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A study of the fast phase transformation of Shape-memory alloy wires and its application to tactile display and bidirectional tactile communication

Research Project

Project/Area Number 20H04214
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 61010:Perceptual information processing-related
Research InstitutionWaseda University

Principal Investigator

Sawada Hideyuki  早稲田大学, 理工学術院, 教授 (00308206)

Co-Investigator(Kenkyū-buntansha) 重宗 宏毅  芝浦工業大学, 工学部, 准教授 (40822466)
ハルトノ ピトヨ  中京大学, 工学部, 教授 (90339747)
Project Period (FY) 2020-04-01 – 2024-03-31
Project Status Completed (Fiscal Year 2023)
Budget Amount *help
¥17,680,000 (Direct Cost: ¥13,600,000、Indirect Cost: ¥4,080,000)
Fiscal Year 2023: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2022: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2021: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2020: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Keywords形状記憶合金 / 高速相変態 / 触覚計測 / 触覚提示 / 触覚感覚 / 触覚通信 / ソフトアクチュエータ / ソフトロボット / 触覚センシング / ソフトセンサ
Outline of Research at the Start

申請者らは、SMAの微細ワイヤにパルス電流を流すと、その周波数に同期して300Hzを超える十分に触知覚が可能な振動が発生することを見出した。本研究では、Ti-Ni-Cu系SMAワイヤを中心とし、その高速伸縮動作と時間応答を精密に測定して、物性的特性を解明する。また、SMAの変態動作のダイナミクスならびに変態量を制御する手法を確立し、ソフトアクチュエータ、フレキシブルセンサへの応用展開を図る。更に微細ワイヤの特徴を生かし、微小振動パターンによって様々な触覚感覚を人工的に創り出して触覚伝送を可能とする、双方向触覚コミュニケーションシステムを構築する。

Outline of Final Research Achievements

In this study, we precisely measured the high-speed contraction and expansion behavior and time response of Ti-Ni-Cu SMA wires, which occurred in synchronization with the frequency of a pulse current, and resulted in the understanding of their physical properties. We then established a method to precisely control the transformation behavior and the amount of transformation of SMA wires, and proposed novel soft actuators and soft sensors. In particular, we constructed a tactile sensor and a high-density tactile display capable of measuring and reproducing tactile sensations when we slide our hand on the surface of a material, and confirmed their effectiveness. Furthermore, we aimed to develop soft robots as an application of the new SMA transducers. A fish robot and a caterpillar robot were constructed, and we demonstrated that unprecedented flexible behavior was possible from the perspective of biomimetics.

Academic Significance and Societal Importance of the Research Achievements

SMAの相変態は吸熱と発熱による温度によって引き起こされるため、一般的に高速動作が要求されるアクチュエーションには不向きであると考えられていた。SMAワイヤを数百Hzで変位させて振動アクチュエータとして利用するものは、申請者らの研究成果が世界的にも初めてであり、この挙動を科学的に解明し、精密に振動周波数と変位を制御する手法を確立した。更に、微細なSMAワイヤから生じるμmオーダの微小振動を制御して触覚のセンシングと提示を同時に行うことが可能なデバイスを構築した。本デバイスは2~3V程度の省電力駆動が可能であることから、汎用モバイル機器からの触覚提示が可能であり、触覚通信の実用化が期待できる。

Report

(5 results)
  • 2023 Annual Research Report   Final Research Report ( PDF )
  • 2022 Annual Research Report
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • Research Products

    (47 results)

All 2024 2023 2022 2021 2020 Other

All Int'l Joint Research (1 results) Journal Article (24 results) (of which Int'l Joint Research: 3 results,  Peer Reviewed: 24 results,  Open Access: 17 results) Presentation (20 results) (of which Int'l Joint Research: 6 results,  Invited: 5 results) Book (1 results) Remarks (1 results)

  • [Int'l Joint Research] Technical University of Kosice(スロバキア)

    • Related Report
      2023 Annual Research Report
  • [Journal Article] Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality2024

    • Author(s)
      Renke Liu, Huakai Zheng, Maros Hliboky, Hiroki Endo, Shuyao Zhang, Yusuke Baba, Hideyuki Sawada
    • Journal Title

      Biomimetics

      Volume: 9 Issue: 3 Pages: 151-151

    • DOI

      10.3390/biomimetics9030151

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] A ball-jointed tendon-driven continuum robot with multi-directional operability for grasping objects2024

