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DOI： 10.20965/jrm.2017.p0928

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Language：English  

DOI： 10.1049/mnl.2017.0128

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Publishing type：Research paper (scientific journal)   Publisher：Elsevier BV  

DOI： 10.1016/j.sna.2024.115276

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DOI： 10.20965/ijat.2024.p0276

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DOI： 10.1016/j.precisioneng.2020.10.005

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DOI： 10.20965/ijat.2020.p0117

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DOI： 10.1504/IJNT.2018.089545

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DOI： 10.7210/jrsj.35.62

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Publishing type：Research paper (scientific journal)  

DOI： 10.1063/5.0160377

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

A biodegradable chitosan-acetate microneedle is developed based on the proboscis of a mosquito, which consists of chitin and protein. The formability of chitosan, which is a deacetylated compound of chitin, is improved by dissolving it in dilute acetic acid. Thereafter, the dissolved chitosan is coated around an Al wire by a dip-coating method, followed by drying. Afterward, the Al wire is removed by etching using an alkaline solution to form the chitosan micropipe. Subsequently, the micropipe is baked at 200◦C for 0.20 min. The optimum baking time was found to be 17 min. Finally, the micropipe is cut and its tip sharpened to transform it into a microneedle with a length, an outer diameter, and an inner diameter of 4 mm, 150 μm, and 100 μm, respectively. The Young’s modulus of the fabricated chitosan microneedle is approximately 10 GPa. This microneedle could be inserted into an artificial skin made of silicone rubber without buckling, and it could aspirate blood from a frog at a rate of 2.5 μL/s.

DOI： 10.20965/jrm.2020.p0401

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DOI： 10.20965/jrm.2016.p0491

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Language：English   Publishing type：Research paper (scientific journal)  

We propose a concept of a flexible sensor array using a novel capacitive force sensor not having a vulnerable electrode on the force applied site. It has a polymer domed structure inside which silicone oil is contained. When the force is applied, the oil is pushed into the surrounding thin channels, where the change in capacitance due to the inflowing dielectric oil is measured between two electrodes on the top and bottom surfaces of the channel. Since the channel does not have a directly applied external force to it, the electrodes do not suffer from damage problems. The change in capacitance was simulated using a simplified flow model. The first trial device of the sensing element has been fabricated. A sensitivity of 0.05 pF/gf was achieved. © 2012 by the authors.

DOI： 10.3390/mi3020270

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Language：English   Publishing type：Research paper (scientific journal)  

A novel capacitive tactile sensor using a polyurethane thin film is proposed in this paper. In previous studies, capacitive tactile sensors generally had an air gap between two electrodes in order to enhance the sensitivity. In this study, there is only polyurethane thin film and no air gap between the electrodes. The sensitivity of this sensor is higher than the previous capacitive tactile sensors because the polyurethane is a fairly flexible elastomer and the film is very thin (about 1 μm). The polyurethane film is formed by spin-coating and etched back from 6 μm to 1 μm using 48% sulfuric acid. As a result of evaluation, the sensitivity of the developed sensor (diameter is 1 mm) is 1.3 pF/Pa (800 pF/N considering the sensing area). Young's modulus of the thin polyurethane film was estimated to be 20 kPa. © 2012 by the authors
licensee MDPI, Basel, Switzerland.

DOI： 10.3390/mi3020315

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：AMER SOC MECHANICAL ENGINEERS  

The concept of micro-electro-mechanical systems (MEMS) sensors directly fabricated on a ceramic substrate, which can be used for a package of end product, was proposed. As demonstrations of the sensors directly fabricated on a ceramic package, an accelerometer and a magnetoresistive (MR) sensor are focused on, and their fabrications on a ceramic substrate is investigated. The accelerometer utilizes a fringe capacitance formed in a ferroelectric material. For this sensor, in stead of a previously used bulk PZT plate, a screen-printed BaTiO3 (BTO) film on a ceramic alumina substrate was herein employed. An accelerometer using a BTO film was practically fabricated. The sensitivity of it was estimated as 0.1 pF/g, which is degraded a little compare with the previously developed accelerometer using a PZT plate; however, the order is the same. The magnetoresistive (MR) sensor can detect not only x- and y-axes magnetic field intensities but also z-axis one, where all fields are based on the sensor coordinate system. Namely, not only azimuth but also angle of elevation of the sensor can be detected from triaxis components of geomagnetic field. The principle is as follows: a permalloy (FeNi) plate is stood aside MR element. The plate distorts magnetic field and generates x- (or y-) component from originally z-directional field. So, the resistance of MR element changes in proportional to z-axis field intensity, provided that other axes intensities are kept constant.

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC  

Recently, multilegged walking robots are widely developed. For these robots to walk safely, a sole sensor with high performance is desired. In the present paper, an arrayed type tactile sensor made of flexible silicone rubber, which is based on microelectromechanical systems (MEMS) technology, was developed. This sensor was applied as a sole sensor of a legged mobile robot. By processing the force data from many sensing elements using neural networks, information of contact force, i.e., three-dimensional x, y, and z components of force vector, was able to be detected, which was confirmed by both simulation and experiment.

DOI： 10.1109/JSEN.2011.2109037

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC APPLIED PHYSICS  

Polymer CYTOP is known as a good electret material that traps electrons semipermanently. It realizes a high surface potential, making it possible to be used for a micro power generator recently besides a microphone. We note that electrons are liable to be trapped at the interface between different materials. Ag micro particles are dispersed inside a CYTOP film for making interfaces. As a result, a surface potential that is two times higher than that of a pure film was experimentally achieved. The film preparation, the electron charging method, and the charge holding property are also reported. (C) 2011 The Japan Society of Applied Physics

DOI： 10.1143/JJAP.50.088007

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

For an indoor mobile robot's Simultaneous Localization And Mapping (SLAM), a method of processing only one monocular image (640×480 pixel) of the environment is proposed. This method imitates a human's ability to grasp at a glance the overall situation of a room, i.e., its layout and any objects or obstacles in it. Specific object recognition of a desk through the use of several camera angles is dealt with as one example. The proposed method has the following steps. 1) The bag-of-keypoints method is applied to the image to detect the existence of the object in the input image. 2) If the existence of the object is verified, the angle of the object is further detected using the bag-of-keypoints method. 3) The candidates for the projection from template image to input image are obtained using Scale Invariant Feature Transform (SIFT) or edge information. Whether or not the projected area correctly corresponds to the object is checked using the AdaBoost classifier, based on various image features such as Haar-like features. Through these steps, the desk is eventually extractedwith angle information if it exists in the image.

DOI： 10.20965/jrm.2011.p1080

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：Fuji Technology Press  

For an indoor mobile robot's Simultaneous Localization And Mapping (SLAM), a method of processing only one monocular image (640×480 pixel) of the environment is proposed. This method imitates a human's ability to grasp at a glance the overall situation of a room, i.e., its layout and any objects or obstacles in it. Specific object recognition of a desk through the use of several camera angles is dealt with as one example. The proposed method has the following steps. 1) The bag-of-keypoints method is applied to the image to detect the existence of the object in the input image. 2) If the existence of the object is verified, the angle of the object is further detected using the bag-of-keypoints method. 3) The candidates for the projection from template image to input image are obtained using Scale Invariant Feature Transform (SIFT) or edge information. Whether or not the projected area correctly corresponds to the object is checked using the AdaBoost classifier, based on various image features such as Haar-like features. Through these steps, the desk is eventually extractedwith angle information if it exists in the image.

DOI： 10.20965/jrm.2011.p1080

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Language：English   Publishing type：Research paper (international conference proceedings)   Publisher：ELSEVIER SCIENCE BV  

We propose an accelerometer using complementary metal oxide semiconductor (CMOS) structure, the output of which is kept constant by force balance system. The gate of MOSFET is floated mechanically. As an air gap distance between the floating gate and gate oxide of MOSFET is changed, CMOS output changes. A proof mass made of permanent magnet is appended to the floating gate, which is kept at initial position by controlled magnetic field. Therefore, this sensor can detect acceleration from change in current of a planar coil, which generates the magnetic field. A basic design of this sensor, such as necessary turn number of planar coil for force balance, is investigated by finite element method (FEM) simulation. This accelerometer can be fabricated by surface micromachining process. The gate electrode is suspended by a floating beam made of Parylene. The magnet and planar coil are fabricated by micro-electrocasting method. (C) 2009 Published by Elsevier Ltd.

DOI： 10.1016/j.proeng.2010.09.297

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Language：English   Publishing type：Research paper (scientific journal)  

A new concept of inertial force sensor, which uses a Mach-Zehnder Interferometer (MZI) type optical waveguide made of crystal silicon, is proposed in this paper. In this sensor, one waveguide of branched two waveguides in the MZI has floating beam structure (air-bridge type). Additionally, the cantilever supporting a proof mass intersects with the floating optical waveguide. When inertial force is applied to the proof mass, the floating waveguide is expanded and the output of the MZI is modulated. An optical optimization of the inertial force sensor is carried out by using a simulation, of which a solver is 2-dimentional beam-propagation method (2D BPM). As a resuit, optical loss at the intersection of the floating waveguide and the cantilever is improved by using multi-mode interference (MMI) waveguide as an intersected waveguide. Structure of the sensor is also optimized by a simulation which uses 3-dimentical finite element method (3D FEM). Especially, deflection at the intersection of the sensor is focused on. As results of the simulation, it is found that the sensitivity of the sensor can be controlled by changing in the width and length of the cantilever. Additionally, it is also found that the using of MMI waveguide as interconnecting waveguide dose not decay the sensitivity of sensor. As the results of above simulation, it is expected that an inertial force sensor, which have both high sensitivity and good mechanical strength properties can be fabricated by using the structure in which multiple cantilevers crosses with the MMI waveguide. ©
2009 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejsmas.129.301

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Language：English   Publishing type：Research paper (scientific journal)  

A new concept of inertial force sensor, which uses a Mach-Zehnder Interferometer (MZI) type optical waveguide made of crystal silicon, is proposed in this paper. In this sensor, one waveguide of branched two waveguides in the MZI has floating beam structure (air-bridge type). Additionally, the cantilever supporting a proof mass intersects with the floating optical waveguide. When inertial force is applied to the proof mass, the floating waveguide is expanded and the output of the MZI is modulated. An optical optimization of the inertial force sensor is carried out by using a simulation, of which a solver is 2-dimentional beam-propagation method (2D BPM). As a resuit, optical loss at the intersection of the floating waveguide and the cantilever is improved by using multi-mode interference (MMI) waveguide as an intersected waveguide. Structure of the sensor is also optimized by a simulation which uses 3-dimentical finite element method (3D FEM). Especially, deflection at the intersection of the sensor is focused on. As results of the simulation, it is found that the sensitivity of the sensor can be controlled by changing in the width and length of the cantilever. Additionally, it is also found that the using of MMI waveguide as interconnecting waveguide dose not decay the sensitivity of sensor. As the results of above simulation, it is expected that an inertial force sensor, which have both high sensitivity and good mechanical strength properties can be fabricated by using the structure in which multiple cantilevers crosses with the MMI waveguide. ©
2009 The Institute of Electrical Engineers of Japan.

DOI： 10.1541/ieejsmas.129.301

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC APPLIED PHYSICS  

We have evaluated a change in optical modulation of Mach-Zehnder interferometers (MZIs) after bias temperature (BT) stress. Phase shifters of MZIs are made of (Ba,Sr)TiO3 (BST) films, which are sputter-deposited at 450 degrees C, which is an acceptable temperature after the metallization process. As a result, the optical modulation of MZIs is enhanced by BT stress. This effect is regarded as an "optical imprint effect" because this effect is similar to the imprint effect of polarization properties of ferroelectric materials by BT stress. It is found that the optical imprint effect of BST MZIs becomes maximum when the temperature of BT stress is 75 degrees C. The reason for this phenomenon is considered to be the lowering of the resistivity of the BST layer when stress temperature is higher than 75 degrees C. The imprint effect decreases with time after removing the bias stress, and the decay speed in the imprint effect increases with substrate temperature. We propose a model of the optical imprint effect in which the polarized domains are aligned by BT stress, and then the electro-optic (EO) effect is enhanced.

DOI： 10.1143/JJAP.47.2897

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Language：English   Publishing type：Research paper (scientific journal)   Publisher：JAPAN SOC APPLIED PHYSICS  

The influence of organic contamination on the characteristics of metal-oxide-semiconductor (MOS) capacitors is studied. An anomalous behavior of the capacitance in the inversion region is observed, i.e., the inversion capacitance for the organic-molecule-contaminated samples is substantially increased by the reverse bias stress and decreased after removing the stress. These phenomena are explained on the basis of the change in the response time of the minority carriers (electrons) in the inversion layer caused by the change in the Si/SiO2 interface trap density. Namely, the interface trap is generated by the bias stress for the organic-molecule-contaminated sample and it is self-healed after the removal of the stress. We measure the temperature dependence of this self-healing of the interface traps and the activation energy of similar to 0.04 eV is obtained. On the basis of the results, we propose a model for the self-healing mechanism.

DOI： 10.1143/JJAP.44.1208

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Language：English   Publisher：Kansai University  

Examining differences in motion between individual persons involves predicting the three-dimensional (3D) future pose using an RGB-D camera. The 3D pose of a person is estimated based on depth data corresponding to the two-dimensional pose on the RGB image. Utilizing a neural network model, a sequence of 3D poses representing human motion is learned, and the future 3D pose is predicted from the sequential input of these 3D poses. The experiment evaluates the error in predicting the future 3D pose for individual persons. The evaluation involves basic motions like ‘standing’ and ‘sitting,’ which do not involve a change of location in everyday environments. The results highlight individual differences in motion and demonstrate the effectiveness of using personal motion data for learning and predicting the motion of individuals.
Kansai University Fund for the Promotion and Enhancement of Education and Research, 2020. “Real-world Service Innovation through AI robot challenges.”

DOI： 10.32286/0002001441

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は主に射出成型法を用いて樹脂製のマイクロニードルを作製してきた．本研究では外径200μm，内径100μmのポリエチレンテレフタラート（PET）樹脂製の極細中空管を形成し，この先端をフェムト秒レーザー加工により先鋭化することでマイクロニードルを作製した．また，作製したマイクロニードルは往復回転を加えながら穿刺することで人工皮膚に穿刺可能であることを見出した．

DOI： 10.11522/pscjspe.2024s.0_641

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は、蚊の模倣をした低侵襲穿刺技術に関する研究を行っている。本研究室で開発されたマイクロニードルは目に見えない細い血管を対象に、回転や振動を付与し穿刺するが、肉眼による観察と手での穿刺操作は困難である。この課題を解決するため、画像解析を活用した低侵襲自動穿刺システムの開発を目指している。そこで本研究では、コストを抑えた新たな自動穿刺のプロトタイプとして血管位置推定と枠内座標補間の技術を提案する。

DOI： 10.11522/pscjspe.2024s.0_643

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々はソフトモールドを使用したナノインプリントにより蚊の針を模倣した中空針を作製する手法を開発してきた。従来のソフトモールドは，中空構造の形成に必須である高アスペクト比の柱構造が傾き易いという問題点があった．本研究では，柱構造部分を高強度材料に置き換えることで傾きを抑制する手法を用いてモールドを作製し，実際に中空針の作製を試みた．

DOI： 10.11522/pscjspe.2024s.0_639

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

日本の医療課題である看護師不足と地域格差問題解決のための遠隔医療の発展において、自動採血装置の存在は重要な解決手段になり得る。しかしながら、自動採血装置の社会的な普及には、機械から穿刺行為を受ける際の患者の肉体的負担と精神的負担、そして高価な価格帯といった課題が存在する。そこでこの課題を解決するため、我々はコストを抑えた低侵襲性自動穿刺システムの開発を目指している。本研究室では、痛みを感じさせない蚊の吸血行動に着目し、そのメカニズムを解明するとともに、それに基づいた針の構造や穿刺手法についての研究をしてきた。この蚊を模倣した低侵襲穿刺技術に加え、コストを抑えた新たな自動採血のプロトタイプとなる技術を開発し組み合わせることで、これらの医療課題を克服できると考えている。本研究では、その第一歩として画像処理を用いた穿刺位置推定と針制御における枠内座標補間の技術を提案する。穿刺位置推定技術では、血管の可視化手法、血管セグメンテーション手法、そして信頼度マップを用いた穿刺位置の推定方法について紹介する。また枠内座標補間技術では、模擬血管を使用した自動吸血実験とその結果を提示する。

DOI： 10.11239/jsmbe.annual62.457

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

日本の医療課題である看護師不足と地域格差問題解決のための遠隔医療の発展において、自動採血装置の存在は重要な解決手段になり得る。しかしながら、自動採血装置の社会的な普及には、機械から穿刺行為を受ける際の患者の肉体的負担と精神的負担、そして高価な価格帯といった課題が存在する。そこでこの課題を解決するため、我々はコストを抑えた低侵襲性自動穿刺システムの開発を目指している。本研究室では、痛みを感じさせない蚊の吸血行動に着目し、そのメカニズムを解明するとともに、それに基づいた針の構造や穿刺手法についての研究をしてきた。この蚊を模倣した低侵襲穿刺技術に加え、コストを抑えた新たな自動採血のプロトタイプとなる技術を開発し組み合わせることで、これらの医療課題を克服できると考えている。本研究では、その第一歩として画像処理を用いた穿刺位置推定と針制御における枠内座標補間の技術を提案する。穿刺位置推定技術では、血管の可視化手法、血管セグメンテーション手法、そして信頼度マップを用いた穿刺位置の推定方法について紹介する。また枠内座標補間技術では、模擬血管を使用した自動吸血実験とその結果を提示する。

DOI： 10.11239/jsmbe.annual62.294_2

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

日本では少子高齢化に対し、人間と同じ生活空間で共存して働く福祉ロボットの実現が期待されている。本研究では、ロボットによる介護施設での福祉作業実現を目指し、介護作業の洗い出しと、RECSコンセプトに基づく自律ホームロボットHSRでの扉の開閉作業、車椅子の牽引移動作業の実証実験を行った。RECSコンセプトとは、ロボットによる作業の達成を可能あるいは容易にするために作業環境を整備するという考え方であり、このコンセプトに基づき、介護施設での福祉ロボットの実現を目指す。介護作業の洗い出しでは、食事、排泄、入浴、移動・移乗、などに大別した後、服薬支援、オムツの廃棄、脱衣介助、車椅子での移動など、さらに76種類に分類し、介護作業の整理を行った。また、実証実験ではトヨタ自動車株式会社の自律ホームロボットHSRを用い、関西大学が所有する実際の生活空間を模した実証実験住宅である月ヶ丘住宅にて、引き戸、開き戸それぞれの開閉作業と、人間が乗った状態の車椅子の牽引移動作業の実証実験を行った。

