Development of variable impedance manipulator with PAM and MR Brake

• Project/Area Number: 23760139
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Design engineering/Machine functional elements/Tribology
• Research Institution: Chuo University
• Principal Investigator: NAKAMURA Taro 中央大学, 理工学部, 教授 (50315644)
• Project Period (FY): 2011 – 2013
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: ソフトマニピュレータ / ソフトロボティクス / ソフトアクチュエータ / アクチュエータ / メカトロニクス / 可変粘弾性

Research Abstract

In this study, we developed one-degree-of-freedom manipulator with a variable impedance joint using straight fiber type artificial muscle and magnetorheological brake.
With the generation of instantaneous force, the dead and rise time decreased compared to the conventional method. Further, we controlled the vibration of the arm by controlling the MR brake using evaluation functions

Research Products

• [Journal Article] Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake (2013)
  • Author(s): H Tomori, Y Midorikawa and T Nakamura
  • Journal Title: Journal of Physics : Conference Series Volume: Volume 412 Pages: 12053-12053
  • Peer Reviewed
• [Journal Article] Development of a manipulator with an opposed-placement-type ER clutch contributing to collision force reduction (2013)
  • Author(s): A Inoue, N Kanno, M Yoshikawa and T Nakamura
  • Journal Title: Journal of Physics : Conference Series Volume: Volume 412 Pages: 12012-12012
  • Peer Reviewed
• [Journal Article] Development of 1-DOF manipulator with variable rheological joint for instantaneous force (2013)
  • Author(s): T Majima, S Nagai, H Tomori and T Nakamura
  • Journal Title: Journal of Physics : Conference Series Volume: Volume 412 Pages: 12048-12048
  • Peer Reviewed
• [Journal Article] “Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake” (2013)
  • Author(s): H Tomori, Y Midorikawa and T Nakamura
  • Journal Title: Journal of Physics: Conference Series Volume: 412 Pages: 12053-12053
  • Peer Reviewed
• [Journal Article] Development of a manipulator with an opposed-placement-type ER clutch contributing to collision force reduction (2013)
  • Author(s): A Inoue, N Kanno, M Yoshikawa and T Nakamura
  • Journal Title: Journal of Physics: Conference Series Volume: 412 Pages: 12012-12012
  • Peer Reviewed
• [Journal Article] Development of 1-DOF manipulator with variable rheological joint for instantaneous force (2013)
  • Author(s): T Majima, S Nagai, H Tomori and T Nakamura
  • Journal Title: Journal of Physics: Conference Series Volume: 412 Pages: 12048-12048
  • Peer Reviewed
• [Journal Article] Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake”, (2013)
  • Author(s): H Tomori, Y Midorikawa and T Nakamura
  • Journal Title: Journal of Physics Volume: 412 Pages: 12053-12053
  • Peer Reviewed
• [Journal Article] Development of 1-DOF manipulator with variable rheological joint for instantaneous force”, (2013)
  • Author(s): T Majima, S Nagai, H Tomori and T Nakamura
  • Journal Title: Journal of Physics Volume: 412 Pages: 12048-12048
  • Peer Reviewed
