MAUYA Ken

写真a

Affiliation

Engineering educational research section Mechanical Intelligence Engineering Program

Title

Associate Professor

Degree 【 display / non-display

  • 博士(工学) ( 2016.8   大阪大学 )

Research Areas 【 display / non-display

  • Informatics / Mechanics and mechatronics

  • Informatics / Robotics and intelligent system

 

Papers 【 display / non-display

  • Antagonistic Total Torque Control of Rotational Straight Twisted Polymeric Fiber Actuator

    Yoshida Yutaro, Hayashi Ryo, Masuya Ken, Takagi Kentaro, Arita Hikaru, Tahara Kenji

    Journal of the Robotics Society of Japan   41 ( 6 )   573 - 576   2023.7

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    Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.41.573

    CiNii Research

  • Stochastic identification of minimum set of dynamics parameters that has small sensitivity on controlled velocity field in state-space Reviewed

    OKADA Masafumi, WATANABE Kazuki, MASUYA Ken

    Transactions of the JSME (in Japanese)   88 ( 914 )   22-00100 - 22-00100   2022.10

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    DOI: 10.1299/transjsme.22-00100

    CiNii Research

  • Control of Human-machine cooperative cart by region attractor to achieve both obstacle avoidance and trajectory tracking Reviewed

    OKADA Masafumi, YOU Yalun, MASUYA Ken

    Transactions of the JSME (in Japanese)   88 ( 912 )   22-00012 - 22-00012   2022.8

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    Authorship:Last author   Language:Japanese   Publishing type:Research paper (scientific journal)   Publisher:The Japan Society of Mechanical Engineers  

    DOI: 10.1299/transjsme.22-00012

    CiNii Research

  • Wire-storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber Reviewed

    Ken Masuya, Kentaro Takagi, Kenji Tahara

    IEEE Robotics and Automation Letters   7 ( 4 )   1 - 8   2022.8

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    Authorship:Lead author, Corresponding author   Language:English   Publishing type:Research paper (scientific journal)   Publisher:Institute of Electrical and Electronics Engineers (IEEE)  

    DOI: 10.1109/lra.2022.3197268

    Scopus

  • Modeling and characterization for straight twisted polymer fiber actuators in blocked torsion: effect of radial thermal expansion Reviewed

    Kentaro Takagi, Hiroki Iwai, Chihaya Oiwa, Toshihira Irisawa, Masatoshi Shioya, Ken Masuya, Kenji Tahara, Daichi Sakurai, Haruhiko Watanabe, Kinji Asaka

    Smart Materials and Structures   30 ( 6 )   065023 - 065023   2021.6

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    Language:English   Publishing type:Research paper (scientific journal)   Publisher:IOP Publishing  

    This paper discusses a new model and experimental characterization for thermal responses of straight twisted polymer fiber (TPF) actuators in blocked torsion. The proposed model is derived from combining the fiber stiffness matrix with Shafer's model of free torsion. The derived model predicts that the blocking torque increases as the initial twist increases. Although it is not widely recognized, the tension of a straight TPF decreases as the initial torsion increases, and this paper explains this fact. The proposed model predicts the decrease in tension by using Shafer's kinematic model that considers the effect of radial thermal expansion. Experimental characterization and model verification are performed using nylon 6 (polyamide 6) fiber samples with ten different initial twists, ranging from weak to strong. The results indicate that as the initial twist increases, the torque increases and the tension decreases. The tension fluctuates with respect to time. The experimental results show that the shear modulus increases as the initial twist increases. The predictions of the proposed model are reasonably consistent with the experimental thermal responses of straight TPFs in blocked torsion when the constants obtained by experimental characterization are used.

    DOI: 10.1088/1361-665x/abfc1a

    Scopus

    Other Link: https://iopscience.iop.org/article/10.1088/1361-665X/abfc1a/pdf

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Books 【 display / non-display

MISC 【 display / non-display

  • Investigation of Coil-Shaped Optical Fiber Displacement Sensor for a Twisted and Coiled Polymer Fiber Actuator Unit

    MASUYA Ken

    Journal of The Society of Instrument and Control Engineers   60 ( 10 )   743 - 743   2021.10

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    Language:Japanese   Publishing type:Rapid communication, short report, research note, etc. (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    DOI: 10.11499/sicejl.60.743

    CiNii Research

  • On special issue “Wire Mechanism and Robotics”

    Masuya Ken

    Journal of the Robotics Society of Japan   39 ( 9 )   776 - 777   2021

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    Language:Japanese   Publishing type:Rapid communication, short report, research note, etc. (scientific journal)   Publisher:The Robotics Society of Japan  

    DOI: 10.7210/jrsj.39.776

    CiNii Research

  • ヒューマノイドロボット(改訂2版)

    舛屋 賢

    日本ロボット学会誌   39 ( 7 )   637 - 637   2021

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    Language:Japanese   Publishing type:Rapid communication, short report, research note, etc. (scientific journal)   Publisher:一般社団法人 日本ロボット学会  

