研究者業績
基本情報
- 所属
- 上智大学 理工学部機能創造理工学科 教授
- 学位
- 学士（工学）(上智大学)修士（工学）(上智大学)博士（工学）(上智大学)
- 研究者番号
- 20431819
- J-GLOBAL ID
- 201301033397542820
- researchmap会員ID
- 7000004659
- 外部リンク
受賞
4論文
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Automation 3(3) 364-377 2022年7月19日 査読有り責任著者Tethers (strings and wires) are used in various mechanical systems because they are lightweight and have excellent storability. Examples of such systems include elevators and cranes. In recent years, the use of tethers in special environments, such as outer space, is expected, and various systems have been proposed. In this study, we propose a mobility system using a tether that moves a human by winding a tether attached to a wall. However, the method has a problem whereby the attitude of the human can lack stability during the winding of the tether. We developed the attitude control method of the Tether Space Mobility Device during tether winding while focusing on fluctuations in the rotational kinetic energy of systems. The effectiveness of the control method was shown using numerical simulation. In this paper, the proposed control system is installed in the experimental device for validating the numerical simulation model. Then, we verified the effectiveness of the proposed control method through experiments using an actual system. The experimental results confirm that the angular velocity of the Tether Space Mobility Device converges to 0 deg/s when control is applied. In addition, it was shown that the proposed control method is effective for automatically winding the tether.
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Journal of St. Marianna University 13(2) 77-86 2022年 査読有り
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Modelling 2(3) 370-384 2021年8月20日 査読有り責任著者Advances in space technology have opened up opportunities for human beings to work in outer space. It is expected that the upsizing of manned space facilities, such as the International Space Station, will further this trend. A unique means of transportation is necessary to ensure that human beings can move about effectively in microgravity environments. Here, we propose a tether-based mobility system that moves the user by winding a tether attached to a structure at the destination. To overcome the attitude instability of the user during tether winding, the Tether Space Mobility Device (TSMD) attitude control method for winding a tether is applied and examined through numerical analysis. The proposed analytical model for motion analysis consists of one flexible body and three rigid bodies. The contact force between the tether and the TSMD inlet is determined. Using the numerical analysis model, we investigated the effect of slit shape during tether extension and winding.
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Vibration Engineering for a Sustainable Future 219-225 2021年4月26日 査読有り最終著者
MISC
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102052-1"-"J102052-4" 2011年9月11日Muscle activities related to catching a ball were studied based on EMG signals of physiological characteristics and the elbow joint angle. When dropping a ball with different mass and visual information to the palm we are able to clarify how a human reacts based on their visual information prior to contact. An experiment was carried out using an EMG sensor and a motion capture system simultaneously. The EMG of palmaris longus, extensor carpi radialis longus, biceps brachii and triceps brachii were recorded. The reflection markers of the motion capture system were mounted at the joint positions of the wrist, elbow and shoulder. The integrated EMG of each muscle and the difference of the elbow joint angle were calculated from the balls release to contact. As a result, it was found that a bodies movement in relation to catching a ball from a fixed height is simplified via the influence of visual information from the balls release to contact.
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102031-1"-"J102031-4" 2011年9月11日In this study, we construct the evaluation system for muscular activity of the lower limb when pedaling an electric power-assisted bicycle. The evaluation system is composed of the electric power-assisted bicycle, the numerical simulator and the motion capture system. The electric power-assisted bicycle is attached to the specialty pedal with the force sensor. The numerical simulator is the musculo-skeletal model. The musculo-skeletal model is the human model for the pedaling motion. The motion capture system is used for measuring joint angle of the lower limb. Then we examine the influence of each muscle of the human body in the electric power-assisted bicycle. First the experiment for pedaling motion is performed. Then the musculo-skeletal model is calculated by using the experimental data. We discuss which muscles are important for pedaling motion. It is found that Gluteus maximus, Vastus, Soleus and Gastrocnemius muscle are changed characteristically in the pedaling motion and the muscle activity is decreased by electric power-assist.
