• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Human-friendly human-support motion systems based on helical motors

Research Project

Project/Area Number 24246047
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Power engineering/Power conversion/Electric machinery
Research InstitutionYokohama National University

Principal Investigator

Fujimoto Yasutaka  横浜国立大学, 工学(系)研究科(研究院), 教授 (60313475)

Co-Investigator(Kenkyū-buntansha) KAWAMURA Atsuo  横浜国立大学, 工学研究院, 教授 (80186139)
SHIMONO Tomoyuki  横浜国立大学, 工学研究院, 准教授 (90513292)
Project Period (FY) 2012-04-01 – 2016-03-31
Project Status Completed (Fiscal Year 2015)
Budget Amount *help
¥46,280,000 (Direct Cost: ¥35,600,000、Indirect Cost: ¥10,680,000)
Fiscal Year 2015: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2014: ¥14,300,000 (Direct Cost: ¥11,000,000、Indirect Cost: ¥3,300,000)
Fiscal Year 2013: ¥10,270,000 (Direct Cost: ¥7,900,000、Indirect Cost: ¥2,370,000)
Fiscal Year 2012: ¥15,860,000 (Direct Cost: ¥12,200,000、Indirect Cost: ¥3,660,000)
Keywordsアクチュエータ / 電気機器 / モーションコントロール / スパイラルモータ / 運動支援システム
Outline of Final Research Achievements

We have developed a human-friendly system based on helical motors, which have been proposed by the principal investigator. In order to realize safe and quick response in the contact situation with humans, we have proposed compliant control and impact control. The air-gap control system for the helical motor can detect and absorb the impact force thanks to its mechanical structure. We have proposed a collision detection and control based on power on the gap and estimation of braking duration using linear momentum of the mover. We have experimentally proved that our method is accurate and robust against observation noise. We have also proposed a zero-power control to suppress effect of fluctuation of the gap distance caused by fabrication process, and have achieved 200N sensorless force control and full-stroke position control. This control stabilizes the mover at the natural equilibrium without applying additional current and realizes highly precise and energy-efficient motion.

Report

(5 results)
  • 2015 Annual Research Report   Final Research Report ( PDF )
  • 2014 Annual Research Report
  • 2013 Annual Research Report
  • 2012 Annual Research Report

Research Products

(54 results)

All 2016 2015 2014 2013 2012 Other

All Journal Article (27 results) (of which Peer Reviewed: 26 results,  Open Access: 2 results,  Acknowledgement Compliant: 11 results) Presentation (20 results) (of which Int'l Joint Research: 1 results,  Invited: 2 results) Remarks (6 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Zero Power Control Based on External Force Feedback for Helical Motor2016

    • Author(s)
      Masato Koyama and Yasutaka Fujimoto
    • Journal Title

      IEEJ Journal of Industry Applications

      Volume: 5

    • NAID

      130005161879

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Verification of Estimation of Gap Displacement for Helical Motor2016

    • Author(s)
      Ryoji Arai and Yasutaka Fujimoto
    • Journal Title

      IEEJ Journal IA

      Volume: 5 Issue: 2 Pages: 148-153

    • DOI

      10.1541/ieejjia.5.148

    • NAID

      130005133144

    • ISSN
      2187-1094, 2187-1108
    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Impact Force Control by Helical Motor2016

    • Author(s)
      Shunsuke Sasaki and Yasutaka Fujimoto
    • Journal Title

      Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization

      Volume: 1 Pages: 1-6

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Inherent Back-EMF Measurement of a Novel Radial-Gap Helical ROTLIN Machine2016

    • Author(s)
      CYUSA S. Christophe and Yasutaka Fujimoto
    • Journal Title

      Proceedings of IEEJ International Workshop on Sensing, Actuation, Motion Control, and Optimization

      Volume: 1 Pages: 1-6

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Modeling of Claw Pole Helical Motor2015

    • Author(s)
      Huy Nhien Nguyen and Yasutaka Fujimoto
    • Journal Title

      Proceedings of IEEE Industrial Electronics Society Annual Conference

      Volume: 1 Pages: 4358-4363

    • DOI

      10.1109/iecon.2015.7392777

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Modeling and Implementation based Control of a Novel Radial-Gap Helical ROTLIN Machine2015

    • Author(s)
      CYUSA S. Christophe and Yasutaka Fujimoto
    • Journal Title

      Proceedings of IEEE Energy Conversion Congress and Exposition

      Volume: 1 Pages: 1803-1809

    • DOI

      10.1109/ecce.2015.7309914

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] External Force Feedback with Velocity Reference Zero Power Controller for Helical Motor2015

