研究者詳細 - 竹村　研治郎

論文 - 竹村　研治郎

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A Robot Hand Using Electro-conjugate Fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Proc. IEEE International Conference on Robotics and Automation 5923 - 5928 2011年05月

研究論文（国際会議プロシーディングス）, 共著, 責任著者, 査読有り

Wearable Tactile Display using Ultrasonic Vibration

Shunsuke Ninomiya, Kenjiro Takemura

Proc. The 4th International Conference on Manufacturing, Machine Design and Tribology （JSME, KSME） 167 - 168 2011年04月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 責任著者, 査読有り

Generation of Diverse Dynamic Behaviors Using the Emergent Design System

Koichiro Sato, Kenjiro Takemura, Yoshiyuki Matsuoka

Proc. International Conference on Research into Design 2011 571 - 580 2011年01月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

電界共役流体を用いた2軸液体マイクロレートジャイロの開発

尾川宜嗣，横田眞一，枝村一弥，竹村研治郎

日本機械学会論文集（C編） 77 （ 773 ） 204 - 211 2011年01月

研究論文（学術雑誌）, 共著, 査読有り

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電界共役流体を用いたポンプ・タンク一体型液圧駆動ロボットフィンガ

山口彰浩，竹村研治郎，横田眞一，枝村一弥

日本機械学会論文集（C編）（Japan Society of Mechanical Engineers） 76 （ 772 ） 507 - 513 2010年12月

研究論文（学術雑誌）, 共著, 責任著者, 査読有り, ISSN 0387-5024

Electro-conjugate fluid (ECF) is a kind of functional fluid, which produces a jet flow (ECF jet) when subjected to high DC voltage. It is known that a strong ECF jet is generated under nonuniform electric field, for example, the field with a pair of needle and ring electrode. This study introduces the ECF jet to develop a novel robot finger. First, we propose a concept of the robot finger which mainly consists of an ECF jet generator, a bending actuator and an ECF tank. The robot finger is driven by ECF jet, and integrated with a pump and a tank. Next, we characterize the ECF jet generator and confirm the effect of the variation of electrode gap and number of electrode pair on its performance. Finally, we investigate the characteristics of the robot finger. The length, the diameter, and the mass of the robot finger are 25 mm, 5 mm, and 3.8 g, respectively. The robot finger can move 27.8 mm in x direction and 26.7 mm in y direction at 3.1 s when ECF jet generator is applied at 6.0 kV.

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Environmental Adaptability of Emergent Dynamical Behavior Design

Toru Nagata, Kenjiro Takemura, Koichiro Sato, Yoshiyuki Matsuoka

Proc. The 14th International Conference on Mechatronics Technology 185 - 190 2010年11月

研究論文（国際会議プロシーディングス）, 共著, 責任著者, 査読有り

Robotic Earthworm using Electro-conjugate Fluid

Kenichiro Tokida, Kenjiro Takemura, Shinichi Yokota, Kauya Edamura

International Journal of Applied Electromagnetics and Mechanics 33 （ 3-4 ） 1643 - 1651 2010年11月

研究論文（学術雑誌）, 共著, 責任著者, 査読有り

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多空間デザインモデルに基づくロボットの親近感生起動作生成法

氏家良樹，奈良原久之，前野隆司，竹村研治郎，松岡由幸

デザイン学研究 57 （ 3 ） 35-42 2010年11月

研究論文（学術雑誌）, 共著, 査読有り

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An Ungrounded Force Feedback Device Using Gyroscopic Torque

Yuri Yamamoto, Kenjiro Takemura

Proc. The 8th France-Japan and 6th Europe-Asia Congress on Mechatronics 453 - 457 2010年11月

研究論文（国際会議プロシーディングス）, 共著, 最終著者, 責任著者, 査読有り

静電駆動型マイクロスクリューポンプ

門並秀樹，竹村研治郎，山本晃生

日本機械学会論文集（C編）（Japan Society of Mechanical Engineers） 76 （ 770 ） 2604 - 2610 2010年10月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0387-5024

A micro pump is one of the most essential components in μTAS. However, conventional pumping systems have some difficulties to be miniaturized because it requires a power source. In this paper, we propose a novel micro screw pump driven by electrostatic force. Since the electrostatic force becomes dominant in micro region, it may be an effective driving source for micro pump. We propose an electrostatic drive principle of a screw pump using three-phase AC input. The micro screw pump is composed of a stator having flexible printed dircuits and a screw covered with a PET sheet. The drive experiments confirmed the effectiveness of the proposed driving principle and successful pumping with the developed micro screw pump at a flow rate of 111.4 μl/s.

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Electro-conjugate fluid Jet-Driven Micro Artificial Antagonistic Muscle Actuators and their Integration

Shinichi Yokota, Fumiya Yajima, Kenjiro Takemura, Kazuya Edamura

Advanced Robotics 24 （ 14 ） 1929-1934 - 1943 2010年10月

研究論文（学術雑誌）, 共著, 査読有り, ISSN 0169-1864

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Implementation of information and communication technology in higher education: Comparative research in Asian, American and European universities

Vidaček-Hainš, V., Appatova, V., Prats, H., Takemura, K., An, L., Bushaty, J., Berger, N., Pazur, K.

