研究者詳細 - 髙嶋　一登

その他リンク： https://www.jstage.jst.go.jp/article/jbse/20/1/20_24-00230/_pdf/-char/en

Effect of R-phase on shape recovery speed of Ti-Ni shape memory alloy wire for variable-stiffness mechanism using jamming transition phenomenon 査読有り国際誌

MATSUMOTO Naoki, CHO Hiroki, TAKASHIMA Kazuto, SUZUKI Hidetaka

Mechanical Engineering Journal ( 一般社団法人日本機械学会 ) 11 ( 5 ) 24-00130 - 24-00130 24-00130 (10pp) 2024年12月

記述言語：英語掲載種別：研究論文（学術雑誌）

The jamming transition phenomenon refers to the change in stiffness of a powder as its density changes. As a familiar example, vacuum-packed coffee grounds are hard, but when opened to allow air into the package and the density is reduced, the grounds become softer. Using Ti-Ni shape memory alloys (SMAs) and the jamming transition phenomenon, a variable-stiffness and deformable link was devised and prototyped by Takashima et al. (2022). Although the mechanism worked well, it operated slowly due to the slow shape recovery velocity of the SMA. For practical application of this mechanism, it is necessary to improve the recovery velocity of Ti-Ni SMA. Normally, Ti-Ni SMAs exhibit an austenite to martensite phase transformation; however, Miyazaki and Otsuka (1984) observed that under some conditions, R-phase transformation can occur between these phase transformations. In a previous study, Tanikata et al. (2022) observed that SMAs that show R-phase transformation during shape recovery tend to have higher recovery stress than SMAs that do not show R-phase transformation. Therefore, SMAs that show R-phase transformation during shape recovery are expected to have a high shape recovery velocity. This study investigates the effect of R-phase transformation on the recovery velocity of SMA. From the experimental results, specimens that show R-phase transformation tend to have a higher recovery velocity than specimens that do not show R-phase transformation. However, the mechanism created using materials showing R-phase transformation had a small amount of shape recovery during shape recovery. Thus, we attempted to improve the mechanical properties of the SMA by training. The device using the trained specimen demonstrated increased shape recovery compared to the device using the untrained specimen.

DOI： 10.1299/mej.24-00130

その他リンク： https://www.jstage.jst.go.jp/article/mej/11/6/11_24-00130/_pdf/-char/en

Structural Modification of Catheter-Type Tactile Sensor Using Polyvinylidene Fluoride (PVDF) Film 査読有り国際誌

S. Nagano, K. Takashima, M. Watanabe, K. Ishida

Twenty-first International Conference on Flow Dynamics (ICFD2024) 677 - 679 2024年11月

Structural modification and application of variable sensitivity force sensors fabricated using shape-memory polymer 査読有り国際誌

T. Taniguchi, K. Takashima

Proceedings of SICE Festival 2024 with Annual Conference 272 - 277 2024年08月

Characterization of Catheter-Type Tactile Sensor Using Polyvinylidene Fluoride (PVDF) Film 査読有り国際誌

Takashima Kazuto, Nagano Souichiro, Watanabe Masahiro, Ishida Kenji

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 36 ( 4 ) 899 - 908 2024年08月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

To enable quantitative palpation in vivo, we previously developed a catheter-type tactile sensor with an outer diameter of 2 mm composed of a polyvinylidene fluoride (PVDF) film for minimally invasive surgery. However, our previous studies did not evaluate the effect of the PVDF film shape on the sensor output. In this study, we fabricated three types of prototype sensors with different PVDF film shapes and sizes using a simple cutting method. One of the films had the same shape as that used in one of our previous studies. We also prepared two types of PVDF film with a wide base and a narrow tip because we assumed that the deformation of the sensor gradually decreases from the root to the tip, similar to the first mode of the natural frequency. We evaluated the frequency response of the proposed sensors by vibrating the sensor tip and compared the results with the theoretical values. It was confirmed that the sensor output increased with PVDF film size. Although this tendency was observed for both the measured and theoretical values, the measured values were smaller than the theoretical values. Moreover, the effect of film size was larger than that of film shape. Improvements in the sensor structure and the theoretical equation and better evaluation methods are required in order to optimize the film shape and size.

DOI： 10.20965/jrm.2024.p0899

その他リンク： http://id.ndl.go.jp/bib/033646324

Development and Application of Shape-Memory Polymer and Alloy Composite Sheets 査読有り国際誌

Takashima Kazuto, Okamura Yuta, Nagaishi Junya, Cho Hiroki, Noritsugu Toshiro, Mukai Toshiharu

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 36 ( 3 ) 769 - 778 2024年06月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

The authors previously developed a flexible and multi-degree-of-freedom pneumatic artificial rubber muscle that uses shape-memory polymer (SMP) sheets with an embedded electrical heating wire. The bending direction and initial shape of the muscle can be changed by utilizing the large difference in the elastic modulus below and above the glass transition temperature, shape fixity, and shape recovery of SMPs. In this study, to improve performance, we propose a shape-memory composite (SMC) sheet that consists of SMP sheets with an embedded shape-memory alloy (SMA) wire used as an electric heating wire. The mechanical properties of the previously developed SMP sheets and the proposed SMC sheets are compared through shape recovery, bending, and tensile tests using prototypes. The motion of the artificial muscle with various samples attached is evaluated through an isometric test and bending angle measurements. The experimental results confirm that the use of the SMA wire improves the production reproducibility and shape recovery of the SMP sheets without degrading other mechanical properties or actuator performance.

DOI： 10.20965/jrm.2024.p0769

その他リンク： http://id.ndl.go.jp/bib/033548082

High-Density, Nonvolatile, Flexible Multilevel Organic Memristor Using Multilayered Polymer Semiconductors 査読有り国際誌

Sharma S., Pandey M., Nagamatsu S., Tanaka H., Takashima K., Nakamura M., Pandey S.S.

ACS Applied Materials and Interfaces 16 ( 17 ) 22282 - 22293 2024年04月

記述言語：英語掲載種別：研究論文（学術雑誌）

Nonvolatile organic memristors have emerged as promising candidates for next-generation electronics, emphasizing the need for vertical device fabrication to attain a high density. Herein, we present a comprehensive investigation of high-performance organic memristors, fabricated in crossbar architecture with PTB7/Al-AlOx-nanocluster/PTB7 embedded between Al electrodes. PTB7 films were fabricated using the Unidirectional Floating Film Transfer Method, enabling independent uniform film fabrication in the Layer-by-Layer (LbL) configuration without disturbing underlying films. We examined the charge transport mechanism of our memristors using the Hubbard model highlighting the role of Al-AlOx-nanoclusters in switching-on the devices, due to the accumulation of bipolarons in the semiconducting layer. By varying the number of LbL films in the device architecture, the resistance of resistive states was systematically altered, enabling the fabrication of novel multilevel memristors. These multilevel devices exhibited excellent performance metrics, including enhanced memory density, high on-off ratio (>108), remarkable memory retention (>105 s), high endurance (87 on-off cycles), and rapid switching (∼100 ns). Furthermore, flexible memristors were fabricated, demonstrating consistent performance even under bending conditions, with a radius of 2.78 mm for >104 bending cycles. This study not only demonstrates the fundamental understanding of charge transport in organic memristors but also introduces novel device architectures with significant implications for high-density flexible applications.