    • Author(s)
      Masato Koyama and Yasutaka Fujimoto
    • Journal Title

      proc. IEEJ International Workshop on Sensing, Actuation, and Motion Control

      Volume: 1 Pages: 1-6

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Development of a High Thrust Force Helical Motor for Prosthetic Knee Joint2015

    • Author(s)
      Yusuke Furuya and Yasutaka Fujimoto
    • Journal Title

      proc. IEEJ International Workshop on Sensing, Actuation, and Motion Control

      Volume: 1 Pages: 1-6

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Design and Analysis of New Structure of Helical Motor - Claw Pole Helical Motor2015

    • Author(s)
      Huy Nhien Nguyen and Yasutaka Fujimoto
    • Journal Title

      proc. IEEJ International Workshop on Sensing, Actuation, and Motion Control

      Volume: 1 Pages: 1-4

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Development of Two-Link Manipulator Using Helical Motors2015

    • Author(s)
      Shunsuke Sasaki and Yasutaka Fujimoto
    • Journal Title

      proc. IEEJ International Workshop on Sensing, Actuation, and Motion Control

      Volume: 1 Pages: 1-6

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Verification of Estimation of Gap Displacement for Helical Motor2015

    • Author(s)
      Ryoji Arai and Yasutaka Fujimoto
    • Journal Title

      proc. IEEJ International Workshop on Sensing, Actuation, and Motion Control

      Volume: 1 Pages: 1-6

    • NAID

      130005133144

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Control of an Interior Permanent Magnets Screw Motor with Power-saving Axial-gap Displacement Adjustment2014

    • Author(s)
      Yasutaka Fujimoto, Tsubasa Suenaga, and Masato Koyama
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: 61 Pages: 3610-3619

    • DOI

      10.1109/tie.2013.2270215

    • NAID

      120005322476

    • Related Report
      2014 Annual Research Report 2013 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Evaluation of a Surface Permanent Magnet Helical Motor With High Precision Teeth2014

    • Author(s)
      Shunsuke Sasaki, Kengo Sawai, and Yasutaka Fujimoto
    • Journal Title

      proc. IEEE Industrial Electronics Society Annual Conference

      Volume: 1 Pages: 575-580

    • DOI

      10.1109/iecon.2014.7048558

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Parameter Identification of Spiral Motor with Force Control Response2014

    • Author(s)
      小山昌人, 三上貴弘, 藤本康孝
    • Journal Title

      IEEJ Trans. IA

      Volume: 134-D Issue: 3 Pages: 325-331

    • DOI

      10.1541/ieejias.134.325

    • NAID

      130003391812

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Direct Drive Position Control of a Spiral Motor as a Monoarticular Actuator2014

    • Author(s)
      Ahmad Zaki Bin Hj Shukor and Yasutaka Fujimoto
    • Journal Title

      IEEE Trans. on Industrial Electronics

      Volume: 61 Pages: 1063-1071

    • DOI

      10.1109/tie.2013.2262757

    • NAID

      120005322477

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Proposal of Current Integral Zero Power Control with Force Feedforward for Helical Motor2014

    • Author(s)
      Masato Koyama and Yasutaka Fujimoto
    • Journal Title

      proc. IEEE Int. Workshop on Advanced Motion Control

      Volume: 1 Pages: 663-668

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Force Control of Musculoskeletal Manipulator Driven By Spiral Motors2013

    • Author(s)
      Ahmad Zaki Bin Hj Shukor and Yasutaka Fujimoto
    • Journal Title

      Automatika - Journal for Control, Measurement, Electronics, Computing and Communications

      Volume: 54 Pages: 74-88

    • DOI

      10.7305/automatika.54-1.307

    • Related Report
      2013 Annual Research Report 2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Comparison between Zero power Control Methods of Spiral Motor2013

    • Author(s)
      Masato Koyama and Yasutaka Fujimoto
    • Journal Title

      proc. IEEE Industrial Electronics Society Annual Conference

      Volume: 1 Pages: 5876-5881

    • DOI

      10.1109/iecon.2013.6700098

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] On an Active Prosthetic Knee Joint Driven by a High Thrust Force Helical Motor2013

    • Author(s)
      Yusuke Furuya, Takahiro Mikami, Tatsuya Suzuki, and Yasutaka Fujimoto
    • Journal Title

      proc. IEEE Industrial Electronics Society Annual Conference

      Volume: 1 Pages: 5894-5899

    • DOI

      10.1109/iecon.2013.6700101

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Position and Force Control of SPM-type High-thrust-force Linear Motor for Assistive Devices2013