    • Author(s)
      Ryo Onose, Hideyuki Sawada
    • Journal Title

      ROBOMECH Journal

      Volume: 11 Issue: 1 Pages: 4-4

    • DOI

      10.1186/s40648-024-00272-4

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Context-flexible cartography with Siamese topological neural networks2024

    • Author(s)
      Pitoyo Hartono
    • Journal Title

      Discover Artificial Intelligence

      Volume: 4 (3) Issue: 1 Pages: 1-15

    • DOI

      10.1007/s44163-023-00098-w

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] An Inchworm Robot with Self-Healing Ability Using SMA Actuators2023

    • Author(s)
      Haruya Fukuchi, Hideyuki Sawada
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 35 Issue: 6 Pages: 1615-1621

    • DOI

      10.20965/jrm.2023.p1615

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2023-12-20
    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Analysis of the Micro-vibration Characteristics of a Shape Memory Alloy Wire2023

    • Author(s)
      岩名 紘基、重宗 宏毅、澤田 秀之
    • Volume
      J106-C
    • Issue
      2
    • Pages
      79-85
    • DOI

      10.14923/transelej.2022JCP5005

    • ISSN
      1881-0217
    • Year and Date
      2023-02-01
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] The Application of Micro-Vibratory Phenomena of a Shape-Memory Alloy Wire to a Novel Vibrator2023

    • Author(s)
      Takashi Chujo, Hideyuki Sawada
    • Journal Title

      Vibration

      Volume: 6 (3) Issue: 3 Pages: 584-598

    • DOI

      10.3390/vibration6030036

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] A wearable assistive system for the visually impaired using object detection, distance measurement and tactile presentation2023

    • Author(s)
      Yiwen Chen, Junjie Shen, Hideyuki Sawada
    • Journal Title

      Intelligence & Robotics

      Volume: 3 (3) Issue: 3 Pages: 420-435

    • DOI

      10.20517/ir.2023.24

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] A Novel Cooling Design for an Agonistic-Antagonistic SMA Tendon-Driven Actuator2023

    • Author(s)
      Renke Liu, Shuyao Zhang, Yusuke Baba, Hideyuki Sawada
    • Journal Title

      Actuators

      Volume: 12 (11) Issue: 11 Pages: 415-415

    • DOI

      10.3390/act12110415

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] An SMA Wire-based Tendon Actuator and its Application on Robotic Fingers2023

    • Author(s)
      Liu Renke, Sawada Hideyuki
    • Journal Title

      Proc. of IEEE International Conference on Mechatronics and Automation

      Volume: ICMA2023 Pages: 681-686

    • DOI

      10.1109/icma57826.2023.10216073

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Human-Guided Transfer Learning for Autonomous Robot2023

    • Author(s)
      Minako Oriyama, Pitoyo Hartono, Hideyuki Sawada
    • Journal Title

      ICONIP 2023 Communications in Computer and Information Science

      Volume: 1961 Pages: 186-198

    • DOI

      10.1007/978-981-99-8126-7_15

    • ISBN
      9789819981250, 9789819981267
    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] An SMA Transducer for Sensing Tactile Sensation Focusing on Stroking Motion2023

    • Author(s)
      Oya Ryusei、Sawada Hideyuki
    • Journal Title

      Materials

      Volume: 16 Issue: 3 Pages: 1016-1016

    • DOI

      10.3390/ma16031016

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Self-Actuating and Nonelectronic Machines2022

    • Author(s)
      Maeda Shingo、Shigemune Hiroki、Sawada Hideyuki
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 34 Issue: 2 Pages: 249-252

    • DOI

      10.20965/jrm.2022.p0249

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2022-04-20
    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] A wireless bionic soft robotic fish using shape-memory alloy actuators2022

    • Author(s)
      Ning Kewei、Sawada Hideyuki
    • Journal Title

      IAES International Journal of Robotics and Automation (IJRA)

      Volume: 11 Issue: 4 Pages: 278-278

    • DOI

      10.11591/ijra.v11i4.pp278-287

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Using inverse learning for controlling bionic robotic fish with SMA actuators2022

    • Author(s)
      Ning Kewei、Hartono Pitoyo、Sawada Hideyuki
    • Journal Title

      MRS Advances

      Volume: 7 Issue: 30 Pages: 649-655

    • DOI

      10.1557/s43580-022-00328-w

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] A Wearable Assistive Device for Blind Pedestrians Using Real-Time Object Detection and Tactile Presentation2022

    • Author(s)
      Shen Junjie、Chen Yiwen、Sawada Hideyuki
    • Journal Title

      Sensors

      Volume: 22 Issue: 12 Pages: 4537-4537

    • DOI

      10.3390/s22124537

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Cooperative Multi-Robot Hierarchical Reinforcement Learning2022

