Koichi Suzumori

Tokyo Institute of Technology

Author Statistics

Papers

Citation

H-Index

i-10 index

Research Trends

Author Order

Document Type

Co-Authors

Hiroyuki Nabae

Tokyo Institute of Technology

263

Takefumi Kanda

Okayama University

249

Gen Endo

Tokyo Institute of Technology

211

Shuichi Wakimoto

Okayama University

147

Ahmad Athif Mohd Faudzi

University of Technology Malaysia

Daisuke Yamaguchi

Okayama University

Daisuke HIROOKA

Kansai University

Shunichi Kurumaya

Chuo University

Tetsuya Horiuchi

National Institute of Advanced Industrial Science and Technology

Kazuo Uzuka

Tokyo Ohka Kogyo (Japan)

Cooperative Institutions

Okayama University

200

Toshiba (Japan)

169

Yokohama National University

158

Beijing Institute of Technology

155

Marymount University

154

Tokyo Institute of Technology

154

The University of Tokyo

Osaka University

Kyoto University

Tohoku University

Author Statistics

Papers

Citation

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i-10 index

Research Field

Swimming IPMC thin film soft robot fabricated through malti-layer casting process

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2019)

Akio Kodaira Kinji Asaka Tetsuya Horiuchi Hiroyuki Nabae Gen Endo

In this paper, we report on a multi-layer casting process of a Nafion membrane to produce a monolithic thin film robot (MTFR). This robot is developed on the basis of the novel concept of a soft robot, which has both a body part and an actuator part and does not require a mechanical and electrical assembly process. A MTFR is made from only one thin film that has thicknesses gradient. The thick parts of the membrane act as bone structures, and the thin parts of the membrane function as actuators. This multi-function structure of the MTFR realizes an assemblyless manufacturing process. To fabricate the monolithic film with a distributed thickness, we propose a multilayer casting process. To demonstrate the potential of a MTFR for use in a biomimetic application, we manufactured anomalocaris-like MTFR and conducted self-sustaining driving experiment in water.

Soft Robotics

Thin layers

10.1299/jsmermd.2019.1p1-g09

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Prototype of Musculoskeletal Trunk with Thin Mckibben Muscles

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2019)

Shunichi Kurumaya Hiroyuki Nabae Gen Endo Koichi Suzumori

Musculoskeletal trunk with 76 degree of freedom driven by thin McKibben muscles has been developed. Trunk mechanism of conventional musculoskeletal robots is simplified or underactuated and do not have all muscles of human because it is difficult for conventional actuators to be attached. Because thin McKibben muscles are small enough to be densely attached, we can overcome these problems by applying them to the back of the musculoskeletal robot.

10.1299/jsmermd.2019.1p1-h03

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産業応用に向けた3Dプリンタ製ロボット機構部品第2報:樹脂製減速機の製作及び試験

賢央吉田 Takateru Yoshida 康一鈴森 Koichi Suzumori 裕之難波江

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Development of nutation motors : 3^<rd> report : Design and basic characteristics of electromagnetic nutation motor

Kiso Junkatsu Sekkei Bumon Kouenkai kouen rombunshuu/Kiso Junkatsu Sekkei Bumon Koenkai koen ronbunshu (2003)

Kazuo Uzuka Isao ENOMOTO Koichi Suzumori Takashi Nagata

The previous report reported on the pneumatic nutation motor which used air pressure. In this paper, we report a new type nutation motor which doesn't use air pressure, named electromagnetic nutation motor consisting of some electromagnets, a rotary bevel gear and a fixed bevel gear. Driving the electromagnets sequentially causes nutation of the rotary bevel gear, which makes the output shaft to rotate through universal joint. In this report, first, the driving principle and design of this motor are presented. Next, the prototype of electromagnetic nutation motor is fabricated and tested. The features of electromagnetic nutation motor are (1) simple structure, (2) low noise and low vibration, (3) limitless low speed operation, (4) high resolution stepping operation.

Nutation

Bevel gear

Bevel

Electromagnet

10.1299/jsmemdt.2003.3.159

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Study of Droplet Manipulation Condition in Droplet Manipulation Device using Ultrasonic Vibration

IEEJ Transactions on Sensors and Micromachines (2016)

Kenichi Onishi Takefumi Kanda Naoya Ogawa Koichi Suzumori

In this study, we have fabricated a droplet manipulation device which has a microchannel oscillated by piezoelectric actuator. This device can manipulate droplets by producing a pressure distribution of a standing acoustic field caused by ultrasonic vibration in the microchannel. The manipulated droplet's size has been estimated from the relationship between acoustic force and viscous force. The device has been designed by using a finite element method analysis. Fabricated device has been evaluated by observing droplets in manipulation experiment and measuring a manipulated droplet's distribution. When n-dodecane was used as dispersed phase, this device can manipulate a droplet whose diameter is larger than 20µm when the applied voltage and the driving frequency were 80Vp-p and 2.25MHz. When Silicone oil was used as dispersed phase, the manipulated droplets diameter was larger than 15µm. From these results, we have indicated that the microchannel device can manipulate droplets by using ultrasonic vibration.

