Papers - FUCHIWAKI Ohmi
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Untethered Autonomous Holonomic Mobile Micromanipulator for Operations in Isolated Confined Spaces
Ryosuke Kinoshita, Rintaro Minegishi, Chihiro Sekine, Yohei Tsukui, Yuta Sunohara, Yuko Nishimura, … Show more authors
Ryosuke Kinoshita, Rintaro Minegishi, Chihiro Sekine, Yohei Tsukui, Yuta Sunohara, Yuko Nishimura, Shogen Sekiguchi, Ohmi Fuchiwaki Hide authors
Advanced Intelligent Systems 2400872 2025.1 [Reviewed]
Authorship：Last author, Corresponding author Language：English Publishing type：Research paper (scientific journal) Publisher：WILEY Joint Work
With increasing miniaturization of portable electronic devices, conventional positioning systems have become inefficient in terms of size and energy consumption. As workspaces shrink, the need for precise autonomous manipulation in confined and isolated environments increases, particularly in areas such as electronics and biological assemblies. Herein, an autonomous, untethered, holonomic, mobile micromanipulator driven by piezoelectric actuators with nanometer resolution is developed. The micromanipulator comprises a driving circuit, single-board computer, battery, manipulator, and small camera; it is lightweight (515 g), compact (90 × 116 × 104 mm), and untethered, capable of independently operating in confined and dangerous spaces for humans. The micromanipulator can autonomously position a single object with a positioning error of 0.18 ± 0.51 mm and an angular deviation of −0.4° ± 1.2°, utilizing image recognition, machine learning, and visual feedback. Moreover, the micromanipulator is verified to function in extreme conditions that simulate draft chambers and clean benches, where it successfully performs circuit mounting in confined space. The device can arrange droplets under microscopy for applications in chemical and biomedical fields, demonstrating its versatility and precise positioning capabilities. Additionally, its multi-scale applications are explored from centimeters to sub-micrometers and adjusted to the magnification capabilities of various microscopes.
Other Link： https://advanced.onlinelibrary.wiley.com/doi/10.1002/aisy.202400872
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Suzuki, M., Iida, Y., Tsukui, Y., Kusama, H., Kinoshita, R., Kusui, E., Sunohara, Y., Minegishi, R. … Show more authors
Suzuki, M., Iida, Y., Tsukui, Y., Kusama, H., Kinoshita, R., Kusui, E., Sunohara, Y., Minegishi, R., Sugiyama, Y., Nishimura, Y., Sekine, C. and Fuchiwaki, O. Hide authors
Advanced Intelligent Systems 2300517 2024.3 [Reviewed]
Authorship：Last author Language：English Publishing type：Research paper (scientific journal) Publisher：WILEY Joint Work
Holonomic mobile micromanipulators driven by piezoelectric actuators offer precision and compact design. However, attaining both high speed and positioning repeatability with sufficient load capacity poses challenges, given that lightweight robots are susceptible to nonuniform driving surfaces and external forces. A holonomic beetle (HB) is proposed to realize a wide range, compact size, precise holonomic motion, automatic micromanipulation, and high-speed movement simultaneously. Inspired by the biological makeup of a Rhinoceros Beetle, a length, weight, and load capacity of 8 cm, 74 g, and of 2000 g, respectively, are used. The HB is a two-legged robot with a pseudoalternating tripod gait locomotion principle, with five piezoelectric actuators for XYθ displacement and switching of the contact leg. It achieves maximum walking velocities of 11.6 mm s−1 for translational motion and 19.3 deg s−1 for rotation, with a displacement resolution of 12 nm. Notably, under open-loop control, the HB demonstrates high repeatability with a coefficient of variation of 0.3%. It exhibits the capability to climb 30°-inclined surfaces, traverse flat surfaces with 0.1 mm bumps, and navigate 30 mm pits. Furthermore, the HB showcases practical automatic micromanipulation through visual servo control and machine learning, presenting potential applications in biomedical and microassembly fields.
