Yukio Takeda

Yukio Takeda
Tokyo Institute of Technology | TITech · Department of Mechanical Engineering

Doctor of Engineering

About

319
Publications
27,731
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1,189
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Introduction
Design Engineering, Robotics, Mechanisms, Kinematics, Machine Elements, Parallel Robots, Assistive Devices, Rehabilitation Devices
Skills and Expertise

Publications

Publications (319)
Chapter
In order to make assist devices light weight, compact, and easy to customize, use of a redundant motor actuator (RM) is considered effective. RM consists of many small motors with reduction gears in parallel instead of one large motor with reduction gears. Mass of gears in RM can be reduced by distributing the load torque to multiple working teeth...
Article
This paper proposes a concept of an extendable continuum robot arm having many moving plates along a flexible feed screw and deploying each of them at a certain contactable area. The mechanism aims to bear a practical working load by utilizing a bracing on surrounding walls. In general, a narrow and confined workspace of human labor is composed of...
Chapter
Variable rack and pinion gears are one of the mechanical transmission systems with non-constant speed ratio. The design methodology for variable rack and pinion gears tooth profile based on the gear meshing theory has not yet been well established, and achievable speed ratio and corresponding essential conditions to be satisfied are not clear. In t...
Chapter
Scalability of actuators is the ability to change their output characteristics on demand. In a previous research, we proposed a Wet-activated Shape Memory Alloy (SMA) wire-bundle linear actuator that can scale its maximum output force in an easy manner. However, it was determined that the bundling technique we used produces a nonuniform stress dist...
Article
Full-text available
When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-RPS parallel wrist rehabilitation robot, taking into account the soft characteristics of the human li...
Chapter
This paper focuses on the detection of failure of parallel robot caused by the existence of excessive joint clearance due to the wear of joint elements during a long use under high load at high speed. In order to enable the estimation of passive joint clearance values in parallel robot without specially designed trajectories and any additional equi...
Chapter
This paper proposes a concept for constructing a flexible extendable arm by feeding a number of intermediate moving plates along a flexible feed screw and deploying each of them at a certain contactable area. The mechanism is aiming to bear a practical working load to support human’s labor by utilizing a bracing on surrounding walls. Generally, a n...
Article
Stiffness modulation in walking is critical to maintain static/dynamic stability as well as to minimize energy consumption and impact damage. However, optimal, or even functional, stiffness parameterization remains unresolved in legged robotics. We introduce an architecture for stiffness control utilising a bioinspired robotic limb consisting of a...
Conference Paper
For rehabilitation robots, it is essential to ensure the comfort and safety of users. In order to achieve this goal, this paper presented the analysis of a 3-RPS parallel wrist rehabilitation robot with consideration of soft characteristics of human limb. Inverse kinematic calculation of human limb model was made to estimate the force and torque ap...
Article
Full-text available
In this paper, the geometrical design of a (2-RRU)-URR (where R and U stand for the revolute and universal joints, respectively) parallel mechanism was demonstrated for thumb rehabilitation therapy. This paper consists of two parts: the design procedure for the development of a thumb rehabilitation device and the user experiment with the prototype....
Article
Full-text available
In this paper, the concept of scalability for actuators is introduced and explored, which is the capability to freely change the output characteristics on demand: displacement and force for a linear actuator, angular position and torque for a rotational actuator. This change can either be used to obtain power improvement (with a constant scale fact...
Chapter
This paper presents a static analysis and actuation selection of the (2-RRU)-URR parallel mechanism for rehabilitation therapy. For the static analysis of (2-RRU)-URR parallel mechanism, which is an overconstrained mechanism with lower mobility, a method using the overall Jacobian matrix is described based on the independent setting of the constrai...
Chapter
In our previous study, we developed an extendable arm inspired by the origami spring composed of rigid components, which performs largely tilting configurations in a space. However, this extendable arm had a problem in its static performance under external load. It is related to the shape of and the mass distribution in the mechanism. This paper pr...
Chapter
This paper presents the basic performance evaluation of a design concept for linear scalable Shape Memory Alloy (SMA) wire actuators controlled by the temperature of a liquid. Fluid heat transmission with SMA wires, contrasting with Joule heating, allows the design to provide scalability of its maximum output force and displacement by changing the...
Chapter
This paper focuses on the development of a device for hand rehabilitation that can perform the finger extension movement. Developing new rehabilitation systems and devices is necessary since the world population is ageing and spastic hand patients are increasing. This paper presents a new rehabilitation device that will overcome the limits of most...
Article
This paper proposed a design method of trajectories for detecting the excessive clearances of passive joints in a DELTA robot on the basis of the phenomenon that the actuation torque waveform fluctuates due to the collision between joint elements. We introduced “Joint Impact Index,” as an index to evaluate the magnitude of actuation torque fluctuat...