DOI： 10.1021/acsami.4c03111

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85191165281&origin=inward

Methods for evaluating friction between intravascular device and vascular biomodel 査読有り国際誌

K. Takashima, M. Ohta, K. Yoshinaka, T. Washio, K. Chinzei

Tribology Online ( 一般社団法人日本トライボロジー学会 ) 19 ( 1 ) 42 - 54 2024年02月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：記事・総説・解説・論説等（学術雑誌）

In recent years, endovascular treatments, in which a treatment device such as a catheter is inserted into a blood vessel to directly approach a lesion, have become increasingly popular worldwide. For safer treatment and further optimization of medical devices, a deeper understanding of the vascular biotribology of the medical devices, biomodels, and blood vessels and an appropriate evaluation method are required. This review paper presents the current state of research on the evaluation of the friction between an intravascular device and a vascular biomodel. We review the experimental conditions, including the sample shape, sliding speed, contact pressure, lubricant, materials, and temperature. Standardized methods should be established for evaluating the friction between an intravascular device and a vascular biomodel.

DOI： 10.2474/trol.19.42

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Motion evaluation of variable-stiffness link based on shape-memory alloy and jamming transition phenomenon 査読有り国際誌

K. Takashima, H. Suzuki, T. Imazawa, H. Cho

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 36 ( 1 ) 181 - 189 2024年02月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In rapidly aging societies, the application of robots has spread from industry to nursing and social welfare. As the designs of industrial and non-industrial robots are different, numerous robot components with various shapes and stiffness are required for different tasks. In this study, we attached a variable-stiffness link based on a shape-memory alloy (SMA) and the jamming transition phenomenon to a robot arm and evaluated its pick-and-place motion for various objects with different shapes and weights. The link can be fixed in an arbitrary shape and then restored to its initial shape via the shape memory effect. The objects were picked up and moved by a prototype link, which consisted of four SMA wires inserted in the jamming mechanism. We compared two states of the link, namely with and without deformation of the link into a shape (the cen-terline and the cross section) to suit the target object using a mold. Experiments confirmed that changing and fixing the link shape to suit the target object increased both positioning accuracy and weight capacity.

DOI： 10.20965/jrm.2024.p0181

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Enhancement in Capacitance of Ionic Type of EAP-Based Strain Sensors 査読有り国際誌

Singh N.K., Takashima K., Pandey S.S.

Sensors 23 ( 23 ) 2023年12月

記述言語：英語掲載種別：研究論文（学術雑誌）

This paper aims to enhance the capacitance of electroactive polymer (EAP)-based strain sensors. The enhancement in capacitance was achieved by using a free-standing stretchable polymer film while introducing conducting polymer to fabricate a hybrid dielectric film with controlled conductivity. In this work, styrene-ethylene-butylene-styrene (SEBS) rubber was used as the base material, and dodecyl benzene sulfonate anion (DBSA)-doped polyaniline (PANI) was used as filler to fabricate a hybrid composite conducting film. The maleic anhydride group of the SEBS Rubber and DBSA, the anion of the polyaniline dopant, make a very stable dispersion in Toluene and form a free-standing stretchable film by solution casting. DBSA-doped polyaniline increased the conductivity and dielectric constant of the dielectric film, resulting in a significant enhancement in the capacitance of the EAP-based strain sensor. The sensor presented in this article exhibits capacitance values ranging from 24.7 to 100 µF for strain levels ranging from 0 to 100%, and sensitivity was measured 3 at 100% strain level.

DOI： 10.3390/s23239400

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85179135949&origin=inward

Effect of R-phase on shape recovery speed of Ti-Ni shape memory alloy wire for variable-stiffness mechanism using jamming transition phenomenon 査読有り国際誌

N. Matsumoto, H. Cho, K. Takashima

Proceeding of The Advanced Technology in Experimental Mechanics and International DIC Society Joint Conference 2023 (ATEM-iDICs '23) 2023年10月

Improvement of Electrical Heating Wire Structure of Force Sensors Using Shape-Memory Polymer 査読有り国際誌

T. Taniguchi, K. Takashima

Proceedings of SICE Annual Conference 2023 588 - 593 2023年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Tsu 2023年09月06日 - 2023年09月09日

We previously developed a variable-sensitivity force sensor that uses a cantilever made of a shape-memory polymer (SMP) sheet with an embedded electrical heating wire, the stiffness of which varies according to temperature. In this study, we improve the structure of the heating wire using computer numerical control machining. Furthermore, we fabricate an SMP force sensor with a beam fixed at both ends. Experiments using prototypes of the original and improved sensors demonstrate that the temperature distribution of the heated SMP sheet and the distance between the electrical heating wires are uniform. Moreover, we confirm that for both prototype sensors, the relationship between strain and force depends on temperature.

DOI： 10.23919/SICE59929.2023.10354188

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85182596805&origin=inward

Improved Method of Preparation for Shape-memory Polymer Sheet with Embedded Electrical Heating Wire for Use in Pneumatic Artificial Rubber Muscle 査読有り国際誌

Y. Okamura, K. Takashima, T. Noritsugu, T. Mukai

Proceedings of SICE Annual Conference 2023 582 - 587 2023年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Tsu 2023年09月06日 - 2023年09月09日

We improved the structure of a shape-memory polymer (SMP) sheet with an embedded electrical heating wire, thus enhancing the manufacturing reproducibility and durability of flexible and multi-degree-of-freedom pneumatic artificial rubber muscles. We prepared two types of SMP sheets using the previous and improved methods and compared the mechanical properties via bending and tensile tests. The SMP sheets were then attached to a pneumatic artificial rubber muscle, and subjected to a bending angle test and an isometric test to evaluate their bending properties.

DOI： 10.23919/SICE59929.2023.10354241

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85182598520&origin=inward

Development of pneumatic artificial rubber muscle using segmented shape-memory polymer sheets 査読有り国際誌

K. Takashima, Y. Okamura, D. Iwamoto, T. Noritsugu, T. Mukai

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 35 ( 1 ) 113 - 124 2023年02月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

We have developed a pneumatic artificial rubber muscle using two shape-memory polymer (SMP) sheets. We attached the SMP sheets to a linear pneumatic artificial rubber muscle. Utilizing the large difference in the elastic modulus below and above the glass transition temperature, the shape fixity and shape recovery of SMPs, the bending direction and the initial shape can be changed. In this study, in order to increase the bending motion range, we developed a segmented SMP sheet with embedded electrical heating wires, and evaluated its mechanical properties using bending and tensile tests. Moreover, we attached such sheets to an artificial muscle and evaluated the bending motion. Bending tests showed that segmenting the SMP sheets greatly reduced their bending stiffness. In tensile tests at temperatures below the glass transition temperature, it was found that the artificial muscle with the attached sheet withstood high elongating loads without failure. Attachment of such segmented SMP sheets to an artificial muscle resulted in an increased bending angle. Through isotonic and isometric tests, we showed that the prototype actuator could bend in two directions.

