2022/11/26 更新

写真a

タナカ エイイチロウ
田中 英一郎
Scopus 論文情報  
論文数: 0  Citation: 0  h-index: 7

Citation Countは当該年に発表した論文の被引用数

所属
理工学術院 大学院情報生産システム研究科
職名
教授
メールアドレス
メールアドレス

他学部・他研究科等兼任情報

  • 理工学術院   基幹理工学部

学内研究所・附属機関兼任歴

  • 2020年
    -
    2022年

    理工学術院総合研究所   兼任研究員

学位

  • 博士

 

研究分野

  • 設計工学

  • ロボティクス、知能機械システム

  • 医療福祉工学

  • 機械要素、トライボロジー

論文

  • 階段-地上移行中の補助装置の自動歩行パターン変換法

    YANG Bo-Rong, ZHANG Yu-Cheng, WANG Hui-Tian, YU Shuai-Hong, LEE Hee-Hyol, TANAKA Eiichiro

    Journal of Advanced Mechanical Design, Systems, and Manufacturing (Web)   15 ( 1 )  2021年

    J-GLOBAL

  • 上肢補助装置を用いた遠隔リハビリテーションシステムの開発

    Tanaka Eiichiro, Lian Wei-Liang, Liao Yun-Ting, Yang Hao, Li Li-Ning, Lee Hee-Hyol, Shimodozono Megumi

    Journal of Robotics and Mechatronics   33 ( 4 )  2021年

    J-GLOBAL

  • 階段上の運動安定化のためのゼロモーメント点を用いた歩行補助装置の姿勢補償

    YANG Bo-Rong, LEE Hee-Hyol, TANAKA Eiichiro

    Journal of Advanced Mechanical Design, Systems, and Manufacturing (Web)   14 ( 3 )  2020年

    J-GLOBAL

  • 背筋と腕の筋肉のための密着型アシストスーツの開発と評価-e.z.UP-

    Liao Yun-Ting, Ishioka Toshifumi, Mishima Kazuko, Kanda Chiaki, Kodama Kenji, Tanaka Eiichiro

    Journal of Robotics and Mechatronics   32 ( 1 )  2020年

    J-GLOBAL

  • 脊髄相互抑制に対する歩行補助装置の近接型の短期的効果【JST・京大機械翻訳】

    Nakagawa Kei, Tomoi Masahiro, Higashi Keita, Utsumi Sho, Kawano Reo, Tanaka Eiichiro, Kurisu Kaoru, Yuge Louis

    Journal of Clinical Neuroscience   77  2020年

    J-GLOBAL

  • 密着型歩行補助装置RE-Gaitが失調歩行に対する運動学・運動力学的要素に与える影響

    中臺久恵, 田中直次郎, 松下信郎, 林壮一郎, 藤高祐太, 岡本隆嗣, 安東誠一, 中川慧, 田中英一郎, 弓削類

    Japanese Journal of Rehabilitation Medicine   57 ( Autumn )  2020年

    J-GLOBAL

  • 歩行補助装置RE-Gaitが慢性期脳血管障害患者の歩容改善に及ぼす影響

    籬拓郎, 中川慧, 東啓太, 荒牧恭平, 中西徹, 井上博幸, 富永篤, 田中英一郎, 田中英一郎, 栗栖薫, 弓削類

    Journal of Clinical Rehabilitation   28 ( 8 )  2019年

    J-GLOBAL

  • Real-time emotion recognition system with multiple physiological signals

    Jyun-Rong Zhuang, Ya-Jing Guan, Hayato Nagayoshi, Keiichi Muramatsu, Keiichi Watanuki, Eiichiro Tanaka

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   13 ( 4 )  2019年

     概要を見る

    Emotion is an internal and subjective experience that plays a significant role in human life. There are several methods of recognizing emotions in people, the most authentic of which is using physiological signals, as they are beyond one's control and strongly correlated with human emotions. This study aims to develop an emotion recognition system based on three physiological signals, namely, brainwave, heartbeat, and facial muscular activity. It utilizes deep neural network (DNN) and the T method of Mahalanobis-Taguchi system (MTS) to process the multiple physiological signals and further recognize the states of human emotion. As such, nine emotions are effectively recognized on a two-dimensional model through the DNN, then compared against several other algorithms, such as MTS, SVM, Naive Bayes, and K-means, where its superior accuracy is validated. Moreover, although the T method only improves the classification accuracy on the valence state, it rather obtains the intensity of emotion in different states. Furthermore, in this study, the proposed DNN is implemented into a wide range of applications for an accurate understanding of the human emotional states, whereas the T method is utilized to respond to the emotional intensity in different states. Finally, a real-time emotion recognition system is developed with DNN as the classifier; this system can directly monitor the variation of the human emotion through reliable and objective emotion analysis results from the physiological signals. Thus, the method can provide useful treatment effect information for robots or assistive apparatus serving activities of daily living.

    DOI

    Scopus

    5
    被引用数
    (Scopus)
  • 脳梗塞細胞治療後のリハビリテーション治療の応用を目指した歩行補助装置RE-Gait(R)の開発

    田中英一郎, 田中英一郎, 弓削類

    Japanese Journal of Rehabilitation Medicine   55 ( Supplement )  2018年

    J-GLOBAL

  • Walking assistance according to the emotion

    Eiichiro Tanaka, Louis Yuge

    Emotional Engineering: Understanding Motivation   6   141 - 152  2017年11月

     概要を見る

    A walking assistance device for apoplexy patients has been developed. We developed a walking assistance device RE-Gait®, which assists the motion of the ankle joint while walking. The motor is controlled according to the walking phase grasped with the pressure sensors under the sole. It is already utilized as a product, for the gait training by so many hemiplegic patients. By using the technology of RE-Gait®, a new device for the able-bodied elderly to promote exercise was also developed. This is RE-Gait®Light, which is lower cost, very light, and easy to move. We proposed a new control method for this device, which is automatically tuned according to the condition of the emotion of the user. In this chapter, the evaluation results using this method are introduced.

    DOI

    Scopus

  • Development of a torque limiter for the gear of an assistive walking device

      11 ( 6 )  2017年11月  [査読有り]

    DOI

    Scopus

    3
    被引用数
    (Scopus)
  • Development and evaluation of an assistive apparatus with pantograph mechanism for standing-up motion of elderly

    Yun-Ting Liao, Keiichi Muramatsu, Keiichi Watanuki, Eiichiro Tanaka

    Journal of Advanced Mechanical Design, Systems and Manufacturing   11 ( 6 )  2017年11月  [査読有り]

     概要を見る

    Due to the growing elderly population in many developed countries like Japan, assistive devices are increasingly needed to overcome the difficulties of their activities of daily living (ADL). The motion of standing up places a particular burden on the ankle and knee joints and connects static motions (e.g., sitting and lying) and kinetic motions (e.g., walking and climbing up/down the stairs). In our previous research, two types of standing-up assistance apparatuses were introduced according to the suitable standing-up motions. However, these devices are bulky and cannot be widely used in practical settings such as bus terminals. Regarding the suitable standing-up motions of the elderly in the previous literature, a standing-up apparatus with a pantograph mechanism is introduced to diminish the size of the mechanism based on three design principles: (1) the trajectory of the user's COG is an arc
    (2) the trajectory of the user's hip joint while standing up is a straight line at an angle of 45 [deg] from the horizon
    and (3) the user is supported until the knee angle reaches 60 [deg]. Simulations showed that the load on knee and ankle joint is decreased, and user may stand up easily with our proposed apparatus. A prototype of the apparatus that may be installed on various chairs in public was fabricated. Considering that the apparatus may be used in places without electric power supply, the apparatus is made simply with links and a gas spring instead of electric actuators. Experimental measurements of the trajectories of the center of gravity (COG) and hip joints show that the proposed apparatus may help users to stand in a way that minimizes stress on their lower-body joints.

    DOI

    Scopus

    1
    被引用数
    (Scopus)
  • A walking promotion method using the tuning of a beat sound based on a two-dimensional emotion map

    Eiichirou Tanaka, Keiichi Muramatsu, Yusuke Osawa, Shozo Saegusa, Louis Yuge, Keiichi Watanuki

    Advances in Intelligent Systems and Computing   483   519 - 525  2017年

     概要を見る

    We proposed a method that promotes walking which uses a two-dimensional emotion map. In this method, a subject listened to a beat sound while walking. The beat was adjusted according to the condition of the subject, based on his/her comfortable walking frequency. Simultaneously, the walking velocity, the stride length, and the heart beat of the subject while walking was measured, and LF/HF was calculated from the result of measured heart beat. Furthermore, we asked them to give information on the condition of their feelings, from pleasant or not by 5 levels in each case of the beat sound. By using these data, a two-dimensional walking condition map and two-dimensional emotion map were made and we found the relation between these two maps. Therefore, according to the emotional condition of the targeted person while walking, this method can promote or restrain walking adequately, only adjusting the beat sound.

    DOI

    Scopus

    6
    被引用数
    (Scopus)
  • Preliminary study of ontological descriptions of emotions using motion assistance apparatus

    Keiichi Muramatsu, Eiichirou Tanaka, Keiichi Watanuki

    Advances in Intelligent Systems and Computing   483   535 - 542  2017年

     概要を見る

    In the current study, we formulated ontological descriptions for emotional states of users using motion assistance apparatus. In our previous studies, we developed apparatus that assists the ankle joints of patients in neuro-rehabilitation. Although we have confirmed the apparatus can improve the gait of the patient while walking, we have to capture and manage patients’ emotions as feedback of the usage. The ontological descriptions provide a feasible framework for common understanding while sharing and using this knowledge. In future work, we will develop a subset of this framework for more practical usage, in addition to expanding the descriptions of emotional states. After that, we will assess the validity and utility for design and implementation of software and hardware applications using this subset.

    DOI

    Scopus

  • Ontological descriptions of receiver states for sharing knowledge in learning service design

    MURAMATSU Keiichi, KIMITA Koji, ISHII Takatoshi, NEMOTO Yutaro, TANAKA Eiichirou, WATANUKI Keiichi, MATSUI Tatsunori, SHIMOMURA Yoshiki

    Journal of Advanced Mechanical Design, Systems, and Manufacturing (Web)   11 ( 1 ) JAMDSM0008 - JAMDSM0008  2017年  [査読有り]

    DOI CiNii J-GLOBAL

    Scopus

  • 上肢と背部を補助する持ち上げ動作用ゴムベルトスーツの開発と筋活動評価

    田中 英一郎, 村松 慶一, 綿貫 啓一, 三枝 省三, 岩崎 泰雄, 弓削 類

    設計工学   52 ( 6 ) 405 - 418  2017年  [査読有り]

     概要を見る

    <p>We developed a new power assistance suit without the need for electricity. This suit is to support care worker's assistance behavior, e.g. lifting-up and holding motion. It is made of only rubber and nylon belts. This suit can assist the equipped person's arms and back with two kinds of equipped belts. One is for the waist, attached from the shoulder to the back of the knee via his/her back. The other is for the arms, attached from equipped person's forearm to the back of the knee via his/her back. To confirm the possibility of this suit, first, we interviewed medical doctors and physical therapists. Their comments were, it is important to adjust the length of each belt for an equipped person adequately, and it is effective for the assistance of motion in a half-sitting posture and in transfer motions between a bed and a wheel chair. Furthermore, we measured the variation of maximum output force and %MVC of the entire body muscles during lifting and holding motions using the suit and not. From the result, by using this suit, the maximum lifting weight of the equipped person was increased by over 8kg, and the arms and back of the equipped person were assisted effectively.</p>

    DOI CiNii J-GLOBAL

  • 歩行補助装置RE-Gaitが片麻痺患者の歩容改善に与える効果-継続的使用により,異常歩行が軽減した一例-

    中川慧, 猪村剛史, 黒瀬智之, 大塚貴志, 河原裕美, 田中英一郎, 弓削類

    Japanese Journal of Rehabilitation Medicine   54  2017年

    J-GLOBAL

  • Framework to describe constructs of academic emotions using ontological descriptions of statistical models

    Keiichi Muramatsu, Eiichirou Tanaka, Keiichi Watanuki, Tatsunori Matsui

    Research and Practice in Technology Enhanced Learning   11 ( 1 )  2016年12月  [査読有り]

    DOI

    Scopus

    5
    被引用数
    (Scopus)
  • Evaluation of a device that promotes walking using a two-dimensional emotion map

    Eiichirou Tanaka, Keiichi Muramatsu, Shozo Saegusa, Yusuke Osawa, Keiichi Watanuki, Louis Yuge

    World Automation Congress Proceedings   2016-October  2016年10月

     概要を見る

    We developed a device that promotes walking which uses a two-dimensional emotion map for the exercise of the elderly. This map was made with two axes, the horizontal axis was pleasant or unpleasant, with the vertical axis being arousal or not, same as the circumplex model of affect (J. A. Russell (1980)). This device has two means to promote walking. One is an ankle joint assistance system, which consists of a servo motor and a controller which can adjust the targeted walking cycle, the targeted angle of the ankle joint, and the sensitivity of the sensors which was attached under the sole. The other is a beat listening system. The beat listening system makes the beat sound, which is decided for the purpose of the user, and based on the walking cycle. The user listens to the beat sound using head phones. By combining and using these two means simultaneously, users can change their gait and emotion, therefore, they can continue to walk for a long time.

    DOI

    Scopus

    3
    被引用数
    (Scopus)
  • Study of RE-Gait® as the Device That Promotes Walking Using a Two-Dimensional Emotion Map

    Eiichirou Tanaka, Yusuke Osawa, Keiichi Muramatsu, Keiichi Watanuki, Shozo Saegusa, Louis Yuge

    CISM International Centre for Mechanical Sciences, Courses and Lectures   569   369 - 376  2016年

     概要を見る

    We developed a walking assistance apparatus RE-Gait® for not only the elderly but also apoplexy patients, which assist the ankle joint of the equipped person. By only assisting the ankle joint, the equipped person’s leg can be raised. To keep up the user’s motivation for exercise using this apparatus, it is necessary to assist not only physically but also mentally. Therefore we suggested the new method of promotion walking, using the walking assistance apparatus while listening to the beat sound, which was adjusted according to a two-dimensional emotion map. In this paper, the relation between emotion map and walking condition map is shown.

