A Study on Realization of Electrostatic Motors that are Applicable to Experiments for Fundamental Science Performed within Special Environments

• Project/Area Number: 16078203
• Research Category: Grant-in-Aid for Scientific Research on Priority Areas
• Allocation Type: Single-year Grants
• Review Section: Science and Engineering
• Research Institution: The University of Tokyo
• Principal Investigator: YAMAMOTO Akio The University of Tokyo, 大学院・工学系研究科, 准教授 (40313035)
• Project Period (FY): 2004 – 2008
• Project Status: Completed (Fiscal Year 2008)
• Budget Amount: ¥36,000,000 (Direct Cost: ¥36,000,000); Fiscal Year 2008: ¥6,300,000 (Direct Cost: ¥6,300,000); Fiscal Year 2007: ¥7,800,000 (Direct Cost: ¥7,800,000); Fiscal Year 2006: ¥9,300,000 (Direct Cost: ¥9,300,000); Fiscal Year 2005: ¥9,600,000 (Direct Cost: ¥9,600,000); Fiscal Year 2004: ¥3,000,000 (Direct Cost: ¥3,000,000)
• Keywords: アクチュエータ / モータ / 静電気力 / 強磁場 / 高真空 / 低温 / 液体窒素 / MRI / 静電モータ / 非磁性モータ / ハプティックデバイス / 生体モデリング / 非磁性センサ / 壁面移動ロボット / 人体モデリング / MR-compatible

Research Abstract

基礎科学実験や先端的な製造プロセスなどでは,強磁場,高温/低温,高真空などの特殊環境がしばしば用いられる.これらの環境では通常のモータの利用が困難になることから,これに代わるモータが求められている.本研究では既存モータとは異なる原理で駆動される静電モータに着目し,特殊環境への適合性の評価,特殊環境用アクチュエータの考案などを行った.特に強磁場を用いる装置の代表例であるMRI周辺での応用に積極的に取り組み,バイオメカニクス分野への応用などを実現した.

Research Products

• [Journal Article] Development of a 2-DOF Electrostatic Haptic Joystick toward MRI/fMRI related Studies (2009)
  • Author(s): M. Hara, G. Matthey, A. Yamamoto, 他4名
  • Journal Title: 2009 IEEE International Conference on Robotics and Automation Pages: 1479-1484
  • Peer Reviewed
• [Journal Article] Experimental Evaluation of Open-loop Swimming Control for a Robotic Fish Using Electrostatic Film Motors (2009)
  • Author(s): N. Yamashita, et.al.
  • Journal Title: Robotica (印刷中)(掲載決定)
  • Peer Reviewed
• [Journal Article] Development of a 2-DOF Electrostatic Haptic Joystick toward MRI/fMRI related Studies (2009)
  • Author(s): M. Hara, G. Matthey, A. Yamamoto, et.al.
  • Journal Title: Proceedings of 2009 IEEE International Conference on Robotics and Automation (印刷中)(掲載決定)
  • Peer Reviewed
• [Journal Article] Motion Generation in MR Environment Using Electrostatic Film Motor for Motion Triggered cine-MRI (2008)
  • Author(s): M. Rajendra, A. Yamamoto, 他5名M. Rajendra, A. Yamamoto, 他5名
  • Journal Title: IEEE/ASME Transactions on Mechatronics 13-3 Pages: 278-285
  • Peer Reviewed
• [Journal Article] 静電アクチュエータとその応用 〜ヒトとの親和性をめざす薄く透明なアクチュエータ〜 (2008)
  • Author(s): 山本晃生
  • Journal Title: 日本バーチャルリアリティ学会誌 13-2 Pages: 8-12
  • NAID: 10021139618
• [Journal Article] Electrostatically Actuated Robotics Fish : Design and Control for High-mobility Open-loop Swimming (2008)
  • Author(s): Z-G. Zhang, N. Yamashita, M. Gondo, A. Yamamoto, T. Higuchi
  • Journal Title: IEEE Transactions on Robotics 24-1 Pages: 118-129
  • Peer Reviewed
• [Journal Article] 静電フィルムアクチュエータ (2008)
  • Author(s): 山本晃生
  • Journal Title: トライボロジスト 53-2 Pages: 94-99
  • NAID: 10021138787
• [Journal Article] Motion Generation in MR Environment Using Electrostatic Film Motor for Motion Triggered cine-MRI (2008)
  • Author(s): M. Rajendra, A. Yamamoto, et.al.