DOI： 10.20965/jrm.2023.p0113

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Variable-sensitivity force sensor based on structural modification 査読有り国際誌

K. Takashima, K. Ota, H. Cho

Sensors 23 ( 4 ) 2077 (15pp) 2023年02月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Force sensors are used in a wide variety of fields. They require different measurement ranges and sensitivities depending on the operating environment because there is generally a trade-off between measurement range and sensitivity. In this study, we developed a variable-sensitivity, variable-measurement-range force sensor that utilizes structural modification, namely changes in the distance between the force application point and the detection area, and changes in the cross-sectional area. The use of shape-memory materials allows the sensor structure to be easily changed and fixed by controlling the temperature. First, we describe the theory of the proposed sensor. Then, we present prototypes and the experimental methods used to verify the performance of the sensor. We fabricated the prototypes by attaching two strain gauges to two sides of a shape-memory alloy and shape-memory polymer plates. Experiments on the prototypes show that the relationship between the applied force and the detected strain can be changed by bending the plate. This allows the sensitivity and measurement range of the sensor to be changed.

DOI： 10.3390/s23042077

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85148968722&origin=inward

Numerical simulation to evaluate guidewire and catheter behavior during catheter introduction 査読有り国際誌

TAKASHIMA Kazuto, NAMBA Akinori, OTA Hiroto, HAGA Yoichi, OHTA Makoto, MORI Koji, TOMA Naoki, SHOJIMA Masaaki

Journal of Biomechanical Science and Engineering ( 一般社団法人日本機械学会 ) 18 ( 1 ) 22-00276 - 22-00276 22-00276 (12pp) 2023年01月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

A national questionnaire survey on guidewire penetration accidents by the Japanese Society for Neuroendovascular Therapy reported examples of perforation accidents occurring “during catheter introduction” (75.2% of accidents). In this study, we evaluated the behavior of a guidewire and a catheter during catheter introduction by numerical simulations, based on the results of the national survey. Using the contact force between the medical devices and the vessel wall, and the medical device position as criteria, we investigated the mechanism and the risk of penetration by the device tip during device introduction. We also evaluated the effects of the insertion velocity of the guidewire and the catheter. The contact force gradually increased during insertion of the guidewire, and the maximum contact force was observed after the guidewire passed through a bend in the blood vessel. After that, when introducing a catheter along the guidewire at the bend in the blood vessel, the guidewire imparted a greater load on the vessel wall than when the guidewire itself was introduced. This is the same tendency seen in our previous study and the national survey. One reason for the force increase during catheter introduction is a decrease in the contact area, which concentrates the contact force. Another reason for the force increase is that the bending stiffness of the guidewire covered by the catheter is the sum of the stiffnesses of the two devices, which is larger than that of only the guidewire. Different from guidewire introduction, as the insertion velocity of the catheter increased, the maximum contact force decreased under the influence of the bend shape and the contact force distribution. Moreover, the guidewire oscillated considerably when the catheter was introduced, and this oscillation increased as the insertion velocity increased, leading to a risk of mistakenly straying into a perforating branch.

DOI： 10.1299/jbse.22-00276

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85174827956&origin=inward

Mechanical modelling and stress-strain prediction of electroactive polymer-based capacitive sensor under multiaxial loads using uniaxial tensile data 査読有り国際誌

Singh N.K., Takashima K., Pandey S.S.

Sensors & Transducers Journal 259 12-18 2022年10月

Fabrication and Evaluation of Catheter-Type Tactile Sensor Composed of Two Polyvinylidene Fluoride Films 査読有り国際誌

K. Takashima, M. Watanabe, K. Inoue, S. Horie, K. Ishida

Proceedings of SICE Annual Conference 2022 1165 - 1170 2022年09月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Kumamoto 2022年09月06日 - 2022年09月09日

To enable quantitative palpation in vivo, we developed a catheter-type tactile sensor composed of two polyvinylidene fluoride (PVDF) films for minimally invasive surgery. In our previous study, we fabricated a prototype catheter-type tactile sensor composed of a PVDF film with an outer diameter of 2 mm. However, this sensor can detect only a uniaxial contact state. In this study, we added a piezoelectric film embedded in silicone rubber to allow the sensor to detect a biaxial contact state. We evaluated the frequency responses of the proposed sensors.

DOI： 10.23919/SICE56594.2022.9905774

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85141222184&origin=inward

Electronic versus Ionic Electroactive Polymers (EAPs) Strain Sensors for Wearable Electronics: A Comparative Study 査読有り国際誌

Singh N.K., Takashima K., Pandey S.S.

Engineering Proceedings 21 1 (1p) 2022年08月

Fabrication, characterization and modelling of the fabric electrode-based highly stretchable capacitive strain sensor 査読有り国際誌

Singh N.K., Takashima K., Pandey S.S.

Materials Today Communications 32 104095 (10pp) 2022年08月

記述言語：英語掲載種別：研究論文（学術雑誌）

Highly stretchable and capacitance-based strain sensors were fabricated utilizing highly stretchable silicone elastomer as dielectric film sandwiched between the conducting and stretchable cloth-based top and bottom electrodes. Electromechanical characterizations for the proposed sensor after multiple and reversible loading and unloading cycles up to 150% applied strain were conducted followed by the modelling of the sensing performance. It has been shown that the sensor exhibits reproducible electromechanical performance under multiple reversible stretching and relaxation cycles. There was a very small deviation (< 10%) in the observed values of the capacitance upon the applied strain of 150% up to the 1000 loading and unloading cycles. Tensile measurement for the sensor under various applied strains, not only exhibits almost constant force indicating negligible Mullins effect and negligible time-dependent changes at a fixed strain up to 100% suggesting that viscoelastic losses can also be neglected. From uniaxial tensile experiments, constitutive model of the dielectric elastomer sensor was validated. For the fitting of the experimental data obtained from the uniaxial tensile measurement, a variety of strain energy formulations have been compared for predicting the constitutive behaviour of sensor using the Mooney– Rivlin, Neo-Hookean, Yeoh and Ogden models, where 2nd term of the Ogden model was found to explain the experimental tensile data most accurately. To explain some observed losses at 150% of applied strain, the Prony series-based time dependent model was used for predicting stress at any value of time and it was found that experimental data was well fit with 4th order of Prony series.

DOI： 10.1016/j.mtcomm.2022.104095

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Variable-stiffness and deformable link using shape-memory material and jamming transition phenomenon 査読有り国際誌

K. Takashima, T. Imazawa, H. Cho

Journal of Robotics and Mechatronics ( 富士技術出版株式会社 ) 34 ( 2 ) 466 - 477 2022年04月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we developed a variable-stiffness and deformable link using shape-memory material and the jamming transition phenomenon. Above its glass transition temperature (Tg), a shape-memory polymer (SMP) can be deformed by applying a small load. SMPs maintain the deformed shape after they have been cooled below Tg, and they return to their original shape when heated above Tg. The reversible change in the elastic modulus between the glassy and rubbery states of SMPs can be on the order of 100–1000 times. We exploited the characteristics of SMPs to develop robot components with variable stiffness and sensitiv-ity. The jamming transition phenomenon for granular material has been widely used as a method to change the stiffness of robots. This phenomenon is the change from fluid-like to solid-like conditions by removing air from a space containing particles. In this study, we developed a variable-stiffness link by combining the SMP and the jamming transition phenomenon. More-over, by replacing the SMP with shape-memory alloys (SMAs), whose recovery force and elastic modulus are larger than those of SMPs, we prepared a sec-ond prototype with variable stiffness. We evaluated the performance of both prototypes, using the SMP or the SMA, with experiments and confirmed the motion principle of the proposed link (e.g., shape recovery and shape fixity). Moreover, it was confirmed that the stiffness of these links can be changed among four states.

DOI： 10.20965/jrm.2022.p0466

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Multipoint detection of structural deformation of pulsating 3D heart model using flexible organic piezoelectric-sensor array 査読有り国際誌

Y. Nagayama, Y. Kondo, Y. Koshiba, S. Horike, K. Takashima, K. Ishida

Japanese Journal of Applied Physics 61 ( SE ) SE1014 (11pp) 2022年04月

記述言語：英語掲載種別：研究論文（学術雑誌）

Multipoint detection of the structural deformation of a pulsating 3D heart model was conducted using a flexible piezoelectric sensor array with a poly(vinylidene fluoride-trifluoroethylene) [P(VDF-TrFE)] thin film sealed with biocompatible parylene C. The piezoelectric signals detected from the sensor array attached to the 3D heart model were correlated with an electrocardiogram signal. These piezoelectric signals can be converted into the compressive stress applied to the flexible sensors by the pulsating motion of the 3D heart model. The experimental results mean that the contraction force, generated by the heart muscle (i.e., myocardium), can be directly evaluated. The different output voltages depending on the location were obtained from each sensor, indicating the possibility of a real-time detection of the irregular motion of the heart and the early detection of ischemic heart disease, which leads to the loss of local contractile force in myocardial tissue.

DOI： 10.35848/1347-4065/ac5a04

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Tear strength estimation of electroactive polymer-based strain sensors 査読有り国際誌

Singh N.K., Takashima K., Pandey S.S.

Proceedings of SPIE - The International Society for Optical Engineering 12042 2022年04月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Electroactive polymer-based sensors are subjected to repeated loading and unloading cycles under variable applied strains and estimation of the tear strength plays a critical role in determining durability. A trouser type of specimen made from conducting and stretchable freestanding films consisting of SEBS rubber and dodecyl benzenesulfonic acid (DBSA) doped polyaniline composite was used for fabricating the capacitive strain sensor and tear strength estimation. Strain energy density for the composite film was calculated from the tear test data aiming towards the prediction of the life of the specimen. Our results revealed a very high value (150 newton/mm) of tear strength, leading to the sustainability of the film up to millions of cycles.

DOI： 10.1117/12.2627807

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Evaluation of effect of aneurysm model material on coil contact force and catheter movement 査読有り国際誌

OISHI Takuya, TAKASHIMA Kazuto, YOSHINAKA Kiyoshi, YU Kaihong, OHTA Makoto, MORI Koji, TOMA Naoki

Journal of Biomechanical Science and Engineering ( 一般社団法人日本機械学会 ) 17 ( 1 ) 1 - 10 Article ID: 21-00261 (10pp) 2022年01月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

To ensure safe coil embolization for cerebral aneurysms, it is important to investigate the contact force between a coil and an aneurysm wall. Therefore, in our previous study, we developed an experimental system for measuring the contact force between a coil and an aneurysm biomodel. However, because the aneurysm model was made of silicone rubber, its physical properties, such as the friction coefficient, differed from those of aneurysms #Iin vivo#IR. Therefore, in this study, we made an aneurysm model using poly (vinyl alcohol) hydrogel (PVA-H) and evaluated the effect of the model material on the contact force. In addition, we acquired images during the experiment and evaluated the behavior of the coil and catheter and the relationship between the catheter movement and the contact force. A commercially available coil was inserted through a catheter into two types of aneurysm models (silicone rubber and PVA-H), and the effects of the model material and the catheter tip position (near dome, at the center, and near neck) were evaluated. The contact force and the total movement of the catheter tip for the PVA-H model were smaller than those for the silicone rubber model. The contact force (total catheter movement) was greater (smaller) when the catheter tip was inserted deeper into the silicone rubber model. These results suggest that the state of contact between the aneurysm and the coil affects the contact force and the catheter movement and that these two values are related.

DOI： 10.1299/jbse.21-00261

その他リンク： https://ci.nii.ac.jp/naid/130008085995

Characterization of variable-sensitivity force sensor using stiffness change of shape-memory polymer based on temperature 査読有り国際誌

K. Takashima, J. Kobuchi, N. Kamamichi, K. Takagi, T. Mukai

ROBOMECH Journal 8 ( 1 ) Article:24 (15pp) 2021年11月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

In the present study, we propose a variable-sensitivity force sensor using a shape-memory polymer (SMP), the stiffness of which varies according to the temperature. Since the measurement range and sensitivity can be changed, it is not necessary to replace the force sensor to match the measurement target. Shape-memory polymers are often described as two-phase structures comprising a lower-temperature “glassy” hard phase and a higher-temperature “rubbery” soft phase. The relationship between the applied force and the deformation of the SMP changes depending on the temperature. The proposed sensor consists of strain gauges bonded to an SMP bending beam and senses the applied force by measuring the strain. Therefore, the force measurement range and the sensitivity can be changed according to the temperature. In our previous study, we found that a sensor with one strain gauge and a steel plate had a small error and a large sensitivity range. Therefore, in the present study, we miniaturize this type of sensor. Moreover, in order to describe the viscoelastic behavior more accurately, we propose a transfer function using a generalized Maxwell model. We verify the proposed model experimentally and estimated the parameters by system identification. In addition, we realize miniaturization of the sensor and achieve the same performance as in our previous study. It is shown that the proposed transfer function can capture the viscoelastic behavior of the proposed SMP sensor quite well.

DOI： 10.1186/s40648-021-00210-8

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85118929590&origin=inward

Relationship between contact force and catheter movement in aneurysm model 査読有り国際誌

T. Oishi, K. Takashima, K. Yoshinaka, K. Yu, M. Ohta, K. Mori, N. Toma

Eighteenth International Conference on Flow Dynamics (ICFD2021) 420 - 422 2021年10月

Parametric study of device insertion simulator for endovascular treatment 査読有り国際誌

H. Ota, K. Takashima, Y. Haga, M. Ohta, C. Dai, M. Shojima

Eighteenth International Conference on Flow Dynamics (ICFD2021) 417 - 419 2021年10月

Surface Shape Changeable Tactile Sensor Using Shape-Memory Polymer 査読有り国際誌

Takashima K., Miyazaki R., Mukai T.

2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021 1169 - 1174 2021年09月

担当区分：筆頭著者,　責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Tokyo 2021年09月08日 - 2021年09月10日

Tactile sensors typically have elastic covers for reducing the impact of objects that make contact with them. However, such covers decrease the spatial resolution of the sensor because of their low-pass spatial filtering characteristics, which vary based on the stiffness of the cover. Therefore, we propose a tactile sensor that uses a shape-memory polymer (SMP) with a stiffness that varies with temperature. SMPs can be deformed above their glass transition temperature (Tg) upon application of a small load, and they maintain their shape after they have been cooled below T g and become rigid. When subsequently heated above T g, they return to their initial shape. These characteristics can be exploited to alter the spatial resolution, the rigidity and the shape of the sensor surface by adjusting the temperature of the SMP. In this study, we changed the shape of the sensor surface by utilizing these shape-changing characteristics, and we evaluated the output of a prototype sensor. Utilizing the shape fixity of the SMP, various bumpy surfaces were realized. Through the experiments using the prototype sensor, the sensor was found to be effective at measuring surface profiles.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85117699561&origin=inward

Characteristics of pneumatic artificial rubber muscle using two shape-memory polymer sheets 査読有り国際誌

K. Takashima, D. Iwamoto, S. Oshiro, T. Noritsugu, T. Mukai

Journal of Robotics and Mechatronics 33 ( 3 ) 653 - 664 2021年06月

Fatigue life prediction of electroactive polymer strain sensor 査読有り国際誌

N. K. Singh, K. Takashima, S. Pandey

Proceedings of SPIE - The International Society for Optical Engineering 11587 2021年03月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Electroactive polymers strain sensors bear a great potentiality in the area of soft robotics, wearable devices, and fitness industries. A small initial defect present in such sensor may grow to a critical size during contraction and relaxation cycles leading to mechanical failure, therefore, prediction of fatigue life is inevitable. The crack growth approach is one of the amicable ways to estimate the fatigue life considering parameters like tear energy, crack geometry, and power law. In this work, crack growth approach based on power law is being proposed to predict fatigue life utilizing conducting and stretchable freestanding films consisted of SEBS rubber and dodecyl benzenesulfonic acid (DBSA) doped polyaniline composite. Utilizing this crack growth model for the prediction of fatigue life exhibited that such films can sustain more than a million cycles even at a large value of deformation.

DOI： 10.1117/12.2584521

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85109073962&origin=inward

Evaluation of Contact Force between Aneurysm Model and Coil for Embolization of Intracranial Aneurysms 査読有り国際誌

Takashima Kazuto, Ikeda Yuta, Yoshinaka Kiyoshi, Ohta Makoto, Mori Koji, Toma Naoki

Journal of Neuroendovascular Therapy ( 特定非営利活動法人日本脳神経血管内治療学会 ) 15 ( 4 ) 233 - 239 2020年12月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

#BObjective:#BR To ensure safe coil embolization for intracranial aneurysms, it is important to investigate the contact force between the coil and the aneurysm wall. However, it is unclear how the catheter tip position and the diameter of the secondary loop of the coil influence the contact force. In this study, we measured the contact force between a coil and an aneurysm biomodel under different conditions.
#BMethods:#BR A commercially available coil was inserted through a microcatheter into a silicone rubber aneurysm model at a constant speed (1 mm/s) using an automatic stage, and the contact force between the coil and the aneurysm wall was measured by a force sensor attached on the aneurysm model. The inner diameter of the spherical aneurysm was 5 mm. The effects of varying the position of the catheter tip (near dome, center, near neck) and the diameter of the secondary coil (4.5 mm) were evaluated.
#BResults:#BR When the catheter tip was inserted more deeply into the aneurysm (especially near the dome), the contact force increased. The contact force also increased as the secondary coil diameter was increased with the catheter tip near and in the center of the dome.
#BConclusion:#BR These results suggest that the catheter tip position and the secondary coil diameter affect the contact force. In particular, the contact force should be considered large with the catheter tip near the dome to ensure safe coil deployment.

DOI： 10.5797/jnet.oa.2020-0069

PubMed

その他リンク： https://ci.nii.ac.jp/naid/130007949975

形状記憶ポリマーを用いた剛性と感度を可変のロボットアーム招待有り査読有り

高嶋一登

計測と制御 ( 公益社団法人計測自動制御学会 ) 59 ( 11 ) 847 - 851 2020年11月

Improved method of estimating the contact force acting on an endovascular treatment device using image processing 査読有り国際誌

T. Onishi, K. Takashima

Seventeenth International Conference on Flow Dynamics (ICFD2020) 306 - 307 2020年10月

Development of a stereo dip-coating system for fabrication of tube-shaped blood vessel models 査読有り国際誌

Y. Shimizu, S. Tupin, C. Kiyomitsu, K. Kitamura, K. Takashima, M. Ohta

Scientific Reports 10 ( 1 ) Article number: 6929 (10 pages) 2020年04月

記述言語：英語掲載種別：研究論文（学術雑誌）

Tube-shaped blood vessel models that mimic their geometries and mechanical properties can deliver reliable and realistic behavioral information such as deformation and rupture during procedures such as insertion of medical devices. Thickness of vessel walls is an important parameter for fabricating the blood vessel models owing to their strong influence on the model behavior, especially during deformation. The dip-coating method is used to fabricate blood vessel models; however, non-uniform wall thicknesses are observed using this method. This study aimed at finding the characteristics of stereo “angular control dip-coating” (ACDC) system to develop a dip-coating system that can produce tubular models with uniformed wall thickness. The system developed here enables an observation of the substrate behavior from two different views. The conditions of dip-coating used in this study produce 1.36–1.82 mm in the maximum and 0.188–0.435 mm in minimum wall thickness and the fabricated walls cover the realistic range of carotid arterial dimensions. The characteristics of the ACDC system indicate that ACDC is effective for fabricating the uniform wall thickness particularly in the strong curved parts.

DOI： 10.1038/s41598-020-63718-w

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85083865223&origin=inward

Dielectric elastomer based stretchable textile sensor for capturing motion 査読有り

Singh N.K., Takashima K., Shibata T.

Proceedings of SPIE - The International Society for Optical Engineering 11375 2020年04月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

© 2020 SPIE. This paper presents the fabrication, electromechanical modelling and testing of a highly stretchable textile-dielectric elastomer capacitive sensor for capturing motion. The proposed sensor is made of conductive fabric as electrode and ultra-Thin dielectric elastomer film as dielectric. This type of capacitive sensor exhibits high linearity and sensitivity as compare to available commercial sensors. By using basic calibration technique integrated with microelectronics, such sensors can easily capture motion and can also be paired with a mobile application, which is capable of visualizing the recorded 3D movement in real time domain, has the potential to be used in wearables.

DOI： 10.1117/12.2565743

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85085581633&origin=inward

Development of catheter-type tactile sensor composed of polyvinylidene fluoride (PVDF) film 査読有り国際誌

K. Takashima, K. Ota, M. Yamamoto, M. Takenaka, S. Horie, K. Ishida

ROBOMECH Journal 6 ( 1 ) Article:19 (11pp) 2019年12月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

To achieve quantitative palpation in vivo, we developed a catheter-type tactile sensor composed of a polyvinylidene fluoride film for minimally invasive surgery. We evaluated the fundamental performance of the prototype sensor by a weight-drop test. We also measured the output of the prototype sensor as it was inserted into a blood vessel model with shapes mimicking lesions. The ø2-mm sensor passed easily into the blood vessel model with lesion-like shapes. Sensor outputs corresponded to the shape of the inner wall of the blood vessel model, making it possible to determine the position of a protrusion and the convexity interval of a rough surface by filtering and frequency analysis of the output.

DOI： 10.1186/s40648-019-0147-9

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85076525558&origin=inward

A rigid multibody model to study the translational motion of guidewires based on their mechanical properties 査読有り

Sharei H., Kieft J., Takashima K., Hayashida N., Van Den Dobbelsteen J.J., Dankelman J.

Journal of Computational and Nonlinear Dynamics 14 ( 10 ) 2019年10月

記述言語：英語掲載種別：研究論文（学術雑誌）

During percutaneous coronary interventions (PCI), a guidewire is used as an initial way of accessing a specific vasculature. There are varieties of guidewires on the market and choosing an appropriate one for each case is critical for a safe and successful intervention. The main objective of this study is to predict the behavior of the guidewire and its performance in a vasculature prior to the procedure. Therefore, we evaluate the effectiveness of different mechanical properties of the guidewire on its behavior. A twodimensional (2D) model has been developed in which a guidewire is considered as a set of small rigid segments connected to each other by revolute joints. These joints have two degrees-of-freedom to allow rotation. Linear torsional springs and dampers are applied in each joint to account for the elastic properties of the guidewire; the elastic properties have been measured for two commercially available guidewires (Hi-Torque Balance Middleweight Universal II - Abbot and Amplatz Super Stiff - Boston Scientific) and these are used in the model. Only translational motion has been applied to the guidewires and the effect of bending stiffness of the guidewire and also friction between guidewire and vasculature on its behavior are investigated. The results are validated with actual movement of the guidewires in a simple phantom model. Behavior of a guidewire in a vasculature was predicted using the developed model. The results of both simulation and experiment show that the behavior of a guidewire is influenced by its mechanical properties and by the friction between the guidewire and vasculature. This study is the first step to develop a complete model, which can predict the behavior of a guidewire inside the vasculature. We compared the tip trajectory for two commercial guidewires in one vasculature geometry. In future, this kind of knowledge might support not only the interventionist in choosing the best suitable guidewire for a procedure but also the designer to optimize new instrument to have the desired behavior.

DOI： 10.1115/1.4043618

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85107464106&origin=inward

Fundamental study on the estimation of the contact force acting on an endovascular treatment device using image processing 査読有り

K. Takashima, T. Sasaki

6th International Conference on Computational and Mathematical Biomedical Engineering 469 - 472 2019年06月

形状記憶ポリマーを用いた触覚センサのロボットアームへの応用査読有り

長田拡,高嶋一登,向井利春

計測自動制御学会論文集 ( 公益社団法人計測自動制御学会 ) 55 ( 1 ) 25 - 34 2019年01月

担当区分：責任著者記述言語：日本語掲載種別：研究論文（学術雑誌）

Tactile sensors typically have elastic covers for reducing the impact of objects that make contact with the sensor. However, elastic covers decrease the spatial resolution of the sensor because of their low-pass spatial filtering characteristics, which vary based on the stiffness of each cover. Therefore, we propose a tactile sensor that uses shape-memory polymer (SMP) with stiffness that varies based on temperature. SMPs can be deformed above their glass transition temperature (Tg) upon application of a small load. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred-fold. These characteristics can be exploited to alter the spatial resolution and the rigidity of the sensor surface by adjusting the temperature of the SMP. In this study, a prototype sensor was fabricated using an SMP sheet with embedded electrical heating wires, and its fundamental performance was evaluated. The experimental results of a preliminary proof-of-concept investigation conducted using the prototype confirm the feasibility of the proposed sensor. Moreover, using a 4×4 array of pressure sensors, it was possible to distinguish the shape of the object placed on the sensor above and below Tg. The center of pressure applied on the prototype sensor could be measured by a developed program. In addition, we evaluated the control of the position of an object on the robot arm utilizing the prototype sensor attached on the arm. We could hold the constant position of the object on the sensor, although it took a longer time to stabilize the object above Tg because of the deformation of the SMP.

DOI： 10.9746/sicetr.55.25

その他リンク： https://www.jstage.jst.go.jp/article/sicetr/55/1/55_25/_pdf

Perspective of Development for PVA-H Custom-made Blood Vessel Models 招待有り査読有り

Y. Shimizu, S. Tupin, K. Yu, R. Nagano, C. Kiyomitsu, H. Yoshida, T. Matsunaga, J. Kuzusako, N. Kihara, K. Takashima, Y. Haga, M. Ohta

Fifteenth International Conference on Flow Dynamics (ICFD2018) 624 - 625 2018年11月

Evaluation of error and sensitivity for force sensor using shape-memory polymer 査読有り

K. Takashima, R. Onoda, T. Mukai

Proceedings of SICE Annual Conference 2018 1433 - 1438 2018年09月

担当区分：責任著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Japan Nara 2018年09月11日 - 2018年09月14日

Robotic technology is being increasingly used in a variety of fields, including not only manufacturing, but also nursing and welfare. Applications of robotic technology in nursing and welfare require the measurement of a wide range of forces in order to grasp and lift objects accurately in different operating environments. In light of this, we have developed a force sensor that uses a shape-memory polymer (SMP) whose stiffness varies with temperature. The relationship between the applied force and the deformation of the SMP changes depending on the temperature, which allows the measurement range and sensitivity to be changed with temperature. Our sensor, which consists of strain gauges bonded to an SMP beam, senses the applied force by measuring the strain in the SMP as it bends. In the present study, four SMP force sensors with different numbers of strain gauges and steel plates were fabricated, and their accuracy and sensitivity were evaluated. Experiments using the prototypes demonstrated that the sensor with one steel plate had a small error and a large sensitivity range.