    DOI

    Scopus

    4
    被引用数
    (Scopus)
  • Easy set-up and in situ automatic gear diagnostic system using only laser reflection

    TANAKA Eiichirou, NAKAJIMA Keyaki, OKABE Kazunari, TAKEBE Hitoshi, NAGAMURA Kazuteru, IKEJO Kiyotaka, HASHIMURA Shinji, MURAMATSU Keiichi, WATANUKI Keiichi, NEMOTO Ryozo

    Journal of Advanced Mechanical Design, Systems, and Manufacturing (Web)   10 ( 4 ) JAMDSM0059 - JAMDSM0059  2016年  [査読有り]

    DOI CiNii J-GLOBAL

  • Motion assistance apparatus enabled for neuro-rehabilitation of patients and for the promotion of exercise for the elderly

    E. Tanaka, R. Niwa, K. Osawa, K. Nakajima, K. Muramatsu, K. Watanuki, S. Saegusa, L. Yuge

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM   2015-August   937 - 942  2015年08月

     概要を見る

    We developed a motion assistance apparatus which can be used for neuro-rehabilitation of patients and for the promotion of exercise for the elderly. This apparatus assists only the ankle joints of the equipped person according to the posture of him/her while walking, getting up, sitting, and standing. By using this apparatus, the dorsiflexion and plantarflexion of the ankle joint of the equipped person can increase while walking. Therefore, this apparatus can prevent stumbling and promote walking and various motions.

    DOI

    Scopus

    6
    被引用数
    (Scopus)
  • Development of the easy set-up and in situ automatic gear diagnostic system using a laser beam

    Keyaki Nakajima, Eiichirou Tanaka, Kazunari Okabe, Hitoshi Takebe, Kazuteru Nagamura, Kiyotaka Ikejo, Shinji Hashimura, Keiichi Muramatsu, Keiichi Watanuki, Ryozo Nemoto

    Proceedings of the ASME Design Engineering Technical Conference   10  2015年

     概要を見る

    We developed a method which can diagnose damage on a gear tooth surface by using laser beam without a rotary encoder. This method is as follows: 1) The tooth bottom, the tooth tip and their two medians are detected by the differentials of the laser reflection data. 2) The gear rotation speed is calculated with these four positions, and interpolated according to the rotation fluctuation. 3) By using the calculated gear rotation speed, the measured data can be converted corresponding to the gear rotation angle. Thus we diagnose gear tooth surface damage without being influenced by rotational fluctuation. We did diagnosis experiments and we made contour maps show diagnosis accuracy. From these maps, we got the following conclusions: 1) The accuracy of damage diagnosis is the same level regardless of the presence or absence of a rotary encoder. 2) The cycle of rotational fluctuation hardly affects the accuracy. 3) Bigger fluctuation amplitude makes the range accuracy worse, however the position accuracy improves.

    DOI

    Scopus

    2
    被引用数
    (Scopus)
  • 上肢動作補助機の筋活動および脳活動評価-筋疾患患者向けADL補助と片麻痺患者向け訓練補助への適用検討-

    田中英一郎, 三枝省三, 弓削類

    計測自動制御学会論文集   51 ( 5 )  2015年  [査読有り]

    J-GLOBAL

  • Walking assistance apparatus enabled for neuro-rehabilitation of patients and its effectiveness

    TANAKA Eiichirou, MURAMATSU Keiichi, WATANUKI Keiichi, SAEGUSA Shozo, YUGE Louis

    Mechanical Engineering Letters (Web)   1   15-00530 - 15-00530  2015年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

  • Development of an ADL assistance apparatus for upper limbs and evaluation of muscle and cerebral activity of the user

    TANAKA Eiichirou, SAEGUSA Shozo, IWASAKI Yasuo, YUGE Louis

    Journal of Advanced Mechanical Design, Systems, and Manufacturing (Web)   8 ( 2 ) JAMDSM0010 - JAMDSM0010  2014年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    5
    被引用数
    (Scopus)
  • フレキシブルシャフトの静的非線形ねじり特性に関する研究

    田宮 高信, 浅野 瑞, 田中 英一郎

    数理科学会論文集 / 数理科学会 編   14 ( 1 ) 17 - 22  2013年08月  [査読有り]

    CiNii

  • 利用者に対するアンケート調査に基づいた乳児用バギーの新機能開発の研究

    田宮高信, 三林洋介, 齋藤純一, 杉本聖一, 冨田宏貴, 田中英一郎

    数理科学会論文集   14 ( 1 ) 29 - 35  2013年  [査読有り]

    CiNii

  • Development of a Whole Body Motion Support Type Mobile Suit and Evaluation of Cerebral Activity Corresponding to the Cortical Motor Areas

    TANAKA Eiichirou, SAEGUSA Shozo, YUGE Louis

    Journal of Advanced Mechanical Design, Systems, and Manufacturing   7 ( 1 ) 82 - 94  2013年  [査読有り]

     概要を見る

    We developed a new whole body motion support type mobile suit. This suit can be used separately for supporting the upper and/or lower limbs, for assisting in ADL (Activities of Daily Living). We also developed a mobile lifter system which can bear both the equipped person and the suit. This suit and the lifter can be used by motor palsy patients, people who have suffered a stroke, spinal-cord-injury patients, and people with central nerve disorders. Using this device, these patients can recover normal gait with no risk of falling. In this paper, the cerebral activity during walking using the suit and normal gait without the suit are compared. According to multiple trials with the suit on a treadmill, the activities of the premotor area sensory motor cortex decreased. Especially, while walking using the suit for supporting lower limbs without swinging arms, the cerebral activities of most of the areas decreased. This data shows that it bcomes ineffective for patients accustomed to the suit in rehabilitation. However, on the contrary, by walking while swinging bilateral arms (even though these arms were assisted by the suit), the activity in the supplementary motor area increased (this area of the brain is related with memory of motion). Furthermore, the cerebral activities while walking on a treadmill and while walking in a corridor with an outside view were compared using NIRS (Near-Infrared Spectroscopy). From the results of this experiment, we found it is most effective for gait training to actually walk and not stay fixed in one location. We also found it is important for patients to swing their arms during gait training in rehabilitation.

    DOI DOI2 CiNii

    Scopus

    9
    被引用数
    (Scopus)
  • レーザ光を用いた簡易歯車歯面損傷診断(はすば・転位歯車への適用)

    田中 英一郎, 岡部 一成, 小島 佑太, 永村 和照, 池条 清隆, 竹辺 仁, 和田 諭, 吉見 裕樹, 根本 良三

    日本機械学会論文集C編   79 ( 803 ) 2517 - 2531  2013年  [査読有り]

    DOI DOI2 CiNii

    Scopus

    4
    被引用数
    (Scopus)
  • 密着型歩行補助機の小形・軽量化と支援効果の検証

    池原忠明, 田中英一郎, 永村和照, 池条清隆, 小島翔, 梶原陽介, 今出亘彦, 弓削類

    設計工学   48 ( 3 )  2013年  [査読有り]

    J-GLOBAL

  • Development of a Damage Diagnosis for a Gear using a Laser Beam: (A Proposal for a Method of Creating Benchmark Data to be used in Diagnosis)

    TANAKA Eiichirou, KOJIMA Yuta, OKABE Kazunari, TAKEBE Hitoshi, WADA Satoshi, NAGAMURA Kazuteru, IKEJO Kiyotaka, NEMOTO Ryozo

    Journal of Advanced Mechanical Design, Systems, and Manufacturing   7 ( 3 ) 348 - 361  2013年  [査読有り]

     概要を見る

    We developed a new diagnostic method by using a laser beam. A tooth surface is irradiated by the zonal laser beam from an oblique direction, and then the irradiated laser beam line is shifted along the height of the tooth according to gear rotation. The variation of the voltage proportional to laser reflection between initial and present conditions are compared, and the condition of the tooth surface can be diagnosed for things such as initial or abnormal abrasion, pitting, etc. Furthermore, we developed a method of automatic and remote damage diagnosis on a gear tooth surface according to various gear specifications by using the angle-distance relation map which made from pre-measured data of same material and heat treatment, and taking into account the influence of adjacent teeth. The measured data agreed well with the predicted data made with this method, therefore we can diagnosis the condition of various products automatically.

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    4
    被引用数
    (Scopus)
  • 3次元応力場から得られるコースティック像の有限要素法を用いたシミュレーション

    田宮高信, 立川景太, 相樂勝裕, 宮川睦巳, 鈴木拓雄, 杉本聖一, 田中英一郎

    数理科学会論文集   13 ( 1 ) 3 - 9  2012年  [査読有り]

    CiNii

  • Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance

    TANAKA Eiichirou, IKEHARA Tadaaki, YUSA Hirokazu, SATO Yusuke, SAKURAI Tomohiro, SAEGUSA Shozo, ITO Kazuhisa, YUGE Louis

    Journal of Robotics and Mechatronics   24 ( 5 (CD-ROM) )  2012年  [査読有り]

    J-GLOBAL

  • モビルスーツ型全身動作補助機の開発と装置装着歩行時の脳活動評価

    田中英一郎, 瀬戸口隼, 森崇, 三枝省三, 弓削類

    バイオメカニズム   21  2012年  [査読有り]

    J-GLOBAL

  • Development of a guide-dog robot: Human-robot interface considering walking conditions for a visually handicapped person

    Shozo Saegusa, Yuya Yasuda, Yoshitaka Uratani, Eiichirou Tanaka, Toshiaki Makino, Jen Yuan Chang

    Microsystem Technologies   17 ( 5-7 ) 1169 - 1174  2011年06月  [査読有り]

     概要を見る

    The repletion rate of guide dogs for visually handicapped persons is roughly 10% nationwide. The reasons for this low rate are the long training period and the expense for obtaining a guide dog in Japan. Motivated by these two reasons, we are developing guide-dog robots. The major objective is to develop an intelligent human-robot interface. This paper describes two novel interface algorithms and strategy to guide visually handicapped person. We developed new leading edge searching method, which uses a single laser range finder (LRF) developed to find the center of the corridor in an indoor environment. We also developed a new twin cluster trace method that can recognize the led-person's walking conditions measured by the LRF. The algorithm allows the guide-dog robot to accurately estimate and anticipate the led-person's next move. We experimentally verified these algorithms. The results show that the algorithms are reliable enough to enable the guide-dog robot and the led-person to maneuver in a complex corridor environment. © 2011 Springer-Verlag.

    DOI

    Scopus

    15
    被引用数
    (Scopus)
  • 脚部非固定式歩行補助機の開発と筋電による補助効果の検討

    田中 英一郎, 池原 忠明, 佐藤 友亮, 遊佐 広和, 伊藤 和寿, 三枝 省三, 中川 慧, 青景 遵之, 弓削 類

    日本機械学会論文集C編   77 ( 775 ) 1119 - 1132  2011年  [査読有り]

    DOI DOI2 CiNii

    Scopus

    7
    被引用数
    (Scopus)
  • フレキシブルシャフトのねじりばね効果を用いた脚部密着型歩行補助機の開発

    池原 忠明, 田中 英一郎, 永村 和照, 牛田 卓朗, 小島 翔, 田宮 高信, 池条 清隆, 青景 遵之, 中川 慧, 弓削 類

    日本機械学会論文集C編   77 ( 775 ) 698 - 711  2011年  [査読有り]

    DOI DOI2 CiNii

    Scopus

  • 利用者アンケート調査に基づく乳児用バギーの新機能開発に関する研究

    田宮 高信, 齋藤 純一, 杉本 聖一, 冨田 宏貴, 三林 洋介, 田中 英一郎

    日本交通科学学会誌   11 ( 1 ) 4 - 12  2011年  [査読有り]

     概要を見る

    本研究では、乳母車利用時における安全性の向上を念頭に、乳児用バギーの新機能開発をおこなった。乳児用バギーの新機能開発のため、乳母車利用者へのアンケート調査に基づき新機能を開発する改善点を抽出した。アンケート調査は東京都荒川区南千住駅前ショッピングモール周辺でおこなった。調査地点の特徴として、自動車の交通量が多いこと、鉄道利用者の往来が多いこと、また歩道上での自転車と乳母車の同時通行がおこなわれていることがあげられる。調査の結果、片手開閉機能や片手推進時の直進性の向上など、「片手操作性の向上」に強い希望が示された。片手操作性の向上は、利用者が乳幼児を確実に確保することを確実にする。同時に、利用者が乳幼児に十分な注意力を確保することに効果が期待される。そこで、既存の乳児用バギーを基に、片手収納機能、直進性の向上、新たな自立機能の各追加機能を開発した。第1に、新たにキックバーを取り付け、片手での収納を容易にした。本機能は同時に自立機能のための追加動作を不要とした。第2に、ハンドル回転機構を開発し、左右に分かれたハンドルの疑似的な一体化を可能とした。本機能により、片手操作時における直進性の向上が期待できる。

    DOI CiNii

  • 仰臥位へ変形可能な体幹前傾式起立補助機の機構設計

    田中 英一郎, 池原 忠明, 船山 和也, 紺谷 真紀人, 初雁 卓郎, 三宅 徳久

    日本機械学会論文集C編   77 ( 775 ) 712 - 727  2011年  [査読有り]

    DOI DOI2 CiNii

    Scopus

    3
    被引用数
    (Scopus)
  • In Situ Diagnosis of a Gear-Tooth Surface Damage Using Laser Scattering

    TANAKA Eiichirou, NAGAMURA Kazuteru, IKEJO Kiyotaka, NEMOTO Ryozo

    Journal of Advanced Mechanical Design, Systems, and Manufacturing (Web)   5 ( 3 ) 199 - 213  2011年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    13
    被引用数
    (Scopus)
  • モビルスーツ型自立歩行支援ロボットを使った月面歩行シミュレータの検討 : NIRSによる脳循環の検討

    弓削 類, 青景 遵之, 中川 慧, 波之平 晃一郎, 田中 英一郎

    バイオメカニズム学会誌 = Journal of the Society of Biomechanisms   34 ( 1 ) 36 - 40  2010年02月

     概要を見る

    モビルスーツ型自立歩行支援ロボットを使って,免荷時のロボット使用時の歩行と通常歩行の健常者における脳活動を比較し,脳機能の視点から月面歩行のシミュレーションとしての可能性を検討した.月面歩行のシミュレーションを歩行と捉えるか,ジャンプと捉えるかでシミュレーションの方法が変わってくるものと考えられる.月面歩行のシミュレーションの技術開発は,ニューロリハビリテーションやスポーツ医学等の隣接学術領域にも多くの知見を与えるものと思われる.