DOI： 10.11239/jsmbe.annual62.255_2

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

現在、医療現場では糖尿病患者を筆頭に頻繁に注射が行われている。そのほとんどは痛みを伴い患者に精神的苦痛を与えているため、これらを改善し患者への負担を低減することが重要な課題である。一方で、蚊はほとんど痛みを感じさせることなく人間に穿刺している。このことに着目し、我々は蚊を模倣した痛みのない注射針の開発を目指している。従来の研究では、市販されている針の半分の直径である直径90µmという低侵襲性の微細針の開発を行ってきた。そして、蚊の穿刺動作のひとつである針に回転を付与した穿刺を行うことで抵抗力の低減やたわみの抑制にも成功した。しかし、この微細針を用いた採血は行えておらず、また採血に至らない原因も追及できていない。そのため、微細針による穿刺メカニズムを解明し、痛みのない採血の実現が必要となっている。本研究室では，以前よりヌードマウスを用いた蚊の穿刺の様子の観察実験を行っているが、回数を重ねた穿刺実験は倫理上の問題があり現実的ではない。そこで、本研究では従来から使用している人工皮膚内部に模擬血管としてシリコンマイクロチューブを取り入れることで人間の皮膚内部の様子の再現に成功した。そして、この血管付き人工皮膚を用いて穿刺実験を行うことで微細針穿刺時の血管の変形挙動を観察し、採血方法の確立を行った。

DOI： 10.11239/jsmbe.annual62.294_1

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

近年，世界の糖尿病患者数は急速に増加しており，世界の人口における10人に1人が糖尿病を患っているという現状である．糖尿病患者は1日に数回，中実の金属針（ランセット針）を用いて皮膚を穿孔し，滲み出た少量の血液から血糖値を測定する必要がある．しかし，この皮膚を穿孔する行為は激しい痛みを伴い，また，これを繰り返すことによって皮膚の硬化を招き，患者の自己血糖値検査への忌避要因となっている．このため低侵襲性の採血針が医療現場で強く望まれている．

我々はこれまで，蚊の針を模倣した低侵襲性のマイクロニードルを開発してきた．従来研究においては生体適合性かつ生体分解性を有するポリ乳酸を用いて世界最細となる直径 90 µm の中空針の開発に成功している．しかし，この針を用いても蚊の針の穿刺動作を完全に模倣することはできておらず，蚊のように無痛での採血は実現できていない．蚊を観察した際，蚊が採血に用いる上唇という器官は約 40 µm ~ 60 µm と非常に細く，また皮膚内で屈曲するような動作も確認した．そこで我々は，直径150 µm の中空管形状のポリエチレンテレフタレート（PET）樹脂製のワイヤをフェムト秒レーザーを用いて加工することでマイクロニードルを作製する手法を新たに考案した．作製した中空PET樹脂製マイクロニードルを用いて人工皮膚への穿刺時の抵抗力の測定や，人工皮膚内に血管を模したチューブを有する血管付き人工皮膚への穿刺/採血実験を行った．

DOI： 10.11239/jsmbe.annual62.460

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

現在、医療現場では糖尿病患者を筆頭に頻繁に注射が行われている。そのほとんどは痛みを伴い患者に精神的苦痛を与えているため、これらを改善し患者への負担を低減することが重要な課題である。一方で、蚊はほとんど痛みを感じさせることなく人間に穿刺している。このことに着目し、我々は蚊を模倣した痛みのない注射針の開発を目指している。従来の研究では、市販されている針の半分の直径である直径90µmという低侵襲性の微細針の開発を行ってきた。そして、蚊の穿刺動作のひとつである針に回転を付与した穿刺を行うことで抵抗力の低減やたわみの抑制にも成功した。しかし、この微細針を用いた採血は行えておらず、また採血に至らない原因も追及できていない。そのため、微細針による穿刺メカニズムを解明し、痛みのない採血の実現が必要となっている。本研究室では，以前よりヌードマウスを用いた蚊の穿刺の様子の観察実験を行っているが、回数を重ねた穿刺実験は倫理上の問題があり現実的ではない。そこで、本研究では従来から使用している人工皮膚内部に模擬血管としてシリコンマイクロチューブを取り入れることで人間の皮膚内部の様子の再現に成功した。そして、この血管付き人工皮膚を用いて穿刺実験を行うことで微細針穿刺時の血管の変形挙動を観察し、採血方法の確立を行った。

DOI： 10.11239/jsmbe.annual62.454

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

日本では少子高齢化に対し、人間と同じ生活空間で共存して働く福祉ロボットの実現が期待されている。本研究では、ロボットによる介護施設での福祉作業実現を目指し、介護作業の洗い出しと、RECSコンセプトに基づく自律ホームロボットHSRでの扉の開閉作業、車椅子の牽引移動作業の実証実験を行った。RECSコンセプトとは、ロボットによる作業の達成を可能あるいは容易にするために作業環境を整備するという考え方であり、このコンセプトに基づき、介護施設での福祉ロボットの実現を目指す。介護作業の洗い出しでは、食事、排泄、入浴、移動・移乗、などに大別した後、服薬支援、オムツの廃棄、脱衣介助、車椅子での移動など、さらに76種類に分類し、介護作業の整理を行った。また、実証実験ではトヨタ自動車株式会社の自律ホームロボットHSRを用い、関西大学が所有する実際の生活空間を模した実証実験住宅である月ヶ丘住宅にて、引き戸、開き戸それぞれの開閉作業と、人間が乗った状態の車椅子の牽引移動作業の実証実験を行った。

DOI： 10.11239/jsmbe.annual62.421

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Language：Japanese   Publisher：公益社団法人 日本生体医工学会  

近年，世界の糖尿病患者数は急速に増加しており，世界の人口における10人に1人が糖尿病を患っているという現状である．糖尿病患者は1日に数回，中実の金属針（ランセット針）を用いて皮膚を穿孔し，滲み出た少量の血液から血糖値を測定する必要がある．しかし，この皮膚を穿孔する行為は激しい痛みを伴い，また，これを繰り返すことによって皮膚の硬化を招き，患者の自己血糖値検査への忌避要因となっている．このため低侵襲性の採血針が医療現場で強く望まれている．

我々はこれまで，蚊の針を模倣した低侵襲性のマイクロニードルを開発してきた．従来研究においては生体適合性かつ生体分解性を有するポリ乳酸を用いて世界最細となる直径 90 µm の中空針の開発に成功している．しかし，この針を用いても蚊の針の穿刺動作を完全に模倣することはできておらず，蚊のように無痛での採血は実現できていない．蚊を観察した際，蚊が採血に用いる上唇という器官は約 40 µm ~ 60 µm と非常に細く，また皮膚内で屈曲するような動作も確認した．そこで我々は，直径150 µm の中空管形状のポリエチレンテレフタレート（PET）樹脂製のワイヤをフェムト秒レーザーを用いて加工することでマイクロニードルを作製する手法を新たに考案した．作製した中空PET樹脂製マイクロニードルを用いて人工皮膚への穿刺時の抵抗力の測定や，人工皮膚内に血管を模したチューブを有する血管付き人工皮膚への穿刺/採血実験を行った．

DOI： 10.11239/jsmbe.annual62.295_1

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の小顎を模倣した半割状の微小針を2本組み合わせた針に交互振動を付与しながら穿刺を行い，その穿刺抵抗力を評価した．同様の実験を従来研究においても実施しているが，本研究では鋸歯状突起を付与する場所が穿刺抵抗に与える影響の評価に重点を置いた．鋸歯状突起を①先端部のみ，②側面部のみ，③その両方に付与した場合，および④突起なしの4条件について穿刺実験を行い，それぞれの穿刺抵抗力を比較した．

DOI： 10.11522/pscjspe.2023a.0_715

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は従来研究において，針に回転を付与することで穿刺抵抗を低減させる穿刺デバイスを開発した．ただし，このデバイスは針の回転にモーターを使用しているため，携帯性とコストの点から改善が必要であった．そこで，本研究では樹脂製のぜんまいばねにより針を回転させる機構を考案した．本機構は樹脂製の部品のみで構成されており，低コストかつ軽量である．作製した回転機構を用いて針を穿刺し，その抵抗力低減効果を検証した．

DOI： 10.11522/pscjspe.2023a.0_719

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は無痛で吸血を行う蚊に着想を得て，低侵襲性の微細針の開発を行ってきた．本研究では，蚊が無痛を実現する上で重要となる針の交互振動と針側面の鋸歯状突起の存在が穿刺抵抗力に及ぼす影響を検証するため，蚊の小顎を模倣した2本1組の針を用いた穿刺実験と非線形有限要素法による穿刺解析を行った．その結果，鋸歯状突起を有する針を交互振動させたさせることで穿刺抵抗力が抑制可能であることが分かった．

DOI： 10.11522/pscjspe.2023a.0_717

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の針を模倣した低侵襲性の樹脂製マイクロニードルの研究開発が進められている。直径100μm以下で先端に鋸歯状突起を有するマイクロニードル用成形用金型は、切削加工等の従来加工技術での作製は困難である。本研究では、精密3次元光造形装置を用いて作製した鋸歯状突起を有するマイクロニードル形状を、CIMを活用し転写することで、鋸歯状突起を有するマイクロニードル成形用セラミックス金型製造技術を開発した。

DOI： 10.11522/pscjspe.2023a.0_713

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Language：Japanese   Publisher：京都 : システム制御情報学会  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032864482

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2023s.0_828

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2023s.0_832

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2023s.0_834

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2023s.0_830

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2023s.0_535

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I033442470

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I033442458

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We fabricated the rubber suction pad with valves for off-pump coronary artery bypass surgery. The touch pressure against valve bodies was opened these valves. When 3D printed resin mold has no fillet on the corners, the height around step was smaller than the design value. The height of step was uniformed due to that the corners of resin mold were rounded. We fabricated the rubber suction pad using the mold with rounded corner. However, the air leakage of this pad was not smaller than using the mold with right angle corner. We have concluded that the air leakage from suction pad can be caused by adhesion of parts of suction pad.

DOI： 10.1299/jsmermd.2023.2p2-c04

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have aimed to alleviate pain in diabetic patients by developing minimally invasive microneedles. In this study, a microneedle with a liquid suction mechanism was developed to extract a target volume of 0.3 μl of blood. Our approach mimics the capillary force and water-absorbing behavior of water strider legs, and we fabricated a plate to imitate their microstructure. The flow rate of water and blood was measured to evaluate the performance of the microneedles. The desired blood absorption volume was achieved by applying hydrophilic treatment to the microstructure. Microneedle with a liquid suction mechanism was developed based on the principle of improving capillary force by adding microstructures that mimic the legs of a crucial carp. The effects of microstructure shape and density on suction speed were evaluated using water and blood as suction targets.

DOI： 10.1299/jsmermd.2023.2a2-f12

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A tactile sensor with a micro-wall structure has been developed for use in a robot hand, utilizing a combination of polydimethylsiloxane (PDMS) and carbon nanotubes (CNT) to achieve flexibility and conductivity. As the sensor is compressed by the robot hand gripping an object, the distance between the conductive materials shrinks, resulting in decreased sensor resistance. Conversely, if the object slips from the robot hand's grasp, the micro-wall structure of the sensor is deformed, causing a partial relaxation of the internal circuit and resulting in increased resistance. This study demonstrates that the developed sensor can estimate the grasping state of the robot hand and object based on these principles.

DOI： 10.1299/jsmermd.2023.2a1-f02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a robotic hand using elastic sheets and openable two-fingered hand. This hand can grasp the objects by opening the fingers of robotic hand and pulling the elastic sheets. Because the sheets are flexible, the hand can grasp non-uniform shaped object. The grasping force is proportional to the tension of the elastic sheets. Therefore, the weight of object is larger, the grasping force is larger. We measured the grasping force of prototyped robotic hand. The maximum force was 50 N when the diameter of cylindrical object is 70 mm and displacement of robotic hand was 50 mm. When the diameter of cylindrical object is 40 mm and displacement of robotic hand was 24 mm, the elastic sheets slipped on the object. Finally, we try to transport some of the daily necessities using the prototyped robotic hand.

DOI： 10.1299/jsmermd.2023.1a1-g05

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Although geodesic sensors have been commonly used for acquiring point clouds in many mobile robots in recent years, we employed a monocular camera and semantic segmentation based on the human visual recognition ability to capture the meaning of images and achieve more flexible autonomous navigation in this study. RGB images of the road were acquired using a webcam, and semantic segmentation was utilized to detect the drivable area and calculate its center point. By performing semantic segmentation on the images obtained from the webcam, they confirmed the recognition of the drivable area, i.e., the road, and the feasibility of autonomous driving toward its center point while avoiding obstacles.

DOI： 10.1299/jsmermd.2023.2p2-g02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed a needle puncture mechanism that imitates the puncture action of mosquitoes. This mechanism employs two pairs of two-halved needles, acting as one hollow microneedle. This mechanism applies the ability of rotation and alternating vibration motions to the two-halved microneedle. The rotational motion and alternating vibration can each be independently controlled. The motor drives the rotation directly, while the alternating vibration is accomplished by merging magnetic force and sliding friction. The entire mechanism was designed using three-dimensional CAD and assessed to ascertain if it could reduce needle puncture resistance.

DOI： 10.1299/jsmermd.2023.2p1-c04

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The paper describes a prototype mobile manipulator to perform garbage collection tasks. The mobile manipulator consists of a 7 d.o.f. manipulator and an omni-directional mobile mechanism. An RGB-D sensor is mounted on the body for recognition of a target object and measurement of the distance to the object. The mobile manipulator is controlled by a tele-operator with a wireless controller for moving. In manipulation, a target object is recognized and grasped by the manipulator automatically. In the experiment, the mobile manipulator was moved to near a desk by a tele-operator, and the manipulator automatically grasps a target object on the desk.

DOI： 10.1299/jsmermd.2023.1p1-c26

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The paper describes a method for prediction of reaching targets by measuring 3D human pose with RGB-D camera. The method uses an RGB-D camera to combine 2D human pose estimation on the image with depth information to estimate 3D human skeletal pose. A future pose is predicted by learning human motion using RNN. By using the future pose prediction and decision tree, the method predicts which object on the desk is a reaching target. The experiments are performed for motion of reaching targets on a desk.

DOI： 10.1299/jsmermd.2023.2p1-d02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed a MEMS tactile/slip sensor that combines MEMS technology and vision sensor technology. This sensor is a flexible and high-aspect-ratio microwall array made of polydimethylsiloxane (PDMS). The contact force can be obtained by image processing the amount of deformation when this microwall array contacts the object. In addition, by performing image processing on the deformation of the microwall array when sliding in the horizontal direction after contact with the object, slipping can be detected. The relationship between the contact force of the sensor and the deformation of the sensor was clarified not only by image analysis but also by finite element analysis.

DOI： 10.1299/jsmermd.2023.2a2-f01

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032967947

Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032696163

Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032694634

Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は3次元光造形法により蚊の針を模倣した低侵襲性マイクロニードルの原型を作製し、これをジメチルポリシロキサン（PDMS）に転写して負型を作製、さらにこのPDMS製の型を利用してナノインプリント法によりマイクロニードルを複製する手法を研究してきた。本研究では従来手法にステップ・アンド・リピート法と呼ばれるインプリントを連続で繰り返す手法を加えることで、マイクロニードルをアレイ化する手法を開発した。

DOI： 10.11522/pscjspe.2022a.0_141

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊を模倣した直径100µm 以下の微細な低侵襲性医療⽤採血針の開発を⾏ってきた．この開発において，微細針を用いた採血の対象となる血管が細く，視認性が低いことが問題となっていた．そこで，本研究ではLED照明とカメラを組み合わせた血管可視化装置を開発した．また，本装置によりラット腹部の血管（直径約0.2mm）の可視化に成功した．さらに，開発した微細針を用いて可視化されたラットの血管からの採血に成功した．

DOI： 10.11522/pscjspe.2022a.0_143

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊の口針の穿刺動作を模倣した針穿刺装置を開発してきた．従来研究において，半割にした針を2本一組とし，それらに蚊の針穿刺行動を模倣した交互振動と往復回転を同時に付与する小型穿刺装置を製作した．しかし，実際の蚊はまず針全体を往復回転させ,その後に交互振動動作に移行する．本研究では,より蚊に近い穿刺動作を実現するため半割針に交互回転と交互振動を個別に付与できる機構を開発した．

DOI： 10.11522/pscjspe.2022a.0_145

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Language：Japanese   Publisher：東京 : 国立社会保障・人口問題研究所  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032518248

Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究室では痛みの少ない注射を目標とし，蚊の口針を模倣したマイクロニードルを開発している．現在市販の中空針で最小のものは直径180 µmであるが，本研究ではその半分の直径90 µmのPLA製中空マイクロニードルの開発に成功した．この針を用いて人工皮膚や動物への穿刺実験を行った．穿刺抵抗力は市販の針と同程度であることを確認し，穿刺補助治具を用いることでマウスへの穿刺及び採血に成功した．

DOI： 10.11522/pscjspe.2022s.0_538

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Language：Japanese   Publisher：公益社団法人 精密工学会  

注射の際の患者への負担を軽減可能な低侵襲性の微細針を開発するため，筆者らは針を穿刺する際の抵抗力等を実験的・解析的に評価してきた．解析を行うにあたって，針を皮膚に穿刺する場合のような大変形現象を通常のFEMのみで扱うことは困難である．そこで，本研究では針の穿刺によって大変形が生じる部分にはメッシュフリー解法のひとつであるEFG (Element Free Galerkin) 法を採用し，変形が小さい部分には通常のFEMを組み合わせて解析を実施した．

DOI： 10.11522/pscjspe.2022s.0_540

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Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

Object recognition in actual indoor environment is difficult at present even if using Deep Learning method, in which illumination condition greatly changes, and many objects are randomly put; even they may be physically overlapped. In this research, an object recognition method for robot to grasp objects is proposed, which makes the best use of robot capability of actively moving. The method is concretely as follows: small light and web-camera are set on the tip of robot arm. The robot actively illuminates the object (Active Lighting), actively changes the viewpoint of web-camera (Active Vision), and pushes and/or slides the overlapped objects to separate them (Graspless Manipulation). The effectiveness of proposed method was experimentally verified in case of 50 complicated scenes using a home robot equipped with dual arms and vision sensors.