  • Journal Title: IEEE/ASME Transactions on Mechatronics 13(3) Pages: 278-285
  • Peer Reviewed
• [Journal Article] 静電アクチュエータとその応用-ヒトとの親和性をめざす薄く透明なアクチュエータ- (2008)
  • Author(s): 山本晃生
  • Journal Title: 日本バーチャルリアリティ学会誌 13(2) Pages: 8-12
  • NAID: 10021139618
• [Journal Article] Electrostatically Actuated Robotics Fish: Design and control of High mibility Open-loop Swimming (2008)
  • Author(s): Zu Guang Zhang, et. al.
  • Journal Title: IEEE Transactions on Robotics 24-1 Pages: 118-129
  • Peer Reviewed
• [Journal Article] Voltage-Induction Type Electrostatic Film Motor Driven by Two-Four-Phase AC Voltage and Electrostatic Induction (2007)
  • Author(s): N. Yamashita, Z-G. Zhang, A. Yamamoto, M. Gondo, T. Higuchi
  • Journal Title: Sensors and Actuators A : Physical 140-2 Pages: 239-250
  • Peer Reviewed
• [Journal Article] Wall Climbing Mechanisms Using Electrostatic Attraction Generated by Flexible Electrodes (2007)
  • Author(s): A. Yamamoto, T. Nakashima, T. Higuchi
  • Journal Title: Proc. 2007 IEEE International Symposium on Micro-NanoMechatronics and Human Science Pages: 389-394
  • Peer Reviewed
• [Journal Article] Motion Generation in MRI Using an Electrostatic Linear Motor for Visualizing Internal Deformation of Soft Objects by Tagged Cine-MRI (2007)
  • Author(s): A. Yamamoto, M. Rajendra, Y. Hirano, H. Kataoka, H. Yokota, R. Himeno, T. Higuchi
  • Journal Title: IEEE International Symposium on Industrial Electronics Pages: 2741-2746
  • Peer Reviewed
• [Journal Article] Evaluation of an Electrostatic Film Motor Driven by Two-Four-Phase AC Voltage and Electrostatic Induction (2007)
  • Author(s): N. Yamashita, A. Yamamoto, M. Gondo, T. Higuchi
  • Journal Title: Proc. 2007 IEEE International Conference on Robotics and Automation Pages: 1572-1577
  • Peer Reviewed
• [Journal Article] Development of Robotic Fish Using Electrostatic Film Motors: The Seidengyo II Robot (2007)
  • Author(s): Zu Guang Zhang, et. al.
  • Journal Title: Advanced Robotics 21-15 Pages: 1787-1803
  • Peer Reviewed
• [Journal Article] Voltage-Induction Type Electrostatic Filn Motor Driven by Two-Four-Phase AC Voltage and Electrostatic Induction (2007)
  • Author(s): Norio Yamashita, et. al.