    • Author(s)
      Yasutaka Fujimoto, Takahiro Mikami, and Tatsuya Suzuki
    • Journal Title

      proc. IEEE Region10 Humanitarian Technology Conference

      Volume: 123-28 Pages: 23-28

    • DOI

      10.1109/r10-htc.2013.6669008

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Validation of Spiral Motor Parameters by FEA and Experimental Identification2013

    • Author(s)
      Masato Koyama, Takahiro Mikami, and Yasutaka Fujimoto
    • Journal Title

      proc. IEEE International Symposium on Industrial Electronics

      Volume: 1 Pages: 1-6

    • DOI

      10.1109/isie.2013.6563856

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Direct Drive Position Control of a Spiral Motor as a Monoarticular Actuator2013

    • Author(s)
      Ahmad Zaki bin Hj Shukor
    • Journal Title

      IEEE Transactions on Industrial Electronics

      Volume: 60

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Validation of Spiral Motor Parameters by FEA and Experimental Identification2013

    • Author(s)
      Masato Koyama
    • Journal Title

      Proceedings of IEEE International Symposium on Industrial Electronics

      Volume: 1

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Load Disturbance and Environment Effect on Biarticular Manipulator driven by Spiral Motors2013

    • Author(s)
      Ahmad Zaki bin Hj Shukor
    • Journal Title

      Proceedings of IEEE International Conference on Mechatronics

      Volume: 1 Pages: 1-6

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Long Stroke Continuous-path Position Control of SPM-type Helical Motor2013

    • Author(s)
      Tatsuya Suzuki
    • Journal Title

      Proceedings of IEEE International Conference on Mechatronics

      Volume: 1 Pages: 1-6

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors2012

    • Author(s)
      Ahmad Zaki bin Hj Shukor
    • Journal Title

      International Journal of Advanced Robotic Systems

      Volume: 9 Pages: 1-14

    • DOI

      10.5772/51742

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Design of a High-thrust Density Spiral Motor using Finite Element Analysis2012

    • Author(s)
      Takahiro Mikami
    • Journal Title

      Proceedings of IEEE Industrial Electronics Society Annual Conference

      Volume: 1 Pages: 5416-5421

    • DOI

      10.1109/iecon.2012.6388956

    • Related Report
      2012 Annual Research Report
  • [Presentation] Challenges in Human-friendly Mechatronics2016

    • Author(s)
      Yasutaka Fujimoto
    • Organizer
      International Conference on Engineering and ICT
    • Place of Presentation
      Meleka, Malaysia
    • Year and Date
      2016-04-03
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] スパイラルモータによるコンプライアンス制御2015

    • Author(s)
      小山昌人, 藤本康孝
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      東京
    • Year and Date
      2015-09-03
    • Related Report
      2015 Annual Research Report
  • [Presentation] SPMスパイラルモータによる衝突力緩和制御の基礎検討2015

    • Author(s)
      佐々木駿輔, 藤本康孝
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      大分
    • Year and Date
      2015-09-02
    • Related Report
      2015 Annual Research Report
  • [Presentation] 能動膝継手のための高推力スパイラルモータの設計および制御シミュレーションの検討2014

    • Author(s)
      古谷裕介, 藤本康孝
    • Organizer
      電気学会メカトロニクス制御研究会
    • Place of Presentation
      横浜
    • Year and Date
      2014-10-11
    • Related Report
      2014 Annual Research Report
  • [Presentation] スパイラルモータのセンサレス化に向けたインダクタンス推定法の検証2014

    • Author(s)
      新井涼司, 藤本康孝
    • Organizer
      電気学会メカトロニクス制御研究会
    • Place of Presentation
      横浜
    • Year and Date
      2014-10-11
    • Related Report
      2014 Annual Research Report
  • [Presentation] スパイラルモータにおける磁気吸引力係数マップを用いた反力推定2014

    • Author(s)
      小山昌人, 藤本康孝
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      福岡
    • Year and Date
      2014-09-05
    • Related Report
      2014 Annual Research Report
  • [Presentation] 筋骨格運動制御のためのスパイラルモータの開発2014

    • Author(s)
      藤本康孝
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      東京
    • Year and Date
      2014-08-28
    • Related Report
      2014 Annual Research Report
    • Invited
  • [Presentation] SPM 型スパイラルモータを用いたマニピュレータ制御の基礎実験2014

    • Author(s)
      佐々木駿輔, 藤本康孝
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      東京
    • Year and Date
      2014-08-26
    • Related Report
      2014 Annual Research Report
  • [Presentation] スパイラルモータのセンサレス力制御応答に関する検討2014