    DOI CiNii

  • S1108-2-2 寝姿勢への変形可能な起立補助機の機構設計([S1108-2]卒業研究コンテスト(2))

    船山 和也, 田中 英一郎

    年次大会講演論文集   2010   31 - 32  2010年

     概要を見る

    An apparatus to assist elderly patients to stand up, as well as leaning forward the upper body, has been developed. The mechanism of the apparatus enables to shift the person's center of gravity along an adequate trajectory during the standing up process, so as not to cause strain on the joints of the user's leg. The apparatus also assists a person to alter from a standing or sitting posture to lying posture. Although the mechanism has multiple links and joints, only one actuator is required to transform the apparatus between aforementioned three postures. The length of each link of the mechanism has been determined from their effect on the backrest angle when each link in the mechanism length is changed. The torque of the hip and knee joints while using the apparatus can be calculated and compared with the data of a user not using the apparatus. We hypothesize that the output torque of the user while standing is decreased by using the apparatus.Mechanical Design

    DOI CiNii

  • J1102-4-5 ADLおよび介助動作補助用パワーアシストスーツの開発([1102-4]ライフサポート(4))

    田中 英一郎, 池原 忠明, 市川 洋雄, 角田 大輔

    年次大会講演論文集   2010   385 - 386  2010年

     概要を見る

    We have developed two kinds of power assistance suits. One is for support a patient's activities of daily living, which was united two apparatuses between for the upper limbs and for the legs; these were driven with a motor. These apparatuses were already developed, and characterized in that equipped person can be assisted for arms and legs without fixation with the apparatuses. By using this suit, we can input the entire body motion to the equipped patient for the neuro-rehabilitation. The other is for support a helper's assistance behavior, which was made with rubber belt, and without electricity. This suit can assist lifting motion, especially for equipped person's arms and waist. To confirm the validity of this suit, we measured the variation of maximum output force, IEMG and %MVC of the entire body while lifting and holding motion. By using this suit, the maximum lifting weight of equipped person was increased by 8kg, and the arm and leg of the equipped person were assisted effectively.

    DOI CiNii

  • Development of a Guide-Dog Robot: Leading and Recognizing a Visually-Handicapped Person using a LRF

    SAEGUSA Shozo, YASUDA Yuya, URATANI Yoshitaka, TANAKA Eiichirou, MAKINO Toshiaki, CHANG Jen-Yuan (James)

    Journal of Advanced Mechanical Design, Systems, and Manufacturing   4 ( 1 ) 194 - 205  2010年  [査読有り]

     概要を見る

    A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.

    DOI DOI2 CiNii

    Scopus

    12
    被引用数
    (Scopus)
  • Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System

    IKEHARA Tadaaki, TANAKA Eiichirou, NAGAMURA Kazuteru, TAMIYA Takanobu, USHIDA Takurou, HASHIMOTO Kenichi, KOJIMA Sho, IKEJO Kiyotaka, YUGE Louis

    Journal of Robotics and Mechatronics   22 ( 3 )  2010年  [査読有り]

    J-GLOBAL

  • J1601-1-3 盲導犬ロボットのための視覚障害者の歩行状態を考慮した外乱に強いインターフェースの開発(メカニカルシステムとその知能化)

    安田 裕也, 三枝 省三, 浦谷 佳孝, 田中 英一郎, 牧野 俊昭

    年次大会講演論文集   2009   349 - 350  2009年

     概要を見る

    In Japan, repletion rate of guide dogs for visually-handicapped persons is at very low percentage of roughly 10% nationwide due to required long training period as well as uneconomic price in obtaining a guide dog. Motivated by these two reasons, we are currently developing a Guide-Dog Robot with major objective given to developing intelligence in human-guide-dog robot interface. In this paper, novel human-machine interface algorithm and strategy to lead visually-handicapped people is proposed. A new leading edge searching method intelligently incorporated with one leaser range finder (LRF) is developed and implemented in our prototype guide-dog robot. It is demonstrated in our experiment that with the new method, the robot not only is able to effectively recognize the led-person's walking conditions but also is able to accurately estimate the person's next move. With the new method and a LRF, robustness is improved and validated to allow the guide-dog robot and the led-person to maneuver in complex corridor environment.

    DOI CiNii

  • 脚部密着型歩行補助機の開発

    池原忠明, 田中英一郎, 永村和照, 田宮高信, 深谷直樹

    設計工学   44 ( 8 )  2009年  [査読有り]

    J-GLOBAL

  • トロコイド歯形を用いたピンラック歯車装置の運転性能

    池条清隆, 永村和照, 田中英一郎, 山本幸司

    設計工学   44 ( 3 ) 172 - 180  2009年  [査読有り]

    J-GLOBAL

  • 3718 補助犬ロボットにおけるBar形障害物の検出と回避(J26-1 メカニカルシステムとその知能化(1),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

    浦谷 佳孝, 三枝 省三, 藤本 剛大, 安田 裕也, 田中 英一郎, 牧野 俊昭

    年次大会講演論文集   2008   227 - 228  2008年

     概要を見る

    There are many persons who lost their sight or hearing. And They want to get more flexibility for their activities. But there are very low supply assistance-dog. So, we started to serve a assistance-dog robot for handicap persons. In this paper, algorithm of obstacle detection with image processing and avoidance are proposed. Especially, the potential method is applied to Bar-Shape obstacles for estimating the coordinate. These validity of methods are shown with simulation and also experiment by using prototype robot with real-time processing. As a result, we found the choice of getting around Bar or not is easily to control with height of Bar with persons safety.

    DOI CiNii

  • 3641 実用化に向けた自立型脚部非固定式歩行補助機の開発(J24-2 ライフサポート(2),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

    田中 英一郎, 池原 忠明, 永村 和照, 池条 清隆, 井上 裕介, 橋本 健一, 三枝 省三

    年次大会講演論文集   2008   221 - 222  2008年

     概要を見る

    We developed a walking assist machine, which machine used a spatial parallel link mechanism for the elderly or workers. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. The machine was equipped various sensors, could turn around during walking and walk in a slope or stairs. Furthermore, the machine was mounted self-contained control system used a SH-4 microcomputer and Lithium-ion batteries. As a result, the equipped person can walk without limitation of the area where the machine can be used. The EMG while the equipped person walked on the stairs was measured, and the ratio of IEMG between the data while wearing and without wearing the machine, and MVC were calculated. As a result, the machine was effective to use during walking on the stairs for the lower leg (crural leg) of the equipped person.

    DOI CiNii

  • ピンラック歯車装置の運転性能と強度

    池条清隆, 永村和照, 田中英一郎, 山本幸司

    設計工学   43 ( 7 ) 36 - 42  2008年  [査読有り]

    J-GLOBAL

  • レーザー光による歯車歯面損傷診断技術の開発

    田中 英一郎, 永村 和照, 池条 清隆, 根本 良三, 杉山 達郎

    日本機械学会論文集C編   73 ( 729 ) 1545 - 1551  2007年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    5
    被引用数
    (Scopus)
  • 320 足関節及び膝関節の運動補助機能をもった歩行支援システムの開発(S83 医療・福祉のためのロボットシステム,S83 医療・福祉のためのロボットシステム)

    池原 忠明, 田宮 高信, 深谷 直樹, 島崎 賢一, 田中 英一郎

    年次大会講演論文集   2006   39 - 40  2006年

     概要を見る

    Ankle-foot orthoses (AFOs) are used in people who have difficulty of working as ankle contracture splints and foot drop splints. Although utilization of AFOs has been expanding, it is still questionable if functions and structures of AFOs are suitable. In this paper, a new active ankle-foot orthosis (AAFO), which is dynamically controlled linked with muscle activities, is proposed. To discuss functions of the AAFO, using the electromyographies (EMGs), muscle activities during dynamic balancing of a body and changing of muscle activities with fatigue are considered. As the results, it's shown that to assist femoris muscles additionally to the tibialis anterior muscle is important as the function of the AAFO.

    DOI CiNii

  • 足裏から下肢全体を支援する歩行補助機の開発

    田中 英一郎, 池原 忠明, 小俣 透, 大和田 崇文, 永村 和照, 池条 清隆, 坂本 健, 井上 裕介

    日本機械学会論文集C編   72 ( 724 ) 3871 - 3877  2006年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    5
    被引用数
    (Scopus)
  • 可動補助付き短下肢装具の開発 : 筋活動からみた動的平衡性及び長時間歩行の検討(S47-1 介護・福祉装置,S47 健康・福祉機器の開発)

    池原 忠明, 深谷 直樹, 今井 郷充, 田中 英一郎

    年次大会講演論文集   2004   213 - 214  2004年

     概要を見る

    Ankle-foot orthoses (AFOs) are used in people who have difficulty of working as ankle contracture splints and foot drop splints. Although utilization of AFOs has been expanding, it is still questionable if functions and structures of AFOs are suitable. In this paper, a new active ankle-foot orthosis (AAFO), which is dynamically controlled linked with muscle activities, is proposed. To discuss functions of the AAFO, using the electromyographies (EMGs), muscle activities during dynamic balancing of a body and changing of muscle activities during fatigue are considered. As the results, it's shown that to assist femoris muscles additionally to the tibialis anterior muscle is important as the function of the AAFO.

    DOI CiNii

  • 歯車装置振動放射音解析システムを用いた歯車箱の低騒音化設計

    田中 英一郎, 北條 春夫

    日本機械学会論文集C編   70 ( 694 ) 1861 - 1867  2004年  [査読有り]

    DOI CiNii J-GLOBAL

    Scopus

    1
    被引用数
    (Scopus)
  • Vibration and Sound-Radiation Analysis for Designing a Low-Noise Gearbox with a Multi-Stage Helical Gear System

    TANAKA Eiichirou, HOUJOH Haruo, MUTOH Daisuke, MOTOSHIROMIZU Hirofumi, OHNO Kousaku, TANAKA Naoyuki

    JSME International Journal Series C   46 ( 3 ) 1178 - 1185  2003年  [査読有り]

     概要を見る

    A method for predicting gear noise from the vibration step to the sound-generation step of a complete gear system, including a gearbox, was developed. This method consists of three separate steps: gear-vibration analysis by an in-house program, gearbox-vibration analysis by an FEA program, and sound-radiation analysis by a commercial software. By using this method, it can obtain the vibration behavior of the gear and gearbox, and the distribution of the sound-pressure around the gearbox and identify the areas from which noise radiates intensely. To validate the method, we measured the displacement of a gear shaft, the acceleration of points on the surface of the gearbox, and the sound-pressure levels around the gearbox. The measured results agreed well with the corresponding calculations. According to the calculated noise, a low-noise gearbox was designed by adding ribs near the antinodes of the gearbox's vibration mode.

    DOI CiNii

    Scopus

    27
    被引用数
    (Scopus)
  • 多段はすば歯車装置の振動放射音解析システムと歯車箱の低騒音化設計

    田中 英一郎, 北條 春夫, 武藤 大輔, 本白水 博文

    日本機械学会論文集C編   69 ( 680 ) 1108 - 1115  2003年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    1
    被引用数
    (Scopus)
  • Vibration Analysis of a Multi-Stage Gear System Including Drive Mechanism Elements. Proposal of Three-Dimentional Vibration Model and Eigenvalue Analysis of Helical Gear System.: (Proposal of Three-Dimentional Vibration Model and Eigenvalue Analysis of Helical Gear System)

    TANAKA Eiichirou, TANAKA Naoyuki, OHNO Kousaku

    JSME International Journal Series C   44 ( 2 ) 307 - 314  2001年  [査読有り]

     概要を見る

    We have developed a new method for building a vibration model of an actual gear-drive system. Each gear has six degrees of freedom: three translational and three rotational motions. Stiffness matrixes representing each gear shaft and tooth meshing were made and overlapped into one stiffness matrix for the whole system. This enabled easy modelling of complex gear-drive systems such as multi-stage gears and branched gears. The results are in good agreement with experimental results with respect to the major resonance frequencies and vibration modes.

    DOI DOI2 CiNii

    Scopus

    4
    被引用数
    (Scopus)
  • 歯車箱を含めた多段はすば歯車装置の振動解析

    田中 英一郎, 大野 耕作, 田中 直行

    日本機械学会論文集C編   67 ( 659 ) 2321 - 2328  2001年  [査読有り]

    DOI DOI2 CiNii J-GLOBAL

    Scopus

    2
    被引用数
    (Scopus)
  • 駆動機構要素を付加した多段歯車系の振動解析 2 はすば歯車系の周波数応答解析

    田中英一郎, 田中直行, 大野耕作

    日本機械学会論文集 C編   66 ( 646 ) 1967 - 1974  2000年  [査読有り]

    J-GLOBAL

  • 駆動機構要素を付加した多段歯車系の振動解析 第1報 はすば歯車系の3次元振動モデル化およびその固有値解析

    田中 英一郎, 田中 直行, 大野 耕作

    日本機械学会論文集C編   65 ( 633 ) 2006 - 2013  1999年  [査読有り]

    DOI CiNii J-GLOBAL

    Scopus

  • 姿勢遷移可能な作業移動ロボットの設計とその接地自由度解析

    田中 英一郎, 小俣 透, 和田 選

    日本機械学会論文集C編   64 ( 623 ) 2582 - 2588  1998年07月  [査読有り]

    DOI CiNii

    Scopus

▼全件表示

Misc

  • Evaluating the Interaction Between Human Walking and Two-Dimensional Emotion Variation by Using Physiological Signals

    Jyun Rong Zhuang, Guan Yu Wu, Ya Jing Guan, Keiichi Muramatsu, Keiichi Watanuki, Eiichiro Tanaka

    Advances in Intelligent Systems and Computing   952   40 - 47  2020年

     概要を見る

    The purpose of this study is to assess the interaction between walking and emotion variation. Two-dimension walking condition map and the two-dimension emotion map were used to understand their relation. According to the tendency of the changing walking gait in response to the emotion variation, we found that two factors can be influenced by each other. Therefore, by using this relation, we proposed an evaluation method for the user obtaining a better rehabilitation effect while using the assistive device. We recommended that the patient should walk comfortably through following the personal walking limitation, they thus can freely two-way control the emotion and walking while using an assistive device. To conclude, our proposed evaluation method can be employed for various assistive devices.