DOI： 10.5687/iscie.35.19

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I031982137

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032114892

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The majority of teams that participated in the robotics competition used the ROS OSS (Open Source Software) MOVE_BASE to realize autonomous driving functions using a 2D (two-dimensional) map. In this research, we will develop a navigation system with higher stability by estimating its own position using a 3D (three-dimensional) map, planning a route using a two-dimensional map, and creating a program that integrates these functions.

DOI： 10.1299/jsmermd.2022.2p1-i11

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A slip detection sensor with arrayed microscale wave-shaped walls was developed to mount a robot hand. The microstructure is made of polydimethylsiloxane, a highly flexible elastomer. A piezoelectric film made of polyvinylidene fluoride (PVDF) was coated on the surface of microstructures. When an object grasped by the robot hand slips, the microstructure on the sensor deforms, then the piezoelectric thin film outputs a voltage signal. The effects of the shape of microstructure and PVDF coating conditions on the sensor characteristics were evaluated in this study.

DOI： 10.1299/jsmermd.2022.2p2-j06

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I032297477

Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は3次元光造形法によりマイクロニードルの原型を作製し、これをUVナノインプリント法により転写する手法について研究してきた。この研究ではステップ・アンド・リピート法と呼ばれるインプリントを連続で繰り返す手法により転写速度の向上を図っているが、この際に転写不良が発生することが問題になっていた。そこで，本研究ではインプリント時にペンタフルオロプロパン（PFP）ガスを利用することで転写精度の向上を図る。

DOI： 10.11522/pscjspe.2021a.0_262

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は直径100µm以下の微細な低侵襲性の医療用注射針の開発を行ってきた．この注射針を用いて採血を行う際，血管の位置を特定し針を移動させ穿刺を行うため, 針の位置制御が必要となる.しかし従来の方法では装置が大型であり, 手軽に採血を行うことができなかった.本研究では微細針用いた低侵襲性の採血を行う為, 血管可視化で穿刺位置の特定から医療用注射針の位置制御を行い, 小型で手軽に自動採血を行う手法について検討した．

DOI： 10.11522/pscjspe.2021a.0_260

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊の口針を模倣した微細針および無痛穿刺デバイスを開発している．本研究では，皮膚を真空吸引することで張力を付与したわみを抑制することで，針の穿刺を容易にする治具を開発した．また，表面に微細な格子模様を付与した人工皮膚を開発した．開発した吸着治具を用いた針の穿刺実験にこの人工皮膚を利用し，格子のひずみから治具が皮膚のたわみを抑制する効果を視覚的に評価した．

DOI： 10.11522/pscjspe.2021a.0_264

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Language：Japanese   Publisher：THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)  

Mobile robot localization in outdoor is difficult because of environmental change such as sunlight intensity, moving obstacles layout, etc. In this article, questionnaire study on human ability of environmental recognition was carried out and its results were applied to mobile robot localization. The result of questionnaire shows that a human relies on globally visual information such as landscape rather than information of landmarks such as signboards. Based on the result, a view-based localization method using GIST features was proposed. GIST is known to represent well the overview of outdoor scene. A capture scene image is compared all registered template images in terms of GIST, e.g., the template image, of which <i>L</i>₂norm of GIST between input image is minimum, is successively searched. Then, the robot is localized so as that it exists in the neighborhood of known place where the template image was captured. Experimental result in the course of Tsukuba Challenge 2015 showed the good potential of proposed method to localize a mobile robot.

DOI： 10.5687/iscie.34.251

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I031677700

Language：Japanese   Publisher：京都 : システム制御情報学会  

DOI： 10.5687/iscie.34.209

DOI： 10.3130/aijjse.70b.0_142_references_DOI_VkHsZ4Vp4ihRkifMjNUN8MHgtBz

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I031611365

Publisher：株式会社医学書院  

DOI： 10.11477/mf.1403202490

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は医療用の無痛針やその穿刺システムの研究を行ってきた．また，これまでの成果として，痛み低減には針の細径化が有効であることを明らかにした．ただし，針は細径化に伴い座屈応力が低下し，表皮の突破が困難になる．本研究では，針の先端付近を把持して皮膚へ穿刺することで座屈を防止する穿刺デバイスをレーザ加工法を援用して作製し，その評価を行った．

DOI： 10.11522/pscjspe.2021s.0_735

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2021s.0_737

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2021s.0_739

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Language：Japanese   Publisher：The Robotics Society of Japan  

Our laboratory aim to enable robots to avoid obstacles as smoothly as humans, using only image information. It is necessary to define what information to focus on and what information to use. To get a hint for making such definition, we investigated human gaze points on the image obtained from robot's viewpoint. For this purpose, we developed an experimental system incorporated with an eye tracking system, in which a human rides on an automatic electric wheelchair considered as a mobile robot, inside which he gazes at the image obtained by a stereo camera. He controls the velocity and direction of the robot based on the image information. The obtained eye tracking data are shown and what the human gazed at are discussed.

DOI： 10.7210/jrsj.39.751

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The stabilizer is used for Off-pump coronary artery bypass grafting. This surgical instrument has the rubber suckers, variable stiffness arm and fixed part. When one of suckers has been peeled off, the adhesion force of stabilizer was decreased, because the suckers was connected by stainless tube. We proposed the stabilizer with valves opened when the sucker is contacted on the heart. Previous study has shown that rubber type stabilizer was fabricated. In this paper, we show the vibration reduction effect of the stabilizer with valves using the cardiac pulsation type coronary anastomosis training system. When the fabricated stabilizer, the reduction ratio of displacement was 0.19. On the other hand, the ratio was 0.13 when the surgical instrument.

DOI： 10.1299/jsmermd.2021.1p2-c17

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a suction device with a valve opened by contact and combined a commercially available suction pad. This device has the suction pad, silicon rubber valve element, and adapter. The valve eliminate has pin, 3 plate springs, and ring support. Since the pin was supported by the plate springs, the moving direction of pin was vertical direction when the force direction was vertical. All of them was formed by silicone rubber. The device adhered the plate when it was contacted on the plate. The pressure difference is under 0.1 kPa when the valve was closed. However, the peeling time was 1 s, because of the small valve opening and the large inner volume.

DOI： 10.1299/jsmermd.2021.2p1-f01

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we show the performance characteristics of two kind of pneumatic actuators fabricated a foam lost molding method. One is pneumatic actuator using positive pressure, and the other is one using negative pressure. The former actuators were driven by applied positive pressure, but actuator using the low degree of rubber hardness was broken when the applied pressure was 30 kPa, because the strain of actuator was larger than the breaking strain of tensile strength test of rubber. The displacement of later actuator was in proportional of the applied negative pressure, but the displacement was maximum when applied pressure was -60 kPa.

DOI： 10.1299/jsmermd.2021.2p2-e06

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I031603851

Language：Japanese   Publisher：公益社団法人 精密工学会  

現在市販の注射針では、穿刺する際に必ず痛みが生じてしまう。本研究室では蚊に刺されても痛くないことに着目し、蚊の口針を模倣した痛みの少ないマイクロニードルを開発している。蚊が穿刺する際に下唇で皮膚に張力を与えていることから吸引によって穿刺対象に張力を与える吸着治具を作製し、従来の透明のものとは違いたわみを確認しやすい二層の人工皮膚に対して穿刺実験を行いその時の抵抗力を測定した。

DOI： 10.11522/pscjspe.2020a.0_424

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊を模倣した無痛針の開発を行っている．これまでの研究で，蚊の口針を穿刺したマイクロニードルの開発や，蚊の吸血行動を模倣した穿刺方法の開発を行った．しかし，蚊のような穿刺対象に刺激を全く与えない穿刺は再現できていない．そこで，本研究では，2本針に回転と交互振動を付与する穿刺方法を提案し，評価を行う．本研究では，医療現場での使用を想定しているため，モータ1つを用いた小型の機構を作製した．

DOI： 10.11522/pscjspe.2020a.0_426

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は直径100µm以下の微細な低侵襲性針の開発を行ってきた．この針を用いて採血を行う場合，皮膚表面から深さ１mmに分布する直径200µm以下の微細な血管を対象とすることが有用である.しかし，従来の観察系では皮膚表面での光散乱により対象の血管が可視化できなかった．本研究では針穿刺前に皮膚に塗布する消毒液に光散乱を抑制する効果を付与し，対象血管の可視化を促進する手法について検討した．

DOI： 10.11522/pscjspe.2020a.0_420

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Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究室では蚊に刺されても痛みを感じないことに着目し，蚊の口針を模倣したマイクロニードルを開発してきた．従来の射出成形とは異なるヒートアンドクール法を採用することで，半径0.1 mmの断面が半円の微細針を成形することに成功した．しかし，蚊と同じ寸法の中空針を成形することは困難であるため，先端部を別途作製した後に金型に設置，その後，根元部分を射出成形して両者を結合するインサート成形によって作製する．

DOI： 10.11522/pscjspe.2020a.0_428

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Language：Japanese   Publisher：東京 : 日本計算工学会  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I030475731

Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は，痛みのない注射針や穿刺装置の開発を行ってきた．その研究の中で注射針のマイクロニードル化が必須であることが分かっている．しかし，マイクロニードルは容易に座屈を起こしてしまう．過去の研究ではシャープペンシルが持つ芯繰り出し機構に着目し特殊な加工を施すことでマイクロニードルを座屈させず人口皮膚に穿刺することに成功している．本研究ではこの機構を持つ穿刺装置をMEMSプロセスで作製し，その評価を行った．

DOI： 10.11522/pscjspe.2020s.0_186

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

A poly-lactic acid (PLA) microneedle array of maximum aspect ratio 18 was fabricated by Drawing lithography. In the fabrication method proposed in this study, melted PLA is stretched twice. Various aspect ratios can be set according to the length of the first stretching. The final aspect ratio and shape of microneedle can be controlled by the second stretching. Finally, puncture ability was evaluated using artificial skin and porcine skin.

DOI： 10.11522/pscjspe.2020s.0_174

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊の口針の構造と穿刺動作を模倣したマイクロニードルを開発してきた．ヒートアンドクール法を採用することで，従来の射出成形では困難であった，半径0.1 mm，の断面が半円の微細針を成形することに成功した．しかし，蚊と同様の外径0.05 mm,内径 0.025 mmの中空針を成形することは，現状困難である．そこで根元部分を射出成形し，別途作製した先端部分と結合するインサート成形を行うことで，蚊を模倣したマイクロニードルを作製する．

DOI： 10.11522/pscjspe.2020s.0_176

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Language：Japanese   Publisher：公益社団法人 精密工学会  

現在市販の注射針では、穿刺する際に必ず痛みが生じてしまう。本研究室では蚊に刺されても痛くないことに着目し、蚊の口針を模倣した痛みの少ないマイクロニードルを開発している。蚊が穿刺する際に下唇で皮膚に張力を与えていることから吸引によって穿刺対象に張力を与える穿刺治具を作製し、人工皮膚に対して実際に穿刺実験を行いその時の人工皮膚にかかる抵抗力を測定した。

DOI： 10.11522/pscjspe.2020s.0_184

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊に刺されても痛みがないことに着目し，蚊の針を模倣したマイクロニードルの開発を行ってきた．これまでの研究で，蚊の穿刺行動を模倣した1本針の穿刺方法の評価を行ったが，まだ穿刺時の抵抗力が大きく蚊の穿刺行動を再現することが出来ていない．そこで，より蚊に近い穿刺方法を実現するために，1つのアクチュエータで2本の針に交互振動と回転を付与する機構を考案し，評価を行った．

DOI： 10.11522/pscjspe.2020s.0_188

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper shows the simplified fabrication process of vacuum gripper with water-filled pad. In the previous fabrication, the elastomer sheet was layered and adhered. We proposed the fabrication process which the elastomer cup was folded back. The gripper was fabricated by this process. Since the adhesion area is large, the water-filled pad was not burst. The load capacity of gripper was 90 N as same as one of the previous gripper. However, the adhesion area was decreased, when the applied force is larger. Moreover, water was leaked when the applied force was 46 N, because the water was fed into pad by needle.

DOI： 10.1299/jsmermd.2020.1p1-l09

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In recent years, the demand for minimally invasive needles for diabetic patients has increased. In this study, we developed a method for manufacturing a resin hollow needle with a small diameter and a high aspect ratio by the nanoimprint method. In this method, a mother made using a high-precision 3D printer. A mold for nanoimprint was prepared by transferring the mold to PDMS. We succeeded in forming a mold at a lower cost and at a higher speed than the molding by the electroforming method used in the conventional method. In addition, by optimizing the molding conditions. We have also succeeded in producing a hollow structure with an outer diameter of 100 μm and a total length of 1 mm using polylactic acid, which is a biodegradable resin, as a raw material.

DOI： 10.1299/jsmemnm.2020.11.27a2-mn1-3

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Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

DOI： 10.11511/jacc.63.0_460

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We presented the all-rubber suction device with valve opened by contact for grasping internal organs. This suction device can adhesive an organ when the valve body is contact with the organ surface. Then, the valve is closed when the suction device is removed by an outer force. Therefore, the suction pressure of adhesive suction cups are constant even if the one of suction cups is removed. We fabricated the all-rubber suction device, because the previous devices had many parts. Then, the proposed device has the advantages of simple fabrication and hard to fall apart. This device is fabricated by adhesion between two rubber structure. The glue is the rubber same as one used for the structure of device. The leakage of valve was almost none when valve closed, and the device sucked the organ.

DOI： 10.1299/jsmermd.2020.2a2-d05

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Generally, an autonomous mobile robot is equipped with various sensors such as a web camera and a laser range finder (LRF). However, it is difficult to read necessary information from a lot of obtained information and process it appropriately. On the other hand, humans can grasp the situation appropriately from surrounding information even in the environment where they have visited. Focusing on this, we investigated the human environment recognition method using a gaze measurement device. As a result, it became clear that humans specified he location from the whole landscape and characteristic objects. In this study, based on this, we propose a point recognition method that combines global scene detection with CNN and local features. As a result, it was found that the landscape recognition using CNN can reduce errors caused by angles and positions, and is more robust than GIST features and superior in scene recognition.

DOI： 10.1299/jsmermd.2020.1p1-o11

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Our laboratory aims to make the robot avoid obstacles using only image information. What is important in achieving such a goal is appropriate processing of external environment information, and it is necessary to define what information is focused on and what is used. To get hints for making such a definition, we decided to investigate when a human was in the same environment as a robot. This paper describes the development of a system used for eye tracking research when a subject operates a mobile robot from the viewpoint of a robot.

DOI： 10.1299/jsmermd.2020.1a1-m08

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Geckos have a large number of fine hairs on their feet. The fine hair structure enables it to walk on the wall. Since this principle is easy to attach and detach and does not stain the bonded surface, research has been carried out to replicate this principle on an industrial scale. In this study, we adopted a method of reproducing the hairs by fabricating a matrix model using a three-dimensional optical lithography system and transferring them by UV nanoimprinting. The conventional UV nanoimprinting method has the problem of insufficient transfer to the tips of fine hairs. Therefore, in this paper, we performed UV nanoimprinting under a cohesive gas atmosphere to improve the transferability of fine hairs.

DOI： 10.1299/jsmemnm.2020.11.26p3-mn2-1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a suction device with a valve opened by contact for suppressing movement of heart. The suction device has the cantilever type valve body and valve seat with narrow flow channel. In this paper, we measured the relationship between displacement and load of valve body and pressure of flow channel. We fabricated the valve device without sucker structure for observation of valve body motion. The valve body was applied displacement by the electrical cylinder. The load of valve body and pressure of flow channel were measured using the digital mass balance and digital pressure sensor, respectively. The load of valve body was proportional to the displacement. The relationship between displacement and pressure represents the saturation curve.

DOI： 10.1299/jsmermd.2020.2a2-d04

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a foam lost molding for fabrication of hollow rubber. First, we searched the fabrication condition using foam molds and silicone rubber. The foam is dissolved by acetone and is melted at over 70°C temperature. The heatproof temperature of silicone rubber is 300°C. Then, the curing temperature was room temperature. The molded rubber has the hollow structure nearly to the foam mold. However, the rubber has the porous structure on their inner wall, because the liquid rubber was fed into the gap between foam particles. Finally, we fabricated the pneumatic actuator using the proposed foam lost molding.

DOI： 10.1299/jsmermd.2020.1p1-l06

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2020a.0_422

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I030539064

Language：Japanese   Publisher：The Institute of Electrical Engineers of Japan  

Poly (3,4-ethylenedioxythiophene) (PEDOT) conductive polymer and polyvinylidene difluoride (PVDF) piezoelectric polymer thin films were formed by dip-coating method. The relationship between drawing speed and film thickness was experimentally investigated. Dip-coated PEDOT and PVDF thin films were characterized and confirmed that both had surely worked as electrode and piezoelectric film of a flexible power generation element, respectively. Using dip-coating method, these thin films were successfully formed on 3D surface of a bellows shaped spring made of silicone rubber.

DOI： 10.1541/ieejsmas.139.406

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I030119193

Language：Japanese   Publisher：公益社団法人 精密工学会  

低侵襲性の微細針を開発する際に必要な針の性能評価のため，筆者らは人工皮膚に対する針の穿刺実験と有限要素法解析を行ってきた．従来の穿刺解析では，均一な物性の単純な人工皮膚に対する解析のみを行っており，実際の皮膚のように血管に穿刺する場合を想定していなかった．本研究では，血管を埋め込んだ皮膚モデルに対して針を穿刺する場合について，LS-DYNAを用いた非線形有限要素法解析を実施し，血管部分のたわみ量等を評価した．

DOI： 10.11522/pscjspe.2019a.0_192

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Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究室では蚊の針を模倣したマイクロニードルの開発を行っている．作製したマイクロニードルを評価するためにPDMS（ポリジメチルシロキサン）を用いて人工皮膚を作製し，穿刺の際の抵抗力を計測してきた．しかし，PDMSは均質な一層構造であり，実際の人間の皮膚は不均質な多層構造となっている．そこで，人間由来のケラチンフィルムのヤング率を測定し，寒天と組み合わせることで人間の皮膚の再現及び評価を行った．

DOI： 10.11522/pscjspe.2019a.0_188

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Language：Japanese   Publisher：公益社団法人 精密工学会  

筆者らは，蚊の口針による吸血行動を観察し，そこから得た知見をもとに痛みの少ないマイクロニードルの開発を行ってきた．これまでに人工皮膚および実験動物（マウス，カエル）の皮膚を用いて，蚊の口針が皮膚の角質層を穿孔する様子，その後口針が皮膚内を進行する様子について高速度カメラを用いて観察し，そのメカニズムについて検討した．本報ではさらに，蚊の血管に対する穿刺および吸血行動を観察し，そのメカニズムについて考察した．

DOI： 10.11522/pscjspe.2019a.0_190

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Language：Japanese   Publisher：公益社団法人 精密工学会  

PLA（ポリ乳酸）を材料とし，直径100 μｍおよび長さ1000 μｍの高アスペクト比のマイクロニードルを，熱ナノインプリント法を用いることで世界で初めて成形した．予備実験として，真空および大気圧下で，マイクロニードル先端に相当する円錐形状を成形した．次に，マイクロニードルの成形を試みた．円錐形状と比べ，より高圧高温が必要で，離型温度を高温側へ調整することで，表面が滑らかで変形の無いマイクロニードルを成形した．

DOI： 10.11522/pscjspe.2019a.0_194

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Publisher：日本メディカルセンター  

DOI： 10.19020/int.0000000365

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Language：Japanese   Publisher：公益社団法人 精密工学会  

近年，糖尿病患者の増加に伴い，「痛くない採血」が強く求められている．そのニーズに応えるために本研究室では，蚊を模倣した痛くない注射針の研究を行っている．蚊の観察結果より，蚊は吸血する際に，針に回転と振動を付与していることが判明した．本稿では，注射針に回転と振動を付与した状態で様々な穿刺対象に穿刺実験を行い，回転と振動を付与することで皮膚へのダメージが少なくなるかを検証した．

DOI： 10.11522/pscjspe.2019s.0_349

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2019s.0_359

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々の研究室では以前よりマウスを用いて針の穿刺実験を行ってきた.マウスは哺乳類であるため動物実験の制約が厳しい.本稿では,両生類であるカエルの水掻き部分を使用し,容易に血管を観察できる実験系を構築した.これを用いて種々の針の穿刺実験を行った.

