Research Career 【 display / non-display 】

Research Career 【 display / non-display 】

• Development of the "Intelligence Micro Robot Factory"

  The Other Research Programs  

  Project Year：  -   

• Micro Processing under Microscopes

  Project Year：  -   

• Development of Versatile Micro Robots

  Project Year：  -   

Papers 【 display / non-display 】

Papers 【 display / non-display 】

• Hydrogel Actuator with a Built-In Stimulator Using Liquid Metal for Local Control

  Ken Matsubara, Daiki Tachibana, Ryosuke Matsuda, Hiroaki Onoe, Ohmi Fuchiwaki, and Hiroki Ota

  Adv. Intell. Syst. 2020     2020.03  [Refereed]

  Joint Work

  　View Summary

  Hydrogelactuators,comprisinggelsthatconvertexternalstimuliintomechanical motion for actuation, are attracting attention for their promising applications, such as in robotics. The driving force is the absorption or release of water or another solvent, which results in swelling and shrinking motions, leading in turn to more complex functionalities. However, practical hydrogel actuators that canbecontrolledlocally,suchasonesthatallowlocalactuationaroundthejoints in rigid-bodied robots, do not exist. Herein, the driving target of a thermoresponsive hydrogel, poly( N -isopropyl acrylamide), is integrated with the stimulation module using a liquid metal. The stimulation module provides heat as an externalstimulustothehydrogelactuator.Themotionoftheactuatoristriggered by the heat supplied by an ultrasoft hydrogel coil, with liquid metal surrounding thedrivingtarget.Theheatgeneratedbycurrentflowingthroughtheliquidmetal changes the temperature only around the desired part of the actuator, which enables the electrical control of an individual part of the hydrogel actuator. The concept of integrating the driving target and stimulator is expected to facilitate functional movementofactuatorsandexpand therangeofpotentialapplications of hydrogels.

  DOI

• Capillary Force Gripper for Complex-Shaped Micro-Objects With Fast Droplet Forming by On–Off Control of a Piston Slider

  Wataru Hagiwara, Takatoshi Ito, Kenta Tanaka, Ryota Tokui, Ohmi Fuchiwaki

  IEEE Robotics and Automation Letters ( IEEE )  Vol.4 ( 4 )   1 - 25   2019.10  [Refereed]

  Joint Work

  DOI

• Analysis of Capillary Force between End of Circular Pipe and a Plane by VOF method

  TANAKA Kenta, HAGIWARA Wataru, TOKUI Ryota, ITO Takatoshi, FUCHIWAKI Ohmi

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )  2019 ( 0 )   2P1 - F02   2019

  Joint Work

  　View Summary

  <p>Recently, demand for micromanipulation has been increasing in various fields, such as MEMS, integrated electronic devices, and bio-cell applications. Capillary force is one of the feasible methods for manipulating heterogeneous and complex micro parts. Liquids are flexibly deformed its shape and adapt any surface; we can pick up complex shaped micro objects softly. If we use a drop of pure water for generating capillary force, we can realize contamination less clean manipulation because pure water disappears by evaporation.</p><p>We have developed a capillary force gripper driven by a piston pump. Although we have designed this gripper to generate a liquid bridge between the end of glass pipette and picking-up objects, the theoretical validation of capillary force for this condition has not been conducted thus far. In this paper, we report the theoretical validation of the capillary force between the end of circular pipe and a plane surface by CFD analysis with the VOF method.</p>

  DOI CiNii

• Development of Capillary Force Gripper for complex shaped objects driven by on-off control of a piston pump

  ITO Takatoshi, HAGIWARA Wataru, TOKUI Ryota, TANAKA Kenta, FUCHIWAKI Ohmi

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ( The Japan Society of Mechanical Engineers )  2019 ( 0 )   2P1 - F03   2019

  Joint Work

  　View Summary

  <p>Capillary force is an adhesion force generated by wetting the gap between two objects with liquid droplets, and it can be applied to capture miniscule complex shaped objects. In this report, we propose unique mechanism combining two kinds of liquid feeding methods such as the piston pump and the capillary phenomenon. In experiments, we evaluate the performance by measuring the capillary force of the developed gripper by an electronic balance. We also evaluate the positioning errors of automatic pick and place of cubic, cone, semi-circular shaped miniscule objects to investigate the feasibility for assembling complex shaped tiny objects.</p>

  DOI CiNii

• Multi-axial non-contact in situ micromanipulation by steady streaming around two oscillating cylinders on holonomic miniature robots

  O. Fuchiwaki,Y. Tanaka,H. Notsu, T. Hyakutake

  Microfluidics and Nanofluidics     2018.07  [Refereed]