• [Journal Article] Estimation of Joint Stiffness Using Instantaneous Loads via an Electromyogram and Application to a Master-slave System with an Artificial Muscle Manipulator (2012)
  • Author(s): Taro Nakamura, Masanori Maehara, Daisuke Tanaka and Hiroyuki Maeda
  • Journal Title: Advanced Robotics Volume: Vol.26 Pages: 799-816
  • Peer Reviewed
• [Journal Article] CONSTRUCTION OF NONLINEAR DYNAMIC CHARACTERISTIC MODEL OF PNEUMATIC ARTIFICIAL RUBBER MUSCLE MANIPULATOR USING MR BRAKE (2012)
  • Author(s): HIROKI TOMORI, YUICHIRO MIDORIKAWA and TARO NAKAMURA
  • Journal Title: Journal of Intelligent Material Systems and Structures(JIMSS) Pages: 1011-1018
  • Peer Reviewed
• [Journal Article] 突発的な負荷を考慮した6自由度人工筋肉マニピュレータの手先剛性制御 (2012)
  • Author(s): 戸森央貴,田中大資,前原正典,加茂大地,中村太郎
  • Journal Title: 日本フルードパワーシステム学会論文集特集号「人間を支援する空気圧の技術と研究」 Volume: Vol. 43, No. 3 Pages: 70-76
  • NAID: 10030483472
  • Peer Reviewed
• [Journal Article] CONSTRUCTION OF NONLINEAR DYNAMIC CHARACTERISTIC MODEL OF PNEUMATIC ARTIFICIAL RUBBER MUSCLE MANIPULATOR USING MR BRAKE (2012)
  • Author(s): HIROKI TOMORI, YUICHIRO MIDORIKAWA and TARO NAKAMURA
  • Journal Title: Journal of Intelligent Material Systems and Structures Volume: 23
  • Peer Reviewed
• [Journal Article] POSITION AND VIBRATION CONTROL OF VARIABLE RHEOLOGICAL JOINTS USING ARTIFICIAL MUSCLES AND (2012)
  • Author(s): TARO NAKAMURA,YUICHIRO MIDORIKAWA and HIROKI TOMORI
  • Journal Title: International Journal of Humanoid Robotics Volume: 8 Pages: 205-222
  • Peer Reviewed
• [Journal Article] Theoretical Comparison of McKibben-Type Artificial Muscle and Novel Straight-Fiber-Type Artificial Muscle, (2012)
  • Author(s): Hiroki Tomori,Taro Nakamura,
  • Journal Title: International Journal of Automation Technology (IJAT), Volume: 5 Pages: 544-550
  • Peer Reviewed
• [Journal Article] Orbit tracking control of 6-DOF lubber artificial muscle manipulator considering nonlinear dynamics model (2012)
  • Author(s): Hiroki TOMORI, Hiroyuki MAEDA and Taro NAKAMURA,
  • Journal Title: Transactions of the Japan Society of Mechanical Engineers, Series C Volume: 77 Pages: 2742-2755
  • NAID: 130001055315
  • Peer Reviewed
• [Journal Article] HIGH SPEED REVERSAL CONTROL OF 1DOF MANIPULATOR BY ENERGY DISSIPATION EFFECT OF ER CLUTCHES (2011)
  • Author(s): Taro Nakamura, Masahiro Yoshikawa and Kazuhiko Boku
  • Journal Title: Journal of Intelligent Material Systems and Structures Pages: 68-73
  • Peer Reviewed
• [Journal Article] Orbit tracking control of 6-DOF lubber artificial muscle manipulator considering nonlinear dynamics model (2011)
  • Author(s): Hiroki TOMORI, Hiroyuki MAEDA and Taro NAKAMURA
  • Journal Title: Transactions of the Japan Society of Mechanical Engineers, Series C (JSME) Volume: Vol. 77, No. 779 Pages: 2742-2755
  • NAID: 130001055315
  • Peer Reviewed
• [Journal Article] Theoretical Comparison of McKibben-Type Artificial Muscle and Novel Straight-Fiber-Type Artificial Muscle (2011)
  • Author(s): Hiroki Tomori, Taro Nakamura
  • Journal Title: International Journal of Automation Technology (IJAT) Volume: Vol. 5, No. 4 Pages: 544-550
  • Peer Reviewed
