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IEEE International Conference on Robotics, Intelligent systems and Signal Processing

作者： S. Guo Y. Sasaki T. Fukuda Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan

In the medical field and in industry application, a new type of microrobot in a pipe that can move smoothly in water or aqueous medium has urgently been demanded. It is our purpose to develop a fin type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety. In this paper, we propose a new prototype model of a microrobot utilizing an electromagnetic actuator as the servo actuator to realize moving motion. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the electromagnetic field. On a prototype microrobot a running experiment was conducted and the operating characteristic was evaluated. It turns out that the developed microrobot can correspond to the dirt adhering to the inner wall, or long distance movement by the experiment result, and speed control can be easily performed by frequency adjustment. The experimental results indicate that speed control can be easily performed by frequency adjustment of the electromagnetic field.

关键词： Frequency Prototypes Actuators Electromagnetic fields Velocity control Industry applications Safety Electromagnetic modeling Servomechanisms Permanent magnets

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New catheter driving method using linear stepping mechanism for intravascular neurosurgery

New catheter driving method using linear stepping mechanism ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Arai R. Fujimura T. Fukuda M. Negoro Department of Micro System Engineering Graduate School of Engineering University of Nagoya Japan Department of Mechano-Informatics & Systems Engineering Graduate School of Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology Japan Department of Neurosurgery University of Nagoya Japan

Minimum invasive surgery that supports doctors and reduces patient's physical pain has attracted attention. We consider a new intravascular neurosurgery system. There are two problems in intravascular neurosurgery: one is doctor's exposure to x-ray, and another is the lack of skilled doctors. We developed a remote control system by using a master-slave system to solve these problems. In this paper, we describe the development of a new slave device in the master-slave system and construct the new remote control system of catheter operation with safety. To overcome some of the problems encountered on the previous slave device (2000), we develop a new slave device with a disposable structure employing the mechanism of a mechanical pencil for safe operation.

关键词： Catheters Neurosurgery Master-slave Control systems Safety devices systems engineering and theory Minimally invasive surgery Pain Medical control systems informatics

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A fin type of microrobot in pipe

A fin type of microrobot in pipe

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International Symposium on micromechatronics and Human Science (MHS)

作者： Shuxiang Guo Yasuhiro Sasaki Toshio Fukuda Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan

In the medical field and in industry application, a new type of microrobot in pipe that can move smoothly in water or aqueous medium has urgently been demanded. It is our purpose to develop a fine type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety in body. In this paper, we propose a new prototype model of microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the electromagnetic field. To the microrobot, which built a prototype, the running experiment was conducted and the operating characteristic was evaluated. It turns out that developed microrobot can correspond to the dirt adhering to the inner wall, or long distance movement by the experiment result, and speed control can be easily performed by frequency adjustment. The experimental results indicate that speed control can be easily performed by frequency adjustment of the electromagnetic field.

关键词： Frequency Prototypes Actuators Electromagnetic fields Velocity control Industry applications Safety Electromagnetic modeling Servomechanisms Permanent magnets

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Flexible control of a grasping object with posture error

Flexible control of a grasping object with posture error

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： Y. Hasegawa M. Higashiura T. Fukuda Department of Micro System Engineering University of Nagoya Japan Department of Mechano Informatics System Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Error correction Grasping Fingers Robots systems engineering and theory Numerical simulation Solids Genetic programming Robotics and automation Robust control

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Generation method of regrasping motion using EP-adjusting methods for posture error of grasping object

Generation method of regrasping motion using EP-adjusting me...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Y. Hasegawa M. Higashiura T. Fukuda Department of Micro System Engineering University of Nagoya Japan Department of Mechano-Informatics System Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors when grasping an object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture when grasping an object. This method can avoid the limitation of joint work area and fingertip slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Grasping Fingers Robots Numerical simulation systems engineering and theory Solids Friction AC generators Robotics and automation Optimization methods

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Fish-like underwater microrobot with multi DOF

Fish-like underwater microrobot with multi DOF

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International Symposium on micromechatronics and Human Science (MHS)

作者： Shuxiang Guo Y. Hasegaw T. Fukuda K. Asaka Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu Japan Department of Mechano-Informatics and System University of Nagoya Nagoya Japan Osaka National Research Institute AIST Ikeda Osaka Japan

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. We propose a prototype model of an underwater microrobot utilizing an ICPF (ionic conducting polymer film) actuator as the servo actuator to realize swimming motion with 3 DOF. A biomimetic fish-like microrobot using the ICPF actuator as a propulsion tail fin and a buoyancy adjuster for a microrobot swimming structure in water or aqueous medium is developed. The overall size of the underwater microrobot prototype shaped as a fish is 45 mm in length, 10 mm in width and 4 mm in thickness. There is a pair of fins and a floatage adjuster. The characteristic of the underwater microrobot is measured by changing the frequency and amplitude of input voltage. The experimental results indicate that the swimming speed of the proposed underwater micro robot can be controlled by changing the frequency of input voltage, the moving direction (upward or downward) can be controlled by changing the amplitude and the frequency of input voltage.

