{"id":142,"date":"2024-01-22T10:38:33","date_gmt":"2024-01-22T10:38:33","guid":{"rendered":"http:\/\/www.msd.mech.e.titech.ac.jp\/en\/?page_id=142"},"modified":"2024-03-26T15:58:46","modified_gmt":"2024-03-26T06:58:46","slug":"research","status":"publish","type":"page","link":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/research\/","title":{"rendered":"Research"},"content":{"rendered":"\n

Mission<\/h3>\n\n\n\n

Development of mechanical systems that support human and society based on mechanism design technology<\/strong>
1. Developmental research in mechanics: Focusing on design theory as well as the study, design, and development of novel mechanisms and machine components
2. Research on human-mechanical systems: Understanding human motion and mechanics to design systems that are ergonomic, safe, and effective in supporting human activities
3. Research on robot system design: Proposal and development of new mechanical, electronic, and robotic systems
4. Different industrial and societal realities brought about by the aforementioned technical advancements<\/p>\n\n\n\n

Field of Study<\/h3>\n\n\n\n

Mechanical system design, robotics\/mechatronics, mechanics, mechanical elements, welfare engineering, biomechanics<\/p>\n\n\n\n

Research Details<\/h3>\n\n\n\n

A. Methodology \/ Concept Research<\/h4>\n\n\n\n

A1. Analysis, design, and optimization methods for mechanical motion systems and machine elements<\/a><\/h5>\n\n\n\n
    \n
  1. Kinematics\/dynamics analysis of parallel mechanisms, evaluation of motion transferability, and mechanism synthesis<\/li>\n\n\n\n
  2. Dynamic analysis of parallel robots considering joints gap<\/li>\n\n\n\n
  3. Origami motion analysis model and characteristic analysis<\/li>\n<\/ol>\n\n\n\n
    \"\"
    Behavior analysis with the consideration of interference and deformation of parts<\/em><\/figcaption><\/figure>\n\n\n\n
      \n
    1. Calibration of cable-driven systems<\/li>\n<\/ol>\n\n\n\n
      A2. Kinematic and dynamic modeling, and design methods for human-machine systems<\/a><\/h5>\n\n\n\n
        \n
      1. Analysis and design methods for human-support device systems based on dynamic pairs<\/li>\n\n\n\n
      2. Evaluation and design of devices (canes, handrails, etc.) that support the stable movement of elderly people<\/li>\n\n\n\n
      3. Modeling, kinematics analysis, and design of rehabilitation and motion support equipment by considering the wearable characteristics on human body.<\/li>\n<\/ol>\n\n\n\n
        A3. PROPOSING NEW HUMAN-MACHINE INTERFACE SYSTEMS, DESIGN AND CONTROL OF SUCH MECHANISMS<\/h5>\n\n\n\n
          \n
        1. Human-Powered Robotics (Ongoing since 2012)<\/a><\/li>\n<\/ol>\n\n\n\n

          \u201cPowered by human, controlled by computer\u201d – Research on human-machine systems that achieve both safe, comfortable, and sustainable human movement and the automation and robotization of physical tasks.<\/p>\n\n\n\n

          \n
          \"\"
          Human robotics concept<\/em><\/figcaption><\/figure>\n\n\n\n
          \"\"
          Human collaborotive robots<\/em><\/figcaption><\/figure>\n<\/div>\n\n\n\n

          B. Applied Research<\/h4>\n\n\n\n

          B1. Development of robots utilizing parallel and cable driven mechanisms<\/h5>\n\n\n\n
            \n
          1. Seismic motion simulator using a parallel cable drive mechanism (Ongoing)<\/li>\n\n\n\n
          2. A reticulated self-propelled cable-driven robot with a variable structure parallel cable mechanism<\/a><\/li>\n<\/ol>\n\n\n\n

            A \u201creticulated cableway\u201d consists of cables that are interconnected in a spider web shape. This research focuses on a variable structure, parallel cable mechanism that allows the cable delivery point to be moved spatially, where it can host multiple robots that run on the cable network.<\/p>\n\n\n\n

