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Snap Motor: Creating a Small and Lightweight Actuation Platform by Impulse Force Interaction

Research Project

Project/Area Number 20H02106
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionUniversity of Tsukuba

Principal Investigator

Mochiyama Hiromi  筑波大学, システム情報系, 教授 (40303333)

Co-Investigator(Kenkyū-buntansha) 山口 友之  筑波大学, システム情報系, 准教授 (50424825)
矢木 啓介  茨城大学, 理工学研究科(工学野), 助教 (90802710)
Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥17,940,000 (Direct Cost: ¥13,800,000、Indirect Cost: ¥4,140,000)
Fiscal Year 2022: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2021: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2020: ¥9,100,000 (Direct Cost: ¥7,000,000、Indirect Cost: ¥2,100,000)
Keywordsアクチュエータ / 撃力 / ソフトロボティクス
Outline of Research at the Start

本研究では,フィジカル空間に有効に働きかける新しいアクチュエーション基盤技術を確立し,超スマート社会の実現に貢献することを目的として,撃力インタラクションにより効果的にフィジカル空間での力学的機能を実現する“スナップモータ”に関する基礎から応用に亘る幅広い検討を行う.

Outline of Final Research Achievements

We addressed four issues related to the snap motor, which is an actuation technology of soft robotics. First, we developed the simulation technology based on the rod theory, which provides the basis of the design of the snap motor, and established the impulse measurement technology that indicates the impact performance. Second, we showed the possibility of application development of remote rehabilitation diagnosis of human joints using snap motors. Third, we have developed a new pulsation pump, Snap Shell, which efficiently transports fluids by surface deformation realized by the parallel mechanism of snap motors. Forth, we built a hammering inspection drone equipped with a snap motor, conducted an experiment to check concrete defects at the site, and verified its effectiveness.

Academic Significance and Societal Importance of the Research Achievements

本研究で発展させた,ロッド理論に基づくシミュレーション技術は,スナップモータ以外のソフトロボティクスにも広く活用できる.この成果は,ソフトロボティクスの世界初標準テキスト「ソフトロボット学入門」で公表済みである.近日中に出版が予定されている英語版のテキストにも掲載予定であり,今後広く普及していくことが期待される.一方,老朽化したトンネルや橋梁などのコンクリート建造物の打音検査に対するロボット活用については,非常に大きなニーズがあり,スナップモータを搭載した打音検査用ドローンには,大きな期待が寄せられている.

Report

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

    (15 results)

All 2023 2022 2021 2020 Other

All Int'l Joint Research (1 results) Journal Article (4 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 4 results) Presentation (8 results) (of which Int'l Joint Research: 4 results,  Invited: 2 results) Book (1 results) Remarks (1 results)

  • [Int'l Joint Research] the University of Edinburgh(英国)

    • Related Report
      2021 Annual Research Report
  • [Journal Article] Tele-Snap: a joint impedance estimation system using snap motor and openPose for remote rehabilitation diagnosis2023

    • Author(s)
      Endo Yuki、Yagi Keisuke、Mori Yoshikazu、Takei Toshinobu、Mochiyama Hiromi
    • Journal Title

      Advanced Robotics

      Volume: 37 Issue: 8 Pages: 528-539

    • DOI

      10.1080/01691864.2023.2197968

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures2022

    • Author(s)
      Nishimura Yuki、Takahashi Shuki、Mochiyama Hiromi、Yamaguchi Tomoyuki
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 7 Issue: 4 Pages: 9993-10000

    • DOI

      10.1109/lra.2022.3191246

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Arched snap motor: power flow analysis2021

    • Author(s)
      Misu Kenji、Mochiyama Hiromi
    • Journal Title

      Advanced Robotics

      Volume: 35 Issue: 18 Pages: 1107-1115

    • DOI

      10.1080/01691864.2021.1964377

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Snap Pump: A Snap-Through Mechanism for a Pulsatile Pump2021

    • Author(s)
      Arakawa Kazuki、Giorgio-Serchi Francesco、Mochiyama Hiromi
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 6 Issue: 2 Pages: 803-810

    • DOI

      10.1109/lra.2021.3052416

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures2022

    • Author(s)
      Nishimura Yuki、Takahashi Shuki、Mochiyama Hiromi、Yamaguchi Tomoyuki
    • Organizer
      2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Trans-shape Design of Soft Robots2022

    • Author(s)
      Hiromi Mochiyama
    • Organizer
      Workshop on Energy-based approach to analyze and develop soft robotic systems, 2022 IEEE International Conference on Soft Robotics
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Harmonic Fusion of Mechanism and Control in Soft Robots2022

    • Author(s)
      Hiromi Mochiyama
    • Organizer
      2022 SICE Annual Conference
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Aerial Snap: スナップモータを用いたドローンに搭載可能な小型軽量打音機構2021

    • Author(s)
      髙橋 脩己, 西村 勇輝, 山口 友之, 望山 洋
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会(ROBOMECH2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] スナップモータによる小型軽量打撃機構を搭載した打音検査ロボットの開発2021

    • Author(s)
      西村 勇輝, 髙橋 脩己, 望山 洋, 山口 友之
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会(ROBOMECH2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] スナップシェル:パラレル機構による面状スナップモータ2021

    • Author(s)
      森優也, 望山洋
    • Organizer
      第39回日本ロボット学会学術講演会(RSJ2021)
    • Related Report
      2021 Annual Research Report
  • [Presentation] アーチ型スナップモータのエネルギ計測2021

    • Author(s)
      翠健仁
    • Organizer
      第26回ロボティクスシンポジア
    • Related Report
      2020 Annual Research Report
  • [Presentation] A pulsed pump by snap-through actuation2020

    • Author(s)
      Hiromi Mochiyama (with Francesco Giorgio-Serchi)
    • Organizer
      Interdisciplinary Collaborative Talks: ICRA2020 Workshop “Beyond Soft Robotics”
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research / Invited
  • [Book] ソフトロボット学入門(第1部 柔軟物体の数理と情報処理 第1章 柔軟モデリング 1.2節弾性ロッド)2023

    • Author(s)
      鈴森康一, 中嶋浩平, 新山龍馬, 舛屋賢, 平井慎一, 望山洋, 岩本憲泰 他13名
    • Total Pages
      15
    • Publisher
      オーム社
    • ISBN
      9784274229985
    • Related Report
      2022 Annual Research Report
  • [Remarks] スナップモータ, 筑波大学柔軟ロボット学研究室

    • URL

      https://www.frlab.iit.tsukuba.ac.jp/research/702

    • Related Report
      2022 Annual Research Report

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Published: 2020-04-28   Modified: 2024-01-30  

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