Yasuyuki YAMADA’s research while affiliated with Hosei University and other places

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Publications (185)


FIGURE 1. The overview of proposed valve. The air port
Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe
  • Article
  • Full-text available

December 2021

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113 Reads

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8 Citations

IEEE Access

Hiroto Sato

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Kousuke Uchiyama

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Yuki Mano

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[...]

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This paper describes the development of a compact pneumatic valve that can obtain a high flow rate in a periodically pneumatically driven pipe-moving robot. Plumbing facilities around the world have fallen into disrepair in recent years. Pneumatically driven mobile robots are widely used as an inspection method due to the small inner diameter and complicated shape of the pipes. Various types of robots have been studied, such as earthworm, inchworm, and spiral tube robots. However, these robots are driven by existing pneumatic valve technologies, such as needle-type and solenoid valves, which limit the use of small mobile robots. Small pneumatic valves have a low flow rate, and the entire system is complicated because multiple air pressures are controlled by multiple electrical systems. Thus, focusing on the structure and periodic motion of the ball valve, we developed a pneumatic valve that can periodically apply pressure to multiple pneumatic actuators using only rotational motion with one degree of freedom. We also applied this pneumatic valve to a wave propagation robot and discussed the theoretical running speed of the robot with this valve.

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Packaging of Mixed Materials in Peristaltic Mixer for Solid Propellant Production

January 2021

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26 Reads

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3 Citations

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES AEROSPACE TECHNOLOGY JAPAN

In recent years, as the demand for space use has increased, high-frequency and low-cost rocket launches have been desired. Solid fuel rockets are smaller, cheaper, and easier to handle than liquid fuel rockets. In solid propellants manufacturing, the kneading process has the risk of ignition because high shearing forces are generated by a metal planetary mixer. Further, the kneaded fuel is manually transported and cast. Thus, this is a high batch process in which mixing and transporting are separated processes. We focused on the intestine movements to implement safe and continuous fuel manufacturing and transportation. We developed a peristaltic mixer that simulates the intestinal movement and aimed for the safe and continuous mixing and transportation of solid propellant. Thus far, mixing and transporting solid propellants have been successful. A few of the practical problems for solid propellant production using this device include internal cleaning after mixing and transporting, avoiding bubbles from entering the material, and the quantitative management of the mixed materials. In this research, we propose the conveyance of quantitatively packed mixed materials to improve the problems associated with solid propellant production.


Development of an Automatic Water Injection Control System of Peristaltic Transport Machine for Excavated Soil Vertically Transportation掘削土砂搬送のための蠕動運動型搬送機における自動直接加水システムの開発

November 2020

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6 Reads

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Currently, vertical transporting of the excavated soil generated by deep underground excavation is performed using a rope type clamshell. However, as this is a large construction machine, there are time and physical constraints on its operation. The authors focused on the method of transporting bolus in the intestinal tract. We have developed a peristaltic transport machine based on the movement of the intestinal tract. In this paper, we developed a control system to determine whether the water injected is necessary or not, based on the contents of the air flow sensor. We experiment to vertically transport soil by the one unit of from peristaltic transport machine with the automatic injection water control system.


Mixing and Transport Test of the Material in a Film for Continuous Solid Propellant Production using Peristaltic Mixer蠕動運動型ポンプを用いた固体推進薬連続製造に向けたフィルム内材料の混合搬送試験

November 2020

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6 Reads

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

For safe and continuous solid propellant production, we have developed a peristaltic mixer based on the intestine which has a soft structure and continuously mixing and convey the contents with a low shearing force. Until now, we have been succeeded in mixing, transporting and burning tests of actual explosives using this device. In addition, the mixing test using the materials put in the bag were successful. In this report, we conducted a mixing and transporting test using the materials injected into the film. and then, we confirm the usefulness of this method for reducing the work load and work time, such as internal cleaning after the operation of the device, and reducing the amount of material waste, which are issues for further practical use.


Home & office application by Human Centered Designヒューマンセンタードデザインのホーム&オフィスアプリケーション

November 2020

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8 Reads

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Using design engineering, we revised the way printers are used as information output devices. In pursuit of the design required as a human-centered design home & office application, we will introduce the best form for home & office. There are two features. The first is "inconspicuous". Therefore, it eliminates the printer's presence. The second is "do not put". By proposing a printer with these two features, we will expand the printer usage scene. We first developed a prototype and evaluated it. Finally, we conducted a questionnaire survey to confirm the effectiveness of the proposed method.


Investigation of pull-out control to aim to generate bismuth skeletons1自由度引抜制御によるビスマス骸晶の生成

November 2020

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2 Reads

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Bismuth has unorganized geometric shape although it comes from crystallization. Also, the skeletons are gradation color and really beautiful. That’s why it’s used for accessories, interior object etc. But it’s not easy to control to make the shape and color as what we want because these are changed dynamically by very little difference. This paper investigate how it makes bismuth skeletons by a pull-out machine. Most of us feel almost same emotion like beauty, relax, etc. It often uses for design processes. We explore the way to make things with natural beauty through generating bismuth skeletons.