  • Journal Title: Sensors and Actuators A: Physical 140-2 Pages: 239-250
  • Peer Reviewed
• [Journal Article] Actuation methods for applications in MR environments (2006)
  • Author(s): R. Gassert, A. Yamamoto, 他4名
  • Journal Title: Concepts in Magnetic Resonance Part B : Magnetic Resonance Engineering 29B-4 Pages: 191-209
  • Peer Reviewed
• [Journal Article] A Built-in Displacement Sensor for an Electrostatic Film Motor (2006)
  • Author(s): T. Nishijima, A. Yamamoto, H. Yasui, T. Higuchi
  • Journal Title: Measurement Science and Technology 17-10 Pages: 2676-2682
  • Peer Reviewed
• [Journal Article] An Electrostatic Impact Drive Actuator Operated by DC High Voltage (2006)
  • Author(s): A. Yamamoto, H. Katsurai, T. Higuchi
  • Journal Title: Proc. 10th International Conference on New Actuators Pages: 697-700
  • Peer Reviewed
• [Journal Article] A 2-DOF Electrostatic Sheet Conveyer Using Wire Mesh for Desktop Automation (2006)
  • Author(s): A. Yamamoto, H. Yoshioka, T. Higuchi
  • Journal Title: Proc. 2006 IEEE International Conference on Robotics and Automation Pages: 2208-2213
  • Peer Reviewed
• [Journal Article] Development of a 1-DOF Haptic Device Using an Electrostatic Film Motor for fMRI studies (2006)
  • Author(s): A. Yamamoto, Y. Hirano, K. Ichiyanagi, T. Higuchi
  • Journal Title: Proc. 2006 IEEE International Conference on Robotics and Automation Pages: 4378-4380
• [Journal Article] 静電アクチュエータの高出力化とその応用 (2006)
  • Author(s): 山本晃生
  • Journal Title: マテリアルステージ 5-12 Pages: 49-54
• [Journal Article] Modeling and Identification of an Electrostatic Motor (2006)
  • Author(s): A. Yamamoto, T. Niino, T. Higuchi
  • Journal Title: Precision Engineering 30-1 Pages: 104-113
  • NAID: 10020609589
  • Peer Reviewed
• [Journal Article] Direct Electrostatic Transportation of Frozen Droplets in Liquid Nitrogen for Single Cryopreserved Cell Processing (2006)
  • Author(s): A. Yamamoto, T. Nakajima, K. Kudoh, T. Higuchi
  • Journal Title: Technical Digest of 19th IEEE International Conference on Micro Electro Mechanical Systems Pages: 382-685
  • Peer Reviewed
• [Journal Article] Actuation methods for applications in MR environments (2006)
  • Author(s): Roger Gassert, Akio Yamamoto, et al.
  • Journal Title: Concepts in Magnetic Resonance Part B : Magnetic Resonance Engineering 29B Pages: 191-209
• [Journal Article] A Built-in Displacement Sensor for an Electrostatic Film Motor (2006)
  • Author(s): Takashi Nishijima, Akio Yamamoto, et al.
  • Journal Title: Measurement Science and Technology 17, 10 Pages: 2676-2682
• [Journal Article] An Electrostatic Impact Drive Actuator Operated by DC High Voltage (2006)
  • Author(s): Akio Yamamoto, et al.
  • Journal Title: Proc. 10th Int. Conf. New Actuators (ACTUATOR 2006) Pages: 697-700
• [Journal Article] A 2-DOF Electrostatic Sheet Conveyer Using Wire Mesh for Desktop Automation (2006)
  • Author(s): Akio Yamamoto, et al.
  • Journal Title: Proc. 2006 IEEE International Conference on Robotics and Automation (ICRA06) Pages: 2208-2213
• [Journal Article] Development of a 1-DOF Haptic Device Using an Electrostatic Film Motor for fMRI studies (2006)
  • Author(s): Akio Yamamoto, et al.
  • Journal Title: Proc. 2006 IEEE International Conference on Robotics and Automation (ICRA06) Pages: 4378-4380
• [Journal Article] 静電フィルムモータを用いたハプティックデバイスの検討 (2006)
  • Author(s): 山本晃生他
  • Journal Title: 豊田研究報告 59 Pages: 133-137
  • NAID: 40015231298
• [Journal Article] Modeling and Identification of an Electrostatic Motor (2006)
  • Author(s): Akio Yamamoto, Toshiki Niino, Toshiro Higuchi
  • Journal Title: Precision Engineering 30・1 Pages: 104-113
  • NAID: 10020609589
• [Journal Article] Direct Electrostatic Transportation of Frozen Droplets in Liquid Nitrogen for Single Cryopreserved Cell Processing (2006)
  • Author(s): Akio Yamamoto, Tatsuru Nakajima, Kenichi Kudoh, Toshiro Higuchi