• [Journal Article] POSITION AND VIBRATION CONTROL OF VARIABLE RHEOLOGICAL JOINTS USING ARTIFICIAL MUSCLES AND MAGNETO-RHEOLOGICAL BRAKE (2011)
  • Author(s): TARO NAKAMURA, YUICHIRO MIDORIKAWA and HIROKI TOMORI
  • Journal Title: International Journal of Humanoid Robotics (IJHR) Volume: Vol. No.8, No. 1 Pages: 205-222
  • Peer Reviewed
• [Journal Article] Position and Vibration Control of Variable rheological joints using artificial muscles and magneto-rheological brake (2011)
  • Author(s): Taro Nakamura Yuichiro Midorikawa and Hiroki Tomori
  • Journal Title: International Journal of Humanoid Robotics Pages: 205-222
  • Peer Reviewed
• [Presentation] Development and Control of 7-DOF Artificial Muscle Manipulator Considering Redundancy (2013)
  • Author(s): Takumi Watanabe, Dai Tanaka, Daich Kamo, Taro Nakamura
  • Organizer: Proceedings of IEEE 39th Annual Conference of Industrial Electronics, (IECON2013)
  • Place of Presentation: Wein
• [Presentation] Development and Control of 1-DOF Manipulator Using Electrostrictive Rubber Actuator (2013)
  • Author(s): H.Tomori, H. Oshika, T. Nakamura, H. Osumi
  • Organizer: Proceedings of IEEE 39th Annual Conference of Industrial Electronics, (IECON2013)
  • Place of Presentation: Wein
• [Presentation] Motion control of instantaneous force for an artificial muscle manipulator with variable rheological joint (2013)
  • Author(s): Tatsuo Majima, Suguru Nagai, Hiroki Tomori, Taro Nakamura
  • Organizer: 2013 International Workshop on Soft Robotics and Morphological Computation, Centro Stefano Franscini
  • Place of Presentation: Ascona, Switzerland
• [Presentation] DEVELOPMENT OF HEXAPOD ROBOT SUPPORTED MECHANICALLY USINGPNEUMATIC RUBBER ARTIFICIAL MUSCLES (2013)
  • Author(s): Hiroki Tomori, Yuusuke Hirata, Taro Nakamura, Hisanori Osumi
  • Organizer: Proceedings of the Sixteenth International Conference on Climbing and Walking Robots
  • Place of Presentation: Sydney, Australia
• [Presentation] Development of a 7-DOF Manipulator Actuated by Straight-Fiber-Type Pneumatic Artificial Muscle (2013)
  • Author(s): Tanaka Dai, Kamo Daichi, Watanabe Takumi, Maehara Masanori, Nakamura Taro
  • Organizer: Proceedings of 2013 IEEE ASME International Conference on Advanced Intelligent Mechatronics in Wollongone Australia(AIM 2013)
  • Place of Presentation: Wollongong
• [Presentation] Development of an orthosis for walking assistance using pneumatic artificial muscle (2013)
  • Author(s): Takuma Kawamura, Kenta Takanaka, Taro Nakamura, Hisashi Osumi
  • Organizer: Proceedings of 2013 IEEE International Conference on Rehabilitation Robotics, (ICORR 2013)
  • Place of Presentation: Seattle
• [Presentation] Development of Pneumatic Control System for Walking Assist using Dual On/Off valves (2013)
  • Author(s): Kenta Takanaka and Taro Nakmura
  • Organizer: Proceedings of the 2013 IEEE International Conference on Mechatronics (ICM)
  • Place of Presentation: Verinzona
• [Presentation] Development of two Types of 2-DOF Wrist Joint Driven by Pneumatic Artificial Muscles (2013)
  • Author(s): Dai Tanaka, Daichi Kamo, Masanori Maehara, and Taro Nakamura
  • Organizer: Proceedings of the 2013 IEEE International Conference on Mechatronics (ICM)
