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1991 Fiscal Year Final Research Report Summary

Study of Functional Manipulator with The Artificial Muscle and Human Skeleton

Research Project

Project/Area Number 02807110
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field General surgery
Research InstitutionNagaoka University of Technology

Principal Investigator

MIYAKE Hitoshi  Nagaoka Univ. of Tech., Physical Edu. and Health Care Center, Associate Professor, 体育・保健センター, 助教授 (10143819)

Co-Investigator(Kenkyū-buntansha) IKEYA Mituei  Nagaoka Univ. of Tech., Depart. of Eng., Professor, 工学部, 教授 (90115098)
Project Period (FY) 1990 – 1991
KeywordsFunctional Manipulator / Shape Memory Alloy / Artificial Sarcomere / Artificial Muscle / Human Skeleton / Dynamic Analysis / Contraction Characteristic Equation / Dynamic Simulation
Research Abstract

A study of the functional manipulator with a newly developed actuator, which has not ordinary hydrauric driven mechanisms nor electric motors but has bio-mimicked structures and functions of the living skeletal muscle, was performed.
As a material, Shape Memory Alloy (SMA), which is capable of direct energy conversion from heat to mechanical power and has flexibility with silent sounds, was utilized. AS a structure, an artificial sarcomere, which is the same as the minimum unit of the living skeletal muscle, was connencted in parallel and in serious into an artificial muscle. Instead of using coil spring to get reshaping power. antagonistic structure was featured. Furthermore, we planned to make a manipulator (arm and hand prosthesis) which has same human structures and functions not as an "ordinary way of robots" but the way of introducing the arificial muscle to the human skeleton (bone and joint).
It the first year, the artificial muscle with the antagonistic structure and of the SMA artificial sarcomere was designed and fabricated.
In this (the last) year, the manipulator design method of dynamic analysis was developed. This design method, that is, was established by dynamic simulation introduced by the characteristic equation of the artificial muscle, of which is the same as the living skeletal muscle, and had an easily changeable property by the aim of use.
By means of this design method, computer simulations of the model of bone and joint with the artificial muscle, which were introduced by the anatomical characteristics of the human arm, were done. Therefore, evaluation of unstability caused by a variety of load performed with ease by adjusting the muscle ankering point.

  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 三宅 仁: "形状記憶合金人工筋肉を用いたマニピュレ-タとグリッパ" 人工臓器. 19. 1114-1117 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Miyake: "Bio-Mimetic Shape Memory Alloy Artificial Muscle" Artificial Organs. 14. 299-303 (1990)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 三宅 仁: "形状記憶合金人工筋肉による人工腕の開発" 人工臓器. 20. 478-482 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 中野,張,小林,大沢,若林,池谷,三宅: "生体骨格筋収縮特性を有する内骨格型人工筋肉マニピュレ-タの設計と試作" 信学技報. MBE91. 19-24 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] H.Miyake: "Artificial muscle based on the idea of a shape memory alloy sarcomere" Artif.Organs Today. 1. 295-301 (1991)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 三宅 仁: "内骨格型形状記憶合金人工筋肉マニピュレ-タの動的設計" 人工臓器. 21. (1992)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Hitoshi MIYAKE: "Development of Manipulators and a Gripper Using the Shape Memory Alloy Artificial Muscle" Jpn J Artif. Organs. 19(3). 1114-1117 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Miyake: "Bio-Mimetic Shape Memory Alloy Artificial Muscle : Its Concept and Actualization" Artificil Organs. 14(Suppl3). 229-302 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Hitoshi Miyake: "Development of the Artificial Arm Using the SMA Artificial Muscles" Jpn J Artif. organs. 20(2). 478-482 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Yasushi NAKANO, Chou KAI, Makoto KOBAYASHI, Noriyuki OHSAWA, Kousei WAKABAYASHI, Mitsuei IKEYA, Hitoshi MIYAKE: "Design and realization of the internally frameworked manipulator with the living skeletal muscle contraction characteristics" Shingakugihoh. MBE91. 19-24 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H. Miyake: "Artificial muscle based on the idea of a shape memory alloy sarcomere" Artif. Organs Today. 1(4). 295-301 (1991)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Hitoshi MIYAKE: "Dynamic Design of the Internally Frameworked Shape Memory Alloy Artificial Muscle Manipulator." Jpan J Artif. Organs. 21.

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1993-03-16  

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