  • Journal Title: Technical Digest of 19^<th> IEEE International Conference on Micro Electra Mechanical Systems Pages: 382-385
• [Journal Article] 静電アクチュエータの高出力化とその応用 (2006)
  • Author(s): 山本晃生
  • Journal Title: マテリアルステージ 5・12 Pages: 49-54
• [Journal Article] 静電フィルムアクチュエータを用いた2自由度ロボットアームの開発 (2005)
  • Author(s): 西嶋, 山本晃生, 樋口, 稲葉
  • Journal Title: 精密工学会誌 71-12 Pages: 1574-1578
  • NAID: 110002545868
  • Peer Reviewed
• [Journal Article] 高出力両面駆動型積層静電モータ (2005)
  • Author(s): 山本晃生, 西嶋, 樋口, 稲葉
  • Journal Title: 精密工学会誌 71-10 Pages: 1245-1249
  • Peer Reviewed
• [Journal Article] Evaluation of MR-compatibility of Electrostatic Linear Motor (2005)
  • Author(s): A. Yamamoto, 他7名
  • Journal Title: Proc. 2005 IEEE International Conference on Robotics and Automation Pages: 3669-3674
  • Peer Reviewed
• [Journal Article] 静電フィルムアクチュエータを用いた2自由度ロボットアームの開発 (2005)
  • Author(s): 西嶋隆, 山本晃生, 樋口俊郎, 稲葉昭夫
  • Journal Title: 精密工学会誌 71・12 Pages: 1574-1578
  • NAID: 110002545868
• [Journal Article] 高出力両面駆動型積層静電モータ (2005)
  • Author(s): 山本晃生, 西嶋隆, 樋口俊郎, 稲葉昭夫
  • Journal Title: 精密工学会誌 71・10 Pages: 1245-1249
• [Journal Article] MRI強磁場環境における静電フィルムモータの駆動特性評価 (2005)
  • Author(s): 山本晃生, 一柳圭吾, 樋口俊郎
  • Journal Title: 豊田研究報告 58 Pages: 145-150
  • NAID: 40006813376
• [Journal Article] 大気雰囲気中における高出力静電モータのサーボ制御 (2005)
  • Author(s): 山本, 中島, 樋口
  • Journal Title: 2005年度精密工学会春季大会学術講演会講演論文集 Pages: 1171-1172
  • NAID: 130004657845
• [Journal Article] MRI環境下での高出力静電モータの駆動 (2005)
  • Author(s): 一柳, 山本, 樋口, 今水, R.Gassert, M.Ingold, L.Sache, H.Bleuler
  • Journal Title: 2005年度精密工学会春季大会学術講演会講演論文集 Pages: 443-444
  • NAID: 130004657440
• [Journal Article] Evaluation of MR-compatibility of Electrostatic Linear Motor (2005)
  • Author(s): A.Yamamoto, K.Ichiyanagi, T.Higuchi, H.Imamizu, R.Gassert, M.Ingold, L.Sache, H.Bleuler
  • Journal Title: Proc.IEEE International Conference on Robotics and Automation(ICRA 2005) (発表予定)
• [Journal Article] Encapsulated High-Power Electrostatic Linear Motor (2004)
  • Author(s): A.Yamamoto, K.Ichiyanagi, T.Nishijima T.Higuchi
  • Journal Title: Proc.7th International Conference on Motion and Vibration Contatol(MOVIC 2004) (CD-ROM)
• [Journal Article] Deformable Electrostatic Linear Motor (2004)
  • Author(s): A.Yamamoto, T.Nishijima, T.Higuchi
  • Journal Title: 2004 1st IEEE Technical Exhibition Based Conference on Robotics and Automation Proceedines(TExCRA 2004) (CD-ROM)
• [Journal Article] 静電フィルムアクチュエータ用小型駆動装置の開発 (2004)
  • Author(s): 西嶋, 山本, 樋口, 稲葉
  • Journal Title: 第22回日本ロボット学会学術講演会講演論文集 (CD-ROM)
• [Presentation] Application of Force Sensor made of Shielded Strain Gauges in MR-related Biomechanical Measurements (2007)
  • Author(s): Mayoran Rajendra, 他
  • Organizer: 第8回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 広島
  • Year and Date: 2007-12-22
• [Presentation] Wall climbing mechanisms using electrostatic attraction generated by flexible electrodes (2007)
  • Author(s): A. Yamamoto
  • Organizer: IEEE International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: 名古屋
  • Year and Date: 2007-11-13
• [Presentation] in vivo人体筋からの生理・力学情報の非侵襲計測 (2007)
  • Author(s): 小田俊明, 他
  • Organizer: 日本機械学会2007年度年次大会
  • Place of Presentation: 大阪
  • Year and Date: 2007-09-12
• [Presentation] Inverse FEMによる生体軟組織の異方性物性値同定 (2007)
  • Author(s): 片岡弘之, 他
  • Organizer: 日本機械学会2007年度年次大会
  • Place of Presentation: 大阪
  • Year and Date: 2007-09-12
• [Presentation] Application of an Electrostatic Film Motor in MRI-related Biomechanical Measurement (2007)
  • Author(s): Mayoran Rajendra, 他
  • Organizer: 日本機械学会2007年度年次大会
  • Place of Presentation: 大阪
  • Year and Date: 2007-09-11
• [Presentation] Motion Generation in MRI Using an Electrostatic Linear Motor for Visualizing Internal Deformation of Soft Objects by Tagged Cine-MRI (2007)
  • Author(s): Akio Yamamoto, et. al.
