Jun-Ya Nagase

Learn More
The development of a robot which is gentle to people in nursing and welfare has been concerned about more and more toward the aged society. For a robot in often contact with people and requiring safety and flexibility in nursing and welfare, the development of a soft actuator that is compact and lightweight has been urged. In particular, robots, which are(More)
In recent years, in Japan, the elderly population has reached 33.84 million people. The percentage of the total population has reached 26.7 percent, making Japan a super-aged society. Lower limb muscle strength of elderly people reduces their walking ability. For this reason, the lowered quality of life (QOL) and activities of daily living (ADL) of elderly(More)
The diverse pipe installations used today include pipelines in chemical plants, water pipes, and gas pipes. Severe accidents at such pipe installations must be prevented by regular pipe inspection and repair. As described herein, a novel tracked crawler mechanism is proposed for pipe inspection. This simple and compact cylindrical elastic tracked crawler(More)
This paper addresses a constrained model predictive control (MPC) scheme using the disturbance observer (DOB). The purpose of the paper is to make it possible to handle constraints on the total control input, which has not been taken into account in the conventional DOB-based MPC. To this end, we bring a time-varying input constraints into design and(More)
This paper addresses a two-degree-of-freedom control system design based on the predictive functional control (PFC). The aim of the paper is to improve the tracking performance of the previously-developed disturbance observer-based predictive functional control (DOB-PFC) system. To this end, we apply the zero phase error tracking controller (ZPETC) as a(More)
In disaster areas, rescue work by humans is extremely difficult. Therefore, rescue work using rescue robots in place of humans is attracting attention. This study specifically examines peristaltic crawling, the movement mechanism of an earthworm, because it can enable movement through narrow spaces and because it can provide stable movement according to(More)
In recent years, Japanese society has been aging, creating a shortage of young workers. Robots are expected to be useful to perform tasks such as rehabilitation therapy, nursing elderly people, and day-to-day work support for elderly people. Particularly robots that are designed for use in the fields of medical care and welfare must be safe for the human(More)
  • 1