氏名

ナガハマ シュンスケ

長濱 峻介

職名

次席研究員(研究院講師) (https://researchmap.jp/7000011991/)

所属

(理工学術院総合研究所)

連絡先

URL等

研究者番号
70754745

学歴・学位

学位

博士

所属学協会

高分子学会 正会員

日本トライボロジー学会 正会員

日本ロボット学会 正会員

論文

Finding and utilizing self-preserving functions in blood pulsation-development for ethanol based artificial circulation system-

Kim, Chyon Hae; Kim, Chyon Hae; Nishi, Yuki; Nagahama, Syunsuke; Sugano, Shigeki

2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest査読有りp.1034 - 10392012年12月-2012年12月 

DOIScopus

詳細

概要:In this paper, we discuss the self-preserving function in the pulsation of circulation systems. Humans and many animals have circulation systems, which send blood with pulsation. However, how the pulsation is supporting the survival capability of them is not studied sufficiently. We propose an artificial circulation system that imitates homeostatic functions of natural blood circulation systems. The proposed system uses mixed fuel solution instead of blood, which is able to exclude the affection of the clotting function of blood platelet. Thus, the proposed system provides easy discussion for the affection of blood pulsation for clotting. As a result of a clotting experiment, we found the phenomena that pulsation helps clotting capability. As a result of energy supply experiment, pulsation helped smooth filtering for pure solution. These results show the importance of pulsation in artificial hearts. Also, the results are applicable to fuel supply systems so as to increase their safety. © 2012 IEEE.

A plainly designed robot for the experiments regarding the psychological boundaries of robots

Kim, Chyon Hae; Yamazaki, Yumiko; Nagahama, Shunsuke; Sugano, Shigeki

Journal of Robotics and Mechatronics26(1)2014年02月-2014年02月 

Scopus

詳細

ISSN:09153942

概要:We have developed a simply designed robot for the purpose of the psychological research confirming human recognition of the boundaries of robot agents. The physical boundary and the agent's boundary of a robot are considered to have different shapes in human recognition. Results of the experiment indicated that we controlled the agent's boundary successfully.

Signal transmission with magnetic powdery wire in a pipeline

Nagahama, Shunsuke; Iida, Shotaro; Kim, Chyon Hae; Kim, Chyon Hae; Sugano, Shigeki

2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013査読有りp.1113 - 11182013年01月-2013年01月 

DOIScopus

詳細

概要:In this paper, we discuss a signal transmission function of an artificial circulatory system. We proposed a biomimetic circulatory system so as to imitate the homeostatic function of the human circulation system [1]. The following blood functions were imitated in the system: (1) clotting, (2) energy supply, and (3) motor cooling. However, the circulatory system has other functions, for example, signal transduction by hormones. Thus, we propose adding a signal transmission function to our artificial circulatory system. The proposed function was realized with iron powder and a magnetic field. Particles of iron powder aligned along the direction of the magnetic field lines and formed as a wire. We defined this as a magnetic powdery wire (MPW). The MPW has a self-repairing function. When the wire collapsed, iron powder was transferred to the MPW, and it was repaired. As a result of a signal transmission experiment, we confirmed that the pulse signals were transmitted properly. In the experiment, we observed a time lag in the rise time and fall time on the pulse waveforms. We hypothesized that this was because the wire consisted of iron powder, and the magnetic field became similar to that of a coil. As a result of the self-repairing experiment, we confirmed that the wire repaired itself after being broken and transmitted pulse signals properly. These results demonstrate that our system is able to transmit information and self-repair with iron powders and a magnetic field. Additionally, the observed phenomenon will be the basis for a new device. © 2013 IEEE.

Development of a dipping wire method to improve the abrasion resistance of a plastic wire

Nagahama, Shunsuke; Tanabe, Junichi; Sugano, Shigeki

2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016査読有りp.743 - 7482017年02月-2017年02月 

DOIScopus

詳細

概要:© 2016 IEEE.In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.

Synthesis of high-strength and electronically conductive triple network gels with self-healing properties by the restraint method

Nagahama, Shunsuke; Migita, Kayo; Sugano, Shigeki

2017 IEEE 17th International Conference on Nanotechnology, NANO 2017査読有りp.752 - 7542017年11月-2017年11月 

DOIScopus

詳細

概要:© 2017 IEEE. In this study, we synthesized a self-healing electrically conductive gel based on Agar/hydrophobically associated polyacrylamide (HPAAm) by a restraint-assisted method. Recently, self-healing conductive materials based on such gels have been widely researched. However, as gels are generally weak, the gel-based materials are also often low in strength. Therefore, in this study, we applied the restraint method for adding pyrrole to Agar/HPAAm, which is a self-healing high-strength gel. The synthesized product was a high-strength conductive gel with self-healing abilities. Tensile tests confirmed that the swelling of the synthesized gel caused a low tensile breaking stress. Additionally, electrical conductivity measurements showed that the conductivity was increased by the addition of polypyrrole. These measurements were also carried out after the gel underwent self-healing. 30% of the strength and 54% of the conductivity of the undamaged gel were recovered, indicating the good self-healing performance of the gel proposed in this research.