  • Organizer: IEEE International Symposium on Industrial Electronics
  • Place of Presentation: Vigo, Spain
  • Year and Date: 2007-06-06
• [Presentation] Development of Mechanical and Control Systems for a Robotic Fish Using Electrostatic Film Motors (2007)
  • Author(s): Zu Guang Zhang, et. al.
  • Organizer: IEEE International Symposium on Industrial Electronics
  • Place of Presentation: Vigo, Spain
  • Year and Date: 2007-06-05
• [Presentation] Electrostatic Linear Actuation System for Motion Generation inside MRI to Visualize Internal Deformation of Biological Objects (2007)
  • Author(s): M. Rajendra
  • Organizer: 2007 16th Annual Meeting of SMRT
  • Place of Presentation: Berlin, Germany
  • Year and Date: 2007-05-19
• [Presentation] Electrostatic Linear Actuation System for Motion Generation inside MRI to Visualize Internal Deformation of Biological Objects (2007)
  • Author(s): Mayoran Rajendra, 他
  • Organizer: 2007 Sixteenth Annual Meeting of the SMRT
  • Place of Presentation: Berlin, Germany
  • Year and Date: 2007-05-19
• [Presentation] Evaluation of an Electrostatic Film Motor Dirven by Two-Four-Phase AC Voltage and Electrostatic Induction (2007)
  • Author(s): Norio Yamashita, et. al.
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome, Italy
  • Year and Date: 2007-04-11
• [Presentation] Design and Control of a Fish-like Robot Using an Electrostatic Motor (2007)
  • Author(s): Zu Guang Zhang, et. al.
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Rome, Italy
  • Year and Date: 2007-04-11
• [Presentation] 静電モータによるMRI内部での動作生成と試料変形の観察 (2006)
  • Author(s): 山本晃生
  • Organizer: 平成18年秋季フルードパワーシステム講演会
  • Place of Presentation: 静岡
  • Year and Date: 2006-11-09
• [Presentation] A 2-DOF Electrostatic Sheet Conveyer Using Wire Mesh for Desktop Automation (2006)
  • Author(s): A. Yamamoto
  • Organizer: 2006 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Orlando, USA
  • Year and Date: 2006-05-17
• [Book] アクチュエータ工学 (2004)
  • Author(s): アクチュエータシステム技術企画委員会著
  • Publisher: 養賢堂
• [Remarks]
  • URL: http://am.t.u-tokyo.ac.jp/research.html
• [Remarks] 日経産業新聞2005/1/14「MRI画像乱さず : 東大手術ロボ用モーター
• [Remarks] ImpressロボットWatch, 2008/8/26
  • URL: http://robot.watch.impress.co.jp/cda/news/2008/08/26/1264.html
• [Remarks] ImpressロボットWatch 2008/4/30
  • URL: http://robot.watch.impress.co.jp/cda/news/2008/04/30/1029.html
• [Remarks] ImpressロボットWatch 2008/4/23
  • URL: http://robot.watch.impress.co.jp/cda/news/2007/04/23/458.html
• [Remarks]
  • URL: http://am.t.u-tokyo.ac.jp/research.html
• [Remarks]
  • URL: http://am.t.u-tokyo.ac.jp/
• [Patent(Industrial Property Rights)] 駆動アクチュエータ (2005)
  • Inventor(s): 山本晃生, 樋口俊郎
  • Industrial Property Rights Holder: 東京大学
  • Industrial Property Number: 2005-314354
  • Filing Date: 2005-05-17
• [Patent(Industrial Property Rights)] 特許(出願) (2005)
  • Inventor(s): 山本晃生ほか
  • Industrial Property Rights Holder: 東京大学
  • Industrial Property Number: 2005-314354
  • Filing Date: 2005-10-28