    • Author(s)
      Setyawan Gembong Edhi、Hartono Pitoyo、Sawada Hideyuki
    • Journal Title

      International Journal of Advanced Computer Science and Applications

      Volume: 13 Issue: 9 Pages: 35-44

    • DOI

      10.14569/ijacsa.2022.0130904

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] An In-Depth Analysis of Cooperative Multi-Robot Hierarchical Reinforcement Learning2022

    • Author(s)
      Gembong Edhi Setyawan, Pitoyo Hartono, Hideyuki Sawada
    • Journal Title

      Proc. of International Conference on Sustainable Information Engineering and Technology

      Volume: SIET2022 Pages: 119-126

    • DOI

      10.1145/3568231.3568258

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] An untethered soft robotic fish using SMA wires and its performance analysis2021

    • Author(s)
      Chen Xiaojie、Ning Kewei、Shigemune Hiroki、Sawada Hideyuki
    • Journal Title

      International Journal of Mechatronics and Automation

      Volume: 8 Issue: 4 Pages: 229-240

    • DOI

      10.1504/ijma.2021.120384

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Touching 4D Objects with 3D Tactile Feedback2021

    • Author(s)
      Haruo Igarashi, Hideyuki Sawada
    • Journal Title

      IEEE International Conference on Human System Interaction

      Volume: HSI2021 Pages: 132-138

    • DOI

      10.1109/hsi52170.2021.9538790

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Four‐dimensional collision detection and behaviour based on the physics‐based calculation2021

    • Author(s)
      Nakai Yuki、Miwa Takanobu、Shigemune Hiroki、Sawada Hideyuki
    • Journal Title

      Expert Systems

      Volume: * Issue: 2 Pages: 12668-12668

    • DOI

      10.1111/exsy.12668

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] End-to-End Tactile Feedback Loop: From Soft Sensor Skin Over Deep GRU-Autoencoders to Tactile Stimulation2020

    • Author(s)
      Geier Andreas、Tucker Rawleigh、Somlor Sophon、Sawada Hideyuki、Sugano Shigeki
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 5 Issue: 4 Pages: 6467-6474

    • DOI

      10.1109/lra.2020.3012951

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Morphological Computation of Skin Focusing on Fingerprint Structure2020

    • Author(s)
      Akane Musha, Manabu Daihara, Hiroki Shigemune, Hideyuki Sawada
    • Journal Title

      Artificial Neural Networks and Machine Learning - ICANN2020

      Volume: ICANN2020 Pages: 470-481

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] An Untethered Bionic Robotic Fish Using SMA Actuators2020

    • Author(s)
      Xiaojie Chen, Hiroki Shigemune, Hideyuki Sawada
    • Journal Title

      IEEE International Conference on Mechatronics and Automation

      Volume: ICMA2020 Pages: 1768-1773

    • DOI

      10.1109/icma49215.2020.9233798

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Presenting Braille Information on Two Fingers Using Vibratory Patterns from an Array of Shape-memory Alloys2020

    • Author(s)
      Aiemsetthee Nuttasorn, Sawada Hideyuki
    • Journal Title

      Proc. of IEEE International Conference on Human System Interaction

      Volume: HSI2020 Pages: 322-327

    • DOI

      10.1109/hsi49210.2020.9142676

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Presentation] 力覚による接触感覚提示を伴う4次元空間インタラクションシステムの構築2024

    • Author(s)
      五十嵐治雄, 澤田秀之
    • Organizer
      情報処理学会 第86回全国大会
    • Related Report
      2023 Annual Research Report
  • [Presentation] SMAワイヤを用いたエイ型ロボットのためのヒレ構造の開発2023

    • Author(s)
      後藤舟, 澤田秀之
    • Organizer
      ROBOMECH2023
    • Related Report
      2023 Annual Research Report
  • [Presentation] 形状記憶合金の微小振動現象を利用したバイブレータの開発2023

    • Author(s)
      中條崇, 澤田秀之
    • Organizer
      情報処理学会 第85回全国大会
    • Related Report
      2022 Annual Research Report
  • [Presentation] 振動と温度のマルチモーダルディスプレイを用いた皮膚の触覚感覚の評価2023

    • Author(s)
      野澤朋広, 澤田秀之
    • Organizer
      情報処理学会 第85回全国大会
    • Related Report
      2022 Annual Research Report
  • [Presentation] Using Inverse Learning for Controlling Bionic Soft Robot Fish with SMA Actuators2022

