軟組織のトライボロジー

研究概要

本提案の目的は，軟組織が他物体と接触しながら相対的に運動するときに接触界面に生じる現象を解明し，軟組織のトライボロジーを確立することである．

軟組織の変形をモデリングするためには，軟組織と他物体との接触界面における物理現象をモデリングし，それを軟組織の変形モデリングに反映させる必要がある．まず，接触界面における軟組織の変形と軟組織に作用する分布力を計測し，軟組織のトライボロジーをマクロ的に定式化する．次に，マイクロテクスチャー上での軟組織の挙動を調べることにより，軟組織のマイクロトライボロジーを定式化する．粒子法を用いた軟組織の変形モデリングを核としてこれらの成果を統合し，マクロとマイクロの双方の視点から軟組織のトライボロジーを確立することが，本研究の目的である．

本研究は，

1. 軟組織の接触に伴う変形と分布力の計測
2. 軟組織のマクロトライボロジー
3. 粒子法を用いた軟組織変形のモデリング
4. 軟組織のマイクロトライボロジー
5. 軟組織のトライボロジーの解明

(提案書 全文)

メンバー

	平井　慎一	立命館大学・理工学部・教授
	田中　弘美	立命館大学・情報理工学部・教授
	森川　茂廣	滋賀医科大学・医学部・教授
	三谷　篤史	札幌市立大学・デザイン学部・講師
	井上　貴浩	岡山県立大学・情報工学部・准教授

報告書

報告書

研究発表

• Van Ho and Shinichi Hirai, Mechanics of Localized Slippage in Tactile Sensing, ISBN 978-3-319-04122-3, Springer, Springer Tracts in Advanced Robotics 99, 10.1007/978-3-319-04123-0, 2014

• Van Ho and Shinichi Hirai, Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon, Hugh Durrant-Whyte, Nicholas Roy, and Pieter Abbeel eds., Robotics: Science and Systems VII, 9780262306881, The MIT Press, pp.129-136, 2012

• Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Effect of Geometry Parameters of Saw-tooth Surface on the Feeding Velocity of Micro-parts, IEEJ Trans. on Electrical and Electronic Engineering, Vol.8, Issue S1, pp.S102-S105, 10.1002/tee.21925, Sept., 2013
• Van Anh Ho, Masaaki Makikawa, and Shinichi Hirai, Flexible Fabric Sensor toward a Humanoid Robotic Skin: Fabrication, Characterization, and Perceptions, IEEE Sensors Journal, Vol.13, No.10, Special Issue on Flexible Sensors and Sensing Systems, pp.4065-4080, 10.1109/JSEN.2013.2272336, Oct., 2013
• Zhongkui Wang and Shinichi Hirai, Finite Element Modeling and Physical Property Estimation of Rheological Food Objects, Journal of Food Research, Vol.1, No.1, pp.48-67, 2012
• Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, A Study on the Motion of Micro-Parts on a Saw-Tooth Surface by the PTV Method, Journal of System Design and Dynamics, Vol.6, No.1, pp.73-80, 10.1299/jsdd.6.73, Feb., 2012
• Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Experiment and Simulation of Micro-part Dynamics with Roughness Effect, IEEJ Trans. on Electrical and Electronic Engineering, Vol.7, Issue S1, pp.S173-S178, 10.1002/tee.21820, Dec., 2012