Book
This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2020, the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rathe...
Article
This article proposes a novel approach towards quick concept generation and validation of interactive-product behaviours. When designing for user-product interactions, designers have to consider spatial and behavioural elements besides form/tangible aspects and perform quick-validation of the generated concepts often done through functional prototy...
Article
In this paper, the static analysis of the (2-RRU-URR) parallel mechanism is described. This mechanism was designed for thumb rehabilitation therapy and this mechanism is an overconstrained mechanism. Furthermore, this mechanism performs two rotational and one translational degree of freedom (DOF) from the configuration of joints. Each DOFs are assi...
Article
Mobility device is important for the people with disabilities. In the previous research, we developed a hands-free mobility, a nonholonomic mobility, which included the operation system using interactive learning system between human and robot, and found that when discussing interactive learning system between human and robot, we need to consider t...
Article
In this research, a concept of robotic wheelchair which automatically follows a human caregiver side by side is proposed. This concept is aiming to promote the communication between a wheelchair rider and his/her caregiver since they can talk face-to-face while advancing forward. This research focuses on a derivation of a motion control law to achi...
Article
Full-text available
A new generation electric high-speed train called Aerotrain has levitation wings and levitates under Wing-in-Ground (WIG) effect along a U-shaped guideway. The previous study found that lacking knowledge of the design makes the prototype unable to regain stability when losing control. In this paper, the nonlinear three-dimensional dynamic model of...
Article
In order to realize a high speed and high space use efficiency transportation system in a vertical plane, authors conceived a concept to compose the system by multiple vertical rails and multiple self-propelled loading platforms so that such platforms can independently move along each rail and transfer between them. This paper focuses on the design...
Conference Paper
In this research, a dynamic model of a wrist rehabilitation robot considering the soft characteristics of forearm is developed. The simulation results demonstrate the behavior of the human-robot interface due to the deformation of forearm tissue.
Article
Full-text available
This research proposes a strategy for applying support objects—equipment, tools, and even furniture/environment from which humans can receive reaction force through their hands—for fall prevention in the elderly. This paper presents an assessment example of support objects based on balance recovery characteristics and a discussion regarding their a...
Chapter
Dynamic manipulation tasks require lightweight yet stiff robotic systems, to achieve high efficiency and precision at the same time. The most widely spread parallel robot designed for these tasks is the Delta robot. To decide on the dimensional parameters for these systems, best meeting the foregoing requirements, this paper focuses on the optimum...
Chapter
Gait rehabilitation devices strive to adapt to the human body’s biomechanics and other characteristics. Not all patients have the same gait movement: it depends on their height, the length of their limbs, or other parameters. As a matter of fact, it has been shown that it is necessary for the rehabilitation device to be adjustable in both length an...
Chapter
Developing a simple, comfortable rehabilitation robot that can carry out in-home rehabilitation has been a long-time challenge. In this paper, we present a rehabilitation robot with one degree of freedom (DOF) for wrist joint flexion-extension movement. Passive joints have been added to the exoskeleton, forming a four-bar slider crank mechanism, wh...
Chapter
When a deployable origami structure is kinematically modelled as a link mechanism by replacing the creases by revolute joints, the obtained mechanism is generally overconstrained. In practice, devices and machines originated from overconstrained mechanisms need in-situ adjustments for assembly, and even encounter difficulty in assembly since they a...
Chapter
This paper describes the development of the suspended cable-driven parallel robot for object transportation having power assist function. The robot consists of the winches to drive four cables which suspend the object and control its three degrees of freedom motion. The impedance controller based on the external force measured by the tension sensor...
Article
Full-text available
The thumb assists other fingers, and any damage in its functionality prevents the human hand from performing dexterous functions. In this paper, the kinematic design of the (2–RRU)–URR parallel mechanism as the application of the thumb rehabilitation device is proposed. This mechanism is an over-constrained mechanism capable of achieving the requir...
Article
Full-text available
Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with the target food according to the size and the sti...
Article
Full-text available
Robotics and Mechatronics technologies have become essential for developing devices/machines to support human life and society [...]
Article
In order to assess anterior position of a cane tip for prevention of anterior fall during walking with a cane by the elderlies, this paper presents an investigation of three evaluation indices for determination of the cane tip’s position based on analysis model with dynamic pair. The dynamic pair expresses moveable and spring-damper characteristics...
Article
Full-text available
In this paper, we present a kineto-static analysis on a wrist rehabilitation robot to compensate for joint misalignment between human and robot joints. Since joint misalignment has proved to generate user–device interaction forces, which reduce the comfort and safety of the wearable devices and limit the user’s willingness to use it. The use of com...