  • Place of Presentation: Verinzona
• [Presentation] 空気圧ゴム人工筋肉を用いた歩行アシスト装具の軽量化を考慮した機構の開発 (2013)
  • Author(s): 河村拓磨,野間鞠依,中村太郎
  • Organizer: 第14回システムインテグレーション部門講演会(SI2013)
  • Place of Presentation: 神戸
• [Presentation] 外乱オブザーバーを用いた差動歯車型2自由度人工筋肉マニピュレータの動特性制御 (2013)
  • Author(s): 渡辺拓巳,加茂大地,田中大,中村太郎,大隅久
  • Organizer: ロボティクス・メカトロニクス講演会2013
  • Place of Presentation: 筑波
• [Presentation] 可変粘弾性関節を有するマニピュレータによる瞬発力を伴う運動の制御 (2013)
  • Author(s): 間島達雄,戸森央貴,永井豪,中村太郎,大隅久
  • Organizer: ロボティクス・メカトロニクス講演会2013
  • Place of Presentation: 筑波
• [Presentation] 空気圧ゴム人工筋肉を用いた歩行アシスト装具の開発 (2013)
  • Author(s): 河村拓磨,高中健太,中村太郎,大隅久
  • Organizer: ロボティクス・メカトロニクス講演会2013
  • Place of Presentation: 筑波
• [Presentation] 無通電時での支持可能な人工筋肉搭載型6脚自立移動ロボットの開発 (2013)
  • Author(s): 戸森央貴,平田祐介,中村太郎,大隅久
  • Organizer: ロボティクス・メカトロニクス講演会2013
  • Place of Presentation: 筑波
• [Presentation] 可変粘弾性関節を有する空気圧ゴム人工筋肉マニピュレータの瞬発力を伴う振動制御 (2013)
  • Author(s): 戸森央貴,永井豪,間島達雄,中村太郎,大隅久
  • Organizer: 第18回ロボティクスシンポジア
  • Place of Presentation: 山形(予稿集, pp477-484)
• [Presentation] 軸方向繊維強化型人工筋肉を用いた7自由度マニピュレータの制御 (2013)
  • Author(s): 加茂大地,渡辺拓巳,田中大,中村太郎,大隅久
  • Organizer: 第18回ロボティクスシンポジア
  • Place of Presentation: 山形(予稿集, pp485-491)
• [Presentation] ,” Development and Control of 7-DOF Artificial Muscle Manipulator Considering Redundancy (2013)
  • Author(s): Takumi Watanabe, Dai Tanaka, Daich Kamo, Taro Nakamura
  • Organizer: Proceedings of IEEE 39th Annual Conference of Industrial Electronics, (IECON2013)).
  • Place of Presentation: ウィーン
• [Presentation] ,”Motion control of instantaneous force for an artificial muscle manipulator with variable rheological joint” (2013)
  • Author(s): Tatsuo Majima,Suguru Nagai,Hiroki Tomori,Taro Nakamura
  • Organizer: 2013 International Workshop on Soft Robotics and Morphological Computation
  • Place of Presentation: Switzerland
• [Presentation] “Development of a 7-DOF Manipulator Actuated by Straight-Fiber-Type Pneumatic Artificial Muscle” (2013)
  • Author(s): Tanaka Dai,Kamo Daichi,Watanabe Takumi,Maehara Masanori,Nakamura Taro,
  • Organizer: 2013 IEEE ASME International Conference on Advanced Intelligent Mechatronics
  • Place of Presentation: Wollongone Australia
• [Presentation] 可変粘弾性関節を有する空気圧ゴム人工筋肉マニピュレータの瞬発力を伴う振動制御” (2013)
  • Author(s): 戸森 央貴，永井 豪，間島 達雄，中村 太郎，大隅 久，
  • Organizer: ，第18回ロボティクスシンポジア
  • Place of Presentation: 山形
• [Presentation] Motion Control of Instantaneous Force for an Artificial Muscle Manipulator with Variable Rheological Joint (2012)
  • Author(s): Hiroki Tomori, Suguru Nagai, Tatsuo Majima and Taro Nakamura
  • Organizer: Proceedings of 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
  • Place of Presentation: 杭州
• [Presentation] Vibration Control of an Artificial, Muscle Manipulator with a Magnetorheological Fluid Brake (2012)
  • Author(s): H. Tomori, Y. Midorikawa, S. Nagai, T. Nakamura
  • Organizer: Processing of novel ER and MR materials
  • Place of Presentation: Ankara
• [Presentation] Development of Manipulator with the Opposed Placement Type ER Clutch Contributing to Collision Force Reduction (2012)