DOI： 10.11522/pscjspe.2019s.0_351

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は，蚊の吸血動作における口吻の穿刺動作を観察し，そこから得た知見を元に痛みの無いマイクロニードルの開発を行ってきた．蚊は微細な針状器官（上唇，咽頭，一対の小顎，一対の大顎）を1本の鞘状の器官（下唇）で纏め，支持することで，座屈させることなく皮下へ穿刺している．本研究ではこの下唇の構造とメカニズムを模倣した医療用微細針の座屈防止機構を提案し，その効果を検証した．

DOI： 10.11522/pscjspe.2019s.0_361

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Language：Japanese   Publisher：公益社団法人 精密工学会  

注射の際のストレスを低減可能な低侵襲性の微細針の開発にあたっては，針の性能評価が必要となる．筆者らは，以前から単純な形状の1本針を人工皮膚に穿刺する場合についての穿刺実験とそれに対応する有限要素法解析を行い，抵抗力等の評価を行ってきた．本研究では，複数本の針を穿刺する場合や針を振動させながら穿刺する場合について，LS-DYNAを用いた非線形有限要素法解析を実施し，穿刺抵抗力の低減効果等を検討した．

DOI： 10.11522/pscjspe.2019s.0_347

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I030658377

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed a small vibration energy harvester (VEH). Our developed VEH uses an electret which can keep constant its surface potential. However, when the surface potential is too high, the movable electrode is adhered to the electret on the fixed electrode by electrostatic attraction and power generation is inhibited. To solve this problem, an array of dots on a nanometer scale was applied to the electret surface. As a result, three advantages of reduction of electret adhesion force, improvement of surface potential, improvement of electric power generation were obtained. Our developed VEH generated the electric power of 26.7 μW for the vibration of acceleration of 0.2 g at 17.5 Hz, when the SiO2 electret with the nano-dots array (dot width and pitch are 0.75 μm and 2.0 μm, respectively) was employed.

DOI： 10.1299/jsmemnm.2019.10.20pm3pn330

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed the grippers with the suction cups, which has a valve opened in contact with the objects. The valve is normally closed because the valve element closes the suction port in the initial state. When the suction cup touches the object, the valve element moves, and the valve opens. We fabricated two prototypes of suction cup with this valve. One is a suction cup that can be arrayed in mesh pattern. The other is a sheet suction cup with 0.85 mm thickness. Moreover, we made a mechanical finger with the suction cups connected in series.

DOI： 10.1299/jsmermd.2019.2p1-r07

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I029820979

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents the experimental results of grasping the flexible pouch bags using a prototype of indirect suction gripper with the stopper and funnel. This gripper generates negative pressure by an expansion of volume between the sucker and the object. The pouch bag is small deformed by the negative pressure because the bag contacts the rigid stopper with 1.5 mm thickness. The stopper has radial beams structure and the number of beams is six. The silicone funnel of gripper follows the uneven surface shape of pouch bags. The prototype of gripper with 45 mm outer diameter grasped the flexible pouch bags with 472 g or less weight.

DOI： 10.1299/jsmermd.2019.2p1-r08

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper presents the results of grasping the frozen foods using Octopus inspired gripper. This gripper has the antifreeze-filled silicone pad on the bottom of gripper. The main component of antifreeze liquid is Propylene glycol with low toxicity to organisms. This gripper can hold a package bag by indirectly suction, because the liquid-filled pad follows the shape of the package bag. The antifreeze-filled pad was flexible after 24 hours at −18 °C. The prototype of gripper with antifreeze-filled pad grasped the frozen food with 610 g weight.

DOI： 10.1299/jsmermd.2019.2p1-r10

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, with the increase of diabetic patients, "painless blood collection" is strongly required. In order to respond to the needs, this laboratory is developing a painless microneedle mimicking mosquito. Microneedle is thin and easy to buckle, so it is necessary to prevent buckling of the needle by mimicking the mosquito needle and puncture method. From the observation this time, it turned out that mosquitoes imparted rotation and vibration when puncturing and blood sucking. Therefore, in this paper, we imitated mosquitoes, imparted rotation and vibration to the injection needle, conducted a puncture experiment, and examined the invasiveness to the skin.

DOI： 10.1299/jsmermd.2019.2a2-q01

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The output power of gap-closing electret energy harvester has low duty cycle. The proposal electret energy harvester has double cantilever electrode in contact in the initial state. Since this device generates power when the electrode peels, the duty cycle of output power is high. When the device is vibrated, both cantilever electrode moves in contact. The bottom electrode only stopes moving when the electrode contacts the stopper. Therefore, the capacitance between electrodes decreases. The prototype device generated a maximum output power of 133 μW with a 1.98 m/s² acceleration at the vibration frequency of 7 Hz for an external load of 45 MΩ.

DOI： 10.1299/jsmemnm.2019.10.20am2pn313

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Application of automatic sorting technology in logistics warehouse is considered as one of the development goals with the rapid development of robot technology. However, packaging products with different shapes is usually done by human instead of robots. The reason why robot automation is difficult to implement in operation is that single robot hand could not deal with items with different shapes and sizes. In this study, by imitating the opening and closing of the tree frog's palm to help items stably stand on different surfaces, a four-claw robot hand with vacuum suction cups on their tips is proposed. Robot hand consists of three fingers with sucks and a thumb, and it can adopt different grasping strategies according to objects with different shapes and sizes. A prototype of robot hand was fabricated by a 3D printer. Besides, simple automatic grasping system is established, grasping experiment is accomplished.

DOI： 10.1299/jsmermd.2019.2a2-q03

CiNii Books

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this paper, we propose a new object handling device for robot with force detection capability by coating conductive thin film polymer poly (3,4-ethylenedioxythiophene) (PEDOT) [1] on the surface of conventional vacuum suction cup. The applied force can be detected by the resistance change of the added conductive thin film. The feature of our research is that it can work not only as a tool that the grasping tool but also as a force sensor. The PEDOT thin film was prepared by a dip coating process that allows the thin film to be directly coated on a three-dimensional (3D) surface. We fabricated a sensable suction cup．

DOI： 10.1299/jsmermd.2019.1p1-t05

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposed a suction device with a valve opened in contact with objects. This valve opens and directly suctions the internal organs when the sucker contacts with the organs. Therefore, the suction force is high and there are no controllers such as the valves or the pressure sensor even if the serial-connected multiple valves. Moreover, there is no spring structure for close of the valve because the valving element is pressed on the valve seat by a pressure difference. Then, the force opening our valve is smaller than one opening the commercial valve, and there is no leakage compared with a suction assist valve. We made a prototype of suction device with the proposed valve and confirmed the operation of it.

DOI： 10.1299/jsmermd.2019.1p1-a07

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Language：Japanese   Publisher：The Japanese Society of Fisheries Science  

DOI： 10.2331/suisan.wa2573-7

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Language：Japanese   Publisher：The Japan Institute of Electronics Packaging  

Micro bump arrays are used for logic LSIs. Probes for micro bump arrays require good contact, long lifetimes, and low pad damage. Crown-shaped contact probes satisfy these requirements but the fabrication is very difficult. We designed a selective electrodeposition of metal alloys process for the fabrication of the probes and the simulation results showed satisfactory characteristics.

Probe figures are realized using a high-resolution 3D printing technique with 2-photon excitation followed by coating with metal layers. We recognized that high-resolution 3D printing is useful for rapid prototyping of a new probe and is a powerful tool for developing the next generation of polymer probes.

DOI： 10.5104/jiep.21.586

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I029278852

Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の針は細いが穿刺時に折れず，皮膚にたわみが生じない．本研究では，麻酔したマウスの皮膚に対する蚊の穿刺を顕微鏡で観察し，蚊の針が皮膚を貫く仕組み，ならびに口針を包む鞘である下唇の役割を解明しようと試みた．その結果，皮膚表面における蚊の針の挿入時の下唇の動きを観察できた．

DOI： 10.11522/pscjspe.2018a.0_742

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Language：Japanese   Publisher：公益社団法人 精密工学会  

現在、血液分析装置の精度の高まりと共に、そのノズル（分注管）の面粗度を向上させ、穴に通る液体の残渣をなくすことが求められている。一般的なノズルは先端を縮径加工（テーパー加工）するため内壁にシワが生じるが、これを除去することは困難である。本研究では、内壁に生じてしまったシワを低コストで効率的に除去する内面研磨法を考案した。今回は、パイプの内面の寸法、形状に合わせて変形する研磨ツールについて報告する。

DOI： 10.11522/pscjspe.2018a.0_740

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the conventional object recognition, Deep Learning is known as the method to achieve the highest recognition accuracy. In Deep Learning, however, several tens of thousands images are required as learning data for each category. Also huge learning time is required. Another drawback is that we cannot understand the mechanism how Deep Learning works well, in fact, it has been reported that well-trained CNN has recognition results that are out of human intuition. In contrast, after a human just look at several objects in a category he can get something like its general object concept. Furthermore, a human can represent the concept by words. In this article, a new concept learning method based on clustering and logistic regression is proposed, which requires low dimensional multi features and small training data. Effectiveness of the proposed method was demonstrated by comparison with the conventional method using RGB-D Object Dataset.

DOI： 10.1299/jsmermd.2017.1p2-j06

CiNii Books

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は，マイクロニ―ドルを用いた採血を行っている．マイクロニードルは細いためピンポイントで血管に穿刺する必要がある．また，スムーズな穿刺を行うために穿刺抵抗力と皮膚の窪みを低減させることも重要である．本稿では，マイクロニードルを往復回転運動させて穿刺時の穿刺抵抗力と人工皮膚表面の窪みを防止すること，血管を可視化させることを行った．上記の2つを組み合わせた状態でヌードマウスからの採血を行った．

DOI： 10.11522/pscjspe.2018s.0_531

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

In the medical field, minimally invasive microneedles are required to reduce the physiological and psychological burden on patients. Then, we had attempted molding of polylactic acid, which is biodegradable material, using nanoimprint technique which has high productivity and fine formability. As a result, fine transcription could be achieved using Nickel plating mold of microneedle at vacuum state, 20MPa pressure, and 155°C temperature.

DOI： 10.11522/pscjspe.2018s.0_537

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Language：Japanese   Publisher：公益社団法人 精密工学会  

筆者らは無痛注射針の開発のため蚊を模倣した微細針の開発に取り組んできた．過去の研究ではフェムト秒レーザを用いて作製したポリ乳酸製微細針により引張試験と穿刺実験を行いその強度と穿刺能力を評価した．本報告では同様の方法で作製した針を用いて引張試験よりも穿刺の状況に近い座屈試験により強度を評価した．さらに，蚊の2本の針を振動させながら穿刺する行動を模倣し作製した針の穿刺能力が向上するか検証した．

DOI： 10.11522/pscjspe.2018s.0_535

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Language：Japanese   Publisher：公益社団法人 精密工学会  

生物の発生した微小な力を分布力として測定する技術が注目されている．我々は弾性体にマイクロピッチの格子を設け，力を受けた際の格子の歪み分布を画像処理し，分布力を測定するセンサを提案した．本研究は，MEMS技術による作製したシリコンの鋳型を用い，シリコーンゴムにパターンを転写した．次に，シリコーンゴムを型として使用し，寒天（イナアガー）に格子パターンを付与し，蚊の穿刺穿刺力を測定した．

DOI： 10.11522/pscjspe.2018s.0_529

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Language：Japanese   Publisher：公益社団法人 精密工学会  

現在，医療の現場では低侵襲性の採血用ニードルが求められている．我々は，蚊の皮膚への穿刺メカニズムを解明することで低侵襲性マイクロニードルを作成しようとしている．本報告では，蚊の穿刺メカニズムの解明に有精卵を用いた新しい実験系を提案し，確立した．さらに高速度カメラを用いた観察を行うことで，より鮮明な蚊の吸血に伴う針の様子を捉えることに成功した．

DOI： 10.11522/pscjspe.2018s.0_533

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Autonomous mobile robots need to move in an outdoor environment changing daily. Recently, simultaneous localization and mapping (SLAM) is often used for an autonomous mobile robot navigation. This method has good performance, but it takes time and effort to create accurate maps. However, considering the case of human, human do not need such accurate maps. Our previous study of human environmental recognition ability demonstrated that human uses scenery and road information. In this study, we propose an autonomous mobile navigation method with image processing based on human environmental recognition ability. This method uses GIST feature for localization, and SegNet for road detection. We validated our method in outdoor using a mobile robot. Experimental results demonstrate that the proposed method enables autonomous mobile navigation without accurate map.

DOI： 10.1299/jsmermd.2018.1a1-m07

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmebio.2018.30.1i11

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, there has been growing interests in biomimetics. In order to elucidate the mechanism of insect movement, it is necessary to measure extremely small and distributed force given by insects against the contacting object surface. A distributed force sensor made of transparent flexible film is proposed. Inside the film, grid patterns of microscale pitch are inscribed using MEMS technology. Distributed force can be obtained by observing the deformation of grid pattern. We have detected 0.1 N level distributed force by a device made of PDMS in previous report. In this report, a device made of agar, which have lower Young's modulus is proposed. The device successfully detected distributed force with approximately 10 μN resolution. The force given by a mosquito leg was detected, which was approximately 300, 290 and 430 μN in x, y and z direction, respectively.

DOI： 10.1299/jsmermd.2018.2p1-f12

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In order to utilize the results to development of a low invasive microneedle, we tried to clarify the mechanism of puncturing motion of mosquito's needle into the animal's skin and blood vessels. We established an observation system for puncturing motion of a mosquito's needle to blood vessel and its blood sucking motion using a high-speed camera, an inverted microscope, and a half-incubated egg. As a result, we succeeded in elucidating how the mosquito insert blood vessel and suck blood.

DOI： 10.1299/jsmemecj.2018.j1510202

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We tried to elucidate the mechanism of a blood sucking of a female mosquito using her needle, and the role of the mosquito's labium which is the sheath wrapped around its needles. Using an inverted microscope, we successfully observed the moment when a mosquito inserted its needle into a mouse skin. As a result, it was observed that the mosquito twisted the labium when she inserts her needle to the mouse skin. In addition, it was observed that the mosquito's needle hardly distorts the skin and blood vessels of the mouse.

DOI： 10.1299/jsmemecj.2018.j1510201

DOI： 10.20965/ijat.2024.p0276_references_DOI_NymeuDnYlynq2dsmWgBOX3P6D4t

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmebio.2018.30.1i15

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper described the grasping method of flexible objects using a biomimetic octopus vacuum gripper with a water-filled pad. The pouch containers of flexible objects change the shape during lifting. The previous biomimetic octopus gripper cannot follow the shape of pouch containers, because the gripper harden in grasping. The previous gripper cannot grasp the light containers with a weight of 11 g. We proposed the flexible water-filled pad. The pad can follow the change in shape of objects. The fabricated gripper has the ring-shaped water-filled pad. This gripper can grasp the liquid soup filled pouch containers of weight 470 g.

DOI： 10.1299/jsmermd.2018.1a1-e01

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, there has been growing interests in biomimetics. In order to elucidate the mechanism of insect movement, it is necessary to measure extremely small and distributed force given by insects against the contacting object surface. In this paper, A distributed force sensor made of transparent flexible film is proposed. A transparent hydrogel mainly composed of agarose is used for measurement of applied distributed force, on the surface of which a grid pattern made of red colored agarose hydrogel was inscribed. The pitch of the grid pattern are 50 μm. The Young's modulus of the hydrogel was measured to be approximately 2 kPa. It was successfully detected distributed force with approximately 10 μN resolution by combination of the measurement using the hydrogel with grid pattern and an FEM analysis.

DOI： 10.1299/jsmemecj.2018.j1520101

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmebio.2018.30.1i14

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this laboratory, we focus on the fact that there is no pain even if it is bitten by a mosquito, and we are developing plastic microneedles that mimic mosquito needles. In past research, microneedles with a length of 1.5 mm, an outer diameter of 100 μm, and an inner diameter of 50 μm were prepared and a nude mouse was punctured. However, when the microneedle was punctured into a nude mouse, the skin flexed greatly due to the flexibility of the skin, and the microneedle did not get stuck. And eccentric load acted on the microneedle due to deflection of the skin and the microneedle buckled. Therefore, in this paper, we attached a needle to the buckling prevention mechanism and skin depression prevention mechanism. A needle incorporating these two mechanisms was punctured into a nude mouse, and the usefulness of each mechanism and the aspiration amount of blood were evaluated.

DOI： 10.1299/jsmemecj.2018.j1510204

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

By imitating the hands of a tree frog, a method to improve the performance of adsorption gripping is proposed. By using a robot hand equipped with multiple small suction cups like the frog, an object having complicated curved surface could be gripped. Grasping experiments were carried out, where the performances of a single large suction cup and multiple small suction cups were compared with. It was proven that multiple small suction cups are effective, even if there exit suction cups not contacting with the object surface. It is because the vacuum leak amount is small thanks to the smallness of each suction cup, which is also effective for eliminating comparative large and expensive check valves from the robotic hand.

