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The increasing demand for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which can cope with the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have(More)
We present a spherical ultrasonic motor (SUSM) and an attitude sensing system using optical fibers for the SUSM. The SUSM is constructed from three ring-shaped stators and a spherical rotor, and has three degrees of freedom (DOF). It has good responsiveness, high positioning accuracy, and strong magnetic field compatibility. In the attitude sensing system,(More)
MR compatible apparatus is essential to design new tasks for fMRI study. This paper described the development of an MR compatible manipulandum actuated by the ultrasonic motors, which was able to work within MRI scanner and to perform fMRI task continuously during finger movements. The prototype of manipulandum was able to produce two discriminable force(More)
— Recently, It has become a rapidly aging society. Coupled with a decrease in the number of farmers, this has becomes a serious problem in agriculture. Agricultural work includes a great deal of heavy work and special work postures, imposing a large physical strain on farmers. Therefore, we developed the Wearable Agri-Robot, which was designed as an(More)
We present a pipe inspection robot using a newly developed spherical ultrasonic motor (SUSM) as a camera actuator. The novel SUSM has improved the range of movement compared to previous SUSMs, and the robot can point a camera in any direction. In this study, we determined a method for controlling the rotational direction and strategic control from the(More)
Presents the design concepts of a multi-degree of freedom spherical ultrasonic motor. It is expected to be applied to not only robotic manipulator's actuator capable of multi-degree motion in a single joint but also the assembling machines, laser cutting and many other fields. The authors propose the concept of a new spherical ultrasonic motor based on a(More)
We report a miniature rotary-linear piezoelectric actuator with a single cubic stator of side length 3.5 mm which can generate rotary motion around the center axis and linear motion in the axial direction. The stator is fabricated as a single metallic cube of side length 3.5 mm with a 2.5-mm diameter through-hole and four piezoelectric elements bonded to(More)
We present a micro ultrasonic motor having rotary and linear motions (rotary-linear motor) suitable for endovascular diagnosis and surgery. The rotary-linear motor is miniaturized to the size needed to function in a blood vessel. The stator prototype is a cube of side 3.5 mm, and the main body is fabricated as a single metallic cube with a through-hole.(More)
We report a piezoelectric actuator having a single stator with rotary and linear motions (RLPA). The stator is fabricated as a single metallic cube with a through-hole. The surface of the inner circle of the hole generates elliptical motions at each natural frequency, transferring the energy to an output shaft, when AC voltages at the appropriate resonant(More)