            B2. Development of Welfare Equipment<\/h5>\n\n\n\n
              \n
            1. Lower limb operated personal mobility systems for the elderly (2017 – ongoing)<\/li>\n\n\n\n
            2. Upper and lower body rehabilitation systems<\/li>\n\n\n\n
            3. Walking support and fall prevention systems<\/li>\n\n\n\n
            4. Wearable lifting support systems<\/li>\n<\/ol>\n\n\n\n
              B3. Development of High-Performance Mechanical EleMents (Actuators, Power Transmission Systems, Power Reservoirs, Brakes, Bearings and etc.)<\/h5>\n\n\n\n
                \n
              1. Development of actuators for assistive devices e.g. A redundant hybrid actuator based on Assist-As-Needed concept<\/li>\n\n\n\n
              2. Elastic\/Active-Elastic joints with double helix structures (~2018)<\/li>\n\n\n\n
              3. Power assist drive systems<\/li>\n\n\n\n
              4. Other drive systems<\/li>\n<\/ol>\n\n\n\n
                B4. Continuum Robot<\/a><\/h5>\n\n\n\n
                  \n
                1. Cable-driven continuum robot<\/li>\n\n\n\n
                2. Elastic rod-driven continuum robot<\/li>\n\n\n\n
                3. Continuum extendable arm capable of force work in narrow spaces<\/li>\n\n\n\n
                4. Multi-degree-of-freedom rigid extendable arm inspired by origami<\/li>\n\n\n\n
                5. Other deployment\/adaptation mechanisms<\/li>\n<\/ol>\n\n\n\n
                  \"\"
                  Multi degree-of-freedom rigid extension arm inspired by origami<\/em><\/figcaption><\/figure>\n\n\n\n
                  B5. Development of Mechatronics Systems<\/h5>\n\n\n\n
                    \n
                  1. Research on the airframe design of the aerodynamic floating railway \u201cAerotrain\u201d<\/li>\n\n\n\n
                  2. Non-contact manipulation system based on 3D magnetic tether<\/li>\n\n\n\n
                  3. Dynamics and design of AMT mechanism<\/li>\n<\/ol>\n\n\n\n
                    \n
                    \"\"
                    Aerotrain Concept<\/figcaption><\/figure>\n\n\n\n
                    \"\"
                    Simulation Model<\/figcaption><\/figure>\n<\/div>\n\n\n\n

                    Past Research<\/h3>\n\n\n\n

                    A. Development of robot mechanisms, their elements, and control systems<\/a><\/h4>\n\n\n\n

                    Comprehensive design and design of high-output, high-precision pipe benders using kinematics analysis, mechanical analysis, and singularity analysis methods of parallel mechanisms; on-machine calibration methods using image measurements, and development of pipe gripping and feeding devices; Development of elastic joints that can be used in extreme environments (vacuum, dust, high\/low temperature, etc.)<\/p>\n\n\n\n

                    \"\"
                    3-RPSR Parallel Mechanism Pipe Bender<\/figcaption><\/figure>\n\n\n\n

                    B. Analysis of the motion characteristics of human bodies and development of welfare machines<\/a><\/h4>\n\n\n\n

                    Crutches-shaped walking support machines that can safely assist people with lower limb disabilities and the elderly in daily life while maintaining an upright posture; Rehabilitation devices that do not place excessive load on joints, etc.<\/p>\n\n\n\n

                    \"\"
                    Crutch-shaped walking assist device<\/figcaption><\/figure>\n\n\n\n

                    C. Development of redundant and variable stiffness robot mechanism<\/h4>\n\n\n\n

                    Design and application of elastic redundant mechanisms that combine redundant mechanisms with passive elastic elements such as springs; Development of a variable stiffness mechanism that can be used as a manipulator or leg and can simultaneously control output position and stiffness.<\/p>\n","protected":false},"excerpt":{"rendered":"

                    Mission Development of mechanical systems that support human and society based on mechanism design technology1. Developmental research in mechanics: Focusing on design theory as well as the study, design, and development of novel mechanisms and machine components2. Research on human-mechanical systems: Understanding human motion and mechanics to design systems that are ergonomic, safe, and effective […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-142","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages\/142","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/comments?post=142"}],"version-history":[{"count":12,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages\/142\/revisions"}],"predecessor-version":[{"id":592,"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/pages\/142\/revisions\/592"}],"wp:attachment":[{"href":"https:\/\/www.msd.mech.eng.isct.ac.jp\/en\/wp-json\/wp\/v2\/media?parent=142"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}