DOI： 10.1299/jsmermd.2018.1p1-i15

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

With the rapid development of e-commerce industry, a few of logistics companies consider automatic sorting as the development goals in future. However, robot hands, such as robotic grippers and vacuum grippers, do not have adaptability to objects with different sizes and shapes. In this study, by imitating the opening and closing of the tree frog's palm so that it can stably stand on inclined planes with different angles, a three-claw robot hand with vacuum suction cups on its tips is proposed. It has the characteristics of easy control, low-cost, adapting to diverse objects with three grip models; first is opening fingers for a large flat object with sucking, second is closing fingers for a small object with sucking, third is gripping a curve object without sucking. The feasibility of this design is verified by computer simulation. A prototype of proposed robot hand was fabricated by 3D printing and machine tools.

DOI： 10.1299/jsmemecj.2018.j1510206

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The variable stiffness suction pad can deform around the object. A few researches showed the grasping the rigid objects using the pad. The flexible pads became rigid on vacuum suction. We proposed the relationship between suction sequence and suction performance. We tested five suction sequences; the stiffness of pad is 1) harden before press on object, 2) harden after press, 3) harden with suction, 4) harden after suction, and, 5) flexible during operation. When the fabricated pad was the low stiffness in suction, the pad can grasp the uneven metal objects. The suction force of the sequence 5) was lowest in five suction sequences. In the sequence 3) and 4), the grasping performance was almost same. We have shown that the variable stiffness suction pad has the suitable suction sequence for the shape of object.

DOI： 10.1299/jsmermd.2018.1a1-e02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recent years, Deep Learning is known as the method to achieve high recognition accuracy, and its application to robot technology has been actively performed. R-CNN (Regions with Convolutional Neural Networks) is well known as one of Deep Learning methods. However, a number of images and location labels are necessary for R-CNN. Although superimposing the object image randomly on the scene can solve this problem, images obtained by this method are weird ones. The precision of the classifier using weird images would be worse. In this article, an automatic learning image method which use AR marker and 3D model is proposed. The real object is scanned using a mobile phone to make a 3D model, and this model is virtually located using an augmented reality (AR) marker, which is put on the real environment naturally. Doing so, many of more contextual, i.e., natural, images including the object can be obtained. It was experimentally proved that the classifier which is learned by this method can search and detect objects in the real world with considerable high probability.

DOI： 10.1299/jsmermd.2018.2p2-h15

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We have developed a small generator (VEH) that generates electricity by vibration. A material called an electret that maintains a constant surface potential is used for this VEH. However, if this potential is too high, there arises a problem that the movable electrode and the electret are affixed by the electrostatic attraction force and power generation is hindered. In order to solve this problem, we applied a micrometer class texture to the electret surface. As a result, it is possible to obtain three advantages such as reduction of electret sticking force, improvement of surface potential, improvement in power generation amount, and power generation amount of 14 μW is confirmed against vibration of acceleration 0.2 g.

DOI： 10.1299/jsmemecj.2018.j1520205

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes the effect of suction cup with bioinspired microstructure on suction force and self-adhesive force. The suction cups generate the negative pressure by deforming a membrane. Moreover, the suction cups have the grooves imitating octopus and pentagonal projections imitating lumpfish. It has been reported that the adhesiveness was increased by these microstructures on suction cup of aquatic organisms. The measured suction force was range from 50 to 60 N. The suction force was increased using suction cup with microstructure. The contact area between object and suction cup with microstructure was low. The contact area was lower, the suction force was higher. The measured selfadhesive force was range from 4 to 6 N. The self-adhesive force was decreased using the suction cup with microstructure, because of the low contact area. However, the peeling time was longest using the suction cup with circular grooves. The negative pressure was generated in the grooves by pressing suction cup.

DOI： 10.1299/jsmemecj.2018.j1520102

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We demonstrated picking up the objects using an industrial robotic arm with biomimetic octopus vacuum gripper. The robotic arm controlled press force and moving speed by teaching-playback method. The pressing force is constant by feedback control of robotic force sensor. We measured the acceleration of arm using 3-axis accelerometer and Arduino. The gripper can control the suction and change in flexibility. The volume of gripper decreased when the stiffness increased. The gripper can contact the object, because the robotic arm moved until the constant press force. The robotic arm with gripper can grasp a flat aluminum block, acrylic tubes, and water-filled aluminum laminated foil pouch. These results provide the industrial robotic arm with biomimetic octopus vacuum gripper is useful for the material handling.

DOI： 10.1299/jsmermd.2018.1a1-d06

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this study, we proposed and developed a method of patterning electret using thermal imprinting method. Electric charge was uniformly injected to the unpatterned electret film made of a fluoropolymer. Then, a glass mold, on which linear protrusions are arranged at regular intervals, was pressed against the electret film after being heated. As a result, electric charge was disappeared from parts of the electret where the heated protrusions were pressed. The surface potential of the electret was decreased by the thermal imprinting from approximately -1000V to -400 V when temperature of the glass mold is 80°C. A rotary energy harvester was developed using the thermal imprinted electret pattern. The number of electrode poles is 50. The gap between upper and lower electrodes is about 0.5 mm. The electric power of 0.12 μW was output when the energy harvester was rotated at 10 Hz.

DOI： 10.1299/jsmemnm.2018.9.31am3pn135

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Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I029903486

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Micro-bellows spring which can be deformed by minute force was fabricated using three-dimensional laser stereo lithography system. The size of spring was as follows; natural length: 450 μm, bellows diameter: 250 μm, thickness: 8 μm. Aluminum thin film (thickness: 0.5 μm) was deposited on the surface of spring by DC sputtering. The resistance change of the aluminum thin film caused by compressing the spring was measured and properties of it for tactile sensor were evaluated. The spring was compressed by pressing it to the copper plate using a precision stage equipped with micrometer. As a result, the resistance was changed in response to the deformation of spring.

DOI： 10.1299/jsmemecj.2018.j1520104

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Many researches have been made on the adhesion principle using gecko’s van der Waals force and the application to robotic hands. Geckos are thought to be contacting walls at the atomic level and adhesion by van der Waals forces using nanometer size hairs on the top of micrometer size hairs on the soles of feet. In this report, a shape imitating the gecko hairs with hierarchical structures was prepared by using two methods; one is 3D laser photolithography, another is using porous structure made by aluminum anodic oxidization. In order to ascertain whether or not the prepared hair exerts the adhesion power, adhesion force was measured by the deformation of Parylene thin film.

DOI： 10.1299/jsmermd.2018.2p1-e11

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I029198879

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In general, CNN (Convolutional Neural Networks) is used as the method with high recognition accuracy. In CNN, however, several tens of thousand images are required as learning data for each category. Also, huge learning time is required and the reason that misrecognized is not explained. In contrast, after a human just look at several objects in a category he can get something like its general object concept. Furthermore, a human can represent the concept by words. Also, a human can explain the reason that he chooses an object as an identification object. In this article, a new concept learning method based on clustering and logistic regression using object concept based on color, shape and size is proposed, which requires low dimensional multi features, small training data and short learning time. Generated object concept was evaluated in comparison with the result of recognition using real world objects included in RGB-D Object Dataset.

DOI： 10.1299/jsmemecj.2018.g1500301

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In recent years, autonomous mobile robots are expected to be useful in outdoor environments. However, it is difficult for the robots to respond to changes in the outdoor environment, which is an important problem. For an autonomous mobile robot, it is important which navigation system to use. In recent years, simultaneous localization and mapping (SLAM) is often used. This method has good performance if accurate maps is used, but it takes time and effort to create accurate maps. However, in case of human being, such accurate maps are not necessary. Our previous study of human environmental recognition ability demonstrated that human uses scenery and road information. In this study, we propose an autonomous mobile navigation method with image processing based on human environmental recognition ability. This method uses GIST feature for localization, and SegNet for road detection. We validated our method in outdoor using a mobile robot. Experimental results demonstrate that the proposed method enables autonomous mobile navigation without accurate map.

DOI： 10.1299/jsmemecj.2018.g1500302

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Many fabrication methods have been applied to the fabrication of microneedles made of usual polymer materials ; however, thermal nanoimprint fabrication of biodegradable polymer microneedles have not been researched. Since the nanoimprint fabrication method has high productivity and fine formability, basic study of applying this method to biodegradable microneedle fabrication should be worthwhile. No researchers have researched about the fabrication of microneedle by thermal imprint. Therefore, basic study should be started. Ni mold was fabricated by Ni electro-forming for the mold in imprint process. We had researched about the pressing force and temperature at pressing. As the results, 20 MPa of pressing force and 160°C of temperature at pressing under atmospheric pressure are applied for fine formability.

DOI： 10.1299/jsmemecj.2018.j1520202

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently, electrostatic-type vibration energy harvesting (VEH) has attracted much attention. However, the matching impedance of VEH is much higher than that of a sensor circuit. As a result, the transfer efficiency of generated electrical energy from VEH to the load circuit is low. In order to solve this problem, new method that can improve the transfer efficiency of electrical energy generated by the VEH by reducing its internal impedance was studied.

DOI： 10.1299/jsmemecj.2018.j1520206

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

There is a need for minimally invasive medical needles that can reduce the pain during insertion. However, to develop such a fine needle, it is necessary to evaluate the resistance force during needle insertion. In this study, we conducted an experiment to puncture microneedle into artificial skin and a nonlinear finite element method analysis using LS-DYNA, and evaluated the resistance force when microneedles were punctured into a model imitating artificial skin. At this time, the analysis result was directly compared with the experimental result by conducting analysis under conditions reproducing material physical properties of artificial skin, needle shape, diameter, puncture speed and the like used for puncture experiment.

DOI： 10.1299/jsmemecj.2018.j1510203

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In general, CNN (Convolutional Neural Networks) is used as the method with high recognition accuracy. In CNN, however, several tens of thousands images are required as learning data for each category. Also, huge learning time is required. In contrast, after a human just look at several objects in a category he can get something like its general object concept. Furthermore, a human can represent the concept by words. In this article, a new concept learning method based on clustering and logistic regression is proposed, which requires low dimensional multi features and small training data. Generated object concept was evaluated in comparison with the result of recognition using real world objects included in RGB-D Object Dataset.

DOI： 10.1299/jsmermd.2018.2a2-k15

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

With the rapid development of e-commerce industry, major logistics companies consider automatic sorting as the future development goals. However, robot hands, such as grippers and vacuum suction cups, do not have adaptability to objects with different shapes and sizes. In this study, by imitating the opening and closing of the tree frog's palm so that it can stably stand on different surfaces, a three-claw robot hand with vacuum suction cups on their tips is proposed. It has the characteristics of easy control, low-cost, adapting to different objects with three-grip models; first is opening fingers for a large flat object with sucking, second is closing fingers for a small object with sucking, third is gripping a curve object without sucking. The feasibility of this design is verified by computer simulation. A prototype of proposed robot hand was fabricated by a 3D printer.

DOI： 10.1299/jsmermd.2018.2p1-f10

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In this report, in order to prepare adhesion mechanism that imitated gecko, we worked on the fabrication of fine hair using 3D stereolithography equipment and AAO . We succeeded in actually fabricating nano-sized fine hair and two layer structure. We measured adhesion fine hair produced. In the measurement method, fine hair was attracted to the film of Parylene and it was pulled to bend the film, and the adhesion force was evaluated from the amount of deflection. Fine hair having a two-layer structure showed adhesion power, and it was confirmed that the mechanism of gecko was effective in adhesion of Van der Waals force.

DOI： 10.1299/jsmemecj.2018.j1520103

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028064200

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028064183

Language：Japanese   Publisher：公益社団法人 精密工学会  

発表者らは3次元マイクロ光造形装置を使用して，蚊の口吻を模倣した光硬化型樹脂製のマイクロニードルを作製してきた．しかし，プラスチック製の針は剛性が低く，穿刺時に座屈する可能性がある．また針の穿刺時に皮膚が撓んで貫通しにくいという問題点もある．本稿では，針の座屈防止機構と，皮膚の撓みの抑制機構を提案する．光造形によりこれら機構を取り入れた針を開発し，人工皮膚への穿刺に成功した．

DOI： 10.11522/pscjspe.2017s.0_345

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Ability and mechanism of gecko with adhesive structure was estimated experimentally, in which anesthetized gecko is made to grasp a cage with weights. By changing the weight, the maximum gripping force was obtained. The area of adhesive surface of gecko was experimentally estimated by visual processing of binarization. The gripping force per area was estimated as 0.74 gf/mm² in the best case. By scaling it to a robot gripper of which gripping area is 1.6×10³ mm², the assisting force was estimated as 1.2 kgf, which is effective for increasing the payload.

DOI： 10.1299/jsmermd.2017.2a1-m06

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Language：Japanese   Publisher：公益社団法人 精密工学会  

現在，医療の現場では低侵襲性の採血用ニードルが求められている．本研究室では，蚊の穿刺メカニズムを解明することで低侵襲性マイクロニードルを作成しようとしており，蚊をヌードマウスに穿刺させることで観察を行ってきた．本報告ではこれを有精卵とし，その血管の観察のしやすさ，実験準備の容易さなどから新たな実験系を確立した．

DOI： 10.11522/pscjspe.2017a.0_935

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の針は細いが穿刺時に折れず，皮膚にたわみが生じない．本研究では，麻酔したマウスの皮膚に対する蚊の穿刺を倒立顕微鏡で観察し，蚊の針が皮膚を貫いて吸血する仕組み，ならびに口針を包む鞘である下唇の役割を解明しようと試みた．その結果，蚊の針の挿入時の下唇の動きや，蚊の血管を探す様子や吸血する様子，そして穿刺時に皮膚がほとんどたわまず，上唇を血管に挿し入れる時に血管が変形しないことが観察できた．

DOI： 10.11522/pscjspe.2017a.0_897

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper described an adhesive force measurement of vacuum gripper imitating octopus for grasping flexible objects. The gripper with metal filter can grasp the several flexible objects of liquid pouch packages. The adhesive force of gripper was depend on the shape and stiffness of filter. Then, we proposed the measurement equipment for grasping flexible objects. We measured a peeling force between gripper and objects, since the low repeatability of fixing the flexible objects. The peeling force was measured using a hand pressing machine with load cell and stopper. The peeling force was 10 N using a gripper with metal filter. Moreover, the average of sample standard deviation was 0.2 N. The proposed measurement method has higher repeatability than the previous method of fixing objects.

DOI： 10.1299/jsmermd.2017.2a1-n04

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々の研究室では低侵襲性の医療器具として射出成型によるポリ乳酸製のマイクロニードルの開発を行ってきた．本実験では従来の引張試験の代わりに、より穿刺時の状況に近い形で針の強度を評価できる座屈試験を行った．針の穿刺実験も行い座屈試験で得られた結果と比較した．これらのデータより、皮膚の様な柔軟な物質に穿刺する際に生じる座屈について考察する．

DOI： 10.11522/pscjspe.2017a.0_931

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Language：Japanese   Publisher：公益社団法人 精密工学会  

近年，注射の際の患者へのストレスを軽減可能な低侵襲性の注射針が求められているが，このような微細針の開発には針の穿刺時の抵抗力などの評価が必要となる．そこで，本研究ではLS-DYNAを用いた非線形有限要素法解析を行い，微細針を皮膚モデルに穿刺した場合の穿刺抵抗力を評価することで，針の最適な形状や穿刺速度などの条件について考察した．また，FEM解析と対応する条件での穿刺実験を行い，結果を比較した．

DOI： 10.11522/pscjspe.2017a.0_929

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は，蚊に刺されても痛みを感じないことに着目し，三次元光造形装置を用いて，プラスチック製のマイクロニードルを作製している．本稿では，穿刺時の血管の様子を鮮明に観察するために倒立顕微鏡を用いてヌードマウスへの穿刺実験を皮膚の裏側から観察することを提案する．また，今回は予備的に手動マニピュレータを用いてヌードマウスへの穿刺実験を行い，マイクロニードルの血液吸引能力を評価した．

DOI： 10.11522/pscjspe.2017a.0_933

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Language：Japanese   Publisher：公益社団法人 精密工学会  

採血や血糖値検査などの医療行為において、低侵襲な注射針や針状ツールの開発が求められている。我々は蚊の穿刺動作を観察し、1対の鋸歯状の小顎を模した低侵襲性マイクロニードルを、フェムト秒レーザーを用いて厚さ30 μm のステンレス薄膜より作製した。本研究では穿刺実験を通して、鋸歯状突起が皮膚の剪断力に与える影響を検討した。また、先行研究で作製したφ50μｍの極微細ステンレス中空マイクロニードルと合わせて、蚊の上唇と小顎の形状を3次元的に模した3本針を作製し、穿刺実験によって性能を評価した。

DOI： 10.11522/pscjspe.2017s.0_335

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmecmd.2017.30.239

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Autonomous mobile robot is generally equipped with various sensors such as web-camera, laser range finder (LRF). It is difficult to extract appropriate data from huge sensor data stream. In this study, human ability and method of environmental recognition is experimentally investigated, in which a human is given information of image, 2D point cloud, and 3D point cloud data on a computer display, then drives a robot by remote control. These procedures are based on virtual private network. During the experiment, gaze point on the display is tracked by an eye mark recorder. After the experiment, a questionnaire survey on what the subject pays attention to, etc. is carried out. As the results, the subject could control the robot better by using image data compared to using point cloud data. It is because the human can understand the environment directly from image information; however, he has to reconstruct the 3D semantic environment from point cloud information in his brain.

DOI： 10.1299/jsmermd.2017.2a2-d12

DOI： 10.7210/jrsj.39.751_references_DOI_B5JzHWb25YEKOyzgrNeKWROj4wp

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

When given a map, a human can select an appropriate route and reach a destination. In this research, we focused on human smart ability of self-localization. Recently point cloud information acquired by 2D or 3D laser range finder (LRF) is often used for mobile robot self-localization. In this research, human self-localization ability when given point cloud information (not RGB image information) is investigated by questionnaire using a developed computer simulator. The results show that 3D information is more effective than 2D information especially in case of given only sparse points. It is because the road surface information can be obtained from 3D point cloud. An experiment in which a developed mobile robot equipped with 2D and 3D LRF travels a given outdoor course, shows the superiority of 3D point cloud information to 2D one.