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102012-1"-"J102012-4" 2011年9月11日Many of past walking assist devices are developed based on a general walking style whose basic principle is in the flexion and the extension of the knee and the hip joint. But in Japan, a NANBA which is a kind of walking style is studied, and in Europe and America, a theory of the Spinal Engine was proposed in 80's. These studies paid attention to the relation between the trunk motion and the walking. So in this study, we assume that the basic principle of walking is in the lateroflexion and the rotation of the trunk and the waist. The walking assist device which we are developing adopts a walking style which combines right and left swinging of the foot and rotation of the waist. To develop the walking assist device, we made a walking measurement to make an index, a mechanism design with mechanical analysis software, and detailed design. At the walking measurement, rotation angle of waist and abduction angle of hip joint are gotten. At the mechanism design, four bar linkage to assist abduction of the foot and wire mechanism to assist rotation of the waist were adopted. At detailed design, the size, weight and position of the mechanism were considered. In future, we will make a prototype to confirm the motion and improve the system.
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102022-1"-"J102022-4" 2011年9月11日The purpose of this study is to develop a computer simulation system synthesizing various human movements based on a three-dimensional whole-body musculoskeletal model. In order to apply the human model to ergonomic design fields such as a driving system in the vehicles, not only accuracy but also multi-purpose usability is required for the simulation system. The proposed model has the following characteristics: the large-scale-degrees-of-freedom musculoskeletal system, the combination of static optimization technique based on body mechanics and kinematic optimization method, and the predictive motion generating mechanism. The proposed model was applied to simulation of the driving system in the vehicles. The model could remain the posture against the mechanical perturbation of the sheet, and the synthesized motion including the reaction forces from the sheet and floor were valid.
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102041-1"-"J102041-3" 2011年9月11日The purpose of this study is to develop the simulation model that can reproduce the walk considering a detailed musculo-skeletal system of the feet. The model has a three-dimensional entire-body structure of both the neuronal system and the musculo-skeletal system. The dynamics of the human body was represented by a 26-ligid-link system and muscular models. The foot model was a 6-ligid-link system, including the tarocular, subtalar, talonavicular, calcaneocuboid, and matatarsophalangeal joints. The neuronal system was represented by two sub-systems: the rhythm generator system consisting of neural oscillators, and the sensory feedback system. Unknown neuronal parameters were adjusted by a numerical search method using the evaluative criterion for locomotion that was defined by a hybrid between the locomotive energy efficiency and the magnitude of the ground reaction force. In the numerical simulation of 100,000 iterations to the parameters of the neuronal system using a genetic algorithm, walking 10 steps is successfully generated. However, it is not appeared the hyperextension of the metatarsophalangeal joint in the generated gait. It suggests that the structure of the model is necessary to be modified.
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102023-1"-"J102023-4" 2011年9月11日The interest to body posture is recently growing among young people as well as the elderly. The reason is that people suffer from a lot of health problems if the body posture is distorted. To use a school for posture correction is a way to solve the problem, but we believe that the better way is to propose a system to naturally evaluate the posture in real-time in daily life without offending. So, it is necessary to decide whether a posture is good posture or bad posture by wearable system. First, we describe a wearable device for measuring body posture with several bend sensors and a tilt sensor. Second, we describe a method for posture evaluation focusing on the in vivo load with musculo-skeletal model. Third, we describe a method to promote body posture correction. Finally, we describe the experiment mearsuring body posture and the evaluation of the posture by muscle force.
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年次大会 : Mechanical Engineering Congress, Japan 2011 "J102043-1"-"J102043-4" 2011年9月11日Various vehicles are produced by the development of the industrial technology. The driver will take a different driving posture for vehicles of these various vehicles. Moreover, not only the driving posture but also driver become diversified because of increases of the senior citizen and female drivers. The combinations of the driving posture and drives become vast number. In the future, the system that can simulate various driving posture and physical characteristic to develop the vehicle is necessary. Then, the study develops postural evaluation system based on body mechanics simulation. In this paper, the introduction of the outline of the postural evaluation system and the consideration of the posture evaluation result are done.
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「運動と振動の制御」シンポジウム講演論文集 2011(12) 386-389 2011年6月28日In this study, the biomechanical evaluation of electro-hybrid bicycle is performed. And we examine the influence of each muscle of the human body in electro-hybrid bicycle. The human body is modeled as musculo-skeletal model. In this research, the influence of electro assist is discussed by using numerical model. We performed the experiment of electro-hybrid bicycle. We discuss which muscles are important for pedaling motion. It is found that muscle activity is decreased by electro assist.