  Joint Work

  DOI

display all >>

Industrial Property 【 display / non-display 】

Industrial Property 【 display / non-display 】

• AMPLE MOVEMENT CONTROL UNIT, SAMPLE MOVEMENT PARAMETERS ACQUISITION METHOD, AND SAMPLE MOVEMENT CONTROL METHOD

  Industrial Property No 2,577,280(Canada), 2006-531248(Japan), 1 

  Ohmi Fuchiwaki, Naoto Chiba, Hisayuki Aoyama

  　View Summary

  APPARATUS FOR CONTROLLING MOVEMENT OF OBJECT TO BE EXAMINED, METHOD FOR ACQUIRING PARAMETER FOR MOVEMENT OF OBJECT TO BE EXAMINED, AND METHOD FOR CONTROLLING MOVEMENT OF OBJECT TO BE EAXMINED

Academic Awards Received 【 display / non-display 】

Academic Awards Received 【 display / non-display 】

• BEST PAPER AWARD

  2014.11.14   Asian Society for Precision Engineering and Nanotechnology (ASPEN)   Design and development of in-liquid micro robot with self-energy harvesting and self-propulsion functions - Study of coupled model of fluid dynamics and electro circuit and design of proof of concept prototype -

  Winner： Hiroyuki Aono, Ohmi Fuchiwaki

• the Best Presentation Award -( Japan Soceiety of Precise Engineering (2003/03)

  2003    

Grant-in-Aid for Scientific Research 【 display / non-display 】

Grant-in-Aid for Scientific Research 【 display / non-display 】

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

  Project Year： 2016.04  -  2019.03 

• Grant-in-Aid for Exploratory Research

  Project Year： 2012.04  -  2015.03 

• Grant-in-Aid for Young Scientists(B)

  Project Year： 2010.04  -  2012.03  Investigator(s): Ohmi Fuchiwaki

Other external funds procured 【 display / non-display 】

Other external funds procured 【 display / non-display 】

• Improvement of velocity and positioning accuracy of XYθ precise mobile robot for realizing flexible and miniaturized robotic factory

  Offer organization: Private Foundations 

  Project Year： 2020.04  -  2021.03  Investigator(s): Ohmi Fuchiwaki

• Simulation of 3-axis state State feedback Controller with Bang-bang control for positioning mechanism driven by 6 piezoelectric actuators,, 2016 IEEE International Conference on Advanced Intellignet Mechatronics (AIM)

  Offer organization: Local Government 

  Project Year： 2016.07  -  2016.09 

• Study of wet-coil tweezers for pick & place of micro objects

  Project Year： 2016.04  -  2017.03 

• In-situ Repetitive Calibration of Microscopic Probes Maneuvered by Holonomic Inchworm Robot for Flexible Microscopic Operations, Proc. of IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2015)

  Offer organization: Local Government 

  Project Year： 2015.10  -  2015.12 

• Formulation and optimization of pulley-gear-type SMA heat engine toward microfluidic MEMS motor, Proc. of IEEE Int'l. Conf. on Intelligent Robots and Systems (IROS 2014)

  Offer organization: Local Government 

  Project Year： 2014.09  -  2014.12 

display all >>

Presentations 【 display / non-display 】

Presentations 【 display / non-display 】

• Development of Δ-type Self-propelled Robot Using Standing Wave Type Piezoelectric Ultrasonic Motor

  Junitan Zhou, Ohmi Fuchiwaki

  2019.11.19   JSME

• Precision XYθ Positioning Control of Inchworm Robot by 2DoF Optical Encoders

  Kengo Tanabe, Hitoshi Funatsu, Ohmi Fuchiwaki

  JSPE  (Shizuoka Univ. Hamamatsu Campus)  2019.09.06   JSME

• Analysis of Capillary Force between End of Circular Pipe and a Plane by VOF method

  Kenta Tanaka, Wataru Hagiwara, Ryouta Tokui, Ohmi Fuchiwaki

  ROBOMECH2019  2019.06.05   JSME

• Development of Capillary Force Gripper for complex shaped objects driven by on-off control of a piston pump

  Takatoshi Ito, Wataru Hagiwara, Ryouta Tokui, Kenta Tanaka, Ohmi Fuchiwaki

  ROBOMECH2019  2019.06.05   JSME

• Development of Piston-pump Type Capillary Force Manipulator with Automatic Liquid Replenishment Function by Capillary Phenomenon

  Wataru Hagiwara, Takatoshi Ito, Ohmi Fuchiwaki

  2018.10.30   JSME

display all >>

Past of Collaboration and Commissioned Research 【 display / non-display 】

Past of Collaboration and Commissioned Research 【 display / non-display 】

• Micro Processing System assisted by fiber grided YAG laser.

  Project Year：  -