Other Link： https://onlinelibrary.wiley.com/doi/10.1002/aisy.202300517
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Self-assembling bilayer wiring with highly conductive liquid metal and insulative ion gel layers
Murakami Koki, Isano Yuji, Asada Juri, Usami Natsuka, Isoda Yutaka, Takano Tamami, Matsuda Ryosuke, … Show more authors
Murakami Koki, Isano Yuji, Asada Juri, Usami Natsuka, Isoda Yutaka, Takano Tamami, Matsuda Ryosuke, Ueno Kazuhide, Fuchiwaki Ohmi, Ota Hiroki Hide authors
SCIENTIFIC REPORTS 13 ( 1 ) 2023.4 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders
Tanabe, Kengo, Masato Shiota, Eiji Kusui, Yohei Iida, Hazumu Kusama, Ryosuke Kinoshita, Yohei Tsuku … Show more authors
Tanabe, Kengo, Masato Shiota, Eiji Kusui, Yohei Iida, Hazumu Kusama, Ryosuke Kinoshita, Yohei Tsukui, Rintaro Minegishi, Yuta Sunohara, and Ohmi Fuchiwaki Hide authors
MICROMACHINES 14 ( 2 ) 375 2023.2 [Reviewed]
Authorship：Last author, Corresponding author Language：English Publishing type：Research paper (scientific journal) Publisher：MDPI Joint Work
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Vision Feedback Control for the Automation of the Pick-and-Place of a Capillary Force Gripper
Ito Takatoshi, Fukuchi Eri, Tanaka Kenta, Nishiyama Yuki, Watanabe Naoto, Fuchiwaki Ohmi
MICROMACHINES 13 ( 8 ) 1270 2022.8 [Reviewed]
Authorship：Corresponding author Language：English Publishing type：Research paper (scientific journal) Joint Work
Other Link： https://www.mdpi.com/2072-666X/13/8/1270
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Tanaka Kenta, Ito Takatoshi, Nishiyama Yuki, Fukuchi Eri, Fuchiwaki Ohmi
IEEE ROBOTICS AND AUTOMATION LETTERS 7 ( 2 ) 1324 - 1331 2022.4 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
Other Link： https://ieeexplore.ieee.org/document/9664376
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Direct Wiring of Liquid Metal on an Ultrasoft Substrate Using a Polyvinyl Alcohol Lift-off Method
Murakami Koki, Tochinai Ryota, Tachibana Daiki, Isano Yuji, Matsuda Ryosuke, Nakamura Fumika, Kurot … Show more authors
Murakami Koki, Tochinai Ryota, Tachibana Daiki, Isano Yuji, Matsuda Ryosuke, Nakamura Fumika, Kurotaki Yuta, Isoda Yutaka, Yamane Monami, Sugita Yuya, Fukuda Junji, Ueno Kazuhide, Miki Norihisa, Fuchiwaki Ohmi, Ota Hiroki Hide authors
ACS APPLIED MATERIALS & INTERFACES 14 ( 5 ) 7241 - 7251 2022.1 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
Other Link： https://pubs.acs.org/doi/10.1021/acsami.1c20628
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Tachibana Daiki, Murakami Koki, Kozaki Takashi, Matsuda Ryosuke, Isoda Yutaka, Nakamura Fumika, Isa … Show more authors
Tachibana Daiki, Murakami Koki, Kozaki Takashi, Matsuda Ryosuke, Isoda Yutaka, Nakamura Fumika, Isano Yuji, Ueno Kazuhide, Fuchiwaki Ohmi, Ota Hiroki Hide authors
ADVANCED INTELLIGENT SYSTEMS 4 ( 5 ) 2022.1 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
Other Link： https://onlinelibrary.wiley.com/doi/10.1002/aisy.202100212
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Transformable Electrocardiograph Using Robust Liquid-Solid Heteroconnector
Takaya Maika, Matsuda Ryosuke, Inamori Go, Kamoto Umihiro, Isoda Yutaka, Tachibana Daiki, Nakamura … Show more authors
Takaya Maika, Matsuda Ryosuke, Inamori Go, Kamoto Umihiro, Isoda Yutaka, Tachibana Daiki, Nakamura Fumika, Fuchiwaki Ohmi, Okubo Yusuke, Ota Hiroki Hide authors
ACS SENSORS 6 ( 1 ) 212 - 219 2021.1 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Joint Work
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Development of a Delta-Type Mobile Robot Driven by Three Standing-Wave-Type Piezoelectric Ultrasonic Motors
Zhou Juntian, Suzuki Masaki, Takahashi Ryoma, Tanabe Kengo, Nishiyama Yuki, Sugiuchi Hajime, Maeda … Show more authors
Zhou Juntian, Suzuki Masaki, Takahashi Ryoma, Tanabe Kengo, Nishiyama Yuki, Sugiuchi Hajime, Maeda Yusuke, Fuchiwaki Ohmi Hide authors
IEEE ROBOTICS AND AUTOMATION LETTERS 5 ( 4 ) 6717 - 6723 2020.10 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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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 2020.3 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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.