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日本機械学會誌 114(1110) 329-329 2011年5月5日
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スペース・エンジニアリング・コンファレンス講演論文集 : Space Engineering Conference 2010(19) "E2-1"-"E2-5" 2011年1月27日With the increasing use of the International Space Station, humans have more opportunities to work in space. In space, a mobility device that operates efficiently is needed. In this research, a mobility system called the "Tether Space Mobility Device" (TSMD) is proposed. TSMD has a mechanism that enables the tether to move an object. In this study, the TSMD model is composed of two rigid bodies and one flexible body that can express motion with large deformation and large displacement. Several modeling of TSMD is performed. An influence on motion and control of TSMD is discussed.
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Dynamics & Design Conference 2010 "511-1"-"511-6" 2010年9月14日With the increasing use of the International Space Station, humans have more opportunities to work in space. In space, a mobility device that operates efficiently is needed. In this research, a mobility system called the "Tether Space Mobility Device" (TSMD) is proposed. TSMD has a mechanism that enables the tether to move an object. In this study, the TSMD model is composed of two rigid bodies and one flexible body that can express motion with large deformation and large displacement. Several modeling of TSMD is performed. An influence on motion and control of TSMD is discussed.
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Dynamics & Design Conference 2010 "643-1"-"643-6" 2010年9月14日A high energy-saving new small urban transport system "Eco-Ride" moves under potential energy and has merits of low initial costs and high flexibility to install. To improve the comfort and accessibility of Eco-Ride, a design evaluation method of passenger rooms has been proposed by combining the comfort and accessibility evaluation models for light rail vehicles and automobiles. The results of boarding experiments at full-scale Eco-ride mockup has been applied for the quantitative comparison of design layouts for passenger rooms of Eco-ride experimental trains. No statistically significant difference in comfort evaluation values of seats was found between the full-scale mockup and the manufactured experimental train about the experimented seat arrangement.
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Dynamics & Design Conference 2010 "624-1"-"624-6" 2010年9月14日In this study, we examine the influence of each muscle of the human body in vertical jump by modeling the human body and the muscle of the leg in detail. We discuss the muscles that are necessary for vertical jump with the numerical simulation result. Results show that vasti exerts the biggest power and gluteus maximus shows the highest state of normalized muscle activity. It can be conclude that muscle necessary for vertical jump is single articular muscles.
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Proceedings of the ... Asian Conference on Multibody Dynamics 2010(5) "64424-1"-"64424-7" 2010年8月22日With the increasing use of the International Space Station, humans have more opportunities to work in space. In space, a mobility device that operates efficiently is needed. But, some problems must be solved. First, the human body is suspended without the force of gravity. Second, the air cannot be polluted in the closed space of the Space Station. Thus, an air-polluting mobility device, such as a device with a gas jet using a thruster is objectionable. In this research, a mobility system called the "Tether Space Mobility Device" (TSMD) is proposed. In general, the tether is a cable or a wire rope. The tethers are expected to shift the orbit of another object without using a thruster and to move robots in space. TSMD has a mechanism that enables the tether to move an object. In this study, the TSMD model is composed of two rigid bodies and one flexible body that can express motion with large deformation and large displacement. Several modeling of TSMD is performed. An influence on motion and control of TSMD is discussed.
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Proceedings of International Symposium on Seed-up and Service Technology for Railway and Maglev Systems : STECH 2009 "360736-1"-"360736-6" 2009年6月15日Sensory evaluation of ride on a railway vehicle is performed based on international standards such as ISO2631. However, it is expected that this evaluation would be insufficient because of the development of technologies of a railway vehicle. The evaluation for sight and sound from the viewpoint of ergonomic and psychological perspectives might be needed as well as traditional evaluations in the future. Authors focused on the relation between sight and motion of the railway vehicle. The experiment in sensory evaluation of ride on a railway vehicle using a motion simulator was performed. In this paper, the way and results of the experiment and the environmental psychologic analysis are described.
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日本機械学会交通・物流部門大会講演論文集2009 105-108 2009年Recently, the demand on an improvement of comfort in the automobiles has increased. When the car is considered as a room, the space planning of the seat arrangement influences the comfort greatly. In this research, the seat arrangement with rotating seat for improvement of passenger comfort is proposed. To rotate seat inside the room of the car can increase communication of passenger. To rotate seat outside the room of the car can produce private space. Therefore the comfort can be improved. In this paper, the sensory evaluation is performed. A biomedical measurement is performed in the car room. Therefore the effectiveness of seat arrangement with rotating seat for improvement of passenger comfort has been confirmed.