    DOI

  • レーザ反射光を用いた安価・迅速な歯車歯面損傷診断システムの実用化

    田中英一郎, LIM Chinn Yee, ZHUANG Jyun Rong, 中迫正一, 池条清隆

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2019  2019年

    J-GLOBAL

  • 1chレーザセンサによる2次元歯車歯面損傷診断システムの開発

    田中英一郎, LIN Han-Ching, LIN Yu-Hsien, 池条清隆, 中迫正一

    日本設計工学会研究発表講演会講演論文集   2018  2018年

    J-GLOBAL

  • Experimental study on color preference and visual fatigue against LED lighting

    Keiichi Muramatsu, Kazunori Kaede, Eiichiro Tanaka, Keiichi Watanuki

    Advances in Intelligent Systems and Computing   585   78 - 85  2018年

     概要を見る

    In recent times, light-emitting diode (LED) lighting has been widespread in offices and manufacturing buildings, but for assembly operation in manufacturing situations, it has not yet been explored. In this study, we measure color preference and visual fatigue to evaluate LED task lighting for assembly operation. We conducted an experiment to obtain subjective responses to color preference and to measure visual fatigue under LED lighting. The participants were asked to assemble a gearbox model as a task under three different lighting conditions. As a result, lighting with high color temperature was rated with high visibility, fatigability, and low preference. On the other hand, critical fusion frequency, which indicates visual fatigue, was higher in lighting with low color temperature than in lighting with other conditions. This indicates that color preference as a subjective response discords from visual fatigue evaluated by biological information.

    DOI

  • User-friendly walking assistance device able to walk on stairs safely

    Y. Zhang, E. Tanaka, H. Lee, S. Saegusa, L. Yuge

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     839 - 844  2017年08月

     概要を見る

    A novel control method for the walking assistance device using predefined walking trajectory used to walk for the elderly or the patients with weak leg muscle on stairs from plain more safely and naturally is proposed in this paper. Two control method, torque control and impedance control, used per their usage purpose are introduced, and the later one is focused in this paper. To make sure the use of safety, two situations, putting swing leg in front of stair too close or too far, while a user wearing assistance climbing up on the stairs through even ground is considered. If the user faces these situations walking with the apparatus using impedance control, falling or collision between apparatus and stair are happened more easily than level walking because of lots of environment facts need to be considered like the distance between user and stairs. One of the most important environment facts is recognizing of the stairs, therefore, to prevent the user from the danger in each situation, ultrasonic sensor is used as a safety system to keep space, and we called safety distance, between foot part of walking device and stair. The value of safety distance is not only defined as a switch to change the walking trajectory between the plain mode and the stair mode but also used to decide the ideal stride of trajectory while walking to stairs from even ground. Finally, the result of walking experiment shows that the safety walking experience by wearing our walking assistance device can be achieved.

    DOI

  • Affective computing using clustering method for mapping human's emotion

    Z. Zhang, E. Tanaka

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM     235 - 240  2017年08月

     概要を見る

    In this study, we proposed a method which could be used for mapping people's emotion state on the two-dimensional arousal-valence model of effect. The final target of our research is to apply this kind of emotional recognition system to robots or some assistant apparatus which service activities of daily living (ADL). Since in our previous studies, we have finished the work of recognizing people's emotion state on the dimension of arousal by evaluating subjects' heartbeat and LF/HF, which is calculated from the frequency domain analysis of HRV, as the second step's work, we focused on how to recognize people's emotion state on valence dimension. To be specific, we used some kinds of normative affective stimuluses to elicit subjects' emotional change, then collected multiple physiological data during this emotional stimulation process. Finally, as for data analyzing, we didn't use the supervised learning method, like SVM, but made a new attempt to apply the unsupervised clustering method to sample data, dividing the data set into several natural clusters by analyzing the physiological features we abstracted. The calculated results of our experiment have verified the feasibility of mapping human's emotion state on the two-dimensional arousal-valence model of effect at a quadrant level.

    DOI

  • DEVELOPMENT OF SMALL TYPE OF A STANDING UP ASSISTANCE DEVICE FOR THE ELDERLY

    TANAKA Eiichiro, MURAMATSU Keiichi, WATANUKI Keiichi

    The Proceedings of the JSME international conference on motion and power transmissions   2017 ( 0 ) 12 - 1  2017年

     概要を見る

    <p>We developed small type of a standing up device for the elderly. We have developed standing up devices; caster walker type and bed wheel chair type. They assist standing up motion, backed on following two conditions. 1) the trajectory of center of gravity of the user is round shape, 2) the trajectory of the hip joint of the user while standing up is straight line. These conditions were found from the data of able bodied elderly people, and the feature of their standing up conditions is to lean forward the upper body. By using these devices, the load of the knee joint decrease, and the user can learn how to stand up easily. However, these devices are bulky and usable scenes are limited. Then we developed small type, which can be used on various chairs. This type assists from sitting posture to the middle phase while standing up. The mechanism is constituted with links and a gas spring, instead of a motor. It is light weight, low cost, and small to be able to attach to the back of a chair. From the calculation, by using this new type, the output torques of the knee and ankle joints decreased.</p>

    DOI CiNii

  • DEVELOPMENT OF A WALKING ASSISTANCE APPARATUS INCLUDING A TORQUE LIMITER IN A GEAR

    TANAKA Eiichiro, NAGAYOSHI Hayato, KONDO Hirotoshi, MURAMATSU Keiichi, WATANUKI Keiichi

    The Proceedings of the JSME international conference on motion and power transmissions   2017 ( 0 ) 12 - 2  2017年

     概要を見る

    <p>A walking assistance apparatus using a torque limiter was developed. We used the servo motor for hobby, it is relatively small, light weight, and included not only a motor and transmission gear, but also a driver and encoder. At first, we controlled the device using angle control method, according to the walking phase along to the mean data of able bodied people while walking. However, when the user stops walking suddenly or walk on outdoor various roads, the final gear was broken frequently. Because the gear was designed to break easily, to defend the motor from the inverse inputting overload torque. Then we developed a torque limiter mechanism in the final gear. This is a traction drive sandwiched a soft material plate between two circular disk. We carried out the experiment to measure the limit torques of eight kinds of the rubber material. In this paper, the results of the experiment were shown.</p>

    DOI CiNii

  • EFFECT OF TOOTH PROFILE MODIFICATION ON TOOTH WEAR OF INVOLUTE SPUR GEAR

    NARAZAKI Jin, IKEJO Kiyotaka, NAGAMURA Kazuteru, TANAKA Eiichiro, SEYAMA Natsuhiko

    The Proceedings of the JSME international conference on motion and power transmissions   2017 ( 0 ) 5 - 5  2017年

     概要を見る

    <p>Wear on tooth surface of gears occurs while gear pair transmits a power and a rotation. The progression of the wear gradually degrade the performance for the change in the tooth profile. Especially, the edge contact provides a large wear to the tooth surface. A tooth profile modification is widely used to prevent the edge contact. However, there is few researches about the effect of tooth profile modification to the surface wear. In this study, we investigated the effect of tooth profile modification on the tooth wear of involute spur gear in the cyclic wear test with two types of gears. Furthermore, we developed a computer program to predict the amount of the wear on the tooth surface considering the edge contact for the spur gear. The method is based on two types of wear equations. One is Soda's theory under lubricated condition, and the other is derived from the ploughing wear model. We compered the calculated result with experimental data, and discussed the effect of the tooth profile modification on the tooth wear.</p>

    DOI CiNii

  • 歩行補助機RE-Gaitの開発

    田中 英一郎, 村松 慶一, 大澤 優輔, 綿貫 啓一, 三枝 省三, 弓削 類

    バイオメカニズム学術講演会予稿集   37回   135 - 136  2016年11月

  • レーザ光を用いた歯車歯面損傷診断の実用化検討

    田中英一郎, 中島けやき, 岡部一成, 竹辺仁, 永村和照, 池条清隆, 橋村真治, 村松慶一, 綿貫啓一, 根本良三

    日本機械学会機素潤滑設計部門講演会講演論文集   16th  2016年

    J-GLOBAL

  • ねじ歯車の負荷特性に関する研究-歯形の影響-

    田村恵万, 根本良三, 瀬山夏彦, 田中英一郎

    日本機械学会年次大会講演論文集(CD-ROM)   2016  2016年

    J-GLOBAL

  • インボリュート平歯車の摩耗に及ぼす歯形修整の影響

    楢崎仁, 池条清隆, 永村和照, 田中英一郎, 瀬山夏彦

    日本機械学会年次大会講演論文集(CD-ROM)   2016  2016年

    J-GLOBAL

  • 学習者の心的状態と生体情報に関する概念記述の試み

    村松 慶一, 田中 英一郎, 綿貫 啓一, 松居 辰則

    人工知能学会全国大会論文集   2016 ( 0 ) 1C5OS13b6 - 1C5OS13b6  2016年

    DOI CiNii

  • 価値認識マップの構築に向けた感情状態評価に関わる概念記述の試み

    村松 慶一, 田中 英一郎, 松居 辰則, 綿貫 啓一

    設計工学・システム部門講演会講演論文集   2016 ( 0 ) 1101 - 1101  2016年

     概要を見る

    <p>Recently, value creation from view point of service has been widespread. A service process is regarded as a kind of interaction between service providers and receivers. Sharing and managing such the knowledge on human Kansei are of growing significance to providing product's values focused on customers. However, any sufficiently-advanced technologies that realize such knowledge sharing and management have been established. One typical approach is to clarify and systematize concepts as an ontology which is a basis to describe knowledge. In the current study, we discuss a method to develop an ontology describing knowledge on human Kansei and introduce several existing ontologies. The ontology will serve as a useful reference to develop value recognition map and be of assistance to designers.</p>

    DOI CiNii

  • 電気部品の設計における設計行為と設計対象に関する概念記述の試み

    村松 慶一, 田中 英一郎, 綿貫 啓一

    機素潤滑設計部門講演会講演論文集   2016 ( 0 ) B3 - 1  2016年

     概要を見る

    <p>Recently, improvement of design capability is one of important issues in industry However, it's really difficult to share knowledge of design possessed by experts with novices, because the knowledge exists depending on their skill and degree of prociency. Thus the current study aims to excavate the experts' Knowledge. We then described design objects related to action to design electronic components.</p>

    DOI CiNii

  • 歩行補助機 Re-Gait®の開発と歩行促進手法の検討

    田中 英一郎, 大澤 優輔, 村松 慶一, 綿貫 啓一, 三枝 省三, 弓削 類

    年次大会   2016 ( 0 ) S1110202  2016年

    DOI CiNii

  • 二次元感情マップを用いた歩行促進・維持システムの提案と評価

    大澤 優輔, 田中 英一郎, 村松 慶一, 綿貫 啓一

    年次大会   2016 ( 0 ) S1170305  2016年

     概要を見る

    <p>Various walking assistance devices which promote rehabilitation and exercise for elderly have been developed. However, these devices can't support walking for exercise, because many elderly feels fatigue and bored in assisted walking. Therefore, the aim of our current study is to assist not only physically but also mentally elderly walkers to keep up their motivation. Concretely, we propose a walking promotion method that walkers listen to the beat sound adjusted according to their emotions with the ankle support assistance device. In order to confirm the effectiveness of the method, we conducted two experiments. The first experiment has four conditions where walkers have the device assist or not and the beat sound assist or not. As a result, the gait was improved with the device and sound assist where target cadences were adjusted according to their walking cycle. The second experiment has two conditions where walkers assisted sound adjusted according to their emotions or not. As a result, awakening levels perceived by the walkers remarked higher than ones in usual walking. These results showed the effectiveness of the method and possibility of the control of the emotion while walking.</p>

    DOI CiNii

  • タスク照明の光色に対する選好と視覚疲労の検討

    村松 慶一, 楓 和憲, 田中 英一郎, 綿貫 啓一

    年次大会   2016 ( 0 ) J1210101  2016年

    DOI CiNii

  • 2307 歩行補助機の実用化に向けた開発および評価(GS1-2 一般セッション(2),GS1 一般セッション)

    田中 英一郎, 村松 慶一, 綿貫 啓一, 三枝 省三, 弓削 類

    設計工学・システム部門講演会講演論文集   2015 ( 25 ) "2307 - 1"-"2307-7"  2015年09月

     概要を見る

    We developed a walking assistance apparatus which can be used for neuro-rehabilitation of patients. This apparatus assists only the ankle joints of the equipped person and he/she can raise his/her leg by using the stretch reflex to bi-articular muscle. To confirm the effectiveness of the apparatus, we carried out the experiment for the patients of walking with wearing the apparatus, and the angle variation of the ankle was measured. From the results, by using this apparatus, the dorsiflexion and plantarflexion of the ankle joint of the equipped person can increase while walking. Furthermore, to grasp the lifetime limit of the apparatus, we developed the fatigue test apparatus for the power transmission device of the walking assistance apparatus: from the motor to the worm-helical gearbox through the flexible shaft. This apparatus supplies the power with the motor which is the same as the motor which is used in the walking apparatus. As a result, we could define the limit to replace of the flexible shaft according to the condition of the user.

    CiNii

  • S1180102 高齢者運動促進用動作補助機の開発

    田中 英一郎, 丹羽 涼介, 大澤 一貴, 中島 けやき, 村松 慶一, 綿貫 啓一, 三枝 省三, 弓削 類

    年次大会 : Mechanical Engineering Congress, Japan   2015   "S1180102 - 1"-"S1180102-5"  2015年09月

     概要を見る

    We developed a motion assistance apparatus which can be used for neuro-rehabilitation of patients and for the promotion of exercise for the elderly. This apparatus assists only the ankle joints of the equipped person according to the posture of him/her while walking, getting up, sitting, and standing. To confirm the effectiveness of the apparatus, we carried out the experiment of walking with wearing the apparatus, and the angle variation of the ankle was measured. From the results, by using this apparatus, the dorsiflexion and plantarflexion of the ankle joint of the equipped person can increase while walking. Therefore, this apparatus can prevent stumbling and promote walking and various motions.

    CiNii

  • J1210105 学習サービス設計における学習状態に関する概念記述の試み

    村松 慶一, 木見田 康治, 石井 隆稔, 根本 裕太郎, 田中 英一郎, 綿貫 啓一, 松居 辰則, 下村 芳樹

    年次大会 : Mechanical Engineering Congress, Japan   2015   "J1210105 - 1"-"J1210105-2"  2015年09月

     概要を見る

    Recently, view point of service has been widespread. In learning domains, service providers have been required to adopt it and to provide values co-created by teachers and learners. The current study aims conceptualization of learners states extracted from utterance contents agreed by a teacher (mentor) and a leaner along with conversation analysis in the previous study. As a result, we proposed ontological descriptions which clarify ASIS/TOBE states perceived by teachers and learners.

