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Construction of Control Method for Skeletal Muscle Module

Research Project

Project/Area Number 19K14946
Research Category

Grant-in-Aid for Early-Career Scientists

Allocation TypeMulti-year Fund
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionNagoya University

Principal Investigator

Takeuchi Masaru  名古屋大学, 工学研究科, 助教 (20713374)

Project Period (FY) 2019-04-01 – 2022-03-31
Project Status Discontinued (Fiscal Year 2021)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2021: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2020: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2019: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywords筋組織 / モジュール構造 / 薄膜センサ / マイクロアクチュエータ / 骨格筋培養 / アクチュエータ / マイクロロボット
Outline of Research at the Start

本研究では、申請者が有するマイクロファブリケーション技術及び細胞培養・生体組織構築技術を用いて、骨格筋によるアクチュエータ及び筋紡錘に相当するマイクロセンサを統合した骨格筋アクチュエータモジュールを作製する。これにより、生体内の骨格筋が有する精密でしなやかな駆動を生体外で実現するために必要な制御機構の解明を目指す。

Outline of Final Research Achievements

In this research, the development of in vitro muscle actuators had been conducted. The muscle actuators were prepared using biological cells C2C12, and artificial tendon structures were attached to both ends of a muscle actuator. The actuation of developed muscle actuators was evaluated and the muscle motion was observed when an electric stimulation was applied to the muscle actuator. A thin-film flexible displacement sensor was also developed to measure the actuation amount of the muscle actuators. The output of the developed sensor showed that the sensor has the potential to measure the motion of the muscle actuators. The developed muscle actuators will be used to control multi-degree of freedom micro-robots, and to investigate precise control methods of soft robots.

Academic Significance and Societal Importance of the Research Achievements

本研究では、骨格筋にマイクロセンサ、腱構造を統合し、フィードバック制御を可能とする骨格筋アクチュエータモジュールの作製を行った。その結果、モジュール化した骨格筋の駆動に成功し、駆動量を計測するためのセンサについても開発した。筋力のしなやかな制御という生物が元来有する骨格筋の特性を実現する制御機構とは何か、ロボット等に用いられている工学的な制御手法においてそのような特性がどこまで再現が可能であるのか、についてこのモジュールを用いることで明らかにすることも将来的に期待ができる。

Report

(3 results)
  • 2021 Final Research Report ( PDF )
  • 2020 Annual Research Report
  • 2019 Research-status Report
  • Research Products

    (9 results)

All 2020 2019

All Journal Article (3 results) (of which Int'l Joint Research: 2 results,  Peer Reviewed: 3 results,  Open Access: 2 results) Presentation (6 results) (of which Int'l Joint Research: 4 results)

  • [Journal Article] Multilayered Artificial Dura-Mater Models for a Minimally Invasive Brain Surgery Simulator2020

    • Author(s)
      Takeuchi Masaru、Hayakawa Shusaku、Ichikawa Akihiko、Hasegawa Akiyuki、Hasegawa Yasuhisa、Fukuda Toshio
    • Journal Title

      Applied Sciences

      Volume: 10 Issue: 24 Pages: 9000-9000

    • DOI

      10.3390/app10249000

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Magnetic self-assembly of toroidal hepatic microstructures for micro-tissue fabrication2020

    • Author(s)
      Masaru Takeuchi、Masaki Iriguchi、Mamoru Hattori、Eunhye Kim、Akihiko Ichikawa、Yasuhisa Hasegawa、Qiang Huang、Toshio Fukuda
    • Journal Title

      Biomedical Materials

      Volume: 15 Issue: 5 Pages: 055001-055001

    • DOI

      10.1088/1748-605x/ab8487

    • NAID

      120006941040

    • Related Report
      2020 Annual Research Report 2019 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] On-Chip Fabrication of Cell-Attached Microstructures using Photo-Cross-Linkable Biodegradable Hydrogel2020

    • Author(s)
      Masaru Takeuchi, Taro Kozuka, Eunhye Kim, Akihiko Ichikawa, Yasuhisa Hasegawa, Qiang Huang, Toshio Fukuda
    • Journal Title

      Journal of Functional Biomaterials

      Volume: 11 Issue: 1 Pages: 18-18

    • DOI

      10.3390/jfb11010018

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] Construction of Multiple Hepatic Lobule like 3D Vascular Networks by Manipulating Magnetic Tweezers toward Tissue Engineering2020

    • Author(s)
      E. Kim, M. Takeuchi, T. Kozuka, T. Nomura, A. Ichikawa, Y. Hasegawa, Q. Huang, T. Fukuda
    • Organizer
      2020 IEEE International Conference on Intelligent Robots and Systems (IROS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] スキャフォールドゲル削減による高細胞密度の培養筋の作製2020

    • Author(s)
      野村 匠永、竹内 大、Kim Eunhye、長谷川 泰久、福田 敏男
    • Organizer
      第21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
    • Related Report
      2020 Annual Research Report
  • [Presentation] モジュラーバイオアクチュエータの積層による培養筋出力の制御2020

    • Author(s)
      野村匠永、市川明彦、竹内大、金恩恵、福田敏男
    • Organizer
      ロボティクス・メカトロニクス講演会2020
    • Related Report
      2020 Annual Research Report
  • [Presentation] Magnetic Self-assembly of Toroidal Microstructures by Shaking for Micro-tissue Fabrication2019

    • Author(s)
      Masaru Takeuchi, Masaki Iriguchi, Mamoru Hattori, Eunhye Kim, Akihiko Ichikawa, Akiyuki Hasegawa, Yasuhisa Hasegawa, Toshio Fukuda
    • Organizer
      2019 International Conference on Manipulation, Automation and Robotics at Small Scales
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of Modular Bio Actuators Used Artificial Tendon Structure2019

    • Author(s)
      Takuto Nomura, Masaru Takeuchi, Akihiko Ichikawa, Eunhye Kim, Toshio Fukuda
    • Organizer
      2019 International Symposium on Micro-NanoMechatronics and Human Science
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Making Micro Structure with Biodegradable Materials2019

    • Author(s)
      Taro Kozuka, Masaru Takeuchi, Akihiko Ichikawa, Toshio Fukuda
    • Organizer
      2019 International Symposium on Micro-NanoMechatronics and Human Science
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research

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Published: 2019-04-18   Modified: 2023-01-30  

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