DOI： 10.23919/SICE.2018.8492564

バイオエンジニアリング部門：「脳神経血管内治療に関する医工学連携研究会（A-TS02-16）」の紹介招待有り

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85056691735&origin=inward

太田信,高嶋一登

日本機械学会誌 ( 日本機械学会 ) 121 ( 1197 ) 28 - 29 2018年08月

血管内治療デバイス留置過程の定量的分析招待有り査読有り

高嶋一登

日本機械学会誌 ( 日本機械学会 ) 121 ( 1197 ) 31 - 31 2018年08月

Evaluation of the effect of catheter on the guidewire motion in a blood vessel model by physical and numerical simulations 査読有り

TAKASHIMA Kazuto, OIKE Atomu, YOSHINAKA Kiyoshi, YU Kaihong, OHTA Makoto, MORI Koji, TOMA Naoki

Journal of Biomechanical Science and Engineering 12 ( 4 ) Article ID: 17-00181 (13pp) 2017年08月

担当区分：責任著者記述言語：英語掲載種別：研究論文（学術雑誌）

Various catheter simulators using a computer or blood vessel biomodels have been developed for training of medical students and young physicians. Moreover, we have developed a system to simulate a guidewire in blood vessels that uses both numerical analysis and experimental observation for the quantitative analysis of treatment technique, surgical planning, intra-operative assistance, and to facilitate the design of new guidewires. However, not limited to our group, there is a lack of studies evaluating the motions of both the guidewire and catheter and their interaction in a blood vessel. Therefore, in the present study, we modified our computer-based system and experimental apparatus to evaluate the catheter motion and compared both results. First, we added a mechanism to the experimental apparatus to move and evaluate the catheter in a poly (vinyl alcohol) hydrogel blood vessel model. Second, we added a new catheter model to the calculation. We subsequently evaluated the behaviors of the medical devices (the guidewire and the catheter) by measuring the three-dimensional position and the contact force between the medical devices and the vessel wall. Comparison of the calculation and experimental results showed that the trajectories and the contact forces of both the experimental and numerically analyzed medical devices had the same tendencies. By considering the flexibility of the catheter in both the experimental and numerical analysis methods, we could reproduce the phenomena seen in clinical situations, such as movement of the catheter during the insertion or removal of the guidewire, and movement of the guidewire during the insertion of the catheter.

DOI： 10.1299/jbse.17-00181

A study of the relationship between the microcatheter shape and stability by numerical simulation 査読有り

N. Toma, K. Mori, K. Takashima, T. Sano, Y. Umeda, H. Suzuki, T. Saito

Journal of Neuroendovascular Therapy ( 特定非営利活動法人日本脳神経血管内治療学会 ) 11 ( 7 ) 333 - 340 2017年07月

記述言語：英語掲載種別：研究論文（学術雑誌）

Objective: The stability of the microcatheter is important in safe coil deployment. However, quantitative information regarding the relationship between the microcatheter shape and stability is limited. We investigated deformation characteristics of the microcatheter by applying loads to the tip of a placed microcatheter using numerical analysis.Materials and Methods: Microcatheter models were prepared by connecting cylindrical rigid segments with coil springs. Four types of models with shapes mimicking parts of a blood vessel and three types of models with shapes that come into contact with the vascular wall on the opposite side of the aneurysm were prepared.Results: When the distance between the tip of the microcatheter and the position of its contact with the vascular wall exceeded 12 mm, the suppressive effect on displacement of the microcatheter tip was markedly reduced. When this distance was less than 6 mm, the microcatheter shape exerted a greater effect on the stability than the distance.Conclusion: These results suggest that not only the position of contact of the microcatheter with the vascular wall but also the shape of the microcatheter near the aneurysm plays an important role in securing the stability.

DOI： 10.5797/jnet.oa.2016-0094

その他リンク： https://www.jstage.jst.go.jp/article/jnet/11/7/11_oa.2016-0094/_pdf

Force sensor utilizing stiffness change of shape-memory polymer based on temperature 査読有り国際誌

K. Takashima, H. Kamizono, M. Takenaka, T. Mukai

ROBOMECH Journal 4 ( 1 ) Article:17 (8pp) 2017年06月

担当区分：筆頭著者記述言語：英語掲載種別：研究論文（学術雑誌）

In this study, we propose a force sensor using a shape-memory polymer (SMP) whose stiffness varies according to the temperature. An SMP can be deformed above its glass transition temperature (Tg) by applying a small load. A deformed SMP maintains its shape when cooled below Tg and returns to its predefined shape when subsequently heated above Tg. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred-fold. The relationship between the applied force and the deformation of the SMP changes depending on the temperature. Our sensor consists of strain gauges bonded to an SMP bending beam and senses the applied force by measuring the strain. Therefore, the force measuring range and the sensitivity can be changed according to the temperature. In this study, we evaluate a prototype of the sensor using the SMP sheet with embedded electrical heating wire. Moreover, we improve the sensor by combining the SMP and a stainless steel plate. The enhanced versatility of SMP force sensors is demonstrated through a series of experiments conducted using the prototype.

DOI： 10.1186/s40648-017-0086-2

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85042637412&origin=inward

圧電ポリマーを用いた携帯式薄板型センサによる表面形状測定査読有り

竹中慎,高嶋一登

日本ロボット学会誌 ( 一般社団法人日本ロボット学会 ) 34 ( 9 ) 640 - 651 2016年11月

記述言語：日本語掲載種別：研究論文（学術雑誌）

For the quality-check process of manufacturing, skilled workers often use their sense of touch for inspections. However, this method is non-quantitative and depends on the experience of the workers. Therefore, a measurement device that can acquire quantitative surface profile data more easily than existing equipment is required. In our previous study, we prototyped a cantilever structured thin plate tactile sensor, with an attached piezoelectric polymer film as a strain detector, and showed that this sensor can evaluate uneven surface profiles. However, these measurements were performed by moving the tactile sensor with an automatic linear stage. To make the measurement tasks at an actual work site easier, an operator must be able to choose any target surface and evaluate that surface without troublesome settings and jigs. Therefore, in this study, we prototyped a portable, manually operated tactile sensor system comprising two thin plate tactile sensors. We showed that this prototype sensor system can estimate the amount of sensor movement during measurements by calculating the time lag between two sensor signals. Using the estimated amount of movement, this sensor system can evaluate uneven surface profiles easily and quickly.