    • Author(s)
      小山昌人, 藤本康孝
    • Organizer
      電気学会メカトロニクス制御研究会
    • Place of Presentation
      長岡
    • Year and Date
      2014-07-26
    • Related Report
      2014 Annual Research Report
  • [Presentation] 能動膝継手のための新型スパイラルモータの製作および応力解析2014

    • Author(s)
      古谷裕介, 藤本康孝
    • Organizer
      電気学会産業計測制御/メカトロニクス制御研究会
    • Place of Presentation
      東京
    • Related Report
      2013 Annual Research Report
  • [Presentation] SPM型スパイラルモータの精密モデルと制振制御2014

    • Author(s)
      佐々木駿輔, 藤本康孝
    • Organizer
      電気学会産業計測制御/メカトロニクス制御研究会
    • Place of Presentation
      東京
    • Related Report
      2013 Annual Research Report
  • [Presentation] 高精度ティースを用いたSPM型スパイラルモータの開発2014

    • Author(s)
      澤井健吾, 藤本康孝
    • Organizer
      電気学会産業計測制御研究会
    • Place of Presentation
      横浜
    • Related Report
      2013 Annual Research Report
  • [Presentation] スパイラルモータにおける限定極配置を用いたゼロパワー制御系設計2013

    • Author(s)
      小山昌人, 藤本康孝
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      東京
    • Related Report
      2013 Annual Research Report
  • [Presentation] SPM 型スパイラルモータにおけるティース切削による影響2013

    • Author(s)
      澤井健吾, 藤本康孝
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      山口
    • Related Report
      2013 Annual Research Report
  • [Presentation] 能動膝継手のための高推力リニアアクチュエータの研究2013

    • Author(s)
      古谷裕介, 三上貴弘, 藤本康孝
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      山口
    • Related Report
      2013 Annual Research Report
  • [Presentation] スパイラルモータにおけるパラメータ同定法の検証2013

    • Author(s)
      小山昌人
    • Organizer
      電気学会産業計測制御/メカトロニクス制御研究会
    • Place of Presentation
      千葉
    • Related Report
      2012 Annual Research Report
  • [Presentation] スパイラルモータの小型化の検討2012

    • Author(s)
      藤本康孝
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      札幌
    • Related Report
      2012 Annual Research Report
  • [Presentation] SPM型スパイラルモータにおける離散時間外乱オブザーバの設計2012

    • Author(s)
      鈴木達也
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      千葉
    • Related Report
      2012 Annual Research Report
  • [Presentation] スパイラルモータを利用した能動型義足膝継手の研究

    • Author(s)
      古谷裕介
    • Organizer
      電気学会産業計測制御/メカトロニクス制御研究会
    • Place of Presentation
      千葉
    • Related Report
      2012 Annual Research Report
  • [Presentation] 可動子位置の影響を考慮したスパイラルモータの有限要素解析

    • Author(s)
      三上貴弘
    • Organizer
      電気学会産業計測制御/メカトロニクス制御研究会
    • Place of Presentation
      千葉
    • Related Report
      2012 Annual Research Report
  • [Remarks] Direct-Drive High Thrust Spiral (Helical) Motor

    • URL

      http://www.fujilab.dnj.ynu.ac.jp/spiral/spiral-e.html

    • Related Report
      2015 Annual Research Report 2014 Annual Research Report
  • [Remarks] 小型高推力スパイラルモータの研究

    • URL

      http://www.fujilab.dnj.ynu.ac.jp/spiral/spiral.html

    • Related Report
      2014 Annual Research Report
  • [Remarks] 小型高推力スパイラルモータの研究

    • URL

      http://www.fujilab.dnj.ynu.ac.jp/spiral/spiral.html

    • Related Report
      2013 Annual Research Report
  • [Remarks] Direct-Drive High Thrust Spiral (Helical) Motor

    • URL

      http://www.fujilab.dnj.ynu.ac.jp/spiral/spiral-e.html

    • Related Report
      2013 Annual Research Report
  • [Remarks] 小型高推力スパイラルモータの研究

    • URL

      http://www.fujilab.dnj.ynu.ac.jp/spiral/spiral.html

    • Related Report
      2012 Annual Research Report
  • [Remarks] Direct-Drive High Thrust Spiral (Helical) Motor

    • URL

      http://www.fujilab.dnj.ynu.ac.jp/spiral/spiral-e.html

    • Related Report
      2012 Annual Research Report
  • [Patent(Industrial Property Rights)] 磁気ねじアクチュエータ2014

    • Inventor(s)
      藤本康孝
    • Industrial Property Rights Holder
      横浜国立大学
    • Industrial Property Rights Type
      特許
    • Filing Date
      2014-07-17
    • Related Report
      2014 Annual Research Report

URL: 

Published: 2013-05-15   Modified: 2019-07-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi