Tomoyuki Shimono

Yokohama National University, Yokohama, Kanagawa, Japan

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Publications (84)33.26 Total impact

  • Naoki Motoi · Ryogo Kubo · Tomoyuki Shimono
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    ABSTRACT: This paper proposes a real-time modification method of position and force teaching information in a human-robot cooperative system. In this study, human motion is recorded using bilateral control to obtain position and force teaching information. When the recorded information is reproduced, a human operator can add an operation to modify the teaching information. Because of the ability to modify the teaching information, it is possible to create variations in the motion to accommodate environmental changes. On the other hand, without the modification by the operator, the original recorded motion is achieved. In the proposed method, the operator focuses on modifying the teaching information in order to realize the desired motion. The validity of the proposed method is confirmed by experimental results.
    No preview · Article · May 2015 · IEEJ Transactions on Industry Applications
  • S. Tanaka · T. Shimono · Y. Fujimoto
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    ABSTRACT: This paper introduces an optimal design for a cross-coupled two-degree-of-freedom (2-DOF) motor. Generally, Halbach magnet array can realize high magnetic loading. Therefore, higher thrust force and torque will be obtained by employing Halbach magnet array. The proposed motor has a shaft, the permanent magnets, helical windings, and two bobbins. This structure can independently realize linear and rotary motions. Also, the mover part is constituted of the shaft and the permanent magnets which are segment shape and magnetized to the radial or the axial direction. Two kinds of magnets (magnetizations of axial and radial directions) are alternately placed at the shaft to axial direction. By determining the length factor which is the ratio between lengths of two kinds of magnets, the maximum thrust force and maximum torque will be found. In this paper, the optimal design is verified by varying the length factor of these magnets and performing the finite element analysis (FEA).
    No preview · Article · Apr 2015
  • H. Asai · M. Omura · T. Shimono · Y. Fujimoto
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    ABSTRACT: In robotic surgery without contact force transmission characteristic between master and slave system, the risk of a medical mistake becomes high. Then, a novel surgical assistance robot with force transmission is expected to be developed. This paper firstly introduces a two-degree-of-freedom (2-DOF) haptic system which can realize pitching motion and yawing motion. The system is composed of four half-circle-shaped tubular linear motors. Then, this paper focuses on the pitching motion system of the 2-DOF system. In this system, the effect of gravity and friction force is changed by the position and the velocity of motor. This paper proposes a disturbance model based on a trigonometric function of position and velocity for this system. It realizes vivid force transmission between master and slave motor in bilateral control. Bilateral control test of this system with disturbance model is performed. Experimental results are presented to validate the proposed model.
    No preview · Article · Mar 2015
  • Mototsugu Omura · Tomoyuki Shimono · Yasutaka Fujimoto
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    ABSTRACT: This paper proposes a semicircular tubular linear synchronous motor called a “circular shaft motor” (CSM). A CSM can realize the direct-drive motion along the circumference of a circle. The design of the CSM is described. A magnetic field analysis was performed for the CSM model. The thrust characteristics of the prototype CSM system were measured in experiments. Angle control and force control were performed to demonstrate the utility of the developed CSM.
    No preview · Article · Mar 2015 · IEEJ Transactions on Industry Applications
  • N. Motoi · T. Shimono · R. Kubo
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    ABSTRACT: In order to assist human beings, the reproduction methods of the recorded human motions have been researched. On these systems, the human motions are recorded as the haptic data (i.e., position, velocity, and force data) by using bilateral control. However, these conventional methods show poor adaptability to the difference in the environmental location during the reproduced phase. In order to compensate this spatial difference, the spatial data processing of the recorded human motions was utilized. On the other hand, the reproduction method of the recorded human motions with time scaling is proposed to compensate this spatial problem in this paper. In other words, the proposed method applies time scaling to compensate the spatial difference. For the realization of the proposed reproduction method with time scaling, the recorded velocity and force data are utilized. By using the proposed method, the physical meaning is clear compared with conventional methods, since power on the certain moment of the reordered task is reproduced. This paper focuses on the point-to-point motion, which includes the force motion and the position motion, as one of typical tasks in the industry field. The validity of the proposed method was confirmed by the experimental results.
    No preview · Article · Feb 2015
  • S. Tanaka · T. Shimono · Y. Fujimoto
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    ABSTRACT: This paper proposes a new cross-coupled two-degree-of-freedom (2DOF) direct drive motor which can independently realize rotary and linear motions. In this proposed motor, the mover part is a shaft with segment magnets formed in checkers. On the other hand, two sets of helical windings are cross-coupled in the stator part. The configuration can generate thrust force and torque independently. In this paper, the principle and the validity of the proposed motor are shown by electromagnetic field analysis and fabrication of the parts of an experimental motor is introduced.
    No preview · Article · Feb 2015
  • M. Omura · T. Shimono · Y. Fujimoto
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    ABSTRACT: This paper presents a circular shaft motor (CSM) model adopting quasi-Halbach magnetization. Tubular linear permanent magnet machine with quasi-Halbach magnetization can realize high flux density and low thrust ripple. The quasi-Halbach CSM model is analyzed by magnetic field analysis and compared with CSM model implementing trapezoidal ring magnets in thrust characteristics. In addition, by investigating the magnetic field distributions of each model, the effect of improving thrust characteristic is verified. Moreover, thrust characteristics are more improved in quasi-Halbach CSM model by shortening pole-pitch angle.
    No preview · Article · Jan 2015
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    ABSTRACT: This paper discusses feasibility of contactless power transmission technology for power supply in electrical railways. In recent years, contactless power transfer has been developed because of convenience for charging electric vehicles and electric railways. However, the efficiency of the contactless power transmission is lower than conventional contact power transmission. Furthermore, in order to transfer megawatt power, large size core is required. To accomplish high efficiency and high power density, new power transmission system based on a coaxial cable model with an air gap is presented in this paper. Mathematical model and some simulation results are shown for verification of the proposed system. Power transmission efficiency of 92.7 % is achieved in preliminary experiments.
