Modeling of Soft Mechanism Only From Fabrics for Control and Design

• Project/Area Number: 24656164
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: HASEGAWA SHOICHI 東京工業大学, 精密工学研究所, 准教授 (10323833)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2014: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000); Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
• Keywords: ヒューマンインタフェース / 柔軟機構 / ファブリック / テキスタイル / ヒューマンロボットインタラクション / 人間機械システム / ファブリック素材 / インピーダンス制御 / シミュレーションモデル / ロボティクス / シミュレーション / コンプライアンス制御

Outline of Final Research Achievements

This research aims to design and control flexible fabric mechanisms who have good touch feel.
Though the mechanism is distributed redundant mechanism, the posture of the mechanism depends only on the length of string when the external forces are small. With a map between length of strings and the posture of the mechanism, the position control is realized. An external force measurement method is proposed and a compliance control is realized. We also confirmed that user's impression to the robot, when they move the arm, are changed by changing the compliance.
A new 3DOF rotation mechanism is also developed.

Research Products

• [Journal Article] Intention expression in stuffed-toy robots based on force control (2014)
  • Author(s): YuanYuan Li, KLEAWSIRIKUL Nutnaree, Yutaka Takase, Hironori Mitake, Shoichi Hasegawa
  • Journal Title: ACE '14 Proceedings of the 11th Conference on Advances in Computer Entertainment Technology Volume: 1 Pages: 22-22
  • DOI: 10.1145/2663806.2663837
  • Peer Reviewed / Open Access
• [Journal Article] Soft Mechanism and its Control for Mutual Touching (2014)
  • Author(s): 日本ロボット学会誌
  • Journal Title: Journal of the Robotics Society of Japan Volume: 32 Issue: 8 Pages: 678-683
  • DOI: 10.7210/jrsj.32.678
  • NAID: 130004707646
  • ISSN: 0289-1824, 1884-7145
• [Journal Article] 多様な身体動作が可能な芯まで柔らかいぬいぐるみロボット (2013)
  • Author(s): 高瀬 裕, 山下洋平, 石川 達也, 椎名 美奈, 三武 裕玄, 長谷川 晶一
  • Journal Title: 日本バーチャルリアリティ学会論文誌 Volume: Vol.18, No.3 Pages: 327-336
  • Peer Reviewed
• [Presentation] Force Control based Soft-stuffed Robot Interaction (2014)
  • Author(s): YuanYuan Li, Yohei Yamashita, KLEAWSIRIKUL Nutnaree, Hironori Mitake, Shoichi Hasegawa
  • Organizer: Laval Virtual 2014
  • Place of Presentation: Laval, France
  • Year and Date: 2014-04-07 – 2014-04-11
• [Presentation] Motion Generation for the Stuffed-Toy Robot (2013)
  • Author(s): Yutaka Takase, Hironori Mitake, Youhei Yamashita, Shoichi Hasegawa
  • Organizer: International Conference on Instrumentation, Control, Information Technology and System Integration
  • Place of Presentation: Nagoya, Japan
• [Presentation] Force Control based Soft-stuffed Robot Interaction (2013)
  • Author(s): Yuanyuan Li，Yohei Yamashita，Hironori Mitake，Shoichi Hasegawa
  • Organizer: エンタテインメントコンピューティング２０１３
  • Place of Presentation: 高松
• [Presentation] Stuffed Toys Alive! Cuddly Robots From a Fantasy World (2012)
  • Author(s): Y Yamashita, T Ishikawa, H Mitake, I Susa, F Kato, Y Takase, W Seshimo, Y Takehana, S Onohara, T Harano, S Hasegawa, M Sato
  • Organizer: SIGGRAPH 2012 Emerging Technologies
  • Place of Presentation: Los Angeles, USA
• [Presentation] Stuffed Toys Alive! Cuddly Robots From a Fantasy World (2012)
  • Author(s): Y Yamashita, T Ishikawa, H Mitake, I Susa, F Kato, Y Takase, W Seshimo, Y Takehana, S Onohara, T Harano, S Hasegawa, M Sato
  • Organizer: SIGGRAPH 2012 Poster
  • Place of Presentation: Los Angeles, USA
• [Presentation] 多様な反応動作を行う柔らかいぬいぐるみロボット (2012)
  • Author(s): 山下洋平, 三武 裕玄, 高瀬 裕, 加藤 史洋, 須佐 育弥, 長谷川 晶一, 佐藤 誠
  • Organizer: 日本バーチャルリアリティ学会第17 回大会論文集 セッション33E
  • Place of Presentation: 横浜（神奈川県）
• [Presentation] 芯まで柔らかいぬいぐるみロボットとのインタラクション (2012)
  • Author(s): 山下洋平, 三武 裕玄, 高瀬 裕, 加藤 史洋, 須佐 育弥, 長谷川 晶一, 佐藤 誠
  • Organizer: エンタテイメントコンピューティング2012 デモ発表D-15
  • Place of Presentation: 神戸（兵庫県）
• [Remarks] Soft-stuffed Robot Alive!
  • URL: http://haselab.net/en_project_soft_stuffed_robot
• [Remarks] 触感のよいぬいぐるみロボットの開発
  • URL: http://haselab.net/project_cuddly_robot