Yu Yamauchi 교수

Abstract Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. However, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed. This is because attaching multiple sensors to the robot without compromising its body flexibility is challenging. In this study, we installed m

Fluid injection has promising potential as a novel actuation approach for robots to enable the rapid switching of large forces. We have proposed a nozzle unit with multiple active rotating nozzles for controlling the magnitude and direction of the net force simultaneously. However, a new fundamental challenge arises when multiple nozzle units are connected to a long flexible robot, hence addressing the need to expand the injection range caused by twisting. The proposed nozzle unit can drasticall

Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for extinguishing fires. The main challenge in implementing large shape deformations is accommodating the twisting of the body that results from the deformation. To address this problem, we proposed a two-dimensional passive rotating nozzle unit that can e

Aging of the population and the declining birthrate in Japan have produced severe human resource shortages in the medical and long-term care industries. Reportedly, falls account for more than 50% of all accidents in nursing homes. Recently, various bed-release sensors have become commercially available. In fact, clip sensors, mat sensors, and infrared sensors are used widely in hospitals and nursing care facilities. We propose a simple and inexpensive monitoring system for elderly people as a t

Snake-like robots are useful for exploring narrow spaces such as in collapsed buildings after a severe disaster. Two people are usually required for operating serpentine robot, one for pushing and twisting, and the other for controlling the tip. In this paper, we propose a way to control a snake robot with a single operator, by the use of robotic thruster. Further, a robotic thruster has the advantage of improving the estimation of tip position and shape, by measuring the inserted length of the

Snake-like robots are useful for exploring narrow spaces such as in collapsed buildings after a severe disaster. Two people are usually required for operating serpentine robot, one for pushing and twisting, and the other for controlling the tip. In this paper, we propose a way to control a snake robot with a single operator, by the use of robotic thruster. Further, a robotic thruster has the advantage of improving the estimation of tip position and shape, by measuring the inserted length of the

In a fire outbreak, firefighters are expected to rapidly extinguish fires to stop the spread of damage and prevent secondary disasters. We proposed the concept of a dragon firefighter (DFF), which is a flying-hose-type firefighting robot. We developed a 3.6 m long DFF equipped with two nozzle units and achieved stable flight. However, the system was not yet completed because the root of the robot, which should have been operated remotely, was operated manually. In addition, the system's reliabil

In order to extend the working range of high-speed submerged water jets and to improve its accuracy confidence, the jet working characteristics are studied under the condition of widely varying ambient pressures P2. The erosion tests were systematically carried out by using aluminum-alloy specimens, and the aspects of the cavitation clouds around the jets were simultaneously observed. Clearly, the pressure P2 drastically affects the aspects of cavitation and its occurrence region. With increasin

A snake-type robot using water injection is expected to be applied to fire fighting activities of a disaster. We have developed a Dragon FireFighter (DFF), a flexible snake-like robot using water jets for fire fighting. In this research, we improve the DFF reliability for increase the length of its. In this paper, we developed a metal nozzle module, switched the flow path using a swivel joint, and developed a waterproof case for the motor. Basic experiments were performed using the developed noz

Long flexible continuum robots have a high potential for search and rescue operations that explore deep layered debris. Air Floating Active Scope Camera (ASC) have been developed for search and rescue in a narrow space. However, it is confirmed the phenomenon that sticks to the ground when floating. Air jet nozzle with air curtain have been developed to solve problems. In this paper, we measure forces occurring in the direction of the ground, and determine parameters for air curtain nozzle from

We analyzed the changes in fluctuation of contraction rhythm of cultured cardiac myocytes caused by simulated ischemia/reperfusion Under the ischemia-like condition, the contraction intervals and the fluctuation of them increased as the ischemia time increased, and then myocytes stopped contraction by 3 hrs of the ischemia in many cases, The fluctuation temporarily decreased after reoxygenation compared with that before simulated ischemia, and then returned to the pre-ischemia level, The intrace

Fluid injection has promising potential as a novel actuation approach for robots to enable the rapid switching of large forces. The proposed nozzle unit can drastically expand the injection range using a passive rotation mechanism to automatically follow the intended injection direction. Concretely, the nozzle unit consists of the passive joint to rotate and two active rotating nozzles to realize the net force. If the unit emits the jets inwardly, the nozzle posture converges to the direction of

Long flexible continuum robots have a high potential for search and rescue operations that explore deep layered debris. A general problem of these robots is that as the robot becomes longer, the load generated by friction with the ground increases. This paper develops an air jet nozzle with increased internal pressure by air curtain which can stably float using the ground effect with only the nozzle. A major challenge is to stably float the whole long flexible continuous robot with only a nozzle