关键词： Actuators Frequency Prototypes Voltage control Low voltage Safety Polymer films Servomechanisms Biomimetics Propulsion

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Mechanical micro-dissection by microknife using ultrasonic vibration and ultra fine touch probe sensor

Mechanical micro-dissection by microknife using ultrasonic v...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： F. Arai T. Amano T. Fukuda H. Satoh Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Mechano-Infofmatics and Systems University of Nagoya Nagoya Japan Center For Cooperative Research in Advanced Science and Technology University of Nagoya Nagoya Japan

ISBN: (纸本)0780365763

Recently, micromanipulation for bio-engineering has been developed. The purpose of this research is to develop the minute size knife for the cutting of the minute object such as the cell. In this paper, we report on the microknife that cuts off the object by using ultrasonic vibration of the sharp needle. We applied the multilayer piezoelectric actuator for generating the ultrasonic vibration for cutting. We developed the touch probe sensor for microknife by the PZT thin film which is made by the hydrothermal method. We evaluated the performance of cutting and the touch probe sensor by experiments.

关键词： Vibrations Probes Mechanical sensors Tactile sensors Thin film sensors Biosensors Needles Nonhomogeneous media Piezoelectric actuators Piezoelectric films

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microknife using ultrasonic vibration

Microknife using ultrasonic vibration

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International Symposium on micromechatronics and Human Science (MHS)

作者： F. Arai T. Amano T. Fukuda H. Satoh Department of Micro System Engineering University of Nagoya Nagoya Japan Department of Mechano-Infofmatics and Systems University of Nagoya Nagoya Japan

ISBN: (纸本)0780364988

The purpose of this research is to develop a minute size knife for cutting of minute objects such as cells. We report on a microknife that cuts the object by using ultrasonic vibration of a sharp needle. We employed a multilayer piezoelectric actuator for generating the ultrasonic vibration for cutting. Also, we made a tactile sensor for the microknife by using PZT thin film made by the hydrothermal method. We evaluated the cutting performance and the tactile sensor by experiments.

关键词： Needles Laser beam cutting Piezoelectric actuators Tactile sensors microscopy Piezoelectric films Thin film sensors Laser theory Nonhomogeneous media Frequency

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A control system for multi-fingered robotic hand with distributed touch sensor

A control system for multi-fingered robotic hand with distri...

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作者： Sugiuchi, H. Watanabe, S. Hasegawa, Y. Nornoto, M. Department of Mechanical Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama Japan Department of Mechanical Engineering Graduate School of YNU 79-5 Tokiwadai Hodogaya-ku Yokohama Japan Yamatake Techno-Systems Co. Ltd. Oak Yokohama Building 2-15-10 Kita-Saiwai Nishi-ku Yokohama Japan Department of Mechano-Informatics University of Tokyo 7-3-1 Hongo Bunkyo-kuTokyo Japan

A robotic hand and its control system is developed. This hand has five fingers and 22 DOF. (16 for fingers and 6 for arm). The surface of the hand is covered with a distributed touch sensor that has more than 500 measuring points. This system, can control the positon, orientation, velocity and force of multiple points on the hand simultaneously. The effectiveness of this system is shown by the experiment in which the robotic hand holds a pair of scissors and achieves a paper cutting task. The event driven task execution system is also developed and used for the experiment. This system, watches the event which signals the change of the constrained state of the hand and switches the control points and their behaviors on the hand dynamically according to the detected event. © 2000 IEEE.

关键词： Tactile sensors

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Computational Intelligence for Mobile Robotic systems - Decision Making, Learning, and Planning –

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Journal of Robotics and Mechatronics 2000年第3期12卷 194-201页

作者： Fukuda, Toshio Kubota, Naoyuki Center for Cooperative Research in Advanced Science and Technology Dept of Mechano-Informatics and Systems Dept of Micro System Engineering Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Department of Human and Artificial Intelligent Systems Fukui University 3-9-1 Bunkyo Fukui910-8507 Japan

This paper describes recent topics of computational intelligence. The intelligent capabilities will be required for the various systems to adapt to dynamically changing environments. First, we introduce the computational intelligence including evolutionary computing, neural computing, and fuzzy computing. Next, some of the important problems including the system architecture, structured intelligence, emerging system, and implementation methods are discussed for mobile robotic systems from the viewpoint of coevolution. © 2000, Fuji Technology Press. All rights reserved.

关键词： Decision making

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