    CiNii

  • 歩行・起立・立位補助機の開発

    田中 英一郎, 村松 慶一, 綿貫 啓一, 三枝 省三, 弓削 類

    生活生命支援医療福祉工学系学会連合大会講演要旨集   2015   45 - 45  2015年09月

  • 3304 学習サービス設計における知臓共有に向けた受給者の状態に関する概念記述(OS4-2 知識マネジメント・情報共有2,OS4 知識マネジメント・情報共有)

    村松 慶一, 木見田 康治, 石井 隆稔, 根本 裕太郎, 田中 英一郎, 綿貫 啓一, 松居 辰則, 下村 芳樹

    設計工学・システム部門講演会講演論文集   2015 ( 25 ) "3304 - 1"-"3304-6"  2015年09月

     概要を見る

    Recently, view point of service has been widespread. In learning domains, service providers have been required to adopt it and to provide values co-created by teachers and learners. The value co-creation takes place in joint sphere where providers and customers make interaction, and the value is subjectively perceived by receivers (learners in learning service). That is, a mental state of leaner is one of possible value in the co-creation. The current study aims to develop a conceptual framework which describes mental states of learners for specifying values in the co-creation. As a result, we proposed ontological descriptions of learning event which consists of a teacher, a learner, learning materials, and a learning action by the learner. In concrete terms, we proposed ontological descriptions for receiver states in a learning activity, on the basis of a conceptual model of value co-creation. The ontological descriptions are useful for sharing knowledge on values perceived by learners to design learning services.

    CiNii

  • メンターと学習者の合意形成の表現に向けた発話内容の概念化の試み

    村松 慶一, 木見田 康治, 石井 隆稔, 根本 裕太郎, 田中 英一郎, 綿貫 啓一, 松居 辰則, 下村 芳樹

    人工知能学会全国大会論文集   2015 ( 0 ) 1E5OS11b3 - 1E5OS11b3  2015年

     概要を見る

    <p>高等教育においては,教育サービスの提供者と受給者が目標とする学習成果についての合意形成を行うことで,高い利用価値を共創的に実現することが期待される.本研究では,合意形成の過程を可視化するために,合意された話題の意味内容の概念化を試みる.具体的には,メンターと学習者のカウンセリング事例を取り上げ,サービス提供者,受給者,コンテンツ・チャネルとして発話内容を位置づける.</p>

    DOI CiNii

  • 歯形修整を施した平歯車の摩耗

    楢崎仁, 池条清隆, 永村和照, 田中英一郎, 井上祥太郎

    日本設計工学会中国支部講演論文集   ( 32 )  2015年

    J-GLOBAL

  • レーザ反射光を用いた簡易型歯車歯面自動異常診断

    田中英一郎

    設計工学   50 ( 6 )  2015年

    J-GLOBAL

  • レーザ光による歯車異常の遠隔自動予知診断

    田中英一郎, 永村和照, 池条清隆

    芝浦工業大学特別教育・研究報告集(CD-ROM)   2014  2015年

    J-GLOBAL

  • 機械工学年鑑 14.機素潤滑設計

    田中英一郎, 黒河周平, 橋村真治, 山本晃生, 尾形秀樹

    日本機械学会誌   118 ( 1161 )  2015年

    J-GLOBAL

  • 低圧力角がねじ歯車の負荷特性に及ぼす影響

    根本良三, 田村恵万, 瀬山夏彦, 田中英一郎

    日本機械学会年次大会講演論文集(CD-ROM)   2015  2015年

    J-GLOBAL

  • P-11 多色配色に対する潜在的態度としての嗜好に関する実験的検討(第46回全国大会発表論文集)

    村松 慶一, 方 思源, 田中 英一郎, 綿貫 啓一, 松居 辰則

    日本色彩学会誌   39 ( 5 ) 128 - 129  2015年

    CiNii

  • レーザ光を用いた歯車歯面損傷診断技術の開発

    田中英一郎

    機械の研究   65 ( 7 )  2013年

    J-GLOBAL

  • ピッチング損傷の進展に伴う歯車歯面におけるレーザ反射光強度の変化傾向の検討

    小島佑太, 田中英一郎, 永村和照, 池条清隆, 橋本光生, 岡部一成, 竹辺仁, 根本良三

    運動及び動力伝達機構(Motion and Power Transmission)シンポジウム<伝動装置>講演論文集   2013  2013年

    J-GLOBAL

  • レーザ光を用いた歯車損傷の簡易診断手法の開発

    小島佑太, 田中英一郎, 吉見裕樹, 岡部一成, 竹辺仁, 和田諭, 永村和照, 池条清隆, 橋本光生, 根本良三

    日本機械学会年次大会講演論文集(CD-ROM)   2013  2013年

    J-GLOBAL

  • インクルーシブデザインによる使用者目線のライフサポート機器の開発

    田中 英一郎, 池原 忠明, 三枝 省三

    特別教育・研究報告集     316 - 319  2012年

    CiNii

  • 密着型歩行訓練ロボットの臨床実験と評価

    田中 英一郎, 池原 忠明, 三枝 省三

    特別教育・研究報告集     408 - 411  2012年

    CiNii

  • レーザ光を用いた歯車損傷自動遠隔診断技術の開発(損傷前歯面計測値推定法の提案)

    田中英一郎, 岡部一成, 小島佑太, 堀敦志, 竹辺仁, 和田諭, 根本良三

    日本機械学会機素潤滑設計部門講演会講演論文集   12th  2012年

    J-GLOBAL

  • ねじ歯車の歯面応力状態の解析

    根本良三, 田村恵万, 冨田宏貴, 佐伯康平, 田中英一郎

    日本機械学会機素潤滑設計部門講演会講演論文集   12th  2012年

    J-GLOBAL

  • レーザ光を用いた歯車損傷診断技術の開発(損傷前歯面状態推定手法の提案)

    小島佑太, 田中英一郎, 岡部一成, 堀淳志, 竹辺仁, 和田諭, 根本良三

    日本機械学会年次大会講演論文集(CD-ROM)   2012  2012年

    J-GLOBAL

  • 利用者アンケート調査に基づく乳児用バギーの新機能開発に関する研究

    田宮 高信, 齋藤 純一, 杉本 聖一, 冨田 宏貴, 三林 洋介, 田中 英一郎

    日本交通科学協議会誌 = Journal of the Japanese Council of Traffic Science   11 ( 1 ) 4 - 12  2011年12月

    CiNii

  • レーザ光を用いた簡易型歯車歯面損傷診断装置

    田中英一郎

    光アライアンス   22 ( 10 )  2011年

    J-GLOBAL

  • 2202 フレキシブルシャフトのねじりばね効果を用いた脚部密着型歩行補助機の開発(健康・福祉機器の開発,一般講演)

    池原 忠明, 田中 英一郎, 永村 和照, 牛田 卓朗, 小島 翔, 田宮 高信, 池条 清隆, 弓削 類

    機素潤滑設計部門講演会講演論文集   2010 ( 10 ) 165 - 166  2010年04月

     概要を見る

    A walking assistance device using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this device to modify its appearance simple and suitable size. This device is also controlled with a hybrid-control system both torque, ankle joint range, and knee joint. In this system, the tensional spring constant of the flexible shaft is taken into account to the control power and the rotating motor of joint angle. To expand the area of where an equipped parson can walk with the device, a self-contained system that operated with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson and patient can freely walk both in and out of doors environment.

    CiNii

  • 2204 寝姿勢への変形可能な起立補助機の機構設計(健康・福祉機器の開発,一般講演)

    田中 英一郎, 池原 忠明, 船山 和也, 紺谷 真紀人, 初雁 卓郎, 三宅 徳久

    機素潤滑設計部門講演会講演論文集   2010 ( 10 ) 169 - 170  2010年04月

     概要を見る

    A new apparatus to assist an elderly person to stand up, as well as leaning forward the upper body, has been developed. The mechanism of the apparatus enables to shift the person's center of gravity along an adequate trajectory during standing up process, so as not to cause strain for each joint of the elderly's leg. The apparatus also assists a person to alter from standing or sitting posture to lying posture. Although the mechanism has multiple links and joints, only one actuator is required to transform the apparatus between aforementioned three postures. The length of each link of the mechanism has been determined from their effect on the backrest angle when each link length is changed. Each torque of hip and knee joint of the person while standing up was calculated, and effectiveness of the apparatus has been confirmed.

    CiNii

  • 21212 走行式介護リフトを活用した脚部非固定式歩行補助機の開発(OS12 生活支援機器(2),オーガナイズドセッション)

    橋本 健一, 田中 英一郎, 池原 忠明, 弓削 類, 伊藤 和寿, 佐藤 友亮, 遊佐 広和, 瀬賀 直子, 廣瀬 賢太郎, 三枝 省三

    日本機械学会関東支部総会講演会講演論文集   2010 ( 16 ) 425 - 426  2010年03月

     概要を見る

    We developed a walking assist apparatus, which machine used a spatial parallel link mechanism for the elderly and rehabilitants. Without making special constraints on person's legs the proposed apparatus can assist whole legs of a person including soles. The apparatus was equipped a inclination sensor and an ultrasonic sensor, then the angle of the slope and the size of stairs are measured to generate the control signal. To examine the effectiveness of the proposed apparatus, the muscle fatigue while walking with wearing the apparatus was evaluated for one hour by MPF of the measured data of electromyography. As a result, the MPF wearing the apparatus was on maintenance tendency. Moreover, the muscle activity in walking up the stairs was evaluated by IEMG Therefore, the effectiveness of the apparatus could be confirmed. The apparatus used with patient lifter to examine the use for neurorehabilitation.

    CiNii

  • 21211 上肢作業補助機のシステム設計と動作解析(OS12 生活支援機器(1),オーガナイズドセッション)

    田中 英一郎, 池原 忠明, 伊藤 和寿, 穐山 達也, 角田 大輔, 市川 洋雄, 瀬戸口 隼, 三枝 省三

    日本機械学会関東支部総会講演会講演論文集   2010 ( 16 ) 423 - 424  2010年03月

     概要を見る

    A new control system for power assist apparatus for an upper limb was developed. This apparatus can select two control systems. One is the deferment type use a power supply for household wall socket to operation for a long time, and use desktop PC for operating. The another one is Self-Contain type that uses battery for power supply therefore it was assumed that could use it outdoors. However the Self-Contain type was apprehended thermal runaway. Therefore developed device a countermeasures against heat. Third movement what could make support to three dimensional end motion further out analysis the range of movement developed apparatus was added to the apparatus. Some input devices were made to manipulate our apparatus and evaluated from subject's comment.

    CiNii

  • 1P1-F23 起立補助可能な密着型歩行補助機の開発

    池原 忠明, 田中 英一郎, 牛田 卓朗, 小島 翔, 伊藤 和寿, 弓削 類, 永村 和照

    ロボティクス・メカトロニクス講演会講演概要集   2010   "1P1 - F23(1)"-"1P1-F23(2)"  2010年

     概要を見る

    In this paper a walking assistance device using a flexible shaft was developed. This apparatus assists the walking and standing up motion. A combination of the flexible shaft with a worm gear was successfully adopted on this device to modify its appearance simple and suitable size. This device controlls torque, ankle joint range, and knee joint with a hybrid-control system. In this system, the tensional spring constant of the flexible shaft is taken into account to the control power and the rotating motor of joint angle. To spread the moving area with the device, a self-contained system operated with SH-4 microcomputer and actuators, which consisted of motors and gears, were put in the small backpack.

    CiNii

  • レーザ光を利用した簡易歯車歯面損傷診断手法の提案

    大久保一弘, 田中英一郎, 岡部一成, 和田諭, 根本良三

    日本設計工学会研究発表講演会講演論文集   2010  2010年

    J-GLOBAL

  • INT-15 Development of Guide-Dog Robot (second report) : Leading and recognizing a visually handicapped person using LRF(Intelligent Machines IV,Technical Program of Oral Presentations)

    SAEGUSA Shozo, YASUDA Yuya, URATANI Yoshitaka, TANAKA Eiichirou, MAKINO Toshiaki

    Proceedings of ... JSME-IIP/ASME-ISPS Joint Conference on Micromechatronics for Information and Precision Equipment : IIP/ISPS joint MIPE   2009   63 - 64  2009年06月

     概要を見る

    We are currently developing a Guide-Dog Robot for visually-handicapped person. In our concept, the robot should have a movable platform, human-machine interface and capability of avoiding obstacles. For leading them safely, the robot is required to detect their position correctly. At the same time, it is required to detect a direction that people are walking. In this paper, the algorithm for a human-machine interface to lead the people is proposed. Getting the position data of a person as follower into account would be considered by this algorithm. To realize such an intelligent leading, we propose the new algorithm that a robot detects the center of corridor and foot of the follower simultaneously with a laser range finder (LRF). Also, the prototype robot is verified that it can lead a person successfully and safely.

    CiNii

  • 1P1-J08 日常生活動作を支援する上肢作業補助機の開発

    穐山 達也, 田中 英一郎, 池原 忠明, 三枝 省三, 角田 大輔

    ロボティクス・メカトロニクス講演会講演概要集   2009   "1P1 - J08(1)"-"1P1-J08(4)"  2009年05月

     概要を見る

    We developed a power assistance apparatus attached to the upper limb, using differential gears for nursing care, or workers who often lift loads up and down. Two motors behind the shoulder of the equipped person provide motive power to drive shoulder and elbow joints, and the differential gear makes it possible to divide the power between them effectively. Shoulder-joint link mechanism was taken into account the Five degrees of freedom of shoulder blade motion. In order to assist the motion of three degrees of freedom with motors, the actuator for shoulder abduction motion was added. By means of three actuators, this apparatus can be supported the behaviors in daily life; meal, face washing, and makeup, and so on. To grasp the behavior of the arms of the equipped person, pressure sensors were attached under the upper and lower arms. Furthermore, the experiment that the apparatus supported the equipped person's three-dimensional motions included in the behaviors which described above was carried out. As a result, the arms of the equipped person could be moved at will, and supported the behaviors in daily life.

    CiNii

  • 1P1-K01 脚部非固定式歩行補助機装着時の筋疲労評価

    橋本 健一, 田中 英一郎, 池原 忠明, 弓削 類, 佐藤 友亮, 遊佐 広和, 三枝 省三

    ロボティクス・メカトロニクス講演会講演概要集   2009   "1P1 - K01(1)"-"1P1-K01(4)"  2009年05月

     概要を見る

    Walking assistance is necessary for elderly and persons who work long hours or do a heavy activity. In order to comply with social requests, a walking assistance apparatus used a spatial parallel link mechanism have been developed. In spite of the apparatus do not have to be fixed on person's legs, the apparatus can assist whole legs of a person including his/her soles. The apparatus equipped a control unit and lithium-ion batteries, and could drive over one hour period. To stabilize the equipped parson's posture for horizontal direction, leaf springs were attached to prevent over-adduction of hip joint. The muscle fatigue while walking with wearing the apparatus for one hour was evaluated by mean power frequency (MPF) using electromyography. As a result, The MPF from the data without wearing the apparatus was decreased, however, the MPF from the data wearing the apparatus was not decreased. Therefore, the effectiveness of the apparatus could be confirmed.