Deformation control of laminated foam based soft actuator using pressure propagation difference圧縮特性差を利用した発泡体積層ソフトアクチュエータの変形制御

November 2020

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31 Reads

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Recently exploring for a possibilities different from conventional robots, various type soft actuators and its applications have studied. Especially, pneumatic soft actuators have the advantage in lightweight and powerful. The features of this idea are simplified systems, almost all interfaces can be configured as a flexible structure. In particular, pneumatically driven soft actuators have been studied. Since these are driven using a limited pneumatic path, the pneumatic path usually increases in proportion to the degree of freedom. In this study, we develop to generate multiple deformations in a foam laminated foam based soft actuator using one air pressure path by using the difference in compression characteristics of foams, especially Open cell foam and Full open cell foam against pressure.


Life cycle design of robot : Biodegradable in the food chain by being consumed by predation捕食消費されることで食物連鎖に参加可能なブレッドソフトアクチュエータ

November 2020

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1 Read

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

Recently, unmanned and automated systems using robots have been developed and used in various fields. These robots can be returned for reuse, or discarding after the intended work. Since recyclability of the materials used for robots is desirable in some applications, various biodegradable actuators that produce motion are the focus of current research and development. In this study, we develop a biodegradable soft actuator with a 0.1-m class size, and analyze its disassembly performance. Specifically, we focus on bread as a biodegradable material that can be easily formed into various shapes. We propose a bread actuator driven by using the sponge foam structure of bread. This paper reports on the basic concept of biodegradation in the food chain, which becomes animal food after use, as well as its operation principle and feasibility.



TasKi: Overhead Work Assistance Device with Passive Gravity Compensation Mechanism

February 2020

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61 Reads

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10 Citations

Journal of Robotics and Mechatronics

During overhead work, workers need to keep raising weights of approximately 2 to 4 kg with the muscular strength of their upper limbs, and the burden of this work is high. Therefore, we developed an assistive device, named TasKi, using a self-weighted compensation mechanism to reduce the burden on upper limbs during overhead work. It can compensate for upper limb weight using the force of a spring in various postures of the upper limbs, without a battery. In this study, to provide effective assistance to many users, we clarified the crucial assistance and parameter adjustment range of settings corresponding to physical differences. First, the assistive force value of TasKi to reduce the work burden of each user was confirmed via a subjective evaluation experiment and myoelectric potential measurements. Next, we conducted a test survey of TasKi users and investigated the relationship between physique and the wearing feeling. According to the survey, 80% of the subjects provided favorable opinions on the assistive method used by TasKi. Finally, we had subjects of various physiques wear the device and investigated the relationship between physique and the wearing feeling with respect to shoulder joint movements. It was observed that the subjects with greater shoulder widths experienced difficulties when moving in the direction of internal-external rotation because of the small size of TasKi. The influence on the ease of motion and perception of size was less in the direction of flexion-extension and adduction-abduction motions.


Citations (34)


... Consequently, soft pipeline robots exhibit superior motion flexibility and environmental adaptability, particularly in complex pipeline environments. The biological morphology and functionality of soft structures provide practicable inspiration for the development of soft pipe robots [16], such as emulating the crawling of earthworms [17][18][19], the wriggling of snakes [20][21][22] and the climbing of inchworms [23][24][25][26]. Their unique movement and slender soft limbs make them well-suited for navigating narrow and curved pipelines. ...

Reference:

Soft modular pipe robot inspired by earthworm for adaptive pipeline internal structure
Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

IEEE Access

... Solid fuel was successfully produced using this device [8] [9]. In addition, the device was able to mix the materials even when the materials were packed in bags and input into the device [10]. This has the practical advantages of enabling mixing under quantitatively controlled conditions, ensuring stable physical properties, and facilitating maintenance. ...

Packaging of Mixed Materials in Peristaltic Mixer for Solid Propellant Production
  • Citing Article
  • January 2021

TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES AEROSPACE TECHNOLOGY JAPAN

