Thesis for a degree 【 display / non-display 】

Thesis for a degree 【 display / non-display 】

• Advanced Motion Control for Real World Haptic Storage

  下野　誠通 

    2007.09

  Doctoral Thesis   Single Work

  　View Summary

  慶應義塾大学　（博士（工学）） 本学位論文では、実世界触覚記録のための基礎技術となる高度モーションコントロール手法を提案している。特に、透明性の高い加速度制御に基づくバイラテラル制御手法、ミクロマクロバイラテラル制御手法、マルチラテラル制御手法について述べており、それぞれの制御手法による実世界触覚記録について論じた。

Papers 【 display / non-display 】

Papers 【 display / non-display 】

• External Force Estimation in Linear Series Elastic Actuator without Load-side Encoder

  Minoru Yokoyama, Razvan Andrei Budau Petrea, Roberto Oboe, Tomoyuki Shimono

  IEEE Transactions on Industrial Electronics   68 ( 1 )   861 - 870   2021.01  [Refereed]

  Joint Work

  DOI

• Back-drivability Improvement of Geared System Based on Disturbance Observer and Load-side Disturbance Observer

  Xu Shuang, Yokoyama Minoru, Shimono Tomoyuki

  IEEJ JOURNAL OF INDUSTRY APPLICATIONS ( 一般社団法人 電気学会 )  9 ( 5 )   475 - 485   2020.09  [Refereed]

  Joint Work

  　View Summary

  <p>This paper proposes a method of improving the back-drivability of torque control according to the dynamic characteristic of forward-drivability based on the concept of proposed equivalent expression. The control strategy is composed of disturbance observer (DOB), a load-side DOB (LDOB) and the designed controller for torque control. The DOB realizes robust motion control by compensating for the friction and modeling error of the system, and the LDOB estimates the external torque input from the load-side. According to the designed controller, the proposed method constructs the back-drivability as forward-drivability via each transfer function of the equivalent expression. In addition, a scaling factor is introduced to quantitatively adjust the back-drivability to adapt to different application demands. Moreover, the decision basis of parameters in the proposed control is discussed and the effect on the control system is clarified. The experimental results are compared with the conventional torque control method, and show the consistency in the quantitative improvement of back-drivability effectively with the scaling factor.</p>

  Web of Science DOI CiNii

• Analysis and Experimental Verification of Cross-coupled 2-DOF SPM Motor with Halbach Array

  Hatta Yoshiyuki, Shimono Tomoyuki

  IEEJ JOURNAL OF INDUSTRY APPLICATIONS ( 一般社団法人 電気学会 )  9 ( 2 )   177 - 190   2020.03  [Refereed]

  Joint Work

  　View Summary

  <p>In this paper, a cross-coupled 2-DOF SPM motor with Halbach array is proposed. In the proposed 2-DOF motor, the permanent magnets (PMs) are arranged in both the linear direction and the rotational direction so that the motor generates thrust force in the linear direction and torque in the rotational direction. The Halbach array is applied to both the linear direction and the rotational direction. The proposed motor is analyzed using 3-D FEA. In the analysis, the model with Halbach array only in the linear direction, the model with Halbach array only in the rotational direction, and the model with Halbach array in both the linear direction and the rotational direction are compared. The analysis results show that the model with Halbach array in both directions generates higher force and torque than not only the model without Halbach array but also the models with Halbach array in either the linear direction or the rotational direction. In the analysis, the magnetic flux is also analyzed in addition to the force and torque. Additionally, experiments are conducted to confirm the effectiveness of the Halbach array.</p>

  Web of Science DOI CiNii

• Reduction of Contact Force Fluctuation for Rotary Wear Test Apparatus

  Yokoyama Minoru, Shimono Tomoyuki, Yamashita Chikara, Nagasaka Sei, Ohara Takuya

  IEEE-ASME TRANSACTIONS ON MECHATRONICS   25 ( 1 )   185 - 194   2020.02  [Refereed]

  Joint Work

  Web of Science DOI

• Development of a Force Sensorless Percussion Device for Rationalization of Generator Inspection

  KUWAHARA Hiroaki, MIZOGUCHI Takahiro, SHIMONO Tomoyuki, OHNISHI Kouhei

  Journal of the Japan Society for Precision Engineering ( The Japan Society for Precision Engineering )  86 ( 1 )   120 - 125   2020.01  [Refereed]

  Joint Work

  　View Summary

  <p>For non-deconstructive generator inspection, robots which can crawl in a gap of a rotor and a stator have been developed.Since the robot should be enough thin to crawl in the gap, the inspection devices also need to be compact. Percussion is amethod to detect the stator wedge looseness. Since echo vibration excited by striking the target is analyzed in this method,the device requires two functions: a striking function and a sensing function. Basically, two devices such as a hammer anda microphone are utilized to achieve the functions. In this paper, a percussion device with the force control technique andthe inspection method to detect the stator wedge looseness are proposed. Since the proposed device can not only controlthe striking force but also sense the reaction force by itself, it is expected that the device can be compact. Moreover, in theproposed method, inner stator slot model parameters are estimated by analyzing the gain characteristics of the proposeddevice. Then, the amount of the stator wedge looseness is evaluated based on the model parameters. The validity of theproposed percussion device and the inspection method are evaluated through the experiments.</p>

  DOI CiNii

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Review Papers 【 display / non-display 】

Review Papers 【 display / non-display 】

• Motion Control for Real World Haptics

  K. Ohnishi, S. Katsura, and T. Shimono

  IEEE Industrial Electronics Magazine   4 ( 2 ) 16 - 19   2010.06

  Introduction and explanation (scientific journal)   Joint Work

• Haptic Motion Control for Physical Human Support

  T. Shimono, S. Katsura, and K. Ohnishi

  IEEJ Transactions on Electrical and Electronic Engineering   4 ( 2 ) 166 - 175   2009.03

  Introduction and explanation (scientific journal)   Joint Work

• Haptics for Medical Applications

  K. Ohnishi, T. Shimono, and K. Natori

  Journal of Artificial Life and Robotics   13 ( 2 ) 383 - 389   2009.03

  Introduction and explanation (scientific journal)   Joint Work

Academic Awards Received 【 display / non-display 】

Academic Awards Received 【 display / non-display 】

• Outstanding Paper Award

  2019.03.04   IEEJ   Development of Multi Degree of Freedom Haptic Forceps Robots with Multi Actuated Fingers

  Winner： T. Matsunaga, T. Shimono, and K. Ohnishi

• Best Paper Award in the Track of Robotics, Automation and Control

  2014.12   IEEE ICIAfS2014  

  Winner： Masato Ohori and Tomoyuki Shimono

• Best Paper Award in the Track of Robotics, Automation and Control

  2014.12   IEEE ICIAfS2014  

  Winner： Hiroshi Asai, Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto

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

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

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

  Project Year： 2017.04  -  2020.03 

• Grant-in-Aid for challenging Exploratory Research

  Project Year： 2016.04  -  2018.03 

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

  Project Year： 2014.04  -  2017.03 

• Grant-in-Aid for challenging Exploratory Research

  Project Year： 2014.04  -  2016.03 

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

  Project Year： 2011.04  -  2014.03 

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Presentations 【 display / non-display 】

Presentations 【 display / non-display 】

• Haptic Robots for Physical Human Support

  T. Shimono  [Invited]

  The 26th International Conference on Information, Communication and Automation Technologies, ICAT2017  (Sarajevo, Bosna)  2017.10.01