DOI： 10.1299/jsmermd.2017.2p2-d01

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Language：Japanese   Publisher：公益社団法人 精密工学会  

バイオミメティクスの研究において生物の発生する微小な力を分布力として測定できるセンサが必要となる．従来の触覚センサには配線や信号処理の問題があり，素子数を多くして空間分解能を上げることが難しい．そこで，本研究では，弾性体にマイクロピッチの格子を設け，力を受けた際の格子の歪み分布を画像処理し，分布力を測定するセンサを開発した．市販の高解像度の画像センサを利用することにより，前記した問題が解決される．

DOI： 10.11522/pscjspe.2017a.0_893

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a biomimetic octopus vacuum suction cup with the funnel and filter for gripping the objects with regardless of flexibility. This gripper should form a sealed space for grasping the objects. However, the flexible objects are deformed in vacuuming and pressing by gripper. The filter can suppress the deformation of object in vacuuming. The funnel can follow the shape of object in pressing. The fabricated gripper grasped the liquid pouch packaging of mass 470 g in vacuum when the pressing force was 3 N. Moreover, the gripper peeled one in air supplying. The flexible objects were peeled from gripper by the suitable rigidity of funnel structure.

DOI： 10.1299/jsmermd.2017.2a1-n01

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は，注射の際の患者の負担を軽減するため，蚊の口針を模倣した微細針の開発を行っている．蚊は3本の口針を交互に振動させながら穿刺しているため，本研究では小型のアクチュエータを用いた携帯型穿刺装置を開発し，この行動を模倣して人工皮膚に穿刺する際の振動付与の効果の検討を目的としている．このとき，3本の針をそのまま模擬すると小型化が困難であるため，半割状態の2本の針を用いることでシステムを簡略化した．

DOI： 10.11522/pscjspe.2017s.0_337

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の針は細いが穿刺時に折れず，皮膚にたわみが生じない．蚊の針は6本の針が鞘のような下唇に包まれている構造を持つ．本研究では，ピッチが250μmの格子の入った寒天を作製し，これを皮膚とみたてて蚊の針を穿刺させ，格子の変位分布を倒立顕微鏡によって観察し,蚊の下唇が穿刺対象に対してどのように働きかけているかを検討した．蚊の下唇には針の座屈を防ぎ，皮膚に張力を与えてたわみを防ぐといった機能があると考えられる．

DOI： 10.11522/pscjspe.2017s.0_343

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Language：Japanese   Publisher：The Institute of Electrical Engineers of Japan  

This paper describes the fabrication and characterization of a vibration energy harvester (VEH) using polyvinylidene fluoride (PVDF) film which is solution based piezoelectric polymer. The PVDF film with thickness of 30 µm was coated on phosphor bronze cantilever (thickness: 100 µm, length: 25 mm, width: 15 mm), and was polarized by applying electrical field. Then, Al thin film was deposited on the PVDF film as an upper electrode. When the fabricated VEH was vibrated by a vibration test system with the resonant frequency of 55 Hz and acceleration of 17 m/s², maximum output power of 4.3 µW was obtained.

DOI： 10.1541/ieejsmas.137.140

DOI： 10.1002/ecj.12238_references_DOI_CdHpo08jobkrUoS7Qyl4sjkuCpQ

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028209118

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a gripper of pneumatic actuator with the suction cups imitating Octopus for grasping the porous objects. This gripper can grasp the porous objects using pneumatic actuator and hold the dense objects by vacuum suction. We fabricated a 2-soft-finger gripper with a bellows type suction cup. The pneumatic actuator has the bellows structure of 5 chambers on both side. The gripper can be open and close. The lateral and vertical horizontal and vertical displacement were 30 mm and 7 mm, respectively. The gripper hold a metal sphere of mass 14 g when the applied pressure was 10 kPa. Moreover, the gripper grasped the paper box of mass 16 g when the applied pressure was 15 kPa. The pressing force of gripper was 0.17 N.

DOI： 10.1299/jsmermd.2017.2a1-n02

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To coexist with human, a robot has to avoid obstacles based on human-like flexible decision-making. In this article, we recorded the angle and speed that human operates the robot to avoid an obstacle on the simulator. Using those, fuzzy rules to decide the moving direction and control speed at every moment were derived as follows: as the input variables, distance to obstacle (x₁), angle to obstacle (x₂), speed of obstacles (x₃), and the direction of movement of obstacle (x₄), are adopted. As the output variable, steering angle (y₁) and control speed (y₂) of robot is adopted. Based on fuzzy-neural networks method, two network of 4 inputs (x₁～x₄) and 1 output (y₁ or y₂) is prepared. A membership function of each variable has 5 isosceles triangles. Fuzzy rules, number of which is 625 (=5⁴), are assumed. Optimal center and width of each triangle are obtained so as that the network reproduces the trajectories of simulation experiment with minimum errors. The obtained fuzzy rules with tuned membership functions successfully produce the trajectory which is similar to human ones. Also, if there are plural obstacles, they can be avoided by applying the fuzzy rule to each obstacle and adopting the largest outputs among them.

DOI： 10.1299/jsmermd.2017.1p1-g08

DOI： 10.9746/sicetr.57.421_references_DOI_GKfXqvaTtgbSjzQU4FNXcuUFDxO

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper described an effectiveness of small diameter gripper for grasping flexible object. The small adhesive area prevent from the surface wrinkle of flexible object, since the deformation of object was reduced by adhesive area. The fabricated gripper has 3.5 mm in diameter of adhesive area, which was the 0.6 times smaller of the previous gripper. The adhesive pressure of small diameter gripper was lower than the previous gripper, because the aspect ratio of gripper became higher. However, the success ratio of grasping a polypropylene package of weight 16 g was increased from 20 % to 90% by small diameter gripper.

DOI： 10.1299/jsmermd.2017.2a1-n03

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Language：Japanese   Publisher：The Robotics Society of Japan  

An octopus suction cup has the characteristic structures, for example a narrow part on sidewall and cone-shaped bottom with radial and cylindrical trenches. These structures will have the function of enhancing flexibility of suction cup. In this paper, we evaluated the effect of three structures imitating octopus suction cup on gripping performance by Finite Element Method (FEM) simulation and the fabricated 8 types of gripper. The narrow part on sidewall and cone-shaped bottom enhanced the followability to a shape. On the other hand, the radial trenches on bottom reduced the ability. The gripper with these structure generated same or higher adhesive force than one without structures.

DOI： 10.7210/jrsj.35.327

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028286882

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A vertical electret energy harvester has a problem of pull-in between electrodes. We proposed the harvester with spacer. Using the spacer, the surface potential of electret can be high because the spacer prevents the pull-in of electrodes. Therefore, the output power increased by the spacer. However, the change in electrostatic capacitance is decreased because the gap increases by the spacer. There is a trade-off relation between thickness of spacer and power. We evaluated the relation between surface potential of electret, thickness of spacer, and output power. Using a spacer with a thickness greater than 36 μm, the electrode can vibrate when the surface potential was −630 V. Moreover, the output power was maximum when the thickness of spacer was 36 μm.

DOI： 10.1299/jsmemnm.2017.8.pn-134

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Language：Japanese   Publisher：The Robotics Society of Japan  

Octopus suction cup has the micro bumps or trenches. These micro structure will be effective for a performance of adhesion. We reported the vacuum gripper imitating an adhesion principle of octopus. This gripper can grasp the rigid object with flat, curved, and uneven surface. In this paper, we evaluated the effect of micro bumps using the octopus-bioinspired vacuum griper added the bumps which is 2[μm] in diameter and 4[μm] in pitch. The adhesion force of gripper with micro bumps was higher than that of gripper without micro bumps, since the friction force between gripper and object was increased by bumps. Moreover, the shear force of peering was increased by adding micro bumps to gripper.

DOI： 10.7210/jrsj.35.62

DOI： 10.1541/ieejeiss.143.47_references_DOI_7me19JloSODb8syukqHpqfsSCa6

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027854512

Language：Japanese   Publisher：公益社団法人 精密工学会  

現行の針先端は、竹割状にカットした後、両側面に稜線（エッジ）を設け、エッジが皮膚に突き立てられることで穿刺を容易にしている。針の断面形状を多角形にしてエッジの数を増やす試みが報告されている。本報告ではこれを星型とし、エッジ先端角を水平面内でより鋭角にし、エッジに沿ってより大きな剪断応力を皮膚に与えることを提案する。穿刺実験により星型針が穿刺抵抗力を低減させることを確認した。

DOI： 10.11522/pscjspe.2017s.0_341

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Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028683334

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describe a reduction of pressing force when a measurement for adhesive force of a biomimetic vacuum gripper by a hand press machine. We proposed a mechanism using a ball spline for reducing the pressing force. The pressing force is equal to the weight of gripper by this mechanism. We measured the relationship between pressing force and adhesive force of three kind of gripper. The working force of mechanism was nearly equal to the weight of gripper. Moreover, the pressing force with a maximum adhesive force decreased from 70 N to 6 N using the half spherical type gripper.

DOI： 10.1299/jsmermd.2017.2a1-n05

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Language：Japanese   Publisher：公益社団法人 精密工学会  

筆者らは成形によりポリ乳酸（PLA）微細針の作製に取り組んできた．針の負型先端までバリ無しで溶融樹脂を充填するのが難しく，離型した針の強度も弱いという問題がある．本報告では延伸PLAシートからフェムト秒レーザにより針形状を切り出し，それを90°回転させて立て，針先をさらに斜めにレーザ切断して三次的な尖鋭化を施した．前記バリ等の問題が解決され，延伸方向を長手方向とすると針の強度が高まることが期待できる．

DOI： 10.11522/pscjspe.2017s.0_339

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028508872

Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028222359

Language：Japanese   Publisher：東京 : 電気学会  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027547209

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028063614

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028063687

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028063612

Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To grip and transport various objects indoors by a robot, it is necessary to investigate how many kinds of object are handled and how they are gripped in a human daily life. As a result of observation study using a wearable camera, it was proven that 84 kinds of objects are handled, and there are some rules in gripping ways corresponding to the shape and size of each object. Thus the 84 objects were categorized based on their shape and size. The way was proposed how to grip those using dual robot arms equipped with parallel grippers on each tip.

DOI： 10.1299/jsmermd.2016.2a2-03b3

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Language：Japanese   Publisher：公益社団法人 精密工学会  

採血や血糖値検査などの医療行為において、低侵襲な注射針や針状ツールの開発が求められている。我々は蚊の穿刺動作を観察した結果、1対の鋸歯状の小顎が無痛穿刺に重要な役割を果たしている事が判明した。本研究では、小顎を模した低侵襲性マイクロニードルを、フェムト秒レーザーを用いて厚さ30 μm のステンレス薄膜より作製した。また、先行研究で作製したφ50µｍの極微細ステンレス中空マイクロニードルと合わせて、蚊の上唇と小顎の形状を3次元的に模した3本針を作製し、穿刺実験によって性能を評価した。

DOI： 10.11522/pscjspe.2016a.0_623

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の口針を模擬した低侵襲性中空微細針の開発の一環として，針内径と血液吸引性能の関係を評価した．光造型法により作製した中空針は，内径20 µm～50 µm，長さ500 µmとした．内径20 µmの場合，蚊の血液吸引量である2 µLを吸引できるが，その後血栓ができてそれ以上の吸引が困難であった．蚊は宿主に気付かれないように血液を吸うために口針を細くして皮膚の痛点を避けているが，一方でこれは管の詰まりを招く．蚊の上唇の内径20 µmは両要素を満足するために進化の過程で獲得された最適値であると考えた．

DOI： 10.11522/pscjspe.2016a.0_99

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In the conventional object recognition, Deep Learning is known as the method to achieve the highest recognition accuracy. In Deep Learning, however, several tens of thousands images are required as learning data for each category. Also huge learning time is required. Another drawback is that we cannot understand the mechanism how Deep Learning works well, such as what image features are captured. In contrast, after a human just look at several objects in a category he can extract something like its general object concept. Furthermore, a human can represent the concept by words. In this article, a new learning method based on Fuzzy c-means method is proposed, which requires small training data short training time. Effectiveness of the proposed method was demonstrated using RGB-D Object Dataset.

DOI： 10.1299/jsmermd.2016.2a1-19a5

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Mobile robot localization in outdoor is difficult because of environmental change such as sunlight intensity, moving obstacles layout, etc. In this article, questionnaire study on human ability of environmental recognition was carried out and its results were applied to mobile robot localization. The result of questionnaire shows that a human relies on globally visual information such as landscape rather than information of landmarks such as signboards. Based on the result, a view-based localization method using GIST features was proposed. GIST is known to represent well the overview of outdoor scene. A capture scene image is compared all registered template images in terms of GIST, e.g., the template image, of which L2 norm of GIST between input image is minimum, is successively searched. Then, the robot is localized so as that it exists in the neighborhood of known place where the template image was captured. Experimental result in the university campus showed the good potential of proposed method to localize a mobile robot.

DOI： 10.1299/jsmermd.2016.1p1-08a1

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Language：Japanese   Publisher：一般社団法人 電気学会  

DOI： 10.1541/ieejsmas.136.nl6_8

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper described the vacuum gripper combined with electrostatic adhesion. We evaluated the electrostatic chuck using the fabrication method of MEMS. When the applied voltage was 2.4 kV, the fabricated electrostatic chuck can grasp a paper (80 mg). The adhesion force per unit area was 7.8 Pa. We first tried to fabricate the vacuum gripper with flexible electrostatic chuck. This gripper can grasp the paper (6 mg, 100 mm²) when the applied voltage was 1.6 kV.

DOI： 10.1299/jsmermd.2016.1a1-13a1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

To coexist with human, a robot has to avoid obstacles based on human-like flexible decision-making. In this article, human trajectories to avoid an obstacle were observed from above by a video camera. The resultant trajectories were finely smooth. Using those, fuzzy rules to decide the moving direction at every moment were derived as follows: as the input variables, the predicted closest distance (DCPA: Distance to Closest Point of Approach) of goal (<i>x</i>1), that of obstacle (<i>x</i>3), the elapsed time to the predicted closest point (TCPA: Time to Closest Point of Approach) of goal (<i>x</i>2), and that of obstacle (<i>x</i>4), are adopted. As the output variable, steering angle of robot (<i>y</i>) is adopted. Based on fuzzy-neural networks method, a network of 4 inputs (<i>x</i>1～<i>x</i>4) and 1 output (<i>y</i>) is prepared. A membership function of each variable has 5 isosceles triangles. Fuzzy rules, number of which is 625 (=5⁴), are assumed. Optimal center and width of each triangle are obtained so as that the network reproduces the experimental human trajectories with minimum errors. It was proven that the obtained fuzzy rules with tuned membership functions successfully produce the trajectory which is similar to human ones, which is better than the trajectory obtained by potential method in viewpoint of smoothness.

DOI： 10.1299/jsmermd.2016.2a1-07a7

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は高精度の三次元光造形装置であるナノスクライブを用いて様々な形状のマイクロニードルを作製してきた。しかし穿刺後に作製した針の先端が湾曲してしまうことが多かった．そこで，どの先端の角度が穿刺に適しており，湾曲することが少ないかを調査した．また，先端を刀のような形状のマイクロニードルにすることにより従来の作製したマイクロニードルよりも効率の良い穿刺が出来ると考え、穿刺実験を行いその効果を検証した。

DOI： 10.11522/pscjspe.2016s.0_317

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a stackable micro pneumatic tilt actuator for micro gripper. This gripper generates tilt, since the gripper has unevenness elastomer shape and size. We simulated the relationship between the structure of gripper and tilt angle for design. The fabricated gripper generated 0.8 degree when the pressure of 30 kPa was applied. There were a difference between simulation and experimental results, since the displacement of elastomer was as large as plasticity deformation.

DOI： 10.1299/jsmermd.2016.2p1-20a5

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2016s.0_315

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed the Octopus-bioimitating vacuum gripper with bellows structure for preventing gripper from releasing object when the object tilts. The bellows structure allows the gripper to deforming in grasping object. We evaluated flexibility of gripper on the distance between center of gravity and adhesion position. The gripper with bellows structure can grasp the 1.8 times of distance using the gripper without bellows structure. The assembly control can be simple using the robotic system with proposed gripper.

DOI： 10.1299/jsmermd.2016.1a1-12a7

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Language：Japanese   Publisher：公益社団法人 精密工学会  

近年，患者のストレス軽減のために痛みの少ない注射針が求められている．注射針の細径化により痛みの低減は実現されるが，針の細径化に伴い液体を吸引することが困難になる．これはシリンジでは大気圧以上の圧力差を生み出すことができないことが原因である．そこで本研究では，3D光造形装置によって多数に分岐した細径管を作製し，それらに発生する毛管力によって血液を吸引する手法を提案し，その原理実証を行った．

DOI： 10.11522/pscjspe.2016s.0_307

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a vacuum gripper array for improving shaped followability. The vacuum gripper was imitated an octopus suction cup. In previous work, we developed the half spherical gripper with membrane suction cup array. The half spherical gripper can grasp the object with flat or curvature surface. However, it is difficult that the half spherical gripper grasped the object with high step. The suction cups around edge were deformed under pressing, because the suction cups are connected each other by thin elastomer. Then, we proposed the vacuum gripper has separated suction cups array. The fabricated gripper array generated highest adhesion force of 16 N when the pressing force of single suction cup was form 1.4 to 2.1 N. This gripper array can grasp the object with 10 mm in step height, in contrast to half spherical gripper which can grasp the object with 3 mm in step height.