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Dynamics & Design Conference 2008 "532-1"-"532-5" 2008年9月2日This study presents dynamic behavior of a small size tire. A small size tire is used for personal mobility, for example, a bicycle, a wheelchair and so on. There are various steps and unevenness road in the actual traffic environment. The vibration is occurred when the small size tire passes a step or an evenness road. For the vehicle design, the force initiated by this vibration should be evaluated. In this study experiments are made using special device for behavior on bump for small size tire. Numerical model for small size tire is formulated by using mulitibody dynamics. In experiments, several types of step were used with various vehicle speeds. From measurements of tire, the acceleration acting on tire and the vertical displacement of tire, the effect of experimental condition were discussed. Furthermore numerical model is validated by experimental results.
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交通・物流部門大会講演論文集 2007(16) 107-110 2007年12月12日Sensory evaluation of ride on railway vehicle is performed based on international standards such as ISO2631. However, as technologies relating to railway vehicle progress, it is expected that this evaluation would be not enough. The evaluation for sight and sound from ergonomic and psychological perspectives might be needed as well as traditional evaluations from now. Authors focused on the relation between sight and motion of the railway vehicle, and made experiments in sensory evaluation of ride on railway vehicle using simulator, which is efficient in reproducing various situations by which patterns of images and motion are variously combined. In this paper, the way and results of experiment are described.
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交通・物流部門大会講演論文集 2007(16) 283-286 2007年12月12日This paper is concerned with a quantitative classification based on driver characteristics of steering maneuvers. The evaluation indexes that can be used for quantifying differences of driver groups such as experimental driver or beginner driver are proposed. The slalom test is performed in order to classify the driver's steering maneuvers using the driving simulator that has 6 degrees of freedom motion base and turntable. Effectiveness of proposed evaluation indexes is confirmed in both shape and area at radar chart It is demonstrated in this investigation that the method can be effectively used for classify an important characteristics of driver's steering maneuvers. The proposed evaluation indexes are verified by experimental test with 24 subjects.
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交通・物流部門大会講演論文集 2007(16) 203-206 2007年12月12日This study presents dynamic behavior of a small size tire. A small size tire is used for personal mobility, for example, a bicycle, a wheelchair and so on. There are various steps and unevenness road in the actual traffic environment. The vibration is occurred when the small size tire passes a step or an evenness road. For the vehicle design, the force initiated by this vibration should be evaluated. In this study experiments are made using special device for behavior on bump for small size tire. In experiments, several types of step were used with various vehicle speeds. From measurements of tire, the acceleration acting on tire and the vertical displacement of tire, the effect of experimental condition were discussed.
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交通・物流部門大会講演論文集 2007(16) 287-290 2007年12月12日This paper discusses comparison between beginner driver and expert driver. Because it is very important to develop effective driver assist system. We focus our attention on steering maneuver. We find there are three kinds of characteristics maneuver. First of all, it's the difference on steer angle. Beginner driver steers high furequency. On the other hand, expert driver steers smoothly. Next,we compared the location of grab on steering wheel. The beginner grabs limited place. They don't cross arm during cornering. Last difference we find is that female driver tends to pull steering wheel, it is significant to analyze according to develop new transducer. It enables the measurement of the six components forces for steering.
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交通・物流部門大会講演論文集 151-154 2007年These days, a new vehicle, which is friendly for human and environment, is expected for the sustainable development in the moving space in the society. As one of the forms of the Personal Mobility Vehicles (PMV), the authors proposed a two-wheel vehicle which has two transformable modes; a two-wheel steering and two-wheel driving (2WS/2WD) bicycle and a stabilized parallel two-wheel vehicle. This study focused on the bicycle mode and its stability. It is known that the stability of bicycles is tuned by adjusting the bicycle parameters such as the tire diameter and the head angle. Variable rear steer angle is also effective to keep the stability. Since the vehicle is used in a narrow walking space at law speed, the other method for stability is considered. That is, the authors propose to stabilize the bicycle using driving forces generated at the front and the rear tires. The numerical simulations show that the proposed method is effective to stabilize the bicycle
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交通・物流部門大会講演論文集 2006(15) 205-208 2006年12月13日In this paper, we discuss the dynamic performance of a compact size bicycle using a developed multibody simulation model. These days compact and portable/foldable bicycles become widely used. The use of the transportation system alternative to automobiles attracts attention for the environmental issues. Furthermore, the use of such compact size bicycles as urban transportation systems has a potential to improve the convenience of public transportation systems. Generally, downsizing the bicycle and reducing diameter of tires are in tradeoff with the stability or controllability. For this reason, it is important to discuss the dynamic characteristics and the effect of the design parameters of such compact size bicycles. In this study, the effect of the following parameters on the dynamic performance of bicycles is discussed: mass of rear frame (including the mass of a rider), head angle and moment of inertia of a wheel. Those effects to the stability of a bicycle are analyzed by focusing on the diameter of tire and the running velocity.