    CiNii

  • 1P1-L06 自立化した脚部密着型歩行補助機の開発

    池原 忠明, 田中 英一郎, 牛田 卓朗, 田宮 高信, 橋本 健一, 永村 和照

    ロボティクス・メカトロニクス講演会講演概要集   2009   "1P1 - L06(1)"-"1P1-L06(4)"  2009年05月

     概要を見る

    A walking assistance machine using a flexible shaft was developed. A combination of the flexible shaft with a worm gear was successfully adopted on this machine to develop its appearance simple and its size compact. This machine is controlled with a hybrid-control system both torque and angle at ankle and knee joints. In this system, the torsion spring constant of the flexible shaft is taken into account to the control power and the rotating angle of the motor. To expand the area of where an equipped parson can walk with the machine, a self-contained system which controlled with SH-4 microcomputer and actuators which consisted of motors and gears were put in the small backpack, and Lithium-ion battery was utilized. Therefore, the equipped parson can freely walk both in and out of doors.

    CiNii

  • GSD-11 CONTACT STRESS STATE ON TOOTH SURFACE OF CROSSED HELICAL GEARS(GEAR STRENGTH AND DURABILITY, INCLUDING GEAR MATERIALS AND HEAT TREATMENT TECHNIQUES)

    TAMURA Ema, NEMOTO Ryozo, TAKEI Kenji, TANAKA Eiichirou

    MPT ... Fukuoka : the JSME international conference on motion and power transmissions   2009   363 - 368  2009年05月

     概要を見る

    Although the gearing of crossed helical gears theoretically takes place at a point, the contact point extends over a small ellipse due to elastic deformation under loading. Hence the contact stress between the tooth surfaces is comparatively high. Furthermore, the sliding velocity on the tooth surfaces is higher than for other gears. For above mentioned reasons, crossed helical gears are able to carry only very small loads. To make the most of its good features, it is important to improve the load carrying capacity of crossed helical gears. Two factors, that is, high sliding velocity and high contact stress seem to be important, but here we limit the discussion to the contact stress state. It is worthwhile to examine the subject more closely. Also, it is important to understand the meshing geometry of crossed helical gears, since it forms the theoretical basis of the meshing geometry of other types of gearing. The purpose of this report is exactly to investigate the contact stress states on the tooth surface of crossed helical gears.

    CiNii

  • MPT-04 DEVELOPMENT OF A WALKING ASSISTANCE APPARATUS USING A SPATIAL PARALLEL LINK MECHANISM(MECHANICAL MOTION AND POWER TRANSMISSION SYSTEMS)

    TANAKA Eiichirou, IKEHARA Tadaaki, NAGAMURA Kazuteru, IKEJO Kiyotaka, HASHIMOTO Kenichi, SAEGUSA Shozo

    MPT ... Fukuoka : the JSME international conference on motion and power transmissions   2009   573 - 578  2009年05月

     概要を見る

    Our team has developed a prototype for a walking assistance apparatus for the elderly or rehabilitants; that uses a spatial parallel link mechanism. Its flat steps of our apparatus move in parallel with the ground and can support the whole legs of the person including his/her soles. By using a flexible link which is made from stainless steel and rubber, the apparatus can achieve the twisting motions of the waist and ankle. By using this developed apparatus, the wearing experiment was carried out and the effectiveness of the apparatus was evaluated by the IEMG (Integrated Electromyography). As a result, muscle activity of the RF (the Rectus Femoris muscle) and the TA (the Tibialis Anterior muscle) while wearing the apparatus decreased to sixty percent. Therefore, the muscles on the front of the leg were especially affected by using the apparatus. Furthermore, in order to assist walking indoors, we investigated the assistance methods of walking on a slope or stairs. The apparatus was equipped with a gyro sensor and an ultrasonic sensor; the angle of the slope and the size of stairs could be recognized and the apparatus could be adapted accordingly to the signals from the sensors. As a result of our experiment, the equipped person wearing the apparatus could walk on a slope and stairs at will.

    CiNii

  • GUD-05 DEVELOPMENT OF CLOSE-FITTING-TYPE WALKING ASSIST MACHINE APPLIED HYBRID CONTROL SYSTEM(GEAR UNIT DESIGN AND APPLICATIONS)

    IKEHARA Tadaaki, TANAKA Eiichirou, NAGAMURA Kazuteru, TAMIYA Takanobu, FUKAYA Naoki, HASHIMOTO Kenichi

    MPT ... Fukuoka : the JSME international conference on motion and power transmissions   2009   551 - 556  2009年05月

     概要を見る

    In this paper, a dynamically controlled/powered walking support system was described. Certain requirements must be met when developing a walking support system; it must be light weight and safe. Particularly, in this paper, emphasis is placed on maintaining natural appearance by a simple, small, and lightweight device. To meet the requirements of the walking support system using a simply designed device, development must be conducted considering muscular activity. Muscular activity revealed that the anterior muscles are activated during balancing, and that the tibialis anterior muscle is the most important muscle for assist during walking. Based on these results, a walking support system with dynamic motion assist functions for the ankle and knee joint was successfully developed. The system exhibits suitable functionality and maintains the natural appearance by using flexible shafts for power transmission.

    CiNii

  • GI-02 DEVELOPMENT OF DAMAGE DIAGNOSIS ON A GEAR TOOTH SURFACE BY USING LASER BEAM REFLECTION AND APPLICATION TO A HELICAL GEAR(INSPECTION OF GEARS)

    TANAKA Eiichirou, NAGAMURA Kazuteru, IKEJO Kiyotaka, SUGIYAMA Tatsurou, NEMOTO Ryozo, OHKUBO Kazuhiro, OKABE Kazunari, WADA Satoshi

    MPT ... Fukuoka : the JSME international conference on motion and power transmissions   2009   175 - 179  2009年05月

     概要を見る

    We developed a new diagnostic method by using a laser beam. First, the tooth surface is irradiated by a zonal laser beam from oblique direction, and then an irradiated laser beam line is shifted along the height of the tooth according to gear revolution. The variations of laser reflection between the initial and the present conditions are compared, and it can estimate the condition on the tooth surface. Next, we developed the method to scan the length of the pitting area from the laser reflection data using a computer. To put this method into practical use, the laser sensor was fixed in the gearbox, and the laser reflection from the lubricated gear was measured. These experiments were carried out under the condition of force-feed lubrication. As a result, this method could detect all occurrence of the pitting in the dry condition. To improve the accuracy of the detected length of the damage area, the definition of the value of the first-stage threshold and smoothing of the different data was important. Furthermore, to apply this method to a helical gear, we made the three-dimensional model which located the relation between the helical gear and the laser sensor, and derived the conditional equation that the helical gear can be irradiated by the laser sensor along the tooth trace of the helical gear. By using this equation, we can diagnose the helical gear as well as a spur gear.

    CiNii

  • 歯車歯面異常診断技術の開発

    田中英一郎

    日本シミュレーション学会大会発表論文集   28th  2009年

    J-GLOBAL

  • レーザ光を用いた簡易型歯車歯面損傷診断装置の開発

    田中英一郎, 岡部一成, 和田諭, 根本良三, 大久保一弘

    日本機械学会年次大会講演論文集   2009 ( Vol.4 )  2009年

    J-GLOBAL

  • 接触圧力問題の数値計算

    竹居賢治, 根本良三, 田村恵万, 冨田宏貴, 田中英一郎

    日本機械学会設計工学・システム部門講演会論文集(CD-ROM)   19th  2009年

    J-GLOBAL

  • ピンラック歯車装置の運転性能と強度—Driving performance and strength of pin-rack gear mechanism

    池条 清隆, 永村 和照, 田中 英一郎

    設計工学 = Journal of Japan Society for Design Engineering : 日本設計工学会誌   43 ( 7 ) 388 - 394  2008年07月

    CiNii

  • 2P1-E18 フレキシブルシャフトを用いたハイブリット制御歩行補助機の開発(医療・福祉ロボティクス・メカトロニクス)

    池原 忠明, 田中 英一郎, 永村 和照, 田宮 高信, 深谷 直樹, 池条 清隆, 橋本 健一

    ロボティクス・メカトロニクス講演会講演概要集   2008   "2P1 - E18(1)"-"2P1-E18(2)"  2008年06月

     概要を見る

    In this paper, a new walking assist device on which a flexible shaft is applied. A combination of the flexible shaft with a worm gear is successfully adopted on this walking assist device to develop its appearance simple and its size compact. This walking assist device is actively controlled with a hybrid control system witch control both torque and angle at ankle joint. In this control system, the torsion spring constant of the flexible shaft is took into account to control power and the rotating angle of the motor witch assist over seventy percent power of normal walking. Walking experiments using this machine show the walking assist machine is well fit to walking.

    CiNii

  • 2P1-E17 自立型脚部非固定式歩行補助機の開発(医療・福祉ロボティクス・メカトロニクス)

    田中 英一郎, 池原 忠明, 永村 和照, 池条 清隆, 井上 裕介, 橋本 健一, 新堂 陽平, 三枝 省三

    ロボティクス・メカトロニクス講演会講演概要集   2008   "2P1 - E17(1)"-"2P1-E17(4)"  2008年06月

     概要を見る

    We developed a walking assist machine, which used a spatial parallel link mechanism for the elderly or workers. The flat steps of the assist machine move in parallel with the ground and can support the legs of an equipped person including the soles. The machine can assist the equipped person's motion of walking; turning around during walking and walking on a slope or stairs. Furthermore, in order to support walking more effectively, the machine was improved the power unit, attachment of wearing, and control system. Especially, by using the SH4 board installed ART-Linux, and the lithium-ion battery, we could develop the self-contained machine. Therefore, the equipped person could be free to walk at will.

    CiNii

  • 2304 上肢作業補助機の開発(機械設計と機構,一般講演)

    田中 英一郎, 池原 忠明, 永村 和照, 池条 清隆, 安田 裕也, 石井 孝憲, 三枝 省三

    機素潤滑設計部門講演会講演論文集   2008 ( 8 ) 221 - 222  2008年04月

     概要を見る

    We developed a power assist machine attached to the upper limb, using differential gears for nurses who care an old person being bed ridden, or workers who often lift loads up and down. Two motors behind the shoulder of the equipped person provide motive power to drive shoulder and elbow joints, and the differential gear makes it possible to divide the power between them effectively. This differential gear system can reduce the backlash of gears. The five degrees of freedom of shoulder blade motion were taken into account with the shoulder-joint link mechanism. Furthermore, to grasp the behavior of the arms of the equipped person, pressure sensors were attached under the upper and lower arms. As a result of the experiment wearing the machine, the arms of equipped person could fluctuate at will.

    CiNii

  • 1305 盲導犬ロボットのためのBar形障害物検出法(要旨講演,一般セッション:メカニカルシステムとその知能化)

    三枝 省三, 藤本 剛大, 安田 裕也, 浦谷 佳孝, 田中 英一郎

    IIP情報・知能・精密機器部門講演会講演論文集   2008   90 - 94  2008年03月

     概要を見る

    There are many persons who lost their sight and want to get more flexibility for their activities. But there are very small chances to get new guide dog by about 10%. So we started to serve a guide-dog robot for sight-handicap persons. In the first paper, algorithm of obstacle detection with image processing is proposed. We classified obstacles into three main categories "Pole", "Bar" and "Step" shape, and propose new parallactical difference method included stereo camera on moving vehicle, which detects pole and bar shape obstacles under in-house condition successfully.

    CiNii

  • 1114 足裏から下肢全体を支援する歩行補助機装着時の筋活動評価(ロボティクス・メカトロニクスIII)

    田中 英一郎, 池原 忠明, 永村 和照, 池条 清隆, 井上 裕介, 三枝 省三

    講演論文集   2008 ( 46 ) 435 - 436  2008年02月

    CiNii

  • 平歯車の摩耗シミュレーション

    永村和照, 池条清隆, 瀬山夏彦, 田中英一郎, 吉川真稔

    日本設計工学会中国支部講演論文集   ( 25 )  2008年

    J-GLOBAL

  • 特殊歯形歯車の摩耗

    永村和照, 池条清隆, 田中英一郎, 田口雅典, 瀬山夏彦

    日本機械学会年次大会講演論文集   2008 ( Vol.4 )  2008年

    J-GLOBAL

  • 歯車本体の摩擦減衰を利用した複合構造歯車の振動特性

    永村和照, 池条清隆, 田中英一郎, 滝康寿, 西浦謙佑

    日本機械学会中国四国支部・九州支部合同企画講演会講演論文集   2008  2008年

    J-GLOBAL

  • トロコイド歯形を用いたピンラック歯車装置の運転性能

    永村和照, 池条清隆, 田中英一郎, 山本幸司

    日本機械学会機素潤滑設計部門講演会講演論文集   8th  2008年

    J-GLOBAL

  • 差動歯車を用いた上肢作業補助機の開発とパワーアシストユニットシステムへの展開

    田中英一郎, 池原忠明, 永村和照, 池条清隆, 安田裕也, 石井孝憲, 三枝省三

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)   2008  2008年

    J-GLOBAL

  • 226 空間平行リンク機構を用いた歩行補助機の開発(OS15-2 リンク・カムII)

    田中 英一郎, 池原 忠明, 永村 和照, 池条 清隆, 井上 裕介, 三枝 省三

    MPTシンポジウム伝動装置講演論文集 : JSME Symposium on Motion and Power Transmissions   2007   200 - 201  2007年11月

     概要を見る

    We developed a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. To grasp the walking phase of each leg of the equipped person, pressure sensors were laid under the thenar eminence and the heel of the sole, and the pressure variation at each sensing point was measured. Furthermore, in order to support walking in indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. A flexible link was installed in the mechanism for taking into account the twisting motions of the waist and ankle. To grasp the behavior of turning around during walking of the equipped person, pressure sensors were attached outside of the flexible link in both crural parts of the machine. As a result of the experiment wearing the machine, the equipped person could turn around during walking at will.

    CiNii

  • 122 フレキシブルシャフトを用いたハイブリット制御機能付き動的歩行補助機の製作(OS07 歯車の潤滑/OS14-1 応用・実用事例I)

    池原 忠明, 田中 英一郎, 永村 和照, 田宮 高信, 池条 清隆

    MPTシンポジウム伝動装置講演論文集 : JSME Symposium on Motion and Power Transmissions   2007   98 - 99  2007年11月

     概要を見る

    In this paper, a new walking assist machine on which a flexible shaft is applied. A combination of the flexible shaft with a worm gear is successfully adopted on this walking assist machine to develop its appearance simple and its size compact. This walking assist machine is actively controlled with a hybrid control system witch control both torque and angle at ankle joint. In this control system, the torsion spring constant of the flexible shaft is took into account to control power and the rotating angle of the motor witch assist over 70% power of normal walking. Walking experiments using this machine show the walking assist machine is well fit to walking.

    CiNii

  • 1A2-M03 脚部を装置に固定せずに歩行支援可能な補助機の開発 : 屋内環境での歩行支援の検討(医療・福祉ロボティクス・メカトロニクス)

    田中 英一郎, 池原 忠明, 永村 和照, 池条 清隆, 坂本 健, 井上 裕介, 三枝 省三

    ロボティクス・メカトロニクス講演会講演概要集   2007   "1A2 - M03(1)"-"1A2-M03(4)"  2007年05月

     概要を見る

    We developed a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. Furthermore, in order to support walking in indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. The machine was equipped a gyro sensor and an ultrasonic sensor, the angle of the slope and the size of stairs can be recognized and the machine could control according to the signal of the sensors. As a result of the experiment, the equipped person could turn around during walking and walk in a slope or stairs at will. The subject assisted by the machine was able to walk on a slope up to the angle of plus or minus fifteen degrees.

    CiNii

  • 楕円歯車の振動特性

    永村和照, 池条清隆, 中島俊也, 田中英一郎, 片木真一郎

    日本機械学会年次大会講演論文集   2007 ( Vol.4 )  2007年

    J-GLOBAL

  • 歯面接触圧力の計算方法について

    根本良三, 竹居賢治, 田村恵万, 田中英一郎

    MPTシンポジウム(伝動装置)講演論文集   2007  2007年

    J-GLOBAL

  • ピンと円弧歯形を用いた高減速遊星歯車装置の運転性能

    永村和照, 池条清隆, 田中英一郎, 公森俊之, 平井孝昌, 上村一郎

    MPTシンポジウム(伝動装置)講演論文集   2007  2007年

    J-GLOBAL

  • 外接形歯車ポンプの歯形と運転性能

    永村和照, 池条清隆, 田中英一郎, 今岡健太, 百谷泰正

    MPTシンポジウム(伝動装置)講演論文集   2007  2007年

    J-GLOBAL

  • 差動歯車を用いた上肢装着型作業補助機構の開発

    田中英一郎, 池原忠明, 永村和照, 池条清隆, 安田裕也, 三枝省三

    日本機械学会年次大会講演論文集   2007 ( Vol.4 )  2007年

    J-GLOBAL

  • 油潤滑下でのレーザー光を用いた歯車歯面損傷診断

    田中英一郎, 永村和照, 池条清隆, 杉山達郎, 根本良三

    MPTシンポジウム(伝動装置)講演論文集   2007  2007年

    J-GLOBAL

  • 接触面の摩擦減衰を利用した複合構造歯車の振動・騒音特性

    永村和照, 池条清隆, 田中英一郎, 西浦謙佑, 木村真也

    日本設計工学会中国支部講演論文集   ( 24 )  2007年

    J-GLOBAL

  • 1E1-02 下肢全体を支援する歩行補助機装着時の筋活動状態の把握(OS 歩行支援システム)

    田中 英一郎, 池原 忠明, 小俣 透, 永村 和照, 池条 清隆, 坂本 健, 井上 裕介

    福祉工学シンポジウム講演論文集   2006   75 - 76  2006年09月

     概要を見る

    We developed a prototype of a walking assist machine for the elderly or rehabilitants, which used a spatial parallel link mechanism. Its flat step moves in parallel with the ground and can support the whole legs of a person including his/her soles. To confirm the validity of our supporting method, muscle activity of the leg while wearing the machine was evaluated by using electromyography (EMG). Experimental results of measured muscle activities while slow-walking and wearing are shown.

    CiNii

  • 2P2-A07 下肢全体を支援する歩行補助機装着時の筋活動

    田中 英一郎, 小俣 透, 池原 忠明, 永村 和照, 池条 清隆

    ロボティクス・メカトロニクス講演会講演概要集   2006   "2P2 - A07(1)"-"2P2-A07(2)"  2006年

     概要を見る

    We developed a prototype of a walking assist machine for the elderly or rehabilitants, which used a spatial parallel link mechanism. Its flat step moves in parallel with the ground and can support the whole legs of a person including his/her soles. To confirm the validity of our supporting method, muscle activity of the leg while wearing the machine was evaluated by using electromyography (EMG). Experimental results of measured muscle activities while slow-walking and wearing are shown.

    CiNii

  • 1P1-A09 高齢者歩行支援システムの開発

    池原 忠明, 田中 英一郎, 田宮 高信, 深谷 直樹

    ロボティクス・メカトロニクス講演会講演概要集   2006   "1P1 - A09(1)"-"1P1-A09(2)"  2006年

     概要を見る

    Walking is the most important activity both for elderly people and rehabilitants to spend their daily life safely, comfortably and independently. Walking is the most fundamental movement and athletic ability. For the elderly people, walking especially contributes to improving and maintaining the muscle power, the respiratory and circulatory organ systems, and further walking is a valuable activity to prevent a bedridden condition. This paper proposes a walking assist machine for the elderly people, which use a new active-ankle-foot support machine. Its machine matched to the movement of foot joint. The prototype was developed, and the performance was evaluated.

    CiNii

  • レーザー光を用いた歯車歯面損傷診断技術の開発

    田中英一郎, 永村和照, 池条清隆, 根本良三, 杉山達郎

    日本機械学会機素潤滑設計部門講演会講演論文集   6th  2006年

    J-GLOBAL

  • 幅広歯車の歯面温度分布及び歯元応力分布

    永村和照, 池条清隆, 田中英一郎, 山口浩平, 横山文彦, 尾形秀樹, 中島隆

    日本機械学会中国四国支部総会・講演会講演論文集   44th  2006年

    J-GLOBAL

  • レーザー光による歯車歯面損傷診断

    田中英一郎, 永村和照, 池条清隆, 根本良三, 杉山達郎

    日本機械学会中国四国支部総会・講演会講演論文集   44th  2006年

    J-GLOBAL

  • 快削黄銅製歯車の摩耗

    永村和照, 池条清隆, 田中英一郎, 吉川真稔, 加藤直樹

    日本機械学会年次大会講演論文集   2006 ( Vol.4 )  2006年

    J-GLOBAL

  • ピンラック歯車装置の強度

    永村和照, 池条清隆, 田中英一郎, 山本幸司

    日本機械学会機素潤滑設計部門講演会講演論文集   6th  2006年

    J-GLOBAL

  • 高減速特殊遊星歯車装置の運転性能

    永村和照, 池条清隆, 田中英一郎, 平井孝昌, 公森俊之, 上村一郎

    日本設計工学会中国支部講演論文集   ( 23 )  2006年

    J-GLOBAL

  • レーザー光を用いた歯車歯面損傷の測定

    田中英一郎, 永村和照, 池条清隆, 根本良三, 杉山達郎

    日本機械学会年次大会講演論文集   2006 ( Vol.4 )  2006年

    J-GLOBAL

  • 1P1-N-113 高齢者転倒防止用動的歩行補助具の開発(医療福祉ロボティクス・メカトロニクス1,生活を支援するロボメカ技術のメガインテグレーション)

    池原 忠明, 田中 英一朗, 田宮 高信, 今井 郷充, 深谷 直樹

    ロボティクス・メカトロニクス講演会講演概要集   2005   70 - 70  2005年06月

    CiNii

  • 107 DESIGNING A LOW-NOISE GEARBOX BY USING VIBRATION AND SOUND-RADIATION ANALYSIS OF A GEAR SYSTEM(O.S.2 Vibration and Noise Reduction Technology II) :

    TANAKA Eiichirou, HOUJOH Haruo

    VS tech : the ... International Symposium on Advanced Technology of Vibration and Sound   2005   35 - 40  2005年

     概要を見る

    A method for predicting gear noise produced by a gear system was developed. This method calculates the distribution of sound pressure around the gearbox and identifies the areas from which noise radiates intensely. According to the sound-power level calculated from this pressure distribution, a low-noise gearbox was designed by adding ribs. The appropriate adding points were then calculated from the viewpoint of mass variation. It was found that to decrease the noise, ribs should be added in two places: (i) along the line with maximum curvature through the antinode of the gearbox's vibration mode or (ii) the minimum-length line which crosses the most contour lines through the maximum point of the sound-pressure contour map. It was also found that in the case of a gearbox with a vibration mode in which the gearbox side faces vibrate in opposite directions, noise can be effectively reduced by connecting the ribs on both side faces.

    CiNii

  • 他社製品に差をつける!“攻め”の振動・騒音対策設計 歯車装置の振動・騒音解析手法と設計への適用

    田中英一郎

    機械設計   49 ( 8 )  2005年

    J-GLOBAL

  • 歯車装置振動放射音解析システムにおける設計パラメータの影響の実験的考察

    田中英一郎, 北条春夫, 根本良三

    日本機械学会年次大会講演論文集   2004 ( Vol.4 )  2004年

    J-GLOBAL

  • ねじ歯車歯面の接触に関する研究

    根本良三, 田中英一郎, 高橋秀雄

    日本機械学会年次大会講演論文集   2004 ( Vol.4 )  2004年

    J-GLOBAL

  • 歯車装置振動放射音解析システムの開発

    田中英一郎, 北条春夫, 根本良三

    MPTシンポジウム(伝動装置)講演論文集   2004  2004年

    J-GLOBAL

  • (6)多段歯車駆動システムの振動騒音解析技術の開発(技術奨励)(日本機械学会賞〔2002年度(平成14年度)審査経過報告〕)

    田中 英一郎

    日本機械学會誌   106 ( 1014 ) 354 - 354  2003年05月

    CiNii

  • 振動放射音解析を用いた歯車箱の低騒音化設計

    田中英一郎, 北条春夫

    日本機械学会機素潤滑設計部門講演会講演論文集   3rd  2003年

    J-GLOBAL

  • GDN-20 VIBRATION ANALYSIS OF A MULTI-STAGE HELICAL GEAR SYSTEM(GEAR DYNAMICS AND NOISE)

    TANAKA Eiichirou, OHNO Kousaku, TANAKA Naoyuki

    MPT ... Fukuoka : the JSME international conference on motion and power transmissions   ( 1 ) 109 - 114  2001年11月

     概要を見る

    A new method - utilizing gear-vibration analysis and finite-element-method (FEM) analysis - for calculating the three-dimensional-vibration behavior of a multi-stage helical gear system including a gearbox has been developed. First, to predict three-dimensional multi-stage helical gear vibration, each gear was modeled with six-DOF (degrees of freedom) ; three translational motions, and three swing motions. Stiffness matrices for each gear shaft and for each tooth meshing were made and overlapped into a stiffness matrix for the total system. Next, an FEM model of the gear system, which included separate models for the gearbox, gear shafts, gear meshings, bearings, and legs of the gearbox, was made. The results of a three-dimensional gear-vibration analysis were input into the model, to obtain the vibration responses of the gearbox. The calculated eigen frequencies and vibration responses of the gearbox agreed well with measured values.

    CiNii

  • 多段はすば歯車装置の振動解析

    田中英一郎, 大野耕作, 田中直行

    日本機械学会東北支部総会・講演会講演論文集   35th  2000年

    J-GLOBAL

▼全件表示

産業財産権

  • 膝関節補助装置

    田中 英一郎, 山本 祥貴, 大澤 一貴

    特許権

  • 動作補助作業着

    6527629

    田中 英一郎, 廖 允廷

    特許権

  • トルクリミッター

    田中 英一郎, 大澤 一貴

    特許権

  • 膝関節補助装置

    田中 英一郎, 山本 祥貴, 大澤 一貴

    特許権

共同研究・競争的資金等の研究課題

  • 生体信号によるリアルタイム感情推定を用いた歩行補助・促進システムの開発

    研究期間:

    2019年04月
    -
    2022年03月
     

     概要を見る

    麻痺患者の歩行訓練,高齢者の運動促進を効率的に支援する超小型装着型歩行補助システムを開発する.歩行中の感情と体調を心拍・脳波分析値を機械学習にて快‐不快,覚醒‐睡眠を2軸とした2次元感情マップ上の位置と座標変化をリアルタイムに推定する.また歩行率と歩幅を2軸とした2次元歩容マップ上の位置と座標変化との相関関係を用い,使用者の目的・体調に応じて覚醒・快方向に歩行補助機制御値を自動調整し,比較的小さな目標達成による至高経験を繰り返す.楽をしたいという外的欲求に打ち勝ち,高次な内的欲求の維持により,不快度を低減したリハビリ,興奮・疲労しすぎず長時間可能な歩行促進を実現し使用者の自己実現を促進する.これまで開発してきた患者向け歩行補助機をさらに発展させ,高齢者・健常者の運動促進を目的とした歩行補助機の開発を行った.高齢者・健常者には,強力な補助力は必要とせず,メトロノームのように指標となる歩行周期と底背屈を足関節で補助するだけで歩容改善することがすでに確認されているため,小形のモータを使用し,また足関節の内外旋動作を阻害しないよう外側フレームのみの構造とした.また,手軽に着脱できるよう,装着者自身の履いている靴の上から装着可能なものとした.装置のコントローラは無線化し,スマートホンもしくはタブレットにて操作可能とした.さらに,以前提案した過負荷防止用トルクリミッターは,破損時に使用者自身での交換やリミットトルクの調整が困難であるため,新構造を提案した.また,足関節背屈補助は,階段を上るときにも有効であることを確認した.しかし高齢者は階段の下りの片足立脚時に膝折れすることが多いため,無動力で膝折れ防止をする機構を提案した.今後,新提案の機構で試作を行い,装置に導入し,評価実験に使用する.一方,物理的に補助するだけでなく,歩行中の感情を考慮しながら補助することを検討するため,感情状態と歩容との関連性についても方向性を確認した.まず,歩容マップ内の被験者ごとの理想歩行といえる歩行比のラインを予備実験にて取得し,このライン上に沿ってもしくはその直角方向に装置の目標パラメータをシフトさせると,感情が一定の方向にシフトする傾向があることを確認した.また,各方向に繰り返し変化させることにより,よりその傾向が高まることを確認した.さらに,それら4方向の歩容変化を順番に与えると,快かつ覚醒方向に戻ってきたとき,より強く感情が変化することを確認した.さらに,感情だけでなく疲労も考慮することを検討し,NIRSにより筋力疲労を評価できる可能性を検討した.初年度に,小形歩行補助機の開発,次年度に感情と歩容の関係の明確化,最終年度に臨床実験と計画していたが,概ね予定通り進んでいる.次年度の計画の準備も含めて初年度に進めることができた.昨年度に明確化した感情と歩容の関係を用いて,歩行者の感情を快かつ覚醒に導く確認実験を行う.さらに,ラッセルの感情円環モデルに対し,3軸目の疲労を考慮した人間状態モデルを提案し,その有効性を確認する.さらに,最終年度には,感情と疲労を考慮した歩行補助実験を行い,その有効性を検証する