Proc. the 21st Central European Conference on Information and Intelligent Systems 149 - 155 2010年09月

研究論文（国際会議プロシーディングス）, 共著, 査読有り

Theoretical Modeling and Corroborative Experiments for Electro-conjugate Fluid Flow

Kento Mori, Hideki Yamamoto, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Proc. International Conference on Electrical Machines RF-002283 2010年09月

研究論文（国際会議プロシーディングス）, 共著, 責任著者, 査読有り

An electro-conjugate fluid (ECF) is a kind of dielectric fluid which produces a powerful flow (ECF jet) when subjected to high DC voltage. The ECF jet is a promising micro fluid power source for actuators and sensors including micro motors [4] [5], liquid rate gyroscope [8] [9] etc. However, these applications are developed upon trials and errors because the theory of the ECF flow has yet to be fully established. In this study we introduce the Coulomb force to develop an ECF flow model. Then we hypothesize that the Coulomb force is occurred by two causes
an inherent dominant charge depending on each fluid and a charge injected from a sharp electrode. The hypotheses are proved by the experimental results in this study. ©2010 IEEE.

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A Robot Finger using Electro-conjugate Fluid

Akihiro Yamaguchi, Kenjiro Takemura, Shinichi Yokota, Kazuya Edamura

Proc. International Conference on Electrical Machines RF-002852 2010年09月

研究論文（国際会議プロシーディングス）, 共著, 責任著者, 査読有り

Driving Method of Multiple Ultrasonic Motors using a Common Line Signal Input

Kohei Matsuzawa, Kenjiro Takemura

Sensors & Actuators A （ELSEVIER） 161 （ 1-2 ） 210 - 216 2010年07月

研究論文（学術雑誌）, 共著, 最終著者, 責任著者, 査読有り, ISSN 0924-4247

As the demand for multi degrees of freedom (DOF) system increases, it becomes more important for engineers to select an appropriate actuator. An ultrasonic motor is one of the promising actuators for multi-DOF system because of its advantages as direct drivability, high stationary holding torque, noiseless and quick response against input signal, however, the complexity of input wiring could be one of the problems for practical use. So this study proposes a novel driving method for multiple ultrasonic motors using a common line signal input. The method uses a superimposed signal, which has frequency components corresponding to the driving frequency of each ultrasonic motor. Because ultrasonic motors are driven by the natural vibration of stators, each motor only drives according to the corresponding frequency component of the common superimposed signal input. First we confirm the influence of the proposed method on the rotational speed of each ultrasonic motor. Then we controlled the rotational speed of each motor using the proportional controller, which operates the superimposed signal commonly inputted to each motor. (C) 2010 Elsevier B.V. All rights reserved.

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Numerical Modeling of Electro-Conjugate Fluid Flows

Hideki Yamamoto, Kento Mori, Kenjiro Takemura, Leslie Yeo, James Friend, Shinichi Yokota, Kazuya Edamura

Sensors & Actuators A （ELSEVIER） 161 （ 1-2 ） 152 - 157 2010年07月

研究論文（学術雑誌）, 共著, 責任著者, 査読有り, ISSN 0924-4247

An electro-conjugate fluid (ECF) is a kind of low conductivity dielectric fluid, which produces a strong flow when subjected to high DC voltage. ECFs are potentially useful in a variety of applications, including microactuators, microgyroscopes, and CPU liquid cooling systems. However, the biggest hindrance to the commercial development of applications involving ECFs is the lack of theoretical understanding of the fluid flow mechanisms associated with ECFs. This study presents a numerical simulation based on a physical model for the flow of ECFs that arises due to the generation of electric (Maxwell) stress gradients. Validation of the results from the numerical simulation against experimental data obtained using particle image velocimetry (PIV) provides confidence that the model is capable of quantitatively reproducing the flow of these ECFs. (C) 2010 Elsevier B.V. All rights reserved.

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Emergent Design of Dynamical Behavior

Toru Nagata, Kenjiro Takemura, Koichiro Sato, Yoshiyuki Matsuoka

Proc. 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics 373 - 378 2010年07月

研究論文（国際会議プロシーディングス）, 共著, 責任著者, 査読有り

超音波振動を利用したマルチパーパス微小流体駆動デバイス（第１報，概念の提案とマイクロミキサとしての評価）

五味淳，竹村研治郎

日本フルードパワーシステム学会論文集 41 （ 1 ） 8-13 2010年01月

研究論文（学術雑誌）, 共著, 最終著者, 責任著者, 査読有り

チップ上での化学分析や医療診断を目指したμTAS（Micro Total Analysis System）の研究において，流体の駆動や撹拌に必要なマイクロポンプやマイクロミキサの小型化が急がれている．このため，流路の一部を振動子とし，適切な固有振動を励振することによってポンプ／ミキサの機能を選択的実現する微小流体デバイスを提案，開発した．また，実験によって提案手法の有効性を明らかにした．

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A dual-axis liquid rate micro gyroscope using Electro-Conjugate Fluid

Shinichi Yokota, Yoshitsugu Ogawa, Kenjiro Takemura, Kazuya Edamura

Journal of Advanced Computational Intelligence and Intelligent Informatics 14 （ 7 ） 751-755 2010年

研究論文（学術雑誌）, 共著, 査読有り

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超音波振動を利用したマルチパーパス微小流体駆動デバイス（第2報，ミキシングおよびポンピング性能の定量的評価）

五味淳，竹村研治郎

日本フルードパワーシステム学会論文集 41 （ 6 ） 9 - 15 2010年

研究論文（学術雑誌）, 共著, 最終著者, 責任著者, 査読有り

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竹村 研治郎

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