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3D Helical Micromixer Fabricated by Micro Lost-Wax Casting
Tachibana Daiki, Matsubara Ken, Matsuda Ryosuke, Furukawa Taichi, Maruo Shoji, Tanaka Yoshimi, Fuch … Show more authors
Tachibana Daiki, Matsubara Ken, Matsuda Ryosuke, Furukawa Taichi, Maruo Shoji, Tanaka Yoshimi, Fuchiwaki Ohmi, Ota Hiroki Hide authors
ADVANCED MATERIALS TECHNOLOGIES 5 ( 1 ) 2020.1
Language：Japanese Publishing type：Research paper (scientific journal) Joint Work
Other Link： https://onlinelibrary.wiley.com/doi/full/10.1002/admt.201900794
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ELECTRICALLY CONTROLLED GEL ACTUATOR USING LIQUID METAL ELECTRODE
Matsubara Ken, Tanaka Yoshimi, Fuchiwaki Ohmi, Ota Hiroki
2020 33RD IEEE INTERNATIONAL CONFERENCE ON MICRO ELECTRO MECHANICAL SYSTEMS (MEMS 2020) 501 - 504 2020
Language：Japanese Publishing type：Research paper (scientific journal) Joint Work
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Wataru Hagiwara, Takatoshi Ito, Kenta Tanaka, Ryota Tokui, Ohmi Fuchiwaki
IEEE Robotics and Automation Letters Vol.4 ( 4 ) 1 - 25 2019.10 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Joint Work
Other Link： https://ieeexplore.ieee.org/abstract/document/8758789
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Deformation mechanism of capsule-type hydrogen-storage-alloy actuator
Goto Kenta, Hirata Tomoyuki, Higuchi Takehiro, Fuchiwaki Ohmi, Ozaki Shingo, Nakao Wataru
INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 44 ( 31 ) 16877 - 16886 2019.6
Language：Japanese Publishing type：Research paper (scientific journal) Joint Work
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O. Fuchiwaki,Y. Tanaka,H. Notsu, T. Hyakutake
Microfluidics and Nanofluidics 2018.7 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
Other Link： https://doi.org/10.1007/s10404-018-2098-5
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The basic performance of a miniature omnidirectional 6-legged inchworm robot from cm- to μm-scale precise positioning
Ohmi Fuchiwaki, Manabu Yatsurugi, and Takashi Sato
Trans. Mat. Res. Soc. Japan 39 ( 2 ) 211 - 215 2014.8 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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Design of Capsule-type Micro Actuator Utilizing Hydrogen Storage Alloys by Finite Element Analysis
Kenta Goto, Takehiro Higuchi, Ohmi Fuchiwaki and Wataru Nakao
Trans. Mat. Res. Soc. Japan 39 ( 2 ) 145 - 152 2014.8 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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Manabu Yatsurugi, Ohmi Fuchiwaki
Journal of the Japan Society of Mechanical Engineering 79 ( 800 ) 956 - 969 2013.4 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society of Mechanical Engineering Joint Work
Other Link： https://www.jstage.jst.go.jp/article/kikaic/79/800/79_956/_article/-char/ja/
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Insect-sized Holonomic Robots for Precise, Omnidirectional, and Flexible Microscopic Processing: Identification, Design, Development, and Basic Experiments
Ohmi Fuchiwaki
Journal of the International Societies for Precision Engineering and Nanotechnology (Precision Engineering) 37 88–106 2013.1 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Single Work
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A Development of Dispenser for High-Viscosity Liquid and Pick and Place of Micro Objects Using Capillary Force
Kazuya Kumagai and Ohmi Fuchiwaki
online jour. of Key Engin. Materials 516 48 - 53 2012.6 [Reviewed]
Authorship：Last author, Corresponding author Language：English Publishing type：Research paper (scientific journal) Single Work
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Development of a 3-DOF Mobile Positioning Mechanism with 6 Contact Points
Manabu Yatsurugi and Ohmi Fuchiwaki
online jour. of Key Engin. Materials 516 136 - 141 2012.6 [Reviewed]
Authorship：Last author, Corresponding author Language：English Publishing type：Research paper (scientific journal) Single Work