Microchannel

Silicone oil

10.1541/ieejsmas.136.348

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Citations (1)

Frequency Response of Honeycomb Structured IPMC Actuator Fabricated through 3D Printing with Dispersion Liquid

Hiroyuki Nabae Asuka Ishiki Tetsuya Horiuchi Kinji Asaka Gen Endo

Ionic Polymer Metal Composites (IPMCs) have tremendous potential in the field of soft robotics, but their applications are currently limited by the restraints of the fabrication process. This paper introduces a fabrication method that produces thinner 3D structures, which is advantageous for use in micro soft robots. In this study, a honeycomb structured IPMC actuator was fabricated through 3D printing with dispersion liquid that utilizes water and propanol as a solvent. The frequency response of the prototype was measured to evaluate the fabricated microstructure and the results show that the proposed method to manufacture IPMC actuators with microstructures was successful.

Honeycomb

Soft Robotics

Smart material

10.1109/mhs48134.2019.9249289

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Citations (1)

Continuous air control using particle excitation valve

2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2011)

Daisuke HIROOKA Koichi Suzumori Takefumi Kanda

In this paper, we report a new prototype of the particle excitation flow control valve to control flow rate continuously. The purpose of this study is the development of the valve that can precisely control pneumatic cylinders. We reported this flow control valve principle in the previous paper and concluded the diameter of orifice is an important parameter for flow rate change. In this report, we have designed a new prototype for the purpose of high controllability. We have measured flow rate characteristics and confirmed the conditions necessary for continuous adjustment of flow quantity by experiment.

Flow control valve

Flow Control

Control valves

Particle (ecology)

Valve actuator

10.1109/aim.2011.6027012

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Citations (2)

Applying Active Slug Flow Process to Lithium Ion Extraction Process

대한기계학회 춘추학술대회 (2013)

Nobuhiro Kadowaki Koichi Suzumori Yoshiro Kawakami Akinori Muto

Slug flow

Source

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A Proposal of Super Long Reach Articulated Manipulator with Gravity Compensation using Thrusters

2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (2018)

Gen Endo Tetsuo Hagiwara Yoshihide Nakamura Hiroyuki Nabae Koichi Suzumori

This paper proposes a super long reach articulated manipulator with gravity compensation using thrusters. The proposed manipulator has (1) ground fixed base, (2) tethers for power and information transmission, (3) articulated links connected by joints, and (4) thruster(s) for weight compensation. Because of weight compensation by thruster(s), the proposed manipulator can be super long reach due to free from gravity. After an experiment using 1 D.O.F experimental setup for principle confirmation, and dynamics numerical simulation, an experimental prototype consisted of passive four-bar linkages, active yaw joints and paired counter-rotating propellers, was developed. We successfully demonstrated the proposed concept by three dimensional motions controlled by thrusters and yaw joints.

Manipulator (device)

10.1109/aim.2018.8452705

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Citations (10)

1P1-D19 Development of Active Polyhedron for physical man-machine interaction : Eighth report : Development of algorithm for interaction and Application of designing VR object

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) (2006)

Hiroshi Ogawa Kazuyoshi Kosaka Koichi Suzumori Takefumi Kanda

The goal of this research is to develop a new type of haptic interface termed "Active Polyhedron." The interface realizes a physical man-machine interaction with virtual continuum objects in PCs. Active polyhedrons are polyhedron-shaped linkage mechanisms. In this paper, we deal with an active icosahedron consisting of 30 intelligent cylinders, which have position sensor. In previous reports, the active icosahedron system was developed, and realized easy force presentation. In this report, we develop a new algorithm for Active Polyhedron's force-presentation. The algorithm is based on calculation of force which an apex outputs. Applying this algorithm to the active icosahedron, an operator could get force information from active icosahedron. And a new application for Active icosahedron is developed. The application is to design 3D-CAD shape data using Active icosahedron. Actually, the designed data is cut by 3D processing machine.

Polyhedron

Position (finance)

Interface (matter)

10.1299/jsmermd.2006._1p1-d19_1

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