    • Author(s)
      Kewei Ning, Pitoyo Hartono, Hideyuki Sawada
    • Organizer
      2022 Virtual Materials Research Society (MRS) Spring Meeting & Exhibit
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 自己修復ゲルを用いたイモムシ型ロボットの尺取り動作の再現2022

    • Author(s)
      福地晴也, 澤田秀之
    • Organizer
      ROBOMECH2022
    • Related Report
      2022 Annual Research Report
  • [Presentation] An SMA-wire-driven actuator for robotic finger2022

    • Author(s)
      Liu Renke, 澤田秀之
    • Organizer
      日本電子材料技術協会 第59回秋期講演大会
    • Related Report
      2022 Annual Research Report
  • [Presentation] SMAワイヤを用いたピンアレイ型ウェアラブル触覚ディスプレイ2022

    • Author(s)
      馬場悠輔, 澤田秀之
    • Organizer
      情報処理学会第 84 回全国大会講演論文集
    • Related Report
      2021 Annual Research Report
  • [Presentation] 形状記憶合金ワイヤの振動特性の計測2022

    • Author(s)
      岩名紘基, 重宗宏毅, 澤田秀之
    • Organizer
      情報処理学会第 84 回全国大会講演論文集
    • Related Report
      2021 Annual Research Report
  • [Presentation] なぞり速度が SMA 触覚センサに与える影響の考察2022

    • Author(s)
      大矢隆晟, 澤田秀之
    • Organizer
      情報処理学会第 84 回全国大会講演論文集
    • Related Report
      2021 Annual Research Report
  • [Presentation] A Wireless Soft Robotic Fish for the Natural Swimming Behavior2021

    • Author(s)
      Kewei Ning, Hideyuki Sawada
    • Organizer
      日本電子材料技術協会 第58回秋期講演大会
    • Related Report
      2021 Annual Research Report
  • [Presentation] Socio-Economic Changes with AI and Robots2021

    • Author(s)
      Hideyuki Sawada
    • Organizer
      KKU International Engineering Conference
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Displaying Tactile Sensation using SMA Actuators and Sensors2021

    • Author(s)
      Hideyuki Sawada
    • Organizer
      28th International Display Workshop
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] A shape-memory alloy wire that generates micro-vibration while sensing force2021

    • Author(s)
      Hideyuki Sawada
    • Organizer
      International Chemical Congress of Pacific Basin Societies (Pacifichem 2021)
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] SMAセンサを用いた深層学習による触覚パターンの分類2021

    • Author(s)
      大矢隆晟, 澤田秀之
    • Organizer
      情報処理学会第83回全国大会講演論文集
    • Related Report
      2020 Annual Research Report
  • [Presentation] カラーセンシングと SMAアクチュエータを用いた色-触覚変換デバイス2021

    • Author(s)
      碓井宏和, 澤田秀之
    • Organizer
      情報処理学会第83回全国大会講演論文集
    • Related Report
      2020 Annual Research Report
  • [Presentation] 触覚フィードバックを伴う4次元空間可視化システム2021

    • Author(s)
      五十嵐治雄, 澤田秀之
    • Organizer
      情報処理学会第83回全国大会講演論文集
    • Related Report
      2020 Annual Research Report
  • [Presentation] 物理学の視点から Science を味わう2021

    • Author(s)
      澤田秀之
    • Organizer
      菅平スキー科学セミナー2021
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 形状記憶合金ワイヤの振動現象の解析とアクチュエータ応用について2020

    • Author(s)
      岩名紘基, 澤田秀之
    • Organizer
      日本電子材料技術協会 第57回 秋期講演大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] New physical properties of a shape-memory alloy and their applications to sensors and actuators2020

    • Author(s)
      Hideyuki Sawada
    • Organizer
      FILKOM Tech Talk webinar, Universitas Brawijaya, Indonesia
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research / Invited
  • [Book] ハプティクスとその応用 ―力触覚の伝送・記録・再現・表示―2022

    • Author(s)
      大西公平, 内村裕 監修
    • Total Pages
      340
    • Publisher
      シーエムシー出版
    • ISBN
      9784781316864
    • Related Report
      2022 Annual Research Report
  • [Remarks] 早稲田大学 先進理工学部 応用物理学科 澤田研究室

    • URL

      http://www.sawada.phys.waseda.ac.jp/

    • Related Report
      2023 Annual Research Report 2022 Annual Research Report 2021 Annual Research Report 2020 Annual Research Report

URL: 

Published: 2020-04-28   Modified: 2025-01-30  

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