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Development of 3 DOF Inchworm Mechanism for Flexible, Compact, Low-Inertia, and Omnidirectional Precise Positioning : Dynamical analysis and improvement of maximum velocity within no slip of electromagnets
Kazushi Arafuka, Suguru Omura, Ohmi Fuchiwaki
IEEE/ASME Transaction on Mechatronics (TMech) 17 ( 4 ) 697 - 708 2012 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Joint Work
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Compact USB camera based navigation device for omni-directional inchworm robot with repetitive compensation of input signals
Ohmi Fuchiwaki, Hisayuki Aoyama
International Journal of Automation Technology(IJAT) 5 ( 6 ) 883 - 890 2011.11 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Publisher：IEEE Joint Work
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Development of Versatile Micro Robot for Microscopic Operation (6th report)
FUCHIWAKI Ohmi,ARAFUKA Kazushi,OHMURA Suguru
Journal of the Japan Society of Precision Engineering 77 ( 2 ) 181 - 185 2011.2 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Japan Society for Precision Engineering Joint Work
Other Link： https://www.jstage.jst.go.jp/article/jjspe/77/2/77_2_181/_article/-char/ja/
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Ohmi Fuchiwaki, Tatsuya Ichikawa, Tsubasa Yamagiwa
447-448 447 - 451 2010.7 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
Other Link： http://www.scientific.net/KEM.447-448.447
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Development of the Orthogonal Micro Robot for Accurate Microscopic Operations
Ohmi Fuchiwaki, Daigo Misaki, Chisato Kanamori, Hisayuki Aoyama
Journal of Micro-Nano Mechatronics (JMNM) 4 ( 1-2 ) 85 - 93 2008.11 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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Development of Versatile Micro Robot for Microscopic Operation (5th Report), Performance Analysis of Piezoelectric Actuator and Improvement of Motion Speed
FUCHIWAKI Ohmi,OHTA Akihiro,MISAKI Daigo,IWATA Futoshi,USUDA Takashi,AOYAMA Hisayuki
Journal of Japan Society of Precision Engineering 73 ( 10 ) 1164 - 1168 2007.10 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japan Society of Precision Engineering Joint Work
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FUCHIWAKI Ohmi,OHTA Akihiro,MISAKI Daigo,IWATA Futoshi,USUDA Takashi,AOYAMA Hisayuki
Journal of Japan Society of Precision Engineering 73 ( 8 ) 955 - 959 2007.8 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japan Society of Precision Engineering Joint Work
Other Link： https://www.jstage.jst.go.jp/article/jjspe/73/8/73_8_955/_article/-char/ja/
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FUCHIWAKI Ohmi,NANJO Ryuichi,AOYAMA Hisayuki
Journal of Japan Society of Precision Engineering 70 ( 1 ) 86 - 90 2004.1
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japan Society of Precision Engineering Joint Work
Other Link： https://www.jstage.jst.go.jp/article/jspe/70/1/70_1_86/_article/-char/ja/
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FUCHIWAKI Ohmi,SHOJI Yuichi,AOYAMA Hisayuki
Journal of Japan Society of Precision Engineering 69 ( 1 ) 69 - 73 2003.1 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japan Society of Precision Engineering Joint Work
Other Link： https://www.jstage.jst.go.jp/article/jjspe1986/69/1/69_1_69/_article/-char/ja/
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Micromanipulation by Miniature Robots in a SEM Vacuum Chamber
Ohmi Fuchiwaki and Hisayuki Aoyama
Journal of Robotics and Mechatronics 14 ( 3 ) 221 - 226 2002.6 [Reviewed]
Language：English Publishing type：Research paper (scientific journal) Joint Work
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Development of Versatile Micro Robot for Microscopic Operation (1st Report), Design of Structure and Result of Basic Performance
Journal of Japan Society of Precision Engineering 68 ( 3 ) 403 - 407 2002.3 [Reviewed]
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：Japan Society of Precision Engineering Joint Work