• Phuong Hoai Le, Thien Xuan Dinh, Atsushi Mitani, and Shinichi Hirai, Experiment of Micro-parts Feeding on Saw-tooth with the Effect of the Surface Geometry Parameters, Int. Conf. on Material, Mechatronics and Automation (ICMMA2013), pp.99-104, Singapore, Apr. 21-22, 2013
• Zhongkui Wang, Juho Pokki, Olgaç Ergeneman, Bradley J. Nelson, and Shinichi Hirai, Viscoelastic Interaction between Intraocular Microrobots and Vitreous Humor: A Finite Element Approach, 35th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBC 2013), 10.1109/EMBC.2013.6610655, Osaka International Convention Center, Osaka, Japan, July 3-7, 2013
• Damith Suresh Chathuranga Katudampe Vithanage, Van Ho, and Shinichi Hirai, Investigation of the Bio-mimetic Fingertip's Ability to Discriminate Fabrics Based on Surface Textures, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), 10.1109/AIM.2013.6584336, Wollongong, Australia, July 9-12, 2013
• Phuong Le, Thien Dinh, Atsushi Mitani, and Shinichi Hirai, Simulation Model for Sub-Millimeter Part Feeding on the Asymmetrical Saw-Tooth Surface with Air Drag, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), 10.1109/AIM.2013.6584159, Wollongong, Australia, July 9-12, 2013
• Atsushi Mitani, Phuong Le, Yasutaka Matsuo, and Shinichi Hirai, Improvement of Sawtooth Shape Generated By Anisotropic Etching Process of Single-Crystal Silicon For Microparts Feeding Using Horizontal and Symmetric Vibrations, 2013 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2013), 10.1109/AIM.2013.6584219, Wollongong, Australia, July 9-12, 2013
• Zhongkui Wang, Juho Pokki, Olgaç Ergeneman, Bradley J. Nelson, and Shinichi Hirai, Study of biomechanical properties of vitreous humor by a finite element model, EUROMECH Colloquium 533 Biomechanics of the Eye, Genoa, Italy, July 22-24, 2013
• Paul Umbanhowar, Thomas H. Vose, Atsushi Mitani, Shinichi Hirai, and Kevin M. Lynch, The Effect of Anisotropic Friction on Vibratory Velocity Fields, Proc. IEEE Int. Conf. on Robotics and Automation, pp.2584-2591, 10.1109/ICRA.2012.6225273, St. Paul, U.S.A., May 14-18, 2012
• Phuong Le, Xuan Thien Dinh, Atsushi Mitani, and Shinichi Hirai, Experiment and Simulation of Micro-parts Dynamics with Roughness Effect, 2012 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM 2012), pp.586-591, 10.1109/AIM.2012.6265939, Kaohsiung, Taiwan, July 11-14, 2012
• Van Anh Ho, Tatsuya Nagatani, Akio Noda, and Shinichi Hirai, What Can Be Inferred From a Tactile Arrayed Sensor in Autonomous In-Hand Manipulation?, Proc. 2012 IEEE Int. Conf. on Automation Science and Engineering (CASE), pp.457-464, 10.1109/CoASE.2012.6386384, Seoul, Korea, Aug. 20-24, 2012
• Lijuan Wang, Zhongkui Wang, and Shinichi Hirai, Modeling and Simulation of Friction Forces during Needle Insertion Using Local Constraint Method, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4926-4932, 10.1109/IROS.2012.6385756, Vilamoura, Algarve, Portugal, Oct. 7-12, 2012
• Van Anh Ho, Takahiro Araki, Masaaki Makikawa, and Shinichi Hirai, Experimental Investigation of Surface Identification Ability of a Low-Profile Fabric Tactile Sensor, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4497-4504, 10.1109/IROS.2012.6385538, Vilamoura, Algarve, Portugal, Oct. 7-12, 2012
• Katudampe Vithanage Damith Suresh Chathuranga, Van Anh Ho and Shinichi Hirai, A Bio-mimetic Fingertip That Detects Force and Vibration Modalities and its Application to Surface Identification, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO 2012), pp.575-581, 10.1109/ROBIO.2012.6491028, Guangzhou, China, Dec. 11-14, 2012
• Zhongkui Wang and Shinichi Hirai, Green Strain Based FE Modeling of Rheological Objects for Handling Large Deformation and Rotation, Proc. IEEE Int. Conf. on Robotics and Automation, pp.4762-4767, 10.1109/ICRA.2011.5979732, Shanghai, China, May 9-13, 2011
• Van Ho, Daisuke Kondo, Shima Okada, Takahiro Araki, Emi Fujita, Masaaki Makikawa, and Shinichi Hirai, Development of a Low-Profile Sensor Using Electro-conductive Yarns in Recognition of Slippage, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2011), pp.1946-1953, 10.1109/IROS.2011.6094497, San Francisco, California, U.S.A., Sept. 25-30, 2011
• Lijuan Wang and Shinichi Hirai, A Local Constraint Method for Needle Insertion Modeling and Simulation, 2011 IEEE Int. Symp. on Haptic Audio-Visual Environments and Games (HAVE 2011), pp.39-44, 10.1109/HAVE.2011.6088389, Yanshan Univ., Qinhuangdao, Hebei, China, Oct. 15-16, 2011

• Damith Suresh Chathuranga Katudampe Vithanage and Shinichi Hirai, A Bio-Mimetic Fingertip that can Detect Force and Vibration Modalities - Investigation of Bio-mimetic Fingertip's Ability to Discriminate Textures, Robotics and Mechatronics Conference 2013, Tsukuba International Congress Center, May 22-25, 2013
• Van Anh Ho and Shinichi Hirai, Fabric Sensor Detecting Slippage, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013
• Damith Suresh Chathuranga Katudampe Vithanage and Shinichi Hirai, Surface Texture Discrimination Using MEMS Accelerometer Embedded Biomimetic Fingertip, International Workshop on Soft and Flexible Micro/Nano System Technology (SF-MINAS 2013), Griffith University, Gold Coast Campus, Australia, July 12-14, 2013
• 今井 翔, 宗川 知加, Van Anh Ho, 平井 慎一, 近接・接触センサの特性を持つパイル布センサの開発, 第31回日本ロボット学会学術講演会, 首都大学東京 南大沢キャンパス, Sept. 4-6, 2013
• Van Anh Ho, 平井 慎一, 布地センサによる滑りの計測, 第31回日本ロボット学会学術講演会, 首都大学東京 南大沢キャンパス, Sept. 4-6, 2013
• Van Anh Ho, Tatsuya Nagatan, Akio Noda, and Shinichi Hirai, From Tactile Data to Image Processing, and Application in Robotic In-Hand Manipulation, 29th Annual Conference of Robotics Society of Japan, Toyosu, Japan, Sept. 7-9, 2011
• Van Anh Ho, Tatsuya Nagatani, Akio Noda, and Shinichi Hirai, Enhancement of Tactile Sensor's Ability in In-Hand Manipulation Utilizing Image Processing Tool, 12th SICE System Integration Division Annual Conference, pp.354-357, Kyoto, Japan, Dec. 23-25, 2011

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