DOI： 10.7210/jrsj.34.640

その他リンク： https://www.jstage.jst.go.jp/article/jrsj/34/9/34_34_640/_pdf

Portable tactile sensor system for evaluating uneven surfaces 査読有り

M. Takenaka, K. Takashima

The 8th Asian-Pacific Conference on Biomechanics (AP Biomech 2015) 352 - 352 2015年09月

圧電ポリマーを用いた薄板型触覚センサの検討－凹凸面評価に関する基礎検討－査読有り

竹中慎,平見健一,高嶋一登

日本ロボット学会誌 32 ( 10 ) 903 - 913 2014年12月

Numerical analysis and experimental observation of guidewire motion in a blood vessel model 査読有り

K. Takashima, S. Tsuzuki, A. Ooike, K. Yoshinaka, K. Yu, M. Ohta, K. Mori

Medical Engineering and Physics 36 1672 - 1683 2014年11月

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire 査読有り

K. Takashima, K. Sugitani, N. Morimoto, S. Sakaguchi, T. Noritsugu, T. Mukai

Smart Materials and Structures 23 ( 12 ) 125005 (9pp) 2014年10月

Thermal response of novel shape memory polymer-shape memory alloy hybrids 査読有り

J. Rossiter, K. Takashima, T. Mukai

Proceedings of SPIE: Behavior and Mechanics of Multifunctional Materials and Composites 9058 8 pages 2014年03月

Shape memory polymer hexachiral auxetic structures with tunable stiffness 査読有り

J. Rossiter, K. Takashima, F. Scarpa, P. Walters, T. Mukai

Smart Materials and Structures 23 ( 4 ) 045007 (11pp) 2014年02月

触覚センサを用いた生体触診の技術動向招待有り査読有り

高嶋一登

トライボロジスト ( 日本トライボロジー学会 ) 58 ( 4 ) 269 - 274 2013年04月

Fundamental study on medical tactile sensor composed of organic ferroelectrics 査読有り

K. Takashima, S. Horie, M. Takenaka, T. Mukai, K. Ishida, Y. Ueda

Fifth International Conference on Emerging Trends in Engineering and Technology (ICETET-12) 132 - 136 2012年11月

Measurement of the piezoelectric properties of vinylidene fluoride oligomer using pneumatic pressure for tactile sensors 査読有り

K. Takashima, S. Horie, M. Takenaka, T. Mukai, K. Ishida, Y. Ueda

Journal of Solid Mechanics and Materials Engineering 6 ( 10 ) 975 - 988 2012年10月

基質伸展下の内皮細胞底面における変位場の微視的解析査読有り

高嶋一登,山田宏

日本バイオレオロジー学会誌 26 ( 3 ) 109 - 112 2012年10月

Shape memory properties of ionic polymer-metal composites 査読有り

J. Rossiter, K. Takashima, T. Mukai

Smart Materials and Structures 21 ( 11 ) 1 - 7 2012年09月

医療・介護ロボット分野における有機センサの可能性―触覚センサを中心として―

高嶋一登,堀江聡,石田謙司,上田裕清,竹中慎,向井利春

応用物理学会　有機分子・バイオエレクトロニクス分科会会誌 ( 応用物理学会　有機分子・バイオエレクトロニクス分科会 ) 23 ( 3 ) 169 - 174 2012年07月

Curved type pneumatic artificial rubber muscle using shape-memory polymer 査読有り

K. Takashima, T. Noritsugu, J. Rossiter, S. Guo, T. Mukai

Journal of Robotics and Mechatronics 24 ( 3 ) 472 - 479 2012年06月

有機強誘電体触覚センサを用いた生体内触診の数値解析—血管の特性のセンサ出力への影響— 査読有り

高嶋一登,竹中慎,向井利春

日本ロボット学会誌 30 ( 2 ) 195 - 204 2012年03月

Design of a deployable structure with shape memory polymers 査読有り

J. Rossiter, F. Scarpa, K. Takashima, P. Walters

SPIE Smart Structures/NDE 2012 7 pages (8342-32) 2012年03月

Enhanced IPMC actuation by thermal cycling 査読有り

J. Rossiter, K. Takashima, T. Mukai

SPIE Smart Structures/NDE 2012 7 pages (8340-91) 2012年03月

フレキシブル有機メモリ・センサの研究開発

石田謙司, 堀江聡, 上田裕清, 高嶋一登

月刊ディスプレイ ( テクノタイムズ社 ) 18 ( 2 ) 31 - 36 2012年01月

Development of curved type pneumatic artificial rubber muscle using shape-memory polymer 査読有り

K. Takashima, T. Noritsugu, J. Rossiter, S. Guo, T. Mukai

Proceedings of SICE Annual Conference 2011 1691 - 1695 2011年09月

Vinylidene fluoride telomers for piezoelectric devices 査読有り

N. Durand,B. Ameduri,K. Takashima,K. Ishida,S. Horie,Y. Ueda

Polymer Journal 43 171 - 179 2011年02月

McKibben artificial muscle using shape-memory polymer 査読有り

K. Takashima,J. Rossiter,T. Mukai

Sensors & Actuators: A. Physical 164 116 - 124 2010年11月

形状記憶ポリマーを用いた姿勢維持モジュールの基礎研究査読有り

高嶋一登，張楠，向井利春，郭士傑

日本ロボット学会誌 28 ( 7 ) 905 - 912 2010年09月

Development of an in vitro tracking system with poly(vinyl alcohol) hydrogel for catheter motion 査読有り

C. H. Yu,H. Kosukegawa,K. Mamada,K. Kuroki,K. Takashima,K. Yoshinaka,M. Ohta

Journal of Biomechanical Science and Engineering 5 ( 1 ) 11 - 17 2010年04月

Dielectric elastomer actuators with zero-energy fixity 査読有り

J. Rossiter,K. Takashima,T. Mukai

SPIE Smart Structures/NDE 2010 7642 - 73 2010年03月

Development of a McKibben artificial muscle using a shape-memory polymer 査読有り

K. Takashima,J. Rossiter,T. Mukai

SPIE Smart Structures/NDE 2010 7644 - 17 2010年03月

Cytotoxicity test and mass spectrometry of IPMC 査読有り

Takashima K., Takashima K., Kamamichi N., Kamamichi N., Kamamichi N., Yagi T., Yagi T., Yagi T., Asaka K., Asaka K., Asaka K., Mukai T., Mukai T.

Electronics and Communications in Japan 93 ( 1 ) 1 - 8 2010年01月

記述言語：英語掲載種別：研究論文（学術雑誌）

Ionic polymer-metal composites (IPMC) are promising materials in biomedical actuators and sensors, as they are soft and flexible, thus assuring the safety of the device itself. The purpose of this study is to investigate the biocompatibility of IPMC in in vitro experiments in order to evaluate their applicability in biomedical fields. In addition to an IPMC specimen prepared by the conventional "impregnation- reduction method" using cationic gold complexes and reducing agents, two specimens were prepared by additional processes: one specimen was reduced in Na 2 SO 3 solution and the other was cleaned in H 2 O 2 solution. A colony-forming test using Chinese hamster V79 cells showed high cytotoxicity for all IPMC specimens. Examination by direct inlet mass spectrometry (DI-MS) revealed that the peak intensity of the gold complex (particularly, m/z = 180) was different from that of Nafion film. Monitoring the peak at m/z = 180 showed a remnant with the structure of phenanthroline in IPMC specimens that were not cleaned in H 2 O 2 solution. © 2009 Wiley Periodicals, Inc.

DOI： 10.1002/ecj.10239