Elucidation of whole mechanism for unsteady fluid forces acting on a human body in swimming by a whole-body-driven swimmer robot

• Project/Area Number: 23300229
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Sports science
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: NAKASHIMA Motomu 東京工業大学, 理工学研究科, 准教授 (20272669)
• Project Period (FY): 2011-04-01 – 2014-03-31
• Project Status: Completed (Fiscal Year 2013)
• Budget Amount: ¥19,630,000 (Direct Cost: ¥15,100,000、Indirect Cost: ¥4,530,000); Fiscal Year 2013: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2012: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2011: ¥11,830,000 (Direct Cost: ¥9,100,000、Indirect Cost: ¥2,730,000)
• Keywords: 水泳 / スポーツバイオメカニクス / スイマーロボット / 非定常流体力 / モデリング / シミュレーション / 流体力学 / ロボティクス

Research Abstract

A swimmer robot which could move the whole body was firstly developed in the present study. This humanoid robot has half scale as an actual competitive swimmer and has 20 servo motors inside the body. This robot can precisely reproduce the swimming motion of a human. This robot was mounted in a circulating water tank. The swimming motion of the crawl stroke was performed by the robot. The unsteady fluid force acting on the whole robot was experimentally measured. As a result, it was experimentally confirmed that the thrust was produced when the hand pushed the water.

Research Products

• [Journal Article] Development of a Swimming Humanoid Robot for Research of Human Swimming (2013)
  • Author(s): Changhyun Chung and Motomu Nakashima
  • Journal Title: Journal of Aero Aqua Bio-mechanisms Volume: Vol. 3 No.1 Pages: 109-117
  • NAID: 130003375389
  • Peer Reviewed
• [Journal Article] Free Swimming of the Swimming Humanoid Robot for the Crawl Stroke (2013)
  • Author(s): Changhyun Chung and Motomu Nakashima
  • Journal Title: Journal of Aero Aqua Bio-mechanisms Volume: Vol. 3 No.1 Pages: 118-126
  • NAID: 130003375390
  • Peer Reviewed
• [Presentation] 水泳ヒューマノイドロボットを用いたクロール時の推進力測定 (2014)
  • Author(s): 桑原宏介, 中島求
  • Organizer: ロボティクス・メカトロニクス講演会2014 (ROBOMECH2014) 講演論文集
  • Place of Presentation: 富山市総合体育館
  • Year and Date: 2014-05-28
• [Presentation] A new experimental platform for biomechanics in swimming using the swimming humanoid robot `SWUMANOID' (2014)
  • Author(s): Motomu Nakashima and Changhyun Chung
  • Organizer: Abstracts of the XIIth International Symposium on Biomechanics and Medicine in Swimming
  • Place of Presentation: Australian Institute of Sport, Canberra, Australia
  • Year and Date: 2014-05-01
• [Presentation] 水泳ヒューマノイドロボットを用いたクロール泳時の推進力測定 (2014)
  • Author(s): 桑原 宏介
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山市総合体育館，富山
• [Presentation] Development of a Swimming Humanoid Robot as an Experimental Platform of Human Swimming (2013)
  • Author(s): Changhyun Chung and Motomu Nakashima
  • Organizer: Proceedings of the 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
  • Place of Presentation: Ramada Plaza Jeju Hotel, Jeju, Korea
  • Year and Date: 2013-10-31
• [Presentation] Realization of Free Swimming in the Crawl Stroke by a Humanoid Robot (2013)
  • Author(s): Ramada Plaza Jeju Hotel, Jeju, Korea
  • Organizer: ロボティクス・メカトロニクス講演会2013 (ROBOMEC2013) 講演論文集
  • Place of Presentation: つくば国際会議場, つくば
  • Year and Date: 2013-05-23
• [Presentation] Realization of Free Swimming in the Crawl Stroke by a Humanoid Robot (2013)
  • Author(s): Changhyun Chung
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2013
  • Place of Presentation: つくば国際会議場，つくば
• [Presentation] Development of a Swimming Humanoid Robot as an Experimental Platform of Human Swimming (2013)
  • Author(s): Changhyun Chung
  • Organizer: 10th International Conference on Ubiquitous Robots and Ambient Intelligence
  • Place of Presentation: Ramada Plaza Jeju Hotel, Jeju, Korea
• [Presentation] Measurement System of Fluid Force in Human Swimming Using a Swimming Humanoid Robot (2012)
  • Author(s): Changhyun Chung and Motomu Nakashima
  • Organizer: Proceedings of the Fifth International Symposium on Aero Aqua Bio-mechanisms
  • Place of Presentation: Howard Civil Service International House, Taipei, Taiwan
  • Year and Date: 2012-08-27
• [Presentation] Development of the Upper Body of an Underwater Humanoid Robot for Research of Unsteady Fluid Forces Acting on a Swimmer (2012)
  • Author(s): Howard Civil Service International House, Taipei, Taiwan
  • Organizer: Proceedings of Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Place of Presentation: Downtown Rome, Italy
  • Year and Date: 2012-06-25
• [Presentation] Development of an underwater humanoid for the research of unsteady fluid forces acting on swimmer (2012)
  • Author(s): Chung Changhyun and Motomu Nakashima
  • Organizer: 日本機械学会ROBOMEC2012講演論文集
  • Place of Presentation: 浜松アクトシティ
  • Year and Date: 2012-05-28
• [Presentation] Development of the Upper Body of an Underwater Humanoid Robot for Research of Unsteady Fluid Forces Acting on a Swimmer (2012)
  • Author(s): Changhyun Chung
  • Organizer: Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Place of Presentation: Rome, Italy
• [Presentation] Measurement System of Fluid Force in Human Swimming Using a Swimming Humanoid Robot (2012)
  • Author(s): Changhyun Chung
  • Organizer: Fifth International Symposium on Aero Aqua Bio-mechanisms
  • Place of Presentation: Taipei, Taiwan
• [Presentation] Development of an underwater humanoid for the research of unsteady fluid forces acting on swimmer (2012)
  • Author(s): Changhyun Chung
  • Organizer: 日本機械学会ROBOMEC2012講演会
  • Place of Presentation: 浜松アクトシティ（静岡県）
• [Remarks] 水泳人体シミュレーションモデルSWUM
  • URL: http://www.swum.org/
• [Remarks] 水泳人体シミュレーションモデルSWUM
  • URL: http://www.swum.org/
• [Remarks]
  • URL: http://www.swum.org/