IEEE Transactions on Magentics 54(11) 1-5 Nov 2018 [Refereed]
Force-controllable actuators are essential for guaranteeing safety in human-robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frict...
Realizing adaptability to environmental changes requires the robot’s body to change according to the environment. From this perspective, several studies have considered variable compliant actuation to change the physical characteristics of the rob...
his paper describes the rotation angle sensorless drive of a helical teethed linear actuator (HTLA) for artificial muscle. The position control with vector controller is required the linear and rotary position of the mover of the HTLA. However, to...
Shiqi Yu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
Artificial Life and Robotics 22(4) 477-482 Dec 2017 [Refereed]
Humanoids are being applied into society gradually in the aspect of human–robot interaction recently. The human spine plays an important role when performing natural human upper body postures. However, most of the humanoids only show tense body po...
Kenta Maeda, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
Artificial Life and Robotics 22(4) 497-502 Dec 2017 [Refereed]
Android robots: humanoids with realistic human appearance can serve as a telecommunication medium (teleoperated humanoids). We have anticipated that if teleoperated humanoids acquired with not only their human appearances, but also an ability of t...
This paper presents a novel magnetic lead screw actuator without helical permanent magnets. Magnetic lead screw actuator is high efficiency due to its non-contact transmission. It is expected to be applicable to interactive robots with human becau...
Recently, robots are expected to support actions performed in a real-life environment in our daily lives. However, robots encounter several interferences while performing physical interactions, such as shaking hands, hugging, and holding various o...
Masahiko Sakai, Katsuhiro Hirata, and Yoshihiro Nakata
International Journal of Applied Electromagnetics and Mechanics 52(1-2) 571-578 Dec 2016 [Refereed]
This paper presents a helical teethed linear actuator (HTLA) for artificial muscles of human coexistence robots. The HTLA has small number of simple-shaped permanent magnets and coils. The advantages of this actuator are a high force constant and ...
This paper presents a shoulder joint for a human-like robotic arm. This joint mechanism is composed of two ball joints laying back to back and the range of motion is larger than that of a usual ball joint. Since the joint is driven by the mutually...
Hideyuki Ryu, Yoshihiro Nakata, Yutaka Nakamura, and Hiroshi Ishiguro
IEEE Robotics and Automation Magazine 23(3) 85-92 Sep 2016 [Refereed]
Adaptive locomotion is crucial for robots that move across rough terrain and variable ground surfaces to complete various tasks [1]. Recent advances in numerical computation allow robots to operate in real environments by using complex control fra...
Journal of Robotics and Mechatronics 28(2) 226-233 Apr 2016 [Refereed]
Under the effects of surroundings such as gravitational force, ambient temperature, and chemical substances, each animal has acquired an optimized body structure through its evolution. For example, vertebrate land animals have a sophisticated musc...
Articial Life and Robotics 19(2) 193-200 Sep 2014 [Refereed]
Recently, robots are expected to support our daily lives in real environments. In such environments, however, there are a lot of obstacles and the motion of the robot is affected by them. In this research, we develop a musculoskeletal robotic arm ...
Journal of Robotics and Mechatronics 25(1) 106-114 Feb 2013 [Refereed]
The compliance of muscles with external force and the structural stability given by biarticular muscles are important features of animals for realizing dynamic whole-body motion such as running and hopping in various environments. For this reason,...
Journal of the Japan Society of Applied Electromagnetics 20(1) 113-118 Mar 2012
We have been developing an electromagnetic linear actuator for an artificial muscle which has long stroke, quick response and large thrust using interior permanent magnets effectively. In this paper, we propose a novel small size cylindrical linea...
Yoshihiro Nakata, Hiroshi Ishiguro, and Katsuhiro Hirata
IEEJ Transactions on Industry Applications 131(2) 166-170 Feb 2011 [Refereed]
We have been studying an interior permanent magnet linear actuator for an artificial muscle. This actuator mainly consists of a mover and stator. The mover is composed of permanent magnets, magnetic cores and a non-magnetic shaft. The stator is co...
Journal of the Japan Society of Applied Electromagnetics 17(2) 194-199 Jun 2009
We have been studying a new electromagnetic linear actuator for android using Halbach array of magnets. In this paper, the dynamic analysis method under the PID control is proposed employing the 3-D finite element method. This method is applied to...
IEICE technical report. Neurocomputing 112(480) 31-36 Mar 2013
In the case of teaching specific limb movement for people, e.g. rehabilitation or teaching some difficult operations, verbal instructions or direct motion of the learner's joint are always used but these processes burden the instructors. This pape...
