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In this study, we developed a wall-climbing robot for airplane body inspection. To move on airplane body, the robot needs to move on walls and curved surfaces. A traveling-wave-type, omnidirectional wall-climbing robot that uses magnetic force to adhere could move on such a wall and curved surface. However, magnetic force cannot be used to adhere to airplane body. Therefore, we developed a wall-climbing...
In this study, we developed a 4-degrees of freedom (DOF) force feedback device independent of its operational component comprising pneumatic artificial muscles and magnetorheological clutches. Research and development of force feedback devices is becoming popular in fields such as entertainment, remote operation, and rehabilitation. These areas of research are related to virtual reality and augmented...
In recent years, ventilation equipment has been installed in various structures to draw in outdoor air and circulate indoor air. These ventilation installations have pipes (ducts) through which air flows. If dust accumulates in a duct, it will be carried indoors by the airflow. Dust adversely affects human health, and so these ducts must be cleaned regularly. However, the existing cleaning methods...
We have developed an excavation robot for lunar-subsurface exploration. This robot moves using a mechanism based on the peristaltic crawling of earthworms, which can move stably. In our previous study, we demonstrated that the robot can excavate down to 938 mm using this technique. However, it can only excavate in a straight configuration. If it can excavate while curving, its exploration range would...
In recent years, powdered materials have been often used in various industries. Among the various uses of powders, we focused on the conveyance of the developer in the printers. Screw conveyors are commonly used in the printer for the conveyance of the developer. However, this presents the problems such as the condensation of the developer by the shearing force and the temperature rise. Thus, low...
High-temperature superconductor power applications are still expected to be the main players in reducing carbon footprints. In superconducting magnetic energy storage, increasing the stored energy also increases the electromagnetic force, which generally requires heavier support structure. In terms of the force applied to conductors, it causes the extra bending and/or torsional strain of the REBCO...
We have developed an exclusive planetary subsurface explorer robot with propulsion and excavation units. In this paper, we first explain the concept of our underground explorer robot. Next we develop an excavation unit with a tapered earth auger and a propulsion unit with dual pantograph. Several experiments are performed to demonstrate these features. Finally, we develop a subsurface explorer robot...
In recent years, robots have been used in medicine and everyday life. Therefore, it is desirable that these robots be flexible and lightweight. For this reason, we have studied and developed straight-fiber-type artificial muscles derived from McKibben-type muscles, which have excellent contraction rate and force characteristics. Last year, we developed a manipulator with six degrees of freedom using...
Long-time exposure to repetitive or monotonous work is associated with increased risk for musculoskeletal disorders that are due to muscle fatigue. Previously, researchers reported that muscle fatigue can be estimated using a low-frequency band of an SEMG signal. However, these studies were performed exclusively during static contraction tasks. The objective of the present study was to evaluate and...
This paper describes about research on fluid analysis simulator for elastic oscillating fin of biomimetic underwater robots. Authors has been researching biomimetic underwater vehicle such as flapping wing type. In such system, new concept of fluid analysis simulator is required because of the unique fluid characteristics of elastic oscillating fin. First of all, this paper shows basic characteristics...
Robots have entered human life, and closer relationships are being formed between humans and robots. It is desirable that these robots be flexible and lightweight. For this reason, we studied and developed an artificial muscle actuator using straight-fiber-type artificial muscles derived from the McKibben-type muscles, which have excellent contraction rate and force characteristics. However, these...
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