DOI： 10.1299/jsmermd.2016.1a1-12a4

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Language：Japanese   Publisher：公益社団法人 精密工学会  

我々は蚊に刺されても痛みを感じないことに着目し，蚊の針を模倣した無痛微細針の作製を行ってきた．本研究では，精密機械加工により作製した鋳型を用いて，射出成形法によりポリ乳酸製の微細針を作製した．この微細針は樋形状になっており，これを2本組み合わせることで１本の中空微細針として利用可能である．さらに，この2本1組の微細針を用いて，人工皮膚への穿刺試験および人血の吸引実験を実施した．

DOI： 10.11522/pscjspe.2016a.0_101

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Language：Japanese   Publisher：公益社団法人 精密工学会  

微細針のような細長い微細構造物を射出成形する場合、樹脂を微細針の先端まで充填するため流動性を高めると、バリが生じてしまう。本研究では金型表面にメッキ技術により得られた鋳型を固定し、型締めにより圧縮してパーティング面の隙間を無くし、バリを抑制することを提案した。具体的に，基板に3D光造形で作製した針を置き、犠牲層であるAl薄膜を堆積する。その上に厚いメッキ膜を堆積した後、剥離することで、針の負型を得る。

DOI： 10.11522/pscjspe.2016s.0_321

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Language：Japanese   Publisher：公益社団法人 精密工学会  

低侵襲な検査・治療を目的として，我々はこれまでに様々な微細針を作製してきた．本報では，画像解析による穿刺対象のひずみ分布の可視化を行った．この結果とロードセルで測定した穿刺時の荷重に基づき，最適な針の先端形状，穿刺モード（振動の有無等），穿刺速度について実験的に検討した．また，穿刺実験と対応するFEM解析を行い，結果の比較を行った．

DOI： 10.11522/pscjspe.2016a.0_103

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊は3本の口針（上唇および一対の小顎）を協調振動させながら人間の皮膚に穿刺している．本研究では，これらの口針を模倣した3D-CADモデルを作成し，LS-DYNAを用いて針を皮膚モデルに穿刺する場合についてのFEM解析を行うことにより，協調振動の効果を確認した．また，3本針で穿刺した場合と1本針（上唇のみ）で穿刺した場合の穿刺抵抗力の比較を行うことにより，3本針での穿刺の効果を検討した．

DOI： 10.11522/pscjspe.2016s.0_311

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027733225

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027732958

Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027429768

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027681799

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027681815

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I027681808

Language：Japanese   Publisher：公益社団法人 精密工学会  

我々はステンレス製注射針にMPCポリマー（poly(MPC-co-BMA)）をコーティングし、親水性効果を高め吸引特性をあげた。本稿では吸引特性向上のために蚊の吸血針に着目し、蚊の口唇を解剖した。そして上唇を摘出し、顕微FT-IR（赤外分光法）を用いて内壁を観測した。また上唇の縦横方向の引張強度測定と、内壁に水や血液を接触させ親疎水性の評価を行った。

DOI： 10.11522/pscjspe.2015s.0_761

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊の口唇を模倣し，上唇および横の小顎の3D-CADモデルを作成した．蚊は，振動させながらこれらの針を人の皮膚に挿入する．本研究では，3D-CADモデルを用いて，振動の効果をFEM解析により確認した．本稿では，中心の上唇のみを考慮し，この針を皮膚モデルに穿刺する解析を行なった．振動の効果により，穿刺抵抗力が最大で5%減少することが確認できた．本解析結果は，振動の効果により座屈することなく人肌に針を穿刺できることを示している．

DOI： 10.11522/pscjspe.2015s.0_759

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A precise 3D CAD model of mosquito central labrum and side maxillae, i.e., totally three needles, was constructed. Mosquito inserts these needles inside the human skin with vibration. To confirm the effect of vibration, explicit FEM analysis was conducted using the model. LS-DYNA was adopted as the software. In this report, only the central needle was preliminarily considered among the three, and this needle was inserted into the skin in the simulation. It is proven that the resistance force was reduced by 6.5 % at the maximum with applying vibration. Next, Stress applied to a skin was visualized using an artificial skin with grid pattern. The visualizing test result also indicated that stress applied to skin by inserting needle is reduced by applying vibration. The simulation and image analysis results indicates the effect of vibration on easy needle insertion without buckling.

DOI： 10.1299/jsmermd.2015._1p1-r07_1

DOI： 10.1299/jbse.19-00238_references_DOI_9eOiwuvzYKzuGKiIfJD9mcN4rwZ

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Language：Japanese   Publisher：公益社団法人 精密工学会  

医療針の低侵襲化のため，蚊の複雑な形状を模倣したマイクロニードルの作製を試みてきた．過去にマイクロ光造形装置ナノスクライブで蚊の複雑な形状の針の作製に成功した．本研究ではナノスクライブで作製した針をシリコーンゴムに穿刺する実験を行った．また血液の吸引実験，針の強度を確認するための引張試験を行った．

DOI： 10.11522/pscjspe.2015a.0_825

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

DOI： 10.1299/jsmecmd.2015.28._170-1_

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Making a diameter of needle small is effective for reducing the pain of patients. However, thinning a needle leads to easy buckling in the puncturing process, because the aspect ratio of needle becomes high. When thin needle, it is effective to reduce the patient's pain. From acupuncture and mosquito needle behavior tips, we propose a mechanism to puncture the needle little by little. Furthermore, by enveloping the cylinder needle from directly above the skin, we propose a mechanism for preventing buckling. Therefore, by using a mechanical pencil system, and performs various studies and found a method capable without buckling puncture the thin needle

DOI： 10.1299/jsmermd.2015._1p1-r06_1

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Language：Japanese   Publisher：公益社団法人 精密工学会  

微細針のような細長い微細構造物を射出成形する場合，金型温度を高温に設定して樹脂の流動性を高めることが，先端まで樹脂を充填するために有効である。この場合保圧をかけながら金型を冷却することが，成形物の強度を保持するために必要である。以上のヒートアンドクール法を適用し，断面が半径0.05mmの半円形状で，長さ2mm（L/D=40）の超長細のポリ乳酸製マイクロニードルの成形に成功した。強度測定と人口皮膚への穿刺実験を行った。

DOI： 10.11522/pscjspe.2015a.0_829

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A compact sized indoor mobile robot is developed, which consists of an omni-directional platform and two 6DOF manipulators. A path planning method is proposed, in which an inscribed circle of adjacent three way-points is utilized. A generic object recognition method based on its shape concept is proposed. In this article, not only size information but also aspect ratio information and other object-specific information, e.g., a cup has a hollow space, are taken into account as object shape concepts. The recognition rate was improved by applying the proposed method, i.e., approximately from 50 to 80% in case of small mag cup.

DOI： 10.1299/jsmermd.2015._2a1-u08_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a gripper imitating the octopus sucker for universal gripper which can grip the various parts in production site. This paper described the gripper imitating a funnel structure of octopus in order to improvement of shape followability. The imitated structures were necking, radial trench and slope of sucker. We evaluated the pressing force for absorption, which the shape followability is high when the pressing force is low. The necking structure has an effect of decrease of the pressing force, since the sucker with neck was flexible. The radial trench has effect of increase of maximum absorption force of gripper, since the absorption area is increased.

DOI： 10.1299/jsmermd.2015._1p1-q06_1

DOI： 10.1299/transjsme.17-00107_references_DOI_QTkOHLa5GWZgeua8TxFir0clKNq

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Proboscis of a mosquito for sucking blood consists of complicated seven parts. For example, labrum has hollow structure, and maxilla has micrometer-sized toothlike projections on its tip part. In this study, microneedls imitating one labium and two maxillae were fabricated using precision three-dimensional laser lithography system "Nanoscribe" Maximum length of the fabricated microneedle is 1.5 mm, which is minimal to reach to capillary blood vessel underneath human epidermis.

DOI： 10.1299/jsmermd.2015._1p1-r05_1

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Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究では，パリレンを用いることによって，銅線にスパッタリングしたチタン層の補強を試みた．その補強効果をマイクロニードルの作製を応用して評価する．

DOI： 10.11522/pscjspe.2015s.0_757

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

This paper proposes a small stackable pneumatic actuator achieving high output density, which is defined (output force)/(volume). The structure of actuator is a cylindrical chamber with inlet and outlet holes, which is stretchable in its axial direction. The chamber is made of flexible elastomer, which is covered by the top and bottom rigid plates made of glass and metal, respectively. The bottom plate has small holes for enhancing adhesion force to the elastomer. In the stacked actuators, the inlet and outlet holes of each chamber are serially connected, which self-assembles tubing. The practical devices were fabricated. When the pneumatic pressure of 40kPa was applied, the displacement and force of single actuator were 20μm and 1N, respectively. Those of three stacked actuator were 70μm and 1.4N, respectively. The output density was as the same order as that of a large sized Mckibben actuator, and it was 0.1 compared with a miniature sized balloon type actuator, which was caused by the smaller force than the design. The force will increase by improving the size and fabrication process of actuator.

DOI： 10.2493/jjspe.81.74

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes an effect of particle size in vacuum gripper imitating octopus sucker on adsorption performance. The particle in thin elastomer sack has Jamming transfer effect. It has advantage that the absorption area is fixed, since the sack behaves the solid substance under the vacuuming in sack. The relationship between particle size and gripper size is influenced the formation of adsorption area. When the particle size was larger than the distance between suckers, the adsorption success rate is decrease because the sucker was compressed by particles. Because of the friction between particle, the pressing force was large when the particle was too small. The suitable particle size to this gripper was around 0.8 mm.

DOI： 10.1299/jsmermd.2015._1p1-q07_1

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Language：Japanese   Publisher：The Institute of Electrical Engineers of Japan  

This paper proposes a new electret with high surface potential and high thermal resistance, which is made of nano-porous silicon dioxide (SiO₂). Electrical charge density in the nano-porous SiO₂ is higher than that in a normal (i.e., nonporous) SiO₂ because there are many voids in the nano-porous SiO₂ and the interface between void and SiO₂ traps electrical charges strongly. Therefore, decrease rate of the trapped charge density in the nano-porous SiO₂ is lower than that of normal SiO_2. Since SiO₂ is thermally stable, thermal stability of the electrical charge in nano-porous SiO₂ electret is better than that in a polymer electret. Output power generated by vibration energy harvesting using the nano-porous SiO₂ electret is also larger than that using the normal SiO₂ or polymer electret.

DOI： 10.1541/ieejsmas.135.171

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I026421500

Language：Japanese   Publisher：一般社団法人 電気学会  

DOI： 10.1541/ieejsmas.135.nl11_3

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Language：Japanese   Publisher：公益社団法人 精密工学会  

マスターモデルを複製する注型法により低粘度の熱硬化性樹脂をマイクロ鋳型へ充填・硬化させることで蚊の口針を模倣した複雑な形状のマイクロニードルを高い生産性で作製する手法を新たに提案した．また，この手法を検証する目的で，PDMS製の鋳型にエポキシ樹脂を充填・硬化させ，樹脂針を作製した．エポキシ樹脂の充填方法として，PDMSの柔軟な特性を利用し，型の径より僅かに太い注射針を用いて型の底から樹脂を注入することで，鋳型の先端まで確実に樹脂を注入することに成功した．

DOI： 10.11522/pscjspe.2015s.0_763

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

An SiO_2 electret with nano/micro scaled texture was developed to enhance generation power of our previously developed electrostatic vibration energy harvester. The texture on SiO_2 was formed by lithography and wet etching process. The width/pitch of the texture is 0.2 μm / 0.6 μm or 1.0 μm / 2.0 μm. Both initial value and stability of surface potential of textured electret was better than that of control sample. It was also found that the smaller texture enhance these properties. On the other hand, the stiction force using textured electret was smaller than that using control electret.

DOI： 10.1299/jsmemnm.2015.7._30am2-pn-_19

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We propose a method of enhancing generated power by magnetic repulsive force in the vertical electret energy harvester. Since electrostatic attraction between dielectric and electret is reduced by magnetic force, the mass velocity is increased, which leads to the sharp current peak and high output power. The device with magnet generated 1.5 times of 30 μW than the device without magnet after 2 million times of contacts.

DOI： 10.1299/jsmemecj.2015._j2230204-

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In a manufacturing plant, the various parts are transported or assembled by industrial robots. Because these robot has a special robotic hand for a part, there are the problems of exchange time of hand and cost of development and storage of hand. These problems are solved by universal hand which can grip the parts with various shape, size and weight. We previously proposed the vacuum gripper imitating octopus sucker. This gripper can absorb the flat, curvature, and uneven surface. The purpose of this study is the fabrication of the gripper with micro protrusions imitating denticles on an octopus sucker, which has the effect of enhancement of absorption force. The diameter and height of denticle were 2 μm and 1 μm, respectively. The adsorption force was improved, since the denticles are arranged on the gripper.

DOI： 10.1299/jsmermd.2015._1p1-q02_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper describes the results of development of a plasticization PVC gel added the high-permittivity powder of polyaniline coated oxide polymer on surface. The displacement and force of gel actuator are higher than a pure gel, since the composite gel has high-permittivity and low Young's modulus. The dielectric constant and Young's modulus of fabricated gel added polymer powder were 25 and 0.28 MPa, respectively. The amplitude actuator using the composite gel was 38 μm when the frequency of applied vibration was 200 Hz. The result of sensory evaluation using the trial Braille display was that a perceivable frequency was 300 Hz. To the question of which of two vibration is fine, all test subject were selected the actuator using composite gel.

DOI： 10.1299/jsmermd.2015._1p2-w03_1

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

This paper proposes a novel electrostatic actuator driven by fringe electric field generated between comb-shaped electrodes on a substrate of stator. Ferroelectric teeth of floating mass on the stator are polarized by means of fringe electric field. The mass is laterally moved within the one pitch of the comb-shape electrode thanks to the electrostatic force generated between polarized charge of the tooth and that inside the electrode. Narrow pitch of comb-shaped electrodes is possible, since fluororesin is deposited on the electrode for preventing the discharge between the adjacent electrodes. The narrower pitch increases the electric field even if the applied voltage between two electrodes is rather low, achieving the higher output force. Therefore, the proposed actuator can work at low input voltage. A practical actuator was fabricated, the electrode width and pitch of which were 20 and 80μm, respectively. When the voltage of 300V was applied between the two electrodes, the maximum displacement and force were 20μm and 4mN, respectively. The force per unit area and square of voltage was 0.8N/(kV²·m²), which is not less than those of reported typical capacitive actuators.

DOI： 10.2493/jjspe.81.62

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Language：Japanese   Publisher：公益社団法人 精密工学会  

二層薄膜の応力差を用いた中空マイクロニードルの作製方法を新たに提案した．また， Tiとパリレンの薄膜を用いてマイクロニードルの作製を行い，提案手法の検証を行った．結果，二層薄膜の応力差による膜の変形は確認されたが，意図した中空マイクロニードルの形状を得ることは出来なかった．今後は使用する膜の材料，およびフォトマスクパターンの最適化により完全な中空マイクロニードルの作製を目指す．

DOI： 10.11522/pscjspe.2015s.0_765

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Recently a RGB-D sensor "Kinect v2" is on the market, which is reputed to be available even in the outdoor environment. In this article, it was installed on a mobile robot and its performance in the outdoor was characterized. It was proven that the obtained point density is decreased, affected by infrared ray in a shine condition compared to dark condition. The Kinect v2 performance was compared with a Laser Range Finder (LRF). It was proven that dense point data of a road surface is successfully acquired by Kinect v2, whereas rather sparse data is acquired by LRF. Considering that a LRF itself scans laser beam on 2D plane, it was set on a swinging stage to obtain 3D data, making the obtained point density per space lower compared to Kinect v2. The robot usually follows a planned path to a command position based on odometry, which is periodically updated by a global positioning system (GPS). In case that GPS is not available owing to the radio wave occlusion by a tall building etc., Kinect v2 was used instead of GPS. It was proven that the robot can follow the planned path by detecting the road surface in such case without GPS.

DOI： 10.1299/jsmermd.2015._2a2-m07_1

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Language：Japanese   Publisher：[東京] : Institute of Electrical Engineers of Japan  

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I025919950

Language：Japanese   Publisher：Information Processing Society of Japan (IPSJ)  

A method for automatic composing both of accompaniment and melody parts is proposed, which is based on the transition probability from a pitch to the next pitch, and that from a length to the next length. The transition probability was extracted from real music, in this article songs composed by two artists, i.e., "Bump of Chicken" and "L'Arc en Ciel". Questionnaire survey was conducted, which shows the resultant songs are satisfactory in the viewpoint of both music and similarity to the artist.

CiNii Books

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Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028473556

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028473617

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028473621

Language：Japanese   Publisher：吹田 : 関西大学先端科学技術推進機構  

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I028473604

Language：Japanese   Publisher：公益社団法人 精密工学会  

血液の凝固防止を目的として人工血管の内壁処理に用いられるMPC（2-methacryloxyethyl phosphorylcholine）ポリマーに着目した．MPCをBMA(butyl mechacrylate)と共重合して流れにより剥離しないようにした試薬をマイクロニードル内壁にディップコートすることで，内壁の親水性が向上して流体の流れが良くなることを実験的に確認した．

DOI： 10.11522/pscjspe.2014a.0_117

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A method for fabricating a low invasive microneedle which is three-dimensionally imitating mouthparts of mosquito was proposed. In this method, the microneedle is fabricated by casting of a thermoset epoxy resin into a micromold. Microneedles made of the thermoset epoxy resin were tried to fabricate using proposed method. As a result, the microneedles with fine-shaped tip were successfully formed when those diameters are larger than 100 μm. It was also confirmed that the fabricated microneedle can puncture into artificial skin (Young's modulus is 0.1 MPa) without buckling.

DOI： 10.1299/jsmemnm.2014.6._21pm3-pm0_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In simultaneous localizing and mapping (SLAM), odometry and range sensor are generally used. There is a problem that errors are accumulated in odometry process. To address this problem, information of fluorescent light positions on the ceiling in a room, which is known in advance, is used to determine the absolute position and orientation of the robot. Using absolute fluorescent light information instead of incremental odometry information, the mapping accuracy is expected to be improved. A cleaner robot Roomba was adopted as a mobile robot, on which an omnidirectional camera for detecting the fluorescent lights and a laser range finder for detecting the layout of room are installed. Using this robot, the effectiveness of proposed mapping and localizing method was experimentally proven.

DOI： 10.1299/jsmermd.2014._2a2-r01_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A compact size home robot composed of omnidirectional platform and lightweight arm is developed. Kinematic parameters of the 6-DOF arm are calibrated to increase positioning accuracy. The position of a desk in a room is recognized using depth image captured by Kinect sensor. A smooth path to the desk is computationally planned, in which clothoid curves, circles, and straight lines are connected. After reaching the desk side, objects on the desk top are recognized using both color and depth images captured by Kinect sensor. As example of object, a plastic bottle is gripped by the robotic arm. Typical total tasks of home robot to approach and handle the objects are practically realized.

DOI： 10.1299/jsmermd.2014._1a1-m03_1

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014s.0_597

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014a.0_109

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014s.0_599

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A method for generic object recognition to categorize such as desk, chair, etc., has been already proposed by authors, in which point cloud data captured by a range image sensor (Kinect, Microsoft) is used. The point data is segmented to several regions based on depth data. As for each segmented region, the point distribution data and the region size data of width, depth, and height are considered. The data is input to AdaBoost classifier. The classifier judges whether the region is object or not. However, two (or more) objects close to each other are likely segmented to one overlapping region. To address this problem, a new segmentation/recognition method is proposed in this article as follows: i) an overlapping region is divided to several small regions based on RGB data using k-means method, ii) all combinations of small regions are considered. Depth data of all combined region is input to AdaBoost classifier, and iii) combination of which AdaBoost output is the highest is adopted as the segmentation/recognition result. This method imitates a human who seems to repeat segmentation and recognition complementally. As for overlapping chair and desk, segmentation and recognition were successfully conducted by proposed method.