Article
An extendable robot inspired by origami is designed, analyzed, and tested. Its deployable origami structure has a large extension ratio, allowing the robot to extend the body length multiple times. The new robot, however, differs from the existing origami structure in two aspects. One is that the robot mechanism consists of all rigid bodies, unlike...
Article
Full-text available
Motion/force transmissibility is an essential property reflecting the kinematic performance of parallel robots. Research on this performance of the single-platform parallel robots (SPPRs) has long been concerned and studied. In contrast, although many innovations and applications of the high-speed articulated-platform parallel robots (APPRs) have b...
Chapter
This paper describes the (2-RRU)-URR parallel mechanism, which performs rotational motion with two degrees of freedom (DOF) and translational motion with a single DOF. This mechanism consists of a base frame, moving platform, and three connecting chains. Since this mechanism is over-constrained, derivation of its DOF was done by considering the con...
Chapter
The Aerotrain is a new generation train that floats at a low altitude along a U-shaped (concrete) guideway by the aerodynamic forces generated at the two levitation wings. Using the wing-in-ground effect, the Aerotrain can have an advantage in reducing the operating cost through its low-cost guideway while maintaining high-speed under high-payload...
Article
In conventional configuration of Parallel Cable Mechanism, anchors (winding machines) were fixed and practically used in structured environment. In an attempt to reduce the hurdle of the above application in an unstructured environment, a concept of spatially structured cableway with traversing mobile anchors on it is proposed in this paper. Techni...
Article
This paper presents an iterative method for solving the inverse kinematics (IK) of lower-mobility parallel mechanisms (LMPMs) with three RS or SR chains based on the kinematically equivalent mechanism (KEM). KEM is a virtual parallel mechanism with 6 DOF having the same motion as the original LMPM under the actuated joint motion constraints. The me...
Conference Paper
This paper presents a static force analysis on a wrist rehabilitation robot to predict the force caused by the misalignment of human and robot joint. Initial offset influence and the use of compliances between human and robot hand were investigated by using an analytical model. With human forearm in the horizontal plane, the initial offset in the d...
Book
Full-text available
Dieser Tagungsband enthält die Beiträge des 13. Kolloquiums Getriebetechnik. Die Getriebetechnik als Querschnittswissenschaft findet ihre Anwendung in vielfältigen Teilbereichen des Ingenieurwesens, wie Robotik und Medizintechnik. Sie hilft dort grundsätzlich bei der Lösung von Aufgaben der Bewegungs- und Kraftübertragung. Diese thematische Breit...
Article
(page s131) Link: https://content.iospress.com/download/technology-and-disability/tad190006?id=technology-and-disability%2Ftad190006
Conference Paper
In this research, the unwanted forces due to the misalignment of human-robot joints are calculated. The analysis is based on a wrist rehabilitation robot. The result shows that combining compliance elements with the handle helps to compensate for unwanted forces.
Article
In this paper, we present a new transmission index (TI) for kinematic performance evaluation of a class of parallel manipulators with a 3-RS (or 3-SR) structure; termed the primary structure obtained by locking all actuated joints in the manipulators. TI is based on the pressure angle that is defined in a kinematically equivalent structure, a 6-SS...
Conference Paper
Full-text available
In the light of increasing energy prices the interest in methods to increase the efficiency of manipulators performing pick and place operations is rising. One those methods is, to add elastic elements in the manipulator's joints and utilise its free-vibration response to perform repetitive operations. To take full advantage of this method, actuato...
Chapter
Industrial modifications of Delta-like robots impose high challenges on the dimensional synthesis. On the one hand, purely kinematic approaches taking into account the input and output transmission capabilities may be sufficient to optimize the design of a basic Delta robot in the field of high-speed application. On the other hand, a combined kinem...
Chapter
The analysis of motion/force transmissibility and constrainability is a key point in the design of parallel manipulators. Even if recent advances led to a general formulation for a transmission index, the application to lower-mobility parallel manipulators requires additional investigation of the constraints of the system. This paper applies a defi...
Chapter
In this paper, the modeling of a double helical compliant joint and its characterization are introduced. The Double Helical Compliant Joint (DHCJ) was designed to increase the workspace in a compliant mechanism. The joint consists of leaf springs that are symmetrically arranged between two helical frames. The modified-type DHCJ was created to show...
Article
Full-text available
To design interactive behaviours for their products designers/makers have to use high fidelity tools like ‘electronic prototyping kits’, involving sensors and programming to incorporate interactions in their products and are dependent on availability of hardware. Not every designer is comfortable using such tools to ideate and test their concept id...