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日本機械学會誌 = Journal of the Japan Society of Mechanical Engineers 109(1057) 932-933 2006年12月5日
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Dynamics & Design Conference 2006 "208-1"-"208-6" 2006年8月6日In this paper, we discuss the dynamic performance of a compact size bicycle using a developed multibody simulation model. In this study, a three-dimensional multibody bicycle model is developed to account for the large rotational motion of the bicycle. The equations of motion for the constrained multibody system are obtained using the D'Alembert's principle. The dynamic performance of a compact size bicycle is discussed using the developed simulation model for several different conditions. In particular, the effect of the following parameters on the dynamic performance of bicycles is discussed: the diameter of a tire which becomes smaller when downsizing a bicycle; the offset and trail which are affected by the change in the diameter of a tire. The effect of such parameters on the dynamics characteristics of compact size bicycle is discussed for developing a compact and high-performance bicycle.
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Dynamics & Design Conference 2005 "426-1"-"426-6" 2005年8月22日In this paper we discuss the motion of a tethered system. We considered the tethered system consisting of a very flexible body (the tether) and rigid bodies at one end as our analytical model. A flexible body in planer motion is described using the Absolute Nodal Coordinate Formulation. The combination of flexible body motion and rigid body motion is performed and interaction between them is discussed. We performed experiments to investigate the fundamental motion of the tethered system and to evaluate the validity of the numerical formulation. We conducted experiment of the motion of the tethered system with a rigid body in microgravity space. The numerical solutions using the proposed methods for modeling and formulation for the tethered system are in good agreement with the experimental results.
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Proceedings of the Design Engineering Technical Congress 2003 2003年
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Proceedings ... International Conference on Motion and Vibration Control 6(1) 490-495 2002年In this paper we discuss about dynamic response of a tethered system under attitude control of end body. The system in consideration is composed of a string and rigid bodies attached at its end. We formulate the motion of the string taking into its flexibility. We attempt to control the attitude of the end body. The control technique is consists of attitude control by the reaction wheel, attitude control by the joint torque, and attitude control by the reaction wheel with the joint torque control to cancel accumulation of angular momentum of reaction wheel. First eigenvalue analyses were carried out for these cases where control gain changes. Second the motions of the controlled system are discussed under the free vibration and forced vibration.
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Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2001 96-96 2001年8月3日In this paper we discuss about motion and vibration of a tethered system. The system in consideration is composed of a string and rigid bodies attached at its end. We formulate the motion of the string taking into account large deformation, rotation and translation. The numerical simulations for the some cases of a string with rigid bodies and a string with a simple mass are performed. It is shown that we have to notice the interaction between the string deflection and the rigid bodies rotation.
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Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2000 259-259 2000年9月1日The formulation for motion of a string with large rotation and large displacement is discussed. It is assumed that the tension acting on a string is uniform and the gravity force acting on a string is ignored. The shape of the string in the planar motion is described by acting on a string is small by using Finite Element Method formulation on absolute nodal coordinate. Numerical simulation results in the two cases. One is the case that the string motion is coupled with large deformation and longitudinal vibration. Another one is the case that the end of the string is moved with large displacement.
書籍等出版物
1講演・口頭発表等
1共同研究・競争的資金等の研究課題
6-
日本学術振興会 科学研究費助成事業 基盤研究(C) 2017年4月 - 2022年3月
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日本学術振興会 科学研究費助成事業 2014年4月 - 2018年3月
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公益信託 加藤辰次郎記念建築機械研究開発振興基金 2017年4月 - 2018年3月
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公益財団法人 ＪＫＡ 2017年4月 - 2018年3月
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日本学術振興会 科学研究費助成事業 2009年 - 2010年