DOI： 10.1299/jsmermd.2014._1p1-v03_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A novel fabrication method of hollow microneedle using self-rolling method based on MEMS technology is proposed, in which two-stacked thin films are rolled by their own residual stress difference after releasing from substrate. A follow microneedle was tried to fabricate using the self-rolling method to confirm the proposal. A Titanium (Ti) film and a poly-para-xylene (Parylene) are deposited on a sacrifice layer made of amorphous silicon. These two-staked films were patterned by MEMS process, followed by releasing from the sacrifice layer. As a result, the Ti/Parylene films were rolled by their own residual stress difference, although the form was different from our aimed hollow microneedle.

DOI： 10.1299/jsmemnm.2014.6._21pm3-pm0_2

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Language：Japanese   Publisher：公益社団法人 精密工学会  

従来研究において，我々は機械切削法の一つであるダイシング法を用いてステンレス鋼製の中空マイクロニードルを作製することに成功した．本研究では，この中空マイクロニードルの液体吸引特性を評価する．特に，血液の凝固防止を目的として人工血管の内壁処理に用いられるMPCポリマに着目し，作製した中空マイクロニードルの内壁にMPCポリマを塗布することで，水と血液の毛細管力による吸引特性にどのような影響を与えるかを評価した．

DOI： 10.11522/pscjspe.2014s.0_601

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We previously proposed a vertical capacitive energy harvester using polymer electret and dielectric. A narrow gap between mass and electret is feasible, since dielectric prevents discharge from electret to counter electrode. The narrow gap leads to large output power. In this article, we proposed a method of frequency up-conversion using spring support for mass and electret substrates. The output voltage of harvester using spring support has two plus peaks, compared with that using gel support, which generated one peak voltage. The energy harvester using spring support generated 12.6 μW, which is 1.3 times larger than that using gel support.

DOI： 10.1299/jsmemnm.2014.6._21pm3-pm0_15

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A guide tool to prevent buckling of microneedle is proposed, which is inspired by a labium of mosquito and technique of acupuncture. Microneedle is inserted to a human skin assisted by this tool by following steps: 1) a chuck in the guide tool grasps tip part of the microneedle and pushes it forward, 2) the chuck releases the microneedle and returns to initial position while leaving the needle. Repeating these two steps, the microneedle is carried forward into the skin step-by-step without buckling. Structure of the proposed guide tool is almost same as an automatic mechanical pencil. Therefore the principle of the proposed guide was experimentally confirmed using a mechanical pencil, of which adaptive diameter of lead is 0.2 mm. The microneedles used in the test were made from aluminum wire, copper wire, or the lead. All of the needles are 0.2 mm in diameter. As a result, all needles were successfully punctured into artificial skin made of PDMS when those were punctured by the mechanical pencil, whereas the Al and Cu microneedle was buckled when those was punctured without the mechanical pencil.

DOI： 10.1299/jsmemnm.2014.6._21pm1-e1-

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014a.0_113

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

The improvement in blood compatibility with surface of stainless steel (SUS) and poly(_L-lactic acid) (PLA) thanks to coating of 2-methacryloxyethyl phosphorylcholine (MPC) polymer was experimentally confirmed. MPC polymer coating on inner wall of artificial blood vessel is known to prevent the blood from adhering to the surface. MPC polymer coating is also known to promote hydrophilicity of surface. In the study, MPC polymer was copolymerized with n-butyl methacrylate (BMA) to prevent itself from peeling off from the inner wall affected by fluid flowing. As a result of characterization, the following effects of coating of poly(MPC-co-BMA) were obtained; 1) contact angle of blood on the surface of SUS foil or PLA sheet is decreased, i.e., wettability of blood is increased, 2) the amount of water or blood sucked into a SUS or PLA microneedle by capillary force is increased.

DOI： 10.1299/jsmemnm.2014.6._21pm1-e2-

DOI： 10.20965/jrm.2020.p0362_references_DOI_IiA97NLhs5LKBB7Iu0KHXqeEdZn

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A precise 3D CAD model of mosquito central labrum and side maxillae, i.e., totally three needles, was constructed. Mosquito inserts these needles inside the human skin with vibration. To confirm the effect of vibration, explicit FEM analysis was conducted using the model. LS-DYNA was adopted as the software. In this report, only the central needle was preliminarily considered among the three, and this needle was inserted into the skin in the simulation. It is proven that the resistance force was reduced by 5 % at the maximum with applying vibration. It is also proven that the higher frequency makes the resistance lower. The simulation results indicate the effect of vibration on easy needle insertion without buckling.

DOI： 10.1299/jsmemnm.2014.6._22am2-g6-

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014s.0_611

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014a.0_119

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014a.0_107

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Proboscis of a mosquito for sucking-blood consists of complicated seven parts. For example, labrum has hollow structure, and maxilla has micrometer-sized toothlike processes on its tip part. In this study, microneedles imitating one labium and two maxillae were fabricated using precision three-dimensional laser lithography system "Nanoscribe". Maximum length of the fabricated microneedle is 2.0mm, which is reach to capillary blood vessel underneath human epidermis.

DOI： 10.1299/jsmemnm.2014.6._20am2-e5-

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed the plasticized PVC gel actuator using electrostatic force. The gel is attracted to electrode applied positive voltage, since the inner negative charge is attracted to positive voltage. The actuator has high responsibility since the gel is moved in air. In this study, the dielectric constant of gel was increased by adding organic particle of polyaniline (PANI), which has high dielectric constant. The dielectric constant and Young's modulus of gel with 20% PANI were 2.8 and 1.6 times higher than pure gel, respectively. The displacement was 1.5 times, since the dielectric constant is effective for this actuator.

DOI： 10.1299/jsmermd.2014._2a1-q05_1

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Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究は射出成形法により樹脂性の低侵襲性マイクロニードルを作製するために必要となる材料開発を実施した．主材料としてはポリジメチルシロキサン（PDMS）を選定した．しかしPDMSは強度（ヤング率）が小さく，座屈などが発生し易い．そこで，補強材としてキトサン粒子を混合させた．このとき，キトサンに表面処理することで，混合後の材料強度を向上させた．材料の強度評価は，圧縮試験，引張試験等により実施した．

DOI： 10.11522/pscjspe.2014s.0_607

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Language：Japanese   Publisher：公益社団法人 精密工学会  

近年、医療現場において採血等の注射を伴う治療において、痛みの低減すなわち低侵襲性が求められている。注射に使用する針を微細化することで、侵襲性は低減するが、シリンジにより血液を吸引することが困難になる。これは、シリンジでは、大気圧以上の圧力差を与えることができないことによる。そこで、本研究では、微細針を用いた液体の吸引に高吸水性ポリマを用いる手法を提案し、その原理実証を行った。

DOI： 10.11522/pscjspe.2014s.0_603

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

In previous, we proposed a general object recognition method to use the general shape concept of object, an example of which for a chair is "it has a seating surface at certain height", "it may have a back surface", etc. This method doesn't need learning some features of object. However, there is a problem that recognition is not possible if the seat and back are apart in such a case of pipe chair. To address this problem, we propose a method to use the general concepts based on not only object shape but also co-occurrence, such as "desk and chair exist in the neighborhood of each other". The effectiveness of proposed method was experimentally verified in practical several situations.

DOI： 10.1299/jsmermd.2014._1p1-u02_1

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Language：Japanese   Publisher：公益社団法人 精密工学会  

気圧差を利用したシリンジによる吸引では吸引速度に限界があり，管径が小さいマイクロニードルでの液体吸引が困難である．本研究では大きな吸引力を得るため，毛管力，電気浸透流，高吸水性ポリマを利用した気圧差を利用しない多段ポンプを提案する．本報告では，MEMS加工によりハニカム型微細流路を多数作製し，これらの両端に電圧を加えることで電気浸透流ポンプを実現した．水と血液の吸引を行い提案するポンプの性能を評価した．

DOI： 10.11522/pscjspe.2014a.0_115

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This vacuum gripper has the normally close valves opened when the gripper contacted to the object. This gripper can absorb the various shaped flat board, since the gripper absorbs only the contacted area of object. The previous gripper has high pressing force, because Young's modulus of valve was high. In this paper, Young's modulus was decreased using silicone (KE-1282) for valve structure. The experimental absorption force and pressing force were 0.51 N and 0.23 N, respectively. The absorption force of this work was 1.3 times higher than the previous gripper, since the pressing force was 0.3 times. This gripper absorbed the object using part of valves.

DOI： 10.1299/jsmermd.2014._3p1-s06_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper described a vacuum gripper imitating octopus sucker. This gripper can absorb the flat, rounded surface since the flexible gripper has vacuum sucker. Moreover, this gripper can absorb using part of vacuum suckers without valve control, since the vacuum sucker has membrane, which is separated outside from gripper inside. The previous gripper has a problem that the pressed force in absorbing is high (6 N). In this study, the pressed force was decreased by the structure is improved. The maximum absorption force and pressed force of improved gripper were 23 N, 4.8 N, respectively.

DOI： 10.1299/jsmermd.2014._3p1-s05_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We previously proposed a vertical capacitive energy harvester using polymer electret and dielectric. A narrow gap between mass and electret is feasible, since dielectric prevents discharge from electret to counter electrode. The narrow gap leads to large output power. In this article, we proposed a method of preventing stiction between dielectric mass and electret by magnet repulsive force in vertical vibratory capacitive energy harvester. The electrostatic attraction between mass and electret substrate is reduced by magnetic force. The energy harvester using magnet generated 30 μW, which is 1.5 times larger than that without magnet.

DOI： 10.1299/jsmemnm.2014.6._21pm3-pm0_14

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2014s.0_609

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Language：Japanese   Publisher：一般社団法人 日本医療薬学会  

DOI： 10.20825/amjsphcs.23.0_338_2

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A fixture to prevent buckling of microneedle biomimicking mosquito's labium is proposed. This fixture is a flexible elastomer sheet which is set on the surface of human skin. While the needle is passing inside the sheet, its lateral movement is prevented thanks to the existence of sheet material. After the needle passes through the sheet and penetrates the skin, the buckling stress is theoretically 4.5 times increased from viewpoint of strength of materials, that are, 1) the hinged end is changed to the fixed end, and 2) the effective length of needle is reduced by the thickness of guide sheet. This effect was experimentally confirmed by using a sharpened tungsten needle and a PDMS sheet as the fixture.

DOI： 10.1299/jsmemnm.2013.5.233

DOI： 10.20965/jrm.2020.p0390_references_DOI_Xptf9o7eXSoctPCrL83XKVxgARy

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Language：Japanese   Publisher：公益社団法人 精密工学会  

蚊は鋸歯構造を有する小顎と血液吸引用の上唇を協調動作させることで痛みを伴わずに皮膚に針を穿刺可能である．我々もこれを模擬したマイクロニードルを作製してきたが，Siを用いて作製していたため，穿刺中に折損する可能性があった．本研究では，微細な加工ツールの援用により，機械加工法を用いてステンレス鋼から鋸歯状突起を有するマイクロニードルを作製することに成功した．またその穿刺試験から，その有用性を確認した．

DOI： 10.11522/pscjspe.2013a.0.595.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper was proposed a stacked linear pneumatic actuator for achieving high force and large displacement. The actuator has silicon elastomer structure which is stretched in a vertical direction. The bottom layer has small holes for enhancing adhesion force. When the pneumatic pressure was 10 kPa, the displacement and force of monolayer actuator were 35 μm and 0.34 N, respectively. The displacement and force of three stacked actuator were 100 μm and 0.24 N, respectively. The displacement was 3 times and force was at the same level.

DOI： 10.1299/jsmermd.2013._2p1-d07_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

Making a diameter of needle small is effective for reducing the pain of patients. However, thinning a needle leads to easy buckling in the puncturing process, because the aspect ratio of needle becomes high. We propose the method for avoiding buckling of thin needle by setting a guide around it. This guide can limit the lateral displacement of needle, making the stress lower than material fracture stress. Using FEM software (COMSOL Multiphysics) the displacement and stress of needle after buckling was simulated. This simulation took into account large deformation and contact model. The simulation results show that 1) the deformation of needle is stopped after contact, 2) the initial gap between guide and needle is smaller, the stress is lower, and 3) the maximum stress can be set lower than material fracture stress.

DOI： 10.1299/jsmermd.2013._1a2-a10_1

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Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究では，低侵襲性治療での利用を目的として，厚さ30μm のステンレス箔から蚊の口針を模した中空マイクロードルを作製した．このマイクロニードルは，ダイシング加工によりステンレス箔から溝付きの角柱を切り出し，これを電解エッチングより先鋭化した後に，パリレン樹脂の薄膜で溝に蓋をすることにより形成された．また，作製したマイクロニードルを人工皮膚に穿刺し，その穿刺抵抗力を測定した．

DOI： 10.11522/pscjspe.2013a.0.213.0

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Language：Japanese   Publisher：公益社団法人 精密工学会  

櫛歯状に並んだ電極間に短冊状の可塑化ポリ塩化ビニルゲルがあるリニアアクチュエータを提案する．可塑化ポリ塩化ビニルゲルを電極で挟み電圧を印加すると，ゲルは陽極へ這うように駆動する．アクチュエータを微細化することにより，低い印加電圧に対しても高い仕事量が得られる．駆動原理を検証するため，ゲルをシリコン基板で挟んだアクチュエータを作製した．600 Vの直流電圧を印加すると，最大170 μmの変位が得られた．

DOI： 10.11522/pscjspe.2013a.0.149.0

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Language：Japanese   Publisher：公益社団法人 精密工学会  

オフィス環境において，物体認識と部屋のフリースペースの検出を相補的に行う手法を提案する．その際の物体認識として，物体の概念を利用する．使用する概念は，椅子の例では「座面が一定の高さにある」，「背もたれがある」などのルールである．距離画像センサから得られた3次元点群データを利用し，領域分割，平面抽出，ルールの適用を行い，代表的なオフィス機器である椅子と机及び机上の物体の抽出・認識に成功した．

DOI： 10.11522/pscjspe.2013s.0.1091.0

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2013a.0.147.0

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Language：Japanese   Publisher：公益社団法人 精密工学会  

導電性高分子であるポリアニリンを添加した可塑化ポリ塩化ビニル（PVC）ゲルを用いた誘電型エレクトロアクティブポリマを提案する．アクチュエータはゲルを金属電極で挟んだ構造となっており，電圧を加えることで鉛直方向に伸縮する．表面を酸化したポリアニリンを混ぜることでゲルの比誘電率を高くできる．ポリアニリンを添加したゲルに1200 Vの直流電圧を加えると力は10 mN（67 Pa）であった．

DOI： 10.11522/pscjspe.2013a.0.151.0

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.2493/jjspe.79.970

DOI： 10.20965/jrm.2020.p0923_references_DOI_RcDZWlp2xhajAhD13o9RdhAny6S

CiNii Books

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Other Link： https://ndlsearch.ndl.go.jp/books/R000000004-I024933072

Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2013a.0.51.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

We proposed a vertical vibratory energy harvester using polymer electret and dielectric. A proof mass consists of counter electrode and dielectric beneath it, which faces with electret on base electrode on a substrate. Since dielectric prevents discharge from electret to counter electrode, a narrow gap between mass and electret is feasible. The device can generate the power as far as the input acceleration is enough for the mass to reach the electret surface, even at the frequency apart from the resonant one. It leads to high output power for broad frequency bandwidth. There is almost no hysteresis between the up sweep curve and down sweep one. Thus, the device can generate a stable output against frequency change.

DOI： 10.1299/jsmemnm.2013.5.7

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Language：Japanese   Publisher：公益社団法人 精密工学会  

本研究の発電デバイスには対向した電極をもち，それぞれの表面にポリマエレクトレットと誘電体がある。振動により両電極が近づくと正電荷が上部電極に引き寄せられ，電極が離れると電荷が下部電極に移動することで発電する。理論では誘電率が高いほど発電量が高いが，実験ではPZTより誘電率の低いTiBaO₃化合物の発電量が高かった。これはPZTのもつ分極量-電界ヒステリシスによりエネルギの損失が起きたためである。

DOI： 10.11522/pscjspe.2013a.0.503.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

A flexible vacuum gripper with an autonomous switchable valve is proposed. These valves are normally close and opened when contacted with the object. Since the gripper is made of flexible polymer such as Polydimethylsiloxan (PDMS), this gripper can hold a free-form surface. As the valves become small, the gripper can hold object with high step and curvature. The gripper with 64 valves was fabricated using Micro Electro Mechanical Systems (MEMS) technology. The gripper size was 100 mm^2 and absorption area is 11 mm^2. The experimental average vacuum absorption force was 0.42 N (43 gf) when the gage pressure was -80 kPa.

DOI： 10.1299/jsmermd.2013._1a1-l02_1

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2013a.0.49.0

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Language：Japanese   Publisher：The Japan Society for Precision Engineering  

DOI： 10.11522/pscjspe.2013a.0.909.0

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper was proposed a stacked and arrayed electrostatic actuator using plasticized PVC gel. The response actuator is higher than conventional plasticized PVC gel actuator, since gel moves in air. The monolayer actuator had 4 arrayed actuation area. The 4 stacked monolayer was actuated each layer. The displacement of stacked monolayer was 28 μm when applied dc voltage was 400 V. The calculated summation of each displacement of layer was larger than the experimental total displacement, because the adhesion force between electrode and gel was weaken. The resonant frequency and amplitude of stacked monolayer were 57 Hz and 42 μm, respectively.

DOI： 10.1299/jsmermd.2013._2p1-d08_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposed the micro actuator using force by electro-hydro-dynamics (EHD) effect and electrostatic force for enhancing force per unit volume. The device is smaller, both force is higher since scaling effect. The actuator can be small using Micro Electro Mechanical Systems (MEMS) technology. The device for verifying principle is fabricated by MEMS. The displacement by EHD effect and electrostatic was same as summation of each displacement by only EDH or electrostatic, at any applied voltage. The maximum displacement was 35 μm when 600 V was applied.

DOI： 10.1299/jsmermd.2013._2p1-d04_1

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Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

This paper proposed the robotic hand for gripping the various shaped and postured objects. This vacuum gripper has the membrane type suction cups which can be controlled an adsorption force by the pressure of gripper inside. This gripper can hold an object with steps, since the gripper has membrane type suction cups. Moreover, the adsorption force is stable, because the dust is not jammed in the exhaust flow channels. Using Polydimethylsiloxan for the structure, the gripper can hold a curved object. The maximum adsorption force of the gripper was 20 N (2.1 kgf). The gripper lifted up the bottle (mass: 0.5 kg, curvature radius: 38 mm), which was leans at 30 degrees before gripping.

DOI： 10.1299/jsmermd.2013._1a1-k03_1