... Exoskeletons without a mechanical joint above the shoulder provide an alternative approach. Such exoskeletons have mainly two types: one is to shift the joint structure above the shoulder to the back, such as the MATE [46,47], Exo4Work [48], Multi-Link Shoulder Exoskeleton [49], H-PULSE [3,50], TasKi [51], ABLE [52,53], Stuttgart Exo-Jacket [54], Passive Shoulder Exoskeleton with VSM and SSM [55], AAU [56][57][58], Hybrid Bimanual Exoskeleton [59], Shoulder-sideWINDER [60], ULS ROBOTICS MAPS-E [61], Ekso Vest [62], ExIF [63], ExoActive EXO 18 [64][65][66], and Arm Assistive Exoskeleton [67], as shown in Figure 5; and the second type is to simplify the exoskeleton directly into the form of two bars connected by a hinge joint (e.g., HUST-EV [68,69], X-rise [70], CDYS [71,72], Passive Shoulder Exoskeleton [73], PAEXO [74,75], Titan Arms [76], Hilti EXO-01 [77], EVO [78], Passive Arm Assistive Exoskeleton [79], and UESTC Upper-Limb Exoskeleton [80]), as shown in Figure 6. The redundant degrees of freedom in the back of the former may lead to a larger volume, and the hinge joint of the latter may result in protrusions. ...

Overhead Work Assist with Passive Gravity Compensation Mechanism and Horizontal Link Mechanism for Agriculture *
  • Citing Conference Paper
  • August 2020

... Crowley et al. [12] designed layer jamming variable stiffness soft fingers, and Pagoli et al. [13] developed reconfigurable fingers to enhance soft gripper's dexterous manipulation. In order to reduce the weight of soft fingers, laminated foam [14] and sponge [15] are used to fabricate soft grippers. Mitsuda and Otsuka designed a mattress-shaped bending soft finger embedded with sponges of different stiffnesses [6]. ...

Actuatable Flexible Large Structure Using a Laminated Foam-based Soft Actuator
  • Citing Conference Paper
  • January 2020

... The first recorded (patented) exoskeleton was introduced in 1890 [15], and the field has consistently progressed since then to commercially available exoskeletons that are actively used in various industries [16][17][18][19][20][21][22][23][24][25][26][27][28]. Even though there is a handful of exoskeletons in experimental stages, which have a high potential for agricultural tasks [29][30][31][32], surprisingly, there are no industrial-level/real-world applications of exoskeletons in agriculture, where there is a high need for such solutions. It is evident that agricultural industries in developing countries, where small-scale farming is the dominant sector in agricultural production [33], rely heavily on human labor [11,[33][34][35][36][37][38][39][40]. ...

TasKi: Overhead Work Assistance Device with Passive Gravity Compensation Mechanism
  • Citing Article
  • February 2020

Journal of Robotics and Mechatronics

... Our second design, the variable-preload palm, can modulate the normal force on objects after they are grasped via inflation or deflation of a foam-filled pouch. The operating principle is similar to existing vacuum-driven, foam-based soft actuators [30], [31]. A cylinder of highly-compliant open cell foam is sealed inside a pouch made of a low-friction thermoplastic elastomer film (Stretchlon 200, Airtech Intl.). ...

Laminated foam-based soft actuator for actuatable flexible structure
  • Citing Conference Paper
  • November 2019

... Such forces arise from the use of cables, wave drives, etc [1]. Recently, variable viscoelastic joints consisting of pneumatic artificial muscles and magneto rheological brakes have been proposed to use in exoskeletons [2], [3]. The dynamic models of robotic manipulators with elastic or viscoelastic joints have the twice number of independent variables compared to the robots with absolutely rigid joints [4], [5]. ...

Evaluation Experiment of Squat Motion With Variable Viscoelastic Assistive Suit “Airsist I”

IFAC-PapersOnLine

... Robot 1 [59] is composed of an excavation unit with two universal joints, enabling it to perform curved excavation. The goal is to excavate boreholes for placing environmental sensors, and collecting samples from a particular layer [60,61]. Additionally, it is made up of a propulsion unit (it has pneumatic actuators) [62], and a discharging unit (the soil in the back of the robot is discharged out of the borehole using small DC motors giya-domo-ta RS-/775 gm Series Round Shaft) [63,64]. ...

Development of Underwater Drilling Robot Based on Earthworm Locomotion

IEEE Access

... In addition, human-computer interaction plays a pivotal role in upper limb rehabilitation, where safety, accuracy, and robust operation are important factors. Force/position hybrid control and impedance [15,[24][25][26][27] /admittance control are common methods employed to facilitate human-computer interaction in rehabilitation [28][29][30][31][32][33]. Li et al [34] proposed the use of elastic brakes for humanrobot interaction. ...

Delta-type four-DOF force-feedback device composed of pneumatic artificial muscles and magnetorheological clutch and its application to lid opening

... Lastly, wheel-legged robots tend to offer a balanced velocity output, both on flat terrain and over obstacles. These robots are also suited for space exploration missions if their maneuverability is tied to a lightweight design such as GerWalk [28]. However, snake robots are able to traverse almost any obstacle because of their extensive environmental body compliance. ...

GerWalk: Lightweight Mobile Robot with Buoyant Balloon Body and Bamboo Rimless Wheel
  • Citing Conference Paper
  • December 2018