Chapter
The Origami Spring is one of the convertible origamis and its macroscopic motion is often regarded as a single Degree-of-Freedom (DoF) motion while in theory, its DoF is three DoF mechanism. In this paper, a new displacement analysis was introduced to study the behavior of Origami Spring. The Origami Spring was modeled as a link mechanism which inc...
Chapter
In this paper, a 7R spatial linkage for ankle rehabilitation was proposed. Thanks to its kinematic geometry, the output joint, which is accommodated by the patient’s ankle, of the linkage can possess an arbitrary joint axis at any configuration. This advantage allows the patient achieving a flexible ankle motion in 3-D space while performing the re...
Chapter
This paper presents an adaptive backstepping motion control of a sitting- type lower limb rehabilitation robot (LLRR). The kinematics and dynamics of the proposed robot is discussed and its motion control design in the taskspace based on an adaptive backstepping control strategy is derived herein. The closed-loop system stability of the proposed mo...
Chapter
This paper proposes a method to detect the existence of excessive clearance in passive joints of a parallel robot based on the measurement of torque fluctuation for preliminarily selected trajectories. A Joint Impact Index (JII) was introduced to evaluate the magnitude of collisions between joint elements. Two constraint models of spherical joints...
Chapter
In order to reproduce seismic waves classified in long-period ground motion by disaster prevention education facility, an earthquake simulator based on a cable-driven parallel mechanism has been constructed. In this paper, a feedforward-based control scheme was implemented in the cable-driven earthquake simulator for achieving high acceleration wit...
Article
Origami Spring is one of the extendable Origamis which changes from a flat to a tower configuration. The important feature of the Origami Spring is that its whole structure simultaneously extends/contracts with a slight bending as a parasitic motion of the extension/contraction when only one of the segments is actuated. Therefore, such an observed...
Article
Full-text available
This paper proposes a new shape memory alloy (SMA)-driven compliant rotary actuator that can perform both passive and self-actuated motions. This SMA actuator is suitable as a redundant actuation part in a parallel robot joint to assist with singularity postures where the robot might lose the ability to maintain the position and orientation of the...
Chapter
In this paper a stiffness analysis approach for Delta parallel robots is presented, which combines the Virtual Joint Method (VJM) with a Finite Element Analysis (FEA) stiffness model of the proximal link. By comparison with a purely analytical model and measurements it is shown that using this more laborious combination of VJM and FEA is reasonable...
Chapter
A novel robotic leg mechanism based on a parallel architecture is described in this paper. A walking operation of the mechanism is defined and characterized as function of its main design parameters through a numerical simulation. The same operation is then performed by a prototype of the proposed design that has been manufactured through 3D printi...
Chapter
Depending on the modeling approach, dynamic analyses of parallel robots often involve expensive computations of undesired constraint forces, cumbersome partial derivatives, or large matrix operations. Decomposing the parallel structure into virtual tree structures and the free platform allows for reducing the system size as well as efficient recurs...
Chapter
In general, constraint equations are needed for the inverse kinematics (IK) of the parallel mechanism (PM) with less than 6 degrees of freedom (DOF) and dependent parameters describing the pose of the moving platform. However, the applicability of such an approach is restricted to the mechanism configuration from which the constraint equations are...
Chapter
Evaluating parallel robots’ performance is a key to achieve a better design and better understanding of their behavior in operation. In this study, a novel idea of local performance evaluation of robots taking into consideration the directional variation of performance was proposed by introducing a circular trajectory around a local output point. T...
Chapter
This paper proposed the new SMA driven compliant rotary actuator, which is able to perform both passive and self-actuated motions. This kind of actuator can be used as redundant actuation part in parallel robot’s joint to help for the singularity postures that the robot might lose the ability to maintain the position and orientation of the end effe...
Chapter
This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with the target food according to the size and the elasticity of the food. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper...
Chapter
In the present paper, a systematic method useful in the structural design and motion synthesis of motion assist exoskeleton. To this end, a method for analyzing complex human motions with multiple degrees of freedom for different functions and for regenerating arbitrary motions from the analyzed data by adjusting parameters based on the principal c...
Article
In order to enable designing assistive devices/tools which are connected to some part of human body directly or through some attachment parts, such as wearable power-assist suits, joint rehabilitation devices and walking sticks, taking into consideration the deformation of the connection parts and slippage between them, the concept “dynamic pair” i...
Book
This book gathers the proceedings of the ISRM 2017, the fifth IFToMM International Symposium on Robotics and Mechatronics, which was jointly organised by the School of Computing, Engineering and Mathematics at Western Sydney University, Australia and by the IFToMM Technical Committee on Robotics and Mechatronics. The respective contributions showc...