    DOI: 10.7210/jrsj.39.637

    CiNii Research

  • Modeling and Control of Twisted and Coiled Polymer Fiber Actuator and Twisted Polymer Fiber Actuator

    MASUYA Ken

    Journal of The Society of Instrument and Control Engineers   59 ( 11 )   830 - 834   2020.11

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    Language:Japanese   Publishing type:Rapid communication, short report, research note, etc. (scientific journal)   Publisher:The Society of Instrument and Control Engineers  

    DOI: 10.11499/sicejl.59.830

    CiNii Research

  • A mechanism of negative linear thermal expansion coefficient of polyamide fiber

    木村大輔, 小林拓未, 塩谷正俊, 入澤寿平, 高木賢太郎, 長谷川貴, 田原健二, 舛屋賢, 櫻井大地, 鷲野誠一郎, 奈良健一

    繊維学会予稿集   75 ( 1 (CD-ROM) )   2020

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    Publishing type:Rapid communication, short report, research note, etc. (scientific journal)  

    J-GLOBAL

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Presentations 【 display / non-display

  • Sensorless Angular Position Estimation of Rotational Type Twisted Polymeric Fiber Artificial Muscles

    2023.12.15 

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    Event date: 2023.12.14 - 2023.12.16

    Language:Japanese   Presentation type:Poster presentation  

  • 釣糸人工筋の作製時コイリング中の温度が駆動特性に及ぼす影響について

    伊藤 蒼大, 岡本 岳人, 入澤 寿平, 舛屋 賢, 田原 健二, 比留田 稔樹, 高木 賢太郎

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12.15 

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    Event date: 2023.12.14 - 2023.12.16

    Language:Japanese   Presentation type:Poster presentation  

  • 粘弾性モデルの培養骨格筋への適用と逆ピンセット構造の駆動

    中村 美月, 中山 明美, 大澤 祐毅, 岩本 憲泰, 舛屋 賢, 秋山 佳丈

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12.16 

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    Event date: 2023.12.14 - 2023.12.16

    Language:Japanese   Presentation type:Poster presentation  

  • 平行リンク機構を用いて装着位置のずれを吸収する股関節用外骨格のリンク長さ最適化

    弓掛 匠, 舛屋 賢

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12.16 

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    Event date: 2023.12.14 - 2023.12.16

    Language:Japanese   Presentation type:Poster presentation  

  • ウェアラブルロボットの装着箇所における力分布制御のための距離制御機構の開発

    池山 貴大, 舛屋 賢

    第24回計測自動制御学会システムインテグレーション部門講演会  2023.12.16 

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    Event date: 2023.12.14 - 2023.12.16

    Language:Japanese   Presentation type:Poster presentation  

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Awards 【 display / non-display

  • ROBOMECH表彰 (学術研究分野)

    2022.6   日本機械学会 ロボティクス・メカトロニクス部門   制御系に低感度な最小動力学パラメータの確率的同定

    渡邊 和喜, 舛屋 賢, 岡田 昌史

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    Award type:International academic award (Japan or overseas) 

  • SI2021優秀講演賞

    2021.12   第22回計測自動制御学会システムインテグレーション部門講演会   高分子被膜付き光ファイバ人工筋肉の光センシングを用いた変位制御

    舛屋 賢, 高木 賢太郎, 田原 健二

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    Award type:International academic award (Japan or overseas) 

  • 部門優秀論文表彰

    2021.6   日本機械学会 ロボティクス・メカトロニクス部門   人の操作モデルと拡張カルマンフィルタによる状態推定を用いた掘削の半自律制御

    岡田 昌史, 岡本 裕, 舛屋 賢

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    Award type:International academic award (Japan or overseas) 

  • 2020年度計測自動制御学会学術奨励賞(技術奨励賞)

    2021.2   計測自動制御学会   釣糸アクチュエータのユニット化のための光ファイバを用いた変位センサの検討

    舛屋賢

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    Award type:International academic award (Japan or overseas) 

  • SI2020優秀講演賞

    2021.1   第21回計測自動制御学会システムインテグレーション部門講演会予稿集   高分子被膜付き光ファイバを用いた高分子繊維アクチュエータの開発

    舛屋賢

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    Award type:International academic award (Japan or overseas) 

Grant-in-Aid for Scientific Research 【 display / non-display

  • 人と親和性の高いロボット装具のための装着箇所の力分布制御機構の開発

    Grant number:23K13292  2023.04 - 2026.03

    日本学術振興会  科学研究費助成事業 若手研究  若手研究

    舛屋 賢

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    Authorship:Principal investigator 

  • 人と装具の運動間のずれを考慮した人と親和性の高いロボット装具の制御方法構築

    Grant number:21K14122  2021.03 - 2023.03

    日本学術振興会  科学研究費補助金 若手研究  若手研究

    舛屋賢

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    Authorship:Principal investigator 

  • Soft Robotics Control Engineering by Combining Probabilistic Model-Based Control and Sensor Feedback

    Grant number:20H00610  2020.04 - 2024.03

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A)  Grant-in-Aid for Scientific Research (A)

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    Authorship:Coinvestigator(s)