  • 磁気弾性ゴムファイバーの創製および出力可変式持ち上げ補助スーツへの生体応用

    研究期間:

    2019年06月
    -
    2021年03月
     

     概要を見る

    持ち上げ補助を必要とする現場では,業務時間中装着し続けても持ち上げ作業以外の業務に支障を来たさないことが必要である.しかし重量物を持ち上げられるようばね定数の高いゴムを使用すると,作業以外のときの様々な動作を抑制する.逆にばね定数の低いゴムを使用し必要時のみゴムの端部に予張力を与えると,装着者は立脚姿勢時でもゴムの反力を受け続けるためかえって動けなくなり苦痛を伴う.そこで,普段は自由に動作できるようばね定数を低く設定し,重量物の持ち上げ作業時のみばね定数を高めることができる,小型軽量な磁気粘弾性ゴムファイバーを創製する.現在,少子高齢化により,介助者や作業者不足が深刻化している.また,職業疾病の6割が腰痛とあり,ものを持ち上げる動作への負担を軽減するため,ゴムやばね,ガススプリングなどを用いたパッシブの持ち上げ動作時に腰を補助器具が各種開発されている.研究グループでも,持ち上げ動作中の腕と腰をゴムベルトにより同時に補助するスーツを提案している.しかし,そのゴムなどが強すぎると動作を抑制し,弱すぎると補助効果がない.また,持ち上げる対象の重量によっても適切な反力の強さが必要である.そこで,装着者の状況に応じて適宜ゴムの反力が非線形に得られる構造を提案しその検証実験を行った.しかしこの場合,強い補助力を得るためには適宜ベルト長の調整が必要である.そこで,硬さが変えられる磁気弾性ゴムファイバーの創製を行う.さらにこれを出力可変式持ち上げ補助スーツとして生体応用する.出力可変式持ち上げ補助スーツ補助スーツに応用可能なサイズおよびばね定数を得られるような磁気弾性ゴムファイバーの構造,製造方法,使用方法を検討した.鉄粉を混ぜたシリコーンを生成し,その生成物に磁力を加え,引っ張ったとき,鉄粉同士が磁石のように離れることを阻止するよう働くことを想定し,この状況を実現することが可能な実験装置を開発した.本実験装置を用いて,ばね定数変化やその変化状況が継続する引張量の長さが大きく得られる鉄粉とシリコーンの割合を,実験により確認することができた.しかし,鉄粉の大きさや形状,シリコーンや磁力など,考えるべきパラメータは多数あるため,変化率に寄与する度合いの高いパラメータの探索を次年度行うこととした.持ち上げ動作補助スーツを開発し,体を曲げた度合いに応じて非線形に反力が得られる構造を提案し,その効果検証を行った.さらにこのスーツに応用可能なゴムファイバーの生成方法を検討し,また生成したゴムファイバーを固定し,引っ張りながら磁力を与えることのできる装置の開発を行った.また,鉄粉の割合を変えた基礎実験を行うところまで実施できたことから,概ね順調に進展している.初年度に持ち上げ動作補助スーツの効果を確認できたことから,現状の補助スーツに使用されているゴムベルトのパラメータに近く,かつベルト長の調整範囲に相当する出力可変式の磁気粘性ゴムファイバーの変化率の高いパラメータを探索する

  • 知識工学的アプローチによる感性価値認識のモデル構築と生体情報のマッピング

    研究期間:

    2016年04月
    -
    2019年03月
     

     概要を見る

    本研究の目的は,感性価値認識のモデル構築と生体情報のマッピングである.生体情報に基づいた感性評価に関する知見を体系化することで,感性価値認識という心の構造を統一的に理解することを目指すものである.当該年度の目標は価値の評価構造のモデル化に向けて,その要素の概念定義を行うとともに,生体情報に基づく感性評価を行うことである.本研究の到達点は視覚,聴覚などの複数の設計要素の感性価値に対して,生体情報に基づいて一貫した説明を与える価値認識マップを作成し,構築したモデルの評価を行うことである.まず,価値認識に関する概念化を行った.具体的には,価値認識に至る過程を記述するための枠組みとして,感情や感覚などのユーザの状態を定義したオントロジーを構築した.これにより,感性評価に関わる感情や感覚などのユーザの状態を表現する基盤が得られた.感性価値認識のモデル化に向けて主観評価および生体情報の計測実験の結果に基づいてオントロジー構築を進める予定である.次に,視覚,聴覚,嗅覚の刺激に対する主観評価とそれに対応する生体情報について基礎的な知見を得るために,生体情報を取得する印象評価実験を行った.視覚刺激としてLEDを用いて調光したパネルを用いて主観評価とともに脳血流,発汗,呼吸を計測した.また,聴覚刺激としてはヒーリング音楽を用いて感情の主観評価とともに脳血流を計測した.嗅覚刺激としては食料,飲料の香りを用いて好みの主観評価とともに脳血流の計測を行った.得られたデータについては今後詳細に分析する予定である.視覚,聴覚,嗅覚の刺激に対する主観評価と生体情報の関係分析について,やや遅れが生じている.その理由として,生体情報の個人差やノイズが大きいことが挙げられる.また,それに伴って感覚を組み合わせた刺激に対する生体情報の計測実験の実施についてもやや遅れが生じている.視覚,聴覚,嗅覚の刺激に対する主観評価と生体情報の関係分析については,統計的手法に加えて機械学習などの手法をとることで多角的な分析を行う予定である.また,それらの結果に基づいて,感性価値認識のモデル化に向けて主観評価および生体情報の計測実験の結果に基づいてオントロジー構築を進める予定である.生体情報の計測実験に使用する機材とその実施に伴う人件費・謝金に使用する予定である

  • 着衣内装着式人間動作補助機向け超小型駆動機構の最適諸元調査

    研究期間:

    2016年04月
    -
    2018年03月
     

     概要を見る

    人間動作補助機に使用可能な駆動部を実現するため,小型軽量安価を念頭に置き,波動歯車に限らず,ウォームギヤをはじめとする駆動部の構造および諸元について,人間に装着することを前提とした検討をした.まず,多条ウォーム+ヘリカルギヤの使用を提案し,負荷繰り返し試験よりヘリカルギヤにLT625を使用すると摩耗が低減することを確認した.また,ホビー用超小形サーボモータが小形軽量安価に適しているが,過負荷が入力されても連続使用するために歯車内に組み込むトルクリミッタを開発した.挟む樹脂板ごとの最大伝達トルクを確認し,NBRとPVCの負荷トルクごとの最大負荷繰り返し数を確認した

  • ニューロサイエンスに立脚した対麻痺歩行支援ロボットの開発

    研究期間:

    2012年04月
    -
    2015年03月
     

     概要を見る

    中枢神経系障害の回復を促進させる開発中のモビルスーツ型歩行支援ロボットの効果を検証した.本ロボットの軽量化と正常歩行パターンに沿った歩行プログラムを行った.本ロボットを用いることにより異常歩行が改善し,左右の脳活動のバランスも改善した.一方,万人に通用する正常歩行パターンが無い事が分かり,プリセットした正常歩行パターンをもとにリハスタッフが患者ごとに調整が出来るシステムの開発を行った.対麻痺患者を歩行させるには,歩行できない人を歩かせるという事から,まずは歩行が可能な片麻痺の歩行パターンの要素を取得した.今後,これを両側型に発展されることで対麻痺患者へ適用する

  • 足裏から下肢全体を支援する歩行補助機構の開発

     概要を見る

    近年,高齢者の人口が急速に増加している.高齢者は,一般に加齢に伴い筋力が低下するため,自力での歩行が可能であっても疲労しやすい.また,本人は普段通りに歩いているつもりでも,疲労するにしたがって歩行時の足の位置,角度などが変化していくため,わずかな段差であってもつまずきやすくなる.このような歩行機能低下時の転倒事故により,自信喪失および介護者を必要とする状態に陥るケースが多い.そこで本研究では,高齢者およびリハビリ患者の自立生活の支援を目指すため,足には固定せずに,膝関節や股関節だけでなく,足関節までを含めた下肢全体の歩行支援をする動的歩行補助機を開発した.18年度の時点では,直線方向の歩行のみ補助可能であったが,各種センサを活用しコンピュータの自立化を図ることで,様々な環境での歩行を可能とした,19年度における開発成果を以下に記す.1.足首のひねりをリンクの変形から検知し,左右の歩幅を調整することで方向転換を可能とした.2.本装置が平行リンクを用いた構造であることから,腰部背面に傾斜センサを取り付け,装着者の立っている地面の角度を検出し,装置の軌道を補正することで,傾斜面に応じた歩行が可能となった.3.健常者の階段昇降時の関節角度変化を計測し,装置装着者に応じた制御軌道を生成する手法を提案し,かつ,非接触距離センサを用いて段差との距離を計測することで軌道を補正し,腰きを防止した.4.SH4およびリチウムイオンバッテリーを装置に搭載し,自立化したことにより,行動範囲の制約を受けず,自由に移動可能となった.また,約1時間の連続稼動による屋外歩行を確認した

  • モビルスーツ型全身生活動作支援ロボットの製作と移動式ニューロリハビリ法の効果検証

     概要を見る

    上肢および下肢を補助可能な全身動作補助機開発した.本装置は歩行やADLを補助可能とする.本装置を用いた歩行時の脳活動を計測し,ニューロリハビリテーションの効果を検討した.その結果,トレッドミル上では装置に慣れてくると脳活動が低下するため,腕振りが重要であり,トレッドミル上よりも移動しながら訓練をすると脳活動が活性化することを確認した

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学内研究費(特定課題)

  • 生体信号感情評価に基づき運動促進・維持する歩行補助システムの開発

    2018年   Jyun-Rong Zhuang

     概要を見る

    歩行時の人間の感情をリアルタイムに評価し,その結果に基づいて歩行補助機の目標値を自動的に調整するシステムを構築する.感情は快-不快と覚醒-睡眠の2軸による2次元で表すことができ,人間の生体信号,脳波,表情筋,心拍の分析値を用いて機械学習によりアンケート結果との比較を行い評価精度を検証した.その結果,およそ80%程度の正答率で評価できることを確認した.一方,歩行状態は,歩行率と歩幅の2次元にて表すことができ,そこで,目標の歩行率と歩幅を変化させたときの感情変化を確認する実験を行い,その変化傾向を把握することができた.また,トルクリミッターを歩行補助機に装着した.

  • 磁気粘弾性ゴムファイバーの創製および出力可変式持ち上げ補助スーツへの生体応用

    2018年   三宅丈雄

     概要を見る

    ゴムを引き伸ばしたときの反力を用いてパッシブな動作補助スーツを開発した.特に,持ち上げ動作を補助するための構造として,ベルトが上腕から肩越しに背中に抜け,大腿部裏から膝頭に,そして足裏まで連結される構造とした.本スーツ使用により,持ち上げ動作時の上腕二頭筋および脊柱起立筋の筋活動の最大値が3-5割程度軽減することを確認した.さらに,持ち上げる対象の違いによってゴムベルトの硬さを調節できるよう,磁気粘弾性ゴムファイバーを試作した.本材料に磁力を加えることによりある程度の伸び率まではばね定数が増大するが,上限を超えると磁力を加えないときの値と等しくなることを確認した.

  • リアルタイム感情評価に基づいて運動促進・維持する歩行補助機の開発

    2017年  

     概要を見る

    人間の感情は,覚醒-睡眠と快-不快の2軸で表した2次元で表すことができるが,アンケートをとらずに生体信号のみで評価可能な方法を検討した.快-不快に影響されやすいとする顔面の表情筋の筋電位,覚醒-睡眠に影響されやすいとする心拍(LF/HF),2軸の両方に影響する脳波を総合的に評価した.上記2次元マップを9つのエリアに分解し,アンケート結果との整合性を確認したところ,およそ80%の精度で推定することができた.本手法を用いることにより,ヒューマンマシンインターフェイスとしての活用が可能となった.

  • 健常高齢者向け歩行促進用補助機に組込可能なトルクリミッタの要素開発

    2016年  

     概要を見る

    健常高齢者向けに歩行促進する歩行補助機を開発した.本装置を屋外で様々な動作にも対応するには,突発的動作が発生したときの駆動部への逆入力を防ぎ,問題動作後に即座に連結が回復するトルクリミッタを組み込むことが重要である.しかしながらこのトルクリミッタを出力軸に追加すると外装が拡大することから,歯車内に本機構を組み込む構造を提案した.試作機を製作し,組み込まれた歯車の押し付け量に応じてリミットトルクを調整できることを確認し,また,歩行補助機使用中に急停止すると本機能が作動することを確認した.

  • 着衣内装着式超小型歩行補助機の開発と二次元感情マップに基づく心技体統合アシスト

    2016年  

     概要を見る

    高齢者の運動促進,歩容改善を目的として,着衣内に装着可能な超小型歩行補助機を開発した.超小型モータを用い,足裏の感圧センサの情報に応じて足関節を補助する.また,歩行中の使用者の感情を,様々な人体計測データをクラスタリングすることにより,快不快,覚醒睡眠の二次元で評価する方法を提案した.さらに,評価結果に基づいて歩行補助機の目標パラメータを調整した実験を行った結果,使用者の状態に応じて,運動促進もしくは維持を補助できることを確認した.以上より,本システムの活用により,心のメンタル補助,技のスキル補助,体の運動補助を統合し効率的な補助を実現する可能性を示唆した.

 

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