    No preview · Article · Dec 2014
  • Muhammad Herman Jamaluddin · Tomoyuki Shimono · Naoki Motoi
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    ABSTRACT: This paper addresses a solution for solving the object's rotational effect during the navigation process by the haptic bilateral control system. The system utilizes the vision-based guidance which depends on the virtual force generated by the vision-based force compliance controller (VFCC). During object's navigation, the virtual force is generated and affected to the manipulator's horizontal trajectory movement. In this paper, the different rotational angle of an object's trajectory which reflects to different movement direction of produced force, will be studied and evaluated. The details concerning the implementation of this method will be discussed. Two sets of experiments are conducted to evaluate the effectiveness of the proposed technique.
    No preview · Conference Paper · Jun 2014
  • Mototsugu Omura · Tomoyuki Shimono · Yasutaka Fujimoto
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    ABSTRACT: This paper presents a new circular shaft motor (CSM) model for development of haptic forceps system which has multi-degrees-of-freedom (MDOF). The prototype of CSM has issues; it is difficult to construct the stator as designed and the thrust characteristics is not enough high. The proposed CSM model includes trapezoidal magnets which are magnetized in axial direction. This structure can facilitate construction of the stator and decrease thrust ripple. In addition, by increasing the number of coil turns and shortening the magnetic gap between magnets and coils, the thrust characteristic can be improved. In this paper, the structure of proposed CSM is described. Then, the improvement of thrust characteristic is verified by magnetic field analysis. Finally, a prototype of the proposed model is developed, then thrust characteristic of the prototype of the proposed model is verified by primary experiment.
    No preview · Conference Paper · May 2014
  • Nobuyuki Togashi · Tomoyuki Shimono · Naoki Motoi · Naoki Oda
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    ABSTRACT: This paper investigates a design method for an equivalent mass matrix in motion control based on workspace observer. The equivalent mass matrix implemented in the control system is often designed as a diagonal matrix. On the other hand, a real equivalent mass matrix includes non-diagonal elements. Conventionally, assuming the cut-off frequency as infinity, these elements is ignored. However, actually, since the cut-off frequency is not infinity, the non-diagonal elements can not be ignored. Therefore, in order to improve the control performance, it may be necessary to implement the equivalent mass matrix including the non-diagonal elements. From the background, the experimental comparison about the equivalent mass matrix design is conducted.
    No preview · Conference Paper · Mar 2014
  • Chikara Morito · Tomoyuki Shimono
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    ABSTRACT: This paper presents an evaluation method of arm stiffness to show utility of the developed arm self-rehabilitation system. Purpose of this research is an improvement of the arm's physical function of patients with hemiplegia. Their arm character is high arm stiffness due to the strong paralysis. So, we aim that their arm stiffness will decrease after rehabilitation using our developed system. As mechanical property of stiffness, reaction force on hand is depend on the arm stiffness and displacement when the hand will be moved for some reason. In other words, we have to use the displacement and reaction force on hand to estimate arm stiffness. Our developed rehabilitation support system can measure the position and force response of patient's hand because of bilateral control. Arm stiffness changes depending on patient's arm posture. In this paper, the accuracy of the proposed arm stiffness estimation method is verified from the experimental results under the condition of several different arm postures.
    No preview · Conference Paper · Mar 2014
  • Muhammad Herman Jamaluddin · Tomoyuki Shimono · Naoki Motoi
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    ABSTRACT: This paper presents a technique for a robust tracking of the target object by integration of the vision-based disturbance observer with bilateral haptic system. As for the motion navigation task, the bilateral control of master-slave system is combined with the vision-based force compliance controller. The disturbance of the modelling error that occurs in the integration of the system will be compensated by the proposed vision-based disturbance observer. The concept of control structure between the integration of bilateral manipulator, vision-based force compliance controller and the proposed vision-based disturbance observer are described. Two experiments were conducted to compare the result of without and with the proposed integration method. From the experimental results, the robustness of the proposed system is confirmed.
    No preview · Conference Paper · Mar 2014
  • Naoki Motoi · Tomoyuki Shimono · Ryogo Kubo · Atsuo Kawamura
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    ABSTRACT: This paper proposes a task realization method by using a force-based variable compliance controller for flexible motion control systems. In recent years, the robots working in human life space are desirable. Considering the robots working in human life space, they should achieve the safety motion. From this viewpoint, one of the key technologies is flexible motion control system. Of course, task realization instead of human beings is important. Therefore, it is necessary to propose the realization method of several tasks for the flexible motion control systems. In this paper, two robot tasks are defined: “approach task” and “pushing task.” The approach task is the motion for a robot to approach an environment and not to contact the environment. On the other hand, the pushing task is the motion for the robot to contact and push the environment in order to achieve the several tasks. For the realization of the several tasks to the environment, it is necessary to achieve both the position control during the approach task and the force control during the pushing task. Therefore, the controller has to be modified depending on the contact state, which means whether the robot is in contact with the environment or not. In order to modify the controller, the variable compliance gain which is varied according to the contact state is proposed. Focusing on the approach task, the position control which is equivalent to the conventional position-based compliance method is achieved by using the proposed method. On the other hand, the proposed controller is suitable for the pushing task compared with the conventional position-based compliance controller since the proposed controller is based on the force control. Therefore, several tasks which include the position tracking and the contact with the environment are actualized by using the proposed method. In addition, the performance analysis by a Bode diagram and stability analysis by root loci are co- ducted. The validity of the proposed method is confirmed from the experimental results.
    No preview · Article · Feb 2014 · IEEE Transactions on Industrial Electronics
  • Naoki Motoi · Yoshiyuki Hatta · Tomoyuki Shimono · Atsuo Kawamura