  • Author(s): Akio.Inoue, N. Kanno, M. Yoshikawa, T. Nakamura
  • Organizer: Processing of novel ER and MR materials
  • Place of Presentation: Ankara
• [Presentation] Development of 1-DOF Manipulator with Variable Rheological Joint for Instantaneous Force (2012)
  • Author(s): T. Majima, H. Tomori, S. Nagai, T. Nakamura
  • Organizer: Processing of novel ER and MR materials
  • Place of Presentation: Ankara
• [Presentation] 歩行アシストを考慮したOn/Off弁によるDuty比相違型圧力制御システムの開発 (2012)
  • Author(s): 髙中健太,中村太郎
  • Organizer: 第13回システムインテグレーション部門講演会(SI2012)
  • Place of Presentation: 福岡
• [Presentation] MRブレーキ搭載型空気圧ゴム人工筋肉マニピュレータによる瞬発力発生手法の検討および運動制御 (2012)
  • Author(s): 永井豪,戸森央貴,間島達雄,中村太郎,大隅久
  • Organizer: 日本ロボット学会第30回記念学術講演会
  • Place of Presentation: 札幌(講演論文集, 2C1-4)
• [Presentation] 空気圧人工筋肉を用いた2自由度手首機構の開発 (2012)
  • Author(s): 田中大,加茂大地,前原正典,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'12
  • Place of Presentation: 浜松(講演論文集, 2C1-4)
• [Presentation] 衝撃力低減を目的とした対抗配置型ERクラッチを有するマニピュレータの開発 (2012)
  • Author(s): 井上明男,菅野展寛,吉川昌宏,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'12
  • Place of Presentation: 浜松(講演論文集, 2A2-B09)
• [Presentation] 1自由度可変粘弾性マニピュレータによる瞬発力を伴う挙動の制御 (2012)
  • Author(s): 間島達雄,永井豪,戸森央貴,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'12
  • Place of Presentation: 浜松(講演論文集, 2A2-C09)
• [Presentation] 無通電時において支持が可能な人工筋肉搭載型6脚移動ロボットの開発 (2012)
  • Author(s): 戸森央貴,平田祐介,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'12
  • Place of Presentation: 浜松(講演論文集, 2A2-U01)
• [Presentation] Motion Control of Instantaneous Force for an Artificial Muscle Manipulator with Variable Rheological Joint (2012)
  • Author(s): Hiroki Tomori, Suguru Nagai, Tatsuo Majima and Taro Nakamura,
  • Organizer: 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012)
  • Place of Presentation: 中国
• [Presentation] Vibration Control of an Artificial, Muscle Manipulator with a Magnetorheological Fluid Brake (2012)
  • Author(s): H. Tomori, Y. Midorikawa, S. Nagai, T. Nakamura
  • Organizer: International conference on ER and MR fluid
  • Place of Presentation: トルコ
• [Presentation] MRブレーキ搭載型空気圧ゴム人工筋肉マニピュレータによる瞬発力発生手法の検討および運動制御 (2012)
  • Author(s): 永井 豪，戸森 央貴，間島 達雄，中村 太郎，大隅 久
  • Organizer: 日本ロボット学会第30回記念学術講演会
  • Place of Presentation: 北海道
• [Presentation] 1 自由度可変粘弾性マニピュレータによる瞬発力を伴う挙動の制御 (2012)
  • Author(s): 間島達雄，永井豪，戸森央貴，中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'12
  • Place of Presentation: 静岡
• [Presentation] Derivation of Nonlinear Dynamic Model of Novel Pneumatic Artificial Muscle Manipulator with a Magnetorheological Brake (2012)
  • Author(s): Hiroki Tomori Yuichiro Midorikawa And Taro Nakamura
  • Organizer: International symposium on Advanced Motion Control 2012 (AMC 2012)
  • Place of Presentation: サラエボ
• [Presentation] High-Speed Reverse Control of a Soft Manipulator using an Electrorheological Clutch (2011)
  • Author(s): AKIO INOUE, MASAHIRO YOSHIKAWA, and TARO NAKAMURA
  • Organizer: Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Melbourne
• [Presentation] Development of a manipulator with straight-fiber-type artificial muscle and differential gear mechanism (2011)