スマート社会を支える基盤技術 ソフトロボティクスと材料

菅野重樹,長濱峻介

化学工業招待有り69(6)p.441 - 4462018年06月-2018年06月 

詳細

ISSN:0451-2014

Development of a tendon-driven mechanism with liquid circulation system for improving wear resistance

査読有り2018年01月-2018年01月 

DOIScopus

Method to obtain only targeted substances from an artificial circulatory system

Shunsuke Nagahama, Shotaro Iida, Hiroki Yoneyama, Shigeki Sugano

Proceedings of IFToMM World Congress 2015査読有りp.91 - 95

DOIScopus

The Development of Magnetic Powdery Sensor

Shunsuke Nagahama, Yousuke Kimura, Chyon Hae Kim, Shigeki Sugano

SENSORS, 2014 IEEE査読有り

DOIScopus

Soft Magnetic Powdery Sensor for Tactile Sensing

Shunsuke Nagahama, Kayo Migita, Shigeki Sugano

Sensors (Basel)査読有り19(2)p.E26772019年06月-2019年06月 

PubMedDOIScopusWoS

詳細

ISSN:1424-8220

Development of self-healing linear actuator unit using thermoplastic resin

Shota Miyake, Shunsuke Nagahama, Shigeki Sugano

Advanced Robotics査読有り33(23)p.1235 - 12472019年-2019年

DOI

外部研究資金

科学研究費採択状況

研究種別:若手研究B

自己修復性保護膜による腱駆動機構の長寿命化に関する研究

2017年04月-2020年03月

研究資金の受入れ状況

提供機関:永守財団制度名:研究助成2018

分散・協調的な駆動機構を有するソフトアクチュエータシステムの開発2018年10月-2019年10月

代表

提供機関:みずほ学術振興財団制度名:第61回工学研究助成

微小突起構造を利用したロボットハンドによる液中での物体把持に関する研究2018年04月-2020年04月

代表

学内研究制度

特定課題研究

カプセル化した修復剤を流体で運搬することによる材料の修復手法の提案

2015年度

研究成果概要:人工循環器系にカプセルを流し,カプセルに種々の薬品を内包することで,様々な機能を実現する研究を行っている.本年度は,カプセル運搬による材料の修復に焦点をあて研究を行った.修復剤の選定と,カプセル皮膜の選定のための調査および実験を行...人工循環器系にカプセルを流し,カプセルに種々の薬品を内包することで,様々な機能を実現する研究を行っている.本年度は,カプセル運搬による材料の修復に焦点をあて研究を行った.修復剤の選定と,カプセル皮膜の選定のための調査および実験を行った.混合しない限り凝固せず凝固速度が速いエポキシ系の2液混合修復剤を複数選定し凝固実験を行い,使用する修復剤を決定した.また, NIPAMゲルをカプセル皮膜として熱により内包物を放出する機構の開発を行った.成果の一部は,IFToMM world congress 2015にてカプセルを流すシステムとして発表を行った.また,第24回バイオメカニズムシンポジウムにて,ロボット用の循環器系システムに関する発表を行った.

自己修復するワイヤの修復性能向上に関する研究

2018年度

研究成果概要:本研究では,主に衝撃による破断に対して自己修復することが可能な腱駆動機構の開発を行った.提案機構は,腱駆動機構の腱(ワイヤ)の中間地点にワイヤよりも破断しやすい箇所を設けた機構を備えている.破断しやすい箇所は,金属のカップリングと...本研究では,主に衝撃による破断に対して自己修復することが可能な腱駆動機構の開発を行った.提案機構は,腱駆動機構の腱(ワイヤ)の中間地点にワイヤよりも破断しやすい箇所を設けた機構を備えている.破断しやすい箇所は,金属のカップリングと熱可塑性の樹脂で構成されている.熱可塑性の樹脂は金属のカップリングと接着しており,強度はワイヤよりも弱く設計されている.機構に過負荷がかかった際には,熱可塑性の樹脂の部分から破壊されワイヤへの負荷を遮断する.破断後に熱をかけ樹脂を融解・冷却することで,破断箇所を修復し再び動力を伝達できる.成果は国内の学会で発表を行い,またジャーナル誌への投稿した.

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