    No preview · Article · Jan 2014
  • Nobuyuki Togashi · Toru Yamashita · Tomoyuki Shimono · Naoki Motoi · Naoki Oda
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    ABSTRACT: This study investigates the influence of the equivalent mass fluctuation on the control performance of a workspacebased motion control system with a workspace observer. It is theoretically demonstrated that the equivalent mass fluctuation affects the control gain, the cut-off frequency of the workspace observer, and so on. In addition, the effectiveness of the workspace motion controller based on the estimated equivalent mass with the workspace observer is discussed. In order to verify the workspace-based control method with the estimated equivalent mass, some simulation and experimental results obtained with the workspace position control of a two-degrees-of-freedom planar manipulator are presented.
    No preview · Article · Jan 2014 · IEEJ Transactions on Industry Applications
  • Muhammad Herman Jamaluddin · Tomoyuki Shimono · Naoki Motoi

    No preview · Article · Jan 2014
  • Mototsugu Omura · Tomoyuki Shimono · Yasutaka Fujimoto
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    ABSTRACT: This paper presents a novel half-circle-shaped tubular linear permanent magnet machine named as “circular shaft motor (CSM)” for direct-drive applications. A CSM is a kind of the tubular synchronous actuator. Both the stator and the mover of a CSM are bent in a circle. A CSM can realize the motion along the circumference of a circle. In this paper, the design of a circular shaft motor is described. The prototype of CSM is introduced. Then, the measurement experimental results of the thrust characteristic are demonstrated. The utility of the developed CSM is confirmed from the results.
    No preview · Conference Paper · Nov 2013
  • Tomoyuki Shimono · Yoshiyuki Hatta · Naoki Motoi
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    ABSTRACT: In this paper, two kinds of evaluation index for the haptic motion analysis in parallel multiple degrees-of- freedom (MDOF) system are proposed. At first, the spatial modal decomposition method based on discrete Fourier series expansion (DFS) is presented. Spatial modal information expresses a motion element that corresponds to a specific physical action. The spatial modal information can mathematically be defined by the Fourier coefficients. Then, this paper proposes the total harmonic distortion (THD) and the content rate of the haptic modal information as motion evaluation indexes. THD of the spatial modal information can evaluate the complexity of the human motion and/or the deformability of the contact environment. Content rate of the spatial modal information can evaluate the priority of motion element. Some experimental results on the bilateral motion control of a parallel five DOF haptic system are shown, in order to confirm the utility of the proposed indexes.
    No preview · Article · Mar 2013
  • Naoki Motoi · Tomoyuki Shimono · Ryogo Kubo · Atsuo Kawamura

    No preview · Article · Jan 2013