  • Author(s): Daichi Kamo, Masanori Maehara, Daisuke Tanaka, and Taro Nakamura
  • Organizer: Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Melbourne
• [Presentation] The position and vibration control of the artificial muscle manipulator by variable viscosity coefficient using MR brake (2011)
  • Author(s): Suguru Nagai, Hiroki Tomori, Yuichiro Midorikawa, and Taro Nakamura
  • Organizer: P Proceedings of the 37th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Melbourne
• [Presentation] MRブレーキを用いた可変粘性係数による人工筋肉マニピュレータの位置及び振動制御 (2011)
  • Author(s): 永井豪,戸森央貴,緑川雄一郎,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'11
  • Place of Presentation: 旭川(講演論文集, 2A2-I07)
• [Presentation] ERクラッチの印加電場制御による1リンクアームのエネルギ消散 (2011)
  • Author(s): 井上明男,吉川昌宏,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'11
  • Place of Presentation: 旭川(講演論文集, 2A2-I03)
• [Presentation] 差動歯車機構を用いた人工筋肉マニピュレータの開発 (2011)
  • Author(s): 加茂大地,前原正典,田中大資,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'11
  • Place of Presentation: 旭川(講演論文集, 1P1-P03)
• [Presentation] 人工筋肉搭載型水陸両用6脚歩行ロボットの開発 (2011)
  • Author(s): 戸森央貴,児島佑毅,中村太郎
  • Organizer: ロボティクス・メカトロニクス講演会'11
  • Place of Presentation: 旭川(講演論文集, 1P1-O14)
• [Presentation] The position and vibration control of the artificial muscle manipulator by variable viscosity coefficient using MR brake, (2011)
  • Author(s): Hiroki TOMORI, Hiroyuki MAEDA and Taro NAKAMURA,
  • Organizer: Proceedings of the 37th Annual Conference of the IEEE Industrial Electronic Society
  • Place of Presentation: メルボルン
• [Book] (共著:第13章「人工筋肉の開発と拮抗関節への応用」担当),「筋機能改善の理学療法とそのメカニズム」望月久,山田茂編著 (2014)
  • Author(s): 中村太郎
• [Book] 図解 人工筋肉 ソフトアクチュエータが拓く世界 (2012)
  • Author(s): 中村太郎
  • Total Pages: 188
  • Publisher: 日刊工業新聞社
• [Book] 図解 人工筋肉 ソフトアクチュエータが拓く世界 (2011)
  • Author(s): 中村太郎
  • Publisher: 日刊工業新聞社
• [Remarks]
  • URL: http://www.mech.chuo-u.ac.jp/~nakalab/
• [Remarks] 学術論文
  • URL: http://www.mech.chuo-u.ac.jp/~nakalab/member/article/paper.htm
• [Remarks] 国際会議プロシーディング
  • URL: http://www.mech.chuo-u.ac.jp/~nakalab/member/article/proc-int.htm
• [Remarks] 国内講演論文
  • URL: http://www.mech.chuo-u.ac.jp/~nakalab/member/article/j-proc.htm
• [Remarks] 特許・受賞歴
  • URL: http://www.mech.chuo-u.ac.jp/~nakalab/member/article/patent.htm
• [Patent(Industrial Property Rights)] アクチュエータ (2013)
  • Inventor(s): 中村太郎,河村拓磨,野間鞠依
  • Industrial Property Rights Holder: 学校法人中央大学
  • Industrial Property Number: 2013-250517
  • Filing Date: 2013-12-03
• [Patent(Industrial Property Rights)] 関節装置及びリンク機構 (2012)
  • Inventor(s): 中村太郎,田中大,加茂大地,前原正典
  • Industrial Property Rights Holder: 学校法人中央大学
  • Industrial Property Number: 2012-120053
  • Filing Date: 2012-05-02
• [Patent(Industrial Property Rights)] 筒状体の製造方法 (2011)
  • Inventor(s): 中村太郎,樋高裕也
  • Industrial Property Rights Holder: 学校法人中央大学
  • Industrial Property Number: 2011-040932
  • Filing Date: 2011-02-25
• [Patent(Industrial Property Rights)] 人工筋肉に用いられる筒状体及び当該筒状体を備える人工筋肉並びに筒状体の製造方法 (2011)
  • Inventor(s): 中村太郎,樋高裕也,横島真人,安達和紀
  • Industrial Property Rights Holder: 学校法人中央大学
  • Industrial Property Number: 2011-040933
  • Filing Date: 2011-02-25