless wheel experiment.
{"title":"Development of gravity compensator for analysis of walking characteristics under the reduced gravity (verification of its effectiveness with rimless wheel)","authors":"Tatsuhiko N. Ikeda, Y. Matsumoto, T. Narukawa, Masaki Takahashi, Shin Yamada, H. Ohshima, Meigen Liu","doi":"10.1299/KIKAIC.78.2022","DOIUrl":"https://doi.org/10.1299/KIKAIC.78.2022","url":null,"abstract":"For the future manned exploration mission to the other planet, the change of motion characteristics due to the reduced gravity must be studied. Walking, especially, is the basic action of human life, and the efficient walking enables the exploration mission under the limited life-sustaining time and resources. To minimize the risk of injury and damaging of the life-supporting system, the safety of the walking must be studied. To simulate the micro-gravity on the earth, gravity compensation is required, and the wire suspension system is often used for gait analysis. In this system, a subject wears harness and will be suspended by the wire to apply an upward force to the center of mass of the subject. However, pulleys for many systems are fixed at a point and this will lead to inappropriate compensation. While the subject is underneath the pulley, the complete compensation can be achieved with suspension force parallel to the gravity. However, once the subject moved away from the initial position, the unloading force is no longer equal to the suspension force but fluctuate as the subject move. Considering this problem, this paper first represents the effect of force fluctuation to the gait property using the planar rimless wheel, one of the simplest models of locomotion. Gait under lunar gravity and under fixed point suspension is compared, and the effect of restoring force is analyzed. Then, a new gravity compensator with horizontal follower is proposed and its effectiveness is verified through rimless wheel experiment.","PeriodicalId":337733,"journal":{"name":"Transactions of the Japan Society of Mechanical Engineers. C","volume":"24 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120849862","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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